agenticros 0.1.1 → 0.1.3

package/dist/commands/up.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"up.d.ts","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AASH,MAAM,WAAW,SAAS;IACxB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAID,wBAAsB,SAAS,CAAC,IAAI,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC,CA2B9D"}
+{"version":3,"file":"up.d.ts","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAWH,MAAM,WAAW,SAAS;IACxB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAID,wBAAsB,SAAS,CAAC,IAAI,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC,CA2B9D"}

package/dist/commands/up.js

@@ -7,10 +7,11 @@
  * run_sim.sh for simulation) rather than reimplementing their logic in TS.
  * That keeps phase-1 light and the scripts independently usable.
  */
+import { existsSync } from "node:fs";
 import { select } from "@inquirer/prompts";
 import { runRealRobot } from "../runners/real-robot.js";
 import { runSimAmr, runSimArm } from "../runners/sim.js";
-import { err, info } from "../util/logger.js";
+import { err, info, warn } from "../util/logger.js";
 import { writeState } from "../util/state.js";
 export async function upCommand(opts) {
     const target = await resolveTarget(opts.target);
@@ -40,14 +41,33 @@ export async function upCommand(opts) {
     }
 }
 /**
- * If the user explicitly passed --headless, respect it. Otherwise auto-detect:
- * no DISPLAY env var (typical SSH session, CI, or docker headless container)
- * means we should run sim headless — otherwise gz would hang waiting for X.
+ * If the user explicitly passed --headless / --no-headless, respect it.
+ * Otherwise auto-detect headless when *either* of:
+ *   - no DISPLAY env var (SSH session, CI, headless docker container)
+ *   - this is a Jetson (Tegra). On Jetson L4T the gz GUI viewport renders
+ *     as a solid white window because libEGL falls back through Mesa's
+ *     nvidia-drm DRI driver (which doesn't exist on Tegra). We have no good
+ *     workaround inside the CLI, so by default we skip the broken gz GUI
+ *     and let RViz be the primary visualisation. Users who want to force
+ *     the gz GUI anyway can pass `--no-headless` (and optionally set
+ *     AGENTICROS_GZ_SOFTWARE_RENDER=1 to fall back to llvmpipe).
  */
 function resolveHeadless(flag) {
     if (flag !== undefined)
         return flag;
-    return !process.env["DISPLAY"];
+    if (!process.env["DISPLAY"])
+        return true;
+    if (isJetson()) {
+        warn("Jetson detected (Tegra). The gz GUI viewport renders blank on Jetson;\n" +
+            "  defaulting to --headless. Use RViz with --rviz to visualise the AMR\n" +
+            "  (or override with `--no-headless` if you want to try the gz GUI).");
+        return true;
+    }
+    return false;
+}
+/** Detect NVIDIA Jetson / Tegra via the L4T release file. */
+function isJetson() {
+    return existsSync("/etc/nv_tegra_release");
 }
 async function resolveTarget(raw) {
     if (raw === "real" || raw === "sim-amr" || raw === "sim-arm")

package/dist/commands/up.js.map

@@ -1 +1 @@
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+{"version":3,"file":"up.js","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AAErC,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAE3C,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AACxD,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACpD,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAc9C,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAe;IAC7C,MAAM,MAAM,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChD,UAAU,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,IAAI,IAAI,EAAE,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IAErE,QAAQ,MAAM,EAAE,CAAC;QACf,KAAK,MAAM;YACT,MAAM,YAAY,CAAC;gBACjB,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;gBAC7B,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;aAC9B,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;IACV,CAAC;AACH,CAAC;AAED;;;;;;;;;;;GAWG;AACH,SAAS,eAAe,CAAC,IAAyB;IAChD,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,IAAI,CAAC;IACpC,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,SAAS,CAAC;QAAE,OAAO,IAAI,CAAC;IACzC,IAAI,QAAQ,EAAE,EAAE,CAAC;QACf,IAAI,CACF,yEAAyE;YACvE,yEAAyE;YACzE,qEAAqE,CACxE,CAAC;QACF,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,6DAA6D;AAC7D,SAAS,QAAQ;IACf,OAAO,UAAU,CAAC,uBAAuB,CAAC,CAAC;AAC7C,CAAC;AAED,KAAK,UAAU,aAAa,CAAC,GAAuB;IAClD,IAAI,GAAG,KAAK,MAAM,IAAI,GAAG,KAAK,SAAS,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO,GAAG,CAAC;IACzE,IAAI,GAAG,IAAI,GAAG,KAAK,EAAE,EAAE,CAAC;QACtB,GAAG,CAAC,mBAAmB,GAAG,0CAA0C,CAAC,CAAC;QACtE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,CAAC,4BAA4B,CAAC,CAAC;IACnC,OAAO,MAAM,CAAW;QACtB,OAAO,EAAE,+BAA+B;QACxC,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,uCAAuC,EAAE,KAAK,EAAE,MAAM,EAAE;YAChE,EAAE,IAAI,EAAE,uCAAuC,EAAE,KAAK,EAAE,SAAS,EAAE;YACnE,EAAE,IAAI,EAAE,mCAAmC,EAAE,KAAK,EAAE,SAAS,EAAE;SAChE;QACD,OAAO,EAAE,MAAM;KAChB,CAAC,CAAC;AACL,CAAC"}

