Merge pull request #338 from k-okada/fix_ga

.github/workflow:  integrate all yaml to one

.github/workflows/config.yml

@@ -0,0 +1,114 @@
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  DISPLAY: ':0.0'
+
+jobs:
+  ros:
+    runs-on: ubuntu-latest
+#    continue-on-error: ${{ matrix.experimental }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: kinetic
+            CONTAINER: ubuntu:16.04
+            ROS_PARALLEL_TEST_JOBS: "-j8"
+            CATKIN_PARALLEL_JOBS: "-i"
+            EXTRA_DEB : "python-lxml"
+          - ROS_DISTRO: melodic
+            CONTAINER: ubuntu:18.04
+            ROS_PARALLEL_TEST_JOBS: "-j8"
+            CATKIN_PARALLEL_JOBS: "-i"
+          - ROS_DISTRO: noetic
+            CONTAINER: ubuntu:20.04
+            ROS_PARALLEL_TEST_JOBS: "-j8"
+            CATKIN_PARALLEL_JOBS: "-i"
+          - ROS_DISTRO: noetic
+            CONTAINER: ubuntu:20.04
+            ROS_PARALLEL_TEST_JOBS: "-j8"
+            CATKIN_PARALLEL_JOBS: "-i"
+            USE_DEB : false
+
+
+    container: ${{ matrix.CONTAINER }}
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu )
+        run: |
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          export USER=$(whoami)
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
+             sudo mkdir -p /__w/
+             sudo chmod 777 -R /__w/
+             sudo chown -R $USER $HOME
+             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
+             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
+             # ls -al /home/runner/work/_temp/_github_workflow/
+          else
+             git config --global --add safe.directory $GITHUB_WORKSPACE
+          fi
+
+      - name: Chcekout
+        uses: actions/checkout@v2
+
+      - name: Start X server
+        run: |
+          echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections || echo "failing on ros-ubuntu is OK" # 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: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_PARALLEL_JOBS : ${{ matrix.ROS_PARALLEL_JOBS }}
+          CATKIN_PARALLEL_JOBS : ${{ matrix.CATKIN_PARALLEL_JOBS }}
+          ROS_PARALLEL_TEST_JOBS : ${{ matrix.ROS_PARALLEL_TEST_JOBS }}
+          CATKIN_PARALLEL_TEST_JOBS : ${{ matrix.CATKIN_PARALLEL_TEST_JOBS }}
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          USE_DEB :  ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
+          TEST_PKGS : ${{ matrix.TEST_PKGS }}
+          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
+          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
+
+  kinetic_i386:
+    runs-on: ubuntu-latest
+    name: kinetic_i386
+
+    container: i386/ubuntu:16.04
+
+    steps:
+      - name: Install latest git ( 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
+        run: |
+          git config --global --add safe.directory $GITHUB_WORKSPACE
+          git clone --depth=1 $GITHUB_SERVER_URL/$GITHUB_REPOSITORY $GITHUB_WORKSPACE
+          cd $GITHUB_WORKSPACE
+          git checkout -qf $GITHUB_SHA || (git fetch -q origin +$GITHUB_REF; git checkout -qf FETCH_HEAD)
+          git submodule update --init .travis
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          EXTRA_DEB : "python-lxml"
+          ROS_DISTRO : kinetic
+          ROS_PARALLEL_TEST_JOBS : "-j8"
+          CATKIN_PARALLEL_JOBS: "-i"
+          ROSDEP_ADDITIONAL_OPTIONS : "-n -q -r --ignore-src --skip-keys=python-google-cloud-texttospeech-pip --skip-keys=python-dialogflow-pip"  # Skip installation of grpcio by pip because it causes error
+          # https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237 : (Note that pip==21.0.1 is incompatible with python 2.x)
+          BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"

.github/workflows/python3.yml

@@ -10,9 +10,13 @@ jobs:
     container: ubuntu:20.04
 
     steps:
+      - name: Install latest git to download .git directory in actions/checkout@v2 ( 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: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Chcekout
         uses: actions/checkout@v2
       - name: Check Python3
         run: |
-          apt update -q && apt install -y -q python3
-          python3 -m compileall .
+          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 import -f raw_input -f zip .; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"

3rdparty/mini_maxwell/scripts/simple_server/simple_echo_client.py

@@ -4,6 +4,11 @@
 import sys
 import argparse
 import struct
+
+# use raw_input for python2 c.f. https://stackoverflow.com/questions/5868506/backwards-compatible-input-calls-in-python
+if hasattr(__builtins__, 'raw_input'):
+    input = raw_input
+
 parser = argparse.ArgumentParser(description='Simple socket client')
 parser.add_argument("--port", default=8080, type=int)
 parser.add_argument("--udp", action="store_true")
@@ -18,7 +23,7 @@
 else:
     server = socket(AF_INET, SOCK_DGRAM)
     while True:
-        data = raw_input('> ')
+        data = input('> ')
         if not data:
             break
         packer = struct.Struct("!%ds" % len(data))

chaplus_ros/scripts/chaplus_ros.py

@@ -112,7 +112,7 @@ def topic_cb(self, msg):
                 response = requests.post(
                     url=self.url, headers=self.headers, data=self.data)
                 response_json = response.json()
-                if not response_json.has_key('bestResponse'):
+                if 'bestResponse' not in response_json:
                     best_response = "ごめんなさい、よくわからないです"
                 else:
                     best_response = response_json['bestResponse']['utterance']
@@ -130,7 +130,7 @@ def topic_cb(self, msg):
                 params = {"apikey": self.apikey, "query": msg.data,}
                 response = requests.post(self.endpoint, params)
                 response_json = response.json()
-                if not response_json.has_key('results'):
+                if 'results' not in response_json:
                     best_response = "ごめんなさい、よくわからないです"
                 else:
                     best_response = response_json["results"][0]["reply"]

ros_speech_recognition/src/ros_speech_recognition/recognize_google_cloud.py

@@ -87,17 +87,17 @@ def recognize_google_cloud(self, audio_data, credentials_json=None, language="en
         if "results" not in response or len(response["results"]) == 0: raise UnknownValueError()
         transcript = ""
         for result in response["results"]:
-            if speech_config.has_key('diarizationConfig') and \
+            if 'diarizationConfig' in speech_config and \
                speech_config['diarizationConfig']['enableSpeakerDiarization'] == True:
                 # when diariazationConfig is true, use words with speakerTag:
                 speakerTag = None
                 for word in result["alternatives"][0]["words"]:
-                    if word.has_key('speakerTag'):
+                    if 'speakerTag' in word:
                         if speakerTag != word['speakerTag']:
                             speakerTag = word['speakerTag']
                             transcript += "[{}]".format(speakerTag)
                         transcript += ' ' + word['word']
-            elif result["alternatives"][0].has_key("transcript"):
+            elif "transcript" in result["alternatives"][0]:
                 print("trasncript?")
                 transcript += result["alternatives"][0]["transcript"].strip() + " "