agenticros 0.0.1 → 0.1.1

package/runtime/scripts/setup_gateway_plugin.sh

@@ -0,0 +1,329 @@
+#!/bin/bash
+# setup_gateway_plugin.sh - One-time gateway-side setup for the AgenticROS plugin
+#
+# Run this on the machine where the OpenClaw gateway runs (typically the robot
+# itself, since the default transport is now `local`).
+#
+# What this does:
+#   1. Builds all workspace packages (core, ros-camera, agenticros plugin)
+#   2. Produces a flat deployment of the plugin via `pnpm deploy --prod`
+#      (required by OpenClaw 2026.6+: the install-time code safety scan
+#      rejects any node_modules symlink that points outside the install root,
+#      which pnpm's workspace-symlink layout always trips)
+#   3. Registers the deployed plugin with OpenClaw via `openclaw plugins install -l`
+#   4. (Optional) Sets robot namespace / rosbridge URL via flags
+#   5. (Optional) Adjusts the systemd user service so the gateway picks it up
+#
+# After this completes, restart the gateway:
+#   systemctl --user restart openclaw-gateway.service
+#
+# Usage: ./scripts/setup_gateway_plugin.sh [OPTIONS]
+#   --repo PATH         Path to agenticros repo (default: parent of scripts/)
+#   --deploy-dir PATH   Where to write the flat plugin deployment
+#                       (default: ~/.agenticros/plugin-deploy)
+#   --transport MODE    Transport mode: local | rosbridge | zenoh | webrtc
+#                       (default: leave plugin defaults; "local" out of the box)
+#   --rosbridge-url URL e.g. ws://localhost:9090 or ws://192.168.1.50:9090
+#                       (only used when --transport rosbridge)
+#   --zenoh-endpoint U  e.g. ws://localhost:10000  (only used when --transport zenoh)
+#   --robot-namespace N ROS2 namespace for cmd_vel (e.g. robot3946b404c33e4aa39a8d16deb1c5c593)
+#   --camera-topic T    Camera topic for ros2_camera_snapshot / teleop
+#   --skip-build        Skip `pnpm build` (assume it's already done)
+#   --no-systemd        Skip systemd service tweaks
+#   --no-restart        Don't restart the gateway at the end
+#   -h, --help          Show this help
+
+set -e
+
+REPO_ROOT=$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)
+DEPLOY_DIR="$HOME/.agenticros/plugin-deploy"
+TRANSPORT=""
+ROSBRIDGE_URL=""
+ZENOH_ENDPOINT=""
+ROBOT_NAMESPACE=""
+CAMERA_TOPIC=""
+SKIP_BUILD=false
+NO_SYSTEMD=false
+NO_RESTART=false
+
+source "$REPO_ROOT/scripts/lib/agenticros-banner.sh" 2>/dev/null || true
+
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    --repo)             REPO_ROOT="$2"; shift 2 ;;
+    --deploy-dir)       DEPLOY_DIR="$2"; shift 2 ;;
+    --transport)        TRANSPORT="$2"; shift 2 ;;
+    --rosbridge-url)    ROSBRIDGE_URL="$2"; shift 2 ;;
+    --zenoh-endpoint)   ZENOH_ENDPOINT="$2"; shift 2 ;;
+    --robot-namespace)  ROBOT_NAMESPACE="$2"; shift 2 ;;
+    --camera-topic)     CAMERA_TOPIC="$2"; shift 2 ;;
+    --skip-build)       SKIP_BUILD=true; shift ;;
+    --no-systemd)       NO_SYSTEMD=true; shift ;;
+    --no-restart)       NO_RESTART=true; shift ;;
+    -h|--help)          sed -n '2,38p' "$0"; exit 0 ;;
+    *) echo "Unknown option: $1"; exit 1 ;;
+  esac
+done
+
+PLUGIN_SRC="$REPO_ROOT/packages/agenticros"
+
+if command -v agenticros_banner &>/dev/null; then agenticros_banner; fi
+echo "AgenticROS gateway plugin setup"
+echo "  Repo:       $REPO_ROOT"
+echo "  Plugin src: $PLUGIN_SRC"
+echo "  Deploy to:  $DEPLOY_DIR"
+[[ -n "$TRANSPORT" ]] && echo "  Transport:  $TRANSPORT"
+echo ""
+
+if [[ ! -f "$PLUGIN_SRC/package.json" ]]; then
+  echo "Plugin directory not found or missing package.json: $PLUGIN_SRC"
+  exit 1
+fi
+
+if ! command -v pnpm &>/dev/null; then
+  echo "pnpm is required but not on PATH. Install pnpm (https://pnpm.io) and re-run."
+  exit 1
+fi
+
+if ! command -v openclaw &>/dev/null; then
+  echo "openclaw CLI is required but not on PATH. Install OpenClaw and re-run."
+  exit 1
+fi
+
+# 1. Install + build workspace deps
+if [[ "$SKIP_BUILD" != true ]]; then
+  echo "[1/5] Installing workspace deps..."
+  (cd "$REPO_ROOT" && pnpm install --frozen-lockfile 2>/dev/null || pnpm install)
+  echo ""
+  echo "[2/5] Building required packages (core, ros-camera, agenticros)..."
+  (cd "$REPO_ROOT" && \
+    pnpm --filter @agenticros/core build && \
+    pnpm --filter @agenticros/ros-camera build && \
+    pnpm --filter ./packages/agenticros build)
+else
+  echo "[1-2/5] Skipping install + build (--skip-build)."
+fi
+echo ""
+
+# 3. Flatten the plugin into a deploy directory.
+# OpenClaw 2026.6+ rejects `node_modules/<dep>` symlinks that resolve outside
+# the plugin install root. `pnpm deploy --prod` materialises every dep inside
+# the deploy directory, so all symlinks are safely contained.
+echo "[3/5] Building flat plugin deployment at $DEPLOY_DIR ..."
+mkdir -p "$(dirname "$DEPLOY_DIR")"
+rm -rf "$DEPLOY_DIR"
+(cd "$REPO_ROOT" && pnpm --filter ./packages/agenticros deploy --prod "$DEPLOY_DIR")
+# pnpm leaves one self-reference symlink (.pnpm/node_modules/agenticros → the
+# source path) that the safety scan will reject. It's not needed at runtime.
+rm -f "$DEPLOY_DIR/node_modules/.pnpm/node_modules/agenticros"
+
+# `pnpm deploy --prod` skips lifecycle scripts, so rclnodejs's postinstall
+# (which runs `node scripts/generate_messages.js` to materialise ROS message
+# bindings under `generated/`) never runs. Without that folder, the local
+# transport fails on first connect with ENOENT. Reuse the workspace copy when
+# available (fast, no ROS env needed in this script); otherwise regenerate in
+# place against the active ROS env.
+RCLN_DEPLOY=$(find "$DEPLOY_DIR/node_modules/.pnpm" -maxdepth 3 -type d -name rclnodejs 2>/dev/null | head -1)
+if [[ -n "$RCLN_DEPLOY" ]]; then
+  RCLN_WS=$(find "$REPO_ROOT/node_modules/.pnpm" -maxdepth 3 -type d -name rclnodejs 2>/dev/null | head -1)
+  if [[ -n "$RCLN_WS" && -d "$RCLN_WS/generated" ]]; then
+    cp -a "$RCLN_WS/generated" "$RCLN_DEPLOY/"
+    echo "  rclnodejs/generated copied from workspace ($(find "$RCLN_DEPLOY/generated" -type f | wc -l) files)."
+  elif [[ -n "$ROS_DISTRO" ]] || [[ -f /opt/ros/humble/setup.bash ]]; then
+    echo "  rclnodejs/generated missing from workspace — regenerating in place against ROS..."
+    DISTRO="${ROS_DISTRO:-humble}"
+    ( cd "$RCLN_DEPLOY" && bash -c "source /opt/ros/$DISTRO/setup.bash && node scripts/generate_messages.js" ) || \
+      echo "  WARNING: rclnodejs message generation failed; the 'local' transport may not work."
+  else
+    echo "  WARNING: no rclnodejs/generated in workspace and no ROS distro found; the 'local' transport may not work."
+  fi
+fi
+echo "  Deployment built."
