npm - agenticros - Versions diffs - 0.1.13 → 0.1.15 - Mend

agenticros 0.1.13 → 0.1.15

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (18) hide show

package/dist/commands/doctor.d.ts.map +1 -1
package/dist/commands/doctor.js +74 -0
package/dist/commands/doctor.js.map +1 -1
package/dist/commands/init.d.ts.map +1 -1
package/dist/commands/init.js +38 -0
package/dist/commands/init.js.map +1 -1
package/dist/commands/skills.d.ts.map +1 -1
package/dist/commands/skills.js +22 -1
package/dist/commands/skills.js.map +1 -1
package/dist/util/openclaw-config.d.ts +61 -0
package/dist/util/openclaw-config.d.ts.map +1 -1
package/dist/util/openclaw-config.js +93 -0
package/dist/util/openclaw-config.js.map +1 -1
package/package.json +1 -1
package/runtime/BUNDLE.json +1 -1
package/runtime/README.md +61 -6
package/runtime/packages/agenticros/src/index.ts +8 -3
package/runtime/packages/agenticros/src/skill-loader.ts +76 -20

package/dist/commands/doctor.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"doctor.d.ts","sourceRoot":"","sources":["../../src/commands/doctor.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAkBH,MAAM,MAAM,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,KAAK,CAAC;AAElD,MAAM,WAAW,WAAW;IAC1B,EAAE,EAAE,MAAM,CAAC;IACX,KAAK,EAAE,MAAM,CAAC;IACd,QAAQ,EAAE,QAAQ,CAAC;IACnB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,IAAI,CAAC,EAAE,MAAM,CAAC;CACf;AAED,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,WAAW,EAAE,CAAC;IACtB,OAAO,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAA;KAAE,CAAC;CACzD;AAED,MAAM,WAAW,aAAa;IAC5B,IAAI,CAAC,EAAE,OAAO,CAAC;CAChB;AAED,wBAAsB,aAAa,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,MAAM,CAAC,CA+BxE;AAED,sFAAsF;AACtF,wBAAsB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC,CAGrD;AAED,wBAAsB,eAAe,IAAI,OAAO,CAAC,YAAY,CAAC,CAwX7D"}

