Noetic release (#323)

* Python3 and Opencv4 changes - noetic Signed-off-by: ahcorde <[email protected]> * image_geometry cmake_minimum_required to 3.0.2 Signed-off-by: ahcorde <[email protected]> * vision_opencv cmake_minimum_required to 3.0.2 Signed-off-by: ahcorde <[email protected]> * opencv_test cmake_minimum_required to 3.0.2, fixed launch file and python3 issues Signed-off-by: ahcorde <[email protected]> * Removed static_casst Signed-off-by: ahcorde <[email protected]> * import setup from setuptools instead of distutils-core Signed-off-by: ahcorde <[email protected]> * Updated travis.yml and travis.sh Signed-off-by: ahcorde <[email protected]> * do_numpy_import change signature to void * and returns nullptr Signed-off-by: ahcorde <[email protected]> * Updated keys Signed-off-by: ahcorde <[email protected]> * updated python3-numpy key Signed-off-by: ahcorde <[email protected]>
ros-perception · Apr 3, 2020 · 88e01f8 · 88e01f8
1 parent 0bbebb7
commit 88e01f8
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Showing 20 changed files with 41 additions and 312 deletions.
diff --git a/.travis.sh b/.travis.sh
@@ -29,11 +29,11 @@ travis_time_start setup.before_install
 #before_install:
 # Define some config vars.
 # Install ROS
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo sh -c 'echo "deb http://repositories.ros.org/ubuntu/testing $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update -qq || echo Ignore error on apt-get update
 # Install ROS
-sudo apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+sudo apt-get install -qq -y python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool ros-$ROS_DISTRO-catkin
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Setup for rosdep
 sudo rosdep init

diff --git a/.travis.yml b/.travis.yml
@@ -2,7 +2,7 @@ sudo: required
 dist: trusty
 language: generic
 env:
-  - ROS_DISTRO=melodic
+  - ROS_DISTRO=noetic
 # Install system dependencies, namely ROS.
 before_install:
   # Define some config vars.
@@ -11,7 +11,7 @@ before_install:
   - export ROS_PARALLEL_JOBS='-j8 -l6'
 script:
   - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -t ubuntu:bionic sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -t ubuntu:focal sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
 after_failure:
   - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
   - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
@@ -1,19 +1,15 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(cv_bridge)
 
 find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
 if(NOT ANDROID)
   find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-    find_package(Boost REQUIRED python)
-  else()
-    find_package(Boost REQUIRED python3)
-  endif()
+  find_package(Boost REQUIRED python)
 else()
 find_package(Boost REQUIRED)
 endif()
-find_package(OpenCV 3 REQUIRED
+find_package(OpenCV 4 REQUIRED
   COMPONENTS
     opencv_core
     opencv_imgproc

diff --git a/cv_bridge/package.xml b/cv_bridge/package.xml
@@ -21,21 +21,21 @@
 
   <build_depend>boost</build_depend>
   <build_depend>libopencv-dev</build_depend>
-  <build_depend>python</build_depend>
-  <build_depend>python-opencv</build_depend>
+  <build_depend>python3</build_depend>
+  <build_depend>python3-opencv</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
   <exec_depend>boost</exec_depend>
   <exec_depend>libopencv-dev</exec_depend>
-  <exec_depend>python</exec_depend>
-  <exec_depend>python-opencv</exec_depend>
+  <exec_depend>python3</exec_depend>
+  <exec_depend>python3-opencv</exec_depend>
   <exec_depend>rosconsole</exec_depend>
   <build_export_depend>libopencv-dev</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
 
   <test_depend>rostest</test_depend>
-  <test_depend>python-numpy</test_depend>
+  <test_depend>python3-numpy</test_depend>
 
   <doc_depend>dvipng</doc_depend>
 </package>
diff --git a/cv_bridge/python/cv_bridge/core.py b/cv_bridge/python/cv_bridge/core.py
@@ -167,8 +167,12 @@ def imgmsg_to_cv2(self, img_msg, desired_encoding = "passthrough"):
             im = np.ndarray(shape=(img_msg.height, img_msg.width),
                            dtype=dtype, buffer=img_msg.data)
         else:
-            im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels),
-                           dtype=dtype, buffer=img_msg.data)
+            if(type(img_msg.data) == str):
+                im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels),
+                               dtype=dtype, buffer=img_msg.data.encode())
+            else:
+                im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels),
+                               dtype=dtype, buffer=img_msg.data)
         # If the byt order is different between the message and the system.
         if img_msg.is_bigendian == (sys.byteorder == 'little'):
             im = im.byteswap().newbyteorder()

diff --git a/cv_bridge/setup.py b/cv_bridge/setup.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup()

diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
@@ -32,11 +32,7 @@ if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
   add_definitions(-DPYTHON3)
 endif()
 
-if (OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
-else()
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
-endif()
+add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
 target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
                                             ${catkin_LIBRARIES}
                                             ${PYTHON_LIBRARIES}

diff --git a/cv_bridge/src/module.hpp b/cv_bridge/src/module.hpp
@@ -33,16 +33,10 @@ int convert_to_CvMat2(const PyObject* o, cv::Mat& m);
 
 PyObject* pyopencv_from(const cv::Mat& m);
 
-#if PYTHON3
-static int do_numpy_import( )
+static void * do_numpy_import( )
 {
     import_array( );
+    return nullptr;
 }
-#else
-static void do_numpy_import( )
-{
-    import_array( );
-}
-#endif
 
 #endif
diff --git a/cv_bridge/src/module_opencv2.cpp b/cv_bridge/src/module_opencv2.cpp