diff --git a/.gitignore b/.gitignore
index 1d64fc5..ce1e123 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,36 +1,24 @@
 __pycache__/
 *.py[cod]
 *$py.class
-
-# ros2
 log/
 build/
 install/
-
-# additions
 temp/
 .vscode/
-
-#log
 log.txt
-
 .DS_Store
-
 .cursor/
 .cursorrules
 *.pt
 .env
-
 test.txt
 path.sh
 scene_info.json
-
 frames_*
-
-# skill export
 __export__.py
 skill/__init__.py
-
 *.log
-
-tmp/
\ No newline at end of file
+tmp/
+tailscale/
+target
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 7cfc5ef..13633e8 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,3 +10,12 @@
 [submodule "robonix/driver/ranger_ros2/src/ugv_sdk"]
 	path = robonix/driver/ranger_ros2/src/ugv_sdk
 	url = https://github.com/enkerewpo/ugv_sdk.git
+[submodule "ros2-client"]
+	path = rust/lib/ros2-client
+	url = https://github.com/enkerewpo/ros2-client
+[submodule "rcl_interfaces"]
+	path = rust/lib/rcl_interfaces
+	url = https://github.com/enkerewpo/rcl_interfaces
+[submodule "common_interfaces"]
+	path = rust/lib/common_interfaces
+	url = https://github.com/enkerewpo/common_interfaces
diff --git a/README.md b/README.md
index a96382d..08a22e3 100644
--- a/README.md
+++ b/README.md
@@ -1,36 +1,20 @@
-# robonix
-<div align="center">
-  <img src="robonix.png" alt="robonix" width="200">
-</div>
+# Robonix
 
-**robonix** is an open-source embodied intelligence framework.
+**Robonix** is an open-source embodied intelligence framework built with Rust and ROS2, implementing the EAIOS (Embodied AI Operating System) architecture.
 
-## Setup
+## Architecture
 
-```bash
-git clone --recurse-submodules https://github.com/syswonder/robonix.git
-```
+Robonix follows the EAIOS architecture with four core components:
 
-1. install ROS2 humble: https://docs.ros.org/en/humble/Installation.html
-2. build your driver and capability ROS2 node (enter the folder and run build.sh or colcon build)
+- **Task Manager**: Global scheduling and control core, responsible for task parsing, planning, and execution coordination
+- **Skill Library**: Stores reusable skills that can be called at runtime
+- **Service Registry**: Manages standardized algorithm capabilities (perception, planning, evaluation, verification)
+- **Primitive Abstraction Layer**: Provides standardized hardware capability mapping, managing access to actuators and sensors
 
-## Startup
+## Quick Start
 
-```bash
-cd robonix
-python3 ./manager/boot.py --config {YOUR_BOOT_CONFIG}
-```
+See [robonix quickstart](rust/README.md)
 
-Please see examples configs in `config/include`.
+## License
 
-## Action Programming and Simulation
-
-for user action programming and simulation, you need to install the following packages:
-
-```bash
-pip install rich loguru mcp pyyaml argparse # basic packages for uapi and manager
-pip install grpcio grpcio-tools genesis-world pynput # if you want to use genesis simulator
-pip install openai  python-dotenv # for LLM-generated action
-```
-
-run `python3 ./simulator/genesis/robot1.py` to start the genesis simulator, then run example python scripts in `./simulator/examples` to run the abstract action program.
\ No newline at end of file
+See LICENSE file for details.
diff --git a/config/include/nvidia_server.yml b/config/include/nvidia_server.yml
new file mode 100644
index 0000000..f5824bf
--- /dev/null
+++ b/config/include/nvidia_server.yml
@@ -0,0 +1,5 @@
+driver:
+capability:
+skill:
+  - spatial
+brain:
\ No newline at end of file
diff --git a/config/include/ranger_test.yml b/config/include/ranger_test.yml
index 689db8a..2b38a4a 100644
--- a/config/include/ranger_test.yml
+++ b/config/include/ranger_test.yml
@@ -17,7 +17,8 @@ skill:
   - vision
   - semantic_map
   - test_skill
-  - pointcloud
+  - spatial
+  - asr
 brain:
   - test_brian
 
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..8564050
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,77 @@
+FROM osrf/ros:humble-desktop
+    
+ENV ROS_DOMAIN_ID=0
+ENV ROS_LOCALHOST_ONLY=0
+# ENV FASTRTPS_DEFAULT_PROFILES_FILE=/root/shared/fast.xml
+# ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# RUN apt-get update && apt-get install -y \
+#     ca-certificates \
+#     wget gnupg && \
+#     wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
+#     dpkg -i cuda-keyring_1.1-1_all.deb && \
+#     apt-get update && \
+#     apt-get install -y cuda-toolkit-12-4 && \
+#     rm cuda-keyring_1.1-1_all.deb
+
+# RUN wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh && \
+#     bash Miniconda3-latest-Linux-x86_64.sh -b -p /opt/miniconda3 && \
+#     rm Miniconda3-latest-Linux-x86_64.sh
+
+RUN apt update && apt install -y \
+    ros-humble-rmw-fastrtps-cpp \
+    python3-pip \
+    python3-dev \
+    build-essential \
+    git \
+    wget \
+    libeigen3-dev \
+    libgl1-mesa-glx \
+    libglib2.0-0 \
+    libsm6 \
+    libxext6 \
+    libxrender-dev \
+    bzip2 \
+    libosmesa6 \
+    libglu1-mesa \
+    libglfw3 \
+    libglfw3-dev \
+    mesa-utils \
+    libclang-dev python3-vcstool
+
+# RUN apt update && apt install -y curl && \
+# curl -fsSL https://pkgs.tailscale.com/stable/ubuntu/focal.noarmor.gpg | tee /usr/share/keyrings/tailscale-archive-keyring.gpg >/dev/null && \
+# curl -fsSL https://pkgs.tailscale.com/stable/ubuntu/focal.tailscale-keyring.list | tee /etc/apt/sources.list.d/tailscale.list && \
+# apt update && \
+# apt install -y tailscale && \
+# pip3 install --upgrade pip
+
+# ENV PATH=/opt/miniconda3/bin:$PATH
+
+# RUN conda tos accept || true && \
+#     conda create -n env1 python=3.10 -y && \
+#     conda clean -ya
+
+# RUN conda config --set solver classic && \
+#     conda config --set channel_priority flexible
+
+# install some basic packages in the env1 conda env
+# RUN conda run -n env1 pip install intel-openmp && \
+#     conda run -n env1 pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu124
+
+# RUN conda run -n env1 pip install git+https://github.com/colcon/colcon-cargo.git && \
+#     conda run -n env1 pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+# CUDA 12.4 toolkit installs to /usr/local/cuda by default
+# Also set up version-specific paths for compatibility
+# ENV CUDA_HOME=/usr/local/cuda
+# ENV CUDA_PATH=/usr/local/cuda
+# ENV PATH=/usr/local/cuda/bin:$PATH
+# RUN echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/compat:${LD_LIBRARY_PATH:-}' >> ~/.bashrc
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility
+
+# install rust
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+
+WORKDIR /root/workspace
\ No newline at end of file
diff --git a/docker/README.md b/docker/README.md
new file mode 100644
index 0000000..c78d0ad
--- /dev/null
+++ b/docker/README.md
@@ -0,0 +1,100 @@
+# Docker Setup for Robonix
+
+This directory contains Docker configuration files for building and running Robonix in a containerized environment.
+
+## Files
+
+- `Dockerfile`: Docker image definition based on ROS2 Humble
+- `run.sh`: Script to build and run the Docker container locally
+- `upload.sh`: Script to build and upload Docker image to cloud registry
+- `docker-entrypoint.sh`: Container entrypoint script
+
+## Local Usage
+
+### Build and Run Container
+
+```bash
+cd docker
+./run.sh          # Run container (builds if needed)
+./run.sh -b       # Force rebuild image
+./run.sh -d       # Delete existing container
+```
+
+### Environment Variables
+
+Create a `.env` file in the `docker/` directory to set custom variables:
+
+```bash
+# Optional: Custom image name
+DOCKER_IMAGE_NAME=robonix_ros
+
+# Optional: Custom registry
+DOCKER_REGISTRY=ghcr.io/username
+
+# Optional: Custom tag
+DOCKER_TAG=latest
+
+# Optional: Disable push (default: true)
+DOCKER_PUSH=false
+
+# Optional: Docker credentials (for upload.sh)
+DOCKER_USERNAME=your_username
+DOCKER_PASSWORD=your_token_or_password
+```
+
+## Upload to Cloud Registry
+
+### Docker Hub (Default)
+
+```bash
+cd docker
+
+# Set credentials (or use .env file)
+export DOCKER_USERNAME=your_dockerhub_username
+export DOCKER_PASSWORD=your_dockerhub_password
+
+# Upload with default settings (uses docker.io)
+./upload.sh docker.io/username/robonix_ros latest
+
+# Or use environment variables
+export DOCKER_REGISTRY=docker.io/username/robonix_ros
+export DOCKER_TAG=v1.0.0
+./upload.sh
+```
+
+### Using .env File
+
+1. Copy the template file:
+```bash
+cd docker
+cp dotenv.template .env
+```
+
+2. Edit `.env` and fill in your values:
+
+```bash
+# For Docker Hub (default)
+DOCKER_REGISTRY=docker.io/your_dockerhub_username/robonix_ros
+DOCKER_TAG=latest
+DOCKER_USERNAME=your_dockerhub_username
+DOCKER_PASSWORD=your_dockerhub_password_or_token
+DOCKER_PUSH=true
+```
+
+**Important Notes:**
+For Docker Hub: Use your Docker Hub username and password (or access token). Create access token at: https://hub.docker.com/settings/security.
+
+3. Run the upload script:
+```bash
+./upload.sh
+```
+
+The script will automatically use values from `.env` if no command-line arguments are provided.
+
+## Notes
+
+- The Docker image includes ROS2 Humble, Rust, and all necessary dependencies
+- GPU support is enabled if NVIDIA drivers are available on the host
+- The container uses host networking for ROS2 communication
+- X11 forwarding is set up for GUI applications
+
diff --git a/docker/docker-entrypoint.sh b/docker/docker-entrypoint.sh
new file mode 100755
index 0000000..f525458
--- /dev/null
+++ b/docker/docker-entrypoint.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+mkdir -p /tmp/runtime-root
+chmod 700 /tmp/runtime-root
+export XDG_RUNTIME_DIR=/tmp/runtime-root
+
+# Set up OSMesa for headless OpenGL rendering
+export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/osmesa:${LD_LIBRARY_PATH}
+export OSMESA_LIB=/usr/lib/x86_64-linux-gnu/libOSMesa.so
+
+# some post apt install
+apt install -qq -y iputils-ping screenfetch >/dev/null 2>&1
+
+# source the setup.bash
+source /opt/ros/humble/setup.bash
+
+echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+echo -e "[*] \033[1mWelcome to robonix docker environment!\033[0m Distro is: \033[33m$(lsb_release -ds 2>/dev/null || echo "Linux")\033[0m with ROS2 \033[33m$(echo $ROS_DISTRO)\033[0m"
+exec bash
+
diff --git a/docker/dotenv.template b/docker/dotenv.template
new file mode 100644
index 0000000..7457a58
--- /dev/null
+++ b/docker/dotenv.template
@@ -0,0 +1,49 @@
+# Docker Upload Configuration
+# Copy this file to .env and fill in your values
+# cp dotenv.template .env
+
+# ============================================
+# Registry Configuration
+# ============================================
+
+# Full registry path (recommended)
+# For Docker Hub (default):
+DOCKER_REGISTRY=docker.io/your_dockerhub_username/robonix_ros
+
+# For GitHub Container Registry:
+# DOCKER_REGISTRY=ghcr.io/your_github_username/robonix_ros
+
+# Or just registry (will use default image name)
+# DOCKER_REGISTRY=docker.io
+# DOCKER_IMAGE_NAME=robonix_ros
+
+# Image tag (default: latest)
+DOCKER_TAG=latest
+
+# ============================================
+# Authentication
+# ============================================
+
+# Your Docker Hub username
+DOCKER_USERNAME=your_dockerhub_username
+
+# Your Docker Hub password or access token
+# You can use your account password or create an access token at:
+# https://hub.docker.com/settings/security
+DOCKER_PASSWORD=your_dockerhub_password_or_token
+
+# ============================================
+# Upload Options
+# ============================================
+
+# Whether to push image to registry (default: true)
+# Set to false to only build locally without pushing
+DOCKER_PUSH=true
+
+# ============================================
+# Other Configuration (if needed)
+# ============================================
+
+# Tailscale auth key (if using Tailscale)
+# DOCKERKEY_PERM=PASTE_YOUR_TAILSCALE_AUTH_KEY_HERE
+
diff --git a/docker/run.sh b/docker/run.sh
new file mode 100755
index 0000000..58a59a8
--- /dev/null
+++ b/docker/run.sh
@@ -0,0 +1,122 @@
+#!/usr/bin/env bash
+set -e
+
+# set your workspace target here
+WORKSPACE_TARGET=..
+
+if [ -f .env ]; then
+    echo "[*] Loading environment variables from .env..."
+    export $(cat .env | grep -v '^#' | xargs)
+fi
+
+# Default: use remote image from Docker Hub
+USE_LOCAL=false
+REMOTE_IMAGE="docker.io/enkerewpo/robonix_ros:latest"
+LOCAL_IMAGE="robonix_ros"
+CONTAINER_NAME=robonix_ros_dev
+
+# Parse arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -b|--build)
+            USE_LOCAL=true
+            shift
+            ;;
+        -d|--delete)
+            echo "[*] Deleting Docker container..."
+            docker rm -f $CONTAINER_NAME 2>/dev/null || true
+            exit 0
+            ;;
+        -h|--help)
+            echo "Usage: $0 [OPTIONS]"
+            echo ""
+            echo "Options:"
+            echo "  -b, --build    Build and use local image (default: use remote image from Docker Hub)"
+            echo "  -d, --delete   Delete existing container"
+            echo "  -h, --help     Show this help message"
+            echo ""
+            echo "By default, pulls and uses: docker.io/enkerewpo/robonix_ros:latest"
+            echo "Use -b to build and use local image instead"
+            exit 0
+            ;;
+        *)
+            echo "Unknown option: $1"
+            echo "Use -h or --help for usage information"
+            exit 1
+            ;;
+    esac
+done
+
+# Determine which image to use
+if [ "$USE_LOCAL" = true ]; then
+    IMAGE_NAME=$LOCAL_IMAGE
+    echo "[*] Using local image: $IMAGE_NAME"
+    
+    # Build local image if it doesn't exist
+    if ! docker image inspect $IMAGE_NAME >/dev/null 2>&1; then
+        echo "[*] Local image not found, building..."
+        docker build -t $IMAGE_NAME .
+    else
+        echo "[*] Local image found, skipping build"
+    fi
+else
+    IMAGE_NAME=$REMOTE_IMAGE
+    echo "[*] Using remote image: $IMAGE_NAME"
+    
+    # Pull remote image
+    echo "[*] Pulling remote image..."
+    docker pull $IMAGE_NAME || {
+        echo "[!] Failed to pull remote image. Falling back to local build..."
+        IMAGE_NAME=$LOCAL_IMAGE
+        if ! docker image inspect $IMAGE_NAME >/dev/null 2>&1; then
+            echo "[*] Building local image as fallback..."
+            docker build -t $IMAGE_NAME .
+        fi
+    }
+fi
+
+GPU_ARGS=""
+if command -v nvidia-smi &> /dev/null; then
+    echo "[*] GPU detected, enabling GPU support..."
+    GPU_ARGS="--gpus all --runtime nvidia"
+fi
+
+# Check if user wants to use host network
+# Use host network so container has full network access
+NETWORK_ARGS="--net host"
+
+# Set up X11 forwarding permissions
+echo "[*] Setting up X11 forwarding..."
+if [ -z "$DISPLAY" ]; then
+    export DISPLAY=:0
+fi
+if [ -z "$XAUTHORITY" ]; then
+    export XAUTHORITY=$HOME/.Xauthority
+fi
+if [ -z "$XDG_RUNTIME_DIR" ]; then
+    export XDG_RUNTIME_DIR=/tmp
+fi
+echo "[*] DISPLAY=$DISPLAY"
+echo "[*] XAUTHORITY=$XAUTHORITY"
+echo "[*] XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR"
+xhost +local:docker 2>/dev/null || xhost + 2>/dev/null || echo "[*] Warning: Could not set xhost permissions"
+
+docker run -it --rm \
+  --name $CONTAINER_NAME \
+  --hostname docker-ub \
+  $NETWORK_ARGS \
+  $GPU_ARGS \
+  -v ./shared:/root/shared \
+  -v $WORKSPACE_TARGET:/root/workspace \
+  -v ./docker-entrypoint.sh:/docker-entrypoint.sh \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -v "$XDG_RUNTIME_DIR:$XDG_RUNTIME_DIR" \
+  -v /dev/dri:/dev/dri \
+  -e DISPLAY=${DISPLAY:-:0} \
+  -e QT_X11_NO_MITSHM=1 \
+  -e XAUTHORITY=${XAUTHORITY} \
+  -e NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all} \
+  -e NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:-all} \
+  -e XDG_RUNTIME_DIR=/tmp/runtime-root \
+  $IMAGE_NAME \
+  bash /docker-entrypoint.sh
\ No newline at end of file
diff --git a/docker/upload.sh b/docker/upload.sh
new file mode 100755
index 0000000..519310c
--- /dev/null
+++ b/docker/upload.sh
@@ -0,0 +1,76 @@
+#!/usr/bin/env bash
+set -e
+
+# Script to build and upload Docker image to cloud registry
+# Usage: ./upload.sh [registry] [tag]
+# Example: ./upload.sh docker.io/username/robonix_ros latest
+
+# Default values
+DEFAULT_REGISTRY="docker.io"
+DEFAULT_IMAGE_NAME="robonix_ros"
+DEFAULT_TAG="latest"
+
+# Load environment variables from .env if exists
+if [ -f .env ]; then
+    echo "[*] Loading environment variables from .env..."
+    export $(cat .env | grep -v '^#' | xargs)
+fi
+
+# Parse arguments
+REGISTRY=${1:-${DOCKER_REGISTRY:-$DEFAULT_REGISTRY}}
+IMAGE_NAME=${2:-${DOCKER_IMAGE_NAME:-$DEFAULT_IMAGE_NAME}}
+TAG=${3:-${DOCKER_TAG:-$DEFAULT_TAG}}
+
+# Construct full image name
+if [[ "$REGISTRY" == *"/"* ]]; then
+    # Full path provided (e.g., ghcr.io/username/robonix_ros)
+    FULL_IMAGE_NAME="${REGISTRY}:${TAG}"
+else
+    # Only registry provided, use default image name
+    FULL_IMAGE_NAME="${REGISTRY}/${IMAGE_NAME}:${TAG}"
+fi
+
+echo "[*] Building Docker image..."
+echo "[*] Image: $FULL_IMAGE_NAME"
+
+# Build the image
+docker build -t $FULL_IMAGE_NAME .
+
+# Also tag as latest if a specific tag was provided
+if [ "$TAG" != "latest" ]; then
+    LATEST_TAG="${FULL_IMAGE_NAME%:*}:latest"
+    echo "[*] Tagging as latest: $LATEST_TAG"
+    docker tag $FULL_IMAGE_NAME $LATEST_TAG
+fi
+
+# Check if we should push to registry
+if [ "${DOCKER_PUSH:-true}" == "true" ]; then
+    echo "[*] Pushing image to registry..."
+    
+    # Check if we need to login
+    if [ -n "${DOCKER_USERNAME}" ] && [ -n "${DOCKER_PASSWORD}" ]; then
+        echo "[*] Logging in to registry..."
