diff --git a/Makefile b/Makefile
index cf64a6fadc837ebffa91cd52f7beed458cd83ff7..af8f79a06b932860f2433a516915dec508723c31 100644
--- a/Makefile
+++ b/Makefile
@@ -66,7 +66,6 @@ SUBDIR+= pmb2-simulation
SUBDIR+= prf-gazebo-ros-pkgs
SUBDIR+= prf-gazebo-ros-pkgs-melodic
SUBDIR+= prf-roboticsgroup-gazebo-plugins
-SUBDIR+= prf-ros-controllers
SUBDIR+= prf-teleop-tools
SUBDIR+= py-bmtools
SUBDIR+= py-casadi
@@ -100,6 +99,7 @@ SUBDIR+= py-pal
SUBDIR+= py-pal-statistics
SUBDIR+= py-parametric-curves
SUBDIR+= py-prf-ros-control
+SUBDIR+= py-prf-ros-controllers
SUBDIR+= py-qpoases
SUBDIR+= py-qt-gepetto-pythonqt
SUBDIR+= py-quadprog
diff --git a/prf-ros-controllers/depend.mk b/prf-ros-controllers/depend.mk
deleted file mode 100644
index 575b5a2c8a86974c2ed2e869a0e5c1c6e4cf9691..0000000000000000000000000000000000000000
--- a/prf-ros-controllers/depend.mk
+++ /dev/null
@@ -1,30 +0,0 @@
-# robotpkg depend.mk for: wip/ros-controllers
-# Created: Olivier Stasse on Wed, 29 Mar 2017
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-ROS_CONTROLLERS_DEPEND_MK:= ${ROS_CONTROLLERS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= prf-ros-controllers
-endif
-
-ifeq (+,$(ROS_CONTROLLERS_DEPEND_MK)) # ----------------------------------
-
-PREFER.ros-controllers?= robotpkg
-
-DEPEND_USE+= prf-ros-controllers
-
-DEPEND_ABI.prf-ros-controllers?= prf-ros-controllers>=0.2.8
-DEPEND_DIR.prf-ros-controllers?= ../../wip/prf-ros-controllers
-
-SYSTEM_SEARCH.prf-ros-controllers=\
- 'include/joint_state_controller/joint_state_controller.h' \
- 'lib/libjoint_state_controller.so' \
- 'share/joint_state_controller/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/joint_state_controller.pc:/Version/s/[^0-9.]//gp' \
- 'share/controller_interface/cmake/controller_interfaceConfig.cmake'
-
-endif # ROS_CONTROLLERS_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-pal-statistics/depend.mk b/py-pal-statistics/depend.mk
index e914211e96c7254cabf5071c93468d50f5627785..8dcaf5c17573efd43069a20ac0137d50f8353f63 100644
--- a/py-pal-statistics/depend.mk
+++ b/py-pal-statistics/depend.mk
@@ -15,7 +15,7 @@ PREFER.py-pal-statistics?= robotpkg
DEPEND_USE+= py-pal-statistics
-DEPEND_ABI.py-pal-statistics?= py-pal-statistics>=1.1.0
+DEPEND_ABI.py-pal-statistics?= ${PKGTAG.python-}pal-statistics>=1.1.0
DEPEND_DIR.py-pal-statistics?= ../../wip/py-pal-statistics
SYSTEM_SEARCH.py-pal-statistics=\
@@ -25,6 +25,8 @@ SYSTEM_SEARCH.py-pal-statistics=\
'lib/pkgconfig/pal_statistics.pc:/Version/s/[^0-9.]//gp' \
'${PYTHON_SYSLIBSEARCH}/pal_statistics/__init__.py'
+include ../../mk/sysdep/python.mk
+
endif # PY_PAL_STATISTICS_DEPEND_MK ---------------------------------------
DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-prf-ros-control/Makefile b/py-prf-ros-control/Makefile
index 3b3771847feb9ff87899199cd0784fe0ec2f7bb0..45dc9fec5397d7f5cc76d91f868e9900123e5f92 100644
--- a/py-prf-ros-control/Makefile
+++ b/py-prf-ros-control/Makefile
@@ -1,7 +1,7 @@
