(v0.2) Prototype code for ROS2 Publishing, and new ImageDataOnDisk class

.coveragerc

@@ -0,0 +1,15 @@
+[run]
+branch = False
+source = robotdataprocess
+concurrency = multiprocessing
+disable_warnings =
+    module-not-measured
+    no-data-collected
+
+[paths]
+source =
+    src/robotdataprocess
+    */site-packages/robotdataprocess
+    */robotdataprocess/src/robotdataprocess
+    */src/robotdataprocess
+    /usr/local/lib/python3.10/dist-packages/robotdataprocess

.github/workflows/tests.yml

@@ -0,0 +1,143 @@
+name: Unit Tests
+
+on:
+  push:
+    branches: [ "**" ]
+
+permissions:
+  contents: read
+
+jobs:
+  python3_8-tests:
+    name: "Build & Test Python3.8"
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    env:
+      SKIP_ROS2_TESTS: "True"
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v3
+      with:
+        python-version: "3.8"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+    - name: Install the package
+      run: |
+        python -m pip install -e .
+    - name: Import external message types
+      uses: snickerbockers/submodules-init@v4
+    - name: Test with unittest
+      run: |
+        coverage run --source robotdataprocess -m unittest discover tests/ -v
+    - name: Save coverage data
+      uses: actions/upload-artifact@v4
+      with:
+        name: coverage-${{ github.job }}
+        path: .coverage.*
+        include-hidden-files: true
+
+  python3_10-tests:
+    name: "Build & Test Python3.10"
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    env:
+      SKIP_ROS2_TESTS: "True"
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python 3.10
+      uses: actions/setup-python@v3
+      with:
+        python-version: "3.10"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+    - name: Install the package
+      run: |
+        python3 -m pip install -e . "numpy<1.25"
+        pip install --upgrade pydantic typeguard
+    - name: Import external message types
+      uses: snickerbockers/submodules-init@v4
+    - name: Test with unittest
+      run: |
+        coverage run --source robotdataprocess -m unittest discover tests/ -v
+    - name: Save coverage data
+      uses: actions/upload-artifact@v4
+      with:
+        name: coverage-${{ github.job }}
+        path: .coverage.*
+        include-hidden-files: true
+
+  ros2-tests:
+    name: "Build & Test ROS2 Python Code"
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    container:
+      image: dlittleman/robotdataprocess_ros2_humble:0.2
+      options: --user root  # optional, helps avoid permission issues
+    env:
+      SKIP_PURE_PYTHON_TESTS: "True"
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Install dependencies
+      run: |
+        python3 -m pip install --upgrade pip
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+    - name: Install the package
+      run: |
+        python3 -m pip install -e . "numpy<1.25"
+        pip install --upgrade pydantic typeguard
+    - name: Import external message types
+      uses: snickerbockers/submodules-init@v4
+    - name: Test with unittest & evaluate test coverage
+      shell: bash
+      run: |
+        export PATH="$HOME/.local/bin:$PATH"
+        source /opt/ros/humble/setup.bash
+        coverage run --source robotdataprocess -m unittest discover tests/ -v
+    - name: Save coverage data
+      uses: actions/upload-artifact@v4
+      with:
+        name: coverage-${{ github.job }}
+        path: .coverage.*
+        include-hidden-files: true
+
+  coverage:
+    name: "Merge & Upload Coverage Reports"
+    needs: [python3_8-tests, python3_10-tests, ros2-tests]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/download-artifact@v4
+        with:
+          path: coverage-files
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      - name: Install the package
+        run: |
+          python3 -m pip install -e .
+      - name: Merge coverage
+        run: |
+          pip install coverage
+          ls -al
+          pwd
+          coverage combine coverage-files/coverage-python3_8-tests/.coverage.* coverage-files/coverage-python3_10-tests/.coverage.* coverage-files/coverage-ros2-tests/.coverage.*
+          coverage xml
+      - name: Coveralls GitHub Action (Upload Coverage Report)
+        uses: coverallsapp/[email protected]
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+      - name: Upload Merged Coverage File
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage-final
+          path: .coverage
+          include-hidden-files: true

.gitignore

@@ -10,4 +10,8 @@ htmlcov/
 profile.out
 
 #ignore pyenv
-venv/
+venv/
+
+# Ignore Python cache files
+*/__pycache__/
+__pycache__/

docker/ROS2_Humble/Dockerfile

@@ -0,0 +1,53 @@
+# Base image: official ROS2 Humble
+FROM ros:humble
+
+# Avoid interactive prompts
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install python3-pip and basic tools
+RUN apt-get update && apt-get install -y \
+    python3-pip \
+    python3-venv \
+    build-essential \
+    git \
+    curl \
+    && rm -rf /var/lib/apt/lists/*
+
+# Upgrade pip
+RUN python3 -m pip install --upgrade pip
+
+# Install ROS2 packages
+RUN apt-get update && apt-get install -y \
+    ros-humble-cv-bridge \
+    ros-humble-image-transport \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set default workdir inside container
+WORKDIR /workspace
+
+# Source ROS setup automatically in bash
+SHELL ["/bin/bash", "-c"]
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# Default command
+CMD ["bash"]
+
+# Set user arguments (being username, echo $UID, and id -g)
+# NOTE: These should be overwritten when running docker build!
+ARG USERNAME=user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+# Create a non-root user with matching UID/GID
+RUN groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -aG sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# Add a custom .bashrc with warm colors and fixed hostname
+RUN echo 'export PS1="\\[\\e[1;31m\\]\\u@robotdataprocess_container\\[\\e[0m\\]:\\[\\e[1;33m\\]\\w\\[\\e[0m\\]\\$ "' > /home/${USERNAME}/.bashrc && \
+    chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bashrc
+
+# Set default user
+USER ${USERNAME}
+WORKDIR /home/${USERNAME}

docker/ROS2_Humble/build_image.sh

@@ -0,0 +1,5 @@
+docker build \
+  --build-arg USERNAME=$(id -un) \
+  --build-arg USER_UID=$(id -u) \
+  --build-arg USER_GID=$(id -g) \
+  -t robotdataprocess_ros2_humble .

docker/ROS2_Humble/run_container.sh

@@ -0,0 +1,4 @@
+docker run -it --rm \
+    -v $(pwd):/workspace \
+    -w /workspace \
+    robotdataprocess_ros2_humble

examples/Hercules/extract_data_Maplab.py → examples/Hercules/extract/extract_data_Maplab.py

@@ -8,10 +8,11 @@
 Configure the paths in the main() function below.
 """
 
+import getpass
 from pathlib import Path
 import shutil
-from robotdataprocess import ImageData, ImuData, CoordinateFrame
-from robotdataprocess.rosbag.Ros2BagWrapper import Ros2BagWrapper
+from robotdataprocess import ImageDataInMemory, ImuData, CoordinateFrame
+from robotdataprocess.ros.Ros2BagWrapper import Ros2BagWrapper
 
 
 def extract_to_bag(input_dir: str, output_bag: str, robot_name: str):
@@ -46,28 +47,28 @@ def extract_to_bag(input_dir: str, output_bag: str, robot_name: str):
     print(f"   Loaded {imu_data.len()} IMU measurements")
 
     # Load images from folder
-    print("\n2. Loading images...")
-    image_data = ImageData.from_image_files(
-        input_path / 'rgb',
+    print("\n2. Loading left images...")
+    left_image_data = ImageDataInMemory.from_image_files(
+        input_path / 'rgb_stereo_left',
         f'{robot_name}/cam0'
     )
-    print(f"   Loaded {image_data.len()} images")
+    print(f"   Loaded {left_image_data.len()} images")
 
-    # Set IMU frame to FLU (ROS standard) without transforming the data
-    # Note: The IMU data remains in NED frame, but we label it as FLU
-    # to allow writing to ROS bag without errors. Many applications
-    # like VINS-Mono handle the coordinate frame conversion internally.
-    # FIXME: this is not implemented yet!
-    # imu_data.to_FLU_frame() 
-    imu_data.frame = CoordinateFrame.FLU
+    # Loading right images
+    print("\n2.b Loading right images...")
+    right_image_data = ImageDataInMemory.from_image_files(
+        input_path / 'rgb_stereo_right',
+        f'{robot_name}/cam1'
+    )
+    print(f"   Loaded {right_image_data.len()} images")
 
     print("\n3. Writing to temporary ROS2 bag...")
     # Write data to temporary ROS2 bag (required intermediate step)
     Ros2BagWrapper.write_data_to_rosbag(
         temp_ros2_bag,
-        [imu_data, image_data],          # Data to write
-        ['/imu0', '/cam0/image_raw'],    # Topic names
-        [None, None],                     # Use default message types
+        [imu_data, left_image_data, right_image_data],    # Data to write
+        ['/imu0', '/cam0/image_raw', '/cam1/image_raw'],  # Topic names
+        [None, None, None],                     # Use default message types
         None                              # No external message definitions
     )
 
@@ -87,21 +88,22 @@ def extract_to_bag(input_dir: str, output_bag: str, robot_name: str):
 
     print(f"\n✓ Successfully created ROS1 bag at: {output_path}")
     print(f"  - IMU topic: /imu0 ({imu_data.len()} messages)")
-    print(f"  - Image topic: /cam0/image_raw ({image_data.len()} messages)")
-
+    print(f"  - Image topic: /cam0/image_raw ({left_image_data.len()} messages)")
+    print(f"  - Image topic: /cam1/image_raw ({right_image_data.len()} messages)")
 
 def main():
     # ========== CONFIGURE THESE PATHS ==========
 
     # Robot name (used for frame IDs in the bag)
-    robot_name = 'Drone1'
-    dataset_num = "V1.5"
+    robot_name = 'Husky1'
+    dataset_num = "V2.1.0"
 
     # Input directory containing your data
-    input_dir = '/media/dbutterfield3/T731/Hercules_datasets/' + dataset_num + '/data/' + robot_name
+    user = getpass.getuser()
+    input_dir = '/media/' + user + '/T73/Hercules_datasets/' + dataset_num + '/data/' + robot_name
 
     # Output bag path
-    output_bag = '/media/dbutterfield3/T731/Hercules_datasets/' + dataset_num + '/extract/bags_for_maplab/' + robot_name + '.bag'
+    output_bag = '/media/' + user + '/T73/Hercules_datasets/' + dataset_num + '/extract/bags_for_maplab/' + robot_name + '.bag'
 
     # ==========================================