Run mypy checks in GitHub Actions

.github/workflows/docker.yml

@@ -209,6 +209,21 @@ jobs:
       cmd: "pytest -m lcm"
       dev-image: dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true') && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
+  run-mypy:
+    needs: [check-changes, ros-dev]
+    if: always()
+    uses: ./.github/workflows/tests.yml
+    secrets: inherit
+    with:
+      should-run: ${{
+        needs.check-changes.result == 'success' &&
+        ((needs.ros-dev.result == 'success') ||
+        (needs.ros-dev.result == 'skipped' &&
+        needs.check-changes.outputs.tests == 'true'))
+        }}
+      cmd: "MYPYPATH=/opt/ros/humble/lib/python3.10/site-packages mypy dimos"
+      dev-image: ros-dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true' || needs.check-changes.outputs.ros == 'true') && needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
+
   # Run module tests directly to avoid pytest forking issues
   # run-module-tests:
   #   needs: [check-changes, dev]

bin/mypy-ros

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+
+cd "$ROOT"
+
+main() {
+  if [ -z "$(docker images -q dimos-ros-dev)" ]; then
+    (cd docker/ros; docker build -t dimos-ros .)
+    docker build -t dimos-ros-python --build-arg FROM_IMAGE=dimos-ros -f docker/python/Dockerfile .
+    docker build -t dimos-ros-dev --build-arg FROM_IMAGE=dimos-ros-python -f docker/dev/Dockerfile .
+  fi
+
+  docker run --rm -v $(pwd):/app -w /app dimos-ros-dev bash -c "source /opt/ros/humble/setup.bash && MYPYPATH=/opt/ros/humble/lib/python3.10/site-packages mypy dimos"
+}
+
+main "$@"

dimos/core/stream.py

@@ -256,7 +256,7 @@ def transport(self) -> Transport[T]:
     def publish(self, msg) -> None:  # type: ignore[no-untyped-def]
         self.transport.broadcast(self, msg)  # type: ignore[arg-type]
 
-    @transport.setter  # type: ignore[attr-defined, misc, no-redef]
+    @transport.setter  # type: ignore[attr-defined, misc, no-redef, untyped-decorator]
     def transport(self, value: Transport[T]) -> None:
         self.owner.set_transport(self.name, value).result()  # type: ignore[union-attr]
         self._transport = value

dimos/hardware/camera/zed/camera.py

@@ -591,7 +591,7 @@ def __init__(  # type: ignore[no-untyped-def]
         self.tf = TF()
 
         # Initialize storage for recording if path provided
-        self.storages = None
+        self.storages: dict[str, Any] | None = None
         if self.recording_path:
             from dimos.utils.testing import TimedSensorStorage
 

dimos/hardware/gstreamer_camera.py

@@ -29,11 +29,11 @@
 if "/usr/lib/python3/dist-packages" not in sys.path:
     sys.path.insert(0, "/usr/lib/python3/dist-packages")
 
-import gi  # type: ignore[import-not-found]
+import gi  # type: ignore[import-untyped,import-not-found]
 
 gi.require_version("Gst", "1.0")
 gi.require_version("GstApp", "1.0")
-from gi.repository import GLib, Gst  # type: ignore[import-not-found]
+from gi.repository import GLib, Gst  # type: ignore[import-untyped,import-not-found]
 
 logger = setup_logger(level=logging.INFO)
 

dimos/hardware/gstreamer_sender.py

@@ -24,11 +24,11 @@
 if "/usr/lib/python3/dist-packages" not in sys.path:
     sys.path.insert(0, "/usr/lib/python3/dist-packages")
 
-import gi  # type: ignore[import-not-found]
+import gi  # type: ignore[import-untyped,import-not-found]
 
 gi.require_version("Gst", "1.0")
 gi.require_version("GstVideo", "1.0")
-from gi.repository import GLib, Gst  # type: ignore[import-not-found]
+from gi.repository import GLib, Gst  # type: ignore[import-untyped,import-not-found]
 