package/dist/commands/doctor.js CHANGED Viewed

@@ -14,6 +14,7 @@ import { getCliPaths } from "../util/paths.js";
 import { detectRosDistro, hasGazeboHarmonic } from "../util/env.js";
 import { colors, header, ok, warn, err, info } from "../util/logger.js";
 import { activeConfigPath, profilesDir, readActiveMode } from "../util/profiles.js";
+import { ensureToolsAlsoAllow, readAgenticrosContractTools, readOpenclawConfig, } from "../util/openclaw-config.js";
 import { listSkills } from "../util/skills.js";
 export async function doctorCommand(opts) {
     const report = await runDoctorChecks();
@@ -224,6 +225,36 @@ export async function runDoctorChecks() {
         severity: existsSync(ocConfig) ? "green" : "red",
         hint: existsSync(ocConfig) ? undefined : "Run `agenticros init` to install the OpenClaw plugin.",
     });
+    // tools.alsoAllow vs plugin contracts.tools. OpenClaw 2026.6+ tool profiles
+    // ("coding", "standard", …) are strict allowlists applied BEFORE plugin tools
+    // are merged in - missing entries here is why "OpenClaw says it has no
+    // ros2_camera_snapshot" even when the plugin loaded successfully. We do a
+    // dry-run sync (write:false) to compute the delta without touching the file.
+    if (existsSync(ocConfig)) {
+        const cfg = readOpenclawConfig();
+        const tools = readAgenticrosContractTools(paths.repoRoot ?? paths.installDir);
+        if (cfg && tools && tools.length > 0) {
+            const dry = ensureToolsAlsoAllow(tools, { cfg, write: false });
+            if (dry && dry.added.length > 0) {
+                const profile = cfg["tools"]?.["profile"];
+                const profileStr = typeof profile === "string" ? profile : "(default)";
+                checks.push({
+                    id: "tools-alsoallow",
+                    label: `OpenClaw tools.alsoAllow missing ${dry.added.length} AgenticROS tool(s)`,
+                    severity: "red",
+                    detail: `tools.profile = ${profileStr}; chat agent will not see: ${dry.added.slice(0, 4).join(", ")}${dry.added.length > 4 ? ", …" : ""}`,
+                    hint: "Run `agenticros skills sync` (or re-run `agenticros init`) to repair the allowlist.",
+                });
+            }
+            else {
+                checks.push({
+                    id: "tools-alsoallow",
+                    label: `OpenClaw tools.alsoAllow covers every AgenticROS tool`,
+                    severity: "green",
+                });
+            }
+        }
+    }
     // Skills (only meaningful once the OpenClaw config exists).
     if (existsSync(ocConfig)) {
         try {
@@ -279,6 +310,49 @@ export async function runDoctorChecks() {
             // Skip silently if listing fails (already covered by openclaw-config check).
         }
     }
+    // Skill config sanity: detect "phantom blanks" in OpenClaw's plugin config that
+    // historically broke skills (e.g. config UI saving every field as "" or 0 →
+    // depthTopic="" → follow_robot publishes linear.x=0 → no motor motion).
+    // Modern agenticros-skill-followme treats blanks/zeros as "use default", but a
+    // user running an older skill version will still see the bug. We surface it.
+    if (existsSync(ocConfig)) {
+        try {
+            const oc = readOpenclawConfig();
+            const ag = oc?.plugins?.entries;
+            const fm = (ag?.agenticros?.config?.skills?.followme);
+            if (fm) {
+                const stringKeysNeedingValue = [
+                    "depthTopic",
+                    "cameraTopic",
+                    "vlmModel",
+                    "ollamaUrl",
+                ];
+                const numericKeysExpectedPositive = [
+                    "rateHz",
+                    "targetDistance",
+                    "searchAngularVelocity",
+                    "searchTicksBeforeSwitch",
+                    "criticalStopDistanceM",
+                    "maxVelocityFraction",
+                ];
+                const blankStrings = stringKeysNeedingValue.filter((k) => typeof fm[k] === "string" && fm[k].trim() === "");
+                const zeroNumbers = numericKeysExpectedPositive.filter((k) => typeof fm[k] === "number" && fm[k] === 0);
+                const phantom = [...blankStrings, ...zeroNumbers];
+                if (phantom.length > 0) {
+                    checks.push({
+                        id: "skills-followme-blanks",
+                        label: `follow_me config has ${phantom.length} blank/zero field(s)`,
+                        severity: "yellow",
+                        detail: `Empty: ${phantom.slice(0, 6).join(", ")}${phantom.length > 6 ? ", …" : ""} - modern skill versions default these, but older builds may not.`,
+                        hint: "Open the OpenClaw config UI and clear (or fix) the fields - or upgrade agenticros-skill-followme to a version where getFollowMeConfig() treats blanks as 'use default'.",
+                    });
+                }
+            }
+        }
+        catch {
+            // Non-fatal; doctor's openclaw-config check covers parse errors.
+        }
+    }
     // OpenClaw gateway service.
     try {
         const { exitCode } = await execa("systemctl", ["--user", "is-active", "openclaw-gateway.service"], { reject: false });

package/dist/commands/doctor.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/commands/init.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;~~AAgBH~~,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,~~CA8KlE~~"}
1	+ {"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAqBH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAsLlE"}

package/dist/commands/init.js CHANGED Viewed

@@ -21,6 +21,7 @@ import { execa } from "execa";
 import { runDoctorChecks } from "./doctor.js";
 import { getCliPaths, resetPathsCache } from "../util/paths.js";
 import { header, info, ok, warn, err, dim, withSpinner } from "../util/logger.js";
+import { ensureToolsAlsoAllow, openclawConfigExists, readAgenticrosContractTools, } from "../util/openclaw-config.js";
 import { ensureProfilesExist, switchMode } from "../util/profiles.js";
 import { writeState } from "../util/state.js";
 import { isWorkspaceBuilt, isWorkspaceInstalled } from "../util/workspace.js";
@@ -162,6 +163,13 @@ export async function initCommand(opts) {
     else {
         ok("OpenClaw plugin already installed (skip).");
     }
+    // Step: keep `tools.alsoAllow` in sync with the plugin manifest.
+    // OpenClaw 2026.6+ tool profiles (e.g. "coding") are strict allowlists; any
+    // `api.registerTool(...)` call the plugin makes is silently filtered out
+    // unless the tool id is opted into `tools.alsoAllow`. Without this step the
+    // chat agent loads the AgenticROS plugin successfully yet still tells the
+    // user "I don't have ros2_camera_snapshot / ros2_* tools exposed".
+    syncToolsAlsoAllow(repoRoot);
     // Step: robot config.
     if (opts.force || !userConfigExists()) {
         await promptAndWriteRobotConfig();
@@ -266,6 +274,36 @@ function openclawPluginInstalled() {
     const home = process.env["HOME"] ?? "";
     return existsSync(join(home, ".openclaw", "openclaw.json"));
 }
+/**
+ * Merge the plugin manifest's `contracts.tools` into the user's OpenClaw
+ * `tools.alsoAllow`. No-op when either the OpenClaw config or the manifest
+ * isn't present yet (e.g. a sim-only install where the OpenClaw plugin step
+ * was skipped). Side-effect free in that case.
+ */
+function syncToolsAlsoAllow(repoRoot) {
+    if (!openclawConfigExists()) {
+        dim("OpenClaw config not present; skipping tools.alsoAllow sync.");
+        return;
+    }
+    const tools = readAgenticrosContractTools(repoRoot);
+    if (!tools || tools.length === 0) {
+        dim("AgenticROS plugin manifest not found yet; tools.alsoAllow sync deferred.");
+        return;
+    }
+    const result = ensureToolsAlsoAllow(tools);
+    if (!result) {
+        warn("Could not read OpenClaw config to update tools.alsoAllow.");
+        return;
+    }
+    if (result.changed) {
+        ok(`Added ${result.added.length} AgenticROS tool(s) to OpenClaw tools.alsoAllow ` +
+            "(strict tool profile would otherwise hide them from the chat agent).");
+        dim(`  + ${result.added.join(", ")}`);
+    }
+    else {
+        ok("OpenClaw tools.alsoAllow already covers every AgenticROS tool (skip).");
+    }
+}
 function userConfigExists() {
     return existsSync(join(getCliPaths().userDataDir, "config.json"));
 }

