Noetic devel

.Dockerfile

@@ -1,12 +1,12 @@
 # ROSPlan docker image
-FROM ros:melodic
+FROM ros:noetic
 
 SHELL ["/bin/bash", "-c"]
 WORKDIR /root/ws
 
 
 # install dependencies
-RUN apt update -qq && apt install python-catkin-tools git vim bash-completion -y -qq
+RUN apt update -qq && apt install python3-catkin-tools python3-osrf-pycommon git vim bash-completion -y -qq
 
 # Create WS
 RUN source /opt/ros/$ROS_DISTRO/setup.bash &&\
@@ -35,4 +35,4 @@ RUN catkin build --summarize --no-status
 
 # Prepare workspace for runtime. Set the prompt to be colored
 RUN echo -e "source /opt/ros/$ROS_DISTRO/setup.bash\nsource devel/setup.bash" >> ~/.bashrc &&\
-    sed -i s/^#force_color_prompt/force_color_prompt/g ~/.bashrc
+    sed -i s/^#force_color_prompt/force_color_prompt/g ~/.bashrc

.github/workflows/build.yml

@@ -7,20 +7,20 @@ on:
     branches-ignore: gh-pages
 
 env:
-  ROS_VERSION: melodic
+  ROS_VERSION: noetic
 jobs:
   build:
     runs-on: ubuntu-latest    
     container:
-      image: ros:melodic
+      image: ros:noetic
     steps:
       - name: Prepare docker
         run: |
           # Install newer git from ppa to prevent https://github.com/actions/checkout/issues/126
           APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=true apt-key adv --keyserver keyserver.ubuntu.com --recv-key E1DD270288B4E6030699E45FA1715D88E1DF1F24 2>&1
           echo "deb http://ppa.launchpad.net/git-core/ppa/ubuntu bionic main" | tee /etc/apt/sources.list.d/git.list 
           sudo apt update -qq
-          sudo apt install python-catkin-tools git -y -qq
+          sudo apt install python3-catkin-tools python3-osrf-pycommon git -y -qq
       - name: Create ROS workspace
         run: |
           source /opt/ros/$ROS_VERSION/setup.bash

.github/workflows/test.yml

@@ -3,19 +3,19 @@ name: test
 on: [push, pull_request]
 
 env:
-  ROS_VERSION: melodic
+  ROS_VERSION: noetic
 jobs:
   build-and-test:
     runs-on: ubuntu-latest    
-    container: ros:melodic
+    container: ros:noetic
     steps:
       - name: Prepare docker
         run: |
           # Install newer git from ppa to prevent https://github.com/actions/checkout/issues/126
           APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=true apt-key adv --keyserver keyserver.ubuntu.com --recv-key E1DD270288B4E6030699E45FA1715D88E1DF1F24 2>&1
           echo "deb http://ppa.launchpad.net/git-core/ppa/ubuntu bionic main" | tee /etc/apt/sources.list.d/git.list 
           sudo apt update -qq
-          sudo apt install python-catkin-tools git -y -qq
+          sudo apt install python3-catkin-tools python3-osrf-pycommon git -y -qq
       - name: Create ROS workspace
         run: |
           source /opt/ros/$ROS_VERSION/setup.bash

README.md

@@ -15,11 +15,11 @@ Several demos are available in the [rosplan_demos repository](https://github.com
 
 ## Installation
 
-ROSPlan supports kinetic and melodic ROS distributions and is developed under Ubuntu 16.04 / 18.04, being linux Ubuntu 18.04 + melodic the recommended setup.
+ROSPlan supports by default noetic ROS1 distribution and is developed under Ubuntu 20.04.
 
