agenticros 0.3.0 → 0.3.3

package/dist/util/hermes-config.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.3.0",
+  "version": "0.3.3",
   "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": [
@@ -10,6 +10,9 @@
     "ai",
     "agent",
     "claude",
+    "codex",
+    "hermes",
+    "openai",
     "openclaw",
     "gazebo",
     "simulation",

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-30T01:58:21.409Z",
+  "packedAt": "2026-07-04T16:56:29.644Z",
   "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/README.md

@@ -27,7 +27,8 @@ With AgenticROS, your robot can describe what it sees, follow intent ("go check
 - **[OpenClaw](https://openclaw.ai)** — Native gateway plugin with ROS 2 tools, commands, a config UI, a teleop web app, and a skill loader. The flagship integration.
 - **[NVIDIA NemoClaw](https://github.com/NVIDIA/NemoClaw)** — Run AgenticROS inside NemoClaw's OpenShell sandbox with policy-enforced egress and managed NVIDIA inference; ROS 2, RealSense, and rosbridge stay on the host while the plugin runs sandboxed.
 - **[Anthropic Claude](https://www.anthropic.com/claude)** — A single MCP server powers **Claude Code** (terminal), **Claude Desktop** (macOS / Windows), and **Claude Dispatch** (iOS, paired to your Mac). Ask Claude what your robot sees, and it answers with a live camera snapshot and depth reading.
-- **[OpenAI Codex CLI](https://developers.openai.com/codex/)** — The same MCP server registers cleanly via `codex mcp add agenticros — node …/packages/agenticros-claude-code/dist/index.js`, or via a `[mcp_servers.agenticros]` entry in `~/.codex/config.toml`. Same 15 tools, same JSON shapes. Setup: [packages/agenticros-claude-code/README.md#codex-cli-openai](packages/agenticros-claude-code/README.md#codex-cli-openai).
+- **[OpenAI Codex CLI](https://developers.openai.com/codex/)** — Same MCP server as Claude Code. One command registers Codex: `agenticros codex setup` (writes `~/.codex/config.toml` with an absolute path to the MCP binary). Full tool surface: missions, follow-me, find-object, memory. Setup guide: [docs/codex-setup.md](docs/codex-setup.md).
+- **[Hermes Agent](https://github.com/NousResearch/hermes-agent)** — Model-agnostic agent gateway (OpenRouter, Ollama, 200+ providers) with MCP client support. Same MCP server as Codex: `agenticros hermes setup` writes `~/.hermes/config.yaml`. Setup guide: [docs/hermes-setup.md](docs/hermes-setup.md).
 - **[Google Gemini](https://ai.google.dev/)** — Standalone CLI that uses Gemini function calling against the same ROS 2 tools (no MCP required) — ideal for scripting and headless agents.
 
 AgenticROS is built so that new adapters (LangGraph, OpenAI, local models, voice stacks, etc.) can be added without touching the ROS 2 layer. The core transport and tool contract are platform-agnostic; adapters are thin shims that surface those tools to each agent runtime.
@@ -38,12 +39,14 @@ AgenticROS is built so that new adapters (LangGraph, OpenAI, local models, voice
 
 - **Core** (`packages/core`): Platform-agnostic ROS2 transport (rosbridge, Zenoh, local, WebRTC), config schema, and shared types. No dependency on any specific AI platform.
 - **Adapters** (`packages/agenticros`, and later others): Implement the contract for each AI platform. The OpenClaw adapter registers tools, commands, and HTTP routes with the OpenClaw gateway and uses the core for all ROS2 communication.
-- `**packages/agenticros-claude-code`** — MCP server for **Claude Code** (terminal), **Claude desktop** (macOS), and **Dispatch** (iOS paired to Mac). See [packages/agenticros-claude-code/README.md](packages/agenticros-claude-code/README.md).
+- `**packages/agenticros-claude-code`** — MCP server for **Claude Code**, **Claude desktop**, **Dispatch**, **OpenAI Codex CLI**, and **Hermes Agent**. See [packages/agenticros-claude-code/README.md](packages/agenticros-claude-code/README.md), [docs/codex-setup.md](docs/codex-setup.md), and [docs/hermes-setup.md](docs/hermes-setup.md).
 - `**packages/agenticros-gemini`** — **Gemini CLI**: use Google Gemini to chat with your robot from the terminal (same ROS2 tools, no MCP). See [packages/agenticros-gemini/README.md](packages/agenticros-gemini/README.md).
 
 ```
 User (messaging app) → OpenClaw Gateway → AgenticROS OpenClaw plugin → Core → ROS2 robots
 Claude (Code / desktop / Dispatch) → agenticros MCP server → Core → ROS2 robots (Zenoh/rosbridge)
+Codex CLI → agenticros MCP server → Core → ROS2 robots (Zenoh/rosbridge)
+Hermes Agent → agenticros MCP server → Core → ROS2 robots (Zenoh/rosbridge)
 Gemini CLI → @agenticros/gemini (function calling) → Core → ROS2 robots
 ```
 
