Sentence Similarity
sentence-transformers
English
ros2
ros
robotics
rag
retrieval
faiss
documentation
qwen
offline
Instructions to use eoinedge/ros2 with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- sentence-transformers
How to use eoinedge/ros2 with sentence-transformers:
from sentence_transformers import SentenceTransformer model = SentenceTransformer("eoinedge/ros2") sentences = [ "That is a happy person", "That is a happy dog", "That is a very happy person", "Today is a sunny day" ] embeddings = model.encode(sentences) similarities = model.similarity(embeddings, embeddings) print(similarities.shape) # [4, 4] - Notebooks
- Google Colab
- Kaggle
File size: 9,714 Bytes
ad61deb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 | """Chunk the documentation and build a FAISS index over it.
Chunking is the part that decides whether retrieval works, so it is done on
document structure rather than on a fixed character count. RST carries its own
section headings; splitting on those keeps a chunk to one topic and lets every
retrieved passage cite the section it came from. A blind 1000-character split
would cut mid-sentence and mix two subsystems into one vector.
python scripts/build_index.py
python scripts/build_index.py --docs data/raw_docs --out data/index
"""
from __future__ import annotations
import argparse
import json
import re
import sys
from pathlib import Path
if hasattr(sys.stdout, "reconfigure"):
sys.stdout.reconfigure(encoding="utf-8", errors="replace")
sys.stderr.reconfigure(encoding="utf-8", errors="replace")
sys.path.insert(0, str(Path(__file__).resolve().parent))
import source_config as cfg # noqa: E402
ROOT = Path(__file__).resolve().parent.parent
DEFAULT_DOCS = ROOT / "data" / "raw_docs"
DEFAULT_OUT = ROOT / "data" / "index"
EMBEDDING_MODEL = "sentence-transformers/all-MiniLM-L6-v2"
# An RST section underline: a run of one punctuation character on its own line,
# directly under the title it underlines.
RST_UNDERLINE = re.compile(r"^([=\-`:'\"~^_*+#<>])\1{2,}\s*$")
MIN_CHARS = 120
MAX_CHARS = 1600
SKIP_FILES = cfg.SKIP_FILES
# Sections that are identifier lists rather than prose.
SKIP_SECTIONS = re.compile(cfg.SKIP_SECTION_PATTERN, re.IGNORECASE)
def looks_like_prose(text: str) -> bool:
"""Reject chunks that are mostly punctuation, IDs or markup."""
letters = sum(character.isalpha() for character in text)
if letters < len(text) * 0.45:
return False
words = text.split()
if not words:
return False
return sum(len(word) for word in words) / len(words) >= 3.0
def clean(text: str) -> str:
"""Strip the RST directives that carry no meaning for a reader."""
lines: list[str] = []
for line in text.splitlines():
stripped = line.strip()
# Comments, toctrees and figure/image directives are navigation and
# layout. They retrieve badly and answer nothing.
if stripped.startswith(".. toctree::") or stripped.startswith(".. figure::"):
continue
if stripped.startswith(".. image::") or stripped.startswith(".."):
if re.match(r"^\.\.\s+_[\w.-]+:", stripped):
continue # anchor target
if stripped.startswith(".. code-block::") or stripped.startswith(".. note::"):
lines.append(line) # keep — the body that follows is content
continue
continue
if stripped.startswith(":") and stripped.count(":") >= 2 and len(stripped) < 80:
continue # field list / directive option
lines.append(line)
return "\n".join(lines)
def sections(text: str) -> list[tuple[str, str]]:
"""Split RST into (heading, body). The first block inherits the document title."""
lines = text.splitlines()
blocks: list[tuple[str, list[str]]] = [("", [])]
index = 0
while index < len(lines):
line = lines[index]
following = lines[index + 1] if index + 1 < len(lines) else ""
is_heading = (
line.strip()
and RST_UNDERLINE.match(following)
and len(following.strip()) >= len(line.strip()) - 2
)
if is_heading:
blocks.append((line.strip(), []))
index += 2
continue
blocks[-1][1].append(line)
index += 1
return [(heading, "\n".join(body).strip()) for heading, body in blocks]
def split_long(body: str, limit: int = MAX_CHARS) -> list[str]:
"""Break an over-long section on blank lines, never mid-paragraph.
Paragraph splitting alone is not enough. A section with no blank lines — a
long table, a generated list — comes back as one piece however large it is.
The first version of this used only blank lines and emitted a single
126 KB chunk, so anything still over the limit is hard-split on line
boundaries as a backstop.
