agenticros 0.5.1 → 0.5.3

package/README.md

@@ -14,6 +14,7 @@ agenticros              # interactive menu
 agenticros mcp setup    # register AgenticROS MCP for Codex, Hermes, and Claude
 agenticros up real      # bring up the real-robot stack
 agenticros up sim-amr   # bring up a simulated 2-wheel AMR
+agenticros up sim-amr --nav2   # AMR + Nav2 (map + AMCL + navigation)
 agenticros up sim-arm   # bring up a simulated 6-DOF arm
 agenticros doctor       # health check
 agenticros down         # stop everything we started
@@ -66,6 +67,7 @@ Three ways, listed easiest first:
 | `agenticros init` | First-time setup wizard. Idempotent. |
 | `agenticros up real` | Bring up the real-robot stack (RealSense + motors + MCP). |
 | `agenticros up sim-amr` | Bring up the simulated 2-wheel AMR. |
+| `agenticros up sim-amr --nav2` | Same + indoor map, AMCL, and Nav2 (`navigate_to_pose`). |
 | `agenticros up sim-arm` | Bring up the simulated 6-DOF arm (UR5e-shaped, per-joint position control). |
 | `agenticros down` | Stop everything we started. |
 | `agenticros doctor` | Coloured health-check table; `--json` for CI. |

package/dist/commands/up.d.ts

@@ -13,6 +13,7 @@ export interface UpOptions {
     namespace?: string;
     rviz?: boolean;
     headless?: boolean;
+    nav2?: boolean;
     camera?: boolean;
     motors?: boolean;
 }

package/dist/commands/up.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"up.d.ts","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAYH,MAAM,WAAW,SAAS;IACxB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAID,wBAAsB,SAAS,CAAC,IAAI,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC,CAkC9D"}
+{"version":3,"file":"up.d.ts","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAYH,MAAM,WAAW,SAAS;IACxB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAID,wBAAsB,SAAS,CAAC,IAAI,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC,CAmC9D"}

package/dist/commands/up.js

@@ -36,6 +36,7 @@ export async function upCommand(opts) {
                 namespace: opts.namespace,
                 useRviz: opts.rviz === true,
                 headless: resolveHeadless(opts.headless),
+                nav2: opts.nav2 === true,
             });
             break;
         case "sim-arm":
@@ -134,8 +135,8 @@ async function resolveTarget(raw) {
         message: "What do you want to bring up?",
         choices: [
             { name: "Real robot (RealSense + MCP; motors if robotics CLI present)", value: "real" },
-            { name: "Sim AMR (Gazebo + 2-wheel diff-drive)", value: "sim-amr" },
-            { name: "Sim Arm (Gazebo + UR5e + MoveIt2)", value: "sim-arm" },
+            { name: "Sim AMR (Gazebo + 2-wheel diff-drive; add --nav2 for Nav2)", value: "sim-amr" },
+            { name: "Sim Arm (Gazebo + UR5e; MoveIt2 WIP)", value: "sim-arm" },
         ],
         default: "real",
     });

package/dist/commands/up.js.map

@@ -1 +1 @@
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package/dist/index.js

@@ -61,6 +61,7 @@ program
     .option("--rviz", "Open RViz alongside the sim (sim targets only)", false)
     .option("--headless", "Run gz-sim with no GUI (auto-enabled on Jetson or when $DISPLAY is unset)")
     .option("--no-headless", "Force gz-sim GUI on (override Jetson auto-headless)")
+    .option("--nav2", "sim-amr only: also launch Nav2 (map + AMCL + navigation)", false)
     .option("--no-camera", "Skip starting the RealSense camera (real target only)")
     .option("--no-motors", "Skip starting the motor controller (real target only)")
     .action(async (target, opts) => {

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/runners/sim.d.ts

@@ -13,6 +13,8 @@ export interface SimRunOptions {
     useRviz?: boolean;
     /** True = headless gz (-s --headless-rendering). Auto-detected from $DISPLAY upstream. */
     headless?: boolean;
+    /** AMR only: launch Nav2 (map + AMCL + navigation) via sim_amr_nav2.launch.py. */
+    nav2?: boolean;
 }
 export declare function runSimAmr(opts: SimRunOptions): Promise<void>;
 export declare function runSimArm(opts: SimRunOptions): Promise<void>;

package/dist/runners/sim.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"sim.d.ts","sourceRoot":"","sources":["../../src/runners/sim.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAWH,MAAM,WAAW,aAAa;IAC5B,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,OAAO,CAAC,EAAE,OAAO,CAAC;IAClB,0FAA0F;IAC1F,QAAQ,CAAC,EAAE,OAAO,CAAC;CACpB;AAoCD,wBAAsB,SAAS,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,CAElE;AAED,wBAAsB,SAAS,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,CAElE"}
+{"version":3,"file":"sim.d.ts","sourceRoot":"","sources":["../../src/runners/sim.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAWH,MAAM,WAAW,aAAa;IAC5B,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,OAAO,CAAC,EAAE,OAAO,CAAC;IAClB,0FAA0F;IAC1F,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,kFAAkF;IAClF,IAAI,CAAC,EAAE,OAAO,CAAC;CAChB;AA2CD,wBAAsB,SAAS,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,CAElE;AAED,wBAAsB,SAAS,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,CAElE"}

package/dist/runners/sim.js

@@ -32,6 +32,13 @@ async function runSim(robot, opts) {
         args.push("--rviz");
     if (opts.headless)
         args.push("--no-gui");
+    if (opts.nav2) {
+        if (robot !== "amr") {
+            err("--nav2 is only supported with sim-amr.");
+            process.exit(2);
+        }
+        args.push("--nav2");
+    }
     info(`Invoking ${script} ${args.join(" ")}…`);
     try {
         await execa("bash", [script, ...args], {

package/dist/runners/sim.js.map

@@ -1 +1 @@
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+{"version":3,"file":"sim.js","sourceRoot":"","sources":["../../src/runners/sim.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AACrC,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EAAE,KAAK,EAAE,MAAM,OAAO,CAAC;AAE9B,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAC/C,OAAO,EAAE,GAAG,EAAE,MAAM,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAC5D,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAW9C,KAAK,UAAU,MAAM,CAAC,KAAoB,EAAE,IAAmB;IAC7D,MAAM,CAAC,oBAAoB,KAAK,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IAElD,MAAM,KAAK,GAAG,WAAW,EAAE,CAAC;IAC5B,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,UAAU,EAAE,KAAK,EAAE,YAAY,CAAC,CAAC;IAC3D,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QACxB,IAAI,CACF,uCAAuC,MAAM,KAAK;YAChD,6EAA6E;YAC7E,4EAA4E;YAC5E,8CAA8C,CACjD,CAAC;QACF,OAAO;IACT,CAAC;IAED,MAAM,EAAE,GAAG,IAAI,CAAC,SAAS,IAAI,WAAW,CAAC;IACzC,UAAU,CAAC,EAAE,aAAa,EAAE,EAAE,EAAE,CAAC,CAAC;IAElC,MAAM,IAAI,GAAG,CAAC,SAAS,EAAE,KAAK,EAAE,aAAa,EAAE,EAAE,CAAC,CAAC;IACnD,IAAI,IAAI,CAAC,OAAO;QAAE,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;IACtC,IAAI,IAAI,CAAC,QAAQ;QAAE,IAAI,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;IACzC,IAAI,IAAI,CAAC,IAAI,EAAE,CAAC;QACd,IAAI,KAAK,KAAK,KAAK,EAAE,CAAC;YACpB,GAAG,CAAC,wCAAwC,CAAC,CAAC;YAC9C,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAClB,CAAC;QACD,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;IACtB,CAAC;IAED,IAAI,CAAC,YAAY,MAAM,IAAI,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;IAC9C,IAAI,CAAC;QACH,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,MAAM,EAAE,GAAG,IAAI,CAAC,EAAE;YACrC,GAAG,EAAE,EAAE,GAAG,OAAO,CAAC,GAAG,EAAE,0BAA0B,EAAE,EAAE,EAAE;YACvD,KAAK,EAAE,SAAS;SACjB,CAAC,CAAC;IACL,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,GAAG,CAAC,sBAAsB,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;QACxE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;AACH,CAAC;AAED,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAmB;IACjD,OAAO,MAAM,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;AAC7B,CAAC;AAED,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAmB;IACjD,OAAO,MAAM,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;AAC7B,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.5.1",
+  "version": "0.5.3",
   "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": [
@@ -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": "2026-07-10T16:45:19.191Z",
   "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

@@ -195,6 +195,8 @@ 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-amr --nav2    # AMR + Nav2 for navigate_to missions
+agenticros up sim-arm           # simulated 6-DOF arm (per-joint; MoveIt WIP)
 agenticros up sim-arm           # simulated 6-DOF arm
 agenticros mode <real|sim>      # swap the active config profile (namespace, transport)
 agenticros robots               # list / add / remove robots in the fleet (kind, sensors, capabilities)
@@ -484,79 +486,49 @@ 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/docs/cli.md

