Fix for ROS Noetic

choreonoid_noetic.patch

@@ -0,0 +1,114 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 504d56c7..8f22b7cc 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,5 +1,6 @@
+ cmake_minimum_required(VERSION 3.1.0) # Qt5 requies this version or later
+
++
+ cmake_policy(SET CMP0003 NEW)
+ cmake_policy(SET CMP0057 NEW)
+ set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
+@@ -648,7 +649,9 @@ if(MSVC)
+ endif()
+
+ # CORBA, omniORB
+-option(ENABLE_CORBA "Enable CORBA related modules / plugins" OFF)
++# option(ENABLE_CORBA "Enable CORBA related modules / plugins" OFF)
++option(ENABLE_CORBA "Enable CORBA related modules / plugins" ON)
++option(BUILD_CORBA_PLUGIN "Build CORBA Plugin" ON)
+
+ if(ENABLE_CORBA)
+   # The OMNIDYNAMIC_XXX variables are used for storing the omniORB information
+@@ -904,6 +907,9 @@ if(ENABLE_CORBA)
+ endif(ENABLE_CORBA)
+
+ # OpenRTM
++# option(BUILD_OPENRTM_PLUGIN "Building OpenRTMPlugin" OFF)
++option(BUILD_OPENRTM_PLUGIN "Building OpenRTMPlugin" ON)
++
+ if(BUILD_OPENRTM_PLUGIN)
+   find_package(OpenRTM REQUIRED CONFIG)
+
+@@ -912,7 +918,7 @@ if(BUILD_OPENRTM_PLUGIN)
+     list(APPEND OPENRTM_DEFINITIONS -DOPENRTM_VERSION12)
+     list(APPEND OPENRTM_DEFINITIONS -Wno-deprecated)
+
+-  elseif(OPENRTM_VERSION VERSION_EQUAL "1.1.2")
++  elseif(OPENRTM_VERSION VERSION_EQUAL "1.1.2"  OR OPENRTM_VERSION STREQUAL "1.1.0")
+     list(APPEND OPENRTM_DEFINITIONS -DOPENRTM_VERSION11)
+     # Remove extra "-I" from the elements of OPENRTM_INCLUDE_DIRS
+     unset(include_dirs)
+@@ -935,7 +941,8 @@ if(BUILD_OPENRTM_PLUGIN)
+
+   set(IDL_INCLUDE_DIRS ${IDL_INCLUDE_DIRS} ${OPENRTM_INCLUDE_DIRS})
+
+-  option(USE_BUILTIN_CAMERA_IMAGE_IDL "Enable this option when you run hrpsys-base on Choreonoid" OFF)
++  # option(USE_BUILTIN_CAMERA_IMAGE_IDL "Enable this option when you run hrpsys-base on Choreonoid" OFF)
++  option(USE_BUILTIN_CAMERA_IMAGE_IDL "Enable this option when you run hrpsys-base on Choreonoid" ON)
+   if(USE_BUILTIN_CAMERA_IMAGE_IDL)
+     list(APPEND OPENRTM_DEFINITIONS -DUSE_BUILTIN_CAMERA_IMAGE_IDL)
+   else()
+diff --git a/package.xml b/package.xml
+index 5e1e1e32..a4cc62a4 100644
+--- a/package.xml
++++ b/package.xml
+@@ -23,8 +23,9 @@
+   <exec_depend>yaml</exec_depend>
+   <depend>zlib</depend>
+   <depend>libjpeg</depend>
+-  <build_depend>libpng12-dev</build_depend>
++  <build_depend>libpng-dev</build_depend>
+   <build_depend>assimp-dev</build_depend>
++  <build_depend>openrtm_aist</build_depend>
+   <exec_depend>assimp</exec_depend>
+
+   <build_export_depend>qtbast5-dev</build_export_depend>
+@@ -37,8 +38,8 @@
+   <exec_depend>libqt5-opengl</exec_depend>
+   <exec_depend>opengl</exec_depend>
+
+-  <depend>python</depend>
+-  <depend>python-numpy</depend>
++  <!-- <depend>python</depend> -->
++  <!-- <depend>python-numpy</depend> -->
+
+   <build_depend>libpulse-dev</build_depend>
+   <build_depend>libsndfile1-dev</build_depend>
+diff --git a/sample/SpringModel/CMakeLists.txt b/sample/SpringModel/CMakeLists.txt
+index b855a2e9..37fbd57a 100644
+--- a/sample/SpringModel/CMakeLists.txt
++++ b/sample/SpringModel/CMakeLists.txt
+@@ -2,7 +2,8 @@ if(NOT ENABLE_GUI)
+   return()
+ endif()
+
+-option(BUILD_SPRING_MODEL_SAMPLE "Building a spring model sample" OFF)
++# option(BUILD_SPRING_MODEL_SAMPLE "Building a spring model sample" OFF)
++option(BUILD_SPRING_MODEL_SAMPLE "Building a spring model sample" ON)
+ if(NOT BUILD_SPRING_MODEL_SAMPLE)
+   return()
+ endif()
+diff --git a/src/CorbaPlugin/CMakeLists.txt b/src/CorbaPlugin/CMakeLists.txt
+index 4b39461b..5d42d51d 100644
+--- a/src/CorbaPlugin/CMakeLists.txt
++++ b/src/CorbaPlugin/CMakeLists.txt
+@@ -2,7 +2,8 @@
+
+ #set(CMAKE_BUILD_TYPE Debug)
+
+-option(BUILD_CORBA_PLUGIN "Build CORBA Plugin" OFF)
++# option(BUILD_CORBA_PLUGIN "Build CORBA Plugin" OFF)
++option(BUILD_CORBA_PLUGIN "Build CORBA Plugin" ON)
+
+ if(NOT BUILD_CORBA_PLUGIN)
+   return()
+diff --git a/src/OpenRTM/CMakeLists.txt b/src/OpenRTM/CMakeLists.txt
+index 7771c260..ac5fcdc8 100644
+--- a/src/OpenRTM/CMakeLists.txt
++++ b/src/OpenRTM/CMakeLists.txt
+@@ -1,4 +1,3 @@
+-option(BUILD_OPENRTM_PLUGIN "Building OpenRTMPlugin" OFF)
+ if(NOT BUILD_OPENRTM_PLUGIN)
+   return()
+ elseif(NOT (ENABLE_CORBA AND BUILD_CORBA_PLUGIN))

hrpsys_choreonoid/launch/add_objects.py

@@ -46,7 +46,7 @@ def parse_filename(filestr):
         pkgname = ret.group(1)
         #packagepath = commands.getoutput('rospack find %s'%(pkgname))
         packagepath = subprocess.check_output(['rospack', 'find', pkgname])
-        packagepath = packagepath.rstrip('\n')
+        packagepath = packagepath.decode().rstrip('\n')
         filestr = filestr[:ret.start(0)] + packagepath + filestr[ret.end(0):]
 
     return filestr

hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py

@@ -31,15 +31,15 @@ def setupLogger(self, maxlen=15000):
         if self.abc:
             self.connectLoggerPort(self.abc, 'rfsensor')
             self.connectLoggerPort(self.abc, 'lfsensor')
-        for pn in filter (lambda x : re.match("Trans_", x), self.rh.ports.keys()):
+        for pn in [x for x in list(self.rh.ports.keys()) if re.match("Trans_", x)]:
             self.connectLoggerPort(self.rh, pn)
         ##self.connectLoggerPort(self.abc, 'rhsensor')
         ##self.connectLoggerPort(self.abc, 'lhsensor')
 
     def connectConstraintForceLoggerPorts(self):
-        for pn in filter (lambda x : re.match("T_", x), self.rh.ports.keys()):
+        for pn in [x for x in list(self.rh.ports.keys()) if re.match("T_", x)]:
             self.connectLoggerPort(self.rh, pn)
-        for pn in filter (lambda x : re.match("F_", x), self.rh.ports.keys()):
+        for pn in [x for x in list(self.rh.ports.keys()) if re.match("F_", x)]:
             self.connectLoggerPort(self.rh, pn)
 
