Merge pull request #268 from k-okada/fix_for_noetic

imu_monitor/package.xml

@@ -1,4 +1,4 @@
-<package>
+<package format="3">
   <name>imu_monitor</name>
   <version>1.6.31</version>
   <description>This package contains a single node that monitors the drift of the IMU
@@ -15,9 +15,10 @@ are aggregated in the PR2 dashboard.</description>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>pr2_mechanism_controllers</run_depend>
-  <run_depend>python_orocos_kdl</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>diagnostic_msgs</run_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>pr2_mechanism_controllers</exec_depend>
+  <exec_depend condition="$ROS_DISTRO != noetic">python_orocos_kdl</exec_depend>
+  <exec_depend condition="$ROS_DISTRO == noetic">python3-pykdl</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>diagnostic_msgs</exec_depend>
 </package>

pr2_bringup/scripts/calibrate.py

@@ -70,7 +70,7 @@ def calibrate(controllers):
                 success = False
             else:
                 launched.append(c)
-        print "Launched: %s" % ', '.join(launched)
+        print("Launched: %s" % ', '.join(launched))
 
         # Starts the launched controllers
         switch_controller(launched, [], SwitchControllerRequest.BEST_EFFORT)
@@ -85,7 +85,7 @@ def calibrated(msg, name):  # Somewhat not thread-safe
 
         # Waits until all the controllers have calibrated
         while waiting_for and not rospy.is_shutdown():
-            print "Waiting for: %s" % ', '.join(waiting_for)
+            print("Waiting for: %s" % ', '.join(waiting_for))
             sleep(0.5)
     finally:
         for name in launched:
@@ -96,7 +96,7 @@ def calibrated(msg, name):  # Somewhat not thread-safe
                 resp_unload = unload_controller(name)
                 if (resp_unload == 0):
                     rospy.logerr("Failed to unload controller %s" % name)
-            except Exception, ex:
+            except Exception as ex:
                 rospy.logerr("Failed to stop/unload controller %s" % name)
     return success
 
@@ -123,7 +123,7 @@ def wait_for_calibrated(self, topic, timeout):
                 self.sub.unregister()
             return self.is_calibrated
 
-    print "Waiting up to 20s for IMU calibration to complete."
+    print("Waiting up to 20s for IMU calibration to complete.")
     helper = is_calibrated_helper()
     if not helper.wait_for_calibrated("torso_lift_imu/is_calibrated", 20):
         rospy.logerr("IMU took too long to calibrate.")
@@ -158,9 +158,9 @@ def main():
     pub_calibrated.publish(True)
 
     if not imustatus:
-        print "Mechanism calibration complete, but IMU calibration failed."
+        print("Mechanism calibration complete, but IMU calibration failed.")
     else:
-        print "Calibration complete"
+        print("Calibration complete")
 
     rospy.spin()
 

pr2_bringup/scripts/calibrate_pr2.py

@@ -299,7 +299,7 @@ def main():
                 force_calibration = True
 
         if arms not in ['both', 'none', 'left', 'right', 'auto']:
-            print 'Arms must be "both", "none", "left", "right", or "auto"'
+            print('Arms must be "both", "none", "left", "right", or "auto"')
             sys.exit(1)
 
         # load controller configuration
@@ -370,9 +370,9 @@ def main():
             controller_list = list_controllers()
             def is_running(c) : return c[1]=='running'
             running_controllers = [c[0] for c in filter(is_running, zip(controller_list.controllers, controller_list.state))]
-            print "Running controllers : ", running_controllers
+            print("Running controllers : ", running_controllers)
             if not switch_controller([], running_controllers, SwitchControllerRequest.STRICT):
-                print "Failed to stop controllers"
+                print("Failed to stop controllers")
                 sys.exit(1)
 
