agenticros 0.5.2 → 0.5.4

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 @@
-{"version":3,"file":"up.js","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AAErC,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAE3C,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AACxD,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACxD,OAAO,EAAE,mBAAmB,EAAE,cAAc,EAAE,UAAU,EAAa,MAAM,qBAAqB,CAAC;AACjG,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAc9C,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAe;IAC7C,MAAM,MAAM,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChD,UAAU,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,IAAI,IAAI,EAAE,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IAErE,sEAAsE;IACtE,qEAAqE;IACrE,wEAAwE;IACxE,kCAAkC;IAClC,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAC1B,6BAA6B,CAAC,MAAM,CAAC,CAAC;IAEtC,QAAQ,MAAM,EAAE,CAAC;QACf,KAAK,MAAM;YACT,MAAM,YAAY,CAAC;gBACjB,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;gBAC7B,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;aAC9B,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;IACV,CAAC;AACH,CAAC;AAED;;;;;;;;;;;GAWG;AACH,SAAS,eAAe,CAAC,IAAyB;IAChD,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,IAAI,CAAC;IACpC,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,SAAS,CAAC;QAAE,OAAO,IAAI,CAAC;IACzC,IAAI,QAAQ,EAAE,EAAE,CAAC;QACf,IAAI,CACF,yEAAyE;YACvE,yEAAyE;YACzE,qEAAqE,CACxE,CAAC;QACF,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,6DAA6D;AAC7D,SAAS,QAAQ;IACf,OAAO,UAAU,CAAC,uBAAuB,CAAC,CAAC;AAC7C,CAAC;AAED;;;;GAIG;AACH,SAAS,iBAAiB,CAAC,MAAgB;IACzC,mBAAmB,EAAE,CAAC;IACtB,MAAM,OAAO,GAAS,MAAM,KAAK,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC;IACzD,MAAM,OAAO,GAAG,cAAc,EAAE,CAAC;IACjC,UAAU,CAAC,OAAO,CAAC,CAAC;IACpB,IAAI,OAAO,KAAK,OAAO,EAAE,CAAC;QACxB,IAAI,CAAC,2BAA2B,OAAO,2CAA2C,CAAC,CAAC;IACtF,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,0CAA0C,OAAO,mBAAmB,OAAO,IAAI,OAAO,IAAI,CAAC,CAAC;QAC/F,IAAI,CACF,gFAAgF;YAC9E,mFAAmF,CACtF,CAAC;IACJ,CAAC;AACH,CAAC;AAED;;;;;;GAMG;AACH,SAAS,6BAA6B,CAAC,MAAgB;IACrD,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,4BAA4B,CAAC,CAAC;IACtD,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO;IAC9B,MAAM,OAAO,GAAG,GAAG,CAAC,IAAI,EAAE,CAAC;IAC3B,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,yCAAyC;IAC3E,sEAAsE;IACtE,wEAAwE;IACxE,wBAAwB;IACxB,IAAI,MAAM,KAAK,MAAM,EAAE,CAAC;QACtB,yEAAyE;QACzE,wBAAwB;QACxB,OAAO;IACT,CAAC;IACD,IAAI,CACF,yCAAyC,OAAO,iCAAiC;QAC/E,qCAAqC,OAAO,0CAA0C;QACtF,6FAA6F;QAC7F,mDAAmD,CACtD,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,aAAa,CAAC,GAAuB;IAClD,IAAI,GAAG,KAAK,MAAM,IAAI,GAAG,KAAK,SAAS,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO,GAAG,CAAC;IACzE,IAAI,GAAG,IAAI,GAAG,KAAK,EAAE,EAAE,CAAC;QACtB,GAAG,CAAC,mBAAmB,GAAG,0CAA0C,CAAC,CAAC;QACtE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,CAAC,4BAA4B,CAAC,CAAC;IACnC,OAAO,MAAM,CAAW;QACtB,OAAO,EAAE,+BAA+B;QACxC,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,8DAA8D,EAAE,KAAK,EAAE,MAAM,EAAE;YACvF,EAAE,IAAI,EAAE,uCAAuC,EAAE,KAAK,EAAE,SAAS,EAAE;YACnE,EAAE,IAAI,EAAE,mCAAmC,EAAE,KAAK,EAAE,SAAS,EAAE;SAChE;QACD,OAAO,EAAE,MAAM;KAChB,CAAC,CAAC;AACL,CAAC"}
+{"version":3,"file":"up.js","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AAErC,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAE3C,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AACxD,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACxD,OAAO,EAAE,mBAAmB,EAAE,cAAc,EAAE,UAAU,EAAa,MAAM,qBAAqB,CAAC;AACjG,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAe9C,MAAM,CAAC,KAAK,UAAU,SAAS,CAAC,IAAe;IAC7C,MAAM,MAAM,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChD,UAAU,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,IAAI,IAAI,EAAE,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IAErE,sEAAsE;IACtE,qEAAqE;IACrE,wEAAwE;IACxE,kCAAkC;IAClC,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAC1B,6BAA6B,CAAC,MAAM,CAAC,CAAC;IAEtC,QAAQ,MAAM,EAAE,CAAC;QACf,KAAK,MAAM;YACT,MAAM,YAAY,CAAC;gBACjB,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;gBAC7B,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,KAAK;aAC9B,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;gBACxC,IAAI,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;aACzB,CAAC,CAAC;YACH,MAAM;QACR,KAAK,SAAS;YACZ,MAAM,SAAS,CAAC;gBACd,SAAS,EAAE,IAAI,CAAC,SAAS;gBACzB,OAAO,EAAE,IAAI,CAAC,IAAI,KAAK,IAAI;gBAC3B,QAAQ,EAAE,eAAe,CAAC,IAAI,CAAC,QAAQ,CAAC;aACzC,CAAC,CAAC;YACH,MAAM;IACV,CAAC;AACH,CAAC;AAED;;;;;;;;;;;GAWG;AACH,SAAS,eAAe,CAAC,IAAyB;IAChD,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,IAAI,CAAC;IACpC,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,SAAS,CAAC;QAAE,OAAO,IAAI,CAAC;IACzC,IAAI,QAAQ,EAAE,EAAE,CAAC;QACf,IAAI,CACF,yEAAyE;YACvE,yEAAyE;YACzE,qEAAqE,CACxE,CAAC;QACF,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,6DAA6D;AAC7D,SAAS,QAAQ;IACf,OAAO,UAAU,CAAC,uBAAuB,CAAC,CAAC;AAC7C,CAAC;AAED;;;;GAIG;AACH,SAAS,iBAAiB,CAAC,MAAgB;IACzC,mBAAmB,EAAE,CAAC;IACtB,MAAM,OAAO,GAAS,MAAM,KAAK,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC;IACzD,MAAM,OAAO,GAAG,cAAc,EAAE,CAAC;IACjC,UAAU,CAAC,OAAO,CAAC,CAAC;IACpB,IAAI,OAAO,KAAK,OAAO,EAAE,CAAC;QACxB,IAAI,CAAC,2BAA2B,OAAO,2CAA2C,CAAC,CAAC;IACtF,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,0CAA0C,OAAO,mBAAmB,OAAO,IAAI,OAAO,IAAI,CAAC,CAAC;QAC/F,IAAI,CACF,gFAAgF;YAC9E,mFAAmF,CACtF,CAAC;IACJ,CAAC;AACH,CAAC;AAED;;;;;;GAMG;AACH,SAAS,6BAA6B,CAAC,MAAgB;IACrD,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,4BAA4B,CAAC,CAAC;IACtD,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO;IAC9B,MAAM,OAAO,GAAG,GAAG,CAAC,IAAI,EAAE,CAAC;IAC3B,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,yCAAyC;IAC3E,sEAAsE;IACtE,wEAAwE;IACxE,wBAAwB;IACxB,IAAI,MAAM,KAAK,MAAM,EAAE,CAAC;QACtB,yEAAyE;QACzE,wBAAwB;QACxB,OAAO;IACT,CAAC;IACD,IAAI,CACF,yCAAyC,OAAO,iCAAiC;QAC/E,qCAAqC,OAAO,0CAA0C;QACtF,6FAA6F;QAC7F,mDAAmD,CACtD,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,aAAa,CAAC,GAAuB;IAClD,IAAI,GAAG,KAAK,MAAM,IAAI,GAAG,KAAK,SAAS,IAAI,GAAG,KAAK,SAAS;QAAE,OAAO,GAAG,CAAC;IACzE,IAAI,GAAG,IAAI,GAAG,KAAK,EAAE,EAAE,CAAC;QACtB,GAAG,CAAC,mBAAmB,GAAG,0CAA0C,CAAC,CAAC;QACtE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,CAAC,4BAA4B,CAAC,CAAC;IACnC,OAAO,MAAM,CAAW;QACtB,OAAO,EAAE,+BAA+B;QACxC,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,8DAA8D,EAAE,KAAK,EAAE,MAAM,EAAE;YACvF,EAAE,IAAI,EAAE,4DAA4D,EAAE,KAAK,EAAE,SAAS,EAAE;YACxF,EAAE,IAAI,EAAE,sCAAsC,EAAE,KAAK,EAAE,SAAS,EAAE;SACnE;QACD,OAAO,EAAE,MAAM;KAChB,CAAC,CAAC;AACL,CAAC"}