 Install dependencies:
 ```sh
-sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet
+sudo apt install flex bison freeglut3-dev libbdd-dev python3-osrf-pycommon python3-catkin-tools
 ```
 
 Select or create a [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace):

rosplan_dependencies/CMakeLists.txt

@@ -50,7 +50,7 @@ if (LBITS EQUAL 64)
 else()
     SET (RDDL_CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -m32")
 endif(LBITS EQUAL 64)
-SET (RDDL_CMAKE_CXX_FLAGS "${RDDL_CMAKE_CXX_FLAGS} -g -Wall -W -Wno-sign-compare -Wno-deprecated -ansi -pedantic -Werror -std=c++11 -O3 -DNDEBUG -fomit-frame-pointer")
+SET (RDDL_CMAKE_CXX_FLAGS "${RDDL_CMAKE_CXX_FLAGS} -g -Wall -W -Wno-sign-compare -Wno-deprecated -ansi -pedantic -Werror -std=c++11 -O3 -DNDEBUG -fomit-frame-pointer -Wno-error=deprecated-copy")
 
 # Lexer and parser
 find_package(BISON 3.0.4 REQUIRED)
@@ -281,4 +281,4 @@ install(DIRECTORY ippc_server/include/ ippc_server/cpp-base64/
 
 
 ########################################################################################################################
-########################################################################################################################
+########################################################################################################################

rosplan_rqt/package.xml

@@ -1,21 +1,21 @@
 <?xml version="1.0"?>
 <package>
-	<name>rosplan_rqt</name>
-	<version>0.0.0</version>
-	<description>The rosplan_rqt package</description>
-	<maintainer email="[email protected]">michael</maintainer>
-	<license>BSD</license>
-	<url type="website">https://github.com/KCL-Planning/ROSPlan</url>
+    <name>rosplan_rqt</name>
+    <version>0.0.0</version>
+    <description>The rosplan_rqt package</description>
+    <maintainer email="[email protected]">michael</maintainer>
+    <license>BSD</license>
+    <url type="website">https://github.com/KCL-Planning/ROSPlan</url>
 
-	<buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>catkin</buildtool_depend>
 
-	<run_depend>python-rospkg</run_depend>
-	<run_depend>rqt_gui</run_depend>
-	<run_depend>rqt_gui_py</run_depend>
-	<run_depend>std_msgs</run_depend>
-	<run_depend>rqt_graph</run_depend>
+    <run_depend>python3-rospkg</run_depend>
+    <run_depend>rqt_gui</run_depend>
+    <run_depend>rqt_gui_py</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>rqt_graph</run_depend>
 
-	<export>
-		<rqt_gui plugin="${prefix}/plugin.xml"/>
-	</export>
+    <export>
+        <rqt_gui plugin="${prefix}/plugin.xml"/>
+    </export>
 </package>

rosplan_rqt/scripts/esterel_plan_viewer.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import sys
 

rosplan_rqt/src/rosplan_rqt/ROSPlanActionDispatcher.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
 import rospy
@@ -51,8 +51,8 @@ def __init__(self, plugin=None):
                     label_list.append(param.key)
                 self._parameter_type_list[op.name] = param_list
                 self._parameter_label_list[op.name] = label_list
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
         self._handle_operator_name_changed(0)
 
         # connect components

rosplan_rqt/src/rosplan_rqt/ROSPlanDispatcher.py

@@ -1,12 +1,11 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
 import rospy
 import rospkg
 import sys
 
 from itertools import product
-from string import join, split
 
 from std_msgs.msg import *
 from diagnostic_msgs.msg import KeyValue
@@ -61,8 +60,8 @@ def __init__(self, plugin=None):
                     label_list.append(param.key)
                 self._predicate_param_type_list[pred.name] = param_list
                 self._predicate_param_label_list[pred.name] = label_list
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
 
         self._handle_goal_name_changed(0)
         self._handle_fact_name_changed(0)
@@ -75,8 +74,8 @@ def __init__(self, plugin=None):
             for typename in resp.types:
                 self.typeComboBox.addItem(typename)
                 self._type_list.append(typename)
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
 
