Rebase from 'upstream'

CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package automatika_ros_sugar
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.5 (2025-01-07)
+------------------
+* (fix) Gets imports and default values based on installed distro
+* (fix) Fix launch and launch_ros imports based on ros distro
+* Contributors: ahr, mkabtoul
+
 0.2.4 (2024-12-27)
 ------------------
 * (fix) Adds algorithm auto re-configuration from YAML file

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>automatika_ros_sugar</name>
-  <version>0.2.4</version>
+  <version>0.2.5</version>
   <description>Syntactic sugar for ROS2 nodes creation and management</description>
   <maintainer email="[email protected]">Automatika Robotics</maintainer>
   <url type="website">https://github.com/automatika/ros-sugar</url>

ros_sugar/config/base_config.py

@@ -29,10 +29,7 @@ class QoSConfig(BaseAttrs):
     history: int = field(
         converter=_get_enum_value,
         default=qos.HistoryPolicy.KEEP_LAST,
-        validator=base_validators.in_([
-            qos.HistoryPolicy.KEEP_LAST,
-            qos.HistoryPolicy.KEEP_ALL,
-        ]),
+        validator=base_validators.in_(list(qos.HistoryPolicy)),
     )
 
     # used only if the “history” policy was set to “keep last”
@@ -45,24 +42,15 @@ class QoSConfig(BaseAttrs):
     reliability: int = field(
         converter=_get_enum_value,
         default=qos.ReliabilityPolicy.RELIABLE,
-        validator=base_validators.in_([
-            qos.ReliabilityPolicy.BEST_EFFORT,
-            qos.ReliabilityPolicy.RELIABLE,
-        ]),
+        validator=base_validators.in_(list(qos.ReliabilityPolicy)),
     )
 
     # Transient local: the publisher becomes responsible for persisting samples for “late-joining” subscriptions
     # Volatile: no attempt is made to persist samples
     durability: int = field(
         converter=_get_enum_value,
         default=qos.DurabilityPolicy.VOLATILE,
-        validator=base_validators.in_([
-            qos.DurabilityPolicy.TRANSIENT_LOCAL,
-            qos.DurabilityPolicy.VOLATILE,
-            # qos.DurabilityPolicy.BEST_AVAILABLE, # Only available in iron -> TODO: Get values from rclpy
-            qos.DurabilityPolicy.UNKNOWN,
-            qos.DurabilityPolicy.SYSTEM_DEFAULT,
-        ]),
+        validator=base_validators.in_(list(qos.DurabilityPolicy)),
     )
 
     # TODO: Fix default values

ros_sugar/core/component.py

@@ -187,7 +187,7 @@ def _reparse_inputs_callbacks(self, inputs: Sequence[Topic]) -> Sequence[Topic]:
         :rtype: List[Topic]
         """
         for inp in inputs:
-            if not isinstance(inp.msg_type.callback, List):
+            if not inp or not isinstance(inp.msg_type.callback, List):
                 continue
             module_name = (
                 self.__module__[: self.__module__.index(".")]
@@ -217,7 +217,7 @@ def _reparse_outputs_converts(self, outputs: Sequence[Topic]) -> Sequence[Topic]
         :rtype: List[Topic]
         """
         for out in outputs:
-            if not isinstance(out.msg_type.convert, List):
+            if not out or not isinstance(out.msg_type.convert, List):
                 continue
             module_name = self.__module__
             # Get first callback by default

ros_sugar/core/event.py

@@ -12,16 +12,7 @@
 
 from ..io.topic import Topic
 from .action import Action
-
-# Get ROS distro
-__installed_distro = os.environ.get("ROS_DISTRO", "").lower()
-
-if __installed_distro == "foxy":
-    from launch.some_actions_type import SomeActionsType as SomeType
-else:
-    from launch.some_entities_type import SomeEntitiesType as SomeType
-
-SomeEntitiesType = SomeType
+from ..utils import SomeEntitiesType
 
 
 class Timer:
@@ -380,12 +371,12 @@ def __init__(
 
         # Check if given trigger is of valid type
         if trigger_value and not _check_attribute(
-            self.event_topic.msg_type._ros_type,
+            self.event_topic.msg_type.get_ros_type(),
             type(self.trigger_ref_value),
             self._attrs,
         ):
             raise TypeError(
-                f"Cannot initiate with trigger of type {type(trigger_value)} for a data of type {_get_attribute_type(self.event_topic.msg_type._ros_type, self._attrs)}"
+                f"Cannot initiate with trigger of type {type(trigger_value)} for a data of type {_get_attribute_type(self.event_topic.msg_type.get_ros_type(), self._attrs)}"
             )
 
         # Init trigger as False

ros_sugar/io/supported_types.py

@@ -103,7 +103,9 @@ def add_additional_datatypes(types: List[type]) -> None:
 
             _update_supportedtype_callback(existing_class, new_type)
 
-            if not existing_class._ros_type:
+            if hasattr(new_type, "_ros_type") and (
+                not hasattr(existing_class, "_ros_type") or not existing_class._ros_type
+            ):
                 existing_class._ros_type = new_type._ros_type
 
             _update_supportedtype_conversion(existing_class, new_type)
@@ -154,6 +156,15 @@ def convert(cls, output, **_) -> Any:
         """
         return output
 
+    @classmethod
+    def get_ros_type(cls) -> type:
+        """Getter of the ROS2 message type
+
+        :return: ROS2 type
+        :rtype: type
+        """
+        return cls._ros_type
+
 
 class String(SupportedType):
     """String."""

ros_sugar/io/topic.py

@@ -154,7 +154,7 @@ def _msg_type_validator(self, _, val):
                 f"Got value of 'msg_type': {val}, which is not in available datatypes. Topics can only be created with one of the following types: { {msg_t.__name__: msg_t for msg_t in msg_types} }"
             )
         # Set ros type
-        self.ros_msg_type = self.msg_type._ros_type
+        self.ros_msg_type = self.msg_type.get_ros_type()
 
 
 @define(kw_only=True)