agenticros 0.0.1 → 0.1.1

package/runtime/scripts/setup_workspace.sh

@@ -0,0 +1,484 @@
+#!/bin/bash
+# setup_workspace.sh - Cross-platform setup for AgenticROS development environment
+#
+# DESCRIPTION:
+#   This script performs the initial setup required for AgenticROS development.
+#   It supports both Ubuntu (native ROS2) and macOS (RoboStack with mamba).
+#   The script installs dependencies, creates the appropriate environment,
+#   and builds all ROS2 packages. Run this script once before using the
+#   activate_workspace.sh script for daily development.
+#
+# USAGE:
+#   ./scripts/setup_workspace.sh [options]
+#
+# OPTIONS:
+#   -e, --env-name NAME     Name of the environment to create (default: ros_env)
+#   -d, --ros-distro DISTRO ROS2 distribution (default: humble)
+#   -h, --help              Show this help message
+#
+# EXAMPLES:
+#   # Use defaults (ros_env, jazzy)
+#   ./scripts/setup_workspace.sh
+#
+#   # Custom environment name
+#   ./scripts/setup_workspace.sh --env-name my_ros_env
+#
+#   # Different ROS2 distro
+#   ./scripts/setup_workspace.sh --ros-distro humble
+#
+# PLATFORMS SUPPORTED:
+#   - Ubuntu/Debian: Native ROS2 installation with apt + venv
+#   - macOS: RoboStack with mamba/conda environment
+#
+# WHAT IT DOES:
+#   1. Detects platform (Ubuntu vs macOS)
+#   2. Installs platform-specific infrastructure
+#   3. Creates appropriate environment (venv with --system-site-packages vs conda)
+#   4. Installs ROS2, rosbridge_library, and all required development tools
+#   5. Installs agent-specific pip dependencies (aiortc, websockets)
+#   6. Builds all ROS2 packages in ros2_ws
+#   7. Validates the complete setup
+
+set -e  # Exit on any error
+
+# Default values
+DEFAULT_ENV_NAME="ros_env"
+DEFAULT_ROS_DISTRO="humble"
+ENV_NAME=""
+ROS_DISTRO=""
+
+# Find the repository root
+REPO_ROOT=$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)
+ROS2_WS_PATH="$REPO_ROOT/ros2_ws"
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Logging functions
+log_info() {
+    echo -e "${BLUE}[INFO]${NC} $1"
+}
+
+log_success() {
+    echo -e "${GREEN}[SUCCESS]${NC} $1"
+}
+
+log_warning() {
+    echo -e "${YELLOW}[WARNING]${NC} $1"
+}
+
+log_error() {
+    echo -e "${RED}[ERROR]${NC} $1"
+}
+
+# Help function
+show_help() {
+    cat << EOF
+AgenticROS Development Environment Setup
+
+USAGE:
+    $0 [options]
+
+OPTIONS:
+    -e, --env-name NAME     Name of the environment to create (default: $DEFAULT_ENV_NAME)
+    -d, --ros-distro DISTRO ROS2 distribution (default: $DEFAULT_ROS_DISTRO)
+    -h, --help              Show this help message
+
+EXAMPLES:
+    # Use defaults
+    $0
+
+    # Custom environment name
+    $0 --env-name my_ros_env
+
+    # Different ROS2 distribution
+    $0 --ros-distro humble
+
+SUPPORTED PLATFORMS:
+    - Ubuntu/Debian: Native ROS2 with apt + Python venv
+    - macOS: RoboStack with mamba/conda environment
+
+SUPPORTED ROS2 DISTRIBUTIONS:
+    - jazzy (default)
+    - humble
+    - kilted
+EOF
+}
+
+# Parse command line arguments
+parse_args() {
+    while [[ $# -gt 0 ]]; do
+        case $1 in
+            -e|--env-name)
+                ENV_NAME="$2"
+                shift 2
+                ;;
+            -d|--ros-distro)
+                ROS_DISTRO="$2"
+                shift 2
+                ;;
+            -h|--help)
+                show_help
+                exit 0
+                ;;
+            *)
+                log_error "Unknown option: $1"
+                show_help
+                exit 1
+                ;;
+        esac
+    done
+
+    # Set defaults if not specified
+    ENV_NAME="${ENV_NAME:-$DEFAULT_ENV_NAME}"
+    ROS_DISTRO="${ROS_DISTRO:-$DEFAULT_ROS_DISTRO}"
+}
+
+# Platform detection
+detect_platform() {
+    if [[ "$OSTYPE" == "darwin"* ]]; then
+        PLATFORM="macos"
+    elif [[ "$OSTYPE" == "linux-gnu"* ]]; then
+        if command -v apt &> /dev/null; then
+            PLATFORM="ubuntu"
+        else
+            log_error "Linux platform detected but apt not found. Only Ubuntu/Debian supported."
