feat: apply ros2_message_to_dict to GetROS2TransformTool output

RobotecAI · Jan 25, 2025 · 0697d45 · 0697d45
1 parent 382f139
commit 0697d45
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/rai/rai/tools/ros2/topics.py b/src/rai/rai/tools/ros2/topics.py
@@ -181,4 +181,4 @@ def _run(self, tool_input: GetROS2TransformToolInput) -> str:
             source_frame=tool_input.source_frame,
             timeout_sec=tool_input.timeout_sec,
         )
-        return str(transform)
+        return stringify_dict(ros2_message_to_dict(transform))
diff --git a/tests/tools/test_tool_utils.py b/tests/tools/test_tool_utils.py
@@ -16,7 +16,7 @@
 from typing import Any, Dict, List, Type
 
 import pytest
-from geometry_msgs.msg import Point
+from geometry_msgs.msg import Point, TransformStamped
 from langchain_core.messages import AIMessage, ToolCall
 from langchain_core.tools import BaseTool
 from nav2_msgs.action import NavigateToPose
@@ -72,6 +72,7 @@ def _run(self, tool_input: TestToolInput) -> str:
         Point(),
         Image(),
         TFMessage(),
+        TransformStamped(),
         NavigateToPose.Goal(),
         NavigateToPose.Result(),
         NavigateToPose.Feedback(),