@agenticros/core 0.5.0

package/dist/config.d.ts

@@ -0,0 +1,1195 @@
+import { z } from "zod";
+import type { TransportConfig } from "./transport/types.js";
+/**
+ * Per-robot transport override schema (Phase 1.d-resolve).
+ *
+ * Discriminated union on `mode`, each variant `.strict()` so that a
+ * typo like `{ mode: "zenoh", local: {...} }` fails fast at parse time
+ * instead of being silently stripped. Sub-sections are optional —
+ * `{ mode: "zenoh" }` is a valid override that inherits everything
+ * from the top-level `config.zenoh`. A partial sub-section like
+ * `{ mode: "zenoh", zenoh: { routerEndpoint: "ws://field:10000" } }`
+ * is merged per-field over the global config — see the resolver.
+ *
+ * Why a discriminated union (vs the top-level shape of sibling fields):
+ *   - Keeps the override self-contained at one JSON property
+ *   - Matches TransportConfig's runtime discriminated union 1:1
+ *   - Trivially validatable per-robot without leaking across siblings
+ */
+declare const RobotTransportOverrideSchema: z.ZodDiscriminatedUnion<"mode", [z.ZodObject<{
+    mode: z.ZodLiteral<"rosbridge">;
+    rosbridge: z.ZodOptional<z.ZodObject<{
+        url: z.ZodOptional<z.ZodString>;
+        reconnect: z.ZodOptional<z.ZodBoolean>;
+        reconnectInterval: z.ZodOptional<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        url?: string | undefined;
+        reconnect?: boolean | undefined;
+        reconnectInterval?: number | undefined;
+    }, {
+        url?: string | undefined;
+        reconnect?: boolean | undefined;
+        reconnectInterval?: number | undefined;
+    }>>;
+}, "strict", z.ZodTypeAny, {
+    mode: "rosbridge";
+    rosbridge?: {
+        url?: string | undefined;
+        reconnect?: boolean | undefined;
+        reconnectInterval?: number | undefined;
+    } | undefined;
+}, {
+    mode: "rosbridge";
+    rosbridge?: {
+        url?: string | undefined;
+        reconnect?: boolean | undefined;
+        reconnectInterval?: number | undefined;
+    } | undefined;
+}>, z.ZodObject<{
+    mode: z.ZodLiteral<"local">;
+    local: z.ZodOptional<z.ZodObject<{
+        domainId: z.ZodOptional<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        domainId?: number | undefined;
+    }, {
+        domainId?: number | undefined;
+    }>>;
+}, "strict", z.ZodTypeAny, {
+    mode: "local";
+    local?: {
+        domainId?: number | undefined;
+    } | undefined;
+}, {
+    mode: "local";
+    local?: {
+        domainId?: number | undefined;
+    } | undefined;
+}>, z.ZodObject<{
+    mode: z.ZodLiteral<"zenoh">;
+    zenoh: z.ZodOptional<z.ZodObject<{
+        routerEndpoint: z.ZodOptional<z.ZodString>;
+        domainId: z.ZodOptional<z.ZodNumber>;
+        keyFormat: z.ZodOptional<z.ZodEnum<["ros2dds", "rmw_zenoh"]>>;
+        bridgeNamespace: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        routerEndpoint?: string | undefined;
+        domainId?: number | undefined;
+        keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+        bridgeNamespace?: string | undefined;
+    }, {
+        routerEndpoint?: string | undefined;
+        domainId?: number | undefined;
+        keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+        bridgeNamespace?: string | undefined;
+    }>>;
+}, "strict", z.ZodTypeAny, {
+    mode: "zenoh";
+    zenoh?: {
+        routerEndpoint?: string | undefined;
+        domainId?: number | undefined;
+        keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+        bridgeNamespace?: string | undefined;
+    } | undefined;
+}, {
+    mode: "zenoh";
+    zenoh?: {
+        routerEndpoint?: string | undefined;
+        domainId?: number | undefined;
+        keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+        bridgeNamespace?: string | undefined;
+    } | undefined;
+}>, z.ZodObject<{
+    mode: z.ZodLiteral<"webrtc">;
+    webrtc: z.ZodOptional<z.ZodObject<{
+        signalingUrl: z.ZodOptional<z.ZodString>;
+        apiUrl: z.ZodOptional<z.ZodString>;
+        robotId: z.ZodOptional<z.ZodString>;
+        robotKey: z.ZodOptional<z.ZodString>;
+        iceServers: z.ZodOptional<z.ZodArray<z.ZodObject<{
+            urls: z.ZodUnion<[z.ZodString, z.ZodArray<z.ZodString, "many">]>;
+            username: z.ZodOptional<z.ZodString>;
+            credential: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }, {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }>, "many">>;
