Resolve MyPy issues and add pre-commit

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Author: SuperJappie08

.github/workflows/ci.yml

@@ -5,7 +5,7 @@ on: [push, pull_request]
 jobs:
   ament_lint:
     runs-on: ubuntu-latest
-    container: 
+    container:
       image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu }}-ros-${{ matrix.ros_distro }}-ros-base-latest
 
     strategy:

.pre-commit-config.yaml

@@ -0,0 +1,88 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+        args: ["--allow-multiple-documents"]
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.20.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # flake8
+  - repo: local
+    hooks:
+      - id: ament_flake8
+        name: ament_flake8
+        description: Check if all files adhere to ament_flake8.
+        entry: ament_flake8
+        files: \.(py|pyi)$
+        language: system
+
+  # mypy
+  - repo: local
+    hooks:
+      - id: ament_mypy
+        name: ament_mypy
+        description: Check if all files adhere to ament_mypy.
+        entry: ament_mypy
+        args: ["--exclude", "diffbot.launch.py"]
+        pass_filenames: False
+        require_serial: True
+        files: \.(py|pyi)$
+        exclude: (^|\.launch\.py)$
+        language: system
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        files: \.(c|cc|cpp|cxx|h|hh|hpp|hxx|cmake|py)$
+        exclude: ^(\.|_|(setup\.py|package\.xml)$)
+        language: system
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.33.2
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]

launch_ros2_control/actions/spawn_controllers.py

@@ -24,6 +24,7 @@
 from launch.frontend import Entity, expose_action, Parser
 from launch.launch_context import LaunchContext
 from launch.some_substitutions_type import SomeSubstitutionsType
+from launch.substitution import Substitution
 from launch.utilities import normalize_to_list_of_substitutions
 from launch.utilities import perform_substitutions
 from launch.utilities.type_utils import normalize_typed_substitution
@@ -34,7 +35,6 @@
 from launch_ros.utilities.normalize_parameters import normalize_parameter_dict
 
 if TYPE_CHECKING:
-    from launch.substitution import Substitution
     from launch_ros.parameters_type import Parameters
 
 from ..descriptions import Controller
@@ -288,11 +288,11 @@ def convert_param(param):
                             context, {name: value})
                         assert os.path.isfile(params_argument)
                     else:
-                        raise RuntimeError('invalid normalized parameters {}'.format(repr(params)))
+                        raise RuntimeError(f'invalid normalized parameters {repr(params)}')
 
                     if not os.path.isfile(params_argument):
                         self.__logger.warning(
-                            'Parameter file path is not a file: {}'.format(params_argument))
+                            f'Parameter file path is not a file: {params_argument}')
                         continue
                     other_arguments += ['-p', params_argument]