From 4f4e029a326cae0b555b677a876d3759cf507de1 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Fri, 14 Nov 2025 10:28:21 -0700
Subject: [PATCH 1/2] Ban function binding

---
 eslint.config.ts   | 8 ++++++++
 src/core/Action.ts | 2 +-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/eslint.config.ts b/eslint.config.ts
index 2586b60e0..1d447e746 100644
--- a/eslint.config.ts
+++ b/eslint.config.ts
@@ -31,6 +31,14 @@ export default defineConfig(
       "@typescript-eslint/no-empty-function": 0,
       "prefer-template": 2,
       "@typescript-eslint/consistent-type-imports": 2,
+      "no-restricted-syntax": [
+        "error",
+        {
+          selector: "CallExpression[callee.property.name='bind']",
+          message:
+            "Prefer arrow functions over invoking Function.prototype.bind",
+        },
+      ],
     },
   },
   {
diff --git a/src/core/Action.ts b/src/core/Action.ts
index adb792370..8c15a9391 100644
--- a/src/core/Action.ts
+++ b/src/core/Action.ts
@@ -126,7 +126,7 @@ export default class Action<
     this.#cancelCallback = cancelCallback;
     this.ros.on(this.name, (msg) => {
       if (isRosbridgeSendActionGoalMessage(msg)) {
-        this.#executeAction.bind(this);
+        this.#executeAction(msg);
       } else {
         throw new Error(
           "Received unrelated message on Action server event stream!",

From 8764a3e2226020c4011994c8a8f411ac6d78788f Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Fri, 14 Nov 2025 10:28:46 -0700
Subject: [PATCH 2/2] Fix missing generic type

---
 src/core/Action.ts    | 2 +-
 src/types/protocol.ts | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/core/Action.ts b/src/core/Action.ts
index 8c15a9391..4c3d670c4 100644
--- a/src/core/Action.ts
+++ b/src/core/Action.ts
@@ -125,7 +125,7 @@ export default class Action<
     this.#actionCallback = actionCallback;
     this.#cancelCallback = cancelCallback;
     this.ros.on(this.name, (msg) => {
-      if (isRosbridgeSendActionGoalMessage(msg)) {
+      if (isRosbridgeSendActionGoalMessage<TGoal>(msg)) {
         this.#executeAction(msg);
       } else {
         throw new Error(
diff --git a/src/types/protocol.ts b/src/types/protocol.ts
index d533da4a2..f45cde480 100644
--- a/src/types/protocol.ts
+++ b/src/types/protocol.ts
@@ -260,9 +260,9 @@ export interface RosbridgeSendActionGoalMessage<TArgs = unknown>
   compression?: string;
 }
 
-export function isRosbridgeSendActionGoalMessage(
+export function isRosbridgeSendActionGoalMessage<TArgs = unknown>(
   message: RosbridgeMessageBase,
-): message is RosbridgeSendActionGoalMessage {
+): message is RosbridgeSendActionGoalMessage<TArgs> {
   return message.op === "send_action_goal";
 }