ChatGPT と ROS – 文書生成 ROS ラッパー利用編（Completion API）

$ sudo apt install python3-osrf-pycommon python3-catkin-tools

$ sudo apt install python3-pip
$ pip install --upgrade openai

$ mkdir -p ~/openai_ws/src
$ cd ~/openai_ws/src/
$ git clone https://github.com/davesarmoury/openai_ros.git
$ cd ~/openai_ws/
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin build
$ source ~/openai_ws/devel/setup.bash

$ source ~/openai_ws/devel/setup.bash
$ export OPENAI_API_KEY="sk-..."
$ roslaunch openai_ros openai.launch max_tokens:=256

$ source ~/openai_ws/devel/setup.bash
$ rosservice call /get_response '{prompt: "Write a poem about OpenAI"}'
finish_reason: "stop"
text: "\n\nOpenAI, a force of nature,\nA tool of the future,\nA way to explore the unknown,\n\
  A way to make the world better.\n\nA way to make machines smarter,\nA way to make\
  \ them think,\nA way to make them learn,\nA way to make them act.\n\nA way to make\
  \ them understand,\nA way to make them act,\nA way to make them do,\nA way to make\
  \ them react.\n\nOpenAI, a force of nature,\nA tool of the future,\nA way to explore\
  \ the unknown,\nA way to make the world better."
model: "text-davinci-003"
completion_tokens: 134
prompt_tokens: 6
total_tokens: 140

$ rosservice call /get_response '{prompt: "OpenAI についての40字以 内のポエムを書いてください"}'
finish_reason: "stop"
text: "\n\nOpenAI\u306F\u3001\u4EBA\u985E\u306E\u672A\u6765\u3092\u5B88\u308B\u305F\u3081\
  \u306B\u3001AI\u3092\u4F7F\u3063\u3066\u6280\u8853\u3092\u767A\u5C55\u3055\u305B\
  \u308B\u3002\u79C1\u305F\u3061\u306F\u3001AI\u3092\u4F7F\u3063\u3066\u3001\u3088\
  \u308A\u826F\u3044\u672A\u6765\u3092\u5275\u9020\u3057\u3088\u3046\u3002"
model: "text-davinci-003"
completion_tokens: 81
prompt_tokens: 31
total_tokens: 112
$

$ sudo apt install uni2ascii

$ rosservice call /get_response '{prompt: "OpenAI についての40字以 内のポエムを書いてください"}' | ascii2uni -a U -q
finish_reason: "stop"
text: "\n\nOpenAIは，人類の未来を守るため\
  に𰀚Iを使って技術を発展させ\
  る．私たちは𰀚Iを使って，よ\
  り良い未来を創造しよう．"
model: "text-davinci-003"
completion_tokens: 81
prompt_tokens: 31
total_tokens: 112
$ 

#!/usr/bin/env python3

import sys
import rospy

from openai_ros.srv import Completion, CompletionResponse


def get_response_client(prompt):
  request = '{prompt: ' + str(prompt) +'}'
  rospy.wait_for_service('get_response')
  try:
    get_response = rospy.ServiceProxy('get_response', Completion)
    response = get_response(request, 0)
    return response
  except rospy.ServiceException as e:
    print ("Service call failed: %s"%e)


if __name__ == "__main__":
  if len(sys.argv) == 2:
    prompt = str(sys.argv[1])
  else:
    prompt = "Write a poem about OpenAI"
  
  print("Prompt: %s\n" % (prompt))
  
  response = get_response_client(prompt)
  
  print("Response: \n%s\n" % (response))
  print("Text: %s\n" % (response.text))

$ source ~/openai_ws/devel/setup.bash
$ rosrun openai_ros openai_get_completion.py 
Prompt: Write a poem about OpenAI

Response: 
finish_reason: "stop"
text: "\n\nOpenAI, a force of nature,\nA powerful tool of creation,\nAble to learn and adapt,\n\
  Able to think and create.\n\nA tool of the future,\nA tool of the present,\nA tool\
  \ of the past,\nA tool of the ages.\n\nA tool of the people,\nA tool of the world,\n\
  A tool of the universe,\nA tool of the gods.\n\nOpenAI, a force of nature,\nA powerful\
  \ tool of creation,\nAble to learn and adapt,\nAble to think and create."
model: "text-davinci-003"
completion_tokens: 124
prompt_tokens: 11
total_tokens: 135

Text: 

OpenAI, a force of nature,
A powerful tool of creation,
Able to learn and adapt,
Able to think and create.

A tool of the future,
A tool of the present,
A tool of the past,
A tool of the ages.

A tool of the people,
A tool of the world,
A tool of the universe,
A tool of the gods.

OpenAI, a force of nature,
A powerful tool of creation,
Able to learn and adapt,
Able to think and create.

$ 

$ rosrun openai_ros openai_get_completion.py "OpenAI についての40字以内のポエムを書いてください．"
Prompt: OpenAI についての40字以内のポエムを書いてください．

Response: 
finish_reason: "stop"
text: "\n\nOpenAI\u306F\u672A\u6765\u3092\u7167\u3089\u3059\u5149\u3001\u672A\u6765\u3092\
  \u5207\u308A\u958B\u304F\u92ED\u3044\u5203\u3002\u79C1\u305F\u3061\u306E\u672A\u6765\
  \u3092\u8C4A\u304B\u306B\u3057\u3066\u304F\u308C\u308B\u3002"
model: "text-davinci-003"
completion_tokens: 58
prompt_tokens: 39
total_tokens: 97

Text: 

OpenAIは未来を照らす光，未来を切り開く鋭い刃．私たちの未来を豊かにしてくれる．

$