Merge from RobotWebTools repo

.github/workflows/ci.yml

@@ -6,9 +6,9 @@ jobs:
   lint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
 
-      - uses: actions/setup-python@v5
+      - uses: actions/setup-python@v6
         with:
           python-version: '3.10'
 
@@ -21,10 +21,8 @@ jobs:
         include:
           # Test supported ROS 2 distributions
           # https://docs.ros.org/en/rolling/Releases.html
-          # NOTE: Humble does not work on the `ros2` branch, so it is tested in its own branch.
-          - ros: iron
-            os: ubuntu-22.04
-          - ros: jazzy
+          # NOTE: Humble and Jazzy do not work on the `ros2` branch, so they are tested in their own branches.
+          - ros: kilted
             os: ubuntu-24.04
           - ros: rolling
             os: ubuntu-24.04
@@ -33,12 +31,12 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           path: ros_ws/src
 
       - uses: ros-tooling/[email protected]
 
-      - uses: ros-tooling/action-ros-ci@v0.3
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ matrix.ros }}

.github/workflows/stale.yml

@@ -11,7 +11,7 @@ jobs:
       issues: write
       pull-requests: write
     steps:
-      - uses: actions/stale@v9.0.0
+      - uses: actions/stale@v10.1.0
         with:
           stale-issue-message: "This issue has been marked as stale because there has been no activity in the past 12 months. Please add a comment to keep it open."
           stale-issue-label: stale

.pre-commit-config.yaml

@@ -15,28 +15,13 @@ repos:
       - id: mixed-line-ending
       - id: trailing-whitespace
 
-  - repo: https://github.com/pycqa/isort
-    rev: 5.13.2
-    hooks:
-      - id: isort
-
-  - repo: https://github.com/psf/black
-    rev: 24.8.0
-    hooks:
-      - id: black
-
-  - repo: https://github.com/PyCQA/flake8
-    rev: 7.1.1
-    hooks:
-      - id: flake8
-
-  - repo: https://github.com/PyCQA/bandit
-    rev: 1.7.10
-    hooks:
-      - id: bandit
-        args: ["--skip", "B101,B110,B311"]
-
   - repo: https://github.com/codespell-project/codespell
     rev: v2.3.0
     hooks:
       - id: codespell
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.12.7
+    hooks:
+      - id: ruff-format
+      - id: ruff-check

AUTHORS.md

@@ -9,3 +9,4 @@
 - Matthias Gruhler <[email protected]>
 - Russell Toris <[email protected]>
 - Travis Prosser <[email protected]>
+- Błażej Sowa <[email protected]>

README.md

@@ -1,9 +1,8 @@
 rosbridge_suite
 ===============
 
-[![ROS Foxy version](https://img.shields.io/ros/v/foxy/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#foxy)
-[![ROS Galactic version](https://img.shields.io/ros/v/galactic/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#galactic)
 [![ROS Humble version](https://img.shields.io/ros/v/humble/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#humble)
+[![ROS Jazzy version](https://img.shields.io/ros/v/jazzy/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#jazzy)
 [![ROS Rolling version](https://img.shields.io/ros/v/rolling/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#rolling)
 
 
@@ -55,8 +54,11 @@ Releasing requires push access to [RobotWebTools/rosbridge_suite](https://github
 2. Manually edit and clean up the changelogs. Commit the changes.
 3. Run `catkin_prepare_release --bump [major/minor/patch]` to bump versions in package.xml and push changes to origin.
 4. Run bloom-release commands to create PRs to update rosdistro:
-    - `bloom-release --rosdistro foxy --track foxy rosbridge_suite`
-    - `bloom-release --rosdistro galactic --track galactic rosbridge_suite`
-    - `bloom-release --rosdistro rolling --track rolling rosbridge_suite`
+    - `bloom-release --rosdistro humble rosbridge_suite`
+    - `bloom-release --rosdistro jazzy rosbridge_suite`
+    - `bloom-release --rosdistro rolling rosbridge_suite`
 
