add noetic to .travis.yml, remove indigo/lunar

.travis.yml

@@ -8,20 +8,21 @@ sudo: true
 dist: trusty
 language: python
 python:
-  - "3.4"
+  - "3.6"
 env:
   global:
     - JOB_PATH=/tmp/devel_job
     - ABORT_ON_TEST_FAILURE=1
   matrix:
-    - ROS_DISTRO_NAME=indigo  OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64
+    - CHECK_PYTHON3_COMPILE=true
     - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
-    - ROS_DISTRO_NAME=lunar   OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
     - 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
 install:
+  - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then python3 -m compileall .; exit $?; fi
   # either install the latest released version of ros_buildfarm
   - pip install ros_buildfarm
   # or checkout a specific branch
@@ -32,15 +33,15 @@ install:
   # run devel job for a ROS repository with the same name as this repo
   - export REPOSITORY_NAME=`basename $TRAVIS_BUILD_DIR`
   # use the code already checked out by Travis
-  - mkdir -p $JOB_PATH/catkin_workspace/src
-  - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/catkin_workspace/src/
+  - 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
   # run the actual job which involves Docker
   - cd $JOB_PATH; sh ./prerelease.sh -y
 script:
   # get summary of test results
-  - /tmp/catkin/bin/catkin_test_results $JOB_PATH/catkin_workspace/test_results --all
+  - /tmp/catkin/bin/catkin_test_results $JOB_PATH/ws/test_results --all
 notifications:
   email: false
 

pr2_controller_manager/scripts/pr2_controller_manager

@@ -18,7 +18,7 @@ class Tracker:
         self.msg = msg
 
 def print_usage(exit_code = 0):
-    print '''Commands:
+    print('''Commands:
     load <name>          - Load the controller named <name>  
     unload <name>        - Unload the controller named <name>  
     start <name>         - Start the controller named <name>
@@ -28,7 +28,7 @@ def print_usage(exit_code = 0):
     list                 - List active controllers
     list-joints          - List joints and actuators
     list-types           - List controller Types
-    reload-libraries     - Reloads all plugin controller libraries'''
+    reload-libraries     - Reloads all plugin controller libraries''')
 
     sys.exit(exit_code)
 
@@ -41,9 +41,9 @@ if __name__ == '__main__':
     elif args[1] == 'lc' or args[1] == 'list':
         pr2_controller_manager_interface.list_controllers()
     elif args[1] == 'reload-libraries':
-        print "ARGS", args, args[2:]
+        print("ARGS", args, args[2:])
         if '--restore' in args[2:]:
-            print "RE1"
+            print("RE1")
             pr2_controller_manager_interface.reload_libraries(True, restore = True)
         else:
             pr2_controller_manager_interface.reload_libraries(True)
@@ -71,18 +71,18 @@ if __name__ == '__main__':
             pr2_controller_manager_interface.unload_controller(c)
     elif args[1] == 'lj' or args[1] == 'list-joints':
         track_mech = Tracker('/mechanism_statistics', MechanismStatistics)
-        print "Waiting for mechanism statistics message..."
+        print("Waiting for mechanism statistics message...")
         rospy.init_node('mech', anonymous=True)
         while not track_mech.msg:
             time.sleep(0.01)
             if rospy.is_shutdown():
                 sys.exit(0)
         msg = track_mech.msg
-        print 'Actuators:'
+        print('Actuators:')
         for i in range(len(msg.actuator_statistics)):
-            print "  %3d %s" % (i, msg.actuator_statistics[i].name)
-        print 'Joints:'
+            print("  %3d %s" % (i, msg.actuator_statistics[i].name))
+        print('Joints:')
         for i in range(len(msg.joint_statistics)):
-            print "  %3d %s" % (i, msg.joint_statistics[i].name)
+            print("  %3d %s" % (i, msg.joint_statistics[i].name))
     else:
         print_usage(1)

pr2_controller_manager/scripts/spawner

@@ -44,9 +44,9 @@ from pr2_mechanism_msgs.srv import *
 from std_msgs.msg import *
 
 def print_usage(exit_code = 0):
-    print 'spawner [--stopped] [--wait-for=wait_for_topic] <controller names>'
-    print "  stopped: loads controllers, but doesn't start them"
-    print "  wait-for: doesn't load or start controllers until it hears 'True' on wait_for_topic (Bool)"
+    print('spawner [--stopped] [--wait-for=wait_for_topic] <controller names>')
+    print("  stopped: loads controllers, but doesn't start them")
+    print("  wait-for: doesn't load or start controllers until it hears 'True' on wait_for_topic (Bool)")
     sys.exit(exit_code)
 
 load_controller = rospy.ServiceProxy('pr2_controller_manager/load_controller', LoadController)

pr2_controller_manager/scripts/unspawner

@@ -77,10 +77,10 @@ def main():
 
 
 def print_help():
-    print './unspawner name1 name2 name3'
-    print ''
-    print '\tStops a set of controllers until killed.' 
-    print '\tUseful in roslaunch files to temporarily stop controllers'
+    print('./unspawner name1 name2 name3')
+    print('')
+    print('\tStops a set of controllers until killed.') 
+    print('\tUseful in roslaunch files to temporarily stop controllers')
 
 if __name__ == '__main__':
     if len(sys.argv) == 1 or sys.argv[1] == '-h' or sys.argv[1] == '--help':

pr2_controller_manager/src/pr2_controller_manager/pr2_controller_manager_interface.py

