Devel/real world use #3
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Pull Request Overview
This PR simplifies the TurtleBot3 agent by removing advanced navigation capabilities and focusing on basic motion control. The changes reduce the tool set from navigation-based operations to simple linear movement and rotation commands.
- Removed the
make_navigate_to_pose_toolfunction and associated Nav2 navigation functionality - Replaced advanced tools (camera, lidar, coordinate transformation, navigation) with basic motion tools (linear movement and rotation)
- Removed
rclpyfrom requirements.txt and addedcoherelibrary - Updated README demo section to reflect simpler square movement pattern instead of autonomous navigation with obstacle detection
Reviewed Changes
Copilot reviewed 3 out of 4 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| turtlebot3_agent/tools/motion_tools.py | Removed make_navigate_to_pose_tool function that provided Nav2-based autonomous navigation |
| turtlebot3_agent/tools/all_tools.py | Replaced navigation, sensor, and transformation tools with basic motion tools (make_move_linear_tool and make_rotate_tool) |
| requirements.txt | Removed rclpy dependency and added cohere==5.15.0 |
| README.md | Updated demo section to show basic square movement instead of advanced navigation with obstacle detection |
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Enabled the
turtlebot3_agentnode for use with a real TurtleBot3 in the real world.