agenticros 0.1.14 → 0.1.15

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

@@ -1 +1 @@
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+{"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

@@ -310,6 +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

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.14",
+  "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

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-08T20:06:42.131Z",
+  "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/packages/agenticros/src/index.ts

@@ -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

@@ -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;