python 3 compatibility

bin/catkin_make

@@ -112,12 +112,12 @@ def main():
 
         whitelist_pkg_names = get_package_names_with_recursive_dependencies(packages, args.only_pkg_with_deps)
         print('Whitelisted packages: %s' % ', '.join(sorted(whitelist_pkg_names)))
-        packages = {path: p for path, p in packages.iteritems() if p.name in whitelist_pkg_names}
+        packages = {path: p for path, p in packages.items() if p.name in whitelist_pkg_names}
         cmake_args += ['-DCATKIN_WHITELIST_PACKAGES=%s' % ';'.join(sorted(whitelist_pkg_names))]
 
     # verify that specified package exists in workspace
     if args.pkg:
-        packages_by_name = {p.name: path for path, p in packages.iteritems()}
+        packages_by_name = {p.name: path for path, p in packages.items()}
         unknown_packages = [name for name in args.pkg if name not in packages_by_name]
         if len(unknown_packages) == len(args.pkg):
             # all package names are unknown

bin/catkin_prepare_release

@@ -238,7 +238,7 @@ def main():
             raise RuntimeError(fmt("@{rf}Aborted release, fix the names of the packages."))
 
     local_modifications = []
-    for pkg_path, package in packages.iteritems():
+    for pkg_path, package in packages.items():
         # verify that the package.xml files don't have modifications pending
         package_xml_path = os.path.join(pkg_path, PACKAGE_MANIFEST_FILENAME)
         if has_changes(base_path, package_xml_path, vcs_type):
@@ -261,7 +261,7 @@ def main():
     # check for changelog entries
     missing_changelogs = []
     missing_changelogs_but_forthcoming = {}
-    for pkg_path, package in packages.iteritems():
+    for pkg_path, package in packages.items():
         changelog_path = os.path.join(pkg_path, CHANGELOG_FILENAME)
         if not os.path.exists(changelog_path):
             missing_changelogs.append(package.name)

cmake/empy.cmake

@@ -8,7 +8,7 @@ function(find_python_module module)
     # A module's location is usually a directory, but for
     # binary modules
     # it's a .so file.
-    execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "import re, ${module}; print re.compile('/__init__.py.*').sub('',${module}.__file__)"
+    execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
       RESULT_VARIABLE _${module}_status 
       OUTPUT_VARIABLE _${module}_location
       ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)

cmake/test/download_checkmd5.py

@@ -3,7 +3,10 @@
 from __future__ import print_function
 import os
 import sys
-import urllib
+try:
+    from urllib.request import urlretrieve
+except ImportError:
+    from urllib import urlretrieve
 import hashlib
 from optparse import OptionParser
 
@@ -21,7 +24,7 @@ def download_md5(uri, dest):
 
     sys.stdout.write('Downloading %s to %s...' % (uri, dest))
     sys.stdout.flush()
-    urllib.urlretrieve(uri, dest)
+    urlretrieve(uri, dest)
     sys.stdout.write('Done\n')
 
 

python/catkin/builder.py

@@ -186,7 +186,11 @@ def run_command(cmd, cwd, quiet=False, colorize=False, add_env=None):
     out = io.StringIO() if quiet else sys.stdout
     if capture:
         while True:
-            line = unicode(proc.stdout.readline().decode('utf8', 'replace'))
+            line = proc.stdout.readline().decode('utf8', 'replace')
+            try:
+                line = unicode(line)
+            except NameError:
+                pass
             if proc.returncode is not None or not line:
                 break
             try:
@@ -749,11 +753,11 @@ def build_workspace_isolated(
 
         whitelist_pkg_names = get_package_names_with_recursive_dependencies(packages, only_pkg_with_deps)
         print('Whitelisted packages: %s' % ', '.join(sorted(whitelist_pkg_names)))
-        packages = {path: p for path, p in packages.iteritems() if p.name in whitelist_pkg_names}
+        packages = {path: p for path, p in packages.items() if p.name in whitelist_pkg_names}
 
