fix for ROS noteic

CMakeLists.txt

@@ -169,7 +169,7 @@ if(USE_HRPSYSUTIL AND APPLE AND NOT PCL_FOUND)
 endif()
 
 execute_process(
-  COMMAND python -c "from distutils import sysconfig; print sysconfig.get_config_var(\"VERSION\")"
+  COMMAND python -c "import sys; print(sys.version_info[0])"
   OUTPUT_VARIABLE PYTHON_VERSION
   RESULT_VARIABLE PYTHON_VERSION_SUCCESS
   OUTPUT_STRIP_TRAILING_WHITESPACE)
@@ -204,7 +204,7 @@ message(STATUS "compile iob with -DROBOT_IOB_VERSION=${ROBOT_IOB_VERSION}")
 if(COMPILE_JAVA_STUFF)
   add_subdirectory(jython)
 endif()
-add_subdirectory(python)
+add_subdirectory(src/hrpsys) # for doc/html/index.html
 add_subdirectory(idl)
 add_subdirectory(lib)
 add_subdirectory(ec)
@@ -217,14 +217,12 @@ if (NOT QNXNTO)
   add_subdirectory(util)
 endif()
 add_subdirectory(sample)
-if(CATKIN_ENABLE_TESTING)
-  add_subdirectory(test)
-endif()
 
 #if catkin environment
 string(REGEX MATCH "catkin" need_catkin "$ENV{_}")
 if(need_catkin OR "${CATKIN_BUILD_BINARY_PACKAGE}")
   find_package(catkin)
+  catkin_python_setup()
   if(catkin_FOUND)
     catkin_package_xml()
     if(NOT hrpsys_VERSION VERSION_EQUAL CPACK_PACKAGE_VERSION)

doc/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(input_files package.h utilities.h
-		      ../python/hrpsys_config.py
-		      ../python/rtm.py
+		      ../src/hrpsys/hrpsys_config.py
+		      ../src/hrpsys/rtm.py
 		      ../rtc/ApproximateVoxelGridFilter/ApproximateVoxelGridFilter.txt
 		      ../rtc/CameraImageViewer/CameraImageViewer.txt
 		      ../rtc/CameraImageSaver/CameraImageSaver.txt
@@ -70,8 +70,8 @@ add_custom_command(
   DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile ${input_files}
 )
 
-add_custom_target(doc ALL DEPENDS ${output_dir}/index.html)
-add_custom_target(doc ALL DEPENDS ${output_dir_xml}/index.xml)
+add_custom_target(doc_index_html ALL DEPENDS ${output_dir}/index.html)
+add_custom_target(doc_index_xml ALL DEPENDS ${output_dir_xml}/index.xml)
 
 install(DIRECTORY ${output_dir} DESTINATION share/doc/hrpsys/base)
 install(DIRECTORY ${output_dir_xml} DESTINATION share/doc/hrpsys/base)

jython/poseEditor.py

@@ -65,7 +65,7 @@ def __init__(self, url, seq, sh):
         for li in self.bodyInfo.links():
             if li.jointId >= 0:
                 self.dof += 1
-        print "dof=",self.dof
+        print("dof=",self.dof)
         self.setSize(550, 800)
         self.seq = seq
         self.sh = sh

jython/rtm.py

@@ -93,7 +93,7 @@ def getProperty(self, name):
 		cfg = self.ref.get_configuration()
 		cfgsets = cfg.get_configuration_sets()
 		if len(cfgsets) == 0:
-			print "configuration set is not found"
+			print("configuration set is not found")
 			return None
 		cfgset = cfgsets[0]
 		for d in cfgset.configuration_data:
@@ -108,11 +108,11 @@ def properties(self):
 		cfg = self.ref.get_configuration()
 		cfgsets = cfg.get_configuration_sets()
 		if len(cfgsets) == 0:
-			print "configuration set is not found"
+			print("configuration set is not found")
 			return
 		cfgset = cfgsets[0]
 		for d in cfgset.configuration_data:
-			print d.name,":",d.value.extract_string()
+			print(d.name,":",d.value.extract_string())
 
 
 	##
@@ -204,7 +204,7 @@ def load(self, basename):
 		try:
 			self.ref.load_module(path, initfunc)
 		except:
-			print "failed to load",path
+			print("failed to load",path)
 
 	##
 	# \brief create an instance of RT component
@@ -216,7 +216,7 @@ def create(self, module,name=None):
 		if name != None:
 			rtc = findRTC(name)
 			if rtc != None:
-				print 'RTC named "',name,'" already exists.'
+				print('RTC named "',name,'" already exists.')
 				return rtc
 		args = module
 		if name != None:
@@ -277,7 +277,7 @@ def initCORBA():
 	nshost = System.getProperty("NS_OPT").split(':')[2]
 	if nshost == "localhost" or nshost == "127.0.0.1":
 		nshost = socket.gethostname()
-	print 'nshost =',nshost
+	print('nshost =',nshost)
 	orb = ORB.init(args, props)
 
 	nameserver = orb.resolve_initial_references("NameService");
@@ -330,7 +330,7 @@ def findRTCmanager(hostname=None, rnc=None):
 		obj = findObject("manager","mgr",cxt)
 		return RTCmanager(ManagerHelper.narrow(obj))
 	except:
-		print "exception in findRTCmanager("+hostname+")"
+		print("exception in findRTCmanager("+hostname+")")
 
 ##
 # \brief get RT component
@@ -381,9 +381,9 @@ def serializeComponents(rtcs, stopEC=True):
 			if ec.add_component(rtc.ref) == ReturnCode_t.RTC_OK:
 				rtc.ec = ec
 			else:
-				print 'error in add_component()'
+				print('error in add_component()')
 		else:
-			print 'already serialized'
+			print('already serialized')
 
 ##
 # \brief check two ports are connected or not
@@ -435,10 +435,10 @@ def connectPorts(outP, inPs, subscription="flush", dataflow="Push", bufferlength
 		inPs = [inPs]
 	for inP in inPs: 
 		if isConnected(outP, inP) == True:
-			print outP.get_port_profile().name,'and',inP.get_port_profile().name,'are already connected'
+			print(outP.get_port_profile().name,'and',inP.get_port_profile().name,'are already connected')
 			continue
 		if dataTypeOfPort(outP) != dataTypeOfPort(inP):
-			print outP.get_port_profile().name,'and',inP.get_port_profile().name,'have different data types'
+			print(outP.get_port_profile().name,'and',inP.get_port_profile().name,'have different data types')
 			continue
 
 		con_prof = ConnectorProfile()
@@ -480,11 +480,11 @@ def connectPorts(outP, inPs, subscription="flush", dataflow="Push", bufferlength
 		con_prof_holder = ConnectorProfileHolder()
 		con_prof_holder.value = con_prof
 		if inP.connect(con_prof_holder) != ReturnCode_t.RTC_OK:
-			print "failed to connect(",outP.get_port_profile().name,'<->',inP.get_port_profile().name,")"
+			print("failed to connect(",outP.get_port_profile().name,'<->',inP.get_port_profile().name,")")
 			continue
 		# confirm connection
 		if isConnected(outP, inP) == False:
-			print "connet() returned RTC_OK, but not connected"
+			print("connet() returned RTC_OK, but not connected")
 
 ##
 # \brief convert data into CDR format
@@ -551,7 +551,7 @@ def writeDataPort(port, data, tm=1.0):
 	con_prof_holder = ConnectorProfileHolder()
 	con_prof_holder.value = con_prof
 	if port.connect(con_prof_holder) != ReturnCode_t.RTC_OK:
-		print "failed to connect"
+		print("failed to connect")
 		return None
 	for p in con_prof_holder.value.properties:
 		if p.name == 'dataport.corba_cdr.inport_ior':
@@ -560,7 +560,7 @@ def writeDataPort(port, data, tm=1.0):
 			inport = InPortCdrHelper.narrow(obj)
 			cdr = data2cdr(data)
 			if inport.put(cdr) != PortStatus.PORT_OK:
-				print "failed to put"
+				print("failed to put")
 			time.sleep(tm)
 			port.disconnect(con_prof_holder.value.connector_id)
 	return None		
@@ -604,7 +604,7 @@ def readDataPort(port, timeout = 1.0):
 	con_prof_holder = ConnectorProfileHolder()
 	con_prof_holder.value = con_prof
 	if port.connect(con_prof_holder) != ReturnCode_t.RTC_OK:
-		print "failed to connect"
+		print("failed to connect")
 		return None
 	for p in con_prof_holder.value.properties:
 		#print p.name
@@ -646,7 +646,7 @@ def findService(rtc, port_name, type_name, instance_name):
 	else:
 		p = rtc.port(port_name)
 		if p == None:
-			print "can't find a port named",port_name
+			print("can't find a port named",port_name)
 			return None
 		else:
 			port_prof = [p.get_port_profile()]
@@ -660,7 +660,7 @@ def findService(rtc, port_name, type_name, instance_name):
 			if aif.instance_name == instance_name and (type_name == "" or aif.type_name == type_name):
 				port = pp.port_ref
 	if port == None:
-		print "can't find a service named",instance_name
+		print("can't find a service named",instance_name)
 		return None
         #print port
 	con_prof = ConnectorProfile()	
@@ -684,7 +684,7 @@ def setConfiguration(rtc, nvlist):
 	cfg = rtc.get_configuration()
 	cfgsets = cfg.get_configuration_sets()
 	if len(cfgsets) == 0:
-		print "configuration set is not found"
+		print("configuration set is not found")
 		return
 	cfgset = cfgsets[0]
 	for nv in nvlist:
@@ -698,7 +698,7 @@ def setConfiguration(rtc, nvlist):
 				found = True
 				break;
 		if not found:
-			print "no such property(",name,")"
+			print("no such property(",name,")")
 	cfg.activate_configuration_set('default')
 
 ##

jython/waitInput.py

@@ -14,7 +14,7 @@ def waitInputConfirm(msg):
     ret = JOptionPane.showConfirmDialog(f, msg, "waitInputConfirm",
                                         JOptionPane.OK_CANCEL_OPTION)
     if ret == 2:
-        raise StandardError, "script is canceled"
+        raise Exception("script is canceled")
     return True
 
 def waitInputSelect(msg):
@@ -29,7 +29,7 @@ def waitInputSelect(msg):
     elif ret == 1:
         return False
     elif ret == 2:
-        raise StandardError, "script is canceled"
+        raise Exception("script is canceled")
 
 class posFilter(FileFilter):
     def accept(self, f):

launch/samplerobot-terrain-walk.py

@@ -28,8 +28,8 @@
     samplerobot_terrain_walk.demo()
     import sys
     if len(sys.argv) != 2:
-        print "Usage:"
-        print " ",sys.argv[0]," --StairUp or --StairDown or --SlopeUpDown"
+        print("Usage:")
+        print(" ",sys.argv[0]," --StairUp or --StairDown or --SlopeUpDown")
     else:
         if sys.argv[1] == "--StairUp":
             samplerobot_terrain_walk.demoStairUp()
@@ -38,8 +38,8 @@
         elif sys.argv[1] == "--SlopeUpDown":
             samplerobot_terrain_walk.demoSlopeUpDown()
         else:
-            print "Usage:"
-            print " ",sys.argv[0]," --StairUp or --StairDown or --SlopeUpDown"
+            print("Usage:")
+            print(" ",sys.argv[0]," --StairUp or --StairDown or --SlopeUpDown")
 
 
 ## IGNORE ME: this code used for rostest

package.xml

@@ -1,4 +1,4 @@
-<package>
+<package format="3">
   <name>hrpsys</name>
   <version>315.15.0</version>
   <description>
@@ -42,15 +42,17 @@
   <build_depend>python-tk</build_depend>
   <build_depend>sdl</build_depend>
 
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>glut</run_depend>
-  <run_depend>libirrlicht-dev</run_depend>
-  <run_depend>libqhull</run_depend>
-  <run_depend>libxml2</run_depend>
-  <run_depend>libxmu-dev</run_depend>
-  <run_depend>openhrp3</run_depend>
-  <run_depend>python-tk</run_depend>
-  <run_depend>sdl</run_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>glut</exec_depend>
+  <exec_depend>libirrlicht-dev</exec_depend>
+  <exec_depend>libqhull</exec_depend>
+  <exec_depend>libxml2</exec_depend>
+  <exec_depend>libxmu-dev</exec_depend>
+  <exec_depend>openhrp3</exec_depend>
+  <exec_depend>python-tk</exec_depend>
+  <exec_depend>sdl</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-packaging</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-packaging</exec_depend>
 
   <!-- <test_depend>openhrp3</test_depend> -->
   <export>

rtc/KalmanFilter/KalmanFilter.cpp

@@ -311,6 +311,7 @@ bool KalmanFilter::resetKalmanFilterState()
 {
     rpy_kf.resetKalmanFilterState();
     ekf_filter.resetKalmanFilterState();
+    return true;
 };
 
 bool KalmanFilter::getKalmanFilterParam(OpenHRP::KalmanFilterService::KalmanFilterParam& i_param)

rtc/OccupancyGridMap3D/sample/sample.py

@@ -16,12 +16,12 @@
 aabb.size.w = 4.0
 aabb.size.h = 0.1
 map = ogm_svc.getOGMap3D(aabb)
-print "resolution = ",map.resolution
-print "number of voxels = ",map.nx,"x",map.ny,"x",map.nz
+print("resolution = ",map.resolution)
+print("number of voxels = ",map.nx,"x",map.ny,"x",map.nz)
 for x in range(map.nx):
     for y in range(map.ny): 
         for z in range(map.nz): 
-            print map.cells[x*map.ny*map.nz+y*map.nz+z],
-    print
+            print(map.cells[x*map.ny*map.nz+y*map.nz+z], end=' ')
+    print()
 
 

sample/HRP4C/HRP4C.py

@@ -29,15 +29,15 @@ def init():
 
     ms = rtm.findRTCmanager()
 
-    print "creating components"
+    print("creating components")
     createComps()
 
-    print "connecting components"
+    print("connecting components")
     connectComps()
 
-    print "activating components"
+    print("activating components")
     activateComps()
-    print "initialized successfully"
+    print("initialized successfully")
 
 def loadPattern(basename, tm=1.0):
     seq_svc.loadPattern(basename, tm)

sample/PA10/PA10.py

@@ -58,15 +58,15 @@ def init():
 
     ms = rtm.findRTCmanager()
 
-    print "creating components"
+    print("creating components")
     createComps()
 
-    print "connecting components"
+    print("connecting components")
     connectComps()
 
-    print "activating components"
+    print("activating components")
     activateComps()
-    print "initialized successfully"
+    print("initialized successfully")
 
 def goInitial(tm=3.0):
     seq_svc.setJointAngles([0]*9, tm)