agenticros 0.2.2 → 0.2.4

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Files changed (23) hide show
  1. package/dist/commands/init.d.ts.map +1 -1
  2. package/dist/commands/init.js +4 -20
  3. package/dist/commands/init.js.map +1 -1
  4. package/dist/commands/up.js +1 -1
  5. package/dist/commands/up.js.map +1 -1
  6. package/dist/runners/real-robot.d.ts +2 -3
  7. package/dist/runners/real-robot.d.ts.map +1 -1
  8. package/dist/runners/real-robot.js +2 -3
  9. package/dist/runners/real-robot.js.map +1 -1
  10. package/dist/util/workspace.d.ts +9 -0
  11. package/dist/util/workspace.d.ts.map +1 -1
  12. package/dist/util/workspace.js +36 -15
  13. package/dist/util/workspace.js.map +1 -1
  14. package/package.json +1 -1
  15. package/runtime/BUNDLE.json +1 -1
  16. package/runtime/docs/cli.md +1 -1
  17. package/runtime/packages/core/package.json +1 -9
  18. package/runtime/packages/core/src/memory/mem0/provider.ts +6 -3
  19. package/runtime/packages/core/src/transport/factory.ts +12 -2
  20. package/runtime/packages/core/src/transport/webrtc/node-datachannel-loader.ts +31 -0
  21. package/runtime/packages/core/src/transport/webrtc/transport.ts +12 -7
  22. package/runtime/pnpm-lock.yaml +59 -1492
  23. package/runtime/scripts/start_demo.sh +80 -30
package/dist/commands/init.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAsBH,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,CA2NlE"}
1
+ {"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAsBH,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,CAqMlE"}
package/dist/commands/init.js CHANGED
@@ -25,7 +25,7 @@ import { header, info, ok, warn, err, dim, withSpinner } from "../util/logger.js
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  import { ensureToolsAlsoAllow, openclawConfigExists, readAgenticrosContractTools, } from "../util/openclaw-config.js";
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  import { ensureProfilesExist, switchMode } from "../util/profiles.js";
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  import { writeState } from "../util/state.js";
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- import { isWorkspaceBuilt, isWorkspaceInstalled } from "../util/workspace.js";
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+ import { isWorkspaceBuilt, isWorkspaceInstalled, runPnpmInstall } from "../util/workspace.js";
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  export async function initCommand(opts) {
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  header("AgenticROS first-time setup");
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  let paths = getCliPaths();
@@ -87,25 +87,7 @@ export async function initCommand(opts) {
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  // in .bin" purgatory.
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  if (opts.force || !isWorkspaceInstalled(repoRoot)) {
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  await runStep("Installing JS workspace dependencies (pnpm install)", async () => {
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- // Explicitly pass the flags here in addition to writing them to .npmrc.
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- // Reason: in some environments (containers, ephemeral CI, certain pnpm
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- // versions) the .npmrc is not picked up reliably from cwd. Passing
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- // --no-strict-peer-dependencies on the CLI guarantees mem0ai-style peer
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- // mismatches downgrade to a warning. --config.auto-install-peers=true
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- // matches the inline .npmrc value so behaviour is identical either way.
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- await execa("pnpm", [
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- "install",
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- "--no-strict-peer-dependencies",
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- "--config.auto-install-peers=true",
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- ], {
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- cwd: repoRoot,
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- stdio: "inherit",
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- env: {
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- ...process.env,
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- npm_config_strict_peer_dependencies: "false",
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- npm_config_auto_install_peers: "true",
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- },
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- });
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+ await runPnpmInstall(repoRoot);
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  });
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  }
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  else {
@@ -515,6 +497,8 @@ function writeInitNpmrcInline(installDir) {
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  "# Devs working on the repo from a git clone use the repo root .npmrc.",
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  "# Anything you want to customise goes in ~/.npmrc (user-level), which",
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  "# takes precedence over this file.",
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+ "# Optional native robotics deps (node-datachannel, rclnodejs) may fail in",
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+ "# sandboxes; init retries with --no-optional when that happens.",
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  "shamefully-hoist=false",
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  "strict-peer-dependencies=false",
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  "auto-install-peers=true",
package/dist/commands/init.js.map CHANGED
@@ -1 +1 @@
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package/dist/commands/up.js CHANGED
@@ -133,7 +133,7 @@ async function resolveTarget(raw) {
133
133
  return select({
134
134
  message: "What do you want to bring up?",
135
135
  choices: [
136
- { name: "Real robot (RealSense + motors + MCP)", value: "real" },
136
+ { name: "Real robot (RealSense + MCP; motors if robotics CLI present)", value: "real" },
137
137
  { name: "Sim AMR (Gazebo + 2-wheel diff-drive)", value: "sim-amr" },
138
138
  { name: "Sim Arm (Gazebo + UR5e + MoveIt2)", value: "sim-arm" },
139
139
  ],
package/dist/commands/up.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"up.js","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AAErC,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAE3C,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AACxD,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACxD,OAAO,EAAE,mBAAmB,EAAE,cAAc,EAAE,UAAU,EAAa,MAAM,qBAAqB,CAAC;AACjG,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAc9C,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAe;IAC7C,MAAM,MAAM,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChD,UAAU,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,IAAI,IAAI,EAAE,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IAErE,sEAAsE;IACtE,qEAAqE;IACrE,wEAAwE;IACxE,kCAAkC;IAClC,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAC1B,6BAA6B,CAAC,MAAM,CAAC,CAAC;IAEtC,QAAQ,MAAM,EAAE,CAAC;QACf,KAAK,MAAM;YACT,MAAM,YAAY,CAAC;gBACjB,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;gBAC7B,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;aAC9B,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;IACV,CAAC;AACH,CAAC;AAED;;;;;;;;;;;GAWG;AACH,SAAS,eAAe,CAAC,IAAyB;IAChD,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,IAAI,CAAC;IACpC,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,SAAS,CAAC;QAAE,OAAO,IAAI,CAAC;IACzC,IAAI,QAAQ,EAAE,EAAE,CAAC;QACf,IAAI,CACF,yEAAyE;YACvE,yEAAyE;YACzE,qEAAqE,CACxE,CAAC;QACF,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,6DAA6D;AAC7D,SAAS,QAAQ;IACf,OAAO,UAAU,CAAC,uBAAuB,CAAC,CAAC;AAC7C,CAAC;AAED;;;;GAIG;AACH,SAAS,iBAAiB,CAAC,MAAgB;IACzC,mBAAmB,EAAE,CAAC;IACtB,MAAM,OAAO,GAAS,MAAM,KAAK,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC;IACzD,MAAM,OAAO,GAAG,cAAc,EAAE,CAAC;IACjC,UAAU,CAAC,OAAO,CAAC,CAAC;IACpB,IAAI,OAAO,KAAK,OAAO,EAAE,CAAC;QACxB,IAAI,CAAC,2BAA2B,OAAO,2CAA2C,CAAC,CAAC;IACtF,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,0CAA0C,OAAO,mBAAmB,OAAO,IAAI,OAAO,IAAI,CAAC,CAAC;QAC/F,IAAI,CACF,gFAAgF;YAC9E,mFAAmF,CACtF,CAAC;IACJ,CAAC;AACH,CAAC;AAED;;;;;;GAMG;AACH,SAAS,6BAA6B,CAAC,MAAgB;IACrD,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,4BAA4B,CAAC,CAAC;IACtD,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO;IAC9B,MAAM,OAAO,GAAG,GAAG,CAAC,IAAI,EAAE,CAAC;IAC3B,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,yCAAyC;IAC3E,sEAAsE;IACtE,wEAAwE;IACxE,wBAAwB;IACxB,IAAI,MAAM,KAAK,MAAM,EAAE,CAAC;QACtB,yEAAyE;QACzE,wBAAwB;QACxB,OAAO;IACT,CAAC;IACD,IAAI,CACF,yCAAyC,OAAO,iCAAiC;QAC/E,qCAAqC,OAAO,0CAA0C;QACtF,6FAA6F;QAC7F,mDAAmD,CACtD,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,aAAa,CAAC,GAAuB;IAClD,IAAI,GAAG,KAAK,MAAM,IAAI,GAAG,KAAK,SAAS,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO,GAAG,CAAC;IACzE,IAAI,GAAG,IAAI,GAAG,KAAK,EAAE,EAAE,CAAC;QACtB,GAAG,CAAC,mBAAmB,GAAG,0CAA0C,CAAC,CAAC;QACtE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,CAAC,4BAA4B,CAAC,CAAC;IACnC,OAAO,MAAM,CAAW;QACtB,OAAO,EAAE,+BAA+B;QACxC,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,uCAAuC,EAAE,KAAK,EAAE,MAAM,EAAE;YAChE,EAAE,IAAI,EAAE,uCAAuC,EAAE,KAAK,EAAE,SAAS,EAAE;YACnE,EAAE,IAAI,EAAE,mCAAmC,EAAE,KAAK,EAAE,SAAS,EAAE;SAChE;QACD,OAAO,EAAE,MAAM;KAChB,CAAC,CAAC;AACL,CAAC"}
1
+ {"version":3,"file":"up.js","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AAErC,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAE3C,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AACxD,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACxD,OAAO,EAAE,mBAAmB,EAAE,cAAc,EAAE,UAAU,EAAa,MAAM,qBAAqB,CAAC;AACjG,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAc9C,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAe;IAC7C,MAAM,MAAM,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChD,UAAU,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,IAAI,IAAI,EAAE,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IAErE,sEAAsE;IACtE,qEAAqE;IACrE,wEAAwE;IACxE,kCAAkC;IAClC,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAC1B,6BAA6B,CAAC,MAAM,CAAC,CAAC;IAEtC,QAAQ,MAAM,EAAE,CAAC;QACf,KAAK,MAAM;YACT,MAAM,YAAY,CAAC;gBACjB,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;gBAC7B,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;aAC9B,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;IACV,CAAC;AACH,CAAC;AAED;;;;;;;;;;;GAWG;AACH,SAAS,eAAe,CAAC,IAAyB;IAChD,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,IAAI,CAAC;IACpC,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,SAAS,CAAC;QAAE,OAAO,IAAI,CAAC;IACzC,IAAI,QAAQ,EAAE,EAAE,CAAC;QACf,IAAI,CACF,yEAAyE;YACvE,yEAAyE;YACzE,qEAAqE,CACxE,CAAC;QACF,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,6DAA6D;AAC7D,SAAS,QAAQ;IACf,OAAO,UAAU,CAAC,uBAAuB,CAAC,CAAC;AAC7C,CAAC;AAED;;;;GAIG;AACH,SAAS,iBAAiB,CAAC,MAAgB;IACzC,mBAAmB,EAAE,CAAC;IACtB,MAAM,OAAO,GAAS,MAAM,KAAK,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC;IACzD,MAAM,OAAO,GAAG,cAAc,EAAE,CAAC;IACjC,UAAU,CAAC,OAAO,CAAC,CAAC;IACpB,IAAI,OAAO,KAAK,OAAO,EAAE,CAAC;QACxB,IAAI,CAAC,2BAA2B,OAAO,2CAA2C,CAAC,CAAC;IACtF,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,0CAA0C,OAAO,mBAAmB,OAAO,IAAI,OAAO,IAAI,CAAC,CAAC;QAC/F,IAAI,CACF,gFAAgF;YAC9E,mFAAmF,CACtF,CAAC;IACJ,CAAC;AACH,CAAC;AAED;;;;;;GAMG;AACH,SAAS,6BAA6B,CAAC,MAAgB;IACrD,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,4BAA4B,CAAC,CAAC;IACtD,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO;IAC9B,MAAM,OAAO,GAAG,GAAG,CAAC,IAAI,EAAE,CAAC;IAC3B,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,yCAAyC;IAC3E,sEAAsE;IACtE,wEAAwE;IACxE,wBAAwB;IACxB,IAAI,MAAM,KAAK,MAAM,EAAE,CAAC;QACtB,yEAAyE;QACzE,wBAAwB;QACxB,OAAO;IACT,CAAC;IACD,IAAI,CACF,yCAAyC,OAAO,iCAAiC;QAC/E,qCAAqC,OAAO,0CAA0C;QACtF,6FAA6F;QAC7F,mDAAmD,CACtD,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,aAAa,CAAC,GAAuB;IAClD,IAAI,GAAG,KAAK,MAAM,IAAI,GAAG,KAAK,SAAS,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO,GAAG,CAAC;IACzE,IAAI,GAAG,IAAI,GAAG,KAAK,EAAE,EAAE,CAAC;QACtB,GAAG,CAAC,mBAAmB,GAAG,0CAA0C,CAAC,CAAC;QACtE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,CAAC,4BAA4B,CAAC,CAAC;IACnC,OAAO,MAAM,CAAW;QACtB,OAAO,EAAE,+BAA+B;QACxC,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,8DAA8D,EAAE,KAAK,EAAE,MAAM,EAAE;YACvF,EAAE,IAAI,EAAE,uCAAuC,EAAE,KAAK,EAAE,SAAS,EAAE;YACnE,EAAE,IAAI,EAAE,mCAAmC,EAAE,KAAK,EAAE,SAAS,EAAE;SAChE;QACD,OAAO,EAAE,MAAM;KAChB,CAAC,CAAC;AACL,CAAC"}
package/dist/runners/real-robot.d.ts CHANGED
@@ -2,9 +2,8 @@
2
2
  * Runner: `agenticros up real`.
3
3
  *
4
4
  * Spawns scripts/start_demo.sh as a child process and streams its output.
5
- * Future: fold the start_demo.sh logic into TS so we can drive the camera /
6
- * MCP / motors as discrete spinner steps; for phase 1 we keep the script as
7
- * the canonical implementation.
5
+ * start_demo.sh always tries the RealSense camera (unless --no-camera) and
6
+ * only starts the robotics motor controller when that CLI is installed.
8
7
  */
9
8
  export interface RealRobotOptions {
10
9
  rosDistro?: string;
package/dist/runners/real-robot.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"real-robot.d.ts","sourceRoot":"","sources":["../../src/runners/real-robot.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAYH,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,CA0CxE"}
1
+ {"version":3,"file":"real-robot.d.ts","sourceRoot":"","sources":["../../src/runners/real-robot.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAYH,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,CA0CxE"}
package/dist/runners/real-robot.js CHANGED
@@ -2,9 +2,8 @@
2
2
  * Runner: `agenticros up real`.
3
3
  *
4
4
  * Spawns scripts/start_demo.sh as a child process and streams its output.
5
- * Future: fold the start_demo.sh logic into TS so we can drive the camera /
6
- * MCP / motors as discrete spinner steps; for phase 1 we keep the script as
7
- * the canonical implementation.
5
+ * start_demo.sh always tries the RealSense camera (unless --no-camera) and
6
+ * only starts the robotics motor controller when that CLI is installed.
8
7
  */
9
8
  import { existsSync } from "node:fs";
10
9
  import { join } from "node:path";
package/dist/runners/real-robot.js.map CHANGED
@@ -1 +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;AACtD,OAAO,EAAE,oBAAoB,EAAE,MAAM,sBAAsB,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,2EAA2E;IAC3E,4EAA4E;IAC5E,2EAA2E;IAC3E,sEAAsE;IACtE,yEAAyE;IACzE,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAC;QACnB,MAAM,oBAAoB,CAAC,KAAK,CAAC,QAAQ,EAAE,qBAAqB,CAAC,CAAC;IACpE,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"}
1
+ {"version":3,"file":"real-robot.js","sourceRoot":"","sources":["../../src/runners/real-robot.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;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;AACtD,OAAO,EAAE,oBAAoB,EAAE,MAAM,sBAAsB,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,2EAA2E;IAC3E,4EAA4E;IAC5E,2EAA2E;IAC3E,sEAAsE;IACtE,yEAAyE;IACzE,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAC;QACnB,MAAM,oBAAoB,CAAC,KAAK,CAAC,QAAQ,EAAE,qBAAqB,CAAC,CAAC;IACpE,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/dist/util/workspace.d.ts CHANGED
@@ -26,6 +26,15 @@ export declare function isWorkspaceInstalled(repoRoot: string): boolean;
26
26
  * we don't check that one.
27
27
  */
28
28
  export declare function isWorkspaceBuilt(repoRoot: string): boolean;
29
+ /**
30
+ * Run `pnpm install` with the same flags init.ts uses.
31
+ *
32
+ * Native robotics packages (`node-datachannel`, `rclnodejs`) are optional
33
+ * deps of @agenticros/core. If their install scripts fail (common in
34
+ * NemoClaw / minimal containers), retry with `--no-optional` so zenoh and
35
+ * rosbridge transports still work.
36
+ */
37
+ export declare function runPnpmInstall(repoRoot: string): Promise<void>;
29
38
  /**
30
39
  * Idempotently make sure the workspace is install + build ready. Anything
31
40
  * already in place is left untouched.