package/dist/commands/init.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/commands/skills.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"skills.d.ts","sourceRoot":"","sources":["../../src/commands/skills.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;GAiBG;~~AAqBH~~,MAAM,WAAW,aAAa;IAC5B,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,GAAG,CAAC,EAAE,MAAM,CAAC;CACd;AAED,wBAAsB,aAAa,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,CAuBtE"}
1	+ {"version":3,"file":"skills.d.ts","sourceRoot":"","sources":["../../src/commands/skills.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;GAiBG;AA0BH,MAAM,WAAW,aAAa;IAC5B,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,GAAG,CAAC,EAAE,MAAM,CAAC;CACd;AAED,wBAAsB,aAAa,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,CAuBtE"}

package/dist/commands/skills.js CHANGED Viewed

@@ -23,7 +23,7 @@ import { execa } from "execa";
 import { addSkillByPackage, addSkillByPath, deriveSkillId, inspectSkillDir, listSkills, removeSkill, scanForSkills, } from "../util/skills.js";
 import { getCliPaths } from "../util/paths.js";
 import { colors, dim, err, header, info, isTty, ok, warn } from "../util/logger.js";
-import { openclawConfigPath } from "../util/openclaw-config.js";
+import { ensureToolsAlsoAllow, openclawConfigExists, openclawConfigPath, readAgenticrosContractTools, } from "../util/openclaw-config.js";
 export async function skillsCommand(opts) {
     const action = (opts.action ?? "list").toLowerCase();
     switch (action) {
@@ -296,6 +296,7 @@ async function syncManifest() {
             process.stderr.write(stderr.endsWith("\n") ? stderr : `${stderr}\n`);
         if (exitCode === 0) {
             ok("sync-skill-tools complete.");
+            syncAlsoAllowFromManifest(paths.repoRoot ?? paths.installDir);
             hintRestartGateway();
         }
         else {
@@ -308,6 +309,26 @@ async function syncManifest() {
         process.exit(1);
     }
 }
+/**
+ * Mirror the plugin manifest's `contracts.tools` into the user's OpenClaw
+ * `tools.alsoAllow`. This is the "chat actually sees the new skill's tools"
+ * step — without it, OpenClaw 2026.6+ tool profiles (`coding`, `standard`,
+ * …) silently drop any plugin-registered tool that the user hasn't opted
+ * into. Run after every config-changing skill op so the allowlist tracks
+ * whatever `sync-skill-tools.mjs` just wrote into `contracts.tools`.
+ */
+function syncAlsoAllowFromManifest(repoRoot) {
+    if (!openclawConfigExists())
+        return;
+    const tools = readAgenticrosContractTools(repoRoot);
+    if (!tools || tools.length === 0)
+        return;
+    const result = ensureToolsAlsoAllow(tools);
+    if (!result || !result.changed)
+        return;
+    ok(`Added ${result.added.length} tool(s) to OpenClaw tools.alsoAllow so the chat agent can see them:`);
+    dim(`  + ${result.added.join(", ")}`);
+}
 /**
  * After any add/remove that modified the OpenClaw config, prompt to run the
  * tools-allowlist sync and remind the user to bounce the gateway. Skipping

package/dist/commands/skills.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/util/openclaw-config.d.ts CHANGED Viewed

@@ -37,4 +37,65 @@ export declare function getAgenticrosPluginConfig(cfg: Record<string, unknown>):
  * we don't silently drop opaque values, but lookups still operate on strings.
  */
 export declare function ensureStringArray(obj: Record<string, unknown>, key: string): unknown[];
+/**
+ * Locate the AgenticROS plugin manifest whose `contracts.tools` the CLI
+ * should treat as canonical.
+ *
+ * Order:
+ *   1. The in-repo source manifest at
+ *      `<installRoot>/packages/agenticros/openclaw.plugin.json`. This is
+ *      the "future-proof" list — anything `sync-skill-tools.mjs` adds for
+ *      a new skill lands here first, and the next `setup_gateway_plugin.sh`
+ *      run propagates it into the deploy. Stamping `alsoAllow` from this
+ *      file means the chat agent picks up the new tools the moment the
+ *      gateway restarts, with no second sync round-trip.
+ *   2. The deploy dir produced by `setup_gateway_plugin.sh`
+ *      (`~/.agenticros/plugin-deploy/openclaw.plugin.json`) — used when
+ *      the CLI runs without a workspace checkout (npx-from-tarball).
+ *
+ * `installRoot` is the agenticros workspace root (`getCliPaths().repoRoot`).
+ * Returns `undefined` if neither file exists yet — callers should treat that
+ * as "plugin not installed yet, skip the sync step".
+ */
+export declare function findAgenticrosPluginManifest(installRoot?: string): string | undefined;
+/**
+ * Read `contracts.tools` from the AgenticROS plugin manifest, or `undefined`
+ * if we can't find / parse it. This is the canonical list the CLI uses when
+ * stamping `tools.alsoAllow` in the OpenClaw config.
+ */
+export declare function readAgenticrosContractTools(installRoot?: string): string[] | undefined;
+export interface AlsoAllowSyncResult {
+    /** Tools that were already in `alsoAllow` before we ran. */
+    preExisting: string[];
+    /** Tools we appended this run (anything from `tools` that wasn't already allowed). */
+    added: string[];
+    /** Full `alsoAllow` after the update — useful for logging. */
+    final: string[];
+    /** True when the on-disk config was modified. */
+    changed: boolean;
+}
+/**
+ * Make sure every tool id in `tools` is reachable from the chat agent's tool
+ * picker by appending missing entries to `cfg.tools.alsoAllow`.
+ *
+ * Why this exists: OpenClaw 2026.6+ ships a `tools.profile` ("coding",
+ * "standard", …) that is a *strict* allowlist applied before plugin-registered
+ * tools are merged in. Plugins like AgenticROS can register tools all day, but
+ * the chat agent will never see them unless the user opts each one in via
+ * `tools.alsoAllow`. The gateway logs this as "Browser is configured, but the
+ * current tool profile does not include the browser tool…" for built-ins; for
+ * plugin tools you instead just see the agent claim "I don't have those tools"
+ * in chat. We keep the user out of that footgun by syncing `alsoAllow` to the
+ * plugin's `contracts.tools` whenever the CLI knows the canonical list.
+ *
+ * Idempotent. Never removes entries (other plugins may have added their own).
+ * Returns a result rather than mutating cfg in-place + writing, because
+ * callers sometimes want to combine this with other config mutations and
+ * write once at the end. This function still writes when run standalone
+ * (when `write` is true, the default) so simple callers stay one-liners.
+ */
+export declare function ensureToolsAlsoAllow(tools: string[], opts?: {
+    write?: boolean;
+    cfg?: Record<string, unknown>;
+}): AlsoAllowSyncResult | undefined;
 //# sourceMappingURL=openclaw-config.d.ts.map

package/dist/util/openclaw-config.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"openclaw-config.d.ts","sourceRoot":"","sources":["../../src/util/openclaw-config.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAMH,mFAAmF;AACnF,wBAAgB,kBAAkB,IAAI,MAAM,CAI3C;AAED,wBAAgB,oBAAoB,IAAI,OAAO,CAE9C;AAED;;;GAGG;AACH,wBAAgB,kBAAkB,IAAI,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,SAAS,CAYxE;AAED,uFAAuF;AACvF,wBAAgB,mBAAmB,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,IAAI,CAItE;AAED;;;;GAIG;AACH,wBAAgB,yBAAyB,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAK/F;AAYD;;;;GAIG;AACH,wBAAgB,iBAAiB,CAC/B,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC5B,GAAG,EAAE,MAAM,GACV,OAAO,EAAE,CAMX;AAED;;;;;;;;;;;;;;;;;;;GAmBG;AACH,wBAAgB,4BAA4B,CAAC,WAAW,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,CAQrF;AAED;;;;GAIG;AACH,wBAAgB,2BAA2B,CAAC,WAAW,CAAC,EAAE,MAAM,GAAG,MAAM,EAAE,GAAG,SAAS,CAatF;AAED,MAAM,WAAW,mBAAmB;IAClC,4DAA4D;IAC5D,WAAW,EAAE,MAAM,EAAE,CAAC;IACtB,sFAAsF;IACtF,KAAK,EAAE,MAAM,EAAE,CAAC;IAChB,8DAA8D;IAC9D,KAAK,EAAE,MAAM,EAAE,CAAC;IAChB,iDAAiD;IACjD,OAAO,EAAE,OAAO,CAAC;CAClB;AAED;;;;;;;;;;;;;;;;;;;GAmBG;AACH,wBAAgB,oBAAoB,CAClC,KAAK,EAAE,MAAM,EAAE,EACf,IAAI,GAAE;IAAE,KAAK,CAAC,EAAE,OAAO,CAAC;IAAC,GAAG,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAA;CAAO,GAC5D,mBAAmB,GAAG,SAAS,CAiBjC"}

