@agenticros/core 0.8.6 → 0.8.8

package/dist/planner/index.js

@@ -98,6 +98,24 @@ const VERB_SYNONYMS = {
         "what topics",
         "topic list",
     ],
+    explore: [
+        "explore the room",
+        "explore this room",
+        "explore the space",
+        "explore this space",
+        "run exploration",
+        "start exploring",
+        "explore",
+    ],
+    wander: [
+        "wander around",
+        "wander the room",
+        "wander this room",
+        "walk around the room",
+        "walk around",
+        "roam around",
+        "wander",
+    ],
 };
 /** Multi-step conjunction patterns ("X and then Y", "X then Y", "X and Y"). */
 const CONJUNCTIONS = [" and then ", ", then ", ". then ", " then ", " and "];
@@ -118,6 +136,8 @@ function detectVerb(goal) {
         "follow",
         "measure",
         "see",
+        "wander",
+        "explore",
         "drive",
         "find",
     ];
@@ -297,6 +317,40 @@ function compileSegment(segment, index, availableIds) {
                 },
             };
         }
+        case "explore": {
+            if (!availableIds.has("explore"))
+                return null;
+            return {
+                step: {
+                    id: stepId("explore", index),
+                    capability: "explore",
+                    inputs: { timeout_s: 180 },
+                },
+                candidate: {
+                    capability_id: "explore",
+                    confidence: 0.9,
+                    rationale: `matched verb "${detected.matched}"`,
+                    inputs: { timeout_s: 180 },
+                },
+            };
+        }
+        case "wander": {
+            if (!availableIds.has("wander"))
+                return null;
+            return {
+                step: {
+                    id: stepId("wander", index),
+                    capability: "wander",
+                    inputs: { timeout_s: 60 },
+                },
+                candidate: {
+                    capability_id: "wander",
+                    confidence: 0.9,
+                    rationale: `matched verb "${detected.matched}"`,
+                    inputs: { timeout_s: 60 },
+                },
+            };
+        }
     }
     return null;
 }
@@ -391,6 +445,147 @@ function tryFindAndApproach(goal, availableIds) {
     }
     return null;
 }
+const COORD_PATTERNS = [
+    /(?:go to|navigate to|drive to)\s+(-?\d+(?:\.\d+)?)\s*[, ]\s*(-?\d+(?:\.\d+)?)/i,
+    /(?:go to|navigate to|drive to)\s+x\s*=\s*(-?\d+(?:\.\d+)?)\s*,?\s*y\s*=\s*(-?\d+(?:\.\d+)?)/i,
+];
+function tryNavigateToCoords(goal, availableIds) {
+    if (!availableIds.has("navigate_to"))
+        return null;
+    const g = normalise(goal);
+    for (const re of COORD_PATTERNS) {
+        const m = g.match(re);
+        if (!m)
+            continue;
+        const x = Number(m[1]);
+        const y = Number(m[2]);
+        if (!Number.isFinite(x) || !Number.isFinite(y))
+            continue;
+        const inputs = { x, y };
+        return {
+            steps: [{ id: "nav", capability: "navigate_to", inputs }],
+            candidates: [
+                {
+                    capability_id: "navigate_to",
+                    confidence: 0.92,
+                    rationale: `parsed map coordinates (${x}, ${y})`,
+                    inputs,
+                },
+            ],
+        };
+    }
+    return null;
+}
+const PLACE_PATTERNS = [
+    /^(?:go to|navigate to|drive to)\s+(?:the\s+)?(.+)$/i,
+    /^(?:save this place as|remember this place as|name this place)\s+(.+)$/i,
+];
+function tryNavigateToPlace(goal, availableIds) {
+    const g = normalise(goal);
+    if (COORD_PATTERNS.some((re) => re.test(g)))
+        return null;
+    const saveMatch = g.match(/^(?:save this place as|remember this place as|name this place)\s+(.+)$/i);
+    if (saveMatch && availableIds.has("save_place")) {
+        const name = saveMatch[1].trim().replace(/[.!?]+$/, "");
+        if (!name)
+            return null;
+        const inputs = { name };
+        return {
+            steps: [{ id: "save", capability: "save_place", inputs }],
+            candidates: [
+                {
+                    capability_id: "save_place",
+                    confidence: 0.9,
+                    rationale: `save current pose as named place "${name}"`,
+                    inputs,
+                },
+            ],
+        };
+    }
