fkanehiro · fkanehiro · Jun 10, 2022 · Jun 9, 2022 · Jun 9, 2022 · Jun 9, 2022
diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
@@ -0,0 +1,43 @@
+on:
+  push:
+    branches:
+      # - master
+  pull_request:
+
+env:
+  DISPLAY: '0:0'
+
+jobs:
+  linuxs:
+    runs-on: ubuntu-latest
+#    continue-on-error: ${{ matrix.experimental }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: indigo
+            CONTAINER: ubuntu:14.04
+          - ROS_DISTRO: kinetic
+            CONTAINER: ubuntu:16.04
+          - ROS_DISTRO: melodic
+            CONTAINER: ubuntu:18.04
+          - ROS_DISTRO: noetic
+            CONTAINER: ubuntu:20.04
+
+    container: ${{ matrix.CONTAINER }}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: remove esm repos
+        if: ${{ matrix.CONTAINER == 'ubuntu:14.04' }}
+        run: sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-trusty.list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
+
+      - name: Run test
+        shell: bash
+        run: |
+          set -x
+          export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          ls -al
+          . ./.travis.sh
diff --git a/.github/workflows/trusty-hrpsys-util.patch b/.github/workflows/trusty-hrpsys-util.patch
@@ -0,0 +1,31 @@
+diff --git a/util/simulator/CMakeLists.txt b/util/simulator/CMakeLists.txt
+index beb53389..2fb81821 100644
+--- a/util/simulator/CMakeLists.txt
++++ b/util/simulator/CMakeLists.txt
+@@ -32,12 +32,20 @@ add_library(hrpsysext SHARED
+   PyShape.cpp
+   )
+
+-find_package(Boost REQUIRED COMPONENTS python)
+-target_link_libraries(hrpsysext
+-  Boost::python
+-  hrpsysUtil
+-  ${PYTHON_LIBRARIES}
+-  )
++find_package(Boost COMPONENTS python)
++if(Boost_python_FOUND)  # Boost::python released since 1.67 https://www.boost.org/doc/libs/1_71_0/libs/python/doc/html/rn.html
++  target_link_libraries(hrpsysext
++    Boost::python
++    hrpsysUtil
++    ${PYTHON_LIBRARIES}
++    )
++else()
++  target_link_libraries(hrpsysext
++    boost_python
++    hrpsysUtil
++    ${PYTHON_LIBRARIES}
++    )
++endif()
+
+ set_target_properties(hrpsysext PROPERTIES PREFIX "")
+ set_target_properties(hrpsysext PROPERTIES SUFFIX ".so")
diff --git a/.travis.sh b/.travis.sh
@@ -23,7 +23,9 @@ apt-get install dpkg -y # for https://github.com/ros/rosdistro/issues/19481
 # install: # Use this to install any prerequisites or dependencies necessary to run your build
 apt-get install -qq -y f2c libopencv-dev libf2c2 libf2c2-dev doxygen cmake libeigen3-dev libjpeg-dev git jython libatlas-base-dev libboost-all-dev libpng-dev
 apt-get install -qq -y collada-dom-dev || apt-get install -qq -y libcollada-dom2.4-dp-dev # libcollada-dom2.4 for melodic
-apt-get install -qq -y ros-$ROS_DISTRO-openrtm-aist ros-$ROS_DISTRO-openrtm-aist-python ros-$ROS_DISTRO-mk ros-$ROS_DISTRO-rosbuild ros-$ROS_DISTRO-rostest ros-$ROS_DISTRO-roslang python-rosdep
+apt-get install -qq -y ros-$ROS_DISTRO-openrtm-aist ros-$ROS_DISTRO-mk ros-$ROS_DISTRO-rosbuild ros-$ROS_DISTRO-rostest ros-$ROS_DISTRO-roslang
+apt-get install -qq -y ros-$ROS_DISTRO-openrtm-aist-python || echo "try without openrtm-aist-python"
+apt-get install -qq -y python-rosdep || apt-get install -qq -y python3-rosdep
 cd $CI_SOURCE_PATH
 # before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -32,12 +34,15 @@ export ROS_PARALLEL_JOBS="-j2 -l2"
 mkdir -p ~/ws/src
 ln -sf ${CI_SOURCE_PATH} ~/ws/src/${REPOSITORY_NAME}
 git clone http://github.com/fkanehiro/hrpsys-base ~/ws/src/hrpsys
+patch -d ~/ws/src/hrpsys -p1 < ${CI_SOURCE_PATH}/.github/workflows/trusty-hrpsys-util.patch
 sed -i "s@if(ENABLE_DOXYGEN)@if(0)@" ~/ws/src/hrpsys/CMakeLists.txt # disable doc generation
 cd ~/ws
 rosdep init
-rosdep update
+rosdep update --include-eol-distros
 rosdep install -r -q -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y || echo "use libpng-dev in package.xml"
 catkin_make_isolated
+
+if [[ "$ROS_DISTRO" ==  "noetic" ]]; then exit 0; fi
 source devel_isolated/setup.bash
 export ROS_PACKAGE_PATH=`pwd`/devel_isolated:$ROS_PACKAGE_PATH
 export EXIT_STATUS=0; [ "`find devel_isolated/openhrp3/share/openhrp3 -iname '*.test'`" == "" ] && echo "[openhrp3] No tests ware found!!!"  || find devel_isolated/openhrp3/share/openhrp3 -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?; [ $EXIT_STATUS == 0 ]

