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fix(demos): wrong argument name and type in priority of task #325

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merged 2 commits into from
Nov 28, 2024
Merged

fix(demos): wrong argument name and type in priority of task #325

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6e9f756
fix(demos): wrong argument name: whitelist -> allowlist
boczekbartek Nov 28, 2024
714421c
fix(`agriculture-demo`): priority of task should be a string
boczekbartek Nov 28, 2024
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8 changes: 4 additions & 4 deletions examples/agriculture-demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ async def check_tractor_state(self):

# Send goal to perform_task action server
goal_msg = Task.Goal()
goal_msg.priority = 10
goal_msg.priority = "high"
goal_msg.description = ""
goal_msg.task = "Anomaly detected. Please decide what to do."

Expand Down Expand Up @@ -117,7 +117,7 @@ def main():
f"{tractor_prefix}/camera_image_color": describe_ros_image
}

topics_whitelist = [
topics_allowlist = [
"/rosout",
f"{tractor_prefix}/camera_image_color",
# Services
Expand All @@ -127,7 +127,7 @@ def main():
f"{tractor_prefix}/replan",
]

actions_whitelist = []
actions_allowlist = []

SYSTEM_PROMPT = f"""
You are autonomous tractor {tractor_number} operating in an agricultural field. You are activated whenever the tractor stops due to an unexpected situation. Your task is to call a service based on your assessment of the situation.
Expand All @@ -146,7 +146,7 @@ def main():
rai_node = RaiStateBasedLlmNode(
observe_topics=observe_topics,
observe_postprocessors=observe_postprocessors,
whitelist=topics_whitelist + actions_whitelist,
allowlist=topics_allowlist + actions_allowlist,
system_prompt=SYSTEM_PROMPT,
tools=[
Ros2ShowMsgInterfaceTool,
Expand Down
6 changes: 3 additions & 3 deletions examples/rosbot-xl-demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ def main():
#
# observe_postprocessors = {"/camera/camera/color/image_raw": describe_ros_image}

topics_whitelist = [
topics_allowlist = [
"/rosout",
"/camera/camera/color/image_raw",
"/camera/camera/depth/image_rect_raw",
Expand All @@ -57,7 +57,7 @@ def main():
"/led_strip",
]

actions_whitelist = [
actions_allowlist = [
"/backup",
"/compute_path_through_poses",
"/compute_path_to_pose",
Expand Down Expand Up @@ -126,7 +126,7 @@ def main():
node = RaiStateBasedLlmNode(
observe_topics=None,
observe_postprocessors=None,
whitelist=topics_whitelist + actions_whitelist,
allowlist=topics_allowlist + actions_allowlist,
system_prompt=SYSTEM_PROMPT,
tools=[
Ros2PubMessageTool,
Expand Down