+    }, "strip", z.ZodTypeAny, {
+        signalingUrl?: string | undefined;
+        apiUrl?: string | undefined;
+        robotId?: string | undefined;
+        robotKey?: string | undefined;
+        iceServers?: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[] | undefined;
+    }, {
+        signalingUrl?: string | undefined;
+        apiUrl?: string | undefined;
+        robotId?: string | undefined;
+        robotKey?: string | undefined;
+        iceServers?: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[] | undefined;
+    }>>;
+}, "strict", z.ZodTypeAny, {
+    mode: "webrtc";
+    webrtc?: {
+        signalingUrl?: string | undefined;
+        apiUrl?: string | undefined;
+        robotId?: string | undefined;
+        robotKey?: string | undefined;
+        iceServers?: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[] | undefined;
+    } | undefined;
+}, {
+    mode: "webrtc";
+    webrtc?: {
+        signalingUrl?: string | undefined;
+        apiUrl?: string | undefined;
+        robotId?: string | undefined;
+        robotKey?: string | undefined;
+        iceServers?: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[] | undefined;
+    } | undefined;
+}>]>;
+export type RobotTransportOverride = z.infer<typeof RobotTransportOverrideSchema>;
+export declare const AgenticROSConfigSchema: z.ZodObject<{
+    transport: z.ZodDefault<z.ZodObject<{
+        /**
+         * Default is "local" — assumes the gateway is co-located with the robot
+         * (Mode A: DDS direct via rclnodejs, no router). Switch to "rosbridge",
+         * "zenoh", or "webrtc" when the gateway runs off-robot.
+         */
+        mode: z.ZodDefault<z.ZodEnum<["rosbridge", "local", "webrtc", "zenoh"]>>;
+    }, "strip", z.ZodTypeAny, {
+        mode: "rosbridge" | "local" | "webrtc" | "zenoh";
+    }, {
+        mode?: "rosbridge" | "local" | "webrtc" | "zenoh" | undefined;
+    }>>;
+    zenoh: z.ZodDefault<z.ZodObject<{
+        /** WebSocket URL for zenoh-ts (zenoh-plugin-remote-api). Not tcp/ — use e.g. ws://localhost:10000 */
+        routerEndpoint: z.ZodDefault<z.ZodString>;
+        domainId: z.ZodDefault<z.ZodNumber>;
+        /** "ros2dds" = zenoh-bridge-ros2dds key format (slashes kept). "rmw_zenoh" = rmw_zenoh key format (domain + %). */
+        keyFormat: z.ZodDefault<z.ZodEnum<["ros2dds", "rmw_zenoh"]>>;
+        /**
+         * Must match zenoh-bridge-ros2dds `plugins.ros2dds.namespace` when it is not the default "/".
+         * Example: bridge has `namespace: "/bot1"` → set `bridgeNamespace` to "/bot1" or "bot1".
+         * Omit or use "/" when the bridge uses the default (only the ROS topic path is the zenoh key).
+         */
+        bridgeNamespace: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        routerEndpoint: string;
+        domainId: number;
+        keyFormat: "ros2dds" | "rmw_zenoh";
+        bridgeNamespace?: string | undefined;
+    }, {
+        routerEndpoint?: string | undefined;
+        domainId?: number | undefined;
+        keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+        bridgeNamespace?: string | undefined;
+    }>>;
+    rosbridge: z.ZodDefault<z.ZodObject<{
+        url: z.ZodDefault<z.ZodString>;
+        reconnect: z.ZodDefault<z.ZodBoolean>;
+        reconnectInterval: z.ZodDefault<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        url: string;
+        reconnect: boolean;
+        reconnectInterval: number;
+    }, {
+        url?: string | undefined;
+        reconnect?: boolean | undefined;
+        reconnectInterval?: number | undefined;
+    }>>;
+    local: z.ZodDefault<z.ZodObject<{
+        domainId: z.ZodDefault<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        domainId: number;
+    }, {
+        domainId?: number | undefined;
+    }>>;
+    webrtc: z.ZodDefault<z.ZodObject<{
+        signalingUrl: z.ZodDefault<z.ZodString>;
+        apiUrl: z.ZodDefault<z.ZodString>;
+        robotId: z.ZodDefault<z.ZodString>;
+        robotKey: z.ZodDefault<z.ZodString>;
+        iceServers: z.ZodDefault<z.ZodArray<z.ZodObject<{
+            urls: z.ZodUnion<[z.ZodString, z.ZodArray<z.ZodString, "many">]>;
+            username: z.ZodOptional<z.ZodString>;
+            credential: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }, {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }>, "many">>;
+    }, "strip", z.ZodTypeAny, {
+        signalingUrl: string;
+        apiUrl: string;
+        robotId: string;
