Merge branch 'master' into embedded

.github/workflows/config.yml

@@ -66,16 +66,29 @@ jobs:
             NOT_TEST_INSTALL : true
             USE_JENKINS: true
             DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
-            TEST_PKGS : 'jsk_recognition_msgs' # to skip test
-            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6 torch==1.4.0;"
+            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
+            BUILD_PKGS: 'checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport'
+            EXTRA_DEB: ros-noetic-pr2-description
             experimental : false
           - ROS_DISTRO: noetic
             USE_DEB: false
             NOT_TEST_INSTALL : true
             USE_JENKINS: true
             DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
-            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6 torch==1.4.0;"
-            experimental : true
+            TEST_PKGS : 'jsk_pcl_ros_utils jsk_pcl_ros'
+            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
+            BUILD_PKGS: 'jsk_pcl_ros_utils jsk_pcl_ros'
+            EXTRA_DEB: ros-noetic-pr2-description
+            experimental : false
+          - ROS_DISTRO: noetic
+            USE_DEB: false
+            NOT_TEST_INSTALL : true
+            USE_JENKINS: true
+            DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
+            TEST_PKGS : 'jsk_recognition_msgs' # to skip test
+            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
+            EXTRA_DEB: ros-noetic-pr2-description
+            experimental : false
 
 
     steps:

.github/workflows/python2.yml

@@ -15,4 +15,4 @@ jobs:
       - name: Check Python2
         run: |
           apt update -q && apt install -y -q python2
-          python2 -m compileall .
+          python2 -m compileall -x `find docker -name "*.py"` .

.travis.rosinstall.noetic

@@ -0,0 +1,4 @@
+- git: # https://github.com/ros-perception/image_transport_plugins/pull/64
+   uri: https://github.com/ros-perception/image_transport_plugins.git
+   local-name: image_transport_plugins
+   version: noetic-devel

audio_to_spectrogram/CMakeLists.txt

@@ -1,16 +1,50 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(audio_to_spectrogram)
 
-find_package(catkin)
+find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
+)
+
+catkin_python_setup()
+
+generate_dynamic_reconfigure_options(
+  cfg/DataAmplitudePlot.cfg
+)
+
 catkin_package()
 
-install(DIRECTORY launch sample scripts test
+install(DIRECTORY launch sample test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )
+if(NOT $ENV{ROS_DISTRO} STREQUAL "indigo") # on noetic it needs catkin_install_python to support Python3 and it does not work on indigo for some reason...
+  install(DIRECTORY scripts
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    USE_SOURCE_PERMISSIONS
+    )
+else()
+  install(DIRECTORY scripts
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    USE_SOURCE_PERMISSIONS
+    PATTERN "*"
+    PATTERN "*/*.py" EXCLUDE
+    )
+
+  file(GLOB SCRIPT_PROGRAMS scripts/*.py)
+  catkin_install_python(
+    PROGRAMS ${SCRIPT_PROGRAMS}
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts
+    )
+endif()
 
 if(CATKIN_ENABLE_TESTING)
   find_package(catkin REQUIRED COMPONENTS rostest roslaunch)
   add_rostest(test/audio_to_spectrogram.test)
   roslaunch_add_file_check(launch/audio_to_spectrogram.launch)
+  if(NOT $ENV{ROS_DISTRO} STRLESS "kinetic")
+    # Under kinetic, eval cannot be used in launch files
+    # http://wiki.ros.org/roslaunch/XML#substitution_args
+    add_rostest(test/wrench_to_spectrogram.test)
+    roslaunch_add_file_check(launch/wrench_to_spectrogram.launch)
+  endif()
 endif()