From 652534ab18be38c7f096d016118d26f27fe86b84 Mon Sep 17 00:00:00 2001 From: adharshvenkat Date: Fri, 3 Jul 2026 23:01:54 +0800 Subject: [PATCH] Production tidy-up: LICENSE, CI, docs, packaging accuracy Surface-layer fixes from a repo audit: - Add Apache-2.0 LICENSE, a GitHub Actions CI (projection tests), and README badges. - Quick Start now launches the NaturalNav nodes, not just the sim. - Local-Ollama default made consistent across README, .env, and launch. - Correct setup.py description, add the tf2_geometry_msgs dep, drop stale Open-RMF refs. - Document the xai provider, delete the orphaned config YAML, refresh example model IDs. --- .env.example | 11 +- .github/workflows/ci.yml | 20 ++ LICENSE | 201 ++++++++++++++++++ README.md | 37 +++- natural_nav.repos | 11 +- src/natural_nav/config/naturalnav_params.yaml | 16 -- src/natural_nav/launch/naturalnav.launch.py | 6 +- src/natural_nav/natural_nav/llm_client.py | 7 +- src/natural_nav/package.xml | 1 + src/natural_nav/setup.py | 3 +- 10 files changed, 271 insertions(+), 42 deletions(-) create mode 100644 .github/workflows/ci.yml create mode 100644 LICENSE delete mode 100644 src/natural_nav/config/naturalnav_params.yaml 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/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + 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 + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index c47e187..8cf3a59 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,9 @@ # NaturalNav +[![CI](https://github.com/adharshvenkat/natural_nav/actions/workflows/ci.yml/badge.svg)](https://github.com/adharshvenkat/natural_nav/actions/workflows/ci.yml) +[![License: Apache 2.0](https://img.shields.io/badge/license-Apache%202.0-blue.svg)](LICENSE) +[![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-blue.svg)](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={