fix ros reader

Author: LeoBrizi

python/vbr_devkit/datasets/ros.py

@@ -23,14 +23,14 @@ def __init__(self, data_dir: Union[Path, Sequence[Path]], topics: List[str] = No
             print("rosbags library not installed, run 'pip install -U rosbags'")
             sys.exit(-1)
 
-        if isinstance(data_dir, Path):
-            self.sequence_id = os.path.basename(data_dir).split(".")[0]
+        if data_dir.is_file():
+            #self.sequence_id = os.path.basename(data_dir).split(".")[0]
             self.bag = AnyReader([data_dir])
         else:
-            self.sequence_id = os.path.basename(data_dir[0]).split(".")[0]
-            self.bag = AnyReader(data_dir)
+            #self.sequence_id = os.path.basename(data_dir[0]).split(".")[0]
+            self.bag = AnyReader(natsort.natsorted([bag for bag in list(data_dir.glob("*.bag"))]))
             print("Reading multiple .bag files in directory:")
-            print("\n".join(natsort.natsorted([path.name for path in self.bag.paths])))
+            print("\n".join([path.name for path in self.bag.paths]))
 
         self.bag.open()
         connections = self.bag.connections

python/vbr_devkit/tools/run.py

@@ -64,10 +64,19 @@ def convert(to: Annotated[OutputDataInterface, typer.Argument(help="Desired data
                 Path, typer.Argument(help="Output directory in which the data will be stored", show_default=False)],
             ) -> None:
     console.print(f"Converting {input_dir} to {to} format at {output_dir}")
-    with RosReader(input_dir) as reader:
-        with OutputDataInterface_lut[to](output_dir) as writer:
-            for timestamp, topic, message in track(reader, description="Processing..."):
-                writer.publish(timestamp, topic, message)
+    if to == OutputDataInterface.ros2:
+        if not input_dir.is_dir():
+            print("Processing...")
+            convert.convert(input_dir, output_dir / input_dir.stem)
+        else:
+            for item in track(list(input_dir.iterdir()), description="Processing..."):
+                if item.suffix == '.bag':
+                    convert.convert(item, output_dir / item.stem)
+    else:
+        with RosReader(input_dir) as reader:
+            with OutputDataInterface_lut[to](output_dir) as writer:
+                for timestamp, topic, message in track(reader, description="Processing..."):
+                    writer.publish(timestamp, topic, message)
     console.print(":tada: Completed")