PEP585 compliance

soccer_ipm/soccer_ipm/msgs/goalpost.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Tuple
-
 from ipm_library.exceptions import NoIntersectionError
 from ipm_library.ipm import IPM
 from rclpy.impl.rcutils_logger import RcutilsLogger
@@ -28,7 +26,7 @@ def map_goalpost_array(
         output_frame: str,
         logger: RcutilsLogger,
         footpoint_out_of_image_threshold: float,
-        object_default_dimensions: Tuple[float, float, float]) -> sv3dm.GoalpostArray:
+        object_default_dimensions: tuple[float, float, float]) -> sv3dm.GoalpostArray:
     """
     Map a given array of 2D goal post detections onto the field plane.
 

soccer_ipm/soccer_ipm/msgs/markings.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import List
-
 from geometry_msgs.msg import Vector3
 from ipm_library.exceptions import NoIntersectionError
 from ipm_library.ipm import IPM
@@ -66,10 +64,10 @@ def map_marking_array(
 
 def map_marking_intersections(
         header: Header,
-        intersections_2d: List[sv2dm.MarkingIntersection],
+        intersections_2d: list[sv2dm.MarkingIntersection],
         ipm: IPM,
         output_frame: str,
-        logger: RcutilsLogger) -> List[sv3dm.MarkingIntersection]:
+        logger: RcutilsLogger) -> list[sv3dm.MarkingIntersection]:
     """
     Map a given list of 2D field marking intersections onto the field plane.
 
@@ -132,10 +130,10 @@ def map_marking_intersections(
 
 def map_marking_segments(
         header: Header,
-        marking_segments_2d: List[sv2dm.MarkingSegment],
+        marking_segments_2d: list[sv2dm.MarkingSegment],
         ipm: IPM,
         output_frame: str,
-        logger: RcutilsLogger) -> List[sv3dm.MarkingSegment]:
+        logger: RcutilsLogger) -> list[sv3dm.MarkingSegment]:
     """
     Map a given list of 2D field marking segments onto the field plane.
 
@@ -187,10 +185,10 @@ def map_marking_segments(
 
 def map_marking_ellipses(
         header: Header,
-        ellipses_2d: List[sv2dm.MarkingEllipse],
+        ellipses_2d: list[sv2dm.MarkingEllipse],
         ipm: IPM,
         output_frame: str,
-        logger: RcutilsLogger) -> List[sv3dm.MarkingEllipse]:
+        logger: RcutilsLogger) -> list[sv3dm.MarkingEllipse]:
     """
     Map a given list of 2D field marking ellipses onto the field plane.
 

soccer_ipm/soccer_ipm/msgs/obstacles.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Tuple
-
 from ipm_library.exceptions import NoIntersectionError
 from ipm_library.ipm import IPM
 from rclpy.impl.rcutils_logger import RcutilsLogger
@@ -28,7 +26,7 @@ def map_obstacle_array(
         output_frame: str,
         logger: RcutilsLogger,
         footpoint_out_of_image_threshold: float,
-        object_default_dimensions: Tuple[float, float, float]) -> sv3dm.ObstacleArray:
+        object_default_dimensions: tuple[float, float, float]) -> sv3dm.ObstacleArray:
     """
     Map a given array of 2D obstacle detections onto the field plane.
 

soccer_ipm/soccer_ipm/msgs/robots.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Tuple
-
 from ipm_library.exceptions import NoIntersectionError
 from ipm_library.ipm import IPM
 from rclpy.impl.rcutils_logger import RcutilsLogger
@@ -28,7 +26,7 @@ def map_robot_array(
         output_frame: str,
         logger: RcutilsLogger,
         footpoint_out_of_image_threshold: float,
-        object_default_dimensions: Tuple[float, float, float]) -> sv3dm.RobotArray:
+        object_default_dimensions: tuple[float, float, float]) -> sv3dm.RobotArray:
     """
     Map a given array of 2D robot detections onto the field plane.
 

soccer_ipm/test/test_ipm.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 import math
-from typing import List, Optional, Tuple, Union
+from typing import Optional, Union
 
 from geometry_msgs.msg import TransformStamped
 import numpy as np
@@ -67,7 +67,7 @@ def standard_ipm_test_case(
         input_topic: str,
         input_msg: SV2DARR,
         output_msg_type: type,
-        output_topic: str) -> Tuple[SV3DARR, SV2DARR]:
+        output_topic: str) -> tuple[SV3DARR, SV2DARR]:
     # Init ros
     rclpy.init()
     # Create IPM node
@@ -83,7 +83,7 @@ def standard_ipm_test_case(
         TFMessage, 'tf', 10)
 
     # Create a shared reference to the recived message in the local scope
-    received_msg: List[Optional[output_msg_type]] = [None]
+    received_msg: list[Optional[output_msg_type]] = [None]
 
     # Create a callback with sets this reference
     def callback(msg):