agenticros 0.4.0 → 0.5.0

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Files changed (41) hide show
  1. package/dist/commands/publish-skill.d.ts.map +1 -1
  2. package/dist/commands/publish-skill.js +19 -0
  3. package/dist/commands/publish-skill.js.map +1 -1
  4. package/dist/commands/skills.d.ts +2 -0
  5. package/dist/commands/skills.d.ts.map +1 -1
  6. package/dist/commands/skills.js +150 -42
  7. package/dist/commands/skills.js.map +1 -1
  8. package/dist/index.js +2 -1
  9. package/dist/index.js.map +1 -1
  10. package/dist/util/marketplace.d.ts +2 -0
  11. package/dist/util/marketplace.d.ts.map +1 -1
  12. package/dist/util/marketplace.js.map +1 -1
  13. package/package.json +2 -2
  14. package/runtime/BUNDLE.json +1 -1
  15. package/runtime/docs/cli.md +2 -2
  16. package/runtime/packages/agenticros/src/tools/ros2-mission.ts +3 -2
  17. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts +2 -0
  18. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map +1 -1
  19. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js +14 -0
  20. package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map +1 -1
  21. package/runtime/packages/agenticros-claude-code/dist/tools.d.ts +3 -1
  22. package/runtime/packages/agenticros-claude-code/dist/tools.d.ts.map +1 -1
  23. package/runtime/packages/agenticros-claude-code/dist/tools.js +6 -4
  24. package/runtime/packages/agenticros-claude-code/dist/tools.js.map +1 -1
  25. package/runtime/packages/agenticros-claude-code/src/find-object/find-object.ts +16 -0
  26. package/runtime/packages/agenticros-claude-code/src/tools.ts +6 -3
  27. package/runtime/packages/agenticros-gemini/src/find-object/find-object.ts +16 -0
  28. package/runtime/packages/agenticros-gemini/src/tools.ts +5 -2
  29. package/runtime/packages/core/package.json +1 -1
  30. package/runtime/packages/core/src/__tests__/mission-retry-cancel.test.ts +165 -0
  31. package/runtime/packages/core/src/__tests__/skill-refs.test.ts +14 -0
  32. package/runtime/packages/core/src/external-capability.ts +67 -25
  33. package/runtime/packages/core/src/index.ts +3 -1
  34. package/runtime/packages/core/src/mission.ts +188 -31
  35. package/runtime/packages/core/src/skill-refs.ts +257 -30
  36. package/runtime/pnpm-lock.yaml +23 -2
  37. package/runtime/scripts/check-cli-tarball-install.mjs +41 -8
  38. package/templates/skills/camera/package.json +17 -6
  39. package/templates/skills/depth/package.json +18 -6
  40. package/templates/skills/hello/package.json +16 -5
  41. package/templates/skills/robot/package.json +18 -6
package/runtime/docs/cli.md CHANGED
@@ -214,8 +214,8 @@ Read or edit `~/.agenticros/config.json`. Actions:
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  |---|---|
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  | `agenticros create-skill <slug> [--template hello\|robot\|camera\|depth]` | Scaffold `./agenticros-skill-<slug>/` in cwd. |
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  | `agenticros skills dev [--invoke <tool>] [--live]` | Load the skill locally without OpenClaw. |
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- | `agenticros publish [--graduate]` | Validate, push to GitHub, submit to skills.agenticros.com. |
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- | `agenticros skills install <owner/skill>` | Install from marketplace (e.g. `chrismatthieu/followme`). |
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+ | `agenticros publish [--graduate]` | Validate, push to GitHub, submit to skills.agenticros.com; `npm publish` when name is `@agenticros-skills/*`. |
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+ | `agenticros skills install <owner/skill\|@scope/pkg> [--no-restart]` | Install from marketplace or npm; prefers npm when advertised; auto-restarts OpenClaw gateway unless `--no-restart`. |
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  | `agenticros skills search <q>` | Search the marketplace. |
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  ## Troubleshooting
package/runtime/packages/agenticros/src/tools/ros2-mission.ts CHANGED
@@ -167,7 +167,7 @@ export function registerMissionTool(
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  if ("error" in resolved) return resolved.error;
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  }
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- const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
