refactor: text hmi and implement hmi task as ros2 action

[boczekbartek]

First merge: #188

Purpose

• Task from HMI is implemented as a ros2 action

Proposed Changes

• refactor streamlit text application for ros2 actions
• prepare 2 column layout
• implementation allows to ask agent to:
  • submit tasks
  • check task status (both ros2 action feedback and result)

TODOs (out of scope of this PR):

• improve UI - chat and missions are not aligned: feat(text_hmi): toggle old messages in history #205
• implement mission handling as action in rai_node
• implement mission feedback

Issues

• Implement duplex communication between HMI and RAI Agents #169

Testing

Implementation was tested using RosbotXL demo rai_whoami_node

Terminal 1 - streamlit app:

. ./setup_shell.sh
streamlit run src/rai_hmi/rai_hmi/text_hmi.py rosbot_xl_whoami

Terminal 2 - whoami:

. ./setup_shell.sh
ros2 run rai_whoami rai_whoami_node --ros-args -p robot_description_package:="rosbot_xl_whoami" 

Terminal 3 - simple ros2 action server for testing

mock_rai_node.py

import time

import rclpy
from rclpy.action import ActionServer
from rclpy.node import Node

from rai_interfaces.action import Task


class MyNode(Node):
    def __init__(self) -> None:
        super().__init__("my_node_server")
        self.task_action_server = ActionServer(
            self, Task, "perform_task", self.execute_callback
        )

    def execute_callback(self, goal_handle):
        self.get_logger().info(f"Executing goal: {goal_handle.request.description} ")

        feedback_msg = Task.Feedback()
        feedback_msg.current_status = "Not started"

        for i in range(15):
            feedback_msg.current_status = "In progress"
            self.get_logger().info("Feedback: {0}".format(feedback_msg.current_status))
            goal_handle.publish_feedback(feedback_msg)
            time.sleep(1)

        goal_handle.succeed()

        result = Task.Result()
        result.success = True
        result.report = "Task completed successfully"
        self.get_logger().info("Result: {0}".format(result.success))
        self.get_logger().info("Report: {0}".format(result.report))

        return result


if __name__ == "__main__":
    rclpy.init()
    node = MyNode()
    rclpy.spin(node)
    rclpy.shutdown()

. ./setup_shell.sh
python3 mock_rai_node.py

[maciejmajek]

Well done. I've tested using the provided instructions and it works as intended. Great job