builder: Build against python3

aruco_pose/cfg/DetectorParams.cfg

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 PACKAGE = "aruco_pose"
 
 from dynamic_reconfigure.parameter_generator_catkin import *

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright (C) 2018 Copter Express Technologies
 #

aruco_pose/test/largemap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import unittest
 import json

builder/assets/butterfly.service

@@ -2,5 +2,5 @@
 Description=Butterfly Terminal Server
 
 [Service]
-ExecStart=/usr/local/bin/butterfly.server.py --host="0.0.0.0" --unsecure
+ExecStart=/bin/bash -c ". /root/butterfly_env/bin/activate; butterfly.server.py --host="0.0.0.0" --unsecure"
 User=pi

builder/assets/clever/setup.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 from distutils.core import setup
 

builder/assets/python3.yaml

@@ -0,0 +1,9 @@
+python3-wxgtk:
+    debian:
+      buster: [python3-wxgtk4.0]
+  python3-serial:
+    debian:
+      buster: [python3-serial]
+  python3-requests:
+    debian:
+      buster: [python3-requests]

builder/image-ros.sh

@@ -68,7 +68,8 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" > /etc/ros/rosdep/sources.list.d/30-clover.list
+echo "yaml file:///etc/ros/rosdep/python3.yaml" > /etc/ros/rosdep/sources.list.d/40-python3.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -87,6 +88,7 @@ resolve_rosdep() {
 }
 
 export ROS_IP='127.0.0.1' # needed for running tests
+export ROS_PYTHON_VERSION=3
 
 echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
@@ -95,8 +97,8 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 resolve_rosdep $(pwd)
-my_travis_retry pip install wheel
-my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+my_travis_retry pip3 install wheel
+my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/melodic/setup.bash
 catkin_make -j2 -DCMAKE_BUILD_TYPE=Release
 
@@ -133,7 +135,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 
 # FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
 # (note that Python 3 will still have a more recent version)
-pip install tornado==4.2.1
+pip3 install tornado==4.2.1
 
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws

builder/image-software.sh

@@ -67,7 +67,7 @@ apt-get update \
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
 echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
-echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/meodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
@@ -95,20 +95,21 @@ libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-python-rosdep \
-python-rosinstall-generator \
-python-wstool \
-python-rosinstall \
+python3-rosdep \
+python3-rosinstall-generator \
+python3-wstool \
+python3-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
+espeak espeak-data python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
+python3-venv \
+python3-systemd \
 mjpg-streamer \
 python3-opencv \
 && echo_stamp "Everything was installed!" "SUCCESS" \
@@ -121,7 +122,8 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 echo_stamp "Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 python3 get-pip.py
-python get-pip.py
+# Don't even bother installing pip for python2.7
+# python get-pip.py
 rm get-pip.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
@@ -132,10 +134,14 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-my_travis_retry pip3 install tornado==5.1.1
-my_travis_retry pip3 install butterfly
-my_travis_retry pip3 install butterfly[systemd]
+cd /root
+python3 -m venv butterfly_env
+source butterfly_env/bin/activate
+my_travis_retry pip install tornado==5.1.1
+my_travis_retry pip install butterfly
+my_travis_retry pip install butterfly[systemd]
 systemctl enable butterfly.socket
+deactivate
 
 echo_stamp "Install ws281x library"
 my_travis_retry pip install --prefer-binary rpi_ws281x

builder/image-validate.sh

@@ -18,6 +18,7 @@ echo "Run image tests"
 
 export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
+export ROS_PYTHON_VERSION=3
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # validate all required modules installed
 

builder/test/tests.sh

@@ -20,14 +20,16 @@ nmap --version
 lsof -v
 git --version
 vim --version
-pip --version
-pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
 pigpiod -v
 i2cdetect -V
+# butterfly uses its own venv, so we honor that
+. /root/butterfly_env/bin/activate
 butterfly -h
+# deactivate venv as needed
+deactivate
 espeak --version
 mjpg_streamer --version
 

builder/test/tests_clever.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # test backwards compatibility
 

clover/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>clover</name>
   <version>0.0.1</version>
   <description>The Clover package</description>
@@ -37,8 +37,10 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python-lxml</depend>
-  <exec_depend>python-pymavlink</exec_depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pymavlink</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 

clover/requirements.txt

@@ -1,5 +1,5 @@
 flask==1.1.1
 docopt==0.6.2
-geopy==1.11.0
-smbus2==0.2.1
-VL53L1X==0.0.2
+geopy==1.20.0
+smbus2==0.3.0
+VL53L1X==0.0.4

clover/src/selfcheck.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies

clover/test/basic.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import rospy
 import pytest
 from mavros_msgs.msg import State