build
Build the colcon workspace (optionally a single package) and report the outcome.
mkdir -p ~/.claude/commands && curl -fsSL https://raw.githubusercontent.com/harunkurtdev/ros2-claude-code-template/HEAD/.claude/commands/build.md -o ~/.claude/commands/build.mdbuild.md
Build the current ROS 2 workspace from its root (the directory that contains `src/`, `install/`, `build/`, `log/` — if you are in a package subdir, `cd` up until you find that root). Argument handling (`$ARGUMENTS`): * If empty: `colcon build --symlink-install --event-handlers console_cohesion+` * If the first token does **not** start with `-`, treat it as a package name: `colcon build --symlink-install --packages-up-to <pkg> $REST` * If the first token starts with `-`, pass everything through verbatim. Always: * Use `--symlink-install` unless the user passes `--no-symlink`. * Use `RelWithDebInfo` for CMake packages unless overridden: `--cmake-args ' -DCMAKE_BUILD_TYPE=RelWithDebInfo'`. * On failure, show the last ~40 lines of the failing package's `log/latest_build/<pkg>/stderr.log` so the user can see the real error. * On success, remind the user to source the overlay: `source install/setup.bash`. Do **not** wipe `build/`, `install/`, `log/` automatically. If a configure-time problem looks stale, ask whether to clean first.
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.
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.