package/dist/util/openclaw-config.js CHANGED Viewed

@@ -86,4 +86,97 @@ export function ensureStringArray(obj, key) {
     obj[key] = fresh;
     return fresh;
 }
+/**
+ * Locate the AgenticROS plugin manifest whose `contracts.tools` the CLI
+ * should treat as canonical.
+ *
+ * Order:
+ *   1. The in-repo source manifest at
+ *      `<installRoot>/packages/agenticros/openclaw.plugin.json`. This is
+ *      the "future-proof" list — anything `sync-skill-tools.mjs` adds for
+ *      a new skill lands here first, and the next `setup_gateway_plugin.sh`
+ *      run propagates it into the deploy. Stamping `alsoAllow` from this
+ *      file means the chat agent picks up the new tools the moment the
+ *      gateway restarts, with no second sync round-trip.
+ *   2. The deploy dir produced by `setup_gateway_plugin.sh`
+ *      (`~/.agenticros/plugin-deploy/openclaw.plugin.json`) — used when
+ *      the CLI runs without a workspace checkout (npx-from-tarball).
+ *
+ * `installRoot` is the agenticros workspace root (`getCliPaths().repoRoot`).
+ * Returns `undefined` if neither file exists yet — callers should treat that
+ * as "plugin not installed yet, skip the sync step".
+ */
+export function findAgenticrosPluginManifest(installRoot) {
+    if (installRoot) {
+        const inRepo = join(installRoot, "packages", "agenticros", "openclaw.plugin.json");
+        if (existsSync(inRepo))
+            return inRepo;
+    }
+    const deployed = join(homedir(), ".agenticros", "plugin-deploy", "openclaw.plugin.json");
+    if (existsSync(deployed))
+        return deployed;
+    return undefined;
+}
+/**
+ * Read `contracts.tools` from the AgenticROS plugin manifest, or `undefined`
+ * if we can't find / parse it. This is the canonical list the CLI uses when
+ * stamping `tools.alsoAllow` in the OpenClaw config.
+ */
+export function readAgenticrosContractTools(installRoot) {
+    const manifestPath = findAgenticrosPluginManifest(installRoot);
+    if (!manifestPath)
+        return undefined;
+    try {
+        const m = JSON.parse(readFileSync(manifestPath, "utf8"));
+        const tools = m.contracts?.tools;
+        if (!Array.isArray(tools))
+            return undefined;
+        return tools.filter((t) => typeof t === "string");
+    }
+    catch {
+        return undefined;
+    }
+}
+/**
+ * Make sure every tool id in `tools` is reachable from the chat agent's tool
+ * picker by appending missing entries to `cfg.tools.alsoAllow`.
+ *
+ * Why this exists: OpenClaw 2026.6+ ships a `tools.profile` ("coding",
+ * "standard", …) that is a *strict* allowlist applied before plugin-registered
+ * tools are merged in. Plugins like AgenticROS can register tools all day, but
+ * the chat agent will never see them unless the user opts each one in via
+ * `tools.alsoAllow`. The gateway logs this as "Browser is configured, but the
+ * current tool profile does not include the browser tool…" for built-ins; for
+ * plugin tools you instead just see the agent claim "I don't have those tools"
+ * in chat. We keep the user out of that footgun by syncing `alsoAllow` to the
+ * plugin's `contracts.tools` whenever the CLI knows the canonical list.
+ *
+ * Idempotent. Never removes entries (other plugins may have added their own).
+ * Returns a result rather than mutating cfg in-place + writing, because
+ * callers sometimes want to combine this with other config mutations and
+ * write once at the end. This function still writes when run standalone
+ * (when `write` is true, the default) so simple callers stay one-liners.
+ */
+export function ensureToolsAlsoAllow(tools, opts = {}) {
+    const cfg = opts.cfg ?? readOpenclawConfig();
+    if (!cfg)
+        return undefined;
+    const toolsBlock = asObject(cfg, "tools");
+    const rawAlso = ensureStringArray(toolsBlock, "alsoAllow");
+    const preExisting = rawAlso.filter((x) => typeof x === "string");
+    const added = [];
+    for (const t of tools) {
+        if (typeof t !== "string" || t.length === 0)
+            continue;
+        if (preExisting.includes(t) || added.includes(t))
+            continue;
+        rawAlso.push(t);
+        added.push(t);
+    }
+    const final = [...preExisting, ...added];
+    const changed = added.length > 0;
+    if (opts.write !== false && changed)
+        writeOpenclawConfig(cfg);
+    return { preExisting, added, final, changed };
+}
 //# sourceMappingURL=openclaw-config.js.map

