Merge main into humble_main

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v32\
+              - "<< parameters.key >>-v33\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v32\
+              - "<< parameters.key >>-v33\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v32\
+            key: "<< parameters.key >>-v33\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json

@@ -460,4 +460,4 @@
       "direction": "row",
       "splitPercentage": 74.87855655794587
     }
-  }
+  }

.devcontainer/caddy/srv/nav2/github-markdown.css

@@ -1099,4 +1099,4 @@
 
   .markdown-body ::-webkit-calendar-picker-indicator {
     filter: invert(50%);
-  }
+  }

.github/PULL_REQUEST_TEMPLATE.md

@@ -13,6 +13,13 @@
 
 ---
 
+## Description of testing performed
+<!--
+  For example: Linting validation using -> pre-commit run --all,
+    Package testing using -> colcon test --packages-select <modified package>,
+    or functional testing of changes on the robot or in simulation
+-->
+
 ## Description of contribution in a few bullet points
 
 <!--

.github/mergify.yml

@@ -7,7 +7,7 @@ pull_request_rules:
       backport:
         branches:
           - jazzy
-  
+
   - name: backport to iron at reviewers discretion
     conditions:
       - base=main
@@ -16,7 +16,7 @@ pull_request_rules:
       backport:
         branches:
           - iron
-  
+
   - name: backport to humble at reviewers discretion
     conditions:
       - base=main

.github/workflows/lint.yml

@@ -11,11 +11,34 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [xmllint, cpplint, uncrustify, pep257, flake8]
+          linter: [xmllint, cpplint, uncrustify, pep257, flake8, mypy]
     steps:
     - uses: actions/checkout@v4
+
+    - name: Install typeshed for mypy
+      if: matrix.linter == 'mypy'
+      run: sudo apt update && sudo apt install -y python3-typeshed
+
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling
         package-name: "*"
+        arguments: ${{ matrix.linter == 'mypy' && '--config tools/pyproject.toml' || '' }}
+
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - uses: pre-commit/action@v3.0.1
+        env:
+          SKIP: >-
+            ament_lint_cmake,
+            ament_cpplint,
+            ament_uncrustify,
+            ament_xmllint,
+            ament_flake8,
+            ament_pep257,
+            ament_mypy

.gitignore

@@ -69,4 +69,3 @@ Session.vim
 
 # Vim Temporary
 .netrwhist
-

.pre-commit-config.yaml

@@ -0,0 +1,104 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+exclude: ".pgm$|.svg$"
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+        args: ["--allow-multiple-documents"]
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: forbid-submodules
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+-   repo: https://github.com/pycqa/isort
+    rev: 6.0.1
+    hooks:
+      - id: isort
+        args: ["tools/pyproject.toml"]
+        name: isort (python)
+
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+    -   id: codespell
+        additional_dependencies:
+        -   tomli
+        args:
+            [--toml=./tools/pyproject.toml]
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.31.1
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
+-   repo: local
+    hooks:
+    -   id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check CMake code style using cmakelint.
+        language: system
+        types: [cmake]
+        entry: ament_lint_cmake
+    -   id: ament_cpplint
+        name: ament_cpplint
+        description: Code style checking using cpplint.
+        language: system
+        types: [c++]
+        entry: ament_cpplint
+    -   id: ament_uncrustify
+        name: ament_uncrustify
+        description: Code style checking using uncrustify.
+        language: system
+        types: [c++]
+        args: ["--reformat"]
+        entry: ament_uncrustify
+    -   id: ament_xmllint
+        name: ament_xmllint
+        description: Check XML markup using xmllint.
+        language: system
+        types: [xml]
+        entry: ament_xmllint
+    -   id: ament_flake8
+        name: ament_flake8
+        description: Check Python code style using flake8.
+        language: system
+        types: [python]
+        entry: ament_flake8
+    -   id: ament_pep257
+        name: ament_pep257
+        description: Check Python code style using pep257.
+        language: system
+        types: [python]
+        entry: ament_pep257
+    -   id: ament_mypy
+        name: ament_mypy
+        description: Check Python code style using mypy.
+        language: system
+        types: [python]
+        args: ["--config", "tools/pyproject.toml"]
+        entry: ament_mypy

Dockerfile

@@ -168,7 +168,7 @@ RUN mkdir -p $ROOT_SRV
 
 # install demo dependencies
 RUN apt-get update && apt-get install -y \
-      ros-$ROS_DISTRO-rviz2 
+      ros-$ROS_DISTRO-rviz2
 
 # install gzweb dependacies
 RUN apt-get install -y --no-install-recommends \