agenticros 0.1.8 → 0.1.10

package/dist/util/profiles.js

@@ -0,0 +1,173 @@
+/**
+ * Mode profile storage for AgenticROS.
+ *
+ * Profiles live at ~/.agenticros/profiles/<mode>.json. The active profile is
+ * copied into ~/.agenticros/config.json (which is what every adapter actually
+ * reads). Swapping profiles is what `agenticros config use <mode>` (and the
+ * up-runners) does so users can flip between real-robot and simulation
+ * without hand-editing JSON.
+ *
+ * Why profiles instead of a single config: the real robot and the sim AMR
+ * have different namespaces, transports, safety limits, and camera topics.
+ * Tracking both in one file requires the MCP server to know "which mode is
+ * active right now," which is exactly the problem `.mcp.json` env override
+ * already tried to solve - badly, because env vars unconditionally win and
+ * silently break the other mode. With profiles + a live ~/.agenticros/
+ * config.json, everything reads from one place; the CLI just swaps it.
+ *
+ * Profile bootstrap policy:
+ *   * On first use, if ~/.agenticros/config.json exists but no profiles do,
+ *     we treat the current config as the user's last-used mode and seed
+ *     profiles from defaults for both modes (preserving any namespace the
+ *     user already had for whichever mode matches it).
+ *   * Otherwise we write the canonical defaults below.
+ */
+import { copyFileSync, existsSync, mkdirSync, readFileSync, writeFileSync } from "node:fs";
+import { join } from "node:path";
+import { getCliPaths } from "./paths.js";
+export function profilesDir() {
+    return join(getCliPaths().userDataDir, "profiles");
+}
+export function profilePath(mode) {
+    return join(profilesDir(), `${mode}.json`);
+}
+export function activeConfigPath() {
+    return join(getCliPaths().userDataDir, "config.json");
+}
+export function modeMarkerPath() {
+    return join(getCliPaths().userDataDir, "active-mode");
+}
+export function readActiveMode() {
+    try {
+        const raw = readFileSync(modeMarkerPath(), "utf8").trim();
+        if (raw === "real" || raw === "sim")
+            return raw;
+    }
+    catch {
+        // No marker yet.
+    }
+    return null;
+}
+/**
+ * Canonical real-robot profile. The namespace is intentionally a placeholder
+ * - users edit it once after `init` (or `config set robot.namespace=...`) to
+ * match their robot. We DO NOT bake in the workspace's example UUID because
+ * that gets shared in repos.
+ */
+function realProfileDefaults(namespaceFallback) {
+    return {
+        transport: { mode: "local" },
+        robot: {
+            namespace: namespaceFallback ?? "my_robot",
+            name: "Real Robot",
+            cameraTopic: "/camera/camera/color/image_raw",
+        },
+        safety: { maxLinearVelocity: 1.0, maxAngularVelocity: 1.5 },
+        teleop: { cmdVelTopic: "/cmd_vel", speedDefault: 0.3 },
+    };
+}
+/**
+ * Canonical sim-AMR profile. Mirrors ros2_ws/src/agenticros_sim/config/
+ * agenticros-sim.config.json - namespace MUST be empty because the sim
+ * bridge in amr_bridge.yaml publishes /cmd_vel, /odom, etc. at the graph
+ * root (no robot prefix). Setting a namespace here means Claude publishes
+ * into a void during simulation.
+ */
+function simProfileDefaults() {
+    return {
+        transport: { mode: "local" },
+        robot: {
+            namespace: "",
+            name: "Sim AMR",
+            cameraTopic: "/camera/camera/color/image_raw",
+        },
+        safety: { maxLinearVelocity: 0.5, maxAngularVelocity: 1.0 },
+        teleop: { cmdVelTopic: "/cmd_vel", speedDefault: 0.2 },
+        skills: {
+            followme: { depthTopic: "/camera/camera/depth/image_rect_raw" },
+        },
+    };
+}
+function safeReadJson(p) {
+    try {
+        return JSON.parse(readFileSync(p, "utf8"));
+    }
+    catch {
+        return null;
+    }
+}
+/**
+ * Ensure both real and sim profile files exist. Returns true if anything was
+ * written (so callers can log it).
+ */
+export function ensureProfilesExist() {
+    const dir = profilesDir();
+    mkdirSync(dir, { recursive: true });
+    let wrote = false;
+    const realPath = profilePath("real");
+    const simPath = profilePath("sim");
+    // Bootstrap: if a config.json already exists from before profiles existed,
+    // try to preserve whatever namespace the user had set. We don't know which
+    // mode that config represents, so we use the current namespace for the
+    // real-mode default (most users had a real-robot setup) and leave sim
+    // strictly empty.
+    let existingNs;
+    const active = activeConfigPath();
+    if (existsSync(active)) {
+        const cur = safeReadJson(active);
+        const ns = cur?.robot?.namespace;
+        if (typeof ns === "string" && ns.length > 0)
+            existingNs = ns;
+    }
+    if (!existsSync(realPath)) {
+        writeFileSync(realPath, JSON.stringify(realProfileDefaults(existingNs), null, 2) + "\n");
+        wrote = true;
+    }
+    if (!existsSync(simPath)) {
+        writeFileSync(simPath, JSON.stringify(simProfileDefaults(), null, 2) + "\n");
+        wrote = true;
+    }
+    return wrote;
+}
+/**
+ * Swap ~/.agenticros/config.json to the requested mode and persist the
+ * active-mode marker. Returns the absolute path to the active config.
+ *
+ * Idempotent: calling switchMode("sim") when sim is already active just
+ * re-copies the profile (cheap, ensures freshness).
+ */
+export function switchMode(mode) {
+    ensureProfilesExist();
+    const src = profilePath(mode);
+    const dst = activeConfigPath();
+    mkdirSync(getCliPaths().userDataDir, { recursive: true });
+    copyFileSync(src, dst);
+    writeFileSync(modeMarkerPath(), mode + "\n");
+    return dst;
+}
+/**
+ * Mutate a single field inside the profile JSON (e.g. real.robot.namespace).
+ * Use sparingly - profiles are normally edited by hand or via `agenticros
+ * config set` against the active config.
+ */
+export function patchProfile(mode, path, value) {
+    ensureProfilesExist();
+    const p = profilePath(mode);
+    const obj = safeReadJson(p) ?? {};
+    let cursor = obj;
+    for (let i = 0; i < path.length - 1; i++) {
+        const k = path[i];
+        const next = cursor[k];
+        if (next && typeof next === "object" && !Array.isArray(next)) {
+            cursor = next;
+        }
+        else {
+            const o = {};
+            cursor[k] = o;
+            cursor = o;
+        }
+    }
+    cursor[path[path.length - 1]] = value;
+    writeFileSync(p, JSON.stringify(obj, null, 2) + "\n");
+}
+//# sourceMappingURL=profiles.js.map

package/dist/util/profiles.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.8",
+  "version": "0.1.10",
   "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": [

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-05T23:06:49.989Z",
+  "packedAt": "2026-06-06T13:54:42.821Z",
   "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/ros2_ws/src/agenticros_sim/README.md

@@ -1,9 +1,9 @@
 # agenticros_sim
 
 Gazebo Harmonic simulation assets for the AgenticROS project: an indoor world,
-a 2-wheel diff-drive AMR with a depth camera + 2D lidar + IMU, and a `ros_gz_
-bridge` config that exposes everything on the topic names the real-robot
-plugin already expects.
+a 2-wheel diff-drive AMR (depth camera + 2D lidar + IMU), a 6-DOF UR5e-shaped
+robotic arm, and a `ros_gz_bridge` config that exposes everything on the topic
+names the real-robot plugin already expects.
 
 ## What's inside
 
@@ -11,13 +11,20 @@ plugin already expects.
 agenticros_sim/
 ├── worlds/agenticros_indoor.sdf       12 x 12 m indoor room with obstacles
 │                                      and one "person" target for follow-me
-├── models/agenticros_amr/              2-wheel diff-drive AMR with sensors
-│   ├── model.config
-│   └── model.sdf
+├── models/
+│   ├── agenticros_amr/                 2-wheel diff-drive AMR with sensors
+│   └── agenticros_arm/                 6-DOF UR5e-shaped robotic arm
+├── urdf/
+│   ├── agenticros_amr.urdf.xacro       URDF mirror for RViz (AMR)
+│   └── agenticros_arm.urdf.xacro       URDF mirror for RViz (arm)
 ├── config/
-│   ├── amr_bridge.yaml                 gz <-> ROS topic mapping
-│   └── amr_view.rviz                   RViz config showing camera, scan, TF
-├── launch/sim_amr.launch.py            One-stop launcher
+│   ├── amr_bridge.yaml                 gz <-> ROS topic mapping (AMR)
+│   ├── amr_view.rviz                   RViz config: camera, scan, TF
+│   ├── arm_bridge.yaml                 gz <-> ROS topic mapping (arm)
+│   └── arm_view.rviz                   RViz config: RobotModel + TF
+├── launch/
+│   ├── sim_amr.launch.py               One-stop launcher (AMR)
+│   └── sim_arm.launch.py               One-stop launcher (arm)
 ├── env-hooks/                          Add the package's share/ to GZ_SIM_RESOURCE_PATH
 └── CMakeLists.txt + package.xml        Standard ament_cmake skeleton
 ```
@@ -26,18 +33,50 @@ agenticros_sim/
 
 ```bash
 # Easiest: use the agenticros CLI (handles ROS sourcing + workspace build).
-agenticros up sim-amr            # GUI
-agenticros up sim-amr --rviz     # GUI + RViz panel
-agenticros up sim-amr --no-camera # (no effect for sim - flag is real-only)
+agenticros up sim-amr            # AMR: GUI
+agenticros up sim-amr --rviz     # AMR: GUI + RViz panel
+agenticros up sim-arm            # Arm: GUI
+agenticros up sim-arm --rviz     # Arm: GUI + RViz (RobotModel + TF)
 
