Support for Llama 3.1

demo.sh

@@ -27,16 +27,10 @@ DEVELOPMENT=${DEVELOPMENT:-false}
 
 # Enable X11 forwarding based on OS
 case "$(uname)" in
-    Linux)
-        echo "Enabling X11 forwarding for Linux..."
-        export DISPLAY=:0
-        xhost +local:docker
-        ;;
-    Darwin)
-        echo "Enabling X11 forwarding for macOS..."
-        ip=$(ifconfig en0 | awk '$1=="inet" {print $2}')
-        export DISPLAY=$ip:0
-        xhost + $ip
+    Linux*|Darwin*)
+        echo "Enabling X11 forwarding..."
+        export DISPLAY=host.docker.internal:0
+        xhost +
         ;;
     MINGW*|CYGWIN*|MSYS*)
         echo "Enabling X11 forwarding for Windows..."
@@ -73,4 +67,4 @@ docker run -it --rm --name $CONTAINER_NAME \
 # Disable X11 forwarding
 xhost -
 
-exit 0
+exit 0

pyproject.toml

@@ -25,18 +25,18 @@ requires-python = ">=3.9, <4"
 dependencies = [
     "PyYAML==6.0.1",
     "python-dotenv>=1.0.1",
-    "langchain==0.2.14",
-    "langchain-community==0.2.12",
-    "langchain-core==0.2.34",
-    "langchain-openai==0.1.22",
-    "langchain-ollama",
+    "langchain==0.3.2",
+    "langchain-community==0.3.1",
+    "langchain-core==0.3.9",
+    "langchain-openai==0.2.2",
+    "langchain-ollama==0.2.0",
     "pydantic",
     "pyinputplus",
     "azure-identity",
     "cffi",
     "rich",
     "pillow>=10.4.0",
-    "numpy>=1.21.2",
+    "numpy>=1.26.4",
 ]
 
 [project.urls]

src/rosa/__init__.py

@@ -13,6 +13,6 @@
 #  limitations under the License.
 
 from .prompts import RobotSystemPrompts
-from .rosa import ROSA
+from .rosa import ROSA, ChatModel
 
-__all__ = ["ROSA", "RobotSystemPrompts"]
+__all__ = ["ROSA", "RobotSystemPrompts", "ChatModel"]

src/rosa/rosa.py

@@ -23,19 +23,22 @@
 from langchain_community.callbacks import get_openai_callback
 from langchain_core.messages import AIMessage, HumanMessage
 from langchain_core.prompts import ChatPromptTemplate
+from langchain_ollama import ChatOllama
 from langchain_openai import AzureChatOpenAI, ChatOpenAI
 
 from .prompts import RobotSystemPrompts, system_prompts
 from .tools import ROSATools
 
+ChatModel = Union[ChatOpenAI, AzureChatOpenAI, ChatOllama]
+
 
 class ROSA:
     """ROSA (Robot Operating System Agent) is a class that encapsulates the logic for interacting with ROS systems
     using natural language.
 
     Args:
         ros_version (Literal[1, 2]): The version of ROS that the agent will interact with.
-        llm (Union[AzureChatOpenAI, ChatOpenAI]): The language model to use for generating responses.
+        llm (Union[AzureChatOpenAI, ChatOpenAI, ChatOllama]): The language model to use for generating responses.
         tools (Optional[list]): A list of additional LangChain tool functions to use with the agent.
         tool_packages (Optional[list]): A list of Python packages containing LangChain tool functions to use.
         prompts (Optional[RobotSystemPrompts]): Custom prompts to use with the agent.
@@ -63,7 +66,7 @@ class ROSA:
     def __init__(
         self,
         ros_version: Literal[1, 2],
-        llm: Union[AzureChatOpenAI, ChatOpenAI],
+        llm: ChatModel,
         tools: Optional[list] = None,
         tool_packages: Optional[list] = None,
         prompts: Optional[RobotSystemPrompts] = None,

src/rosa/tools/ros1.py

@@ -470,12 +470,14 @@ def rosservice_info(services: List[str]) -> dict:
 
 
 @tool
-def rosservice_call(service: str, args: List[str]) -> dict:
+def rosservice_call(service: str, args: Optional[List[any]] = None) -> dict:
     """Calls a specific ROS service with the provided arguments.
 
     :param service: The name of the ROS service to call.
     :param args: A list of arguments to pass to the service.
     """
+    if not args:
+        args = []
     try:
         response = rosservice.call_service(service, args)
         return response
@@ -738,43 +740,60 @@ def roslaunch(package: str, launch_file: str) -> str:
 
 
 @tool
-def roslaunch_list(package: str) -> dict:
-    """Returns a list of available ROS launch files in a package.
+def roslaunch_list(packages: List[str]) -> dict:
+    """Returns a list of available ROS launch files in the specified packages.
 
-    :param package: The name of the ROS package to list launch files for.
+    :param packages: A list of ROS package names to list launch files for.
     """
-    try:
-        rospack = rospkg.RosPack()
-        directory = rospack.get_path(package)
-        launch = os.path.join(directory, "launch")
-
-        launch_files = []
+    results = {}
+    errors = []
 
-        # Get all files in the launch directory
-        if os.path.exists(launch):
-            launch_files = [
-                f for f in os.listdir(launch) if os.path.isfile(os.path.join(launch, f))
-            ]
+    rospack = rospkg.RosPack()
+    for package in packages:
+        try:
+            directory = rospack.get_path(package)
+            launch = os.path.join(directory, "launch")
+
+            launch_files = []
+
+            # Get all files in the launch directory
+            if os.path.exists(launch):
+                launch_files = [
+                    f
+                    for f in os.listdir(launch)
+                    if os.path.isfile(os.path.join(launch, f))
+                ]
+
+            results[package] = {
+                "directory": directory,
+                "total": len(launch_files),
+                "launch_files": launch_files,
+            }
+        except Exception as e:
+            errors.append(
+                f"Failed to get ROS launch files for package '{package}': {e}"
+            )
 
+    if not results:
         return {
-            "package": package,
-            "directory": directory,
-            "total": len(launch_files),
-            "launch_files": launch_files,
+            "error": "Failed to get ROS launch files for all specified packages.",
+            "details": errors,
         }
 
-    except Exception as e:
-        return {"error": f"Failed to get ROS launch files in package '{package}': {e}"}
+    return {"results": results, "errors": errors}
 
 
 @tool
-def rosnode_kill(node: str) -> str:
+def rosnode_kill(node_names: List[str]) -> dict:
     """Kills a specific ROS node.
 
-    :param node: The name of the ROS node to kill.
+    :param node_names: A list of node names to kill.
     """
+    if not node_names or len(node_names) == 0:
+        return {"error": "Please provide the name(s) of the ROS node to kill."}
+
     try:
-        os.system(f"rosnode kill {node}")
-        return f"Killed ROS node '{node}'."
+        successes, failures = rosnode.kill_nodes(node_names)
+        return dict(successesfully_killed=successes, failed_to_kill=failures)
     except Exception as e:
-        return f"Failed to kill ROS node '{node}': {e}"
+        return {"error": f"Failed to kill ROS node(s): {e}"}

src/turtle_agent/scripts/turtle_agent.py

@@ -21,8 +21,9 @@
 import pyinputplus as pyip
 import rospy
 from langchain.agents import tool, Tool
-from rich.console import Group  # Add this import
+# from langchain_ollama import ChatOllama
 from rich.console import Console
+from rich.console import Group
 from rich.live import Live
 from rich.markdown import Markdown
 from rich.panel import Panel
@@ -35,9 +36,10 @@
 from prompts import get_prompts
 
 
+# Typical method for defining tools in ROSA
 @tool
 def cool_turtle_tool():
-    """A cool turtle tool."""
+    """A cool turtle tool that doesn't really do anything."""
     return "This is a cool turtle tool! It doesn't do anything, but it's cool."
 
 
@@ -47,6 +49,14 @@ def __init__(self, streaming: bool = False, verbose: bool = True):
         self.__blacklist = ["master", "docker"]
         self.__prompts = get_prompts()
         self.__llm = get_llm(streaming=streaming)
+
+        # self.__llm = ChatOllama(
+        #     base_url="host.docker.internal:11434",
+        #     model="llama3.1",
+        #     temperature=0,
+        #     num_ctx=8192,
+        # )
+
         self.__streaming = streaming
 
         # Another method for adding tools