Start an MCAP-to-LeRobot conversion of a recorded dataset via the train server node. More...

#include <convert_dataset.hpp>

Inheritance diagram for moveit_pro::behaviors::ConvertDataset:

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Collaboration diagram for moveit_pro::behaviors::ConvertDataset:

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Public Member Functions
	ConvertDataset (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor.

	ConvertDataset (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< ConvertDatasetSrv > > client_interface)
	Constructor that injects a service client interface, used to supply a mock in tests.

Public Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< ConvertDatasetSrv >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< ConvertDatasetSrv > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

	~ServiceClientBehaviorBase () override=default

virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.

Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &behavior_context)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Static Public Attributes inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< ConvertDatasetSrv >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Detailed Description

Start an MCAP-to-LeRobot conversion of a recorded dataset via the train server node.

Calls the train server's /trainer/convert_dataset service with the dataset's name (the RecordEpisode dataset_name). The node derives the conversion request from the dataset itself — bag path, sibling -lerobot output directory and repo id from its record, and the cameras, fps, joint topics, and robot type from the recording options pinned to it, never from the Training Config's current values — the same way the training panel's convert tab does; the optional ports override the output directory, the robot type, and the task of any episode that recorded none of its own (an episode's own task always wins). A dataset with no pin (recorded before pins existed) or an unreadable one fails the Behavior rather than converting against guessed settings; record into it again to establish a pin. The conversion runs as a background job: this Behavior succeeds when the job is started, not when it finishes. Track it via the training panel or the /trainer/list_conversions service.

Data Port Name	Port Type	Object Type	Description
service_name	input	std::string	Name of the Trainer convert_dataset service.
dataset_name	input	std::string	Recorded dataset to convert (RecordEpisode's name).
task	input	std::string	Task for episodes with none of their own; empty = the recorded task.
output_dir	input	std::string	Optional output override; empty = sibling -lerobot.
robot_type	input	std::string	Optional robot type override; empty = the recorded one.
job_id	output	std::string	Id of the started conversion job.

Constructor & Destructor Documentation

◆ ConvertDataset() [1/2]

moveit_pro::behaviors::ConvertDataset::ConvertDataset	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

explicit

Constructor.

Parameters

name	The name of the Behavior as it appears in the Behavior tree.
config	The node configuration, including the port remappings.
shared_resources	Shared resources such as the node handle and transform buffer.

◆ ConvertDataset() [2/2]

moveit_pro::behaviors::ConvertDataset::ConvertDataset	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< ConvertDatasetSrv > >	client_interface
	)

explicit

Constructor that injects a service client interface, used to supply a mock in tests.

Parameters

name	The name of the Behavior as it appears in the Behavior tree.
config	The node configuration, including the port remappings.
shared_resources	Shared resources such as the node handle and transform buffer.
client_interface	The service client interface to use instead of a real client.

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_pro::behaviors::ConvertDataset::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::ConvertDataset::providedPorts ( )

static

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions