From dc2e5c4fbcac73f0d7bc74a8150abc8d801e2cde Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Tue, 13 Aug 2019 11:55:13 -0700
Subject: [PATCH 1/2] use condition attributes to specify Python 2 and 3
 dependencies

---
 clients/rospy/package.xml       | 32 ++++++++++++++-------
 test/test_rosbag/package.xml    | 23 +++++++++------
 test/test_roslaunch/package.xml | 13 +++++++--
 test/test_rosparam/package.xml  | 13 +++++++--
 test/test_rospy/package.xml     | 16 ++++++++---
 tools/rosbag/package.xml        | 51 ++++++++++++++++++---------------
 tools/rosgraph/package.xml      | 24 +++++++++++-----
 tools/roslaunch/package.xml     | 33 +++++++++++++--------
 tools/rosmaster/package.xml     | 15 +++++++---
 tools/rosmsg/package.xml        | 23 +++++++++------
 tools/rosparam/package.xml      | 15 +++++++---
 utilities/roswtf/package.xml    | 28 +++++++++++-------
 12 files changed, 189 insertions(+), 97 deletions(-)

diff --git a/clients/rospy/package.xml b/clients/rospy/package.xml
index 7a862a42e7..078723a6f6 100644
--- a/clients/rospy/package.xml
+++ b/clients/rospy/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>rospy</name>
   <version>1.14.3</version>
   <description>
@@ -22,20 +26,26 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rospy</url>
+  <url type="website">http://wiki.ros.org/rospy</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
+
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 
-  <run_depend>genpy</run_depend>
-  <run_depend>python-numpy</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>python-yaml</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rosgraph</run_depend>
-  <run_depend version_gte="1.10.3">rosgraph_msgs</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <exec_depend>genpy</exec_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 condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rosgraph</exec_depend>
+  <exec_depend version_gte="1.10.3">rosgraph_msgs</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/test/test_rosbag/package.xml b/test/test_rosbag/package.xml
index 8de09e2fd0..739f0b8428 100644
--- a/test/test_rosbag/package.xml
+++ b/test/test_rosbag/package.xml
@@ -1,4 +1,8 @@
-<package format="2">
+<?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>test_rosbag</name>
   <version>1.14.3</version>
   <description>
@@ -7,24 +11,28 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosbag</url>
+  <url type="website">http://wiki.ros.org/rosbag</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Tim Field</author>
   <author>Jeremy Leibs</author>
   <author>James Bowman</author>
 
+  <depend>rosbag</depend>
+  <depend>rostest</depend>
+
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>boost</build_depend>
   <build_depend>bzip2</build_depend>
   <build_depend>cpp_common</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>python-imaging</build_depend>
-  <build_depend>rosbag</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python-imaging</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-imaging</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>roscpp_serialization</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
-  <build_depend>rostest</build_depend>
   <build_depend>rosunit</build_depend>
   <build_depend>topic_tools</build_depend>
   <build_depend>xmlrpcpp</build_depend>
@@ -32,11 +40,10 @@
   <test_depend>genmsg</test_depend>
   <test_depend>genpy</test_depend>
   <test_depend>message_runtime</test_depend>
-  <test_depend>python-rospkg</test_depend>
-  <test_depend>rosbag</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</test_depend>
   <test_depend>roslib</test_depend>
   <test_depend>rospy</test_depend>
-  <test_depend>rostest</test_depend>
   <test_depend>rostopic</test_depend>
 
   <export>
diff --git a/test/test_roslaunch/package.xml b/test/test_roslaunch/package.xml
index f39d23fac1..3a1ce182d8 100644
--- a/test/test_roslaunch/package.xml
+++ b/test/test_roslaunch/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>test_roslaunch</name>
   <version>1.14.3</version>
   <description>
@@ -7,14 +11,17 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/roslaunch</url>
+  <url type="website">http://wiki.ros.org/roslaunch</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>rostest</build_depend>
 
-  <test_depend>python-rospkg</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</test_depend>
   <test_depend>rosgraph</test_depend>
   <test_depend>roslaunch</test_depend>
 </package>
diff --git a/test/test_rosparam/package.xml b/test/test_rosparam/package.xml
index 78ace8693c..3e52a61fde 100644
--- a/test/test_rosparam/package.xml
+++ b/test/test_rosparam/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>test_rosparam</name>
   <version>1.14.3</version>
   <description>
@@ -7,14 +11,17 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosparam</url>
+  <url type="website">http://wiki.ros.org/rosparam</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>rostest</build_depend>
 
