@agenticros/core 0.5.0

package/dist/robots.d.ts

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+/**
+ * Multi-robot support — Phase 1.d of the AgenticROS strategy.
+ *
+ * For most deployments today the gateway talks to a single robot, so
+ * config.robot (a single object) is all that's used. Phase 1.d adds a
+ * `robots` array to the config so a single gateway / chat session can
+ * address multiple robots by id.
+ *
+ * This module is the source of truth for that resolution: from the raw
+ * AgenticROSConfig, what robots does the agent see, and which one is the
+ * active default? Adapters call into it from:
+ *   - `ros2_list_robots` (this phase) — list everything the gateway knows about.
+ *   - `ros2_list_capabilities(robot_id?)` (next iteration) — scope to one robot.
+ *   - `run_mission` (next iteration) — `mission.robot_id` field.
+ *   - per-tool `robot_id` (next iteration) — `ros2_publish`, `ros2_subscribe_once`,
+ *     `ros2_camera_snapshot`, etc.
+ *
+ * Backwards compatibility: when `robots` is empty (i.e. nothing in
+ * config.robots), this module synthesises a one-entry list from the
+ * legacy `config.robot` object so old configs and the single-robot
+ * mental model keep working unchanged. The synthesised entry is marked
+ * default so it's selected by `getActiveRobotId()`.
+ */
+import type { AgenticROSConfig } from "./config.js";
+import type { TransportConfig } from "./transport/types.js";
+/** Sensor/hardware tags on a robot (Phase 1.e). */
+export interface RobotSensors {
+    /** Intel RealSense depth+RGB camera. */
+    has_realsense: boolean;
+    /** 2D or 3D LiDAR sensor. */
+    has_lidar: boolean;
+    /** Robotic manipulator (arm) attached. */
+    has_arm: boolean;
+}
+/** A resolved robot — what the agent + adapters operate on. */
+export interface ResolvedRobot {
+    /** Stable, human-readable identifier. Falls back to namespace when not set. */
+    id: string;
+    /** Display name used by the agent in chat replies. */
+    name: string;
+    /** ROS2 topic namespace prefix (e.g. "robot3946b404..." → /robot3946.../cmd_vel). */
+    namespace: string;
+    /** Default camera topic for `ros2_camera_snapshot`. Empty string when unset. */
+    cameraTopic: string;
+    /**
+     * Phase 1.e robot kind ("amr" | "arm" | "drone" | "rover" | …).
+     * Free-form string. Defaults to "amr" for back-compat (the legacy
+     * fallback synthesises this too).
+     */
+    kind: string;
+    /** Phase 1.e sensor/hardware tags. Defaults to all-false. */
+    sensors: RobotSensors;
+    /**
+     * Phase 1.e optional per-robot capability allowlist. When `undefined`
+     * the robot inherits the global capability registry (the common
+     * case); when set it's the exact list `ros2_find_robots_for` will
+     * filter against for this robot.
+     */
+    capabilities?: string[];
+    /**
+     * Source tag — handy for diagnostics ("Why is this robot in the list?").
+     *   - "config":  from config.robots[]
+     *   - "legacy":  synthesised from the legacy single config.robot object
+     */
+    source: "config" | "legacy";
+}
+export declare function listRobots(config: AgenticROSConfig): ResolvedRobot[];
+/**
+ * Pick the active robot's id according to these rules, in order:
+ *   1. `override` argument (when truthy) — usually a per-tool-call robot_id.
+ *   2. An entry in config.robots with `default: true`.
+ *   3. The first entry in the resolved list (which includes the legacy
+ *      fallback when nothing else is configured).
+ *
+ * Throws when no robots exist at all — that should be impossible because
+ * the legacy fallback always produces at least one — but the guard is
+ * there for robustness against a corrupted config.
+ */
+export declare function getActiveRobotId(config: AgenticROSConfig, override?: string): string;
+/**
+ * Convenience wrapper for tool handlers: extract an optional `robot_id`
+ * (a string) from a tool-args record and call `resolveRobot`. Returns
+ * the active robot when `robot_id` is missing or not a string.
+ *
+ * Throws — with the known robot ids listed in the error — when
+ * `robot_id` is set to an unknown value. Adapters surface that as a
+ * tool error so the agent self-corrects via `ros2_list_robots`.
+ */
+export declare function resolveRobotFromArgs(config: AgenticROSConfig, args: Record<string, unknown>): ResolvedRobot;
+/**
+ * Resolve a robot to its full record by id. When `robotId` is omitted or
+ * empty, the active robot is returned. When `robotId` is provided but
+ * doesn't match any configured robot, throws with the available ids in
+ * the message so the agent can correct itself.
+ */
+export declare function resolveRobot(config: AgenticROSConfig, robotId?: string): ResolvedRobot;
+/**
+ * Phase 1.d-resolve helper: compute the effective `TransportConfig` for
+ * a given robot, honouring an optional per-robot override in
+ * `config.robots[i].transport`.
+ *
+ * Precedence (most specific wins):
+ *   1. The robot's `transport.<mode>` sub-section (e.g. the override's
+ *      `zenoh: { routerEndpoint: ... }`).
+ *   2. The top-level `config.<mode>` section (e.g. the global
+ *      `config.zenoh`).
+ *
+ * When the robot has no `transport` override at all, this returns the
+ * global transport from `getTransportConfig(config)` — so single-robot
+ * deployments behave exactly as before.
+ *
+ * Why this lives here (and not next to `createTransport`):
+ *   - The resolver owns "which robot are we talking about?"; the
+ *     transport factory owns "given a TransportConfig, build an
+ *     instance". Mixing them couples a multi-robot decision into the
+ *     low-level transport layer, which is wrong: adapters that don't
+ *     care about per-robot transports keep using `createTransport` and
+ *     never see this helper.
+ *   - Callers that DO want per-robot pools call this to materialise the
+ *     right `TransportConfig` per id, then hand it to `createTransport`.
+ *
+ * Throws when `robotId` is given but doesn't match any configured robot
+ * (delegated to `resolveRobot`'s error path).
+ */
+export declare function getTransportConfigForRobot(config: AgenticROSConfig, robotId?: string): TransportConfig;
+/**
+ * True when the named robot (or active robot when `robotId` is omitted)
+ * has a per-robot transport override. Adapters use this as a cheap
+ * branch to decide between "reuse the global transport" (fast path) and
+ * "build a per-robot one via `getTransportConfigForRobot`" (pool path).
+ */
+export declare function hasRobotTransportOverride(config: AgenticROSConfig, robotId?: string): boolean;
+//# sourceMappingURL=robots.d.ts.map

