Package renaming

Author: AndyZe

CMakeLists.txt

@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.8)
-project(ros2_openai_server)
+project(robosoft_openai)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS ai_msgs cv_bridge rclcpp sensor_msgs)
+set(THIS_PACKAGE_INCLUDE_DEPENDS cv_bridge rclcpp robosoft_ai_msgs sensor_msgs)
 
 find_package(ament_cmake REQUIRED)
 find_package(CURL REQUIRED)
@@ -32,13 +32,13 @@ install(
   TARGETS example_client openai_server
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/ros2_openai_server)
+  RUNTIME DESTINATION lib/robosoft_openai)
 
-install(DIRECTORY include DESTINATION include/ros2_openai_server)
+install(DIRECTORY include DESTINATION include/robosoft_openai)
 install(
   DIRECTORY test_data
   DESTINATION DESTINATION
-  share/ros2_openai_server)
+  share/robosoft_openai)
 
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()

README.md

@@ -1,4 +1,4 @@
-# ros2_openai_server
+# robosoft_openai
 
 OpenAI server node for ROS2 Applications
 
@@ -32,22 +32,22 @@ Set it as an environment variable: `export OPENAI_API_KEY="..."`
 
 Here's a quick example:
 
-`ros2 run ros2_openai_server openai_server`
+`ros2 run robosoft_openai openai_server`
 
 Send it a prompt. Here's an example that returns a bool from a yes/no question. Note that the `image` field of the service request may be left empty...
 
-`ros2 service call /openai_server ai_msgs/srv/BoolResponse prompt:\ "Are you a pirate? Please respond with a one-word answer, yes or no"`
+`ros2 service call /openai_server robosoft_ai_msgs/srv/BoolResponse prompt:\ "Are you a pirate? Please respond with a one-word answer, yes or no"`
 
 Here's an example that returns a full string...
 
-`ros2 service call /openai_string_response ai_msgs/srv/StringResponse prompt:\ "Are you a pirate?"`
+`ros2 service call /openai_string_response robosoft_ai_msgs/srv/StringResponse prompt:\ "Are you a pirate?"`
 
 Here's an example client which sends an image of a wooden table and prompts whether it is indeed a wooden table:
 
-`ros2 run ros2_openai_server example_client`
+`ros2 run robosoft_openai example_client`
 
 ## Citation
 
 If you use this work, please cite it like so:
 
- - Zelenak, A., Lock, J., & Aldrich, B. (2024) *An OpenAI Server for ROS2*. Github. **https://github.com/robosoft-ai/ros2_openai_server**
+ - Zelenak, A., Lock, J., & Aldrich, B. (2024) *An OpenAI Server for ROS2*. Github. **https://github.com/robosoft-ai/robosoft_openai**

include/ros2_openai_server/convert_image_to_base_64.hpp renamed to include/robosoft_openai/convert_image_to_base_64.hpp

@@ -6,7 +6,7 @@
 #include <opencv2/opencv.hpp>
 #include <optional>
 
-namespace openai_server
+namespace robosoft_openai
 {
 /**
  * @brief Convert jpeg to base64 encoding. There are 2 possible input types.
@@ -59,4 +59,4 @@ std::string convert_image_to_base_64(const std::optional<const std::string>& ima
 
   return os.str();
 }
-}  // namespace openai_server
+}  // namespace robosoft_openai

package.xml

@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ros2_openai_server</name>
+  <name>robosoft_openai</name>
   <version>0.0.0</version>
   <description>A server which sends prompts to OpenAI</description>
   <maintainer email="andyz@utexas.edu">andy</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ai_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>rclcpp</depend>
+  <depend>robosoft_ai_msgs</depend>
   <depend>sensor_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

src/example_client.cpp

@@ -1,4 +1,4 @@
-#include "ai_msgs/srv/string_image_prompt.hpp"
+#include "robosoft_ai_msgs/srv/string_image_prompt.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
@@ -15,14 +15,14 @@ int main(int argc, char** argv)
   rclcpp::init(argc, argv);
 
