agenticros 0.1.18 → 0.1.19

package/runtime/packages/agenticros/src/tools/ros2-subscribe.ts

@@ -2,7 +2,8 @@ import { Type } from "@sinclair/typebox";
 import type { OpenClawPluginApi } from "../plugin-api.js";
 import type { AgenticROSConfig } from "@agenticros/core";
 import { toNamespacedTopic } from "@agenticros/core";
-import { getTransport } from "../service.js";
+import { getTransportForRobot } from "../service.js";
+import { ROBOT_ID_SCHEMA, resolveRobotForTool } from "./_robot-helpers.js";
 
 /**
  * Register the ros2_subscribe_once tool with the AI agent.
@@ -14,16 +15,22 @@ export function registerSubscribeTool(api: OpenClawPluginApi, config: AgenticROS
     label: "ROS2 Subscribe Once",
     description:
       "Subscribe to a ROS2 topic and return the next message. Use this to read sensor data, " +
-      "check robot state, or get the current value of a topic.",
+      "check robot state, or get the current value of a topic. " +
+      "Pass robot_id (from ros2_list_robots) to target a specific robot.",
     parameters: Type.Object({
       topic: Type.String({ description: "The ROS2 topic name (e.g., '/battery_state')" }),
       type: Type.Optional(Type.String({ description: "The ROS2 message type (e.g., 'sensor_msgs/msg/BatteryState')" })),
       timeout: Type.Optional(Type.Number({ description: "Timeout in milliseconds (default: 5000)" })),
+      ...ROBOT_ID_SCHEMA,
     }),
 
     async execute(_toolCallId, params) {
+      const resolved = resolveRobotForTool(config, params);
+      if ("error" in resolved) return resolved.error;
+      const { robot } = resolved;
+
       const rawTopic = params["topic"] as string;
-      const topic = toNamespacedTopic(config, rawTopic);
+      const topic = toNamespacedTopic(robot.namespace, rawTopic);
       let msgType = params["type"] as string | undefined;
       const timeout = (params["timeout"] as number | undefined) ?? 5000;
 
@@ -31,7 +38,7 @@ export function registerSubscribeTool(api: OpenClawPluginApi, config: AgenticROS
         msgType = rawTopic.includes("compressed") ? "sensor_msgs/msg/CompressedImage" : "sensor_msgs/msg/Image";
       }
 
-      const transport = getTransport();
+      const transport = await getTransportForRobot(config, robot);
 
       const result = await new Promise<Record<string, unknown>>((resolve, reject) => {
         const subscription = transport.subscribe(

package/runtime/packages/agenticros-claude-code/package.json

@@ -9,7 +9,8 @@
   },
   "scripts": {
     "build": "tsc",
-    "typecheck": "tsc --noEmit"
+    "typecheck": "tsc --noEmit",
+    "test": "node --test --test-force-exit \"dist/__tests__/*.test.js\""
   },
   "dependencies": {
     "@agenticros/core": "workspace:*",