package/dist/robots.d.ts.map

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package/dist/robots.js

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+/**
+ * Multi-robot support — Phase 1.d of the AgenticROS strategy.
+ *
+ * For most deployments today the gateway talks to a single robot, so
+ * config.robot (a single object) is all that's used. Phase 1.d adds a
+ * `robots` array to the config so a single gateway / chat session can
+ * address multiple robots by id.
+ *
+ * This module is the source of truth for that resolution: from the raw
+ * AgenticROSConfig, what robots does the agent see, and which one is the
+ * active default? Adapters call into it from:
+ *   - `ros2_list_robots` (this phase) — list everything the gateway knows about.
+ *   - `ros2_list_capabilities(robot_id?)` (next iteration) — scope to one robot.
+ *   - `run_mission` (next iteration) — `mission.robot_id` field.
+ *   - per-tool `robot_id` (next iteration) — `ros2_publish`, `ros2_subscribe_once`,
+ *     `ros2_camera_snapshot`, etc.
+ *
+ * Backwards compatibility: when `robots` is empty (i.e. nothing in
+ * config.robots), this module synthesises a one-entry list from the
+ * legacy `config.robot` object so old configs and the single-robot
+ * mental model keep working unchanged. The synthesised entry is marked
+ * default so it's selected by `getActiveRobotId()`.
+ */
+import { getTransportConfig } from "./config.js";
+/**
+ * Read every robot the config knows about, in declaration order, with
+ * the legacy single-robot fallback applied when config.robots is empty.
+ *
+ * Never throws — an empty list is returned when neither config.robots
+ * nor config.robot.namespace is meaningfully set (and the synthesised
+ * fallback uses "default" as the id in that degenerate case).
+ */
+/** All-false default for {@link RobotSensors}. */
+const DEFAULT_SENSORS = {
+    has_realsense: false,
+    has_lidar: false,
+    has_arm: false,
+};
+export function listRobots(config) {
+    const explicit = Array.isArray(config.robots) ? config.robots : [];
+    if (explicit.length > 0) {
+        return explicit.map((r) => ({
+            id: String(r.id),
+            name: r.name ?? "Robot",
+            namespace: r.namespace ?? "",
+            cameraTopic: r.cameraTopic ?? "",
+            kind: r.kind ?? "amr",
+            sensors: { ...DEFAULT_SENSORS, ...(r.sensors ?? {}) },
+            capabilities: r.capabilities,
+            source: "config",
+        }));
+    }
+    // Legacy fallback — synthesise one entry from config.robot. The
+    // legacy schema doesn't carry kind/sensors/capabilities, so we
+    // default them: kind="amr" (every existing real-robot deployment we
+    // ship is an AMR with RealSense) and sensors all-false (which is
+    // overly conservative but won't surface a false positive in
+    // ros2_find_robots_for). Users on multi-robot deployments will have
+    // promoted into config.robots[] anyway, where the fields are
+    // explicit.
+    const legacy = config.robot ?? { name: "Robot", namespace: "", cameraTopic: "" };
+    const id = (legacy.namespace?.trim() || "default");
+    return [
+        {
+            id,
+            name: legacy.name ?? "Robot",
+            namespace: legacy.namespace ?? "",
+            cameraTopic: legacy.cameraTopic ?? "",
+            kind: "amr",
+            sensors: { ...DEFAULT_SENSORS },
+            source: "legacy",
+        },
+    ];
+}
+/**
+ * Pick the active robot's id according to these rules, in order:
+ *   1. `override` argument (when truthy) — usually a per-tool-call robot_id.
+ *   2. An entry in config.robots with `default: true`.
+ *   3. The first entry in the resolved list (which includes the legacy
+ *      fallback when nothing else is configured).
+ *
+ * Throws when no robots exist at all — that should be impossible because
+ * the legacy fallback always produces at least one — but the guard is
+ * there for robustness against a corrupted config.
+ */
+export function getActiveRobotId(config, override) {
+    if (override && override.trim().length > 0)
+        return override.trim();
+    const explicit = Array.isArray(config.robots) ? config.robots : [];
+    const flagged = explicit.find((r) => r.default === true);
+    if (flagged)
+        return flagged.id;
+    const robots = listRobots(config);
+    if (robots.length === 0) {
+        throw new Error("No robots configured (config.robots is empty and config.robot has no namespace).");
+    }
+    return robots[0].id;
+}
+/**
+ * Convenience wrapper for tool handlers: extract an optional `robot_id`
+ * (a string) from a tool-args record and call `resolveRobot`. Returns
+ * the active robot when `robot_id` is missing or not a string.
+ *
+ * Throws — with the known robot ids listed in the error — when
+ * `robot_id` is set to an unknown value. Adapters surface that as a
+ * tool error so the agent self-corrects via `ros2_list_robots`.
+ */
+export function resolveRobotFromArgs(config, args) {
+    const raw = args["robot_id"];
