npm - agenticros - Versions diffs - 0.4.1 → 0.5.0 - Mend

agenticros 0.4.1 → 0.5.0

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 (40) hide show

package/runtime/docs/cli.md CHANGED Viewed

@@ -214,8 +214,8 @@ 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. `chrismatthieu/followme`). |
+| `agenticros publish [--graduate]` | Validate, push to GitHub, submit to skills.agenticros.com; `npm publish` when name is `@agenticros-skills/*`. |
+| `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`. |
 | `agenticros skills search <q>` | Search the marketplace. |
 ## Troubleshooting

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

@@ -167,7 +167,7 @@ export function registerMissionTool(
         if ("error" in resolved) return resolved.error;
       }
-      const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
+      const dispatcher: MissionToolDispatcher = async (toolName, toolArgs, ctx) => {
         if (isExternalToolName(toolName)) {
           const capId = capabilityIdFromExternalTool(toolName);
           const cap = caps.find((c) => c.id === capId);
@@ -182,6 +182,7 @@ export function registerMissionTool(
           const transport = await getTransportForRobot(config, resolved.robot);
           const ext = await executeExternalCapability(cap, toolArgs, transport, {
             namespace: resolved.robot.namespace,
+            signal: ctx?.signal,
           });
           return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
         }
@@ -192,7 +193,7 @@ export function registerMissionTool(
             isError: true,
           };
         }
-        const res = await tool.execute(toolCallId, toolArgs, signal);
+        const res = await tool.execute(toolCallId, toolArgs, ctx?.signal ?? signal);
         const text = res.content
           .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
           .join("\n");

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts CHANGED Viewed

@@ -9,6 +9,8 @@ export interface FindObjectOptions {
     timeoutSeconds?: number;
     minConfidence?: number;
     clockwise?: boolean;
+    /** When aborted, stop rotating and return found:false. */
+    signal?: AbortSignal;
 }
 export interface FindObjectResult {
     found: boolean;

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js CHANGED Viewed

@@ -57,6 +57,9 @@ export async function findObject(robot, config, transport, opts) {
         rotating = true;
         const deadline = startedAt + timeoutMs;
         while (Date.now() < deadline && !result) {
+            if (opts.signal?.aborted) {
+                break;
+            }
             // Keep the rotation alive in case the robot times out cmd_vel commands.
             await publishTwist(0, angularZ);
             const frame = await snapshotOnce(transport, colorTopic).catch(() => null);
@@ -89,6 +92,17 @@ export async function findObject(robot, config, transport, opts) {
         await detector.dispose().catch(() => { });
     }
     const elapsedSeconds = (Date.now() - startedAt) / 1000;
+    if (opts.signal?.aborted && !result) {
+        return {
+            found: false,
+            target: opts.target,
+            classId,
+            elapsedSeconds,
+            rotationDirection: clockwise ? "clockwise" : "counterclockwise",
+            angularSpeed: requestedSpeed,
+            error: "Cancelled",
+        };
+    }
     return {
         found: !!result,
         target: opts.target,

package/runtime/packages/agenticros-claude-code/dist/find-object/find-object.js.map CHANGED Viewed

	@@ -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 Viewed

@@ -38,7 +38,9 @@ export type ToolContent = {
     data: string;
     mimeType: string;
 };
-export declare function handleToolCall(name: string, args: Record<string, unknown>, config: AgenticROSConfig): Promise<{
+export declare function handleToolCall(name: string, args: Record<string, unknown>, config: AgenticROSConfig, opts?: {
+    signal?: AbortSignal;
+}): Promise<{
     content: ToolContent[];
     isError?: boolean;
 }>;

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

	@@ -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 Viewed

@@ -687,7 +687,7 @@ async function handleRunMission(args, config) {
             return robotResolveError(err);
         }
     }
-    const dispatcher = async (toolName, toolArgs) => {
+    const dispatcher = async (toolName, toolArgs, ctx) => {
         if (isExternalToolName(toolName)) {
             const capId = capabilityIdFromExternalTool(toolName);
             const cap = caps.find((c) => c.id === capId);
@@ -710,10 +710,11 @@ async function handleRunMission(args, config) {
             const transport = await getTransportForRobot(config, robot);
             const ext = await executeExternalCapability(cap, toolArgs, transport, {
                 namespace: robot.namespace,
+                signal: ctx?.signal,
             });
             return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
         }
-        const res = await handleToolCall(toolName, toolArgs, config);
+        const res = await handleToolCall(toolName, toolArgs, config, { signal: ctx?.signal });
         const text = res.content
             .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
             .join("\n");
@@ -763,7 +764,7 @@ async function handleRunMission(args, config) {
         isError: result.status === "error",
     };
 }
-export async function handleToolCall(name, args, config) {
+export async function handleToolCall(name, args, config, opts) {
     // Memory tools are self-contained — they never touch the ROS transport, so
     // dispatch them before getTransport() (which throws when zenohd is down).
     if (MEMORY_TOOL_NAMES.has(name)) {
@@ -1341,6 +1342,7 @@ export async function handleToolCall(name, args, config) {
                 clockwise: args["clockwise"],
                 timeoutSeconds: args["timeout_seconds"],
                 minConfidence: args["min_confidence"],
+                signal: opts?.signal,
             });
             const summary = result.error
                 ? result.error
@@ -1352,7 +1354,7 @@ export async function handleToolCall(name, args, config) {
                     : `${target} not found within ${result.elapsedSeconds.toFixed(1)}s. Robot stopped.`;
             return {
                 content: [{ type: "text", text: summary + "\n" + JSON.stringify(result) }],
-                isError: !!result.error,
+                isError: !!result.error && result.error !== "Cancelled",
             };
         }
         default:

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

	@@ -1 +1 @@
1	- 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package/runtime/packages/agenticros-claude-code/src/find-object/find-object.ts CHANGED Viewed

@@ -25,6 +25,8 @@ export interface FindObjectOptions {
   timeoutSeconds?: number;
   minConfidence?: number;
   clockwise?: boolean;
+  /** When aborted, stop rotating and return found:false. */
+  signal?: AbortSignal;
 }
 export interface FindObjectResult {
@@ -107,6 +109,9 @@ export async function findObject(
     const deadline = startedAt + timeoutMs;
     while (Date.now() < deadline && !result) {
+      if (opts.signal?.aborted) {
+        break;
+      }
       // Keep the rotation alive in case the robot times out cmd_vel commands.
       await publishTwist(0, angularZ);
@@ -139,6 +144,17 @@ export async function findObject(
   }
   const elapsedSeconds = (Date.now() - startedAt) / 1000;
+  if (opts.signal?.aborted && !result) {
+    return {
+      found: false,
+      target: opts.target,
+      classId,
+      elapsedSeconds,
+      rotationDirection: clockwise ? "clockwise" : "counterclockwise",
+      angularSpeed: requestedSpeed,
+      error: "Cancelled",
+    };
+  }
   return {
     found: !!result,
     target: opts.target,

package/runtime/packages/agenticros-claude-code/src/tools.ts CHANGED Viewed

@@ -795,7 +795,7 @@ async function handleRunMission(
       return robotResolveError(err);
     }
   }
-  const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
+  const dispatcher: MissionToolDispatcher = async (toolName, toolArgs, ctx) => {
     if (isExternalToolName(toolName)) {
       const capId = capabilityIdFromExternalTool(toolName);
       const cap = caps.find((c) => c.id === capId);
@@ -817,10 +817,11 @@ async function handleRunMission(
       const transport = await getTransportForRobot(config, robot);
       const ext = await executeExternalCapability(cap, toolArgs, transport, {
         namespace: robot.namespace,
+        signal: ctx?.signal,
       });
       return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
     }
-    const res = await handleToolCall(toolName, toolArgs, config);
+    const res = await handleToolCall(toolName, toolArgs, config, { signal: ctx?.signal });
     const text = res.content
       .map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
       .join("\n");
@@ -877,6 +878,7 @@ export async function handleToolCall(
   name: string,
   args: Record<string, unknown>,
   config: AgenticROSConfig,
+  opts?: { signal?: AbortSignal },
 ): Promise<{ content: ToolContent[]; isError?: boolean }> {
   // Memory tools are self-contained — they never touch the ROS transport, so
   // dispatch them before getTransport() (which throws when zenohd is down).
@@ -1470,6 +1472,7 @@ export async function handleToolCall(
         clockwise: args["clockwise"] as boolean | undefined,
         timeoutSeconds: args["timeout_seconds"] as number | undefined,
         minConfidence: args["min_confidence"] as number | undefined,
+        signal: opts?.signal,
       });
       const summary = result.error
         ? result.error
@@ -1481,7 +1484,7 @@ export async function handleToolCall(
         : `${target} not found within ${result.elapsedSeconds.toFixed(1)}s. Robot stopped.`;
       return {
         content: [{ type: "text", text: summary + "\n" + JSON.stringify(result) }],
-        isError: !!result.error,
+        isError: !!result.error && result.error !== "Cancelled",
       };
     }