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,106 @@
 Changelog for package openhrp3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.1.10 (2022-06-10)
+-------------------
+
+* hrplib/hrpModel
+
+  * [hrplib/hrpModel/ForwardDynamicsCBM.cpp] check equation num in solveUnknownAccels (`#155 <https://github.com/fkanehiro/openhrp3/issues/155>`_)
+  * [hrplib/hrpModel] Calculation of the mass of a portion of the kinematic chain (`#142 <https://github.com/fkanehiro/openhrp3/issues/142>`_)
+
+    * Add calcTotalMass to LinkTraverse
+    * Added calcJacobianDot to JointPath
+    * Calculation of the spatial velocity
+
+  * [hrplib/hrpModel/ModelNodeSet.cpp] change the way to check existence of children field (`#139 <https://github.com/fkanehiro/openhrp3/issues/139>`_)
+  * [hrpModel/JointPath.cpp] try to enforce joint limits in calcInverseKinetatics() (`#137 <https://github.com/fkanehiro/openhrp3/issues/137>`_)
+  * [hrplib/hrpModel/JointPath.cpp] add local_p arg for calcJacobian (`#127 <https://github.com/fkanehiro/openhrp3/issues/127>`_)
+
+    * fix local_p coordinate
+    * add local_p arg for calcJacobian
+
+* hrplib/hrpPlanner
+
+  * [hrplib/hrpPlanner] fix warnings(-Wdelete-incomplete) (`#138 <https://github.com/fkanehiro/openhrp3/issues/138>`_)
+  * [hrplib/hrpPlanner/TimeUtil.cpp] add stdint.h to use uint64_t on arm, close `#123 <https://github.com/fkanehiro/openhrp3/issues/123>`_ (`#124 <https://github.com/fkanehiro/openhrp3/issues/124>`_)
+
+* hrplib/hrpCollision
+
+  * [hrplib/hrpCollision] enable to bypass normal vector correction (`#141 <https://github.com/fkanehiro/openhrp3/issues/141>`_)
+  * [hrpCollision] add ColdetModelPair::operator=() (`#136 <https://github.com/fkanehiro/openhrp3/issues/136>`_)
+
+
+* hrplib/hrpUtil
+
+  * [hrplib/hrpUtil/EasyScanner.cpp] Always use locale-free variant of strtod (`#144 <https://github.com/fkanehiro/openhrp3/issues/144>`_)
+  * [hrplib/hrpUtil/testEigen3d.cpp] Fix C++11 support (`#134 <https://github.com/fkanehiro/openhrp3/issues/134>`_)
+
+* server/ModelLoader
+
+  * [server/ModelLoader/projectGenerator.cpp] write peridoic.rate to conf file (`#156 <https://github.com/fkanehiro/openhrp3/issues/156>`_)
+  * [server/ModelLoader/ColladaWriter.h] Apply abs when computing max_torque (`#153 <https://github.com/fkanehiro/openhrp3/issues/153>`_)
+  * [server/ModelLoader/ColladaWriter.h] Fix missing return statement (`#152 <https://github.com/fkanehiro/openhrp3/issues/152>`_)
+  * [server/ModelLoader] Check if segment node is defined (`#135 <https://github.com/fkanehiro/openhrp3/issues/135>`_)
+  * [server/ModelLoader/ColladaWriter.h] Changed ambientcolor (`#133 <https://github.com/fkanehiro/openhrp3/issues/133>`_)
+
+* sample
+