+echo ""
+
+# 4. Register with OpenClaw. We background the install because the CLI also
+#    boots the plugin lifecycle to validate it (which sits in a reconnect
+#    loop forever if ROS isn't reachable). We wait for the "Linked plugin
+#    path" log line, then kill the supervisor.
+echo "[4/5] Registering plugin with OpenClaw..."
+LOG="$(mktemp -t agenticros-install.XXXX.log)"
+( openclaw plugins install -l "$DEPLOY_DIR" >"$LOG" 2>&1 ) &
+INSTALL_PID=$!
+for _ in $(seq 1 60); do
+  if grep -q "Linked plugin path" "$LOG" 2>/dev/null; then break; fi
+  if ! kill -0 "$INSTALL_PID" 2>/dev/null; then break; fi
+  sleep 1
+done
+# If still running, the install succeeded and we just need to stop the watchdog.
+if kill -0 "$INSTALL_PID" 2>/dev/null; then
+  kill -TERM "$INSTALL_PID" 2>/dev/null || true
+  sleep 1
+  kill -KILL "$INSTALL_PID" 2>/dev/null || true
+fi
+if grep -q "installation blocked\|Plugin .* installation blocked" "$LOG"; then
+  echo "Plugin install FAILED. Last log lines:"
+  tail -20 "$LOG"
+  rm -f "$LOG"
+  exit 1
+fi
+echo "  Plugin registered (log: $LOG)."
+echo ""
+
+# 5. Optionally patch plugin config block in ~/.openclaw/openclaw.json.
+OPENCLAW_JSON="${OPENCLAW_CONFIG:-$HOME/.openclaw/openclaw.json}"
+if [[ ! -f "$OPENCLAW_JSON" ]]; then
+  echo "[5/5] No OpenClaw config at $OPENCLAW_JSON — skipping config patch."
+elif [[ -n "$TRANSPORT$ROSBRIDGE_URL$ZENOH_ENDPOINT$ROBOT_NAMESPACE$CAMERA_TOPIC" ]]; then
+  echo "[5/5] Patching plugin config in $OPENCLAW_JSON ..."
+  cp "$OPENCLAW_JSON" "$OPENCLAW_JSON.bak.$(date +%s)"
+  if command -v jq &>/dev/null; then
+    TMP=$(mktemp)
+    jq \
+      --arg transport "$TRANSPORT" \
+      --arg rb       "$ROSBRIDGE_URL" \
+      --arg zenoh    "$ZENOH_ENDPOINT" \
+      --arg ns       "$ROBOT_NAMESPACE" \
+      --arg cam      "$CAMERA_TOPIC" \
+      '
+        .plugins = (.plugins // {}) |
+        .plugins.entries = (.plugins.entries // {}) |
+        .plugins.entries.agenticros = (.plugins.entries.agenticros // {}) |
+        .plugins.entries.agenticros.enabled = true |
+        .plugins.entries.agenticros.config = (.plugins.entries.agenticros.config // {}) |
+        ( if $transport != "" then .plugins.entries.agenticros.config.transport = { mode: $transport } else . end ) |
+        ( if $rb       != "" then .plugins.entries.agenticros.config.rosbridge = { url: $rb } else . end ) |
+        ( if $zenoh    != "" then .plugins.entries.agenticros.config.zenoh     = { routerEndpoint: $zenoh } else . end ) |
+        ( if $ns       != "" or $cam != "" then
+            .plugins.entries.agenticros.config.robot = ( (.plugins.entries.agenticros.config.robot // {})
+              + ( if $ns  != "" then { namespace: $ns } else {} end )
+              + ( if $cam != "" then { cameraTopic: $cam } else {} end ) )
+          else . end )
+      ' "$OPENCLAW_JSON" > "$TMP" && mv "$TMP" "$OPENCLAW_JSON"
+    echo "  Config patched (via jq)."
