more Python 3 compatibility (#1795)

* avoid using nose.tools without dependency being declared

* seek(0)

* subprocess decode

* import urlparse

* fix hash arg encode

* print function

* replace tabs used for indenting Python code with spaces

clients/rospy/src/rospy/core.py

@@ -259,7 +259,7 @@ def __call__(self, caller_id, msg):
         - caller_id (str): Id to identify the caller
         - msg (str): Contents of message to log
         """
-        msg_hash = md5(msg).hexdigest()
+        msg_hash = md5(msg.encode()).hexdigest()
 
         if msg_hash != self.last_logging_msg_table.get(caller_id):
             self.last_logging_msg_table[caller_id] = msg_hash

clients/rospy/src/rospy/impl/tcpros_base.py

@@ -446,7 +446,7 @@ def __init__(self, protocol, name, header=None):
         else: # Python 3.x
             self.read_buff = BytesIO()
             self.write_buff = BytesIO()
-                    	    
+
         #self.write_buff = StringIO()
         self.header = header
 
@@ -651,7 +651,7 @@ def read_header(self):
         if sock is None:
             return
         sock.setblocking(1)
-	# TODO: add bytes received to self.stat_bytes
+        # TODO: add bytes received to self.stat_bytes
         self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
 
     def send_message(self, msg, seq):
@@ -670,6 +670,7 @@ def send_message(self, msg, seq):
         serialize_message(self.write_buff, seq, msg)
         self.write_data(self.write_buff.getvalue())
         self.write_buff.truncate(0)
+        self.write_buff.seek(0)
 
     def write_data(self, data):
         """

clients/rospy/src/rospy/impl/tcpros_pubsub.py

@@ -180,7 +180,7 @@ def robust_connect_subscriber(conn, dest_addr, dest_port, pub_uri, receive_cb, r
 
             # check to see if publisher state has changed
             conn.done = not check_if_still_publisher(resolved_topic_name, pub_uri)
-	
+
     if not conn.done:
         conn.receive_loop(receive_cb)	    
 

clients/rospy/src/rospy/impl/udpros.py

@@ -269,6 +269,7 @@ def send_message(self, msg, seq):
         serialize_message(self.write_buff, seq, msg)
         self.write_data(self.write_buff.getvalue())
         self.write_buff.truncate(0)
+        self.write_buff.seek(0)
 
     def write_data(self, data):
         """

test/test_roslaunch/test/params_basic.py

@@ -112,7 +112,7 @@ def test_commandandfile(self):
 
         # test 'command' attribute
         if os.name != 'nt':  # skip testcase for `cat` command in Windows
-            self.assertEquals(get_param("commandoutput"), binary_data)
+            self.assertEquals(get_param("commandoutput"), binary_data.decode())
         # test 'textfile' attribute
         self.assertEquals(get_param("textfile"), text_data)
         ## test 'binfile' attribute

test/test_rosmaster/test/client_verification/test_slave_api.py

@@ -124,7 +124,7 @@ def setUp(self):
                 time.sleep(0.1)
         if not self.node_api:
             self.fail("master did not return XML-RPC API for [%s, %s]"%(self.caller_id, self.test_node))
-        print "[%s] API  = %s"%(self.test_node, self.node_api)
+        print("[%s] API  = %s"%(self.test_node, self.node_api))
         self.assert_(self.node_api.startswith('http'))
         self.node = ServerProxy(self.node_api)
 
@@ -173,7 +173,10 @@ def check_uri(self, uri):
         """
         validates a URI as being http(s)
         """
-        import urlparse
+        try:
+            import urllib.parse as urlparse
+        except ImportError:
+            import urlparse
         parsed = urlparse.urlparse(uri)
         self.assert_(parsed[0] in ['http', 'https'], 'protocol [%s] is [%s] invalid'%(parsed[0], uri))
         self.assert_(parsed[1], 'host missing [%s]'%uri)
@@ -323,7 +326,10 @@ def test_getMasterUri(self):
         self.check_uri(uri)
 
         # check against env, canonicalize for comparison
-        import urlparse
+        try:
+            import urllib.parse as urlparse
+        except ImportError:
+            import urlparse
         master_env = rosgraph.get_master_uri()
         if not master_env.endswith('/'):
             master_env = master_env + '/'

test/test_rosmaster/test/master.py

@@ -79,7 +79,10 @@ def setUp(self):
 
     ## validates a URI as being http(s)
     def _checkUri(self, uri):
-        import urlparse
+        try:
+            import urllib.parse as urlparse
+        except ImportError:
+            import urlparse
         parsed = urlparse.urlparse(uri)
         self.assert_(parsed[0] in ['http', 'https'], 'protocol [%s] in [%s] invalid'%(parsed[0], uri))
         self.assert_(parsed[1], 'host missing [%s]'%uri)
@@ -98,7 +101,10 @@ def _testGetMasterUri(self):
         self._checkUri(uri)
 
         # make sure we agree on ports
-        import urlparse
+        try:
+            import urllib.parse as urlparse
+        except ImportError:
+            import urlparse
         parsed = urlparse.urlparse(uri)
         parsed2 = urlparse.urlparse(self.master_uri)        
 

test/test_rosmaster/test/nodes/add_two_ints_client

@@ -62,7 +62,7 @@ def add_two_ints_client(x, y):
         # create a handle to the add_two_ints service
         add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
 
-        print "Requesting %s+%s"%(x, y)
+        print("Requesting %s+%s"%(x, y))
 
         # simplified style
         resp1 = add_two_ints(x, y)
@@ -76,7 +76,7 @@ def add_two_ints_client(x, y):
             raise Exception("test failure, returned sum was %s"%resp2.sum)
         return resp1.sum
     except rospy.ServiceException as e:
-        print "Service call failed: %s"%e
+        print("Service call failed: %s"%e)
 
 def usage():
     return "%s [x y]"%sys.argv[0]
@@ -93,9 +93,9 @@ if __name__ == "__main__":
             x = string.atoi(argv[1])
             y = string.atoi(argv[2])
         except:
-            print usage()
+            print(usage())
             sys.exit(1)
     else:
-        print usage()
+        print(usage())
         sys.exit(1)
-    print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))
+    print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))

test/test_rosmaster/test/nodes/testAllCommonFlows

@@ -13,8 +13,8 @@ BOOTSTRAP_VERSION = "0.1"
 
 # Read in ROS_ROOT
 if 'ROS_ROOT' not in os.environ:
-  print """\nCannot run ROS: ROS_ROOT is not set.\nPlease set the ROS_ROOT environment variable to the 
-location of your ROS install.\n"""
+  print("""\nCannot run ROS: ROS_ROOT is not set.\nPlease set the ROS_ROOT environment variable to the 
+location of your ROS install.\n""")
   sys.exit(-1)
 rosRoot = os.environ['ROS_ROOT']
 
@@ -23,7 +23,7 @@ rospackLatest = os.popen(os.path.join(rosRoot,'rospack')+' latest rospy', 'r')
 rospyDir = rospackLatest.read()
 rospackLatest.close()
 if rospyDir is None or not os.path.isdir(rospyDir.strip()):
-  print "\nERROR: Cannot locate rospy installation.\n"
+  print("\nERROR: Cannot locate rospy installation.\n")
   sys.exit(-1)
 
 # Run launcher bootstrapper

test/test_rosmaster/test/nodes/testMaster

@@ -13,8 +13,8 @@ BOOTSTRAP_VERSION = "0.1"
 
 # Read in ROS_ROOT
 if 'ROS_ROOT' not in os.environ:
-  print """\nCannot run ROS: ROS_ROOT is not set.\nPlease set the ROS_ROOT environment variable to the 
-location of your ROS install.\n"""
+  print("""\nCannot run ROS: ROS_ROOT is not set.\nPlease set the ROS_ROOT environment variable to the 
+location of your ROS install.\n""")
   sys.exit(-1)
 rosRoot = os.environ['ROS_ROOT']
 
@@ -23,7 +23,7 @@ rospackLatest = os.popen(os.path.join(rosRoot,'rospack')+' latest rospy', 'r')
 rospyDir = rospackLatest.read()
 rospackLatest.close()
 if rospyDir is None or not os.path.isdir(rospyDir.strip()):
-  print "\nERROR: Cannot locate rospy installation.\n"
+  print("\nERROR: Cannot locate rospy installation.\n")
   sys.exit(-1)
 
 # Run launcher bootstrapper

test/test_rosmaster/test/nodes/testSlave

@@ -13,8 +13,8 @@ BOOTSTRAP_VERSION = "0.1"
 
 # Read in ROS_ROOT
 if 'ROS_ROOT' not in os.environ:
-  print """\nCannot run ROS: ROS_ROOT is not set.\nPlease set the ROS_ROOT environment variable to the 
-location of your ROS install.\n"""
+  print("""\nCannot run ROS: ROS_ROOT is not set.\nPlease set the ROS_ROOT environment variable to the 
+location of your ROS install.\n""")
   sys.exit(-1)
 rosRoot = os.environ['ROS_ROOT']
 
@@ -23,7 +23,7 @@ rospackLatest = os.popen(os.path.join(rosRoot,'rospack')+' latest rospy', 'r')
 rospyDir = rospackLatest.read()
 rospackLatest.close()
 if rospyDir is None or not os.path.isdir(rospyDir.strip()):
-  print "\nERROR: Cannot locate rospy installation.\n"
+  print("\nERROR: Cannot locate rospy installation.\n")
   sys.exit(-1)
 
 # Run launcher bootstrapper

test/test_rosmaster/test/testMaster.py

@@ -83,7 +83,7 @@ def testGraphState(master, graphNodes, graphFlows):
     assert not diff, "Graph nodes %s does not match expected %s: %s"%(graph[0], graphNodes, diff)
     # stringify for comparison
     expectedFlows = ["%s:%s:1"%f for f in graphFlows] # :1 = connected
-    print graph[1]
+    print(graph[1])
     remoteFlows = ["%s:%s:%s"%(src,snk,c) for (src,snk,c) in graph[1]]
     if expectedFlows or remoteFlows:
         #assert set(expectedFlows) ^ set(remoteFlows), "Graph flows [%s] does not match expected [%s]"%(graph[1], graphFlows)
@@ -95,7 +95,7 @@ def testParamState(master, myState):
     for (k, v) in myState.items():
         if HAS_PARAM:
             assert apiSuccess(master.hasParam(callerId, k))
-        print "verifying parameter %s"%k
+        print("verifying parameter %s"%k)
         v2 = apiSuccess(master.getParam(callerId, k))
         if isinstance(v2, DateTime):
             assert DateTime(v) == v2, "[%s]: %s != %s, %s"%(k, v, v2, v2.__class__)
@@ -124,7 +124,7 @@ def _testSetParam(self, ctx, myState, testVals, master):
                 count = 0
                 for val in vals:
                     key = "%s-%s"%(type,count)
-                    print "master.setParam(%s,%s,%s)"%(callerId, key, val)
+                    print("master.setParam(%s,%s,%s)"%(callerId, key, val))
                     master.setParam(callerId, key, val)
                     if HAS_PARAM:                    
                         assert apiSuccess(master.hasParam(callerId, key))
@@ -161,14 +161,14 @@ def testParamValues(self):
             ]
         master = self.master
 
-        print "Putting parameters onto the server"
+        print("Putting parameters onto the server")
         # put our params into the parameter server
         contexts = ['', 'scope1', 'scope2', 'scope.subscope1', 'scope.sub1.sub2']
         myState = {}
         for ctx in contexts:
             self._testSetParam(ctx, myState, testVals, master)
 
-        print "Deleting all of our parameters"
+        print("Deleting all of our parameters")
         # delete all of our parameters
         paramKeys = myState.keys()
         for key in paramKeys:
@@ -493,7 +493,7 @@ def testGetFlowNames(self):
         #testNode must have :in and :out
         #:in and :out
         testFlowNames = ["%s:%s"%(name, v) for v in ["in", "out"]]
-        print "FLOW NAMES", apiSuccess(master.getFlowNames('master', ''))        
+        print("FLOW NAMES", apiSuccess(master.getFlowNames('master', '')))
         flows = apiSuccess(master.getFlowNames('%s.caller'%subgraph, ''))
         assert not set([x[0] for x in flows]) ^ set(testFlowNames), "%s vs. %s"%([x[0] for x in flows], testFlowNames)
 
@@ -656,7 +656,7 @@ def testAddNode(self):
                  [['wg.addNodeTest',      'testAddNodeA'], [TEST_MACHINE, 0]],
                  ]
         for fullname, args in tests:
-            print "testAddNode: testing", fullname
+            print("testAddNode: testing", fullname)
             subcontext, name = fullname
             if subcontext:
                 fullname = '%s.%s'%(subcontext, name)

test/test_rosmaster/test/testSlave.py

@@ -274,7 +274,7 @@ def _sink_StartFlows(self, tests, sourceUris, sinks):
             sourceUri = sourceUris[sourceName]
             sink = sinks[sinkName]
             callerId, sourceLocator, sinkLocator = test[1]
-            print "Testing", test
+            print("Testing", test)
             val = apiSuccess(sink.sinkConnectFlow(callerId, sourceLocator, sinkLocator, sourceUri, reliable))
             assert type(val) == int
 
@@ -290,7 +290,7 @@ def _sink_KillFlows(self, tests, sinks):
             sourceName, sinkName = test[0]
             sink = sinks[sinkName]
             callerId, sourceLocator, sinkLocator = test[1]
-            print "Testing", test
+            print("Testing", test)
             assert 1 == apiSuccess(sink.sinkKillFlow(callerId, sourceLocator, sinkLocator)),\
                    "sink did not report 1 flow killed: %s, %s"%(getLastVal(), getLastMsg())
 

test/test_rosparam/test/check_rosparam_command_line_online.py

@@ -69,56 +69,56 @@ def test_rosparam(self):
                   '/g2/string', '/g2/int', '/g2/float',
                   ]
         # - we aren't matching against the core services as those can make the test suites brittle
-        output = Popen([cmd, 'list'], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'list'], stdout=PIPE).communicate()[0].decode()
         l = set(output.split())
         for t in params:
             self.assert_(t in l)
 
         # get
         # - strings
-        output = Popen([cmd, 'get', "string"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "string"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('foo-value', output.strip())
         # -- pretty
-        output = Popen([cmd, 'get', '-p', "string"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', '-p', "string"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('foo-value', output.strip())
-        output = Popen([cmd, 'get', "/string"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/string"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('foo-value', output.strip())
-        output = Popen([cmd, 'get', "g1/string"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "g1/string"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('g1-foo-value', output.strip())
-        output = Popen([cmd, 'get', "/g1/string"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/g1/string"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('g1-foo-value', output.strip())
-        output = Popen([cmd, 'get', "/g2/string"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/g2/string"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('g2-foo-value', output.strip())
         # - ints
-        output = Popen([cmd, 'get', "int"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "int"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('1', output.strip())
         # -- pretty
-        output = Popen([cmd, 'get', '-p', "int"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', '-p', "int"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('1', output.strip())
-        output = Popen([cmd, 'get', "/int"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/int"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('1', output.strip())
-        output = Popen([cmd, 'get', "g1/int"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "g1/int"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('10', output.strip())
-        output = Popen([cmd, 'get', "/g1/int"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/g1/int"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('10', output.strip())
-        output = Popen([cmd, 'get', "/g2/int"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/g2/int"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('20', output.strip())
         # - floats
-        output = Popen([cmd, 'get', "float"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "float"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('1.0', output.strip())
         # -- pretty
-        output = Popen([cmd, 'get', '-p', "float"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', '-p', "float"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('1.0', output.strip())
-        output = Popen([cmd, 'get', "/float"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/float"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('1.0', output.strip())
-        output = Popen([cmd, 'get', "g1/float"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "g1/float"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('10.0', output.strip())
-        output = Popen([cmd, 'get', "/g1/float"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/g1/float"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('10.0', output.strip())
-        output = Popen([cmd, 'get', "/g2/float"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "/g2/float"], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('20.0', output.strip())
         # - dictionary
-        output = Popen([cmd, 'get', "g1"], stdout=PIPE).communicate()[0]
+        output = Popen([cmd, 'get', "g1"], stdout=PIPE).communicate()[0].decode()
         import yaml
         d = yaml.safe_load(output)
         self.assertEquals(d['float'], 10.0)

test/test_rospy/nodes/talker

@@ -45,7 +45,7 @@ def talker():
     count = 0
     while not rospy.is_shutdown():
         str = "hello world %d"%count
-        print str
+        print(str)
         pub.publish(String(str))
         count += 1
         rospy.sleep(0.01)

tools/roslaunch/scripts/roslaunch-complete

@@ -50,6 +50,6 @@ except roslaunch.core.RLException:
 # Currently don't put := after that as the completion will escape := to \:\=
 # Unfortunately we also want the escaping for roslaunch, when completing filenames
 complete_args = [a for a in sorted(roslaunch_args.keys())]
-print " ".join(complete_args)
+print(" ".join(complete_args))
 sys.exit(0)
 

tools/roslaunch/src/roslaunch/remoteprocess.py

@@ -162,7 +162,7 @@ def _ssh_exec(self, command, address, port, username=None, password=None):
         except ImportError as e:
             _logger.error("cannot use SSH: paramiko is not installed")
             return None, "paramiko is not installed"
-		#load user's ssh configuration
+        #load user's ssh configuration
         config_block = {'hostname': None, 'user': None, 'identityfile': None}
         ssh_config = paramiko.SSHConfig()
         try: