[minggangw]

• Remove the walk dependency and use fs.promises with an async generator.
• Reuse interface collection logic for source-tree and ament-index discovery.
• Preserve symbolic-link paths and prevent directory traversal cycles.
• Await service message generation and propagate processing failures.

Fix: #1673

[Copilot]

🟡 Changes recommended

The new source-tree traversal lacks regression coverage for nested interfaces, file and directory symlinks, cycle termination, and lexical-path preservation through sibling aliases.

1 open issue

• Add regression tests for symlink-safe source-tree discovery · New

What changed in this PR

Replaces walk with built-in asynchronous filesystem traversal for ROS interface discovery, sharing collection logic between source trees and ament-index installations.

Changes:

• Uses an async generator that preserves symbolic-link paths and prevents ancestor-directory cycles.
• Reuses interface processing and awaits it so processing failures propagate.
• Removes the walk dependency.

File	Description
rosidl_gen/​packages.cjs	Adds filesystem traversal and shares awaited interface collection logic.
package.json	Removes the walk dependency.

_{Review effort: Balanced}

[coveralls]

coverage: 91.164%. remained the same — minggangw:remove-walk into RobotWebTools:develop

[Copilot]

🔵 Needs a closer look

Existing tests bypass the rewritten source-tree traversal, leaving symlink path preservation, sibling alias handling, and cycle termination without regression coverage.

1 open issue

• Add regression tests for symlink-safe source-tree discovery

_{Review effort: Max}