-Once the PRs are merged, packages will be available for each distro after the next sync. Build/sync status can be viewed at: [foxy](http://repo.ros2.org/status_page/ros_foxy_default.html), [galactic](http://repo.ros2.org/status_page/ros_galactic_default.html), [rolling](http://repo.ros2.org/status_page/ros_rolling_default.html).
+Note that right now, the Humble release is tracked in the `humble` branch, while Jazzy and later are tracked in the `ros2` branch.
+
+Once the PRs are merged, packages will be available for each distro after the next sync.
+Build/sync status can be viewed at: [humble](http://repo.ros2.org/status_page/ros_humble_default.html), [jazzy](http://repo.ros2.org/status_page/ros_jazzy_default.html), and [rolling](http://repo.ros2.org/status_page/ros_rolling_default.html).

ROSBRIDGE_PROTOCOL.md

@@ -436,7 +436,8 @@ Calls a ROS service.
   "service": <string>,
   (optional) "args": <list<json>>,
   (optional) "fragment_size": <int>,
-  (optional) "compression": <string>
+  (optional) "compression": <string>,
+  (optional) "timeout": <float>
 }
 ```
 
@@ -449,6 +450,7 @@ Calls a ROS service.
     before it is fragmented
  * **compression** – an optional string to specify the compression scheme to be
     used on messages. Valid values are "none" and "png"
+ * **timeout** – the time, in seconds, to wait for a response from the server
 
 
 Stops advertising an external ROS service server

pyproject.toml

@@ -1,5 +1,114 @@
-[tool.bandit]
-skips = ["B101", "B110", "B311"]
+[project]
+name = "rosbridge_suite"
+requires-python = ">=3.10"
 
 [tool.black]
+# We use ruff for formatting, but black formatter should be compatible with ruff.
 line-length = 100
+
+[tool.ruff]
+line-length = 100
+
+[tool.ruff.lint]
+select = [
+    # "AIR",  # Airflow, We don't use this framework
+    # "ERA",  # Eradicate, We allow commented-out code
+    # "FAST", # FastAPI, We don't use this framework
+
+    # flake8 extensions
+    "YTT",    # flake8-2020
+    "ANN",    # flake8-annotations,
+    "ASYNC",  # flake8-async
+    "S",      # flake8-bandit
+    # "BLE",  # flake8-blind-except, Too much hassle to fix (TODO)
+    # "FBT",  # flake8-boolean-trap, We allow boolean traps
+    "B",      # flake8-bugbear
+    "A",      # flake8-builtins
+    # "COM",  # flake8-commas, We don't require trailing commas
+    "C4",     # flake8-comprehensions
+    # "CPY",  # flake8-copyright, preview feature
+    "DTZ",    # flake8-datetimez
+    "T10",    # flake8-debugger
+    # "DJ",   # flake8-django, We don't use this framework
+    "EM",     # flake8-errmsg
+    "EXE",    # flake8-executable
+    # "FIX",  # flake8-fixme, too many TODOs to fix them now
+    "FA",     # flake8-future-annotations
+    "INT",    # flake8-gettext
+    "ISC",    # flake8-implicit-str-concat
+    "ICN",    # flake8-import-conventions
+    "LOG",    # flake8-logging
+    "G",      # flake8-logging-format
+    # "INP",  # flake8-no-pep420, false positives with launch tests
+    "PIE",    # flake8-pie
+    # "T20",  # flake8-print, We allow some print statements
+    "PYI",    # flake8-pyi
+    # "PT",   # flake8-pytest-style, Too many errors to fix for now (TODO)
+    "Q",      # flake8-quotes
+    "RSE",    # flake8-raise
+    "RET",    # flake8-return
+    # "SLF",  # flake8-self, Too many "Private member accessed" errors (TODO)
+    "SIM",    # flake8-simplify
+    "SLOT",   # flake8-slots
+    "TID",    # flake8-tidy-imports
+    # "TD",   # flake8-todos, We don't enforce format for TODO comments
+    "TC",     # flake8-type-checking
+    "ARG",    # flake8-unused-arguments
