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Add type hints to minimal publisher rclpy example #439

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94a4ebd
Add type hints to minimal publisher rclpy example
andrearichichi Mar 17, 2026
587d5c1
Simplify typing in minimal publisher example
andrearichichi Mar 20, 2026
b5c93b1
Add type hint for main args in minimal publisher
andrearichichi Mar 20, 2026
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6 changes: 3 additions & 3 deletions rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,22 +21,22 @@

class MinimalPublisher(Node):

def __init__(self):
def __init__(self) -> None:
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(String, 'topic', 10)
timer_period = 0.5 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0

def timer_callback(self):
def timer_callback(self) -> None:
msg = String()
msg.data = 'Hello World: %d' % self.i
self.publisher_.publish(msg)
self.get_logger().info('Publishing: "%s"' % msg.data)
self.i += 1


def main(args=None):
def main(args=None) -> None:
try:
with rclpy.init(args=args):
minimal_publisher = MinimalPublisher()
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