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juandpenanjuandpenan
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updated launchers
1 parent 6a70ccf commit 979b871

2 files changed

Lines changed: 50 additions & 48 deletions

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‎robocup_bringup/launch/dialog.launch.py‎

Lines changed: 34 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -43,48 +43,43 @@ def generate_launch_description():
4343

4444
# Actions
4545
llama_cmd = create_llama_launch(
46-
n_ctx=2048,
47-
n_batch=256,
48-
n_gpu_layers=23,
49-
n_threads=4,
50-
n_predict=-1,
51-
52-
# uncomment this for GPSR:
53-
# model_repo="cstr/Spaetzle-v60-7b-Q4_0-GGUF",
54-
# model_filename="Spaetzle-v60-7b_Q4_0.gguf",
55-
56-
# comment this for GPSR:
57-
model_repo='qwen/Qwen2.5-Coder-7B-Instruct-GGUF',
58-
model_filename='qwen2.5-coder-7b-instruct-q4_k_m-00001-of-00002.gguf',
59-
system_prompt_type= "ChatML"
60-
61-
)
62-
63-
llava_cmd = create_llama_launch(
64-
use_llava=True,
65-
n_ctx=2048,
66-
n_batch=256,
67-
n_gpu_layers=23,
68-
n_threads=4,
69-
n_predict=-1,
70-
71-
# uncomment this for GPSR:
72-
# model_repo="cstr/Spaetzle-v60-7b-Q4_0-GGUF",
73-
# model_filename="Spaetzle-v60-7b_Q4_0.gguf",
74-
75-
# comment this for GPSR:
76-
model_repo='bartowski/Qwen2-VL-2B-Instruct-GGUF',
77-
model_filename='Qwen2-VL-2B-Instruct-Q4_K_M.gguf',
78-
mmproj_repo= "bartowski/Qwen2-VL-2B-Instruct-GGUF",
79-
mmproj_filename= "mmproj-Qwen2-VL-2B-Instruct-f16.gguf",
80-
system_prompt_type= "ChatML"
8146

47+
# uncomment this for GPSR_orginal:
48+
# model_repo="cstr/Spaetzle-v60-7b-Q4_0-GGUF",
49+
# model_filename="Spaetzle-v60-7b_Q4_0.gguf",
50+
51+
#uncomment for gpsr raugnak:
52+
# n_ctx=8192,
53+
# n_batch=512,
54+
# n_gpu_layers=29,
55+
# n_threads=-1,
56+
# n_predict=2000,
57+
58+
# model_repo="Qwen/Qwen3-8B-GGUF",
59+
# model_filename="Qwen3-8B-Q8_0.gguf",
60+
61+
# comment this for normal:
62+
use_llava=True,
63+
n_ctx=4096,
64+
n_batch=512,
65+
n_gpu_layers=23,
66+
n_threads=4,
67+
n_predict=-1,
68+
model_repo='bartowski/Qwen2-VL-2B-Instruct-GGUF',
69+
model_filename='Qwen2-VL-2B-Instruct-Q4_K_M.gguf',
70+
mmproj_repo='bartowski/Qwen2-VL-2B-Instruct-GGUF',
71+
mmproj_filename='mmproj-Qwen2-VL-2B-Instruct-f16.gguf',
72+
system_prompt_type='ChatML'
8273
)
8374

8475
whisper_cmd = IncludeLaunchDescription(
8576
PythonLaunchDescriptionSource(
8677
os.path.join(whisper_dir, 'launch', 'whisper.launch.py')
87-
)
78+
),
79+
launch_arguments={
80+
'model_repo': model_repo,
81+
'model_filename': model_filename
82+
}.items()
8883
)
8984

