Merge pull request ApolloAuto#22 from quning78/master

Bugfix and Updates for New Packages

ros/class_loader/CMakeLists.txt

@@ -12,7 +12,8 @@ find_package(console_bridge REQUIRED)
 
 if(${catkin_FOUND})
   find_package(catkin REQUIRED COMPONENTS cmake_modules)
-  find_package(Poco REQUIRED COMPONENTS Foundation)
+  #find_package(Poco REQUIRED COMPONENTS Foundation)
+  set(Poco_LIBRARIES PocoFoundation)
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME} ${Poco_LIBRARIES}

ros/dynamic_reconfigure/.gitignore

@@ -0,0 +1,2 @@
+*.pyc
+build/

ros/dynamic_reconfigure/.hgignore

@@ -0,0 +1 @@
+.pyc

ros/dynamic_reconfigure/cmake/dynamic_reconfigure-macros.cmake

@@ -13,19 +13,19 @@ macro(generate_dynamic_reconfigure_options)
     if(NOT IS_ABSOLUTE ${_input})
       set(_input ${PROJECT_SOURCE_DIR}/${_input})
     endif()
-    
+
     # The .cfg file is its own generator.
-    set(gencfg_build_files 
+    set(gencfg_build_files
       ${dynamic_reconfigure_BASE_DIR}/templates/ConfigType.py.template
       ${dynamic_reconfigure_BASE_DIR}/templates/ConfigType.h.template
-    ) 
+    )
 
     get_filename_component(_cfgonly ${_cfg} NAME_WE)
     set(_output_cpp ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}/${_cfgonly}Config.h)
     set(_output_py ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/cfg/${_cfgonly}Config.py)
     set(_output_dox ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config.dox)
     set(_output_wikidoc ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config.wikidoc)
-    set(_output_usage ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config-usage.dox) 
+    set(_output_usage ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/docs/${_cfgonly}Config-usage.dox)
 
     # we need to explicitly add the devel space to the PYTHONPATH
     # since it might contain dynamic_reconfigure or Python code of the current package
@@ -54,7 +54,7 @@ macro(generate_dynamic_reconfigure_options)
 
     add_custom_command(OUTPUT
       ${_output_cpp} ${_output_dox} ${_output_usage} ${_output_py} ${_output_wikidoc}
-      COMMAND ${_cmd} 
+      COMMAND ${_cmd}
       DEPENDS ${_input} ${gencfg_build_files}
       COMMENT "Generating dynamic reconfigure files from ${_cfg}: ${_output_cpp} ${_output_py}"
     )

ros/dynamic_reconfigure/cmake/dynamic_reconfigure/parameter_generator.py

@@ -39,7 +39,7 @@
 class ParameterGenerator():
     @staticmethod
     def dummy(*params, **nparams):
-        return 
+        return
 
     def __getattr__(self, name):
         return self.dummy

ros/dynamic_reconfigure/cmake/setup_custom_pythonpath.sh.in

@@ -1,3 +1,4 @@
+#!/usr/bin/env sh
 # generated from dynamic_reconfigure/cmake/setup_custom_pythonpath.sh.in
 
 PYTHONPATH=@CATKIN_DEVEL_PREFIX@/@CATKIN_GLOBAL_PYTHON_DESTINATION@:$PYTHONPATH

ros/dynamic_reconfigure/include/dynamic_reconfigure/config_tools.h

@@ -16,42 +16,42 @@ class ConfigTools
   {
     return set.bools;
   }
-  
+
   static std::vector<dynamic_reconfigure::IntParameter> &getVectorForType(dynamic_reconfigure::Config &set, const int /*val*/)
   {
     return set.ints;
   }
-  
+
   static std::vector<dynamic_reconfigure::StrParameter> &getVectorForType(dynamic_reconfigure::Config &set, const std::string& /*val*/)
   {
     return set.strs;
   }
-  
+
   static std::vector<dynamic_reconfigure::DoubleParameter> &getVectorForType(dynamic_reconfigure::Config &set, const double /*val*/)
   {
     return set.doubles;
   }
-  
+
   static const std::vector<dynamic_reconfigure::BoolParameter> &getVectorForType(const dynamic_reconfigure::Config &set, const bool /*val*/)
   {
     return set.bools;
   }
-  
+
   static const std::vector<dynamic_reconfigure::IntParameter> &getVectorForType(const dynamic_reconfigure::Config &set, const int /*val*/)
   {
     return set.ints;
   }
-  
+
   static const std::vector<dynamic_reconfigure::StrParameter> &getVectorForType(const dynamic_reconfigure::Config &set, const std::string& /*val*/)
   {
     return set.strs;
   }
-  
+
   static const std::vector<dynamic_reconfigure::DoubleParameter> &getVectorForType(const dynamic_reconfigure::Config &set, const double /*val*/)
   {
     return set.doubles;
   }
-  
+
   static dynamic_reconfigure::BoolParameter makeKeyValuePair(const std::string &name, const bool val)
   {
     dynamic_reconfigure::BoolParameter param;
@@ -109,7 +109,7 @@ class ConfigTools
   }
 
