agenticros 0.1.18 → 0.2.0

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 (164) hide show
  1. package/dist/__tests__/robot-config.test.d.ts +2 -0
  2. package/dist/__tests__/robot-config.test.d.ts.map +1 -0
  3. package/dist/__tests__/robot-config.test.js +374 -0
  4. package/dist/__tests__/robot-config.test.js.map +1 -0
  5. package/dist/__tests__/transport-shorthand.test.d.ts +2 -0
  6. package/dist/__tests__/transport-shorthand.test.d.ts.map +1 -0
  7. package/dist/__tests__/transport-shorthand.test.js +88 -0
  8. package/dist/__tests__/transport-shorthand.test.js.map +1 -0
  9. package/dist/commands/robots.d.ts +57 -0
  10. package/dist/commands/robots.d.ts.map +1 -0
  11. package/dist/commands/robots.js +678 -0
  12. package/dist/commands/robots.js.map +1 -0
  13. package/dist/commands/skills.d.ts.map +1 -1
  14. package/dist/commands/skills.js +125 -2
  15. package/dist/commands/skills.js.map +1 -1
  16. package/dist/index.js +29 -1
  17. package/dist/index.js.map +1 -1
  18. package/dist/menu.js +22 -4
  19. package/dist/menu.js.map +1 -1
  20. package/dist/util/marketplace.d.ts +57 -0
  21. package/dist/util/marketplace.d.ts.map +1 -0
  22. package/dist/util/marketplace.js +144 -0
  23. package/dist/util/marketplace.js.map +1 -0
  24. package/dist/util/mcp-discovery.d.ts +57 -0
  25. package/dist/util/mcp-discovery.d.ts.map +1 -0
  26. package/dist/util/mcp-discovery.js +153 -0
  27. package/dist/util/mcp-discovery.js.map +1 -0
  28. package/dist/util/robot-config.d.ts +167 -0
  29. package/dist/util/robot-config.d.ts.map +1 -0
  30. package/dist/util/robot-config.js +375 -0
  31. package/dist/util/robot-config.js.map +1 -0
  32. package/dist/util/skills.d.ts +6 -6
  33. package/dist/util/skills.d.ts.map +1 -1
  34. package/dist/util/skills.js +14 -9
  35. package/dist/util/skills.js.map +1 -1
  36. package/dist/util/transport-shorthand.d.ts +66 -0
  37. package/dist/util/transport-shorthand.d.ts.map +1 -0
  38. package/dist/util/transport-shorthand.js +102 -0
  39. package/dist/util/transport-shorthand.js.map +1 -0
  40. package/package.json +12 -10
  41. package/runtime/BUNDLE.json +1 -1
  42. package/runtime/README.md +62 -1
  43. package/runtime/package.json +6 -1
  44. package/runtime/packages/agenticros/openclaw.plugin.json +7 -1
  45. package/runtime/packages/agenticros/package.json +2 -1
  46. package/runtime/packages/agenticros/src/__tests__/capabilities-plugin.test.ts +568 -0
  47. package/runtime/packages/agenticros/src/config-page.ts +1 -1
  48. package/runtime/packages/agenticros/src/mission-registry.ts +22 -0
  49. package/runtime/packages/agenticros/src/service.ts +120 -2
  50. package/runtime/packages/agenticros/src/skill-loader.ts +109 -30
  51. package/runtime/packages/agenticros/src/tools/_robot-helpers.ts +68 -0
  52. package/runtime/packages/agenticros/src/tools/index.ts +49 -9
  53. package/runtime/packages/agenticros/src/tools/mission-cancel.ts +70 -0
  54. package/runtime/packages/agenticros/src/tools/ros2-action.ts +11 -4
  55. package/runtime/packages/agenticros/src/tools/ros2-camera.ts +10 -4
  56. package/runtime/packages/agenticros/src/tools/ros2-capabilities.ts +63 -0
  57. package/runtime/packages/agenticros/src/tools/ros2-depth-distance.ts +11 -4
  58. package/runtime/packages/agenticros/src/tools/ros2-discover.ts +65 -0
  59. package/runtime/packages/agenticros/src/tools/ros2-find-robots-for.ts +128 -0
  60. package/runtime/packages/agenticros/src/tools/ros2-mission.ts +311 -0
  61. package/runtime/packages/agenticros/src/tools/ros2-param.ts +20 -7
  62. package/runtime/packages/agenticros/src/tools/ros2-publish.ts +15 -8
  63. package/runtime/packages/agenticros/src/tools/ros2-robots.ts +52 -0
  64. package/runtime/packages/agenticros/src/tools/ros2-service.ts +11 -4
  65. package/runtime/packages/agenticros/src/tools/ros2-subscribe.ts +11 -4
  66. package/runtime/packages/agenticros-claude-code/README.md +52 -9
  67. package/runtime/packages/agenticros-claude-code/dist/__tests__/capabilities-mcp.test.d.ts +2 -0
