Merge pull request #475 from rojkov/python3

Enable python3 compatible ROS builds

README.md

@@ -24,6 +24,7 @@ resolved in the past.
   * Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
   * Stefan Herbrechtsmeier, Bielefeld University <stefan@herbrechtsmeier.net>
   * Kristof Robot <krirobo@gmail.com>
+  * Dmitry Rozhkov, Intel <dmitry.rozhkov@linux.intel.com>
 
 
 ## CONTRIBUTORS ##
@@ -47,6 +48,7 @@ resolved in the past.
   * Gauthier Monserand <simkim@simkim.net>
   * Timo Mueller <timo.mueller@bmw-carit.de>
   * Andreas Baak <andreas.baak@bmw-carit.de>
+  * Dmitry Rozhkov, Intel <dmitry.rozhkov@linux.intel.com>
 
 
 ## HOW TO CONTRIBUTE ##
@@ -161,6 +163,11 @@ resolved in the past.
     /home/me/devel/meta-ros \
     "
 
+  By default meta-ros uses python2 in all its recipes. If you want ROS packages
+  to use python3 then add the following line in your `./conf/local.conf` file:
+
+    ROS_USE_PYTHON3 = "yes"
+
   Compile package:
 
     bitbake <package-name>

classes/catkin.bbclass

@@ -2,9 +2,11 @@
 # Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
 # 
 
-inherit cmake distutils-base ros faulty-solibs
+ROS_USE_PYTHON3 ??= "no"
 
-DEPENDS_prepend = "${@['catkin-native ', ''][(d.getVar('BPN', True) == 'catkin') | (d.getVar('BPN', True) == 'catkin-runtime')]}"
+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 '}"
 
 EXTRA_OECMAKE_CATKIN = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \

recipes-devtools/python/python-catkin-pkg.inc

@@ -0,0 +1,13 @@
+DESCRIPTION = "catkin package library"
+SECTION = "devel/python"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=e910b35b0ef4e1f665b9a75d6afb7709"
+SRCNAME = "catkin_pkg"
+
+SRC_URI = "https://pypi.python.org/packages/source/c/catkin_pkg/catkin_pkg-${PV}.tar.gz"
+SRC_URI[md5sum] = "da93566c65dddfa9f821e18944c5ee5e"
+SRC_URI[sha256sum] = "d4d069eaeb29d6a9ee71773b20c41515b6e0feb9ea2765ebaf3e599d0ceef050"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+BBCLASSEXTEND = "native"

recipes-devtools/python/python-catkin-pkg_0.2.10.bb

@@ -1,15 +1,3 @@
-DESCRIPTION = "catkin package library"
+require python-catkin-pkg.inc
-SECTION = "devel/python"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=e910b35b0ef4e1f665b9a75d6afb7709"
-SRCNAME = "catkin_pkg"
-
-SRC_URI = "https://pypi.python.org/packages/source/c/catkin_pkg/catkin_pkg-${PV}.tar.gz"
-SRC_URI[md5sum] = "da93566c65dddfa9f821e18944c5ee5e"
-SRC_URI[sha256sum] = "d4d069eaeb29d6a9ee71773b20c41515b6e0feb9ea2765ebaf3e599d0ceef050"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
 
 inherit distutils
-
-BBCLASSEXTEND = "native"

recipes-devtools/python/python-empy.inc

@@ -0,0 +1,13 @@
+DESCRIPTION = "A powerful and robust templating system for Python"
+SECTION = "devel/python"
+LICENSE = "LGPL-2.1"
+LIC_FILES_CHKSUM = "file://COPYING;md5=7fbc338309ac38fefcd64b04bb903e34"
+SRCNAME = "empy"
+
+SRC_URI = "http://www.alcyone.com/software/empy/empy-${PV}.tar.gz"
+SRC_URI[md5sum] = "fbb34761cdf9acc4c65e298c9eced395"
+SRC_URI[sha256sum] = "99f016af2770c48ab57a65df7aae251360dc69a1514c15851458a71d4ddfea9c"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+BBCLASSEXTEND = "native"

recipes-devtools/python/python-empy_3.3.2.bb

@@ -1,15 +1,3 @@
-DESCRIPTION = "A powerful and robust templating system for Python"
+require python-empy.inc
-SECTION = "devel/python"
-LICENSE = "LGPL-2.1"
-LIC_FILES_CHKSUM = "file://COPYING;md5=7fbc338309ac38fefcd64b04bb903e34"
-SRCNAME = "empy"
-
-SRC_URI = "http://www.alcyone.com/software/empy/empy-${PV}.tar.gz"
-SRC_URI[md5sum] = "fbb34761cdf9acc4c65e298c9eced395"
-SRC_URI[sha256sum] = "99f016af2770c48ab57a65df7aae251360dc69a1514c15851458a71d4ddfea9c"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
 
