/**
 * External ROS-node capability executor — Phase 1 completion.
 *
 * Dispatches `implementation.kind: "external_ros_node"` capabilities via
 * the existing RosTransport action / service / topic APIs. The manifest
 * `launch` field is metadata only (operator-owned bringup) — the gateway
 * never shells out to `ros2 launch` in v1.
 */
import type { Capability, CapabilityImplementation } from "./capabilities.js";
import type { RosTransport } from "./transport/transport.js";
import type { SafetyLimits } from "./safety.js";
export interface ExecuteExternalOptions {
    /** Robot namespace for topic/action/service prefixing. */
    namespace?: string;
    /** Optional timeout for subscribe_once (ms). */
    timeoutMs?: number;
    /**
     * When aborted mid-action, call `transport.cancelActionGoal` (best-effort).
     * Subscribe waits also reject early on abort.
     */
    signal?: AbortSignal;
    /** When set, NavigateToPose-style goals outside the fence are rejected. */
    workspaceCheck?: SafetyLimits;
}
export interface ExecuteExternalResult {
    text: string;
    outputs?: Record<string, unknown>;
    isError?: boolean;
}
/**
 * Map navigate_to-style inputs into a Nav2 NavigateToPose goal when the
 * action type looks like NavigateToPose and inputs have x/y.
 */
export declare function buildExternalGoal(impl: Extract<CapabilityImplementation, {
    kind: "external_ros_node";
}>, inputs: Record<string, unknown>): Record<string, unknown>;
/**
 * Execute an external_ros_node capability against a connected transport.
 */
export declare function executeExternalCapability(capability: Capability, inputs: Record<string, unknown>, transport: RosTransport, options?: ExecuteExternalOptions): Promise<ExecuteExternalResult>;
//# sourceMappingURL=external-capability.d.ts.map