"""
if len(body) <= limit:
return [body]
parts: list[str] = []
current = ""
for paragraph in body.split("\n\n"):
if current and len(current) + len(paragraph) + 2 > limit:
parts.append(current.strip())
current = paragraph
else:
current = f"{current}\n\n{paragraph}" if current else paragraph
if current.strip():
parts.append(current.strip())
bounded: list[str] = []
for part in parts:
if len(part) <= limit:
bounded.append(part)
continue
buffer = ""
for line in part.splitlines():
# A single line can itself exceed the limit — ROS 2 changelogs put
# an entire release's bullets on one line, which line-splitting
# cannot divide. Wrap on whitespace as a last resort.
for piece in _wrap(line, limit):
if buffer and len(buffer) + len(piece) + 1 > limit:
bounded.append(buffer.strip())
buffer = piece
else:
buffer = f"{buffer}\n{piece}" if buffer else piece
if buffer.strip():
bounded.append(buffer.strip())
return bounded
def _wrap(line: str, limit: int) -> list[str]:
"""Split one over-long line on whitespace, never mid-word."""
if len(line) <= limit:
return [line]
pieces: list[str] = []
current = ""
for word in line.split(" "):
if current and len(current) + len(word) + 1 > limit:
pieces.append(current)
current = word
else:
current = f"{current} {word}" if current else word
if current:
pieces.append(current)
return pieces
def chunk_document(path: Path) -> list[dict]:
raw = path.read_text(encoding="utf-8", errors="replace")
# The fetcher flattens "kernel/services/threads.rst" to
# "kernel__services__threads.rst" so the source path survives as a citation.
source = path.stem.replace("__", "/")
body = clean(raw)
title = ""
for heading, _ in sections(body):
if heading:
title = heading
break
chunks: list[dict] = []
for heading, section_body in sections(body):
if len(section_body) < MIN_CHARS:
continue
if heading and SKIP_SECTIONS.search(heading):
continue
for part in split_long(section_body):
if len(part) < MIN_CHARS or not looks_like_prose(part):
continue
chunks.append(
{
"text": part,
"source": source,
"title": title or source,
"section": heading or title or source,
"url": cfg.DOC_URL.format(path=source),
}
)
return chunks
def main() -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--docs", type=Path, default=DEFAULT_DOCS)
parser.add_argument("--out", type=Path, default=DEFAULT_OUT)
parser.add_argument("--model", default=EMBEDDING_MODEL)
parser.add_argument("--batch-size", type=int, default=64)
args = parser.parse_args()
if not args.docs.is_dir():
raise SystemExit(f"no docs at {args.docs} — run scripts/fetch_docs.py first")
files = sorted(p for p in args.docs.glob("*") if p.suffix.lower() in {".rst", ".md", ".txt"})
files = [p for p in files if p.name != "_SOURCE.txt" and p.name not in SKIP_FILES]
print(f"Chunking {len(files)} documents...")
chunks: list[dict] = []
for path in files:
chunks.extend(chunk_document(path))
if not chunks:
raise SystemExit("no chunks produced — check the docs directory")
lengths = sorted(len(c["text"]) for c in chunks)
print(
f"{len(chunks)} chunks | median {lengths[len(lengths) // 2]} chars, "
f"max {lengths[-1]}"
)
# Imported here so --help and the chunking stats stay fast on a machine
# without torch installed.
import faiss
import numpy as np
from sentence_transformers import SentenceTransformer
print(f"Embedding with {args.model}...")
model = SentenceTransformer(args.model)
vectors = model.encode(
[c["text"] for c in chunks],
batch_size=args.batch_size,
show_progress_bar=True,
convert_to_numpy=True,
normalize_embeddings=True,
).astype("float32")
# Inner product over L2-normalised vectors is cosine similarity, which is
# what the retrieval scores in ask.py are reported as.
index = faiss.IndexFlatIP(vectors.shape[1])
index.add(vectors)
args.out.mkdir(parents=True, exist_ok=True)
faiss.write_index(index, str(args.out / "docs.faiss"))
with (args.out / "chunks.jsonl").open("w", encoding="utf-8") as handle:
for chunk in chunks:
handle.write(json.dumps(chunk, ensure_ascii=False) + "\n")
source_note = (args.docs / "_SOURCE.txt")
meta = {
"embedding_model": args.model,
"dimensions": int(vectors.shape[1]),
"chunks": len(chunks),
"documents": len(files),
"index": "IndexFlatIP (cosine over normalised vectors)",
"source": source_note.read_text(encoding="utf-8") if source_note.exists() else "unknown",
}
(args.out / "meta.json").write_text(json.dumps(meta, indent=2), encoding="utf-8")
print(f"\nIndex written to {args.out}")
print(f"{len(chunks)} chunks x {vectors.shape[1]} dims")
return 0
if __name__ == "__main__":
sys.exit(main())
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