Port actionlib_tools to Python 3

actionlib_tools/CMakeLists.txt

@@ -3,12 +3,11 @@ project(actionlib_tools)
 
 find_package(catkin REQUIRED)
 
+catkin_python_setup()
+
 catkin_package()
 
 catkin_install_python(PROGRAMS
-  # These scripts require Python 2 dependency wx
-  # scripts/axclient.py
-  # scripts/axserver.py
-  scripts/dynamic_action.py
-  scripts/library.py
+  scripts/axclient.py
+  scripts/axserver.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

actionlib_tools/package.xml

@@ -22,6 +22,6 @@
   <exec_depend>actionlib</exec_depend>
   <exec_depend>actionlib_msgs</exec_depend>
   <!-- Noetic uses Python 3 -->
-  <!--<exec_depend>python-wxtools</exec_depend>-->
+  <exec_depend>python3-wxgtk4.0</exec_depend>
 
 </package>

actionlib_tools/scripts/axclient.py

@@ -1,4 +1,4 @@
-#! /usr/bin/python
+#!/usr/bin/env python3
 # **********************************************************
 #  Software License Agreement (BSD License)
 #
@@ -48,9 +48,9 @@
 import actionlib
 import threading
 import rostopic
-from io import StringIO
-from library import to_yaml, yaml_msg_str
-from dynamic_action import DynamicAction
+from io import BytesIO
+from actionlib_tools.library import to_yaml, yaml_msg_str
+from actionlib_tools.dynamic_action import DynamicAction
 from actionlib_msgs.msg import GoalStatus
 
 
@@ -102,7 +102,7 @@ def on_goal(self, event):
         try:
             self.goal_msg = yaml_msg_str(self.action_type.goal,
                                          self.goal.GetValue())
-            buff = StringIO()
+            buff = BytesIO()
             self.goal_msg.serialize(buff)
 
             # send the goal to the action server and register the relevant

actionlib_tools/scripts/axserver.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # Software License Agreement (BSD License)
 #
 # Copyright (c) 2009, Willow Garage, Inc.
@@ -43,9 +43,9 @@
 import rospy
 import actionlib
 import threading
-from io import StringIO
-from library import to_yaml, yaml_msg_str
-from dynamic_action import DynamicAction
+from io import BytesIO
+from actionlib_tools.library import to_yaml, yaml_msg_str
+from actionlib_tools.dynamic_action import DynamicAction
 
 SEND_FEEDBACK = 0
 SUCCEED = 1
@@ -139,7 +139,7 @@ def on_feedback(self, event):
         try:
             self.feedback_msg = yaml_msg_str(self.action_type.feedback,
                                              self.feedback.GetValue())
-            buff = StringIO()
+            buff = BytesIO()
             self.feedback_msg.serialize(buff)
 
             self.execute_type = SEND_FEEDBACK
@@ -155,7 +155,7 @@ def on_succeed(self, event):
 
         try:
             self.result_msg = yaml_msg_str(self.action_type.result, self.result.GetValue())
-            buff = StringIO()
+            buff = BytesIO()
             self.result_msg.serialize(buff)
 
             self.execute_type = SUCCEED

actionlib_tools/setup.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['actionlib_tools'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

actionlib_tools/scripts/dynamic_action.py → actionlib_tools/src/actionlib_tools/dynamic_action.py

@@ -1,4 +1,3 @@
-#! /usr/bin/python
 # **********************************************************
 #  Software License Agreement (BSD License)
 #