@agenticros/core 0.5.0

package/dist/config.d.ts.map

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package/dist/config.js

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+import { z } from "zod";
+const IceServerSchema = z.object({
+    urls: z.union([z.string(), z.array(z.string())]),
+    username: z.string().optional(),
+    credential: z.string().optional(),
+});
+// ─────────────────────────────────────────────────────────────────────────────
+// Transport sub-schemas. Extracted so both the top-level config and the
+// per-robot override in `robots[i].transport` can share them without
+// drifting. The shapes mirror packages/core/src/transport/types.ts.
+// ─────────────────────────────────────────────────────────────────────────────
+const ZenohSettingsSchema = z.object({
+    /** WebSocket URL for zenoh-ts (zenoh-plugin-remote-api). Not tcp/ — use e.g. ws://localhost:10000 */
+    routerEndpoint: z.string().default("ws://localhost:10000"),
+    domainId: z.number().default(0),
+    /** "ros2dds" = zenoh-bridge-ros2dds key format (slashes kept). "rmw_zenoh" = rmw_zenoh key format (domain + %). */
+    keyFormat: z.enum(["ros2dds", "rmw_zenoh"]).default("ros2dds"),
+    /**
+     * 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.string().optional(),
+});
+const RosbridgeSettingsSchema = z.object({
+    url: z.string().default("ws://localhost:9090"),
+    reconnect: z.boolean().default(true),
+    reconnectInterval: z.number().default(3000),
+});
+const LocalSettingsSchema = z.object({
+    domainId: z.number().default(0),
+});
+const WebrtcSettingsSchema = z.object({
+    signalingUrl: z.string().default(""),
+    apiUrl: z.string().default(""),
+    robotId: z.string().default(""),
+    robotKey: z.string().default(""),
+    iceServers: z
+        .array(IceServerSchema)
+        .default([{ urls: "stun:stun.l.google.com:19302" }]),
+});
+/**
+ * Per-robot transport override sub-schemas (Phase 1.d-resolve).
+ *
+ * These intentionally MIRROR the top-level shapes but drop every
+ * `.default(...)`. Why: when `getTransportConfigForRobot` merges an
+ * override over the global config it does a per-field merge
+ * (`{ ...global, ...override }`). If the override schema applied
+ * defaults (e.g. `domainId: 0`), those defaults would silently clobber
+ * the global values whenever the user omitted them — making the
+ * "merge only the fields I actually wrote" contract impossible.
+ *
+ * Every field is optional here. Validation still rejects wrong types
+ * (e.g. `routerEndpoint: 42`), which is what we want.
+ */
+const ZenohOverrideSettingsSchema = z.object({
+    routerEndpoint: z.string().optional(),
+    domainId: z.number().optional(),
+    keyFormat: z.enum(["ros2dds", "rmw_zenoh"]).optional(),
+    bridgeNamespace: z.string().optional(),
+});
+const RosbridgeOverrideSettingsSchema = z.object({
+    url: z.string().optional(),
+    reconnect: z.boolean().optional(),
+    reconnectInterval: z.number().optional(),
+});
+const LocalOverrideSettingsSchema = z.object({
+    domainId: z.number().optional(),
+});
+const WebrtcOverrideSettingsSchema = z.object({
+    signalingUrl: z.string().optional(),
+    apiUrl: z.string().optional(),
+    robotId: z.string().optional(),
+    robotKey: z.string().optional(),
+    iceServers: z.array(IceServerSchema).optional(),
+});
+/**
+ * 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
+ */
+const RobotTransportOverrideSchema = z.discriminatedUnion("mode", [
+    z
+        .object({
+        mode: z.literal("rosbridge"),
+        rosbridge: RosbridgeOverrideSettingsSchema.optional(),
+    })
+        .strict(),
+    z
+        .object({
+        mode: z.literal("local"),
+        local: LocalOverrideSettingsSchema.optional(),
+    })
+        .strict(),
+    z
+        .object({
+        mode: z.literal("zenoh"),
+        zenoh: ZenohOverrideSettingsSchema.optional(),
+    })
+        .strict(),
+    z
+        .object({
+        mode: z.literal("webrtc"),
+        webrtc: WebrtcOverrideSettingsSchema.optional(),
+    })
+        .strict(),
+]);
+export const AgenticROSConfigSchema = z.object({
+    transport: z
+        .object({
+        /**
+         * 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.enum(["rosbridge", "local", "webrtc", "zenoh"]).default("local"),
+    })
+        .default({}),
+    zenoh: ZenohSettingsSchema.default({}),
+    rosbridge: RosbridgeSettingsSchema.default({}),
+    local: LocalSettingsSchema.default({}),
+    webrtc: WebrtcSettingsSchema.default({}),
+    robot: z
+        .object({
+        name: z.string().default("Robot"),
+        namespace: z.string().default(""),
+        /** 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.string().default(""),
+    })
+        .default({}),
+    /**
+     * 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
+        .array(z.object({
+        /** Stable, human-readable identifier referenced by `robot_id` arguments. */
+        id: z.string(),
+        name: z.string().default("Robot"),
+        namespace: z.string().default(""),
+        cameraTopic: z.string().default(""),
+        default: z.boolean().optional(),
+        /**
+         * 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.string().default("amr"),
+        /**
+         * 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
+            .object({
+            has_realsense: z.boolean().default(false),
+            has_lidar: z.boolean().default(false),
+            has_arm: z.boolean().default(false),
+        })
+            .default({}),
+        /**
+         * 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.array(z.string()).optional(),
+        /**
+         * 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: RobotTransportOverrideSchema.optional(),
+    }))
+        .default([]),
+    /** Phase 3 teleop web app: camera + twist controls. */
+    teleop: z
+        .object({
+        /** Default camera topic when only one source or as default selection. Falls back to robot.cameraTopic then RealSense default. */
+        cameraTopic: z.string().default(""),
+        /** Explicit list of camera sources for the selector; if empty, derived from listTopics() filtered by Image/CompressedImage. */
+        cameraTopics: z
+            .array(z.object({ topic: z.string(), label: z.string().optional() }))
+            .default([]),
+        /** cmd_vel topic override (default from robot namespace). */
+        cmdVelTopic: z.string().default(""),
+        /** Default linear speed (m/s) for teleop. */
+        speedDefault: z.coerce.number().min(0).max(2).default(0.3),
+        /** Camera poll interval in ms for the teleop page. */
+        cameraPollMs: z.number().min(50).max(2000).default(150),
+    })
+        .default({}),
+    safety: z
+        .object({
+        maxLinearVelocity: z.number().default(1.0),
+        maxAngularVelocity: z.number().default(1.5),
+        workspaceLimits: z
+            .object({
+            xMin: z.number().default(-10),
+            xMax: z.number().default(10),
+            yMin: z.number().default(-10),
+            yMax: z.number().default(10),
+        })
+            .default({}),
+    })
+        .default({}),
+    /**
+     * 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
+        .object({
+        enabled: z.boolean().default(false),
+        /** OpenAI-compat chat completions endpoint URL. */
+        url: z
+            .string()
+            // host.openshell.internal:11435 is the nemoclaw ollama-auth-proxy
+            // bound to the docker bridge — it's the ONLY way to reach the
+            // host's Ollama from a NemoClaw sandbox. Two reasons:
+            //   1. The default Ollama daemon binds 127.0.0.1:11434 on the
+            //      host, which is not reachable from the bridge.
+            //   2. The built-in `local-inference` policy permits POST to
+            //      host.openshell.internal:11435 (and 11434/8000) but the
+            //      OPA proxy will refuse a forward to any other port.
+            // The auth-proxy requires `Authorization: Bearer <token>` from
+            // ~/.nemoclaw/ollama-proxy-token — set ``describer.apiKey``.
+            .default("http://host.openshell.internal:11435/v1/chat/completions"),
+        /** Optional Bearer token / API key for the endpoint. */
+        apiKey: z.string().optional(),
+        /** Vision model id (must accept OpenAI `image_url` content blocks). */
+        model: z.string().default("qwen2.5vl:7b"),
+        /** Prompt sent alongside the image. */
+        prompt: z
+            .string()
+            .default("Describe what is visible in this camera frame from a mobile robot. " +
+            "Focus on the physical scene: objects, materials, layout, colors, lighting, distances. " +
