agenticros 0.5.7 → 0.5.9

package/dist/__tests__/eyes.test.js

@@ -1,6 +1,9 @@
 import { describe, it } from "node:test";
 import assert from "node:assert/strict";
-import { cmdVelTopicFromConfig, safetyLimitsFromConfig, } from "../util/eyes.js";
+import { mkdtempSync, mkdirSync, writeFileSync, rmSync } from "node:fs";
+import { join } from "node:path";
+import { tmpdir } from "node:os";
+import { areEyesDepsInstalled, 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");
@@ -26,5 +29,17 @@ describe("eyes config helpers", () => {
             safety: { maxLinearVelocity: 0.4, maxAngularVelocity: 0.8 },
         }), { maxLinearVelocity: 0.4, maxAngularVelocity: 0.8 });
     });
+    it("areEyesDepsInstalled requires node_modules/ws", () => {
+        const dir = mkdtempSync(join(tmpdir(), "eyes-deps-"));
+        try {
+            assert.equal(areEyesDepsInstalled(dir), false);
+            mkdirSync(join(dir, "node_modules", "ws"), { recursive: true });
+            writeFileSync(join(dir, "node_modules", "ws", "package.json"), "{}");
+            assert.equal(areEyesDepsInstalled(dir), true);
+        }
+        finally {
+            rmSync(dir, { recursive: true, force: true });
+        }
+    });
 });
 //# sourceMappingURL=eyes.test.js.map

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

@@ -1 +1 @@
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+{"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;AACxC,OAAO,EAAE,WAAW,EAAE,SAAS,EAAE,aAAa,EAAE,MAAM,EAAE,MAAM,SAAS,CAAC;AACxE,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AACjC,OAAO,EAAE,MAAM,EAAE,MAAM,SAAS,CAAC;AAEjC,OAAO,EACL,oBAAoB,EACpB,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;IAEH,EAAE,CAAC,+CAA+C,EAAE,GAAG,EAAE;QACvD,MAAM,GAAG,GAAG,WAAW,CAAC,IAAI,CAAC,MAAM,EAAE,EAAE,YAAY,CAAC,CAAC,CAAC;QACtD,IAAI,CAAC;YACH,MAAM,CAAC,KAAK,CAAC,oBAAoB,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC;YAC/C,SAAS,CAAC,IAAI,CAAC,GAAG,EAAE,cAAc,EAAE,IAAI,CAAC,EAAE,EAAE,SAAS,EAAE,IAAI,EAAE,CAAC,CAAC;YAChE,aAAa,CAAC,IAAI,CAAC,GAAG,EAAE,cAAc,EAAE,IAAI,EAAE,cAAc,CAAC,EAAE,IAAI,CAAC,CAAC;YACrE,MAAM,CAAC,KAAK,CAAC,oBAAoB,CAAC,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC;QAChD,CAAC;gBAAS,CAAC;YACT,MAAM,CAAC,GAAG,EAAE,EAAE,SAAS,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC,CAAC;QAChD,CAAC;IACH,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,CA8e7D"}
+{"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,CAyhB7D"}

