This project provides Dockerfiles 🐳 to easily set up environments with different versions of ROS for robotics development 🤖. Follow the instructions below to run the desired ROS version.
## Getting started
### Prerequisites ✅
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
***Docker** installed on your system. You can find installation instructions for your operating system on the [official Docker website](https://docs.docker.com/get-docker/).
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
### Running with ROS 1 Noetic 🐢
## Add your files
This Dockerfile (`Dockerfile.ros1-noetic` or a similar name you've chosen) sets up an environment with ROS 1 Noetic Ninjemys.
-[ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-[ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
1.**Navigate to the directory** 📂 containing the `Dockerfile.ros1-noetic`.
3.**Run a Docker container** ▶️ based on the image. This command will start an interactive shell within the container with ROS 1 Noetic sourced.
```bash
docker run -it llm-navigation-ros1-noetic
```
-[ ] [Set up project integrations](https://gitlab.iri.upc.edu/ebejarano/llm-navigation/-/settings/integrations)
Once inside the container, you can start using ROS 1 commands like:
```bash
roscore
rosrun rqt_graph rqt_graph
```
## Collaborate with your team
### Running with ROS 2 Humble 🌱
-[ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-[ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-[ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-[ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-[ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-[ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-[ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-[ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
3.**Run a Docker container** ▶️ based on the image. This command will start an interactive shell within the container with ROS 2 Humble sourced.
```bash
docker run -it llm-navigation-ros2-humble
```
***
Once inside the container, you can start using ROS 2 commands like:
```bash
ros2 run turtlesim turtlesim_node
ros2 run rqt_graph rqt_graph
```
# Editing this README
### Running with Other ROS Versions ⚙️
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
If you have Dockerfiles for other ROS versions (e.g., ROS 1 Melodic, ROS 2 Foxy, etc.), follow a similar pattern:
## Suggestions for a good README
1.**Navigate to the directory** 📂 containing the specific Dockerfile (e.g., `Dockerfile.ros1-melodic`, `Dockerfile.ros2-foxy`).
2.**Build the Docker image**, replacing `your_image_name` and `your_dockerfile_name` accordingly:
3.**Run a Docker container** ▶️ based on the image:
```bash
docker run -it your_image_name
```
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
Remember to use the appropriate ROS commands for the version you are running inside the container.
## Name
Choose a self-explaining name for your project.
## Future Work: On-Robot Navigation Module 🧠
## Description
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
This project aims to extend its capabilities by integrating an on-robot module that leverages Large Language Models (LLMs) for intelligent navigation. This module will process sensory input (e.g., camera images, lidar data) and use LLMs to generate high-level navigation decisions.
## Badges
On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
The core functionality of this module will involve:
## Visuals
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
***Scene Understanding:** Analyzing the robot's environment to identify objects, obstacles, and potential navigation paths using the provided prompt structure.
***Goal-Oriented Navigation:** Interpreting navigation goals and generating a sequence of actions to reach the destination.
***Dynamic Path Planning:** Adapting navigation plans in response to unexpected obstacles or changes in the environment.
***Landmark Recognition:** Identifying and utilizing landmarks for robust localization and navigation.
***Action Generation:** Outputting specific robot commands based on the LLM's reasoning and the current state of the environment.
## Installation
Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
The `src/utils/prompts.py` file provides the initial prompt structure that will guide the LLM in generating structured information about the environment and potential navigation strategies. This structure includes:
## Usage
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
* Detailed scene descriptions.
* Identification and characteristics of objects.
* Potential navigation paths with directions and features.
* Detected obstacles with their properties.
* Suggested node names based on landmarks for mapping.
* Robot-centric perspectives and potential immediate actions.
* Elements for building a navigation graph.
* Reasoning behind the LLM's decisions.
* Obstacle avoidance strategies.
* Step-by-step process tracking.
## Support
Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
**Future steps for this module include:**
## Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
## Contributing
State if you are open to contributions and what your requirements are for accepting them.
For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
## Authors and acknowledgment
Show your appreciation to those who have contributed to the project.
## License
For open source projects, say how it is licensed.
## Project status
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
* Integrating with robot sensor data processing pipelines.
* Developing the logic to translate LLM outputs into actionable robot commands.
* Implementing a system for action history and contextual awareness.
* Testing and validating the module in simulated and real-world robotic environments.
This module aims to bring a higher level of semantic understanding and decision-making to robot navigation, moving beyond traditional algorithmic approaches.
