From d89749c3a92abae859d253667f1d12b8a4ae3b6b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 25 Jun 2020 20:14:51 +0900 Subject: [PATCH 01/44] switch to use jsk_maps multi_map_server --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 30e29fd74fd..4d280e75c2d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -125,7 +125,7 @@ - + @@ -135,7 +135,9 @@ - + + + From 7e1ec927a5d45c554e6b6107875583101140224b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 7 Jul 2020 18:10:41 +0900 Subject: [PATCH 02/44] use keepout for jsk_maps --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 4d280e75c2d..1f93cb6eb50 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -7,6 +7,7 @@ + @@ -126,6 +127,7 @@ + From 6d604efbaf30d7b24b3fadd6238bc1ff452176a4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 9 Jul 2020 19:49:25 +0900 Subject: [PATCH 03/44] set use_keepout false in fetch_bringup.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 1f93cb6eb50..456f5f41a84 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -137,7 +137,7 @@ - + From dfee9bdbb8c04c1120c9e7dce836b08a457c36cd Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 14 Jul 2020 20:09:33 +0900 Subject: [PATCH 04/44] [jsk_robot_startup] Add common safe teleop launch --- .../launch/safe_teleop.launch | 48 +++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch new file mode 100644 index 00000000000..52df1fd2563 --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 6bc526eecdbeb23164420c7839e54ca8bf10460b Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 14 Jul 2020 20:10:02 +0900 Subject: [PATCH 05/44] Use common safe teleop for PR2 --- .../jsk_pr2_move_base/safe_teleop.xml | 48 +++++++------------ 1 file changed, 18 insertions(+), 30 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index 4a0b06075bf..9bb6c1341ef 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -19,39 +19,27 @@ - - - - - - - - - - - - - + + + + + - - - - - - - - - - + + + + + + + + + Date: Tue, 14 Jul 2020 20:10:10 +0900 Subject: [PATCH 06/44] Use common safe teleop for fetch --- .../launch/fetch_bringup.launch | 2 - .../jsk_fetch_startup/launch/fetch_teleop.xml | 96 +++++++++---------- .../jsk_fetch_startup/scripts/warning.py | 6 +- 3 files changed, 51 insertions(+), 53 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 30e29fd74fd..5ab3184574e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -14,8 +14,6 @@ - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index dbe9a8382ec..0c2ee4fd11f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -1,4 +1,5 @@ + @@ -11,13 +12,6 @@ - - - - - + + + + + + + + inflater: + inflation_radius: 1.0 # 0.7 + cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value + obstacles: + min_obstacle_height: 0.05 + # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) + update_frequency: 10.0 + footprint_padding: 0.05 + + + + + + + + + inflater: + inflation_radius: 1.0 # 0.7 + cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value + obstacles: + min_obstacle_height: 0.05 + # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) + update_frequency: 10.0 + footprint_padding: 0.05 + + + + + + + + + @@ -45,49 +84,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - inflater: - inflation_radius: 1.0 # 0.7 - cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value - obstacles: - min_obstacle_height: 0.05 - # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) - update_frequency: 10.0 - footprint_padding: 0.05 - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py index 196823dc37e..81e97c478e6 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py @@ -89,10 +89,12 @@ def __init__(self): self.base_breaker = rospy.ServiceProxy('base_breaker', BreakerCommand) # self.battery_sub = rospy.Subscriber("battery_state", BatteryState, self.battery_callback, queue_size = 1) - self.cmd_vel_sub = rospy.Subscriber("base_controller/command", Twist, self.cmd_vel_callback, queue_size = 1) + self.cmd_vel_sub = rospy.Subscriber("base_controller/command_unchecked", Twist, self.cmd_vel_callback, queue_size = 1) self.robot_state_sub = rospy.Subscriber("robot_state", RobotState, self.robot_state_callback, queue_size = 1) self.diagnostics_status_sub = rospy.Subscriber("diagnostics", DiagnosticArray, self.diagnostics_status_callback, queue_size = 1) self.undock_sub = rospy.Subscriber("/undock/status", GoalStatusArray, self.undock_status_callback) + # + self.cmd_vel_pub = rospy.Publisher("base_controller/command", Twist, queue_size=1) def undock_status_callback(self, msg): for status in msg.status_list: @@ -131,6 +133,8 @@ def cmd_vel_callback(self, msg): sound.play(4) # play builtin sound Boom! time.sleep(5) self.base_breaker(BreakerCommandRequest(enable=True)) + else: + self.cmd_vel_pub.publish(msg) ## self.twist_msgs = msg From d6a439f94e0d7b02c54ea96f9fd7921e45b37c2f Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 14 Jul 2020 21:01:24 +0900 Subject: [PATCH 07/44] Update README for safe teleop system --- jsk_fetch_robot/jsk_fetch_startup/README.md | 4 ++-- jsk_pr2_robot/README.md | 4 ++++ jsk_robot_common/jsk_robot_startup/README.md | 7 +++++++ 3 files changed, 13 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index 5a673d6d877..21a7c40e2dc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -24,9 +24,9 @@ sudo mv rockmongo-1.1.7 /var/www/html/rockmongo ### Teleoperation -Below is a flow of commands from Joystick sent to base controller: +For the JSK safe teleop system, please see [data flow diagram of safe_teleop.launch](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#launchsafe_teleoplaunch) -![safe_teleop_system](https://user-images.githubusercontent.com/19769486/37566992-dab73142-2b03-11e8-94bc-4d1914c967b0.png) +The numbers assigned to the joystick are as follows. ![joystick_numbered](https://user-images.githubusercontent.com/19769486/28101905-889e9cc2-6706-11e7-9981-5704cc29f2b3.png) ![joystick_numbered2](https://user-images.githubusercontent.com/19769486/28101906-88b5f20a-6706-11e7-987c-d94e64ac2cc1.png) diff --git a/jsk_pr2_robot/README.md b/jsk_pr2_robot/README.md index 996b45d1da9..22bbf8ffa92 100644 --- a/jsk_pr2_robot/README.md +++ b/jsk_pr2_robot/README.md @@ -1,6 +1,10 @@ jsk_pr2_robot ============= +## Teleoperation + +For the JSK safe teleop system, please see [data flow diagram of safe_teleop.launch](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#launchsafe_teleoplaunch) + ![teleop_command](images/pr2_teleop_command.png) diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 7affbb03c59..23aa3e89bb2 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -72,3 +72,10 @@ This script sets initial pose with relative pose from specified TF frame by publ ### Subscribing Topics * `/amcl_pose` (`geometry_msgs/PoseWithcovariancestamped`) + + +## launch/safe_teleop.launch + +This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml). + +![jsk_safe_teleop](https://user-images.githubusercontent.com/19769486/87421378-d0ea9680-c611-11ea-90ae-17cfc729e039.png) From a7790850e7558635446a8ffeb0a2b20a6bd1a8e5 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 15 Jul 2020 14:48:10 +0900 Subject: [PATCH 08/44] Use the name of the safe teleop input topics with args --- .../jsk_fetch_startup/launch/fetch_teleop.xml | 22 ++++++++------ .../jsk_pr2_move_base/safe_teleop.xml | 18 ++++++----- .../launch/safe_teleop.launch | 30 +++++++++++-------- 3 files changed, 42 insertions(+), 28 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index 0c2ee4fd11f..d1336a38197 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -1,5 +1,4 @@ - @@ -29,7 +28,19 @@ - + + + + + + + + + @@ -62,13 +73,6 @@ footprint_padding: 0.05 - - - diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index 9bb6c1341ef..1df37440242 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -22,7 +22,18 @@ + + + + + + + @@ -33,13 +44,6 @@ - - - + + + + + + - + - - + + - + + args="/teleop/cmd_vel /teleop/cmd_vel/safe $(arg teleop_topic)"> + args="/joy 'm.buttons[9]==1' $(arg teleop_topic) /joy 'm.buttons[9]==0' /teleop/cmd_vel/safe"> - + - - + + - + + args="/joy 'm.buttons[10]==1' /teleop/cmd_vel $(arg navigation_topic) 'True' $(arg navigation_topic)"> + args="/base_controller/command_unchecked /input_vel/safe $(arg navigation_topic) /teleop/cmd_vel"> From 110805aa695a6de5598ae392f92f0ed6e3e6df0d Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 4 Oct 2019 14:10:46 +0900 Subject: [PATCH 09/44] [jsk_robot_startup/util/mux_selector] Add wait option for topic --- .../jsk_robot_startup/util/mux_selector.py | 26 ++++++++++++++----- 1 file changed, 19 insertions(+), 7 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py index 6639f915427..d14e0857db5 100755 --- a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py +++ b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py @@ -46,13 +46,23 @@ def gen_callback(expr, select, index): return (lambda m: callback(m, expr, select, index)) -def add_trigger(topic, expr, select, index): +def add_trigger(topic, expr, select, index, wait=False): topic_type, _, _ = rostopic.get_topic_type(topic) topic_class, _, _ = rostopic.get_topic_class(topic) - if(topic_type is None): - rospy.loginfo('%s is not published yet', topic) - return None + if topic_type is None: + if wait is False: + rospy.loginfo('%s is not published yet', topic) + return None + elif wait is True: + rate = rospy.Rate(1) + while not rospy.is_shutdown() and topic_type is None: + topic_type, _, _ = rostopic.get_topic_type(topic) + topic_class, _, _ = rostopic.get_topic_class(topic) + rospy.loginfo('waiting topic %s' % topic) + rate.sleep() + else: + raise ValueError('wait should be bool') if(topic_class is None): rospy.loginfo('%s is not builded yet', topic_type) @@ -69,14 +79,15 @@ def add_trigger(topic, expr, select, index): return sub -def update_trigger(conditions): +def update_trigger(conditions, wait=False): # setting triggers global subs for index in range(len(conditions)): if subs[index] is not None: continue cond = conditions[index] - subs[index] = add_trigger(cond[0],cond[1],cond[2],index) + subs[index] = add_trigger(cond[0],cond[1],cond[2],index, + wait=wait) if __name__ == "__main__": @@ -101,6 +112,7 @@ def update_trigger(conditions): deadtime = rospy.get_param('~patient', 0.5) freq = rospy.get_param('~frequency', 20.0) default_select = rospy.get_param('~default_select', None) + wait = rospy.get_param('~wait', False) mux_name_ = rospy.resolve_name('mux') rospy.wait_for_service(mux_name_+'/select') @@ -113,7 +125,7 @@ def update_trigger(conditions): # loop try: before = default_select - update_trigger(conditions) + update_trigger(conditions, wait=wait) looprate = rospy.Rate(freq) while not rospy.is_shutdown(): lockobj.acquire() From bc2b94ca643d62c68bf5addd2ee73eb4006cbac7 Mon Sep 17 00:00:00 2001 From: iory Date: Mon, 27 Jan 2020 09:49:31 +0900 Subject: [PATCH 10/44] [jsk_robot_startup/README.md] Add mux_selector.py's docs' --- jsk_robot_common/jsk_robot_startup/README.md | 38 ++++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 23aa3e89bb2..65f4810d07b 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -74,6 +74,44 @@ This script sets initial pose with relative pose from specified TF frame by publ * `/amcl_pose` (`geometry_msgs/PoseWithcovariancestamped`) +## util/mux_selector.py + +This node check and select mux input topic on condition of the specified topic. +This node takes three arguments for one topic. +The first one is the topic to be monitored. +When a message from this topic is received, it is assigned as a variable `m`. +If a condition specified as the second argument, +this node calls a service to select the topic specified as the third argument. + +### Usage + +``` +rosrun jsk_robot_startup mux_selector.py /joy1 'm.buttons[9]==1' /cmd_vel1 /joy2 'm.buttons[9]==1' /cmd_vel2 +``` + +### Parameters + +* `~patient` (Double, default: 0.5) + + Indicates the allowable range of the difference between the received topic time and the current time. + +* `~frequency` (Double, default: 20.0) + + Frequency of processing loop. + +* `~default_select` (String, default: `None`) + + Default topic name. + +* `~wait` (Bool, default: `False`) + + If wait is `True`, this node waits for the topic to be received. + +### Subscribing Topics + +The topic specified in the argument is subscribed. + + ## launch/safe_teleop.launch This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml). From d632e409942b6ac229abfaeb5c7cc9e3409b25b3 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 15 Jul 2020 17:26:50 +0900 Subject: [PATCH 11/44] mux_selector wait for input topics --- jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index a5c328a1719..68c7947e096 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -27,6 +27,7 @@ args="/joy 'm.buttons[9]==1' $(arg teleop_topic) /joy 'm.buttons[9]==0' /teleop/cmd_vel/safe"> + @@ -43,6 +44,7 @@ args="/joy 'm.buttons[10]==1' /teleop/cmd_vel $(arg navigation_topic) 'True' $(arg navigation_topic)"> + Date: Fri, 24 Jul 2020 17:11:01 +0900 Subject: [PATCH 12/44] Do not use multiple safe_teleop_base to reduce CPU load --- .../jsk_fetch_startup/launch/fetch_teleop.xml | 23 +---- jsk_robot_common/jsk_robot_startup/README.md | 2 +- .../launch/safe_teleop.launch | 83 ++++++++++++------- 3 files changed, 60 insertions(+), 48 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index d1336a38197..3989ff33ba4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -20,7 +20,7 @@ joystick_teleop need to publish /teleop/cmd_vel/unsafe , see https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/README.md --> - + @@ -30,9 +30,10 @@ - + - + + - - - - - - - inflater: - inflation_radius: 1.0 # 0.7 - cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value - obstacles: - min_obstacle_height: 0.05 - # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) - update_frequency: 10.0 - footprint_padding: 0.05 - - diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 65f4810d07b..59c25e700cc 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -116,4 +116,4 @@ The topic specified in the argument is subscribed. This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml). -![jsk_safe_teleop](https://user-images.githubusercontent.com/19769486/87421378-d0ea9680-c611-11ea-90ae-17cfc729e039.png) +![JSK teleop_base system](https://user-images.githubusercontent.com/19769486/88371623-608d0380-cdcf-11ea-859e-f3eccac120b3.png) diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index 68c7947e096..fa1094a6f64 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -3,54 +3,81 @@ - + - + + - + + + + + + + + + + + + - + - + + args="/teleop/cmd_vel /teleop/cmd_vel/safe /teleop/cmd_vel/unsafe"> + args="/joy 'm.buttons[9]==1' /teleop/cmd_vel/unsafe /joy 'm.buttons[9]==0' /teleop/cmd_vel/safe"> - - - - - - + + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + + From 23567c5028e99caee86e467a6862a8447b26064a Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 24 Jul 2020 21:36:08 +0900 Subject: [PATCH 13/44] [mux_selector.py] Add rosparam to set type of rostopic --- .../jsk_robot_startup/util/mux_selector.py | 21 ++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py index d14e0857db5..cef4f7c7022 100755 --- a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py +++ b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py @@ -12,11 +12,16 @@ When a message from this topic is received, it is assigned as a variable `m`. If a condition specified as the second argument, this node calls a service to select the topic specified as the third argument. + +If the type of the monitored topic is unknown, you can set the type with `~topics` rosparam. +`~topics` should be the list like +[{'name': '/joy1', 'type': 'sensor_msgs/Joy'}, {'name': '/joy2', 'type': 'sensor_msgs/Joy'}, ...] """ import rospy import thread import sys +import roslib.message import rostopic from topic_tools.srv import MuxSelect import traceback @@ -47,8 +52,13 @@ def gen_callback(expr, select, index): def add_trigger(topic, expr, select, index, wait=False): - topic_type, _, _ = rostopic.get_topic_type(topic) - topic_class, _, _ = rostopic.get_topic_class(topic) + global topics + if topic in topics: + topic_type = topics[topic] + topic_class = roslib.message.get_message_class(topic_type) + else: + topic_type, _, _ = rostopic.get_topic_type(topic) + topic_class, _, _ = rostopic.get_topic_class(topic) if topic_type is None: if wait is False: @@ -91,11 +101,12 @@ def update_trigger(conditions, wait=False): if __name__ == "__main__": - global selects, subs + global selects, subs, topics global lockobj lockobj = thread.allocate_lock() selects = [] subs = [] + topics = {} # parse arguments conditions = [x for x in sys.argv[1:] if not ':=' in x] @@ -122,6 +133,10 @@ def update_trigger(conditions, wait=False): selects = [(None, rospy.Time(0))] * size subs = [None] * size + topic_list = rospy.get_param('~topics', []) + for topic in topic_list: + topics[topic['name']] = topic['type'] + # loop try: before = default_select From 925b5fcc33cc9f858e132b713c5bf3ddd8a04825 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 24 Jul 2020 21:37:02 +0900 Subject: [PATCH 14/44] Allow unknown type topics as an input to safe_teleop.launch --- .../jsk_fetch_startup/launch/fetch_teleop.xml | 8 ++- .../launch/safe_teleop.launch | 53 +++++++------------ 2 files changed, 26 insertions(+), 35 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index 3989ff33ba4..2780433944e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -33,7 +33,6 @@ - + + topics: + - name: /base_controller/cmd_vel + type: geometry_msgs/Twist + - name: /navigation/cmd_vel + type: geometry_msgs/Twist + diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index fa1094a6f64..68cfdda7142 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -6,7 +6,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + topics: + - name: /teleop/cmd_vel + type: geometry_msgs/Twist + + From 857cf00ee5bc838f76f8e5f4cc1ccdd4e6858132 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 24 Jul 2020 19:33:06 +0900 Subject: [PATCH 15/44] add base_controller_topic in jsk_robot_startup/launch/sate_teleop.launch --- .../jsk_robot_startup/launch/safe_teleop.launch | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index 68cfdda7142..ca2b700ca10 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -6,6 +6,7 @@ + - + + args="/base_controller/command_unchecked /teleop/cmd_vel $(arg navigation_topic) $(arg base_controller_topic)"> + args="/teleop/cmd_vel 'True' /teleop/cmd_vel $(arg navigation_topic) 'True' $(arg navigation_topic) $(arg base_controller_topic) 'True' $(arg base_controller_topic)"> From 78a56b15ca47d3eb64d6ddc40f62789e2b78d08e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 24 Jul 2020 19:33:46 +0900 Subject: [PATCH 16/44] update jsk_pr2_move_base safe_teleop.xml for new jsk safe teleop system --- .../jsk_pr2_move_base/safe_teleop.xml | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index 1df37440242..ba4c76e1e86 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -22,10 +22,11 @@ - - - - + + + + + + args="/teleop/joy_vel /joy_vel" /> - - - - - Date: Fri, 24 Jul 2020 19:48:48 +0900 Subject: [PATCH 17/44] update topic name for pr2_base_trajectory_action --- jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index ba4c76e1e86..ab2fb7ab1e5 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -15,7 +15,7 @@ - + From cdbb80b01e06d697596828337dcdab7472f8f4e3 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 24 Jul 2020 22:05:17 +0900 Subject: [PATCH 18/44] move vel_type_selector rosparam into safe_teleop.