[CR-578] Add expected output directory for rosbag2 conversion script …

…- executed with dummy plugin - don't install ros2 when publishing to PYPI

Also includes:

* Amend changelog
* Add examples in slamcore-convert-rosbag2 script epilog
* [STYLE] Fix linter issues

.github/workflows/ci.yml

@@ -120,11 +120,6 @@ jobs:
     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')

CHANGELOG.md

@@ -4,27 +4,38 @@ All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/)
 
+## 0.1.6 (2022-05-31)
+
+### Added
+
+- New script: `slamcore-convert-rosbag2`
+- New package extra - `ros2`
+
+### Fixed
+
+- Bug in test_utils - assertions on stdout / stderr were not working properly
+
 ## 0.1.4 (2022-04-07)
 
 ### Changed
 
-* Support `python >= 3.6.8` instead of `>=3.7`
+- Support `python >= 3.6.8` instead of `>=3.7`
 
 ## 0.1.3 (2022-02-08)
 
 ### Changed
 
-* Amend `capture_info.json` files that are to be embedded in the supported
-    datasets. Make them reflect the structure of the dataset and sensors
-    modality more accurately.
+- Amend `capture_info.json` files that are to be embedded in the supported
+  datasets. Make them reflect the structure of the dataset and sensors
+  modality more accurately.
 
 ## 0.1.0 (2021-12-07)
 
-* Add scripts for OpenLORIS dataset conversion (`convert_openrloris.py`) and
+- Add scripts for OpenLORIS dataset conversion (`convert_openrloris.py`) and
   interactive `setup-dataset` script
-* First minor version 🎉
-* Bootstrap project via
-    [python_bootstrap](https://github.com/bergercookie/python_package_cookiecutter)
+- First minor version 🎉
+- Bootstrap project via
+  [python_bootstrap](https://github.com/bergercookie/python_package_cookiecutter)
 
 <!-- ### Added -->
 <!-- ### Changed -->

slamcore_utils/__init__.py

@@ -2,8 +2,8 @@
 from slamcore_utils.dataset_dir_converter import DatasetDirConverter
 from slamcore_utils.dataset_subdir_writer import DatasetSubdirWriter
 from slamcore_utils.logging import setup_pkg_logging
-from slamcore_utils.openloris_converter import OpenLORISConverter
 from slamcore_utils.measurement_type import MeasurementType
+from slamcore_utils.openloris_converter import OpenLORISConverter
 
 __all__ = [
     "DataConverter",

slamcore_utils/measurement_type.py

@@ -21,8 +21,8 @@
 __license__ = "SLAMcore Confidential"
 
 
-from functools import lru_cache
 import re
+from functools import lru_cache
 from typing import Dict, Optional, Sequence
 
 

slamcore_utils/ros2/__init__.py

@@ -26,7 +26,6 @@
         Ros2ConverterPlugin,
         Ros2PluginInitializationFailureError,
     )
-
     from .ros2_utils import (
         get_topic_names_to_message_counts,
         get_topic_names_to_types,

slamcore_utils/ros2/ros2_converter_plugin.py

@@ -46,13 +46,12 @@ def description_long(self) -> str:
         )
 
     def description_short(self) -> str:
-        return (
-            f"Msgs: {self.msg_type:20}, Writer {self.writer_type.__name__}"
-        )
+        return f"Msgs: {self.msg_type:20}, Writer {self.writer_type.__name__}"
 
     def __str__(self):
         return self.description_short()
 
+
 class Ros2PluginInitializationFailureError(BaseException):
     """Exception raised when the plugin at hand could not be initailized correctly."""
 

slamcore_utils/scripts/convert_rosbag2.py

@@ -24,6 +24,7 @@
 
 
 import sys
+
 from slamcore_utils.logging import logger
 from slamcore_utils.utils import inform_about_app_extras
 
@@ -77,7 +78,7 @@
 )
 from slamcore_utils.progress_bar import progress_bar
 from slamcore_utils.ros_utils import add_parser_args
-from slamcore_utils.utils import format_dict, valid_path
+from slamcore_utils.utils import format_dict, format_list, valid_path
 
 """
 Convert rosbag2 to Slamcore Euroc dataset format.
@@ -139,8 +140,10 @@ def load_converter_plugins(plugin_path: Path) -> Sequence[Ros2ConverterPlugin]:
     if "converter_plugins" not in ns_dict:
         raise RuntimeError(
             f"No converter plugins were exported in specified plugin -> {plugin_path}\n",
-            'Make sure that you have initialized a variable named "converter_plugins" '
-            "at the top-level of the said plugin.",
+            (
+                'Make sure that you have initialized a variable named "converter_plugins" '
+                "at the top-level of the said plugin."
+            ),
         )
 
     converter_plugins = ns_dict["converter_plugins"]
@@ -314,12 +317,18 @@ def teardown(self):
 }
 
 
+class ArgumentDefaultsHelpAndRawFormatter(
+    argparse.RawDescriptionHelpFormatter, argparse.ArgumentDefaultsHelpFormatter
+):
+    pass
+
+
 # main ----------------------------------------------------------------------------------------
 def main():
     # argument parsing and sanity checks ------------------------------------------------------
     parser = argparse.ArgumentParser(
         description="Convert ROS2 Bags to the Slamcore Dataset Reader format.",
-        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        formatter_class=ArgumentDefaultsHelpAndRawFormatter,
     )
     add_parser_args(parser)
 
@@ -332,6 +341,29 @@ def main():
         nargs="*",
         default=[],
     )
+
+    executable = Path(sys.argv[0]).stem
+    usecases = {
+        "Convert the sample rosbag2 to the Slamcore dataset format": (
+            "-c tests/test_data/trimmed_rosbag2.json -b"
+            " tests/tests/test_data/trimmed_rosbag2/trimmed_rosbag2_0.db3 -o output"
+        ),
+        "Convert the sample rosbag2 to the Slamcore dataset format, in verbose mode + ovewrite if exists": (
+            "-c tests/test_data/trimmed_rosbag2.json -b"
+            " tests/tests/test_data/trimmed_rosbag2/trimmed_rosbag2_0.db3 -o output -vv"
+            " --overwrite"
+        ),
+        "Convert the sample rosbag2 to the Slamcore dataset format - use sample conversion plugin": (
+            "-c tests/test_data/executables/slamcore_convert_rosbag2_with_plugin/cfg.jsonc -b"
+            " tests/tests/test_data/trimmed_rosbag2/trimmed_rosbag2_0.db3 -o output"
+            " tests/test_data/executables/slamcore_convert_rosbag2_with_plugin/distance_travelled_conversion_plugin.py"
+        ),
+    }
+    parser.epilog = format_list(
+        header="Usage examples:",
+        items=[f"{k}\n    {executable} {v}\n" for k, v in usecases.items()],
+    )
+
     parser_args = vars(parser.parse_args())
 
     # converter_plugins

tests/test_data/executables/slamcore_convert_rosbag2_with_plugin/distance_travelled_conversion_plugin.py

@@ -23,13 +23,15 @@
 
 import csv
 
+from std_msgs.msg import Float64
+
 from slamcore_utils import DatasetSubdirWriter, MeasurementType, setup_pkg_logging
 from slamcore_utils.ros2 import Ros2ConverterPlugin
-from std_msgs.msg import Float64
 
 plugin_name = __file__.replace(".py", "")
 logger = setup_pkg_logging(plugin_name)
 
+
 class DistanceTravelledWriter(DatasetSubdirWriter):
     def __init__(self, directory):
         super().__init__(directory=directory)

tests/test_data/executables/slamcore_convert_rosbag2_with_plugin/expected_output/distance_travelled0/data.csv

@@ -0,0 +1,7 @@
+distance_travelled
+7.870008438305277
+16.34458932731422
+30.356390538783874
+47.659025826456315
+61.64726739375633
+72.14834892047361