package/dist/util/workspace.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"workspace.d.ts","sourceRoot":"","sources":["../../src/util/workspace.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AASH;;;;;;;;;;;GAWG;AACH,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAkB9D;AAED;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAE1D;AA8CD;;;;;;;GAOG;AACH,wBAAsB,oBAAoB,CACxC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,GACX,OAAO,CAAC,IAAI,CAAC,CA+Bf"}
1
+ {"version":3,"file":"workspace.d.ts","sourceRoot":"","sources":["../../src/util/workspace.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AASH;;;;;;;;;;;GAWG;AACH,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAkB9D;AAED;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAE1D;AAwCD;;;;;;;GAOG;AACH,wBAAsB,cAAc,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAYpE;AAOD;;;;;;;GAOG;AACH,wBAAsB,oBAAoB,CACxC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,GACX,OAAO,CAAC,IAAI,CAAC,CA+Bf"}
package/dist/util/workspace.js CHANGED
@@ -47,35 +47,56 @@ export function isWorkspaceInstalled(repoRoot) {
47
47
  export function isWorkspaceBuilt(repoRoot) {
48
48
  return existsSync(join(repoRoot, "packages", "core", "dist", "index.js"));
49
49
  }
50
+ const PNPM_INSTALL_BASE_ARGS = [
51
+ "install",
52
+ "--no-strict-peer-dependencies",
53
+ "--config.auto-install-peers=true",
54
+ ];
55
+ function pnpmInstallEnv() {
56
+ return {
57
+ ...process.env,
58
+ npm_config_strict_peer_dependencies: "false",
59
+ npm_config_auto_install_peers: "true",
60
+ };
61
+ }
50
62
  /** Write the same .npmrc init.ts writes inline (so pnpm install doesn't bail). */
51
63
  function writeInstallNpmrc(repoRoot) {
52
64
  writeFileSync(join(repoRoot, ".npmrc"), [
53
65
  "# Auto-written by AgenticROS CLI - keeps pnpm install from failing on",
54
- "# upstream peer-dep mismatches (mem0ai @ qdrant/pg/redis).",
66
+ "# upstream peer-dep mismatches and optional native robotics deps",
67
+ "# (node-datachannel, rclnodejs) that may not build in sandboxes.",
55
68
  "shamefully-hoist=false",
56
69
  "strict-peer-dependencies=false",
57
70
  "auto-install-peers=true",
58
71
  "",
59
72
  ].join("\n"));
60
73
  }
74
+ async function execPnpmInstall(repoRoot, extraArgs = []) {
75
+ await execa("pnpm", [...PNPM_INSTALL_BASE_ARGS, ...extraArgs], {
76
+ cwd: repoRoot,
77
+ stdio: "inherit",
78
+ env: pnpmInstallEnv(),
79
+ });
80
+ }
61
81
  /**
62
82
  * Run `pnpm install` with the same flags init.ts uses.
83
+ *
84
+ * Native robotics packages (`node-datachannel`, `rclnodejs`) are optional
85
+ * deps of @agenticros/core. If their install scripts fail (common in
86
+ * NemoClaw / minimal containers), retry with `--no-optional` so zenoh and
87
+ * rosbridge transports still work.
63
88
  */
64
- async function runPnpmInstall(repoRoot) {
89
+ export async function runPnpmInstall(repoRoot) {
65
90
  writeInstallNpmrc(repoRoot);
66
- await execa("pnpm", [
67
- "install",
68
- "--no-strict-peer-dependencies",
69
- "--config.auto-install-peers=true",
70
- ], {
71
- cwd: repoRoot,
72
- stdio: "inherit",
73
- env: {
74
- ...process.env,
75
- npm_config_strict_peer_dependencies: "false",
76
- npm_config_auto_install_peers: "true",
77
- },
78
- });
91
+ try {
92
+ await execPnpmInstall(repoRoot);
93
+ }
94
+ catch {
95
+ warn("pnpm install failed — often optional native robotics deps " +
96
+ "(node-datachannel, rclnodejs). Retrying with --no-optional so " +
97
+ "zenoh/rosbridge transports still work.");
98
+ await execPnpmInstall(repoRoot, ["--no-optional"]);
99
+ }
79
100
  }
80
101
  /** Run `pnpm -r build` in repoRoot. */
81
102
  async function runPnpmBuild(repoRoot) {
package/dist/util/workspace.js.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"workspace.js","sourceRoot":"","sources":["../../src/util/workspace.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM,SAAS,CAAC;AACpD,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EAAE,KAAK,EAAE,MAAM,OAAO,CAAC;AAE9B,OAAO,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,EAAE,MAAM,aAAa,CAAC;AAE1D;;;;;;;;;;;GAWG;AACH,MAAM,UAAU,oBAAoB,CAAC,QAAgB;IACnD,MAAM,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,cAAc,CAAC,CAAC;IAC1C,IAAI,CAAC,UAAU,CAAC,EAAE,CAAC;QAAE,OAAO,KAAK,CAAC;IAClC,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,EAAE,EAAE,eAAe,CAAC,CAAC;QAAE,OAAO,KAAK,CAAC;IACzD,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,EAAE,EAAE,OAAO,CAAC,CAAC;QAAE,OAAO,KAAK,CAAC;IACjD,sEAAsE;IACtE,uEAAuE;IACvE,iEAAiE;IACjE,MAAM,GAAG,GAAG,IAAI,CACd,QAAQ,EACR,UAAU,EACV,wBAAwB,EACxB,cAAc,EACd,MAAM,EACN,KAAK,CACN,CAAC;IACF,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IACnC,OAAO,IAAI,CAAC;AACd,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,gBAAgB,CAAC,QAAgB;IAC/C,OAAO,UAAU,CAAC,IAAI,CAAC,QAAQ,EAAE,UAAU,EAAE,MAAM,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC,CAAC;AAC5E,CAAC;AAED,MAAM,sBAAsB,GAAG;IAC7B,SAAS;IACT,+BAA+B;IAC/B,kCAAkC;CAC1B,CAAC;AAEX,SAAS,cAAc;IACrB,OAAO;QACL,GAAG,OAAO,CAAC,GAAG;QACd,mCAAmC,EAAE,OAAO;QAC5C,6BAA6B,EAAE,MAAM;KACtC,CAAC;AACJ,CAAC;AAED,kFAAkF;AAClF,SAAS,iBAAiB,CAAC,QAAgB;IACzC,aAAa,CACX,IAAI,CAAC,QAAQ,EAAE,QAAQ,CAAC,EACxB;QACE,uEAAuE;QACvE,kEAAkE;QAClE,kEAAkE;QAClE,wBAAwB;QACxB,gCAAgC;QAChC,yBAAyB;QACzB,EAAE;KACH,CAAC,IAAI,CAAC,IAAI,CAAC,CACb,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,eAAe,CAAC,QAAgB,EAAE,YAAsB,EAAE;IACvE,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,GAAG,sBAAsB,EAAE,GAAG,SAAS,CAAC,EAAE;QAC7D,GAAG,EAAE,QAAQ;QACb,KAAK,EAAE,SAAS;QAChB,GAAG,EAAE,cAAc,EAAE;KACtB,CAAC,CAAC;AACL,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,CAAC,KAAK,UAAU,cAAc,CAAC,QAAgB;IACnD,iBAAiB,CAAC,QAAQ,CAAC,CAAC;IAC5B,IAAI,CAAC;QACH,MAAM,eAAe,CAAC,QAAQ,CAAC,CAAC;IAClC,CAAC;IAAC,MAAM,CAAC;QACP,IAAI,CACF,4DAA4D;YAC1D,gEAAgE;YAChE,wCAAwC,CAC3C,CAAC;QACF,MAAM,eAAe,CAAC,QAAQ,EAAE,CAAC,eAAe,CAAC,CAAC,CAAC;IACrD,CAAC;AACH,CAAC;AAED,uCAAuC;AACvC,KAAK,UAAU,YAAY,CAAC,QAAgB;IAC1C,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,IAAI,EAAE,OAAO,CAAC,EAAE,EAAE,GAAG,EAAE,QAAQ,EAAE,KAAK,EAAE,SAAS,EAAE,CAAC,CAAC;AAC5E,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,CAAC,KAAK,UAAU,oBAAoB,CACxC,QAAgB,EAChB,IAAY;IAEZ,MAAM,SAAS,GAAG,oBAAoB,CAAC,QAAQ,CAAC,CAAC;IACjD,MAAM,KAAK,GAAG,gBAAgB,CAAC,QAAQ,CAAC,CAAC;IAEzC,IAAI,SAAS,IAAI,KAAK;QAAE,OAAO;IAE/B,IAAI,CAAC,2BAA2B,IAAI,oBAAoB,CAAC,CAAC;IAC1D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,IAAI,CAAC,uCAAuC,CAAC,CAAC;IAChD,CAAC;IACD,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,IAAI,CAAC,8BAA8B,CAAC,CAAC;IACvC,CAAC;IAED,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,MAAM,WAAW,CAAC,qDAAqD,EAAE,KAAK,IAAI,EAAE;YAClF,MAAM,cAAc,CAAC,QAAQ,CAAC,CAAC;QACjC,CAAC,CAAC,CAAC;IACL,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,sCAAsC,CAAC,CAAC;IAC7C,CAAC;IAED,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,MAAM,WAAW,CAAC,+CAA+C,EAAE,KAAK,IAAI,EAAE;YAC5E,MAAM,YAAY,CAAC,QAAQ,CAAC,CAAC;QAC/B,CAAC,CAAC,CAAC;IACL,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,qCAAqC,CAAC,CAAC;IAC5C,CAAC;IAED,EAAE,CAAC,qBAAqB,CAAC,CAAC;AAC5B,CAAC"}
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "agenticros",
3
- "version": "0.2.2",
3
+ "version": "0.2.4",
4
4
  "type": "module",
5
5
  "description": "AgenticROS - agentic AI for ROS-powered robots. Single CLI to launch real-robot or simulated demos, manage configuration, and inspect status.",
6
6
  "keywords": [
package/runtime/BUNDLE.json CHANGED
@@ -1,5 +1,5 @@
1
1
  {
2
- "packedAt": "2026-06-15T15:08:30.323Z",
2
+ "packedAt": "2026-06-16T19:04:57.796Z",
3
3
  "repo": "https://github.com/PlaiPin/agenticros",
4
4
  "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.",
5
5
  "layout": {
package/runtime/docs/cli.md CHANGED
@@ -37,7 +37,7 @@ Bring up a robot stack. Targets:
37
37
 
38
38
  | Target | What it does |
39
39
  |-----------|-----|
40
- | `real` | Runs `scripts/start_demo.sh`: RealSense camera, motor controller, MCP server. |
40
+ | `real` | Runs `scripts/start_demo.sh`: RealSense camera (unless `--no-camera`), MCP build, and motor controller only when the `robotics` CLI is installed (or unless `--no-motors`). |
41
41
  | `sim-amr` | Launches the simulated 2-wheel AMR (Phase 2 - WIP). |
42
42
  | `sim-arm` | Launches the simulated UR5e arm + MoveIt2 (Phase 3 - WIP). |
43
43
 
package/runtime/packages/core/package.json CHANGED
@@ -55,21 +55,13 @@
55
55
  "@foxglove/cdr": "^3.5.0",
56
56
  "@foxglove/rosmsg": "^4.2.2",
57
57
  "@foxglove/rosmsg2-serialization": "^3.1.0",
58
- "node-datachannel": "^0.12.0",
59
58
  "ws": "^8.18.0",
60
59
  "zod": "^3.24.0"
61
60
  },
62
61
  "optionalDependencies": {
62
+ "node-datachannel": "^0.12.0",
63
63
  "rclnodejs": "^1.8.1"
64
64
  },
65
- "peerDependencies": {
66
- "mem0ai": "^2.0.0"
67
- },
68
- "peerDependenciesMeta": {
69
- "mem0ai": {
70
- "optional": true
71
- }
72
- },
73
65
  "devDependencies": {
74
66
  "@types/node": "^20.17.0",
75
67
  "@types/ws": "^8.5.13",
package/runtime/packages/core/src/memory/mem0/provider.ts CHANGED
@@ -196,9 +196,12 @@ export async function createMem0Provider(args: {
196
196
  const { config } = args;
197
197
  let MemoryCtor: any;
198
198
  try {
199
- // mem0ai is an optional peer dependency — resolved at runtime, never
200
- // installed unless the user opts into backend: "mem0".
201
- // @ts-ignore: optional peer dep not declared in this package's deps
199
+ // mem0ai is an optional runtime dependency — NOT listed in @agenticros/core's
200
+ // package.json (neither as a regular dep nor as a peer dep) because it pulls
201
+ // in a long native-build chain (better-sqlite3, etc.) that breaks installs in
202
+ // restricted sandboxes (NemoClaw, Docker without build tools, etc.). Users who
203
+ // opt into `backend: "mem0"` install it themselves — see docs/memory.md.
204
+ // @ts-ignore: intentionally not declared in this package's deps
202
205
  const mod: any = await import("mem0ai/oss");
203
206
  MemoryCtor = mod.Memory ?? mod.default?.Memory;
204
207
  } catch {
package/runtime/packages/core/src/transport/factory.ts CHANGED
@@ -30,8 +30,18 @@ export async function createTransport(config: TransportConfig): Promise<RosTrans
30
30
  }
31
31
 
32
32
  case "webrtc": {
33
- const { WebRTCTransport } = await import("./webrtc/transport.js");
34
- return new WebRTCTransport(config.webrtc);
33
+ try {
34
+ const { WebRTCTransport } = await import("./webrtc/transport.js");
35
+ return new WebRTCTransport(config.webrtc);
36
+ } catch (e: any) {
37
+ if (e?.code === "ERR_MODULE_NOT_FOUND" || e?.code === "MODULE_NOT_FOUND") {
38
+ throw new Error(
39
+ 'Mode C (webrtc) requires the "node-datachannel" package. ' +
40
+ "Install it with: pnpm add node-datachannel (requires native build tools or a prebuilt binary)",
41
+ );
42
+ }
43
+ throw e;
44
+ }
35
45
  }
36
46
 
37
47
  case "zenoh": {
package/runtime/packages/core/src/transport/webrtc/node-datachannel-loader.ts ADDED
@@ -0,0 +1,31 @@
1
+ /**
2
+ * Dynamic loader for `node-datachannel` — an optional native dependency.
3
+ *
4
+ * WebRTC (Mode C) is the only transport that needs it. Sandboxed installs
5
+ * (NemoClaw, minimal Docker images) often lack the toolchain to build it,
6
+ * so it lives in @agenticros/core's optionalDependencies and is imported
7
+ * only when transport.mode === "webrtc".
8
+ */
9
+
10
+ // eslint-disable-next-line @typescript-eslint/no-explicit-any
11
+ type NodeDataChannelModule = any;
12
+
13
+ let cached: NodeDataChannelModule | null = null;
14
+
15
+ export async function loadNodeDataChannel(): Promise<NodeDataChannelModule> {
16
+ if (cached) return cached;
17
+ try {
18
+ cached = await import("node-datachannel");
19
+ return cached;
20
+ } catch (e: unknown) {
21
+ const code = (e as NodeJS.ErrnoException)?.code;
22
+ if (code === "ERR_MODULE_NOT_FOUND" || code === "MODULE_NOT_FOUND") {
23
+ throw new Error(
24
+ 'Mode C (webrtc) requires the "node-datachannel" package with a working native binary. ' +
25
+ "Install with: pnpm add node-datachannel (needs build tools or a prebuilt binary for your platform). " +
26
+ "For rosbridge/zenoh-only setups you can skip it.",
27
+ );
28
+ }
29
+ throw e;
30
+ }
31
+ }
package/runtime/packages/core/src/transport/webrtc/transport.ts CHANGED
@@ -1,4 +1,3 @@
1
- import { PeerConnection, DescriptionType, type DataChannel, type RtcConfig } from "node-datachannel";
2
1
  import type { RosTransport } from "../transport.js";
3
2
  import type {
4
3
  ConnectionStatus,
@@ -17,6 +16,7 @@ import type {
17
16
  RTCIceServerConfig,
18
17
  } from "../types.js";
19
18
  import { SignalingClient } from "./signaling-client.js";
19
+ import { loadNodeDataChannel } from "./node-datachannel-loader.js";
20
20
  import type {
21
21
  SignalingMessage,
22
22
  OfferMessage,
@@ -58,8 +58,10 @@ interface PendingRequest {
58
58
  export class WebRTCTransport implements RosTransport {
59
59
  private options: WebRTCTransportOptions;
60
60
  private signaling: SignalingClient;
61
- private pc: PeerConnection | null = null;
62
- private dataChannel: DataChannel | null = null;
61
+ // node-datachannel types are loaded at runtime (optional native dep).
62
+ private ndc: any = null;
63
+ private pc: any = null;
64
+ private dataChannel: any = null;
63
65
  private status: ConnectionStatus = "disconnected";
64
66
  private connectionHandlers = new Set<ConnectionHandler>();
65
67
  private topicHandlers = new Map<string, Set<MessageHandler>>();
@@ -80,6 +82,8 @@ export class WebRTCTransport implements RosTransport {
80
82
  this.setStatus("connecting");
81
83
 
82
84
  try {
85
+ this.ndc = await loadNodeDataChannel();
86
+
83
87
  // Step 1: Request connection via REST API
84
88
  const userId = `frontend_${Date.now()}`;
85
89
  const connectRes = await this.signaling.requestConnection(this.options.robotId, {
@@ -444,16 +448,17 @@ export class WebRTCTransport implements RosTransport {
444
448
  return urls[0]; // node-datachannel takes individual server strings
445
449
  });
446
450
 
447
- const rtcConfig: RtcConfig = { iceServers: iceServerStrs };
451
+ const rtcConfig = { iceServers: iceServerStrs };
452
+ const { PeerConnection, DescriptionType } = this.ndc;
448
453
  this.pc = new PeerConnection("agenticros-frontend", rtcConfig);
449
454
 
450
455
  // Handle ICE candidates from our side → send to robot
451
- this.pc.onLocalCandidate((candidate, mid) => {
456
+ this.pc.onLocalCandidate((candidate: string, mid: string) => {
452
457
  this.signaling.sendIceCandidate(candidate, mid, null, this.robotPeerId ?? undefined);
453
458
  });
454
459
 
455
460
  // Handle state changes
456
- this.pc.onStateChange((state) => {
461
+ this.pc.onStateChange((state: string) => {
457
462
  if (state === "failed" || state === "closed") {
458
463
  this.setStatus("disconnected");
459
464
  this.rejectAllPending(new Error("Peer connection closed"));
@@ -461,7 +466,7 @@ export class WebRTCTransport implements RosTransport {
461
466
  });
462
467
 
463
468
  // Handle incoming data channel
464
- this.pc.onDataChannel((dc) => {
469
+ this.pc.onDataChannel((dc: any) => {
465
470
  this.dataChannel = dc;
466
471
 
467
472
  dc.onOpen(() => {