fix for Noetic #4

kirohy · 2024-04-03T13:53:22Z

To run rtmlaunch hrpsys_ros_bridge samplerobot.launch USE_UNSTABLE_RTC:=true, this pull req and k-okada/rtmros_common#11 are needed.

k-okada · 2024-04-04T01:27:08Z

please split this into 3 commits, 2to3 -f map, 2to3 -f filter, and 2to3 -f print, because we need to check that this branch also works with Python2 andw we can easly roll back each commit in case it fails.

I'm not sure if print((a+b)) is more appropriate than print(a+b), so I'll have to wait for Pythonista's comments...

kirohy · 2024-04-04T02:21:51Z

We have to use -p flag when applying 2to3 -f print, if print is already used as a function. Without -p flag and from __future__ import print_function, 2to3 automatically adds extra parentheses to print(hoge).
https://stackoverflow.com/questions/55559825/how-to-fix-printdouble-parentheses-after-2to3-conversion
https://docs.python.org/3.8/library/2to3.html#using-2to3
Double parenthese do not make sense, so I'll add a commit to manually remove them. Because some file have both print "hoge" and print("hoge").

kirohy · 2024-04-04T10:25:46Z

fix bugs to run sample simulations in https://github.com/fkanehiro/hrpsys-base/blob/master/sample/SampleRobot/README.md except for KalmanFilter. This rtc could not invoke resetKalmanFilterState().

Traceback (most recent call last):
  File "./samplerobot_kalman_filter.py", line 196, in <module>
    demo()
  File "./samplerobot_kalman_filter.py", line 168, in demo
    hcf.kf_svc.resetKalmanFilterState()
  File "/home/leus/catkin_ws/noetic_test/devel/lib/python3/dist-packages/hrpsys/KalmanFilterService_idl.py", line 101, in resetKalmanFilterState
    return self._obj.invoke("resetKalmanFilterState", _0_OpenHRP.KalmanFilterService._d_resetKalmanFilterState, args)
omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

This KalmanFilter sample works well in melodic.

kirohy · 2024-04-11T09:32:08Z

Fixed Kalmanfilter sample problem.

k-okada

I have cherry picked reliable commits. I am sorry for the conflict, but hop you can rebase and fix it.

sample/SampleRobot/samplerobot_emergency_stopper.py

k-okada · 2024-04-12T01:48:51Z

jython/waitInput.py

@@ -1,247 +1,247 @@
-from javax.swing import *


please split PR for python3 and style change. I would recommend revert this fix and apply 2to3.

This file is originally written in ASCII (CRLF), but 2to3 changed into UTF-8 (LF). style change means this? or should I keep this file as ASCII style?

style change means this?

Yes

or should I keep this file as ASCII style?

I prefer this option, because I personally won't be using waitInput.py in the future and do not want to make unncessary changes to this file.

k-okada · 2024-04-12T01:50:00Z

package.xml

@@ -51,6 +51,7 @@
  <run_depend>openhrp3</run_depend>
  <run_depend>python-tk</run_depend>
  <run_depend>sdl</run_depend>
+  <run_depend>python3-packaging</run_depend>


use <exec_depend condition="$ROS_PYTHON_VERSION == 3" />

rtc/KalmanFilter/KalmanFilter.cpp

k-okada · 2024-04-12T02:17:04Z

sample/SampleRobot/samplerobot_auto_balancer.py

@@ -772,7 +772,7 @@ def demoStandingPosResetting():
 def demo():
    start_time = time.time()
    init()
-    from distutils.version import StrictVersion
+    from packaging.version import parse as StrictVersion


What is the pupose of this chnage? to support parse('"314.0.0"') > parse('"314.10.0"') ? but it not work with parse('"314.0.0"') > parse('314.10.0')

I know this problem when parsing a version string with double quatations. kirohy@9488858 can avoid such situations.

This change is because you have already replaced distutils into packaging in ecfefb9#diff-9a55a4c37694757a5f9204a027881ffaa4793e2f5c144b586d7248ae5db441a5R15. Should I revert them? Then kirohy@10b4db8 will be deleted.

