Fix mypy errors on rolling

rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py

@@ -38,6 +38,7 @@
 from rclpy.action import ActionServer
 from rclpy.action.server import CancelResponse, ServerGoalHandle
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.task import Future
 from rosbridge_library.capability import Capability
 from rosbridge_library.internal import message_conversion
 from rosbridge_library.internal.ros_loader import get_action_class
@@ -51,7 +52,7 @@ class AdvertisedActionHandler:
     def __init__(
         self, action_name: str, action_type: str, protocol: Protocol, sleep_time: float = 0.001
     ) -> None:
-        self.goal_futures: dict[str, rclpy.task.Future] = {}
+        self.goal_futures: dict[str, Future] = {}
         self.goal_handles: dict[str, Any] = {}
         self.goal_statuses: dict[str, GoalStatus] = {}
 
@@ -79,7 +80,7 @@ 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: Future) -> None:
             if fut.cancelled():
                 goal.abort()
                 self.protocol.log("info", f"Aborted goal {goal_id}")
@@ -94,7 +95,7 @@ def done_callback(fut: rclpy.task.Future) -> None:
                 else:
                     goal.abort()
 
-        future = rclpy.task.Future()
+        future: Future = Future()
         future.add_done_callback(done_callback)
         self.goal_handles[goal_id] = goal
         self.goal_futures[goal_id] = future

rosbridge_server/test/websocket/advertise_action_feedback.test.py

@@ -25,6 +25,7 @@ class TestActionFeedback(unittest.TestCase):
 
     def goal_response_callback(self, future: Future):
         goal_handle = future.result()
+        assert goal_handle is not None
         if not goal_handle.accepted:
             return
         self.goal_result_future = goal_handle.get_result_async()

rosbridge_server/test/websocket/common.py

@@ -11,6 +11,7 @@
 from rcl_interfaces.srv import GetParameters
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
+from rclpy.task import Future
 from twisted.internet import reactor
 from twisted.internet.endpoints import TCP4ClientEndpoint
 
@@ -24,7 +25,7 @@ class TestClientProtocol(WebSocketClientProtocol):
 
     def __init__(self, *args, **kwargs):
         self.received = []
-        self.connected_future = rclpy.task.Future()
+        self.connected_future = Future()
         self.message_handler = lambda _: None
         super().__init__(*args, **kwargs)
 
@@ -87,6 +88,7 @@ async def get_server_port(node: Node) -> int:
         if not client.wait_for_service(5):
             raise RuntimeError("GetParameters service not available")
         port_param = await client.call_async(GetParameters.Request(names=["actual_port"]))
+        assert port_param is not None
         return port_param.values[0].integer_value
     finally:
         node.destroy_client(client)
@@ -97,9 +99,10 @@ async def connect_to_server(node: Node) -> TestClientProtocol:
     factory = WebSocketClientFactory("ws://127.0.0.1:" + str(port))
     factory.protocol = TestClientProtocol
 
-    future = rclpy.task.Future()
-    assert node.executor is not None
-    future.add_done_callback(lambda _: node.executor.wake())
+    future: Future = Future()
+    executor = node.executor
+    assert executor is not None
+    future.add_done_callback(lambda _: executor.wake())
 
     def connect():
         TCP4ClientEndpoint(reactor, "127.0.0.1", port).connect(factory).addCallback(
@@ -108,8 +111,9 @@ def connect():
 
     reactor.callFromThread(connect)  # type: ignore[attr-defined]
 
-    protocol = await future
-    protocol.connected_future.add_done_callback(lambda _: node.executor.wake())
+    protocol: TestClientProtocol | None = await future
+    assert protocol is not None
+    protocol.connected_future.add_done_callback(lambda _: executor.wake())
     await protocol.connected_future  # wait for onOpen before proceeding
     return protocol
 
@@ -142,7 +146,7 @@ def sleep(node: Node, duration: float) -> Awaitable[None]:
     """
     Async-compatible delay function based on a ROS timer.
     """
-    future = rclpy.task.Future()
+    future: Future = Future()
 
     def callback():
         future.set_result(None)
@@ -171,7 +175,7 @@ def expect_messages(count: int, description: str, logger):
     Convenience function to create a Future and a message handler function which gathers results
     into a list and waits for the list to have the expected number of items.
     """
-    future = rclpy.Future()
+    future: Future = Future()
     results = []
 
     def handler(msg):