fix tools description rendering

src/rai/rai/node.py

@@ -25,7 +25,6 @@
 import rclpy.task
 import sensor_msgs.msg
 from langchain.tools import BaseTool
-from langchain.tools.render import render_text_description_and_args
 from langchain_core.messages import BaseMessage, HumanMessage, SystemMessage
 from langgraph.graph.graph import CompiledGraph
 from rclpy.action.server import ActionServer, GoalResponse, ServerGoalHandle
@@ -34,6 +33,7 @@
 
 from rai.agents.state_based import Report, State, create_state_based_agent
 from rai.messages import HumanMultimodalMessage
+from rai.tools.render import render_text_description_with_args_from_tools
 from rai.tools.ros.utils import convert_ros_img_to_base64
 from rai.utils.model_initialization import get_llm_model, get_tracing_callbacks
 from rai.utils.ros_async import get_future_result
@@ -109,7 +109,7 @@ def append_tools_text_description_to_prompt(prompt: str, tools: List[BaseTool])
 
     Use the tooling provided to gather information about the environment:
 
-    {render_text_description_and_args(tools)}
+    {render_text_description_with_args_from_tools(tools)}
     """
 
 

src/rai/rai/tools/render.py

@@ -0,0 +1,31 @@
+from copy import deepcopy
+
+from langchain.tools import BaseTool
+from langchain_core.tools import (
+    create_schema_from_function,
+    render_text_description_and_args,
+)
+
+
+def filter_out_injected_tool_args(tool: BaseTool) -> BaseTool:
+    """
+    Create a copy of tool with args filtered out.
+
+    The main purpose of this function is to make `langchain_core.tools.render_text_description_with_args`
+    usable for `@tool`s with `IntectedToolArg`s.
+
+    It doens't work without this modification, because implementation of StructuredTool
+    includes arguments annotated as `InjectedToolArg` in tool's `args_schema`,
+    which can cause `pydantic.errors.PydanticInvalidForJsonSchema` for arguments that
+    are not parsalbe by pydantic (like `rclpy.node.Node`)
+    """
+    new_tool = deepcopy(tool)
+    new_tool.args_schema = create_schema_from_function(
+        tool.name, tool._run, include_injected=False
+    )
+    return new_tool
+
+
+def render_text_description_with_args_from_tools(tools: list[BaseTool]) -> str:
+    tools = [filter_out_injected_tool_args(t) for t in tools]
+    return render_text_description_and_args(tools)

tests/core/test_ros2_tools.py

@@ -24,6 +24,7 @@
 from std_msgs.msg import String
 
 from rai.agents.state_based import create_state_based_agent
+from rai.tools.render import render_text_description_with_args_from_tools
 from rai.tools.ros.native import Ros2PubMessageTool
 
 
@@ -83,7 +84,7 @@ def test_ros2_pub_message_tool_llm(
     t = threading.Thread(target=executor.spin)
 
     system = SystemMessage(
-        "You are a ros2 agent that can run tools: {render_text_description_and_args(tools)}"
+        f"You are a ros2 agent that can run tools: {render_text_description_with_args_from_tools(tools)}"
     )
     query = HumanMessage(
         f"Publish a std_msgs/msg/String '{test_message}' to the topic '{topic}'"