package/dist/commands/doctor.js

@@ -437,16 +437,50 @@ export async function runDoctorChecks() {
     }
     // RealSense (informational).
     try {
-        const { stdout, exitCode } = await execa("lsusb", { reject: false });
-        if (exitCode === 0) {
-            const hit = /Intel.*RealSense|8086:0b/i.test(stdout);
+        const { stdout: lsusbOut, exitCode: lsusbRc } = await execa("lsusb", { reject: false });
+        const usbHit = lsusbRc === 0 && /Intel.*RealSense|8086:0b/i.test(lsusbOut);
+        let recoveryMode = false;
+        let enumerateDetail;
+        try {
+            const { stdout: rsOut, exitCode: rsRc } = await execa("rs-enumerate-devices", {
+                reject: false,
+            });
+            if (rsRc === 0) {
+                recoveryMode = /recovery/i.test(rsOut);
+                const serial = rsOut.match(/Serial Number\s*:\s*(\S+)/i)?.[1];
+                const name = rsOut.match(/Name\s*:\s*(.+)/i)?.[1]?.trim();
+                if (name)
+                    enumerateDetail = name;
+                if (serial && serial !== "n/a")
+                    enumerateDetail = `${enumerateDetail ?? "RealSense"} (${serial})`;
+            }
+        }
+        catch {
+            // rs-enumerate-devices missing - lsusb-only check below
+        }
+        if (recoveryMode) {
             checks.push({
                 id: "realsense",
-                label: hit ? "Intel RealSense detected" : "No Intel RealSense detected",
-                severity: hit ? "green" : "yellow",
-                hint: hit
-                    ? undefined
-                    : "Only required for `agenticros up real` with the default camera setup.",
+                label: "Intel RealSense in firmware RECOVERY mode",
+                severity: "red",
+                detail: enumerateDetail,
+                hint: "Camera topics will have no publishers until firmware is recovered. " +
+                    "Run: agenticros down && rs-fw-update -r && rs-enumerate-devices -s",
+            });
+        }
+        else if (usbHit || enumerateDetail) {
+            checks.push({
+                id: "realsense",
+                label: enumerateDetail ?? "Intel RealSense detected",
+                severity: "green",
+            });
+        }
+        else if (lsusbRc === 0) {
+            checks.push({
+                id: "realsense",
+                label: "No Intel RealSense detected",
+                severity: "yellow",
+                hint: "Only required for `agenticros up real` with the default camera setup.",
             });
         }
     }
@@ -459,6 +493,16 @@ export async function runDoctorChecks() {
         ? join(paths.repoRoot, "packages", "robot-eyes", "src", "index.js")
         : "";
     if (eyesEntry && existsSync(eyesEntry)) {
+        const eyesPkgDir = join(paths.repoRoot, "packages", "robot-eyes");
+        const eyesWs = join(eyesPkgDir, "node_modules", "ws", "package.json");
+        if (!existsSync(eyesWs)) {
+            checks.push({
+                id: "eyes-deps",
+                label: "Robot eyes package present but deps not installed (ws)",
+                severity: "red",
+                hint: `Run: cd ${paths.repoRoot} && pnpm install   (or: agenticros init)`,
+            });
+        }
         const display = (process.env["DISPLAY"] ?? "").trim();
         let browserFound = false;
         for (const bin of ["firefox", "chromium-browser", "chromium", "google-chrome"]) {

package/dist/commands/doctor.js.map

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

@@ -1 +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,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"}
+{"version":3,"file":"eyes.d.ts","sourceRoot":"","sources":["../../src/commands/eyes.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAyBH,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;AAiCD,wBAAsB,WAAW,CAAC,IAAI,GAAE,WAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,CAkJvE"}

