agenticros 0.5.4 → 0.5.6

package/README.md

@@ -16,6 +16,7 @@ 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 eyes         # on-robot face display (tablet / head unit)
 agenticros doctor       # health check
 agenticros down         # stop everything we started
 ```
@@ -69,7 +70,9 @@ Three ways, listed easiest first:
 | `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 up … --eyes` | Also start robot eyes on the local display after the stack comes up. |
+| `agenticros eyes` | Fullscreen robot eyes (cmd_vel gaze + optional WASD). See [docs/eyes.md](../../docs/eyes.md). |
+| `agenticros down` | Stop everything we started (including eyes). |
 | `agenticros doctor` | Coloured health-check table; `--json` for CI. |
 | `agenticros mcp setup` | Register AgenticROS MCP for Codex, Hermes, and Claude (primary). |
 | `agenticros mcp doctor` | Validate all MCP client configs. |
@@ -80,7 +83,7 @@ Three ways, listed easiest first:
 | `agenticros claude setup` | Claude only — Desktop + project `.mcp.json`. |
 | `agenticros claude doctor` | Validate Claude MCP config paths and namespace policy. |
 | `agenticros status` | Snapshot of running components + last mode. |
-| `agenticros logs [target]` | Tail `camera` / `mcp` / `sim` / `rosbridge` / `gateway`. |
+| `agenticros logs [target]` | Tail `camera` / `mcp` / `sim` / `rosbridge` / `eyes` / `gateway`. |
 | `agenticros config [show\|set\|edit\|reset]` | Read or edit `~/.agenticros/config.json`. |
 | `agenticros create-skill <slug>` | Scaffold a new skill package in cwd. |
 | `agenticros publish` | Publish skill in cwd to skills.agenticros.com. |

package/dist/__tests__/eyes.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=eyes.test.d.ts.map

package/dist/__tests__/eyes.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"eyes.test.d.ts","sourceRoot":"","sources":["../../src/__tests__/eyes.test.ts"],"names":[],"mappings":""}

package/dist/__tests__/eyes.test.js

@@ -0,0 +1,30 @@
+import { describe, it } from "node:test";
+import assert from "node:assert/strict";
+import { cmdVelTopicFromConfig, safetyLimitsFromConfig, } from "../util/eyes.js";
+describe("eyes config helpers", () => {
+    it("uses explicit topic override", () => {
+        assert.equal(cmdVelTopicFromConfig({ robot: { namespace: "bot" } }, "custom/cmd_vel"), "/custom/cmd_vel");
+    });
+    it("prefers teleop.cmdVelTopic over namespace", () => {
+        assert.equal(cmdVelTopicFromConfig({
+            robot: { namespace: "bot" },
+            teleop: { cmdVelTopic: "/my/cmd_vel" },
+        }), "/my/cmd_vel");
+    });
+    it("namespaces /cmd_vel from robot.namespace", () => {
+        assert.equal(cmdVelTopicFromConfig({ robot: { namespace: "3946b404-c33e-4aa3-9a8d-16deb1c5c593" } }), "/3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel");
+    });
+    it("falls back to /cmd_vel with empty namespace", () => {
+        assert.equal(cmdVelTopicFromConfig({}), "/cmd_vel");
+    });
+    it("reads safety limits with defaults", () => {
+        assert.deepEqual(safetyLimitsFromConfig({}), {
+            maxLinearVelocity: 1.0,
+            maxAngularVelocity: 1.5,
+        });
+        assert.deepEqual(safetyLimitsFromConfig({
+            safety: { maxLinearVelocity: 0.4, maxAngularVelocity: 0.8 },
+        }), { maxLinearVelocity: 0.4, maxAngularVelocity: 0.8 });
+    });
+});
+//# sourceMappingURL=eyes.test.js.map

package/dist/__tests__/eyes.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"eyes.test.js","sourceRoot":"","sources":["../../src/__tests__/eyes.test.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,QAAQ,EAAE,EAAE,EAAE,MAAM,WAAW,CAAC;AACzC,OAAO,MAAM,MAAM,oBAAoB,CAAC;AAExC,OAAO,EACL,qBAAqB,EACrB,sBAAsB,GACvB,MAAM,iBAAiB,CAAC;AAEzB,QAAQ,CAAC,qBAAqB,EAAE,GAAG,EAAE;IACnC,EAAE,CAAC,8BAA8B,EAAE,GAAG,EAAE;QACtC,MAAM,CAAC,KAAK,CACV,qBAAqB,CAAC,EAAE,KAAK,EAAE,EAAE,SAAS,EAAE,KAAK,EAAE,EAAE,EAAE,gBAAgB,CAAC,EACxE,iBAAiB,CAClB,CAAC;IACJ,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,2CAA2C,EAAE,GAAG,EAAE;QACnD,MAAM,CAAC,KAAK,CACV,qBAAqB,CAAC;YACpB,KAAK,EAAE,EAAE,SAAS,EAAE,KAAK,EAAE;YAC3B,MAAM,EAAE,EAAE,WAAW,EAAE,aAAa,EAAE;SACvC,CAAC,EACF,aAAa,CACd,CAAC;IACJ,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,0CAA0C,EAAE,GAAG,EAAE;QAClD,MAAM,CAAC,KAAK,CACV,qBAAqB,CAAC,EAAE,KAAK,EAAE,EAAE,SAAS,EAAE,sCAAsC,EAAE,EAAE,CAAC,EACvF,+CAA+C,CAChD,CAAC;IACJ,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,6CAA6C,EAAE,GAAG,EAAE;QACrD,MAAM,CAAC,KAAK,CAAC,qBAAqB,CAAC,EAAE,CAAC,EAAE,UAAU,CAAC,CAAC;IACtD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,mCAAmC,EAAE,GAAG,EAAE;QAC3C,MAAM,CAAC,SAAS,CAAC,sBAAsB,CAAC,EAAE,CAAC,EAAE;YAC3C,iBAAiB,EAAE,GAAG;YACtB,kBAAkB,EAAE,GAAG;SACxB,CAAC,CAAC;QACH,MAAM,CAAC,SAAS,CACd,sBAAsB,CAAC;YACrB,MAAM,EAAE,EAAE,iBAAiB,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE;SAC5D,CAAC,EACF,EAAE,iBAAiB,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CACpD,CAAC;IACJ,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

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

@@ -1 +1 @@
-{"version":3,"file":"doctor.d.ts","sourceRoot":"","sources":["../../src/commands/doctor.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AA0BH,MAAM,MAAM,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,KAAK,CAAC;AAElD,MAAM,WAAW,WAAW;IAC1B,EAAE,EAAE,MAAM,CAAC;IACX,KAAK,EAAE,MAAM,CAAC;IACd,QAAQ,EAAE,QAAQ,CAAC;IACnB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,IAAI,CAAC,EAAE,MAAM,CAAC;CACf;AAED,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,WAAW,EAAE,CAAC;IACtB,OAAO,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAA;KAAE,CAAC;CACzD;AAED,MAAM,WAAW,aAAa;IAC5B,IAAI,CAAC,EAAE,OAAO,CAAC;CAChB;AAED,wBAAsB,aAAa,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,MAAM,CAAC,CA+BxE;AAED,sFAAsF;AACtF,wBAAsB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC,CAGrD;AAED,wBAAsB,eAAe,IAAI,OAAO,CAAC,YAAY,CAAC,CA4b7D"}
+{"version":3,"file":"doctor.d.ts","sourceRoot":"","sources":["../../src/commands/doctor.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AA0BH,MAAM,MAAM,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,KAAK,CAAC;AAElD,MAAM,WAAW,WAAW;IAC1B,EAAE,EAAE,MAAM,CAAC;IACX,KAAK,EAAE,MAAM,CAAC;IACd,QAAQ,EAAE,QAAQ,CAAC;IACnB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,IAAI,CAAC,EAAE,MAAM,CAAC;CACf;AAED,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,WAAW,EAAE,CAAC;IACtB,OAAO,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAA;KAAE,CAAC;CACzD;AAED,MAAM,WAAW,aAAa;IAC5B,IAAI,CAAC,EAAE,OAAO,CAAC;CAChB;AAED,wBAAsB,aAAa,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,MAAM,CAAC,CA+BxE;AAED,sFAAsF;AACtF,wBAAsB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC,CAGrD;AAED,wBAAsB,eAAe,IAAI,OAAO,CAAC,YAAY,CAAC,CA8e7D"}

package/dist/commands/doctor.js

@@ -453,6 +453,59 @@ export async function runDoctorChecks() {
     catch {
         // lsusb missing - skip
     }
+    // Robot eyes (optional on-robot face display). Yellow when the package is
+    // present but there is no graphical display / browser for kiosk mode.
+    const eyesEntry = paths.repoRoot
+        ? join(paths.repoRoot, "packages", "robot-eyes", "src", "index.js")
+        : "";
+    if (eyesEntry && existsSync(eyesEntry)) {
+        const display = (process.env["DISPLAY"] ?? "").trim();
+        let browserFound = false;
+        for (const bin of ["firefox", "chromium-browser", "chromium", "google-chrome"]) {
+            try {
+                const { exitCode } = await execa("which", [bin], { reject: false });
+                if (exitCode === 0) {
+                    browserFound = true;
+                    break;
+                }
+            }
+            catch {
+                // ignore
+            }
+        }
+        if (!display) {
+            checks.push({
+                id: "eyes-display",
+                label: "Robot eyes available but no $DISPLAY",
+                severity: "yellow",
+                hint: "Set DISPLAY (e.g. :0) on a tablet/head unit, or run `agenticros eyes --no-browser` and open the URL yourself.",
+            });
+        }
+        else if (!browserFound) {
+            checks.push({
+                id: "eyes-display",
+                label: `Robot eyes available (DISPLAY=${display}, no kiosk browser)`,
+                severity: "yellow",
+                hint: "Install Firefox or Chromium for kiosk mode, or use `agenticros eyes --no-browser`.",
+            });
+        }
+        else {
+            checks.push({
+                id: "eyes-display",
+                label: `Robot eyes ready (DISPLAY=${display})`,
+                severity: "green",
+                detail: "agenticros eyes",
+            });
+        }
+    }
+    else if (paths.mode !== "bundle") {
+        checks.push({
+            id: "eyes-display",
+            label: "Robot eyes package missing",
+            severity: "yellow",
+            hint: "Expected packages/robot-eyes — re-run `agenticros init` or pull the latest monorepo.",
+        });
+    }
     const summary = checks.reduce((acc, c) => {
         acc[c.severity] += 1;
         return acc;

package/dist/commands/doctor.js.map

@@ -1 +1 @@
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package/dist/commands/down.d.ts

@@ -2,9 +2,9 @@
  * `agenticros down` - stop AgenticROS components this CLI brought up.
  *
  * Kills processes recorded in /tmp/agenticros-*.pid (sim, camera, mcp,
- * rosbridge) plus stray gz / rviz / parameter_bridge.  The OpenClaw gateway
- * service is a persistent host service used by Claude Code / MCP - leave it
- * running unless the user explicitly passes --stop-gateway.
+ * rosbridge, eyes) plus stray gz / rviz / parameter_bridge.  The OpenClaw
+ * gateway service is a persistent host service used by Claude Code / MCP -
+ * leave it running unless the user explicitly passes --stop-gateway.
  */
 export interface DownOptions {
     keepCamera?: boolean;

package/dist/commands/down.js

@@ -2,14 +2,14 @@
  * `agenticros down` - stop AgenticROS components this CLI brought up.
  *
  * Kills processes recorded in /tmp/agenticros-*.pid (sim, camera, mcp,
- * rosbridge) plus stray gz / rviz / parameter_bridge.  The OpenClaw gateway
- * service is a persistent host service used by Claude Code / MCP - leave it
- * running unless the user explicitly passes --stop-gateway.
+ * rosbridge, eyes) plus stray gz / rviz / parameter_bridge.  The OpenClaw
+ * gateway service is a persistent host service used by Claude Code / MCP -
+ * leave it running unless the user explicitly passes --stop-gateway.
  */
 import { execa } from "execa";
 import { clearPid, isPidAlive, killPid } from "../util/pidfile.js";
 import { err, header, info, ok, warn, withSpinner } from "../util/logger.js";
-const STOPPABLE = ["sim", "mcp", "rosbridge", "camera"];
+const STOPPABLE = ["sim", "mcp", "rosbridge", "camera", "eyes"];
 export async function downCommand(opts) {
     header("AgenticROS - shutting down");
     let stoppedAny = false;

package/dist/commands/down.js.map

@@ -1 +1 @@
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package/dist/commands/eyes.d.ts

@@ -0,0 +1,16 @@
+/**
+ * `agenticros eyes` — launch fullscreen robot eyes on a local display.
+ *
+ * Spawns @agenticros/eyes in the background (local DDS via rclnodejs),
+ * records /tmp/agenticros-eyes.pid, and logs to /tmp/agenticros-eyes.log.
+ */
+export interface EyesOptions {
+    noBrowser?: boolean;
+    noTeleop?: boolean;
+    port?: string | number;
+    topic?: string;
+    /** When true, do not exit the process on launch failure (used by `up --eyes`). */
+    softFail?: boolean;
+}
+export declare function eyesCommand(opts?: EyesOptions): Promise<void>;
+//# sourceMappingURL=eyes.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"eyes.d.ts","sourceRoot":"","sources":["../../src/commands/eyes.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAuBH,MAAM,WAAW,WAAW;IAC1B,SAAS,CAAC,EAAE,OAAO,CAAC;IACpB,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,IAAI,CAAC,EAAE,MAAM,GAAG,MAAM,CAAC;IACvB,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,kFAAkF;IAClF,QAAQ,CAAC,EAAE,OAAO,CAAC;CACpB;AAED,wBAAsB,WAAW,CAAC,IAAI,GAAE,WAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,CA0GvE"}

package/dist/commands/eyes.js

@@ -0,0 +1,113 @@
+/**
+ * `agenticros eyes` — launch fullscreen robot eyes on a local display.
+ *
+ * Spawns @agenticros/eyes in the background (local DDS via rclnodejs),
+ * records /tmp/agenticros-eyes.pid, and logs to /tmp/agenticros-eyes.log.
+ */
+import { openSync } from "node:fs";
+import { spawn } from "node:child_process";
+import { join } from "node:path";
+import { clearPid, isPidAlive, logPath, readPid, writePid, } from "../util/pidfile.js";
+import { resolveCmdVelTopic, resolveEyesEntry, resolveEyesPkgDir, resolveSafetyLimits, } from "../util/eyes.js";
+import { buildRosSourcedShellCmd, detectRosDistro } from "../util/env.js";
+import { getCliPaths } from "../util/paths.js";
+import { err, info, ok, warn } from "../util/logger.js";
+export async function eyesCommand(opts = {}) {
+    if (isPidAlive("eyes")) {
+        const pid = readPid("eyes");
+        warn(`Eyes already running (pid ${pid}). Stop with: agenticros down`);
+        info(`URL: http://127.0.0.1:${opts.port ?? process.env["PORT"] ?? "8765"}/`);
+        info(`Logs: ${logPath("eyes")}`);
+        return;
+    }
+    // Stale pidfile
+    if (readPid("eyes") !== undefined)
+        clearPid("eyes");
+    const entry = resolveEyesEntry();
+    const pkgDir = resolveEyesPkgDir();
+    if (!entry || !pkgDir) {
+        const msg = "Eyes package not found (packages/robot-eyes). Run `agenticros init` or use a full workspace clone.";
+        if (opts.softFail) {
+            warn(msg);
+            return;
+        }
+        err(msg);
+        process.exit(1);
+    }
+    const ros = detectRosDistro();
+    if (!ros.setupBash) {
+        const msg = "No ROS 2 installation under /opt/ros/. Eyes need local DDS (rclnodejs).";
+        if (opts.softFail) {
+            warn(msg);
+            return;
+        }
+        err(msg);
+        process.exit(1);
+    }
+    const topic = resolveCmdVelTopic(opts.topic);
+    const safety = resolveSafetyLimits();
+    const port = Number(opts.port ?? process.env["PORT"] ?? 8765);
+    const paths = getCliPaths();
+    const overlay = paths.repoRoot
+        ? join(paths.repoRoot, "ros2_ws", "install", "setup.bash")
+        : undefined;
+    const nodeArgs = [entry];
+    if (opts.noBrowser)
+        nodeArgs.push("--no-browser");
+    if (opts.noTeleop)
+        nodeArgs.push("--no-teleop");
+    // Quote for bash -c
+    const nodeCmd = `node ${nodeArgs.map((a) => JSON.stringify(a)).join(" ")}`;
+    const shellBody = buildRosSourcedShellCmd(nodeCmd, {
+        distro: ros.distro,
+        overlay,
+    });
+    const env = {
+        ...process.env,
+        PORT: String(port),
+        CMD_VEL_TOPIC: topic,
+        MAX_LINEAR_VELOCITY: String(safety.maxLinearVelocity),
+        MAX_ANGULAR_VELOCITY: String(safety.maxAngularVelocity),
+    };
+    if (opts.noTeleop)
+        env["AGENTICROS_EYES_NO_TELEOP"] = "1";
+    if (!env["DISPLAY"])
+        env["DISPLAY"] = ":0";
+    const logFd = openSync(logPath("eyes"), "a");
+    const child = spawn("bash", ["-lc", shellBody], {
+        cwd: pkgDir,
+        env,
+        detached: true,
+        stdio: ["ignore", logFd, logFd],
+    });
+    child.unref();
+    if (!child.pid) {
+        const msg = "Failed to spawn eyes process.";
+        if (opts.softFail) {
+            warn(msg);
+            return;
+        }
+        err(msg);
+        process.exit(1);
+    }
+    writePid("eyes", child.pid);
+    // Brief settle so a fast crash shows up in the log / pid check.
+    await new Promise((r) => setTimeout(r, 400));
+    if (!isPidAlive("eyes")) {
+        clearPid("eyes");
+        const msg = `Eyes exited immediately. Check ${logPath("eyes")} (ROS sourced? rclnodejs built?).`;
+        if (opts.softFail) {
+            warn(msg);
+            return;
+        }
+        err(msg);
+        process.exit(1);
+    }
+    ok(`Eyes started (pid ${child.pid})`);
+    info(`  topic:  ${topic}`);
+    info(`  URL:    http://127.0.0.1:${port}/`);
+    info(`  teleop: ${opts.noTeleop ? "off (gaze only)" : "WASD enabled"}`);
+    info(`  logs:   ${logPath("eyes")}`);
+    info("Stop with: agenticros down");
+}
+//# sourceMappingURL=eyes.js.map

package/dist/commands/eyes.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"eyes.js","sourceRoot":"","sources":["../../src/commands/eyes.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAEH,OAAO,EAAE,QAAQ,EAAE,MAAM,SAAS,CAAC;AACnC,OAAO,EAAE,KAAK,EAAE,MAAM,oBAAoB,CAAC;AAC3C,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EACL,QAAQ,EACR,UAAU,EACV,OAAO,EACP,OAAO,EACP,QAAQ,GACT,MAAM,oBAAoB,CAAC;AAC5B,OAAO,EACL,kBAAkB,EAClB,gBAAgB,EAChB,iBAAiB,EACjB,mBAAmB,GACpB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,uBAAuB,EAAE,eAAe,EAAE,MAAM,gBAAgB,CAAC;AAC1E,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAC/C,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAWxD,MAAM,CAAC,KAAK,UAAU,WAAW,CAAC,OAAoB,EAAE;IACtD,IAAI,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QACvB,MAAM,GAAG,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC;QAC5B,IAAI,CAAC,6BAA6B,GAAG,+BAA+B,CAAC,CAAC;QACtE,IAAI,CAAC,yBAAyB,IAAI,CAAC,IAAI,IAAI,OAAO,CAAC,GAAG,CAAC,MAAM,CAAC,IAAI,MAAM,GAAG,CAAC,CAAC;QAC7E,IAAI,CAAC,SAAS,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;QACjC,OAAO;IACT,CAAC;IACD,gBAAgB;IAChB,IAAI,OAAO,CAAC,MAAM,CAAC,KAAK,SAAS;QAAE,QAAQ,CAAC,MAAM,CAAC,CAAC;IAEpD,MAAM,KAAK,GAAG,gBAAgB,EAAE,CAAC;IACjC,MAAM,MAAM,GAAG,iBAAiB,EAAE,CAAC;IACnC,IAAI,CAAC,KAAK,IAAI,CAAC,MAAM,EAAE,CAAC;QACtB,MAAM,GAAG,GACP,oGAAoG,CAAC;QACvG,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,IAAI,CAAC,GAAG,CAAC,CAAC;YACV,OAAO;QACT,CAAC;QACD,GAAG,CAAC,GAAG,CAAC,CAAC;QACT,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,GAAG,GAAG,eAAe,EAAE,CAAC;IAC9B,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,CAAC;QACnB,MAAM,GAAG,GACP,yEAAyE,CAAC;QAC5E,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,IAAI,CAAC,GAAG,CAAC,CAAC;YACV,OAAO;QACT,CAAC;QACD,GAAG,CAAC,GAAG,CAAC,CAAC;QACT,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,KAAK,GAAG,kBAAkB,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAC7C,MAAM,MAAM,GAAG,mBAAmB,EAAE,CAAC;IACrC,MAAM,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,IAAI,IAAI,OAAO,CAAC,GAAG,CAAC,MAAM,CAAC,IAAI,IAAI,CAAC,CAAC;IAE9D,MAAM,KAAK,GAAG,WAAW,EAAE,CAAC;IAC5B,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ;QAC5B,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,SAAS,EAAE,SAAS,EAAE,YAAY,CAAC;QAC1D,CAAC,CAAC,SAAS,CAAC;IAEd,MAAM,QAAQ,GAAG,CAAC,KAAK,CAAC,CAAC;IACzB,IAAI,IAAI,CAAC,SAAS;QAAE,QAAQ,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;IAClD,IAAI,IAAI,CAAC,QAAQ;QAAE,QAAQ,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;IAEhD,oBAAoB;IACpB,MAAM,OAAO,GAAG,QAAQ,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC;IAC3E,MAAM,SAAS,GAAG,uBAAuB,CAAC,OAAO,EAAE;QACjD,MAAM,EAAE,GAAG,CAAC,MAAM;QAClB,OAAO;KACR,CAAC,CAAC;IAEH,MAAM,GAAG,GAAsB;QAC7B,GAAG,OAAO,CAAC,GAAG;QACd,IAAI,EAAE,MAAM,CAAC,IAAI,CAAC;QAClB,aAAa,EAAE,KAAK;QACpB,mBAAmB,EAAE,MAAM,CAAC,MAAM,CAAC,iBAAiB,CAAC;QACrD,oBAAoB,EAAE,MAAM,CAAC,MAAM,CAAC,kBAAkB,CAAC;KACxD,CAAC;IACF,IAAI,IAAI,CAAC,QAAQ;QAAE,GAAG,CAAC,2BAA2B,CAAC,GAAG,GAAG,CAAC;IAC1D,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC;QAAE,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC;IAE3C,MAAM,KAAK,GAAG,QAAQ,CAAC,OAAO,CAAC,MAAM,CAAC,EAAE,GAAG,CAAC,CAAC;IAC7C,MAAM,KAAK,GAAG,KAAK,CAAC,MAAM,EAAE,CAAC,KAAK,EAAE,SAAS,CAAC,EAAE;QAC9C,GAAG,EAAE,MAAM;QACX,GAAG;QACH,QAAQ,EAAE,IAAI;QACd,KAAK,EAAE,CAAC,QAAQ,EAAE,KAAK,EAAE,KAAK,CAAC;KAChC,CAAC,CAAC;IACH,KAAK,CAAC,KAAK,EAAE,CAAC;IAEd,IAAI,CAAC,KAAK,CAAC,GAAG,EAAE,CAAC;QACf,MAAM,GAAG,GAAG,+BAA+B,CAAC;QAC5C,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,IAAI,CAAC,GAAG,CAAC,CAAC;YACV,OAAO;QACT,CAAC;QACD,GAAG,CAAC,GAAG,CAAC,CAAC;QACT,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,QAAQ,CAAC,MAAM,EAAE,KAAK,CAAC,GAAG,CAAC,CAAC;IAE5B,gEAAgE;IAChE,MAAM,IAAI,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,UAAU,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC;IAC7C,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QACxB,QAAQ,CAAC,MAAM,CAAC,CAAC;QACjB,MAAM,GAAG,GAAG,kCAAkC,OAAO,CAAC,MAAM,CAAC,mCAAmC,CAAC;QACjG,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,IAAI,CAAC,GAAG,CAAC,CAAC;YACV,OAAO;QACT,CAAC;QACD,GAAG,CAAC,GAAG,CAAC,CAAC;QACT,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,EAAE,CAAC,qBAAqB,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC;IACtC,IAAI,CAAC,aAAa,KAAK,EAAE,CAAC,CAAC;IAC3B,IAAI,CAAC,8BAA8B,IAAI,GAAG,CAAC,CAAC;IAC5C,IAAI,CAAC,aAAa,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC,CAAC,cAAc,EAAE,CAAC,CAAC;IACxE,IAAI,CAAC,aAAa,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;IACrC,IAAI,CAAC,4BAA4B,CAAC,CAAC;AACrC,CAAC"}

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

@@ -1 +1 @@
-{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AAuBH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CA0NlE"}
+{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AAuBH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAmOlE"}

package/dist/commands/init.js

@@ -21,7 +21,7 @@ import { confirm, input, password, select } from "@inquirer/prompts";
 import { execa } from "execa";
 import { runDoctorChecks } from "./doctor.js";
 import { claudeOnPath, codexOnPath, hermesOnPath, mcpSetupCommand } from "../util/mcp-setup.js";
-import { isWindows } from "../util/env.js";
+import { detectRosDistro, isWindows } from "../util/env.js";
 import { getCliPaths, isAgenticrosMonorepo, resetPathsCache } from "../util/paths.js";
 import { header, info, ok, warn, err, dim, withSpinner } from "../util/logger.js";
 import { ensureToolsAlsoAllow, openclawConfigExists, readAgenticrosContractTools, } from "../util/openclaw-config.js";
@@ -116,20 +116,28 @@ export async function initCommand(opts) {
     // colconBuilt() saw install/setup.bash from 0.1.9 and skipped the
     // rebuild).
     //
-    // The colcon step is Linux-only: it sources /opt/ros/<distro>/setup.bash
-    // which doesn't exist on macOS or Windows. macOS users typically run a
-    // robotics stack remotely; Windows users need WSL 2. In both cases we
-    // skip the step with a friendly note instead of failing the whole wizard.
+    // The colcon step needs a local ROS 2 install under /opt/ros/<distro>.
+    // Skip with a friendly note when:
+    //   - native Windows (use WSL 2 for a full robot-side install)
+    //   - no ROS distro detected (typical macOS laptop / headless CI without ROS)
+    // Agents can still talk to a remote robot via Zenoh/rosbridge/MCP without
+    // building ros2_ws on this machine.
     const ros2WsRoot = join(repoRoot, "ros2_ws");
+    const ros = detectRosDistro();
     if (isWindows) {
         warn("Skipping ROS 2 colcon build: not supported on native Windows. " +
             "Use WSL 2 (Ubuntu) for a full robot-side install, or keep " +
             "running this CLI on Windows for config / sim-client tasks only.");
     }
+    else if (!ros.setupBash) {
+        warn("Skipping ROS 2 colcon build: no ROS 2 install under /opt/ros/. " +
+            "Install Humble or Jazzy on this machine if you need local sim / " +
+            "colcon, or continue — MCP/OpenClaw can still drive a remote robot.");
+    }
     else if (opts.force || !colconBuiltForCurrentCli(ros2WsRoot)) {
         await runStep("Building ROS 2 workspace (colcon)", async () => {
             await runShell(`mkdir -p "${ros2WsRoot}" && cd "${ros2WsRoot}" && \
-         . /opt/ros/$(ls /opt/ros 2>/dev/null | head -1)/setup.bash && \
+         . "${ros.setupBash}" && \
          colcon build --symlink-install`);
             writeRos2WsBuildStamp(ros2WsRoot);
         });

package/dist/commands/init.js.map

@@ -1 +1 @@
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package/dist/commands/logs.d.ts

@@ -5,6 +5,7 @@
  *   camera   /tmp/agenticros-camera.log  (started by start_demo.sh)
  *   mcp      /tmp/agenticros-mcp.log     (the MCP server)
  *   sim      /tmp/agenticros-sim.log     (the sim launcher)
+ *   eyes     /tmp/agenticros-eyes.log    (robot face display)
  *   gateway  journalctl --user-unit openclaw-gateway.service
  *
  * Without a target, prints the list of available log targets.

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

@@ -1 +1 @@
-{"version":3,"file":"logs.d.ts","sourceRoot":"","sources":["../../src/commands/logs.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAaH,MAAM,WAAW,WAAW;IAC1B,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,KAAK,CAAC,EAAE,MAAM,CAAC;CAChB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAsClE"}
+{"version":3,"file":"logs.d.ts","sourceRoot":"","sources":["../../src/commands/logs.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAaH,MAAM,WAAW,WAAW;IAC1B,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,KAAK,CAAC,EAAE,MAAM,CAAC;CAChB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAsClE"}

package/dist/commands/logs.js

@@ -5,6 +5,7 @@
  *   camera   /tmp/agenticros-camera.log  (started by start_demo.sh)
  *   mcp      /tmp/agenticros-mcp.log     (the MCP server)
  *   sim      /tmp/agenticros-sim.log     (the sim launcher)
+ *   eyes     /tmp/agenticros-eyes.log    (robot face display)
  *   gateway  journalctl --user-unit openclaw-gateway.service
  *
  * Without a target, prints the list of available log targets.
@@ -13,7 +14,7 @@ import { existsSync } from "node:fs";
 import { execa } from "execa";
 import { logPath } from "../util/pidfile.js";
 import { colors, header, info, warn } from "../util/logger.js";
-const TARGETS = ["camera", "mcp", "sim", "rosbridge", "gateway"];
+const TARGETS = ["camera", "mcp", "sim", "rosbridge", "eyes", "gateway"];
 export async function logsCommand(opts) {
     const target = (opts.target ?? "").toLowerCase();
     if (!target) {

package/dist/commands/logs.js.map

@@ -1 +1 @@
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+{"version":3,"file":"logs.js","sourceRoot":"","sources":["../../src/commands/logs.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AAErC,OAAO,EAAE,KAAK,EAAE,MAAM,OAAO,CAAC;AAE9B,OAAO,EAAE,OAAO,EAAuB,MAAM,oBAAoB,CAAC;AAClE,OAAO,EAAE,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAI/D,MAAM,OAAO,GAAgB,CAAC,QAAQ,EAAE,KAAK,EAAE,KAAK,EAAE,WAAW,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;AAQtF,MAAM,CAAC,KAAK,UAAU,WAAW,CAAC,IAAiB;IACjD,MAAM,MAAM,GAAG,CAAC,IAAI,CAAC,MAAM,IAAI,EAAE,CAAC,CAAC,WAAW,EAAe,CAAC;IAC9D,IAAI,CAAC,MAAM,EAAE,CAAC;QACZ,MAAM,CAAC,wBAAwB,CAAC,CAAC;QACjC,KAAK,MAAM,CAAC,IAAI,OAAO;YAAE,uBAAuB,CAAC,CAAC,CAAC,CAAC;QACpD,IAAI,CAAC,uEAAuE,CAAC,CAAC;QAC9E,OAAO;IACT,CAAC;IACD,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAC,EAAE,CAAC;QAC9B,IAAI,CAAC,uBAAuB,IAAI,CAAC,MAAM,aAAa,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QAC3E,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,MAAM,GAAG,IAAI,CAAC,MAAM,KAAK,IAAI,CAAC;IACpC,MAAM,CAAC,GAAG,MAAM,CAAC,IAAI,CAAC,KAAK,IAAI,GAAG,CAAC,CAAC;IAEpC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;QACzB,MAAM,IAAI,GAAG,CAAC,QAAQ,EAAE,IAAI,EAAE,0BAA0B,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QAC3E,IAAI,MAAM;YAAE,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAC5B,IAAI,CAAC;YACH,MAAM,KAAK,CAAC,YAAY,EAAE,IAAI,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,CAAC,CAAC;QACxD,CAAC;QAAC,OAAO,CAAC,EAAE,CAAC;YACX,IAAI,CAAC,sBAAsB,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;QAC3E,CAAC;QACD,OAAO;IACT,CAAC;IAED,MAAM,IAAI,GAAG,OAAO,CAAC,MAAwB,CAAC,CAAC;IAC/C,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,EAAE,CAAC;QACtB,IAAI,CAAC,kBAAkB,IAAI,GAAG,CAAC,CAAC;QAChC,OAAO;IACT,CAAC;IACD,MAAM,IAAI,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC;IAC9E,IAAI,CAAC;QACH,MAAM,KAAK,CAAC,MAAM,EAAE,IAAI,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,CAAC,CAAC;IAClD,CAAC;IAAC,MAAM,CAAC;QACP,qEAAqE;IACvE,CAAC;AACH,CAAC;AAED,SAAS,uBAAuB,CAAC,CAAY;IAC3C,IAAI,CAAC,KAAK,SAAS,EAAE,CAAC;QACpB,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,KAAK,MAAM,CAAC,IAAI,CAAC,SAAS,CAAC,IAAI,MAAM,CAAC,GAAG,CAAC,mDAAmD,CAAC,IAAI,CAAC,CAAC;QACzH,OAAO;IACT,CAAC;IACD,MAAM,CAAC,GAAG,OAAO,CAAC,CAAmB,CAAC,CAAC;IACvC,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;IAC7B,MAAM,IAAI,GAAG,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;IAC1D,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,KAAK,IAAI,KAAK,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,IAAI,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;AACxE,CAAC"}

package/dist/commands/status.js

@@ -9,7 +9,7 @@ import { execa } from "execa";
 import { clearPid, isPidAlive, readPid } from "../util/pidfile.js";
 import { colors, header, info } from "../util/logger.js";
 import { readState } from "../util/state.js";
-const COMPONENTS = ["camera", "sim", "mcp", "rosbridge"];
+const COMPONENTS = ["camera", "sim", "mcp", "rosbridge", "eyes"];
 export async function statusCommand(opts) {
     const state = readState();
     const components = COMPONENTS.map((name) => {