   template<class T>
-  static void appendGroup(dynamic_reconfigure::Config &set, const std::string &name, int id, int parent, const T &val) 
+  static void appendGroup(dynamic_reconfigure::Config &set, const std::string &name, int id, int parent, const T &val)
   {
     dynamic_reconfigure::GroupState msg;
     msg.name = name;

ros/dynamic_reconfigure/include/dynamic_reconfigure/server.h

@@ -37,7 +37,7 @@
 
  Author: Blaise Gassend
 
- Handles synchronizing node state with the configuration server, and 
+ Handles synchronizing node state with the configuration server, and
  handling of services to get and set configuration.
 
 */
@@ -60,7 +60,7 @@ namespace dynamic_reconfigure
 /**
  * Keeps track of the reconfigure callback function.
  */
-template <class ConfigType>  
+template <class ConfigType>
 class Server
 {
 public:
@@ -81,7 +81,7 @@ class Server
   }
 
   typedef boost::function<void(ConfigType &, uint32_t level)> CallbackType;
-  
+
   void setCallback(const CallbackType &callback)
   {
     boost::recursive_mutex::scoped_lock lock(mutex_);
@@ -181,10 +181,10 @@ class Server
     boost::recursive_mutex::scoped_lock lock(mutex_);
     set_service_ = node_handle_.advertiseService("set_parameters",
         &Server<ConfigType>::setConfigCallback, this);
-    
+
     descr_pub_ = node_handle_.advertise<dynamic_reconfigure::ConfigDescription>("parameter_descriptions", 1, true);
     descr_pub_.publish(ConfigType::__getDescriptionMessage__());
-    
+
     update_pub_ = node_handle_.advertise<dynamic_reconfigure::Config>("parameter_updates", 1, true);
     ConfigType init_config = ConfigType::__getDefault__();
     init_config.__fromServer__(node_handle_);
@@ -210,7 +210,7 @@ class Server
       ROS_DEBUG("setCallback did not call callback because it was zero."); /// @todo kill this line.
   }
 
-  bool setConfigCallback(dynamic_reconfigure::Reconfigure::Request &req, 
+  bool setConfigCallback(dynamic_reconfigure::Reconfigure::Request &req,
           dynamic_reconfigure::Reconfigure::Response &rsp)
   {
     boost::recursive_mutex::scoped_lock lock(mutex_);
@@ -219,14 +219,14 @@ class Server
     new_config.__fromMessage__(req.config);
     new_config.__clamp__();
     uint32_t level = config_.__level__(new_config);
-    
+
     callCallback(new_config, level);
 
     updateConfigInternal(new_config);
     new_config.__toMessage__(rsp.config);
     return true;
   }
-  
+
   void updateConfigInternal(const ConfigType &config)
   {
     boost::recursive_mutex::scoped_lock lock(mutex_);

ros/dynamic_reconfigure/package.xml

@@ -1,4 +1,6 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
   <name>dynamic_reconfigure</name>
   <version>1.5.48</version>
   <description>
@@ -19,18 +21,16 @@
 
   <buildtool_depend version_gte="0.5.87">catkin</buildtool_depend>
 
-  <build_depend>boost</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
   <build_depend>roscpp_serialization</build_depend>
   <build_depend>rostest</build_depend>
-  <build_depend>std_msgs</build_depend>
 
-  <run_depend>boost</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rosservice</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <depend>boost</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>rosservice</exec_depend>
 </package>

ros/dynamic_reconfigure/scripts/dynparam

@@ -33,11 +33,12 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 # Revision $Id$
+from __future__ import print_function
 
 NAME='dynparam'
 import roslib; roslib.load_manifest('dynamic_reconfigure')
 import rospy
-import optparse 
+import optparse
 import sys
 import yaml
 import dynamic_reconfigure.client
@@ -46,11 +47,11 @@ def do_list():
     connect()
     list = dynamic_reconfigure.find_reconfigure_services()
     for s in list:
-        print s
+        print(s)
 
 def do_set_from_parameters():
     usage = """Usage: %prog set_from_parameters [options] node
-    
+
 Example command line:
   dynparam set_from_parameters wge100_camera _camera_url:=foo
 