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml | 7 ------- .../jsk_robot_startup/launch/safe_teleop.launch | 6 +++++- 2 files changed, 5 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index 2780433944e..3b326c6662b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -57,13 +57,6 @@ footprint_padding: 0.05 - - topics: - - name: /base_controller/cmd_vel - type: geometry_msgs/Twist - - name: /navigation/cmd_vel - type: geometry_msgs/Twist - diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index ca2b700ca10..937fd8c6d3e 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -59,10 +59,14 @@ - + topics: - name: /teleop/cmd_vel type: geometry_msgs/Twist + - name: $(arg navigation_topic) + type: geometry_msgs/Twist + - name: $(arg base_controller_topic) + type: geometry_msgs/Twist From c49f576037f7eb573220a03fd767b3ffdebcab1f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 24 Jul 2020 23:16:40 +0900 Subject: [PATCH 19/44] fix topic name in jsk_pr2_startup/safe_teleop.xml --- jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index ab2fb7ab1e5..67442a5aef4 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -23,7 +23,7 @@ - + From d67c339e06f8300b5cb2fbaa363f8e69031a352e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 17 Oct 2020 01:42:31 +0900 Subject: [PATCH 20/44] fix condition in mux_selector.py --- jsk_robot_common/jsk_robot_startup/util/mux_selector.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py index cef4f7c7022..19320413903 100755 --- a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py +++ b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py @@ -152,7 +152,7 @@ def update_trigger(conditions, wait=False): else: next_topic = default_select try: - if before != next_topic and before is not None: + if not (before == next_topic or next_topic is None): mux_client(next_topic) except rospy.ServiceException, e: rospy.loginfo("Service did not process request: %s", str(e)) From 14b97f40fa6ec2af797b736640e6cbf3af03220b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 17 Oct 2020 01:43:13 +0900 Subject: [PATCH 21/44] set vel_type_selector default None --- jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index 937fd8c6d3e..bebfd09689e 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -57,7 +57,8 @@ respawn="true" output="screen" machine="$(arg machine)" args="/teleop/cmd_vel 'True' /teleop/cmd_vel $(arg navigation_topic) 'True' $(arg navigation_topic) $(arg base_controller_topic) 'True' $(arg base_controller_topic)"> - + + topics: From 414a1ecbebf402ca6db89c6b82d956505c0c9ed6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 17 Oct 2020 01:59:16 +0900 Subject: [PATCH 22/44] update safe teleop system image --- jsk_robot_common/jsk_robot_startup/README.md | 2 +- .../images/jsk_safe_teleop_system.png | Bin 0 -> 65303 bytes 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 jsk_robot_common/jsk_robot_startup/images/jsk_safe_teleop_system.png diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 59c25e700cc..3666388ec3b 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -116,4 +116,4 @@ The topic specified in the argument is subscribed. This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml). -![JSK teleop_base system](https://user-images.githubusercontent.com/19769486/88371623-608d0380-cdcf-11ea-859e-f3eccac120b3.png) +![JSK teleop_base system](images/jsk_safe_teleop_system.png) diff --git a/jsk_robot_common/jsk_robot_startup/images/jsk_safe_teleop_system.png b/jsk_robot_common/jsk_robot_startup/images/jsk_safe_teleop_system.png new file mode 100644 index 0000000000000000000000000000000000000000..870d1d45b4a4607370648c19344ec8c9bbc4bb3d GIT binary patch literal 65303 zcmYhiby!qw+dVu3NOvgR-O}yQCEYDZ4Bbd7ozf*eNT)Oc64K4kozf*Gh#-8M+xL5p 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For indigo, we could not expect newer releases..... # https://github.com/PR2/app_manager/issues/12 (Relerase request 1.1.1) - git: diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic index d78566b5003..55bdd52bb18 100644 --- a/.travis.rosinstall.melodic +++ b/.travis.rosinstall.melodic @@ -19,10 +19,6 @@ uri: https://github.com/ros-planning/moveit_robots.git local-name: ros-planning/moveit_robots version: kinetic-devel -- git: # wait until releasing - uri: https://github.com/tork-a/jsk_demos-release.git - local-name: jsk_maps - version: release/kinetic/jsk_maps - git: # wait until releasing (https://github.com/PR2/app_manager/issues/12) uri: https://github.com/pr2/app_manager.git local-name: app_manager From 737c19ef3d33fdc4e8287e37c455e0fabd945fde Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 1 Dec 2020 18:21:20 +0900 Subject: [PATCH 24/44] Add arg to select using safe teleop --- .../jsk_fetch_startup/launch/fetch_teleop.xml | 2 + .../launch/safe_teleop.launch | 48 +++++++++++-------- 2 files changed, 29 insertions(+), 21 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index 3b326c6662b..505d8a27d30 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -1,5 +1,6 @@ + @@ -29,6 +30,7 @@ + diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index bebfd09689e..73d9691b792 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -2,6 +2,7 @@ + @@ -23,28 +24,33 @@ - - - - - - + + + + + + + - - - - - - - - - - + + + + + + + + + + + + + + Date: Thu, 10 Dec 2020 12:57:42 +0900 Subject: [PATCH 25/44] add comment in .travis.rosinstall --- .travis.rosinstall | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.travis.rosinstall b/.travis.rosinstall index 2c59362f0b8..e9c39642de3 100644 --- a/.travis.rosinstall +++ b/.travis.rosinstall @@ -1,4 +1,7 @@ # see also .travis.rosinstall.ROS_DISTRO +# waiting for jsk_maps release +# add keepout map for entire eng2 building +# https://github.com/jsk-ros-pkg/jsk_demos/pull/1300 - git: local-name: jsk-ros-pkg/jsk_demos uri: https://github.com/jsk-ros-pkg/jsk_demos.git From 95f8a982ee94593e5693b6dc811c74a870c9b9b7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 10 Dec 2020 12:57:51 +0900 Subject: [PATCH 26/44] add jsk_ik_server for jsk_demos build --- .travis.rosinstall.melodic | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic index 71169c4b522..baa90e440d2 100644 --- a/.travis.rosinstall.melodic +++ b/.travis.rosinstall.melodic @@ -36,3 +36,9 @@ local-name: fetchrobotics/fetch_ros uri: https://github.com/fetchrobotics/fetch_ros.git version: ba4bafdb802e474487d1e0d893aa25c9535dc55f +# for drc_task_common in jsk_demos +# jsk_control is not released in melodic +- tar: + local-name: jsk_control/jsk_ik_server + uri: https://github.com/tork-a/jsk_control-release/archive/release/kinetic/jsk_ik_server/0.1.14-0.tar.gz + version: jsk_control-release-release-kinetic-jsk_ik_server-0.1.14-0 From ffc10275694e046a1b01e1e3030da56dc47d6043 Mon Sep 17 00:00:00 2001 From: JSK PR2 Users Date: Wed, 6 Jan 2021 18:27:05 +0900 Subject: [PATCH 27/44] add virtual_force_publisher to pr2.launch --- jsk_pr2_robot/jsk_pr2_startup/pr2.launch | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch index 014286586ef..9082d344625 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch +++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch @@ -11,6 +11,7 @@ + @@ -121,6 +122,11 @@ + + + + + From 700d9e9d7de407ac5a840d474090b590b24d2145 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 29 Jan 2021 11:18:37 +0900 Subject: [PATCH 28/44] update jsk_travis to 0.5.18, fix get-pip.py problem --- .travis | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis b/.travis index cbcbaab8a9c..92c11b11bd1 160000 --- a/.travis +++ b/.travis @@ -1 +1 @@ -Subproject commit cbcbaab8a9ce7d1b369cdb3e08aa46fede046ec0 +Subproject commit 92c11b11bd185418f12af29c88c04793d1f761b9 From 17344b89e4f5624d1e5268b4368f90e80a880d45 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 6 Apr 2021 00:05:06 +0900 Subject: [PATCH 29/44] update jsk_travis to 0.5.19 to fix get-pip problems --- .travis | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis b/.travis index 92c11b11bd1..96cae291c71 160000 --- a/.travis +++ b/.travis @@ -1 +1 @@ -Subproject commit 92c11b11bd185418f12af29c88c04793d1f761b9 +Subproject commit 96cae291c7132a5220b69055d4fe77a0a6484a54 From e32659a0fd3ed5e98ad486341b7e764a6cff119a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 28 Apr 2021 15:10:16 +0900 Subject: [PATCH 30/44] update .travis to 0.5.21 --- .travis | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis b/.travis index 96cae291c71..0955a49eb55 160000 --- a/.travis +++ b/.travis @@ -1 +1 @@ -Subproject commit 96cae291c7132a5220b69055d4fe77a0a6484a54 +Subproject commit 0955a49eb558dbcc8f25c032668ad25774c41a8b From ed6f48c162c2c309808011cf5134267eb3da25bd Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 15 May 2021 22:42:11 +0900 Subject: [PATCH 31/44] update .travis.yml --- .travis.yml | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index 4ad240ab694..807a17cc79e 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,14 +1,16 @@ -language: c++ +sudo: true +dist: bionic +language: python +services: + - docker cache: apt: true pip: true directories: - $HOME/.ccache + - $HOME/.cache/pip - $HOME/apt-cacher-ng -sudo: required -services: - - docker -dist: trusty + - $HOME/.ros/data notifications: email: on_success: always From 420d5bd9572c79bffeb78fd61a631b0e83f7e437 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Mon, 12 Jul 2021 18:42:40 +0900 Subject: [PATCH 32/44] add CHECK_PYTHON3_COMPILE --- .travis.yml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 807a17cc79e..7ce1180fbbb 100644 --- a/.travis.yml +++ b/.travis.yml @@ -3,6 +3,10 @@ dist: bionic