diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 6910add873157a7207928a2db8e00a7ab440d00d..9231d789891378be10ab71a11aaa6de11da74ed6 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,32 +1,32 @@
-FROM chillerrobot/ros-noetic-moveit-panda:first
-
-RUN apt-get update && apt-get install -y ros-noetic-panda-moveit-config
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && roscd panda_moveit_config"
-RUN apt-get install -y ros-noetic-rviz-visual-tools
-RUN apt-get update
-
-# Install Mesa libraries (for AMD/ATI GPUs)
-RUN apt-get update && \
- apt-get -y install libgl1-mesa-glx libgl1-mesa-dri && \
- rm -rf /var/lib/apt/lists/*
-
-# Install Qt5
-RUN apt-get update && apt-get install -y qt5-default
-
-# Install nano
-RUN apt-get update && apt-get install -y nano
-
-# Install nlohmann/json
-RUN apt-get update && apt-get install -y nlohmann-json3-dev
-
-WORKDIR /catkin_ws
-RUN mkdir -p src
-
-# Copy the entire catkin_ws folder into the container
-COPY catkin_ws /catkin_ws
-
-# Build the workspace
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
-
-# Source the setup.bash file
+FROM chillerrobot/ros-noetic-moveit-panda:first
+
+RUN apt-get update && apt-get install -y ros-noetic-panda-moveit-config
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && roscd panda_moveit_config"
+RUN apt-get install -y ros-noetic-rviz-visual-tools
+RUN apt-get update
+
+# Install Mesa libraries (for AMD/ATI GPUs)
+RUN apt-get update && \
+ apt-get -y install libgl1-mesa-glx libgl1-mesa-dri && \
+ rm -rf /var/lib/apt/lists/*
+
+# Install Qt5
+RUN apt-get update && apt-get install -y qt5-default
+
+# Install nano
+RUN apt-get update && apt-get install -y nano
+
+# Install nlohmann/json
+RUN apt-get update && apt-get install -y nlohmann-json3-dev
+
+WORKDIR /catkin_ws
+RUN mkdir -p src
+
+# Copy the entire catkin_ws folder into the container
+COPY catkin_ws /catkin_ws
+
+# Build the workspace
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
+
+# Source the setup.bash file
RUN echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile_core b/.devcontainer/Dockerfile_core
index 7e5317f382f2fe589862c9732471cef98a0dbefa..01241630cbb73cfa33d33dafafe750a940f4bb4b 100644
--- a/.devcontainer/Dockerfile_core
+++ b/.devcontainer/Dockerfile_core
@@ -1,30 +1,30 @@
-# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/ubuntu/.devcontainer/base.Dockerfile
-
-FROM osrf/ros:noetic-desktop-full
-
-# [Optional] Uncomment this section to install additional OS packages.
-RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
- && apt-get -y install --no-install-recommends ros-noetic-libfranka ros-noetic-franka-ros ros-noetic-moveit ros-noetic-effort-controllers ros-noetic-rospy-message-converter git \
- build-essential python3-dev \
- ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
-
-
-RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
-RUN rosdep update
-
-RUN apt-get install -y --no-install-recommends ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
-
-RUN pip3 install future numpy numpy-quaternion==2020.5.11.13.33.35 \
- pygame decorator matplotlib Pillow scipy scikit-learn osrf-pycommon future panda-robot
-
-RUN mkdir -p ~/ws_moveit/src
-RUN cd ~/ws_moveit/src && wstool init . && wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && wstool remove moveit_tutorials && wstool update -t .
-RUN cd ~/ws_moveit/src git clone https://github.com/ros-planning/moveit_tutorials.git -b master && rosdep install -y --from-paths . --ignore-src --rosdistro noetic && cd ~/ws_moveit && catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release && catkin build && echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
-
-ENV NVIDIA_VISIBLE_DEVICES \
- ${NVIDIA_VISIBLE_DEVICES:-all}
-ENV NVIDIA_DRIVER_CAPABILITIES \
- ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
-
-EXPOSE 6080/tcp
+# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/ubuntu/.devcontainer/base.Dockerfile
+
+FROM osrf/ros:noetic-desktop-full
+
+# [Optional] Uncomment this section to install additional OS packages.
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+ && apt-get -y install --no-install-recommends ros-noetic-libfranka ros-noetic-franka-ros ros-noetic-moveit ros-noetic-effort-controllers ros-noetic-rospy-message-converter git \
+ build-essential python3-dev \
+ ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
+
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN rosdep update
+
+RUN apt-get install -y --no-install-recommends ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
+
+RUN pip3 install future numpy numpy-quaternion==2020.5.11.13.33.35 \
+ pygame decorator matplotlib Pillow scipy scikit-learn osrf-pycommon future panda-robot
+
+RUN mkdir -p ~/ws_moveit/src
+RUN cd ~/ws_moveit/src && wstool init . && wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && wstool remove moveit_tutorials && wstool update -t .
+RUN cd ~/ws_moveit/src git clone https://github.com/ros-planning/moveit_tutorials.git -b master && rosdep install -y --from-paths . --ignore-src --rosdistro noetic && cd ~/ws_moveit && catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release && catkin build && echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
+
+ENV NVIDIA_VISIBLE_DEVICES \
+ ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+ ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+
+EXPOSE 6080/tcp
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 94edb4c54258a7426bdfea7fede7de150e7f4e99..afceea16ffca332447c7e07db7ef82e067831dd4 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,30 +1,30 @@
-// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
-// https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/ubuntu
-{
- "name": "ROSDockerNoetic",
- "dockerComposeFile": "./docker-compose.yml",
- "service": "roscontainer",
- "workspaceFolder": "/workspace",
- "forwardPorts": [6080],
- "extensions": [
- "yhpnoraa.beauty",
- "magicstack.magicpython",
- "ms-python.vscode-pylance",
- "ms-toolsai.jupyter",
- "ms-toolsai.jupyter-keymap",
- "donjayamanne.python-extension-pack",
- "ms-iot.vscode-ros",
- "ms-vscode.cmake-tools",
- "ms-python.python"
- ],
-
- "features": {
- "git": "latest",
- "git-lfs": "latest",
- "desktop-lite": {
- "password": "vscode",
- "webPort": "6080",
- "vncPort": "5901"
- }
- }
-}
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/ubuntu
+{
+ "name": "ROSDockerNoetic",
+ "dockerComposeFile": "./docker-compose.yml",
+ "service": "roscontainer",
+ "workspaceFolder": "/workspace",
+ "forwardPorts": [6080],
+ "extensions": [
+ "yhpnoraa.beauty",
+ "magicstack.magicpython",
+ "ms-python.vscode-pylance",
+ "ms-toolsai.jupyter",
+ "ms-toolsai.jupyter-keymap",
+ "donjayamanne.python-extension-pack",
+ "ms-iot.vscode-ros",
+ "ms-vscode.cmake-tools",
+ "ms-python.python"
+ ],
+
+ "features": {
+ "git": "latest",
+ "git-lfs": "latest",
+ "desktop-lite": {
+ "password": "vscode",
+ "webPort": "6080",
+ "vncPort": "5901"
+ }
+ }
+}
diff --git a/.devcontainer/docker-compose.yml b/.devcontainer/docker-compose.yml
index 10412f1cb5da41176e37ac771d09e7244a5c67d8..96f59af90f3d2b14359ae13f0886ae8829469b7a 100644
--- a/.devcontainer/docker-compose.yml
+++ b/.devcontainer/docker-compose.yml
@@ -1,23 +1,23 @@
-version: '3.9'
-services:
- roscontainer:
- build:
- context: ..
- dockerfile: .devcontainer/Dockerfile
- cap_add:
- - SYS_NICE
- ulimits:
- rtprio: 99
- rttime: -1
- memlock: 8428281856
- # ports:
- # - 11311:11311
- network_mode: "host"
- volumes:
- - ..:/workspace:cached
- command: sleep infinity
- # deploy:
- # resources:
- # reservations:
- # devices:
- # - capabilities: ["gpu"]
+version: '3.9'
+services:
+ roscontainer:
+ build:
+ context: ..
+ dockerfile: .devcontainer/Dockerfile
+ cap_add:
+ - SYS_NICE
+ ulimits:
+ rtprio: 99
+ rttime: -1
+ memlock: 8428281856
+ # ports:
+ # - 11311:11311
+ network_mode: "host"
+ volumes:
+ - ..:/workspace:cached
+ command: sleep infinity
+ # deploy:
+ # resources:
+ # reservations:
+ # devices:
+ # - capabilities: ["gpu"]
diff --git a/.gitignore b/.gitignore
index 80f18c6822494604ee6f7a1347f339a07e8aa893..328edacd05b059e1e58dc4ef02bff2510f359567 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,54 +1,54 @@
-devel/
-logs/
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-build_isolated/
-devel_isolated/
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
-
-# Emacs
-.#*
-
-# Environment
-.env
-
-# Catkin custom files
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Environment
+.env
+
+# Catkin custom files
CATKIN_IGNORE
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 80972289c27fdc0050722c0303b2d31807ed78bd..38a74634512bf0ad8216d3246bd0c5e8b9d86dbc 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,54 +1,54 @@
-{
- "cmake.sourceDirectory": "/workspace/catkin_ws/src",
- "cmake.configureOnOpen": true,
- "files.associations": {
- "array": "cpp",
- "string": "cpp",
- "string_view": "cpp",
- "typeinfo": "cpp",
- "atomic": "cpp",
- "*.tcc": "cpp",
- "cctype": "cpp",
- "clocale": "cpp",
- "cmath": "cpp",
- "cstdarg": "cpp",
- "cstddef": "cpp",
- "cstdint": "cpp",
- "cstdio": "cpp",
- "cstdlib": "cpp",
- "cwchar": "cpp",
- "cwctype": "cpp",
- "deque": "cpp",
- "unordered_map": "cpp",
- "vector": "cpp",
- "exception": "cpp",
- "algorithm": "cpp",
- "functional": "cpp",
- "iterator": "cpp",
- "map": "cpp",
- "memory": "cpp",
- "memory_resource": "cpp",
- "numeric": "cpp",
- "optional": "cpp",
- "random": "cpp",
- "system_error": "cpp",
- "tuple": "cpp",
- "type_traits": "cpp",
- "utility": "cpp",
- "fstream": "cpp",
- "initializer_list": "cpp",
- "iosfwd": "cpp",
- "istream": "cpp",
- "limits": "cpp",
- "new": "cpp",
- "ostream": "cpp",
- "sstream": "cpp",
- "stdexcept": "cpp",
- "streambuf": "cpp",
- "bit": "cpp",
- "ctime": "cpp",
- "iomanip": "cpp",
- "set": "cpp",
- "iostream": "cpp"
- }
+{
+ "cmake.sourceDirectory": "/workspace/catkin_ws/src",
+ "cmake.configureOnOpen": true,
+ "files.associations": {
+ "array": "cpp",
+ "string": "cpp",
+ "string_view": "cpp",
+ "typeinfo": "cpp",
+ "atomic": "cpp",
+ "*.tcc": "cpp",
+ "cctype": "cpp",
+ "clocale": "cpp",
+ "cmath": "cpp",
+ "cstdarg": "cpp",
+ "cstddef": "cpp",
+ "cstdint": "cpp",
+ "cstdio": "cpp",
+ "cstdlib": "cpp",
+ "cwchar": "cpp",
+ "cwctype": "cpp",
+ "deque": "cpp",
+ "unordered_map": "cpp",
+ "vector": "cpp",
+ "exception": "cpp",
+ "algorithm": "cpp",
+ "functional": "cpp",
+ "iterator": "cpp",
+ "map": "cpp",
+ "memory": "cpp",
+ "memory_resource": "cpp",
+ "numeric": "cpp",
+ "optional": "cpp",
+ "random": "cpp",
+ "system_error": "cpp",
+ "tuple": "cpp",
+ "type_traits": "cpp",
+ "utility": "cpp",
+ "fstream": "cpp",
+ "initializer_list": "cpp",
+ "iosfwd": "cpp",
+ "istream": "cpp",
+ "limits": "cpp",
+ "new": "cpp",
+ "ostream": "cpp",
+ "sstream": "cpp",
+ "stdexcept": "cpp",
+ "streambuf": "cpp",
+ "bit": "cpp",
+ "ctime": "cpp",
+ "iomanip": "cpp",
+ "set": "cpp",
+ "iostream": "cpp"
+ }
}
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
index af070826415f4130980a829616d2f6c0206fcd4a..a10db1b86a54508f4884b6755ee9c12c2d9c2497 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,201 +1,201 @@
- 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,
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- copyright notice that is included in or attached to the work
- (an example is provided in the Appendix below).