+  * [sample/model/sample1_bush.wrl] add comma (`#154 <https://github.com/fkanehiro/openhrp3/issues/154>`_)
+
+* CMake
+
+  * [CMakeLists.txt, hrplib/hrpCorba/CMakeLists.txt] add an option COMPILE_PYTHON_STUFF
+  * [CMakeLists.txt, cmake_modules/FindOpenRTM.cmake] enable to compile with OpenRTM 1.2.2
+  * [CMakeLists.txt, server/ModelLoader/CMakeLists.txt] support newer boost (`#146 <https://github.com/fkanehiro/openhrp3/issues/146>`_)
+
+* [openhrp3.1.pc.in] fix path order in openhrp3.1.pc.in (`#129 <https://github.com/fkanehiro/openhrp3/issues/129>`_)
+
+* installPackages
+
+  * [util]
+
+    * add packages.list.ubuntu.20.04
+    * add packages.list.debian.9
+    * add packages.list.debian.10
+    * update package list
+    * add packages.list.ubuntu.18.04
+
+  * [uril] add a package list for debian7
+  * [util/pkg_install_debian.sh] add RTM repository without asking user
+  * [uril] install packages without asking user
+
+* Enable GithubAction tests (`#155 <https://github.com/fkanehiro/openhrp3/issues/155>`_)
+
+  * noetic does not run test because of missing python3 omniorb
+  * [test/test_openhrp3.py] fix python3 error on mixing binary and string
+    ```
+    raise TypeError("Can't mix strings and bytes in path components") from None
+    ```
+  * install python3-rosdep if python-rosdep failed
+  * try without openrtm-aist-python
+  * remove esm repos
+
+  * compile example and JoysticControl in newer openrtm than 1.1.0
+    * [sample/controller/CMakeLists.txt] add sample/controller/{SamplePD,SampleHG,SampleLF} when >= OPENRTM_VERSION100  (`#150 <https://github.com/fkanehiro/openhrp3/issues/150>`_)
+    * CMake < 3.7 compatibility, see https://github.com/glfw/glfw/issues/1584
+    * [sample/CMakeLists.txt] [sample] compile example and JoysticControl in newer openrtm than 1.1.0
+
+  * hrplib/hrpCorba/CMakeLists.txt: fix for Python3
+  * patch trusty-hrpsys-util.patch, https://github.com/fkanehiro/hrpsys-base/pull/1308 fails on 14.04
+  * add indigo/kinetic, run rosdep update with --include-eol-distros
+  * fix for python3: 2to3 -w -f has_key .
+  * fix for python3: 2to3 -w -f print .
+  * add .github/workflows/config.yml
+
+* TravisCI
+
+  * add .travis.yml and create .travis.sh (`#149 <https://github.com/fkanehiro/openhrp3/issues/149>`_)
+  * [.travis.yml] update dpkg to install rosdistro in trusty (`#143 <https://github.com/fkanehiro/openhrp3/issues/143>`_)
+  * .travis.yml : update to trusty/indigo (`#128 <https://github.com/fkanehiro/openhrp3/issues/128>`_)
+
+* Contributors: Fumio Kanehiro, Iori Kumagai, Jun Inoue, Kei Okada, Mitsuharu Morisawa, Naoki Hiraoka, Pierre Gergondet, Rafael Cisneros, Iori Yanokura, Yasuhiro Ishiguro, Kunio Kojima
+
 3.1.9 (2017-02-17)
 ------------------
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -28,7 +28,7 @@ endif()
 
