Python 3 compatibility

test/test_rosbag/test/connection_count.py

@@ -53,7 +53,7 @@ def test_connection_count(self):
     self.assertEqual(p.returncode, 0, 'Failed to check bag\ncmd=%s\nstdout=%s\nstderr=%s'%(cmd,out,err))
 
     conns = False
-    for l in out.split('\n'):
+    for l in out.decode().split('\n'):
         f = l.strip().split(': ')
         if len(f) == 2 and f[0] == 'connections':
             conns = int(f[1])

test/test_rosbag/test/topic_count.py

@@ -55,7 +55,7 @@ def test_topic_count(self):
     p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
     out,err = p.communicate()
     topic_count = 0
-    for l in out.split('\n'):
+    for l in out.decode().split('\n'):
         f = l.strip().split(': ')
         if len(f) == 2 and f[0] == '- topic':
             topic_count += 1

test/test_rosparam/test/test_rosparam_command_line_offline.py

@@ -36,7 +36,6 @@
 import os
 import sys 
 import unittest
-import cStringIO
 import time
 
 from subprocess import Popen, PIPE, check_call, call
@@ -57,24 +56,24 @@ def test_cmd_help(self):
         sub = ['set', 'get', 'load', 'dump', 'delete', 'list']
 
         output = Popen([cmd], stdout=PIPE).communicate()[0]
-        self.assert_('Commands' in output, output)
+        self.assert_('Commands' in output.decode(), output)
         output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
-        self.assert_('Commands' in output)
+        self.assert_('Commands' in output.decode())
 
         for c in sub:
             # make sure command is in usage statement
-            self.assert_("%s %s"%(cmd, c) in output)
+            self.assert_("%s %s"%(cmd, c) in output.decode())
 
         for c in sub:
             output = Popen([cmd, c, '-h'], stdout=PIPE, stderr=PIPE).communicate()
-            self.assert_("Usage:" in output[0], "%s\n%s"%(output, c))
-            self.assert_("%s %s"%(cmd, c) in output[0], "%s: %s"%(c, output[0]))
+            self.assert_("Usage:" in output[0].decode(), "%s\n%s" % (output, c))
+            self.assert_("%s %s"%(cmd, c) in output[0].decode(), "%s: %s" % (c, output[0].decode()))
 
         # test no args on commands that require args
         for c in ['set', 'get', 'load', 'dump', 'delete']:
             output = Popen([cmd, c], stdout=PIPE, stderr=PIPE).communicate()
-            self.assert_("Usage:" in output[0] or "Usage:" in output[1], "%s\n%s"%(output, c))
-            self.assert_("%s %s"%(cmd, c) in output[1])
+            self.assert_("Usage:" in output[0].decode() or "Usage:" in output[1].decode(), "%s\n%s"%(output, c))
+            self.assert_("%s %s"%(cmd, c) in output[1].decode())
 
     def test_offline(self):
         cmd = 'rosparam'
@@ -87,22 +86,22 @@ def test_offline(self):
         msg = "ERROR: Unable to communicate with master!\n"
 
         output = Popen([cmd, 'list'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'set', 'foo', '1.0'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'get', 'foo'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         # have to test with actual file to avoid error
         path = os.path.join(get_test_path(), 'test.yaml')
         output = Popen([cmd, 'load', path], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
 
         # test with file that does not exist
         output = Popen([cmd, 'load', 'fake.yaml'], **kwds).communicate()
-        self.assertEquals('ERROR: file [fake.yaml] does not exist\n', output[1])
+        self.assertEquals('ERROR: file [fake.yaml] does not exist\n', output[1].decode())
 
         output = Popen([cmd, 'dump', 'foo.yaml'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'delete', 'foo'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
 

test/test_rosservice/test/test_rosservice_command_line_offline.py

@@ -34,7 +34,6 @@
 import os
 import sys 
 import unittest
-import cStringIO
 import time
 
 import rostest
@@ -52,18 +51,20 @@ def test_cmd_help(self):
         sub = ['args', 'info', 'list', 'call', 'type', 'uri', 'find']
 
         output = Popen([cmd], stdout=PIPE).communicate()[0]
+        output = output.decode()
         self.assert_('Commands' in output)
         output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
+        output = output.decode()
         self.assert_('Commands' in output)
         # make sure all the commands are in the usage
         for c in sub:
             self.assert_("%s %s"%(cmd, c) in output, output)            
 
         for c in sub:
             output = Popen([cmd, c, '-h'], stdout=PIPE).communicate()
-            self.assert_("Usage:" in output[0], output)
+            self.assert_("Usage:" in output[0].decode(), output)
             # make sure usage refers to the command
-            self.assert_("%s %s"%(cmd, c) in output[0], output)
+            self.assert_("%s %s" % (cmd, c) in output[0].decode(), output)
 
     def test_offline(self):
         cmd = 'rosservice'
@@ -76,18 +77,18 @@ def test_offline(self):
         msg = "ERROR: Unable to communicate with master!\n"
 
