merge

.travis.rosinstall.kinetic

@@ -0,0 +1,8 @@
+- git:
+    uri: https://github.com/tork-a/openhrp3-release
+    version: release/kinetic/openhrp3
+    local-name: openhrp3
+- git:
+    uri: https://github.com/tork-a/hrpsys-release
+    version: release/kinetic/hrpsys
+    local-name: hrpsys

.travis.rosinstall.melodic

@@ -0,0 +1,17 @@
+- git:
+    uri: https://github.com/tork-a/openhrp3-release
+    version: release/kinetic/openhrp3
+    local-name: openhrp3
+- git:
+    uri: https://github.com/fkanehiro/hrpsys-base
+    version: master
+    local-name: hrpsys
+- git:
+    uri: https://github.com/tork-a/rtshell-release
+    local-name: rtshell
+- git:
+    uri: https://github.com/tork-a/rtsprofile-release
+    local-name: rtsprofile
+- git:
+    uri: https://github.com/tork-a/rtctree-release
+    local-name: rtctree

.travis.yml

@@ -28,18 +28,17 @@ env:
     - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=false   NOT_TEST_INSTALL=true
     - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true    EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" CATKIN_PARALLEL_JOBS='-p4' NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
     - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-    - USE_TRAVIS=true ROS_DISTRO=jade   USE_DEB=true
     - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
     - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=jade EXTRA_DEB="ros-jade-roslint"
-    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=jade EXTRA_DEB="ros-jade-roslint"
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true  EXTRA_DEB="ros-hydro-pr2eus"
     - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true
+    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
+    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=true
+    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
 matrix:
   allow_failures:
   - env: USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true    EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" CATKIN_PARALLEL_JOBS='-p4' NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-  - env: USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=jade EXTRA_DEB="ros-jade-roslint"
-  - env: USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=jade EXTRA_DEB="ros-jade-roslint"
+  - env: USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=true
 notifications:
   email:
     recipients:

.travis_test.sh

@@ -25,6 +25,7 @@ echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
 sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update -qq
+sudo apt-get install -y --force-yes -q -qq dpkg # https://github.com/travis-ci/travis-ci/issues/9361#issuecomment-408431262 dpkg-deb: error: archive has premature member 'control.tar.xz' before 'control.tar.gz' #9361
 sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-rosbash
 
 if [ "$EXTRA_DEB" ]; then sudo apt-get install -qq -y $EXTRA_DEB;  fi

hrpsys_tools/test/test-pa10.py

@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+
+import rostest, unittest, sys, os
+
+import time
+#time.sleep(10) # wait for launch
+
+vars(__builtins__).update({'__IPYTHON__': "fake python as ipython to not to drop in shell"})
+class TestInteractive(unittest.TestCase):
+    def test(self):
+        local_dict = locals() # https://stackoverflow.com/questions/34780235/pythons-execfile-variable-scope-issue
+        execfile(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../scripts", "hrpsys_tools_config.py"), globals(), local_dict)
+        hcf = local_dict['hcf']
+        hcf.setJointAngles([10,10,10,10,10,10,10,10,10], 1)
+        print hcf.getJointAngles()
+        self.assertTrue("OK")
+
+if __name__ == '__main__':
+    rostest.rosrun("hrpsys_tools", "test_interactive", TestInteractive, sys.argv)

hrpsys_tools/test/test-pa10.test

@@ -15,7 +15,7 @@
 
   <!-- need time.sleep(1): need this code for waiting for all component in serialization is actually activated.... -->
   <test test-name="hrpsys_tool_config_interactive" pkg="hrpsys_tools"
-        type="hrpsys_tools_config.py" args='--host 127.0.0.1 --port 2809 -i PA10Controller\(Robot\)0 -c "import rostest, unittest" "import time" "time.sleep(10)" "hcf.setJointAngles([10,10,10,10,10,10,10,10,10], 1)" "print hcf.getJointAngles()" "rostest.rosrun(\"hrpsys_tools\", \"test_interactive\", unittest.TestCase)" "quit()"'
-        retry="4" />
+        type="test-pa10.py" args='--host 127.0.0.1 --port 2809 -i PA10Controller\(Robot\)0 -i'
+        retry="10" />
 
