agenticros 0.0.1 → 0.1.1

package/runtime/ros2_ws/src/agenticros_msgs/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(agenticros_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CapabilityManifest.msg"
+  "srv/GetCapabilities.srv"
+  "srv/FollowMeStart.srv"
+  "srv/FollowMeStop.srv"
+  "srv/FollowMeSetDistance.srv"
+  "srv/FollowMeGetStatus.srv"
+  "srv/FollowMeSetTarget.srv"
+  DEPENDENCIES std_msgs builtin_interfaces geometry_msgs
+)
+
+ament_package()

package/runtime/ros2_ws/src/agenticros_msgs/msg/CapabilityManifest.msg

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+string robot_name
+string robot_namespace
+string[] topic_names
+string[] topic_types
+string[] service_names
+string[] service_types
+string[] action_names
+string[] action_types
+builtin_interfaces/Time stamp

package/runtime/ros2_ws/src/agenticros_msgs/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>agenticros_msgs</name>
+  <version>0.0.1</version>
+  <description>Custom ROS2 message and service definitions for AgenticROS</description>
+  <maintainer email="team@plaipin.com">PlaiPin</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

package/runtime/ros2_ws/src/agenticros_msgs/srv/FollowMeGetStatus.srv

@@ -0,0 +1,11 @@
+---
+bool success
+bool enabled
+bool tracking
+float32 target_distance
+float32 current_distance
+int32 target_person_id
+string target_description
+int32 persons_detected
+geometry_msgs/Twist twist
+string error_message

package/runtime/ros2_ws/src/agenticros_msgs/srv/FollowMeSetDistance.srv

@@ -0,0 +1,4 @@
+float32 distance
+---
+bool success
+float32 target_distance

package/runtime/ros2_ws/src/agenticros_msgs/srv/FollowMeSetTarget.srv

@@ -0,0 +1,6 @@
+string description
+---
+bool success
+int32 person_id
+float32 confidence
+string message

package/runtime/ros2_ws/src/agenticros_msgs/srv/FollowMeStart.srv

@@ -0,0 +1,5 @@
+# Start following. Empty target_description = follow closest person.
+string target_description
+---
+bool success
+string message

package/runtime/ros2_ws/src/agenticros_msgs/srv/FollowMeStop.srv

@@ -0,0 +1,3 @@
+---
+bool success
+string message

package/runtime/ros2_ws/src/agenticros_msgs/srv/GetCapabilities.srv

@@ -0,0 +1,5 @@
+string robot_namespace
+---
+agenticros_msgs/CapabilityManifest manifest
+bool success
+string error_message

package/runtime/ros2_ws/src/agenticros_sim/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.10)
+project(agenticros_sim)
+
+# This package is share-only: SDF worlds, model definitions, YAML configs,
+# Python launch files. No compiled targets — ament_cmake exists only to give
+# us a proper ROS 2 package with `ros2 launch` discovery and a share/ install.
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  worlds
+  models
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Tell gz_sim where to find our world + model files at runtime when the
+# package is installed (colcon-built workspaces source this via the
+# package.dsv environment hooks installed below).
+ament_environment_hooks(${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gz_resource_path.sh.in)
+ament_environment_hooks(${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gz_resource_path.dsv.in)
+
+ament_package()

package/runtime/ros2_ws/src/agenticros_sim/README.md

@@ -0,0 +1,120 @@
+# agenticros_sim
+
+Gazebo Harmonic simulation assets for the AgenticROS project: an indoor world,
+a 2-wheel diff-drive AMR with a depth camera + 2D lidar + IMU, and a `ros_gz_
+bridge` config that exposes everything on the topic names the real-robot
+plugin already expects.
+
+## What's inside
+
+```
+agenticros_sim/
+├── worlds/agenticros_indoor.sdf       12 x 12 m indoor room with obstacles
+│                                      and one "person" target for follow-me
+├── models/agenticros_amr/              2-wheel diff-drive AMR with sensors
+│   ├── model.config
+│   └── model.sdf
+├── config/
+│   ├── amr_bridge.yaml                 gz <-> ROS topic mapping
+│   └── amr_view.rviz                   RViz config showing camera, scan, TF
+├── launch/sim_amr.launch.py            One-stop launcher
+├── env-hooks/                          Add the package's share/ to GZ_SIM_RESOURCE_PATH
+└── CMakeLists.txt + package.xml        Standard ament_cmake skeleton
+```
+
+## Quick start
+
+```bash
+# Easiest: use the agenticros CLI (handles ROS sourcing + workspace build).
+agenticros up sim-amr            # GUI
+agenticros up sim-amr --rviz     # GUI + RViz panel
+agenticros up sim-amr --no-camera # (no effect for sim - flag is real-only)
+
+# Or run the launch file directly:
+cd ros2_ws && colcon build --symlink-install --packages-select agenticros_sim
+source install/setup.bash
+ros2 launch agenticros_sim sim_amr.launch.py
+ros2 launch agenticros_sim sim_amr.launch.py use_rviz:=true
+ros2 launch agenticros_sim sim_amr.launch.py gui:=false      # headless
+```
+
+## Topic layout
+
+The bridge YAML deliberately matches the real-robot AgenticROS plugin's topic
+names so any code that works against the real RealSense + diff-drive base
+works against sim without configuration changes.
+
+| Topic                                       | Type                            | Direction |
+|---------------------------------------------|---------------------------------|-----------|
+| `/cmd_vel`                                  | `geometry_msgs/msg/Twist`       | ROS -> GZ |
+| `/odom`                                     | `nav_msgs/msg/Odometry`         | GZ -> ROS |
+| `/tf`, `/tf_static`                         | `tf2_msgs/msg/TFMessage`        | GZ -> ROS |
+| `/joint_states`                             | `sensor_msgs/msg/JointState`    | GZ -> ROS |
+| `/camera/camera/color/image_raw`            | `sensor_msgs/msg/Image`         | GZ -> ROS |
+| `/camera/camera/color/camera_info`          | `sensor_msgs/msg/CameraInfo`    | GZ -> ROS |
+| `/camera/camera/depth/image_rect_raw`       | `sensor_msgs/msg/Image` (32FC1) | GZ -> ROS |
+| `/camera/camera/depth/camera_info`          | `sensor_msgs/msg/CameraInfo`    | GZ -> ROS |
+| `/camera/camera/depth/points`               | `sensor_msgs/msg/PointCloud2`   | GZ -> ROS |
+| `/scan`                                     | `sensor_msgs/msg/LaserScan`     | GZ -> ROS |
+| `/imu/data`                                 | `sensor_msgs/msg/Imu`           | GZ -> ROS |
+| `/clock`                                    | `rosgraph_msgs/msg/Clock`       | GZ -> ROS |
+
+## AMR specs
+
+| Property                | Value                                     |
+|-------------------------|-------------------------------------------|
+| Footprint               | 0.40 m x 0.30 m chassis                   |
+| Wheel diameter          | 0.16 m                                    |
+| Wheel separation        | 0.36 m                                    |
+| Front sensor (RGBD)     | 640 x 480, 30 Hz, 87° HFOV (D435-like)    |
+| Depth encoding          | 32FC1 (float32 metres)                    |
+| LIDAR                   | 360 samples, 12 Hz, 12 m range            |
+| IMU                     | 100 Hz, mild gaussian noise               |
+| Max linear acceleration | 1.0 m/s²                                  |
+| Max angular acceleration| 2.0 rad/s²                                |
+
+## Notes & gotchas
+
+- **Depth encoding**: the `rgbd_camera` plugin actually emits **16UC1 in
+  millimetres** when bridged via `ros_gz_bridge` on Humble. This matches the
+  real RealSense D435 driver's default 16UC1/mm encoding — the AgenticROS
+  depth-loop handles it natively. (Newer Gazebo versions may default to 32FC1;
+  the depth-loop normaliser handles both.)
+- **`use_sim_time`**: defaulted to `true`. Any downstream node that subscribes
+  to bridged topics should also set `use_sim_time:=true`, or it will mismatch
+  timestamps.
+- **Heavy worlds**: the indoor world is intentionally tiny so it runs on
+  Jetson-class hardware. For bigger demos, use the `world` launch arg with
+  one of the upstream `gazebo_models_worlds_collection` SDFs.
+- **Why two TF bridges?** `/tf` is bridged as a regular topic, while
+  `/tf_static` rides over the pose_static endpoint with a transient_local QoS
+  override applied in the launch file.
+
+## Known sharp edges (Phase 2 smoke-test findings on Jetson + Humble)
+
+These are non-fatal but worth knowing as you build sim demos:
+
+1. **`/odom` does not flow through the bridge.** The gz-sim diff-drive plugin
+   publishes `gz.msgs.Odometry` to `/odometry`, but `ros_gz_bridge` on Humble
+   appears to expect `gz.msgs.OdometryWithCovariance` for the
+   `nav_msgs/msg/Odometry` mapping. The other transforms (`/tf`, `/tf_static`)
+   work and are usually enough for navigation demos. Fix candidates:
+   add an `<odom_publisher_topic>` for `_with_covariance` in the diff-drive
+   config, or write a tiny relay node. Tracked for Phase 4 polish.
+2. **`/camera/camera/color/image_raw` is silent in headless mode** on this
+   Jetson (`libEGL: failed to create dri2 screen`). Depth, lidar, IMU, and
+   joint_states all stream correctly regardless. With `gui:=true` (a real
+   display attached) RGB recovers. Run `gz sim --versions` to make sure
+   you're on Harmonic; older Garden / Citadel may have a different EGL path.
+3. **gz CLI tools (`gz topic -e`, `gz topic --info`) sometimes can't reach
+   the running simulator** because gz publishes on the Docker bridge IP
+   (`172.17.0.1`) on this host. The ROS-side bridge still subscribes
+   successfully — you just won't be able to debug-echo at the gz layer. Use
+   ROS-side `ros2 topic` commands instead.
+4. **Depth values can saturate well past `<far>`** when no surface is in the
+   camera frustum. The follow-me-depth algorithm clamps to `[0.5 m, 4.0 m]`,
+   which inherently filters this; if you write your own depth consumer,
+   add the same clamp.
+5. **Two `set` lines:** `run_sim.sh` uses `set -eo pipefail` (not `set -u`)
+   because the ROS 2 `setup.bash` references some variables before defining
+   them, which would otherwise abort the script.

package/runtime/ros2_ws/src/agenticros_sim/config/agenticros-sim.config.json

@@ -0,0 +1,28 @@
+{
+  "$comment": "AgenticROS config template tuned for sim-amr. Drop this in ~/.agenticros/config.json (or run `agenticros init` and answer 'simulation') to point the MCP server + OpenClaw plugin at the sim's topics. All values match agenticros_sim/config/amr_bridge.yaml. NOTE: robot.namespace is intentionally empty - the sim bridge publishes /cmd_vel, /scan, /imu/data, etc. at the graph root (no robot prefix), so AgenticROS must NOT namespace topics. For multi-robot sim, prefix the topics in amr_bridge.yaml and set namespace here to match.",
+  "transport": {
+    "mode": "local"
+  },
+  "robot": {
+    "namespace": "",
+    "name": "Sim AMR",
+    "cameraTopic": "/camera/camera/color/image_raw"
+  },
+  "safety": {
+    "maxLinearVelocity": 0.5,
+    "maxAngularVelocity": 1.0
+  },
+  "teleop": {
+    "cmdVelTopic": "/cmd_vel",
+    "speedDefault": 0.2,
+    "cameraTopics": [
+      { "topic": "/camera/camera/color/image_raw", "label": "Sim RGB" },
+      { "topic": "/camera/camera/depth/image_rect_raw", "label": "Sim depth" }
+    ]
+  },
+  "skills": {
+    "followme": {
+      "depthTopic": "/camera/camera/depth/image_rect_raw"
+    }
+  }
+}

package/runtime/ros2_ws/src/agenticros_sim/config/amr_bridge.yaml

@@ -0,0 +1,111 @@
+# amr_bridge.yaml
+#
+# Maps Gazebo Harmonic topics produced by the AMR model + world plugins to
+# ROS 2 topics on the names the real-robot AgenticROS plugin already expects.
+# Used by ros_gz_bridge's parameter_bridge node via the `config_file` arg.
+#
+# Key invariant: the camera topic names below match the RealSense ROS driver
+# defaults (`/camera/camera/color/image_raw`, `/camera/camera/depth/image_rect_raw`)
+# so plugin code that targets real hardware works against sim without any
+# config change. Same for /cmd_vel, /odom, /scan, /imu/data, /tf.
+#
+# Direction notation: GZ_TO_ROS  — gazebo publishes, ros subscribes (sensors)
+#                     ROS_TO_GZ  — ros publishes, gazebo subscribes (cmd_vel)
+#                     BIDIRECTIONAL — rare, /tf for example
+#
+# Field reference: https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/README.md
+
+# ---------------- cmd_vel (ROS -> GZ) ----------------
+- ros_topic_name: "/cmd_vel"
+  gz_topic_name: "/model/agenticros_amr/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# ---------------- odometry (GZ -> ROS) ----------------
+# Note: the gz-sim diff-drive system publishes <odom_topic> as a bare topic
+# (no /model/<name>/ prefix), unlike <topic> which DOES get prefixed.
+- ros_topic_name: "/odom"
+  gz_topic_name: "/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# ---------------- /tf  (GZ -> ROS) ----------------
+- ros_topic_name: "/tf"
+  gz_topic_name: "/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# ---------------- pose info (GZ -> ROS) ----------------
+- ros_topic_name: "/tf_static"
+  gz_topic_name: "/model/agenticros_amr/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# ---------------- joint states (GZ -> ROS) ----------------
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# ---------------- Depth camera (GZ -> ROS) ----------------
+# The rgbd_camera plugin publishes under <topic>camera</topic>, which becomes:
+#   /camera/image          (RGB)
+#   /camera/depth_image    (depth, 32FC1)
+#   /camera/points         (PointCloud2)
+#   /camera/camera_info    (CameraInfo)
+# We remap each to the RealSense layout the real-robot plugin expects.
+- ros_topic_name: "/camera/camera/color/image_raw"
+  gz_topic_name: "/camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera/color/camera_info"
+  gz_topic_name: "/camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera/depth/image_rect_raw"
+  gz_topic_name: "/camera/depth_image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera/depth/camera_info"
+  gz_topic_name: "/camera/depth_image/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera/depth/points"
+  gz_topic_name: "/camera/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS
+
+# ---------------- 2D LIDAR (GZ -> ROS) ----------------
+- ros_topic_name: "/scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+
+# ---------------- IMU (GZ -> ROS) ----------------
+- ros_topic_name: "/imu/data"
+  gz_topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# ---------------- Clock (GZ -> ROS) ----------------
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS

package/runtime/ros2_ws/src/agenticros_sim/config/amr_view.rviz

@@ -0,0 +1,172 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 600
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 20
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Image Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/camera/color/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: RGB
+      Normalize Range: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: DepthCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.02
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /camera/camera/depth/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 7
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.5
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: -0.785
+    Saved: ~

package/runtime/ros2_ws/src/agenticros_sim/env-hooks/gz_resource_path.dsv.in

@@ -0,0 +1,3 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds

package/runtime/ros2_ws/src/agenticros_sim/env-hooks/gz_resource_path.sh.in

@@ -0,0 +1,7 @@
+# Generated env hook — prepends the agenticros_sim share/ tree onto the
+# Gazebo Harmonic resource search path so `gz sim agenticros_indoor.sdf` and
+# `<uri>model://agenticros_amr</uri>` resolve without absolute paths.
+
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds"