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Fix conversion to ros2, because of rosbags version change #13

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Merged
EmanueleGiacomini merged 1 commit into from
Feb 21, 2025
Merged

Fix conversion to ros2, because of rosbags version change #13

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21 changes: 14 additions & 7 deletions python/vbr_devkit/tools/run.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,13 +75,20 @@ def convert(to: Annotated[OutputDataInterface, typer.Argument(help="Desired data
show_default=True)] = True) -> None:
console.print(f"Converting {input_dir} to {to} format at {output_dir}")
if to == OutputDataInterface.ros2:
if not input_dir.is_dir():
print("Processing...")
rosconvert.convert(input_dir, output_dir / input_dir.stem)
else:
for item in track(list(input_dir.iterdir()), description="Processing..."):
if item.suffix == '.bag':
rosconvert.convert(item, output_dir / item.stem)
print("Processing...")
rosconvert.convert(
sorted([f for f in input_dir.glob("*.bag")]) if input_dir.is_dir() else [input_dir],
output_dir / input_dir.stem,
dst_version=None,
compress=None,
compress_mode="file",
default_typestore=None,
typestore=None,
exclude_topics=[],
include_topics=[],
exclude_msgtypes=[],
include_msgtypes=[]
)
else:
with RosReader(input_dir) as reader:
with OutputDataInterface_lut[to](output_dir, rgb_convert=rgb_conversion,
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