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Merged
merged 7 commits into from
Oct 6, 2025
Merged

Improve type annotations for ament_mypy #5575

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ddaf668
Enable tools directory to be mypy compliant.
leander-dsouza Oct 2, 2025
6637555
Enable nav2_system_tests to be mypy compliant.
leander-dsouza Oct 2, 2025
d0743e2
Enable nav2_docking to be mypy compliant.
leander-dsouza Oct 2, 2025
72a2d87
Enable nav2_simple_commander to be mypy compliant.
leander-dsouza Oct 2, 2025
499fef6
Enable nav2_loopback_sim to be mypy compliant.
leander-dsouza Oct 3, 2025
0c53bb5
Removed unused ignores for packages for mypy compliance.
leander-dsouza Oct 3, 2025
6ba5ab7
Added nav2_msgs path fixes to mypy compliance.
leander-dsouza Oct 6, 2025
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15 changes: 8 additions & 7 deletions nav2_docking/opennav_docking/test/test_docking_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,6 @@
import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing.markers
import launch_testing.util
from lifecycle_msgs.srv import GetState
from nav2_common.launch import RewrittenYaml
from nav2_msgs.action import DockRobot, NavigateToPose, UndockRobot
Expand All @@ -36,6 +34,7 @@
import rclpy
from rclpy.action.client import ActionClient
from rclpy.action.server import ActionServer, ServerGoalHandle
from rclpy.client import Client
from sensor_msgs.msg import BatteryState
import tf2_ros
from tf2_ros import TransformBroadcaster
Expand Down Expand Up @@ -133,9 +132,10 @@ def setUp(self) -> None:
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self.node)
self.odom_pub = self.node.create_publisher(Odometry, 'odom', 10)

def wait_for_node_to_be_active(self, node_name, timeout_sec=10.0):
def wait_for_node_to_be_active(self, node_name: str, timeout_sec: float = 30.0) -> None:
"""Wait for a managed node to become active."""
client = self.node.create_client(GetState, f'{node_name}/get_state')
client: Client[GetState.Request, GetState.Response] = \
self.node.create_client(GetState, f'{node_name}/get_state')
if not client.wait_for_service(timeout_sec=2.0):
self.fail(f'Service get_state for {node_name} not available.')

Expand All @@ -144,7 +144,8 @@ def wait_for_node_to_be_active(self, node_name, timeout_sec=10.0):
req = GetState.Request()
future = client.call_async(req)
rclpy.spin_until_future_complete(self.node, future, timeout_sec=1.0)
if future.result() and future.result().current_state.id == 3: # 3 = ACTIVE
result = future.result()
if result is not None and result.current_state.id == 3: # 3 = ACTIVE
self.node.get_logger().info(f'Node {node_name} is active.')
return
time.sleep(0.5)
Expand Down Expand Up @@ -199,12 +200,12 @@ def publish_odometry(self, odom_to_base_link: TransformStamped) -> None:
odom.twist.twist = self.command
self.odom_pub.publish(odom)

def action_feedback_callback(self, msg: DockRobot.Feedback) -> None:
def action_feedback_callback(self, msg: DockRobot.Impl.FeedbackMessage) -> None:
# Force the docking action to run a full recovery loop and then
# make contact with the dock (based on pose of robot) before
# we report that the robot is charging
if msg.feedback.num_retries > 0 and \
msg.feedback.state == msg.feedback.WAIT_FOR_CHARGE:
msg.feedback.state == DockRobot.Feedback.WAIT_FOR_CHARGE:
self.is_charging = True

def nav_execute_callback(
Expand Down
21 changes: 13 additions & 8 deletions nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py
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Expand Up @@ -14,21 +14,22 @@


import math
from typing import Optional
from typing import Optional, Union

from geometry_msgs.msg import (PoseWithCovarianceStamped, Quaternion, TransformStamped, Twist,
TwistStamped, Vector3)
from geometry_msgs.msg import (Pose, PoseWithCovarianceStamped, Quaternion, TransformStamped,
Twist, TwistStamped, Vector3)
from nav2_loopback_sim.utils import (addYawToQuat, getMapOccupancy, matrixToTransform,
transformStampedToMatrix, worldToMap)
from nav2_simple_commander.line_iterator import LineIterator
from nav_msgs.msg import Odometry
from nav_msgs.msg import OccupancyGrid, Odometry
from nav_msgs.srv import GetMap
import numpy as np
import rclpy
from rclpy.client import Client
from rclpy.duration import Duration
from rclpy.node import Node
from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
from rclpy.subscription import Subscription
from rclpy.timer import Timer
from rosgraph_msgs.msg import Clock
from sensor_msgs.msg import LaserScan
Expand All @@ -49,12 +50,12 @@ class LoopbackSimulator(Node):

def __init__(self) -> None:
super().__init__(node_name='loopback_simulator')
self.curr_cmd_vel = None
self.curr_cmd_vel: Optional[Twist] = None
self.curr_cmd_vel_time = self.get_clock().now()
self.initial_pose: PoseWithCovarianceStamped = None
self.initial_pose: Optional[Pose] = None
self.timer: Optional[Timer] = None
self.setupTimer = None
self.map = None
self.map: Optional[OccupancyGrid] = None
self.mat_base_to_laser: Optional[np.ndarray[np.float64, np.dtype[np.float64]]] = None

self.declare_parameter('update_duration', 0.01)
Expand Down Expand Up @@ -122,6 +123,9 @@ def __init__(self) -> None:
self.initial_pose_sub = self.create_subscription(
PoseWithCovarianceStamped,
'initialpose', self.initialPoseCallback, 10)

self.cmd_vel_sub: Union[Subscription[Twist], Subscription[TwistStamped]]

if not use_stamped:
self.cmd_vel_sub = self.create_subscription(
Twist,
Expand Down Expand Up @@ -292,7 +296,8 @@ def publishOdometry(self, odom_to_base_link: TransformStamped) -> None:
odom.pose.pose.position.x = odom_to_base_link.transform.translation.x
odom.pose.pose.position.y = odom_to_base_link.transform.translation.y
odom.pose.pose.orientation = odom_to_base_link.transform.rotation
odom.twist.twist = self.curr_cmd_vel
if self.curr_cmd_vel is not None:
odom.twist.twist = self.curr_cmd_vel
self.odom_pub.publish(odom)

def info(self, msg: str) -> None:
Expand Down
5 changes: 3 additions & 2 deletions nav2_loopback_sim/nav2_loopback_sim/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

import math

from geometry_msgs.msg import Quaternion, Transform
from geometry_msgs.msg import Quaternion, Transform, TransformStamped
from nav_msgs.msg import OccupancyGrid
import numpy as np
import tf_transformations
Expand All @@ -37,7 +37,8 @@ def addYawToQuat(quaternion: Quaternion, yaw_to_add: float) -> Quaternion:
return new_quaternion


def transformStampedToMatrix(transform: Transform) -> np.ndarray[np.float64, np.dtype[np.float64]]:
def transformStampedToMatrix(
transform: TransformStamped) -> np.ndarray[np.float64, np.dtype[np.float64]]:
translation = transform.transform.translation
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I believe this is correct https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TransformStamped.html

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Yes, you are correct.
The linter was flagging it because the functional parameter was incorrectly defined as Transform instead of TransformStamped.

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Rename the function then so it is accurate to type?

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The function is already named as transformStampedToMatrix.
I have renamed the function parameter from transform: Transform to transform: TransformStamped.

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rotation = transform.transform.rotation
matrix = np.eye(4)
Expand Down
4 changes: 2 additions & 2 deletions nav2_simple_commander/nav2_simple_commander/example_route.py
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Expand Up @@ -13,7 +13,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from geometry_msgs.msg import Pose, PoseStamped
from geometry_msgs.msg import Point, PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator, RunningTask, TaskResult
from nav2_simple_commander.utils import euler_to_quaternion
import rclpy
Expand All @@ -24,7 +24,7 @@
"""


def toPoseStamped(pt: Pose, header: Header) -> PoseStamped:
def toPoseStamped(pt: Point, header: Header) -> PoseStamped:
pose = PoseStamped()
pose.pose.position.x = pt.x
pose.pose.position.y = pt.y
Expand Down
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