agenticros 0.5.8 → 0.5.9

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.
Files changed (6) hide show
  1. package/dist/commands/doctor.d.ts.map +1 -1
  2. package/dist/commands/doctor.js +42 -8
  3. package/dist/commands/doctor.js.map +1 -1
  4. package/package.json +1 -1
  5. package/runtime/BUNDLE.json +1 -1
  6. package/runtime/scripts/start_demo.sh +73 -0
package/dist/commands/doctor.d.ts.map CHANGED
@@ -1 +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,CAyf7D"}
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,CAyhB7D"}
package/dist/commands/doctor.js CHANGED
@@ -437,16 +437,50 @@ export async function runDoctorChecks() {
437
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  }
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  // RealSense (informational).
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  try {
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- const { stdout, exitCode } = await execa("lsusb", { reject: false });
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- if (exitCode === 0) {
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- const hit = /Intel.*RealSense|8086:0b/i.test(stdout);
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+ const { stdout: lsusbOut, exitCode: lsusbRc } = await execa("lsusb", { reject: false });
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+ const usbHit = lsusbRc === 0 && /Intel.*RealSense|8086:0b/i.test(lsusbOut);
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+ let recoveryMode = false;
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+ let enumerateDetail;
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+ try {
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+ const { stdout: rsOut, exitCode: rsRc } = await execa("rs-enumerate-devices", {
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+ reject: false,
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+ });
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+ if (rsRc === 0) {
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+ recoveryMode = /recovery/i.test(rsOut);
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+ const serial = rsOut.match(/Serial Number\s*:\s*(\S+)/i)?.[1];
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+ const name = rsOut.match(/Name\s*:\s*(.+)/i)?.[1]?.trim();
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+ if (name)
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+ enumerateDetail = name;
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+ if (serial && serial !== "n/a")
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+ enumerateDetail = `${enumerateDetail ?? "RealSense"} (${serial})`;
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+ }
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+ }
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+ catch {
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+ // rs-enumerate-devices missing - lsusb-only check below
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+ }
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+ if (recoveryMode) {
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  checks.push({
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  id: "realsense",
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- label: hit ? "Intel RealSense detected" : "No Intel RealSense detected",
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- severity: hit ? "green" : "yellow",
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- hint: hit
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- ? undefined
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- : "Only required for `agenticros up real` with the default camera setup.",
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+ label: "Intel RealSense in firmware RECOVERY mode",
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+ severity: "red",
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+ detail: enumerateDetail,
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+ hint: "Camera topics will have no publishers until firmware is recovered. " +
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+ "Run: agenticros down && rs-fw-update -r && rs-enumerate-devices -s",
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+ });
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+ }
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+ else if (usbHit || enumerateDetail) {
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+ checks.push({
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+ id: "realsense",
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+ label: enumerateDetail ?? "Intel RealSense detected",
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+ severity: "green",
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+ });
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+ }
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+ else if (lsusbRc === 0) {
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+ checks.push({
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+ id: "realsense",
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+ label: "No Intel RealSense detected",
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+ severity: "yellow",
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+ hint: "Only required for `agenticros up real` with the default camera setup.",
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  });
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  }
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  }
package/dist/commands/doctor.js.map CHANGED
@@ -1 +1 @@
1
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package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "agenticros",
3
- "version": "0.5.8",
3
+ "version": "0.5.9",
4
4
  "type": "module",
5
5
  "description": "AgenticROS - agentic AI for ROS-powered robots. Single CLI to launch real-robot or simulated demos, manage configuration, and inspect status.",
6
6
  "keywords": [
package/runtime/BUNDLE.json CHANGED
@@ -1,5 +1,5 @@
1
1
  {
2
- "packedAt": "2026-07-16T16:53:13.635Z",
2
+ "packedAt": "2026-07-16T18:35:15.800Z",
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/scripts/start_demo.sh CHANGED
@@ -26,10 +26,70 @@ CAMERA_LOG=/tmp/agenticros-camera.log
26
26
  CAMERA_PID_FILE=/tmp/agenticros-camera.pid
27
27
  source "$REPO_ROOT/scripts/lib/agenticros-banner.sh"
28
28
 
