agenticros 0.2.2 → 0.2.4

package/runtime/scripts/start_demo.sh

@@ -3,13 +3,19 @@
 #
 # What this does:
 #   1. Sources ROS2 + the agenticros workspace
-#   2. Launches the RealSense camera in the background (logs to /tmp)
+#   2. Launches the RealSense camera in the background (logs to /tmp) unless skipped
 #   3. Builds the @agenticros/claude-code MCP server
-#   4. Starts the robot's motor controller via `robotics start motors`
+#   4. Optionally starts the robot's motor controller via `robotics start motors`
+#      when the robotics CLI is installed (skipped quietly otherwise — many users
+#      run their own ROS motor controller)
 #
 # After this finishes, launch Claude Code from the repo root. The MCP server
 # is auto-started by .mcp.json over stdio — nothing else to run on this host.
 #
+# Environment (set by `agenticros up real`):
+#   AGENTICROS_NO_CAMERA=1   skip RealSense launch
+#   AGENTICROS_NO_MOTORS=1   skip robotics motor controller
+#
 # Usage: ./scripts/start_demo.sh [jazzy|humble]
 
 set -e
@@ -20,36 +26,37 @@ CAMERA_LOG=/tmp/agenticros-camera.log
 CAMERA_PID_FILE=/tmp/agenticros-camera.pid
 source "$REPO_ROOT/scripts/lib/agenticros-banner.sh"
 
-agenticros_banner
-echo "Starting AgenticROS Claude Code demo"
-echo ""
+start_realsense_camera() {
+    echo "==> Starting RealSense camera (logs: $CAMERA_LOG)"
+    if [[ -f "$CAMERA_PID_FILE" ]] && kill -0 "$(cat "$CAMERA_PID_FILE")" 2>/dev/null; then
+        echo "   Already running (pid $(cat "$CAMERA_PID_FILE")) — skipping"
+        return 0
+    fi
+    if pgrep -f "realsense2_camera_node" >/dev/null; then
+        # Camera node from a prior session is still running but our pidfile is gone.
+        # Re-adopt it so `agenticros down` can find and stop it (turning off the IR
+        # projector). We point the pidfile at the actual node, not a launch parent,
+        # because that's what's holding the USB device.
+        local existing_pid
+        existing_pid=$(pgrep -f "realsense2_camera_node" | head -n 1)
+        echo "$existing_pid" >"$CAMERA_PID_FILE"
+        echo "   Detected an existing realsense2_camera_node (pid $existing_pid) — adopted into $CAMERA_PID_FILE"
+        return 0
+    fi
 
-echo "==> Sourcing ROS2 ($ROS_DISTRO) and agenticros workspace"
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-if [[ -f "$REPO_ROOT/ros2_ws/install/setup.bash" ]]; then
-    source "$REPO_ROOT/ros2_ws/install/setup.bash"
-else
-    echo "   (ros2_ws is not built — run: cd ros2_ws && colcon build --symlink-install)"
-fi
+    if ! ros2 pkg prefix realsense2_camera &>/dev/null; then
+        echo "   WARN: ros-${ROS_DISTRO}-realsense2-camera is not installed." >&2
+        echo "         Install with: sudo apt-get install -y ros-${ROS_DISTRO}-realsense2-camera" >&2
+        echo "         Continuing without camera — start your own camera node or re-run after installing the package."
+        return 0
+    fi
 
-echo "==> Starting RealSense camera (logs: $CAMERA_LOG)"
-if [[ -f "$CAMERA_PID_FILE" ]] && kill -0 "$(cat "$CAMERA_PID_FILE")" 2>/dev/null; then
-    echo "   Already running (pid $(cat "$CAMERA_PID_FILE")) — skipping"
-elif pgrep -f "realsense2_camera_node" >/dev/null; then
-    # Camera node from a prior session is still running but our pidfile is gone.
-    # Re-adopt it so `agenticros down` can find and stop it (turning off the IR
-    # projector). We point the pidfile at the actual node, not a launch parent,
-    # because that's what's holding the USB device.
-    existing_pid=$(pgrep -f "realsense2_camera_node" | head -n 1)
-    echo "$existing_pid" >"$CAMERA_PID_FILE"
-    echo "   Detected an existing realsense2_camera_node (pid $existing_pid) — adopted into $CAMERA_PID_FILE"
-else
     nohup ros2 launch realsense2_camera rs_launch.py >"$CAMERA_LOG" 2>&1 &
     # $! is the `ros2 launch` parent; the actual camera node is a child that
     # comes up a moment later. Wait briefly so we can record the node's PID
     # (what holds the USB / projector) instead of the parent's.
-    launch_pid=$!
-    node_pid=""
+    local launch_pid=$!
+    local node_pid=""
     for _ in 1 2 3 4 5 6 7 8 9 10; do
         node_pid=$(pgrep -f "realsense2_camera_node" | head -n 1 || true)
         [[ -n "$node_pid" ]] && break
@@ -62,8 +69,50 @@ else
         # Fallback: launch parent. `agenticros down` also pkills by name, so
         # this still gets cleaned up even if we miss the node PID.
         echo "$launch_pid" >"$CAMERA_PID_FILE"
-        echo "   Started (launch pid $launch_pid — node not yet visible; pkill fallback will clean up)"
+        echo "   Started (launch pid $launch_pid — node not yet visible; check $CAMERA_LOG if tools see no image)"
+    fi
+}
+
+start_motor_controller() {
+    if [[ "${AGENTICROS_NO_MOTORS:-}" == "1" ]]; then
+        echo "==> Skipping motor controller (AGENTICROS_NO_MOTORS=1)"
+        return 0
+    fi
+
+    echo "==> Motor controller"
+    if ! command -v robotics >/dev/null 2>&1; then
+        echo "   Skipping: 'robotics' CLI not installed."
+        echo "   Using your own ROS motor controller is fine — AgenticROS publishes to /<namespace>/cmd_vel."
+        return 0
+    fi
+
+    echo "   Running: robotics start motors"
+    set +e
+    robotics start motors
+    local rc=$?
+    set -e
+    if [[ $rc -ne 0 ]]; then
+        echo "   WARN: robotics start motors exited $rc — continuing." >&2
+        echo "         You may already have your own ROS motor controller running." >&2
     fi
+}
+
+agenticros_banner
+echo "Starting AgenticROS Claude Code demo"
+echo ""
+
+echo "==> Sourcing ROS2 ($ROS_DISTRO) and agenticros workspace"
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+if [[ -f "$REPO_ROOT/ros2_ws/install/setup.bash" ]]; then
+    source "$REPO_ROOT/ros2_ws/install/setup.bash"
+else
+    echo "   (ros2_ws is not built — run: cd ros2_ws && colcon build --symlink-install)"
+fi
+
+if [[ "${AGENTICROS_NO_CAMERA:-}" == "1" ]]; then
+    echo "==> Skipping RealSense camera (AGENTICROS_NO_CAMERA=1)"
+else
+    start_realsense_camera
 fi
 
 echo "==> Building TypeScript workspace (@agenticros/core, ros-camera, claude-code, ...)"
@@ -81,9 +130,10 @@ if ! pnpm --filter '...@agenticros/claude-code' --workspace-concurrency=1 build;
   exit 2
 fi
 
-echo "==> Starting motor controller (robotics start motors)"
-robotics start motors
+start_motor_controller
 
 echo ""
 echo "Demo ready. Launch Claude Code from $REPO_ROOT — .mcp.json starts the MCP server."
-echo "Stop the camera with: kill \$(cat $CAMERA_PID_FILE)"
+if [[ -f "$CAMERA_PID_FILE" ]]; then
+    echo "Stop the camera with: kill \$(cat $CAMERA_PID_FILE)   (or: agenticros down)"
+fi