changes between 0.6.18 and 0.7.6 for backporting

bin/catkin_make_isolated

@@ -53,7 +53,7 @@ def parse_args(args=None):
         help='Disables colored output (only for catkin_make and CMake)')
     pkg = parser.add_mutually_exclusive_group(required=False)
     pkg.add_argument('--pkg', nargs='+', metavar='PKGNAME', dest='packages',
-                     help="Invoke 'make' on specific packages "
+                     help="Process only specific packages "
                           "(only after catkin_make_isolated has been invoked before with the same install flag)")
     pkg.add_argument('--from-pkg', metavar='PKGNAME', dest='from_package',
                      help='Restart catkin_make_isolated at the given package continuing from there '

bin/catkin_test_results

@@ -8,7 +8,7 @@ import sys
 # find the import relatively if available to work before installing catkin or overlaying installed version
 if os.path.exists(os.path.join(os.path.dirname(__file__), '..', 'python', 'catkin', '__init__.py')):
     sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'python'))
-from catkin.test_results import aggregate_results, print_summary, test_results
+from catkin.test_results import aggregate_results, print_summary2, test_results2
 
 
 def main():
@@ -24,10 +24,11 @@ def main():
         sys.exit('Test results directory "%s" does not exist' % test_results_dir)
 
     try:
-        results = test_results(
+        results = test_results2(
             test_results_dir, show_verbose=args.verbose, show_all=args.all)
         _, sum_errors, sum_failures = aggregate_results(results)
-        print_summary(results, show_stable=args.all)
+        print_summary2(results, show_stable=args.all)
+        # Skipped tests alone should not count as a failure
         if sum_errors or sum_failures:
             sys.exit(1)
     except Exception as e:

cmake/templates/_setup_util.py.in

@@ -72,42 +72,42 @@ def rollback_env_variables(environ, env_var_subfolders):
         subfolders = env_var_subfolders[key]
         if not isinstance(subfolders, list):
             subfolders = [subfolders]
-        for subfolder in subfolders:
-            value = _rollback_env_variable(unmodified_environ, key, subfolder)
-            if value is not None:
-                environ[key] = value
-                lines.append(assignment(key, value))
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
     if lines:
         lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
     return lines
 
 
-def _rollback_env_variable(environ, name, subfolder):
+def _rollback_env_variable(environ, name, subfolders):
     '''
     For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
 
-    :param subfolder: str '' or subfoldername that may start with '/'
+    :param subfolders: list of str '' or subfoldername that may start with '/'
     :returns: the updated value of the environment variable.
     '''
     value = environ[name] if name in environ else ''
     env_paths = [path for path in value.split(os.pathsep) if path]
     value_modified = False
-    if subfolder:
-        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-            subfolder = subfolder[1:]
-        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-            subfolder = subfolder[:-1]
-    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-        path_to_remove = None
-        for env_path in env_paths:
-            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-            if env_path_clean == path_to_find:
-                path_to_remove = env_path
-                break
-        if path_to_remove:
-            env_paths.remove(path_to_remove)
-            value_modified = True
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
     new_value = os.pathsep.join(env_paths)
     return new_value if value_modified else None
 

cmake/templates/setup.bat.in

@@ -6,7 +6,7 @@ REM It tries it's best to undo changes from a previously sourced setup file befo
 REM Supported command line options:
 REM --extend: skips the undoing of changes from a previously sourced setup file
 
-set _SETUP_UTIL="@SETUP_DIR@/_setup_util.py"
+set _SETUP_UTIL=@SETUP_DIR@/_setup_util.py
 
 if NOT EXIST "%_SETUP_UTIL%" (
   echo "Missing Python script: %_SETUP_UTIL%"
@@ -33,7 +33,7 @@ if NOT EXIST %_SETUP_TMP% (
 )
 
