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Port to ROS 2 #41

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Port to ROS 2 #41

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b934ec3
Adapt package.xml to ROS 2
vmayoral Feb 10, 2019
17c8ead
Remove CMakeLists.txt according to ROS 2 port instructions
vmayoral Feb 10, 2019
7de64e3
Update setup.py to meet ROS 2 requirements
vmayoral Feb 10, 2019
eac52db
Update README, add authors
vmayoral Feb 10, 2019
c4a8862
fixes bug in xml_string method and updates rosdeps for ROS2
Mar 13, 2019
6e76bf7
Merge pull request #1 from mlautman/ros2
ahcorde Mar 15, 2019
ed25658
Python 3 fix, avoid concatenate errors in tests
vmayoral Apr 7, 2019
6a8cc46
Remove non-ascii characters from setup config
nzlz Jul 18, 2019
11ddca4
Merge pull request #2 from nzlz/ros2
ahcorde Jul 19, 2019
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16 changes: 0 additions & 16 deletions CMakeLists.txt
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This file was deleted.

3 changes: 3 additions & 0 deletions README.md
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Expand Up @@ -17,6 +17,9 @@ Not yet sure how to get it to generate catkin-like development installs, which u
* Kelsey Hawkins - `urdf_parser_python` implementation, integration
* Antonio El Khoury - bugfixes
* Eric Cousineau - reflection (serialization?) changes
* Ioan Sucan
* Jackie Kay
* Víctor Mayoral Vilches - port to ROS 2

## Reflection (or just Serialization?)

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18 changes: 10 additions & 8 deletions package.xml
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@@ -1,5 +1,6 @@
<?xml version="1.0"?>
<package format="2">
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>urdfdom_py</name>
<version>0.3.3</version>
<description>Python implementation of the URDF parser.</description>
Expand All @@ -13,6 +14,7 @@
<author>Eric Cousineau</author>
<author email="isucan@gmail.com">Ioan Sucan</author>
<author email="jacquelinekay1@gmail.com">Jackie Kay</author>
<author email="vmayoral@acutronicrobotics.com">Víctor Mayoral Vilches</author>

<maintainer email="clalancette@osrfoundation.org">Chris Lalancette</maintainer>
<maintainer email="sloretz@osrfoundation.org">Shane Loretz</maintainer>
Expand All @@ -21,13 +23,13 @@
<url type="bugtracker">https://github.com/ros/urdf_parser_py/issues</url>
<url type="repository">https://github.com/ros/urdf_parser_py</url>

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>
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From what I can tell looking elsewhere, with a pure python package we don't need any buildtool_depend line, so just remove this.

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This comment is still open.


<depend>python</depend>

<exec_depend>python-lxml</exec_depend>
<exec_depend>python-yaml</exec_depend>

<test_depend>python-mock</test_depend>
<exec_depend>python3-lxml</exec_depend>
<exec_depend>python3-yaml</exec_depend>
<test_depend>python3-mock</test_depend>

<export>
<build_type>ament_python</build_type>
</export>
</package>
33 changes: 26 additions & 7 deletions setup.py
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@@ -1,11 +1,30 @@
#!/usr/bin/env python
from setuptools import setup

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
package_name = 'urdfdom_py'

d = generate_distutils_setup(
setup(
name=package_name,
version='0.3.3',
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melodic-devel is currently on 0.4.0, but since this is going to be a new branch, we probably want to bump up to something like 1.0.0 here (and in the package.xml).

package_dir={'': 'src'},
packages=['urdf_parser_py', 'urdf_parser_py.xml_reflection'],
package_dir={'': 'src'}
data_files=[
('scripts/display_urdf',
['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
author='Víctor Mayoral Vilches',
author_email='vmayoral@acutronicrobotics.com',
maintainer='Víctor Mayoral Vilches',
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I don't mind adding you as a maintainer, but if you want to be the maintainer I'd suggest that we add you to the package.xml as well. If you don't want to be a maintainer, you can just put my name/email here.

maintainer_email='vmayoral@acutronicrobotics.com',
keywords=['ROS2'],
classifiers=[
'Intended Audience :: Developers',
'License :: OSI Approved :: Apache Software License',
'Programming Language :: Python',
'Topic :: Software Development',
],
description='Python implementation of the URDF parser.',
license='Apache License, Version 2.0',
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This has to stay BSD, since we aren't really changing the underlying code.

tests_require=['pytest'],
)

setup(**d)
4 changes: 2 additions & 2 deletions src/urdf_parser_py/xml_reflection/basics.py
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Expand Up @@ -10,9 +10,9 @@

def xml_string(rootXml, addHeader=True):
# Meh
xmlString = etree.tostring(rootXml, pretty_print=True)
xmlString = etree.tostring(rootXml, pretty_print=True, encoding=str)
if addHeader:
xmlString = '<?xml version="1.0"?>\n' + xmlString
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Any particular reason for this change? I think this can stay as-is.

xmlString = "<?xml version=\"1.0\"?>\n" + xmlString
return xmlString


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