Add mypy CI

.github/workflows/tests.yml

@@ -18,7 +18,7 @@ jobs:
   test-definitions:
     # sailbot_workspace: use locally-defined file
     # other repositories: set to UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@<release>
-    uses: UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@v1.3.1
+    uses: UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@v1.4.0
     # see https://github.com/UBCSailbot/sailbot_workspace/blob/main/.github/workflows/test_definitions.yml
     # for documentation on the inputs and secrets below
     with:

launch/main_launch.py

@@ -2,13 +2,14 @@
 
 import os
 from importlib.util import module_from_spec, spec_from_file_location
-from typing import List
+from typing import List, Tuple
 
 from launch_ros.actions import Node
 
-from launch import LaunchDescription, LaunchDescriptionEntity
+from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.launch_context import LaunchContext
+from launch.some_substitutions_type import SomeSubstitutionsType
 from launch.substitutions import LaunchConfiguration
 
 # Local launch arguments and constants
@@ -36,11 +37,11 @@ def generate_launch_description() -> LaunchDescription:
     )
 
 
-def get_global_launch_arguments() -> List[LaunchDescriptionEntity]:
-    """Gets the global launch arguments defined in the global launch file.
+def get_global_launch_arguments() -> Tuple:
+    """Gets the global launch arguments and environment variables from the global launch file.
 
     Returns:
-        List[LaunchDescriptionEntity]: List of global launch argument objects.
+        Tuple: The global launch arguments and environment variables.
     """
     ros_workspace = os.getenv("ROS_WORKSPACE", default="/workspaces/sailbot_workspace")
     global_main_launch = os.path.join(ros_workspace, "src", "global_launch", "main_launch.py")
@@ -51,18 +52,18 @@ def get_global_launch_arguments() -> List[LaunchDescriptionEntity]:
     spec.loader.exec_module(module)  # type: ignore[union-attr] # spec is not None
     global_launch_arguments = module.GLOBAL_LAUNCH_ARGUMENTS
     global_environment_vars = module.ENVIRONMENT_VARIABLES
-    return global_launch_arguments, global_environment_vars  # type: ignore[return-value] # no type
+    return global_launch_arguments, global_environment_vars
 
 
-def setup_launch(context: LaunchContext) -> List[LaunchDescriptionEntity]:
+def setup_launch(context: LaunchContext) -> List[Node]:
     """Collects launch descriptions that describe the system behavior in the `network_systems`
     package.
 
     Args:
         context (LaunchContext): The current launch context.
 
     Returns:
-        List[LaunchDescriptionEntity]: Launch descriptions.
+        List[Nodes]: Nodes to launch.
     """
     launch_description_entities = list()
     launch_description_entities.append(get_cached_fib_description(context))
@@ -80,7 +81,7 @@ def get_cached_fib_description(context: LaunchContext) -> Node:
     """
     node_name = "cached_fib"
     ros_parameters = [LaunchConfiguration("config").perform(context)]
-    ros_arguments = [
+    ros_arguments: List[SomeSubstitutionsType] = [
         "--log-level",
         [f"{node_name}:=", LaunchConfiguration("log_level")],
     ]