 REM invoke Python script to generate necessary exports of environment variables
-%_PYTHON% %_SETUP_UTIL% %* > %_SETUP_TMP%
+%_PYTHON% "%_SETUP_UTIL%" %* > %_SETUP_TMP%
 if NOT EXIST %_SETUP_TMP% (
   echo "Could not create temporary file: %_SETUP_TMP%"
   return 1

doc/dev_guide/generated_cmake_api.rst

@@ -160,7 +160,7 @@ Public CMake functions / macros
  .. note:: The test can be executed by calling ``nosetests``
    directly or using:
    `` make run_tests_${PROJECT_NAME}_nosetests_${dir}``
-   (where slashes in the ``dir`` are replaced with underscores)
+   (where slashes in the ``dir`` are replaced with periods)
 
  :param path: a relative or absolute directory to search for
    nosetests in or a relative or absolute file containing tests
@@ -374,8 +374,10 @@ Public CMake functions / macros
  :param CFG_EXTRAS: a CMake file containing extra stuff that should
    be accessible to users of this package after
    ``find_package``\ -ing it.  This file must live in the
-   subdirectory ``cmake`` or be an absolute path.  Various additional
-   file extension are possible:
+   subdirectory ``cmake`` or be an absolute path.
+   All passed extra files must have unique basenames since they are
+   being installed into a single folder.
+   Various additional file extension are possible:
    for a plain cmake file just ``.cmake``, for files expanded using
    CMake's ``configure_file()`` use ``.cmake.in`` or for files expanded
    by empy use ``.cmake.em``.  The templates can distinguish between

doc/howto/format1/installing_cmake.rst

@@ -10,6 +10,9 @@ want to export::
 
   catkin_package(CFG_EXTRAS your_macros.cmake your_modules.cmake)
 
+When another package uses ``find_package()`` on this package, the listed
+CMake files are automatically included.
+
 Since these data are platform-independent, they should be installed in
 your package's **share/** subtree.  This example assumes your CMake
 sources are in the customary **cmake/** subdirectory::

doc/howto/format1/python_nose_configuration.rst

@@ -26,6 +26,20 @@ You can also let nosetest find all tests recursively::
     catkin_add_nosetests(tests)
   endif()
 
+If you used a message of the current package in the nosetest, make sure to
+specify the nosetest like this::
+
+  catkin_add_nosetests(tests/test_your_node.py
+                       DEPENDENCIES ${${PROJECT_NAME}_EXPORTED_TARGETS})
+
+If you used messages from other packages, use::
+
+  catkin_add_nosetests(tests/test_your_node.py
+                       DEPENDENCIES ${catkin_EXPORTED_TARGETS})
+
+The test will then make sure that the messages used in the test are built
+before they are used.
+
 For more info, please have a look at the :ref:`API <catkin_add_nosetests_ref>`.
 
 .. _Nosetest: http://www.ros.org/wiki/nosetest

doc/howto/format2/installing_cmake.rst

@@ -10,6 +10,9 @@ want to export::
 
   catkin_package(CFG_EXTRAS your_macros.cmake your_modules.cmake)
 
+When another package uses ``find_package()`` on this package, the listed
+CMake files are automatically included.
+
 Since these data are platform-independent, they should be installed in
 your package's **share/** subtree.  This example assumes your CMake
 sources are in the customary **cmake/** subdirectory::

doc/howto/format2/python_nose_configuration.rst

@@ -26,6 +26,20 @@ You can also let nosetest find all tests recursively::
     catkin_add_nosetests(tests)
   endif()
 
+If you used a message of the current package in the nosetest, make sure to
+specify the nosetest like this::
+
+  catkin_add_nosetests(tests/test_your_node.py
+                       DEPENDENCIES ${${PROJECT_NAME}_EXPORTED_TARGETS})
+
+If you used messages from other packages, use::
+
+  catkin_add_nosetests(tests/test_your_node.py
+                       DEPENDENCIES ${catkin_EXPORTED_TARGETS})
+
+The test will then make sure that the messages used in the test are built
+before they are used.
+
 For more info, please have a look at the :ref:`API <catkin_add_nosetests_ref>`.
 
 .. _Nosetest: http://www.ros.org/wiki/nosetest

doc/user_guide/setup_dot_py.rst

@@ -67,6 +67,30 @@ sourcespace using the python exec() function.
 The version will be compared to that declared in package.xml, and
 raise an error on mismatch.
 
