agenticros 0.5.5 → 0.5.7
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +1 -1
- package/dist/commands/eyes.d.ts +2 -0
- package/dist/commands/eyes.d.ts.map +1 -1
- package/dist/commands/eyes.js +5 -0
- package/dist/commands/eyes.js.map +1 -1
- package/dist/commands/init.d.ts.map +1 -1
- package/dist/commands/init.js +14 -6
- package/dist/commands/init.js.map +1 -1
- package/dist/commands/up.d.ts +2 -0
- package/dist/commands/up.d.ts.map +1 -1
- package/dist/commands/up.js +1 -0
- package/dist/commands/up.js.map +1 -1
- package/dist/index.js +6 -2
- package/dist/index.js.map +1 -1
- package/package.json +1 -1
- package/runtime/BUNDLE.json +1 -1
- package/runtime/docs/cli.md +5 -3
- package/runtime/docs/eyes.md +29 -3
- package/runtime/packages/robot-eyes/NOTICE +2 -0
- package/runtime/packages/robot-eyes/README.md +8 -3
- package/runtime/packages/robot-eyes/lib/sounds.js +218 -0
- package/runtime/packages/robot-eyes/lib/synth.js +185 -0
- package/runtime/packages/robot-eyes/package.json +5 -3
- package/runtime/packages/robot-eyes/src/index.js +20 -0
package/README.md
CHANGED
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@@ -71,7 +71,7 @@ Three ways, listed easiest first:
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| `agenticros up sim-amr --nav2` | Same + indoor map, AMCL, and Nav2 (`navigate_to_pose`). |
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| `agenticros up sim-arm` | Bring up the simulated 6-DOF arm (UR5e-shaped, per-joint position control). |
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| `agenticros up … --eyes` | Also start robot eyes on the local display after the stack comes up. |
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74
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-
| `agenticros eyes` | Fullscreen robot eyes (cmd_vel gaze + optional WASD). See [docs/eyes.md](../../docs/eyes.md). |
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+
| `agenticros eyes` | Fullscreen robot eyes (cmd_vel gaze + optional WASD + R2D2 sounds). See [docs/eyes.md](../../docs/eyes.md). |
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| `agenticros down` | Stop everything we started (including eyes). |
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| `agenticros doctor` | Coloured health-check table; `--json` for CI. |
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| `agenticros mcp setup` | Register AgenticROS MCP for Codex, Hermes, and Claude (primary). |
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package/dist/commands/eyes.d.ts
CHANGED
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@@ -7,6 +7,8 @@
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export interface EyesOptions {
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noBrowser?: boolean;
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noTeleop?: boolean;
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/** Mute R2D2 idle/excited chirps. */
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noSound?: boolean;
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port?: string | number;
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topic?: string;
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/** When true, do not exit the process on launch failure (used by `up --eyes`). */
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@@ -1 +1 @@
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1
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-
{"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,
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1
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+
{"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,qCAAqC;IACrC,OAAO,CAAC,EAAE,OAAO,CAAC;IAClB,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,CA6GvE"}
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package/dist/commands/eyes.js
CHANGED
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@@ -56,6 +56,8 @@ export async function eyesCommand(opts = {}) {
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nodeArgs.push("--no-browser");
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if (opts.noTeleop)
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nodeArgs.push("--no-teleop");
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if (opts.noSound)
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nodeArgs.push("--no-sound");
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// Quote for bash -c
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const nodeCmd = `node ${nodeArgs.map((a) => JSON.stringify(a)).join(" ")}`;
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const shellBody = buildRosSourcedShellCmd(nodeCmd, {
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@@ -71,6 +73,8 @@ export async function eyesCommand(opts = {}) {
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};
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if (opts.noTeleop)
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env["AGENTICROS_EYES_NO_TELEOP"] = "1";
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if (opts.noSound)
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env["AGENTICROS_EYES_NO_SOUND"] = "1";
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if (!env["DISPLAY"])
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env["DISPLAY"] = ":0";
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const logFd = openSync(logPath("eyes"), "a");
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@@ -107,6 +111,7 @@ export async function eyesCommand(opts = {}) {
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info(` topic: ${topic}`);
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info(` URL: http://127.0.0.1:${port}/`);
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info(` teleop: ${opts.noTeleop ? "off (gaze only)" : "WASD enabled"}`);
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info(` sound: ${opts.noSound ? "off" : "R2D2 chirps on"}`);
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info(` logs: ${logPath("eyes")}`);
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info("Stop with: agenticros down");
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}
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@@ -1 +1 @@
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1
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-
{"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;
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1
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+
{"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;AAaxD,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;IAChD,IAAI,IAAI,CAAC,OAAO;QAAE,QAAQ,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IAE9C,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,IAAI,CAAC,OAAO;QAAE,GAAG,CAAC,0BAA0B,CAAC,GAAG,GAAG,CAAC;IACxD,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,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,gBAAgB,EAAE,CAAC,CAAC;IAC7D,IAAI,CAAC,aAAa,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;IACrC,IAAI,CAAC,4BAA4B,CAAC,CAAC;AACrC,CAAC"}
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{"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,
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{"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"}
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package/dist/commands/init.js
CHANGED
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@@ -21,7 +21,7 @@ import { confirm, input, password, select } from "@inquirer/prompts";
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import { execa } from "execa";
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import { runDoctorChecks } from "./doctor.js";
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import { claudeOnPath, codexOnPath, hermesOnPath, mcpSetupCommand } from "../util/mcp-setup.js";
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import { isWindows } from "../util/env.js";
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import { detectRosDistro, isWindows } from "../util/env.js";
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import { getCliPaths, isAgenticrosMonorepo, resetPathsCache } from "../util/paths.js";
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import { header, info, ok, warn, err, dim, withSpinner } from "../util/logger.js";
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import { ensureToolsAlsoAllow, openclawConfigExists, readAgenticrosContractTools, } from "../util/openclaw-config.js";
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@@ -116,20 +116,28 @@ export async function initCommand(opts) {
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// colconBuilt() saw install/setup.bash from 0.1.9 and skipped the
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// rebuild).
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//
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// The colcon step
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//
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-
//
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-
//
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// The colcon step needs a local ROS 2 install under /opt/ros/<distro>.
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// Skip with a friendly note when:
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// - native Windows (use WSL 2 for a full robot-side install)
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// - no ROS distro detected (typical macOS laptop / headless CI without ROS)
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// Agents can still talk to a remote robot via Zenoh/rosbridge/MCP without
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// building ros2_ws on this machine.
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const ros2WsRoot = join(repoRoot, "ros2_ws");
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const ros = detectRosDistro();
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if (isWindows) {
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warn("Skipping ROS 2 colcon build: not supported on native Windows. " +
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"Use WSL 2 (Ubuntu) for a full robot-side install, or keep " +
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"running this CLI on Windows for config / sim-client tasks only.");
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}
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else if (!ros.setupBash) {
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warn("Skipping ROS 2 colcon build: no ROS 2 install under /opt/ros/. " +
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"Install Humble or Jazzy on this machine if you need local sim / " +
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"colcon, or continue — MCP/OpenClaw can still drive a remote robot.");
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}
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else if (opts.force || !colconBuiltForCurrentCli(ros2WsRoot)) {
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await runStep("Building ROS 2 workspace (colcon)", async () => {
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await runShell(`mkdir -p "${ros2WsRoot}" && cd "${ros2WsRoot}" && \
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-
.
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. "${ros.setupBash}" && \
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colcon build --symlink-install`);
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writeRos2WsBuildStamp(ros2WsRoot);
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});
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@@ -1 +1 @@
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-
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1
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|
package/dist/commands/up.d.ts
CHANGED
|
@@ -22,6 +22,8 @@ export interface UpOptions {
|
|
|
22
22
|
eyesNoTeleop?: boolean;
|
|
23
23
|
/** With --eyes: do not open a kiosk browser. */
|
|
24
24
|
eyesNoBrowser?: boolean;
|
|
25
|
+
/** With --eyes: mute R2D2 sounds. */
|
|
26
|
+
eyesNoSound?: boolean;
|
|
25
27
|
}
|
|
26
28
|
export declare function upCommand(opts: UpOptions): Promise<void>;
|
|
27
29
|
//# sourceMappingURL=up.d.ts.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"up.d.ts","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAaH,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;IACjB,oEAAoE;IACpE,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,+CAA+C;IAC/C,YAAY,CAAC,EAAE,OAAO,CAAC;IACvB,gDAAgD;IAChD,aAAa,CAAC,EAAE,OAAO,CAAC;
|
|
1
|
+
{"version":3,"file":"up.d.ts","sourceRoot":"","sources":["../../src/commands/up.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAaH,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;IACjB,oEAAoE;IACpE,IAAI,CAAC,EAAE,OAAO,CAAC;IACf,+CAA+C;IAC/C,YAAY,CAAC,EAAE,OAAO,CAAC;IACvB,gDAAgD;IAChD,aAAa,CAAC,EAAE,OAAO,CAAC;IACxB,qCAAqC;IACrC,WAAW,CAAC,EAAE,OAAO,CAAC;CACvB;AAID,wBAAsB,SAAS,CAAC,IAAI,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC,CA4C9D"}
|
package/dist/commands/up.js
CHANGED
package/dist/commands/up.js.map
CHANGED
|
@@ -1 +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,WAAW,EAAE,MAAM,WAAW,CAAC;AACxC,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;
|
|
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,WAAW,EAAE,MAAM,WAAW,CAAC;AACxC,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;AAuB9C,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;IAED,IAAI,IAAI,CAAC,IAAI,EAAE,CAAC;QACd,MAAM,WAAW,CAAC;YAChB,QAAQ,EAAE,IAAI;YACd,QAAQ,EAAE,IAAI,CAAC,YAAY,KAAK,IAAI;YACpC,SAAS,EAAE,IAAI,CAAC,aAAa,KAAK,IAAI;YACtC,OAAO,EAAE,IAAI,CAAC,WAAW,KAAK,IAAI;SACnC,CAAC,CAAC;IACL,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
CHANGED
|
@@ -68,26 +68,30 @@ program
|
|
|
68
68
|
.option("--eyes", "Also start robot eyes on the local display (tablets / face screens)", false)
|
|
69
69
|
.option("--eyes-no-teleop", "With --eyes: gaze only (do not publish WASD cmd_vel)", false)
|
|
70
70
|
.option("--eyes-no-browser", "With --eyes: serve UI but do not open a kiosk browser", false)
|
|
71
|
+
.option("--eyes-no-sound", "With --eyes: mute R2D2 idle/excited chirps", false)
|
|
71
72
|
.action(async (target, opts) => {
|
|
72
73
|
await upCommand({
|
|
73
74
|
target,
|
|
74
75
|
...opts,
|
|
75
76
|
eyesNoTeleop: opts.eyesNoTeleop === true,
|
|
76
77
|
eyesNoBrowser: opts.eyesNoBrowser === true,
|
|
78
|
+
eyesNoSound: opts.eyesNoSound === true,
|
|
77
79
|
});
|
|
78
80
|
});
|
|
79
81
|
program
|
|
80
82
|
.command("eyes")
|
|
81
|
-
.description("Start fullscreen robot eyes on a local display (cmd_vel gaze + optional WASD teleop). See docs/eyes.md.")
|
|
82
|
-
// Commander maps `--no-browser` / `--no-teleop`
|
|
83
|
+
.description("Start fullscreen robot eyes on a local display (cmd_vel gaze + optional WASD teleop + R2D2 sounds). See docs/eyes.md.")
|
|
84
|
+
// Commander maps `--no-browser` / `--no-teleop` / `--no-sound` to `browser|teleop|sound: false`.
|
|
83
85
|
.option("--no-browser", "Serve the UI but do not open a kiosk browser")
|
|
84
86
|
.option("--no-teleop", "Gaze only — do not publish WASD cmd_vel")
|
|
87
|
+
.option("--no-sound", "Mute R2D2 idle/excited chirps")
|
|
85
88
|
.option("--port <n>", "HTTP / WebSocket port (default 8765)")
|
|
86
89
|
.option("--topic <path>", "Override cmd_vel topic (default from ~/.agenticros/config.json)")
|
|
87
90
|
.action(async (opts) => {
|
|
88
91
|
await eyesCommand({
|
|
89
92
|
noBrowser: opts.browser === false,
|
|
90
93
|
noTeleop: opts.teleop === false,
|
|
94
|
+
noSound: opts.sound === false,
|
|
91
95
|
port: opts.port,
|
|
92
96
|
topic: opts.topic,
|
|
93
97
|
});
|
package/dist/index.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
package/package.json
CHANGED
package/runtime/BUNDLE.json
CHANGED
|
@@ -1,5 +1,5 @@
|
|
|
1
1
|
{
|
|
2
|
-
"packedAt": "2026-07-
|
|
2
|
+
"packedAt": "2026-07-16T16:28:06.325Z",
|
|
3
3
|
"repo": "https://github.com/PlaiPin/agenticros",
|
|
4
4
|
"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.",
|
|
5
5
|
"layout": {
|
package/runtime/docs/cli.md
CHANGED
|
@@ -52,13 +52,15 @@ Flags:
|
|
|
52
52
|
- `--eyes` also start robot eyes on the local display (see [eyes.md](eyes.md))
|
|
53
53
|
- `--eyes-no-teleop` with `--eyes`: gaze only (no WASD publish)
|
|
54
54
|
- `--eyes-no-browser` with `--eyes`: serve UI without opening a kiosk browser
|
|
55
|
+
- `--eyes-no-sound` with `--eyes`: mute R2D2 idle/excited chirps
|
|
55
56
|
|
|
56
|
-
### `agenticros eyes [--no-browser] [--no-teleop] [--port <n>] [--topic <path>]`
|
|
57
|
+
### `agenticros eyes [--no-browser] [--no-teleop] [--no-sound] [--port <n>] [--topic <path>]`
|
|
57
58
|
|
|
58
59
|
Start fullscreen robot eyes on a tablet / face display. Subscribes to the
|
|
59
60
|
configured `cmd_vel` topic for left/right gaze; optionally publishes WASD
|
|
60
|
-
keyboard teleop
|
|
61
|
-
teleop page. Full details:
|
|
61
|
+
keyboard teleop; plays R2D2-style chirps (mute with `--no-sound`). Runs over
|
|
62
|
+
local DDS on the robot — not the OpenClaw remote teleop page. Full details:
|
|
63
|
+
[eyes.md](eyes.md).
|
|
62
64
|
|
|
63
65
|
### `agenticros down [--keep-camera] [--stop-gateway]`
|
|
64
66
|
|
package/runtime/docs/eyes.md
CHANGED
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
# Robot eyes (on-robot face display)
|
|
2
2
|
|
|
3
|
-
`@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.
|
|
3
|
+
`@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. Procedural **R2D2-style chirps** play from the eyes Node process (idle chatter; excited bursts on active `cmd_vel`).
|
|
4
4
|
|
|
5
5
|
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.
|
|
6
6
|
|
|
@@ -10,6 +10,7 @@ This is **not** the OpenClaw remote teleop page ([teleop.md](teleop.md)). Eyes r
|
|
|
10
10
|
- ROS 2 (Humble / Jazzy) with a working local graph
|
|
11
11
|
- Graphical display (`DISPLAY`, usually `:0`) for kiosk mode
|
|
12
12
|
- Firefox or Chromium (optional if you open the URL yourself)
|
|
13
|
+
- Speakers + a system audio player for sounds: `afplay` (macOS), or `paplay` / `aplay` (Linux)
|
|
13
14
|
|
|
14
15
|
## Launch
|
|
15
16
|
|
|
@@ -20,6 +21,9 @@ agenticros eyes
|
|
|
20
21
|
# Gaze only — do not publish WASD twists (agents/operators drive)
|
|
21
22
|
agenticros eyes --no-teleop
|
|
22
23
|
|
|
24
|
+
# Mute R2D2 chirps
|
|
25
|
+
agenticros eyes --no-sound
|
|
26
|
+
|
|
23
27
|
# Serve UI without opening a browser
|
|
24
28
|
agenticros eyes --no-browser
|
|
25
29
|
|
|
@@ -28,7 +32,7 @@ agenticros eyes --topic /my_robot/cmd_vel --port 8765
|
|
|
28
32
|
|
|
29
33
|
# With the real-robot stack
|
|
30
34
|
agenticros up real --eyes
|
|
31
|
-
agenticros up real --eyes --eyes-no-teleop
|
|
35
|
+
agenticros up real --eyes --eyes-no-teleop --eyes-no-sound
|
|
32
36
|
```
|
|
33
37
|
|
|
34
38
|
Stop with `agenticros down` (or kill the process recorded in `/tmp/agenticros-eyes.pid`).
|
|
@@ -50,6 +54,28 @@ Topic and safety limits come from `~/.agenticros/config.json` (same file as the
|
|
|
50
54
|
|
|
51
55
|
CLI `--topic` overrides the config topic. Env vars (`PORT`, `CMD_VEL_TOPIC`, `TELOP_*`, …) still work when running the package directly.
|
|
52
56
|
|
|
57
|
+
## Sounds (R2D2)
|
|
58
|
+
|
|
59
|
+
Sounds are synthesized in-process (no sample files) and played via the system audio player — not in the browser (avoids kiosk autoplay blocks).
|
|
60
|
+
|
|
61
|
+
| Mode | Trigger |
|
|
62
|
+
|------|---------|
|
|
63
|
+
| Idle | Random chirp / warble / beeps every ~300–2500 ms |
|
|
64
|
+
| Excited | Active `cmd_vel` (`|linear.x|` or `|angular.z|` above deadzone), rate-limited (~600 ms cooldown) |
|
|
65
|
+
|
|
66
|
+
Mute with `--no-sound`, `up --eyes-no-sound`, or `AGENTICROS_EYES_NO_SOUND=1`. If no player is found, eyes still run and a one-time warning is logged.
|
|
67
|
+
|
|
68
|
+
Optional env knobs:
|
|
69
|
+
|
|
70
|
+
| Variable | Default | Meaning |
|
|
71
|
+
|----------|---------|---------|
|
|
72
|
+
| `SOUND_MIN_GAP_MS` | `300` | Min idle gap between chirps |
|
|
73
|
+
| `SOUND_MAX_GAP_MS` | `2500` | Max idle gap |
|
|
74
|
+
| `SOUND_EXCITE_COOLDOWN_MS` | `600` | Min time between excited bursts |
|
|
75
|
+
| `SOUND_LINEAR_DEADZONE` | `0.02` | Ignore tiny `linear.x` for excitement |
|
|
76
|
+
|
|
77
|
+
Synth adapted from [r2d2](https://github.com/chrismatthieu/r2d2) (Apache-2.0); see `packages/robot-eyes/NOTICE`.
|
|
78
|
+
|
|
53
79
|
## Keyboard teleop
|
|
54
80
|
|
|
55
81
|
Focus must be on the eyes browser window. Nothing extra is drawn on screen.
|
|
@@ -76,7 +102,7 @@ Keys can be combined. Releasing all movement keys publishes a zero Twist. Multip
|
|
|
76
102
|
Browser (canvas + optional WASD)
|
|
77
103
|
↕ WebSocket (127.0.0.1:8765)
|
|
78
104
|
@agenticros/eyes (rclnodejs node /robot_eyes)
|
|
79
|
-
↕ local DDS
|
|
105
|
+
↕ local DDS ↕ synth → afplay/paplay/aplay
|
|
80
106
|
cmd_vel Twist ← also written by MCP / OpenClaw / motors consumers
|
|
81
107
|
```
|
|
82
108
|
|
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
# @agenticros/eyes
|
|
2
2
|
|
|
3
|
-
Fullscreen robot eyes for an Ubuntu tablet or robot display, driven by ROS 2 `cmd_vel` (`geometry_msgs/Twist`).
|
|
3
|
+
Fullscreen robot eyes for an Ubuntu tablet or robot display, driven by ROS 2 `cmd_vel` (`geometry_msgs/Twist`). Includes procedural R2D2-style chirps (idle + excited on motion).
|
|
4
4
|
|
|
5
5
|
Part of the [AgenticROS](https://github.com/agenticros/agenticros) monorepo. Prefer launching via the CLI:
|
|
6
6
|
|
|
@@ -8,10 +8,11 @@ Part of the [AgenticROS](https://github.com/agenticros/agenticros) monorepo. Pre
|
|
|
8
8
|
agenticros eyes
|
|
9
9
|
agenticros eyes --no-browser
|
|
10
10
|
agenticros eyes --no-teleop # gaze only (no WASD publish)
|
|
11
|
+
agenticros eyes --no-sound # mute R2D2 chirps
|
|
11
12
|
agenticros up real --eyes # start eyes after the real-robot stack
|
|
12
13
|
```
|
|
13
14
|
|
|
14
|
-
See [docs/eyes.md](../../docs/eyes.md) for setup, config, and keyboard teleop.
|
|
15
|
+
See [docs/eyes.md](../../docs/eyes.md) for setup, config, sounds, and keyboard teleop.
|
|
15
16
|
|
|
16
17
|
## Direct run (development)
|
|
17
18
|
|
|
@@ -22,4 +23,8 @@ pnpm install # from monorepo root is preferred
|
|
|
22
23
|
pnpm start
|
|
23
24
|
```
|
|
24
25
|
|
|
25
|
-
Requires Node 18+, ROS 2,
|
|
26
|
+
Requires Node 18+, ROS 2, a graphical display (`DISPLAY`) for kiosk mode, and `afplay` / `paplay` / `aplay` for sounds.
|
|
27
|
+
|
|
28
|
+
## License
|
|
29
|
+
|
|
30
|
+
MIT. The synthesizer in `lib/synth.js` is adapted from [r2d2](https://github.com/chrismatthieu/r2d2) under Apache-2.0 (see [NOTICE](NOTICE)).
|
|
@@ -0,0 +1,218 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* Idle + excited R2D2 sound loop for @agenticros/eyes.
|
|
3
|
+
*
|
|
4
|
+
* Plays synthesized WAV via afplay (macOS), paplay, or aplay (Linux).
|
|
5
|
+
* Excited bursts are triggered by active cmd_vel (see exciteFromTwist).
|
|
6
|
+
*/
|
|
7
|
+
import { spawn, execFileSync } from "node:child_process";
|
|
8
|
+
import { randomUUID } from "node:crypto";
|
|
9
|
+
import { unlink, writeFile } from "node:fs/promises";
|
|
10
|
+
import { tmpdir } from "node:os";
|
|
11
|
+
import { join } from "node:path";
|
|
12
|
+
|
|
13
|
+
import { synthesizeExcited, synthesizeRandom } from "./synth.js";
|
|
14
|
+
|
|
15
|
+
const MIN_GAP_MS = Number(process.env.SOUND_MIN_GAP_MS || 300);
|
|
16
|
+
const MAX_GAP_MS = Number(process.env.SOUND_MAX_GAP_MS || 2500);
|
|
17
|
+
const EXCITE_COOLDOWN_MS = Number(process.env.SOUND_EXCITE_COOLDOWN_MS || 600);
|
|
18
|
+
const LINEAR_DEADZONE = Number(process.env.SOUND_LINEAR_DEADZONE || 0.02);
|
|
19
|
+
|
|
20
|
+
/** @type {string | null} */
|
|
21
|
+
let playerBin = null;
|
|
22
|
+
let playerWarned = false;
|
|
23
|
+
let running = false;
|
|
24
|
+
/** @type {import('node:child_process').ChildProcess | null} */
|
|
25
|
+
let currentPlayer = null;
|
|
26
|
+
const tempFiles = new Set();
|
|
27
|
+
let pendingExcitement = 0;
|
|
28
|
+
/** @type {(() => void) | null} */
|
|
29
|
+
let wakeSleep = null;
|
|
30
|
+
let lastExciteAt = 0;
|
|
31
|
+
/** @type {Promise<void> | null} */
|
|
32
|
+
let loopPromise = null;
|
|
33
|
+
|
|
34
|
+
function sleepInterruptible(ms) {
|
|
35
|
+
return new Promise((resolve) => {
|
|
36
|
+
const timer = setTimeout(() => {
|
|
37
|
+
wakeSleep = null;
|
|
38
|
+
resolve();
|
|
39
|
+
}, ms);
|
|
40
|
+
wakeSleep = () => {
|
|
41
|
+
clearTimeout(timer);
|
|
42
|
+
wakeSleep = null;
|
|
43
|
+
resolve();
|
|
44
|
+
};
|
|
45
|
+
});
|
|
46
|
+
}
|
|
47
|
+
|
|
48
|
+
function randomGapMs() {
|
|
49
|
+
return MIN_GAP_MS + Math.random() * (MAX_GAP_MS - MIN_GAP_MS);
|
|
50
|
+
}
|
|
51
|
+
|
|
52
|
+
function findPlayer() {
|
|
53
|
+
if (playerBin !== null) return playerBin || null;
|
|
54
|
+
const candidates = ["afplay", "paplay", "aplay"];
|
|
55
|
+
for (const bin of candidates) {
|
|
56
|
+
try {
|
|
57
|
+
execFileSync("which", [bin], { stdio: "ignore" });
|
|
58
|
+
playerBin = bin;
|
|
59
|
+
return bin;
|
|
60
|
+
} catch {
|
|
61
|
+
// try next
|
|
62
|
+
}
|
|
63
|
+
}
|
|
64
|
+
playerBin = "";
|
|
65
|
+
return null;
|
|
66
|
+
}
|
|
67
|
+
|
|
68
|
+
function stopCurrentPlayback() {
|
|
69
|
+
if (currentPlayer && !currentPlayer.killed) {
|
|
70
|
+
currentPlayer.kill("SIGTERM");
|
|
71
|
+
}
|
|
72
|
+
}
|
|
73
|
+
|
|
74
|
+
/**
|
|
75
|
+
* Queue an excited burst (interrupt idle playback / gap).
