lint
Run ament linters (uncrustify, cpplint, flake8, pep257, xmllint, copyright) and pre-commit against changed files.
mkdir -p ~/.claude/commands && curl -fsSL https://raw.githubusercontent.com/harunkurtdev/ros2-claude-code-template/HEAD/.claude/commands/lint.md -o ~/.claude/commands/lint.mdlint.md
Lint the workspace. Argument handling (`$ARGUMENTS`): * Empty → only changed-vs-main: `pre-commit run --from-ref origin/main --to-ref HEAD` * `--all` → `pre-commit run --all-files` * Else treat as a space-separated file list: `pre-commit run --files $ARGUMENTS` For ament-specific checks (when `pre-commit` is not configured for a package), run the relevant tools directly: | File kind | Command | |-----------|---------| | C++ | `ament_uncrustify --reformat <files>` then `ament_cpplint <files>` | | Python | `ament_flake8 <files>` then `ament_pep257 <files>` | | XML / launch / package.xml | `ament_xmllint <files>` | | Any source| `ament_copyright <files>` | Rules: * Never pass `--no-verify` or `--no-ament-copyright`. If a hook fails, fix the root cause. * If a formatter auto-fixed a file, tell the user explicitly so they can stage the change. * For C++ packages with a compile DB, also offer to run: `clang-tidy -p build/<pkg> <files>`. End with a one-line summary: `"3 files, 0 issues, 2 auto-fixed"`.
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.