Merge branch 'master' into fix-failure-recovery-sample

.github/workflows/config.yml

@@ -0,0 +1,81 @@
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  DISPLAY: ':0.0'
+
+jobs:
+  ros:
+    runs-on: ubuntu-latest
+    continue-on-error: false
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04
+            NOT_TEST_INSTALL: true
+          - ROS_DISTRO: kinetic
+            CONTAINER: jskrobotics/ros-ubuntu:16.04
+          - ROS_DISTRO: melodic
+            CONTAINER: jskrobotics/ros-ubuntu:18.04
+          - ROS_DISTRO: noetic
+            CONTAINER: jskrobotics/ros-ubuntu:20.04
+
+    container: ${{ matrix.CONTAINER }}
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu )
+        run: |
+          [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update
+          sudo apt-get install -y software-properties-common
+          sudo apt-get update
+          sudo -E add-apt-repository -y ppa:git-core/ppa
+          sudo apt-get update
+          sudo apt-get install -y git
+
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          export USER=$(whoami)
+          sudo chown -R $USER $GITHUB_WORKSPACE
+          git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
+          sudo mkdir -p /__w/
+          sudo chmod 777 -R /__w/
+          sudo chown -R $USER $HOME
+          # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
+          # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
+          # ls -al /home/runner/work/_temp/_github_workflow/
+
+      - name: Chcekout
+        uses: actions/[email protected]
+
+      - name: Start X server
+        run: |
+          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
+          echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
+          sudo 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
+          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
+        shell: bash
+
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_PARALLEL_JOBS : "-j8"
+          CATKIN_PARALLEL_JOBS : "-p8"
+          ROS_PARALLEL_TEST_JOBS : "-j1"
+          CATKIN_PARALLEL_TEST_JOBS : "-p1"
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          USE_DEB :  ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
+          TEST_PKGS : ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}

.github/workflows/python2.yml

@@ -0,0 +1,18 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_python2
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python2
+        run: |
+          apt update -q && apt install -y -q python2
+          python2 -m compileall .

.github/workflows/python3.yml

@@ -0,0 +1,22 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, 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: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+      - 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 . > /dev/null; echo Exitting with \$ret; exit \$ret"

.travis.yml

@@ -1,15 +1,23 @@
+sudo: true
+dist: bionic
 language: generic
 notifications:
   email:
     on_success: always
     on_failure: always
   slack: jsk-robotics:Av7tc8wj3IWkLYvlTzHE7x2g
+addons:
+  apt:
+    packages:
+      - 2to3
 services:
   - docker
 env:
   global:
     - USE_DOCKER=true
   matrix:
+    - CHECK_PYTHON3_COMPILE=true
+    - CHECK_PYTHON2_COMPILE=true
     - ROS_DISTRO=hydro   USE_DEB=false
     - ROS_DISTRO=indigo  USE_DEB=true
     - ROS_DISTRO=jade    USE_DEB=true
@@ -21,4 +29,7 @@ matrix:
     - env: ROS_DISTRO=hydro   USE_DEB=false
     - env: ROS_DISTRO=indigo  USE_DEB=true
     - env: ROS_DISTRO=jade    USE_DEB=true
-script: source .travis/travis.sh
+script:
+  - if [ "${CHECK_PYTHON2_COMPILE}" == "true" ]; then python2 -m compileall .; exit $?; fi
+  - if [ "${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

pddl/pddl_planner/CMakeLists.txt

@@ -14,4 +14,14 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/test-simple-failure-torelant.test)
   add_rostest(test/test-sample-pddl.test)
   add_rostest(test/test-durative-two-robot-tablecloth.test)
+  add_rostest(test/2008_okada_ias.test)
+  add_rostest(test/2011_kakiuchi.test)
+  add_rostest(test/2011_saito_knock_door.test)
+  add_rostest(test/2011_saito_simple.test)
+  add_rostest(test/2013_fridge_demo.test)
+  ## add_rostest(test/2016_kamada_durative.test) ## this requries lpg_planner, which is needs source install
+  add_rostest(test/demos_hanoi.test)
+  add_rostest(test/search_object.test)
+  add_rostest(test/simple_failure_torelant.test)
+  add_rostest(test/simple_metric.test)
 endif()

pddl/pddl_planner/demos/2008_okada_ias/demo_pour_tea.launch

@@ -1,7 +1,10 @@
 <launch>
+  <arg name="display_graph" default="true" />
+  <arg name="launch_prefix" default="" />
   <include file="$(find pddl_planner)/launch/pddl_ffha.launch" />
   <node pkg="pddl_planner" name="demo_pour_tea"
+        launch-prefix="$(arg launch_prefix)"
         type="solve-pour-tea.l" >
-    <param name="display_graph" value="true" />
+    <param name="display_graph" value="$(arg display_graph)" />
   </node>
 </launch>

pddl/pddl_planner/demos/2008_okada_ias/solve-pour-tea.l

@@ -1,5 +1,7 @@
 #!/usr/bin/env roseus
 
+(setq *exit-on-end* (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7)))
+
 (load "package://pddl_planner/src/pddl-result-graph.l")
 (load "package://pddl_planner/src/eus-pddl-client.l")
 
