agenticros 0.2.3 → 0.2.4

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (22) 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 -1
  18. package/runtime/packages/core/src/transport/factory.ts +12 -2
  19. package/runtime/packages/core/src/transport/webrtc/node-datachannel-loader.ts +31 -0
  20. package/runtime/packages/core/src/transport/webrtc/transport.ts +12 -7
  21. package/runtime/pnpm-lock.yaml +48 -18
  22. 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": "0.2.3",
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": "2026-06-16T15:51:42.302Z",
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
@@ -55,11 +55,11 @@
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
65
  "devDependencies": {
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(() => {
package/runtime/pnpm-lock.yaml CHANGED
@@ -124,9 +124,6 @@ importers:
124
124
  '@foxglove/rosmsg2-serialization':
125
125
  specifier: ^3.1.0
126
126
  version: 3.1.0
127
- node-datachannel:
128
- specifier: ^0.12.0
129
- version: 0.12.0
130
127
  ws:
131
128
  specifier: ^8.18.0
132
129
  version: 8.19.0
@@ -134,6 +131,9 @@ importers:
134
131
  specifier: ^3.24.0
135
132
  version: 3.25.76
136
133
  optionalDependencies:
134
+ node-datachannel:
135
+ specifier: ^0.12.0
136
+ version: 0.12.0
137
137
  rclnodejs:
138
138
  specifier: ^1.8.1
139
139
  version: 1.8.2
@@ -2550,6 +2550,7 @@ snapshots:
2550
2550
  buffer: 5.7.1
2551
2551
  inherits: 2.0.4
2552
2552
  readable-stream: 3.6.2
2553
+ optional: true
2553
2554
 
2554
2555
  body-parser@2.2.2:
2555
2556
  dependencies:
@@ -2578,6 +2579,7 @@ snapshots:
2578
2579
  dependencies:
2579
2580
  base64-js: 1.5.1
2580
2581
  ieee754: 1.2.1
2582
+ optional: true
2581
2583
 
2582
2584
  bytes@3.1.2: {}
2583
2585
 
@@ -2604,7 +2606,8 @@ snapshots:
2604
2606
 
2605
2607
  chardet@2.1.1: {}
2606
2608
 
2607
- chownr@1.1.4: {}
2609
+ chownr@1.1.4:
2610
+ optional: true
2608
2611
 
2609
2612
  chownr@3.0.0: {}
2610
2613
 
@@ -2675,8 +2678,10 @@ snapshots:
2675
2678
  decompress-response@6.0.0:
2676
2679
  dependencies:
2677
2680
  mimic-response: 3.1.0
2681
+ optional: true
2678
2682
 
2679
- deep-extend@0.6.0: {}
2683
+ deep-extend@0.6.0:
2684
+ optional: true
2680
2685
 
2681
2686
  deep-is@0.1.4: {}
2682
2687
 
@@ -2719,6 +2724,7 @@ snapshots:
2719
2724
  end-of-stream@1.4.5:
2720
2725
  dependencies:
2721
2726
  once: 1.4.0
2727
+ optional: true
2722
2728
 
2723
2729
  es-define-property@1.0.1: {}
2724
2730
 
@@ -2858,7 +2864,8 @@ snapshots:
2858
2864
  strip-final-newline: 4.0.0
2859
2865
  yoctocolors: 2.1.2
2860
2866
 
2861
- expand-template@2.0.3: {}
2867
+ expand-template@2.0.3:
2868
+ optional: true
2862
2869
 
2863
2870
  express-rate-limit@8.3.1(express@5.2.1):
2864
2871
  dependencies:
@@ -2965,7 +2972,8 @@ snapshots:
2965
2972
 
2966
2973
  fresh@2.0.0: {}
2967
2974
 
2968
- fs-constants@1.0.0: {}
2975
+ fs-constants@1.0.0:
2976
+ optional: true
2969
2977
 
2970
2978
  function-bind@1.1.2: {}
2971
2979
 
@@ -3012,7 +3020,8 @@ snapshots:
3012
3020
  '@sec-ant/readable-stream': 0.4.1
3013
3021
  is-stream: 4.0.1
3014
3022
 
3015
- github-from-package@0.0.0: {}
3023
+ github-from-package@0.0.0:
3024
+ optional: true
3016
3025
 
3017
3026
  glob-parent@6.0.2:
3018
3027
  dependencies:
@@ -3093,7 +3102,8 @@ snapshots:
3093
3102
  dependencies:
3094
3103
  safer-buffer: 2.1.2
3095
3104
 
3096
- ieee754@1.2.1: {}
3105
+ ieee754@1.2.1:
3106
+ optional: true
3097
3107
 
3098
3108
  ignore@5.3.2: {}
3099
3109
 
@@ -3106,7 +3116,8 @@ snapshots:
3106
3116
 
3107
3117
  inherits@2.0.4: {}
3108
3118
 
3109
- ini@1.3.8: {}
3119
+ ini@1.3.8:
3120
+ optional: true
3110
3121
 
3111
3122
  ip-address@10.1.0: {}
3112
3123
 
@@ -3215,13 +3226,15 @@ snapshots:
3215
3226
 
3216
3227
  mimic-function@5.0.1: {}
3217
3228
 
3218
- mimic-response@3.1.0: {}
3229
+ mimic-response@3.1.0:
3230
+ optional: true
3219
3231
 
3220
3232
  minimatch@3.1.5:
3221
3233
  dependencies:
3222
3234
  brace-expansion: 1.1.12
3223
3235
 
3224
- minimist@1.2.8: {}
3236
+ minimist@1.2.8:
3237
+ optional: true
3225
3238
 
3226
3239
  minipass@7.1.3: {}
3227
3240
 
@@ -3229,7 +3242,8 @@ snapshots:
3229
3242
  dependencies:
3230
3243
  minipass: 7.1.3
3231
3244
 
3232
- mkdirp-classic@0.5.3: {}
3245
+ mkdirp-classic@0.5.3:
3246
+ optional: true
3233
3247
 
3234
3248
  ms@2.0.0:
3235
3249
  optional: true
@@ -3238,7 +3252,8 @@ snapshots:
3238
3252
 
3239
3253
  mute-stream@2.0.0: {}
3240
3254
 
3241
- napi-build-utils@2.0.0: {}
3255
+ napi-build-utils@2.0.0:
3256
+ optional: true
3242
3257
 
3243
3258
  natural-compare@1.4.0: {}
3244
3259
 
@@ -3250,6 +3265,7 @@ snapshots:
3250
3265
  node-abi@3.87.0:
3251
3266
  dependencies:
3252
3267
  semver: 7.7.4
3268
+ optional: true
3253
3269
 
3254
3270
  node-addon-api@8.6.0:
3255
3271
  optional: true
@@ -3258,10 +3274,12 @@ snapshots:
3258
3274
  dependencies:
3259
3275
  node-domexception: 2.0.2
3260
3276
  prebuild-install: 7.1.3
3277
+ optional: true
3261
3278
 
3262
3279
  node-domexception@1.0.0: {}
3263
3280
 
3264
- node-domexception@2.0.2: {}
3281
+ node-domexception@2.0.2:
3282
+ optional: true
3265
3283
 
3266
3284
  node-fetch@3.3.2:
3267
3285
  dependencies:
@@ -3391,6 +3409,7 @@ snapshots:
3391
3409
  simple-get: 4.0.1
3392
3410
  tar-fs: 2.1.4
3393
3411
  tunnel-agent: 0.6.0
3412
+ optional: true
3394
3413
 
3395
3414
  prelude-ls@1.2.1: {}
3396
3415
 
@@ -3422,6 +3441,7 @@ snapshots:
3422
3441
  dependencies:
3423
3442
  end-of-stream: 1.4.5
3424
3443
  once: 1.4.0
3444
+ optional: true
3425
3445
 
3426
3446
  punycode@2.3.1: {}
3427
3447
 
@@ -3444,6 +3464,7 @@ snapshots:
3444
3464
  ini: 1.3.8
3445
3465
  minimist: 1.2.8
3446
3466
  strip-json-comments: 2.0.1
3467
+ optional: true
3447
3468
 
