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fix: catch llm exceptions in ros2 agents #36

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Merged
knicked merged 3 commits into from
Jul 10, 2026
Merged

fix: catch llm exceptions in ros2 agents #36

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a8ffea2
Catch llm errors
knicked Jun 30, 2026
bdb545b
pre-commit
knicked Jun 30, 2026
bd31c2a
Use formulate prompt
knicked Jul 10, 2026
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41 changes: 27 additions & 14 deletions rai_app/agents/moveit2_agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -468,11 +468,16 @@ def move_arm(self, request: MoveArm.Request, response: MoveArm.Response):
)
except Exception as e:
response.success = False
llm_response = self.llm.invoke(
"The arm failed to move to the position. Check the logs and provide a short summary."
+ str(e)
)
response.report = llm_response.content
try:
llm_response = self.llm.invoke(
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self.formulate_prompt(
"The arm failed to move to the position. Check the logs and provide a short summary.",
str(e),
)
)
response.report = llm_response.content
except Exception:
response.report = f"The arm failed to move to the position: {e}"
return response

if request.gripper_state == 0:
Expand All @@ -486,10 +491,15 @@ def move_arm(self, request: MoveArm.Request, response: MoveArm.Response):
except Exception as e:
self.logger.error(f"Failed to open gripper: {e}")
response.success = False
llm_response = self.llm.invoke(
self.formulate_prompt("The arm failed to open the gripper.", str(e))
)
response.report = llm_response.content
try:
llm_response = self.llm.invoke(
self.formulate_prompt(
"The arm failed to open the gripper.", str(e)
)
)
response.report = llm_response.content
except Exception:
response.report = f"The arm failed to open the gripper: {e}"
return response
elif request.gripper_state == 2:
try:
Expand All @@ -499,12 +509,15 @@ def move_arm(self, request: MoveArm.Request, response: MoveArm.Response):
except Exception as e:
self.logger.error(f"Failed to close gripper: {e}")
response.success = False
llm_response = self.llm.invoke(
self.formulate_prompt(
"The arm failed to close the gripper.", str(e)
try:
llm_response = self.llm.invoke(
self.formulate_prompt(
"The arm failed to close the gripper.", str(e)
)
)
)
response.report = llm_response.content
response.report = llm_response.content
except Exception:
response.report = f"The arm failed to open the gripper: {e}"
return response
else:
response.success = False
Expand Down
82 changes: 50 additions & 32 deletions rai_app/agents/nav2_agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -158,15 +158,20 @@ def navigate_to_pose(self, goal_handle: ServerGoalHandle) -> str:
elif result == TaskResult.FAILED:
reason = self.navigator.result_future.result().result.error_code
enum_name = decode_error_code(reason, Nav2NavigateToPose)
response = self.llm.invoke(
self.formulate_prompt(
f"Navigate to pose has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
request.pose,
)
)
action_result.success = False
action_result.report = response.content
try:
response = self.llm.invoke(
self.formulate_prompt(
f"Navigate to pose has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
request.pose,
)
)
action_result.report = response.content
except Exception:
action_result.report = (
f"Navigate to pose has failed with error code {enum_name}"
)
return action_result
else:
action_result.success = False
Expand Down Expand Up @@ -213,15 +218,20 @@ def drive_on_heading(self, goal_handle: ServerGoalHandle):
goal_handle.abort()
reason = self.navigator.result_future.result().result.error_code
enum_name = decode_error_code(reason, Nav2DriveOnHeading)
response = self.llm.invoke(
self.formulate_prompt(
f"Drive on heading has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
params,
)
)
action_result.success = False
action_result.report = response.content
try:
response = self.llm.invoke(
self.formulate_prompt(
f"Drive on heading has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
params,
)
)
action_result.report = response.content
except Exception:
action_result.report = (
f"Drive on heading has failed with error code {enum_name}"
)
return action_result
else:
action_result.success = False
Expand Down Expand Up @@ -273,15 +283,18 @@ def spin(self, goal_handle: ServerGoalHandle):
enum_name = decode_error_code(reason, Nav2Spin)

goal_handle.abort()
response = self.llm.invoke(
self.formulate_prompt(
f"Turn (requested angle: {request.target_yaw} radians) has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
params,
)
)
action_result.success = False
action_result.report = response.content
try:
response = self.llm.invoke(
self.formulate_prompt(
f"Turn (requested angle: {request.target_yaw} radians) has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
params,
)
)
action_result.report = response.content
except Exception:
action_result.report = f"Turn (requested angle: {request.target_yaw} radians) has failed with error code {enum_name}."
return action_result
else:
action_result.success = False
Expand Down Expand Up @@ -317,15 +330,20 @@ def follow_waypoints(self, goal_handle: ServerGoalHandle):
enum_name = decode_error_code(reason, Nav2Spin)

goal_handle.abort()
response = self.llm.invoke(
self.formulate_prompt(
f"Followed waypoints has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
request.poses,
)
)
action_result.success = False
action_result.report = response.content
try:
response = self.llm.invoke(
self.formulate_prompt(
f"Followed waypoints has failed with error code {enum_name}. Check the logs and provide a short summary.",
str(feedback),
request.poses,
)
)
action_result.report = response.content
except Exception:
action_result.report = (
f"Followed waypoints has failed with error code {enum_name}."
)
return action_result
else:
action_result.success = False
Expand Down
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