latest pushes

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()

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"
 }

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 <https://www.gnu.org/licenses/>.
+
+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)

ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_command.launch

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<!--
+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 <https://www.gnu.org/licenses/>.
+-->
+<?xml version="1.0"?>
+<launch>
+  <!-- Load configuration file -->
+  <arg name="config_file" default="$(find ros_web_api_bellande_ai_system)/config/configs.json" />
+  <param name="ai_system_config" textfile="$(arg config_file)" />
+
+  <!-- Launch the AI System base node -->
+  <node name="bellande_ai_system_base_node" pkg="ros_web_api_bellande_ai_system"
+    type="bellande_ai_system_base.py" output="screen">
+    <param name="config_file" value="$(arg config_file)" />
+  </node>
+
+</launch>

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 <https://www.gnu.org/licenses/>.
+
 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'},
 )

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)
+        pub = rospy.Publisher('ai_system_node_ai_response', String, queue_size=10)
-        sub = rospy.Subscriber('ai_input', String, input_callback)
+        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)
+        pub = node.create_publisher(String, 'ai_system_node_ai_response', 10)
-        sub = node.create_subscription(String, 'ai_input', input_callback, 10)
+        sub = node.create_subscription(String, 'ai_system_node_ai_input', input_callback, 10)
     
     api_url = f"{url}{endpoint_path}"
     

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 <https://www.gnu.org/licenses/>.
+
+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()