From 0697d45176f6c1fd87ae1687236481a2dd80fc3a Mon Sep 17 00:00:00 2001 From: Maciej Majek Date: Fri, 24 Jan 2025 21:03:11 +0100 Subject: [PATCH] feat: apply ros2_message_to_dict to GetROS2TransformTool output --- src/rai/rai/tools/ros2/topics.py | 2 +- tests/tools/test_tool_utils.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/rai/rai/tools/ros2/topics.py b/src/rai/rai/tools/ros2/topics.py index b65f0d46..b0c9e171 100644 --- 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 index 6a5d8e3a..7265df5e 100644 --- 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(),