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.