Mypy nav2 simple commander

[leander-dsouza]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4916
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI generated software?	No

---

Description of testing performed

• Validated linting using pre-commit.
• Tested package using colcon.
• Corrected unsafe fixes using ruff - ruff check --select UP --fix --unsafe-fixes nav2_simple_commander

Description of contribution in a few bullet points

• Restructured nav2_simple_commander for strict mypy.

Description of documentation updates required from your changes

• N/A

Description of how this change was tested

• Tested using pre-commit, colcon testing, and ruff.

---

Future work that may be required in bullet points

• N/A

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

[codecov]

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]

Thanks for this, I know this one is probably the most effort. There's a few instances where the server is short and not going to be spinning multiple times (get paths, smooth paths) where the changes would create dead code that I think can be reverted. I know it mimicks the style of other long-running tasks (follow path, navigate to pose) but these don't long-blocking tasks with timeouts on the spin

[leander-dsouza]

Thanks for this, I know this one is probably the most effort.

No worries, Steve. I am glad that I could help.

[SteveMacenski]

I also have this PR open that messes with the simple commander API (#5056). I change a few things like None / TaskEnum for actions so we know what action we should be getting task completion or feedback for.

I also have getRoute(self, start, goal, use_start=False) where start/goal can be either be int or PoseStamped.

Is there a good way around these?

For reference: https://github.com/ros-navigation/navigation2/blob/bc79b6b07f3a8ce89579682265c88cdd8174fcb9/nav2_simple_commander/nav2_simple_commander/robot_navigator.py

[leander-dsouza]

I also have this PR open that messes with the simple commander API (#5056). I change a few things like None / TaskEnum for actions so we know what action we should be getting task completion or feedback for.

I also have getRoute(self, start, goal, use_start=False) where start/goal can be either be int or PoseStamped.

Is there a good way around these?

• I think after rebasing this PR, you can first check for conflicting types by:

  ament_mypy --config tools/pyproject.toml nav2_simple_commander/

• For declaring the type of start/goal, you can use Union:

  from typing import Optional, Union
  from nav_msgs.msg import Path
  from nav2_msgs.msg import Route
  
  def getRoute(self, start: Union[int, PoseStamped],
               goal: Union[int, PoseStamped], use_start: bool = False) \
          -> Optional[list[Union[Path, Route]]]:
      """Send a `ComputeRoute` action request."""
      self.clearTaskError()
      rtn = self._getRouteImpl(start, goal, use_start=False)
  
      if self.status != GoalStatus.STATUS_SUCCEEDED:
          self.setTaskError(rtn.error_code, rtn.error_msg)
          self.warn('Getting route failed with'
                      f' status code:{self.status}'
                      f' error code:{rtn.error_code}'
                      f' error msg:{rtn.error_msg}')
          return None
  
      return [rtn.path, rtn.route]

[SteveMacenski]

Sweet, thanks!