agenticros 0.1.4 → 0.1.6

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

@@ -1 +1 @@
-{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAaH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAiIlE"}
+{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAaH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAgKlE"}

package/dist/commands/init.js

@@ -14,7 +14,7 @@
  * Reuses the existing shell scripts as subprocesses (no logic duplication).
  */
 import { existsSync, mkdirSync, writeFileSync } from "node:fs";
-import { join } from "node:path";
+import { dirname, join } from "node:path";
 import { confirm, input, password, select } from "@inquirer/prompts";
 import { execa } from "execa";
 import { runDoctorChecks } from "./doctor.js";
@@ -37,11 +37,12 @@ export async function initCommand(opts) {
             await syncBundleToInstallDir(targetInstallDir, { overwrite: true });
         }
         else {
-            // Auto-heal: if any critical bundle files are missing (e.g. user installed
-            // an older CLI version that didn't bundle patches/), copy them in
-            // non-destructively before pnpm install hits ENOENT. We don't overwrite
-            // existing files so the user's customisations to config/, scripts/, etc.
-            // are preserved.
+            // Step 1: always refresh shipped code (scripts/, packages/, patches/, ...)
+            // from the bundle. These are CLI-controlled paths, not user data, so
+            // overwriting them is safe and lets bug fixes propagate without --force.
+            await refreshShippedCode(targetInstallDir);
+            // Step 2: additive cp -an for any *missing* critical paths that weren't
+            // covered by Step 1 (e.g. pnpm-lock.yaml). Never clobbers existing files.
             const missing = findMissingBundleFiles(paths.repoRoot);
             if (missing.length > 0) {
                 warn(`Existing install is missing ${missing.length} file(s) shipped in this CLI version:`);
@@ -66,13 +67,36 @@ export async function initCommand(opts) {
         }
     }
     const repoRoot = paths.repoRoot;
+    // Always (re)write the install dir's .npmrc from inline content. npm pack
+    // strips .npmrc from the published tarball, so we can't ship it - and even
+    // workspace-mode users benefit from having strict-peer-dependencies=false
+    // for the init flow specifically. This is a no-op for live monorepos
+    // because the root .npmrc takes precedence (pnpm walks UP for config).
+    if (paths.mode !== "workspace") {
+        writeInitNpmrcInline(repoRoot);
+    }
     const before = await runDoctorChecks();
     // Step: workspace deps.
     if (opts.force || !nodeModulesPresent(repoRoot)) {
         await runStep("Installing JS workspace dependencies (pnpm install)", async () => {
-            await execa("pnpm", ["install"], {
+            // Explicitly pass the flags here in addition to writing them to .npmrc.
+            // Reason: in some environments (containers, ephemeral CI, certain pnpm
+            // versions) the .npmrc is not picked up reliably from cwd. Passing
+            // --no-strict-peer-dependencies on the CLI guarantees mem0ai-style peer
+            // mismatches downgrade to a warning. --config.auto-install-peers=true
+            // matches the inline .npmrc value so behaviour is identical either way.
+            await execa("pnpm", [
+                "install",
+                "--no-strict-peer-dependencies",
+                "--config.auto-install-peers=true",
+            ], {
                 cwd: repoRoot,
                 stdio: "inherit",
+                env: {
+                    ...process.env,
+                    npm_config_strict_peer_dependencies: "false",
+                    npm_config_auto_install_peers: "true",
+                },
             });
         });
     }
@@ -253,12 +277,14 @@ async function promptAndConfigureOpenAi() {
  * install (because the user previously installed an older CLI version that
  * didn't bundle them), the init flow re-syncs additively.
  *
+ * NOTE: .npmrc is NOT in this list - it's never bundled (npm pack strips it).
+ * We write it inline via writeInitNpmrcInline() instead.
+ *
  * Order: most-likely-to-break-first.
  */
 const CRITICAL_BUNDLE_FILES = [
     "patches",
     "patches/@eclipse-zenoh__zenoh-ts@1.9.0.patch",
-    ".npmrc",
     "pnpm-workspace.yaml",
     "pnpm-lock.yaml",
     "package.json",
@@ -266,9 +292,89 @@ const CRITICAL_BUNDLE_FILES = [
     "ros2_ws/src/agenticros_sim/urdf/agenticros_amr.urdf.xacro",
     "scripts/sim/run_sim.sh",
 ];
+/**
+ * Files / directories the CLI considers "shipped code" - never user-modifiable
+ * - that should ALWAYS be refreshed from the bundle on init, even if they
+ * already exist. This is what lets the heal flow pick up downstream bug
+ * fixes (e.g. start_demo.sh learning to build workspace deps) without the
+ * user having to `rm -rf ~/agenticros && npx agenticros` every release.
+ *
+ * Add anything that is pure CLI-controlled code here. Do NOT add data dirs
+ * like ros2_ws/build, node_modules, or user-touchable configs.
+ */
+const ALWAYS_REFRESH_FROM_BUNDLE = [
+    "scripts", // start_demo.sh, sim/run_sim.sh, setup_gateway_plugin.sh, ...
+    "patches", // patched dep tarballs - immutable, must match package.json
+    "packages", // workspace TS sources & the prebuilt MCP dist
+    "ros2_ws/src", // ROS 2 package sources (msgs, sim, follow_me, ...)
+    "tsconfig.base.json",
+    "pnpm-workspace.yaml",
+];
 function findMissingBundleFiles(installDir) {
     return CRITICAL_BUNDLE_FILES.filter((f) => !existsSync(join(installDir, f)));
 }
+/**
+ * Write an init-friendly .npmrc into the install dir.
+ *
+ * Why inline instead of bundled? `npm pack` ALWAYS strips .npmrc from the
+ * published tarball (hardcoded denylist alongside .gitignore, .npmignore).
+ * That means anything we put in runtime/.npmrc is invisible to end users.
+ * Writing it from inline JS at init/heal time guarantees the file lands.
+ *
+ * We always overwrite (not append) so each CLI upgrade can refresh the
+ * settings. If the user wants custom pnpm config they can edit
+ * ~/.npmrc (user-level) which takes precedence.
+ */
+function writeInitNpmrcInline(installDir) {
+    const target = join(installDir, ".npmrc");
+    const contents = [
+        "# Auto-generated by `agenticros init` - safe defaults for end-user installs.",
+        "# Devs working on the repo from a git clone use the repo root .npmrc.",
+        "# Anything you want to customise goes in ~/.npmrc (user-level), which",
+        "# takes precedence over this file.",
+        "shamefully-hoist=false",
+        "strict-peer-dependencies=false",
+        "auto-install-peers=true",
+        "",
+    ].join("\n");
+    writeFileSync(target, contents);
+    ok(`Wrote install-friendly .npmrc to ${target}`);
+}
+/**
+ * Refresh paths in ALWAYS_REFRESH_FROM_BUNDLE from the bundled runtime/.
+ *
+ * This is destructive *within* the listed paths: e.g. an existing
+ * ~/agenticros/scripts/start_demo.sh will be overwritten by the new bundle's
+ * version. Paths NOT on the list (config/, node_modules/, ros2_ws/build/,
+ * the user's own files, etc.) are untouched.
+ *
+ * Uses `cp -a` per path so symlinks, perms, and mtimes are preserved. Each
+ * destination is wiped first to handle "file removed from the new bundle"
+ * cleanly (e.g. an obsolete script being deleted).
+ */
+async function refreshShippedCode(installDir) {
+    const paths = getCliPaths();
+    const source = paths.bundleDir;
+    if (!source || !existsSync(source))
+        return;
+    const targets = ALWAYS_REFRESH_FROM_BUNDLE.filter((p) => existsSync(join(source, p)));
+    if (targets.length === 0)
+        return;
+    await withSpinner("Refreshing CLI-shipped code from the new bundle", async () => {
+        for (const rel of targets) {
+            const src = join(source, rel);
+            const dst = join(installDir, rel);
+            // Wipe the destination first so removed files in the new bundle don't
+            // linger. We're only ever inside ALWAYS_REFRESH_FROM_BUNDLE paths, which
+            // never contain user data.
+            if (existsSync(dst)) {
+                await execa("rm", ["-rf", dst]);
+            }
+            mkdirSync(dirname(dst), { recursive: true });
+            await execa("cp", ["-a", src, dst]);
+        }
+    });
+}
 /**
  * Copy the bundled monorepo snapshot (`packages/agenticros-cli/runtime/`) into
  * the user's install dir (default ~/agenticros) so colcon and pnpm have a full