         output = Popen([cmd, 'list'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'type', 'add_two_ints'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'uri', 'add_two_ints'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'call', 'add_two_ints', '1', '2'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         # - wait should still fail if master is offline
         output = Popen([cmd, 'call', '--wait', 'add_two_ints', '1', '2'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
         output = Popen([cmd, 'find', 'test_ros/AddTwoInts'], **kwds).communicate()
-        self.assert_(output[1].endswith(msg))
+        self.assert_(output[1].decode().endswith(msg))
 
 if __name__ == '__main__':
     rostest.unitrun('test_rosservice', NAME, TestRosserviceOffline, sys.argv, coverage_packages=[])

test/test_rosservice/test/test_rosservice_command_line_online.py

@@ -54,9 +54,9 @@ def __init__(self, task):
 
     def run(self):
         try:
-            print "STARTING TASK"
+            print("STARTING TASK")
             self.value = self.task()
-            print "TASK HAS COMPLETED"
+            print("TASK HAS COMPLETED")
             self.success = True
         except:
             import traceback
@@ -80,6 +80,7 @@ def test_rosservice(self):
         # list
         # - hard to exact match as we are still adding builtin services to nodes (e.g. set_logger_level)
         output = Popen([cmd, 'list'], stdout=PIPE).communicate()[0]
+        output = output.decode()
         l = set(output.split())
         for s in services:
             self.assert_(s in l)

tools/rosgraph/test/test_rosgraph_command_offline.py

@@ -34,7 +34,6 @@
 import os
 import sys 
 import unittest
-import cStringIO
 import time
 
 from subprocess import Popen, PIPE, check_call, call
@@ -48,7 +47,7 @@ def setUp(self):
     def test_cmd_help(self):
         cmd = 'rosgraph'
         output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
-        self.assert_('Usage' in output)
+        self.assert_('Usage' in output.decode())
 
     def test_offline(self):
         cmd = 'rosgraph'
@@ -61,4 +60,4 @@ def test_offline(self):
         msg = "ERROR: Unable to communicate with master!\n"
 
         output = Popen([cmd], **kwds).communicate()
-        self.assertEquals(msg, output[1])
+        self.assertEquals(msg, output[1].decode())

tools/roslaunch/src/roslaunch/config.py

@@ -63,13 +63,17 @@ def namespaces_of(name):
     """
     if name is None: 
         raise ValueError('name')
-    if not isinstance(name, basestring):
-        raise TypeError('name')
+    try:
+        if not isinstance(name, basestring):
+            raise TypeError('name')
+    except NameError:
+        if not isinstance(name, str):
+            raise TypeError('name')
     if not name:
         return ['/']
 
     splits = [x for x in name.split('/') if x]
-    return ['/'] + ['/'+'/'.join(splits[:i]) for i in xrange(1, len(splits))]
+    return ['/'] + ['/'+'/'.join(splits[:i]) for i in range(1, len(splits))]
 
 def get_roscore_filename():
     # precedence: look for version in /etc/ros.  If it's not there, fall back to roslaunch package
@@ -215,7 +219,7 @@ def assign_machines(self):
         # determine whether or not there are any machines we will need
         # to setup remote roslaunch clients for
         self._remote_nodes_present = False 
-        if [m for m in machine_unify_dict.itervalues() if not is_machine_local(m)]:
+        if [m for m in machine_unify_dict.values() if not is_machine_local(m)]:
             self._remote_nodes_present = True
 
     def summary(self, local=False):
@@ -254,7 +258,7 @@ def strip_string(value):
                 namespaces[ns] = [n]
             else:
                 namespaces[ns].append(n)
-        for k,v in namespaces.iteritems():
+        for k,v in namespaces.items():
             summary += '  %s\n'%k + '\n'.join(sorted(['    %s'%_summary_name(n) for n in v]))
             summary += '\n'
         return summary
@@ -298,12 +302,12 @@ def add_param(self, p, filename=None, verbose=True):
 
         self.params[key] = p
         if verbose:
-            print "Added parameter [%s]"%key
+            print("Added parameter [%s]" % key)
         t = type(p.value)
-        if t in [str, unicode, types.InstanceType]:
-            self.logger.debug("add_param[%s]: type [%s]"%(p.key, t))
-        else:
+        if t in [bool, int, float]:
             self.logger.debug("add_param[%s]: type [%s] value [%s]"%(p.key, t, p.value))
+        else:
+            self.logger.debug("add_param[%s]: type [%s]"%(p.key, t))
 
     def add_machine(self, m, verbose=True):
         """
@@ -330,7 +334,7 @@ def add_machine(self, m, verbose=True):
         else:
             self.machines[name] = m
             if verbose:
-                print "Added machine [%s]"%name
+                print("Added machine [%s]" % name)
             return True
 