+.. note::
+
+  If you have written non-ROS Python packages before, you have 
+  probably used the ``requires`` field in the distuils setup function.
+  This field, however, *has no meaning* in ROS. 
+
+  All your Python
+  dependencies should be specified in ``package.xml`` as e.g.
+  ``<run_depend>python-numpy</run_depend>`` (for older version 1
+  of package.xml) or ``<exec_depend>python-numpy</exec_depend>``
+  (if you use format 2 of package.xml).
+
+  Not all Python or pip packages are mapped to ROS dependencies.
+  For a quick check, try running ``rosdep resolve python-mypackage``
+  or ``rosdep resolve python-mypackage-pip`` if you want to 
+  add a dependency on ``mypackage`` Python package. If these calls
+  return error, you may want to search through the 
+  `python.yaml file in rosdep`_ for similar names. If you don't 
+  find the requested package, you may consider 
+  `creating a Pull request to add it`_.
+
+  .. _python.yaml file in rosdep: https://github.com/ros/rosdistro/blob/master/rosdep/python.yaml
+  .. _creating a Pull request to add it: http://docs.ros.org/independent/api/rosdep/html/contributing_rules.html
+
 Using package.xml in setup.py
 =============================
 
@@ -100,6 +124,12 @@ one distributes to pypi.
     catkin_install_python(PROGRAMS scripts/myscript
       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
+.. note::
+
+  See the note in previous section about the otherwise useful
+  field ``requires`` that's usually a part of distutils setup.
+  *Do not use it* in ROS.
+
 
 Develspace limitations
 ======================

python/catkin/test_results.py

@@ -96,12 +96,18 @@ def _get_missing_junit_result_filename(filename):
 
 
 def read_junit(filename):
+    """Same as `read_junit2` except it doesn't return num_skipped."""
+    num_tests, num_errors, num_failures, _ = read_junit2(filename)
+    return (num_tests, num_errors, num_failures)
+
+
+def read_junit2(filename):
     """
     parses xml file expected to follow junit/gtest conventions
     see http://code.google.com/p/googletest/wiki/AdvancedGuide#Generating_an_XML_Report
 
     :param filename: str junit xml file name
-    :returns: num_tests, num_errors, num_failures
+    :returns: num_tests, num_errors, num_failures, num_skipped
     :raises ParseError: if xml is not well-formed
     :raises IOError: if filename does not exist
     """
@@ -110,17 +116,29 @@ def read_junit(filename):
     num_tests = int(root.attrib['tests'])
     num_errors = int(root.attrib['errors'])
     num_failures = int(root.attrib['failures'])
-    return (num_tests, num_errors, num_failures)
+    num_skipped = int(root.get('skip', '0')) + int(root.get('disabled', '0'))
+    return (num_tests, num_errors, num_failures, num_skipped)
 
 
 def test_results(test_results_dir, show_verbose=False, show_all=False):
+    """Same as `test_results2` except the returned values don't include num_skipped."""
+    results = {}
+    results2 = test_results2(
+        test_results_dir, show_verbose=show_verbose, show_all=show_all)
+    for name, values in results2.items():
+        num_tests, num_errors, num_failures, _ = values
+        results[name] = (num_tests, num_errors, num_failures)
+    return results
+
+
+def test_results2(test_results_dir, show_verbose=False, show_all=False):
     '''
     Collects test results by parsing all xml files in given path,
     attempting to interpret them as junit results.
 
     :param test_results_dir: str foldername
     :param show_verbose: bool show output for tests which had errors or failed
-    :returns: dict {rel_path, (num_tests, num_errors, num_failures)}
+    :returns: dict {rel_path, (num_tests, num_errors, num_failures, num_skipped)}
     '''
     results = {}
     for dirpath, dirnames, filenames in os.walk(test_results_dir):
@@ -130,12 +148,12 @@ def test_results(test_results_dir, show_verbose=False, show_all=False):
             filename_abs = os.path.join(dirpath, filename)
             name = filename_abs[len(test_results_dir) + 1:]
             try:
-                num_tests, num_errors, num_failures = read_junit(filename_abs)
+                num_tests, num_errors, num_failures, num_skipped = read_junit2(filename_abs)
             except Exception as e:
                 if show_all:
                     print('Skipping "%s": %s' % (name, str(e)))
                 continue
-            results[name] = (num_tests, num_errors, num_failures)
+            results[name] = (num_tests, num_errors, num_failures, num_skipped)
             if show_verbose and (num_errors + num_failures > 0):
                 print("Full test results for '%s'" % (name))
                 print('-------------------------------------------------')
@@ -146,35 +164,68 @@ def test_results(test_results_dir, show_verbose=False, show_all=False):
 
