agenticros 0.1.19 → 0.2.0

package/runtime/packages/agenticros-claude-code/dist/__tests__/capabilities-mcp.test.js.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=follow-me-registry.test.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.d.ts.map

@@ -0,0 +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

@@ -0,0 +1,97 @@
+/**
+ * Per-robot isolation tests for the follow-me + find-object skill registries.
+ *
+ * Phase 1.d-extend asserts that each robot keeps its own independent
+ * follow-me loop instance, keyed by `robot.id`. If two robots ever share a
+ * single loop, starting follow-me on one would silently steer the other
+ * and `ros2_follow_me_status` would conflate state — exactly the regression
+ * this suite is designed to catch.
+ *
+ * These tests run as pure registry checks — they construct a minimal mock
+ * `RosTransport` so the loop constructors don't reach for the network, and
+ * they reset the registry between tests so suites stay deterministic.
+ */
+import { test } from "node:test";
+import assert from "node:assert/strict";
+import { getFollowMeDepth, _resetFollowMeDepthRegistry, } from "../follow-me/depth-loop.js";
+import { getFollowMeLocal, _resetFollowMeLocalRegistry, } from "../follow-me/loop.js";
+import { parseConfig } from "@agenticros/core";
+/**
+ * Minimal `RosTransport` stub. The follow-me loops only touch the transport
+ * inside `start()` (subscribe + publish) — the constructor + registry path
+ * never call into it. We provide a no-op surface so TypeScript is happy and
+ * any accidental call surfaces as an obvious "TypeError: ... not a function".
+ */
+function stubTransport() {
+    // The follow-me loop constructors don't touch the transport — they only
+    // call into it from `start()`. We cast through `unknown` so the test
+    // doesn't have to track the full RosTransport surface area; any
+    // accidental method call surfaces as a clean "not a function" error.
+    return {};
+}
+function makeRobot(id, namespace) {
+    return {
+        id,
+        name: id,
+        namespace,
+        cameraTopic: "",
+        kind: "amr",
+        sensors: { has_realsense: false, has_lidar: false, has_arm: false },
+        source: "config",
+    };
+}
+const CONFIG = parseConfig({ robot: { namespace: "robot-a" } });
+test("follow-me-registry: getFollowMeDepth returns the same instance for the same robot.id", () => {
+    _resetFollowMeDepthRegistry();
+    const transport = stubTransport();
+    const robotA = makeRobot("robot-a", "robot-a");
+    const first = getFollowMeDepth(robotA, CONFIG, transport);
+    const second = getFollowMeDepth(robotA, CONFIG, transport);
+    assert.strictEqual(first, second, "two calls with the same robot.id must return the identical loop instance");
+    assert.equal(first.robotId, "robot-a", "instance should remember its robot.id");
+});
+test("follow-me-registry: getFollowMeDepth returns DIFFERENT instances for DIFFERENT robot.ids", () => {
+    _resetFollowMeDepthRegistry();
+    const transport = stubTransport();
+    const robotA = makeRobot("robot-a", "robot-a");
+    const robotB = makeRobot("robot-b", "robot-b");
+    const loopA = getFollowMeDepth(robotA, CONFIG, transport);
+    const loopB = getFollowMeDepth(robotB, CONFIG, transport);
+    assert.notStrictEqual(loopA, loopB, "each robot must get its own independent loop");
+    assert.equal(loopA.robotId, "robot-a");
+    assert.equal(loopB.robotId, "robot-b");
+    // And a follow-up lookup must still return each robot's own loop, not
+    // the most-recently-created one.
+    assert.strictEqual(getFollowMeDepth(robotA, CONFIG, transport), loopA);
+    assert.strictEqual(getFollowMeDepth(robotB, CONFIG, transport), loopB);
+});
+test("follow-me-registry: getFollowMeLocal returns the same instance for the same robot.id", () => {
+    _resetFollowMeLocalRegistry();
+    const transport = stubTransport();
+    const robotA = makeRobot("robot-a", "robot-a");
+    const first = getFollowMeLocal(robotA, CONFIG, transport);
+    const second = getFollowMeLocal(robotA, CONFIG, transport);
+    assert.strictEqual(first, second, "two calls with the same robot.id must return the identical loop instance");
+    assert.equal(first.robotId, "robot-a", "instance should remember its robot.id");
+});
+test("follow-me-registry: getFollowMeLocal returns DIFFERENT instances for DIFFERENT robot.ids", () => {
+    _resetFollowMeLocalRegistry();
+    const transport = stubTransport();
+    const robotA = makeRobot("robot-a", "robot-a");
+    const robotB = makeRobot("robot-b", "robot-b");
+    const loopA = getFollowMeLocal(robotA, CONFIG, transport);
+    const loopB = getFollowMeLocal(robotB, CONFIG, transport);
+    assert.notStrictEqual(loopA, loopB, "each robot must get its own independent loop");
+    assert.equal(loopA.robotId, "robot-a");
+    assert.equal(loopB.robotId, "robot-b");
+});
+test("follow-me-registry: status() defaults to disabled on a fresh per-robot instance", () => {
+    _resetFollowMeDepthRegistry();
+    const transport = stubTransport();
+    const robot = makeRobot("robot-a", "robot-a");
+    const loop = getFollowMeDepth(robot, CONFIG, transport);
+    const s = loop.status();
+    assert.equal(s.enabled, false, "a freshly-registered loop should not be enabled");
+    assert.equal(s.tracking, false, "a freshly-registered loop should not be tracking");
+});
+//# sourceMappingURL=follow-me-registry.test.js.map

package/runtime/packages/agenticros-claude-code/dist/__tests__/follow-me-registry.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"follow-me-registry.test.js","sourceRoot":"","sources":["../../src/__tests__/follow-me-registry.test.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;GAYG;AACH,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AACjC,OAAO,MAAM,MAAM,oBAAoB,CAAC;AAExC,OAAO,EACL,gBAAgB,EAChB,2BAA2B,GAC5B,MAAM,4BAA4B,CAAC;AACpC,OAAO,EACL,gBAAgB,EAChB,2BAA2B,GAC5B,MAAM,sBAAsB,CAAC;AAC9B,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAE/C;;;;;GAKG;AACH,SAAS,aAAa;IACpB,wEAAwE;IACxE,qEAAqE;IACrE,gEAAgE;IAChE,qEAAqE;IACrE,OAAO,EAA6B,CAAC;AACvC,CAAC;AAED,SAAS,SAAS,CAAC,EAAU,EAAE,SAAiB;IAC9C,OAAO;QACL,EAAE;QACF,IAAI,EAAE,EAAE;QACR,SAAS;QACT,WAAW,EAAE,EAAE;QACf,IAAI,EAAE,KAAK;QACX,OAAO,EAAE,EAAE,aAAa,EAAE,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,OAAO,EAAE,KAAK,EAAE;QACnE,MAAM,EAAE,QAAQ;KACjB,CAAC;AACJ,CAAC;AAED,MAAM,MAAM,GAAG,WAAW,CAAC,EAAE,KAAK,EAAE,EAAE,SAAS,EAAE,SAAS,EAAE,EAAE,CAAC,CAAC;AAEhE,IAAI,CAAC,sFAAsF,EAAE,GAAG,EAAE;IAChG,2BAA2B,EAAE,CAAC;IAC9B,MAAM,SAAS,GAAG,aAAa,EAAE,CAAC;IAClC,MAAM,MAAM,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC/C,MAAM,KAAK,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,MAAM,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC3D,MAAM,CAAC,WAAW,CAChB,KAAK,EACL,MAAM,EACN,0EAA0E,CAC3E,CAAC;IACF,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,EAAE,uCAAuC,CAAC,CAAC;AAClF,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,0FAA0F,EAAE,GAAG,EAAE;IACpG,2BAA2B,EAAE,CAAC;IAC9B,MAAM,SAAS,GAAG,aAAa,EAAE,CAAC;IAClC,MAAM,MAAM,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC/C,MAAM,MAAM,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC/C,MAAM,KAAK,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,KAAK,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,CAAC,cAAc,CAAC,KAAK,EAAE,KAAK,EAAE,8CAA8C,CAAC,CAAC;IACpF,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;IACvC,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;IACvC,sEAAsE;IACtE,iCAAiC;IACjC,MAAM,CAAC,WAAW,CAAC,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,KAAK,CAAC,CAAC;IACvE,MAAM,CAAC,WAAW,CAAC,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,KAAK,CAAC,CAAC;AACzE,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,sFAAsF,EAAE,GAAG,EAAE;IAChG,2BAA2B,EAAE,CAAC;IAC9B,MAAM,SAAS,GAAG,aAAa,EAAE,CAAC;IAClC,MAAM,MAAM,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC/C,MAAM,KAAK,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,MAAM,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC3D,MAAM,CAAC,WAAW,CAChB,KAAK,EACL,MAAM,EACN,0EAA0E,CAC3E,CAAC;IACF,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,EAAE,uCAAuC,CAAC,CAAC;AAClF,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,0FAA0F,EAAE,GAAG,EAAE;IACpG,2BAA2B,EAAE,CAAC;IAC9B,MAAM,SAAS,GAAG,aAAa,EAAE,CAAC;IAClC,MAAM,MAAM,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC/C,MAAM,MAAM,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC/C,MAAM,KAAK,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,KAAK,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,CAAC,cAAc,CAAC,KAAK,EAAE,KAAK,EAAE,8CAA8C,CAAC,CAAC;IACpF,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;IACvC,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;AACzC,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,iFAAiF,EAAE,GAAG,EAAE;IAC3F,2BAA2B,EAAE,CAAC;IAC9B,MAAM,SAAS,GAAG,aAAa,EAAE,CAAC;IAClC,MAAM,KAAK,GAAG,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,CAAC;IAC9C,MAAM,IAAI,GAAG,gBAAgB,CAAC,KAAK,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;IACxD,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,EAAE,CAAC;IACxB,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,OAAO,EAAE,KAAK,EAAE,iDAAiD,CAAC,CAAC;IAClF,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,QAAQ,EAAE,KAAK,EAAE,kDAAkD,CAAC,CAAC;AACtF,CAAC,CAAC,CAAC"}