package/dist/commands/eyes.js

@@ -4,14 +4,46 @@
  * 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 { openSync, readFileSync } 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 { areEyesDepsInstalled, resolveCmdVelTopic, resolveEyesEntry, resolveEyesPkgDir, resolveSafetyLimits, } from "../util/eyes.js";
 import { buildRosSourcedShellCmd, detectRosDistro } from "../util/env.js";
 import { getCliPaths } from "../util/paths.js";
+import { ensureWorkspaceReady } from "../util/workspace.js";
 import { err, info, ok, warn } from "../util/logger.js";
+const EYES_READY_MARK = "robot-eyes listening on";
+const EYES_READY_TIMEOUT_MS = 12_000;
+function lastLogLines(n = 20) {
+    try {
+        const text = readFileSync(logPath("eyes"), "utf8").trimEnd();
+        if (!text)
+            return "(log empty)";
+        const lines = text.split("\n");
+        return lines.slice(-n).join("\n");
+    }
+    catch {
+        return "(no log yet)";
+    }
+}
+async function waitForEyesReady(timeoutMs = EYES_READY_TIMEOUT_MS) {
+    const deadline = Date.now() + timeoutMs;
+    while (Date.now() < deadline) {
+        if (!isPidAlive("eyes"))
+            return "dead";
+        try {
+            const text = readFileSync(logPath("eyes"), "utf8");
+            if (text.includes(EYES_READY_MARK))
+                return "ready";
+        }
+        catch {
+            // log not written yet
+        }
+        await new Promise((r) => setTimeout(r, 250));
+    }
+    return isPidAlive("eyes") ? "timeout" : "dead";
+}
 export async function eyesCommand(opts = {}) {
     if (isPidAlive("eyes")) {
         const pid = readPid("eyes");
@@ -24,7 +56,7 @@ export async function eyesCommand(opts = {}) {
     if (readPid("eyes") !== undefined)
         clearPid("eyes");
     const entry = resolveEyesEntry();
-    const pkgDir = resolveEyesPkgDir();
+    let 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) {
@@ -34,6 +66,35 @@ export async function eyesCommand(opts = {}) {
         err(msg);
         process.exit(1);
     }
+    const paths = getCliPaths();
+    if (paths.repoRoot && !areEyesDepsInstalled(pkgDir)) {
+        warn("Eyes dependencies missing (ws not linked). Healing workspace with pnpm install…");
+        try {
+            await ensureWorkspaceReady(paths.repoRoot, "robot eyes");
+        }
+        catch (e) {
+            const detail = e instanceof Error ? e.message : String(e);
+            const msg = `Failed to install eyes dependencies: ${detail}. ` +
+                `Try: cd ${paths.repoRoot} && pnpm install`;
+            if (opts.softFail) {
+                warn(msg);
+                return;
+            }
+            err(msg);
+            process.exit(1);
+        }
+        pkgDir = resolveEyesPkgDir() ?? pkgDir;
+        if (!areEyesDepsInstalled(pkgDir)) {
+            const msg = `Eyes still missing node_modules/ws after install. ` +
+                `Try: cd ${paths.repoRoot} && pnpm install`;
+            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).";
@@ -47,7 +108,6 @@ export async function eyesCommand(opts = {}) {
     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;
@@ -95,11 +155,16 @@ export async function eyesCommand(opts = {}) {
         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?).`;
+    // Wait for the Node process to finish sourcing ROS and print the listen line.
+    // A short "pid alive" check is not enough: bash stays up while sourcing, then
+    // node can crash on missing deps before the HTTP server binds.
+    const ready = await waitForEyesReady();
+    if (ready !== "ready") {
+        if (ready === "dead")
+            clearPid("eyes");
+        const msg = ready === "dead"
+            ? `Eyes exited before listening. Last log lines from ${logPath("eyes")}:\n${lastLogLines()}`
+            : `Eyes did not report ready within ${EYES_READY_TIMEOUT_MS / 1000}s (pid still alive). Check ${logPath("eyes")}.`;
         if (opts.softFail) {
             warn(msg);
             return;

package/dist/commands/eyes.js.map

@@ -1 +1 @@
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package/dist/commands/init.js

@@ -505,6 +505,12 @@ const ALWAYS_REFRESH_FROM_BUNDLE = [
     "ros2_ws/src", // ROS 2 package sources (msgs, sim, follow_me, ...)
     "tsconfig.base.json",
     "pnpm-workspace.yaml",
+    // Keep lockfile/root package.json in lockstep with packages/. Otherwise a
+    // CLI upgrade can drop a new workspace package (e.g. robot-eyes) into
+    // packages/ while leaving an older lockfile — pnpm install is then skipped
+    // (node_modules looks healthy) and the new package has no linked deps.
+    "package.json",
+    "pnpm-lock.yaml",
 ];
 function findMissingBundleFiles(installDir) {
     return CRITICAL_BUNDLE_FILES.filter((f) => !existsSync(join(installDir, f)));

package/dist/commands/init.js.map

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

@@ -20,4 +20,10 @@ export declare function resolveSafetyLimits(): {
 export declare function resolveEyesEntry(): string | undefined;
 /** Package root (for cwd so node resolves ws/rclnodejs). */
 export declare function resolveEyesPkgDir(): string | undefined;
+/**
+ * True when pnpm has linked `ws` into packages/robot-eyes/node_modules.
+ * Fresh installs after a CLI upgrade can ship robot-eyes source without
+ * re-running pnpm install; Node then dies with ERR_MODULE_NOT_FOUND.
+ */
+export declare function areEyesDepsInstalled(pkgDir: string): boolean;
 //# sourceMappingURL=eyes.d.ts.map

