agenticros 0.3.4 → 0.3.5

package/runtime/packages/agenticros/src/tools/ros2-mission.ts

@@ -22,7 +22,6 @@ import { Type } from "@sinclair/typebox";
 import type { AgentTool, OpenClawPluginApi } from "../plugin-api.js";
 import type {
   AgenticROSConfig,
-  CapabilityToolBindings,
   Mission,
   MissionToolDispatcher,
 } from "@agenticros/core";
@@ -33,10 +32,15 @@ import {
   createMemoryTranscriptSink,
   missionTranscriptNamespace,
   compileGoalToMission,
+  buildMissionBindings,
+  isExternalToolName,
+  capabilityIdFromExternalTool,
+  executeExternalCapability,
 } from "@agenticros/core";
 import { resolveRobotForTool } from "./_robot-helpers.js";
 import { getMissionRegistry } from "../mission-registry.js";
 import { getMemory } from "../memory.js";
+import { getTransportForRobot } from "../service.js";
 
 /**
  * Snapshot of the registered tools, keyed by tool name. Built in
@@ -45,85 +49,6 @@ import { getMemory } from "../memory.js";
  */
 export type ToolRegistry = Map<string, AgentTool>;
 
-const MISSION_BINDINGS: CapabilityToolBindings = {
-  drive_base: {
-    tool: "ros2_publish",
-    buildArgs: (inputs) => {
-      const lx = Number(inputs.linear_x ?? 0) || 0;
-      const az = Number(inputs.angular_z ?? 0) || 0;
-      return {
-        topic: "/cmd_vel",
-        type: "geometry_msgs/msg/Twist",
-        message: {
-          linear: { x: lx, y: 0, z: 0 },
-          angular: { x: 0, y: 0, z: az },
-        },
-      };
-    },
-  },
-  take_snapshot: {
-    tool: "ros2_camera_snapshot",
-    buildArgs: (inputs) => {
-      const out: Record<string, unknown> = {};
-      if (typeof inputs.topic === "string") out.topic = inputs.topic;
-      if (typeof inputs.message_type === "string") out.message_type = inputs.message_type;
-      if (typeof inputs.timeout === "number") out.timeout = inputs.timeout;
-      return out;
-    },
-  },
-  measure_depth: {
-    tool: "ros2_depth_distance",
-    buildArgs: (inputs) => {
-      const out: Record<string, unknown> = {};
-      if (typeof inputs.topic === "string") out.topic = inputs.topic;
-      if (typeof inputs.timeout === "number") out.timeout = inputs.timeout;
-      return out;
-    },
-  },
-  list_topics: {
-    tool: "ros2_list_topics",
-    buildArgs: () => ({}),
-  },
-  publish_topic: {
-    tool: "ros2_publish",
-    buildArgs: (inputs) => ({
-      topic: String(inputs.topic ?? ""),
-      type: String(inputs.type ?? inputs.msg_type ?? ""),
-      message: inputs.message ?? inputs.msg ?? {},
-    }),
-  },
-  subscribe_once: {
-    tool: "ros2_subscribe_once",
-    buildArgs: (inputs) => {
-      const out: Record<string, unknown> = { topic: String(inputs.topic ?? "") };
-      if (typeof inputs.type === "string") out.type = inputs.type;
-      if (typeof inputs.timeout === "number") out.timeout = inputs.timeout;
-      return out;
-    },
-  },
-  follow_person: {
-    tool: "ros2_follow_me_start",
-    buildArgs: (inputs) => {
-      const out: Record<string, unknown> = {};
-      if (typeof inputs.target_distance === "number") out.target_distance = inputs.target_distance;
-      if (typeof inputs.mode === "string") out.mode = inputs.mode;
-      return out;
-    },
-  },
-  find_object: {
-    tool: "ros2_find_object",
-    buildArgs: (inputs) => {
-      const target = String(inputs.target ?? "");
-      const out: Record<string, unknown> = { target };
-      if (typeof inputs.angular_speed === "number") out.angular_speed = inputs.angular_speed;
-      if (typeof inputs.clockwise === "boolean") out.clockwise = inputs.clockwise;
-      if (typeof inputs.timeout_seconds === "number") out.timeout_seconds = inputs.timeout_seconds;
-      if (typeof inputs.min_confidence === "number") out.min_confidence = inputs.min_confidence;
-      return out;
-    },
-  },
-};
-
 export function registerMissionTool(
   api: OpenClawPluginApi,
   config: AgenticROSConfig,
@@ -143,9 +68,9 @@ export function registerMissionTool(
       "provided) the compiled plan + candidate match list so you can see what the planner did. " +
       "When memory is enabled, every step is also written to the shared memory under namespace " +
       "mission:<mission_id> so a second agent can recall the timeline via memory_recall. " +
-      "Today the runner supports: drive_base, take_snapshot, measure_depth, list_topics, " +
-      "publish_topic, subscribe_once, follow_person, find_object. " +
-      "Pass mission.robot_id (or top-level robot_id with goal) to target every step at one robot.",
+      "Bindings are built from the capability registry (builtins + skill-declared). " +
+      "Pass mission.robot_id (or top-level robot_id with goal) to target every step at one robot. " +
+      "Use mission_pause / mission_resume / mission_cancel with the returned mission_id.",
     parameters: Type.Object({
       goal: Type.Optional(
         Type.String({
@@ -186,6 +111,13 @@ export function registerMissionTool(
 