  68. package/runtime/packages/agenticros-claude-code/dist/__tests__/capabilities-mcp.test.d.ts.map +1 -0
  69. package/runtime/packages/agenticros-claude-code/dist/__tests__/capabilities-mcp.test.js +773 -0
  70. package/runtime/packages/agenticros-claude-code/dist/__tests__/capabilities-mcp.test.js.map +1 -0
  71. package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.d.ts +2 -0
  72. package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.d.ts.map +1 -0
  73. package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.js +97 -0
  74. package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.js.map +1 -0
  75. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts +2 -2
  76. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map +1 -1
  77. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js +5 -5
  78. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map +1 -1
  79. package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.d.ts +109 -0
  80. package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.d.ts.map +1 -0
  81. package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.js +392 -0
  82. package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.js.map +1 -0
  83. package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.d.ts +8 -3
  84. package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.d.ts.map +1 -1
  85. package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.js +30 -12
  86. package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.js.map +1 -1
  87. package/runtime/packages/agenticros-claude-code/dist/index.js +5 -5
  88. package/runtime/packages/agenticros-claude-code/dist/index.js.map +1 -1
  89. package/runtime/packages/agenticros-claude-code/dist/mission-registry.d.ts +16 -0
  90. package/runtime/packages/agenticros-claude-code/dist/mission-registry.d.ts.map +1 -0
  91. package/runtime/packages/agenticros-claude-code/dist/mission-registry.js +19 -0
  92. package/runtime/packages/agenticros-claude-code/dist/mission-registry.js.map +1 -0
  93. package/runtime/packages/agenticros-claude-code/dist/tools.d.ts +9 -0
  94. package/runtime/packages/agenticros-claude-code/dist/tools.d.ts.map +1 -1
  95. package/runtime/packages/agenticros-claude-code/dist/tools.js +700 -54
  96. package/runtime/packages/agenticros-claude-code/dist/tools.js.map +1 -1
  97. package/runtime/packages/agenticros-claude-code/dist/transport.d.ts +28 -8
  98. package/runtime/packages/agenticros-claude-code/dist/transport.d.ts.map +1 -1
  99. package/runtime/packages/agenticros-claude-code/dist/transport.js +37 -34
  100. package/runtime/packages/agenticros-claude-code/dist/transport.js.map +1 -1
  101. package/runtime/packages/agenticros-claude-code/package.json +2 -1
  102. package/runtime/packages/agenticros-claude-code/src/__tests__/capabilities-mcp.test.ts +965 -0
  103. package/runtime/packages/agenticros-claude-code/src/__tests__/follow-me-registry.test.ts +119 -0
  104. package/runtime/packages/agenticros-claude-code/src/find-object/find-object.ts +7 -6
  105. package/runtime/packages/agenticros-claude-code/src/follow-me/depth-loop.ts +41 -9
  106. package/runtime/packages/agenticros-claude-code/src/follow-me/loop.ts +40 -11
  107. package/runtime/packages/agenticros-claude-code/src/index.ts +5 -5
  108. package/runtime/packages/agenticros-claude-code/src/mission-registry.ts +21 -0
  109. package/runtime/packages/agenticros-claude-code/src/tools.ts +668 -56
  110. package/runtime/packages/agenticros-claude-code/src/transport.ts +43 -43
  111. package/runtime/packages/agenticros-gemini/package.json +1 -0
  112. package/runtime/packages/agenticros-gemini/src/__tests__/mission-cancel.test.ts +197 -0
  113. package/runtime/packages/agenticros-gemini/src/__tests__/mission-transcripts.test.ts +178 -0
  114. package/runtime/packages/agenticros-gemini/src/tools.ts +504 -21
  115. package/runtime/packages/agenticros-gemini/src/transport.ts +40 -43
  116. package/runtime/packages/core/LICENSE +192 -0
  117. package/runtime/packages/core/README.md +88 -0
  118. package/runtime/packages/core/package.json +36 -3
  119. package/runtime/packages/core/src/__tests__/capabilities.test.ts +266 -0
  120. package/runtime/packages/core/src/__tests__/discovery.test.ts +206 -0
  121. package/runtime/packages/core/src/__tests__/find-robots-for.test.ts +258 -0
  122. package/runtime/packages/core/src/__tests__/mission-cancel-transcript.test.ts +371 -0
  123. package/runtime/packages/core/src/__tests__/mission-transcript-sink.test.ts +189 -0
  124. package/runtime/packages/core/src/__tests__/mission.test.ts +501 -0
  125. package/runtime/packages/core/src/__tests__/planner.test.ts +279 -0
  126. package/runtime/packages/core/src/__tests__/robots.test.ts +406 -0
  127. package/runtime/packages/core/src/__tests__/topic-utils.test.ts +105 -0
  128. package/runtime/packages/core/src/__tests__/transport-pool.test.ts +295 -0
  129. package/runtime/packages/core/src/capabilities.ts +314 -0
  130. package/runtime/packages/core/src/config.ts +221 -39
  131. package/runtime/packages/core/src/discovery.ts +193 -0
  132. package/runtime/packages/core/src/find-robots-for.ts +164 -0
  133. package/runtime/packages/core/src/index.ts +67 -1
  134. package/runtime/packages/core/src/mission-registry.ts +142 -0
  135. package/runtime/packages/core/src/mission-transcript-sink.ts +81 -0
  136. package/runtime/packages/core/src/mission.ts +574 -0
  137. package/runtime/packages/core/src/planner/index.ts +564 -0
  138. package/runtime/packages/core/src/robots.ts +282 -0
  139. package/runtime/packages/core/src/topic-utils.ts +47 -9
  140. package/runtime/packages/core/src/transport-pool.ts +171 -0
  141. package/runtime/ros2_ws/src/agenticros_discovery/agenticros_discovery/discovery_node.py +108 -13
  142. package/runtime/ros2_ws/src/agenticros_msgs/CMakeLists.txt +1 -0
  143. package/runtime/ros2_ws/src/agenticros_msgs/msg/RobotInfo.msg +44 -0
  144. package/runtime/scripts/__tests__/refresh-skill-deps.test.mjs +222 -0
  145. package/runtime/scripts/configure_agenticros.sh +0 -0
  146. package/runtime/scripts/configure_for_sim.sh +0 -0
  147. package/runtime/scripts/fix-openclaw-control-ui-path.sh +0 -0
  148. package/runtime/scripts/install_cli.sh +0 -0
  149. package/runtime/scripts/install_rosbridge_from_source.sh +0 -0
  150. package/runtime/scripts/onboard_robot.sh +0 -0
  151. package/runtime/scripts/pack-runtime.mjs +0 -0
  152. package/runtime/scripts/refresh-skill-deps.mjs +381 -0
  153. package/runtime/scripts/run_demo_native.sh +0 -0
  154. package/runtime/scripts/run_nemoclaw_host_stack.sh +0 -0
  155. package/runtime/scripts/run_robot_rosbridge.sh +0 -0
  156. package/runtime/scripts/setup_gateway_plugin.sh +32 -5
  157. package/runtime/scripts/setup_robot.sh +0 -0
  158. package/runtime/scripts/setup_workspace.sh +0 -0
  159. package/runtime/scripts/sim/run_sim.sh +0 -0
  160. package/runtime/scripts/smoke_test_nemoclaw.sh +0 -0
  161. package/runtime/scripts/start_demo.sh +0 -0
  162. package/runtime/scripts/sync-skill-tools.mjs +69 -12
  163. package/runtime/scripts/use-openclaw-2026.2.26.sh +0 -0
  164. package/runtime/scripts/use-openclaw-2026.3.11.sh +0 -0
package/runtime/packages/agenticros-claude-code/dist/__tests__/capabilities-mcp.test.js.map ADDED
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package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.d.ts ADDED
@@ -0,0 +1,2 @@
1
+ export {};
2
+ //# sourceMappingURL=follow-me-registry.test.d.ts.map
package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.d.ts.map ADDED
@@ -0,0 +1 @@
1
+ {"version":3,"file":"follow-me-registry.test.d.ts","sourceRoot":"","sources":["../../src/__tests__/follow-me-registry.test.ts"],"names":[],"mappings":""}
package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.js ADDED
@@ -0,0 +1,97 @@
1
+ /**
2
+ * Per-robot isolation tests for the follow-me + find-object skill registries.
3
+ *
4
+ * Phase 1.d-extend asserts that each robot keeps its own independent
5
+ * follow-me loop instance, keyed by `robot.id`. If two robots ever share a
6
+ * single loop, starting follow-me on one would silently steer the other
7
+ * and `ros2_follow_me_status` would conflate state — exactly the regression
8
+ * this suite is designed to catch.
9
+ *
10
+ * These tests run as pure registry checks — they construct a minimal mock
11
+ * `RosTransport` so the loop constructors don't reach for the network, and
12
+ * they reset the registry between tests so suites stay deterministic.
13
+ */
14
+ import { test } from "node:test";
15
+ import assert from "node:assert/strict";
16
+ import { getFollowMeDepth, _resetFollowMeDepthRegistry, } from "../follow-me/depth-loop.js";
17
+ import { getFollowMeLocal, _resetFollowMeLocalRegistry, } from "../follow-me/loop.js";
18
+ import { parseConfig } from "@agenticros/core";
19
+ /**
20
+ * Minimal `RosTransport` stub. The follow-me loops only touch the transport
21
+ * inside `start()` (subscribe + publish) — the constructor + registry path
22
+ * never call into it. We provide a no-op surface so TypeScript is happy and
23
+ * any accidental call surfaces as an obvious "TypeError: ... not a function".
24
+ */
25
+ function stubTransport() {
26
+ // The follow-me loop constructors don't touch the transport — they only
27
+ // call into it from `start()`. We cast through `unknown` so the test
28
+ // doesn't have to track the full RosTransport surface area; any
29
+ // accidental method call surfaces as a clean "not a function" error.
30
+ return {};
31
+ }
32
+ function makeRobot(id, namespace) {
33
+ return {
34
+ id,
35
+ name: id,
36
+ namespace,
37
+ cameraTopic: "",
38
+ kind: "amr",
39
+ sensors: { has_realsense: false, has_lidar: false, has_arm: false },
40
+ source: "config",
41
+ };
42
+ }
43
+ const CONFIG = parseConfig({ robot: { namespace: "robot-a" } });
44
+ test("follow-me-registry: getFollowMeDepth returns the same instance for the same robot.id", () => {
45
+ _resetFollowMeDepthRegistry();
46
+ const transport = stubTransport();
47
+ const robotA = makeRobot("robot-a", "robot-a");
48
+ const first = getFollowMeDepth(robotA, CONFIG, transport);
49
+ const second = getFollowMeDepth(robotA, CONFIG, transport);
50
+ assert.strictEqual(first, second, "two calls with the same robot.id must return the identical loop instance");
51
+ assert.equal(first.robotId, "robot-a", "instance should remember its robot.id");
52
+ });
53
+ test("follow-me-registry: getFollowMeDepth returns DIFFERENT instances for DIFFERENT robot.ids", () => {
54
+ _resetFollowMeDepthRegistry();
55
+ const transport = stubTransport();
56
+ const robotA = makeRobot("robot-a", "robot-a");
57
+ const robotB = makeRobot("robot-b", "robot-b");
58
+ const loopA = getFollowMeDepth(robotA, CONFIG, transport);
59
+ const loopB = getFollowMeDepth(robotB, CONFIG, transport);
60
+ assert.notStrictEqual(loopA, loopB, "each robot must get its own independent loop");
61
+ assert.equal(loopA.robotId, "robot-a");
62
+ assert.equal(loopB.robotId, "robot-b");
63
+ // And a follow-up lookup must still return each robot's own loop, not
64
+ // the most-recently-created one.
