agenticros 0.1.19 → 0.2.1

package/dist/menu.js.map

@@ -1 +1 @@
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package/dist/util/env.d.ts

@@ -19,6 +19,8 @@ export declare function buildRosSourcedShellCmd(body: string, opts?: {
 /** True when Gazebo Harmonic (`gz sim`) is installed. */
 export declare function hasGazeboHarmonic(): boolean;
 export declare const isLinux: boolean;
+export declare const isWindows: boolean;
+export declare const isMac: boolean;
 /** Whether we appear to be running on a Jetson (Tegra kernel). */
 export declare function isJetson(): boolean;
 //# sourceMappingURL=env.d.ts.map

package/dist/util/env.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"env.d.ts","sourceRoot":"","sources":["../../src/util/env.ts"],"names":[],"mappings":"AAAA;;GAEG;AAQH,MAAM,WAAW,OAAO;IACtB,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC;IAC3B,SAAS,EAAE,MAAM,GAAG,SAAS,CAAC;CAC/B;AAED,0FAA0F;AAC1F,wBAAgB,eAAe,CAAC,SAAS,CAAC,EAAE,MAAM,GAAG,OAAO,CAS3D;AAED;;;;GAIG;AACH,wBAAgB,uBAAuB,CACrC,IAAI,EAAE,MAAM,EACZ,IAAI,GAAE;IAAE,MAAM,CAAC,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,MAAM,CAAA;CAAO,GAC/C,MAAM,CAOR;AAED,yDAAyD;AACzD,wBAAgB,iBAAiB,IAAI,OAAO,CAK3C;AAED,eAAO,MAAM,OAAO,SAA+B,CAAC;AAEpD,kEAAkE;AAClE,wBAAgB,QAAQ,IAAI,OAAO,CAMlC"}
+{"version":3,"file":"env.d.ts","sourceRoot":"","sources":["../../src/util/env.ts"],"names":[],"mappings":"AAAA;;GAEG;AAQH,MAAM,WAAW,OAAO;IACtB,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC;IAC3B,SAAS,EAAE,MAAM,GAAG,SAAS,CAAC;CAC/B;AAED,0FAA0F;AAC1F,wBAAgB,eAAe,CAAC,SAAS,CAAC,EAAE,MAAM,GAAG,OAAO,CAS3D;AAED;;;;GAIG;AACH,wBAAgB,uBAAuB,CACrC,IAAI,EAAE,MAAM,EACZ,IAAI,GAAE;IAAE,MAAM,CAAC,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,MAAM,CAAA;CAAO,GAC/C,MAAM,CAOR;AAED,yDAAyD;AACzD,wBAAgB,iBAAiB,IAAI,OAAO,CAK3C;AAED,eAAO,MAAM,OAAO,SAA+B,CAAC;AACpD,eAAO,MAAM,SAAS,SAA+B,CAAC;AACtD,eAAO,MAAM,KAAK,SAAgC,CAAC;AAEnD,kEAAkE;AAClE,wBAAgB,QAAQ,IAAI,OAAO,CAMlC"}

package/dist/util/env.js

@@ -41,6 +41,8 @@ export function hasGazeboHarmonic() {
     return false;
 }
 export const isLinux = process.platform === "linux";
+export const isWindows = process.platform === "win32";
+export const isMac = process.platform === "darwin";
 /** Whether we appear to be running on a Jetson (Tegra kernel). */
 export function isJetson() {
     try {

package/dist/util/env.js.map

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package/dist/util/marketplace.d.ts

