feat: Add NoMaD extension

.github/workflows/poetry-test.yml

@@ -26,7 +26,7 @@ jobs:
         uses: snok/install-poetry@v1
 
       - name: Install python dependencies
-        run: poetry install --with gdino
+        run: poetry install --with gdino,nomad
 
       - name: Update rosdep
         shell: bash

README.md

@@ -59,7 +59,7 @@ The RAI framework aims to:
 - [x] ROS 2 action calling and other interfaces. The Agent can dynamically list interfaces, check their message type, and publish.
 - [x] Integration with LangChain to abstract vendors and access convenient AI tools.
 - [x] Tasks in natural language to nav2 goals.
-- [ ] NoMaD integration.
+- [x] NoMaD integration.
 - [ ] OpenVLA integration.
 - [ ] Improved Human-Robot Interaction with voice and text.
 - [ ] SDK for RAI developers.

docs/ros_packages.md

@@ -6,6 +6,7 @@ RAI includes multiple configurable ROS 2 packages.
 | ---------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- |
 | **rai_asr**            | Automatic Speech Recognition node utilizes a combination of voice activity detection (VAD) and a speech recognition model to transcribe spoken language into text using [openai-whisper](https://github.com/openai/whisper). | [rai_asr](../src/rai_asr/README.md)                            |
 | **rai_grounding_dino** | Package enabling use of [GroundingDINO](https://github.com/IDEA-Research/GroundingDINO) -- an open-set detection model with ROS 2.                                                                                           | [rai_grounding_dino](../src/rai_extensions/rai_grounding_dino) |
+| **rai_nomad**          | Package integrating [NoMaD](https://general-navigation-models.github.io/nomad/index.html) -- an exploration model with ROS2.                                                                                                 | [rai_nomad](../src/rai_extensions/rai_nomad)                   |
 | **rai_interfaces**     | Definition of custom messages and services used in RAI.                                                                                                                                                                      |                                                                |
 | **rai_whoami**         | Configures and provides information about the robot identity.                                                                                                                                                                | [rai_whoami](create_robots_whoami.md)                          |
 | **rai_bringup**        | Launch files to run RAI.                                                                                                                                                                                                     |                                                                |

pyproject.toml

@@ -62,6 +62,12 @@ torch = "^2.3.1"
 torchvision = "^0.18.1"
 rf-groundingdino = "^0.2.0"
 
+[tool.poetry.group.nomad]
+optional = true
+
+[tool.poetry.group.nomad.dependencies]
+visualnav_transformer = { git = "https://github.com/RobotecAI/visualnav-transformer-ros2.git", branch = "main" }
+gdown = "^5.2.0"
 
 [build-system]
 requires = ["setuptools>=42", "wheel"]

src/rai_extensions/rai_nomad/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

src/rai_extensions/rai_nomad/README.md

@@ -0,0 +1,51 @@
+# RAI NoMaD
+
+This package provides a ROS2 Node which loads and runs the [NoMaD](https://general-navigation-models.github.io/nomad/index.html) model, that can be dynamically activated and deactivated using ROS2 messages.
+
+## Running instructions
+
+### 1. Setup the ROS2 workspace
+
+In the base directory of the `RAI` package install dependancies:
+
+```
+poetry install --with nomad
+```
+
+Source the ros installation
+
+```
+source /opt/ros/${ROS_DISTRO}/setup.bash
+```
+
+Run the build process:
+
+```
+colcon build
+```
+
+Setup your shell:
+
+```
+source ./setup_shell.sh
+```
+
+### 2. Run the node
+
+Run the ROS2 node using `ros2 run`:
+
+```
+ros2 run rai_nomad nomad --ros-args -p image_topic:=<your_image_topic>
+```
+
+The model will be loaded and ready, but it will not run until you call the `/rai_nomad/start` service. Then it will start outputting velocity commands and your robot should start moving. You can then stop the model by calling the `/rai_nomad/stop` service.
+
+### Parameters
+
+- `model_path`: Path to where the model should be downloaded. By default it will be downloaded into the package's `share` directory.
+- `image_topic`: The topic where the camera images are being published.
+- `cmd_vel_topic`: The topic where the velocity commands are being published. Default: `/cmd_vel`.
+- `linear_vel`: Linear velocity scaling of the model output.
+- `angular_vel`: Angular velocity scaling of the model output.
+- `max_v` and `max_w`: Maximum linear and angular velocities that the model can output.
+- `rate`: The rate at which the model will run.

src/rai_extensions/rai_nomad/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rai_nomad</name>
+  <version>0.0.0</version>
+  <description>Package enabling exploration using NoMaD model in RAI</description>
+  <maintainer email="[email protected]">kdabrowski</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/rai_extensions/rai_nomad/rai_nomad/__init__.py

@@ -0,0 +1,14 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#