@agenticros/core 0.5.0 → 0.6.0

package/dist/external-capability.js

@@ -0,0 +1,185 @@
+/**
+ * External ROS-node capability executor — Phase 1 completion.
+ *
+ * Dispatches `implementation.kind: "external_ros_node"` capabilities via
+ * the existing RosTransport action / service / topic APIs. The manifest
+ * `launch` field is metadata only (operator-owned bringup) — the gateway
+ * never shells out to `ros2 launch` in v1.
+ */
+import { toNamespacedTopic } from "./topic-utils.js";
+function isExternalImpl(impl) {
+    return impl?.kind === "external_ros_node";
+}
+function resolveName(name, namespace) {
+    const trimmed = name.trim();
+    if (!trimmed)
+        return trimmed;
+    if (!namespace?.trim())
+        return trimmed.startsWith("/") ? trimmed : `/${trimmed}`;
+    return toNamespacedTopic(namespace, trimmed);
+}
+/**
+ * Map navigate_to-style inputs into a Nav2 NavigateToPose goal when the
+ * action type looks like NavigateToPose and inputs have x/y.
+ */
+export function buildExternalGoal(impl, inputs) {
+    // Explicit goal / request / message wins.
+    if (inputs.goal && typeof inputs.goal === "object") {
+        return inputs.goal;
+    }
+    if (inputs.request && typeof inputs.request === "object") {
+        return inputs.request;
+    }
+    if (inputs.message && typeof inputs.message === "object") {
+        return inputs.message;
+    }
+    const msgType = (impl.msg_type ?? "").toLowerCase();
+    if (msgType.includes("navigatetopose") || impl.action?.includes("navigate_to_pose")) {
+        const x = Number(inputs.x ?? 0) || 0;
+        const y = Number(inputs.y ?? 0) || 0;
+        const yaw = Number(inputs.yaw ?? 0) || 0;
+        const qz = Math.sin(yaw / 2);
+        const qw = Math.cos(yaw / 2);
+        const frame = typeof inputs.frame_id === "string" ? inputs.frame_id : "map";
+        return {
+            pose: {
+                header: { frame_id: frame },
+                pose: {
+                    position: { x, y, z: 0 },
+                    orientation: { x: 0, y: 0, z: qz, w: qw },
+                },
+            },
+        };
+    }
+    // Passthrough remaining inputs (minus robot_id).
+    const { robot_id: _rid, ...rest } = inputs;
+    return rest;
+}
+/**
+ * Execute an external_ros_node capability against a connected transport.
+ */
+export async function executeExternalCapability(capability, inputs, transport, options = {}) {
+    const impl = capability.implementation;
+    if (!isExternalImpl(impl)) {
+        return {
+            text: `Capability "${capability.id}" is not an external_ros_node implementation.`,
+            isError: true,
+        };
+    }
+    const ns = options.namespace;
+    try {
+        if (impl.action) {
+            const action = resolveName(impl.action, ns);
+            const actionType = impl.msg_type ?? "";
+            if (!actionType) {
+                return {
+                    text: `Capability "${capability.id}" external action requires implementation.msg_type.`,
+                    isError: true,
+                };
+            }
+            const args = buildExternalGoal(impl, inputs);
+            const result = await transport.sendActionGoal({
+                action,
+                actionType,
+                args,
+            });
+            const outputs = {
+                success: result.result,
+                ...(result.values ?? {}),
+                launch_hint: impl.launch ?? null,
+                package_hint: impl.package ?? null,
+            };
+            return {
+                text: JSON.stringify(outputs),
+                outputs,
+                isError: !result.result,
+            };
+        }
+        if (impl.service) {
+            const service = resolveName(impl.service, ns);
+            const serviceType = impl.msg_type ?? "";
+            if (!serviceType) {
+                return {
+                    text: `Capability "${capability.id}" external service requires implementation.msg_type.`,
+                    isError: true,
+                };
+            }
+            const args = buildExternalGoal(impl, inputs);
+            const result = await transport.callService({
+                service,
+                type: serviceType,
+                args,
+            });
+            const outputs = {
+                success: result.result,
+                ...(result.values ?? {}),
+                launch_hint: impl.launch ?? null,
+            };
+            return {
+                text: JSON.stringify(outputs),
+                outputs,
+                isError: !result.result,
+            };
+        }
+        if (impl.topic) {
+            const topic = resolveName(impl.topic, ns);
+            const msgType = impl.msg_type ?? "";
+            const mode = typeof inputs.mode === "string" ? inputs.mode : "publish";
+            if (mode === "subscribe" || mode === "subscribe_once") {
+                const timeout = options.timeoutMs ?? (typeof inputs.timeout === "number" ? inputs.timeout : 5000);
+                const msg = await new Promise((resolve, reject) => {
+                    let settled = false;
+                    const timer = setTimeout(() => {
+                        if (settled)
+                            return;
+                        settled = true;
+                        try {
+                            sub.unsubscribe();
+                        }
+                        catch {
+                            /* ignore */
+                        }
+                        reject(new Error(`Timed out waiting for message on ${topic} after ${timeout}ms`));
+                    }, timeout);
+                    const sub = transport.subscribe({ topic, type: msgType || "std_msgs/msg/String" }, (message) => {
+                        if (settled)
+                            return;
+                        settled = true;
+                        clearTimeout(timer);
+                        try {
+                            sub.unsubscribe();
+                        }
+                        catch {
+                            /* ignore */
+                        }
+                        resolve(message);
+                    });
+                });
+                const outputs = { message: msg, topic };
+                return { text: JSON.stringify(outputs), outputs };
+            }
+            if (!msgType) {
+                return {
+                    text: `Capability "${capability.id}" external topic publish requires implementation.msg_type.`,
+                    isError: true,
+                };
+            }
+            const message = buildExternalGoal(impl, inputs);
+            await transport.publish({ topic, type: msgType, msg: message });
+            const outputs = { published: true, topic, launch_hint: impl.launch ?? null };
+            return { text: JSON.stringify(outputs), outputs };
+        }
+        return {
+            text: `Capability "${capability.id}" external_ros_node has no action, service, or topic. ` +
+                `Bringup hint: ${impl.launch ?? impl.package ?? "(none)"}.`,
+            isError: true,
+        };
+    }
+    catch (err) {
+        return {
+            text: err instanceof Error ? err.message : String(err),
+            isError: true,
+        };
+    }
+}
+//# sourceMappingURL=external-capability.js.map