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- form, that is based on (or derived from) the Work and for which the
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- represent, as a whole, an original work of authorship. For the purposes
- of this License, Derivative Works shall not include works that remain
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- the conditions stated in this License.
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- 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.
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- with Licensor regarding such Contributions.
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- 6. Trademarks. This License does not grant permission to use the trade
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- 7. Disclaimer of Warranty. Unless required by applicable law or
- agreed to in writing, Licensor provides the Work (and each
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- 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
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- has been advised of the possibility of such damages.
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- To apply the Apache License to your work, attach the following
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- replaced with your own identifying information. (Don't include
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- 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 2022 AIFB_RobotGroup
-
- 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.
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+
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+ "License" shall mean the terms and conditions for use, reproduction,
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+ "Derivative Works" shall mean any work, whether in Source or Object
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+ "Contribution" shall mean any work of authorship, including
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+ "Contributor" shall mean Licensor and any individual or Legal Entity
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+ meet the following conditions:
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+ (b) You must cause any modified files to carry prominent notices
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+ (c) You must retain, in the Source form of any Derivative Works
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+ You may add Your own copyright statement to Your modifications and
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+ 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
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+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
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+ 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
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+ 9. Accepting Warranty or Additional Liability. While redistributing
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+ 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.
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+
+ 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 2022 AIFB_RobotGroup
+
+ 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.
diff --git a/README.md b/README.md
index 6c3aa64ca7586d30042582bd735ee12edef45dd7..6dcd3a43a8be0b982d749ecc1cf275a83eb781f3 100644
--- a/README.md
+++ b/README.md
@@ -1,132 +1,132 @@
-# ROSNoeticStandardContainer
-
-This is a visual studio code development container with ros noetic installed to control a Franka Panda Robot in a simulation and real environment.
-
-Install Visual studio code with the remote container extension, clone this repository and enjoy a container with everything for ROS and Panda installed.
-
-## Version
-
-ROS: noetic
-
-
-Robots:
- - Panda
-
- Features:
-
- - ROS Noetic
- - Ros für Franka Panda
- - MoveIt vorkompiliert
-
-
-
-## Installation
-
-### local Windows installation
-1. [Visual Studio Code](https://code.visualstudio.com/docs/remote/containers)
-
- 1.1. Install the DevContainer extension in VSC (ID: ms-vscode-remote.remote-containers)
-2. [WSL2](https://learn.microsoft.com/de-de/windows/wsl/install) (it needs wsl2 instead of 1)
-3. [Docker](https://docs.docker.com/desktop/install/windows-install/)
-
- (sometimes you have to install with `pip install docker-compose` [docker-compose](https://docs.docker.com/compose/) as well)
-
-4. Create a fork of this repository.
-5. Clone the Repository in your WSL environment (`git clone ...`)
-
- 5.1. You need to create a ssh key in your wsl (or linux) environment and copy this key to your git.ssc.kit.edu ssh-keys [Explanation](https://git.scc.kit.edu/help/user/ssh.md)
-6. Open the repository with `code .` in the repository folder.
-7. Use `ctrl + shift + p` *Dev-Containers: Open in Container* to open the container in a docker environment. You have now all the necessary Tools installed.
-
-### on a linux computer (or the computer connected to the real robot)
-
-1. [Visual Studio Code](https://code.visualstudio.com/docs/remote/containers)
-2. [Docker](https://docs.docker.com/engine/install/ubuntu/)
-3. Create a fork of this repository.
-4. Clone the Repository in your environment `git clone ...`
-
- 4.1. You need to create a ssh key in your wsl (or linux) environment and copy this key to your git.ssc.kit.edu ssh-keys [Explanation](https://git.scc.kit.edu/help/user/ssh.md)
-5. Open the repository with `code .` in the repository folder.
-6. Use `ctrl + shift + p` *Dev-Containers: Open in Container* to open the container in a docker environment. You have now all the necessary Tools installed.
-
-
-### Functions:
-
-#### Desktop Environment
-Go to: [http://localhost:6080/](http://localhost:6080/) in your browser. The Password: "vscode" opens a desktop environment of the container in your browser. All windows you open in the container are shown here.
-
-<img src="/screenshots/webdesktopenvironment.png" width="300" height="300">
-
-
-#### Control the real Panda
-Remember to activate the panda FCI in the DESK environment with "Activate FCI" and the robot leds should be blue.
-
-##### MoveIt Position Controller
-execute:
-
- roslaunch panda_moveit_config franka_control.launch robot_ip:=172.16.0.2
-
-This opens the control node of the panda. You can now use the main functions of the panda with access to moveit and the ability to send the robot to x,y,z coordinates. In the [desktop environment](#### Desktop Environment) you can use RVIZ and MoveIT to send the robot to coordinates.
-
-If you move the robot with your hand or the robot was reaching a difficult edge position and won't move further you can recover the robot with:
-
-
- rostopic pub -1 /franka_control/error_recovery/goal franka_msgs/ErrorRecoveryActionGoal "{}"
-
-
-##### cartesian impedance controller
-
-
- roslaunch franka_example_controllers cartesian_impedance_example_controller.launch robot_ip:=172.16.0.2
-
-opens the robot control with RVIZ and a cartesian impedance controller. You can move the robot in RVIZ in the [desktop environment](#### Desktop Environment).
-
-#### Panda Gazebo (Simulation)
-
-##### cartesian impedance controller
-
-
- roslaunch franka_gazebo panda.launch x:=-0.5 \
- world:=$(rospack find franka_gazebo)/world/stone.sdf \
- controller:=cartesian_impedance_example_controller \
- rviz:=true
-
-opens RVIZ and gazebo with a simulation of the panda robot with a cartesian impedance controller. All ROSTopics are loaded to control the virtual robot.
-
-
-
-##### moveit position controller
-
- roslaunch panda_moveit_config demo_gazebo.launch rviz_tutorial:=true
-
-opens RVIZ and gazebo with a simulation of the panda robot with a moveit position controller. You can now add a motion planner in RVIZ if you want. But all move_group topics to control the robot are now started.
-
-
-### Create a own package/node:
-
-to create a own ROS Package you create a catkin package in /workspace/catkin_ws/src. You can also clone another ROS package in and work with this. [create a ROS Package](http://wiki.ros.org/ROS/Tutorials/CreatingPackage)
-
-You compile the workspace With `catkin_make` in /workspace/catkin_ws. To use the compiled functions source the workspace setup.bash with `source /workspace/catkin_ws/devel/setup.bash`.
-
-
-## Errorhandling:
-
-### problems while cloning the development container in a remote pc
-try if you can clone it in another folder.
-
-### problem container doesn't start on linux (MIT-Magic Cookie)
-Activating cpu-virtualization might help.
-
-### GPU not found
-You can give the container GPU ability with
-
- deploy:
- resources:
- reservations:
- devices:
- - capabilities: ["gpu"]
-
-
-### No realtime kernel
-
-To work the franka panda needs a realtime kernel. Either you already have one installed and need to reboot to choose a kernel in the advanced settings. If you don't have a real time kernel you need to install one [explanation](https://frankaemika.github.io/docs/installation_linux.html#setting-up-the-real-time-kernel)
+# ROSNoeticStandardContainer
+
+This is a visual studio code development container with ros noetic installed to control a Franka Panda Robot in a simulation and real environment.
+
+Install Visual studio code with the remote container extension, clone this repository and enjoy a container with everything for ROS and Panda installed.
+
+## Version
+
+ROS: noetic
+
+
+Robots:
+ - Panda
+
+ Features:
+
+ - ROS Noetic
+ - Ros für Franka Panda
+ - MoveIt vorkompiliert
+
+
+
+## Installation
+
+### local Windows installation
+1. [Visual Studio Code](https://code.visualstudio.com/docs/remote/containers)
+
+ 1.1. Install the DevContainer extension in VSC (ID: ms-vscode-remote.remote-containers)
+2. [WSL2](https://learn.microsoft.com/de-de/windows/wsl/install) (it needs wsl2 instead of 1)
+3. [Docker](https://docs.docker.com/desktop/install/windows-install/)
+
+ (sometimes you have to install with `pip install docker-compose` [docker-compose](https://docs.docker.com/compose/) as well)
+
+4. Create a fork of this repository.