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

@@ -1 +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"}
+{"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;AAED;;;;GAIG;AACH,wBAAgB,oBAAoB,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAE5D"}

package/dist/util/eyes.js

@@ -50,4 +50,12 @@ export function resolveEyesPkgDir() {
     const dir = join(paths.repoRoot, "packages", "robot-eyes");
     return existsSync(dir) ? dir : undefined;
 }
+/**
+ * True when pnpm has linked `ws` into packages/robot-eyes/node_modules.
+ * Fresh installs after a CLI upgrade can ship robot-eyes source without
+ * re-running pnpm install; Node then dies with ERR_MODULE_NOT_FOUND.
+ */
+export function areEyesDepsInstalled(pkgDir) {
+    return existsSync(join(pkgDir, "node_modules", "ws", "package.json"));
+}
 //# sourceMappingURL=eyes.js.map

package/dist/util/eyes.js.map

@@ -1 +1 @@
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+{"version":3,"file":"eyes.js","sourceRoot":"","sources":["../../src/util/eyes.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AACrC,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EAAE,WAAW,EAAE,qBAAqB,EAAE,MAAM,kBAAkB,CAAC;AAEtE,OAAO,EAAE,gBAAgB,EAAE,MAAM,mBAAmB,CAAC;AACrD,OAAO,EAAE,WAAW,EAAE,MAAM,YAAY,CAAC;AAEzC,6FAA6F;AAC7F,MAAM,UAAU,qBAAqB,CACnC,GAA4B,EAC5B,aAAsB;IAEtB,MAAM,OAAO,GAAG,CAAC,aAAa,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC;IAC7C,IAAI,OAAO;QAAE,OAAO,OAAO,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,IAAI,OAAO,EAAE,CAAC;IAEtE,MAAM,MAAM,GAAG,WAAW,CAAC,GAAG,CAAC,CAAC;IAChC,MAAM,UAAU,GAAG,CAAC,MAAM,CAAC,MAAM,EAAE,WAAW,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC;IAC7D,IAAI,UAAU;QAAE,OAAO,UAAU,CAAC;IAClC,OAAO,qBAAqB,CAAC,MAAM,EAAE,UAAU,CAAC,CAAC;AACnD,CAAC;AAED,oFAAoF;AACpF,MAAM,UAAU,kBAAkB,CAAC,aAAsB;IACvD,OAAO,qBAAqB,CAAC,gBAAgB,EAAE,EAAE,aAAa,CAAC,CAAC;AAClE,CAAC;AAED,MAAM,UAAU,sBAAsB,CAAC,GAA4B;IAIjE,MAAM,MAAM,GAAG,WAAW,CAAC,GAAG,CAAC,CAAC;IAChC,OAAO;QACL,iBAAiB,EAAE,MAAM,CAAC,MAAM,EAAE,iBAAiB,IAAI,GAAG;QAC1D,kBAAkB,EAAE,MAAM,CAAC,MAAM,EAAE,kBAAkB,IAAI,GAAG;KAC7D,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,mBAAmB;IAIjC,OAAO,sBAAsB,CAAC,gBAAgB,EAAE,CAAC,CAAC;AACpD,CAAC;AAED,kFAAkF;AAClF,MAAM,UAAU,gBAAgB;IAC9B,MAAM,KAAK,GAAG,WAAW,EAAE,CAAC;IAC5B,IAAI,CAAC,KAAK,CAAC,QAAQ;QAAE,OAAO,SAAS,CAAC;IACtC,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,EAAE,YAAY,EAAE,KAAK,EAAE,UAAU,CAAC,CAAC;IAChF,OAAO,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,SAAS,CAAC;AAC/C,CAAC;AAED,4DAA4D;AAC5D,MAAM,UAAU,iBAAiB;IAC/B,MAAM,KAAK,GAAG,WAAW,EAAE,CAAC;IAC5B,IAAI,CAAC,KAAK,CAAC,QAAQ;QAAE,OAAO,SAAS,CAAC;IACtC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,EAAE,YAAY,CAAC,CAAC;IAC3D,OAAO,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC;AAC3C,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,oBAAoB,CAAC,MAAc;IACjD,OAAO,UAAU,CAAC,IAAI,CAAC,MAAM,EAAE,cAAc,EAAE,IAAI,EAAE,cAAc,CAAC,CAAC,CAAC;AACxE,CAAC"}