 inherit distutils
-
-BBCLASSEXTEND = "native"

recipes-devtools/python/python-netifaces.inc

@@ -0,0 +1,11 @@
+DESCRIPTION = "Portable network interface information for Python"
+SECTION = "devel/python"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=a53cbc7cb75660694e138ba973c148df"
+SRCNAME = "netifaces"
+
+SRC_URI = "https://pypi.python.org/packages/a7/4c/8e0771a59fd6e55aac993a7cc1b6a0db993f299514c464ae6a1ecf83b31d/netifaces-0.10.5.tar.gz"
+SRC_URI[md5sum] = "5b4d1f1310ed279e6df27ef3a9b71519"
+SRC_URI[sha256sum] = "59d8ad52dd3116fcb6635e175751b250dc783fb011adba539558bd764e5d628b"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"

recipes-devtools/python/python-netifaces_0.10.5.bb

@@ -1,13 +1,3 @@
-DESCRIPTION = "Portable network interface information for Python"
+require python-netifaces.inc
-SECTION = "devel/python"
-LICENSE = "MIT"
-LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=a53cbc7cb75660694e138ba973c148df"
-SRCNAME = "netifaces"
-
-SRC_URI = "https://pypi.python.org/packages/a7/4c/8e0771a59fd6e55aac993a7cc1b6a0db993f299514c464ae6a1ecf83b31d/netifaces-0.10.5.tar.gz"
-SRC_URI[md5sum] = "5b4d1f1310ed279e6df27ef3a9b71519"
-SRC_URI[sha256sum] = "59d8ad52dd3116fcb6635e175751b250dc783fb011adba539558bd764e5d628b"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
 
 inherit setuptools

recipes-devtools/python/python-rosdep.inc

@@ -0,0 +1,17 @@
+DESCRIPTION = "rosdep package manager abstraction tool for ROS"
+SECTION = "devel/python"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=e910b35b0ef4e1f665b9a75d6afb7709"
+SRCNAME = "rosdep"
+
+SRC_URI = "http://download.ros.org/downloads/rosdep/rosdep-${PV}.tar.gz \
+           file://0001-Remove-build-dependency-on-nose-from-setup.py-491.patch \
+           "
+SRC_URI[md5sum] = "2c5669bc5cafcb1df8cd21ce14844cc4"
+SRC_URI[sha256sum] = "46e072074270a1ea25411829814f4bdc1f34b358c950e9b8a7b75b4a40efd96a"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+RDEPENDS_${PN} += "${PYTHON_PN}-catkin-pkg ${PYTHON_PN}-rospkg ${PYTHON_PN}-pyyaml ${PYTHON_PN}-netclient ${PYTHON_PN}-rosdistro"
+
+BBCLASSEXTEND += "native"

recipes-devtools/python/python-rosdep_0.11.5.bb

@@ -1,19 +1,3 @@
-DESCRIPTION = "rosdep package manager abstraction tool for ROS"
+require python-rosdep.inc
-SECTION = "devel/python"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=e910b35b0ef4e1f665b9a75d6afb7709"
-SRCNAME = "rosdep"
-
-SRC_URI = "http://download.ros.org/downloads/rosdep/rosdep-${PV}.tar.gz \
-           file://0001-Remove-build-dependency-on-nose-from-setup.py-491.patch \
-           "
-SRC_URI[md5sum] = "2c5669bc5cafcb1df8cd21ce14844cc4"
-SRC_URI[sha256sum] = "46e072074270a1ea25411829814f4bdc1f34b358c950e9b8a7b75b4a40efd96a"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
-
-RDEPENDS_${PN} += "python-catkin-pkg python-rospkg python-pyyaml python-netclient python-rosdistro"
 
 inherit setuptools
-
-BBCLASSEXTEND += "native"

recipes-devtools/python/python-rosdistro.inc

@@ -0,0 +1,15 @@
+DESCRIPTION = "ROS package library"
+SECTION = "devel/python"
+LICENSE = "BSD & MIT"
+LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=48623a4c0f1b1f65fae1dedd990a7f54"
+SRCNAME = "rosdistro"
+
+SRC_URI = "http://download.ros.org/downloads/rosdistro/rosdistro-${PV}.tar.gz"
+SRC_URI[md5sum] = "a699690fab755fd1b92b2ac04933e227"
+SRC_URI[sha256sum] = "f44757336bcee4089f6f6d570248e7c4e09eebfe5238d6ae60d8bd35361eedc4"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+RDEPENDS_${PN} += "${PYTHON_PN}-pyyaml"
+
+BBCLASSEXTEND = "native"