     async execute(toolCallId, params, signal) {
       const caps = listAllCapabilities(config);
+      const missionBindings = buildMissionBindings(caps, {
+        toolNameResolver: (cap) => {
+          const preferred = `ros2_${cap.id}`;
+          if (registry.has(preferred)) return preferred;
+          return undefined;
+        },
+      });
       const missionRaw = params["mission"];
       const goalRaw = params["goal"];
       const topLevelRobotId = typeof params["robot_id"] === "string" ? (params["robot_id"] as string) : undefined;
@@ -236,6 +168,23 @@ export function registerMissionTool(
       }
 
       const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
+        if (isExternalToolName(toolName)) {
+          const capId = capabilityIdFromExternalTool(toolName);
+          const cap = caps.find((c) => c.id === capId);
+          if (!cap) {
+            return { text: `Unknown external capability "${capId}".`, isError: true };
+          }
+          const resolved = resolveRobotForTool(config, toolArgs);
+          if ("error" in resolved) {
+            const errText = resolved.error.content.map((c) => ("text" in c ? c.text : "")).join("\n");
+            return { text: errText, isError: true };
+          }
+          const transport = await getTransportForRobot(config, resolved.robot);
+          const ext = await executeExternalCapability(cap, toolArgs, transport, {
+            namespace: resolved.robot.namespace,
+          });
+          return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
+        }
         const tool = registry.get(toolName);
         if (!tool) {
           return {
@@ -273,7 +222,7 @@ export function registerMissionTool(
 
       let result;
       try {
-        result = await runMission(mission, caps, MISSION_BINDINGS, dispatcher, {
+        result = await runMission(mission, caps, missionBindings, dispatcher, {
           mission_id: missionId,
           cancellation: regEntry.cancellation,
           transcript,

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

@@ -4,6 +4,8 @@ MCP (Model Context Protocol) server that exposes AgenticROS ROS2 tools to **Clau
 
 This adapter does **not** provide the config or teleop web UI; use the [OpenClaw plugin](../../packages/agenticros) for that, or run the gateway for the browser-based teleop page.
 
+**Local models (no cloud API):** Claude and Codex still use cloud LLMs. For **fully local** VLM inference with Ollama, use the [OpenClaw plugin](../../packages/agenticros) or [Hermes Agent](../../docs/hermes-setup.md) — see **[docs/local-vlm.md](../../docs/local-vlm.md)**.
+
 ## Prerequisites
 