package/runtime/packages/agenticros-gemini/src/find-object/find-object.ts CHANGED Viewed

@@ -25,6 +25,8 @@ export interface FindObjectOptions {
   timeoutSeconds?: number;
   minConfidence?: number;
   clockwise?: boolean;
+  /** When aborted, stop rotating and return found:false. */
+  signal?: AbortSignal;
 }
 export interface FindObjectResult {
@@ -107,6 +109,9 @@ export async function findObject(
     const deadline = startedAt + timeoutMs;
     while (Date.now() < deadline && !result) {
+      if (opts.signal?.aborted) {
+        break;
+      }
       // Keep the rotation alive in case the robot times out cmd_vel commands.
       await publishTwist(0, angularZ);
@@ -139,6 +144,17 @@ export async function findObject(
   }
   const elapsedSeconds = (Date.now() - startedAt) / 1000;
+  if (opts.signal?.aborted && !result) {
+    return {
+      found: false,
+      target: opts.target,
+      classId,
+      elapsedSeconds,
+      rotationDirection: clockwise ? "clockwise" : "counterclockwise",
+      angularSpeed: requestedSpeed,
+      error: "Cancelled",
+    };
+  }
   return {
     found: !!result,
     target: opts.target,

package/runtime/packages/agenticros-gemini/src/tools.ts CHANGED Viewed

@@ -486,6 +486,7 @@ export async function executeTool(
   name: string,
   args: Record<string, unknown>,
   config: AgenticROSConfig,
+  opts?: { signal?: AbortSignal },
 ): Promise<ToolResult> {
   // Memory tools never need the ROS transport — dispatch them before
   // getTransport() (which throws when zenohd is down). Mirrors the gating in
@@ -706,7 +707,7 @@ export async function executeTool(
       const resolved = resolveRobotForTool(config, { robot_id: mission.robot_id });
       if ("error" in resolved) return resolved.error;
     }
-    const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
+    const dispatcher: MissionToolDispatcher = async (toolName, toolArgs, ctx) => {
       if (isExternalToolName(toolName)) {
         const capId = capabilityIdFromExternalTool(toolName);
         const cap = caps.find((c) => c.id === capId);
@@ -720,10 +721,11 @@ export async function executeTool(
         const transport = await getTransportForRobot(config, resolved.robot);
         const ext = await executeExternalCapability(cap, toolArgs, transport, {
           namespace: resolved.robot.namespace,
+          signal: ctx?.signal,
         });
         return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
       }
-      const sub = await executeTool(toolName, toolArgs, config);
+      const sub = await executeTool(toolName, toolArgs, config, { signal: ctx?.signal });
       return { text: sub.output };
     };
@@ -1192,6 +1194,7 @@ export async function executeTool(
           clockwise: args["clockwise"] as boolean | undefined,
           timeoutSeconds: args["timeout_seconds"] as number | undefined,
           minConfidence: args["min_confidence"] as number | undefined,
+          signal: opts?.signal,
         });
         const summary = result.error
           ? result.error

package/runtime/packages/core/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@agenticros/core",
-  "version": "0.7.0",
+  "version": "0.8.0",
   "type": "module",
   "description": "AgenticROS core — platform-agnostic ROS2 transport, types, and config (the dep every AgenticROS skill imports).",
   "keywords": [