From 45cc26d6e2c82cc1cd2b649eee0ff7676f63b3d0 Mon Sep 17 00:00:00 2001
From: LSinterbotix <85308904+LSinterbotix@users.noreply.github.com>
Date: Thu, 16 Mar 2023 13:01:28 -0500
Subject: [PATCH] Update Python packages to setuptools (#47)

* Update Python packages to setuptools

* Revert some irrelevant changes
---
 .../interbotix_common_modules/package.xml             |  9 ++++++---
 .../interbotix_common_modules/setup.py                |  2 +-
 .../interbotix_landmark_modules/package.xml           | 11 ++++++-----
 .../interbotix_landmark_modules/setup.py              |  2 +-
 .../interbotix_perception_modules/package.xml         |  5 ++++-
 .../interbotix_perception_modules/setup.py            |  2 +-
 .../interbotix_rpi_modules/package.xml                |  9 ++++++---
 .../interbotix_rpi_modules/setup.py                   |  2 +-
 .../interbotix_ux_modules/package.xml                 |  9 ++++++---
 interbotix_ux_toolbox/interbotix_ux_modules/setup.py  |  2 +-
 .../interbotix_xs_modules/package.xml                 |  7 +++++--
 interbotix_xs_toolbox/interbotix_xs_modules/setup.py  |  2 +-
 12 files changed, 39 insertions(+), 23 deletions(-)

diff --git a/interbotix_common_toolbox/interbotix_common_modules/package.xml b/interbotix_common_toolbox/interbotix_common_modules/package.xml
index 9fd6714b..dc3c2c1f 100644
--- a/interbotix_common_toolbox/interbotix_common_modules/package.xml
+++ b/interbotix_common_toolbox/interbotix_common_modules/package.xml
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>interbotix_common_modules</name>
   <version>0.0.0</version>
@@ -6,10 +7,12 @@
   <maintainer email="trsupport@trossenrobotics.com">Luke Schmitt</maintainer>
   <license>BSD</license>
   <author email="trsupport@trossenrobotics.com">Solomon Wiznitzer</author>
-  
+
   <buildtool_depend>catkin</buildtool_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION==2">python-numpy</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION==3">python3-numpy</exec_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>
   <exec_depend>tf</exec_depend>
 
   <export>
diff --git a/interbotix_common_toolbox/interbotix_common_modules/setup.py b/interbotix_common_toolbox/interbotix_common_modules/setup.py
index f5a6c5c5..4962ce5e 100644
--- a/interbotix_common_toolbox/interbotix_common_modules/setup.py
+++ b/interbotix_common_toolbox/interbotix_common_modules/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
diff --git a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml
index b80146d7..2b20abf8 100644
--- a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml
+++ b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>interbotix_landmark_modules</name>
   <version>0.0.0</version>
@@ -6,22 +7,22 @@
   <maintainer email="trsupport@trossenrobotics.com">Luke Schmitt</maintainer>
   <license>BSD</license>
   <author email="trsupport@trossenrobotics.com">Luke Schmitt</author>
-  
+
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>rostest</buildtool_depend>
   <build_depend>geometry_msgs</build_depend>
-  
+
   <build_depend>geometry_msgs</build_depend>
   <build_depend>tf2_ros</build_depend>
   <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>visualization_msgs</build_depend>
-  
+
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>tf2_ros</build_export_depend>
   <build_export_depend>tf2_geometry_msgs</build_export_depend>
   <build_export_depend>visualization_msgs</build_export_depend>
   <build_export_depend>interbotix_common_modules</build_export_depend>
-  
+
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>tf2_geometry_msgs</exec_depend>
@@ -29,7 +30,7 @@
   <exec_depend>interbotix_common_modules</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-six</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-six</exec_depend>
-  
+
   <test_depend>rosunit</test_depend>
   <test_depend>interbotix_perception_modules</test_depend>
 
diff --git a/interbotix_common_toolbox/interbotix_landmark_modules/setup.py b/interbotix_common_toolbox/interbotix_landmark_modules/setup.py
index ddcd6516..838e3f4d 100644
--- a/interbotix_common_toolbox/interbotix_landmark_modules/setup.py
+++ b/interbotix_common_toolbox/interbotix_landmark_modules/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/package.xml b/interbotix_perception_toolbox/interbotix_perception_modules/package.xml
index d46d9ca2..313262d5 100644
--- a/interbotix_perception_toolbox/interbotix_perception_modules/package.xml
+++ b/interbotix_perception_toolbox/interbotix_perception_modules/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>interbotix_perception_modules</name>
   <version>0.0.0</version>
   <description>The interbotix_perception_modules package</description>
@@ -11,6 +12,8 @@
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>apriltag_ros</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>message_generation</build_depend>
diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/setup.py b/interbotix_perception_toolbox/interbotix_perception_modules/setup.py
index a0ee161a..cc0fc8c3 100644
--- a/interbotix_perception_toolbox/interbotix_perception_modules/setup.py
+++ b/interbotix_perception_toolbox/interbotix_perception_modules/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
diff --git a/interbotix_rpi_toolbox/interbotix_rpi_modules/package.xml b/interbotix_rpi_toolbox/interbotix_rpi_modules/package.xml
index 6f3f0285..fc32914b 100644
--- a/interbotix_rpi_toolbox/interbotix_rpi_modules/package.xml
+++ b/interbotix_rpi_toolbox/interbotix_rpi_modules/package.xml
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>interbotix_rpi_modules</name>
   <version>0.0.0</version>
   <description>The interbotix_rpi_modules package</description>
-  <maintainer email="trsupport@trossenrobotics.com">Solomon Wiznitzer</maintainer>
+  <maintainer email="trsupport@trossenrobotics.com">Luke Schmitt</maintainer>
   <license>BSD</license>
   <!-- <url type="website">http://wiki.ros.org/interbotix_rpi_modules</url> -->
-  <author email="solomon@trossenrobotics.com">Solomon Wiznitzer</author>
+  <author email="trsupport@trossenrobotics.com">Solomon Wiznitzer</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
diff --git a/interbotix_rpi_toolbox/interbotix_rpi_modules/setup.py b/interbotix_rpi_toolbox/interbotix_rpi_modules/setup.py
index a1998faf..e667597f 100644
--- a/interbotix_rpi_toolbox/interbotix_rpi_modules/setup.py
+++ b/interbotix_rpi_toolbox/interbotix_rpi_modules/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
diff --git a/interbotix_ux_toolbox/interbotix_ux_modules/package.xml b/interbotix_ux_toolbox/interbotix_ux_modules/package.xml
index f73ff35e..e10a615c 100644
--- a/interbotix_ux_toolbox/interbotix_ux_modules/package.xml
+++ b/interbotix_ux_toolbox/interbotix_ux_modules/package.xml
@@ -1,16 +1,19 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>interbotix_ux_modules</name>
   <version>0.0.0</version>
   <description>The interbotix_ux_modules package</description>
-  <maintainer email="trsupport@trossenrobotics.com">Solomon Wiznitzer</maintainer>
+  <maintainer email="trsupport@trossenrobotics.com">Luke Schmitt</maintainer>
   <license>BSD</license>
   <!-- <url type="website">http://wiki.ros.org/interbotix_ux_modules</url> -->
-  <author email="solomon@trossenrobotics.com">Solomon Wiznitzer</author>
+  <author email="trsupport@trossenrobotics.com">Solomon Wiznitzer</author>
 
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>xarm_api</build_depend>
   <build_export_depend>xarm_api</build_export_depend>
   <exec_depend>xarm_api</exec_depend>
diff --git a/interbotix_ux_toolbox/interbotix_ux_modules/setup.py b/interbotix_ux_toolbox/interbotix_ux_modules/setup.py
index b906ebed..687172c5 100644
--- a/interbotix_ux_toolbox/interbotix_ux_modules/setup.py
+++ b/interbotix_ux_toolbox/interbotix_ux_modules/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
diff --git a/interbotix_xs_toolbox/interbotix_xs_modules/package.xml b/interbotix_xs_toolbox/interbotix_xs_modules/package.xml
index 943517f6..e2cb62d0 100644
--- a/interbotix_xs_toolbox/interbotix_xs_modules/package.xml
+++ b/interbotix_xs_toolbox/interbotix_xs_modules/package.xml
@@ -1,13 +1,16 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>interbotix_xs_modules</name>
   <version>0.0.0</version>
   <description>The interbotix_xs_modules package</description>
-  <maintainer email="trsupport@trossenrobotics.com">Solomon Wiznitzer</maintainer>
+  <maintainer email="trsupport@trossenrobotics.com">Luke Schmitt</maintainer>
   <license>BSD</license>
   <author email="trsupport@trossenrobotics.com">Solomon Wiznitzer</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>interbotix_xs_msgs</build_depend>
   <build_export_depend>interbotix_xs_msgs</build_export_depend>
   <exec_depend>interbotix_xs_msgs</exec_depend>
diff --git a/interbotix_xs_toolbox/interbotix_xs_modules/setup.py b/interbotix_xs_toolbox/interbotix_xs_modules/setup.py
index 32b0454d..a95255ee 100644
--- a/interbotix_xs_toolbox/interbotix_xs_modules/setup.py
+++ b/interbotix_xs_toolbox/interbotix_xs_modules/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml