Chat interface has no access to some tools when running HMI without the "whoami" parameter.

[pijaro]

Describe the bug
Running the HMI without robot description parameter:

streamlit run src/rai_hmi/rai_hmi/streamlit_hmi_node.py

has some limitations, ie. it can't fetch the camera output.

When specifying the robot description, for example

ros2 run rai_whoami rai_whoami_node --ros-args -p robot_description_package:="rosbot_xl_whoami"
streamlit run src/rai_hmi/rai_hmi/streamlit_hmi_node.py rosbot_xl_whoami

then everything is fine.

Is it expected behavior? If so, maybe some user feedback could be helpful. Also README should mention any limitations.

To Reproduce
Steps to reproduce the behavior:

1. Run demo simulation
2. Run streamlit run src/rai_hmi/rai_hmi/streamlit_hmi_node.py
3. Ask for camera output.
4. Camera output is not displayed, the error mentions that the rclpy.Node object has no attribute 'get_raw_message_from_topic'

Expected behavior
An image from the camera.

Platform

• OS:Ubuntu 22.04
• ROS 2 Humble

Version
e0cff74

[maciejmajek]

Is it expected behavior? If so, maybe some user feedback could be helpful. Also README should mention any limitations.

It is for now. We are currently working on HMI refactor. README will also be updated. Thank you!