Improve type annotations for ament_mypy by leander-dsouza · Pull Request #5575 · ros-navigation/navigation2

leander-dsouza · 2025-10-02T12:34:17Z

Basic Info

Info	Please fill out this column
Ticket(s) this relates	#5565
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI-generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

Fix incorrect methods and static definitions.
Drop transform3d and graphviz from mypy ignored packages from warnings generated in the logs.

Description of documentation updates required from your changes

N/A

Description of how this change was tested

Performed linting validation using pre-commit run --all

Future work that may be required in bullet points

I do not think we should remove the --strict flag or the ament_mypy linting yet. As it catches genuine wrong static definitions that were inserted earlier.

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

codecov · 2025-10-02T13:09:48Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
see 3 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

SteveMacenski · 2025-10-02T17:36:51Z

                Twist,
                'cmd_vel', self.cmdVelCallback, 10)
        else:
-            self.cmd_vel_sub = self.create_subscription(


It is because the same variable is used as a redefinition. Therefore, mypy expects a Twist definition instead of TwistStamped

$ ament_mypy --config tools/pyproject.toml nav2_loopback_sim nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py:131:17: error: Argument 1 to "create_subscription" of "Node" has incompatible type "type[TwistStamped]"; expected "type[Twist]" [arg-type]

This supports both - can we make the type a union?

I have renamed the variable as a Union - self.cmd_vel_sub: Union[Subscription[Twist], Subscription[TwistStamped]].

SteveMacenski · 2025-10-02T17:37:18Z



 def transformStampedToMatrix(transform: Transform) -> np.ndarray[np.float64, np.dtype[np.float64]]:
-    translation = transform.transform.translation


I believe this is correct https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TransformStamped.html

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

Rename the function then so it is accurate to type?

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

The GitHub UI in this comment does not seem to show this change.
This change can be seen in the Files Tab section.

SteveMacenski · 2025-10-02T17:38:07Z

        y1 = 0.0

-        x0, y0 = self.worldToMapValidated(footprint.points[0].x, footprint.points[0].y)
+        footprint_points = cast(list[Point32], footprint.points)


Can we handle this better in the actual worldToMapValidated method?

I have dropped all the cast-related fixes in this PR, as this does not seem necessary.

The CI seems to now pass without any changes to the ament_mypy configuration.
There is a significant disconnect when I use the devcontainer image when running the ament_mypy linting fixes vs testing in CI using ros-tooling/action-ros-lint.

SteveMacenski · 2025-10-02T17:40:08Z

        if not self.goal_handle or not self.goal_handle.accepted:
            self.error('Get path was rejected!')
-            self.status = GoalStatus.UNKNOWN
+            self.status = GoalStatus.STATUS_UNKNOWN


? I think it is unknown

I have compared the message definition to the following documentation page, and it suggests using STATUS_UNKNOWN.

SteveMacenski · 2025-10-02T17:40:51Z

        ] = ActionClient(self, NavigateThroughPoses, 'navigate_through_poses')

-        self.controller_param_cli: Client[SetParameters.Request, SetParameters.Response] = \
+        self.controller_param_cli: Client[SetParameters_Request, SetParameters_Response] = \


Why change to this _ format from . format in so many places?

I have dropped this service change as well.

This is again due to the disconnect between running ament_mypy locally vs running it in CI.

SteveMacenski · 2025-10-02T17:41:53Z

Overall I'm surprised by the number of functional changes that have been made in this PR. Are these verifiable errors? Do those demos simply not work?

Signed-off-by: Leander Stephen D'Souza <[email protected]>

leander-dsouza · 2025-10-03T10:44:35Z

Overall I'm surprised by the number of functional changes that have been made in this PR. Are these verifiable errors? Do those demos simply not work?

There seems to be something weird going on with ament_mypy CI, as it momentarily failed yesterday without any changes to main, and it fixed itself hours later.

I am not sure if my environment is broken, but there is a significant mismatch in what the CI reports versus the local pre-commit testing with the ament linters.

In this PR, I have mainly focused on porting over significant inaccuracies from the errors I see in my local environment.
You can verify the mismatch by simply running pre-commit run --all in your workspace.

SteveMacenski · 2025-10-03T14:59:57Z

    pose = PoseStamped()
-    pose.pose.position.x = pt.x
-    pose.pose.position.y = pt.y
+    pose.pose.position.x = pt.position.x


Pose has a field position

The functional parameter was incorrectly declared and is now renamed as pt: Point.

