Use @deprecated to mark deprecated APIs for type checkers.

rclpy/package.xml

@@ -38,6 +38,7 @@
   <exec_depend>action_msgs</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>python3-typing-extensions</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
   <exec_depend>rosgraph_msgs</exec_depend>
   <exec_depend>rpyutils</exec_depend>

rclpy/rclpy/clock.py

@@ -17,6 +17,7 @@
 from typing import Callable, Optional, Type, TYPE_CHECKING, TypedDict
 
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from typing_extensions import TypeAlias
 
 from .clock_type import ClockType
 from .context import Context
@@ -26,10 +27,6 @@
 from .utilities import get_default_context
 
 
-if TYPE_CHECKING:
-    from typing import TypeAlias
-
-
 class ClockChange(IntEnum):
     ROS_TIME_NO_CHANGE = _rclpy.ClockChange.ROS_TIME_NO_CHANGE
     ROS_TIME_ACTIVATED = _rclpy.ClockChange.ROS_TIME_ACTIVATED
@@ -90,7 +87,7 @@ class TimeJumpDictionary(TypedDict):
     delta: int
 
 
-JumpHandlePreCallbackType: 'TypeAlias' = Callable[[], None]
+JumpHandlePreCallbackType: TypeAlias = Callable[[], None]
 
 
 class JumpHandle:

rclpy/rclpy/event_handler.py

@@ -17,7 +17,6 @@
 from typing import Callable
 from typing import List
 from typing import Optional
-from typing import TYPE_CHECKING
 import warnings
 
 import rclpy
@@ -27,9 +26,8 @@
 from rclpy.qos import qos_policy_name_from_kind
 from rclpy.waitable import NumberOfEntities
 from rclpy.waitable import Waitable
-
-if TYPE_CHECKING:
-    from typing import TypeAlias
+from typing_extensions import deprecated
+from typing_extensions import TypeAlias
 
 
 QoSPublisherEventType = _rclpy.rcl_publisher_event_type_t
@@ -75,7 +73,7 @@
 UnsupportedEventTypeError = _rclpy.UnsupportedEventTypeError
 
 
-EventHandlerData: 'TypeAlias' = Optional[Any]
+EventHandlerData: TypeAlias = Optional[Any]
 
 
 class EventHandler(Waitable[EventHandlerData]):
@@ -144,6 +142,8 @@ def destroy(self) -> None:
         self.__event.destroy_when_not_in_use()
 
 
+@deprecated('QoSEventHandler foo is deprecated, use EventHandler instead.',
+            category=DeprecationWarning, stacklevel=2)
 class QoSEventHandler(EventHandler):
 
     def __init_subclass__(cls, **kwargs):

rclpy/rclpy/impl/rcutils_logger.py

@@ -12,10 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from contextlib import suppress
 import inspect
 import os
-import sys
 from types import FrameType
 from typing import cast
 from typing import ClassVar
@@ -33,12 +31,7 @@
 from rclpy.clock import Clock
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.impl.logging_severity import LoggingSeverity
-
-if sys.version_info >= (3, 12):
-    from typing import Unpack
-else:
-    with suppress(ModuleNotFoundError):
-        from typing_extensions import Unpack
+from typing_extensions import deprecated, Unpack
 
 
 SupportedFiltersKeys = Literal['throttle', 'skip_first', 'once']
@@ -430,6 +423,7 @@ def warning(self, message: str, **kwargs: 'Unpack[LoggingArgs]') -> bool:
         """Log a message with `WARN` severity via :py:classmethod:RcutilsLogger.log:."""
         return self.log(message, LoggingSeverity.WARN, **kwargs)
 
+    @deprecated('Deprecated in favor of :py:classmethod:RcutilsLogger.warning:.')
     def warn(self, message: str, **kwargs: 'Unpack[LoggingArgs]') -> bool:
         """
         Log a message with `WARN` severity via :py:classmethod:RcutilsLogger.log:.

rclpy/rclpy/node.py

@@ -98,6 +98,8 @@
 from rclpy.validate_parameter_name import validate_parameter_name
 from rclpy.validate_topic_name import validate_topic_name
 from rclpy.waitable import Waitable
+from typing_extensions import deprecated
+
 
 HIDDEN_NODE_PREFIX = '_'
 
@@ -371,19 +373,31 @@ def declare_parameter(self, name: str, value: Union[AllowableParameterValueT,
                           ignore_override: bool = False
                           ) -> Parameter[AllowableParameterValueT]: ...
 
+    @overload
+    @deprecated('when declaring a parameter only providing its name is deprecated. '
+                'You have to either:\n'
+                '\t- Pass a name and a default value different to "PARAMETER NOT SET"'
+                ' (and optionally a descriptor).\n'
+                '\t- Pass a name and a parameter type.\n'
+                '\t- Pass a name and a descriptor with `dynamic_typing=True')
+    def declare_parameter(self, name: str,
+                          value: None = None,
+                          descriptor: None = None,
+                          ignore_override: bool = False) -> Parameter[Any]: ...
+
     @overload
     def declare_parameter(self, name: str,
                           value: Union[None, Parameter.Type, ParameterValue] = None,
                           descriptor: Optional[ParameterDescriptor] = None,
-                          ignore_override: bool = False) -> Parameter[None]: ...
+                          ignore_override: bool = False) -> Parameter[Any]: ...
 
     def declare_parameter(
         self,
         name: str,
         value: Union[AllowableParameterValue, Parameter.Type, ParameterValue] = None,
         descriptor: Optional[ParameterDescriptor] = None,
         ignore_override: bool = False
-    ) -> Parameter:
+    ) -> Parameter[Any]:
         """
         Declare and initialize a parameter.
 
