AMR Agent

This repo contains the code for the AMR Agent project.

Overview

The AMR Agent project consists of several Python scripts that work together to control an Autonomous Mobile Robot (AMR). Here's a brief description of each script:

• agent.py: This is the master Python script that coordinates the overall behavior of the AMR.

• smart_asistant.py: This script is responsible for accessing the LLM api to retrieve planned poses and orientations for the AMR.

• message_handler.py: This script handles the communication with the ROS2 (Robot Operating System) and controls the AMR.

• nav2_commander/nav2_commander.py is a ROS2 node that message_handler will communicate with using nav2 action client feature.(you will need to build this package by putting nav2_commander folder into ros2 src folder)

• utils/audio.py: This is a helper script that provides audio-related functionality.

• utils/command.py: This is another helper script to get command.

Usage

To use the AMR Agent, follow these steps:

1. Create a new conda environment by running conda create --name amr_agent python=3.9.18.

2. Activate the conda environment by running conda activate amr_agent.

3. Install the required dependencies by running the following commands:

   sudo apt install ffmpeg
   pip install -r requirements.txt
   
   ----------navigate to ROS2 workspace----------
   
   colcon build --packages-select nav2_commander

4. Run the application_loop.sh or agent.py script to start the AMR Agent.

Future Work

Implement localhost llm using Ollama or LM-Studio to have better

1. Data Privacy

2. Local Usage