feat: skeleton handle_task_feedback_request implementation

src/rai_hmi/rai_hmi/base.py

@@ -92,6 +92,7 @@ def __init__(self, node_name: str):
         self.system_prompt = self._initialize_system_prompt()
         self.faiss_index = self._load_documentation()
         self.tools = self._initialize_available_tools()
+        self.initialize_task_action_client_and_server()
 
         self.get_logger().info("HMI Node has been started")
 

src/rai_hmi/rai_hmi/voice_hmi.py

@@ -20,10 +20,12 @@
 from langchain.prompts import ChatPromptTemplate
 from langchain_core.messages import AIMessage, BaseMessage, HumanMessage
 from langchain_openai import ChatOpenAI
+from rclpy.action.server import ServerGoalHandle
 from rclpy.callback_groups import ReentrantCallbackGroup
 from std_msgs.msg import String
 
 from rai_hmi.base import BaseHMINode
+from rai_interfaces.action import TaskFeedback
 
 
 class VoiceHMINode(BaseHMINode):
@@ -77,8 +79,25 @@ def handle_human_message(self, msg: String):
         self.processing = False
 
     # TODO: Implement
-    def handle_task_feedback_request(self, goal_handle):
-        pass
+    def handle_task_feedback_request(self, goal_handle: ServerGoalHandle):
+
+        # Extract goal data
+        goal: TaskFeedback.Goal = goal_handle.request
+        goal  # type: ignore
+
+        # Handle the goal.current_task and goal.issue_description
+        for _ in range(10):
+            goal_handle.publish_feedback(
+                TaskFeedback.Feedback(feedback="Processing...")
+            )
+
+        goal_handle.succeed()
+        # Create and return a result
+        result = TaskFeedback.Result()
+        result.informations = "Do this and that..."
+        result.success = True
+
+        return result
 
 
 def main(args=None):