16376904896

Committed 18 Jul 2025 05:43PM UTC coverage: 70.588%. First build

Build # 16376904896

Build Type

push

github

Committed by

web-flow

Commit Message

(v0.1.0) Refactor to robotdataprocess, Major Data classes with Loading, Manipulation, and Saving. (#3)

* Coverage Functionality with coveralls

* Add Coverage Status Badge

* Remove clean action from github action

* Clarify assumed ROS2 and ROS1 versions

* New Message types and support for list attributes

* Optimizations to increase speed of ros2_to_ros1 conversion

* Fixed bug in downsample where requested downsample ratio wasn't matched perfectly and had undefined behaviour

* Add instructions for running unit tests, coverage, and profiling

* Increase to version 0.0.3

* Add support for rosgraph_msgs/msg/Clock

* Speedup downsample operation

* Initial code for IMU data viewer, not tested

* Major refactor to cleanly partition command line vs. rosbag vs. data functionality

* Remove hardcoded paths from tests

* Test for from_npy() method for ImageData

* Writing various message data types from non-ROS to rosbag

* Loading and Writing data from HERCULES v1.3

* Add missing test file

* Add missing dependency on OpenCV

* Load Odometry data from csv file and save to ROSbag

* Support to write Odometry Data to a nav_msgs/msg/Path message

* Support to convert IMU and Odometry data from NED to ROS frame

* Fix bugs in test cases

* Fixes to broken NED to ROS conversion for Odometry

* Refactor: Move rosbag manipulation to Ros2BagWrapper (#5)

* Refactor: Move rosbag manipulation to Ros2BagWrapper

- Moved hertz_analysis, view_imu_data, and downsample methods from rosbag_manip.py to Ros2BagWrapper.py.
- Renamed rosbag_manip.py to command_line.py.
- Renamed rosbag_manipulation class to CmdLineInterface.
- Updated command_line.py to use the new methods in Ros2BagWrapper.py.
- Updated __main__.py to reflect the file and class rename.

* Refactor name to robotdataprocess

---------

Co-authored-by: google-labs-jules[bot] <161369871+google-labs-jules[bot]@users.noreply.github.com>

* Stereo rectifiation and save to raw image files, Upgrade to 0.1.0 to a... (continued)

Run Details

619 of 895 new or added lines in 9 files covered. (69.16%)

816 of 1156 relevant lines covered (70.59%)

0.71 hits per line

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92.0

/src/robotdataprocess/data_types/Data.py

from __future__ import annotations

from ..conversion_utils import convert_collection_into_decimal_array
from decimal import Decimal
from enum import Enum
import numpy as np
from typeguard import typechecked

class CoordinateFrame(Enum):
    ROS = 0 # https://www.ros.org/reps/rep-0103.html - X forward, Y left, Z up := RHS
    NED = 1 # https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates
            # - X forward (north), Y right (East), Z Down := RHS

class Data:
    """
    Generic Data class that provides example methods that should be overwritten by children,
    and can run operations between different data types.
    """

    # Define data attributes for all Data classes
    frame_id: str
    timestamps: np.ndarray[Decimal]

    @typechecked
    def __init__(self, frame_id: str, timestamps: np.ndarray | list, ):
        
        # Copy initial values into attributes
        self.frame_id = frame_id
        self.timestamps = convert_collection_into_decimal_array(timestamps)

        # Check to ensure that all timestamps are sequential
        for i in range(len(self.timestamps) - 1):
            if self.timestamps[i] >= self.timestamps[i+1]:
                raise ValueError("Timestamps do not come in sequential order!")
            
    def len(self):
        """ Returns the number of items in this data class """
        return len(self.timestamps)
    
    def get_ros_msg_type():
        """ Will return the msgtype needed to add a connetion to a rosbag writer. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")
    
    def get_ros_msg(i: int):
        """ Will return a ROS message object ready to be written into a ROS2 Humble bag. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")


1	from __future__ import annotations	1✔
2
3	from ..conversion_utils import convert_collection_into_decimal_array	1✔
4	from decimal import Decimal	1✔
5	from enum import Enum	1✔
6	import numpy as np	1✔
7	from typeguard import typechecked	1✔
8
9	class CoordinateFrame(Enum):	1✔
10	ROS = 0 # https://www.ros.org/reps/rep-0103.html - X forward, Y left, Z up := RHS	1✔
11	NED = 1 # https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates	1✔
12	# - X forward (north), Y right (East), Z Down := RHS
13
14	class Data:	1✔
15	"""
16	Generic Data class that provides example methods that should be overwritten by children,
17	and can run operations between different data types.
18	"""
19
20	# Define data attributes for all Data classes
21	frame_id: str	1✔
22	timestamps: np.ndarray[Decimal]	1✔
23
24	@typechecked	1✔
25	def __init__(self, frame_id: str, timestamps: np.ndarray \| list, ):	1✔
26
27	# Copy initial values into attributes
28	self.frame_id = frame_id	1✔
29	self.timestamps = convert_collection_into_decimal_array(timestamps)	1✔
30
31	# Check to ensure that all timestamps are sequential
32	for i in range(len(self.timestamps) - 1):	1✔
33	if self.timestamps[i] >= self.timestamps[i+1]:	1✔
34	raise ValueError("Timestamps do not come in sequential order!")	1✔
35
36	def len(self):	1✔
37	""" Returns the number of items in this data class """
38	return len(self.timestamps)	1✔
39
40	def get_ros_msg_type():	1✔
41	""" Will return the msgtype needed to add a connetion to a rosbag writer. """
NEW 42	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
43
44	def get_ros_msg(i: int):	1✔
45	""" Will return a ROS message object ready to be written into a ROS2 Humble bag. """
NEW 46	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
47

lunarlab-gatech / robotdataprocess / 16376904896

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