diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml index 2fc054013..ae85f5c0d 100644 --- a/.github/workflows/poetry-test.yml +++ b/.github/workflows/poetry-test.yml @@ -49,6 +49,11 @@ jobs: run: | rosdep update + - name: Import ros2 dependencies + shell: bash + run: | + vcs import . < ros_deps.repos + - name: Install ROS 2 package dependencies shell: bash run: | @@ -64,6 +69,5 @@ jobs: - name: Run tests shell: bash run: | - source /opt/ros/${{ matrix.ros_distro }}/setup.bash - source install/setup.bash - poetry run pytest -m "not billable" + source setup_shell.sh + pytest -m "not billable" diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml index b56cafac4..15d3b622a 100644 --- a/.github/workflows/pre-commit.yml +++ b/.github/workflows/pre-commit.yml @@ -9,14 +9,30 @@ on: jobs: pre-commit: - runs-on: ubuntu-24.04 + runs-on: + - self-hosted + + container: + image: osrf/ros:humble-desktop-full steps: + - name: Install pre-commit + run: | + apt update && apt install -y python3-pip shellcheck python-is-python3 + - name: Checkout code uses: actions/checkout@v4 with: fetch-depth: 0 + - run: | + git config --global --add safe.directory /__w/rai/rai + + - name: Import ros2 dependencies + shell: bash + run: | + vcs import . < ros_deps.repos + - name: Run pre-commit uses: pre-commit/action@v3.0.1 with: diff --git a/.gitignore b/.gitignore index f05e8d831..b3f0df777 100644 --- a/.gitignore +++ b/.gitignore @@ -15,8 +15,7 @@ log/ # Distribution / packaging .Python build/ -develop-eggs/ -dist/ +develop-eggs/ dist/ downloads/ eggs/ .eggs/ @@ -176,6 +175,7 @@ artifact_database.pkl imgui.ini src/rai_bench/rai_bench/experiments +src/rai_interfaces # Demo assets demo_assets/ diff --git a/docs/demos/overview.md b/docs/demos/overview.md index d41b21dc1..7cd9a1efe 100644 --- a/docs/demos/overview.md +++ b/docs/demos/overview.md @@ -16,4 +16,6 @@ All demos require: - ROS 2 (Humble or Jazzy) - RAI platform setup +Make sure to follow the [installation instructions](../setup/install.md). + For detailed setup and running instructions, please refer to the individual demo documentation linked above. diff --git a/docs/setup/install.md b/docs/setup/install.md index ee5ba6ac1..cf7c232f5 100644 --- a/docs/setup/install.md +++ b/docs/setup/install.md @@ -44,7 +44,13 @@ git clone https://github.com/RobotecAI/rai.git cd rai ``` -### 1.3 Create poetry virtual environment and install dependencies: +### 1.3 Download [rai_interfaces](https://github.com/RobotecAI/rai_interfaces) + +```bash +vcs import < ros_deps.repos +``` + +### 1.4 Create poetry virtual environment and install dependencies: ```bash poetry install @@ -69,7 +75,7 @@ rosdep install --from-paths src --ignore-src -r -y | [nomad][nomad] | Visual Navigation - NoMaD integration | visualnav_transformer | | docs | Documentation-related dependencies | mkdocs, mkdocs-material, pymdown-extensions | -### 1.4 Configure RAI +### 1.5 Configure RAI Run the configuration tool to set up your LLM vendor and other settings: diff --git a/ros_deps.repos b/ros_deps.repos new file mode 100644 index 000000000..1a926a125 --- /dev/null +++ b/ros_deps.repos @@ -0,0 +1,5 @@ +repositories: + src/rai_interfaces: + type: git + url: https://github.com/RobotecAI/rai_interfaces.git + version: main diff --git a/src/rai_interfaces/CMakeLists.txt b/src/rai_interfaces/CMakeLists.txt deleted file mode 100644 index 94846ffb2..000000000 --- a/src/rai_interfaces/CMakeLists.txt +++ /dev/null @@ -1,47 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(rai_interfaces) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -find_package(std_msgs REQUIRED) -find_package(vision_msgs REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(rosidl_default_generators REQUIRED) - -rosidl_generate_interfaces(${PROJECT_NAME} - "srv/ManipulatorMoveTo.srv" - "srv/VectorStoreRetrieval.srv" - "srv/EmbodimentInfo.srv" - "srv/StringList.srv" - "msg/RAIDetectionArray.msg" - "msg/AudioMessage.msg" - "msg/HRIMessage.msg" - "srv/RAIGroundingDino.srv" - "srv/RAIGroundedSam.srv" - "action/Task.action" - "action/TaskFeedback.action" - "srv/WhatISee.srv" - DEPENDENCIES std_msgs vision_msgs sensor_msgs geometry_msgs -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/rai_interfaces/LICENSE b/src/rai_interfaces/LICENSE deleted file mode 100644 index d64569567..000000000 --- a/src/rai_interfaces/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. Definitions. - - "License" shall mean the terms and conditions for use, reproduction, - and distribution as defined by Sections 1 through 9 of this document. - - "Licensor" shall mean the copyright owner or entity authorized by - the copyright owner that is granting the License. - - "Legal Entity" shall mean the union of the acting entity and all - other entities that control, are controlled by, or are under common - control with that entity. For the purposes of this definition, - "control" means (i) the power, direct or indirect, to cause the - direction or management of such entity, whether by contract or - otherwise, or (ii) ownership of fifty percent (50%) or more of the - outstanding shares, or (iii) beneficial ownership of such entity. - - "You" (or "Your") shall mean an individual or Legal Entity - exercising permissions granted by this License. - - "Source" form shall mean the preferred form for making modifications, - including but not limited to software source code, documentation - source, and configuration files. - - "Object" form shall mean any form resulting from mechanical - transformation or translation of a Source form, including but - not limited to compiled object code, generated documentation, - and conversions to other media types. - - "Work" shall mean the work of authorship, whether in Source or - Object form, made available under the License, as indicated by a - copyright notice that is included in or attached to the work - (an example is provided in the Appendix below). - - "Derivative Works" shall mean any work, whether in Source or Object - form, that is based on (or derived from) the Work and for which the - editorial revisions, annotations, elaborations, or other modifications - represent, as a whole, an original work of authorship. For the purposes - of this License, Derivative Works shall not include works that remain - separable from, or merely link (or bind by name) to the interfaces of, - the Work and Derivative Works thereof. - - "Contribution" shall mean any work of authorship, including - the original version of the Work and any modifications or additions - to that Work or Derivative Works thereof, that is intentionally - submitted to Licensor for inclusion in the Work by the copyright owner - or by an individual or Legal Entity authorized to submit on behalf of - the copyright owner. For the purposes of this definition, "submitted" - means any form of electronic, verbal, or written communication sent - to the Licensor or its representatives, including but not limited to - communication on electronic mailing lists, source code control systems, - and issue tracking systems that are managed by, or on behalf of, the - Licensor for the purpose of discussing and improving the Work, but - excluding communication that is conspicuously marked or otherwise - designated in writing by the copyright owner as "Not a Contribution." - - "Contributor" shall mean Licensor and any individual or Legal Entity - on behalf of whom a Contribution has been received by Licensor and - subsequently incorporated within the Work. - - 2. Grant of Copyright License. Subject to the terms and conditions of - this License, each Contributor hereby grants to You a perpetual, - worldwide, non-exclusive, no-charge, royalty-free, irrevocable - copyright license to reproduce, prepare Derivative Works of, - publicly display, publicly perform, sublicense, and distribute the - Work and such Derivative Works in Source or Object form. - - 3. Grant of Patent License. Subject to the terms and conditions of - this License, each Contributor hereby grants to You a perpetual, - worldwide, non-exclusive, no-charge, royalty-free, irrevocable - (except as stated in this section) patent license to make, have made, - use, offer to sell, sell, import, and otherwise transfer the Work, - where such license applies only to those patent claims licensable - by such Contributor that are necessarily infringed by their - Contribution(s) alone or by combination of their Contribution(s) - with the Work to which such Contribution(s) was submitted. If You - institute patent litigation against any entity (including a - cross-claim or counterclaim in a lawsuit) alleging that the Work - or a Contribution incorporated within the Work constitutes direct - or contributory patent infringement, then any patent licenses - granted to You under this License for that Work shall terminate - as of the date such litigation is filed. - - 4. Redistribution. You may reproduce and distribute copies of the - Work or Derivative Works thereof in any medium, with or without - modifications, and in Source or Object form, provided that You - meet the following conditions: - - (a) You must give any other recipients of the Work or - Derivative Works a copy of this License; and - - (b) You must cause any modified files to carry prominent notices - stating that You changed the files; and - - (c) You must retain, in the Source form of any Derivative Works - that You distribute, all copyright, patent, trademark, and - attribution notices from the Source form of the Work, - excluding those notices that do not pertain to any part of - the Derivative Works; and - - (d) If the Work includes a "NOTICE" text file as part of its - distribution, then any Derivative Works