+5. Clone the Repository in your WSL environment (`git clone ...`)
+
+ 5.1. You need to create a ssh key in your wsl (or linux) environment and copy this key to your git.ssc.kit.edu ssh-keys [Explanation](https://git.scc.kit.edu/help/user/ssh.md)
+6. Open the repository with `code .` in the repository folder.
+7. Use `ctrl + shift + p` *Dev-Containers: Open in Container* to open the container in a docker environment. You have now all the necessary Tools installed.
+
+### on a linux computer (or the computer connected to the real robot)
+
+1. [Visual Studio Code](https://code.visualstudio.com/docs/remote/containers)
+2. [Docker](https://docs.docker.com/engine/install/ubuntu/)
+3. Create a fork of this repository.
+4. Clone the Repository in your environment `git clone ...`
+
+ 4.1. You need to create a ssh key in your wsl (or linux) environment and copy this key to your git.ssc.kit.edu ssh-keys [Explanation](https://git.scc.kit.edu/help/user/ssh.md)
+5. Open the repository with `code .` in the repository folder.
+6. Use `ctrl + shift + p` *Dev-Containers: Open in Container* to open the container in a docker environment. You have now all the necessary Tools installed.
+
+
+### Functions:
+
+#### Desktop Environment
+Go to: [http://localhost:6080/](http://localhost:6080/) in your browser. The Password: "vscode" opens a desktop environment of the container in your browser. All windows you open in the container are shown here.
+
+<img src="/screenshots/webdesktopenvironment.png" width="300" height="300">
+
+
+#### Control the real Panda
+Remember to activate the panda FCI in the DESK environment with "Activate FCI" and the robot leds should be blue.
+
+##### MoveIt Position Controller
+execute:
+
+ roslaunch panda_moveit_config franka_control.launch robot_ip:=172.16.0.2
+
+This opens the control node of the panda. You can now use the main functions of the panda with access to moveit and the ability to send the robot to x,y,z coordinates. In the [desktop environment](#### Desktop Environment) you can use RVIZ and MoveIT to send the robot to coordinates.
+
+If you move the robot with your hand or the robot was reaching a difficult edge position and won't move further you can recover the robot with:
+
+
+ rostopic pub -1 /franka_control/error_recovery/goal franka_msgs/ErrorRecoveryActionGoal "{}"
+
+
+##### cartesian impedance controller
+
+
+ roslaunch franka_example_controllers cartesian_impedance_example_controller.launch robot_ip:=172.16.0.2
+
+opens the robot control with RVIZ and a cartesian impedance controller. You can move the robot in RVIZ in the [desktop environment](#### Desktop Environment).
+
+#### Panda Gazebo (Simulation)
+
+##### cartesian impedance controller
+
+
+ roslaunch franka_gazebo panda.launch x:=-0.5 \
+ world:=$(rospack find franka_gazebo)/world/stone.sdf \
+ controller:=cartesian_impedance_example_controller \
+ rviz:=true
+
+opens RVIZ and gazebo with a simulation of the panda robot with a cartesian impedance controller. All ROSTopics are loaded to control the virtual robot.
+
+
+
+##### moveit position controller
+
+ roslaunch panda_moveit_config demo_gazebo.launch rviz_tutorial:=true
+
+opens RVIZ and gazebo with a simulation of the panda robot with a moveit position controller. You can now add a motion planner in RVIZ if you want. But all move_group topics to control the robot are now started.
+
+
+### Create a own package/node:
+
+to create a own ROS Package you create a catkin package in /workspace/catkin_ws/src. You can also clone another ROS package in and work with this. [create a ROS Package](http://wiki.ros.org/ROS/Tutorials/CreatingPackage)
+
+You compile the workspace With `catkin_make` in /workspace/catkin_ws. To use the compiled functions source the workspace setup.bash with `source /workspace/catkin_ws/devel/setup.bash`.
+
+
+## Errorhandling:
+
+### problems while cloning the development container in a remote pc
+try if you can clone it in another folder.
+
+### problem container doesn't start on linux (MIT-Magic Cookie)
+Activating cpu-virtualization might help.
+
+### GPU not found
+You can give the container GPU ability with
+
+ deploy:
+ resources:
+ reservations:
+ devices:
+ - capabilities: ["gpu"]
+
+
+### No realtime kernel
+
+To work the franka panda needs a realtime kernel. Either you already have one installed and need to reboot to choose a kernel in the advanced settings. If you don't have a real time kernel you need to install one [explanation](https://frankaemika.github.io/docs/installation_linux.html#setting-up-the-real-time-kernel)
diff --git a/build.sh b/build.sh
index 474e2bae6bf810f052aba1357c4caa2fce5767ad..dc0cb41876ec15c9adfd5743e4f682a471d01c8c 100755
--- a/build.sh
+++ b/build.sh
@@ -1,3 +1,3 @@
-#!/bin/sh
-cd "$(dirname "$0")"
+#!/bin/sh
+cd "$(dirname "$0")"
sudo docker build -f .devcontainer/Dockerfile -t container-ros-noetic-moveit-panda .
\ No newline at end of file
diff --git a/catkin_ws/.catkin_workspace b/catkin_ws/.catkin_workspace
index 52fd97e7ea4bd421af3f7dacb539d241bcee6583..0274bef2f5f5467d92c76918cc0d9ea0784ee687 100644
--- a/catkin_ws/.catkin_workspace
+++ b/catkin_ws/.catkin_workspace
@@ -1 +1 @@
-# This file currently only serves to mark the location of a catkin workspace for tool integration
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/catkin_ws/src/ai_plugin/CMakeLists.txt b/catkin_ws/src/ai_plugin/CMakeLists.txt
index 42ca9a93fe3c57c8f8440ac9de9773227b596429..e181764c3dbeb2a98f075d199458cd461f174a55 100644
--- a/catkin_ws/src/ai_plugin/CMakeLists.txt
+++ b/catkin_ws/src/ai_plugin/CMakeLists.txt
@@ -1,92 +1,92 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(rviz-ai-panel)
-
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- rospy
- rviz
- pluginlib
- std_msgs
- topic_tools
-)
-
-catkin_package(
- INCLUDE_DIRS include
- # LIBRARIES rviz-ai-panel
- # CATKIN_DEPENDS roscpp rospy rviz
- # DEPENDS system_lib
-)
-
-include_directories(
- include
- ${catkin_INCLUDE_DIRS}
- ${CMAKE_CURRENT_BINARY_DIR}
- /usr/include/nlohmann
-)
-
-## This setting causes Qt's "MOC" generation to happen automatically.
-set(CMAKE_AUTOMOC ON)
-
-## This plugin includes Qt widgets, so we must include Qt.
-## We'll use the version that rviz used so they are compatible.
-if(rviz_QT_VERSION VERSION_LESS "5")
- message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
- find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
- ## pull in all required include dirs, define QT_LIBRARIES, etc.
- include(${QT_USE_FILE})
-else()
- message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
- find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
- ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
- set(QT_LIBRARIES Qt5::Widgets)
-endif()
-
-# Avoid keyword definition to avaid conflicts with boost or xapian etc
-# e.g. http://muddyazian.blogspot.de/2012/04/getting-qt-app-working-with-boost-using.html
-add_definitions(-DQT_NO_KEYWORDS)
-
-# Define source files
-set(${PROJECT_NAME}_SRCS
- src/rviz_panel.cpp
- src/topic_collector.cpp
- src/ai_agent.cpp
-)
-
-# Define header files
-set(${PROJECT_NAME}_HDRS
- include/${PROJECT_NAME}/rviz_panel.hpp
- include/${PROJECT_NAME}/topic_collector.hpp
- include/${PROJECT_NAME}/ai_agent.hpp
-)
-
-# Define ui file
-set(${PROJECT_NAME}_UIS
- resource/ai_panel.ui
-)
-
-# Create header from ui file (uic)
-if(rviz_QT_VERSION VERSION_LESS "5")
- message(STATUS "Generate header for ui with rviz_QT_VERSION: ${rviz_QT_VERSION}")
- qt4_wrap_ui(${PROJECT_NAME}_UIS_H ${${PROJECT_NAME}_UIS})
- qt4_wrap_cpp(${PROJECT_NAME}_MOCS ${${PROJECT_NAME}_HDRS})
-else()
- message(STATUS "Generate header for ui with rviz_QT_VERSION: ${rviz_QT_VERSION}")
- qt5_wrap_ui(${PROJECT_NAME}_UIS_H ${${PROJECT_NAME}_UIS})
- qt5_wrap_cpp(${PROJECT_NAME}_MOCS ${${PROJECT_NAME}_HDRS})
-endif()
-
-## Add library is needed in order to generate the header file from ui file.
-add_library(ai_panel
- ${${PROJECT_NAME}_SRCS}
- ${${PROJECT_NAME}_UIS_H}
- ${${PROJECT_NAME}_MOCS}
-)
-
-target_link_libraries(ai_panel
- ${catkin_LIBRARIES}
- ${QT_LIBRARIES}
- ${topic_tools_LIBRARIES}
+cmake_minimum_required(VERSION 3.0.2)
+project(rviz-ai-panel)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ rviz
+ pluginlib
+ std_msgs
+ topic_tools
+)
+
+catkin_package(
+ INCLUDE_DIRS include
+ # LIBRARIES rviz-ai-panel
+ # CATKIN_DEPENDS roscpp rospy rviz
+ # DEPENDS system_lib
+)
+
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${CMAKE_CURRENT_BINARY_DIR}
+ /usr/include/nlohmann
+)
+
+## This setting causes Qt's "MOC" generation to happen automatically.
+set(CMAKE_AUTOMOC ON)
+
+## This plugin includes Qt widgets, so we must include Qt.
+## We'll use the version that rviz used so they are compatible.
+if(rviz_QT_VERSION VERSION_LESS "5")
+ message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+ find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+ ## pull in all required include dirs, define QT_LIBRARIES, etc.