SteveMacenski · 2025-10-03T15:00:51Z



 def transformStampedToMatrix(transform: Transform) -> np.ndarray[np.float64, np.dtype[np.float64]]:
-    translation = transform.transform.translation


Rename the function then so it is accurate to type?

SteveMacenski · 2025-10-03T15:01:09Z

                Twist,
                'cmd_vel', self.cmdVelCallback, 10)
        else:
-            self.cmd_vel_sub = self.create_subscription(


This supports both - can we make the type a union?

Signed-off-by: Leander Stephen D'Souza <[email protected]>

leander-dsouza · 2025-10-06T10:31:06Z

I have added a new commit to the PR, fixing some incorrect paths from nav2_msgs.
This is motivated by some of the fixes done in #5565.

I would like to request @ajtudela for a short review in hopes that it may fix the ament_mypy CI issues in his PR.

ajtudela · 2025-10-06T11:09:49Z

I have added a new commit to the PR, fixing some incorrect paths from nav2_msgs. This is motivated by some of the fixes done in #5565.

I would like to request @ajtudela for a short review in hopes that it may fix the ament_mypy CI issues in his PR.

LGTM. I have similar changes in the Following PR.

For example, this doesnt pass the mypy pre-commit:

client: Client[GetState.Request, GetState.Response] = \
self.node.create_client(GetState, f'{node_name}/get_state')

I have to add this comment:

client: Client[GetState.Request, GetState.Response] = (  # type: ignore[name-defined]
self.node.create_client(GetState, f'{node_name}/get_state')  # type: ignore[arg-type]

But with the comments, it didn't pass the mypy in the CI.

leander-dsouza · 2025-10-06T11:39:45Z

LGTM. I have similar changes in the Following PR.

Thank you for the initial review :)

For example, this doesnt pass the mypy pre-commit:
But with the comments, it didn't pass the mypy in the CI.

There seems to be a disconnect in running ament_mypy locally, and separately in the CI, hence the CI does not need these ignored comments.

That is why the CircleCI builds show the unused-ignore error messages.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

ajtudela · 2025-10-06T19:17:07Z

LGTM. I have similar changes in the Following PR.

Thank you for the initial review :)

For example, this doesnt pass the mypy pre-commit:
But with the comments, it didn't pass the mypy in the CI.

There seems to be a disconnect in running ament_mypy locally, and separately in the CI, hence the CI does not need these ignored comments.

That is why the CircleCI builds show the unused-ignore error messages.

I'm unable to pass the precommit stage if those comments aren't included.

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Greg Anderson <[email protected]>

