Merging fixed gpu version of HRI#454
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* Ros2 Port Language Package * Introduction testing * Modifications. fix init before final push * Message filter * Launch file * State machine and setup.py modifications * Fix register face and recognise * Port HRI introduce states to YASMIN * Fix YOLO detections in introduce. * Initial code for pick and place * Bug fixes * Fixes after testing on the robot * Black formatting * HRI Task - SM1-3 fully tested and working on the robot (#443) * Testing HRI SM2 * LLM package with venv * Fixed SM3 * RVIZ debug for HRI testing * Fixed lasr_llm by removing broken llama_cpp_python * Successfull SM2 of HRI * WIP - SM2 to SM3 * WIP: CHECKS * WIP - SM1 -> SM3 Final checks to see if it works consistently needs to be carried out * Ported recieve Object * Temporary detect3d fix * Working SM1-3 of HRI --------- Co-authored-by: Aldrich-Fernandes <aldrich.fernandes05@gmail.com> * New VLM service to be used in HRI (#444) * vlm service * service update * Added back license and readme * Formatted files with black --------- Co-authored-by: rajhirym <rym.rajhi@icloud.com> Co-authored-by: Yara Alkhelaiwi <yaralkhelaiwi@gmail.com> * VLM service for HRI task (#445) * Working VLM Replaced old vqa for describing people with new vlm service * Formatted files with black * Fixed accidental merge errors * WIP - Setting up and Testing HRI task * Fix introduce and remove testing code * WIP - HRI task semi-working SM1-4 works correctly, however during SM4 it doesn't look at the seated guests * Change LLM to Ollama got HRI get anem and drink * Updated Seat Guest (SM3) * WIP - HRI SM4 being refactored * Verbal introduction is correct * Debugging SM4 face person errors * Formatted files with black --------- Co-authored-by: Yara Alkhelaiwi <yara.alkhelaiwi@kcl.ac.uk> Co-authored-by: Yara Alkhelaiwi <yaralkhelaiwi@gmail.com> Co-authored-by: rajhirym <rym.rajhi@icloud.com> Co-authored-by: Yara Alkhelaiwi <Yarakmk> Co-authored-by: Aldrich-Fernandes <aldrich.fernandes05@gmail.com> Co-authored-by: Ma'ayan Armony <maayan.armony@gmail.com>
Also made minor changes to accomodate gpu
Also added in a SafeGoToLocation and moved StartDoorSM to skills
Fadi-Mostefai
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Jun 26, 2026
* Testing HRI SM2 * LLM package with venv * Fixed SM3 * RVIZ debug for HRI testing * Fixed lasr_llm by removing broken llama_cpp_python * Successfull SM2 of HRI * WIP - SM2 to SM3 * WIP: CHECKS * WIP - SM1 -> SM3 Final checks to see if it works consistently needs to be carried out * Ported recieve Object * Temporary detect3d fix * WIP: Follow Person Experimental * Merge branch 'ros2-hri-testing' into ros2-hri-sm6 * WIP: Planning SM6 * update waitforperson to use blackboard data as well * WIP: debugging stuck in loop * ran black formatting * Merge branch 'ros2' into ros2-hri-sm6 * Fixed broken merge * WIP: Debugging tracking * testing tf_listener instead of amcl pose for robot pose * Fixed tracking * Fixed following navigation * Fixed inconsistant following logic * Fixed bugs related to handle_sigint and service * Seperated updateable navigation to prevent conflicts * Fixed merge error and removed duplicate file * Fixed blocking logic * Added debug config for rviz * Ported additional States * HRI task (now SM1-5) (#447) * Ros2 Port Language Package * Introduction testing * Modifications. fix init before final push * Message filter * Launch file * State machine and setup.py modifications * Fix register face and recognise * Port HRI introduce states to YASMIN * Fix YOLO detections in introduce. * Initial code for pick and place * Bug fixes * Fixes after testing on the robot * Black formatting * HRI Task - SM1-3 fully tested and working on the robot (#443) * Testing HRI SM2 * LLM package with venv * Fixed SM3 * RVIZ debug for HRI testing * Fixed lasr_llm by removing broken llama_cpp_python * Successfull SM2 of HRI * WIP - SM2 to SM3 * WIP: CHECKS * WIP - SM1 -> SM3 Final checks to see if it works consistently needs to be carried out * Ported recieve Object * Temporary detect3d fix * Working SM1-3 of HRI --------- Co-authored-by: Aldrich-Fernandes <aldrich.fernandes05@gmail.com> * New VLM service to be used in HRI (#444) * vlm