[CR-578] Add slamcore-convert-rosbag2 top-level script

See the README for more information on the tool's goal and usage.
slamcore · May 31, 2023 · 3a03e98 · 3a03e98
1 parent ceeee91
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -6,69 +6,125 @@ on:
 
 jobs:
   install_with_pip3:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - name: Setup Python
+        uses: actions/setup-python@v2
         with:
           python-version: "3.8"
       - name: Install with pip3
         run: |
           pip3 install .
           pip3 show slamcore_utils
+      - name: Install with pip3 + extras
+        run: |
+          pip3 install .[ros2]
+          pip3 show slamcore_utils
+
   unittests:
     runs-on: ${{ matrix.os }}
 
     strategy:
       fail-fast: true
       matrix:
-        os: [ubuntu-latest]
-        python-version: ["3.7", "3.8", "3.9"]
+        include:
+          - os: "ubuntu-22.04"
+            python-version: "3.10.4"
 
     steps:
+      - name: Set Env Variables
+        run: |
+          echo "APT_PACKAGES=ros-humble-ros2bag ros-humble-rosbag2 ros-humble-rosbag2-compression ros-humble-rosbag2-compression-zstd ros-humble-rosbag2-cpp ros-humble-rosbag2-interfaces ros-humble-rosbag2-py ros-humble-rosbag2-storage ros-humble-rosbag2-storage-default-plugins ros-humble-rosbag2-storage-mcap ros-humble-rosbag2-transport" >> "$GITHUB_ENV"
       - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.6
+        with:
+          use-ros2-testing: false
+          required-ros-distributions: humble
+      - name: Install extras
+        run: "sudo apt-get update && sudo apt-get install $APT_PACKAGES"
+      - name: Setup Python
+        uses: actions/setup-python@v2
         with:
           python-version: ${{ matrix.python-version }}
 
-      - name: Python Poetry Action
+      # Remove this section when this gets fixed
+      # https://stackoverflow.com/questions/76175361/firebase-authentication-httpresponse-object-has-no-attribute-strict-status
+      # https://github.com/ionrock/cachecontrol/issues/292
+      - name: Fix urllib / cachecontrol incompatibility
+        run: python -m pip install urllib3==1.26.15
+
+      - name: Setup Python Poetry
         uses: abatilo/actions-poetry@v2.1.3
+
       - name: Install prerequisites
-        run: poetry install
+        run: "poetry version && poetry install --extras ros2"
       - name: Run tests
-        run: poetry run pytest --doctest-modules
+        run: "source /opt/ros/humble/setup.bash && poetry run pytest -v --doctest-modules"
+
   check_style:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.6
+        with:
+          use-ros2-testing: false
+          required-ros-distributions: humble
+      - name: Setup Python
+        uses: actions/setup-python@v2
         with:
           python-version: "3.8"
 
-      - name: Python Poetry Action
+      # Remove this section when this gets fixed
+      # https://stackoverflow.com/questions/76175361/firebase-authentication-httpresponse-object-has-no-attribute-strict-status
+      # https://github.com/ionrock/cachecontrol/issues/292
+      - name: Fix urllib / cachecontrol incompatibility
+        run: python -m pip install urllib3==1.26.15
+
+      - name: Setup Python Poetry
         uses: abatilo/actions-poetry@v2.1.3
       - name: Install prerequisites
-        run: poetry install
+        run: poetry install --extras ros2
       - name: Check style
-        run: poetry run ./misc/check_style.py --check-only
+        run: "source /opt/ros/humble/setup.bash && poetry run ./misc/check_style.py --check-only"
   lint_code:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.6
+        with:
+          use-ros2-testing: false
+          required-ros-distributions: humble
+      - name: Setup Python
+        uses: actions/setup-python@v2
         with:
           python-version: "3.8"
-      - name: Python Poetry Action
+
+      # Remove this section when this gets fixed
+      # https://stackoverflow.com/questions/76175361/firebase-authentication-httpresponse-object-has-no-attribute-strict-status
+      # https://github.com/ionrock/cachecontrol/issues/292
+      - name: Fix urllib / cachecontrol incompatibility
+        run: python -m pip install urllib3==1.26.15
+
+      - name: Setup Python Poetry
         uses: abatilo/actions-poetry@v2.1.3
       - name: Install prerequisites
-        run: poetry install
+        run: poetry install --extras ros2
       - name: Lint code
-        run: poetry run ./misc/lint_code.py --check-only
+        run: "source /opt/ros/humble/setup.bash && poetry run ./misc/lint_code.py --check-only"
 
   publish_package:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.6
+        with:
+          use-ros2-testing: false
+          required-ros-distributions: humble
       - name: Publish package to pypi
         uses: JRubics/poetry-publish@v1.9
         if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')

diff --git a/.gitignore b/.gitignore
@@ -103,9 +103,16 @@ ENV/
 
 # vim
 Session.vim
+.vim/
+.lvimrc
+
+# asdf
+.tool-versions
 
 #############################
 
 /cafe1-1_converted
 /cafe1-1
 /sample_dataset_converted
+/test_rosbag2_with_slamcore_ros2_topics.jsonc
+/output/