Smoke test for ROS 2 TF bags (#678)

test/data/tf_example/metadata.yaml

@@ -0,0 +1,36 @@
+rosbag2_bagfile_information:
+  compression_format: ''
+  compression_mode: ''
+  custom_data: {}
+  duration:
+    nanoseconds: 51684723334
+  files:
+  - duration:
+      nanoseconds: 51684723334
+    message_count: 518
+    path: tf_example.db3
+    starting_time:
+      nanoseconds_since_epoch: 1714741164111822142
+  message_count: 518
+  relative_file_paths:
+  - tf_example.db3
+  ros_distro: rosbags
+  starting_time:
+    nanoseconds_since_epoch: 1714741164111822142
+  storage_identifier: sqlite3
+  topics_with_message_count:
+  - message_count: 1
+    topic_metadata:
+      name: /tf_static
+      offered_qos_profiles: ''
+      serialization_format: cdr
+      type: tf2_msgs/msg/TFMessage
+      type_description_hash: RIHS01_e369d0f05a23ae52508854b66f6aa0437f3449d652e8cbf22d5abe85d020f087
+  - message_count: 517
+    topic_metadata:
+      name: /tf
+      offered_qos_profiles: ''
+      serialization_format: cdr
+      type: tf2_msgs/msg/TFMessage
+      type_description_hash: RIHS01_e369d0f05a23ae52508854b66f6aa0437f3449d652e8cbf22d5abe85d020f087
+  version: 8

test/traj_smoke_test.py

@@ -4,16 +4,17 @@
 import glob
 import shutil
 import subprocess as sp
+from itertools import chain
 from pathlib import Path
 
-tmp_dir = Path("tmp")
-common_cfg_dir = Path("cfg/traj/common")
-here = Path(__file__).absolute().parent
+TMP_DIR = Path("tmp")
+COMMON_CONFIG_DIR = Path("cfg/traj/common")
+HERE = Path(__file__).absolute().parent
 
 # always run in script location
-os.chdir(here)
+os.chdir(HERE)
 
-data = {
+commands_with_config_dir = {
     "evo_traj euroc data/V102_groundtruth.csv --ref data/V102_groundtruth.csv": "cfg/traj/euroc",
     "evo_traj kitti data/KITTI_00_gt.txt data/KITTI_00_ORB.txt data/KITTI_00_SPTAM.txt "
     "--ref data/KITTI_00_gt.txt": "cfg/traj/kitti",
@@ -22,20 +23,22 @@
     "evo_traj bag data/ROS_example.bag groundtruth S-PTAM ORB-SLAM --ref groundtruth": "cfg/traj/bag"
 }
 
-if os.getenv("ROS_DISTRO", "") == "noetic":
-    data.update({
+if os.getenv("ROS_DISTRO") is not None:
+    # TF interface is able to load TF from ROS 1 bags in ROS 2 and vice versa.
+    commands_with_config_dir.update({
         "evo_traj bag data/tf_example.bag /tf:odom.base_link --ref /tf:odom.base_footprint": "cfg/traj/bag",
+        "evo_traj bag2 data/tf_example /tf:odom.base_link --ref /tf:odom.base_footprint": "cfg/traj/bag",
     })
 
 try:
-    for d in data.keys():
-        for cfg_dir in (common_cfg_dir, Path(data[d])):
-            for cfg in cfg_dir.iterdir():
-                tmp_dir.mkdir(exist_ok=True)
-                cmd = "{} -c {}".format(d, cfg)
-                print("[smoke test] {}".format(cmd))
-                output = sp.check_output(cmd.split(" "), cwd=here)
-                shutil.rmtree(tmp_dir)
+    for command, config_dir in commands_with_config_dir.items():
+        for config_file in chain(
+                Path(config_dir).iterdir(), COMMON_CONFIG_DIR.iterdir()):
+            TMP_DIR.mkdir(exist_ok=True)
+            full_command = f"{command} -c {config_file}"
+            print(f"[smoke test] {full_command}")
+            output = sp.check_output(full_command.split(), cwd=HERE)
+            shutil.rmtree(TMP_DIR)
 except sp.CalledProcessError as e:
     print(e.output.decode("utf-8"))
     raise
@@ -44,5 +47,5 @@
         "./*.tum")
     for traj_file in traj_files:
         os.remove(traj_file)
-    if tmp_dir.exists():
-        shutil.rmtree(tmp_dir)
+    if TMP_DIR.exists():
+        shutil.rmtree(TMP_DIR)