Merge pull request #2 from MrBearing/feat/ci_and_change_structure

Change structure and add CI

.github/workflow/ci_humble.yaml

@@ -0,0 +1,38 @@
+name: ci_humble
+
+on:
+  push:
+    branches:
+      - "humble"
+  pull_request:
+    types: [opened, synchronize, labeled]
+
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'humble' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'humble') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'humble')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 20
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-colcon-coveragepy-result
+      - name: Build and Test
+        uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          package-name: |
+            chatgpt_ros_cpp
+            chatgpt_ros_cpp_node
+            chatgpt_ros_cpp_msgs
+            chatgpt_ros_cpp_bringup

.vscode/c_cpp_properties.json

@@ -0,0 +1,21 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/humble/include/**",
+        "~/ws_humble/src/chatgpt_ros_cpp/chatgpt_ros_cpp/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,21 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "files.associations": {
+        "array": "cpp",
+        "*.tcc": "cpp",
+        "memory": "cpp",
+        "future": "cpp",
+        "istream": "cpp",
+        "functional": "cpp",
+        "tuple": "cpp",
+        "utility": "cpp",
+        "variant": "cpp"
+    }
+}

README.md

@@ -1,9 +1,10 @@
 # chatgpt_ros_cpp
-ROS for ChatGPT API in c++
+
+ROS 2 service for ChatGPT API written in c++
 
 ## Usage
 
-```
-ros2 launch chatgpt_ros_cpp chat.launch.py api_key:="YOUR_OPEN_AI_API_KEY"
+``` :bash
+ros2 launch chatgpt_ros_cpp_bringup chat.launch.py api_key:="YOUR_OPEN_AI_API_KEY"
 
 ```

chatgpt_ros_cpp/CMakeLists.txt

@@ -1,24 +1,22 @@
 cmake_minimum_required(VERSION 3.8)
 project(chatgpt_ros_cpp)
 
-# Find dependencies
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-set(TARGET chatgpt_server)
-set(MY_LIB_NAME ${PROJECT_NAME}_${TARGET})
-ament_auto_add_library(${MY_LIB_NAME} SHARED src/${TARGET}.cpp)
-rclcpp_components_register_node(
-  ${MY_LIB_NAME}
-  PLUGIN "${PROJECT_NAME}::ChatGptServer"
-  EXECUTABLE ${TARGET}_exec)
-target_link_libraries(${MY_LIB_NAME} cpprest)
+find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE launch)
+ament_package()

chatgpt_ros_cpp/package.xml

@@ -2,19 +2,16 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>chatgpt_ros_cpp</name>
-  <version>0.0.0</version>
-  <description>ROS 2 package for ChatGPT API communication</description>
-  <maintainer email="[email protected]">Takumi Okamoto</maintainer>
-  <license>Apache License 2.0</license>
+  <version>0.1.0</version>
+  <description>meta package for chatgpt_ros_cpp</description>
+  <maintainer email="[email protected]">takumi</maintainer>
+   <license>Apache-2.0</license>
 
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>std_msgs</depend>
-  <depend>cpprestsdk</depend>
-  <depend>nlohmann-json-dev</depend>
-  <depend>chatgpt_ros_interface</depend>
+  <depend>chatgpt_ros_cpp_bringup</depend>
+  <depend>chatgpt_ros_cpp_msgs</depend>
+  <depend>chatgpt_ros_cpp_node</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

chatgpt_ros_cpp_bringup/CMakeLists.txt

@@ -5,11 +5,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+
+# install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -23,4 +21,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_auto_package(INSTALL_TO_SHARE launch)

chatgpt_ros_cpp/launch/chat.launch.py → chatgpt_ros_cpp_bringup/launch/chat.launch.py

@@ -20,8 +20,8 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='chatgpt_ros_cpp',
-                plugin='chatgpt_ros_cpp::ChatGptServer',
+                package='chatgpt_ros_cpp_node',
+                plugin='chatgpt_ros_cpp_node::ChatGptServer',
                 name='chatgpt_server',
                 namespace='',
                 parameters=[{

chatgpt_ros_cpp_bringup/package.xml

@@ -2,13 +2,16 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>chatgpt_ros_cpp_bringup</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <version>0.1.0</version>
+  <description>bringup package for chatgpt_ros_cpp</description>
   <maintainer email="[email protected]">takumi</maintainer>
-  <license>A</license>
+   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>chatgpt_ros_cpp_node</exec_depend>
+  <exec_depend>chatgpt_ros_cpp_msgs</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

chatgpt_ros_interface/CMakeLists.txt → chatgpt_ros_cpp_msgs/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(chatgpt_ros_interface)
+project(chatgpt_ros_cpp_msgs)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

chatgpt_ros_interface/package.xml → chatgpt_ros_cpp_msgs/package.xml

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>chatgpt_ros_interface</name>
+  <name>chatgpt_ros_cpp_msgs</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">takumi</maintainer>
-  <license>Apache License 2.0</license>
+   <license>Apache License 2.0Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>

chatgpt_ros_cpp_node/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(chatgpt_ros_cpp_node)
+
+# Find dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(TARGET chatgpt_server)
+set(MY_LIB_NAME ${PROJECT_NAME}_${TARGET})
+ament_auto_add_library(${MY_LIB_NAME} SHARED src/${TARGET}.cpp)
+rclcpp_components_register_node(
+  ${MY_LIB_NAME}
+  PLUGIN "${PROJECT_NAME}::ChatGptServer"
+  EXECUTABLE ${TARGET}_exec)
+target_link_libraries(${MY_LIB_NAME} cpprest)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

chatgpt_ros_cpp/include/chatgpt_ros_cpp/chatgpt_server.hpp → chatgpt_ros_cpp_node/include/chatgpt_ros_cpp_node/chatgpt_server.hpp

@@ -22,11 +22,11 @@
 #include <cpprest/json.h>
 #include <rclcpp/rclcpp.hpp>
 #include <nlohmann/json.hpp>
-#include <chatgpt_ros_interface/srv/chatgpt_service.hpp>
+#include <chatgpt_ros_cpp_msgs/srv/chatgpt_service.hpp>
 
-namespace chatgpt_ros_cpp {
+namespace chatgpt_ros_cpp_node {
 
-using ChatgptService = chatgpt_ros_interface::srv::ChatgptService;
+using ChatgptService = chatgpt_ros_cpp_msgs::srv::ChatgptService;
 
 class ChatGptServer : public rclcpp::Node{
  public:
@@ -46,7 +46,7 @@ class ChatGptServer : public rclcpp::Node{
     const std::shared_ptr<ChatgptService::Response> response);
 };
 
-}  // namespace chatgpt_ros_cpp
+}  // namespace chatgpt_ros_cpp_node
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(chatgpt_ros_cpp::ChatGptServer)
+RCLCPP_COMPONENTS_REGISTER_NODE(chatgpt_ros_cpp_node::ChatGptServer)

chatgpt_ros_cpp_node/package.xml

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>chatgpt_ros_cpp_node</name>
+  <version>0.0.0</version>
+  <description>ROS 2 package for ChatGPT API communication</description>
+  <maintainer email="[email protected]">Takumi Okamoto</maintainer>
+   <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <!-- <build_depend>cpprestsdk</build_depend> -->
+  <build_depend>libcpprest-dev</build_depend>
+  <build_depend>nlohmann-json-dev</build_depend>
+  <build_depend>chatgpt_ros_cpp_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <!-- <exec_depend>cpprestsdk</exec_depend> -->
+  <exec_depend>libcpprest-dev</exec_depend>
+  <exec_depend>nlohmann-json-dev</exec_depend>
+  <exec_depend>chatgpt_ros_cpp_msgs</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

chatgpt_ros_cpp/src/chatgpt_server.cpp → chatgpt_ros_cpp_node/src/chatgpt_server.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "chatgpt_ros_cpp/chatgpt_server.hpp"
+#include "chatgpt_ros_cpp_node/chatgpt_server.hpp"
 
-namespace chatgpt_ros_cpp {
+namespace chatgpt_ros_cpp_node {
 
 ChatGptServer::ChatGptServer(const rclcpp::NodeOptions& options)
   : Node("chat_gpt_server", options) {
@@ -35,11 +35,6 @@ ChatGptServer::ChatGptServer(const rclcpp::NodeOptions& options)
   RCLCPP_INFO(this->get_logger(), "ChatGPTServer is ready.");
 }
 
-// ChatGptServer::~ChatGptServer() {
-//   // http_client_->reset();
-//   // server_->reset();
-// }
-
 void ChatGptServer::request_chat(
   const std::shared_ptr<rmw_request_id_t> request_header,
   const std::shared_ptr<ChatgptService::Request> request,
@@ -52,7 +47,7 @@ void ChatGptServer::request_chat(
   nlohmann::json request_json;
   request_json["model"] = "gpt-3.5-turbo";
   request_json["messages"][0]["role"]= "user";
-  request_json["messages"][0]["content"]= query;
+  request_json["messages"][0]["content"] = query;
   request_json["temperature"]= 0.7;
 
   RCLCPP_INFO(this->get_logger(), "send request object");
@@ -78,6 +73,7 @@ void ChatGptServer::request_chat(
 
   web::json::value json_result;
   try {
+    RCLCPP_INFO("",)
     json_result = res.extract_json().get()["choices"][0]["message"]["content"];
   }catch (const std::exception & exp){
     RCLCPP_ERROR(this->get_logger(), "Parser Error: %s ",
@@ -116,4 +112,4 @@ std::string ChatGptServer::getApiKey() {
 }
 
 
-}  // namespace chatgpt_ros_cpp
+}  // namespace chatgpt_ros_cpp_node