Make python scripts Python3 compatible.

tf/scripts/bullet_migration_sed.py

@@ -40,6 +40,8 @@
 # If they are change the line below with the for loop to use the
 # namespaced_rules
 
+from __future__ import print_function
+
 import subprocess
 
 
@@ -80,9 +82,9 @@
 
 for rule in rules + unnamespaced_rules: #change me if using files with namespace tf set
     full_cmd = cmd%locals()
-    print ("Running %s"%full_cmd)
+    print("Running {}".format(full_cmd))
     ret_code = subprocess.call(full_cmd, shell=True)
     if ret_code == 0:
-        print ("success")
+        print("success")
     else:
-        print ("failure")
+        print("failure")

tf/scripts/python_benchmark.py

@@ -30,13 +30,19 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
+
 import rostest
 import rospy
 import numpy
 import unittest
 import sys
 import time
-import StringIO
+try:
+    from cStringIO import StringIO
+except ImportError:
+    from io import StringIO
+
 
 import tf.transformations
 import geometry_msgs.msg
@@ -59,7 +65,7 @@ def mkm():
 tm = tfMessage([mkm() for i in range(20)])
 
 def deserel_to_string(o):
-    s = StringIO.StringIO()
+    s = StringIO()
     o.serialize(s)
     return s.getvalue()
 
@@ -70,7 +76,7 @@ def __init__(self, func):
         self.func = func
     def mean(self, iterations = 1000000):
         started = time.time()
-        for i in xrange(iterations):
+        for i in range(iterations):
             self.func()
         took = time.time() - started
         return took / iterations
@@ -81,28 +87,28 @@ def mean(self, iterations = 1000000):
     m2 = t()
     m2.deserialize(mstr)
     for m in m2.transforms:
-        print type(m), sys.getrefcount(m)
+        print(type(m), sys.getrefcount(m))
     assert deserel_to_string(m2) == mstr, "deserel screwed up for type %s" % repr(t)
 
     m2 = t()
-    print "deserialize only ", 1e6 * Timer(lambda: m2.deserialize(mstr)).mean(), "us each"
+    print("deserialize only {} us each".format(1e6 * Timer(lambda: m2.deserialize(mstr)).mean())
 
 sys.exit(0)
 
 started = time.time()
-for i in xrange(iterations):
+for i in range(iterations):
     for m in tm.transforms:
         t.setTransform(m)
 took = time.time() - started
-print "setTransform only", iterations, "took", took, "%f us each" % (1e6 * took / iterations)
+print("setTransform only {} took {} us each".format(iterations, took, (1e6 * took / iterations)))
 
 started = time.time()
-for i in xrange(iterations):
+for i in range(iterations):
     m2 = tfMessage()
     m2.deserialize(mstr)
     for m in m2.transforms:
         t.setTransform(m)
 took = time.time() - started
-print "deserialize+setTransform ", iterations, "took", took, "%f us each" % (1e6 * took / iterations)
+print("deserialize+setTransform {} took {} us each".format(iterations, took, (1e6 * took / iterations)))
 
 from tf import TransformListener

tf/scripts/tf_remap

@@ -35,6 +35,8 @@
 
 ## remap a tf topic
 
+from __future__ import print_function
+
 import rospy
 from tf.msg import tfMessage
 
@@ -43,12 +45,12 @@ class TfRemapper:
         self.pub = rospy.Publisher('/tf', tfMessage, queue_size=1)
         mappings = rospy.get_param('~mappings', [])
         self.mappings = {}
-        
+
         for i in mappings:
             if "old" in i and "new" in i:
                 self.mappings[i["old"]] = i["new"]
 
-        print "Applying the following mappings to incoming tf frame ids", self.mappings
+        print("Applying the following mappings to incoming tf frame ids", self.mappings)
         rospy.Subscriber("/tf_old", tfMessage, self.callback)
 
     def callback(self, tf_msg):
@@ -57,14 +59,13 @@ class TfRemapper:
                 transform.header.frame_id = self.mappings[transform.header.frame_id]
             if transform.child_frame_id  in self.mappings:
                 transform.child_frame_id = self.mappings[transform.child_frame_id]
-                
+
         self.pub.publish(tf_msg)
 
 def remap_tf():
-
     pub.publish(Empty())
 
-        
+
 if __name__ == '__main__':
     rospy.init_node('tf_remapper')
     tfr = TfRemapper()

tf/scripts/view_frames

@@ -33,10 +33,7 @@
 #
 # Revision $Id: gossipbot.py 1013 2008-05-21 01:08:56Z sfkwc $
 
