Michael Carlstrom

Ah ok. I should be able to switch it to the `python3-typeshed` apt package. However that will install slighty more stuff and only exist on Ubuntu 22+.

The CI is failing because `python3-typeshed` doesn't exist on Ubuntu 20. Should I disable it for that older version? And if so how?

> It looks like mypy on Debian, Ubuntu, and Fedora doesn't actually use a discrete "typeshed" package even if available, and rather bundles typeshed as `mypy.typeshed`. Would it be possible...

> @InvincibleRMC this seems including unrelated changes to this PR addressing? i think we need to rebase? Fixed.

Noticed bug in protocol definitions working on a fix.

Until this gets merged https://github.com/ros2/rosidl_python/pull/205 the type of all messages/services/actions have to be inferred as Any due to PEP 561. Because messages are all inferred to be Any It won't...

Limited scope to Generics for publishers and subscribers only because couldn't get generics of services and clients working the way I wanted.

> Thank you for the PR! @sloretz Would it be possible to backport this and future typing changes into Jazzy as well?

> > Seems safe to back port to me > > While I'm OK with backporting this, I'm going to suggest we hold off on doing it until after Jazzy...

Still need to fix a circular import issue.