+    const robotId = typeof raw === "string" ? raw : undefined;
+    return resolveRobot(config, robotId);
+}
+/**
+ * Resolve a robot to its full record by id. When `robotId` is omitted or
+ * empty, the active robot is returned. When `robotId` is provided but
+ * doesn't match any configured robot, throws with the available ids in
+ * the message so the agent can correct itself.
+ */
+export function resolveRobot(config, robotId) {
+    const robots = listRobots(config);
+    if (!robotId || robotId.trim().length === 0) {
+        const activeId = getActiveRobotId(config);
+        const found = robots.find((r) => r.id === activeId);
+        if (!found) {
+            throw new Error(`Active robot id "${activeId}" is not in the resolved list. This is a bug.`);
+        }
+        return found;
+    }
+    const trimmed = robotId.trim();
+    const found = robots.find((r) => r.id === trimmed);
+    if (!found) {
+        const known = robots.map((r) => r.id).join(", ");
+        throw new Error(`Unknown robot_id "${trimmed}". Known ids: ${known || "(none)"}. Use ros2_list_robots to discover.`);
+    }
+    return found;
+}
+/**
+ * Phase 1.d-resolve helper: compute the effective `TransportConfig` for
+ * a given robot, honouring an optional per-robot override in
+ * `config.robots[i].transport`.
+ *
+ * Precedence (most specific wins):
+ *   1. The robot's `transport.<mode>` sub-section (e.g. the override's
+ *      `zenoh: { routerEndpoint: ... }`).
+ *   2. The top-level `config.<mode>` section (e.g. the global
+ *      `config.zenoh`).
+ *
+ * When the robot has no `transport` override at all, this returns the
+ * global transport from `getTransportConfig(config)` — so single-robot
+ * deployments behave exactly as before.
+ *
+ * Why this lives here (and not next to `createTransport`):
+ *   - The resolver owns "which robot are we talking about?"; the
+ *     transport factory owns "given a TransportConfig, build an
+ *     instance". Mixing them couples a multi-robot decision into the
+ *     low-level transport layer, which is wrong: adapters that don't
+ *     care about per-robot transports keep using `createTransport` and
+ *     never see this helper.
+ *   - Callers that DO want per-robot pools call this to materialise the
+ *     right `TransportConfig` per id, then hand it to `createTransport`.
+ *
+ * Throws when `robotId` is given but doesn't match any configured robot
+ * (delegated to `resolveRobot`'s error path).
+ */
+export function getTransportConfigForRobot(config, robotId) {
+    // No explicit robots[] AND no override possible — fast path.
+    const explicit = Array.isArray(config.robots) ? config.robots : [];
+    if (explicit.length === 0)
+        return getTransportConfig(config);
+    // Resolve the id to the *raw* entry (not the synthesised ResolvedRobot,
+    // because that strips the override). `resolveRobot` validates the id
+    // and throws on unknown — we reuse it for that side effect.
+    const robot = resolveRobot(config, robotId);
+    const raw = explicit.find((r) => r.id === robot.id);
+    if (!raw || !raw.transport)
+        return getTransportConfig(config);
+    // Build a synthetic config whose top-level transport mirrors the
+    // override, then run it through the standard `getTransportConfig`
+    // path. This keeps the "what shape does TransportConfig take?" logic
+    // in one place — if a new transport mode is added, only
+    // getTransportConfig needs to change.
+    const override = raw.transport;
+    const synthetic = {
+        ...config,
+        transport: { mode: override.mode },
+        rosbridge: override.mode === "rosbridge" && override.rosbridge
+            ? { ...config.rosbridge, ...override.rosbridge }
+            : config.rosbridge,
+        local: override.mode === "local" && override.local
+            ? { ...config.local, ...override.local }
+            : config.local,
+        zenoh: override.mode === "zenoh" && override.zenoh
+            ? { ...config.zenoh, ...override.zenoh }
+            : config.zenoh,
+        webrtc: override.mode === "webrtc" && override.webrtc
+            ? { ...config.webrtc, ...override.webrtc }
+            : config.webrtc,
+    };
+    return getTransportConfig(synthetic);
+}
+/**
+ * True when the named robot (or active robot when `robotId` is omitted)
+ * has a per-robot transport override. Adapters use this as a cheap
+ * branch to decide between "reuse the global transport" (fast path) and
+ * "build a per-robot one via `getTransportConfigForRobot`" (pool path).
+ */
+export function hasRobotTransportOverride(config, robotId) {
+    const explicit = Array.isArray(config.robots) ? config.robots : [];
+    if (explicit.length === 0)
+        return false;
+    try {
+        const robot = resolveRobot(config, robotId);
+        const raw = explicit.find((r) => r.id === robot.id);
+        return Boolean(raw?.transport);
+    }
+    catch {
+        return false;
+    }
+}
+//# sourceMappingURL=robots.js.map

package/dist/robots.js.map

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

@@ -0,0 +1,47 @@
+import type { AgenticROSConfig } from "./config.js";
+/**
+ * Apply robot namespace to a topic (or service/action name) when configured.
+ * If the namespace is set and the name is root-level (e.g. cmd_vel, battery_state),
+ * returns /<namespace>/<name>. Otherwise returns the normalized name as-is.
+ *
+ * The first argument may be either an `AgenticROSConfig` (legacy single-
+ * robot path) or a bare namespace string (used by per-tool `robot_id`
+ * routing — pass `resolveRobot(config, robot_id).namespace`).
+ *
+ * Example: namespace "robot-uuid", topic "/cmd_vel" -> "/robot-uuid/cmd_vel"
+ * Example: namespace "", topic "/cmd_vel" -> "/cmd_vel"
+ * Example: namespace "robot-uuid", topic "/robot-uuid/odom" -> "/robot-uuid/odom" (unchanged)
+ */
+export declare function toNamespacedTopic(target: AgenticROSConfig | string, topic: string): string;
+/**
+ * Apply robot namespace to any topic when configured (for transport subscribe/publish).
+ * Use this when the robot publishes/subscribes all topics under a namespace (e.g. Zenoh with
+ * zenoh-bridge-ros2dds or rmw_zenoh). If a namespace is set, returns /<namespace>/<topic>
+ * unless the topic already starts with /<namespace>/.
+ *
+ * The first argument may be either an `AgenticROSConfig` or a bare
+ * namespace string (per-robot routing).
+ *
+ * Example: namespace "robot-uuid", topic "/cmd_vel" -> "/robot-uuid/cmd_vel"
+ * Example: namespace "robot-uuid", topic "/camera/camera/color/image_raw/compressed" -> "/robot-uuid/camera/camera/color/image_raw/compressed"
+ * Example: namespace "robot-uuid", topic "/robot-uuid/odom" -> "/robot-uuid/odom" (unchanged)
+ */
+export declare function toNamespacedTopicFull(target: AgenticROSConfig | string, topic: string): string;
+/**
+ * Canonical topic string for teleop UI and ?topic= query params: leading slash, no robot namespace prefix.
+ * Subscribe/publish still uses {@link toNamespacedTopicFull} on the server so Zenoh keys match the bridge.
+ *
+ * Teleop is single-robot today, so this still takes the full config.
+ */
+export declare function toTeleopCameraTopicShort(config: AgenticROSConfig, topic: string): string;
+/**
+ * ROS topic to use when subscribing to camera streams (Zenoh / DDS).
+ * Unlike {@link toNamespacedTopicFull}, common sensor topics stay at the graph root (`/camera/...`, `/zed/...`)
+ * even when the namespace is set for cmd_vel. If the topic already starts with `/<namespace>/`, it is left as-is.
+ * Other multi-segment paths get the namespace prefix (same as Full) for odd layouts.
+ *
+ * The first argument may be either an `AgenticROSConfig` or a bare
+ * namespace string (per-robot routing).
+ */
+export declare function resolveCameraSubscribeTopic(target: AgenticROSConfig | string, topic: string): string;
+//# sourceMappingURL=topic-utils.d.ts.map