 
 def aggregate_results(results, callback_per_result=None):
+    """Same as `aggregate_results2` except it doesn't return num_skipped."""
+    callback = None
+    if callback_per_result is not None:
+        def callback(name, num_tests, num_errors, num_failures, num_skipped):
+            callback_per_result(name, num_tests, num_errors, num_failures)
+    sum_tests, sum_errors, sum_failures, _ = aggregate_results2(
+        results, callback_per_result=callback)
+    return (sum_tests, sum_errors, sum_failures)
+
+
+def aggregate_results2(results, callback_per_result=None):
     """
     Aggregate results
 
     :param results: dict as from test_results()
-    :returns: tuple (num_tests, num_errors, num_failures)
+    :returns: tuple (num_tests, num_errors, num_failures, num_skipped)
     """
-    sum_tests = sum_errors = sum_failures = 0
+    sum_tests = sum_errors = sum_failures = sum_skipped = 0
     for name in sorted(results.keys()):
-        (num_tests, num_errors, num_failures) = results[name]
+        (num_tests, num_errors, num_failures, num_skipped) = results[name]
         sum_tests += num_tests
         sum_errors += num_errors
         sum_failures += num_failures
+        sum_skipped += num_skipped
         if callback_per_result:
-            callback_per_result(name, num_tests, num_errors, num_failures)
-    return sum_tests, sum_errors, sum_failures
+            callback_per_result(
+                name, num_tests, num_errors, num_failures, num_skipped)
+    return sum_tests, sum_errors, sum_failures, sum_skipped
 
 
 def print_summary(results, show_stable=False, show_unstable=True):
+    """Same as `print_summary2` except it doesn't print skipped tests."""
+    print_summary2(
+        results, show_stable=show_stable, show_unstable=show_unstable,
+        print_skipped=False)
+
+
+def print_summary2(results, show_stable=False, show_unstable=True, print_skipped=True):
     """
     print summary to stdout
 
     :param results: dict as from test_results()
     :param show_stable: print tests without failures extra
     :param show_stable: print tests with failures extra
+    :param print_skipped: include skipped tests in output
     """
-    def callback(name, num_tests, num_errors, num_failures):
-        if show_stable and not num_errors and not num_failures:
+    def callback(name, num_tests, num_errors, num_failures, num_skipped):
+        if show_stable and not num_errors and not num_failures and not num_skipped:
             print('%s: %d tests' % (name, num_tests))
-        if show_unstable and (num_errors or num_failures):
-            print('%s: %d tests, %d errors, %d failures' % (name, num_tests, num_errors, num_failures))
-    sum_tests, sum_errors, sum_failures = aggregate_results(results, callback)
-    print('Summary: %d tests, %d errors, %d failures' % (sum_tests, sum_errors, sum_failures))
+        if show_unstable and (num_errors or num_failures or num_skipped):
+            msg = '{}: {} tests, {} errors, {} failures'
+            msg_args = [name, num_tests, num_errors, num_failures]
+            if print_skipped:
+                msg += ', {} skipped'
+                msg_args.append(num_skipped)
+            print(msg.format(*msg_args))
+    sum_tests, sum_errors, sum_failures, sum_skipped = aggregate_results2(results, callback)
+
+    msg = 'Summary: {} tests, {} errors, {} failures'
+    msg_args = [sum_tests, sum_errors, sum_failures]
+    if print_skipped:
+        msg += ', {} skipped'
+        msg_args.append(sum_skipped)
+
+    print(msg.format(*msg_args))