@agenticros/core 0.5.0

package/dist/transport/local/transport.js

@@ -0,0 +1,344 @@
+import { createRequire } from "node:module";
+import { EntityCache } from "./entities.js";
+import { toRosMessage, fromRosMessage, loadMessageClass, clearTypeCache } from "./conversion.js";
+const require = createRequire(import.meta.url);
+/** Internal ROS2 topics/services to filter from introspection results. */
+const INTERNAL_TOPIC_PREFIXES = ["/rosout", "/parameter_events", "/agenticros/"];
+const INTERNAL_SERVICE_SUFFIXES = [
+    "/describe_parameters",
+    "/get_parameter_types",
+    "/get_parameters",
+    "/list_parameters",
+    "/set_parameters",
+    "/set_parameters_atomically",
+];
+/**
+ * Mode A transport: direct local DDS communication via rclnodejs.
+ *
+ * When OpenClaw runs on the robot itself, this transport talks to ROS2
+ * directly via the local DDS bus — no network intermediary needed.
+ */
+export class LocalTransport {
+    domainId;
+    status = "disconnected";
+    connectionHandlers = new Set();
+    /** rclnodejs module — loaded dynamically at runtime (optional dep, no types). */
+    rclnodejs = null;
+    node = null;
+    entityCache = null;
+    activeGoals = new Map();
+    /** Singleton guard — rclnodejs.init() must only be called once per process. */
+    static rclInitialized = false;
+    constructor(options) {
+        this.domainId = options?.domainId ?? 0;
+    }
+    // --- Connection lifecycle ---
+    async connect() {
+        if (this.status === "connected")
+            return;
+        this.setStatus("connecting");
+        try {
+            this.rclnodejs = require("rclnodejs");
+            // Set domain ID before init if non-default
+            if (this.domainId !== 0) {
+                process.env.ROS_DOMAIN_ID = String(this.domainId);
+            }
+            // Global init — only once per process
+            if (!LocalTransport.rclInitialized) {
+                await this.rclnodejs.init();
+                LocalTransport.rclInitialized = true;
+            }
+            // Use a process-unique node name. If two AgenticROS adapters (e.g. the
+            // OpenClaw gateway plugin + the Claude Code MCP server) share the host,
+            // a fixed name collides on the DDS bus: rcl logs "Publisher already
+            // registered for provided node name" and DDS discovery on the duplicate
+            // becomes slow/lossy — listTopics() then returns 0 right after connect.
+            const nodeName = `agenticros_local_${process.pid}`;
+            this.node = this.rclnodejs.createNode(nodeName);
+            this.rclnodejs.spin(this.node);
+            this.entityCache = new EntityCache();
+            // Give DDS discovery a brief moment to receive announcements from peers
+            // before we report "connected". Without this the very first listTopics()
+            // can race the executor and return empty even though peers exist.
+            // 1500ms was chosen empirically on Jetson + Humble where /arm/*/cmd_pos
+            // topics from a sim_arm gz_bridge child take ~1.2s to propagate via
+            // multicast (vs ~400ms on x86); the prior 750ms cap caused first
+            // list_topics() calls to miss them.
+            await new Promise((resolve) => setTimeout(resolve, 1500));
+            this.setStatus("connected");
+        }
+        catch (err) {
+            this.setStatus("disconnected");
+            throw err;
+        }
+    }
+    async disconnect() {
+        if (this.status === "disconnected")
+            return;
+        // Cancel any active action goals
+        for (const [action] of this.activeGoals) {
+            try {
+                await this.cancelActionGoal(action);
+            }
+            catch {
+                // Best-effort
+            }
+        }
+        this.activeGoals.clear();
+        if (this.entityCache && this.node) {
+            this.entityCache.destroyAll(this.node);
+            this.entityCache = null;
+        }
+        if (this.node) {
+            this.node.destroy();
+            this.node = null;
+        }
+        if (this.rclnodejs && LocalTransport.rclInitialized) {
+            try {
+                this.rclnodejs.shutdown();
+            }
+            catch {
+                // May already be shut down
+            }
+            LocalTransport.rclInitialized = false;
+        }
+        clearTypeCache();
+        this.rclnodejs = null;
+        this.setStatus("disconnected");
+    }
+    getStatus() {
+        return this.status;
+    }
+    onConnection(handler) {
+        this.connectionHandlers.add(handler);
+        return () => {
+            this.connectionHandlers.delete(handler);
+        };
+    }
+    // --- Topics ---
+    publish(options) {
+        this.ensureConnected();
+        const publisher = this.entityCache.getPublisher(this.node, options.topic, options.type);
+        const rosMsg = toRosMessage(options.type, options.msg);
+        publisher.publish(rosMsg);
+    }
+    subscribe(options, handler) {
+        this.ensureConnected();
+        const type = options.type ?? this.resolveTopicType(options.topic);
+        if (!type) {
+            throw new Error(`Cannot subscribe to ${options.topic}: type is required when it cannot be inferred`);
+        }
+        return this.entityCache.addSubscription(this.node, options.topic, type, handler);
+    }
+    // --- Services ---
+    async callService(options) {
+        this.ensureConnected();
+        const type = options.type ?? this.resolveServiceType(options.service);
+        if (!type) {
+            throw new Error(`Cannot call service ${options.service}: type is required when it cannot be inferred`);
+        }
+        const client = this.entityCache.getServiceClient(this.node, options.service, type);
+        // Wait for service to become available (5s timeout)
+        const available = await client.waitForService(5000);
+        if (!available) {
+            throw new Error(`Service ${options.service} not available after 5 seconds`);
+        }
+        // Create request from args
+        const ServiceClass = loadMessageClass(type);
+        const request = new ServiceClass.Request();
+        if (options.args) {
+            for (const [key, value] of Object.entries(options.args)) {
+                request[key] = value;
+            }
+        }
+        // Send request with Promise wrapping + timeout
+        const response = await this.sendServiceRequest(client, request, 30_000);
+        return {
+            result: true,
+            values: fromRosMessage(response),
+        };
+    }
+    // --- Actions ---
+    async sendActionGoal(options) {
+        this.ensureConnected();
+        const ActionClass = loadMessageClass(options.actionType);
+        const actionClient = new this.rclnodejs.ActionClient(this.node, ActionClass, options.action);
+        // Wait for action server (5s)
+        const available = await actionClient.waitForServer(5000);
+        if (!available) {
+            actionClient.destroy();
+            throw new Error(`Action server ${options.action} not available after 5 seconds`);
+        }
+        // Build goal message
+        const goal = new ActionClass.Goal();
+        if (options.args) {
+            for (const [key, value] of Object.entries(options.args)) {
+                goal[key] = value;
+            }
+        }
+        try {
+            const result = await new Promise((resolve, reject) => {
+                const timer = setTimeout(() => {
+                    this.activeGoals.delete(options.action);
+                    reject(new Error(`Action ${options.action} timed out after 120 seconds`));
+                }, 120_000);
+                actionClient.sendGoal(goal, (goalHandle) => {
+                    // Goal response callback — store for cancellation
+                    this.activeGoals.set(options.action, goalHandle);
+                }, (feedback) => {
+                    // Feedback callback
+                    if (options.onFeedback) {
+                        options.onFeedback(fromRosMessage(feedback));
+                    }
+                }, (resultResponse) => {
+                    // Result callback
+                    clearTimeout(timer);
+                    this.activeGoals.delete(options.action);
+                    resolve(fromRosMessage(resultResponse));
+                });
+            });
+            return { result: true, values: result };
+        }
+        finally {
+            actionClient.destroy();
+        }
+    }
+    async cancelActionGoal(action) {
+        const goalHandle = this.activeGoals.get(action);
+        if (goalHandle && typeof goalHandle.cancelGoal === "function") {
+            await goalHandle.cancelGoal();
+            this.activeGoals.delete(action);
+        }
+    }
+    // --- Introspection ---
+    async listTopics() {
+        this.ensureConnected();
+        // DDS discovery is asynchronous AND stateful. On a freshly-connected
+        // node, getTopicNamesAndTypes() trickles in results as peers respond -
+        // the first call may return 0, the second 2, the third all of them.
+        //
+        // Two issues motivated the current tuning:
+        //
+        //   1. A short single-stable-hit policy (600ms) was returning truncated
+        //      views to Claude: e.g. with the AMR sim alone it'd see /cmd_vel
+        //      etc. on first call, then a second call 2s later would see all
+        //      29 topics including /arm/*/cmd_pos. Claude only calls
+        //      list_topics once and was missing arm joint topics entirely.
+        //
+        //   2. DDS multicast announcements on Jetson take longer than on x86 -
+        //      we routinely see /arm/* topics appear ~1.5s after first call.
+        //
+        // Fix: require 3 consecutive matching polls (2 stable hits at 300ms
+        // intervals = ~900ms of stability), with a 6 s deadline. Worst case
+        // ~900ms latency on a steady graph, ~5s+ if discovery is still
+        // streaming. The min-count guard (>=3) avoids exiting early when only
+        // /clock + /tf + /tf_static have come through.
+        const externalFilter = (t) => !INTERNAL_TOPIC_PREFIXES.some((prefix) => t.name.startsWith(prefix));
+        const deadline = Date.now() + 6000;
+        const MIN_STABLE_COUNT = 3;
+        const REQUIRED_STABLE_HITS = 2;
+        let raw = [];
+        let prevCount = -1;
+        let stableHits = 0;
+        while (Date.now() < deadline) {
+            raw = this.node.getTopicNamesAndTypes();
+            const externalCount = raw.filter(externalFilter).length;
+            if (externalCount === prevCount && externalCount >= MIN_STABLE_COUNT) {
+                stableHits++;
+                if (stableHits >= REQUIRED_STABLE_HITS)
+                    break;
+            }
+            else {
+                stableHits = 0;
+                prevCount = externalCount;
+            }
+            await new Promise((resolve) => setTimeout(resolve, 300));
+        }
+        return raw.filter(externalFilter).map((t) => ({ name: t.name, type: t.types[0] ?? "" }));
+    }
+    async listServices() {
+        this.ensureConnected();
+        const namesAndTypes = this.node.getServiceNamesAndTypes();
+        return namesAndTypes
+            .filter((s) => !INTERNAL_SERVICE_SUFFIXES.some((suffix) => s.name.endsWith(suffix)))
+            .filter((s) => !INTERNAL_TOPIC_PREFIXES.some((prefix) => s.name.startsWith(prefix)))
+            .map((s) => ({ name: s.name, type: s.types[0] ?? "" }));
+    }
+    async listActions() {
+        // Same feedback-topic heuristic as rosbridge/adapter.ts
+        const topics = await this.listTopics();
+        const actions = [];
+        const feedbackSuffix = "/_action/feedback";
+        for (const topic of topics) {
+            if (topic.name.endsWith(feedbackSuffix)) {
+                const actionName = topic.name.slice(0, -feedbackSuffix.length);
+                let actionType = topic.type;
+                if (actionType.endsWith("_FeedbackMessage")) {
+                    actionType = actionType.slice(0, -"_FeedbackMessage".length);
+                }
+                actions.push({ name: actionName, type: actionType });
+            }
+        }
+        return actions;
+    }
+    // --- Private helpers ---
+    setStatus(status) {
+        this.status = status;
+        for (const handler of this.connectionHandlers) {
+            handler(status);
+        }
+    }
+    ensureConnected() {
+        if (this.status !== "connected" || !this.node || !this.entityCache) {
+            throw new Error("LocalTransport is not connected");
+        }
+    }
+    /**
+     * Resolve a topic's type from the node's graph introspection.
+     * Returns undefined if the topic is not yet known.
+     */
+    resolveTopicType(topic) {
+        if (!this.node)
+            return undefined;
+        const namesAndTypes = this.node.getTopicNamesAndTypes();
+        const entry = namesAndTypes.find((t) => t.name === topic);
+        return entry?.types[0];
+    }
+    /**
+     * Resolve a service's type from the node's graph introspection.
+     * Returns undefined if the service is not yet known.
+     */
+    resolveServiceType(service) {
+        if (!this.node)
+            return undefined;
+        const namesAndTypes = this.node.getServiceNamesAndTypes();
+        const entry = namesAndTypes.find((s) => s.name === service);
+        return entry?.types[0];
+    }
+    /**
+     * Wrap rclnodejs callback-based sendRequest in a Promise with timeout.
+     */
+    sendServiceRequest(client, request, timeoutMs) {
+        return new Promise((resolve, reject) => {
+            const timer = setTimeout(() => {
+                reject(new Error(`Service call timed out after ${timeoutMs}ms`));
+            }, timeoutMs);
+            try {
+                client.sendRequest(request, (response) => {
+                    clearTimeout(timer);
+                    if (response) {
+                        resolve(response);
+                    }
+                    else {
+                        reject(new Error("Service returned no response"));
+                    }
+                });
+            }
+            catch (err) {
+                clearTimeout(timer);
+                reject(err);
+            }
+        });
+    }
+}
+//# sourceMappingURL=transport.js.map

package/dist/transport/local/transport.js.map

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package/dist/transport/rosbridge/actions.d.ts

@@ -0,0 +1,30 @@
+import type { RosbridgeClient } from "./client.js";
+import type { ActionResultMessage, ActionFeedbackMessage } from "./types.js";
+export interface ActionGoalOptions {
+    action: string;
+    actionType: string;
+    args?: Record<string, unknown>;
+    onFeedback?: (feedback: ActionFeedbackMessage) => void;
+    timeoutMs?: number;
+}
+/**
+ * Client for sending action goals and receiving feedback/results.
+ */
+export declare class ActionClient {
+    private client;
+    constructor(client: RosbridgeClient);
+    /**
+     * Send an action goal and wait for the result.
+     *
+     * @param options - Action goal options including feedback handler
+     * @returns The action result
+     */
+    sendGoal(options: ActionGoalOptions): Promise<ActionResultMessage>;
+    /**
+     * Cancel an in-progress action goal.
+     *
+     * @param action - The action server name
+     */
+    cancelGoal(action: string): Promise<void>;
+}
+//# sourceMappingURL=actions.d.ts.map

package/dist/transport/rosbridge/actions.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"actions.d.ts","sourceRoot":"","sources":["../../../src/transport/rosbridge/actions.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,aAAa,CAAC;AACnD,OAAO,KAAK,EACV,mBAAmB,EACnB,qBAAqB,EACtB,MAAM,YAAY,CAAC;AAEpB,MAAM,WAAW,iBAAiB;IAChC,MAAM,EAAE,MAAM,CAAC;IACf,UAAU,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAC/B,UAAU,CAAC,EAAE,CAAC,QAAQ,EAAE,qBAAqB,KAAK,IAAI,CAAC;IACvD,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAED;;GAEG;AACH,qBAAa,YAAY;IACX,OAAO,CAAC,MAAM;gBAAN,MAAM,EAAE,eAAe;IAE3C;;;;;OAKG;IACG,QAAQ,CAAC,OAAO,EAAE,iBAAiB,GAAG,OAAO,CAAC,mBAAmB,CAAC;IA0CxE;;;;OAIG;IACG,UAAU,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;CAOhD"}

package/dist/transport/rosbridge/actions.js

@@ -0,0 +1,61 @@
+/**
+ * Client for sending action goals and receiving feedback/results.
+ */
+export class ActionClient {
+    client;
+    constructor(client) {
+        this.client = client;
+    }
+    /**
+     * Send an action goal and wait for the result.
+     *
+     * @param options - Action goal options including feedback handler
+     * @returns The action result
+     */
+    async sendGoal(options) {
+        const id = this.client.nextId("action");
+        const timeoutMs = options.timeoutMs ?? 120_000; // Actions can be long-running
+        // Register feedback handler if provided
+        let removeFeedbackHandler = null;
+        if (options.onFeedback) {
+            const feedbackKey = `__action_feedback__${id}`;
+            removeFeedbackHandler = this.client.onMessage(feedbackKey, (msg) => {
+                options.onFeedback(msg);
+            });
+        }
+        // Create promise that resolves on action_result
+        const resultPromise = new Promise((resolve, reject) => {
+            this.client.registerPending(id, (result) => resolve(result), reject, timeoutMs);
+        });
+        // Send the goal
+        this.client.send({
+            op: "send_action_goal",
+            id,
+            action: options.action,
+            action_type: options.actionType,
+            args: options.args,
+        });
+        try {
+            return await resultPromise;
+        }
+        finally {
+            // Clean up feedback handler regardless of outcome
+            if (removeFeedbackHandler) {
+                removeFeedbackHandler();
+            }
+        }
+    }
+    /**
+     * Cancel an in-progress action goal.
+     *
+     * @param action - The action server name
+     */
+    async cancelGoal(action) {
+        this.client.send({
+            op: "cancel_action_goal",
+            id: this.client.nextId("cancel"),
+            action,
+        });
+    }
+}
+//# sourceMappingURL=actions.js.map

package/dist/transport/rosbridge/actions.js.map

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package/dist/transport/rosbridge/adapter.d.ts

@@ -0,0 +1,29 @@
+import type { RosTransport } from "../transport.js";
+import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "../types.js";
+import type { RosbridgeClientOptions } from "./types.js";
+/**
+ * RosTransport adapter that wraps the existing RosbridgeClient.
+ *
+ * This is the Mode B (Local Network) transport. It connects to a
+ * rosbridge_server running on the robot via WebSocket and translates
+ * RosTransport method calls into rosbridge protocol messages.
+ */
+export declare class RosbridgeTransport implements RosTransport {
+    private client;
+    private actionClient;
+    constructor(options: RosbridgeClientOptions);
+    connect(): Promise<void>;
+    disconnect(): Promise<void>;
+    getStatus(): ConnectionStatus;
+    onConnection(handler: ConnectionHandler): () => void;
+    advertise(options: AdvertiseOptions): void;
+    publish(options: PublishOptions): void;
+    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
+    callService(options: ServiceCallOptions): Promise<ServiceCallResult>;
+    sendActionGoal(options: ActionGoalOptions): Promise<ActionResult>;
+    cancelActionGoal(action: string): Promise<void>;
+    listTopics(): Promise<TopicInfo[]>;
+    listServices(): Promise<ServiceInfo[]>;
+    listActions(): Promise<ActionInfo[]>;
+}
+//# sourceMappingURL=adapter.d.ts.map

package/dist/transport/rosbridge/adapter.d.ts.map

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package/dist/transport/rosbridge/adapter.js

@@ -0,0 +1,108 @@
+import { RosbridgeClient } from "./client.js";
+import { TopicPublisher, TopicSubscriber } from "./topics.js";
+import { callService } from "./services.js";
+import { ActionClient } from "./actions.js";
+/**
+ * RosTransport adapter that wraps the existing RosbridgeClient.
+ *
+ * This is the Mode B (Local Network) transport. It connects to a
+ * rosbridge_server running on the robot via WebSocket and translates
+ * RosTransport method calls into rosbridge protocol messages.
+ */
+export class RosbridgeTransport {
+    client;
+    actionClient;
+    constructor(options) {
+        this.client = new RosbridgeClient(options);
+        this.actionClient = new ActionClient(this.client);
+    }
+    async connect() {
+        await this.client.connect();
+    }
+    async disconnect() {
+        await this.client.disconnect();
+    }
+    getStatus() {
+        return this.client.getStatus();
+    }
+    onConnection(handler) {
+        return this.client.onConnection(handler);
+    }
+    advertise(options) {
+        this.client.send({
+            op: "advertise",
+            topic: options.topic,
+            type: options.type,
+        });
+    }
+    publish(options) {
+        const publisher = new TopicPublisher(this.client, options.topic, options.type);
+        publisher.publish(options.msg);
+    }
+    subscribe(options, handler) {
+        const subscriber = new TopicSubscriber(this.client, options.topic, options.type);
+        subscriber.subscribe(handler);
+        return {
+            unsubscribe() {
+                subscriber.unsubscribe();
+            },
+        };
+    }
+    async callService(options) {
+        const response = await callService(this.client, options.service, options.args, options.type);
+        return {
+            result: response.result,
+            values: response.values,
+        };
+    }
+    async sendActionGoal(options) {
+        const response = await this.actionClient.sendGoal({
+            action: options.action,
+            actionType: options.actionType,
+            args: options.args,
+            onFeedback: options.onFeedback
+                ? (feedback) => options.onFeedback(feedback.values)
+                : undefined,
+        });
+        return {
+            result: response.result,
+            values: response.values,
+        };
+    }
+    async cancelActionGoal(action) {
+        await this.actionClient.cancelGoal(action);
+    }
+    async listTopics() {
+        const response = await callService(this.client, "/rosapi/topics", {}, "rosapi/srv/Topics");
+        const topics = response.values?.["topics"] ?? [];
+        const types = response.values?.["types"] ?? [];
+        return topics.map((name, i) => ({ name, type: types[i] ?? "" }));
+    }
+    async listServices() {
+        const response = await callService(this.client, "/rosapi/services", {}, "rosapi/srv/Services");
+        const services = response.values?.["services"] ?? [];
+        const types = response.values?.["types"] ?? [];
+        return services.map((name, i) => ({ name, type: types[i] ?? "" }));
+    }
+    async listActions() {
+        // rosapi has no built-in action listing. Heuristic: action servers expose
+        // topics matching */_action/feedback. Extract action names from that pattern.
+        const topics = await this.listTopics();
+        const actions = [];
+        const feedbackSuffix = "/_action/feedback";
+        for (const topic of topics) {
+            if (topic.name.endsWith(feedbackSuffix)) {
+                const actionName = topic.name.slice(0, -feedbackSuffix.length);
+                // Feedback type is like "pkg/action/Name_FeedbackMessage"
+                // Extract base action type by stripping "_FeedbackMessage" suffix
+                let actionType = topic.type;
+                if (actionType.endsWith("_FeedbackMessage")) {
+                    actionType = actionType.slice(0, -"_FeedbackMessage".length);
+                }
+                actions.push({ name: actionName, type: actionType });
+            }
+        }
+        return actions;
+    }
+}
+//# sourceMappingURL=adapter.js.map

package/dist/transport/rosbridge/adapter.js.map

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