Merge branch 'RobotWebTools:ros2' into ros2

Author: Josme

.github/workflows/ci.yml

@@ -24,6 +24,8 @@ jobs:
           # NOTE: Humble does not work on the `ros2` branch, so it is tested in its own branch.
           - ros: jazzy
             os: ubuntu-24.04
+          - ros: kilted
+            os: ubuntu-24.04
           - ros: rolling
             os: ubuntu-24.04
 

rosapi/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package rosapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2025-05-19)
+------------------
+* Handle extra IDL slots when doing array introspection (`#1031 <https://github.com/RobotWebTools/rosbridge_suite/issues/1031>`_)
+* Add services to return Action interface details (`#1021 <https://github.com/RobotWebTools/rosbridge_suite/issues/1021>`_)
+* Fix array-like parameter serialization in rosbridge get_param (`#1018 <https://github.com/RobotWebTools/rosbridge_suite/issues/1018>`_)
+* Contributors: David Fernàndez López, Noah Wardlow, Scott Bell, Błażej Sowa
+
 2.2.0 (2025-02-26)
 ------------------
 * New async rosapi params module implementation (`#1001 <https://github.com/RobotWebTools/rosbridge_suite/issues/1001>`_)

rosapi/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>rosapi</name>
-  <version>2.2.0</version>
+  <version>2.3.0</version>
   <description>
     Provides service calls for getting ros meta-information, like list of
     topics, services, params, etc.
@@ -25,6 +25,7 @@
   <exec_depend>rosbridge_library</exec_depend>
   <exec_depend>ros2node</exec_depend>
   <exec_depend>ros2service</exec_depend>
+  <exec_depend>ros2action</exec_depend>
   <exec_depend>ros2topic</exec_depend>
 
   <test_depend>ament_cmake_mypy</test_depend>

rosapi/scripts/rosapi_node

@@ -47,6 +47,7 @@ from rosapi_msgs.srv import (
     ActionFeedbackDetails,
     ActionGoalDetails,
     ActionResultDetails,
+    ActionType,
     DeleteParam,
     GetActionServers,
     GetParam,
@@ -112,6 +113,7 @@ class Rosapi(Node):
         self.create_service(Nodes, "~/nodes", self.get_nodes)
         self.create_service(NodeDetails, "~/node_details", self.get_node_details)
         self.create_service(GetActionServers, "~/action_servers", self.get_action_servers)
+        self.create_service(ActionType, "~/action_type", self.get_action_type)
         self.create_service(TopicType, "~/topic_type", self.get_topic_type)
         self.create_service(ServiceType, "~/service_type", self.get_service_type)
         self.create_service(Publishers, "~/publishers", self.get_publishers)
@@ -335,6 +337,12 @@ class Rosapi(Node):
         ]
         return response
 
+    def get_action_type(self, request, response):
+        """Called by the rosapi/ActionType service. Given the name of an action, returns its type.
+        If the action does not exist, an empty string is returned."""
+        response.type = proxy.get_action_type(request.action)
+        return response
+
     async def set_param(self, request, response):
         try:
             node_name, param_name = self._get_node_and_param_name(request.name)

rosapi/src/rosapi/objectutils.py

@@ -201,18 +201,18 @@ def _handle_array_information(instance):
     fieldtypes = []
     fieldarraylen = []
     examples = []
-    for i in range(len(instance.__slots__)):
-        name = instance.__slots__[i]
-        fieldnames.append(name)
+    for slot in instance.__slots__:
+        key = slot[1:] if slot.startswith("_") else slot
+        if key not in instance._fields_and_field_types:
+            continue
 
-        field_type, arraylen = _handle_type_and_array_len(instance, name)
+        fieldnames.append(key)
+        field_type, arraylen = _handle_type_and_array_len(instance, slot)
         fieldarraylen.append(arraylen)
 
-        field_instance = getattr(instance, name)
-        fieldtypes.append(_type_name(field_type, field_instance))
-
-        example = _handle_example(arraylen, field_type, field_instance)
-        examples.append(str(example))
+        value = getattr(instance, slot)
+        fieldtypes.append(_type_name(field_type, value))
+        examples.append(str(_handle_example(arraylen, field_type, value)))
 
     return fieldnames, fieldtypes, fieldarraylen, examples
 

rosapi/src/rosapi/params.py

@@ -33,6 +33,7 @@
 
 import fnmatch
 from json import dumps, loads
+from typing import TYPE_CHECKING
 
 from rcl_interfaces.msg import Parameter, ParameterType, ParameterValue
 from rcl_interfaces.srv import GetParameters, ListParameters, SetParameters
@@ -44,6 +45,9 @@
 from rosapi.async_helper import futures_wait_for
 from rosapi.proxy import get_nodes
 
+if TYPE_CHECKING:
+    from rclpy.client import Client
+
 """ Methods to interact with the param server.  Values have to be passed
 as JSON in order to facilitate dynamically typed SRV messages """
 
@@ -120,7 +124,7 @@ async def _set_param(node_name: str, name: str, value: str, parameter_type=None)
             setattr(parameter.value, _parameter_type_mapping[parameter_type], loads(value))
 
     assert _node is not None
-    client = _node.create_client(
+    client: Client = _node.create_client(
         SetParameters,
         f"{node_name}/set_parameters",
         callback_group=MutuallyExclusiveCallbackGroup(),
@@ -175,7 +179,7 @@ async def _get_param(node_name: str, name: str) -> ParameterValue:
     """Internal helper function for get_param"""
 
     assert _node is not None
-    client = _node.create_client(
+    client: Client = _node.create_client(
         GetParameters,
         f"{node_name}/get_parameters",
         callback_group=MutuallyExclusiveCallbackGroup(),
@@ -250,7 +254,7 @@ async def get_param_names(params_glob: str | None) -> list[str]:
         if node_name == _node.get_fully_qualified_name():
             continue
 
-        client = _node.create_client(
+        client: Client = _node.create_client(
             ListParameters,
             f"{node_name}/list_parameters",
             callback_group=MutuallyExclusiveCallbackGroup(),

rosapi/src/rosapi/proxy.py

@@ -31,6 +31,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from ros2action.api import get_action_names_and_types
 from ros2interface.api import type_completer
 from ros2node.api import (
     get_node_names,
@@ -264,3 +265,16 @@ def get_service_node(queried_type, services_glob, include_hidden=False):
         return node_name[0]
     else:
         return ""
+
+
+def get_action_type(action_name, include_hidden=False):
+    """Returns the type of the specified ROS action.
+    If the action does not exist, an empty string is returned."""
+
+    names_and_types = get_action_names_and_types(node=_node, include_hidden_actions=include_hidden)
+
+    for name, types in names_and_types:
+        if name == action_name and types:
+            return types[0]
+
+    return ""

rosapi/test/test_typedefs.py

@@ -41,6 +41,28 @@ def test_handle_sequences(self):
         # should be None for an atomic
         self.assertEqual(actual_typedef, None)
 
+    def test_skip_private_slots_in_array_info(self):
+        # create a fake msg with one real field ('data') and one internal slot
+        class MockMsg:
+            __slots__ = ["_check_fields", "_important_data"]
+            _fields_and_field_types = {"important_data": "int32"}
+
+            def __init__(self):
+                self._important_data = 123
+                self._check_fields = None
+
+        inst = MockMsg()
+        # call the private helper directly
+        names, types, lens, examples = objectutils._handle_array_information(inst)
+
+        # should only see our single '_important_data' field
+        self.assertEqual(names, ["important_data"])
+        # raw type should be 'int32' (no array)
+        self.assertEqual(types, ["int32"])
+        self.assertEqual(lens, [-1])
+        # example should be the stringified value of 123
+        self.assertEqual(examples, ["123"])
+
 
 if __name__ == "__main__":
     unittest.main()

rosapi_msgs/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package rosapi_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2025-05-19)
+------------------
+* Add services to return Action interface details (`#1021 <https://github.com/RobotWebTools/rosbridge_suite/issues/1021>`_)
+* Contributors: David Fernàndez López
+
 2.2.0 (2025-02-26)
 ------------------
 * New async rosapi params module implementation (`#1001 <https://github.com/RobotWebTools/rosbridge_suite/issues/1001>`_)

rosapi_msgs/CMakeLists.txt

@@ -26,6 +26,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   srv/ActionGoalDetails.srv
   srv/ActionResultDetails.srv
   srv/ActionFeedbackDetails.srv
+  srv/ActionType.srv
   srv/Services.srv
   srv/ServicesForType.srv
   srv/ServiceType.srv