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Husarion Robot XL demo

This demo utilizes Open 3D Engine simulation and allows you to work with RAI on a small mobile platform in a nice apartment.

Screenshot1

Quick start

  1. Download the newest binary release:
  • Ubuntu 22.04 & ros2 humble: link
  • Ubuntu 24.04 & ros2 jazzy: link

  1. Install required packages

    sudo apt install ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-gazebo-msgs ros-${ROS_DISTRO}-control-toolbox ros-${ROS_DISTRO}-nav2-bringup
poetry install --with openset

  2. Unpack the binary with the simulation:

    # u24
unzip RAIROSBotDemo_1.0.0_noblejazzy.zip
# u22
unzip RAIROSBotDemo_1.0.0_jammyhumble.zip

Alternative: Demo source build

If you would like more freedom to adapt the simulation to your needs, you can make changes using O3DE Editor and build the project yourself. Please refer to rai husarion rosbot xl demo for more details.

Running RAI

  1. Robot identity

    Process of setting up the robot identity is described in create_robots_whoami. We provide ready whoami for RosBotXL in the package.

    cd rai
vcs import < demos.repos
colcon build --symlink-install --packages-select rosbot_xl_whoami

  2. Running rai nodes and agents, navigation stack and O3DE simulation.

    ros2 launch ./examples/rosbotxl.launch.xml game_launcher:=path/to/RARAIROSBotXLDemo.GameLauncher

  3. Play with the demo, adding tasks to the RAI agent. Here are some examples:

    # Ask robot where it is. RAI will use camera to describe the environment
ros2 action send_goal -f /perform_task rai_interfaces/action/Task "{priority: 10, description: '', task: 'Where are you?'}"

# See integration with the navigation stack
ros2 action send_goal -f /perform_task rai_interfaces/action/Task "{priority: 10, description: '', task: 'Drive 1 meter forward'}"
ros2 action send_goal -f /perform_task rai_interfaces/action/Task "{priority: 10, description: '', task: 'Spin 90 degrees'}"

# Try out more complicated tasks
ros2 action send_goal -f /perform_task rai_interfaces/action/Task "{priority: 10, description: '', task: ' Drive forward if the path is clear, otherwise backward'}"

NOTE: For now agent is capable of performing only 1 task at once. Human-Robot Interaction module is not yet included in the demo (coming soon!).

What is happening?

By looking at the example code in rai/examples/rosbot-xl-demo.py examples you can see that:

  • This node has no information about the robot besides what it can get from rai_whoami_node.
  • Topics can be whitelisted to only receive information about the robot.
  • Before every LLM decision, rai_node sends its state to the LLM Agent. By default, it contains ros interfaces (topics, services, actions) and logs summary, but the state can be extended.
  • In the example we are also adding description of the camera image to the state.

If you wish, you can learn more about configuring RAI for a specific robot.