agenticros 0.0.1 → 0.1.1

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

@@ -0,0 +1,251 @@
+/**
+ * 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.
+ */
+import fs from "node:fs";
+import path from "node:path";
+import os from "node:os";
+import https from "node:https";
+import http from "node:http";
+let ortModule = null;
+let sharpFn = null;
+async function loadDeps() {
+    if (ortModule && sharpFn)
+        return { ort: ortModule, sharp: sharpFn };
+    try {
+        const [ortMod, sharpMod] = await Promise.all([
+            import("onnxruntime-node"),
+            import("sharp"),
+        ]);
+        // Both packages are CJS; under Node ESM their default export is the real
+        // module value. Fall back to the namespace if `.default` is absent.
+        const ortAny = ortMod;
+        ortModule = ortAny.default ?? ortMod;
+        const sharpAny = sharpMod;
+        sharpFn = sharpAny.default ?? sharpMod;
+    }
+    catch (err) {
+        const hint = err instanceof Error ? err.message : String(err);
+        throw new Error(`Local YOLO detection requires the optional packages 'onnxruntime-node' and 'sharp'. ` +
+            `Install them in this workspace (pnpm install) to enable follow-me local mode and ros2_find_object. ` +
+            `Underlying error: ${hint}`);
+    }
+    return { ort: ortModule, sharp: sharpFn };
+}
+const DEFAULT_MODEL_URL = "https://huggingface.co/Ultralytics/YOLOv8/resolve/main/yolov8n.onnx";
+const INPUT_SIZE = 640;
+const PERSON_CLASS_ID = 0;
+function resolveModelPath() {
+    const fromEnv = process.env["AGENTICROS_YOLOV8_MODEL"];
+    if (fromEnv && fromEnv.trim().length > 0)
+        return fromEnv.trim();
+    return path.join(os.homedir(), ".agenticros", "models", "yolov8n.onnx");
+}
+function downloadFile(url, dest, redirectsLeft = 5) {
+    return new Promise((resolve, reject) => {
+        const client = url.startsWith("https:") ? https : http;
+        fs.mkdirSync(path.dirname(dest), { recursive: true });
+        const tmp = `${dest}.partial`;
+        const file = fs.createWriteStream(tmp);
+        client
+            .get(url, (res) => {
+            const status = res.statusCode ?? 0;
+            if (status >= 300 && status < 400 && res.headers.location) {
+                file.close();
+                fs.unlink(tmp, () => { });
+                if (redirectsLeft <= 0) {
+                    reject(new Error(`Too many redirects downloading ${url}`));
+                    return;
+                }
+                const next = new URL(res.headers.location, url).toString();
+                downloadFile(next, dest, redirectsLeft - 1).then(resolve, reject);
+                return;
+            }
+            if (status !== 200) {
+                file.close();
+                fs.unlink(tmp, () => { });
+                reject(new Error(`Download failed ${status} for ${url}`));
+                return;
+            }
+            res.pipe(file);
+            file.on("finish", () => {
+                file.close();
+                fs.renameSync(tmp, dest);
+                resolve();
+            });
+        })
+            .on("error", (err) => {
+            file.close();
+            fs.unlink(tmp, () => { });
+            reject(err);
+        });
+    });
+}
+async function ensureModel() {
+    const modelPath = resolveModelPath();
+    if (fs.existsSync(modelPath) && fs.statSync(modelPath).size > 1_000_000) {
+        return modelPath;
+    }
+    const url = process.env["AGENTICROS_YOLOV8_URL"] || DEFAULT_MODEL_URL;
+    process.stderr.write(`[AgenticROS] follow-me: downloading YOLOv8n ONNX → ${modelPath}\n`);
+    try {
+        await downloadFile(url, modelPath);
+    }
+    catch (err) {
+        const hint = err instanceof Error ? err.message : String(err);
+        throw new Error(`Failed to download YOLOv8n model from ${url}: ${hint}. ` +
+            `Set AGENTICROS_YOLOV8_MODEL to a local path or AGENTICROS_YOLOV8_URL to an accessible mirror.`);
+    }
+    return modelPath;
+}
+function iou(a, b) {
+    const ax2 = a.x + a.width;
+    const ay2 = a.y + a.height;
+    const bx2 = b.x + b.width;
+    const by2 = b.y + b.height;
+    const ix1 = Math.max(a.x, b.x);
+    const iy1 = Math.max(a.y, b.y);
+    const ix2 = Math.min(ax2, bx2);
+    const iy2 = Math.min(ay2, by2);
+    const iw = Math.max(0, ix2 - ix1);
+    const ih = Math.max(0, iy2 - iy1);
+    const inter = iw * ih;
+    const union = a.width * a.height + b.width * b.height - inter;
+    return union <= 0 ? 0 : inter / union;
+}
+function nms(detections, iouThreshold) {
+    const sorted = detections.slice().sort((a, b) => b.confidence - a.confidence);
+    const kept = [];
+    for (const d of sorted) {
+        if (kept.every((k) => iou(d, k) < iouThreshold))
+            kept.push(d);
+    }
+    return kept;