+        robotKey: string;
+        iceServers: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[];
+    }, {
+        signalingUrl?: string | undefined;
+        apiUrl?: string | undefined;
+        robotId?: string | undefined;
+        robotKey?: string | undefined;
+        iceServers?: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[] | undefined;
+    }>>;
+    robot: z.ZodDefault<z.ZodObject<{
+        name: z.ZodDefault<z.ZodString>;
+        namespace: z.ZodDefault<z.ZodString>;
+        /** Camera topic for "what do you see?" (e.g. /camera/camera/color/image_raw/compressed). If set, used as default in ros2_camera_snapshot and in context. */
+        cameraTopic: z.ZodDefault<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        name: string;
+        namespace: string;
+        cameraTopic: string;
+    }, {
+        name?: string | undefined;
+        namespace?: string | undefined;
+        cameraTopic?: string | undefined;
+    }>>;
+    /**
+     * Phase 1.d multi-robot list. When non-empty, this is the source of
+     * truth for `ros2_list_robots` and (in a follow-up) the per-tool
+     * `robot_id` parameter. When empty, the legacy single-robot
+     * `config.robot` above is synthesised into a one-entry list at
+     * resolution time (see packages/core/src/robots.ts). Existing configs
+     * keep working unchanged; this field is opt-in.
+     *
+     * Mark one entry with `default: true` to make it the active robot
+     * even when it isn't the first in the list. Otherwise the first entry
+     * wins.
+     */
+    robots: z.ZodDefault<z.ZodArray<z.ZodObject<{
+        /** Stable, human-readable identifier referenced by `robot_id` arguments. */
+        id: z.ZodString;
+        name: z.ZodDefault<z.ZodString>;
+        namespace: z.ZodDefault<z.ZodString>;
+        cameraTopic: z.ZodDefault<z.ZodString>;
+        default: z.ZodOptional<z.ZodBoolean>;
+        /**
+         * Phase 1.e robot kind ("amr" | "arm" | "drone" | "rover" | …).
+         *
+         * Free-form string so users can invent their own taxonomy, but the
+         * documented set is `amr` (autonomous mobile robot), `arm`,
+         * `drone`, and `rover`. Consumed by `ros2_find_robots_for(kind=…)`
+         * so an agent can ask "find me an AMR with a depth camera that
+         * can follow_person" and the platform filters the fleet.
+         *
+         * Defaults to "amr" (back-compat: every existing robot today is
+         * an AMR), so the field stays useful even when the user hasn't
+         * tagged their robots explicitly.
+         */
+        kind: z.ZodDefault<z.ZodString>;
+        /**
+         * Phase 1.e sensor/hardware tags.
+         *
+         * Lets `ros2_find_robots_for` answer questions like "which
+         * robots have a depth camera" without subscribing to topics or
+         * inspecting the URDF. All flags default to false — set them
+         * explicitly per robot via the CLI (`--sensors=has_realsense`)
+         * or by hand-editing `~/.agenticros/config.json`.
+         *
+         * The list is intentionally short for Phase 1; expand it as we
+         * accumulate seed-catalog skills that depend on a specific
+         * hardware capability (lidar SLAM, arm grasping, etc.).
+         */
+        sensors: z.ZodDefault<z.ZodObject<{
+            has_realsense: z.ZodDefault<z.ZodBoolean>;
+            has_lidar: z.ZodDefault<z.ZodBoolean>;
+            has_arm: z.ZodDefault<z.ZodBoolean>;
+        }, "strip", z.ZodTypeAny, {
+            has_realsense: boolean;
+            has_lidar: boolean;
+            has_arm: boolean;
+        }, {
+            has_realsense?: boolean | undefined;
+            has_lidar?: boolean | undefined;
+            has_arm?: boolean | undefined;
+        }>>;
+        /**
+         * Phase 1.e optional per-robot capability allowlist.
+         *
+         * When set, restricts which capabilities `ros2_find_robots_for`
+         * considers this robot capable of. When unset (the common
+         * case), the robot inherits the gateway's global capability
+         * registry (the union of built-in verbs plus every loaded
+         * skill's capabilities). Useful in heterogeneous fleets where
+         * one robot has the arm skill loaded and another doesn't.
+         */
+        capabilities: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
+        /**
+         * Phase 1.d-resolve per-robot transport override.
+         *
+         * When set, this robot uses its own transport instead of the
+         * top-level `config.transport.*`. Useful when one host drives
+         * BOTH a local sim (mode: "local") AND a real robot reached via
+         * an off-robot bridge (mode: "zenoh" / "rosbridge") — each
+         * robot connects through the right path with no global config
+         * juggling.
+         *
+         * Sub-sections (`zenoh`, `rosbridge`, `local`, `webrtc`) are
+         * optional inside the override: omit them to inherit the global
+         * `config.<section>` defaults; set them to override only the
+         * fields you need (e.g. a different router endpoint).
+         *
+         * Consumed by `getTransportConfigForRobot(config, robotId)` in
+         * robots.ts. Adapters opt in to multi-transport pools — when
+         * the override is absent they keep using the single global
+         * transport, so existing single-robot deployments are
+         * unaffected.
+         */
+        transport: z.ZodOptional<z.ZodDiscriminatedUnion<"mode", [z.ZodObject<{
+            mode: z.ZodLiteral<"rosbridge">;
+            rosbridge: z.ZodOptional<z.ZodObject<{
+                url: z.ZodOptional<z.ZodString>;
+                reconnect: z.ZodOptional<z.ZodBoolean>;
+                reconnectInterval: z.ZodOptional<z.ZodNumber>;
+            }, "strip", z.ZodTypeAny, {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            }, {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            }>>;
+        }, "strict", z.ZodTypeAny, {
+            mode: "rosbridge";
+            rosbridge?: {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            } | undefined;
+        }, {
+            mode: "rosbridge";
+            rosbridge?: {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            } | undefined;
+        }>, z.ZodObject<{
+            mode: z.ZodLiteral<"local">;
+            local: z.ZodOptional<z.ZodObject<{
+                domainId: z.ZodOptional<z.ZodNumber>;
+            }, "strip", z.ZodTypeAny, {
+                domainId?: number | undefined;
+            }, {
+                domainId?: number | undefined;
+            }>>;
+        }, "strict", z.ZodTypeAny, {
+            mode: "local";
+            local?: {
+                domainId?: number | undefined;
+            } | undefined;
+        }, {
+            mode: "local";
+            local?: {
+                domainId?: number | undefined;
+            } | undefined;
+        }>, z.ZodObject<{
+            mode: z.ZodLiteral<"zenoh">;
+            zenoh: z.ZodOptional<z.ZodObject<{
+                routerEndpoint: z.ZodOptional<z.ZodString>;
+                domainId: z.ZodOptional<z.ZodNumber>;
+                keyFormat: z.ZodOptional<z.ZodEnum<["ros2dds", "rmw_zenoh"]>>;
+                bridgeNamespace: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            }, {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            }>>;
+        }, "strict", z.ZodTypeAny, {
+            mode: "zenoh";
+            zenoh?: {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            } | undefined;
+        }, {
+            mode: "zenoh";
+            zenoh?: {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            } | undefined;
+        }>, z.ZodObject<{
+            mode: z.ZodLiteral<"webrtc">;
+            webrtc: z.ZodOptional<z.ZodObject<{
+                signalingUrl: z.ZodOptional<z.ZodString>;
+                apiUrl: z.ZodOptional<z.ZodString>;
+                robotId: z.ZodOptional<z.ZodString>;
+                robotKey: z.ZodOptional<z.ZodString>;
+                iceServers: z.ZodOptional<z.ZodArray<z.ZodObject<{
+                    urls: z.ZodUnion<[z.ZodString, z.ZodArray<z.ZodString, "many">]>;
+                    username: z.ZodOptional<z.ZodString>;
+                    credential: z.ZodOptional<z.ZodString>;
+                }, "strip", z.ZodTypeAny, {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }, {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }>, "many">>;
+            }, "strip", z.ZodTypeAny, {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            }, {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            }>>;
+        }, "strict", z.ZodTypeAny, {
+            mode: "webrtc";
+            webrtc?: {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            } | undefined;
+        }, {
+            mode: "webrtc";
+            webrtc?: {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            } | undefined;
+        }>]>>;
+    }, "strip", z.ZodTypeAny, {
+        name: string;
+        namespace: string;
+        cameraTopic: string;
+        id: string;
+        kind: string;
+        sensors: {
+            has_realsense: boolean;
+            has_lidar: boolean;
+            has_arm: boolean;
+        };
+        transport?: {
+            mode: "rosbridge";
+            rosbridge?: {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "local";
+            local?: {
+                domainId?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "zenoh";