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

@@ -1 +1 @@
-{"version":3,"file":"workspace.d.ts","sourceRoot":"","sources":["../../src/util/workspace.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AASH;;;;;;;;;;;GAWG;AACH,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAkB9D;AAED;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAE1D;AAwCD;;;;;;;GAOG;AACH,wBAAsB,cAAc,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAYpE;AAOD;;;;;;;GAOG;AACH,wBAAsB,oBAAoB,CACxC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,GACX,OAAO,CAAC,IAAI,CAAC,CA+Bf"}
+{"version":3,"file":"workspace.d.ts","sourceRoot":"","sources":["../../src/util/workspace.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AASH;;;;;;;;;;;GAWG;AACH,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAmC9D;AAED;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAE1D;AAwCD;;;;;;;GAOG;AACH,wBAAsB,cAAc,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAYpE;AAOD;;;;;;;GAOG;AACH,wBAAsB,oBAAoB,CACxC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,GACX,OAAO,CAAC,IAAI,CAAC,CA+Bf"}

package/dist/util/workspace.js

@@ -37,6 +37,15 @@ export function isWorkspaceInstalled(repoRoot) {
     const tsc = join(repoRoot, "packages", "agenticros-claude-code", "node_modules", ".bin", "tsc");
     if (!existsSync(tsc))
         return false;
+    // robot-eyes is often added by refreshShippedCode after an older install.
+    // Root node_modules can look healthy while packages/robot-eyes/node_modules/ws
+    // was never linked — eyes then crashes with ERR_MODULE_NOT_FOUND.
+    const eyesPkg = join(repoRoot, "packages", "robot-eyes", "package.json");
+    if (existsSync(eyesPkg)) {
+        const eyesWs = join(repoRoot, "packages", "robot-eyes", "node_modules", "ws", "package.json");
+        if (!existsSync(eyesWs))
+            return false;
+    }
     return true;
 }
 /**

