Merge branch 'main' into feature/jazzy-ubuntu2404-devcontainer

Author: Flova

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py

@@ -1,5 +1,5 @@
 import math
-from typing import List, Optional, Tuple
+from typing import Optional
 
 import numpy as np
 import tf2_ros as tf2
@@ -132,7 +132,7 @@ def get_pass_regions(self) -> np.ndarray:
         # Smooth obstacle map
         return gaussian_filter(costmap, pass_smooth)
 
-    def field_2_costmap_coord(self, x: float, y: float) -> Tuple[int, int]:
+    def field_2_costmap_coord(self, x: float, y: float) -> tuple[int, int]:
         """
         Converts a field position to the corresponding indices for the costmap.
 
@@ -209,7 +209,7 @@ def calc_base_costmap(self) -> None:
             0 : self.field_width + self.map_margin * 2 : (self.field_width + self.map_margin * 2) * 10j,  # type: ignore[misc]
         ]
 
-        fix_points: List[Tuple[Tuple[float, float], float]] = []
+        fix_points: list[tuple[tuple[float, float], float]] = []
 
         # Add base points
         fix_points.extend(
@@ -284,7 +284,7 @@ def calc_base_costmap(self) -> None:
         self.base_costmap = base_costmap
         self.costmap = self.base_costmap.copy()
 
-    def get_gradient_at_field_position(self, x: float, y: float) -> Tuple[float, float]:
+    def get_gradient_at_field_position(self, x: float, y: float) -> tuple[float, float]:
         """
         Gets the gradient tuple at a given field position
         :param x: Field coordinate in the x direction

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py

@@ -1,4 +1,4 @@
-from typing import List, Literal, Optional, Tuple
+from typing import Literal, Optional
 
 import numpy as np
 from bitbots_utils.utils import get_parameters_from_other_node
@@ -142,7 +142,7 @@ def set_action(self, action: int) -> None:
         self.strategy.action = action
         self.action_update = self._node.get_clock().now().nanoseconds / 1e9
 
-    def get_action(self) -> Tuple[int, float]:
+    def get_action(self) -> tuple[int, float]:
         return self.strategy.action, self.action_update
 
     def set_role(self, role: Literal["goalie", "offense", "defense"]) -> None:
@@ -154,7 +154,7 @@ def set_role(self, role: Literal["goalie", "offense", "defense"]) -> None:
         self.strategy.role = self.roles_mapping[role]
         self.role_update = self._node.get_clock().now().nanoseconds / 1e9
 
-    def get_role(self) -> Tuple[int, float]:
+    def get_role(self) -> tuple[int, float]:
         return self.strategy.role, self.role_update
 
     def set_kickoff_strategy(
@@ -164,10 +164,10 @@ def set_kickoff_strategy(
         self.strategy.offensive_side = strategy
         self.strategy_update = self._node.get_clock().now().nanoseconds / 1e9
 
-    def get_kickoff_strategy(self) -> Tuple[int, float]:
+    def get_kickoff_strategy(self) -> tuple[int, float]:
         return self.strategy.offensive_side, self.strategy_update
 
-    def get_active_teammate_poses(self, count_goalies: bool = False) -> List[Pose]:
+    def get_active_teammate_poses(self, count_goalies: bool = False) -> list[Pose]:
         """Returns the poses of all playing robots"""
         poses = []
         data: TeamData

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py

@@ -1,5 +1,4 @@
 import math
-from typing import Tuple
 
 import numpy as np
 import tf2_ros as tf2
@@ -90,7 +89,7 @@ def ball_has_been_seen(self) -> bool:
         """Returns true if we or a teammate are reasonably sure that we have seen the ball"""
         return self.ball_seen_self() or self._blackboard.team_data.teammate_ball_is_valid()
 
-    def get_ball_position_xy(self) -> Tuple[float, float]:
+    def get_ball_position_xy(self) -> tuple[float, float]:
         """Return the ball saved in the map frame, meaning the absolute position of the ball on the field"""
         ball = self.get_best_ball_point_stamped()
         return ball.point.x, ball.point.y
@@ -117,7 +116,7 @@ def get_best_ball_point_stamped(self) -> PointStamped:
         self.debug_publisher_which_ball.publish(Header(stamp=own_ball.header.stamp, frame_id="own_ball_map"))
         return own_ball
 