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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.13",
+  "version": "0.1.15",
   "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 CHANGED Viewed

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-06T22:08:53.765Z",
+  "packedAt": "2026-06-08T20:47:20.747Z",
   "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/README.md CHANGED Viewed

@@ -78,6 +78,7 @@ The first run launches the interactive menu:
   Launch with real robot
 ❯ Launch with simulation
   First-time setup (workspace + OpenClaw plugin + API key)
+  Manage skills (2 registered, 0 available, 0 broken)
   Stop everything
   Doctor (health check)
   Configure (API keys, namespace, transport)
@@ -106,6 +107,7 @@ agenticros up real              # real robot stack
 agenticros up sim-amr           # simulated AMR (Gazebo + RViz, headless on Jetson)
 agenticros up sim-arm           # simulated 6-DOF arm
 agenticros mode <real|sim>      # swap the active config profile (namespace, transport)
+agenticros skills               # list / add / remove AgenticROS skills (see below)
 agenticros doctor               # coloured health check
 agenticros down                 # stop everything we started
 ```
@@ -320,14 +322,67 @@ Add `{ "memory": { "enabled": true, "backend": "mem0" } }` to `~/.agenticros/con
 ## Skills
-AgenticROS **skills** are optional packages that add tools and behaviors to the plugin. They are loaded at gateway start.
+AgenticROS **skills** are optional packages that add tools and behaviors to the plugin (e.g. `follow_robot`, `find_object`). They are loaded at OpenClaw gateway start. **[AgenticROS Skills](https://github.com/agenticros/agenticros-skills)** is a curated list — use it to discover skills for your robot and to submit your own.
-**[AgenticROS Skills](https://github.com/agenticros/agenticros-skills)** is a curated list of skills — use it to discover skills for your robot and to submit your own via pull request.
+### Managing skills with the CLI
-- **Install**: In the OpenClaw config file, under `plugins.entries.agenticros.config`, set `**skillPackages`** (e.g. `["agenticros-skill-followme"]`) and ensure the package is installed where the gateway runs, or set `**skillPaths`** to directories containing skill packages. Restart the gateway after changes.
-- **Config**: Each skill reads its options from `**config.skills.<skillId>`** (e.g. `config.skills.followme`).
-- **Contract and creating a skill**: See **[docs/skills.md](docs/skills.md)** for the full contract, install steps, and how to build a third-party skill.
-- **Reference skill**: **[agenticros-skill-followme](https://github.com/your-org/agenticros-skill-followme)** — Follow Me (depth + optional Ollama), with tools `follow_robot`, `follow_me_see`, and `ollama_status`. Use its README as a template for new skills.
+The `agenticros skills` command (and the **Manage skills** menu entry) does everything for you: it scans the usual locations for clones, edits `~/.openclaw/openclaw.json`, refreshes the plugin manifest's `contracts.tools` allowlist, and reminds you to bounce the gateway.
+```bash
+agenticros skills                       # list registered + cloned-but-unregistered
+agenticros skills discover              # interactive picker over candidates on disk
+agenticros skills add <path-or-name>    # register a clone (path) or npm package
+agenticros skills remove <id-or-name>   # unregister
+agenticros skills sync                  # refresh OpenClaw contracts.tools allowlist
+```
+A typical first-run looks like:
+```bash
+# clone whichever skills you want, anywhere near the repo
+cd ~/Projects
+git clone https://github.com/agenticros/agenticros-skill-followme
+git clone https://github.com/agenticros/agenticros-skill-find
+# build them (skills compile independently of the main workspace)
+cd agenticros-skill-followme && pnpm install && pnpm build && cd ..
+cd agenticros-skill-find     && pnpm install && pnpm build && cd ..
+# register both — short ids resolve against the discovered clones
+agenticros skills add followme
+agenticros skills add find
+agenticros skills sync                  # update contracts.tools
+systemctl --user restart openclaw-gateway.service
+```
+`agenticros skills` then shows them as registered, and `agenticros doctor` includes a skills health-check that flags any clone that hasn't been built or whose `skillPaths` entry no longer exists.
