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base.launch.py
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# MIT License
#
# Copyright (c) 2023 Miguel Ángel González Santamarta
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
from typing import List
from launch import LaunchDescription, LaunchContext
from launch_ros.actions import Node
from launch.actions import OpaqueFunction, DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.parameter_descriptions import ParameterValue
from launch.conditions import IfCondition, UnlessCondition
def generate_launch_description():
def run_llama(context: LaunchContext, embedding, reranking):
embedding = eval(context.perform_substitution(embedding))
reranking = eval(context.perform_substitution(reranking))
params = {
"seed": LaunchConfiguration("seed", default=-1),
"n_ctx": LaunchConfiguration("n_ctx", default=512),
"n_batch": LaunchConfiguration("n_batch", default=2048),
"n_ubatch": LaunchConfiguration("n_batch", default=512),
# GPU params
"devices": LaunchConfiguration("devices", default="['']"),
"n_gpu_layers": LaunchConfiguration("n_gpu_layers", default=0),
"split_mode": LaunchConfiguration("split_mode", default="layer"),
"main_gpu": LaunchConfiguration("main_gpu", default=0),
"tensor_split": LaunchConfiguration("tensor_split", default="[0.0]"),
# attn params
"grp_attn_n": LaunchConfiguration("grp_attn_n", default=1),
"grp_attn_w": LaunchConfiguration("grp_attn_w", default=512),
# rope params
"rope_freq_base": LaunchConfiguration("rope_freq_base", default=0.0),
"rope_freq_scale": LaunchConfiguration("rope_freq_scale", default=0.0),
"rope_scaling_type": LaunchConfiguration("rope_scaling_type", default=""),
# yarn params
"yarn_ext_factor": LaunchConfiguration("yarn_ext_factor", default=-1.0),
"yarn_attn_factor": LaunchConfiguration("yarn_attn_factor", default=1.0),
"yarn_beta_fast": LaunchConfiguration("yarn_beta_fast", default=32.0),
"yarn_beta_slow": LaunchConfiguration("yarn_beta_slow", default=1.0),
"yarn_orig_ctx": LaunchConfiguration("yarn_orig_ctx", default=0),
"defrag_thold": LaunchConfiguration("defrag_thold", default=0.1),
# bool params
"embedding": embedding,
"reranking": reranking,
"logits_all": LaunchConfiguration("logits_all", default=False),
"use_mmap": LaunchConfiguration("use_mmap", default=True),
"use_mlock": LaunchConfiguration("use_mlock", default=False),
"warmup": LaunchConfiguration("warmup", default=True),
"check_tensors": LaunchConfiguration("check_tensors", default=False),
"flash_attn": LaunchConfiguration("flash_attn", default=False),
# cache params
"no_kv_offload": LaunchConfiguration("no_kv_offload", default=False),
"cache_type_k": LaunchConfiguration("cache_type_k", default="f16"),
"cache_type_v": LaunchConfiguration("cache_type_v", default="f16"),
# CPU params
"n_threads": LaunchConfiguration("n_threads", default=1),
"cpu_mask": LaunchConfiguration("cpu_mask", default=""),
"cpu_range": LaunchConfiguration("cpu_range", default=""),
"priority": LaunchConfiguration("priority", default="normal"),
"strict_cpu": LaunchConfiguration("strict_cpu", default=False),
"poll": LaunchConfiguration("poll", default=50),
# batch CPU params
"n_threads_batch": LaunchConfiguration("n_threads_batch", default=1),
"cpu_mask_batch": LaunchConfiguration("cpu_mask_batch", default=""),
"cpu_range_batch": LaunchConfiguration("cpu_range_batch", default=""),
"priority_batch": LaunchConfiguration("priority_batch", default="normal"),
"strict_cpu_batch": LaunchConfiguration("strict_cpu_batch", default=False),
"poll_batch": LaunchConfiguration("poll_batch", default=50),
# switch context params
"n_predict": LaunchConfiguration("n_predict", default=128),
"n_keep": LaunchConfiguration("n_keep", default=-1),
# paths params
"model": LaunchConfiguration("model", default=""),
"lora_adapters": LaunchConfiguration("lora_adapters", default="['']"),
"lora_adapters_scales": LaunchConfiguration(
"lora_adapters_scales", default="[0.0]"
),
"mmproj": LaunchConfiguration("mmproj", default=""),
"numa": LaunchConfiguration("numa", default="none"),
"pooling_type": LaunchConfiguration("pooling_type", default=""),
# prefix/suffix
"prefix": ParameterValue(
LaunchConfiguration("prefix", default=""), value_type=str
),
"suffix": ParameterValue(
LaunchConfiguration("suffix", default=""), value_type=str
),
"stopping_words": LaunchConfiguration("stopping_words", default="['']"),
"image_prefix": ParameterValue(
LaunchConfiguration("image_prefix", default=""), value_type=str
),
"image_suffix": ParameterValue(
LaunchConfiguration("image_suffix", default=""), value_type=str
),
"image_text": ParameterValue(
LaunchConfiguration("image_text", default="<image>"), value_type=str
),
# prompt params
"system_prompt": ParameterValue(
LaunchConfiguration("system_prompt", default=""), value_type=str
),
"system_prompt_file": ParameterValue(
LaunchConfiguration("system_prompt_file", default=""), value_type=str
),
}
# get llama node name
llama_node_name = "llama_node"
if embedding and not reranking:
llama_node_name = "llama_embedding_node"
elif reranking:
llama_node_name = "llama_reranking_node"
return Node(
package="llama_ros",
executable="llama_node",
name=llama_node_name,
namespace="llama",
parameters=[params],
condition=UnlessCondition(
PythonExpression([LaunchConfiguration("use_llava")])
),
), Node(
package="llama_ros",
executable="llava_node",
name="llava_node",
namespace="llama",
parameters=[params],
condition=IfCondition(PythonExpression([LaunchConfiguration("use_llava")])),
)
embedding = LaunchConfiguration("embedding")
embedding_cmd = DeclareLaunchArgument(
"embedding",
default_value="False",
description="Whether the model is an embedding model",
)
reranking = LaunchConfiguration("reranking")
reranking_cmd = DeclareLaunchArgument(
"reranking",
default_value="False",
description="Whether the model is an reranking model",
)
return LaunchDescription(
[
embedding_cmd,
reranking_cmd,
OpaqueFunction(function=run_llama, args=[embedding, reranking]),
]
)