Merge pull request #150 from k-okada/ga

Support Noetic

.github/workflows/config.yml

@@ -0,0 +1,120 @@
+on:
+  push:
+    branches:
+      - master
+      - ga
+  pull_request:
+
+jobs:
+  check_python2:
+    runs-on: ubuntu-latest
+    name: check_python2
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python2
+        run: |
+          apt update -q && apt install -y -q python2
+          python2 -m compileall .
+
+
+  check_python3:
+    runs-on: ubuntu-latest
+    name: check_python3
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Install latest git to download .git directory in actions/checkout@v2, git diff requries .git directory ( use sudo for ros-ubuntu )
+        run: apt-get update && apt-get install -y software-properties-common && apt-get update && add-apt-repository -y ppa:git-core/ppa && apt-get update && apt-get install -y git
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python3
+        run: |
+          apt update -q && apt install -y -q python3 git 2to3
+          bash -c "ret=0; trap 'ret=1' ERR; python3 -m compileall .; 2to3 -w -f except -f execfile -f has_key -f raw_input -f zip .; find . -type f -exec grep -Iq . {} \; -a -not -regex '.*/node_scripts/[^/]*py' -exec 2to3 -w -f import {} \; ; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"
+
+
+  ros:
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ matrix.experimental }}
+    strategy:
+      matrix:
+        include:
+          # - ROS_DISTRO: indigo
+          #   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: kinetic
+          #   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: melodic
+            ROS_DISTRO_NAME: melodic
+            OS_NAME: ubuntu
+            OS_CODE_NAME: bionic
+            ARCH: amd64
+            INDEX_URL: https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml
+            experimental: false
+          - ROS_DISTRO: noetic
+            ROS_DISTRO_NAME: noetic
+            OS_NAME: ubuntu
+            OS_CODE_NAME: focal
+            ARCH: amd64
+            INDEX_URL: https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml
+            experimental: true
+
+    steps:
+      - name: Chcekout
+        uses: actions/checkout@v2
+
+      - name: Start X server
+        run: |
+          echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
+          sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
+          export DISPLAY=:0
+          wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf
+          sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY &
+          sleep 3 # wait x server up
+          export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
+          xhost +local:root
+
+
+      - name: Test
+        run: |
+          export ROS_DISTRO_NAME=${{ matrix.ROS_DISTRO_NAME }}
+          export OS_NAME=${{ matrix.OS_NAME }}
+          export OS_CODE_NAME=${{ matrix.OS_CODE_NAME }}
+          export ARCH=${{ matrix.ARCH }}
+          export INDEX_URL=${{ matrix.INDEX_URL }}
+          export JOB_PATH=/tmp/devel_job
+          export ABORT_ON_TEST_FAILURE=1
+          export DISPLAY=:0
+          export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
+          set -x
+          # either install the latest released version of ros_buildfarm
+          # pip install ros_buildfarm
+          # or checkout a specific branch
+          git clone -b master https://github.com/k-okada/ros_buildfarm /tmp/ros_buildfarm
+          pip install /tmp/ros_buildfarm
+          # checkout catkin for catkin_test_results script
+          git clone https://github.com/ros/catkin /tmp/catkin
+          # run devel job for a ROS repository with the same name as this repo
+          export REPOSITORY_NAME=$(basename $PWD)
+          # use the code already checked out by Travis
+          mkdir -p $JOB_PATH/ws/src
+          cp -R ../ $JOB_PATH/ws/src/
+          # generate the script to run a pre-release job for that target and repo
+          generate_prerelease_script.py $INDEX_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH  --output-dir $JOB_PATH
+          # run the actual job which involves Docker
+          mkdir -p ~/.ccache
+          cd $JOB_PATH; sh ./prerelease.sh -y
+          # get summary of test results
+          /tmp/catkin/bin/catkin_test_results $JOB_PATH/ws/test_results --all --verbose

pr2_gazebo/CMakeLists.txt

@@ -38,14 +38,6 @@ if(CATKIN_ENABLE_TESTING)
   find_package(catkin REQUIRED COMPONENTS rostest roslaunch)
   roslaunch_add_file_check(launch/pr2_empty_world.launch)
 
