cleaning up rclpy types

moveit_studio_py/examples/start_stop_async.py

@@ -33,26 +33,28 @@
 
 import argparse
 import rclpy
+from rclpy.task import Future
 import time
 
 from moveit_msgs.msg import MoveItErrorCodes
 from moveit_studio_py.objective_manager import ObjectiveManager
 
 
-def done_cb(future: rclpy.task.Future) -> None:
+def done_cb(future: Future) -> None:
     """
     Callback that is triggered when an Objective that was started asynchronously is done executing.
 
     Args:
         future: the Objective's future, which contains info about the completion status of the Objective.
     """
     result = future.result()
-    if result.error_code.val == MoveItErrorCodes.SUCCESS:
-        print("Objective executed successfully!")
-    elif result.error_message:
-        print(result.error_message)
-    else:
-        print(f"MoveItErrorCode Value: {result.error_code.val}")
+    if result is not None:
+        if result.error_code.val == MoveItErrorCodes.SUCCESS:
+            print("Objective executed successfully!")
+        elif result.error_message:
+            print(result.error_message)
+        else:
+            print(f"MoveItErrorCode Value: {result.error_code.val}")
 
 
 def main():

moveit_studio_py/moveit_studio_py/objective_manager.py

@@ -28,8 +28,11 @@
 
 import threading
 import rclpy
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.task import Future
 
 from collections.abc import Callable
+from typing import Optional
 from moveit_msgs.msg import MoveItErrorCodes
 from moveit_studio_sdk_msgs.msg import BehaviorParameter
 from moveit_studio_sdk_msgs.srv import CancelObjective, ExecuteObjective
@@ -48,7 +51,7 @@ def __init__(self):
         """
         Constructor.
         """
-        self._node = rclpy.create_node("moveit_studio_objective_manager")
+        self._node = rclpy.create_node("moveit_studio_objective_manager") # type: ignore
 
         self._execute_objective_client = self._node.create_client(
             ExecuteObjective, self.__EXECUTE_OBJECTIVE_SERVICE
@@ -66,7 +69,7 @@ def __init__(self):
                 f"{self.__CANCEL_OBJECTIVE_SERVICE} service not available."
             )
 
-        self._executor = rclpy.executors.MultiThreadedExecutor()
+        self._executor = MultiThreadedExecutor()
         self._executor.add_node(self._node)
         self._executor_thread = threading.Thread(
             target=self._executor.spin, daemon=True
@@ -87,7 +90,7 @@ def start_objective(
         objective_name: str,
         parameter_overrides: list[BehaviorParameter] = [],
         blocking: bool = True,
-        async_callback: Callable[[rclpy.task.Future], None] = None,
+        async_callback: Optional[Callable[[Future], None]] = None,
     ) -> tuple[bool, str]:
         """
         Run an Objective.