65
+ assert.strictEqual(getFollowMeDepth(robotA, CONFIG, transport), loopA);
66
+ assert.strictEqual(getFollowMeDepth(robotB, CONFIG, transport), loopB);
67
+ });
68
+ test("follow-me-registry: getFollowMeLocal returns the same instance for the same robot.id", () => {
69
+ _resetFollowMeLocalRegistry();
70
+ const transport = stubTransport();
71
+ const robotA = makeRobot("robot-a", "robot-a");
72
+ const first = getFollowMeLocal(robotA, CONFIG, transport);
73
+ const second = getFollowMeLocal(robotA, CONFIG, transport);
74
+ assert.strictEqual(first, second, "two calls with the same robot.id must return the identical loop instance");
75
+ assert.equal(first.robotId, "robot-a", "instance should remember its robot.id");
76
+ });
77
+ test("follow-me-registry: getFollowMeLocal returns DIFFERENT instances for DIFFERENT robot.ids", () => {
78
+ _resetFollowMeLocalRegistry();
79
+ const transport = stubTransport();
80
+ const robotA = makeRobot("robot-a", "robot-a");
81
+ const robotB = makeRobot("robot-b", "robot-b");
82
+ const loopA = getFollowMeLocal(robotA, CONFIG, transport);
83
+ const loopB = getFollowMeLocal(robotB, CONFIG, transport);
84
+ assert.notStrictEqual(loopA, loopB, "each robot must get its own independent loop");
85
+ assert.equal(loopA.robotId, "robot-a");
86
+ assert.equal(loopB.robotId, "robot-b");
87
+ });
88
+ test("follow-me-registry: status() defaults to disabled on a fresh per-robot instance", () => {
89
+ _resetFollowMeDepthRegistry();
90
+ const transport = stubTransport();
91
+ const robot = makeRobot("robot-a", "robot-a");
92
+ const loop = getFollowMeDepth(robot, CONFIG, transport);
93
+ const s = loop.status();
94
+ assert.equal(s.enabled, false, "a freshly-registered loop should not be enabled");
95
+ assert.equal(s.tracking, false, "a freshly-registered loop should not be tracking");
96
+ });
97
+ //# sourceMappingURL=follow-me-registry.test.js.map
package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.js.map ADDED
@@ -0,0 +1 @@
1
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package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts CHANGED
@@ -2,7 +2,7 @@
2
2
  * Rotate the robot in place until a target COCO class is detected in the
3
3
  * camera feed, then stop. Used by the ros2_find_object MCP tool.
4
4
  */
5
- import type { AgenticROSConfig, RosTransport } from "@agenticros/core";
5
+ import type { AgenticROSConfig, ResolvedRobot, RosTransport } from "@agenticros/core";
6
6
  export interface FindObjectOptions {
7
7
  target: string;
8
8
  angularSpeed?: number;
@@ -29,5 +29,5 @@ export interface FindObjectResult {
29
29
  };
30
30
  error?: string;
31
31
  }
32
- export declare function findObject(config: AgenticROSConfig, transport: RosTransport, opts: FindObjectOptions): Promise<FindObjectResult>;
32
+ export declare function findObject(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport, opts: FindObjectOptions): Promise<FindObjectResult>;
33
33
  //# sourceMappingURL=find-object.d.ts.map
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"find-object.d.ts","sourceRoot":"","sources":["../../src/find-object/find-object.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAgBvE,MAAM,WAAW,iBAAiB;IAChC,MAAM,EAAE,MAAM,CAAC;IACf,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,cAAc,CAAC,EAAE,MAAM,CAAC;IACxB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,SAAS,CAAC,EAAE,OAAO,CAAC;CACrB;AAED,MAAM,WAAW,gBAAgB;IAC/B,KAAK,EAAE,OAAO,CAAC;IACf,MAAM,EAAE,MAAM,CAAC;IACf,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,WAAW,GAAG,kBAAkB,CAAC;IACpD,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,CAAC,EAAE;QACV,UAAU,EAAE,MAAM,CAAC;QACnB,EAAE,EAAE,MAAM,CAAC;QACX,EAAE,EAAE,MAAM,CAAC;QACX,KAAK,EAAE,MAAM,CAAC;QACd,MAAM,EAAE,MAAM,CAAC;QACf,UAAU,EAAE,MAAM,CAAC;QACnB,WAAW,EAAE,MAAM,CAAC;QACpB,gBAAgB,EAAE,MAAM,CAAC;KAC1B,CAAC;IACF,KAAK,CAAC,EAAE,MAAM,CAAC;CAChB;AAED,wBAAsB,UAAU,CAC9B,MAAM,EAAE,gBAAgB,EACxB,SAAS,EAAE,YAAY,EACvB,IAAI,EAAE,iBAAiB,GACtB,OAAO,CAAC,gBAAgB,CAAC,CAgG3B"}