 - Node.js 20+

package/runtime/packages/agenticros-claude-code/dist/tools.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"tools.d.ts","sourceRoot":"","sources":["../src/tools.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,KAAK,EACV,gBAAgB,EAKjB,MAAM,kBAAkB,CAAC;AAyC1B;;;GAGG;AACH,eAAO,MAAM,iBAAiB,aAK5B,CAAC;AAEH;;;;;;;GAOG;AACH,eAAO,MAAM,uBAAuB,aAsBlC,CAAC;AAEH,MAAM,WAAW,OAAO;IACtB,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE;QACX,IAAI,EAAE,QAAQ,CAAC;QACf,UAAU,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE;YAAE,IAAI,EAAE,MAAM,CAAC;YAAC,WAAW,CAAC,EAAE,MAAM,CAAC;YAAC,OAAO,CAAC,EAAE,OAAO,CAAA;SAAE,CAAC,CAAC;QACvF,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;KACrB,CAAC;CACH;AAED,eAAO,MAAM,KAAK,EAAE,OAAO,EAkZ1B,CAAC;AAEF,MAAM,MAAM,WAAW,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,GAAG;IAAE,IAAI,EAAE,OAAO,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,QAAQ,EAAE,MAAM,CAAA;CAAE,CAAC;AA4W7G,wBAAsB,cAAc,CAClC,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC7B,MAAM,EAAE,gBAAgB,GACvB,OAAO,CAAC;IAAE,OAAO,EAAE,WAAW,EAAE,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE,CAAC,CAsmBxD"}

package/runtime/packages/agenticros-claude-code/dist/tools.js

@@ -1,7 +1,7 @@
 /**
  * MCP tool definitions and handler. Mirrors OpenClaw adapter tools.
  */
-import { resolveCameraSubscribeTopic, toNamespacedTopic, toNamespacedTopicFull, listAllCapabilities, runMission, listRobots, getActiveRobotId, resolveRobotFromArgs, discoverRobots, findRobotsFor, generateMissionId, createMemoryTranscriptSink, missionTranscriptNamespace, compileGoalToMission, } from "@agenticros/core";
+import { resolveCameraSubscribeTopic, toNamespacedTopic, toNamespacedTopicFull, listAllCapabilities, runMission, listRobots, getActiveRobotId, resolveRobotFromArgs, discoverRobots, findRobotsFor, generateMissionId, createMemoryTranscriptSink, missionTranscriptNamespace, compileGoalToMission, buildMissionBindings, isExternalToolName, capabilityIdFromExternalTool, executeExternalCapability, } from "@agenticros/core";
 import { getMissionRegistry } from "./mission-registry.js";
 import { ROS_MSG_COMPRESSED_IMAGE, ROS_MSG_IMAGE, cameraSnapshotFromPlainMessage, mimeTypeForSnapshotBase64, rosNumericField, } from "@agenticros/ros-camera";
 import { resolveMemoryNamespace } from "@agenticros/core";
@@ -39,9 +39,12 @@ export const NO_TRANSPORT_TOOL_NAMES = new Set([
     // tool falls back to a transport-driven discovery only when the caller
     // passes online=true. See the handler for the precise branch.
     "ros2_find_robots_for",
-    // mission_cancel only mutates the in-process MissionRegistry — it
-    // never publishes to ROS, so it must work even when zenohd is down.
+    // mission_cancel / mission_pause / mission_resume only mutate the
+    // in-process MissionRegistry — they never publish to ROS, so they
+    // must work even when zenohd is down.
     "mission_cancel",
+    "mission_pause",
+    "mission_resume",
     // run_mission's *outer* call doesn't need transport — its handler
     // first compiles the goal (Phase 1.g, no transport) or validates
     // the mission shape, then per-step calls go through the transport
@@ -392,6 +395,38 @@ export const TOOLS = [
             required: ["mission_id"],
         },
     },
+    {
+        name: "mission_pause",
+        description: "Pause a mission that's currently running in this MCP server. Pass the mission_id returned by run_mission. The runner waits at the next step boundary until mission_resume (or mission_cancel). Idempotent if already paused.",
+        inputSchema: {
+            type: "object",
+            properties: {
+                mission_id: {
+                    type: "string",
+                    description: "The mission_id echoed by run_mission. Required.",
+                },
+                reason: {
+                    type: "string",
+                    description: "Optional free-text reason — surfaced in the paused transcript entry.",
+                },
+            },
+            required: ["mission_id"],
+        },
+    },
+    {
+        name: "mission_resume",
+        description: "Resume a mission previously paused with mission_pause. Pass the mission_id returned by run_mission. Idempotent if the mission is not paused.",
+        inputSchema: {
+            type: "object",
+            properties: {
+                mission_id: {
+                    type: "string",
+                    description: "The mission_id echoed by run_mission. Required.",
+                },
+            },
+            required: ["mission_id"],
+        },
+    },
 ];
 function followMeMode(args) {
     const raw = String(args["mode"] ?? "depth").toLowerCase().trim();
@@ -485,107 +520,6 @@ function formatFindRobotsForResponse(result) {
         })),
     });
 }
-/**
- * Capability → MCP tool dispatch table used by `run_mission`.
- *
- * Every capability returned by `ros2_list_capabilities` that the mission
- * runner can actually execute must appear here. If you add a new
- * intrinsic capability to BUILTIN_CAPABILITIES, mirror it here. For new
- * skill-declared capabilities, this is where you map them to the
- * corresponding MCP tool. Steps that name a capability without an entry
- * fail with an actionable "no mission-runner tool binding" error.
- */
-const MISSION_BINDINGS = {
-    drive_base: {
-        tool: "ros2_publish",
-        buildArgs: (inputs) => {
-            const lx = Number(inputs.linear_x ?? 0) || 0;
-            const az = Number(inputs.angular_z ?? 0) || 0;
-            return {
-                topic: "/cmd_vel",
-                type: "geometry_msgs/msg/Twist",
-                message: {
-                    linear: { x: lx, y: 0, z: 0 },
-                    angular: { x: 0, y: 0, z: az },
-                },
-            };
-        },
-    },
-    take_snapshot: {
-        tool: "ros2_camera_snapshot",
-        buildArgs: (inputs) => {
-            const out = {};
-            if (typeof inputs.topic === "string")
-                out.topic = inputs.topic;
-            if (typeof inputs.message_type === "string")
-                out.message_type = inputs.message_type;
-            if (typeof inputs.timeout === "number")
-                out.timeout = inputs.timeout;
-            return out;
-        },
-    },
-    measure_depth: {
-        tool: "ros2_depth_distance",
-        buildArgs: (inputs) => {
-            const out = {};
-            if (typeof inputs.topic === "string")
-                out.topic = inputs.topic;
-            if (typeof inputs.timeout === "number")
-                out.timeout = inputs.timeout;
-            return out;
-        },
-    },
-    list_topics: {
-        tool: "ros2_list_topics",
-        buildArgs: () => ({}),
-    },
-    publish_topic: {
-        tool: "ros2_publish",
-        buildArgs: (inputs) => ({
-            topic: String(inputs.topic ?? ""),
-            type: String(inputs.type ?? inputs.msg_type ?? ""),
-            message: inputs.message ?? inputs.msg ?? {},
-        }),
-    },
-    subscribe_once: {
-        tool: "ros2_subscribe_once",
-        buildArgs: (inputs) => {
-            const out = { topic: String(inputs.topic ?? "") };
-            if (typeof inputs.type === "string")
-                out.type = inputs.type;
-            if (typeof inputs.timeout === "number")