+ include(${QT_USE_FILE})
+else()
+ message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+ find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+ ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
+ set(QT_LIBRARIES Qt5::Widgets)
+endif()
+
+# Avoid keyword definition to avaid conflicts with boost or xapian etc
+# e.g. http://muddyazian.blogspot.de/2012/04/getting-qt-app-working-with-boost-using.html
+add_definitions(-DQT_NO_KEYWORDS)
+
+# Define source files
+set(${PROJECT_NAME}_SRCS
+ src/rviz_panel.cpp
+ src/topic_collector.cpp
+ src/ai_agent.cpp
+)
+
+# Define header files
+set(${PROJECT_NAME}_HDRS
+ include/${PROJECT_NAME}/rviz_panel.hpp
+ include/${PROJECT_NAME}/topic_collector.hpp
+ include/${PROJECT_NAME}/ai_agent.hpp
+)
+
+# Define ui file
+set(${PROJECT_NAME}_UIS
+ resource/ai_panel.ui
+)
+
+# Create header from ui file (uic)
+if(rviz_QT_VERSION VERSION_LESS "5")
+ message(STATUS "Generate header for ui with rviz_QT_VERSION: ${rviz_QT_VERSION}")
+ qt4_wrap_ui(${PROJECT_NAME}_UIS_H ${${PROJECT_NAME}_UIS})
+ qt4_wrap_cpp(${PROJECT_NAME}_MOCS ${${PROJECT_NAME}_HDRS})
+else()
+ message(STATUS "Generate header for ui with rviz_QT_VERSION: ${rviz_QT_VERSION}")
+ qt5_wrap_ui(${PROJECT_NAME}_UIS_H ${${PROJECT_NAME}_UIS})
+ qt5_wrap_cpp(${PROJECT_NAME}_MOCS ${${PROJECT_NAME}_HDRS})
+endif()
+
+## Add library is needed in order to generate the header file from ui file.
+add_library(ai_panel
+ ${${PROJECT_NAME}_SRCS}
+ ${${PROJECT_NAME}_UIS_H}
+ ${${PROJECT_NAME}_MOCS}
+)
+
+target_link_libraries(ai_panel
+ ${catkin_LIBRARIES}
+ ${QT_LIBRARIES}
+ ${topic_tools_LIBRARIES}
)
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/include/rviz-ai-panel/ai_agent.hpp b/catkin_ws/src/ai_plugin/include/rviz-ai-panel/ai_agent.hpp
index 03d2d2527b045b27d0be8fcb96ffa01472bee5f7..05282ba4239934d4c9d675295d9d9c5de60143d7 100644
--- a/catkin_ws/src/ai_plugin/include/rviz-ai-panel/ai_agent.hpp
+++ b/catkin_ws/src/ai_plugin/include/rviz-ai-panel/ai_agent.hpp
@@ -1,14 +1,14 @@
-#ifndef AI_AGENT_HPP
-#define AI_AGENT_HPP
-
-#include <string>
-
-class AiAgent {
-public:
- AiAgent(const std::string& api_key);
- std::string getResponse(const std::string& prompt);
-private:
- std::string api_key_;
-};
-
+#ifndef AI_AGENT_HPP
+#define AI_AGENT_HPP
+
+#include <string>
+
+class AiAgent {
+public:
+ AiAgent(const std::string& api_key);
+ std::string getResponse(const std::string& prompt);
+private:
+ std::string api_key_;
+};
+
#endif // AI_AGENT_HPP
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/include/rviz-ai-panel/rviz_panel.hpp b/catkin_ws/src/ai_plugin/include/rviz-ai-panel/rviz_panel.hpp
index ba9d65385c2276ab40262ce6984871667c9293d6..b2a94359ac6f297e2739343a7b057a8df36b2be4 100644
--- a/catkin_ws/src/ai_plugin/include/rviz-ai-panel/rviz_panel.hpp
+++ b/catkin_ws/src/ai_plugin/include/rviz-ai-panel/rviz_panel.hpp
@@ -1,53 +1,53 @@
-#ifndef AI_WINDOW_H
-#define AI_WINDOW_H
-
-#include <rviz/panel.h>
-#include <ros/ros.h>
-#include <std_msgs/String.h>
-#include <QWidget>
-#include <QPushButton>
-#include <QObject>
-#include "rviz-ai-panel/topic_collector.hpp"
-#include "rviz-ai-panel/ai_agent.hpp"
-
-/**
- * Include header generated from the UI file.
- * Note that you will need to use the add_library function first
- * in order to generate the header file from the UI.
- */
-#include <ui_ai_panel.h>
-
-// Other ROS dependencies
-#include <std_msgs/Bool.h>
-
-QT_BEGIN_NAMESPACE
-namespace Ui {
-class Ai_Window;
-}
-QT_END_NAMESPACE
-
-class Ai_Window : public rviz::Panel {
- Q_OBJECT
-
-public:
- Ai_Window(QWidget *parent = nullptr); // Constructor, default parent widget
- ~Ai_Window(); // Destructor
-
- // Save and load user-specific settings
- virtual void load(const rviz::Config &config) override;
- virtual void save(rviz::Config config) const override;
-
-private:
- Ui::Ai_Window *ui; // Pointer to UI elements
- ros::NodeHandle nh_; // ROS NodeHandle
- ros::Publisher text_publisher_; // ROS Publisher for text messages
- TopicCollector collector_; // TopicCollector object to collect messages
- AiAgent ai_agent_; // AiAgent object to interact with AI model
- QString createPrompt(); // Helper method to create the prompt
-
-private Q_SLOTS:
- void sendRequest(); // Slot to handle button click for sending requests
-
-};
-
+#ifndef AI_WINDOW_H
+#define AI_WINDOW_H
+
+#include <rviz/panel.h>
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <QWidget>
+#include <QPushButton>
+#include <QObject>
+#include "rviz-ai-panel/topic_collector.hpp"
+#include "rviz-ai-panel/ai_agent.hpp"
+
+/**
+ * Include header generated from the UI file.
+ * Note that you will need to use the add_library function first
+ * in order to generate the header file from the UI.
+ */
+#include <ui_ai_panel.h>
+
+// Other ROS dependencies
+#include <std_msgs/Bool.h>
+
+QT_BEGIN_NAMESPACE
+namespace Ui {
+class Ai_Window;
+}
+QT_END_NAMESPACE
+
+class Ai_Window : public rviz::Panel {
+ Q_OBJECT
+
+public:
+ Ai_Window(QWidget *parent = nullptr); // Constructor, default parent widget
+ ~Ai_Window(); // Destructor
+
+ // Save and load user-specific settings
+ virtual void load(const rviz::Config &config) override;
+ virtual void save(rviz::Config config) const override;
+
+private:
+ Ui::Ai_Window *ui; // Pointer to UI elements
+ ros::NodeHandle nh_; // ROS NodeHandle
+ ros::Publisher text_publisher_; // ROS Publisher for text messages
+ TopicCollector collector_; // TopicCollector object to collect messages
+ AiAgent ai_agent_; // AiAgent object to interact with AI model
+ QString createPrompt(); // Helper method to create the prompt
+
+private Q_SLOTS:
+ void sendRequest(); // Slot to handle button click for sending requests
+
+};
+
#endif // AI_WINDOW_H
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/include/rviz-ai-panel/topic_collector.hpp b/catkin_ws/src/ai_plugin/include/rviz-ai-panel/topic_collector.hpp
index dddbfcb63fea4e8ffa0494c3bdf4712ecdc44df2..d15d2cfa8d0792d78913df0c305e31d422548bd2 100644
--- a/catkin_ws/src/ai_plugin/include/rviz-ai-panel/topic_collector.hpp
+++ b/catkin_ws/src/ai_plugin/include/rviz-ai-panel/topic_collector.hpp
@@ -1,36 +1,36 @@
-#ifndef TOPIC_COLLECTOR_HPP
-#define TOPIC_COLLECTOR_HPP
-
-#include <ros/ros.h>
-#include <ros/master.h>
-#include <std_msgs/String.h>
-#include <map>
-#include <string>
-#include <vector>
-#include <set>
-#include <boost/bind.hpp>
-#include <topic_tools/shape_shifter.h>
-#include <fstream>
-#include <sstream>
-
-class TopicCollector {
-public:
- TopicCollector();
- std::string getMessage(const std::string& topic_name);
- std::vector<std::string> getTopicNames();
-
-private:
- void updateTopics();
- void updateTopics(const ros::TimerEvent& event);
- void genericCallback(const ros::MessageEvent<topic_tools::ShapeShifter const>& event, const std::string& topic_name);
- void loadSubscribedTopics(const std::string& filename);
- std::string serializeMessage(const topic_tools::ShapeShifter::ConstPtr& msg);
-
- std::map<std::string, ros::Subscriber> subscribers_;
- std::map<std::string, std::string> messages_;
- std::set<std::string> subscribed_topics_;
- ros::NodeHandle nh_;
- ros::Timer timer_;
-};
-
+#ifndef TOPIC_COLLECTOR_HPP
+#define TOPIC_COLLECTOR_HPP
+
+#include <ros/ros.h>
+#include <ros/master.h>
+#include <std_msgs/String.h>
+#include <map>
+#include <string>
+#include <vector>
+#include <set>
+#include <boost/bind.hpp>
+#include <topic_tools/shape_shifter.h>
+#include <fstream>
+#include <sstream>
+
+class TopicCollector {
+public:
+ TopicCollector();
+ std::string getMessage(const std::string& topic_name);
+ std::vector<std::string> getTopicNames();
+
+private:
+ void updateTopics();
+ void updateTopics(const ros::TimerEvent& event);
+ void genericCallback(const ros::MessageEvent<topic_tools::ShapeShifter const>& event, const std::string& topic_name);
+ void loadSubscribedTopics(const std::string& filename);
+ std::string serializeMessage(const topic_tools::ShapeShifter::ConstPtr& msg);
+
+ std::map<std::string, ros::Subscriber> subscribers_;
+ std::map<std::string, std::string> messages_;
+ std::set<std::string> subscribed_topics_;
+ ros::NodeHandle nh_;
+ ros::Timer timer_;
+};
+
#endif // TOPIC_COLLECTOR_HPP
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/package.xml b/catkin_ws/src/ai_plugin/package.xml
index 73a10b5741aa8ca9638bad6b71f027427bc813d5..4942ab0c29ad6e93e768f68ff81046d3bd956353 100644
--- a/catkin_ws/src/ai_plugin/package.xml
+++ b/catkin_ws/src/ai_plugin/package.xml
@@ -1,36 +1,36 @@
-<?xml version="1.0"?>
-<package format="2">
- <name>rviz-ai-panel</name>
- <version>0.0.0</version>
- <description>The rviz-ai-panel package</description>
-
- <author email="xxx@student.kit.edu">XXX</author>
- <maintainer email="xxx@student.kit.edu">XXX</maintainer>
- <license>MIT</license>
-
- <buildtool_depend>catkin</buildtool_depend>
-
- <build_depend>roscpp</build_depend>
- <build_depend>rospy</build_depend>
- <build_depend>rviz</build_depend>
- <build_depend>pluginlib</build_depend>
- <build_depend>std_msgs</build_depend>
-
- <build_export_depend>roscpp</build_export_depend>
- <build_export_depend>rospy</build_export_depend>
- <build_export_depend>rviz</build_export_depend>
- <build_export_depend>pluginlib</build_export_depend>
- <build_export_depend>std_msgs</build_export_depend>
-
- <exec_depend>roscpp</exec_depend>
- <exec_depend>rospy</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>pluginlib</exec_depend>
- <exec_depend>std_msgs</exec_depend>
-
-
- <export>
- <rviz plugin="${prefix}/rviz_plugin.xml"/>
- </export>
-
-</package>
+<?xml version="1.0"?>
+<package format="2">
+ <name>rviz-ai-panel</name>
+ <version>0.0.0</version>
+ <description>The rviz-ai-panel package</description>
+
+ <author email="xxx@student.kit.edu">XXX</author>
+ <maintainer email="xxx@student.kit.edu">XXX</maintainer>
+ <license>MIT</license>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>rviz</build_depend>
+ <build_depend>pluginlib</build_depend>
+ <build_depend>std_msgs</build_depend>
+
+ <build_export_depend>roscpp</build_export_depend>
+ <build_export_depend>rospy</build_export_depend>
+ <build_export_depend>rviz</build_export_depend>
+ <build_export_depend>pluginlib</build_export_depend>
+ <build_export_depend>std_msgs</build_export_depend>
+
+ <exec_depend>roscpp</exec_depend>
+ <exec_depend>rospy</exec_depend>
+ <exec_depend>rviz</exec_depend>
+ <exec_depend>pluginlib</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+
+
+ <export>
+ <rviz plugin="${prefix}/rviz_plugin.xml"/>
+ </export>
+
+</package>
diff --git a/catkin_ws/src/ai_plugin/resource/ai_panel.ui b/catkin_ws/src/ai_plugin/resource/ai_panel.ui
index 58a109ac9a341338183a0c7971d21d2be689cf48..acfcc8e34f9c19dfeb3aa57840081297f8b21632 100644
--- a/catkin_ws/src/ai_plugin/resource/ai_panel.ui
+++ b/catkin_ws/src/ai_plugin/resource/ai_panel.ui
@@ -1,165 +1,165 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Ai_Window</class>