+            exit 1
+        fi
+    else
+        log_error "Unsupported platform: $OSTYPE"
+        log_error "Supported platforms: macOS, Ubuntu/Debian"
+        exit 1
+    fi
+}
+
+# Check and install mamba/conda if needed (for macOS)
+check_mamba() {
+    if ! command -v mamba &> /dev/null; then
+        if ! command -v conda &> /dev/null; then
+            log_info "Neither mamba nor conda found. Installing miniforge automatically..."
+
+            local installer="Miniforge3-MacOSX-$(uname -m).sh"
+            local url="https://github.com/conda-forge/miniforge/releases/latest/download/$installer"
+
+            log_info "Downloading miniforge installer..."
+            if ! curl -L -O "$url"; then
+                log_error "Failed to download miniforge installer"
+                exit 1
+            fi
+
+            log_info "Installing miniforge..."
+            if ! bash "$installer" -b -p "$HOME/miniforge3"; then
+                log_error "Failed to install miniforge"
+                exit 1
+            fi
+
+            rm -f "$installer"
+            eval "$($HOME/miniforge3/bin/conda shell.$(basename $SHELL) hook)"
+            log_success "Miniforge installed successfully"
+        else
+            log_warning "conda found but mamba not available. Installing mamba..."
+            conda install mamba -c conda-forge -y
+        fi
+    fi
+}
+
+# Validate ROS2 distribution support
+validate_ros_distro() {
+    local supported_distros=("humble" "jazzy" "kilted")
+    local distro_supported=false
+
+    for supported in "${supported_distros[@]}"; do
+        if [[ "$ROS_DISTRO" == "$supported" ]]; then
+            distro_supported=true
+            break
+        fi
+    done
+
+    if [[ "$distro_supported" == false ]]; then
+        log_error "ROS2 distribution '$ROS_DISTRO' is not supported"
+        log_error "Supported distributions: ${supported_distros[*]}"
+        exit 1
+    fi
+}
+
+# Check if already in conda environment
+check_conda_env_active() {
+    if [[ -n "$CONDA_DEFAULT_ENV" ]]; then
+        log_warning "Already in conda environment: $CONDA_DEFAULT_ENV"
+        if [[ "$CONDA_DEFAULT_ENV" == "$ENV_NAME" ]]; then
+            log_info "Already in target environment '$ENV_NAME', continuing setup..."
+            return 0
+        else
+            log_warning "In different environment. Will deactivate and switch to '$ENV_NAME'"
+            conda deactivate 2>/dev/null || true
+            mamba deactivate 2>/dev/null || true
+        fi
+    fi
+    return 1
+}
+
+# Ubuntu setup function
+setup_ubuntu() {
+    log_info "Setting up Ubuntu environment..."
+
+    # Step 1: Install system dependencies
+    log_info "[1/5] Installing system dependencies..."
+    sudo apt update
+    sudo apt install -y \
+        python3-dev \
+        python3-venv \
+        python3-pip \
+        build-essential \
+        cmake \
+        pkg-config \
+        curl \
+        gnupg2 \
+        lsb-release \
+        software-properties-common
+
+    # Step 2: Install ROS2 and required packages
+    log_info "[2/5] Setting up ROS2 $ROS_DISTRO..."
+
+    if ! command -v ros2 &> /dev/null; then
+        log_info "Installing ROS2 $ROS_DISTRO..."
+
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+        sudo apt update
+    else
+        log_success "ROS2 base already installed"
+    fi
+
+    log_info "Ensuring all required ROS2 packages are installed..."
+    sudo apt install -y \
+        ros-$ROS_DISTRO-ros-base \
+        ros-$ROS_DISTRO-rosbridge-library \
+        ros-$ROS_DISTRO-rosbridge-suite \
+        python3-colcon-common-extensions
+
+    log_success "All required ROS2 packages installed"
+
+    # Step 3: Create Python virtual environment with system site-packages
+    # This is critical: rclpy and rosbridge_library are system-installed via apt.
+    # The venv must inherit them via --system-site-packages.
+    log_info "[3/5] Setting up Python virtual environment..."