that You distribute must - include a readable copy of the attribution notices contained - within such NOTICE file, excluding those notices that do not - pertain to any part of the Derivative Works, in at least one - of the following places: within a NOTICE text file distributed - as part of the Derivative Works; within the Source form or - documentation, if provided along with the Derivative Works; or, - within a display generated by the Derivative Works, if and - wherever such third-party notices normally appear. The contents - of the NOTICE file are for informational purposes only and - do not modify the License. You may add Your own attribution - notices within Derivative Works that You distribute, alongside - or as an addendum to the NOTICE text from the Work, provided - that such additional attribution notices cannot be construed - as modifying the License. - - You may add Your own copyright statement to Your modifications and - may provide additional or different license terms and conditions - for use, reproduction, or distribution of Your modifications, or - for any such Derivative Works as a whole, provided Your use, - reproduction, and distribution of the Work otherwise complies with - the conditions stated in this License. - - 5. Submission of Contributions. Unless You explicitly state otherwise, - any Contribution intentionally submitted for inclusion in the Work - by You to the Licensor shall be under the terms and conditions of - this License, without any additional terms or conditions. - Notwithstanding the above, nothing herein shall supersede or modify - the terms of any separate license agreement you may have executed - with Licensor regarding such Contributions. - - 6. Trademarks. This License does not grant permission to use the trade - names, trademarks, service marks, or product names of the Licensor, - except as required for reasonable and customary use in describing the - origin of the Work and reproducing the content of the NOTICE file. - - 7. Disclaimer of Warranty. Unless required by applicable law or - agreed to in writing, Licensor provides the Work (and each - Contributor provides its Contributions) on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or - implied, including, without limitation, any warranties or conditions - of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A - PARTICULAR PURPOSE. You are solely responsible for determining the - appropriateness of using or redistributing the Work and assume any - risks associated with Your exercise of permissions under this License. - - 8. Limitation of Liability. In no event and under no legal theory, - whether in tort (including negligence), contract, or otherwise, - unless required by applicable law (such as deliberate and grossly - negligent acts) or agreed to in writing, shall any Contributor be - liable to You for damages, including any direct, indirect, special, - incidental, or consequential damages of any character arising as a - result of this License or out of the use or inability to use the - Work (including but not limited to damages for loss of goodwill, - work stoppage, computer failure or malfunction, or any and all - other commercial damages or losses), even if such Contributor - has been advised of the possibility of such damages. - - 9. Accepting Warranty or Additional Liability. While redistributing - the Work or Derivative Works thereof, You may choose to offer, - and charge a fee for, acceptance of support, warranty, indemnity, - or other liability obligations and/or rights consistent with this - License. However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - APPENDIX: How to apply the Apache License to your work. - - To apply the Apache License to your work, attach the following - boilerplate notice, with the fields enclosed by brackets "[]" - replaced with your own identifying information. (Don't include - the brackets!) The text should be enclosed in the appropriate - comment syntax for the file format. We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. diff --git a/src/rai_interfaces/action/Task.action b/src/rai_interfaces/action/Task.action deleted file mode 100644 index 4b87cb49b..000000000 --- a/src/rai_interfaces/action/Task.action +++ /dev/null @@ -1,13 +0,0 @@ -# Goal -string task -string description -string priority - ---- -# Result -bool success -string report - ---- -# Feedback -string current_status diff --git a/src/rai_interfaces/action/TaskFeedback.action b/src/rai_interfaces/action/TaskFeedback.action deleted file mode 100644 index 055cc2fa8..000000000 --- a/src/rai_interfaces/action/TaskFeedback.action +++ /dev/null @@ -1,13 +0,0 @@ -# Goal -string issue_description -string current_task -string additional_info - ---- -# Result -string informations -bool success - ---- -# Feedback -string feedback diff --git