Merge branch 'jazzy' into backport/jazzy/events-executor

Author: bjsowa

pyproject.toml

@@ -61,7 +61,7 @@ select = [
     "C90",    # mccabe
     "NPY",    # numpy
     "PD",     # pandas-vet
-    # "N",    # pep8-naming, Can't fix without breaking API
+    "N",      # pep8-naming
     "PERF",   # Perflint
     "E",      # pycodestyle errors
     "W",      # pycodestyle warnings
@@ -96,6 +96,8 @@ ignore = [
     "S110", # try-except-pass
     "S311", # suspicious-non-cryptographic-random-usage
 
+    "N818", # error-suffix-on-exception-name, Would break existing exception names
+
     # Pylint "too-many" errors
     "PLR0911",
     "PLR0912",

rosapi/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rosapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.0 (2026-03-02)
+------------------
+
 2.4.2 (2025-11-20)
 ------------------
 * fix: Invert success check for set_param function (backport `#1133 <https://github.com/RobotWebTools/rosbridge_suite/issues/1133>`_) (`#1134 <https://github.com/RobotWebTools/rosbridge_suite/issues/1134>`_)

rosapi/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>rosapi</name>
-  <version>2.4.2</version>
+  <version>2.5.0</version>
   <description>
 Provides services for getting various ROS meta-information, including ROS topic, services, interfaces or
 action servers and managing ROS parameters.

rosapi_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rosapi_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.0 (2026-03-02)
+------------------
+
 2.4.2 (2025-11-20)
 ------------------
 

rosapi_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>rosapi_msgs</name>
-  <version>2.4.2</version>
+  <version>2.5.0</version>
   <description>Interface definitions for rosapi package.</description>
 
   <license>BSD</license>

rosbridge_library/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package rosbridge_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.0 (2026-03-02)
+------------------
+* fix: numpy.ndarray not handled in CBOR serialization (backport `#1161 <https://github.com/RobotWebTools/rosbridge_suite/issues/1161>`_) (`#1162 <https://github.com/RobotWebTools/rosbridge_suite/issues/1162>`_)
+* fix: Handle action rejection and server timeout (backport `#1139 <https://github.com/RobotWebTools/rosbridge_suite/issues/1139>`_) (`#1154 <https://github.com/RobotWebTools/rosbridge_suite/issues/1154>`_)
+* fix: Failing service and subscription tests (backport `#1147 <https://github.com/RobotWebTools/rosbridge_suite/issues/1147>`_) (`#1151 <https://github.com/RobotWebTools/rosbridge_suite/issues/1151>`_)
+* Contributors: Błażej Sowa, Spir0u, atofetti-botbot
+
 2.4.2 (2025-11-20)
 ------------------
 * fix: Apply service timeout parameter correctly (backport `#1125 <https://github.com/RobotWebTools/rosbridge_suite/issues/1125>`_) (`#1129 <https://github.com/RobotWebTools/rosbridge_suite/issues/1129>`_)

rosbridge_library/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>rosbridge_library</name>
-  <version>2.4.2</version>
+  <version>2.5.0</version>
   <description>
 The core rosbridge package, responsible for interpreting JSON and performing the appropriate
 ROS action, like subscribe, publish, call service, and interact with params.

rosbridge_library/src/rosbridge_library/internal/cbor_conversion.py

@@ -98,6 +98,10 @@ def extract_cbor_values(msg: ROSMessage) -> dict[str, Any]:
             packed = struct.pack(fmt_to_length, *val)
             out[slot] = CBORTag(tag=tag, value=packed)
 
+        # fixed-size primitive arrays
+        elif hasattr(val, "tolist"):
+            out[slot] = val.tolist()
+
         # array of messages
         elif type(val) in LIST_TYPES:
             out[slot] = [extract_cbor_values(i) for i in val]

rosbridge_library/src/rosbridge_library/internal/ros_loader.py

@@ -57,6 +57,7 @@
 _msgs_lock = Lock()
 _srvs_lock = Lock()
 _actions_lock = Lock()
+_import_lock = Lock()
 
 
 class InvalidTypeStringException(Exception):
@@ -203,12 +204,21 @@ def _get_class(
     if cls is not None:
         return cls
 
