agenticros 0.5.4 → 0.5.5

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/menu.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"menu.d.ts","sourceRoot":"","sources":["../src/menu.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AA2BH,wBAAsB,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC,CAc7C"}
+{"version":3,"file":"menu.d.ts","sourceRoot":"","sources":["../src/menu.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AA4BH,wBAAsB,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC,CAc7C"}

package/dist/menu.js

@@ -22,6 +22,7 @@ import { doctorCommand, hasRedChecks } from "./commands/doctor.js";
 import { statusCommand } from "./commands/status.js";
 import { logsCommand } from "./commands/logs.js";
 import { configCommand } from "./commands/config.js";
+import { eyesCommand } from "./commands/eyes.js";
 import { createSkillCommand } from "./commands/create-skill.js";
 import { publishSkillCommand } from "./commands/publish-skill.js";
 import { skillsCommand } from "./commands/skills.js";
@@ -59,6 +60,7 @@ async function runMenuOnce() {
     const baseChoices = [
         { name: "Launch with real robot", value: "real" },
         { name: "Launch with simulation", value: "sim" },
+        { name: "Start robot eyes (local display)", value: "eyes" },
         { name: "First-time setup (workspace + OpenClaw plugin + API key)", value: "init" },
         { name: `Manage skills${skillsSuffix}`, value: "skills" },
         { name: "Stop everything", value: "down" },
@@ -93,6 +95,9 @@ async function runMenuOnce() {
             // launched === true ⇒ upCommand has taken over; otherwise back to main.
             return launched;
         }
+        case "eyes":
+            await eyesCommand({});
+            return false;
         case "init":
             await initCommand({});
             return false;

package/dist/menu.js.map

@@ -1 +1 @@
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+{"version":3,"file":"menu.js","sourceRoot":"","sources":["../src/menu.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AAEH,OAAO,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAElD,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,YAAY,EAAE,MAAM,sBAAsB,CAAC;AACnE,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,WAAW,EAAE,MAAM,oBAAoB,CAAC;AACjD,OAAO,EAAE,kBAAkB,EAAE,MAAM,4BAA4B,CAAC;AAChE,OAAO,EAAE,mBAAmB,EAAE,MAAM,6BAA6B,CAAC;AAClE,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,OAAO,EAAE,MAAM,EAAE,IAAI,EAAE,KAAK,EAAE,GAAG,EAAE,MAAM,kBAAkB,CAAC;AAC5D,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AACvD,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAQ9C,kFAAkF;AAClF,MAAM,IAAI,GAAG,UAAmB,CAAC;AAEjC,MAAM,CAAC,KAAK,UAAU,OAAO;IAC3B,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,IAAI,CACF,uGAAuG,CACxG,CAAC;QACF,OAAO;IACT,CAAC;IAED,MAAM,CAAC,gDAAgD,CAAC,CAAC;IAEzD,OAAO,IAAI,EAAE,CAAC;QACZ,MAAM,UAAU,GAAG,MAAM,WAAW,EAAE,CAAC;QACvC,IAAI,UAAU;YAAE,OAAO;IACzB,CAAC;AACH,CAAC;AAED;;;;GAIG;AACH,KAAK,UAAU,WAAW;IACxB,MAAM,KAAK,GAAG,SAAS,EAAE,CAAC;IAC1B,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAC;QACnB,MAAM,GAAG,GAAG,SAAS,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;QACtC,GAAG,CAAC,cAAc,KAAK,CAAC,QAAQ,GAAG,GAAG,CAAC,CAAC,CAAC,KAAK,GAAG,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC;IAC/D,CAAC;IAED,MAAM,WAAW,GAAG,MAAM,YAAY,EAAE,CAAC;IAEzC,MAAM,aAAa,GAAG,cAAc,EAAE,CAAC;IACvC,MAAM,YAAY,GAAG,kBAAkB,CAAC,aAAa,CAAC,CAAC;IAEvD,MAAM,WAAW,GAAiB;QAChC,EAAE,IAAI,EAAE,wBAAwB,EAAE,KAAK,EAAE,MAAM,EAAE;QACjD,EAAE,IAAI,EAAE,wBAAwB,EAAE,KAAK,EAAE,KAAK,EAAE;QAChD,EAAE,IAAI,EAAE,kCAAkC,EAAE,KAAK,EAAE,MAAM,EAAE;QAC3D,EAAE,IAAI,EAAE,0DAA0D,EAAE,KAAK,EAAE,MAAM,EAAE;QACnF,EAAE,IAAI,EAAE,gBAAgB,YAAY,EAAE,EAAE,KAAK,EAAE,QAAQ,EAAE;QACzD,EAAE,IAAI,EAAE,iBAAiB,EAAE,KAAK,EAAE,MAAM,EAAE;QAC1C,EAAE,IAAI,EAAE,uBAAuB,EAAE,KAAK,EAAE,QAAQ,EAAE;QAClD,EAAE,IAAI,EAAE,4CAA4C,EAAE,KAAK,EAAE,QAAQ,EAAE;QACvE,EAAE,IAAI,EAAE,WAAW,EAAE,KAAK,EAAE,MAAM,EAAE;QACpC,EAAE,IAAI,EAAE,aAAa,EAAE,KAAK,EAAE,QAAQ,EAAE;QACxC,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;KAChC,CAAC;IAEF,MAAM,OAAO,GAAiB,WAAW;QACvC,CAAC,CAAC;YACE,WAAW,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,KAAK,MAAM,CAAE;YAC5C,GAAG,WAAW,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,KAAK,MAAM,CAAC;SACjD;QACH,CAAC,CAAC,WAAW,CAAC;IAEhB,MAAM,MAAM,GAAG,MAAM,MAAM,CAAS;QAClC,OAAO,EAAE,4BAA4B;QACrC,OAAO;QACP,OAAO,EAAE,WAAW;YAClB,CAAC,CAAC,MAAM;YACR,CAAC,CAAC,KAAK,CAAC,QAAQ,KAAK,SAAS,IAAI,KAAK,CAAC,QAAQ,KAAK,SAAS;gBAC5D,CAAC,CAAC,KAAK;gBACP,CAAC,CAAC,MAAM;KACb,CAAC,CAAC;IAEH,QAAQ,MAAM,EAAE,CAAC;QACf,KAAK,MAAM;YACT,MAAM,SAAS,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC;YACpC,0DAA0D;YAC1D,OAAO,IAAI,CAAC;QACd,KAAK,KAAK,CAAC,CAAC,CAAC;YACX,MAAM,QAAQ,GAAG,MAAM,UAAU,EAAE,CAAC;YACpC,wEAAwE;YACxE,OAAO,QAAQ,CAAC;QAClB,CAAC;QACD,KAAK,MAAM;YACT,MAAM,WAAW,CAAC,EAAE,CAAC,CAAC;YACtB,OAAO,KAAK,CAAC;QACf,KAAK,MAAM;YACT,MAAM,WAAW,CAAC,EAAE,CAAC,CAAC;YACtB,OAAO,KAAK,CAAC;QACf,KAAK,MAAM;YACT,MAAM,WAAW,CAAC,EAAE,CAAC,CAAC;YACtB,OAAO,KAAK,CAAC;QACf,KAAK,QAAQ;YACX,MAAM,aAAa,CAAC,EAAE,CAAC,CAAC;YACxB,OAAO,KAAK,CAAC;QACf,KAAK,QAAQ;YACX,MAAM,aAAa,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC;YACxC,OAAO,KAAK,CAAC;QACf,KAAK,QAAQ;YACX,MAAM,aAAa,EAAE,CAAC;YACtB,OAAO,KAAK,CAAC;QACf,KAAK,MAAM;YACT,MAAM,WAAW,CAAC,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC;YACzC,OAAO,KAAK,CAAC;QACf,KAAK,QAAQ;YACX,MAAM,aAAa,CAAC,EAAE,CAAC,CAAC;YACxB,OAAO,KAAK,CAAC;QACf,KAAK,MAAM,CAAC;QACZ;YACE,OAAO,IAAI,CAAC;IAChB,CAAC;AACH,CAAC;AAED;;;;;GAKG;AACH,KAAK,UAAU,UAAU;IACvB,MAAM,MAAM,GAAG,MAAM,MAAM,CAAsC;QAC/D,OAAO,EAAE,wBAAwB;QACjC,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,sCAAsC,EAAE,KAAK,EAAE,SAAS,EAAE;YAClE;gBACE,IAAI,EAAE,qDAAqD;gBAC3D,KAAK,EAAE,SAAS;aACjB;YACD,EAAE,IAAI,EAAE,mBAAmB,EAAE,KAAK,EAAE,IAAI,EAAE;SAC3C;QACD,OAAO,EAAE,SAAS;KACnB,CAAC,CAAC;IACH,IAAI,MAAM,KAAK,IAAI;QAAE,OAAO,KAAK,CAAC;IAElC,MAAM,UAAU,GAAG,MAAM,MAAM,CAA6B;QAC1D,OAAO,EAAE,YAAY;QACrB,OAAO,EAAE;YACP,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE;YAC3B,EAAE,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE;YAC7B,EAAE,IAAI,EAAE,mBAAmB,EAAE,KAAK,EAAE,IAAI,EAAE;SAC3C;QACD,OAAO,EAAE,IAAI;KACd,CAAC,CAAC;IACH,IAAI,UAAU,KAAK,IAAI;QAAE,OAAO,KAAK,CAAC;IAEtC,MAAM,SAAS,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,KAAK,KAAK,EAAE,CAAC,CAAC;IACxD,OAAO,IAAI,CAAC;AACd,CAAC;AAED;;;;GAIG;AACH,KAAK,UAAU,aAAa;IAC1B,OAAO,IAAI,EAAE,CAAC;QACZ,MAAM,OAAO,GAAG,cAAc,EAAE,CAAC;QACjC,MAAM,YAAY,GAAG,OAAO,IAAI,OAAO,CAAC,SAAS,CAAC,MAAM,GAAG,CAAC,CAAC;QAC7D,MAAM,aAAa,GAAG,OAAO,IAAI,OAAO,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,CAAC;QAC/D,MAAM,MAAM,GAAG,MAAM,MAAM,CAAS;YAClC,OAAO,EAAE,SAAS;YAClB,OAAO,EAAE;gBACP,EAAE,IAAI,EAAE,oBAAoB,EAAE,KAAK,EAAE,QAAQ,EAAE;gBAC/C,EAAE,IAAI,EAAE,sCAAsC,EAAE,KAAK,EAAE,SAAS,EAAE;gBAClE,EAAE,IAAI,EAAE,6BAA6B,EAAE,KAAK,EAAE,MAAM,EAAE;gBACtD,EAAE,IAAI,EAAE,4CAA4C,EAAE,KAAK,EAAE,QAAQ,EAAE;gBACvE,EAAE,IAAI,EAAE,wCAAwC,EAAE,KAAK,EAAE,SAAS,EAAE;gBACpE;oBACE,IAAI,EAAE,YAAY;wBAChB,CAAC,CAAC,qCAAqC,OAAQ,CAAC,SAAS,CAAC,MAAM,SAAS;wBACzE,CAAC,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package/dist/util/eyes.d.ts

@@ -0,0 +1,23 @@
+/**
+ * Helpers for launching @agenticros/eyes from the CLI.
+ *
+ * Resolves cmd_vel topic + safety limits from ~/.agenticros/config.json
+ * (same conventions as OpenClaw teleop) and finds the eyes package entry.
+ */
+/** Pure topic resolution (testable). Override → teleop.cmdVelTopic → namespaced /cmd_vel. */
+export declare function cmdVelTopicFromConfig(raw: Record<string, unknown>, topicOverride?: string): string;
+/** Resolve Twist topic from ~/.agenticros/config.json (+ optional CLI override). */
+export declare function resolveCmdVelTopic(topicOverride?: string): string;
+export declare function safetyLimitsFromConfig(raw: Record<string, unknown>): {
+    maxLinearVelocity: number;
+    maxAngularVelocity: number;
+};
+export declare function resolveSafetyLimits(): {
+    maxLinearVelocity: number;
+    maxAngularVelocity: number;
+};
+/** Absolute path to packages/robot-eyes/src/index.js, or undefined if missing. */
+export declare function resolveEyesEntry(): string | undefined;
+/** Package root (for cwd so node resolves ws/rclnodejs). */
+export declare function resolveEyesPkgDir(): string | undefined;
+//# sourceMappingURL=eyes.d.ts.map

package/dist/util/eyes.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"eyes.d.ts","sourceRoot":"","sources":["../../src/util/eyes.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAUH,6FAA6F;AAC7F,wBAAgB,qBAAqB,CACnC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC5B,aAAa,CAAC,EAAE,MAAM,GACrB,MAAM,CAQR;AAED,oFAAoF;AACpF,wBAAgB,kBAAkB,CAAC,aAAa,CAAC,EAAE,MAAM,GAAG,MAAM,CAEjE;AAED,wBAAgB,sBAAsB,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG;IACpE,iBAAiB,EAAE,MAAM,CAAC;IAC1B,kBAAkB,EAAE,MAAM,CAAC;CAC5B,CAMA;AAED,wBAAgB,mBAAmB,IAAI;IACrC,iBAAiB,EAAE,MAAM,CAAC;IAC1B,kBAAkB,EAAE,MAAM,CAAC;CAC5B,CAEA;AAED,kFAAkF;AAClF,wBAAgB,gBAAgB,IAAI,MAAM,GAAG,SAAS,CAKrD;AAED,4DAA4D;AAC5D,wBAAgB,iBAAiB,IAAI,MAAM,GAAG,SAAS,CAKtD"}

package/dist/util/eyes.js

@@ -0,0 +1,53 @@
+/**
+ * Helpers for launching @agenticros/eyes from the CLI.
+ *
+ * Resolves cmd_vel topic + safety limits from ~/.agenticros/config.json
+ * (same conventions as OpenClaw teleop) and finds the eyes package entry.
+ */
+import { existsSync } from "node:fs";
+import { join } from "node:path";
+import { parseConfig, toNamespacedTopicFull } from "@agenticros/core";
+import { readConfigObject } from "./robot-config.js";
+import { getCliPaths } from "./paths.js";
+/** Pure topic resolution (testable). Override → teleop.cmdVelTopic → namespaced /cmd_vel. */
+export function cmdVelTopicFromConfig(raw, topicOverride) {
+    const trimmed = (topicOverride ?? "").trim();
+    if (trimmed)
+        return trimmed.startsWith("/") ? trimmed : `/${trimmed}`;
+    const config = parseConfig(raw);
+    const fromTeleop = (config.teleop?.cmdVelTopic ?? "").trim();
+    if (fromTeleop)
+        return fromTeleop;
+    return toNamespacedTopicFull(config, "/cmd_vel");
+}
+/** Resolve Twist topic from ~/.agenticros/config.json (+ optional CLI override). */
+export function resolveCmdVelTopic(topicOverride) {
+    return cmdVelTopicFromConfig(readConfigObject(), topicOverride);
+}
+export function safetyLimitsFromConfig(raw) {
+    const config = parseConfig(raw);
+    return {
+        maxLinearVelocity: config.safety?.maxLinearVelocity ?? 1.0,
+        maxAngularVelocity: config.safety?.maxAngularVelocity ?? 1.5,
+    };
+}
+export function resolveSafetyLimits() {
+    return safetyLimitsFromConfig(readConfigObject());
+}
+/** Absolute path to packages/robot-eyes/src/index.js, or undefined if missing. */
+export function resolveEyesEntry() {
+    const paths = getCliPaths();
+    if (!paths.repoRoot)
+        return undefined;
+    const entry = join(paths.repoRoot, "packages", "robot-eyes", "src", "index.js");
+    return existsSync(entry) ? entry : undefined;
+}
+/** Package root (for cwd so node resolves ws/rclnodejs). */
+export function resolveEyesPkgDir() {
+    const paths = getCliPaths();
+    if (!paths.repoRoot)
+        return undefined;
+    const dir = join(paths.repoRoot, "packages", "robot-eyes");
+    return existsSync(dir) ? dir : undefined;
+}
+//# sourceMappingURL=eyes.js.map

package/dist/util/eyes.js.map

@@ -0,0 +1 @@
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package/dist/util/pidfile.d.ts

@@ -3,7 +3,7 @@
  * (RealSense camera, Gazebo, etc.). Same /tmp/agenticros-*.pid convention as
  * the existing scripts/start_demo.sh.
  */
-export type ManagedProcess = "camera" | "sim" | "mcp" | "rosbridge";
+export type ManagedProcess = "camera" | "sim" | "mcp" | "rosbridge" | "eyes";
 export declare function writePid(name: ManagedProcess, pid: number): void;
 export declare function readPid(name: ManagedProcess): number | undefined;
 /** True if the recorded PID exists and is still alive. */

package/dist/util/pidfile.d.ts.map

@@ -1 +1 @@
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package/dist/util/pidfile.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.5.4",
+  "version": "0.5.5",
   "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": [
@@ -35,6 +35,16 @@
   "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",
@@ -54,14 +64,5 @@
     "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": "2026-07-13T21:57:44.063Z",
+  "packedAt": "2026-07-16T15:03:31.399Z",
   "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

@@ -136,8 +136,9 @@ Full architecture + design trade-offs: **[docs/strategy-ai-agents-plus-ros.md](d
 - `**packages/agenticros**` — OpenClaw plugin: tools, commands, config page, teleop routes.
 - `**packages/agenticros-claude-code**` — MCP server for Claude Code + Claude desktop / Dispatch (tools only; no config UI).
 - `**packages/agenticros-gemini**` — Gemini CLI (function calling; no MCP).
+- `**packages/robot-eyes**` — On-robot face display (`agenticros eyes`): animated eyes follow `cmd_vel` turns; optional WASD. See [docs/eyes.md](docs/eyes.md).
 - `**ros2_ws/**` — ROS2 workspace: `agenticros_msgs`, `agenticros_bringup` (Gazebo + RViz + rosbridge launches), `agenticros_discovery`, `agenticros_agent`, `agenticros_follow_me`.
-- `**docs/**` — Architecture, skills, robot setup, Zenoh, teleop, **[local VLM / Ollama](docs/local-vlm.md)**.
+- `**docs/**` — Architecture, skills, robot setup, Zenoh, teleop, eyes, **[local VLM / Ollama](docs/local-vlm.md)**.
 - `**scripts/**` — Workspace setup, gateway plugin config, run demos.
 - `**docker/**` — Docker Compose and Dockerfiles for ROS2 + plugin images.
 - `**examples/**` — Example projects.
@@ -194,10 +195,11 @@ agenticros codex doctor         # validate ~/.codex/config.toml
 agenticros hermes setup         # register AgenticROS MCP for Hermes Agent
 agenticros hermes doctor        # validate ~/.hermes/config.yaml
 agenticros up real              # real robot stack
+agenticros up real --eyes       # real robot + on-display robot eyes
 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 eyes                 # fullscreen robot eyes on a tablet / head unit
 agenticros mode <real|sim>      # swap the active config profile (namespace, transport)
 agenticros robots               # list / add / remove robots in the fleet (kind, sensors, capabilities)
 agenticros skills               # list / add / remove AgenticROS skills (see below)

package/runtime/docs/cli.md

@@ -49,11 +49,21 @@ Flags:
 - `--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)
+- `--eyes` also start robot eyes on the local display (see [eyes.md](eyes.md))
+- `--eyes-no-teleop` with `--eyes`: gaze only (no WASD publish)
+- `--eyes-no-browser` with `--eyes`: serve UI without opening a kiosk browser
 
-### `agenticros down [--keep-camera] [--keep-gateway]`
+### `agenticros eyes [--no-browser] [--no-teleop] [--port <n>] [--topic <path>]`
 
-SIGTERMs every process recorded in `/tmp/agenticros-*.pid` and stops the
-`openclaw-gateway.service` user unit (unless `--keep-gateway`). Also cleans
+Start fullscreen robot eyes on a tablet / face display. Subscribes to the
+configured `cmd_vel` topic for left/right gaze; optionally publishes WASD
+keyboard teleop. Runs over local DDS on the robot — not the OpenClaw remote
+teleop page. Full details: [eyes.md](eyes.md).
+
+### `agenticros down [--keep-camera] [--stop-gateway]`
+
+SIGTERMs every process recorded in `/tmp/agenticros-*.pid` (including eyes)
+and leaves the OpenClaw gateway running unless `--stop-gateway`. Also cleans
 up stray `gz sim`, `rviz2`, and `parameter_bridge` processes.
 
 ### `agenticros init [--force] [--install-dir <path>]`
@@ -163,12 +173,12 @@ Validate Claude MCP configuration (desktop + project `.mcp.json`). Exits non-zer
 
 ### `agenticros status [--json]`
 
-Shows running components (camera / sim / mcp / rosbridge / openclaw-gateway)
+Shows running components (camera / sim / mcp / rosbridge / eyes / openclaw-gateway)
 and the last-used mode/namespace from `~/.agenticros/cli-state.json`.
 
 ### `agenticros logs [target]`
 
-Tails one of: `camera`, `mcp`, `sim`, `rosbridge`, `gateway`. Without a
+Tails one of: `camera`, `mcp`, `sim`, `rosbridge`, `eyes`, `gateway`. Without a
 target, prints the list of available log targets. Defaults to follow mode
 (`-f`); pass `--no-follow` to disable.
 

package/runtime/docs/eyes.md

@@ -0,0 +1,83 @@
+# Robot eyes (on-robot face display)
+
+`@agenticros/eyes` is a fullscreen “robot face” for tablets and head units. Canvas eyes idle-blink and look left/right when anything publishes a turning Twist on the robot’s `cmd_vel` topic. Optional invisible **WASD** keyboard teleop lets an operator drive from the same screen.
+
+This is **not** the OpenClaw remote teleop page ([teleop.md](teleop.md)). Eyes run **on the robot** over local DDS (`rclnodejs`). Remote camera + twist controls stay in the OpenClaw plugin.
+
+## Requirements
+
+- Node.js 18+
+- ROS 2 (Humble / Jazzy) with a working local graph
+- Graphical display (`DISPLAY`, usually `:0`) for kiosk mode
+- Firefox or Chromium (optional if you open the URL yourself)
+
+## Launch
+
+```bash
+# From a workspace or after `agenticros init`
+agenticros eyes
+
+# Gaze only — do not publish WASD twists (agents/operators drive)
+agenticros eyes --no-teleop
+
+# Serve UI without opening a browser
+agenticros eyes --no-browser
+
+# Override topic / port
+agenticros eyes --topic /my_robot/cmd_vel --port 8765
+
+# With the real-robot stack
+agenticros up real --eyes
+agenticros up real --eyes --eyes-no-teleop
+```
+
+Stop with `agenticros down` (or kill the process recorded in `/tmp/agenticros-eyes.pid`).
+
+Logs: `agenticros logs eyes` → `/tmp/agenticros-eyes.log`.
+
+Interactive menu: **Start robot eyes (local display)**.
+
+## Config
+
+Topic and safety limits come from `~/.agenticros/config.json` (same file as the rest of AgenticROS):
+
+| Source | Effect |
+|--------|--------|
+| `teleop.cmdVelTopic` | Used as-is when set |
+| else `robot.namespace` | Publishes/subscribes `/<namespace>/cmd_vel` |
+| else | `/cmd_vel` |
+| `safety.maxLinearVelocity` / `maxAngularVelocity` | Clamp WASD publishes (defaults 1.0 m/s / 1.5 rad/s) |
+
+CLI `--topic` overrides the config topic. Env vars (`PORT`, `CMD_VEL_TOPIC`, `TELOP_*`, …) still work when running the package directly.
+
+## Keyboard teleop
+
+Focus must be on the eyes browser window. Nothing extra is drawn on screen.
+
+| Key | Action |
+|-----|--------|
+| `W` / `S` | Forward / backward |
+| `A` / `D` | Turn left / right |
+| `Q` / `Z` | Faster / slower |
+| `F` | Fullscreen |
+
+Keys can be combined. Releasing all movement keys publishes a zero Twist. Multiple publishers on `cmd_vel` are last-writer-wins (normal for ROS teleop); gaze still follows agent-driven twists when WASD is unused or `--no-teleop` is set.
+
+## Gaze behaviour
+
+- Turning left (`angular.z > 0`) → eyes look **right**
+- Turning right (`angular.z < 0`) → eyes look **left**
+- Idle: occasional blinks and subtle look-around
+- Recenters when `|angular.z|` is below the deadzone or commands stop
+
+## Architecture
+
+```
+Browser (canvas + optional WASD)
+    ↕ WebSocket (127.0.0.1:8765)
+@agenticros/eyes (rclnodejs node /robot_eyes)
+    ↕ local DDS
+cmd_vel Twist  ← also written by MCP / OpenClaw / motors consumers
+```
+
+Package path: [`packages/robot-eyes`](../packages/robot-eyes).

package/runtime/packages/robot-eyes/README.md

@@ -0,0 +1,25 @@
+# @agenticros/eyes
+
+Fullscreen robot eyes for an Ubuntu tablet or robot display, driven by ROS 2 `cmd_vel` (`geometry_msgs/Twist`).
+
+Part of the [AgenticROS](https://github.com/agenticros/agenticros) monorepo. Prefer launching via the CLI:
+
+```bash
+agenticros eyes
+agenticros eyes --no-browser
+agenticros eyes --no-teleop          # gaze only (no WASD publish)
+agenticros up real --eyes            # start eyes after the real-robot stack
+```
+
+See [docs/eyes.md](../../docs/eyes.md) for setup, config, and keyboard teleop.
+
+## Direct run (development)
+
+```bash
+source /opt/ros/jazzy/setup.bash
+cd packages/robot-eyes
+pnpm install   # from monorepo root is preferred
+pnpm start
+```
+
+Requires Node 18+, ROS 2, and a graphical display (`DISPLAY`) for kiosk mode.

package/runtime/packages/robot-eyes/package.json

@@ -0,0 +1,49 @@
+{
+  "name": "@agenticros/eyes",
+  "version": "1.0.0",
+  "description": "Fullscreen robot eyes for tablet/display devices, driven by ROS 2 cmd_vel Twist",
+  "type": "module",
+  "main": "./src/index.js",
+  "bin": {
+    "agenticros-eyes": "./src/index.js"
+  },
+  "files": [
+    "src",
+    "public",
+    "README.md"
+  ],
+  "scripts": {
+    "build": "node -e \"process.exit(0)\"",
+    "typecheck": "node -e \"process.exit(0)\"",
+    "start": "node src/index.js",
+    "start:no-browser": "node src/index.js --no-browser",
+    "test": "node -e \"process.exit(0)\""
+  },
+  "engines": {
+    "node": ">=18"
+  },
+  "dependencies": {
+    "ws": "^8.18.0"
+  },
+  "optionalDependencies": {
+    "rclnodejs": "^1.9.0"
+  },
+  "keywords": [
+    "agenticros",
+    "ros2",
+    "robot",
+    "eyes",
+    "cmd_vel",
+    "teleop"
+  ],
+  "publishConfig": {
+    "access": "public"
+  },
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/agenticros/agenticros.git",
+    "directory": "packages/robot-eyes"
+  },
+  "author": "PlaiPin",
+  "license": "MIT"
+}