roboto-ai / robologs-ros-utils

A collection of utility functions to transform ROS data

robologs-ros-utils

What is robologs-ros-utils

robologs-ros-utils is a collection of utility functions to extract, convert and analyze ROS data.

Python Quickstart

Installing robologs-ros-utils is easy using the pip package manager.

We suggest that you use a clean environment to avoid any dependency conflicts:

pip install robologs-ros-utils

From here, you can use robologs-ros-utils in your Python code as follows:

from robologs_ros_utils.sources.ros1 import ros_utils

ros_utils.get_images_from_bag(
         rosbag_path="/path/to/rosbag.bag",
         output_folder="/output_imgs/",
         file_format="jpg",
         create_manifest=True,
         topics=["/camera/image_raw"],
         naming="sequential",
         resize=[640,480],
         sample=2,
         start_time=0,
         end_time=10)

Command Line Utilities

After you install robologs-ros-utils, you can also use the command line utilities to extract data from rosbag files.

Run the following command to see the available options:

robologs-ros-utils --help

Examples

If you want to extract images from the command line:

robologs-ros-utils get-images --help

Or if you want to get metadata from a rosbag file:

robologs-ros-utils get-summary --help

Use Docker

You can build a local version of the robologs-ros-utils Docker image as follows:

./build_image.sh

And here is how you can run a robologs-ros-utils command inside the Docker image:

docker run -v ~/Desktop/scratch/:/input/ -it --rm robologs-ros-utils-image robologs-ros-utils get-videos -i /input/example_bag_small.bag -o /input/ --naming rosbag_timestamp --format jpg --save-images

Community

If you have any questions, comments, or want to chat, please join our Discord channel.

Contribute

How to Contribute

How to run tests, mypy, isort and black?

# activate poetry shell
poetry shell

# install dependencies
poetry update

cd ~/Code/robologs-ros-utils/python/

# run the tests
poetry run coverage run -m --source=robologs_ros_utils pytest tests

# run the coverage report
poetry run coverage report

# run black -> remove the --check to reformat
poetry run black --check .

# run my py
poetry run mypy robologs_ros_utils/sources/

# run isort -> remove the --check to reformat
poetry run isort --check-only .

Test the CLI locally

# clean local build
./clean_build.sh

# build pip package
poetry build

# install pip package
pip install dist/robologs_ros_utils-XX-none-any.whl

# run the CLI
robologs-ros-utils --help

We welcome contributions to robologs-ros-utils. Please see our contribution guide and our development guide for details.

Contributors

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