     def init (self, robotname="Robot", url="", connect_constraint_force_logger_ports = False):

hrpsys_ros_bridge_jvrc/scripts/gait_state_manager_node.py

@@ -44,7 +44,7 @@ def __callGaitStateEvent(self, req):
         return hrpsys_ros_bridge_jvrc.srv.StringRequestResponse(result)
 
     def __change_state_cb(self, e):
-        print e
+        print(e)
         text = jsk_rviz_plugins.msg.OverlayText()
         text.text = 'GaitState: ' + e.dst
         text.top = 10
@@ -80,16 +80,16 @@ def flatten(nested_list):
             else:
                 flat_list.append(node)
         return flat_list
-    tmp = flatten(self._map.values())
-    return list(set(flatten([[i.keys() for i in tmp], [i.values() for i in tmp]])))
+    tmp = flatten(list(self._map.values()))
+    return list(set(flatten([[list(i.keys()) for i in tmp], [list(i.values()) for i in tmp]])))
 
 ## add_event
 def add_event(self, cfg):
     events = cfg['events'] if 'events' in cfg else []
     callbacks = cfg['callbacks'] if 'callbacks' in cfg else {}
     tmap = self._map
     def add(e):
-        src = [e['src']] if isinstance(e['src'], basestring) else e['src']
+        src = [e['src']] if isinstance(e['src'], str) else e['src']
         if e['name'] not in tmap:
             tmap[e['name']] = {}
         for s in src:

hrpsys_ros_bridge_jvrc/scripts/rotate_range.py

@@ -39,8 +39,8 @@ def callback (msg):
         sprox = rospy.ServiceProxy('/SequencePlayerServiceROSBridge/setInterpolationMode',
                                    hrpsys_ros_bridge.srv.OpenHRP_SequencePlayerService_setInterpolationMode)
         res = sprox(hrpsys_ros_bridge.msg.OpenHRP_SequencePlayerService_interpolationMode.LINEAR)
-    except rospy.ServiceException, e:
-        print "Service call failed: %s"%e
+    except rospy.ServiceException as e:
+        print("Service call failed: %s"%e)
 
     ### action
     rangeAct = actionlib.SimpleActionClient('/range_controller/follow_joint_trajectory_action',

hrpsys_ros_bridge_jvrc/scripts/walking.py

@@ -46,10 +46,10 @@ def g(x,y,r):
     hcf.abc_svc.goPos(x, y, r)
     hcf.abc_svc.waitFootSteps()
 def h():
-    print "funcs, d()=default_mode, s()=speedup_mode, g(x, y, r)=go_pos"
+    print("funcs, d()=default_mode, s()=speedup_mode, g(x, y, r)=go_pos")
 
 def m():
-    print "funcs, d()=default_mode, s()=speedup_mode, g(x, y, r)=go_pos"
+    print("funcs, d()=default_mode, s()=speedup_mode, g(x, y, r)=go_pos")
 def dor():
     doa()
 # copy from hrpsys/lib/python2.7/dist-packages/hrpsys_config.py
@@ -83,9 +83,9 @@ def dor():
             hcf.waitForRTCManagerAndRoboHardware(robotname=sys.argv[1])
             sys.argv = [sys.argv[0]] + sys.argv[2:]
         hcf.findComps()
-        print >> sys.stderr, "[hrpsys.py] #\n[hrpsys.py] # use `hcf` as robot interface, for example hcf.getJointAngles()\n[hrpsys.py] #"
+        print("[hrpsys.py] #\n[hrpsys.py] # use `hcf` as robot interface, for example hcf.getJointAngles()\n[hrpsys.py] #", file=sys.stderr)
         while args.c != None:
-            print >> sys.stderr, ">>", args.c[0]
+            print(">>", args.c[0], file=sys.stderr)
             exec(args.c[0])
             args.c.pop(0)
         hcf.startStabilizer()