refactor: micro changes (#537)

Author: maciejmajek

pyproject.toml

@@ -74,4 +74,4 @@ markers = [
 ]
 addopts = "-m 'not billable and not ci_only' --ignore=src"
 log_cli = true
-log_cli_level = "DEBUG"
+log_cli_level = "INFO"

src/rai_core/rai/communication/base_connector.py

@@ -82,7 +82,7 @@ def __init__(self, callback_max_workers: int = 4):
     def _generate_handle(self) -> str:
         return str(uuid4())
 
-    def send_message(self, message: T, target: str, **kwargs: Any) -> None:
+    def send_message(self, message: T, target: str, **kwargs: Optional[Any]) -> None:
         """Implements publish pattern.
 
         Sends a message to one or more subscribers. The target parameter
@@ -93,7 +93,9 @@ def send_message(self, message: T, target: str, **kwargs: Any) -> None:
         """
         raise NotImplementedError("This method should be implemented by the subclass.")
 
-    def receive_message(self, source: str, timeout_sec: float, **kwargs: Any) -> T:
+    def receive_message(
+        self, source: str, timeout_sec: float, **kwargs: Optional[Any]
+    ) -> T:
         """Implements subscribe pattern.
 
         Receives a message from a publisher. The source parameter
@@ -109,7 +111,7 @@ def register_callback(
         source: str,
         callback: Callable[[T | Any], None],
         raw: bool = False,
-        **kwargs: Any,
+        **kwargs: Optional[Any],
     ) -> str:
         """Implements register callback.
 
@@ -173,7 +175,7 @@ def general_callback_preprocessor(self, message: Any) -> T:
         raise NotImplementedError("This method should be implemented by the subclass.")
 
     def service_call(
-        self, message: T, target: str, timeout_sec: float, **kwargs: Any
+        self, message: T, target: str, timeout_sec: float, **kwargs: Optional[Any]
     ) -> BaseMessage:
         """Implements request-response pattern.
 
@@ -190,7 +192,7 @@ def create_service(
         service_name: str,
         on_request: Callable,
         on_done: Optional[Callable] = None,
-        **kwargs: Any,
+        **kwargs: Optional[Any],
     ) -> str:
         """Sets up a service endpoint for handling requests.
 
@@ -207,7 +209,7 @@ def create_action(
         self,
         action_name: str,
         generate_feedback_callback: Callable,
-        **kwargs: Any,
+        **kwargs: Optional[Any],
     ) -> str:
         """Sets up an action endpoint for long-running operations.
 
@@ -227,7 +229,7 @@ def start_action(
         on_feedback: Callable,
         on_done: Callable,
         timeout_sec: float,
-        **kwargs: Any,
+        **kwargs: Optional[Any],
     ) -> str:
         """Initiates a long-running operation with feedback.
 
@@ -240,7 +242,7 @@ def start_action(
         """
         raise NotImplementedError("This method should be implemented by the subclass.")
 
-    def terminate_action(self, action_handle: str, **kwargs: Any) -> Any:
+    def terminate_action(self, action_handle: str, **kwargs: Optional[Any]) -> Any:
         """Cancels an ongoing action.
 
         Stops the execution of a previously started action.

src/rai_core/rai/communication/ros2/connectors/base.py

@@ -99,6 +99,14 @@ def __init__(
         destroy_subscribers: bool = False,
     ):
         super().__init__()
+
+        if not rclpy.ok():
+            rclpy.init()
+            self.logger.warning(
+                "Auto-initializing ROS2, but manual initialization is recommended. "
+                "For better control and predictability, call rclpy.init() or ROS2Context before creating this connector."
+            )
+
         self._node = Node(node_name)
         self._topic_api = ROS2TopicAPI(self._node, destroy_subscribers)
         self._service_api = ROS2ServiceAPI(self._node)

src/rai_core/rai/tools/ros2/generic/actions.py

@@ -28,9 +28,9 @@
 
 internal_action_id_mapping: Dict[str, str] = {}
 action_results_store: Dict[str, Any] = {}
-action_results_store_lock: Lock = Lock()
+action_results_store_lock: Any = Lock()
 action_feedbacks_store: Dict[str, List[Any]] = defaultdict(list)
-action_feedbacks_store_lock: Lock = Lock()
+action_feedbacks_store_lock: Any = Lock()
 
 
 def get_internal_action_id_mapping():
@@ -60,13 +60,13 @@ class ROS2ActionToolkit(BaseROS2Toolkit):
     action_results_store: Dict[str, Any] = Field(
         default_factory=get_action_results_store
     )
-    action_results_store_lock: Lock = Field(
+    action_results_store_lock: Any = Field(
         default_factory=get_action_results_store_lock
     )
     action_feedbacks_store: Dict[str, List[Any]] = Field(
         default_factory=get_action_feedbacks_store
     )
-    action_feedbacks_store_lock: Lock = Field(
+    action_feedbacks_store_lock: Any = Field(
         default_factory=get_action_feedbacks_store_lock
     )
 
@@ -194,7 +194,7 @@ class GetROS2ActionFeedbackTool(BaseROS2Tool):
     action_feedbacks_store: Dict[str, List[Any]] = Field(
         default_factory=get_action_feedbacks_store
     )
-    action_feedbacks_store_lock: Lock = Field(
+    action_feedbacks_store_lock: Any = Field(
         default_factory=get_action_feedbacks_store_lock
     )
     internal_action_id_mapping: Dict[str, str] = Field(
@@ -223,7 +223,7 @@ class GetROS2ActionResultTool(BaseTool):
     action_results_store: Dict[str, Any] = Field(
         default_factory=get_action_results_store
     )
-    action_results_store_lock: Lock = Field(
+    action_results_store_lock: Any = Field(
         default_factory=get_action_results_store_lock
     )
     internal_action_id_mapping: Dict[str, str] = Field(