agenticros 0.0.1 → 0.1.0

package/runtime/scripts/sync-skill-tools.mjs

@@ -0,0 +1,335 @@
+#!/usr/bin/env node
+/**
+ * sync-skill-tools.mjs
+ *
+ * Discover AgenticROS skill tool names and merge them into the agenticros plugin's
+ * `contracts.tools` allowlist in `packages/agenticros/openclaw.plugin.json`.
+ *
+ * OpenClaw 2026+ enforces `contracts.tools` as a strict allowlist: any tool that a
+ * plugin registers at runtime but that is not declared in the manifest is rejected
+ * with `plugin must declare contracts.tools for: <name>` and silently dropped.
+ * Since AgenticROS skills register their own tools dynamically (e.g. `follow_robot`),
+ * the manifest must list every skill tool that should be exposed.
+ *
+ * How it works
+ * ------------
+ * 1. Resolve the OpenClaw config (OPENCLAW_CONFIG or ~/.openclaw/openclaw.json).
+ * 2. Read `plugins.entries.agenticros.config.skillPaths` and `.skillPackages`.
+ * 3. For each entry, locate the skill's built entry (dist/index.js), import it,
+ *    and call `registerSkill(api, config, context)` with a stub `api` whose
+ *    `registerTool` is a spy that just records `tool.name`.
+ * 4. Merge the discovered tool names with the static core tool list and write
+ *    them back into `packages/agenticros/openclaw.plugin.json`.
+ *
+ * Usage
+ * -----
+ *   node scripts/sync-skill-tools.mjs            # write the manifest
+ *   node scripts/sync-skill-tools.mjs --dry-run  # print what would change
+ *   node scripts/sync-skill-tools.mjs --verbose  # show per-skill discovery details
+ *
+ * Run this whenever you add, remove, or rebuild a skill in `skillPaths` /
+ * `skillPackages`. After it succeeds, refresh the OpenClaw plugin registry
+ * (`openclaw plugins registry --refresh`) and restart the gateway so OpenClaw
+ * re-reads the updated `contracts.tools`.
+ */
+
+import { readFileSync, writeFileSync, existsSync } from "node:fs";
+import { join, resolve, dirname, isAbsolute } from "node:path";
+import { homedir } from "node:os";
+import { pathToFileURL, fileURLToPath } from "node:url";
+import { createRequire } from "node:module";
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = dirname(__filename);
+const REPO_ROOT = resolve(__dirname, "..");
+const MANIFEST_PATH = join(REPO_ROOT, "packages/agenticros/openclaw.plugin.json");
+
+const args = new Set(process.argv.slice(2));
+const DRY_RUN = args.has("--dry-run") || args.has("-n");
+const VERBOSE = args.has("--verbose") || args.has("-v");
+
+const CORE_TOOLS = [
+  "ros2_publish",
+  "ros2_subscribe_once",
+  "ros2_service_call",
+  "ros2_action_goal",
+  "ros2_param_get",
+  "ros2_param_set",
+  "ros2_list_topics",
+  "ros2_camera_snapshot",
+  "ros2_depth_distance",
+  // Memory tools (registered conditionally at runtime when memory.enabled=true).
+  // Listed here so they remain in the allowlist after sync-skill-tools rewrites it.
+  "memory_remember",
+  "memory_recall",
+  "memory_forget",
+  "memory_status",
+];
+
+function log(...m) {
+  console.log("[sync-skill-tools]", ...m);
+}
+function vlog(...m) {
+  if (VERBOSE) console.log("[sync-skill-tools]", ...m);
+}
+function warn(...m) {
+  console.warn("[sync-skill-tools] WARN:", ...m);
+}
+function fail(msg) {
+  console.error("[sync-skill-tools] ERROR:", msg);
+  process.exit(1);
+}
+
+function getOpenClawConfigPath() {
+  const env = process.env.OPENCLAW_CONFIG;
+  if (env && env.length > 0) return resolve(env);
+  return join(homedir(), ".openclaw", "openclaw.json");
+}
+
+function readOpenClawConfig() {
+  const p = getOpenClawConfigPath();
+  if (!existsSync(p)) {
+    warn(`OpenClaw config not found: ${p} — assuming no skills configured.`);
+    return null;
+  }
+  try {
+    return JSON.parse(readFileSync(p, "utf8"));
+  } catch (e) {
+    fail(`Cannot parse ${p}: ${e?.message ?? e}`);
+  }
+}
+
+function getSkillEntries(cfg) {
+  const skillPaths = cfg?.plugins?.entries?.agenticros?.config?.skillPaths ?? [];
+  const skillPackages = cfg?.plugins?.entries?.agenticros?.config?.skillPackages ?? [];
+  return { skillPaths, skillPackages };
+}
+
+function findSkillEntryFromPath(dirPath) {
+  if (!existsSync(dirPath)) {
+    warn(`skillPaths entry does not exist: ${dirPath}`);
+    return null;
+  }
+  const pkgPath = join(dirPath, "package.json");
+  if (!existsSync(pkgPath)) {
+    warn(`skillPaths entry missing package.json: ${dirPath}`);
+    return null;
+  }
+  let pkg;
+  try {
+    pkg = JSON.parse(readFileSync(pkgPath, "utf8"));
+  } catch (e) {
+    warn(`Invalid package.json in ${dirPath}: ${e?.message ?? e}`);
+    return null;
+  }
+  if (!pkg.agenticrosSkill) {
+    warn(`Not an AgenticROS skill (missing agenticrosSkill flag): ${dirPath}`);
+    return null;
+  }
+  const main = pkg.main ?? "index.js";
+  const entry = join(dirPath, main);
+  if (!existsSync(entry)) {
+    warn(`Skill entry not built (run pnpm build in the skill repo): ${entry}`);
+    return null;
+  }
+  return { entry, packageName: pkg.name ?? dirPath, packageJson: pkg };
+}
+
+function resolvePackageEntry(packageName) {
+  if (!packageName || packageName.trim() === "") return null;
+  if (packageName.includes(" ")) {
+    warn(`Invalid skillPackages entry (contains spaces): "${packageName}"`);
+    return null;
+  }
+  try {
+    const req = createRequire(join(REPO_ROOT, "package.json"));
+    const entry = req.resolve(packageName);
+    return entry;
+  } catch {
+    warn(`Skill package not resolvable from repo root: ${packageName}`);
+    return null;
+  }
+}
+
+/**
+ * Create a stub OpenClawPluginApi that captures registerTool calls.
+ * Other methods are no-ops so that registerSkill can complete without crashing.
+ */
+function createSpyApi() {
+  const tools = [];
+  const noop = () => {};
+  const noopLog = {
+    info: (m) => vlog("  skill.logger.info:", m),
+    warn: (m) => vlog("  skill.logger.warn:", m),
+    error: (m) => vlog("  skill.logger.error:", m),
+  };
+  return {
+    tools,
+    api: {
+      pluginConfig: {},
+      logger: noopLog,
+      registerTool(tool) {
+        if (tool && typeof tool.name === "string" && tool.name.length > 0) {
+          tools.push(tool.name);
+        }
+      },
+      registerService: noop,
+      registerCommand: noop,
+      registerHttpRoute: noop,
+      on: noop,
+    },
+  };
+}
+
+function createStubContext() {
+  return {
+    getTransport() {
+      throw new Error("stub: getTransport not available during contract discovery");
+    },
+    getDepthDistance() {
+      return Promise.resolve({ valid: false, distance_m: 0 });
+    },
+    getDepthSectors() {
+      return Promise.resolve({ valid: false, left_m: 0, center_m: 0, right_m: 0 });
+    },
+    logger: {
+      info: () => {},
+      warn: () => {},
+      error: () => {},
+    },
+  };
+}
+
+async function discoverSkillTools(entryPath, packageName) {
+  const url = pathToFileURL(entryPath).href;
+  let mod;
+  try {
+    mod = await import(url);
+  } catch (e) {
+    warn(`Failed to import ${packageName} (${entryPath}): ${e?.message ?? e}`);
+    return [];
+  }
+  const registerSkill =
+    mod.registerSkill ?? mod.default?.registerSkill ?? mod.default;
+  if (typeof registerSkill !== "function") {
+    warn(`${packageName}: no registerSkill export — skipping discovery`);
+    return [];
+  }
+  const { tools, api } = createSpyApi();
+  const ctx = createStubContext();
+  // Provide a config skeleton that matches AgenticROSConfig defaults loosely
+  // enough that registration doesn't crash on access paths like config.skills.x.
+  const stubConfig = {
+    transport: { mode: "rosbridge" },
+    robot: { name: "Robot", namespace: "", cameraTopic: "" },
+    teleop: { cmdVelTopic: "", cameraTopic: "", speedDefault: 0.3, cameraPollMs: 150 },
+    safety: { maxLinearVelocity: 1, maxAngularVelocity: 1.5 },
+    skills: {},
+    skillPaths: [],
+    skillPackages: [],
+  };
+  try {
+    await Promise.resolve(registerSkill(api, stubConfig, ctx));
+  } catch (e) {
+    warn(
+      `${packageName} registerSkill threw during discovery — captured ${tools.length} tools before error: ${e?.message ?? e}`,
+    );
+  }
+  return tools;
+}
+
+function uniqueOrdered(...lists) {
+  const seen = new Set();
+  const out = [];
+  for (const list of lists) {
+    for (const name of list) {
+      if (typeof name !== "string") continue;
+      const trimmed = name.trim();
+      if (!trimmed || seen.has(trimmed)) continue;
+      seen.add(trimmed);
+      out.push(trimmed);
+    }
+  }
+  return out;
+}
+
+function arraysEqual(a, b) {
+  if (a.length !== b.length) return false;
+  for (let i = 0; i < a.length; i++) if (a[i] !== b[i]) return false;
+  return true;
+}
+
+async function main() {
+  if (!existsSync(MANIFEST_PATH)) fail(`Manifest not found: ${MANIFEST_PATH}`);
+  const manifestRaw = readFileSync(MANIFEST_PATH, "utf8");
+  let manifest;
+  try {
+    manifest = JSON.parse(manifestRaw);
+  } catch (e) {
+    fail(`Cannot parse manifest: ${e?.message ?? e}`);
+  }
+
+  const cfg = readOpenClawConfig();
+  const { skillPaths, skillPackages } = cfg ? getSkillEntries(cfg) : { skillPaths: [], skillPackages: [] };
+
+  log(`Resolved OpenClaw config: ${getOpenClawConfigPath()}`);
+  log(`skillPaths: ${skillPaths.length === 0 ? "(none)" : skillPaths.join(", ")}`);
+  log(`skillPackages: ${skillPackages.length === 0 ? "(none)" : skillPackages.join(", ")}`);
+
+  const discovered = new Map(); // skillId/packageName -> tools[]
+
+  for (const pkg of skillPackages) {
+    const entry = resolvePackageEntry(pkg);
+    if (!entry) continue;
+    vlog(`Resolving package "${pkg}" → ${entry}`);
+    const tools = await discoverSkillTools(entry, pkg);
+    if (tools.length > 0) discovered.set(pkg, tools);
+    else vlog(`  no tools discovered for ${pkg}`);
+  }
+
+  for (const dir of skillPaths) {
+    const absDir = isAbsolute(dir) ? dir : resolve(REPO_ROOT, dir);
+    const resolved = findSkillEntryFromPath(absDir);
+    if (!resolved) continue;
+    vlog(`Resolving path "${absDir}" → ${resolved.entry} (${resolved.packageName})`);
+    const tools = await discoverSkillTools(resolved.entry, resolved.packageName);
+    if (tools.length > 0) discovered.set(resolved.packageName, tools);
+    else vlog(`  no tools discovered for ${resolved.packageName}`);
+  }
+
+  if (discovered.size === 0) {
+    log("No skill tools discovered. contracts.tools will contain only core tools.");
+  } else {
+    for (const [name, tools] of discovered.entries()) {
+      log(`Discovered ${tools.length} tool(s) from ${name}: ${tools.join(", ")}`);
+    }
+  }
+
+  const skillTools = [...discovered.values()].flat();
+  const merged = uniqueOrdered(CORE_TOOLS, skillTools);
+  const previous = Array.isArray(manifest?.contracts?.tools)
+    ? manifest.contracts.tools.slice()
+    : [];
+
+  if (arraysEqual(previous, merged)) {
+    log("Manifest is already up to date.");
+    return;
+  }
+
+  log(`Updating contracts.tools:\n  before: [${previous.join(", ")}]\n  after:  [${merged.join(", ")}]`);
+
+  if (DRY_RUN) {
+    log("Dry run — manifest not modified.");
+    return;
+  }
+
+  manifest.contracts = manifest.contracts ?? {};
+  manifest.contracts.tools = merged;
+  writeFileSync(MANIFEST_PATH, JSON.stringify(manifest, null, 2) + "\n", "utf8");
+  log(`Wrote ${MANIFEST_PATH}`);
+  log("Next steps:");
+  log("  1. openclaw plugins registry --refresh");
+  log("  2. Restart the OpenClaw gateway so the new contracts take effect.");
+}
+
+main().catch((e) => fail(e?.stack ?? String(e)));

package/runtime/scripts/test-rclnodejs.mts

@@ -0,0 +1,129 @@
+#!/usr/bin/env npx tsx
+/**
+ * Validation prototype for rclnodejs ESM integration.
+ *
+ * Run with ROS2 workspace sourced:
+ *   npx tsx scripts/test-rclnodejs.mts
+ *
+ * Tests:
+ * 1. ESM import of rclnodejs
+ * 2. init() + createNode() + spin()
+ * 3. Topic/service introspection
+ * 4. Message type loading
+ * 5. Message construction and extraction
+ * 6. Clean shutdown
+ */
+
+import { createRequire } from "node:module";
+import { fileURLToPath } from "node:url";
+import { resolve, dirname } from "node:path";
+
+// Resolve from the plugin directory where rclnodejs is actually installed
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const pluginDir = resolve(__dirname, "../extensions/openclaw-plugin");
+const pluginRequire = createRequire(resolve(pluginDir, "package.json"));
+
+// --- Test 1: ESM import ---
+console.log("=== Test 1: ESM import of rclnodejs ===");
+
+let rclnodejs: any;
+try {
+  rclnodejs = await import("rclnodejs");
+  console.log("  ✓ Direct ESM import succeeded");
+} catch {
+  console.log("  ⚠ Direct ESM import failed, trying createRequire fallback...");
+  rclnodejs = pluginRequire("rclnodejs");
+  console.log("  ✓ createRequire fallback succeeded (resolved from plugin node_modules)");
+}
+
+// --- Test 2: init + createNode + spin ---
+console.log("\n=== Test 2: init + createNode + spin ===");
+
+await rclnodejs.init();
+console.log("  ✓ rclnodejs.init() succeeded");
+
+const node = rclnodejs.createNode("agenticros_test");
+console.log("  ✓ createNode('agenticros_test') succeeded");
+
+rclnodejs.spin(node);
+console.log("  ✓ spin(node) started (non-blocking)");
+
+// --- Test 3: Introspection ---
+console.log("\n=== Test 3: Topic/service introspection ===");
+
+const topics = node.getTopicNamesAndTypes();
+console.log(`  ✓ getTopicNamesAndTypes() returned ${topics.length} topic(s):`);
+for (const t of topics.slice(0, 10)) {
+  const name = typeof t === "object" && "name" in t ? (t as { name: string }).name : String(t);
+  const types =
+    typeof t === "object" && "types" in t ? (t as { types: string[] }).types : [];
+  console.log(`    - ${name} [${types.join(", ")}]`);
+}
+if (topics.length > 10) console.log(`    ... and ${topics.length - 10} more`);
+
+const services = node.getServiceNamesAndTypes();
+console.log(`  ✓ getServiceNamesAndTypes() returned ${services.length} service(s):`);
+for (const s of services.slice(0, 10)) {
+  const name = typeof s === "object" && "name" in s ? (s as { name: string }).name : String(s);
+  const types =
+    typeof s === "object" && "types" in s ? (s as { types: string[] }).types : [];
+  console.log(`    - ${name} [${types.join(", ")}]`);
+}
+if (services.length > 10) console.log(`    ... and ${services.length - 10} more`);
+
+// --- Test 4: Message type loading ---
+console.log("\n=== Test 4: Message type loading ===");
+
+let TwistClass: any;
+try {
+  TwistClass = rclnodejs.require("geometry_msgs/msg/Twist");
+  console.log("  ✓ rclnodejs.require('geometry_msgs/msg/Twist') succeeded");
+  console.log(`    Type: ${typeof TwistClass}`);
+} catch (e) {
+  console.log(`  ✗ Failed to load Twist: ${e}`);
+}
+
+// --- Test 5: Message construction and extraction ---
+console.log("\n=== Test 5: Message construction & extraction ===");
+
+if (TwistClass) {
+  try {
+    const msg = new TwistClass();
+    msg.linear.x = 1.0;
+    msg.linear.y = 0.0;
+    msg.linear.z = 0.0;
+    msg.angular.x = 0.0;
+    msg.angular.y = 0.0;
+    msg.angular.z = 0.5;
+    console.log("  ✓ Created Twist message and set fields");
+
+    // Try toPlainObject if available
+    if (typeof msg.toPlainObject === "function") {
+      const plain = msg.toPlainObject();
+      console.log("  ✓ msg.toPlainObject() succeeded:");
+      console.log(`    ${JSON.stringify(plain)}`);
+    } else {
+      console.log("  ⚠ toPlainObject() not available, extracting fields manually:");
+      const plain = {
+        linear: { x: msg.linear.x, y: msg.linear.y, z: msg.linear.z },
+        angular: { x: msg.angular.x, y: msg.angular.y, z: msg.angular.z },
+      };
+      console.log(`    ${JSON.stringify(plain)}`);
+    }
+  } catch (e) {
+    console.log(`  ✗ Message construction failed: ${e}`);
+  }
+} else {
+  console.log("  ⚠ Skipped — Twist class not loaded");
+}
+
+// --- Test 6: Clean shutdown ---
+console.log("\n=== Test 6: Clean shutdown ===");
+
+node.destroy();
+console.log("  ✓ node.destroy() succeeded");
+
+rclnodejs.shutdown();
+console.log("  ✓ rclnodejs.shutdown() succeeded");
+
+console.log("\n=== All tests passed ===");

package/runtime/scripts/use-openclaw-2026.2.26.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+# Install OpenClaw 2026.2.26 so plugin HTTP routes (config, teleop) and web chat load.
+# Use this when 2026.3.2 rejects every plugin route with "missing or invalid auth" and
+# neither auth.mode=none nor requireAuth: false fix it.
+set -e
+echo ""
+echo "  Installing OpenClaw 2026.2.26 (plugin routes work on this version)..."
+echo ""
+npm install -g openclaw@2026.2.26
+echo ""
+echo "  Done. Next steps:"
+echo "  1. Restart the gateway:  openclaw gateway"
+echo "  2. Open in your browser:"
+echo "       AgenticROS:  http://127.0.0.1:18789/plugins/agenticros/"
+echo "  3. Web chat: run  node scripts/openclaw-dashboard-url.cjs  and open the URL it prints"
+echo "     (2026.2.26 needs the token in the URL for the web chat to connect)"
+echo ""
+echo "  To go back to latest OpenClaw later:  npm install -g openclaw@latest"
+echo ""

package/runtime/scripts/use-openclaw-2026.3.11.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+# Install OpenClaw 2026.3.11 for testing (Gateway/Control UI and auth fixes).
+# Use this branch (test-openclaw-2026.3.11) to try 2026.3.11; roll back by
+# checking out main and running:  npm install -g openclaw@latest  (or use-openclaw-2026.2.26.sh)
+set -e
+echo ""
+echo "  Installing OpenClaw 2026.3.11 (test branch)..."
+echo ""
+npm install -g openclaw@2026.3.11
+echo ""
+echo "  Done. Next steps:"
+echo "  1. Restart the gateway:  openclaw gateway"
+echo "  2. Open in your browser:"
+echo "       AgenticROS:  http://127.0.0.1:18789/plugins/agenticros/"
+echo "  3. Web chat: run  node scripts/openclaw-dashboard-url.cjs  and open the URL it prints"
+echo ""
+echo "  To roll back: checkout main and run  npm install -g openclaw@latest"
+echo "  Or use  ./scripts/use-openclaw-2026.2.26.sh  to pin to 2026.2.26."
+echo ""

package/runtime/scripts/zenoh-bridge-ros2dds-robot.json5

@@ -0,0 +1,30 @@
+// CONFIG FOR: zenoh-bridge-ros2dds (standalone) ON THE ROBOT
+// DO NOT use this file with zenohd. zenohd does not load the ros2dds plugin and will
+// panic on unknown keys (e.g. "allow"). On the Mac, run zenohd with zenohd-agenticros.json5 only.
+//
+// On the robot, run: zenoh-bridge-ros2dds -c /path/to/zenoh-bridge-ros2dds-robot.json5
+// Edit connect.endpoints: use your Mac's actual IP (e.g. 192.168.0.241). Must match the
+// subnet the robot can reach (robot 192.168.0.x → use Mac 192.168.0.x; wrong subnet = connection timeout).
+// Subscriber patterns must match the Zenoh key AgenticROS publishes (topic without leading slash).
+// If you use robot.namespace = "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593", key is "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel" (ROS2 topic /robot3946.../cmd_vel).
+// If you use robot.namespace = "3946b404-c33e-4aa3-9a8d-16deb1c5c593", key is "3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel".
+// If you use robot.namespace = "", key is "cmd_vel" (ROS2 /cmd_vel).
+
+{
+  "mode": "client",
+  "connect": {
+    "endpoints": ["tcp/192.168.0.241:7447"]
+  },
+  "plugins": {
+    "ros2dds": {
+      "allow": {
+        "publishers": [".+"],
+        "subscribers": [".+/cmd_vel", "cmd_vel", "3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel", "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel"],
+        "service_servers": [],
+        "service_clients": [],
+        "action_servers": [],
+        "action_clients": []
+      }
+    }
+  }
+}

package/runtime/scripts/zenohd-agenticros.json5

@@ -0,0 +1,11 @@
+{
+  "plugins_loading": {
+    "enabled": true,
+    "search_dirs": ["~/.zenoh/lib", "/opt/homebrew/lib", "/usr/local/lib"]
+  },
+  "plugins": {
+    "remote_api": {
+      "websocket_port": "10000"
+    }
+  }
+}

package/runtime/scripts/zenohd-rosclaw.json5

@@ -0,0 +1,11 @@
+{
+  "plugins_loading": {
+    "enabled": true,
+    "search_dirs": ["~/.zenoh/lib", "/opt/homebrew/lib", "/usr/local/lib"]
+  },
+  "plugins": {
+    "remote_api": {
+      "websocket_port": "10000"
+    }
+  }
+}

package/runtime/tsconfig.base.json

@@ -0,0 +1,19 @@
+{
+  "compilerOptions": {
+    "target": "ES2022",
+    "module": "NodeNext",
+    "moduleResolution": "NodeNext",
+    "lib": ["ES2022"],
+    "strict": true,
+    "esModuleInterop": true,
+    "skipLibCheck": true,
+    "forceConsistentCasingInFileNames": true,
+    "resolveJsonModule": true,
+    "declaration": true,
+    "declarationMap": true,
+    "sourceMap": true,
+    "outDir": "./dist",
+    "rootDir": "./src"
+  },
+  "exclude": ["node_modules", "dist"]
+}

package/index.js

@@ -1,6 +0,0 @@
-/**
- * agenticros - placeholder package
- * This package reserves the "agenticros" name on npm.
- */
-
-module.exports = { name: 'agenticros' };