Adding converstion script from ros format to lerobot format

[akshay18iitg]

What this does
The PR adds a script to convert the data collected on robot in .mcap format using ros bags to lerobot dataset v2.1 format.
Right now, it only supports joint states. In future it will also support various sensors.

How it was tested
Was able to collect the data and visualzie it in the visualizer using lerobot format

Examples:

Added ros2lerobot.py script in src/opentau/scripts to convert the data collected on robot in .mcap format using ros bags to lerobot dataset v2.1 format.
Defined config to support user specified fps, input directory, output dir and mapping between features and topics
Examples:

python3 src/opentau/scripts/convert_ros_to_lerobot.py --config_path=${workspaceFolder}/configs/dev/ros2lerobot.json
Note: Before submitting this PR, please read the contributor guideline.

Checklist

• I have added Google-style docstrings to important functions and ensured function parameters are typed.
• My PR includes policy-related changes.
  • If the above is checked: I have run the GPU pytests (pytest -m "gpu") and regression tests.

[shuheng-liu]

Some comments and questions

[Copilot]

Pull request overview

This PR adds a conversion script to transform ROS bag data (in .mcap format) into LeRobot dataset v2.1 format. Currently supports joint states with plans to add support for various sensors in the future.

Changes:

• Added ROS bag to LeRobot conversion script with timestamp synchronization
• Defined configuration types (ROSFeature, RosToLeRobotConfig) for feature mapping
• Added rosbags dependency for MCAP file reading

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 10 comments.

Show a summary per file

File	Description
src/opentau/scripts/convert_ros_to_lerobot.py	Main conversion script implementing timestamp synchronization and data extraction from ROS bags
src/opentau/configs/types.py	Added ROSFeature dataclass for ROS-to-LeRobot feature mapping
src/opentau/configs/ros2lerobot.py	Configuration dataclass for conversion settings including paths, FPS, and feature mappings
pyproject.toml	Added rosbags dependency for MCAP file processing
configs/examples/ros2lerobot.json	Example configuration file demonstrating joint state conversion setup

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