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[ROS-O] required patches on current systems #2297

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[ROS-O] required patches on current systems #2297

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88b9c7f
rosgraph: update code from Python 3.11
jspricke Nov 13, 2022
faa0422
Update header for Boost 1.83
jspricke Nov 16, 2023
e4e8ea0
Disable XmlRpcServer::enoughFreeFDs
jspricke Jun 20, 2024
c822b2f
Fixes for Python 3.12
doko42 Mar 17, 2024
aa0baa9
adding boost/bind/bind.hpp includes to files missing them
lucasw Aug 2, 2024
ff1baa3
add missing python dependency
v4hn Oct 11, 2024
4fb8ae2
test access to global symbols in list comprehension
rhaschke Aug 24, 2022
066967f
Fix symbol access in list comprehension
rhaschke Aug 24, 2022
49c1430
_eval(): better protection against use of hidden symbols
rhaschke Aug 24, 2022
a239220
Maintain constness of accessed XmlRpcValue struct
rhaschke Feb 21, 2023
27027a6
roslaunch: return exit code of a required process (#2082)
lucasw Jul 27, 2020
2a12474
Add missing newline in error message
LeroyR Oct 15, 2024
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2 changes: 2 additions & 0 deletions clients/roscpp/include/ros/node_handle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,8 @@
#include "ros/init.h"
#include "common.h"

#include <boost/bind/bind.hpp>

#include <xmlrpcpp/XmlRpcValue.h>

namespace ros
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2 changes: 2 additions & 0 deletions clients/roscpp/include/ros/timer_manager.h
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Expand Up @@ -40,6 +40,8 @@
#include "ros/assert.h"
#include "ros/callback_queue_interface.h"

#include <boost/bind/bind.hpp>

#include <vector>
#include <list>

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1 change: 1 addition & 0 deletions clients/roscpp/include/ros/topic_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@

#include "xmlrpcpp/XmlRpcValue.h"

#include <boost/bind/bind.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>

Expand Down
1 change: 1 addition & 0 deletions clients/roscpp/src/libros/connection_manager.cpp
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Expand Up @@ -35,6 +35,7 @@
#include "ros/file_log.h"
#include "ros/network.h"

#include <boost/bind/bind.hpp>
#include <ros/assert.h>

namespace ros
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1 change: 1 addition & 0 deletions clients/roscpp/src/libros/topic_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@

#include "xmlrpcpp/XmlRpc.h"

#include <boost/bind/bind.hpp>
#include <ros/console.h>

using namespace XmlRpc; // A battle to be fought later
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86 changes: 43 additions & 43 deletions test/test_rosbag/test/test_bag.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ def test_opening_stream_works(self):

f = open('/tmp/test_opening_stream_works.bag', 'rb')
b = rosbag.Bag(f, 'r')
self.assert_(len(list(b.read_messages())) == 10)
self.assertTrue(len(list(b.read_messages())) == 10)
b.close()

def test_invalid_bag_arguments_fails(self):
Expand All @@ -77,20 +77,20 @@ def fn3(): rosbag.Bag(f, 'z')
def fn4(): rosbag.Bag(f, 'r', compression='foobar')
def fn5(): rosbag.Bag(f, 'r', chunk_threshold=-1000)
for fn in [fn1, fn2, fn3, fn4, fn5]:
self.failUnlessRaises(ValueError, fn)
self.assertRaises(ValueError, fn)

def test_io_on_close_fails(self):
def fn():
b = rosbag.Bag('/tmp/test_io_close_fails.bag', 'w')
b.close()
size = b.size()
self.failUnlessRaises(ValueError, fn)
self.assertRaises(ValueError, fn)

def test_write_invalid_message_fails(self):
def fn():
with rosbag.Bag('/tmp/test_write_invalid_message_fails.bag', 'w') as b:
b.write(None, None, None)
self.failUnlessRaises(ValueError, fn)
self.assertRaises(ValueError, fn)

def test_simple_write_uncompressed_works(self):
with rosbag.Bag('/tmp/test_simple_write_uncompressed_works.bag', 'w') as b:
Expand All @@ -104,10 +104,10 @@ def test_simple_write_uncompressed_works(self):

msgs = list(rosbag.Bag('/tmp/test_simple_write_uncompressed_works.bag').read_messages())

self.assert_(len(msgs) == msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))
self.assertTrue(len(msgs) == msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))