package/dist/commands/init.js.map

@@ -1 +1 @@
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package/dist/runners/real-robot.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"real-robot.d.ts","sourceRoot":"","sources":["../../src/runners/real-robot.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAWH,MAAM,WAAW,gBAAgB;IAC/B,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAED,wBAAsB,YAAY,CAAC,IAAI,EAAE,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,CAyDxE"}

package/dist/runners/real-robot.js

@@ -11,7 +11,7 @@ import { join } from "node:path";
 import { execa } from "execa";
 import { getCliPaths } from "../util/paths.js";
 import { detectRosDistro } from "../util/env.js";
-import { err, header, info } from "../util/logger.js";
+import { err, header, info, warn } from "../util/logger.js";
 export async function runRealRobot(opts) {
     header("AgenticROS - real robot");
     const paths = getCliPaths();
@@ -21,6 +21,27 @@ export async function runRealRobot(opts) {
         err("Run `agenticros init` first; if you're using `npx`, this is a CLI bug — file an issue.");
         process.exit(1);
     }
+    // Precondition check: workspace must be installed + built. start_demo.sh
+    // now does this itself, but giving a clearer error here (before any RealSense
+    // launches) saves the user from a 200-line tsc dump.
+    const repoRoot = paths.repoRoot;
+    if (repoRoot) {
+        const nodeModules = join(repoRoot, "node_modules");
+        if (!existsSync(nodeModules)) {
+            err("JS workspace deps not installed. Run `agenticros init` first.");
+            process.exit(1);
+        }
+        // We only ship one prebuilt dist (claude-code). Core/ros-camera get built
+        // by `pnpm install`'s lifecycle or by `agenticros init`. If their dist is
+        // missing, start_demo.sh's `pnpm --filter ...@agenticros/claude-code build`
+        // will build them; warn the user so they don't think the CLI is stuck.
+        const coreDist = join(repoRoot, "packages", "core", "dist", "index.js");
+        if (!existsSync(coreDist)) {
+            warn("@agenticros/core dist/ missing — start_demo.sh will rebuild the\n" +
+                "  workspace before launching the MCP server (~30-90s on Jetson).\n" +
+                "  Tip: run `agenticros init` once after install to do this up front.");
+        }
+    }
     const ros = detectRosDistro(opts.rosDistro);
     if (!ros.distro) {
         err("No ROS 2 installation detected under /opt/ros/. Install ROS 2 Humble or Jazzy first.");

