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Signed-off-by: Adam Dąbrowski <[email protected]> Co-authored-by: Bartek Boczek <[email protected]>
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| # Demos | ||
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| ## Installation | ||
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| In the root directory of the `rai` repo download repositories: | ||
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| ```bash | ||
| vcs import < demos.repos | ||
| ``` | ||
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| ## Husarion ROSBot XL demo | ||
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|  | ||
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| ### Using pre-bulit binary | ||
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| 1. Download the newest binary release (`release.zip` file) from [rai-rosbot-xl-demo -> releases](https://github.com/RobotecAI/rai-rosbot-xl-demo/releases) | ||
| 2. Install required packages | ||
| RAI comes with a number of supported demos, which showcase different applications, but are by no means exhaustive. | ||
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| ```bash | ||
| sudo apt install ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-gazebo-msgs ros-${ROS_DISTRO}-control-toolbox | ||
| ``` | ||
|  | ||
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| 3. Unpack the binary and run the simulation: | ||
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| ```bash | ||
| unzip release.zip | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash | ||
| ./release/RAIRosbotXLDemo.GameLauncher -bg_ConnectToAssetProcessor=0 | ||
| ``` | ||
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| 4. Start navigation stack: | ||
| ```bash | ||
| ./src/examples/rai-rosbot-xl-demo/run-nav.sh | ||
| ``` | ||
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| ### Building the project yourself | ||
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| If you would like to adapt the simulation to your needs, you can make changes using | ||
| [O3DE Editor](https://www.docs.o3de.org/docs/welcome-guide/) and build the project | ||
| yourself. | ||
| Please refer to [rai husarion rosbot xl demo][rai rosbot demo] for more details. | ||
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| ## Running RAI | ||
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| You can set the task for the agent in the `examples/nav2_example_ros_actions.py` file. | ||
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| 1. Prepare the robot description. | ||
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| ```bash | ||
| colcon build --symlink-install --packages-select rosbot_xl_whoami | ||
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| . install/setup.bash | ||
| ``` | ||
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| 2. Start `rai_whoami_node` | ||
| who_am_i node. It loads files from robot [description](https://github.com/RobotecAI/rai-rosbot-xl-demo/tree/development/src/rosbot_xl_whoami/description) folder to server robot identity. | ||
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| ```bash | ||
| source setup_shell.sh | ||
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| ros2 run rai_whoami rai_whoami_node --ros-args -p robot_description_package:="rosbot_xl_whoami" | ||
| ``` | ||
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| 3. Start `rai_node`. | ||
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| By looking at the example code in `src/examples/rosbot-xl-generic-node-demo.py` you can see that: | ||
| ## Installation | ||
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| - This node has no information about the robot besides what it can get from `rai_whoami_node` | ||
| - Topics can be whitelisted to only receive information about the robot | ||
| - Before every LLM decision, `rai_node` sends it's state to the LLM Agent. By default it contains ros interfaces (topics, services, actions) and rosout summary, but state can be extended. In the example we also adding the summary of the camera image. | ||
| In the root directory of the `rai` repo, run the following command to fetch demo repositories: | ||
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| ```bash | ||
| source setup_shell.sh | ||
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| python examples/rosbot-xl-generic-node-demo.py | ||
| vcs import < demos.repos | ||
| ``` | ||
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| 4. Send the task to the node: | ||
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| > **NOTE**: For now agent is capable of performing only 1 task at once. | ||
| ```bash | ||
| # Using robots camera to describe environment | ||
| ros2 topic pub --once /task_addition_requests std_msgs/msg/String "data: 'Where are you now?'" | ||
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| # Automatic integration with navigation stack | ||
| ros2 topic pub --once /task_addition_requests std_msgs/msg/String "data: 'Drive 1 meter forward'" | ||
| ros2 topic pub --once /task_addition_requests std_msgs/msg/String "data: 'Spin 90 degrees'" | ||
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| # Knowledge composition to achieve more complicated tasks | ||
| ros2 topic pub --once /task_addition_requests std_msgs/msg/String "data: 'Drive forward if the path is clear, otherwise backward'" | ||
| ``` | ||
| Once you have all the demos pulled, see dedicated docs to proceed: | ||
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| [rai rosbot demo]: https://github.com/RobotecAI/rai-rosbot-xl-demo | ||
| - [Husarion ROSBot XL in an apartment](demos/rosbot_xl.md) | ||
| - Coming soon - autonomous tractor in an orchard. | ||
| - Coming soon - inspection with ANYmal robot dog. | ||
| - Coming soon - manipulation tasks demo |
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