+            "Be concrete and specific. Do not speculate or add detail you cannot see."),
+        /** Max tokens for the description. */
+        maxTokens: z.number().int().min(50).max(2048).default(400),
+        /** Request timeout in ms. */
+        timeoutMs: z.number().int().min(1000).max(180000).default(60000),
+        /**
+         * 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.number().int().min(0).max(4096).default(896),
+    })
+        .default({}),
+    /**
+     * 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
+        .object({
+        /** Master switch. When false, adapters skip registering memory tools. */
+        enabled: z.boolean().default(false),
+        /** Which backend to use. "local" has no extra deps; "mem0" needs `pnpm add mem0ai`. */
+        backend: z.enum(["local", "mem0"]).default("local"),
+        /** Override the per-record namespace. Defaults to robot.namespace at call time. */
+        namespace: z.string().optional(),
+        local: z
+            .object({
+            /** JSON-on-disk store path. Supports leading "~/". */
+            storePath: z.string().default("~/.agenticros/memory.json"),
+        })
+            .default({}),
+        mem0: z
+            .object({
+            /**
+             * 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.boolean().default(false),
+            /** SQLite history db path (mem0 historyDbPath). Supports leading "~/". */
+            historyDbPath: z
+                .string()
+                .default("~/.agenticros/memory-history.db"),
+            /**
+             * 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
+                .object({
+                provider: z.string(),
+                config: z.record(z.string(), z.unknown()),
+            })
+                .optional(),
+            /** Vector store passed verbatim to `new Memory({ vectorStore })`. */
+            vectorStore: z
+                .object({
+                provider: z.string(),
+                config: z.record(z.string(), z.unknown()),
+            })
+                .optional(),
+            /** LLM passed verbatim to `new Memory({ llm })`. Only used when inferOnWrite is true. */
+            llm: z
+                .object({
+                provider: z.string(),
+                config: z.record(z.string(), z.unknown()),
+            })
+                .optional(),
+        })
+            .default({}),
+    })
+        .default({}),
+    /** Per-skill config. Keys are skill ids (e.g. followme). Each skill validates its own slice. */
+    skills: z.record(z.string(), z.unknown()).default({}),
+    /** Directories to scan for skill packages (package.json with an `agenticros` block). Resolved at gateway start. */
+    skillPaths: z.array(z.string()).default([]),
+    /** Npm (or local) package names to load as skills. Resolved via require.resolve from plugin context. */
+    skillPackages: z.array(z.string()).default([]),
+});
+/**
+ * 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 function parseConfig(raw) {
+    const normalized = { ...raw };
+    const followMe = raw.followMe;
+    if (followMe !== undefined && followMe !== null && typeof followMe === "object") {
+        const skills = normalized.skills ?? {};
+        if (!(typeof skills === "object" && skills !== null && !Array.isArray(skills))) {
+            normalized.skills = { followme: followMe };
+        }
+        else if (!("followme" in skills)) {
+            normalized.skills = { ...skills, followme: followMe };
+        }
+    }
+    return AgenticROSConfigSchema.parse(normalized);
+}
+/**
+ * Build TransportConfig from full config for createTransport().
+ */
+export function getTransportConfig(config) {
+    const mode = config.transport?.mode ?? "local";
+    switch (mode) {
+        case "rosbridge":
+            return { mode: "rosbridge", rosbridge: config.rosbridge ?? { url: "ws://localhost:9090" } };
+        case "local":
+            return { mode: "local", local: config.local };
+        case "webrtc":
+            return { mode: "webrtc", webrtc: config.webrtc ?? {} };
+        case "zenoh":
+            return { mode: "zenoh", zenoh: config.zenoh ?? {} };
+        default:
+            return { mode: "local", local: config.local ?? { domainId: 0 } };
+    }
+}
+//# sourceMappingURL=config.js.map

