agenticros 0.1.9 → 0.1.11

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;AAeH,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,CAqKlE"}
+{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAgBH,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,CA8KlE"}

package/dist/commands/init.js

@@ -13,8 +13,9 @@
  *
  * Reuses the existing shell scripts as subprocesses (no logic duplication).
  */
-import { existsSync, mkdirSync, statSync, writeFileSync } from "node:fs";
+import { existsSync, mkdirSync, readFileSync, statSync, writeFileSync } from "node:fs";
 import { dirname, join } from "node:path";
+import { fileURLToPath } from "node:url";
 import { confirm, input, password, select } from "@inquirer/prompts";
 import { execa } from "execa";
 import { runDoctorChecks } from "./doctor.js";
@@ -120,12 +121,21 @@ export async function initCommand(opts) {
         ok("TypeScript dist already built (skip).");
     }
     // Step: colcon workspace.
+    // We rebuild whenever the colcon install/ is missing OR the build stamp
+    // doesn't match this CLI version. The CLI-version stamp catches the
+    // common "refreshShippedCode just dropped new launch/sdf files into
+    // src/ but install/ is from the previous CLI version" case - without
+    // it, init's skip-because-install-exists logic ships users a
+    // stale install dir (e.g. 0.1.10 added sim_arm.launch.py but
+    // colconBuilt() saw install/setup.bash from 0.1.9 and skipped the
+    // rebuild).
     const ros2WsRoot = join(repoRoot, "ros2_ws");
-    if (opts.force || !colconBuilt(ros2WsRoot)) {
+    if (opts.force || !colconBuiltForCurrentCli(ros2WsRoot)) {
         await runStep("Building ROS 2 workspace (colcon)", async () => {
             await runShell(`mkdir -p "${ros2WsRoot}" && cd "${ros2WsRoot}" && \
          . /opt/ros/$(ls /opt/ros 2>/dev/null | head -1)/setup.bash && \
          colcon build --symlink-install`);
+            writeRos2WsBuildStamp(ros2WsRoot);
         });
     }
     else {
@@ -192,8 +202,65 @@ async function runStep(label, body) {
 async function runShell(cmd) {
     await execa("bash", ["-lc", cmd], { stdio: "inherit" });
 }
-function colconBuilt(ws) {
-    return existsSync(join(ws, "install", "setup.bash"));
+/**
+ * Read the CLI version from its own package.json. Mirrors the helper in
+ * src/index.ts (kept local so init can import without circular deps).
+ */
+function readCliVersion() {
+    try {
+        const here = dirname(fileURLToPath(import.meta.url));
+        // dist/commands -> ../../package.json (workspace) or ../package.json (bundle).
+        const candidates = [
+            join(here, "..", "..", "package.json"),
+            join(here, "..", "package.json"),
+        ];
+        for (const c of candidates) {
+            if (!existsSync(c))
+                continue;
+            const pkg = JSON.parse(readFileSync(c, "utf8"));
+            if (pkg.name === "agenticros" && typeof pkg.version === "string")
+                return pkg.version;
+        }
+    }
+    catch {
+        // ignore - we'll fall through to a sentinel.
+    }
+    return "0.0.0";
+}
+/** Path of the build-stamp file we write alongside the colcon install/. */
+function ros2WsBuildStampPath(ws) {
+    return join(ws, ".agenticros-cli-build-stamp");
+}
+/** Record the CLI version that produced the current colcon install/. */
+function writeRos2WsBuildStamp(ws) {
+    try {
+        writeFileSync(ros2WsBuildStampPath(ws), readCliVersion() + "\n");
+    }
+    catch {
+        // best-effort - a missing stamp just means we rebuild next time, which is safe.
+    }
+}
+/**
+ * The colcon workspace counts as "built" for THIS CLI version only if:
+ *   1. ros2_ws/install/setup.bash exists (some colcon ran successfully).
+ *   2. ros2_ws/.agenticros-cli-build-stamp matches our package.json version.
+ *
+ * (2) is what catches stale installs after a CLI upgrade: refreshShippedCode
+ * may have just rewritten ros2_ws/src/, but if install/ is from an older CLI,
+ * its install/<pkg>/share/ won't contain the new launch / model files.
+ */
+function colconBuiltForCurrentCli(ws) {
+    if (!existsSync(join(ws, "install", "setup.bash")))
+        return false;
+    try {
+        const stamp = readFileSync(ros2WsBuildStampPath(ws), "utf8").trim();
+        return stamp === readCliVersion();
+    }
+    catch {
+        // No stamp -> assume the install/ predates this CLI version's stamp
+        // logic and force a fresh build so we end up in a known-good state.
+        return false;
+    }
 }
 function openclawPluginInstalled() {
     const home = process.env["HOME"] ?? "";

package/dist/commands/init.js.map

@@ -1 +1 @@
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package/dist/menu.js

@@ -60,7 +60,7 @@ export async function runMenu() {
                 choices: [
                     { name: "2-wheel AMR (camera + depth + LiDAR)", value: "sim-amr" },
                     {
-                        name: "6-DOF arm (UR5e + MoveIt2)  [needs ros-humble-moveit, ~400 MB]",
+                        name: "6-DOF arm (UR5e-shaped, per-joint position control)",
                         value: "sim-arm",
                     },
                 ],

package/dist/menu.js.map

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

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.9",
+  "version": "0.1.11",
   "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": "2026-06-05T23:23:33.790Z",
+  "packedAt": "2026-06-06T14:01:37.009Z",
   "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: ~