-    # Load the class
-    cls = _load_class(modname, subname, classname)
-
-    # Cache the class for both the regular and normalised typestring
-    _add_to_cache(cache, lock, typestring, cls)
-    _add_to_cache(cache, lock, norm_typestring, cls)
+    # Serialize imports to prevent deadlocks from concurrent first-time imports
+    with _import_lock:
+        # Check cache again in case it was loaded while waiting for the lock
+        cls = _get_from_cache(cache, lock, typestring)
+        if cls is not None:
+            return cls
+        cls = _get_from_cache(cache, lock, norm_typestring)
+        if cls is not None:
+            return cls
+
+        cls = _load_class(modname, subname, classname)
+
+        # Cache the class for both the regular and normalised typestring
+        _add_to_cache(cache, lock, typestring, cls)
+        _add_to_cache(cache, lock, norm_typestring, cls)
 
     return cls
 

rosbridge_library/test/internal/subscribers/test_multi_subscriber.py

@@ -37,14 +37,14 @@ def tearDown(self) -> None:
         self.executor.shutdown()
         rclpy.shutdown()
 
-    def assertTopicSubscribed(self, topic: str, timeout: float = 1.0) -> None:
+    def assert_topic_subscribed(self, topic: str, timeout: float = 1.0) -> None:
         start_time = time.monotonic()
         while not is_topic_subscribed(self.node, topic):
             time.sleep(0.05)
             if time.monotonic() - start_time > timeout:
                 self.fail(f"Timed out waiting for topic '{topic}' to be subscribed.")
 
-    def assertTopicNotSubscribed(self, topic: str, timeout: float = 1.0) -> None:
+    def assert_topic_not_subscribed(self, topic: str, timeout: float = 1.0) -> None:
         start_time = time.monotonic()
         while is_topic_subscribed(self.node, topic):
             time.sleep(0.05)
@@ -56,22 +56,22 @@ def test_register_multisubscriber(self) -> None:
         topic = "/test_register_multisubscriber"
         msg_type = "std_msgs/String"
 
-        self.assertTopicNotSubscribed(topic)
+        self.assert_topic_not_subscribed(topic)
         MultiSubscriber(topic, self.client_id, lambda *_args: None, self.node, msg_type=msg_type)
-        self.assertTopicSubscribed(topic)
+        self.assert_topic_subscribed(topic)
 
     def test_unregister_multisubscriber(self) -> None:
         """Register and unregister a subscriber on a clean topic with a good msg type."""
         topic = "/test_unregister_multisubscriber"
         msg_type = "std_msgs/String"
 
-        self.assertTopicNotSubscribed(topic)
+        self.assert_topic_not_subscribed(topic)
         multi: MultiSubscriber[String] = MultiSubscriber(
             topic, self.client_id, lambda *_args: None, self.node, msg_type=msg_type
         )
-        self.assertTopicSubscribed(topic)
+        self.assert_topic_subscribed(topic)
         multi.unregister()
-        self.assertTopicNotSubscribed(topic)
+        self.assert_topic_not_subscribed(topic)
 
     def test_verify_type(self) -> None:
         topic = "/test_verify_type"
@@ -101,11 +101,11 @@ def test_subscribe_unsubscribe(self) -> None:
         topic = "/test_subscribe_unsubscribe"
         msg_type = "std_msgs/String"
 
-        self.assertTopicNotSubscribed(topic)
+        self.assert_topic_not_subscribed(topic)
         multi: MultiSubscriber[String] = MultiSubscriber(
             topic, self.client_id, lambda *_args: None, self.node, msg_type=msg_type
         )
-        self.assertTopicSubscribed(topic)
+        self.assert_topic_subscribed(topic)
         self.assertEqual(len(multi.new_subscriptions), 0)
 
         multi.subscribe(self.client_id, lambda _: None)
@@ -115,7 +115,7 @@ def test_subscribe_unsubscribe(self) -> None:
         self.assertEqual(len(multi.new_subscriptions), 0)
 
         multi.unregister()
-        self.assertTopicNotSubscribed(topic)
+        self.assert_topic_not_subscribed(topic)
 
     def test_subscribe_receive_json(self) -> None:
         topic = "/test_subscribe_receive_json"