explore_rbnx

Autonomous frontier exploration skill for robonix. Driven by the LLM/pilot via rbnx ask "explore" (or any equivalent intent that triggers the robonix/skill/explore/explore tool).

See CAPABILITY.md for the full interface + behaviour spec.

Quickstart

# from the package root
bash scripts/build.sh   # rbnx codegen + docker build
# then add to your deploy manifest under skill: and rbnx boot

Manifest snippet:

skill:
  - name: explore
    path: ../../../explore_rbnx
    config: {}

The skill registers 3 MCP tools with atlas. Pilot's tool catalog will include robonix/skill/explore/{explore, status, cancel}.

Layout

explore_rbnx/
├── package_manifest.yaml    # 3 caps + build/start hooks
├── capabilities/            # package-local TOMLs + .srv files
│   ├── explore.v1.toml
│   ├── status.v1.toml
│   ├── cancel.v1.toml
│   └── srv/{Explore,GetExploreStatus,CancelExplore}.srv
├── explore_skill/           # python module
│   ├── atlas_bridge.py      # entrypoint: register + serve MCP
│   ├── controller.py        # task state machine and frontier loop
│   ├── frontier.py          # frontier search, clustering, goals, costmap overlay
│   ├── strategies.py        # frontier_greedy and mrtsp
│   ├── map_opt.py           # map cleaning for mrtsp
│   └── soma.py              # robot radius from Soma's footprint
├── scripts/{build,start}.sh
├── docker/{Dockerfile, entrypoint.sh, no_shm_profile.xml}
├── CAPABILITY.md            # LLM-readable spec (registered with atlas)
└── README.md

License: MulanPSL-2.0