ros2-claude-code-template

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.

Configure and build gz-sim from source using either CMake/Ninja directly or a colcon workspace. Trigger when the user asks to build, recompile, configure, or set up the gz-sim binary tree.

Summarize commits on the current branch (vs origin/main) into a Changelog-style bullet list ready to paste into Changelog.md.

Run pre-commit hooks (clang-format, codespell, etc.) over the staged + changed files, then optionally clang-tidy.

Scaffold a new ECS component header under include/gz/sim/components/ and wire it into the install list.

Scaffold a new gz-sim system plugin under src/systems/<name>/ with header, source, CMake glue, plugin registration, and an integration test stub.

Run the gz-sim CTest suite (optionally filtered by regex) and report pass / fail counts.

Run ament linters (uncrustify, cpplint, flake8, pep257, xmllint, copyright) and pre-commit against changed files.

Author a new sub-agent under .claude/agents/<name>.md with valid frontmatter (name/description/tools/model), following the template conventions, and index it in CLAUDE.md + README.md.

Scaffold a Behavior Tree leaf node — plain BehaviorTree.CPP (sync/stateful/condition) or a BehaviorTree.ROS2 wrapper (action/service/topic) — with ports, registration, and an XML usage snippet.

Author a new slash command under .claude/commands/<name>.md with valid frontmatter, following the template conventions, and index it in CLAUDE.md + README.md.

Scaffold a ros2_control controller or broadcaster — base class, command/state interface config, RT-safe update(), generate_parameter_library, pluginlib export, and a test.

Scaffold a ros2_control hardware component (System/Actuator/Sensor) + URDF <ros2_control> tag + bringup (controllers.yaml + launch), with pluginlib export and a test.

Scaffold a modular launch file (Python or XML) inside an existing package, following the ros2_launch_config skill.

Scaffold a new Nav 2 plugin (controller, planner, behavior, smoother, goal-checker, progress-checker, costmap layer, or BT node). Wires pluginlib registration, parameter declaration on the lifecycle node, and a minimal integration test. Trigger when the user asks to write or extend a Nav 2 plugin.

Scaffold a Node inside an existing package — standard, lifecycle, or component, in Python or C++.

Scaffold a new ROS 2 package (ament_python or ament_cmake) following Clean Architecture layout — domain / application / infrastructure / presentation.