@agenticros/core 0.5.0

package/dist/capabilities.js.map

@@ -0,0 +1 @@
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package/dist/cmd-vel-twist.d.ts

@@ -0,0 +1,9 @@
+/**
+ * Many mobile bases expect the opposite angular.z sign vs standard ROS base_link
+ * (positive = CCW / "left"). Negate once at publish so teleop, chat, and skills agree.
+ */
+/**
+ * If this is a geometry_msgs/Twist on a cmd_vel topic, return a copy with angular.z negated.
+ */
+export declare function applyCmdVelTwistSignConvention(topic: string, type: string, msg: Record<string, unknown>): Record<string, unknown>;
+//# sourceMappingURL=cmd-vel-twist.d.ts.map

package/dist/cmd-vel-twist.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"cmd-vel-twist.d.ts","sourceRoot":"","sources":["../src/cmd-vel-twist.ts"],"names":[],"mappings":"AAAA;;;GAGG;AASH;;GAEG;AACH,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAejI"}

package/dist/cmd-vel-twist.js

@@ -0,0 +1,32 @@
+/**
+ * Many mobile bases expect the opposite angular.z sign vs standard ROS base_link
+ * (positive = CCW / "left"). Negate once at publish so teleop, chat, and skills agree.
+ */
+const TWIST_TYPE_RE = /geometry_msgs\/(msg\/)?Twist/i;
+function isCmdVelTopic(topic) {
+    const normalized = topic.trim().replace(/\/+$/, "");
+    return normalized === "/cmd_vel" || /\/cmd_vel$/i.test(normalized);
+}
+/**
+ * If this is a geometry_msgs/Twist on a cmd_vel topic, return a copy with angular.z negated.
+ */
+export function applyCmdVelTwistSignConvention(topic, type, msg) {
+    const t = type.trim();
+    if (!TWIST_TYPE_RE.test(t))
+        return msg;
+    if (!isCmdVelTopic(topic))
+        return msg;
+    const angular = msg["angular"];
+    if (!angular || typeof angular !== "object")
+        return msg;
+    const a = angular;
+    const z = Number(a["z"] ?? 0);
+    return {
+        ...msg,
+        angular: {
+            ...a,
+            z: -z,
+        },
+    };
+}
+//# sourceMappingURL=cmd-vel-twist.js.map

package/dist/cmd-vel-twist.js.map

@@ -0,0 +1 @@
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