29
+ # True when rs-enumerate-devices reports D4XX Recovery firmware (camera won't stream).
30
+ realsense_in_recovery_mode() {
31
+ command -v rs-enumerate-devices >/dev/null 2>&1 || return 1
32
+ rs-enumerate-devices 2>/dev/null | grep -qi 'recovery'
33
+ }
34
+
35
+ realsense_print_recovery_help() {
36
+ echo " ERROR: RealSense is stuck in firmware RECOVERY mode." >&2
37
+ echo " The camera node will start but publish no images on ROS topics." >&2
38
+ echo "" >&2
39
+ echo " Fix (stop any running camera node first):" >&2
40
+ echo " agenticros down" >&2
41
+ echo " rs-fw-update -r" >&2
42
+ echo " rs-enumerate-devices -s # should show D4xx + real serial" >&2
43
+ echo " npx agenticros # re-launch real robot" >&2
44
+ echo "" >&2
45
+ echo " If recovery fails: unplug USB 10s, use a USB 3.0 port + data cable." >&2
46
+ echo " Logs: $CAMERA_LOG" >&2
47
+ }
48
+
49
+ # Preflight before launch. Returns 0 when OK to launch, 1 to skip (recovery mode).
50
+ realsense_preflight() {
51
+ if ! command -v rs-enumerate-devices >/dev/null 2>&1; then
52
+ return 0
53
+ fi
54
+ if realsense_in_recovery_mode; then
55
+ realsense_print_recovery_help
56
+ return 1
57
+ fi
58
+ if ! rs-enumerate-devices 2>/dev/null | grep -qi 'Intel RealSense'; then
59
+ echo " WARN: no Intel RealSense detected on USB." >&2
60
+ echo " Camera launch will likely fail — check cable/port." >&2
61
+ fi
62
+ return 0
63
+ }
64
+
65
+ # After launch, detect the classic recovery-mode retry loop in the log.
66
+ realsense_verify_started() {
67
+ local node_pid="${1:-}"
68
+ sleep 3
69
+ if [[ ! -f "$CAMERA_LOG" ]]; then
70
+ return 0
71
+ fi
72
+ if grep -q "Serial Number not supported by the device" "$CAMERA_LOG" 2>/dev/null; then
73
+ echo " ERROR: RealSense failed to open the device (recovery mode or USB issue)." >&2
74
+ realsense_print_recovery_help
75
+ if [[ -n "$node_pid" ]]; then
76
+ kill "$node_pid" 2>/dev/null || true
77
+ fi
78
+ pkill -f "realsense2_camera" 2>/dev/null || true
79
+ rm -f "$CAMERA_PID_FILE"
80
+ return 1
81
+ fi
82
+ return 0
83
+ }
84
+
29
85
  start_realsense_camera() {
30
86
  echo "==> Starting RealSense camera (logs: $CAMERA_LOG)"
31
87
  if [[ -f "$CAMERA_PID_FILE" ]] && kill -0 "$(cat "$CAMERA_PID_FILE")" 2>/dev/null; then
32
88
  echo " Already running (pid $(cat "$CAMERA_PID_FILE")) — skipping"
89
+ if realsense_in_recovery_mode; then
90
+ echo " WARN: RealSense is in RECOVERY mode — no images will publish." >&2
91
+ realsense_print_recovery_help
92
+ fi
33
93
  return 0
34
94
  fi
35
95
  if pgrep -f "realsense2_camera_node" >/dev/null; then
@@ -41,6 +101,10 @@ start_realsense_camera() {
41
101
  existing_pid=$(pgrep -f "realsense2_camera_node" | head -n 1)
42
102
  echo "$existing_pid" >"$CAMERA_PID_FILE"
43
103
  echo " Detected an existing realsense2_camera_node (pid $existing_pid) — adopted into $CAMERA_PID_FILE"
104
+ if realsense_in_recovery_mode; then
105
+ echo " WARN: camera node is running but RealSense is in RECOVERY mode — no images will publish." >&2
106
+ realsense_print_recovery_help
107
+ fi
44
108
  return 0
45
109
  fi
46
110
 
@@ -51,6 +115,12 @@ start_realsense_camera() {
51
115
  return 0
52
116
  fi
53
117
 
118
+ if ! realsense_preflight; then
119
+ echo " Skipping camera launch — recover firmware first (see above)." >&2
120
+ return 0
121
+ fi
122
+
123
+ : >"$CAMERA_LOG"
54
124
  nohup ros2 launch realsense2_camera rs_launch.py >"$CAMERA_LOG" 2>&1 &
55
125
  # $! is the `ros2 launch` parent; the actual camera node is a child that
56
126
  # comes up a moment later. Wait briefly so we can record the node's PID
@@ -64,6 +134,9 @@ start_realsense_camera() {
64
134
  done
65
135
  if [[ -n "$node_pid" ]]; then
66
136
  echo "$node_pid" >"$CAMERA_PID_FILE"
137
+ if ! realsense_verify_started "$node_pid"; then
138
+ return 0
139
+ fi
67
140
  echo " Started (node pid $node_pid, launch pid $launch_pid)"
68
141
  else
69
142
  # Fallback: launch parent. `agenticros down` also pkills by name, so