开发技能

Listens to a CARLA sensor and either saves its data to files, shows it live in a window, prints a one-shot summary, or (ros-info) reports the native ROS 2 topics, QoS and enabled-for-ROS state so you can echo it from ROS instead. Cameras save as PNG (depth/semantic auto-colourised) and display in a pygame window; lidar saves as .ply and shows as a top-down scatter; IMU/GNSS/radar/collision stream to JSONL or the console. Use when the user asks to "show/view the camera", "display the lidar", "save the sensor data / capture a dataset", or "what is this sensor reading". Select the sensor by id, type, or the actor it's attached to.

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Tunes the CARLA Traffic Manager that drives autopilot vehicles — global and per-vehicle speed, following distance, running lights/signs, lane-change behaviour, lane offset, TM-managed lights, deterministic seed, hybrid physics, and TM sync mode. Use when the user asks to "make the traffic faster/slower", "let cars run red lights", "keep more distance", "stop lane changes", "make traffic deterministic", or otherwise change how autopilot cars behave. For manually driving one car, use control-vehicle.

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Replays a CARLA .log recorded by the recorder — the whole run or a time window, at any speed, following a chosen actor, optionally regenerating sensors and restoring weather. Use when the user asks to "replay the recording", "play back the run", "watch it again in slow motion / at 2x", "follow vehicle N during replay", or "replay onto a different map".

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Controls the map's light sources through the CARLA LightManager — turn street lamps, building/facade lights, vehicle lights or all of them on/off, set their colour and intensity, and toggle the automatic lights-at-night cycle. Use when the user asks to "turn on the street lights", "light up the city at night", "turn off building lights", "change the street-light colour", or "make lights come on automatically at night". Distinct from hiding lamp meshes (toggle-env-objects) and the sun (set-weather).

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Reads a specific actor's live telemetry from a running CARLA server — location and rotation, velocity and speed, acceleration, angular velocity, and for vehicles the control input (throttle/steer/brake), front-wheel steer angle and mass. All kinematics come from one world snapshot so they are frame-consistent. Use when the user asks "how fast is it going", "where/what heading is the car", "show the ego's telemetry", or "stream a vehicle's state". Resolve ambiguous targets with the world-data skill.

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Inspects a recorded CARLA .log without replaying it — show_recorder_file_info for the header/actors/frames, collision queries between actor categories, and blocked-actor queries for vehicles that got stuck. Use when the user asks to "what's in this recording", "show recorder info", "which vehicles collided", "find collisions in the log", or "which actors were blocked/stuck".

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Drives a vehicle to a destination autonomously using CARLA's navigation agents (BasicAgent/BehaviorAgent/ConstantVelocityAgent), or plans a route between two points with GlobalRoutePlanner. The agent handles routing, obstacle avoidance and traffic-light obedience. Use when the user asks to "drive the ego to (x,y,z)", "navigate to the junction", "go to that location", "plan a route from A to B", or "make the car drive itself somewhere specific". Manual control is control-vehicle; autopilot roaming is control-traffic.

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Imports an FBX pedestrian into a CARLA source build as a spawnable walker.pedestrian.NNNN — checks the FBX is skinned to CARLA's GEN3 rig, imports the mesh, physics asset and materials, builds the walker blueprint from a GEN3 donor, registers it in WalkerFactory through CARLA's own add_walker_to_walker_factory.py, and verifies it spawns, stands on the ground and walks. Use when the user asks to "add a pedestrian to CARLA", "import a walker/character FBX", or needs a custom human spawnable from the Python API.

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Explores a CARLA map's road network through the Map/Waypoint API — a natural-language rundown of the whole map ("give me the topology"), drawing the topology to confirm the modelled map matches the visible one, enumerating junctions to resolve phrases like "the 4-way junction in the middle", nearest-waypoint lane facts, and next/previous lane navigation. Use when the user asks about the map's layout, lanes, junctions, topology, or to locate/navigate specific map elements.

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Loads, reloads, and reshapes the map on a running CARLA server via the Python API — get_available_maps, load_world and reload_world (with or without resetting world settings), generate a world from an OpenDRIVE .xodr, and load/unload map layers. Use when the user asks to "load a map", "change the town", "reload the world", "list available maps", "load an xodr/opendrive map", or "load/unload map layers", and when settings (sync mode, fixed delta) must survive the switch.

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Installs Scenic, the probabilistic scenario description language, for the CARLA in use — pip installing it into the same interpreter that holds the CARLA client, optionally cloning the upstream repo for the example scenarios the wheel does not ship, and verifying that the `scenic` CLI, the client and Scenic's version-keyed blueprint table all agree. Use when the user asks to "install Scenic", "set up Scenic", "download Scenic", "pip install scenic", wants to run `.scenic` files, or has a Scenic whose model import or blueprint lookup fails.

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Spawns and attaches sensors on a running CARLA server — cameras (rgb/depth/semantic/instance/optical-flow/normals), lidar, radar, IMU, GNSS, collision/lane-invasion/obstacle — to the ego or any actor, with a mount transform and blueprint attributes (resolution, fov, sensor_tick, lidar range/points, …). Also sets up native ROS 2 publishing (--ros to enable_for_ros, --ros-name/--ros-frame-id topic and TF naming) and prints the topics the sensor will publish. Use when the user asks to "add a camera/lidar/sensor", "put a dashcam on the ego", "attach a depth camera", "mount a sensor", or "publish a sensor to ROS". Prints the sensor id; read its data with the read-sensor skill.

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Directly drives a specific vehicle on a running CARLA server — raw VehicleControl (throttle/steer/brake/reverse/hand-brake), Ackermann speed control, vehicle lights, opening/closing doors, and physics-control tuning; ros-info reports the native ROS 2 command topics (vehicle_control_cmd, ackermann_control_cmd) for the hero. Targets the ego by default. Use when the user asks to "drive/steer the car", "accelerate/brake/reverse", "set a target speed", "turn on the headlights/blinkers/brake lights", "open a door", "drive the car from ROS", or "change the vehicle's mass/drag/physics". This is manual control (autopilot off) — for TM-driven traffic use control-traffic.

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Discipline skill — systematic debugging process. Use when encountering any bug, debug issue, test failure, broken function, or unexpected behavior, before proposing fixes.

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Discipline skill — TDD red-green-refactor cycle. Use when implementing any feature or bugfix, before writing implementation code.

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Refactor a whole documentation page in this repository without losing source-verified behavior facts. Use for page rewrites, splits, reorganizations, or substantial shortening of README sections, docs pages, or instruction files. Do not use for ordinary documentation authoring, targeted corrections, or documentation review; use technical-documentation instead.

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Zod (TypeScript-first スキーマバリデーションライブラリ) v4 リファレンス。 z.object / z.string / z.number / z.array / z.union / z.enum 等のスキーマ定義、 parse, safeParse, z.infer (型推論)、refine, transform, pipe、 default, optional, nullable、z.compile (AOT)・validate、z.toZod、 エラー処理、Zod 4 移行・Zod Mini (@zod/mini)。 createInsertSchema / createSelectSchema (drizzle-zod、Drizzle テーブルからのスキーマ生成) は別スキル drizzle。

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Windows アプリ開発 (WinUI 3 / Windows App SDK 2.x) のライフサイクル・ウィンドウ・ 通知・リソース・ウィジェット・配置。AppInstance, 単一インスタンス化, RichActivation, PowerManager、 AppWindow, AppWindowPresenter, OverlappedPresenter, タイトルバー, DisplayArea, Win32 相互運用、 AppNotification, Toast, PushNotificationManager, バッジ通知、ResourceManager, MRT, PRI, ローカライズ、 WidgetProvider, WidgetManager, アダプティブカード、MSIX, 自己完結型, DeploymentManager, PackageVolume, IPackageValidator (パッケージ検証), RuntimeCompatibilityOptions, SemVer, サポート期間, リリースチャネル。

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コードにコメント・ドキュメンテーションコメントを追加・補強する。「コメント追加して」「コメント書いて」 「コメントを補強して」「JSDoc 付けて」「docstring 付けて」「ドキュメンテーションコメント付けて」で使用。 パッケージ・サービス視点での役割境界、呼び出し元・呼び出し先の前提と契約、他ファイル・他サービスからの 文脈を「その場で読める」形で残す。コード自体は変更しない（実装変更は implement-issue へ）。 詳細規約は code-comment-style、コミット作成は create-commit、CLAUDE.md 同期は update-docs を参照。

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Windows アプリ開発 (Win32 / WPF / WinForms 相互運用) の相互運用・近代化。 Win32 API (CreateWindowExW, WNDPROC, メッセージループ), COM (IUnknown, CoCreateInstance, ComPtr), CsWin32, windows-rs, C++/WinRT (winrt::com_ptr, IAsyncOperation, IDL, ABI 相互運用), C#/WinRT (cswinrt, ComWrappers, AOT/trimming, WindowNative), XAML Islands (DesktopWindowXamlSource, DesktopChildSiteBridge, WindowsXamlManager), HwndHost, HwndSource, WindowsFormsHost, ElementHost, UWP から Windows App SDK / WinUI 3 への移行 (namespace mapping, AppWindow, DispatcherQueue, .NET Upgrade Assistant)、 移行判断 (upgrade / modernize / migrate)、WinForms → WinUI 3 パターン対応、GitHub Copilot upgrade。

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TypeDoc (TypeScript API ドキュメントジェネレーター) リファレンス。 typedoc.json、TSDoc タグ、CLI オプション、entryPoints、 テーマ (default / markdown)、プラグイン開発、 TSDoc / JSDoc コメントから HTML / Markdown ドキュメント生成。

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既存の GitHub Issue ツリーを棚卸し・更新するスキル。「ツリーを棚卸しして」「イシューツリーを更新して」「トラッキング issue を整理して」で使用。 ルートのトラッキング issue 番号を受け取り、sub_issues API でツリー全体を再帰取得 → closed 親下の残置 open issue 付け替え・孤児の再配置・新 Phase 親の新設・phase ラベル同期 → ルート issue 本文は既存本文を保持し、Phase 別表・棚卸し履歴の管理ブロックのみ更新する。 ツリー新規作成は create-issue-tree、実装消化は implement-issue-tree を参照。

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ZMK Firmware (オープンソースキーボードファームウェア) リファレンス。 Getting Started (hardware, user-setup, customization, zmk-cli)、 Features (bluetooth, split keyboards, encoders, displays, lighting, pointing, studio, low-power)、 Keymaps (keycodes, modifiers, combos, conditional layers)、 Behaviors (タップ・ホールド、レイヤー、マクロ、tap-dance, sticky-key)、 Input Processors、Hardware Integration、Troubleshooting (building, flashing, connection, hardware issues)。

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前回更新コミット (_/.last-update-docs で追跡) からの差分をもとに CLAUDE.md のスキル一覧・リポジトリ構造ツリーを更新する。 新スキル追加時、.claude/agents/ や .claude/rules/ の変更時、「ドキュメント更新して」「CLAUDE.md を更新して」などで使用。 コード内コメント・ドキュメンテーションコメントの補強を依頼された場合にも参照する指針を含む。

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