+            zenoh?: {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            } | undefined;
+        } | {
+            mode: "webrtc";
+            webrtc?: {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            } | undefined;
+        } | undefined;
+        default?: boolean | undefined;
+        capabilities?: string[] | undefined;
+    }, {
+        id: string;
+        transport?: {
+            mode: "rosbridge";
+            rosbridge?: {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "local";
+            local?: {
+                domainId?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "zenoh";
+            zenoh?: {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            } | undefined;
+        } | {
+            mode: "webrtc";
+            webrtc?: {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            } | undefined;
+        } | undefined;
+        name?: string | undefined;
+        namespace?: string | undefined;
+        cameraTopic?: string | undefined;
+        default?: boolean | undefined;
+        kind?: string | undefined;
+        sensors?: {
+            has_realsense?: boolean | undefined;
+            has_lidar?: boolean | undefined;
+            has_arm?: boolean | undefined;
+        } | undefined;
+        capabilities?: string[] | undefined;
+    }>, "many">>;
+    /** Phase 3 teleop web app: camera + twist controls. */
+    teleop: z.ZodDefault<z.ZodObject<{
+        /** Default camera topic when only one source or as default selection. Falls back to robot.cameraTopic then RealSense default. */
+        cameraTopic: z.ZodDefault<z.ZodString>;
+        /** Explicit list of camera sources for the selector; if empty, derived from listTopics() filtered by Image/CompressedImage. */
+        cameraTopics: z.ZodDefault<z.ZodArray<z.ZodObject<{
+            topic: z.ZodString;
+            label: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            topic: string;
+            label?: string | undefined;
+        }, {
+            topic: string;
+            label?: string | undefined;
+        }>, "many">>;
+        /** cmd_vel topic override (default from robot namespace). */
+        cmdVelTopic: z.ZodDefault<z.ZodString>;
+        /** Default linear speed (m/s) for teleop. */
+        speedDefault: z.ZodDefault<z.ZodNumber>;
+        /** Camera poll interval in ms for the teleop page. */
+        cameraPollMs: z.ZodDefault<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        cameraTopic: string;
+        cameraTopics: {
+            topic: string;
+            label?: string | undefined;
+        }[];
+        cmdVelTopic: string;
+        speedDefault: number;
+        cameraPollMs: number;
+    }, {
+        cameraTopic?: string | undefined;
+        cameraTopics?: {
+            topic: string;
+            label?: string | undefined;
+        }[] | undefined;
+        cmdVelTopic?: string | undefined;
+        speedDefault?: number | undefined;
+        cameraPollMs?: number | undefined;
+    }>>;
+    safety: z.ZodDefault<z.ZodObject<{
+        maxLinearVelocity: z.ZodDefault<z.ZodNumber>;
+        maxAngularVelocity: z.ZodDefault<z.ZodNumber>;
+        workspaceLimits: z.ZodDefault<z.ZodObject<{
+            xMin: z.ZodDefault<z.ZodNumber>;
+            xMax: z.ZodDefault<z.ZodNumber>;
+            yMin: z.ZodDefault<z.ZodNumber>;
+            yMax: z.ZodDefault<z.ZodNumber>;
+        }, "strip", z.ZodTypeAny, {
+            xMin: number;
+            xMax: number;
+            yMin: number;
+            yMax: number;
+        }, {
+            xMin?: number | undefined;
+            xMax?: number | undefined;
+            yMin?: number | undefined;
+            yMax?: number | undefined;
+        }>>;
+    }, "strip", z.ZodTypeAny, {
+        maxLinearVelocity: number;
+        maxAngularVelocity: number;
+        workspaceLimits: {
+            xMin: number;
+            xMax: number;
+            yMin: number;
+            yMax: number;
+        };
+    }, {
+        maxLinearVelocity?: number | undefined;
+        maxAngularVelocity?: number | undefined;
+        workspaceLimits?: {
+            xMin?: number | undefined;
+            xMax?: number | undefined;
+            yMin?: number | undefined;
+            yMax?: number | undefined;
+        } | undefined;
+    }>>;
+    /**
+     * Optional in-plugin image describer.
+     *
+     * When the primary chat model is text-only (e.g. Ollama qwen2.5:7b),
+     * OpenClaw filters image content blocks out of tool results before the
+     * LLM ever sees them, so `ros2_camera_snapshot` cannot be described.
+     * Configuring an OpenAI-compatible chat completions endpoint here lets
+     * the plugin call a vision model itself and embed the description text
+     * directly in the snapshot tool result.
+     *
+     * Recommended Jetson setup: point at local Ollama with a VL model:
+     *   url: "http://host.docker.internal:11434/v1/chat/completions"
+     *   model: "qwen2.5vl:7b"
+     *
+     * If `enabled: false`, the snapshot result includes only the camera URL
+     * and the agent is on its own (suitable when the primary model is
+     * multimodal and OpenClaw does not need to filter images).
+     */
+    describer: z.ZodDefault<z.ZodObject<{
+        enabled: z.ZodDefault<z.ZodBoolean>;
+        /** OpenAI-compat chat completions endpoint URL. */
+        url: z.ZodDefault<z.ZodString>;
+        /** Optional Bearer token / API key for the endpoint. */
+        apiKey: z.ZodOptional<z.ZodString>;
+        /** Vision model id (must accept OpenAI `image_url` content blocks). */
+        model: z.ZodDefault<z.ZodString>;
+        /** Prompt sent alongside the image. */
+        prompt: z.ZodDefault<z.ZodString>;
+        /** Max tokens for the description. */
+        maxTokens: z.ZodDefault<z.ZodNumber>;
+        /** Request timeout in ms. */
+        timeoutMs: z.ZodDefault<z.ZodNumber>;
+        /**
+         * Resize images larger than this max dimension before sending to the
+         * VL model. Reduces token usage and latency. Set to 0 to disable.
+         */
+        maxImageDimension: z.ZodDefault<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        url: string;
+        enabled: boolean;
+        model: string;
+        prompt: string;
+        maxTokens: number;
+        timeoutMs: number;
+        maxImageDimension: number;
+        apiKey?: string | undefined;
+    }, {
+        url?: string | undefined;
+        enabled?: boolean | undefined;
+        apiKey?: string | undefined;
+        model?: string | undefined;
+        prompt?: string | undefined;
+        maxTokens?: number | undefined;
+        timeoutMs?: number | undefined;
+        maxImageDimension?: number | undefined;
+    }>>;
+    /**
+     * Optional cross-adapter semantic memory subsystem.
+     *
+     * When `enabled: true`, OpenClaw, Claude Code, and Gemini adapters all
+     * register four memory tools (memory_remember / memory_recall /
+     * memory_forget / memory_status) backed by a shared store. Default is
+     * off — zero new deps when disabled.
+     *
+     * See docs/memory.md for ready-to-paste recipes.
+     */
+    memory: z.ZodDefault<z.ZodObject<{
+        /** Master switch. When false, adapters skip registering memory tools. */
+        enabled: z.ZodDefault<z.ZodBoolean>;
+        /** Which backend to use. "local" has no extra deps; "mem0" needs `pnpm add mem0ai`. */
+        backend: z.ZodDefault<z.ZodEnum<["local", "mem0"]>>;
+        /** Override the per-record namespace. Defaults to robot.namespace at call time. */
+        namespace: z.ZodOptional<z.ZodString>;
+        local: z.ZodDefault<z.ZodObject<{
+            /** JSON-on-disk store path. Supports leading "~/". */
+            storePath: z.ZodDefault<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            storePath: string;
+        }, {
+            storePath?: string | undefined;
+        }>>;
+        mem0: z.ZodDefault<z.ZodObject<{
+            /**
+             * When true, mem0 runs its LLM-driven fact extraction on `add`.
+             * When false (default), content is stored as-is — predictable,
+             * no LLM call on write, agent stays in explicit control.
+             */
+            inferOnWrite: z.ZodDefault<z.ZodBoolean>;
+            /** SQLite history db path (mem0 historyDbPath). Supports leading "~/". */
+            historyDbPath: z.ZodDefault<z.ZodString>;
+            /**
+             * Embedder passed verbatim to `new Memory({ embedder })`.
+             * When omitted, the factory auto-detects: Ollama (if reachable)
+             * → OpenAI (if OPENAI_API_KEY set) → error.
+             */
+            embedder: z.ZodOptional<z.ZodObject<{
+                provider: z.ZodString;
+                config: z.ZodRecord<z.ZodString, z.ZodUnknown>;
+            }, "strip", z.ZodTypeAny, {
+                provider: string;
+                config: Record<string, unknown>;
+            }, {
+                provider: string;
+                config: Record<string, unknown>;
+            }>>;
+            /** Vector store passed verbatim to `new Memory({ vectorStore })`. */
+            vectorStore: z.ZodOptional<z.ZodObject<{
+                provider: z.ZodString;
+                config: z.ZodRecord<z.ZodString, z.ZodUnknown>;
+            }, "strip", z.ZodTypeAny, {
+                provider: string;
+                config: Record<string, unknown>;
+            }, {
+                provider: string;
+                config: Record<string, unknown>;
+            }>>;
+            /** LLM passed verbatim to `new Memory({ llm })`. Only used when inferOnWrite is true. */
+            llm: z.ZodOptional<z.ZodObject<{
+                provider: z.ZodString;
+                config: z.ZodRecord<z.ZodString, z.ZodUnknown>;
+            }, "strip", z.ZodTypeAny, {
+                provider: string;
+                config: Record<string, unknown>;
+            }, {
+                provider: string;
+                config: Record<string, unknown>;
+            }>>;
+        }, "strip", z.ZodTypeAny, {
+            inferOnWrite: boolean;
+            historyDbPath: string;
+            embedder?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            vectorStore?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            llm?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+        }, {
+            inferOnWrite?: boolean | undefined;
+            historyDbPath?: string | undefined;
+            embedder?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            vectorStore?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            llm?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+        }>>;
+    }, "strip", z.ZodTypeAny, {
+        local: {
+            storePath: string;
+        };
+        enabled: boolean;
+        mem0: {
+            inferOnWrite: boolean;
+            historyDbPath: string;
+            embedder?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            vectorStore?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            llm?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+        };
+        backend: "local" | "mem0";
+        namespace?: string | undefined;
+    }, {
+        local?: {
+            storePath?: string | undefined;
+        } | undefined;
+        namespace?: string | undefined;
+        enabled?: boolean | undefined;
+        mem0?: {
+            inferOnWrite?: boolean | undefined;
+            historyDbPath?: string | undefined;
+            embedder?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            vectorStore?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            llm?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+        } | undefined;
+        backend?: "local" | "mem0" | undefined;
+    }>>;
+    /** Per-skill config. Keys are skill ids (e.g. followme). Each skill validates its own slice. */
+    skills: z.ZodDefault<z.ZodRecord<z.ZodString, z.ZodUnknown>>;
+    /** Directories to scan for skill packages (package.json with an `agenticros` block). Resolved at gateway start. */
+    skillPaths: z.ZodDefault<z.ZodArray<z.ZodString, "many">>;
+    /** Npm (or local) package names to load as skills. Resolved via require.resolve from plugin context. */
+    skillPackages: z.ZodDefault<z.ZodArray<z.ZodString, "many">>;
+}, "strip", z.ZodTypeAny, {
+    rosbridge: {
+        url: string;
+        reconnect: boolean;
+        reconnectInterval: number;
+    };
+    local: {
+        domainId: number;
+    };
+    webrtc: {
+        signalingUrl: string;
+        apiUrl: string;
+        robotId: string;
+        robotKey: string;
+        iceServers: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[];
+    };
+    zenoh: {
+        routerEndpoint: string;
+        domainId: number;
+        keyFormat: "ros2dds" | "rmw_zenoh";
+        bridgeNamespace?: string | undefined;
+    };
+    transport: {
+        mode: "rosbridge" | "local" | "webrtc" | "zenoh";
+    };
+    robot: {
+        name: string;
+        namespace: string;
+        cameraTopic: string;
+    };
+    robots: {
+        name: string;
+        namespace: string;
+        cameraTopic: string;
+        id: string;
+        kind: string;
+        sensors: {
+            has_realsense: boolean;
+            has_lidar: boolean;
+            has_arm: boolean;
+        };
+        transport?: {
+            mode: "rosbridge";
+            rosbridge?: {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "local";
+            local?: {
+                domainId?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "zenoh";
+            zenoh?: {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            } | undefined;
+        } | {
+            mode: "webrtc";
+            webrtc?: {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            } | undefined;
+        } | undefined;
+        default?: boolean | undefined;
+        capabilities?: string[] | undefined;
+    }[];
+    teleop: {
+        cameraTopic: string;
+        cameraTopics: {
+            topic: string;
+            label?: string | undefined;
+        }[];
+        cmdVelTopic: string;
+        speedDefault: number;
+        cameraPollMs: number;
+    };
+    safety: {
+        maxLinearVelocity: number;
+        maxAngularVelocity: number;
+        workspaceLimits: {
+            xMin: number;
+            xMax: number;
+            yMin: number;
+            yMax: number;
+        };
+    };
+    describer: {
+        url: string;
+        enabled: boolean;
+        model: string;
+        prompt: string;