 set(OPENHRP_VERSION_MAJOR 3)
 set(OPENHRP_VERSION_MINOR 1)
-set(OPENHRP_VERSION_MICRO 9)
+set(OPENHRP_VERSION_MICRO 10)
 set(OPENHRP_VERSION_ADD_TAIL )
 set(CPACK_DEBIAN_PACKAGE_VERSION_TAIL 0)
 

diff --git a/hrplib/hrpCorba/CMakeLists.txt b/hrplib/hrpCorba/CMakeLists.txt
@@ -82,7 +82,7 @@ set(given_headers ORBwrap.h)
 
 install(FILES ${given_headers} ${idl_h_files} DESTINATION ${RELATIVE_HEADERS_INSTALL_PATH}/hrpCorba)
 execute_process(
-  COMMAND python -c "import sys; print '%s.%s'%(sys.version_info[0:2])"
+  COMMAND python -c "import sys; print('%s.%s'%(sys.version_info[0:2]))"
   OUTPUT_VARIABLE python_version
   OUTPUT_STRIP_TRAILING_WHITESPACE)
 

diff --git a/package.xml b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openhrp3</name>
-  <version>3.1.9</version>
+  <version>3.1.10</version>
   <description>
    <p>This package does not only wrap <a href = "http://www.openrtp.jp/openhrp3/en/index.html">OpenHRP3</a> but actually provides the built artifact from the code from its <a href = "https://openrtp.jp/svn/hrg/openhrp">mainstream repository</a>. Being ROS-agnostic by itself, you can also use this via ROS together with the packages in <a href = "http://www.ros.org/wiki/rtmros_common">rtmros_common</a> that bridge between two framework.</p>
    <p><i>OpenHRP3 (Open Architecture Human-centered Robotics Platform version 3) is an integrated software platform for robot simulations and software developments. It allows the users to inspect an original robot model and control program by dynamics simulation. In addition, OpenHRP3 provides various software components and calculation libraries that can be used for robotics related software developments</i> (<a href = "http://www.openrtp.jp/openhrp3/en/about.html">excerpts from here</a>). </p>

diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
@@ -1,5 +1,5 @@
 add_subdirectory(controller)
-if(OPENRTM_VERSION STREQUAL OPENRTM_VERSION100 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION101 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION102 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION110)
+if(OPENRTM_VERSION VERSION_GREATER OPENRTM_VERSION100 OR OPENRTM_VERSION VERSION_EQUAL OPENRTM_VERSION100)
   add_subdirectory(example)
   add_subdirectory(JoystickControl)
 endif()

diff --git a/sample/JoystickControl/TkJoyStick/TkJoyStickComp.py b/sample/JoystickControl/TkJoyStick/TkJoyStickComp.py
@@ -85,7 +85,7 @@ def convert(self, x, y):
 		_v = self._k * math.hypot(x, y)
 		_vl = _v * math.cos(_th - (math.pi/4.0))
 		_vr = _v * math.sin(_th - (math.pi/4.0))
-		print x, y, _vl, _vr
+		print(x, y, _vl, _vr)
 		return [_vl, _vr]
 
 	def set_pos(self, pos, pol):

diff --git a/sample/JoystickControl/TkJoyStick/tkjoystick.py b/sample/JoystickControl/TkJoyStick/tkjoystick.py
@@ -533,7 +533,7 @@ def test ():
 
     while 1:
         m.update()
-        print m.get_pos()
+        print(m.get_pos())
 
 
 if  __name__ == '__main__': test()
diff --git a/sample/controller/CMakeLists.txt b/sample/controller/CMakeLists.txt
@@ -35,7 +35,7 @@ macro(create_simple_controller CONTROLLER_NAME)
 
 endmacro()
 
-if(OPENRTM_VERSION STREQUAL OPENRTM_VERSION100 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION101 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION102 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION110)
+if(OPENRTM_VERSION VERSION_GREATER OPENRTM_VERSION100 OR OPENRTM_VERSION VERSION_EQUAL OPENRTM_VERSION100)
     add_subdirectory(SamplePD)
     add_subdirectory(SampleHG)
     add_subdirectory(SampleLF)

diff --git a/sample/script/HRPCommon.py b/sample/script/HRPCommon.py
@@ -21,7 +21,7 @@ def initialisePlugins(self):
         count = 0
         for pn,vn,pc in plist:
             if self.Initialise and 1<<count:
-                print 'initialise ', pn, ' as ', vn
+                print('initialise ', pn, ' as ', vn)
 
