Fix ros2 bridge incompatibility with CI Ubuntu 24 and with pyo3 22

.github/workflows/ci.yml

@@ -73,7 +73,7 @@ jobs:
     name: "Examples"
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-22.04, macos-latest, windows-latest]
       fail-fast: false
     runs-on: ${{ matrix.platform }}
     timeout-minutes: 60
@@ -133,31 +133,10 @@ jobs:
         if: runner.os == 'Linux'
         run: cargo run --example rust-dataflow -- dataflow_socket.yml
 
-      # python examples
-      - uses: actions/setup-python@v2
-        if: runner.os != 'Windows'
-        with:
-          python-version: "3.8"
-      - uses: actions/setup-python@v2
-        if: runner.os == 'Windows'
-        with:
-          python-version: "3.10"
-      - name: "Python Dataflow example"
-        run: cargo run --example python-dataflow
-      - uses: conda-incubator/setup-miniconda@v3
-        with:
-          auto-activate-base: true
-          activate-environment: ""
-      - name: "Python Operator Dataflow example"
-        shell: bash -l {0}
-        run: |
-          conda deactivate 
-          cargo run --example python-operator-dataflow
-
   # ROS2 bridge examples
   ros2-bridge-examples:
     name: "ROS2 Bridge Examples"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     timeout-minutes: 45
     steps:
       - uses: actions/checkout@v3
@@ -270,7 +249,7 @@ jobs:
         with:
           # this might remove tools that are actually needed,
           # if set to "true" but frees about 6 GB
-          tool-cache: false
+          tool-cache: true
 
           # all of these default to true, but feel free to set to
           # "false" if necessary for your workflow
@@ -279,7 +258,7 @@ jobs:
           haskell: true
           large-packages: false
           docker-images: true
-          swap-storage: false
+          swap-storage: true
       - uses: Swatinem/rust-cache@v2
         with:
           cache-provider: buildjet
@@ -338,11 +317,27 @@ jobs:
           dora start dataflow.yml --name ci-python-test --detach
           sleep 10
           dora stop --name ci-python-test  --grace-duration 5s
-          dora build ../examples/python-dataflow/dataflow_dynamic.yml
+
+          # Run Python Node Example
+
+          dora build ../examples/python-dataflow/dataflow.yml
+          dora start ../examples/python-dataflow/dataflow.yml --name ci-python --detach
+          sleep 5
+          dora stop --name ci-python  --grace-duration 5s
+
+          # Run Python Dynamic Node Example
+
           dora start ../examples/python-dataflow/dataflow_dynamic.yml --name ci-python-dynamic --detach
           opencv-plot --name plot
           sleep 5
           dora stop --name ci-python-dynamic  --grace-duration 5s
+
+          # Run Python Operator Example
+
+          dora start ../examples/python-operator-dataflow/dataflow.yml --name ci-python-operator --detach
+          sleep 5
+          dora stop --name ci-python-operator  --grace-duration 5s
+
           dora destroy
 
       - name: "Test CLI (C)"

libraries/extensions/ros2-bridge/python/src/typed/mod.rs

@@ -36,13 +36,15 @@ mod tests {
     use arrow::pyarrow::FromPyArrow;
     use arrow::pyarrow::ToPyArrow;
 
+    use eyre::eyre;
     use pyo3::types::IntoPyDict;
     use pyo3::types::PyAnyMethods;
     use pyo3::types::PyDict;
     use pyo3::types::PyList;
+    use pyo3::types::PyListMethods;
     use pyo3::types::PyModule;
     use pyo3::types::PyTuple;
-    use pyo3::PyNativeType;
+
     use pyo3::Python;
     use serde::de::DeserializeSeed;
     use serde::Serialize;
@@ -71,9 +73,14 @@ mod tests {
 
             let my_module = PyModule::import_bound(py, "test_utils")?;
 
-            let arrays: &PyList = my_module.getattr("TEST_ARRAYS")?.extract()?;
+            let arrays = my_module.getattr("TEST_ARRAYS")?;
+            let arrays = arrays
+                .downcast::<PyList>()
+                .map_err(|err| eyre!("Could not downcast PyAny. Err: {}", err))?;
             for array_wrapper in arrays.iter() {
-                let arrays: &PyTuple = array_wrapper.extract()?;
+                let arrays = array_wrapper.downcast::<PyTuple>().map_err(|err| {
+                    eyre!("Could not downcast expected tuple test array. Err: {}", err)
+                })?;
                 let package_name: String = arrays.get_item(0)?.extract()?;
                 let message_name: String = arrays.get_item(1)?.extract()?;
                 println!("Checking {}::{}", package_name, message_name);