convert to type:module in package.json, add an esm test using Webpack…

… which caught a few errors

Gruntfile.js → Gruntfile.cjs

@@ -27,11 +27,14 @@ module.exports = function(grunt) {
     shell: {
       build: {
         command: 'rollup -c'
-      }
+      },
+      'test-esm': {
+        command: 'webpack --config esm-test.webpack.config.js'
+      },
     },
     karma: {
       build: {
-        configFile: './test/karma.conf.js',
+        configFile: './test/karma.conf.cjs',
         singleRun: true,
         browsers: process.env.CI ? ['FirefoxHeadless'] : ['Firefox'] // eslint-disable-line
       }
@@ -77,10 +80,11 @@ module.exports = function(grunt) {
   grunt.loadNpmTasks('grunt-shell');
   grunt.loadNpmTasks('gruntify-eslint');
 
-  grunt.registerTask('build', ['eslint:lint', 'shell']);
+  grunt.registerTask('build', ['eslint:lint', 'shell:build']);
   grunt.registerTask('build_and_watch', ['build', 'watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);
   grunt.registerTask('lint', ['eslint:lint',]);
   grunt.registerTask('lint-fix', ['eslint:fix',]);
-  grunt.registerTask('test', ['karma',]);
+  grunt.registerTask('test', ['test-esm', 'karma',]);
+  grunt.registerTask('test-esm', ['shell:test-esm']);
 };

esm-test.webpack.config.js

@@ -0,0 +1,12 @@
+// We run a simple Webpack build to ensure that the code base follows Node ESM
+// standards. Any error from Webpack will indicate a problem. This will catch
+// cases like missing `.js` etensions in import specifiers, etc.
+
+export default {
+  entry: './src/index.js',
+  output: {
+    filename: 'ros3djs-esm-test.js',
+    path: '/tmp'
+  },
+  mode: 'development',
+};

package.json

@@ -6,6 +6,7 @@
   "license": "BSD-3-Clause",
   "main": "./build/ros3d.cjs.js",
   "module": "./build/ros3d.esm.js",
+  "type": "module",
   "dependencies": {
     "roslib": "^1.0.0",
     "three": "^0.89.0"
@@ -32,17 +33,20 @@
     "mocha": "^9.0.1",
     "rollup": "^2.47.0",
     "rollup-plugin-filesize": "^9.1.0",
-    "rollup-plugin-terser": "^7.0.0"
+    "rollup-plugin-terser": "^7.0.0",
+    "webpack": "^5.54.0",
+    "webpack-cli": "^4.8.0"
   },
   "repository": {
     "type": "git",
     "url": "https://github.com/RobotWebTools/ros3djs/releases"
   },
   "scripts": {
-    "build": "grunt build",
-    "lint": "grunt lint",
-    "lint-fix": "grunt lint-fix",
-    "test": "grunt test"
+    "build": "npm run grunt -- build",
+    "lint": "npm run grunt -- lint",
+    "lint-fix": "npm run grunt -- lint-fix",
+    "test": "npm run grunt -- test",
+    "grunt": "grunt --gruntfile Gruntfile.cjs"
   },
   "keywords": [
     "ROS",

src/interactivemarkers/InteractiveMarkerControl.js

@@ -1,8 +1,8 @@
 import THREE from '../../shims/three/core.js';
 import ROSLIB from '../../shims/roslib/ROSLIB.js';
 
-import { INTERACTIVE_MARKER_MOVE_ROTATE_3D, INTERACTIVE_MARKER_MOVE_3D, INTERACTIVE_MARKER_MOVE_AXIS, INTERACTIVE_MARKER_ROTATE_AXIS, INTERACTIVE_MARKER_MOVE_PLANE, INTERACTIVE_MARKER_BUTTON, INTERACTIVE_MARKER_NONE, INTERACTIVE_MARKER_INHERIT, INTERACTIVE_MARKER_FIXED, INTERACTIVE_MARKER_VIEW_FACING } from '../Ros3D';
-import { Marker } from '../markers/Marker';
+import { INTERACTIVE_MARKER_MOVE_ROTATE_3D, INTERACTIVE_MARKER_MOVE_3D, INTERACTIVE_MARKER_MOVE_AXIS, INTERACTIVE_MARKER_ROTATE_AXIS, INTERACTIVE_MARKER_MOVE_PLANE, INTERACTIVE_MARKER_BUTTON, INTERACTIVE_MARKER_NONE, INTERACTIVE_MARKER_INHERIT, INTERACTIVE_MARKER_FIXED, INTERACTIVE_MARKER_VIEW_FACING } from '../Ros3D.js';
+import { Marker } from '../markers/Marker.js';
 
 /**
  * @author David Gossow - dgossow@willowgarage.com

src/interactivemarkers/InteractiveMarkerHandle.js

@@ -1,7 +1,7 @@
 import ROSLIB from '../../shims/roslib/ROSLIB.js';
 import { EventEmitter2 } from '../../shims/eventemitter2/EventEmitter2.js';
 
-import { INTERACTIVE_MARKER_POSE_UPDATE, INTERACTIVE_MARKER_BUTTON_CLICK, INTERACTIVE_MARKER_MOUSE_DOWN, INTERACTIVE_MARKER_MOUSE_UP, INTERACTIVE_MARKER_MENU_SELECT } from '../Ros3D';
+import { INTERACTIVE_MARKER_POSE_UPDATE, INTERACTIVE_MARKER_BUTTON_CLICK, INTERACTIVE_MARKER_MOUSE_DOWN, INTERACTIVE_MARKER_MOUSE_UP, INTERACTIVE_MARKER_MENU_SELECT } from '../Ros3D.js';
 
 /**
  * @author David Gossow - dgossow@willowgarage.com

src/markers/MarkerClient.js

@@ -2,8 +2,8 @@ import THREE from '../../shims/three/core.js';
 import { EventEmitter2 } from '../../shims/eventemitter2/EventEmitter2.js';
 import ROSLIB from '../../shims/roslib/ROSLIB.js';
 
-import { Marker } from './Marker';
-import { SceneNode } from '../visualization/SceneNode';
+import { Marker } from './Marker.js';
+import { SceneNode } from '../visualization/SceneNode.js';
 
 /**
  * @author Russell Toris - rctoris@wpi.edu