package/dist/topic-utils.d.ts.map

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package/dist/topic-utils.js

@@ -0,0 +1,136 @@
+/**
+ * Topic-utility module — the single source of truth for namespace
+ * prefixing across all adapters and the mission runner.
+ *
+ * Phase 1.d (multi-robot) extends every public helper to accept *either*
+ * the full AgenticROSConfig (uses config.robot.namespace, the legacy
+ * single-robot behaviour) *or* a bare namespace string. The string-arg
+ * form is what per-tool `robot_id` routing goes through: callers resolve
+ * a `ResolvedRobot` via `resolveRobot(config, robot_id)` and pass
+ * `robot.namespace` directly.
+ *
+ * Every existing call site continues to work unchanged because the
+ * config-arg form is preserved verbatim.
+ */
+/**
+ * Normalize a ROS 2 topic name to a canonical form (leading slash, no trailing slash).
+ */
+function normalizeTopic(topic) {
+    const t = topic.trim().replace(/^\/+/, "").replace(/\/+$/, "");
+    return t ? `/${t}` : "/";
+}
+/**
+ * Return true if the topic is "root-level" (single segment, e.g. cmd_vel, battery_state).
+ */
+function isRootLevelTopic(normalized) {
+    const withoutLeading = normalized.replace(/^\/+/, "");
+    return withoutLeading.length > 0 && !withoutLeading.includes("/");
+}
+/**
+ * Resolve a namespace from either a string or an AgenticROSConfig. The
+ * config form pulls from config.robot.namespace (legacy single-robot
+ * behaviour); the string form is taken verbatim. Empty/whitespace
+ * collapses to "" so the rest of the prefix logic short-circuits.
+ */
+function resolveNamespace(target) {
+    if (typeof target === "string")
+        return target.trim();
+    return (target.robot?.namespace ?? "").trim();
+}
+/**
+ * Apply robot namespace to a topic (or service/action name) when configured.
+ * If the namespace is set and the name is root-level (e.g. cmd_vel, battery_state),
+ * returns /<namespace>/<name>. Otherwise returns the normalized name as-is.
+ *
+ * The first argument may be either an `AgenticROSConfig` (legacy single-
+ * robot path) or a bare namespace string (used by per-tool `robot_id`
+ * routing — pass `resolveRobot(config, robot_id).namespace`).
+ *
+ * Example: namespace "robot-uuid", topic "/cmd_vel" -> "/robot-uuid/cmd_vel"
+ * Example: namespace "", topic "/cmd_vel" -> "/cmd_vel"
+ * Example: namespace "robot-uuid", topic "/robot-uuid/odom" -> "/robot-uuid/odom" (unchanged)
+ */
+export function toNamespacedTopic(target, topic) {
+    const normalized = normalizeTopic(topic);
+    const ns = resolveNamespace(target);
+    if (!ns)
+        return normalized;
+    if (!isRootLevelTopic(normalized))
+        return normalized;
+    const segment = normalized.replace(/^\/+/, "");
+    return `/${ns}/${segment}`;
+}
+/**
+ * Apply robot namespace to any topic when configured (for transport subscribe/publish).
+ * Use this when the robot publishes/subscribes all topics under a namespace (e.g. Zenoh with
+ * zenoh-bridge-ros2dds or rmw_zenoh). If a namespace is set, returns /<namespace>/<topic>
