Merge pull request #243 from fmessmer/test_noetic

fmessmer · web-flow · commit 67b06f57e4ef · 2020-10-21T18:28:32.000+02:00
test noetic
diff --git a/.travis.rosinstall.noetic b/.travis.rosinstall.noetic
@@ -0,0 +1,8 @@
+- git:
+    local-name: cob_command_tools
+    uri: https://github.com/ipa320/cob_command_tools.git
+    version: indigo_dev
+- git:
+    local-name: cob_driver
+    uri: https://github.com/ipa320/cob_driver.git
+    version: kinetic_dev
diff --git a/.travis.yml b/.travis.yml
@@ -13,14 +13,15 @@ env:
     - CATKIN_LINT_ARGS='--ignore description_boilerplate --ignore target_name_collision'
     - CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release
     - NOT_TEST_DOWNSTREAM=true
-    - PYLINT_ARGS="--output-format=parseable --errors-only --ignored-modules=catkin_pkg,pylab"
+    - PYLINT_ARGS="--output-format=parseable --errors-only --ignored-modules=catkin_pkg,pylab,setuptools"
     - PYLINT2_CHECK=true
     - PYLINT3_CHECK=true
     - ROS_REPO=ros
     - VERBOSE_OUTPUT=false
     - VERBOSE_TESTS=false
   matrix:
     - ROS_DISTRO=melodic
+    - ROS_DISTRO=noetic UPSTREAM_WORKSPACE='.travis.rosinstall.noetic -cob_command_tools/cob_command_gui -cob_command_tools/cob_command_tools' CATKIN_LINT_ARGS='--ignore description_boilerplate --ignore target_name_collision --ignore unknown_package' PYLINT2_CHECK=true PYLINT3_CHECK=false  # noetic is python3 only, i.e. only pylint command exists which is used as executable in PYLINT2_CHECK
 install:
   - git clone --quiet --depth 1 https://github.com/fmessmer/industrial_ci.git .industrial_ci -b master_pylint
 script:
diff --git a/cob_base_controller_utils/CMakeLists.txt b/cob_base_controller_utils/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_base_controller_utils)
 
 find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation nav_msgs roscpp std_msgs std_srvs tf tf2 urdf)
diff --git a/cob_base_velocity_smoother/CMakeLists.txt b/cob_base_velocity_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_base_velocity_smoother)
 
 find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure geometry_msgs nav_msgs roscpp roslint std_msgs)
diff --git a/cob_cartesian_controller/CMakeLists.txt b/cob_cartesian_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_cartesian_controller)
 
 find_package(catkin REQUIRED COMPONENTS actionlib actionlib_msgs cob_srvs geometry_msgs message_generation roscpp roslint std_msgs std_srvs tf visualization_msgs)
diff --git a/cob_cartesian_controller/package.xml b/cob_cartesian_controller/package.xml
@@ -1,4 +1,8 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>cob_cartesian_controller</name>
   <version>0.8.11</version>
   <description>
@@ -12,6 +16,8 @@
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>roslint</build_depend>
 
   <build_depend>message_generation</build_depend>
diff --git a/cob_cartesian_controller/setup.py b/cob_cartesian_controller/setup.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
-   ##  don't do this unless you want a globally visible script
-   # scripts=['bin/myscript'],
    packages=['simple_cartesian_interface'],
    package_dir={'': 'src'}
 )
diff --git a/cob_collision_velocity_filter/CMakeLists.txt b/cob_collision_velocity_filter/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_collision_velocity_filter)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/cob_control/CMakeLists.txt b/cob_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_control)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/cob_control_mode_adapter/CMakeLists.txt b/cob_control_mode_adapter/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_control_mode_adapter)
 
 find_package(catkin REQUIRED COMPONENTS controller_manager_msgs roscpp roslint std_msgs)
diff --git a/cob_control_msgs/CMakeLists.txt b/cob_control_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_control_msgs)
 find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation std_msgs)
 
diff --git a/cob_footprint_observer/CMakeLists.txt b/cob_footprint_observer/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_footprint_observer)
 
 find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation roscpp std_msgs tf)
diff --git a/cob_frame_tracker/CMakeLists.txt b/cob_frame_tracker/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_frame_tracker)
 
 find_package(catkin REQUIRED COMPONENTS actionlib actionlib_msgs cob_srvs control_toolbox dynamic_reconfigure geometry_msgs interactive_markers kdl_conversions kdl_parser message_generation roscpp roslint sensor_msgs std_msgs std_srvs tf visualization_msgs)
diff --git a/cob_frame_tracker/package.xml b/cob_frame_tracker/package.xml
@@ -1,4 +1,8 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>cob_frame_tracker</name>
   <version>0.8.11</version>
   <description>The cob_frame_tracker package contains nodes that publish Twist commands based on the distance to the desired tf frame target.</description>
@@ -23,7 +27,9 @@
   <depend>interactive_markers</depend>
   <depend>kdl_conversions</depend>
   <depend>kdl_parser</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl</depend>
   <depend>roscpp</depend>
   <depend>roslint</depend>
   <depend>sensor_msgs</depend>
diff --git a/cob_hardware_emulation/CMakeLists.txt b/cob_hardware_emulation/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_hardware_emulation)
 