3448
3469
  rclnodejs@1.8.2:
3449
3470
  dependencies:
@@ -3464,6 +3485,7 @@ snapshots:
3464
3485
  inherits: 2.0.4
3465
3486
  string_decoder: 1.3.0
3466
3487
  util-deprecate: 1.0.2
3488
+ optional: true
3467
3489
 
3468
3490
  require-from-string@2.0.2: {}
3469
3491
 
@@ -3636,13 +3658,15 @@ snapshots:
3636
3658
 
3637
3659
  signal-exit@4.1.0: {}
3638
3660
 
3639
- simple-concat@1.0.1: {}
3661
+ simple-concat@1.0.1:
3662
+ optional: true
3640
3663
 
3641
3664
  simple-get@4.0.1:
3642
3665
  dependencies:
3643
3666
  decompress-response: 6.0.0
3644
3667
  once: 1.4.0
3645
3668
  simple-concat: 1.0.1
3669
+ optional: true
3646
3670
 
3647
3671
  simple-swizzle@0.2.4:
3648
3672
  dependencies:
@@ -3669,6 +3693,7 @@ snapshots:
3669
3693
  string_decoder@1.3.0:
3670
3694
  dependencies:
3671
3695
  safe-buffer: 5.2.1
3696
+ optional: true
3672
3697
 
3673
3698
  strip-ansi@6.0.1:
3674
3699
  dependencies:
@@ -3680,7 +3705,8 @@ snapshots:
3680
3705
 
3681
3706
  strip-final-newline@4.0.0: {}
3682
3707
 
3683
- strip-json-comments@2.0.1: {}
3708
+ strip-json-comments@2.0.1:
3709
+ optional: true
3684
3710
 
3685
3711
  strip-json-comments@3.1.1: {}
3686
3712
 
@@ -3694,6 +3720,7 @@ snapshots:
3694
3720
  mkdirp-classic: 0.5.3
3695
3721
  pump: 3.0.4
3696
3722
  tar-stream: 2.2.0
3723
+ optional: true
3697
3724
 
3698
3725
  tar-stream@2.2.0:
3699
3726
  dependencies:
@@ -3702,6 +3729,7 @@ snapshots:
3702
3729
  fs-constants: 1.0.0
3703
3730
  inherits: 2.0.4
3704
3731
  readable-stream: 3.6.2
3732
+ optional: true
3705
3733
 
3706
3734
  tar@7.5.16:
3707
3735
  dependencies:
@@ -3721,6 +3749,7 @@ snapshots:
3721
3749
  tunnel-agent@0.6.0:
3722
3750
  dependencies:
3723
3751
  safe-buffer: 5.2.1
3752
+ optional: true
3724
3753
 
3725
3754
  type-check@0.4.0:
3726
3755
  dependencies:
@@ -3753,7 +3782,8 @@ snapshots:
3753
3782
  dependencies:
3754
3783
  punycode: 2.3.1
3755
3784
 
3756
- util-deprecate@1.0.2: {}
3785
+ util-deprecate@1.0.2:
3786
+ optional: true
3757
3787
 
3758
3788
  uuid@10.0.0: {}
3759
3789
 
package/runtime/scripts/start_demo.sh CHANGED
@@ -3,13 +3,19 @@
3
3
  #
4
4
  # What this does:
5
5
  # 1. Sources ROS2 + the agenticros workspace
6
- # 2. Launches the RealSense camera in the background (logs to /tmp)
6
+ # 2. Launches the RealSense camera in the background (logs to /tmp) unless skipped
7
7
  # 3. Builds the @agenticros/claude-code MCP server
8
- # 4. Starts the robot's motor controller via `robotics start motors`
8
+ # 4. Optionally starts the robot's motor controller via `robotics start motors`
9
+ # when the robotics CLI is installed (skipped quietly otherwise — many users
10
+ # run their own ROS motor controller)
9
11
  #
10
12
  # After this finishes, launch Claude Code from the repo root. The MCP server
11
13
  # is auto-started by .mcp.json over stdio — nothing else to run on this host.
12
14
  #
15
+ # Environment (set by `agenticros up real`):
16
+ # AGENTICROS_NO_CAMERA=1 skip RealSense launch
17
+ # AGENTICROS_NO_MOTORS=1 skip robotics motor controller
18
+ #
13
19
  # Usage: ./scripts/start_demo.sh [jazzy|humble]
14
20
 
15
21
  set -e
@@ -20,36 +26,37 @@ CAMERA_LOG=/tmp/agenticros-camera.log
20
26
  CAMERA_PID_FILE=/tmp/agenticros-camera.pid
21
27
  source "$REPO_ROOT/scripts/lib/agenticros-banner.sh"
22
28
 
23
- agenticros_banner
24
- echo "Starting AgenticROS Claude Code demo"
25
- echo ""
29
+ start_realsense_camera() {
30
+ echo "==> Starting RealSense camera (logs: $CAMERA_LOG)"
31
+ if [[ -f "$CAMERA_PID_FILE" ]] && kill -0 "$(cat "$CAMERA_PID_FILE")" 2>/dev/null; then
32
+ echo " Already running (pid $(cat "$CAMERA_PID_FILE")) — skipping"
33
+ return 0
34
+ fi
35
+ if pgrep -f "realsense2_camera_node" >/dev/null; then
36
+ # Camera node from a prior session is still running but our pidfile is gone.
37
+ # Re-adopt it so `agenticros down` can find and stop it (turning off the IR
38
+ # projector). We point the pidfile at the actual node, not a launch parent,
39
+ # because that's what's holding the USB device.
40
+ local existing_pid
41
+ existing_pid=$(pgrep -f "realsense2_camera_node" | head -n 1)
42
+ echo "$existing_pid" >"$CAMERA_PID_FILE"
43
+ echo " Detected an existing realsense2_camera_node (pid $existing_pid) — adopted into $CAMERA_PID_FILE"
44
+ return 0
45
+ fi
26
46
 
27
- echo "==> Sourcing ROS2 ($ROS_DISTRO) and agenticros workspace"
28
- source "/opt/ros/$ROS_DISTRO/setup.bash"
29
- if [[ -f "$REPO_ROOT/ros2_ws/install/setup.bash" ]]; then
30
- source "$REPO_ROOT/ros2_ws/install/setup.bash"
31
- else
32
- echo " (ros2_ws is not built — run: cd ros2_ws && colcon build --symlink-install)"
33
- fi
47
+ if ! ros2 pkg prefix realsense2_camera &>/dev/null; then
48
+ echo " WARN: ros-${ROS_DISTRO}-realsense2-camera is not installed." >&2
49
+ echo " Install with: sudo apt-get install -y ros-${ROS_DISTRO}-realsense2-camera" >&2
50
+ echo " Continuing without camera — start your own camera node or re-run after installing the package."
51
+ return 0
52
+ fi
34
53
 
35
- echo "==> Starting RealSense camera (logs: $CAMERA_LOG)"
36
- if [[ -f "$CAMERA_PID_FILE" ]] && kill -0 "$(cat "$CAMERA_PID_FILE")" 2>/dev/null; then
37
- echo " Already running (pid $(cat "$CAMERA_PID_FILE")) — skipping"
38
- elif pgrep -f "realsense2_camera_node" >/dev/null; then
39
- # Camera node from a prior session is still running but our pidfile is gone.
40
- # Re-adopt it so `agenticros down` can find and stop it (turning off the IR
41
- # projector). We point the pidfile at the actual node, not a launch parent,
42
- # because that's what's holding the USB device.
43
- existing_pid=$(pgrep -f "realsense2_camera_node" | head -n 1)
44
- echo "$existing_pid" >"$CAMERA_PID_FILE"
45
- echo " Detected an existing realsense2_camera_node (pid $existing_pid) — adopted into $CAMERA_PID_FILE"
46
- else
47
54
  nohup ros2 launch realsense2_camera rs_launch.py >"$CAMERA_LOG" 2>&1 &
48
55
  # $! is the `ros2 launch` parent; the actual camera node is a child that
49
56
  # comes up a moment later. Wait briefly so we can record the node's PID
50
57
  # (what holds the USB / projector) instead of the parent's.
51
- launch_pid=$!
52
- node_pid=""
58
+ local launch_pid=$!
59
+ local node_pid=""
53
60
  for _ in 1 2 3 4 5 6 7 8 9 10; do
54
61
  node_pid=$(pgrep -f "realsense2_camera_node" | head -n 1 || true)
55
62
  [[ -n "$node_pid" ]] && break
@@ -62,8 +69,50 @@ else
62
69
  # Fallback: launch parent. `agenticros down` also pkills by name, so
63
70
  # this still gets cleaned up even if we miss the node PID.
64
71
  echo "$launch_pid" >"$CAMERA_PID_FILE"
65
- echo " Started (launch pid $launch_pid — node not yet visible; pkill fallback will clean up)"
72
+ echo " Started (launch pid $launch_pid — node not yet visible; check $CAMERA_LOG if tools see no image)"
73
+ fi
74
+ }
75
+
76
+ start_motor_controller() {
77
+ if [[ "${AGENTICROS_NO_MOTORS:-}" == "1" ]]; then
78
+ echo "==> Skipping motor controller (AGENTICROS_NO_MOTORS=1)"
79
+ return 0
80
+ fi
81
+
82
+ echo "==> Motor controller"
83
+ if ! command -v robotics >/dev/null 2>&1; then
84
+ echo " Skipping: 'robotics' CLI not installed."
85
+ echo " Using your own ROS motor controller is fine — AgenticROS publishes to /<namespace>/cmd_vel."
86
+ return 0
87
+ fi
88
+
89
+ echo " Running: robotics start motors"
90
+ set +e
91
+ robotics start motors
92
+ local rc=$?
93
+ set -e
94
+ if [[ $rc -ne 0 ]]; then
95
+ echo " WARN: robotics start motors exited $rc — continuing." >&2
96
+ echo " You may already have your own ROS motor controller running." >&2
66
97
  fi
98
+ }
99
+
100
+ agenticros_banner
101
+ echo "Starting AgenticROS Claude Code demo"
102
+ echo ""
103
+
104
+ echo "==> Sourcing ROS2 ($ROS_DISTRO) and agenticros workspace"
105
+ source "/opt/ros/$ROS_DISTRO/setup.bash"
106
+ if [[ -f "$REPO_ROOT/ros2_ws/install/setup.bash" ]]; then
107
+ source "$REPO_ROOT/ros2_ws/install/setup.bash"
108
+ else
109
+ echo " (ros2_ws is not built — run: cd ros2_ws && colcon build --symlink-install)"
110
+ fi
111
+
112
+ if [[ "${AGENTICROS_NO_CAMERA:-}" == "1" ]]; then
113
+ echo "==> Skipping RealSense camera (AGENTICROS_NO_CAMERA=1)"
114
+ else
115
+ start_realsense_camera
67
116
  fi
68
117
 
69
118
  echo "==> Building TypeScript workspace (@agenticros/core, ros-camera, claude-code, ...)"
@@ -81,9 +130,10 @@ if ! pnpm --filter '...@agenticros/claude-code' --workspace-concurrency=1 build;
81
130
  exit 2
82
131
  fi
83
132
 
84
- echo "==> Starting motor controller (robotics start motors)"
85
- robotics start motors
133
+ start_motor_controller
86
134
 
87
135
  echo ""
88
136
  echo "Demo ready. Launch Claude Code from $REPO_ROOT — .mcp.json starts the MCP server."
89
- echo "Stop the camera with: kill \$(cat $CAMERA_PID_FILE)"
137
+ if [[ -f "$CAMERA_PID_FILE" ]]; then
138
+ echo "Stop the camera with: kill \$(cat $CAMERA_PID_FILE) (or: agenticros down)"
139
+ fi