service * service update * Added back license and readme * Formatted files with black --------- Co-authored-by: rajhirym <rym.rajhi@icloud.com> Co-authored-by: Yara Alkhelaiwi <yaralkhelaiwi@gmail.com> * VLM service for HRI task (#445) * Working VLM Replaced old vqa for describing people with new vlm service * Formatted files with black * Fixed accidental merge errors * WIP - Setting up and Testing HRI task * Fix introduce and remove testing code * WIP - HRI task semi-working SM1-4 works correctly, however during SM4 it doesn't look at the seated guests * Change LLM to Ollama got HRI get anem and drink * Updated Seat Guest (SM3) * WIP - HRI SM4 being refactored * Verbal introduction is correct * Debugging SM4 face person errors * Formatted files with black --------- Co-authored-by: Yara Alkhelaiwi <yara.alkhelaiwi@kcl.ac.uk> Co-authored-by: Yara Alkhelaiwi <yaralkhelaiwi@gmail.com> Co-authored-by: rajhirym <rym.rajhi@icloud.com> Co-authored-by: Yara Alkhelaiwi <Yarakmk> Co-authored-by: Aldrich-Fernandes <aldrich.fernandes05@gmail.com> Co-authored-by: Ma'ayan Armony <maayan.armony@gmail.com> * Added Follow Host to HRI * Fixed recovery states not being reached * Fixed looking at person while tracking * Fixed Detect_keypoints and started implementing place_bag * Added drop point detection * WIP: Place bag MVP * Removed potentially breaking handle_sigints * Updated GetPersonPoint logic and added goal forgiving * Updated wait times and removed redundent check * Merging fixed gpu version of HRI (#454) * HRI task (now SM1-5) (#447) * Ros2 Port Language Package * Introduction testing * Modifications. fix init before final push * Message filter * Launch file * State machine and setup.py modifications * Fix register face and recognise * Port HRI introduce states to YASMIN * Fix YOLO detections in introduce. * Initial code for pick and place * Bug fixes * Fixes after testing on the robot * Black formatting * HRI Task - SM1-3 fully tested and working on the robot (#443) * Testing HRI SM2 * LLM package with venv * Fixed SM3 * RVIZ debug for HRI testing * Fixed lasr_llm by removing broken llama_cpp_python * Successfull SM2 of HRI * WIP - SM2 to SM3 * WIP: CHECKS * WIP - SM1 -> SM3 Final checks to see if it works consistently needs to be carried out * Ported recieve Object * Temporary detect3d fix * Working SM1-3 of HRI --------- Co-authored-by: Aldrich-Fernandes <aldrich.fernandes05@gmail.com> * New VLM service to be used in HRI (#444) * vlm service * service update * Added back license and readme * Formatted files with black --------- Co-authored-by: rajhirym <rym.rajhi@icloud.com> Co-authored-by: Yara Alkhelaiwi <yaralkhelaiwi@gmail.com> * VLM service for HRI task (#445) * Working VLM Replaced old vqa for describing people with new vlm service * Formatted files with black * Fixed accidental merge errors * WIP - Setting up and Testing HRI task * Fix introduce and remove testing code * WIP - HRI task semi-working SM1-4 works correctly, however during SM4 it doesn't look at the seated guests * Change LLM to Ollama got HRI get anem and drink * Updated Seat Guest (SM3) * WIP - HRI SM4 being refactored * Verbal introduction is correct * Debugging SM4 face person errors * Formatted files with black --------- Co-authored-by: Yara Alkhelaiwi <yara.alkhelaiwi@kcl.ac.uk> Co-authored-by: Yara Alkhelaiwi <yaralkhelaiwi@gmail.com> Co-authored-by: rajhirym <rym.rajhi@icloud.com> Co-authored-by: Yara Alkhelaiwi <Yarakmk> Co-authored-by: Aldrich-Fernandes <aldrich.fernandes05@gmail.com> Co-authored-by: Ma'ayan Armony <maayan.armony@gmail.com> * Added REID fallback Also made minor changes to accomodate gpu * Test HRI on GPU * Updated HRI to say attributes Also added in a SafeGoToLocation and moved StartDoorSM to skills * Debugging HRI task * Added gpu requirements for lasr_vision_reid * Testing of HRI with GPU * Fixing bugs * Fixing of EyeTracker * Working eye tracker, yolo is bottleneck * Fully fixed eye tracker * Adding in host * Fixed introduce for host * Formatted files * Merge branch 'ros2-hri-sm6' into ros2-gpu-and-reid * Added in host logic to SM * Testing HRI * Working HRI * Bug fixes * HRI MVP * Formatted files * Merge branch 'ros2' into ros2-hri-sm6
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