@agenticros/core 0.8.4 → 0.8.6

package/dist/index.d.ts

@@ -1,8 +1,8 @@
 /**
  * @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
  */
-export type { AgenticROSConfig, RobotTransportOverride } from "./config.js";
-export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
+export type { AgenticROSConfig, RobotTransportOverride, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
+export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, WorkspaceLimitsSchema, RobotSafetyOverlaySchema, } from "./config.js";
 export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_SET, FEATURE_REQUIRED_BINDING, PROFILE_SCHEMA_ID, RobotProfileSchema, isKnownFeature, isKnownBindingKey, unknownFeatures, unknownBindingKeys, featuresMissingBindings, resolveRobotProfile, featuresFromDeprecatedSensors, featuresSatisfied, missingFeatures, resolveBinding, inferProfileDraft, } from "./robot-profile.js";
 export type { FeatureName, BindingKey, RobotProfile, ProfileRobot, InferProfileOptions } from "./robot-profile.js";
 export { createTransport } from "./transport/factory.js";
@@ -10,6 +10,8 @@ export type { RosTransport } from "./transport/transport.js";
 export type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, TransportConfig, } from "./transport/types.js";
 export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
 export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
+export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
+export type { SafetyLimits, SafetyCheckResult, TwistComponents, LiveBindingCheck, LiveCheckSeverity, LiveGraphSnapshot, } from "./safety.js";
 export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
 export { renderAgenticROSBanner, agenticROSBannerLines, type AgenticROSBannerOptions, } from "./banner.js";
 export { createMemory, resolveMemoryNamespace } from "./memory/index.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -1,11 +1,12 @@
 /**
  * @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
  */
-export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
+export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, WorkspaceLimitsSchema, RobotSafetyOverlaySchema, } from "./config.js";
 export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_SET, FEATURE_REQUIRED_BINDING, PROFILE_SCHEMA_ID, RobotProfileSchema, isKnownFeature, isKnownBindingKey, unknownFeatures, unknownBindingKeys, featuresMissingBindings, resolveRobotProfile, featuresFromDeprecatedSensors, featuresSatisfied, missingFeatures, resolveBinding, inferProfileDraft, } from "./robot-profile.js";
 export { createTransport } from "./transport/factory.js";
 export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
 export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
+export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
 export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
 export { renderAgenticROSBanner, agenticROSBannerLines, } from "./banner.js";
 export { createMemory, resolveMemoryNamespace } from "./memory/index.js";

