[rtmros_choreonoid] python2, python3 compatible

start-jsk · Jun 13, 2024 · 76543d6 · 76543d6
1 parent 509f3f6
commit 76543d6
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Showing 3 changed files with 11 additions and 7 deletions.
diff --git a/choreonoid_noetic.patch b/choreonoid_noetic.patch
@@ -50,7 +50,7 @@ index 504d56c7..8f22b7cc 100644
      list(APPEND OPENRTM_DEFINITIONS -DUSE_BUILTIN_CAMERA_IMAGE_IDL)
    else()
 diff --git a/package.xml b/package.xml
-index 5e1e1e32..a4cc62a4 100644
+index 5e1e1e32..693da8e0 100644
 --- a/package.xml
 +++ b/package.xml
 @@ -23,8 +23,9 @@
@@ -64,14 +64,16 @@ index 5e1e1e32..a4cc62a4 100644
    <exec_depend>assimp</exec_depend>
 
    <build_export_depend>qtbast5-dev</build_export_depend>
-@@ -37,8 +38,8 @@
+@@ -37,8 +38,10 @@
    <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> -->
++  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
++  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
++  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
++  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
 
    <build_depend>libpulse-dev</build_depend>
    <build_depend>libsndfile1-dev</build_depend>

diff --git a/hrpsys_choreonoid/launch/add_objects.py b/hrpsys_choreonoid/launch/add_objects.py
@@ -46,14 +46,16 @@ def parse_filename(filestr):
         pkgname = ret.group(1)
         #packagepath = commands.getoutput('rospack find %s'%(pkgname))
         packagepath = subprocess.check_output(['rospack', 'find', pkgname])
-        packagepath = packagepath.decode().rstrip('\n')
+        if sys.version_info >= (3,):
+            packagepath = packagepath.decode()
+        packagepath = packagepath.rstrip('\n')
         filestr = filestr[:ret.start(0)] + packagepath + filestr[ret.end(0):]
 
     return filestr
 
 try:
     f = open(objs_yaml, 'r')
-    dict_objs = yaml.load(f)
+    dict_objs = yaml.load(f, Loader=yaml.SafeLoader)
     f.close()
 except:
     print("can not read %s"%(objs_yaml), file=sys.stderr)

diff --git a/hrpsys_ros_bridge_jvrc/scripts/gait_state_manager_node.py b/hrpsys_ros_bridge_jvrc/scripts/gait_state_manager_node.py
@@ -89,7 +89,7 @@ def add_event(self, cfg):
     callbacks = cfg['callbacks'] if 'callbacks' in cfg else {}
     tmap = self._map
     def add(e):
-        src = [e['src']] if isinstance(e['src'], str) else e['src']
+        src = [e['src']] if (isinstance(e['src'], str) or isinstance(e['src'], unicode)) else e['src']
         if e['name'] not in tmap:
             tmap[e['name']] = {}
         for s in src: