Improve type annotations for ament_mypy #5575

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

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SteveMacenski · 2025-10-02T17:36:51Z

nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py

                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

nav2_loopback_sim/nav2_loopback_sim/utils.py



 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

nav2_simple_commander/nav2_simple_commander/footprint_collision_checker.py

        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

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

        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

nav2_system_tests/src/system/nav_through_poses_tester_error_msg_node.py

        ] = 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 <leanderdsouza1234@gmail.com>

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

nav2_simple_commander/nav2_simple_commander/example_route.py

    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

nav2_loopback_sim/nav2_loopback_sim/utils.py



 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

nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py

                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 <leanderdsouza1234@gmail.com>

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 <leanderdsouza1234@gmail.com>

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 <leanderdsouza1234@gmail.com> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com>

Squashed commit of the following: commit bf2e64c Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> 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 <107634795+greganderson-vermeer@users.noreply.github.com> commit 8453632 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Tue Oct 21 08:28:19 2025 -0500 Adjusted asserts in third test case for consistent results. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit 725f054 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Mon Oct 20 21:04:51 2025 -0500 Add additional case for testing pointcloud with no height field. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit 2bb49aa Merge: b02713a cdccfe1 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Mon Oct 20 18:01:24 2025 -0500 Merge branch 'main' into feat/CustomCollisionPointFields Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit b02713a Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Mon Oct 20 17:53:36 2025 -0500 Cleaned up some un-needed parameter changes. commit 21eef62 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Mon Oct 20 17:49:16 2025 -0500 Added test case for using global height parameter. commit cdccfe1 Author: Sushant Chavan <gitecsvc@gmail.com> 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 <gitecsvc@gmail.com> * Update nav2_lifecycle_manager/src/lifecycle_manager.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Sushant Chavan <gitecsvc@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> commit b35a4b5 Author: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> 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 <leanderdsouza1234@gmail.com> * Migrate controller_server.cpp to use declare_or_get_parameter API. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> commit 62ebc54 Author: Steve Macenski <stevenmacenski@gmail.com> 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 <mauricepurnawan@gmail.com> Date: Thu Oct 16 02:02:29 2025 +0700 Redesign graceful controller dynamic parameters patterns (ros-navigation#5600) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> commit b91eda5 Author: Abhishekh Reddy <helloarm@pm.me> 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 <helloarm@pm.me> * Fixed description for getCoords function Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added a test with lower tolerance for zone validity checking Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated tolerance check function implementation Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <helloarm@pm.me> --------- Signed-off-by: Abhishekh Reddy <helloarm@pm.me> commit 48e7e06 Author: Jay Herpin <159202566+JayHerpin@users.noreply.github.com> Date: Tue Oct 14 12:45:59 2025 -0500 Fixed crash due to incorrect string construction (ros-navigation#5606) Signed-off-by: Jay Herpin <jherpin@metalsharkboats.com> commit 7d37466 Author: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> 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 <leanderdsouza1234@gmail.com> commit 3935038 Author: Steve Macenski <stevenmacenski@gmail.com> 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 <stevenmacenski@gmail.com> * Trigger linting (hopefully) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix action-ros-lint version format in lint.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> commit 568174c Author: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> 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 <leanderdsouza1234@gmail.com> * Removed redundant set_parameter calls when preceeded by declare_parameter. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Use declare_or_get_parameter without a default value. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Simplified definitions that required to determine parameter type from template. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed self-definition of node_utils.hpp. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Address PR feedback: Remove unnecessary linebreaks and improve param docstring. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> commit 6bc74e5 Author: Érico Meger <86668447+EricoMeger@users.noreply.github.com> 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 <ericomeger9@gmail.com> * improve comment wording Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Érico Meger <86668447+EricoMeger@users.noreply.github.com> * fix linting error Signed-off-by: EricoMeger <ericomeger9@gmail.com> --------- Signed-off-by: EricoMeger <ericomeger9@gmail.com> Signed-off-by: Érico Meger <86668447+EricoMeger@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> commit 4d28c13 Author: silanus <berkantali23@outlook.com> Date: Fri Oct 10 20:42:45 2025 +0300 Path distance feature (ros-navigation#5387) * geometry utils Signed-off-by: silanus23 <berkantali23@outlook.com> * fixed geometry utils adding 2d Signed-off-by: silanus23 <berkantali23@outlook.com> * created path_utils Signed-off-by: silanus23 <berkantali23@outlook.com> * added tests Signed-off-by: silanus23 <berkantali23@outlook.com> * minor changes in tests Signed-off-by: silanus23 <berkantali23@outlook.com> * lint issue Signed-off-by: silanus23 <berkantali23@outlook.com> * fixed reviews Signed-off-by: silanus23 <berkantali23@outlook.com> * doxygen fix Signed-off-by: silanus23 <berkantali23@outlook.com> * Last fixes. Signed-off-by: silanus23 <berkantali23@outlook.com> * Last fixes cpp. Signed-off-by: silanus23 <berkantali23@outlook.com> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: silanus <berkantali23@outlook.com> Signed-off-by: silanus23 <berkantali23@outlook.com> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: silanus <berkantali23@outlook.com> Signed-off-by: silanus23 <berkantali23@outlook.com> * Update nav2_util/test/test_path_utils.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: silanus <berkantali23@outlook.com> Signed-off-by: silanus23 <berkantali23@outlook.com> * Frame check fix Signed-off-by: silanus23 <berkantali23@outlook.com> * msg Signed-off-by: silanus23 <berkantali23@outlook.com> * controller server publisher Signed-off-by: silanus23 <berkantali23@outlook.com> * controller server publisher fix Signed-off-by: silanus23 <berkantali23@outlook.com> * cross_product Signed-off-by: silanus23 <berkantali23@outlook.com> * handled last_fixes Signed-off-by: silanus23 <berkantali23@outlook.com> * tracking error added to follow path side from side added to tracking error Signed-off-by: silanus23 <berkantali23@outlook.com> * arranged msgs Signed-off-by: silanus23 <berkantali23@outlook.com> * linting of msgs Signed-off-by: silanus23 <berkantali23@outlook.com> * last cpplint Signed-off-by: silanus23 <berkantali23@outlook.com> * frame check for distance_to_goal Signed-off-by: silanus23 <berkantali23@outlook.com> * fixes for follow_path Signed-off-by: silanus23 <berkantali23@outlook.com> * controller linting Signed-off-by: silanus23 <berkantali23@outlook.com> * changing tracking_error to tracking_error_feedback Signed-off-by: silanus23 <berkantali23@outlook.com> * adding remaining_path_length in tracking_error_feedback Signed-off-by: silanus23 <berkantali23@outlook.com> * Last fix Signed-off-by: silanus23 <berkantali23@outlook.com> * start_index_ Signed-off-by: silanus23 <berkantali23@outlook.com> * Name changes and optimizations in controller_server and nav2_util Signed-off-by: silanus23 <berkantali23@outlook.com> * Changing name to tracking_feedback Signed-off-by: silanus23 <berkantali23@outlook.com> * Documentation changes Signed-off-by: silanus23 <berkantali23@outlook.com> * Last lint Signed-off-by: silanus23 <berkantali23@outlook.com> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: silanus <berkantali23@outlook.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Last updates Signed-off-by: silanus23 <berkantali23@outlook.com> * update example_follow_path.py Signed-off-by: silanus23 <berkantali23@outlook.com> * update example_follow_path.py lint Signed-off-by: silanus23 <berkantali23@outlook.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_util/src/path_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * ordering problem Signed-off-by: silanus23 <berkantali23@outlook.com> * added deactivate to tracking_feedback_pub_ Signed-off-by: silanus23 <berkantali23@outlook.com> * typo Signed-off-by: silanus23 <berkantali23@outlook.com> * end_pose transform Signed-off-by: silanus23 <berkantali23@outlook.com> * creating the member variable end_pose_global_ and deleting nav_2d_msgs Signed-off-by: silanus23 <berkantali23@outlook.com> * deleting unnecessary transform Signed-off-by: silanus23 <berkantali23@outlook.com> * typo in controller Signed-off-by: silanus23 <berkantali23@outlook.com> * readding remaining path Signed-off-by: silanus23 <berkantali23@outlook.com> * placement of transformation Signed-off-by: silanus23 <berkantali23@outlook.com> * unnecessary comments Signed-off-by: silanus23 <berkantali23@outlook.com> * tests added Signed-off-by: silanus23 <berkantali23@outlook.com> * Increased test coverage Signed-off-by: silanus23 <berkantali23@outlook.com> * Every part of the result is covered Signed-off-by: silanus23 <berkantali23@outlook.com> * Increasing out of bounds index Signed-off-by: silanus23 <berkantali23@outlook.com> * lint Signed-off-by: silanus23 <berkantali23@outlook.com> * add missing line to cmake Signed-off-by: silanus23 <berkantali23@outlook.com> * unnecessary test Signed-off-by: silanus23 <berkantali23@outlook.com> * unexptected styling and last functional change Signed-off-by: silanus23 <berkantali23@outlook.com> * simplifying the tranformation of end_pose Signed-off-by: silanus23 <berkantali23@outlook.com> * doxygen fix Signed-off-by: silanus23 <berkantali23@outlook.com> * doxygen fix Signed-off-by: silanus23 <berkantali23@outlook.com> * doxygen fix Signed-off-by: silanus23 <berkantali23@outlook.com> * doxygen fix Signed-off-by: silanus23 <berkantali23@outlook.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: silanus23 <berkantali23@outlook.com> Signed-off-by: silanus <berkantali23@outlook.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> commit 04a3e22 Author: Steve Macenski <stevenmacenski@gmail.com> 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 <stevenmacenski@gmail.com> commit ce6b439 Author: Alberto Tudela <ajtudela@gmail.com> Date: Fri Oct 10 00:12:57 2025 +0200 Following (ros-navigation#5565) * Following server Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * feat: migrate to nav2_msgs for FollowObject action and remove opennav_following_msgs Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix mypy test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Move FollowObject and FollowObjectCancel action nodes from bt package Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update package and circle Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * feat: add FollowObject action support in robot navigator and fix mypy Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix mypy issues Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * feat: add follow_object action to bt_navigator parameters Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update key and package Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix precommit Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix mypy? Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix mypy, round two Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> commit ed0d59f Author: Sakshay Mahna <sakshum19@gmail.com> 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 <sakshum19@gmail.com> * Shorten logic with goal_pose Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> * Add Linear Interpolation Fix Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> * Update const double and comments Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> --------- Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> commit 14660b4 Author: Vince Reda <60265874+redvinaa@users.noreply.github.com> 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 <redvinaa@gmail.com> * Add test with no input Signed-off-by: redvinaa <redvinaa@gmail.com> * Update error string Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> * Fix quotation marks Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> commit aa2cdc5 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Wed Oct 8 10:43:14 2025 -0500 Apply suggestions from code review Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit 5636fc1 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Tue Oct 7 15:37:13 2025 -0500 Implementing Steve's suggestion for performance and code simplicity. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit b2fbb06 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Tue Oct 7 12:59:46 2025 -0500 Implemented additional changes for iterator feedback in PR. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit 1cdbc05 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Tue Oct 7 12:12:31 2025 -0500 Add return false for error state. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit 869b5a9 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> 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 <107634795+greganderson-vermeer@users.noreply.github.com> commit 11f04c7 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> 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 <107634795+greganderson-vermeer@users.noreply.github.com> commit ca49b05 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Tue Oct 7 08:22:05 2025 -0500 Ran ament lint/style tools, cleaned up. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> commit 7e6ccc9 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> 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 <107634795+greganderson-vermeer@users.noreply.github.com> commit 0c20df2 Author: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> 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 <dylan.decoeyer@quimesis.be> commit f78bac5 Author: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> 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 <leanderdsouza1234@gmail.com> commit 269d480 Author: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> 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 <leanderdsouza1234@gmail.com> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> commit 5860a27 Author: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Mon Oct 6 12:41:04 2025 -0500 Create iterator for custom height field in pointcloud. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com>

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 <leanderdsouza1234@gmail.com>

Enable nav2_system_tests to be mypy compliant.

6637555

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

Enable nav2_docking to be mypy compliant.

d0743e2

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

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 <leanderdsouza1234@gmail.com>

Enable nav2_loopback_sim to be mypy compliant.

499fef6

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

Removed unused ignores for packages for mypy compliance.

0c53bb5

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

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 <leanderdsouza1234@gmail.com>

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

Improve type annotations for ament_mypy #5575

Improve type annotations for ament_mypy #5575

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