@@ -135,7 +138,7 @@ The first run launches the interactive menu:
 ? What would you like to do?
   Launch with real robot
 ❯ Launch with simulation
-  First-time setup (workspace + OpenClaw plugin + API key)
+  First-time setup (workspace + OpenClaw plugin + Codex MCP + API key)
   Manage skills (2 registered, 0 available, 0 broken)
   Stop everything
   Doctor (health check)
@@ -143,7 +146,7 @@ The first run launches the interactive menu:
   Tail logs
 ```
 
-Pick **First-time setup** once (workspace + OpenClaw plugin + API key, all
+Pick **First-time setup** once (workspace + OpenClaw plugin + optional Codex MCP + API key, all
 idempotent), then choose how you want to run:
 
 | You want to … | Pick |
@@ -153,14 +156,18 @@ idempotent), then choose how you want to run:
 | Demo a **simulated 6-DOF arm** (UR5e-shaped, per-joint position control) | **Launch with simulation → 6-DOF arm** |
 
 Once a stack is up, point any of the supported agents — OpenClaw, Claude Code,
-Claude Desktop / Dispatch, or Gemini CLI — at the same robot and start talking
+OpenAI Codex, Hermes Agent, Claude Desktop / Dispatch, or Gemini CLI — at the same robot and start talking
 to it. The CLI tracks what it spawned (pidfiles + logs under `/tmp/agenticros-*`),
 so **Stop everything** cleanly tears the demo down.
 
 Prefer scripted invocations? Every menu item maps to a direct command:
 
 ```bash
-npx agenticros init             # one-time workspace + plugin + API key
+npx agenticros init             # one-time workspace + plugin + Codex/Hermes MCP + API key
+agenticros codex setup          # register AgenticROS MCP for OpenAI Codex CLI
+agenticros codex doctor         # validate ~/.codex/config.toml
+agenticros hermes setup         # register AgenticROS MCP for Hermes Agent
+agenticros hermes doctor        # validate ~/.hermes/config.yaml
 agenticros up real              # real robot stack
 agenticros up sim-amr           # simulated AMR (Gazebo + RViz, headless on Jetson)
 agenticros up sim-arm           # simulated 6-DOF arm
@@ -295,15 +302,15 @@ Full walkthrough, troubleshooting, and a "full-embed" alternative (ROS / RealSen
 
 ## Claude + AgenticROS (MCP)
 
-The same **AgenticROS MCP server** (`@agenticros/claude-code`) can drive the robot from **Claude Code** (terminal) or from the **Claude desktop app** on macOS (including **Claude Dispatch** on iPhone when paired to Claude on your Mac). Both use MCP; they use **different config files**.
+The **AgenticROS MCP server** (`@agenticros/claude-code`) drives the robot from **Claude Code** (terminal) or from the **Claude desktop app** on macOS (including **Claude Dispatch** on iPhone when paired to Claude on your Mac). **OpenAI Codex CLI** uses the same server — see **[Codex + AgenticROS](#codex--agenticros-mcp)** below. Claude clients use **different config files** than Codex (`.mcp.json` / `claude_desktop_config.json` vs `.codex/config.toml`).
 