recipes-devtools/python/python-rosdistro_0.4.7.bb

@@ -1,17 +1,3 @@
-DESCRIPTION = "ROS package library"
+require python-rosdistro.inc
-SECTION = "devel/python"
-LICENSE = "BSD & MIT"
-LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=48623a4c0f1b1f65fae1dedd990a7f54"
-SRCNAME = "rosdistro"
-
-SRC_URI = "http://download.ros.org/downloads/rosdistro/rosdistro-${PV}.tar.gz"
-SRC_URI[md5sum] = "a699690fab755fd1b92b2ac04933e227"
-SRC_URI[sha256sum] = "f44757336bcee4089f6f6d570248e7c4e09eebfe5238d6ae60d8bd35361eedc4"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
-
-RDEPENDS_${PN} += "python-pyyaml"
 
 inherit setuptools
-
-BBCLASSEXTEND = "native"

recipes-devtools/python/python-rospkg.inc

@@ -0,0 +1,15 @@
+DESCRIPTION = "ROS package library"
+SECTION = "devel/python"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=e910b35b0ef4e1f665b9a75d6afb7709"
+SRCNAME = "rospkg"
+
+SRC_URI = "http://download.ros.org/downloads/rospkg/rospkg-${PV}.tar.gz"
+SRC_URI[md5sum] = "36fa86450a397cbe531b214e088d06b7"
+SRC_URI[sha256sum] = "ccd1d635319d41b79139b7336af64fc17a48a69ce0d728c1578c78f6350dbe1c"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+RDEPENDS_${PN} += "${PYTHON_PN}-xml"
+
+BBCLASSEXTEND = "native"

recipes-devtools/python/python-rospkg_1.0.40.bb

@@ -1,17 +1,3 @@
-DESCRIPTION = "ROS package library"
+require python-rospkg.inc
-SECTION = "devel/python"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://PKG-INFO;beginline=8;endline=8;md5=e910b35b0ef4e1f665b9a75d6afb7709"
-SRCNAME = "rospkg"
-
-SRC_URI = "http://download.ros.org/downloads/rospkg/rospkg-${PV}.tar.gz"
-SRC_URI[md5sum] = "36fa86450a397cbe531b214e088d06b7"
-SRC_URI[sha256sum] = "ccd1d635319d41b79139b7336af64fc17a48a69ce0d728c1578c78f6350dbe1c"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
-
-RDEPENDS_${PN} += "python-xml"
 
 inherit setuptools
-
-BBCLASSEXTEND = "native"

recipes-devtools/python/python-urlgrabber_3.9.1.bb

@@ -1,15 +0,0 @@
-DESCRIPTION = "A high-level cross-protocol url-grabber"
-SECTION = "devel/python"
-LICENSE = "LGPL-2.1"
-LIC_FILES_CHKSUM = "file://LICENSE;md5=68ad62c64cc6c620126241fd429e68fe"
-SRCNAME = "urlgrabber"
-
-DEPENDS = "python-pycurl-native python-pycurl"
-
-SRC_URI = "https://pypi.python.org/packages/source/u/${SRCNAME}/${SRCNAME}-${PV}.tar.gz"
-SRC_URI[md5sum] = "00c8359bf71062d0946bacea521f80b4"
-SRC_URI[sha256sum] = "4437076c8708e5754ea04540e46c7f4f233734ee3590bb8a96389264fb0650d0"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
-
-inherit distutils

recipes-devtools/python/python3-catkin-pkg_0.2.10.bb

@@ -0,0 +1,3 @@
+require python-catkin-pkg.inc
+
+inherit distutils3

recipes-devtools/python/python3-empy_3.3.2.bb

@@ -0,0 +1,3 @@
+require python-empy.inc
+
+inherit distutils3

recipes-devtools/python/python3-netifaces_0.10.5.bb

@@ -0,0 +1,3 @@
+require python-netifaces.inc
+
+inherit setuptools3

recipes-devtools/python/python3-rosdep_0.11.5.bb

@@ -0,0 +1,5 @@
+FILESEXTRAPATHS_prepend := "${THISDIR}/python-rosdep:"
+
+require python-rosdep.inc
+
+inherit setuptools3