 # Initialize GStreamer
 Gst.init(None)

dimos/hardware/piper_arm.py

@@ -27,7 +27,7 @@
 from piper_sdk import *  # type: ignore[import-not-found]  # from the official Piper SDK
 import pytest
 from reactivex.disposable import Disposable
-from scipy.spatial.transform import Rotation as R
+from scipy.spatial.transform import Rotation as R  # type: ignore[import-untyped]
 
 import dimos.core as core
 from dimos.core import In, Module, rpc

dimos/manipulation/visual_servoing/pbvs.py

@@ -21,7 +21,7 @@
 
 from dimos_lcm.vision_msgs import Detection3D  # type: ignore[import-untyped]
 import numpy as np
-from scipy.spatial.transform import Rotation as R
+from scipy.spatial.transform import Rotation as R  # type: ignore[import-untyped]
 
 from dimos.manipulation.visual_servoing.utils import (
     create_pbvs_visualization,

dimos/models/vl/base.py

@@ -72,7 +72,7 @@ def warmup(self) -> None:
             pass
 
     # requery once if JSON parsing fails
-    @retry(max_retries=2, on_exception=json.JSONDecodeError, delay=0.0)  # type: ignore[misc]
+    @retry(max_retries=2, on_exception=json.JSONDecodeError, delay=0.0)  # type: ignore[misc, untyped-decorator]
     def query_json(self, image: Image, query: str) -> dict:  # type: ignore[type-arg]
         response = self.query(image, query)
         return extract_json(response)  # type: ignore[return-value]

dimos/msgs/geometry_msgs/Pose.py

@@ -22,7 +22,7 @@
 )
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         Point as ROSPoint,
         Pose as ROSPose,
         Quaternion as ROSQuaternion,

dimos/msgs/geometry_msgs/PoseStamped.py

@@ -20,7 +20,9 @@
 from dimos_lcm.geometry_msgs import PoseStamped as LCMPoseStamped  # type: ignore[import-untyped]
 
 try:
-    from geometry_msgs.msg import PoseStamped as ROSPoseStamped  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[import-untyped]
+        PoseStamped as ROSPoseStamped,  # type: ignore[attr-defined]
+    )
 except ImportError:
     ROSPoseStamped = None  # type: ignore[assignment, misc]
 

dimos/msgs/geometry_msgs/PoseWithCovariance.py

@@ -23,7 +23,7 @@
 from plum import dispatch
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         PoseWithCovariance as ROSPoseWithCovariance,
     )
 except ImportError:

dimos/msgs/geometry_msgs/PoseWithCovarianceStamped.py

@@ -24,7 +24,7 @@
 from plum import dispatch
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         PoseWithCovarianceStamped as ROSPoseWithCovarianceStamped,
     )
 except ImportError:

dimos/msgs/geometry_msgs/Quaternion.py

@@ -22,7 +22,7 @@
 from dimos_lcm.geometry_msgs import Quaternion as LCMQuaternion  # type: ignore[import-untyped]
 import numpy as np
 from plum import dispatch
-from scipy.spatial.transform import Rotation as R
+from scipy.spatial.transform import Rotation as R  # type: ignore[import-untyped]
 
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 

dimos/msgs/geometry_msgs/Transform.py

@@ -23,7 +23,7 @@
 )
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         Quaternion as ROSQuaternion,
         Transform as ROSTransform,
         TransformStamped as ROSTransformStamped,

dimos/msgs/geometry_msgs/Twist.py

@@ -18,7 +18,7 @@
 from plum import dispatch
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         Twist as ROSTwist,
         Vector3 as ROSVector3,
     )

dimos/msgs/geometry_msgs/TwistStamped.py

@@ -21,7 +21,9 @@
 from plum import dispatch
 
 try:
-    from geometry_msgs.msg import TwistStamped as ROSTwistStamped  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[import-untyped]
+        TwistStamped as ROSTwistStamped,  # type: ignore[attr-defined]
+    )
 except ImportError:
     ROSTwistStamped = None  # type: ignore[assignment, misc]
 

dimos/msgs/geometry_msgs/TwistWithCovariance.py

@@ -23,7 +23,7 @@
 from plum import dispatch
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         TwistWithCovariance as ROSTwistWithCovariance,
     )
 except ImportError:

dimos/msgs/geometry_msgs/TwistWithCovarianceStamped.py

@@ -24,7 +24,7 @@
 from plum import dispatch
 
 try:
-    from geometry_msgs.msg import (  # type: ignore[attr-defined]
+    from geometry_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         TwistWithCovarianceStamped as ROSTwistWithCovarianceStamped,
     )
 except ImportError:

