gz-new-component
The gz-new-component command scaffolds a new ECS component in gz-sim by creating a header file with the specified CamelCase name and C++ type, integrating it into the CMakeLists.txt build configuration, and optionally documenting it in Migration.md. Use this when adding new component properties or data structures to a gz-sim project that require proper build system integration and adherence to the framework's component patterns.
mkdir -p ~/.claude/commands && curl -fsSL https://raw.githubusercontent.com/harunkurtdev/ros2-claude-code-template/HEAD/.claude/commands/gz-new-component.md -o ~/.claude/commands/gz-new-component.mdgz-new-component.md
Scaffold a new component in `gz-sim`. Arguments: * First token of `$ARGUMENTS` → `CamelCase` component name (required). * Second token (optional) → underlying C++ type (default: `double`). If `$ARGUMENTS` is empty, ask the user before doing anything. Steps: 1. Read the `new-component` skill end to end. 2. Verify `include/gz/sim/components/<CamelCase>.hh` does not already exist. 3. Write the header using the no-custom-serializer template from the skill (or ask the user if a `msgs` type is needed). 4. Add the new header alphabetically to `include/gz/sim/components/CMakeLists.txt`. 5. If the component is part of the public API, append a one-line entry under the next-release section of `Migration.md`. 6. Run `pre-commit run --files <every file you touched>`. 7. Report new files + suggest a unit test if behaviour was added. Do not register a custom serializer unless explicitly asked — most components don't need one.
Scaffold a Behavior Tree leaf node — plain BehaviorTree.CPP (SyncActionNode / StatefulActionNode / ConditionNode) or a BehaviorTree.ROS2 wrapper (RosActionNode / RosServiceNode / RosTopicPubNode / RosTopicSubNode) — with ports, factory/plugin registration, and XML v4 usage. Trigger when the user asks to write a behavior-tree node (not Nav 2-specific).
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.
Build the colcon workspace (optionally a single package) and report the outcome.
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.
Author a new skill under .claude/skills/<name>/SKILL.md with valid frontmatter, following the template conventions, and index it in CLAUDE.md + README.md.
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.
Author a new asset for this .claude/ template — a rule, skill, slash command, or sub-agent — following the project's conventions and wiring it into the CLAUDE.md / README.md indexes. Trigger when the user wants to add or extend a command, skill, agent, or rule (make the template itself extensible).
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.