@@ -122,7 +124,6 @@
 (send gr :write-to-pdf "okada_ias.pdf")
 
 (when (ros::get-param "~display_graph" "true")
-  (piped-fork "gnome-open okada_ias.pdf"))
+  (piped-fork "xdg-open okada_ias.pdf"))
 
-(when (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7))
-  (ros::exit))
+(if *exit-on-end* (ros::exit))

pddl/pddl_planner/demos/2011_kakiuchi/demo_cleanup_table.launch

@@ -1,7 +1,8 @@
 <launch>
+  <arg name="display_graph" default="true" />
   <include file="$(find pddl_planner)/launch/pddl_ffha.launch" />
   <node pkg="pddl_planner" name="demo_pour_tea"
         type="solve-cleanup-table.l" >
-    <param name="display_graph" value="true" />
+    <param name="display_graph" value="$(arg display_graph)" />
   </node>
 </launch>

pddl/pddl_planner/demos/2011_kakiuchi/solve-cleanup-table.l

@@ -174,7 +174,7 @@
 (send *graph* :write-to-pdf "kakiuchi_robomec.pdf")
 
 (when (ros::get-param "~display_graph")
-  (piped-fork "gnome-open kakiuchi_robomec.pdf"))
+  (piped-fork "xdg-open kakiuchi_robomec.pdf"))
 
 (when (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7))
   (ros::exit))

pddl/pddl_planner/demos/2011_saito/demo-knock-door.launch

@@ -1,8 +1,11 @@
 <launch>
+  <arg name="display_graph" default="true" />
+  <arg name="launch_prefix" default="" />
   <include file="$(find pddl_planner)/launch/pddl_ffha.launch" />
   <node pkg="smach_viewer" name="smach_viewer" type="smach_viewer.py"/>
   <node pkg="pddl_planner" name="demo_knock_door"
+        launch-prefix="$(arg launch_prefix)"
         type="solve-knock-door.l" output="screen">
-    <param name="display_graph" value="true" />
+    <param name="display_graph" value="$(arg display_graph)" />
   </node>
 </launch>

pddl/pddl_planner/demos/2011_saito/demo-simple-task.launch

@@ -1,8 +1,9 @@
 <launch>
+  <arg name="display_graph" default="true" />
   <include file="$(find pddl_planner)/launch/pddl_ffha.launch" />
   <node pkg="smach_viewer" name="smach_viewer" type="smach_viewer.py"/>
   <node pkg="pddl_planner" name="demo_knock_door"
         type="solve-simple-task.l" output="screen">
-    <param name="display_graph" value="true" />
+    <param name="display_graph" value="$(arg display_graph)" />
   </node>
 </launch>

pddl/pddl_planner/demos/2011_saito/demo-taking-elevator.launch

@@ -1,7 +1,8 @@
 <launch>
+  <arg name="display_graph" default="true" />
   <include file="$(find pddl_planner)/launch/pddl_ffha.launch" />
   <node pkg="pddl_planner" name="demo_take_elevatpr"
         type="solve-taking-elevator.l" >
-    <param name="display_graph" value="true" />
+    <param name="display_graph" value="$(arg display_graph)" />
   </node>
 </launch>

pddl/pddl_planner/demos/2011_saito/solve-knock-door.l

@@ -1,5 +1,7 @@
 #!/usr/bin/env roseus
 
+(setq *exit-on-end* (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7)))
+
 (load "package://pddl_planner/src/pddl-result-graph.l")
 (load "package://pddl_planner/src/eus-pddl-client.l")
 
@@ -184,9 +186,9 @@
 
 (send *graph* :name (send *domain* :name))
 
-;(send *graph* :write-to-pdf "knock_demo.pdf")
-;(when (ros::get-param "~display_graph")
-;  (piped-fork "gnome-open knock_demo.pdf"))
+(send *graph* :write-to-pdf "knock_demo.pdf")
+(when (ros::get-param "~display_graph")
+  (piped-fork "xdg-open knock_demo.pdf"))
 
 ;; action definition
 ;; domain -> package
@@ -218,5 +220,4 @@
 ;; global data is not used (nil)
 (exec-smach-with-spin (convert-smach *graph*) nil :hz 1.0)
 
-(when (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7))
-  (ros::exit))
+(if *exit-on-end* (ros::exit))

pddl/pddl_planner/demos/2011_saito/solve-simple-task.l

@@ -133,7 +133,7 @@
 
 (send *graph* :write-to-pdf "knock_demo.pdf")
 (when (ros::get-param "~display_graph")
-  (piped-fork "gnome-open knock_demo.pdf"))
+  (piped-fork "xdg-open knock_demo.pdf"))
 