for (_, _, t1), (_, _, t2) in zip(msgs, msgs[1:]):
self.assert_(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))
self.assertTrue(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))

def test_writing_nonchronological_works(self):
with rosbag.Bag('/tmp/test_writing_nonchronological_works.bag', 'w') as b:
Expand All @@ -121,10 +121,10 @@ def test_writing_nonchronological_works(self):

msgs = list(rosbag.Bag('/tmp/test_writing_nonchronological_works.bag').read_messages())

self.assert_(len(msgs) == msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))
self.assertTrue(len(msgs) == msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))

for (_, _, t1), (_, _, t2) in zip(msgs, msgs[1:]):
self.assert_(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))
self.assertTrue(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))

def test_large_write_works(self):
for compression in [rosbag.Compression.NONE, rosbag.Compression.BZ2]:
Expand All @@ -139,10 +139,10 @@ def test_large_write_works(self):

msgs = list(rosbag.Bag('/tmp/test_large_write_works.bag').read_messages())

self.assertEquals(len(msgs), msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))
self.assertEqual(len(msgs), msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))

for (_, _, t1), (_, _, t2) in zip(msgs, msgs[1:]):
self.assert_(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))
self.assertTrue(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))

def test_get_messages_time_range_works(self):
with rosbag.Bag('/tmp/test_get_messages_time_range_works.bag', 'w') as b:
Expand All @@ -156,7 +156,7 @@ def test_get_messages_time_range_works(self):
end_time = genpy.Time.from_sec(7)
msgs = list(rosbag.Bag('/tmp/test_get_messages_time_range_works.bag').read_messages(topics='/ints', start_time=start_time, end_time=end_time))

self.assertEquals(len(msgs), 5)
self.assertEqual(len(msgs), 5)

def test_get_messages_filter_works(self):
with rosbag.Bag('/tmp/test_get_messages_filter_works.bag', 'w') as b:
Expand All @@ -169,7 +169,7 @@ def test_get_messages_filter_works(self):
def filter(topic, datatype, md5sum, msg_def, header):
return '5' in topic and datatype == Int32._type and md5sum == Int32._md5sum and msg_def == Int32._full_text

self.assertEquals(len(list(rosbag.Bag('/tmp/test_get_messages_filter_works.bag').read_messages(connection_filter=filter))), 3)
self.assertEqual(len(list(rosbag.Bag('/tmp/test_get_messages_filter_works.bag').read_messages(connection_filter=filter))), 3)

def test_rosbag_filter(self):
inbag_filename = '/tmp/test_rosbag_filter__1.bag'
Expand All @@ -188,7 +188,7 @@ def test_rosbag_filter(self):

msgs = list(rosbag.Bag(outbag_filename).read_messages())

self.assertEquals(len(msgs), 5)
self.assertEqual(len(msgs), 5)

# Regression test for issue #736
def test_trivial_rosbag_filter(self):
Expand All @@ -213,7 +213,7 @@ def test_trivial_rosbag_filter(self):
outbag1_md5 = hashlib.md5(h.read()).hexdigest()
with open(outbag2_filename, 'rb') as h:
outbag2_md5 = hashlib.md5(h.read()).hexdigest()
self.assertEquals(outbag1_md5, outbag2_md5)
self.assertEqual(outbag1_md5, outbag2_md5)
finally:
shutil.rmtree(tempdir)

Expand Down Expand Up @@ -344,10 +344,10 @@ def test_get_message_count(self):
bag.write("/test_bag/more", String(data='alone'))

with rosbag.Bag(fn) as bag:
self.assertEquals(bag.get_message_count(), 300)
self.assertEquals(bag.get_message_count(topic_filters='/test_bag'), 200)
self.assertEquals(bag.get_message_count(topic_filters=['/test_bag', '/test_bag/more']), 300)
self.assertEquals(bag.get_message_count(topic_filters=['/none']), 0)
self.assertEqual(bag.get_message_count(), 300)
self.assertEqual(bag.get_message_count(topic_filters='/test_bag'), 200)
self.assertEqual(bag.get_message_count(topic_filters=['/test_bag', '/test_bag/more']), 300)
self.assertEqual(bag.get_message_count(topic_filters=['/none']), 0)

def test_get_compression_info(self):
fn = '/tmp/test_get_compression_info.bag'
Expand All @@ -359,19 +359,19 @@ def test_get_compression_info(self):

