Merge branch 'melodic-devel' into image-publish

.travis.yml

@@ -1,5 +1,5 @@
 
-# this is .traivs.yml written by ./create_travis_settings.py
+# this is .traivs.yml written by -
 
 # https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/devel_jobs.rst
 # https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst
@@ -8,22 +8,34 @@ sudo: true
 dist: bionic
 language: python
 python:
-  - "3.7"
+  - "3.6"
+addons:
+  apt:
+    packages:
+    - python2.7
+    - 2to3
 env:
   global:
     - JOB_PATH=/tmp/devel_job
     - ABORT_ON_TEST_FAILURE=1
+    - INDEX_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml
   matrix:
-    - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
+    - CHECK_PYTHON2_COMPILE=true
+    - CHECK_PYTHON3_COMPILE=true
+    - ROS_DISTRO_NAME=indigo  OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64 INDEX_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/6a93d17/index.yaml
+    - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 INDEX_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/6a93d17/index.yaml
     - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64
     - ROS_DISTRO_NAME=noetic  OS_NAME=ubuntu OS_CODE_NAME=focal  ARCH=amd64
-#   matrix:
-#     allow_failures:
-#       - env: ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
+# matrix:
+#   allow_failures:
+#     - env: ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64
 install:
-  # check python code code compatibility
-  - docker run --rm -v$(pwd):/opt/code -ti ${OS_NAME}:${OS_CODE_NAME} bash -c 'set -x; set -e; apt update -qq; apt install -y -qq lsb-release libroslib-dev python 2>&1 >/dev/null; set +x; for file in /etc/catkin/profile.d/*.sh; do echo $file; source $file; done; set -x; apt install -y -qq python${ROS_PYTHON_VERSION} 2>&1 >/dev/null; lsb_release -a; python${ROS_PYTHON_VERSION} --version; set +x; cd /opt/code; EXIT_STATUS=0; for file in $(find -type f); do if [[ $file == *.py || \"$(head -1 $file)\" =~ \"python\" ]]; then echo \"Check if $file is compatible with python${ROS_PYTHON_VERSION}\"; set -x; python${ROS_PYTHON_VERSION} -m py_compile $file || EXIT_STATUS=1; set +x; fi; done; exit $EXIT_STATUS';
+  # check python2 compatibility
+  - if [ "${CHECK_PYTHON2_COMPILE}" == "true" ]; then python2 -m compileall .; exit $?; fi
+  # check python3 compatibility
+  - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then bash -c "ret=0; trap 'ret=1' ERR; python3 -m compileall .; 2to3 -w -f except -f execfile -f has_key -f import -f raw_input -f zip .; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"; exit $?; fi
   # either install the latest released version of ros_buildfarm
+  - pip install pyyaml==5.4.1 ## latest pyyaml raises TypeError: load() missing 1 required positional argument: 'Loader'
   - pip install ros_buildfarm
   # or checkout a specific branch
   #- git clone -b master https://github.com/ros-infrastructure/ros_buildfarm /tmp/ros_buildfarm
@@ -36,7 +48,9 @@ install:
   - mkdir -p $JOB_PATH/ws/src
   - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/ws/src/
   # generate the script to run a pre-release job for that target and repo
-  - generate_prerelease_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH  --output-dir $JOB_PATH
+  - generate_prerelease_script.py $INDEX_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH  --output-dir $JOB_PATH
+  # update keys for trusty/xenial
+  - set -x; if [ "${OS_CODE_NAME}" = "trusty" ] || [ "${OS_CODE_NAME}" = "xenial" ]; then sed -i /0.key$/a'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | tee $WORKSPACE/keys/0.key' $JOB_PATH/prerelease_build_*.sh; fi
   # run the actual job which involves Docker
   - cd $JOB_PATH; sh ./prerelease.sh -y
 script:

smach_viewer/scripts/smach_viewer.py

@@ -32,6 +32,7 @@
 
 import rospy
 import rospkg
+import roslib
 
 from smach_msgs.msg import SmachContainerStatus,SmachContainerInitialStatusCmd,SmachContainerStructure
 from sensor_msgs.msg import Image
@@ -47,6 +48,7 @@
 import time
 import cv_bridge
 import numpy as np
+import base64
 
 import wxversion
 if wxversion.checkInstalled("2.8"):
@@ -85,12 +87,12 @@ def import_non_local(name, custom_name=None):
 ### Helper Functions
 def graph_attr_string(attrs):
     """Generate an xdot graph attribute string."""
-    attrs_strs = ['"'+str(k)+'"="'+str(v)+'"' for k,v in attrs.iteritems()]
+    attrs_strs = ['"'+str(k)+'"="'+str(v)+'"' for k,v in attrs.items()]
     return ';\n'.join(attrs_strs)+';\n'
 
 def attr_string(attrs):
     """Generate an xdot node attribute string."""
-    attrs_strs = ['"'+str(k)+'"="'+str(v)+'"' for k,v in attrs.iteritems()]
+    attrs_strs = ['"'+str(k)+'"="'+str(v)+'"' for k,v in attrs.items()]
     return ' ['+(', '.join(attrs_strs))+']'
 
 def get_parent_path(path):
@@ -164,6 +166,14 @@ def update_structure(self, msg):
 
         return needs_update
 
+    def _load_local_data(self, msg):
+        """Unpack the user data"""
+        try:
+            local_data = pickle.loads(msg.local_data)
+        except KeyError:
+            local_data = pickle.loads(base64.b64decode(msg.local_data.encode('utf-8')))
+        return local_data
+
     def update_status(self, msg):
         """Update the known userdata and active state set and return True if the graph needs to be redrawn."""
 