package/dist/runners/real-robot.js.map

@@ -1 +1 @@
-{"version":3,"file":"real-robot.js","sourceRoot":"","sources":["../../src/runners/real-robot.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AACrC,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EAAE,KAAK,EAAE,MAAM,OAAO,CAAC;AAE9B,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAC/C,OAAO,EAAE,eAAe,EAAE,MAAM,gBAAgB,CAAC;AACjD,OAAO,EAAE,GAAG,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAQtD,MAAM,CAAC,KAAK,UAAU,YAAY,CAAC,IAAsB;IACvD,MAAM,CAAC,yBAAyB,CAAC,CAAC;IAElC,MAAM,KAAK,GAAG,WAAW,EAAE,CAAC;IAC5B,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,UAAU,EAAE,eAAe,CAAC,CAAC;IACvD,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QACxB,GAAG,CAAC,8BAA8B,MAAM,GAAG,CAAC,CAAC;QAC7C,GAAG,CACD,wFAAwF,CACzF,CAAC;QACF,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,GAAG,GAAG,eAAe,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;IAC5C,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAChB,GAAG,CAAC,sFAAsF,CAAC,CAAC;QAC5F,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,GAAG,GAAG,EAAE,GAAG,OAAO,CAAC,GAAG,EAAE,CAAC;IAC/B,IAAI,IAAI,CAAC,MAAM,KAAK,KAAK;QAAE,GAAG,CAAC,sBAAsB,CAAC,GAAG,GAAG,CAAC;IAC7D,IAAI,IAAI,CAAC,MAAM,KAAK,KAAK;QAAE,GAAG,CAAC,sBAAsB,CAAC,GAAG,GAAG,CAAC;IAE7D,IAAI,CAAC,qBAAqB,GAAG,CAAC,MAAM,yCAAyC,CAAC,CAAC;IAC/E,IAAI,CAAC;QACH,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,EAAE;YACxC,GAAG;YACH,KAAK,EAAE,SAAS;SACjB,CAAC,CAAC;IACL,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,GAAG,CAAC,yBAAyB,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;QAC3E,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;AACH,CAAC"}
+{"version":3,"file":"real-robot.js","sourceRoot":"","sources":["../../src/runners/real-robot.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AACrC,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EAAE,KAAK,EAAE,MAAM,OAAO,CAAC;AAE9B,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAC/C,OAAO,EAAE,eAAe,EAAE,MAAM,gBAAgB,CAAC;AACjD,OAAO,EAAE,GAAG,EAAE,MAAM,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAQ5D,MAAM,CAAC,KAAK,UAAU,YAAY,CAAC,IAAsB;IACvD,MAAM,CAAC,yBAAyB,CAAC,CAAC;IAElC,MAAM,KAAK,GAAG,WAAW,EAAE,CAAC;IAC5B,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,UAAU,EAAE,eAAe,CAAC,CAAC;IACvD,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QACxB,GAAG,CAAC,8BAA8B,MAAM,GAAG,CAAC,CAAC;QAC7C,GAAG,CACD,wFAAwF,CACzF,CAAC;QACF,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,yEAAyE;IACzE,8EAA8E;IAC9E,qDAAqD;IACrD,MAAM,QAAQ,GAAG,KAAK,CAAC,QAAQ,CAAC;IAChC,IAAI,QAAQ,EAAE,CAAC;QACb,MAAM,WAAW,GAAG,IAAI,CAAC,QAAQ,EAAE,cAAc,CAAC,CAAC;QACnD,IAAI,CAAC,UAAU,CAAC,WAAW,CAAC,EAAE,CAAC;YAC7B,GAAG,CAAC,+DAA+D,CAAC,CAAC;YACrE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAClB,CAAC;QACD,0EAA0E;QAC1E,0EAA0E;QAC1E,4EAA4E;QAC5E,uEAAuE;QACvE,MAAM,QAAQ,GAAG,IAAI,CAAC,QAAQ,EAAE,UAAU,EAAE,MAAM,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC;QACxE,IAAI,CAAC,UAAU,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC1B,IAAI,CACF,mEAAmE;gBACjE,oEAAoE;gBACpE,sEAAsE,CACzE,CAAC;QACJ,CAAC;IACH,CAAC;IAED,MAAM,GAAG,GAAG,eAAe,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;IAC5C,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAChB,GAAG,CAAC,sFAAsF,CAAC,CAAC;QAC5F,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,GAAG,GAAG,EAAE,GAAG,OAAO,CAAC,GAAG,EAAE,CAAC;IAC/B,IAAI,IAAI,CAAC,MAAM,KAAK,KAAK;QAAE,GAAG,CAAC,sBAAsB,CAAC,GAAG,GAAG,CAAC;IAC7D,IAAI,IAAI,CAAC,MAAM,KAAK,KAAK;QAAE,GAAG,CAAC,sBAAsB,CAAC,GAAG,GAAG,CAAC;IAE7D,IAAI,CAAC,qBAAqB,GAAG,CAAC,MAAM,yCAAyC,CAAC,CAAC;IAC/E,IAAI,CAAC;QACH,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,EAAE;YACxC,GAAG;YACH,KAAK,EAAE,SAAS;SACjB,CAAC,CAAC;IACL,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,GAAG,CAAC,yBAAyB,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;QAC3E,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;AACH,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.4",
+  "version": "0.1.6",
   "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": [
@@ -37,7 +37,8 @@
     "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
     "pack:runtime": "node ../../scripts/pack-runtime.mjs",
     "size:check": "node ../../scripts/check-cli-tarball-size.mjs",
-    "prepublishOnly": "pnpm run clean && pnpm run build && pnpm run pack:runtime && pnpm run size:check"
+    "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",

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-05T22:33:19.029Z",
+  "packedAt": "2026-06-05T22:52:39.644Z",
   "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/scripts/check-cli-tarball-install.mjs