@@ -77,7 +78,7 @@ Example launch file:
     except KeyError:
         print >> sys.stderr, 'error updating parameters: no parameters found on parameter server'
         return
-    
+
     set_params(node, params, timeout=options.timeout)
 
 def do_set():
@@ -120,13 +121,13 @@ Examples:
     try:
         set_params(node, values_dict, timeout=options.timeout)
     except rospy.service.ServiceException:
-        print 'couldn\'t set parameters at node %s' % node
+        print('couldn\'t set parameters at node %s' % node)
     except rospy.exceptions.ROSException:
-        print 'couldn\'t set parameters at node %s' % node
+        print('couldn\'t set parameters at node %s' % node)
 
 def do_get():
     usage = "Usage: %prog get [options] node"
-    
+
     parser = optparse.OptionParser(usage=usage, prog=NAME)
     add_timeout_option(parser)
     options, args = parser.parse_args(myargv[2:])
@@ -139,11 +140,11 @@ def do_get():
     connect()
     params = get_params(node, timeout=options.timeout)
     if params is not None:
-        print params
+        print(params)
 
 def do_load():
     usage = "Usage: %prog load [options] node file"
-    
+
     parser = optparse.OptionParser(usage=usage, prog=NAME)
     add_timeout_option(parser)
     options, args = parser.parse_args(myargv[2:])
@@ -168,7 +169,7 @@ def do_load():
 
 def do_dump():
     usage = "Usage: %prog dump [options] node file"
-    
+
     parser = optparse.OptionParser(usage=usage, prog=NAME)
     add_timeout_option(parser)
     options, args = parser.parse_args(myargv[2:])
@@ -179,7 +180,7 @@ def do_dump():
     elif len(args) > 2:
         parser.error("too many arguments")
     node, path = args[0], args[1]
-    
+
     connect()
     params = get_params(node, timeout=options.timeout)
     if params is not None:
@@ -190,7 +191,7 @@ def do_dump():
         finally:
             f.close()
 
-    print "couldn't get parameters from node %s" % node
+    print("couldn't get parameters from node %s" % node)
 
 def get_params(node, timeout=None):
     client = dynamic_reconfigure.client.Client(node, timeout=timeout)
@@ -200,14 +201,14 @@ def set_params(node, params, timeout=None):
     client = dynamic_reconfigure.client.Client(node, timeout=timeout)
     try:
         client.update_configuration(params)
-    except dynamic_reconfigure.DynamicReconfigureParameterException, e:
-        print 'error updating parameters: ' + str(e)
+    except dynamic_reconfigure.DynamicReconfigureParameterException as e:
+        print('error updating parameters: ' + str(e))
 
 def add_timeout_option(parser):
-    parser.add_option('-t', '--timeout', action='store', type='float', default=None, help='timeout in secs')   
+    parser.add_option('-t', '--timeout', action='store', type='float', default=None, help='timeout in secs')
 
 def print_usage():
-    print """dynparam is a command-line tool for getting, setting, and
+    print("""dynparam is a command-line tool for getting, setting, and
 deleting parameters of a dynamically configurable node.
 
 Commands:
@@ -219,7 +220,7 @@ Commands:
 \tdynparam list                 list configurable nodes
 
 Type dynparam <command> -h for more detailed usage, e.g. 'dynparam get -h'
-"""
+""")
     sys.exit(1)
 
 def connect():
@@ -230,7 +231,7 @@ if __name__ == '__main__':
     if len(myargv) == 1:
         print_usage()
     else:
-        cmd = myargv[1]       
+        cmd = myargv[1]
         try:
             if   cmd == 'list':                do_list()
             elif cmd == 'set_from_parameters': do_set_from_parameters()

ros/dynamic_reconfigure/scripts/reconfigure_gui

@@ -32,8 +32,9 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
+from __future__ import print_function
 
 if __name__ == '__main__':
-    print '\033[91m' + "reconfigure_gui has moved!\n" + '\033[0m'
-    print " Try: " + '\033[92m' + "rosrun rqt_reconfigure rqt_reconfigure\n" + '\033[0m'
-    print " If you see this as part of a tutorial or a script, please update to reflect this change."
+    print('\033[91m' + "reconfigure_gui has moved!\n" + '\033[0m')
+    print(" Try: " + '\033[92m' + "rosrun rqt_reconfigure rqt_reconfigure\n" + '\033[0m')
+    print(" If you see this as part of a tutorial or a script, please update to reflect this change.")

ros/dynamic_reconfigure/src/dynamic_reconfigure/__init__.py

@@ -31,7 +31,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 """
-Python client API for dynamic_reconfigure (L{Client}) as well as 
+Python client API for dynamic_reconfigure (L{Client}) as well as
 example server implementation (L{Server}).
 """
 
@@ -56,7 +56,7 @@ class DynamicReconfigureCallbackException(DynamicReconfigureException):
 
 def find_reconfigure_services():
     import rosservice
-    return sorted([s[:-len('/set_parameters')] for s in rosservice.get_service_list() if s.endswith('/set_parameters')]) 
+    return sorted([s[:-len('/set_parameters')] for s in rosservice.get_service_list() if s.endswith('/set_parameters')])
 
 def get_parameter_names(descr):
     return descr.defaults.keys()