Mypy nav2 bringup

.github/workflows/lint.yml

@@ -30,6 +30,7 @@ jobs:
         mypy_packages:
           - "nav2_smac_planner"
           - "nav2_common"
+          - "nav2_bringup"
     steps:
     - uses: actions/checkout@v4
 

nav2_bringup/launch/bringup_launch.py

@@ -26,7 +26,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+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')

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -49,7 +49,7 @@ def count_robots(context: LaunchContext) -> list[LogInfo]:
     return [LogInfo(msg=[log_msg])]
 
 
-def generate_robot_actions(name: str = '', pose: dict = {}) -> list[GroupAction]:
+def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[GroupAction]:
     """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')
@@ -104,7 +104,7 @@ def generate_robot_actions(name: str = '', pose: dict = {}) -> list[GroupAction]
     return [group]
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     """
     Bring up the multi-robots with given launch arguments.
 

nav2_bringup/launch/localization_launch.py

@@ -25,7 +25,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
 

nav2_bringup/launch/navigation_launch.py

@@ -24,7 +24,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
 

nav2_bringup/launch/rviz_launch.py

@@ -23,7 +23,7 @@
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
 

nav2_bringup/launch/slam_launch.py

@@ -25,7 +25,7 @@
 from nav2_common.launch import HasNodeParams, RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Input parameters declaration
     namespace = LaunchConfiguration('namespace')
     params_file = LaunchConfiguration('params_file')

nav2_bringup/launch/tb3_loopback_simulation_launch.py

@@ -27,7 +27,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     loopback_sim_dir = get_package_share_directory('nav2_loopback_sim')

nav2_bringup/launch/tb3_simulation_launch.py

@@ -28,7 +28,7 @@
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
+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')

nav2_bringup/launch/tb4_loopback_simulation_launch.py

@@ -27,7 +27,7 @@
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     loopback_sim_dir = get_package_share_directory('nav2_loopback_sim')

nav2_bringup/launch/tb4_simulation_launch.py

@@ -28,7 +28,7 @@
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
+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')

nav2_bringup/launch/unique_multi_tb3_simulation_launch.py

@@ -35,7 +35,7 @@
 from launch.substitutions import LaunchConfiguration, TextSubstitution
 
 
-def generate_launch_description():
+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')

tools/pyproject.toml

@@ -22,6 +22,8 @@ module = [
     "matplotlib.*",
     "rtree.*",
     "launch.*",
+    "ament_index_python.*",
+    "nav2_common.*",
 ]
 
 ignore_missing_imports = true