@@ -13,7 +13,7 @@ def list_controller_types():
     s = rospy.ServiceProxy('pr2_controller_manager/list_controller_types', ListControllerTypes)
     resp = s.call(ListControllerTypesRequest())
     for t in resp.types:
-        print t
+        print(t)
 
 def reload_libraries(force_kill, restore = False):
     rospy.wait_for_service('pr2_controller_manager/reload_controller_libraries')
@@ -23,16 +23,16 @@ def reload_libraries(force_kill, restore = False):
     load_srv = rospy.ServiceProxy('pr2_controller_manager/load_controller', LoadController)
     switch_srv = rospy.ServiceProxy('pr2_controller_manager/switch_controller', SwitchController)
 
-    print "Restore:", restore
+    print("Restore:", restore)
     if restore:
         originally = list_srv.call(ListControllersRequest())
 
     resp = s.call(ReloadControllerLibrariesRequest(force_kill))
     if resp.ok:
-        print "Successfully reloaded libraries"
+        print("Successfully reloaded libraries")
         result = True
     else:
-        print "Failed to reload libraries. Do you still have controllers loaded?"
+        print("Failed to reload libraries. Do you still have controllers loaded?")
         result = False
 
     if restore:
@@ -45,7 +45,7 @@ def reload_libraries(force_kill, restore = False):
         switch_srv(start_controllers = to_start,
                    stop_controllers = [],
                    strictness = SwitchControllerRequest.BEST_EFFORT)
-        print "Controllers restored to original state"
+        print("Controllers restored to original state")
     return result
 
 
@@ -54,31 +54,31 @@ def list_controllers():
     s = rospy.ServiceProxy('pr2_controller_manager/list_controllers', ListControllers)
     resp = s.call(ListControllersRequest())
     if len(resp.controllers) == 0:
-        print "No controllers are loaded in mechanism control"
+        print("No controllers are loaded in mechanism control")
     else:
         for c, s in zip(resp.controllers, resp.state):
-            print c, "(",s,")"
+            print(c, "(",s,")")
 
 def load_controller(name):
     rospy.wait_for_service('pr2_controller_manager/load_controller')
     s = rospy.ServiceProxy('pr2_controller_manager/load_controller', LoadController)
     resp = s.call(LoadControllerRequest(name))
     if resp.ok:
-        print "Loaded", name
+        print("Loaded", name)
         return True
     else:
-        print "Error when loading", name
+        print("Error when loading", name)
         return False
 
 def unload_controller(name):
     rospy.wait_for_service('pr2_controller_manager/unload_controller')
     s = rospy.ServiceProxy('pr2_controller_manager/unload_controller', UnloadController)
     resp = s.call(UnloadControllerRequest(name))
     if resp.ok == 1:
-        print "Unloaded %s successfully" % name
+        print("Unloaded %s successfully" % name)
         return True
     else:
-        print "Error when unloading", name
+        print("Error when unloading", name)
         return False
 
 def start_controller(name):
@@ -106,13 +106,13 @@ def start_stop_controllers(names, st):
     resp = s.call(SwitchControllerRequest(start, stop, strictness))
     if resp.ok == 1:
         if st:
-            print "Started %s successfully" % names
+            print("Started %s successfully" % names)
         else:
-            print "Stopped %s successfully" % names
+            print("Stopped %s successfully" % names)
         return True
     else:
         if st:
-            print "Error when starting ", names
+            print("Error when starting ", names)
         else:
-            print "Error when stopping ", names
+            print("Error when stopping ", names)
         return False

pr2_mechanism_diagnostics/test/mech_diag_test.py

@@ -86,20 +86,20 @@ def test_mech_diag(self):
         self.assert_(not rospy.is_shutdown(), "Rospy shutdown")
 
         with self._mutex:
-            if len(self._joints.items()) == 0:
+            if len(list(self._joints.items())) == 0:
                 self.assert_(False, "No joint data in diagnostics")
-            for key, val in self._joints.iteritems():
+            for key, val in self._joints.items():
                 if self._nan:
                     self.assert_(val.level == 2, "Joint %s was not ERROR, but was NaN. Level %d" % (val.name, val.level))
                 elif self._cal:
                     self.assert_(val.level == 0, "Joint %s was not OK. Level %d" % (val.name, val.level))
                 else:
                     self.assert_(val.level == 1, "Joint %s was not warning, but was uncalibrated. Level %d" % (val.name, val.level))
 
-            if len(self._controllers.items()) == 0:
+            if len(list(self._controllers.items())) == 0:
                 self.assert_(False, "No controller data in diagnostics")
 
-            for key, val in self._controllers.iteritems():
+            for key, val in self._controllers.items():
                 if self._overrun:
                     self.assert_(val.level == 1, "Controller %s was not WARN, but was overrun. Level %d" % (val.name, val.level))
                 else: