ShadowHound Agent Quick Reference
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┃ 🐕 SHADOWHOUND AGENT QUICK REFERENCE ┃
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TWO AGENT TYPES
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┌──────────────────────────────────────────────────────────────────────────┐
│ 🚀 OpenAIAgent (Fast, Single-Step) │
├──────────────────────────────────────────────────────────────────────────┤
│ Speed: 1-2 seconds (single LLM call) │
│ Best for: Simple, single-action commands │
│ Execution: Function calls execute simultaneously/race conditions │
│ │
│ ✅ Works Great For: │
│ • "stand up" │
│ • "sit down" │
│ • "wave hello" │
│ • "take one step forward" │
│ │
│ ❌ FAILS For: │
│ • "rotate right and step back" ← Both execute at once! │
│ • "go to kitchen and look around" ← No sequencing! │
│ • "patrol the hallway" ← Can't handle multi-step! │
└──────────────────────────────────────────────────────────────────────────┘
┌──────────────────────────────────────────────────────────────────────────┐
│ 🧠 PlanningAgent (Intelligent, Multi-Step) ⭐ NOW DEFAULT │
├──────────────────────────────────────────────────────────────────────────┤
│ Speed: 2-5 seconds (planning + sequential execution) │
│ Best for: Multi-step and complex commands │
│ Execution: Sequential with validation between steps │
│ │
│ ✅ Works Great For: │
│ • "rotate right and step back" ← Sequential execution! │
│ • "go to kitchen and look around" ← Plans and executes! │
│ • "patrol the hallway" ← Handles complexity! │
│ • "stand up" (also works, +0.3s) ← Still fast for simple! │
│ │
│ Features: │
│ • Creates step-by-step plan │
│ • Validates each step before next │
│ • Can replan if step fails │
│ • Better error handling │
└──────────────────────────────────────────────────────────────────────────┘
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CURRENT SETUP (AFTER FIX)
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Default Agent: 🧠 PlanningAgent (sequential multi-step)
Launch Argument: use_planning_agent:=true (now default)
Config File: src/shadowhound_bringup/launch/shadowhound.launch.py
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HOW TO SWITCH AGENTS
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Use PlanningAgent (RECOMMENDED, NOW DEFAULT):
┌──────────────────────────────────────────────────────────────────────────┐
│ ros2 launch shadowhound_bringup shadowhound.launch.py │
│ # PlanningAgent is now default, no argument needed │
└──────────────────────────────────────────────────────────────────────────┘
Use OpenAIAgent (for testing/comparison only):
┌──────────────────────────────────────────────────────────────────────────┐
│ ros2 launch shadowhound_bringup shadowhound.launch.py \ │
│ use_planning_agent:=false │
└──────────────────────────────────────────────────────────────────────────┘
Check Current Setting:
┌──────────────────────────────────────────────────────────────────────────┐
│ ros2 param get /shadowhound_mission_agent use_planning_agent │
│ # Should return: True (PlanningAgent enabled) │
└──────────────────────────────────────────────────────────────────────────┘
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PERFORMANCE COMPARISON
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Simple Command: "stand up"
┌─────────────────────────┬─────────────────────────────────────────────────┐
│ OpenAIAgent │ ⏱️ 1.2s │
│ PlanningAgent │ ⏱️ 1.5s (+0.3s, negligible) │
└─────────────────────────┴─────────────────────────────────────────────────┘
Multi-Step: "rotate right and step back"
┌─────────────────────────┬─────────────────────────────────────────────────┐
│ OpenAIAgent │ ⏱️ 1.5s BUT ❌ FAILS (rotation incomplete) │
│ PlanningAgent │ ⏱️ 3.8s (+2.3s) BUT ✅ WORKS CORRECTLY! │
└─────────────────────────┴─────────────────────────────────────────────────┘
Complex: "patrol the hallway"
┌─────────────────────────┬─────────────────────────────────────────────────┐
│ OpenAIAgent │ ⏱️ 2.0s BUT ❌ CONFUSED/INCOMPLETE │
│ PlanningAgent │ ⏱️ 5.2s (+3.2s) BUT ✅ PROPER PATROL │
└─────────────────────────┴─────────────────────────────────────────────────┘
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WHAT YOU'LL SEE IN LOGS
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With OpenAIAgent (OLD, no longer default):
┌──────────────────────────────────────────────────────────────────────────┐
│ [INFO] DIMOS OpenAIAgent initialized (model=gpt-4-turbo) │
│ [INFO] Executing mission: rotate right and step back │
│ [INFO] ⏱️ TIMING: Agent 1.45s | Total 1.52s │
│ ❌ [Issue: Robot behavior confused, rotation incomplete] │
└──────────────────────────────────────────────────────────────────────────┘
With PlanningAgent (NEW, NOW DEFAULT):
┌──────────────────────────────────────────────────────────────────────────┐
│ [INFO] DIMOS PlanningAgent initialized │
│ [INFO] Executing mission: rotate right and step back │
│ [INFO] Planning phase: Creating step-by-step plan... │
│ [INFO] Plan created: [Step 1: rotate, Step 2: step_back] │
│ [INFO] Executing Step 1/2: rotate(direction=right) │
│ [INFO] Step 1 complete, validated ✓ │
│ [INFO] Executing Step 2/2: step_back() │
│ [INFO] Step 2 complete, validated ✓ │
│ [INFO] ⏱️ TIMING: Agent 3.82s | Total 3.90s │
│ ✅ [Robot: Rotated completely, THEN stepped back] │
└──────────────────────────────────────────────────────────────────────────┘
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TEST YOUR FIX
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1. Launch with PlanningAgent (now automatic):
ros2 launch shadowhound_bringup shadowhound.launch.py
2. Send your problematic command:
ros2 topic pub /mission_command std_msgs/String \
"data: 'rotate to the right and take a step back'" --once
3. Watch the logs for:
✓ "PlanningAgent initialized" (not OpenAIAgent)
✓ "Planning phase: Creating step-by-step plan..."
✓ "Executing Step 1/2: rotate..."
✓ "Executing Step 2/2: step_back..."
4. Observe robot behavior:
✓ Robot rotates COMPLETELY
✓ Robot WAITS after rotation
✓ Robot steps back AFTER rotation complete
✅ Perfect sequential execution!
5. Check web UI performance panel:
⏱️ Agent: 3.8s (slower but WORKS!)
⏱️ Total: 3.9s
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TROUBLESHOOTING
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Issue: Still seeing OpenAIAgent in logs
Fix: Rebuild and restart
colcon build --packages-select shadowhound_bringup
source install/setup.bash
ros2 launch shadowhound_bringup shadowhound.launch.py
Issue: Commands still execute simultaneously
Fix: Verify parameter is set:
ros2 param get /shadowhound_mission_agent use_planning_agent
Should return: True
Issue: Performance seems slow
Note: This is NORMAL and EXPECTED! Multi-step execution takes longer
but commands actually work correctly now.
Simple commands: +0.3s (barely noticeable)
Multi-step: +2-3s (but functional vs broken!)
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FUTURE ENHANCEMENTS
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Hybrid Agent Selection (Coming Soon):
┌──────────────────────────────────────────────────────────────────────────┐
│ Analyze command complexity │
│ ├─ Simple (1 action) → Use OpenAIAgent (fast 1-2s) │
│ └─ Complex (2+ actions) → Use PlanningAgent (correct 3-5s) │
│ │
│ Best of both worlds: │
│ • Fast for simple commands │
│ • Correct for complex commands │
└──────────────────────────────────────────────────────────────────────────┘
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KEY TAKEAWAYS
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✅ PlanningAgent is NOW DEFAULT (after commit a324299)
✅ Multi-step commands will execute SEQUENTIALLY
✅ Commands like "rotate and step back" WILL WORK correctly
⚠️ Performance: +2-3s for multi-step (acceptable trade-off)
✅ Simple commands still fast (+0.3s, barely noticeable)
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🎯 YOUR ISSUE IS FIXED! 🎯
Test "rotate right and step back" again and watch it execute properly!
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See Also
References