@@ -413,6 +427,13 @@ def declare_parameter(
             args = (name, value, descriptor)
         return self.declare_parameters('', [args], ignore_override)[0]
 
+    @overload
+    @deprecated('when declaring a parameter only providing its name is deprecated. '
+                'You have to either:\n'
+                '\t- Pass a name and a default value different to "PARAMETER NOT SET"'
+                ' (and optionally a descriptor).\n'
+                '\t- Pass a name and a parameter type.\n'
+                '\t- Pass a name and a descriptor with `dynamic_typing=True')
     def declare_parameters(
         self,
         namespace: str,
@@ -423,7 +444,34 @@ def declare_parameters(
                   ParameterDescriptor],
         ]],
         ignore_override: bool = False
-    ) -> List[Parameter]:
+    ) -> List[Parameter[Any]]: ...
+
+    @overload
+    def declare_parameters(
+        self,
+        namespace: str,
+        parameters: List[Union[
+            Tuple[str, Parameter.Type],
+            Tuple[str, Union[AllowableParameterValue, Parameter.Type, ParameterValue],
+                  ParameterDescriptor],
+        ]],
+        ignore_override: bool = False
+    ) -> List[Parameter[Any]]: ...
+
+    def declare_parameters(
+        self,
+        namespace: str,
+        parameters: Union[List[Union[
+            Tuple[str],
+            Tuple[str, Parameter.Type],
+            Tuple[str, Union[AllowableParameterValue, Parameter.Type, ParameterValue],
+                  ParameterDescriptor]]],
+                  List[Union[
+            Tuple[str, Parameter.Type],
+            Tuple[str, Union[AllowableParameterValue, Parameter.Type, ParameterValue],
+                  ParameterDescriptor]]]],
+        ignore_override: bool = False
+    ) -> List[Parameter[Any]]:
         """
         Declare a list of parameters.
 

rclpy/rclpy/parameter.py

@@ -28,12 +28,12 @@
 from rcl_interfaces.msg import Parameter as ParameterMsg
 from rcl_interfaces.msg import ParameterType
 from rcl_interfaces.msg import ParameterValue
+from typing_extensions import TypeVar
 import yaml
 
 PARAMETER_SEPARATOR_STRING = '.'
 
 if TYPE_CHECKING:
-    from typing_extensions import TypeVar
     # Mypy does not handle string literals of array.array[int/str/float] very well
     # So if user has newer version of python can use proper array types.
     if sys.version_info > (3, 9):
@@ -55,7 +55,6 @@
                                        bound=AllowableParameterValue,
                                        default=AllowableParameterValue)
 else:
-    from typing import TypeVar
     # Done to prevent runtime errors of undefined values.
     # after python3.13 is minimum support this could be removed.
     AllowableParameterValue = Any

rclpy/rclpy/qos.py

@@ -13,15 +13,13 @@
 # limitations under the License.
 
 from enum import Enum, IntEnum
-from typing import (Callable, Iterable, List, Optional, Tuple, Type, TYPE_CHECKING,
+from typing import (Callable, Iterable, List, Optional, Tuple, Type,
                     TypedDict, TypeVar, Union)
 import warnings
 
 from rclpy.duration import Duration
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
-
-if TYPE_CHECKING:
-    from typing import TypeAlias
+from typing_extensions import TypeAlias
 
 
 class QoSPolicyKind(IntEnum):
@@ -528,7 +526,7 @@ def get_from_short_key(cls, name: str) -> QoSProfile:
         return cls[name.upper()].value
 
 
-QoSCompatibility: 'TypeAlias' = _rclpy.QoSCompatibility
+QoSCompatibility: TypeAlias = _rclpy.QoSCompatibility
 
 
 def qos_check_compatible(publisher_qos: QoSProfile,

rclpy/rclpy/qos_overriding_options.py

@@ -36,9 +36,9 @@
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
 from rclpy.subscription import Subscription
+from typing_extensions import TypeAlias
 
 if TYPE_CHECKING:
-    from typing import TypeAlias
     from rclpy.node import Node
 
 
@@ -47,7 +47,7 @@ class InvalidQosOverridesError(Exception):
 
 
 # Return type of qos validation callbacks
-QosCallbackResult: 'TypeAlias' = SetParametersResult
+QosCallbackResult: TypeAlias = SetParametersResult
 # Qos callback type annotation
 QosCallbackType = Callable[[QoSProfile], QosCallbackResult]
 

rclpy/rclpy/waitable.py

@@ -17,13 +17,11 @@
 
 
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from typing_extensions import Self
 
 T = TypeVar('T')
 
-
 if TYPE_CHECKING:
-    from typing_extensions import Self
-
     from rclpy.callback_groups import CallbackGroup
     from rclpy.task import Future
 
@@ -91,7 +89,7 @@ def __init__(self, callback_group: 'CallbackGroup'):
         # List of Futures that have callbacks needing execution
         self._futures: List[Future[Any]] = []
 
-    def __enter__(self) -> 'Self':
+    def __enter__(self) -> Self:
         """Implement to mark entities as in-use to prevent destruction while waiting on them."""
         raise NotImplementedError('Must be implemented by subclass')