Merge pull request #1917 from ros/backports_melodic

changes between 1.15.4 (Noetic) and 1.14.4 for backporting into Melodic

clients/rospy/src/rospy/impl/tcpros_base.py

@@ -154,6 +154,8 @@ def run(self):
                 (client_sock, client_addr) = self.server_sock.accept()
             except socket.timeout:
                 continue
+            except ConnectionAbortedError:
+                continue
             except IOError as e:
                 (e_errno, msg) = e.args
                 if e_errno == errno.EINTR: #interrupted system call

clients/rospy/src/rospy/msproxy.py

@@ -159,8 +159,7 @@ def get_param_cached(self, key):
             return rospy.impl.paramserver.get_param_server_cache().get(resolved_key)
         except KeyError:
             # first access, make call to parameter server
-            with self._lock:
-                code, msg, value = self.target.subscribeParam(rospy.names.get_caller_id(), rospy.core.get_node_uri(), resolved_key)
+            code, msg, value = self.target.subscribeParam(rospy.names.get_caller_id(), rospy.core.get_node_uri(), resolved_key)
             if code != 1: #unwrap value with Python semantics
                 raise KeyError(key)
             # set the value in the cache so that it's marked as subscribed

clients/rospy/src/rospy/topics.py

@@ -192,7 +192,13 @@ class Poller(object):
     on multiple platforms.  NOT thread-safe.
     """
     def __init__(self):
-        if hasattr(select, 'epoll'):
+        if hasattr(select, 'kqueue'):
+            self.poller = select.kqueue()
+            self.add_fd = self.add_kqueue
+            self.remove_fd = self.remove_kqueue
+            self.error_iter = self.error_kqueue_iter
+            self.kevents = []
+        elif hasattr(select, 'epoll'):
             self.poller = select.epoll()
             self.add_fd = self.add_epoll
             self.remove_fd = self.remove_epoll
@@ -202,12 +208,6 @@ def __init__(self):
             self.add_fd = self.add_poll
             self.remove_fd = self.remove_poll
             self.error_iter = self.error_poll_iter
-        elif hasattr(select, 'kqueue'):
-            self.poller = select.kqueue()
-            self.add_fd = self.add_kqueue
-            self.remove_fd = self.remove_kqueue
-            self.error_iter = self.error_kqueue_iter
-            self.kevents = []
         else:
             #TODO: non-Noop impl for Windows
             self.poller = self.noop
@@ -1173,7 +1173,7 @@ def check_all(self):
         Check all registered publication and subscriptions.
         """
         with self.lock:
-            for t in chain(iter(self.pubs.values()), iter(self.subs.values())):
+            for t in chain(list(self.pubs.values()), list(self.subs.values())):
                 t.check()
 
     def _add(self, ps, rmap, reg_type):

test/test_rospy/test/rostest/test_topic_statistics.py

@@ -51,7 +51,10 @@ def setUp(self):
         self.topic_statistic_msg_map = {}
 
     def new_msg(self, msg):
-        self.topic_statistic_msg_map[msg.topic] = msg
+        # need at least two messages to compute the period fields
+        # since messages without period fields aren't useful skip them
+        if msg.delivered_msgs > 1:
+            self.topic_statistic_msg_map[msg.topic] = msg
 
     def assert_eventually(
         self, cond, timeout=rospy.Duration(5.0), interval=rospy.Duration(0.5)
@@ -67,6 +70,8 @@ def frequency_acceptable(self, topic, expected, error_margin=0.1):
         ''' return True if topic message's measured frequency
         is within some error margin of expected frequency '''
         msg = self.topic_statistic_msg_map[topic]
+        # need at least two messages to compute the period fields
+        assert msg.delivered_msgs > 1
         found_freq = 1.0 / msg.period_mean.to_sec()
         rospy.loginfo(
             "Testing {}'s found frequency {} against expected {}".format(
@@ -83,7 +88,8 @@ def test_frequencies(self):
         self.assert_eventually(
             lambda: '/slow_chatter' in self.topic_statistic_msg_map)
         self.assert_eventually(
-            lambda: '/very_slow_chatter' in self.topic_statistic_msg_map)
+            lambda: '/very_slow_chatter' in self.topic_statistic_msg_map,
+            timeout=rospy.Duration(10.0))
 
         self.assertTrue(self.frequency_acceptable('/very_fast_chatter', 150))
         self.assertTrue(self.frequency_acceptable('/fast_chatter', 53))

tools/roslaunch/test/unit/test_roslaunch_param_dump.py

@@ -50,7 +50,7 @@ def fakestdout():
 import rospkg
 import logging
 
-SAMPLE1 = """/rosparam_load/dict1/head: 1
+SAMPLE1_OLD_YAML = """/rosparam_load/dict1/head: 1
 /rosparam_load/dict1/knees: 3
 /rosparam_load/dict1/shoulders: 2
 /rosparam_load/dict1/toes: 4
@@ -72,7 +72,39 @@ def fakestdout():
 /rosparam_load/string1: bar
 /rosparam_load/string2: '10'"""
 
