From 4e52c7f2a5efb46d66f5e63ac411187987b5f4b6 Mon Sep 17 00:00:00 2001 From: RonaldsonBellande Date: Sat, 6 Jul 2024 16:58:45 -0400 Subject: [PATCH] ai base --- ros_web_api_bellande_ai_system/CMakeLists.txt | 61 ++++++++++++ ros_web_api_bellande_ai_system/README.md | 10 ++ .../config/configs.json | 7 ++ .../launch/bellande_ai_system_base.launch.py | 67 +++++++++++++ .../ros1/bellande_ai_system_base.launch | 29 ++++++ ros_web_api_bellande_ai_system/package.xml | 53 ++++++++++ ros_web_api_bellande_ai_system/setup.py | 11 +++ .../src/bellande_ai_system_base.py | 96 +++++++++++++++++++ ros_web_api_bellande_step/script/build.sh | 29 ------ 9 files changed, 334 insertions(+), 29 deletions(-) create mode 100644 ros_web_api_bellande_ai_system/CMakeLists.txt create mode 100644 ros_web_api_bellande_ai_system/README.md create mode 100644 ros_web_api_bellande_ai_system/config/configs.json create mode 100644 ros_web_api_bellande_ai_system/launch/bellande_ai_system_base.launch.py create mode 100644 ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_base.launch create mode 100644 ros_web_api_bellande_ai_system/package.xml create mode 100755 ros_web_api_bellande_ai_system/setup.py create mode 100755 ros_web_api_bellande_ai_system/src/bellande_ai_system_base.py delete mode 100644 ros_web_api_bellande_step/script/build.sh diff --git a/ros_web_api_bellande_ai_system/CMakeLists.txt b/ros_web_api_bellande_ai_system/CMakeLists.txt new file mode 100644 index 0000000..e79e1ca --- /dev/null +++ b/ros_web_api_bellande_ai_system/CMakeLists.txt @@ -0,0 +1,61 @@ +# 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 . + +cmake_minimum_required(VERSION 3.8) +project(ros_web_api_bellande_ai_system) + +# Find ROS +if($ENV{ROS_VERSION} EQUAL 1) + find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + ) +else() + find_package(ament_cmake REQUIRED COMPONENTS + rclcpp + rclpy + ) +endif() + +if($ENV{ROS_VERSION} EQUAL 1) + catkin_package( + INCLUDE_DIRS + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS + roscpp + rospy + ) +endif() + +# Install Python scripts for both ROS 1 +if($ENV{ROS_VERSION} EQUAL 1) + catkin_install_python( + PROGRAMS + src/bellande_ai_system_base.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) +endif() + +# Install Python scripts, configuration files, and launch files +if($ENV{ROS_VERSION} EQUAL "1") + install(PROGRAMS src/bellande_ai_system_base.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + install(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/${PROJECT_NAME}) + install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config) + install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch) + ament_package() +endif() diff --git a/ros_web_api_bellande_ai_system/README.md b/ros_web_api_bellande_ai_system/README.md new file mode 100644 index 0000000..c6e3257 --- /dev/null +++ b/ros_web_api_bellande_ai_system/README.md @@ -0,0 +1,10 @@ +# Bellande Web ROS/ROS2 API + +# [Bellande Step](https://github.com/RonaldsonBellande/bellande_robots_step) + +# ROS1 Launch +- python3 bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 +- roslaunch ros_web_api_bellande_step bellande_step_api_2d.launch x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 + +# ROS2 Launch +- ros2 launch ros_web_api_bellande_step bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 diff --git a/ros_web_api_bellande_ai_system/config/configs.json b/ros_web_api_bellande_ai_system/config/configs.json new file mode 100644 index 0000000..95e226c --- /dev/null +++ b/ros_web_api_bellande_ai_system/config/configs.json @@ -0,0 +1,7 @@ +{ + "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run", + "endpoint_path": { + "base": "/api/Bellande_AI_System/base" + }, + "Bellande_Framework_Access_Key": "bellande_web_api_opensource" +} diff --git a/ros_web_api_bellande_ai_system/launch/bellande_ai_system_base.launch.py b/ros_web_api_bellande_ai_system/launch/bellande_ai_system_base.launch.py new file mode 100644 index 0000000..583a73c --- /dev/null +++ b/ros_web_api_bellande_ai_system/launch/bellande_ai_system_base.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_base.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_base.py', + name='bellande_ai_system_base_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_base.launch b/ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_base.launch new file mode 100644 index 0000000..3b47d7d --- /dev/null +++ b/ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_base.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + diff --git a/ros_web_api_bellande_ai_system/package.xml b/ros_web_api_bellande_ai_system/package.xml new file mode 100644 index 0000000..68fc11b --- /dev/null +++ b/ros_web_api_bellande_ai_system/package.xml @@ -0,0 +1,53 @@ + + + + ros_web_api_bellande_ai_system + 0.0.1 + Bellande ROS/ROS2 package with a JSON config file for making HTTP requests + Ronaldson Bellande + Ronaldson Bellande + GNU General Public License v3.0 + + + catkin + + roscpp + rospy + + roscpp + rospy + + roscpp + rospy + + + ament_cmake + + rclcpp + rclpy + + rclcpp + rclpy + + rclcpp + rclpy + + + + + diff --git a/ros_web_api_bellande_ai_system/setup.py b/ros_web_api_bellande_ai_system/setup.py new file mode 100755 index 0000000..3a81b2a --- /dev/null +++ b/ros_web_api_bellande_ai_system/setup.py @@ -0,0 +1,11 @@ +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'], + packages=['ros_web_api_bellande_ai_system'], + package_dir={'': 'src'}, +) + +setup(**setup_args) 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 new file mode 100755 index 0000000..2b81e00 --- /dev/null +++ b/ros_web_api_bellande_ai_system/src/bellande_ai_system_base.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_text): + payload = { + "input_text": input_text + } + 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/ai_system.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']["base"] + 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_response', String, queue_size=10) + sub = rospy.Subscriber('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) + + 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() diff --git a/ros_web_api_bellande_step/script/build.sh b/ros_web_api_bellande_step/script/build.sh deleted file mode 100644 index 78e4cf0..0000000 --- a/ros_web_api_bellande_step/script/build.sh +++ /dev/null @@ -1,29 +0,0 @@ -#!/bin/bash - -# Create and navigate to build directory -mkdir -p build && cd build - -# Build package -if [ $ROS_VERSION -eq 1 ]; then - cmake -DROS_VERSION=1 .. - make -j$(nproc) -else - cmake -DROS_VERSION=2 .. - make -j$(nproc) -fi - -# Source package setup file -source devel/setup.bash - -# Run rosdep -rosdep install --from-paths ../src --ignore-src -y - -# Return to package root directory -cd .. - -# Run ROS launch file -if [ $ROS_VERSION -eq 1 ]; then - roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 -else - ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 -fi