Mypy nav2 map server (ros-navigation#5058)

* Configured nav2_map_server to be mypy compliant.

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

* Added nav2_map_server to the mypy workflow.

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

---------

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

Author: leander-dsouza

.github/workflows/lint.yml

@@ -44,6 +44,7 @@ jobs:
           opennav_docking
           nav2_lifecycle_manager
           nav2_loopback_sim
+          nav2_map_server
         arguments: --config tools/pyproject.toml
 
   pre-commit:

nav2_map_server/launch/map_saver_server.launch.py

@@ -18,7 +18,7 @@
 import launch_ros.actions
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     # Parameters
     lifecycle_nodes = ['map_saver']
     use_sim_time = True

nav2_map_server/test/component/test_map_saver_launch.py

@@ -23,9 +23,11 @@
 from launch_testing.legacy import LaunchTestService
 
 
-def main(argv=sys.argv[1:]):
-    launchFile = os.path.join(os.getenv('TEST_LAUNCH_DIR'), 'map_saver_node.launch.py')
-    testExecutable = os.getenv('TEST_EXECUTABLE')
+def main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
+    launchDir = os.getenv('TEST_LAUNCH_DIR', '')
+    testExecutable = os.getenv('TEST_EXECUTABLE', '')
+
+    launchFile = os.path.join(launchDir, 'map_saver_node.launch.py')
     ld = LaunchDescription(
         [
             IncludeLaunchDescription(PythonLaunchDescriptionSource([launchFile])),
@@ -39,7 +41,7 @@ def main(argv=sys.argv[1:]):
     lts.add_test_action(ld, test1_action)
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
-    os.chdir(os.getenv('TEST_LAUNCH_DIR'))
+    os.chdir(launchDir)
     return lts.run(ls)
 
 

nav2_map_server/test/component/test_map_server_launch.py

@@ -23,9 +23,11 @@
 from launch_testing.legacy import LaunchTestService
 
 
-def main(argv=sys.argv[1:]):
-    launchFile = os.path.join(os.getenv('TEST_LAUNCH_DIR'), 'map_server_node.launch.py')
-    testExecutable = os.getenv('TEST_EXECUTABLE')
+def main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
+    launchDir = os.getenv('TEST_LAUNCH_DIR', '')
+    testExecutable = os.getenv('TEST_EXECUTABLE', '')
+
+    launchFile = os.path.join(launchDir, 'map_server_node.launch.py')
     ld = LaunchDescription(
         [
             IncludeLaunchDescription(PythonLaunchDescriptionSource([launchFile])),
@@ -39,7 +41,7 @@ def main(argv=sys.argv[1:]):
     lts.add_test_action(ld, test1_action)
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
-    os.chdir(os.getenv('TEST_LAUNCH_DIR'))
+    os.chdir(launchDir)
     return lts.run(ls)
 
 

nav2_map_server/test/test_launch_files/map_saver_node.launch.py

@@ -21,9 +21,9 @@
 import launch_ros.actions
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     map_publisher = (
-        f"{os.path.dirname(os.getenv('TEST_EXECUTABLE'))}/test_map_saver_publisher"
+        f"{os.path.dirname(os.getenv('TEST_EXECUTABLE', ''))}/test_map_saver_publisher"
     )
 
     ld = LaunchDescription()
@@ -32,7 +32,7 @@ def generate_launch_description():
         package='nav2_map_server',
         executable='map_saver_server',
         output='screen',
-        parameters=[os.path.join(os.getenv('TEST_DIR'), 'map_saver_params.yaml')],
+        parameters=[os.path.join(os.getenv('TEST_DIR', ''), 'map_saver_params.yaml')],
     )
 
     map_publisher_cmd = ExecuteProcess(cmd=[map_publisher])

nav2_map_server/test/test_launch_files/map_server_node.launch.py

@@ -20,15 +20,15 @@
 import launch_ros.actions
 
 
-def generate_launch_description():
+def generate_launch_description() -> LaunchDescription:
     return LaunchDescription(
         [
             launch_ros.actions.Node(
                 package='nav2_map_server',
                 executable='map_server',
                 output='screen',
                 parameters=[
-                    os.path.join(os.getenv('TEST_DIR'), 'map_server_params.yaml')
+                    os.path.join(os.getenv('TEST_DIR', ''), 'map_server_params.yaml')
                 ],
             )
         ]