package/dist/config.js.map

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

@@ -0,0 +1,113 @@
+/**
+ * Multi-robot discovery — Phase 1.d "fleet awareness on the wire".
+ *
+ * Configuration tells the gateway what robots the user wants to talk to.
+ * The transport tells the gateway what's actually on the wire right now.
+ * Discovery is the bridge: scan published ROS2 topics, infer robot
+ * namespaces from `<ns>/cmd_vel` patterns, cross-reference against the
+ * configured robot list, and surface three categories:
+ *
+ *   1. configured_online   — in config AND seen on the wire
+ *   2. configured_offline  — in config but NOT seen on the wire
+ *   3. unknown_detected    — on the wire but NOT in config
+ *
+ * The agent uses this to answer questions like "which robots can I talk
+ * to right now?" without forcing the user to hand-edit
+ * `~/.agenticros/config.json` every time a robot joins the network.
+ *
+ * Persistence is intentionally OUT of scope here: discovery is read-only.
+ * Writing newly-detected robots into the user's config is a separate
+ * UX decision handled by the CLI / OpenClaw config UI on top of this
+ * function.
+ *
+ * ## Detection signal
+ *
+ * `<ns>/cmd_vel` (the velocity command topic) is the canonical signal —
+ * a robot that can be driven publishes/subscribes there. Other topics
+ * like `<ns>/odom`, `<ns>/joint_states`, and `<ns>/camera/...` corroborate
+ * the same `<ns>`; we surface them as `topicCount` so consumers can
+ * gauge how "alive" the namespace looks.
+ *
+ * The unnamespaced `/cmd_vel` topic (default namespace, common in
+ * simulation) is detected as id="" — consumers can render it as
+ * "default robot" or similar.
+ *
+ * ## Namespace rewrite
+ *
+ * `ros2_publish` rewrites a UUID-shaped namespace like
+ * `3946b404-c33e-...` into `robot3946b404c33e...` (strip dashes,
+ * prefix with "robot") because most robot firmware expects the
+ * dashless form. Discovery applies the same rewrite when matching
+ * configured robots against detected namespaces, so a UUID-style
+ * config entry still matches the `/robot<no-dashes>/cmd_vel` topic
+ * the robot is actually publishing on.
+ */
+import type { AgenticROSConfig } from "./config.js";
+import type { ResolvedRobot } from "./robots.js";
+import type { TopicInfo } from "./transport/types.js";
+/** One robot inferred from the topic graph. */
+export interface DetectedRobot {
+    /** The namespace segment, e.g. "robot3946b...". Empty string = default namespace. */
+    id: string;
+    /** The full cmd_vel topic name we saw — e.g. "/robot3946b.../cmd_vel". */
+    cmdVelTopic: string;
+    /**
+     * Total topics under `/<id>/`, INCLUDING the cmd_vel topic itself.
+     * A topicCount of 1 means the robot is "barely there" (just cmd_vel,
+     * no odom / joint_states / camera etc.); higher counts corroborate
+     * that the namespace is actually a live robot, not a stale advert.
+     * Always 0 for the unnamespaced default robot (id="").
+     */
+    topicCount: number;
+    /**
+     * The matching `robot.id` from `config.robots` (or the legacy fallback)
+     * when this detected namespace maps to a configured robot, otherwise
+     * `null`. Matching uses the same UUID→robot-no-dashes rewrite as the
+     * publish path.
+     */
+    configuredRobotId: string | null;
+}
+/** Result of a discovery pass. */
+export interface RobotDiscoveryResult {
+    /** Every robot inferred from the topic graph, with config match annotations. */
+    detected: DetectedRobot[];
+    /** Configured robots that ARE present on the wire right now. */
+    configured_online: ResolvedRobot[];
+    /** Configured robots that are NOT present on the wire right now. */
+    configured_offline: ResolvedRobot[];
+    /** Detected robots that have no matching config entry — candidates to add. */
+    unknown_detected: DetectedRobot[];
+    /** Total topics scanned (echoed for diagnostics). */
+    total_topics: number;
+}
+/**
+ * Apply the same UUID→robot-no-dashes rewrite as `ros2_publish` uses
+ * when normalising a `/<ns>/cmd_vel` target.
+ *
+ * `""` stays `""` (default namespace). Namespaces that already start
+ * with "robot" are returned unchanged.
+ */
+export declare function effectiveCmdVelNamespace(robotNamespace: string): string;
+/**
+ * Find every robot-shaped namespace in a topic list.
+ *
+ * Detection rule: any `/<seg>/cmd_vel` topic implies a robot with
+ * namespace `<seg>`. The unnamespaced `/cmd_vel` topic registers the
+ * empty namespace (id=""). Topic count under each namespace is
+ * accumulated so consumers can rank by liveness.
+ *
+ * The returned `DetectedRobot.configuredRobotId` is always `null` here —
+ * call `discoverRobots()` (which wraps this function) to annotate with
+ * config matches.
+ */
+export declare function detectRobotsFromTopics(topics: TopicInfo[]): DetectedRobot[];
+/**
+ * Top-level discovery: detect robots on the wire, match against the
+ * configured robot list, and classify into online / offline / unknown.
+ *
+ * Pure function — feed it the topic list and the config, get a result
+ * back. No transport access here; adapters wrap this with a call to
+ * `transport.listTopics()`.
+ */
+export declare function discoverRobots(topics: TopicInfo[], config: AgenticROSConfig): RobotDiscoveryResult;
+//# sourceMappingURL=discovery.d.ts.map

package/dist/discovery.d.ts.map

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