recipes-devtools/python/python3-rosdistro_0.4.7.bb

@@ -0,0 +1,3 @@
+require python-rosdistro.inc
+
+inherit setuptools3

recipes-devtools/python/python3-rospkg_1.0.40.bb

@@ -0,0 +1,3 @@
+require python-rospkg.inc
+
+inherit setuptools3

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-catkin-pkg 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_${PN}_class-native = ""
+RDEPENDS_${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 +9,8 @@ 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} = "${PYTHON_PN}-numpy"
+
+# This option disables python support in case of python3 flavour of ROS because
+# only python2 is supported by tf.
+EXTRA_OECMAKE =+ "${@'-DANDROID=ON' if d.getVar('PYTHON_PN', True) == 'python3' else ''}"

recipes-ros/image-common/camera-calibration-parsers/0001-Drop-support-for-python.patch

@@ -0,0 +1,64 @@
+From ddf9ddefb51502fb21ba01e31187e4ffebc70cce Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Mon, 10 Apr 2017 10:35:26 +0300
+Subject: [PATCH] Drop support for python
+
+Upstream-Status: Inappropriate [ROS still supports python2 officially]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ CMakeLists.txt | 23 ++---------------------
+ 1 file changed, 2 insertions(+), 21 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c21e54a..3a89d94 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,13 +3,8 @@ project(camera_calibration_parsers)
+ 
+ find_package(catkin REQUIRED sensor_msgs rosconsole roscpp roscpp_serialization)
+ 
+-find_package(PythonLibs REQUIRED)
+-if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
+-  find_package(Boost REQUIRED COMPONENTS filesystem python)
+-else()
+-  find_package(Boost REQUIRED COMPONENTS filesystem python3)
+-endif()
+-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS})
++
++include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+ 
+ catkin_python_setup()
+ 
+@@ -41,17 +36,7 @@ add_library(${PROJECT_NAME}
+   src/parse_yml.cpp
+ )
+ 
+-add_library(${PROJECT_NAME}_wrapper
+-  src/parse_wrapper.cpp)
+-
+ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} ${Boost_FILESYSTEM_LIBRARY})
+-target_link_libraries(${PROJECT_NAME}_wrapper ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARIES})
+-
+-# Don't prepend wrapper library name with lib and add to Python libs.
+-set_target_properties(${PROJECT_NAME}_wrapper PROPERTIES
+-        PREFIX ""
+-        LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
+-        )
+ 
+ add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+ 
+@@ -74,10 +59,6 @@ install(
+   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+ 
+-install(TARGETS ${PROJECT_NAME}_wrapper
+-  DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
+-)
+-
+ if(CATKIN_ENABLE_TESTING)
+   add_subdirectory(test)
+ endif()
+-- 
+2.9.3
+

recipes-ros/image-common/camera-calibration-parsers_1.11.12.bb

@@ -6,3 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 DEPENDS = "boost rosconsole roscpp roscpp-serialization sensor-msgs yaml-cpp"
 
 require image-common.inc
+
+# OE upstream doesn't support python2 in Boost, but python3 only.
+# So, drop python support from camera-calibration-parsers in case
+# we're building a python2 flavour of ROS.
+SRC_URI += "${@'file://0001-Drop-support-for-python.patch' if d.getVar('PYTHON_PN', True) != 'python3' else ''}"

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/resource-retriever/resource-retriever/0001-Python3-compatibility-10.patch

