agenticros 0.0.1 → 0.1.1

package/runtime/scripts/test-mcp-e2e.mjs

@@ -0,0 +1,184 @@
+#!/usr/bin/env node
+/**
+ * Spin up the @agenticros/claude-code MCP server as a child process and exercise
+ * a real JSON-RPC session over stdio. Used for end-to-end testing of the MCP
+ * tools against a live sim (or real robot).
+ *
+ * Usage:
+ *   node scripts/test-mcp-e2e.mjs
+ *
+ * Honours AGENTICROS_CONFIG_PATH if set; otherwise uses ~/.agenticros/config.json.
+ */
+
+import { spawn } from "node:child_process";
+import { fileURLToPath } from "node:url";
+import { dirname, join, resolve } from "node:path";
+
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const repoRoot = resolve(__dirname, "..");
+const serverDist = join(repoRoot, "packages/agenticros-claude-code/dist/index.js");
+
+const child = spawn(process.execPath, [serverDist], {
+  stdio: ["pipe", "pipe", "pipe"],
+  env: { ...process.env },
+});
+
+child.stderr.on("data", (d) => {
+  process.stderr.write(`[mcp-stderr] ${d}`);
+});
+child.on("exit", (code, sig) => {
+  process.stderr.write(`[mcp] exited code=${code} sig=${sig}\n`);
+});
+
+let nextId = 1;
+const pending = new Map();
+let buf = "";
+
+child.stdout.on("data", (chunk) => {
+  buf += chunk.toString();
+  let nl;
+  while ((nl = buf.indexOf("\n")) !== -1) {
+    const line = buf.slice(0, nl).trim();
+    buf = buf.slice(nl + 1);
+    if (!line) continue;
+    let msg;
+    try {
+      msg = JSON.parse(line);
+    } catch (e) {
+      process.stderr.write(`[mcp] non-json line: ${line}\n`);
+      continue;
+    }
+    if (msg.id !== undefined && pending.has(msg.id)) {
+      const { resolve, reject } = pending.get(msg.id);
+      pending.delete(msg.id);
+      if (msg.error) reject(new Error(`${msg.error.code}: ${msg.error.message}`));
+      else resolve(msg.result);
+    }
+  }
+});
+
+function rpc(method, params = {}, timeoutMs = 20000) {
+  const id = nextId++;
+  const payload = { jsonrpc: "2.0", id, method, params };
+  return new Promise((resolveOuter, reject) => {
+    const t = setTimeout(() => {
+      pending.delete(id);
+      reject(new Error(`Timeout: ${method}`));
+    }, timeoutMs);
+    pending.set(id, {
+      resolve: (v) => {
+        clearTimeout(t);
+        resolveOuter(v);
+      },
+      reject: (e) => {
+        clearTimeout(t);
+        reject(e);
+      },
+    });
+    child.stdin.write(JSON.stringify(payload) + "\n");
+  });
+}
+
+function summarise(content, max = 4000) {
+  if (!Array.isArray(content)) return JSON.stringify(content).slice(0, max);
+  return content
+    .map((c) => {
+      if (c.type === "text") {
+        const t = c.text ?? "";
+        return t.length > max ? `${t.slice(0, max)} … (+${t.length - max} chars)` : t;
+      }
+      if (c.type === "image") return `[image base64 len=${(c.data ?? "").length} mime=${c.mimeType}]`;
+      return `[${c.type}]`;
+    })
+    .join("\n");
+}
+
+async function callTool(name, args = {}, timeoutMs = 20000) {
+  const t0 = Date.now();
+  try {
+    const result = await rpc("tools/call", { name, arguments: args }, timeoutMs);
+    const ms = Date.now() - t0;
+    const ok = result?.isError ? "ERR" : "ok ";
+    console.log(`[${ok}] (${ms.toString().padStart(5)}ms) ${name}`);
+    console.log(`        ${summarise(result?.content)}`);
+    return result;
+  } catch (e) {
+    const ms = Date.now() - t0;
+    console.log(`[ERR] (${ms.toString().padStart(5)}ms) ${name}  ${e.message}`);
+    return null;
+  }
+}
+
+async function main() {
+  console.log("=== MCP E2E harness ===");
+
+  console.log("\n-- initialize --");
+  const init = await rpc("initialize", {
+    protocolVersion: "2024-11-05",
+    capabilities: { tools: {} },
+    clientInfo: { name: "agenticros-e2e", version: "0.0.1" },
+  });
+  console.log(`server: ${init.serverInfo?.name} v${init.serverInfo?.version}`);
+  await rpc("notifications/initialized", {}).catch(() => {});
+
+  console.log("\n-- tools/list --");
+  const tl = await rpc("tools/list", {});
+  console.log(`  ${tl.tools?.length ?? 0} tools advertised`);
+  for (const t of tl.tools ?? []) {
+    console.log(`    - ${t.name}`);
+  }
+
+  console.log("\n-- ros2_list_topics --");
+  await callTool("ros2_list_topics", {}, 30000);
+
+  console.log("\n-- ros2_publish /cmd_vel (linear.x=0.2) --");
+  await callTool(
+    "ros2_publish",
+    {
+      topic: "/cmd_vel",
+      type: "geometry_msgs/msg/Twist",
+      message: { linear: { x: 0.2, y: 0, z: 0 }, angular: { x: 0, y: 0, z: 0 } },
+    },
+    10000,
+  );
+
+  console.log("\n-- ros2_subscribe_once /imu/data --");
+  await callTool(
+    "ros2_subscribe_once",
+    { topic: "/imu/data", type: "sensor_msgs/msg/Imu", timeoutMs: 5000 },
+    10000,
+  );
+
+  console.log("\n-- ros2_subscribe_once /scan --");
+  await callTool(
+    "ros2_subscribe_once",
+    { topic: "/scan", type: "sensor_msgs/msg/LaserScan", timeoutMs: 5000 },
+    10000,
+  );
+
+  console.log("\n-- ros2_camera_snapshot (RGB) --");
+  await callTool("ros2_camera_snapshot", {}, 15000);
+
+  console.log("\n-- ros2_depth_distance --");
+  await callTool("ros2_depth_distance", {}, 15000);
+
+  console.log("\n-- stop --");
+  await callTool(
+    "ros2_publish",
+    {
+      topic: "/cmd_vel",
+      type: "geometry_msgs/msg/Twist",
+      message: { linear: { x: 0, y: 0, z: 0 }, angular: { x: 0, y: 0, z: 0 } },
+    },
+    5000,
+  );
+
+  console.log("\n=== Done ===");
+  child.kill("SIGTERM");
+}
+
+main().catch((e) => {
+  console.error("Harness failed:", e);
+  child.kill("SIGKILL");
+  process.exit(1);
+});

