ccg-ros2-workflow 1.0.7 → 1.0.9

package/README.md

@@ -1,7 +1,12 @@
 # CCG-ROS2-Workflow
 
+[![npm version](https://badge.fury.io/js/ccg-ros2-workflow.svg)](https://www.npmjs.com/package/ccg-ros2-workflow)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
 ROS2 多模型协作开发工具 - 基于 Claude Code CLI
 
+> **v1.0.8** - 根据 Codex+Gemini 双模型分析优化工作流
+
 ## 特性
 
 - **多模型协作**: Codex (底层控制) + Gemini (上层集成) + Claude (编排)
@@ -31,15 +36,26 @@ ccg-ros2-workflow
 
 ## 前置依赖
 
-需要先安装：
+**必须安装**：
+
+- [Claude Code CLI](https://docs.anthropic.com/en/docs/claude-code) - 核心运行环境
+
+```bash
+# Claude Code CLI (必须)
+npm install -g @anthropic-ai/claude-code
+```
+
+**可选安装**（启用多模型协作）：
 
-- [Claude Code CLI](https://docs.anthropic.com/en/docs/claude-code)
-- [Codex CLI](https://github.com/openai/codex) (可选)
-- [Gemini CLI](https://github.com/google/gemini-cli) (可选)
-- [ace-tool](https://augmentcode.com/) (推荐，提供代码上下文)
+- [Codex CLI](https://github.com/openai/codex) - 底层控制专家
+- [Gemini CLI](https://github.com/google/gemini-cli) - 上层集成专家
+- [ace-tool](https://augmentcode.com/) - 代码上下文引擎（推荐）
 
 ```bash
-# Gemini CLI
+# Codex CLI (可选)
+npm install -g @openai/codex
+
+# Gemini CLI (可选)
 npm install -g @google/gemini-cli
 ```
 
@@ -203,3 +219,24 @@ npx ccg-ros2-workflow
 ## License
 
 MIT
+
+## 更新日志
+
+### v1.0.8
+- 基于 Codex+Gemini 双模型交叉验证分析优化
+- `gemini/architect.md`: 增加 QoS 策略设计 + Node Composition
+- `codex/architect.md`: 增加 RT Checklist (executor/ros2_control/E-stop)
+- `workflow.md`: 新增 Stage 7 硬件验证 gate
+- 术语规范化：`ui-ux-designer` → `system-integrator`
+
+### v1.0.7
+- 完成所有 17 个命令文件的 ROS2 术语适配
+- 术语映射：前端/后端 → 上层应用/底层控制
+- 任务路由：Launch/Python → Gemini，C++/控制 → Codex
+
+### v1.0.6
+- 更新 README 文档，添加完整命令列表
+- 修复 "仿真" → "集成" 术语
+
+### v1.0.5
+- 初始 ROS2 Humble 物理机器人版本

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "ccg-ros2-workflow",
-  "version": "1.0.7",
+  "version": "1.0.9",
   "description": "ROS2 Multi-model Collaborative Development Workflow - Codex (Low-level) + Gemini (High-level) + Claude (Orchestration)",
   "main": "bin/cli.js",
   "bin": {

