refactor: drop ROS 2 dependency for core rai packages (#411)

Co-authored-by: Kajetan Rachwał <[email protected]>
Co-authored-by: Bartłomiej Boczek <[email protected]>

.pre-commit-config.yaml

@@ -23,25 +23,9 @@ repos:
     hooks:
       - id: shellcheck
 
-  - repo: https://github.com/pycqa/autoflake
-    rev: v2.3.1
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.9.4
     hooks:
-      - id: autoflake
-        args: ["--remove-all-unused-imports", "--in-place"]
-
-  - repo: https://github.com/pycqa/isort
-    rev: 5.13.2
-    hooks:
-      - id: isort
-        args: ["--profile", "black", "--filter-files"]
-
-  - repo: https://github.com/psf/black
-    rev: 24.4.2
-    hooks:
-      - id: black
-
-  - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
-    hooks:
-      - id: flake8
-        args: ["--ignore=E501,E731,W503,W504,E203"]
+      - id: ruff
+        args: [--extend-select, "I,RUF022", --fix, --ignore, E731]
+      - id: ruff-format

examples/agriculture-demo.py

@@ -15,12 +15,6 @@
 import argparse
 
 import rclpy
-from rclpy.action import ActionClient
-from rclpy.callback_groups import ReentrantCallbackGroup
-from rclpy.executors import MultiThreadedExecutor
-from rclpy.node import Node
-from std_srvs.srv import Trigger
-
 from rai.node import RaiStateBasedLlmNode, describe_ros_image
 from rai.tools.ros.native import (
     GetCameraImage,
@@ -30,6 +24,12 @@
     Ros2ShowMsgInterfaceTool,
 )
 from rai.tools.time import WaitForSecondsTool
+from rclpy.action import ActionClient
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+from std_srvs.srv import Trigger
+
 from rai_interfaces.action import Task
 
 

examples/manipulation-demo-streamlit.py

@@ -16,7 +16,6 @@
 
 import streamlit as st
 from langchain_core.messages import AIMessage, HumanMessage, ToolMessage
-
 from rai.agents.integrations.streamlit import get_streamlit_cb, streamlit_invoke
 from rai.messages import HumanMultimodalMessage
 

examples/manipulation-demo.py

@@ -17,7 +17,6 @@
 import rclpy
 import rclpy.qos
 from langchain_core.messages import HumanMessage
-
 from rai.agents.conversational_agent import create_conversational_agent
 from rai.node import RaiBaseNode
 from rai.tools.ros.manipulation import GetObjectPositionsTool, MoveToPointTool

examples/rosbot-xl-demo.py

@@ -18,8 +18,6 @@
 import rclpy
 import rclpy.executors
 import rclpy.logging
-from rai_open_set_vision.tools import GetDetectionTool, GetDistanceToObjectsTool
-
 from rai.node import RaiStateBasedLlmNode
 from rai.tools.ros.native import (
     GetMsgFromTopic,
@@ -35,6 +33,7 @@
     Ros2RunActionAsync,
 )
 from rai.tools.time import WaitForSecondsTool
+from rai_open_set_vision.tools import GetDetectionTool, GetDistanceToObjectsTool
 
 p = argparse.ArgumentParser()
 p.add_argument("--allowlist", type=Path, required=False, default=None)

examples/taxi-demo.py

@@ -20,12 +20,12 @@
 from langchain_community.tools.tavily_search import TavilySearchResults
 from langchain_core.messages import BaseMessage, HumanMessage
 from langchain_core.tools import tool
-from std_msgs.msg import String
-
 from rai.agents.conversational_agent import create_conversational_agent
 from rai.tools.ros.cli import Ros2ServiceTool
 from rai.tools.ros.native import Ros2PubMessageTool
 from rai.utils.model_initialization import get_llm_model, get_tracing_callbacks
+from std_msgs.msg import String
+
 from rai_hmi.api import GenericVoiceNode, split_message
 
 system_prompt = """

pyproject.toml

@@ -1,5 +1,5 @@
 [tool.poetry]
-name = "rai"
+name = "rai_framework"
 version = "1.0.0"
 description = "RAI is a framework for building general multi-agent systems, bringing Gen AI features to ROS enabled robots."
 readme = "README.md"
@@ -10,8 +10,14 @@ classifiers = [
     "License :: OSI Approved :: Apache Software License",
 ]
 package-mode = false
+
 [tool.poetry.dependencies]
 python = "^3.10, <3.13"
+
+rai = {path = "src/rai_core", develop = true}
+rai_asr = {path = "src/rai_asr", develop = true}
+rai_tts = {path = "src/rai_tts", develop = true}
+
 langchain-core = "^0.3"
 langchain = "*"
 langgraph = "*"
@@ -78,11 +84,9 @@ visualnav_transformer = { git = "https://github.com/RobotecAI/visualnav-transfor
 gdown = "^5.2.0"
 
 [build-system]
-requires = ["setuptools>=42", "wheel"]
-build-backend = "setuptools.build_meta"
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
 
-[tool.isort]
-profile = "black"
 
 [tool.pytest.ini_options]
 markers = [

src/examples/turtlebot4/turtlebot_demo.py

@@ -23,7 +23,6 @@
 import rclpy.qos
 import rclpy.subscription
 import rclpy.task
-
 from rai.node import RaiStateBasedLlmNode
 from rai.tools.ros.native import (
     GetCameraImage,