agenticros 0.0.1 → 0.1.1

package/runtime/packages/agenticros-claude-code/dist/depth.js

@@ -0,0 +1,126 @@
+/**
+ * Sample distance (meters) from a ROS2 depth image topic.
+ * Copied from OpenClaw adapter so we don't depend on the full plugin.
+ */
+import { ROS_MSG_IMAGE, coerceRosImageDataToBuffer, normalizeDepthImageEncoding, rosBoolField, rosNumericField, rosStringField, } from "@agenticros/ros-camera";
+function depthImageDataBytes(data) {
+    try {
+        return new Uint8Array(coerceRosImageDataToBuffer(data));
+    }
+    catch (e) {
+        const hint = e instanceof Error ? e.message : String(e);
+        const kind = data == null
+            ? "null"
+            : `${typeof data}${typeof data === "object" && data !== null ? ` (${data.constructor?.name ?? "Object"})` : ""}`;
+        throw new Error(`Depth image bytes: ${hint} (data field: ${kind})`);
+    }
+}
+function bytesPerPixelForDepthEncoding(encoding) {
+    return normalizeDepthImageEncoding(encoding) === "32FC1" ? 4 : 2;
+}
+const DEPTH_SAMPLE_MAX_M = 40;
+const DEPTH_REPORT_PERCENTILE = 12;
+function sanitizeDepthSamplesMeters(values) {
+    return values.filter((v) => Number.isFinite(v) && v > 0 && v <= DEPTH_SAMPLE_MAX_M);
+}
+function percentileLowerSorted(sortedAsc, p) {
+    const n = sortedAsc.length;
+    if (n === 0)
+        return NaN;
+    if (n === 1)
+        return sortedAsc[0];
+    const pp = Math.max(0, Math.min(100, p));
+    const idx = Math.min(n - 1, Math.floor((pp / 100) * n));
+    return sortedAsc[idx];
+}
+export function sampleDepthMeters(width, height, step, encoding, data, centerFraction = 0.3, isBigEndian = false) {
+    const enc = normalizeDepthImageEncoding(encoding);
+    const values = [];
+    const cx = width / 2;
+    const cy = height / 2;
+    const halfW = Math.max(1, Math.floor((width * centerFraction) / 2));
+    const halfH = Math.max(1, Math.floor((height * centerFraction) / 2));
+    const x0 = Math.max(0, Math.floor(cx - halfW));
+    const x1 = Math.min(width, Math.floor(cx + halfW));
+    const y0 = Math.max(0, Math.floor(cy - halfH));
+    const y1 = Math.min(height, Math.floor(cy + halfH));
+    if (enc === "16UC1") {
+        for (let y = y0; y < y1; y++) {
+            for (let x = x0; x < x1; x++) {
+                const off = y * step + x * 2;
+                if (off + 2 > data.length)
+                    continue;
+                const lo = data[off];
+                const hi = data[off + 1];
+                const v = isBigEndian ? (lo << 8) | hi : (hi << 8) | lo;
+                if (v > 0)
+                    values.push(v / 1000);
+            }
+        }
+    }
+    else if (enc === "32FC1") {
+        for (let y = y0; y < y1; y++) {
+            for (let x = x0; x < x1; x++) {
+                const off = y * step + x * 4;
+                if (off + 4 > data.length)
+                    continue;
+                const v = new DataView(data.buffer, data.byteOffset + off, 4).getFloat32(0, !isBigEndian);
+                if (Number.isFinite(v) && v > 0)
+                    values.push(v);
+            }
+        }
+    }
+    else {
+        throw new Error(`Unsupported depth encoding: "${encoding}" (interpreted as "${enc}"). Use 16UC1/mono16 (mm) or 32FC1 (m).`);
+    }
+    return values;
+}
+function median(sorted) {
+    if (sorted.length === 0)
+        return NaN;
+    const m = sorted.length >> 1;
+    if (sorted.length % 2 === 1)
+        return sorted[m];
+    return (sorted[m - 1] + sorted[m]) / 2;
+}
+export async function getDepthDistance(transport, topic, timeoutMs = 5000) {
+    const result = await new Promise((resolve, reject) => {
+        const sub = transport.subscribe({ topic, type: ROS_MSG_IMAGE }, (msg) => {
+            clearTimeout(timer);
+            sub.unsubscribe();
+            resolve(msg);
+        });
+        const timer = setTimeout(() => {
+            sub.unsubscribe();
+            reject(new Error(`Depth snapshot timeout on ${topic} (${timeoutMs}ms). No sensor_msgs/Image received—check topic and that it publishes raw depth (not CompressedImage only). With Zenoh, check the gateway log for CDR decode warnings.`));
+        }, timeoutMs);
+    });
+    const encoding = normalizeDepthImageEncoding(rosStringField(result.encoding, "16UC1"));
+    const bpp = bytesPerPixelForDepthEncoding(encoding);
+    const width = rosNumericField(result.width, "width");
+    const height = rosNumericField(result.height, "height");
+    const step = result.step != null && result.step !== ""
+        ? rosNumericField(result.step, "step")
+        : width * bpp;
+    const isBigEndian = rosBoolField(result.is_bigendian);
+    const data = depthImageDataBytes(result.data);
+    const values = sanitizeDepthSamplesMeters(sampleDepthMeters(width, height, step, encoding, data, 0.3, isBigEndian));
+    const sorted = values.slice().sort((a, b) => a - b);
+    const distance_m = percentileLowerSorted(sorted, DEPTH_REPORT_PERCENTILE);
+    const median_m = median(sorted);
+    const min_m = sorted.length ? sorted[0] : NaN;
+    const max_m = sorted.length ? sorted[sorted.length - 1] : NaN;
+    return {
+        distance_m: Math.round(distance_m * 1000) / 1000,
+        median_m: Math.round(median_m * 1000) / 1000,
+        valid: sorted.length > 0 && Number.isFinite(distance_m),
+        topic,
+        encoding,
+        width,
+        height,
+        sample_count: sorted.length,
+        min_m: Math.round(min_m * 1000) / 1000,
+        max_m: Math.round(max_m * 1000) / 1000,
+    };
+}
+//# sourceMappingURL=depth.js.map

