new-package
Scaffold a new ROS 2 package (ament_python or ament_cmake) following Clean Architecture layout — domain / application / infrastructure / presentation.
mkdir -p ~/.claude/commands && curl -fsSL https://raw.githubusercontent.com/harunkurtdev/ros2-claude-code-template/HEAD/.claude/commands/new-package.md -o ~/.claude/commands/new-package.mdnew-package.md
Scaffold a new package under `src/` of the current ROS 2 workspace.
Argument handling (`$ARGUMENTS`):
* First token → `package_name` (required, must match `[a-z][a-z0-9_]*`).
* Second token → `python` or `cpp` (required).
* Remaining tokens → free-form description for `package.xml`.
If `$ARGUMENTS` is empty or malformed, ask the user before doing anything.
Process:
1. Read the `new_ros2_package` skill end to end.
2. Verify `src/<package_name>/` does not already exist.
3. Run `ros2 pkg create` with the right build type:
* Python: `ros2 pkg create --build-type ament_python <name>
--license Apache-2.0 --maintainer-name "$(git config user.name)"
--maintainer-email "$(git config user.email)"`
* C++: `ros2 pkg create --build-type ament_cmake <name>
--license Apache-2.0 --maintainer-name "$(git config user.name)"
--maintainer-email "$(git config user.email)"`
4. **Restructure into Clean Architecture layout** following the
`new_ros2_package` skill's templates:
* Python:
```
src/<name>/<name>/
domain/ (entities, value objects, ports)
application/ (use cases, application services)
infrastructure/ (ROS 2 nodes, repositories)
presentation/ (CLI, launch entrypoints)
```
* C++:
```
src/<name>/
include/<name>/{domain,application,infrastructure,presentation}/
src/{domain,application,infrastructure,presentation}/
```
5. Add `launch/`, `config/`, `test/` directories with a placeholder
`.gitkeep` and a minimal smoke test.
6. Update `package.xml` with the description from `$ARGUMENTS` and add
`<test_depend>ament_lint_auto</test_depend>` + the default linters.
7. Update `setup.py` / `CMakeLists.txt` to install the launch/config
directories.
8. Run `pre-commit run --files <every file you touched>` (or
`ament_*` if pre-commit is not yet configured).
9. Print a summary:
* Path to the new package
* Build command (`/build <name>` or `colcon build --packages-select <name>`)
* Files created
Do **not** run `colcon build` automatically — the user may want to
review 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.
Build the colcon workspace (optionally a single package) and report the outcome.