Implement OpenAI server (#1)

* Implement OpenAI server

* Add an example client

* Add use cases to the Readme

* Adapt to the new open_ai srv type. Get rid of codespell.

* Fix CI

* Drop Jazzy CI on main branch

Author: AndyZe

.clang-format

@@ -0,0 +1,79 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Qualifiers (const, volatile, static, etc)
+QualifierAlignment: Custom
+QualifierOrder: ['static', 'inline', 'constexpr', 'const', 'volatile', 'type']
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...

.clang-tidy

@@ -0,0 +1,65 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  -performance-enum-size,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  modernize-avoid-bind,
+                  misc-unused-parameters,
+                  readability-braces-around-statements,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  readability-static-definition-in-anonymous-namespace,
+                  '
+HeaderFilterRegex: ''
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # function names
+  - key:             readability-identifier-naming.FunctionCase
+    value:           camelBack
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ProtectedMemberSuffix
+    value:           '_'
+  - key:             readability-identifier-naming.PrivateMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticVariableCasePrefix
+    value:           's_'
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+...

.github/workflows/build.yml

@@ -1,36 +1,18 @@
-# This is a basic workflow to help you get started with Actions
-
 name: CI
 
-# Controls when the workflow will run
-on:
-  # Triggers the workflow on push or pull request events but only for the "main" branch
-  push:
-    branches: [ "main" ]
-  pull_request:
-    branches: [ "main" ]
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
+on: [push, pull_request]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  # This workflow contains a single job called "build"
-  build:
-    # The type of runner that the job will run on
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: main}
     runs-on: ubuntu-latest
-
-    # Steps represent a sequence of tasks that will be executed as part of the job
+    env:
+      UPSTREAM_WORKSPACE: upstream.repos
+      AFTER_SETUP_UPSTREAM_WORKSPACE: sudo apt update && sudo apt install -y libcurl4-openssl-dev nlohmann-json3-dev libb64-dev
     steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
-
-      # Runs a single command using the runners shell
-      - name: Run a one-line script
-        run: echo Hello, world!
-
-      # Runs a set of commands using the runners shell
-      - name: Run a multi-line script
-        run: |
-          echo Add other actions to build,
-          echo test, and deploy your project.
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

.pre-commit-config.yaml

@@ -0,0 +1,57 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 23.10.0
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-14
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+        args:
+          - "--disabled-codes=C0301" # Disable Line too long lint
+          - "--suppress-decorations"

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(ros2_openai_server)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS ai_msgs cv_bridge rclcpp sensor_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(CURL REQUIRED)
+find_package(nlohmann_json REQUIRED)
+find_package(OpenCV REQUIRED)
+foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${dependency} REQUIRED)
+endforeach()
+
+find_package(ament_cmake REQUIRED)
+
+include_directories(include)
+
+add_executable(openai_server src/openai_server.cpp)
+ament_target_dependencies(openai_server ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(openai_server b64 CURL::libcurl nlohmann_json
+                      ${OpenCV_LIBS})
+
+add_executable(example_client src/example_client.cpp)
+ament_target_dependencies(example_client ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(example_client ${OpenCV_LIBS})
+
+install(
+  TARGETS example_client openai_server
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/ros2_openai_server)
+
+install(DIRECTORY include DESTINATION include/ros2_openai_server)
+install(
+  DIRECTORY test_data
+  DESTINATION DESTINATION
+  share/ros2_openai_server)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

README.md

@@ -1,2 +1,49 @@
 # ros2_openai_server
+
 OpenAI server node for ROS2 Applications
+
+## What is this useful for?
+
+If you don't have an image processing pipeline or a GPU on your robot, calls to OpenAI can replace much of that functionality. As of July 2024 we generally recommend yes/no questions, otherwise you will need to parse the response yourself. This package includes a simple filter which parses for yes/no. For example:
+
+- Is it safe for the robot to drive forward? Please respond in one word, yes or no.
+- Is the door open? Please respond in one word, yes or no.
+- Is there a customer at that table? Please respond in one word, yes or no.
+- Did the robot successfully grasp the cube?  Please respond in one word, yes or no.
+- Does the control panel look identical to the last time I checked? Please respond in one word, yes or no.
+
+Some of these examples are useful for reinforcement learning, i.e. for determining if a reward was earned.
+
+## Setup
+
+Requires an OpenAI key as described here: https://help.openai.com/en/articles/4936850-where-do-i-find-my-openai-api-key
+
+Set it as an environment variable: `export OPENAI_API_KEY="..."`
+
+### Dependencies
+
+`sudo apt install -y libcurl4-openssl-dev nlohmann-json3-dev libb64-dev`
+
+## Run
+
+Here's a quick example:
+
+`ros2 run ros2_openai_server openai_server`
+
+Send it a prompt. Here's an example that returns a bool from a yes/no question. Not that the `image` field of the service request may be left empty.
+
+`ros2 service call /openai_server ai_msgs/srv/BoolResponse prompt:\ "Are you a pirate? Please respond with a one-word answer, yes or no"`
+
+Here's an example that returns a full string.
+
+`ros2 service call /openai_string_response ai_msgs/srv/StringResponse prompt:\ "Are you a pirate?"`
+
+There's an example client which sends an image of a wooden table and prompts whether it is indeed a wooden table:
+
+`ros2 run ros2_openai_server example_client`
+
+## Citation
+
+If you use this work, please cite it like so:
+
+ - Zelenak, A., Lock, J., & Aldrich, B. (2024) *An OpenAI Server for ROS2*. Github. **https://github.com/robosoft-ai/ros2_openai_server**