docs: add turtlebot4 tutorial

simplify launchfile

chore(`turtlebot`): impove launchfile, add rviz and nav2 configs

feat(`turtlebot`): add ros2 interfaces whitelist and improve system
prompt

chore: remove unnecessary TODO

WIP: add ros2 interfaces whitelist to hmi

docs(`turtlebot`): add more examples of interaction

docs(`turtlebot`): add infomation about simulation binary

improve readme

fix humble config

Apply suggestions from code review

Co-authored-by: Adam Dąbrowski <[email protected]>

readme updates

improve Troubleshooting

rearrange the order

add link to generated whoami

fix typo

add step to ensure whoami pkg is built

update link to binary

chore: add again turtlebot rai example script

remove rviz from turtlebot example

improve readme

vendor agnosticy in Troubleshooting

add minor improvement to readme

chore: remove unnecessary f-string

add link to tutorial video recording

fix: turtlebot demo doesn't use gdnio

chore: reduce verbosity
feat: enhance typing

[system_prompt] Add transform checking before and after nav2 actions to

feat(`turtlebot4`): improve system prompt

examples/rosbot-xl-generic-node-demo.py

@@ -81,6 +81,7 @@ def main():
 
     <rule> use /cmd_vel topic very carefully. Obstacle detection works only with nav2 stack, so be careful when it is not used. </rule>>
     <rule> be patient with running ros2 actions. usually the take some time to run. </rule>
+    <rule> Always check your transform before and after you perform ros2 actions, so that you can verify if it worked. </rule>
 
     Navigation tips:
     - it's good to start finding objects by rotating, then navigating to some diverse location with occasional rotations. Remember to frequency detect objects.