-  set(ENV{ROSDEP_SOURCE_PATH} /tmp/)
-  execute_process(COMMAND rosdep resolve rostest RESULT_VARIABLE rosdep_result)
-  if(rosdep_result)
-    message(STATUS "rosdep is not initialized, run rosdep init and update, please wait for a moment...")
-    execute_process(COMMAND rosdep init)
-    execute_process(COMMAND rosdep update)
-  endif()
-
   add_rostest(test/collisions/test_slide.launch)
 
   add_rostest(test/mechanism_controllers/test_base.launch)

pr2_gazebo/package.xml

@@ -32,6 +32,7 @@
   <run_depend>pr2_mechanism_controllers</run_depend>
   <run_depend>pr2_head_action</run_depend>
   <run_depend>joint_trajectory_action</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
   <run_depend>pr2_gripper_action</run_depend>
   <run_depend>single_joint_position_action</run_depend>
   <run_depend>stereo_image_proc</run_depend>

pr2_gazebo/scripts/pr2_fingertip_pressure_contact_translator.py

@@ -180,8 +180,8 @@ def store_contacts(self, whichtip, bumperstate):
         self.lock.release()
 
         if DEBUG:
-            print whichtip, "positions:\n", pplistlist(self.contact_positions[whichtip])
-            print whichtip, "normals:\n", pplistlist(self.contact_normals[whichtip])
+            print(whichtip, "positions:\n", pplistlist(self.contact_positions[whichtip]))
+            print(whichtip, "normals:\n", pplistlist(self.contact_normals[whichtip]))
 
 
 
@@ -254,17 +254,17 @@ def publish(self):
                         nearest_array_element = arrayelem
 
                 if DEBUG:
-                    print "tip:", tip
-                    print "dists:", pplist(dists)
-                    print "anglediffs:", pplist(anglediffs)
-                    print "weighteddists:", pplist(weighteddists)
+                    print("tip:", tip)
+                    print("dists:", pplist(dists))
+                    print("anglediffs:", pplist(anglediffs))
+                    print("weighteddists:", pplist(weighteddists))
 
                 #update that sensor element's depth if this depth is greater
                 #(the maximum readings around 10000?)
                 if nearest_array_element != 'not found':
                     if DEBUG:
-                        print "nearest_array_element:", nearest_array_element
-                        print "nearest_array_weighted_dist: %0.3f"%nearest_array_weighted_dist
+                        print("nearest_array_element:", nearest_array_element)
+                        print("nearest_array_weighted_dist: %0.3f"%nearest_array_weighted_dist)
                     newreading = self.contact_depths[tip][contactnum] * \
                         self.sensor_array_info[tip].force_per_unit[nearest_array_element] * 5000.
                     if newreading > 10000:
@@ -280,8 +280,8 @@ def publish(self):
         self.lock.release()
 
         if DEBUG:
-            print "left tip readings:", pplist(finger_tip_readings['l'])
-            print "right tip readings:", pplist(finger_tip_readings['r'])
+            print("left tip readings:", pplist(finger_tip_readings['l']))
+            print("right tip readings:", pplist(finger_tip_readings['r']))
 
         #fill in the message and publish it
         ps = PressureState()
@@ -303,7 +303,7 @@ def publish(self):
     s1 = contactArraySimulator('r')
     s2 = contactArraySimulator('l')
 
-    print "done initializing, starting to publish"
+    print("done initializing, starting to publish")
 
     while not rospy.is_shutdown():
         rospy.sleep(0.01)

pr2_gazebo/scripts/pr2_simulate_torso_spring.py

@@ -57,7 +57,7 @@
   duration = rospy.Duration.from_sec(-1)
   try:
     resp1 = apply_joint_effort(joint_name, effort, start_time, duration)
-  except rospy.ServiceException, e:
-    print "Service did not process request: %s"%str(e)
+  except rospy.ServiceException as e:
+    print("Service did not process request: %s"%str(e))
 
