Executors types

rclpy/rclpy/callback_groups.py

@@ -24,7 +24,8 @@
     from rclpy.service import Service
     from rclpy.waitable import Waitable
     from rclpy.guard_condition import GuardCondition
-    Entity = Union[Subscription, Timer, Client, Service, Waitable[Any], GuardCondition]
+    Entity = Union[Subscription[Any], Timer, Client[Any, Any], Service[Any, Any],
+                   GuardCondition, Waitable[Any]]
 
 
 class CallbackGroup:

rclpy/rclpy/client.py

@@ -28,20 +28,20 @@
 from rclpy.qos import QoSProfile
 from rclpy.service_introspection import ServiceIntrospectionState
 from rclpy.task import Future
-from rclpy.type_support import Srv, SrvEventT, SrvRequestT, SrvResponseT
+from rclpy.type_support import Srv, SrvRequestT, SrvResponseT
 
 # Left To Support Legacy TypeVars
 SrvType = TypeVar('SrvType')
 SrvTypeRequest = TypeVar('SrvTypeRequest')
 SrvTypeResponse = TypeVar('SrvTypeResponse')
 
 
-class Client(Generic[SrvRequestT, SrvResponseT, SrvEventT]):
+class Client(Generic[SrvRequestT, SrvResponseT]):
     def __init__(
         self,
         context: Context,
         client_impl: _rclpy.Client,
-        srv_type: Type[Srv[SrvRequestT, SrvResponseT, SrvEventT]],
+        srv_type: Type[Srv[SrvRequestT, SrvResponseT]],
         srv_name: str,
         qos_profile: QoSProfile,
         callback_group: CallbackGroup
@@ -231,7 +231,7 @@ def destroy(self) -> None:
         """
         self.__client.destroy_when_not_in_use()
 
-    def __enter__(self) -> 'Client[SrvRequestT, SrvResponseT, SrvEventT]':
+    def __enter__(self) -> 'Client[SrvRequestT, SrvResponseT]':
         return self
 
     def __exit__(