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Robot Orchestrator Workspace Bundle

This folder aggregates the core packages required to run the robot LLM planner stack on CM3588 and companion hosts. It is intentionally not a ROS package; it is a curated bundle of related packages that are built together in the same workspace.

Contents

  • robot_planner - Planning, PDDL aggregation, and PlanSys2 integration (goal gateway + action nodes).
  • ros2_rknn_llm - RKLLM-based ROS 2 node that turns user requests into structured actions.
  • robot_llm_orchestrator - Launch orchestration for planner + LLM.
  • mapannotator - Provides /pddl/map (problem template) used by pddl_aggregator.
  • rc_agent - Auxiliary robot agent utilities.
  • plansys2_upf_plugin - PlanSys2 plugin dependencies.
  • gscam2, ros-gst-bridge - Optional vision streaming components.

Build

From the workspace root:

cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

If you only want the core stack:

colcon build --packages-select robot_planner ros2_rknn_llm robot_llm_orchestrator

Run

Launch the full stack (planner + PlanSys2 + LLM):

ros2 launch robot_llm_orchestrator robot_llm_orchestrator.launch.py \
  model_path:=$HOME/qwen3-vl-4b-instruct_w8a8_rk3588.rkllm

Key topics:

  • /rkllm_node/user_text - User input text
  • /rkllm_node/assistant_text - Structured JSON replies
  • /pddl/problem - Aggregated problem PDDL
  • /robot_planner/goal - Goals pushed to PlanSys2
  • /robot_planner/goal_status - Goal accept/reject status

Troubleshooting

  • If /pddl/problem is empty, ensure mapannotator publishes /pddl/map.
  • If PlanSys2 fails with PDDL parse errors, check the domain requirements (e.g., :numeric-fluents).
  • If RKLLM fails to allocate NPU memory, ensure no stale rkllm_node processes are running.

Notes

  • This folder is a convenience bundle, not a standalone ROS package.
  • Use consistent ROS_DOMAIN_ID and RMW_IMPLEMENTATION across machines for DDS discovery.

Node Interaction Graph

flow