add rules,skills for codex

.codex/CODEX.md

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+# ROS2 Clean Architecture Project
+
+This project is set up with a comprehensive set of **Codex Skills** designed to facilitate ROS2 development following **Clean Architecture** principles.
+
+## Authoritative References
+
+- ROS2 Humble docs: `https://docs.ros.org/en/humble/index.html`
+- Codex Skills docs: `https://developers.openai.com/codex/skills`
+- Codex Rules docs: `https://developers.openai.com/codex/rules`
+- OpenAI skills repository: `https://github.com/openai/skills`
+- For ROS2 APIs and behavior, prioritize Humble documentation.
+- For skill layout and conventions, follow Codex Skills docs first, then align with `openai/skills`.
+- For command approval policies, follow Codex Rules docs and maintain `.codex/rules/default.rules`.
+
+## Available Skills
+
+The following skills are available in `.codex/skills` and can be used to guide development:
+
+| Skill Name              | Description                               | Key Components                                                                        |
+| ----------------------- | ----------------------------------------- | ------------------------------------------------------------------------------------- |
+| **ros2-node-creation**  | Create Clean Architecture compliant nodes | `BaseNode` template, dependency injection, QoS profiles (Python & C++)               |
+| **ros2-launch-config**  | Modular launch files                      | Composition, `IncludeLaunchDescription`, parameter management, C++ executable support |
+| **ros2-service-action** | Services and actions                      | Server/client wrappers, domain use case integration (Python & C++)                   |
+| **ros2-messaging**      | Pub/sub patterns                          | Domain-driven publishers, generic subscribers, thread-safe buffers, synchronization   |
+| **ros2-testing**        | Testing strategy                          | Unit (domain), integration (node), E2E (launch), GTest/GMock support                 |
+| **ros2-lifecycle**      | Managed nodes                             | Lifecycle node templates, state transition management, lifecycle clients              |
+| **ros2-transforms**     | TF2 management                            | TF2 wrappers avoiding domain dependency on `geometry_msgs`                            |
+| **ros2-diagnostics**    | Health monitoring                         | `diagnostic_updater` integration, health entities, frequency monitoring               |
+| **ros2-bag**            | Data recording                            | Programmatic bag recording and replay utilities (`rosbag2`)                           |
+| **ros2-dockerfile**     | Docker build patterns                     | ROS2 Humble base images, rosdep/colcon layers, multi-stage runtime images            |
+
+## Project Structure
+
+The project follows a strict separation of concerns:
+
+- **src/domain/**: Pure business logic, entities, and use cases. No ROS2 dependencies.
+- **src/application/**: Application services and interfaces. Orchestrates logic.
+- **src/infrastructure/**: ROS2 specific implementations (Nodes, Publishers, Subscribers).
+
+## Getting Started
+
+To use a skill, reference the skill file (e.g., `.codex/skills/ros2-node-creation/SKILL.md`) for templates and best practices.
+For containerization, use `.codex/skills/ros2-dockerfile/SKILL.md` with `.codex/rules/ros2_dockerfile.md`.
+
+## Common Commands
+
+For a comprehensive list of ROS2 commands, build instructions, and debugging tools, please refer to:
+
+- **[ROS2 Commands Reference](.codex/commands/ros2.md)**: `colcon`, `ros2`, `rqt`, etc.
+
+### Quick Reference
+
+- **Build**: `colcon build --symlink-install`
+- **Test**: `colcon test`
+- **Source**: `source install/setup.bash`

.codex/commands/ros2.md

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+# ROS2 Common Commands
+
+## Build System (colcon)
+
+| Action              | Command                                     | Description                                                              |
+| ------------------- | ------------------------------------------- | ------------------------------------------------------------------------ |
+| **Build Workspace** | `colcon build --symlink-install`            | Build all packages with symlinks (allows python changes without rebuild) |
+| **Build Package**   | `colcon build --packages-select <pkg_name>` | Build a specific package only                                            |
+| **Build Up To**     | `colcon build --packages-up-to <pkg_name>`  | Build a package and its dependencies                                     |
+| **Clean Build**     | `rm -rf build/ install/ log/`               | Remove build artifacts (use with caution)                                |
+| **Test**            | `colcon test`                               | Run tests for all packages                                               |
+| **Test Output**     | `colcon test-result --all`                  | Show test results                                                        |
+
+## Environment
+
+| Action             | Command                     | Description                  |
+| ------------------ | --------------------------- | ---------------------------- | ------------------------------- |
+| **Source Overlay** | `source install/setup.bash` | Source the workspace overlay |
+| **Check Env**      | `printenv                   | grep ROS`                    | Check ROS environment variables |
+
+## Introspection (ros2)
+
+### Nodes
+
+| Command                      | Description                                      |
+| ---------------------------- | ------------------------------------------------ |
+| `ros2 node list`             | List all running nodes                           |
+| `ros2 node info <node_name>` | Show subscribers, publishers, services of a node |
+
+### Topics
+
+| Command                                | Description                                      |
+| -------------------------------------- | ------------------------------------------------ |
+| `ros2 topic list`                      | List all active topics                           |
+| `ros2 topic echo <topic>`              | Print messages from a topic to screen            |
+| `ros2 topic info <topic>`              | Show message type and publisher/subscriber count |
+| `ros2 topic pub <topic> <type> <args>` | Publish a message manually                       |
+| `ros2 topic hz <topic>`                | Check publishing frequency                       |
+| `ros2 topic bw <topic>`                | Check bandwidth usage                            |
+
+### Services
+
+| Command                                     | Description             |
+| ------------------------------------------- | ----------------------- |
+| `ros2 service list`                         | List available services |
+| `ros2 service call <service> <type> <args>` | Call a service manually |
+| `ros2 service type <service>`               | Show service type       |
+
+### Actions
+
+| Command                                        | Description            |
+| ---------------------------------------------- | ---------------------- |
+| `ros2 action list`                             | List available actions |
+| `ros2 action send_goal <action> <type> <goal>` | Send an action goal    |
+
+### Parameters
+
+| Command                                 | Description                           |
+| --------------------------------------- | ------------------------------------- |
+| `ros2 param list`                       | List all parameters                   |
+| `ros2 param get <node> <param>`         | Get a parameter value                 |
+| `ros2 param set <node> <param> <value>` | Set a parameter value dynamically     |
+| `ros2 param dump <node>`                | Dump all parameters of a node to YAML |
+
+## Debugging Implementation
+
+| Tool            | Command                          | Description                               |
+| --------------- | -------------------------------- | ----------------------------------------- |
+| **RQT Graph**   | `rqt_graph`                      | Visualize node and topic connections      |
+| **RQT Console** | `rqt_console`                    | View log messages with filtering          |
+| **TF Tree**     | `ros2 run tf2_tools view_frames` | Generate PDF of TF tree                   |
+| **Doctor**      | `ros2 doctor`                    | Check for system issues/misconfigurations |