working implementation (llm doesn't start)

Author: sWintermoor

pixi.lock

@@ -223,6 +223,8 @@ syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
+langchain-openai = ">=0.3.0, <1"
+python-dotenv = ">=1.0, <2"
 
 [feature.ros.target.linux-64.pypi-dependencies]
 onnxruntime-webgpu = ">=1.24.0.dev20251218001, <2"

pixi.toml

@@ -1,12 +1,12 @@
 from bitbots_blackboard.body_blackboard import BodyBlackboard
-from bitbots_llm_map.bitbots_llm_map.plan_executor import PlanExecutor
-from bitbots_llm_map.bitbots_llm_map.planner_interface import PlannerInterface
-from bitbots_llm_map.bitbots_llm_map.problem_generator import ProblemGenerator
+from bitbots_llm_map.plan_executor import PlanExecutor
+from bitbots_llm_map.planner_interface import PlannerInterface
+from bitbots_llm_map.problem_generator import ProblemGenerator
 from dynamic_stack_decider import AbstractActionElement
 from rclpy.logging import get_logger
 
 
-class LLMMapFreeKick(AbstractActionElement):
+class LLMMapFreeKickAction(AbstractActionElement):
     blackboard: BodyBlackboard
 
     def __init__(self, blackboard, dsd, parameters=None):

…behavior_dsd/actions/llm_map_freekick.py …r_dsd/actions/llm_map_freekick_action.pysrc/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/llm_map_freekick.py renamed to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/llm_map_freekick_action.py src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/llm_map_freekick.py renamed to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/llm_map_freekick_action.py

@@ -49,6 +49,9 @@ $AvoidBall
         YES --> @AvoidBallInactive
         NO --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:map + distance:%ball_far_approach_dist
 
+#LLMMapFreeKick
+    @LLMMapFreeKickAction 
+
 #PositioningReady
 $GoalScoreRecently
     YES --> $ConfigRole
@@ -104,7 +107,7 @@ $DoOnce
                 OUR --> #SearchBall
                 OTHER --> @AvoidBallActive, @LookAtFieldFeatures, @WalkInPlace + duration:2, @GoToRelativePosition + x:1 + y:0 + t:0, @Stand
             YES --> $RankToBallNoGoalie
-                FIRST --> @LLMMapFreeKick
+                FIRST --> #LLMMapFreeKick
                 SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
                 THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
 

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.5)
+project(bitbots_llm_map)
+
+find_package(ament_cmake REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+ament_package()

src/bitbots_behavior/bitbots_llm_map/CMakeLists.txt

@@ -1,8 +1,11 @@
 import os
 
+from dotenv import load_dotenv
 from langchain_openai import ChatOpenAI
 from rclpy.logging import get_logger
 
+load_dotenv()
+
 
 class ProblemGenerator:
     def __init__(self):
@@ -19,6 +22,6 @@ def __init__(self):
     def _load_domain(self):
         path = os.path.join(os.path.dirname(__file__), "../pddl/domain.pddl")
         if not os.path.exists(path):
-            raise FileNotFoundError(f"domain.pddl nicht gefunden: {path}")
+            raise FileNotFoundError(f"domain.pddl not found: {path}")
         with open(path, encoding="utf-8") as f:
             return f.read()

src/bitbots_behavior/bitbots_llm_map/bitbots_llm_map/__init__.py

@@ -0,0 +1,7 @@
+from distutils.core import setup
+
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(packages=["bitbots_llm_map"], package_dir={"": "src"})
+
+setup(**d)