If this works for both python2/python3 this is ok, if not, then we need to make changes as small as possibe and switch the code using python2/python3 conditional branches.

sample/SampleRobot/samplerobot_carry_object.py

sample/SampleRobot/samplerobot_soft_error_limiter.py

kirohy

check simulation on melodic and noetic, and edit code. To revert old changes, force pushed

k-okada · 2024-06-14T02:41:52Z

CMakeLists.txt

@@ -190,7 +190,7 @@ install(FILES
  ${CMAKE_CURRENT_BINARY_DIR}/hrpsys-base.pc
  DESTINATION lib/pkgconfig)

-add_definitions(-DHRPSYS_PACKAGE_VERSION=\"\\"${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}\\"\")
+add_definitions(-DHRPSYS_PACKAGE_VERSION=\"${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}\")


@kirohy what happens without this changes?

Sorry, this change cannot built in Melodic. In Noetic wthout this change, hrpsys sample fails with ValueError: invalid version number '"315.15.0"'. This caued by python3 problem, so I'll revert this file and edit hrpsys python sample scripts.

kirohy mentioned this pull request Apr 3, 2024

apply 2to3 for running hrpsys_simulator with hrpsy_ros_bridge k-okada/rtmros_common#11

Merged

kirohy force-pushed the fix_20.04 branch from fb50dcb to b25a872 Compare April 4, 2024 10:18

kirohy changed the title ~~apply 2to3 on hrpsys_config.py~~ fix for python3 in Noetic Apr 5, 2024

kirohy changed the title ~~fix for python3 in Noetic~~ fix for Noetic Apr 11, 2024

k-okada requested changes Apr 12, 2024

View reviewed changes

kirohy added 3 commits June 13, 2024 19:27

apply 2to3 -f execfile

601e8f8

apply 2to3 -f raw_input

eeb22cd

apply 2to3 -f raise

acca372

kirohy force-pushed the fix_20.04 branch 2 times, most recently from 345fc1c to f07ba6a Compare June 13, 2024 11:48

kirohy commented Jun 13, 2024

View reviewed changes

k-okada reviewed Jun 14, 2024

View reviewed changes

kirohy added 8 commits June 14, 2024 14:48

manually replace filter function, 2to3 could not resolve

f1ea180

fix string and byte error

2e91c25

fix converting range to list

50ecb22

use packaging instead of distutils

8e9e6c3

fix invalid return value in KalmanFilter

6502712

python2 python3 compatible for input() function

ae93748

python2 python3 compatible for parsing hrpsys_version

bca7932

python2 python3 compatible for boost-python

67f4fc2

kirohy force-pushed the fix_20.04 branch from f07ba6a to 67f4fc2 Compare June 14, 2024 06:32

k-okada merged commit ae40b59 into k-okada:fix_20.04 Jun 26, 2024

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

fix for Noetic #4

fix for Noetic #4

kirohy commented Apr 3, 2024

k-okada commented Apr 4, 2024

kirohy commented Apr 4, 2024

kirohy commented Apr 4, 2024

kirohy commented Apr 11, 2024

k-okada left a comment

k-okada Apr 12, 2024

kirohy Apr 12, 2024 •

edited

Loading

k-okada Jun 13, 2024 •

edited

Loading

k-okada Apr 12, 2024

k-okada Apr 12, 2024

kirohy Apr 12, 2024 •

edited

Loading

k-okada Jun 13, 2024

kirohy left a comment

k-okada Jun 14, 2024

kirohy Jun 14, 2024

fix for Noetic #4

fix for Noetic #4

Conversation

kirohy commented Apr 3, 2024

k-okada commented Apr 4, 2024

kirohy commented Apr 4, 2024

kirohy commented Apr 4, 2024

kirohy commented Apr 11, 2024

k-okada left a comment

Choose a reason for hiding this comment

k-okada Apr 12, 2024

Choose a reason for hiding this comment

kirohy Apr 12, 2024 • edited Loading

Choose a reason for hiding this comment

k-okada Jun 13, 2024 • edited Loading

Choose a reason for hiding this comment

k-okada Apr 12, 2024

Choose a reason for hiding this comment

k-okada Apr 12, 2024

Choose a reason for hiding this comment

kirohy Apr 12, 2024 • edited Loading

Choose a reason for hiding this comment

k-okada Jun 13, 2024

Choose a reason for hiding this comment

kirohy left a comment

Choose a reason for hiding this comment

k-okada Jun 14, 2024

Choose a reason for hiding this comment

kirohy Jun 14, 2024

Choose a reason for hiding this comment

kirohy Apr 12, 2024 •

edited

Loading

k-okada Jun 13, 2024 •

edited

Loading

kirohy Apr 12, 2024 •

edited

Loading