gentoo resync : 25.08.2020

5 files changed, 125 insertions, 60 deletions

diff --git a/dev-ros/calibration_estimation/Manifest b/dev-ros/calibration_estimation/Manifest
index d37ab1fc427e..1d68b1095107 100644
--- a/dev-ros/calibration_estimation/Manifest
+++ b/dev-ros/calibration_estimation/Manifest
@@ -1,6 +1,5 @@
-DIST calibration-0.10.13.tar.gz 112305 BLAKE2B 1b2c2ffa0c07b907c7a4dc28b87ff112a497275039be98bcc15ad396ccf525ba4fb717b398551f04dab7131a8085e1b1ec64eb24408c12fec09e9c42b5c40a75 SHA512 95b5ea28428ea9726b6b1a8f24cd4c7cb84992e680761357c1a13dd92c362149a0a6104f6a44dbefad503db1a9c7a53135d9756b1ceea3a739b1baa14f9474eb
+AUX py3.patch 3416 BLAKE2B 7f879cee3a10359d5988fe8ee04ccfb9c2d30fff7609e52950c7a61c3f02ad571363094f47e841ef9796c49c0d14f75c275cf3ba7534a5a0c1c0680ec48a2c70 SHA512 6200c57aa4f6f95338eba80342efcdd026b971d3b373a946fd45ce92bddc67f329c1fcafcedc74f2169ce871565a91b1d442a862cd5f87cd99f9aa225304b15f
 DIST calibration-0.10.14.tar.gz 112475 BLAKE2B a43bf316b3eea30f5f3e273e0dd2754fe819a1aa246237cb1ecc4bc49463abbd3eb71f77579fc0655c483ad9ac259bb027ac014fc5ec368a73bada61dedf6712 SHA512 5ef17cd21e04c134717859ecb12c4e7fc0086b044cf7d35d40bd43439a0f24e8ad41fe7b5fa37dcc8ec5e4abb2be8f64d86510706a3d97510cf1b92c2196ad40
-EBUILD calibration_estimation-0.10.13.ebuild 894 BLAKE2B 5ce9e71bfe04e4ddf1543698bb03f2e3a172e7d8cfd27a2ad71c77f31b233f1e6e94ae5823ec0f230a80c2fe37488fdd1ace2d7ca4bd8504267a8802a646219b SHA512 44640c1e0eef9d9b90e601e343dd84cc82af314cfc5399173b35f4abd66d889cafa7a09ce16a59c9e8d34a323e00205b587e621fcac3ce51dde55fe054acf491
-EBUILD calibration_estimation-0.10.14.ebuild 894 BLAKE2B 5ce9e71bfe04e4ddf1543698bb03f2e3a172e7d8cfd27a2ad71c77f31b233f1e6e94ae5823ec0f230a80c2fe37488fdd1ace2d7ca4bd8504267a8802a646219b SHA512 44640c1e0eef9d9b90e601e343dd84cc82af314cfc5399173b35f4abd66d889cafa7a09ce16a59c9e8d34a323e00205b587e621fcac3ce51dde55fe054acf491
-EBUILD calibration_estimation-9999.ebuild 894 BLAKE2B 5ce9e71bfe04e4ddf1543698bb03f2e3a172e7d8cfd27a2ad71c77f31b233f1e6e94ae5823ec0f230a80c2fe37488fdd1ace2d7ca4bd8504267a8802a646219b SHA512 44640c1e0eef9d9b90e601e343dd84cc82af314cfc5399173b35f4abd66d889cafa7a09ce16a59c9e8d34a323e00205b587e621fcac3ce51dde55fe054acf491
+EBUILD calibration_estimation-0.10.14.ebuild 1280 BLAKE2B 49120c98ab855cf32bd412b264684a95901603fca9ac078f3a02158012fd175f768db4bc28e58b6410b1d7344c5dabb9557b3d41c8d878a674c9acf5f3abdd99 SHA512 b9e7b901eb6ce7c4099de1de63f83e3c19dbfe99d0f601b52bc5a75b3fd273a0bb04150aff5e9439a3354f1182bdca96d8584a5c2afc3dbb4b785c13e7f6b2ec
+EBUILD calibration_estimation-9999.ebuild 1280 BLAKE2B 49120c98ab855cf32bd412b264684a95901603fca9ac078f3a02158012fd175f768db4bc28e58b6410b1d7344c5dabb9557b3d41c8d878a674c9acf5f3abdd99 SHA512 b9e7b901eb6ce7c4099de1de63f83e3c19dbfe99d0f601b52bc5a75b3fd273a0bb04150aff5e9439a3354f1182bdca96d8584a5c2afc3dbb4b785c13e7f6b2ec
 MISC metadata.xml 340 BLAKE2B 52b47839e0051b2f1813313ae3989819be9668c093763a9c9518302d5b5832142fd02e6c7427493411d2b3ad3143d41180aa1c0f890362b43258109fc5b858b3 SHA512 de7b08cf3292d6c46f7a6e954ece0a32c8e2f4d67bc5212ce755662b8abf50425d54c00e0601ba943a4a9835f32c3df63ef87d5655788510ed86f05dd485a963
diff --git a/dev-ros/calibration_estimation/calibration_estimation-0.10.13.ebuild b/dev-ros/calibration_estimation/calibration_estimation-0.10.13.ebuild
deleted file mode 100644
index bbce471d0c6c..000000000000
--- a/dev-ros/calibration_estimation/calibration_estimation-0.10.13.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2016 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/calibration"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Runs an optimization to estimate the a robot's kinematic parameters"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-python/numpy[${PYTHON_USEDEP}]
-	dev-ros/rosgraph[${PYTHON_USEDEP}]
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-python/rospkg[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/calibration_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-python/matplotlib[${PYTHON_USEDEP}]
-	dev-python/python_orocos_kdl[${PYTHON_USEDEP}]
-	sci-libs/scipy[${PYTHON_USEDEP}]
-	dev-python/urdf_parser_py[${PYTHON_USEDEP}]
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-python/nose[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/calibration_estimation/calibration_estimation-0.10.14.ebuild b/dev-ros/calibration_estimation/calibration_estimation-0.10.14.ebuild
index bbce471d0c6c..c83819a9fef4 100644
--- a/dev-ros/calibration_estimation/calibration_estimation-0.10.14.ebuild
+++ b/dev-ros/calibration_estimation/calibration_estimation-0.10.14.ebuild
@@ -1,10 +1,9 @@
-# Copyright 1999-2016 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-perception/calibration"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
@@ -15,16 +14,26 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-python/numpy[${PYTHON_USEDEP}]
-	dev-ros/rosgraph[${PYTHON_USEDEP}]
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-python/rospkg[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
+	$(python_gen_cond_dep "dev-python/numpy[\${PYTHON_USEDEP}]")
+	dev-ros/rosgraph[${PYTHON_SINGLE_USEDEP}]
+	dev-ros/roslib[${PYTHON_SINGLE_USEDEP}]
+	$(python_gen_cond_dep "dev-python/rospkg[\${PYTHON_USEDEP}]")
+	dev-ros/rospy[${PYTHON_SINGLE_USEDEP}]
 	dev-ros/calibration_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-python/matplotlib[${PYTHON_USEDEP}]
-	dev-python/python_orocos_kdl[${PYTHON_USEDEP}]
-	sci-libs/scipy[${PYTHON_USEDEP}]
-	dev-python/urdf_parser_py[${PYTHON_USEDEP}]
+	$(python_gen_cond_dep "dev-python/matplotlib[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "dev-python/python_orocos_kdl[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "sci-libs/scipy[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "dev-python/urdf_parser_py[\${PYTHON_USEDEP}]")
 "
 DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-python/nose[${PYTHON_USEDEP}] )"
+	test? (
+		dev-ros/rostest[${PYTHON_SINGLE_USEDEP}]
+		$(python_gen_cond_dep "dev-python/nose[\${PYTHON_USEDEP}]")
+	)"
+PATCHES=( "${FILESDIR}/py3.patch" )
+
+src_prepare() {
+	ros-catkin_src_prepare
+	sed -e 's/yaml.load/yaml.safe_load/g' -i src/*/*.py -i test/*.py || die
+	2to3 -w src/*/*.py src/*/*/*.py test/*.py || die
+}
diff --git a/dev-ros/calibration_estimation/calibration_estimation-9999.ebuild b/dev-ros/calibration_estimation/calibration_estimation-9999.ebuild
index bbce471d0c6c..c83819a9fef4 100644
--- a/dev-ros/calibration_estimation/calibration_estimation-9999.ebuild
+++ b/dev-ros/calibration_estimation/calibration_estimation-9999.ebuild
@@ -1,10 +1,9 @@
-# Copyright 1999-2016 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-perception/calibration"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
@@ -15,16 +14,26 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-python/numpy[${PYTHON_USEDEP}]
-	dev-ros/rosgraph[${PYTHON_USEDEP}]
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-python/rospkg[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
+	$(python_gen_cond_dep "dev-python/numpy[\${PYTHON_USEDEP}]")
+	dev-ros/rosgraph[${PYTHON_SINGLE_USEDEP}]
+	dev-ros/roslib[${PYTHON_SINGLE_USEDEP}]
+	$(python_gen_cond_dep "dev-python/rospkg[\${PYTHON_USEDEP}]")
+	dev-ros/rospy[${PYTHON_SINGLE_USEDEP}]
 	dev-ros/calibration_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-python/matplotlib[${PYTHON_USEDEP}]
-	dev-python/python_orocos_kdl[${PYTHON_USEDEP}]
-	sci-libs/scipy[${PYTHON_USEDEP}]
-	dev-python/urdf_parser_py[${PYTHON_USEDEP}]
+	$(python_gen_cond_dep "dev-python/matplotlib[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "dev-python/python_orocos_kdl[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "sci-libs/scipy[\${PYTHON_USEDEP}]")
+	$(python_gen_cond_dep "dev-python/urdf_parser_py[\${PYTHON_USEDEP}]")
 "
 DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-python/nose[${PYTHON_USEDEP}] )"
+	test? (
+		dev-ros/rostest[${PYTHON_SINGLE_USEDEP}]
+		$(python_gen_cond_dep "dev-python/nose[\${PYTHON_USEDEP}]")