-  <test_depend>python-yaml</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</test_depend>
   <test_depend>rosgraph</test_depend>
   <test_depend>rosparam</test_depend>
 
diff --git a/test/test_rospy/package.xml b/test/test_rospy/package.xml
index 951e92b618..22e7b69933 100644
--- a/test/test_rospy/package.xml
+++ b/test/test_rospy/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>test_rospy</name>
   <version>1.14.3</version>
   <description>
@@ -7,7 +11,9 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rospy</url>
+  <url type="website">http://wiki.ros.org/rospy</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
@@ -17,8 +23,10 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>test_rosmaster</build_depend>
 
-  <test_depend>python-numpy</test_depend>
-  <test_depend>python-psutil</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-psutil</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-psutil</test_depend>
   <test_depend>rosbuild</test_depend>
   <test_depend>rosgraph</test_depend>
   <test_depend>rospy</test_depend>
diff --git a/tools/rosbag/package.xml b/tools/rosbag/package.xml
index f4e8607816..459f6170bb 100644
--- a/tools/rosbag/package.xml
+++ b/tools/rosbag/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>rosbag</name>
   <version>1.14.3</version>
   <description>
@@ -9,38 +13,39 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosbag</url>
+  <url type="website">http://wiki.ros.org/rosbag</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Tim Field</author>
   <author>Jeremy Leibs</author>
   <author>James Bowman</author>
 
+  <depend>boost</depend>
+  <depend>rosbag_storage</depend>
+  <depend>rosconsole</depend>
+  <depend>roscpp</depend>
+  <depend>std_srvs</depend>
+  <depend>xmlrpcpp</depend>
+
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 
-  <build_depend>boost</build_depend>
   <build_depend>cpp_common</build_depend>
-  <build_depend>python-imaging</build_depend>
-  <build_depend>rosbag_storage</build_depend>
-  <build_depend>rosconsole</build_depend>
-  <build_depend>roscpp</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python-imaging</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-imaging</build_depend>
   <build_depend>roscpp_serialization</build_depend>
-  <build_depend>std_srvs</build_depend>
   <build_depend>topic_tools</build_depend>
-  <build_depend>xmlrpcpp</build_depend>
 
-  <run_depend>boost</run_depend>
-  <run_depend>genmsg</run_depend>
-  <run_depend>genpy</run_depend>
-  <run_depend>python-pycryptodome</run_depend>
-  <run_depend>python-gnupg</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>rosbag_storage</run_depend>
-  <run_depend>rosconsole</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>topic_tools</run_depend>
-  <run_depend>xmlrpcpp</run_depend>
+  <exec_depend>genmsg</exec_depend>
+  <exec_depend>genpy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pycryptodome</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pycryptodome</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-gnupg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-gnupg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>topic_tools</exec_depend>
 
   <export>
     <rosdoc config="${prefix}/rosdoc.yaml"/>
diff --git a/tools/rosgraph/package.xml b/tools/rosgraph/package.xml
index 7bd821df75..6ad7399981 100644
--- a/tools/rosgraph/package.xml
+++ b/tools/rosgraph/package.xml
@@ -1,5 +1,9 @@
-<package>
-  <name>rosgraph</name>
+<?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>rosgraph</name>
   <version>1.14.3</version>
   <description>
     rosgraph contains the rosgraph command-line tool, which prints
@@ -9,16 +13,22 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosgraph</url>
+  <url type="website">http://wiki.ros.org/rosgraph</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 
-  <run_depend>python-netifaces</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>python-yaml</run_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-netifaces</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-netifaces</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
 
-  <test_depend>python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/tools/roslaunch/package.xml b/tools/roslaunch/package.xml
index 0c13f41603..9341885791 100644
--- a/tools/roslaunch/package.xml
+++ b/tools/roslaunch/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>roslaunch</name>
   <version>1.14.3</version>
   <description>
@@ -15,21 +19,26 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/roslaunch</url>
+  <url type="website">http://wiki.ros.org/roslaunch</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 
-  <run_depend>python-paramiko</run_depend>
-  <run_depend version_gte="1.0.37">python-rospkg</run_depend>
-  <run_depend>python-yaml</run_depend>
-  <run_depend>rosclean</run_depend>
-  <run_depend>rosgraph_msgs</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend version_gte="1.11.16">rosmaster</run_depend>
-  <run_depend>rosout</run_depend>
-  <run_depend>rosparam</run_depend>
-  <run_depend version_gte="1.13.3">rosunit</run_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-paramiko</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-paramiko</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2" version_gte="1.0.37">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3" version_gte="1.0.37">python3-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
+  <exec_depend>rosclean</exec_depend>
+  <exec_depend>rosgraph_msgs</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend version_gte="1.11.16">rosmaster</exec_depend>
+  <exec_depend>rosout</exec_depend>
+  <exec_depend>rosparam</exec_depend>
+  <exec_depend version_gte="1.13.3">rosunit</exec_depend>
 