         # connect components
         self.planButton.clicked[bool].connect(self._handle_plan_clicked)
@@ -144,8 +143,8 @@ def refresh_model(self):
                 self._goal_list[goalText] = goal
                 if goalText in selected_list:
                     item.setSelected(True)
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
         # facts and functions
         rospy.wait_for_service('rosplan_knowledge_base/state/propositions')
         selected_list = []
@@ -171,8 +170,8 @@ def refresh_model(self):
                 self._fact_list[attributeText] = attribute
                 if attributeText in selected_list:
                     item.setSelected(True)
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
         # instances
         expanded_list = []
         root = self.instanceView.invisibleRootItem()
@@ -276,11 +275,13 @@ def _handle_predicate_name_change(self, predName, combo):
                 predicates_client = rospy.ServiceProxy('rosplan_knowledge_base/state/instances', GetInstanceService)
                 resp = predicates_client(param_type)
                 parameters.append(resp.instances)
-            except rospy.ServiceException, e:
-                print "Service call failed: %s"%e
+            except rospy.ServiceException as e:
+                rospy.logerr(f'Service call failed: {e}')
         for element in product(*parameters):
-            pred = join(element, ' ')
-            combo.addItem(pred)
+            pred = ''
+            for single_element in element:
+                pred += f'{single_element} '
+            combo.addItem(pred[:-1])
 
     def _handle_goal_name_changed(self, index):
         self._handle_predicate_name_change(self.goalNameComboBox.itemText(index), self.goalComboBox)
@@ -299,15 +300,15 @@ def _handle_add_button_clicked(self, updateType, predName, combo):
             knowledge.knowledge_type = KnowledgeItem.FACT
             knowledge.attribute_name = predName
             index = 0
-            for param in split(combo.currentText()):
+            for param in str.split(combo.currentText()):
                 pair = KeyValue()
                 pair.key = (self._predicate_param_label_list[knowledge.attribute_name])[index]
                 index = index + 1
                 pair.value = param
                 knowledge.values.append(pair)
             resp = update_client(updateType, knowledge)
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
 
     def _handle_add_goal_clicked(self, data):
         self._handle_add_button_clicked(KnowledgeUpdateServiceRequest.ADD_GOAL, self.goalNameComboBox.currentText(), self.goalComboBox)
@@ -326,8 +327,8 @@ def _handle_remove_button_clicked(self, updateType, removeNameList, removeMsgLis
             try:
                 update_client = rospy.ServiceProxy('rosplan_knowledge_base/update', KnowledgeUpdateService)
                 resp = update_client(updateType, removeMsgList[item.text()])
-            except rospy.ServiceException, e:
-                print "Service call failed: %s"%e
+            except rospy.ServiceException as e:
+                rospy.logerr(f'Service call failed: {e}')
         self.refresh_model()
 
     def _handle_remove_goal_clicked(self, checked):
@@ -352,8 +353,8 @@ def _handle_add_instance_clicked(self, checked):
             knowledge.instance_type = self.typeComboBox.currentText()
             knowledge.instance_name = self.instanceNameEdit.text()
             resp = update_client(KnowledgeUpdateServiceRequest.ADD_KNOWLEDGE, knowledge)
-        except rospy.ServiceException, e:
-            print "Service call failed: %s"%e
+        except rospy.ServiceException as e:
+            rospy.logerr(f'Service call failed: {e}')
         self.refresh_model()
 
     """

rosplan_rqt/src/rosplan_rqt/ROSPlanEsterelPlanViewer.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
 import rospy

rosplan_rqt/src/rosplan_rqt/ROSPlanProblemViewer.py

@@ -1,12 +1,11 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
 import rospy
 import rospkg
 import sys
 
 from itertools import product
-from string import join, split
 
 from std_msgs.msg import *
 from diagnostic_msgs.msg import KeyValue

rosplan_rqt/src/rosplan_rqt/graphUpdater.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
 import rospy

rosplan_rqt/src/rosplan_rqt/xdot_qt.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # NOTE: Important, this file can be safely removed once one of this PR gets accepted:
 # https://github.com/ros-visualization/executive_smach_visualization/pull/22
 # https://github.com/jbohren/xdot/pull/18
@@ -6,7 +8,6 @@
 # or
 # from xdot.xdot_qt import DotWidget
 
