Configured mypy strict for nav2_smac_planner

.github/workflows/lint.yml

@@ -25,10 +25,19 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      matrix:
+        mypy_packages:
+          - "nav2_smac_planner"
     steps:
     - uses: actions/checkout@v4
+
+    - name: Install typeshed
+      run: sudo apt update && sudo apt install -y python3-typeshed
+
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         linter: mypy
         distribution: rolling
-        package-name: "nav2_smac_planner"
+        package-name: "${{ join(matrix.mypy_packages, ' ') }}"
+        arguments: --config tools/pyproject.toml

nav2_common/package.xml

@@ -12,6 +12,7 @@
   <depend>osrf_pycommon</depend>
   <depend>rclpy</depend>
   <depend>python3-yaml</depend>
+  <depend>python3-types-pyyaml</depend>
 
   <buildtool_depend>ament_cmake_core</buildtool_depend>
 

nav2_smac_planner/lattice_primitives/generate_motion_primitives.py

@@ -20,11 +20,11 @@
 import time
 from typing import Any, cast, Dict, List, TypedDict
 
-import constants
-from lattice_generator import ConfigDict, LatticeGenerator
 import matplotlib.pyplot as plt
+from nav2_smac_planner.lattice_primitives import constants
+from nav2_smac_planner.lattice_primitives.lattice_generator import ConfigDict, LatticeGenerator
+from nav2_smac_planner.lattice_primitives.trajectory import Trajectory
 import numpy as np
-from trajectory import Trajectory
 
 logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)

nav2_smac_planner/lattice_primitives/lattice_generator.py

@@ -16,14 +16,13 @@
 from enum import Enum
 from typing import Any, Dict, List, Tuple, TypedDict
 
-from helper import angle_difference, interpolate_yaws
+from nav2_smac_planner.lattice_primitives.helper import angle_difference, interpolate_yaws
+from nav2_smac_planner.lattice_primitives.trajectory import (AnyFloat, FloatNDArray, Path,
+                                                             Trajectory, TrajectoryParameters)
+from nav2_smac_planner.lattice_primitives.trajectory_generator import TrajectoryGenerator
 import numpy as np
 from rtree import index
 
-from trajectory import AnyFloat, FloatNDArray, Path, Trajectory, TrajectoryParameters
-
-from trajectory_generator import TrajectoryGenerator
-
 
 class ConfigDict(TypedDict):
     grid_resolution: float

nav2_smac_planner/lattice_primitives/tests/test_lattice_generator.py

@@ -14,7 +14,7 @@
 
 import unittest
 
-from lattice_generator import ConfigDict, LatticeGenerator
+from nav2_smac_planner.lattice_primitives.lattice_generator import ConfigDict, LatticeGenerator
 import numpy as np
 
 MOTION_MODEL = 'ackermann'

nav2_smac_planner/lattice_primitives/tests/test_trajectory_generator.py

@@ -15,9 +15,10 @@
 from typing import cast
 import unittest
 
+from nav2_smac_planner.lattice_primitives.trajectory import Trajectory
+from nav2_smac_planner.lattice_primitives.trajectory_generator import (
+    TrajectoryGenerator, TrajectoryGeneratorConfigDict)
 import numpy as np
-from trajectory import Trajectory
-from trajectory_generator import TrajectoryGenerator, TrajectoryGeneratorConfigDict
 
 TURNING_RADIUS = 1
 STEP_DISTANCE = 0.1

nav2_smac_planner/lattice_primitives/trajectory.py

@@ -15,7 +15,7 @@
 from dataclasses import dataclass
 from typing import Any, Union
 
-from helper import angle_difference, normalize_angle
+from nav2_smac_planner.lattice_primitives.helper import angle_difference, normalize_angle
 import numpy as np
 from numpy.typing import NDArray
 
@@ -61,9 +61,10 @@ class TrajectoryParameters:
     @property
     def arc_length(self) -> TrajectoryFloat:
         """Arc length of the trajectory."""
-        return self.turning_radius * angle_difference(
+        result: TrajectoryFloat = self.turning_radius * angle_difference(
             self.start_angle, self.end_angle, self.left_turn
         )
+        return result
 
     @property
     def start_straight_length(self) -> AnyFloat:

nav2_smac_planner/lattice_primitives/trajectory_generator.py

@@ -15,10 +15,10 @@
 import logging
 from typing import Any, List, Tuple, TypedDict, Union
 
+from nav2_smac_planner.lattice_primitives.trajectory import (FloatNDArray, Path, Trajectory,
+                                                             TrajectoryFloat, TrajectoryParameters)
 import numpy as np
 
-from trajectory import FloatNDArray, Path, Trajectory, TrajectoryFloat, TrajectoryParameters
-
 logger = logging.getLogger(__name__)
 
 

tools/pyproject.toml

@@ -12,3 +12,11 @@ write-changes = false
 profile = "google"
 force_single_line = false
 line_length = 99
+
+[tool.mypy]
+explicit_package_bases = true
+strict = true
+
+[[tool.mypy.overrides]]
+module = ["matplotlib.*", "rtree.*"]
+ignore_missing_imports = true