package/runtime/packages/agenticros-claude-code/dist/depth.js.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/find-object/coco-classes.d.ts

@@ -0,0 +1,6 @@
+/**
+ * COCO 80-class names (index = YOLOv8 class ID). Lower-cased for lookup.
+ */
+export declare const COCO_CLASSES: readonly ["person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"];
+export declare function resolveCocoClassId(name: string): number | null;
+//# sourceMappingURL=coco-classes.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/find-object/coco-classes.d.ts.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/find-object/coco-classes.js

@@ -0,0 +1,36 @@
+/**
+ * COCO 80-class names (index = YOLOv8 class ID). Lower-cased for lookup.
+ */
+export const COCO_CLASSES = [
+    "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck",
+    "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench",
+    "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra",
+    "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee",
+    "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove",
+    "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup",
+    "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange",
+    "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch",
+    "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse",
+    "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink",
+    "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier",
+    "toothbrush",
+];
+const ALIASES = {
+    phone: "cell phone",
+    cellphone: "cell phone",
+    mobile: "cell phone",
+    smartphone: "cell phone",
+    tv: "tv",
+    television: "tv",
+    monitor: "tv",
+    sofa: "couch",
+    plant: "potted plant",
+    bike: "bicycle",
+};
+export function resolveCocoClassId(name) {
+    const key = name.trim().toLowerCase();
+    const canonical = ALIASES[key] ?? key;
+    const idx = COCO_CLASSES.indexOf(canonical);
+    return idx >= 0 ? idx : null;
+}
+//# sourceMappingURL=coco-classes.js.map

package/runtime/packages/agenticros-claude-code/dist/find-object/coco-classes.js.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts

@@ -0,0 +1,33 @@
+/**
+ * Rotate the robot in place until a target COCO class is detected in the
+ * camera feed, then stop. Used by the ros2_find_object MCP tool.
+ */
+import type { AgenticROSConfig, RosTransport } from "@agenticros/core";
+export interface FindObjectOptions {
+    target: string;
+    angularSpeed?: number;
+    timeoutSeconds?: number;
+    minConfidence?: number;
+    clockwise?: boolean;
+}
+export interface FindObjectResult {
+    found: boolean;
+    target: string;
+    classId: number;
+    elapsedSeconds: number;
+    rotationDirection: "clockwise" | "counterclockwise";
+    angularSpeed: number;
+    detection?: {
+        confidence: number;
+        cx: number;
+        cy: number;
+        width: number;
+        height: number;
+        imageWidth: number;
+        imageHeight: number;
+        horizontalOffset: number;
+    };
+    error?: string;
+}
+export declare function findObject(config: AgenticROSConfig, transport: RosTransport, opts: FindObjectOptions): Promise<FindObjectResult>;
+//# sourceMappingURL=find-object.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map

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package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js

@@ -0,0 +1,134 @@
+/**
+ * Rotate the robot in place until a target COCO class is detected in the
+ * camera feed, then stop. Used by the ros2_find_object MCP tool.
+ */
+import { resolveCameraSubscribeTopic, toNamespacedTopic } from "@agenticros/core";
+import { ROS_MSG_COMPRESSED_IMAGE, cameraSnapshotFromPlainMessage, } from "@agenticros/ros-camera";
+import { PersonDetector } from "../follow-me/detector.js";
+import { resolveCocoClassId, COCO_CLASSES } from "./coco-classes.js";
+const DEFAULT_COLOR_TOPIC = "/camera/camera/color/image_raw/compressed";
+const DEFAULT_ANGULAR_SPEED = 0.3; // rad/s
+const DEFAULT_TIMEOUT_SEC = 30;
+const DEFAULT_MIN_CONFIDENCE = 0.5;
+const POLL_INTERVAL_MS = 500;
+const SNAPSHOT_TIMEOUT_MS = 3000;
+export async function findObject(config, transport, opts) {
+    const classId = resolveCocoClassId(opts.target);
+    if (classId === null) {
+        return {
+            found: false,
+            target: opts.target,
+            classId: -1,
+            elapsedSeconds: 0,
+            rotationDirection: "clockwise",
+            angularSpeed: 0,
+            error: `Unknown target "${opts.target}". Must be a COCO class name (e.g., "cell phone", "chair", "bottle"). ` +
+                `Supported: ${COCO_CLASSES.join(", ")}.`,
+        };
+    }
+    const safety = config.safety ?? {};
+    const maxAngular = safety.maxAngularVelocity ?? 1.5;
+    const requestedSpeed = Math.max(0.05, Math.min(maxAngular, opts.angularSpeed ?? DEFAULT_ANGULAR_SPEED));
+    const clockwise = opts.clockwise ?? true;
+    const angularZ = clockwise ? -requestedSpeed : requestedSpeed;
+    const timeoutMs = Math.max(1000, (opts.timeoutSeconds ?? DEFAULT_TIMEOUT_SEC) * 1000);
+    const minConfidence = opts.minConfidence ?? DEFAULT_MIN_CONFIDENCE;
+    const detector = new PersonDetector({ scoreThreshold: minConfidence });
+    await detector.load();
+    const cmdVelTopic = resolveCmdVelTopic(config);
+    const colorTopic = resolveCameraSubscribeTopic(config, (config.robot?.cameraTopic ?? "").trim() || DEFAULT_COLOR_TOPIC);
+    const startedAt = Date.now();
+    let rotating = false;
+    let result;
+    const publishTwist = async (linearX, angZ) => {
+        try {
+            await transport.publish({
+                topic: cmdVelTopic,
+                type: "geometry_msgs/msg/Twist",
+                msg: { linear: { x: linearX, y: 0, z: 0 }, angular: { x: 0, y: 0, z: angZ } },
+            });
+        }
+        catch {
+            // best-effort; loop will retry
+        }
+    };
+    try {
+        await publishTwist(0, angularZ);
+        rotating = true;
+        const deadline = startedAt + timeoutMs;
+        while (Date.now() < deadline && !result) {
+            // Keep the rotation alive in case the robot times out cmd_vel commands.
+            await publishTwist(0, angularZ);
+            const frame = await snapshotOnce(transport, colorTopic).catch(() => null);
+            if (frame) {
+                const det = await detector.detectClass(frame.buffer, classId);
+                if (det.detections.length > 0) {
+                    const best = det.detections.reduce((a, b) => (a.confidence > b.confidence ? a : b));
+                    result = {
+                        confidence: best.confidence,
+                        cx: best.cx,
+                        cy: best.cy,
+                        width: best.width,
+                        height: best.height,
+                        imageWidth: det.width,
+                        imageHeight: det.height,
+                        horizontalOffset: (best.cx - det.width / 2) / (det.width / 2),
+                    };
+                    break;
+                }
+            }
+            const remaining = deadline - Date.now();
+            if (remaining <= 0)
+                break;
+            await sleep(Math.min(POLL_INTERVAL_MS, remaining));
+        }
+    }
+    finally {
+        if (rotating)
+            await publishTwist(0, 0);
+        await detector.dispose().catch(() => { });
+    }
+    const elapsedSeconds = (Date.now() - startedAt) / 1000;
+    return {
+        found: !!result,
+        target: opts.target,
+        classId,
+        elapsedSeconds,
+        rotationDirection: clockwise ? "clockwise" : "counterclockwise",
+        angularSpeed: requestedSpeed,
+        detection: result,
+    };
+}
+async function snapshotOnce(transport, topic) {
+    return new Promise((resolve) => {
+        const sub = transport.subscribe({ topic, type: ROS_MSG_COMPRESSED_IMAGE }, (msg) => {
+            clearTimeout(timer);
+            sub.unsubscribe();
+            try {
+                const payload = cameraSnapshotFromPlainMessage("CompressedImage", msg);
+                resolve({ buffer: Buffer.from(payload.dataBase64, "base64") });
+            }
+            catch {
+                resolve(null);
+            }
+        });
+        const timer = setTimeout(() => {
+            sub.unsubscribe();
+            resolve(null);
+        }, SNAPSHOT_TIMEOUT_MS);
+    });
+}
+function sleep(ms) {
+    return new Promise((resolve) => setTimeout(resolve, ms));
+}
+function resolveCmdVelTopic(config) {
+    const raw = (config.teleop?.cmdVelTopic ?? "").trim() || "/cmd_vel";
+    const namespaced = toNamespacedTopic(config, raw);
+    const match = namespaced.match(/^\/([^/]+)\/cmd_vel$/i);
+    const segment = match?.[1] ?? "";
+    if (match && !segment.toLowerCase().startsWith("robot")) {
+        return `/robot${segment.replace(/-/g, "")}/cmd_vel`;
+    }
+    return namespaced;
+}
+//# sourceMappingURL=find-object.js.map

