Add support for new sensors

Dockerfile

@@ -28,6 +28,7 @@ RUN apt-get update \
         ros-"$ROS_DISTRO"-mola-lidar-odometry \
         python3-pip \
         python3-vcstool \
+        wget \
     && pip install --no-cache-dir mcap pandas colorama \
        segments-ai awscli boto3 scipy watchdog colorlog \
     && pip install --no-cache-dir --upgrade setuptools pip \
@@ -69,7 +70,7 @@ RUN groupadd -g $GROUP_ID $USERNAME && \
     usermod -aG sudo $USERNAME && \
     echo "$USERNAME ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
 
-# Setup ros2_bag_exporter
+# Setup tartan_rosbag_exporter
 RUN apt-get update \
     && DEBIAN_FRONTEND=noninteractive \
     apt-get -y --quiet --no-install-recommends install \
@@ -87,11 +88,12 @@ RUN apt-get update \
     && pip install --no-cache-dir mcap colorama \
     && rm -rf /var/lib/apt/lists/*
 
-ENV EXPORTER=$ROS_WS/src/tartan_rosbag_exporter
-RUN git clone -b 1.1.0 https://github.com/ipab-rad/tartan_rosbag_exporter.git $EXPORTER \
+RUN mkdir -p "$ROS_WS"/src \
+    && wget -q -O /tmp/exporter.tar.gz "https://github.com/ipab-rad/tartan_rosbag_exporter/archive/refs/tags/2.0.0.tar.gz" \
+    && tar -xzf /tmp/exporter.tar.gz -C "$ROS_WS"/src \
     && . /opt/ros/"$ROS_DISTRO"/setup.sh \
     && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
-    && rm -rf $ROS_WS/build $EXPORTER
+    && rm -rf "$ROS_WS"/build /tmp/exporter.tar.gz "$ROS_WS"/src
 
 # Give read/write permissions to the user on the ROS_WS directory
 RUN chown -R $USERNAME:$USERNAME $ROS_WS && \

config/av_sensor_export_config.yaml

@@ -5,65 +5,93 @@ storage_id: "mcap"
 # List of topics to extract from the ROS2 bag
 topics:
   # Configuration for Pointclouds, defined first to use their timestamp for sensor sync
-  - name: "/sensor/lidar/top/points"  # 10Hz
+  - name: "/sensor/lidar/top/points"
     type: "PointCloud2"
-    sample_interval: 1                # 10Hz
+    sample_interval: 1
     topic_dir: "lidar/top"
 
   # Configuration for Compressed Images
-  - name: "/sensor/camera/fsp_l/image_rect_color/compressed"   # 20Hz
+  - name: "/sensor/camera/fsp_l/image_rect_color/compressed"
     type: "CompressedImage"
-    sample_interval: 1                                         # 20Hz
+    sample_interval: 1
+    timestamp_offset_ms: 70
     topic_dir: "camera/fsp_l"
 
   - name: "/sensor/camera/fsp_l/camera_info"
     type: "CameraInfo"
     sample_interval: 0
     topic_dir: "camera/fsp_l"
 
-  - name: "/sensor/camera/rsp_l/image_rect_color/compressed"   # 20Hz
+  - name: "/sensor/camera/fsp_r/image_rect_color/compressed"
+    type: "CompressedImage"
+    sample_interval: 1
+    timestamp_offset_ms: 70
+    topic_dir: "camera/fsp_r"
+
+  - name: "/sensor/camera/fsp_r/camera_info"
+    type: "CameraInfo"
+    sample_interval: 0
+    topic_dir: "camera/fsp_r"
+
+  - name: "/sensor/camera/rsp_l/image_rect_color/compressed"
     type: "CompressedImage"
-    sample_interval: 1                                         # 20Hz
+    sample_interval: 1
+    timestamp_offset_ms: 20
     topic_dir: "camera/rsp_l"
 
   - name: "/sensor/camera/rsp_l/camera_info"
     type: "CameraInfo"
     sample_interval: 0
     topic_dir: "camera/rsp_l"
 
-  - name: "/sensor/camera/lspf_r/image_rect_color/compressed"  # 20Hz
+  - name: "/sensor/camera/rsp_r/image_rect_color/compressed"
+    type: "CompressedImage"
+    sample_interval: 1
+    timestamp_offset_ms: 20
+    topic_dir: "camera/rsp_r"
+
+  - name: "/sensor/camera/rsp_r/camera_info"
+    type: "CameraInfo"
+    sample_interval: 0
+    topic_dir: "camera/rsp_r"
+
+  - name: "/sensor/camera/lspf_r/image_rect_color/compressed"
     type: "CompressedImage"
-    sample_interval: 1                                         # 20Hz
+    sample_interval: 1
+    timestamp_offset_ms: 51
     topic_dir: "camera/lspf_r"
 
   - name: "/sensor/camera/lspf_r/camera_info"
     type: "CameraInfo"
     sample_interval: 0
     topic_dir: "camera/lspf_r"
 
-  - name: "/sensor/camera/lspr_l/image_rect_color/compressed"  # 20Hz
+  - name: "/sensor/camera/lspr_l/image_rect_color/compressed"
     type: "CompressedImage"
-    sample_interval: 1                                         # 20Hz
+    sample_interval: 1
+    timestamp_offset_ms: 38
     topic_dir: "camera/lspr_l"
 
   - name: "/sensor/camera/lspr_l/camera_info"
     type: "CameraInfo"
     sample_interval: 0
     topic_dir: "camera/lspr_l"
 
-  - name: "/sensor/camera/rspf_l/image_rect_color/compressed"  # 20Hz
+  - name: "/sensor/camera/rspf_l/image_rect_color/compressed"
     type: "CompressedImage"
-    sample_interval: 1                                         # 10Hz
+    sample_interval: 1
+    timestamp_offset_ms: 88
     topic_dir: "camera/rspf_l"
 
   - name: "/sensor/camera/rspf_l/camera_info"
     type: "CameraInfo"
     sample_interval: 0
     topic_dir: "camera/rspf_l"
 
-  - name: "/sensor/camera/rspr_r/image_rect_color/compressed"  # 20Hz
+  - name: "/sensor/camera/rspr_r/image_rect_color/compressed"
     type: "CompressedImage"
-    sample_interval: 1                                         # 20Hz
+    sample_interval: 1
+    timestamp_offset_ms: 101
     topic_dir: "camera/rspr_r"
 
   - name: "/sensor/camera/rspr_r/camera_info"
@@ -75,15 +103,3 @@ topics:
     type: "TF"
     sample_interval: 1
     topic_dir: "extrinsics"
-
-#  # Configuration for IMU
-#   - name: "/sensor/imu/front/data"                            # 200Hz
-#     type: "IMU"
-#     sample_interval: 1                                        # 200Hz
-#     topic_dir: "imu"
-
-#  # Configuration for GPS
-#   - name: "/sensor/gps/nav_sat_fix"                           # 20Hz
-#     type: "GPS"
-#     sample_interval: 1                                        # 20Hz
-#     topic_dir: "gps"