Fix ament mypy (#5322)

* Configured nav2_common to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_bringup to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_costmap_2d to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_docking to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_lifecycle_manager to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_map_server to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_simple_commander to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Configured nav2_system_tests to be compatible with ament_mypy.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

---------

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Author: leander-dsouza

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -17,9 +17,10 @@
 import os
 from pathlib import Path
 import tempfile
+from typing import Optional
 
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
+from launch import LaunchDescription, LaunchDescriptionEntity
 from launch.actions import (AppendEnvironmentVariable, DeclareLaunchArgument, ExecuteProcess,
                             ForEach, GroupAction, IncludeLaunchDescription, LogInfo,
                             OpaqueFunction, RegisterEventHandler)
@@ -50,7 +51,9 @@ def count_robots(context: LaunchContext) -> list[LogInfo]:
     return [LogInfo(msg=[log_msg])]
 
 
-def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[GroupAction]:
+def generate_robot_actions(
+        name: str = '', pose: dict[str, float] = {}) -> \
+            Optional[list[LaunchDescriptionEntity]]:
     """Generate the actions to launch a robot with the given name and pose."""
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')

nav2_bringup/launch/tb3_loopback_simulation_launch.py

@@ -125,11 +125,11 @@ def generate_launch_description() -> LaunchDescription:
     rviz_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
         condition=IfCondition(use_rviz),
-        launch_arguments={
-            'namespace': namespace,
-            'use_sim_time': 'True',
-            'rviz_config': rviz_config_file,
-        }.items(),
+        launch_arguments=[
+            ('namespace', namespace),
+            ('use_sim_time', 'True'),
+            ('rviz_config', rviz_config_file),
+        ],
     )
 
     bringup_cmd = IncludeLaunchDescription(

nav2_bringup/launch/tb4_loopback_simulation_launch.py

@@ -123,11 +123,11 @@ def generate_launch_description() -> LaunchDescription:
     rviz_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
         condition=IfCondition(use_rviz),
-        launch_arguments={
-            'namespace': namespace,
-            'use_sim_time': 'True',
-            'rviz_config': rviz_config_file,
-        }.items(),
+        launch_arguments=[
+            ('namespace', namespace),
+            ('use_sim_time', 'True'),
+            ('rviz_config', rviz_config_file),
+        ],
     )
 
     bringup_cmd = IncludeLaunchDescription(
@@ -148,10 +148,10 @@ def generate_launch_description() -> LaunchDescription:
     loopback_sim_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(loopback_sim_dir, 'loopback_simulation.launch.py')),
-        launch_arguments={
-            'params_file': params_file,
-            'scan_frame_id': 'rplidar_link',
-        }.items(),
+        launch_arguments=[
+            ('params_file', params_file),
+            ('scan_frame_id', 'rplidar_link'),
+        ],
     )
 
     static_publisher_cmd = Node(

nav2_bringup/launch/unique_multi_tb3_simulation_launch.py

@@ -23,6 +23,7 @@
 import os
 from pathlib import Path
 import tempfile
+from typing import TypedDict
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
@@ -36,14 +37,26 @@
 from nav2_common.launch import LaunchConfigAsBool
 
 
+class RobotConfig(TypedDict):
+    """TypedDict for robot configuration."""
+
+    name: str
+    x_pose: float
+    y_pose: float
+    z_pose: float
+    roll: float
+    pitch: float
+    yaw: float
+
+
 def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
 
     # Names and poses of the robots
-    robots = [
+    robots: list[RobotConfig] = [
         {
             'name': 'robot1',
             'x_pose': 0.0,

nav2_common/nav2_common/launch/has_node_params.py

@@ -16,7 +16,7 @@
 import yaml
 
 
-class HasNodeParams(launch.Substitution):  # type: ignore[misc]
+class HasNodeParams(launch.Substitution):
     """
     Substitution that checks if a param file contains parameters for a node.
 