-#!/usr/bin/env python
 #
 # Copyright 2008 Jose Fonseca
 #
@@ -218,7 +219,7 @@ def __init__(self, pen, points, filled=False):
     def draw(self, painter, highlight=False):
         painter_path = QPainterPath()
         painter_path.moveTo(QPointF(*self.points[0]))
-        for i in xrange(1, len(self.points), 3):
+        for i in range(1, len(self.points), 3):
             painter_path.cubicTo(
                 QPointF(*self.points[i]),
                 QPointF(*self.points[i + 1]),
@@ -571,6 +572,8 @@ def parse(self):
             elif op == "p":
                 points = self.read_polygon()
                 self.handle_polygon(points, filled=False)
+            elif op == "":
+                break
             else:
                 sys.stderr.write("unknown xdot opcode '%s'\n" % op)
                 break
@@ -1324,7 +1327,7 @@ def drag(self, deltax, deltay):
 
     def draw(self, painter):
         #TODO: implement this for qt
-        print "ERROR: UNIMPLEMENTED ZoomAreaAction.draw"
+        print('ERROR: UNIMPLEMENTED ZoomAreaAction.draw')
         return
         painter.save()
         painter.set_source_rgba(.5, .5, 1.0, 0.25)
@@ -1405,8 +1408,6 @@ def set_filter(self, filter):
         self.filter = filter
 
     def set_dotcode(self, dotcode, filename='<stdin>',center=True):
-        if isinstance(dotcode, unicode):
-            dotcode = dotcode.encode('utf8')
         p = subprocess.Popen(
             [self.filter, '-Txdot'],
             stdin=subprocess.PIPE,
@@ -1417,7 +1418,7 @@ def set_dotcode(self, dotcode, filename='<stdin>',center=True):
         )
         xdotcode, error = p.communicate(dotcode)
         if p.returncode != 0:
-            print "UNABLE TO SHELL TO DOT", error
+            print(f'UNABLE TO SHELL TO DOT, error ; {error}')
 #            dialog = gtk.MessageDialog(type=gtk.MESSAGE_ERROR,
 #                                       message_format=error,
 #                                       buttons=gtk.BUTTONS_OK)
@@ -1437,7 +1438,7 @@ def set_dotcode(self, dotcode, filename='<stdin>',center=True):
             # Store references to subgraph states
             self.subgraph_shapes = self.graph.subgraph_shapes
 
-        except ParseError, ex:
+        except ParseError as ex:
 #            dialog = gtk.MessageDialog(type=gtk.MESSAGE_ERROR,
 #                                       message_format=str(ex),
 #                                       buttons=gtk.BUTTONS_OK)
@@ -1846,7 +1847,7 @@ def open_file(self, filename=None):
             self.set_dotcode(fp.read(), filename)
             fp.close()
             self.add_recent_file(filename)
-        except IOError, ex:
+        except IOError as ex:
             pass
 
     def on_open(self):

rosplan_sensing_interface/example.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from geometry_msgs.msg import PoseStamped
 from math import sqrt
 
@@ -59,5 +59,5 @@ def req_docked():
     return SetBoolRequest(data=False)
 
 def docked(res, params):  # params is a list with all the parameters - fully instantiated for services!
-    print params
+    print(params)
     return int(res.message.split(' ')[3])%2 == 0

rosplan_sensing_interface/icaps2019_tutorial.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from geometry_msgs.msg import PoseStamped
 from math import sqrt