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+ const dispatcher: MissionToolDispatcher = async (toolName, toolArgs, ctx) => {
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  if (isExternalToolName(toolName)) {
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  const capId = capabilityIdFromExternalTool(toolName);
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  const cap = caps.find((c) => c.id === capId);
@@ -182,6 +182,7 @@ export function registerMissionTool(
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  const transport = await getTransportForRobot(config, resolved.robot);
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  const ext = await executeExternalCapability(cap, toolArgs, transport, {
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  namespace: resolved.robot.namespace,
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+ signal: ctx?.signal,
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  });
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  return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
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  }
@@ -192,7 +193,7 @@ export function registerMissionTool(
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  isError: true,
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  };
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  }
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- const res = await tool.execute(toolCallId, toolArgs, signal);
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+ const res = await tool.execute(toolCallId, toolArgs, ctx?.signal ?? signal);
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  const text = res.content
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  .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
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  .join("\n");
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts CHANGED
@@ -9,6 +9,8 @@ export interface FindObjectOptions {
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  timeoutSeconds?: number;
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  minConfidence?: number;
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  clockwise?: boolean;
12
+ /** When aborted, stop rotating and return found:false. */
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+ signal?: AbortSignal;
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  }
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  export interface FindObjectResult {
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  found: boolean;
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"find-object.d.ts","sourceRoot":"","sources":["../../src/find-object/find-object.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,aAAa,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAgBtF,MAAM,WAAW,iBAAiB;IAChC,MAAM,EAAE,MAAM,CAAC;IACf,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,cAAc,CAAC,EAAE,MAAM,CAAC;IACxB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,SAAS,CAAC,EAAE,OAAO,CAAC;IACpB,0DAA0D;IAC1D,MAAM,CAAC,EAAE,WAAW,CAAC;CACtB;AAED,MAAM,WAAW,gBAAgB;IAC/B,KAAK,EAAE,OAAO,CAAC;IACf,MAAM,EAAE,MAAM,CAAC;IACf,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,WAAW,GAAG,kBAAkB,CAAC;IACpD,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,CAAC,EAAE;QACV,UAAU,EAAE,MAAM,CAAC;QACnB,EAAE,EAAE,MAAM,CAAC;QACX,EAAE,EAAE,MAAM,CAAC;QACX,KAAK,EAAE,MAAM,CAAC;QACd,MAAM,EAAE,MAAM,CAAC;QACf,UAAU,EAAE,MAAM,CAAC;QACnB,WAAW,EAAE,MAAM,CAAC;QACpB,gBAAgB,EAAE,MAAM,CAAC;KAC1B,CAAC;IACF,KAAK,CAAC,EAAE,MAAM,CAAC;CAChB;AAED,wBAAsB,UAAU,CAC9B,KAAK,EAAE,aAAa,EACpB,MAAM,EAAE,gBAAgB,EACxB,SAAS,EAAE,YAAY,EACvB,IAAI,EAAE,iBAAiB,GACtB,OAAO,CAAC,gBAAgB,CAAC,CA8G3B"}
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js CHANGED
@@ -57,6 +57,9 @@ export async function findObject(robot, config, transport, opts) {
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  rotating = true;
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  const deadline = startedAt + timeoutMs;
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  while (Date.now() < deadline && !result) {
60
+ if (opts.signal?.aborted) {
61
+ break;
62
+ }
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  // Keep the rotation alive in case the robot times out cmd_vel commands.
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  await publishTwist(0, angularZ);
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  const frame = await snapshotOnce(transport, colorTopic).catch(() => null);
@@ -89,6 +92,17 @@ export async function findObject(robot, config, transport, opts) {
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  await detector.dispose().catch(() => { });
90
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  }
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  const elapsedSeconds = (Date.now() - startedAt) / 1000;
95
+ if (opts.signal?.aborted && !result) {
96
+ return {
97
+ found: false,
98
+ target: opts.target,
99
+ classId,
100
+ elapsedSeconds,
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+ rotationDirection: clockwise ? "clockwise" : "counterclockwise",
102
+ angularSpeed: requestedSpeed,
103
+ error: "Cancelled",
104
+ };
105
+ }
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  return {
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  found: !!result,
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  target: opts.target,
package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map CHANGED
@@ -1 +1 @@
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1
+ {"version":3,"file":"find-object.js","sourceRoot":"","sources":["../../src/find-object/find-object.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAGH,OAAO,EAAE,2BAA2B,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAClF,OAAO,EACL,wBAAwB,EACxB,8BAA8B,GAC/B,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAC1D,OAAO,EAAE,kBAAkB,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AAErE,MAAM,mBAAmB,GAAG,2CAA2C,CAAC;AACxE,MAAM,qBAAqB,GAAG,GAAG,CAAC,CAAC,QAAQ;AAC3C,MAAM,mBAAmB,GAAG,EAAE,CAAC;AAC/B,MAAM,sBAAsB,GAAG,GAAG,CAAC;AACnC,MAAM,gBAAgB,GAAG,GAAG,CAAC;AAC7B,MAAM,mBAAmB,GAAG,IAAI,CAAC;AAgCjC,MAAM,CAAC,KAAK,UAAU,UAAU,CAC9B,KAAoB,EACpB,MAAwB,EACxB,SAAuB,EACvB,IAAuB;IAEvB,MAAM,OAAO,GAAG,kBAAkB,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChD,IAAI,OAAO,KAAK,IAAI,EAAE,CAAC;QACrB,OAAO;YACL,KAAK,EAAE,KAAK;YACZ,MAAM,EAAE,IAAI,CAAC,MAAM;YACnB,OAAO,EAAE,CAAC,CAAC;YACX,cAAc,EAAE,CAAC;YACjB,iBAAiB,EAAE,WAAW;YAC9B,YAAY,EAAE,CAAC;YACf,KAAK,EACH,mBAAmB,IAAI,CAAC,MAAM,wEAAwE;gBACtG,cAAc,YAAY,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG;SAC3C,CAAC;IACJ,CAAC;IAED,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,IAAI,EAAE,CAAC;IACnC,MAAM,UAAU,GAAG,MAAM,CAAC,kBAAkB,IAAI,GAAG,CAAC;IACpD,MAAM,cAAc,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,GAAG,CAAC,UAAU,EAAE,IAAI,CAAC,YAAY,IAAI,qBAAqB,CAAC,CAAC,CAAC;IACxG,MAAM,SAAS,GAAG,IAAI,CAAC,SAAS,IAAI,IAAI,CAAC;IACzC,MAAM,QAAQ,GAAG,SAAS,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,cAAc,CAAC;IAC9D,MAAM,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,CAAC,IAAI,CAAC,cAAc,IAAI,mBAAmB,CAAC,GAAG,IAAI,CAAC,CAAC;IACtF,MAAM,aAAa,GAAG,IAAI,CAAC,aAAa,IAAI,sBAAsB,CAAC;IAEnE,MAAM,QAAQ,GAAG,IAAI,cAAc,CAAC,EAAE,cAAc,EAAE,aAAa,EAAE,CAAC,CAAC;IACvE,MAAM,QAAQ,CAAC,IAAI,EAAE,CAAC;IAEtB,MAAM,WAAW,GAAG,kBAAkB,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC;IACtD,MAAM,UAAU,GAAG,2BAA2B,CAC5C,KAAK,CAAC,SAAS,EACf,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,mBAAmB,CAChD,CAAC;IAEF,MAAM,SAAS,GAAG,IAAI,CAAC,GAAG,EAAE,CAAC;IAC7B,IAAI,QAAQ,GAAG,KAAK,CAAC;IACrB,IAAI,MAAiD,CAAC;IAEtD,MAAM,YAAY,GAAG,KAAK,EAAE,OAAe,EAAE,IAAY,EAAE,EAAE;QAC3D,IAAI,CAAC;YACH,MAAM,SAAS,CAAC,OAAO,CAAC;gBACtB,KAAK,EAAE,WAAW;gBAClB,IAAI,EAAE,yBAAyB;gBAC/B,GAAG,EAAE,EAAE,MAAM,EAAE,EAAE,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,OAAO,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,EAAE,EAAE;aAC9E,CAAC,CAAC;QACL,CAAC;QAAC,MAAM,CAAC;YACP,+BAA+B;QACjC,CAAC;IACH,CAAC,CAAC;IAEF,IAAI,CAAC;QACH,MAAM,YAAY,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC;QAChC,QAAQ,GAAG,IAAI,CAAC;QAEhB,MAAM,QAAQ,GAAG,SAAS,GAAG,SAAS,CAAC;QACvC,OAAO,IAAI,CAAC,GAAG,EAAE,GAAG,QAAQ,IAAI,CAAC,MAAM,EAAE,CAAC;YACxC,IAAI,IAAI,CAAC,MAAM,EAAE,OAAO,EAAE,CAAC;gBACzB,MAAM;YACR,CAAC;YACD,wEAAwE;YACxE,MAAM,YAAY,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC;YAEhC,MAAM,KAAK,GAAG,MAAM,YAAY,CAAC,SAAS,EAAE,UAAU,CAAC,CAAC,KAAK,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,CAAC;YAC1E,IAAI,KAAK,EAAE,CAAC;gBACV,MAAM,GAAG,GAAG,MAAM,QAAQ,CAAC,WAAW,CAAC,KAAK,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;gBAC9D,IAAI,GAAG,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;oBAC9B,MAAM,IAAI,GAAG,GAAG,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,UAAU,GAAG,CAAC,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;oBACpF,MAAM,GAAG;wBACP,UAAU,EAAE,IAAI,CAAC,UAAU;wBAC3B,EAAE,EAAE,IAAI,CAAC,EAAE;wBACX,EAAE,EAAE,IAAI,CAAC,EAAE;wBACX,KAAK,EAAE,IAAI,CAAC,KAAK;wBACjB,MAAM,EAAE,IAAI,CAAC,MAAM;wBACnB,UAAU,EAAE,GAAG,CAAC,KAAK;wBACrB,WAAW,EAAE,GAAG,CAAC,MAAM;wBACvB,gBAAgB,EAAE,CAAC,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,KAAK,GAAG,CAAC,CAAC;qBAC9D,CAAC;oBACF,MAAM;gBACR,CAAC;YACH,CAAC;YAED,MAAM,SAAS,GAAG,QAAQ,GAAG,IAAI,CAAC,GAAG,EAAE,CAAC;YACxC,IAAI,SAAS,IAAI,CAAC;gBAAE,MAAM;YAC1B,MAAM,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,gBAAgB,EAAE,SAAS,CAAC,CAAC,CAAC;QACrD,CAAC;IACH,CAAC;YAAS,CAAC;QACT,IAAI,QAAQ;YAAE,MAAM,YAAY,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QACvC,MAAM,QAAQ,CAAC,OAAO,EAAE,CAAC,KAAK,CAAC,GAAG,EAAE,GAAE,CAAC,CAAC,CAAC;IAC3C,CAAC;IAED,MAAM,cAAc,GAAG,CAAC,IAAI,CAAC,GAAG,EAAE,GAAG,SAAS,CAAC,GAAG,IAAI,CAAC;IACvD,IAAI,IAAI,CAAC,MAAM,EAAE,OAAO,IAAI,CAAC,MAAM,EAAE,CAAC;QACpC,OAAO;YACL,KAAK,EAAE,KAAK;YACZ,MAAM,EAAE,IAAI,CAAC,MAAM;YACnB,OAAO;YACP,cAAc;YACd,iBAAiB,EAAE,SAAS,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,kBAAkB;YAC/D,YAAY,EAAE,cAAc;YAC5B,KAAK,EAAE,WAAW;SACnB,CAAC;IACJ,CAAC;IACD,OAAO;QACL,KAAK,EAAE,CAAC,CAAC,MAAM;QACf,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,OAAO;QACP,cAAc;QACd,iBAAiB,EAAE,SAAS,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,kBAAkB;QAC/D,YAAY,EAAE,cAAc;QAC5B,SAAS,EAAE,MAAM;KAClB,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,YAAY,CACzB,SAAuB,EACvB,KAAa;IAEb,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,EAAE;QAC7B,MAAM,GAAG,GAAG,SAAS,CAAC,SAAS,CAC7B,EAAE,KAAK,EAAE,IAAI,EAAE,wBAAwB,EAAE,EACzC,CAAC,GAA4B,EAAE,EAAE;YAC/B,YAAY,CAAC,KAAK,CAAC,CAAC;YACpB,GAAG,CAAC,WAAW,EAAE,CAAC;YAClB,IAAI,CAAC;gBACH,MAAM,OAAO,GAAG,8BAA8B,CAAC,iBAAiB,EAAE,GAAG,CAAC,CAAC;gBACvE,OAAO,CAAC,EAAE,MAAM,EAAE,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,UAAU,EAAE,QAAQ,CAAC,EAAE,CAAC,CAAC;YACjE,CAAC;YAAC,MAAM,CAAC;gBACP,OAAO,CAAC,IAAI,CAAC,CAAC;YAChB,CAAC;QACH,CAAC,CACF,CAAC;QACF,MAAM,KAAK,GAAG,UAAU,CAAC,GAAG,EAAE;YAC5B,GAAG,CAAC,WAAW,EAAE,CAAC;YAClB,OAAO,CAAC,IAAI,CAAC,CAAC;QAChB,CAAC,EAAE,mBAAm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package/runtime/packages/agenticros-claude-code/dist/tools.d.ts CHANGED
@@ -38,7 +38,9 @@ export type ToolContent = {
38
38
  data: string;
39
39
  mimeType: string;
40
40
  };
41
- export declare function handleToolCall(name: string, args: Record<string, unknown>, config: AgenticROSConfig): Promise<{
41
+ export declare function handleToolCall(name: string, args: Record<string, unknown>, config: AgenticROSConfig, opts?: {
42
+ signal?: AbortSignal;
43
+ }): Promise<{
42
44
  content: ToolContent[];
43
45
  isError?: boolean;
44
46
  }>;
package/runtime/packages/agenticros-claude-code/dist/tools.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"tools.d.ts","sourceRoot":"","sources":["../src/tools.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,KAAK,EACV,gBAAgB,EAKjB,MAAM,kBAAkB,CAAC;AA0C1B;;;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;AA8W7G,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"}
1
+ {"version":3,"file":"tools.d.ts","sourceRoot":"","sources":["../src/tools.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,KAAK,EACV,gBAAgB,EAKjB,MAAM,kBAAkB,CAAC;AA0C1B;;;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;AA+W7G,wBAAsB,cAAc,CAClC,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC7B,MAAM,EAAE,gBAAgB,EACxB,IAAI,CAAC,EAAE;IAAE,MAAM,CAAC,EAAE,WAAW,CAAA;CAAE,GAC9B,OAAO,CAAC;IAAE,OAAO,EAAE,WAAW,EAAE,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE,CAAC,CAumBxD"}
package/runtime/packages/agenticros-claude-code/dist/tools.js CHANGED
@@ -687,7 +687,7 @@ async function handleRunMission(args, config) {
687
687
  return robotResolveError(err);
688
688
  }
689
689
  }
690
- const dispatcher = async (toolName, toolArgs) => {
690
+ const dispatcher = async (toolName, toolArgs, ctx) => {
691
691
  if (isExternalToolName(toolName)) {
692
692
  const capId = capabilityIdFromExternalTool(toolName);
693
693
  const cap = caps.find((c) => c.id === capId);
@@ -710,10 +710,11 @@ async function handleRunMission(args, config) {
710
710
  const transport = await getTransportForRobot(config, robot);
711
711
  const ext = await executeExternalCapability(cap, toolArgs, transport, {
712
712
  namespace: robot.namespace,
713
+ signal: ctx?.signal,
713
714
  });
714
715
  return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
715
716
  }
716
- const res = await handleToolCall(toolName, toolArgs, config);
717
+ const res = await handleToolCall(toolName, toolArgs, config, { signal: ctx?.signal });
717
718
  const text = res.content
718
719
  .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
719
720
  .join("\n");
@@ -763,7 +764,7 @@ async function handleRunMission(args, config) {
763
764
  isError: result.status === "error",
764
765
  };
765
766
  }
766
- export async function handleToolCall(name, args, config) {
767
+ export async function handleToolCall(name, args, config, opts) {
767
768
  // Memory tools are self-contained — they never touch the ROS transport, so
768
769
  // dispatch them before getTransport() (which throws when zenohd is down).
769
770
  if (MEMORY_TOOL_NAMES.has(name)) {
@@ -1341,6 +1342,7 @@ export async function handleToolCall(name, args, config) {
1341
1342
  clockwise: args["clockwise"],
1342
1343
  timeoutSeconds: args["timeout_seconds"],
1343
1344
  minConfidence: args["min_confidence"],
1345
+ signal: opts?.signal,
1344
1346
  });
1345
1347
  const summary = result.error
1346
1348
  ? result.error
@@ -1352,7 +1354,7 @@ export async function handleToolCall(name, args, config) {
1352
1354
  : `${target} not found within ${result.elapsedSeconds.toFixed(1)}s. Robot stopped.`;
1353
1355
  return {
1354
1356
  content: [{ type: "text", text: summary + "\n" + JSON.stringify(result) }],
1355
- isError: !!result.error,
1357
+ isError: !!result.error && result.error !== "Cancelled",
1356
1358
  };
1357
1359
  }
1358
1360
  default:
package/runtime/packages/agenticros-claude-code/dist/tools.js.map CHANGED
@@ -1 +1 @@
1
- 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package/runtime/packages/agenticros-claude-code/src/find-object/find-object.ts CHANGED
@@ -25,6 +25,8 @@ export interface FindObjectOptions {
25
25
  timeoutSeconds?: number;
26
26
  minConfidence?: number;
27
27
  clockwise?: boolean;
28
+ /** When aborted, stop rotating and return found:false. */
29
+ signal?: AbortSignal;
28
30
  }
29
31
 
30
32
  export interface FindObjectResult {
@@ -107,6 +109,9 @@ export async function findObject(
107
109
 
108
110
  const deadline = startedAt + timeoutMs;
109
111
  while (Date.now() < deadline && !result) {
112
+ if (opts.signal?.aborted) {
113
+ break;
114
+ }
110
115
  // Keep the rotation alive in case the robot times out cmd_vel commands.
111
116
  await publishTwist(0, angularZ);
112
117
 
@@ -139,6 +144,17 @@ export async function findObject(
139
144
  }
140
145
 
141
146
  const elapsedSeconds = (Date.now() - startedAt) / 1000;
147
+ if (opts.signal?.aborted && !result) {
148
+ return {
149
+ found: false,
150
+ target: opts.target,
151
+ classId,
152
+ elapsedSeconds,
153
+ rotationDirection: clockwise ? "clockwise" : "counterclockwise",
154
+ angularSpeed: requestedSpeed,
155
+ error: "Cancelled",
156
+ };
157
+ }
142
158
  return {
143
159
  found: !!result,
144
160
  target: opts.target,
package/runtime/packages/agenticros-claude-code/src/tools.ts CHANGED
@@ -795,7 +795,7 @@ async function handleRunMission(
795
795
  return robotResolveError(err);
796
796
  }
797
797
  }
798
- const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
798
+ const dispatcher: MissionToolDispatcher = async (toolName, toolArgs, ctx) => {
799
799
  if (isExternalToolName(toolName)) {
800
800
  const capId = capabilityIdFromExternalTool(toolName);
801
801
  const cap = caps.find((c) => c.id === capId);
@@ -817,10 +817,11 @@ async function handleRunMission(
817
817
  const transport = await getTransportForRobot(config, robot);
818
818
  const ext = await executeExternalCapability(cap, toolArgs, transport, {
819
819
  namespace: robot.namespace,
820
+ signal: ctx?.signal,
820
821
  });
821
822
  return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
822
823
  }
823
- const res = await handleToolCall(toolName, toolArgs, config);
824
+ const res = await handleToolCall(toolName, toolArgs, config, { signal: ctx?.signal });
824
825
  const text = res.content
825
826
  .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
826
827
  .join("\n");
@@ -877,6 +878,7 @@ export async function handleToolCall(
877
878
  name: string,
878
879
  args: Record<string, unknown>,
879
880
  config: AgenticROSConfig,
881
+ opts?: { signal?: AbortSignal },
880
882
  ): Promise<{ content: ToolContent[]; isError?: boolean }> {
881
883
  // Memory tools are self-contained — they never touch the ROS transport, so
882
884
  // dispatch them before getTransport() (which throws when zenohd is down).