@@ -38,13 +38,15 @@ Bring up a robot stack. Targets:
 | Target    | What it does |
 |-----------|-----|
 | `real`    | Runs `scripts/start_demo.sh`: RealSense camera (unless `--no-camera`), MCP build, and motor controller only when the `robotics` CLI is installed (or unless `--no-motors`). |
-| `sim-amr` | Launches the simulated 2-wheel AMR (Phase 2 - WIP). |
-| `sim-arm` | Launches the simulated UR5e arm + MoveIt2 (Phase 3 - WIP). |
+| `sim-amr` | Launches the simulated 2-wheel AMR (`scripts/sim/run_sim.sh`). Add `--nav2` for map + AMCL + Nav2. |
+| `sim-arm` | Launches the simulated UR5e-shaped arm (per-joint position control; MoveIt2 WIP). |
 
 Flags:
 - `--ros-distro humble|jazzy|…` override ROS distro detection
 - `--namespace <ns>` override the robot namespace
 - `--rviz` open RViz alongside the sim
+- `--headless` / `--no-headless` control gz GUI (auto-headless on Jetson / no `$DISPLAY`)
+- `--nav2` sim-amr only: also launch Nav2 (`sim_amr_nav2.launch.py`)
 - `--no-camera` skip starting the RealSense camera (real target)
 - `--no-motors` skip starting the motor controller (real target)
 

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

package/runtime/ros2_ws/src/agenticros_sim/CMakeLists.txt

@@ -13,6 +13,7 @@ install(DIRECTORY
   models
   config
   urdf
+  maps
   DESTINATION share/${PROJECT_NAME}/
 )
 

package/runtime/ros2_ws/src/agenticros_sim/README.md

@@ -11,20 +11,23 @@ names the real-robot plugin already expects.
 agenticros_sim/
 ├── worlds/agenticros_indoor.sdf       12 x 12 m indoor room with obstacles
 │                                      and one "person" target for follow-me
+├── maps/agenticros_indoor.{yaml,pgm}  Occupancy grid for Nav2 / AMCL
 ├── models/
 │   ├── agenticros_amr/                 2-wheel diff-drive AMR with sensors
 │   └── agenticros_arm/                 6-DOF UR5e-shaped robotic arm
 ├── urdf/
-│   ├── agenticros_amr.urdf.xacro       URDF mirror for RViz (AMR)
+│   ├── agenticros_amr.urdf.xacro       URDF mirror for RViz (AMR; base_footprint)
 │   └── agenticros_arm.urdf.xacro       URDF mirror for RViz (arm)
 ├── config/
 │   ├── amr_bridge.yaml                 gz <-> ROS topic mapping (AMR)
+│   ├── nav2_params.yaml                Nav2 / AMCL params for the AMR
 │   ├── amr_view.rviz                   RViz config: camera, scan, TF
 │   ├── arm_bridge.yaml                 gz <-> ROS topic mapping (arm)
 │   └── arm_view.rviz                   RViz config: RobotModel + TF
 ├── launch/
-│   ├── sim_amr.launch.py               One-stop launcher (AMR)
-│   └── sim_arm.launch.py               One-stop launcher (arm)
+│   ├── sim_amr.launch.py               Gazebo AMR + bridge
+│   ├── sim_amr_nav2.launch.py          Gazebo AMR + Nav2 (map + AMCL)
+│   └── sim_arm.launch.py               Gazebo arm
 ├── env-hooks/                          Add the package's share/ to GZ_SIM_RESOURCE_PATH
 └── CMakeLists.txt + package.xml        Standard ament_cmake skeleton
 ```
@@ -35,6 +38,8 @@ agenticros_sim/
 # Easiest: use the agenticros CLI (handles ROS sourcing + workspace build).
 agenticros up sim-amr            # AMR: GUI
 agenticros up sim-amr --rviz     # AMR: GUI + RViz panel
+agenticros up sim-amr --nav2     # AMR + Nav2 (map + AMCL + navigation)
+agenticros up sim-amr --nav2 --headless
 agenticros up sim-arm            # Arm: GUI
 agenticros up sim-arm --rviz     # Arm: GUI + RViz (RobotModel + TF)
 
@@ -42,12 +47,15 @@ agenticros up sim-arm --rviz     # Arm: GUI + RViz (RobotModel + TF)
 cd ros2_ws && colcon build --symlink-install --packages-select agenticros_sim
 source install/setup.bash
 ros2 launch agenticros_sim sim_amr.launch.py
+ros2 launch agenticros_sim sim_amr_nav2.launch.py gui:=false
 ros2 launch agenticros_sim sim_amr.launch.py use_rviz:=true
 ros2 launch agenticros_sim sim_amr.launch.py gui:=false      # headless
 ros2 launch agenticros_sim sim_arm.launch.py
 ros2 launch agenticros_sim sim_arm.launch.py use_rviz:=true
 ```
 
+Nav2 requires `ros-$ROS_DISTRO-nav2-bringup`. After `--nav2`, install
+`@agenticros/navigate-to` and call `run_mission` with `navigate_to`.
 ## Arm topic layout
 
 The arm exposes one position-command topic per joint plus the usual
@@ -133,13 +141,8 @@ works against sim without configuration changes.
 
