towards python3 support (moveit#1054)

* detect correct version of python/boost-python There is no need to hardcode python2 in here anymore. Instead rely on whatever ROS was configured to use. https://www.boost.org/doc/libs/1_68_0/libs/python/doc/html/rn.html#rn.version_1_67 Additionally current releases of boost use python27/python36 for the component. * moveitjoy: fix single print statement * moveit_commander: fix print function usage * moveit_commander: fix many implicit local includes Python3 requires these to be explicit. * moveit_commander: python3-compatible cli input
v4hn · Sep 19, 2018 · 8c62cf2 · 8c62cf2
1 parent ec287f0
commit 8c62cf2
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Showing 6 changed files with 50 additions and 31 deletions.
diff --git a/moveit_commander/bin/moveit_commander_cmdline.py b/moveit_commander/bin/moveit_commander_cmdline.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python
 
+from __future__ import print_function
+
 import roslib
 import rospy
 import readline
@@ -10,6 +12,11 @@
 import argparse
 from moveit_commander import MoveGroupCommandInterpreter, MoveGroupInfoLevel, roscpp_initialize, roscpp_shutdown
 
+# compatibility with python3
+# python2's input function is dangerous anyway
+if hasattr(__builtin__, 'raw_input'):
+    input = raw_input
+
 class bcolors:
     HEADER = '\033[95m'
     OKBLUE = '\033[94m'
@@ -62,15 +69,15 @@ def complete(self, text, state):
 
 def print_message(level, msg):
     if level == MoveGroupInfoLevel.FAIL:
-        print bcolors.FAIL + msg + bcolors.ENDC
+        print(bcolors.FAIL + msg + bcolors.ENDC)
     elif level == MoveGroupInfoLevel.WARN:
-        print bcolors.WARNING + msg + bcolors.ENDC
+        print(bcolors.WARNING + msg + bcolors.ENDC)
     elif level == MoveGroupInfoLevel.SUCCESS:
-        print bcolors.OKGREEN + msg + bcolors.ENDC
+        print(bcolors.OKGREEN + msg + bcolors.ENDC)
     elif level == MoveGroupInfoLevel.DEBUG:
-        print bcolors.OKBLUE + msg + bcolors.ENDC
+        print(bcolors.OKBLUE + msg + bcolors.ENDC)
     else:
-        print msg
+        print(msg)
 
 def get_context_keywords(interpreter):
     kw = interpreter.get_keywords()
@@ -84,9 +91,9 @@ def run_interactive(group_name):
     completer = SimpleCompleter(get_context_keywords(c))
     readline.set_completer(completer.complete)
 
-    print
-    print bcolors.HEADER + "Waiting for commands. Type 'help' to get a list of known commands." + bcolors.ENDC
-    print
+    print()
+    print(bcolors.HEADER + "Waiting for commands. Type 'help' to get a list of known commands." + bcolors.ENDC)
+    print()
     readline.parse_and_bind('tab: complete')
 
     while not rospy.is_shutdown():
@@ -96,7 +103,7 @@ def run_interactive(group_name):
             ag = c.get_active_group()
             if ag != None:
                 name = ag.get_name()
-            cmd = raw_input(bcolors.OKBLUE + name + '> ' + bcolors.ENDC)
+            cmd = input(bcolors.OKBLUE + name + '> ' + bcolors.ENDC)
         except:
             break
         cmdorig = cmd.strip()
@@ -120,7 +127,7 @@ def run_service(group_name):
     if len(group_name) > 0:
         c.execute("use " + group_name)
     # add service stuff
-    print "Running ROS service"
+    print("Running ROS service")
     rospy.spin()
 
 def stop_ros(reason):
@@ -129,7 +136,7 @@ def stop_ros(reason):
 
 def sigint_handler(signal, frame):
     stop_ros("Ctrl+C pressed")
-    # this won't actually exit, but trigger an exception to terminate raw_input
+    # this won't actually exit, but trigger an exception to terminate input
     sys.exit(0)
 
 if __name__=='__main__':
@@ -157,4 +164,4 @@ def sigint_handler(signal, frame):
 
     stop_ros("Done")
 
-    print "Bye bye!"
+    print("Bye bye!")
diff --git a/moveit_commander/src/moveit_commander/__init__.py b/moveit_commander/src/moveit_commander/__init__.py
@@ -1,6 +1,6 @@
-from exception import *
-from roscpp_initializer import *
-from planning_scene_interface import *
-from move_group import *
-from robot import *
-from interpreter import *
+from .exception import *
+from .roscpp_initializer import *
+from .planning_scene_interface import *
+from .move_group import *
+from .robot import *
+from .interpreter import *
diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py
@@ -39,8 +39,8 @@
 import rospy
 import tf
 from moveit_ros_planning_interface import _moveit_move_group_interface
-from exception import MoveItCommanderException
-import conversions
+from .exception import MoveItCommanderException
+import moveit_commander.conversions as conversions
 
 class MoveGroupCommander(object):
     """

diff --git a/moveit_commander/src/moveit_commander/robot.py b/moveit_commander/src/moveit_commander/robot.py
@@ -36,7 +36,7 @@
 from moveit_ros_planning_interface import _moveit_robot_interface
 from moveit_msgs.msg import RobotState
 from visualization_msgs.msg import MarkerArray
-import conversions
+import moveit_commander.conversions as conversions
 
 
 class RobotCommander(object):

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
@@ -7,15 +7,6 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-find_package(Boost REQUIRED COMPONENTS
-  date_time
-  filesystem
-  program_options
-  python
-  system
-  thread
-)
-find_package(PythonLibs 2.7 REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   moveit_msgs
   moveit_ros_planning
@@ -30,6 +21,25 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   rosconsole
 )
+
+find_package(PythonInterp REQUIRED)
+find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)
+
+find_package(Boost REQUIRED)
+if(Boost_VERSION LESS 106700)
+  set(BOOST_PYTHON_COMPONENT python)
+elseif()
+  set(BOOST_PYTHON_COMPONENT python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR})
+endif()
+
+find_package(Boost REQUIRED COMPONENTS
+  date_time
+  filesystem
+  program_options
+  ${BOOST_PYTHON_COMPONENT}
+  system
+  thread
+)
 find_package(Eigen3 REQUIRED)
 
 # Eigen 3.2 (Wily) only provides EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS

diff --git a/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py b/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py
@@ -37,6 +37,8 @@
 #   Author: Ryohei Ueda, Dave Coleman
 #   Desc:   Interface between PS3/XBox controller and MoveIt! Motion Planning Rviz Plugin
 
+from __future__ import print_function
+
 import xml.dom.minidom
 from operator import add
 import sys
@@ -358,7 +360,7 @@ def parseSRDF(self):
             if len(planning_groups[name]) == 0:
                 del planning_groups[name]
             else:
-                print name, planning_groups[name]
+                print(name, planning_groups[name])
         self.planning_groups = planning_groups
         self.planning_groups_keys = planning_groups.keys()   #we'd like to store the 'order'
         self.frame_id = ri.get_planning_frame()