+        if [[ "$REGISTRY" == *"ghcr.io"* ]]; then
+            echo "${DOCKER_PASSWORD}" | docker login ghcr.io -u "${DOCKER_USERNAME}" --password-stdin
+        elif [[ "$REGISTRY" == *"docker.io"* ]] || [[ "$REGISTRY" == *"dockerhub"* ]]; then
+            echo "${DOCKER_PASSWORD}" | docker login docker.io -u "${DOCKER_USERNAME}" --password-stdin
+        else
+            echo "${DOCKER_PASSWORD}" | docker login "$REGISTRY" -u "${DOCKER_USERNAME}" --password-stdin
+        fi
+    fi
+    
+    # Push the image
+    docker push $FULL_IMAGE_NAME
+    
+    # Push latest tag if created
+    if [ "$TAG" != "latest" ] && [ -n "$LATEST_TAG" ]; then
+        docker push $LATEST_TAG
+    fi
+    
+    echo "[*] Image pushed successfully: $FULL_IMAGE_NAME"
+else
+    echo "[*] Skipping push (set DOCKER_PUSH=false to disable)"
+fi
+
+echo "[*] Done! Image: $FULL_IMAGE_NAME"
+
diff --git a/robonix.png b/robonix.png
deleted file mode 100644
index 85da1c2..0000000
Binary files a/robonix.png and /dev/null differ
diff --git a/robonix/skill/pointcloud/notes.txt b/robonix/skill/pointcloud/notes.txt
deleted file mode 100644
index f0e3c14..0000000
--- a/robonix/skill/pointcloud/notes.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-python inference.py --point_cloud ../../pointcloud.ply --output room_315.txt --model_path manycore-research/SpatialLM1.1-Qwen-0.5B
-python visualize.py --point_cloud ../../pointcloud.ply --layout room_315.txt --save room_315.rrd
-rerun room_315.rrd
\ No newline at end of file
diff --git a/robonix/skill/pointcloud/pointcloud.ply b/robonix/skill/pointcloud/pointcloud.ply
deleted file mode 100644
index bac8b2e..0000000
--- a/robonix/skill/pointcloud/pointcloud.ply
+++ /dev/null
@@ -1,99946 +0,0 @@
-ply
-format ascii 1.0
-element vertex 99936
-property float x
-property float y
-property float z
-property uchar red
-property uchar green
-property uchar blue
-end_header
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--0.455000 1.074000 0.083000 23 23 23
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--0.561000 1.090000 0.083000 20 20 20
--0.623000 1.104000 0.085000 16 16 16
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diff --git a/robonix/skill/pointcloud/README.md b/robonix/skill/spatial/README.md
similarity index 95%
rename from robonix/skill/pointcloud/README.md
rename to robonix/skill/spatial/README.md
index 4f8a577..5861d7f 100644
--- a/robonix/skill/pointcloud/README.md
+++ b/robonix/skill/spatial/README.md
@@ -149,4 +149,12 @@ if torch.cuda.is_available():
     c = a @ b
     print("matmul ok:", c.is_cuda, c.shape)
 PY
+```
+
+notes:
+
+```
+python inference.py --point_cloud ../../pointcloud.ply --output room_315.txt --model_path manycore-research/SpatialLM1.1-Qwen-0.5B
+python visualize.py --point_cloud ../../pointcloud.ply --layout room_315.txt --save room_315.rrd
+rerun room_315.rrd
 ```
\ No newline at end of file
diff --git a/robonix/skill/pointcloud/api/__init__.py b/robonix/skill/spatial/api/__init__.py
similarity index 100%
rename from robonix/skill/pointcloud/api/__init__.py
rename to robonix/skill/spatial/api/__init__.py
diff --git a/robonix/skill/pointcloud/api/api.py b/robonix/skill/spatial/api/api.py
similarity index 100%
rename from robonix/skill/pointcloud/api/api.py
rename to robonix/skill/spatial/api/api.py
diff --git a/robonix/skill/pointcloud/api/caller.py b/robonix/skill/spatial/api/caller.py
similarity index 100%
rename from robonix/skill/pointcloud/api/caller.py
rename to robonix/skill/spatial/api/caller.py
diff --git a/robonix/skill/pointcloud/api/server.py b/robonix/skill/spatial/api/server.py
similarity index 100%
rename from robonix/skill/pointcloud/api/server.py
rename to robonix/skill/spatial/api/server.py
diff --git a/robonix/skill/pointcloud/api/spatiallm/.gitignore b/robonix/skill/spatial/api/spatiallm/.gitignore
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/.gitignore
rename to robonix/skill/spatial/api/spatiallm/.gitignore
diff --git a/robonix/skill/pointcloud/api/spatiallm/EXAMPLE.md b/robonix/skill/spatial/api/spatiallm/EXAMPLE.md
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/EXAMPLE.md
rename to robonix/skill/spatial/api/spatiallm/EXAMPLE.md
diff --git a/robonix/skill/pointcloud/api/spatiallm/FINETUNE.md b/robonix/skill/spatial/api/spatiallm/FINETUNE.md
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/FINETUNE.md
rename to robonix/skill/spatial/api/spatiallm/FINETUNE.md
diff --git a/robonix/skill/pointcloud/api/spatiallm/README.md b/robonix/skill/spatial/api/spatiallm/README.md
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/README.md
rename to robonix/skill/spatial/api/spatiallm/README.md
diff --git a/robonix/skill/pointcloud/api/spatiallm/__init__.py b/robonix/skill/spatial/api/spatiallm/__init__.py
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/__init__.py
rename to robonix/skill/spatial/api/spatiallm/__init__.py
diff --git a/robonix/skill/pointcloud/api/spatiallm/code_template.txt b/robonix/skill/spatial/api/spatiallm/code_template.txt
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/code_template.txt
rename to robonix/skill/spatial/api/spatiallm/code_template.txt
diff --git a/robonix/skill/pointcloud/api/spatiallm/configs/spatiallm_sft.yaml b/robonix/skill/spatial/api/spatiallm/configs/spatiallm_sft.yaml
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/configs/spatiallm_sft.yaml
rename to robonix/skill/spatial/api/spatiallm/configs/spatiallm_sft.yaml
diff --git a/robonix/skill/pointcloud/api/spatiallm/eval.py b/robonix/skill/spatial/api/spatiallm/eval.py
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/eval.py
rename to robonix/skill/spatial/api/spatiallm/eval.py
diff --git a/robonix/skill/pointcloud/api/spatiallm/figures/42446137_gt.jpg b/robonix/skill/spatial/api/spatiallm/figures/42446137_gt.jpg
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/figures/42446137_gt.jpg
rename to robonix/skill/spatial/api/spatiallm/figures/42446137_gt.jpg
diff --git a/robonix/skill/pointcloud/api/spatiallm/figures/42446137_pred.jpg b/robonix/skill/spatial/api/spatiallm/figures/42446137_pred.jpg
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/figures/42446137_pred.jpg
rename to robonix/skill/spatial/api/spatiallm/figures/42446137_pred.jpg
diff --git a/robonix/skill/pointcloud/api/spatiallm/figures/47334109_gt.jpg b/robonix/skill/spatial/api/spatiallm/figures/47334109_gt.jpg
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/figures/47334109_gt.jpg
rename to robonix/skill/spatial/api/spatiallm/figures/47334109_gt.jpg
diff --git a/robonix/skill/pointcloud/api/spatiallm/figures/47334109_pred.jpg b/robonix/skill/spatial/api/spatiallm/figures/47334109_pred.jpg
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/figures/47334109_pred.jpg
rename to robonix/skill/spatial/api/spatiallm/figures/47334109_pred.jpg
diff --git a/robonix/skill/pointcloud/api/spatiallm/figures/47430470_gt.jpg b/robonix/skill/spatial/api/spatiallm/figures/47430470_gt.jpg
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/figures/47430470_gt.jpg
rename to robonix/skill/spatial/api/spatiallm/figures/47430470_gt.jpg
diff --git a/robonix/skill/pointcloud/api/spatiallm/figures/47430470_pred.jpg b/robonix/skill/spatial/api/spatiallm/figures/47430470_pred.jpg
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/figures/47430470_pred.jpg
rename to robonix/skill/spatial/api/spatiallm/figures/47430470_pred.jpg
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diff --git a/robonix/skill/pointcloud/api/spatiallm/visualize.py b/robonix/skill/spatial/api/spatiallm/visualize.py
similarity index 100%
rename from robonix/skill/pointcloud/api/spatiallm/visualize.py
rename to robonix/skill/spatial/api/spatiallm/visualize.py
diff --git a/robonix/skill/pointcloud/protos/__init__.py b/robonix/skill/spatial/protos/__init__.py
similarity index 100%
rename from robonix/skill/pointcloud/protos/__init__.py
rename to robonix/skill/spatial/protos/__init__.py
diff --git a/robonix/skill/pointcloud/protos/gen_grpc.sh b/robonix/skill/spatial/protos/gen_grpc.sh
similarity index 100%
rename from robonix/skill/pointcloud/protos/gen_grpc.sh
rename to robonix/skill/spatial/protos/gen_grpc.sh
diff --git a/robonix/skill/pointcloud/protos/skl_spatiallm_detect.proto b/robonix/skill/spatial/protos/skl_spatiallm_detect.proto
similarity index 100%
rename from robonix/skill/pointcloud/protos/skl_spatiallm_detect.proto
rename to robonix/skill/spatial/protos/skl_spatiallm_detect.proto
diff --git a/robonix/skill/pointcloud/protos/skl_spatiallm_detect_pb2.py b/robonix/skill/spatial/protos/skl_spatiallm_detect_pb2.py
similarity index 100%
rename from robonix/skill/pointcloud/protos/skl_spatiallm_detect_pb2.py
rename to robonix/skill/spatial/protos/skl_spatiallm_detect_pb2.py
diff --git a/robonix/skill/pointcloud/protos/skl_spatiallm_detect_pb2_grpc.py b/robonix/skill/spatial/protos/skl_spatiallm_detect_pb2_grpc.py
similarity index 100%
rename from robonix/skill/pointcloud/protos/skl_spatiallm_detect_pb2_grpc.py
rename to robonix/skill/spatial/protos/skl_spatiallm_detect_pb2_grpc.py
diff --git a/robonix/skill/pointcloud/requirements.txt b/robonix/skill/spatial/requirements.txt
similarity index 100%
rename from robonix/skill/pointcloud/requirements.txt
rename to robonix/skill/spatial/requirements.txt
diff --git a/robonix/skill/spatial/run.sh b/robonix/skill/spatial/run.sh
new file mode 100644
index 0000000..6177f29
--- /dev/null
+++ b/robonix/skill/spatial/run.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# start the spatial grpc server
+cd api && python server.py
\ No newline at end of file
diff --git a/robonix/uapi/specs/skill_specs.py b/robonix/uapi/specs/skill_specs.py
index c018ac9..7b9635d 100644
--- a/robonix/uapi/specs/skill_specs.py
+++ b/robonix/uapi/specs/skill_specs.py
@@ -1,3 +1,6 @@
+# SPDX-License-Identifier: MulanPSL-2.0
+# Copyright (c) 2025, wheatfox <wheatfox17@icloud.com>
+
 """
 Skill Specifications Module
 ===========================
@@ -12,8 +15,6 @@
 - Input/output types are strictly defined for type checking
 """
 
-# SPDX-License-Identifier: MulanPSL-2.0
-# Copyright (c) 2025, wheatfox <wheatfox17@icloud.com>
 
 from typing import Tuple, Dict, Any, Optional
 from .types import *
@@ -218,7 +219,7 @@
         "description": "Update the semantic map",
         "type": EOS_SkillType.SKILL,
         "input": {"camera_name": str},
-        "output": bool,
+        "output": bool, # TODO: if we want to assign each skill a grpc definition, we have to name the output as Dict - wheatfox 2025.10.25
         "dependencies": ["skl_detect_objs"],
     },
     "skl_spatiallm_to_world_pose": {
@@ -228,4 +229,10 @@
         "output": EOS_TYPE_SpatialLM_WorldResult,
         "dependencies": ["cap_get_pose"],
     },
+    "skl_speech_recognize": {
+        "description": "Recognize speech from audio using NVIDIA Riva (ASR) service",
+        "type": EOS_SkillType.SKILL,
+        "input": {"audio": bytes},
+        "output": {"success": bool, "text": str},
+    },
 }
diff --git a/rust/PACKAGE_SPEC.md b/rust/PACKAGE_SPEC.md
new file mode 100644
index 0000000..27b57bc
--- /dev/null
+++ b/rust/PACKAGE_SPEC.md
@@ -0,0 +1,364 @@
+# Robonix Package Specification
+
+## Overview
+
+This document defines the specification for robonix provider packages. A package can provide multiple primitives (prm), services (srv), and skills (skl).
+
+**Important**: Robonix does not care how developers implement primitives, services, and skills. Developers can use any technology stack (Python, C++, Rust, ROS2, etc.). Robonix only requires packages to provide standard manifest files and necessary control scripts, and provide ROS2 communication interfaces.
+
+## Package Directory Structure
+
+A standard robonix provider package should contain the following structure:
+
+```
+provider_package/
+├── rbnx_manifest.yaml    # Robonix package manifest (required)
+└── [source code]         # Source code (implementation-related, any technology stack)
+```
+
+## Required Configuration Files
+
+### 1. rbnx_manifest.yaml
+
+This is the core configuration file for robonix packages, defining all primitives, services, and skills provided by the package.
+
+#### Format Specification
+
+```yaml
+package:
+  name: string              # Package name
+  version: string           # Version number (semantic versioning)
+  description: string       # Description
+  maintainer: string        # Maintainer
+  maintainer_email: string  # Maintainer email
+  license: string           # License
+  build_script: string      # Optional: build script path (relative to package root, e.g., "rbnx/build.sh"). If omitted, defaults to "rbnx/build.sh"
+
+primitives:
+  - name: string            # Standard primitive name (e.g., prm::arm_move_ee)
+    input_schema: string    # JSON string: {"argname0":"/topic0", ...}
+    output_schema: string   # JSON string: {"argname1":"/topic1", ...}
+    metadata: string        # JSON string: metadata for instance filtering (e.g., {"resolution":">=720p"}, {"index":0})
+    version: string         # Implementation version (e.g., "1.0.0", "1.0.0-alpha", "2.0.0-beta.1")
+    start_script: string    # Optional: start script path (relative to package root, e.g., "rbnx/start_capture_rgb.sh")
+    stop_script: string     # Optional: stop script path (relative to package root, e.g., "rbnx/stop_capture_rgb.sh")
+    # Note: provider is automatically set to package name by CLI during registration
+    # Note: The same package can provide multiple implementations of the same standard primitive name, distinguished by different version values
+
+services:
+  - name: string            # Standard service name (e.g., spatial_map, semantic_map, task_plan)
+    srv_type: string        # ROS2 service type (e.g., "robonix_sdk/srv/service/spatial_map/GetSpatialMap")
+    entry: string           # Actual ROS2 service name (e.g., "/mapping/get_spatial_map")
+    metadata: string        # JSON string: metadata for instance filtering (e.g., {"model":"deepseek"}, {"backend":"webots"})
+    version: string         # Implementation version (e.g., "1.0.0", "1.0.0-alpha", "2.0.0-beta.1")
+    start_script: string    # Optional: start script path (relative to package root, e.g., "rbnx/start_spatial_map.sh")
+    stop_script: string     # Optional: stop script path (relative to package root, e.g., "rbnx/stop_spatial_map.sh")
+    # Note: provider is automatically set to package name by CLI during registration
+    # Note: The same package can provide multiple implementations of the same standard service name, distinguished by different version values
+
+skills:
+  - name: string            # Skill name (e.g., close_window)
+    type: string            # Skill type: "basic" | "rtdl"
+    start_topic: string     # Skill start topic (e.g., "/robot1/skill/close_window/start")
+    status_topic: string    # Status feedback topic (e.g., "/robot1/skill/close_window/status")
+    # For basic skills:
+    entry: string           # Basic skill entry point (required if type="basic", e.g., "/path/to/skill_executable" or "python3 /path/to/skill.py")
+    # For RTDL skills:
+    skill_dir: string       # Skill directory path (required if type="rtdl", relative to package root, e.g., "skills/close_window")
+    main_rtdl: string       # Main RTDL file name (required if type="rtdl", e.g., "close_window.rtdl")
+    start_args: string      # JSON string: input parameter schema (e.g., '{"room":"string"}')
+    status: string          # JSON string: status feedback schema (e.g., '{"state":"string","result":"any"}')
+    metadata: string         # JSON string: metadata for instance filtering (e.g., '{"domain":"indoor","robot":"arm6dof"}')
+    version: string         # Skill version (e.g., "1.0.0", "1.0.0-alpha")
+    start_script: string    # Optional: start script path (relative to package root, e.g., "rbnx/start_pick.sh")
+    stop_script: string     # Optional: stop script path (relative to package root, e.g., "rbnx/stop_pick.sh")
+    # Note: provider is automatically set to package name by CLI during registration
+```
+
+**Important Notes:**
+- **The `name` field for primitive/service is required**: Must specify the standard name in the manifest (e.g., `prm::arm_move_ee`, `spatial_map`) to identify which standard specification the primitive/service conforms to
+- **Primitives and services must conform to standard specifications**: The system will validate input/output schemas (for primitives) and service types (for services) against the spec during registration
+- **Multiple implementations**: The same package can provide multiple implementations of the same standard primitive/service name. All implementations share the same `provider` (package name), but are distinguished by different `version` values. Version can follow semantic versioning (e.g., "1.0.0") or include suffixes (e.g., "1.0.0-alpha", "2.0.0-beta.1")
+- **Skills are flexible**: Skills do not need to conform to a spec. Skills can be either "basic" (static program) or "rtdl" (RTDL-based). Basic skills require `entry` field, RTDL skills require `skill_dir` and `main_rtdl` fields
+- **JSON fields**: Fields like `input_schema`, `output_schema`, `metadata`, `start_args`, `status` must be valid JSON strings
+- **Multiple instances**: A package can provide multiple instances of the same primitive/service/skill (distinguished by different `version` or `metadata`)
+
+#### Field Descriptions
+
+**Package Fields:**
+- `name`: Package name
+- `version`: Semantic version number (e.g., 1.0.0)
+- `description`: Package functionality description
+- `maintainer`: Maintainer name
+- `maintainer_email`: Maintainer email
+- `license`: License type (e.g., Apache-2.0)
+- `build_script`: Build script path (optional), relative path to package root, e.g., `rbnx/build.sh`. If omitted, CLI will default to `rbnx/build.sh`. If neither exists, the build command will skip the package
+
+**Primitive Fields:**
+- `name`: Standard primitive name, must start with `prm::`, format is `prm::category.action` (e.g., `prm::arm_move_ee`). Name and schema definitions are defined by the standard specification (spec)
+- `input_schema`: JSON string mapping input argument names to ROS2 topic channels, e.g., `'{"pose":"/arm/pose_goal"}'`
+- `output_schema`: JSON string mapping output argument names to ROS2 topic channels, e.g., `'{"success":"/arm/status"}'`
+- `metadata`: JSON string for instance filtering, e.g., `'{"resolution":">=720p"}'` or `'{"index":0}'`
+- `version`: Implementation version string. Can follow semantic versioning (e.g., "1.0.0") or include suffixes (e.g., "1.0.0-alpha", "2.0.0-beta.1"). Used to distinguish different implementations of the same standard primitive name from the same package
+- `start_script`: Optional. Start script path (relative to package root, e.g., `"rbnx/start_capture_rgb.sh"`). Used to start the primitive's ROS2 node or process. If not specified, the primitive will not be started via CLI
+- `stop_script`: Optional. Stop script path (relative to package root, e.g., `"rbnx/stop_capture_rgb.sh"`). Used for cleanup when stopping the primitive. CLI will also manage the process by PID
+- **Note**: `provider` is automatically set to the package name by CLI during registration (no need to specify in manifest)
+
+**Service Fields:**
+- `name`: Standard service name (e.g., `spatial_map`, `semantic_map`, `task_plan`, `plan_simulate`, `result_feedback`). Name and service type are defined by the standard specification (spec)
+- `srv_type`: ROS2 service type, e.g., `"robonix_sdk/srv/service/spatial_map/GetSpatialMap"`
+- `entry`: Actual ROS2 service name that implements this service, e.g., `"/mapping/get_spatial_map"`
+- `metadata`: JSON string for instance filtering, e.g., `'{"model":"deepseek"}'` or `'{"backend":"webots"}'`
+- `version`: Implementation version string. Can follow semantic versioning (e.g., "1.0.0") or include suffixes (e.g., "1.0.0-alpha", "2.0.0-beta.1"). Used to distinguish different implementations of the same standard service name from the same package
+- `start_script`: Optional. Start script path (relative to package root, e.g., `"rbnx/start_spatial_map.sh"`). Used to start the service's ROS2 node or process. If not specified, the service will not be started via CLI
+- `stop_script`: Optional. Stop script path (relative to package root, e.g., `"rbnx/stop_spatial_map.sh"`). Used for cleanup when stopping the service. CLI will also manage the process by PID
+- **Note**: `provider` is automatically set to the package name by CLI during registration (no need to specify in manifest)
+
+**Skill Fields:**
+- `name`: Skill name (e.g., `close_window`, `pick_object`). Skills are flexible and do not need to conform to a spec
+- `type`: Skill type, must be either `"basic"` or `"rtdl"`. Basic skills are static programs provided by developers, RTDL skills are RTDL-based skills generated from task execution
+- `start_topic`: ROS2 topic name for starting the skill (triggering execution), e.g., `"/robot1/skill/close_window/start"`
+- `status_topic`: ROS2 topic name for receiving skill status updates, e.g., `"/robot1/skill/close_window/status"`
+- `entry`: **Required for basic skills**. Basic skill entry point (e.g., executable path or command, e.g., `"/path/to/skill_executable"` or `"python3 /path/to/skill.py"`)
+- `skill_dir`: **Required for RTDL skills**. Directory path (relative to package root) containing the skill's RTDL files and data, e.g., `"skills/close_window"`
+- `main_rtdl`: **Required for RTDL skills**. Main RTDL file name, e.g., `"close_window.rtdl"`
+- `start_args`: JSON string describing the input parameter schema, e.g., `'{"room":"string"}'`
+- `status`: JSON string describing the status feedback schema, e.g., `'{"state":"string","result":"any"}'`
+- `metadata`: JSON string for instance filtering, e.g., `'{"domain":"indoor","robot":"arm6dof"}'`
+- `version`: Skill version (e.g., `"1.0.0"`, `"1.0.0-alpha"`)
+- `start_script`: Optional. Start script path (relative to package root, e.g., `"rbnx/start_pick.sh"`). Used to start the skill's process (e.g., Python script that listens to `start_topic`). If not specified, the skill will not be started via CLI
+- `stop_script`: Optional. Stop script path (relative to package root, e.g., `"rbnx/stop_pick.sh"`). Used for cleanup when stopping the skill. CLI will also manage the process by PID
+- **Note**: `provider` is automatically set to the package name by CLI during registration (no need to specify in manifest)
+
+**Example:**
+
+```yaml
+primitives:
+  - name: prm::arm_move_ee
+    # Spec definition: INPUT: {"pose":"geometry_msgs/PoseStamped"}, OUTPUT: {"success":"bool"}
+    input_schema: '{"pose":"/arm/pose_goal"}'
+    output_schema: '{"success":"/arm/status"}'
+    metadata: '{"robot":"arm6dof"}'
+    version: 1.0.0
+    start_script: rbnx/start_arm_move.sh
+    stop_script: rbnx/stop_arm_move.sh
+
+  - name: prm::arm_move_ee
+    # Another implementation of the same standard primitive
+    input_schema: '{"pose":"/arm/pose_goal"}'
+    output_schema: '{"success":"/arm/status"}'
+    metadata: '{"robot":"arm7dof"}'
+    version: 2.0.0-beta.1
+    start_script: rbnx/start_arm_move_v2.sh
+    stop_script: rbnx/stop_arm_move_v2.sh
+
+  - name: prm::camera_capture
+    # Spec definition: OUTPUT: {"image":"sensor_msgs/Image"}
+    input_schema: '{}'
+    output_schema: '{"image":"/camera/image"}'
+    metadata: '{"resolution":"720p","index":0}'
+    version: 1.0.0
+    start_script: rbnx/start_camera_capture.sh
+    stop_script: rbnx/stop_camera_capture.sh
+
+services:
+  - name: spatial_map
+    srv_type: robonix_sdk/srv/service/spatial_map/GetSpatialMap
+    entry: /mapping/get_spatial_map
+    metadata: '{"supported_types":["2d","3d","cloud"]}'
+    version: 1.0.0
+    start_script: rbnx/start_spatial_map.sh
+    stop_script: rbnx/stop_spatial_map.sh
+
+  - name: task_plan
+    srv_type: robonix_sdk/srv/service/task_plan/PlanTask
+    entry: /planner/plan
+    metadata: '{"model":"qwen2.5-vl","capabilities":["navigation","manipulation"],"rtdl_type":"BT"}'
+    version: 1.0.0
+    start_script: rbnx/start_task_plan.sh
+    stop_script: rbnx/stop_task_plan.sh
+
+skills:
+  - name: close_window
+    type: basic
+    start_topic: /robot1/skill/close_window/start
+    status_topic: /robot1/skill/close_window/status
+    entry: python3 /path/to/close_window_skill.py
+    start_args: '{"room":"string"}'
+    status: '{"state":"string","result":"any"}'
+    metadata: '{"domain":"indoor","capability":["navigation","manipulation"]}'
+    version: 1.0.0
+    start_script: rbnx/start_close_window.sh
+    stop_script: rbnx/stop_close_window.sh
+
+  - name: pick_object
+    type: rtdl
+    start_topic: /robot1/skill/pick_object/start
+    status_topic: /robot1/skill/pick_object/status
+    skill_dir: skills/pick_object
+    main_rtdl: pick_object.rtdl
+    start_args: '{"target_label":"string"}'
+    status: '{"state":"string","result":"any"}'
+    metadata: '{"domain":"indoor","robot":"arm6dof"}'
+    version: 1.0.0
+    start_script: rbnx/start_pick_object.sh
+    stop_script: rbnx/stop_pick_object.sh
+```
+
+**Multiple Instance Notes:**
+- The same package can provide multiple instances of the same primitive/service/skill
+- For primitives and services: Multiple implementations of the same standard name are distinguished by different `version` values (all share the same `provider` which is the package name)
+- For skills: Multiple instances can be distinguished by different `version` or `metadata` values
+- When querying, you can filter by `metadata` or `version` to select specific instances
+
+### 2. rbnx/ Directory
+
+(Optional) It is recommended to use the `rbnx/` directory to contain all robonix-specific configuration and scripts.
+
+**Important**: 
+- Primitives, services, and skills may require start/stop scripts if they run as separate processes or ROS2 nodes that need to be managed by the CLI
+- Start scripts are used to launch the primitive/service/skill process (e.g., ROS2 nodes, Python scripts)
+- Stop scripts are used for cleanup when stopping the process (CLI will also manage the process by PID)
+- If `start_script` is not specified in the manifest, the item will not be started via CLI (it may be started manually or by other means)
+- A package can have an optional build script `rbnx/build.sh` (or specified in the manifest through the `build_script` field) for compilation, dependency installation, and other build operations
+
+#### Build Script (build_script)
+
+The package's build script is used for compilation, dependency installation, and other build operations.
+
+Script Requirements:
+- Must be an executable file (`chmod +x`)
+- Should be executed in the package root directory
+- Should handle error cases and return appropriate exit codes (0 for success, non-zero for failure)
+- Script path is relative to package root directory
+- If the script does not exist, the build command will skip the package (no error)
+
+**Default Location**: If `build_script` is not specified in the manifest, CLI will default to `rbnx/build.sh`.
+
+#### Start/Stop Scripts
+
+Start and stop scripts are used to manage primitive/service/skill processes. These scripts are specified in the manifest via `start_script` and `stop_script` fields.
+
+**Start Scripts:**
+- Used to launch the primitive/service/skill process (e.g., ROS2 nodes, Python scripts)
+- Must be an executable file (`chmod +x`)
+- Should use `exec` to start the target process so CLI can properly manage the process
+- Should set necessary environment variables (ROS2, Python paths, robonix-sdk setup, etc.)
+- Should handle error cases and return appropriate exit codes
+- Script path is relative to package root directory (e.g., `"rbnx/start_capture_rgb.sh"`)
+- If `start_script` is not specified, the item will not be started via CLI
+
+**Stop Scripts:**
+- Used for cleanup when stopping the process
+- CLI will also manage the process by PID, but stop scripts can be used for additional cleanup
+- Must be an executable file (`chmod +x`)
+- Script path is relative to package root directory (e.g., `"rbnx/stop_capture_rgb.sh"`)
+- Optional: If not specified, CLI will only stop the process by PID
+
+**Naming Convention:**
+- Start scripts: `rbnx/start_<name>.sh` (e.g., `rbnx/start_capture_rgb.sh`, `rbnx/start_pick.sh`)
+- Stop scripts: `rbnx/stop_<name>.sh` (e.g., `rbnx/stop_capture_rgb.sh`, `rbnx/stop_pick.sh`)
+
+## Standard Specification Validation
+
+Primitives and standard services must conform to the standard specifications defined in `robonix-core`. The system will validate during registration:
+
+1. **Primitives**: 
+   - Primitive names must match standard specifications
+   - Input/output schemas must exactly match the specifications
+   - Schema validation ensures topic mappings are correct
+
+2. **Services**:
+   - Service names must match standard specifications (e.g., `spatial_map`, `semantic_map`, `task_plan`)
+   - Service types must match the specifications
+   - Service entry points must be valid ROS2 service names
+
+3. **Skills**:
+   - Skills are flexible and do not need to conform to a spec
+   - Skills can be either "basic" (static program) or "rtdl" (RTDL-based)
+   - Basic skills must provide valid start/status topics and entry point
+   - RTDL skills must provide valid start/status topics and RTDL files
+
+## Registration Process
+
+After installation, packages need to register their provided primitives, services, and skills through the CLI command `rbnx deploy register <recipe_file>`.
+
+### Recipe File Format
+
+Recipe files define the packages to register and their corresponding primitives/services/skills:
+
+```yaml
+name: recipe_name
+description: Optional description
+
+packages:
+  - name: package_name
+    primitives:                # Optional, if not specified, register all primitives
+      - prm::arm_move_ee
+    services:                  # Optional, if not specified, register all services
+      - spatial_map
+    skills:                    # Optional, if not specified, register all skills
+      - close_window
+```
+
+### Deployment Workflow
+
+The deployment process is divided into multiple steps, executed in order:
+
+1. **Registration Phase** (`rbnx deploy register <recipe_file>`): Register each primitive/service/skill to robonix-core
+   - Each registration request includes `provider` (package name) and metadata
+   - **Note**: Registration does not start processes, it only registers primitive/service/skill information to the system
+
+2. **Build Phase** (`rbnx deploy build [target]`): Build packages (compile, install dependencies, etc.)
+   - Can specify `target` parameter to build a specific package (e.g., `"demo_rgb_provider"`), or use `"all"` to build all packages (default)
+   - Execute each package's build script (`rbnx/build.sh` or `build_script` specified in manifest)
+   - If the build script does not exist, skip the package (no error)
+   - **Note**: Build is optional, if a package does not need building (e.g., pure Python scripts), this step can be skipped
+
+3. **Start Process Phase** (`rbnx deploy start [target]`): Start corresponding processes (if needed)
+   - Primitives, services, and skills that have `start_script` defined in the manifest will be started
+   - Items without `start_script` will be skipped (they may be started manually or by other means)
+   - All process stdout/stderr will be redirected to log files (stored in `{package_storage_path}/logs/`)
+   - CLI will record all processes started on this machine and their process information
+   - Can specify `target` parameter to start a specific item, or use `"all"` to start all (default)
+
+4. **Stop Process Phase** (`rbnx deploy stop [target]`): Stop running processes
+   - Can specify `target` parameter to stop a specific item, or use `"all"` to stop all (default)
+
+5. **Restart Process Phase** (`rbnx deploy restart [target]`): Restart processes
+   - Equivalent to executing `stop` then `start`
+
+6. **View Status** (`rbnx deploy status`): View status of all running processes
+
+7. **Unregister Phase** (`rbnx deploy unregister <target>`): Unregister primitive/service/skill from the system
+   - Need to stop all related processes first
+   - Can unregister entire recipe, package, or specific primitive/service/skill
+
+**Complete Workflow Example:**
+```bash
+# 1. Register recipe
+rbnx deploy register demo_recipe.yaml
+
+# 2. Build all packages (optional, if compilation etc. is needed)
+rbnx deploy build
+
+# 3. Start all processes
+rbnx deploy start
+
+# 4. View status
+rbnx deploy status
+
+# 5. Stop all processes
+rbnx deploy stop
+
+# 6. Unregister recipe
+rbnx deploy unregister demo_recipe.yaml
+```
+
+Standard primitive and service specifications are defined in [`robonix-core/src/specs_table.rs`](robonix-core/src/specs_table.rs).
+
+## Examples
+
+For complete examples, please refer to:
+- Package example: `rust/provider/demo_package/` directory (contains complete `rbnx_manifest.yaml` and start/stop scripts)
+- Recipe example: `rust/robonix-cli/demo_recipe.yaml` file
diff --git a/rust/README.md b/rust/README.md
new file mode 100644
index 0000000..a0cf2f2
--- /dev/null
+++ b/rust/README.md
@@ -0,0 +1,223 @@
+# Robonix Quick Start
+
+wheatfox
+
+## Environment Setup
+
+First, you need ROS2 environment and Rust.
+
+If you want to use the prebuilt robonix ROS2 dev container:
+
+```bash
+cd docker
+./run.sh # pull image and enter container, you can use CTRL+P CTRL+Q to detach
+./run.sh -b # build a local image if you modified some docker config
+```
+
+```bash
+cd rust # at robonix src root folder
+cd robonix-cli
+cargo build
+
+#########################################################################################################################################
+# the command below will use the `provider` folder as tmp package storage target, DO NOT RUN THE BELOW COMMAND IN PRODUCTION ENVIRONMENT
+# in robonix-cli, run:
+mkdir -p ~/.robonix; rm -rf ~/.robonix/packages; ln -s "$(realpath ../provider/)" ~/.robonix/packages;
+# export FASTRTPS_DEFAULT_PROFILES_FILE=
+#########################################################################################################################################
+
+# then build the robonix-sdk
+cd robonix-sdk
+./build_ros2.sh
+```
+
+## Start robonix-core
+
+Before starting everything, you need to start robonix-core first (in a separate terminal).
+
+```bash
+cd robonix-core
+cargo run --
+```
+
+robonix-core will start the following EAIOS API services:
+- **Primitive API** (`/rbnx/prm/*`): Primitive registration and query
+- **Service API** (`/rbnx/srv/*`): Standard service registration and query (e.g., spatial map, semantic map, task planning, etc.)
+- **Skill API** (`/rbnx/skl/*`): Skill registration and query
+- **Task API** (`/rbnx/task/*`): Task submission, status query, and result retrieval
+
+Then you can use `robonix-cli` in another terminal.
+
+## Configure robonix-cli
+
+```bash
+cd robonix-cli
+# View current configuration
+cargo run -- config -s
+
+# Set robonix-sdk path
+cargo run -- config --set-sdk-path ../robonix-sdk
+cargo run -- config -s
+```
+
+## Install and Register Packages (Primitives, Services, Skills)
+
+### Install Packages
+
+```bash
+cd robonix-cli
+
+# Install package from GitHub
+cargo run -- package install --github https://github.com/enkerewpo/demo-package-01-robonix
+cargo run -- package list
+cargo run -- package info demo_package_01_github
+
+# Build all packages, or specify package name
+cargo run -- package build all
+```
+
+### Register Packages to robonix-core (using recipe)
+
+Use recipe files to register packages. The recipe specifies which primitives, services, and skills need to be registered.
+
+```bash
+cd robonix-cli
+
+# Build all packages
+cargo build && cargo run -- daemon restart # if daemon code was modified
+cargo run -- package build all
+
+# Register recipe (will automatically register primitives, services, and skills specified in recipe)
+cargo run -- deploy register demo_recipe.yaml
+
+# Start all registered packages
+cargo run -- deploy start
+
+# View status
+cargo run -- deploy status
+
+# Restart/Stop
+cargo run -- deploy restart
+cargo run -- deploy stop
+
+# Clean up all ROS2 processes
+# pkill -9 -f "ros2|robonix|rclpy|rclcpp|demo_rgb_provider"
+```
+
+## Using Standard Services
+
+The system provides multiple standard services, including:
+
+- **Spatial Map Service** (`spatial_map`): Provides geometric structure information of the environment (2D/3D occupancy grids, point clouds, etc.)
+- **Semantic Map Service** (`semantic_map`): Provides entity-level environment representation (objects, rooms, robots, etc.)
+- **Task Planning Service** (`task_plan`): Converts natural language tasks to RTDL code
+- **Plan Simulation Service** (`plan_simulate`): Validates task plan feasibility in simulation environment
+- **Result Feedback Service** (`result_feedback`): Validates task execution results
+
+These services can be queried via `/rbnx/srv/query` and will be automatically called by the task manager during task execution.
+
+```bash
+# View registered services
+# Call ROS2 service /rbnx/srv/query
+```
+
+## Create and Execute Tasks
+
+### Create Task (Natural Language Input)
+
+```bash
+cd robonix-cli
+
+# Create task
+cargo run -- task create "Pick up the red box on the table"
+
+# View task list
+cargo run -- task list
+
+# View task details
+cargo run -- task get task_0
+```
+
+### Task Execution Flow
+
+After creating a task, the system will automatically execute the following flow:
+
+1. **Task Submission**: Submit task via `/rbnx/task/submit`, task status is `pending`
+2. **Task Planning**: Task manager calls task planning service (`task_plan`), converts natural language description to RTDL code
+   - Planning service will query:
+     - All entities in semantic map and their supported skills
+     - All registered skills list
+     - Available primitives and services
+   - Task status changes to `planning`
+3. **Plan Simulation** (optional): Task manager calls plan simulation service (`plan_simulate`), validates RTDL code feasibility
+   - Task status changes to `simulating`
+4. **Task Execution**: Task manager parses RTDL code, executes each skill call in sequence
+   - Send parameters to skill's start_topic
+   - Receive status updates from skill's status_topic
+   - Task status changes to `running`
+5. **Result Feedback** (optional): Task manager calls result feedback service (`result_feedback`), validates execution results
+   - Task status changes to `finished` or `failed`
+
+### View Task Status
+
+```bash
+# List all tasks
+cargo run -- task list
+
+# Get task details (including generated RTDL code)
+cargo run -- task get <task_id>
+
+# Cancel task
+cargo run -- task cancel <task_id>
+```
+
+## Notes
+
+1. **robonix-sdk Setup**: robonix-sdk setup will be automatically sourced by startup scripts. CLI will:
+   - First check configuration file (set via `rbnx config --set-sdk-path`)
+   - Then check `ROBONIX_SDK_PATH` environment variable
+
+2. **Primitives, Services, and Skills**:
+   - **Primitives**: Standardized hardware capability mapping (e.g., `prm::arm_move_ee`), must conform to specifications
+   - **Services**: Standardized algorithm capabilities (e.g., `spatial_map`, `semantic_map`), must conform to specifications
+   - **Skills**: User-defined high-level action logic, written in RTDL, flexible and do not need to conform to specifications
+   - Skills can call primitives and services, and can also call other skills
+
+3. **RTDL Format**:
+   - RTDL (Robot Task Description Language) is the task description language
+   - Format example:
+     ```python
+     def skl::close_window(room: str):
+         skl::navigate_to(target_label = room)
+         srv::semantic_map.update(entity = room)
+         pose = srv::semantic_map.query_pose(
+             entity_type = "window",
+             parent_room = room
+         )
+         prm::arm_move_ee(pose = pose)
+         prm::gripper.close()
+         return True
+     ```
+
+4. **Data Types**:
+   - System supports Robonix custom message types (Point3D, Entity, BoundingBox, etc.)
+   - Also supports standard ROS2 message types (geometry_msgs, sensor_msgs, std_msgs, etc.)
+
+## Troubleshooting
+
+```bash
+# Check if robonix-core is running
+ros2 service list | grep rbnx
+
+# Check if primitive register service is available
+ros2 service type /rbnx/prm/register
+
+# Check if service register service is available
+ros2 service type /rbnx/srv/register
+
+# Check if skill register service is available
+ros2 service type /rbnx/skl/register
+
+# Check if task submit service is available
+ros2 service type /rbnx/task/submit
+```
diff --git a/rust/lib/common_interfaces b/rust/lib/common_interfaces
new file mode 160000
index 0000000..0ecd0f7
--- /dev/null
+++ b/rust/lib/common_interfaces
@@ -0,0 +1 @@
+Subproject commit 0ecd0f70791fe200f057b12bfc626beb21bad639
diff --git a/rust/lib/rcl_interfaces b/rust/lib/rcl_interfaces
new file mode 160000
index 0000000..5afc90a
--- /dev/null
+++ b/rust/lib/rcl_interfaces
@@ -0,0 +1 @@
+Subproject commit 5afc90af2e217f83813935130bdfe74f46aa96bb
diff --git a/rust/lib/ros2-client b/rust/lib/ros2-client
new file mode 160000
index 0000000..4c6ed30
--- /dev/null
+++ b/rust/lib/ros2-client
@@ -0,0 +1 @@
+Subproject commit 4c6ed302931d82f5971ed196011e7e4d0a580e55
diff --git a/rust/provider/.gitignore b/rust/provider/.gitignore
new file mode 100644
index 0000000..516de69
--- /dev/null
+++ b/rust/provider/.gitignore
@@ -0,0 +1,4 @@
+logs
+db.json
+active_recipe.json
+demo-package-01-robonix
\ No newline at end of file
diff --git a/rust/provider/demo_package/demo_rgb_provider/__init__.py b/rust/provider/demo_package/demo_rgb_provider/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/rust/provider/demo_package/demo_rgb_provider/grasp_move.py b/rust/provider/demo_package/demo_rgb_provider/grasp_move.py
new file mode 100644
index 0000000..310c3ac
--- /dev/null
+++ b/rust/provider/demo_package/demo_rgb_provider/grasp_move.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+"""
+Demo grasp move capability package.
+Subscribes to pose goals and publishes status.
+"""
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped
+from std_msgs.msg import Bool
+import time
+
+
+class GraspMoveCapability(Node):
+    """Implements cap::grasp.move capability."""
+
+    def __init__(self):
+        super().__init__('demo_grasp_move')
+        
+        # Subscribe to pose goal (input)
+        self.pose_goal_subscriber = self.create_subscription(
+            PoseStamped,
+            '/demo_grasp/pose_goal',
+            self.pose_goal_callback,
+            10
+        )
+        
+        # Publish status (output)
+        self.status_publisher = self.create_publisher(
+            Bool,
+            '/demo_grasp/pose_status',
+            10
+        )
+        
+        self.current_status = False
+        self.get_logger().info('Demo grasp move capability started')
+        self.get_logger().info('  Subscribing to: /demo_grasp/pose_goal')
+        self.get_logger().info('  Publishing to: /demo_grasp/pose_status')
+
+    def pose_goal_callback(self, msg):
+        """Handle incoming pose goal."""
+        self.get_logger().info(
+            f'Received pose goal: position=({msg.pose.position.x:.2f}, '
+            f'{msg.pose.position.y:.2f}, {msg.pose.position.z:.2f})'
+        )
+        
+        # Simulate movement
+        self.current_status = False
+        self.publish_status(False)
+        
+        # Simulate movement delay
+        time.sleep(0.5)
+        
+        # Movement complete
+        self.current_status = True
+        self.publish_status(True)
+        self.get_logger().info('Grasp movement completed')
+
+    def publish_status(self, status):
+        """Publish status."""
+        msg = Bool()
+        msg.data = status
+        self.status_publisher.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    grasp_move = GraspMoveCapability()
+    
+    try:
+        rclpy.spin(grasp_move)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        grasp_move.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
+
diff --git a/rust/provider/demo_package/demo_rgb_provider/pick_skill.py b/rust/provider/demo_package/demo_rgb_provider/pick_skill.py
new file mode 100644
index 0000000..b2b8bbc
--- /dev/null
+++ b/rust/provider/demo_package/demo_rgb_provider/pick_skill.py
@@ -0,0 +1,325 @@
+#!/usr/bin/env python3
+"""
+Demo pick skill that combines vision and grasp capabilities.
+Implements EAIOS skill interface with start_topic and status_topic.
+"""
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from sensor_msgs.msg import Image
+from geometry_msgs.msg import PoseStamped
+import json
+import time
+import signal
+from robonixpy import RobonixClient
+
+
+class PickSkill(Node):
+    """Implements pick skill using EAIOS skill interface."""
+
+    def __init__(self):
+        super().__init__('demo_pick_skill')
+        
+        # EAIOS skill interface topics (from manifest)
+        self.start_topic = '/robot1/skill/pick/start'
+        self.status_topic = '/robot1/skill/pick/status'
+        
+        # Query primitives and get topic names
+        self.vision_image_topic = None
+        self.grasp_pose_goal_topic = None
+        self.grasp_status_topic = None
+        
+        # Create Robonix client for service calls
+        try:
+            self.get_logger().info('Creating RobonixClient...')
+            self.robonix_client = RobonixClient(node_name='demo_pick_skill_client', max_workers=20)
+            self.get_logger().info('RobonixClient created successfully, querying primitives...')
+            # Query primitives
+            self._query_primitives()
+        except Exception as e:
+            import traceback
+            error_traceback = traceback.format_exc()
+            self.get_logger().error(f'Failed to create RobonixClient: {e}')
+            self.get_logger().error(f'Error type: {type(e).__name__}')
+            self.get_logger().error(f'Full traceback:\n{error_traceback}')
+            import sys
+            print(f'[ERROR] Failed to create RobonixClient: {e}', file=sys.stderr)
+            self.robonix_client = None
+            self._use_fallback_topics()
+        
+        # Subscribe to skill start topic (receives JSON with parameters)
+        self.start_subscriber = self.create_subscription(
+            String,
+            self.start_topic,
+            self.start_callback,
+            10
+        )
+        self.get_logger().info(f'Subscribing to start topic: {self.start_topic}')
+        
+        # Publish to skill status topic (publishes JSON with state and result)
+        self.status_publisher = self.create_publisher(
+            String,
+            self.status_topic,
+            10
+        )
+        self.get_logger().info(f'Publishing to status topic: {self.status_topic}')
+        
+        # Subscribe to vision primitive output (dynamic topic)
+        if self.vision_image_topic:
+            self.image_subscriber = self.create_subscription(
+                Image,
+                self.vision_image_topic,
+                self.image_callback,
+                10
+            )
+            self.get_logger().info(f'  Subscribing to vision output: {self.vision_image_topic}')
+        else:
+            self.image_subscriber = None
+            self.get_logger().warn('  Vision primitive not available!')
+        
+        # Publish to grasp primitive input (dynamic topic)
+        if self.grasp_pose_goal_topic:
+            self.pose_goal_publisher = self.create_publisher(
+                PoseStamped,
+                self.grasp_pose_goal_topic,
+                10
+            )
+            self.get_logger().info(f'  Publishing to grasp input: {self.grasp_pose_goal_topic}')
+        else:
+            self.pose_goal_publisher = None
+            self.get_logger().warn('  Grasp primitive not available!')
+        
+        # Subscribe to grasp primitive output (dynamic topic)
+        if self.grasp_status_topic:
+            self.grasp_status_subscriber = self.create_subscription(
+                String,
+                self.grasp_status_topic,
+                self.grasp_status_callback,
+                10
+            )
+            self.get_logger().info(f'  Subscribing to grasp output: {self.grasp_status_topic}')
+        else:
+            self.grasp_status_subscriber = None
+        
+        self.current_skill_id = None
+        self.current_target_label = None
+        self.latest_image = None
+        self.grasp_complete = False
+        self.picking_in_progress = False
+        
+        self.get_logger().info('Demo pick skill initialized')
+    
+    def _query_primitives(self):
+        """Query robonix core for required primitives and get their topic names."""
+        if not self.robonix_client:
+            self._use_fallback_topics()
+            return
+        
+        # Query prm::camera_capture
+        self.get_logger().info('Querying prm::camera_capture...')
+        try:
+            response = self.robonix_client.query_primitive('prm::camera_capture')
+            if response and response.instances:
+                instance = response.instances[0]
+                # Parse output_schema to get image topic
+                import json
+                output_schema = json.loads(instance.output_schema)
+                if 'image' in output_schema:
+                    self.vision_image_topic = output_schema['image']
+                    self.get_logger().info(f'  Found vision primitive: {self.vision_image_topic}')
+        except Exception as e:
+            import traceback
+            self.get_logger().error(f'Error querying prm::camera_capture: {e}')
+            self.get_logger().error(f'Traceback:\n{traceback.format_exc()}')
+        
+        # Query prm::arm_move_ee
+        self.get_logger().info('Querying prm::arm_move_ee...')
+        try:
+            response = self.robonix_client.query_primitive('prm::arm_move_ee')
+            if response and response.instances:
+                instance = response.instances[0]
+                # Parse input_schema and output_schema to get topics
+                import json
+                input_schema = json.loads(instance.input_schema)
+                output_schema = json.loads(instance.output_schema)
+                if 'pose' in input_schema:
+                    self.grasp_pose_goal_topic = input_schema['pose']
+                    self.get_logger().info(f'  Found grasp input topic: {self.grasp_pose_goal_topic}')
+                if 'status' in output_schema:
+                    self.grasp_status_topic = output_schema['status']
+                    self.get_logger().info(f'  Found grasp output topic: {self.grasp_status_topic}')
+        except Exception as e:
+            import traceback
+            self.get_logger().error(f'Error querying prm::arm_move_ee: {e}')
+            self.get_logger().error(f'Traceback:\n{traceback.format_exc()}')
+        
+        # Use fallback topics if query failed
+        if not self.vision_image_topic or not self.grasp_pose_goal_topic:
+            self.get_logger().warn('Some primitives not found, using fallback topics')
+            self._use_fallback_topics()
+    
+    def _use_fallback_topics(self):
+        """Use hardcoded topics as fallback when query service is not available."""
+        if not self.vision_image_topic:
+            self.vision_image_topic = '/demo_rgb/image'
+            self.get_logger().info(f'  Using fallback vision topic: {self.vision_image_topic}')
+        if not self.grasp_pose_goal_topic:
+            self.grasp_pose_goal_topic = '/demo_grasp/pose_goal'
+            self.get_logger().info(f'  Using fallback grasp input topic: {self.grasp_pose_goal_topic}')
+        if not self.grasp_status_topic:
+            self.grasp_status_topic = '/demo_grasp/pose_status'
+            self.get_logger().info(f'  Using fallback grasp output topic: {self.grasp_status_topic}')
+
+    def start_callback(self, msg):
+        """Handle skill start request from start_topic (JSON format)."""
+        try:
+            data = json.loads(msg.data)
+            skill_id = data.get('skill_id', 'unknown')
+            params = data.get('params', {})
+            target_label = params.get('target_label', '')
+            
+            self.get_logger().info(f'Received pick request: skill_id={skill_id}, target_label={target_label}')
+            
+            if self.picking_in_progress:
+                self.get_logger().warn('Pick operation already in progress, ignoring request')
+                self._publish_status(skill_id, 'error', {'error': 'Operation already in progress'})
+                return
+            
+            # Check if required primitives are available
+            if not self.vision_image_topic or not self.grasp_pose_goal_topic:
+                self.get_logger().error('Required primitives not available!')
+                self._publish_status(skill_id, 'error', {'error': 'Required primitives not available'})
+                return
+            
+            self.current_skill_id = skill_id
+            self.current_target_label = target_label
+            self.picking_in_progress = True
+            self.grasp_complete = False
+            
+            # Publish running status
+            self._publish_status(skill_id, 'running', {})
+            
+            # Step 1: Wait for image from vision primitive
+            self.get_logger().info('Step 1: Waiting for image from prm::camera_capture...')
+            # In real implementation, we would process the image here
+            # For demo, we simulate object detection
+            
+            # Step 2: Simulate finding object and calculate pose
+            time.sleep(0.2)
+            self.get_logger().info(f'Step 2: Simulated detection of object with label: {target_label}')
+            
+            # Step 3: Send pose goal to grasp primitive
+            pose_goal = PoseStamped()
+            pose_goal.header.stamp = self.get_clock().now().to_msg()
+            pose_goal.header.frame_id = 'base_frame'
+            # Simulated pose for the object
+            pose_goal.pose.position.x = 0.5
+            pose_goal.pose.position.y = 0.2
+            pose_goal.pose.position.z = 0.1
+            pose_goal.pose.orientation.w = 1.0
+            
+            self.get_logger().info('Step 3: Sending pose goal to prm::arm_move_ee...')
+            if self.pose_goal_publisher:
+                self.pose_goal_publisher.publish(pose_goal)
+            else:
+                self.get_logger().error('Grasp primitive not available!')
+                self._publish_status(skill_id, 'error', {'error': 'Grasp primitive not available'})
+                self.picking_in_progress = False
+            
+            # Wait for grasp to complete (handled in grasp_status_callback)
+            
+        except json.JSONDecodeError as e:
+            self.get_logger().error(f'Failed to parse start message JSON: {e}')
+            self._publish_status('unknown', 'error', {'error': f'Invalid JSON: {e}'})
+        except Exception as e:
+            self.get_logger().error(f'Error in start_callback: {e}')
+            import traceback
+            self.get_logger().error(f'Traceback:\n{traceback.format_exc()}')
+
+    def image_callback(self, msg):
+        """Handle image from vision primitive (dynamic topic)."""
+        self.latest_image = msg
+        self.get_logger().debug(f'Received image from {self.vision_image_topic}')
+
+    def grasp_status_callback(self, msg):
+        """Handle status from grasp primitive (dynamic topic)."""
+        # Parse status (could be JSON or Bool, depending on implementation)
+        try:
+            if hasattr(msg, 'data'):
+                # Bool message
+                success = msg.data
+            else:
+                # String message (JSON)
+                status_data = json.loads(msg.data) if isinstance(msg.data, str) else msg.data
+                success = status_data.get('success', False) if isinstance(status_data, dict) else bool(status_data)
+        except:
+            success = False
+        
+        if success and self.picking_in_progress:
+            self.grasp_complete = True
+            self.get_logger().info('Step 4: Grasp movement completed')
+            
+            # Publish skill success status
+            result = {
+                'target_label': self.current_target_label,
+                'success': True
+            }
+            self._publish_status(self.current_skill_id, 'finished', result)
+            self.get_logger().info('Pick skill completed successfully')
+            
+            self.picking_in_progress = False
+            self.grasp_complete = False
+            self.current_skill_id = None
+            self.current_target_label = None
+
+    def _publish_status(self, skill_id, state, result):
+        """Publish skill status to status_topic (JSON format)."""
+        status_msg = {
+            'skill_id': skill_id,
+            'state': state,
+            'result': result,
+            'diagnostics': {}
+        }
+        
+        msg = String()
+        msg.data = json.dumps(status_msg)
+        self.status_publisher.publish(msg)
+        self.get_logger().info(f'Published status: skill_id={skill_id}, state={state}')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    pick_skill = PickSkill()
+    
+    # Flag to track if shutdown was requested
+    shutdown_requested = False
+    
+    def signal_handler(signum, frame):
+        """Handle shutdown signals (SIGTERM, SIGINT)."""
+        nonlocal shutdown_requested
+        shutdown_requested = True
+        pick_skill.get_logger().info(f'Received signal {signum}, shutting down...')
+        # Shutdown rclpy to exit spin loop
+        rclpy.shutdown()
+    
+    # Register signal handlers
+    signal.signal(signal.SIGTERM, signal_handler)
+    signal.signal(signal.SIGINT, signal_handler)
+    
+    try:
+        rclpy.spin(pick_skill)
+    except KeyboardInterrupt:
+        shutdown_requested = True
+        pick_skill.get_logger().info('Received KeyboardInterrupt, shutting down...')
+    finally:
+        if pick_skill.robonix_client:
+            pick_skill.robonix_client.shutdown()
+        pick_skill.destroy_node()
+        rclpy.shutdown()
+        if shutdown_requested:
+            pick_skill.get_logger().info('Pick skill shutdown complete')
+
+
+if __name__ == '__main__':
+    main()
diff --git a/rust/provider/demo_package/demo_rgb_provider/rgb_publisher.py b/rust/provider/demo_package/demo_rgb_provider/rgb_publisher.py
new file mode 100644
index 0000000..51cb42a
--- /dev/null
+++ b/rust/provider/demo_package/demo_rgb_provider/rgb_publisher.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+"""
+Demo RGB camera package that publishes random color images.
+"""
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+import numpy as np
+import random
+import time
+
+
+class RGBPublisher(Node):
+    """Publishes random color images to simulate an RGB camera."""
+
+    def __init__(self):
+        super().__init__('demo_rgb_provider')
+        self.publisher_ = self.create_publisher(Image, '/demo_rgb/image', 10)
+        timer_period = 0.1  # 10 Hz
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.get_logger().info('Demo RGB camera package started. Publishing to /demo_rgb/image')
+
+    def timer_callback(self):
+        """Generate and publish a random color image."""
+        msg = Image()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = 'camera_frame'
+        
+        # Image dimensions: 640x480 RGB
+        width = 640
+        height = 480
+        channels = 3
+        
+        # Generate random color (same color for entire image for simplicity)
+        r = random.randint(0, 255)
+        g = random.randint(0, 255)
+        b = random.randint(0, 255)
+        
+        # Create image data (row-major order)
+        msg.width = width
+        msg.height = height
+        msg.encoding = 'rgb8'
+        msg.is_bigendian = False
+        msg.step = width * channels  # bytes per row
+        
+        # Fill image with random color
+        image_data = np.zeros((height, width, channels), dtype=np.uint8)
+        image_data[:, :, 0] = r  # Red channel
+        image_data[:, :, 1] = g  # Green channel
+        image_data[:, :, 2] = b  # Blue channel
+        
+        msg.data = image_data.tobytes()
+        
+        self.publisher_.publish(msg)
+        self.get_logger().debug(f'Published RGB image: R={r}, G={g}, B={b}')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    rgb_publisher = RGBPublisher()
+    
+    try:
+        rclpy.spin(rgb_publisher)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        rgb_publisher.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
+
diff --git a/rust/provider/demo_package/package.xml b/rust/provider/demo_package/package.xml
new file mode 100644
index 0000000..b89d6b3
--- /dev/null
+++ b/rust/provider/demo_package/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>demo_rgb_provider</name>
+  <version>0.0.1</version>
+  <description>Demo RGB camera package that outputs random color images</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
+
diff --git a/rust/provider/demo_package/rbnx/build.sh b/rust/provider/demo_package/rbnx/build.sh
new file mode 100755
index 0000000..e6746df
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/build.sh
@@ -0,0 +1,64 @@
+#!/bin/bash
+# Build script for demo_rgb_provider package
+# This script is executed by 'rbnx deploy build' command
+# It should compile, install dependencies, or perform any necessary build steps
+
+set -e  # Exit on error
+
+echo "Building demo_rgb_provider package..."
