ros2ai 🤖

ros2ai is a next-generation ROS 2 command line interface extension with OpenAI

see overview slide deck for more information.

Motivation

• (Just for fun 😝)
• Getting answers against the questions directly without browsing, clicking and typing many times.
• Easy to use for everyone, especially for ROS 2 beginners and students who do not really know ros2cli.
• Multiple language support.

Demo 🖥️

See how it works 🔥

demo.mp4

Supported ROS Distribution

Distribution	Supported	Note
Rolling Ridley	✅	Development / Mainstream Branch
Iron Irwini	✅
Humble Hawksbill	✅

Note

Verified on Ubuntu 22.04 Jammy Jellyfish only, other platform would also work.

Installation

Docker Container

see available images for tomoyafujita/ros2ai@dockerhub

docker run -it --rm -e OPENAI_API_KEY=$OPENAI_API_KEY tomoyafujita/ros2ai:humble

Note

OPENAI_API_KEY environmental variable must be set

demo_docker.mp4

Required Package

pip install openai

Build

No released package is available, needs to be build in colcon workspace.

source /opt/ros/rolling/setup.bash
mkdir -p colcon_ws/src
cd colcon_ws/src
git clone https://github.com/fujitatomoya/ros2ai.git
cd ..
colcon build --symlink-install --packages-select ros2ai

Usage

Prerequisites

• ros2ai requires OpenAI API key

export OPENAI_API_KEY='your-api-key-here'

Caution

Do not share or expose your OpenAI API key.

Optional

environmental variable	default	Note
OPENAI_MODEL_NAME	'gpt-4'	AI model to be used.
OPENAI_ENDPOINT	'https://api.openai.com/v1'	API endpoint URL.
OPENAI_TEMPERATURE	0.5	OpenAI temperature

Note

These are optional environmental variables. if not set, default value will be used.

Examples

Basics

• status to check OpenAI API key is valid.

root@tomoyafujita:~/docker_ws/ros2_colcon# ros2 ai status -v
----- api_model: gpt-4
----- api_endpoint: https://api.openai.com/v1
----- api_token: None
As an artificial intelligence, I do not have a physical presence, so I can't be "in service" in the traditional sense. But I am available to assist you 24/7.
[SUCCESS] Valid OpenAI API key.

• query to ask any questions to ROS 2 assistant.

root@tomoyafujita:~/docker_ws/ros2_colcon# ros2 ai query "Tell me how to check the available topics?"
To check the available topics in ROS 2, you can use the following command in the terminal:

---
ros2 topic list
---

After you enter this command, a list of all currently active topics in your ROS2 system will be displayed. This list includes all topics that nodes in your system are currently publishing to or subscribing from.

• exec that ROS 2 assistant can execute the appropriate command based on your request.

root@tomoyafujita:~/docker_ws/ros2_colcon# ros2 ai exec "give me all nodes"
/talker
root@tomoyafujita:~/docker_ws/ros2_colcon# ros2 ai exec "what topics available"
/chatter
/parameter_events
/rosout
root@tomoyafujita:~/docker_ws/ros2_colcon# ros2 ai exec "give me detailed info for topic /chatter"
Type: std_msgs/msg/String
Publisher count: 1
Subscription count: 0

Multiple Language

• Japanese (could be any language ❓)

root@tomoyafujita:~/docker_ws/ros2_colcon# ros2 ai query "パラメータのリスト取得方法を教えて"
ROS 2のパラメータリストを取得するには、コマンドラインインターフェース(CLI)を使います。具体的には、次のコマンドを使用します：

---code
ros2 param list
---

このコマンドは、現在動作しているすべてのノードのパラメーターをリストアップします。特定のノードのパラメータだけを見たい場合には、以下のようにノード名を指定することもできます。

---code
ros2 param list /node_name
---

このようにして、ROS2のパラメータリストの取得を行うことが可能です。なお、上述したコマンドはシェルから直接実行してください。

Reference

• OpenAI API documentation
• OpenAI Python API

Special thanks to OpenAI API 🌟🌟🌟