-# Or run the launch file directly:
+# Or run the launch files directly:
 cd ros2_ws && colcon build --symlink-install --packages-select agenticros_sim
 source install/setup.bash
 ros2 launch agenticros_sim sim_amr.launch.py
 ros2 launch agenticros_sim sim_amr.launch.py use_rviz:=true
 ros2 launch agenticros_sim sim_amr.launch.py gui:=false      # headless
+ros2 launch agenticros_sim sim_arm.launch.py
+ros2 launch agenticros_sim sim_arm.launch.py use_rviz:=true
 ```
 
+## Arm topic layout
+
+The arm exposes one position-command topic per joint plus the usual
+`/joint_states`, `/tf`, and `/clock`. Send a target angle in radians as a
+`std_msgs/Float64` and the PD controller drives the joint there.
+
+| Topic                              | Type                          | Direction |
+|------------------------------------|-------------------------------|-----------|
+| `/arm/shoulder_pan/cmd_pos`        | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/shoulder_lift/cmd_pos`       | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/elbow/cmd_pos`               | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/wrist_1/cmd_pos`             | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/wrist_2/cmd_pos`             | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/wrist_3/cmd_pos`             | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/joint_states`                    | `sensor_msgs/msg/JointState`  | GZ -> ROS |
+| `/tf`, `/tf_static`                | `tf2_msgs/msg/TFMessage`      | GZ -> ROS |
+| `/clock`                           | `rosgraph_msgs/msg/Clock`     | GZ -> ROS |
+
+Example - wave the elbow back and forth from the command line:
+
+```bash
+ros2 topic pub /arm/elbow/cmd_pos std_msgs/msg/Float64 'data: 1.0' --once
+sleep 2
+ros2 topic pub /arm/elbow/cmd_pos std_msgs/msg/Float64 'data: -0.5' --once
+```
+
+The same via an MCP `ros2_publish` tool call from Claude / Codex / Gemini works
+identically.
+
 ## Topic layout
 
 The bridge YAML deliberately matches the real-robot AgenticROS plugin's topic

package/runtime/ros2_ws/src/agenticros_sim/config/arm_bridge.yaml

@@ -0,0 +1,84 @@
+# arm_bridge.yaml
+#
+# Bridge config for the 6-DOF agenticros_arm sim. Feeds ros_gz_bridge's
+# parameter_bridge so Gazebo Harmonic topics produced by the arm's
+# JointPositionController + JointStatePublisher + PosePublisher plugins
+# are exposed as the ROS 2 topics agent code expects.
+#
+# Direction notation:
+#   GZ_TO_ROS   — gazebo publishes, ROS subscribes (joint feedback, TF, clock)
+#   ROS_TO_GZ   — ROS publishes, gazebo subscribes (joint commands)
+#   BIDIRECTIONAL — rarely needed
+#
+# Topic naming convention: /arm/<joint>/cmd_pos for joint commands. Same
+# naming pattern across all six joints so a Claude / Codex / Gemini
+# `ros2_publish` tool call only needs to vary the joint name.
+
+# ---------------- Clock (GZ -> ROS) ----------------
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# ---------------- /tf  (GZ -> ROS) ----------------
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/agenticros_arm/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf_static"
+  gz_topic_name: "/model/agenticros_arm/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# ---------------- Joint feedback (GZ -> ROS) ----------------
+# robot_state_publisher consumes this to update the URDF transforms in
+# RViz and to publish per-link /tf entries. The gz topic name matches the
+# <topic>joint_states</topic> field on the SDF's JointStatePublisher
+# plugin (gz-sim treats that as the literal topic, no model prefix).
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# ---------------- Joint position commands (ROS -> GZ) ----------------
+# Send std_msgs/Float64 (radians) to any of these to drive a joint.
+- ros_topic_name: "/arm/shoulder_pan/cmd_pos"
+  gz_topic_name: "/arm/shoulder_pan/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/shoulder_lift/cmd_pos"
+  gz_topic_name: "/arm/shoulder_lift/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/elbow/cmd_pos"
+  gz_topic_name: "/arm/elbow/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/wrist_1/cmd_pos"
+  gz_topic_name: "/arm/wrist_1/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/wrist_2/cmd_pos"
+  gz_topic_name: "/arm/wrist_2/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/wrist_3/cmd_pos"
+  gz_topic_name: "/arm/wrist_3/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ

package/runtime/ros2_ws/src/agenticros_sim/config/arm_view.rviz

@@ -0,0 +1,109 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 600
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.5
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 12
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 0.15
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.4
+        Y: 0
+        Z: 0.4
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.35
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 0.785
+    Saved: ~