ros_stubs

Collection of typing stubs for ROS1 Python libraries

Installation

# Install the stub package including all stubs
$ pip install --extra-index-url https://rospypi.github.io/simple/ ros-stubs-all
# Or install each stub package individually
$ pip install --extra-index-url https://rospypi.github.io/simple/ std-msgs-stub

Please refer to src directory to see the list of available packages.

Usage

All packages are marked as stub-only packages, so you don't have to do anything other than installing packages in your Python environment.

Contributing

All your contributions are always welcome! Please keep in mind that some directories like msg, srv are generated at build time. You can see the build actions for building each package in _pacakge.yaml.

We are happy to have typing stubs for third-party ROS libraries. If you find this repository doesn't have the stub package you want to contribute, please feel free to create.

To create a new stub package, add a directory ending with name ending with -stubs under src directory. Also, please add _package.yaml in the directory to define the stub information.

Notes: Library versions that stub files target

For packages listed in rospypi/simple:packages.yaml, we will use the version in the list. For other libraries, it is preferable to maintain stub files for the latest version available on rosdistro or PyPI.

Tips: Generate stub files automatically using stubgen

You can automatically generate the stub file for either a package or a module using stubgen.

$ pip install mypy  # make sure that mypy is installed
$ stubgen -p [package] -o out  # generate stub files for a package
$ stubgen -m [module] -o out  # generate the stub file for a module

As stubgen generates draft stubs; generated files may contain wrong definitions, many Any types, unnecessary re-exports, etc. As such, before make a PR, you need to either

• Update generated stub files manually
• Add a warning message as a note in the head of each stub file

You will also need to fix stub files to pass the lint CI. But you can temporarily add them into the ignore list of lint targets only when you choose the latter option.

Testing

Install tox and run tox command in the root of this repository.

Building stubs

All the stub packages are built and published using GitHub actions, but of course you can build them in your local environment.

Install Python 3.8 and pipenv==2020.11.15, and run the following commands:

$ cd assets
$ pipenv sync --dev
$ pipenv run python build_ros_stubs.py

Then, you will get artifacts in artifacts in the root of this repository.