a/src/rai_interfaces/msg/AudioMessage.msg b/src/rai_interfaces/msg/AudioMessage.msg deleted file mode 100644 index 0206d8e2a..000000000 --- a/src/rai_interfaces/msg/AudioMessage.msg +++ /dev/null @@ -1,19 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -int16[] audio -uint16 sample_rate -uint16 channels diff --git a/src/rai_interfaces/msg/HRIMessage.msg b/src/rai_interfaces/msg/HRIMessage.msg deleted file mode 100644 index d82024590..000000000 --- a/src/rai_interfaces/msg/HRIMessage.msg +++ /dev/null @@ -1,23 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -std_msgs/Header header -string text -sensor_msgs/Image[] images -rai_interfaces/AudioMessage[] audios -string communication_id -int64 seq_no -bool seq_end diff --git a/src/rai_interfaces/msg/RAIDetectionArray.msg b/src/rai_interfaces/msg/RAIDetectionArray.msg deleted file mode 100644 index a478be53f..000000000 --- a/src/rai_interfaces/msg/RAIDetectionArray.msg +++ /dev/null @@ -1,24 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -# A list of 2D detections, for a multi-object 2D detector. -std_msgs/Header header - -# A list of the detected proposals. A multi-proposal detector might generate -# this list with many candidate detections generated from a single input. -vision_msgs/Detection2D[] detections -# a list of classes being detected -string[] detection_classes diff --git a/src/rai_interfaces/package.xml b/src/rai_interfaces/package.xml deleted file mode 100644 index 89f79d86c..000000000 --- a/src/rai_interfaces/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - rai_interfaces - 0.2.0 - Interfaces for RAI communication - Adam Dabrowski - Kajetan Rachwał - Apache-2.0 - - std_msgs - geometry_msgs - vision_msgs - sensor_msgs - - ament_lint_auto - ament_lint_common - rosidl_default_generators - ament_cmake - - portaudio19-dev - nav2_msgs - nav2_simple_commander - tf_transformations - rosidl_default_runtime - rosidl_interface_packages - - ament_cmake - - diff --git a/src/rai_interfaces/srv/EmbodimentInfo.srv b/src/rai_interfaces/srv/EmbodimentInfo.srv deleted file mode 100644 index a0793e7e2..000000000 --- a/src/rai_interfaces/srv/EmbodimentInfo.srv +++ /dev/null @@ -1,23 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# Request ---- -# Response -string[] rules -string[] capabilities -string[] behaviors -string description -string[] images # base64 encoded png images diff --git a/src/rai_interfaces/srv/ManipulatorMoveTo.srv b/src/rai_interfaces/srv/ManipulatorMoveTo.srv deleted file mode 100644 index 4cfd6d67b..000000000 --- a/src/rai_interfaces/srv/ManipulatorMoveTo.srv +++ /dev/null @@ -1,21 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# A simplified approach with binary states for the gripper -bool initial_gripper_state -bool final_gripper_state -geometry_msgs/PoseStamped target_pose ---- -bool success diff --git a/src/rai_interfaces/srv/RAIGroundedSam.srv b/src/rai_interfaces/srv/RAIGroundedSam.srv deleted file mode 100644 index dcb4659ea..000000000 --- a/src/rai_interfaces/srv/RAIGroundedSam.srv +++ /dev/null @@ -1,19 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -RAIDetectionArray detections -sensor_msgs/Image source_img ---- -sensor_msgs/Image[] masks diff --git a/src/rai_interfaces/srv/RAIGroundingDino.srv b/src/rai_interfaces/srv/RAIGroundingDino.srv deleted file mode 100644 index 54728f34a..000000000 --- a/src/rai_interfaces/srv/RAIGroundingDino.srv +++ /dev/null @@ -1,21 +0,0 @@ -# -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -string classes -float64 box_threshold -float64 text_threshold -sensor_msgs/Image source_img ---- -RAIDetectionArray detections diff --git a/src/rai_interfaces/srv/StringList.srv b/src/rai_interfaces/srv/StringList.srv deleted file mode 100644 index b681e67e2..000000000 --- a/src/rai_interfaces/srv/StringList.srv +++ /dev/null @@ -1,20 +0,0 @@ -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -# Request - empty ---- -# Response -bool success -string[] string_list diff --git a/src/rai_interfaces/srv/VectorStoreRetrieval.srv b/src/rai_interfaces/srv/VectorStoreRetrieval.srv deleted file mode 100644 index 8a522d5a9..000000000 --- a/src/rai_interfaces/srv/VectorStoreRetrieval.srv +++ /dev/null @@ -1,24 +0,0 @@ -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -# Request -string query - ---- -# Response -bool success -string message -string[] documents -float32[] scores diff --git a/src/rai_interfaces/srv/WhatISee.srv b/src/rai_interfaces/srv/WhatISee.srv deleted file mode 100644 index 21b7175b8..000000000 --- a/src/rai_interfaces/srv/WhatISee.srv +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright (C) 2024 Robotec.AI -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -# Request (empty) - ---- -# Response, timed with image timestamp -string[] observations -string perception_source -sensor_msgs/Image image -geometry_msgs/Pose pose