language: python services: - docker +addons: + apt: + packages: + - 2to3 cache: apt: true pip: true @@ -26,6 +30,7 @@ env: - CATKIN_PARALLEL_TEST_JOBS="-p1" - NOT_TEST_INSTALL=true matrix: + - CHECK_PYTHON3_COMPILE=true - ROS_DISTRO=hydro USE_DEB=true - ROS_DISTRO=hydro USE_DEB=false EXTRA_DEB="ros-hydro-convex-decomposition ros-hydro-ivcon" BUILD_PKGS="jsk_pr2_calibration jsk_robot_startup pr2_base_trajectory_action jsk_pr2_startup jsk_pr2_desktop" - ROS_DISTRO=indigo USE_DEB=true TEST_PKGS="jsk_robot_startup" # app_manager required to pass jsk_fetch test, so this job mainly test if we can build sources @@ -50,4 +55,6 @@ before_script: - if [ "$ROS_DISTRO" == "melodic" ]; then export BEFORE_SCRIPT="pwd; ls -al ; ls -al jsk_robot/; ls -al jsk_robot/.travis.rosinstall.melodic; wstool merge jsk_robot/.travis.rosinstall.melodic; wstool update"; fi # skip running postinst for ros-ROS_DISTRO-julius https://gist.github.com/jordansissel/748313#file-stripdeb-sh - export BEFORE_SCRIPT="apt-get download ros-$ROS_DISTRO-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-$ROS_DISTRO-julius*.deb; sudo dpkg --force-all -i ros-$ROS_DISTRO-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-$ROS_DISTRO-julius; $BEFORE_SCRIPT" -script: .travis/travis.sh +script: + - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then 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 . :^.travis > /dev/null; echo Exitting with \$ret; exit \$ret"; exit $?; fi + - source .travis/travis.sh From 1d09f76be0e00319bab3a8b48532d273c35f40b4 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Mon, 12 Jul 2021 18:56:01 +0900 Subject: [PATCH 33/44] add .github/workflows/ --- .github/workflows/indigo.yml | 48 +++++++++++++++++++++++++++++++++++ .github/workflows/kinetic.yml | 45 ++++++++++++++++++++++++++++++++ .github/workflows/melodic.yml | 44 ++++++++++++++++++++++++++++++++ .github/workflows/noetic.yml | 45 ++++++++++++++++++++++++++++++++ .github/workflows/python3.yml | 24 ++++++++++++++++++ 5 files changed, 206 insertions(+) create mode 100644 .github/workflows/indigo.yml create mode 100644 .github/workflows/kinetic.yml create mode 100644 .github/workflows/melodic.yml create mode 100644 .github/workflows/noetic.yml create mode 100644 .github/workflows/python3.yml diff --git a/.github/workflows/indigo.yml b/.github/workflows/indigo.yml new file mode 100644 index 00000000000..6d2dfd8e481 --- /dev/null +++ b/.github/workflows/indigo.yml @@ -0,0 +1,48 @@ +# generated by `./generate_action_config.py indigo` +# jsk_travis +on: + push: + branches: + - master + pull_request: + +env: + DISPLAY: ':0.0' + +jobs: + indigo: + runs-on: ubuntu-latest + name: indigo + + # use pip installed image due to https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237 : (Note that pip==21.0.1 is incompatible with python 2.x) + container: jskrobotics/ros-ubuntu:14.04 + + steps: + - name: Install latest git ( use sudo for ros-ubuntu ) + run: 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: Before Checkout # need for actoins/checkout with ros-ubuntu container + run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME + - name: Chcekout + uses: actions/checkout@v2 + - name: Start X server + run: | + sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy + 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 : "-j2" + CATKIN_PARALLEL_JOBS : "-p2" + ROS_PARALLEL_TEST_JOBS : "-j1" + CATKIN_PARALLEL_TEST_JOBS : "-p1" + NOT_TEST_INSTALL : true + ROS_DISTRO : indigo + USE_DEB : false + TEST_PKGS : "jsk_robot_startup" # app_manager required to pass jsk_fetch test, so this job mainly test if we can build sources + # to install pepper_meshes, nao_meshes, the licenses have to be accepted + BEFORE_SCRIPT : "echo 'ros-indigo-pepper-meshes ros-pepper-meshes/accepted-ros-pepper-meshes boolean true' | sudo debconf-set-selections; sudo apt-get install -y -qq ros-indigo-pepper-meshes; echo 'ros-indigo-nao-meshes ros-nao-meshes/accepted-ros-nao-meshes boolean true' | sudo debconf-set-selections; sudo apt-get install -y -qq ros-indigo-nao-meshes; apt-get download ros-indigo-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-indigo-julius*.deb; sudo dpkg --force-all -i ros-indigo-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-indigo-julius" \ No newline at end of file diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml new file mode 100644 index 00000000000..92a4ec3dde0 --- /dev/null +++ b/.github/workflows/kinetic.yml @@ -0,0 +1,45 @@ +# generated by `./generate_action_config.py kinetic` +# jsk_travis +on: + push: + branches: + - master + pull_request: + +env: + DISPLAY: ':0.0' + +jobs: + kinetic: + runs-on: ubuntu-latest + name: kinetic + + container: 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 + uses: actions/checkout@v2 + - name: Start X server + run: | + echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata + 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 + 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 : "-j2" + CATKIN_PARALLEL_JOBS : "-p2" + ROS_PARALLEL_TEST_JOBS : "-j1" + CATKIN_PARALLEL_TEST_JOBS : "-p1" + NOT_TEST_INSTALL : true + ROS_DISTRO : kinetic + USE_DEB : false + BEFORE_SCRIPT : "wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch.rosinstall.kinetic; wstool update; apt-get download ros-kinetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-kinetic-julius*.deb; sudo dpkg --force-all -i ros-kinetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-kinetic-julius" + EXTRA_DEB : "ros-kinetic-convex-decomposition ros-kinetic-ivcon" \ No newline at end of file diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml new file mode 100644 index 00000000000..78641bb0150 --- /dev/null +++ b/.github/workflows/melodic.yml @@ -0,0 +1,44 @@ +# generated by `./generate_action_config.py melodic` +# jsk_travis +on: + push: + branches: + - master + pull_request: + +env: + DISPLAY: ':0.0' + +jobs: + melodic: + runs-on: ubuntu-latest + name: melodic + + container: ubuntu:18.04 + + 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 + uses: actions/checkout@v2 + - name: Start X server + run: | + echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata + 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 + 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 : "-j2" + CATKIN_PARALLEL_JOBS : "-p2" + ROS_PARALLEL_TEST_JOBS : "-j1" + CATKIN_PARALLEL_TEST_JOBS : "-p1" + NOT_TEST_INSTALL : true + ROS_DISTRO : melodic + USE_DEB : false + BEFORE_SCRIPT : "apt-get download ros-melodic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-melodic-julius*.deb; sudo dpkg --force-all -i ros-melodic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-melodic-julius" diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml new file mode 100644 index 00000000000..62a46dc12f1 --- /dev/null +++ b/.github/workflows/noetic.yml @@ -0,0 +1,45 @@ +# generated by `./generate_action_config.py noetic` +# jsk_travis +on: + push: + branches: + - master + pull_request: + +env: + DISPLAY: ':0.0' + +jobs: + noetic: + runs-on: ubuntu-latest + name: noetic + + container: ubuntu:20.04 + + 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 + uses: actions/checkout@v2 + - name: Start X server + run: | + echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata + 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 + 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 : "-j2" + CATKIN_PARALLEL_JOBS : "-p2" + ROS_PARALLEL_TEST_JOBS : "-j1" + CATKIN_PARALLEL_TEST_JOBS : "-p1" + NOT_TEST_INSTALL : true + ROS_DISTRO : noetic + USE_DEB : false + TEST_PKGS : "jsk_robot_startup" # check only jsk_robot_startup + BEFORE_SCRIPT : "apt-get download ros-noetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-noetic-julius*.deb; sudo dpkg --force-all -i ros-noetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-noetic-julius" diff --git a/.github/workflows/python3.yml b/.github/workflows/python3.yml new file mode 100644 index 00000000000..14336105b0a --- /dev/null +++ b/.github/workflows/python3.yml @@ -0,0 +1,24 @@ +# generated by `./generate_action_config.py noetic` +# jsk_travis +on: + push: + branches: + - master + pull_request: + +jobs: + test: + runs-on: ubuntu-latest + name: check_python3 + + 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: 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 import -f raw_input -f zip .; git diff --exit-code . :^.travis > /dev/null; echo Exitting with \$ret; exit \$ret" From e69bc31f5f3f7e78c9b83537155b03188b752449 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 14 Jul 2021 14:18:32 +0900 Subject: [PATCH 34/44] mv jsk_fetch.rosinstall.kinetic -> /jsk_fetch_user.rosinstall.kinetic, see https://github.com/jsk-ros-pkg/jsk_robot/pull/1008 --- .github/workflows/kinetic.yml | 2 +- .travis.