diff --git a/.env.example b/.env.example
index 52c45d6..9daa622 100644
--- a/.env.example
+++ b/.env.example
@@ -1,17 +1,22 @@
# Copy this file to .env
# cp .env.example .env
-# LLM provider: ollama (local, default), anthropic, or openai
+# LLM provider: ollama (local, default), anthropic, openai, or xai
LLM_PROVIDER=ollama
# Model name (must match the provider)
# ollama: qwen2.5:3b, llama3.2:3b
-# anthropic: claude-sonnet-4-6, claude-opus-4-7
+# anthropic: claude-opus-4-8, claude-sonnet-5
# openai: gpt-4o, gpt-4-turbo
+# xai: grok-4.3
LLM_MODEL=qwen2.5:3b
# Ollama server URL (used only when LLM_PROVIDER=ollama)
OLLAMA_HOST=http://localhost:11434
-# API key — only needed for anthropic/openai, leave blank for ollama
+# API key — required for anthropic/openai/xai, leave blank for ollama
LLM_API_KEY=
+
+# Override the OpenAI-compatible base URL (used by openai/xai; xai auto-defaults
+# to https://api.x.ai/v1 when left blank)
+LLM_BASE_URL=
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..7e255d5
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,20 @@
+name: CI
+
+on:
+ push:
+ branches: [main]
+ pull_request:
+
+jobs:
+ projection-tests:
+ name: Projection geometry unit tests
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v4
+ - uses: actions/setup-python@v5
+ with:
+ python-version: '3.12'
+ - name: Install test deps
+ run: pip install "numpy<2" pytest
+ - name: Run projection tests
+ run: pytest src/natural_nav/test/test_projection.py -v
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..ed92d4c
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,201 @@
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
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+ 5. Submission of Contributions. Unless You explicitly state otherwise,
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+ 7. Disclaimer of Warranty. Unless required by applicable law or
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+
+ 9. Accepting Warranty or Additional Liability. While redistributing
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+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
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+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
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+ Copyright 2026 Adharsh Venkat
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
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diff --git a/README.md b/README.md
index c47e187..8cf3a59 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,9 @@
# NaturalNav
+[](https://github.com/adharshvenkat/natural_nav/actions/workflows/ci.yml)
+[](LICENSE)
+[](https://docs.ros.org/en/jazzy/)
+
**Language-conditioned semantic navigation on a single mobile robot.**
> *"Go inspect the shelf next to the pallet."*
@@ -79,7 +83,7 @@ Sim, Nav2, and RViz come from Nav2's `tb4_simulation_launch.py`. The perception
| Robot | TurtleBot4 (OAK-D Pro RGBD camera + RPLidar) |
| Navigation | Nav2 (AMCL + planner + controller + behavior tree) on pre-built warehouse map |
| Perception | GroundingDINO (open-vocab detection) + CLIP (reserved for disambiguation) |
-| LLM | Provider-agnostic: xAI Grok 4.3 (default), Ollama qwen2.5:3b (local), Anthropic, OpenAI |
+| LLM | Provider-agnostic: Ollama qwen2.5:3b (local default), xAI Grok, Anthropic, OpenAI |
| Containerization | Docker + Docker Compose, multi-stage build, NVIDIA Container Toolkit for sim rendering |
| ROS 2 | Jazzy |
@@ -99,18 +103,28 @@ git clone https://github.com/adharshvenkat/natural_nav.git
cd natural_nav
cp .env.example .env
-# edit .env — pick LLM_PROVIDER, paste your API key, etc.
+# edit .env — pick LLM_PROVIDER, paste your API key, etc. (defaults to local Ollama)
-xhost +local:docker # let the container draw on your X display
-docker compose up -d ollama # start local LLM (skip if using a cloud provider)
-./scripts/setup_ollama.sh # pull qwen2.5:3b into the ollama volume (one-time)
+xhost +local:docker # let the container draw on your X display
+docker compose up -d ollama # start local LLM (skip if using a cloud provider)
+./scripts/setup_ollama.sh # pull qwen2.5:3b into the ollama volume (one-time)
+./scripts/setup_groundingdino.sh # pull GroundingDINO weights into the volume (one-time)
+# Terminal 1 — Gazebo + Nav2 + RViz
docker compose run --rm --name nn naturalnav \
ros2 launch natural_nav simulation.launch.py
```
Gazebo + RViz will open. In RViz, click **2D Pose Estimate** and place the robot pose roughly where it sits in Gazebo so AMCL localizes.
+Then start the NaturalNav nodes (planner, executor, semantic detector) — the `simulation.launch.py` above only brings up the sim and Nav2:
+
+```bash
+# Terminal 2 — LLM planner + task executor + semantic detector
+docker exec -it nn /entrypoint.sh \
+ ros2 launch natural_nav naturalnav.launch.py
+```
+
### Send a command
In another terminal:
@@ -133,7 +147,7 @@ docker exec -it nn bash -c "source /opt/ros/jazzy/setup.bash && \
## Repository Layout
```
-natural_nav_ws/
+natural_nav/
├── Dockerfile # Multi-stage: builder + runtime
├── docker-compose.yml # naturalnav + ollama services, GPU + X11
├── .env.example # LLM provider / model / API key template
@@ -150,7 +164,6 @@ natural_nav_ws/
├── launch/
│ ├── simulation.launch.py # Wraps nav2_bringup tb4_simulation_launch
│ └── naturalnav.launch.py # Brings up perception + planner + executor
- ├── config/naturalnav_params.yaml
└── worlds/naturalnav.world # (legacy custom world, retained as fallback)
```
@@ -163,7 +176,9 @@ natural_nav_ws/
| `/natural_nav/command` | `std_msgs/String` | in | Natural-language command from user |
| `/natural_nav/task_graph` | `std_msgs/String` (JSON) | planner → executor | Decomposed task DAG |
| `/natural_nav/semantic_map` | `std_msgs/String` (JSON) | detector → executor | Snapshot of label → pose map |
+| `/natural_nav/detections` | `std_msgs/String` (JSON) | detector → * | Per-frame raw detections (label, score, bbox) |
| `/natural_nav/fleet_status` | `std_msgs/String` (JSON) | executor → user | Mission + per-task status |
+| `/natural_nav/planner_status` | `std_msgs/String` | planner → user | Human-readable planner status |
| `/natural_nav/replan_request` | `std_msgs/String` (JSON) | executor → planner | Context for LLM replan on failure |
| `/rgbd_camera/image` | `sensor_msgs/Image` | sim → detector | TB4 OAK-D RGB at ~10 Hz |
| `/rgbd_camera/depth_image` | `sensor_msgs/Image` | sim → detector | Depth, same rate |
@@ -177,11 +192,11 @@ natural_nav_ws/
`.env` (gitignored — copy from `.env.example`):
```bash
-LLM_PROVIDER=xai # xai | ollama | anthropic | openai
-LLM_MODEL=grok-4.3
-LLM_API_KEY=sk-... # leave blank for ollama
+LLM_PROVIDER=ollama # ollama | anthropic | openai | xai
+LLM_MODEL=qwen2.5:3b # match the provider (e.g. claude-opus-4-8 for anthropic)
+LLM_API_KEY= # leave blank for ollama; required for cloud providers
OLLAMA_HOST=http://localhost:11434
-LLM_BASE_URL= # only needed to override OpenAI-compatible endpoint
+LLM_BASE_URL= # only needed to override the OpenAI-compatible endpoint
```
The `llm_client.py` factory picks the right client + auto-defaults the base URL for `xai`.
diff --git a/natural_nav.repos b/natural_nav.repos
index 0fc30a4..ea5179f 100644
--- a/natural_nav.repos
+++ b/natural_nav.repos
@@ -1,10 +1,11 @@
-# NaturalNav uses binary installs for Nav2 and Open-RMF (via apt inside Docker).
-# This file is kept as a reference for the source versions used.
+# NaturalNav uses binary installs (via apt inside Docker), so there are no
+# source repositories to clone. This file is kept as a reference for the
+# ROS 2 packages the stack depends on.
#
-# Nav2: ros-jazzy-navigation2, ros-jazzy-nav2-bringup
-# Open-RMF: ros-jazzy-rmf-ros2, ros-jazzy-rmf-demos
+# Nav2: ros-jazzy-navigation2, ros-jazzy-nav2-bringup
+# TB4 sim: ros-jazzy-nav2-minimal-tb4-sim, ros-jazzy-nav2-minimal-tb4-description
#
# To install locally (outside Docker):
# sudo apt-get install ros-jazzy-navigation2 ros-jazzy-nav2-bringup \
-# ros-jazzy-rmf-ros2 ros-jazzy-rmf-demos ros-jazzy-rmf-building-map-tools
+# ros-jazzy-nav2-minimal-tb4-sim ros-jazzy-nav2-minimal-tb4-description
repositories: {}
diff --git a/src/natural_nav/config/naturalnav_params.yaml b/src/natural_nav/config/naturalnav_params.yaml
deleted file mode 100644
index cb8f533..0000000
--- a/src/natural_nav/config/naturalnav_params.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-llm_planner:
- ros__parameters:
- llm_provider: anthropic
- llm_model: claude-sonnet-4-6
-
-semantic_detector:
- ros__parameters:
- clip_model: ViT-B/32
- gdino_box_threshold: 0.35
- gdino_text_threshold: 0.25
- device: cpu
-
-fleet_orchestrator:
- ros__parameters:
- max_retries: 2
- nav_timeout_sec: 60.0
diff --git a/src/natural_nav/launch/naturalnav.launch.py b/src/natural_nav/launch/naturalnav.launch.py
index e05af0b..98bb35b 100644
--- a/src/natural_nav/launch/naturalnav.launch.py
+++ b/src/natural_nav/launch/naturalnav.launch.py
@@ -13,9 +13,11 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
return LaunchDescription([
- DeclareLaunchArgument('llm_provider', default_value=os.environ.get('LLM_PROVIDER', 'anthropic')),
+ # Defaults match docker-compose / .env (local Ollama, zero-key). Set
+ # LLM_PROVIDER / LLM_MODEL in .env to switch to a cloud provider.
+ DeclareLaunchArgument('llm_provider', default_value=os.environ.get('LLM_PROVIDER', 'ollama')),
DeclareLaunchArgument('llm_api_key', default_value=os.environ.get('LLM_API_KEY', '')),
- DeclareLaunchArgument('llm_model', default_value=os.environ.get('LLM_MODEL', 'claude-sonnet-4-6')),
+ DeclareLaunchArgument('llm_model', default_value=os.environ.get('LLM_MODEL', 'qwen2.5:3b')),
DeclareLaunchArgument('use_sim_time', default_value='true'),
Node(
diff --git a/src/natural_nav/natural_nav/llm_client.py b/src/natural_nav/natural_nav/llm_client.py
index 2ec138d..c76ab0f 100644
--- a/src/natural_nav/natural_nav/llm_client.py
+++ b/src/natural_nav/natural_nav/llm_client.py
@@ -3,10 +3,11 @@
user message, and returns the model's text response.
Configured via environment / ROS params:
- LLM_PROVIDER — 'anthropic', 'openai', or 'ollama'
+ LLM_PROVIDER — 'anthropic', 'openai', 'xai', or 'ollama'
LLM_API_KEY — API key (not needed for ollama)
- LLM_MODEL — model name (e.g. claude-sonnet-4-6, gpt-4o, qwen2.5:3b)
+ LLM_MODEL — model name (e.g. claude-opus-4-8, gpt-4o, grok-4.3, qwen2.5:3b)
OLLAMA_HOST — ollama server URL (default http://localhost:11434)
+ LLM_BASE_URL — override the OpenAI-compatible endpoint (openai/xai)
"""
from __future__ import annotations
@@ -104,7 +105,7 @@ def get_client(
base_url = os.environ.get('LLM_BASE_URL', '') or None
if provider == 'anthropic':
- return AnthropicClient(api_key, model or 'claude-sonnet-4-6')
+ return AnthropicClient(api_key, model or 'claude-opus-4-8')
if provider == 'openai':
return OpenAIClient(api_key, model or 'gpt-4o', base_url)
if provider == 'xai':
diff --git a/src/natural_nav/package.xml b/src/natural_nav/package.xml
index 7992882..952c1a1 100644
--- a/src/natural_nav/package.xml
+++ b/src/natural_nav/package.xml
@@ -13,6 +13,7 @@
geometry_msgs
sensor_msgs
tf2_ros
+ tf2_geometry_msgs
cv_bridge
nav2_minimal_tb4_sim
nav2_minimal_tb4_description
diff --git a/src/natural_nav/setup.py b/src/natural_nav/setup.py
index 00feeff..91e9121 100644
--- a/src/natural_nav/setup.py
+++ b/src/natural_nav/setup.py
@@ -12,14 +12,13 @@
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
- (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
(os.path.join('share', package_name, 'worlds'), glob('worlds/*.world')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='Adharsh Venkat',
maintainer_email='adharsh.venkat98@gmail.com',
- description='LLM-orchestrated semantic navigation for multi-robot fleets',
+ description='Language-conditioned semantic navigation: LLM task planning + open-vocabulary perception on a mobile robot',
license='Apache-2.0',
extras_require={'test': ['pytest']},
entry_points={