- <widget class="QWidget" name="Ai_Window">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>800</width>
- <height>600</height>
- </rect>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>1</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>Ai_Window</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <property name="spacing">
- <number>0</number>
- </property>
- <item row="0" column="0">
- <widget class="QScrollArea" name="scrollArea">
- <property name="widgetResizable">
- <bool>true</bool>
- </property>
- <widget class="QWidget" name="scrollAreaWidgetContents">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>798</width>
- <height>598</height>
- </rect>
- </property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="0" column="0">
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QScrollArea" name="scrollArea_2">
- <property name="widgetResizable">
- <bool>true</bool>
- </property>
- <widget class="QWidget" name="scrollAreaWidgetContents_2">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>776</width>
- <height>498</height>
- </rect>
- </property>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="0" column="0">
- <widget class="QLabel" name="label">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="textFormat">
- <enum>Qt::TextFormat::AutoText</enum>
- </property>
- <property name="scaledContents">
- <bool>false</bool>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- <property name="margin">
- <number>5</number>
- </property>
- <property name="indent">
- <number>-1</number>
- </property>
- <property name="openExternalLinks">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QTextEdit" name="textEdit">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pushButton">
- <property name="text">
- <string>Send</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections>
- <connection>
- <sender>pushButton</sender>
- <signal>clicked()</signal>
- <receiver>Ai_Window</receiver>
- <slot>sendRequest()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>750</x>
- <y>261</y>
- </hint>
- <hint type="destinationlabel">
- <x>748</x>
- <y>623</y>
- </hint>
- </hints>
- </connection>
- </connections>
- <slots>
- <slot>sendRequest()</slot>
- </slots>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Ai_Window</class>
+ <widget class="QWidget" name="Ai_Window">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+ <height>600</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>1</height>
+ </size>
+ </property>
+ <property name="windowTitle">
+ <string>Ai_Window</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QScrollArea" name="scrollArea">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="QWidget" name="scrollAreaWidgetContents">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>798</width>
+ <height>598</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QScrollArea" name="scrollArea_2">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="QWidget" name="scrollAreaWidgetContents_2">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>776</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="textFormat">
+ <enum>Qt::TextFormat::AutoText</enum>
+ </property>
+ <property name="scaledContents">
+ <bool>false</bool>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ <property name="margin">
+ <number>5</number>
+ </property>
+ <property name="indent">
+ <number>-1</number>
+ </property>
+ <property name="openExternalLinks">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QTextEdit" name="textEdit">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButton">
+ <property name="text">
+ <string>Send</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>pushButton</sender>
+ <signal>clicked()</signal>
+ <receiver>Ai_Window</receiver>
+ <slot>sendRequest()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>750</x>
+ <y>261</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>748</x>
+ <y>623</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+ <slots>
+ <slot>sendRequest()</slot>
+ </slots>
+</ui>
diff --git a/catkin_ws/src/ai_plugin/src/ai_agent.cpp b/catkin_ws/src/ai_plugin/src/ai_agent.cpp
index 0c3e0560f9f224514e536078080a8e63eebec3f4..fd8020fb2a0599d29b0567c2b81ab46e6ee75514 100644
--- a/catkin_ws/src/ai_plugin/src/ai_agent.cpp
+++ b/catkin_ws/src/ai_plugin/src/ai_agent.cpp
@@ -1,65 +1,65 @@
-// ai_agent.cpp
-#include "rviz-ai-panel/ai_agent.hpp"
-#include <curl/curl.h>
-#include <nlohmann/json.hpp>
-#include <iostream>
-
-AiAgent::AiAgent(const std::string& api_key) : api_key_(api_key) {}
-
-static size_t WriteCallback(void* contents, size_t size, size_t nmemb, std::string* userp) {
- userp->append(static_cast<char*>(contents), size * nmemb);
- return size * nmemb;
-}
-
-std::string AiAgent::getResponse(const std::string& prompt) {
- CURL* curl = curl_easy_init();
- std::string readBuffer;
- if(curl) {
- struct curl_slist* headers = nullptr;
- headers = curl_slist_append(headers, ("Authorization: Bearer " + api_key_).c_str());
- headers = curl_slist_append(headers, "Content-Type: application/json");
-
- nlohmann::json jsonData;
- jsonData["model"] = "gpt-4o-mini";
- jsonData["messages"] = nlohmann::json::array({
- { {"role", "user"}, {"content", prompt} }
- });
- jsonData["max_tokens"] = 1000;
-
- std::string jsonString = jsonData.dump();
-
- curl_easy_setopt(curl, CURLOPT_URL, "https://api.openai.com/v1/chat/completions");
- curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
- curl_easy_setopt(curl, CURLOPT_POSTFIELDS, jsonString.c_str());
- curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteCallback);
- curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
-
- CURLcode res = curl_easy_perform(curl);
- curl_easy_cleanup(curl);
- curl_slist_free_all(headers);
-
- if(res == CURLE_OK) {
- try {
- auto jsonResponse = nlohmann::json::parse(readBuffer);
-
- if(jsonResponse.contains("choices")) {
- std::cout << jsonResponse["choices"][0]["message"]["content"] << std::endl;
- return jsonResponse["choices"][0]["message"]["content"].get<std::string>();
- } else if(jsonResponse.contains("error")) {
- std::cerr << "API Error: " << jsonResponse["error"]["message"] << std::endl;
- return "Error from API: " + jsonResponse["error"]["message"].get<std::string>();
- } else {
- std::cerr << "Unexpected JSON Structure: " << readBuffer << std::endl;
- return "Unexpected response structure.";
- }
- } catch (nlohmann::json::exception& e) {
- std::cerr << "JSON Parsing Error: " << e.what() << "\nResponse: " << readBuffer << std::endl;
- return "Error parsing response.";
- }
- } else {
- std::cerr << "cURL Error: " << curl_easy_strerror(res) << std::endl;
- return "Error performing request.";
- }
- }
- return "cURL initialization failed.";
+// ai_agent.cpp
+#include "rviz-ai-panel/ai_agent.hpp"
+#include <curl/curl.h>
+#include <nlohmann/json.hpp>
+#include <iostream>
+
+AiAgent::AiAgent(const std::string& api_key) : api_key_(api_key) {}
+
+static size_t WriteCallback(void* contents, size_t size, size_t nmemb, std::string* userp) {
+ userp->append(static_cast<char*>(contents), size * nmemb);
+ return size * nmemb;
+}
+
+std::string AiAgent::getResponse(const std::string& prompt) {
+ CURL* curl = curl_easy_init();
+ std::string readBuffer;
+ if(curl) {
+ struct curl_slist* headers = nullptr;
+ headers = curl_slist_append(headers, ("Authorization: Bearer " + api_key_).c_str());
+ headers = curl_slist_append(headers, "Content-Type: application/json");
+
+ nlohmann::json jsonData;
+ jsonData["model"] = "gpt-4o-mini";
+ jsonData["messages"] = nlohmann::json::array({
+ { {"role", "user"}, {"content", prompt} }
+ });
+ jsonData["max_tokens"] = 1000;
+
+ std::string jsonString = jsonData.dump();
+
+ curl_easy_setopt(curl, CURLOPT_URL, "https://api.openai.com/v1/chat/completions");
+ curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
+ curl_easy_setopt(curl, CURLOPT_POSTFIELDS, jsonString.c_str());
+ curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteCallback);
+ curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
+
+ CURLcode res = curl_easy_perform(curl);
+ curl_easy_cleanup(curl);
+ curl_slist_free_all(headers);
+
+ if(res == CURLE_OK) {
+ try {
+ auto jsonResponse = nlohmann::json::parse(readBuffer);
+
+ if(jsonResponse.contains("choices")) {
+ std::cout << jsonResponse["choices"][0]["message"]["content"] << std::endl;
+ return jsonResponse["choices"][0]["message"]["content"].get<std::string>();
+ } else if(jsonResponse.contains("error")) {
+ std::cerr << "API Error: " << jsonResponse["error"]["message"] << std::endl;
+ return "Error from API: " + jsonResponse["error"]["message"].get<std::string>();
+ } else {
+ std::cerr << "Unexpected JSON Structure: " << readBuffer << std::endl;
+ return "Unexpected response structure.";
+ }
+ } catch (nlohmann::json::exception& e) {
+ std::cerr << "JSON Parsing Error: " << e.what() << "\nResponse: " << readBuffer << std::endl;
+ return "Error parsing response.";
+ }
+ } else {
+ std::cerr << "cURL Error: " << curl_easy_strerror(res) << std::endl;
+ return "Error performing request.";
+ }
+ }
+ return "cURL initialization failed.";
}
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/src/ai_subscribed_topics.txt b/catkin_ws/src/ai_plugin/src/ai_subscribed_topics.txt
index a215ebe0eab58ff73b8cefb0f95d9ca950477cd4..93e44b8299601b9182c0a236f2b78ed43b9b55bc 100644
--- a/catkin_ws/src/ai_plugin/src/ai_subscribed_topics.txt
+++ b/catkin_ws/src/ai_plugin/src/ai_subscribed_topics.txt
@@ -1,20 +1,20 @@
-/joint_states
-/franka_state_controller/joint_states
-/franka_state_controller/joint_states_desired
-/franka_state_controller/F_ext
-/franka_gripper/joint_states
-/planning_scene
-/planning_scene_world
-/recognized_object_array
-/tf
-/tf_static
-/gazebo/model_states
-/gazebo/link_states
-/effort_joint_trajectory_controller/state
-/move_group/monitored_planning_scene
-/move_group/display_planned_path
-/move_group/status
-/execute_trajectory/status
-/franka_control/error_recovery/status
-/rosout
+/joint_states
+/franka_state_controller/joint_states
+/franka_state_controller/joint_states_desired
+/franka_state_controller/F_ext
+/franka_gripper/joint_states
+/planning_scene
+/planning_scene_world
+/recognized_object_array
+/tf
+/tf_static
+/gazebo/model_states
+/gazebo/link_states
+/effort_joint_trajectory_controller/state
+/move_group/monitored_planning_scene
+/move_group/display_planned_path
+/move_group/status
+/execute_trajectory/status
+/franka_control/error_recovery/status
+/rosout
/rosout_agg
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/src/context_prompt.txt b/catkin_ws/src/ai_plugin/src/context_prompt.txt
index 0e9384ffb65b13bad572727fe07d0e0d79ab8cf9..31ef8df13035daaa15ef5898f944e570bca25ec6 100644
--- a/catkin_ws/src/ai_plugin/src/context_prompt.txt
+++ b/catkin_ws/src/ai_plugin/src/context_prompt.txt
@@ -1,7 +1,7 @@
-You are an AI-Assistant in RViz and the user tries to control an franka panda robot with moveit and a gazebo simulator.