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts

@@ -2,7 +2,7 @@
  * Rotate the robot in place until a target COCO class is detected in the
  * camera feed, then stop. Used by the ros2_find_object MCP tool.
  */
-import type { AgenticROSConfig, RosTransport } from "@agenticros/core";
+import type { AgenticROSConfig, ResolvedRobot, RosTransport } from "@agenticros/core";
 export interface FindObjectOptions {
     target: string;
     angularSpeed?: number;
@@ -29,5 +29,5 @@ export interface FindObjectResult {
     };
     error?: string;
 }
-export declare function findObject(config: AgenticROSConfig, transport: RosTransport, opts: FindObjectOptions): Promise<FindObjectResult>;
+export declare function findObject(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport, opts: FindObjectOptions): Promise<FindObjectResult>;
 //# sourceMappingURL=find-object.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map

@@ -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"}
+{"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

@@ -12,7 +12,7 @@ const DEFAULT_TIMEOUT_SEC = 30;
 const DEFAULT_MIN_CONFIDENCE = 0.5;
 const POLL_INTERVAL_MS = 500;
 const SNAPSHOT_TIMEOUT_MS = 3000;
-export async function findObject(config, transport, opts) {
+export async function findObject(robot, config, transport, opts) {
     const classId = resolveCocoClassId(opts.target);
     if (classId === null) {
         return {
@@ -35,8 +35,8 @@ export async function findObject(config, transport, opts) {
     const minConfidence = opts.minConfidence ?? DEFAULT_MIN_CONFIDENCE;
     const detector = new PersonDetector({ scoreThreshold: minConfidence });
     await detector.load();
-    const cmdVelTopic = resolveCmdVelTopic(config);
-    const colorTopic = resolveCameraSubscribeTopic(config, (config.robot?.cameraTopic ?? "").trim() || DEFAULT_COLOR_TOPIC);
+    const cmdVelTopic = resolveCmdVelTopic(config, robot);
+    const colorTopic = resolveCameraSubscribeTopic(robot.namespace, robot.cameraTopic.trim() || DEFAULT_COLOR_TOPIC);
     const startedAt = Date.now();
     let rotating = false;
     let result;
@@ -121,9 +121,9 @@ async function snapshotOnce(transport, topic) {
 function sleep(ms) {
     return new Promise((resolve) => setTimeout(resolve, ms));
 }
-function resolveCmdVelTopic(config) {
+function resolveCmdVelTopic(config, robot) {
     const raw = (config.teleop?.cmdVelTopic ?? "").trim() || "/cmd_vel";
-    const namespaced = toNamespacedTopic(config, raw);
+    const namespaced = toNamespacedTopic(robot.namespace, raw);
     const match = namespaced.match(/^\/([^/]+)\/cmd_vel$/i);
     const segment = match?.[1] ?? "";
     if (match && !segment.toLowerCase().startsWith("robot")) {

