@agenticros/core 0.8.6 → 0.8.8

package/dist/hive/persist.js

@@ -0,0 +1,27 @@
+/**
+ * Merge a hive patch into a raw config object (no Zod). Used by the CLI
+ * and hive_enable so adapters can write ~/.agenticros/config.json without
+ * pulling transport deps beyond what's already imported.
+ */
+export function mergeHiveConfig(raw, patch) {
+    const prev = raw.hive && typeof raw.hive === "object" && !Array.isArray(raw.hive)
+        ? { ...raw.hive }
+        : {};
+    const next = { ...prev };
+    if (patch.enabled !== undefined)
+        next.enabled = patch.enabled;
+    if (patch.url !== undefined)
+        next.url = patch.url;
+    if (patch.identityId !== undefined)
+        next.identityId = patch.identityId;
+    if (patch.hiveId !== undefined)
+        next.hiveId = patch.hiveId;
+    if (patch.recipes) {
+        const prevRecipes = prev.recipes && typeof prev.recipes === "object" && !Array.isArray(prev.recipes)
+            ? { ...prev.recipes }
+            : {};
+        next.recipes = { ...prevRecipes, ...patch.recipes };
+    }
+    return { ...raw, hive: next };
+}
+//# sourceMappingURL=persist.js.map

package/dist/hive/persist.js.map

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

@@ -0,0 +1,84 @@
+/**
+ * Public types for the optional fleet-hive HTTP client.
+ * Owners never see these ids — adapters fill them from ARC / config.
+ */
+export declare const DEFAULT_HIVE_URL = "http://127.0.0.1:6502";
+export declare const HIVE_EVENT_SCHEMA: "agenticros.event.v1";
+export declare const HIVE_RECIPE_IDS: readonly ["detect", "describe", "health"];
+export type HiveRecipeId = (typeof HIVE_RECIPE_IDS)[number];
+export type HiveEventKind = "detection" | "caption" | "health" | "mission" | "note";
+export interface HiveEvent {
+    schema: typeof HIVE_EVENT_SCHEMA;
+    robot_id: string;
+    kind: HiveEventKind;
+    topic: string;
+    payload: unknown;
+    ts: number;
+}
+export interface HiveRecipeCatalogEntry {
+    id: HiveRecipeId;
+    label: string;
+    description: string;
+    requiresCamera: boolean;
+}
+export declare const HIVE_RECIPE_CATALOG: readonly HiveRecipeCatalogEntry[];
+export interface HiveMemoryItem {
+    key: string;
+    value: unknown;
+}
+export interface HiveStatus {
+    enabled: true;
+    reachable: boolean;
+    message: string;
+    url: string;
+    identityId?: string;
+    hiveId?: string;
+    hiveName?: string;
+    memberCount?: number;
+    recordCount?: number;
+    recipes: {
+        id: HiveRecipeId;
+        label: string;
+        on: boolean;
+        taskId?: string;
+    }[];
+}
+export interface HiveEnableResult {
+    enabled: boolean;
+    identityId: string;
+    hiveId: string;
+    message: string;
+}
+export interface HiveRecipeResult {
+    id: HiveRecipeId;
+    on: boolean;
+    label: string;
+    taskId?: string;
+    message: string;
+}
+export interface HiveClient {
+    readonly url: string;
+    ensure(): Promise<HiveEnableResult>;
+    remember(content: string, opts?: {
+        key?: string;
+        tags?: string[];
+        path?: string;
+    }): Promise<{
+        key: string;
+    }>;
+    recall(query?: string, limit?: number): Promise<HiveMemoryItem[]>;
+    forget(key?: string, query?: string): Promise<{
+        removed: number;
+    }>;
+    status(): Promise<HiveStatus>;
+    setRecipe(id: HiveRecipeId, on: boolean, bindings?: {
+        robotId?: string;
+        cameraTopic?: string;
+        namespace?: string;
+    }): Promise<HiveRecipeResult>;
+}
+export declare class HiveUnavailableError extends Error {
+    readonly ownerMessage: string;
+    constructor(ownerMessage: string, cause?: unknown);
+}
+//# sourceMappingURL=types.d.ts.map

