agenticros 0.5.1 → 0.5.2

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.5.1",
+  "version": "0.5.2",
   "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": [
@@ -46,7 +46,7 @@
     "prepublishOnly": "pnpm run clean && pnpm run build && pnpm run pack:runtime && pnpm run size:check && pnpm run tarball:check"
   },
   "dependencies": {
-    "@agenticros/core": "^0.8.0",
+    "@agenticros/core": "^0.8.1",
     "@inquirer/prompts": "^7.0.0",
     "commander": "^12.1.0",
     "execa": "^9.5.0",

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-07-09T23:03:54.619Z",
+  "packedAt": "2026-07-09T23:38:28.747Z",
   "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

@@ -484,79 +484,49 @@ Add `{ "memory": { "enabled": true, "backend": "mem0" } }` to `~/.agenticros/con
 
 ## Skills
 
-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.
+AgenticROS **skills** are optional packages that add tools and behaviors (e.g. `follow_person`, `find_object`, `navigate_to`). They load at OpenClaw gateway start from **`skillPackages`**, **`skillPaths`**, and **`skillRefs`** (marketplace / npm pins cached under `~/.agenticros/skills-cache/`). 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)
+# Search + install (prefers npm @agenticros/* when advertised; else git clone)
 npx agenticros skills search follow
+npx agenticros skills install @agenticros/followme
 npx agenticros skills install chrismatthieu/followme
 
-agenticros skills                       # list registered + cloned-but-unregistered
+# Skip automatic OpenClaw gateway restart:
+npx agenticros skills install @agenticros/navigate-to --no-restart
+
+agenticros skills                       # list registered skills
 agenticros skills discover              # interactive picker over candidates on disk
 agenticros skills add <path-or-name>    # register a clone (path) or npm package
 agenticros skills remove <id-or-name>   # unregister
-agenticros skills sync                  # refresh OpenClaw contracts.tools allowlist
+agenticros skills sync                  # refresh contracts.tools (+ auto-restart)
 ```
 
-**Create and publish** a new skill:
+**Create and publish** a new skill (npm name `@agenticros/<slug>`):
 
 ```bash
 npx agenticros create-skill my-skill --template robot
 cd agenticros-skill-my-skill && npm install && npm run dev
-npx agenticros publish
+npx agenticros publish   # GitHub + marketplace + npm publish
 ```
 
-A typical manual install (without the marketplace) looks like:
-
-```bash
-# clone whichever skills you want, anywhere near the repo
-cd ~/Projects
-git clone https://github.com/agenticros/agenticros-skill-followme
-git clone https://github.com/agenticros/agenticros-skill-find
-
-# build them (skills compile independently of the main workspace)
-cd agenticros-skill-followme && pnpm install && pnpm build && cd ..
-cd agenticros-skill-find     && pnpm install && pnpm build && cd ..
-
-# register both — short ids resolve against the discovered clones
-agenticros skills add followme
-agenticros skills add find
-agenticros skills sync                  # update contracts.tools
-systemctl --user restart openclaw-gateway.service
-```
-
-`agenticros skills` then shows them as registered, and `agenticros doctor` includes a skills health-check that flags any clone that hasn't been built or whose `skillPaths` entry no longer exists.
-
-Listing output:
-
-```text
-╔─────────────────────╗
-║  AgenticROS skills  ║
-╚─────────────────────╝
-
-› OpenClaw config: /home/you/.openclaw/openclaw.json
-
-Registered:
-  ● followme  agenticros-skill-followme
-      via path  →  /home/you/Projects/agenticros-skill-followme
-  ● find      agenticros-skill-find
-      via path  →  /home/you/Projects/agenticros-skill-find
-```
+Seed catalog (npm): `@agenticros/followme`, `find`, `navigate-to`, `navigate-through-poses`, `detect-humans`, `start-slam`, `follow-me-ros`, `moveit-pick`, `dock-to-charger`.
 
 ### What the CLI writes
 
-- `~/.openclaw/openclaw.json` → `plugins.entries.agenticros.config.skillPaths[]` and `.skillPackages[]` (the only place the plugin actually reads from at gateway start).
-- `packages/agenticros/openclaw.plugin.json` → `contracts.tools` allowlist via `scripts/sync-skill-tools.mjs`. Required on OpenClaw **2026+**, which silently drops any tool a plugin registers but hasn't declared.
+- `~/.openclaw/openclaw.json` → `plugins.entries.agenticros.config.skillPaths[]`, `.skillPackages[]`, and `.skillRefs[]`
+- `~/.agenticros/config.json` → `skillRefs` for MCP / Gemini
+- Plugin `contracts.tools` via `scripts/sync-skill-tools.mjs` (OpenClaw 2026+)
 
-Per-skill behaviour lives under `config.skills.<skillId>` (e.g. `config.skills.followme.depthTopic`). The CLI doesn't auto-write these — use `agenticros config set skills.find.confidence=0.5` or edit `~/.openclaw/openclaw.json` directly. See each skill's README for its options.
+Per-skill behaviour lives under `config.skills.<skillId>`. See each skill's README.
 
 ### 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`. 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.
+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 with `npx agenticros publish`, install with `npx agenticros skills install @agenticros/<slug>`. See **[docs/skills.md](docs/skills.md)** and **[@agenticros/followme](https://www.npmjs.com/package/@agenticros/followme)** ([marketplace](https://skills.agenticros.com/chrismatthieu/followme)).
+
+Missions support step **`retry`**, **pause/resume**, and **mid-step cancel** for interruptible capabilities — see **[docs/missions.md](docs/missions.md)**.
 
 ## Strategy & vision
 

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

@@ -347,4 +347,4 @@ 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 <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.
+Skill packages (e.g. `@agenticros/followme`, `@agenticros/find`, `@agenticros/navigate-to`) extend the capability registry with new verbs like `follow_person`, `find_object`, and `navigate_to`. 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 @agenticros/<slug>` (or `chrismatthieu/<skill-id>` 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.

package/runtime/packages/core/README.md

@@ -39,7 +39,9 @@ Your `package.json` declares an `agenticros` block:
 
 ```jsonc
 {
-  "name": "agenticros-skill-myskill",
+  "name": "@agenticros/myskill",
+  "version": "0.1.0",
+  "publishConfig": { "access": "public" },
   "main": "dist/index.js",
   "repository": {
     "type": "git",
@@ -61,7 +63,7 @@ Your `package.json` declares an `agenticros` block:
     ]
   },
   "dependencies": {
-    "@agenticros/core": "^0.6.0"
+    "@agenticros/core": "^0.8.1"
   }
 }
 ```

package/runtime/packages/core/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@agenticros/core",
-  "version": "0.8.0",
+  "version": "0.8.1",
   "type": "module",
   "description": "AgenticROS core — platform-agnostic ROS2 transport, types, and config (the dep every AgenticROS skill imports).",
   "keywords": [

package/runtime/packages/core/src/__tests__/external-capability.test.ts

@@ -26,6 +26,27 @@ test("buildExternalGoal maps x/y/yaw to NavigateToPose", () => {
   assert.equal(pose.pose.position.y, 2);
 });
 
+test("buildExternalGoal maps poses[] to NavigateThroughPoses", () => {
+  const goal = buildExternalGoal(
+    {
+      kind: "external_ros_node",
+      action: "navigate_through_poses",
+      msg_type: "nav2_msgs/action/NavigateThroughPoses",
+    },
+    {
+      poses: [
+        { x: 1, y: 0, yaw: 0 },
+        { x: 2, y: 1, yaw: Math.PI / 2 },
+      ],
+    },
+  );
+  const poses = (goal as { poses: Array<{ pose: { position: { x: number; y: number } } }> })
+    .poses;
+  assert.equal(poses.length, 2);
+  assert.equal(poses[0]!.pose.position.x, 1);
+  assert.equal(poses[1]!.pose.position.y, 1);
+});
+
 test("executeExternalCapability sends action goal", async () => {
   const calls: unknown[] = [];
   const transport = {

package/runtime/packages/core/src/external-capability.ts

@@ -80,6 +80,41 @@ export function buildExternalGoal(
     };
   }
 
+  if (
+    msgType.includes("navigatethroughposes") ||
+    impl.action?.includes("navigate_through_poses")
+  ) {
+    const frame = typeof inputs.frame_id === "string" ? inputs.frame_id : "map";
+    const rawPoses = Array.isArray(inputs.poses) ? inputs.poses : [];
+    const poses = rawPoses.map((p) => {
+      const entry = p && typeof p === "object" ? (p as Record<string, unknown>) : {};
+      const x = Number(entry.x ?? 0) || 0;
+      const y = Number(entry.y ?? 0) || 0;
+      const yaw = Number(entry.yaw ?? 0) || 0;
+      const qz = Math.sin(yaw / 2);
+      const qw = Math.cos(yaw / 2);
+      const poseFrame =
+        typeof entry.frame_id === "string" ? entry.frame_id : frame;
+      return {
+        header: { frame_id: poseFrame },
+        pose: {
+          position: { x, y, z: Number(entry.z ?? 0) || 0 },
+          orientation: { x: 0, y: 0, z: qz, w: qw },
+        },
+      };
+    });
+    return { poses };
+  }
+
+  if (
+    msgType.includes("dockrobot") ||
+    impl.action?.includes("dock_robot")
+  ) {
+    if (typeof inputs.dock_id === "string" && inputs.dock_id.trim()) {
+      return { dock_id: inputs.dock_id.trim() };
+    }
+  }
+
   // Passthrough remaining inputs (minus robot_id).
   const { robot_id: _rid, ...rest } = inputs;
   return rest;

package/runtime/pnpm-lock.yaml

@@ -66,8 +66,8 @@ importers:
   packages/agenticros-cli:
     dependencies:
       '@agenticros/core':
-        specifier: ^0.8.0
-        version: 0.8.0
+        specifier: ^0.8.1
+        version: 0.8.1
       '@inquirer/prompts':
         specifier: ^7.0.0
         version: 7.10.1(@types/node@20.19.35)
@@ -178,8 +178,8 @@ importers:
 
 packages:
 
-  '@agenticros/core@0.8.0':
-    resolution: {integrity: sha512-E6WJBHhd0QE2YTGBrKe84q+SAGjgLMCp785BRh8UJDS4WUKqL80B04TMjZ1JLjtphCl/uk9XNZPjIjzBixz0kg==}
+  '@agenticros/core@0.8.1':
+    resolution: {integrity: sha512-zFpzuViviZb6y3c+W0B1LzCpQvmhcvPYwrT9ZKL9u3eTLGNmKR2I5IhDlvF03Yv2/TwQzDHGGNZ6+onerPlG0Q==}
     engines: {node: '>=20'}
 
   '@eclipse-zenoh/zenoh-ts@1.9.0':
@@ -1981,7 +1981,7 @@ packages:
 
 snapshots:
 
-  '@agenticros/core@0.8.0':
+  '@agenticros/core@0.8.1':
     dependencies:
       '@eclipse-zenoh/zenoh-ts': 1.9.0(patch_hash=pdjq6ms3zvqwikn6vpqzasydsy)
       '@foxglove/cdr': 3.5.0