Potentially automating the refactoring of ROS Node Configuration

[yuntianyi-chen]

I'm considering to what extent the ROS Node Configuration refactoring job could be automated. Maybe it's possible to write a script to achieve the generation (/config/*.param.yaml and /schema/*.schema.json) and refactoring (*.cpp and *.launch.xml) of configuration-related files for most nodes. In that case, we only need to manually inspect the files after refactoring. This shall save us some human efforts to achieve the Phase 4.

[HamburgDave]

I think it sounds very interesting, I'm on the spreadsheet with a simple node but haven't started. Could this simpler node be used as a test? @kaspermeck-arm is off until Sept. 6 I believe, maybe we can make some progress on this before his return. Perhaps in next OADKit meeting you could share your thoughts on proposed next steps?

I'm def not an SME on this toppicic and would personally look to input from @esteve , Dogan, @oguzkaganozt @mitsudome-r @xmfcx @chishengshih and Mark from PIX as well.

[yuntianyi-chen]

Thanks, David! I think we could use some simple nodes as you mentioned as a test for this idea. I would also consider some corner cases to complete this work. Let's meet in the next OADKit meeting to discuss it!

[doganulus]

The idea of @yuntianyi-chen makes me wonder if this task suits ChatGPT.

I wrote the following prompt for the chatbot and copypasted a parameter file next:

Consider a ROS yaml file such that:

/**:
  ros__parameters:
    INSERT_PARAMETER_1_NAME: INSERT_PARAMETER_1_VALUE
    INSERT_PARAMETER_N_NAME: INSERT_PARAMETER_N_VALUE

and its JSON Schema

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "INSERT_TITLE",
  "type": "object",
  "definitions": {
    "INSERT_ROS_NODE_NAME": {
      "type": "object",
      "properties": {
        "INSERT_PARAMETER_1_NAME": {
          "type": "INSERT_TYPE",
          "description": "INSERT_DESCRIPTION",
          "default": "INSERT_DEFAULT",
          "INSERT_BOUND_CONDITION(S)": "INSERT_BOUND_VALUE(S)"
        },
        "INSERT_PARAMETER_N_NAME": {
          "type": "INSERT_TYPE",
          "description": "INSERT_DESCRIPTION",
          "default": "INSERT_DEFAULT",
          "INSERT_BOUND_CONDITION(S)": "INSERT_BOUND_VALUE(S)"
        }
      },
      "required": [
        "INSERT_PARAMETER_1_NAME",
        "INSERT_PARAMETER_N_NAME"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/INSERT_ROS_NODE_NAME"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}

Using this template, write schemas for the following parameter files.

Anyway, we should not expect the chatbot to yield correct values, but at least it seems to be good at handling the boilerplate, which is the repetitive part.

Maybe this could help @yuntianyi-chen to develop his idea further. This can be used programmatically, right?

[yuntianyi-chen]

Good idea, Doğan! It's another way to achieve the refactor automation if using the GPT API.

[esteve]

I'd rather do this programmatically via a library, macros, or text templates, than letting GPT spew out random data that would still require a human to review anyway.

[yuntianyi-chen]

I just finished the initial version of this program. I considered corner cases as many as possible. Hope it will help us speed up the refactoring job.

[kaspermeck-arm]

@yuntianyi-chen @doganulus - thanks for your efforts with this! The DevOps Dojo: ROS Node Configuration - Step by Step Instructions have been updated under section Generator tool. Feel free up comment on the guide as needed and I'll update it!