package/dist/hive/types.d.ts.map

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package/dist/hive/types.js

@@ -0,0 +1,39 @@
+/**
+ * Public types for the optional fleet-hive HTTP client.
+ * Owners never see these ids — adapters fill them from ARC / config.
+ */
+export const DEFAULT_HIVE_URL = "http://127.0.0.1:6502";
+export const HIVE_EVENT_SCHEMA = "agenticros.event.v1";
+export const HIVE_RECIPE_IDS = ["detect", "describe", "health"];
+export const HIVE_RECIPE_CATALOG = [
+    {
+        id: "detect",
+        label: "Detect objects on cameras",
+        description: "Watch cameras and write detections + fleet facts. Never drives.",
+        requiresCamera: true,
+    },
+    {
+        id: "describe",
+        label: "Describe what robots see",
+        description: "Rate-limited captions into fleet memory. Never drives.",
+        requiresCamera: true,
+    },
+    {
+        id: "health",
+        label: "Fleet health notes",
+        description: "Watch robot_info / battery and write hive health notes.",
+        requiresCamera: false,
+    },
+];
+export class HiveUnavailableError extends Error {
+    ownerMessage;
+    constructor(ownerMessage, cause) {
+        super(ownerMessage);
+        this.name = "HiveUnavailableError";
+        this.ownerMessage = ownerMessage;
+        if (cause !== undefined) {
+            this.cause = cause;
+        }
+    }
+}
+//# sourceMappingURL=types.js.map

package/dist/hive/types.js.map

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

@@ -10,11 +10,13 @@ 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 { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, emergencyStopRobot, ESTOP_PUBLISH_COUNT, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
+export type { SafetyLimits, SafetyCheckResult, TwistComponents, LiveBindingCheck, LiveCheckSeverity, LiveGraphSnapshot, EmergencyStopResult, } 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";
+export { createHiveClient, hiveRecipeOn, DEFAULT_HIVE_URL, HIVE_EVENT_SCHEMA, HIVE_RECIPE_CATALOG, HIVE_RECIPE_IDS, HiveUnavailableError, isDeniedActuationTopic, taskDefinitionMentionsActuation, assertHivePublishDenied, makeHiveEvent, isHiveEvent, mergeHiveConfig, } from "./hive/index.js";
+export type { HiveClient, HiveClientHooks, HiveClientOverrides, HiveEnableResult, HiveEvent, HiveEventKind, HiveMemoryItem, HiveRecipeCatalogEntry, HiveRecipeId, HiveRecipeResult, HiveStatus, HiveConfigPatch, } from "./hive/index.js";
 export type { MemoryProvider, MemoryRecord, MemoryStatus, RememberInput, RecallInput, ForgetInput, } from "./memory/index.js";
 export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, listCapabilitiesForRobot, capabilityUnavailableMessage, } from "./capabilities.js";
 export type { Capability, CapabilityField, CapabilityImplementation, CapabilitySource, } from "./capabilities.js";
@@ -31,6 +33,9 @@ export type { MissionRegistryEntry } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
 export { compileGoalToMission } from "./planner/index.js";
 export type { PlannerResult, PlannerCandidate } from "./planner/index.js";
+export { defaultPlacesPath, loadPlaces, savePlaces, listPlaces, getPlace, savePlace, forgetPlace, poseFromLocalizationMessage, } from "./places.js";
+export type { SavedPlace, PlacesStore } from "./places.js";
+export { readCurrentMapPose, savePlaceFromArgs, findNavigateToCapability, executeNavigateToPlace, } from "./places-runtime.js";
 export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTransportConfigForRobot, hasRobotTransportOverride, } from "./robots.js";
 export type { ResolvedRobot, RobotSensors } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";

package/dist/index.d.ts.map

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

@@ -6,10 +6,11 @@ export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_
 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 { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, emergencyStopRobot, ESTOP_PUBLISH_COUNT, 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";
+export { createHiveClient, hiveRecipeOn, DEFAULT_HIVE_URL, HIVE_EVENT_SCHEMA, HIVE_RECIPE_CATALOG, HIVE_RECIPE_IDS, HiveUnavailableError, isDeniedActuationTopic, taskDefinitionMentionsActuation, assertHivePublishDenied, makeHiveEvent, isHiveEvent, mergeHiveConfig, } from "./hive/index.js";
 export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, listCapabilitiesForRobot, capabilityUnavailableMessage, } from "./capabilities.js";
 export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
 export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
@@ -18,6 +19,8 @@ export { BUILTIN_MISSION_BINDINGS, EXTERNAL_TOOL_PREFIX, buildMissionBindings, c
 export { MissionRegistry, generateMissionId, missionTranscriptNamespace, } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
 export { compileGoalToMission } from "./planner/index.js";
+export { defaultPlacesPath, loadPlaces, savePlaces, listPlaces, getPlace, savePlace, forgetPlace, poseFromLocalizationMessage, } from "./places.js";
+export { readCurrentMapPose, savePlaceFromArgs, findNavigateToCapability, executeNavigateToPlace, } from "./places-runtime.js";
 export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTransportConfigForRobot, hasRobotTransportOverride, } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";
 export { DEFAULT_HEARTBEAT_STALENESS_MS, detectHeartbeatNamespacesFromTopics, isHeartbeatFresh, isRobotInfoTopic, mergeRobotHeartbeats, namespaceFromRobotInfoTopic, onlineIdsFromHeartbeats, parseRobotInfoMessage, } from "./heartbeat.js";

