diff --git a/ros_web_api_bellande_ai_system/CMakeLists.txt b/ros_web_api_bellande_ai_system/CMakeLists.txt
index e79e1ca..3447650 100644
--- a/ros_web_api_bellande_ai_system/CMakeLists.txt
+++ b/ros_web_api_bellande_ai_system/CMakeLists.txt
@@ -44,6 +44,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
catkin_install_python(
PROGRAMS
src/bellande_ai_system_base.py
+ src/bellande_ai_system_command.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
endif()
@@ -51,10 +52,12 @@ endif()
# Install Python scripts, configuration files, and launch files
if($ENV{ROS_VERSION} EQUAL "1")
install(PROGRAMS src/bellande_ai_system_base.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+ install(PROGRAMS src/bellande_ai_system_command.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
elseif($ENV{ROS_VERSION} EQUAL "2")
install(PROGRAMS src/bellande_ai_system_base.py DESTINATION lib/${PROJECT_NAME})
+ install(PROGRAMS src/bellande_ai_system_command.py DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
ament_package()
diff --git a/ros_web_api_bellande_ai_system/config/configs.json b/ros_web_api_bellande_ai_system/config/configs.json
index a9211f7..752cf84 100644
--- a/ros_web_api_bellande_ai_system/config/configs.json
+++ b/ros_web_api_bellande_ai_system/config/configs.json
@@ -17,7 +17,8 @@
],
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
"endpoint_path": {
- "base": "/api/Bellande_AI_System/base"
+ "base": "/api/Bellande_AI_System/base",
+ "command": "api/Bellande_AI_System/command"
},
"Bellande_Framework_Access_Key": "bellande_web_api_opensource"
}
diff --git a/ros_web_api_bellande_ai_system/launch/bellande_ai_system_command.launch.py b/ros_web_api_bellande_ai_system/launch/bellande_ai_system_command.launch.py
new file mode 100644
index 0000000..9296bb6
--- /dev/null
+++ b/ros_web_api_bellande_ai_system/launch/bellande_ai_system_command.launch.py
@@ -0,0 +1,67 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "ros_web_api_bellande_ai_system", "bellande_ai_system_command.launch"] + args
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+ # Declare launch arguments
+ config_file_arg = DeclareLaunchArgument(
+ 'config_file',
+ default_value='$(find ros_web_api_bellande_ai_system)/config/configs.json',
+ description='Path to the AI system configuration file'
+ )
+
+ # Create a list to hold all nodes to be launched
+ nodes_to_launch = []
+
+ # ROS2 specific configurations
+ ros_launch_arguments = [config_file_arg]
+
+ nodes_to_launch.append(Node(
+ package='ros_web_api_bellande_ai_system',
+ executable='bellande_ai_system_command.py',
+ name='bellande_ai_system_command_node',
+ output='screen',
+ parameters=[
+ {'config_file': LaunchConfiguration('config_file')},
+ ],
+ ))
+
+ # Return the LaunchDescription containing all nodes and arguments
+ return LaunchDescription(ros_launch_arguments + nodes_to_launch)
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_command.launch b/ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_command.launch
new file mode 100644
index 0000000..54cd1e2
--- /dev/null
+++ b/ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_command.launch
@@ -0,0 +1,30 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ros_web_api_bellande_ai_system/setup.py b/ros_web_api_bellande_ai_system/setup.py
index 3a81b2a..f910ebb 100755
--- a/ros_web_api_bellande_ai_system/setup.py
+++ b/ros_web_api_bellande_ai_system/setup.py
@@ -1,9 +1,24 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
- scripts=['src/bellande_ai_system_base.py'],
+ scripts=["src/bellande_ai_system_base.py", "src/bellande_ai_system_command.py"],
packages=['ros_web_api_bellande_ai_system'],
