From 936ea3cfc9dbf84180bc3f63466857a4b3198250 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 16 May 2023 17:35:44 +0000
Subject: [PATCH] Fixes from review.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 ros2cli/ros2cli/helpers.py              | 11 +++++++++++
 ros2service/ros2service/api/__init__.py |  2 +-
 ros2service/ros2service/verb/echo.py    | 12 +-----------
 ros2topic/ros2topic/api/__init__.py     | 10 ----------
 ros2topic/ros2topic/verb/echo.py        |  2 +-
 5 files changed, 14 insertions(+), 23 deletions(-)

diff --git a/ros2cli/ros2cli/helpers.py b/ros2cli/ros2cli/helpers.py
index 2dd83400a..3cfd1a44e 100644
--- a/ros2cli/ros2cli/helpers.py
+++ b/ros2cli/ros2cli/helpers.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from argparse import ArgumentTypeError
 import functools
 import inspect
 import os
@@ -96,3 +97,13 @@ def wrapper(*args, **kwargs):
             return func(*args, **kwargs)
     wrapper.__signature__ = inspect.signature(func)
     return wrapper
+
+
+def unsigned_int(string):
+    try:
+        value = int(string)
+    except ValueError:
+        value = -1
+    if value < 0:
+        raise ArgumentTypeError('value must be non-negative integer')
+    return value
diff --git a/ros2service/ros2service/api/__init__.py b/ros2service/ros2service/api/__init__.py
index cfd99d1d5..ad8162f01 100644
--- a/ros2service/ros2service/api/__init__.py
+++ b/ros2service/ros2service/api/__init__.py
@@ -41,7 +41,7 @@ def get_service_class(node: Node, service_name: str, include_hidden_services: bo
 
     The service should be running for this function to find the service type.
     :param node: The node object of rclpy Node class.
-    :param service_name: The name of the service.
+    :param service_name: The fully-qualified name of the service.
     :param include_hidden_services: Whether to include hidden services while finding the
     list of currently running services.
     :return:
diff --git a/ros2service/ros2service/verb/echo.py b/ros2service/ros2service/verb/echo.py
index a2669aaf7..54af5b290 100644
--- a/ros2service/ros2service/verb/echo.py
+++ b/ros2service/ros2service/verb/echo.py
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from argparse import ArgumentTypeError
 from typing import TypeVar
 
 import rclpy
 
 from rclpy.qos import QoSPresetProfiles
+from ros2cli.helpers import unsigned_int
 from ros2cli.node.strategy import NodeStrategy
 from ros2service.api import get_service_class
 from ros2service.api import ServiceNameCompleter
@@ -32,16 +32,6 @@
 MsgType = TypeVar('MsgType')
 
 
-def unsigned_int(string):
-    try:
-        value = int(string)
-    except ValueError:
-        value = -1
-    if value < 0:
-        raise ArgumentTypeError('value must be non-negative integer')
-    return value
-
-
 class EchoVerb(VerbExtension):
     """Echo a service."""
 
diff --git a/ros2topic/ros2topic/api/__init__.py b/ros2topic/ros2topic/api/__init__.py
index 265c85bc0..7b5b4f94a 100644
--- a/ros2topic/ros2topic/api/__init__.py
+++ b/ros2topic/ros2topic/api/__init__.py
@@ -29,16 +29,6 @@
 from rosidl_runtime_py.utilities import get_message
 
 
-def unsigned_int(string):
-    try:
-        value = int(string)
-    except ValueError:
-        value = -1
-    if value < 0:
-        raise ArgumentTypeError('value must be non-negative integer')
-    return value
-
-
 def positive_int(string):
     try:
         value = int(string)
diff --git a/ros2topic/ros2topic/verb/echo.py b/ros2topic/ros2topic/verb/echo.py
index 339fb0b91..7f669c17c 100644
--- a/ros2topic/ros2topic/verb/echo.py
+++ b/ros2topic/ros2topic/verb/echo.py
@@ -24,6 +24,7 @@
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
 from rclpy.task import Future
+from ros2cli.helpers import unsigned_int
 from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 from ros2topic.api import add_qos_arguments
@@ -31,7 +32,6 @@
 from ros2topic.api import positive_float
 from ros2topic.api import qos_profile_from_short_keys
 from ros2topic.api import TopicNameCompleter
-from ros2topic.api import unsigned_int
 from ros2topic.verb import VerbExtension
 from rosidl_runtime_py import message_to_csv
 from rosidl_runtime_py import message_to_yaml