+ * unless the topic already starts with /<namespace>/.
+ *
+ * The first argument may be either an `AgenticROSConfig` or a bare
+ * namespace string (per-robot routing).
+ *
+ * Example: namespace "robot-uuid", topic "/cmd_vel" -> "/robot-uuid/cmd_vel"
+ * Example: namespace "robot-uuid", topic "/camera/camera/color/image_raw/compressed" -> "/robot-uuid/camera/camera/color/image_raw/compressed"
+ * Example: namespace "robot-uuid", topic "/robot-uuid/odom" -> "/robot-uuid/odom" (unchanged)
+ */
+export function toNamespacedTopicFull(target, topic) {
+    const normalized = normalizeTopic(topic);
+    const ns = resolveNamespace(target);
+    if (!ns)
+        return normalized;
+    const withoutLeading = normalized.replace(/^\/+/, "");
+    if (!withoutLeading)
+        return normalized;
+    if (withoutLeading.startsWith(`${ns}/`) || withoutLeading === ns)
+        return normalized;
+    return `/${ns}/${withoutLeading}`;
+}
+/**
+ * Canonical topic string for teleop UI and ?topic= query params: leading slash, no robot namespace prefix.
+ * Subscribe/publish still uses {@link toNamespacedTopicFull} on the server so Zenoh keys match the bridge.
+ *
+ * Teleop is single-robot today, so this still takes the full config.
+ */
+export function toTeleopCameraTopicShort(config, topic) {
+    const normalized = normalizeTopic(topic);
+    const ns = (config.robot?.namespace ?? "").trim();
+    if (!ns)
+        return normalized;
+    const withoutLeading = normalized.replace(/^\/+/, "");
+    if (!withoutLeading)
+        return normalized;
+    if (withoutLeading === ns)
+        return "/";
+    if (withoutLeading.startsWith(`${ns}/`)) {
+        const rest = withoutLeading.slice(ns.length + 1);
+        return rest ? `/${rest}` : "/";
+    }
+    return normalized;
+}
+/**
+ * ROS topic to use when subscribing to camera streams (Zenoh / DDS).
+ * Unlike {@link toNamespacedTopicFull}, common sensor topics stay at the graph root (`/camera/...`, `/zed/...`)
+ * even when the namespace is set for cmd_vel. If the topic already starts with `/<namespace>/`, it is left as-is.
+ * Other multi-segment paths get the namespace prefix (same as Full) for odd layouts.
+ *
+ * The first argument may be either an `AgenticROSConfig` or a bare
+ * namespace string (per-robot routing).
+ */
+export function resolveCameraSubscribeTopic(target, topic) {
+    const normalized = normalizeTopic(topic);
+    const ns = resolveNamespace(target);
+    if (!ns)
+        return normalized;
+    const withoutLeading = normalized.replace(/^\/+/, "");
+    if (!withoutLeading)
+        return normalized;
+    if (withoutLeading === ns || withoutLeading.startsWith(`${ns}/`))
+        return normalized;
+    const first = withoutLeading.split("/")[0] ?? "";
+    /** First path segment for topics that usually remain unprefixed while cmd_vel is namespaced. */
+    const globalRoots = new Set(["camera", "zed", "usb_cam", "image_raw", "depth"]);
+    if (first && globalRoots.has(first))
+        return normalized;
+    return `/${ns}/${withoutLeading}`;
+}
+//# sourceMappingURL=topic-utils.js.map