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/mission-bindings.d.ts.map

@@ -1 +1 @@
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package/dist/mission-bindings.js

@@ -99,6 +99,25 @@ export const BUILTIN_MISSION_BINDINGS = {
             return out;
         },
     },
+    save_place: {
+        tool: "ros2_save_place",
+        buildArgs: (inputs) => {
+            const out = { name: String(inputs.name ?? "") };
+            copyNumber(out, inputs, "x");
+            copyNumber(out, inputs, "y");
+            copyNumber(out, inputs, "yaw");
+            copyString(out, inputs, "frame");
+            return out;
+        },
+    },
+    list_places: {
+        tool: "ros2_list_places",
+        buildArgs: () => ({}),
+    },
+    navigate_to_place: {
+        tool: "ros2_navigate_to_place",
+        buildArgs: (inputs) => ({ name: String(inputs.name ?? "") }),
+    },
 };
 /** Synthetic tool prefix for external_ros_node capabilities. */
 export const EXTERNAL_TOOL_PREFIX = "external:";

package/dist/mission-bindings.js.map

@@ -1 +1 @@
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package/dist/places-runtime.d.ts

@@ -0,0 +1,24 @@
+/**
+ * Runtime helpers for named-place tools (pose snapshot + Nav2 dispatch).
+ */
+import type { AgenticROSConfig } from "./config.js";
+import { type Capability } from "./capabilities.js";
+import { type SavedPlace } from "./places.js";
+import type { RosTransport } from "./transport/transport.js";
+import type { ResolvedRobot } from "./robots.js";
+export declare function readCurrentMapPose(transport: RosTransport, namespace?: string, timeoutMs?: number): Promise<{
+    x: number;
+    y: number;
+    yaw: number;
+} | undefined>;
+export declare function savePlaceFromArgs(args: Record<string, unknown>, opts: {
+    robot: ResolvedRobot;
+    transport?: RosTransport;
+}): Promise<SavedPlace>;
+export declare function findNavigateToCapability(config: AgenticROSConfig, robotId?: string): Capability | undefined;
+export declare function executeNavigateToPlace(config: AgenticROSConfig, robot: ResolvedRobot, name: string, transport: RosTransport, signal?: AbortSignal): Promise<{
+    text: string;
+    isError?: boolean;
+    place?: SavedPlace;
+}>;
+//# sourceMappingURL=places-runtime.d.ts.map

package/dist/places-runtime.d.ts.map

@@ -0,0 +1 @@
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package/dist/places-runtime.js

@@ -0,0 +1,96 @@
+/**
+ * Runtime helpers for named-place tools (pose snapshot + Nav2 dispatch).
+ */
+import { listCapabilitiesForRobot } from "./capabilities.js";
+import { executeExternalCapability } from "./external-capability.js";
+import { getPlace, poseFromLocalizationMessage, savePlace } from "./places.js";
+import { resolveSafetyForRobot } from "./safety.js";
+import { toNamespacedTopicFull } from "./topic-utils.js";
+const POSE_CANDIDATES = [
+    { topic: "/amcl_pose", type: "geometry_msgs/msg/PoseWithCovarianceStamped" },
+    { topic: "/pose", type: "geometry_msgs/msg/PoseWithCovarianceStamped" },
+];
+export async function readCurrentMapPose(transport, namespace = "", timeoutMs = 2500) {
+    for (const cand of POSE_CANDIDATES) {
+        const topic = toNamespacedTopicFull(namespace, cand.topic);
+        const pose = await new Promise((resolve) => {
+            const timer = setTimeout(() => {
+                try {
+                    sub.unsubscribe();
+                }
+                catch {
+                    /* ignore */
+                }
+                resolve(undefined);
+            }, timeoutMs);
+            const sub = transport.subscribe({ topic, type: cand.type }, (msg) => {
+                clearTimeout(timer);
+                try {
+                    sub.unsubscribe();
+                }
+                catch {
+                    /* ignore */
+                }
+                resolve(poseFromLocalizationMessage(msg));
+            });
+        });
+        if (pose)
+            return pose;
+    }
+    return undefined;
+}
+export async function savePlaceFromArgs(args, opts) {
+    const name = String(args["name"] ?? "").trim();
+    if (!name)
+        throw new Error("ros2_save_place requires 'name'.");
+    let x = typeof args["x"] === "number" ? args["x"] : Number.NaN;
+    let y = typeof args["y"] === "number" ? args["y"] : Number.NaN;
+    let yaw = typeof args["yaw"] === "number" ? args["yaw"] : 0;
+    if (!Number.isFinite(x) || !Number.isFinite(y)) {
+        if (!opts.transport) {
+            throw new Error("Pass x and y, or connect to ROS so the current localization pose can be read.");
+        }
+        const pose = await readCurrentMapPose(opts.transport, opts.robot.namespace);
+        if (!pose) {
+            throw new Error("Could not read /amcl_pose (or /pose). Pass x and y, or localize first (AMCL / RTAB-Map).");
+        }
+        x = pose.x;
+        y = pose.y;
+        yaw = Number.isFinite(args["yaw"]) ? args["yaw"] : pose.yaw;
+    }
+    return savePlace({
+        name,
+        x,
+        y,
+        yaw,
+        frame: typeof args["frame"] === "string" ? args["frame"] : "map",
+        robot_id: opts.robot.id,
+    });
+}
+export function findNavigateToCapability(config, robotId) {
+    return listCapabilitiesForRobot(config, robotId).find((c) => c.id === "navigate_to");
+}
+export async function executeNavigateToPlace(config, robot, name, transport, signal) {
+    const place = getPlace(name);
+    if (!place) {
+        return {
+            text: `Unknown place "${name}". Use ros2_list_places or ros2_save_place first.`,
+            isError: true,
+        };
+    }
+    const cap = findNavigateToCapability(config, robot.id);
+    if (!cap || cap.implementation?.kind !== "external_ros_node") {
+        return {
+            text: "navigate_to is not installed. Run `agenticros skills install --bundle mapping` " +
+                "(or `agenticros skills install @agenticros/navigate-to`) and restart the agent.",
+            isError: true,
+        };
+    }
+    const result = await executeExternalCapability(cap, { x: place.x, y: place.y, yaw: place.yaw, frame_id: place.frame }, transport, {
+        namespace: robot.namespace,
+        signal,
+        workspaceCheck: resolveSafetyForRobot(config, robot),
+    });
+    return { ...result, place };
+}
+//# sourceMappingURL=places-runtime.js.map

package/dist/places-runtime.js.map

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package/dist/places.d.ts

@@ -0,0 +1,39 @@
+/**
+ * Named map places — lightweight local store for "save this as kitchen"
+ * / "go to the kitchen". Independent of config.memory so it works when
+ * memory is off. Not full spatial memory (no embeddings / map graph).
+ */
+export interface SavedPlace {
+    name: string;
+    x: number;
+    y: number;
+    yaw: number;
+    frame: string;
+    robot_id?: string;
+    updated_at: string;
+}
+export interface PlacesStore {
+    version: 1;
+    places: SavedPlace[];
+}
+export declare function defaultPlacesPath(): string;
+export declare function loadPlaces(path?: string): PlacesStore;
+export declare function savePlaces(store: PlacesStore, path?: string): void;
+export declare function listPlaces(path?: string): SavedPlace[];
+export declare function getPlace(name: string, path?: string): SavedPlace | undefined;
+export declare function savePlace(place: {
+    name: string;
+    x: number;
+    y: number;
+    yaw?: number;
+    frame?: string;
+    robot_id?: string;
+}, path?: string): SavedPlace;
+export declare function forgetPlace(name: string, path?: string): boolean;
+/** Extract x/y/yaw from PoseWithCovarianceStamped, PoseStamped, or Pose. */
+export declare function poseFromLocalizationMessage(msg: unknown): {
+    x: number;
+    y: number;
+    yaw: number;
+} | undefined;
+//# sourceMappingURL=places.d.ts.map

