new-launch
Scaffold a modular launch file (Python or XML) inside an existing package, following the ros2_launch_config skill.
mkdir -p ~/.claude/commands && curl -fsSL https://raw.githubusercontent.com/harunkurtdev/ros2-claude-code-template/HEAD/.claude/commands/new-launch.md -o ~/.claude/commands/new-launch.mdnew-launch.md
Add a new launch file to an existing package.
Argument handling (`$ARGUMENTS`):
1. `<package>` — required, must exist under `src/`.
2. `<launch_name>` — without `.launch.py` / `.launch.xml` suffix.
3. `<format>` — optional, defaults to `python`.
Process:
1. Read the `ros2_launch_config` skill end to end.
2. Place the file at `src/<package>/launch/<launch_name>.launch.<ext>`.
3. Use the skill's modular template:
* `LaunchDescription` returned from `generate_launch_description()`.
* Declared `LaunchArgument`s for every tunable parameter.
* `IncludeLaunchDescription` for any sub-launch composition.
* `ParameterFile` / `ParameterValue` rather than inline dicts.
* `LifecycleNode` instead of `Node` if the underlying node is
lifecycle-managed.
4. Add a stub parameter YAML at `config/<launch_name>.yaml` and load
it via the launch arg.
5. Update `setup.py` / `CMakeLists.txt` so `launch/` and `config/` are
installed.
6. Update `package.xml` `<exec_depend>` to include every package the
launch references.
7. `pre-commit run --files <touched files>`.
8. Print: files created and the test command
(`ros2 launch <package> <launch_name>.launch.<ext>`).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.