Fix Python print methods

ambf_ros_modules/ambf_client/python/test.py

@@ -4,7 +4,7 @@
 c = Client()
 c.connect()
 time.sleep(1.0)
-# print c.get_obj_names()
+# print(c.get_obj_names())
 time.sleep(1.0)
 b = c.get_obj_handle('baselink')
-print b.get_name()
+print(b.get_name())

ambf_ros_modules/ambf_client/python/tests/duplex_com_test.py

@@ -15,7 +15,7 @@ def cb(data):
     step = data.sim_step
     cb_ctr +=1
     if cb_ctr % 1000 == 0:
-        print step
+        print(step)
 
 
 def main():
@@ -35,7 +35,7 @@ def main():
         cmd.step_clock = not cmd.step_clock
         pre_step = step
         if dstep > cmd.n_skip_steps:
-            print 'Jumped {} steps, default is {}'.format(dstep, cmd.n_skip_steps)
+            print('Jumped {} steps, default is {}'.format(dstep, cmd.n_skip_steps))
         pub.publish(cmd)
         rate.sleep()
 

ambf_ros_modules/ambf_client/python/tests/dynamo_haptic_response_test.py

@@ -105,15 +105,15 @@ def w_cb(msg):
     g1D.reset()
     g2D.reset()
     collection_enabled = False
-    print 'Setting Rate to {} Hz and testing'.format(r)
+    print('Setting Rate to {} Hz and testing'.format(r))
     time_offset = rospy.Time.now().to_sec() + 4.0
     while not g1D.is_done() or not g2D.is_done():
         wCmd.step_clock = not wCmd.step_clock
         w_pub.publish(wCmd)
         rate.sleep()
         if not collection_enabled and rospy.Time.now().to_sec() > time_offset:
             collection_enabled = True
-            print 'Enabling Data Collection'
+            print('Enabling Data Collection')
             g1D.enable_collectoin()
             g2D.enable_collectoin()
     g1D.compute_data_metrics()

ambf_ros_modules/ambf_client/python/tests/haptic_response_test.py

@@ -59,7 +59,7 @@ def __init__(self, name):
         self.data_lim = 1000
         if len(sys.argv) > 1:
             self.data_lim = int(sys.argv[1])
-            print 'Taking {} data points'.format(sys.argv[1])
+            print('Taking {} data points'.format(sys.argv[1]))
         self.data = np.zeros(self.data_lim)
         self.ctr = 0
         self.name = name
@@ -73,11 +73,11 @@ def compute_data_metrics(self):
         mean = np.mean(self.data)
         std_dev = np.std(self.data)
 
-        print '----------------------------------'
-        print 'Data Metrics for {}'.format(self.name)
-        print 'Mean = {}'.format(mean)
-        print 'Std Deviation = {}'.format(std_dev)
-        print '----------------------------------'
+        print('----------------------------------')
+        print('Data Metrics for {}'.format(self.name))
+        print('Mean = {}'.format(mean))
+        print('Std Deviation = {}'.format(std_dev))
+        print('----------------------------------')
 
     def is_done(self):
         if self.ctr < self.data_lim:

ambf_ros_modules/ambf_client/python/tests/message_latency.py

@@ -85,7 +85,7 @@ def capture_window_times(self, time):
         if not self.window_times_captured:
             self.time_window_lims[0] = time + 1.0
             self.time_window_lims[1] += self.time_window_lims[0]
-            print 'Capturing Time from {} to {}'.format(self.time_window_lims[0], self.time_window_lims[1])
+            print('Capturing Time from {} to {}'.format(self.time_window_lims[0], self.time_window_lims[1]))
             self.window_times_captured = True
 
     def obj_state_cb(self, data):
@@ -97,9 +97,9 @@ def obj_state_cb(self, data):
                 if self.is_first_run:
                     self.capture_window_times(data.wall_time)
                     self.initial_time_offset = ambf_sim_wall_time - data.wall_time
-                    print 'ROS & AMBF Clock Offset in C++ Server: ', self.initial_time_offset
-                    print 'AMBF Wall Time after offset          : ', ambf_sim_wall_time - self.initial_time_offset
-                    print 'Cur Process Wall Time after offset   : ', process_wall_time - self.initial_time_offset
+                    print('ROS & AMBF Clock Offset in C++ Server: ', self.initial_time_offset)
+                    print('AMBF Wall Time after offset          : ', ambf_sim_wall_time - self.initial_time_offset)
+                    print('Cur Process Wall Time after offset   : ', process_wall_time - self.initial_time_offset)
                     self.is_first_run = False
 
                 self.ambf_process_wall_time.append(ambf_sim_wall_time - self.initial_time_offset)
@@ -117,15 +117,15 @@ def obj_state_cb(self, data):
 
     def compute_mean_latency(self):
         self.mean_latency = sum(self.latency_list) / len(self.latency_list)
-        print 'Mean Latency= ', self.mean_latency, ' | Itrs= ', len(self.latency_list), ' | Counter=', self.cb_counter
+        print('Mean Latency= ', self.mean_latency, ' | Itrs= ', len(self.latency_list), ' | Counter=', self.cb_counter)
 
         total_packets = (self.msg_counter_num[-1] + 1) - self.msg_counter_num[0]
         total_packets_rcvd = len(self.msg_counter_num)
         percent_packets_rcvd = (total_packets_rcvd * 1.0) / (total_packets * 1.0)
 
-        print 'Total packets sent by C++ Server: ', total_packets
-        print 'Total packets received by Client: ', total_packets_rcvd
-        print 'Percentage of packets received  : {}%'.format(100 * percent_packets_rcvd)
+        print('Total packets sent by C++ Server: ', total_packets)
+        print('Total packets received by Client: ', total_packets_rcvd)
+        print('Percentage of packets received  : {}%'.format(100 * percent_packets_rcvd))
 
     def calculate_packets_dt(self, list):
         new_list = []
@@ -137,7 +137,7 @@ def run(self):
         rospy.init_node('message_latency_inspector')
         sub = rospy.Subscriber('/ambf/env/World/State', WorldState, self.obj_state_cb, queue_size=self.queue_size)
 
-        print 'X Axis = ', self.x_axis_dict[self.x_axis_type][0]
+        print('X Axis = ', self.x_axis_dict[self.x_axis_type][0])
         x_axis_indx = self.x_axis_dict[self.x_axis_type][1]
 
         while not rospy.is_shutdown() and not self.done:

ambf_ros_modules/ambf_client/python/tests/mtm_ambf_test.py

@@ -64,10 +64,10 @@
 
 if len(sys.argv) > 1:
     tc = float(sys.argv[1])
-    print 'Setting Time Constant to {}'.format(sys.argv[1])
+    print('Setting Time Constant to {}'.format(sys.argv[1]))
 if len(sys.argv) > 2:
     scale = float(sys.argv[2])
-    print 'Setting Scale to {}'.format(sys.argv[2])
+    print('Setting Scale to {}'.format(sys.argv[2]))
 
 
 rospy.init_node('mtm_ambf_test')

ambf_ros_modules/ambf_client/python/tests/occulus_view.py

@@ -117,7 +117,7 @@ def main():
         occulus_pub.publish(occulus_cmd)
         counter = counter + 1
         if counter % 60 == 0:
-            print "- Publishing Occulus Pose ", format( round(rospy.get_time() - start, 3)), 's'
+            print("- Publishing Occulus Pose ", format( round(rospy.get_time() - start, 3)), 's')
         rate.sleep()
 
 

ambf_ros_modules/ambf_client/python/tests/position_control.py

@@ -126,8 +126,8 @@ def ambf_cb(msg):
         last_delta_pos = delta_pos
         delta_pos = cmd_pos - cur_pos
         delta_delta_pos = (delta_pos - last_delta_pos) / dt
-        # print delta_pos, last_delta_pos
-        # print  (D_lin * delta_delta_pos) / dtp
+        # print(delta_pos, last_delta_pos)
+        # print(D_lin * delta_delta_pos) / dtp)
         force = PU.K_lin * delta_pos + PU.D_lin * delta_delta_pos
 
         m_drot_prev = m_drot

ambf_ros_modules/ambf_client/python/tests/rt_test.py

@@ -42,7 +42,7 @@ def main():
     start_time = rospy.get_time()
     cur_time = start_time
     end_time = cur_time + episode
-    print cur_time
+    print(cur_time)
     while not rospy.is_shutdown() and cur_time <= end_time:
 
         cur_time = rospy.get_time()

ambf_ros_modules/ambf_client/python/tests/study_analysis.py

@@ -73,7 +73,7 @@ def compute_number_of_clutches(topic_name, t_start=-1, t_end=-1):
     return num_clutches, clutch_press_times
 
 
-print (os.listdir('.'))
+print(os.listdir('.'))
 os.chdir('./user_study_data/')
 print(os.listdir('.')[0])
 
@@ -110,9 +110,9 @@ def compute_number_of_clutches(topic_name, t_start=-1, t_end=-1):
     mtmr_force_traj = get_force_trajectory('/ambf/env/simulated_device_1/MTML/State', t_end=final_time)
     mtml_force_traj = get_force_trajectory('/ambf/env/simulated_device_2/MTMR/State', t_end=final_time)
 
-    print "MTMR Path Length: ", mtmr_path_len
-    print "MTML Path Length: ", mtml_path_len
-    print "Number of Clutches: ", compute_number_of_clutches('/dvrk/footpedals/clutch', t_end=final_time)
+    print("MTMR Path Length: ", mtmr_path_len)
+    print("MTML Path Length: ", mtml_path_len)
+    print("Number of Clutches: ", compute_number_of_clutches('/dvrk/footpedals/clutch', t_end=final_time))
 
 # fig = plt.figure()
 # ax = plt.axes(projection='3d')

ambf_ros_modules/ambf_client/python/tests/test.py

@@ -51,7 +51,7 @@
 
 client = Client()
 client.connect()
-print client.get_obj_names()
+print(client.get_obj_names())
 obj = client.get_obj_handle(obj_name)
 
 if obj:
@@ -63,5 +63,5 @@
         time.sleep(0.01)
 
 else:
-    print obj_name, 'not found'
+    print(obj_name, 'not found')
 

ambf_ros_modules/ambf_client/python/tests/time_dilation_analysis_tool.py

@@ -79,7 +79,7 @@ def __init__(self):
     def capture_window_times(self, time):
             self.time_window_lims[0] = time + 1.0
             self.time_window_lims[1] += self.time_window_lims[0]
-            print 'Capturing Time from {} to {}'.format(self.time_window_lims[0], self.time_window_lims[1])
+            print('Capturing Time from {} to {}'.format(self.time_window_lims[0], self.time_window_lims[1]))
 
     def obj_state_cb(self, data):
         if not self.done:
@@ -90,7 +90,7 @@ def obj_state_cb(self, data):
                     if self.first_run:
                         self.capture_window_times(ambf_wall_time)
                         self.initial_time_offset = rospy.Time.now().to_sec() - ambf_wall_time
-                        print 'Adjusting Time Offset'
+                        print('Adjusting Time Offset')
                         self.first_run = False
                     self.ambf_sim_time.append(ambf_sim_time)
                     self.ambf_wall_time.append(ambf_wall_time)
@@ -110,7 +110,7 @@ def run(self):
         rospy.init_node('time_dilation_inspector')
         sub = rospy.Subscriber('/ambf/env/World/State', WorldState, self.obj_state_cb, queue_size=10)
 
-        print 'X Axis = ', self.x_axis_dict[0][0]
+        print('X Axis = ', self.x_axis_dict[0][0])
         x_axis_indx = self.x_axis_dict[0][1]
 
         for i in range(1, self.x_axis_dict.__len__()):

ambf_ros_modules/ambf_client/python/tests/user_study.py

@@ -75,11 +75,11 @@ def call(self):
             date_time_str = str(datetime.now()).replace(' ', '_')
             self._rosbag_filepath = './user_study_data/' + e1.get() + '_' + b1.get() + '_' + date_time_str
             command = "rosbag record -O" + ' ' + self._rosbag_filepath + self._topic_names_str
-            print "Running Command", command
+            print("Running Command", command)
             command = shlex.split(command)
             self._rosbag_process = subprocess.Popen(command)
         else:
-            print "Already recording a ROSBAG file, please save that first before starting a new record"
+            print("Already recording a ROSBAG file, please save that first before starting a new record")
 
     def save(self):