@@ -0,0 +1,57 @@
+export declare const DEFAULT_API_BASE = "https://skills.agenticros.com/api";
+export declare function apiBase(): string;
+export interface MarketplaceSkill {
+    slug: string;
+    name: string;
+    displayName: string;
+    description: string;
+    packageName: string;
+    skillId: string;
+    version: string;
+    githubUrl: string;
+    categories: string[];
+    keywords: string[];
+    maintainerLogin: string;
+    starCount: number;
+    viewCount: number;
+}
+export interface InstallDescriptor {
+    slug: string;
+    skillId: string;
+    packageName: string;
+    githubUrl: string;
+    ref: string;
+    buildCmd: string;
+}
+export declare class MarketplaceError extends Error {
+}
+export declare function searchSkills(q: string, opts?: {
+    limit?: number;
+    category?: string;
+    sort?: "recent" | "popular";
+}): Promise<MarketplaceSkill[]>;
+export declare function getSkill(slug: string): Promise<MarketplaceSkill>;
+export declare function getInstallDescriptor(slug: string): Promise<InstallDescriptor>;
+/**
+ * Pick a sensible parent directory for `git clone` — the parent of the
+ * agenticros repo if we can find it, otherwise `~/Projects`, otherwise
+ * `$HOME`. This keeps cloned skills next to the rest of the user's robot
+ * source so the existing discovery roots find them too.
+ */
+export declare function pickCloneParent(): string;
+export interface CloneAndBuildResult {
+    cloneDir: string;
+    alreadyExisted: boolean;
+}
+/**
+ * `git clone` a skill from GitHub into a sibling of the agenticros repo,
+ * then run its build command. Returns the absolute directory the skill
+ * was cloned into so the caller can `addSkillByPath` it.
+ */
+export declare function cloneAndBuild(descriptor: InstallDescriptor, opts?: {
+    intoDir?: string;
+    force?: boolean;
+    onLog?: (msg: string) => void;
+}): Promise<CloneAndBuildResult>;
+export declare const utilDirname: (path: string) => string;
+//# sourceMappingURL=marketplace.d.ts.map

package/dist/util/marketplace.d.ts.map

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package/dist/util/marketplace.js

@@ -0,0 +1,144 @@
+/**
+ * Tiny client for the AgenticROS Skills marketplace REST API.
+ *
+ * The marketplace itself is at https://skills.agenticros.com — this CLI
+ * talks to the REST endpoints exposed under /api/ (rewritten by Firebase
+ * Hosting to the `api` Cloud Function). Read-only, no auth.
+ *
+ * Override the base URL via `AGENTICROS_SKILLS_API` for local emulator
+ * testing or staging deployments.
+ */
+import { mkdirSync, existsSync } from "node:fs";
+import { dirname, basename, join, resolve } from "node:path";
+import { execa } from "execa";
+import { discoveryRoots } from "./skills.js";
+export const DEFAULT_API_BASE = "https://skills.agenticros.com/api";
+export function apiBase() {
+    return (process.env.AGENTICROS_SKILLS_API || DEFAULT_API_BASE).replace(/\/+$/, "");
+}
+async function getJson(url) {
+    const res = await fetch(url, { headers: { Accept: "application/json" } });
+    if (!res.ok) {
+        let body = "";
+        try {
+            body = await res.text();
+        }
+        catch {
+            /* ignore */
+        }
+        throw new MarketplaceError(`Marketplace API ${res.status} on ${url}: ${body.slice(0, 200)}`);
+    }
+    return (await res.json());
+}
+export class MarketplaceError extends Error {
+}
+export async function searchSkills(q, opts = {}) {
+    const u = new URL(`${apiBase()}/skills`);
+    if (q)
+        u.searchParams.set("q", q);
+    if (opts.category)
+        u.searchParams.set("category", opts.category);
+    if (opts.sort)
+        u.searchParams.set("sort", opts.sort);
+    if (opts.limit)
+        u.searchParams.set("limit", String(opts.limit));
+    const body = await getJson(u.toString());
+    return body.skills;
+}
+export async function getSkill(slug) {
+    return getJson(`${apiBase()}/skills/${encodeURIComponent(slug)}`);
+}
+export async function getInstallDescriptor(slug) {
+    return getJson(`${apiBase()}/skills/${encodeURIComponent(slug)}/install`);
+}
+// ---------------------------------------------------------------------------
+// Local clone + build
+// ---------------------------------------------------------------------------
+/**
+ * Pick a sensible parent directory for `git clone` — the parent of the
+ * agenticros repo if we can find it, otherwise `~/Projects`, otherwise
+ * `$HOME`. This keeps cloned skills next to the rest of the user's robot
+ * source so the existing discovery roots find them too.
+ */
+export function pickCloneParent() {
+    const roots = discoveryRoots();
+    // Prefer the parent of the user's agenticros checkout.
+    for (const r of roots) {
+        if (existsSync(join(r, "agenticros")) ||
+            existsSync(join(r, "agenticros", "packages", "core"))) {
+            return r;
+        }
+    }
+    // Else: ~/Projects if it exists in discoveryRoots.
+    const projectsRoot = roots.find((r) => r.endsWith("/Projects"));
+    if (projectsRoot)
+        return projectsRoot;
+    // Else: first root.
+    return roots[0] ?? process.cwd();
+}
+/**
+ * `git clone` a skill from GitHub into a sibling of the agenticros repo,
+ * then run its build command. Returns the absolute directory the skill
+ * was cloned into so the caller can `addSkillByPath` it.
+ */
+export async function cloneAndBuild(descriptor, opts = {}) {
+    const log = opts.onLog ?? (() => undefined);
+    const repoUrl = descriptor.githubUrl.endsWith(".git")
+        ? descriptor.githubUrl
+        : `${descriptor.githubUrl}.git`;
+    // Default to a sibling of the agenticros repo so existing discovery
+    // roots find it (~/Projects/agenticros-skill-followme, etc.).
+    const parent = opts.intoDir
+        ? resolve(opts.intoDir)
+        : pickCloneParent();
+    const repoName = basename(descriptor.githubUrl.replace(/\.git$/, "").replace(/\/+$/, ""));
+    const cloneDir = join(parent, repoName);
+    let alreadyExisted = false;
+    if (existsSync(cloneDir)) {
+        if (!opts.force) {
+            log(`Already cloned at ${cloneDir} — pulling latest…`);
+            alreadyExisted = true;
+            await runIn(cloneDir, "git", ["pull", "--ff-only"], log);
+        }
+    }
+    else {
+        mkdirSync(parent, { recursive: true });
+        log(`Cloning ${repoUrl} into ${cloneDir}…`);
+        await runIn(parent, "git", ["clone", repoUrl, repoName], log);
+    }
+    // Run the build command (default: pnpm install && pnpm build). Falls
+    // back to npm if pnpm isn't installed.
+    const useNpm = !(await hasBin("pnpm"));
+    if (useNpm) {
+        log(`pnpm not found — falling back to npm.`);
+        await runIn(cloneDir, "npm", ["install"], log);
+        await runIn(cloneDir, "npm", ["run", "build"], log);
+    }
+    else {
+        await runIn(cloneDir, "pnpm", ["install"], log);
+        await runIn(cloneDir, "pnpm", ["run", "build"], log);
+    }
+    return { cloneDir, alreadyExisted };
+}
+async function runIn(cwd, cmd, args, log) {
+    log(`$ ${cmd} ${args.join(" ")}  (in ${cwd})`);
+    const sub = execa(cmd, args, {
+        cwd,
+        stdout: "inherit",
+        stderr: "inherit",
+        reject: true,
+    });
+    await sub;
+}
+async function hasBin(name) {
+    try {
+        await execa(name, ["--version"], { stdout: "ignore", stderr: "ignore" });
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+// Build the `dirname` re-export here so the consumer doesn't pull node:path.
+export const utilDirname = dirname;
+//# sourceMappingURL=marketplace.js.map

package/dist/util/marketplace.js.map

@@ -0,0 +1 @@
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package/dist/util/skills.d.ts

@@ -1,9 +1,9 @@
 /**
  * Skill discovery, validation, and config-file mutation primitives.
  *
- * An AgenticROS skill is a Node package whose `package.json` carries
- * `"agenticrosSkill": true` and exports a `registerSkill(api, config, context)`
- * function from its `main` entry. The OpenClaw AgenticROS plugin loads them
+ * An AgenticROS skill is a Node package whose `package.json` carries an
+ * `agenticros` block (with at least an `id`) and exports a
+ * `registerSkill(api, config, context)` function from its `main` entry. The OpenClaw AgenticROS plugin loads them
  * at gateway start by walking two arrays in its config:
  *
  *   - `skillPaths[]`     — absolute directories to scan (validate `package.json`)
@@ -41,8 +41,8 @@ export declare function deriveSkillId(packageName: string): string;
 /**
  * Inspect a directory and decide whether it's a valid AgenticROS skill clone.
  * Returns a partial `SkillRef` (no `registeredAs`) or `undefined` when the
- * directory is missing, lacks `package.json`, or doesn't opt in via the
- * `agenticrosSkill: true` flag.
+ * directory is missing, lacks `package.json`, or doesn't declare a valid
+ * `agenticros` block (with at least `id`).
  */
 export declare function inspectSkillDir(dir: string): Omit<SkillRef, "registeredAs"> | undefined;
 /**
@@ -85,7 +85,7 @@ export interface AddResult {
  * Add a skill to the OpenClaw plugin config by absolute directory path.
  * Idempotent: re-adding an existing entry is a no-op and returns `ok: true`
  * with an explanatory message. The directory must contain a valid
- * `package.json` with `agenticrosSkill: true`.
+ * `package.json` with an `agenticros` block (with at least `id`).
  */
 export declare function addSkillByPath(dir: string): AddResult;
 /**

package/dist/util/skills.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"skills.d.ts","sourceRoot":"","sources":["../../src/util/skills.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAgBH,MAAM,WAAW,QAAQ;IACvB,iFAAiF;IACjF,EAAE,EAAE,MAAM,CAAC;IACX,mDAAmD;IACnD,WAAW,EAAE,MAAM,CAAC;IACpB,gEAAgE;IAChE,GAAG,CAAC,EAAE,MAAM,CAAC;IACb,gEAAgE;IAChE,YAAY,EAAE,CAAC,MAAM,GAAG,SAAS,CAAC,EAAE,CAAC;IACrC;;;OAGG;IACH,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,iFAAiF;IACjF,KAAK,CAAC,EAAE,OAAO,CAAC;CACjB;AAED;;;;GAIG;AACH,wBAAgB,aAAa,CAAC,WAAW,EAAE,MAAM,GAAG,MAAM,CAMzD;AAED;;;;;GAKG;AACH,wBAAgB,eAAe,CAAC,GAAG,EAAE,MAAM,GAAG,IAAI,CAAC,QAAQ,EAAE,cAAc,CAAC,GAAG,SAAS,CAsCvF;AAED;;;;;;;;GAQG;AACH,wBAAgB,cAAc,CAAC,KAAK,GAAE,MAAM,EAAO,GAAG,MAAM,EAAE,CAuB7D;AAED;;;;GAIG;AACH,wBAAgB,aAAa,CAAC,KAAK,GAAE,MAAM,EAAO,GAAG,QAAQ,EAAE,CAqB9D;AA0BD,MAAM,WAAW,aAAa;IAC5B,0FAA0F;IAC1F,UAAU,EAAE,QAAQ,EAAE,CAAC;IACvB,sFAAsF;IACtF,SAAS,EAAE,QAAQ,EAAE,CAAC;IACtB,4EAA4E;IAC5E,WAAW,EAAE,MAAM,EAAE,CAAC;CACvB;AAED;;;;GAIG;AACH,wBAAgB,UAAU,IAAI,aAAa,CAyC1C;AAED,MAAM,WAAW,SAAS;IACxB,EAAE,EAAE,OAAO,CAAC;IACZ,uEAAuE;IACvE,OAAO,EAAE,MAAM,CAAC;IAChB,KAAK,CAAC,EAAE,QAAQ,CAAC;CAClB;AAED;;;;;GAKG;AACH,wBAAgB,cAAc,CAAC,GAAG,EAAE,MAAM,GAAG,SAAS,CAuCrD;AAED;;;;;GAKG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,MAAM,GAAG,SAAS,CA6BzD;AAED,MAAM,WAAW,YAAY;IAC3B,EAAE,EAAE,OAAO,CAAC;IACZ,OAAO,EAAE,MAAM,CAAC;IAChB,YAAY,EAAE,MAAM,EAAE,CAAC;IACvB,eAAe,EAAE,MAAM,EAAE,CAAC;CAC3B;AAED;;;;;;GAMG;AACH,wBAAgB,WAAW,CAAC,QAAQ,EAAE,MAAM,GAAG,YAAY,CA+D1D"}

