Merge pull request #18 from small-thinking/send-request-to-receiver

Send request to receiver

docker-compose.yaml

@@ -8,6 +8,8 @@ services:
       - DISPLAY=novnc:0.0
       - ROS_DOMAIN_ID=55
       - --privileged=true
+    ports:
+      - "5678:5678"
     networks:
       - x11
     stdin_open: true

mnlm/client/gpt_control/assistant.py

@@ -232,7 +232,7 @@ def start_conversation(
     nudge_user = True
     use_voice_input = True  # Set to True to enable voice input. In docker container, it's not possible.
     use_voice_output = True  # Set to True to enable voice output. In docker container, it's not possible.
-    use_dummy_robot_arm_server = True  # Set to True to use the simulation mode
+    use_dummy_robot_arm_server = False  # Set to True to use the simulation mode
     logger = Logger(__name__)
     start_conversation(
         verbose=verbose,

mnlm/client/gpt_control/robot_arm.py

@@ -209,7 +209,7 @@ class RobotArmControlClient(RobotArmControl):
     Real control for a robotic arm, sending operations as HTTP requests.
     """
 
-    def __init__(self, endpoint_url: str = "http://192.168.0.238:5000/execute"):
+    def __init__(self, endpoint_url: str = "http://0.0.0.0:5678/robot_command"):
         self.endpoint_url = endpoint_url
 
     def _execute_operations(self, operations: List[Dict[str, Any]]) -> None:

mnlm/robot/robot_arm_ws/src/robot_arm/launch/robot_arm_sim.launch.py

@@ -10,11 +10,11 @@
 
 def generate_launch_description():
     # The node to receive the http request externally for robot control.
-    # command_receiver_node = Node(
-    #     package="robot_arm",
-    #     executable="command_receiver_node",
-    #     name="command_receiver_node",
-    # )
+    command_receiver_node = Node(
+        package="robot_arm",
+        executable="command_receiver_node",
+        name="command_receiver_node",
+    )
     # # WIP. The node to dispatch the received command to topics.
     # command_dispatcher_node = Node(
     #     package="robot_arm",
@@ -109,6 +109,6 @@ def generate_launch_description():
             robot_state_publisher_node,
             joint_state_broadcaster_node,
             robot_controller_spawner_node,
-            # command_receiver_node,
+            command_receiver_node,
         ]
     )

mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_receiver.py

@@ -20,7 +20,7 @@ def publish_json_command(self, command):
 def create_app(ros_node):
     app = Flask(__name__)
 
-    @app.route("/command", methods=["POST"])
+    @app.route("/robot_command", methods=["POST"])
     def json_example():
         if request.is_json:
             content = request.get_json()
@@ -42,7 +42,7 @@ def main(args=None):
 
     # Running Flask in a separate thread
     threading.Thread(
-        target=lambda: app.run(host="0.0.0.0", port=5000), daemon=True
+        target=lambda: app.run(host="0.0.0.0", port=5678), daemon=True
     ).start()
 
     rclpy.spin(ros_node)