Imported upstream version '1.1.2' of 'upstream'

ros2-gbp · Aug 26, 2024 · 234b13e · 234b13e
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diff --git a/docs/source/dataset-conversions.rst b/docs/source/dataset-conversions.rst
@@ -41,6 +41,8 @@ Each robotic framework or library has defined its own formats over time:
 
 |
 
+.. _rosbag2rawlog:
+
 2. rosbag ⇒ rawlog
 ----------------------------
 To convert a ROS bag into a RawLog, you need two items: 
@@ -219,8 +221,40 @@ Write me!
 |
 
 
+.. _ros1_to_ros2:
+
+4. ROS1 ⇒ ROS2
+----------------------------
+One way to use rosbags from ROS 1 with MOLA is to port them to ROS 2 bags.
+
+You can use the Python package ``rosbags`` to `perform the conversion <https://ternaris.gitlab.io/rosbags/topics/convert.html>`_.
+
+An alternative is to use :ref:`rosbag2rawlog <rosbag2rawlog>` (the ROS 1 version!) to convert them to RawLogs, then use them as input to MOLA.
+
+|
+
 .. _mola-dataset-to-ros:
 
-4. MOLA data set module ⇒ ROS
+5. MOLA data set module ⇒ ROS
 ------------------------------
-Write me!
+
+All you need is to put together a :ref:`MOLA launch YAML file <yaml_slam_cfg_file>` with:
+
+- A dataset source module.
+- The ros2bridge module.
+
+and launch it using `mola-cli`. See existing ROS launch examples
+under `ros2-launch (mola_demos package) <https://github.com/MOLAorg/mola/tree/develop/mola_demos/ros2-launchs>`_,
+with corresponding MOLA cli launch files in the `mola-cli-launchs <https://github.com/MOLAorg/mola/tree/develop/mola_demos/mola-cli-launchs>`_ directory.
+
+.. dropdown:: Example: play back a KITTI dataset sequence to ROS 2
+  :open:
+
+  .. code-block:: bash
+
+    ros2 launch mola_demos ros-kitti-play.launch.py kitti_sequence:=01
+
+  Result: the mola_viz GUI + RViz.
+
+  .. figure:: https://mrpt.github.io/imgs/screenshot_mola_demo_kitti_replay_to_ros.jpg
+    :width: 600
diff --git a/docs/source/tutorials.rst b/docs/source/tutorials.rst
@@ -4,6 +4,12 @@
 Tutorials
 =============
 
+.. note::
+
+  This page refers to core MOLA packages. For higher-level SLAM tutorials,
+  refer to: :ref:`building-maps`.
+
+
 These pages gives use-case examples of how to make the existing MOLA modules
 work, how to extend them to create new ones, and how to use the auxiliary MOLA
 tools.
@@ -15,3 +21,4 @@ tools.
 
   tutorial-mola-main-cli-tools
   tutorial-mola-cmake-commands
+
diff --git a/kitti_metrics_eval/CHANGELOG.rst b/kitti_metrics_eval/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/kitti_metrics_eval/package.xml b/kitti_metrics_eval/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>kitti_metrics_eval</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>CLI tool to evaluate the KITTI odometry bechmark metrics to trajectory files</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola/CHANGELOG.rst b/mola/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola/package.xml b/mola/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mola</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Metapackage with all core open-sourced MOLA packages.</description>
 
