start-jsk · pazeshun · Aug 22, 2023 · Jun 26, 2021 · Jun 26, 2021 · Jun 26, 2021
diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml
@@ -0,0 +1,53 @@
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  noetic:
+    runs-on: ubuntu-latest
+    name: noetic
+
+    container: jskrobotics/ros-ubuntu:20.04
+
+    steps:
+      - name: Install latest git (use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo 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 mkdir -p /__w/
+          sudo chmod 777 -R /__w/
+          sudo chown -R $USER $HOME
+          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
+      - name: Checkout
+        uses: actions/checkout@v3.0.2
+        with:
+          submodules: true
+      # github actions cache does not work because of permission denied.
+      # see: https://github.com/actions/cache/issues/404
+      # - name: Cache several data
+      #   uses: actions/cache@v2
+      #   with:
+      #     path: |
+      #       ~/.ccache
+      #       ~/.cache/pip
+      #       ~/apt-cacher-ng
+      #       ~/.ros/data
+      #     key: ${{ github.workflow }}
+      - name: work around permission issue again
+        run: |
+          set -x
+          grep path $GITHUB_WORKSPACE/.gitmodules | sed 's/.*=//' | xargs -n 1 -I '{}' git config --global --add safe.directory $GITHUB_WORKSPACE/'{}'
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : noetic
+          ROS_PARALLEL_JOBS: "-j8"
+          USE_DEB: false
+          NOT_TEST_INSTALL: true
+          ROSDEP_ADDITIONAL_OPTIONS: "-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl --skip-keys=roseus_mongo --skip-keys=pr2_moveit_config --skip-keys=pr2_moveit_plugins --skip-keys=jsk_pr2_startup"
+          # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+          # Use apt-version scipy and skimage which are compatible with apt-version numpy
+          BEFORE_SCRIPT: "sudo apt-get install -y -q python3-scipy python3-skimage; sudo -H pip3 install fcn chainercv chainer==6.7.0 gdown==4.4.0"
+          CATKIN_TOOLS_CONFIG_OPTIONS: "--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"          
+          TEST_PKGS: "jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter sphand_driver baxtergv6_apc2016"
diff --git a/.github/workflows/python3.yml b/.github/workflows/python3.yml
@@ -0,0 +1,17 @@
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_python3
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python3
+        run: |
+          apt update -q && apt install -y -q python3
+          python3 -m compileall .
diff --git a/.travis.rosinstall.noetic b/.travis.rosinstall.noetic
@@ -0,0 +1,100 @@
+# not released yet in noetic
+- git:
+    local-name: RethinkRobotics/baxter_simulator
+    # https://github.com/RethinkRobotics/baxter_simulator/pull/132
+    uri: https://github.com/k-okada/baxter_simulator.git
+    version: fix_noetic
+- tar:
+    local-name: baxter_examples
+    uri: https://github.com/RethinkRobotics-release/baxter_examples-release/archive/release/indigo/baxter_examples/1.2.0-0.tar.gz
+    version: baxter_examples-release-release-indigo-baxter_examples-1.2.0-0
+- tar:
+    local-name: baxter_tools
+    uri: https://github.com/RethinkRobotics-release/baxter_tools-release/archive/release/indigo/baxter_tools/1.2.0-0.tar.gz
+    version: baxter_tools-release-release-indigo-baxter_tools-1.2.0-0
+- tar:
+    local-name: jsk_planning/pddl_planner
+    uri: https://github.com/tork-a/jsk_planning-release/archive/release/melodic/pddl_planner/0.1.12-1.tar.gz
+    version: jsk_planning-release-release-melodic-pddl_planner-0.1.12-1
+- tar:
+    local-name: jsk_planning/pddl_msgs