 These are non-fatal but worth knowing as you build sim demos:
 
-1. **`/odom` does not flow through the bridge.** The gz-sim diff-drive plugin
-   publishes `gz.msgs.Odometry` to `/odometry`, but `ros_gz_bridge` on Humble
-   appears to expect `gz.msgs.OdometryWithCovariance` for the
-   `nav_msgs/msg/Odometry` mapping. The other transforms (`/tf`, `/tf_static`)
-   work and are usually enough for navigation demos. Fix candidates:
-   add an `<odom_publisher_topic>` for `_with_covariance` in the diff-drive
-   config, or write a tiny relay node. Tracked for Phase 4 polish.
+1. **`/odom` flows through the bridge** via `gz.msgs.OdometryWithCovariance`
+   from the OdometryPublisher system (DiffDrive still owns `/tf`).
 2. **`/camera/camera/color/image_raw` is silent in headless mode** on this
    Jetson (`libEGL: failed to create dri2 screen`). Depth, lidar, IMU, and
    joint_states all stream correctly regardless. With `gui:=true` (a real

package/runtime/ros2_ws/src/agenticros_sim/config/agenticros-sim.config.json

@@ -1,5 +1,5 @@
 {
-  "$comment": "AgenticROS config template tuned for sim-amr. Drop this in ~/.agenticros/config.json (or run `agenticros init` and answer 'simulation') to point the MCP server + OpenClaw plugin at the sim's topics. All values match agenticros_sim/config/amr_bridge.yaml. NOTE: robot.namespace is intentionally empty - the sim bridge publishes /cmd_vel, /scan, /imu/data, etc. at the graph root (no robot prefix), so AgenticROS must NOT namespace topics. For multi-robot sim, prefix the topics in amr_bridge.yaml and set namespace here to match.",
+  "$comment": "AgenticROS config template tuned for sim-amr. Drop this in ~/.agenticros/config.json (or run `agenticros init` and answer 'simulation') to point the MCP server + OpenClaw plugin at the sim's topics. All values match agenticros_sim/config/amr_bridge.yaml. NOTE: robot.namespace is intentionally empty - the sim bridge publishes /cmd_vel, /scan, /imu/data, etc. at the graph root (no robot prefix), so AgenticROS must NOT namespace topics. For multi-robot sim, prefix the topics in amr_bridge.yaml and set namespace here to match. For Nav2 demos: `agenticros up sim-amr --nav2` then install @agenticros/navigate-to (or pin skillRefs below).",
   "transport": {
     "mode": "local"
   },
@@ -24,5 +24,6 @@
     "followme": {
       "depthTopic": "/camera/camera/depth/image_rect_raw"
     }
-  }
+  },
+  "skillRefs": []
 }

package/runtime/ros2_ws/src/agenticros_sim/config/amr_bridge.yaml

@@ -23,12 +23,14 @@
   direction: ROS_TO_GZ
 
 # ---------------- odometry (GZ -> ROS) ----------------
-# Note: the gz-sim diff-drive system publishes <odom_topic> as a bare topic
-# (no /model/<name>/ prefix), unlike <topic> which DOES get prefixed.
+# Prefer OdometryWithCovariance from the OdometryPublisher system (see
+# model.sdf). Humble ros_gz_bridge historically failed to convert bare
+# gz.msgs.Odometry from DiffDrive; covariance messages map cleanly to
+# nav_msgs/Odometry. DiffDrive still publishes /odometry + /tf for TF.
 - ros_topic_name: "/odom"
-  gz_topic_name: "/odometry"
+  gz_topic_name: "/odometry_with_covariance"
   ros_type_name: "nav_msgs/msg/Odometry"
-  gz_type_name: "gz.msgs.Odometry"
+  gz_type_name: "gz.msgs.OdometryWithCovariance"
   direction: GZ_TO_ROS
 
 # ---------------- /tf  (GZ -> ROS) ----------------