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add more fix with 2to3 #1

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add more fix with 2to3 #1

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5af6460
fix for 20.04: run 2to3 -f dict -f list -f zip -f xrange -w .
k-okada Oct 19, 2023
72f37d5
fix for 20.04: run 2to3 -f future -w . to remove 'from __future__ imp…
k-okada Oct 19, 2023
9db57d8
fix for 20.04: run 2to3 -f reload -w .
k-okada Oct 19, 2023
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15 changes: 8 additions & 7 deletions dynamixel_controllers/nodes/controller_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@
from dynamixel_controllers.srv import StopControllerResponse
from dynamixel_controllers.srv import RestartController
from dynamixel_controllers.srv import RestartControllerResponse
import importlib

class ControllerManager:
def __init__(self):
Expand All @@ -78,7 +79,7 @@ def __init__(self):
manager_namespace = rospy.get_param('~namespace')
serial_ports = rospy.get_param('~serial_ports')

for port_namespace,port_config in serial_ports.items():
for port_namespace,port_config in list(serial_ports.items()):
port_name = port_config['port_name']
baud_rate = port_config['baud_rate']
readback_echo = port_config['readback_echo'] if 'readback_echo' in port_config else False
Expand Down Expand Up @@ -132,7 +133,7 @@ def __init__(self):
if self.diagnostics_rate > 0: Thread(target=self.diagnostics_processor).start()

def on_shutdown(self):
for serial_proxy in self.serial_proxies.values():
for serial_proxy in list(self.serial_proxies.values()):
serial_proxy.disconnect()

def diagnostics_processor(self):
Expand All @@ -143,7 +144,7 @@ def diagnostics_processor(self):
diag_msg.status = []
diag_msg.header.stamp = rospy.Time.now()

for controller in self.controllers.values():
for controller in list(self.controllers.values()):
try:
joint_state = controller.joint_state
temps = joint_state.motor_temps
Expand Down Expand Up @@ -173,9 +174,9 @@ def check_deps(self):
controllers_still_waiting = []

for i,(controller_name,deps,kls) in enumerate(self.waiting_meta_controllers):
if not set(deps).issubset(self.controllers.keys()):
if not set(deps).issubset(list(self.controllers.keys())):
controllers_still_waiting.append(self.waiting_meta_controllers[i])
rospy.logwarn('[%s] not all dependencies started, still waiting for %s...' % (controller_name, str(list(set(deps).difference(self.controllers.keys())))))
rospy.logwarn('[%s] not all dependencies started, still waiting for %s...' % (controller_name, str(list(set(deps).difference(list(self.controllers.keys()))))))
else:
dependencies = [self.controllers[dep_name] for dep_name in deps]
controller = kls(controller_name, dependencies)
Expand Down Expand Up @@ -205,7 +206,7 @@ def start_controller(self, req):
package_module = __import__(package_path, globals(), locals(), [module_name], -1)
else:
# reload module if previously imported
package_module = reload(sys.modules[package_path])
package_module = importlib.reload(sys.modules[package_path])
controller_module = getattr(package_module, module_name)
except ImportError as ie:
self.start_controller_lock.release()
Expand All @@ -227,7 +228,7 @@ def start_controller(self, req):

if port_name != 'meta' and (port_name not in self.serial_proxies):
self.start_controller_lock.release()
return StartControllerResponse(False, 'Specified port [%s] not found, available ports are %s. Unable to start controller %s' % (port_name, str(self.serial_proxies.keys()), controller_name))
return StartControllerResponse(False, 'Specified port [%s] not found, available ports are %s. Unable to start controller %s' % (port_name, str(list(self.serial_proxies.keys())), controller_name))

controller = kls(self.serial_proxies[port_name].dxl_io, controller_name, port_name)

Expand Down
4 changes: 2 additions & 2 deletions dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from __future__ import division



__author__ = 'Antons Rebguns'
Expand Down Expand Up @@ -166,7 +166,7 @@ def set_acceleration_raw(self, acc):

def process_motor_states(self, state_list):
if self.running:
state = filter(lambda state: state.id == self.motor_id, state_list.motor_states)
state = [state for state in state_list.motor_states if state.id == self.motor_id]
if state:
state = state[0]
self.joint_state.motor_temps = [state.temperature]
Expand Down
2 changes: 1 addition & 1 deletion dynamixel_controllers/src/dynamixel_controllers/joint_position_controller_dual_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from __future__ import division



__author__ = 'Antons Rebguns'
Expand Down
4 changes: 2 additions & 2 deletions dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from __future__ import division



__author__ = 'Antons Rebguns'
Expand Down Expand Up @@ -151,7 +151,7 @@ def set_torque_limit(self, max_torque):

def process_motor_states(self, state_list):
if self.running:
state = filter(lambda state: state.id == self.motor_id, state_list.motor_states)
state = [state for state in state_list.motor_states if state.id == self.motor_id]
if state:
state = state[0]
self.joint_state.motor_temps = [state.temperature]
Expand Down
2 changes: 1 addition & 1 deletion dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller_dual_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from __future__ import division



__author__ = 'Antons Rebguns'
Expand Down
14 changes: 7 additions & 7 deletions dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from __future__ import division



__author__ = 'Antons Rebguns'
Expand Down Expand Up @@ -85,9 +85,9 @@ def __init__(self, controller_namespace, controllers):
if c.port_namespace in self.port_to_io: continue
self.port_to_io[c.port_namespace] = c.dxl_io

self.joint_states = dict(zip(self.joint_names, [c.joint_state for c in controllers]))
self.joint_states = dict(list(zip(self.joint_names, [c.joint_state for c in controllers])))
self.num_joints = len(self.joint_names)
self.joint_to_idx = dict(zip(self.joint_names, range(self.num_joints)))
self.joint_to_idx = dict(list(zip(self.joint_names, list(range(self.num_joints)))))

def initialize(self):
ns = self.controller_namespace + '/joint_trajectory_action_node/constraints'
Expand Down Expand Up @@ -245,7 +245,7 @@ def process_trajectory(self, traj):

multi_packet = {}

for port, joints in self.port_to_joints.items():
for port, joints in list(self.port_to_joints.items()):
vals = []

for joint in joints:
Expand Down Expand Up @@ -276,7 +276,7 @@ def process_trajectory(self, traj):

multi_packet[port] = vals

for port, vals in multi_packet.items():
for port, vals in list(multi_packet.items()):
self.port_to_io[port].set_multi_position_and_speed(vals)

while time < seg_end_times[seg]:
Expand All @@ -286,7 +286,7 @@ def process_trajectory(self, traj):
msg = 'New trajectory received. Aborting old trajectory.'
multi_packet = {}

for port, joints in self.port_to_joints.items():
for port, joints in list(self.port_to_joints.items()):
vals = []

for joint in joints:
Expand All @@ -299,7 +299,7 @@ def process_trajectory(self, traj):

multi_packet[port] = vals

for port, vals in multi_packet.items():
for port, vals in list(multi_packet.items()):
self.port_to_io[port].set_multi_position(vals)

self.action_server.set_preempted(text=msg)
Expand Down
2 changes: 1 addition & 1 deletion dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,7 @@ def __find_motors(self):
rospy.set_param('dynamixel/%s/connected_ids' % self.port_namespace, self.motors)

status_str = '%s: Found %d motors - ' % (self.port_namespace, len(self.motors))
for model_number,count in counts.items():
for model_number,count in list(counts.items()):
if count:
model_name = DXL_MODEL_TO_PARAMS[model_number]['name']
status_str += '%d %s [' % (count, model_name)
Expand Down