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml index 92a4ec3dde0..5f94e92c803 100644 --- a/.github/workflows/kinetic.yml +++ b/.github/workflows/kinetic.yml @@ -41,5 +41,5 @@ jobs: NOT_TEST_INSTALL : true ROS_DISTRO : kinetic USE_DEB : false - BEFORE_SCRIPT : "wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch.rosinstall.kinetic; wstool update; apt-get download ros-kinetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-kinetic-julius*.deb; sudo dpkg --force-all -i ros-kinetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-kinetic-julius" + BEFORE_SCRIPT : "wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch_user.rosinstall.kinetic; wstool update; apt-get download ros-kinetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-kinetic-julius*.deb; sudo dpkg --force-all -i ros-kinetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-kinetic-julius" EXTRA_DEB : "ros-kinetic-convex-decomposition ros-kinetic-ivcon" \ No newline at end of file diff --git a/.travis.yml b/.travis.yml index 7ce1180fbbb..2a6101c46e2 100644 --- a/.travis.yml +++ b/.travis.yml @@ -51,7 +51,7 @@ before_script: # to install pepper_meshes, nao_meshes, the licenses have to be accepted - if [ "$ROS_DISTRO" == "indigo" ]; then export BEFORE_SCRIPT="echo \"ros-indigo-pepper-meshes ros-pepper-meshes/accepted-ros-pepper-meshes boolean true\" | sudo debconf-set-selections; sudo apt-get install -y -qq ros-$ROS_DISTRO-pepper-meshes"; fi - if [ "$ROS_DISTRO" == "indigo" ]; then export BEFORE_SCRIPT="echo \"ros-indigo-nao-meshes ros-nao-meshes/accepted-ros-nao-meshes boolean true\" | sudo debconf-set-selections; sudo apt-get install -y -qq ros-$ROS_DISTRO-nao-meshes"; fi - - if [ "$ROS_DISTRO" == "kinetic" ]; then export BEFORE_SCRIPT="wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch.rosinstall.kinetic; wstool update"; fi + - if [ "$ROS_DISTRO" == "kinetic" ]; then export BEFORE_SCRIPT="wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch_user.rosinstall.kinetic; wstool update"; fi - if [ "$ROS_DISTRO" == "melodic" ]; then export BEFORE_SCRIPT="pwd; ls -al ; ls -al jsk_robot/; ls -al jsk_robot/.travis.rosinstall.melodic; wstool merge jsk_robot/.travis.rosinstall.melodic; wstool update"; fi # skip running postinst for ros-ROS_DISTRO-julius https://gist.github.com/jordansissel/748313#file-stripdeb-sh - export BEFORE_SCRIPT="apt-get download ros-$ROS_DISTRO-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-$ROS_DISTRO-julius*.deb; sudo dpkg --force-all -i ros-$ROS_DISTRO-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-$ROS_DISTRO-julius; $BEFORE_SCRIPT" From 1e4f0ace7792a09f942fe73d5809b0e610914507 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 14 Jul 2021 18:53:44 +0900 Subject: [PATCH 35/44] add .travis.rosinstall.noetic --- .travis.rosinstall.noetic | 44 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 .travis.rosinstall.noetic diff --git a/.travis.rosinstall.noetic b/.travis.rosinstall.noetic new file mode 100644 index 00000000000..baa90e440d2 --- /dev/null +++ b/.travis.rosinstall.noetic @@ -0,0 +1,44 @@ +- git: + uri: http://github.com/RethinkRobotics/baxter_common.git + local-name: RethinkRobotics/baxter_common + version: kinetic-devel +- git: + # https://github.com/RethinkRobotics/baxter_simulator/pull/130 + uri: https://github.com/EmaroLab/baxter_simulator.git + local-name: RethinkRobotics/baxter_simulator + version: master +- git: + uri: https://github.com/RethinkRobotics/baxter_interface.git + local-name: baxter_interface + version: development +- git: + uri: https://github.com/RethinkRobotics/baxter_tools.git + local-name: baxter_tools + version: development +- git: + uri: https://github.com/ros-planning/moveit_robots.git + local-name: ros-planning/moveit_robots + version: kinetic-devel +- git: # wait for melodic release https://github.com/ros-naoqi/pepper_robot/issues/50 + uri: https://github.com/ros-naoqi/pepper_robot.git + local-name: pepper_robot +- git: # https://github.com/ros-naoqi/nao_robot/issues/40 + uri: https://github.com/ros-naoqi/nao_robot.git + local-name: nao_robot +- git: # use naoqi_pose, wait for melodic release https://github.com/ros-naoqi/naoqi_bridge/issues/94 + uri: https://github.com/ros-naoqi/naoqi_bridge-release.git + local-name: naoqi_pose + version: release/kinetic/naoqi_pose +# jsk_fetch_startup requires fetch_ros with following PRs. +# https://github.com/fetchrobotics/fetch_ros/pull/144 +# https://github.com/fetchrobotics/fetch_ros/pull/146 +- git: + local-name: fetchrobotics/fetch_ros + uri: https://github.com/fetchrobotics/fetch_ros.git + version: ba4bafdb802e474487d1e0d893aa25c9535dc55f +# for drc_task_common in jsk_demos +# jsk_control is not released in melodic +- tar: + local-name: jsk_control/jsk_ik_server + uri: https://github.com/tork-a/jsk_control-release/archive/release/kinetic/jsk_ik_server/0.1.14-0.tar.gz + version: jsk_control-release-release-kinetic-jsk_ik_server-0.1.14-0 From 9113a7bc2f08c159ef8fe6d9f1854155904773aa Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 15 Jul 2021 11:40:18 +0900 Subject: [PATCH 36/44] 2to3 -w -f except . --- .../jsk_pepper_startup/nodes/play_audio_stream.py | 4 ++-- .../jsk_pepper_startup/nodes/take_wakeup_pose.py | 2 +- jsk_naoqi_robot/naoeus/scripts/nao_laser.py | 6 +++--- .../jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py | 8 ++++---- .../jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py | 4 ++-- jsk_robot_common/jsk_robot_startup/util/mux_selector.py | 6 +++--- 6 files changed, 15 insertions(+), 15 deletions(-) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/nodes/play_audio_stream.py b/jsk_naoqi_robot/jsk_pepper_startup/nodes/play_audio_stream.py index 86368e023fe..30c15bc8b41 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/nodes/play_audio_stream.py +++ b/jsk_naoqi_robot/jsk_pepper_startup/nodes/play_audio_stream.py @@ -15,7 +15,7 @@ def handle_start_srv(req): try: p=Popen(['roslaunch', 'jsk_pepper_startup', 'play_audio_stream.launch']) return EmptyResponse() - except RuntimeError, e: + except RuntimeError as e: rospy.logerr("Exception caught:\n%s", e) return res @@ -34,7 +34,7 @@ def handle_stop_srv(req): call(['rosnode', 'kill', nodelist[i]]) break return EmptyResponse() - except RuntimeError, e: + except RuntimeError as e: rospy.logerr("Exception caught:\n%s", e) return res diff --git a/jsk_naoqi_robot/jsk_pepper_startup/nodes/take_wakeup_pose.py b/jsk_naoqi_robot/jsk_pepper_startup/nodes/take_wakeup_pose.py index 96d76b0add8..7018b4f6d44 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/nodes/take_wakeup_pose.py +++ b/jsk_naoqi_robot/jsk_pepper_startup/nodes/take_wakeup_pose.py @@ -163,7 +163,7 @@ def take_initial_pose(self): msg.data = "\\vct=140\\よしっ\\vct=120\\\\rspd=100\\" self.pub.publish(msg) - except RuntimeError, e: + except RuntimeError as e: rospy.logerr("Exception caught:\n%s", e) if __name__=="__main__": diff --git a/jsk_naoqi_robot/naoeus/scripts/nao_laser.py b/jsk_naoqi_robot/naoeus/scripts/nao_laser.py index b84c24b68fd..ba0ba8a296e 100755 --- a/jsk_naoqi_robot/naoeus/scripts/nao_laser.py +++ b/jsk_naoqi_robot/naoeus/scripts/nao_laser.py @@ -39,14 +39,14 @@ def __init__(self): self.alurg.setOpeningAngle(-2.09439, 2.09439) self.alurg.setDetectingLength(20, 5600) self.alurg.laserON() - except Exception,e: + except Exception as e: print "Error when creating ALLaser proxy:" print str(e) exit(1) try: self.almem = self.getProxy("ALMemory") - except Exception,e: + except Exception as e: print "Error when creating ALMemory proxy:" print str(e) exit(1) @@ -104,7 +104,7 @@ def main_loop(self): try: naolaser = NaoLaser() naolaser.main_loop() - except RuntimeError, e: + except RuntimeError as e: rospy.logerr('Something went wrong: %s' % (e) ) rospy.loginfo('Laser stopped') diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py index 996b23be517..331513bf3c8 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py @@ -271,10 +271,10 @@ def dequeue(self): mongodb_store.util.store_message(self.collection, msg, meta) - except InvalidDocument, e: + except InvalidDocument as e: print("InvalidDocument " + current_process().name + "@" + topic +": \n") print e - except InvalidStringData, e: + except InvalidStringData as e: print("InvalidStringData " + current_process().name + "@" + topic +": \n") print e @@ -447,7 +447,7 @@ def subscribe_topics(self, topics): self.workers.append(w) self.collnames |= set([collname]) self.topics |= set([topic]) - except Exception, e: + except Exception as e: print('Failed to subsribe to %s due to %s' % (topic, e)) missing_topics.add(topic) @@ -457,7 +457,7 @@ def subscribe_topics(self, topics): def create_worker(self, idnum, topic, collname): try: msg_class, real_topic, msg_eval = rostopic.get_topic_class(topic, blocking=False) - except Exception, e: + except Exception as e: print('Topic %s not announced, cannot get type: %s' % (topic, e)) raise diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py index 468162766cc..6d82d430571 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py @@ -46,7 +46,7 @@ def image_callback(self, msg): try: cv_image = self.bridge.imgmsg_to_cv(msg, "bgr8") sum_of_pixels = max(cv.Sum(cv_image)) - except CvBridgeError, e: + except CvBridgeError as e: rospy.logerr("[%s] failed to convert image to cv", self.__class__.__name__) return @@ -84,7 +84,7 @@ def restart_openni_node(self): # 3 restarting self.speak("restarting processes") retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True) - except Exception, e: + except Exception as e: rospy.logerr('[%s] Unable to kill kinect node, caught exception:\n%s', self.__class__.__name__, traceback.format_exc()) def run(self): diff --git a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py index 19320413903..fd0a9744e9f 100755 --- a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py +++ b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py @@ -82,7 +82,7 @@ def add_trigger(topic, expr, select, index, wait=False): cb_obj = gen_callback(expr, select, index) rospy.loginfo("start subscribe (topic=%s type=%s)", topic, topic_type); sub = rospy.Subscriber(topic,topic_class,cb_obj) - except Exception, e: + except Exception as e: rospy.loginfo(str(e)) return None @@ -154,10 +154,10 @@ def update_trigger(conditions, wait=False): try: if not (before == next_topic or next_topic is None): mux_client(next_topic) - except rospy.ServiceException, e: + except rospy.ServiceException as e: rospy.loginfo("Service did not process request: %s", str(e)) before = next_topic looprate.sleep() - except Exception, e: + except Exception as e: rospy.logerr('Error: '+str(e)) rospy.logerr(traceback.format_exc()) From 199cac9ca2cd54c0450da10851245e34c7f51076 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 15 Jul 2021 11:51:49 +0900 Subject: [PATCH 37/44] 2to3 -w -f print . --- jsk_naoqi_robot/naoeus/scripts/nao_laser.py | 8 ++++---- .../jsk_pr2_startup/jsk_pr2_joy/joy_controller.py | 2 +- .../jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py | 4 ++-- .../jsk_pr2_move_base/fullbody_action_node.py | 4 ++-- .../roseus_remote/scripts/roseus_command_sender.py | 2 +- jsk_robot_common/roseus_remote/scripts/test.py | 10 +++++----- 6 files changed, 15 insertions(+), 15 deletions(-) diff --git a/jsk_naoqi_robot/naoeus/scripts/nao_laser.py b/jsk_naoqi_robot/naoeus/scripts/nao_laser.py index ba0ba8a296e..7be07591336 100755 --- a/jsk_naoqi_robot/naoeus/scripts/nao_laser.py +++ b/jsk_naoqi_robot/naoeus/scripts/nao_laser.py @@ -40,15 +40,15 @@ def __init__(self): self.alurg.setDetectingLength(20, 5600) self.alurg.laserON() except Exception as e: - print "Error when creating ALLaser proxy:" - print str(e) + print("Error when creating ALLaser proxy:") + print(str(e)) exit(1) try: self.almem = self.getProxy("ALMemory") except Exception as e: - print "Error when creating ALMemory proxy:" - print str(e) + print("Error when creating ALMemory proxy:") + print(str(e)) exit(1) self.pub_laser = rospy.Publisher('scan', LaserScan) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_joy/joy_controller.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_joy/joy_controller.py index 711bc1f7b76..6c7ea07a343 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_joy/joy_controller.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_joy/joy_controller.py @@ -22,7 +22,7 @@ def joy_callback(self, joy): def joy_execute(self): if self.check_pushed(0): - print "0 is pushed" + print("0 is pushed") pass def check_pushed(self, index): diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py index 331513bf3c8..4a9eb7e27d9 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py @@ -273,10 +273,10 @@ def dequeue(self): except InvalidDocument as e: print("InvalidDocument " + current_process().name + "@" + topic +": \n") - print e + print(e) except InvalidStringData as e: print("InvalidStringData " + current_process().name + "@" + topic +": \n") - print e + print(e) else: #print("Quit W2: %s" % self.name) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/fullbody_action_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/fullbody_action_node.py index 5cebebcbdc3..7d4802fa3f0 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/fullbody_action_node.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/fullbody_action_node.py @@ -32,7 +32,7 @@ def __init__(self, name): for client in self._clients: client.wait_for_server() - print 'fullbody action initialized' + print('fullbody action initialized') # action methods def larm(self, traj): @@ -72,7 +72,7 @@ def joint(self, client, traj, joints): for pt in traj.points] client.send_goal(JointTrajectoryGoal(trajectory=jgoal)) except: - print 'error in joint client' + print('error in joint client') def execute_cb(self, goal): self.larm(goal.trajectory) diff --git a/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py b/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py index 75fb2f27780..c0133c53b69 100755 --- a/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py +++ b/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py @@ -9,7 +9,7 @@ def cmd_res_cb(msg): input_str = str(msg.data).rstrip(' \t\r\n\0') - print input_str + print(input_str) def on_shutdown(): rospy.logwarn("to exit immediately, press Enter") diff --git a/jsk_robot_common/roseus_remote/scripts/test.py b/jsk_robot_common/roseus_remote/scripts/test.py index 79a9d8f5e0a..614247fa724 100644 --- a/jsk_robot_common/roseus_remote/scripts/test.py +++ b/jsk_robot_common/roseus_remote/scripts/test.py @@ -23,9 +23,9 @@ def get_output(out, queue): if data: queue.put(data) else: - print "nodata" + print("nodata") else: - print "error" + print("error") cmd = ['roseus'] @@ -51,7 +51,7 @@ def get_output(out, queue): get_stderr_thread.start() while p.poll() is None: - print "alive?: ", p.poll() + print("alive?: ", p.poll()) cmd = raw_input('cmd$ ') p.stdin.write(cmd) p.stdin.flush() @@ -67,5 +67,5 @@ def get_output(out, queue): stderr += stderr_queue.get_nowait() except: pass - print "stdout: ", stdout - print "stderr: ", stderr + print("stdout: ", stdout) + print("stderr: ", stderr) From 7088c425ac63b2521248542a66bf74828b3faabd Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 15 Jul 2021 12:29:34 +0900 Subject: [PATCH 38/44] 2to3 -w -f has_key . --- jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py | 8 ++++---- .../jsk_fetch_startup/scripts/roslaunch_depends.py | 8 ++++---- jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py | 4 ++-- .../jsk_pepper_startup/script/roslaunch_depends.py | 8 ++++---- 4 files changed, 14 insertions(+), 14 deletions(-) diff --git a/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py b/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py index f92143fd142..20fc73090bf 100644 --- a/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py +++ b/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py @@ -86,21 +86,21 @@ def __str__(self): def _get_arg_value(tag, context): name = tag.attributes['name'].value - if tag.attributes.has_key('value'): + if 'value' in tag.attributes: return resolve_args(tag.attributes['value'].value, context) elif name in context['arg']: return context['arg'][name] - elif tag.attributes.has_key('default'): + elif 'default' in tag.attributes: return resolve_args(tag.attributes['default'].value, context) else: raise RoslaunchDepsException("No value for arg [%s]"%(name)) def _check_ifunless(tag, context): - if tag.attributes.has_key('if'): + if 'if' in tag.attributes: val = resolve_args(tag.attributes['if'].value, context) if not convert_value(val, 'bool'): return False - elif tag.attributes.has_key('unless'): + elif 'unless' in tag.attributes: val = resolve_args(tag.attributes['unless'].value, context) if convert_value(val, 'bool'): return False diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py index 2dc7613e82b..3cf097a0f1e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py @@ -86,21 +86,21 @@ def __str__(self): def _get_arg_value(tag, context): name = tag.attributes['name'].value - if tag.attributes.has_key('value'): + if 'value' in tag.attributes: return resolve_args(tag.attributes['value'].value, context) elif name in context['arg']: return context['arg'][name] - elif tag.attributes.has_key('default'): + elif 'default' in tag.attributes: return resolve_args(tag.attributes['default'].value, context) else: raise RoslaunchDepsException("No value for arg [%s]"%(name)) def _check_ifunless(tag, context): - if tag.attributes.has_key('if'): + if 'if' in tag.attributes: val = resolve_args(tag.attributes['if'].value, context) if not convert_value(val, 'bool'): return False - elif tag.attributes.has_key('unless'): + elif 'unless' in tag.attributes: val = resolve_args(tag.attributes['unless'].value, context) if convert_value(val, 'bool'): return False diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py index 81e97c478e6..c748f112741 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py @@ -46,7 +46,7 @@ def run(self): global sound for status in self.error_status: # ignore error status if the error already occured in the latest 10 minites - if error_status_in_10_min.has_key(status.message): + if status.message in error_status_in_10_min: if rospy.Time.now().secs - error_status_in_10_min[status.message] < 600: continue else: @@ -144,7 +144,7 @@ def diagnostics_status_callback(self, msg): ## ## check if this comes from /robot_driver callerid = msg._connection_header['callerid'] - if not self.diagnostics_speak_thread.has_key(callerid): + if callerid not in self.diagnostics_speak_thread: self.diagnostics_speak_thread[callerid] = None error_status = filter(lambda n: n.level in self.diagnostics_list, msg.status) # when RunStopped, ignore message from *_mcb and *_breaker diff --git a/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py b/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py index 2dc7613e82b..3cf097a0f1e 100644 --- a/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py +++ b/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py @@ -86,21 +86,21 @@ def __str__(self): def _get_arg_value(tag, context): name = tag.attributes['name'].value - if tag.attributes.has_key('value'): + if 'value' in tag.attributes: return resolve_args(tag.attributes['value'].value, context) elif name in context['arg']: return context['arg'][name] - elif tag.attributes.has_key('default'): + elif 'default' in tag.attributes: return resolve_args(tag.attributes['default'].value, context) else: raise RoslaunchDepsException("No value for arg [%s]"%(name)) def _check_ifunless(tag, context): - if tag.attributes.has_key('if'): + if 'if' in tag.attributes: val = resolve_args(tag.attributes['if'].value, context) if not convert_value(val, 'bool'): return False - elif tag.attributes.has_key('unless'): + elif 'unless' in tag.attributes: val = resolve_args(tag.attributes['unless'].value, context) if convert_value(val, 'bool'): return False From f2165383981cb2bfd3d2dbbfb13af002e4574dc3 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 15 Jul 2021 12:36:04 +0900 Subject: [PATCH 39/44] 2to3 -w -f zip . --- .../src/jsk_robot_startup/EKFGPFOdometry.py | 6 +++--- .../src/jsk_robot_startup/ParticleOdometry.py | 8 ++++---- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py index d563a8142b7..2180a78724d 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py @@ -75,13 +75,13 @@ def measure_odom_callback(self, msg): def