   <test_depend>rosbuild</test_depend>
 
diff --git a/tools/rosmaster/package.xml b/tools/rosmaster/package.xml
index a7d24de48c..17db3457b0 100644
--- a/tools/rosmaster/package.xml
+++ b/tools/rosmaster/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>rosmaster</name>
   <version>1.14.3</version>
   <description>
@@ -7,13 +11,16 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosmaster</url>
+  <url type="website">http://wiki.ros.org/rosmaster</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <run_depend>rosgraph</run_depend>
-  <run_depend>python-defusedxml</run_depend>
+  <exec_depend>rosgraph</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-defusedxml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-defusedxml</exec_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/tools/rosmsg/package.xml b/tools/rosmsg/package.xml
index 66831e1cd8..8611b296a1 100644
--- a/tools/rosmsg/package.xml
+++ b/tools/rosmsg/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>rosmsg</name>
   <version>1.14.3</version>
   <description>
@@ -13,18 +17,21 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosmsg</url>
+  <url type="website">http://wiki.ros.org/rosmsg</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
   <author>Tully Foote</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend version_gte="0.6.4">catkin</run_depend>
-  <run_depend>genmsg</run_depend>
-  <run_depend version_gte="0.6.5">genpy</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>rosbag</run_depend>
-  <run_depend>roslib</run_depend>
+  <exec_depend version_gte="0.6.4">catkin</exec_depend>
+  <exec_depend>genmsg</exec_depend>
+  <exec_depend version_gte="0.6.5">genpy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
+  <exec_depend>rosbag</exec_depend>
+  <exec_depend>roslib</exec_depend>
 
   <test_depend>std_msgs</test_depend>
 
diff --git a/tools/rosparam/package.xml b/tools/rosparam/package.xml
index a25fb3d1bd..a95e7545c9 100644
--- a/tools/rosparam/package.xml
+++ b/tools/rosparam/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>rosparam</name>
   <version>1.14.3</version>
   <description>
@@ -14,13 +18,16 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/rosparam</url>
+  <url type="website">http://wiki.ros.org/rosparam</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>python-yaml</run_depend>
-  <run_depend>rosgraph</run_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
+  <exec_depend>rosgraph</exec_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/utilities/roswtf/package.xml b/utilities/roswtf/package.xml
index 64346301fe..3717a52205 100644
--- a/utilities/roswtf/package.xml
+++ b/utilities/roswtf/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>roswtf</name>
   <version>1.14.3</version>
   <description>
@@ -7,21 +11,25 @@
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url>http://ros.org/wiki/roswtf</url>
+  <url type="website">http://wiki.ros.org/roswtf</url>
+  <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
+  <url type="repository">https://github.com/ros/ros_comm</url>
   <author>Ken Conley</author>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>rostest</build_depend>
 
-  <run_depend>python-paramiko</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>rosbuild</run_depend>
-  <run_depend>rosgraph</run_depend>
-  <run_depend>roslaunch</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>rosnode</run_depend>
-  <run_depend>rosservice</run_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-paramiko</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-paramiko</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
+  <exec_depend>rosbuild</exec_depend>
+  <exec_depend>rosgraph</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>rosnode</exec_depend>
+  <exec_depend>rosservice</exec_depend>
 
   <test_depend>cmake_modules</test_depend>  <!-- since the other packages recursively depend on it roswtf needs to find it during its own tests -->
   <test_depend>rosbag</test_depend>

From bd2dcba045652610ba7afa8923a0a8daff8fe644 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Wed, 14 Aug 2019 08:53:52 -0700
Subject: [PATCH 2/2] use python3-pil

---
 test/test_rosbag/package.xml | 2 +-
 tools/rosbag/package.xml     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/test/test_rosbag/package.xml b/test/test_rosbag/package.xml
index 739f0b8428..4265a1867c 100644
--- a/test/test_rosbag/package.xml
+++ b/test/test_rosbag/package.xml
@@ -28,7 +28,7 @@
   <build_depend>cpp_common</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION == 2">python-imaging</build_depend>
-  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-imaging</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-pil</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>roscpp_serialization</build_depend>
diff --git a/tools/rosbag/package.xml b/tools/rosbag/package.xml
index 459f6170bb..836eba113c 100644
--- a/tools/rosbag/package.xml
+++ b/tools/rosbag/package.xml
@@ -31,7 +31,7 @@
 
   <build_depend>cpp_common</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION == 2">python-imaging</build_depend>
-  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-imaging</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-pil</build_depend>
   <build_depend>roscpp_serialization</build_depend>
   <build_depend>topic_tools</build_depend>