with rosbag.Bag(fn) as bag:
info = bag.get_compression_info()
self.assertEquals(info.compression, rosbag.Compression.NONE)
self.assertEqual(info.compression, rosbag.Compression.NONE)
# 167 Bytes of overhead, 50 Bytes per Int32.
self.assertEquals(info.uncompressed, 5166)
self.assertEquals(info.compressed, 5166)
self.assertEqual(info.uncompressed, 5166)
self.assertEqual(info.compressed, 5166)

with rosbag.Bag(fn, mode='w', compression=rosbag.Compression.BZ2) as bag:
for i in range(100):
bag.write("/test_bag", Int32(data=i))

with rosbag.Bag(fn) as bag:
info = bag.get_compression_info()
self.assertEquals(info.compression, rosbag.Compression.BZ2)
self.assertEquals(info.uncompressed, 5166)
self.assertEqual(info.compression, rosbag.Compression.BZ2)
self.assertEqual(info.uncompressed, 5166)

# the value varies each run, I suspect based on rand, but seems
# to generally be around 960 to 980 on my comp
Expand All @@ -389,18 +389,18 @@ def test_get_time(self):
start_stamp = bag.get_start_time()
end_stamp = bag.get_end_time()

self.assertEquals(start_stamp, 0.0)
self.assertEquals(end_stamp, 99.0)
self.assertEqual(start_stamp, 0.0)
self.assertEqual(end_stamp, 99.0)

def test_get_time_empty_bag(self):
"""Test for issue #657"""
fn = '/tmp/test_get_time_empty_bag.bag'

with rosbag.Bag(fn, mode='w') as bag:
self.assertRaisesRegexp(rosbag.ROSBagException,
self.assertRaisesRegex(rosbag.ROSBagException,
'Bag contains no message',
bag.get_start_time)
self.assertRaisesRegexp(rosbag.ROSBagException,
self.assertRaisesRegex(rosbag.ROSBagException,
'Bag contains no message',
bag.get_end_time)

Expand All @@ -416,56 +416,56 @@ def test_get_type_and_topic_info(self):

with rosbag.Bag(fn) as bag:
msg_types, topics = bag.get_type_and_topic_info()
self.assertEquals(len(msg_types), 2)
self.assertEqual(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 2)
self.assertEqual(len(topics), 2)
self.assertTrue(topic_1 in topics)
self.assertTrue(topic_2 in topics)

self.assertEquals(topics[topic_1].message_count, 200)
self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
self.assertEquals(topics[topic_2].message_count, 100)
self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
self.assertEqual(topics[topic_1].message_count, 200)
self.assertEqual(topics[topic_1].msg_type, "std_msgs/Int32")
self.assertEqual(topics[topic_2].message_count, 100)
self.assertEqual(topics[topic_2].msg_type, "std_msgs/String")

#filter on topic 1
msg_types, topics = bag.get_type_and_topic_info(topic_1)

# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertEqual(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)

self.assertEquals(len(topics), 1)
self.assertEqual(len(topics), 1)
self.assertTrue(topic_1 in topics)

self.assertEquals(topics[topic_1].message_count, 200)
self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
self.assertEqual(topics[topic_1].message_count, 200)
self.assertEqual(topics[topic_1].msg_type, "std_msgs/Int32")

#filter on topic 2
msg_types, topics = bag.get_type_and_topic_info(topic_2)

# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertEqual(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)

self.assertEquals(len(topics), 1)
self.assertEqual(len(topics), 1)
self.assertTrue(topic_2 in topics)

self.assertEquals(topics[topic_2].message_count, 100)
self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
self.assertEqual(topics[topic_2].message_count, 100)
self.assertEqual(topics[topic_2].msg_type, "std_msgs/String")

#filter on missing topic
msg_types, topics = bag.get_type_and_topic_info("/none")

# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertEqual(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)

# topics should be empty
self.assertEquals(len(topics), 0)
self.assertEqual(len(topics), 0)

def _print_bag_records(self, fn):
with open(fn) as f:
Expand Down
26 changes: 13 additions & 13 deletions test/test_rosgraph/test/test_rosgraph_masterapi_online.py
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Expand Up @@ -51,15 +51,15 @@ def test_getPid(self):

def test_getUri(self):
val = self.m.getUri()
self.assert_(val.startswith('http://'))
self.assertTrue(val.startswith('http://'))