+    uri: https://github.com/tork-a/jsk_planning-release/archive/release/melodic/pddl_msgs/0.1.12-1.tar.gz
+    version: jsk_planning-release-release-melodic-pddl_msgs-0.1.12-1
+- tar:
+    local-name: jsk_demos/jsk_demo_common
+    uri: https://github.com/tork-a/jsk_demos-release/archive/release/indigo/jsk_demo_common/0.0.4-0.tar.gz
+    version: jsk_demos-release-release-indigo-jsk_demo_common-0.0.4-0
+- tar:
+    local-name: jsk_demos/jsk_maps
+    uri: https://github.com/tork-a/jsk_demos-release/archive/release/indigo/jsk_maps/0.0.4-0.tar.gz
+    version: jsk_demos-release-release-indigo-jsk_maps-0.0.4-0
+- tar:
+    local-name: jsk_robot/baxtereus
+    uri: https://github.com/tork-a/jsk_robot-release/archive/release/indigo/baxtereus/1.1.0-1.tar.gz
+    version: jsk_robot-release-release-indigo-baxtereus-1.1.0-1
+- tar:
+    local-name: jsk_robot/jsk_baxter_startup
+    uri: https://github.com/tork-a/jsk_robot-release/archive/release/indigo/jsk_baxter_startup/1.1.0-1.tar.gz
+    version: jsk_robot-release-release-indigo-jsk_baxter_startup-1.1.0-1
+- tar:
+    local-name: moveit_robots/baxter_moveit_config
+    uri: https://github.com/ros-gbp/moveit_robots-release/archive/release/indigo/baxter_moveit_config/1.0.7-0.tar.gz
+    version: moveit_robots-release-release-indigo-baxter_moveit_config-1.0.7-0
+# https://github.com/RethinkRobotics/baxter_interface/pull/86
+- git:
+    local-name: baxter_interface
+    uri: https://github.com/k-okada/baxter_interface.git
+    version: development
+# waiting for release in melodic: https://github.com/turtlebot/turtlebot/issues/272
+- git:
+    local-name: turtlebot_description
+    uri: https://github.com/turtlebot-release/turtlebot-release.git
+    version: release/kinetic/turtlebot_description
+- git:
+    local-name: kobuki_description
+    uri: https://github.com/yujinrobot-release/kobuki-release.git
+    version: release/kinetic/kobuki_description
+- git:
+    local-name: create_description
+    uri: https://github.com/turtlebot-release/turtlebot_create-release.git
+    version: release/kinetic/create_description
+- git:
+    local-name: dynamixel_motor
+    uri: https://github.com/pazeshun/dynamixel_motor.git
+    version: gripper-v6-devel
+# waiting for release in noetic
+- git:
+    local-name: openni_camera
+    uri: https://github.com/ros-drivers/openni_camera.git
+    version: indigo-devel
+- git:
+    local-name: pr2_gripper_sensor
+    uri: https://github.com/PR2/pr2_gripper_sensor.git
+    version: hydro-devel
+# https://github.com/locusrobotics/catkin_virtualenv/pull/85
+- git:
+    local-name: catkin_virtualenv
+    uri: https://github.com/locusrobotics/catkin_virtualenv.git
+    version: 24ab7433e3e98a3ad4c7f3b29960026d858b73bf
+# jsk_pr2eus is not released yet
+- git:
+    local-name: jsk_pr2eus
+    uri: https://github.com/jsk-ros-pkg/jsk_pr2eus
+    version: master
+# https://github.com/astuff/ml_classifiers/pull/6
+- git:
+    local-name: ml_classifiers
+    uri: https://github.com/pazeshun/ml_classifiers.git
+    version: add-noetic-test
+# find_package(collada_urdf) failed due to wrong collada_urdfConfig.cmake
+# - https://github.com/ros/collada_urdf/issues/43
+# - https://github.com/ros/collada_urdf/pull/44
+- git:
+    local-name: collada_urdf
+    uri: https://github.com/werner291/collada_urdf.git
+    version: patch-1
+# https://github.com/jsk-ros-pkg/jsk_visualization/pull/882, https://github.com/jsk-ros-pkg/jsk_visualization/pull/867
+- git:
+    local-name: jsk_visualization
+    uri: https://github.com/pazeshun/jsk_visualization.git
+    version: fix-for-noetic
diff --git a/.travis.yml b/.travis.yml
@@ -18,30 +18,43 @@ env:
   global:
     - NOT_TEST_INSTALL=true
     - ROS_PARALLEL_JOBS="-j2"