package/dist/util/workspace.js.map

@@ -1 +1 @@
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+{"version":3,"file":"workspace.js","sourceRoot":"","sources":["../../src/util/workspace.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM,SAAS,CAAC;AACpD,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAEjC,OAAO,EAAE,KAAK,EAAE,MAAM,OAAO,CAAC;AAE9B,OAAO,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,EAAE,MAAM,aAAa,CAAC;AAE1D;;;;;;;;;;;GAWG;AACH,MAAM,UAAU,oBAAoB,CAAC,QAAgB;IACnD,MAAM,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,cAAc,CAAC,CAAC;IAC1C,IAAI,CAAC,UAAU,CAAC,EAAE,CAAC;QAAE,OAAO,KAAK,CAAC;IAClC,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,EAAE,EAAE,eAAe,CAAC,CAAC;QAAE,OAAO,KAAK,CAAC;IACzD,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,EAAE,EAAE,OAAO,CAAC,CAAC;QAAE,OAAO,KAAK,CAAC;IACjD,sEAAsE;IACtE,uEAAuE;IACvE,iEAAiE;IACjE,MAAM,GAAG,GAAG,IAAI,CACd,QAAQ,EACR,UAAU,EACV,wBAAwB,EACxB,cAAc,EACd,MAAM,EACN,KAAK,CACN,CAAC;IACF,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IAEnC,0EAA0E;IAC1E,+EAA+E;IAC/E,kEAAkE;IAClE,MAAM,OAAO,GAAG,IAAI,CAAC,QAAQ,EAAE,UAAU,EAAE,YAAY,EAAE,cAAc,CAAC,CAAC;IACzE,IAAI,UAAU,CAAC,OAAO,CAAC,EAAE,CAAC;QACxB,MAAM,MAAM,GAAG,IAAI,CACjB,QAAQ,EACR,UAAU,EACV,YAAY,EACZ,cAAc,EACd,IAAI,EACJ,cAAc,CACf,CAAC;QACF,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC;YAAE,OAAO,KAAK,CAAC;IACxC,CAAC;IAED,OAAO,IAAI,CAAC;AACd,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,gBAAgB,CAAC,QAAgB;IAC/C,OAAO,UAAU,CAAC,IAAI,CAAC,QAAQ,EAAE,UAAU,EAAE,MAAM,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC,CAAC;AAC5E,CAAC;AAED,MAAM,sBAAsB,GAAG;IAC7B,SAAS;IACT,+BAA+B;IAC/B,kCAAkC;CAC1B,CAAC;AAEX,SAAS,cAAc;IACrB,OAAO;QACL,GAAG,OAAO,CAAC,GAAG;QACd,mCAAmC,EAAE,OAAO;QAC5C,6BAA6B,EAAE,MAAM;KACtC,CAAC;AACJ,CAAC;AAED,kFAAkF;AAClF,SAAS,iBAAiB,CAAC,QAAgB;IACzC,aAAa,CACX,IAAI,CAAC,QAAQ,EAAE,QAAQ,CAAC,EACxB;QACE,uEAAuE;QACvE,kEAAkE;QAClE,kEAAkE;QAClE,wBAAwB;QACxB,gCAAgC;QAChC,yBAAyB;QACzB,EAAE;KACH,CAAC,IAAI,CAAC,IAAI,CAAC,CACb,CAAC;AACJ,CAAC;AAED,KAAK,UAAU,eAAe,CAAC,QAAgB,EAAE,YAAsB,EAAE;IACvE,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,GAAG,sBAAsB,EAAE,GAAG,SAAS,CAAC,EAAE;QAC7D,GAAG,EAAE,QAAQ;QACb,KAAK,EAAE,SAAS;QAChB,GAAG,EAAE,cAAc,EAAE;KACtB,CAAC,CAAC;AACL,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,CAAC,KAAK,UAAU,cAAc,CAAC,QAAgB;IACnD,iBAAiB,CAAC,QAAQ,CAAC,CAAC;IAC5B,IAAI,CAAC;QACH,MAAM,eAAe,CAAC,QAAQ,CAAC,CAAC;IAClC,CAAC;IAAC,MAAM,CAAC;QACP,IAAI,CACF,4DAA4D;YAC1D,gEAAgE;YAChE,wCAAwC,CAC3C,CAAC;QACF,MAAM,eAAe,CAAC,QAAQ,EAAE,CAAC,eAAe,CAAC,CAAC,CAAC;IACrD,CAAC;AACH,CAAC;AAED,uCAAuC;AACvC,KAAK,UAAU,YAAY,CAAC,QAAgB;IAC1C,MAAM,KAAK,CAAC,MAAM,EAAE,CAAC,IAAI,EAAE,OAAO,CAAC,EAAE,EAAE,GAAG,EAAE,QAAQ,EAAE,KAAK,EAAE,SAAS,EAAE,CAAC,CAAC;AAC5E,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,CAAC,KAAK,UAAU,oBAAoB,CACxC,QAAgB,EAChB,IAAY;IAEZ,MAAM,SAAS,GAAG,oBAAoB,CAAC,QAAQ,CAAC,CAAC;IACjD,MAAM,KAAK,GAAG,gBAAgB,CAAC,QAAQ,CAAC,CAAC;IAEzC,IAAI,SAAS,IAAI,KAAK;QAAE,OAAO;IAE/B,IAAI,CAAC,2BAA2B,IAAI,oBAAoB,CAAC,CAAC;IAC1D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,IAAI,CAAC,uCAAuC,CAAC,CAAC;IAChD,CAAC;IACD,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,IAAI,CAAC,8BAA8B,CAAC,CAAC;IACvC,CAAC;IAED,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,MAAM,WAAW,CAAC,qDAAqD,EAAE,KAAK,IAAI,EAAE;YAClF,MAAM,cAAc,CAAC,QAAQ,CAAC,CAAC;QACjC,CAAC,CAAC,CAAC;IACL,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,sCAAsC,CAAC,CAAC;IAC7C,CAAC;IAED,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,MAAM,WAAW,CAAC,+CAA+C,EAAE,KAAK,IAAI,EAAE;YAC5E,MAAM,YAAY,CAAC,QAAQ,CAAC,CAAC;QAC/B,CAAC,CAAC,CAAC;IACL,CAAC;SAAM,CAAC;QACN,EAAE,CAAC,qCAAqC,CAAC,CAAC;IAC5C,CAAC;IAED,EAAE,CAAC,qBAAqB,CAAC,CAAC;AAC5B,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.5.7",
+  "version": "0.5.9",
   "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": [

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-07-16T16:28:06.325Z",
+  "packedAt": "2026-07-16T18:35:15.800Z",
   "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/scripts/start_demo.sh

@@ -26,10 +26,70 @@ CAMERA_LOG=/tmp/agenticros-camera.log
 CAMERA_PID_FILE=/tmp/agenticros-camera.pid
 source "$REPO_ROOT/scripts/lib/agenticros-banner.sh"
 
