Merge remote-tracking branch 'origin/humble' into backport-953-humble

.pre-commit-config.yaml

@@ -1,7 +1,7 @@
 # See https://pre-commit.com for more information
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -16,27 +16,27 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 24.8.0
     hooks:
       - id: black
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 3.9.2
+    rev: 7.1.1
     hooks:
       - id: flake8
 
   - repo: https://github.com/PyCQA/bandit
-    rev: 1.7.0
+    rev: 1.7.10
     hooks:
       - id: bandit
         args: ["--skip", "B101,B110,B311"]
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.1.0
+    rev: v2.3.0
     hooks:
       - id: codespell

ROSBRIDGE_PROTOCOL.md

@@ -93,12 +93,12 @@ ROS operations:
     * **call_service** - a service call
     * **service_response** - a service response
   * Actions:
-   * **advertise_action** - advertise an external action server
-   * **unadvertise_action** - unadvertise an external action server
-   * **send_action_goal** - a goal sent to an action server
-   * **cancel_action_goal** - cancel an in-progress action goal
-   * **action_feedback** - feedback messages from an action server
-   * **action_result** - an action result
+    * **advertise_action** - advertise an external action server
+    * **unadvertise_action** - unadvertise an external action server
+    * **send_action_goal** - a goal sent to an action server
+    * **cancel_action_goal** - cancel an in-progress action goal
+    * **action_feedback** - feedback messages from an action server
+    * **action_result** - an action result
 
 In general, actions or operations that the client takes (such as publishing and
 subscribing) have opcodes which are verbs (subscribe, call_service, unadvertise

rosapi/src/rosapi/params.py

@@ -74,7 +74,9 @@ def init(parent_node_name):
     parent_node_basename = parent_node_name.split("/")[-1]
     param_node_name = f"{parent_node_basename}_params"
     _node = rclpy.create_node(
-        param_node_name, cli_args=["--ros-args", "-r", f"__node:={param_node_name}"]
+        param_node_name,
+        cli_args=["--ros-args", "-r", f"__node:={param_node_name}"],
+        start_parameter_services=False,
     )
     _parent_node_name = get_absolute_node_name(parent_node_name)
 

rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py

@@ -79,7 +79,7 @@ async def execute_callback(self, goal: Any) -> Any:
         # generate a unique ID
         goal_id = f"action_goal:{self.action_name}:{self.next_id()}"
 
-        def done_callback(fut: rclpy.task.Future()) -> None:
+        def done_callback(fut: rclpy.task.Future) -> None:
             if fut.cancelled():
                 goal.abort()
                 self.protocol.log("info", f"Aborted goal {goal_id}")

rosbridge_library/src/rosbridge_library/capabilities/advertise_service.py

@@ -31,7 +31,7 @@ def next_id(self):
 
     async def handle_request(self, req, res):
         # generate a unique ID
-        request_id = f"service_request:{self.service_name }:{self.next_id()}"
+        request_id = f"service_request:{self.service_name}:{self.next_id()}"
 
         future = rclpy.task.Future()
         self.request_futures[request_id] = future

rosbridge_library/src/rosbridge_library/capability.py

@@ -79,7 +79,7 @@ def basic_type_check(self, msg, types_info):
         """Performs basic typechecking on fields in msg.
 
         Keyword arguments:
-        msg        -- a message, deserialized into a dictoinary
+        msg        -- a message, deserialized into a dictionary
         types_info -- a list of tuples (mandatory, fieldname, fieldtype) where
                 mandatory - boolean, is the field mandatory
                 fieldname - the name of the field in the message

rosbridge_library/src/rosbridge_library/internal/subscribers.py

@@ -176,6 +176,11 @@ def subscribe(self, client_id, callback):
             # In any case, the first message is handled using new_sub_callback,
             # which adds the new callback to the subscriptions dictionary.
             self.new_subscriptions.update({client_id: callback})
+            infos = self.node_handle.get_publishers_info_by_topic(self.topic)
+            if any(pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos):
+                self.qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
+            if any(pub.qos_profile.reliability == ReliabilityPolicy.BEST_EFFORT for pub in infos):
+                self.qos.reliability = ReliabilityPolicy.BEST_EFFORT
             if self.new_subscriber is None:
                 self.new_subscriber = self.node_handle.create_subscription(
                     self.msg_class,
@@ -196,7 +201,7 @@ def unsubscribe(self, client_id):
         with self.rlock:
             if client_id in self.new_subscriptions:
                 del self.new_subscriptions[client_id]
-            else:
+            if client_id in self.subscriptions:
                 del self.subscriptions[client_id]
 
     def has_subscribers(self):

rosbridge_library/src/rosbridge_library/protocol.py

@@ -311,7 +311,6 @@ def serialize(self, msg, cid=None):
             return None
 
     def deserialize(self, msg, cid=None):
-
         """Turns the wire-level representation into a dictionary of values
 
         Default behaviour assumes JSON. Override to use a different container.

rosbridge_library/test/experimental/complex_srv+tcp/test_non-ros_service_client_complex-srv.py

@@ -35,7 +35,7 @@ def request_service():
                 "position": {"y": 0.0, "x": 0.0, "z": 0.0},
                 "orientation": {"y": 0.0, "x": 0.0, "z": 0.0, "w": 0.0},
             }
-        }
+        },
         # "count" : request_byte_count           # count is the parameter for send_bytes as defined in srv-file (always put into args field!)
     }
     service_request = json.dumps(service_request_object)

rosbridge_library/test/internal/publishers/test_multi_publisher.py

@@ -109,7 +109,7 @@ def test_publish(self):
         """Make sure that publishing works"""
         topic = "/test_publish"
         msg_type = "std_msgs/String"
-        msg = {"data": "why halo thar"}
+        msg = {"data": "why hello there"}
 
         received = {"msg": None}
 
@@ -133,7 +133,7 @@ def test_publish_twice(self):
         """Make sure that publishing works"""
         topic = "/test_publish_twice"
         msg_type = "std_msgs/String"
-        msg = {"data": "why halo thar"}
+        msg = {"data": "why hello there"}
 
         received = {"msg": None}
 

rosbridge_server/CHANGELOG.rst

@@ -486,7 +486,7 @@ Changelog for package rosbridge_server
 * merging changes of groovy-devel into hydro-devel
 * Specific IP address binding using roslauch
 * added parameter lookup to rosbridge_tcp.py, modules where those are used, and default parameters to launch file; internal default-values still get used when launch-file does not provide them; internal defaults can be changed within rosbridge_tcp.py
-* increaing max_msg_length - still hardcoded
+* increasing max_msg_length - still hardcoded
 * preparing pull request for upstream..
 * cleanup: files, notes, some code
 * cleanup tcp-server

rosbridge_server/scripts/rosbridge_websocket.py

@@ -337,7 +337,13 @@ def main(args=None):
 
     executor = rclpy.executors.SingleThreadedExecutor()
     executor.add_node(node)
-    spin_callback = PeriodicCallback(lambda: executor.spin_once(timeout_sec=0.01), 1)
+
+    def spin_ros():
+        executor.spin_once(timeout_sec=0.01)
+        if not rclpy.ok():
+            shutdown_hook()
+
+    spin_callback = PeriodicCallback(spin_ros, 1)
     spin_callback.start()
     try:
         start_hook()