Use relative imports, housekeeping++

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(roslaunch2)
 
 find_package(catkin REQUIRED)

README.md

@@ -7,7 +7,7 @@
 * [License & Citing](#cite)
 
 # Overview <a name="overview"/>
-roslaunch2 is a (pure Python based) ROS package that facilitates writing **versatile, flexible and dynamic launch configurations for the Robot Operating System (ROS 1) using Python**, both for simulation and real hardware setups, as contrasted with the existing XML based launch file system of ROS, namely [roslaunch](http://wiki.ros.org/roslaunch). Note that roslaunch2 is not (yet) designed and developed for ROS 2 but for ROS 1 only although it may also inspire the development (of the launch system) of ROS 2. It is **compatible with all ROS versions providing roslaunch** which is used as its backend. roslaunch2 has been tested and heavily used on ROS Indigo, Jade, Kinetic, and Lunar; it also supports a “dry-mode” to generate launch files without ROS being installed at all. The **key features** of roslaunch2 are
+roslaunch2 is a (pure Python based) ROS package that facilitates writing **versatile, flexible and dynamic launch configurations for the Robot Operating System (ROS 1) using Python**, both for simulation and real hardware setups, as contrasted with the existing XML based launch file system of ROS, namely [roslaunch](http://wiki.ros.org/roslaunch). Note that roslaunch2 is not (yet) designed and developed for ROS 2 but for ROS 1 only although it may also inspire the development (of the launch system) of ROS 2. It is **compatible with all ROS versions providing roslaunch** which is used as its backend. roslaunch2 has been tested and used on ROS Indigo, Jade, Kinetic, Lunar, Melodic, and Noetic; it also supports a “dry-mode” to generate launch files without ROS being installed at all. The **key features** of roslaunch2 are
 - versatile control structures (conditionals, loops),
 - extended support for launching and querying information remotely,
 - an easy-to-use API for also launching from Python based ROS nodes dynamically, as well as
@@ -106,6 +106,6 @@ The entire code is **BSD 3-Clause licenced**, see [here](https://github.com/Code
 }
 ```
 
-Copyright (c) 2017-2019, Adrian Böckenkamp, Department of Computer Science VII, TU Dortmund University.
+Copyright (c) 2017-2020, Adrian Böckenkamp, Department of Computer Science VII, TU Dortmund University.
 
 All rights reserved.

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<package format="2">
+<package format="3">
   <name>roslaunch2</name>
   <version>0.0.1</version>
   <description>
@@ -18,9 +18,12 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>python-catkin-pkg</build_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
 
   <exec_depend>python-enum34-pip</exec_depend>
   <exec_depend version_gte="4.62">pyro4</exec_depend>
   <exec_depend>python-rospkg</exec_depend>
   <exec_depend>roslaunch</exec_depend>
+  <exec_depend>rosbash</exec_depend>
 </package>

setup.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(

src/roslaunch2/__init__.py

@@ -3,21 +3,21 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 12/11/2019
+#    Date: 08/06/2020
 
 # Import all submodules typically used in launch modules:
-from group import *
-from parameter import *
-from machine import *
-from package import *
-from logger import *
-from utils import *
-from remote import *
-from launch import *
-from node import *
-from environment import *
-from test import *
-from helpers import *
+from .group import *
+from .parameter import *
+from .machine import *
+from .package import *
+from .logger import *
+from .utils import *
+from .remote import *
+from .launch import *
+from .node import *
+from .environment import *
+from .test import *
+from .helpers import *
 
 import argparse
 
@@ -172,7 +172,8 @@ def terminate(instance):
 def main(command_line_args=None):
     """
     Defines the core logic (= Python based dynamic launch files) of roslaunch2. It does NOT create any
-    launch modules or the like.
+    launch modules or the like. This function is not meant to be called directly. See `start()` and
+    `start_async()` for more details.
 
     :param command_line_args: List with command line arguments as strings
     :return: None

src/roslaunch2/environment.py

@@ -3,13 +3,13 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 13/03/2018
+#    Date: 08/06/2020
 
 import lxml.etree
 import warnings
 
-import interfaces
-import machine
+from . import interfaces
+from . import machine
 
 
 class EnvironmentVariable(interfaces.GeneratorBase, interfaces.Composable):

src/roslaunch2/group.py

@@ -3,15 +3,15 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 13/03/2018
+#    Date: 08/06/2020
 
 import lxml.etree
 import warnings
 
-import interfaces
-import remapable
-import node
-import launch
+from . import interfaces
+from . import remapable
+from . import node
+from . import launch
 
 
 class Group(remapable.Remapable, interfaces.Composer, interfaces.Composable):

src/roslaunch2/helpers.py

@@ -3,10 +3,10 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 12/11/2019
+#    Date: 08/06/2020
 
-import logger
-import node
+from . import logger
+from . import node
 
 
 class Helpers:

src/roslaunch2/interfaces.py

@@ -3,7 +3,7 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 26/01/2018
+#    Date: 08/06/2020
 
 import copy
 import lxml.etree
@@ -126,9 +126,9 @@ def add_env_variables_to_nodes(self, environment_variable_dict=None):
         """
         if environment_variable_dict is None:
             environment_variable_dict = {}
-        from environment import EnvironmentVariable
-        from group import Group
-        from node import Node
+        from .environment import EnvironmentVariable
+        from .group import Group
+        from .node import Node
 
         # Copy dict to not change the argument in higher recursion levels:
         tmp_env_dict = dict(environment_variable_dict)

src/roslaunch2/launch.py

@@ -3,16 +3,16 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 13/03/2018
+#    Date: 08/06/2020
 
 import warnings
 import lxml.etree
 
-import interfaces
-import machine
-import remapable
-import node
-import group
+from . import interfaces
+from . import machine
+from . import remapable
+from . import node
+from . import group
 
 
 class Launch(interfaces.Composable, interfaces.Composer, remapable.Remapable):

src/roslaunch2/machine.py

@@ -3,7 +3,7 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 13/03/2018
+#    Date: 08/06/2020
 
 import lxml.etree
 import getpass
@@ -12,9 +12,9 @@
 import socket
 import enum
 
-import interfaces
-import utils
-import remote
+from . import interfaces
+from . import utils
+from . import remote
 
 
 class Machine(interfaces.GeneratorBase):

src/roslaunch2/node.py

@@ -3,21 +3,21 @@
 #
 #  Author: Adrian Böckenkamp
 # License: BSD (https://opensource.org/licenses/BSD-3-Clause)
-#    Date: 13/03/2018
+#    Date: 08/06/2020
 
 import warnings
 import lxml.etree
 import enum
-
-import remapable
-import interfaces
-import package
-import machine
-import parameter
-import environment
 import random
 import string
 
+from . import remapable
+from . import interfaces
+from . import package
+from . import machine
+from . import parameter
+from . import environment
+
 
 class Output(enum.IntEnum):
     """
@@ -151,7 +151,7 @@ def __del__(self):
             warnings.warn('{} has been created but never add()ed.'.format(str(self)), Warning, 2)
 
     def __str__(self):
-        return '{:s}@{:s}: {:s}'.format(self.node, self.pkg, self.name)
+        return '{:s}@{:s}: {:s}'.format(str(self.node), str(self.pkg), str(self.name))
 
     def add(self, param):
         """