package/src/commands/ccg/backend.md

@@ -4,6 +4,8 @@ description: '底层控制专项工作流（研究→构思→计划→执行→
 
 # Backend - 底层控制专项开发
 
+> **命名说明**：此处 "Backend" 指 ROS2 底层控制（C++ 节点、控制算法、硬件驱动），非 Web 后端
+
 ## 使用方法
 
 ```bash

package/src/commands/ccg/feat.md

@@ -104,15 +104,15 @@ TaskOutput({ task_id: "<task_id>", block: true, timeout: 600000 })
 
 | 任务类型 | 判断依据 | 调用流程 |
 |----------|----------|----------|
-| **上层应用** | Launch、RViz、参数、配置、Python 节点 | ui-ux-designer → planner |
+| **上层应用** | Launch、RViz、参数、配置、Python 节点 | system-integrator → planner |
 | **底层控制** | 控制算法、C++ 节点、硬件驱动、实时性能 | planner |
-| **系统集成** | 同时包含上层应用与底层控制 | ui-ux-designer → planner |
+| **系统集成** | 同时包含上层应用与底层控制 | system-integrator → planner |
 
 #### 2.3 调用 Agents
 
-**上层应用/系统集成任务**：先调用 `ui-ux-designer` agent
+**上层应用/系统集成任务**：先调用 `system-integrator` agent
 ```
-执行 agent: $HOME/.claude/agents/ccg/ui-ux-designer.md
+执行 agent: $HOME/.claude/agents/ccg/system-integrator.md
 输入: 项目上下文 + 用户需求 + 技术栈
 输出: 系统集成设计方案
 ```

package/src/commands/ccg/frontend.md

@@ -4,6 +4,8 @@ description: '上层应用专项工作流（研究→构思→计划→执行→
 
 # Frontend - 上层应用专项开发
 
+> **命名说明**：此处 "Frontend" 指 ROS2 上层应用（Python 节点、Launch、配置），非 Web 前端
+
 ## 使用方法
 
 ```bash

package/src/commands/ccg/workflow.md

@@ -15,7 +15,7 @@ Execute a structured ROS2 development workflow for physical robots using quality
 ## Context
 
 - Task to develop: $ARGUMENTS
-- Structured 6-stage workflow with quality gates
+- Structured 7-stage workflow with quality gates
 - Multi-model collaboration: Codex (Low-level Control) + Gemini (System Integration) + Claude (Orchestration)
 - MCP service integration (ace-tool) for enhanced functionality
 - Target: Physical robot development (no simulation)
@@ -95,7 +95,7 @@ If still not complete after 10 minutes, continue polling with `TaskOutput`, **ne
 ## Communication Protocols
 
 1. Responses start with a mode tag `[Mode: X]`, initially `[Mode: Research]`.
-2. Core workflow strictly follows the sequence `Research -> Ideation -> Plan -> Execute -> Optimize -> Review`.
+2. Core workflow strictly follows the sequence `Research -> Ideation -> Plan -> Execute -> Optimize -> Review -> Hardware`.
 3. Must request user confirmation after completing each stage.
 4. Force stop if score is below 7 or user does not approve.
 5. When needing to ask the user, prefer using the `AskUserQuestion` tool for interaction.
@@ -176,6 +176,26 @@ Use `TaskOutput` to wait for results. Integrate review feedback, execute optimiz
 - Report issues and suggestions
 - Request final user confirmation
 
+### 🔧 Stage 7: Hardware Validation (Physical Robot Gate)
+
+`[Mode: Hardware]` - Physical robot verification:
+
+**Pre-deployment Checklist**:
+- [ ] Driver detection: verify hardware interfaces are detected (`ros2 control list_hardware_interfaces`)
+- [ ] Calibration: confirm sensor/actuator calibration data loaded
+- [ ] E-stop: test emergency stop functionality
+- [ ] Safety limits: verify joint limits, velocity limits, torque limits
+
+**Runtime Validation**:
+- [ ] Control frequency: measure actual loop rate vs target (e.g., 1kHz)
+- [ ] CPU usage: monitor real-time thread CPU load
+- [ ] Latency: measure end-to-end control latency
+- [ ] QoS health: check topic reliability and deadline violations
+
+**Documentation**:
+- Record measured metrics in `.claude/validation/hardware_report.md`
+- Flag any metrics outside acceptable range
+
 ---
 
 ## Key Rules

package/src/commands/ccg/worktree.md

@@ -45,7 +45,7 @@ parent-directory/
 │   └── src/
 └── .ccg/                   # worktree 管理目录
     └── your-project/
-        ├── feature-ui/     # 功能分支
+        ├── feature-nav/    # 功能分支
         ├── hotfix/         # 修复分支
         └── debug/          # 调试 worktree
 ```
@@ -80,30 +80,30 @@ parent-directory/
 
