@agenticros/core 0.8.7 → 0.8.9

package/README.md

@@ -7,7 +7,7 @@ It contains:
 - The `RosTransport` interface every transport implementation satisfies.
 - Four implementations: **Zenoh** (binary CDR), **Rosbridge** (WebSocket JSON), **WebRTC** (Mode C, cloud/remote), and **Local DDS** via `rclnodejs`.
 - A Zod config schema (`AgenticROSConfig`) shared across all adapters.
-- Topic-namespace utilities, capability registry, and a small long-term memory layer (`mem0` or local file backend).
+- Topic-namespace utilities, capability registry, a small long-term memory layer (`mem0` or local file backend), named places (`~/.agenticros/places.json`), and `emergencyStopRobot`.
 
 You don't normally use it directly — you use one of the adapters that depends on it:
 

package/dist/capabilities.d.ts.map

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

@@ -108,6 +108,40 @@ export const BUILTIN_CAPABILITIES = [
         interruptible: true,
         source: { kind: "builtin" },
     },
+    {
+        id: "save_place",
+        verb: "remember_place",
+        description: "Save a named map pose (x, y, yaw) for later navigate_to_place. " +
+            "If x/y are omitted, the tool tries to read the current AMCL / localization pose.",
+        inputs: {
+            name: { type: "string", description: "Place name (e.g. kitchen)." },
+            x: { type: "number", description: "Map-frame x (m).", optional: true },
+            y: { type: "number", description: "Map-frame y (m).", optional: true },
+            yaw: { type: "number", description: "Map-frame yaw (rad).", optional: true },
+            frame: { type: "string", description: "Frame id (default map).", optional: true },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "list_places",
+        verb: "list_places",
+        description: "List named places saved with save_place.",
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "navigate_to_place",
+        verb: "navigate",
+        description: "Navigate to a previously saved named place via Nav2 (requires the navigate-to skill).",
+        inputs: {
+            name: { type: "string", description: "Place name (e.g. kitchen)." },
+        },
+        interruptible: true,
+        blocks_base: true,
+        requires: ["base"],
+        source: { kind: "builtin" },
+    },
 ];
 function isCapabilityLike(value) {
     if (!value || typeof value !== "object")

package/dist/capabilities.js.map

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package/dist/capability-schema.d.ts

@@ -126,6 +126,7 @@ export declare const CapabilitySchema: z.ZodObject<{
     id: string;
     verb: string;
     description: string;
+    blocks_base?: boolean | undefined;
     inputs?: Record<string, {
         type: string;
         default?: unknown;
@@ -138,7 +139,6 @@ export declare const CapabilitySchema: z.ZodObject<{
         description?: string | undefined;
         optional?: boolean | undefined;
     }> | undefined;
-    blocks_base?: boolean | undefined;
     preconditions?: string[] | undefined;
     interruptible?: boolean | undefined;
     requires?: string[] | undefined;
@@ -158,6 +158,7 @@ export declare const CapabilitySchema: z.ZodObject<{
 }, {
     id: string;
     verb: string;
+    blocks_base?: boolean | undefined;
     inputs?: Record<string, {
         type: string;
         default?: unknown;
@@ -170,7 +171,6 @@ export declare const CapabilitySchema: z.ZodObject<{
         description?: string | undefined;
         optional?: boolean | undefined;
     }> | undefined;
-    blocks_base?: boolean | undefined;
     description?: string | undefined;
     preconditions?: string[] | undefined;
     interruptible?: boolean | undefined;

