diff options
| -rw-r--r-- | .devcontainer/Dockerfile | 32 | ||||
| -rw-r--r-- | .devcontainer/devcontainer.json | 56 | ||||
| -rw-r--r-- | README.md | 6 |
3 files changed, 3 insertions, 91 deletions
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile deleted file mode 100644 index 9bcb4d7..0000000 --- a/.devcontainer/Dockerfile +++ /dev/null @@ -1,32 +0,0 @@ -FROM osrf/ros:noetic-desktop-full - -# Add vscode user with same UID and GID as your host system -# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user) -ARG USERNAME=vscode -ARG USER_UID=1000 -ARG USER_GID=$USER_UID -RUN groupadd --gid $USER_GID $USERNAME \ - && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ - && apt-get update \ - && apt-get install -y sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ - && chmod 0440 /etc/sudoers.d/$USERNAME -# Switch from root to user -USER $USERNAME - -# Add user to video group to allow access to webcam -RUN sudo usermod --append --groups video $USERNAME - -# Update all packages -RUN sudo apt update && sudo apt upgrade -y - -# Install Git -RUN sudo apt install -y git python3-pip - -# Rosdep update -RUN rosdep update - -RUN pip3 install jinja2 ollama geocoder requests python-dotenv parsimonious SpeechRecognition - -# Source the ROS setup file -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json deleted file mode 100644 index 53bcc43..0000000 --- a/.devcontainer/devcontainer.json +++ /dev/null @@ -1,56 +0,0 @@ -{ - "name": "noetic-llama devcontainer", - "dockerFile": "Dockerfile", - "runArgs": [ - "--privileged", - "--network=host", - "-v=/dev:/dev", - "--privileged", - "--runtime=nvidia", - "--device-cgroup-rule" "a *:* rmw", - "--cap-add=SYS_PTRACE", - "--security-opt=seccomp:unconfined", - "--security-opt=apparmor:unconfined", - "--volume=/tmp/.X11-unix:/tmp/.X11-unix", - "--volume=/home/agilex/.Xauthority:/home/ros/.Xauthority", - "--gpus=all", - "--env-file","apikeys.env" - ], - "containerEnv": { - "DISPLAY": ":0", - "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl - }, - "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind", - "workspaceFolder": "/${localWorkspaceFolderBasename}", - "mounts": [ - "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/vscode/.bash_history,type=bind" - ], - "features": { - "ghcr.io/devcontainers/features/python:1": {} - }, - "customizations": { - "vscode": { - "extensions": [ - "dotjoshjohnson.xml", - "zachflower.uncrustify", - "ms-azuretools.vscode-docker", - "ms-iot.vscode-ros", - "ms-python.python", - "ms-vscode.cpptools", - "redhat.vscode-yaml", - "smilerobotics.urdf", - "streetsidesoftware.code-spell-checker", - "twxs.cmake", - "yzhang.markdown-all-in-one" - ] - }, - "settings": { - "terminal.integrated.profiles.linux": { - "bash": { - "path": "bash" - } - }, - "terminal.integrated.defaultProfile.linux": "bash" - } - } -} @@ -1,8 +1,9 @@ # noetic-llama -ROS Noetic Wrapper for ollama, allowing for function calling +`docker-compose` docker containers required for LCASTOR intent recognition and transcription with whisper. +Currently, `whisperwrapper` needs to be run outside of docker due to problems passing through the microphone, which is why it is symlinked here. -Given a python library [`capabilities`](/noetic-llama/src/ollamawrapper/src/capabilities) containing only functions, it inspects this library to generate an initial prompt to tell the +Given a python library `capabilities` containing only functions, it inspects this library to generate an initial prompt to tell the LLM the possible functions. Then, with a ROS service call, these functions are called: `rosrun ollamawrapper ollamawrapper` @@ -25,4 +26,3 @@ add(num1=0, num2=1): ## TODOs - [ ] Make a proper parser for the function calls returned by ollama instead of just using `exec()`, this will allow us to fetch the return value of the functions, and it's also much safer. A grammar has already been made, see [ollamafunctiongrammar.ppeg](/noetic-llama/src/ollamawrapper/src/ollamafunctiongrammar.ppeg), just need to finish the abstract syntax tree parsing (see [parser.py](/noetic-llama/src/ollamawrapper/src/parser.py)) - - [ ] Fix the docker container. I've been working in an Ubuntu 20.04 VM so far |