     # verify that specified package exists in workspace
     if build_packages:
-        packages_by_name = {p.name: path for path, p in packages.iteritems()}
+        packages_by_name = {p.name: path for path, p in packages.items()}
         unknown_packages = [p for p in build_packages if p not in packages_by_name]
         if unknown_packages:
             sys.exit('Packages not found in the workspace: %s' % ', '.join(unknown_packages))
@@ -925,7 +929,7 @@ def cmake_input_changed(packages, build_path, cmake_args=None, filename='catkin_
 def get_package_names_with_recursive_dependencies(packages, pkg_names):
     dependencies = set([])
     check_pkg_names = set(pkg_names)
-    packages_by_name = {p.name: p for path, p in packages.iteritems()}
+    packages_by_name = {p.name: p for path, p in packages.items()}
     while check_pkg_names:
         pkg_name = check_pkg_names.pop()
         if pkg_name in packages_by_name:

python/catkin/find_in_workspaces.py

@@ -129,7 +129,7 @@ def find_in_workspaces(search_dirs=None, project=None, path=None, _workspaces=ge
                     source_paths = get_source_paths(workspace)
                     for source_path in source_paths:
                         packages = find_packages(source_path)
-                        matching_packages = [p for p, pkg in packages.iteritems() if pkg.name == project]
+                        matching_packages = [p for p, pkg in packages.items() if pkg.name == project]
                         if matching_packages:
                             p = os.path.join(source_path, matching_packages[0])
                             if path is not None:

python/catkin/package_version.py

@@ -93,7 +93,7 @@ def update_versions(paths, new_version):
             raise RuntimeError('Could not bump version number in file %s: %s' % (package_path, str(rue)))
         files[package_path] = new_package_str
     # if all replacements successful, write back modified package.xml
-    for package_path, new_package_str in files.iteritems():
+    for package_path, new_package_str in files.items():
         with open(package_path, 'w') as f:
             f.write(new_package_str)
 

python/catkin/tidy_xml.py

@@ -40,12 +40,20 @@
 # code copied from rosunit/src/junitxml.py
 
 
-RE_XML_ILLEGAL = '([\u0000-\u0008\u000b-\u000c\u000e-\u001f\ufffe-\uffff])' + \
-    '|' + \
-    '([%s-%s][^%s-%s])|([^%s-%s][%s-%s])|([%s-%s]$)|(^[%s-%s])' % \
-    (unichr(0xd800), unichr(0xdbff), unichr(0xdc00), unichr(0xdfff),
-     unichr(0xd800), unichr(0xdbff), unichr(0xdc00), unichr(0xdfff),
-     unichr(0xd800), unichr(0xdbff), unichr(0xdc00), unichr(0xdfff))
+try:
+    RE_XML_ILLEGAL = '([\u0000-\u0008\u000b-\u000c\u000e-\u001f\ufffe-\uffff])' + \
+        '|' + \
+        '([%s-%s][^%s-%s])|([^%s-%s][%s-%s])|([%s-%s]$)|(^[%s-%s])' % \
+        (unichr(0xd800), unichr(0xdbff), unichr(0xdc00), unichr(0xdfff),
+         unichr(0xd800), unichr(0xdbff), unichr(0xdc00), unichr(0xdfff),
+         unichr(0xd800), unichr(0xdbff), unichr(0xdc00), unichr(0xdfff))
+except NameError:
+    RE_XML_ILLEGAL = '([\u0000-\u0008\u000b-\u000c\u000e-\u001f\ufffe-\uffff])' + \
+        '|' + \
+        '([%s-%s][^%s-%s])|([^%s-%s][%s-%s])|([%s-%s]$)|(^[%s-%s])' % \
+        (chr(0xd800), chr(0xdbff), chr(0xdc00), chr(0xdfff),
+         chr(0xd800), chr(0xdbff), chr(0xdc00), chr(0xdfff),
+         chr(0xd800), chr(0xdbff), chr(0xdc00), chr(0xdfff))
 _SAFE_XML_REGEX = re.compile(RE_XML_ILLEGAL)
 
 

test/unit_tests/test_builder.py

@@ -23,7 +23,10 @@ def __init__(self, popen):
 
             def readline(self):
                 self.__popen.returncode = 0
-                return unichr(2018)
+                try:
+                    return unichr(2018)
+                except NameError:
+                    return chr(2018)
 
         class MockPopen(object):
             def __init__(self, *args, **kwargs):

test/unit_tests/test_test_results.py

@@ -3,7 +3,10 @@
 import unittest
 import tempfile
 import shutil
-from cStringIO import StringIO
+try:
+    from io import StringIO
+except ImportError:
+    from cStringIO import StringIO
 
 
 try: