Integration of chat llm behavior

[doumdi]

@mamaheux, @philippewarren,

I need your advice because chat behavior node is blocking after service call, does not receive "Talk Done".

Flow :

Transcript->Process LLM (stream call to OpenAI/ollama) -> Call tools -> Send Talk message -> Talk Done (Not received) -> Send Chat Done

When there is no tool called, it works.

[INFO] [1744814421.762334852] [chat_node]: Transcript received: volume de 10
[INFO] [1744814428.478169379] [chat_node]: Processing...
[INFO] [1744814431.747961959] [chat_node]: Calling external service: volume_up with arguments: {"amount":10}
[INFO] [1744814436.772234745] [chat_node]: Service call result: behavior_srvs.srv.ChatToolsFunctionCall_Response(ok=True, result='{"status": "Volume increased"}')
send_request_and_process_response done
send_request_and_process_response done
[INFO] [1744814437.194302523] [chat_node]: Processing done!
[INFO] [1744814437.196909401] [chat_node]: Sending talk message: Le volume a été augmenté de 10.

---> Waiting for Talk Done that never occurs...
send_request_and_process_response done is recursively called if there is a tool function (calling API twice to send the result).

I tried with a different thread to call the service with no success. I also used the MultiThreadedExecutor and called spin_until_future_complete, with same result. I tried different callback groups, same result.

Any idea ?

[doumdi]

@mamaheux @philippewarren Can you have a final look at this version? I would merge it to ros2 branch and continue improving it later in the summer.

[philippewarren]

Some comments from the first review are still unadresses, they were hidden in the "Expand hidden conversation" thing

[doumdi]

@mamaheux Are you ok for merging ?