def test_lookupService(self):
uri = 'http://localhost:897'
rpcuri = 'rosrpc://localhost:9812'
self.m.registerService('/bar/service', rpcuri, uri)
self.assertEquals(rpcuri, self.m.lookupService('/bar/service'))
self.assertEqual(rpcuri, self.m.lookupService('/bar/service'))
try:
self.assertEquals(uri, self.m.lookupService('/fake/service'))
self.assertEqual(uri, self.m.lookupService('/fake/service'))
self.fail("should have thrown")
except rosgraph.masterapi.Error:
pass
Expand All @@ -70,16 +70,16 @@ def test_registerService(self):
def test_unregisterService(self):
self.m.registerService('/unreg_service/service', 'rosrpc://localhost:9812', 'http://localhost:893')
val = self.m.registerService('/unreg_service/service', 'rosrpc://localhost:9812', 'http://localhost:893')
self.assertEquals(1, val)
self.assertEqual(1, val)

def test_registerSubscriber(self):
val = self.m.registerSubscriber('/reg_sub/node', 'std_msgs/String', 'http://localhost:9812')
self.assertEquals([], val)
self.assertEqual([], val)

def test_unregisterSubscriber(self):
self.m.registerSubscriber('/reg_unsub/node', 'std_msgs/String', 'http://localhost:9812')
val = self.m.unregisterSubscriber('/reg_unsub/node', 'http://localhost:9812')
self.assertEquals(1, val)
self.assertEqual(1, val)

def test_registerPublisher(self):
val = self.m.registerPublisher('/reg_pub/topic', 'std_msgs/String', 'http://localhost:9812')
Expand All @@ -93,7 +93,7 @@ def test_lookupNode(self):
# register and lookup self
uri = 'http://localhost:12345'
self.m.registerPublisher('fake_topic', 'std_msgs/String', uri)
self.assertEquals(uri, self.m.lookupNode(_ID))
self.assertEqual(uri, self.m.lookupNode(_ID))

try:
self.m.lookupNode('/non/existent')
Expand All @@ -111,8 +111,8 @@ def test_getSystemState(self):
pub, sub, srvs = self.m.getSystemState()

def test_is_online(self):
self.assert_(rosgraph.masterapi.is_online())
self.assert_(self.m.is_online())
self.assertTrue(rosgraph.masterapi.is_online())
self.assertTrue(self.m.is_online())

def test_getParam(self):
try:
Expand All @@ -122,17 +122,17 @@ def test_getParam(self):
pass

def test_hasParam(self):
self.failIf(self.m.hasParam('fake_param'), "should have failed to lookup fake parameter")
self.assert_(self.m.hasParam('/run_id'), "should have failed to lookup fake parameter")
self.assertFalse(self.m.hasParam('fake_param'), "should have failed to lookup fake parameter")
self.assertTrue(self.m.hasParam('/run_id'), "should have failed to lookup fake parameter")

def test_setParam(self):
self.m.setParam('/foo', 1)

def test_searchParam(self):
self.assertEquals("/run_id", self.m.searchParam('run_id'))
self.assertEqual("/run_id", self.m.searchParam('run_id'))

def test_getParamNames(self):
self.assert_(type(self.m.getParamNames()) == list)
self.assertTrue(type(self.m.getParamNames()) == list)

if __name__ == '__main__':
rostest.rosrun('test_rosgrap', 'test_rosgraph_masterapi_online', MasterApiOnlineTest)
8 changes: 4 additions & 4 deletions test/test_roslaunch/test/env.py
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Expand Up @@ -43,14 +43,14 @@
class TestEnv(unittest.TestCase):
def test_env(self):
if '--noenv' in sys.argv:
self.assertEquals(None, os.environ.get('TEST_ENV', None))
self.assertEquals(None, os.environ.get('TEST_ENV_SUBSTITUTION', None))
self.assertEqual(None, os.environ.get('TEST_ENV', None))
self.assertEqual(None, os.environ.get('TEST_ENV_SUBSTITUTION', None))
else:
self.assertEquals('test env', os.environ.get('TEST_ENV', None))
self.assertEqual('test env', os.environ.get('TEST_ENV', None))
rospack = rospkg.RosPack()
path1 = os.path.join(rospack.get_path('roslaunch'), 'src')
path2 = os.environ.get('TEST_ENV_SUBSTITUTION', None)
self.assertEquals(os.path.abspath(path1), os.path.abspath(path2))
self.assertEqual(os.path.abspath(path1), os.path.abspath(path2))

if __name__ == '__main__':
rostest.rosrun(PKG, NAME, TestEnv)
Expand Down
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