Release 0.20.0

.agents/README.md

@@ -7,43 +7,39 @@ This directory contains Agent Skills following the [Agent Skills standard](https
 ```
 .agents/
 ├── README.md           # This file
-└── skills/             # Agent Skills directory
-    ├── add-ros2-package/
-    │   └── SKILL.md    # Create new ROS 2 packages
-    ├── add-task-executor/
-    │   └── SKILL.md    # Implement a task executor as a ROS 2 action server
-    ├── integrate-module-into-layer/
-    │   └── SKILL.md    # Integrate modules into layer bringup
-    ├── write-isaac-sim-scene/
-    │   └── SKILL.md    # Create Isaac Sim simulation scenes
-    ├── debug-module/
-    │   └── SKILL.md    # Autonomous debugging strategies
-    ├── update-documentation/
-    │   └── SKILL.md    # Document modules and update mkdocs
-    ├── test-in-simulation/
-    │   └── SKILL.md    # End-to-end simulation testing
-    └── add-behavior-tree-node/
-        └── SKILL.md    # Create behavior tree nodes
+└── skills/             # One directory per skill
+    └── <skill-name>/
+        ├── SKILL.md    # YAML frontmatter + step-by-step instructions
+        └── assets/     # (optional) templates and reference files
 ```
 
-## Skills Overview
-
-Each skill is a directory containing a `SKILL.md` file with:
-- **YAML frontmatter:** Name, description, license, metadata
-- **Markdown body:** Step-by-step instructions for the workflow
-
-### Available Skills
+## Available Skills
 
 | Skill | Purpose |
 |-------|---------|
-| [add-ros2-package](skills/add-ros2-package) | Create a new ROS 2 package for the autonomy stack |
-| [add-task-executor](skills/add-task-executor) | Implement a task executor as a ROS 2 action server |
-| [integrate-module-into-layer](skills/integrate-module-into-layer) | Integrate a module into layer bringup |
-| [write-isaac-sim-scene](skills/write-isaac-sim-scene) | Create custom simulation environments |
-| [debug-module](skills/debug-module) | Systematically debug ROS 2 modules |
-| [update-documentation](skills/update-documentation) | Document modules and update mkdocs |
-| [test-in-simulation](skills/test-in-simulation) | Test modules in Isaac Sim |
-| [add-behavior-tree-node](skills/add-behavior-tree-node) | Create behavior tree nodes |
+| [add-behavior-tree-node](skills/add-behavior-tree-node) | Create behavior tree nodes for high-level mission logic |
+| [add-ros2-package](skills/add-ros2-package) | Create a new ROS 2 package (module) from the template |
+| [add-task-executor](skills/add-task-executor) | Implement a task executor as a ROS 2 action server (`tasks/*`) |
+| [add-unit-tests](skills/add-unit-tests) | Add co-located Python/C++ unit tests and register them for CI |
+| [attach-gossip-payload](skills/attach-gossip-payload) | Broadcast custom ROS messages to peers via PeerProfile gossip payloads |
+| [bump-version-and-release](skills/bump-version-and-release) | Bump `.env` VERSION + CHANGELOG to clear the version-check gate |
+| [capture-discovered-knowledge](skills/capture-discovered-knowledge) | Persist hard-won discoveries to AGENTS.md or a skill |
+| [configure-multi-robot](skills/configure-multi-robot) | Multi-robot setup, fleet-first: fleet files under `config/fleets/` (`--fleet`) primary; `NUM_ROBOTS` is the legacy homogeneous knob |
+| [create-module](skills/create-module) | Author a thin module repo (module.yaml manifest, CI, test_stack) |
+| [create-stack](skills/create-stack) | Create a stack folder: `airstack stack new`, wiring bootstrap, split stacks + bridge.yaml, doctor |
+| [debug-module](skills/debug-module) | Systematic autonomous debugging of ROS 2 modules |
+| [docker-build-profiles](skills/docker-build-profiles) | Build-time validation for Docker compose profiles and build args |
+| [extract-module](skills/extract-module) | Extract an in-tree capability into a standalone module repo (TRUNK_REMOVAL.md pattern, sequencing rules, module CI) |
+| [integrate-module-into-layer](skills/integrate-module-into-layer) | Integrate a module into a **stack** (stack entry include, canonical defaults, wiring.md regen, lint) — the layer-bringup workflow is legacy |
+| [run-system-tests](skills/run-system-tests) | Run/extend the pytest system-test harness (marks, MetricsRecorder, /pytest) |
+| [test-in-simulation](skills/test-in-simulation) | End-to-end module testing in Isaac Sim |
+| [update-documentation](skills/update-documentation) | Document modules and update mkdocs navigation |
+| [use-airstack-cli](skills/use-airstack-cli) | The `airstack` CLI and the non-interactive `docker exec` pattern |
+| [use-feature-notebook](skills/use-feature-notebook) | Local notebook/ entry (design spec + results) for every feature |
+| [visualize-in-foxglove](skills/visualize-in-foxglove) | Add topic visualization to Foxglove/GCS |
+| [write-isaac-sim-scene](skills/write-isaac-sim-scene) | Create custom Isaac Sim scenes on pegasus_app |
+| [write-launch-file](skills/write-launch-file) | Launch-file conventions: canonical-default topic args, ROBOT_NAME namespacing, single-locus rule |
+| [write-mkdocs-documentation](skills/write-mkdocs-documentation) | Writing effective MkDocs documentation |
 
 ## Usage
 
@@ -62,12 +58,20 @@ When adding new skills:
 2. Add `SKILL.md` with proper YAML frontmatter
 3. Follow Agent Skills format specification
 4. Reference related skills using relative paths (`../other-skill/`)
-5. Update this README with the new skill
+5. Update this README **and** the skills table in [AGENTS.md](../AGENTS.md)
+
+Skills ship with the mechanism, not after it (RFC #379 §10): when a workflow
+changes (e.g. layer bringups → stacks), update the affected skills in the same
+PR as the machinery, or every agent session will faithfully reintroduce the
+old pattern.
 
 ## References
 
 - **Main Guide:** [AGENTS.md](../AGENTS.md)
 - **Agent Skills Spec:** [https://agentskills.io](https://agentskills.io)
 - **System Architecture:** [docs/robot/autonomy/system_architecture.md](../docs/robot/autonomy/system_architecture.md)
+- **Interface Conventions Spec:** [docs/robot/autonomy/interface_conventions.md](../docs/robot/autonomy/interface_conventions.md)
 - **Integration Checklist:** [docs/robot/autonomy/integration_checklist.md](../docs/robot/autonomy/integration_checklist.md)
-- **AI Agent Guide:** [docs/development/ai_agent_guide.md](../docs/development/ai_agent_guide.md)
+- **Stacks Guide:** [docs/development/stacks.md](../docs/development/stacks.md)
+- **Modules Guide:** [docs/development/modules.md](../docs/development/modules.md)
+- **AI Agent Guide:** [docs/development/advanced/ai_agent_guide.md](../docs/development/advanced/ai_agent_guide.md)

.agents/skills/add-behavior-tree-node/SKILL.md

@@ -1,7 +1,7 @@
 ---
 name: add-behavior-tree-node
 description: 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.
-license: Apache-2.0
+license: BSD-3-Clause-Clear
 metadata:
   author: AirLab CMU
   repository: AirStack

.agents/skills/add-ros2-package/SKILL.md

@@ -1,7 +1,7 @@
 ---
 name: add-ros2-package
 description: 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.
-license: Apache-2.0
+license: BSD-3-Clause-Clear
 metadata:
   author: AirLab CMU
   repository: AirStack
@@ -354,33 +354,40 @@ Create `config/<package_name>.yaml` with default parameters:
 
 ### 8. Create Launch File
 
-Create `launch/<package_name>.launch.xml` with topic remapping:
+Create `launch/<package_name>.launch.xml` following the canonical module
+launch pattern (RFC #379 §4 — see `.agents/skills/write-launch-file`):
 
 ```xml
 <launch>
-  <!-- Launch arguments for topic remapping -->
-  <arg name="odometry_topic" default="/robot/odometry" />
-  <arg name="output_topic" default="/robot/cmd_vel" />
-  <arg name="config_file" default="$(find-pkg-share your_package_name)/config/your_package_name.yaml" />
-
-  <node pkg="your_package_name" 
-        exec="your_node_name" 
-        name="your_node_name" 
-        output="screen">
-
-    <!-- Load parameters -->
-    <param from="$(var config_file)" allow_substs="true" />
-
-    <!-- Remap topics -->
-    <remap from="odometry" to="$(var odometry_topic)" />
-    <remap from="cmd_vel" to="$(var output_topic)" />
-  </node>
+  <!-- Prefixed, described args; defaults = the CANONICAL topic names -->
+  <arg name="your_module_odometry_topic" default="/$(env ROBOT_NAME)/odometry"
+       description="Input odometry (nav_msgs/Odometry)" />
+  <arg name="your_module_output_topic" default="/$(env ROBOT_NAME)/cmd_vel"
+       description="Output velocity command" />
+  <arg name="your_module_config"
+       default="$(find-pkg-share your_package_name)/config/your_package_name.yaml"
+       description="Node parameter YAML (loaded with allow_substs)" />
+
+  <group>
+    <!-- Bind the node's relative topic names to the declared args -->
+    <set_remap from="odometry" to="$(var your_module_odometry_topic)" />
+    <set_remap from="cmd_vel" to="$(var your_module_output_topic)" />
+
+    <node pkg="your_package_name"
+          exec="your_node_name"
+          name="your_node_name"
+          output="screen">
+      <!-- Load parameters -->
+      <param from="$(var your_module_config)" allow_substs="true" />
+    </node>
+  </group>
 </launch>
 ```
 
 **Key points:**
 - Use `allow_substs="true"` to enable environment variable substitution in config files
-- Define launch arguments for all topic names (enables flexible remapping)
+- Declare a prefixed launch argument (with `description=`) for every topic endpoint, defaulting to the canonical name — never generic names like `config_file` (launch configurations leak across sibling includes)
+- Use `set_remap` inside the module's group; module launch files never use `remap` tags — cross-module rewiring lives in the stack entry file (`stacks/<name>/launch/`), enforced by the single-locus lint (`tests/meta/test_launch_single_locus.py`)
 - Use `$(var arg_name)` to reference launch arguments
 - Use `$(env VAR_NAME)` for environment variables in configs
 
@@ -432,7 +439,7 @@ Build and test your package:
 
 ```bash
 # From outside the container
-AUTOLAUNCH=false airstack up robot-desktop
+airstack up robot-desktop --no-autolaunch
 
 # Build the specific package
 docker exec airstack-robot-desktop-1 bash -c "bws --packages-select your_package_name"

.agents/skills/add-ros2-package/assets/package_template/README.md

@@ -184,24 +184,24 @@ ros2 launch your_package your_package.launch.xml
 
 # With custom config
 ros2 launch your_package your_package.launch.xml \
-    config_file:=/path/to/custom/config.yaml
+    your_module_config:=/path/to/custom/config.yaml
 
-# With topic remapping
+# With custom topic wiring (prefixed args; in a stack these are include args)
 ros2 launch your_package your_package.launch.xml \
-    odometry_topic:=/robot/custom_odom \
-    output_topic:=/robot/custom_output
+    your_module_odometry_topic:=/robot/custom_odom \
+    your_module_output_topic:=/robot/custom_output
 ```
 
 ### Integrated in Autonomy Stack
 
 The module is automatically launched when the autonomy stack starts:
 
 ```bash
-# Full autonomy stack
+# Full autonomy stack (autolaunches by default)
 airstack up robot-desktop
 
-# Or with autolaunch
-AUTOLAUNCH=true airstack up robot-desktop
+# Or start idle and launch manually
+airstack up robot-desktop --no-autolaunch
 ```
 
 The module is integrated in: `<layer>_bringup/launch/<layer>.launch.xml`
@@ -254,7 +254,7 @@ airstack up isaac-sim robot
 # Run test scenario...
 ```
 
-See [test_in_simulation.md](../../.agents/skills/test_in_simulation.md) for detailed testing procedures.
+See the [test-in-simulation skill](../../../test-in-simulation/SKILL.md) for detailed testing procedures.
 
 ## Visualization
 
@@ -351,8 +351,6 @@ Apache-2.0 (consistent with AirStack)
 - **Maintainer:** Your Name (your.email@example.com)
 - **Contributors:** List additional contributors here
 
-## Changelog
-
-### Version 0.0.1 (YYYY-MM-DD)
-- Initial implementation
-- TODO: Add changelog entries as the module evolves
+<!-- No per-README changelog: change records live in the versioned Release
+     Notes (docs/release_notes/index.md); this README describes only the
+     current system. -->

.agents/skills/add-ros2-package/assets/package_template/launch/template.launch.xml

@@ -1,68 +1,77 @@
+<!--
+  your_package_name : canonical module launch file (RFC #379 §2/§4).
+
+  Conventions this template follows (see .agents/skills/write-launch-file):
+  - Every topic endpoint is a declared <arg> with a description= and a
+    default equal to the CANONICAL topic name (docs/robot/autonomy/
+    integration_checklist.md), so a bare include means "wired canonically".
+  - Args are PREFIXED with the module name (never generic names like
+    `config_file` or `namespace` — generic launch configurations leak
+    across sibling includes in the same launch scope).
+  - Wiring uses set_remap inside the module's namespace group. Module launch
+    files never use remap tags — cross-module rewiring lives in the stack
+    entry file (stacks/<name>/launch/), the single-locus rule enforced by
+    tests/meta/test_launch_single_locus.py.
+-->
 <launch>
   <!-- ============================================ -->
-  <!-- Launch Arguments -->
+  <!-- Launch Arguments (all prefixed + described)  -->
   <!-- ============================================ -->
-
-  <!-- TODO: Add launch arguments for configurability -->
-
-  <!-- Input topics (for remapping) -->
-  <arg name="odometry_topic" default="/$(env ROBOT_NAME)/odometry" 
-       description="Odometry input topic"/>
-  <arg name="sensor_topic" default="/$(env ROBOT_NAME)/sensors/data" 
-       description="Sensor data input topic"/>
-
-  <!-- Output topics (for remapping) -->
-  <arg name="output_topic" default="/$(env ROBOT_NAME)/your_module/output" 
+
+  <!-- TODO: rename the your_module_ prefix to your module name -->
+
+  <!-- Namespace -->
+  <arg name="your_module_namespace" default="your_module"
+       description="Namespace to run in"/>
+
+  <!-- Input topics -->
+  <arg name="your_module_odometry_topic" default="/$(env ROBOT_NAME)/odometry"
+       description="Input odometry (nav_msgs/Odometry)"/>
+  <arg name="your_module_sensor_topic" default="/$(env ROBOT_NAME)/sensors/data"
+       description="Input sensor data"/>
+
+  <!-- Output topics -->
+  <arg name="your_module_output_topic" default="/$(env ROBOT_NAME)/your_module/output"
        description="Module output topic"/>
-  
+
   <!-- Configuration -->
-  <arg name="config_file" 
+  <arg name="your_module_config"
        default="$(find-pkg-share your_package_name)/config/template.yaml"
-       description="Path to configuration file"/>
-
-  <!-- Namespace -->
-  <arg name="namespace" default="your_module" 
-       description="Namespace for the node"/>
-
+       description="Node parameter YAML (loaded with allow_substs)"/>
+
   <!-- Other options -->
-  <arg name="enable_debug" default="false" 
+  <arg name="your_module_enable_debug" default="false"
        description="Enable debug mode"/>
-  
+
   <!-- ============================================ -->
   <!-- Node Launch -->
   <!-- ============================================ -->
-  
+
   <group>
     <!-- Apply namespace -->
-    <push-ros-namespace namespace="$(var namespace)" />
-
+    <push-ros-namespace namespace="$(var your_module_namespace)" />
+
+    <!-- Bind the node's relative topic names to the declared args.
+         Sources are the names the node uses in code (relative, resolved in
+         its namespace); targets are the absolute arg values. -->
+    <set_remap from="odometry" to="$(var your_module_odometry_topic)" />
+    <set_remap from="sensor_data" to="$(var your_module_sensor_topic)" />
+    <set_remap from="output" to="$(var your_module_output_topic)" />
+
     <!-- TODO: Replace with your package/node name -->
-    <node pkg="your_package_name" 
-          exec="your_node_name" 
+    <node pkg="your_package_name"
+          exec="your_node_name"
           name="your_node_name"
           output="screen">
-      
+
       <!-- Load parameters from config file -->
       <!-- allow_substs="true" enables environment variable substitution -->
-      <param from="$(var config_file)" allow_substs="true" />
-      
+      <param from="$(var your_module_config)" allow_substs="true" />
+
       <!-- Override specific parameters from launch args -->
-      <param name="enable_debug" value="$(var enable_debug)" />
-
-      <!-- ======================================== -->
-      <!-- Topic Remapping -->
-      <!-- ======================================== -->
-
-      <!-- Remap input topics -->
-      <remap from="odometry" to="$(var odometry_topic)" />
-      <remap from="sensor_data" to="$(var sensor_topic)" />
-
-      <!-- Remap output topics -->
-      <remap from="output" to="$(var output_topic)" />
-
-      <!-- TODO: Add additional topic remappings as needed -->
-
+      <param name="enable_debug" value="$(var your_module_enable_debug)" />
+
     </node>
   </group>
-  
+
 </launch>

.agents/skills/add-task-executor/SKILL.md

@@ -1,7 +1,7 @@
 ---
 name: add-task-executor
 description: 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).
-license: Apache-2.0
+license: BSD-3-Clause-Clear
 metadata:
   author: AirLab CMU
   repository: AirStack
@@ -260,9 +260,9 @@ int main(int argc, char* argv[]) {
 
 Only switch to `MultiThreadedExecutor` if you have independent callbacks that genuinely need concurrent execution **and** all shared resources are thread-safe. Nodes that use OpenGL, CUDA, or other thread-affine resources **must** use `rclcpp::spin()` to keep callbacks serialized.
 
-### 3. Add remap to bringup launch
+### 3. Add remap in the stack entry file
 
-In the layer bringup launch file (e.g., `global_bringup/launch/global.launch.xml`):
+In the module's canonical launch file, declare the action endpoint as a topic arg with the canonical default; any deviation is wired in the stack entry file (e.g., `stacks/full_default/launch/stack.launch.xml` — the single-locus rule):
 ```xml
 <remap from="~/your_task" to="/$(env ROBOT_NAME)/tasks/your_task_name" />
 ```