+}
+export class PersonDetector {
+    session = null;
+    scoreThreshold;
+    iouThreshold;
+    constructor(opts = {}) {
+        this.scoreThreshold = opts.scoreThreshold ?? 0.4;
+        this.iouThreshold = opts.iouThreshold ?? 0.5;
+    }
+    async load() {
+        if (this.session)
+            return;
+        const { ort: ortMod } = await loadDeps();
+        const modelPath = await ensureModel();
+        this.session = await ortMod.InferenceSession.create(modelPath, {
+            executionProviders: ["cpu"],
+            graphOptimizationLevel: "all",
+        });
+    }
+    /**
+     * Detect people in a JPEG/PNG image buffer.
+     *
+     * Returns bounding boxes in the original image's pixel space.
+     */
+    async detect(image) {
+        const r = await this.detectClass(image, PERSON_CLASS_ID);
+        return { width: r.width, height: r.height, persons: r.detections };
+    }
+    /**
+     * 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.
+     */
+    async detectClass(image, classId) {
+        if (!this.session)
+            await this.load();
+        const session = this.session;
+        const { ort: ortMod, sharp: sharpFn } = await loadDeps();
+        const src = sharpFn(image);
+        const meta = await src.metadata();
+        const origW = meta.width ?? 0;
+        const origH = meta.height ?? 0;
+        if (!origW || !origH) {
+            throw new Error("Could not read image dimensions from camera frame.");
+        }
+        // Letterbox resize to INPUT_SIZE × INPUT_SIZE (preserve aspect ratio, pad with gray).
+        const scale = Math.min(INPUT_SIZE / origW, INPUT_SIZE / origH);
+        const newW = Math.round(origW * scale);
+        const newH = Math.round(origH * scale);
+        const padX = Math.floor((INPUT_SIZE - newW) / 2);
+        const padY = Math.floor((INPUT_SIZE - newH) / 2);
+        const { data, info } = await sharpFn(image)
+            .resize(newW, newH, { fit: "fill" })
+            .extend({
+            top: padY,
+            bottom: INPUT_SIZE - newH - padY,
+            left: padX,
+            right: INPUT_SIZE - newW - padX,
+            background: { r: 114, g: 114, b: 114 },
+        })
+            .removeAlpha()
+            .raw()
+            .toBuffer({ resolveWithObject: true });
+        if (info.width !== INPUT_SIZE || info.height !== INPUT_SIZE) {
+            throw new Error(`Letterbox produced ${info.width}×${info.height}, expected ${INPUT_SIZE}²`);
+        }
+        // HWC uint8 → CHW float32 normalized [0,1].
+        const pixels = INPUT_SIZE * INPUT_SIZE;
+        const input = new Float32Array(3 * pixels);
+        for (let i = 0; i < pixels; i++) {
+            input[i] = data[i * 3] / 255;
+            input[pixels + i] = data[i * 3 + 1] / 255;
+            input[2 * pixels + i] = data[i * 3 + 2] / 255;
+        }
+        const inputName = session.inputNames[0];
+        const outputName = session.outputNames[0];
+        const tensor = new ortMod.Tensor("float32", input, [1, 3, INPUT_SIZE, INPUT_SIZE]);
+        const out = await session.run({ [inputName]: tensor });
+        const result = out[outputName];
+        // YOLOv8 ONNX output: [1, 84, 8400] — 4 box + 80 class scores per anchor.
+        const dims = result.dims;
+        if (dims.length !== 3 || dims[1] !== 84) {
+            throw new Error(`Unexpected YOLOv8 output shape ${dims.join("x")} — expected [1,84,N]`);
+        }
+        const nAnchors = dims[2];
+        const arr = result.data;
+        const raw = [];
+        for (let i = 0; i < nAnchors; i++) {
+            const score = arr[(4 + classId) * nAnchors + i];
+            if (score < this.scoreThreshold)
+                continue;
+            const cx = arr[0 * nAnchors + i];
+            const cy = arr[1 * nAnchors + i];
+            const w = arr[2 * nAnchors + i];
+            const h = arr[3 * nAnchors + i];
+            // Undo letterbox: subtract padding, divide by scale → original-image coordinates.
+            const x = (cx - w / 2 - padX) / scale;
+            const y = (cy - h / 2 - padY) / scale;
+            const ww = w / scale;
+            const hh = h / scale;
+            raw.push({
+                x: Math.max(0, x),
+                y: Math.max(0, y),
+                width: Math.min(origW - x, ww),
+                height: Math.min(origH - y, hh),
+                cx: (cx - padX) / scale,
+                cy: (cy - padY) / scale,
+                confidence: score,
+            });
+        }
+        const detections = nms(raw, this.iouThreshold);
+        return { width: origW, height: origH, detections };
+    }
+    async dispose() {
+        if (this.session) {
+            await this.session.release();
+            this.session = null;
+        }
+    }
+}
+//# sourceMappingURL=detector.js.map

