AirStack

Create a new ROS 2 package for the AirStack autonomy stack. Use when implementing a new algorithm module (planner, controller, perception, world model, behavior node). Covers package structure, CMakeLists.txt, package.xml, launch files, and configuration.

Implement a new task executor as a ROS 2 action server in AirStack. Use when adding a new goal-directed task (coverage, search, counting, trajectory following, etc.) that a user can trigger with parameters, monitor via feedback, and cancel. Reference implementation is random_walk_planner (ExplorationTask).

Configure, name, and isolate multiple robots in AirStack. Use whenever launching multi-robot, multiple robots, swarm, or fleet scenarios; setting ROBOT_NAME; debugging cross-robot topic collisions; choosing a ROS_DOMAIN_ID; or namespacing topics, TF frames, and DDS bridges across robots.

Operate AirStack via the airstack CLI and run commands inside containers using the non-interactive docker exec pattern. Use whenever you need to start/stop services, build the workspace, source the workspace, run ros2 commands, or inspect logs in any AirStack container.

Add visualization of a ROS 2 topic to Foxglove/GCS. Use when you want a new topic (path, markers, odometry, etc.) to appear in the Foxglove dashboard on the GCS. Covers DDS router bridging, foxglove_visualizer_node integration, and coordinate frame translation.

Create custom simulation environments in Isaac Sim using standalone Python scripts with Pegasus extension. Use when creating test scenarios, multi-robot simulations, or custom environments for testing autonomy modules.

Author a ROS 2 launch file for AirStack with the correct conventions. Use when creating or editing any .launch.xml/.launch.py for the robot autonomy stack — covers ROBOT_NAME namespacing, topic remapping, allow_substs parameter loading, conditional launch, and layer bringup composition.

Guidelines for writing effective MkDocs documentation for AirStack. Covers organization, flow, visuals, markdown syntax, navigation structure, module vs system docs, and quality checks. Use when creating or updating documentation.

Run, interpret, and extend AirStack's pytest system test suite (build_packages, build_docker, liveliness, sensors, takeoff_hover_land), trigger runs via /pytest PR comments, and read metrics.json regression reports. Use for invoking tests, debugging failures from results.xml/metrics.json, or adding a new system test.

Bump the AirStack VERSION in .env (semver) before merging a PR that changes Docker image content, and update CHANGELOG. Required to pass the check-version-increment gate and to trigger the docker-build release workflow.

Persist hard-won discoveries to AGENTS.md or a new/existing SKILL.md so future agents don't repeat the discovery cost. Trigger after any long context-discovery task (multi-minute grep / file-reading session, parallel research agents, debugging that took several iterations) or whenever you learn something critical, surprising, undocumented, or that contradicted prior assumptions in AGENTS.md or a skill. Decides between updating AGENTS.md, updating an existing skill, or creating a new skill.

Test modules in Isaac Sim simulation environment end-to-end. Use after implementing and integrating a module to verify functionality. Covers test scenarios, monitoring, recording, and analysis of simulation tests.

Create behavior tree nodes for high-level mission logic and decision-making. Use when implementing actions, conditions, or decorators for behavior trees. Covers BT node types, registration, and integration with behavior executive.

Systematically debug ROS 2 modules with autonomous diagnostic strategies. Use when a module is not working as expected. Covers node status, topic connections, data flow analysis, parameter checking, and performance profiling.

Integrate a ROS 2 module into the appropriate layer bringup package. Use after creating a package to add it to the autonomy stack launch flow. Covers topic remapping, namespace configuration, and bringup package integration.

Document new modules and update mkdocs navigation. Use after implementing any new feature or module. Covers README templates, mkdocs.yml updates, mermaid diagrams, and documentation standards for AirStack.