+Listing output:
+```text
+╔─────────────────────╗
+║  AgenticROS skills  ║
+╚─────────────────────╝
+› OpenClaw config: /home/you/.openclaw/openclaw.json
+Registered:
+  ● followme  agenticros-skill-followme
+      via path  →  /home/you/Projects/agenticros-skill-followme
+  ● find      agenticros-skill-find
+      via path  →  /home/you/Projects/agenticros-skill-find
+```
+### What the CLI writes
+- `~/.openclaw/openclaw.json` → `plugins.entries.agenticros.config.skillPaths[]` and `.skillPackages[]` (the only place the plugin actually reads from at gateway start).
+- `packages/agenticros/openclaw.plugin.json` → `contracts.tools` allowlist via `scripts/sync-skill-tools.mjs`. Required on OpenClaw **2026+**, which silently drops any tool a plugin registers but hasn't declared.
+Per-skill behaviour lives under `config.skills.<skillId>` (e.g. `config.skills.followme.depthTopic`). The CLI doesn't auto-write these — use `agenticros config set skills.find.confidence=0.5` or edit `~/.openclaw/openclaw.json` directly. See each skill's README for its options.
+### Contract & writing your own skill
+A skill is a Node package with `"agenticrosSkill": true` in `package.json` and a `registerSkill(api, config, context)` export from `main`. See **[docs/skills.md](docs/skills.md)** for the full contract and **[agenticros-skill-followme](https://github.com/your-org/agenticros-skill-followme)** as a reference template.
 ## License

package/runtime/packages/agenticros/src/index.ts CHANGED Viewed

@@ -61,11 +61,16 @@ export default {
         api.logger.error("AgenticROS: memory init failed: " + msg);
       });
-    // Load optional skills from skillPackages and skillPaths (async; OpenClaw 2026.5+ requires sync register())
-    void loadSkills(api, config).catch((e) => {
+    // Load optional skills synchronously. OpenClaw 2026.6's plugin host snapshots
+    // captured.tools the instant register() returns, so any skill that registers
+    // tools must do so inline with this call (not via a Promise). See
+    // skill-loader.ts for the require(esm)-based mechanism.
+    try {
+      loadSkills(api, config);
+    } catch (e) {
       const msg = e instanceof Error ? e.message : String(e);
       api.logger.error("AgenticROS: skill load failed: " + msg);
-    });
+    }
     // Register safety validation hook (before_tool_call)
     registerSafetyHook(api, config);

package/runtime/packages/agenticros/src/skill-loader.ts CHANGED Viewed

@@ -1,10 +1,25 @@
 /**
  * Load skill packages from skillPackages (npm names) and skillPaths (directories).
- * Each loaded skill is called with registerSkill(api, config, context).
+ * Each loaded skill is called synchronously with registerSkill(api, config, context).
+ *
+ * Why sync (and not async): OpenClaw 2026.6's plugin host calls our `register(api)`
+ * synchronously and immediately snapshots `captured.tools` (and friends) into the
+ * gateway's registry. Anything we `api.registerTool(...)` after `register()` has
+ * returned is silently dropped from the chat agent's tool inventory. Loading
+ * skills via dynamic `import()` (Promise-returning) would push their `registerTool`
+ * calls onto the microtask queue — after the snapshot — so the agent would see
+ * "I don't have follow_robot / find_object" even though the gateway logged the
+ * skill as loaded.
+ *
+ * Node ≥ 22.12 (and definitely Node 26) supports synchronous `require()` of ESM
+ * modules as long as they don't use top-level await. We use that here: skills
+ * are loaded via `createRequire(import.meta.url)` so `registerSkill(...)` runs
+ * inline with the host's `register()` call, and the tools it registers land in
+ * the snapshot.
  */
-import { pathToFileURL } from "node:url";
 import { createRequire } from "node:module";
+import { pathToFileURL } from "node:url";
 import { readFileSync, readdirSync, existsSync } from "node:fs";
 import { join } from "node:path";
 import type { OpenClawPluginApi } from "./plugin-api.js";
@@ -35,29 +50,62 @@ function deriveSkillId(packageName: string): string {
 }
 /**
- * Load a single module and call registerSkill if present.
- * Returns the skill id if successful.
+ * Load a single skill module synchronously and call its `registerSkill`.
+ *
+ * Uses `require()` (which works for ESM in modern Node) so the call chain
+ * — including any `api.registerTool(...)` the skill makes — completes before
+ * we return, and therefore before the OpenClaw host snapshots `captured.tools`.
