@rainbow-robotics/muscat-plugin-kit 0.1.2-dev.24 → 0.1.2-dev.26

package/cli/src/new.mjs

@@ -1,5 +1,5 @@
 // muscat-pk new — scaffold a new plugin project from templates.
-import { execFileSync, execSync } from "node:child_process";
+import { execSync } from "node:child_process";
 import {
   cpSync,
   existsSync,
@@ -12,11 +12,35 @@ import {
 } from "node:fs";
 import { createInterface } from "node:readline/promises";
 import { basename, resolve } from "node:path";
-import { detectPythonCmd, hasBin, kitVersion, parseArgs, templatesDir, log, venvPython } from "./util.mjs";
-
-const TYPES = ["python", "ros2"];
+import { rmSync } from "node:fs";
+import { hasBin, kitVersion, parseArgs, templatesDir, log } from "./util.mjs";
+
+// `--type` values map to a runtime descriptor. ros2 has a python (rclpy) and a
+// C++ (rclcpp) flavor; we expose them as distinct type choices for clarity.
+export const TYPE_CHOICES = {
+  python:    { type: "python" },
+  cpp:       { type: "cpp" },
+  ros2:      { type: "ros2", rosClient: "rclpy" },
+  "ros2-cpp":{ type: "ros2", rosClient: "rclcpp" },
+};
+const TYPES = Object.keys(TYPE_CHOICES);
 const PMS = ["npm", "yarn", "pnpm", "bun"];
 
+// Build the manifest runtime object for a given type choice + plugin slug.
+export function runtimeForChoice(choice, slug) {
+  switch (choice.type) {
+    case "cpp":
+      // entry = built executable name (matches add_executable in cpp/CMakeLists.txt)
+      return { type: "cpp", entry: slug };
+    case "ros2":
+      // package = colcon package name; launch = node executable run on the robot
+      return { type: "ros2", rosClient: choice.rosClient, package: slug, launch: `${slug}_node` };
+    case "python":
+    default:
+      return { type: "python", entry: "main.py" };
+  }
+}
+
 async function prompt(question, fallback) {
   if (!process.stdin.isTTY) return fallback;
   const rl = createInterface({ input: process.stdin, output: process.stdout });
@@ -74,16 +98,25 @@ function renameSlugPaths(dir, slug) {
 // Copy the ros2_ws/ overlay into a plugin and substitute the package slug into
 // every path segment. The dev Dockerfile is NOT scaffolded here — it lives in
 // the kit (cli/docker/) so authors can't edit it. Caller runs applyTokens after.
-export function overlayRos2(target, slug) {
-  cpSync(resolve(templatesDir, "ros2"), target, { recursive: true });
+//   rclpy  → templates/ros2      (ament_python)
+//   rclcpp → templates/ros2-cpp  (ament_cmake)
+export function overlayRos2(target, slug, rosClient = "rclpy") {
+  const tmpl = rosClient === "rclcpp" ? "ros2-cpp" : "ros2";
+  cpSync(resolve(templatesDir, tmpl), target, { recursive: true });
   renameSlugPaths(resolve(target, "ros2_ws"), slug);
 }
 
+// Copy the cpp/ overlay (CMake project) into a plugin. Caller runs applyTokens after.
+export function overlayCpp(target) {
+  cpSync(resolve(templatesDir, "cpp"), target, { recursive: true });
+}
+
 export async function runNew(args) {
   const opts = parseArgs(args, { booleans: ["yes", "no-install", "help"] });
   if (opts.help) {
     console.log(
-      "muscat-pk new [dir] [--type python|ros2] [--pm npm|yarn|pnpm|bun]\n" +
+      "muscat-pk new [dir] [--type python|cpp|ros2|ros2-cpp] [--pm npm|yarn|pnpm|bun]\n" +
+        "                 [--author <name>] [--email <email>] [--description <text>]\n" +
         "                 [--yes] [--no-install]",
     );
     return;
@@ -97,15 +130,28 @@ export async function runNew(args) {
     throw new Error(`directory not empty: ${target}`);
   }
 
+  let authorArg = opts.author;
+  let emailArg = opts.email;
+  let descriptionArg = opts.description;
+
+  if (!opts.yes) {
+    if (!authorArg) authorArg = await prompt("Author name: ", "");
+    if (!emailArg) emailArg = await prompt("Email (required): ", "");
+    if (!descriptionArg) descriptionArg = await prompt("Description (English): ", "");
+  }
+
   let type = opts.type;
   if (!type && !opts.yes) {
     console.log("\n플러그인 타입을 선택하세요:");
     console.log("  1) Python");
-    console.log("  2) ROS2(rclpy)");
-    const choice = await prompt("\n선택 [1/2, default: 1]: ", "1");
-    type = choice === "2" ? "ros2" : "python";
+    console.log("  2) C++");
+    console.log("  3) ROS2 (rclpy / Python)");
+    console.log("  4) ROS2 (rclcpp / C++)");
+    const choice = await prompt("\n선택 [1/2/3/4, default: 1]: ", "1");
+    type = { "2": "cpp", "3": "ros2", "4": "ros2-cpp" }[choice] ?? "python";
   }
   type = TYPES.includes(type) ? type : "python";
+  const runtimeChoice = TYPE_CHOICES[type];
 
   // Auto-detect yarn workspace: if .yarnrc.yml exists anywhere up the tree, default to yarn.
   function isInsideYarnWorkspace(dir) {
@@ -121,7 +167,7 @@ export async function runNew(args) {
   let pm = opts.pm;
   if (!pm && !opts.yes) {
     const defaultPm = isInsideYarnWorkspace(process.cwd()) ? "yarn" : "npm";
-    pm = await prompt(`Package manager (${PMS.join("/")}) [${defaultPm}]: `, defaultPm);
+    pm = await prompt(`Front-end package manager (${PMS.join("/")}) [${defaultPm}]: `, defaultPm);
   }
   pm = PMS.includes(pm) ? pm : "npm";
 
@@ -129,11 +175,18 @@ export async function runNew(args) {
 
   mkdirSync(target, { recursive: true });
 
-  // common(UI + main.py + requirements.txt + manifest/config)은 항상 포함.
-  // ros2면 ros2_ws/ 오버레이만 추가로 얹는다. python은 ros2_ws/가 없을 뿐 구조는 동일.
+  // common(UI + manifest/config)은 항상 포함. 백엔드 오버레이는 타입별로 얹는다.
+  //   python   → common의 py/ 사용
+  //   cpp      → cpp/ 오버레이, py/·requirements.txt 제거
+  //   ros2(*)  → ros2_ws/ 오버레이 (rclpy=ament_python, rclcpp=ament_cmake)
   log.step(`scaffolding ${type} plugin → ${target}`);
   cpSync(resolve(templatesDir, "common"), target, { recursive: true });
-  if (type === "ros2") overlayRos2(target, slug);
+  if (runtimeChoice.type === "ros2") overlayRos2(target, slug, runtimeChoice.rosClient);
+  if (runtimeChoice.type === "cpp") {
+    overlayCpp(target);
+    rmSync(resolve(target, "py"), { recursive: true, force: true });
+    rmSync(resolve(target, "requirements.txt"), { force: true });
+  }
 
   applyTokens(target, {
     __PLUGIN_ID__: pluginId,
@@ -141,15 +194,24 @@ export async function runNew(args) {
     __PLUGIN_DIR__: dir,
     __PLUGIN_SLUG__: slug,
     __PLUGIN_CLASS__: pluginClass,
+    __PLUGIN_AUTHOR__: authorArg || "",
+    __PLUGIN_EMAIL__: emailArg || "",
     __PM__: pm,
-    __RUNTIME_TYPE__: type,
+    __RUNTIME_TYPE__: runtimeChoice.type,
     __RB_VERSION__: kitVersion(),
   });
 
+  // Write the correct runtime block into manifest.json (per-type fields).
+  const manifestPath = resolve(target, "manifest.json");
+  const manifestJson = JSON.parse(readFileSync(manifestPath, "utf8"));
+  manifestJson.runtime = runtimeForChoice(runtimeChoice, slug);
+  if (descriptionArg) manifestJson.description = { en: descriptionArg };
+  writeFileSync(manifestPath, JSON.stringify(manifestJson, null, 2) + "\n");
+
   // gitignore (templates can't ship a literal .gitignore via npm reliably)
   writeFileSync(
     resolve(target, ".gitignore"),
-    ["node_modules", "dist", ".muscat-dev", ".venv", "*.zip", "ros2_ws/install", ""].join("\n"),
+    ["node_modules", "dist", ".muscat-dev", ".venv", "*.zip", "ros2_ws/install", "cpp/build", ""].join("\n"),
   );
 
   if (!opts["no-install"]) {
@@ -161,38 +223,10 @@ export async function runNew(args) {
     }
   }
 
-  let noPython = false;
-  let venvFailed = false;
-
-  if (!opts["no-install"]) {
-    // Python venv (robot targets 3.12) — cross-platform.
-    // uv is preferred: handles uv-managed Pythons that break standard ensurepip.
-    try {
-      const venv = resolve(target, ".venv");
-      log.step("creating .venv + installing requirements…");
-      if (hasBin("uv")) {
-        execFileSync("uv", ["venv", venv, "--python", "3.12", "--seed"], { cwd: target, stdio: "inherit" });
-      } else if (hasBin("conda")) {
-        execFileSync("conda", ["create", "-p", venv, "python=3.12", "-y", "--quiet"], { cwd: target, stdio: "inherit" });
-      } else if (hasBin("python3.12") || hasBin("python3") || hasBin("python")) {
-        const { cmd, is312 } = detectPythonCmd();
-        if (!is312) log.warn("python3.12 not found; venv uses fallback python (robot targets 3.12).");
-        execFileSync(cmd[0], [...cmd.slice(1), "-m", "venv", venv], { cwd: target, stdio: "inherit" });
-      } else {
-        noPython = true;
-      }
-      if (!noPython) {
-        const py = venvPython(venv);
-        if (existsSync(resolve(target, "requirements.txt"))) {
-          execFileSync(py, ["-m", "pip", "install", "-q", "-r", "requirements.txt"], { cwd: target, stdio: "inherit" });
-        }
-      }
-    } catch {
-      venvFailed = true;
-    }
-  } else {
-    noPython = !hasBin("uv") && !hasBin("conda") && !hasBin("python3.12") && !hasBin("python3") && !hasBin("python");
-  }
+  // The back end (python / cpp / ros2) runs in a Docker container that matches
+  // the robot — no local Python/toolchain setup needed. Only `none` skips it.
+  const needsDocker = runtimeChoice.type !== "none";
+  const noDocker = needsDocker && !hasBin("docker");
 
   log.ok(`created ${targetName} (type: ${type}, pm: ${pm})`);
   log.info(`\n  cd ${targetName}`);
@@ -201,19 +235,15 @@ export async function runNew(args) {
 
   // ── post-scaffold environment warnings ───────────────────────────────────
   const noNode = !hasBin("node");
-  if (noNode || noPython || venvFailed) {
+  if (noNode || noDocker) {
     log.info("");
     if (noNode) {
       log.warn("Node.js not found. Install Node.js 20+ to run JS deps and dev:ui.");
       log.warn("  https://nodejs.org");
     }
-    if (noPython) {
-      log.warn("Python not found. Install Python 3.12 to run the backend.");
-      log.warn("  https://www.python.org/downloads/  (or: brew install python@3.12 / uv / conda)");
-      log.warn(`  Then: cd ${targetName} && python3.12 -m venv .venv && pip install -r requirements.txt`);
-    } else if (venvFailed) {
-      log.warn("venv setup failed. Create it manually:");
-      log.warn(`  cd ${targetName} && python3.12 -m venv .venv && pip install -r requirements.txt`);
+    if (noDocker) {
+      log.warn("Docker not found. The plugin back end runs in a container (matches the robot env).");
+      log.warn("  https://docs.docker.com/get-docker/");
     }
     log.info("");
   }

package/cli/src/python.mjs

@@ -0,0 +1,31 @@
+// Shared Python Docker helpers (Ubuntu 24.04 + Python 3.12 — matches the robot).
+// Used by dev:back so the dev backend runs in the same environment as the robot.
+import { spawnSync } from "node:child_process";
+import { existsSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { hasBin, kitRoot, log } from "./util.mjs";
+
+export const PYTHON_DEV_IMAGE = "muscat-pk-python-dev";
+
+// Dockerfile lives inside the kit — plugin authors never see or edit it.
+const DOCKERFILE = resolve(kitRoot, "cli/docker/Dockerfile.python");
+
+export function assertDockerReady() {
+  if (!hasBin("docker")) {
+    throw new Error("Docker not found. The Python backend runs in a container (Ubuntu 24.04 + Python 3.12).");
+  }
+  if (!existsSync(DOCKERFILE)) {
+    throw new Error(`kit Dockerfile missing at ${DOCKERFILE} (reinstall muscat-plugin-kit).`);
+  }
+}
+
+/** Build the dev image from the kit's bundled Dockerfile (Docker layer-caches). */
+export function ensureImage(image = PYTHON_DEV_IMAGE) {
+  log.step(`docker build -t ${image} (first run is slow, then cached)…`);
+  const r = spawnSync(
+    "docker",
+    ["build", "-t", image, "-f", DOCKERFILE, dirname(DOCKERFILE)],
+    { stdio: "inherit" },
+  );
+  if (r.status !== 0) throw new Error("docker build failed.");
+}

package/cli/src/socketBridge.mjs

@@ -1,7 +1,14 @@
 import { createServer } from "node:http";
 import { randomUUID } from "node:crypto";
+import { fileURLToPath } from "node:url";
 import { Server } from "socket.io";
-import { log } from "./util.mjs";
+
+// Self-contained logger — this module also runs standalone inside the bridge
+// Docker container, where ./util.mjs is not available.
+const log = {
+  step: (...m) => console.log("›", ...m),
+  warn: (...m) => console.warn("⚠", ...m),
+};
 
 const DEFAULT_ACTION_TIMEOUT_MS = 10_000;
 
@@ -114,3 +121,9 @@ export function startSocketBridge({ port = 10000, host = "0.0.0.0" } = {}) {
     });
   });
 }
+
+// When executed directly (inside the bridge Docker container), start the server.
+if (process.argv[1] && process.argv[1] === fileURLToPath(import.meta.url)) {
+  const port = Number(process.env.PORT) || 10000;
+  startSocketBridge({ port });
+}

package/cli/src/type.mjs

@@ -1,13 +1,21 @@
 // muscat-pk type change — switch an existing plugin's backend type.
-//   python ↔ ros2.  python→ros2 adds the ros2_ws/ overlay; ros2→python flips
-//   the manifest type and leaves ros2_ws/ in place (never deletes user code).
+//   python | cpp | ros2 (rclpy) | ros2-cpp (rclcpp).
+//   Adds the matching backend overlay; never deletes existing user code
+//   (e.g. ros2_ws/ or cpp/ are left in place when switching away).
 import { existsSync, readFileSync, writeFileSync } from "node:fs";
 import { createInterface } from "node:readline/promises";
 import { basename, resolve } from "node:path";
 import { findPluginRoot, log } from "./util.mjs";
-import { applyTokens, deriveNames, overlayRos2 } from "./new.mjs";
+import {
+  TYPE_CHOICES,
+  applyTokens,
+  deriveNames,
+  overlayCpp,
+  overlayRos2,
+  runtimeForChoice,
+} from "./new.mjs";
 
-const TYPES = ["python", "ros2"];
+const TYPES = Object.keys(TYPE_CHOICES);
 
 async function prompt(question, fallback) {
   if (!process.stdin.isTTY) return fallback;
@@ -23,44 +31,54 @@ function readManifest(root) {
   return { path, json: JSON.parse(readFileSync(path, "utf8")) };
 }
 
+// Derive the current `--type`-style key from a manifest runtime block.
+function currentTypeKey(runtime) {
+  if (runtime?.type === "ros2") return runtime.rosClient === "rclcpp" ? "ros2-cpp" : "ros2";
+  return runtime?.type ?? "python";
+}
+
 export async function runType(args) {
-  // accept `type change`, `type`, `type --to ros2`
+  // accept `type change`, `type`, `type --to ros2-cpp`
   const sub = args[0];
   const toFlagIdx = args.indexOf("--to");
   let to = toFlagIdx >= 0 ? args[toFlagIdx + 1] : undefined;
 
   const root = findPluginRoot();
   const { path, json } = readManifest(root);
-  const current = json.runtime?.type ?? "python";
+  const current = currentTypeKey(json.runtime);
 
   if (sub && sub !== "change") {
-    log.warn(`unknown subcommand '${sub}'. Usage: muscat-pk type change [--to python|ros2]`);
+    log.warn(`unknown subcommand '${sub}'. Usage: muscat-pk type change [--to python|cpp|ros2|ros2-cpp]`);
   }
 
   if (!to) {
     console.log(`\n현재 타입: ${current}`);
     console.log("변경할 타입을 선택하세요:");
     console.log("  1) Python");
-    console.log("  2) ROS2(rclpy)");
-    const choice = await prompt("\n선택 [1/2]: ", "");
-    to = choice === "1" ? "python" : choice === "2" ? "ros2" : undefined;
+    console.log("  2) C++");
+    console.log("  3) ROS2 (rclpy / Python)");
+    console.log("  4) ROS2 (rclcpp / C++)");
+    const choice = await prompt("\n선택 [1/2/3/4]: ", "");
+    to = { "1": "python", "2": "cpp", "3": "ros2", "4": "ros2-cpp" }[choice];
   }
 
   if (!TYPES.includes(to)) {
-    throw new Error(`invalid type. choose python or ros2.`);
+    throw new Error(`invalid type. choose python | cpp | ros2 | ros2-cpp.`);
   }
   if (to === current) {
     log.info(`already '${current}' — nothing to change.`);
     return;
   }
 
-  if (to === "ros2") {
-    const { slug, pluginName, pluginClass, pluginId } = deriveNames(root);
+  const runtimeChoice = TYPE_CHOICES[to];
+  const { slug, pluginName, pluginClass, pluginId } = deriveNames(root);
+
+  if (runtimeChoice.type === "ros2") {
     if (existsSync(resolve(root, "ros2_ws"))) {
       log.warn("ros2_ws/ already exists — keeping it, only flipping manifest type.");
     } else {
-      log.step("adding ros2_ws/ overlay");
-      overlayRos2(root, slug);
+      log.step(`adding ros2_ws/ overlay (${runtimeChoice.rosClient})`);
+      overlayRos2(root, slug, runtimeChoice.rosClient);
       applyTokens(root, {
         __PLUGIN_ID__: pluginId,
         __PLUGIN_NAME__: pluginName,
@@ -69,14 +87,28 @@ export async function runType(args) {
         __RUNTIME_TYPE__: "ros2",
       });
     }
+  } else if (runtimeChoice.type === "cpp") {
+    if (existsSync(resolve(root, "cpp"))) {
+      log.warn("cpp/ already exists — keeping it, only flipping manifest type.");
+    } else {
+      log.step("adding cpp/ overlay");
+      overlayCpp(root);
+      applyTokens(root, {
+        __PLUGIN_ID__: pluginId,
+        __PLUGIN_NAME__: pluginName,
+        __PLUGIN_SLUG__: slug,
+        __PLUGIN_CLASS__: pluginClass,
+        __RUNTIME_TYPE__: "cpp",
+      });
+    }
   } else {
-    // ros2 → python
-    if (existsSync(resolve(root, "ros2_ws"))) {
-      log.warn("ros2_ws/ left in place (not deleted). Remove it manually if unused.");
+    // → python. Leave any ros2_ws/ or cpp/ in place (never delete user code).
+    if (existsSync(resolve(root, "ros2_ws")) || existsSync(resolve(root, "cpp"))) {
+      log.warn("existing backend dir left in place (not deleted). Remove it manually if unused.");
     }
   }
 
-  json.runtime = { ...json.runtime, type: to };
+  json.runtime = runtimeForChoice(runtimeChoice, slug);
   writeFileSync(path, JSON.stringify(json, null, 2) + "\n");
   log.ok(`${basename(root)} type: ${current} → ${to}`);
 }

package/cli/src/util.mjs

@@ -91,6 +91,16 @@ export const log = {
   error: (...m) => console.error(`${RED}✖${RESET}`, ...m.map(s => `${RED}${s}${RESET}`)),
 };
 
+// dev / dev:back / build run the plugin back end, the dev bridge, and cpp/ros2
+// compilation in Docker. Show a clear install hint when Docker is missing.
+export function ensureDocker() {
+  if (hasBin("docker")) return;
+  log.warn("Docker not found.");
+  log.warn("  muscat-pk runs the plugin back end, the dev bridge, and cpp/ros2 builds in Docker.");
+  log.warn("  Install Docker, then retry: https://docs.docker.com/get-docker/");
+  throw new Error("Docker is required for dev / dev:back / build.");
+}
+
 export function humanSize(bytes) {
   if (bytes < 1024) return `${bytes} B`;
   if (bytes < 1024 * 1024) return `${(bytes / 1024).toFixed(1)} KB`;

package/cli/templates/common/README.md

@@ -102,8 +102,9 @@ connect(App);
 ## Backend (`py/main.py`)
 
 The backend communicates with the frontend using `rainbow.rb_sdk.RBPluginCall`.
-`muscat-pk dev` starts the local Socket.IO bridge; `py/main.py` should contain plugin
-logic only and must not start its own server.
+`muscat-pk dev` starts the Socket.IO bridge in Docker (published on port 10000) and
+runs the backend container sharing its network, so the SDK connects at localhost:10000.
+`py/main.py` should contain plugin logic only and must not start its own server.
 
 ### Python plugin
 
@@ -230,11 +231,26 @@ class __PLUGIN_CLASS__Node(Node):
     }
   ],
 
-  // "none" | "python" | "ros2"
+  // runtime — one of:
+  //   { "type": "none" }
+  //   { "type": "python", "entry": "main.py" }
+  //   { "type": "cpp", "entry": "<executable name>" }
+  //   { "type": "ros2", "rosClient": "rclpy" | "rclcpp", "package": "...", "launch": "..._node" }
   "runtime": { "type": "python", "entry": "main.py" }
 }
 ```
 
+**Backend types:**
+
+| type | source dir | build / run | entry |
+|---|---|---|---|
+| `python` | `py/` | pip + run in Docker | `main.py` |
+| `cpp` | `cpp/` | CMake in Docker | built executable name |
+| `ros2` (rclpy) | `ros2_ws/` | colcon (ament_python) in Docker | — |
+| `ros2` (rclcpp) | `ros2_ws/` | colcon (ament_cmake) in Docker | — |
+
+> Every back end runs in a Docker container matching the robot (Ubuntu 24.04 + Python 3.12), so dev behaves like production and compiled binaries are ABI-compatible. **Docker is required** for all backend types (only a frontend-only `none` plugin skips it). No local Python/toolchain setup is needed.
+
 **Contribution points:**
 
 | point | Where it appears | `commandInfo` required |
@@ -306,24 +322,23 @@ numpy==1.26.4
 opencv-python
 ```
 
-Run `muscat-pk dev` or `muscat-pk dev:back` — dependencies are installed automatically on every startup.
-
-- **Python plugin**: installed into `.venv` via `pip install -r requirements.txt`
-- **ROS2 plugin**: installed inside the Docker container via `pip install -r requirements.txt`
+Run `muscat-pk dev` or `muscat-pk dev:back` — dependencies are installed automatically inside the dev container (`pip install -r requirements.txt`) on every startup. No local Python or venv needed.
 
-> `muscat-pk build` only **pins** versions in `requirements.txt` — it does not run `pip install`.
+> `muscat-pk build` only **pins** versions in `requirements.txt` — it does not run `pip install` (the robot installs them at load time).
 
 ---
 
 ## Switching backend type
 
 ```bash
-muscat-pk type change             # interactive
-muscat-pk type change --to ros2   # python → ros2
-muscat-pk type change --to python # ros2 → python
+muscat-pk type change                 # interactive
+muscat-pk type change --to cpp        # → C++
+muscat-pk type change --to ros2       # → ROS2 (rclpy / Python)
+muscat-pk type change --to ros2-cpp   # → ROS2 (rclcpp / C++)
+muscat-pk type change --to python     # → Python
 ```
 
-> `ros2_ws/` is not deleted when switching back to python. Remove it manually if no longer needed.
+> Existing backend dirs (`ros2_ws/`, `cpp/`) are not deleted when switching away. Remove them manually if no longer needed.
 
 ---
 

package/cli/templates/common/manifest.json

@@ -3,7 +3,8 @@
   "name": "__PLUGIN_NAME__",
   "version": "1.0.0",
   "minMuscatVersion": "1.0.0",
-  "author": "",
+  "author": "__PLUGIN_AUTHOR__",
+  "email": "__PLUGIN_EMAIL__",
   "description": {
     "ko": "",
     "en": ""
@@ -12,30 +13,12 @@
   "targetModels": "all",
   "targetCategorys": "all",
   "contributes": [
-    {
-      "point": "program.command",
-      "icon": "assets/icon.svg",
-      "label": { "ko": "__PLUGIN_NAME__", "en": "__PLUGIN_NAME__" },
-      "ui": "program/content",
-      "commandInfo": {
-        "name": "__PLUGIN_NAME__",
-        "icon": "assets/icon.svg",
-        "funcName": "plugin.run",
-        "args": {}
-      }
-    },
     {
       "point": "toolbar",
       "icon": "assets/icon.svg",
       "label": { "ko": "__PLUGIN_NAME__", "en": "__PLUGIN_NAME__" },
       "ui": "content",
       "opens": "popover"
-    },
-    {
-      "point": "move.rnb",
-      "icon": "assets/icon.svg",
-      "label": { "ko": "__PLUGIN_NAME__", "en": "__PLUGIN_NAME__" },
-      "ui": "move/content"
     }
   ],
   "runtime": { "type": "__RUNTIME_TYPE__", "entry": "main.py" }

package/cli/templates/cpp/cpp/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.16)
+project(__PLUGIN_SLUG__ CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# The executable name must match runtime.entry in manifest.json.
+add_executable(__PLUGIN_SLUG__ main.cpp)
+
+# TODO(cpp-sdk): link the rainbow cpp SDK dynamically (the robot provides the
+# .so at runtime — do NOT bundle/static-link it). Once the SDK ships an apt
+# package with CMake config, enable:
+#   find_package(rainbow_cpp_sdk REQUIRED)
+#   target_link_libraries(__PLUGIN_SLUG__ PRIVATE rainbow::cpp_sdk)

package/cli/templates/cpp/cpp/main.cpp

@@ -0,0 +1,25 @@
+// __PLUGIN_NAME__ — C++ plugin back end.
+//
+// The C++ plugin SDK is not available yet, so this is a build/run skeleton.
+// Once the SDK lands, connect to the plugin gateway here (the host exposes it
+// at the RB_PLUGIN_GATEWAY / RB_PLUGIN_ID environment variables) and wire up
+// pub / sub / serve, mirroring the Python rainbow.rb_sdk.RBPluginCall API.
+
+#include <chrono>
+#include <cstdlib>
+#include <iostream>
+#include <thread>
+
+int main() {
+  const char* plugin_id = std::getenv("RB_PLUGIN_ID");
+  std::cout << "[__PLUGIN_NAME__] backend ready"
+            << (plugin_id ? std::string(" (id=") + plugin_id + ")" : "")
+            << std::endl;
+
+  // TODO: connect to the plugin gateway and register handlers once the
+  //       C++ SDK is available. For now, just keep the process alive.
+  while (true) {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+  }
+  return 0;
+}

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.16)
+project(__PLUGIN_SLUG__)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+add_executable(__PLUGIN_SLUG___node src/node.cpp)
+ament_target_dependencies(__PLUGIN_SLUG___node rclcpp)
+
+install(TARGETS __PLUGIN_SLUG___node
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/package.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>__PLUGIN_SLUG__</name>
+  <version>0.0.1</version>
+  <description>__PLUGIN_NAME__ ROS2 node (rclcpp)</description>
+  <maintainer email="todo@example.com">maintainer</maintainer>
+  <license>Proprietary</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/src/node.cpp

@@ -0,0 +1,22 @@
+// __PLUGIN_NAME__ — ROS2 node (rclcpp).
+//
+// The node is launched with `--ros-args -r __ns:=/{slug}` automatically by
+// dev:back. ROS2 topics are bridged to the plugin communication layer, so a
+// plain rclcpp node is all you need — relative topic names get the namespace
+// prefix applied automatically.
+#include "rclcpp/rclcpp.hpp"
+
+class __PLUGIN_CLASS__Node : public rclcpp::Node {
+public:
+  __PLUGIN_CLASS__Node() : Node("__PLUGIN_SLUG___node") {
+    RCLCPP_INFO(this->get_logger(), "__PLUGIN_NAME__ node started");
+    // create publishers / subscribers / services here
+  }
+};
+
+int main(int argc, char** argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<__PLUGIN_CLASS__Node>());
+  rclcpp::shutdown();
+  return 0;
+}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "0.1.2-dev.24",
+  "version": "0.1.2-dev.26",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -31,7 +31,7 @@
     "@types/react-dom": "^19.0.4"
   },
   "dependencies": {
-    "@rainbow-robotics/preview-host": "0.1.2-dev.24",
+    "@rainbow-robotics/preview-host": "0.1.2-dev.26",
     "socket.io": "^4.8.1"
   },
   "optionalDependencies": {