chore: debug

.vscode/launch.json

@@ -0,0 +1,24 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "Python: Current File",
+      "type": "python",
+      "request": "launch",
+      "program": "${file}",
+      "console": "integratedTerminal",
+      "justMyCode": true
+    },
+    {
+      "name": "main (Workspace must be sourced before execution)",
+      "type": "python",
+      "request": "launch",
+      "program": "autoware_msg_bag_converter/main.py",
+      "console": "integratedTerminal",
+      "args": ["$HOME/data/sample-rosbag", "$HOME/data/converted-rosbag"]
+    }
+  ]
+}

autoware_msg_bag_converter/converter.py

@@ -16,15 +16,12 @@
 # https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/test_sequential_writer.py
 # https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/test_reindexer.py
 
-from typing import Any
-
 from rosbag2_py import Reindexer
 from rosbag2_py import TopicMetadata
 
 from autoware_msg_bag_converter.bag import create_reader
 from autoware_msg_bag_converter.bag import create_writer
 from autoware_msg_bag_converter.bag import get_default_storage_options
-from autoware_msg_bag_converter.msg import *  # noqa
 
 
 def change_topic_type(old_type: TopicMetadata) -> TopicMetadata:
@@ -36,16 +33,6 @@ def change_topic_type(old_type: TopicMetadata) -> TopicMetadata:
     )
 
 
-def convert_msg(old_msg: Any) -> Any:
-    old_representation = repr(old_msg)
-    # If the type of old_msg is not of type autoware_auto, old_msg is returned as is
-    # Because if the message type is not sourced when executing eval, a runtime error will occur.
-    if "autoware_auto_" not in old_representation:
-        return old_msg
-    new_representation = old_representation.replace("autoware_auto_", "autoware_")
-    return eval(new_representation)  # noqa
-
-
 def convert_bag(input_bag_path: str, output_bag_path: str) -> None:
     # open reader
     reader = create_reader(input_bag_path)
@@ -61,11 +48,10 @@ def convert_bag(input_bag_path: str, output_bag_path: str) -> None:
         )
         writer.create_topic(new_topic_type)
 
-    # convert msg type and write to output bag
+    # copy data from input bag to output bag
     while reader.has_next():
-        topic_name, old_msg, stamp = reader.read_next()
-        new_msg = convert_msg(old_msg)
-        writer.write(topic_name, new_msg, stamp)
+        topic_name, msg, stamp = reader.read_next()
+        writer.write(topic_name, msg, stamp)
 
     # reindex to update metadata.yaml
     del writer

test/test_converter.py

@@ -12,19 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import autoware_auto_vehicle_msgs.msg as auto_vehicle
-import autoware_vehicle_msgs.msg as aw_vehicle
-from builtin_interfaces.msg import Time
-from rclpy.clock import Clock
 from rosbag2_py import TopicMetadata
 
 from autoware_msg_bag_converter.converter import change_topic_type
-from autoware_msg_bag_converter.converter import convert_msg
-
-
-def get_time_now() -> Time:
-    stamp = Clock().now()
-    return stamp.to_msg()
 
 
 def test_change_topic_type() -> None:
@@ -37,16 +27,3 @@ def test_change_topic_type() -> None:
     assert new_type.name == "/vehicle/status/control_mode"
     assert new_type.type == "autoware_vehicle_msgs/msg/ControlModeReport"
     assert new_type.serialization_format == "cdr"
-
-
-def test_convert_msg() -> None:
-    now = get_time_now()
-    auto_control_report = auto_vehicle.ControlModeReport(
-        stamp=now,
-        mode=auto_vehicle.ControlModeReport.AUTONOMOUS,
-    )
-    aw_control_report = convert_msg(auto_control_report)
-    assert aw_control_report == aw_vehicle.ControlModeReport(
-        stamp=now,
-        mode=aw_vehicle.ControlModeReport.AUTONOMOUS,
-    )