fix: Improved tf static handling in convert

src/kappe/convert.py

@@ -74,7 +74,7 @@ def __init__(
             lst = self.plugin_conv.get(conv.input_topic, [])
             cls = load_plugin(self.config.plugin_folder, conv.name)
 
-            lst.append((cls(**conv.config), conv.output_topic))
+            lst.append((cls(**conv.settings), conv.output_topic))
             self.plugin_conv[conv.input_topic] = lst
 
         output_path.parent.mkdir(parents=True, exist_ok=True)
@@ -342,13 +342,62 @@ def process_message(self, msg: DecodedMessageTuple) -> None:
             sequence=message.sequence,
         )
 
+    def collect_tf_static(self, start_time_sec: float) -> None:
+        start_time_ns = int(start_time_sec * 1e9)
+        start_time_part_sec = int(start_time_sec)
+        start_time_part_ns = int((start_time_sec - start_time_part_sec) * 1e9)
+
+        tf_static_channel = filter(
+            lambda x: x.topic == '/tf_static', self.summary.channels.values()
+        )
+
+        tf_static_channel = list(tf_static_channel)
+        if len(tf_static_channel) != 1:
+            raise ValueError(f'Found {len(tf_static_channel)} tf_static channels')
+
+        tf_static_channel = tf_static_channel[0]
+        tf_static_amount = self.statistics.channel_message_counts.get(tf_static_channel.id)
+        if tf_static_amount is None:
+            logger.info('Found NO tf_static messages')
+            return
+        logger.info('Found %d tf_static messages', tf_static_amount)
+        # read all tf_static messages
+        tf_static_iter = self.read_ros_messaged(topics=['/tf_static'])
+
+        if tf_static_iter is None:
+            raise ValueError('tf_static_iter is None')
+
+        for count, msg in enumerate(tf_static_iter, 1):
+            if msg.schema is None:
+                continue
+            # patch header stamp
+            ros_msg = msg.decoded_message
+            for transform in ros_msg.transforms:
+                # foxglove does not tf msg with the exact same timestamp
+                start_time_part_ns += 1
+                start_time_ns += 1
+
+                transform.header.stamp.sec = start_time_part_sec
+                transform.header.stamp.nanosec = start_time_part_ns
+
+            self.writer.write_message(
+                topic=msg.channel.topic,
+                schema=self.schema_list[msg.schema.name],
+                message=ros_msg,
+                log_time=start_time_ns,
+                publish_time=start_time_ns,
+                sequence=msg.message.sequence,
+            )
+
+            # performance hack
+            if count == tf_static_amount:
+                break
+
     def process_file(self, tqdm_idx: int = 0) -> None:
         start_time = self.statistics.message_start_time / 1e9
         if self.config.time_start is not None:
             start_time = max(start_time, self.config.time_start)
 
-        start_time_part_sec = int(start_time)
-        start_time_part_ns = int((start_time - start_time_part_sec) * 1e9)
         start_time_ns = int(start_time * 1e9)
 
         end_time = self.statistics.message_end_time / 1e9
@@ -358,50 +407,8 @@ def process_file(self, tqdm_idx: int = 0) -> None:
                 conf_end_time = float(start_time + conf_end_time)
             end_time = min(end_time, conf_end_time)
 
-        # TODO: make better!
         if self.config.keep_all_static_tf:
-            tf_static_channel = filter(
-                lambda x: x.topic == '/tf_static', self.summary.channels.values()
-            )
-
-            tf_static_channel = list(tf_static_channel)
-            if len(tf_static_channel) != 1:
-                raise ValueError(f'Found {len(tf_static_channel)} tf_static channels')
-
-            tf_static_channel = tf_static_channel[0]
-            tf_static_amount = self.statistics.channel_message_counts[tf_static_channel.id]
-            logger.info('Found %d tf_static messages', tf_static_amount)
-            # read all tf_static messages
-            tf_static_iter = self.read_ros_messaged(topics=['/tf_static'])
-
-            if tf_static_iter is None:
-                raise ValueError('tf_static_iter is None')
-
-            for count, msg in enumerate(tf_static_iter, 1):
-                if msg.schema is None:
-                    continue
-                # patch header stamp
-                ros_msg = msg.decoded_message
-                for transform in ros_msg.transforms:
-                    # foxglove does not tf msg with the exact same timestamp
-                    start_time_part_ns += 1
-                    start_time_ns += 1
-
-                    transform.header.stamp.sec = start_time_part_sec
-                    transform.header.stamp.nanosec = start_time_part_ns
-
-                self.writer.write_message(
-                    topic=msg.channel.topic,
-                    schema=self.schema_list[msg.schema.name],
-                    message=ros_msg,
-                    log_time=start_time_ns,
-                    publish_time=start_time_ns,
-                    sequence=msg.message.sequence,
-                )
-
-                # performance hack
-                if count == tf_static_amount:
-                    break
+            self.collect_tf_static(start_time)
 
         filtered_channels = self.get_selected_channels()
 
@@ -438,7 +445,7 @@ def process_file(self, tqdm_idx: int = 0) -> None:
             position=tqdm_idx,
             desc=f'{self.input_path.name}',
             unit='secs',
-            bar_format='{l_bar}{bar}| {n:.02f}/{total:.02f} [{elapsed}<{remaining}, {rate_fmt}{postfix}]',
+            bar_format='{l_bar}{bar}| {n:.02f}/{total:.02f} [{elapsed}<{remaining}, {rate_fmt}{postfix}]',  # noqa: E501
         ) as pbar:
             for msg in msg_iter:
                 message = msg.message