package_dir={'': 'src'},
)
diff --git a/ros_web_api_bellande_ai_system/src/bellande_ai_system_base.py b/ros_web_api_bellande_ai_system/src/bellande_ai_system_base.py
index b604f42..4f0fd40 100755
--- a/ros_web_api_bellande_ai_system/src/bellande_ai_system_base.py
+++ b/ros_web_api_bellande_ai_system/src/bellande_ai_system_base.py
@@ -62,13 +62,13 @@ def main():
# Initialize ROS node
if ros_version == "1":
rospy.init_node('ai_system_node', anonymous=True)
- pub = rospy.Publisher('ai_response', String, queue_size=10)
- sub = rospy.Subscriber('ai_input', String, input_callback)
+ pub = rospy.Publisher('ai_system_node_ai_response', String, queue_size=10)
+ sub = rospy.Subscriber('ai_system_node_ai_input', String, input_callback)
elif ros_version == "2":
rclpy.init()
node = rclpy.create_node('ai_system_node')
- pub = node.create_publisher(String, 'ai_response', 10)
- sub = node.create_subscription(String, 'ai_input', input_callback, 10)
+ pub = node.create_publisher(String, 'ai_system_node_ai_response', 10)
+ sub = node.create_subscription(String, 'ai_system_node_ai_input', input_callback, 10)
api_url = f"{url}{endpoint_path}"
diff --git a/ros_web_api_bellande_ai_system/src/bellande_ai_system_command.py b/ros_web_api_bellande_ai_system/src/bellande_ai_system_command.py
new file mode 100755
index 0000000..cf4a1bb
--- /dev/null
+++ b/ros_web_api_bellande_ai_system/src/bellande_ai_system_command.py
@@ -0,0 +1,96 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import json
+import os
+import requests
+from std_msgs.msg import String
+
+def get_ai_response(input_command):
+ payload = {
+ "input_command": input_command
+ }
+ headers = {
+ 'accept': 'application/json',
+ 'Content-Type': 'application/json',
+ "Authorization": f"Bearer {api_access_key}"
+ }
+ try:
+ response = requests.post(
+ api_url,
+ json=payload,
+ headers=headers
+ )
+ response.raise_for_status()
+ data = response.json()
+ return String(f"AI Response: {data['response']}")
+ except requests.exceptions.RequestException as e:
+ print(f"Error: {e}")
+ return None
+
+def input_callback(msg):
+ ai_response = get_ai_response(msg.data)
+ if ai_response:
+ pub.publish(ai_response)
+
+def main():
+ global api_url, api_access_key, pub
+ config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+
+ if not os.path.exists(config_file_path):
+ print("Config file not found:", config_file_path)
+ return
+
+ with open(config_file_path, 'r') as config_file:
+ config = json.load(config_file)
+ url = config['url']
+ endpoint_path = config['endpoint_path']["command"]
+ api_access_key = config["Bellande_Framework_Access_Key"]
+
+ # Initialize ROS node
+ if ros_version == "1":
+ rospy.init_node('ai_system_node', anonymous=True)
+ pub = rospy.Publisher('ai_system_node_ai_command_response', String, queue_size=10)
+ sub = rospy.Subscriber('ai_system_node_ai_coomand_input', String, input_callback)
+ elif ros_version == "2":
+ rclpy.init()
+ node = rclpy.create_node('ai_system_node')
+ pub = node.create_publisher(String, 'ai_system_node_ai_command_response', 10)
+ sub = node.create_subscription(String, 'ai_system_node_ai_command_input', input_callback, 10)
+
+ api_url = f"{url}{endpoint_path}"
+
+ try:
+ print("AI system node is running. Ctrl+C to exit.")
+ if ros_version == "1":
+ rospy.spin()
+ elif ros_version == "2":
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ print("Shutting down AI system node.")
+ except Exception as e:
+ print(f"An error occurred: {str(e)}")
+ finally:
+ if ros_version == "2":
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ import rospy
+ elif ros_version == "2":
+ import rclpy
+ main()