package/dist/places.d.ts.map

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package/dist/places.js

@@ -0,0 +1,110 @@
+/**
+ * Named map places — lightweight local store for "save this as kitchen"
+ * / "go to the kitchen". Independent of config.memory so it works when
+ * memory is off. Not full spatial memory (no embeddings / map graph).
+ */
+import { existsSync, mkdirSync, readFileSync, writeFileSync } from "node:fs";
+import { dirname, join } from "node:path";
+import { homedir } from "node:os";
+const STORE_VERSION = 1;
+export function defaultPlacesPath() {
+    return join(homedir(), ".agenticros", "places.json");
+}
+function emptyStore() {
+    return { version: STORE_VERSION, places: [] };
+}
+function normalizeName(name) {
+    return name.trim().toLowerCase().replace(/\s+/g, " ");
+}
+export function loadPlaces(path = defaultPlacesPath()) {
+    if (!existsSync(path))
+        return emptyStore();
+    try {
+        const raw = JSON.parse(readFileSync(path, "utf8"));
+        if (!raw || raw.version !== 1 || !Array.isArray(raw.places))
+            return emptyStore();
+        return { version: STORE_VERSION, places: raw.places.filter(isSavedPlace) };
+    }
+    catch {
+        return emptyStore();
+    }
+}
+function isSavedPlace(value) {
+    if (!value || typeof value !== "object")
+        return false;
+    const v = value;
+    return (typeof v.name === "string" &&
+        typeof v.x === "number" &&
+        typeof v.y === "number" &&
+        Number.isFinite(v.x) &&
+        Number.isFinite(v.y));
+}
+export function savePlaces(store, path = defaultPlacesPath()) {
+    mkdirSync(dirname(path), { recursive: true });
+    writeFileSync(path, `${JSON.stringify(store, null, 2)}\n`, "utf8");
+}
+export function listPlaces(path = defaultPlacesPath()) {
+    return loadPlaces(path).places;
+}
+export function getPlace(name, path = defaultPlacesPath()) {
+    const key = normalizeName(name);
+    if (!key)
+        return undefined;
+    return loadPlaces(path).places.find((p) => normalizeName(p.name) === key);
+}
+export function savePlace(place, path = defaultPlacesPath()) {
+    const name = place.name.trim();
+    if (!name)
+        throw new Error("save_place requires a non-empty name.");
+    if (!Number.isFinite(place.x) || !Number.isFinite(place.y)) {
+        throw new Error("save_place requires finite x and y.");
+    }
+    const record = {
+        name,
+        x: place.x,
+        y: place.y,
+        yaw: Number.isFinite(place.yaw) ? place.yaw : 0,
+        frame: (place.frame ?? "map").trim() || "map",
+        ...(place.robot_id ? { robot_id: place.robot_id } : {}),
+        updated_at: new Date().toISOString(),
+    };
+    const store = loadPlaces(path);
+    const key = normalizeName(name);
+    store.places = store.places.filter((p) => normalizeName(p.name) !== key);
+    store.places.push(record);
+    savePlaces(store, path);
+    return record;
+}
+export function forgetPlace(name, path = defaultPlacesPath()) {
+    const store = loadPlaces(path);
+    const key = normalizeName(name);
+    const next = store.places.filter((p) => normalizeName(p.name) !== key);
+    if (next.length === store.places.length)
+        return false;
+    store.places = next;
+    savePlaces(store, path);
+    return true;
+}
+/** Extract x/y/yaw from PoseWithCovarianceStamped, PoseStamped, or Pose. */
+export function poseFromLocalizationMessage(msg) {
+    if (!msg || typeof msg !== "object")
+        return undefined;
+    const rec = msg;
+    const poseWrapper = (rec.pose ?? rec);
+    const inner = poseWrapper && typeof poseWrapper.pose === "object"
+        ? poseWrapper.pose
+        : poseWrapper;
+    const position = inner?.position;
+    const orientation = inner?.orientation;
+    if (!position || typeof position.x !== "number" || typeof position.y !== "number") {
+        return undefined;
+    }
+    const x = position.x;
+    const y = position.y;
+    let yaw = 0;
+    if (orientation && typeof orientation.z === "number" && typeof orientation.w === "number") {
+        yaw = Math.atan2(2 * orientation.w * orientation.z, 1 - 2 * orientation.z * orientation.z);
+    }
+    return { x, y, yaw };
+}
+//# sourceMappingURL=places.js.map

package/dist/places.js.map

@@ -0,0 +1 @@
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package/dist/planner/index.d.ts.map

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