Fix mypy errors in rosbridge_server tests

rosbridge_server/test/websocket/advertise_action.test.py

@@ -7,6 +7,7 @@
 from example_interfaces.action import Fibonacci
 from rclpy.action import ActionClient
 from rclpy.node import Node
+from rclpy.task import Future
 from twisted.python import log
 
 sys.path.append(os.path.dirname(__file__))  # enable importing from common.py in this directory
@@ -20,6 +21,9 @@
 
 
 class TestAdvertiseAction(unittest.TestCase):
+    goal1_result_future: Future | None
+    goal2_result_future: Future | None
+
     def goal1_response_callback(self, future):
         goal_handle = future.result()
         if not goal_handle.accepted:
@@ -48,6 +52,7 @@ async def test_two_concurrent_calls(self, node: Node, make_client):
         requests_future, ws_client.message_handler = expect_messages(
             2, "WebSocket", node.get_logger()
         )
+        assert node.executor is not None
         requests_future.add_done_callback(lambda _: node.executor.wake())
 
         self.goal1_result_future = None
@@ -90,8 +95,10 @@ async def test_two_concurrent_calls(self, node: Node, make_client):
             }
         )
 
+        assert self.goal1_result_future is not None
         result1 = await self.goal1_result_future
         self.assertEqual(result1.result, Fibonacci.Result(sequence=[0, 1, 1, 2]))
+        assert self.goal2_result_future is not None
         result2 = await self.goal2_result_future
         self.assertEqual(result2.result, Fibonacci.Result(sequence=[0, 1, 1, 2, 3, 5]))
 

rosbridge_server/test/websocket/advertise_action_feedback.test.py

@@ -2,11 +2,13 @@
 import os
 import sys
 import unittest
+from typing import Any
 
 from action_msgs.msg import GoalStatus
 from example_interfaces.action import Fibonacci
 from rclpy.action import ActionClient
 from rclpy.node import Node
+from rclpy.task import Future
 from twisted.python import log
 
 sys.path.append(os.path.dirname(__file__))  # enable importing from common.py in this directory
@@ -20,7 +22,9 @@
 
 
 class TestActionFeedback(unittest.TestCase):
-    def goal_response_callback(self, future):
+    goal_result_future: Future | None
+
+    def goal_response_callback(self, future: Future):
         goal_handle = future.result()
         if not goal_handle.accepted:
             return
@@ -45,6 +49,7 @@ async def test_feedback(self, node: Node, make_client):
         requests_future, ws_client.message_handler = expect_messages(
             1, "WebSocket", node.get_logger()
         )
+        assert node.executor is not None
         requests_future.add_done_callback(lambda _: node.executor.wake())
 
         self.goal_result_future = None
@@ -81,6 +86,7 @@ async def test_feedback(self, node: Node, make_client):
             }
         )
 
+        assert self.goal_result_future is not None
         result = await self.goal_result_future
         self.assertIsNotNone(self.latest_feedback)
         self.assertEqual(self.latest_feedback.feedback, Fibonacci.Feedback(sequence=[0, 1, 1, 2]))

rosbridge_server/test/websocket/advertise_service.test.py

@@ -34,6 +34,7 @@ async def test_two_concurrent_calls(self, node: Node, make_client):
         requests_future, ws_client.message_handler = expect_messages(
             2, "WebSocket", node.get_logger()
         )
+        assert node.executor is not None
         requests_future.add_done_callback(lambda _: node.executor.wake())
 
         response1_future = client.call_async(SetBool.Request(data=True))

rosbridge_server/test/websocket/advertise_service_duplicate.test.py

@@ -33,6 +33,7 @@ async def test_double_advertise(self, node: Node, make_client):
         requests1_future, ws_client1.message_handler = expect_messages(
             1, "WebSocket 1", node.get_logger()
         )
+        assert node.executor is not None
         requests1_future.add_done_callback(lambda _: node.executor.wake())
 
         client.call_async(SetBool.Request(data=True))

rosbridge_server/test/websocket/best_effort_publisher.test.py

@@ -44,6 +44,7 @@ async def test_best_effort_publisher(self, node: Node, make_client):
         ws1_completed_future, ws_client1.message_handler = expect_messages(
             1, "WebSocket 1", node.get_logger()
         )
+        assert node.executor is not None
         ws1_completed_future.add_done_callback(lambda _: node.executor.wake())
 
         self.assertEqual(

rosbridge_server/test/websocket/call_service.test.py

@@ -35,6 +35,7 @@ def service_cb(req, res):
         responses_future, ws_client.message_handler = expect_messages(
             1, "WebSocket", node.get_logger()
         )
+        assert node.executor is not None
         responses_future.add_done_callback(lambda _: node.executor.wake())
 
         ws_client.sendJson(

rosbridge_server/test/websocket/common.py

@@ -2,10 +2,12 @@
 import json
 from typing import Any, Awaitable, Callable
 
+from launch.launch_description import LaunchDescription
 import launch
 import launch_ros
 import rclpy
 import rclpy.task
+
 from autobahn.twisted.websocket import WebSocketClientFactory, WebSocketClientProtocol
 from rcl_interfaces.srv import GetParameters
 from rclpy.executors import SingleThreadedExecutor
@@ -60,19 +62,19 @@ def _generate_node():
 try:
     from launch_testing.actions import ReadyToTest
 