dimos/msgs/nav_msgs/OccupancyGrid.py

@@ -24,7 +24,7 @@
 )
 from dimos_lcm.std_msgs import Time as LCMTime  # type: ignore[import-untyped]
 import numpy as np
-from scipy import ndimage
+from scipy import ndimage  # type: ignore[import-untyped]
 
 from dimos.msgs.geometry_msgs import Pose, Vector3, VectorLike
 from dimos.types.timestamped import Timestamped

dimos/msgs/nav_msgs/Odometry.py

@@ -22,7 +22,7 @@
 from plum import dispatch
 
 try:
-    from nav_msgs.msg import Odometry as ROSOdometry  # type: ignore[attr-defined]
+    from nav_msgs.msg import Odometry as ROSOdometry  # type: ignore[attr-defined, import-untyped]
 except ImportError:
     ROSOdometry = None  # type: ignore[assignment, misc]
 

dimos/msgs/nav_msgs/Path.py

@@ -27,7 +27,7 @@
 from dimos_lcm.std_msgs import Header as LCMHeader, Time as LCMTime  # type: ignore[import-untyped]
 
 try:
-    from nav_msgs.msg import Path as ROSPath  # type: ignore[attr-defined]
+    from nav_msgs.msg import Path as ROSPath  # type: ignore[attr-defined, import-untyped]
 except ImportError:
     ROSPath = None  # type: ignore[assignment, misc]
 

dimos/msgs/sensor_msgs/CameraInfo.py

@@ -23,11 +23,11 @@
 
 # Import ROS types
 try:
-    from sensor_msgs.msg import (  # type: ignore[attr-defined]
+    from sensor_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         CameraInfo as ROSCameraInfo,
         RegionOfInterest as ROSRegionOfInterest,
     )
-    from std_msgs.msg import Header as ROSHeader  # type: ignore[attr-defined]
+    from std_msgs.msg import Header as ROSHeader  # type: ignore[attr-defined, import-untyped]
 
     ROS_AVAILABLE = True
 except ImportError:

dimos/msgs/sensor_msgs/Image.py

@@ -50,7 +50,7 @@
     cp = None
 
 try:
-    from sensor_msgs.msg import Image as ROSImage  # type: ignore[attr-defined]
+    from sensor_msgs.msg import Image as ROSImage  # type: ignore[attr-defined, import-untyped]
 except ImportError:
     ROSImage = None  # type: ignore[assignment, misc]
 

dimos/msgs/sensor_msgs/Joy.py

@@ -20,7 +20,7 @@
 from dimos_lcm.sensor_msgs import Joy as LCMJoy  # type: ignore[import-untyped]
 
 try:
-    from sensor_msgs.msg import Joy as ROSJoy  # type: ignore[attr-defined]
+    from sensor_msgs.msg import Joy as ROSJoy  # type: ignore[attr-defined, import-untyped]
 except ImportError:
     ROSJoy = None  # type: ignore[assignment, misc]
 

dimos/msgs/sensor_msgs/PointCloud2.py

@@ -30,11 +30,11 @@
 
 # Import ROS types
 try:
-    from sensor_msgs.msg import (  # type: ignore[attr-defined]
+    from sensor_msgs.msg import (  # type: ignore[attr-defined, import-untyped]
         PointCloud2 as ROSPointCloud2,
         PointField as ROSPointField,
     )
-    from std_msgs.msg import Header as ROSHeader  # type: ignore[attr-defined]
+    from std_msgs.msg import Header as ROSHeader  # type: ignore[attr-defined, import-untyped]
 
     ROS_AVAILABLE = True
 except ImportError:

dimos/msgs/std_msgs/Bool.py

@@ -18,7 +18,7 @@
 from dimos_lcm.std_msgs import Bool as LCMBool  # type: ignore[import-untyped]
 
 try:
-    from std_msgs.msg import Bool as ROSBool  # type: ignore[attr-defined]
+    from std_msgs.msg import Bool as ROSBool  # type: ignore[attr-defined, import-untyped]
 except ImportError:
     ROSBool = None  # type: ignore[assignment, misc]