package/dist/topic-utils.js.map

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

@@ -0,0 +1,10 @@
+import type { TransportConfig } from "./types.js";
+import type { RosTransport } from "./transport.js";
+/**
+ * Create a RosTransport instance for the given deployment mode.
+ *
+ * Uses dynamic import() to load the correct adapter so that
+ * unused adapters (and their dependencies) are never loaded.
+ */
+export declare function createTransport(config: TransportConfig): Promise<RosTransport>;
+//# sourceMappingURL=factory.d.ts.map

package/dist/transport/factory.d.ts.map

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package/dist/transport/factory.js

@@ -0,0 +1,40 @@
+/**
+ * Create a RosTransport instance for the given deployment mode.
+ *
+ * Uses dynamic import() to load the correct adapter so that
+ * unused adapters (and their dependencies) are never loaded.
+ */
+export async function createTransport(config) {
+    switch (config.mode) {
+        case "rosbridge": {
+            const { RosbridgeTransport } = await import("./rosbridge/adapter.js");
+            return new RosbridgeTransport(config.rosbridge);
+        }
+        case "local": {
+            try {
+                const { LocalTransport } = await import("./local/transport.js");
+                return new LocalTransport(config.local);
+            }
+            catch (e) {
+                if (e?.code === "ERR_MODULE_NOT_FOUND" || e?.code === "MODULE_NOT_FOUND") {
+                    throw new Error('Mode A (local) requires the "rclnodejs" package. ' +
+                        "Install it with: pnpm add rclnodejs (with ROS2 workspace sourced)");
+                }
+                throw e;
+            }
+        }
+        case "webrtc": {
+            const { WebRTCTransport } = await import("./webrtc/transport.js");
+            return new WebRTCTransport(config.webrtc);
+        }
+        case "zenoh": {
+            const { ZenohTransport } = await import("./zenoh/adapter.js");
+            return new ZenohTransport(config.zenoh);
+        }
+        default: {
+            const _exhaustive = config;
+            throw new Error(`Unknown transport mode: ${_exhaustive.mode}`);
+        }
+    }
+}
+//# sourceMappingURL=factory.js.map

package/dist/transport/factory.js.map

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package/dist/transport/local/conversion.d.ts

@@ -0,0 +1,30 @@
+/**
+ * Message conversion between plain JS objects and rclnodejs typed messages.
+ *
+ * The RosTransport interface works with `Record<string, unknown>`, but
+ * rclnodejs works with typed message class instances. This module bridges
+ * the two — analogous to rosbridge_library's `dict_to_msg` / `msg_to_dict`.
+ */
+/**
+ * Load a ROS2 message/service/action class via rclnodejs, with caching.
+ */
+export declare function loadMessageClass(typeStr: string): any;
+/**
+ * Convert a plain JS object to an rclnodejs message instance.
+ *
+ * Recursively assigns fields from `obj` onto a new message instance,
+ * handling nested sub-messages (e.g. Twist.linear is a Vector3).
+ */
+export declare function toRosMessage(typeStr: string, obj: Record<string, unknown>): any;
+/**
+ * Convert an rclnodejs message instance to a plain JS object.
+ *
+ * Uses `toPlainObject()` if available (rclnodejs >= 0.21), otherwise
+ * falls back to manual recursive field extraction.
+ */
+export declare function fromRosMessage(msg: any, rosTypeHint?: string): Record<string, unknown>;
+/**
+ * Clear the type cache. Called during shutdown.
+ */
+export declare function clearTypeCache(): void;
+//# sourceMappingURL=conversion.d.ts.map