-Shared setup:
+Shared MCP setup (Claude and Codex):
 
 1. **Build** (from repo root): `pnpm install && pnpm build`
 2. **AgenticROS config**: `~/.agenticros/config.json` — set `zenoh.routerEndpoint`, `robot.namespace`, `robot.cameraTopic`, etc. (see [packages/agenticros-claude-code/README.md](packages/agenticros-claude-code/README.md)).
 3. **Zenoh**: Run `zenohd` with the remote-api plugin (e.g. port 10000) — see `scripts/zenohd-agenticros.json5` or [docs/zenoh-agenticros.md](docs/zenoh-agenticros.md).
 
-Optional: override `robot.namespace` per MCP launch with env `**AGENTICROS_ROBOT_NAMESPACE`** (must match the robot’s topic namespace exactly; many setups use **no dashes** in the UUID segment).
+Optional: override `robot.namespace` per MCP launch with env `**AGENTICROS_ROBOT_NAMESPACE`**. Prefer leaving it empty in MCP/Codex config so `agenticros mode real|sim` drives the active profile (see [docs/codex-setup.md](docs/codex-setup.md)).
 
 ### Claude Code CLI (terminal)
 
@@ -346,6 +353,77 @@ Example `mcpServers` entry (adjust the path and namespace to your machine):
 
 Full steps, permissions (`mcp__agenticros`), and troubleshooting are in **[packages/agenticros-claude-code/README.md](packages/agenticros-claude-code/README.md)**.
 
+## Codex + AgenticROS (MCP)
+
+**OpenAI Codex CLI** is a standard MCP client — it uses the same `@agenticros/claude-code` server as Claude Code (missions, follow-me, find-object, memory, full ROS tool surface). No separate adapter package.
+
+### Quick setup
+
+```bash
+pnpm install && pnpm build          # or: npx agenticros init
+agenticros codex setup              # ~/.codex/config.toml (global)
+agenticros codex setup --project    # .codex/config.toml in repo root
+agenticros codex doctor             # validate absolute MCP path + namespace policy
+```
+
+Start Codex in your project directory, run `/mcp` — you should see **agenticros** connected with the full tool list. Then ask e.g. “List ROS2 topics” or “What do you see?”
+
+### Config files
+
+| File | Scope |
+|------|--------|
+| `~/.codex/config.toml` | Global — all Codex sessions |
+| `<project>/.codex/config.toml` | Project — when Codex runs in that directory |
+
+`agenticros codex setup` writes an **absolute path** to `packages/agenticros-claude-code/dist/index.js` (or the bundled MCP path after `npx agenticros init`). Relative paths fail because Codex does not spawn MCP servers from the repo root.
+
+Leave `AGENTICROS_ROBOT_NAMESPACE = ""` in the Codex env block so `~/.agenticros/config.json` and `agenticros mode real|sim` drive the active robot (same policy as `.mcp.json`).
+
+### Manual registration
+
+```bash
+codex mcp add agenticros -- node "$(pwd)/packages/agenticros-claude-code/dist/index.js"
+```
+
+Use an absolute path if not run from the repo root.
+
+### Troubleshooting
+
+- **`/mcp` does not list agenticros** → run `agenticros codex setup`; check `agenticros codex doctor`
+- **Transport timeout** → bring up Zenoh/rosbridge or run `agenticros up sim-amr` / `agenticros up real`
+- **Logs** → `/tmp/agenticros-mcp.log`
+
+Full guide: **[docs/codex-setup.md](docs/codex-setup.md)**.
+
+## Hermes + AgenticROS (MCP)
+
+**[Hermes Agent](https://github.com/NousResearch/hermes-agent)** is a model-agnostic MCP client — it uses the same `@agenticros/claude-code` server as Claude Code and Codex (missions, follow-me, find-object, memory, full ROS tool surface). No separate adapter package. Works with OpenRouter, Ollama, Anthropic, OpenAI, and 200+ other providers.
+
+### Quick setup
+
+```bash
+pnpm install && pnpm build          # or: npx agenticros init
+agenticros hermes setup             # ~/.hermes/config.yaml
+agenticros hermes doctor            # validate absolute MCP path + namespace policy
+```
+
+In Hermes, run `/reload-mcp` or restart, then `hermes mcp test agenticros`. Ask e.g. “List ROS2 topics” or “What do you see?”
+
+### Config file
+
+| File | Scope |
+|------|--------|
+| `~/.hermes/config.yaml` | Global — default Hermes profile |
+
+`agenticros hermes setup` writes an **absolute path** to the MCP server and leaves `AGENTICROS_ROBOT_NAMESPACE: ""` so `agenticros mode real|sim` drives the active robot (same policy as Codex).
+
+### Troubleshooting
+
+- **MCP tools missing** → run `agenticros hermes setup`; `/reload-mcp` in Hermes; check `agenticros hermes doctor`
+- **Transport timeout** → bring up Zenoh/rosbridge or run `agenticros up sim-amr` / `agenticros up real`
+
+Full guide: **[docs/hermes-setup.md](docs/hermes-setup.md)**.
+
 ## Gemini CLI
 
