[Update]Add and modify the sample codes. Following that, edit dockerfile

Author: Mikami

space_robots/Dockerfile

@@ -137,11 +137,14 @@ RUN sudo usermod -aG render $USERNAME
 RUN mkdir -p /demos_ws/
 COPY generate_src.py /demos_ws/
 COPY sample_code_by_gpt.py /demos_ws/
-COPY config_dummy.json /demos_ws/
+COPY sample_code_turn_left_by_gpt.py /demos_ws/
+COPY config.json /demos_ws/
 COPY prompt.txt /demos_ws/ 
 
 # Grant execute permissions to Python scripts (if needed)
-RUN chmod +x /demos_ws/generate_src.py /demos_ws/sample_code_by_gpt.py
+RUN chmod +x /demos_ws/generate_src.py /demos_ws/sample_code_by_gpt.py /demos_ws/sample_code_turn_left_by_gpt.py
+
+RUN pip install openai
 # 変更箇所終了
 
 

space_robots/config.json

@@ -0,0 +1,5 @@
+{
+  "openai_api_key": "SK-xxxxx",
+  "openai_model": "gpt-4o-2024-08-06"
+}
+

space_robots/run.sh

@@ -10,7 +10,7 @@ IMG_NAME=osrf/space_robots_demo
 
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
-CONTAINER_NAME="my_test_2"
+CONTAINER_NAME="my_test_1"
 #"$(tr '/' '_' <<< "$IMG_NAME")"
 
 # Start the container

space_robots/sample_code_by_gpt.py

@@ -1,35 +1,45 @@
+#This code is generated by inputting "Rover goes forward 10m/s during 20 seconds"
+#after 'python3 generate_src.py' 
+
 import rclpy
 from rclpy.node import Node
 from geometry_msgs.msg import Twist
 from time import sleep
 
-class DifferentialRoverNode(Node):
+class RoverController(Node):
+
     def __init__(self):
-        super().__init__('differential_rover_node')
-        self.publisher = self.create_publisher(Twist, '/cmd_vel', 10)
-        self.create_timer(0.1, self.timer_callback)  # Publish every 0.1 seconds
-        self.movement_duration = 20  # Move for 20 seconds
-        self.start_time = self.get_clock().now().to_msg().sec
-
-    def timer_callback(self):
-        current_time = self.get_clock().now().to_msg().sec
-        if current_time - self.start_time < self.movement_duration:
-            move_cmd = Twist()
-            move_cmd.linear.x = 10.0  # Move forward at 10m/s
-            move_cmd.angular.z = 0.0  # No rotation
-            self.publisher.publish(move_cmd)
-        else:
-            self.stop_movement()
-
-    def stop_movement(self):
-        move_cmd = Twist()  # Create a new message to stop the robot
-        self.publisher.publish(move_cmd)
-        self.get_logger().info('Stopping')
-        self.destroy_node()
+        super().__init__('rover_controller')
+        self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.timer = self.create_timer(0.1, self.publish_cmd_vel)
+        self.start_time = self.get_clock().now()
+
+    def publish_cmd_vel(self):
+        current_time = self.get_clock().now()
+        elapsed_time = (current_time - self.start_time).nanoseconds / 1e9
+
+        if elapsed_time > 20:
+            self.timer.cancel()  # Stop publishing after 20 seconds
+            self.get_logger().info('Stopped sending velocity commands.')
+            return
+
+        cmd_vel = Twist()
+        cmd_vel.linear.x = 10.0  # Forward speed in m/s
+        cmd_vel.angular.z = 0.0  # No rotation
+
+        self.publisher_.publish(cmd_vel)
+        self.get_logger().info('Publishing: Linear X: %f, Angular Z: %f' %
+                               (cmd_vel.linear.x, cmd_vel.angular.z))
+
 
 def main(args=None):
     rclpy.init(args=args)
-    node = DifferentialRoverNode()
-    rclpy.spin(node)
+    rover_controller = RoverController()
+    rclpy.spin(rover_controller)
+
+    rover_controller.destroy_node()
     rclpy.shutdown()
 
+
+if __name__ == '__main__':
+    main()

space_robots/sample_code_turn_left_by_gpt.py

@@ -0,0 +1,37 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import time
+
+class RoverController(Node):
+    def __init__(self):
+        super().__init__('rover_controller')
+        self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 10)
+
+    def publish_cmd_vel(self):
+        twist = Twist()
+        # Set linear velocity to move forward
+        twist.linear.x = 5.0
+        # Set angular velocity for turning left
+        twist.angular.z = 1.0
+
+        # Publish the velocity command for 10 seconds
+        end_time = time.time() + 10
+        while time.time() < end_time:
+            self.publisher_.publish(twist)
+            time.sleep(0.1)
+
+def main(args=None):
+    rclpy.init(args=args)
+    rover_controller = RoverController()
+
+    try:
+        rover_controller.publish_cmd_vel()
+    finally:
+        # Destroy the node explicitly
+        rover_controller.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+