@@ -0,0 +1,224 @@
+#!/usr/bin/env node
+/**
+ * check-cli-tarball-install.mjs
+ *
+ * Pre-publish guard that pretends to be a brand-new user on a fresh machine
+ * running `npx agenticros init`. Catches the entire class of bugs we hit
+ * across 0.1.2 -> 0.1.5:
+ *
+ *   * patches/ missing from the published tarball  (0.1.2 ENOENT)
+ *   * .npmrc stripped by npm pack so pnpm sees strict-peer mode  (0.1.4)
+ *   * --no-strict-peer-dependencies not actually wired up
+ *   * runtime/scripts/sim/run_sim.sh accidentally dropped
+ *   * etc.
+ *
+ * Flow:
+ *   1. `npm pack` the agenticros CLI into a tmpdir
+ *   2. Extract the tarball
+ *   3. Sanity-check the extracted tree against CRITICAL_BUNDLE_FILES
+ *   4. Copy runtime/ to a sibling install dir (what init.ts does)
+ *   5. Write the inline .npmrc (mirrors init.ts writeInitNpmrcInline)
+ *   6. Run `pnpm install` with the same flags init.ts uses
+ *   7. Verify it exits 0 and that the zenoh-ts patch was actually applied
+ *
+ * Exits 0 on success, non-zero on any failure. Hooked into the CLI's
+ * `prepublishOnly` chain so `npm publish` cannot succeed without it.
+ *
+ * Run manually:
+ *   node scripts/check-cli-tarball-install.mjs
+ *
+ * Skip (e.g. air-gapped CI):
+ *   AGENTICROS_SKIP_TARBALL_INSTALL=1 node scripts/check-cli-tarball-install.mjs
+ */
+
+import { execSync, spawnSync } from "node:child_process";
+import { existsSync, mkdirSync, mkdtempSync, readdirSync, rmSync } from "node:fs";
+import { tmpdir } from "node:os";
+import { dirname, join, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+
+// ---------- config ----------
+
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const REPO_ROOT = resolve(__dirname, "..");
+const CLI_DIR = join(REPO_ROOT, "packages", "agenticros-cli");
+
+// Mirror of CRITICAL_BUNDLE_FILES in packages/agenticros-cli/src/commands/init.ts.
+// Keep these in sync (small surface area, low maintenance cost).
+const REQUIRED_RUNTIME_FILES = [
+  "patches",
+  "patches/@eclipse-zenoh__zenoh-ts@1.9.0.patch",
+  "pnpm-workspace.yaml",
+  "pnpm-lock.yaml",
+  "package.json",
+  "ros2_ws/src/agenticros_sim",
+  "ros2_ws/src/agenticros_sim/urdf/agenticros_amr.urdf.xacro",
+  "scripts/sim/run_sim.sh",
+];
+
+// ---------- logging ----------
+
+function step(msg) {
+  process.stdout.write(`\x1b[36m[tarball-test]\x1b[0m ${msg}\n`);
+}
+function ok(msg) {
+  process.stdout.write(`\x1b[32m[tarball-test ✓]\x1b[0m ${msg}\n`);
+}
+function fail(msg) {
+  process.stderr.write(`\x1b[31m[tarball-test ✗]\x1b[0m ${msg}\n`);
+}
+
+// ---------- helpers ----------
+
+function run(cmd, args, opts = {}) {
+  const r = spawnSync(cmd, args, { encoding: "utf8", ...opts });
+  if (r.status !== 0) {
+    fail(`${cmd} ${args.join(" ")} exited ${r.status}`);
+    if (r.stdout) process.stdout.write(r.stdout);
+    if (r.stderr) process.stderr.write(r.stderr);
+    throw new Error(`Command failed: ${cmd} ${args.join(" ")}`);
+  }
+  return r;
+}
+
+function detectPnpm() {
+  const r = spawnSync("pnpm", ["--version"], { encoding: "utf8" });
+  if (r.status !== 0) {
+    fail("pnpm is not on PATH. Install pnpm before publishing.");
+    process.exit(2);
+  }
+  return r.stdout.trim();
+}
+
+// ---------- main ----------
+
+if (process.env.AGENTICROS_SKIP_TARBALL_INSTALL === "1") {
+  step("AGENTICROS_SKIP_TARBALL_INSTALL=1 set; skipping.");
+  process.exit(0);
+}
+
+const pnpmVer = detectPnpm();
+step(`Using pnpm ${pnpmVer}`);
+
+const work = mkdtempSync(join(tmpdir(), "agenticros-tarball-test-"));
+const packDir = join(work, "pack");
+const extractDir = join(work, "extract");
+const installDir = join(work, "install");
+mkdirSync(packDir);
+mkdirSync(extractDir);
+mkdirSync(installDir);
+
+try {
+  // 1. npm pack
+  step("npm pack...");
+  const packResult = run("npm", ["pack", "--pack-destination", packDir, "--silent"], {