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/robot-profile.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"robot-profile.d.ts","sourceRoot":"","sources":["../src/robot-profile.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAEH,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AAOxB,qFAAqF;AACrF,eAAO,MAAM,kBAAkB,wHAarB,CAAC;AAEX,MAAM,MAAM,WAAW,GAAG,CAAC,OAAO,kBAAkB,CAAC,CAAC,MAAM,CAAC,CAAC;AAE9D,eAAO,MAAM,sBAAsB,EAAE,WAAW,CAAC,MAAM,CAA+B,CAAC;AAEvF,mEAAmE;AACnE,eAAO,MAAM,YAAY,4HAUf,CAAC;AAEX,MAAM,MAAM,UAAU,GAAG,CAAC,OAAO,YAAY,CAAC,CAAC,MAAM,CAAC,CAAC;AAEvD,eAAO,MAAM,gBAAgB,EAAE,WAAW,CAAC,MAAM,CAAyB,CAAC;AAE3E;;;GAGG;AACH,eAAO,MAAM,wBAAwB,EAAE,QAAQ,CAAC,OAAO,CAAC,MAAM,CAAC,WAAW,EAAE,UAAU,CAAC,CAAC,CAQvF,CAAC;AAEF,eAAO,MAAM,iBAAiB,0BAA0B,CAAC;AAEzD,eAAO,MAAM,kBAAkB;;;;;;;;;;;;EAI7B,CAAC;AAEH,MAAM,MAAM,YAAY,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,kBAAkB,CAAC,CAAC;AAE9D,iFAAiF;AACjF,MAAM,WAAW,YAAY;IAC3B,SAAS,EAAE,MAAM,CAAC;IAClB,WAAW,EAAE,MAAM,CAAC;IACpB,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,OAAO,CAAC,EAAE;QACR,aAAa,CAAC,EAAE,OAAO,CAAC;QACxB,SAAS,CAAC,EAAE,OAAO,CAAC;QACpB,OAAO,CAAC,EAAE,OAAO,CAAC;KACnB,CAAC;IACF,OAAO,CAAC,EAAE,YAAY,CAAC;CACxB;AAED,wBAAgB,cAAc,CAAC,IAAI,EAAE,MAAM,GAAG,IAAI,IAAI,WAAW,CAEhE;AAED,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,MAAM,GAAG,GAAG,IAAI,UAAU,CAEhE;AAED,wBAAgB,eAAe,CAAC,QAAQ,EAAE,SAAS,MAAM,EAAE,GAAG,MAAM,EAAE,CAErE;AAED,wBAAgB,kBAAkB,CAAC,QAAQ,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,MAAM,EAAE,CAE7E;AAED,iEAAiE;AACjE,wBAAgB,uBAAuB,CAAC,OAAO,EAAE,YAAY,GAAG,MAAM,EAAE,CAYvE;AAED,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,YAAY,GAAG,SAAS,CAEjF;AAED;;;;GAIG;AACH,wBAAgB,6BAA6B,CAC3C,OAAO,EAAE,YAAY,CAAC,SAAS,CAAC,GAAG,SAAS,GAC3C,WAAW,EAAE,CASf;AAED,4FAA4F;AAC5F,wBAAgB,iBAAiB,CAC/B,OAAO,EAAE,YAAY,GAAG,SAAS,EACjC,QAAQ,EAAE,SAAS,MAAM,EAAE,GAAG,SAAS,GACtC,OAAO,CAKT;AAED,0FAA0F;AAC1F,wBAAgB,eAAe,CAC7B,OAAO,EAAE,YAAY,GAAG,SAAS,EACjC,QAAQ,EAAE,SAAS,MAAM,EAAE,GAAG,SAAS,GACtC,MAAM,EAAE,CAKV;AAcD;;;;;;GAMG;AACH,wBAAgB,cAAc,CAC5B,KAAK,EAAE,YAAY,EACnB,GAAG,EAAE,MAAM,EACX,IAAI,CAAC,EAAE;IAAE,WAAW,CAAC,EAAE,MAAM,CAAA;CAAE,GAC9B,MAAM,GAAG,SAAS,CAepB;AAED,MAAM,WAAW,mBAAmB;IAClC,WAAW,CAAC,EAAE,MAAM,CAAC;CACtB;AAED;;;;GAIG;AACH,wBAAgB,iBAAiB,CAC/B,KAAK,EAAE,YAAY,EACnB,IAAI,CAAC,EAAE,mBAAmB,GACzB,YAAY,CA6Cd"}

package/dist/robot-profile.js

@@ -188,6 +188,9 @@ export function inferProfileDraft(robot, opts) {
     const bindings = {};
     if (features.has("base")) {
         bindings["cmd_vel"] = resolveBinding(robot, "cmd_vel", opts) ?? "/cmd_vel";
+        bindings["odom"] =
+            resolveBinding(robot, "odom") ??
+                toNamespacedTopicFull(robot.namespace, "/odom");
     }
     if (features.has("camera")) {
         const rgb = resolveBinding(robot, "camera.rgb");

package/dist/robot-profile.js.map

@@ -1 +1 @@
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package/dist/robots.d.ts

@@ -21,7 +21,7 @@
  * mental model keep working unchanged. The synthesised entry is marked
  * default so it's selected by `getActiveRobotId()`.
  */
-import type { AgenticROSConfig } from "./config.js";
+import type { AgenticROSConfig, RobotSafetyOverlay } from "./config.js";
 import type { TransportConfig } from "./transport/types.js";
 import type { RobotProfile } from "./robot-profile.js";
 /** Sensor/hardware tags on a robot (Phase 1.e). */
@@ -63,6 +63,11 @@ export interface ResolvedRobot {
      * — callers must not invent one; verb filtering is skipped.
      */
     profile?: RobotProfile;
+    /**
+     * Optional per-robot safety overlay. Undefined → inherit gateway
+     * `config.safety` via `resolveSafetyForRobot`.
+     */
+    safety?: RobotSafetyOverlay;
     /**
      * Source tag — handy for diagnostics ("Why is this robot in the list?").
      *   - "config":  from config.robots[]

