raise TypeError when passing invalid message types

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

rclpy/rclpy/action/client.py

@@ -349,7 +349,13 @@ def send_goal(self, goal, **kwargs):
         :type goal: action_type.Goal
         :return: The result response.
         :rtype: action_type.Result
+        :raises: TypeError if the type of the passed goal isn't an instance of
+          the Goal type of the provided action when the service was
+          constructed.
         """
+        if not isinstance(goal, self._action_type.Goal):
+            raise TypeError()
+
         event = threading.Event()
 
         def unblock(future):
@@ -386,7 +392,13 @@ def send_goal_async(self, goal, feedback_callback=None, goal_uuid=None):
         :return: a Future instance to a goal handle that completes when the goal request
             has been accepted or rejected.
         :rtype: :class:`rclpy.task.Future` instance
+        :raises: TypeError if the type of the passed goal isn't an instance of
+          the Goal type of the provided action when the service was
+          constructed.
         """
+        if not isinstance(goal, self._action_type.Goal):
+            raise TypeError()
+
         request = self._action_type.Impl.SendGoalService.Request()
         request.goal_id = self._generate_random_uuid() if goal_uuid is None else goal_uuid
         request.goal = goal

rclpy/rclpy/action/server.py

@@ -134,6 +134,9 @@ def execute(self, execute_callback=None):
         self._action_server.notify_execute(self, execute_callback)
 
     def publish_feedback(self, feedback):
+        if not isinstance(feedback, self._action_server.action_type.Feedback):
+            raise TypeError()
+
         with self._lock:
             # Ignore for already destructed goal handles
             if self._handle is None:

rclpy/rclpy/client.py

@@ -79,7 +79,13 @@ def call(self, request: SrvTypeRequest) -> SrvTypeResponse:
 
         :param request: The service request.
         :return: The service response.
+        :raises: TypeError if the type of the passed request isn't an instance
+          of the Request type of the provided service when the client was
+          constructed.
         """
+        if not isinstance(request, self.srv_type.Request):
+            raise TypeError()
+
         event = threading.Event()
 
         def unblock(future):
@@ -116,7 +122,13 @@ def call_async(self, request: SrvTypeRequest) -> Future:
 
         :param request: The service request.
         :return: A future that completes when the request does.
+        :raises: TypeError if the type of the passed request isn't an instance
+          of the Request type of the provided service when the client was
+          constructed.
         """
+        if not isinstance(request, self.srv_type.Request):
+            raise TypeError()
+
         sequence_number = _rclpy.rclpy_send_request(self.client_handle, request)
         if sequence_number in self._pending_requests:
             raise RuntimeError('Sequence (%r) conflicts with pending request' % sequence_number)

rclpy/rclpy/publisher.py

@@ -56,7 +56,10 @@ def publish(self, msg: MsgType) -> None:
         """
         Send a message to the topic for the publisher.
 
-        :param msg: The ROS message to publish. The message must be the same type as the type
-            provided when the publisher was constructed.
+        :param msg: The ROS message to publish.
+        :raises: TypeError if the type of the passed message isn't an instance
+          of the provided type when the publisher was constructed.
         """
+        if not isinstance(msg, self.msg_type):
+            raise TypeError()
         _rclpy.rclpy_publish(self.publisher_handle, msg)

rclpy/rclpy/service.py

@@ -71,5 +71,10 @@ def send_response(self, response: SrvTypeResponse, header) -> None:
 
         :param response: The service response.
         :param header: Capsule pointing to the service header from the original request.
+        :raises: TypeError if the type of the passed response isn't an instance
+          of the Response type of the provided service when the service was
+          constructed.
         """
+        if not isinstance(response, self.srv_type.Response):
+            raise TypeError()
         _rclpy.rclpy_send_response(self.service_handle, response, header)