Merge branch 'noetic-devel' into ros2

Author: rhaschke

.github/workflows/ci.yaml

@@ -7,14 +7,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros: [galactic, humble, rolling]
+        ros: [humble, jazzy, rolling]
 
     name: ${{ matrix.ros }}
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: ${{ matrix.ros }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
 
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 project(xacro)
 
 find_package(ament_cmake REQUIRED)

package.xml

@@ -7,7 +7,6 @@
   </description>
 
   <maintainer email="[email protected]">Robert Haschke</maintainer>
-  <maintainer email="[email protected]">Morgan Quigley</maintainer>
 
   <license>BSD</license>
 

test/test-xacro-cmake/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 project(xacro-test)
 
 find_package(xacro REQUIRED)

test/test_xacro.py

@@ -30,7 +30,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 # Authors: Stuart Glaser, William Woodall, Robert Haschke
-# Maintainer: Robert Haschke <[email protected]>
 
 import ast
 from contextlib import contextmanager
@@ -1414,12 +1413,10 @@ def test_property_resolution_with_namespaced_include(self):
   <xacro:property name="var" value="main"/>
   <xacro:B.bar arg="${ext}"/>
   <xacro:B.bar arg="${var}"/>
-  <xacro:B.bar arg="${inner}"/>
 </a>'''
       res = '''<a version="1.0">
   <a arg="main" ext="main" var="2"/>
-  <a arg="2" ext="main" var="2"/>
-  <a arg="int" ext="main" var="2"/>
+  <a arg="main" ext="main" var="2"/>
 </a>'''
       self.assert_matches(self.quick_xacro(src), res)
 

xacro/__init__.py

@@ -28,7 +28,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 # Authors: Stuart Glaser, William Woodall, Robert Haschke
-# Maintainer: Morgan Quigley <[email protected]>
 
 import ast
 import collections
@@ -200,12 +199,12 @@ def expose(*args, **kwargs):
 
     deprecate_msg = 'Using {name}() directly is deprecated. Use {ns}.{name}() instead.'
     # This is the list of symbols we have exposed for years now. Continue exposing them directly
-    expose('list', 'dict', 'map', 'len', 'str', 'float', 'int', 'True', 'False', 'min', 'max', 'round',
+    expose('list', 'dict', 'map', 'len', 'str', 'float', 'int', 'bool', 'True', 'False', 'min', 'max', 'round',
            source=__builtins__)
-    # These few were only recently added. The should move into python namespace, but (with a deprecation msg) stay global for now
+    # These few were only recently added. They should move into the python namespace, but (with a deprecation msg) stay global for now
     expose('sorted', 'range', source=__builtins__, ns='python', deprecate_msg=deprecate_msg)
-    # Expose all builtin symbols into the python namespace. Thus the stay accessible if the global symbol was overriden
-    expose('list', 'dict', 'map', 'len', 'str', 'float', 'int', 'True', 'False', 'min', 'max', 'round',
+    # Expose all builtin symbols into the python namespace. Thus, they stay accessible if the global symbol is overridden
+    expose('list', 'dict', 'map', 'len', 'str', 'float', 'int', 'bool', 'True', 'False', 'min', 'max', 'round',
            'abs', 'all', 'any', 'complex', 'divmod', 'enumerate', 'filter', 'frozenset', 'hash', 'isinstance', 'issubclass',
            'ord', 'repr', 'reversed', 'slice', 'set', 'sum', 'tuple', 'type', 'vars', 'zip', source=__builtins__, ns='python')
 
@@ -786,7 +785,7 @@ def handle_macro_call(node, macros, symbols):
 
     name = node.tagName[6:]  # drop 'xacro:' prefix
     try:
-        macros, symbols, m = resolve_macro(name, macros, symbols)
+        scoped_macros, scoped_symbols, m = resolve_macro(name, macros, symbols)
         body = m.body.cloneNode(deep=True)
 
     except KeyError:
@@ -795,8 +794,8 @@ def handle_macro_call(node, macros, symbols):
     macrostack.append(m)
 
     # Expand the macro
-    scoped_symbols = Table(symbols)  # new local name space for macro evaluation
-    scoped_macros = Table(macros)
+    scoped_symbols = Table(scoped_symbols)  # new local name space for macro evaluation
+    scoped_macros = Table(scoped_macros)
     params = m.params[:]  # deep copy macro's params list
     for name, value in node.attributes.items():
         if name not in params:
@@ -1115,7 +1114,8 @@ def process_file(input_file_name, **kwargs):
     # add xacro auto-generated banner
     banner = [xml.dom.minidom.Comment(c) for c in
               [" %s " % ('=' * 83),
-               " |    This document was autogenerated by xacro from %-30s | " % input_file_name,
+               # replace consecutive dashes with a single one to yield a XML-compliant comment string
+               " |    This document was autogenerated by xacro from %-30s | " % re.sub(r'-+', '-', input_file_name),
                " |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED  %-30s | " % "",
                " %s " % ('=' * 83)]]
     first = doc.firstChild

xacro/cli.py

@@ -28,7 +28,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 # Authors: Stuart Glaser, William Woodall, Robert Haschke
-# Maintainer: Morgan Quigley <[email protected]>
 
 import textwrap
 from optparse import OptionParser, IndentedHelpFormatter

xacro/xmlutils.py

@@ -28,7 +28,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 # Authors: Stuart Glaser, William Woodall, Robert Haschke
-# Maintainer: Morgan Quigley <[email protected]>
 
 import xml.dom.minidom