package/dist/robots.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAE5D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,oBAAoB,CAAC;AAEvD,mDAAmD;AACnD,MAAM,WAAW,YAAY;IAC3B,wCAAwC;IACxC,aAAa,EAAE,OAAO,CAAC;IACvB,6BAA6B;IAC7B,SAAS,EAAE,OAAO,CAAC;IACnB,0CAA0C;IAC1C,OAAO,EAAE,OAAO,CAAC;CAClB;AAED,+DAA+D;AAC/D,MAAM,WAAW,aAAa;IAC5B,+EAA+E;IAC/E,EAAE,EAAE,MAAM,CAAC;IACX,sDAAsD;IACtD,IAAI,EAAE,MAAM,CAAC;IACb,qFAAqF;IACrF,SAAS,EAAE,MAAM,CAAC;IAClB,gFAAgF;IAChF,WAAW,EAAE,MAAM,CAAC;IACpB;;;;OAIG;IACH,IAAI,EAAE,MAAM,CAAC;IACb,6DAA6D;IAC7D,OAAO,EAAE,YAAY,CAAC;IACtB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,MAAM,EAAE,CAAC;IACxB;;;OAGG;IACH,OAAO,CAAC,EAAE,YAAY,CAAC;IACvB;;;;OAIG;IACH,MAAM,EAAE,QAAQ,GAAG,QAAQ,CAAC;CAC7B;AAiBD,wBAAgB,UAAU,CAAC,MAAM,EAAE,gBAAgB,GAAG,aAAa,EAAE,CAwCpE;AAED;;;;;;;;;;GAUG;AACH,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,gBAAgB,EAAE,QAAQ,CAAC,EAAE,MAAM,GAAG,MAAM,CAUpF;AAED;;;;;;;;GAQG;AACH,wBAAgB,oBAAoB,CAClC,MAAM,EAAE,gBAAgB,EACxB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC5B,aAAa,CAIf;AAED;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,MAAM,EAAE,gBAAgB,EAAE,OAAO,CAAC,EAAE,MAAM,GAAG,aAAa,CAiBtF;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AACH,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,eAAe,CAuCjB;AAED;;;;;GAKG;AACH,wBAAgB,yBAAyB,CACvC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,OAAO,CAUT"}
+{"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,MAAM,aAAa,CAAC;AAExE,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAE5D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,oBAAoB,CAAC;AAEvD,mDAAmD;AACnD,MAAM,WAAW,YAAY;IAC3B,wCAAwC;IACxC,aAAa,EAAE,OAAO,CAAC;IACvB,6BAA6B;IAC7B,SAAS,EAAE,OAAO,CAAC;IACnB,0CAA0C;IAC1C,OAAO,EAAE,OAAO,CAAC;CAClB;AAED,+DAA+D;AAC/D,MAAM,WAAW,aAAa;IAC5B,+EAA+E;IAC/E,EAAE,EAAE,MAAM,CAAC;IACX,sDAAsD;IACtD,IAAI,EAAE,MAAM,CAAC;IACb,qFAAqF;IACrF,SAAS,EAAE,MAAM,CAAC;IAClB,gFAAgF;IAChF,WAAW,EAAE,MAAM,CAAC;IACpB;;;;OAIG;IACH,IAAI,EAAE,MAAM,CAAC;IACb,6DAA6D;IAC7D,OAAO,EAAE,YAAY,CAAC;IACtB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,MAAM,EAAE,CAAC;IACxB;;;OAGG;IACH,OAAO,CAAC,EAAE,YAAY,CAAC;IACvB;;;OAGG;IACH,MAAM,CAAC,EAAE,kBAAkB,CAAC;IAC5B;;;;OAIG;IACH,MAAM,EAAE,QAAQ,GAAG,QAAQ,CAAC;CAC7B;AAiBD,wBAAgB,UAAU,CAAC,MAAM,EAAE,gBAAgB,GAAG,aAAa,EAAE,CAyCpE;AAED;;;;;;;;;;GAUG;AACH,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,gBAAgB,EAAE,QAAQ,CAAC,EAAE,MAAM,GAAG,MAAM,CAUpF;AAED;;;;;;;;GAQG;AACH,wBAAgB,oBAAoB,CAClC,MAAM,EAAE,gBAAgB,EACxB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC5B,aAAa,CAIf;AAED;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,MAAM,EAAE,gBAAgB,EAAE,OAAO,CAAC,EAAE,MAAM,GAAG,aAAa,CAiBtF;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AACH,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,eAAe,CAuCjB;AAED;;;;;GAKG;AACH,wBAAgB,yBAAyB,CACvC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,OAAO,CAUT"}

package/dist/robots.js

@@ -52,6 +52,7 @@ export function listRobots(config) {
             sensors: { ...DEFAULT_SENSORS, ...(r.sensors ?? {}) },
             capabilities: r.capabilities,
             profile: r.profile,
+            safety: r.safety,
             source: "config",
         }));
     }

package/dist/robots.js.map

@@ -1 +1 @@
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package/dist/safety.d.ts