+    VENV_PATH="$REPO_ROOT/$ENV_NAME"
+
+    if [ -d "$VENV_PATH" ]; then
+        log_warning "Virtual environment already exists at: $VENV_PATH"
+    else
+        log_info "Creating virtual environment at: $VENV_PATH (with --system-site-packages)"
+        python3 -m venv "$VENV_PATH" --system-site-packages
+        log_success "Virtual environment created"
+    fi
+
+    # Step 4: Install agent-specific Python packages
+    log_info "[4/5] Installing Python packages for agenticros_agent..."
+    source "$VENV_PATH/bin/activate"
+    pip install --upgrade pip
+    pip install aiortc websockets
+    log_success "Python packages installed (aiortc, websockets)"
+
+    # Step 5: Build ROS2 packages
+    log_info "[5/5] Building ROS2 packages..."
+    cd "$ROS2_WS_PATH"
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    colcon build --symlink-install
+    log_success "ROS2 packages built successfully"
+}
+
+# macOS setup function
+setup_macos() {
+    log_info "Setting up macOS environment with RoboStack..."
+
+    # Step 1: Check mamba installation
+    log_info "[1/5] Checking mamba installation..."
+    check_mamba
+    log_success "Mamba is available"
+
+    # Step 2: Create conda environment
+    log_info "[2/5] Setting up conda environment '$ENV_NAME'..."
+
+    local already_in_target_env=false
+    if check_conda_env_active; then
+        already_in_target_env=true
+    fi
+
+    if mamba env list | grep -q "^$ENV_NAME "; then
+        log_warning "Environment '$ENV_NAME' already exists"
+        if [[ "$already_in_target_env" == false ]]; then
+            log_info "Activating existing environment..."
+            eval "$(mamba shell hook)"
+            mamba activate "$ENV_NAME"
+        fi
+    else
+        log_info "Creating new environment '$ENV_NAME'..."
+        mamba create -n "$ENV_NAME" -y
+        eval "$(mamba shell hook)"
+        mamba activate "$ENV_NAME"
+    fi
+
+    conda config --env --add channels conda-forge
+    conda config --env --remove channels defaults 2>/dev/null || true
+    conda config --env --add channels robostack-$ROS_DISTRO
+
+    # Step 3: Install ROS2 and development tools
+    log_info "[3/5] Installing ROS2 $ROS_DISTRO and development tools..."
+    mamba install -y \
+        ros-$ROS_DISTRO-ros-base \
+        ros-$ROS_DISTRO-rosbridge-library \
+        compilers \
+        cmake \
+        pkg-config \
+        make \
+        ninja \
+        colcon-common-extensions \
+        python \
+        pip
+
+    log_success "ROS2 and development tools installed"
+
+    # Step 4: Install agent-specific Python packages
+    log_info "[4/5] Installing Python packages for agenticros_agent..."
+    pip install aiortc websockets
+    log_success "Python packages installed (aiortc, websockets)"
+
+    # Deactivate and reactivate to ensure proper ROS setup
+    mamba deactivate
+    mamba activate "$ENV_NAME"
+
+    # Step 5: Build ROS2 packages
+    log_info "[5/5] Building ROS2 packages..."
+    cd "$ROS2_WS_PATH"
+    colcon build --symlink-install
+    log_success "ROS2 packages built successfully"
+}
+
+# Validation function
+validate_setup() {
+    log_info "Validating setup..."
+
+    cd "$ROS2_WS_PATH"
+
+    if [[ "$PLATFORM" == "macos" ]]; then
+        eval "$(mamba shell hook)"
+        mamba activate "$ENV_NAME"
+    else
+        source /opt/ros/$ROS_DISTRO/setup.bash
+        source "$REPO_ROOT/$ENV_NAME/bin/activate"
+    fi
+
+    # Source workspace
+    if [ -f "install/setup.bash" ]; then
+        source install/setup.bash
+        log_success "Workspace sourced successfully"
+    else
+        log_error "Workspace build failed - install/setup.bash not found"
+        return 1
+    fi
+
+    # Test ROS2 functionality
+    if command -v ros2 &> /dev/null; then
+        log_success "ROS2 command available"
+    else
+        log_error "ROS2 command not available"
+        return 1
+    fi
+
+    # Test if our packages are available