# robotpkg Makefile for: wip/py-prf-ros-control
# Created: Olivier Stasse on Wed, 27 Apr 2018
#
-#
+
ORG= pal-robotics-forks
VERSION= 0.2.8
PRFNAME= ros-control
@@ -18,13 +18,12 @@ CONFLICTS= ${PKGBBASE}-[0-9]*
CONFLICTS+= py[0-9][0-9]-${PKGBBASE}-[0-9]*
CONFLICTS+= ros-control-[0-9]*
-
CATEGORIES= wip
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
CHECKOUT_VCS_OPTS+= --recursive
-HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
+HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
MASTER_SITES= ${HOMEPAGE}/archive/
COMMENT= ros_control package with torque sensors
LICENSE= 2-clause-bsd
diff --git a/py-prf-ros-control/depend.mk b/py-prf-ros-control/depend.mk
index d75fd365e4a2b7ad4d3f3001166fc71886d6c1a2..43784fb1d84bfea0f8e02b9d2e5de529bfe1b85a 100644
--- a/py-prf-ros-control/depend.mk
+++ b/py-prf-ros-control/depend.mk
@@ -15,7 +15,7 @@ PREFER.py-prf-ros-control?= robotpkg
DEPEND_USE+= py-prf-ros-control
-DEPEND_ABI.py-prf-ros-control?= py-prf-ros-control>=0.2
+DEPEND_ABI.py-prf-ros-control?= ${PKGTAG.python-}prf-ros-control>=0.2
DEPEND_DIR.py-prf-ros-control?= ../../wip/py-prf-ros-control
SYSTEM_SEARCH.py-prf-ros-control=\
@@ -93,7 +93,7 @@ SYSTEM_SEARCH.py-prf-ros-control=\
'lib/libtransmission_interface_loader_plugins.so' \
'lib/libtransmission_interface_parser.so' \
'share/ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
- '${PYTHON_SYSLIBSEARCH}/controller_manager/__init__.py \
+ '${PYTHON_SYSLIBSEARCH}/controller_manager/__init__.py' \
$(foreach _, \
controller_interface \
rqt_controller_manager \
@@ -107,6 +107,8 @@ SYSTEM_SEARCH.py-prf-ros-control=\
'share/$_/cmake/$_Config.cmake' \
'lib/pkgconfig/$_.pc:/Version/s/[^0-9.]//gp')
+include ../../mk/sysdep/python.mk
+
endif # PY_PRF_ROS_CONTROL_DEPEND_MK ----------------------------------------
DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/prf-ros-controllers/DESCR b/py-prf-ros-controllers/DESCR
similarity index 100%
rename from prf-ros-controllers/DESCR
rename to py-prf-ros-controllers/DESCR
diff --git a/prf-ros-controllers/Makefile b/py-prf-ros-controllers/Makefile
similarity index 68%
rename from prf-ros-controllers/Makefile
rename to py-prf-ros-controllers/Makefile
index 8173346a89c0e1e8982acd55ae5377e050bd69a9..fea94ed150c0fc2fc3846270359f1e27134d9004 100644
--- a/prf-ros-controllers/Makefile
+++ b/py-prf-ros-controllers/Makefile
@@ -1,28 +1,34 @@
-# robotpkg Makefile for: wip/prf-ros-controllers
+# robotpkg Makefile for: wip/py-prf-ros-controllers
# Created: Olivier Stasse on Wed, 29 Mar 2017
#
-ORG= pal-robotics-forks
-VERSION= 0.3.15
-PRFNAME= ros-controllers
-PKGBASE= prf-${PRFNAME}
-PKGNAME= ${PKGBASE}-${VERSION}
-DISTNAME= ${VERSION}
-ROSNAME= $(subst -,_,${PRFNAME})
-WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
-
-CATEGORIES= wip
+
+ORG= pal-robotics-forks
+VERSION= 0.3.15
+PRFNAME= ros-controllers
+PKGBASE= prf-${PRFNAME}
+PKGNAME= ${PKGTAG.python-}${PKGBASE}-${VERSION}
+DISTNAME= ${VERSION}
+ROSNAME= $(subst -,_,${PRFNAME})
+WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
+PKGREVISION= 1
+
+# old package name and other Python versions
+CONFLICTS= ${PKGBBASE}-[0-9]*
+CONFLICTS+= py[0-9][0-9]-${PKGBBASE}-[0-9]*
+CONFLICTS= talos-ros-controllers
+
+CATEGORIES= wip
+
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
CHECKOUT_VCS_OPTS+= --recursive
-HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
-MASTER_SITES= ${HOMEPAGE}/archive/
-
-COMMENT= Library of ros controllers
-LICENSE= 2-clause-bsd
+HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
+MASTER_SITES= ${HOMEPAGE}/archive/
+COMMENT= Library of ros controllers
+LICENSE= 2-clause-bsd
-ROS_METAPKG= yes
+ROS_METAPKG= yes
-CONFLICTS= talos-ros-controllers
# Allows to have robotpkg ros packages with the highest priority
# over system ros packages.
diff --git a/prf-ros-controllers/PLIST b/py-prf-ros-controllers/PLIST
similarity index 100%
rename from prf-ros-controllers/PLIST
rename to py-prf-ros-controllers/PLIST
diff --git a/py-prf-ros-controllers/depend.mk b/py-prf-ros-controllers/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..5e896946246a0762b8d26aa5c5f4f420fd0ed996
--- /dev/null
+++ b/py-prf-ros-controllers/depend.mk
@@ -0,0 +1,33 @@
+# robotpkg depend.mk for: wip/py-prf-ros-controllers
+# Created: Olivier Stasse on Wed, 29 Mar 2017
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_PRF_ROS_CONTROLLERS_DEPEND_MK:= ${PY_PRF_ROS_CONTROLLERS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= py-prf-ros-controllers
+endif
+
+ifeq (+,$(PY_PRF_ROS_CONTROLLERS_DEPEND_MK)) # ----------------------------------
+
+PREFER.ros-controllers?= robotpkg
+
+DEPEND_USE+= py-prf-ros-controllers
+
+DEPEND_ABI.py-prf-ros-controllers?= ${PKGTAG.python-}prf-ros-controllers>=0.2.8
+DEPEND_DIR.py-prf-ros-controllers?= ../../wip/py-prf-ros-controllers
+
+SYSTEM_SEARCH.py-prf-ros-controllers=\
+ 'include/joint_state_controller/joint_state_controller.h' \
+ 'lib/libjoint_state_controller.so' \
+ 'share/joint_state_controller/package.xml:/<version>/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/joint_state_controller.pc:/Version/s/[^0-9.]//gp' \
+ 'share/controller_interface/cmake/controller_interfaceConfig.cmake' \
+ '${PYTHON_SYSLIBSEARCH}/diff_drive_controller/__init__.py'
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_PRF_ROS_CONTROLLERS_DEPEND_MK ----------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/prf-ros-controllers/distinfo b/py-prf-ros-controllers/distinfo
similarity index 73%
rename from prf-ros-controllers/distinfo
rename to py-prf-ros-controllers/distinfo
index 9848a20c7f27502e506cef2783892d14db2a3c18..06ec3d197b8a0ce31e166da0bfd360d0515ce2ba 100644
--- a/prf-ros-controllers/distinfo
+++ b/py-prf-ros-controllers/distinfo
@@ -1,3 +1,4 @@
SHA1 (0.3.15.tar.gz) = bfd6696e961f05a7a0957d2a3a28880071cd3318
RMD160 (0.3.15.tar.gz) = 1d93e609e8d022d9d60f891dfc687fabe71e5346
Size (0.3.15.tar.gz) = 484646 bytes
+SHA1 (patch-ab) = 6071abb0ea9918238ade52ebf0d145d8d8587b45
diff --git a/py-prf-ros-controllers/patches/patch-ab b/py-prf-ros-controllers/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..a24370ad2288110592ffe2c2e1f8d97cf27d65f2
--- /dev/null
+++ b/py-prf-ros-controllers/patches/patch-ab
@@ -0,0 +1,20 @@
+--- rqt_joint_trajectory_controller/src/rqt_joint_trajectory_controller/joint_trajectory_controller.py.orig 2019-09-09 10:34:01.000000000 +0200
++++ rqt_joint_trajectory_controller/src/rqt_joint_trajectory_controller/joint_trajectory_controller.py 2020-03-24 09:12:19.974060717 +0100
+@@ -25,6 +25,8 @@
+ # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ # POSSIBILITY OF SUCH DAMAGE.
+
++from __future__ import print_function
++
+ import os
+ import rospy
+ import rospkg
+@@ -328,7 +330,7 @@
+ except:
+ # TODO: Can we do better than swallow the exception?
