Merge 'upstream/master'

Author: ThyMYthOS

README.rst

@@ -12,6 +12,7 @@ Supported ROS Versions
 - Indigo
 - Kinetic
 - Melodic
+- Noetic
 
 Installation
 ------------

intera_examples/CMakeLists.txt

@@ -36,6 +36,37 @@ catkin_package(
   intera_interface
 )
 
+catkin_install_python(PROGRAMS 
+  scripts/ik_service_client.py
+  scripts/go_to_joint_angles.py
+  scripts/joint_position_waypoints.py
+  scripts/joint_torque_springs.py
+  scripts/gripper_cuff_control.py
+  scripts/head_wobbler.py
+  scripts/joint_recorder.py
+  scripts/fk_service_client.py
+  scripts/joint_velocity_wobbler.py
+  scripts/navigator_io.py
+  scripts/joint_position_joystick.py
+  scripts/joint_position_keyboard.py
+  scripts/gripper_keyboard.py
+  scripts/stop_motion_trajectory.py
+  scripts/go_to_joint_angles_in_contact.py
+  scripts/joint_position_file_playback.py
+  scripts/go_to_cartesian_pose.py
+  scripts/head_display_image.py
+  scripts/joint_trajectory_client.py
+  scripts/joint_trajectory_file_playback.py
+  scripts/set_interaction_options.py
+  scripts/constrained_zeroG.py
+  scripts/gripper_joystick.py
+  scripts/lights_blink.py
+  scripts/camera_display.py
+  scripts/send_random_trajectory.py
+  scripts/send_traj_from_file.py
+
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 install(
   DIRECTORY scripts/
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

intera_examples/cfg/SawyerJointSpringsExample.cfg

@@ -1,5 +1,4 @@
-#!/usr/bin/env python
-
+#! /usr/bin/env python
 # Copyright (c) 2013-2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

intera_examples/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>intera_examples</name>
   <version>5.3.0</version>
   <description>
@@ -21,6 +21,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>rospy</build_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>sensor_msgs</build_depend>
@@ -32,16 +34,16 @@
   <build_depend>intera_motion_msgs</build_depend>
   <build_depend>intera_interface</build_depend>
 
-  <run_depend>rospy</run_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>control_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>intera_core_msgs</run_depend>
-  <run_depend>intera_motion_msgs</run_depend>
-  <run_depend>intera_interface</run_depend>
-  <run_depend>joystick_drivers</run_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>control_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>intera_core_msgs</exec_depend>
+  <exec_depend>intera_motion_msgs</exec_depend>
+  <exec_depend>intera_interface</exec_depend>
+  <exec_depend>joystick_drivers</exec_depend>
 
 </package>

intera_examples/scripts/camera_display.py

@@ -1,5 +1,4 @@
-#!/usr/bin/env python
-
+#! /usr/bin/env python
 # Copyright (c) 2013-2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -23,13 +22,14 @@
 import rospy
 import intera_interface
 
-def show_image_callback(img_data, (edge_detection, window_name)):
+def show_image_callback(img_data, xxx_todo_changeme):
     """The callback function to show image by using CvBridge and cv
     """
+    (edge_detection, window_name) = xxx_todo_changeme
     bridge = CvBridge()
     try:
         cv_image = bridge.imgmsg_to_cv2(img_data, "bgr8")
-    except CvBridgeError, err:
+    except CvBridgeError as err:
         rospy.logerr(err)
         return
     if edge_detection == True:

intera_examples/scripts/constrained_zeroG.py

@@ -1,5 +1,4 @@
 #! /usr/bin/env python
-
 # Copyright (c) 2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

intera_examples/scripts/fk_service_client.py

@@ -1,5 +1,4 @@
-#!/usr/bin/env python
-
+#! /usr/bin/env python
 # Copyright (c) 2013-2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -49,7 +48,7 @@ def fk_service_client(limb = "right"):
     try:
         rospy.wait_for_service(ns, 5.0)
         resp = fksvc(fkreq)
-    except (rospy.ServiceException, rospy.ROSException), e:
+    except (rospy.ServiceException, rospy.ROSException) as e:
         rospy.logerr("Service call failed: %s" % (e,))
         return False
 

intera_examples/scripts/go_to_cartesian_pose.py

@@ -1,5 +1,4 @@
 #! /usr/bin/env python
-
 # Copyright (c) 2016-2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

intera_examples/scripts/go_to_joint_angles.py

@@ -1,5 +1,4 @@
 #! /usr/bin/env python
-
 # Copyright (c) 2016-2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

intera_examples/scripts/go_to_joint_angles_in_contact.py

@@ -1,5 +1,4 @@
 #! /usr/bin/env python
-
 # Copyright (c) 2016-2018, Rethink Robotics Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");