Squashed commit of the following: commit bf2e64c Author: Greg Anderson <[email protected]> Date: Tue Oct 21 14:41:42 2025 -0500 Add declaration for use_global_height parameter into add sources function. Signed-off-by: Greg Anderson <[email protected]> commit 8453632 Author: Greg Anderson <[email protected]> Date: Tue Oct 21 08:28:19 2025 -0500 Adjusted asserts in third test case for consistent results. Signed-off-by: Greg Anderson <[email protected]> commit 725f054 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 21:04:51 2025 -0500 Add additional case for testing pointcloud with no height field. Signed-off-by: Greg Anderson <[email protected]> commit 2bb49aa Merge: b02713a cdccfe1 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 18:01:24 2025 -0500 Merge branch 'main' into feat/CustomCollisionPointFields Signed-off-by: Greg Anderson <[email protected]> commit b02713a Author: Greg Anderson <[email protected]> Date: Mon Oct 20 17:53:36 2025 -0500 Cleaned up some un-needed parameter changes. commit 21eef62 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 17:49:16 2025 -0500 Added test case for using global height parameter. commit cdccfe1 Author: Sushant Chavan <[email protected]> Date: Mon Oct 20 23:49:25 2025 +0200 Publish `is_active` status from LifecycleManager (ros-navigation#5627) * Publish `is_active` status from LifecycleManager Signed-off-by: Sushant Chavan <[email protected]> * Update nav2_lifecycle_manager/src/lifecycle_manager.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Sushant Chavan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit b35a4b5 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 20 22:04:17 2025 +0100 Use the new declare_or_get_parameter API for nav2_controller. (ros-navigation#5624) * Migrate majority of parameter declarations to use the new parameter API. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Migrate controller_server.cpp to use declare_or_get_parameter API. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 62ebc54 Author: Steve Macenski <[email protected]> Date: Thu Oct 16 07:59:10 2025 -0700 Revert "[RPP] Prevent collision check premature termination (ros-navigation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. commit 01580bd Author: mini-1235 <[email protected]> Date: Thu Oct 16 02:02:29 2025 +0700 Redesign graceful controller dynamic parameters patterns (ros-navigation#5600) Signed-off-by: mini-1235 <[email protected]> commit b91eda5 Author: Abhishekh Reddy <[email protected]> Date: Tue Oct 14 14:47:14 2025 -0400 Check if the tolerance circle is feasible when validating goals for path planning. (ros-navigation#5593) * Implemented goal tolerance validity check Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed description for getCoords function Signed-off-by: Abhishekh Reddy <[email protected]> * Added a test with lower tolerance for zone validity checking Signed-off-by: Abhishekh Reddy <[email protected]> * Updated tolerance check function implementation Signed-off-by: Abhishekh Reddy <[email protected]> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <[email protected]> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> commit 48e7e06 Author: Jay Herpin <[email protected]> Date: Tue Oct 14 12:45:59 2025 -0500 Fixed crash due to incorrect string construction (ros-navigation#5606) Signed-off-by: Jay Herpin <[email protected]> commit 7d37466 Author: Leander Stephen D'Souza <[email protected]> Date: Tue Oct 14 15:50:30 2025 +0100 Use the new parameter API in nav2_constrained_smoother. (ros-navigation#5608) Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 3935038 Author: Steve Macenski <[email protected]> Date: Tue Oct 14 07:48:32 2025 -0700 Fixing CI Cache Misalignment causing builds to fail (ros-navigation#5607) * Aligning caches Signed-off-by: SteveMacenski <[email protected]> * Trigger linting (hopefully) Signed-off-by: SteveMacenski <[email protected]> * Fix action-ros-lint version format in lint.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> commit 568174c Author: Leander Stephen D'Souza <[email protected]> Date: Tue Oct 14 01:41:25 2025 +0100 Update new_declare_or_get_parameter API for collision_monitor and map_server (ros-navigation#5588) * Use the new_declare_or_get_parameter API for nav2_collision_monitor. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed redundant set_parameter calls when preceeded by declare_parameter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Use declare_or_get_parameter without a default value. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Simplified definitions that required to determine parameter type from template. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed self-definition of node_utils.hpp. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Address PR feedback: Remove unnecessary linebreaks and improve param docstring. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 6bc74e5 Author: Érico Meger <[email protected]> Date: Mon Oct 13 19:17:23 2025 -0300 [RPP] Prevent collision check premature termination (ros-navigation#5598) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit 4d28c13 Author: silanus <[email protected]> Date: Fri Oct 10 20:42:45 2025 +0300 Path distance feature (ros-navigation#5387) * geometry utils Signed-off-by: silanus23 <[email protected]> * fixed geometry utils adding 2d Signed-off-by: silanus23 <[email protected]> * created path_utils Signed-off-by: silanus23 <[email protected]> * added tests Signed-off-by: silanus23 <[email protected]> * minor changes in tests Signed-off-by: silanus23 <[email protected]> * lint issue Signed-off-by: silanus23 <[email protected]> * fixed reviews Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * Last fixes. Signed-off-by: silanus23 <[email protected]> * Last fixes cpp. Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Update nav2_util/test/test_path_utils.cpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Frame check fix Signed-off-by: silanus23 <[email protected]> * msg Signed-off-by: silanus23 <[email protected]> * controller server publisher Signed-off-by: silanus23 <[email protected]> * controller server publisher fix Signed-off-by: silanus23 <[email protected]> * cross_product Signed-off-by: silanus23 <[email protected]> * handled last_fixes Signed-off-by: silanus23 <[email protected]> * tracking error added to follow path side from side added to tracking error Signed-off-by: silanus23 <[email protected]> * arranged msgs Signed-off-by: silanus23 <[email protected]> * linting of msgs Signed-off-by: silanus23 <[email protected]> * last cpplint Signed-off-by: silanus23 <[email protected]> * frame check for distance_to_goal Signed-off-by: silanus23 <[email protected]> * fixes for follow_path Signed-off-by: silanus23 <[email protected]> * controller linting Signed-off-by: silanus23 <[email protected]> * changing tracking_error to tracking_error_feedback Signed-off-by: silanus23 <[email protected]> * adding remaining_path_length in tracking_error_feedback Signed-off-by: silanus23 <[email protected]> * Last fix Signed-off-by: silanus23 <[email protected]> * start_index_ Signed-off-by: silanus23 <[email protected]> * Name changes and optimizations in controller_server and nav2_util Signed-off-by: silanus23 <[email protected]> * Changing name to tracking_feedback Signed-off-by: silanus23 <[email protected]> * Documentation changes Signed-off-by: silanus23 <[email protected]> * Last lint Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Last updates Signed-off-by: silanus23 <[email protected]> * update example_follow_path.py Signed-off-by: silanus23 <[email protected]> * update example_follow_path.py lint Signed-off-by: silanus23 <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/src/path_utils.cpp Signed-off-by: Steve Macenski <[email protected]> * ordering problem Signed-off-by: silanus23 <[email protected]> * added deactivate to tracking_feedback_pub_ Signed-off-by: silanus23 <[email protected]> * typo Signed-off-by: silanus23 <[email protected]> * end_pose transform Signed-off-by: silanus23 <[email protected]> * creating the member variable end_pose_global_ and deleting nav_2d_msgs Signed-off-by: silanus23 <[email protected]> * deleting unnecessary transform Signed-off-by: silanus23 <[email protected]> * typo in controller Signed-off-by: silanus23 <[email protected]> * readding remaining path Signed-off-by: silanus23 <[email protected]> * placement of transformation Signed-off-by: silanus23 <[email protected]> * unnecessary comments Signed-off-by: silanus23 <[email protected]> * tests added Signed-off-by: silanus23 <[email protected]> * Increased test coverage Signed-off-by: silanus23 <[email protected]> * Every part of the result is covered Signed-off-by: silanus23 <[email protected]> * Increasing out of bounds index Signed-off-by: silanus23 <[email protected]> * lint Signed-off-by: silanus23 <[email protected]> * add missing line to cmake Signed-off-by: silanus23 <[email protected]> * unnecessary test Signed-off-by: silanus23 <[email protected]> * unexptected styling and last functional change Signed-off-by: silanus23 <[email protected]> * simplifying the tranformation of end_pose Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: silanus23 <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit 04a3e22 Author: Steve Macenski <[email protected]> Date: Fri Oct 10 10:09:08 2025 -0700 Improve error message for missing robot footprint (ros-navigation#5597) Updated error message for footprint collision checking. Signed-off-by: Steve Macenski <[email protected]> commit ce6b439 Author: Alberto Tudela <[email protected]> Date: Fri Oct 10 00:12:57 2025 +0200 Following (ros-navigation#5565) * Following server Signed-off-by: Alberto Tudela <[email protected]> * feat: migrate to nav2_msgs for FollowObject action and remove opennav_following_msgs Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy test Signed-off-by: Alberto Tudela <[email protected]> * Move FollowObject and FollowObjectCancel action nodes from bt package Signed-off-by: Alberto Tudela <[email protected]> * Update package and circle Signed-off-by: Alberto Tudela <[email protected]> * feat: add FollowObject action support in robot navigator and fix mypy Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy issues Signed-off-by: Alberto Tudela <[email protected]> * feat: add follow_object action to bt_navigator parameters Signed-off-by: Alberto Tudela <[email protected]> * Update key and package Signed-off-by: Alberto Tudela <[email protected]> * Fix precommit Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy? Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy, round two Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> commit ed0d59f Author: Sakshay Mahna <[email protected]> Date: Thu Oct 9 03:39:30 2025 +0530 [Graceful Controller] Fix Incorrect Motion Target Heading output by controller (ros-navigation#5530) * Fix graceful controller lookahead bug Signed-off-by: Sakshay Mahna <[email protected]> * Shorten logic with goal_pose Signed-off-by: Sakshay Mahna <[email protected]> * Add Linear Interpolation Fix Signed-off-by: Sakshay Mahna <[email protected]> * Update const double and comments Signed-off-by: Sakshay Mahna <[email protected]> --------- Signed-off-by: Sakshay Mahna <[email protected]> commit 14660b4 Author: Vince Reda <[email protected]> Date: Wed Oct 8 17:14:57 2025 +0000 Fail PersistentSequence if input port is not set (ros-navigation#5589) * Fail if getInput fails Signed-off-by: redvinaa <[email protected]> * Add test with no input Signed-off-by: redvinaa <[email protected]> * Update error string Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Vince Reda <[email protected]> * Fix quotation marks Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Vince Reda <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit aa2cdc5 Author: Greg Anderson <[email protected]> Date: Wed Oct 8 10:43:14 2025 -0500 Apply suggestions from code review Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Greg Anderson <[email protected]> commit 5636fc1 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 15:37:13 2025 -0500 Implementing Steve's suggestion for performance and code simplicity. Signed-off-by: Greg Anderson <[email protected]> commit b2fbb06 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:59:46 2025 -0500 Implemented additional changes for iterator feedback in PR. Signed-off-by: Greg Anderson <[email protected]> commit 1cdbc05 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:12:31 2025 -0500 Add return false for error state. Signed-off-by: Greg Anderson <[email protected]> commit 869b5a9 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:10:03 2025 -0500 Address PR formatting feedback. Remove run time error and replaced with log error. Signed-off-by: Greg Anderson <[email protected]> commit 11f04c7 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 10:55:18 2025 -0500 Added some pointcloud field checking based on run time error found when running tests. Signed-off-by: Greg Anderson <[email protected]> commit ca49b05 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 08:22:05 2025 -0500 Ran ament lint/style tools, cleaned up. Signed-off-by: Greg Anderson <[email protected]> commit 7e6ccc9 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 08:08:01 2025 -0500 Add use_global_height_ parameter to allow configuration of height checking by end users. Signed-off-by: Greg Anderson <[email protected]> commit 0c20df2 Author: DylanDeCoeyer-Quimesis <[email protected]> Date: Mon Oct 6 22:29:17 2025 +0200 nav2_smac_planner: make A* return closest path found in case of timeout (ros-navigation#5578) Until now, a path computation timeout would systematically lead to a nav2_core::PlannerTimedOut error, even though a path was found within the tolerance. This commit makes the A* return the best path found if it's within the tolerance. Signed-off-by: Dylan De Coeyer <[email protected]> commit f78bac5 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 6 20:16:30 2025 +0100 Use the new declare_or_get_parameter API for nav2_behaviors. (ros-navigation#5583) Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 269d480 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 6 20:13:52 2025 +0100 Improve type annotations for ament_mypy (ros-navigation#5575) * Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 5860a27 Author: Greg Anderson <[email protected]> Date: Mon Oct 6 12:41:04 2025 -0500 Create iterator for custom height field in pointcloud. Signed-off-by: Greg Anderson <[email protected]> Signed-off-by: Greg Anderson <[email protected]>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Greg Anderson <[email protected]>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Decwest <[email protected]>

