Noetic modifications

[JStech]

I'd like to use a Robotiq gripper on Noetic. I've started this based on the output of 2to3 and at least getting the workspace to build. I'll test it with the gripper next time I'm in the office.

[JStech]

I tested this with a 2 finger gripper on Noetic, using the RTU driver and the simpler controller, and it works.

[matthias-mayr]

Thanks a lot for doing this. I will merge it into our noetic setup. As a nice extra for backwards compatibility, one can use an equivalent this in the package.xml:

<exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rdflib</exec_depend>
<exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rdflib</exec_depend>

[matthias-mayr]

Here's a patch for the suggestion that works for me in the noetic workspace at least. Can be applied with git apply file.txt

From 7961b98c57e398dc5532dad701d033db9a32207c Mon Sep 17 00:00:00 2001
From: Matthias Mayr <[email protected]>
Date: Wed, 25 Jan 2023 13:18:33 +0000
Subject: [PATCH] Chore: Adds python2+3 dependency in package.xml

---
 robotiq_modbus_rtu/package.xml | 5 +++--
 robotiq_modbus_tcp/package.xml | 5 +++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/robotiq_modbus_rtu/package.xml b/robotiq_modbus_rtu/package.xml
index e3e3fd2..d50749f 100644
--- a/robotiq_modbus_rtu/package.xml
+++ b/robotiq_modbus_rtu/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>robotiq_modbus_rtu</name>
   <version>1.0.0</version>
   <description>A stack to communicate with Robotiq grippers using the Modbus RTU protocol</description>
@@ -11,7 +11,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>python3-pymodbus</depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pymodbus</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pymodbus</exec_depend>
   <depend>rospy</depend>
 
 </package>
diff --git a/robotiq_modbus_tcp/package.xml b/robotiq_modbus_tcp/package.xml
index d96fba2..70b299b 100644
--- a/robotiq_modbus_tcp/package.xml
+++ b/robotiq_modbus_tcp/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>robotiq_modbus_tcp</name>
   <version>1.0.0</version>
   <description>A stack to communicate with Robotiq grippers using the Modbus TCP protocol</description>
@@ -10,6 +10,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>python3-pymodbus</depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pymodbus</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pymodbus</exec_depend>
   <depend>rospy</depend>
 </package>
-- 
2.25.1

I haven't run it yet though.