agenticros 0.5.3 → 0.5.5

package/runtime/packages/robot-eyes/src/index.js

@@ -0,0 +1,410 @@
+#!/usr/bin/env node
+/**
+ * @agenticros/eyes — fullscreen robot face driven by ROS 2 cmd_vel Twist.
+ *
+ * Subscribes to CMD_VEL_TOPIC for gaze (left/right turns). Optionally publishes
+ * the same topic from invisible WASD keyboard teleop (disabled with --no-teleop).
+ *
+ * Env (set by `agenticros eyes` from ~/.agenticros/config.json):
+ *   CMD_VEL_TOPIC, MAX_LINEAR_VELOCITY, MAX_ANGULAR_VELOCITY, PORT, …
+ */
+import { createRequire } from "module";
+import http from "http";
+import fs from "fs";
+import path from "path";
+import { fileURLToPath } from "url";
+import { spawn, execFileSync } from "child_process";
+import { WebSocketServer } from "ws";
+
+const require = createRequire(import.meta.url);
+let rclnodejs;
+try {
+  rclnodejs = require("rclnodejs");
+} catch (e) {
+  console.error(
+    "Failed to load rclnodejs. Source ROS 2 and reinstall deps on the robot:\n" +
+      "  source /opt/ros/<distro>/setup.bash && pnpm install --filter @agenticros/eyes\n" +
+      String(e instanceof Error ? e.message : e),
+  );
+  process.exit(1);
+}
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = path.dirname(__filename);
+const PUBLIC_DIR = path.join(__dirname, "..", "public");
+
+const PORT = Number(process.env.PORT || 8765);
+const TOPIC = process.env.CMD_VEL_TOPIC || "/cmd_vel";
+const ANGULAR_DEADZONE = Number(process.env.ANGULAR_DEADZONE || 0.05);
+const CMD_TIMEOUT_MS = Number(process.env.CMD_TIMEOUT_MS || 300);
+const NO_BROWSER = process.argv.includes("--no-browser");
+const NO_TELEOP =
+  process.argv.includes("--no-teleop") ||
+  process.env.AGENTICROS_EYES_NO_TELEOP === "1";
+
+const MAX_LINEAR = Number(process.env.MAX_LINEAR_VELOCITY || 1.0);
+const MAX_ANGULAR = Number(process.env.MAX_ANGULAR_VELOCITY || 1.5);
+
+const TELOP_LINEAR = Math.min(
+  Number(process.env.TELOP_LINEAR || 0.25),
+  MAX_LINEAR,
+);
+const TELOP_ANGULAR = Math.min(
+  Number(process.env.TELOP_ANGULAR || 0.9),
+  MAX_ANGULAR,
+);
+const TELOP_SCALE_STEP = Number(process.env.TELOP_SCALE_STEP || 0.15);
+const TELOP_SCALE_MIN = Number(process.env.TELOP_SCALE_MIN || 0.2);
+const TELOP_SCALE_MAX = Number(process.env.TELOP_SCALE_MAX || 3);
+const TELOP_RATE_HZ = Number(process.env.TELOP_RATE_HZ || 20);
+
+/** @type {{ gazeX: number, driving: boolean, lastCmdAt: number }} */
+const state = {
+  gazeX: 0,
+  driving: false,
+  lastCmdAt: 0,
+};
+
+const teleop = {
+  /** @type {Map<object, { w: boolean, a: boolean, s: boolean, d: boolean }>} */
+  clients: new Map(),
+  scale: 1,
+  publishing: false,
+};
+
+function mimeType(filePath) {
+  const ext = path.extname(filePath).toLowerCase();
+  switch (ext) {
+    case ".html":
+      return "text/html; charset=utf-8";
+    case ".js":
+      return "application/javascript; charset=utf-8";
+    case ".css":
+      return "text/css; charset=utf-8";
+    case ".svg":
+      return "image/svg+xml";
+    case ".png":
+      return "image/png";
+    default:
+      return "application/octet-stream";
+  }
+}
+
+function createHttpServer() {
+  return http.createServer((req, res) => {
+    const urlPath = decodeURIComponent((req.url || "/").split("?")[0]);
+    const rel = urlPath === "/" ? "/index.html" : urlPath;
+    const filePath = path.normalize(path.join(PUBLIC_DIR, rel));
+
+    if (!filePath.startsWith(PUBLIC_DIR)) {
+      res.writeHead(403).end("Forbidden");
+      return;
+    }
+
+    // Gaze-only mode: serve HTML without the teleop script.
+    if (NO_TELEOP && rel === "/index.html") {
+      fs.readFile(filePath, "utf8", (err, html) => {
+        if (err) {
+          res.writeHead(404).end("Not found");
+          return;
+        }
+        const stripped = html.replace(
+          /\s*<script type="module" src="\/teleop\.js"><\/script>\s*/i,
+          "\n",
+        );
+        res.writeHead(200, { "Content-Type": "text/html; charset=utf-8" });
+        res.end(stripped);
+      });
+      return;
+    }
+
+    fs.readFile(filePath, (err, data) => {
+      if (err) {
+        res.writeHead(404).end("Not found");
+        return;
+      }
+      res.writeHead(200, { "Content-Type": mimeType(filePath) });
+      res.end(data);
+    });
+  });
+}
+
+function broadcast(wss, payload) {
+  const raw = JSON.stringify(payload);
+  for (const client of wss.clients) {
+    if (client.readyState === 1) {
+      client.send(raw);
+    }
+  }
+}
+
+function gazeFromTwist(msg) {
+  const z = msg?.angular?.z ?? 0;
+  if (Math.abs(z) < ANGULAR_DEADZONE) {
+    return { gazeX: 0, driving: false };
+  }
+  // +angular.z = left turn → eyes look right (screen +X)
+  return { gazeX: z > 0 ? 1 : -1, driving: true };
+}
+
+function mergedKeys() {
+  const keys = { w: false, a: false, s: false, d: false };
+  for (const k of teleop.clients.values()) {
+    keys.w ||= k.w;
+    keys.a ||= k.a;
+    keys.s ||= k.s;
+    keys.d ||= k.d;
+  }
+  return keys;
+}
+
+function clampTwist(twist) {
+  const { linear, angular } = twist;
+  const lx = linear?.x ?? 0;
+  const ly = linear?.y ?? 0;
+  const lz = linear?.z ?? 0;
+  const ax = angular?.x ?? 0;
+  const ay = angular?.y ?? 0;
+  const az = angular?.z ?? 0;
+
+  const linMag = Math.sqrt(lx * lx + ly * ly + lz * lz);
+  const scaleLin = linMag > MAX_LINEAR && linMag > 0 ? MAX_LINEAR / linMag : 1;
+  const angMag = Math.abs(az);
+  const scaleAng = angMag > MAX_ANGULAR && angMag > 0 ? MAX_ANGULAR / angMag : 1;
+
+  return {
+    linear: { x: lx * scaleLin, y: ly * scaleLin, z: lz * scaleLin },
+    angular: {
+      x: ax * scaleAng,
+      y: ay * scaleAng,
+      z: Math.max(-MAX_ANGULAR, Math.min(MAX_ANGULAR, az)),
+    },
+  };
+}
+
+function twistFromKeys(keys) {
+  const linear = TELOP_LINEAR * teleop.scale;
+  const angular = TELOP_ANGULAR * teleop.scale;
+  let x = 0;
+  let z = 0;
+  if (keys.w) x += linear;
+  if (keys.s) x -= linear;
+  if (keys.a) z += angular;
+  if (keys.d) z -= angular;
+  return clampTwist({
+    linear: { x, y: 0, z: 0 },
+    angular: { x: 0, y: 0, z },
+  });
+}
+
+function anyKeyDown(keys) {
+  return keys.w || keys.a || keys.s || keys.d;
+}
+
+function findBrowser() {
+  const candidates = [
+    process.env.BROWSER,
+    "firefox",
+    "chromium-browser",
+    "chromium",
+    "google-chrome",
+    "google-chrome-stable",
+  ].filter(Boolean);
+
+  for (const bin of candidates) {
+    try {
+      execFileSync("which", [bin], { stdio: "ignore" });
+      return bin;
+    } catch {
+      // try next
+    }
+  }
+  return null;
+}
+
+function launchKiosk(url) {
+  const bin = findBrowser();
+  if (!bin) {
+    console.warn("No browser found. Open this URL fullscreen manually:", url);
+    return null;
+  }
+
+  const args = bin.includes("firefox")
+    ? ["--kiosk", url]
+    : ["--kiosk", "--noerrdialogs", "--disable-infobars", `--app=${url}`, url];
+
+  console.log(`Launching ${bin} in kiosk mode → ${url}`);
+  const child = spawn(bin, args, {
+    stdio: "ignore",
+    detached: true,
+    env: { ...process.env, DISPLAY: process.env.DISPLAY || ":0" },
+  });
+  child.unref();
+  child.on("error", (err) => {
+    console.warn(`Failed to launch ${bin}:`, err.message);
+    console.warn("Open this URL fullscreen manually:", url);
+  });
+  return child;
+}
+
+async function main() {
+  await rclnodejs.init();
+  const node = rclnodejs.createNode("robot_eyes");
+  const publisher = NO_TELEOP
+    ? null
+    : node.createPublisher("geometry_msgs/msg/Twist", TOPIC);
+
+  const server = createHttpServer();
+  const wss = new WebSocketServer({ server });
+
+  const publishStop = () => {
+    if (!publisher) return;
+    publisher.publish({
+      linear: { x: 0, y: 0, z: 0 },
+      angular: { x: 0, y: 0, z: 0 },
+    });
+    teleop.publishing = false;
+  };
+
+  const tickTeleop = () => {
+    if (NO_TELEOP || !publisher) return;
+    const keys = mergedKeys();
+    if (!anyKeyDown(keys)) {
+      if (teleop.publishing) {
+        publishStop();
+      }
+      return;
+    }
+    publisher.publish(twistFromKeys(keys));
+    teleop.publishing = true;
+  };
+
+  if (!NO_TELEOP) {
+    setInterval(tickTeleop, Math.max(10, Math.round(1000 / TELOP_RATE_HZ)));
+  }
+
+  wss.on("connection", (ws) => {
+    if (!NO_TELEOP) {
+      teleop.clients.set(ws, { w: false, a: false, s: false, d: false });
+    }
+
+    ws.send(
+      JSON.stringify({
+        type: "gaze",
+        gazeX: state.gazeX,
+        driving: state.driving,
+      }),
+    );
+
+    ws.on("message", (raw) => {
+      if (NO_TELEOP) return;
+      let msg;
+      try {
+        msg = JSON.parse(String(raw));
+      } catch {
+        return;
+      }
+
+      if (msg.type === "keys" && msg.keys && typeof msg.keys === "object") {
+        teleop.clients.set(ws, {
+          w: Boolean(msg.keys.w),
+          a: Boolean(msg.keys.a),
+          s: Boolean(msg.keys.s),
+          d: Boolean(msg.keys.d),
+        });
+        tickTeleop();
+        return;
+      }
+
+      if (msg.type === "speed" && (msg.delta === 1 || msg.delta === -1)) {
+        const next = teleop.scale + msg.delta * TELOP_SCALE_STEP;
+        teleop.scale = Math.min(
+          TELOP_SCALE_MAX,
+          Math.max(TELOP_SCALE_MIN, next),
+        );
+        console.log(
+          `teleop speed scale: ${teleop.scale.toFixed(2)} ` +
+            `(linear≈${(TELOP_LINEAR * teleop.scale).toFixed(2)} m/s, ` +
+            `angular≈${(TELOP_ANGULAR * teleop.scale).toFixed(2)} rad/s)`,
+        );
+      }
+    });
+
+    ws.on("close", () => {
+      if (!NO_TELEOP) {
+        teleop.clients.delete(ws);
+        tickTeleop();
+      }
+    });
+  });
+
+  node.createSubscription("geometry_msgs/msg/Twist", TOPIC, (msg) => {
+    const next = gazeFromTwist(msg);
+    state.gazeX = next.gazeX;
+    state.driving = next.driving;
+    state.lastCmdAt = Date.now();
+    broadcast(wss, {
+      type: "gaze",
+      gazeX: state.gazeX,
+      driving: state.driving,
+    });
+  });
+
+  setInterval(() => {
+    if (!state.driving) return;
+    if (Date.now() - state.lastCmdAt < CMD_TIMEOUT_MS) return;
+    state.gazeX = 0;
+    state.driving = false;
+    broadcast(wss, {
+      type: "gaze",
+      gazeX: 0,
+      driving: false,
+    });
+  }, 50);
+
+  server.listen(PORT, "127.0.0.1", () => {
+    const url = `http://127.0.0.1:${PORT}/`;
+    console.log(`robot-eyes listening on ${url}`);
+    console.log(
+      `${NO_TELEOP ? "Subscribed" : "Subscribed + publishing"} ${TOPIC} ` +
+        `(deadzone=${ANGULAR_DEADZONE}, maxLin=${MAX_LINEAR}, maxAng=${MAX_ANGULAR})`,
+    );
+    if (NO_TELEOP) {
+      console.log("Keyboard teleop disabled (--no-teleop / gaze-only)");
+    } else {
+      console.log(
+        `Keyboard teleop: WASD drive, Q faster, Z slower ` +
+          `(base linear=${TELOP_LINEAR}, angular=${TELOP_ANGULAR})`,
+      );
+    }
+    if (!NO_BROWSER) {
+      launchKiosk(url);
+    } else {
+      console.log("--no-browser: open the URL yourself for fullscreen");
+    }
+  });
+
+  rclnodejs.spin(node);
+
+  const shutdown = async () => {
+    console.log("\nShutting down…");
+    try {
+      publishStop();
+      wss.close();
+      server.close();
+      node.destroy();
+      await rclnodejs.shutdown();
+    } catch {
+      // ignore
+    }
+    process.exit(0);
+  };
+
+  process.on("SIGINT", shutdown);
+  process.on("SIGTERM", shutdown);
+}
+
+main().catch((err) => {
+  console.error(err);
+  process.exit(1);
+});

package/runtime/pnpm-lock.yaml

@@ -157,6 +157,16 @@ importers:
         specifier: ^5.7.0
         version: 5.9.3
 
+  packages/robot-eyes:
+    dependencies:
+      ws:
+        specifier: ^8.18.0
+        version: 8.19.0
+    optionalDependencies:
+      rclnodejs:
+        specifier: ^1.9.0
+        version: 1.9.0
+
   packages/ros-camera:
     dependencies:
       fzstd:
@@ -1687,6 +1697,11 @@ packages:
     engines: {node: '>= 16.13.0'}
     hasBin: true
 
+  rclnodejs@1.9.0:
+    resolution: {integrity: sha512-5nQ39WCnfzYoC1nppBaJR5bzfMHWrRRLGltsS6WqGb8KFJnguOCDMC9tZSxK4YU0oAtciG3/GZqDgZmfAxgUDQ==}
+    engines: {node: '>= 16.13.0'}
+    hasBin: true
+
   readable-stream@3.6.2:
     resolution: {integrity: sha512-9u/sniCrY3D5WdsERHzHE4G2YCXqoG5FTHUiCC4SIbr6XcLZBY05ya9EKjYek9O5xOAwjGq+1JdGBAS7Q9ScoA==}
     engines: {node: '>= 6'}
@@ -1991,7 +2006,7 @@ snapshots:
       zod: 3.25.76
     optionalDependencies:
       node-datachannel: 0.12.0
-      rclnodejs: 1.8.2
+      rclnodejs: 1.9.0
     transitivePeerDependencies:
       - bufferutil
       - jiti
@@ -3510,6 +3525,20 @@ snapshots:
       - supports-color
     optional: true
 
+  rclnodejs@1.9.0:
+    dependencies:
+      '@rclnodejs/ref-array-di': 1.2.2
+      '@rclnodejs/ref-struct-di': 1.1.1
+      bindings: 1.5.0
+      debug: 4.4.3
+      json-bigint: 1.0.0
+      node-addon-api: 8.6.0
+      rxjs: 7.8.2
+      walk: 2.3.15
+    transitivePeerDependencies:
+      - supports-color
+    optional: true
+
   readable-stream@3.6.2:
     dependencies:
       inherits: 2.0.4

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

@@ -21,7 +21,7 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <!-- Optional Nav2 stack for `sim_amr_nav2.launch.py` / `agenticros up sim-amr --nav2` -->
+  <!-- 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>

package/runtime/scripts/pack-runtime.mjs

@@ -14,8 +14,8 @@
  * What ships:
  *   - scripts/                      shell helpers, install scripts, sim entrypoints
  *   - ros2_ws/src/agenticros_*      our ROS 2 packages (msgs + Python nodes)
- *   - packages/{core,ros-camera,agenticros,agenticros-claude-code,agenticros-gemini}
- *                                   TypeScript sources for the workspace, NO dist or node_modules
+ *   - packages/{core,ros-camera,agenticros,agenticros-claude-code,agenticros-gemini,robot-eyes}
+ *                                   TypeScript/JS sources for the workspace, NO dist or node_modules
  *   - packages/agenticros-claude-code/dist  (pre-built so `npx agenticros` works without colcon)
  *   - package.json / pnpm-workspace.yaml / tsconfig.base.json   monorepo manifests
  *   - patches/                      pnpm patchedDependencies (zenoh-ts, ...)
@@ -53,6 +53,7 @@ const INCLUDED_PACKAGES = [
   "agenticros",
   "agenticros-claude-code",
   "agenticros-gemini",
+  "robot-eyes",
 ];
 
 // NOTE: .npmrc is deliberately absent here. npm pack strips .npmrc from
@@ -67,7 +68,7 @@ const TOP_LEVEL_FILES = [
   "README.md",
 ];
 
-const DOCS_FILES = ["cli.md", "architecture.md", "robot-setup.md", "memory.md"];
+const DOCS_FILES = ["cli.md", "architecture.md", "robot-setup.md", "memory.md", "eyes.md"];
 
 const EXCLUDED_DIR_NAMES = new Set([
   "node_modules",