@@ -0,0 +1,141 @@
+From 2105ad5c201bacd9860ad21fa3b4de96eed0e124 Mon Sep 17 00:00:00 2001
+From: Ruben Smits <ruben.smits@intermodalics.eu>
+Date: Mon, 13 Feb 2017 18:02:23 +0100
+Subject: [PATCH] Python3 compatibility (#10)
+
+* Replace urlgrabber with urllib[2]
+
+As urlgrabber is not supported for Python 3 replace it with either the built-in urllib (Python 2) or urllib2 (Python 3)
+
+* Use rospkg instead of system call for rospack
+
+* Add test for python functionality
+
+* Fix rospkg dependency definition
+
+Upstream-Status: Backported
+---
+ package.xml                        |  2 +-
+ src/resource_retriever/__init__.py | 26 ++++++++++++++------------
+ test/CMakeLists.txt                |  2 ++
+ test/test.py                       | 36 ++++++++++++++++++++++++++++++++++++
+ 4 files changed, 53 insertions(+), 13 deletions(-)
+ create mode 100644 test/test.py
+
+diff --git a/package.xml b/package.xml
+index fc1d789..4b447dc 100644
+--- a/package.xml
++++ b/package.xml
+@@ -28,6 +28,6 @@
+   <run_depend>curl</run_depend>
+   <run_depend>rosconsole</run_depend>
+   <run_depend>roslib</run_depend>
+-  <run_depend>python-urlgrabber</run_depend>
++  <run_depend>python-rospkg</run_depend>
+ 
+ </package>
+diff --git a/src/resource_retriever/__init__.py b/src/resource_retriever/__init__.py
+index d92baca..747a63f 100644
+--- a/src/resource_retriever/__init__.py
++++ b/src/resource_retriever/__init__.py
+@@ -33,17 +33,16 @@
+ 
+ import roslib; roslib.load_manifest('resource_retriever')
+ import subprocess
+-import urlgrabber, string
++import rospkg
++try:
++    from urllib.request import urlopen
++    from urllib.error import URLError
++except ImportError:
++    from urllib2 import urlopen
++    from urllib2 import URLError
+ 
+ PACKAGE_PREFIX = 'package://'
+-
+-def rospack_find(package):
+-    process = subprocess.Popen(['rospack', 'find', package], shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+-    (stdout, stderr) = process.communicate()
+-    if len(stderr) > 0:
+-        raise Exception(stderr)
+-    else:
+-        return string.strip(stdout)
++r = rospkg.RosPack()
+ 
+ def get_filename(url, use_protocol=True ):
+     mod_url = url
+@@ -55,7 +54,7 @@ def get_filename(url, use_protocol=True ):
+ 
+         package = mod_url[0:pos]
+         mod_url = mod_url[pos:]
+-        package_path = rospack_find(package)
++        package_path = r.get_path(package)
+ 
+         if use_protocol:
+             protocol = "file://"
+@@ -65,5 +64,8 @@ def get_filename(url, use_protocol=True ):
+     return mod_url
+ 
+ def get(url):
+-    return urlgrabber.urlopen(get_filename(url))
+-
++    filename = get_filename(url)
++    try:
++        return urlopen(filename).read()
++    except URLError:
++        raise Exception("Invalid URL: {}".format(filename))
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index f133bf6..e311f59 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -2,3 +2,5 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR})
+ 
+ catkin_add_gtest(${PROJECT_NAME}_utest test.cpp)
+ target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME})
++
++catkin_add_nosetests(test.py)
+diff --git a/test/test.py b/test/test.py
+new file mode 100644
+index 0000000..ce1843f
+--- /dev/null
++++ b/test/test.py
+@@ -0,0 +1,36 @@
++import resource_retriever as r
++
++import os
++import rospkg
++from nose.tools import raises
++
++rospack = rospkg.RosPack()
++
++def test_get_by_package():
++    res = r.get("package://resource_retriever/test/test.txt")
++    assert len(res) == 1
++    assert res == 'A'.encode()
++
++def test_get_large_file():
++    res_path = os.path.join(rospack.get_path("resource_retriever"), "test/large_file.dat")
++    with open(res_path, 'w') as f:
++        for _ in range(1024*1024*50):
++            f.write('A')
++    res = r.get("package://resource_retriever/test/large_file.dat")
++    assert len(res) == 1024*1024*50
++
++def test_http():
++    res = r.get("http://packages.ros.org/ros.key")
++    assert len(res) > 0
++
++@raises(Exception)
++def test_invalid_file():
++    r.get("file://fail")
++
++@raises(Exception)
++def test_no_file():
++    r.get("package://roscpp")
++
++@raises(rospkg.common.ResourceNotFound)
++def test_invalid_package():
++    r.get("package://invalid_package_blah/test.xml")
+-- 
+2.9.3
+

recipes-ros/resource-retriever/resource-retriever_1.11.7.bb

@@ -6,7 +6,9 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9de
 
 DEPENDS = "curl rosconsole roslib"
 
-SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz \
+           file://0001-Python3-compatibility-10.patch \
+           "
 SRC_URI[md5sum] = "1dffd39475ebe70b14390889d3b4b3c4"
 SRC_URI[sha256sum] = "5f00e95c5a086973efa25e26da9cee8f4b10b446fbb5eb6694b32b2201539866"
 
@@ -14,4 +16,4 @@ S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
 
-RDEPENDS_${PN} = "python-urlgrabber"
+RDEPENDS_${PN} = "${PYTHON_PN}-rospkg"

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 +3,10 @@ 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 ${PYTHON_PN}-numpy-native"
+
+# This option disables python2 support because we can't support both python2
+# and python3 since OE upstream has disabled python2 bindings in Boost.
+EXTRA_OECMAKE =+ "${@'-DANDROID=ON' if d.getVar('PYTHON_PN', True) != 'python3' else ''}"
 
 require vision-opencv.inc