-    def get_ball_position_uv(self) -> Tuple[float, float]:
+    def get_ball_position_uv(self) -> tuple[float, float]:
         """
         Returns the ball position relative to the robot in the base_footprint frame.
         U and V are returned, where positive U is forward, positive V is to the left.
@@ -183,18 +182,18 @@ def forget_ball(self) -> None:
     # Goal #
     ########
 
-    def get_map_based_opp_goal_center_uv(self) -> Tuple[float, float]:
+    def get_map_based_opp_goal_center_uv(self) -> tuple[float, float]:
         x, y = self.get_map_based_opp_goal_center_xy()
         return self.get_uv_from_xy(x, y)
 
-    def get_map_based_opp_goal_center_xy(self) -> Tuple[float, float]:
+    def get_map_based_opp_goal_center_xy(self) -> tuple[float, float]:
         return self.field_length / 2, 0.0
 
-    def get_map_based_own_goal_center_uv(self) -> Tuple[float, float]:
+    def get_map_based_own_goal_center_uv(self) -> tuple[float, float]:
         x, y = self.get_map_based_own_goal_center_xy()
         return self.get_uv_from_xy(x, y)
 
-    def get_map_based_own_goal_center_xy(self) -> Tuple[float, float]:
+    def get_map_based_own_goal_center_xy(self) -> tuple[float, float]:
         return -self.field_length / 2, 0.0
 
     def get_map_based_opp_goal_angle_from_ball(self) -> float:
@@ -210,19 +209,19 @@ def get_map_based_opp_goal_angle(self) -> float:
         x, y = self.get_map_based_opp_goal_center_uv()
         return math.atan2(y, x)
 
-    def get_map_based_opp_goal_left_post_uv(self) -> Tuple[float, float]:
+    def get_map_based_opp_goal_left_post_uv(self) -> tuple[float, float]:
         x, y = self.get_map_based_opp_goal_center_xy()
         return self.get_uv_from_xy(x, y - self.goal_width / 2)
 
-    def get_map_based_opp_goal_right_post_uv(self) -> Tuple[float, float]:
+    def get_map_based_opp_goal_right_post_uv(self) -> tuple[float, float]:
         x, y = self.get_map_based_opp_goal_center_xy()
         return self.get_uv_from_xy(x, y + self.goal_width / 2)
 
     ########
     # Pose #
     ########
 
-    def get_current_position(self) -> Tuple[float, float, float]:
+    def get_current_position(self) -> tuple[float, float, float]:
         """
         Returns the current position on the field as determined by the localization.
         0,0,0 is the center of the field looking in the direction of the opponent goal.
@@ -261,7 +260,7 @@ def get_current_position_transform(self) -> TransformStamped:
     # Common #
     ##########
 
-    def get_uv_from_xy(self, x: float, y: float) -> Tuple[float, float]:
+    def get_uv_from_xy(self, x: float, y: float) -> tuple[float, float]:
         """Returns the relativ positions of the robot to this absolute position"""
         current_position = self.get_current_position()
         x2 = x - current_position[0]
@@ -271,7 +270,7 @@ def get_uv_from_xy(self, x: float, y: float) -> Tuple[float, float]:
         v = math.cos(theta) * y2 - math.sin(theta) * x2
         return u, v
 
-    def get_xy_from_uv(self, u: float, v: float) -> Tuple[float, float]:
+    def get_xy_from_uv(self, u: float, v: float) -> tuple[float, float]:
         """Returns the absolute position from the given relative position to the robot"""
         pos_x, pos_y, theta = self.get_current_position()
         angle = math.atan2(v, u) + theta

bitbots_misc/bitbots_tts/bitbots_tts/tts.py

@@ -4,7 +4,6 @@
 import subprocess
 import time
 import traceback
-from typing import List, Tuple
 
 import rclpy
 import requests
@@ -44,7 +43,7 @@ def __init__(self) -> None:
         super().__init__("tts_speaker")
 