-    def generate_test_description() -> launch.LaunchDescription:
+    def generate_test_description() -> LaunchDescription:
         """
         Generate a launch description that runs the websocket server. Re-export this from a test file and use add_launch_test() to run the test.
         """
-        return launch.LaunchDescription([_generate_node(), ReadyToTest()])
+        return LaunchDescription([_generate_node(), ReadyToTest()])
 
 except ImportError:
 
-    def generate_test_description(ready_fn) -> launch.LaunchDescription:
+    def generate_test_description(ready_fn) -> LaunchDescription:  # type: ignore[misc]
         """
         Generate a launch description that runs the websocket server. Re-export this from a test file and use add_launch_test() to run the test.
         """
-        return launch.LaunchDescription(
+        return LaunchDescription(
             [_generate_node(), launch.actions.OpaqueFunction(function=lambda context: ready_fn())]
         )
 
@@ -97,14 +99,15 @@ async def connect_to_server(node: Node) -> TestClientProtocol:
     factory.protocol = TestClientProtocol
 
     future = rclpy.task.Future()
+    assert node.executor is not None
     future.add_done_callback(lambda _: node.executor.wake())
 
     def connect():
         TCP4ClientEndpoint(reactor, "127.0.0.1", port).connect(factory).addCallback(
             future.set_result
         )
 
-    reactor.callFromThread(connect)
+    reactor.callFromThread(connect)  # type: ignore[attr-defined]
 
     protocol = await future
     protocol.connected_future.add_done_callback(lambda _: node.executor.wake())
@@ -128,8 +131,8 @@ async def task():
 
     future = executor.create_task(task)
 
-    reactor.callInThread(executor.spin_until_future_complete, future)
-    reactor.run(installSignalHandlers=False)
+    reactor.callInThread(executor.spin_until_future_complete, future)  # type: ignore[attr-defined]
+    reactor.run(installSignalHandlers=False)  # type: ignore[attr-defined]
 
     executor.remove_node(node)
     node.destroy_node()

rosbridge_server/test/websocket/multiple_subscribers.test.py

@@ -40,6 +40,7 @@ async def test_multiple_subscribers(self, node: Node, make_client):
         ws1_completed_future, ws_client1.message_handler = expect_messages(
             1, "WebSocket 1", node.get_logger()
         )
+        assert node.executor is not None
         ws1_completed_future.add_done_callback(lambda _: node.executor.wake())
         ws2_completed_future, ws_client2.message_handler = expect_messages(
             1, "WebSocket 2", node.get_logger()

rosbridge_server/test/websocket/multiple_subscribers_raw.test.py

@@ -33,6 +33,7 @@ async def test_multiple_subscribers(self, node: Node, make_client):
         ws1_completed_future, ws_client1.message_handler = expect_messages(
             1, "WebSocket 1", node.get_logger()
         )
+        assert node.executor is not None
         ws1_completed_future.add_done_callback(lambda _: node.executor.wake())
         ws2_completed_future, ws_client2.message_handler = expect_messages(
             1, "WebSocket 2", node.get_logger()

rosbridge_server/test/websocket/send_action_goal.test.py

@@ -56,6 +56,7 @@ async def test_one_call(self, node: Node, make_client):
         responses_future, ws_client.message_handler = expect_messages(
             5, "WebSocket", node.get_logger()
         )
+        assert node.executor is not None
         responses_future.add_done_callback(lambda _: node.executor.wake())
 
         ws_client.sendJson(

rosbridge_server/test/websocket/smoke.test.py

@@ -37,6 +37,7 @@ async def test_smoke(self, node: Node, make_client):
         ws_completed_future, ws_client.message_handler = expect_messages(
             NUM_MSGS, "WebSocket", node.get_logger()
         )
+        assert node.executor is not None
         ws_completed_future.add_done_callback(lambda _: node.executor.wake())
 
         sub_a = node.create_subscription(String, A_TOPIC, sub_handler, NUM_MSGS)

rosbridge_server/test/websocket/transient_local_publisher.test.py

@@ -46,6 +46,7 @@ async def test_transient_local_publisher(self, node: Node, make_client):
             ws_completed_future, ws_client.message_handler = expect_messages(
                 1, "WebSocket " + str(num), node.get_logger()
             )
+            assert node.executor is not None
             ws_completed_future.add_done_callback(lambda _: node.executor.wake())
 
             self.assertEqual(