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Breakdown_Function_Modules

Breakdown_Function_Modules is a core component of the DART-LLM (Dependency-Aware Multi-Robot Task Decomposition and Execution) system. It consists of two main components: the Breakdown Function Parser and Handler, which work together to process structured task descriptions, manage dependencies between subtasks, and coordinate execution across multiple robots.

Features

  • Breakdown Function Parser

    • Parses structured JSON output from QA_LLM_Module
    • Extracts instruction functions, parameters, and dependencies
    • Validates task sequences and dependency relationships
  • Breakdown Function Handler

    • Manages task execution based on dependency graph (DAG)
    • Coordinates with object map database for location information
    • Enables parallel execution of independent tasks
  • Supported Functions

    • Navigation Functions:
      • Area avoidance for all/specific robots
      • Target area guidance
      • Area access permissions
      • Return-to-start commands
    • Robot-Specific Functions:
      • Excavator operations (digging, unloading)
      • Dump truck operations (loading, unloading)

Installation

  1. Clone the repository into your ROS2 workspace:

    cd ~/ros2_ws/src
    git clone https://github.com/wyd0817/Breakdown_Function_Modules.git
  2. Build the package:

    cd ~/ros2_ws
    colcon build --packages-select breakdown_function_modules
  3. Source the workspace:

    source ~/ros2_ws/install/setup.bash

Usage

Basic Operation

Launch the breakdown function nodes:

ros2 launch breakdown_function_modules breakdown_function.launch.py

Input/Output Format

The module processes JSON input from QA_LLM_Module in the following format:

{
    "instruction_function": {
        "name": "<breakdown function>",
        "dependencies": ["<dep 1>", "<dep 2>", "...", "<dep n>"]
    },
    "object_keywords": ["<key 1>", "<key 2>", "...", "<key n>"]
}

ROS2 Topics

  • Subscribes to:

    • /qa_llm/task_description: Receives task descriptions
    • /object_map/updates: Receives object location updates
  • Publishes to:

    • /robot_commands: Sends commands to robots
    • /task_status: Reports execution status

Configuration

The module can be configured through:

  • config/: ROS2 parameters and configuration files
  • launch/: Launch files for different scenarios
  • src/: Core implementation of parser and handler nodes

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