Fix CI

.github/workflows/workflow.yml

@@ -8,9 +8,6 @@ jobs:
       fail-fast: false
       matrix:
         versions:
-          - dist: ubuntu-20.04
-            python: "3.8"
-            catkin: indigo-devel
           - dist: ubuntu-20.04
             python: "3.8"
             catkin: noetic-devel
@@ -39,7 +36,7 @@ jobs:
           python -m pip install --upgrade pip
           pip install .
           # Fix some sphinx versions until python 3.7 support is dropped
-          pip install --upgrade empy 'sphinx_rtd_theme<1.2.0' 'sphinxcontrib-spelling<8.0.0' pytest nose coverage flake8 mock isort
+          pip install --upgrade empy sphinx_rtd_theme sphinxcontrib-spelling pytest nose coverage flake8 mock isort
       - name: Set up catkin
         run: |
           git clone https://github.com/ros/catkin.git -b ${{ matrix.versions.catkin }} /tmp/catkin_source

catkin_tools/execution/io.py

@@ -26,19 +26,6 @@
 
 MAX_LOGFILE_HISTORY = 10
 
-if type(u'') == str:
-    def _encode(string):
-        """Encode a Python 3 str into bytes.
-        :type data: str
-        """
-        return string.encode('utf-8')
-else:
-    def _encode(string):
-        """Encode a Python 2 str into bytes.
-        :type data: str
-        """
-        return string.decode('utf-8').encode('utf-8')
-
 
 class IOBufferContainer(object):
 
@@ -133,7 +120,7 @@ def _encode(data):
         """Encode a Python str into bytes.
         :type data: str
         """
-        return _encode(data)
+        return data.encode('utf8')
 
     @staticmethod
     def _decode(data):

catkin_tools/jobs/cmake/python.cmake

@@ -1,11 +1,29 @@
 # the CMake variable PYTHON_INSTALL_DIR has the same value as the Python function catkin.builder.get_python_install_dir()
 
-set(PYTHON_VERSION "$ENV{ROS_PYTHON_VERSION}" CACHE STRING "Specify specific Python version to use ('major.minor' or 'major')")
-find_package(PythonInterp ${PYTHON_VERSION} REQUIRED)
+set(PYTHON_VERSION "$ENV{ROS_PYTHON_VERSION}" CACHE STRING "Specify specific Python version to use (2 or 3)")
+if("${PYTHON_VERSION}" STREQUAL "")
+  message(STATUS "ROS_PYTHON_VERSION not set, using default")
+endif()
+
+find_package(Python${PYTHON_VERSION} COMPONENTS Interpreter)
+
+if("${PYTHON_VERSION}" STREQUAL "3")
+  set(_MAJOR ${Python3_VERSION_MAJOR})
+  set(_MINOR ${Python3_VERSION_MINOR})
+  set(_EXECUTABLE ${Python3_EXECUTABLE})
+elseif("${PYTHON_VERSION}" STREQUAL "2")
+  set(_MAJOR ${Python2_VERSION_MAJOR})
+  set(_MINOR ${Python2_VERSION_MINOR})
+  set(_EXECUTABLE ${Python2_EXECUTABLE})
+else()
+  set(_MAJOR ${Python_VERSION_MAJOR})
+  set(_MINOR ${Python_VERSION_MINOR})
+  set(_EXECUTABLE ${Python_EXECUTABLE})
+endif()
 
-message(STATUS "Using PYTHON_EXECUTABLE: ${PYTHON_EXECUTABLE}")
+message(STATUS "Using PYTHON_EXECUTABLE: ${_EXECUTABLE}")
 
-set(_PYTHON_PATH_VERSION_SUFFIX "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+set(_PYTHON_PATH_VERSION_SUFFIX "${_MAJOR}.${_MINOR}")
 
 set(enable_setuptools_deb_layout OFF)
 if(EXISTS "/etc/debian_version")
@@ -18,8 +36,8 @@ if(SETUPTOOLS_DEB_LAYOUT)
   set(PYTHON_PACKAGES_DIR dist-packages)
   set(SETUPTOOLS_ARG_EXTRA "--install-layout=deb")
   # use major version only when installing 3.x with debian layout
-  if("${PYTHON_VERSION_MAJOR}" STREQUAL "3")
-    set(_PYTHON_PATH_VERSION_SUFFIX "${PYTHON_VERSION_MAJOR}")
+  if("${_MAJOR}" STREQUAL "3")
+    set(_PYTHON_PATH_VERSION_SUFFIX "${_MAJOR}")
   endif()
 else()
   message(STATUS "Using default Python package layout")

tests/system/verbs/catkin_build/test_pythonpath.py

@@ -37,7 +37,7 @@ def test_python2_devel():
         ws_pythonpath = [p for p in pythonpaths if p.startswith(wf.workspace)][0]
         assert ws_pythonpath
         # it might be dist-packages (debian) or site-packages
-        assert re.match('^' + wf.workspace + '/devel/lib/python2\.\d/(site|dist)-packages$', ws_pythonpath)
+        assert re.match('^' + wf.workspace + r'/devel/lib/python2\.\d/(site|dist)-packages$', ws_pythonpath)
 
 
 def test_python3_devel():
@@ -55,7 +55,7 @@ def test_python3_devel():
         assert ws_pythonpath
         # it might be python3/dist-packages (debian) or python3.x/site-packages
         assert (ws_pythonpath == wf.workspace + '/devel/lib/python3/dist-packages' or
-                re.match('^' + wf.workspace + '/devel/lib/python3\.\d/site-packages$', ws_pythonpath))
+                re.match('^' + wf.workspace + r'/devel/lib/python3\.\d/site-packages$', ws_pythonpath))
 
 
 def test_python2_install():
@@ -74,7 +74,7 @@ def test_python2_install():
         ws_pythonpath = [p for p in pythonpaths if p.startswith(wf.workspace)][0]
         assert ws_pythonpath
         # it might be dist-packages (debian) or site-packages
-        assert re.match('^' + wf.workspace + '/install/lib/python2\.\d/(site|dist)-packages$', ws_pythonpath)
+        assert re.match('^' + wf.workspace + r'/install/lib/python2\.\d/(site|dist)-packages$', ws_pythonpath)
 
 
 def test_python3_install():
@@ -92,4 +92,4 @@ def test_python3_install():
         assert ws_pythonpath
         # it might be python3/dist-packages (debian) or python3.x/site-packages
         assert (ws_pythonpath == wf.workspace + '/install/lib/python3/dist-packages' or
-                re.match('^' + wf.workspace + '/install/lib/python3\.\d/site-packages$', ws_pythonpath))
+                re.match('^' + wf.workspace + r'/install/lib/python3\.\d/site-packages$', ws_pythonpath))