package/dist/external-capability.js.map

@@ -0,0 +1 @@
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package/dist/fleet-config.d.ts

@@ -0,0 +1,32 @@
+/**
+ * Static fleet file — Phase 1.d hybrid discovery.
+ *
+ * Precedence: `AGENTICROS_FLEET_PATH` → `~/.agenticros/fleet.json` →
+ * `config.robots[]` (via listRobots). When a fleet file exists and
+ * parses as a non-empty robot array (or `{ robots: [...] }`), it wins.
+ */
+import type { AgenticROSConfig } from "./config.js";
+export declare const DEFAULT_FLEET_FILENAME = "fleet.json";
+/** Resolve the fleet file path (env override or default under ~/.agenticros). */
+export declare function resolveFleetPath(env?: NodeJS.ProcessEnv): string;
+export interface FleetFileResult {
+    /** Absolute path that was checked. */
+    path: string;
+    /** True when the file exists and was used. */
+    used: boolean;
+    /** Parsed robot entries (empty when unused / invalid). */
+    robots: NonNullable<AgenticROSConfig["robots"]>;
+    /** Human-readable error when the file exists but failed to parse. */
+    error?: string;
+}
+/**
+ * Load `fleet.json` if present. Does not throw on missing file.
+ * Invalid JSON / schema → `used: false` with `error` set so callers can warn.
+ */
+export declare function loadFleetFile(path?: string): FleetFileResult;
+/**
+ * Return a config view where `robots` comes from fleet.json when present.
+ * Does not mutate the input config object.
+ */
+export declare function applyFleetOverride(config: AgenticROSConfig, fleetPath?: string): AgenticROSConfig;
+//# sourceMappingURL=fleet-config.d.ts.map

package/dist/fleet-config.d.ts.map

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package/dist/fleet-config.js

