@agenticros/core 0.5.0

package/LICENSE

@@ -0,0 +1,192 @@
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package/README.md

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+# @agenticros/core
+
+Platform-agnostic ROS2 transport, types, and config schema. This package is the **single dependency** every AgenticROS adapter and skill imports.
+
+It contains:
+
+- The `RosTransport` interface every transport implementation satisfies.
+- Four implementations: **Zenoh** (binary CDR), **Rosbridge** (WebSocket JSON), **WebRTC** (Mode C, cloud/remote), and **Local DDS** via `rclnodejs`.
+- A Zod config schema (`AgenticROSConfig`) shared across all adapters.
+- Topic-namespace utilities, capability registry, and a small long-term memory layer (`mem0` or local file backend).
+
+You don't normally use it directly — you use one of the adapters that depends on it:
+
+- [`agenticros`](https://github.com/agenticros/agenticros) — OpenClaw plugin
+- [`@agenticros/claude-code`](https://github.com/agenticros/agenticros) — MCP server for Claude Code / Codex CLI / Claude Desktop
+- [`@agenticros/gemini`](https://github.com/agenticros/agenticros) — Gemini CLI adapter
+
+…or you build a **skill** for one of them.
+
+## Building a skill
+
+A skill is an npm package that registers tools the AI agent can call on your robot.
+
+```bash
+npm install --save @agenticros/core
+```
+
+Your `package.json` declares an `agenticros` block:
+
+```jsonc
+{
+  "name": "agenticros-skill-myskill",
+  "main": "dist/index.js",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/you/agenticros-skill-myskill.git"
+  },
+  "agenticros": {
+    "id": "myskill",
+    "displayName": "My Skill",
+    "description": "What this skill does in one sentence.",
+    "categories": ["navigation"],
+    "screenshots": ["docs/screenshot.png"],
+    "capabilities": [
+      {
+        "id": "do_thing",
+        "verb": "do",
+        "description": "Do the thing.",
+        "inputs": { "thing": "string" }
+      }
+    ]
+  },
+  "dependencies": {
+    "@agenticros/core": "^0.5.0"
+  }
+}
+```
+
+Your entry exports a `registerSkill` function:
+
+```ts
+import type { RegisterSkill } from "@agenticros/core";
+
+export const registerSkill: RegisterSkill = (api, _config, _context) => {
+  api.registerTool({
+    name: "do_thing",
+    label: "Do thing",
+    description: "Do the thing on the robot.",
+    parameters: /* @sinclair/typebox schema */,
+    async execute(_callId, params) {
+      // ...do the thing
+      return { ok: true };
+    },
+  });
+};
+```
+
+Submit your skill to the marketplace at **[skills.agenticros.com/submit](https://skills.agenticros.com/submit)** — sign in with GitHub, paste your repo URL, and your skill becomes installable with:
+
+```bash
+npx agenticros skills install myskill
+```
+
+See the [skills contract & guide](https://github.com/agenticros/agenticros/blob/main/docs/skills.md) for the full reference.
+
+## License
+
+Apache-2.0

package/dist/banner.d.ts

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+export interface AgenticROSBannerOptions {
+    color?: boolean;
+    tagline?: boolean;
+}
+export declare function renderAgenticROSBanner(options?: AgenticROSBannerOptions): string;
+export declare function agenticROSBannerLines(options?: AgenticROSBannerOptions): string[];
+//# sourceMappingURL=banner.d.ts.map

package/dist/banner.d.ts.map

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package/dist/banner.js

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+const ANSI_GREEN = "\x1b[92m";
+const ANSI_YELLOW = "\x1b[93m";
+const ANSI_DIM = "\x1b[2m";
+const ANSI_RESET = "\x1b[0m";
+const LOGO = String.raw `
+    _                     _   _       ____   ___  ____
+   / \   __ _  ___ _ __ | |_(_) ___ |  _ \ / _ \/ ___|
+  / _ \ / _` + "`" + String.raw ` |/ _ \ '_ \| __| |/ __|| |_) | | | \___ \
+ / ___ \ (_| |  __/ | | | |_| | (__ |  _ <| |_| |___) |
+/_/   \_\__, |\___|_| |_|\__|_|\___||_| \_\___/|____/
+        |___/`;
+export function renderAgenticROSBanner(options = {}) {
+    const tagline = options.tagline ?? true;
+    if (!options.color) {
+        return tagline ? `${LOGO}\n  AgenticROS - agentic AI for ROS-powered robots` : LOGO;
+    }
+    const coloredLogo = `${ANSI_GREEN}${LOGO}${ANSI_RESET}`;
+    return tagline
+        ? `${coloredLogo}\n${ANSI_YELLOW}  AgenticROS${ANSI_RESET} ${ANSI_DIM}- agentic AI for ROS-powered robots${ANSI_RESET}`
+        : coloredLogo;
+}
+export function agenticROSBannerLines(options = {}) {
+    return renderAgenticROSBanner(options).split("\n");
+}
+//# sourceMappingURL=banner.js.map

package/dist/banner.js.map

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package/dist/capabilities.d.ts

