Added test_mypy.py and resolved all regressions in demo_nodes_py (#767)#780
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cronenberg64 wants to merge 4 commits intoros2:rollingfrom
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Added test_mypy.py and resolved all regressions in demo_nodes_py (#767)#780cronenberg64 wants to merge 4 commits intoros2:rollingfrom
cronenberg64 wants to merge 4 commits intoros2:rollingfrom
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Pull request overview
This PR adds ament_mypy linting to demo_nodes_py and updates the Python demo nodes/tests with type annotations to satisfy strict mypy checks, addressing issue #767.
Changes:
- Added a new
test_mypy.pytest and declaredament_mypyas a test dependency. - Added/expanded type annotations across multiple demo nodes (topics, services, parameters, logging, events) to resolve mypy regressions.
- Minor formatting tweaks (e.g., line wrapping) and added shebangs to several Python entrypoint modules.
Reviewed changes
Copilot reviewed 18 out of 18 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| demo_nodes_py/test/test_pep257.py | Adds return type annotation to satisfy stricter typing expectations in tests. |
| demo_nodes_py/test/test_flake8.py | Adds return type annotation to satisfy stricter typing expectations in tests. |
| demo_nodes_py/test/test_copyright.py | Adds return type annotation to satisfy stricter typing expectations in tests. |
| demo_nodes_py/test/test_mypy.py | Introduces mypy linter test for the package. |
| demo_nodes_py/package.xml | Adds ament_mypy as a test_depend. |
| demo_nodes_py/demo_nodes_py/topics/talker.py | Adds shebang and type annotations (incl. timer type). |
| demo_nodes_py/demo_nodes_py/topics/talker_qos.py | Adds shebang and type annotations for QoS usage and timer. |
| demo_nodes_py/demo_nodes_py/topics/listener.py | Adds shebang, type annotations, and wraps subscription call for style. |
| demo_nodes_py/demo_nodes_py/topics/listener_qos.py | Adds shebang and type annotations for QoS usage and callbacks. |
| demo_nodes_py/demo_nodes_py/topics/listener_serialized.py | Adds shebang, callback typing for raw bytes subscription, and adjusts log formatting. |
| demo_nodes_py/demo_nodes_py/services/introspection.py | Adds shebang and type annotations (Timer/Future, callbacks, service handler). |
| demo_nodes_py/demo_nodes_py/services/add_two_ints_server.py | Adds shebang and type annotations for service handler. |
| demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py | Adds shebang and type annotations; refactors result logging for mypy. |
| demo_nodes_py/demo_nodes_py/services/add_two_ints_client_async.py | Adds shebang and type annotations; refactors result logging for mypy. |
| demo_nodes_py/demo_nodes_py/parameters/set_parameters_callback.py | Adds shebang and type annotations for parameter callback hooks. |
| demo_nodes_py/demo_nodes_py/parameters/async_param_client.py | Adds shebang, type annotations, and renames futures/loop vars for clarity and typing. |
| demo_nodes_py/demo_nodes_py/logging/use_logger_service.py | Adds shebang and type annotations; adds a couple targeted mypy ignores for generated message fields. |
| demo_nodes_py/demo_nodes_py/events/matched_event_detect.py | Replaces ... lambdas with None returns and adds typing for callbacks/future helpers. |
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| def test_mypy() -> None: | ||
| rc = main() |
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…des_py (ros2#767) Resolves ros2#767 by enabling strict type checking. Key Changes: - Added strict annotations and return types to 14+ modules to pass mypy --strict. - Corrected a functional error in matched_event_detect.py where ROS message types were used as type annotations for topic names. - Added test/test_mypy.py and updated package.xml for ament_mypy support. - Ensured node scripts maintain correct #!/usr/bin/env python3 shebangs and LF line endings. Signed-off-by: Jonathan Setiawan <jonathanrustam2@gmail.com>
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fujitatomoya
requested changes
Mar 17, 2026
InvincibleRMC
requested changes
Mar 17, 2026
demo_nodes_py/demo_nodes_py/services/add_two_ints_client_async.py
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Signed-off-by: Jonathan Setiawan <jonathanrustam2@gmail.com>
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@fujitatomoya @InvincibleRMC |
ahcorde
approved these changes
Mar 18, 2026
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Pulls: #780
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InvincibleRMC
requested changes
Mar 18, 2026
Signed-off-by: Jonathan Setiawan <jonathanrustam2@gmail.com>
Signed-off-by: Jonathan Setiawan <jonathanrustam2@gmail.com>
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Added test_mypy.py file and resolved all regressions.
Fixes #767