test
Run colcon tests for the workspace (or a single package) and report pass / fail counts.
mkdir -p ~/.claude/commands && curl -fsSL https://raw.githubusercontent.com/harunkurtdev/ros2-claude-code-template/HEAD/.claude/commands/test.md -o ~/.claude/commands/test.mdtest.md
Run tests in the current ROS 2 workspace.
Argument handling (`$ARGUMENTS`):
* Empty → `colcon test --event-handlers console_cohesion+`
* First token = package name →
`colcon test --packages-select <pkg> --event-handlers console_direct+`
followed by `colcon test-result --verbose --test-result-base build/<pkg>`.
* If a pytest filter (`-k ...`) or gtest filter is given as the second
argument, pass it via `--pytest-args` / `--ctest-args` accordingly.
After every run:
1. `colcon test-result --all` and parse the summary.
2. Print a one-liner like
`"148 passed, 0 failed, 2 skipped (12m13s) — see log/latest_test/"`.
3. On any failure, list the first 3 failing test IDs and offer to:
* Re-run with `--event-handlers console_direct+` for full output.
* Drop into pytest directly:
`pytest src/<pkg>/test/test_foo.py -k 'name'`.
* Drop into gtest binary directly:
`./build/<pkg>/test_foo --gtest_filter='Bar.*' --gtest_repeat=5`.
Never claim "tests pass" without showing counts and `colcon test`'s
exit code. If linting / formatting tests were skipped, mention it.Use proactively before opening a PR that adds or changes BehaviorTree.CPP nodes or BehaviorTree.ROS2 wrappers (RosActionNode/RosServiceNode/RosTopicPub/SubNode, TreeExecutionServer). Reviews a diff against BT.CPP v4 conventions — node base-class choice, non-blocking ticks, ports/blackboard typing, factory/plugin registration, XML v4, and the ROS 2 wrapper contract. Returns a punch list with file:line anchors, not a rewrite.
Use when a design decision touches Clean Architecture boundaries in a ROS 2 project — which layer a new behaviour belongs to, whether a port belongs in domain or application, whether a new node should be lifecycle-managed, whether to compose nodes or split packages. Returns an architectural recommendation with trade-offs, not implementation.
Use when a design decision touches the gz-sim ECS — where new state should live, which system phase should write it, how to avoid coupling, whether to add a component vs. a member variable, whether a new system should be split or merged with an existing one. Returns an architectural recommendation with trade-offs, not implementation.
Use proactively before opening any gz-sim PR. Reviews a diff against the project's C++17 style, ECS conventions, plugin registration patterns, CMake structure, test placement, Migration.md / Changelog.md expectations, and pre-commit configuration. Returns a punch list, not a rewrite.
Use proactively before opening a PR that adds or changes a ros2_control controller, broadcaster, or hardware component (incl. URDF <ros2_control> bringup). Reviews a diff against ros2_controllers / ros2_control_demos conventions — controller & hardware lifecycle, command/state interface configuration, real-time safety of update()/read()/write(), generate_parameter_library usage, pluginlib registration, chainable-controller correctness, URDF wiring, and tests. Returns a punch list with file:line anchors, not a rewrite.
Use proactively before opening any ROS 2 / Nav 2 PR. Reviews a diff against this template's Clean Architecture, ROS 2 communication, lifecycle, testing, and Nav 2 plugin conventions. Returns a punch list with file:line anchors, not a rewrite.
Use proactively before opening a PR that touches a VDA 5050 connector / fleet bridge. Reviews a diff against VDA 5050 v3.0.0 protocol compliance (topics, QoS, header rules, base/horizon, action state machine, schema validation) and the template's Clean Architecture for the MQTT↔Nav 2 bridge. Returns a punch list with file:line anchors, not a rewrite.
Build the colcon workspace (optionally a single package) and report the outcome.