 find_package(catkin REQUIRED COMPONENTS roscpp rosgraph_msgs)
diff --git a/cob_mecanum_controller/CMakeLists.txt b/cob_mecanum_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_mecanum_controller)
 
 add_compile_options(-std=c++11)
diff --git a/cob_model_identifier/CMakeLists.txt b/cob_model_identifier/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_model_identifier)
 
 find_package(catkin REQUIRED COMPONENTS cmake_modules geometry_msgs kdl_parser roscpp roslint sensor_msgs std_srvs tf)
diff --git a/cob_model_identifier/package.xml b/cob_model_identifier/package.xml
@@ -1,4 +1,8 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>cob_model_identifier</name>
   <version>0.8.11</version>
   <description>The cob_model_identifier package provides nodes to analyse the system response behavior of actuators to optimally tune PID controllers to be used with cob_twist_controller framework.</description>
@@ -14,7 +18,9 @@
   <depend>cmake_modules</depend>
   <depend>geometry_msgs</depend>
   <depend>kdl_parser</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl</depend>
   <depend>roscpp</depend>
   <depend>roslint</depend>
   <depend>sensor_msgs</depend>
diff --git a/cob_obstacle_distance/CMakeLists.txt b/cob_obstacle_distance/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_obstacle_distance)
 
 add_compile_options(-std=c++11)
diff --git a/cob_obstacle_distance/package.xml b/cob_obstacle_distance/package.xml
@@ -1,4 +1,8 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>cob_obstacle_distance</name>
   <version>0.8.11</version>
   <description>The cob_obstacle_distance package calculates distances between both robot links and obstacles to be used for obstacle avoidance within cob_twist_controller framework.</description>
@@ -22,7 +26,9 @@
   <depend>kdl_conversions</depend>
   <depend>kdl_parser</depend>
   <depend>moveit_msgs</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl</depend>
   <depend>pkg-config</depend>
   <depend>roscpp</depend>
   <depend>roslib</depend>
diff --git a/cob_omni_drive_controller/CMakeLists.txt b/cob_omni_drive_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_omni_drive_controller)
 
 find_package(catkin REQUIRED COMPONENTS angles cob_base_controller_utils controller_interface dynamic_reconfigure geometry_msgs hardware_interface nav_msgs pluginlib realtime_tools roscpp sensor_msgs std_msgs std_srvs tf tf2 urdf)
diff --git a/cob_trajectory_controller/CMakeLists.txt b/cob_trajectory_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_trajectory_controller)
 
 find_package(catkin REQUIRED COMPONENTS actionlib cob_srvs control_msgs dynamic_reconfigure roscpp sensor_msgs std_msgs std_srvs trajectory_msgs)
diff --git a/cob_tricycle_controller/CMakeLists.txt b/cob_tricycle_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_tricycle_controller)
 
 find_package(catkin REQUIRED COMPONENTS 
diff --git a/cob_twist_controller/CMakeLists.txt b/cob_twist_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(cob_twist_controller)
 
 find_package(catkin REQUIRED COMPONENTS cmake_modules cob_control_msgs cob_srvs dynamic_reconfigure eigen_conversions geometry_msgs kdl_conversions kdl_parser nav_msgs pluginlib roscpp roslint sensor_msgs std_msgs tf tf_conversions trajectory_msgs urdf visualization_msgs)
diff --git a/cob_twist_controller/package.xml b/cob_twist_controller/package.xml
@@ -1,4 +1,8 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>cob_twist_controller</name>
   <version>0.8.11</version>
   <description>
@@ -19,6 +23,8 @@
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>roslint</build_depend>
 
   <depend>boost</depend>
@@ -32,7 +38,9 @@
   <depend>kdl_conversions</depend>
   <depend>kdl_parser</depend>
   <depend>nav_msgs</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl</depend>
   <depend>pluginlib</depend>
   <depend>python-six</depend>
   <depend>roscpp</depend>
@@ -46,7 +54,8 @@
 
   <exec_depend>cob_frame_tracker</exec_depend>
   <exec_depend>cob_script_server</exec_depend>
-  <exec_depend>python-matplotlib</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-matplotlib</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-matplotlib</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>rviz</exec_depend>
diff --git a/cob_twist_controller/setup.py b/cob_twist_controller/setup.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
-   ##  don't do this unless you want a globally visible script
-   # scripts=['bin/myscript'],
    packages=['twist_controller_config', 'data_collection'],
    package_dir={'': 'src'}
 )

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-cmake_minimum_required(VERSION 2.8.3)`
	`1`	`+cmake_minimum_required(VERSION 3.0.2)`
`2`	`2`	`project(cob_base_controller_utils)`
`3`	`3`
`4`	`4`	`find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation nav_msgs roscpp std_msgs std_srvs tf tf2 urdf)`