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- Added a new webots demo package with various scripts for controlling a mobile robot. - Implemented demo service provider with semantic map and task planning services. - Updated demo recipe to reflect new package names and services. - Adjusted file permissions for several scripts to ensure proper execution. - Included necessary configuration files and documentation for the new package.
- Introduced a web-based management interface for robonix-core, allowing real-time monitoring and control. - Implemented a TF monitor to parse and visualize the ROS2 TF tree data. - Added logging functionality with a buffer to capture and display logs in the web GUI. - Updated the main application to initialize the web GUI and handle web server tasks. - Enhanced the existing Rust modules with new dependencies and improved structure for better maintainability.
- Renamed demo service from `demo_service` to `demo_service_provider` for clarity. - Updated `.env.example` to include new API keys for Qwen3-VL and DeepSeek services. - Added `.gitignore` to exclude unnecessary files and directories. - Enhanced `README.md` with detailed service descriptions and configuration instructions. - Improved `setup.py` to include additional dependencies for image processing and API interaction. - Refactored `semantic_map_service.py` to implement real object detection using Qwen3-VL and front camera integration. - Added test scripts for ping service and querying primitives to ensure functionality. - Cleaned up startup scripts for better readability and efficiency.
change to String fixes everything
Add preferred and alternative RUST_LOG configurations for robonix-core
- Introduced an Image Monitor module to track and store images from ROS2 topics. - Updated web GUI to display image topics and allow image retrieval. - Enhanced existing scripts and configurations for better integration with the new image monitoring feature. - Improved error handling and logging for image processing tasks. - Updated dependencies in Cargo.toml and Cargo.lock to support new functionalities.
- Commented out build commands in the test script for clarity. - Improved service call methods in DaemonRos2Clients to include retry logic and service discovery waiting. - Enhanced error messages for service call timeouts and failures to guide users in troubleshooting. - Updated QoS settings for service clients to ensure compatibility with robonix-core.
- Added bash completion support in the Docker entrypoint script. - Updated Dockerfile to include bash-completion and fonts-lmodern. - Enhanced Rust Makefile with new test commands for stress testing and benchmarking. - Introduced new test scripts for querying primitives and ping service load testing. - Updated README and .gitignore files to reflect new test framework structure and ignore unnecessary files. - Improved logging and error handling in test scripts for better diagnostics.
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Pull request overview
This PR introduces a comprehensive test framework and web GUI for the Robonix framework, along with modular reorganization of the codebase and integration of a Webots demo package for simulation.
Changes:
- Added a multi-language test framework (Rust, Python, C++) for stress testing ROS2 service performance
- Introduced a web-based GUI for monitoring and managing Robonix core components
- Reorganized codebase into modular directories (perception, cognition, action) with separate specification files
- Added Webots simulation demo package for RangerMiniV3 robot
Reviewed changes
Copilot reviewed 122 out of 158 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| rust/tools/test_framework/* | Stress test framework with benchmark reporting and visualization |
| rust/robonix-core/web_gui/* | Web GUI with static assets (HTML, CSS, JS) for system monitoring |
| rust/robonix-core/src/web_gui.rs | Web server implementation with REST API endpoints |
| rust/robonix-core/src/perception/* | Perception module with TF, topic, and image monitoring |
| rust/robonix-core/src/cognition/* | Cognition module with task planning specs |
| rust/robonix-core/src/action/* | Action module with skill library and motion specs |
| rust/provider/webots_demo_package/* | Webots simulation package for RangerMiniV3 robot |
| rust/robonix-core/src/main.rs | Updated main to initialize web GUI and monitoring components |
| rust/robonix-core/src/service/mod.rs | Changed metadata storage from JSON value to string |
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| skill_id: String::new(), | ||
| }; | ||
| } | ||
| if serde_json::from_str::<serde_json::Value>(&req.metadata).is_err() { |
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The error from JSON parsing is discarded. Consider logging the actual parse error for debugging purposes, similar to how it was done in the original code (lines 71-72 show the pattern).
- Commented out the build command in `start_robot.sh` and replaced it with a call to `./rbnx/build.sh`. - Updated logging levels in `four_wheel_steering_controller.cpp` from DEBUG to INFO for improved clarity in odometry and command updates. - Removed unused navigation and SLAM configuration files from the `setup.py` and deleted associated resource files. - Adjusted mappings in `robot_launch.py` for better command and odometry topic handling. - Enhanced `ros2_control.yml` parameters for the four-wheel steering controller to improve responsiveness and control limits. - Cleaned up RViz configuration in `default.rviz` for better visualization management.
- Updated `start_robot.sh` to accept parameters for world, RViz, navigation, and RTAB-Map settings. - Added new dependencies for RTAB-Map and navigation in `build.sh` and `package.xml`. - Introduced a new `camera_info_publisher.py` to publish camera info for RGB and depth cameras. - Modified `robot_launch.py` to integrate RTAB-Map nodes and camera info publisher. - Removed obsolete `test_launch.py` and `tiago_bringup_webots.urdf` files to streamline the project structure. - Adjusted RViz configuration for improved visualization and usability.
- Introduced `.gitignore` to exclude build artifacts. - Added `build.sh` and `run.sh` scripts for building and launching the ROS2 package. - Created `description.yml` for package metadata. - Implemented `rviz.config.rviz` for RViz visualization settings. - Added `start_rviz.sh` to launch RViz with the specified configuration. - Included initial files for `eaios_webots` package, including URDF, launch files, and configuration for navigation and control. - Established basic structure for `nav2_webots_tiago` with configuration files for navigation and mapping.
…ities - Added `tiago_demo_package` providing camera, depth, pose, and navigation primitives. - Introduced `navigation_skills_provider` package with wandering and move_to_object skills. - Updated `demo_recipe.yaml` to register new packages and their respective services and skills. - Created necessary scripts for starting and stopping skills, including pose conversion and navigation. - Enhanced RViz configuration for better visualization of the Tiago robot's capabilities. - Implemented build scripts for both `tiago_demo_package` and `navigation_skills_provider` to streamline deployment.
…viders - Refactored service names in `demo_recipe.yaml` and `rbnx_manifest.yaml` to include `srv::` prefix for consistency. - Updated skill names in `navigation_skills_provider` to use `skl::` prefix, enhancing clarity in skill identification. - Introduced `kill.sh` script for terminating processes related to the ROS2 environment. - Enhanced `test_cli.sh` with additional task creation examples for better usability. - Modified `move_to_object_skill.py` and `wandering_skill.py` to implement new service querying mechanisms and improved logging. - Adjusted `package.xml` to remove unnecessary dependencies, streamlining the build process. - Updated RViz configuration for improved visualization of the robot's capabilities.
- Added direct executable search for `move_to_object_skill` and `wandering_skill` in their respective scripts, enhancing execution reliability. - Updated fallback mechanisms to prioritize executable paths before resorting to ROS2 commands and Python scripts. - Removed the unused `std_msgs` module and its references from the project, streamlining the codebase. - Enhanced logging for skill execution to provide clearer feedback during runtime.
…port - Introduced a new function to set thread real-time priority using SCHED_FIFO for improved responsiveness. - Refactored core API handlers to run on dedicated high-priority threads, ensuring better performance during service requests. - Added `libc` dependency to facilitate real-time scheduling on Linux. - Updated logging to provide feedback on thread priority settings and potential issues.
- Added a new `StdString` struct to represent string messages in ROS2, implementing the `Message` trait for compatibility. - Updated `RtdlExecutor` to utilize `StdString` for publishing and subscribing to messages, enhancing type safety and clarity in message handling. - Modified message handling logic to access the string data directly from the new struct.
- Modified `demo_recipe.yaml` to require AMCL for pose primitives and updated package references to use `prm::base.pose.amcl`. - Enhanced `README.md` with updated process cleanup commands for ROS2. - Updated `test_cli.sh` to streamline deployment and log management. - Improved `semantic_map_service.py` to handle robot pose updates using `PoseWithCovarianceStamped` and added logic for querying pose primitives. - Refactored `task_plan_service.py` to correct RTDL terminology and ensure consistency. - Introduced new scripts for starting and stopping the AMCL pose primitive, removing the need for a separate pose converter. - Enhanced web GUI with a 2D semantic map view for better visualization of detected objects.
…ripts - Updated `process.rs` to enforce FastDDS for all started processes. - Enhanced `status.rs` to convert recipe paths to absolute paths for better clarity. - Modified shell scripts (`test_ping.sh`, `test_query_primitive.sh`, `test_task.sh`) to set and display FastDDS as the DDS implementation for ROS2 CLI tools. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Updated `Cargo.toml` and `Cargo.lock` to include new dependencies such as `aws-lc-rs`, `aws-lc-sys`, and `cesu8`, while also upgrading existing dependencies like `clap`, `reqwest`, and `tokio`. - Introduced a new `config.rs` module for managing core configuration, allowing for loading and saving settings related to the agent. - Enhanced the web interface with new settings page for agent configuration, including options for LLM provider, API key, and model settings. - Improved agent interaction by implementing chat functionality and updating the web interface to support real-time communication with the agent. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Added a new SpeechConfig struct to manage speech-related settings, including access token, appkey, and region. - Updated CoreConfig to include speech configuration, allowing for dynamic loading and saving of speech settings. - Enhanced the web interface with a dedicated speech configuration section, enabling users to input and save speech-related parameters. - Implemented TTS and STT services in the agent, allowing for text-to-speech and speech-to-text functionalities. - Improved agent interaction by adding new handlers for TTS and STT requests, enhancing user experience. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Updated the configuration update handler to include a restart requirement message for users after successful updates. - Improved the TTS service by adding validation for required fields and enhanced error handling for TTS requests, including detailed logging for success and failure cases. - Modified the web interface to display appropriate status messages based on the configuration update results, including warnings for required restarts. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Replaced all instances of `prm::camera.capture` with `prm::camera.rgb` across various configuration files, scripts, and documentation to reflect the updated camera primitive naming. - Adjusted logging messages and comments to ensure consistency with the new primitive name. - Introduced a new clean command module in the CLI for managing log files. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Updated all instances of `prm::base.pose.amcl` to `prm::base.pose.cov` across various configuration files, scripts, and documentation to reflect the new naming convention for the pose primitive. - Adjusted logging messages and comments to ensure consistency with the updated primitive name. - Configured CAN interfaces in `init.sh` for improved network setup. Signed-off-by: wheatfox <wheatfox17@icloud.com>
Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Changed version from `0.0.1-impl-alpha` to `0.0.1` in `rbnx_manifest.yaml` for demo package. - Updated maintainer details from `root` to `wheatfox` and changed email to `wheatfox17@icloud.com` in `rbnx_manifest.yaml` for demo_service and navigation_skills packages. - Added a new text-to-speech primitive in `specs.rs` to enhance functionality. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Deleted the `deploy.sh` script, `Makefile`, and various documentation files including `README.md`, `conf.py`, and API references to streamline the project structure. - Removed unused images and CSS files from the documentation directory. - Cleaned up the source directory by eliminating obsolete API and example files. Signed-off-by: wheatfox <wheatfox17@icloud.com>
…and configuration handling - Added logging functionality to `start_move_to_object.sh` and `start_wandering.sh` for better debugging and tracking of script execution. - Improved handling of the `ROBONIX_SDK_PATH` configuration by checking for the path in the user's home directory and logging relevant messages. - Updated the scripts to prefer a source layout when the skill module exists, enhancing the execution process for both skills. - Included error handling to provide clear feedback when required files are missing. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Enhanced error logging in `move_to_object_skill.py` and `wandering_skill.py` by formatting log messages for better readability. - Adjusted the structure of several log messages to maintain consistency and improve clarity. - Ensured that status publishing messages are also formatted for better alignment. Signed-off-by: wheatfox <wheatfox17@icloud.com>
…map service - Added functionality to load manual objects from a YAML configuration file in `semantic_map_service.py`, enhancing the semantic map capabilities. - Introduced error handling and logging for the loading process, ensuring clear feedback on the status of manual object loading. - Updated the object creation logic to support manual object definitions, including frame mappings and bounding boxes. - Created a new YAML configuration file `semantic_map_config.yaml` to define manual objects with their respective properties. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Enhanced the `rust/README.md` with detailed instructions for starting `robonix-core`, emphasizing the use of environment variables and the web UI. - Clarified the role of standard services in task execution and updated the RTDL format section to specify list-form RTDL support. - Added a new `tiago_demo_package/README.md` to guide users on starting the Tiago simulator and related services. - Revised `service_load_test/README.md` to reflect the correct procedure for starting `robonix-core` and introduced the option to use `./core.sh` for background execution. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Added instructions for verifying package installation and building the `tiago_demo_package` using `rbnx package build`. - Improved clarity on the prerequisites for starting the simulator and related services. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Introduced `CallCancelTask` command and `CancelTaskResponse` in the daemon client to handle task cancellation requests. - Implemented `cancel_task` method in the `TaskManager` to update task states and remove tasks from the queue if necessary. - Added a new API endpoint for cancelling tasks and integrated it into the web interface with a confirmation modal. - Enhanced the `TaskClient` to support cancellation requests and updated the front-end to allow users to cancel tasks interactively. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Introduced a new README.md for the Robonix Test Framework, detailing test and benchmark utilities for comparing ROS2 client implementations. - Added benchmark results from a recent test run, including a summary table and latency/failure rate comparisons. - Included detailed logs and JSON reports for various test configurations, enhancing the framework's documentation and usability. - Updated .gitignore to preserve specific benchmark logs while ignoring others. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Introduced `cli.sh` for managing the Robonix daemon, including build, deployment, and logging setup. - Added `dev_setup.sh` for initializing the development environment, including SDK configuration and package installation. - Updated `test_cli.sh` to include daemon stop command for cleaner test execution. - Enhanced `test_core.sh` cleanup function for improved process termination and logging. - Modified `README.md` in demo_service to reflect API key changes and service configurations. - Updated `rbnx_manifest.yaml` to include new start script parameters for semantic map service. - Added new YAML configuration files for manual object definitions in semantic mapping. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Improved the cleanup function in `core.sh` and `test_core.sh` to ensure more reliable termination of the `robonix-core` process. - Added detailed logging to track the process IDs being killed and confirm successful cleanup. - Implemented signal traps for SIGINT and SIGTERM to handle interruptions gracefully. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Added support for skill cancellation in `move_to_object_skill.py` and `wandering_skill.py`, allowing skills to respond to termination requests from Robonix. - Introduced `_cancel_requested` flag to manage cancellation state and updated the subscription QoS settings for navigate status. - Enhanced logging to provide feedback on skill termination and navigation completion status. - Updated the task management system to publish termination messages to the skill's start topic when a task is cancelled. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Updated `init.sh` to enable CAN interface configuration. - Added environment variable export for RMW implementation in `core.sh`. - Refined `kill.sh` to improve process termination handling for navigation and image monitoring components. - Modified `.env.example` to adjust semantic map update interval and introduce thresholds for pose and image skipping. - Enhanced `semantic_map_service.py` to implement logic for skipping VLM calls when pose or image data is unchanged, optimizing token usage. - Updated web interface to display hidden image topics and improve image monitor functionality. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Introduced a new `TransformScan` service to convert point clouds to LaserScan format, supporting both single-call and streaming operations. - Updated `package.xml` to include dependencies for `sensor_msgs` and `sensor_msgs_py`. - Modified `rbnx_manifest.yaml` to add the new service and its associated start/stop scripts. - Created `transform_scan_service.py` to implement the service logic, including handling for conversion and streaming. - Added new shell scripts for starting and stopping the transform scan service. - Included a new YAML configuration file for demo map settings. Signed-off-by: wheatfox <wheatfox17@icloud.com>
Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Introduced a new Python script `forward_prim_test.py` to facilitate testing of forward navigation primitives. - Implemented functionality to query schemas, publish navigation goals, and monitor arrival conditions based on position and orientation tolerances. - Integrated ROS 2 components for service interaction and message handling, enhancing the testing framework for navigation tasks. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Changed the start script for the semantic map service in `rbnx_manifest.yaml` to use `building_map_config.yaml`. - Updated file permissions for several shell scripts (`start_transform_scan.sh`, `stop_semantic_map.sh`, `stop_task_plan.sh`, `stop_transform_scan.sh`) to make them executable. - Refactored the node creation logic in `node.rs` to support two separate ROS2 nodes for improved task management and responsiveness. - Enhanced the main application logic in `main.rs` to utilize the new node structure, ensuring that long-running tasks do not block API requests. Signed-off-by: wheatfox <wheatfox17@icloud.com>
- Added support for replacing the target object during an ongoing move operation, allowing for more dynamic navigation. - Introduced a new flag `_target_replaced` to track when a target is updated. - Updated logging to provide clearer feedback when a new target is received and the navigation status is updated accordingly. - Refactored error handling in the `_move_operation` method to maintain functionality while querying the semantic map. Signed-off-by: wheatfox <wheatfox17@icloud.com>
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