+        maxTokens: number;
+        timeoutMs: number;
+        maxImageDimension: number;
+        apiKey?: string | undefined;
+    };
+    memory: {
+        local: {
+            storePath: string;
+        };
+        enabled: boolean;
+        mem0: {
+            inferOnWrite: boolean;
+            historyDbPath: string;
+            embedder?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            vectorStore?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            llm?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+        };
+        backend: "local" | "mem0";
+        namespace?: string | undefined;
+    };
+    skills: Record<string, unknown>;
+    skillPaths: string[];
+    skillPackages: string[];
+}, {
+    rosbridge?: {
+        url?: string | undefined;
+        reconnect?: boolean | undefined;
+        reconnectInterval?: number | undefined;
+    } | undefined;
+    local?: {
+        domainId?: number | undefined;
+    } | undefined;
+    webrtc?: {
+        signalingUrl?: string | undefined;
+        apiUrl?: string | undefined;
+        robotId?: string | undefined;
+        robotKey?: string | undefined;
+        iceServers?: {
+            urls: string | string[];
+            username?: string | undefined;
+            credential?: string | undefined;
+        }[] | undefined;
+    } | undefined;
+    zenoh?: {
+        routerEndpoint?: string | undefined;
+        domainId?: number | undefined;
+        keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+        bridgeNamespace?: string | undefined;
+    } | undefined;
+    transport?: {
+        mode?: "rosbridge" | "local" | "webrtc" | "zenoh" | undefined;
+    } | undefined;
+    robot?: {
+        name?: string | undefined;
+        namespace?: string | undefined;
+        cameraTopic?: string | undefined;
+    } | undefined;
+    robots?: {
+        id: string;
+        transport?: {
+            mode: "rosbridge";
+            rosbridge?: {
+                url?: string | undefined;
+                reconnect?: boolean | undefined;
+                reconnectInterval?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "local";
+            local?: {
+                domainId?: number | undefined;
+            } | undefined;
+        } | {
+            mode: "zenoh";
+            zenoh?: {
+                routerEndpoint?: string | undefined;
+                domainId?: number | undefined;
+                keyFormat?: "ros2dds" | "rmw_zenoh" | undefined;
+                bridgeNamespace?: string | undefined;
+            } | undefined;
+        } | {
+            mode: "webrtc";
+            webrtc?: {
+                signalingUrl?: string | undefined;
+                apiUrl?: string | undefined;
+                robotId?: string | undefined;
+                robotKey?: string | undefined;
+                iceServers?: {
+                    urls: string | string[];
+                    username?: string | undefined;
+                    credential?: string | undefined;
+                }[] | undefined;
+            } | undefined;
+        } | undefined;
+        name?: string | undefined;
+        namespace?: string | undefined;
+        cameraTopic?: string | undefined;
+        default?: boolean | undefined;
+        kind?: string | undefined;
+        sensors?: {
+            has_realsense?: boolean | undefined;
+            has_lidar?: boolean | undefined;
+            has_arm?: boolean | undefined;
+        } | undefined;
+        capabilities?: string[] | undefined;
+    }[] | undefined;
+    teleop?: {
+        cameraTopic?: string | undefined;
+        cameraTopics?: {
+            topic: string;
+            label?: string | undefined;
+        }[] | undefined;
+        cmdVelTopic?: string | undefined;
+        speedDefault?: number | undefined;
+        cameraPollMs?: number | undefined;
+    } | undefined;
+    safety?: {
+        maxLinearVelocity?: number | undefined;
+        maxAngularVelocity?: number | undefined;
+        workspaceLimits?: {
+            xMin?: number | undefined;
+            xMax?: number | undefined;
+            yMin?: number | undefined;
+            yMax?: number | undefined;
+        } | undefined;
+    } | undefined;
+    describer?: {
+        url?: string | undefined;
+        enabled?: boolean | undefined;
+        apiKey?: string | undefined;
+        model?: string | undefined;
+        prompt?: string | undefined;
+        maxTokens?: number | undefined;
+        timeoutMs?: number | undefined;
+        maxImageDimension?: number | undefined;
+    } | undefined;
+    memory?: {
+        local?: {
+            storePath?: string | undefined;
+        } | undefined;
+        namespace?: string | undefined;
+        enabled?: boolean | undefined;
+        mem0?: {
+            inferOnWrite?: boolean | undefined;
+            historyDbPath?: string | undefined;
+            embedder?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            vectorStore?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+            llm?: {
+                provider: string;
+                config: Record<string, unknown>;
+            } | undefined;
+        } | undefined;
+        backend?: "local" | "mem0" | undefined;
+    } | undefined;
+    skills?: Record<string, unknown> | undefined;
+    skillPaths?: string[] | undefined;
+    skillPackages?: string[] | undefined;
+}>;
+export type AgenticROSConfig = z.infer<typeof AgenticROSConfigSchema>;
+/**
+ * Parse and validate raw config against the schema.
+ * Returns a fully-defaulted, typed config object.
+ * Backward compat: if raw.followMe is set, it is merged into raw.skills.followme before parsing.
+ */
+export declare function parseConfig(raw: Record<string, unknown>): AgenticROSConfig;
+/**
+ * Build TransportConfig from full config for createTransport().
+ */
+export declare function getTransportConfig(config: AgenticROSConfig): TransportConfig;
+export {};
+//# sourceMappingURL=config.d.ts.map