+ from sys import exc_info
+- print 'Unexpected error:', exc_info()[0]
++ print('Unexpected error:', exc_info()[0])
+
+ # Enter monitor mode (sending commands disabled)
+ self._on_jtc_enabled(False)
diff --git a/py-roscontrol-sot/Makefile b/py-roscontrol-sot/Makefile
index b9cf3ca5f5d2f99ae4bb4f132827976428601379..06bfcda1a2552d4bc011f9473ae57043666346c0 100644
--- a/py-roscontrol-sot/Makefile
+++ b/py-roscontrol-sot/Makefile
@@ -61,12 +61,12 @@ ifeq (erbium,${PREFER.pal-distro})
else
include ../../wip/pal-hardware-interfaces/depend.mk
include ../../wip/py-prf-ros-control/depend.mk
- include ../../wip/prf-ros-controllers/depend.mk
+ include ../../wip/py-prf-ros-controllers/depend.mk
endif
else
include ../../wip/pal-hardware-interfaces/depend.mk
include ../../wip/py-prf-ros-control/depend.mk
- include ../../wip/prf-ros-controllers/depend.mk
+ include ../../wip/py-prf-ros-controllers/depend.mk
endif
diff --git a/talos-metapkg-ros-control-sot/Makefile b/talos-metapkg-ros-control-sot/Makefile
index 1a5f9d85054bf6f12c64c4b3ef5e6a96dc9c3b7f..96e16da604b763164223539057664a67c0057464 100644
--- a/talos-metapkg-ros-control-sot/Makefile
+++ b/talos-metapkg-ros-control-sot/Makefile
@@ -43,7 +43,7 @@ ifeq (erbium,${PREFER.pal-distro})
CMAKE_PREFIX_PATH+=/opt/pal/erbium
else
include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/prf-ros-controllers/depend.mk
+ include ../../wip/py-prf-ros-controllers/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
endif
@@ -53,7 +53,7 @@ displaytalosmetapkg:
else
include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/prf-ros-controllers/depend.mk
+ include ../../wip/py-prf-ros-controllers/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
displaytalosmetapkg:
diff --git a/talos-simulation/Makefile b/talos-simulation/Makefile
index 505e46bc324ff87fbf4d609a39b6bb212035ad2c..666a6f250f89ae6815a02caa3f9dc78427318daa 100644
--- a/talos-simulation/Makefile
+++ b/talos-simulation/Makefile
@@ -62,7 +62,7 @@ endif
include ../../wip/talos-robot/depend.mk
include ../../wip/talos-moveit-config/depend.mk
include ../../wip/prf-roboticsgroup-gazebo-plugins/depend.mk
-include ../../wip/prf-ros-controllers/depend.mk
+include ../../wip/py-prf-ros-controllers/depend.mk
ifeq (xenial,${UBUNTUDISTRO})
include ../../wip/pal-gazebo-plugins/depend.mk
else
diff --git a/tiago-description-calibration/Makefile b/tiago-description-calibration/Makefile
index dc2a718a3789f43938a67b74e463631389cf81d1..f08f75e22ba4adfff5985459f28549dfc51d70cf 100644
--- a/tiago-description-calibration/Makefile
+++ b/tiago-description-calibration/Makefile
@@ -41,7 +41,7 @@ else
include ../../wip/pal-gazebo-plugins-melodic/depend.mk
include ../../wip/pal-hardware-gazebo-melodic/depend.mk
endif
-include ../../wip/prf-ros-controllers/depend.mk
+include ../../wip/py-prf-ros-controllers/depend.mk
include ../../wip/tiago-moveit-config/depend.mk
include ../../wip/play-motion/depend.mk
include ../../mk/language/c++.mk
diff --git a/tiago-metapkg-ros-control-sot/Makefile b/tiago-metapkg-ros-control-sot/Makefile
index 20484d5cbafdf71a7f4a6acc6afef744095c6241..4851c4a7ff3661623df8050d56eea6f190b2383b 100644
--- a/tiago-metapkg-ros-control-sot/Makefile
+++ b/tiago-metapkg-ros-control-sot/Makefile
@@ -42,7 +42,7 @@ ifeq (erbium,${PREFER.pal-distro})
CMAKE_PREFIX_PATH+=/opt/pal/erbium
else
include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/prf-ros-controllers/depend.mk
+ include ../../wip/py-prf-ros-controllers/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
endif
@@ -52,7 +52,7 @@ displaytiagometapkg:
else
include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/prf-ros-controllers/depend.mk
+ include ../../wip/py-prf-ros-controllers/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
displaytiagometapkg:
diff --git a/tiago-simulation/Makefile b/tiago-simulation/Makefile
index 1d0a223edd54e32754955aa0f8b928c297bcd592..8f9a8b5cd78478e77169c21507652b9bf82789ce 100644
--- a/tiago-simulation/Makefile
+++ b/tiago-simulation/Makefile
@@ -43,7 +43,7 @@ else
include ../../wip/pal-hardware-gazebo-melodic/depend.mk
endif
include ../../wip/pal-gazebo-worlds/depend.mk
-include ../../wip/prf-ros-controllers/depend.mk
+include ../../wip/py-prf-ros-controllers/depend.mk
include ../../wip/tiago-moveit-config/depend.mk
include ../../wip/tiago-description-calibration/depend.mk
include ../../wip/simple-grasping-action/depend.mk
diff --git a/tiago-tutorials/Makefile b/tiago-tutorials/Makefile
index 1276dd9c34aa8a73d02507aa650a673307b04c72..dc30de137da53d8d1bb3f08b8bc2ca26ec77c8ff 100644
--- a/tiago-tutorials/Makefile
+++ b/tiago-tutorials/Makefile
@@ -45,7 +45,7 @@ else
endif
include ../../wip/pal-msgs/depend.mk
include ../../wip/play-motion/depend.mk
-include ../../wip/prf-ros-controllers/depend.mk
+include ../../wip/py-prf-ros-controllers/depend.mk
include ../../wip/tiago-moveit-config/depend.mk
include ../../wip/play-motion/depend.mk
include ../../mk/language/c++.mk