+    local all_found=true
+    for pkg in agenticros_msgs agenticros_discovery agenticros_agent; do
+        if ros2 pkg list 2>/dev/null | grep -q "$pkg"; then
+            log_success "Package found: $pkg"
+        else
+            log_warning "Package not found: $pkg"
+            all_found=false
+        fi
+    done
+
+    # Test agent Python dependencies
+    if python3 -c "import aiortc; import websockets" 2>/dev/null; then
+        log_success "Agent Python dependencies available (aiortc, websockets)"
+    else
+        log_warning "Agent Python dependencies missing (aiortc or websockets)"
+    fi
+
+    # Test rosbridge_library availability
+    if python3 -c "from rosbridge_library.internal.ros_loader import get_message_class" 2>/dev/null; then
+        log_success "rosbridge_library available"
+    else
+        log_warning "rosbridge_library not available"
+    fi
+
+    return 0
+}
+
+# Main execution
+main() {
+    # shellcheck source=scripts/lib/agenticros-banner.sh
+    source "$REPO_ROOT/scripts/lib/agenticros-banner.sh"
+    agenticros_banner
+    echo "AgenticROS Development Setup"
+    echo ""
+
+    parse_args "$@"
+    detect_platform
+
+    if [[ "$PLATFORM" == "macos" ]]; then
+        validate_ros_distro
+    fi
+
+    log_info "Platform detected: $PLATFORM"
+    log_info "Environment name: $ENV_NAME"
+    log_info "ROS2 distribution: $ROS_DISTRO"
+    log_info "Repository root: $REPO_ROOT"
+
+    if [[ "$PLATFORM" == "macos" && -n "$CONDA_DEFAULT_ENV" ]]; then
+        log_info "Current conda environment: $CONDA_DEFAULT_ENV"
+    fi
+    echo ""
+
+    case $PLATFORM in
+        ubuntu)
+            setup_ubuntu
+            ;;
+        macos)
+            setup_macos
+            ;;
+        *)
+            log_error "Unsupported platform: $PLATFORM"
+            exit 1
+            ;;
+    esac
+
+    echo ""
+
+    if validate_setup; then
+        log_success "Setup validation passed!"
+    else
+        log_error "Setup validation failed!"
+        exit 1
+    fi
+
+    echo ""
+    echo "Setup complete!"
+    echo ""
+    echo "Next steps:"
+    echo "  1. Activate your development environment for daily use:"
+    echo "     source $REPO_ROOT/scripts/activate_workspace.sh"
+    echo ""
+    echo "  2. Test discovery node:"
+    echo "     ros2 run agenticros_discovery discovery_node"
+    echo ""
+    echo "  3. Test agent node (requires signaling server):"
+    echo "     AGENTICROS_SIGNALING_URL=ws://localhost:8000 ros2 run agenticros_agent agent_node"
+    echo ""
+}
+
+main "$@"

package/runtime/scripts/sim/run_sim.sh

@@ -0,0 +1,146 @@
+#!/usr/bin/env bash
+# scripts/sim/run_sim.sh
+#
+# Worker script invoked by `agenticros up sim-amr` (and later `sim-arm`). Sources
+# ROS 2 + the AgenticROS overlay, runs `ros2 launch agenticros_sim ...`, writes
+# its PID into /tmp/agenticros-sim.pid so `agenticros down` can stop it, and
+# tees output to /tmp/agenticros-sim.log so `agenticros logs sim` works.
+#
+# Usage:
+#   run_sim.sh --robot amr [--namespace sim_robot] [--rviz] [--no-gui]
+#
+# Flags:
+#   --robot amr|arm        Which sim launch to start (default: amr).
+#   --namespace <ns>       Robot namespace; exported as AGENTICROS_ROBOT_NAMESPACE.
+#   --rviz                 Bring up RViz alongside Gazebo.
+#   --no-gui               Run gz-sim headless (CI / docker).
+#   --ros-distro <distro>  Override ROS 2 distro (auto-detect by default).
+#   --colcon-ws <path>     Override the colcon workspace (default: <repo>/ros2_ws).
+#   --help                 Print this help and exit.
+#
+# Exit codes:
+#   0   sim exited cleanly
+#   1   missing dependency (gz, ros2, ros_gz_*, our launch file)
+#   2   bad CLI usage
+#   3   sim crashed at runtime — check /tmp/agenticros-sim.log
+
+# Strict mode, but `set -u` clashes with ROS setup scripts that reference
+# AMENT_TRACE_SETUP_FILES etc. We toggle nounset off around each `source`.