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("open_ai_client");
-  rclcpp::Client<ai_msgs::srv::StringImagePrompt>::SharedPtr client =
-      node->create_client<ai_msgs::srv::StringImagePrompt>("openai_server");
+  rclcpp::Client<robosoft_ai_msgs::srv::StringImagePrompt>::SharedPtr client =
+      node->create_client<robosoft_ai_msgs::srv::StringImagePrompt>("openai_server");
 
-  auto request = std::make_shared<ai_msgs::srv::StringImagePrompt::Request>();
+  auto request = std::make_shared<robosoft_ai_msgs::srv::StringImagePrompt::Request>();
   request->prompt = "Is this a wooden table? Please respond in one word, yes or no.";
 
   // Add an image of a wooden table to the OpenAI request
-  std::string pkg_share_directory = ament_index_cpp::get_package_share_directory("ros2_openai_server");
+  std::string pkg_share_directory = ament_index_cpp::get_package_share_directory("robosoft_openai");
   std::string image_path = pkg_share_directory + "/test_data/wood_table.jpg";
   cv::Mat img = cv::imread(image_path, cv::IMREAD_COLOR);
   sensor_msgs::msg::Image::SharedPtr msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", img).toImageMsg();

src/openai_server.cpp

@@ -1,6 +1,6 @@
-#include "ros2_openai_server/convert_image_to_base_64.hpp"
+#include "robosoft_openai/convert_image_to_base_64.hpp"
 
-#include "ai_msgs/srv/string_image_prompt.hpp"
+#include "robosoft_ai_msgs/srv/string_image_prompt.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
@@ -10,14 +10,14 @@
 #include <sensor_msgs/image_encodings.hpp>
 #include <stdlib.h>
 
-namespace openai_server
+namespace robosoft_openai
 {
 class OpenAIServer : public rclcpp::Node
 {
 public:
   OpenAIServer() : Node("service_client")
   {
-    prompt_srv_ = create_service<ai_msgs::srv::StringImagePrompt>(
+    prompt_srv_ = create_service<robosoft_ai_msgs::srv::StringImagePrompt>(
         "openai_server", std::bind(&OpenAIServer::promptCallback, this, std::placeholders::_1, std::placeholders::_2));
 
     curl_ = curl_easy_init();
@@ -144,8 +144,8 @@ class OpenAIServer : public rclcpp::Node
    * @param request service request
    * @param response bool response, parsed from OpenAI's string response
    */
-  void promptCallback(const std::shared_ptr<ai_msgs::srv::StringImagePrompt::Request> request,
-                      std::shared_ptr<ai_msgs::srv::StringImagePrompt::Response> response)
+  void promptCallback(const std::shared_ptr<robosoft_ai_msgs::srv::StringImagePrompt::Request> request,
+                      std::shared_ptr<robosoft_ai_msgs::srv::StringImagePrompt::Response> response)
   {
     RCLCPP_INFO_STREAM(this->get_logger(), "Incoming StringImagePrompt request: " << request->prompt);
     std::string string_response;
@@ -160,18 +160,18 @@ class OpenAIServer : public rclcpp::Node
     response->string_response = std::move(string_response);
   }
 
-  rclcpp::Service<ai_msgs::srv::StringImagePrompt>::SharedPtr prompt_srv_;
+  rclcpp::Service<robosoft_ai_msgs::srv::StringImagePrompt>::SharedPtr prompt_srv_;
 
   std::string openai_key_string_;
   CURL* curl_;
 };
-}  // namespace openai_server
+}  // namespace robosoft_openai
 
 int main(int argc, char* argv[])
 {
   rclcpp::init(argc, argv);
 
-  auto service_client = std::make_shared<openai_server::OpenAIServer>();
+  auto service_client = std::make_shared<robosoft_openai::OpenAIServer>();
   while (rclcpp::ok())
   {
     rclcpp::spin_some(service_client);

upstream.repos

@@ -1,5 +1,5 @@
 repositories:
-  ai_msgs:
+  robosoft_ai_msgs:
     type: git
-    url: https://github.com/robosoft-ai/ai_msgs.git
+    url: https://github.com/robosoft-ai/robosoft_ai_msgs.git
     version: main