leander-dsouza marked this pull request as ready for review October 2, 2025 13:10

SteveMacenski reviewed Oct 2, 2025

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leander-dsouza added 3 commits October 3, 2025 09:10

Enable tools directory to be mypy compliant.

ddaf668

Signed-off-by: Leander Stephen D'Souza <[email protected]>

Enable nav2_system_tests to be mypy compliant.

6637555

Signed-off-by: Leander Stephen D'Souza <[email protected]>

Enable nav2_docking to be mypy compliant.

d0743e2

Signed-off-by: Leander Stephen D'Souza <[email protected]>

leander-dsouza force-pushed the ament-mypy-fixes branch from 700d694 to 972e26e Compare October 3, 2025 09:51

leander-dsouza marked this pull request as draft October 3, 2025 09:52

leander-dsouza changed the title ~~Fix the ament_mypy workflow~~ Improve type annotations for ament_mypy Oct 3, 2025

leander-dsouza marked this pull request as ready for review October 3, 2025 10:30

leander-dsouza requested a review from SteveMacenski October 3, 2025 10:44

SteveMacenski requested changes Oct 3, 2025

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leander-dsouza added 3 commits October 6, 2025 06:38

Enable nav2_simple_commander to be mypy compliant.

72a2d87

Signed-off-by: Leander Stephen D'Souza <[email protected]>

Enable nav2_loopback_sim to be mypy compliant.

499fef6

Signed-off-by: Leander Stephen D'Souza <[email protected]>

Removed unused ignores for packages for mypy compliance.

0c53bb5

Signed-off-by: Leander Stephen D'Souza <[email protected]>

leander-dsouza force-pushed the ament-mypy-fixes branch from 45f9292 to 0c53bb5 Compare October 6, 2025 06:39

leander-dsouza requested a review from SteveMacenski October 6, 2025 07:00

leander-dsouza force-pushed the ament-mypy-fixes branch 2 times, most recently from 043f242 to b4d41fd Compare October 6, 2025 11:31

Added nav2_msgs path fixes to mypy compliance.

6ba5ab7

Signed-off-by: Leander Stephen D'Souza <[email protected]>

leander-dsouza force-pushed the ament-mypy-fixes branch from b4d41fd to 6ba5ab7 Compare October 6, 2025 12:04

SteveMacenski approved these changes Oct 6, 2025

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SteveMacenski merged commit 269d480 into ros-navigation:main Oct 6, 2025
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mini-1235 mentioned this pull request Dec 25, 2025

Backport custom height point field into Kilted #5818

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mini-1235 mentioned this pull request Jan 31, 2026

Fix mypy and switch to precommit hooks #5837

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		def transformStampedToMatrix(transform: Transform) -> np.ndarray[np.float64, np.dtype[np.float64]]:
		translation = transform.transform.translation

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