build: CMake and requirements.

common/vision/lasr_vision_clip/CMakeLists.txt

@@ -7,7 +7,7 @@ project(lasr_vision_clip)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED catkin_virtualenv message_generation message_runtime sensor_msgs)
+find_package(catkin REQUIRED catkin_virtualenv)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -19,7 +19,7 @@ find_package(catkin REQUIRED catkin_virtualenv message_generation message_runtim
 catkin_python_setup()
 catkin_generate_virtualenv(
   INPUT_REQUIREMENTS requirements.in
-  PYTHON_INTERPRETER python3.9
+  PYTHON_INTERPRETER python3.10
 )
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -53,10 +53,10 @@ catkin_generate_virtualenv(
 # )
 
 # Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  Vqa.srv
-)
+# add_service_files(
+#   FILES
+#   Vqa.srv
+# )
 
 # Generate actions in the 'action' folder
 # add_action_files(
@@ -65,10 +65,10 @@ add_service_files(
 # )
 
 # Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  sensor_msgs
-)
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs
+# )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##

common/vision/lasr_vision_clip/requirements.txt

@@ -1,22 +1,15 @@
---extra-index-url https://pypi.ngc.nvidia.com
---trusted-host pypi.ngc.nvidia.com
-
 certifi==2024.2.2         # via requests
 charset-normalizer==3.3.2  # via requests
-click==8.1.7              # via nltk
-clip @ git+https://github.com/openai/CLIP.git  # via -r requirements.in
-filelock==3.13.1          # via huggingface-hub, torch, transformers, triton
-fsspec==2024.2.0          # via huggingface-hub, torch
-ftfy==6.1.3               # via -r requirements.in, clip
-huggingface-hub==0.20.3   # via sentence-transformers, tokenizers, transformers
-idna==3.6                 # via requests
+filelock==3.13.4          # via huggingface-hub, torch, transformers, triton
+fsspec==2024.3.1          # via huggingface-hub, torch
+huggingface-hub==0.22.2   # via sentence-transformers, tokenizers, transformers
+idna==3.7                 # via requests
 jinja2==3.1.3             # via torch
-joblib==1.3.2             # via nltk, scikit-learn
+joblib==1.4.0             # via scikit-learn
 markupsafe==2.1.5         # via jinja2
 mpmath==1.3.0             # via sympy
 networkx==3.2.1           # via torch
-nltk==3.8.1               # via sentence-transformers
-numpy==1.26.3             # via opencv-python, scikit-learn, scipy, sentence-transformers, torchvision, transformers
+numpy==1.26.4             # via opencv-python, scikit-learn, scipy, sentence-transformers, transformers
 nvidia-cublas-cu12==12.1.3.1  # via nvidia-cudnn-cu12, nvidia-cusolver-cu12, torch
 nvidia-cuda-cupti-cu12==12.1.105  # via torch
 nvidia-cuda-nvrtc-cu12==12.1.105  # via torch
@@ -27,27 +20,24 @@ nvidia-curand-cu12==10.3.2.106  # via torch
 nvidia-cusolver-cu12==11.4.5.107  # via torch
 nvidia-cusparse-cu12==12.1.0.106  # via nvidia-cusolver-cu12, torch
 nvidia-nccl-cu12==2.19.3  # via torch
-nvidia-nvjitlink-cu12==12.3.101  # via nvidia-cusolver-cu12, nvidia-cusparse-cu12
+nvidia-nvjitlink-cu12==12.4.127  # via nvidia-cusolver-cu12, nvidia-cusparse-cu12
 nvidia-nvtx-cu12==12.1.105  # via torch
 opencv-python==4.9.0.80   # via -r requirements.in
-packaging==23.2           # via huggingface-hub, transformers
-pillow==10.2.0            # via sentence-transformers, torchvision
+packaging==24.0           # via huggingface-hub, transformers
+pillow==10.3.0            # via sentence-transformers
 pyyaml==6.0.1             # via huggingface-hub, transformers
-regex==2023.12.25         # via -r requirements.in, clip, nltk, transformers
-requests==2.31.0          # via huggingface-hub, torchvision, transformers
-safetensors==0.4.2        # via transformers
-scikit-learn==1.4.0       # via sentence-transformers
-scipy==1.12.0             # via scikit-learn, sentence-transformers
-sentence-transformers==2.3.1  # via -r requirements.in
-sentencepiece==0.1.99     # via sentence-transformers
+regex==2024.4.16          # via transformers
+requests==2.31.0          # via huggingface-hub, transformers
+safetensors==0.4.3        # via transformers
+scikit-learn==1.4.2       # via sentence-transformers
+scipy==1.13.0             # via scikit-learn, sentence-transformers
+sentence-transformers==2.7.0  # via -r requirements.in
 sympy==1.12               # via torch
-threadpoolctl==3.2.0      # via scikit-learn
-tokenizers==0.15.1        # via transformers
-torch==2.2.0              # via clip, sentence-transformers, torchvision
-torchvision==0.17.0       # via clip
-tqdm==4.66.1              # via -r requirements.in, clip, huggingface-hub, nltk, sentence-transformers, transformers
-transformers==4.37.2      # via sentence-transformers
+threadpoolctl==3.4.0      # via scikit-learn
+tokenizers==0.15.2        # via transformers
+torch==2.2.2              # via sentence-transformers
+tqdm==4.66.2              # via huggingface-hub, sentence-transformers, transformers
+transformers==4.39.3      # via sentence-transformers
 triton==2.2.0             # via torch
-typing-extensions==4.9.0  # via huggingface-hub, torch
-urllib3==2.2.0            # via requests
-wcwidth==0.2.13           # via ftfy
+typing-extensions==4.11.0  # via huggingface-hub, torch
+urllib3==2.2.1            # via requests

common/vision/lasr_vision_msgs/CMakeLists.txt

@@ -63,7 +63,7 @@ add_service_files(
   TorchFaceFeatureDetection.srv
   Recognise.srv
   LearnFace.srv
-  PointingDirection.srv
+  Vqa.srv
 )
 
 # Generate actions in the 'action' folder