 ;; action definition
 ;; domain -> package

pddl/pddl_planner/demos/2011_saito/solve-taking-elevator.l

@@ -148,7 +148,7 @@
 (send *graph* :write-to-pdf "knock_demo.pdf")
 
 (when (ros::get-param "~display_graph")
-  (piped-fork "gnome-open knock_demo.pdf")
+  (piped-fork "xdg-open knock_demo.pdf")
 
 (when (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7))
   (ros::exit))

pddl/pddl_planner/demos/2013_fridge_demo/demo_bring_can.launch

@@ -1,8 +1,11 @@
 <launch>
+  <arg name="display_graph" default="true" />
+  <arg name="launch_prefix" default="" />
   <include file="$(find pddl_planner)/launch/pddl_ffha.launch" />
   <node pkg="pddl_planner" name="demo_bring_can"
+        launch-prefix="$(arg launch_prefix)"
         type="solve-bring-can.l" >
-    <param name="display_graph" value="true" />
+    <param name="display_graph" value="$(arg display_graph)" />
   </node>
   <node pkg="smach_viewer" name="smach_viewer"
         type="smach_viewer.py" />

pddl/pddl_planner/demos/2013_fridge_demo/solve-bring-can.l

@@ -1,5 +1,7 @@
 #!/usr/bin/env roseus
 
+(setq *exit-on-end* (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7)))
+
 (require :eus-pddl-client "package://pddl_planner/src/eus-pddl-client.l")
 (require :pddl-result-graph "package://pddl_planner/src/pddl-result-graph.l")
 
@@ -151,7 +153,8 @@
 
 (when (and (ros::has-param "~display_graph")
            (ros::get-param "~display_graph"))
-  ;;(piped-fork "gnome-open debug.pdf")
+
+  (piped-fork "xdg-open debug.pdf")
   (load "package://roseus_smach/src/pddl2smach.l")
   (load "package://roseus_smach/src/state-machine-ros.l")
 
@@ -161,5 +164,4 @@
   (send *sm-inspect* :reset-state)
  )
 
-(when (string= "__log:=" (subseq (car (last lisp::*eustop-argument*)) 0 7))
-  (ros::exit))
+(if *exit-on-end* (ros::exit))

pddl/pddl_planner/demos/2016_kamada_durative/demo.launch

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="display_graph" default="true" />
   <node pkg="pddl_planner"
         type="pddl.py"
         name="pddl_planner"
@@ -8,4 +9,9 @@
     <param name="pddl_search_option"
            value="-n 3 -out result -restarts 8 -nobestfirst -search_steps 500 -i_choice 2" />
   </node>
+  <node pkg="roseus" name="durative_action_demo"
+        type="roseus" output="screen"
+        args="$(find pddl_planner)/demos/2016_kamada_durative/demo.l (demo)" >
+    <param name="display_graph" value="$(arg display_graph)" />
+  </node>
 </launch>

pddl/pddl_planner/demos/2016_kamada_durative/example.launch

@@ -1,4 +1,6 @@
 <launch>
+  <arg name="display_graph" default="true" />
+  <arg name="roseus_command" default="'(progn (demo)(exit))'" />
   <node pkg="pddl_planner"
         type="pddl.py"
         name="pddl_planner"
@@ -8,4 +10,9 @@
     <param name="pddl_search_option"
            value="-n 1 -out result -restarts 8 -nobestfirst -search_steps 500 -i_choice 2" />
   </node>
+  <node pkg="roseus" name="durative_action_demo"
+        type="roseus" output="screen"
+        args="$(find pddl_planner)/demos/2016_kamada_durative/example.l $(arg roseus_command)" >
+    <param name="display_graph" value="$(arg display_graph)" />
+  </node>
 </launch>

pddl/pddl_planner/demos/2016_kamada_durative/tools.l

@@ -160,10 +160,11 @@
     (unix:system (format nil "dot ~A -Tpdf -o ~A" ".verbose.dot" ".verbose.pdf"))
     (unix:system (format nil "dot ~A -Tpdf -o ~A" ".verbose_separated.dot" ".verbose_separated.pdf"))
     (unix:system (format nil "dot ~A -Tpdf -o ~A" ".inter_robot_relationship.dot" ".inter_robot_relationship.pdf"))
-    (piped-fork "gnome-open .normal.pdf")
-    (piped-fork "gnome-open .normal_separated.pdf")
-    (piped-fork "gnome-open .verbose.pdf")
-    (piped-fork "gnome-open .verbose_separated.pdf")
-    (piped-fork "gnome-open .inter_robot_relationship.pdf")
+    (when (ros::get-param "~display_graph")
+      (piped-fork "xdg-open .normal.pdf")
+      (piped-fork "xdg-open .normal_separated.pdf")
+      (piped-fork "xdg-open .verbose.pdf")
+      (piped-fork "xdg-open .verbose_separated.pdf")
+      (piped-fork "xdg-open .inter_robot_relationship.pdf")
     ))
   )