-
-Do only include the given ros topic data in raw format, if necessary or asked for. If not, just use it for further analysis.
-
-If you are asked a question that doesn't require the ros topic data, do never provide it in your answer.
-
+You are an AI-Assistant in RViz and the user tries to control an franka panda robot with moveit and a gazebo simulator.
+
+Do only include the given ros topic data in raw format, if necessary or asked for. If not, just use it for further analysis.
+
+If you are asked a question that doesn't require the ros topic data, do never provide it in your answer.
+
The following data is from the current ros topics.
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/src/rviz_panel.cpp b/catkin_ws/src/ai_plugin/src/rviz_panel.cpp
index d1ca1c04257d6160b45988a33f355d8dc02ff73b..3fd3588afa8ea5a82d5fc8a5f6975d361416b39e 100644
--- a/catkin_ws/src/ai_plugin/src/rviz_panel.cpp
+++ b/catkin_ws/src/ai_plugin/src/rviz_panel.cpp
@@ -1,110 +1,110 @@
-#include "rviz-ai-panel/rviz_panel.hpp"
-#include "rviz-ai-panel/topic_collector.hpp"
-#include "rviz-ai-panel/ai_agent.hpp"
-#include <pluginlib/class_list_macros.hpp>
-#include <std_msgs/String.h>
-#include <QString>
-#include <QWidget>
-#include <QPushButton>
-#include <QTextEdit>
-#include <QLabel>
-#include <QDebug>
-#include <QFile>
-#include <QTextStream>
-#include <cstdlib>
-
-// Retrieve API key from environment variable
-QString api_key = QString::fromStdString(std::getenv("AI_AGENT_API_KEY"));
-
-Ai_Window::Ai_Window(QWidget *parent)
- : rviz::Panel(parent)
- , ui(new Ui::Ai_Window)
- , ai_agent_(api_key.toStdString()) {
- ui->setupUi(this);
-
- // Initialize ROS Publisher
- text_publisher_ = nh_.advertise<std_msgs::String>("ai_window_topic", 1);
-
- // Connect the button with the function
- connect(ui->pushButton, &QPushButton::clicked, this, &Ai_Window::sendRequest);
-}
-
-Ai_Window::~Ai_Window() {
- delete ui;
-}
-
-void Ai_Window::sendRequest() {
- // Collect ROS topics and messages
- std::vector<std::string> topics = collector_.getTopicNames();
- QString all_messages;
-
- for (const auto& topic : topics) {
- std::string message = collector_.getMessage(topic);
- all_messages += QString::fromStdString(topic + ":\n" + message + "\n");
- }
-
- // Write the collected messages to a file
- QFile file("/catkin_ws/output.txt");
- if (file.open(QIODevice::WriteOnly | QIODevice::Text)) {
- QTextStream out(&file);
- out << all_messages;
- file.close();
- }
-
- // Create the prompt
- QString fullPrompt = createPrompt();
- std::string response = ai_agent_.getResponse(fullPrompt.toStdString());
-
- // Display the response in the label
- ui->label->setText(QString::fromStdString(response));
-}
-
-QString Ai_Window::createPrompt() {
- // Retrieve text from textEdit
- QString mainPrompt = ui->textEdit->toPlainText();
-
- // Get ROS topics and messages
- std::vector<std::string> topics = collector_.getTopicNames();
- QString rosInfo;
-
- for (const auto& topic : topics) {
- std::string message = collector_.getMessage(topic);
- rosInfo += QString::fromStdString(topic + ":\n" + message + "\n");
- }
-
- // Read context_prompt.txt
- QString helperPrompt;
- QFile file("/catkin_ws/src/ai_plugin/src/context_prompt.txt");
- if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
- QTextStream in(&file);
- helperPrompt = in.readAll();
- file.close();
- } else {
- helperPrompt = "Failed to load context_prompt.txt";
- }
-
- // Combine all parts
- QString fullPrompt = mainPrompt + "\n\n" + helperPrompt + "\n\n" + rosInfo;
-
- // Print the whole prompt to the terminal
- // qDebug() << fullPrompt;
-
- return fullPrompt;
-}
-
-// Save user settings (e.g., text field content)
-void Ai_Window::save(rviz::Config config) const {
- rviz::Panel::save(config);
- config.mapSetValue("Text", ui->textEdit->toPlainText());
-}
-
-// Load user settings
-void Ai_Window::load(const rviz::Config &config) {
- rviz::Panel::load(config);
- QString text;
- if (config.mapGetString("Text", &text)) {
- ui->textEdit->setPlainText(text);
- }
-}
-
+#include "rviz-ai-panel/rviz_panel.hpp"
+#include "rviz-ai-panel/topic_collector.hpp"
+#include "rviz-ai-panel/ai_agent.hpp"
+#include <pluginlib/class_list_macros.hpp>
+#include <std_msgs/String.h>
+#include <QString>
+#include <QWidget>
+#include <QPushButton>
+#include <QTextEdit>
+#include <QLabel>
+#include <QDebug>
+#include <QFile>
+#include <QTextStream>
+#include <cstdlib>
+
+// Retrieve API key from environment variable
+QString api_key = QString::fromStdString(std::getenv("AI_AGENT_API_KEY"));
+
+Ai_Window::Ai_Window(QWidget *parent)
+ : rviz::Panel(parent)
+ , ui(new Ui::Ai_Window)
+ , ai_agent_(api_key.toStdString()) {
+ ui->setupUi(this);
+
+ // Initialize ROS Publisher
+ text_publisher_ = nh_.advertise<std_msgs::String>("ai_window_topic", 1);
+
+ // Connect the button with the function
+ connect(ui->pushButton, &QPushButton::clicked, this, &Ai_Window::sendRequest);
+}
+
+Ai_Window::~Ai_Window() {
+ delete ui;
+}
+
+void Ai_Window::sendRequest() {
+ // Collect ROS topics and messages
+ std::vector<std::string> topics = collector_.getTopicNames();
+ QString all_messages;
+
+ for (const auto& topic : topics) {
+ std::string message = collector_.getMessage(topic);
+ all_messages += QString::fromStdString(topic + ":\n" + message + "\n");
+ }
+
+ // Write the collected messages to a file
+ QFile file("/catkin_ws/output.txt");
+ if (file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+ QTextStream out(&file);
+ out << all_messages;
+ file.close();
+ }
+
+ // Create the prompt
+ QString fullPrompt = createPrompt();
+ std::string response = ai_agent_.getResponse(fullPrompt.toStdString());
+
+ // Display the response in the label
+ ui->label->setText(QString::fromStdString(response));
+}
+
+QString Ai_Window::createPrompt() {
+ // Retrieve text from textEdit
+ QString mainPrompt = ui->textEdit->toPlainText();
+
+ // Get ROS topics and messages
+ std::vector<std::string> topics = collector_.getTopicNames();
+ QString rosInfo;
+
+ for (const auto& topic : topics) {
+ std::string message = collector_.getMessage(topic);
+ rosInfo += QString::fromStdString(topic + ":\n" + message + "\n");
+ }
+
+ // Read context_prompt.txt
+ QString helperPrompt;
+ QFile file("/catkin_ws/src/ai_plugin/src/context_prompt.txt");
+ if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+ QTextStream in(&file);
+ helperPrompt = in.readAll();
+ file.close();
+ } else {
+ helperPrompt = "Failed to load context_prompt.txt";
+ }
+
+ // Combine all parts
+ QString fullPrompt = mainPrompt + "\n\n" + helperPrompt + "\n\n" + rosInfo;
+
+ // Print the whole prompt to the terminal
+ // qDebug() << fullPrompt;
+
+ return fullPrompt;
+}
+
+// Save user settings (e.g., text field content)
+void Ai_Window::save(rviz::Config config) const {
+ rviz::Panel::save(config);
+ config.mapSetValue("Text", ui->textEdit->toPlainText());
+}
+
+// Load user settings
+void Ai_Window::load(const rviz::Config &config) {
+ rviz::Panel::load(config);
+ QString text;
+ if (config.mapGetString("Text", &text)) {
+ ui->textEdit->setPlainText(text);
+ }
+}
+
PLUGINLIB_EXPORT_CLASS(Ai_Window, rviz::Panel)
\ No newline at end of file
diff --git a/catkin_ws/src/ai_plugin/src/topic_collector.cpp b/catkin_ws/src/ai_plugin/src/topic_collector.cpp
index 320a8ff3e615d96c6344f0592f299e222e177785..b7f242c3a738fccfb7beda108550458033167c13 100644
--- a/catkin_ws/src/ai_plugin/src/topic_collector.cpp
+++ b/catkin_ws/src/ai_plugin/src/topic_collector.cpp
@@ -1,229 +1,229 @@
-#include "rviz-ai-panel/topic_collector.hpp"
-#include <ros/serialization.h>
-#include <ros/message_traits.h>
-#include <ros/message_operations.h>
-#include <std_msgs/String.h>
-#include <sensor_msgs/Image.h>
-#include <geometry_msgs/Pose.h>
-#include <std_msgs/Int32.h>
-#include <geometry_msgs/Twist.h>
-#include <sensor_msgs/JointState.h>
-#include <geometry_msgs/WrenchStamped.h>
-#include <control_msgs/JointTrajectoryControllerState.h>
-#include <actionlib_msgs/GoalStatusArray.h>
-#include <gazebo_msgs/LinkStates.h>
-#include <gazebo_msgs/ModelStates.h>
-#include <moveit_msgs/PlanningScene.h>
-#include <rosgraph_msgs/Log.h>
-#include <tf2_msgs/TFMessage.h>
-#include <rosbag/bag.h>
-#include <rosbag/view.h>
-#include <boost/foreach.hpp>
-#define foreach BOOST_FOREACH
-
-// Include other message types as needed
-
-TopicCollector::TopicCollector() {
