Python 3 compatibility (Melodic)

.travis.sh

@@ -33,11 +33,38 @@ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update -qq || echo Ignore error on apt-get update
 # Install ROS
-sudo apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-source /opt/ros/$ROS_DISTRO/setup.bash
-# Setup for rosdep
-sudo rosdep init
-rosdep update
+if [ "x${ROS_PYTHON_VERSION}" == "x3" ]; then
+    sudo apt-get install -qq -y python3-catkin-pkg python3-rosdep python3-rosinstall-generator python3-wstool python3-vcstool build-essential
+    wget https://bootstrap.pypa.io/get-pip.py
+    python3 ./get-pip.py
+    rm ./get-pip.py
+    pip3 install catkin_tools
+    # Update rosdep definitions
+    sudo rosdep init
+    rosdep update
+    # Create an underlay with all dependencies
+    mkdir -p ~/underlay_ws/src
+    cd ~/underlay_ws
+    # FIXME: use RPP instead of hardcoded list?
+    # FIXME: change --upstream-devel to releases?
+    rosinstall_generator cv_bridge image_geometry --deps --deps-only --upstream-devel --rosdistro $ROS_DISTRO > deps.rosinstall
+    vcs import --input deps.rosinstall ./src
+    # FIXME: roslisp does not get pulled somehow
+    if [ ! -d "./src/roslisp" ]; then
+        git clone https://github.com/ros/roslisp src/roslisp
+    fi
+    rosdep install --from-paths ./src --ignore-src -y
+    catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release
+    catkin build
+    source ~/underlay_ws/install/setup.bash
+else
+    sudo apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    # Setup for rosdep
+    sudo rosdep init
+    rosdep update
+fi
+
 travis_time_end
 
 travis_time_start setup.install
@@ -67,7 +94,11 @@ travis_time_end
 travis_time_start setup.script
 # Compile and test.
 #script:
-source /opt/ros/$ROS_DISTRO/setup.bash
+if [ "x${ROS_PYTHON_VERSION}" == "x3" ]; then
+    source ~/underlay_ws/install/setup.bash
+else
+    source /opt/ros/$ROS_DISTRO/setup.bash
+fi
 cd ~/catkin_ws
 catkin build -p1 -j1 --no-status
 catkin run_tests -p1 -j1

.travis.yml

@@ -2,7 +2,8 @@ sudo: required
 dist: trusty
 language: generic
 env:
-  - ROS_DISTRO=melodic
+  - ROS_DISTRO=melodic ROS_PYTHON_VERSION=2
+  - ROS_DISTRO=melodic ROS_PYTHON_VERSION=3
 # Install system dependencies, namely ROS.
 before_install:
   # Define some config vars.
@@ -11,7 +12,7 @@ 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" -e "ROS_PYTHON_VERSION=$ROS_PYTHON_VERSION" -t ubuntu:bionic 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

cv_bridge/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>cv_bridge</name>
   <version>1.13.0</version>
   <description>
@@ -21,21 +21,26 @@
 
   <build_depend>boost</build_depend>
   <build_depend>libopencv-dev</build_depend>
-  <build_depend>python</build_depend>
-  <build_depend>python-opencv</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python-opencv</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">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 condition="$ROS_PYTHON_VERSION == 2">python</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-opencv</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">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 condition="$ROS_PYTHON_VERSION == 2">python-numpy</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</test_depend>
 
   <doc_depend>dvipng</doc_depend>
 </package>

cv_bridge/src/module.hpp

@@ -34,9 +34,10 @@ 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 NULL;
 }
 #else
 static void do_numpy_import( )

cv_bridge/test/enumerants.py

@@ -17,12 +17,12 @@ def test_enumerants_cv2(self):
         img_msg.height = 480
         img_msg.encoding = "rgba8"
         img_msg.step = 640*4
-        img_msg.data = (640 * 480) * "1234"
+        img_msg.data = (640 * 480) * b"1234"
 
         bridge_ = CvBridge()
         cvim = bridge_.imgmsg_to_cv2(img_msg, "rgb8")
         import sys
-        self.assertRaises(sys.getrefcount(cvim) == 2)
+        self.assertTrue(sys.getrefcount(cvim) == 2)
 
         # A 3 channel image cannot be sent as an rgba8
         self.assertRaises(CvBridgeError, lambda: bridge_.cv2_to_imgmsg(cvim, "rgba8"))
@@ -31,9 +31,9 @@ def test_enumerants_cv2(self):
         bridge_.cv2_to_imgmsg(cvim, "rgb8")
         bridge_.cv2_to_imgmsg(cvim, "bgr8")
 
-        self.assertRaises(getCvType("32FC4") == cv2.CV_8UC4)
-        self.assertRaises(getCvType("8UC1") == cv2.CV_8UC1)
-        self.assertRaises(getCvType("8U") == cv2.CV_8UC1)
+        self.assertFalse(getCvType("32FC4") == cv2.CV_8UC4)
+        self.assertTrue(getCvType("8UC1") == cv2.CV_8UC1)
+        self.assertTrue(getCvType("8U") == cv2.CV_8UC1)
 
     def test_numpy_types(self):
         import cv2

cv_bridge/test/python_bindings.py

@@ -3,6 +3,9 @@
 
 import cv_bridge
 
+import sys
+if sys.version > '3':
+    xrange = range
 
 def test_cvtColorForDisplay():
     # convert label image to display
@@ -11,11 +14,11 @@ def test_cvtColorForDisplay():
     label_value = 0
     grid_num_y, grid_num_x = 3, 4
     for grid_row in xrange(grid_num_y):
-        grid_size_y = height / grid_num_y
+        grid_size_y = int(height / grid_num_y)
         min_y = grid_size_y * grid_row
         max_y = min_y + grid_size_y
         for grid_col in xrange(grid_num_x):
-            grid_size_x = width / grid_num_x
+            grid_size_x = int(width / grid_num_x)
             min_x = grid_size_x * grid_col
             max_x = min_x + grid_size_x
             label[min_y:max_y, min_x:max_x] = label_value