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

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.d.ts

@@ -0,0 +1,61 @@
+/**
+ * In-process follow-me loop. Subscribes to color + depth, runs YOLOv8n person
+ * detection, computes a Twist via FollowerController, and publishes cmd_vel.
+ *
+ * This is the `mode: 'local'` alternative to the agenticros_follow_me ROS2 node.
+ */
+import type { AgenticROSConfig, RosTransport } from "@agenticros/core";
+import { type Twist } from "./controller.js";
+export interface FollowMeLocalStatus {
+    enabled: boolean;
+    tracking: boolean;
+    targetDistance: number;
+    targetDescription: string | null;
+    personCount: number;
+    lastPerson: {
+        x: number;
+        z: number;
+        confidence: number;
+    } | null;
+    lastTwist: Twist;
+    lastError: string | null;
+    framesProcessed: number;
+    detectionsSinceStart: number;
+}
+export interface StartOptions {
+    targetDescription?: string;
+}
+export declare class FollowMeLocal {
+    private readonly config;
+    private readonly transport;
+    private readonly detector;
+    private readonly controller;
+    private enabled;
+    private running;
+    private targetDescription;
+    private colorSub;
+    private depthSub;
+    private latestColor;
+    private latestDepth;
+    private tickHandle;
+    private lastError;
+    private framesProcessed;
+    private detectionsSinceStart;
+    private lastPerson;
+    private tracking;
+    constructor(config: AgenticROSConfig, transport: RosTransport);
+    start(opts?: StartOptions): Promise<void>;
+    stop(): Promise<void>;
+    setTargetDistance(d: number): void;
+    setTargetDescription(description: string): void;
+    status(): FollowMeLocalStatus;
+    private subscribeFrames;
+    private unsubscribeFrames;
+    private tickSafe;
+    private tick;
+    private projectTo3D;
+    private publishTwist;
+    private publishStop;
+}
+export declare function getFollowMeLocal(config: AgenticROSConfig, transport: RosTransport): FollowMeLocal;
+//# sourceMappingURL=loop.d.ts.map

