NASA Challenge_[mikami235]_[Adding explanation of how to use and modifying Dokcerfile for "Natural language controls Rover by generative AI"]

moveit2/Dockerfile

@@ -20,6 +20,7 @@
 #   VERSION     - The version of Space ROS (default: "preview")
 
 FROM osrf/space-ros:latest
+#FROM moveit/moveit2:humble-release
 
 # Define arguments used in the metadata definition
 ARG VCS_REF
@@ -44,6 +45,7 @@ RUN mkdir ${SPACEROS_DIR}/src \
 
 # Define key locations
 ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
+ENV ROSDISTRO=humble
 
 # Make sure the latest versions of packages are installed
 # Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
@@ -125,11 +127,12 @@ RUN vcs import src < /tmp/moveit2_tutorials.repos
 # a possible inherited 'insteadof' from the host that forces use of ssh
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
+
 # Install system dependencies
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
- && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+ && rosdep install --from-paths ${SPACEROS_DIR}/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
 
 # Apply a patch to octomap_msgs to work around a build issue
 COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs

moveit2/build.sh

@@ -1,6 +1,7 @@
 #!/usr/bin/env bash
 
-ORG=openrobotics
+#ORG=openrobotics
+ORG=moveit
 IMAGE=moveit2
 TAG=latest
 

moveit2/run.sh

@@ -5,7 +5,8 @@
 #   docker
 #   an X server
 
-IMG_NAME=openrobotics/moveit2
+#IMG_NAME=openrobotics/moveit2
+IMG_NAME=moveit/moveit2
 
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`

space_robots/Dockerfile

@@ -19,7 +19,8 @@
 #   VCS_REF     - The git revision of the Space ROS source code (no default value).
 #   VERSION     - The version of Space ROS (default: "preview")
 
-FROM openrobotics/moveit2:latest
+#FROM openrobotics/moveit2:latest
+FROM moveit/moveit2:humble-source
 
 # Define arguments used in the metadata definition
 ARG VCS_REF
@@ -39,6 +40,7 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 ENV DEMO_DIR=${HOME_DIR}/demos_ws
 ENV IGNITION_VERSION fortress
 ENV GZ_VERSION fortress
+#ENV SPACEROS_DIR=/opt/spaceros
 
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
@@ -75,30 +77,68 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen wget -y
+
 RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
 RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
 RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
 
 # Get the source for the dependencies
 # RUN vcs import src < /tmp/demo_generated_pkgs.repos
+ENV SPACEROS_DIR=/root/ws_moveit
+ENV MOVEIT2_DIR=${SPACEROS_DIR}
+
+RUN echo "SPACEROS_DIR is set to: ${SPACEROS_DIR}"
+
 COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
-RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+RUN vcs import src < /tmp/demo_manual_pkgs.repos
+RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y \
-&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
-&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+  sudo apt-get update -y 
+
+RUN echo "MOVEIT2_DIR is set to: ${MOVEIT2_DIR}"
+
+RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+RUN /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' 
+
+RUN sudo apt-get update && sudo apt-get install -y curl gnupg2 lsb-release \
+  && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | sudo apt-key add - \
+  && sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' \
+  && sudo apt-get update
+
+RUN sudo apt-get update && sudo apt-get install -y vim python3-pip
+
+
+ENV ROSDISTRO=humble
+RUN rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
 
 # Build the demo
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
+ENV USERNAME=root 
+
+RUN echo "USERNAME is set to: $USERNAME"
+
+
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 RUN sudo usermod -aG render $USERNAME
 
+# Create /demo_ws/ directory and copy new files
+RUN mkdir -p /demos_ws/
+COPY generate_src.py /demos_ws/
+COPY sample_code_by_gpt.py /demos_ws/
+COPY sample_code_turn_left_by_gpt.py /demos_ws/
+COPY config.json /demos_ws/
+COPY prompt.txt /demos_ws/ 
+
+# Grant execute permissions to Python scripts (if needed)
+RUN chmod +x /demos_ws/generate_src.py /demos_ws/sample_code_by_gpt.py /demos_ws/sample_code_turn_left_by_gpt.py
+
+RUN pip install openai
+
 # Setup the entrypoint
 COPY ./entrypoint.sh /
 ENTRYPOINT ["/entrypoint.sh"]

space_robots/README.md

@@ -114,6 +114,26 @@ Close the mast (camera arm)
 ros2 service call /mast_close std_srvs/srv/Empty
 ```
 
+##### Generate codes for moving rover by OpenAI API
+
+Step.1 Initial settingsi
+
+Check the config.json for input your API-Key and the LLM model you want to
+
+Step.2 After run the launch demo command, run the code
+
+```bash
+python3 generate_src.py
+```
+("openai" of python module is verified in the version 1.44.0)
+
+
+Step.3 Automatically saving the generated code by LLM
+
+```bash
+gen_script_20240907_0835.py
+```
+
 #### Canadarm demo
 
 ```bash

space_robots/build.sh

@@ -1,7 +1,9 @@
 #!/usr/bin/env bash
 
-ORG=openrobotics
+#ORG=openrobotics
+ORG=osrf
 IMAGE=space_robots_demo
+#IMAGE=space-ros
 TAG=latest
 
