Refactor and simplify, replace argparse with click, add unit tests, change some topics & TFs

.dockerignore

@@ -0,0 +1,109 @@
+# Created by .ignore support plugin (hsz.mobi)
+### Python template
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+Dockerfile
+.travis.yml

.gitignore

@@ -95,3 +95,5 @@ ENV/
 
 # Temporary files from text editors
 *~
+
+tests/data

.travis.yml

@@ -1,129 +1,25 @@
-# Generic .travis.yml file for running continuous integration on Travis-CI for
-# any ROS package.
-#
-# Available here:
-#   - http://felixduvallet.github.io/ros-travis-integration
-#   - https://github.com/felixduvallet/ros-travis-integration
-#
-# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
-# workspace, resolves all listed dependencies, and sets environment variables
-# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
-# no compilation errors), and runs all the tests. If any of the compilation/test
-# phases fail, the build is marked as a failure.
-#
-# We handle two types of package dependencies specified in the package manifest:
-#   - system dependencies that can be installed using `rosdep`, including other
-#     ROS packages and system libraries. These dependencies must be known to
-#     `rosdistro` and get installed using apt-get.
-#   - package dependencies that must be checked out from source. These are handled by
-#     `wstool`, and should be listed in a file named dependencies.rosinstall.
-#
-# There are two variables you may want to change:
-#   - ROS_DISTRO (default is indigo). Note that packages must be available for
-#     ubuntu 14.04 trusty.
-#   - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
-#     root). This should list all necessary repositories in wstool format (see
-#     the ros wiki). If the file does not exists then nothing happens.
-#
-# See the README.md for more information.
-#
-# Author: Felix Duvallet <[email protected]>
+language: generic
 
-# NOTE: The build lifecycle on Travis.ci is something like this:
-#    before_install
-#    install
-#    before_script
-#    script
-#    after_success or after_failure
-#    after_script
-#    OPTIONAL before_deploy
-#    OPTIONAL deploy
-#    OPTIONAL after_deploy
+services:
+  - docker
 
-################################################################################
+matrix:
+  include:
+    - env: ROS_DISTRO=kinetic
+    - env: ROS_DISTRO=lunar
+    - env: ROS_DISTRO=melodic
 
-# Use ubuntu trusty (14.04) with sudo privileges.
-dist: 
-  - trusty
-sudo: required
-language:
-  - generic
 cache:
-  - apt
+  directories:
+    # Avoid re-downloading the test data each time
+    - $TRAVIS_BUILD_DIR/testdata
 
-# Configuration variables. All variables are global now, but this can be used to
-# trigger a build matrix for different ROS distributions if desired.
-env:
-  global:
-    - ROS_DISTRO=indigo
-    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
-    - CI_SOURCE_PATH=$(pwd)
-    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
-    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
-    - ROS_PARALLEL_JOBS='-j8 -l6'
-
-################################################################################
-
-# Install system dependencies, namely a very barebones ROS setup.
 before_install:
-  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update
-
-# Create a catkin workspace with the package under integration.
-install:
-  - mkdir -p ~/catkin_ws/src
-  - cd ~/catkin_ws/src
-  - catkin_init_workspace
-  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
-  # source it to set the path variables.
-  - cd ~/catkin_ws
-  - catkin_make
-  - source devel/setup.bash
-  # Add the package under integration to the workspace using a symlink.
-  - cd ~/catkin_ws/src
-  - ln -s $CI_SOURCE_PATH .
-  - sudo apt-get install -y python-dev python-numpy python-matplotlib ros-$ROS_DISTRO-tf ros-$ROS_DISTRO-opencv-candidate
+- docker build . -t kitti2bag --build-arg ROS_DISTRO=${ROS_DISTRO}
 
-# Install all dependencies, using wstool first and rosdep second.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-before_script:
-  # source dependencies: install using wstool.
-  - cd ~/catkin_ws/src
-  - wstool init
-  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
-  - wstool up
-  # package depdencies: install using rosdep.
-  - cd ~/catkin_ws
-  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
-
-# Compile and test (mark the build as failed if any step fails). If the
-# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
-# to blacklist certain packages.
-#
-# NOTE on testing: `catkin_make run_tests` will show the output of the tests
-# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
-# fails. Running `catkin_test_results` aggregates all the results and returns
-# non-zero when a test fails (which notifies Travis the build failed).
 script:
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  - cd ~/catkin_ws
-  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
-  # Run the tests, ensuring the path is set correctly.
-  - source devel/setup.bash
-  - catkin_make run_tests && catkin_test_results
-  - cd $CI_SOURCE_PATH
-  - sudo python setup.py install
-  - mkdir -p $HOME/kitti
-  - cd $HOME/kitti
-  - wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_drive_0048/2011_09_26_drive_0048_sync.zip
-  - unzip 2011_09_26_drive_0048_sync.zip
-  - wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_calib.zip
-  - unzip 2011_09_26_calib.zip
-  - kitti2bag -t 2011_09_26 -r 0048 raw_synced .
-
+- docker run -v $TRAVIS_BUILD_DIR/testdata:/kitti2bag/tests/data --entrypoint '/bin/bash' kitti2bag -c '
+    source /opt/ros/$ROS_DISTRO/setup.bash &&
+    cd /kitti2bag &&
+    PYTHONIOENCODING=utf-8 python setup.py test --addopts=-svv
+  '

Dockerfile

@@ -1,16 +1,24 @@
-FROM ros:lunar-ros-base
+ARG ROS_DISTRO=kinetic
+FROM ros:${ROS_DISTRO}-perception
 
-RUN apt-get update \
-  && DEBIAN_FRONTEND=noninteractive apt-get -y install \
-    ros-lunar-cv-bridge \
-    ros-lunar-opencv3 \
-    ros-lunar-tf \
-    python-pip python-matplotlib \
-  && rm -rf /var/lib/apt/lists/*
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get -y update \
+  # && apt-get -y upgrade \
+  && apt-get -y install --no-install-recommends \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-tf \
+    python-pip \
+  && apt-get -y autoremove && apt-get -y clean && rm -rf /var/lib/apt/lists/*
+# setup.py will fail on older Ubuntu distros if pip and setuptools are not updated
+RUN python -m pip install --upgrade pip setuptools \
+  && pip install --upgrade \
+    # Upgrade numpy for pykitti's pandas requirement
+    numpy \
+    # Use the development version since a Python 2 incompatibility is not yet fixed in 0.3.1
+    git+https://github.com/utiasSTARS/pykitti.git
 COPY . /kitti2bag
-RUN pip install -e /kitti2bag
+RUN pip install /kitti2bag
 
 WORKDIR /data
 
 ENTRYPOINT ["/kitti2bag/docker_entrypoint.sh"]
-

docker_entrypoint.sh

@@ -1,6 +1,10 @@
 #!/bin/bash
 set -e
 
+# unset $@ since setup.bash catches some args like -h
+args="$@"
+set --
+
 # setup ros environment
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-exec kitti2bag "$@"
+exec kitti2bag $args