6 main goals to accomplish before lyrical.

Update python interfaces to better support Client/Server/ActionClient/ActionServer generics.
Add an ament_mypy configuration that forces all methods to be statically typed.
Update ROS core that is using the default configuration to the new configuration to prevent regressions going forward.
- ament_mypy uses
  - Update ament_index_python to use the new configuration
  - Update launch to use the new configuration
  - Update ros2trace to use the new configuration
  - Update test_ros2trace to use the new configuration
  - Update test_tracetools_launch to use the new configuration
  - Update tracetools_launch to use the new configuration
  - Update tracetools_read to use the new configuration
  - Update tracetools_test to use the new configuration
  - Update tracetools_trace to use the new configuration
  - Update rosidl_cli to use the new configuration
  - Update rosidl_pycommon to use the new configuration
  - Update rpyutils to use the new configuration
  - Update sros2 to use the new configuration
  - Update action_tutorials_py to use the new configuration
  - Update topic_monitor to use the new configuration
- ament_cmake_mypy uses
  - Update test_tracetools to use the new configuration
  - Update rosidl_adapter to use the new configuration
  - Update rosidl_parser to use the new configuration
  - Update rosidl_generator_py to use the new configuration
Finally get rclpy to pass ament_mypy.
Try to get all of the ROS core to export typing information with py.typed files.
Update Documentation / Examples to use static types.

Continue updating other packages based on a mix of user need and maintainer need.

General support for Python type hints #1735

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