@@ -1470,6 +1472,7 @@ export async function handleToolCall(
1470
1472
  clockwise: args["clockwise"] as boolean | undefined,
1471
1473
  timeoutSeconds: args["timeout_seconds"] as number | undefined,
1472
1474
  minConfidence: args["min_confidence"] as number | undefined,
1475
+ signal: opts?.signal,
1473
1476
  });
1474
1477
  const summary = result.error
1475
1478
  ? result.error
@@ -1481,7 +1484,7 @@ export async function handleToolCall(
1481
1484
  : `${target} not found within ${result.elapsedSeconds.toFixed(1)}s. Robot stopped.`;
1482
1485
  return {
1483
1486
  content: [{ type: "text", text: summary + "\n" + JSON.stringify(result) }],
1484
- isError: !!result.error,
1487
+ isError: !!result.error && result.error !== "Cancelled",
1485
1488
  };
1486
1489
  }
1487
1490
 
package/runtime/packages/agenticros-gemini/src/find-object/find-object.ts CHANGED
@@ -25,6 +25,8 @@ export interface FindObjectOptions {
25
25
  timeoutSeconds?: number;
26
26
  minConfidence?: number;
27
27
  clockwise?: boolean;
28
+ /** When aborted, stop rotating and return found:false. */
29
+ signal?: AbortSignal;
28
30
  }
29
31
 
30
32
  export interface FindObjectResult {
@@ -107,6 +109,9 @@ export async function findObject(
107
109
 
108
110
  const deadline = startedAt + timeoutMs;
109
111
  while (Date.now() < deadline && !result) {
112
+ if (opts.signal?.aborted) {
113
+ break;
114
+ }
110
115
  // Keep the rotation alive in case the robot times out cmd_vel commands.
111
116
  await publishTwist(0, angularZ);
112
117
 
@@ -139,6 +144,17 @@ export async function findObject(
139
144
  }
140
145
 
141
146
  const elapsedSeconds = (Date.now() - startedAt) / 1000;
147
+ if (opts.signal?.aborted && !result) {
148
+ return {
149
+ found: false,
150
+ target: opts.target,
151
+ classId,
152
+ elapsedSeconds,
153
+ rotationDirection: clockwise ? "clockwise" : "counterclockwise",
154
+ angularSpeed: requestedSpeed,
155
+ error: "Cancelled",
156
+ };
157
+ }
142
158
  return {
143
159
  found: !!result,
144
160
  target: opts.target,
package/runtime/packages/agenticros-gemini/src/tools.ts CHANGED
@@ -486,6 +486,7 @@ export async function executeTool(
486
486
  name: string,
487
487
  args: Record<string, unknown>,
488
488
  config: AgenticROSConfig,
489
+ opts?: { signal?: AbortSignal },
489
490
  ): Promise<ToolResult> {
490
491
  // Memory tools never need the ROS transport — dispatch them before
491
492
  // getTransport() (which throws when zenohd is down). Mirrors the gating in
@@ -706,7 +707,7 @@ export async function executeTool(
706
707
  const resolved = resolveRobotForTool(config, { robot_id: mission.robot_id });
707
708
  if ("error" in resolved) return resolved.error;
708
709
  }
709
- const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
710
+ const dispatcher: MissionToolDispatcher = async (toolName, toolArgs, ctx) => {
710
711
  if (isExternalToolName(toolName)) {
711
712
  const capId = capabilityIdFromExternalTool(toolName);
712
713
  const cap = caps.find((c) => c.id === capId);
@@ -720,10 +721,11 @@ export async function executeTool(
720
721
  const transport = await getTransportForRobot(config, resolved.robot);
721
722
  const ext = await executeExternalCapability(cap, toolArgs, transport, {
722
723
  namespace: resolved.robot.namespace,
724
+ signal: ctx?.signal,
723
725
  });
724
726
  return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
725
727
  }
726
- const sub = await executeTool(toolName, toolArgs, config);
728
+ const sub = await executeTool(toolName, toolArgs, config, { signal: ctx?.signal });
727
729
  return { text: sub.output };
728
730
  };
729
731
 
@@ -1192,6 +1194,7 @@ export async function executeTool(
1192
1194
  clockwise: args["clockwise"] as boolean | undefined,
1193
1195
  timeoutSeconds: args["timeout_seconds"] as number | undefined,
1194
1196
  minConfidence: args["min_confidence"] as number | undefined,
1197
+ signal: opts?.signal,
1195
1198
  });
1196
1199
  const summary = result.error
1197
1200
  ? result.error
package/runtime/packages/core/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@agenticros/core",
3
- "version": "0.7.0",
3
+ "version": "0.8.0",
4
4
  "type": "module",
5
5
  "description": "AgenticROS core — platform-agnostic ROS2 transport, types, and config (the dep every AgenticROS skill imports).",
6
6
  "keywords": [