 VCS_REF=""

space_robots/config.json

@@ -0,0 +1,5 @@
+{
+  "openai_api_key": "SK-xxxxx",
+  "openai_model": "gpt-4o-2024-08-06"
+}
+

space_robots/config_dummy.json

@@ -0,0 +1,5 @@
+{
+  "openai_api_key": "sk-XXXXX",
+  "openai_model": "gpt-4o-2024-08-06"
+}
+

space_robots/generate_src.py

@@ -0,0 +1,79 @@
+import json
+from openai import OpenAI
+import subprocess
+import os
+import sys
+from datetime import datetime
+
+def load_config(file_path):
+    try:
+        with open(file_path, 'r') as file:
+            return json.load(file)
+    except FileNotFoundError:
+        print(f"Error: {file_path} not found.")
+        sys.exit(1)
+    except json.JSONDecodeError:
+        print(f"Error: {file_path} is not a valid JSON file.")
+        sys.exit(1)
+
+def load_prompt(file_path):
+    try:
+        with open(file_path, "r") as f:
+            return f.read()
+    except FileNotFoundError:
+        print(f"Error: {file_path} not found.")
+        sys.exit(1)
+
+def get_chat_response(client, prompt, model):
+    try:
+        response = client.chat.completions.create(
+            model=model,
+            messages=[
+                {"role": "user", "content": prompt},
+            ]
+        )
+        return response.choices[0].message.content.strip()
+    except Exception as e:
+        print(f"Error getting response from GPT: {e}")
+        sys.exit(1)
+
+def remove_backticks(code_str):
+    if code_str.startswith("```python"):
+        code_str = code_str[len("```python"):].strip()
+    if code_str.endswith("```"):
+        code_str = code_str[:-len("```")].strip()
+    return code_str
+
+def generate_python_script(res):
+    python_code = remove_backticks(res)
+    current_time = datetime.now().strftime("%Y%m%d_%H%M")
+    filename = f"gen_script_{current_time}.py"
+    with open(filename, "w") as f:
+        f.write(python_code)
+    return filename
+
+def run_python_script(filename):
+    result = subprocess.run(["python3", filename], capture_output=True, text=True)
+    if result.returncode != 0:
+        print(f"Error executing script: {result.stderr}")
+    else:
+        print(f"Script output: {result.stdout}")
+
+def main():
+    config = load_config('config.json')
+    client = OpenAI(api_key=config['openai_api_key'])
+
+    pre_prompt = load_prompt("prompt.txt")
+    print("Pre-prompt loaded successfully")
+
+    print("Please input command like 'Go forward 10 seconds' and push enter-key")
+    user_input = input("")
+    prompt = pre_prompt + user_input
+
+    res = get_chat_response(client, prompt, config['openai_model'])
+    filename = generate_python_script(res)
+    run_python_script(filename)
+
+if __name__ == "__main__":
+    main()
+

space_robots/prompt.txt

@@ -0,0 +1,5 @@
+I need rclpy code to run a differential rover robot.
+Publish /cmd_vel every 0.1 seconds.
+Please only write Python code in your replies.
+Reply by. import rclpy Please start with
+QoS is not set

space_robots/run.sh

@@ -5,11 +5,13 @@
 #   docker
 #   an X server
 
-IMG_NAME=openrobotics/space_robots_demo
+#IMG_NAME=openrobotics/space_robots_demo
+IMG_NAME=osrf/space_robots_demo
 
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
-CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
+CONTAINER_NAME="my_test_1"
+#"$(tr '/' '_' <<< "$IMG_NAME")"
 
 # Start the container
 docker run --rm -it --name $CONTAINER_NAME  --network host \

space_robots/sample_code_by_gpt.py

@@ -0,0 +1,45 @@
+#This code is generated by inputting "Rover goes forward 10m/s during 20 seconds"
+#after 'python3 generate_src.py' 
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from time import sleep
+
+class RoverController(Node):
+
+    def __init__(self):
+        super().__init__('rover_controller')
+        self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.timer = self.create_timer(0.1, self.publish_cmd_vel)
+        self.start_time = self.get_clock().now()
+
+    def publish_cmd_vel(self):
+        current_time = self.get_clock().now()
+        elapsed_time = (current_time - self.start_time).nanoseconds / 1e9
+
+        if elapsed_time > 20:
+            self.timer.cancel()  # Stop publishing after 20 seconds
+            self.get_logger().info('Stopped sending velocity commands.')
+            return
+
+        cmd_vel = Twist()
+        cmd_vel.linear.x = 10.0  # Forward speed in m/s
+        cmd_vel.angular.z = 0.0  # No rotation
+
+        self.publisher_.publish(cmd_vel)
+        self.get_logger().info('Publishing: Linear X: %f, Angular Z: %f' %
+                               (cmd_vel.linear.x, cmd_vel.angular.z))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    rover_controller = RoverController()
+    rclpy.spin(rover_controller)
+
+    rover_controller.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

space_robots/sample_code_turn_left_by_gpt.py

@@ -0,0 +1,37 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import time
+
+class RoverController(Node):
+    def __init__(self):
+        super().__init__('rover_controller')
+        self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 10)
+
+    def publish_cmd_vel(self):
+        twist = Twist()
+        # Set linear velocity to move forward
+        twist.linear.x = 5.0
+        # Set angular velocity for turning left
+        twist.angular.z = 1.0
+
+        # Publish the velocity command for 10 seconds
+        end_time = time.time() + 10
+        while time.time() < end_time:
+            self.publisher_.publish(twist)
+            time.sleep(0.1)
+
+def main(args=None):
+    rclpy.init(args=args)
+    rover_controller = RoverController()
+
+    try:
+        rover_controller.publish_cmd_vel()
+    finally:
+        # Destroy the node explicitly
+        rover_controller.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+