sampling(self, current_pose_with_covariance): pose_mean = self.convert_pose_to_list(current_pose_with_covariance.pose) - pose_cov_matrix = zip(*[iter(current_pose_with_covariance.covariance)]*6) + pose_cov_matrix = list(zip(*[iter(current_pose_with_covariance.covariance)]*6)) return [self.convert_list_to_pose(x) for x in numpy.random.multivariate_normal(pose_mean, pose_cov_matrix, int(self.particle_num)).tolist()] def approximate_odometry(self, particles, weights): # use only important particels - combined_prt_weight = zip(self.particles, self.weights) - selected_prt_weight = zip(*sorted(combined_prt_weight, key = itemgetter(1), reverse = True)[:int(self.valid_particle_num)]) # [(p0, w0), (p1, w1), ..., (pN, wN)] -> [(sorted_p0, sorted_w0), (sorted_p1, sorted_w1), ..., (sorted_pN', sorted_wN')] -> [(sorted_p0, ..., sorted_pN'), (sorted_w0, ..., sorted_wN')] + combined_prt_weight = list(zip(self.particles, self.weights)) + selected_prt_weight = list(zip(*sorted(combined_prt_weight, key = itemgetter(1), reverse = True)[:int(self.valid_particle_num)])) # [(p0, w0), (p1, w1), ..., (pN, wN)] -> [(sorted_p0, sorted_w0), (sorted_p1, sorted_w1), ..., (sorted_pN', sorted_wN')] -> [(sorted_p0, ..., sorted_pN'), (sorted_w0, ..., sorted_wN')] # estimate gaussian distribution for Odometry msg mean, cov = self.guess_normal_distribution(selected_prt_weight[0], selected_prt_weight[1]) # overwrite pose pdf diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py index 36c454edecb..4c15b2b7be2 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py @@ -154,7 +154,7 @@ def resampling(self, particles, weights): def state_transition_probability_rvs(self, u, u_cov): # rvs = Random Varieties Sampling u_mean = [u.linear.x, u.linear.y, u.linear.z, u.angular.x, u.angular.y, u.angular.z] - u_cov_matrix = zip(*[iter(u_cov)]*6) + u_cov_matrix = list(zip(*[iter(u_cov)]*6)) return numpy.random.multivariate_normal(u_mean, u_cov_matrix, int(self.particle_num)).tolist() # input: x(pose), mean(array), cov_inv(matrix), output: pdf value for x @@ -207,8 +207,8 @@ def publish_odometry(self): self.odom.header.stamp = self.source_odom.header.stamp self.odom.twist = self.source_odom.twist # use only important particels - combined_prt_weight = zip(self.particles, self.weights) - selected_prt_weight = zip(*sorted(combined_prt_weight, key = itemgetter(1), reverse = True)[:int(self.valid_particle_num)]) # [(p0, w0), (p1, w1), ..., (pN, wN)] -> [(sorted_p0, sorted_w0), (sorted_p1, sorted_w1), ..., (sorted_pN', sorted_wN')] -> [(sorted_p0, ..., sorted_pN'), (sorted_w0, ..., sorted_wN')] + combined_prt_weight = list(zip(self.particles, self.weights)) + selected_prt_weight = list(zip(*sorted(combined_prt_weight, key = itemgetter(1), reverse = True)[:int(self.valid_particle_num)])) # [(p0, w0), (p1, w1), ..., (pN, wN)] -> [(sorted_p0, sorted_w0), (sorted_p1, sorted_w1), ..., (sorted_pN', sorted_wN')] -> [(sorted_p0, ..., sorted_pN'), (sorted_w0, ..., sorted_wN')] # estimate gaussian distribution for Odometry msg mean, cov = self.guess_normal_distribution(selected_prt_weight[0], selected_prt_weight[1]) self.odom.pose.pose = self.convert_list_to_pose(mean) @@ -318,7 +318,7 @@ def make_histogram_array(self, particles, stamp): histogram_array_msg.histograms.append(range_msg) # count particle_array = numpy.array([self.convert_pose_to_list(prt) for prt in particles]) - data = zip(*particle_array) # [(x_data), (y_data), ..., (yaw_data)] + data = list(zip(*particle_array)) # [(x_data), (y_data), ..., (yaw_data)] for i, d in enumerate(data): hist, bins = numpy.histogram(d, bins=50) for count, min_value, max_value in zip(hist, bins[:-1], bins[1:]): From 9f3648a0747b18765b6e9d121aac111b05788029 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 15 Jul 2021 12:38:10 +0900 Subject: [PATCH 40/44] use input/raw_input for pythoh2-3 compatibility --- .../roseus_remote/scripts/roseus_command_sender.py | 5 ++++- jsk_robot_common/roseus_remote/scripts/test.py | 6 +++++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py b/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py index c0133c53b69..6e976791a79 100755 --- a/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py +++ b/jsk_robot_common/roseus_remote/scripts/roseus_command_sender.py @@ -6,6 +6,9 @@ import rospy from roseus_remote.msg import RawCommand +# 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 def cmd_res_cb(msg): input_str = str(msg.data).rstrip(' \t\r\n\0') @@ -22,7 +25,7 @@ def main(): sub = rospy.Subscriber("input", RawCommand, cmd_res_cb) while not rospy.is_shutdown(): try: - cmd = raw_input("roseus$ ") + cmd = input("roseus$ ") if cmd: pub.publish(RawCommand(data=cmd)) rospy.sleep(0.01) diff --git a/jsk_robot_common/roseus_remote/scripts/test.py b/jsk_robot_common/roseus_remote/scripts/test.py index 614247fa724..9c40468b216 100644 --- a/jsk_robot_common/roseus_remote/scripts/test.py +++ b/jsk_robot_common/roseus_remote/scripts/test.py @@ -14,6 +14,10 @@ except ImportError: from queue import Queue, Empty +# 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 + ON_POSIX = 'posix' in sys.builtin_module_names BUFF_SIZE = 1 @@ -52,7 +56,7 @@ def get_output(out, queue): while p.poll() is None: print("alive?: ", p.poll()) - cmd = raw_input('cmd$ ') + cmd = input('cmd$ ') p.stdin.write(cmd) p.stdin.flush() stdout = "" From 10307e46775b07d93451a27b03df54d3ad8cf0ac Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 16 Jul 2021 09:30:04 +0900 Subject: [PATCH 41/44] 2to3 -w -f import, all fixed code locates under src/jsk_robot_startup/, so I think it is ok --- .../jsk_robot_startup/CalculateOdomInitToBaseLinkTransform.py | 2 +- .../jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py | 4 ++-- .../src/jsk_robot_startup/OdometryFeedbackWrapper.py | 2 +- .../jsk_robot_startup/src/jsk_robot_startup/OdometryOffset.py | 2 +- .../src/jsk_robot_startup/ParticleOdometry.py | 2 +- .../src/jsk_robot_startup/lifelog/action_logger.py | 2 +- .../src/jsk_robot_startup/lifelog/base_trajectory_logger.py | 4 ++-- .../src/jsk_robot_startup/lifelog/mongo_record.py | 2 +- .../src/jsk_robot_startup/lifelog/object_detection_logger.py | 4 ++-- .../src/jsk_robot_startup/lifelog/tf_logger.py | 2 +- 10 files changed, 13 insertions(+), 13 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/CalculateOdomInitToBaseLinkTransform.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/CalculateOdomInitToBaseLinkTransform.py index fd55ac15dc2..146df83bb14 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/CalculateOdomInitToBaseLinkTransform.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/CalculateOdomInitToBaseLinkTransform.py @@ -6,7 +6,7 @@ from geometry_msgs.msg import Quaternion, Vector3, TransformStamped import tf import threading -from odometry_utils import make_homogeneous_matrix +from .odometry_utils import make_homogeneous_matrix class CalculateOdomInitToBaseLinkTransform(object): def __init__(self): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py index 2180a78724d..fa0377a9ce3 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/EKFGPFOdometry.py @@ -12,8 +12,8 @@ from nav_msgs.msg import Odometry from geometry_msgs.msg import PoseWithCovariance, TwistWithCovariance, Twist, Pose, Point, Quaternion, Vector3, TransformStamped -from ParticleOdometry import ParticleOdometry -from odometry_utils import norm_pdf_multivariate, transform_quaternion_to_euler, transform_local_twist_to_global, transform_local_twist_covariance_to_global, update_pose, update_pose_covariance, broadcast_transform +from .ParticleOdometry import ParticleOdometry +from .odometry_utils import norm_pdf_multivariate, transform_quaternion_to_euler, transform_local_twist_to_global, transform_local_twist_covariance_to_global, update_pose, update_pose_covariance, broadcast_transform class EKFGPFOdometry(ParticleOdometry): def __init__(self): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryFeedbackWrapper.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryFeedbackWrapper.py index e05424f4837..75f9515a74e 100755 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryFeedbackWrapper.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryFeedbackWrapper.py @@ -16,7 +16,7 @@ from dynamic_reconfigure.server import Server from jsk_robot_startup.cfg import OdometryFeedbackWrapperReconfigureConfig -from odometry_utils import transform_local_twist_to_global, transform_local_twist_covariance_to_global, update_pose, update_pose_covariance, broadcast_transform, make_homogeneous_matrix +from .odometry_utils import transform_local_twist_to_global, transform_local_twist_covariance_to_global, update_pose, update_pose_covariance, broadcast_transform, make_homogeneous_matrix class OdometryFeedbackWrapper(object): def __init__(self): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryOffset.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryOffset.py index f5f165b6808..ce9ee4e5751 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryOffset.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/OdometryOffset.py @@ -11,7 +11,7 @@ import copy from dynamic_reconfigure.server import Server from jsk_robot_startup.cfg import OdometryOffsetReconfigureConfig -from odometry_utils import make_homogeneous_matrix, update_twist_covariance, update_pose, update_pose_covariance, broadcast_transform, transform_local_twist_to_global, transform_local_twist_covariance_to_global +from .odometry_utils import make_homogeneous_matrix, update_twist_covariance, update_pose, update_pose_covariance, broadcast_transform, transform_local_twist_to_global, transform_local_twist_covariance_to_global class OdometryOffset(object): def __init__(self): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py index 4c15b2b7be2..737180e7c11 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/ParticleOdometry.py @@ -16,7 +16,7 @@ from sensor_msgs.msg import Imu from geometry_msgs.msg import PoseWithCovariance, TwistWithCovariance, Twist, Pose, Point, Quaternion, Vector3, TransformStamped from jsk_recognition_msgs.msg import HistogramWithRangeArray, HistogramWithRange, HistogramWithRangeBin -from odometry_utils import norm_pdf_multivariate, transform_quaternion_to_euler, transform_local_twist_to_global, transform_local_twist_covariance_to_global, update_pose, update_pose_covariance, broadcast_transform +from .odometry_utils import norm_pdf_multivariate, transform_quaternion_to_euler, transform_local_twist_to_global, transform_local_twist_covariance_to_global, update_pose, update_pose_covariance, broadcast_transform from diagnostic_msgs.msg import * class ParticleOdometry(object): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py index 96363315f1d..d42e5d89f48 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py @@ -13,7 +13,7 @@ import actionlib_msgs.msg from actionlib_msgs.msg import GoalID, GoalStatus -from logger_base import LoggerBase +from .logger_base import LoggerBase class ActionLogger(LoggerBase): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py index f3ec4455afd..664f8fac94d 100755 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py @@ -5,9 +5,9 @@ import numpy as np import rospy import pymongo -from transformations import TransformListener +from .transformations import TransformListener from geometry_msgs.msg import PoseWithCovarianceStamped -from logger_base import LoggerBase +from .logger_base import LoggerBase def quaternion_distance(q1, q2): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py index d0c91403057..71803288c15 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py @@ -6,7 +6,7 @@ import re import rospy import rostopic -from logger_base import LoggerBase +from .logger_base import LoggerBase REGEX = re.compile(r"\$\{param\s*(\S+)\s*\}") diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py index 58c524540ce..4b607dade1e 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py @@ -10,8 +10,8 @@ import rosgraph from geometry_msgs.msg import PoseStamped from posedetection_msgs.msg import ObjectDetection -from logger_base import LoggerBase -from transformations import TransformListener +from .logger_base import LoggerBase +from .transformations import TransformListener class ObjectDetectionLogger(LoggerBase): diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py index a0dfed8fa8d..38192b7737a 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py @@ -8,7 +8,7 @@ from tf2_msgs.srv import FrameGraph from tf2_msgs.msg import TFMessage from tf2_ros import ExtrapolationException -from logger_base import LoggerBase +from .logger_base import LoggerBase class TFLogger(LoggerBase): From 0d9df0ce558b9c3a1a3c6dd2a4e580f933bf4a70 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 16 Jul 2021 09:35:03 +0900 Subject: [PATCH 42/44] add python2 check --- .github/workflows/python2.yml | 24 ++++++++++++++++++++++++ .travis.yml | 2 ++ 2 files changed, 26 insertions(+) create mode 100644 .github/workflows/python2.yml diff --git a/.github/workflows/python2.yml b/.github/workflows/python2.yml new file mode 100644 index 00000000000..f974b88d5aa --- /dev/null +++ b/.github/workflows/python2.yml @@ -0,0 +1,24 @@ +# generated by `./generate_action_config.py noetic` +# jsk_travis +on: + push: + branches: + - master + pull_request: + +jobs: + test: + runs-on: ubuntu-latest + name: check_python2 + + 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: Chcekout + uses: actions/checkout@v2 + - name: Check Python2 + run: | + apt update -q && apt install -y -q python2 + python2 -m compileall . diff --git a/.travis.yml b/.travis.yml index 2a6101c46e2..ebe9561bce8 100644 --- a/.travis.yml +++ b/.travis.yml @@ -31,6 +31,7 @@ env: - NOT_TEST_INSTALL=true matrix: - CHECK_PYTHON3_COMPILE=true + - CHECK_PYTHON2_COMPILE=true - ROS_DISTRO=hydro USE_DEB=true - ROS_DISTRO=hydro USE_DEB=false EXTRA_DEB="ros-hydro-convex-decomposition ros-hydro-ivcon" BUILD_PKGS="jsk_pr2_calibration jsk_robot_startup pr2_base_trajectory_action jsk_pr2_startup jsk_pr2_desktop" - ROS_DISTRO=indigo USE_DEB=true TEST_PKGS="jsk_robot_startup" # app_manager required to pass jsk_fetch test, so this job mainly test if we can build sources @@ -57,4 +58,5 @@ before_script: - export BEFORE_SCRIPT="apt-get download ros-$ROS_DISTRO-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-$ROS_DISTRO-julius*.deb; sudo dpkg --force-all -i ros-$ROS_DISTRO-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-$ROS_DISTRO-julius; $BEFORE_SCRIPT" script: - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then 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 . :^.travis > /dev/null; echo Exitting with \$ret; exit \$ret"; exit $?; fi + - if [ "${CHECK_PYTHON2_COMPILE}" == "true" ]; then python2 -m compileall .; exit $?; fi - source .travis/travis.sh From 847400234631656e2e0e2abe99e8322b875f4c63 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 16 Jul 2021 09:38:14 +0900 Subject: [PATCH 43/44] 2to3 -w -f numliterals .; for 0777 -> 0o777 --- .../jsk_pr2_startup/jsk_pr2_warning/battery_logger.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py index d80cb5038aa..d334cdbbdb0 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py @@ -41,7 +41,7 @@ def __init__(self, out_dir): "Output directory path already exitsts as file: %s" % self.out_dir) orig_umask = os.umask(0) try: - os.makedirs(self.out_dir, 0777) + os.makedirs(self.out_dir, 0o777) finally: os.umask(orig_umask) @@ -68,7 +68,7 @@ def write(self, date, info): if not is_file_writable(filename): orig_umask = os.umask(0) try: - os.chmod(os.path.abspath(filename), 0777) + os.chmod(os.path.abspath(filename), 0o777) finally: os.umask(orig_umask) From 6c5f2ad5af10d5c72742ea2e93ae3408dd0c2b5d Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 16 Jul 2021 10:38:45 +0900 Subject: [PATCH 44/44] fix 2to3 -f has_keys, changes, for kinetic --- jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py | 8 ++++---- .../jsk_fetch_startup/scripts/roslaunch_depends.py | 8 ++++---- .../jsk_pepper_startup/script/roslaunch_depends.py | 8 ++++---- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py b/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py index 20fc73090bf..35c13dee649 100644 --- a/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py +++ b/jsk_aero_robot/jsk_aero_startup/test/roslaunch_depends.py @@ -86,21 +86,21 @@ def __str__(self): def _get_arg_value(tag, context): name = tag.attributes['name'].value - if 'value' in tag.attributes: + if 'value' in tag.attributes.keys(): return resolve_args(tag.attributes['value'].value, context) elif name in context['arg']: return context['arg'][name] - elif 'default' in tag.attributes: + elif 'default' in tag.attributes.keys(): return resolve_args(tag.attributes['default'].value, context) else: raise RoslaunchDepsException("No value for arg [%s]"%(name)) def _check_ifunless(tag, context): - if 'if' in tag.attributes: + if 'if' in tag.attributes.keys(): val = resolve_args(tag.attributes['if'].value, context) if not convert_value(val, 'bool'): return False - elif 'unless' in tag.attributes: + elif 'unless' in tag.attributes.keys(): val = resolve_args(tag.attributes['unless'].value, context) if convert_value(val, 'bool'): return False diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py index 3cf097a0f1e..119c056bb51 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/roslaunch_depends.py @@ -86,21 +86,21 @@ def __str__(self): def _get_arg_value(tag, context): name = tag.attributes['name'].value - if 'value' in tag.attributes: + if 'value' in tag.attributes.keys(): return resolve_args(tag.attributes['value'].value, context) elif name in context['arg']: return context['arg'][name] - elif 'default' in tag.attributes: + elif 'default' in tag.attributes.keys(): return resolve_args(tag.attributes['default'].value, context) else: raise RoslaunchDepsException("No value for arg [%s]"%(name)) def _check_ifunless(tag, context): - if 'if' in tag.attributes: + if 'if' in tag.attributes.keys(): val = resolve_args(tag.attributes['if'].value, context) if not convert_value(val, 'bool'): return False - elif 'unless' in tag.attributes: + elif 'unless' in tag.attributes.keys(): val = resolve_args(tag.attributes['unless'].value, context) if convert_value(val, 'bool'): return False diff --git a/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py b/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py index 3cf097a0f1e..119c056bb51 100644 --- a/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py +++ b/jsk_naoqi_robot/jsk_pepper_startup/script/roslaunch_depends.py @@ -86,21 +86,21 @@ def __str__(self): def _get_arg_value(tag, context): name = tag.attributes['name'].value - if 'value' in tag.attributes: + if 'value' in tag.attributes.keys(): return resolve_args(tag.attributes['value'].value, context) elif name in context['arg']: return context['arg'][name] - elif 'default' in tag.attributes: + elif 'default' in tag.attributes.keys(): return resolve_args(tag.attributes['default'].value, context) else: raise RoslaunchDepsException("No value for arg [%s]"%(name)) def _check_ifunless(tag, context): - if 'if' in tag.attributes: + if 'if' in tag.attributes.keys(): val = resolve_args(tag.attributes['if'].value, context) if not convert_value(val, 'bool'): return False - elif 'unless' in tag.attributes: + elif 'unless' in tag.attributes.keys(): val = resolve_args(tag.attributes['unless'].value, context) if convert_value(val, 'bool'): return False