agenticros 0.5.1 → 0.5.3

package/runtime/scripts/test-navigate-sim.mjs

@@ -0,0 +1,164 @@
+#!/usr/bin/env node
+/**
+ * Smoke-test Nav2 against sim-amr (--nav2).
+ *
+ * Prerequisites (already running):
+ *   agenticros up sim-amr --nav2 --headless
+ *   npx agenticros skills install @agenticros/navigate-to
+ *
+ * Sequence:
+ *   1. list topics / capabilities (sanity)
+ *   2. run_mission navigate_to → {x: 2.0, y: 1.0} (clear of person at 2.5,0)
+ *   3. report success / failure
+ *
+ * Usage (from repo root, after building MCP server):
+ *   node scripts/test-navigate-sim.mjs
+ */
+
+import { spawn } from "node:child_process";
+import { fileURLToPath } from "node:url";
+import { dirname, join, resolve } from "node:path";
+
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const repoRoot = resolve(__dirname, "..");
+const serverDist = join(repoRoot, "packages/agenticros-claude-code/dist/index.js");
+
+const GOAL = { x: 2.0, y: 1.0, yaw: 0.0 };
+const MISSION_TIMEOUT_MS = 120_000;
+
+const child = spawn(process.execPath, [serverDist], {
+  stdio: ["pipe", "pipe", "pipe"],
+  env: {
+    ...process.env,
+    // Sim publishes at graph root; empty namespace.
+    AGENTICROS_ROBOT_NAMESPACE: process.env.AGENTICROS_ROBOT_NAMESPACE ?? "",
+    AGENTICROS_USE_SIM_TIME: process.env.AGENTICROS_USE_SIM_TIME ?? "1",
+  },
+});
+
+child.stderr.on("data", (d) => {
+  process.stderr.write(`[mcp-stderr] ${d}`);
+});
+
+let nextId = 1;
+const pending = new Map();
+let buf = "";
+
+child.stdout.on("data", (chunk) => {
+  buf += chunk.toString();
+  let nl;
+  while ((nl = buf.indexOf("\n")) !== -1) {
+    const line = buf.slice(0, nl).trim();
+    buf = buf.slice(nl + 1);
+    if (!line) continue;
+    let msg;
+    try {
+      msg = JSON.parse(line);
+    } catch {
+      continue;
+    }
+    if (msg.id !== undefined && pending.has(msg.id)) {
+      const { resolve: res, reject } = pending.get(msg.id);
+      pending.delete(msg.id);
+      if (msg.error) reject(new Error(msg.error.message));
+      else res(msg.result);
+    }
+  }
+});
+
+function rpc(method, params = {}, timeoutMs = 30000) {
+  const id = nextId++;
+  return new Promise((resolveOuter, reject) => {
+    const t = setTimeout(() => {
+      pending.delete(id);
+      reject(new Error(`Timeout: ${method}`));
+    }, timeoutMs);
+    pending.set(id, {
+      resolve: (v) => {
+        clearTimeout(t);
+        resolveOuter(v);
+      },
+      reject: (e) => {
+        clearTimeout(t);
+        reject(e);
+      },
+    });
+    child.stdin.write(JSON.stringify({ jsonrpc: "2.0", id, method, params }) + "\n");
+  });
+}
+
+function pickText(result) {
+  return result?.content?.map((c) => c.text ?? "").join("\n") ?? "";
+}
+
+async function main() {
+  console.log("=== navigate_to (sim-amr + Nav2) smoke ===");
+  console.log(`Goal: (${GOAL.x}, ${GOAL.y}, yaw=${GOAL.yaw})`);
+
+  await rpc("initialize", {
+    protocolVersion: "2024-11-05",
+    capabilities: { tools: {} },
+    clientInfo: { name: "nav-e2e", version: "0.0.1" },
+  });
+  await rpc("notifications/initialized", {}).catch(() => {});
+
+  console.log("\n-- ros2_list_topics (expect /odom, /scan, /cmd_vel) --");
+  const topics = await rpc("tools/call", { name: "ros2_list_topics", arguments: {} });
+  const topicText = pickText(topics);
+  console.log(topicText.slice(0, 800));
+  for (const t of ["/odom", "/scan", "/cmd_vel"]) {
+    if (!topicText.includes(t)) {
+      console.warn(`WARN: expected topic ${t} not listed — is sim-amr --nav2 running?`);
+    }
+  }
+
+  console.log("\n-- ros2_list_capabilities (expect navigate_to) --");
+  const caps = await rpc("tools/call", {
+    name: "ros2_list_capabilities",
+    arguments: {},
+  }).catch((e) => ({ content: [{ text: String(e) }] }));
+  const capText = pickText(caps);
+  console.log(capText.slice(0, 800));
+  if (!capText.includes("navigate_to")) {
+    console.warn(
+      "WARN: navigate_to not in capabilities — install @agenticros/navigate-to and restart MCP.",
+    );
+  }
+
+  console.log("\n-- run_mission navigate_to --");
+  const mission = await rpc(
+    "tools/call",
+    {
+      name: "run_mission",
+      arguments: {
+        steps: [
+          {
+            capability: "navigate_to",
+            inputs: GOAL,
+          },
+        ],
+      },
+    },
+    MISSION_TIMEOUT_MS,
+  );
+  const missionText = pickText(mission);
+  console.log(missionText);
+
+  const ok =
+    /succeed|completed|status["']?\s*[:=]\s*["']?succeeded/i.test(missionText) &&
+    !/fail|error|abort/i.test(missionText.split("\n").slice(-5).join("\n"));
+
+  child.kill("SIGTERM");
+  if (ok) {
+    console.log("\n=== PASS ===");
+    process.exit(0);
+  }
+  console.error("\n=== FAIL (inspect mission output above) ===");
+  process.exit(1);
+}
+
+main().catch((e) => {
+  console.error("Failed:", e);
+  child.kill("SIGKILL");
+  process.exit(1);
+});