+    "PTH",    # flake8-use-pathlib
+
+    "FLY",    # flynt
+    "I",      # isort
+    "C90",    # mccabe
+    "NPY",    # numpy
+    "PD",     # pandas-vet
+    # "N",    # pep8-naming, Can't fix without breaking API
+    "PERF",   # Perflint
+    "E",      # pycodestyle errors
+    "W",      # pycodestyle warnings
+    # "DOC",  # pydoclint, preview feature
+    "D",      # pydocstyle
+    "F",      # pyflakes
+    "PGH",    # pygrep-hooks
+    "PL",     # pylint
+    "UP",     # pyupgrade
+    "FURB",   # refurb
+    "RUF",    # ruff
+    # "TRY",  # tryceratops, Too many "Create your own exception" errors (TODO)
+]
+ignore = [
+    "SIM108", # Opinionated: ternary operator does not always look simpler
+
+    # Undocumented code
+    "D100",
+    "D101",
+    "D102",
+    "D103",
+    "D104",
+    "D105",
+    "D106",
+    "D107",
+
+    # Conflicting pydocstyle rules
+    "D203", # incorrect-blank-line-before-class
+    "D212", # multi-line-summary-first-line
+
+    "S101", # assert
+    "S110", # try-except-pass
+    "S311", # suspicious-non-cryptographic-random-usage
+
+    # Pylint "too-many" errors
+    "PLR0911",
+    "PLR0912",
+    "PLR0913",
+    "PLR0914",
+    "PLR0915",
+    "PLR0916",
+    "PLR0917",
+
+    "PLR2004", # magic-value-comparison, Too many to fix for now (TODO)
+    "PLW0603", # global-statement, Will need a more sophisticated solution to fix this (TODO)
+]
+
+mccabe.max-complexity = 36
+
+pycodestyle.max-line-length = 120

rosapi/CHANGELOG.rst

@@ -2,6 +2,23 @@
 Changelog for package rosapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2025-05-19)
+------------------
+* Handle extra IDL slots when doing array introspection (`#1031 <https://github.com/RobotWebTools/rosbridge_suite/issues/1031>`_)
+* Add services to return Action interface details (`#1021 <https://github.com/RobotWebTools/rosbridge_suite/issues/1021>`_)
+* Fix array-like parameter serialization in rosbridge get_param (`#1018 <https://github.com/RobotWebTools/rosbridge_suite/issues/1018>`_)
+* Contributors: David Fernàndez López, Noah Wardlow, Scott Bell, Błażej Sowa
+
+2.2.0 (2025-02-26)
+------------------
+* New async rosapi params module implementation (`#1001 <https://github.com/RobotWebTools/rosbridge_suite/issues/1001>`_)
+* Update maintainers (`#1000 <https://github.com/RobotWebTools/rosbridge_suite/issues/1000>`_)
+* Prevent parameter retrieval crashes (`#978 <https://github.com/RobotWebTools/rosbridge_suite/issues/978>`_)
+* Add namespace to services names (`#992 <https://github.com/RobotWebTools/rosbridge_suite/issues/992>`_)
+* Add new service to retrieve the different interfaces in the ROS Network (`#988 <https://github.com/RobotWebTools/rosbridge_suite/issues/988>`_)
+* Add ament_mypy test and fix all mypy errors (`#980 <https://github.com/RobotWebTools/rosbridge_suite/issues/980>`_)
+* Contributors: Błażej Sowa, Lebecque Florian, Mehsias, Matthias Rathauscher, Lebecque Florian
+
 2.1.0 (2024-10-08)
 ------------------
 * Fix invalid import of get_parameter_value in rosapi for ROS2 Jazzy. (`#932 <https://github.com/RobotWebTools/rosbridge_suite/issues/932>`_)

rosapi/CMakeLists.txt

@@ -1,7 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(rosapi)
 
-find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -25,4 +26,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   ament_add_pytest_test(${PROJECT_NAME}_test_stringify_field_types test/test_stringify_field_types.py)
   ament_add_pytest_test(${PROJECT_NAME}_test_typedefs test/test_typedefs.py)
+
+  find_package(ament_cmake_mypy REQUIRED)
+  ament_mypy()
 endif()