+ *
+ * Returns the derived skill id on success, or `null` (with a logged warning /
+ * error) on any failure mode: missing export, top-level await (which surfaces
+ * as `ERR_REQUIRE_ASYNC_MODULE`), or thrown initialization error.
  */
-async function loadSkillModule(
+function loadSkillModuleSync(
   api: OpenClawPluginApi,
   config: AgenticROSConfig,
   context: SkillContext,
   entryPath: string,
   packageName: string,
-): Promise<string | null> {
+): string | null {
   const skillId = deriveSkillId(packageName);
+  let mod: unknown;
+  try {
+    mod = require(entryPath);
+  } catch (err) {
+    const code = (err as { code?: string } | null)?.code;
+    if (code === "ERR_REQUIRE_ASYNC_MODULE") {
+      api.logger.error(
+        `Skill ${packageName}: uses top-level await; OpenClaw needs sync registration. ` +
+          "Refactor the skill to lazy-init its async resources from inside registerSkill().",
+      );
+    } else {
+      api.logger.error(`Failed to load skill ${packageName}: ${err}`);
+    }
+    return null;
+  }
+  const m = mod as { registerSkill?: unknown; default?: unknown };
+  const candidate = m.registerSkill
+    ?? (m.default as { registerSkill?: unknown } | undefined)?.registerSkill
+    ?? m.default;
+  if (typeof candidate !== "function") {
+    api.logger.warn(`Skill ${packageName}: no registerSkill export, skipping`);
+    return null;
+  }
   try {
-    const url = pathToFileURL(entryPath).href;
-    const mod = await import(/* webpackIgnore: true */ url);
-    const registerSkill = mod.registerSkill ?? mod.default?.registerSkill ?? mod.default;
-    if (typeof registerSkill !== "function") {
-      api.logger.warn(`Skill ${packageName}: no registerSkill export, skipping`);
-      return null;
+    const result = (candidate as RegisterSkill)(api, config, context);
+    if (result && typeof (result as { then?: unknown }).then === "function") {
+      api.logger.warn(
+        `Skill ${packageName}: registerSkill returned a Promise. Any tools registered ` +
+          "after it resolves will be dropped by OpenClaw's sync-register snapshot. " +
+          "Move tool registration above any awaits in registerSkill().",
+      );
+      (result as Promise<unknown>).catch((err: unknown) => {
+        api.logger.error(`Skill ${packageName}: async registerSkill rejected: ${String(err)}`);
+      });
     }
-    await Promise.resolve(registerSkill(api, config, context));
     return skillId;
   } catch (err) {
-    api.logger.error(`Failed to load skill ${packageName}: ${err}`);
+    api.logger.error(`Skill ${packageName}: registerSkill threw: ${String(err)}`);
     return null;
   }
 }
@@ -95,13 +143,16 @@ function findSkillInPath(dirPath: string): { entry: string; packageName: string
 }
 /**
- * Load all skills from config.skillPackages and config.skillPaths.
- * Builds context with getTransport, getDepthDistance, logger.
+ * Load all skills from config.skillPackages and config.skillPaths SYNCHRONOUSLY.
+ *
+ * This MUST be called inline from the plugin's `register(api)` function so the
+ * OpenClaw host captures every tool the skills register. See the file header
+ * for the full async-vs-sync explanation.
  */
-export async function loadSkills(
+export function loadSkills(
   api: OpenClawPluginApi,
   config: AgenticROSConfig,
-): Promise<void> {
+): void {
   const context: SkillContext = {
     getTransport,
     getDepthDistance,
@@ -120,7 +171,7 @@ export async function loadSkills(
       api.logger.warn(`Skill package not found: ${pkgName}`);
       continue;
     }
-    const skillId = await loadSkillModule(api, config, context, entryPath, pkgName);
+    const skillId = loadSkillModuleSync(api, config, context, entryPath, pkgName);
     if (skillId) loadedSkillIds.push(skillId);
   }
@@ -130,7 +181,7 @@ export async function loadSkills(
       api.logger.warn(`No agenticros skill in path: ${dir}`);
       continue;
     }
-    const skillId = await loadSkillModule(
+    const skillId = loadSkillModuleSync(
       api,
       config,
       context,
@@ -144,3 +195,8 @@ export async function loadSkills(
     api.logger.info(`AgenticROS: loaded skills: ${loadedSkillIds.join(", ")}`);
   }
 }
+// Reserved for future use (e.g. file:// URL based loaders); keeps the import
+// node:url's pathToFileURL referenced so editors don't flag it during the
+// sync-only window.
+void pathToFileURL;