@rainbow-robotics/muscat-plugin-kit 1.3.6-dev.7 → 1.3.6-dev.8

package/cli/templates/common/README.md

@@ -398,103 +398,6 @@ if __name__ == "__main__":
         time.sleep(1)
 ```
 
-#### External endpoints (`plugin.router`)
-
-`plugin.serve` / `plugin.subscribe` / `plugin.publish` are **internal only** (plugin
-UI ↔ backend, plugin ↔ plugin). To expose an endpoint to the outside world —
-REST, Socket.IO, TCP, MQTT, WebRTC — use `plugin.router`. Declaring one is a
-single decorator; the running Muscat (`common`) picks it up without a restart,
-and it disappears when the plugin stops or is removed.
-
-> Requires a robot running `rainbow-rb-sdk` **0.0.9.dev5 or newer** (the SDK is
-> provided by the plugin container at runtime). On older robots `plugin.router`
-> does not exist and raises `AttributeError`.
-
-```python
-from rainbow.rb_sdk import RBPluginCall
-from rainbow.rb_sdk.plugin import PluginRouteError
-
-plugin = RBPluginCall()  # plugin_id comes from env RB_PLUGIN_ID
-
-
-@plugin.router.on("/hello")                                  # all 5 transports
-def hello(payload: dict, meta: dict):
-    return {"msg": f"hi {payload.get('name')}"}              # return value = response body
-
-
-@plugin.router.on("/admin", explicit_routes=["api"])         # REST only
-def admin(payload, meta):
-    if not (meta.get("principal") or {}).get("is_admin"):
-        raise PluginRouteError(403, "admin only")            # becomes the external status
-    ...
-
-
-@plugin.router.subscribe("/cmd", explicit_events=["tcp"])    # receive external TCP publish
-def on_cmd(payload: dict):
-    ...
-
-
-plugin.router.emit("/state", {"busy": True})                 # push to external subscribers
-```
-
-| API | Meaning | External address |
-| --- | --- | --- |
-| `router.on(path, explicit_routes=None)` | request/response handler | `common/plugin/{plugin_id}/{path}` (REST is always `POST`) |
-| `router.subscribe(topic, explicit_events=None)` | receive external publishes | external side publishes to `common/plugin/{plugin_id}/{topic}` |
-| `router.emit(topic, payload)` | plugin → external push | external side subscribes to `common/plugin/{plugin_id}/{topic}` |
-
-- The `plugin_id` prefix is added by the SDK — write only the path in plugin code.
-- Paths may have several segments (`/tool/echo`). Declaring the same path twice raises `ValueError`.
-- Transport names: `api | socket | tcp | mqtt | webrtc`. `subscribe` accepts only `tcp | mqtt | webrtc`. Unknown names raise `ValueError`.
-- `explicit_routes` / `explicit_events` of `None` means every transport. A request on a transport not listed gets 404.
-
-Handler contract:
-
-- Signature `(payload, meta)`, `(payload)` or `()` — only the arguments you declare are injected. Sync and async both work.
-- `payload`: what the caller sent (for REST: JSON body merged with query params). The shape is up to the plugin.
-- `meta`: `{"transport": "api"|"socket"|"tcp"|"mqtt"|"webrtc", "principal": dict | None}`. When the robot's login policy is on, `principal` holds the token subject. **Role checks are the plugin's job** — inspect `meta["principal"]` yourself.
-- The return value is the response body (must be JSON-serialisable). `None` → empty response.
-- Status codes: `raise PluginRouteError(code, message)`. Any other exception → 500 with `str(exc)` as the message.
-- `subscribe` handlers take `(payload)` only and return nothing.
-
-#### Calling plugin endpoints from outside
-
-| Transport | How |
-| --- | --- |
-| REST | `POST /common/plugin/{plugin_id}/{path}` (through the api-gateway), JSON body |
-| Socket.IO | emit event `common/plugin/{plugin_id}/{path}`, response arrives in the ack |
-| TCP | topic `common/plugin/{plugin_id}/{path}` request / publish |
-| MQTT | request: `common/plugin/{plugin_id}/{path}/__req__`, publish: `common/plugin/{plugin_id}/{topic}` |
-| WebRTC | data channel topic `common/plugin/{plugin_id}/{path}` |
-
-Auth: when the robot's login policy is on, a token is **required** (any role — GUEST passes). When it is off, calls go straight through. REST uses the same Bearer token as the other Muscat APIs.
-
-```bash
-curl -s -X POST http://<robot>/common/plugin/my-plugin/hello \
-  -H 'Content-Type: application/json' -d '{"name":"kim"}'
-```
-
-| Situation | Status |
-| --- | --- |
-| No plugin declares that path / plugin is down / transport not allowed | 404 |
-| Plugin did not answer within 10 s | 504 |
-| `common` ↔ gateway not connected | 503 |
-| Handler raised | 500 (`PluginRouteError` → its `code`) |
-
-Known limits:
-
-- A plugin path named `install` cannot be called over REST (`POST /common/plugin/{id}/install` is taken by the registry install route first). Socket/TCP are unaffected.
-- Swagger shows one catch-all route, not per-plugin paths.
-- The MQTT broker echoes to the sender: a plugin that `emit`s and `subscribe`s the same topic receives its own push over `mqtt`. Drop `mqtt` from `explicit_events` or use separate topics. (TCP is filtered by `sender_id`.)
-- `on` and `subscribe` may share a name — they live in separate tables.
-
-During `muscat-pk dev` / `dev:back` the local bridge (port `10000`) accepts the
-`router.*` registrations, but **external calls need a running `common`** — it is
-`common` that routes `common/plugin/...` to the gateway. Use a robot (or a local
-`common`) to exercise the external addresses. After restarting the plugin process,
-external calls may return 504 for up to about a minute (until the gateway notices
-the old socket is gone), then 404 — that is expected.
-
 #### Program command backend (`program.panel`)
 
 A `program.panel` contribution defines a **custom command** your plugin adds to
@@ -734,8 +637,9 @@ below).
 
 ### C++
 
-C++ plugins use `cpp/` and are built with CMake inside Docker against the
-Rainbow Robotics C++ SDK (see _C++ SDK_ below).
+C++ plugins use `cpp/` and are built with CMake inside Docker. The current C++
+template is a build/run skeleton; wire it to the plugin gateway when the C++ SDK
+is available.
 
 ```cpp
 #include <chrono>
@@ -757,31 +661,10 @@ int main() {
 }
 ```
 
-#### C++ SDK (`rainbow-rb-sdk-dev`)
-
-Both C++ runtimes (`cpp`, `ros2` + `rclcpp`) link the Rainbow Robotics C++ SDK
-from the apt package `rainbow-rb-sdk-dev`. The `muscat-pk` dev containers already
-have it, so `muscat-pk dev` / `build` need nothing extra. To build outside the
-container (your own Ubuntu 24.04 machine, or the robot PC):
-
-```bash
-curl -fsSL https://rainbowrobotics.github.io/rb-sdk/rb-sdk-apt-repo.gpg.key | sudo gpg --dearmor -o /usr/share/keyrings/rb-sdk-apt.gpg
-echo 'deb [signed-by=/usr/share/keyrings/rb-sdk-apt.gpg] https://rainbowrobotics.github.io/rb-sdk stable main' | sudo tee /etc/apt/sources.list.d/rb-sdk.list
-sudo apt update && sudo apt install rainbow-rb-sdk-dev
-```
-
-- CMake: `find_package(rb_sdk REQUIRED)` + `target_link_libraries(<target> rb_sdk::rb_sdk)` (C++20). pkg-config: `rb_sdk`.
-- Headers: `<rainbow/rb_sdk/manipulate/rb_manipulate_sdk.hpp>` (`RBManipulateSDK`),
-  `<rainbow/rb_sdk/program/plugin_program_context.hpp>` (`rb_plugin::PluginProgramContext`, for `program.panel` commands — the header's top comment has a full `main()` example).
-- The binary is linked **dynamically**; `muscat-pk build` copies the matching `librb_sdk.so` into `dist/<arch>/lib/` (the robot has no SDK installed), so each plugin keeps the SDK version it was built with. Change the version with `MUSCAT_PK_RB_SDK_VERSION=<version> MUSCAT_PK_REBUILD_IMAGE=1 muscat-pk dev`.
-- UI ↔ backend messaging works from C++ too: `rb_plugin::RBPluginCall` in `<rainbow/rb_sdk/plugin/rb_plugin.hpp>` (see the scaffolded `cpp/main.cpp`).
-
 ### ROS2 (rclpy)
 
-ROS2 Python plugins use `ros2_ws/` with `runtime.rosClient: "rclpy"`. relative topic names are placed under the plugin's ROS namespace — the plugin id
-with "." → "/" and "-" → "_" (`com.example.my-plugin` → `/com/example/my_plugin`), in dev
-and on the robot. Use an absolute name (`/cmd_vel`) for topics shared with other nodes.
-`RBPluginCall` works in the node module too (UI messaging and `plugin.router`).
+ROS2 Python plugins use `ros2_ws/` with `runtime.rosClient: "rclpy"`. The node
+is launched with `--ros-args -r __ns:=/{slug}` automatically by `dev:back`.
 
 ```python
 # ros2_ws/src/__PLUGIN_SLUG__/__PLUGIN_SLUG__/node.py
@@ -799,29 +682,9 @@ class __PLUGIN_CLASS__Node(Node):
         # use sdk alongside ROS2 publishers/subscribers/services as needed
 ```
 
-
-#### Talking to an external PC over ROS 2
-
-ROS 2 discovery stays on the robot (`ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST`; `muscat-pk dev`
-runs the same), so robots on one LAN don't mix topics. Allow specific PCs from the plugin UI —
-Muscat keeps the list per plugin, starts your backend with `ROS_STATIC_PEERS` set to it, and
-restarts the plugin when it changes. Your ROS code needs no changes; the PC needs no extra settings.
-
-```tsx
-const rb = useRb();
-const peers = await rb.rosPeers.get();               // ["192.168.0.50"]
-await rb.rosPeers.set(["192.168.0.50", "192.168.0.51"]); // saves + restarts the plugin; rejects on a bad IP
-```
-
-- Per plugin: plugin B keeps its allowed PCs when plugin A (allowing the same PC) is stopped or removed.
-- It opens communication; it is not access control — a PC that knows the robot's IP can still
-  add the robot to its own `ROS_STATIC_PEERS`.
-- In `muscat-pk dev` the list is kept in `.muscat-dev/ros-peers.json` (ROS 2 backends).
-
 ### ROS2 (rclcpp)
 
-ROS2 C++ plugins use `ros2_ws/` with `runtime.rosClient: "rclcpp"`. The node links
-the Rainbow C++ SDK the same way as the `cpp` runtime (see _C++ SDK_ above).
+ROS2 C++ plugins use `ros2_ws/` with `runtime.rosClient: "rclcpp"`.
 
 ```cpp
 #include "rclcpp/rclcpp.hpp"
@@ -836,65 +699,6 @@ public:
 
 ---
 
-## Video streaming (MediaMTX)
-
-Muscat runs a MediaMTX media server. The backend publishes a stream over RTSP and
-the UI plays it over WebRTC. `muscat-pk dev` runs the same server (or uses a local
-Muscat's), so the addresses are identical in dev and on the robot.
-
-| | Address |
-| --- | --- |
-| Publish (backend) | `rtsp://127.0.0.1:8554/<plugin_id>/<name>` |
-| Play (UI) | `http://<host>:8889/<plugin_id>/<name>/` |
-
-- Prefix the path with your plugin id — paths are shared with robot cameras and other plugins.
-- The robot runtime has no ffmpeg, GStreamer or OpenCV; bring your own encoder (below).
-
-**Backend (Python)** — use PyAV: add `av` and `numpy` to `requirements.txt`. Its wheels
-include FFmpeg, so they ship in the ZIP like any other dependency.
-
-```python
-import fractions, time
-import av, numpy as np
-
-out = av.open("rtsp://127.0.0.1:8554/__PLUGIN_ID__/cam", mode="w", format="rtsp",
-              options={"rtsp_transport": "tcp"})
-stream = out.add_stream("libx264", rate=25, options={"preset": "ultrafast", "tune": "zerolatency"})
-stream.width, stream.height, stream.pix_fmt = 640, 360, "yuv420p"
-
-i = 0
-while True:
-    img = np.zeros((360, 640, 3), dtype=np.uint8)          # your RGB frame here
-    frame = av.VideoFrame.from_ndarray(img, format="rgb24")
-    frame.pts, frame.time_base = i, fractions.Fraction(1, 25)
-    for packet in stream.encode(frame):
-        out.mux(packet)
-    i += 1
-    time.sleep(1 / 25)
-```
-
-Run the encoder loop in a thread (or `asyncio.to_thread`) so it doesn't block the
-`RBPluginCall` handlers.
-
-**UI** — embed MediaMTX's WebRTC player. `location.hostname` is `localhost` in the
-preview and the robot's address on the robot:
-
-```tsx
-const STREAM = "__PLUGIN_ID__/cam"; // the path the backend publishes
-
-export default function Camera() {
-  return (
-    <iframe
-      src={`${location.protocol}//${location.hostname}:8889/${STREAM}/`}
-      allow="autoplay"
-      className="aspect-video w-full border-0"
-    />
-  );
-}
-```
-
----
-
 ## manifest.json
 
 ```jsonc
@@ -1123,8 +927,6 @@ muscat-pk type change --to python     # → Python
 
 > Existing backend dirs (`ros2_ws/`, `cpp/`) are not deleted when switching away. Remove them manually if no longer needed.
 
-> Switching between a Python and a C++ backend asks whether to replace this README with the matching one (the old file is kept as `README.md.bak`). Add `--readme` to answer yes without the prompt.
-
 ---
 
 ## AI coding assistants (MCP)
@@ -1141,9 +943,7 @@ letting it guess. `muscat-pk mcp` is an MCP server exposing:
 - `search_rb_sdk` — how to use `useRb()`, `rb.*`, `useRbFormData`/`useRbSave`, and
   the backend runtimes.
 - `list_rb_sdk` / `get_rb_sdk_api` — the installed `rainbow-rb-sdk` (Python
-  backend) classes and signatures; with `lang: "cpp"`, the C++ SDK headers
-  (`rainbow-rb-sdk-dev`, read out of the `muscat-pk` cpp dev image — build it
-  once with `muscat-pk dev:back`).
+  backend) classes and signatures.
 
 **Browse the components live** with `muscat-pk storybook`.
 
@@ -1191,10 +991,6 @@ muscat-pk build            # build + ZIP
 muscat-pk build --no-zip   # build only, no ZIP
 ```
 
-> Building the other arch (e.g. arm64 on an amd64 PC) runs in an emulated container for
-> C++ backends. Docker Desktop has it built in; on Linux enable it once with
-> `docker run --privileged --rm tonistiigi/binfmt --install all`, or pass `--arch` for one arch.
-
 - Builds `ui/content.tsx` → `dist/content.js` (minified)
 - Pins `requirements.txt` to latest versions (stable-only on `main` branch)
 - Copies `assets/`, `manifest.json`, `README*.md`, `py/`, and `requirements.txt` into `dist/`

package/cli/templates/common/py/main.py

@@ -10,13 +10,6 @@ Remote dev (from your laptop):
     MUSCAT_ROBOT_HOST=192.168.1.100
     MUSCAT_ROBOT_TOKEN=<service token>
   Then: muscat-pk dev:back
-
-Handlers:
-  plugin.serve / plugin.subscribe / plugin.publish  -> plugin UI <-> backend only
-  plugin.router.on / subscribe / emit               -> external endpoints
-    (REST / Socket.IO / TCP / MQTT / WebRTC at common/plugin/<plugin_id>/<path>).
-    Needs a robot running rainbow-rb-sdk >= 0.0.9.dev5; older robots have no
-    `plugin.router` (AttributeError). See README "External endpoints".
 """
 
 import asyncio
@@ -24,7 +17,6 @@ import os
 from typing import Any
 
 from rainbow.rb_sdk import RBManipulateSDK, RBPluginCall
-from rainbow.rb_sdk.rb_sdk_cpp import ConnectOptions
 
 
 PLUGIN_NAME = "__PLUGIN_NAME__"
@@ -37,8 +29,6 @@ def register_handlers():
     # Register handlers here — called after connect() so subscriptions survive
     # session reconnection in remote-dev mode.
 
-    # --- Plugin UI <-> backend (not reachable from outside Muscat) ---
-
     @plugin.subscribe("event")
     def on_ui_event(payload: dict[str, Any] | None = None):
         """Handle messages published from the plugin UI with rb.pub("event", ...)."""
@@ -57,19 +47,6 @@ def register_handlers():
         """Small query example callable from the UI with rb.action("tool/echo", ...)."""
         return {"echo": payload, "plugin": PLUGIN_NAME}
 
-    # --- External endpoints (REST / Socket.IO / TCP / MQTT / WebRTC) ---
-    # Exposed as common/plugin/<plugin_id>/hello, e.g.
-    #   curl -X POST http://<robot>/common/plugin/<plugin_id>/hello \
-    #        -H 'Content-Type: application/json' -d '{"name": "kim"}'
-    # Restrict transports with explicit_routes=["api"] (REST only), etc.
-    # Raise PluginRouteError(403, "msg") to set the response status.
-
-    @plugin.router.on("/hello")
-    def hello(payload: dict[str, Any] | None = None, meta: dict[str, Any] | None = None):
-        """meta = {"transport": "api"|"socket"|"tcp"|"mqtt"|"webrtc", "principal": dict | None}."""
-        name = (payload or {}).get("name", "there")
-        return {"msg": f"hi {name}", "via": (meta or {}).get("transport")}
-
 
 def move_j_example():
     """
@@ -96,15 +73,11 @@ async def main():
         # Remote dev: connect to the robot before registering any handlers.
         # connect() closes and reopens the Zenoh session, so handlers registered
         # before this call would be lost.
-        opts = ConnectOptions()
-        opts.token = robot_token
-        opts.host = robot_host
-        manipulate.connect(opts)
+        await manipulate.connect(token=robot_token, host=robot_host)
 
     register_handlers()
 
-    plugin.publish("state", {"ready": True, "plugin": PLUGIN_NAME})       # -> plugin UI
-    plugin.router.emit("/state", {"ready": True, "plugin": PLUGIN_NAME})  # -> external subscribers of common/plugin/<plugin_id>/state
+    plugin.publish("state", {"ready": True, "plugin": PLUGIN_NAME})
     print(f"[{PLUGIN_NAME}] backend ready")
 
     try:

package/cli/templates/common/requirements.txt

@@ -1,4 +1,4 @@
-rainbow-rb-sdk==0.1.6
-rainbow-rb-flat-buffers==0.1.6
-rainbow-rb-zenoh==0.1.6
+rainbow-rb-sdk==0.1.7
+rainbow-rb-flat-buffers==0.1.7
+rainbow-rb-zenoh==0.1.7
 requests==2.34.2

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

@@ -1,13 +1,14 @@
 cmake_minimum_required(VERSION 3.16)
 project(__PLUGIN_SLUG__ CXX)
 
-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Rainbow Robotics C++ SDK — provided by the apt package rainbow-rb-sdk-dev
-# (pre-installed in the muscat-pk dev container).
-find_package(rb_sdk REQUIRED)
-
 # The executable name must match runtime.entry in manifest.json.
 add_executable(__PLUGIN_SLUG__ main.cpp)
-target_link_libraries(__PLUGIN_SLUG__ PRIVATE rb_sdk::rb_sdk)
+
+# 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

@@ -1,19 +1,9 @@
 // __PLUGIN_NAME__ — C++ plugin back end.
 //
-// The Rainbow Robotics C++ SDK (apt: rainbow-rb-sdk-dev) is installed in the
-// dev container and linked via CMake (rb_sdk::rb_sdk). Headers live under
-// <rainbow/rb_sdk/...>:
-//   - plugin/rb_plugin.hpp               rb_plugin::RBPluginCall — plugin UI <-> backend
-//                                        (serve/subscribe/publish) and external endpoints (router)
-//   - manipulate/rb_manipulate_sdk.hpp   RBManipulateSDK — control the robot
-//   - program/plugin_program_context.hpp rb_plugin::PluginProgramContext —
-//                                        program.panel commands (done/pause/stop,
-//                                        program variables)
-
-#include <rainbow/rb_sdk/manipulate/rb_manipulate_sdk.hpp>
-#include <rainbow/rb_sdk/plugin/rb_plugin.hpp>
-
-#include <nlohmann/json.hpp>
+// 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>
@@ -21,51 +11,14 @@
 #include <string>
 #include <thread>
 
-using nlohmann::json;
-using rb_plugin::RBPluginCall;
-
 int main() {
-  const std::string name = "__PLUGIN_NAME__";
-
-  // Remote dev: connect before registering handlers (connect() reopens the session).
-  RBManipulateSDK manipulate;
-  const char* host = std::getenv("MUSCAT_ROBOT_HOST");
-  const char* token = std::getenv("MUSCAT_ROBOT_TOKEN");
-  if (host && token) manipulate.connect({.token = token, .host = host});
-
-  // plugin id comes from RB_PLUGIN_ID.
-  auto plugin = RBPluginCall::get_instance(RBPluginCall::resolve_plugin_id(std::nullopt));
-
-  // --- Plugin UI <-> backend (not reachable from outside Muscat) ---
-
-  // UI: await rb.action("grip", { width })
-  plugin->serve("grip", [&](const json& payload) {
-    const int width = payload.is_object() ? payload.value("width", 20) : 20;
-    std::cout << "[" << name << "] grip requested: width=" << width << std::endl;
-    plugin->publish("state", {{"ready", true}, {"last_grip_width", width}});  // -> rb.sub("state")
-    return json{{"ok", true}, {"width", width}};
-  });
-
-  // UI: rb.pub("event", ...)
-  auto event_sub = plugin->subscribe("event", [&](const std::string&, const json& payload) {
-    std::cout << "[" << name << "] event: " << payload.dump() << std::endl;
-  });
-
-  // --- External endpoints (REST / Socket.IO / TCP / MQTT / WebRTC) ---
-  //   curl -X POST http://<robot>/common/plugin/<plugin_id>/hello -d '{"name":"kim"}'
-  plugin->router().on("/hello", [](const json& payload, const json& meta) {
-    const std::string who = payload.is_object() ? payload.value("name", std::string("there")) : "there";
-    return json{{"msg", "hi " + who}, {"via", meta.value("transport", std::string())}};
-  });
-
-  // Example: robot control (not called automatically — add safety checks first).
-  //   IPC::MoveInput_TargetT t; t.tar_values = {0, 0, 0, 0, 0, 0};
-  //   manipulate.move.call_move_j("C500920", t);
-
-  plugin->publish("state", {{"ready", true}, {"plugin", name}});
-  std::cout << "[" << name << "] backend ready" << std::endl;
+  const char* plugin_id = std::getenv("RB_PLUGIN_ID");
+  std::cout << "[__PLUGIN_NAME__] backend ready"
+            << (plugin_id ? std::string(" (id=") + plugin_id + ")" : "")
+            << std::endl;
 
-  // Keep the process alive.
+  // 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));
   }

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

@@ -7,13 +7,9 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-# Rainbow Robotics C++ SDK (apt: rainbow-rb-sdk-dev, pre-installed in the dev
-# container).
-find_package(rb_sdk REQUIRED)
 
 add_executable(__PLUGIN_SLUG___node src/node.cpp)
 ament_target_dependencies(__PLUGIN_SLUG___node rclcpp)
-target_link_libraries(__PLUGIN_SLUG___node rb_sdk::rb_sdk)
 
 install(TARGETS __PLUGIN_SLUG___node
   DESTINATION lib/${PROJECT_NAME})

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

@@ -1,11 +1,10 @@
 // __PLUGIN_NAME__ — ROS2 node (rclcpp).
 //
-// Relative topic names land under the plugin's ROS namespace (plugin id with
-// "." → "/", "-" → "_"); use an absolute name ("/cmd_vel") for shared topics.
-// UI messaging / external endpoints: rb_plugin::RBPluginCall (plugin/rb_plugin.hpp).
+// 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"
-// Rainbow Robotics C++ SDK (linked as rb_sdk::rb_sdk): RBManipulateSDK etc.
-#include <rainbow/rb_sdk/manipulate/rb_manipulate_sdk.hpp>
 
 class __PLUGIN_CLASS__Node : public rclcpp::Node {
 public:

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "1.3.6-dev.7",
+  "version": "1.3.6-dev.8",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -53,8 +53,8 @@
   },
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.29.0",
-    "@rainbow-robotics/plugin-ui": "1.3.6-dev.7",
-    "@rainbow-robotics/preview-host": "1.3.6-dev.7",
+    "@rainbow-robotics/plugin-ui": "1.3.6-dev.8",
+    "@rainbow-robotics/preview-host": "1.3.6-dev.8",
     "postcss": "^8.5.8",
     "socket.io": "^4.8.1",
     "typescript": "^5.8.0",

package/cli/storybook-dist/assets/RBRangeDateInput.stories-COOQ_HNF.js

@@ -1,15 +0,0 @@
-import{j as o}from"./jsx-runtime-BTJTZTIL.js";import{n as a}from"./SideNumberInput-B5_xLK8z.js";import"./index-Dmy2JGbm.js";import"./react-resizable-panels.browser-CYcsrUgg.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./index-ChsGqxH_.js";import"./browserUtils-CQM9Za7e.js";import"./index-BRq5TIsn.js";const h={component:a,tags:["autodocs"],argTypes:{size:{control:{type:"select"},options:["xs2","sm","md","lg"],table:{type:{summary:'"xs2" | "sm" | "md" | "lg"'}}},showPresets:{control:"boolean"},showFooter:{control:"boolean"},min:{control:"date"},max:{control:"date"},maxDays:{control:{type:"number",min:0,step:1},description:"선택 가능한 최대 일수. 0은 제한 없음."}},args:{maxDays:0}},m=e=>o.jsx("div",{style:{height:700},children:o.jsx(a,{...e,min:e.min!=null?new Date(e.min):void 0,max:e.max!=null?new Date(e.max):void 0,maxDays:(e.maxDays??0)>0?e.maxDays:void 0})}),t={parameters:{docs:{description:{story:""}}},args:{size:"md",showPresets:!0,showFooter:!0},render:m};var r,s,n;t.parameters={...t.parameters,docs:{...(r=t.parameters)==null?void 0:r.docs,source:{originalSource:`{
-  parameters: {
-    docs: {
-      description: {
-        story: ""
-      }
-    }
-  },
-  args: {
-    size: "md",
-    showPresets: true,
-    showFooter: true
-  },
-  render: Template
-}`,...(n=(s=t.parameters)==null?void 0:s.docs)==null?void 0:n.source}}};const w=["Default"];export{t as Default,w as __namedExportsOrder,h as default};

package/cli/storybook-dist/assets/RBSelectBox.stories-BookV8Sm.js

@@ -1,74 +0,0 @@
-import{j as t}from"./jsx-runtime-BTJTZTIL.js";import{w as d,u as c,a as p,e as n}from"./index-ClAc6FBW.js";import{z as b,B as w,V as g}from"./SideNumberInput-B5_xLK8z.js";import"./index-Dmy2JGbm.js";import"./react-resizable-panels.browser-CYcsrUgg.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./index-ChsGqxH_.js";import"./browserUtils-CQM9Za7e.js";import"./index-BRq5TIsn.js";const N=Array.from({length:40},(e,o)=>({value:`option-${o+1}`,label:`옵션 ${o+1}`})),H=e=>t.jsx("div",{className:"min-h-80 overflow-visible",children:t.jsx(b,{...e,className:"w-96",children:N.map(({value:o,label:a})=>t.jsx(w,{value:o,children:a},o))})}),O=e=>t.jsx("div",{className:"min-h-80 overflow-visible",children:t.jsxs(b,{...e,className:"w-96",children:[t.jsx(w,{value:"option-1",label:"옵션 1",className:"h-12",children:t.jsxs(g,{children:["옵션 1",t.jsx("span",{className:"typo-compact-xs-normal",children:"Additional Information goes here"})]})}),t.jsx(w,{value:"option-2",label:"옵션 2",className:"h-12",children:t.jsxs(g,{children:["옵션 2",t.jsx("span",{className:"typo-compact-xs-normal",children:"Additional Information goes here"})]})}),t.jsx(w,{value:"option-3",label:"옵션 3",disabled:!0,className:"h-12",children:t.jsxs(g,{children:["옵션 3",t.jsx("span",{className:"typo-compact-xs-normal",children:"Additional Information goes here"})]})})]})}),z={component:b,tags:["autodocs"],parameters:{layout:"padded"},argTypes:{size:{control:{type:"select"},options:["xs2","sm","md","lg"]},maxDropBoxHeight:{control:{type:"number"}},disabled:{control:{type:"boolean"}},readOnly:{control:{type:"boolean"}},search:{control:{type:"boolean"}},keepDropDown:{control:{type:"boolean"}},showCloseBtn:{control:{type:"boolean"}},whenScrollCloseDropBox:{control:{type:"boolean"}},enableModal:{control:{type:"boolean"}},error:{control:{type:"boolean"}},searchPlaceholder:{control:{type:"text"}},mobileLabel:{control:{type:"text"}},placeholder:{control:{type:"text"}},selectArrow:{control:!1,table:{disable:!0}},noDataMsg:{control:!1,table:{disable:!0}},onClick:{action:!1,control:!1,table:{disable:!0}},onChange:{action:"onChange",control:!1},handleChange:{action:"handleChange",control:!1}},args:{size:"md",maxDropBoxHeight:200,disabled:!1,readOnly:!1,placeholder:"placeholder",search:!1,keepDropDown:!1,showCloseBtn:!1,whenScrollCloseDropBox:!1,enableModal:!1,error:!1,searchPlaceholder:"Search",onClick:void 0},render:H},B=()=>new Promise(e=>setTimeout(e,350)),u={play:async({canvasElement:e})=>{const o=d(e),a=e.ownerDocument;await B(),await c.click(o.getByText("placeholder"));const l=await p(()=>{const s=a.querySelector('[data-slot="select-drop-box"]');if(!s)throw new Error("drop box not opened");return s}),y=d(l).getByText("옵션 3");await c.click(y),await p(()=>{var s;n((s=e.querySelector('[data-slot="select-box-value"] span'))==null?void 0:s.textContent).toBe("옵션 3"),n(a.querySelector('[data-slot="select-drop-box"]')).toBeNull()})}},m={args:{value:"option-2"},render:O,play:async({canvasElement:e})=>{const o=d(e),a=e.ownerDocument,l=()=>{var r;return(r=e.querySelector('[data-slot="select-box-value"] span'))==null?void 0:r.textContent};await B(),await c.click(o.getByText("옵션 2"));const y=await p(()=>{const r=a.querySelector('[data-slot="select-drop-box"]');if(!r)throw new Error("drop box not opened");return r}),s=d(y).getAllByRole("button"),x=s.find(r=>{var i;return(i=r.textContent)==null?void 0:i.startsWith("옵션 3")});n(x==null?void 0:x.textContent).toContain("Additional Information goes here"),await c.click(x),n(l()).toBe("옵션 2"),n(a.querySelector('[data-slot="select-drop-box"]')).not.toBeNull();const j=s.find(r=>{var i;return(i=r.textContent)==null?void 0:i.startsWith("옵션 1")});await c.click(j),await p(()=>{n(l()).toBe("옵션 1"),n(a.querySelector('[data-slot="select-drop-box"]')).toBeNull()})}},h={args:{maxDropBoxHeight:120},play:async({canvasElement:e})=>{const o=d(e);await B(),await c.click(o.getByText("placeholder"));const a=e.ownerDocument;await p(()=>{const l=a.querySelector('[data-slot="select-drop-box"]');n(l).toBeTruthy(),n(l.getBoundingClientRect().height).toBeLessThanOrEqual(121)})}};var f,v,T;u.parameters={...u.parameters,docs:{...(f=u.parameters)==null?void 0:f.docs,source:{originalSource:`{
-  play: async ({
-    canvasElement
-  }) => {
-    const canvas = within(canvasElement);
-    const doc = canvasElement.ownerDocument;
-    await waitPastClickGuard();
-    await userEvent.click(canvas.getByText("placeholder"));
-    const dropBox = await waitFor(() => {
-      const el = doc.querySelector('[data-slot="select-drop-box"]');
-      if (!el) throw new Error("drop box not opened");
-      return el as HTMLElement;
-    });
-    const option = within(dropBox).getByText("옵션 3");
-    await userEvent.click(option);
-    await waitFor(() => {
-      expect(canvasElement.querySelector('[data-slot="select-box-value"] span')?.textContent).toBe("옵션 3");
-      expect(doc.querySelector('[data-slot="select-drop-box"]')).toBeNull();
-    });
-  }
-}`,...(T=(v=u.parameters)==null?void 0:v.docs)==null?void 0:T.source}}};var C,E,S;m.parameters={...m.parameters,docs:{...(C=m.parameters)==null?void 0:C.docs,source:{originalSource:`{
-  args: {
-    value: "option-2"
-  },
-  render: HasInfoListTemplate,
-  play: async ({
-    canvasElement
-  }) => {
-    const canvas = within(canvasElement);
-    const doc = canvasElement.ownerDocument;
-    // DropBox가 열려있을 때는 옵션 목록에도 같은 라벨 텍스트가 존재해
-    // canvas.getByText가 trigger와 옵션을 동시에 매칭해버리므로, trigger는
-    // select-box-value 슬롯을 직접 조회해 값이 바뀌었는지 확인한다
-    const getTriggerText = () => canvasElement.querySelector('[data-slot="select-box-value"] span')?.textContent;
-    await waitPastClickGuard();
-    await userEvent.click(canvas.getByText("옵션 2"));
-    const dropBox = await waitFor(() => {
-      const el = doc.querySelector('[data-slot="select-drop-box"]');
-      if (!el) throw new Error("drop box not opened");
-      return el as HTMLElement;
-    });
-    const optionEls = within(dropBox).getAllByRole("button");
-    const disabledOption = optionEls.find(el => el.textContent?.startsWith("옵션 3"));
-    expect(disabledOption?.textContent).toContain("Additional Information goes here");
-
-    // disabled 옵션은 클릭해도 선택이 바뀌지 않고 DropBox도 닫히지 않음
-    await userEvent.click(disabledOption!);
-    expect(getTriggerText()).toBe("옵션 2");
-    expect(doc.querySelector('[data-slot="select-drop-box"]')).not.toBeNull();
-    const enabledOption = optionEls.find(el => el.textContent?.startsWith("옵션 1"));
-    await userEvent.click(enabledOption!);
-    await waitFor(() => {
-      expect(getTriggerText()).toBe("옵션 1");
-      expect(doc.querySelector('[data-slot="select-drop-box"]')).toBeNull();
-    });
-  }
-}`,...(S=(E=m.parameters)==null?void 0:E.docs)==null?void 0:S.source}}};var D,k,q;h.parameters={...h.parameters,docs:{...(D=h.parameters)==null?void 0:D.docs,source:{originalSource:`{
-  args: {
-    maxDropBoxHeight: 120
-  },
-  play: async ({
-    canvasElement
-  }) => {
-    const canvas = within(canvasElement);
-    await waitPastClickGuard();
-    await userEvent.click(canvas.getByText("placeholder"));
-    const doc = canvasElement.ownerDocument;
-    await waitFor(() => {
-      const dropBox = doc.querySelector('[data-slot="select-drop-box"]') as HTMLElement;
-      expect(dropBox).toBeTruthy();
-      expect(dropBox.getBoundingClientRect().height).toBeLessThanOrEqual(121);
-    });
-  }
-}`,...(q=(k=h.parameters)==null?void 0:k.docs)==null?void 0:q.source}}};const V=["Default","HasInfoList","MaxDropBoxHeight"];export{u as Default,m as HasInfoList,h as MaxDropBoxHeight,V as __namedExportsOrder,z as default};