https://github.com/nonejou072/robot-gpt
A simulation framework based on ROS2 and LLMs(like GPT) for robot interaction tasks in the era of large models
https://github.com/nonejou072/robot-gpt
Last synced: 4 months ago
JSON representation
A simulation framework based on ROS2 and LLMs(like GPT) for robot interaction tasks in the era of large models
- Host: GitHub
- URL: https://github.com/nonejou072/robot-gpt
- Owner: NoneJou072
- License: mit
- Created: 2023-04-27T06:05:24.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2024-05-22T07:59:20.000Z (11 months ago)
- Last Synced: 2024-12-01T06:06:01.564Z (5 months ago)
- Language: Python
- Homepage:
- Size: 324 KB
- Stars: 111
- Watchers: 1
- Forks: 12
- Open Issues: 5
-
Metadata Files:
- Readme: README-EN.md
- License: LICENSE
Awesome Lists containing this project
- awesome-ChatGPT-repositories - Robot-GPT - A simulation framework based on ROS2 and ChatGPT for robot interaction tasks in the era of large models (Chatbots)
README
Welcome to ROS2-GPT-Interface 👋
---
[](http://docs.ros.org/en/foxy/index.html)
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> A simulation framework based on ROS2 and ChatGPT for robot interaction tasks in the era of large models.
> English | [ä¸æ–‡æ–‡æ¡£](README.md)
## Introduction
---
Combining the large model (OpenAI-GPT3.5) with the ROS2 (Foxy)
communication framework, adding prompts and task primitives
The use of (primitives) is convenient for robot developers
to quickly use large models for development.
---
## Installation
---
1. Create a new ros workspace and enter the space
```commandline
mkdir gpt_ws && cd gpt_ws
```
2. Clone the repo to the workspace
```
git clone https://github.com/NoneJou072/ROS2-GPT-Interface.git
```
3. install related dependencies
```
pip install -r src/requirements.txt
rosdep install --from-paths src --ignore-src -r -y
```
4. build and source the workspace
```
colcon build --symlink-install
source install/local_setup.sh
```
## Usage
---
Start the server and client respectively in two terminals, wait for the client
initialization to complete, We can enter requests or questions in the terminal
and wait for the server to execute or respond.
### 1. Change setting
a. rewrite `gpt_client/gpt_client/config.json` file，instead of your openai-key
```
"OPENAI_API_KEY": ""
```
### 2. Run the node
```bash
# Terminal 1
ros2 run gpt_server gpt_server
```
```bash
# Terminal 2
ros2 run gpt_client gpt_client
```
### 3. Extra Command
| Command | Description |
|---------|--------------|
| !exit | exit process |
| !quit | exit process |
| !clear | clear screen |
### 4. Robotic Prompt
Refer to Microsoft's [PromptCraft-Robotics](https://github.com/microsoft/PromptCraft-Robotics),
We have a small number of basic robot prompts built in, stored in `gpt_client/prompts`. According to these prompts,
GPT can recognize our instructions and convert them into executable Python code on the server side for execution. Developers can add their own
The prompt words, so that the robot can perform the corresponding task according to the general description. The task primitive instantiation contained in each task prompt word is stored in
`gpt_server/primitives.py`.
**About the initialization of Prompts:** Usually, in order to make a GPT that meets our needs and successfully generate Python code that can be extracted,
We need to format through the `system` role type during initialization, and then alternately enter the `user` and `assistant` role information. Specifically, you can view `gpt_client/system_prompts/system.txt`.
## License
```
Copyright (c) 2023 Round Dolphiiin
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
```