|
|
76
|
+
* Rate-limited by SOUND_EXCITE_COOLDOWN_MS.
|
|
77
|
+
*/
|
|
78
|
+
export function excite() {
|
|
79
|
+
if (!running) return;
|
|
80
|
+
const now = Date.now();
|
|
81
|
+
if (now - lastExciteAt < EXCITE_COOLDOWN_MS) return;
|
|
82
|
+
lastExciteAt = now;
|
|
83
|
+
pendingExcitement += 1;
|
|
84
|
+
stopCurrentPlayback();
|
|
85
|
+
if (wakeSleep) wakeSleep();
|
|
86
|
+
}
|
|
87
|
+
|
|
88
|
+
/**
|
|
89
|
+
* Excite when Twist has meaningful linear.x or angular.z.
|
|
90
|
+
* @param {object} msg geometry_msgs/Twist-like
|
|
91
|
+
* @param {number} angularDeadzone
|
|
92
|
+
*/
|
|
93
|
+
export function exciteFromTwist(msg, angularDeadzone = 0.05) {
|
|
94
|
+
const lx = Math.abs(msg?.linear?.x ?? 0);
|
|
95
|
+
const az = Math.abs(msg?.angular?.z ?? 0);
|
|
96
|
+
if (lx < LINEAR_DEADZONE && az < angularDeadzone) return;
|
|
97
|
+
excite();
|
|
98
|
+
}
|
|
99
|
+
|
|
100
|
+
async function playWav(wavPath) {
|
|
101
|
+
const bin = findPlayer();
|
|
102
|
+
if (!bin) {
|
|
103
|
+
if (!playerWarned) {
|
|
104
|
+
playerWarned = true;
|
|
105
|
+
console.warn(
|
|
106
|
+
"No audio player found (afplay / paplay / aplay). R2D2 sounds disabled.",
|
|
107
|
+
);
|
|
108
|
+
}
|
|
109
|
+
return;
|
|
110
|
+
}
|
|
111
|
+
|
|
112
|
+
const args = bin === "aplay" ? ["-q", wavPath] : [wavPath];
|
|
113
|
+
|
|
114
|
+
return new Promise((resolve, reject) => {
|
|
115
|
+
const player = spawn(bin, args, { stdio: "ignore" });
|
|
116
|
+
currentPlayer = player;
|
|
117
|
+
|
|
118
|
+
player.on("error", (err) => {
|
|
119
|
+
currentPlayer = null;
|
|
120
|
+
reject(err);
|
|
121
|
+
});
|
|
122
|
+
|
|
123
|
+
player.on("close", (code, signal) => {
|
|
124
|
+
currentPlayer = null;
|
|
125
|
+
if (!running || signal === "SIGTERM" || signal === "SIGINT") {
|
|
126
|
+
resolve();
|
|
127
|
+
return;
|
|
128
|
+
}
|
|
129
|
+
if (code === 0) resolve();
|
|
130
|
+
else reject(new Error(`${bin} exited with code ${code}`));
|
|
131
|
+
});
|
|
132
|
+
});
|
|
133
|
+
}
|
|
134
|
+
|
|
135
|
+
async function cleanupTemp(path) {
|
|
136
|
+
tempFiles.delete(path);
|
|
137
|
+
try {
|
|
138
|
+
await unlink(path);
|
|
139
|
+
} catch {
|
|
140
|
+
// already gone
|
|
141
|
+
}
|
|
142
|
+
}
|
|
143
|
+
|
|
144
|
+
async function playGesture(excited) {
|
|
145
|
+
const { wav } = excited ? synthesizeExcited() : synthesizeRandom();
|
|
146
|
+
const wavPath = join(tmpdir(), `agenticros-eyes-${randomUUID()}.wav`);
|
|
147
|
+
tempFiles.add(wavPath);
|
|
148
|
+
|
|
149
|
+
try {
|
|
150
|
+
await writeFile(wavPath, wav);
|
|
151
|
+
if (!running) return;
|
|
152
|
+
await playWav(wavPath);
|
|
153
|
+
} catch (err) {
|
|
154
|
+
if (running) {
|
|
155
|
+
console.warn(
|
|
156
|
+
`Sound playback error: ${err instanceof Error ? err.message : String(err)}`,
|
|
157
|
+
);
|
|
158
|
+
}
|
|
159
|
+
} finally {
|
|
160
|
+
await cleanupTemp(wavPath);
|
|
161
|
+
}
|
|
162
|
+
}
|
|
163
|
+
|
|
164
|
+
async function soundLoop() {
|
|
165
|
+
while (running) {
|
|
166
|
+
if (pendingExcitement > 0) {
|
|
167
|
+
pendingExcitement -= 1;
|
|
168
|
+
await playGesture(true);
|
|
169
|
+
if (pendingExcitement > 0) continue;
|
|
170
|
+
} else {
|
|
171
|
+
await playGesture(false);
|
|
172
|
+
if (pendingExcitement > 0) continue;
|
|
173
|
+
}
|
|
174
|
+
|
|
175
|
+
if (!running) break;
|
|
176
|
+
await sleepInterruptible(randomGapMs());
|
|
177
|
+
}
|
|
178
|
+
}
|
|
179
|
+
|
|
180
|
+
/** Start idle chirps + accept excite() from cmd_vel. */
|
|
181
|
+
export function startSoundLoop() {
|
|
182
|
+
if (running) return;
|
|
183
|
+
const bin = findPlayer();
|
|
184
|
+
if (!bin) {
|
|
185
|
+
if (!playerWarned) {
|
|
186
|
+
playerWarned = true;
|
|
187
|
+
console.warn(
|
|
188
|
+
"No audio player found (afplay / paplay / aplay). R2D2 sounds disabled.",
|
|
189
|
+
);
|
|
190
|
+
}
|
|
191
|
+
return;
|
|
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|
+
}
|
|
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|
+
running = true;
|
|
194
|
+
console.log(
|
|
195
|
+
`R2D2 sounds on (${bin}; idle gaps ${MIN_GAP_MS}–${MAX_GAP_MS} ms, ` +
|
|
196
|
+
`excite cooldown ${EXCITE_COOLDOWN_MS} ms)`,
|
|
197
|
+
);
|
|
198
|
+
loopPromise = soundLoop().catch((err) => {
|
|
199
|
+
console.warn(`Sound loop error: ${err instanceof Error ? err.message : String(err)}`);
|
|
200
|
+
});
|
|
201
|
+
}
|
|
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|
+
|
|
203
|
+
/** Stop playback and clean temp WAVs. */
|
|
204
|
+
export async function stopSoundLoop() {
|
|
205
|
+
if (!running) return;
|
|
206
|
+
running = false;
|
|
207
|
+
if (wakeSleep) wakeSleep();
|
|
208
|
+
stopCurrentPlayback();
|
|
209
|
+
if (loopPromise) {
|
|
210
|
+
try {
|
|
211
|
+
await loopPromise;
|
|
212
|
+
} catch {
|
|
213
|
+
// ignore
|
|
214
|
+
}
|
|
215
|
+
loopPromise = null;
|
|
216
|
+
}
|
|
217
|
+
await Promise.all([...tempFiles].map(cleanupTemp));
|
|
218
|
+
}
|
|
@@ -0,0 +1,185 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* Procedural R2D2-style synthesizer.
|
|
3
|
+
*
|
|
4
|
+
* Adapted from https://github.com/chrismatthieu/r2d2 (Apache License 2.0).
|
|
5
|
+
* See ../NOTICE.
|
|
6
|
+
*/
|
|
7
|
+
const SAMPLE_RATE = 22050;
|
|
8
|
+
const AMPLITUDE = 0.35;
|
|
9
|
+
|
|
10
|
+
function rand(min, max) {
|
|
11
|
+
return min + Math.random() * (max - min);
|
|
12
|
+
}
|
|
13
|
+
|
|
14
|
+
function randInt(min, max) {
|
|
15
|
+
return Math.floor(rand(min, max + 1));
|
|
16
|
+
}
|
|
17
|
+
|
|
18
|
+
function pick(arr) {
|
|
19
|
+
return arr[Math.floor(Math.random() * arr.length)];
|
|
20
|
+
}
|
|
21
|
+
|
|
22
|
+
/** Soft attack/decay envelope to avoid clicks. */
|
|
23
|
+
function envelope(i, n, attack = 0.02, release = 0.08) {
|
|
24
|
+
const a = Math.max(1, Math.floor(n * attack));
|
|
25
|
+
const r = Math.max(1, Math.floor(n * release));
|
|
26
|
+
if (i < a) return i / a;
|
|
27
|
+
if (i > n - r) return (n - i) / r;
|
|
28
|
+
return 1;
|
|
29
|
+
}
|
|
30
|
+
|
|
31
|
+
function encodeWav(samples) {
|
|
32
|
+
const dataSize = samples.length * 2;
|
|
33
|
+
const buffer = Buffer.alloc(44 + dataSize);
|
|
34
|
+
|
|
35
|
+
buffer.write('RIFF', 0);
|
|
36
|
+
buffer.writeUInt32LE(36 + dataSize, 4);
|
|
37
|
+
buffer.write('WAVE', 8);
|
|
38
|
+
buffer.write('fmt ', 12);
|
|
39
|
+
buffer.writeUInt32LE(16, 16); // PCM chunk size
|
|
40
|
+
buffer.writeUInt16LE(1, 20); // audio format = PCM
|
|
41
|
+
buffer.writeUInt16LE(1, 22); // mono
|
|
42
|
+
buffer.writeUInt32LE(SAMPLE_RATE, 24);
|
|
43
|
+
buffer.writeUInt32LE(SAMPLE_RATE * 2, 28); // byte rate
|
|
44
|
+
buffer.writeUInt16LE(2, 32); // block align
|
|
45
|
+
buffer.writeUInt16LE(16, 34); // bits per sample
|
|
46
|
+
buffer.write('data', 36);
|
|
47
|
+
buffer.writeUInt32LE(dataSize, 40);
|
|
48
|
+
|
|
49
|
+
for (let i = 0; i < samples.length; i++) {
|
|
50
|
+
const clamped = Math.max(-1, Math.min(1, samples[i]));
|
|
51
|
+
buffer.writeInt16LE(Math.round(clamped * 32767), 44 + i * 2);
|
|
52
|
+
}
|
|
53
|
+
|
|
54
|
+
return buffer;
|
|
55
|
+
}
|
|
56
|
+
|
|
57
|
+
function concatSamples(parts) {
|
|
58
|
+
const total = parts.reduce((sum, p) => sum + p.length, 0);
|
|
59
|
+
const out = new Float32Array(total);
|
|
60
|
+
let offset = 0;
|
|
61
|
+
for (const part of parts) {
|
|
62
|
+
out.set(part, offset);
|
|
63
|
+
offset += part.length;
|
|
64
|
+
}
|
|
65
|
+
return out;
|
|
66
|
+
}
|
|
67
|
+
|
|
68
|
+
function silence(seconds) {
|
|
69
|
+
return new Float32Array(Math.max(0, Math.floor(seconds * SAMPLE_RATE)));
|
|
70
|
+
}
|
|
71
|
+
|
|
72
|
+
/** Constant-frequency sine with envelope. */
|
|
73
|
+
function tone(freq, seconds) {
|
|
74
|
+
const n = Math.max(1, Math.floor(seconds * SAMPLE_RATE));
|
|
75
|
+
const samples = new Float32Array(n);
|
|
76
|
+
let phase = 0;
|
|
77
|
+
const step = (2 * Math.PI * freq) / SAMPLE_RATE;
|
|
78
|
+
for (let i = 0; i < n; i++) {
|
|
79
|
+
samples[i] = Math.sin(phase) * AMPLITUDE * envelope(i, n);
|
|
80
|
+
phase += step;
|
|
81
|
+
}
|
|
82
|
+
return samples;
|
|
83
|
+
}
|
|
84
|
+
|
|
85
|
+
/** Linear frequency sweep (chirp). */
|
|
86
|
+
function chirpSamples(f0, f1, seconds) {
|
|
87
|
+
const n = Math.max(1, Math.floor(seconds * SAMPLE_RATE));
|
|
88
|
+
const samples = new Float32Array(n);
|
|
89
|
+
let phase = 0;
|
|
90
|
+
for (let i = 0; i < n; i++) {
|
|
91
|
+
const t = i / (n - 1 || 1);
|
|
92
|
+
const freq = f0 + (f1 - f0) * t;
|
|
93
|
+
samples[i] = Math.sin(phase) * AMPLITUDE * envelope(i, n, 0.03, 0.12);
|
|
94
|
+
phase += (2 * Math.PI * freq) / SAMPLE_RATE;
|
|
95
|
+
}
|
|
96
|
+
return samples;
|
|
97
|
+
}
|
|
98
|
+
|
|
99
|
+
function makeChirp() {
|
|
100
|
+
const up = Math.random() < 0.55;
|
|
101
|
+
const low = rand(700, 1200);
|
|
102
|
+
const high = rand(1600, 2800);
|
|
103
|
+
const seconds = rand(0.08, 0.25);
|
|
104
|
+
return chirpSamples(up ? low : high, up ? high : low, seconds);
|
|
105
|
+
}
|
|
106
|
+
|
|
107
|
+
function makeWarble() {
|
|
108
|
+
const center = rand(900, 1800);
|
|
109
|
+
const count = randInt(3, 6);
|
|
110
|
+
const parts = [];
|
|
111
|
+
for (let i = 0; i < count; i++) {
|
|
112
|
+
const offset = (i % 2 === 0 ? 1 : -1) * rand(120, 450);
|
|
113
|
+
const freq = Math.max(400, center + offset);
|
|
114
|
+
parts.push(tone(freq, rand(0.04, 0.09)));
|
|
115
|
+
if (i < count - 1) parts.push(silence(rand(0.008, 0.025)));
|
|
116
|
+
}
|
|
117
|
+
return concatSamples(parts);
|
|
118
|
+
}
|
|
119
|
+
|
|
120
|
+
function makeBeeps() {
|
|
121
|
+
const count = randInt(2, 5);
|
|
122
|
+
const base = rand(800, 2000);
|
|
123
|
+
const parts = [];
|
|
124
|
+
for (let i = 0; i < count; i++) {
|
|
125
|
+
const freq = base * rand(0.85, 1.25);
|
|
126
|
+
parts.push(tone(freq, rand(0.035, 0.08)));
|
|
127
|
+
if (i < count - 1) parts.push(silence(rand(0.02, 0.07)));
|
|
128
|
+
}
|
|
129
|
+
return concatSamples(parts);
|
|
130
|
+
}
|
|
131
|
+
|
|
132
|
+
/** Fast, high, dense — used on active cmd_vel (excited). */
|
|
133
|
+
function makeExcited() {
|
|
134
|
+
const parts = [];
|
|
135
|
+
const bursts = randInt(2, 4);
|
|
136
|
+
for (let b = 0; b < bursts; b++) {
|
|
137
|
+
const kind = randInt(0, 2);
|
|
138
|
+
if (kind === 0) {
|
|
139
|
+
parts.push(chirpSamples(rand(1400, 2200), rand(2600, 3800), rand(0.05, 0.12)));
|
|
140
|
+
} else if (kind === 1) {
|
|
141
|
+
const center = rand(1600, 2600);
|
|
142
|
+
const count = randInt(4, 8);
|
|
143
|
+
for (let i = 0; i < count; i++) {
|
|
144
|
+
const offset = (i % 2 === 0 ? 1 : -1) * rand(200, 600);
|
|
145
|
+
parts.push(tone(Math.max(800, center + offset), rand(0.025, 0.05)));
|
|
146
|
+
if (i < count - 1) parts.push(silence(rand(0.004, 0.012)));
|
|
147
|
+
}
|
|
148
|
+
} else {
|
|
149
|
+
const count = randInt(3, 6);
|
|
150
|
+
const base = rand(1500, 2800);
|
|
151
|
+
for (let i = 0; i < count; i++) {
|
|
152
|
+
parts.push(tone(base * rand(0.9, 1.35), rand(0.02, 0.045)));
|
|
153
|
+
if (i < count - 1) parts.push(silence(rand(0.01, 0.03)));
|
|
154
|
+
}
|
|
155
|
+
}
|
|
156
|
+
if (b < bursts - 1) parts.push(silence(rand(0.02, 0.06)));
|
|
157
|
+
}
|
|
158
|
+
return concatSamples(parts);
|
|
159
|
+
}
|
|
160
|
+
|
|
161
|
+
const GESTURES = [
|
|
162
|
+
{ name: 'chirp', fn: makeChirp },
|
|
163
|
+
{ name: 'warble', fn: makeWarble },
|
|
164
|
+
{ name: 'beeps', fn: makeBeeps },
|
|
165
|
+
];
|
|
166
|
+
|
|
167
|
+
/**
|
|
168
|
+
* Synthesize a random R2D2-style gesture.
|
|
169
|
+
* @returns {{ name: string, wav: Buffer }}
|
|
170
|
+
*/
|
|
171
|
+
export function synthesizeRandom() {
|
|
172
|
+
const gesture = pick(GESTURES);
|
|
173
|
+
const samples = gesture.fn();
|
|
174
|
+
return { name: gesture.name, wav: encodeWav(samples) };
|
|
175
|
+
}
|
|
176
|
+
|
|
177
|
+
/**
|
|
178
|
+
* Synthesize an excited R2D2 burst (higher, faster, denser).
|
|
179
|
+
* @returns {{ name: string, wav: Buffer }}
|
|
180
|
+
*/
|
|
181
|
+
export function synthesizeExcited() {
|
|
182
|
+
return { name: 'excited', wav: encodeWav(makeExcited()) };
|
|
183
|
+
}
|
|
184
|
+
|
|
185
|
+
export { SAMPLE_RATE };
|
|
@@ -1,7 +1,7 @@
|
|
|
1
1
|
{
|
|
2
2
|
"name": "@agenticros/eyes",
|
|
3
|
-
"version": "1.
|
|
4
|
-
"description": "Fullscreen robot eyes for tablet/display devices, driven by ROS 2 cmd_vel Twist",
|
|
3
|
+
"version": "1.1.0",
|
|
4
|
+
"description": "Fullscreen robot eyes for tablet/display devices, driven by ROS 2 cmd_vel Twist, with R2D2-style sounds",
|
|
5
5
|
"type": "module",
|
|
6
6
|
"main": "./src/index.js",
|
|
7
7
|
"bin": {
|
|
@@ -9,8 +9,10 @@
|
|
|
9
9
|
},
|
|
10
10
|
"files": [
|
|
11
11
|
"src",
|
|
12
|
+
"lib",
|
|
12
13
|
"public",
|
|
13
|
-
"README.md"
|
|
14
|
+
"README.md",
|
|
15
|
+
"NOTICE"
|
|
14
16
|
],
|
|
15
17
|
"scripts": {
|
|
16
18
|
"build": "node -e \"process.exit(0)\"",
|
|
@@ -4,6 +4,8 @@
|
|
|
4
4
|
*
|
|
5
5
|
* Subscribes to CMD_VEL_TOPIC for gaze (left/right turns). Optionally publishes
|
|
6
6
|
* the same topic from invisible WASD keyboard teleop (disabled with --no-teleop).
|
|
7
|
+
* Plays procedural R2D2 chirps (idle) and excited bursts on active cmd_vel
|
|
8
|
+
* (disabled with --no-sound).
|
|
7
9
|
*
|
|
8
10
|
* Env (set by `agenticros eyes` from ~/.agenticros/config.json):
|
|
9
11
|
* CMD_VEL_TOPIC, MAX_LINEAR_VELOCITY, MAX_ANGULAR_VELOCITY, PORT, …
|
|
@@ -16,6 +18,12 @@ import { fileURLToPath } from "url";
|
|
|
16
18
|
import { spawn, execFileSync } from "child_process";
|
|
17
19
|
import { WebSocketServer } from "ws";
|
|
18
20
|
|
|
21
|
+
import {
|
|
22
|
+
exciteFromTwist,
|
|
23
|
+
startSoundLoop,
|
|
24
|
+
stopSoundLoop,
|
|
25
|
+
} from "../lib/sounds.js";
|
|
26
|
+
|
|
19
27
|
const require = createRequire(import.meta.url);
|
|
20
28
|
let rclnodejs;
|
|
21
29
|
try {
|
|
@@ -41,6 +49,9 @@ const NO_BROWSER = process.argv.includes("--no-browser");
|
|
|
41
49
|
const NO_TELEOP =
|
|
42
50
|
process.argv.includes("--no-teleop") ||
|
|
43
51
|
process.env.AGENTICROS_EYES_NO_TELEOP === "1";
|
|
52
|
+
const NO_SOUND =
|
|
53
|
+
process.argv.includes("--no-sound") ||
|
|
54
|
+
process.env.AGENTICROS_EYES_NO_SOUND === "1";
|
|
44
55
|
|
|
45
56
|
const MAX_LINEAR = Number(process.env.MAX_LINEAR_VELOCITY || 1.0);
|
|
46
57
|
const MAX_ANGULAR = Number(process.env.MAX_ANGULAR_VELOCITY || 1.5);
|
|
@@ -348,6 +359,9 @@ async function main() {
|
|
|
348
359
|
gazeX: state.gazeX,
|
|
349
360
|
driving: state.driving,
|
|
350
361
|
});
|
|
362
|
+
if (!NO_SOUND) {
|
|
363
|
+
exciteFromTwist(msg, ANGULAR_DEADZONE);
|
|
364
|
+
}
|
|
351
365
|
});
|
|
352
366
|
|
|
353
367
|
setInterval(() => {
|
|
@@ -377,6 +391,11 @@ async function main() {
|
|
|
377
391
|
`(base linear=${TELOP_LINEAR}, angular=${TELOP_ANGULAR})`,
|
|
378
392
|
);
|
|
379
393
|
}
|
|
394
|
+
if (NO_SOUND) {
|
|
395
|
+
console.log("R2D2 sounds disabled (--no-sound)");
|
|
396
|
+
} else {
|
|
397
|
+
startSoundLoop();
|
|
398
|
+
}
|
|
380
399
|
if (!NO_BROWSER) {
|
|
381
400
|
launchKiosk(url);
|
|
382
401
|
} else {
|
|
@@ -389,6 +408,7 @@ async function main() {
|
|
|
389
408
|
const shutdown = async () => {
|
|
390
409
|
console.log("\nShutting down…");
|
|
391
410
|
try {
|
|
411
|
+
await stopSoundLoop();
|
|
392
412
|
publishStop();
|
|
393
413
|
wss.close();
|
|
394
414
|
server.close();
|