         # Class Variables
-        self.prio_queue: List[Tuple[str, int]] = []
+        self.prio_queue: list[tuple[str, int]] = []
         self.speak_enabled = None
         self.print_say = None
         self.message_level = None
@@ -77,7 +76,7 @@ def __init__(self) -> None:
         # Start processing the queue
         self.create_timer(0.1, self.run_speaker, callback_group=MutuallyExclusiveCallbackGroup())
 
-    def on_set_parameters(self, parameters: List[Parameter]) -> SetParametersResult:
+    def on_set_parameters(self, parameters: list[Parameter]) -> SetParametersResult:
         """Callback for parameter changes."""
         for parameter in parameters:
             if parameter.name == "print":

bitbots_misc/bitbots_utils/bitbots_utils/utils.py

@@ -1,5 +1,5 @@
 import os
-from typing import Any, Dict, List
+from typing import Any
 
 import rclpy
 import yaml
@@ -24,7 +24,7 @@ def read_urdf(robot_name: str) -> str:
     return urdf
 
 
-def load_moveit_parameter(robot_name: str) -> List[ParameterMsg]:
+def load_moveit_parameter(robot_name: str) -> list[ParameterMsg]:
     moveit_parameters = get_parameters_from_plain_yaml(
         f"{get_package_share_directory(f'{robot_name}_moveit_config')}/config/kinematics.yaml",
         "robot_description_kinematics.",
@@ -44,7 +44,7 @@ def load_moveit_parameter(robot_name: str) -> List[ParameterMsg]:
     return moveit_parameters
 
 
-def get_parameters_from_ros_yaml(node_name: str, parameter_file: str, use_wildcard: bool) -> List[ParameterMsg]:
+def get_parameters_from_ros_yaml(node_name: str, parameter_file: str, use_wildcard: bool) -> list[ParameterMsg]:
     # Remove leading slash and namespaces
     with open(parameter_file) as f:
         param_file = yaml.safe_load(f)
@@ -70,24 +70,21 @@ def get_parameters_from_ros_yaml(node_name: str, parameter_file: str, use_wildca
         return parse_parameter_dict(namespace="", parameter_dict=param_dict)
 
 
-def get_parameters_from_plain_yaml(parameter_file, namespace="") -> List[ParameterMsg]:
+def get_parameters_from_plain_yaml(parameter_file, namespace="") -> list[ParameterMsg]:
     with open(parameter_file) as f:
         param_dict = yaml.safe_load(f)
         return parse_parameter_dict(namespace=namespace, parameter_dict=param_dict)
 
 
-def get_parameter_dict(node: Node, prefix: str) -> Dict:
+def get_parameter_dict(node: Node, prefix: str) -> dict:
     """
     Get a dictionary of parameters from a node.
 
     :param node: Node to get parameters from
-    :type node: Node
     :param prefix: Prefix for the nesting of the parameter query (e.g. 'body.nice_param.index' could have the prefix 'body')
-    :type prefix: str
     :return: Dictionary of parameters without prefix nesting
-    :rtype: Dict
     """
-    parameter_config: Dict[str, Parameter] = node.get_parameters_by_prefix(prefix)
+    parameter_config: dict[str, Parameter] = node.get_parameters_by_prefix(prefix)
     config = dict()
     for param in parameter_config.values():
         # Split separated keys into nested dicts
@@ -112,8 +109,8 @@ def get_parameter_dict(node: Node, prefix: str) -> Dict:
 
 
 def get_parameters_from_other_node(
-    own_node: Node, other_node_name: str, parameter_names: List[str], service_timeout_sec: float = 20.0
-) -> Dict:
+    own_node: Node, other_node_name: str, parameter_names: list[str], service_timeout_sec: float = 20.0
+) -> dict:
     """
     Used to receive parameters from other running nodes.
     Returns a dict with requested parameter name as dict key and parameter value as dict value.
@@ -135,8 +132,8 @@ def get_parameters_from_other_node(
 