     def add_test(self, test, verbose=True):
@@ -362,14 +366,14 @@ def add_node(self, node, core=False, verbose=True):
         if not core:
             self.nodes.append(node)
             if verbose:
-                print "Added node of type [%s/%s] in namespace [%s]"%(node.package, node.type, node.namespace)
+                print("Added node of type [%s/%s] in namespace [%s]" % (node.package, node.type, node.namespace))
             self.logger.info("Added node of type [%s/%s] in namespace [%s]", node.package, node.type, node.namespace)
         else:
             if not node.name:
                 raise RLException("ROS core nodes must have a name. [%s/%s]"%(node.package, node.type))
             self.nodes_core.append(node)
             if verbose:
-                print "Added core node of type [%s/%s] in namespace [%s]"%(node.package, node.type, node.namespace)
+                print("Added core node of type [%s/%s] in namespace [%s]" % (node.package, node.type, node.namespace))
             self.logger.info("Added core node of type [%s/%s] in namespace [%s]", node.package, node.type, node.namespace)
 
     def _select_machine(self, node):
@@ -436,9 +440,9 @@ def load_config_default(roslaunch_files, port, roslaunch_strs=None, loader=None,
         try:
             logger.info('loading config file %s'%f)
             loader.load(f, config, verbose=verbose)
-        except roslaunch.xmlloader.XmlParseException, e:
+        except roslaunch.xmlloader.XmlParseException as e:
             raise RLException(e)
-        except roslaunch.loader.LoadException, e:
+        except roslaunch.loader.LoadException as e:
             raise RLException(e)
 
     # we need this for the hardware test systems, which builds up
@@ -448,9 +452,9 @@ def load_config_default(roslaunch_files, port, roslaunch_strs=None, loader=None,
             try:
                 logger.info('loading config file from string')
                 loader.load_string(launch_str, config)
-            except roslaunch.xmlloader.XmlParseException, e:
+            except roslaunch.xmlloader.XmlParseException as e:
                 raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
-            except roslaunch.loader.LoadException, e:
+            except roslaunch.loader.LoadException as e:
                 raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
 
     # choose machines for the nodes

tools/roslaunch/src/roslaunch/core.py

@@ -30,6 +30,8 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
+
 """
 Core roslaunch model and lower-level utility routines.
 """
@@ -39,7 +41,10 @@
 
 import socket
 import sys
-import xmlrpclib
+try:
+    from xmlrpc.client import MultiCall, ServerProxy
+except ImportError:
+    from xmlrpclib import MultiCall, ServerProxy
 
 import rospkg
 
@@ -111,7 +116,7 @@ def printlog(msg):
         except:
             pass
     try: # don't let this bomb out the actual code        
-        print msg
+        print(msg)
     except:
         pass
 
@@ -127,9 +132,9 @@ def printlog_bold(msg):
             pass
     try: # don't let this bomb out the actual code        
         if sys.platform in ['win32']:
-            print '%s'%msg  #windows console is terrifically boring 
+            print('%s' % msg)  # windows console is terrifically boring 
         else:
-            print '\033[1m%s\033[0m'%msg
+            print('\033[1m%s\033[0m' % msg)
     except:
         pass
 
@@ -146,7 +151,7 @@ def printerrlog(msg):
     # #1003: this has raised IOError (errno 104) in robot use. Better to
     # trap than let a debugging routine fault code.
     try: # don't let this bomb out the actual code
-        print >> sys.stderr, '\033[31m%s\033[0m'%msg
+        print('\033[31m%s\033[0m' % msg, file=sys.stderr)
     except:
         pass
 
@@ -282,15 +287,15 @@ def __eq__(self, m2):
 
     def get(self):
         """
-        :returns:: XMLRPC proxy for communicating with master, ``xmlrpclib.ServerProxy``
+        :returns:: XMLRPC proxy for communicating with master, ``xmlrpc.client.ServerProxy``
         """
-        return xmlrpclib.ServerProxy(self.uri)
+        return ServerProxy(self.uri)
 
     def get_multi(self):
         """
-        :returns:: multicall XMLRPC proxy for communicating with master, ``xmlrpclib.MultiCall``
+        :returns:: multicall XMLRPC proxy for communicating with master, ``xmlrpc.client.MultiCall``
         """
-        return xmlrpclib.MultiCall(self.get())
+        return MultiCall(self.get())
 
     def is_running(self):
         """
@@ -589,7 +594,12 @@ def __init__(self, test_name, package, node_type, name=None, \
 
         self.retry = retry or 0
         time_limit = time_limit or TEST_TIME_LIMIT_DEFAULT
-        if not type(time_limit) in (float, int, long):
+        number_types = [float, int]
+        try:
+            number_types.append(long)
+        except NameError:
+            pass
+        if not type(time_limit) in number_types:
             raise ValueError("'time-limit' must be a number")
         time_limit = float(time_limit) #force to floating point
         if time_limit <= 0: