From dd3ddbc39d804910f032ec9a181b4b86e968eddf Mon Sep 17 00:00:00 2001
From: Max <uqwfa@student.kit.edu>
Date: Tue, 19 Nov 2024 15:37:22 +0000
Subject: [PATCH] test
---
.devcontainer/Dockerfile | 62 +--
.devcontainer/Dockerfile_core | 60 +--
.devcontainer/devcontainer.json | 60 +--
.devcontainer/docker-compose.yml | 46 +-
.gitignore | 106 ++--
.vscode/settings.json | 106 ++--
LICENSE | 402 +++++++--------
README.md | 264 +++++-----
build.sh | 4 +-
catkin_ws/.catkin_workspace | 2 +-
catkin_ws/src/ai_plugin/CMakeLists.txt | 182 +++----
.../include/rviz-ai-panel/ai_agent.hpp | 26 +-
.../include/rviz-ai-panel/rviz_panel.hpp | 104 ++--
.../include/rviz-ai-panel/topic_collector.hpp | 70 +--
catkin_ws/src/ai_plugin/package.xml | 72 +--
catkin_ws/src/ai_plugin/resource/ai_panel.ui | 330 ++++++-------
catkin_ws/src/ai_plugin/src/ai_agent.cpp | 128 ++---
.../ai_plugin/src/ai_subscribed_topics.txt | 38 +-
.../src/ai_plugin/src/context_prompt.txt | 12 +-
catkin_ws/src/ai_plugin/src/rviz_panel.cpp | 218 ++++-----
.../src/ai_plugin/src/topic_collector.cpp | 456 +++++++++---------
run.sh | 48 +-
22 files changed, 1398 insertions(+), 1398 deletions(-)
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 6910add..9231d78 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 7e5317f..0124163 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 94edb4c..afceea1 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 10412f1..96f59af 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 80f18c6..328edac 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 8097228..38a7463 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 af07082..a10db1b 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,
- and distribution as defined by Sections 1 through 9 of this document.
-
- "Licensor" shall mean the copyright owner or entity authorized by
- the copyright owner that is granting the License.
-
- "Legal Entity" shall mean the union of the acting entity and all
- other entities that control, are controlled by, or are under common
- control with that entity. For the purposes of this definition,
- "control" means (i) the power, direct or indirect, to cause the
- direction or management of such entity, whether by contract or
- otherwise, or (ii) ownership of fifty percent (50%) or more of the
- outstanding shares, or (iii) beneficial ownership of such entity.
-
- "You" (or "Your") shall mean an individual or Legal Entity
- exercising permissions granted by this License.
-
- "Source" form shall mean the preferred form for making modifications,
- including but not limited to software source code, documentation
- source, and configuration files.
-
- "Object" form shall mean any form resulting from mechanical
- transformation or translation of a Source form, including but
- not limited to compiled object code, generated documentation,
- and conversions to other media types.
-
- "Work" shall mean the work of authorship, whether in Source or
- Object form, made available under the License, as indicated by a
- copyright notice that is included in or attached to the work
- (an example is provided in the Appendix below).
-
- "Derivative Works" shall mean any work, whether in Source or Object
- form, that is based on (or derived from) the Work and for which the
- editorial revisions, annotations, elaborations, or other modifications
- represent, as a whole, an original work of authorship. For the purposes
- of this License, Derivative Works shall not include works that remain
- separable from, or merely link (or bind by name) to the interfaces of,
- the Work and Derivative Works thereof.
-
- "Contribution" shall mean any work of authorship, including
- the original version of the Work and any modifications or additions
- to that Work or Derivative Works thereof, that is intentionally
- submitted to Licensor for inclusion in the Work by the copyright owner
- or by an individual or Legal Entity authorized to submit on behalf of
- the copyright owner. For the purposes of this definition, "submitted"
- means any form of electronic, verbal, or written communication sent
- to the Licensor or its representatives, including but not limited to
- communication on electronic mailing lists, source code control systems,
- and issue tracking systems that are managed by, or on behalf of, the
- Licensor for the purpose of discussing and improving the Work, but
- excluding communication that is conspicuously marked or otherwise
- designated in writing by the copyright owner as "Not a Contribution."
-
- "Contributor" shall mean Licensor and any individual or Legal Entity
- on behalf of whom a Contribution has been received by Licensor and
- subsequently incorporated within the Work.
-
- 2. Grant of Copyright License. Subject to the terms and conditions of
- this License, each Contributor hereby grants to You a perpetual,
- worldwide, non-exclusive, no-charge, royalty-free, irrevocable
- copyright license to reproduce, prepare Derivative Works of,
- publicly display, publicly perform, sublicense, and distribute the
- Work and such Derivative Works in Source or Object form.
-
- 3. Grant of Patent License. Subject to the terms and conditions of
- this License, each Contributor hereby grants to You a perpetual,
- worldwide, non-exclusive, no-charge, royalty-free, irrevocable
- (except as stated in this section) patent license to make, have made,
- use, offer to sell, sell, import, and otherwise transfer the Work,
- where such license applies only to those patent claims licensable
- by such Contributor that are necessarily infringed by their
- Contribution(s) alone or by combination of their Contribution(s)
- with the Work to which such Contribution(s) was submitted. If You
- institute patent litigation against any entity (including a
- cross-claim or counterclaim in a lawsuit) alleging that the Work
- or a Contribution incorporated within the Work constitutes direct
- or contributory patent infringement, then any patent licenses
- granted to You under this License for that Work shall terminate
- as of the date such litigation is filed.
-
- 4. Redistribution. You may reproduce and distribute copies of the
- Work or Derivative Works thereof in any medium, with or without
- modifications, and in Source or Object form, provided that You
- meet the following conditions:
-
- (a) You must give any other recipients of the Work or
- Derivative Works a copy of this License; and
-
- (b) You must cause any modified files to carry prominent notices
- stating that You changed the files; and
-
- (c) You must retain, in the Source form of any Derivative Works
- that You distribute, all copyright, patent, trademark, and
- attribution notices from the Source form of the Work,
- excluding those notices that do not pertain to any part of
- the Derivative Works; and
-
- (d) If the Work includes a "NOTICE" text file as part of its
- distribution, then any Derivative Works that You distribute must
- include a readable copy of the attribution notices contained
- within such NOTICE file, excluding those notices that do not
- pertain to any part of the Derivative Works, in at least one
- of the following places: within a NOTICE text file distributed
- as part of the Derivative Works; within the Source form or
- documentation, if provided along with the Derivative Works; or,
- within a display generated by the Derivative Works, if and
- wherever such third-party notices normally appear. The contents
- of the NOTICE file are for informational purposes only and
- do not modify the License. You may add Your own attribution
- notices within Derivative Works that You distribute, alongside
- or as an addendum to the NOTICE text from the Work, provided
- that such additional attribution notices cannot be construed
- as modifying the License.
-
- You may add Your own copyright statement to Your modifications and
- may provide additional or different license terms and conditions
- for use, reproduction, or distribution of Your modifications, or
- for any such Derivative Works as a whole, provided Your use,
- reproduction, and distribution of the Work otherwise complies with
- the conditions stated in this License.
-
- 5. Submission of Contributions. Unless You explicitly state otherwise,
- any Contribution intentionally submitted for inclusion in the Work
- by You to the Licensor shall be under the terms and conditions of
- this License, without any additional terms or conditions.
- Notwithstanding the above, nothing herein shall supersede or modify
- the terms of any separate license agreement you may have executed
- with Licensor regarding such Contributions.
-
- 6. Trademarks. This License does not grant permission to use the trade
- names, trademarks, service marks, or product names of the Licensor,
- except as required for reasonable and customary use in describing the
- origin of the Work and reproducing the content of the NOTICE file.
-
- 7. Disclaimer of Warranty. Unless required by applicable law or
- agreed to in writing, Licensor provides the Work (and each
- Contributor provides its Contributions) on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
- implied, including, without limitation, any warranties or conditions
- of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
- PARTICULAR PURPOSE. You are solely responsible for determining the
- appropriateness of using or redistributing the Work and assume any
- risks associated with Your exercise of permissions under this License.
-
- 8. Limitation of Liability. In no event and under no legal theory,
- whether in tort (including negligence), contract, or otherwise,
- unless required by applicable law (such as deliberate and grossly
- negligent acts) or agreed to in writing, shall any Contributor be
- liable to You for damages, including any direct, indirect, special,
- incidental, or consequential damages of any character arising as a
- result of this License or out of the use or inability to use the
- Work (including but not limited to damages for loss of goodwill,
- work stoppage, computer failure or malfunction, or any and all
- other commercial damages or losses), even if such Contributor
- has been advised of the possibility of such damages.
-
- 9. Accepting Warranty or Additional Liability. While redistributing
- the Work or Derivative Works thereof, You may choose to offer,
- and charge a fee for, acceptance of support, warranty, indemnity,
- or other liability obligations and/or rights consistent with this
- License. However, in accepting such obligations, You may act only
- on Your own behalf and on Your sole responsibility, not on behalf
- of any other Contributor, and only if You agree to indemnify,
- defend, and hold each Contributor harmless for any liability
- incurred by, or claims asserted against, such Contributor by reason
- of your accepting any such warranty or additional liability.
-
- END OF TERMS AND CONDITIONS
-
- APPENDIX: How to apply the Apache License to your work.
-
- To apply the Apache License to your work, attach the following
- boilerplate notice, with the fields enclosed by brackets "[]"
- replaced with your own identifying information. (Don't include
- the brackets!) The text should be enclosed in the appropriate
- comment syntax for the file format. We also recommend that a
- file or class name and description of purpose be included on the
- same "printed page" as the copyright notice for easier
- identification within third-party archives.
-
- Copyright 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.
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
+
+ "Source" form shall mean the preferred form for making modifications,
+ including but not limited to software source code, documentation
+ source, and configuration files.
+
+ "Object" form shall mean any form resulting from mechanical
+ transformation or translation of a Source form, including but
+ not limited to compiled object code, generated documentation,
+ and conversions to other media types.
+
+ "Work" shall mean the work of authorship, whether in Source or
+ Object form, made available under the License, as indicated by a
+ copyright notice that is included in or attached to the work
+ (an example is provided in the Appendix below).
+
+ "Derivative Works" shall mean any work, whether in Source or Object
+ form, that is based on (or derived from) the Work and for which the
+ editorial revisions, annotations, elaborations, or other modifications
+ represent, as a whole, an original work of authorship. For the purposes
+ of this License, Derivative Works shall not include works that remain
+ separable from, or merely link (or bind by name) to the interfaces of,
+ the Work and Derivative Works thereof.
+
+ "Contribution" shall mean any work of authorship, including
+ the original version of the Work and any modifications or additions
+ to that Work or Derivative Works thereof, that is intentionally
+ submitted to Licensor for inclusion in the Work by the copyright owner
+ or by an individual or Legal Entity authorized to submit on behalf of
+ the copyright owner. For the purposes of this definition, "submitted"
+ means any form of electronic, verbal, or written communication sent
+ to the Licensor or its representatives, including but not limited to
+ communication on electronic mailing lists, source code control systems,
+ and issue tracking systems that are managed by, or on behalf of, the
+ Licensor for the purpose of discussing and improving the Work, but
+ excluding communication that is conspicuously marked or otherwise
+ designated in writing by the copyright owner as "Not a Contribution."
+
+ "Contributor" shall mean Licensor and any individual or Legal Entity
+ on behalf of whom a Contribution has been received by Licensor and
+ subsequently incorporated within the Work.
+
+ 2. Grant of Copyright License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ copyright license to reproduce, prepare Derivative Works of,
+ publicly display, publicly perform, sublicense, and distribute the
+ Work and such Derivative Works in Source or Object form.
+
+ 3. Grant of Patent License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ (except as stated in this section) patent license to make, have made,
+ use, offer to sell, sell, import, and otherwise transfer the Work,
+ where such license applies only to those patent claims licensable
+ by such Contributor that are necessarily infringed by their
+ Contribution(s) alone or by combination of their Contribution(s)
+ with the Work to which such Contribution(s) was submitted. If You
+ institute patent litigation against any entity (including a
+ cross-claim or counterclaim in a lawsuit) alleging that the Work
+ or a Contribution incorporated within the Work constitutes direct
+ or contributory patent infringement, then any patent licenses
+ granted to You under this License for that Work shall terminate
+ as of the date such litigation is filed.
+
+ 4. Redistribution. You may reproduce and distribute copies of the
+ Work or Derivative Works thereof in any medium, with or without
+ modifications, and in Source or Object form, provided that You
+ meet the following conditions:
+
+ (a) You must give any other recipients of the Work or
+ Derivative Works a copy of this License; and
+
+ (b) You must cause any modified files to carry prominent notices
+ stating that You changed the files; and
+
+ (c) You must retain, in the Source form of any Derivative Works
+ that You distribute, all copyright, patent, trademark, and
+ attribution notices from the Source form of the Work,
+ excluding those notices that do not pertain to any part of
+ the Derivative Works; and
+
+ (d) If the Work includes a "NOTICE" text file as part of its
+ distribution, then any Derivative Works that You distribute must
+ include a readable copy of the attribution notices contained
+ within such NOTICE file, excluding those notices that do not
+ pertain to any part of the Derivative Works, in at least one
+ of the following places: within a NOTICE text file distributed
+ as part of the Derivative Works; within the Source form or
+ documentation, if provided along with the Derivative Works; or,
+ within a display generated by the Derivative Works, if and
+ wherever such third-party notices normally appear. The contents
+ of the NOTICE file are for informational purposes only and
+ do not modify the License. You may add Your own attribution
+ notices within Derivative Works that You distribute, alongside
+ or as an addendum to the NOTICE text from the Work, provided
+ that such additional attribution notices cannot be construed
+ as modifying the License.
+
+ You may add Your own copyright statement to Your modifications and
+ may provide additional or different license terms and conditions
+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
+ the brackets!) The text should be enclosed in the appropriate
+ comment syntax for the file format. We also recommend that a
+ file or class name and description of purpose be included on the
+ same "printed page" as the copyright notice for easier
+ identification within third-party archives.
+
+ Copyright 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 6c3aa64..6dcd3a4 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 474e2ba..dc0cb41 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 52fd97e..0274bef 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 42ca9a9..e181764 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 03d2d25..05282ba 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 ba9d653..b2a9435 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 dddbfcb..d15d2cf 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 73a10b5..4942ab0 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 58a109a..acfcc8e 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 0c3e056..fd8020f 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 a215ebe..93e44b8 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 0e9384f..31ef8df 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 d1ca1c0..3fd3588 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 320a8ff..b7f242c 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 aad881a..c30aa2d 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
--
GitLab