+# True when rs-enumerate-devices reports D4XX Recovery firmware (camera won't stream).
+realsense_in_recovery_mode() {
+    command -v rs-enumerate-devices >/dev/null 2>&1 || return 1
+    rs-enumerate-devices 2>/dev/null | grep -qi 'recovery'
+}
+
+realsense_print_recovery_help() {
+    echo "   ERROR: RealSense is stuck in firmware RECOVERY mode." >&2
+    echo "          The camera node will start but publish no images on ROS topics." >&2
+    echo "" >&2
+    echo "   Fix (stop any running camera node first):" >&2
+    echo "     agenticros down" >&2
+    echo "     rs-fw-update -r" >&2
+    echo "     rs-enumerate-devices -s    # should show D4xx + real serial" >&2
+    echo "     npx agenticros             # re-launch real robot" >&2
+    echo "" >&2
+    echo "   If recovery fails: unplug USB 10s, use a USB 3.0 port + data cable." >&2
+    echo "   Logs: $CAMERA_LOG" >&2
+}
+
+# Preflight before launch. Returns 0 when OK to launch, 1 to skip (recovery mode).
+realsense_preflight() {
+    if ! command -v rs-enumerate-devices >/dev/null 2>&1; then
+        return 0
+    fi
+    if realsense_in_recovery_mode; then
+        realsense_print_recovery_help
+        return 1
+    fi
+    if ! rs-enumerate-devices 2>/dev/null | grep -qi 'Intel RealSense'; then
+        echo "   WARN: no Intel RealSense detected on USB." >&2
+        echo "         Camera launch will likely fail — check cable/port." >&2
+    fi
+    return 0
+}
+
+# After launch, detect the classic recovery-mode retry loop in the log.
+realsense_verify_started() {
+    local node_pid="${1:-}"
+    sleep 3
+    if [[ ! -f "$CAMERA_LOG" ]]; then
+        return 0
+    fi
+    if grep -q "Serial Number not supported by the device" "$CAMERA_LOG" 2>/dev/null; then
+        echo "   ERROR: RealSense failed to open the device (recovery mode or USB issue)." >&2
+        realsense_print_recovery_help
+        if [[ -n "$node_pid" ]]; then
+            kill "$node_pid" 2>/dev/null || true
+        fi
+        pkill -f "realsense2_camera" 2>/dev/null || true
+        rm -f "$CAMERA_PID_FILE"
+        return 1
+    fi
+    return 0
+}
+
 start_realsense_camera() {
     echo "==> Starting RealSense camera (logs: $CAMERA_LOG)"
     if [[ -f "$CAMERA_PID_FILE" ]] && kill -0 "$(cat "$CAMERA_PID_FILE")" 2>/dev/null; then
         echo "   Already running (pid $(cat "$CAMERA_PID_FILE")) — skipping"
+        if realsense_in_recovery_mode; then
+            echo "   WARN: RealSense is in RECOVERY mode — no images will publish." >&2
+            realsense_print_recovery_help
+        fi
         return 0
     fi
     if pgrep -f "realsense2_camera_node" >/dev/null; then
@@ -41,6 +101,10 @@ start_realsense_camera() {
         existing_pid=$(pgrep -f "realsense2_camera_node" | head -n 1)
         echo "$existing_pid" >"$CAMERA_PID_FILE"
         echo "   Detected an existing realsense2_camera_node (pid $existing_pid) — adopted into $CAMERA_PID_FILE"
+        if realsense_in_recovery_mode; then
+            echo "   WARN: camera node is running but RealSense is in RECOVERY mode — no images will publish." >&2
+            realsense_print_recovery_help
+        fi
         return 0
     fi
 
@@ -51,6 +115,12 @@ start_realsense_camera() {
         return 0
     fi
 
+    if ! realsense_preflight; then
+        echo "   Skipping camera launch — recover firmware first (see above)." >&2
+        return 0
+    fi
+
+    : >"$CAMERA_LOG"
     nohup ros2 launch realsense2_camera rs_launch.py >"$CAMERA_LOG" 2>&1 &
     # $! is the `ros2 launch` parent; the actual camera node is a child that
     # comes up a moment later. Wait briefly so we can record the node's PID
@@ -64,6 +134,9 @@ start_realsense_camera() {
     done
     if [[ -n "$node_pid" ]]; then
         echo "$node_pid" >"$CAMERA_PID_FILE"
+        if ! realsense_verify_started "$node_pid"; then
+            return 0
+        fi
         echo "   Started (node pid $node_pid, launch pid $launch_pid)"
     else
         # Fallback: launch parent. `agenticros down` also pkills by name, so