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feat: Add NoMaD extension #218

Merged
merged 21 commits into from
Sep 16, 2024
Merged

feat: Add NoMaD extension #218

merged 21 commits into from
Sep 16, 2024

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knicked
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@knicked knicked commented Sep 12, 2024 •
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Purpose

  • This PR adds an optional extension that contains a node that runs the NoMaD model in exploration mode.

Proposed Changes

  • Added a standalone ros2 node that loads the model and listens on the camera topic, then loads the gathered images into the model and outputs the actions on the /cmd_vel topic.
  • The node listens for messages on /rai_nomad/start and /rai_nomad/stop topics exposes /rai_nomad/start and /rai_nomad/stop services, allowing it to be activated and deactivated dynamically while it's running.

Running instructions are described in README file.

Issues

Testing

TODOs

  • Implement the NoMaD node
  • Refactor model parameters loading
  • Resolve dependency issues
  • Write a good readme

@knicked
Add NoMaD extension
7488f67 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Include nomad params in the package
9866c31 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Add output topic parameter
2167ed2 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Add a readme
ca59eed 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Add copyright notices
f04ffef 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Run pre-commit
9f64737 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Run pre-commit on other files
140fdcb 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Update poetry.lock
5503ead 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked knicked marked this pull request as ready for review September 13, 2024 12:52
@knicked knicked linked an issue Sep 13, 2024 that may be closed by this pull request
Integrate NoMaD into RAI #167
Closed
@knicked
Fix parameter list in readme
dd8ea55 
Signed-off-by: Kacper Dąbrowski <[email protected]>
maciejmajek
maciejmajek requested changes Sep 13, 2024
View reviewed changes
@knicked
Proper subscription destruction
d75e7ca 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Remove confusing comments
194053a 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Add dependencies and package description to package.xml
5db12b5 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Add description in setup.py
73d4fe8 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Remove tests
84ae2d6 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Add automatic model downloading
2f6118d 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Fix typo in readme
618a406 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Switch to using services for model activation
5e3203a 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Update readme
4cc9fc6 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@maciejmajek maciejmajek self-requested a review September 16, 2024 10:11
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Confirmed: works on 22.04 and 24.04
Some problems regarding unresolved symbol were solved by reinstalling poetry environment

@knicked
Update main readmes
9c1dcf8 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@knicked
Update poetry install command in CI
a4df68f 
Signed-off-by: Kacper Dąbrowski <[email protected]>
@maciejmajek maciejmajek changed the title Add NoMaD extension feat: Add NoMaD extension Sep 16, 2024
@maciejmajek maciejmajek merged commit 73cf8cf into development Sep 16, 2024
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@maciejmajek maciejmajek deleted the kd/nomad branch September 16, 2024 10:48
maciejmajek added a commit that referenced this pull request Sep 18, 2024
@knicked @maciejmajek
feat: Add NoMaD extension (#218)
9ca1fe8 
Signed-off-by: Kacper Dąbrowski <[email protected]>
Co-authored-by: Maciej Majek <[email protected]>
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@adamdbrw adamdbrw adamdbrw left review comments

@maciejmajek maciejmajek maciejmajek approved these changes

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Integrate NoMaD into RAI
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@knicked @maciejmajek @adamdbrw