RobotecAI / rai

RAI is a multi-vendor agent framework for robotics, utilizing Langchain and ROS 2 tools to perform complex actions, defined scenarios, free interface execution, log summaries, voice interaction and more.
Apache License 2.0
164 stars 18 forks source link

fix(text_hmi): empty allowlist == allow all #318

Closed maciejmajek closed 5 days ago

maciejmajek commented 6 days ago

Purpose

The initialization process of text_hmi was flawed due to bad whitelist handling.

Proposed Changes

Properly initializes empty whitelist

Issues

Testing

ros2 launch rai_bringup hri.launch.py     robot_description_package:=ro
sbot_xl_whoami & 
streamlit run src/rai_hmi/rai_hmi/text_hmi.py rosbot_xl_whoami

Summary by CodeRabbit

maciejmajek commented 6 days ago

@coderabbit full review

coderabbitai[bot] commented 6 days ago

Walkthrough

The changes in this pull request focus on the initialize_ros_nodes function within the src/rai_hmi/rai_hmi/ros.py file. The main modification involves the initialization of the whitelist variable. If the ros2_whitelist argument is not provided, the whitelist is now set to None instead of an empty list. This change impacts how the whitelist is subsequently utilized, particularly in its interaction with the RaiBaseNode constructor.

Changes

File Path Change Summary
src/rai_hmi/rai_hmi/ros.py Modified initialize_ros_nodes to assign whitelist as None if ros2_whitelist is not provided.

Sequence Diagram(s)

sequenceDiagram
    participant User
    participant ROS
    participant RaiBaseNode

    User->>ROS: Call initialize_ros_nodes(ros2_whitelist)
    alt ros2_whitelist provided
        ROS->>RaiBaseNode: Initialize with whitelist
    else ros2_whitelist not provided
        ROS->>RaiBaseNode: Initialize with whitelist = None
    end

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