ros2-claude-code-template

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).

Bootstrap a complete ROS 2 colcon workspace from scratch — directory layout, .gitignore, top-level README, this .claude/ config, an interfaces package and a first Clean Architecture package, and a bringup package. Trigger when the user asks to create a new workspace / start a new ROS 2 project from zero.

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).

Scaffold a ros2_control hardware component (SystemInterface / ActuatorInterface / SensorInterface) and its bringup — the plugin (on_init/on_configure/on_activate, RT-safe read()/write()), URDF <ros2_control> wiring, controllers.yaml + launch, pluginlib export. Trigger when the user asks to integrate hardware or bring up a robot under ros2_control.

Scaffold or extend a ros2_control controller or broadcaster (ControllerInterface / ChainableControllerInterface) — base-class choice, command/state interface configuration, lifecycle, real-time-safe update(), generate_parameter_library, pluginlib export, tests. Trigger when the user asks to write a ros2_control controller or broadcaster.

Bridge a VDA 5050 v3.0.0 fleet-control interface (MQTT/JSON) onto Nav 2 under Clean Architecture — domain entities, MQTT/Nav 2 adapters behind ports, order→NavigateThroughPoses mapping, state aggregation, action handlers. Trigger when the user asks to build or extend a VDA 5050 connector / fleet bridge.

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.

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 unit, integration, performance, and benchmark tests for gz-sim, filter by name, and debug a single failing case. Trigger when the user asks to test, rerun a test, debug a flaky test, or check that a change didn't regress something.

Scaffold a new ECS component header under include/gz/sim/components/, wire its CMake listing, and (if needed) register it with ComponentFactory for serialization. Trigger when the user asks to add a new component or a per-entity data field.

Scaffold a new Nav 2 plugin (controller, planner, behavior, smoother, goal-checker, progress-checker, costmap layer, or BT node). Wires pluginlib registration, parameter declaration on the lifecycle node, and a minimal integration test. Trigger when the user asks to write or extend a Nav 2 plugin.

Scaffold a new ROS 2 package (ament_python or ament_cmake) inside a colcon workspace, restructured to follow this template's Clean Architecture layout. Trigger when the user asks to create a new ROS 2 package or to bootstrap a Clean-Architecture-compliant codebase.

Scaffold a new gz-sim system plugin under src/systems/<name>/ — header, source, CMake glue, plugin registration, and an integration test stub. Trigger when the user asks to create a new system, controller, or plugin that hooks into the simulation loop.

ROS2 bag recording and analysis utilities with Clean Architecture (Python & C++)

ROS2 Diagnostics and Health Monitoring with Clean Architecture (Python & C++)

Clean Architecture compatible ROS2 launch files and parameter management (Python)

ROS2 Managed (Lifecycle) Node implementation with Clean Architecture (Python & C++)

ROS2 messaging patterns and best practices with Clean Architecture (Python & C++)

Guide for creating ROS2 nodes following Clean Architecture principles (Python & C++)

ROS2 Service and Action implementation with Clean Architecture (Python & C++)

ROS2 test strategies and patterns with Clean Architecture (Python & C++)

ROS2 TF2 and Transform management with Clean Architecture (Python & C++)