 

pr2_gazebo/test/collisions/slide.world

@@ -135,10 +135,10 @@
     <static>true</static>
     <link name="endbin_body">
       <collision name="endbin_body_collision">
-        <pose>   -6.0    0.0     2.6  -1.5708    0.0    1.5708</pose>
+        <pose>   -6.0    0.0     1.6  -1.5708    0.0    1.5708</pose>
         <geometry>
           <mesh>
-            <scale>4 2 4</scale>
+            <scale>5 2 5</scale>
             <uri>model://Media/models/slide_endbin.stl</uri>
           </mesh>
         </geometry>
@@ -158,10 +158,10 @@
         </surface>
       </collision>
       <visual name="endbin_body_visual">
-        <pose>   -6.0    0.0     2.6  -1.5708    0.0    1.5708</pose>
+        <pose>   -6.0    0.0     1.6  -1.5708    0.0    1.5708</pose>
         <geometry>
           <mesh>
-            <scale>4 2 4</scale>
+            <scale>5 2 5</scale>
             <uri>model://Media/models/slide_endbin.stl</uri>
           </mesh>
         </geometry>

pr2_gazebo/test/collisions/test_slide.py

@@ -92,7 +92,7 @@ def positionInput(self, p3d):
 
 
     def test_slide(self):
-        print "LINK\n"
+        print("LINK\n")
         rospy.Subscriber("/base_pose_ground_truth", Odometry, self.positionInput)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + TEST_DURATION

pr2_gazebo/test/mechanism_controllers/my_hztest.py

@@ -71,18 +71,18 @@ def Input(self, msg):
 
         if not self.started:
           self.start_time = rospy.get_rostime().to_sec()
-          print " got first message at: ",self.start_time, " sec"
+          print(" got first message at: ",self.start_time, " sec")
           self.started = True
 
         if self.count >= MIN_MSGS:
           self.end_time = rospy.get_rostime().to_sec()
-          print " passed minimum ",self.count," messages at ",self.count / (self.end_time - self.start_time), " Hz"
+          print(" passed minimum ",self.count," messages at ",self.count / (self.end_time - self.start_time), " Hz")
           self.success = True
         #else:
           #print " got ",self.count," messages at ",self.count / (rospy.get_rostime().to_sec() - self.start_time), " Hz"
 
     def test_hz(self):
-        print "LNK\n"
+        print("LNK\n")
         #rospy.Subscriber("/tf", tfMessage, self.Input)
         rospy.Subscriber("/mechanism_state", MechanismState, self.Input)
         rospy.init_node(NAME, anonymous=True)

pr2_gazebo/test/mechanism_controllers/test_arm.py

@@ -90,20 +90,20 @@ def __init__(self, *args):
 
 
     def printP3D(self, p3d):
-        print "pose ground truth received"
-        print "P3D pose translan: " + "x: " + str(p3d.pose.pose.position.x)
-        print "                   " + "y: " + str(p3d.pose.pose.position.y)
-        print "                   " + "z: " + str(p3d.pose.pose.position.z)
-        print "P3D pose rotation: " + "x: " + str(p3d.pose.pose.orientation.x)
-        print "                   " + "y: " + str(p3d.pose.pose.orientation.y)
-        print "                   " + "z: " + str(p3d.pose.pose.orientation.z)
-        print "                   " + "w: " + str(p3d.pose.pose.orientation.w)
-        print "P3D rate translan: " + "x: " + str(p3d.twist.twist.linear.x)
-        print "                   " + "y: " + str(p3d.twist.twist.linear.y)
-        print "                   " + "z: " + str(p3d.twist.twist.linear.z)
-        print "P3D rate rotation: " + "x: " + str(p3d.twist.twist.angular.x)
-        print "                   " + "y: " + str(p3d.twist.twist.angular.y)
-        print "                   " + "z: " + str(p3d.twist.twist.angular.z)
+        print("pose ground truth received")
+        print("P3D pose translan: " + "x: " + str(p3d.pose.pose.position.x))
+        print("                   " + "y: " + str(p3d.pose.pose.position.y))
+        print("                   " + "z: " + str(p3d.pose.pose.position.z))
+        print("P3D pose rotation: " + "x: " + str(p3d.pose.pose.orientation.x))
+        print("                   " + "y: " + str(p3d.pose.pose.orientation.y))
+        print("                   " + "z: " + str(p3d.pose.pose.orientation.z))
+        print("                   " + "w: " + str(p3d.pose.pose.orientation.w))
+        print("P3D rate translan: " + "x: " + str(p3d.twist.twist.linear.x))
+        print("                   " + "y: " + str(p3d.twist.twist.linear.y))
+        print("                   " + "z: " + str(p3d.twist.twist.linear.z))
+        print("P3D rate rotation: " + "x: " + str(p3d.twist.twist.angular.x))
+        print("                   " + "y: " + str(p3d.twist.twist.angular.y))
+        print("                   " + "z: " + str(p3d.twist.twist.angular.z))
 
     def fngrP3dInput(self, p3d):
         i = 0
@@ -130,13 +130,13 @@ def fngrP3dInput(self, p3d):
                     abs( rot_euler[1] ) + \
                     abs( rot_euler[2] )
 
-        print " fngr Error pos: " + str(pos_error) + " rot: " + str(rot_error)
+        print(" fngr Error pos: " + str(pos_error) + " rot: " + str(rot_error))
 
         #self.printP3D(p3d) #for getting new valid data
 
         # has to reach target vw and maintain target vw for a duration of TARGET_DURATION seconds
         if self.reached_target_fngr:
-          print " fngr duration: " + str(time.time() - self.duration_start_fngr)
+          print(" fngr duration: " + str(time.time() - self.duration_start_fngr))
           if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
             if time.time() - self.duration_start_fngr > TARGET_DURATION:
               self.fngr_success = True
@@ -146,7 +146,7 @@ def fngrP3dInput(self, p3d):
             self.reached_target_fngr = False
         else:
           if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
-            print 'success finger'
+            print('success finger')
             self.reached_target_fngr = True
             self.duration_start_fngr = time.time()
 
@@ -175,13 +175,13 @@ def palmP3dInput(self, p3d):
                     abs( rot_euler[1] ) + \
                     abs( rot_euler[2] )
 
-        print " palm Error pos: " + str(pos_error) + " rot: " + str(rot_error)
+        print(" palm Error pos: " + str(pos_error) + " rot: " + str(rot_error))
 
         #self.printP3D(p3d) #for getting new valid data
 
         # has to reach target vw and maintain target vw for a duration of TARGET_DURATION seconds
         if self.reached_target_palm: # tracking started
-          print " palm duration: " + str(time.time() - self.duration_start_palm)
+          print(" palm duration: " + str(time.time() - self.duration_start_palm))
           if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
             if time.time() - self.duration_start_palm > TARGET_DURATION:
               self.palm_success = True
@@ -191,12 +191,12 @@ def palmP3dInput(self, p3d):
             self.reached_target_palm = False
         else:
           if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
-            print 'success palm'
+            print('success palm')
             self.reached_target_palm = True
             self.duration_start_palm = time.time()
 
     def test_arm(self):
-        print "LNK\n"
+        print("LNK\n")
         pub_gripper = rospy.Publisher("/l_gripper_position_controller/command", Float64)
         rospy.Subscriber("/l_gripper_palm_pose_ground_truth", Odometry, self.palmP3dInput)
         rospy.Subscriber("/l_gripper_l_finger_pose_ground_truth", Odometry, self.fngrP3dInput)