+    if (!availableIds.has("navigate_to_place"))
+        return null;
+    for (const re of PLACE_PATTERNS) {
+        const m = g.match(re);
+        if (!m)
+            continue;
+        if (/save this place|remember this place|name this place/i.test(g))
+            continue;
+        const name = m[1].trim().replace(/[.!?]+$/, "");
+        if (!name || /^(forward|backward|backwards|left|right)$/i.test(name))
+            return null;
+        const inputs = { name };
+        return {
+            steps: [{ id: "place", capability: "navigate_to_place", inputs }],
+            candidates: [
+                {
+                    capability_id: "navigate_to_place",
+                    confidence: 0.88,
+                    rationale: `named place "${name}"`,
+                    inputs,
+                },
+            ],
+        };
+    }
+    return null;
+}
+function tryMapTheRoom(goal, availableIds) {
+    const g = normalise(goal);
+    const mapPhrases = [
+        "map the room",
+        "map this room",
+        "map the space",
+        "map this space",
+        "map a room",
+    ];
+    if (!mapPhrases.some((p) => g.includes(p)))
+        return null;
+    if (!availableIds.has("explore"))
+        return null;
+    const steps = [];
+    const candidates = [];
+    if (availableIds.has("start_slam")) {
+        steps.push({
+            id: "slam",
+            capability: "start_slam",
+            inputs: { request: {} },
+        });
+        candidates.push({
+            capability_id: "start_slam",
+            confidence: 0.9,
+            rationale: "compound goal: start SLAM before covering the room",
+            inputs: { request: {} },
+        });
+    }
+    if (availableIds.has("explore")) {
+        steps.push({
+            id: "cover",
+            capability: "explore",
+            inputs: { timeout_s: 180 },
+        });
+        candidates.push({
+            capability_id: "explore",
+            confidence: 0.9,
+            rationale: "compound goal: frontier-explore the room",
+            inputs: { timeout_s: 180 },
+        });
+    }
+    if (availableIds.has("save_map")) {
+        steps.push({
+            id: "save",
+            capability: "save_map",
+            inputs: { request: {} },
+        });
+        candidates.push({
+            capability_id: "save_map",
+            confidence: 0.85,
+            rationale: "compound goal: persist the RTAB-Map database after coverage",
+            inputs: { request: {} },
+        });
+    }
+    if (steps.length === 0)
+        return null;
+    return { steps, candidates };
+}
 /** Recognised verbs the planner can handle today — surfaced in error messages. */
 const RECOGNISED_VERBS_SUMMARY = [
     "find / locate / look for <object>",
@@ -400,6 +595,10 @@ const RECOGNISED_VERBS_SUMMARY = [
     "drive forward / backward, turn left / right, stop",
     "list topics",
     "find <object> and drive toward it (multi-step)",
+    "map the room (start_slam → explore → save_map when installed)",
+    "explore the room / wander around",
+    "go to 1.2, 3.4 / navigate to x=1 y=2",
+    "go to the kitchen / navigate to kitchen (named place)",
 ];
 /**
  * Compile a free-text goal into a runnable `Mission`.
@@ -420,6 +619,30 @@ export function compileGoalToMission(goal, capabilities, options) {
         };
     }
     const availableIds = new Set(capabilities.map((c) => c.id));
+    const toCoords = tryNavigateToCoords(trimmed, availableIds);
+    if (toCoords) {
+        return {
+            mission: buildMission(toCoords.steps, trimmed, options),
+            candidates: toCoords.candidates,
+            suggestions: [],
+        };
+    }
+    const toPlace = tryNavigateToPlace(trimmed, availableIds);
+    if (toPlace) {
+        return {
+            mission: buildMission(toPlace.steps, trimmed, options),
+            candidates: toPlace.candidates,
+            suggestions: [],
+        };
+    }
+    const mapped = tryMapTheRoom(trimmed, availableIds);
+    if (mapped) {
+        return {
+            mission: buildMission(mapped.steps, trimmed, options),
+            candidates: mapped.candidates,
+            suggestions: [],
+        };
+    }
     // Compound find-then-approach is the showcase Phase 1.c pattern.
     // Check it first so "find a chair and drive toward it" doesn't get
     // demoted to two unrelated steps via the generic conjunction split.

package/dist/planner/index.js.map

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package/dist/safety.d.ts

@@ -9,6 +9,8 @@
 import type { AgenticROSConfig, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
 import type { ProfileRobot } from "./robot-profile.js";
 import type { RosTransport } from "./transport/transport.js";
+/** How many zero-Twist publishes `/estop` and `ros2_estop` send so the base reliably stops. */
+export declare const ESTOP_PUBLISH_COUNT = 5;
 export declare const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
 export declare const ZERO_TWIST: {
     linear: {
@@ -80,6 +82,22 @@ export declare function checkInputsWorkspace(config: AgenticROSConfig, inputs: R
  * (legacy configs default kind to "amr").
  */
 export declare function robotHasMobileBase(robot: ProfileRobot): boolean;
+export interface EmergencyStopResult {
+    /** Resolved cmd_vel topic, when a stop was published. */
+    topic?: string;
+    /** Present when this robot has no mobile base (arm-only). */
+    skipped?: "no_mobile_base";
+}
+/**
+ * Immediate emergency stop for one robot: five zero Twists on its
+ * cmd_vel. Used by OpenClaw `/estop` and MCP/Gemini `ros2_estop`.
+ * Does not cancel Nav2 or missions — that is `mission_cancel`.
+ */
+export declare function emergencyStopRobot(transport: RosTransport, robot: ProfileRobot, config?: {
+    teleop?: {
+        cmdVelTopic?: string;
+    };
+}): EmergencyStopResult;
 /** Best-effort zero Twist on every mobile-base robot sharing this transport. */
 export declare function publishStopForBases(transport: RosTransport, robots: readonly ProfileRobot[]): Promise<void>;
 /**

package/dist/safety.d.ts.map

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

@@ -7,6 +7,8 @@
  * fleet does not share one clamp.
  */
 import { resolveBinding } from "./robot-profile.js";
+/** How many zero-Twist publishes `/estop` and `ros2_estop` send so the base reliably stops. */
+export const ESTOP_PUBLISH_COUNT = 5;
 export const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
 export const ZERO_TWIST = {
     linear: { x: 0, y: 0, z: 0 },
@@ -204,6 +206,38 @@ export function robotHasMobileBase(robot) {
     return kind !== "arm";
 }
 const STOP_PUBLISH_BUDGET_MS = 500;
+/**
+ * Immediate emergency stop for one robot: five zero Twists on its
+ * cmd_vel. Used by OpenClaw `/estop` and MCP/Gemini `ros2_estop`.
+ * Does not cancel Nav2 or missions — that is `mission_cancel`.
+ */
+export function emergencyStopRobot(transport, robot, config) {
+    if (!robotHasMobileBase(robot)) {
+        return { skipped: "no_mobile_base" };
+    }
+    const topic = resolveBinding(robot, "cmd_vel", {
+        cmdVelTopic: config?.teleop?.cmdVelTopic,
+    }) ?? "/cmd_vel";
+    try {
+        transport.advertise?.({ topic, type: TWIST_MSG_TYPE });
+    }
+    catch {
+        /* rosbridge advertise is optional */
+    }
+    const msg = {
+        linear: { ...ZERO_TWIST.linear },
+        angular: { ...ZERO_TWIST.angular },
+    };
+    for (let i = 0; i < ESTOP_PUBLISH_COUNT; i++) {
+        try {
+            void transport.publish({ topic, type: TWIST_MSG_TYPE, msg });
+        }
+        catch {
+            /* socket may already be half-closed */
+        }
+    }
+    return { topic };
+}
 /** Best-effort zero Twist on every mobile-base robot sharing this transport. */
 export async function publishStopForBases(transport, robots) {
     const pubs = [];

package/dist/safety.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@agenticros/core",
-  "version": "0.8.6",
+  "version": "0.8.8",
   "type": "module",
   "description": "AgenticROS core — platform-agnostic ROS2 transport, types, and config (the dep every AgenticROS skill imports).",
   "keywords": [
@@ -43,6 +43,13 @@
   "engines": {
     "node": ">=20"
   },
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit",
+    "test": "node --test \"dist/memory/__tests__/*.test.js\" \"dist/hive/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
+    "prepublishOnly": "npm run build",
+    "pack:dry": "npm pack --dry-run"
+  },
   "dependencies": {
     "@eclipse-zenoh/zenoh-ts": "^1.9.0",
     "@foxglove/cdr": "^3.5.0",
@@ -61,11 +68,5 @@
     "typescript": "^5.7.0"
   },
   "author": "PlaiPin",
-  "license": "Apache-2.0",
-  "scripts": {
-    "build": "tsc",
-    "typecheck": "tsc --noEmit",
-    "test": "node --test \"dist/memory/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
-    "pack:dry": "npm pack --dry-run"
-  }
-}
+  "license": "Apache-2.0"
+}