package/dist/index.js

@@ -18,7 +18,26 @@ import { logsCommand } from "./commands/logs.js";
 import { configCommand } from "./commands/config.js";
 import { runMenu } from "./menu.js";
 import { err } from "./util/logger.js";
-const VERSION = "0.1.0";
+import { readFileSync } from "node:fs";
+import { fileURLToPath } from "node:url";
+import { dirname, join } from "node:path";
+/**
+ * Read the runtime version from the published package.json so `--version`
+ * never drifts from the npm tag. (Previously we hard-coded "0.1.0" here and
+ * it lagged behind the package.json bump on each release.)
+ */
+function readVersion() {
+    try {
+        const here = dirname(fileURLToPath(import.meta.url));
+        // dist/index.js -> ../package.json
+        const pkg = JSON.parse(readFileSync(join(here, "..", "package.json"), "utf8"));
+        return pkg.version ?? "0.0.0";
+    }
+    catch {
+        return "0.0.0";
+    }
+}
+const VERSION = readVersion();
 const program = new Command();
 program
     .name("agenticros")
@@ -31,7 +50,8 @@ program
     .option("--ros-distro <distro>", "ROS 2 distribution (humble, jazzy, ...)")
     .option("--namespace <ns>", "Robot namespace override")
     .option("--rviz", "Open RViz alongside the sim (sim targets only)", false)
-    .option("--headless", "Run gz-sim with no GUI (auto-enabled if $DISPLAY is unset)")
+    .option("--headless", "Run gz-sim with no GUI (auto-enabled on Jetson or when $DISPLAY is unset)")
+    .option("--no-headless", "Force gz-sim GUI on (override Jetson auto-headless)")
     .option("--no-camera", "Skip starting the RealSense camera (real target only)")
     .option("--no-motors", "Skip starting the motor controller (real target only)")
     .action(async (target, opts) => {