- loadSubscribedTopics("/catkin_ws/src/ai_plugin/src/ai_subscribed_topics.txt");
- updateTopics();
- timer_ = nh_.createTimer(ros::Duration(5.0), &TopicCollector::updateTopics, this);
-}
-
-void TopicCollector::loadSubscribedTopics(const std::string& filename) {
- std::ifstream infile(filename);
- if (!infile.is_open()) {
- ROS_ERROR("Failed to open %s", filename.c_str());
- return;
- }
- std::string line;
- while (std::getline(infile, line)) {
- if (!line.empty()) {
- subscribed_topics_.insert(line);
- }
- }
- infile.close();
-}
-
-void TopicCollector::updateTopics() {
- ros::TimerEvent dummy_event;
- updateTopics(dummy_event);
-}
-
-void TopicCollector::updateTopics(const ros::TimerEvent&) {
- ros::master::V_TopicInfo master_topics;
- ros::master::getTopics(master_topics);
-
- for (const auto& topic_info : master_topics) {
- if (subscribed_topics_.find(topic_info.name) == subscribed_topics_.end() ||
- subscribers_.find(topic_info.name) != subscribers_.end()) {
- continue;
- }
-
- ros::SubscribeOptions ops = ros::SubscribeOptions::create<topic_tools::ShapeShifter>(
- topic_info.name,
- 1000,
- boost::bind(&TopicCollector::genericCallback, this, _1, topic_info.name),
- ros::VoidPtr(),
- nullptr
- );
- ros::Subscriber sub = nh_.subscribe(ops);
- subscribers_[topic_info.name] = sub;
-
- ROS_INFO("Subscribed to new topic: %s", topic_info.name.c_str());
- }
-}
-
-std::string TopicCollector::getMessage(const std::string& topic_name) {
- if (messages_.find(topic_name) != messages_.end()) {
- return messages_[topic_name];
- }
- return "";
-}
-
-std::vector<std::string> TopicCollector::getTopicNames() {
- std::vector<std::string> topic_names;
- for (const auto& entry : subscribers_) {
- topic_names.push_back(entry.first);
- }
- return topic_names;
-}
-
-// Serialize message into human-readable format
-std::string TopicCollector::serializeMessage(const topic_tools::ShapeShifter::ConstPtr& msg) {
- std::stringstream ss;
- std::string datatype = msg->getDataType();
-
- // Handle known message types
- if (datatype == "std_msgs/String") {
- std_msgs::String::ConstPtr typed_msg = msg->instantiate<std_msgs::String>();
- if (typed_msg) {
- ros::message_operations::Printer<std_msgs::String>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate std_msgs/String\n";
- }
- }
- else if (datatype == "sensor_msgs/Image") {
- sensor_msgs::Image::ConstPtr typed_msg = msg->instantiate<sensor_msgs::Image>();
- if (typed_msg) {
- ros::message_operations::Printer<sensor_msgs::Image>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate sensor_msgs/Image\n";
- }
- }
- else if (datatype == "geometry_msgs/Pose") {
- geometry_msgs::Pose::ConstPtr typed_msg = msg->instantiate<geometry_msgs::Pose>();
- if (typed_msg) {
- ros::message_operations::Printer<geometry_msgs::Pose>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate geometry_msgs/Pose\n";
- }
- }
- else if (datatype == "std_msgs/Int32") {
- std_msgs::Int32::ConstPtr typed_msg = msg->instantiate<std_msgs::Int32>();
- if (typed_msg) {
- ros::message_operations::Printer<std_msgs::Int32>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate std_msgs/Int32\n";
- }
- }
- else if (datatype == "geometry_msgs/Twist") {
- geometry_msgs::Twist::ConstPtr typed_msg = msg->instantiate<geometry_msgs::Twist>();
- if (typed_msg) {
- ros::message_operations::Printer<geometry_msgs::Twist>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate geometry_msgs/Twist\n";
- }
- }
- else if (datatype == "sensor_msgs/JointState") {
- sensor_msgs::JointState::ConstPtr typed_msg = msg->instantiate<sensor_msgs::JointState>();
- if (typed_msg) {
- ros::message_operations::Printer<sensor_msgs::JointState>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate sensor_msgs/JointState\n";
- }
- }
- else if (datatype == "geometry_msgs/WrenchStamped") {
- geometry_msgs::WrenchStamped::ConstPtr typed_msg = msg->instantiate<geometry_msgs::WrenchStamped>();
- if (typed_msg) {
- ros::message_operations::Printer<geometry_msgs::WrenchStamped>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate geometry_msgs/WrenchStamped\n";
- }
- }
- else if (datatype == "control_msgs/JointTrajectoryControllerState") {
- control_msgs::JointTrajectoryControllerState::ConstPtr typed_msg = msg->instantiate<control_msgs::JointTrajectoryControllerState>();
- if (typed_msg) {
- ros::message_operations::Printer<control_msgs::JointTrajectoryControllerState>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate control_msgs::JointTrajectoryControllerState\n";
- }
- }
- else if (datatype == "actionlib_msgs/GoalStatusArray") {
- actionlib_msgs::GoalStatusArray::ConstPtr typed_msg = msg->instantiate<actionlib_msgs::GoalStatusArray>();
- if (typed_msg) {
- ros::message_operations::Printer<actionlib_msgs::GoalStatusArray>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate actionlib_msgs::GoalStatusArray\n";
- }
- }
- else if (datatype == "gazebo_msgs/LinkStates") {
- gazebo_msgs::LinkStates::ConstPtr typed_msg = msg->instantiate<gazebo_msgs::LinkStates>();
- if (typed_msg) {
- ros::message_operations::Printer<gazebo_msgs::LinkStates>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate gazebo_msgs::LinkStates\n";
- }
- }
- else if (datatype == "gazebo_msgs/ModelStates") {
- gazebo_msgs::ModelStates::ConstPtr typed_msg = msg->instantiate<gazebo_msgs::ModelStates>();
- if (typed_msg) {
- ros::message_operations::Printer<gazebo_msgs::ModelStates>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate gazebo_msgs::ModelStates\n";
- }
- }
- else if (datatype == "moveit_msgs/PlanningScene") {
- moveit_msgs::PlanningScene::ConstPtr typed_msg = msg->instantiate<moveit_msgs::PlanningScene>();
- if (typed_msg) {
- ros::message_operations::Printer<moveit_msgs::PlanningScene>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate moveit_msgs::PlanningScene\n";
- }
- }
- else if (datatype == "rosgraph_msgs/Log") {
- rosgraph_msgs::Log::ConstPtr typed_msg = msg->instantiate<rosgraph_msgs::Log>();
- if (typed_msg) {
- ros::message_operations::Printer<rosgraph_msgs::Log>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate rosgraph_msgs::Log\n";
- }
- }
- else if (datatype == "tf2_msgs/TFMessage") {
- tf2_msgs::TFMessage::ConstPtr typed_msg = msg->instantiate<tf2_msgs::TFMessage>();
- if (typed_msg) {
- ros::message_operations::Printer<tf2_msgs::TFMessage>::stream(ss, "", *typed_msg);
- } else {
- ss << "Failed to instantiate tf2_msgs::TFMessage\n";
- }
- }
- // Add more as needed
- else {
- ss << "Unsupported message type: " << datatype << "\n";
- }
-
- return ss.str();
-}
-
-void TopicCollector::genericCallback(const ros::MessageEvent<topic_tools::ShapeShifter const>& event, const std::string& topic_name) {
- const topic_tools::ShapeShifter::ConstPtr& msg = event.getMessage();
- std::string serialized_message = serializeMessage(msg);
- messages_[topic_name] = serialized_message;
-}
-
-int main(int argc, char** argv) {
- ros::init(argc, argv, "topic_collector");
- TopicCollector collector;
- ROS_INFO("TopicCollector is initialized");
- ros::spin();
- return 0;
+#include "rviz-ai-panel/topic_collector.hpp"
+#include <ros/serialization.h>
+#include <ros/message_traits.h>
+#include <ros/message_operations.h>
+#include <std_msgs/String.h>
+#include <sensor_msgs/Image.h>
+#include <geometry_msgs/Pose.h>
+#include <std_msgs/Int32.h>
+#include <geometry_msgs/Twist.h>
+#include <sensor_msgs/JointState.h>
+#include <geometry_msgs/WrenchStamped.h>
+#include <control_msgs/JointTrajectoryControllerState.h>
+#include <actionlib_msgs/GoalStatusArray.h>
+#include <gazebo_msgs/LinkStates.h>
+#include <gazebo_msgs/ModelStates.h>
+#include <moveit_msgs/PlanningScene.h>
+#include <rosgraph_msgs/Log.h>
+#include <tf2_msgs/TFMessage.h>
+#include <rosbag/bag.h>
+#include <rosbag/view.h>
+#include <boost/foreach.hpp>
+#define foreach BOOST_FOREACH
+
+// Include other message types as needed
+
+TopicCollector::TopicCollector() {
+ loadSubscribedTopics("/catkin_ws/src/ai_plugin/src/ai_subscribed_topics.txt");
+ updateTopics();
+ timer_ = nh_.createTimer(ros::Duration(5.0), &TopicCollector::updateTopics, this);
+}
+
+void TopicCollector::loadSubscribedTopics(const std::string& filename) {
+ std::ifstream infile(filename);
+ if (!infile.is_open()) {
+ ROS_ERROR("Failed to open %s", filename.c_str());
+ return;
+ }
+ std::string line;