package/dist/util/skills.js

@@ -1,9 +1,9 @@
 /**
  * Skill discovery, validation, and config-file mutation primitives.
  *
- * An AgenticROS skill is a Node package whose `package.json` carries
- * `"agenticrosSkill": true` and exports a `registerSkill(api, config, context)`
- * function from its `main` entry. The OpenClaw AgenticROS plugin loads them
+ * An AgenticROS skill is a Node package whose `package.json` carries an
+ * `agenticros` block (with at least an `id`) and exports a
+ * `registerSkill(api, config, context)` function from its `main` entry. The OpenClaw AgenticROS plugin loads them
  * at gateway start by walking two arrays in its config:
  *
  *   - `skillPaths[]`     — absolute directories to scan (validate `package.json`)
@@ -35,8 +35,8 @@ export function deriveSkillId(packageName) {
 /**
  * Inspect a directory and decide whether it's a valid AgenticROS skill clone.
  * Returns a partial `SkillRef` (no `registeredAs`) or `undefined` when the
- * directory is missing, lacks `package.json`, or doesn't opt in via the
- * `agenticrosSkill: true` flag.
+ * directory is missing, lacks `package.json`, or doesn't declare a valid
+ * `agenticros` block (with at least `id`).
  */
 export function inspectSkillDir(dir) {
     const absDir = isAbsolute(dir) ? dir : resolve(dir);
@@ -61,13 +61,18 @@ export function inspectSkillDir(dir) {
     catch {
         return undefined;
     }
-    if (pkg.agenticrosSkill !== true)
+    const block = pkg.agenticros;
+    if (!block || typeof block !== "object" || typeof block.id !== "string") {
+        return undefined;
+    }
+    const id = block.id;
+    if (!/^[a-z0-9][a-z0-9-]*$/.test(id))
         return undefined;
     const packageName = (pkg.name ?? "unknown").toString();
     const mainRel = pkg.main ?? "index.js";
     const entry = join(absDir, mainRel);
     return {
-        id: deriveSkillId(packageName),
+        id,
         packageName,
         dir: absDir,
         entry,
@@ -212,14 +217,14 @@ export function listSkills() {
  * Add a skill to the OpenClaw plugin config by absolute directory path.
  * Idempotent: re-adding an existing entry is a no-op and returns `ok: true`
  * with an explanatory message. The directory must contain a valid
- * `package.json` with `agenticrosSkill: true`.
+ * `package.json` with an `agenticros` block (with at least `id`).
  */
 export function addSkillByPath(dir) {
     const info = inspectSkillDir(dir);
     if (!info) {
         return {
             ok: false,
-            message: `Not an AgenticROS skill directory: ${dir} (need package.json with "agenticrosSkill": true)`,
+            message: `Not an AgenticROS skill directory: ${dir} (need package.json with an "agenticros": { "id": "..." } block)`,
         };
     }
     if (!openclawConfigExists()) {

package/dist/util/skills.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.19",
+  "version": "0.2.1",
   "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": [
@@ -31,6 +31,16 @@
   "engines": {
     "node": ">=20.0.0"
   },
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit",
+    "test": "node --test --test-force-exit \"dist/__tests__/*.test.js\"",
+    "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
+    "pack:runtime": "node ../../scripts/pack-runtime.mjs",
+    "size:check": "node ../../scripts/check-cli-tarball-size.mjs",
+    "tarball:check": "node ../../scripts/check-cli-tarball-install.mjs",
+    "prepublishOnly": "pnpm run clean && pnpm run build && pnpm run pack:runtime && pnpm run size:check && pnpm run tarball:check"
+  },
   "dependencies": {
     "@inquirer/prompts": "^7.0.0",
     "commander": "^12.1.0",
@@ -49,14 +59,5 @@
     "type": "git",
     "url": "git+https://github.com/agenticros/agenticros.git",
     "directory": "packages/agenticros-cli"
-  },
-  "scripts": {
-    "build": "tsc",
-    "typecheck": "tsc --noEmit",
-    "test": "node --test --test-force-exit \"dist/__tests__/*.test.js\"",
-    "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
-    "pack:runtime": "node ../../scripts/pack-runtime.mjs",
-    "size:check": "node ../../scripts/check-cli-tarball-size.mjs",
-    "tarball:check": "node ../../scripts/check-cli-tarball-install.mjs"
   }
-}
+}

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-10T22:14:39.896Z",
+  "packedAt": "2026-06-15T15:00:38.213Z",
   "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

@@ -25,6 +25,7 @@ With AgenticROS, your robot can describe what it sees, follow intent ("go check
 - **[OpenClaw](https://openclaw.ai)** — Native gateway plugin with ROS 2 tools, commands, a config UI, a teleop web app, and a skill loader. The flagship integration.
 - **[NVIDIA NemoClaw](https://github.com/NVIDIA/NemoClaw)** — Run AgenticROS inside NemoClaw's OpenShell sandbox with policy-enforced egress and managed NVIDIA inference; ROS 2, RealSense, and rosbridge stay on the host while the plugin runs sandboxed.
 - **[Anthropic Claude](https://www.anthropic.com/claude)** — A single MCP server powers **Claude Code** (terminal), **Claude Desktop** (macOS / Windows), and **Claude Dispatch** (iOS, paired to your Mac). Ask Claude what your robot sees, and it answers with a live camera snapshot and depth reading.
+- **[OpenAI Codex CLI](https://developers.openai.com/codex/)** — The same MCP server registers cleanly via `codex mcp add agenticros — node …/packages/agenticros-claude-code/dist/index.js`, or via a `[mcp_servers.agenticros]` entry in `~/.codex/config.toml`. Same 15 tools, same JSON shapes. Setup: [packages/agenticros-claude-code/README.md#codex-cli-openai](packages/agenticros-claude-code/README.md#codex-cli-openai).
 - **[Google Gemini](https://ai.google.dev/)** — Standalone CLI that uses Gemini function calling against the same ROS 2 tools (no MCP required) — ideal for scripting and headless agents.
 
