ros2-troubleshooting

# ROS 2 Troubleshooting & Physical Ground-Truth Verification Guide (Ubuntu 24.04 LTS & ROS 2 Jazzy) ## 1. Core Principles & Anti-Hallucination Protocol - **Physical Ground-Truth Over Logic Assumptions**: Never claim a robot or sensor direction is correct based solely on code math. Always verify coordinate frame conventions (REP 103 body axes, REP 105 frame relations), physical sensor mounting orientations, and TF transformation trees. - **REP 103 Body Coordinate Conventions**: - `+X`: Always points **Forward** (Linear velocity `cmd_vel.linear.x > 0` MUST move the robot body forward). - `+Y`: Always points **Left**. - `+Z`: Always points **Up**. - `+Yaw`: Counter-clockwise rotation (turning left). ## 1a. Runnable Ground-Truth Checks These ship **next to this SKILL.md in `scripts/`** — resolve the path from this skill's own directory, not the user's CWD (plugin install: `${CLAUDE_PLUGIN_ROOT}/skills/ros2-troubleshooting/scripts/`). Source ROS 2 first. Exit code 0 = PASS, 1 = FAIL, 2 = no data. **Invoke them with `python3` and a real path. They are plain scripts, not a ROS 2 package** — there is no package to `ros2 run`, and inventing one (`ros2 run ros2_troubleshooting_helpers …`) is a known failure mode. Tell the user the exact command you ran, e.g.: ```bash source /opt/ros/jazzy/setup.bash python3 ~/.claude/skills/ros2-troubleshooting/scripts/check_qos_compat.py --topic /scan ``` Run these before manual diagnosis — they turn the physical checks below into pass/f...