add convert to ros2 bag

python/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "vbr-devkit"
-version = "0.0.3"
+version = "0.0.4"
 description = "Development kit for VBR SLAM dataset"
 readme = "README.md"
 authors = [

python/vbr_devkit/datasets/convert_bag.py

@@ -1,16 +1,17 @@
 import sys
-sys.path.append("/home/eg/source/vbr-devkit/python")
 
 from pathlib import Path
 
 from vbr_devkit.datasets import KittiWriter, RosReader
 import typer
 from enum import Enum
 from rich.progress import track
+from rosbags import convert
 
 
 class OutputDataInterface(str, Enum):
  kitti = "kitti",
+ ros2 = "ros2",
  # Can insert additional conversion formats
 
 
@@ -19,10 +20,19 @@ class OutputDataInterface(str, Enum):
 }
 
 def main(to: OutputDataInterface, input_dir: Path, output_dir: Path) -> None:
- with RosReader(input_dir) as reader:
- with OutputDataInterface_lut[to](output_dir) as writer:
- for timestamp, topic, message in track(reader, description="Processing..."):
- writer.publish(timestamp, topic, message)
+ if to == OutputDataInterface.ros2:
+ if not input_dir.is_dir():
+ print("Processing...")
+ convert.convert(input_dir, output_dir / input_dir.stem)
+ else:
+ for item in track(list(input_dir.iterdir()), description="Processing..."):
+ if item.suffix == '.bag':
+ convert.convert(item, output_dir / item.stem)
+ else:
+ with RosReader(input_dir) as reader:
+ with OutputDataInterface_lut[to](output_dir) as writer:
+ for timestamp, topic, message in track(reader, description="Processing..."):
+ writer.publish(timestamp, topic, message)
 
 
 if __name__ == "__main__":

python/vbr_devkit/tools/run.py

@@ -1,6 +1,5 @@
 import sys
 
-sys.path.append("/home/eg/source/vbr-devkit/python")
 import typer
 from pathlib import Path
 from rich.console import Group