-## Simple demo of a rospy service client that calls a service to add
-## two integers. 
-
-from __future__ import with_statement
+from __future__ import print_function, with_statement
 
 import sys, time
 import os
@@ -54,59 +51,55 @@ import tf
 def listen(duration):
     rospy.init_node("view_frames", anonymous=True)
     tf_listener = tf.TransformListener()
-    print "Listening to /tf for %f seconds"%duration
+    print("Listening to /tf for {} seconds".format(duration))
     time.sleep(duration)
-    print "Done Listening"
+    print("Done Listening")
     return tf_listener.allFramesAsDot(rospy.Time.now())
-
 
 def poll(node_name):
-    print "Waiting for service %s/tf_frames"%node_name
-    rospy.wait_for_service('%s/tf_frames'%node_name)
+    print("Waiting for service {}/tf_frames".format(node_name))
+    rospy.wait_for_service('{}/tf_frames'.format(node_name))
 
     try:
-        print "Polling service"
-        tf_frames_proxy = rospy.ServiceProxy('%s/tf_frames'%node_name, FrameGraph)
-
+        print("Polling service")
+        tf_frames_proxy = rospy.ServiceProxy('{}/tf_frames'.format(node_name), FrameGraph)
         output = tf_frames_proxy.call(FrameGraphRequest())
 
-    except rospy.ServiceException, e:
-        print "Service call failed: %s"%e
-        
+    except rospy.ServiceException as e:
+        print("Service call failed: {}".format(e))
+
     return output.dot_graph
 
 def generate(dot_graph):
 
-
     with open('frames.gv', 'w') as outfile:
         outfile.write(dot_graph)
 
-
     try:
         # Check version, make postscript if too old to make pdf
         args = ["dot", "-V"]
         try:
             vstr = subprocess.Popen(args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[1]
-        except OSError, ex:
-            print "Warning: Could not execute `dot -V`.  Is graphviz installed?"
+        except OSError as ex:
+            print("Warning: Could not execute `dot -V`.  Is graphviz installed?")
             sys.exit(-1)
         v = distutils.version.StrictVersion('2.16')
         r = re.compile(".*version (\d+\.?\d*)")
-        print vstr
+        print(vstr)
         m = r.search(vstr)
         if not m or not m.group(1):
-          print 'Warning: failed to determine your version of dot.  Assuming v2.16'
+          print('Warning: failed to determine your version of dot.  Assuming v2.16')
         else:
           version = distutils.version.StrictVersion(m.group(1))
-          print 'Detected dot version %s' % (version)
+          print('Detected dot version {}'.format(version))
         if version > distutils.version.StrictVersion('2.8'):
           subprocess.check_call(["dot", "-Tpdf", "frames.gv", "-o", "frames.pdf"])
-          print "frames.pdf generated"
+          print("frames.pdf generated")
         else:
           subprocess.check_call(["dot", "-Tps2", "frames.gv", "-o", "frames.ps"])
-          print "frames.ps generated"
+          print("frames.ps generated")
     except subprocess.CalledProcessError:
-        print >> sys.stderr, "failed to generate frames.pdf"        
+        print("failed to generate frames.pdf", file=sys.stderr)
 
 
 if __name__ == '__main__':
@@ -120,7 +113,7 @@ if __name__ == '__main__':
     if not options.node:
         dot_graph = listen(5.0)
     else:
-        print "Generating graph for node: ", options.node
+        print("Generating graph for node: ", options.node)
         dot_graph = poll(options.node)
 
     generate(dot_graph)

tf/src/tf/__init__.py

@@ -25,6 +25,8 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import absolute_import
+
 from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
-from listener import Transformer, TransformListener, TransformerROS
-from broadcaster import TransformBroadcaster
+from .listener import Transformer, TransformListener, TransformerROS
+from .broadcaster import TransformBroadcaster

tf/src/tf/listener.py

@@ -73,14 +73,14 @@ def waitForTransform(self, target_frame, source_frame, time, timeout, polling_sl
             raise tf2_ros.TransformException("cannot wait for transform without a dedicated thread that listens to incoming TF messages")
         can_transform, error_msg = self._buffer.can_transform(strip_leading_slash(target_frame), strip_leading_slash(source_frame), time, timeout, return_debug_tuple=True)
         if not can_transform:
-            raise tf2_ros.TransformException(error_msg or "no such transformation: \"%s\" -> \"%s\"" % (source_frame, target_frame))
+            raise tf2_ros.TransformException(error_msg or "no such transformation: \"{}\" -> \"{}\"".format(source_frame, target_frame))
 
     def waitForTransformFull(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout, polling_sleep_duration=None):
         if not self._using_dedicated_thread:
             raise tf2_ros.TransformException("cannot wait for transform without a dedicated thread that listens to incoming TF messages")
         can_transform, error_msg = self._buffer.can_transform_full(strip_leading_slash(target_frame), target_time, strip_leading_slash(source_frame), source_time, strip_leading_slash(fixed_frame), timeout, return_debug_tuple=True)
         if not can_transform:
-            raise tf2_ros.TransformException(error_msg or "no such transformation: \"%s\" -> \"%s\"" % (source_frame, target_frame))
+            raise tf2_ros.TransformException(error_msg or "no such transformation: \"{}\" -> \"{}\"".format(source_frame, target_frame))
 
     def chain(self, target_frame, target_time, source_frame, source_time, fixed_frame):
         return self._buffer._chain( target_frame, target_time, source_frame, source_time, fixed_frame)

tf/src/tf/tfwtf.py

@@ -32,6 +32,8 @@
 #
 # Revision $Id$
 
+from __future__ import print_function
+
 import time
 
 from roswtf.rules import warning_rule, error_rule
@@ -63,8 +65,8 @@ def rostime_delta(ctx):
                     deltas[callerid]  = secs
 
     errors = []
-    for k, v in deltas.iteritems():
-        errors.append("receiving transform from [%s] that differed from ROS time by %ss"%(k, v))
+    for k, v in deltas.items():
+        errors.append("receiving transform from [{}] that differed from ROS time by {}s".format(k, v))
     return errors
 
 def reparenting(ctx):
@@ -75,7 +77,7 @@ def reparenting(ctx):
             frame_id = t.child_frame_id
             parent_id = t.header.frame_id
             if frame_id in parent_id_map and parent_id_map[frame_id] != parent_id:
-                msg = "reparenting of [%s] to [%s] by [%s]"%(frame_id, parent_id, callerid)
+                msg = "reparenting of [{}] to [{}] by [{}]".format(frame_id, parent_id, callerid)
                 parent_id_map[frame_id] = parent_id
                 if msg not in errors:
                     errors.append(msg)
@@ -103,12 +105,11 @@ def cycle_detection(ctx):
             try:
                 current_frame = parent_id_map[current_frame]
             except KeyError:
-                break 
+                break
             if current_frame == frame:
-                errors.append("Frame %s is in a loop. It's loop has elements:\n%s"% (frame, " -> ".join(frame_list)))
+                errors.append("Frame {} is in a loop. It's loop has elements:\n{}".format(frame, " -> ".join(frame_list)))
                 break
-
-
+
     return errors
 
 def multiple_authority(ctx):
@@ -119,7 +120,7 @@ def multiple_authority(ctx):
             frame_id = t.child_frame_id
             parent_id = t.header.frame_id 
             if frame_id in authority_map and authority_map[frame_id] != callerid:
-                msg = "node [%s] publishing transform [%s] with parent [%s] already published by node [%s]"%(callerid, frame_id, parent_id, authority_map[frame_id])
+                msg = "node [{}] publishing transform [{}] with parent [{}] already published by node [{}]".format(callerid, frame_id, parent_id, authority_map[frame_id])
                 authority_map[frame_id] = callerid
                 if msg not in errors:
                     errors.append(msg)
@@ -137,14 +138,14 @@ def not_normalized(ctx):
             q = t.transform.rotation
             length = math.sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w)
             if math.fabs(length - 1) > 1e-6:
-                errors.append("rotation from [%s] to [%s] is not unit length, %f"%(t.header.frame_id, t.child_frame_id, length))
+                errors.append("rotation from [{}] to [{}] is not unit length, {}".format(t.header.frame_id, t.child_frame_id, length))
     return errors
 
 ################################################################################
 # roswtf PLUGIN
 
 # tf_warnings and tf_errors declare the rules that we actually check
-                
+
 tf_warnings = [
   (no_msgs, "No tf messages"),
   (rostime_delta, "Received out-of-date/future transforms:"),  
@@ -177,23 +178,21 @@ def roswtf_plugin_online(ctx):
     # don't run plugin if tf isn't active as these checks take awhile
     if not is_tf_active():
         return
-    
-    print "running tf checks, this will take a second..."
+
+    print("running tf checks, this will take a second...")
     sub1 = rospy.Subscriber('/tf', tf.msg.tfMessage, _tf_handle)
     time.sleep(1.0)
     sub1.unregister()
-    print "... tf checks complete"    
+    print("... tf checks complete")
 
     for r in tf_warnings:
         warning_rule(r, r[0](ctx), ctx)
     for r in tf_errors:
         error_rule(r, r[0](ctx), ctx)
 
-
 # currently no static checks for tf
 #def roswtf_plugin_static(ctx):
 #    for r in tf_warnings:
 #        warning_rule(r, r[0](ctx), ctx)
 #    for r in tf_errors:
 #        error_rule(r, r[0](ctx), ctx)
-

tf/src/tf/transformations.py

@@ -672,7 +672,7 @@ def shear_from_matrix(matrix):
     l, V = numpy.linalg.eig(M33)
     i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0]
     if len(i) < 2:
-        raise ValueError("No two linear independent eigenvectors found %s" % l)
+        raise ValueError("No two linear independent eigenvectors found {}".format(l))
     V = numpy.real(V[:, i]).squeeze().T
     lenorm = -1.0
     for i0, i1 in ((0, 1), (0, 2), (1, 2)):