10000 refactor: ros2 tools in manimulation demo by boczekbartek · Pull Request #551 · RobotecAI/rai · GitHub
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refactor: ros2 tools in manimulation demo #551

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refactor: ros2 tools in manimulation demo #551

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e9a16a7
remove manimulation tools from main rai.tools.ros2 module
boczekbartek Apr 29, 2025
f5389d8
refactor: gdino tools
boczekbartek Apr 29, 2025
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9 changes: 0 additions & 9 deletions src/rai_core/rai/tools/ros2/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
raise ImportError(
"This is a ROS2 feature. Make sure ROS2 is installed and sourced."
)

from .cli import (
ROS2CLIToolkit,
ros2_action,
Expand Down Expand Up @@ -48,11 +47,6 @@
ROS2TopicsToolkit,
StartROS2ActionTool,
)
from .manipulation.custom import (
GetObjectPositionsTool,
MoveToPointTool,
MoveToPointToolInput,
)
from .navigation.nav2 import (
CancelNavigateToPoseTool,
GetNavigateToPoseFeedbackTool,
Expand All @@ -71,7 +65,6 @@
"CancelROS2ActionTool",
"GetNavigateToPoseFeedbackTool",
"GetNavigateToPoseResultTool",
"GetObjectPositionsTool",
"GetROS2ActionFeedbackTool",
"GetROS2ActionIDsTool",
"GetROS2ActionResultTool",
Expand All @@ -83,8 +76,6 @@
"GetROS2TopicsNamesAndTypesTool",
"GetROS2TransformConfiguredTool",
"GetROS2TransformTool",
"MoveToPointTool",
"MoveToPointToolInput",
"Nav2Toolkit",
"NavigateToPoseTool",
"PublishROS2MessageTool",
Expand Down
9 changes: 3 additions & 6 deletions src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,10 @@

import numpy as np
import sensor_msgs.msg
from langchain_core.tools import BaseTool
from pydantic import BaseModel, Field
from rai.communication.ros2 import ROS2Connector
from rai.communication.ros2.api import convert_ros_img_to_ndarray
from rai.communication.ros2.ros_async import get_future_result
from rai.tools.ros2.base import BaseROS2Tool
from rclpy.exceptions import (
ParameterNotDeclaredException,
ParameterUninitializedException,
Expand Down Expand Up @@ -78,9 +77,7 @@ class DistanceMeasurement(NamedTuple):


# --------------------- Tools ---------------------
class GroundingDinoBaseTool(BaseTool):
connector: ROS2Connector = Field(..., exclude=True)

class GroundingDinoBaseTool(BaseROS2Tool):
box_threshold: float = Field(default=0.35, description="Box threshold for GDINO")
text_threshold: float = Field(default=0.45, description="Text threshold for GDINO")

Expand All @@ -89,7 +86,7 @@ def _call_gdino_node(
) -> Future:
cli = self.connector.node.create_client(RAIGroundingDino, GDINO_SERVICE_NAME)
while not cli.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info(
self.connector.node.get_logger().info(
f"service {GDINO_SERVICE_NAME} not available, waiting again..."
)
req = RAIGroundingDino.Request()
Expand Down
14 changes: 3 additions & 11 deletions src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,14 +18,13 @@
import numpy as np
import rclpy
import sensor_msgs.msg
from langchain_core.tools import BaseTool
from pydantic import BaseModel, Field
from rai.communication.ros2.api import (
convert_ros_img_to_base64,
convert_ros_img_to_ndarray,
)
from rai.communication.ros2.connectors import ROS2Connector
from rai.communication.ros2.ros_async import get_future_result
from rai.tools.ros2.base import BaseROS2Tool
from rclpy import Future
from rclpy.exceptions import (
ParameterNotDeclaredException,
Expand Down Expand Up @@ -67,12 +66,7 @@ class GetGrabbingPointInput(BaseModel):


# --------------------- Tools ---------------------
class GetSegmentationTool:
connector: ROS2Connector = Field(..., exclude=True)

name: str = ""
description: str = ""

class GetSegmentationTool(BaseROS2Tool):
box_threshold: float = Field(default=0.35, description="Box threshold for GDINO")
text_threshold: float = Field(default=0.45, description="Text threshold for GDINO")

Expand Down Expand Up @@ -194,9 +188,7 @@ def depth_to_point_cloud(
return points


class GetGrabbingPointTool(BaseTool):
connector: ROS2Connector = Field(..., exclude=True)

class GetGrabbingPointTool(BaseROS2Tool):
name: str = "GetGrabbingPointTool"
description: str = "Get the grabbing point of an object"
pcd: List[Any] = []
Expand Down
0