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Derive Messages from Base Classes#230

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christophebedard merged 5 commits intoros2:rollingfrom
InvincibleRMC:add-base-classes
Sep 18, 2025
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Derive Messages from Base Classes#230
christophebedard merged 5 commits intoros2:rollingfrom
InvincibleRMC:add-base-classes

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@InvincibleRMC InvincibleRMC commented Aug 27, 2025 •
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Description

Having messages inherit from a common base class will make it so Client/Service/ActionClient/ActionServer can automatically infer the generic types they are using. Currently they need to be manually specified.

Based on the original issue but the base classes in rosidl_pycommon.
Builds off ros2/rosidl#887

Fixes #215

Is this user-facing behavior change?

It would allow users to isinstance check to determine if an object is a message.

Did you use Generative AI?

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Add Base classes
3a232c1 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
@InvincibleRMC InvincibleRMC mentioned this pull request Aug 27, 2025
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fujitatomoya
fujitatomoya approved these changes Aug 28, 2025
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this makes sense to me.
this PR upgrades the inheritance of the generated metaclass to use ROS-specific metaclass logic, improving support for endpoint types and their associated messages in ROS 2 Python code generation.

i would like to have another approval before merge.

christophebedard
christophebedard approved these changes Aug 28, 2025
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I have a minor comment in the other PR, otherwise LGTM

@InvincibleRMC
Update file name
bd6eaee 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
@InvincibleRMC
Move Generic base classes
f238baf 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
@christophebedard christophebedard self-assigned this Sep 11, 2025
christophebedard
christophebedard reviewed Sep 11, 2025
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Update _action.py.em
3180261 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
christophebedard
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Update rosidl_generator_py/resource/_action.py.em
d107fe5 
Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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christophebedard commented Sep 11, 2025

Pulls: #230, ros2/rosidl#887
Gist: https://gist.githubusercontent.com/christophebedard/eed622fd1da65170263b1734edfe11de/raw/b75cc11d0a0989e0916903b5dc6e8064be274b42/ros2.repos
BUILD args: --packages-above-and-dependencies rosidl_pycommon rosidl_generator_py
TEST args: --packages-above rosidl_pycommon rosidl_generator_py
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16931

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christophebedard commented Sep 12, 2025 •
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@InvincibleRMC it looks like there's a real test failure in rosidl_generator_py/test/test_interfaces.py's test_strings

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InvincibleRMC commented Sep 15, 2025

Ok I found the bug not having __slots__ in the base class was allowing dynamic attributes. It originated in the rosidl pr. It should be good now.

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christophebedard commented Sep 17, 2025 •
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Pulls: #230, ros2/rosidl#887
Gist: https://gist.githubusercontent.com/christophebedard/e44c47ef2dc14944e3f6dc0a1ce87cea/raw/1bd32654fcd99a86f61159ce9523b75466bf24c8/ros2.repos
BUILD args: --packages-above-and-dependencies rosidl_pycommon rosidl_generator_py
TEST args: --packages-above rosidl_pycommon rosidl_generator_py
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17020

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@christophebedard christophebedard merged commit fdb9fed into ros2:rolling Sep 18, 2025
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@bjsowa bjsowa mentioned this pull request Feb 26, 2026
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Derive generated message classes from a base class

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