+ while (std::getline(infile, line)) {
+ if (!line.empty()) {
+ subscribed_topics_.insert(line);
+ }
+ }
+ infile.close();
+}
+
+void TopicCollector::updateTopics() {
+ ros::TimerEvent dummy_event;
+ updateTopics(dummy_event);
+}
+
+void TopicCollector::updateTopics(const ros::TimerEvent&) {
+ ros::master::V_TopicInfo master_topics;
+ ros::master::getTopics(master_topics);
+
+ for (const auto& topic_info : master_topics) {
+ if (subscribed_topics_.find(topic_info.name) == subscribed_topics_.end() ||
+ subscribers_.find(topic_info.name) != subscribers_.end()) {
+ continue;
+ }
+
+ ros::SubscribeOptions ops = ros::SubscribeOptions::create<topic_tools::ShapeShifter>(
+ topic_info.name,
+ 1000,
+ boost::bind(&TopicCollector::genericCallback, this, _1, topic_info.name),
+ ros::VoidPtr(),
+ nullptr
+ );
+ ros::Subscriber sub = nh_.subscribe(ops);
+ subscribers_[topic_info.name] = sub;
+
+ ROS_INFO("Subscribed to new topic: %s", topic_info.name.c_str());
+ }
+}
+
+std::string TopicCollector::getMessage(const std::string& topic_name) {
+ if (messages_.find(topic_name) != messages_.end()) {
+ return messages_[topic_name];
+ }
+ return "";
+}
+
+std::vector<std::string> TopicCollector::getTopicNames() {
+ std::vector<std::string> topic_names;
+ for (const auto& entry : subscribers_) {
+ topic_names.push_back(entry.first);
+ }
+ return topic_names;
+}
+
+// Serialize message into human-readable format
+std::string TopicCollector::serializeMessage(const topic_tools::ShapeShifter::ConstPtr& msg) {
+ std::stringstream ss;
+ std::string datatype = msg->getDataType();
+
+ // Handle known message types
+ if (datatype == "std_msgs/String") {
+ std_msgs::String::ConstPtr typed_msg = msg->instantiate<std_msgs::String>();
+ if (typed_msg) {
+ ros::message_operations::Printer<std_msgs::String>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate std_msgs/String\n";
+ }
+ }
+ else if (datatype == "sensor_msgs/Image") {
+ sensor_msgs::Image::ConstPtr typed_msg = msg->instantiate<sensor_msgs::Image>();
+ if (typed_msg) {
+ ros::message_operations::Printer<sensor_msgs::Image>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate sensor_msgs/Image\n";
+ }
+ }
+ else if (datatype == "geometry_msgs/Pose") {
+ geometry_msgs::Pose::ConstPtr typed_msg = msg->instantiate<geometry_msgs::Pose>();
+ if (typed_msg) {
+ ros::message_operations::Printer<geometry_msgs::Pose>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate geometry_msgs/Pose\n";
+ }
+ }
+ else if (datatype == "std_msgs/Int32") {
+ std_msgs::Int32::ConstPtr typed_msg = msg->instantiate<std_msgs::Int32>();
+ if (typed_msg) {
+ ros::message_operations::Printer<std_msgs::Int32>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate std_msgs/Int32\n";
+ }
+ }
+ else if (datatype == "geometry_msgs/Twist") {
+ geometry_msgs::Twist::ConstPtr typed_msg = msg->instantiate<geometry_msgs::Twist>();
+ if (typed_msg) {
+ ros::message_operations::Printer<geometry_msgs::Twist>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate geometry_msgs/Twist\n";
+ }
+ }
+ else if (datatype == "sensor_msgs/JointState") {
+ sensor_msgs::JointState::ConstPtr typed_msg = msg->instantiate<sensor_msgs::JointState>();
+ if (typed_msg) {
+ ros::message_operations::Printer<sensor_msgs::JointState>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate sensor_msgs/JointState\n";
+ }
+ }
+ else if (datatype == "geometry_msgs/WrenchStamped") {
+ geometry_msgs::WrenchStamped::ConstPtr typed_msg = msg->instantiate<geometry_msgs::WrenchStamped>();
+ if (typed_msg) {
+ ros::message_operations::Printer<geometry_msgs::WrenchStamped>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate geometry_msgs/WrenchStamped\n";
+ }
+ }
+ else if (datatype == "control_msgs/JointTrajectoryControllerState") {
+ control_msgs::JointTrajectoryControllerState::ConstPtr typed_msg = msg->instantiate<control_msgs::JointTrajectoryControllerState>();
+ if (typed_msg) {
+ ros::message_operations::Printer<control_msgs::JointTrajectoryControllerState>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate control_msgs::JointTrajectoryControllerState\n";
+ }
+ }
+ else if (datatype == "actionlib_msgs/GoalStatusArray") {
+ actionlib_msgs::GoalStatusArray::ConstPtr typed_msg = msg->instantiate<actionlib_msgs::GoalStatusArray>();
+ if (typed_msg) {
+ ros::message_operations::Printer<actionlib_msgs::GoalStatusArray>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate actionlib_msgs::GoalStatusArray\n";
+ }
+ }
+ else if (datatype == "gazebo_msgs/LinkStates") {
+ gazebo_msgs::LinkStates::ConstPtr typed_msg = msg->instantiate<gazebo_msgs::LinkStates>();
+ if (typed_msg) {
+ ros::message_operations::Printer<gazebo_msgs::LinkStates>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate gazebo_msgs::LinkStates\n";
+ }
+ }
+ else if (datatype == "gazebo_msgs/ModelStates") {
+ gazebo_msgs::ModelStates::ConstPtr typed_msg = msg->instantiate<gazebo_msgs::ModelStates>();
+ if (typed_msg) {
+ ros::message_operations::Printer<gazebo_msgs::ModelStates>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate gazebo_msgs::ModelStates\n";
+ }
+ }
+ else if (datatype == "moveit_msgs/PlanningScene") {
+ moveit_msgs::PlanningScene::ConstPtr typed_msg = msg->instantiate<moveit_msgs::PlanningScene>();
+ if (typed_msg) {
+ ros::message_operations::Printer<moveit_msgs::PlanningScene>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate moveit_msgs::PlanningScene\n";
+ }
+ }
+ else if (datatype == "rosgraph_msgs/Log") {
+ rosgraph_msgs::Log::ConstPtr typed_msg = msg->instantiate<rosgraph_msgs::Log>();
+ if (typed_msg) {
+ ros::message_operations::Printer<rosgraph_msgs::Log>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate rosgraph_msgs::Log\n";
+ }
+ }
+ else if (datatype == "tf2_msgs/TFMessage") {
+ tf2_msgs::TFMessage::ConstPtr typed_msg = msg->instantiate<tf2_msgs::TFMessage>();
+ if (typed_msg) {
+ ros::message_operations::Printer<tf2_msgs::TFMessage>::stream(ss, "", *typed_msg);
+ } else {
+ ss << "Failed to instantiate tf2_msgs::TFMessage\n";
+ }
+ }
+ // Add more as needed
+ else {
+ ss << "Unsupported message type: " << datatype << "\n";
+ }
+
+ return ss.str();
+}
+
+void TopicCollector::genericCallback(const ros::MessageEvent<topic_tools::ShapeShifter const>& event, const std::string& topic_name) {
+ const topic_tools::ShapeShifter::ConstPtr& msg = event.getMessage();
+ std::string serialized_message = serializeMessage(msg);
+ messages_[topic_name] = serialized_message;
+}
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "topic_collector");
+ TopicCollector collector;
+ ROS_INFO("TopicCollector is initialized");
+ ros::spin();
+ return 0;
}
\ No newline at end of file
diff --git a/run.sh b/run.sh
index aad881a6936d56bc66086a27cc8177b5ac30a1ee..c30aa2d60df86f7a4295c33eccbc636be13cfb31 100755
--- a/run.sh
+++ b/run.sh
@@ -1,25 +1,25 @@
-#!/bin/sh
-
-# WITHOUT HARDWARE ACCELERATION
-# cd "$(dirname "$0")/.devcontainer"
-# docker run -it --env-file .env --env="DISPLAY=$DISPLAY" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" container-ros-noetic-moveit-panda /bin/bash
-
-# WITH HARDWARE ACCELERATION
-cd "$(dirname "$0")/.devcontainer"
-xhost +
-if lspci | grep -i nvidia > /dev/null; then
- docker run -it \
- --gpus all \
- --env-file .env \
- --env="DISPLAY=$DISPLAY" \
- --volume="/tmp/.X11-unix:/tmp/.X11-unix" \
- container-ros-noetic-moveit-panda /bin/bash
-else
- docker run -it \
- --device=/dev/dri \
- --group-add video \
- --env-file .env \
- --env="DISPLAY=$DISPLAY" \
- --volume="/tmp/.X11-unix:/tmp/.X11-unix" \
- container-ros-noetic-moveit-panda /bin/bash
+#!/bin/sh
+
+# WITHOUT HARDWARE ACCELERATION
+# cd "$(dirname "$0")/.devcontainer"
+# docker run -it --env-file .env --env="DISPLAY=$DISPLAY" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" container-ros-noetic-moveit-panda /bin/bash
+
+# WITH HARDWARE ACCELERATION
+cd "$(dirname "$0")/.devcontainer"
+xhost +
+if lspci | grep -i nvidia > /dev/null; then
+ docker run -it \
+ --gpus all \
+ --env-file .env \
+ --env="DISPLAY=$DISPLAY" \
+ --volume="/tmp/.X11-unix:/tmp/.X11-unix" \
+ container-ros-noetic-moveit-panda /bin/bash
+else
+ docker run -it \
+ --device=/dev/dri \
+ --group-add video \
+ --env-file .env \
+ --env="DISPLAY=$DISPLAY" \
+ --volume="/tmp/.X11-unix:/tmp/.X11-unix" \
+ container-ros-noetic-moveit-panda /bin/bash
fi
\ No newline at end of file