package/runtime/scripts/test-rclnodejs.mts

@@ -0,0 +1,129 @@
+#!/usr/bin/env npx tsx
+/**
+ * Validation prototype for rclnodejs ESM integration.
+ *
+ * Run with ROS2 workspace sourced:
+ *   npx tsx scripts/test-rclnodejs.mts
+ *
+ * Tests:
+ * 1. ESM import of rclnodejs
+ * 2. init() + createNode() + spin()
+ * 3. Topic/service introspection
+ * 4. Message type loading
+ * 5. Message construction and extraction
+ * 6. Clean shutdown
+ */
+
+import { createRequire } from "node:module";
+import { fileURLToPath } from "node:url";
+import { resolve, dirname } from "node:path";
+
+// Resolve from the plugin directory where rclnodejs is actually installed
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const pluginDir = resolve(__dirname, "../extensions/openclaw-plugin");
+const pluginRequire = createRequire(resolve(pluginDir, "package.json"));
+
+// --- Test 1: ESM import ---
+console.log("=== Test 1: ESM import of rclnodejs ===");
+
+let rclnodejs: any;
+try {
+  rclnodejs = await import("rclnodejs");
+  console.log("  ✓ Direct ESM import succeeded");
+} catch {
+  console.log("  ⚠ Direct ESM import failed, trying createRequire fallback...");
+  rclnodejs = pluginRequire("rclnodejs");
+  console.log("  ✓ createRequire fallback succeeded (resolved from plugin node_modules)");
+}
+
+// --- Test 2: init + createNode + spin ---
+console.log("\n=== Test 2: init + createNode + spin ===");
+
+await rclnodejs.init();
+console.log("  ✓ rclnodejs.init() succeeded");
+
+const node = rclnodejs.createNode("agenticros_test");
+console.log("  ✓ createNode('agenticros_test') succeeded");
+
+rclnodejs.spin(node);
+console.log("  ✓ spin(node) started (non-blocking)");
+
+// --- Test 3: Introspection ---
+console.log("\n=== Test 3: Topic/service introspection ===");
+
+const topics = node.getTopicNamesAndTypes();
+console.log(`  ✓ getTopicNamesAndTypes() returned ${topics.length} topic(s):`);
+for (const t of topics.slice(0, 10)) {
+  const name = typeof t === "object" && "name" in t ? (t as { name: string }).name : String(t);
+  const types =
+    typeof t === "object" && "types" in t ? (t as { types: string[] }).types : [];
+  console.log(`    - ${name} [${types.join(", ")}]`);
+}
+if (topics.length > 10) console.log(`    ... and ${topics.length - 10} more`);
+
+const services = node.getServiceNamesAndTypes();
+console.log(`  ✓ getServiceNamesAndTypes() returned ${services.length} service(s):`);
+for (const s of services.slice(0, 10)) {
+  const name = typeof s === "object" && "name" in s ? (s as { name: string }).name : String(s);
+  const types =
+    typeof s === "object" && "types" in s ? (s as { types: string[] }).types : [];
+  console.log(`    - ${name} [${types.join(", ")}]`);
+}
+if (services.length > 10) console.log(`    ... and ${services.length - 10} more`);
+
+// --- Test 4: Message type loading ---
+console.log("\n=== Test 4: Message type loading ===");
+
+let TwistClass: any;
+try {
+  TwistClass = rclnodejs.require("geometry_msgs/msg/Twist");
+  console.log("  ✓ rclnodejs.require('geometry_msgs/msg/Twist') succeeded");
+  console.log(`    Type: ${typeof TwistClass}`);
+} catch (e) {
+  console.log(`  ✗ Failed to load Twist: ${e}`);
+}
+
+// --- Test 5: Message construction and extraction ---
+console.log("\n=== Test 5: Message construction & extraction ===");
+
+if (TwistClass) {
+  try {
+    const msg = new TwistClass();
+    msg.linear.x = 1.0;
+    msg.linear.y = 0.0;
+    msg.linear.z = 0.0;
+    msg.angular.x = 0.0;
+    msg.angular.y = 0.0;
+    msg.angular.z = 0.5;
+    console.log("  ✓ Created Twist message and set fields");
+
+    // Try toPlainObject if available
+    if (typeof msg.toPlainObject === "function") {
+      const plain = msg.toPlainObject();
+      console.log("  ✓ msg.toPlainObject() succeeded:");
+      console.log(`    ${JSON.stringify(plain)}`);
+    } else {
+      console.log("  ⚠ toPlainObject() not available, extracting fields manually:");
+      const plain = {
+        linear: { x: msg.linear.x, y: msg.linear.y, z: msg.linear.z },
+        angular: { x: msg.angular.x, y: msg.angular.y, z: msg.angular.z },
+      };
+      console.log(`    ${JSON.stringify(plain)}`);
+    }
+  } catch (e) {
+    console.log(`  ✗ Message construction failed: ${e}`);
+  }
+} else {
+  console.log("  ⚠ Skipped — Twist class not loaded");
+}
+
+// --- Test 6: Clean shutdown ---
+console.log("\n=== Test 6: Clean shutdown ===");
+
+node.destroy();
+console.log("  ✓ node.destroy() succeeded");
+
+rclnodejs.shutdown();
+console.log("  ✓ rclnodejs.shutdown() succeeded");
+
+console.log("\n=== All tests passed ===");

package/runtime/scripts/use-openclaw-2026.2.26.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+# Install OpenClaw 2026.2.26 so plugin HTTP routes (config, teleop) and web chat load.
+# Use this when 2026.3.2 rejects every plugin route with "missing or invalid auth" and
+# neither auth.mode=none nor requireAuth: false fix it.
+set -e
+echo ""
+echo "  Installing OpenClaw 2026.2.26 (plugin routes work on this version)..."
+echo ""
+npm install -g openclaw@2026.2.26
+echo ""
+echo "  Done. Next steps:"
+echo "  1. Restart the gateway:  openclaw gateway"
+echo "  2. Open in your browser:"
+echo "       AgenticROS:  http://127.0.0.1:18789/plugins/agenticros/"
+echo "  3. Web chat: run  node scripts/openclaw-dashboard-url.cjs  and open the URL it prints"
+echo "     (2026.2.26 needs the token in the URL for the web chat to connect)"
+echo ""
+echo "  To go back to latest OpenClaw later:  npm install -g openclaw@latest"
+echo ""

