Rosbags Uploads

Credentials

Before starting this section, ensure you have retrieved your API key and the appropriate Sift URL for your provisioned environment. Instructions on obtaining the API key and URL are available in the authentication section of the documentation.

Import Data from Rosbags using `sift-stack-py`

Getting started with sift-stack-py

Be sure to visit the Python Quickstart section of the documentation to see how to get started with the Sift Python client library before continuing.

For this example we will be uploading data from the sample_data rosbag which can be found at this link and using the `std_msgs`` message definitions which can be found at this link.

Uploading this Rosbag file is only a few steps:

from sift_py.data_import.rosbags import RosbagsUploadService
 
# Instantiate a rosbag upload service.
ros2_upload_service = RosbagsUploadService({
    "uri": sift_uri,
    "apikey": apikey,
})
 
# Upload the rosbags file specifying the path to relevant message definitions.
import_service = ros2_upload_service.upload(
    "data/sample_data",
    ["data/std_msgs"],
    Stores.ROS2_HUMBLE,
    asset_name,
)
 
# Wait until the upload is complete and store the uploaded file's metadata
# into the 'uploaded_file' variable.
uploaded_file = import_service.wait_until_complete()

It's also possible to extract video or images from your rosbags. Here's an example using ffmpeg:

from sift_py.data_import.rosbags import RosbagsUploadService
import ffmpeg
 
video_processor = (
    ffmpeg.input("pipe:", s=f"{width}x{height}", framerate=30)
    .output(output_video_filename, pix_fmt="yuv420p")
    .run_async(pipe_stdin=True)
)
 
# Callback handler to write video frames.
def write_video_frame_handler(topic, timestamp, msg):
    video_processor.stdin.write(msg.data)
 
# Instantiate a rosbag upload service
ros2_upload_service = RosbagsUploadService({
    "uri": sift_uri,
    "apikey": apikey,
})
 
# Upload the rosbag file specifying the path to relevant message definitions.
import_service = ros2_upload_service.upload(
    "data/sample_data",
    ["data/std_msgs"],
    Stores.ROS2_HUMBLE,
    asset_name,
    handlers={"/my/video/topic": write_video_frame_handler},
 
)
 
video_processor.stdin.close()
video_processor.wait()
 
# Wait until the upload is complete and store the uploaded file's metadata
# into the 'uploaded_file' variable.
uploaded_file = import_service.wait_until_complete()

You can also automatically upload this video file to Sift using these examples. For more comprehensive examples you can visit the Sift public repository.

Import Data from Rosbags using sift-stack-py

Import Data from Rosbags using `sift-stack-py`