9085
audio_common_tts_node = Node(
@@ -114,11 +109,10 @@ def generate_launch_description():
114109
ld = LaunchDescription()
115110
ld.add_action(declare_model_repo_cmd)
116111
ld.add_action(declare_model_filename_cmd)
117-
#ld.add_action(whisper_cmd)
118-
#ld.add_action(llama_cmd)
119-
ld.add_action(llava_cmd)
112+
ld.add_action(whisper_cmd)
113+
ld.add_action(llama_cmd)
120114
ld.add_action(audio_common_tts_node)
121115
ld.add_action(audio_common_player_node)
122-
#ld.add_action(music_player_node)
116+
ld.add_action(music_player_node)
123117

124118
return ld

‎robocup_bringup/launch/receptionist_dependencies.launch.py‎

Lines changed: 16 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -29,8 +29,9 @@ def generate_launch_description():
2929
move_group_dir = get_package_share_directory('tiago_moveit_config')
3030
manipulation_dir = get_package_share_directory('manipulation_action_server')
3131
package_dir = get_package_share_directory('robocup_bringup')
32-
yolo3d_dir = get_package_share_directory('yolo_bringup')
32+
yolo3d_dir = get_package_share_directory('yolov8_bringup')
3333
navigation_dir = get_package_share_directory('navigation_system')
34+
knowledge_core_dir = get_package_share_directory('knowledge_core')
3435

3536
# manipulation launchers
3637
move_group = IncludeLaunchDescription(
@@ -41,7 +42,7 @@ def generate_launch_description():
4142

4243
manipulation_server = IncludeLaunchDescription(
4344
PythonLaunchDescriptionSource(
44-
os.path.join(manipulation_dir, 'launch', 'server.launch.py')
45+
os.path.join(manipulation_dir, 'launch', 'simple_server.launch.py')
4546
)
4647
)
4748

@@ -54,18 +55,18 @@ def generate_launch_description():
5455

5556
yolo3d = IncludeLaunchDescription(
5657
PythonLaunchDescriptionSource(
57-
os.path.join(yolo3d_dir, 'launch', 'yolo.launch.py')
58+
os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
5859
),
5960
launch_arguments={
6061
# 'namespace': 'perception_system',
6162
'model': 'yolov8n.pt',
6263
'input_image_topic': '/head_front_camera/rgb/image_raw',
6364
'input_depth_topic': '/head_front_camera/depth/image_raw',
64-
'input_depth_info_topic': '/head_front_camera/depth/camera_info',
65+
'input_depth_info_topic': '/head_front_camera/rgb/camera_info',
6566
'depth_image_units_divisor': '1000', # 1 for simulation, 1000 real
66-
'target_frame': 'camera_color_optical_frame',
67+
'target_frame': 'head_front_camera_color_optical_frame',
6768
'threshold': '0.5'
68-
}.items()
69+
}.items()
6970
)
7071

7172
dialog = IncludeLaunchDescription(
@@ -81,7 +82,7 @@ def generate_launch_description():
8182
launch_arguments={
8283
'rviz': 'True',
8384
# 'map': package_dir + '/maps/robocup_arena_1.yaml', # ARENA C
84-
'map': package_dir + '/maps/robocup_arena_2.yaml', # ARENA B
85+
'map': package_dir + '/maps/new_lab.yaml', # ARENA B
8586
'params_file': package_dir +
8687
'/config/receptionist/tiago_nav_params.yaml',
8788
'slam_params_file': package_dir +
@@ -90,12 +91,19 @@ def generate_launch_description():
9091
}.items()
9192
)
9293

94+
knowledge_core = IncludeLaunchDescription(
95+
PythonLaunchDescriptionSource(
96+
os.path.join(knowledge_core_dir, 'launch', 'knowledge_core.launch.py')
97+
)
98+
)
99+
93100
ld = LaunchDescription()
101+
ld.add_action(knowledge_core)
94102
ld.add_action(navigation)
95103
ld.add_action(dialog)
96104
ld.add_action(yolo3d)
97105
ld.add_action(real_time)
98-
ld.add_action(move_group)
106+
# ld.add_action(move_group)
99107
ld.add_action(manipulation_server)
100108

101109
return ld

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