 AgenticROS is built so that new adapters (LangGraph, OpenAI, local models, voice stacks, etc.) can be added without touching the ROS 2 layer. The core transport and tool contract are platform-agnostic; adapters are thin shims that surface those tools to each agent runtime.
@@ -44,6 +45,61 @@ Claude (Code / desktop / Dispatch) → agenticros MCP server → Core → ROS2 r
 Gemini CLI → @agenticros/gemini (function calling) → Core → ROS2 robots
 ```
 
+## A shared mission language for robots
+
+The same tool surface across every adapter — Claude Code, Codex, Gemini, OpenClaw — so two different agents on two different stacks can both speak the same dialect when controlling the same robot. Built around five capabilities.
+
+### Capability manifests — robots advertise *verbs*
+
+Every AgenticROS-enabled robot exposes a typed list of named verbs through `ros2_list_capabilities`: `drive_base`, `take_snapshot`, `measure_depth`, `find_object`, `follow_person`, plus whatever a [skill package](#skills) contributes. The agent plans against the verbs instead of raw ROS 2 topics — and the manifest is shaped to double as an ACP / A2A agent card.
+
+### Mission chaining — `run_mission`
+
+One MCP tool, `run_mission`, executes a declarative step graph. Each step is `{ id, capability, inputs, on_fail }`. Outputs from any step flow into later steps via `{{stepId.outputs.field}}` template references — so a detection wires straight into the next motion command with no glue code:
+
+```json
+{
+  "steps": [
+    { "id": "find",     "capability": "find_object", "inputs": { "target": "chair" } },
+    { "id": "approach", "capability": "drive_base",
+      "inputs": {
+        "linear_x": 0.2,
+        "angular_z": "{{find.outputs.horizontal_offset}}"
+      }
+    }
+  ]
+}
+```
+
+### Natural-language goals
+
+`run_mission` also accepts a `goal` field — plain English. A rule-based, deterministic planner in `@agenticros/core` compiles it into a runnable mission against the robot's capability registry:
+
+- `"take a picture"` → `take_snapshot`
+- `"follow me"` → `follow_person`
+- `"drive forward at 0.3 m/s"` → `drive_base { linear_x: 0.3 }`
+- `"find a chair and drive toward it"` → the two-step compound plan above
+
+No LLM dependency (the planner is a few hundred lines of pattern matching, so the runtime doesn't require Ollama) and no fabricated calls (it only emits capabilities actually in the registry). Uncompilable goals return a clean error with the recognised-verb list so the agent can self-correct.
+
+### Multi-robot fleets
+
+`ros2_list_robots`, `ros2_discover_robots`, and `ros2_find_robots_for({ capability, kind?, online? })` let an agent ask *"give me an AMR that can `follow_person` and is currently online"* and get back a ranked list. The CLI keeps fleet metadata in sync without hand-editing JSON:
+
+```bash
+agenticros robots add my-amr \
+  --kind=amr --sensors=has_realsense,!has_arm \
+  --capabilities=drive_base,take_snapshot,follow_person
+```
+
+On the ROS side, every robot publishes a 1 Hz heartbeat on `<ns>/agenticros/robot_info` so the online filter reflects what's actually reachable. A single mission can route different steps to different robots — *"the AMR finds the box, the arm picks it up"* runs as one mission.
+
+### Cancel + shared transcripts
+
+`mission_cancel({ mission_id })` flips an in-process cancellation token; the runner stops at the next step boundary and marks remaining steps `cancelled`. When the [shared memory backend](#memory-optional) is on, every step is also written to `mission:<id>` in long-term memory, tagged with `step:<status>` and `capability:<id>`. A different agent — different process, different vendor — can `memory_recall` later and reconstruct exactly what happened, so two agents can collaborate on or hand off a mission.
+
+Full architecture + design trade-offs: **[docs/strategy-ai-agents-plus-ros.md](docs/strategy-ai-agents-plus-ros.md)**.
+
 ## Repository layout
 
 - `**packages/core**` — Transport, types, config (Zod). Used by all adapters.
@@ -107,6 +163,7 @@ 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 robots               # list / add / remove robots in the fleet (kind, sensors, capabilities)
 agenticros skills               # list / add / remove AgenticROS skills (see below)
 agenticros doctor               # coloured health check
 agenticros down                 # stop everything we started
@@ -382,11 +439,11 @@ Per-skill behaviour lives under `config.skills.<skillId>` (e.g. `config.skills.f
 
 ### 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.
+A skill is a Node package with an `"agenticros": { "id": "..." }` block in `package.json` and a `registerSkill(api, config, context)` export from `main`. Publish it to **[skills.agenticros.com](https://skills.agenticros.com)** so others can install it with `npx agenticros skills install <slug>`. See **[docs/skills.md](docs/skills.md)** for the full contract and **[agenticros-skill-followme](https://github.com/agenticros/agenticros-skill-followme)** as a reference template.
 
 ## Strategy & vision
 
-Where AgenticROS is going next — the four-phase roadmap covering capability registry + skill chaining + multi-robot fleet discovery, the `skills.agenticros.com` marketplace with declarative auto-fetch, spatial memory, and cross-vendor agent collaboration via ACP / A2A: **[docs/strategy-ai-agents-plus-ros.md](docs/strategy-ai-agents-plus-ros.md)**.
+Where AgenticROS is going next — beyond the shared mission language above, the roadmap covers turning capability manifests into agent cards on the wire (WebRTC / A2A so a robot can register itself as an agent in a mesh), an LLM-backed planner behind the existing `compileGoalToMission` contract, the `skills.agenticros.com` marketplace with declarative auto-fetch and in-agent installs, spatial memory, and cross-vendor agent collaboration via ACP / A2A: **[docs/strategy-ai-agents-plus-ros.md](docs/strategy-ai-agents-plus-ros.md)**.
 
 ## License
 

package/runtime/packages/agenticros/openclaw.plugin.json

@@ -373,7 +373,7 @@
       },
       "skillPaths": {
         "type": "array",
-        "description": "Directories to scan for skill packages (package.json with agenticrosSkill: true).",
+        "description": "Directories to scan for skill packages (package.json with an `agenticros` block).",
         "items": {
           "type": "string"
         },

package/runtime/packages/agenticros/src/config-page.ts

@@ -125,7 +125,7 @@ export function getConfigPageHtml(): string {
       <div class="field">
         <label for="skillPaths">Skill paths (comma-separated)</label>
         <input type="text" id="skillPaths" name="skillPaths" placeholder="e.g. /path/to/skills" />
-        <div class="field-hint">Directories to scan for skill packages (package.json with agenticrosSkill: true).</div>
+        <div class="field-hint">Directories to scan for skill packages (package.json with an "agenticros" block).</div>
       </div>
     </section>
     <section>