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Currently using rclpyHandle to mock the pybind implementation has cause some weirdness when dealing with type annotations. A better and more scalable solutions is replacing it with custom type stubs. One day in the future I would love to use stubgen to automatically generate stubs however it is still missing many features for example generics, TypeDicts, etc. Pybind has made progress in the recent years with function type annotations it however still needs work. This would also allow us to move the Various Handle Protocols into type stubs which is probably a better long term plan.
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InvincibleRMC
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Currently using
rclpyHandleto mock the pybind implementation has cause some weirdness when dealing with type annotations. A better and more scalable solutions is replacing it with custom type stubs. One day in the future I would love to use stubgen to automatically generate stubs however it is still missing many features for example generics, TypeDicts, etc. Pybind has made progress in the recent years with function type annotations it however still needs work. This would also allow us to move the VariousHandleProtocols into type stubs which is probably a better long term plan.