nav2_common/nav2_common/launch/launch_config_as_bool.py

@@ -18,7 +18,7 @@
 from launch.utilities import perform_substitutions
 
 
-class LaunchConfigAsBool(launch.Substitution):  # type: ignore[misc]
+class LaunchConfigAsBool(launch.Substitution):
     """
     Converts a LaunchConfiguration value into a normalized boolean string: 'true' or 'false'.
 

nav2_common/nav2_common/launch/replace_string.py

@@ -13,12 +13,12 @@
 # limitations under the License.
 
 import tempfile
-from typing import Optional
+from typing import IO, Optional
 
 import launch
 
 
-class ReplaceString(launch.Substitution):  # type: ignore[misc]
+class ReplaceString(launch.Substitution):
     """
     Substitution that replaces strings on a given file.
 
@@ -87,8 +87,8 @@ def resolve_replacements(self, context: launch.LaunchContext) -> dict[str, str]:
             )
         return resolved_replacements
 
-    def replace(self, input_file: launch.SomeSubstitutionsType,
-                output_file: launch.SomeSubstitutionsType, replacements: dict[str, str]) -> None:
+    def replace(self, input_file: IO[str], output_file: IO[str],
+                replacements: dict[str, str]) -> None:
         for line in input_file:
             for key, value in replacements.items():
                 if isinstance(key, str) and isinstance(value, str):

nav2_common/nav2_common/launch/rewritten_yaml.py

@@ -35,7 +35,7 @@ def setValue(self, value: YamlValue) -> None:
         self.dictionary[self.dictKey] = value
 
 
-class RewrittenYaml(launch.Substitution):  # type: ignore[misc]
+class RewrittenYaml(launch.Substitution):
     """
     Substitution that modifies the given YAML file.
 

nav2_costmap_2d/test/integration/costmap_tests_launch.py

@@ -24,11 +24,11 @@
 from launch_testing.legacy import LaunchTestService
 
 
-def main(argv: list[str] = sys.argv[1:]) -> LaunchTestService:
+def main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
     launchFile = os.path.join(
         os.getenv('TEST_LAUNCH_DIR', ''), 'costmap_map_server.launch.py'
     )
-    testExecutable = os.getenv('TEST_EXECUTABLE')
+    testExecutable = os.getenv('TEST_EXECUTABLE', '')
 
     map_to_odom = launch_ros.actions.Node(
         package='tf2_ros',
@@ -86,11 +86,11 @@ def main(argv: list[str] = sys.argv[1:]) -> LaunchTestService:
         output='screen'
     )
 
-    lts = LaunchTestService()
-    lts.add_test_action(ld, test1_action)
+    lts = LaunchTestService()  # type: ignore[no-untyped-call]
+    lts.add_test_action(ld, test1_action)  # type: ignore[no-untyped-call]
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
-    return lts.run(ls)
+    return lts.run(ls)  # type: ignore[no-untyped-call]
 
 
 if __name__ == '__main__':

nav2_docking/opennav_docking/test/test_docking_server.py

@@ -98,7 +98,7 @@ def generate_test_description() -> LaunchDescription:
             parameters=[{'autostart': True},
                         {'node_names': ['docking_server']}]
         ),
-        launch_testing.actions.ReadyToTest(),
+        launch_testing.actions.ReadyToTest(),  # type: ignore[no-untyped-call]
     ])
 
 
@@ -345,9 +345,9 @@ def test_docking_server(self) -> None:
             self.assertTrue(self.action_result[3].result.success)
 
 
-@launch_testing.post_shutdown_test()
+@launch_testing.post_shutdown_test()  # type: ignore[no-untyped-call]
 class TestProcessOutput(unittest.TestCase):
 
     def test_exit_code(self, proc_info: launch_testing.ProcInfoHandler) -> None:
         # Check that all processes in the launch exit with code 0
-        launch_testing.asserts.assertExitCodes(proc_info)
+        launch_testing.asserts.assertExitCodes(proc_info)  # type: ignore[no-untyped-call]