-    - ROSDEP_ADDITIONAL_OPTIONS="-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
     - USE_DEB=false
     - USE_DOCKER=true
     - USE_TRAVIS=true
-    # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
   matrix:
+    - CHECK_PYTHON3_COMPILE=true
     - ROS_DISTRO=indigo
     - >
       ROS_DISTRO=indigo
       BUILD_PKGS="jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter selective_dualarm_stowing sphand_driver sphand_driver_msgs vl53l0x_mraa_ros baxtergv6_apc2016 baxter_paper_filing"
-      BEFORE_SCRIPT='sudo -H pip install chainer==6.7.0 gdown==4.4.0 scikit-learn==0.19.1 protobuf==3.18.0'
+      # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+      BEFORE_SCRIPT='sudo -H pip install -U numpy fcn chainercv chainer==6.7.0 gdown==4.4.0 scikit-learn==0.19.1 protobuf==3.17.3'
       CATKIN_TOOLS_CONFIG_OPTIONS="--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"
+      ROSDEP_ADDITIONAL_OPTIONS="-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
     - >
       ROS_DISTRO=kinetic
-      BEFORE_SCRIPT='sudo -H pip install chainer==6.7.0 gdown==4.4.0 protobuf==3.18.0'
+      # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+      BEFORE_SCRIPT='sudo -H pip install fcn chainercv chainer==6.7.0 gdown==4.4.0 protobuf==3.17.3'
       CATKIN_TOOLS_CONFIG_OPTIONS="--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop test_catkin_virtualenv test_catkin_virtualenv_py3_isolated test_catkin_virtualenv_inherited"
+      ROSDEP_ADDITIONAL_OPTIONS="-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
     - >
       ROS_DISTRO=melodic
-      BEFORE_SCRIPT='sudo -H pip install chainer==6.7.0 gdown==4.4.0 protobuf==3.18.0'
+      # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+      BEFORE_SCRIPT='sudo -H pip install fcn chainercv chainer==6.7.0 gdown==4.4.0 protobuf==3.17.3'
       CATKIN_TOOLS_CONFIG_OPTIONS="--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"
+      ROSDEP_ADDITIONAL_OPTIONS="-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
+    - >
+      ROS_DISTRO=noetic
+      # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+      # Use apt-version scipy and skimage which are compatible with apt-version numpy
+      BEFORE_SCRIPT='sudo apt-get install -y -q python3-scipy python3-skimage; sudo -H pip3 install fcn chainercv chainer==6.7.0 gdown==4.4.0'
+      CATKIN_TOOLS_CONFIG_OPTIONS="--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"
+      ROSDEP_ADDITIONAL_OPTIONS="-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl --skip-keys=roseus_mongo --skip-keys=pr2_moveit_config --skip-keys=pr2_moveit_plugins --skip-keys=jsk_pr2_startup"
 matrix:
   allow_failures:
     - env: ROS_DISTRO=indigo
 script:
+  - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then python3 -m compileall .; exit $?; fi
   - export DOCKER_IMAGE="jskrobotics/jsk_apc:${ROS_DISTRO}-latest-testing"
   # build & test ROS packages
   - source .travis/travis.sh

diff --git a/archives/color_histogram_matcher_test.py b/archives/color_histogram_matcher_test.py
diff --git a/archives/demo_real.py b/archives/demo_real.py
diff --git a/archives/interface_test.py b/archives/interface_test.py
diff --git a/archives/master.py b/archives/master.py
diff --git a/archives/move_arm2target_bin_client.py b/archives/move_arm2target_bin_client.py
diff --git a/archives/move_arm_listener.py b/archives/move_arm_listener.py
diff --git a/archives/move_left_arm_server.py b/archives/move_left_arm_server.py
diff --git a/archives/move_right_arm_server.py b/archives/move_right_arm_server.py
diff --git a/archives/open_color_histogram_data.py b/archives/open_color_histogram_data.py
diff --git a/archives/setup_params.py b/archives/setup_params.py