Consolidate Tasks, add Chat Task (#337)

* Consolidate objectcounting, objectsearch into semanticsearch task

* Add new Chat task that supports free form text and image uploading. Also reorder Fixed Trajectory to 3rd tab

* Bump version to 0.18.0-alpha.5

* Update docs

Author: andrewjong

.env

@@ -11,7 +11,7 @@
 PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
-VERSION="0.18.0-alpha.4"
+VERSION="0.18.0-alpha.5"
 # Choose "dev" or "prebuilt". "dev" is for mounted code that must be built live. "prebuilt" is for built ros_ws baked into the image
 DOCKER_IMAGE_BUILD_MODE="dev"  
 # Where to push and pull images from. Can replace with your docker hub username if using docker hub.

common/ros_packages/gui/rviz/rviz_tasks_panel/CMakeLists.txt

@@ -22,6 +22,7 @@ find_package(nav_msgs REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(rviz_polygon_selection_tool REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(waypoint_rviz2_plugin REQUIRED)
 
@@ -48,6 +49,7 @@ ament_target_dependencies(tasks_panel
   airstack_msgs
   geometry_msgs
   nav_msgs
+  sensor_msgs
   std_msgs
   diagnostic_msgs
   action_msgs

common/ros_packages/gui/rviz/rviz_tasks_panel/README.md

@@ -80,9 +80,8 @@ in the air.
 | Navigate | `NavigateTask` | `global_plan` (Path), `goal_tolerance_m` | ✓ |
 | Exploration | `ExplorationTask` | `search_bounds` (Polygon), altitude/speed, `time_limit_sec` | ✓ |
 | Coverage | `CoverageTask` | `coverage_area` (Polygon), `line_spacing_m`, `heading_deg` | ✓ |
-| Object Search | `ObjectSearchTask` | `object_class`, `search_area`, `target_count` | ✓ |
-| Object Counting | `ObjectCountingTask` | `object_class`, `count_area` | ✓ |
-| Semantic Search | `SemanticSearchTask` | `query`, `search_area`, `confidence_threshold` | ✓ |
+| Semantic Search | `SemanticSearchTask` | `query`, `search_area`, `confidence_threshold`, `target_count` | ✓ |
+| Chat | `ChatTask` | `text`, `images` (file upload) | |
 | Fixed Trajectory | `FixedTrajectoryTask` | `trajectory_spec`, `loop` | ✓ |
 
 ## Widget Type Mapping

common/ros_packages/gui/rviz/rviz_tasks_panel/include/rviz_tasks_panel/tasks_panel.hpp

@@ -41,11 +41,12 @@
 #include <task_msgs/action/navigate_task.hpp>
 #include <task_msgs/action/exploration_task.hpp>
 #include <task_msgs/action/coverage_task.hpp>
-#include <task_msgs/action/object_search_task.hpp>
-#include <task_msgs/action/object_counting_task.hpp>
 #include <task_msgs/action/semantic_search_task.hpp>
+#include <task_msgs/action/chat_task.hpp>
 #include <task_msgs/action/fixed_trajectory_task.hpp>
 
+#include <sensor_msgs/msg/compressed_image.hpp>
+
 #include <waypoint_rviz2_plugin/waypoint_manager.hpp>
 
 namespace rviz_tasks_panel
@@ -166,6 +167,8 @@ private Q_SLOTS:
   geometry_msgs::msg::Polygon getPolygon(int tab_index, const std::string & field_name);
   nav_msgs::msg::Path getPath(int tab_index, const std::string & field_name);
   airstack_msgs::msg::FixedTrajectory getFixedTrajectory(int tab_index, const std::string & field_name);
+  std::vector<sensor_msgs::msg::CompressedImage> getImages(int tab_index, const std::string & field_name);
+  void rebuildImageThumbnails(int tab_index, const std::string & field_name);
 
   // Template for sending goals with type-specific callbacks
   template<typename ActionT>

common/ros_packages/gui/rviz/rviz_tasks_panel/package.xml

@@ -17,6 +17,7 @@
   <depend>airstack_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>action_msgs</depend>