         # calibrate imu and torso
@@ -440,7 +440,7 @@ def is_running(c) : return c[1]=='running'
 
         if recalibrate:
             if not switch_controller(running_controllers, [], SwitchControllerRequest.STRICT):
-                print "Could not start previously running controllers"
+                print("Could not start previously running controllers")
 
         if not recalibrate:
             if joints_status:

pr2_camera_synchronizer/scripts/plot_multi_trigger.py

@@ -25,7 +25,7 @@ def sorted_pts(self):
         #print >> sys.stderr, self.name
         #print >> sys.stderr, self.pts
         pts = [ (x % self.period, y) for (x, y) in self.pts ]
-        firstpt = pts.index(min(pts, key = lambda (x,y):x))
+        firstpt = pts.index(min(pts, key = lambda xy:xy[0]))
         pts = pts[firstpt:] + pts[:firstpt]
         #print >> sys.stderr, pts
         #print >> sys.stderr
@@ -194,7 +194,7 @@ def check(self, projector):
                 with_proj_exp = projector_pulse_len + 0.0015 + 2 * slight_shift
                 if alt and e - s > with_proj_exp:
                     raise Exception("Too long exposure for textured image %f instead of %f, %s."%(e-s,with_proj_exp,info))
-        except Exception, e:
+        except Exception as e:
             #import traceback
             #traceback.print_exc()
             self.parent.set_error(repr(e))
@@ -308,7 +308,7 @@ def __init__(self, plot, silent = False):
             try:
                 self.gnuplot = subprocess.Popen('gnuplot', stdin = subprocess.PIPE)
             except:
-                print "Gnuplot must be installed to allow plotting of waveforms."
+                print("Gnuplot must be installed to allow plotting of waveforms.")
                 sys.exit(1)
             atexit.register(self.gnuplot.kill)
 
@@ -367,31 +367,31 @@ def plot(self):
                         self.triggers[i].period, period))
                 return
         style = 'with linespoints title "%s"'
-        print >> self.gnuplot.stdin, 'plot "-"', style%self.triggers[0].name,
+        print('plot "-"', style%self.triggers[0].name, end=' ', file=self.gnuplot.stdin)
         for i in range(1, n):
-            print >> self.gnuplot.stdin, ', "-"', style%self.triggers[i].name,
-        print >> self.gnuplot.stdin 
+            print(', "-"', style%self.triggers[i].name, end=' ', file=self.gnuplot.stdin)
+        print(file=self.gnuplot.stdin) 
         for i in range(n):
             t = self.triggers[i]
             reps = int(period / t.period)
             pts = t.sorted_pts()
             if len(pts) == 0:
                 pts = [(0, 0)]
             def plot_pt(x, y):
-                print >> self.gnuplot.stdin, x, (n - i - 1) * 1.1 + y%2
+                print(x, (n - i - 1) * 1.1 + y%2, file=self.gnuplot.stdin)
             plot_pt(0, pts[-1][1])
             for k in range(reps):
                 xoffs = t.period * k
                 for j in range(len(pts)):
                     plot_pt(pts[j][0] + xoffs, pts[j-1][1])
                     plot_pt(pts[j][0] + xoffs, pts[j][1])
             plot_pt(period, pts[-1][1])
-            print >> self.gnuplot.stdin, "e"
-            print >> self.gnuplot.stdin
+            print("e", file=self.gnuplot.stdin)
+            print(file=self.gnuplot.stdin)
             sys.stdout.flush()
 
     def empty_plot(self):
-        print 'plot x, -x'
+        print('plot x, -x')
 
 import unittest
 class Test(unittest.TestCase):

pr2_camera_synchronizer/src/pr2_camera_synchronizer/synchronizer_classes.py

@@ -104,7 +104,7 @@ def run(self):
             if allargs != None:
                 try:
                     self.f(*allargs[0], **allargs[1])
-                except Exception, e:
+                except Exception as e:
                     rospy.logerr("AsynchronousUpdater failed with exception: %s"%str(e))
                     pass
 
@@ -128,7 +128,7 @@ def __init__(self, name):
     self.zero_offset = 0
     self.clear_waveform()
     self.name = name
-    self.async = AsynchronousUpdater(self.async_update, "Controller "+name)
+    self.async_ = AsynchronousUpdater(self.async_update, "Controller "+name)
     self.service = None
     self.transitions = []
 