-</launch>
+</launch>

rtmbuild/cmake/rtmbuild.cmake

@@ -67,6 +67,10 @@ macro(rtmbuild_init)
     pkg_check_modules(rtmbuild rtmbuild REQUIRED)
     set(idl2srv_EXECUTABLE ${rtmbuild_PREFIX}/share/rtmbuild/scripts/idl2srv.py)
   endif()
+  # on melodic (18.04) omnniorb requries python3
+  if($ENV{ROS_DISTRO} STRGREATER "lunar")
+    set(idl2srv_EXECUTABLE "python3;${idl2srv_EXECUTABLE}")
+  endif()
   message("[rtmbuild_init] - idl2srv_EXECUTABLE     -> ${idl2srv_EXECUTABLE}")
 
   execute_process(COMMAND pkg-config openrtm-aist --variable=prefix      OUTPUT_VARIABLE rtm_prefix    OUTPUT_STRIP_TRAILING_WHITESPACE)
@@ -133,10 +137,15 @@ macro(rtmbuild_init)
     rosbuild_gensrv()
   endif()
 
-  # include_directories(${catkin_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${openhrp3_INCLUDE_DIRS})
-  # link_directories(${catkin_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${openhrp3_LIBRARY_DIRS})
-  include_directories( ${openhrp3_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
-  link_directories(  ${openhrp3_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})
+  include_directories(${catkin_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${openhrp3_INCLUDE_DIRS})
+  # since catkin > 0.7.0, the CPATH is no longer being set by catkin, so rtmbuild manually add them
+  set(_cmake_prefix_path_tmp $ENV{CMAKE_PREFIX_PATH})
+  string(REPLACE ":" ";" _cmake_prefix_path_tmp ${_cmake_prefix_path_tmp})
+  foreach(_cmake_prefix_path ${_cmake_prefix_path_tmp})
+    include_directories(${_cmake_prefix_path}/include)
+  endforeach()
+
+  link_directories(${catkin_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${openhrp3_LIBRARY_DIRS})
 
 endmacro(rtmbuild_init)
 
@@ -290,6 +299,14 @@ macro(rtmbuild_add_executable exe)
   else()
     rosbuild_add_executable(${ARGV})
   endif()
+  ## disable -Wdeprecated to shorten the log data
+  ## ^~~~~
+  ## /opt/ros/melodic/include/openrtm-1.1/rtm/PeriodicExecutionContext.h:633:7: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
+  ## throw (CORBA::SystemException);
+  ## ^~~~~
+  ## The job exceeded the maximum log length, and has been terminated.
+  set_target_properties(${exe} PROPERTIES COMPILE_FLAGS "-Wno-deprecated")
+  ##
   add_dependencies(${exe} RTMBUILD_${PROJECT_NAME}_genbridge ${${_package}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
   #target_link_libraries(${exe} ${catkin_LIBRARIES} ${openrtm_aist_LIBRARIES} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS} )
   target_link_libraries(${exe} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS} ${openrtm_aist_LIBRARIES} ${catkin_LIBRARIES}  )

rtmbuild/scripts/idl2srv.py

@@ -1,8 +1,13 @@
 #!/usr/bin/env python
 
+from __future__ import print_function
+
 from optparse import OptionParser
 import os, os.path, sys, string, re
 