 
 def get_parameters_from_other_node_sync(
-    own_node: Node, other_node_name: str, parameter_names: List[str], service_timeout_sec: float = 20.0
-) -> Dict:
+    own_node: Node, other_node_name: str, parameter_names: list[str], service_timeout_sec: float = 20.0
+) -> dict:
     """
     Used to receive parameters from other running nodes. It does not use async internally.
     It should not be used in callback functions, but it is a bit more reliable than the async version.
@@ -159,10 +156,10 @@ def get_parameters_from_other_node_sync(
 def set_parameters_of_other_node(
     own_node: Node,
     other_node_name: str,
-    parameter_names: List[str],
-    parameter_values: List[Any],
+    parameter_names: list[str],
+    parameter_values: list[Any],
     service_timeout_sec: float = 20.0,
-) -> List[bool]:
+) -> list[bool]:
     """
     Used to set parameters of another running node.
     Returns a list of booleans indicating success or failure.

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py

@@ -1,4 +1,4 @@
-from typing import List, Optional
+from typing import Optional
 
 import numpy
 from bitbots_utils.utils import get_parameters_from_other_node_sync
@@ -117,8 +117,8 @@ def __init__(self, node: Node):
 
         # Pressure sensors
         # Initialize values high to prevent wrongly thinking the robot is picked up during start or in simulation
-        self.pressures: List[float] = [100.0] * 8
-        self.previous_pressures: List[float] = self.pressures.copy()
+        self.pressures: list[float] = [100.0] * 8
+        self.previous_pressures: list[float] = self.pressures.copy()
         self.last_different_pressure_state_time: Optional[Time] = None
 
         # Diagnostics state

bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py

@@ -3,7 +3,7 @@
 import socket
 import struct
 import threading
-from typing import List, Optional, Tuple
+from typing import Optional
 
 import rclpy
 from ament_index_python.packages import get_package_share_directory
@@ -84,8 +84,8 @@ def set_state_defaults(self):
         self.cmd_vel: Optional[Twist] = None
         self.cmd_vel_time = Time(clock_type=self.node.get_clock().clock_type)
         self.ball: Optional[PointStamped] = None
-        self.ball_velocity: Tuple[float, float, float] = (0.0, 0.0, 0.0)
-        self.ball_covariance: List[double] = []
+        self.ball_velocity: tuple[float, float, float] = (0.0, 0.0, 0.0)
+        self.ball_covariance: list[double] = []
         self.strategy: Optional[Strategy] = None
         self.strategy_time = Time(clock_type=self.node.get_clock().clock_type)
         self.time_to_ball: Optional[float] = None

bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/communication.py

@@ -1,6 +1,6 @@
 import socket
 from ipaddress import IPv4Address
-from typing import List, Optional
+from typing import Optional
 
 from rclpy.node import Node
 
@@ -15,7 +15,7 @@ def __init__(self, node: Node, logger, team_id, robot_id):
 
         if self.target_ip.is_loopback:
             # local mode on loopback device, bind to port depending on bot id and team id
-            local_target_ports: List[int] = node.get_parameter("local_target_ports").value
+            local_target_ports: list[int] = node.get_parameter("local_target_ports").value
             self.target_ports = [port + 10 * team_id for port in local_target_ports]
             self.receive_port = self.target_ports[robot_id - 1]
         else:

bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py

@@ -1,4 +1,4 @@
-from typing import Iterable, Sequence, Tuple
+from typing import Iterable, Sequence
 
 import numpy as np
 import transforms3d
@@ -85,7 +85,7 @@ def convert_robot_pose(self, message_robot_pose: Proto.Robot) -> PoseWithCovaria
 
         return robot
 
-    def convert_to_quat(self, euler_angles: Tuple[float, float, float]):
+    def convert_to_quat(self, euler_angles: tuple[float, float, float]):
         return transforms3d.euler.euler2quat(*euler_angles)
 
     def convert_to_row_major_covariance(

bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py

@@ -1,5 +1,5 @@
 import math
-from typing import Callable, Optional, Tuple
+from typing import Callable, Optional
 
 import numpy as np
 import transforms3d
@@ -67,7 +67,7 @@ def convert_target_position(target_position: Optional[PoseStamped], message):
 
         def convert_ball_position(
             ball_position: Optional[PointStamped],
-            ball_velocity: Tuple[float, float, float],
+            ball_velocity: tuple[float, float, float],
             ball_covariance: Float64[np.ndarray, "36"],
             message,
         ):