+    cwd: CLI_DIR,
+  });
+  const tgz = readdirSync(packDir).find((f) => f.endsWith(".tgz"));
+  if (!tgz) {
+    fail("npm pack did not produce a .tgz file.");
+    process.exit(1);
+  }
+  const tgzPath = join(packDir, tgz);
+  ok(`Packed: ${tgz}`);
+
+  // 2. extract
+  step("Extracting tarball...");
+  run("tar", ["-xzf", tgzPath, "-C", extractDir]);
+  const pkgDir = join(extractDir, "package"); // npm tar convention
+  if (!existsSync(pkgDir)) {
+    fail(`Extract did not produce a 'package/' directory.`);
+    process.exit(1);
+  }
+  ok(`Extracted to ${pkgDir}`);
+
+  // 3. critical files present in the SHIPPED tarball
+  step("Verifying critical runtime files are in the tarball...");
+  const runtimeInTar = join(pkgDir, "runtime");
+  const missing = REQUIRED_RUNTIME_FILES.filter((f) => !existsSync(join(runtimeInTar, f)));
+  if (missing.length > 0) {
+    fail(`Tarball is missing required runtime files:`);
+    for (const m of missing) process.stderr.write(`    ${m}\n`);
+    process.exit(1);
+  }
+  ok(`All ${REQUIRED_RUNTIME_FILES.length} critical runtime files present.`);
+
+  // 4. simulate init: cp -a runtime/. installDir/
+  step("Copying runtime/ into a fresh install dir (simulating `agenticros init`)...");
+  run("cp", ["-a", `${runtimeInTar}/.`, installDir]);
+  ok(`Install dir populated at ${installDir}`);
+
+  // 5. write inline .npmrc (mirrors init.ts writeInitNpmrcInline)
+  step("Writing inline .npmrc (mirroring writeInitNpmrcInline)...");
+  const fs = await import("node:fs");
+  fs.writeFileSync(
+    join(installDir, ".npmrc"),
+    [
+      "shamefully-hoist=false",
+      "strict-peer-dependencies=false",
+      "auto-install-peers=true",
+      "",
+    ].join("\n"),
+  );
+  ok(".npmrc written.");
+
+  // 6. pnpm install with the same flags init.ts uses
+  step("Running pnpm install with init.ts flags (this can take a minute)...");
+  const installResult = spawnSync(
+    "pnpm",
+    [
+      "install",
+      "--no-strict-peer-dependencies",
+      "--config.auto-install-peers=true",
+      "--prefer-offline",
+      "--ignore-scripts", // skip postinstalls to keep this guard fast
+    ],
+    {
+      cwd: installDir,
+      encoding: "utf8",
+      env: {
+        ...process.env,
+        npm_config_strict_peer_dependencies: "false",
+        npm_config_auto_install_peers: "true",
+      },
+    },
+  );
+
+  if (installResult.status !== 0) {
+    fail(`pnpm install failed (exit ${installResult.status}):`);
+    if (installResult.stdout) process.stdout.write(installResult.stdout);
+    if (installResult.stderr) process.stderr.write(installResult.stderr);
+    process.exit(1);
+  }
+  ok("pnpm install exited 0.");
+
+  // 7. verify the zenoh-ts patch was applied (signature in the pnpm store path)
+  step("Verifying zenoh-ts patch landed (looking for _patch_hash in .pnpm)...");
+  const pnpmStore = join(installDir, "node_modules", ".pnpm");
+  if (!existsSync(pnpmStore)) {
+    fail(`Expected ${pnpmStore} after pnpm install.`);
+    process.exit(1);
+  }
+  const entries = readdirSync(pnpmStore);
+  const patched = entries.find(
+    (e) => e.startsWith("@eclipse-zenoh+zenoh-ts@") && e.includes("_patch_hash="),
+  );
+  if (!patched) {
+    fail(
+      "Could not find a patched @eclipse-zenoh/zenoh-ts in the pnpm store.\n" +
+        "    This means patches/ either wasn't shipped or wasn't applied.\n" +
+        "    Looking for entry matching: @eclipse-zenoh+zenoh-ts@*_patch_hash=*",
+    );
+    process.exit(1);
+  }
+  ok(`Patched zenoh-ts present in store: ${patched.slice(0, 70)}...`);
+
+  ok("ALL CHECKS PASSED. Tarball is publish-ready.");
+} finally {
+  // best-effort cleanup; don't mask earlier errors
+  try {
+    rmSync(work, { recursive: true, force: true });
+  } catch {
+    // ignore
+  }
+}