@@ -0,0 +1,116 @@
+/**
+ * Shared safety gates: per-robot velocity limits, optional workspace
+ * geofence, and fail-safe zero-Twist on transport loss.
+ *
+ * Adapters (MCP, OpenClaw, Gemini, teleop, skills) must call these
+ * helpers rather than reading `config.safety` directly so a mixed
+ * fleet does not share one clamp.
+ */
+import type { AgenticROSConfig, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
+import type { ProfileRobot } from "./robot-profile.js";
+import type { RosTransport } from "./transport/transport.js";
+export declare const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
+export declare const ZERO_TWIST: {
+    linear: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    angular: {
+        x: number;
+        y: number;
+        z: number;
+    };
+};
+export interface SafetyLimits {
+    maxLinearVelocity: number;
+    maxAngularVelocity: number;
+    workspaceLimits?: WorkspaceLimits;
+}
+export interface SafetyCheckResult {
+    block: boolean;
+    blockReason?: string;
+}
+export interface TwistComponents {
+    linear: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    angular: {
+        x: number;
+        y: number;
+        z: number;
+    };
+}
+/**
+ * Resolve velocity + workspace limits for a robot. Robot overlay fields
+ * win; unset fields inherit the gateway `config.safety` defaults.
+ */
+export declare function resolveSafetyForRobot(config: AgenticROSConfig, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyLimits;
+/** True when the payload looks like geometry_msgs/Twist. */
+export declare function isTwistMessage(msg: unknown): boolean;
+export declare function checkTwistMessage(limits: SafetyLimits, msg: unknown): SafetyCheckResult;
+/** Scale a Twist down to the velocity ceilings (teleop / skills). */
+export declare function clampTwistToLimits(limits: SafetyLimits, linearX: number, linearY: number, linearZ: number, angularX: number, angularY: number, angularZ: number): TwistComponents;
+export declare function checkWorkspacePosition(limits: SafetyLimits, x: number, y: number): SafetyCheckResult;
+/**
+ * Pull map-frame (x, y) pairs from Twist-unrelated nav payloads:
+ * `{x,y}`, Pose, PoseStamped, NavigateToPose goal, NavigateThroughPoses.
+ */
+export declare function extractWorkspacePositions(payload: unknown): Array<{
+    x: number;
+    y: number;
+}>;
+export declare function checkWorkspacePayload(limits: SafetyLimits, payload: unknown): SafetyCheckResult;
+export declare function checkPublishSafety(config: AgenticROSConfig, params: Record<string, unknown>, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyCheckResult;
+export declare function checkActionGoalSafety(config: AgenticROSConfig, params: Record<string, unknown>, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyCheckResult;
+export declare function checkInputsWorkspace(config: AgenticROSConfig, inputs: Record<string, unknown>, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyCheckResult;
+/**
+ * A body that accepts Twist. Profile `base` wins; with no profile,
+ * anything except an arm-only cell is treated as having a base
+ * (legacy configs default kind to "amr").
+ */
+export declare function robotHasMobileBase(robot: ProfileRobot): boolean;
+/** Best-effort zero Twist on every mobile-base robot sharing this transport. */
+export declare function publishStopForBases(transport: RosTransport, robots: readonly ProfileRobot[]): Promise<void>;
+/**
+ * Publish zero Twist when the transport drops (and again on reconnect
+ * so a stale last-command cannot resume). Returns an unsubscribe.
+ */
+export declare function attachDisconnectFailSafe(transport: RosTransport, robots: readonly ProfileRobot[]): () => void;
+export type LiveCheckSeverity = "green" | "yellow" | "red";
+export interface LiveBindingCheck {
+    id: string;
+    robotId: string;
+    key: string;
+    name: string;
+    severity: LiveCheckSeverity;
+    reason: string;
+}
+export interface LiveGraphSnapshot {
+    topics: ReadonlyArray<{
+        name: string;
+        type?: string;
+    }>;
+    actions?: ReadonlyArray<{
+        name: string;
+        type?: string;
+    }>;
+}
+/**
+ * Compare declared profile bindings against a live topic/action list.
+ * Missing declared hardware is red; type mismatch is yellow.
+ */
+export declare function checkLiveBindings(robots: ReadonlyArray<ProfileRobot & {
+    id: string;
+}>, graph: LiveGraphSnapshot): LiveBindingCheck[];
+//# sourceMappingURL=safety.d.ts.map

package/dist/safety.d.ts.map

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