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

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.js

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+/**
+ * In-process follow-me loop. Subscribes to color + depth, runs YOLOv8n person
+ * detection, computes a Twist via FollowerController, and publishes cmd_vel.
+ *
+ * This is the `mode: 'local'` alternative to the agenticros_follow_me ROS2 node.
+ */
+import { resolveCameraSubscribeTopic, toNamespacedTopic } from "@agenticros/core";
+import { ROS_MSG_COMPRESSED_IMAGE, ROS_MSG_IMAGE, cameraSnapshotFromPlainMessage, coerceRosImageDataToBuffer, normalizeDepthImageEncoding, rosBoolField, rosNumericField, rosStringField, } from "@agenticros/ros-camera";
+import { PersonDetector } from "./detector.js";
+import { FollowerController } from "./controller.js";
+const DEFAULT_COLOR_TOPIC = "/camera/camera/color/image_raw/compressed";
+const DEFAULT_DEPTH_TOPIC = "/camera/camera/depth/image_rect_raw";
+const DEFAULT_HORIZONTAL_FOV_RAD = 1.20428; // RealSense D435 color HFOV ≈ 69°
+const TICK_HZ = 8;
+export class FollowMeLocal {
+    config;
+    transport;
+    detector = new PersonDetector();
+    controller = new FollowerController();
+    enabled = false;
+    running = false;
+    targetDescription = null;
+    colorSub = null;
+    depthSub = null;
+    latestColor = null;
+    latestDepth = null;
+    tickHandle = null;
+    lastError = null;
+    framesProcessed = 0;
+    detectionsSinceStart = 0;
+    lastPerson = null;
+    tracking = false;
+    constructor(config, transport) {
+        this.config = config;
+        this.transport = transport;
+    }
+    async start(opts = {}) {
+        if (this.enabled)
+            return;
+        this.lastError = null;
+        this.framesProcessed = 0;
+        this.detectionsSinceStart = 0;
+        this.targetDescription = opts.targetDescription?.trim() || null;
+        this.controller.reset();
+        await this.detector.load();
+        this.subscribeFrames();
+        this.enabled = true;
+        this.tickHandle = setInterval(() => this.tickSafe(), 1000 / TICK_HZ);
+    }
+    async stop() {
+        this.enabled = false;
+        if (this.tickHandle) {
+            clearInterval(this.tickHandle);
+            this.tickHandle = null;
+        }
+        this.unsubscribeFrames();
+        this.controller.reset();
+        this.tracking = false;
+        this.lastPerson = null;
+        await this.publishStop();
+    }
+    setTargetDistance(d) {
+        this.controller.setTargetDistance(d);
+    }
+    setTargetDescription(description) {
+        this.targetDescription = description.trim() || null;
+    }
+    status() {
+        return {
+            enabled: this.enabled,
+            tracking: this.tracking,
+            targetDistance: this.controller.config.targetDistance,
+            targetDescription: this.targetDescription,
+            personCount: this.lastPerson ? 1 : 0,
+            lastPerson: this.lastPerson,
+            lastTwist: this.controller.getLastTwist(),
+            lastError: this.lastError,
+            framesProcessed: this.framesProcessed,
+            detectionsSinceStart: this.detectionsSinceStart,
+        };
+    }
+    subscribeFrames() {
+        const colorTopicRaw = (this.config.robot?.cameraTopic ?? "").trim() || DEFAULT_COLOR_TOPIC;
+        const colorTopic = resolveCameraSubscribeTopic(this.config, colorTopicRaw);
+        const depthTopic = resolveCameraSubscribeTopic(this.config, DEFAULT_DEPTH_TOPIC);
+        const isCompressed = colorTopic.includes("compressed");
+        this.colorSub = this.transport.subscribe({ topic: colorTopic, type: isCompressed ? ROS_MSG_COMPRESSED_IMAGE : ROS_MSG_IMAGE }, (msg) => {
+            try {
+                const payload = cameraSnapshotFromPlainMessage(isCompressed ? "CompressedImage" : "Image", msg);
+                const buf = Buffer.from(payload.dataBase64, "base64");
+                this.latestColor = { buffer: buf, receivedAt: Date.now() };
+            }
+            catch (err) {
+                this.lastError = `color decode: ${err instanceof Error ? err.message : String(err)}`;
+            }
+        });
+        this.depthSub = this.transport.subscribe({ topic: depthTopic, type: ROS_MSG_IMAGE }, (msg) => {
+            try {
+                const encoding = normalizeDepthImageEncoding(rosStringField(msg.encoding, "16UC1"));
+                const width = rosNumericField(msg.width, "width");
+                const height = rosNumericField(msg.height, "height");
+                const bpp = encoding === "32FC1" ? 4 : 2;
+                const step = msg.step != null && msg.step !== "" ? rosNumericField(msg.step, "step") : width * bpp;
+                const isBigEndian = rosBoolField(msg.is_bigendian);
+                const data = new Uint8Array(coerceRosImageDataToBuffer(msg.data));
+                this.latestDepth = { width, height, step, encoding, isBigEndian, data, receivedAt: Date.now() };
+            }
+            catch (err) {
+                this.lastError = `depth decode: ${err instanceof Error ? err.message : String(err)}`;
+            }
+        });
+    }
+    unsubscribeFrames() {
+        this.colorSub?.unsubscribe();
+        this.depthSub?.unsubscribe();
+        this.colorSub = null;
+        this.depthSub = null;
+        this.latestColor = null;
+        this.latestDepth = null;
+    }
+    async tickSafe() {
+        if (this.running || !this.enabled)
+            return;
+        this.running = true;
+        try {
+            await this.tick();
+        }
+        catch (err) {
+            this.lastError = err instanceof Error ? err.message : String(err);
+        }
+        finally {
+            this.running = false;
+        }
+    }
+    async tick() {
+        const color = this.latestColor;
+        if (!color)
+            return; // wait for first frame
+        if (Date.now() - color.receivedAt > 2000) {
+            // stale → controller watchdog handles cmd_vel zeroing
+            const twist = this.controller.update(null);
+            await this.publishTwist(twist);
+            this.tracking = false;
+            return;
+        }
+        this.framesProcessed += 1;
+        const det = await this.detector.detect(color.buffer);
+        const persons = det.persons;
+        if (persons.length === 0) {
+            this.tracking = false;
+            this.lastPerson = null;
+            const twist = this.controller.update(null);
+            await this.publishTwist(twist);
+            return;
+        }
+        // Pick the largest bounding box (closest person). target_description is parsed but not
+        // semantically matched yet — re-identification by description requires a CLIP-style model.
+        const target = pickTarget(persons);
+        const sample = this.projectTo3D(target, det.width, det.height);
+        if (!sample) {
+            this.tracking = false;
+            const twist = this.controller.update(null);
+            await this.publishTwist(twist);
+            return;
+        }
+        this.tracking = true;
+        this.detectionsSinceStart += 1;
+        this.lastPerson = { x: sample.x, z: sample.z, confidence: target.confidence };
+        const twist = this.controller.update(sample);
+        await this.publishTwist(twist);
+    }
+    projectTo3D(person, imgW, imgH) {
+        const depth = this.latestDepth;
+        if (!depth || Date.now() - depth.receivedAt > 2000)
+            return null;
+        // Map person centre from color-image space to depth-image space (assumes both share FOV
+        // and aspect ratio; RealSense color/depth are aligned closely enough for this).
+        const u = (person.cx / imgW) * depth.width;
+        const v = (person.cy / imgH) * depth.height;
+        const sampleHalf = Math.max(4, Math.floor(Math.min(person.width, person.height) * 0.1 *
+            (depth.width / imgW) * 0.5));
+        const x0 = Math.max(0, Math.floor(u - sampleHalf));
+        const x1 = Math.min(depth.width, Math.floor(u + sampleHalf));
+        const y0 = Math.max(0, Math.floor(v - sampleHalf));
+        const y1 = Math.min(depth.height, Math.floor(v + sampleHalf));
+        const samples = sampleDepthRegion(depth, x0, y0, x1, y1);
+        if (samples.length === 0)
+            return null;
+        samples.sort((a, b) => a - b);
+        // Use the 25th percentile to bias toward the person surface (not background bleed).
+        const z = samples[Math.floor(samples.length * 0.25)] ?? samples[0];
+        if (!Number.isFinite(z) || z <= 0)
+            return null;
+        // Lateral offset from horizontal FOV. Image-centre is 0; right is positive x.
+        const normX = person.cx / imgW - 0.5;
+        const x = z * Math.tan(normX * DEFAULT_HORIZONTAL_FOV_RAD);
+        return { x, z, confidence: person.confidence };
+    }
+    async publishTwist(twist) {
+        const topic = resolveCmdVelTopic(this.config);
+        const message = {
+            linear: { x: twist.linearX, y: 0, z: 0 },
+            angular: { x: 0, y: 0, z: twist.angularZ },
+        };
+        try {
+            await this.transport.publish({ topic, type: "geometry_msgs/msg/Twist", msg: message });
+        }
+        catch (err) {
+            this.lastError = `cmd_vel publish: ${err instanceof Error ? err.message : String(err)}`;
+        }
+    }
+    async publishStop() {
+        await this.publishTwist({ linearX: 0, angularZ: 0 });
+    }
+}
+function pickTarget(persons) {
+    return persons.reduce((best, p) => (p.width * p.height > best.width * best.height ? p : best));
+}
+function sampleDepthRegion(d, x0, y0, x1, y1) {
+    // Reuse sampleDepthMeters by passing a custom center-fraction. Easier: inline a copy of the
+    // 16UC1/32FC1 decode here for an arbitrary rect.
+    const out = [];
+    if (d.encoding === "16UC1") {
+        for (let y = y0; y < y1; y++) {
+            for (let x = x0; x < x1; x++) {
+                const off = y * d.step + x * 2;
+                if (off + 2 > d.data.length)
+                    continue;
+                const lo = d.data[off];
+                const hi = d.data[off + 1];
+                const v = d.isBigEndian ? (lo << 8) | hi : (hi << 8) | lo;
+                if (v > 0)
+                    out.push(v / 1000);
+            }
+        }
+    }
+    else if (d.encoding === "32FC1") {
+        for (let y = y0; y < y1; y++) {
+            for (let x = x0; x < x1; x++) {
+                const off = y * d.step + x * 4;
+                if (off + 4 > d.data.length)
+                    continue;
+                const v = new DataView(d.data.buffer, d.data.byteOffset + off, 4).getFloat32(0, !d.isBigEndian);
+                if (Number.isFinite(v) && v > 0)
+                    out.push(v);
+            }
+        }
+    }
+    return out;
+}
+function resolveCmdVelTopic(config) {
+    const raw = (config.teleop?.cmdVelTopic ?? "").trim() || "/cmd_vel";
+    const namespaced = toNamespacedTopic(config, raw);
+    // Apply same uuid → robot<uuid-no-dashes> rewrite as ros2_publish handler.
+    const match = namespaced.match(/^\/([^/]+)\/cmd_vel$/i);
+    const segment = match?.[1] ?? "";
+    if (match && !segment.toLowerCase().startsWith("robot")) {
+        return `/robot${segment.replace(/-/g, "")}/cmd_vel`;
+    }
+    return namespaced;
+}
+let singleton = null;
+export function getFollowMeLocal(config, transport) {
+    if (!singleton)
+        singleton = new FollowMeLocal(config, transport);
+    return singleton;
+}
+//# sourceMappingURL=loop.js.map

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

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

@@ -0,0 +1,3 @@
+#!/usr/bin/env node
+export {};
+//# sourceMappingURL=index.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":""}