From b5e7a1d7d2adb3670824d726573cc08157a02b69 Mon Sep 17 00:00:00 2001 From: jwansek Date: Tue, 27 Feb 2024 12:43:15 +0000 Subject: Added the ROS servicecall API --- .devcontainer/Dockerfile | 32 ++++ .devcontainer/devcontainer.json | 56 ++++++ .gitignore | 1 + noetic-llama/.catkin_workspace | 1 + noetic-llama/.devcontainer/Dockerfile | 32 ---- noetic-llama/.devcontainer/devcontainer.json | 56 ------ noetic-llama/src/ollamamessages/CMakeLists.txt | 206 +++++++++++++++++++++ noetic-llama/src/ollamamessages/package.xml | 70 +++++++ noetic-llama/src/ollamamessages/srv/OllamaCall.srv | 7 + noetic-llama/src/ollamawrapper/CMakeLists.txt | 26 ++- noetic-llama/src/ollamawrapper/package.xml | 0 .../src/ollamawrapper/src/capabilities/weather.py | 6 +- .../src/ollamawrapper/src/ollamawrapper.py | 21 ++- noetic-llama/src/ollamawrapper/srv/OllamaCall.srv | 8 - 14 files changed, 411 insertions(+), 111 deletions(-) create mode 100644 .devcontainer/Dockerfile create mode 100644 .devcontainer/devcontainer.json create mode 100644 noetic-llama/.catkin_workspace delete mode 100644 noetic-llama/.devcontainer/Dockerfile delete mode 100644 noetic-llama/.devcontainer/devcontainer.json create mode 100644 noetic-llama/src/ollamamessages/CMakeLists.txt create mode 100644 noetic-llama/src/ollamamessages/package.xml create mode 100755 noetic-llama/src/ollamamessages/srv/OllamaCall.srv mode change 100644 => 100755 noetic-llama/src/ollamawrapper/package.xml delete mode 100755 noetic-llama/src/ollamawrapper/srv/OllamaCall.srv diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 0000000..6992623 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,32 @@ +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 $USERNAME + +# Update all packages +RUN sudo apt update && sudo apt upgrade -y + +# Install Git +RUN sudo apt install -y git python3-pip + +# Rosdep update +RUN rosdep update + +RUN pip3 install jinja2 ollama geocoder requests python-dotenv parsimonious + +# Source the ROS setup file +RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000..53bcc43 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,56 @@ +{ + "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}${localEnv:USERPROFILE}/.bash_history,target=/home/vscode/.bash_history,type=bind" + ], + "features": { + "ghcr.io/devcontainers/features/python:1": {} + }, + "customizations": { + "vscode": { + "extensions": [ + "dotjoshjohnson.xml", + "zachflower.uncrustify", + "ms-azuretools.vscode-docker", + "ms-iot.vscode-ros", + "ms-python.python", + "ms-vscode.cpptools", + "redhat.vscode-yaml", + "smilerobotics.urdf", + "streetsidesoftware.code-spell-checker", + "twxs.cmake", + "yzhang.markdown-all-in-one" + ] + }, + "settings": { + "terminal.integrated.profiles.linux": { + "bash": { + "path": "bash" + } + }, + "terminal.integrated.defaultProfile.linux": "bash" + } + } +} diff --git a/.gitignore b/.gitignore index 47f393a..22110b7 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ *.env devel/ +install/ # Byte-compiled / optimized / DLL files __pycache__/ diff --git a/noetic-llama/.catkin_workspace b/noetic-llama/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/noetic-llama/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/noetic-llama/.devcontainer/Dockerfile b/noetic-llama/.devcontainer/Dockerfile deleted file mode 100644 index 6992623..0000000 --- a/noetic-llama/.devcontainer/Dockerfile +++ /dev/null @@ -1,32 +0,0 @@ -FROM osrf/ros:noetic-desktop-full - -# Add vscode user with same UID and GID as your host system -# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user) -ARG USERNAME=vscode -ARG USER_UID=1000 -ARG USER_GID=$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 $USERNAME - -# Update all packages -RUN sudo apt update && sudo apt upgrade -y - -# Install Git -RUN sudo apt install -y git python3-pip - -# Rosdep update -RUN rosdep update - -RUN pip3 install jinja2 ollama geocoder requests python-dotenv parsimonious - -# Source the ROS setup file -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc diff --git a/noetic-llama/.devcontainer/devcontainer.json b/noetic-llama/.devcontainer/devcontainer.json deleted file mode 100644 index 53bcc43..0000000 --- a/noetic-llama/.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" - } - } -} diff --git a/noetic-llama/src/ollamamessages/CMakeLists.txt b/noetic-llama/src/ollamamessages/CMakeLists.txt new file mode 100644 index 0000000..b397131 --- /dev/null +++ b/noetic-llama/src/ollamamessages/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ollamamessages) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +add_service_files( + FILES + OllamaCall.srv +) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include + LIBRARIES ollamamessages + CATKIN_DEPENDS roscpp rospy std_msgs message_runtime + DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/ollamamessages.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/ollamamessages_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ollamamessages.