-                out.timeout = inputs.timeout;
-            return out;
-        },
-    },
-    follow_person: {
-        tool: "ros2_follow_me_start",
-        buildArgs: (inputs) => {
-            const out = {};
-            if (typeof inputs.target_distance === "number")
-                out.target_distance = inputs.target_distance;
-            if (typeof inputs.mode === "string")
-                out.mode = inputs.mode;
-            return out;
-        },
-    },
-    find_object: {
-        tool: "ros2_find_object",
-        buildArgs: (inputs) => {
-            const target = String(inputs.target ?? "");
-            const out = { target };
-            if (typeof inputs.angular_speed === "number")
-                out.angular_speed = inputs.angular_speed;
-            if (typeof inputs.clockwise === "boolean")
-                out.clockwise = inputs.clockwise;
-            if (typeof inputs.timeout_seconds === "number")
-                out.timeout_seconds = inputs.timeout_seconds;
-            if (typeof inputs.min_confidence === "number")
-                out.min_confidence = inputs.min_confidence;
-            return out;
-        },
-    },
-};
 /**
  * Phase 1.f — `mission_cancel` handler. Lives at module scope so the
  * outer `handleToolCall` can invoke it WITHOUT first resolving a
@@ -622,6 +556,64 @@ function handleMissionCancel(args) {
         ],
     };
 }
+function handleMissionPause(args) {
+    const missionId = typeof args["mission_id"] === "string" ? args["mission_id"].trim() : "";
+    if (!missionId) {
+        return {
+            content: [
+                {
+                    type: "text",
+                    text: "mission_pause requires 'mission_id' (a non-empty string returned by run_mission).",
+                },
+            ],
+            isError: true,
+        };
+    }
+    const reason = typeof args["reason"] === "string" ? args["reason"] : undefined;
+    const outcome = getMissionRegistry().pause(missionId, reason);
+    return {
+        content: [
+            {
+                type: "text",
+                text: JSON.stringify({
+                    success: true,
+                    mission_id: missionId,
+                    found: outcome.found,
+                    already_paused: outcome.alreadyPaused,
+                    reason: reason ?? null,
+                }),
+            },
+        ],
+    };
+}
+function handleMissionResume(args) {
+    const missionId = typeof args["mission_id"] === "string" ? args["mission_id"].trim() : "";
+    if (!missionId) {
+        return {
+            content: [
+                {
+                    type: "text",
+                    text: "mission_resume requires 'mission_id' (a non-empty string returned by run_mission).",
+                },
+            ],
+            isError: true,
+        };
+    }
+    const outcome = getMissionRegistry().resume(missionId);
+    return {
+        content: [
+            {
+                type: "text",
+                text: JSON.stringify({
+                    success: true,
+                    mission_id: missionId,
+                    found: outcome.found,
+                    was_paused: outcome.wasPaused,
+                }),
+            },
+        ],
+    };
+}
 /**
  * Phase 1.c + 1.f + 1.g — `run_mission` handler. Lives at module scope
  * so the outer `handleToolCall` can short-circuit BEFORE
@@ -696,6 +688,31 @@ async function handleRunMission(args, config) {
         }
     }
     const dispatcher = async (toolName, toolArgs) => {
+        if (isExternalToolName(toolName)) {
+            const capId = capabilityIdFromExternalTool(toolName);
+            const cap = caps.find((c) => c.id === capId);
+            if (!cap) {
+                return {
+                    text: `Unknown external capability "${capId}".`,
+                    isError: true,
+                };
+            }
+            let robot;
+            try {
+                robot = resolveRobotFromArgs(config, toolArgs);
+            }
+            catch (err) {
+                return {
+                    text: err instanceof Error ? err.message : String(err),
+                    isError: true,
+                };
+            }
+            const transport = await getTransportForRobot(config, robot);
+            const ext = await executeExternalCapability(cap, toolArgs, transport, {
+                namespace: robot.namespace,
+            });
+            return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
+        }
         const res = await handleToolCall(toolName, toolArgs, config);
         const text = res.content
             .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
@@ -711,7 +728,7 @@ async function handleRunMission(args, config) {
     const transcript = memory ? createMemoryTranscriptSink(memory, missionId) : undefined;
     let result;
     try {
-        result = await runMission(mission, caps, MISSION_BINDINGS, dispatcher, {
+        result = await runMission(mission, caps, buildMissionBindings(caps), dispatcher, {
             mission_id: missionId,
             cancellation: regEntry.cancellation,
             transcript,
@@ -828,15 +845,17 @@ export async function handleToolCall(name, args, config) {
             };
         }
     }
-    // mission_cancel + run_mission must NOT trigger a transport connect
-    // at this outer layer: mission_cancel only mutates the in-process
-    // MissionRegistry, and run_mission's handler does its OWN per-step
-    // dispatch (each step's inner `handleToolCall` connects as needed).
-    // Routing the outer call through `getTransportForRobot()` would
-    // hang or fail when an agent only wanted to compile / cancel.
+    // mission_cancel / pause / resume + run_mission must NOT trigger a
+    // transport connect at this outer layer.
     if (name === "mission_cancel") {
         return handleMissionCancel(args);
     }
+    if (name === "mission_pause") {
+        return handleMissionPause(args);
+    }
+    if (name === "mission_resume") {
+        return handleMissionResume(args);
+    }
     if (name === "run_mission") {
         return handleRunMission(args, config);
     }