@@ -0,0 +1,80 @@
+/**
+ * Static fleet file — Phase 1.d hybrid discovery.
+ *
+ * Precedence: `AGENTICROS_FLEET_PATH` → `~/.agenticros/fleet.json` →
+ * `config.robots[]` (via listRobots). When a fleet file exists and
+ * parses as a non-empty robot array (or `{ robots: [...] }`), it wins.
+ */
+import { existsSync, readFileSync } from "node:fs";
+import { homedir } from "node:os";
+import { join } from "node:path";
+import { AgenticROSConfigSchema } from "./config.js";
+export const DEFAULT_FLEET_FILENAME = "fleet.json";
+/** Resolve the fleet file path (env override or default under ~/.agenticros). */
+export function resolveFleetPath(env = process.env) {
+    const override = env.AGENTICROS_FLEET_PATH?.trim();
+    if (override)
+        return override;
+    return join(homedir(), ".agenticros", DEFAULT_FLEET_FILENAME);
+}
+/**
+ * Load `fleet.json` if present. Does not throw on missing file.
+ * Invalid JSON / schema → `used: false` with `error` set so callers can warn.
+ */
+export function loadFleetFile(path) {
+    const fleetPath = path ?? resolveFleetPath();
+    if (!existsSync(fleetPath)) {
+        return { path: fleetPath, used: false, robots: [] };
+    }
+    try {
+        const raw = JSON.parse(readFileSync(fleetPath, "utf8"));
+        let robotsRaw;
+        if (Array.isArray(raw)) {
+            robotsRaw = raw;
+        }
+        else if (raw && typeof raw === "object" && Array.isArray(raw.robots)) {
+            robotsRaw = raw.robots;
+        }
+        else {
+            return {
+                path: fleetPath,
+                used: false,
+                robots: [],
+                error: "fleet.json must be an array of robots or { robots: [...] }",
+            };
+        }
+        const parsed = AgenticROSConfigSchema.pick({ robots: true }).safeParse({ robots: robotsRaw });
+        if (!parsed.success) {
+            return {
+                path: fleetPath,
+                used: false,
+                robots: [],
+                error: parsed.error.message,
+            };
+        }
+        const robots = parsed.data.robots ?? [];
+        if (robots.length === 0) {
+            return { path: fleetPath, used: false, robots: [] };
+        }
+        return { path: fleetPath, used: true, robots };
+    }
+    catch (err) {
+        return {
+            path: fleetPath,
+            used: false,
+            robots: [],
+            error: err instanceof Error ? err.message : String(err),
+        };
+    }
+}
+/**
+ * Return a config view where `robots` comes from fleet.json when present.
+ * Does not mutate the input config object.
+ */
+export function applyFleetOverride(config, fleetPath) {
+    const fleet = loadFleetFile(fleetPath);
+    if (!fleet.used)
+        return config;
+    return { ...config, robots: fleet.robots };
+}
+//# sourceMappingURL=fleet-config.js.map

package/dist/fleet-config.js.map

@@ -0,0 +1 @@
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package/dist/heartbeat.d.ts

@@ -0,0 +1,70 @@
+/**
+ * RobotInfo heartbeat helpers — Phase 1.d completion.
+ *
+ * `agenticros_discovery` publishes `<ns>/agenticros/robot_info` at 1 Hz.
+ * Consumers treat a robot as online when the last stamp is within
+ * {@link DEFAULT_HEARTBEAT_STALENESS_MS} (5 s per strategy memo).
+ *
+ * Topic-scan path: when adapters only have `listTopics()`, presence of
+ * `/<ns>/agenticros/robot_info` on the graph is a weak online signal
+ * (same as cmd_vel). Prefer {@link mergeRobotHeartbeats} when message
+ * payloads with stamps are available.
+ */
+import type { TopicInfo } from "./transport/types.js";
+import type { RobotSensors } from "./robots.js";
+/** Default staleness window — strategy §4(d): 1 Hz + 5 s. */
+export declare const DEFAULT_HEARTBEAT_STALENESS_MS = 5000;
+/** Parsed robot_info payload (subset of agenticros_msgs/RobotInfo). */
+export interface RobotHeartbeat {
+    /** Stable id (falls back to namespace). */
+    id: string;
+    name: string;
+    kind: string;
+    /** ROS namespace without leading slash. */
+    robot_namespace: string;
+    capability_ids: string[];
+    sensors: RobotSensors;
+    /** Epoch ms of the heartbeat stamp (0 when unknown). */
+    stamp_ms: number;
+    /** Topic the heartbeat was observed on. */
+    topic: string;
+}
+export interface HeartbeatOnlineOptions {
+    /** Wall clock now (ms). Defaults to Date.now(). */
+    nowMs?: number;
+    /** Staleness window in ms. Defaults to 5000. */
+    stalenessMs?: number;
+}
+/**
+ * Extract namespace from `/<ns>/agenticros/robot_info` (or without leading slash).
+ * Returns "" for unnamespaced `/agenticros/robot_info`.
+ */
+export declare function namespaceFromRobotInfoTopic(topic: string): string;
+/** True when the topic name is a robot_info heartbeat topic. */
+export declare function isRobotInfoTopic(topic: string): boolean;
+/**
+ * Detect namespaces that advertise `agenticros/robot_info` on the topic graph
+ * (no stamp available — treat as online for discovery fallback).
+ */
+export declare function detectHeartbeatNamespacesFromTopics(topics: TopicInfo[]): string[];
+/**
+ * Parse a plain RobotInfo-like message into {@link RobotHeartbeat}.
+ * Tolerates missing optional fields.
+ */
+export declare function parseRobotInfoMessage(topic: string, msg: Record<string, unknown>): RobotHeartbeat;
+/** True when the heartbeat stamp is within the staleness window. */
+export declare function isHeartbeatFresh(heartbeat: RobotHeartbeat, options?: HeartbeatOnlineOptions): boolean;
+/**
+ * Merge heartbeats into an online-id set keyed by configured robot id
+ * when `configuredIdByNamespace` is provided, else by heartbeat id /
+ * effective namespace.
+ */
+export declare function onlineIdsFromHeartbeats(heartbeats: readonly RobotHeartbeat[], options?: HeartbeatOnlineOptions & {
+    /** Map effective cmd_vel namespace → configured robot id. */
+    configuredIdByNamespace?: ReadonlyMap<string, string>;
+}): Set<string>;
+/**
+ * Build a map of effective-namespace → latest fresh heartbeat.
+ */
+export declare function mergeRobotHeartbeats(heartbeats: readonly RobotHeartbeat[], options?: HeartbeatOnlineOptions): Map<string, RobotHeartbeat>;
+//# sourceMappingURL=heartbeat.d.ts.map

package/dist/heartbeat.d.ts.map

@@ -0,0 +1 @@
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package/dist/heartbeat.js

@@ -0,0 +1,124 @@
+/**
+ * RobotInfo heartbeat helpers — Phase 1.d completion.
+ *
+ * `agenticros_discovery` publishes `<ns>/agenticros/robot_info` at 1 Hz.
+ * Consumers treat a robot as online when the last stamp is within
+ * {@link DEFAULT_HEARTBEAT_STALENESS_MS} (5 s per strategy memo).
+ *
+ * Topic-scan path: when adapters only have `listTopics()`, presence of
+ * `/<ns>/agenticros/robot_info` on the graph is a weak online signal
+ * (same as cmd_vel). Prefer {@link mergeRobotHeartbeats} when message
+ * payloads with stamps are available.
+ */
+import { effectiveCmdVelNamespace } from "./discovery.js";
+/** Default staleness window — strategy §4(d): 1 Hz + 5 s. */
+export const DEFAULT_HEARTBEAT_STALENESS_MS = 5_000;
+/**
+ * Extract namespace from `/<ns>/agenticros/robot_info` (or without leading slash).
+ * Returns "" for unnamespaced `/agenticros/robot_info`.
+ */
+export function namespaceFromRobotInfoTopic(topic) {
+    const m = topic.match(/^\/?([^/]+)\/agenticros\/robot_info$/);
+    if (m)
+        return m[1];
+    if (topic === "/agenticros/robot_info" || topic === "agenticros/robot_info")
+        return "";
+    return "";
+}
+/** True when the topic name is a robot_info heartbeat topic. */
+export function isRobotInfoTopic(topic) {
+    return /(?:^|\/)agenticros\/robot_info$/.test(topic);
+}
+/**
+ * Detect namespaces that advertise `agenticros/robot_info` on the topic graph
+ * (no stamp available — treat as online for discovery fallback).
+ */
+export function detectHeartbeatNamespacesFromTopics(topics) {
+    const out = new Set();
+    for (const t of topics) {
+        if (!isRobotInfoTopic(t.name))
+            continue;
+        out.add(namespaceFromRobotInfoTopic(t.name));
+    }
+    return [...out];
+}
+function rosTimeToMs(stamp) {
+    if (!stamp || typeof stamp !== "object")
+        return 0;
+    const s = stamp;
+    const sec = Number(s.sec ?? s.secs ?? 0) || 0;
+    const nanosec = Number(s.nanosec ?? s.nsecs ?? 0) || 0;
+    return sec * 1000 + Math.floor(nanosec / 1e6);
+}
+/**
+ * Parse a plain RobotInfo-like message into {@link RobotHeartbeat}.
+ * Tolerates missing optional fields.
+ */
+export function parseRobotInfoMessage(topic, msg) {
+    const nsFromTopic = namespaceFromRobotInfoTopic(topic);
+    const robot_namespace = String(msg.robot_namespace ?? msg.namespace ?? nsFromTopic ?? "");
+    const id = String(msg.id ?? (robot_namespace || "default"));
+    const capability_ids = Array.isArray(msg.capability_ids)
+        ? msg.capability_ids.map((c) => String(c))
+        : Array.isArray(msg.capabilities)
+            ? msg.capabilities.map((c) => String(c))
+            : [];
+    return {
+        id,
+        name: String(msg.name ?? "Robot"),
+        kind: String(msg.kind ?? "amr"),
+        robot_namespace,
+        capability_ids,
+        sensors: {
+            has_realsense: Boolean(msg.has_realsense),
+            has_lidar: Boolean(msg.has_lidar),
+            has_arm: Boolean(msg.has_arm),
+        },
+        stamp_ms: rosTimeToMs(msg.stamp),
+        topic,
+    };
+}
+/** True when the heartbeat stamp is within the staleness window. */
+export function isHeartbeatFresh(heartbeat, options = {}) {
+    const now = options.nowMs ?? Date.now();
+    const window = options.stalenessMs ?? DEFAULT_HEARTBEAT_STALENESS_MS;
+    if (!heartbeat.stamp_ms) {
+        // No stamp — treat as fresh if we just received the message (caller
+        // should only pass live subscribe results here).
+        return true;
+    }
+    return now - heartbeat.stamp_ms <= window;
+}
+/**
+ * Merge heartbeats into an online-id set keyed by configured robot id
+ * when `configuredIdByNamespace` is provided, else by heartbeat id /
+ * effective namespace.
+ */
+export function onlineIdsFromHeartbeats(heartbeats, options = {}) {
+    const online = new Set();
+    for (const hb of heartbeats) {
+        if (!isHeartbeatFresh(hb, options))
+            continue;
+        const eff = effectiveCmdVelNamespace(hb.robot_namespace);
+        const cfgId = options.configuredIdByNamespace?.get(eff);
+        online.add(cfgId ?? hb.id);
+    }
+    return online;
+}
+/**
+ * Build a map of effective-namespace → latest fresh heartbeat.
+ */
+export function mergeRobotHeartbeats(heartbeats, options = {}) {
+    const byNs = new Map();
+    for (const hb of heartbeats) {
+        if (!isHeartbeatFresh(hb, options))
+            continue;
+        const key = effectiveCmdVelNamespace(hb.robot_namespace);
+        const prev = byNs.get(key);
+        if (!prev || hb.stamp_ms >= prev.stamp_ms) {
+            byNs.set(key, hb);
+        }
+    }
+    return byNs;
+}
+//# sourceMappingURL=heartbeat.js.map

package/dist/heartbeat.js.map

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package/dist/index.d.ts

@@ -2,7 +2,7 @@
  * @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
  */
 export type { AgenticROSConfig, RobotTransportOverride } from "./config.js";
-export { AgenticROSConfigSchema, parseConfig, getTransportConfig, } from "./config.js";
+export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
 export { createTransport } from "./transport/factory.js";
 export type { RosTransport } from "./transport/transport.js";
 export type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, TransportConfig, } from "./transport/types.js";
@@ -14,8 +14,14 @@ export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
 export type { MemoryProvider, MemoryRecord, MemoryStatus, RememberInput, RecallInput, ForgetInput, } from "./memory/index.js";
 export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
 export type { Capability, CapabilityField, CapabilityImplementation, CapabilitySource, } from "./capabilities.js";
+export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
+export type { ParsedCapability } from "./capability-schema.js";
+export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
+export type { ExecuteExternalOptions, ExecuteExternalResult, } from "./external-capability.js";
 export { runMission } from "./mission.js";
-export type { Mission, MissionStep, MissionResult, MissionStepResult, MissionToolDispatcher, CapabilityToolBinding, CapabilityToolBindings, MissionCancellationToken, MissionTranscriptEntry, MissionTranscriptSink, RunMissionOptions, } from "./mission.js";
+export type { Mission, MissionStep, MissionResult, MissionStepResult, MissionToolDispatcher, CapabilityToolBinding, CapabilityToolBindings, MissionCancellationToken, MissionControlToken, MissionTranscriptEntry, MissionTranscriptSink, RunMissionOptions, } from "./mission.js";
+export { BUILTIN_MISSION_BINDINGS, EXTERNAL_TOOL_PREFIX, buildMissionBindings, capabilityIdFromExternalTool, defaultToolForCapability, externalToolName, isExternalToolName, passthroughBuildArgs, } from "./mission-bindings.js";
+export type { BuildMissionBindingsOptions, CapabilityWithTool, } from "./mission-bindings.js";
 export { MissionRegistry, generateMissionId, missionTranscriptNamespace, } from "./mission-registry.js";
 export type { MissionRegistryEntry } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
@@ -25,6 +31,10 @@ export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTr
 export type { ResolvedRobot, RobotSensors } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";
 export type { DetectedRobot, RobotDiscoveryResult } from "./discovery.js";
+export { DEFAULT_HEARTBEAT_STALENESS_MS, detectHeartbeatNamespacesFromTopics, isHeartbeatFresh, isRobotInfoTopic, mergeRobotHeartbeats, namespaceFromRobotInfoTopic, onlineIdsFromHeartbeats, parseRobotInfoMessage, } from "./heartbeat.js";
+export type { HeartbeatOnlineOptions, RobotHeartbeat } from "./heartbeat.js";
+export { DEFAULT_FLEET_FILENAME, applyFleetOverride, loadFleetFile, resolveFleetPath, } from "./fleet-config.js";
+export type { FleetFileResult } from "./fleet-config.js";
 export { findRobotsFor } from "./find-robots-for.js";
 export type { FindRobotsForQuery, FindRobotsForMatch, FindRobotsForResult, } from "./find-robots-for.js";
 export { TransportPool, TRANSPORT_POOL_GLOBAL_KEY } from "./transport-pool.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,YAAY,EAAE,gBAAgB,EAAE,sBAAsB,EAAE,MAAM,aAAa,CAAC;AAC5E,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AACzD,YAAY,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,YAAY,EACV,gBAAgB,EAChB,iBAAiB,EACjB,YAAY,EACZ,cAAc,EACd,gBAAgB,EAChB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EACjB,iBAAiB,EACjB,YAAY,EACZ,SAAS,EACT,WAAW,EACX,UAAU,EACV,cAAc,EACd,eAAe,GAChB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,EACrB,KAAK,uBAAuB,GAC7B,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AACzE,YAAY,EACV,cAAc,EACd,YAAY,EACZ,YAAY,EACZ,aAAa,EACb,WAAW,EACX,WAAW,GACZ,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,GACpB,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EACV,UAAU,EACV,eAAe,EACf,wBAAwB,EACxB,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAChC,YAAY,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAC;AAE/D,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAClC,YAAY,EACV,sBAAsB,EACtB,qBAAqB,GACtB,MAAM,0BAA0B,CAAC;AAElC,OAAO,EAAE,UAAU,EAAE,MAAM,cAAc,CAAC;AAC1C,YAAY,EACV,OAAO,EACP,WAAW,EACX,aAAa,EACb,iBAAiB,EACjB,qBAAqB,EACrB,qBAAqB,EACrB,sBAAsB,EACtB,wBAAwB,EACxB,mBAAmB,EACnB,sBAAsB,EACtB,qBAAqB,EACrB,iBAAiB,GAClB,MAAM,cAAc,CAAC;AAEtB,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EACV,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,uBAAuB,CAAC;AAE/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EAAE,oBAAoB,EAAE,MAAM,uBAAuB,CAAC;AAElE,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAC1D,YAAY,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,oBAAoB,CAAC;AAE1E,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AACrB,YAAY,EAAE,aAAa,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAE/D,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,aAAa,EAAE,oBAAoB,EAAE,MAAM,gBAAgB,CAAC;AAE1E,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,sBAAsB,EAAE,cAAc,EAAE,MAAM,gBAAgB,CAAC;AAE7E,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AAEzD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,YAAY,EACV,kBAAkB,EAClB,kBAAkB,EAClB,mBAAmB,GACpB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC;AAC/E,YAAY,EAAE,gBAAgB,EAAE,MAAM,qBAAqB,CAAC"}