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 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";AACA;;;;;;;;GAQG;AAEH,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AAEpC,OAAO,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAC7C,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,kBAAkB,EAAE,MAAM,4BAA4B,CAAC;AAChE,OAAO,EAAE,mBAAmB,EAAE,MAAM,6BAA6B,CAAC;AAClE,OAAO,EAAE,gBAAgB,EAAE,MAAM,0BAA0B,CAAC;AAC5D,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,MAAM,sBAAsB,CAAC;AAC/E,OAAO,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,qBAAqB,CAAC;AAC5E,OAAO,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,MAAM,sBAAsB,CAAC;AAC/E,OAAO,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,MAAM,mBAAmB,CAAC;AAC5E,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AACpC,OAAO,EAAE,GAAG,EAAE,MAAM,kBAAkB,CAAC;AACvC,OAAO,EAAE,YAAY,EAAE,MAAM,SAAS,CAAC;AACvC,OAAO,EAAE,aAAa,EAAE,MAAM,UAAU,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAE1C;;;;GAIG;AACH,SAAS,WAAW;IAClB,IAAI,CAAC;QACH,MAAM,IAAI,GAAG,OAAO,CAAC,aAAa,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC;QACrD,mCAAmC;QACnC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,cAAc,CAAC,EAAE,MAAM,CAAC,CAE5E,CAAC;QACF,OAAO,GAAG,CAAC,OAAO,IAAI,OAAO,CAAC;IAChC,CAAC;IAAC,MAAM,CAAC;QACP,OAAO,OAAO,CAAC;IACjB,CAAC;AACH,CAAC;AAED,MAAM,OAAO,GAAG,WAAW,EAAE,CAAC;AAE9B,MAAM,OAAO,GAAG,IAAI,OAAO,EAAE,CAAC;AAE9B,OAAO;KACJ,IAAI,CAAC,YAAY,CAAC;KAClB,WAAW,CACV,gGAAgG,CACjG;KACA,OAAO,CAAC,OAAO,EAAE,eAAe,EAAE,kCAAkC,CAAC;KACrE,kBAAkB,CAAC,qDAAqD,CAAC,CAAC;AAE7E,OAAO;KACJ,OAAO,CAAC,aAAa,CAAC;KACtB,WAAW,CACV,8EAA8E,CAC/E;KACA,MAAM,CAAC,uBAAuB,EAAE,yCAAyC,CAAC;KAC1E,MAAM,CAAC,kBAAkB,EAAE,0BAA0B,CAAC;KACtD,MAAM,CAAC,QAAQ,EAAE,gDAAgD,EAAE,KAAK,CAAC;KACzE,MAAM,CAAC,YAAY,EAAE,2EAA2E,CAAC;KACjG,MAAM,CAAC,eAAe,EAAE,qDAAqD,CAAC;KAC9E,MAAM,CAAC,aAAa,EAAE,uDAAuD,CAAC;KAC9E,MAAM,CAAC,aAAa,EAAE,uDAAuD,CAAC;KAC9E,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,IAAI,EAAE,EAAE;IACjD,MAAM,SAAS,CAAC,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,CAAC,CAAC;AACvC,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,MAAM,CAAC;KACf,WAAW,CACV,0GAA0G,CAC3G;KACA,MAAM,CAAC,eAAe,EAAE,oCAAoC,EAAE,KAAK,CAAC;KACpE,MAAM,CAAC,gBAAgB,EAAE,mEAAmE,EAAE,KAAK,CAAC;KACpG,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,WAAW,CAAC,IAAI,CAAC,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,MAAM,CAAC;KACf,WAAW,CACV,mGAAmG,CACpG;KACA,MAAM,CAAC,SAAS,EAAE,2CAA2C,EAAE,KAAK,CAAC;KACrE,MAAM,CACL,sBAAsB,EACtB,sFAAsF,CACvF;KACA,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,WAAW,CAAC,IAAI,CAAC,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,8DAA8D,CAAC;KAC3E,MAAM,CAAC,QAAQ,EAAE,sDAAsD,EAAE,KAAK,CAAC;KAC/E,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,QAAQ,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,CAAC;IAC3C,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CACV,8EAA8E,CAC/E;KACA,MAAM,CAAC,QAAQ,EAAE,uCAAuC,EAAE,KAAK,CAAC;KAChE,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,aAAa,CAAC,IAAI,CAAC,CAAC;AAC5B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,eAAe,CAAC;KACxB,WAAW,CACV,mFAAmF,CACpF;KACA,MAAM,CAAC,cAAc,EAAE,gEAAgE,EAAE,KAAK,CAAC;KAC/F,MAAM,CAAC,iBAAiB,EAAE,0CAA0C,EAAE,KAAK,CAAC;KAC5E,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,IAAI,EAAE,EAAE;IACjD,MAAM,WAAW,CAAC,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,CAAC,CAAC;AACzC,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,4BAA4B,CAAC;KACrC,WAAW,CACV,yFAAyF,CAC1F;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,QAA4B,EAAE,EAAE;IACzE,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,QAAQ,EAAE,CAAC,CAAC;AAC5C,CAAC,CAAC,CAAC;AAEL,6DAA6D;AAC7D,OAAO;KACJ,OAAO,CAAC,eAAe,CAAC;KACxB,WAAW,CACV,yHAAyH,CAC1H;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,EAAE;IAC3C,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,KAAK,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC,CAAC;AAC3D,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,qBAAqB,CAAC;KAC9B,WAAW,CAAC,+DAA+D,CAAC;KAC5E,MAAM,CAAC,mBAAmB,EAAE,2DAA2D,CAAC;KACxF,MAAM,CAAC,KAAK,EAAE,IAAY,EAAE,IAA2B,EAAE,EAAE;IAC1D,MAAM,kBAAkB,CAAC,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;AAC9D,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,SAAS,CAAC;KAClB,WAAW,CAAC,yFAAyF,CAAC;KACtG,MAAM,CAAC,YAAY,EAAE,2DAA2D,EAAE,KAAK,CAAC;KACxF,MAAM,CAAC,WAAW,EAAE,0BAA0B,EAAE,KAAK,CAAC;KACtD,MAAM,CAAC,KAAK,EAAE,IAA2C,EAAE,EAAE;IAC5D,MAAM,mBAAmB,CAAC,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,GAAG,EAAE,IAAI,CAAC,GAAG,EAAE,CAAC,CAAC;AACxE,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,uBAAuB,CAAC;KAChC,WAAW,CACV,4HAA4H,CAC7H;KACA,MAAM,CAAC,mBAAmB,EAAE,sDAAsD,CAAC;KACnF,MAAM,CAAC,YAAY,EAAE,kDAAkD,EAAE,KAAK,CAAC;KAC/E,MAAM,CAAC,iBAAiB,EAAE,uCAAuC,CAAC;KAClE,MAAM,CAAC,QAAQ,EAAE,yCAAyC,EAAE,KAAK,CAAC;KAClE,MAAM,CAAC,cAAc,EAAE,4DAA4D,EAAE,KAAK,CAAC;KAC3F,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,GAAuB,EAAE,IAAI,EAAE,EAAE;IAC1E,MAAM,GAAG,GAAG,CAAC,MAAM,IAAI,MAAM,CAAC,CAAC,WAAW,EAAE,CAAC;IAC7C,IAAI,GAAG,KAAK,QAAQ,EAAE,CAAC;QACrB,MAAM,kBAAkB,CAAC,EAAE,IAAI,EAAE,GAAG,IAAI,EAAE,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;QACvE,OAAO;IACT,CAAC;IACD,IAAI,GAAG,KAAK,KAAK,EAAE,CAAC;QAClB,MAAM,gBAAgB,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,EAAE,IAAI,CAAC,IAAI,EAAE,CAAC,CAAC;QACjE,OAAO;IACT,CAAC;IACD,IAAI,GAAG,KAAK,SAAS,EAAE,CAAC;QACtB,MAAM,mBAAmB,CAAC,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,GAAG,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,OAAO;IACT,CAAC;IACD,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,GAAG,EAAE,SAAS,EAAE,IAAI,CAAC,OAAO,KAAK,KAAK,EAAE,CAAC,CAAC;AAC1E,CAAC,CAAC,CAAC;AAEL,MAAM,MAAM,GAAG,OAAO;KACnB,OAAO,CAAC,KAAK,CAAC;KACd,WAAW,CAAC,mEAAmE,CAAC,CAAC;AAEpF,MAAM;KACH,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CACV,oFAAoF,CACrF;KACA,MAAM,CAAC,OAAO,EAAE,+BAA+B,EAAE,IAAI,CAAC;KACtD,MAAM,CAAC,SAAS,EAAE,6CAA6C,EAAE,KAAK,CAAC;KACvE,MAAM,CAAC,UAAU,EAAE,+CAA+C,EAAE,KAAK,CAAC;KAC1E,MAAM,CAAC,UAAU,EAAE,qDAAqD,EAAE,KAAK,CAAC;KAChF,MAAM,CAAC,WAAW,EAAE,mEAAmE,EAAE,KAAK,CAAC;KAC/F,MAAM,CAAC,WAAW,EAAE,4CAA4C,EAAE,KAAK,CAAC;KACxE,MAAM,CAAC,KAAK,EAAE,IAOd,EAAE,EAAE;IACH,MAAM,SAAS,GAAG,IAAI,CAAC,KAAK,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC;IAC3D,MAAM,kBAAkB,CAAC;QACvB,GAAG,EAAE,SAAS,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG;QACjC,KAAK,EAAE,IAAI,CAAC,KAAK;QACjB,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,OAAO,EAAE,IAAI,CAAC,OAAO;QACrB,OAAO,EAAE,IAAI,CAAC,OAAO;KACtB,CAAC,CAAC;AACL,CAAC,CAAC,CAAC;AAEL,MAAM;KACH,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,qDAAqD,CAAC;KAClE,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,SAAS,EAAE,kBAAkB,EAAE,KAAK,CAAC;KAC5C,MAAM,CAAC,UAAU,EAAE,mBAAmB,EAAE,KAAK,CAAC;KAC9C,MAAM,CAAC,UAAU,EAAE,mBAAmB,EAAE,KAAK,CAAC;KAC9C,MAAM,CAAC,KAAK,EAAE,IAKd,EAAE,EAAE;IACH,MAAM,QAAQ,GAAG,MAAM,mBAAmB,CAAC,IAAI,CAAC,CAAC;IACjD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,MAAM,SAAS,GAAG,OAAO;KACtB,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,0EAA0E,CAAC,CAAC;AAE3F,SAAS;KACN,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,qEAAqE,CAAC;KAClF,MAAM,CAAC,WAAW,EAAE,gDAAgD,EAAE,KAAK,CAAC;KAC5E,MAAM,CAAC,WAAW,EAAE,oCAAoC,EAAE,KAAK,CAAC;KAChE,MAAM,CAAC,KAAK,EAAE,IAA8C,EAAE,EAAE;IAC/D,MAAM,kBAAkB,CAAC,IAAI,CAAC,CAAC;AACjC,CAAC,CAAC,CAAC;AAEL,SAAS;KACN,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,2DAA2D,CAAC;KACxE,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,KAAK,EAAE,IAAwB,EAAE,EAAE;IACzC,MAAM,QAAQ,GAAG,MAAM,mBAAmB,CAAC,IAAI,CAAC,CAAC;IACjD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,MAAM,QAAQ,GAAG,OAAO;KACrB,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,8DAA8D,CAAC,CAAC;AAE/E,QAAQ;KACL,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,kFAAkF,CAAC;KAC/F,MAAM,CAAC,WAAW,EAAE,4EAA4E,EAAE,KAAK,CAAC;KACxG,MAAM,CAAC,KAAK,EAAE,IAA2B,EAAE,EAAE;IAC5C,MAAM,iBAAiB,CAAC,EAAE,KAAK,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,QAAQ,EAAE,CAAC,CAAC;AAC1E,CAAC,CAAC,CAAC;AAEL,QAAQ;KACL,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,iEAAiE,CAAC;KAC9E,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,KAAK,EAAE,IAAwB,EAAE,EAAE;IACzC,MAAM,QAAQ,GAAG,MAAM,kBAAkB,CAAC,IAAI,CAAC,CAAC;IAChD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,MAAM,SAAS,GAAG,OAAO;KACtB,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,0DAA0D,CAAC,CAAC;AAE3E,SAAS;KACN,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,mDAAmD,CAAC;KAChE,MAAM,CAAC,KAAK,IAAI,EAAE;IACjB,MAAM,kBAAkB,EAAE,CAAC;AAC7B,CAAC,CAAC,CAAC;AAEL,SAAS;KACN,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,kEAAkE,CAAC;KAC/E,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,KAAK,EAAE,IAAwB,EAAE,EAAE;IACzC,MAAM,QAAQ,GAAG,MAAM,mBAAmB,CAAC,IAAI,CAAC,CAAC;IACjD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,uBAAuB,CAAC;KAChC,WAAW,CACV,yLAAyL,CAC1L;KACA,MAAM,CAAC,eAAe,EAAE,0CAA0C,CAAC;KACnE,MAAM,CAAC,kBAAkB,EAAE,4CAA4C,CAAC;KACxE,MAAM,CAAC,kBAAkB,EAAE,kDAAkD,CAAC;KAC9E,MAAM,CAAC,WAAW,EAAE,8CAA8C,EAAE,KAAK,CAAC;KAC1E,MAAM,CACL,eAAe,EACf,yHAAyH,CAC1H;KACA,MAAM,CACL,kBAAkB,EAClB,+JAA+J,CAChK;KACA,MAAM,CACL,uBAAuB,EACvB,qMAAqM,CACtM;KACA,MAAM,CACL,yBAAyB,EACzB,8IAA8I,CAC/I;KACA,MAAM,CACL,yBAAyB,EACzB,0KAA0K,CAC3K;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,GAAuB,EAAE,IAAI,EAAE,EAAE;IAC1E,MAAM,aAAa,CAAC;QAClB,MAAM;QACN,GAAG;QACH,IAAI,EAAE,IAAI,CAAC,IAAI;QACf,SAAS,EAAE,IAAI,CAAC,SAAS;QACzB,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,OAAO,EAAE,IAAI,CAAC,OAAO,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS;QACjD,IAAI,EAAE,IAAI,CAAC,IAAI;QACf,OAAO,EAAE,IAAI,CAAC,OAAO;QACrB,YAAY,EAAE,IAAI,CAAC,YAAY;QAC/B,SAAS,EAAE,IAAI,CAAC,SAAS;QACzB,aAAa,EAAE,IAAI,CAAC,aAAa;KAClC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC;AAEL,KAAK,UAAU,IAAI;IACjB,8DAA8D;IAC9D,IAAI,OAAO,CAAC,IAAI,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC;QAC7B,IAAI,CAAC;YACH,MAAM,OAAO,EAAE,CAAC;QAClB,CAAC;QAAC,OAAO,CAAC,EAAE,CAAC;YACX,GAAG,CAAC,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAChD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAClB,CAAC;QACD,OAAO;IACT,CAAC;IACD,IAAI,CAAC;QACH,MAAM,OAAO,CAAC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;IACzC,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,GAAG,CAAC,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QAChD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;AACH,CAAC;AAED,MAAM,IAAI,EAAE,CAAC"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";AACA;;;;;;;;GAQG;AAEH,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AAEpC,OAAO,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAC7C,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,kBAAkB,EAAE,MAAM,4BAA4B,CAAC;AAChE,OAAO,EAAE,mBAAmB,EAAE,MAAM,6BAA6B,CAAC;AAClE,OAAO,EAAE,gBAAgB,EAAE,MAAM,0BAA0B,CAAC;AAC5D,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,MAAM,sBAAsB,CAAC;AAC/E,OAAO,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,qBAAqB,CAAC;AAC5E,OAAO,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,MAAM,sBAAsB,CAAC;AAC/E,OAAO,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,MAAM,mBAAmB,CAAC;AAC5E,OAAO,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AACpC,OAAO,EAAE,GAAG,EAAE,MAAM,kBAAkB,CAAC;AACvC,OAAO,EAAE,YAAY,EAAE,MAAM,SAAS,CAAC;AACvC,OAAO,EAAE,aAAa,EAAE,MAAM,UAAU,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAE1C;;;;GAIG;AACH,SAAS,WAAW;IAClB,IAAI,CAAC;QACH,MAAM,IAAI,GAAG,OAAO,CAAC,aAAa,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC;QACrD,mCAAmC;QACnC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,cAAc,CAAC,EAAE,MAAM,CAAC,CAE5E,CAAC;QACF,OAAO,GAAG,CAAC,OAAO,IAAI,OAAO,CAAC;IAChC,CAAC;IAAC,MAAM,CAAC;QACP,OAAO,OAAO,CAAC;IACjB,CAAC;AACH,CAAC;AAED,MAAM,OAAO,GAAG,WAAW,EAAE,CAAC;AAE9B,MAAM,OAAO,GAAG,IAAI,OAAO,EAAE,CAAC;AAE9B,OAAO;KACJ,IAAI,CAAC,YAAY,CAAC;KAClB,WAAW,CACV,gGAAgG,CACjG;KACA,OAAO,CAAC,OAAO,EAAE,eAAe,EAAE,kCAAkC,CAAC;KACrE,kBAAkB,CAAC,qDAAqD,CAAC,CAAC;AAE7E,OAAO;KACJ,OAAO,CAAC,aAAa,CAAC;KACtB,WAAW,CACV,8EAA8E,CAC/E;KACA,MAAM,CAAC,uBAAuB,EAAE,yCAAyC,CAAC;KAC1E,MAAM,CAAC,kBAAkB,EAAE,0BAA0B,CAAC;KACtD,MAAM,CAAC,QAAQ,EAAE,gDAAgD,EAAE,KAAK,CAAC;KACzE,MAAM,CAAC,YAAY,EAAE,2EAA2E,CAAC;KACjG,MAAM,CAAC,eAAe,EAAE,qDAAqD,CAAC;KAC9E,MAAM,CAAC,QAAQ,EAAE,0DAA0D,EAAE,KAAK,CAAC;KACnF,MAAM,CAAC,aAAa,EAAE,uDAAuD,CAAC;KAC9E,MAAM,CAAC,aAAa,EAAE,uDAAuD,CAAC;KAC9E,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,IAAI,EAAE,EAAE;IACjD,MAAM,SAAS,CAAC,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,CAAC,CAAC;AACvC,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,MAAM,CAAC;KACf,WAAW,CACV,0GAA0G,CAC3G;KACA,MAAM,CAAC,eAAe,EAAE,oCAAoC,EAAE,KAAK,CAAC;KACpE,MAAM,CAAC,gBAAgB,EAAE,mEAAmE,EAAE,KAAK,CAAC;KACpG,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,WAAW,CAAC,IAAI,CAAC,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,MAAM,CAAC;KACf,WAAW,CACV,mGAAmG,CACpG;KACA,MAAM,CAAC,SAAS,EAAE,2CAA2C,EAAE,KAAK,CAAC;KACrE,MAAM,CACL,sBAAsB,EACtB,sFAAsF,CACvF;KACA,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,WAAW,CAAC,IAAI,CAAC,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,8DAA8D,CAAC;KAC3E,MAAM,CAAC,QAAQ,EAAE,sDAAsD,EAAE,KAAK,CAAC;KAC/E,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,QAAQ,GAAG,MAAM,aAAa,CAAC,IAAI,CAAC,CAAC;IAC3C,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CACV,8EAA8E,CAC/E;KACA,MAAM,CAAC,QAAQ,EAAE,uCAAuC,EAAE,KAAK,CAAC;KAChE,MAAM,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE;IACrB,MAAM,aAAa,CAAC,IAAI,CAAC,CAAC;AAC5B,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,eAAe,CAAC;KACxB,WAAW,CACV,mFAAmF,CACpF;KACA,MAAM,CAAC,cAAc,EAAE,gEAAgE,EAAE,KAAK,CAAC;KAC/F,MAAM,CAAC,iBAAiB,EAAE,0CAA0C,EAAE,KAAK,CAAC;KAC5E,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,IAAI,EAAE,EAAE;IACjD,MAAM,WAAW,CAAC,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,CAAC,CAAC;AACzC,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,4BAA4B,CAAC;KACrC,WAAW,CACV,yFAAyF,CAC1F;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,QAA4B,EAAE,EAAE;IACzE,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,QAAQ,EAAE,CAAC,CAAC;AAC5C,CAAC,CAAC,CAAC;AAEL,6DAA6D;AAC7D,OAAO;KACJ,OAAO,CAAC,eAAe,CAAC;KACxB,WAAW,CACV,yHAAyH,CAC1H;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,EAAE;IAC3C,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,KAAK,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC,CAAC;AAC3D,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,qBAAqB,CAAC;KAC9B,WAAW,CAAC,+DAA+D,CAAC;KAC5E,MAAM,CAAC,mBAAmB,EAAE,2DAA2D,CAAC;KACxF,MAAM,CAAC,KAAK,EAAE,IAAY,EAAE,IAA2B,EAAE,EAAE;IAC1D,MAAM,kBAAkB,CAAC,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;AAC9D,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,SAAS,CAAC;KAClB,WAAW,CAAC,yFAAyF,CAAC;KACtG,MAAM,CAAC,YAAY,EAAE,2DAA2D,EAAE,KAAK,CAAC;KACxF,MAAM,CAAC,WAAW,EAAE,0BAA0B,EAAE,KAAK,CAAC;KACtD,MAAM,CAAC,KAAK,EAAE,IAA2C,EAAE,EAAE;IAC5D,MAAM,mBAAmB,CAAC,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,GAAG,EAAE,IAAI,CAAC,GAAG,EAAE,CAAC,CAAC;AACxE,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,uBAAuB,CAAC;KAChC,WAAW,CACV,4HAA4H,CAC7H;KACA,MAAM,CAAC,mBAAmB,EAAE,sDAAsD,CAAC;KACnF,MAAM,CAAC,YAAY,EAAE,kDAAkD,EAAE,KAAK,CAAC;KAC/E,MAAM,CAAC,iBAAiB,EAAE,uCAAuC,CAAC;KAClE,MAAM,CAAC,QAAQ,EAAE,yCAAyC,EAAE,KAAK,CAAC;KAClE,MAAM,CAAC,cAAc,EAAE,4DAA4D,EAAE,KAAK,CAAC;KAC3F,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,GAAuB,EAAE,IAAI,EAAE,EAAE;IAC1E,MAAM,GAAG,GAAG,CAAC,MAAM,IAAI,MAAM,CAAC,CAAC,WAAW,EAAE,CAAC;IAC7C,IAAI,GAAG,KAAK,QAAQ,EAAE,CAAC;QACrB,MAAM,kBAAkB,CAAC,EAAE,IAAI,EAAE,GAAG,IAAI,EAAE,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;QACvE,OAAO;IACT,CAAC;IACD,IAAI,GAAG,KAAK,KAAK,EAAE,CAAC;QAClB,MAAM,gBAAgB,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,EAAE,IAAI,CAAC,IAAI,EAAE,CAAC,CAAC;QACjE,OAAO;IACT,CAAC;IACD,IAAI,GAAG,KAAK,SAAS,EAAE,CAAC;QACtB,MAAM,mBAAmB,CAAC,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,EAAE,GAAG,EAAE,KAAK,EAAE,CAAC,CAAC;QACnE,OAAO;IACT,CAAC;IACD,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,GAAG,EAAE,SAAS,EAAE,IAAI,CAAC,OAAO,KAAK,KAAK,EAAE,CAAC,CAAC;AAC1E,CAAC,CAAC,CAAC;AAEL,MAAM,MAAM,GAAG,OAAO;KACnB,OAAO,CAAC,KAAK,CAAC;KACd,WAAW,CAAC,mEAAmE,CAAC,CAAC;AAEpF,MAAM;KACH,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CACV,oFAAoF,CACrF;KACA,MAAM,CAAC,OAAO,EAAE,+BAA+B,EAAE,IAAI,CAAC;KACtD,MAAM,CAAC,SAAS,EAAE,6CAA6C,EAAE,KAAK,CAAC;KACvE,MAAM,CAAC,UAAU,EAAE,+CAA+C,EAAE,KAAK,CAAC;KAC1E,MAAM,CAAC,UAAU,EAAE,qDAAqD,EAAE,KAAK,CAAC;KAChF,MAAM,CAAC,WAAW,EAAE,mEAAmE,EAAE,KAAK,CAAC;KAC/F,MAAM,CAAC,WAAW,EAAE,4CAA4C,EAAE,KAAK,CAAC;KACxE,MAAM,CAAC,KAAK,EAAE,IAOd,EAAE,EAAE;IACH,MAAM,SAAS,GAAG,IAAI,CAAC,KAAK,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC;IAC3D,MAAM,kBAAkB,CAAC;QACvB,GAAG,EAAE,SAAS,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG;QACjC,KAAK,EAAE,IAAI,CAAC,KAAK;QACjB,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,OAAO,EAAE,IAAI,CAAC,OAAO;QACrB,OAAO,EAAE,IAAI,CAAC,OAAO;KACtB,CAAC,CAAC;AACL,CAAC,CAAC,CAAC;AAEL,MAAM;KACH,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,qDAAqD,CAAC;KAClE,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,SAAS,EAAE,kBAAkB,EAAE,KAAK,CAAC;KAC5C,MAAM,CAAC,UAAU,EAAE,mBAAmB,EAAE,KAAK,CAAC;KAC9C,MAAM,CAAC,UAAU,EAAE,mBAAmB,EAAE,KAAK,CAAC;KAC9C,MAAM,CAAC,KAAK,EAAE,IAKd,EAAE,EAAE;IACH,MAAM,QAAQ,GAAG,MAAM,mBAAmB,CAAC,IAAI,CAAC,CAAC;IACjD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,MAAM,SAAS,GAAG,OAAO;KACtB,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,0EAA0E,CAAC,CAAC;AAE3F,SAAS;KACN,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,qEAAqE,CAAC;KAClF,MAAM,CAAC,WAAW,EAAE,gDAAgD,EAAE,KAAK,CAAC;KAC5E,MAAM,CAAC,WAAW,EAAE,oCAAoC,EAAE,KAAK,CAAC;KAChE,MAAM,CAAC,KAAK,EAAE,IAA8C,EAAE,EAAE;IAC/D,MAAM,kBAAkB,CAAC,IAAI,CAAC,CAAC;AACjC,CAAC,CAAC,CAAC;AAEL,SAAS;KACN,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,2DAA2D,CAAC;KACxE,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,KAAK,EAAE,IAAwB,EAAE,EAAE;IACzC,MAAM,QAAQ,GAAG,MAAM,mBAAmB,CAAC,IAAI,CAAC,CAAC;IACjD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,MAAM,QAAQ,GAAG,OAAO;KACrB,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,8DAA8D,CAAC,CAAC;AAE/E,QAAQ;KACL,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,kFAAkF,CAAC;KAC/F,MAAM,CAAC,WAAW,EAAE,4EAA4E,EAAE,KAAK,CAAC;KACxG,MAAM,CAAC,KAAK,EAAE,IAA2B,EAAE,EAAE;IAC5C,MAAM,iBAAiB,CAAC,EAAE,KAAK,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,QAAQ,EAAE,CAAC,CAAC;AAC1E,CAAC,CAAC,CAAC;AAEL,QAAQ;KACL,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,iEAAiE,CAAC;KAC9E,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,KAAK,EAAE,IAAwB,EAAE,EAAE;IACzC,MAAM,QAAQ,GAAG,MAAM,kBAAkB,CAAC,IAAI,CAAC,CAAC;IAChD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,MAAM,SAAS,GAAG,OAAO;KACtB,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,0DAA0D,CAAC,CAAC;AAE3E,SAAS;KACN,OAAO,CAAC,OAAO,CAAC;KAChB,WAAW,CAAC,mDAAmD,CAAC;KAChE,MAAM,CAAC,KAAK,IAAI,EAAE;IACjB,MAAM,kBAAkB,EAAE,CAAC;AAC7B,CAAC,CAAC,CAAC;AAEL,SAAS;KACN,OAAO,CAAC,QAAQ,CAAC;KACjB,WAAW,CAAC,kEAAkE,CAAC;KAC/E,MAAM,CAAC,QAAQ,EAAE,8BAA8B,EAAE,KAAK,CAAC;KACvD,MAAM,CAAC,KAAK,EAAE,IAAwB,EAAE,EAAE;IACzC,MAAM,QAAQ,GAAG,MAAM,mBAAmB,CAAC,IAAI,CAAC,CAAC;IACjD,IAAI,QAAQ,KAAK,CAAC;QAAE,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC7C,CAAC,CAAC,CAAC;AAEL,OAAO;KACJ,OAAO,CAAC,uBAAuB,CAAC;KAChC,WAAW,CACV,yLAAyL,CAC1L;KACA,MAAM,CAAC,eAAe,EAAE,0CAA0C,CAAC;KACnE,MAAM,CAAC,kBAAkB,EAAE,4CAA4C,CAAC;KACxE,MAAM,CAAC,kBAAkB,EAAE,kDAAkD,CAAC;KAC9E,MAAM,CAAC,WAAW,EAAE,8CAA8C,EAAE,KAAK,CAAC;KAC1E,MAAM,CACL,eAAe,EACf,yHAAyH,CAC1H;KACA,MAAM,CACL,kBAAkB,EAClB,+JAA+J,CAChK;KACA,MAAM,CACL,uBAAuB,EACvB,qMAAqM,CACtM;KACA,MAAM,CACL,yBAAyB,EACzB,8IAA8I,CAC/I;KACA,MAAM,CACL,yBAAyB,EACzB,0KAA0K,CAC3K;KACA,MAAM,CAAC,KAAK,EAAE,MAA0B,EAAE,GAAuB,EAAE,IAAI,EAAE,EAAE;IAC1E,MAAM,aAAa,CAAC;QAClB,MAAM;QACN,GAAG;QACH,IAAI,EAAE,IAAI,CAAC,IAAI;QACf,SAAS,EAAE,IAAI,CAAC,SAAS;QACzB,MAAM,EAAE,IAAI,CAAC,MAAM;QACnB,OAAO,EAAE,IAAI,CAAC,OAAO,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS;QACjD,IAAI,EAAE,IAAI,CAAC,IAAI;QACf,OAAO,EAAE,IAAI,CAAC,OAAO;QACrB,YAAY,EAAE,IAAI,CAAC,YAAY;QAC/B,SAAS,EAAE,IAAI,CAAC,SAAS;QACzB,aAAa,EAAE,IAAI,CAAC,aAAa;KAClC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC;AAEL,KAAK,UAAU,IAAI;IACjB,8DAA8D;IAC9D,IAAI,OAAO,CAAC,IAAI,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC;QAC7B,IAAI,CAAC;YACH,MAAM,OAAO,EAAE,CAAC;QAClB,CAAC;QAAC,OAAO,CAAC,EAAE,CAAC;YACX,GAAG,CAAC,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAChD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAClB,CAAC;QACD,OAAO;IACT,CAAC;IACD,IAAI,CAAC;QACH,MAAM,OAAO,CAAC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;IACzC,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,GAAG,CAAC,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QAChD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;AACH,CAAC;AAED,MAAM,IAAI,EAAE,CAAC"}

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 @@
-{"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;AAS9C,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;IAEzC,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"}
+{"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": "0.5.2",
+  "version": "0.5.4",
   "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": [
@@ -35,16 +35,6 @@
   "engines": {
     "node": ">=20.0.0"
   },
-  "scripts": {
-    "build": "tsc",
-    "typecheck": "tsc --noEmit",
-    "test": "node --test --test-force-exit \"dist/__tests__/*.test.js\"",
-    "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
-    "pack:runtime": "node ../../scripts/pack-runtime.mjs",
-    "size:check": "node ../../scripts/check-cli-tarball-size.mjs",
-    "tarball:check": "node ../../scripts/check-cli-tarball-install.mjs",
-    "prepublishOnly": "pnpm run clean && pnpm run build && pnpm run pack:runtime && pnpm run size:check && pnpm run tarball:check"
-  },
   "dependencies": {
     "@agenticros/core": "^0.8.1",
     "@inquirer/prompts": "^7.0.0",
@@ -64,5 +54,14 @@
     "type": "git",
     "url": "git+https://github.com/agenticros/agenticros.git",
     "directory": "packages/agenticros-cli"
+  },
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit",
+    "test": "node --test --test-force-exit \"dist/__tests__/*.test.js\"",
+    "clean": "rm -rf dist runtime tsconfig.tsbuildinfo",
+    "pack:runtime": "node ../../scripts/pack-runtime.mjs",
+    "size:check": "node ../../scripts/check-cli-tarball-size.mjs",
+    "tarball:check": "node ../../scripts/check-cli-tarball-install.mjs"
   }
-}
+}

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-07-09T23:38:28.747Z",
+  "packedAt": "2026-07-13T21:57:44.063Z",
   "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)

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/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) ----------------

package/runtime/ros2_ws/src/agenticros_sim/config/nav2_params.yaml

@@ -0,0 +1,320 @@
+# Nav2 parameters for agenticros_amr in Gazebo (agenticros_indoor world).
+# Tuned for a ~0.40 x 0.30 m diff-drive footprint, /scan lidar, /cmd_vel,
+# and use_sim_time. Used by launch/sim_amr_nav2.launch.py.
+
+amcl:
+  ros__parameters:
+    use_sim_time: true
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: base_footprint
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: map
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 12.0
+    laser_min_range: 0.12
+    laser_model_type: likelihood_field
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: odom
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: nav2_amcl::DifferentialMotionModel
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+    set_initial_pose: true
+    initial_pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      yaw: 0.0
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: true
+    global_frame: map
+    robot_base_frame: base_footprint
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    wait_for_service_timeout: 1000
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+      - nav2_is_battery_charging_condition_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: true
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: true
+
+controller_server:
+  ros__parameters:
+    use_sim_time: true
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: progress_checker
+    goal_checker_plugins: [general_goal_checker]
+    controller_plugins: [FollowPath]
+    progress_checker:
+      plugin: nav2_controller::SimpleProgressChecker
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    general_goal_checker:
+      stateful: true
+      plugin: nav2_controller::SimpleGoalChecker
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    FollowPath:
+      plugin: nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
+      desired_linear_vel: 0.35
+      lookahead_dist: 0.6
+      min_lookahead_dist: 0.3
+      max_lookahead_dist: 0.9
+      lookahead_time: 1.5
+      rotate_to_heading_angular_vel: 1.0
+      transform_tolerance: 0.1
+      use_velocity_scaled_lookahead_dist: false
+      min_approach_linear_velocity: 0.05
+      approach_velocity_scaling_dist: 0.6
+      use_collision_detection: true
+      max_allowed_time_to_collision_up_to_carrot: 1.0
+      use_regulated_linear_velocity_scaling: true
+      use_cost_regulated_linear_velocity_scaling: false
+      regulated_linear_scaling_min_radius: 0.9
+      regulated_linear_scaling_min_speed: 0.1
+      allow_reversing: false
+      use_rotate_to_heading: true
+      rotate_to_heading_min_angular_vel: 0.3
+      max_angular_accel: 2.0
+      max_robot_pose_search_dist: 10.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: true
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_footprint
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.28
+      plugins: [voxel_layer, inflation_layer]
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: nav2_costmap_2d::VoxelLayer
+        enabled: true
+        publish_voxel_map: false
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: true
+          marking: true
+          data_type: LaserScan
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      always_send_full_costmap: true
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      use_sim_time: true
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_footprint
+      robot_radius: 0.28
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: [static_layer, obstacle_layer, inflation_layer]
+      obstacle_layer:
+        plugin: nav2_costmap_2d::ObstacleLayer
+        enabled: true
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: true
+          marking: true
+          data_type: LaserScan
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: nav2_costmap_2d::StaticLayer
+        map_subscribe_transient_local: true
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: true
+
+map_server:
+  ros__parameters:
+    use_sim_time: true
+    yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    use_sim_time: true
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: true
+
+planner_server:
+  ros__parameters:
+    use_sim_time: true
+    expected_planner_frequency: 20.0
+    planner_plugins: [GridBased]
+    GridBased:
+      plugin: nav2_navfn_planner/NavfnPlanner
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: true
+    smoother_plugins: [simple_smoother]
+    simple_smoother:
+      plugin: nav2_smoother::SimpleSmoother
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: true
+
+behavior_server:
+  ros__parameters:
+    use_sim_time: true
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: [spin, backup, drive_on_heading, assisted_teleop, wait]
+    spin:
+      plugin: nav2_behaviors/Spin
+    backup:
+      plugin: nav2_behaviors/BackUp
+    drive_on_heading:
+      plugin: nav2_behaviors/DriveOnHeading
+    wait:
+      plugin: nav2_behaviors/Wait
+    assisted_teleop:
+      plugin: nav2_behaviors/AssistedTeleop
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.1
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: true
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: wait_at_waypoint
+    wait_at_waypoint:
+      plugin: nav2_waypoint_follower::WaitAtWaypoint
+      enabled: true
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: true
+    smoothing_frequency: 20.0
+    scale_velocities: false
+    feedback: OPEN_LOOP
+    max_velocity: [0.5, 0.0, 1.5]
+    min_velocity: [-0.5, 0.0, -1.5]
+    max_accel: [1.0, 0.0, 2.0]
+    max_decel: [-1.0, 0.0, -2.0]
+    odom_topic: odom
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0

package/runtime/ros2_ws/src/agenticros_sim/launch/sim_amr_nav2.launch.py

@@ -0,0 +1,101 @@
+"""sim_amr_nav2.launch.py
+
+Bring up Gazebo AMR sim + Nav2 (static map + AMCL + navigation stack).
+
+Includes:
+  * agenticros_sim/sim_amr.launch.py  (gz + bridge + robot_state_publisher)
+  * nav2_bringup/bringup_launch.py    (map_server + amcl + controller/planner/bt)
+
+Launch args (forwarded to sim_amr where applicable):
+  gui, use_rviz, use_sim_time, x, y, z, yaw
+  map          — occupancy grid YAML (default: maps/agenticros_indoor.yaml)
+  params_file  — Nav2 params (default: config/nav2_params.yaml)
+  autostart    — lifecycle autostart (default true)
+
+Examples:
+  ros2 launch agenticros_sim sim_amr_nav2.launch.py gui:=false
+  ros2 launch agenticros_sim sim_amr_nav2.launch.py use_rviz:=true
+"""
+
+from __future__ import annotations
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+PKG_NAME = "agenticros_sim"
+
+
+def generate_launch_description() -> LaunchDescription:
+    pkg_share = get_package_share_directory(PKG_NAME)
+    default_map = os.path.join(pkg_share, "maps", "agenticros_indoor.yaml")
+    default_params = os.path.join(pkg_share, "config", "nav2_params.yaml")
+    sim_amr_launch = os.path.join(pkg_share, "launch", "sim_amr.launch.py")
+    nav2_bringup = get_package_share_directory("nav2_bringup")
+    bringup_launch = os.path.join(nav2_bringup, "launch", "bringup_launch.py")
+
+    gui_arg = DeclareLaunchArgument("gui", default_value="true")
+    use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="false")
+    use_sim_time_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
+    x_arg = DeclareLaunchArgument("x", default_value="0.0")
+    y_arg = DeclareLaunchArgument("y", default_value="0.0")
+    z_arg = DeclareLaunchArgument("z", default_value="0.1")
+    yaw_arg = DeclareLaunchArgument("yaw", default_value="0.0")
+    map_arg = DeclareLaunchArgument("map", default_value=default_map)
+    params_arg = DeclareLaunchArgument("params_file", default_value=default_params)
+    autostart_arg = DeclareLaunchArgument("autostart", default_value="true")
+
+    sim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(sim_amr_launch),
+        launch_arguments={
+            "gui": LaunchConfiguration("gui"),
+            "use_rviz": LaunchConfiguration("use_rviz"),
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+            "x": LaunchConfiguration("x"),
+            "y": LaunchConfiguration("y"),
+            "z": LaunchConfiguration("z"),
+            "yaw": LaunchConfiguration("yaw"),
+        }.items(),
+    )
+
+    # slam:=False → localization_launch (map_server + amcl) + navigation_launch
+    nav2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(bringup_launch),
+        launch_arguments={
+            "slam": "False",
+            "map": LaunchConfiguration("map"),
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+            "params_file": LaunchConfiguration("params_file"),
+            "autostart": LaunchConfiguration("autostart"),
+            "use_composition": "False",
+            "use_respawn": "False",
+        }.items(),
+    )
+
+    # Remap Nav2's default cmd_vel if velocity_smoother is in the graph —
+    # our bridge listens on /cmd_vel. bringup already uses /cmd_vel by default
+    # for the controller; keep a no-op note via a tiny static transform wait
+    # is unnecessary. Publish map→odom is AMCL's job once initial pose is set
+    # (set_initial_pose: true in nav2_params.yaml).
+
+    return LaunchDescription(
+        [
+            gui_arg,
+            use_rviz_arg,
+            use_sim_time_arg,
+            x_arg,
+            y_arg,
+            z_arg,
+            yaw_arg,
+            map_arg,
+            params_arg,
+            autostart_arg,
+            sim,
+            nav2,
+        ]
+    )

package/runtime/ros2_ws/src/agenticros_sim/maps/agenticros_indoor.yaml

@@ -0,0 +1,7 @@
+image: agenticros_indoor.pgm
+mode: trinary
+resolution: 0.05
+origin: [-6.0, -6.0, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

package/runtime/ros2_ws/src/agenticros_sim/models/agenticros_amr/model.sdf

@@ -221,11 +221,28 @@
       <odom_topic>odometry</odom_topic>
       <tf_topic>tf</tf_topic>
       <frame_id>odom</frame_id>
-      <child_frame_id>base_link</child_frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
       <max_linear_acceleration>1.0</max_linear_acceleration>
       <max_angular_acceleration>2.0</max_angular_acceleration>
     </plugin>
 
+    <!--
+      Odometry with covariance for ros_gz_bridge on Humble/Jazzy.
+      DiffDrive publishes bare gz.msgs.Odometry on /odometry; some Humble
+      bridge builds only convert OdometryWithCovariance reliably to
+      nav_msgs/Odometry. TF stays on DiffDrive (tf_topic below is unused).
+    -->
+    <plugin
+      filename="gz-sim-odometry-publisher-system"
+      name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>odom</odom_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+      <odom_topic>odometry</odom_topic>
+      <odom_covariance_topic>odometry_with_covariance</odom_covariance_topic>
+      <tf_topic>odometry_publisher_tf_unused</tf_topic>
+      <dimensions>2</dimensions>
+    </plugin>
+
     <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
       <topic>joint_states</topic>
     </plugin>

package/runtime/ros2_ws/src/agenticros_sim/package.xml

@@ -6,8 +6,9 @@
   <description>
     AgenticROS Gazebo Harmonic simulation assets: indoor world, 2-wheel AMR
     model (depth camera + GPU lidar + IMU), ros_gz_bridge config that exposes
-    topics on AgenticROS' real-robot topic names, and a launch file that wires
-    it all together. Use with the agenticros CLI:  agenticros up sim-amr.
+    topics on AgenticROS real-robot topic names, Nav2 bringup for the indoor
+    map (sim_amr_nav2.launch.py), and launch files that wire it all together.
+    Use with the agenticros CLI: agenticros up sim-amr [--nav2].
   </description>
   <maintainer email="hello@plaipin.com">PlaiPin</maintainer>
   <license>Apache-2.0</license>
@@ -20,6 +21,18 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <!-- Optional Nav2 stack (sim_amr_nav2.launch.py / agenticros up sim-amr with nav2) -->
+  <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>nav2_bt_navigator</exec_depend>
+  <exec_depend>nav2_amcl</exec_depend>
+  <exec_depend>nav2_map_server</exec_depend>
+  <exec_depend>nav2_controller</exec_depend>
+  <exec_depend>nav2_planner</exec_depend>
+  <exec_depend>nav2_behaviors</exec_depend>
+  <exec_depend>nav2_smoother</exec_depend>
+  <exec_depend>nav2_waypoint_follower</exec_depend>
+  <exec_depend>nav2_velocity_smoother</exec_depend>
+  <exec_depend>nav2_lifecycle_manager</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

package/runtime/ros2_ws/src/agenticros_sim/urdf/agenticros_amr.urdf.xacro

@@ -19,6 +19,15 @@
 -->
 <robot name="agenticros_amr" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <!-- ===================== base_footprint (Nav2 / costmap convention) ===================== -->
+  <link name="base_footprint"/>
+  <joint name="base_footprint_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <!-- base_link visual origin is chassis center ~0.10 m above ground -->
+    <origin xyz="0 0 0.10" rpy="0 0 0"/>
+  </joint>
+
   <!-- ===================== base_link ===================== -->
   <link name="base_link">
     <visual>

package/runtime/scripts/sim/run_sim.sh

@@ -7,13 +7,14 @@
 # tees output to /tmp/agenticros-sim.log so `agenticros logs sim` works.
 #
 # Usage:
-#   run_sim.sh --robot amr [--namespace sim_robot] [--rviz] [--no-gui]
+#   run_sim.sh --robot amr [--namespace sim_robot] [--rviz] [--no-gui] [--nav2]
 #
 # Flags:
 #   --robot amr|arm        Which sim launch to start (default: amr).
 #   --namespace <ns>       Robot namespace; exported as AGENTICROS_ROBOT_NAMESPACE.
 #   --rviz                 Bring up RViz alongside Gazebo.
 #   --no-gui               Run gz-sim headless (CI / docker).
+#   --nav2                 AMR only: also launch Nav2 (map + AMCL + navigation).
 #   --ros-distro <distro>  Override ROS 2 distro (auto-detect by default).
 #   --colcon-ws <path>     Override the colcon workspace (default: <repo>/ros2_ws).
 #   --help                 Print this help and exit.
@@ -34,6 +35,7 @@ ROBOT="amr"
 NAMESPACE=""
 USE_RVIZ="false"
 GUI="true"
+USE_NAV2="false"
 ROS_DISTRO_OVERRIDE=""
 COLCON_WS=""
 
@@ -43,10 +45,11 @@ while [[ $# -gt 0 ]]; do
     --namespace)    NAMESPACE="$2"; shift 2 ;;
     --rviz)         USE_RVIZ="true"; shift ;;
     --no-gui)       GUI="false"; shift ;;
+    --nav2)         USE_NAV2="true"; shift ;;
     --ros-distro)   ROS_DISTRO_OVERRIDE="$2"; shift 2 ;;
     --colcon-ws)    COLCON_WS="$2"; shift 2 ;;
     -h|--help)
-      sed -n '2,24p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+      sed -n '2,26p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
       exit 0 ;;
     *) echo "Unknown arg: $1" >&2; exit 2 ;;
   esac
@@ -57,6 +60,11 @@ if [[ "$ROBOT" != "amr" && "$ROBOT" != "arm" ]]; then
   exit 2
 fi
 
+if [[ "$USE_NAV2" == "true" && "$ROBOT" != "amr" ]]; then
+  echo "--nav2 is only supported with --robot amr" >&2
+  exit 2
+fi
+
 # ---------- paths ----------
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
@@ -85,7 +93,7 @@ fi
 
 log "ROS_DISTRO=$ROS_DISTRO"
 log "COLCON_WS=$COLCON_WS"
-log "robot=$ROBOT  namespace=${NAMESPACE:-<none>}  rviz=$USE_RVIZ  gui=$GUI"
+log "robot=$ROBOT  namespace=${NAMESPACE:-<none>}  rviz=$USE_RVIZ  gui=$GUI  nav2=$USE_NAV2"
 
 # shellcheck disable=SC1090
 source "/opt/ros/$ROS_DISTRO/setup.bash"
@@ -145,10 +153,23 @@ LAUNCH_ARGS=(
 
 # ---------- Pick launch file ----------
 case "$ROBOT" in
-  amr) LAUNCH_FILE="sim_amr.launch.py" ;;
-  arm) LAUNCH_FILE="sim_arm.launch.py" ;;  # Phase 3
+  amr)
+    if [[ "$USE_NAV2" == "true" ]]; then
+      LAUNCH_FILE="sim_amr_nav2.launch.py"
+    else
+      LAUNCH_FILE="sim_amr.launch.py"
+    fi
+    ;;
+  arm) LAUNCH_FILE="sim_arm.launch.py" ;;
 esac
 
+if [[ "$USE_NAV2" == "true" ]]; then
+  if ! ros2 pkg prefix nav2_bringup >/dev/null 2>&1; then
+    err "nav2_bringup not found. Install: sudo apt install ros-\$ROS_DISTRO-nav2-bringup"
+    exit 1
+  fi
+fi
+
 if ! ros2 launch --help >/dev/null 2>&1; then
   err "ros2 launch not available — is ROS sourced properly?"
   exit 1

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);
+});