+set -eo pipefail
+shopt -s expand_aliases || true
+
+# ---------- args ----------
+ROBOT="amr"
+NAMESPACE=""
+USE_RVIZ="false"
+GUI="true"
+ROS_DISTRO_OVERRIDE=""
+COLCON_WS=""
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --robot)        ROBOT="$2"; shift 2 ;;
+    --namespace)    NAMESPACE="$2"; shift 2 ;;
+    --rviz)         USE_RVIZ="true"; shift ;;
+    --no-gui)       GUI="false"; shift ;;
+    --ros-distro)   ROS_DISTRO_OVERRIDE="$2"; shift 2 ;;
+    --colcon-ws)    COLCON_WS="$2"; shift 2 ;;
+    -h|--help)
+      sed -n '2,24p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+      exit 0 ;;
+    *) echo "Unknown arg: $1" >&2; exit 2 ;;
+  esac
+done
+
+if [[ "$ROBOT" != "amr" && "$ROBOT" != "arm" ]]; then
+  echo "--robot must be 'amr' or 'arm' (got '$ROBOT')" >&2
+  exit 2
+fi
+
+# ---------- paths ----------
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
+COLCON_WS="${COLCON_WS:-$REPO_ROOT/ros2_ws}"
+
+LOG_FILE="/tmp/agenticros-sim.log"
+PID_FILE="/tmp/agenticros-sim.pid"
+
+log() { printf "\033[36m[run_sim]\033[0m %s\n" "$*"; }
+err() { printf "\033[31m[run_sim]\033[0m %s\n" "$*" >&2; }
+
+# ---------- ROS 2 distro detection ----------
+if [[ -n "$ROS_DISTRO_OVERRIDE" ]]; then
+  ROS_DISTRO="$ROS_DISTRO_OVERRIDE"
+elif [[ -n "${ROS_DISTRO:-}" ]]; then
+  : # already sourced
+else
+  for d in humble jazzy iron rolling; do
+    if [[ -f "/opt/ros/$d/setup.bash" ]]; then ROS_DISTRO="$d"; break; fi
+  done
+fi
+if [[ -z "${ROS_DISTRO:-}" ]] || [[ ! -f "/opt/ros/$ROS_DISTRO/setup.bash" ]]; then
+  err "ROS 2 not found under /opt/ros/. Install Humble or Jazzy first."
+  exit 1
+fi
+
+log "ROS_DISTRO=$ROS_DISTRO"
+log "COLCON_WS=$COLCON_WS"
+log "robot=$ROBOT  namespace=${NAMESPACE:-<none>}  rviz=$USE_RVIZ  gui=$GUI"
+
+# shellcheck disable=SC1090
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+
+# ---------- Build agenticros_sim if not yet built ----------
+if [[ ! -f "$COLCON_WS/install/agenticros_sim/share/agenticros_sim/launch/sim_amr.launch.py" ]]; then
+  log "agenticros_sim not built in $COLCON_WS — building now..."
+  (cd "$COLCON_WS" && colcon build --symlink-install --packages-select agenticros_sim agenticros_msgs)
+fi
+
+# shellcheck disable=SC1090
+source "$COLCON_WS/install/setup.bash"
+
+# ---------- Dependency checks ----------
+for bin in gz ros2 rviz2; do
+  if ! command -v "$bin" >/dev/null; then
+    if [[ "$bin" == "rviz2" ]] && [[ "$USE_RVIZ" != "true" ]]; then
+      continue
+    fi
+    err "Required binary '$bin' not found on PATH."
+    exit 1
+  fi
+done
+
+# ---------- Wire up environment ----------
+if [[ -n "$NAMESPACE" ]]; then
+  export AGENTICROS_ROBOT_NAMESPACE="$NAMESPACE"
+fi
+
+LAUNCH_ARGS=(
+  "use_rviz:=$USE_RVIZ"
+  "gui:=$GUI"
+)
+
+# ---------- Pick launch file ----------
+case "$ROBOT" in
+  amr) LAUNCH_FILE="sim_amr.launch.py" ;;
+  arm) LAUNCH_FILE="sim_arm.launch.py" ;;  # Phase 3
+esac
+
+if ! ros2 launch --help >/dev/null 2>&1; then
+  err "ros2 launch not available — is ROS sourced properly?"
+  exit 1
+fi
+
+log "Logging to $LOG_FILE"
+log "ros2 launch agenticros_sim $LAUNCH_FILE ${LAUNCH_ARGS[*]}"
+log "Press Ctrl+C to stop (or run \`agenticros down\` from another terminal)."
+
+# Run in foreground so Ctrl+C in the parent shell still works, but also tee to
+# the log so `agenticros logs sim -f` can follow concurrently. The PID we record
+# is this script's own PID so `agenticros down` SIGTERMs the whole subtree.
+echo "$$" > "$PID_FILE"
+
+# Use `exec` so the ros2 process replaces our shell — that way signals from the
+# CLI (or Ctrl+C) hit ros2 directly instead of bash.
+exec 1> >(tee -a "$LOG_FILE") 2>&1
+exec ros2 launch agenticros_sim "$LAUNCH_FILE" "${LAUNCH_ARGS[@]}"