@@ -155,13 +155,13 @@ def async_update(self, period, zero_offset, transitions):
               rospy.logerr("Error setting waveform %s: %s"%(self.name, rslt.status_message))
           #print "Done updating waveform ", self.name
       except KeyboardInterrupt: # Handle CTRL+C
-          print "Aborted trigger update on", self.name
+          print("Aborted trigger update on", self.name)
 
   def update(self):
       # Run the update using an Asynchronous Updater so that if something
       # locks up, the rest of the node can keep working.
       #print "Trigger update on", self.name
-      self.async.update(self.period, self.zero_offset, self.transitions)
+      self.async_.update(self.period, self.zero_offset, self.transitions)
 
 class ProsilicaInhibitTriggerController(MultiTriggerController):
     def __init__(self, name, param, true_val, false_val):
@@ -359,7 +359,7 @@ def __init__(self, node_name, proj, level, **paramnames):
     self.level = level
     self.proj = proj
     self.reconfigure_client = None
-    self.async = AsynchronousUpdater(self.async_apply_update, "Camera "+node_name)
+    self.async_ = AsynchronousUpdater(self.async_apply_update, "Camera "+node_name)
     self.trig_rising = True
 
   def param(self, config, name):
@@ -464,7 +464,7 @@ def async_apply_update(self, reconfig_request):
           #print "**** Reconfigured client", self.name
           #print "Done updating camera ", self.name
       except KeyboardInterrupt: # Handle CTRL+C
-          print "Aborted camera update on", self.name
+          print("Aborted camera update on", self.name)
 
   def apply_update(self):
       reconfig_request = {
@@ -480,7 +480,7 @@ def apply_update(self):
               }
       #print self.name, reconfig_request
 
-      self.async.update(reconfig_request)
+      self.async_.update(reconfig_request)
 
 # Need to set:
 # Global period if synchronized
@@ -541,20 +541,20 @@ def print_threads():
     for t in threads:
         if not t.isDaemon() and t != threading.currentThread():
             try: 
-               print t.name
+               print(t.name)
             except:
-                print "Unknown thread ", t
+                print("Unknown thread ", t)
             n = n + 1
     return n
 
   def kill(self):
-    print "\nWaiting for all threads to die..."
+    print("\nWaiting for all threads to die...")
     killAsynchronousUpdaters()
     #time.sleep(1)
     while self.print_threads() > 0:         
-        print "\nStill waiting for all threads to die..."
+        print("\nStill waiting for all threads to die...")
         time.sleep(1)
-    print
+    print()
 
   def reconfigure(self, config, level):
     # print "Reconfigure", config
@@ -627,4 +627,4 @@ def spin(self):
     finally:
       rospy.signal_shutdown("Main thread exiting")
       self.kill()
-      print "Main thread exiting"
+      print("Main thread exiting")

pr2_computer_monitor/scripts/cpu_monitor.py

@@ -172,7 +172,7 @@ def check_ipmi():
                     diag_level = max(diag_level, DiagnosticStatus.ERROR)
                     diag_msgs.append('CPU Hot Alarm')
 
-    except Exception, e:
+    except Exception as e:
         diag_vals.append(KeyValue(key = 'Exception', value = traceback.format_exc()))
         diag_level = DiagnosticStatus.ERROR
         diag_msgs.append('Exception')
@@ -270,7 +270,7 @@ def check_clock_speed(enforce_speed):
         elif lvl == DiagnosticStatus.ERROR and enforce_speed:
             msgs = [ 'Core throttled' ]
 
-    except Exception, e:
+    except Exception as e:
         rospy.logerr(traceback.format_exc())
         lvl = DiagnosticStatus.ERROR
         msgs.append('Exception')
@@ -315,7 +315,7 @@ def check_uptime(load1_threshold, load5_threshold):
         vals.append(KeyValue(key = '15 min Load Average', value = load15))
         vals.append(KeyValue(key = 'Number of Users', value = num_users))
 
-    except Exception, e:
+    except Exception as e:
         rospy.logerr(traceback.format_exc())
         level = DiagnosticStatus.ERROR
         vals.append(KeyValue(key = 'Load Average Status', value = traceback.format_exc()))
@@ -360,7 +360,7 @@ def check_memory():
         values.append(KeyValue(key = 'Free Memory', value = free_mem))
 
         msg = mem_dict[level]
-    except Exception, e:
+    except Exception as e:
         rospy.logerr(traceback.format_exc())
         msg = 'Memory Usage Check Error'
         values.append(KeyValue(key = msg, value = str(e)))
@@ -463,7 +463,7 @@ def check_mpstat(core_count = -1):
                 has_error_core_count = True
             return DiagnosticStatus.ERROR, 'Incorrect number of CPU cores', vals
 
-    except Exception, e:
+    except Exception as e:
         mp_level = DiagnosticStatus.ERROR
         vals.append(KeyValue(key = 'mpstat Exception', value = str(e)))
 
@@ -591,7 +591,7 @@ def _restart_temp_check(self):
                     self._temps_timer.cancel()
 
             self.check_temps()
-        except Exception, e:
+        except Exception as e:
             rospy.logerr('Unable to restart temp thread. Error: %s' % traceback.format_exc())
 
 
@@ -660,7 +660,7 @@ def check_nfs_stat(self):
                 vals.append(KeyValue(
                         key = '%s Write Blks srv/s' % file_sys, value=w_blk_srv))
 
-        except Exception, e:
+        except Exception as e:
             rospy.logerr(traceback.format_exc())
             nfs_level = DiagnosticStatus.ERROR
             msg = 'Exception'
@@ -819,7 +819,7 @@ def publish_stats(self):
     try:
         rospy.init_node('cpu_monitor_%s' % hostname)
     except rospy.exceptions.ROSInitException:
-        print >> sys.stderr, 'CPU monitor is unable to initialize node. Master may not be running.'
+        print('CPU monitor is unable to initialize node. Master may not be running.', file=sys.stderr)
         sys.exit(0)
 
     cpu_node = CPUMonitor(hostname, options.diag_hostname)
@@ -831,7 +831,7 @@ def publish_stats(self):
             cpu_node.publish_stats()
     except KeyboardInterrupt:
         pass
-    except Exception, e:
+    except Exception as e:
         traceback.print_exc()
         rospy.logerr(traceback.format_exc())
 

pr2_computer_monitor/scripts/hd_monitor.py

@@ -364,7 +364,7 @@ def publish_stats(self):
     try:
         rospy.init_node('hd_monitor_%s' % hostname)
     except rospy.exceptions.ROSInitException:
-        print 'HD monitor is unable to initialize node. Master may not be running.'
+        print('HD monitor is unable to initialize node. Master may not be running.')
         sys.exit(0)
 
     hd_monitor = hd_monitor(hostname, options.diag_hostname, home_dir)
@@ -376,7 +376,7 @@ def publish_stats(self):
             hd_monitor.publish_stats()
     except KeyboardInterrupt:
         pass
-    except Exception, e:
+    except Exception as e:
         traceback.print_exc()
 
     hd_monitor.cancel_timers()

pr2_computer_monitor/scripts/ntp_monitor.py

@@ -88,7 +88,8 @@ def ntp_monitor(ntp_hostname, offset=500, self_offset=500, diag_hostname=None,
                 p = Popen(["ntpdate", "-q", host], stdout=PIPE, stdin=PIPE, stderr=PIPE)
                 res = p.wait()
                 (o,e) = p.communicate()
-            except OSError, (errno, msg):
+            except OSError as e:
+                (errno, msg) = e.args
                 if errno == 4:
                     break #ctrl-c interrupt
                 else:

pr2_computer_monitor/scripts/nvidia_temp.py

@@ -59,7 +59,7 @@ def pub_status(self):
             card_out = pr2_computer_monitor.get_gpu_status()
             gpu_stat = pr2_computer_monitor.parse_smi_output(card_out)
             stat = pr2_computer_monitor.gpu_status_to_diag(gpu_stat)
-        except Exception, e:
+        except Exception as e:
             import traceback
             rospy.logerr('Unable to process nVidia GPU data')
             rospy.logerr(traceback.format_exc())

pr2_computer_monitor/scripts/wifi_monitor.py

@@ -132,7 +132,7 @@ def publish_stats(self):
     try:
         rospy.init_node('ddwrt_diag')
     except rospy.exceptions.ROSInitException:
-        print 'Wifi monitor is unable to initialize node. Master may not be running.'
+        print('Wifi monitor is unable to initialize node. Master may not be running.')
         sys.exit(2)
 
     wifi_monitor = WifiMonitor()
@@ -144,7 +144,7 @@ def publish_stats(self):
             wifi_monitor.publish_stats()
     except KeyboardInterrupt:
         pass
-    except Exception, e:
+    except Exception as e:
         import traceback
         traceback.print_exc()