   <maintainer email="jlblanco@ual.es">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_bridge_ros2/CHANGELOG.rst b/mola_bridge_ros2/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_bridge_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_bridge_ros2/package.xml b/mola_bridge_ros2/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_bridge_ros2</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Bidirectional bridge ROS2-MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_demos/CHANGELOG.rst b/mola_demos/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_demos/package.xml b/mola_demos/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_demos</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Demo and example launch files for MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_imu_preintegration/CHANGELOG.rst b/mola_imu_preintegration/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_imu_preintegration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_imu_preintegration/package.xml b/mola_imu_preintegration/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_imu_preintegration</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Integrator of IMU angular velocity readings</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_euroc_dataset/CHANGELOG.rst b/mola_input_euroc_dataset/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_euroc_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_euroc_dataset/package.xml b/mola_input_euroc_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_euroc_dataset</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from EUROC SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_kitti360_dataset/CHANGELOG.rst b/mola_input_kitti360_dataset/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_kitti_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_kitti360_dataset/package.xml b/mola_input_kitti360_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_kitti360_dataset</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from Kitti-360 datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_kitti_dataset/CHANGELOG.rst b/mola_input_kitti_dataset/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_kitti_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_kitti_dataset/package.xml b/mola_input_kitti_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_kitti_dataset</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from Kitti odometry/SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_mulran_dataset/CHANGELOG.rst b/mola_input_mulran_dataset/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_input_mulran_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_mulran_dataset/package.xml b/mola_input_mulran_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_mulran_dataset</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from MulRan datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_paris_luco_dataset/CHANGELOG.rst b/mola_input_paris_luco_dataset/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_input_paris_luco_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_paris_luco_dataset/package.xml b/mola_input_paris_luco_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_paris_luco_dataset</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from Paris LUCO (CT-ICP) odometry/SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_rawlog/CHANGELOG.rst b/mola_input_rawlog/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_rawlog
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_rawlog/package.xml b/mola_input_rawlog/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_rawlog</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from MRPT rawlog datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_rosbag2/CHANGELOG.rst b/mola_input_rosbag2/CHANGELOG.rst
@@ -3,6 +3,11 @@ Changelog for package mola_input_rosbag2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.2 (2024-08-26)
+------------------
+* rosbag2 input: support for input directories for split bag datasets
+* Contributors: Jose Luis Blanco-Claraco
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_input_rosbag2/package.xml b/mola_input_rosbag2/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_rosbag2</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Offline RawDataSource from rosbag2 datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_rosbag2/src/Rosbag2Dataset.cpp b/mola_input_rosbag2/src/Rosbag2Dataset.cpp
@@ -103,24 +103,50 @@ void Rosbag2Dataset::initialize_rds(const Yaml& c)
     YAML_LOAD_MEMBER_OPT(read_ahead_length, size_t);
     paused_ = cfg.getOrDefault<bool>("start_paused", paused_);
 
-    ASSERT_FILE_EXISTS_(rosbag_filename_);
+    const bool isDir  = mrpt::system::directoryExists(rosbag_filename_);
+    const bool isFile = !isDir && mrpt::system::fileExists(rosbag_filename_);
+
+    ASSERTMSG_(
+        isFile || isDir, "'"s + rosbag_filename_ +
+                             "' is nether an existing directory or file."s);
 
     // auto guess rosbag_storage_id from rosbag2 extension:
     if (rosbag_storage_id_.empty())
     {
-        auto ext = mrpt::system::extractFileExtension(rosbag_filename_);
-        if (ext == "mcap")
-            rosbag_storage_id_ = "mcap";
-        else if (ext == "db3")
-            rosbag_storage_id_ = "sqlite3";
+        if (isFile)
+        {
+            auto ext = mrpt::system::extractFileExtension(rosbag_filename_);
+            if (ext == "mcap")
+                rosbag_storage_id_ = "mcap";
+            else if (ext == "db3")
+                rosbag_storage_id_ = "sqlite3";
+            else
+            {
+                THROW_EXCEPTION_FMT(
+                    "Argument 'rosbag_storage_id' was not provided and could "
+                    "not "
+                    "determine the rosbag2 format from unknown extension of "
+                    "file "
+                    "'%s'",
+                    rosbag_filename_.c_str());
+            }
+        }
         else
         {
-            THROW_EXCEPTION_FMT(
-                "Argument 'rosbag_storage_id' was not provided and could not "
-                "determine the rosbag2 format from unknown extension of file "
-                "'%s'",
-                rosbag_filename_.c_str());
+            const std::string metadata_yaml =
+                mrpt::system::pathJoin({rosbag_filename_, "metadata.yaml"});
+            ASSERT_FILE_EXISTS_(metadata_yaml);
+            const auto metadata =
+                mrpt::containers::yaml::FromFile(metadata_yaml);
+            ASSERT_(metadata.has("rosbag2_bagfile_information"));
+            ASSERT_(metadata["rosbag2_bagfile_information"].has(
+                "storage_identifier"));
+            rosbag_storage_id_ =
+                metadata["rosbag2_bagfile_information"]["storage_identifier"]
+                    .as<std::string>();
         }
+        MRPT_LOG_INFO_STREAM(
+            "Storage identifier auto-detected: " << rosbag_storage_id_);
     }
 
     // Open input ros bag:

diff --git a/mola_kernel/CHANGELOG.rst b/mola_kernel/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_kernel
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_kernel/package.xml b/mola_kernel/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_kernel</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Fundamental C++ virtual interfaces and data types for the rest of MOLA modules</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_launcher/CHANGELOG.rst b/mola_launcher/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_launcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.2 (2024-08-26)
+------------------
+
 1.1.1 (2024-08-23)
 ------------------
 

diff --git a/mola_launcher/package.xml b/mola_launcher/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_launcher</name>
-  <version>1.1.1</version>
+  <version>1.1.2</version>
   <description>Launcher app for MOLA systems</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval @@
     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.1.2 (2024-08-26)
+    ------------------
 .1.1 (2024-08-23)
     ------------------
@@ Expand Down @@