 ```bash
 # 基本创建
-/worktree add feature-ui
+/worktree add feature-nav
 
 # 创建并用 IDE 打开
-/worktree add feature-ui -o
+/worktree add feature-nav -o
 
 # 创建指定分支
-/worktree add hotfix -b fix/login -o
+/worktree add hotfix -b fix/controller -o
 
 # 迁移未提交内容
-/worktree migrate feature-ui --from main
+/worktree migrate feature-nav --from main
 
 # 迁移 stash 内容
-/worktree migrate feature-ui --stash
+/worktree migrate feature-nav --stash
 
 # 管理操作
 /worktree list
-/worktree remove feature-ui
+/worktree remove feature-nav
 /worktree prune
 ```
 
 ## 输出示例
 
 ```
-✅ Worktree created at ../.ccg/项目名/feature-ui
+✅ Worktree created at ../.ccg/项目名/feature-nav
 ✅ 已复制 .env
 ✅ 已复制 .env.local
 📋 已从 .gitignore 复制 2 个环境文件

package/src/prompts/claude/analyzer.md

@@ -17,9 +17,9 @@ You are the ROS2 system analyst and orchestrator. You synthesize Codex (low-leve
 ## Output
 
 ```
-## 分析报告
-### 综合评估
-### 方案对比
-### 建议
-### 下一步
+## Analysis Report
+### Comprehensive Assessment
+### Solution Comparison
+### Recommendations
+### Next Steps
 ```

package/src/prompts/claude/architect.md

@@ -20,6 +20,6 @@ You are the ROS2 system architect and orchestrator. You bridge Codex (low-level)
 --- a/src/file
 +++ b/src/file
 @@ -10,6 +10,7 @@
-     // 现有代码
-+    // 新增代码（中文注释）
+     // existing code
++    // new code (comments in Chinese)
 ```

package/src/prompts/claude/optimizer.md

@@ -20,6 +20,6 @@ You are the ROS2 optimizer and orchestrator. You coordinate Codex and Gemini opt
 --- a/src/file
 +++ b/src/file
 @@ -10,6 +10,7 @@
-     // 优化前
-+    // 优化后（中文注释）
+     // before optimization
++    // after optimization (comments in Chinese)
 ```

package/src/prompts/claude/reviewer.md

@@ -17,10 +17,10 @@ You are the ROS2 code reviewer and orchestrator. You integrate Codex and Gemini
 ## Output
 
 ```
-## 综合审查报告
-总分: XX/100
+## Comprehensive Review Report
+Score: XX/100
 
-### 关键问题
-### 改进建议
-### 最终评估
+### Critical Issues
+### Improvement Suggestions
+### Final Assessment
 ```

package/src/prompts/claude/tester.md

@@ -20,5 +20,5 @@ You are the ROS2 test engineer and orchestrator. You coordinate testing across l
 --- a/test/test_system.cpp
 +++ b/test/test_system.cpp
 @@ -10,6 +10,7 @@
-+// 系统测试（中文注释）
++// system test (comments in Chinese)
 ```

package/src/prompts/codex/analyzer.md

@@ -24,9 +24,9 @@ You are a ROS2 low-level system analyst. Your domain is **control, real-time, ha
 ## Output
 
 ```
-## 分析报告
-### 系统概述
-### 关键问题
-### 风险评估
-### 建议
+## Analysis Report
+### System Overview
+### Key Issues
+### Risk Assessment
+### Recommendations
 ```

package/src/prompts/codex/architect.md

@@ -17,16 +17,26 @@ You are a ROS2 low-level architect. Your domain is **control system design, C++
 ## Principles
 
 1. Real-time first: control loops must meet timing constraints
-2. Safety: fault tolerance, emergency stop handling
+2. Safety: fault tolerance, emergency stop handling, watchdog
 3. Query project context via MCP before design
 4. Minimal, focused changes
 
+## RT Checklist
+
+- [ ] Use RT executor with appropriate thread priority
+- [ ] Pre-allocate memory, avoid dynamic allocation in control loop
+- [ ] Lock-free data structures for inter-thread communication
+- [ ] DDS QoS: deadline, liveliness, history depth
+- [ ] ros2_control hardware_interface for actuators/sensors
+- [ ] E-stop and safety limits validation
+- [ ] Time units explicit (seconds/nanoseconds)
+
 ## Output
 
 ```diff
 --- a/src/controller.cpp
 +++ b/src/controller.cpp
 @@ -10,6 +10,7 @@
-     // 现有代码
-+    // 新增代码（中文注释）
+     // existing code
++    // new code (comments in Chinese)
 ```

package/src/prompts/codex/optimizer.md

@@ -20,6 +20,6 @@ You are a ROS2 low-level optimizer. Your domain is **C++ performance, real-time
 --- a/src/node.cpp
 +++ b/src/node.cpp
 @@ -10,6 +10,7 @@
-     // 优化前
-+    // 优化后（中文注释）
+     // before optimization
++    // after optimization (comments in Chinese)
 ```

package/src/prompts/codex/reviewer.md

@@ -23,10 +23,10 @@ You are a ROS2 low-level code reviewer. Your domain is **real-time safety, memor
 ## Output
 
 ```
-## 审查报告
-总分: XX/100
+## Review Report
+Score: XX/100
 
-### 关键问题（必须修复）
-### 改进建议
-### 优点
+### Critical Issues (Must Fix)
+### Improvement Suggestions
+### Strengths
 ```

package/src/prompts/codex/tester.md

@@ -20,5 +20,5 @@ You are a ROS2 low-level test generator. Your domain is **C++ unit tests, contro
 --- a/test/test_controller.cpp
 +++ b/test/test_controller.cpp
 @@ -10,6 +10,7 @@
-+// 新测试用例（中文注释）
++// new test case (comments in Chinese)
 ```

package/src/prompts/gemini/analyzer.md

@@ -24,9 +24,9 @@ You are a ROS2 high-level system analyst. Your domain is **system integration, c
 ## Output
 
 ```
-## 分析报告
-### 系统架构
-### 集成问题
-### 配置建议
-### 部署准备
+## Analysis Report
+### System Architecture
+### Integration Issues
+### Configuration Recommendations
+### Deployment Readiness
 ```

package/src/prompts/gemini/architect.md

@@ -20,6 +20,8 @@ You are a ROS2 high-level architect. Your domain is **system integration, launch
 2. Configuration-driven, no hardcoding
 3. Query project context via MCP before design
 4. Minimal, focused changes
+5. Define explicit QoS policies (Reliability, Durability, History) for critical topics
+6. Consider Node Composition for zero-copy intra-process communication
 
 ## Output
 
@@ -27,6 +29,6 @@ You are a ROS2 high-level architect. Your domain is **system integration, launch
 --- a/launch/robot.launch.py
 +++ b/launch/robot.launch.py
 @@ -10,6 +10,7 @@
-     # 现有代码
-+    # 新增代码（中文注释）
+     # existing code
++    # new code (comments in Chinese)
 ```

package/src/prompts/gemini/frontend.md

@@ -20,6 +20,6 @@ You are a ROS2 high-level developer. Your domain is **Python nodes, configuratio
 --- a/src/node.py
 +++ b/src/node.py
 @@ -10,6 +10,7 @@
-     # 现有代码
-+    # 新增代码（中文注释）
+     # existing code
++    # new code (comments in Chinese)
 ```

package/src/prompts/gemini/optimizer.md

@@ -20,6 +20,6 @@ You are a ROS2 high-level optimizer. Your domain is **system optimization, confi
 --- a/launch/robot.launch.py
 +++ b/launch/robot.launch.py
 @@ -10,6 +10,7 @@
-     # 优化前
-+    # 优化后（中文注释）
+     # before optimization
++    # after optimization (comments in Chinese)
 ```

package/src/prompts/gemini/reviewer.md

@@ -23,10 +23,10 @@ You are a ROS2 high-level code reviewer. Your domain is **configuration integrit
 ## Output
 
 ```
-## 审查报告
-总分: XX/100
+## Review Report
+Score: XX/100
 
-### 关键问题（必须修复）
-### 改进建议
-### 优点
+### Critical Issues (Must Fix)
+### Improvement Suggestions
+### Strengths
 ```

package/src/prompts/gemini/tester.md

@@ -20,5 +20,5 @@ You are a ROS2 high-level test generator. Your domain is **integration tests, la
 --- a/test/test_system.py
 +++ b/test/test_system.py
 @@ -10,6 +10,7 @@
-+# 新测试用例（中文注释）
++# new test case (comments in Chinese)
 ```