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/noetic-llama/src/ollamamessages/package.xml b/noetic-llama/src/ollamamessages/package.xml new file mode 100644 index 0000000..8e6c9b6 --- /dev/null +++ b/noetic-llama/src/ollamamessages/package.xml @@ -0,0 +1,70 @@ + + + ollamamessages + 0.0.0 + The ollamamessages package + + + + + eden + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + message_generation + message_runtime + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/noetic-llama/src/ollamamessages/srv/OllamaCall.srv b/noetic-llama/src/ollamamessages/srv/OllamaCall.srv new file mode 100755 index 0000000..aedae15 --- /dev/null +++ b/noetic-llama/src/ollamamessages/srv/OllamaCall.srv @@ -0,0 +1,7 @@ +string input +--- +int64 total_duration +int64 load_duration +int64 prompt_eval_duration +int64 eval_count +int64 eval_duration diff --git a/noetic-llama/src/ollamawrapper/CMakeLists.txt b/noetic-llama/src/ollamawrapper/CMakeLists.txt index c94424b..4533887 100644 --- a/noetic-llama/src/ollamawrapper/CMakeLists.txt +++ b/noetic-llama/src/ollamawrapper/CMakeLists.txt @@ -55,10 +55,10 @@ find_package(catkin REQUIRED COMPONENTS # ) ## Generate services in the 'srv' folder -add_service_files( - FILES - OllamaCall.srv -) +#add_service_files( +# FILES +# OllamaCall.srv +#) ## Generate actions in the 'action' folder # add_action_files( @@ -104,9 +104,9 @@ generate_messages( ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES ollamawrapper -# CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib + LIBRARIES ollamawrapper + CATKIN_DEPENDS roscpp rospy std_msgs message_runtime + DEPENDS system_lib ) ########### @@ -164,6 +164,18 @@ catkin_install_python(PROGRAMS DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +install( + DIRECTORY src/capabilities/ + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/capabilities +) + +install(FILES + src/Modelfile.jinja2 + src/ollamafunctiongrammar.ppeg + src/parser.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + ## Mark executables for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html # install(TARGETS ${PROJECT_NAME}_node diff --git a/noetic-llama/src/ollamawrapper/package.xml b/noetic-llama/src/ollamawrapper/package.xml old mode 100644 new mode 100755 diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/weather.py b/noetic-llama/src/ollamawrapper/src/capabilities/weather.py index 0108ee5..4d6e073 100644 --- a/noetic-llama/src/ollamawrapper/src/capabilities/weather.py +++ b/noetic-llama/src/ollamawrapper/src/capabilities/weather.py @@ -3,8 +3,10 @@ import dotenv import geocoder import requests -if os.path.exists(os.path.join(os.path.dirname(__file__), "..", "..", "..", "apikeys.env")): - dotenv.load_dotenv(os.path.join(os.path.dirname(__file__), "..", "..", "..", "apikeys.env")) +APIKEYS_PATH = "/home/eden/Documents/noetic-llama/noetic-llama/apikeys.env" +# APIKEYS_PATH = os.path.join(os.path.dirname(__file__), "..", "..", "..", "apikeys.env") +if os.path.exists(APIKEYS_PATH): + dotenv.load_dotenv(APIKEYS_PATH) if "BINGMAPS" not in os.environ: raise Exception("'BINGMAPS' API key environment variable not found") diff --git a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py index f7abec1..f344299 100644 --- a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py +++ b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from dataclasses import dataclass -from ollamawrapper.srv import OllamaCall, OllamaCallResponse +from ollamamessages.srv import OllamaCall, OllamaCallResponse import inspect import typing import jinja2 @@ -53,7 +53,7 @@ def getfunctioncapabilities(): def get_functions(ollama_output): return [f.strip() for f in ollama_output[8:].strip().split(";") if f != ""] -def main(): +def main(prompt): functioncapabilities = getfunctioncapabilities() modelfile = functioncapabilities.to_modelfile("nexusraven:13b-v2-q3_K_S") @@ -63,18 +63,27 @@ def main(): # with open("Modelfile", "r") as f: # ollama.create(model = "temp", modelfile= f.read()) - ollama_output = client.generate(model='temp', prompt='What\'s the weather like in Lincoln right now? What\'s 2 + 2?', options={"stop": ["Thought:"]}) - print(ollama_output) + ollama_output = client.generate(model='temp', prompt = prompt, options={"stop": ["Thought:"]}) + #print(ollama_output) for func_str in get_functions(ollama_output["response"]): print(func_str + ":") exec(func_str) client.delete("temp") + return ollama_output def handle_ollama_call(req): - print("Recieved ollama request %s" % req.input) - return OllamaCallResponse(1, 2, 3, 4, 5, 6) + print("Recieved ollama request '%s'" % req.input) + o = main(req.input) + # print(o.keys()) + return OllamaCallResponse( + o["total_duration"], + o["load_duration"], + o["prompt_eval_duration"], + o["eval_count"], + o["eval_duration"] + ) def handle_ollama_server(): rospy.init_node("ollama_wrapper_server") diff --git a/noetic-llama/src/ollamawrapper/srv/OllamaCall.srv b/noetic-llama/src/ollamawrapper/srv/OllamaCall.srv deleted file mode 100755 index 872a74b..0000000 --- a/noetic-llama/src/ollamawrapper/srv/OllamaCall.srv +++ /dev/null @@ -1,8 +0,0 @@ -text input ---- -int64 total_duration -int64 load_duration -int64 prompt_eval_count -int64 prompt_eval_duration -int64 eval_count -int64 eval_duration -- cgit v1.2.3