     #
     # pCORBA: plugin corba name
@@ -32,7 +32,7 @@ def loadAndCreatePlugin(self, pCORBA, pFile, pClass):
         p = hrp.findPlugin(pCORBA)
 
         if p == None:
-            print 'load and create'
+            print('load and create')
             self.MotionSys.load(pFile)
             p = self.MotionSys.create(pFile, pCORBA, '')
 
@@ -46,5 +46,5 @@ def loadAndCreatePlugin(self, pCORBA, pFile, pClass):
             return narrowedP
 
         else:
-            print 'plugin '+pCORBA+' does not exist'
+            print('plugin '+pCORBA+' does not exist')
             return None
diff --git a/sample/script/autoplay.py b/sample/script/autoplay.py
@@ -11,7 +11,7 @@ def run(self):
 item  = uimanager.getSelectedItem(GrxWorldStateItem, None)
 n = item.getLogSize()
 if n > 0:
-	print "now auto playing..."
+	print("now auto playing...")
 
 	c = 0
 	while 1:

diff --git a/sample/script/hrp.py b/sample/script/hrp.py
@@ -47,7 +47,7 @@ def findReceiver(objname, rnc=None):
 		obj = findObject(objname, rnc)
 		return CommandReceiverHelper.narrow(obj)
 	except:
-		print "exception in findReceiver("+objname+")"
+		print("exception in findReceiver("+objname+")")
 
 def findPlugin(name, rnc=None):
 	try:
@@ -61,27 +61,27 @@ def findPluginManager(name, rnc=None):
 		obj = findObject(name, rnc)
 		return PluginManagerHelper.narrow(obj)
 	except:
-		print "exception in findPluginManager"
+		print("exception in findPluginManager")
 
 def findWalkPlugin(name, rnc=None):
 	try:
 		obj = findObject(name, rnc)
 		return walkpluginHelper.narrow(obj)
 	except:
-		print "exception in findWalkPlugin"
+		print("exception in findWalkPlugin")
 
 def findSeqPlugin(name, rnc=None):
 	try:
 		obj = findObject(name, rnc)
 		return SequencePlayerHelper.narrow(obj)
 	except:
-		print "exception in findSeqPlugin"
+		print("exception in findSeqPlugin")
 
 def findLogPlugin(name, rnc=None):
 	try:
 		return LoggerPluginHelper.narrow(findObject(name, rnc))
 	except:
-		print "exception in findLogPlugin"
+		print("exception in findLogPlugin")
 
 def findDynamicsPlugin(name, rnc=None):
 	try:
@@ -105,7 +105,7 @@ def findStabilizerPlugin(name, rnc=None):
 	try:
 		return findPlugin(name, rnc)
 	except:
-		print "exception in findStabilizerPlugin"
+		print("exception in findStabilizerPlugin")
 		return None
 
 def findIoControlPlugin(name, rnc=None):

diff --git a/sample/script/hrpPrep.py b/sample/script/hrpPrep.py
@@ -59,7 +59,7 @@ def doNarrow4Python(corbaClass, corbaObject):
         #print 'narrowed result is', tmp
         return tmp
     except:
-        print 'narrow exception:', corbaObject, 'to', corbaClass
+        print('narrow exception:', corbaObject, 'to', corbaClass)
 
     return None
 
@@ -69,8 +69,8 @@ def getORBPython(argv):
 
 
 def getPluginObject2NarrowPython(name):
-    print name
-    print 'getPluginObject2NarrowPython('+name+')'
+    print(name)
+    print('getPluginObject2NarrowPython('+name+')')
     try:
         exec('from _GlobalIDL import '+name+' as localImport')
         return localImport
@@ -84,7 +84,7 @@ def getPluginObject2NarrowPython(name):
 
 try: # platform is Jython
     import java.lang.System as System
-    print 'platform is probably Jython'
+    print('platform is probably Jython')
     import org.omg.CORBA as CORBA
 
     from org.omg.CosNaming import NameComponent
@@ -120,7 +120,7 @@ def getPluginObject2NarrowPython(name):
     getPluginObject2Narrow = getPluginObject2NarrowJython
 
 except ImportError: # platform is not Jython
-    print 'platform is probably CPython'
+    print('platform is probably CPython')
     import omniORB.CORBA as CORBA
     import CosNaming
     import _GlobalIDL as IDLBase