sift_py.data_import.rosbags ¶

Service to upload ROS2 bag files.

ROS organizes data exchange through topics, messages, and fields: * topics: Named messages that facilitate communication between ROS nodes. * messages: Data structures published and subscribed to on topics. Each message type defines a specific schema. * fields: Individual data elements within a message, such as integers, floats, strings, or nested structures.

This class extracts messages from a ROS bag, flattens their fields, and prepares them for uploading to Sift.

CLASS	DESCRIPTION
`RosbagsUploadService`	Service to upload ROS2 bag files.

RosbagsUploadService ¶

RosbagsUploadService(rest_conf: SiftRestConfig)

Service to upload ROS2 bag files.

METHOD	DESCRIPTION
`upload`	Uploads the ROS2 bag file pointed to by `path` to the specified asset.

upload ¶

upload(
    path: Union[str, Path],
    msg_dirs: List[Union[str, Path]],
    store: Stores,
    asset_name: str,
    ignore_errors: bool = False,
    run_name: Optional[str] = None,
    run_id: Optional[str] = None,
    handlers: Optional[Dict[str, Callable]] = None,
    show_progress: bool = True,
) -> DataImportService

Uploads the ROS2 bag file pointed to by path to the specified asset.

PARAMETER	DESCRIPTION
`path`	Path to the ROS2 bag file. TYPE: `Union[str, Path]`
`msg_dirs`	List of directories containing message definitions. Each entry should be a path the root directory of the msg definitions (e.g, `/path/to/std_msgs`). Inspect your topics and verify that the 'type' matches the directory structure of your message definitions. For example if the type is `custom_msgs/msg/MyCustomMessage` your directory structure should match that and you should include `/path/to/custom_msgs` in the `msg_dirs` list passed into this function. TYPE: `List[Union[str, Path]]`
`store`	The Store type to use for the message definitions. TYPE: `Stores`
`asset_name`	Name of the asset to upload the data to. TYPE: `str`
`ignore_errors`	If True, will skip messages without definitions. TYPE: `bool` DEFAULT: `False`
`run_name`	Name of the run to create for this data. TYPE: `Optional[str]` DEFAULT: `None`
`run_id`	ID of the run to add this data to. TYPE: `Optional[str]` DEFAULT: `None`
`handlers`	Dictionary of messages to callbacks for custom processing or sequence data (e.g, images or videos). Keys should be the ROS topic, value is a callable with the following signature: def callback(topic: str, timestamp: int, msg: object) ... TYPE: `Optional[Dict[str, Callable]]` DEFAULT: `None`
`show_progress`	Whether to show the status bar or not. TYPE: `bool` DEFAULT: `True`