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map

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package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.d.ts

@@ -0,0 +1,109 @@
+/**
+ * Depth-only follow-me loop (no neural net).
+ *
+ * Subscribes only to a depth image topic (sensor_msgs/Image, 16UC1 mm or 32FC1 m),
+ * picks the closest "person-like" blob in front of the robot, and drives toward
+ * it using the same FollowerController as the YOLO loop.
+ *
+ * Why this exists: the YOLO-based local loop needs a yolov8n.onnx file and
+ * onnxruntime-node, both of which can be unavailable on a freshly-flashed robot
+ * (no ONNX hosted publicly anymore, no working torch on some Jetson images).
+ * Depth-only follow needs only the depth stream — perfect for unblocking the
+ * skill when the camera publishes depth but no person detector is wired up.
+ *
+ * Accuracy note: this picks the closest contiguous depth region in front of the
+ * camera. It works well in uncluttered indoor space with a single person, and
+ * deliberately ignores anything outside the [minPersonDepth, maxPersonDepth] band
+ * so floor/ceiling/back wall don't capture the controller. It does *not*
+ * recognise people semantically — if you walk behind a chair, it may follow the
+ * chair. Use mode='local' (YOLO) once yolov8n.onnx is available for real
+ * person re-identification.
+ */
+import type { AgenticROSConfig, ResolvedRobot, RosTransport } from "@agenticros/core";
+import { type Twist } from "./controller.js";
+export interface FollowMeDepthStatus {
+    enabled: boolean;
+    tracking: boolean;
+    targetDistance: number;
+    /** Recorded but not used (depth mode has no semantic recognition). */
+    targetDescription: string | null;
+    lastTarget: {
+        x: number;
+        z: number;
+        cellsInBlob: number;
+    } | null;
+    lastTwist: Twist;
+    lastError: string | null;
+    framesProcessed: number;
+    detectionsSinceStart: number;
+}
+export interface StartOptions {
+    targetDescription?: string;
+}
+interface LatestDepth {
+    width: number;
+    height: number;
+    step: number;
+    encoding: string;
+    isBigEndian: boolean;
+    data: Uint8Array;
+    receivedAt: number;
+}
+export declare class FollowMeDepth {
+    private readonly robot;
+    private readonly config;
+    private readonly transport;
+    private readonly controller;
+    private enabled;
+    private running;
+    private targetDescription;
+    private depthSub;
+    private latestDepth;
+    private tickHandle;
+    private lastError;
+    private framesProcessed;
+    private detectionsSinceStart;
+    private lastTarget;
+    private tracking;
+    constructor(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport);
+    /** Stable id of the robot this loop is bound to. Used by the registry below. */
+    get robotId(): string;
+    start(opts?: StartOptions): Promise<void>;
+    stop(): Promise<void>;
+    setTargetDistance(d: number): void;
+    setTargetDescription(description: string): void;
+    status(): FollowMeDepthStatus;
+    private subscribeDepth;
+    private unsubscribeDepth;
+    private tickSafe;
+    private tick;
+    private publishTwist;
+    private publishStop;
+}
+/**
+ * Coarse grid blob finder.
+ *
+ * Splits the central ROI of the depth image into a small grid, computes a
+ * median depth per cell from pixels in the person-band [MIN_PERSON_DEPTH_M,
+ * MAX_PERSON_DEPTH_M], then chooses the connected component (4-neighbour) with
+ * the closest median that meets a minimum size threshold. Returns the centroid
+ * in pixel space and the blob's median depth in metres.
+ *
+ * Trade-offs:
+ *   - Cheap O(W·H) median per cell with a fixed-size sampling sort.
+ *   - Coarse grid (16×12 ≈ 192 cells) ⇒ very robust to noise; sub-cell
+ *     precision is not needed for a P-controller that drives at ≤0.5 m/s.
+ *   - 4-connectivity gives natural "find one person blob" behaviour without a
+ *     full image-level flood fill.
+ */
+export declare function findClosestPersonBlob(d: LatestDepth): {
+    cx: number;
+    cy: number;
+    z: number;
+    cellsInBlob: number;
+} | null;
+export declare function getFollowMeDepth(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport): FollowMeDepth;
+/** Test-only: clear the registry so suites can run in isolation. */
+export declare function _resetFollowMeDepthRegistry(): void;
+export {};
+//# sourceMappingURL=depth-loop.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.d.ts.map

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