@@ -0,0 +1,101 @@
+/**
+ * Capability registry — Phase 1.a/1.b of the AgenticROS strategy.
+ *
+ * A capability is a named, declarable verb an LLM can plan against
+ * (`follow_person`, `find_object`, `take_snapshot`, `drive_base`).
+ * It's deliberately shaped to match inter-agent protocol agent cards
+ * (ACP / A2A) so a skill's capability today is readable as an agent
+ * capability when Phase 4 lands — no rewrite required.
+ *
+ * Two kinds of capabilities:
+ *  - **Intrinsic** — built into every AgenticROS deployment (drive_base,
+ *    take_snapshot, measure_depth, list_topics, publish, subscribe). Lives
+ *    in this file as `BUILTIN_CAPABILITIES`.
+ *  - **Skill-declared** — comes from a skill package's `package.json`
+ *    under `agenticrosSkill.capabilities[]` (or a sibling
+ *    `capabilities.json`). Read at adapter startup.
+ *
+ * See: docs/strategy-ai-agents-plus-ros.md §4 (Phase 1).
+ */
+import type { AgenticROSConfig } from "./config.js";
+/** Where a capability came from. */
+export type CapabilitySource = {
+    kind: "builtin";
+} | {
+    kind: "skill";
+    skillId: string;
+    package: string;
+    path?: string;
+};
+/** Implementation hint — in-process Node.js skill vs external ROS node. */
+export type CapabilityImplementation = {
+    kind: "in_process";
+} | {
+    kind: "external_ros_node";
+    package?: string;
+    launch?: string;
+    action?: string;
+    service?: string;
+    topic?: string;
+    msg_type?: string;
+};
+/** Typed input/output schema — minimal, JSON-Schema-ish. */
+export interface CapabilityField {
+    type: string;
+    description?: string;
+    optional?: boolean;
+    default?: unknown;
+}
+/**
+ * One capability the agent can plan against.
+ *
+ * Required: `id`, `verb`, `description`.
+ * Everything else is optional so a skill can adopt the manifest
+ * incrementally.
+ */
+export interface Capability {
+    /** Unique identifier within a robot (e.g. `follow_person`, `find_object`). */
+    id: string;
+    /** High-level verb (`follow`, `find`, `navigate`, `manipulate`, `map`, `detect`). */
+    verb: string;
+    /** One-line, human-readable description. */
+    description: string;
+    /** Optional structured inputs the agent can fill. */
+    inputs?: Record<string, CapabilityField>;
+    /** Optional structured outputs the skill emits. */
+    outputs?: Record<string, CapabilityField>;
+    /** Free-form preconditions ("depthTopic available", "person detected"). */
+    preconditions?: string[];
+    /** Can be canceled mid-execution? Default true for intrinsic, varies for skills. */
+    interruptible?: boolean;
+    /** Owns the robot base (cmd_vel); other base-owning skills should yield. */
+    blocks_base?: boolean;
+    /** How the capability is implemented. Defaults to `in_process` when unset. */
+    implementation?: CapabilityImplementation;
+    /** Set by the registry, not the skill author. */
+    source?: CapabilitySource;
+}
+/**
+ * Built-in robot verbs — wrap the raw MCP tools in agent-meaningful
+ * capability names. The intrinsic set is intentionally small and stable
+ * so the agent's planning surface stays understandable as skill catalogs
+ * grow.
+ */
+export declare const BUILTIN_CAPABILITIES: readonly Capability[];
+/**
+ * Read every capability declared by every skill referenced in `config`.
+ * Sources both `skillPaths` (directories with a package.json) and
+ * `skillPackages` (resolvable npm names).
+ *
+ * Failures are silent — a missing skill is logged elsewhere by the
+ * skill loader; this function focuses on returning the capabilities
+ * it can read.
+ */
+export declare function readSkillCapabilities(config: AgenticROSConfig): Capability[];
+/**
+ * Return the full capability list: built-in robot verbs first, then
+ * skill-declared capabilities. This is the shape returned by
+ * `ros2_list_capabilities` across every adapter.
+ */
+export declare function listAllCapabilities(config: AgenticROSConfig): Capability[];
+//# sourceMappingURL=capabilities.d.ts.map

package/dist/capabilities.d.ts.map

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package/dist/capabilities.js

@@ -0,0 +1,240 @@
+/**
+ * Capability registry — Phase 1.a/1.b of the AgenticROS strategy.
+ *
+ * A capability is a named, declarable verb an LLM can plan against
+ * (`follow_person`, `find_object`, `take_snapshot`, `drive_base`).
+ * It's deliberately shaped to match inter-agent protocol agent cards
+ * (ACP / A2A) so a skill's capability today is readable as an agent
+ * capability when Phase 4 lands — no rewrite required.
+ *
+ * Two kinds of capabilities:
+ *  - **Intrinsic** — built into every AgenticROS deployment (drive_base,
+ *    take_snapshot, measure_depth, list_topics, publish, subscribe). Lives
+ *    in this file as `BUILTIN_CAPABILITIES`.
+ *  - **Skill-declared** — comes from a skill package's `package.json`
+ *    under `agenticrosSkill.capabilities[]` (or a sibling
+ *    `capabilities.json`). Read at adapter startup.
+ *
+ * See: docs/strategy-ai-agents-plus-ros.md §4 (Phase 1).
+ */
+import { createRequire } from "node:module";
+import { readFileSync, existsSync } from "node:fs";
+import { join, resolve as resolvePath } from "node:path";
+/**
+ * Built-in robot verbs — wrap the raw MCP tools in agent-meaningful
+ * capability names. The intrinsic set is intentionally small and stable
+ * so the agent's planning surface stays understandable as skill catalogs
+ * grow.
+ */
+export const BUILTIN_CAPABILITIES = [
+    {
+        id: "drive_base",
+        verb: "drive",
+        description: "Drive the robot base by publishing geometry_msgs/Twist to the configured cmd_vel topic. " +
+            "Linear/angular velocities are clamped server-side by safety.maxLinearVelocity / maxAngularVelocity.",
+        inputs: {
+            linear_x: { type: "number", description: "Forward velocity (m/s).", optional: true },
+            angular_z: { type: "number", description: "Yaw velocity (rad/s).", optional: true },
+        },
+        interruptible: true,
+        blocks_base: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "take_snapshot",
+        verb: "see",
+        description: "Capture one frame from the configured camera topic. Returns base64-encoded JPEG/PNG.",
+        inputs: {
+            topic: { type: "string", description: "Camera topic (defaults to robot.cameraTopic).", optional: true },
+        },
+        outputs: {
+            format: { type: "string", description: "Image format (jpeg / png)." },
+            width: { type: "number", description: "Image width in pixels." },
+            height: { type: "number", description: "Image height in pixels." },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "measure_depth",
+        verb: "measure",
+        description: "Sample the center of a depth image and return a distance in meters. " +
+            "Use to answer 'how far am I from X' style questions.",
+        inputs: {
+            topic: { type: "string", description: "Depth topic.", optional: true },
+        },
+        outputs: {
+            distance_m: { type: "number", description: "Distance in meters at image center." },
+            median_m: { type: "number", description: "Median distance across sampled pixels." },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "list_topics",
+        verb: "introspect",
+        description: "List all reachable ROS 2 topics with their message types. Use for discovery when " +
+            "no other capability fits or to confirm what the robot currently publishes.",
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "publish_topic",
+        verb: "publish",
+        description: "Generic ROS 2 publish escape hatch. Prefer a named capability when one exists; " +
+            "publishes are safety-checked but otherwise unmediated.",
+        inputs: {
+            topic: { type: "string", description: "ROS 2 topic name." },
+            type: { type: "string", description: "ROS 2 message type (e.g. geometry_msgs/msg/Twist)." },
+            message: { type: "object", description: "Message payload matching the type schema." },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "subscribe_once",
+        verb: "read",
+        description: "Read one message from a ROS 2 topic. Use for one-shot sensor reads or state checks.",
+        inputs: {
+            topic: { type: "string", description: "ROS 2 topic name." },
+            type: { type: "string", description: "ROS 2 message type (optional, often inferred).", optional: true },
+            timeout: { type: "number", description: "Milliseconds to wait (default 5000).", optional: true },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+];
+function isCapabilityLike(value) {
+    if (!value || typeof value !== "object")
+        return false;
+    const v = value;
+    return typeof v.id === "string" && v.id.length > 0;
+}
+function normalizeCapability(raw, source) {
+    return {
+        id: raw.id,
+        verb: typeof raw.verb === "string" && raw.verb ? raw.verb : raw.id,
+        description: typeof raw.description === "string" ? raw.description : "",
+        ...(raw.inputs ? { inputs: raw.inputs } : {}),
+        ...(raw.outputs ? { outputs: raw.outputs } : {}),
+        ...(raw.preconditions ? { preconditions: raw.preconditions } : {}),
+        ...(typeof raw.interruptible === "boolean" ? { interruptible: raw.interruptible } : {}),
+        ...(typeof raw.blocks_base === "boolean" ? { blocks_base: raw.blocks_base } : {}),
+        ...(raw.implementation ? { implementation: raw.implementation } : { implementation: { kind: "in_process" } }),
+        source,
+    };
+}
+/**
+ * Read the `agenticros.capabilities[]` array from a skill's package.json.
+ * Returns `null` if the package doesn't declare a valid `agenticros` block.
+ *
+ * The legacy `agenticrosSkill: true | { capabilities }` form is NOT supported
+ * — every skill must use the single `agenticros` block as its source of truth.
+ */
+function readSkillManifestFromDir(packageDir) {
+    const pkgJsonPath = join(packageDir, "package.json");
+    if (!existsSync(pkgJsonPath))
+        return null;
+    let pkg;
+    try {
+        pkg = JSON.parse(readFileSync(pkgJsonPath, "utf-8"));
+    }
+    catch {
+        return null;
+    }
+    if (!pkg.agenticros || typeof pkg.agenticros !== "object")
+        return null;
+    if (typeof pkg.agenticros.id !== "string")
+        return null;
+    const packageName = pkg.name ?? "unknown";
+    const skillId = pkg.agenticros.id;
+    const rawCaps = [];
+    const caps = pkg.agenticros.capabilities;
+    if (Array.isArray(caps)) {
+        for (const c of caps)
+            if (isCapabilityLike(c))
+                rawCaps.push(c);
+    }
+    return { packageName, skillId, rawCaps };
+}
+function resolvePackageDir(packageName, searchPaths) {
+    const req = createRequire(import.meta.url);
+    for (const base of [...searchPaths, process.cwd()]) {
+        try {
+            const entry = req.resolve(`${packageName}/package.json`, { paths: [base] });
+            return entry.replace(/\/package\.json$/, "");
+        }
+        catch {
+        }
+    }
+    try {
+        const entry = req.resolve(`${packageName}/package.json`);
+        return entry.replace(/\/package\.json$/, "");
+    }
+    catch {
+        return null;
+    }
+}
+/**
+ * Read every capability declared by every skill referenced in `config`.
+ * Sources both `skillPaths` (directories with a package.json) and
+ * `skillPackages` (resolvable npm names).
+ *
+ * Failures are silent — a missing skill is logged elsewhere by the
+ * skill loader; this function focuses on returning the capabilities
+ * it can read.
+ */
+export function readSkillCapabilities(config) {
+    const out = [];
+    const seen = new Set();
+    const skillPaths = config.skillPaths ?? [];
+    const skillPackages = config.skillPackages ?? [];
+    for (const dir of skillPaths) {
+        const absDir = resolvePath(dir);
+        const manifest = readSkillManifestFromDir(absDir);
+        if (!manifest)
+            continue;
+        for (const raw of manifest.rawCaps) {
+            const key = `${manifest.skillId}:${raw.id}`;
+            if (seen.has(key))
+                continue;
+            seen.add(key);
+            out.push(normalizeCapability(raw, {
+                kind: "skill",
+                skillId: manifest.skillId,
+                package: manifest.packageName,
+                path: absDir,
+            }));
+        }
+    }
+    for (const pkgName of skillPackages) {
+        const packageDir = resolvePackageDir(pkgName, skillPaths.map((p) => resolvePath(p)));
+        if (!packageDir)
+            continue;
+        const manifest = readSkillManifestFromDir(packageDir);
+        if (!manifest)
+            continue;
+        for (const raw of manifest.rawCaps) {
+            const key = `${manifest.skillId}:${raw.id}`;
+            if (seen.has(key))
+                continue;
+            seen.add(key);
+            out.push(normalizeCapability(raw, {
+                kind: "skill",
+                skillId: manifest.skillId,
+                package: manifest.packageName,
+                path: packageDir,
+            }));
+        }
+    }
+    return out;
+}
+/**
+ * Return the full capability list: built-in robot verbs first, then
+ * skill-declared capabilities. This is the shape returned by
+ * `ros2_list_capabilities` across every adapter.
+ */
+export function listAllCapabilities(config) {
+    return [...BUILTIN_CAPABILITIES, ...readSkillCapabilities(config)];
+}
+//# sourceMappingURL=capabilities.js.map