test noetic

CMakeLists.txt

@@ -2,7 +2,7 @@
 # CMake
 ##############################################################################
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(rosjava_core)
 
 ##############################################################################

rosjava/test/test_composite_passthrough.py

@@ -67,37 +67,37 @@ def cb_from_test(self, msg):
     def test_composite_passthrough(self):
         # 20 seconds to validate fixture
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for fixture to verify"
+        print("waiting for 20 seconds for fixture to verify")
         while self.fixture_curr is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(timeout_t < time.time(), "timeout exceeded")
-        self.failIf(rospy.is_shutdown(), "node shutdown")            
-        self.failIf(self.fixture_curr is None, "no data from fixture")
+        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
+        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
+        self.assertFalse(self.fixture_curr is None, "no data from fixture")
         m = self.fixture_curr
-        self.assertAlmostEquals(m.a.x, m.b.x)
-        self.assertAlmostEquals(m.a.y, m.b.y)
-        self.assertAlmostEquals(m.a.z, m.b.z)
+        self.assertAlmostEqual(m.a.x, m.b.x)
+        self.assertAlmostEqual(m.a.y, m.b.y)
+        self.assertAlmostEqual(m.a.z, m.b.z)
 
         # another 20 seconds to validate client
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to verify"
+        print("waiting for 20 seconds for client to verify")
         while self.test_curr is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(self.test_curr is None, "no data from test")
+        self.assertFalse(self.test_curr is None, "no data from test")
         m = self.test_curr
-        self.assertAlmostEquals(m.a.x, m.b.x)
-        self.assertAlmostEquals(m.a.y, m.b.y)
-        self.assertAlmostEquals(m.a.z, m.b.z)
+        self.assertAlmostEqual(m.a.x, m.b.x)
+        self.assertAlmostEqual(m.a.y, m.b.y)
+        self.assertAlmostEqual(m.a.z, m.b.z)
 
         # a.w = a.x + a.y + a.z.  Just make sure we're in the ballpark
         a = self.test_curr.a
-        self.assert_(abs(a.x + a.y + a.z - a.w) < 10.)
+        self.assertTrue(abs(a.x + a.y + a.z - a.w) < 10.)
 
 if __name__ == '__main__':
     import rostest

rosjava/test/test_int64_passthrough.py

@@ -70,28 +70,28 @@ def cb_from_test(self, msg):
     def test_int64_passthrough(self):
         # 20 seconds to validate fixture
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for fixture to verify"
+        print("waiting for 20 seconds for fixture to verify")
         while self.fixture_prev is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(timeout_t < time.time(), "timeout exceeded")
-        self.failIf(rospy.is_shutdown(), "node shutdown")            
-        self.failIf(self.fixture_prev is None, "no data from fixture")
-        self.failIf(self.fixture_curr is None, "no data from fixture")
-        self.assertEquals(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")
+        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
+        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
+        self.assertFalse(self.fixture_prev is None, "no data from fixture")
+        self.assertFalse(self.fixture_curr is None, "no data from fixture")
+        self.assertEqual(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")
 
         # another 20 seconds to validate client
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to verify"
+        print("waiting for 20 seconds for client to verify")
         while self.test_prev is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(self.test_prev is None, "no data from test")
-        self.assertEquals(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
+        self.assertFalse(self.test_prev is None, "no data from test")
+        self.assertEqual(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
 
 
 if __name__ == '__main__':

rosjava/test/test_parameter_client.py

@@ -85,7 +85,7 @@ def tilde_cb(self, msg):
 
     def test_parameter_client_read(self):
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to load"
+        print("waiting for 20 seconds for client to load")
 
         tests = self.tests
         msgs = [None]
@@ -95,36 +95,36 @@ def test_parameter_client_read(self):
             time.sleep(0.2)
             msgs = [getattr(self, t+'_msg') for t in tests]
 
-        print "msgs: %s"%(msgs)
+        print("msgs: %s"%(msgs))
 
-        self.failIf(timeout_t < time.time(), "timeout exceeded")
-        self.failIf(rospy.is_shutdown(), "node shutdown")            
-        self.failIf(any(1 for m in msgs if m is None), "did not receive all expected messages: "+str(msgs))
+        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
+        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
+        self.assertFalse(any(1 for m in msgs if m is None), "did not receive all expected messages: "+str(msgs))
 
         ns = rospy.get_param('parameter_namespace')
         for t in tests:
             p_name = roslib.names.ns_join(ns, t)
             value = rospy.get_param(p_name, t)
             msg = getattr(self, "%s_msg"%(t))
-            print "get param: %s"%(p_name)
-            print "param value: %s"%(value)
-            print "msg value: %s"%(msg)
+            print("get param: %s"%(p_name))
+            print("param value: %s"%(value))
+            print("msg value: %s"%(msg))
             if t == 'composite':
-                print "value", p_name, value
+                print("value", p_name, value)
                 m = Composite(CompositeA(**value['a']), CompositeB(**value['b']))
-                self.assertAlmostEquals(m.a.x, msg.a.x)
-                self.assertAlmostEquals(m.a.y, msg.a.y)
-                self.assertAlmostEquals(m.a.z, msg.a.z)
-                self.assertAlmostEquals(m.a.w, msg.a.w)
-                self.assertAlmostEquals(m.b.x, msg.b.x)
-                self.assertAlmostEquals(m.b.y, msg.b.y)
-                self.assertAlmostEquals(m.b.z, msg.b.z)
+                self.assertAlmostEqual(m.a.x, msg.a.x)
+                self.assertAlmostEqual(m.a.y, msg.a.y)
+                self.assertAlmostEqual(m.a.z, msg.a.z)
+                self.assertAlmostEqual(m.a.w, msg.a.w)
+                self.assertAlmostEqual(m.b.x, msg.b.x)
+                self.assertAlmostEqual(m.b.y, msg.b.y)
+                self.assertAlmostEqual(m.b.z, msg.b.z)
             elif t == 'list':
-                self.assertEquals(list(value), list(msg.int32_array))
+                self.assertEqual(list(value), list(msg.int32_array))
             elif t == 'float':
-                self.assertAlmostEquals(value, msg.data)
+                self.assertAlmostEqual(value, msg.data)
             else:
-                self.assertEquals(value, msg.data)
+                self.assertEqual(value, msg.data)
 
     def test_set_parameter(self):
         # make sure client copied each parameter correct
@@ -137,23 +137,23 @@ def test_set_parameter(self):
             source_value = rospy.get_param(source_name)
             target_value = rospy.get_param(target_name)
             if t != 'float':
-                self.assertEquals(source_value, target_value)
+                self.assertEqual(source_value, target_value)
             else:
-                self.assertAlmostEquals(source_value, target_value)
+                self.assertAlmostEqual(source_value, target_value)
 
     def test_tilde_parameter(self):
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to load"
+        print("waiting for 20 seconds for client to load")
         while self.tilde_msg is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(timeout_t < time.time(), "timeout exceeded")
-        self.failIf(rospy.is_shutdown(), "node shutdown")            
-        self.failIf(self.tilde_msg is None)
+        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
+        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
+        self.assertFalse(self.tilde_msg is None)
 
-        self.assertEquals(rospy.get_param('param_client/tilde'), self.tilde_msg.data)
+        self.assertEqual(rospy.get_param('param_client/tilde'), self.tilde_msg.data)
 
 if __name__ == '__main__':
     import rostest

rosjava/test/test_string_passthrough.py

@@ -51,7 +51,7 @@ class TestStringPassthrough(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node(NAME)
-        self.nodes = ['/node%s'%(i) for i in xrange(10)]
+        self.nodes = ['/node%s'%(i) for i in range(10)]
         self.nodes_set = set(self.nodes)
 
         # keep track of nodes that have done callbacks
@@ -70,31 +70,31 @@ def cb_from_test(self, msg):
     def test_string_passthrough(self):
         # 20 seconds to validate fixture
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for fixture to verify"
+        print("waiting for 20 seconds for fixture to verify")
         while not self.fixture_nodes_cb == self.nodes_set and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(timeout_t < time.time(), "timeout exceeded")
-        self.failIf(rospy.is_shutdown(), "node shutdown")            
-        self.assertEquals(self.nodes_set, self.fixture_nodes_cb, "fixture did not validate: %s vs %s"%(self.nodes_set, self.fixture_nodes_cb))
+        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
+        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
+        self.assertEqual(self.nodes_set, self.fixture_nodes_cb, "fixture did not validate: %s vs %s"%(self.nodes_set, self.fixture_nodes_cb))
 
         # another 20 seconds to validate client
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to verify"
+        print("waiting for 20 seconds for client to verify")
         while not self.test_nodes_cb == self.nodes_set and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.assertEquals(self.nodes_set, self.test_nodes_cb, "passthrough did not pass along all message")
+        self.assertEqual(self.nodes_set, self.test_nodes_cb, "passthrough did not pass along all message")
 
         # Create a new Publisher here.  This will validate publisherUpdate()
         pub = rospy.Publisher('string_in', String)
         msg = 'test_publisherUpdate'
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to verify"
+        print("waiting for 20 seconds for client to verify")
         while not msg in self.nodes_set and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():

rosjava/test/test_testheader_passthrough.py

@@ -67,32 +67,32 @@ def cb_from_test(self, msg):
     def test_testheader_passthrough(self):
         # 20 seconds to validate fixture
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for fixture to verify"
+        print("waiting for 20 seconds for fixture to verify")
         while self.fixture_curr is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(timeout_t < time.time(), "timeout exceeded")
-        self.failIf(rospy.is_shutdown(), "node shutdown")            
-        self.failIf(self.fixture_curr is None, "no data from fixture")
-        self.assertEquals('/node0', self.fixture_curr.caller_id)
-        self.assertEquals('', self.fixture_curr.orig_caller_id)
+        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
+        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
+        self.assertFalse(self.fixture_curr is None, "no data from fixture")
+        self.assertEqual('/node0', self.fixture_curr.caller_id)
+        self.assertEqual('', self.fixture_curr.orig_caller_id)
 
         # another 20 seconds to validate client
         timeout_t = time.time() + 20.
-        print "waiting for 20 seconds for client to verify"
+        print("waiting for 20 seconds for client to verify")
         while self.test_curr is None and \
                 not rospy.is_shutdown() and \
                 timeout_t > time.time():
             time.sleep(0.2)
 
-        self.failIf(self.test_curr is None, "no data from test")
-        self.assertEquals('/rosjava_node', self.test_curr.caller_id)
-        self.assertEquals('/node0', self.test_curr.orig_caller_id)
+        self.assertFalse(self.test_curr is None, "no data from test")
+        self.assertEqual('/rosjava_node', self.test_curr.caller_id)
+        self.assertEqual('/node0', self.test_curr.orig_caller_id)
         t = self.test_curr.header.stamp.to_sec()
         # be really generous here, just need to be in the ballpark.
-        self.assert_(abs(time.time() - t) < 60.)
+        self.assertTrue(abs(time.time() - t) < 60.)
 
 if __name__ == '__main__':
     import rostest

rosjava_benchmarks/scripts/pubsub_benchmark.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/env python
 #
 # Copyright (C) 2012 Google Inc.
 #
@@ -32,7 +32,7 @@ def __init__(self):
 
   def callback(self, _):
     with self.lock:
-      self.count.next()
+      next(self.count)
 
   def run(self):
     tf_publisher = rospy.Publisher('tf', tf_msgs.tfMessage)
@@ -41,7 +41,7 @@ def run(self):
     while not rospy.is_shutdown():
       tf_publisher.publish(tf_msgs.tfMessage())
       if (rospy.Time.now() - self.time) > rospy.Duration(5):
-        status_publisher.publish(std_msgs.String('%.2f Hz' % (self.count.next() / 5.0)))
+        status_publisher.publish(std_msgs.String('%.2f Hz' % (next(self.count) / 5.0)))
         with self.lock:
           self.count = itertools.count()
           self.time = rospy.Time.now()

rosjava_test/scripts/serialized_message.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/env python
 #
 # Copyright (C) 2012 Google Inc.
 #
@@ -23,15 +23,15 @@
 
 __author__ = 'damonkohler@google.com (Damon Kohler)'
 
-import StringIO
+import io
 
 import roslib; roslib.load_manifest('rosjava_test')
 import rospy
 
 import nav_msgs.msg as nav_msgs
 
 message = nav_msgs.Odometry()
-buf = StringIO.StringIO()
+buf = io.StringIO()
 message.serialize(buf)
-print ''.join('0x%02x,' % ord(c) for c in buf.getvalue())[:-1]
+print(''.join('0x%02x,' % ord(c) for c in buf.getvalue())[:-1])