builder: Add opencv repository

aruco_pose/src/genmap.py

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

aruco_pose/test/largemap.py

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

builder/assets/butterfly.service

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

builder/assets/python3.yaml

@@ -1,22 +0,0 @@
-python3-crypto:
-  debian:
-    buster: [python3-crypto]
-python3-imaging:
-  debian:
-    buster: [python3-pil]
-python3-wxtools:
-  debian:
-    pip:
-      packages: [wxPython]
-python3-future:
-  debian:
-    buster: [python3-future]
-python3-twisted:
-  debian:
-    buster: [python3-twisted]
-python3-serial:
-  debian:
-    buster: [python3-serial]
-python3-requests:
-  debian:
-    buster: [python3-requests]

builder/image-build.sh

@@ -111,7 +111,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clever.yaml' '/etc/ros/rosdep/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/python3.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'

builder/image-ros.sh

@@ -68,8 +68,7 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clever.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-clever.yaml" > /etc/ros/rosdep/sources.list.d/30-clever.list
-echo "yaml file:///etc/ros/rosdep/python3.yaml" > /etc/ros/rosdep/sources.list.d/40-python3.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -94,13 +93,12 @@ cd /home/pi/catkin_ws/src/clever
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
 echo_stamp "Installing CLEVER" \
-&& export ROS_PYTHON_VERSION=3 \
 && cd /home/pi/catkin_ws/src/clever \
 && git status \
 && cd /home/pi/catkin_ws \
 && resolve_rosdep $(pwd) \
-&& my_travis_retry pip3 install wheel \
-&& my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+&& my_travis_retry pip install wheel \
+&& my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
 && source /opt/ros/melodic/setup.bash \
 && catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
 && systemctl enable roscore \
@@ -130,7 +128,8 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
 # FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
-pip3 install tornado==4.2.1
+# (note that Python 3 will still have a more recent version)
+pip 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/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 # FIXME: We still don't have these packages built for Buster
 # FIXME: Check these packages after their installation
 echo "deb http://deb.coex.tech/clever stretch main" > /etc/apt/sources.list.d/clever.list
@@ -97,21 +97,20 @@ libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-python3-rosdep \
-python3-rosinstall-generator \
-python3-wstool \
-python3-rosinstall \
+python-rosdep \
+python-rosinstall-generator \
+python-wstool \
+python-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak python3-espeak \
+espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python3-venv \
-python3-systemd \
+python-systemd \
 mjpg-streamer \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
@@ -123,9 +122,10 @@ 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
-# Don't even bother installing pip for python2.7
-# python get-pip.py
+python get-pip.py
 rm get-pip.py
+#my_travis_retry pip install --upgrade pip
+#my_travis_retry pip3 install --upgrade pip
 
 echo_stamp "Make sure both pip and pip3 are installed"
 pip --version
@@ -133,14 +133,10 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-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]
+my_travis_retry pip3 install tornado==5.1.1
+my_travis_retry pip3 install butterfly
+my_travis_retry pip3 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

@@ -18,7 +18,6 @@ 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 python3
+#!/usr/bin/env python
 
 # validate all required modules installed
 
@@ -27,4 +27,4 @@ import rpi_ws281x
 import pigpio
 from espeak import espeak
 
-print(cv2.getBuildInformation())
+print cv2.getBuildInformation()

builder/test/tests.sh

@@ -20,16 +20,14 @@ 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
 

clever/package.xml

@@ -38,7 +38,7 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python3-lxml</depend>
+  <depend>python-lxml</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clever/requirements.txt

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

clever/src/selfcheck.py

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

clever/src/simple_offboard.cpp

@@ -177,8 +177,6 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
-	// At this point our node has been shut down
-	return false;
 }
 
 #define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
@@ -751,8 +749,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
-	// We should not end up here, but if we did, our node has been shut down
-	return false;
 }
 
 int main(int argc, char **argv)

clever/test/basic.py

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