1
+ {"version":3,"file":"find-object.d.ts","sourceRoot":"","sources":["../../src/find-object/find-object.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,aAAa,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAgBtF,MAAM,WAAW,iBAAiB;IAChC,MAAM,EAAE,MAAM,CAAC;IACf,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,cAAc,CAAC,EAAE,MAAM,CAAC;IACxB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,SAAS,CAAC,EAAE,OAAO,CAAC;CACrB;AAED,MAAM,WAAW,gBAAgB;IAC/B,KAAK,EAAE,OAAO,CAAC;IACf,MAAM,EAAE,MAAM,CAAC;IACf,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,WAAW,GAAG,kBAAkB,CAAC;IACpD,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,CAAC,EAAE;QACV,UAAU,EAAE,MAAM,CAAC;QACnB,EAAE,EAAE,MAAM,CAAC;QACX,EAAE,EAAE,MAAM,CAAC;QACX,KAAK,EAAE,MAAM,CAAC;QACd,MAAM,EAAE,MAAM,CAAC;QACf,UAAU,EAAE,MAAM,CAAC;QACnB,WAAW,EAAE,MAAM,CAAC;QACpB,gBAAgB,EAAE,MAAM,CAAC;KAC1B,CAAC;IACF,KAAK,CAAC,EAAE,MAAM,CAAC;CAChB;AAED,wBAAsB,UAAU,CAC9B,KAAK,EAAE,aAAa,EACpB,MAAM,EAAE,gBAAgB,EACxB,SAAS,EAAE,YAAY,EACvB,IAAI,EAAE,iBAAiB,GACtB,OAAO,CAAC,gBAAgB,CAAC,CAgG3B"}
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js CHANGED
@@ -12,7 +12,7 @@ const DEFAULT_TIMEOUT_SEC = 30;
12
12
  const DEFAULT_MIN_CONFIDENCE = 0.5;
13
13
  const POLL_INTERVAL_MS = 500;
14
14
  const SNAPSHOT_TIMEOUT_MS = 3000;
15
- export async function findObject(config, transport, opts) {
15
+ export async function findObject(robot, config, transport, opts) {
16
16
  const classId = resolveCocoClassId(opts.target);
17
17
  if (classId === null) {
18
18
  return {
@@ -35,8 +35,8 @@ export async function findObject(config, transport, opts) {
35
35
  const minConfidence = opts.minConfidence ?? DEFAULT_MIN_CONFIDENCE;
36
36
  const detector = new PersonDetector({ scoreThreshold: minConfidence });
37
37
  await detector.load();
38
- const cmdVelTopic = resolveCmdVelTopic(config);
39
- const colorTopic = resolveCameraSubscribeTopic(config, (config.robot?.cameraTopic ?? "").trim() || DEFAULT_COLOR_TOPIC);
38
+ const cmdVelTopic = resolveCmdVelTopic(config, robot);
39
+ const colorTopic = resolveCameraSubscribeTopic(robot.namespace, robot.cameraTopic.trim() || DEFAULT_COLOR_TOPIC);
40
40
  const startedAt = Date.now();
41
41
  let rotating = false;
42
42
  let result;
@@ -121,9 +121,9 @@ async function snapshotOnce(transport, topic) {
121
121
  function sleep(ms) {
122
122
  return new Promise((resolve) => setTimeout(resolve, ms));
123
123
  }
124
- function resolveCmdVelTopic(config) {
124
+ function resolveCmdVelTopic(config, robot) {
125
125
  const raw = (config.teleop?.cmdVelTopic ?? "").trim() || "/cmd_vel";
126
- const namespaced = toNamespacedTopic(config, raw);
126
+ const namespaced = toNamespacedTopic(robot.namespace, raw);
127
127
  const match = namespaced.match(/^\/([^/]+)\/cmd_vel$/i);
128
128
  const segment = match?.[1] ?? "";
129
129
  if (match && !segment.toLowerCase().startsWith("robot")) {
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map CHANGED
@@ -1 +1 @@
1
- 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1
+ 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package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.d.ts ADDED
@@ -0,0 +1,109 @@
1
+ /**
2
+ * Depth-only follow-me loop (no neural net).
3
+ *
4
+ * Subscribes only to a depth image topic (sensor_msgs/Image, 16UC1 mm or 32FC1 m),
5
+ * picks the closest "person-like" blob in front of the robot, and drives toward
6
+ * it using the same FollowerController as the YOLO loop.
7
+ *
8
+ * Why this exists: the YOLO-based local loop needs a yolov8n.onnx file and
9
+ * onnxruntime-node, both of which can be unavailable on a freshly-flashed robot
10
+ * (no ONNX hosted publicly anymore, no working torch on some Jetson images).
11
+ * Depth-only follow needs only the depth stream — perfect for unblocking the
12
+ * skill when the camera publishes depth but no person detector is wired up.
13
+ *
14
+ * Accuracy note: this picks the closest contiguous depth region in front of the
15
+ * camera. It works well in uncluttered indoor space with a single person, and
16
+ * deliberately ignores anything outside the [minPersonDepth, maxPersonDepth] band
17
+ * so floor/ceiling/back wall don't capture the controller. It does *not*
18
+ * recognise people semantically — if you walk behind a chair, it may follow the
19
+ * chair. Use mode='local' (YOLO) once yolov8n.onnx is available for real
20
+ * person re-identification.
21
+ */
22
+ import type { AgenticROSConfig, ResolvedRobot, RosTransport } from "@agenticros/core";
23
+ import { type Twist } from "./controller.js";
24
+ export interface FollowMeDepthStatus {
25
+ enabled: boolean;
26
+ tracking: boolean;
27
+ targetDistance: number;
28
+ /** Recorded but not used (depth mode has no semantic recognition). */
29
+ targetDescription: string | null;
30
+ lastTarget: {
31
+ x: number;
32
+ z: number;
33
+ cellsInBlob: number;
34
+ } | null;
35
+ lastTwist: Twist;
36
+ lastError: string | null;
37
+ framesProcessed: number;
38
+ detectionsSinceStart: number;
39
+ }
40
+ export interface StartOptions {
41
+ targetDescription?: string;
42
+ }
43
+ interface LatestDepth {
44
+ width: number;
45
+ height: number;
46
+ step: number;
47
+ encoding: string;
48
+ isBigEndian: boolean;
49
+ data: Uint8Array;
50
+ receivedAt: number;
51
+ }
52
+ export declare class FollowMeDepth {
53
+ private readonly robot;
54
+ private readonly config;
55
+ private readonly transport;
56
+ private readonly controller;
57
+ private enabled;
58
+ private running;
59
+ private targetDescription;
60
+ private depthSub;
61
+ private latestDepth;
62
+ private tickHandle;
63
+ private lastError;
64
+ private framesProcessed;
65
+ private detectionsSinceStart;
66
+ private lastTarget;
67
+ private tracking;
68
+ constructor(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport);
69
+ /** Stable id of the robot this loop is bound to. Used by the registry below. */
70
+ get robotId(): string;
71
+ start(opts?: StartOptions): Promise<void>;
72
+ stop(): Promise<void>;
73
+ setTargetDistance(d: number): void;
74
+ setTargetDescription(description: string): void;
75
+ status(): FollowMeDepthStatus;
76
+ private subscribeDepth;
77
+ private unsubscribeDepth;
78
+ private tickSafe;
79
+ private tick;
80
+ private publishTwist;
81
+ private publishStop;
82
+ }
83
+ /**
84
+ * Coarse grid blob finder.
85
+ *
86
+ * Splits the central ROI of the depth image into a small grid, computes a
87
+ * median depth per cell from pixels in the person-band [MIN_PERSON_DEPTH_M,
88
+ * MAX_PERSON_DEPTH_M], then chooses the connected component (4-neighbour) with
89
+ * the closest median that meets a minimum size threshold. Returns the centroid
90
+ * in pixel space and the blob's median depth in metres.
91
+ *
92
+ * Trade-offs:
93
+ * - Cheap O(W·H) median per cell with a fixed-size sampling sort.
94
+ * - Coarse grid (16×12 ≈ 192 cells) ⇒ very robust to noise; sub-cell
95
+ * precision is not needed for a P-controller that drives at ≤0.5 m/s.
96
+ * - 4-connectivity gives natural "find one person blob" behaviour without a
97
+ * full image-level flood fill.
98
+ */
99
+ export declare function findClosestPersonBlob(d: LatestDepth): {
100
+ cx: number;
101
+ cy: number;
102
+ z: number;
103
+ cellsInBlob: number;
104
+ } | null;
105
+ export declare function getFollowMeDepth(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport): FollowMeDepth;
106
+ /** Test-only: clear the registry so suites can run in isolation. */
107
+ export declare function _resetFollowMeDepthRegistry(): void;
108
+ export {};
109
+ //# sourceMappingURL=depth-loop.d.ts.map
package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.d.ts.map ADDED
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