package/dist/external-capability.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"external-capability.d.ts","sourceRoot":"","sources":["../src/external-capability.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAC9E,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAE7D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAGhD,MAAM,WAAW,sBAAsB;IACrC,0DAA0D;IAC1D,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,gDAAgD;IAChD,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,WAAW,CAAC;IACrB,2EAA2E;IAC3E,cAAc,CAAC,EAAE,YAAY,CAAC;CAC/B;AAED,MAAM,WAAW,qBAAqB;IACpC,IAAI,EAAE,MAAM,CAAC;IACb,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAClC,OAAO,CAAC,EAAE,OAAO,CAAC;CACnB;AAeD;;;GAGG;AACH,wBAAgB,iBAAiB,CAC/B,IAAI,EAAE,OAAO,CAAC,wBAAwB,EAAE;IAAE,IAAI,EAAE,mBAAmB,CAAA;CAAE,CAAC,EACtE,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC9B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAsGzB;AAED;;GAEG;AACH,wBAAsB,yBAAyB,CAC7C,UAAU,EAAE,UAAU,EACtB,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC/B,SAAS,EAAE,YAAY,EACvB,OAAO,GAAE,sBAA2B,GACnC,OAAO,CAAC,qBAAqB,CAAC,CA2LhC"}

package/dist/external-capability.js

@@ -80,6 +80,31 @@ export function buildExternalGoal(impl, inputs) {
             return { dock_id: inputs.dock_id.trim() };
         }
     }
+    if (msgType.includes("loaddatabase") ||
+        impl.service?.includes("load_database")) {
+        const databasePath = typeof inputs.database_path === "string" ? inputs.database_path : "";
+        return {
+            database_path: databasePath,
+            clear: inputs.clear !== false,
+        };
+    }
+    if (msgType.includes("explore") ||
+        impl.action === "explore" ||
+        impl.action === "wander") {
+        const timeout = Number(inputs.timeout_s ?? 0) || 0;
+        const minFrontier = Number(inputs.min_frontier_m ?? 0) || 0;
+        const maxGoals = Number(inputs.max_goals ?? 0) || 0;
+        const modeFromAction = impl.action === "wander" ? "wander" : "explore";
+        const mode = typeof inputs.mode === "string" && inputs.mode.trim()
+            ? inputs.mode.trim()
+            : modeFromAction;
+        return {
+            mode,
+            timeout_s: timeout,
+            min_frontier_m: minFrontier,
+            max_goals: maxGoals,
+        };
+    }
     // Passthrough remaining inputs (minus robot_id).
     const { robot_id: _rid, ...rest } = inputs;
     return rest;

package/dist/external-capability.js.map

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

@@ -10,8 +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 { 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";
@@ -33,6 +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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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,YAAY,EAAE,gBAAgB,EAAE,sBAAsB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,aAAa,CAAC;AACjH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,EAClB,qBAAqB,EACrB,wBAAwB,GACzB,MAAM,aAAa,CAAC;AAErB,OAAO,EACL,kBAAkB,EAClB,sBAAsB,EACtB,YAAY,EACZ,gBAAgB,EAChB,wBAAwB,EACxB,iBAAiB,EACjB,kBAAkB,EAClB,cAAc,EACd,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,6BAA6B,EAC7B,iBAAiB,EACjB,eAAe,EACf,cAAc,EACd,iBAAiB,GAClB,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EAAE,WAAW,EAAE,UAAU,EAAE,YAAY,EAAE,YAAY,EAAE,mBAAmB,EAAE,MAAM,oBAAoB,CAAC;AAEnH,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AACzD,YAAY,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,YAAY,EACV,gBAAgB,EAChB,iBAAiB,EACjB,YAAY,EACZ,cAAc,EACd,gBAAgB,EAChB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EACjB,iBAAiB,EACjB,YAAY,EACZ,SAAS,EACT,WAAW,EACX,UAAU,EACV,cAAc,EACd,eAAe,GAChB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EACL,cAAc,EACd,UAAU,EACV,qBAAqB,EACrB,cAAc,EACd,iBAAiB,EACjB,kBAAkB,EAClB,sBAAsB,EACtB,yBAAyB,EACzB,qBAAqB,EACrB,kBAAkB,EAClB,qBAAqB,EACrB,oBAAoB,EACpB,kBAAkB,EAClB,mBAAmB,EACnB,kBAAkB,EAClB,mBAAmB,EACnB,wBAAwB,EACxB,iBAAiB,GAClB,MAAM,aAAa,CAAC;AACrB,YAAY,EACV,YAAY,EACZ,iBAAiB,EACjB,eAAe,EACf,gBAAgB,EAChB,iBAAiB,EACjB,iBAAiB,EACjB,mBAAmB,GACpB,MAAM,aAAa,CAAC;AACrB,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,EACrB,KAAK,uBAAuB,GAC7B,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAEzE,OAAO,EACL,gBAAgB,EAChB,YAAY,EACZ,gBAAgB,EAChB,iBAAiB,EACjB,mBAAmB,EACnB,eAAe,EACf,oBAAoB,EACpB,sBAAsB,EACtB,+BAA+B,EAC/B,uBAAuB,EACvB,aAAa,EACb,WAAW,EACX,eAAe,GAChB,MAAM,iBAAiB,CAAC;AACzB,YAAY,EACV,UAAU,EACV,eAAe,EACf,mBAAmB,EACnB,gBAAgB,EAChB,SAAS,EACT,aAAa,EACb,cAAc,EACd,sBAAsB,EACtB,YAAY,EACZ,gBAAgB,EAChB,UAAU,EACV,eAAe,GAChB,MAAM,iBAAiB,CAAC;AACzB,YAAY,EACV,cAAc,EACd,YAAY,EACZ,YAAY,EACZ,aAAa,EACb,WAAW,EACX,WAAW,GACZ,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,EACnB,wBAAwB,EACxB,4BAA4B,GAC7B,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EACV,UAAU,EACV,eAAe,EACf,wBAAwB,EACxB,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAChC,YAAY,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAC;AAE/D,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAClC,YAAY,EACV,sBAAsB,EACtB,qBAAqB,GACtB,MAAM,0BAA0B,CAAC;AAElC,OAAO,EAAE,UAAU,EAAE,uBAAuB,EAAE,MAAM,cAAc,CAAC;AACnE,YAAY,EACV,OAAO,EACP,WAAW,EACX,aAAa,EACb,iBAAiB,EACjB,qBAAqB,EACrB,sBAAsB,EACtB,qBAAqB,EACrB,sBAAsB,EACtB,wBAAwB,EACxB,mBAAmB,EACnB,sBAAsB,EACtB,qBAAqB,EACrB,iBAAiB,GAClB,MAAM,cAAc,CAAC;AAEtB,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EACV,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,uBAAuB,CAAC;AAE/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EAAE,oBAAoB,EAAE,MAAM,uBAAuB,CAAC;AAElE,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAC1D,YAAY,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,oBAAoB,CAAC;AAE1E,OAAO,EACL,iBAAiB,EACjB,UAAU,EACV,UAAU,EACV,UAAU,EACV,QAAQ,EACR,SAAS,EACT,WAAW,EACX,2BAA2B,GAC5B,MAAM,aAAa,CAAC;AACrB,YAAY,EAAE,UAAU,EAAE,WAAW,EAAE,MAAM,aAAa,CAAC;AAC3D,OAAO,EACL,kBAAkB,EAClB,iBAAiB,EACjB,wBAAwB,EACxB,sBAAsB,GACvB,MAAM,qBAAqB,CAAC;AAE7B,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AACrB,YAAY,EAAE,aAAa,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAE/D,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,aAAa,EAAE,oBAAoB,EAAE,MAAM,gBAAgB,CAAC;AAE1E,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,sBAAsB,EAAE,cAAc,EAAE,MAAM,gBAAgB,CAAC;AAE7E,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AAEzD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,YAAY,EACV,kBAAkB,EAClB,kBAAkB,EAClB,mBAAmB,GACpB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,kBAAkB,EAClB,wBAAwB,EACxB,oBAAoB,EACpB,sBAAsB,EACtB,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,qBAAqB,EACrB,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,YAAY,EACV,iBAAiB,EACjB,cAAc,EACd,uBAAuB,EACvB,sBAAsB,GACvB,MAAM,iBAAiB,CAAC;AAEzB,OAAO,EACL,sBAAsB,EACtB,gCAAgC,GACjC,MAAM,gCAAgC,CAAC;AACxC,YAAY,EACV,sBAAsB,EACtB,uBAAuB,EACvB,gBAAgB,GACjB,MAAM,gCAAgC,CAAC;AAExC,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC;AAC/E,YAAY,EAAE,gBAAgB,EAAE,MAAM,qBAAqB,CAAC"}

package/dist/index.js

@@ -6,7 +6,7 @@ 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";
@@ -19,6 +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

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/planner/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAC;AACrD,OAAO,KAAK,EAAE,OAAO,EAAe,MAAM,eAAe,CAAC;AAE1D,+DAA+D;AAC/D,MAAM,WAAW,gBAAgB;IAC/B,gCAAgC;IAChC,aAAa,EAAE,MAAM,CAAC;IACtB,6CAA6C;IAC7C,UAAU,EAAE,MAAM,CAAC;IACnB,0EAA0E;IAC1E,SAAS,EAAE,MAAM,CAAC;IAClB,6DAA6D;IAC7D,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;CACjC;AAED,yCAAyC;AACzC,MAAM,WAAW,aAAa;IAC5B,wDAAwD;IACxD,OAAO,EAAE,OAAO,GAAG,IAAI,CAAC;IACxB,8DAA8D;IAC9D,KAAK,CAAC,EAAE,MAAM,CAAC;IACf;;;;;OAKG;IACH,eAAe,CAAC,EAAE,MAAM,EAAE,CAAC;IAC3B;;;;OAIG;IACH,UAAU,EAAE,gBAAgB,EAAE,CAAC;IAC/B;;;;OAIG;IACH,WAAW,EAAE,MAAM,EAAE,CAAC;CACvB;AAED,UAAU,cAAc;IACtB,yDAAyD;IACzD,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,6DAA6D;IAC7D,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAwYD;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAClC,IAAI,EAAE,MAAM,EACZ,YAAY,EAAE,UAAU,EAAE,EAC1B,OAAO,CAAC,EAAE,cAAc,GACvB,aAAa,CAsEf"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/planner/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAC;AACrD,OAAO,KAAK,EAAE,OAAO,EAAe,MAAM,eAAe,CAAC;AAE1D,+DAA+D;AAC/D,MAAM,WAAW,gBAAgB;IAC/B,gCAAgC;IAChC,aAAa,EAAE,MAAM,CAAC;IACtB,6CAA6C;IAC7C,UAAU,EAAE,MAAM,CAAC;IACnB,0EAA0E;IAC1E,SAAS,EAAE,MAAM,CAAC;IAClB,6DAA6D;IAC7D,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;CACjC;AAED,yCAAyC;AACzC,MAAM,WAAW,aAAa;IAC5B,wDAAwD;IACxD,OAAO,EAAE,OAAO,GAAG,IAAI,CAAC;IACxB,8DAA8D;IAC9D,KAAK,CAAC,EAAE,MAAM,CAAC;IACf;;;;;OAKG;IACH,eAAe,CAAC,EAAE,MAAM,EAAE,CAAC;IAC3B;;;;OAIG;IACH,UAAU,EAAE,gBAAgB,EAAE,CAAC;IAC/B;;;;OAIG;IACH,WAAW,EAAE,MAAM,EAAE,CAAC;CACvB;AAED,UAAU,cAAc;IACtB,yDAAyD;IACzD,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,6DAA6D;IAC7D,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAklBD;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAClC,IAAI,EAAE,MAAM,EACZ,YAAY,EAAE,UAAU,EAAE,EAC1B,OAAO,CAAC,EAAE,cAAc,GACvB,aAAa,CAiGf"}

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

@@ -1 +1 @@
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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": "0.8.7",
+  "version": "0.8.9",
   "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/hive/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
-    "pack:dry": "npm pack --dry-run"
-  }
-}
+  "license": "Apache-2.0"
+}