+  elif command -v python3 &>/dev/null; then
+    TRANSPORT="$TRANSPORT" \
+    ROSBRIDGE_URL="$ROSBRIDGE_URL" \
+    ZENOH_ENDPOINT="$ZENOH_ENDPOINT" \
+    ROBOT_NAMESPACE="$ROBOT_NAMESPACE" \
+    CAMERA_TOPIC="$CAMERA_TOPIC" \
+    OPENCLAW_JSON="$OPENCLAW_JSON" \
+    python3 - <<'PYEOF'
+import json, os, pathlib
+p = pathlib.Path(os.environ["OPENCLAW_JSON"])
+d = json.loads(p.read_text())
+ag = d.setdefault("plugins", {}).setdefault("entries", {}).setdefault("agenticros", {})
+ag["enabled"] = True
+cfg = ag.setdefault("config", {})
+t  = os.environ.get("TRANSPORT") or ""
+rb = os.environ.get("ROSBRIDGE_URL") or ""
+zn = os.environ.get("ZENOH_ENDPOINT") or ""
+ns = os.environ.get("ROBOT_NAMESPACE") or ""
+cm = os.environ.get("CAMERA_TOPIC") or ""
+if t:  cfg["transport"] = {"mode": t}
+if rb: cfg.setdefault("rosbridge", {})["url"] = rb
+if zn: cfg.setdefault("zenoh", {})["routerEndpoint"] = zn
+if ns or cm:
+    robot = cfg.setdefault("robot", {})
+    if ns: robot["namespace"] = ns
+    if cm: robot["cameraTopic"] = cm
+p.write_text(json.dumps(d, indent=2) + "\n")
+PYEOF
+    echo "  Config patched (via python3 fallback; install jq for the canonical path)."
+  else
+    echo "  Neither jq nor python3 is available; set these manually under plugins.entries.agenticros.config:"
+    [[ -n "$TRANSPORT" ]]       && echo "    transport.mode = \"$TRANSPORT\""
+    [[ -n "$ROSBRIDGE_URL" ]]   && echo "    rosbridge.url = \"$ROSBRIDGE_URL\""
+    [[ -n "$ZENOH_ENDPOINT" ]]  && echo "    zenoh.routerEndpoint = \"$ZENOH_ENDPOINT\""
+    [[ -n "$ROBOT_NAMESPACE" ]] && echo "    robot.namespace = \"$ROBOT_NAMESPACE\""
+    [[ -n "$CAMERA_TOPIC" ]]    && echo "    robot.cameraTopic = \"$CAMERA_TOPIC\""
+  fi
+else
+  echo "[5/5] No --transport / --rosbridge-url / --zenoh-endpoint / --robot-namespace / --camera-topic given; leaving config defaults (transport.mode = \"local\")."
+fi
+echo ""
+
+# Systemd user service tweaks (only needed when the gateway runs from systemd).
+# The "local" transport uses rclnodejs, which picks a prebuilt binary based on
+# ROS_DISTRO. When the gateway runs from systemd it has no ROS env, so
+# rclnodejs falls back to a from-source rebuild that almost always fails. We
+# capture the ROS env once and feed it to the gateway via EnvironmentFile=.
+if [[ "$NO_SYSTEMD" != true ]]; then
+  USER_SVC="$HOME/.config/systemd/user/openclaw-gateway.service"
+  if [[ -f "$USER_SVC" ]]; then
+    # 6a. Generate ROS env file for the gateway.
+    ROS_SETUP=""
+    if [[ -n "$ROS_DISTRO" && -f "/opt/ros/$ROS_DISTRO/setup.bash" ]]; then
+      ROS_SETUP="/opt/ros/$ROS_DISTRO/setup.bash"
+    else
+      for d in /opt/ros/*/setup.bash; do
+        [[ -f "$d" ]] && ROS_SETUP="$d" && break
+      done
+    fi
+    if [[ -n "$ROS_SETUP" ]]; then
+      ENV_FILE="$HOME/.agenticros/gateway-ros.env"
+      mkdir -p "$(dirname "$ENV_FILE")"
+      # Diff env before/after sourcing ROS so we only export ROS-relevant vars.
+      # NB: also forward any colcon overlay if one is present in $HOME/<ros2_ws>/install.
+      OVERLAY=""
+      for cand in "$REPO_ROOT/ros2_ws/install/setup.bash" "$HOME/ros2_ws/install/setup.bash"; do
+        [[ -f "$cand" ]] && OVERLAY="$cand" && break
+      done
+      # ROS setup.bash relies on a few vars being declared but not necessarily
+      # set, so we deliberately disable `set -u` (cleared via SHELLOPTS too in
+      # case the parent shell inherited it).
+      env -i HOME="$HOME" PATH="$PATH" bash <<EOSH > "$ENV_FILE"
+set +u
+unset SHELLOPTS 2>/dev/null || true
+# shellcheck disable=SC1090
+source "$ROS_SETUP"
+if [ -n "$OVERLAY" ]; then source "$OVERLAY"; fi
+for v in ROS_DISTRO ROS_VERSION ROS_PYTHON_VERSION ROS_DOMAIN_ID \\
+         AMENT_PREFIX_PATH CMAKE_PREFIX_PATH COLCON_PREFIX_PATH \\
+         LD_LIBRARY_PATH PYTHONPATH PKG_CONFIG_PATH \\
+         RMW_IMPLEMENTATION ROS_LOCALHOST_ONLY; do
+  val="\${!v-}"
+  if [ -n "\$val" ]; then echo "\$v=\$val"; fi
+done
+EOSH
+      echo "  ROS env written to $ENV_FILE (sourced from $ROS_SETUP${OVERLAY:+ + $OVERLAY})."
+
+      # 6b. Drop-in pointing the gateway at the env file.
+      DROPIN_DIR="$HOME/.config/systemd/user/openclaw-gateway.service.d"
+      DROPIN="$DROPIN_DIR/agenticros-ros.conf"
+      mkdir -p "$DROPIN_DIR"
+      cat > "$DROPIN" <<EOF
+# Auto-generated by scripts/setup_gateway_plugin.sh. Re-run that script after
+# changing ROS distro / overlay to refresh $ENV_FILE.
+[Service]
+EnvironmentFile=$ENV_FILE
+EOF
+      echo "  Systemd drop-in written to $DROPIN."
+      systemctl --user daemon-reload
+    else
+      echo "  No ROS installation found under /opt/ros/<distro>. The 'local' transport will not work until ROS is on PATH for the gateway."
+    fi
+
+    if [[ "$NO_RESTART" != true ]]; then
+      echo "Restarting openclaw-gateway.service ..."
+      systemctl --user restart openclaw-gateway.service
+      sleep 2
+      systemctl --user is-active openclaw-gateway.service || true
+    else
+      echo "Skipping restart (--no-restart). To pick up the plugin: systemctl --user restart openclaw-gateway.service"
+    fi
+  else
+    echo "No systemd user service at $USER_SVC. Restart the gateway however you started it to pick up the plugin."
+    echo "Make sure ROS (e.g. /opt/ros/$ROS_DISTRO/setup.bash) is sourced in the gateway's environment so rclnodejs can find its prebuilt binary."
+  fi
+fi
+echo ""
+
+echo "Gateway plugin setup complete."
+echo ""
+echo "Verify with:  openclaw plugins list | grep -i agenticros"
+echo "Logs:         tail -f /tmp/openclaw/openclaw-$(date +%Y-%m-%d).log"
+echo ""
+echo "Next time the plugin source changes, re-run this script (with --skip-build"
+echo "if you've already run pnpm build) to refresh the deployment in $DEPLOY_DIR."
+echo ""
+echo "See docs/robot-setup.md for details on transport modes and robot wiring."

package/runtime/scripts/setup_robot.sh

@@ -0,0 +1,113 @@
+#!/bin/bash
+# setup_robot.sh - One-time robot-side setup for AgenticROS (no Docker)
+#
+# Run this on the robot after cloning the repo. It builds the workspace,
+# installs rosbridge (apt or from source), and prepares run scripts.
+#
+# Usage: ./scripts/setup_robot.sh [--ros-distro jazzy|humble] [--skip-apt]
+#   --ros-distro  ROS2 distro (default: auto-detect from /opt/ros)
+#   --skip-apt    Skip suggesting sudo apt install; go straight to from-source if needed
+
+set -e
+
+REPO_ROOT=$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)
+ROS2_WS="$REPO_ROOT/ros2_ws"
+SKIP_APT=false
+ROS_DISTRO=""
+source "$REPO_ROOT/scripts/lib/agenticros-banner.sh"
+
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    --ros-distro) ROS_DISTRO="$2"; shift 2 ;;
+    --skip-apt)   SKIP_APT=true; shift ;;
+    *) echo "Unknown option: $1"; exit 1 ;;
+  esac
+done
+
+agenticros_banner
+echo "AgenticROS robot setup"
+echo ""
+
+# Detect ROS distro if not set
+if [[ -z "$ROS_DISTRO" ]]; then
+  for d in /opt/ros/*/; do
+    if [[ -d "$d" && -f "${d}setup.bash" ]]; then
+      ROS_DISTRO=$(basename "$d")
+      echo "Detected ROS2 distro: $ROS_DISTRO"
+      break
+    fi
+  done
+fi
+if [[ -z "$ROS_DISTRO" ]]; then
+  echo "No ROS2 installation found in /opt/ros. Install ROS2 (Humble or Jazzy) first."
+  exit 1
+fi
+
+if [[ ! -f "/opt/ros/$ROS_DISTRO/setup.bash" ]]; then
+  echo "ROS2 $ROS_DISTRO not found at /opt/ros/$ROS_DISTRO"
+  exit 1
+fi
+
+# 1. Build ros2_ws
+echo ""
+echo "[1/3] Building ROS2 workspace (agenticros_msgs, agenticros_discovery, agenticros_agent)..."
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+cd "$ROS2_WS"
+if [[ ! -f install/setup.bash ]]; then
+  colcon build --symlink-install
+else
+  echo "Workspace already built; re-building to be sure..."
+  colcon build --symlink-install
+fi
+echo "Workspace OK."
+echo ""
+
+# 2. Rosbridge: try apt, else from source
+echo "[2/3] Rosbridge WebSocket server..."
+if ros2 pkg list 2>/dev/null | grep -q rosbridge_server; then
+  echo "rosbridge_suite already available."
+else
+  if [[ "$SKIP_APT" != true ]]; then
+    echo "Attempting to install rosbridge_suite via apt (may prompt for sudo)..."
+    if sudo apt-get update -qq 2>/dev/null && sudo apt-get install -y "ros-$ROS_DISTRO-rosbridge-suite" 2>/dev/null; then
+      echo "rosbridge_suite installed via apt."
+    else
+      echo "apt install failed or skipped. Building from source..."
+      "$REPO_ROOT/scripts/install_rosbridge_from_source.sh" "$ROS_DISTRO"
+    fi
+  else
+    echo "Building rosbridge from source (--skip-apt)..."
+    "$REPO_ROOT/scripts/install_rosbridge_from_source.sh" "$ROS_DISTRO"
+  fi
+fi
+echo ""
+
+# 3. Quick check
+echo "[3/3] Verifying..."
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "$ROS2_WS/install/setup.bash"
+for _d in "$ROS2_WS/venv_rosbridge/lib/python"*/site-packages; do
+  [[ -d "$_d" ]] && export PYTHONPATH="$_d:${PYTHONPATH:-}" && break
+done
+if ros2 pkg list 2>/dev/null | grep -q rosbridge_server; then
+  echo "rosbridge_server: OK"
+else
+  echo "WARNING: rosbridge_server still not found. Run: ./scripts/install_rosbridge_from_source.sh $ROS_DISTRO"
+fi
+for pkg in agenticros_msgs agenticros_discovery; do
+  if ros2 pkg list 2>/dev/null | grep -q "^${pkg}$"; then echo "$pkg: OK"; else echo "$pkg: missing"; fi
+done
+echo ""
+
+echo "=============================================="
+echo "  Robot setup complete"
+echo "=============================================="
+echo ""
+echo "Start the bridges on this robot with:"
+echo "  ./scripts/run_demo_native.sh $ROS_DISTRO"
+echo ""
+echo "Then on the machine where OpenClaw runs, install and enable the plugin:"
+echo "  ./scripts/setup_gateway_plugin.sh"
+echo ""
+echo "See docs/robot-setup.md for full options and troubleshooting."
+echo ""