agenticros 0.1.11 → 0.1.12

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.11",
+  "version": "0.1.12",
   "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": [

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-06T14:01:37.009Z",
+  "packedAt": "2026-06-06T14:30:19.631Z",
   "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/packages/agenticros-claude-code/src/tools.ts

@@ -360,11 +360,40 @@ export async function handleToolCall(
       const topics = await transport.listTopics();
       const MAX = 50;
       const truncated = topics.length > MAX ? topics.slice(0, MAX) : topics;
+
+      // Surface task-specific control hints so the agent (and any LLM
+      // calling list_topics to figure out what's available) doesn't have to
+      // memorise the topic surface for each demo. Cheap to compute and only
+      // included when matching topics are actually present.
+      const hints: Record<string, string> = {};
+      const armJoints = topics
+        .filter((t) => /^\/arm\/[a-z0-9_]+\/cmd_pos$/i.test(t.name))
+        .map((t) => t.name.replace(/^\/arm\/(.+)\/cmd_pos$/, "$1"));
+      if (armJoints.length > 0) {
+        hints["arm"] =
+          `Detected the AgenticROS sim arm (joints: ${armJoints.join(", ")}). ` +
+          "To move a joint, call ros2_publish with topic '/arm/<joint>/cmd_pos', " +
+          "type 'std_msgs/msg/Float64', message {data: <radians>}. " +
+          "Example: rotate shoulder_pan 90 degrees left -> publish {data: 1.5707} " +
+          "to /arm/shoulder_pan/cmd_pos. Listen to /joint_states (sensor_msgs/msg/JointState) " +
+          "to read current positions.";
+      }
+      const baseTwistTopics = topics.filter(
+        (t) => /\/cmd_vel$/.test(t.name) && t.type === "geometry_msgs/msg/Twist",
+      );
+      if (baseTwistTopics.length > 0) {
+        hints["base"] =
+          "To drive the base, publish geometry_msgs/msg/Twist to a cmd_vel topic. " +
+          `Available cmd_vel topics: ${baseTwistTopics.map((t) => t.name).join(", ")}. ` +
+          "When in sim mode the unnamespaced /cmd_vel is the one the simulator listens on.";
+      }
+
       const text = JSON.stringify({
         success: true,
         topics: truncated,
         total: topics.length,
         truncated: topics.length > MAX,
+        ...(Object.keys(hints).length > 0 ? { hints } : {}),
       });
       return { content: [{ type: "text", text }] };
     }

package/runtime/packages/core/src/transport/local/transport.ts

@@ -91,7 +91,11 @@ export class LocalTransport implements RosTransport {
       // Give DDS discovery a brief moment to receive announcements from peers
       // before we report "connected". Without this the very first listTopics()
       // can race the executor and return empty even though peers exist.
-      await new Promise<void>((resolve) => setTimeout(resolve, 750));
+      // 1500ms was chosen empirically on Jetson + Humble where /arm/*/cmd_pos
+      // topics from a sim_arm gz_bridge child take ~1.2s to propagate via
+      // multicast (vs ~400ms on x86); the prior 750ms cap caused first
+      // list_topics() calls to miss them.
+      await new Promise<void>((resolve) => setTimeout(resolve, 1500));
 
       this.setStatus("connected");
     } catch (err) {
@@ -280,24 +284,41 @@ export class LocalTransport implements RosTransport {
   async listTopics(): Promise<TopicInfo[]> {
     this.ensureConnected();
 
-    // DDS discovery is asynchronous. On a freshly-connected node,
-    // getTopicNamesAndTypes() trickles in results as peers respond - the
-    // first call may return 0, the second 2, the third all of them.
-    // Poll until the count is stable across two consecutive 300ms reads (or
-    // time-bounded to ~3s) so we don't return a partial view.
+    // DDS discovery is asynchronous AND stateful. On a freshly-connected
+    // node, getTopicNamesAndTypes() trickles in results as peers respond -
+    // the first call may return 0, the second 2, the third all of them.
+    //
+    // Two issues motivated the current tuning:
+    //
+    //   1. A short single-stable-hit policy (600ms) was returning truncated
+    //      views to Claude: e.g. with the AMR sim alone it'd see /cmd_vel
+    //      etc. on first call, then a second call 2s later would see all
+    //      29 topics including /arm/*/cmd_pos. Claude only calls
+    //      list_topics once and was missing arm joint topics entirely.
+    //
+    //   2. DDS multicast announcements on Jetson take longer than on x86 -
+    //      we routinely see /arm/* topics appear ~1.5s after first call.
+    //
+    // Fix: require 3 consecutive matching polls (2 stable hits at 300ms
+    // intervals = ~900ms of stability), with a 6 s deadline. Worst case
+    // ~900ms latency on a steady graph, ~5s+ if discovery is still
+    // streaming. The min-count guard (>=3) avoids exiting early when only
+    // /clock + /tf + /tf_static have come through.
     const externalFilter = (t: { name: string; types: string[] }) =>
       !INTERNAL_TOPIC_PREFIXES.some((prefix) => t.name.startsWith(prefix));
 
-    const deadline = Date.now() + 3000;
+    const deadline = Date.now() + 6000;
+    const MIN_STABLE_COUNT = 3;
+    const REQUIRED_STABLE_HITS = 2;
     let raw: Array<{ name: string; types: string[] }> = [];
     let prevCount = -1;
     let stableHits = 0;
     while (Date.now() < deadline) {
       raw = this.node.getTopicNamesAndTypes();
       const externalCount = raw.filter(externalFilter).length;
-      if (externalCount === prevCount && externalCount > 0) {
+      if (externalCount === prevCount && externalCount >= MIN_STABLE_COUNT) {
         stableHits++;
-        if (stableHits >= 1) break; // one stable confirmation is enough
+        if (stableHits >= REQUIRED_STABLE_HITS) break;
       } else {
         stableHits = 0;
         prevCount = externalCount;