src/examples/turtlebot4/README.md

@@ -0,0 +1,207 @@
+# Turtlebot4 tutorial
+
+The following tutorial will help you get started with [rai](https://github.com/RobotecAI/rai)
+using Turtlebot4 simulation.
+
+## Recording
+
+[link](https://robotecai-my.sharepoint.com/:v:/g/personal/bartlomiej_boczek_robotec_ai/EfPTiZscCTROtmtoyHv_ykIBFKN5qh1pecxfLmLI6I4QeA?nav=eyJyZWZlcnJhbEluZm8iOnsicmVmZXJyYWxBcHAiOiJPbmVEcml2ZUZvckJ1c2luZXNzIiwicmVmZXJyYWxBcHBQbGF0Zm9ybSI6IldlYiIsInJlZmVycmFsTW9kZSI6InZpZXciLCJyZWZlcnJhbFZpZXciOiJNeUZpbGVzTGlua0NvcHkifX0&e=0QJnGk)
+
+## Step by step instructions
+
+1. Clone and install [rai](https://github.com/RobotecAI/rai)
+
+   1. Follow steps from [1. Setting up the workspace](https://github.com/RobotecAI/rai?tab=readme-ov-file#1-setting-up-the-workspace)
+   2. Then follow steps from [2. Build the project](https://github.com/RobotecAI/rai?tab=readme-ov-file#2-build-the-project)
+
+2. O3DE simulation setup
+
+   1. Download turtlebot4 simulation binary matching your platform from :
+
+      - Ubuntu 22.04 & ros2 humble: [link](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/EZLmGtPNgl9Kiu4royJJnVgB5tjS2Vze0myXDyVJtNcnRw?e=L42Z4z)
+      - Ubuntu 24.04 & ros2 jazzy: [link](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/ETkT-jvozlpBtuG1piDeqggBRmWl5eylIChc_g0v_EetpA?e=EjcJqe)
+
+      > **NOTE** If you would like to make changes to the simulation and create your
+      > own binary please follow this [README.md](https://github.com/RobotecAI/ROSCon2024Tutorial/README.md)
+
+   2. Unzip it:
+
+      ```bash
+      cd rai
+      # for Ubuntu 22.04 jammy and ros2 humlbe
+      unzip -d src/examples/turtlebot4/simulation Turtlebot4_jammyhumble_0.0.1.zip
+
+      # for Ubuntu 24.04 noble and ros2 jazzy
+      unzip -d src/examples/turtlebot4/simulation Turtlebot4_noblejazzy_0.0.1.zip
+      ```
+
+3. Setup your LLM vendor: [docs/vendors.md](../../../docs/vendors.md). OpenAI or AWS Bedrock are recommended for now.
+
+4. Configure `rai_whoami_node` (based on ["Your robot identity in RAI"](https://github.com/RobotecAI/rai/blob/development/docs/create_robots_whoami.md) tutorial):
+
+   1. Create `whoami` package for turtlebot4 in `src/examples/turtlebot4`
+
+      ```bash
+      . ./setup_shell.sh
+      poetry run create_rai_ws --name turtlebot4 --destination-directory src/examples
+      ```
+
+   2. Download official turtlebot4 [data sheet](https://bit.ly/3KCp3Du) into
+      `src/examples/turtlebot4_whoami/description/documentation`
+   3. Download [image](https://s3.amazonaws.com/assets.clearpathrobotics.com/wp-content/uploads/2022/03/16113604/Turtlebot-4-20220207.44.png) of turtlebot4 into `src/examples/turtlebot4_whoami/description/images`
+   4. Create robot's identity. Run the `parse_whoami_package`. This will process the documentation, building
+      it into a vector database, which is used by RAI agent to reason about its identity.
+
+      > **NOTE**: generated files can be downloaded from [here](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/EbPZSEdXYaRGoeecu6oJg6QBsI4ZOe_mrU3uOtOflnIjQg?e=HX8ZHB)
+      > unzip them to `src/examples/turtlebot4_whoami/description/generated` with a command:
+      > `unzip -d src/examples/turtlebot4_whoami/description turtlebot4_whoami_generated.zip`
+
+      > **NOTE**: Vector database is created using the OpenAI API. Parsing bigger documents
+      > might lead to costs. Embedding model can be configured in
+      > [config.toml](https://github.com/RobotecAI/rai/blob/development/config.toml#L13)
+
+      ```bash
+      poetry run parse_whoami_package src/examples/turtlebot4_whoami
+      # you will be asked to press `y` to continue
+      ```
+
+   5. Build the workspace which now includes the new package
+
+      ```bash
+      deactivate # if poetry env is activated
+      colcon build --symlink-install
+      ```
+
+   6. Ensure `turtlebot4_whoami` package has been built:
+
+      ```bash
+      . ./setup_shell.sh
+      ros2 pkg list | grep turtlebot4
+      ```
+
+   Congratulations! Your `rai_whoami_node` is configured. In the following steps
+   your RAI agent will assume a turtlebot4 "personality".
+
+5. Run rai agent:
+
+   ```bash
+   ros2 launch ./src/examples/turtlebot4/turtlebot.launch.xml \
+       game_launcher:=./src/examples/turtlebot4/simulation/TurtleBot4DemoGamePackage/TurtleBot4Demo.GameLauncher
+   ```
+
+   You should be able to see a simulation scene.
+
+   > **Tip**: Press 1, 2 or 3 on the keyboard when simulation window to change the
+   > camera. Use W,A,S,D to move the camera.
+
+6. Open you internet browser and go to `localhost:8501`
+
+7. You can interact with your RAI agent through the chat. On the left you can communicate
+   with the RAI HMI Agent. On the right you will see status of missions that were send
+   to the RAI Node and are executed on your robot.
+
+   - `HMI Agent` is responsible for human-robot interaction.
+   - `RAI Node` is responsible for executing tasks on the robot.
+
+   For example you can try such prompts:
+
+   - Could you bring me something from the kitchen? (testing robot's identity)
+   - What are your ros2 interfaces? (discovery of ros2 interfaces)
+   - tell me what you see (interpretation of camera image)
+   - Spin yourself left by 45 degrees (interaction with the robot using ros2 interfaces) - table with the robotic are shoud be visible in the camera
+   - Use robotic arm to pick up a box from the table (identity and intefaces doesn't allow it)
+   - Drive towards the table (when table is visible, testing ability to interpret camera image and perform actions based on the knowledge)
+
+### Troubleshooting
+
+_My robot doesn't have an identity._
+
+1. Query `rai_whoami_node` for the identity manually
+
+   ```bash
+   ros2 service call /rai_whoami_identity_service std_srvs/srv/Trigger
+   ```
+
+2. Make sure all required files were generated correctly in the `turtlebot4_whoami` package and have similar sizes to those listed below.
+
+   ```bash
+   ls -sh src/examples/turtlebot4_whoami/description/
+   total 52K
+   4.0K documentation  4.0K images   28K index.faiss  8.0K index.pkl  4.0K robot_constitution.txt  4.0K robot_identity.txt
+   ```
+
+   You can also check the contents of `robot_indentify.txt` file (it is generated by LLM, but should be simillar to the one below).
+
+   ```bash
+   cat src/examples/turtlebot4_whoami/description/robot_identity.txt
+   I am a TurtleBot® 4, a robotics learning platform designed for education and
+   research in robotics. This next-generation mobile robot is built on the iRobot®
+   Create® 3 mobile base and comes fully assembled with ROS 2 installed and configured,
+   making it accessible for beginners and experienced developers alike.
+   ...
+   ```
+
+   If files above are incorrect please check your vendor configuration is as described
+   in [docs/vendors.md](../../../docs/vendors.md) and rerun point 4 of this tutorial.
+
+---
+
+_Robot doesn't move in the simulation._
+
+1. Make sure you can see ros2 topic simulation binary is running
+
+   1. Run the binary manually:
+
+      ```bash
+      cd src/examples/turtlebot4/simulation/
+      ./TurtleBot4DemoGamePackage/TurtleBot4Demo.GameLauncher -bg_ConnectToAssetProcessor=0
+      ```
+
+   2. Check ros2 topics:
+
+      ```bash
+      ros2 topic list
+      ```
+
+   3. Verify if Turtlebot simulation binary publishes such topics:
+
+      ```
+      /camera_color_info
+      /camera_image_color
+      /clock
+      /cmd_vel
+      /parameter_events
+      /rosout
+      /scan
+      /tf
+      ```
+
+2. Make sure navigation stack actions work correctly:
+
+   1. Run binary as in the step above.
+   2. Run navigation stack:
+
+      ```bash
+      cd src/examples/turtlebot4
+      ./run-nav.bash
+      ```
+
+   3. Check available actions:
+
+      ```bash
+      ros2 action list
+      ```
+
+   4. Verify if such actions are available:
+
+      ```
+      /backup
+      /navigate_to_pose
+      /spin
+      ```
+
+   5. Try to run one of them from command line:
+
+      ```bash
+      ros2 action send_goal /spin nav2_msgs/action/Spin "{target_yaw: 3.14}"
+      ```