+if sys.version_info[0] >= 3:
+    from functools import reduce # python3
+
 # resolve library path, copied from omniidl (ubuntu 11.10)
 # Try a path based on the installation prefix, customised for Debian
 sppath = "/usr/lib/omniidl"
@@ -283,15 +288,15 @@ def outputMsg(self, typ):
         msgfile = basedir + "/msg/" + self.getCppTypeText(typ,full=ROS_FULL) + ".msg"
         if not os.path.exists(basedir):
             return
-        print msgfile
+        print(msgfile)
         if options.filenames:
             return
 
         if os.path.exists(msgfile) and (os.stat(msgfile).st_mtime > os.stat(idlfile).st_mtime) and not options.overwrite:
             return # do not overwrite
 
         os.system('mkdir -p %s/msg' % basedir)
-        print >>sys.stderr,"[idl2srv] writing "+msgfile+"...."
+        print("[idl2srv] writing "+msgfile+"....", file=sys.stderr)
         fd = open(msgfile, 'w')
         if isinstance(typ, idlast.Enum):
             for val in typ.enumerators():
@@ -311,7 +316,7 @@ def outputSrv(self, op):
         srvfile = basedir + "/srv/" + self.getCppTypeText(op,full=ROS_FULL) + ".srv"
         if not os.path.exists(basedir):
             return
-        print srvfile
+        print(srvfile)
         if options.filenames:
             return
 
@@ -320,7 +325,7 @@ def outputSrv(self, op):
         os.system('mkdir -p %s/srv' % basedir)
         args = op.parameters()
 
-        print >>sys.stderr, "[idl2srv] writing "+srvfile+"...."
+        print("[idl2srv] writing "+srvfile+"....", file=sys.stderr)
         fd = open(srvfile, 'w')
         for arg in [arg for arg in args if arg.is_in()]:
             fd.write("%s %s\n" % (self.getROSTypeText(arg.paramType()), arg.identifier()))
@@ -468,9 +473,9 @@ def genBridgeComponent(self, interface):
         Comp_cpp = wd + '/' + module_name + 'Comp.cpp'
         mod_cpp = wd + '/' + module_name + '.cpp'
         mod_h = wd + '/' + module_name + '.h'
-        print Comp_cpp
-        print mod_cpp
-        print mod_h
+        print(Comp_cpp)
+        print(mod_cpp)
+        print(mod_h)
         if options.filenames:
             return
 
@@ -480,8 +485,13 @@ def genBridgeComponent(self, interface):
         # check if rtc-template exists under `rospack find openrtm_aist`/bin, otherwise use openrtm_aist_PREFIX/lib/openrtm_aist/bin
         from subprocess import check_output, Popen, PIPE
         openrtm_path = Popen(['rospack','find','openrtm_aist'], stdout=PIPE).communicate()[0].rstrip() # use Popen, not check_output, since catkin_make can not found rospack find
+        if not isinstance(openrtm_path, str):
+            openrtm_path = openrtm_path.decode('ascii')
         if not os.path.exists(os.path.join(openrtm_path, "bin")) :
-            openrtm_path = os.path.join(check_output(['pkg-config','openrtm-aist','--variable=prefix']).rstrip(),"lib/openrtm_aist")
+            openrtm_prefix = check_output(['pkg-config','openrtm-aist','--variable=prefix']).rstrip()
+            if not isinstance(openrtm_prefix, str):
+                openrtm_prefix = openrtm_prefix.decode('ascii')
+            openrtm_path = os.path.join(openrtm_prefix,"lib/openrtm_aist")
         command = "PATH=%s/bin:$PATH rtc-template -bcxx --module-name=%s --consumer=%s:service0:'%s' --consumer-idl=%s --idl-include=%s" % (openrtm_path, module_name, service_name, service_name, idlfile, idldir)
         #command = "rosrun openrtm_aist rtc-template -bcxx --module-name=%s --consumer=%s:service0:'%s' --consumer-idl=%s --idl-include=%s" % (module_name, service_name, service_name, idlfile, idldir)
         os.system("mkdir -p %s" % tmpdir)
@@ -645,7 +655,7 @@ def visitModule(self, node):
             n.accept(self)
     def visitInterface(self, node):
         if node.mainFile():
-            print node.identifier()
+            print(node.identifier())
             if options.interfaces:
                 pass