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map

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package/runtime/packages/agenticros-claude-code/dist/follow-me/controller.d.ts

@@ -0,0 +1,43 @@
+/**
+ * Follower P-controller ported from agenticros_follow_me/follower_controller.py.
+ *
+ * Given a target person's 3D position (x = lateral metres, z = depth metres),
+ * compute a smoothed, deadzoned, clamped Twist command.
+ */
+export interface ControllerConfig {
+    targetDistance: number;
+    maxLinearVel: number;
+    maxAngularVel: number;
+    kpDistance: number;
+    kpAngular: number;
+    distanceDeadzone: number;
+    angularDeadzone: number;
+    smoothingFactor: number;
+    watchdogTimeoutMs: number;
+}
+export declare const DEFAULT_CONTROLLER_CONFIG: ControllerConfig;
+export interface Twist {
+    linearX: number;
+    angularZ: number;
+}
+export interface TargetSample {
+    /** Lateral offset in metres (positive = right of camera centre). */
+    x: number;
+    /** Forward depth in metres. */
+    z: number;
+    confidence: number;
+}
+export declare class FollowerController {
+    readonly config: ControllerConfig;
+    private smoothedLinear;
+    private smoothedAngular;
+    private lastDetectionMs;
+    private lastTwist;
+    constructor(config?: Partial<ControllerConfig>);
+    setTargetDistance(d: number): void;
+    reset(): void;
+    /** Compute next twist. Pass null when no person is detected this tick. */
+    update(target: TargetSample | null): Twist;
+    getLastTwist(): Twist;
+}
+//# sourceMappingURL=controller.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/controller.d.ts.map

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package/runtime/packages/agenticros-claude-code/dist/follow-me/controller.js

@@ -0,0 +1,73 @@
+/**
+ * Follower P-controller ported from agenticros_follow_me/follower_controller.py.
+ *
+ * Given a target person's 3D position (x = lateral metres, z = depth metres),
+ * compute a smoothed, deadzoned, clamped Twist command.
+ */
+export const DEFAULT_CONTROLLER_CONFIG = {
+    targetDistance: 1.0,
+    maxLinearVel: 0.5,
+    maxAngularVel: 1.0,
+    kpDistance: 0.5,
+    kpAngular: 1.5,
+    distanceDeadzone: 0.05,
+    angularDeadzone: 0.05,
+    smoothingFactor: 0.3,
+    watchdogTimeoutMs: 500,
+};
+export class FollowerController {
+    config;
+    smoothedLinear = 0;
+    smoothedAngular = 0;
+    lastDetectionMs = 0;
+    lastTwist = { linearX: 0, angularZ: 0 };
+    constructor(config = {}) {
+        this.config = { ...DEFAULT_CONTROLLER_CONFIG, ...config };
+    }
+    setTargetDistance(d) {
+        this.config.targetDistance = Math.max(0.3, Math.min(5.0, d));
+    }
+    reset() {
+        this.smoothedLinear = 0;
+        this.smoothedAngular = 0;
+        this.lastTwist = { linearX: 0, angularZ: 0 };
+        this.lastDetectionMs = Date.now();
+    }
+    /** Compute next twist. Pass null when no person is detected this tick. */
+    update(target) {
+        const now = Date.now();
+        if (!target) {
+            if (now - this.lastDetectionMs > this.config.watchdogTimeoutMs) {
+                this.smoothedLinear = 0;
+                this.smoothedAngular = 0;
+                this.lastTwist = { linearX: 0, angularZ: 0 };
+                return this.lastTwist;
+            }
+            return this.lastTwist;
+        }
+        this.lastDetectionMs = now;
+        let distErr = target.z - this.config.targetDistance;
+        // angular error: pointing right (positive x) should turn right (negative angular_z)
+        let angErr = -Math.atan2(target.x, Math.max(target.z, 0.1));
+        if (Math.abs(distErr) < this.config.distanceDeadzone)
+            distErr = 0;
+        if (Math.abs(angErr) < this.config.angularDeadzone)
+            angErr = 0;
+        let linearCmd = this.config.kpDistance * distErr;
+        let angularCmd = this.config.kpAngular * angErr;
+        linearCmd = clamp(linearCmd, -this.config.maxLinearVel, this.config.maxLinearVel);
+        angularCmd = clamp(angularCmd, -this.config.maxAngularVel, this.config.maxAngularVel);
+        const a = this.config.smoothingFactor;
+        this.smoothedLinear = a * linearCmd + (1 - a) * this.smoothedLinear;
+        this.smoothedAngular = a * angularCmd + (1 - a) * this.smoothedAngular;
+        this.lastTwist = { linearX: this.smoothedLinear, angularZ: this.smoothedAngular };
+        return this.lastTwist;
+    }
+    getLastTwist() {
+        return this.lastTwist;
+    }
+}
+function clamp(v, lo, hi) {
+    return Math.max(lo, Math.min(hi, v));
+}
+//# sourceMappingURL=controller.js.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/controller.js.map

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package/runtime/packages/agenticros-claude-code/dist/follow-me/detector.d.ts

@@ -0,0 +1,58 @@
+/**
+ * YOLOv8n person detector for the MCP-side follow-me loop.
+ *
+ * Loads a YOLOv8n ONNX model and runs person-only detection on a single JPEG/PNG
+ * frame. Image decoded with sharp; inference via onnxruntime-node (CPU).
+ *
+ * Model lookup order:
+ *   1. AGENTICROS_YOLOV8_MODEL env var (absolute path)
+ *   2. ~/.agenticros/models/yolov8n.onnx
+ * If the file is missing it is downloaded from AGENTICROS_YOLOV8_URL (or a default
+ * public mirror). 6 MB, one-time.
+ */
+export interface PersonDetection {
+    /** Bounding box in original image pixel coordinates. */
+    x: number;
+    y: number;
+    width: number;
+    height: number;
+    /** Center of the bbox (image pixels). */
+    cx: number;
+    cy: number;
+    /** Detection confidence [0,1]. */
+    confidence: number;
+}
+export interface DetectorOptions {
+    /** Score threshold for filtering raw detections (default 0.4). */
+    scoreThreshold?: number;
+    /** IoU threshold for NMS (default 0.5). */
+    iouThreshold?: number;
+}
+export declare class PersonDetector {
+    private session;
+    private readonly scoreThreshold;
+    private readonly iouThreshold;
+    constructor(opts?: DetectorOptions);
+    load(): Promise<void>;
+    /**
+     * Detect people in a JPEG/PNG image buffer.
+     *
+     * Returns bounding boxes in the original image's pixel space.
+     */
+    detect(image: Buffer | Uint8Array): Promise<{
+        width: number;
+        height: number;
+        persons: PersonDetection[];
+    }>;
+    /**
+     * Detect a single COCO class (0..79) in a JPEG/PNG image buffer.
+     * 0=person, 67=cell phone, 56=chair, ... see find-object/coco-classes.ts.
+     */
+    detectClass(image: Buffer | Uint8Array, classId: number): Promise<{
+        width: number;
+        height: number;
+        detections: PersonDetection[];
+    }>;
+    dispose(): Promise<void>;
+}
+//# sourceMappingURL=detector.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/detector.d.ts.map

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