ros2ai 🤖

ros2ai is a next-generation ROS 2 command line interface extension with OpenAI and Ollama.

see overview slide deck for more information.

Motivation

• (Just for fun 😝)
• Getting answers against the questions directly without browsing, clicking and typing many times.
• Easy to use for everyone, especially for ROS 2 beginners and students who do not really know ros2cli.
• Multiple language support.
• Multiple LLMs support (with OpenAI Python API)

Demo 🖥️

See how it works 🔥

https://github.com/fujitatomoya/ros2ai/assets/43395114/78a0799b-40e3-4dc8-99cb-488994e94769

Supported ROS Distribution

Installation

Docker Container

see available images for tomoyafujita/ros2ai@dockerhub

docker run -it --rm --net=host -e OPENAI_API_KEY=$OPENAI_API_KEY tomoyafujita/ros2ai:humble

[!NOTE] OPENAI_API_KEY environmental variable is not required if using Ollama. And it is expecting that Ollama runs on the host system mostly, so that container is bound to the host network interface.

https://github.com/fujitatomoya/ros2ai/assets/43395114/2af4fd44-2ccf-472c-9153-c3c19987dc96

Required Package

• rolling / jazzy

  pip install openai ollama validators --break-system-packages --ignore-installed
  

[!NOTE] see PEP 668 – Marking Python base environments as “externally managed” why --break-system-packages is required.

• humble

  pip install openai ollama validators --ignore-installed
  

Build

No released package is available, needs to be build in colcon workspace.

source /opt/ros/rolling/setup.bash
mkdir -p colcon_ws/src
cd colcon_ws/src
git clone https://github.com/fujitatomoya/ros2ai.git
cd ..
colcon build --symlink-install --packages-select ros2ai

Usage

Prerequisites

As described in overview diagram, ros2ai uses only OpenAI Python API but backend implementation can be replaced with Ollama that provides the compatible API with OpenAI. User need to choose either of them is used by ros2ai as following configuration, otherwise it falls back to use OpenAI.

• OpenAI

  ros2ai requires OpenAI API key

  export OPENAI_API_KEY='your-api-key-here'
  

[!CAUTION] Do not share or expose your OpenAI API key.

• Ollama

  ros2ai requires Ollama service running, see more details for How to install Ollama to Linux

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