 Use **Google Gemini** to chat with your robot from the terminal (same ROS2 tools as Claude Code, no MCP).
@@ -361,7 +439,7 @@ See **[packages/agenticros-gemini/README.md](packages/agenticros-gemini/README.m
 
 ## Memory (optional)
 
-AgenticROS can give every adapter a **shared, persistent, cross-process** long-term memory so facts you teach the robot from one agent are immediately available in the others — Claude Desktop, Claude Code, Gemini CLI, OpenClaw chat. Off by default. Two backends:
+AgenticROS can give every adapter a **shared, persistent, cross-process** long-term memory so facts you teach the robot from one agent are immediately available in the others — Claude Desktop, Claude Code, OpenAI Codex, Hermes Agent, Gemini CLI, OpenClaw chat. Off by default. Two backends:
 
 - **`local`** — zero deps, JSON-on-disk at `~/.agenticros/memory.json`, keyword + recency search. Enable with one config flag.
 - **`mem0`** — semantic search via the pure-Node [`mem0ai`](https://www.npmjs.com/package/mem0ai) package (`pnpm add mem0ai`); file-backed vector store at `~/.mem0/vector_store.db` (shared across all processes on the host, no server to run); embedder auto-detects Ollama (`http://localhost:11434`) → `OPENAI_API_KEY` → clear error.
@@ -377,17 +455,21 @@ pnpm add mem0ai
 ollama pull nomic-embed-text   # ~270 MB embedder model
 ```
 
-Add `{ "memory": { "enabled": true, "backend": "mem0" } }` to `~/.agenticros/config.json` (or the OpenClaw config UI). Restart the gateway / MCP client. Then ask Claude Desktop *"remember that I have a RealSense D435i for eyes"* and ask OpenClaw *"what do I have for eyes?"* — same fact, both agents.
+Add `{ "memory": { "enabled": true, "backend": "mem0" } }` to `~/.agenticros/config.json` (or the OpenClaw config UI). Restart the gateway / MCP client. Then ask Claude Desktop *"remember that I have a RealSense D435i for eyes"* and ask Codex or OpenClaw *"what do I have for eyes?"* — same fact, every agent.
 
 ## Skills
 
-AgenticROS **skills** are optional packages that add tools and behaviors to the plugin (e.g. `follow_robot`, `find_object`). They are loaded at OpenClaw gateway start. **[AgenticROS Skills](https://github.com/agenticros/agenticros-skills)** is a curated list — use it to discover skills for your robot and to submit your own.
+AgenticROS **skills** are optional packages that add tools and behaviors to the plugin (e.g. `follow_person`, `find_object`). They are loaded at OpenClaw gateway start. Browse and install from **[skills.agenticros.com](https://skills.agenticros.com)**, or scaffold and publish your own with the CLI.
 
 ### Managing skills with the CLI
 
 The `agenticros skills` command (and the **Manage skills** menu entry) does everything for you: it scans the usual locations for clones, edits `~/.openclaw/openclaw.json`, refreshes the plugin manifest's `contracts.tools` allowlist, and reminds you to bounce the gateway.
 
 ```bash
+# Install from the marketplace (owner/skill-id ref)
+npx agenticros skills search follow
+npx agenticros skills install chrismatthieu/followme
+
 agenticros skills                       # list registered + cloned-but-unregistered
 agenticros skills discover              # interactive picker over candidates on disk
 agenticros skills add <path-or-name>    # register a clone (path) or npm package
@@ -395,7 +477,15 @@ agenticros skills remove <id-or-name>   # unregister
 agenticros skills sync                  # refresh OpenClaw contracts.tools allowlist
 ```
 
-A typical first-run looks like:
+**Create and publish** a new skill:
+
+```bash
+npx agenticros create-skill my-skill --template robot
+cd agenticros-skill-my-skill && npm install && npm run dev
+npx agenticros publish
+```
+
+A typical manual install (without the marketplace) looks like:
 
 ```bash
 # clone whichever skills you want, anywhere near the repo
@@ -441,7 +531,7 @@ Per-skill behaviour lives under `config.skills.<skillId>` (e.g. `config.skills.f
 
 ### Contract & writing your own skill
 
-A skill is a Node package with an `"agenticros": { "id": "..." }` block in `package.json` and a `registerSkill(api, config, context)` export from `main`. Publish it to **[skills.agenticros.com](https://skills.agenticros.com)** so others can install it with `npx agenticros skills install <slug>`. See **[docs/skills.md](docs/skills.md)** for the full contract and **[agenticros-skill-followme](https://github.com/agenticros/agenticros-skill-followme)** as a reference template.
+A skill is a Node package with an `"agenticros": { "id": "..." }` block in `package.json` and a `registerSkill(api, config, context)` export from `main`. Scaffold with `npx agenticros create-skill`, publish to **[skills.agenticros.com](https://skills.agenticros.com)** with `npx agenticros publish`, and install with `npx agenticros skills install <owner/skill-id>` (e.g. `chrismatthieu/followme`). See **[docs/skills.md](docs/skills.md)** for the full contract and **[agenticros-skill-followme](https://github.com/agenticros/agenticros-skill-followme)** ([marketplace listing](https://skills.agenticros.com/chrismatthieu/followme)) as a reference template.
 
 ## Strategy & vision
 

package/runtime/docs/cli.md

@@ -65,7 +65,9 @@ skipped (with a checkmark) when already done:
 4. OpenClaw plugin install (via `scripts/setup_gateway_plugin.sh`)
 5. Robot config (writes `~/.agenticros/config.json`)
 6. OpenAI API key (paste once → `scripts/configure_agenticros.sh`)
-7. Final `agenticros doctor` summary
+7. Codex MCP config (optional — `agenticros codex setup` for `~/.codex/config.toml` and project `.codex/config.toml`)
+8. Hermes MCP config (optional — `agenticros hermes setup` for `~/.hermes/config.yaml`)
+9. Final `agenticros doctor` summary
 
 Pass `--force` to re-run every step regardless of state.
 
@@ -83,6 +85,43 @@ same report as a structured object for CI / scripting:
 
 Exits non-zero if any check is red.
 
+Checks include MCP server build status, OpenClaw plugin health, **Codex MCP config**
+(`~/.codex/config.toml` path and namespace policy), **Hermes MCP config**
+(`~/.hermes/config.yaml`), and Codex / Hermes CLI presence on `PATH`.
+
+### `agenticros codex setup [--project]`
+
+Register the AgenticROS MCP server for **OpenAI Codex CLI**:
+
+| Flag | Effect |
+|---|---|
+| (default) | Writes `[mcp_servers.agenticros]` to `~/.codex/config.toml` |
+| `--project` | Writes `.codex/config.toml` in the current repo root instead |
+
+Uses an **absolute path** to the MCP server binary (`packages/agenticros-claude-code/dist/index.js` in workspace mode, or the bundled path after `npx agenticros init`). Sets `AGENTICROS_ROBOT_NAMESPACE = ""` so `agenticros mode real|sim` drives the active robot namespace.
+
+Also offered as an optional step during `agenticros init`.
+
+### `agenticros codex doctor [--json]`
+
+Validate Codex MCP configuration: global and (when in a workspace) project `.codex/config.toml`, MCP binary path, and namespace policy. Exits non-zero on red checks. With `--json`, emits structured output for scripting.
+
+See **[docs/codex-setup.md](codex-setup.md)** for the full Codex onboarding guide.
+
+### `agenticros hermes setup`
+
+Register the AgenticROS MCP server for **[Hermes Agent](https://github.com/NousResearch/hermes-agent)**:
+
+Writes `mcp_servers.agenticros` to `~/.hermes/config.yaml` with an **absolute path** to the MCP server binary and `AGENTICROS_ROBOT_NAMESPACE: ""` so `agenticros mode real|sim` drives the active robot namespace.
+
+Also offered as an optional step during `agenticros init`. After setup, run `/reload-mcp` in Hermes or `hermes mcp test agenticros`.
+
+### `agenticros hermes doctor [--json]`
+
+Validate Hermes MCP configuration: `~/.hermes/config.yaml`, MCP binary path, and namespace policy. Exits non-zero on red checks. With `--json`, emits structured output for scripting.
+
+See **[docs/hermes-setup.md](hermes-setup.md)** for the full Hermes onboarding guide.
+
 ### `agenticros status [--json]`
 
 Shows running components (camera / sim / mcp / rosbridge / openclaw-gateway)
@@ -111,6 +150,9 @@ Read or edit `~/.agenticros/config.json`. Actions:
 |---|---|---|
 | `~/.agenticros/config.json` | User | AgenticROS runtime config (transport mode, namespace, safety limits). |
 | `~/.agenticros/cli-state.json` | CLI | Last-used mode/namespace for the menu's "(yesterday)" hint. |
+| `~/.hermes/config.yaml` | Hermes Agent | MCP server registrations (written by `agenticros hermes setup`). |
+| `~/.codex/config.toml` | Codex CLI | MCP server registrations (written by `agenticros codex setup`). |
+| `.codex/config.toml` | Codex CLI | Project-scoped MCP config (written by `agenticros codex setup --project`). |
 | `~/agenticros/` | CLI (npm-install mode) | Copy of the monorepo, with built dist + colcon install. |
 | `/tmp/agenticros-*.pid` | CLI | PIDs of background processes the CLI spawned. |
 | `/tmp/agenticros-*.log` | CLI | Stdout/stderr from those processes. |
@@ -134,13 +176,18 @@ Read or edit `~/.agenticros/config.json`. Actions:
 | `agenticros create-skill <slug> [--template hello\|robot\|camera\|depth]` | Scaffold `./agenticros-skill-<slug>/` in cwd. |
 | `agenticros skills dev [--invoke <tool>] [--live]` | Load the skill locally without OpenClaw. |
 | `agenticros publish [--graduate]` | Validate, push to GitHub, submit to skills.agenticros.com. |
-| `agenticros skills install <owner/skill>` | Install from marketplace (e.g. `agenticros/followme`). |
+| `agenticros skills install <owner/skill>` | Install from marketplace (e.g. `chrismatthieu/followme`). |
 | `agenticros skills search <q>` | Search the marketplace. |
 
 ## Troubleshooting
 
 - **`doctor` shows red checks** → run `agenticros init` to walk through every
-  step. Re-run `doctor` afterward.
+  step. Re-run `doctor` afterward. For Codex-specific issues, run
+  `agenticros codex doctor`. For Hermes, run `agenticros hermes doctor`.
+- **Codex `/mcp` does not list agenticros** → run `agenticros codex setup`
+  (absolute MCP path required). See [codex-setup.md](codex-setup.md).
+- **Hermes MCP tools missing** → run `agenticros hermes setup`, then `/reload-mcp`
+  in Hermes. See [hermes-setup.md](hermes-setup.md).
 - **`up` exits immediately** → `agenticros logs <component>` (the CLI now
   records where every child wrote its output) and read the error in context.
 - **`up sim-amr` warns "scripts/sim/run_sim.sh not found"** → simulation

package/runtime/packages/agenticros-claude-code/README.md

@@ -96,9 +96,19 @@ Scope options: `--scope user` (default), `--scope project` (shared via `.mcp.jso
 
 ## Codex CLI (OpenAI)
 
-The same MCP server works unmodified with the **OpenAI Codex CLI** — Codex is a vanilla MCP client, and our server speaks the standard `2024-11-05` MCP protocol that every MCP-compatible client uses. Two ways to register it:
+The same MCP server works unmodified with the **OpenAI Codex CLI** — Codex is a vanilla MCP client, and our server speaks the standard MCP protocol.
 
-**Option A — `codex mcp add` (recommended)**
+**Option A — `agenticros codex setup` (recommended)**
+
+```bash
+agenticros codex setup              # ~/.codex/config.toml
+agenticros codex setup --project    # .codex/config.toml in repo root
+agenticros codex doctor
+```
+
+Then start Codex and run `/mcp` — you should see `agenticros` connected. See [docs/codex-setup.md](../../docs/codex-setup.md) for the full guide.
+
+**Option B — `codex mcp add`**
 
 ```bash
 cd /path/to/agenticros
@@ -106,26 +116,61 @@ codex mcp add agenticros \
   -- node "$(pwd)/packages/agenticros-claude-code/dist/index.js"
 ```
 
-**Option B — direct edit of `~/.codex/config.toml`**
+**Option C — direct edit of `~/.codex/config.toml`**
 
 ```toml
 [mcp_servers.agenticros]
-command = "node"
-args = ["/ABSOLUTE/PATH/TO/agenticros/packages/agenticros-claude-code/dist/index.js"]
+command = "sh"
+args = ["-c", "node /ABSOLUTE/PATH/TO/agenticros/packages/agenticros-claude-code/dist/index.js 2>>/tmp/agenticros-mcp.log"]
 enabled = true
 startup_timeout_sec = 30
 
 [mcp_servers.agenticros.env]
-AGENTICROS_ROBOT_NAMESPACE = "robotYOUR_NAMESPACE_NO_DASHES"
+AGENTICROS_ROBOT_NAMESPACE = ""
 ```
 
-Then start a Codex session and run `/mcp` to verify — you should see `agenticros` connected with **15 tools** (more if you have skills like `agenticros-skill-followme` or `agenticros-skill-find` registered). Same tools, same tool names, same JSON shapes as in Claude Code; everything in the **Tools** section below applies identically.
+Same tools, same tool names, same JSON shapes as in Claude Code; everything in the **Tools** section below applies identically.
 
 Two Codex-specific notes:
 
 - **Absolute path required.** Codex's working directory at server-spawn time is not the AgenticROS repo root, so `args = ["packages/agenticros-claude-code/dist/index.js"]` will fail. Use the full absolute path.
 - **Project-scoped config.** Codex also supports a `.codex/config.toml` in a project directory (and a `mcp.json` in cwd on recent builds) — handy for per-repo MCP setups when you don't want `agenticros` enabled globally. See OpenAI's [Codex config reference](https://developers.openai.com/codex/config-reference) for the precedence rules.
 
+## Hermes Agent
+
+The same MCP server works unmodified with **[Hermes Agent](https://github.com/NousResearch/hermes-agent)** — Hermes is a model-agnostic MCP client (OpenRouter, Ollama, Anthropic, OpenAI, 200+ providers).
+
+**Option A — `agenticros hermes setup` (recommended)**
+
+```bash
+agenticros hermes setup
+agenticros hermes doctor
+```
+
+**Option B — edit YAML directly**
+
+```yaml
+# ~/.hermes/config.yaml
+mcp_servers:
+  agenticros:
+    command: "node"
+    args: ["/ABSOLUTE/PATH/TO/agenticros/packages/agenticros-claude-code/dist/index.js"]
+    env:
+      AGENTICROS_ROBOT_NAMESPACE: ""
+    connect_timeout: 60
+    timeout: 120
+```
+
+Then `/reload-mcp` in Hermes or restart the agent. Verify with `hermes mcp test agenticros`.
+
+Hermes-specific notes:
+
+- **Absolute path required.** Same as Codex — Hermes does not spawn MCP servers from the repo root.
+- **Empty namespace.** Leave `AGENTICROS_ROBOT_NAMESPACE: ""` so `agenticros mode real|sim` drives the active robot (same policy as Codex).
+- **Model choice is independent.** OpenRouter, Ollama, or any other Hermes LLM provider does not change AgenticROS MCP setup.
+
+Full guide: [docs/hermes-setup.md](../../docs/hermes-setup.md).
+
 ## Claude desktop app + Claude Dispatch (iOS)
 
 The Claude **desktop** app uses a different MCP config file than Claude Code:
@@ -300,4 +345,4 @@ If `ros2_publish` runs but the robot doesn’t move:
 
 ## Skills
 
-Skill packages (e.g. `agenticros-skill-followme`, `agenticros-skill-find`) extend the capability registry with new verbs like `follow_person` and `find_object`. The MCP server reads each skill's `package.json` `agenticros` block (`id`, `capabilities[]`) at startup and surfaces those verbs through `ros2_list_capabilities` and `run_mission` — no per-skill MCP tool needed. To register a skill for this adapter, install it with `agenticros skills install <slug>` from the marketplace, or add its path under `skillPaths[]` in `~/.agenticros/config.json` (or use the `agenticros skills add <path>` CLI). See [docs/skills.md](../../docs/skills.md) for the full skill contract.
+Skill packages (e.g. `agenticros-skill-followme`, `agenticros-skill-find`) extend the capability registry with new verbs like `follow_person` and `find_object`. The MCP server reads each skill's `package.json` `agenticros` block (`id`, `capabilities[]`) at startup and surfaces those verbs through `ros2_list_capabilities` and `run_mission` — no per-skill MCP tool needed. To register a skill for this adapter, install it with `agenticros skills install <owner/skill-id>` from the marketplace (e.g. `chrismatthieu/followme`), or add its path under `skillPaths[]` in `~/.agenticros/config.json` (or use the `agenticros skills add <path>` CLI). See [docs/skills.md](../../docs/skills.md) for the full skill contract.

package/runtime/packages/agenticros-claude-code/package.json

@@ -2,7 +2,17 @@
   "name": "@agenticros/claude-code",
   "version": "0.0.1",
   "type": "module",
-  "description": "AgenticROS MCP server for Claude Code CLI — chat with your ROS2 robot from the terminal",
+  "description": "AgenticROS MCP server for Claude Code, Claude Desktop, Dispatch, and OpenAI Codex CLI — chat with your ROS2 robot from the terminal",
+  "keywords": [
+    "agenticros",
+    "ros2",
+    "robotics",
+    "mcp",
+    "claude",
+    "codex",
+    "openai",
+    "model-context-protocol"
+  ],
   "main": "./dist/index.js",
   "bin": {
     "agenticros-mcp": "./dist/index.js"

package/runtime/packages/core/README.md

@@ -21,6 +21,16 @@ You don't normally use it directly — you use one of the adapters that depends
 
 A skill is an npm package that registers tools the AI agent can call on your robot.
 
+**Quick start** — scaffold, dev locally, publish:
+
+```bash
+npx agenticros create-skill my-skill
+cd agenticros-skill-my-skill && npm install && npm run dev
+npx agenticros publish
+```
+
+Or start from scratch with `@agenticros/core`:
+
 ```bash
 npm install --save @agenticros/core
 ```
@@ -75,10 +85,10 @@ export const registerSkill: RegisterSkill = (api, _config, _context) => {
 };
 ```
 
-Submit your skill to the marketplace at **[skills.agenticros.com/submit](https://skills.agenticros.com/submit)** — sign in with GitHub, paste your repo URL, and your skill becomes installable with:
+Publish to the marketplace with `npx agenticros publish`, or submit via **[skills.agenticros.com/submit](https://skills.agenticros.com/submit)**. Published skills use namespaced refs `owner/skill-id` (your GitHub login + `agenticros.id`):
 
 ```bash
-npx agenticros skills install myskill
+npx agenticros skills install your-handle/myskill
 ```
 
 See the [skills contract & guide](https://github.com/agenticros/agenticros/blob/main/docs/skills.md) for the full reference.