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";AACA;;;;;;;;GAQG;AAEH,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AAEpC,OAAO,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAC7C,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AACpC,OAAO,EAAE,GAAG,EAAE,MAAM,kBAAkB,CAAC;AACvC,OAAO,EAAE,YAAY,EAAE,MAAM,SAAS,CAAC;AACvC,OAAO,EAAE,aAAa,EAAE,MAAM,UAAU,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAE1C;;;;GAIG;AACH,SAAS,WAAW;IAClB,IAAI,CAAC;QACH,MAAM,IAAI,GAAG,OAAO,CAAC,aAAa,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC;QACrD,mCAAmC;QACnC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,cAAc,CAAC,EAAE,MAAM,CAAC,CAE5E,CAAC;QACF,OAAO,GAAG,CAAC,OAAO,IAAI,OAAO,CAAC;IAChC,CAAC;IAAC,MAAM,CAAC;QACP,OAAO,OAAO,CAAC;IACjB,CAAC;AACH,CAAC;AAED,MAAM,OAAO,GAAG,WAAW,EAAE,CAAC;AAE9B,MAAM,OAAO,GAAG,IAAI,OAAO,EAAE,CAAC;AAE9B,OAAO;KACJ,IAAI,CAAC,YAAY,CAAC;KAClB,WAAW,CACV,gGAAgG,CACjG;KACA,OAAO,CAAC,OAAO,EAAE,eAAe,EAAE,kCAAkC,CAAC;KACrE,kBAAkB,CAAC,qDAAqD,CAAC,CAAC;AAE7E,OAAO;KACJ,OAAO,CAAC,aAAa,CAAC;KACtB,WAAW,CACV,8EAA8E,CAC/E;KACA,MAAM,CAAC,uBAAuB,EAAE,yCAAyC,CAAC;KAC1E,MAAM,CAAC,kBAAkB,EAAE,0BAA0B,CAAC;KACtD,MAAM,CAAC,QAAQ,EAAE,gDAAgD,EAAE,KAAK,CAAC;KACzE,MAAM,CAAC,YAAY,EAAE,2EAA2E,CAAC;KACjG,MAAM,CAAC,eAAe,EAAE,qDAAqD,CAAC;KAC9E,MAAM,CAAC,aAAa,EAAE,uDAAuD,CAAC;KAC9E,MAAM,CAAC,aAAa,EAAE,uDAAuD,CAAC;KAC9E,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,IAAI,EAAE,EAAE;IACjD,MAAM,SAAS,CAAC,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,CAAC,CAAC;AACvC,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,MAAM,CAAC;KACf,WAAW,CACV,0GAA0G,CAC3G;KACA,MAAM,CAAC,eAAe,EAAE,oCAAoC,EAAE,KAAK,CAAC;KACpE,MAAM,CAAC,gBAAgB,EAAE,mEAAmE,EAAE,KAAK,CAAC;KACpG,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,WAAW,CAAC,IAAI,CAAC,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,MAAM,CAAC;KACf,WAAW,CACV,mGAAmG,CACpG;KACA,MAAM,CAAC,SAAS,EAAE,2CAA2C,EAAE,KAAK,CAAC;KACrE,MAAM,CACL,sBAAsB,EACtB,sFAAsF,CACvF;KACA,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,WAAW,CAAC,IAAI,CAAC,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,8DAA8D,CAAC;KAC3E,MAAM,CAAC,QAAQ,EAAE,sDAAsD,EAAE,KAAK,CAAC;KAC/E,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,QAAQ,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,CAAC;IAC3C,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CACV,8EAA8E,CAC/E;KACA,MAAM,CAAC,QAAQ,EAAE,uCAAuC,EAAE,KAAK,CAAC;KAChE,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,aAAa,CAAC,IAAI,CAAC,CAAC;AAC5B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,eAAe,CAAC;KACxB,WAAW,CACV,mFAAmF,CACpF;KACA,MAAM,CAAC,cAAc,EAAE,gEAAgE,EAAE,KAAK,CAAC;KAC/F,MAAM,CAAC,iBAAiB,EAAE,0CAA0C,EAAE,KAAK,CAAC;KAC5E,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,IAAI,EAAE,EAAE;IACjD,MAAM,WAAW,CAAC,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,CAAC,CAAC;AACzC,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,4BAA4B,CAAC;KACrC,WAAW,CACV,6EAA6E,CAC9E;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,QAA4B,EAAE,EAAE;IACzE,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,QAAQ,EAAE,CAAC,CAAC;AAC5C,CAAC,CAAC,CAAC;AAEL,KAAK,UAAU,IAAI;IACjB,8DAA8D;IAC9D,IAAI,OAAO,CAAC,IAAI,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC;QAC7B,IAAI,CAAC;YACH,MAAM,OAAO,EAAE,CAAC;QAClB,CAAC;QAAC,OAAO,CAAC,EAAE,CAAC;YACX,GAAG,CAAC,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAChD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAClB,CAAC;QACD,OAAO;IACT,CAAC;IACD,IAAI,CAAC;QACH,MAAM,OAAO,CAAC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;IACzC,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,GAAG,CAAC,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QAChD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;AACH,CAAC;AAED,MAAM,IAAI,EAAE,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.1",
+  "version": "0.1.3",
   "type": "module",
   "description": "AgenticROS - agentic AI for ROS-powered robots. Single CLI to launch real-robot or simulated demos, manage configuration, and inspect status.",
   "keywords": [
@@ -31,6 +31,14 @@
   "engines": {
     "node": ">=20.0.0"
   },
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit",
+    "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
+    "pack:runtime": "node ../../scripts/pack-runtime.mjs",
+    "size:check": "node ../../scripts/check-cli-tarball-size.mjs",
+    "prepublishOnly": "pnpm run clean && pnpm run build && pnpm run pack:runtime && pnpm run size:check"
+  },
   "dependencies": {
     "@inquirer/prompts": "^7.0.0",
     "commander": "^12.1.0",
@@ -49,12 +57,5 @@
     "type": "git",
     "url": "git+https://github.com/PlaiPin/agenticros.git",
     "directory": "packages/agenticros-cli"
-  },
-  "scripts": {
-    "build": "tsc",
-    "typecheck": "tsc --noEmit",
-    "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
-    "pack:runtime": "node ../../scripts/pack-runtime.mjs",
-    "size:check": "node ../../scripts/check-cli-tarball-size.mjs"
   }
-}
+}

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-05T21:21:33.732Z",
+  "packedAt": "2026-06-05T22:26:30.554Z",
   "repo": "https://github.com/PlaiPin/agenticros",
   "note": "This directory is a snapshot of the agenticros monorepo source. `agenticros init` will copy it to ~/agenticros and run pnpm install + colcon build there.",
   "layout": {

package/runtime/patches/@eclipse-zenoh__zenoh-ts@1.9.0.patch

@@ -0,0 +1,63 @@
+diff --git a/dist/link.js b/dist/link.js
+index 4ac3967f589784380501e4cbf3c9dd11a07500d6..2fff09753f579735a52a6115fb89e292b26f03a4 100644
+--- a/dist/link.js
++++ b/dist/link.js
+@@ -23,8 +23,9 @@ export class RemoteLink {
+     static async new(locator) {
+         let websocketEndpoint = this.parseZenohLocator(locator);
+         let retries = 0;
+-        let retryTimeoutMs = RETRY_TIMEOUT_MS;
+         while (retries < MAX_RETRIES) {
++            // Per-attempt timeout (AgenticROS: avoid unbounded growth across outer loop iterations)
++            const retryTimeoutMs = Math.min(RETRY_TIMEOUT_MS + retries * 1500, 15000);
+             let ws = new WebSocket(websocketEndpoint);
+             ws.binaryType = "arraybuffer";
+             ws.onerror = function (event) {
+@@ -37,9 +38,13 @@ export class RemoteLink {
+             while (ws.readyState != 1) {
+                 await sleep(100);
+                 wait += 100;
+-                if (wait > (retryTimeoutMs)) {
+-                    ws.close();
+-                    retryTimeoutMs *= 2;
++                if (wait > retryTimeoutMs) {
++                    try {
++                        ws.close();
++                    }
++                    catch {
++                        /* ignore */
++                    }
+                     break;
+                 }
+             }
+@@ -47,10 +52,11 @@ export class RemoteLink {
+                 console.warn("Connected to", websocketEndpoint);
+                 return new RemoteLink(ws);
+             }
+-            else {
+-                ws = new WebSocket(websocketEndpoint);
+-                console.warn("Restart connection");
+-            }
++            // AgenticROS: upstream never incremented `retries`, causing an infinite connect storm and
++            // zenoh remote-api 1006 / router disconnects. Back off between attempts.
++            retries += 1;
++            console.warn(`Restart connection (${retries}/${MAX_RETRIES})`);
++            await sleep(Math.min(400 + retries * 600, 12000));
+         }
+         throw new Error(`Failed to connect to locator endpoint: ${locator} after ${MAX_RETRIES}`);
+     }
+@@ -60,12 +66,12 @@ export class RemoteLink {
+         };
+     }
+     async send(msg) {
+-        if (!this.isOk) {
++        if (!this.isOk()) {
+             throw new Error("WebSocket is closed");
+         }
+         while (this.ws.bufferedAmount > MAX_WS_BUFFER_SIZE) {
+             await sleep(10);
+-            if (!this.isOk) {
++            if (!this.isOk()) {
+                 throw new Error("WebSocket is closed");
+             }
+         }

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

@@ -12,6 +12,7 @@ install(DIRECTORY
   worlds
   models
   config
+  urdf
   DESTINATION share/${PROJECT_NAME}/
 )
 

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

@@ -45,6 +45,26 @@ Visualization Manager:
       Show Names: true
       Update Interval: 0
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:

package/runtime/ros2_ws/src/agenticros_sim/launch/sim_amr.launch.py

@@ -39,6 +39,8 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command
 
 
 PKG_NAME = "agenticros_sim"
@@ -50,6 +52,7 @@ def generate_launch_description() -> LaunchDescription:
     default_bridge = os.path.join(pkg_share, "config", "amr_bridge.yaml")
     default_rviz = os.path.join(pkg_share, "config", "amr_view.rviz")
     model_sdf = os.path.join(pkg_share, "models", "agenticros_amr", "model.sdf")
+    urdf_xacro = os.path.join(pkg_share, "urdf", "agenticros_amr.urdf.xacro")
 
     # --- Launch arguments ---
     world_arg = DeclareLaunchArgument(
@@ -110,6 +113,27 @@ def generate_launch_description() -> LaunchDescription:
         }],
     )
 
+    # ---------- robot_state_publisher (URDF mirror of the SDF) ----------
+    # Without this, RViz only has TF axes - it doesn't know the robot's geometry
+    # and can't render a 3D model in the RobotModel display. The URDF is purely
+    # for visualization; physics + sensors stay in the SDF.
+    # NOTE: `Command(... on_stderr='ignore')` is critical - xacro often prints
+    # benign warnings ("redefining global symbol: pi", etc.) to stderr, and the
+    # default behaviour of Command is to FAIL the launch on any stderr output.
+    robot_description = ParameterValue(
+        Command(["xacro ", urdf_xacro], on_stderr="ignore"), value_type=str,
+    )
+    rsp = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[{
+            "robot_description": robot_description,
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+        }],
+    )
+
     # ---------- Optional RViz ----------
     rviz = Node(
         package="rviz2",
@@ -135,6 +159,7 @@ def generate_launch_description() -> LaunchDescription:
         OpaqueFunction(function=_launch_gz_sim),
         spawn_amr,
         bridge,
+        rsp,
         rviz,
     ])
 

package/runtime/ros2_ws/src/agenticros_sim/models/agenticros_amr/model.sdf

@@ -210,7 +210,14 @@
       <wheel_separation>0.36</wheel_separation>
       <wheel_radius>0.08</wheel_radius>
       <odom_publish_frequency>50</odom_publish_frequency>
-      <topic>cmd_vel</topic>
+      <!--
+        Intentionally NOT setting <topic> so gz-sim uses its documented default
+        of /model/<model_name>/cmd_vel. The bridge in config/amr_bridge.yaml
+        publishes there, so plugin and bridge agree.
+        Previously had <topic>cmd_vel</topic> which gz interpreted as a
+        relative/no-namespace topic and bound to /cmd_vel - the bridge then
+        published into a void and the robot never moved.
+      -->
       <odom_topic>odometry</odom_topic>
       <tf_topic>tf</tf_topic>
       <frame_id>odom</frame_id>

package/runtime/ros2_ws/src/agenticros_sim/urdf/agenticros_amr.urdf.xacro

@@ -0,0 +1,127 @@
+<?xml version="1.0"?>
+<!--
+  agenticros_amr.urdf.xacro
+
+  URDF mirror of models/agenticros_amr/model.sdf, used by robot_state_publisher
+  so RViz's RobotModel display can render a 3D mesh of the AMR. Dimensions and
+  pose offsets match the SDF exactly:
+    * base_link: 0.40 x 0.30 x 0.15 m box, mounted at z=0.10 m above ground
+    * wheels: 0.08 m radius, 0.04 m thickness, at ±0.18 m y, z=0.08 m
+    * caster: 0.04 m sphere at x=0.16, z=0.04
+    * depth camera at x=0.20, z=0.20 (front of chassis, top)
+    * 2D lidar at z=0.30 (above chassis)
+
+  The wheel joints are continuous so /joint_states updates wheel spin when the
+  diff-drive plugin publishes joint angles via the JointStatePublisher system.
+
+  Note: This is purely for visualization. The physics, sensors, and actuators
+  all live in the SDF that Gazebo loads.
+-->
+<robot name="agenticros_amr" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- ===================== base_link ===================== -->
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><box size="0.40 0.30 0.15"/></geometry>
+      <material name="chassis_grey"><color rgba="0.3 0.3 0.35 1"/></material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><box size="0.40 0.30 0.15"/></geometry>
+    </collision>
+    <inertial>
+      <mass value="5.0"/>
+      <inertia ixx="0.10" iyy="0.15" izz="0.20" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+
+  <!-- ===================== Wheels ===================== -->
+  <!-- xacro provides ${pi} as a built-in property; don't redefine it. -->
+  <xacro:macro name="wheel" params="prefix y_offset">
+    <link name="${prefix}_wheel_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
+        <geometry><cylinder radius="0.08" length="0.04"/></geometry>
+        <material name="wheel_black"><color rgba="0.15 0.15 0.15 1"/></material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
+        <geometry><cylinder radius="0.08" length="0.04"/></geometry>
+      </collision>
+      <inertial>
+        <mass value="0.5"/>
+        <inertia ixx="0.0008" iyy="0.0008" izz="0.0015" ixy="0" ixz="0" iyz="0"/>
+      </inertial>
+    </link>
+    <joint name="${prefix}_wheel_joint" type="continuous">
+      <parent link="base_link"/>
+      <child link="${prefix}_wheel_link"/>
+      <origin xyz="0 ${y_offset} -0.02" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+    </joint>
+  </xacro:macro>
+  <xacro:wheel prefix="left"  y_offset="0.18"/>
+  <xacro:wheel prefix="right" y_offset="-0.18"/>
+
+  <!-- ===================== Caster ===================== -->
+  <link name="caster_link">
+    <visual>
+      <geometry><sphere radius="0.04"/></geometry>
+      <material name="wheel_black"/>
+    </visual>
+    <collision>
+      <geometry><sphere radius="0.04"/></geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00004" iyy="0.00004" izz="0.00004" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_link"/>
+    <origin xyz="0.16 0 -0.06" rpy="0 0 0"/>
+  </joint>
+
+  <!-- ===================== Depth camera ===================== -->
+  <link name="camera_link">
+    <visual>
+      <geometry><box size="0.025 0.09 0.025"/></geometry>
+      <material name="camera_alu"><color rgba="0.1 0.1 0.15 1"/></material>
+    </visual>
+  </link>
+  <joint name="camera_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera_link"/>
+    <origin xyz="0.20 0 0.10" rpy="0 0 0"/>
+  </joint>
+  <!-- Optical frame: REP-103 (z forward, x right, y down) used by image topics -->
+  <link name="camera_optical_link"/>
+  <joint name="camera_optical_joint" type="fixed">
+    <parent link="camera_link"/>
+    <child link="camera_optical_link"/>
+    <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
+  </joint>
+
+  <!-- ===================== 2D LiDAR ===================== -->
+  <link name="lidar_link">
+    <visual>
+      <geometry><cylinder radius="0.04" length="0.04"/></geometry>
+      <material name="lidar_white"><color rgba="0.9 0.9 0.9 1"/></material>
+    </visual>
+  </link>
+  <joint name="lidar_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_link"/>
+    <origin xyz="0 0 0.10" rpy="0 0 0"/>
+  </joint>
+
+  <!-- ===================== IMU ===================== -->
+  <link name="imu_link"/>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

package/runtime/scripts/pack-runtime.mjs

@@ -18,6 +18,8 @@
  *                                   TypeScript sources for the workspace, NO dist or node_modules
  *   - packages/agenticros-claude-code/dist  (pre-built so `npx agenticros` works without colcon)
  *   - package.json / pnpm-workspace.yaml / tsconfig.base.json   monorepo manifests
+ *   - patches/                      pnpm patchedDependencies (zenoh-ts, ...)
+ *                                   without this `pnpm install` ENOENTs after init
  *   - docs/cli.md                   reference for the CLI (used by `agenticros logs --help`)
  *   - README.md / LICENSE           top-level docs
  *
@@ -204,6 +206,34 @@ function copyDocs() {
   }
 }
 
