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refactor: simplify ros2 tools #362

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@boczekbartek boczekbartek commented Jan 14, 2025 •
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Purpose

  • This PR simplify ros2 tools by using InjectedToolArg to pass ros2 node to langchaing tools.
  • Previously the tools required implementing advanced pydantic typing and writing a lot of boilerplate code

Proposed Changes

  • simplify ros2-based langchaing tools in rai
  • further refactor ros2 API (making it easier to merge with with feat: ROS2 High level generic API #360)
  • fix circular import issue, when typing in tools made it hard to add tools to RaiStateBasedLlmNode

TODOs:

  • refactor open-set vision tools
  • add open-set vision tools to rosbot example

Issues

  • Links to relevant issues

Testing

  • How was it tested, what were the results?

@boczekbartek boczekbartek mentioned this pull request Jan 14, 2025
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@boczekbartek boczekbartek force-pushed the refactor/simplify_ros2_tools branch 5 times, most recently from 227ee80 to c6c2489 Compare January 14, 2025 11:55
Base automatically changed from refactor/ros_communication to development January 14, 2025 14:21
@boczekbartek boczekbartek force-pushed the refactor/simplify_ros2_tools branch from c6c2489 to ebe7c6d Compare January 14, 2025 15:27
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