package/runtime/scripts/use-openclaw-2026.3.11.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+# Install OpenClaw 2026.3.11 for testing (Gateway/Control UI and auth fixes).
+# Use this branch (test-openclaw-2026.3.11) to try 2026.3.11; roll back by
+# checking out main and running:  npm install -g openclaw@latest  (or use-openclaw-2026.2.26.sh)
+set -e
+echo ""
+echo "  Installing OpenClaw 2026.3.11 (test branch)..."
+echo ""
+npm install -g openclaw@2026.3.11
+echo ""
+echo "  Done. Next steps:"
+echo "  1. Restart the gateway:  openclaw gateway"
+echo "  2. Open in your browser:"
+echo "       AgenticROS:  http://127.0.0.1:18789/plugins/agenticros/"
+echo "  3. Web chat: run  node scripts/openclaw-dashboard-url.cjs  and open the URL it prints"
+echo ""
+echo "  To roll back: checkout main and run  npm install -g openclaw@latest"
+echo "  Or use  ./scripts/use-openclaw-2026.2.26.sh  to pin to 2026.2.26."
+echo ""

package/runtime/scripts/zenoh-bridge-ros2dds-robot.json5

@@ -0,0 +1,30 @@
+// CONFIG FOR: zenoh-bridge-ros2dds (standalone) ON THE ROBOT
+// DO NOT use this file with zenohd. zenohd does not load the ros2dds plugin and will
+// panic on unknown keys (e.g. "allow"). On the Mac, run zenohd with zenohd-agenticros.json5 only.
+//
+// On the robot, run: zenoh-bridge-ros2dds -c /path/to/zenoh-bridge-ros2dds-robot.json5
+// Edit connect.endpoints: use your Mac's actual IP (e.g. 192.168.0.241). Must match the
+// subnet the robot can reach (robot 192.168.0.x → use Mac 192.168.0.x; wrong subnet = connection timeout).
+// Subscriber patterns must match the Zenoh key AgenticROS publishes (topic without leading slash).
+// If you use robot.namespace = "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593", key is "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel" (ROS2 topic /robot3946.../cmd_vel).
+// If you use robot.namespace = "3946b404-c33e-4aa3-9a8d-16deb1c5c593", key is "3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel".
+// If you use robot.namespace = "", key is "cmd_vel" (ROS2 /cmd_vel).
+
+{
+  "mode": "client",
+  "connect": {
+    "endpoints": ["tcp/192.168.0.241:7447"]
+  },
+  "plugins": {
+    "ros2dds": {
+      "allow": {
+        "publishers": [".+"],
+        "subscribers": [".+/cmd_vel", "cmd_vel", "3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel", "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel"],
+        "service_servers": [],
+        "service_clients": [],
+        "action_servers": [],
+        "action_clients": []
+      }
+    }
+  }
+}

package/runtime/scripts/zenohd-agenticros.json5

@@ -0,0 +1,11 @@
+{
+  "plugins_loading": {
+    "enabled": true,
+    "search_dirs": ["~/.zenoh/lib", "/opt/homebrew/lib", "/usr/local/lib"]
+  },
+  "plugins": {
+    "remote_api": {
+      "websocket_port": "10000"
+    }
+  }
+}

package/runtime/scripts/zenohd-rosclaw.json5

@@ -0,0 +1,11 @@
+{
+  "plugins_loading": {
+    "enabled": true,
+    "search_dirs": ["~/.zenoh/lib", "/opt/homebrew/lib", "/usr/local/lib"]
+  },
+  "plugins": {
+    "remote_api": {
+      "websocket_port": "10000"
+    }
+  }
+}

package/runtime/tsconfig.base.json

@@ -0,0 +1,19 @@
+{
+  "compilerOptions": {
+    "target": "ES2022",
+    "module": "NodeNext",
+    "moduleResolution": "NodeNext",
+    "lib": ["ES2022"],
+    "strict": true,
+    "esModuleInterop": true,
+    "skipLibCheck": true,
+    "forceConsistentCasingInFileNames": true,
+    "resolveJsonModule": true,
+    "declaration": true,
+    "declarationMap": true,
+    "sourceMap": true,
+    "outDir": "./dist",
+    "rootDir": "./src"
+  },
+  "exclude": ["node_modules", "dist"]
+}

package/index.js

@@ -1,6 +0,0 @@
-/**
- * agenticros - placeholder package
- * This package reserves the "agenticros" name on npm.
- */
-
-module.exports = { name: 'agenticros' };