Use rospy and setup.py to manage shebangs for Python 2 and Python 3

Following guidance found here: http://wiki.ros.org/UsingPython3/SourceCodeChanges#Changing_shebangs

CMakeLists.txt

@@ -12,6 +12,7 @@ set(CMAKE_BUILD_TYPE "RELEASE")
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  rospy
   pcl_ros
   geodesy
   nmea_msgs
@@ -21,6 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
   ndt_omp
   fast_gicp
 )
+catkin_python_setup()
 
 find_package(PCL REQUIRED)
 include_directories(${PCL_INCLUDE_DIRS})
@@ -124,3 +126,10 @@ target_link_libraries(hdl_graph_slam_nodelet
 )
 add_dependencies(hdl_graph_slam_nodelet ${PROJECT_NAME}_gencpp)
 
+catkin_install_python(
+  PROGRAMS
+    src/${PROJECT_NAME}/bag_player.py
+    src/${PROJECT_NAME}/ford2bag.py
+    src/${PROJECT_NAME}/map2odom_publisher.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>hdl_graph_slam</name>
   <version>0.0.0</version>
   <description>The hdl_graph_slam package</description>
@@ -13,21 +13,28 @@
   <build_depend>fast_gicp</build_depend>
   <build_depend>pcl_ros</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>geodesy</build_depend>
   <build_depend>nmea_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>libg2o</build_depend>
 
-  <run_depend>ndt_omp</run_depend>
-  <run_depend>fast_gicp</run_depend>
-  <run_depend>pcl_ros</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>geodesy</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>nmea_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <exec_depend>ndt_omp</exec_depend>
+  <exec_depend>fast_gicp</exec_depend>
+  <exec_depend>pcl_ros</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>geodesy</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>nmea_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-progressbar</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-progressbar</exec_depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />

setup.py

@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['hdl_graph_slam'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)
+