@@ -185,14 +195,14 @@ def update_status(self, msg):
         # Unpack the user data
         while not rospy.is_shutdown():
             try:
-                self._local_data._data = pickle.loads(msg.local_data)
+                self._local_data._data = self._load_local_data(msg)
                 break
             except ImportError as ie:
                 # This will only happen once for each package
                 modulename = ie.args[0][16:]
                 packagename = modulename[0:modulename.find('.')]
                 roslib.load_manifest(packagename)
-                self._local_data._data = pickle.loads(msg.local_data)
+                self._local_data._data = self._load_local_data(msg)
 
         # Store the info string
         self._info = msg.info
@@ -292,10 +302,10 @@ def get_dotcode(self, selected_paths, closed_paths, depth, max_depth, containers
                     dotstr += '"%s" %s;\n' % (child_path, attr_string(child_attrs))
 
             # Iterate over edges
-            internal_edges = zip(
+            internal_edges = list(zip(
                     self._internal_outcomes,
                     self._outcomes_from,
-                    self._outcomes_to)
+                    self._outcomes_to))
 
             # Add edge from container label to initial state
             internal_edges += [('','__proxy__',initial_child) for initial_child in self._initial_states]
@@ -766,7 +776,7 @@ def selection_changed(self, event):
 
                 # Generate the userdata string
                 ud_str = ''
-                for (k,v) in container._local_data._data.iteritems():
+                for (k,v) in container._local_data._data.items():
                     ud_str += str(k)+": "
                     vstr = str(v)
                     # Add a line break if this is a multiline value
@@ -798,7 +808,7 @@ def _structure_msg_update(self, msg, server_name):
         parent_path = '/'.join(pathsplit[0:-1])
 
         rospy.logdebug("RECEIVED: "+path)
-        rospy.logdebug("CONTAINERS: "+str(self._containers.keys()))
+        rospy.logdebug("CONTAINERS: "+str(list(self._containers.keys())))
 
         # Initialize redraw flag
         needs_redraw = False
@@ -911,7 +921,7 @@ def _update_graph(self):
 
                     # Generate the rest of the graph
                     # TODO: Only re-generate dotcode for containers that have changed
-                    for path,tc in containers_to_update.iteritems():
+                    for path,tc in containers_to_update.items():
                         dotstr += tc.get_dotcode(
                                 self._selected_paths,[],
                                 0,self._max_depth,
@@ -928,7 +938,7 @@ def _update_graph(self):
                     self._structure_changed = False
 
                 # Update the styles for the graph if there are any updates
-                for path,tc in containers_to_update.iteritems():
+                for path,tc in containers_to_update.items():
                     tc.set_styles(
                             self._selected_paths,
                             0,self._max_depth,
@@ -959,7 +969,7 @@ def _update_tree(self):
                 self._update_cond.wait()
                 self.tree.DeleteAllItems()
                 self._tree_nodes = {}
-                for path,tc in self._top_containers.iteritems():
+                for path,tc in self._top_containers.items():
                     self.add_to_tree(path, None)
 
     def add_to_tree(self, path, parent):
@@ -972,7 +982,7 @@ def add_to_tree(self, path, parent):
         # Add children to tree
         for label in self._containers[path]._children:
             child_path = '/'.join([path,label])
-            if child_path in self._containers.keys():
+            if child_path in list(self._containers.keys()):
                 self.add_to_tree(child_path, container)
             else:
                 self.tree.AppendItem(container,label)
@@ -1085,4 +1095,4 @@ def main():
 if __name__ == '__main__':
     rospy.init_node('smach_viewer',anonymous=False, disable_signals=True,log_level=rospy.INFO)
     sys.argv = rospy.myargv()
-    main()
+    main()

smach_viewer/src/smach_viewer/xdot/__init__.py

@@ -1,3 +1,3 @@
-import wxxdot
-import xdot_qt
+from . import wxxdot
+from . import xdot_qt
 

smach_viewer/src/smach_viewer/xdot/wxxdot.py

@@ -19,7 +19,7 @@
 # You should have received a copy of the GNU Lesser General Public License
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-from xdot import *
+from .xdot import *
 
 
 __all__ = ['WxDotWindow', 'WxDotFrame']

smach_viewer/src/smach_viewer/xdot/xdot.py

@@ -1119,7 +1119,7 @@ def parse_subgraph(self):
                 self.parse_stmt()
             self.consume()
         new_shapes = set(self.shapes) - shapes_before
-        self.subgraph_shapes[id] = [s for s in new_shapes if not any([s in ss for ss in self.subgraph_shapes.values()])]
+        self.subgraph_shapes[id] = [s for s in new_shapes if not any([s in ss for ss in list(self.subgraph_shapes.values())])]
         return id
 
     def parse_stmt(self):

smach_viewer/src/smach_viewer/xdot/xdot_qt.py

@@ -924,7 +924,7 @@ def parse_subgraph(self):
                 self.parse_stmt()
             self.consume()
         new_shapes = set(self.shapes) - shapes_before
-        self.subgraph_shapes[id] = [s for s in new_shapes if not any([s in ss for ss in self.subgraph_shapes.values()])]
+        self.subgraph_shapes[id] = [s for s in new_shapes if not any([s in ss for ss in list(self.subgraph_shapes.values())])]
         return id
 
     def parse_stmt(self):