chore: move rai_grounding_dino to rai_extensions

[maciejmajek]

Purpose

We are planning a lot of extensions. Placing them all directly in the src/ folder could be cluttering and make the project structure less organized.

Proposed Changes

This PR adds a new rai_extensions folder and moves the existing rai_grounding_dino extension into it. Specifically:

• Created a new rai_extensions folder in the src directory
• Moved the entire rai_grounding_dino folder into rai_extensions
• Updated relevant paths and references to reflect the new structure

Testing

Update:
I've reinstalled my poetry environment and now it works properly.

PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python ros2 launch rai_grounding_dino example_communication_launch.xml image_path:=src/rai_extensions/rai_grounding_dino/images/sample.jpg

Run log ✅

[INFO] [launch]: All log files can be found below /home/mmajek/.ros/log/2024-09-04-18-09-46-942751-robo-pc-054-1638270
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [grounding_dino-1]: process started with pid [1638271]
[INFO] [talker-2]: process started with pid [1638273]
[grounding_dino-1] UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
[talker-2] [INFO] [1725466188.292966869] [example_client]: service not available, waiting again...
[grounding_dino-1] UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at ../aten/src/ATen/native/TensorShape.cpp:3587.)
[grounding_dino-1] FutureWarning: clean_up_tokenization_spaces was not set. It will be set to True by default. This behavior will be depracted in transformers v4.45, and will be then set to False by default. For more details check this issue: huggingface/transformers#31884
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains beta will be renamed internally to bias. Please use a different name to suppress this warning.
[grounding_dino-1] A parameter name that contains gamma will be renamed internally to weight. Please use a different name to suppress this warning.
[grounding_dino-1] [INFO] [1725466190.171876145] [grounding_dino]: Request received: dragon , lizard , dinosaur, 0.4, 0.4
[grounding_dino-1] FutureWarning: The device argument is deprecated and will be removed in v5 of Transformers.
[grounding_dino-1] UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.4 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
[grounding_dino-1] UserWarning: None of the inputs have requires_grad=True. Gradients will be None
[talker-2] [INFO] [1725466191.535909371] [example_client]: rai_interfaces.msg.RAIDetectionArray(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1725466191, nanosec=534060977), frame_id=''), detections=[vision_msgs.msg.Detection2D(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1725466191, nanosec=533842724), frame_id=''), results=[vision_msgs.msg.ObjectHypothesisWithPose(hypothesis=vision_msgs.msg.ObjectHypothesis(class_id='dinosaur', score=0.4548650085926056), pose=geometry_msgs.msg.PoseWithCovariance(pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), covariance=array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0.])))], bbox=vision_msgs.msg.BoundingBox2D(center=vision_msgs.msg.Pose2D(position=vision_msgs.msg.Point2D(x=1170.7906494140625, y=521.2423095703125), theta=0.0), size_x=578.667236328125, size_y=315.9845886230469), id=''), vision_msgs.msg.Detection2D(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1725466191, nanosec=533965717), frame_id=''), results=[vision_msgs.msg.ObjectHypothesisWithPose(hypothesis=vision_msgs.msg.ObjectHypothesis(class_id='dinosaur', score=0.46678999066352844), pose=geometry_msgs.msg.PoseWithCovariance(pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), covariance=array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0.])))], bbox=vision_msgs.msg.BoundingBox2D(center=vision_msgs.msg.Pose2D(position=vision_msgs.msg.Point2D(x=403.49383544921875, y=459.339599609375), theta=0.0), size_x=531.4512939453125, size_y=428.9387512207031), id=''), vision_msgs.msg.Detection2D(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1725466191, nanosec=533996285), frame_id=''), results=[vision_msgs.msg.ObjectHypothesisWithPose(hypothesis=vision_msgs.msg.ObjectHypothesis(class_id='dinosaur', score=0.4597964882850647), pose=geometry_msgs.msg.PoseWithCovariance(pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), covariance=array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0.])))], bbox=vision_msgs.msg.BoundingBox2D(center=vision_msgs.msg.Pose2D(position=vision_msgs.msg.Point2D(x=1418.049072265625, y=430.03955078125), theta=0.0), size_x=552.552490234375, size_y=415.8872375488281), id=''), vision_msgs.msg.Detection2D(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1725466191, nanosec=534025510), frame_id=''), results=[vision_msgs.msg.ObjectHypothesisWithPose(hypothesis=vision_msgs.msg.ObjectHypothesis(class_id='dragon', score=0.40476351976394653), pose=geometry_msgs.msg.PoseWithCovariance(pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), covariance=array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
[talker-2] 0., 0.])))], bbox=vision_msgs.msg.BoundingBox2D(center=vision_msgs.msg.Pose2D(position=vision_msgs.msg.Point2D(x=403.4332275390625, y=459.6795654296875), theta=0.0), size_x=531.529541015625, size_y=429.6009521484375), id='')], detection_classes=['dragon', 'lizard', 'dinosaur'])

Without PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python there is an error

[grounding_dino-1] [ERROR] [1725466285.105669130] [grounding_dino]: Error: Descriptors cannot be created directly.
[grounding_dino-1] If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0.
[grounding_dino-1] If you cannot immediately regenerate your protos, some other possible workarounds are:
[grounding_dino-1]  1. Downgrade the protobuf package to 3.20.x or lower.
[grounding_dino-1]  2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower).
[grounding_dino-1] 
[grounding_dino-1] More information: https://developers.google.com/protocol-buffers/docs/news/2022-05-06#python-updates

[rachwalk]

LGTM