ros2

Author: sadanand1120

.gitignore

@@ -11,4 +11,10 @@ completions/
 eval/
 test.py
 evaluation_script/*.png
-evaluation_script/*.pgf
+evaluation_script/*.pgf
+
+build/
+devel/
+install/
+bin/
+log/

README.md

@@ -7,7 +7,7 @@
 CodeBotler is a system that converts natural language task descriptions into robot-agnostic programs that can be executed by general-purpose service mobile robots. It includes a benchmark (RoboEval) designed for evaluating Large Language Models (LLMs) in the context of code generation for mobile robot service tasks.
 
 This project consists of two key components:
-* [CodeBotler](#codebotler-deploy-quick-start-guide): This system features a web interface designed for generating general-purpose service mobile robot programs, along with a ROS (Robot Operating System) Action client for deploying these programs on a robot. It offers the flexibility to explore the code generation capabilities of CodeBotler in two ways: as a standalone system without a robot, as illustrated in the figure above, or by actual deployment on a real robot.
+* [CodeBotler](#codebotler-deploy-quick-start-guide): This system features a web interface designed for generating general-purpose service mobile robot programs, along with a ROS2 (Robot Operating System) Action client for deploying these programs on a robot. It offers the flexibility to explore the code generation capabilities of CodeBotler in two ways: as a standalone system without a robot, as illustrated in the figure above, or by actual deployment on a real robot.
 
 
 * [RoboEval](#roboeval-benchmark-quick-start-guide): This benchmark for code generation features a suite of 16 user task descriptions, each with 5 paraphrases of the prompt. It includes a symbolic simulator and a temporal trace evaluator, specifically designed to assess Large Language Models (LLMs) in their ability to generate code for service mobile robot tasks.
@@ -18,11 +18,16 @@ Project website: https://amrl.cs.utexas.edu/codebotler
 
 We provide a conda environment to run our code. To create and activate the environment:
 ```shell
-conda create -n codebotler python=3.12.8 pip
+conda create -n codebotler python=3.10 pip
 conda activate codebotler
 pip install -r requirements.txt
 ```
-After installing the conda environment, please go to [pytorch's official website](https://pytorch.org/get-started/locally/) to install the pytorch corresponding to your cuda version (**Note: do not install the cpu version**). 
+After installing the conda environment, please go to [pytorch's official website](https://pytorch.org/get-started/locally/) to install the pytorch corresponding to your cuda version (**Note: do not install the cpu version**).
+
+**ROS2 Requirements**
+* For robot deployment, you will need ROS2 installed on your system. CodeBotler uses ROS2 actions for robot communication.
+* Install ROS2 following the [official ROS2 installation guide](https://docs.ros.org/en/humble/Installation.html).
+* The robot interface components will automatically install the required ROS2 Python packages (`rclpy`). 
 
 **Language Model Options**
 * To use an OpenAI model, you will need an [OpenAI key](https://platform.openai.com/account/api-keys), either saved in a file named `.openai_api_key`, or in the `OPENAI_API_KEY` environment variable.

codebotler.py

@@ -21,12 +21,14 @@
 ros_available = False
 robot_available = False
 robot_interface = None
+rclpy_instance = None
 try:
-    import rospy
+    import rclpy
     ros_available = True
-    rospy.init_node('ros_interface', anonymous=False)
+    rclpy_instance = rclpy
+    rclpy.init()
 except:
-    print("Could not import rospy. Robot interface is not available.")
+    print("Could not import rclpy. Robot interface is not available.")
     ros_available = False
 
 httpd = None
@@ -272,8 +274,9 @@ def shutdown(sig, frame):
     robot_interface._cancel_goals()
     print("Waiting for 2s to preempt robot actions...")
     time.sleep(2)
-  if ros_available:
-    rospy.signal_shutdown("Shutting down Server")
+    robot_interface.destroy_node()
+  if ros_available and rclpy_instance is not None:
+    rclpy_instance.shutdown()
   if httpd is not None:
     httpd.server_close()
     httpd.shutdown()
@@ -323,7 +326,7 @@ def main():
   parser.add_argument('--transcription-pipe', type=Path, help='Pipe from which to read audio transcriptions', default='/tmp/audio_pipe')
 
   if ros_available:
-    args = parser.parse_args(rospy.myargv()[1:])
+    args = parser.parse_args(rclpy_instance.utilities.remove_ros_args())
   else:
     args = parser.parse_args()
 

conda_environment.yaml

@@ -5,4 +5,4 @@ channels:
 dependencies:
   - python=3.12.8
   - pip
-  - rospy
+  - rclpy

robot_interface/README.md

@@ -1,23 +1,23 @@
 # CodeBotler Robot Interface
 
-CodeBotler utilizes [ROS actions](http://wiki.ros.org/actionlib) to execute generated code on a real robot.
+CodeBotler utilizes [ROS2 actions](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html) to execute generated code on a real robot.
 [robot_interface/src/robot_client_interface.py](src/robot_client_interface.py) defines the action clients that CodeBotler uses to call the robot action servers. The action definitions are in [robot_interface/src/robot_actions_pkg/action](src/robot_actions_pkg/action). An example robot action server script is provided in [robot_interface/src/robot_server_example.py](src/robot_server_example.py) - the example server simply prints action calls to the terminal, along with the call arguments and the result.
 You can use this example script as a template to implement the action servers for your robot.
 
 ## Build
 To build the action messages and the CodeBotler client:
-1. Navigate to the `robot_interface` subdirectory and run `catkin_make`:
+1. Navigate to the `robot_interface` subdirectory and run `colcon build`:
     ```bash
     cd robot_interface
-    catkin_make
+    colcon build
     ```
-1. Source the Catkin workspace setup script:
+1. Source the ROS2 workspace setup script:
     ```bash
-    source devel/setup.bash
+    source install/setup.bash
     ```
-1. Optionally, add the Catkin workspace setup script to your `~/.bashrc` file to automatically source the setup script when opening a new terminal.
+1. Optionally, add the ROS2 workspace setup script to your `~/.bashrc` file to automatically source the setup script when opening a new terminal.
     ```bash
-    echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc
+    echo "source $(pwd)/install/setup.bash" >> ~/.bashrc
     ```
 
 ## Usage
@@ -30,4 +30,4 @@ The robot-specific action server must be launched before running the deployment
     ```bash
     python3 codebotler.py --robot --ip <robot_ip>
     ```
-1. Open `http://<robot_ip>:8080/` in your browser to access the deployment interface.
+1. Open `http://<robot_ip>:8080/` in your browser to access the deployment interface.

robot_interface/requirements.txt

@@ -1,2 +1 @@
-rospkg
-empy
+rclpy

robot_interface/setup_robot.sh

@@ -1,4 +1,4 @@
 #!/bin/bash
 
 pip install -r requirements.txt
-catkin_make
+colcon build

robot_interface/src/robot_actions_pkg/CMakeLists.txt

@@ -1,39 +1,46 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(robot_actions_pkg)
 
-find_package(catkin REQUIRED COMPONENTS
-  rospy
-  std_msgs
-  actionlib_msgs
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-add_action_files(
-  FILES
-  Ask.action
-  GetAllRooms.action
-  GetCurrentLocation.action
-  GoTo.action
-  IsInRoom.action
-  Say.action
-  Pick.action
-  Place.action
-  PickUp.action
-  PutDown.action
-  PutIntoBasket.action
-  RetrieveFromBasket.action
-  GetReachableLocationsAroundObject.action
-)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(rcl_action REQUIRED)
 
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  actionlib_msgs
-)
+# Generate action interfaces
+find_package(rosidl_default_generators REQUIRED)
 
-catkin_package(
- CATKIN_DEPENDS rospy std_msgs
+set(action_files
+  "action/Ask.action"
+  "action/GetAllRooms.action"
+  "action/GetCurrentLocation.action"
+  "action/GetReachableLocationsAroundObject.action"
+  "action/GoTo.action"
+  "action/IsInRoom.action"
+  "action/Pick.action"
+  "action/PickUp.action"
+  "action/Place.action"
+  "action/PutDown.action"
+  "action/PutIntoBasket.action"
+  "action/RetrieveFromBasket.action"
+  "action/Say.action"
 )
 
-include_directories(
-  ${catkin_INCLUDE_DIRS}
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${action_files}
+  DEPENDENCIES std_msgs action_msgs
 )
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

robot_interface/src/robot_actions_pkg/action/PutDown.action

@@ -1,5 +1,5 @@
 string obj
-string location
+string dst
 ---
 
 ---

robot_interface/src/robot_actions_pkg/package.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>robot_actions_pkg</name>
   <version>0.0.0</version>
   <description>The robot_actions_pkg package</description>
@@ -8,20 +9,20 @@
 
   <license>TODO</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>actionlib</build_export_depend>
-  <build_export_depend>actionlib_msgs</build_export_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>actionlib</exec_depend>
-  <exec_depend>actionlib_msgs</exec_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>rcl_action</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>