ros2-claude-code-template

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.

Summarize commits on the current branch (vs origin/main) into a Changelog-style bullet list ready to paste into Changelog.md.

Concise reference for the gz-sim Entity-Component-System architecture — how Entities, Components, Systems, the ECM, the Server, and SimulationRunner fit together. Trigger when the user asks how gz-sim is organized, where to add code, or how the simulation loop runs.

Run pre-commit hooks (clang-format, codespell, etc.) over the staged + changed files, then optionally clang-tidy.

Scaffold a new ECS component header under include/gz/sim/components/ and wire it into the install list.

Scaffold a new gz-sim system plugin under src/systems/<name>/ with header, source, CMake glue, plugin registration, and an integration test stub.

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.

Run the gz-sim CTest suite (optionally filtered by regex) and report pass / fail counts.

Run ament linters (uncrustify, cpplint, flake8, pep257, xmllint, copyright) and pre-commit against changed files.

Author a new sub-agent under .claude/agents/<name>.md with valid frontmatter (name/description/tools/model), following the template conventions, and index it in CLAUDE.md + README.md.