+	)"
+PATCHES=( "${FILESDIR}/py3.patch" )
+
+src_prepare() {
+	ros-catkin_src_prepare
+	sed -e 's/yaml.load/yaml.safe_load/g' -i src/*/*.py -i test/*.py || die
+	2to3 -w src/*/*.py src/*/*/*.py test/*.py || die
+}
diff --git a/dev-ros/calibration_estimation/files/py3.patch b/dev-ros/calibration_estimation/files/py3.patch
new file mode 100644
index 000000000000..ad680c7a7c60
--- /dev/null
+++ b/dev-ros/calibration_estimation/files/py3.patch
@@ -0,0 +1,78 @@
+Index: calibration_estimation/src/calibration_estimation/sensors/chain_sensor.py
+===================================================================
+--- calibration_estimation.orig/src/calibration_estimation/sensors/chain_sensor.py
++++ calibration_estimation/src/calibration_estimation/sensors/chain_sensor.py
+@@ -135,7 +135,7 @@ class ChainSensor:
+         cov_angles = [x*x for x in self._full_chain.calc_block._chain._cov_dict['joint_angles']]
+         cov = matrix(Jt).T * matrix(diag(cov_angles)) * matrix(Jt)
+         
+-        if ( self._full_chain.calc_block._chain._cov_dict.has_key('translation') ):
++        if ( 'translation' in self._full_chain.calc_block._chain._cov_dict ):
+             translation_var = self._full_chain.calc_block._chain._cov_dict['translation'];
+             translation_cov = numpy.diag(translation_var*(self.get_residual_length()/3))
+             cov = cov + translation_cov
+Index: calibration_estimation/src/calibration_estimation/sensors/tilting_laser_sensor.py
+===================================================================
+--- calibration_estimation.orig/src/calibration_estimation/sensors/tilting_laser_sensor.py
++++ calibration_estimation/src/calibration_estimation/sensors/tilting_laser_sensor.py
+@@ -99,7 +99,7 @@ class TiltingLaserSensor:
+         gamma = matrix(zeros(cov.shape))
+         num_pts = self.get_residual_length()/3
+ 
+-        for k in range(num_pts):
++        for k in range(int(num_pts)):
+             first = 3*k
+             last = 3*k+3
+             sub_cov = matrix(cov[first:last, first:last])
+Index: calibration_estimation/test/chain_sensor_unittest.py
+===================================================================
+--- calibration_estimation.orig/test/chain_sensor_unittest.py
++++ calibration_estimation/test/chain_sensor_unittest.py
+@@ -59,7 +59,7 @@ from numpy import *
+ 
+ def loadSystem():
+     urdf = '''
+-<robot>
++<robot name="test">
+   <link name="base_link"/>
+   <joint name="j0" type="fixed">
+     <origin xyz="0 0 0" rpy="0 0 0"/>
+Index: calibration_estimation/test/full_chain_unittest.py
+===================================================================
+--- calibration_estimation.orig/test/full_chain_unittest.py
++++ calibration_estimation/test/full_chain_unittest.py
+@@ -50,7 +50,7 @@ import numpy
+ 
+ def loadSystem1():
+     urdf = '''
+-<robot>
++<robot name="test">
+   <link name="base_link"/>
+   <joint name="j0" type="fixed">
+     <origin xyz="10 0 0" rpy="0 0 0"/>
+Index: calibration_estimation/test/tilting_laser_sensor_unittest.py
+===================================================================
+--- calibration_estimation.orig/test/tilting_laser_sensor_unittest.py
++++ calibration_estimation/test/tilting_laser_sensor_unittest.py
+@@ -74,7 +74,7 @@ class TestTiltingLaserBundler(unittest.T
+ 
+ def loadSystem():
+     urdf = '''
+-<robot>
++<robot name="test">
+   <link name="base_link"/>
+   <joint name="j0" type="fixed">
+     <origin xyz="0 0 0" rpy="0 0 0"/>
+Index: calibration_estimation/test/tilting_laser_unittest.py
+===================================================================
+--- calibration_estimation.orig/test/tilting_laser_unittest.py
++++ calibration_estimation/test/tilting_laser_unittest.py
+@@ -47,7 +47,7 @@ from numpy import *
+ 
+ def loadSystem1():
+     urdf = '''
+-<robot>
++<robot name="test">
+   <link name="base_link"/>
+   <joint name="j0" type="fixed">
+     <origin xyz="0 0 10" rpy="0 0 0"/>