package/runtime/scripts/pack-runtime.mjs

@@ -55,6 +55,9 @@ const INCLUDED_PACKAGES = [
   "agenticros-gemini",
 ];
 
+// NOTE: .npmrc is deliberately absent here. npm pack strips .npmrc from
+// every published tarball (hardcoded denylist), so bundling it is pointless.
+// The CLI writes ~/agenticros/.npmrc inline at init/heal time instead.
 const TOP_LEVEL_FILES = [
   "package.json",
   "pnpm-workspace.yaml",
@@ -62,7 +65,6 @@ const TOP_LEVEL_FILES = [
   "tsconfig.base.json",
   "LICENSE",
   "README.md",
-  ".npmrc",
 ];
 
 const DOCS_FILES = ["cli.md", "architecture.md", "robot-setup.md", "memory.md"];
@@ -214,25 +216,11 @@ function copyPatches() {
   copyTree(join(REPO_ROOT, "patches"), join(RUNTIME_DIR, "patches"));
 }
 
-function writeInitNpmrc() {
-  // The dev workspace runs with strict-peer-dependencies=true so we catch
-  // upstream peer mismatches in CI. End-user `agenticros init`, however, must
-  // tolerate them - mem0ai (a transitive dep of @agenticros/core) currently
-  // declares strict peer ranges on qdrant/pg/redis that the resolved versions
-  // don't satisfy, which aborts pnpm install. Overwriting .npmrc in the
-  // shipped snapshot keeps dev strictness intact while letting `init` succeed
-  // on a clean machine.
-  logStep("Writing init-friendly .npmrc (overrides dev settings)");
-  const contents = [
-    "# Generated by scripts/pack-runtime.mjs - safe defaults for `agenticros init`.",
-    "# Devs working on the repo itself get the stricter root .npmrc.",
-    "shamefully-hoist=false",
-    "strict-peer-dependencies=false",
-    "auto-install-peers=true",
-    "",
-  ].join("\n");
-  writeFileSync(join(RUNTIME_DIR, ".npmrc"), contents);
-}
+// NOTE: We intentionally do NOT ship runtime/.npmrc here. npm strips .npmrc
+// from every published tarball (hardcoded denylist alongside .gitignore), so
+// any .npmrc we write into runtime/ vanishes from the user's `npx agenticros`
+// install. Instead, the CLI writes ~/agenticros/.npmrc from inline content at
+// init/heal time (see commands/init.ts -> writeInitNpmrcInline).
 
 function writeBundleManifest() {
   const manifestPath = join(RUNTIME_DIR, "BUNDLE.json");
@@ -271,7 +259,6 @@ copyPackages();
 copyTopLevel();
 copyDocs();
 copyPatches();
-writeInitNpmrc(); // Must come AFTER copyTopLevel which copies the dev .npmrc
 writeBundleManifest();
 reportSize();
 logStep("Done.");

package/runtime/scripts/start_demo.sh

@@ -43,9 +43,20 @@ else
     echo "   Started (pid $(cat "$CAMERA_PID_FILE"))"
 fi
 
-echo "==> Building @agenticros/claude-code MCP server"
+echo "==> Building TypeScript workspace (@agenticros/core, ros-camera, claude-code, ...)"
 cd "$REPO_ROOT"
-pnpm --filter @agenticros/claude-code build
+# Build claude-code AND all its dependencies (@agenticros/core, ros-camera).
+# Without the leading dots we'd only build claude-code itself and TS would
+# fail to resolve @agenticros/core because the dependency has no dist/ yet.
+# `--workspace-concurrency=1` keeps logs readable on slow Jetson SDs.
+if ! pnpm --filter '...@agenticros/claude-code' --workspace-concurrency=1 build; then
+  echo ""
+  echo "    Workspace build failed. If this is your first run, do:" >&2
+  echo "      agenticros init     # installs deps + builds workspace" >&2
+  echo "    or, from this dir:" >&2
+  echo "      pnpm install && pnpm build" >&2
+  exit 2
+fi
 
 echo "==> Starting motor controller (robotics start motors)"
 robotics start motors