enable python3 compatible builds of ROS (resolves #458)

By default meta-ros uses python2. In case you want to get
python3-compatible builds add the following line to your local.conf:

    ROS_USE_PYTHON3 = "yes"

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

classes/catkin.bbclass

@@ -2,7 +2,9 @@
 # Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
 # 
 
-inherit cmake distutils-base ros faulty-solibs
+ROS_USE_PYTHON3 ??= "no"
+
+inherit cmake ${@'distutils3-base' if bb.utils.to_boolean(d.getVar('ROS_USE_PYTHON3', True)) else 'distutils-base'} ros faulty-solibs
 
 DEPENDS_prepend = "${@'' if (d.getVar('BPN', True) == 'catkin') or (d.getVar('BPN', True) == 'catkin-runtime') else 'catkin-native '}"
 

recipes-ros/catkin/catkin-runtime_0.6.19.bb

@@ -11,8 +11,8 @@ FILES_${PN} = "${PYTHON_SITEPACKAGES_DIR} ${ros_bindir}/catkin_find"
 
 RDEPENDS_${PN}_class-native = ""
 RDEPENDS_${PN} = "\
-    python-catkin-pkg python-argparse python-misc python-multiprocessing \
+    ${PYTHON_PN}-catkin-pkg ${PYTHON_PN}-argparse ${PYTHON_PN}-misc ${PYTHON_PN}-multiprocessing \
-    python-shell python-subprocess python-xml python-pkgutil"
+    ${PYTHON_PN}-shell ${PYTHON_PN}-subprocess ${PYTHON_PN}-xml ${PYTHON_PN}-pkgutil"
 
 # Delete everything but the python packages in order to avoid
 # that the QA error [installed-vs-shipped] hits on us.

recipes-ros/catkin/catkin.inc

@@ -3,7 +3,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "cmake python-empy-native python-catkin-pkg-native"
+DEPENDS = "cmake ${PYTHON_PN}-empy-native ${PYTHON_PN}-catkin-pkg-native"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "d58460cc9112812d8c4e6ecf98bbcc85"
@@ -14,6 +14,7 @@ SRC_URI += "\
     file://0001-use-python-provided-by-environment-instead-of-the-ge.patch \
     file://0001-avoid-using-host-s-paths-when-cross-compiling.patch \
     file://0001-relocate-dependency-s-headers-to-current-sysroot.patch \
+    ${@'file://0001-python.cmake-look-for-python3-first.patch' if d.getVar('PYTHON_PN', True) == 'python3' else ''} \
     "
 
 inherit catkin

recipes-ros/catkin/catkin_0.6.19.bb

@@ -2,7 +2,7 @@ require catkin.inc
 
 DEPENDS_class-native += "catkin-runtime"
 
-RDEPENDS_${PN}_class-native = "python-catkin-pkg"
+RDEPENDS_${PN}_class-native = "${PYTHON_PN}-catkin-pkg"
 RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
     catkin-runtime"
 
@@ -14,7 +14,7 @@ RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++
 do_install_append() {
     rm ${D}${ros_bindir}/catkin_find
     rm -rf ${D}${PYTHON_SITEPACKAGES_DIR}
-    rmdir ${D}${ros_libdir}/python2.7
+    rmdir ${D}${ros_libdir}/${PYTHON_DIR}
 }
 
 BBCLASSEXTEND += "native"

recipes-ros/catkin/files/0001-python.cmake-look-for-python3-first.patch

@@ -0,0 +1,27 @@
+From 224186a1af40cd3b7efb4f0648a3a4ca6ca1e7fa Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Thu, 6 Apr 2017 15:25:13 +0300
+Subject: [PATCH] python.cmake: look for python3 first
+
+Upstream-Status: Inappropriate [the patch overrides ROS's default to python2]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ cmake/python.cmake | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/cmake/python.cmake b/cmake/python.cmake
+index 70f3d26..38f8320 100644
+--- a/cmake/python.cmake
++++ b/cmake/python.cmake
+@@ -5,6 +5,7 @@ if(PYTHON_VERSION)
+   set(PythonInterp_FIND_VERSION "${PYTHON_VERSION}")
+ endif()
+ 
++set(Python_ADDITIONAL_VERSIONS "3")
+ find_package(PythonInterp REQUIRED)
+ message(STATUS "Using PYTHON_EXECUTABLE: ${PYTHON_EXECUTABLE}")
+ 
+-- 
+2.9.3
+

recipes-ros/control-toolbox/control-toolbox_1.13.2.bb

@@ -4,7 +4,7 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "rosconsole tf roscpp angles message-generation dynamic-reconfigure libtinyxml \
-    realtime-tools message-filters python-rospkg"
+    realtime-tools message-filters ${PYTHON_PN}-rospkg"
 
 SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "40bc1f04e5936b7fee824f6717702a62"

recipes-ros/depthimage-to-laserscan/depthimage-to-laserscan_1.0.7.bb

@@ -3,7 +3,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "roscpp sensor-msgs nodelet image-transport image-geometry dynamic-reconfigure python-rospkg"
+DEPENDS = "roscpp sensor-msgs nodelet image-transport image-geometry dynamic-reconfigure ${PYTHON_PN}-rospkg"
 
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz \
            file://0001-Add-missing-std-namespace-prefixes.patch \

recipes-ros/genmsg/genmsg_0.5.8.bb

@@ -9,5 +9,5 @@ SRC_URI[sha256sum] = "d7627a2df169e4e8208347d9215e47c723a015b67ef3ed8cda8b61b6cf
 
 inherit catkin
 
-RDEPENDS_${PN} = "python-stringold python-pprint"
+RDEPENDS_${PN} = "${PYTHON_PN}-stringold ${PYTHON_PN}-pprint"
 RDEPENDS_${PN}_class-native = ""

recipes-ros/genpy/genpy_0.5.10.bb

@@ -11,5 +11,5 @@ SRC_URI[sha256sum] = "e4465daffb352b4b45180a6157925b16ab3042996984ad231531134e4d
 
 inherit catkin
 
-RDEPENDS_${PN} = "python-math genmsg python-shell"
+RDEPENDS_${PN} = "${PYTHON_PN}-math genmsg ${PYTHON_PN}-shell"
 RDEPENDS_${PN}_class-native = ""

recipes-ros/geometry/tf_1.11.8.bb

@@ -9,4 +9,4 @@ require geometry.inc
 
 SRC_URI += "file://0001-Fix-stdlib.h-No-such-file-or-directory-errors-in-GCC.patch;striplevel=2"
 
-RDEPENDS_${PN} = "python-numpy"
+RDEPENDS_${PN} = "${PYTHON_PN}-numpy"

recipes-ros/image-pipeline/image-proc_1.12.19.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost camera-calibration-parsers cv-bridge dynamic-reconfigure image-geometry image-transport nodelet opencv roscpp sensor-msgs python-rospkg"
+DEPENDS = "boost camera-calibration-parsers cv-bridge dynamic-reconfigure image-geometry image-transport nodelet opencv roscpp sensor-msgs ${PYTHON_PN}-rospkg"
 
 require image-pipeline.inc

recipes-ros/image-pipeline/image-publisher_1.12.19.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "camera-info-manager cv-bridge dynamic-reconfigure image-transport nodelet roscpp sensor-msgs python-rospkg"
+DEPENDS = "camera-info-manager cv-bridge dynamic-reconfigure image-transport nodelet roscpp sensor-msgs ${PYTHON_PN}-rospkg"
 
 require image-pipeline.inc

recipes-ros/image-pipeline/image-rotate_1.12.19.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=26;endline=26;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "cmake-modules cv-bridge dynamic-reconfigure eigen-conversions image-transport nodelet opencv roscpp tf2 tf2-geometry-msgs tf2-ros python-rospkg"
+DEPENDS = "cmake-modules cv-bridge dynamic-reconfigure eigen-conversions image-transport nodelet opencv roscpp tf2 tf2-geometry-msgs tf2-ros ${PYTHON_PN}-rospkg"
 
 require image-pipeline.inc

recipes-ros/image-transport-plugins/compressed-depth-image-transport_1.9.5.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "cv-bridge dynamic-reconfigure image-transport tf python-rospkg"
+DEPENDS = "cv-bridge dynamic-reconfigure image-transport tf ${PYTHON_PN}-rospkg"
 
 require image-transport-plugins.inc

recipes-ros/image-transport-plugins/compressed-image-transport_1.9.5.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "cv-bridge dynamic-reconfigure image-transport tf python-rospkg"
+DEPENDS = "cv-bridge dynamic-reconfigure image-transport tf ${PYTHON_PN}-rospkg"
 
 require image-transport-plugins.inc

recipes-ros/image-transport-plugins/theora-image-transport_1.9.5.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "cv-bridge dynamic-reconfigure image-transport tf rosbag python-rospkg"
+DEPENDS = "cv-bridge dynamic-reconfigure image-transport tf rosbag ${PYTHON_PN}-rospkg"
 
 require image-transport-plugins.inc

recipes-ros/moveit/moveit-ros-planning_0.7.8.bb

@@ -3,7 +3,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "moveit-core moveit-ros-perception dynamic-reconfigure python-rospkg libtinyxml"
+DEPENDS = "moveit-core moveit-ros-perception dynamic-reconfigure ${PYTHON_PN}-rospkg libtinyxml"
 
 require moveit-${PV}.inc
 

recipes-ros/navigation/amcl_1.12.13.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "LGPL-2.1+"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=21;endline=21;md5=58d727014cda5ed405b7fb52666a1f97"
 
-DEPENDS = "dynamic-reconfigure message-filters nav-msgs rosbag roscpp std-srvs tf python-rospkg"
+DEPENDS = "dynamic-reconfigure message-filters nav-msgs rosbag roscpp std-srvs tf ${PYTHON_PN}-rospkg"
 
 require navigation.inc

recipes-ros/nodelet-core/nodelet-topic-tools_1.9.8.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "dynamic-reconfigure python-rospkg"
+DEPENDS = "dynamic-reconfigure ${PYTHON_PN}-rospkg"
 
 require nodelet-core.inc

recipes-ros/razor-imu-9dof/razor-imu-9dof_1.1.1.bb

@@ -7,7 +7,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "dynamic-reconfigure python-rospkg"
+DEPENDS = "dynamic-reconfigure ${PYTHON_PN}-rospkg"
 
 SRC_URI = "https://github.com/KristofRobot/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "4712cbe1d9d8bacd9eebfd51825ada36"
@@ -17,4 +17,4 @@ S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
 
-RDEPENDS_${PN} = "rospy tf sensor-msgs python-pyserial"
+RDEPENDS_${PN} = "rospy tf sensor-msgs ${PYTHON_PN}-pyserial"

recipes-ros/ros-comm/rosgraph_1.11.21.bb

@@ -4,7 +4,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-RDEPENDS_${PN} = "python-xmlrpc python-threading python-rospkg rospy python-netifaces"
+RDEPENDS_${PN} = "${PYTHON_PN}-xmlrpc ${PYTHON_PN}-threading ${PYTHON_PN}-rospkg rospy ${PYTHON_PN}-netifaces"
 
 require ros-comm.inc
 

recipes-ros/ros-comm/roslaunch_1.11.21.bb

@@ -16,12 +16,12 @@ SRC_URI += "file://0001-increase-rosmaster-timeout.patch \
 ROS_PKG_SUBDIR = "tools"
 
 RDEPENDS_${PN} = "\
-    python-textutils \
+    ${PYTHON_PN}-textutils \
-    python-logging \
+    ${PYTHON_PN}-logging \
-    python-threading \
+    ${PYTHON_PN}-threading \
-    python-rospkg \
+    ${PYTHON_PN}-rospkg \
     rosgraph \
-    python-pyyaml \
+    ${PYTHON_PN}-pyyaml \
     roslib \
     rosclean \
     rosmaster \

recipes-ros/ros-comm/rospy_1.11.21.bb

@@ -4,7 +4,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=23;endline=23;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-RDEPENDS_${PN} = "std-msgs genpy python-logging python-pyyaml rosgraph roslib rosgraph-msgs roscpp"
+RDEPENDS_${PN} = "std-msgs genpy ${PYTHON_PN}-logging ${PYTHON_PN}-pyyaml rosgraph roslib rosgraph-msgs roscpp"
 
 require ros-comm.inc
 

recipes-ros/ros-comm/rostest_1.11.21.bb

@@ -3,7 +3,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost python-nose"
+DEPENDS = "boost ${PYTHON_PN}-nose"
 DEPENDS_class-native = "boost-native rosunit-native"
 
 require ros-comm.inc

recipes-ros/ros/roslib_1.11.14.bb

@@ -9,4 +9,4 @@ require ros.inc
 
 ROS_PKG_SUBDIR = "core"
 
-RDEPENDS_${PN} = "python-rospkg catkin-runtime"
+RDEPENDS_${PN} = "${PYTHON_PN}-rospkg catkin-runtime"

recipes-ros/rospack/rospack_2.2.8.bb

@@ -3,7 +3,7 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost cmake-modules python-rospkg-native libtinyxml"
+DEPENDS = "boost cmake-modules ${PYTHON_PN}-rospkg-native libtinyxml"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "f415d53b620d35ce674959ac7616d202"
@@ -11,4 +11,4 @@ SRC_URI[sha256sum] = "a8fecbe03f9757510fe47137642e39a7c31b823d5bf7fa7890acc11691
 
 inherit catkin
 
-RDEPENDS_${PN} = "python-rosdep python-subprocess"
+RDEPENDS_${PN} = "${PYTHON_PN}-rosdep ${PYTHON_PN}-subprocess"

recipes-ros/urdfdom/urdfdom-py_0.3.0.bb

@@ -11,4 +11,4 @@ S = "${WORKDIR}/${ROS_SP}/urdf_parser_py"
 
 inherit catkin
 
-RDEPENDS_${PN} = "python-lxml"
+RDEPENDS_${PN} = "${PYTHON_PN}-lxml"

recipes-ros/vision-opencv/cv-bridge_1.11.15.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost opencv rosconsole sensor-msgs python-numpy-native"
+DEPENDS = "boost opencv rosconsole sensor-msgs ${PYTHON_PN}-numpy-native"
 
 require vision-opencv.inc