package/dist/index.js

@@ -1,7 +1,7 @@
 /**
  * @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
  */
-export { AgenticROSConfigSchema, parseConfig, getTransportConfig, } from "./config.js";
+export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
 export { createTransport } from "./transport/factory.js";
 export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
 export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
@@ -9,12 +9,17 @@ export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
 export { renderAgenticROSBanner, agenticROSBannerLines, } from "./banner.js";
 export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
 export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
+export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
+export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
 export { runMission } from "./mission.js";
+export { BUILTIN_MISSION_BINDINGS, EXTERNAL_TOOL_PREFIX, buildMissionBindings, capabilityIdFromExternalTool, defaultToolForCapability, externalToolName, isExternalToolName, passthroughBuildArgs, } from "./mission-bindings.js";
 export { MissionRegistry, generateMissionId, missionTranscriptNamespace, } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
 export { compileGoalToMission } from "./planner/index.js";
 export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTransportConfigForRobot, hasRobotTransportOverride, } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";
+export { DEFAULT_HEARTBEAT_STALENESS_MS, detectHeartbeatNamespacesFromTopics, isHeartbeatFresh, isRobotInfoTopic, mergeRobotHeartbeats, namespaceFromRobotInfoTopic, onlineIdsFromHeartbeats, parseRobotInfoMessage, } from "./heartbeat.js";
+export { DEFAULT_FLEET_FILENAME, applyFleetOverride, loadFleetFile, resolveFleetPath, } from "./fleet-config.js";
 export { findRobotsFor } from "./find-robots-for.js";
 export { TransportPool, TRANSPORT_POOL_GLOBAL_KEY } from "./transport-pool.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAGH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AAoBzD,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,GAEtB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAUzE,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,GACpB,MAAM,mBAAmB,CAAC;AAQ3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAGhC,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAMlC,OAAO,EAAE,UAAU,EAAE,MAAM,cAAc,CAAC;AAgB1C,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAM/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAG/B,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAG1D,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AAGrB,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AAGxB,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AAGxB,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAG3B,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AAOrD,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC"}

package/dist/memory/mem0/provider.d.ts.map

@@ -1 +1 @@
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