-SAMPLE2 = """/load_ns/subns/dict1/head: 1
+SAMPLE1_NEW_YAML = """/rosparam_load/dict1/head: 1
+/rosparam_load/dict1/knees: 3
+/rosparam_load/dict1/shoulders: 2
+/rosparam_load/dict1/toes: 4
+/rosparam_load/integer1: 1
+/rosparam_load/integer2: 2
+/rosparam_load/list1:
+- head
+- shoulders
+- knees
+- toes
+/rosparam_load/list2:
+- 1
+- 1
+- 2
+- 3
+- 5
+- 8
+/rosparam_load/preformattedtext: 'This is the first line
+
+  This is the second line
+
+  Line breaks are preserved
+
+  Indentation is stripped
+
+  '
+/rosparam_load/robots/child/grandchildparam: a grandchild namespace param
+/rosparam_load/robots/childparam: a child namespace parameter
+/rosparam_load/string1: bar
+/rosparam_load/string2: '10'"""
+
+SAMPLE2_OLD_YAML = """/load_ns/subns/dict1/head: 1
 /load_ns/subns/dict1/knees: 3
 /load_ns/subns/dict1/shoulders: 2
 /load_ns/subns/dict1/toes: 4
@@ -94,6 +126,38 @@ def fakestdout():
 /load_ns/subns/string1: bar
 /load_ns/subns/string2: '10'"""
 
+SAMPLE2_NEW_YAML = """/load_ns/subns/dict1/head: 1
+/load_ns/subns/dict1/knees: 3
+/load_ns/subns/dict1/shoulders: 2
+/load_ns/subns/dict1/toes: 4
+/load_ns/subns/integer1: 1
+/load_ns/subns/integer2: 2
+/load_ns/subns/list1:
+- head
+- shoulders
+- knees
+- toes
+/load_ns/subns/list2:
+- 1
+- 1
+- 2
+- 3
+- 5
+- 8
+/load_ns/subns/preformattedtext: 'This is the first line
+
+  This is the second line
+
+  Line breaks are preserved
+
+  Indentation is stripped
+
+  '
+/load_ns/subns/robots/child/grandchildparam: a grandchild namespace param
+/load_ns/subns/robots/childparam: a child namespace parameter
+/load_ns/subns/string1: bar
+/load_ns/subns/string2: '10'"""
+
 
 def test_dump_params():
     # normal entrypoint has logging configured
@@ -107,14 +171,18 @@ def test_dump_params():
         s = b.getvalue().strip()
         # remove float vals as serialization is not stable
         s = '\n'.join([x for x in s.split('\n') if not 'float' in x])
-        assert str(s) == str(SAMPLE1), "[%s]\nvs\n[%s]"%(s, SAMPLE1)
+        assert str(s) in (SAMPLE1_OLD_YAML, SAMPLE1_NEW_YAML), \
+            "[%s]\nvs\n[%s]\nor\n[%s]" % \
+            (s, SAMPLE1_OLD_YAML, SAMPLE1_NEW_YAML)
     node_rosparam_f = os.path.join(test_d, 'test-node-rosparam-load-ns.xml')
     with fakestdout() as b:
         assert dump_params([node_rosparam_f])
         s = b.getvalue().strip()
         # remove float vals as serialization is not stable
         s = '\n'.join([x for x in s.split('\n') if not 'float' in x])
-        assert str(s) == str(SAMPLE2), "[%s]\nvs\n[%s]"%(s, SAMPLE2)
+        assert str(s) in(SAMPLE2_OLD_YAML, SAMPLE2_NEW_YAML), \
+            "[%s]\nvs\n[%s]\nor\n[%s]" % \
+            (s, SAMPLE2_OLD_YAML, SAMPLE2_NEW_YAML)
 
     invalid_f = os.path.join(test_d, 'invalid-xml.xml')
     with fakestdout() as b:

tools/rostest/test/advertisetest.test

@@ -3,7 +3,7 @@
   <node pkg="rostopic" type="rostopic" name="once_topic_pub" args="pub /once_topic std_msgs/Bool 'data: false' -1l" />
   <node pkg="rostest" type="service_server.py" name="service_server"/>
 
-  <test test-name="advertisetest_test" pkg="rostest" type="advertisetest" time-limit="5.0" retry="3">
+  <test test-name="advertisetest_test" pkg="rostest" type="advertisetest" time-limit="7.0" retry="3">
     <rosparam>
       topics:
       - name: /frequent_topic

tools/rostest/test/publishtest.test

@@ -3,7 +3,7 @@
     <node pkg="rostopic" type="rostopic" name="freq_topic_pub" args="pub /frequent_topic std_msgs/Bool 'data: false' -r 10" />
     <node pkg="rostopic" type="rostopic" name="once_topic_pub" args="pub /once_topic std_msgs/Bool 'data: false' -1l" />
 
-    <test test-name="publishtest_test" pkg="rostest" type="publishtest" time-limit="3.0" retry="3">
+    <test test-name="publishtest_test" pkg="rostest" type="publishtest" time-limit="5.0" retry="3">
         <rosparam>
             topics:
               - name: /frequent_topic

tools/topic_tools/test/transform.test

@@ -4,7 +4,7 @@
   <node pkg="rostopic" type="rostopic" name="rostopic_pub"
         args="pub -r 2 /num1 std_msgs/Float32 'data: 1.0'"/>
   <node pkg="topic_tools" type="transform" name="transform"
-        args="/num1 /num2 std_msgs/Float32 'm.data * 3.0'"/>
+        args="--wait-for-start /num1 /num2 std_msgs/Float32 'm.data * 3.0'"/>
 
   <test test-name="transform_" pkg="topic_tools"
       type="test_transform.py" time-limit="3.0"
@@ -18,7 +18,7 @@
     <node pkg="rostopic" type="rostopic" name="rostopic_pub"
         args="pub -r 2 num3 std_msgs/Float32 'data: 3.0'" />
     <node pkg="topic_tools" type="transform" name="transform"
-        args="num3 num4 std_msgs/Float32 'm.data * 2.0'"/>
+        args="--wait-for-start num3 num4 std_msgs/Float32 'm.data * 2.0'"/>
 
     <test test-name="transform_ns" pkg="topic_tools"
         type="test_transform.py" time-limit="3.0"