+function copyPatches() {
+  // pnpm requires patches/* on disk because package.json -> pnpm.patchedDependencies
+  // references "patches/<name>.patch". Without these files `pnpm install` aborts
+  // with ENOENT during `agenticros init`. Bundle the whole patches/ dir verbatim.
+  logStep("Copying patches/");
+  copyTree(join(REPO_ROOT, "patches"), join(RUNTIME_DIR, "patches"));
+}
+
+function writeInitNpmrc() {
+  // The dev workspace runs with strict-peer-dependencies=true so we catch
+  // upstream peer mismatches in CI. End-user `agenticros init`, however, must
+  // tolerate them - mem0ai (a transitive dep of @agenticros/core) currently
+  // declares strict peer ranges on qdrant/pg/redis that the resolved versions
+  // don't satisfy, which aborts pnpm install. Overwriting .npmrc in the
+  // shipped snapshot keeps dev strictness intact while letting `init` succeed
+  // on a clean machine.
+  logStep("Writing init-friendly .npmrc (overrides dev settings)");
+  const contents = [
+    "# Generated by scripts/pack-runtime.mjs - safe defaults for `agenticros init`.",
+    "# Devs working on the repo itself get the stricter root .npmrc.",
+    "shamefully-hoist=false",
+    "strict-peer-dependencies=false",
+    "auto-install-peers=true",
+    "",
+  ].join("\n");
+  writeFileSync(join(RUNTIME_DIR, ".npmrc"), contents);
+}
+
 function writeBundleManifest() {
   const manifestPath = join(RUNTIME_DIR, "BUNDLE.json");
   const manifest = {
@@ -240,6 +270,8 @@ copyRos2Ws();
 copyPackages();
 copyTopLevel();
 copyDocs();
+copyPatches();
+writeInitNpmrc(); // Must come AFTER copyTopLevel which copies the dev .npmrc
 writeBundleManifest();
 reportSize();
 logStep("Done.");

package/runtime/scripts/sim/run_sim.sh

@@ -115,6 +115,29 @@ if [[ -n "$NAMESPACE" ]]; then
   export AGENTICROS_ROBOT_NAMESPACE="$NAMESPACE"
 fi
 
+# Jetson rendering fix. On Tegra boards Mesa is picked first and tries to load
+# nvidia-drm_dri.so which doesn't exist, so the gz GUI viewport comes up solid
+# white. We:
+#   1. Point libglvnd at the NVIDIA EGL vendor (works for some Jetson L4T images)
+#   2. As a fallback, allow AGENTICROS_GZ_SOFTWARE_RENDER=1 to force llvmpipe -
+#      slow (~5 fps) but actually renders the world so the demo is viewable.
+# Honor AGENTICROS_GZ_NO_TWEAKS=1 to skip both (useful on x86/laptops).
+if [[ "$GUI" == "true" ]] && [[ -z "${AGENTICROS_GZ_NO_TWEAKS:-}" ]]; then
+  if [[ -f /usr/lib/aarch64-linux-gnu/tegra-egl/libEGL_nvidia.so.0 ]]; then
+    log "Jetson detected: forcing NVIDIA EGL/GL vendor"
+    export __GLX_VENDOR_LIBRARY_NAME="${__GLX_VENDOR_LIBRARY_NAME:-nvidia}"
+    export __EGL_VENDOR_LIBRARY_FILENAMES="${__EGL_VENDOR_LIBRARY_FILENAMES:-/usr/share/glvnd/egl_vendor.d/10_nvidia.json}"
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra-egl:/usr/lib/aarch64-linux-gnu/tegra:${LD_LIBRARY_PATH:-}"
+  fi
+  if [[ -n "${AGENTICROS_GZ_SOFTWARE_RENDER:-}" ]]; then
+    log "AGENTICROS_GZ_SOFTWARE_RENDER set - forcing Mesa llvmpipe software renderer"
+    export LIBGL_ALWAYS_SOFTWARE=1
+    export GALLIUM_DRIVER=llvmpipe
+    export MESA_GL_VERSION_OVERRIDE=4.5
+    export OGRE_RTT_MODE=Copy
+  fi
+fi
+
 LAUNCH_ARGS=(
   "use_rviz:=$USE_RVIZ"
   "gui:=$GUI"