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PACKAGE_DIR="$(cd "$SCRIPT_DIR/.." && pwd)"
+cd "$PACKAGE_DIR"
+
+# Source ROS2 setup if available
+if [ -f /opt/ros/humble/setup.bash ]; then
+    source /opt/ros/humble/setup.bash
+fi
+
+# Fix conda environment issues
+if [ -n "$CONDA_PREFIX" ]; then
+    export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH}"
+    export LD_LIBRARY_PATH=$(echo "$LD_LIBRARY_PATH" | tr ':' '\n' | grep -v "$CONDA_PREFIX/lib" | tr '\n' ':' | sed 's/:$//')
+    unset CONDA_DEFAULT_ENV
+    unset CONDA_PREFIX
+    unset CONDA_PROMPT_MODIFIER
+    unset CONDA_PYTHON_EXE
+    unset CONDA_SHLVL
+    export PATH=$(echo $PATH | tr ':' '\n' | grep -v conda | tr '\n' ':' | sed 's/:$//')
+fi
+
+# Use system Python explicitly
+export PYTHON3_EXECUTABLE=/usr/bin/python3
+export PYTHON_EXECUTABLE=/usr/bin/python3
+
+# Find robonix-sdk directory
+ROBONIX_SDK_DIR=""
+if [ -n "$ROBONIX_SDK_PATH" ] && [ -d "$ROBONIX_SDK_PATH" ]; then
+    ROBONIX_SDK_DIR="$ROBONIX_SDK_PATH"
+else
+    # Search upward from package directory for robonix-sdk
+    SEARCH_DIR="$PACKAGE_DIR"
+    while [ "$SEARCH_DIR" != "/" ]; do
+        if [ -d "$SEARCH_DIR/robonix-sdk" ]; then
+            ROBONIX_SDK_DIR="$SEARCH_DIR/robonix-sdk"
+            break
+        fi
+        SEARCH_DIR="$(dirname "$SEARCH_DIR")"
+    done
+fi
+
+# Build demo_rgb_provider package using colcon
+echo "Building demo_rgb_provider package with colcon..."
+if command -v colcon > /dev/null 2>&1; then
+    colcon build --packages-select demo_rgb_provider \
+        --cmake-args \
+        -DPYTHON3_EXECUTABLE=/usr/bin/python3 \
+        -DCMAKE_PREFIX_PATH=/opt/ros/humble
+    echo "Package built successfully!"
+else
+    echo "Error: colcon not found. Please install colcon-common-extensions."
+    exit 1
+fi
+
+echo "Build completed successfully!"
diff --git a/rust/provider/demo_package/rbnx/start_capture_rgb.sh b/rust/provider/demo_package/rbnx/start_capture_rgb.sh
new file mode 100755
index 0000000..8d60806
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/start_capture_rgb.sh
@@ -0,0 +1,104 @@
+#!/bin/bash
+# Start script for cap::vision.capture_rgb
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PACKAGE_DIR="$(cd "$SCRIPT_DIR/.." && pwd)"
+cd "$PACKAGE_DIR"
+
+# Source ROS2 setup if available
+if [ -f /opt/ros/humble/setup.bash ]; then
+    source /opt/ros/humble/setup.bash
+fi
+
+# Fix library path issues with conda environment
+if [ -n "$CONDA_PREFIX" ]; then
+    export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH}"
+    export LD_LIBRARY_PATH=$(echo "$LD_LIBRARY_PATH" | tr ':' '\n' | grep -v "$CONDA_PREFIX/lib" | tr '\n' ':' | sed 's/:$//')
+fi
+
+# Check if package needs to be built
+if [ -f "package.xml" ] && [ ! -d "install" ]; then
+    echo "Package not built, building now..."
+    if command -v colcon > /dev/null 2>&1; then
+        colcon build --packages-select demo_rgb_provider 2>&1 | tail -20
+        if [ $? -ne 0 ]; then
+            echo "Build failed, continuing anyway..."
+        fi
+    else
+        echo "Warning: colcon not found, cannot build package"
+    fi
+fi
+
+# Setup Python path - add both source and install directories
+SYSTEM_PYTHON="/usr/bin/python3"
+if [ -f "$SYSTEM_PYTHON" ]; then
+    # Add source directory to PYTHONPATH (for development)
+    if [ -d "$PACKAGE_DIR/demo_rgb_provider" ]; then
+        export PYTHONPATH="$PACKAGE_DIR:${PYTHONPATH}"
+    fi
+    # Add install directory to PYTHONPATH (for installed package)
+    if [ -d "$PACKAGE_DIR/install/demo_rgb_provider/lib/python3.10/site-packages" ]; then
+        export PYTHONPATH="$PACKAGE_DIR/install/demo_rgb_provider/lib/python3.10/site-packages:${PYTHONPATH}"
+    fi
+    PYTHON_CMD="$SYSTEM_PYTHON"
+    LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH"
+else
+    PYTHON_CMD="python3"
+fi
+
+# Source robonix-sdk setup AFTER setting PYTHONPATH to ensure it's preserved
+# First try environment variable, then search upward from current directory
+ROBONIX_SDK_DIR=""
+if [ -n "$ROBONIX_SDK_PATH" ] && [ -f "$ROBONIX_SDK_PATH/install/setup.bash" ]; then
+    ROBONIX_SDK_DIR="$ROBONIX_SDK_PATH"
+else
+    # Search upward from package directory for robonix-sdk
+    SEARCH_DIR="$PACKAGE_DIR"
+    while [ "$SEARCH_DIR" != "/" ]; do
+        if [ -d "$SEARCH_DIR/robonix-sdk" ] && [ -f "$SEARCH_DIR/robonix-sdk/install/setup.bash" ]; then
+            ROBONIX_SDK_DIR="$SEARCH_DIR/robonix-sdk"
+            break
+        fi
+        SEARCH_DIR="$(dirname "$SEARCH_DIR")"
+    done
+fi
+
+# Set COLCON_CURRENT_PREFIX to current package directory to fix setup script path issues
+export COLCON_CURRENT_PREFIX="$PACKAGE_DIR"
+
+# Source the local setup if available (but don't fail if it doesn't exist)
+if [ -f "install/setup.bash" ]; then
+    # Suppress the error about build time path
+    source install/setup.bash 2>/dev/null || true
+elif [ -f "install/setup.sh" ]; then
+    source install/setup.sh 2>/dev/null || true
+fi
+
+# Source robonix-sdk setup AFTER local setup to ensure robonixpy is in PYTHONPATH
+if [ -n "$ROBONIX_SDK_DIR" ] && [ -f "$ROBONIX_SDK_DIR/install/setup.bash" ]; then
+    # Source setup.bash which will add robonixpy to PYTHONPATH
+    # Save current PYTHONPATH, source, then restore to ensure robonixpy is included
+    OLD_PYTHONPATH="$PYTHONPATH"
+    if source "$ROBONIX_SDK_DIR/install/setup.bash" 2>&1; then
+        # Merge PYTHONPATH: robonix paths first, then old paths
+        export PYTHONPATH="$PYTHONPATH:$OLD_PYTHONPATH"
+        echo "[INFO] Sourced robonix-sdk setup.bash, PYTHONPATH includes robonixpy" >&2
+    else
+        echo "[WARN] Failed to source robonix-sdk setup.bash" >&2
+        export PYTHONPATH="$OLD_PYTHONPATH"
+    fi
+else
+    echo "[WARN] robonix-sdk not found, robonixpy may not be available" >&2
+fi
+
+# Start RGB publisher (capability: cap::vision.capture_rgb)
+# Try ros2 run first, fallback to Python module if not available
+if command -v ros2 > /dev/null 2>&1 && ros2 pkg list 2>/dev/null | grep -q "^demo_rgb_provider$"; then
+    exec ros2 run demo_rgb_provider rgb_publisher
+else
+    # Use Python module directly
+    exec $PYTHON_CMD -m demo_rgb_provider.rgb_publisher
+fi
+
diff --git a/rust/provider/demo_package/rbnx/start_grasp_move.sh b/rust/provider/demo_package/rbnx/start_grasp_move.sh
new file mode 100755
index 0000000..9c3cc1b
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/start_grasp_move.sh
@@ -0,0 +1,104 @@
+#!/bin/bash
+# Start script for cap::grasp.move
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PACKAGE_DIR="$(cd "$SCRIPT_DIR/.." && pwd)"
+cd "$PACKAGE_DIR"
+
+# Source ROS2 setup if available
+if [ -f /opt/ros/humble/setup.bash ]; then
+    source /opt/ros/humble/setup.bash
+fi
+
+# Fix library path issues with conda environment
+if [ -n "$CONDA_PREFIX" ]; then
+    export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH}"
+    export LD_LIBRARY_PATH=$(echo "$LD_LIBRARY_PATH" | tr ':' '\n' | grep -v "$CONDA_PREFIX/lib" | tr '\n' ':' | sed 's/:$//')
+fi
+
+# Check if package needs to be built
+if [ -f "package.xml" ] && [ ! -d "install" ]; then
+    echo "Package not built, building now..."
+    if command -v colcon > /dev/null 2>&1; then
+        colcon build --packages-select demo_rgb_provider 2>&1 | tail -20
+        if [ $? -ne 0 ]; then
+            echo "Build failed, continuing anyway..."
+        fi
+    else
+        echo "Warning: colcon not found, cannot build package"
+    fi
+fi
+
+# Setup Python path - add both source and install directories
+SYSTEM_PYTHON="/usr/bin/python3"
+if [ -f "$SYSTEM_PYTHON" ]; then
+    # Add source directory to PYTHONPATH (for development)
+    if [ -d "$PACKAGE_DIR/demo_rgb_provider" ]; then
+        export PYTHONPATH="$PACKAGE_DIR:${PYTHONPATH}"
+    fi
+    # Add install directory to PYTHONPATH (for installed package)
+    if [ -d "$PACKAGE_DIR/install/demo_rgb_provider/lib/python3.10/site-packages" ]; then
+        export PYTHONPATH="$PACKAGE_DIR/install/demo_rgb_provider/lib/python3.10/site-packages:${PYTHONPATH}"
+    fi
+    PYTHON_CMD="$SYSTEM_PYTHON"
+    LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH"
+else
+    PYTHON_CMD="python3"
+fi
+
+# Source robonix-sdk setup AFTER setting PYTHONPATH to ensure it's preserved
+# First try environment variable, then search upward from current directory
+ROBONIX_SDK_DIR=""
+if [ -n "$ROBONIX_SDK_PATH" ] && [ -f "$ROBONIX_SDK_PATH/install/setup.bash" ]; then
+    ROBONIX_SDK_DIR="$ROBONIX_SDK_PATH"
+else
+    # Search upward from package directory for robonix-sdk
+    SEARCH_DIR="$PACKAGE_DIR"
+    while [ "$SEARCH_DIR" != "/" ]; do
+        if [ -d "$SEARCH_DIR/robonix-sdk" ] && [ -f "$SEARCH_DIR/robonix-sdk/install/setup.bash" ]; then
+            ROBONIX_SDK_DIR="$SEARCH_DIR/robonix-sdk"
+            break
+        fi
+        SEARCH_DIR="$(dirname "$SEARCH_DIR")"
+    done
+fi
+
+# Set COLCON_CURRENT_PREFIX to current package directory to fix setup script path issues
+export COLCON_CURRENT_PREFIX="$PACKAGE_DIR"
+
+# Source the local setup if available (but don't fail if it doesn't exist)
+if [ -f "install/setup.bash" ]; then
+    # Suppress the error about build time path
+    source install/setup.bash 2>/dev/null || true
+elif [ -f "install/setup.sh" ]; then
+    source install/setup.sh 2>/dev/null || true
+fi
+
+# Source robonix-sdk setup AFTER local setup to ensure robonixpy is in PYTHONPATH
+if [ -n "$ROBONIX_SDK_DIR" ] && [ -f "$ROBONIX_SDK_DIR/install/setup.bash" ]; then
+    # Source setup.bash which will add robonixpy to PYTHONPATH
+    # Save current PYTHONPATH, source, then restore to ensure robonixpy is included
+    OLD_PYTHONPATH="$PYTHONPATH"
+    if source "$ROBONIX_SDK_DIR/install/setup.bash" 2>&1; then
+        # Merge PYTHONPATH: robonix paths first, then old paths
+        export PYTHONPATH="$PYTHONPATH:$OLD_PYTHONPATH"
+        echo "[INFO] Sourced robonix-sdk setup.bash, PYTHONPATH includes robonixpy" >&2
+    else
+        echo "[WARN] Failed to source robonix-sdk setup.bash" >&2
+        export PYTHONPATH="$OLD_PYTHONPATH"
+    fi
+else
+    echo "[WARN] robonix-sdk not found, robonixpy may not be available" >&2
+fi
+
+# Start grasp move (capability: cap::grasp.move)
+# Try ros2 run first, fallback to Python module if not available
+if command -v ros2 > /dev/null 2>&1 && ros2 pkg list 2>/dev/null | grep -q "^demo_rgb_provider$"; then
+    exec ros2 run demo_rgb_provider grasp_move
+else
+    # Use Python module directly
+    exec $PYTHON_CMD -m demo_rgb_provider.grasp_move
+fi
+
diff --git a/rust/provider/demo_package/rbnx/start_pick.sh b/rust/provider/demo_package/rbnx/start_pick.sh
new file mode 100755
index 0000000..5fb40de
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/start_pick.sh
@@ -0,0 +1,121 @@
+#!/bin/bash
+# Start script for skl::pick
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PACKAGE_DIR="$(cd "$SCRIPT_DIR/.." && pwd)"
+cd "$PACKAGE_DIR"
+
+# Source ROS2 setup if available
+if [ -f /opt/ros/humble/setup.bash ]; then
+    source /opt/ros/humble/setup.bash
+fi
+
+# Source robonix-sdk setup to make robonixpy SDK available
+# First try environment variable, then search upward from current directory
+ROBONIX_SDK_DIR=""
+if [ -n "$ROBONIX_SDK_PATH" ] && [ -f "$ROBONIX_SDK_PATH/install/setup.bash" ]; then
+    ROBONIX_SDK_DIR="$ROBONIX_SDK_PATH"
+else
+    # Search upward from package directory for robonix-sdk
+    SEARCH_DIR="$PACKAGE_DIR"
+    while [ "$SEARCH_DIR" != "/" ]; do
+        if [ -d "$SEARCH_DIR/robonix-sdk" ] && [ -f "$SEARCH_DIR/robonix-sdk/install/setup.bash" ]; then
+            ROBONIX_SDK_DIR="$SEARCH_DIR/robonix-sdk"
+            break
+        fi
+        SEARCH_DIR="$(dirname "$SEARCH_DIR")"
+    done
+fi
+
+# Fix library path issues with conda environment
+if [ -n "$CONDA_PREFIX" ]; then
+    export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH}"
+    export LD_LIBRARY_PATH=$(echo "$LD_LIBRARY_PATH" | tr ':' '\n' | grep -v "$CONDA_PREFIX/lib" | tr '\n' ':' | sed 's/:$//')
+fi
+
+# Check if package needs to be built
+if [ -f "package.xml" ] && [ ! -d "install" ]; then
+    echo "Package not built, building now..."
+    if command -v colcon > /dev/null 2>&1; then
+        colcon build --packages-select demo_rgb_provider 2>&1 | tail -20
+        if [ $? -ne 0 ]; then
+            echo "Build failed, continuing anyway..."
+        fi
+    else
+        echo "Warning: colcon not found, cannot build package"
+    fi
+fi
+
+# Setup Python path - add both source and install directories
+SYSTEM_PYTHON="/usr/bin/python3"
+if [ -f "$SYSTEM_PYTHON" ]; then
+    # Add source directory to PYTHONPATH (for development)
+    if [ -d "$PACKAGE_DIR/demo_rgb_provider" ]; then
+        export PYTHONPATH="$PACKAGE_DIR:${PYTHONPATH}"
+    fi
+    # Add install directory to PYTHONPATH (for installed package)
+    if [ -d "$PACKAGE_DIR/install/demo_rgb_provider/lib/python3.10/site-packages" ]; then
+        export PYTHONPATH="$PACKAGE_DIR/install/demo_rgb_provider/lib/python3.10/site-packages:${PYTHONPATH}"
+    fi
+    PYTHON_CMD="$SYSTEM_PYTHON"
+    LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH"
+else
+    PYTHON_CMD="python3"
+fi
+
+# Source robonix-sdk setup AFTER setting PYTHONPATH to ensure it's preserved
+# First try environment variable, then search upward from current directory
+ROBONIX_SDK_DIR=""
+if [ -n "$ROBONIX_SDK_PATH" ] && [ -f "$ROBONIX_SDK_PATH/install/setup.bash" ]; then
+    ROBONIX_SDK_DIR="$ROBONIX_SDK_PATH"
+else
+    # Search upward from package directory for robonix-sdk
+    SEARCH_DIR="$PACKAGE_DIR"
+    while [ "$SEARCH_DIR" != "/" ]; do
+        if [ -d "$SEARCH_DIR/robonix-sdk" ] && [ -f "$SEARCH_DIR/robonix-sdk/install/setup.bash" ]; then
+            ROBONIX_SDK_DIR="$SEARCH_DIR/robonix-sdk"
+            break
+        fi
+        SEARCH_DIR="$(dirname "$SEARCH_DIR")"
+    done
+fi
+
+# Set COLCON_CURRENT_PREFIX to current package directory to fix setup script path issues
+export COLCON_CURRENT_PREFIX="$PACKAGE_DIR"
+
+# Source the local setup if available (but don't fail if it doesn't exist)
+if [ -f "install/setup.bash" ]; then
+    # Suppress the error about build time path
+    source install/setup.bash 2>/dev/null || true
+elif [ -f "install/setup.sh" ]; then
+    source install/setup.sh 2>/dev/null || true
+fi
+
+# Source robonix-sdk setup AFTER local setup to ensure robonixpy is in PYTHONPATH
+if [ -n "$ROBONIX_SDK_DIR" ] && [ -f "$ROBONIX_SDK_DIR/install/setup.bash" ]; then
+    # Source setup.bash which will add robonixpy to PYTHONPATH
+    # Save current PYTHONPATH, source, then restore to ensure robonixpy is included
+    OLD_PYTHONPATH="$PYTHONPATH"
+    if source "$ROBONIX_SDK_DIR/install/setup.bash" 2>&1; then
+        # Merge PYTHONPATH: robonix paths first, then old paths
+        export PYTHONPATH="$PYTHONPATH:$OLD_PYTHONPATH"
+        echo "[INFO] Sourced robonix-sdk setup.bash, PYTHONPATH includes robonixpy" >&2
+    else
+        echo "[WARN] Failed to source robonix-sdk setup.bash" >&2
+        export PYTHONPATH="$OLD_PYTHONPATH"
+    fi
+else
+    echo "[WARN] robonix-sdk not found, robonixpy may not be available" >&2
+fi
+
+# Start pick skill (skill: skl::pick)
+# Try ros2 run first, fallback to Python module if not available
+if command -v ros2 > /dev/null 2>&1 && ros2 pkg list 2>/dev/null | grep -q "^demo_rgb_provider$"; then
+    exec ros2 run demo_rgb_provider pick_skill
+else
+    # Use Python module directly
+    exec $PYTHON_CMD -m demo_rgb_provider.pick_skill
+fi
+
diff --git a/rust/provider/demo_package/rbnx/stop_capture_rgb.sh b/rust/provider/demo_package/rbnx/stop_capture_rgb.sh
new file mode 100755
index 0000000..7ba65fd
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/stop_capture_rgb.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# Stop script for cap::vision.capture_rgb
+
+# This script is called to stop the RGB publisher process
+# CLI will also manage the process by PID, but this script can be used
+# for additional cleanup if needed
+
+# Kill by process name as fallback
+pkill -f "rgb_publisher" || true
+
+# Clean up any temporary files
+rm -f /tmp/demo_rgb_cap.log
+
+exit 0
+
diff --git a/rust/provider/demo_package/rbnx/stop_grasp_move.sh b/rust/provider/demo_package/rbnx/stop_grasp_move.sh
new file mode 100755
index 0000000..bc24250
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/stop_grasp_move.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# Stop script for cap::grasp.move
+
+# This script is called to stop the grasp move process
+# CLI will also manage the process by PID, but this script can be used
+# for additional cleanup if needed
+
+# Kill by process name as fallback
+pkill -f "grasp_move" || true
+
+# Clean up any temporary files
+rm -f /tmp/demo_grasp_cap.log
+
+exit 0
+
diff --git a/rust/provider/demo_package/rbnx/stop_pick.sh b/rust/provider/demo_package/rbnx/stop_pick.sh
new file mode 100755
index 0000000..2b2499e
--- /dev/null
+++ b/rust/provider/demo_package/rbnx/stop_pick.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# Stop script for skl::pick
+
+# This script is called to stop the pick skill process
+# CLI will also manage the process by PID, but this script can be used
+# for additional cleanup if needed
+
+# Kill by process name as fallback
+pkill -f "pick_skill" || true
+
+# Clean up any temporary files
+rm -f /tmp/demo_pick_skill.log
+
+exit 0
+
diff --git a/rust/provider/demo_package/rbnx_manifest.yaml b/rust/provider/demo_package/rbnx_manifest.yaml
new file mode 100644
index 0000000..a04ea95
--- /dev/null
+++ b/rust/provider/demo_package/rbnx_manifest.yaml
@@ -0,0 +1,65 @@
+# Robonix Package Manifest
+# This file defines the primitives, services, and skills provided by this package
+# Format version: 2.0 (EAIOS Architecture)
+#
+# Note: 
+# - Primitives and services must conform to standard specifications
+# - Skills are flexible and user-defined
+# - JSON fields (input_schema, output_schema, metadata, start_args, status) must be valid JSON strings
+
+package:
+  name: demo_rgb_provider
+  version: 0.0.1
+  description: Demo package with primitives and skills
+  maintainer: root
+  maintainer_email: root@todo.todo
+  license: Apache-2.0
+  # build_script: rbnx/build.sh  # Optional: build script path. If omitted, defaults to rbnx/build.sh
+
+# Primitives provided by this package
+# Primitives provide standardized hardware capability mapping
+primitives:
+  - name: prm::camera_capture
+    # Spec defines: OUTPUT: {"image": "sensor_msgs/Image"}
+    input_schema: '{}'
+    output_schema: '{"image":"/demo_rgb/image"}'
+    metadata: '{"resolution":"640x480","format":"RGB"}'
+    version: 0.0.1-impl-alpha
+    start_script: rbnx/start_capture_rgb.sh
+    stop_script: rbnx/stop_capture_rgb.sh
+
+  - name: prm::arm_move_ee
+    # Spec defines: 
+    #   INPUT: {"pose": "geometry_msgs/PoseStamped"}
+    #   OUTPUT: {"status": "bool"}
+    input_schema: '{"pose":"/demo_grasp/pose_goal"}'
+    output_schema: '{"status":"/demo_grasp/pose_status"}'
+    metadata: '{"robot":"demo_arm"}'
+    version: 0.0.1
+    start_script: rbnx/start_grasp_move.sh
+    stop_script: rbnx/stop_grasp_move.sh
+
+# Services provided by this package
+# Services provide standardized algorithm capabilities
+# (This package doesn't provide any standard services, but here's an example format)
+# services:
+#   - name: spatial_map
+#     srv_type: robonix_sdk/srv/service/spatial_map/GetSpatialMap
+#     entry: /mapping/get_spatial_map
+#     metadata: '{"supported_types":["2d","3d"]}'
+#     provider: demo_rgb_provider
+
+# Skills provided by this package
+# Skills are user-defined and flexible, can be basic (static program) or rtdl (RTDL-based)
+skills:
+  - name: pick
+    type: basic
+    start_topic: /robot1/skill/pick/start
+    status_topic: /robot1/skill/pick/status
+    entry: python3 /path/to/pick_skill.py
+    start_args: '{"target_label":"string"}'
+    status: '{"state":"string","result":"any"}'
+    metadata: '{"domain":"demo","capability":["vision","manipulation"]}'
+    version: 0.0.1
+    start_script: rbnx/start_pick.sh
+    stop_script: rbnx/stop_pick.sh
diff --git a/rust/provider/demo_package/resource/demo_rgb_provider b/rust/provider/demo_package/resource/demo_rgb_provider
new file mode 100644
index 0000000..e69de29
diff --git a/rust/provider/demo_package/setup.cfg b/rust/provider/demo_package/setup.cfg
new file mode 100644
index 0000000..b2197ba
--- /dev/null
+++ b/rust/provider/demo_package/setup.cfg
@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/demo_rgb_provider
+[install]
+install_scripts=$base/lib/demo_rgb_provider
+
diff --git a/rust/provider/demo_package/setup.py b/rust/provider/demo_package/setup.py
new file mode 100644
index 0000000..64a1856
--- /dev/null
+++ b/rust/provider/demo_package/setup.py
@@ -0,0 +1,29 @@
+from setuptools import find_packages, setup
+
+package_name = 'demo_rgb_provider'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools', 'numpy'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='Demo RGB camera package that outputs random color images',
+    license='Apache-2.0',
+    entry_points={
+        'console_scripts': [
+            'rgb_publisher = demo_rgb_provider.rgb_publisher:main',
+            'grasp_move = demo_rgb_provider.grasp_move:main',
+            'pick_skill = demo_rgb_provider.pick_skill:main',
+            'update_map_skill = demo_rgb_provider.update_map_skill:main',
+        ],
+    },
+)
+
diff --git a/rust/provider/demo_package/skills/pick/pick.rtdl b/rust/provider/demo_package/skills/pick/pick.rtdl
new file mode 100644
index 0000000..dbc09ce
--- /dev/null
+++ b/rust/provider/demo_package/skills/pick/pick.rtdl
@@ -0,0 +1,17 @@
+# RTDL file for pick skill
+# This skill combines vision and manipulation capabilities
+
+def skl::pick(target_label: str):
+    # Capture image from camera
+    image = prm::camera_capture()
+    
+    # Process image to find target (simplified)
+    # In real implementation, this would use vision processing
+    
+    # Move arm to target pose (simplified)
+    # In real implementation, this would calculate pose from image
+    pose = geometry_msgs/PoseStamped()
+    prm::arm_move_ee(pose=pose)
+    
+    return True
+
diff --git a/rust/provider/demo_package/skills/update_map/update_map.rtdl b/rust/provider/demo_package/skills/update_map/update_map.rtdl
new file mode 100644
index 0000000..995dd42
--- /dev/null
+++ b/rust/provider/demo_package/skills/update_map/update_map.rtdl
@@ -0,0 +1,13 @@
+# RTDL file for update_map skill
+# This skill updates the semantic map based on current observations
+
+def skl::update_map():
+    # Capture current image
+    image = prm::camera_capture()
+    
+    # Update semantic map with current observations
+    # In real implementation, this would process the image
+    # and update the semantic map service
+    
+    return True
+
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new file mode 100644
index 0000000..e68f653
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diff --git a/rust/robonix-cli/Cargo.toml b/rust/robonix-cli/Cargo.toml
new file mode 100644
index 0000000..41ab5df
--- /dev/null
+++ b/rust/robonix-cli/Cargo.toml
@@ -0,0 +1,37 @@
+[package]
+name = "robonix-cli"
+version = "0.1.0"
+edition = "2021"
+default-run = "rbnx"
+
+[[bin]]
+name = "rbnx"
+path = "src/main.rs"
+
+[[bin]]
+name = "rbnx-daemon"
+path = "src/daemon_main.rs"
+
+[dependencies]
+clap = { version = "4.4", features = ["derive"] }
+serde = { version = "1.0", features = ["derive"] }
+serde_yaml = "0.9.33"
+serde_json = "1.0"
+tokio = { version = "1.0", features = ["full"] }
+anyhow = "1.0"
+reqwest = { version = "0.12.24", features = ["json"] }
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter", "ansi"] }
+dirs = "6.0.0"
+pathdiff = "0.2"
+chrono = "0.4"
+git2 = { version = "0.20.2", default-features = false, features = ["https", "ssh"] }
+hostname = "0.4"
+regex = "1.10"
+colored = "3.0.0"
+[target.'cfg(unix)'.dependencies]
+nix = { version = "0.30.1", features = ["signal", "process"] }
+robonix-core = { path = "../robonix-core" }
+ros2-client = { version = "0.8.2", features = ["pre-iron-gid"] }
+rustdds = "0.11"
+
diff --git a/rust/robonix-cli/config.yaml.example b/rust/robonix-cli/config.yaml.example
new file mode 100644
index 0000000..739bef5
--- /dev/null
+++ b/rust/robonix-cli/config.yaml.example
@@ -0,0 +1,13 @@
+# Robonix CLI Configuration
+# Copy this file to ~/.config/robonix/config.yaml or use 'rbnx config --set-storage-path <path>'
+# On Linux: ~/.config/robonix/config.yaml
+
+# Package storage path where all robonix packages will be installed
+# Default: ~/.robonix/packages
+package_storage_path: ~/.robonix/packages
+
+# Robonix SDK path (optional)
+# Set via: rbnx config --set-sdk-path <path>
+# If not set, will use ROBONIX_SDK_PATH environment variable
+# robonix_sdk_path: /path/to/robonix-sdk
+
diff --git a/rust/robonix-cli/demo_recipe.yaml b/rust/robonix-cli/demo_recipe.yaml
new file mode 100644
index 0000000..fef4804
--- /dev/null
+++ b/rust/robonix-cli/demo_recipe.yaml
@@ -0,0 +1,17 @@
+# Robonix Recipe Example
+# A recipe defines which packages and their primitives/services/skills should be registered
+# when running 'rbnx deploy register <recipe_file>'
+#
+# Since a package can provide multiple primitives, services, and skills, recipes allow
+# arbitrary selection of which primitives, services, and skills to register.
+
+name: demo_recipe
+description: Demo recipe showing how to selectively register primitives, services, and skills from packages
+
+packages:
+  # Example 1: Register all primitives, services, and skills from a package
+  # (when primitives, services, and skills are not specified, all will be registered)
+  - name: demo_rgb_provider
+    # primitives: []  # If not specified, all primitives will be registered
+    # services: []    # If not specified, all services will be registered
+    # skills: []      # If not specified, all skills will be registered
\ No newline at end of file
diff --git a/rust/robonix-cli/src/cmd/build.rs b/rust/robonix-cli/src/cmd/build.rs
new file mode 100644
index 0000000..34c5334
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/build.rs
@@ -0,0 +1,174 @@
+use super::recipe_utils;
+use crate::{output, Config, PackageDatabase};
+use anyhow::{Context, Result};
+use colored::*;
+use serde_yaml::Value;
+use std::process::Command;
+
+/// Build a single package (shared logic)
+fn build_package(pkg_info: &crate::database::PackageInfo) -> Result<()> {
+    println!(
+        "{} {}",
+        format!("[{}]", "Building").green().bold(),
+        pkg_info.name.bright_white().bold()
+    );
+
+    // Load manifest to check for build_script
+    let manifest_path = &pkg_info.manifest_path;
+    let manifest_content = std::fs::read_to_string(manifest_path)
+        .with_context(|| format!("Failed to read manifest: {}", manifest_path.display()))?;
+    let manifest: Value = serde_yaml::from_str(&manifest_content)
+        .with_context(|| format!("Failed to parse manifest: {}", manifest_path.display()))?;
+
+    // Get build_script from manifest (optional)
+    let build_script = manifest["package"]["build_script"].as_str();
+
+    let build_script_path = if let Some(script) = build_script {
+        // Use build_script from manifest (relative to package root)
+        let script_path = pkg_info.path.join(script);
+        if !script_path.exists() {
+            anyhow::bail!(
+                "Build script not found: {} (specified in manifest)",
+                script_path.display()
+            );
+        }
+        script_path
+    } else {
+        // Default: look for rbnx/build.sh
+        let default_script = pkg_info.path.join("rbnx").join("build.sh");
+        if !default_script.exists() {
+            output::info(&format!(
+                "No build script found for {}, skipping build",
+                pkg_info.name
+            ));
+            return Ok(()); // Skip this package, but don't fail
+        }
+        default_script
+    };
+
+    // Make script executable
+    #[cfg(unix)]
+    {
+        use std::os::unix::fs::PermissionsExt;
+        let mut perms = std::fs::metadata(&build_script_path)?.permissions();
+        perms.set_mode(0o755);
+        std::fs::set_permissions(&build_script_path, perms)?;
+    }
+
+    // Execute build script
+    output::sub_step(&format!(
+        "Running build script: {}",
+        build_script_path.display()
+    ));
+
+    let build_result = Command::new(&build_script_path)
+        .current_dir(&pkg_info.path)
+        .status()
+        .with_context(|| {
+            format!(
+                "Failed to execute build script: {}",
+                build_script_path.display()
+            )
+        })?;
+
+    if !build_result.success() {
+        anyhow::bail!(
+            "Build script failed for {} with exit code: {:?}",
+            pkg_info.name,
+            build_result.code()
+        );
+    }
+
+    output::success(&format!("Package '{}' built successfully", pkg_info.name));
+    Ok(())
+}
+
+/// Build packages from package command (no recipe required)
+pub async fn execute_package(config: Config, target: String) -> Result<()> {
+    let db = PackageDatabase::load(&config.package_storage_path)?;
+
+    let packages_to_build = if target == "all" {
+        // Build all installed packages
+        db.list_packages().iter().map(|p| p.name.clone()).collect()
+    } else {
+        // Build specific package
+        vec![target]
+    };
+
+    let mut built = 0;
+    let mut skipped = 0;
+    let mut errors = 0;
+
+    for package_name in packages_to_build {
+        let pkg_info = db
+            .find_by_name(&package_name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", package_name))?;
+
+        match build_package(&pkg_info) {
+            Ok(_) => built += 1,
+            Err(e) => {
+                if e.to_string().contains("No build script found") {
+                    skipped += 1;
+                } else {
+                    output::error(&format!("Failed to build {}: {}", package_name, e));
+                    errors += 1;
+                }
+            }
+        }
+    }
+
+    output::summary(&format!(
+        "Summary: {} built, {} skipped, {} errors",
+        built, skipped, errors
+    ));
+
+    Ok(())
+}
+
+/// Build packages from deploy command (requires active recipe)
+pub async fn execute(config: Config, target: String) -> Result<()> {
+    let db = PackageDatabase::load(&config.package_storage_path)?;
+
+    // Get packages from active recipe
+    let all_packages = recipe_utils::get_recipe_packages(&config)?;
+
+    let packages_to_build = if target == "all" {
+        all_packages
+    } else {
+        // Check if target matches any package name
+        if all_packages.contains(&target) {
+            vec![target]
+        } else {
+            anyhow::bail!("Package '{}' not found in active recipe", target);
+        }
+    };
+
+    let mut built = 0;
+    let mut skipped = 0;
+    let mut errors = 0;
+
+    for package_name in packages_to_build {
+        let pkg_info = db
+            .find_by_name(&package_name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", package_name))?;
+
+        match build_package(&pkg_info) {
+            Ok(_) => built += 1,
+            Err(e) => {
+                if e.to_string().contains("No build script found") {
+                    skipped += 1;
+                } else {
+                    output::error(&format!("Failed to build {}: {}", package_name, e));
+                    errors += 1;
+                }
+            }
+        }
+    }
+
+    output::summary(&format!(
+        "Summary: {} built, {} skipped, {} errors",
+        built, skipped, errors
+    ));
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/config.rs b/rust/robonix-cli/src/cmd/config.rs
new file mode 100644
index 0000000..0e2c42b
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/config.rs
@@ -0,0 +1,82 @@
+use crate::Config;
+use anyhow::{Context, Result};
+use colored::*;
+use std::path::PathBuf;
+
+pub async fn execute(
+    _config: Config,
+    set_storage_path: Option<PathBuf>,
+    set_sdk_path: Option<PathBuf>,
+    show: bool,
+) -> Result<()> {
+    let mut config = Config::load()?;
+    let mut updated = false;
+
+    if let Some(new_path) = set_storage_path {
+        config.package_storage_path = new_path;
+        config.save()?;
+        config.ensure_storage_dir()?;
+        println!(
+            "Package storage path updated to: {}",
+            config.package_storage_path.display()
+        );
+        updated = true;
+    }
+
+    if let Some(new_path) = set_sdk_path {
+        // Convert to absolute path
+        let absolute_path = std::fs::canonicalize(&new_path)
+            .with_context(|| format!("Failed to resolve path: {}", new_path.display()))?;
+
+        // Verify it's a valid robonix-sdk directory
+        let setup_file = absolute_path.join("install").join("setup.bash");
+        if !setup_file.exists() {
+            anyhow::bail!(
+                "Path does not appear to be a valid robonix-sdk directory (missing install/setup.bash): {}",
+                absolute_path.display()
+            );
+        }
+
+        config.robonix_sdk_path = Some(absolute_path.clone());
+        config.save()?;
+        println!("Robonix SDK path updated to: {}", absolute_path.display());
+        updated = true;
+    }
+
+    if show {
+        // Get actual config file path and display real absolute path
+        let config_path = Config::config_file_path()?;
+        // Get canonical (real) path, resolving symlinks
+        let real_path = std::fs::canonicalize(&config_path).unwrap_or_else(|_| config_path.clone());
+
+        println!(
+            "{} {}",
+            "Current robonix system config are located at:",
+            real_path.display().to_string().bold().cyan()
+        );
+        println!("\n{}", "Configuration:".bold().cyan());
+        let label1 = format!("{:<25}", "Package storage path:");
+        println!(
+            "  {} {}",
+            label1.bright_white(),
+            config.package_storage_path.display().to_string().white()
+        );
+        if let Some(ref msg_path) = config.robonix_sdk_path {
+            let label2 = format!("{:<25}", "Robonix SDK path:");
+            println!(
+                "  {} {}",
+                label2.bright_white(),
+                msg_path.display().to_string().white()
+            );
+        } else {
+            let label2 = format!("{:<25}", "Robonix SDK path:");
+            println!("  {} {}", label2.bright_white(), "(not set)".yellow());
+        }
+        println!();
+    } else if !updated {
+        eprintln!("Error: Either --set-storage-path, --set-sdk-path, or --show must be specified");
+        std::process::exit(1);
+    }
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/daemon.rs b/rust/robonix-cli/src/cmd/daemon.rs
new file mode 100644
index 0000000..da0bfa5
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/daemon.rs
@@ -0,0 +1,184 @@
+use crate::daemon_client::DaemonClient;
+use crate::output;
+use anyhow::{Context, Result};
+use std::path::PathBuf;
+use std::process::Stdio;
+
+pub async fn start() -> Result<()> {
+    let client = DaemonClient::new()?;
+
+    if client.is_daemon_running().await {
+        output::info("Daemon is already running");
+        return Ok(());
+    }
+
+    output::action("Starting", "daemon");
+
+    // Try to find daemon executable
+    let daemon_path = find_daemon_executable()?;
+
+    // Start daemon in background
+    #[cfg(unix)]
+    {
+        let mut cmd = std::process::Command::new(&daemon_path);
+        cmd.stdout(Stdio::null());
+        cmd.stderr(Stdio::null());
+        cmd.spawn()
+            .with_context(|| format!("Failed to start daemon: {}", daemon_path.display()))?;
+    }
+
+    // Wait a bit for daemon to start
+    tokio::time::sleep(tokio::time::Duration::from_millis(1000)).await;
+
+    // Check if daemon is now running
+    if client.is_daemon_running().await {
+        output::check("Daemon started successfully");
+    } else {
+        anyhow::bail!("Failed to start daemon. Check logs for details.");
+    }
+
+    Ok(())
+}
+
+pub async fn stop() -> Result<()> {
+    let client = DaemonClient::new()?;
+
+    if !client.is_daemon_running().await {
+        output::info("Daemon is not running");
+        return Ok(());
+    }
+
+    output::action("Stopping", "daemon");
+
+    // Try to ping daemon to get PID or use socket to signal shutdown
+    // For now, we'll use a simple approach: find the process and kill it
+    #[cfg(unix)]
+    {
+        use nix::sys::signal::{kill, Signal};
+        use nix::unistd::Pid;
+
+        // Try to find daemon process by checking socket file's owner or by name
+        // For simplicity, we'll use pkill or find the process
+        let output = std::process::Command::new("pgrep")
+            .arg("-f")
+            .arg("rbnx-daemon")
+            .output()?;
+
+        if output.status.success() {
+            let pid_str = String::from_utf8_lossy(&output.stdout).trim().to_string();
+            if let Ok(pid) = pid_str.parse::<i32>() {
+                let pid = Pid::from_raw(pid);
+                if let Err(e) = kill(pid, Signal::SIGTERM) {
+                    anyhow::bail!("Failed to send SIGTERM to daemon (PID {}): {}", pid, e);
+                }
+
+                // Wait for process to exit
+                for _ in 0..10 {
+                    tokio::time::sleep(tokio::time::Duration::from_millis(500)).await;
+                    if !client.is_daemon_running().await {
+                        output::check("Daemon stopped successfully");
+                        return Ok(());
+                    }
+                }
+
+                // If still running, try SIGKILL
+                let _ = kill(pid, Signal::SIGKILL);
+                tokio::time::sleep(tokio::time::Duration::from_millis(500)).await;
+
+                if !client.is_daemon_running().await {
+                    output::check("Daemon stopped successfully (force kill)");
+                } else {
+                    anyhow::bail!("Failed to stop daemon");
+                }
+            } else {
+                anyhow::bail!("Failed to parse daemon PID");
+            }
+        } else {
+            anyhow::bail!("Daemon process not found");
+        }
+    }
+    #[cfg(not(unix))]
+    {
+        anyhow::bail!("Daemon stop not implemented for this platform");
+    }
+
+    Ok(())
+}
+
+pub async fn status() -> Result<()> {
+    let client = DaemonClient::new()?;
+
+    if client.is_daemon_running().await {
+        output::info("Daemon status: Running");
+
+        // Try to ping daemon
+        match client
+            .send_command(crate::daemon_client::DaemonCommand::Ping)
+            .await
+        {
+            Ok(crate::daemon_client::DaemonResponse::Ok(_)) => {
+                output::info("Daemon is responsive");
+            }
+            Ok(crate::daemon_client::DaemonResponse::Error(e)) => {
+                output::warning(&format!("Daemon responded with error: {}", e));
+            }
+            Err(e) => {
+                output::warning(&format!("Failed to ping daemon: {}", e));
+            }
+            _ => {}
+        }
+    } else {
+        output::info("Daemon status: Stopped");
+    }
+
+    Ok(())
+}
+
+pub async fn restart() -> Result<()> {
+    output::action("Restarting", "daemon");
+
+    stop().await?;
+    tokio::time::sleep(tokio::time::Duration::from_millis(1000)).await;
+    start().await?;
+
+    Ok(())
+}
+
+fn find_daemon_executable() -> Result<PathBuf> {
+    // Try 1: Same directory as current executable
+    if let Ok(current_exe) = std::env::current_exe() {
+        if let Some(parent) = current_exe.parent() {
+            let daemon_path = parent.join("rbnx-daemon");
+            if daemon_path.exists() {
+                return Ok(daemon_path);
+            }
+        }
+    }
+
+    // Try 2: In PATH
+    if let Ok(path) = std::env::var("PATH") {
+        for dir in path.split(':') {
+            let daemon_path = PathBuf::from(dir).join("rbnx-daemon");
+            if daemon_path.exists() {
+                return Ok(daemon_path);
+            }
+        }
+    }
+
+    // Try 3: Common installation paths
+    let common_paths = vec![
+        PathBuf::from("/usr/local/bin/rbnx-daemon"),
+        PathBuf::from("/usr/bin/rbnx-daemon"),
+        PathBuf::from("/opt/robonix/bin/rbnx-daemon"),
+    ];
+
+    for path in common_paths {
+        if path.exists() {
+            return Ok(path);
+        }
+    }
+
+    anyhow::bail!(
+        "Daemon executable (rbnx-daemon) not found. Please build the project with 'cargo build' or install it."
+    )
+}
diff --git a/rust/robonix-cli/src/cmd/info.rs b/rust/robonix-cli/src/cmd/info.rs
new file mode 100644
index 0000000..4b4375f
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/info.rs
@@ -0,0 +1,8 @@
+use crate::{Config, PackageQuery};
+use anyhow::Result;
+
+pub async fn execute(config: Config, name: String) -> Result<()> {
+    let query = PackageQuery::new(config);
+    query.show_info(&name)?;
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/install.rs b/rust/robonix-cli/src/cmd/install.rs
new file mode 100644
index 0000000..8252a5b
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/install.rs
@@ -0,0 +1,36 @@
+use crate::{output, Config, PackageInstaller};
+use anyhow::Result;
+use std::path::PathBuf;
+
+pub async fn execute(
+    config: Config,
+    github: Option<String>,
+    path: Option<PathBuf>,
+    branch: Option<String>,
+) -> Result<()> {
+    let installer = PackageInstaller::new(config);
+
+    if let Some(repo) = github {
+        output::action("Installing", &format!("package from {}", repo));
+        let package_name = installer.install_from_github(&repo, branch.as_deref())?;
+        output::success(&format!(
+            "Package '{}' installed successfully",
+            package_name
+        ));
+    } else if let Some(source_path) = path {
+        output::action(
+            "Installing",
+            &format!("package from {}", source_path.display()),
+        );
+        let package_name = installer.install_from_path(&source_path)?;
+        output::success(&format!(
+            "Package '{}' installed successfully",
+            package_name
+        ));
+    } else {
+        output::error("Either --github or --path must be specified");
+        std::process::exit(1);
+    }
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/list.rs b/rust/robonix-cli/src/cmd/list.rs
new file mode 100644
index 0000000..4097755
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/list.rs
@@ -0,0 +1,68 @@
+use crate::{Config, PackageDatabase};
+use anyhow::Result;
+
+pub async fn execute(config: Config) -> Result<()> {
+    let db = PackageDatabase::load(&config.package_storage_path)?;
+    let packages = db.list_packages();
+
+    if packages.is_empty() {
+        println!("No packages installed.");
+    } else {
+        // Calculate column widths for alignment
+        let max_name_len = packages
+            .iter()
+            .map(|p| p.name.len())
+            .max()
+            .unwrap_or(0)
+            .max(7); // "Package" header
+        let max_version_len = packages
+            .iter()
+            .map(|p| p.version.len())
+            .max()
+            .unwrap_or(0)
+            .max(7); // "Version" header
+
+        // Print header
+        println!(
+            "\x1b[1m{:<name_width$}  {:<ver_width$}  Prms  Srvs  Skills\x1b[0m",
+            "Package",
+            "Version",
+            name_width = max_name_len,
+            ver_width = max_version_len
+        );
+        println!(
+            "{}  {}  {}  {}  {}",
+            "─".repeat(max_name_len),
+            "─".repeat(max_version_len),
+            "────",
+            "────",
+            "──────"
+        );
+
+        // Print packages
+        for pkg in packages {
+            let prm_count = pkg.primitives.len();
+            let srv_count = pkg.services.len();
+            let skill_count = pkg.skills.len();
+            let name_formatted = format!("\x1b[1;37m{}\x1b[0m", pkg.name);
+            // Calculate padding for name (ANSI codes don't count toward width)
+            let name_padding = if pkg.name.len() < max_name_len {
+                max_name_len - pkg.name.len()
+            } else {
+                0
+            };
+            println!(
+                "{}{}  {:<ver_width$}  {:4}  {:4}  {:6}",
+                name_formatted,
+                " ".repeat(name_padding),
+                pkg.version,
+                prm_count,
+                srv_count,
+                skill_count,
+                ver_width = max_version_len
+            );
+        }
+    }
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/mod.rs b/rust/robonix-cli/src/cmd/mod.rs
new file mode 100644
index 0000000..7c114d6
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/mod.rs
@@ -0,0 +1,244 @@
+use anyhow::Result;
+use clap::Subcommand;
+use std::path::PathBuf;
+
+use crate::Config;
+
+mod build;
+mod config;
+mod daemon;
+mod info;
+mod install;
+mod list;
+mod recipe_utils;
+mod register;
+mod restart;
+mod search;
+mod start;
+mod status;
+mod stop;
+mod task;
+mod unregister;
+
+#[derive(Subcommand)]
+pub enum Commands {
+    /// Package management commands
+    #[command(subcommand)]
+    Package(PackageCommands),
+    /// Deploy and manage recipes (workflow: register -> start -> stop -> unregister)
+    #[command(subcommand)]
+    Deploy(DeployCommands),
+    /// Configure robonix-cli
+    Config {
+        /// Set package storage path
+        #[arg(short = 'p', long)]
+        set_storage_path: Option<PathBuf>,
+        /// Set robonix-sdk path
+        #[arg(short = 'm', long)]
+        set_sdk_path: Option<PathBuf>,
+        /// Show current configuration
+        #[arg(short, long)]
+        show: bool,
+    },
+    /// Daemon management commands
+    #[command(subcommand)]
+    Daemon(DaemonCommands),
+    /// Task management commands
+    #[command(subcommand)]
+    Task(TaskCommands),
+}
+
+#[derive(Subcommand)]
+pub enum PackageCommands {
+    /// Install a package from GitHub or local path
+    Install {
+        /// GitHub repository URL (e.g., https://github.com/user/repo.git)
+        #[arg(short, long)]
+        github: Option<String>,
+        /// Branch to clone (for GitHub)
+        #[arg(short, long)]
+        branch: Option<String>,
+        /// Local path to package directory
+        #[arg(short, long)]
+        path: Option<PathBuf>,
+    },
+    /// List all installed packages
+    List,
+    /// Show detailed information about a package
+    Info {
+        /// Package name
+        name: String,
+    },
+    /// Search packages by capability
+    SearchCap {
+        /// Capability name (e.g., cap::vision.capture_rgb)
+        name: String,
+    },
+    /// Search packages by skill
+    SearchSkill {
+        /// Skill name (e.g., skl::pick)
+        name: String,
+    },
+    /// Build a package (compile, install dependencies, etc.)
+    ///
+    /// Builds a package directly without requiring an active recipe.
+    /// Can build a specific package by name or all installed packages.
+    Build {
+        /// Target to build. Can be:
+        /// - "all" to build all installed packages
+        /// - Package name (e.g., "demo_rgb_provider")
+        #[arg(required = false, default_value = "all")]
+        target: String,
+    },
+}
+
+#[derive(Subcommand)]
+pub enum DeployCommands {
+    /// Register packages from a recipe file (only registers, does not start)
+    ///
+    /// Workflow order: register -> start -> stop -> unregister
+    /// You must register before starting processes.
+    Register {
+        /// Recipe file path
+        recipe: PathBuf,
+    },
+    /// Start capability or skill processes from active recipe
+    ///
+    /// Requires: recipe must be registered first (use 'deploy register')
+    /// You can start/stop multiple times during deployment.
+    Start {
+        /// Target to start. Can be:
+        /// - "all" to start all items in recipe
+        /// - Pattern like "cap::vision.*" or "*.pick" to match multiple
+        /// - Exact name like "cap::vision.capture_rgb"
+        #[arg(required = false, default_value = "all")]
+        target: String,
+    },
+    /// Stop capability or skill processes from active recipe
+    ///
+    /// Requires: processes must be running (use 'deploy start' first)
+    /// You can start/stop multiple times during deployment.
+    Stop {
+        /// Target to stop. Can be:
+        /// - "all" to stop all running processes from recipe
+        /// - Pattern like "cap::vision.*" or "*.pick" to match multiple
+        /// - Exact name like "cap::vision.capture_rgb"
+        #[arg(required = false, default_value = "all")]
+        target: String,
+    },
+    /// Restart capability or skill processes from active recipe
+    ///
+    /// This is equivalent to: stop -> wait -> start
+    /// Stops the target processes (if running) and then starts them again.
+    Restart {
+        /// Target to restart. Can be:
+        /// - "all" to restart all processes from recipe
+        /// - Pattern like "cap::vision.*" or "*.pick" to match multiple
+        /// - Exact name like "cap::vision.capture_rgb"
+        #[arg(required = false, default_value = "all")]
+        target: String,
+    },
+    /// Show status of all running cap/skill processes from active recipe
+    Status,
+    /// Build packages (compile, install dependencies, etc.)
+    ///
+    /// Builds packages before deployment. Can build all packages in recipe
+    /// or a specific package by name.
+    Build {
+        /// Target to build. Can be:
+        /// - "all" to build all packages in recipe
+        /// - Package name (e.g., "demo_rgb_provider")
+        #[arg(required = false, default_value = "all")]
+        target: String,
+    },
+    /// Unregister packages, capabilities, skills, or recipes
+    ///
+    /// Requires: all processes must be stopped first (use 'deploy stop')
+    /// This is the final step in the workflow: register -> start -> stop -> unregister
+    Unregister {
+        /// Target to unregister. Can be:
+        /// - package name (e.g., "demo_rgb_provider")
+        /// - package.capability (e.g., "demo_rgb_provider.cap::vision.capture_rgb")
+        /// - package.skill (e.g., "demo_rgb_provider.skl::pick")
+        /// - recipe file path (e.g., "demo_recipe.yaml")
+        target: String,
+    },
+}
+
+#[derive(Subcommand)]
+pub enum DaemonCommands {
+    /// Start the daemon
+    Start,
+    /// Stop the daemon
+    Stop,
+    /// Show daemon status
+    Status,
+    /// Restart the daemon
+    Restart,
+}
+
+#[derive(Subcommand)]
+pub enum TaskCommands {
+    /// Create a new task from natural language
+    Create {
+        /// Natural language task description
+        natural_language: String,
+    },
+    /// Get task by ID
+    Get {
+        /// Task ID
+        task_id: String,
+    },
+    /// List all tasks
+    List,
+    /// Cancel a task
+    Cancel {
+        /// Task ID
+        task_id: String,
+    },
+}
+
+pub async fn execute(command: Commands, config: Config) -> Result<()> {
+    match command {
+        Commands::Package(cmd) => match cmd {
+            PackageCommands::Install {
+                github,
+                branch,
+                path,
+            } => install::execute(config, github, path, branch).await,
+            PackageCommands::List => list::execute(config).await,
+            PackageCommands::Info { name } => info::execute(config, name).await,
+            PackageCommands::SearchCap { name } => search::execute_cap(config, name).await,
+            PackageCommands::SearchSkill { name } => search::execute_skill(config, name).await,
+            PackageCommands::Build { target } => build::execute_package(config, target).await,
+        },
+        Commands::Deploy(cmd) => match cmd {
+            DeployCommands::Register { recipe } => register::execute(config, recipe).await,
+            DeployCommands::Build { target } => build::execute(config, target).await,
+            DeployCommands::Start { target } => start::execute(config, target).await,
+            DeployCommands::Stop { target } => stop::execute(config, target).await,
+            DeployCommands::Restart { target } => restart::execute(config, target).await,
+            DeployCommands::Status => status::execute(config).await,
+            DeployCommands::Unregister { target } => unregister::execute(config, target).await,
+        },
+        Commands::Config {
+            set_storage_path,
+            set_sdk_path,
+            show,
+        } => config::execute(config, set_storage_path, set_sdk_path, show).await,
+        Commands::Daemon(cmd) => match cmd {
+            DaemonCommands::Start => daemon::start().await,
+            DaemonCommands::Stop => daemon::stop().await,
+            DaemonCommands::Status => daemon::status().await,
+            DaemonCommands::Restart => daemon::restart().await,
+        },
+        Commands::Task(cmd) => match cmd {
+            TaskCommands::Create { natural_language } => {
+                task::execute_create(config, natural_language).await
+            }
+            TaskCommands::Get { task_id } => task::execute_get(config, task_id).await,
+            TaskCommands::List => task::execute_list(config).await,
+            TaskCommands::Cancel { task_id } => task::execute_cancel(config, task_id).await,
+        },
+    }
+}
diff --git a/rust/robonix-cli/src/cmd/recipe_utils.rs b/rust/robonix-cli/src/cmd/recipe_utils.rs
new file mode 100644
index 0000000..2a47283
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/recipe_utils.rs
@@ -0,0 +1,160 @@
+use crate::{Config, PackageDatabase, RecipeState};
+use anyhow::Result;
+use serde_yaml::Value;
+
+/// Item in recipe that can be started/stopped
+#[derive(Debug, Clone)]
+pub struct RecipeItem {
+    pub package_name: String,
+    pub std_name: String,
+    pub package_type: String,         // "prm", "srv", or "skl"
+    pub start_script: Option<String>, // Start script path (for primitives, services, and skills)
+    pub package_path: std::path::PathBuf,
+}
+
+/// Get all items from active recipe
+pub fn get_recipe_items(config: &Config) -> Result<Vec<RecipeItem>> {
+    let db = PackageDatabase::load(&config.package_storage_path)?;
+
+    let recipe_state = RecipeState::load(&config.package_storage_path)?
+        .ok_or_else(|| anyhow::anyhow!("No active recipe. Please register a recipe first."))?;
+
+    let mut items = Vec::new();
+
+    for recipe_pkg in &recipe_state.recipe.packages {
+        let pkg_info = db
+            .find_by_name(&recipe_pkg.name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", recipe_pkg.name))?;
+
+        // Load manifest
+        let manifest_content = std::fs::read_to_string(&pkg_info.manifest_path)?;
+        let manifest: Value = serde_yaml::from_str(&manifest_content)?;
+
+        // Add primitives
+        let primitives_to_include = if let Some(primitives) = &recipe_pkg.primitives {
+            primitives.clone()
+        } else {
+            pkg_info.primitives.clone()
+        };
+
+        for primitive_name in &primitives_to_include {
+            if let Some(primitive) = manifest["primitives"].as_sequence().and_then(|primitives| {
+                primitives
+                    .iter()
+                    .find(|p| p["name"].as_str() == Some(primitive_name))
+            }) {
+                let start_script = primitive["start_script"].as_str().map(|s| s.to_string());
+                items.push(RecipeItem {
+                    package_name: pkg_info.name.clone(),
+                    std_name: primitive_name.clone(),
+                    package_type: "prm".to_string(),
+                    start_script,
+                    package_path: pkg_info.path.clone(),
+                });
+            }
+        }
+
+        // Add services
+        let services_to_include = if let Some(services) = &recipe_pkg.services {
+            services.clone()
+        } else {
+            pkg_info.services.clone()
+        };
+
+        for service_name in &services_to_include {
+            if let Some(service) = manifest["services"].as_sequence().and_then(|services| {
+                services
+                    .iter()
+                    .find(|s| s["name"].as_str() == Some(service_name))
+            }) {
+                let start_script = service["start_script"].as_str().map(|s| s.to_string());
+                items.push(RecipeItem {
+                    package_name: pkg_info.name.clone(),
+                    std_name: service_name.clone(),
+                    package_type: "srv".to_string(),
+                    start_script,
+                    package_path: pkg_info.path.clone(),
+                });
+            }
+        }
+
+        // Add skills
+        let skills_to_include = if let Some(skills) = &recipe_pkg.skills {
+            skills.clone()
+        } else {
+            pkg_info.skills.clone()
+        };
+
+        for skill_name in &skills_to_include {
+            if let Some(skill) = manifest["skills"].as_sequence().and_then(|skills| {
+                skills
+                    .iter()
+                    .find(|s| s["name"].as_str() == Some(skill_name))
+            }) {
+                let start_script = skill["start_script"].as_str().map(|s| s.to_string());
+                items.push(RecipeItem {
+                    package_name: pkg_info.name.clone(),
+                    std_name: skill_name.clone(),
+                    package_type: "skl".to_string(),
+                    start_script,
+                    package_path: pkg_info.path.clone(),
+                });
+            }
+        }
+    }
+
+    Ok(items)
+}
+
+/// Match pattern against std_name
+/// Supports:
+/// - Exact match: "cap::vision.capture_rgb"
+/// - Wildcard: "cap::vision.*", "*.capture_rgb", "*"
+/// - Partial match: "vision" matches "cap::vision.capture_rgb"
+pub fn matches_pattern(std_name: &str, pattern: &str) -> bool {
+    if pattern == "*" || pattern == "all" {
+        return true;
+    }
+
+    // Exact match
+    if std_name == pattern {
+        return true;
+    }
+
+    // Wildcard matching
+    if pattern.contains('*') {
+        let regex_pattern = pattern.replace(".", "\\.").replace("*", ".*");
+        if let Ok(re) = regex::Regex::new(&format!("^{}$", regex_pattern)) {
+            return re.is_match(std_name);
+        }
+    }
+
+    // Partial match (contains) - only if pattern doesn't look like a full name
+    if !pattern.contains("::") && !pattern.contains(".") {
+        std_name.contains(pattern)
+    } else {
+        false
+    }
+}
+
+/// Filter items by pattern
+pub fn filter_items(items: &[RecipeItem], pattern: &str) -> Vec<RecipeItem> {
+    items
+        .iter()
+        .filter(|item| matches_pattern(&item.std_name, pattern))
+        .cloned()
+        .collect()
+}
+
+/// Get all package names from active recipe
+pub fn get_recipe_packages(config: &Config) -> Result<Vec<String>> {
+    let recipe_state = RecipeState::load(&config.package_storage_path)?
+        .ok_or_else(|| anyhow::anyhow!("No active recipe. Please register a recipe first."))?;
+
+    Ok(recipe_state
+        .recipe
+        .packages
+        .iter()
+        .map(|p| p.name.clone())
+        .collect())
+}
diff --git a/rust/robonix-cli/src/cmd/register.rs b/rust/robonix-cli/src/cmd/register.rs
new file mode 100644
index 0000000..966bb99
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/register.rs
@@ -0,0 +1,9 @@
+use crate::{Config, PackageRegistrar};
+use anyhow::Result;
+use std::path::PathBuf;
+
+pub async fn execute(config: Config, recipe: PathBuf) -> Result<()> {
+    let registrar = PackageRegistrar::new(config)?;
+    registrar.register_from_recipe(&recipe).await?;
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/restart.rs b/rust/robonix-cli/src/cmd/restart.rs
new file mode 100644
index 0000000..bbc2c78
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/restart.rs
@@ -0,0 +1,295 @@
+use super::recipe_utils;
+use crate::daemon_client::{DaemonClient, DaemonCommand, DaemonResponse};
+use crate::{output, Config};
+use anyhow::Result;
+use tokio::time::{sleep, Duration};
+
+pub async fn execute(config: Config, target: String) -> Result<()> {
+    // Ensure daemon is running
+    let client = DaemonClient::new()?;
+    client.ensure_daemon_running().await?;
+
+    // Get all items from active recipe
+    let all_items = recipe_utils::get_recipe_items(&config)?;
+
+    // Filter items by pattern
+    let items_to_restart = if target == "all" {
+        all_items
+    } else {
+        recipe_utils::filter_items(&all_items, &target)
+    };
+
+    if items_to_restart.is_empty() {
+        output::warning(&format!("No matching items found for pattern: {}", target));
+        return Ok(());
+    }
+
+    output::action("Restarting", &format!("{} item(s)", items_to_restart.len()));
+
+    let mut restarted = 0;
+    let mut started = 0;
+    let mut skipped = 0;
+    let mut errors = 0;
+
+    // Step 1: Stop running processes
+    let status_response = client.send_command(DaemonCommand::Status).await?;
+
+    let running_processes = match status_response {
+        DaemonResponse::Status(procs) => procs,
+        _ => {
+            anyhow::bail!("Unexpected response from daemon");
+        }
+    };
+
+    let items_to_stop: Vec<_> = items_to_restart
+        .iter()
+        .filter(|item| {
+            running_processes.iter().any(|proc| {
+                proc.std_name == item.std_name && proc.package_type == item.package_type
+            })
+        })
+        .collect();
+
+    if !items_to_stop.is_empty() {
+        output::step("Stopping", &format!("{} process(es)", items_to_stop.len()));
+
+        for item in &items_to_stop {
+            let mut spinner = output::Spinner::new(format!(
+                "Stopping {} {}...",
+                item.package_type, item.std_name
+            ));
+            spinner.start();
+
+            let result = client
+                .send_command(DaemonCommand::Stop {
+                    std_name: item.std_name.clone(),
+                    package_type: item.package_type.clone(),
+                })
+                .await;
+
+            match result {
+                Ok(DaemonResponse::Ok(_)) => {
+                    spinner.finish_success(&format!(
+                        "Stopped {} {}",
+                        item.package_type, item.std_name
+                    ));
+                }
+                Ok(DaemonResponse::OkWithDetails {
+                    message,
+                    pid,
+                    pgid,
+                    pids,
+                }) => {
+                    spinner.finish_success(&message);
+                    if let Some(pgid) = pgid {
+                        if let Some(ref pids_list) = pids {
+                            if pids_list.len() > 1 {
+                                output::sub_step(&format!(
+                                    "  Process group {} ({} processes): {}",
+                                    pgid,
+                                    pids_list.len(),
+                                    pids_list
+                                        .iter()
+                                        .map(|p| p.to_string())
+                                        .collect::<Vec<_>>()
+                                        .join(", ")
+                                ));
+                            } else {
+                                output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                            }
+                        } else {
+                            output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                        }
+                    } else {
+                        output::sub_step(&format!("  PID: {}", pid));
+                    }
+                }
+                Ok(DaemonResponse::Error(e)) => {
+                    spinner.finish_error(&format!(
+                        "Failed to stop {} {}: {}",
+                        item.package_type, item.std_name, e
+                    ));
+                    errors += 1;
+                }
+                Err(e) => {
+                    spinner.finish_error(&format!(
+                        "Failed to stop {} {}: {}",
+                        item.package_type, item.std_name, e
+                    ));
+                    errors += 1;
+                }
+                _ => {
+                    spinner.finish_error(&format!(
+                        "Unexpected response when stopping {} {}",
+                        item.package_type, item.std_name
+                    ));
+                    errors += 1;
+                }
+            }
+        }
+
+        // Wait a bit for processes to fully stop
+        output::sub_step("Waiting for processes to stop...");
+        sleep(Duration::from_millis(500)).await;
+    }
+
+    // Step 2: Start processes
+    output::step("Starting", &format!("{} item(s)", items_to_restart.len()));
+
+    for item in &items_to_restart {
+        // Skip items without start_script (primitives and services typically don't need start scripts)
+        if item.start_script.is_none() {
+            output::warning(&format!(
+                "Skipping {} {} (no start_script defined)",
+                item.package_type, item.std_name
+            ));
+            skipped += 1;
+            continue;
+        }
+
+        let mut spinner = output::Spinner::new(format!(
+            "Starting {} {}...",
+            item.package_type, item.std_name
+        ));
+        spinner.start();
+
+        let result = client
+            .send_command(DaemonCommand::Start {
+                package_name: item.package_name.clone(),
+                std_name: item.std_name.clone(),
+                package_type: item.package_type.clone(),
+                package_path: item.package_path.clone(),
+                start_script: item.start_script.as_ref().unwrap().clone(),
+                robonix_sdk_path: config.robonix_sdk_path.clone(),
+            })
+            .await;
+
+        match result {
+            Ok(DaemonResponse::Ok(_)) => {
+                // Fallback for old response format (should not happen with new daemon)
+                spinner.finish_success(&format!("Started {} {}", item.package_type, item.std_name));
+                if items_to_stop
+                    .iter()
+                    .any(|i| i.std_name == item.std_name && i.package_type == item.package_type)
+                {
+                    restarted += 1;
+                } else {
+                    started += 1;
+                }
+            }
+            Ok(DaemonResponse::OkWithDetails {
+                message,
+                pid,
+                pgid,
+                pids,
+            }) => {
+                spinner.finish_success(&message);
+
+                // Display process group info first
+                if let Some(pgid) = pgid {
+                    if let Some(ref pids_list) = pids {
+                        if pids_list.len() > 1 {
+                            output::sub_step(&format!(
+                                "  Process group {} ({} processes): {}",
+                                pgid,
+                                pids_list.len(),
+                                pids_list
+                                    .iter()
+                                    .map(|p| p.to_string())
+                                    .collect::<Vec<_>>()
+                                    .join(", ")
+                            ));
+                        } else {
+                            output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                        }
+                    } else {
+                        output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                    }
+                } else {
+                    output::sub_step(&format!("  PID: {}", pid));
+                }
+
+                // Wait a bit more for process to fully start and spawn children
+                tokio::time::sleep(tokio::time::Duration::from_millis(1000)).await;
+
+                // Get and display process tree
+                #[cfg(unix)]
+                {
+                    use crate::process::ProcessManager;
+                    match ProcessManager::get_process_tree(pid) {
+                        Ok(tree) => {
+                            output::sub_step("Process tree:");
+                            let tree_str = tree.format_tree("", true);
+                            // Print each line
+                            for line in tree_str.lines() {
+                                if !line.trim().is_empty() {
+                                    println!("    {}", line);
+                                }
+                            }
+                        }
+                        Err(e) => {
+                            output::sub_step(&format!("  (tree fetch failed: {})", e));
+                        }
+                    }
+                }
+                #[cfg(not(unix))]
+                {
+                    // Already displayed above
+                }
+
+                if items_to_stop
+                    .iter()
+                    .any(|i| i.std_name == item.std_name && i.package_type == item.package_type)
+                {
+                    restarted += 1;
+                } else {
+                    started += 1;
+                }
+            }
+            Ok(DaemonResponse::Error(e)) => {
+                if e.contains("already running") {
+                    // Already running, count as restarted if it was in stop list
+                    spinner.finish_success(&format!(
+                        "Skipped {} {} (already running)",
+                        item.package_type, item.std_name
+                    ));
+                    if items_to_stop
+                        .iter()
+                        .any(|i| i.std_name == item.std_name && i.package_type == item.package_type)
+                    {
+                        restarted += 1;
+                    } else {
+                        started += 1;
+                    }
+                } else {
+                    spinner.finish_error(&format!(
+                        "Failed to start {} {}: {}",
+                        item.package_type, item.std_name, e
+                    ));
+                    errors += 1;
+                }
+            }
+            Err(e) => {
+                spinner.finish_error(&format!(
+                    "Failed to start {} {}: {}",
+                    item.package_type, item.std_name, e
+                ));
+                errors += 1;
+            }
+            _ => {
+                spinner.finish_error(&format!(
+                    "Unexpected response when starting {} {}",
+                    item.package_type, item.std_name
+                ));
+                errors += 1;
+            }
+        }
+    }
+
+    output::summary(&format!(
+        "Summary: {} restarted, {} started, {} skipped, {} errors",
+        restarted, started, skipped, errors
+    ));
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/search.rs b/rust/robonix-cli/src/cmd/search.rs
new file mode 100644
index 0000000..4097ad6
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/search.rs
@@ -0,0 +1,37 @@
+use crate::{Config, PackageQuery};
+use anyhow::Result;
+
+pub async fn execute_cap(config: Config, name: String) -> Result<()> {
+    let query = PackageQuery::new(config);
+    // Try to find as primitive first, then as service
+    let packages_prm = query.find_by_primitive(&name)?;
+    let packages_srv = query.find_by_service(&name)?;
+    let packages: std::collections::HashSet<String> = packages_prm
+        .into_iter()
+        .chain(packages_srv.into_iter())
+        .collect();
+
+    if packages.is_empty() {
+        println!("No packages found with primitive or service: {}", name);
+    } else {
+        println!("Packages with primitive or service '{}':", name);
+        for pkg in packages {
+            println!("  - {}", pkg);
+        }
+    }
+    Ok(())
+}
+
+pub async fn execute_skill(config: Config, name: String) -> Result<()> {
+    let query = PackageQuery::new(config);
+    let packages = query.find_by_skill(&name)?;
+    if packages.is_empty() {
+        println!("No packages found with skill: {}", name);
+    } else {
+        println!("Packages with skill '{}':", name);
+        for pkg in packages {
+            println!("  - {}", pkg);
+        }
+    }
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/start.rs b/rust/robonix-cli/src/cmd/start.rs
new file mode 100644
index 0000000..2fdcbfd
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/start.rs
@@ -0,0 +1,165 @@
+use super::recipe_utils;
+use crate::daemon_client::{DaemonClient, DaemonCommand, DaemonResponse};
+use crate::{output, Config};
+use anyhow::Result;
+
+pub async fn execute(config: Config, target: String) -> Result<()> {
+    // Ensure daemon is running
+    let client = DaemonClient::new()?;
+    client.ensure_daemon_running().await?;
+
+    // Get all items from active recipe
+    let all_items = recipe_utils::get_recipe_items(&config)?;
+
+    // Filter items by pattern
+    let items_to_start = if target == "all" {
+        all_items
+    } else {
+        recipe_utils::filter_items(&all_items, &target)
+    };
+
+    if items_to_start.is_empty() {
+        output::warning(&format!("No matching items found for pattern: {}", target));
+        return Ok(());
+    }
+
+    output::action("Starting", &format!("{} item(s)", items_to_start.len()));
+
+    let mut started = 0;
+    let mut skipped = 0;
+    let mut errors = 0;
+
+    for item in &items_to_start {
+        // Skip items without start_script (primitives and services typically don't need start scripts)
+        if item.start_script.is_none() {
+            output::warning(&format!(
+                "Skipping {} {} (no start_script defined)",
+                item.package_type, item.std_name
+            ));
+            skipped += 1;
+            continue;
+        }
+
+        let mut spinner = output::Spinner::new(format!(
+            "Starting {} {}...",
+            item.package_type, item.std_name
+        ));
+        spinner.start();
+
+        let result = client
+            .send_command(DaemonCommand::Start {
+                package_name: item.package_name.clone(),
+                std_name: item.std_name.clone(),
+                package_type: item.package_type.clone(),
+                package_path: item.package_path.clone(),
+                start_script: item.start_script.as_ref().unwrap().clone(),
+                robonix_sdk_path: config.robonix_sdk_path.clone(),
+            })
+            .await;
+
+        match result {
+            Ok(DaemonResponse::Ok(_)) => {
+                spinner.finish_success(&format!("Started {} {}", item.package_type, item.std_name));
+                started += 1;
+            }
+            Ok(DaemonResponse::OkWithDetails {
+                message,
+                pid,
+                pgid,
+                pids,
+            }) => {
+                spinner.finish_success(&message);
+
+                // Display process group info first
+                if let Some(pgid) = pgid {
+                    if let Some(ref pids_list) = pids {
+                        if pids_list.len() > 1 {
+                            output::sub_step(&format!(
+                                "  Process group {} ({} processes): {}",
+                                pgid,
+                                pids_list.len(),
+                                pids_list
+                                    .iter()
+                                    .map(|p| p.to_string())
+                                    .collect::<Vec<_>>()
+                                    .join(", ")
+                            ));
+                        } else {
+                            output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                        }
+                    } else {
+                        output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                    }
+                } else {
+                    output::sub_step(&format!("  PID: {}", pid));
+                }
+
+                // Wait a bit more for process to fully start and spawn children
+                tokio::time::sleep(tokio::time::Duration::from_millis(1000)).await;
+
+                // Get and display process tree
+                #[cfg(unix)]
+                {
+                    use crate::process::ProcessManager;
+                    match ProcessManager::get_process_tree(pid) {
+                        Ok(tree) => {
+                            output::sub_step("Process tree:");
+                            let tree_str = tree.format_tree("", true);
+                            // Print each line
+                            for line in tree_str.lines() {
+                                if !line.trim().is_empty() {
+                                    println!("    {}", line);
+                                }
+                            }
+                        }
+                        Err(e) => {
+                            output::sub_step(&format!("  (tree fetch failed: {})", e));
+                        }
+                    }
+                }
+                #[cfg(not(unix))]
+                {
+                    // Already displayed above
+                }
+
+                started += 1;
+            }
+            Ok(DaemonResponse::Error(e)) => {
+                if e.contains("already running") {
+                    spinner.finish_success(&format!(
+                        "Skipped {} {} (already running)",
+                        item.package_type, item.std_name
+                    ));
+                    skipped += 1;
+                } else {
+                    spinner.finish_error(&format!(
+                        "Failed to start {} {}: {}",
+                        item.package_type, item.std_name, e
+                    ));
+                    errors += 1;
+                }
+            }
+            Err(e) => {
+                spinner.finish_error(&format!(
+                    "Failed to start {} {}: {}",
+                    item.package_type, item.std_name, e
+                ));
+                errors += 1;
+            }
+            _ => {
+                spinner.finish_error(&format!(
+                    "Unexpected response when starting {} {}",
+                    item.package_type, item.std_name
+                ));
+                errors += 1;
+            }
+        }
+    }
+
+    output::summary(&format!(
+        "Summary: {} started, {} skipped, {} errors",
+        started, skipped, errors
+    ));
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/status.rs b/rust/robonix-cli/src/cmd/status.rs
new file mode 100644
index 0000000..72f7c2c
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/status.rs
@@ -0,0 +1,283 @@
+use crate::daemon_client::{DaemonClient, DaemonCommand, DaemonResponse};
+use crate::{Config, PackageDatabase, RecipeState};
+use anyhow::Result;
+use serde_yaml::Value;
+use std::path::PathBuf;
+
+pub async fn execute(config: Config) -> Result<()> {
+    // Ensure daemon is running
+    let client = DaemonClient::new()?;
+    client.ensure_daemon_running().await?;
+
+    // Get status from daemon
+    let status_response = client.send_command(DaemonCommand::Status).await?;
+
+    let running_processes = match status_response {
+        DaemonResponse::Status(procs) => procs,
+        _ => {
+            anyhow::bail!("Unexpected response from daemon");
+        }
+    };
+
+    // Create a map for quick lookup
+    let running_map: std::collections::HashMap<(String, String), (u32, PathBuf)> =
+        running_processes
+            .into_iter()
+            .map(|proc| {
+                let key = (proc.std_name.clone(), proc.package_type.clone());
+                (key, (proc.pid, proc.log_file))
+            })
+            .collect();
+    let db = PackageDatabase::load(&config.package_storage_path)?;
+
+    // Show active recipe
+    if let Ok(Some(recipe_state)) = RecipeState::load(&config.package_storage_path) {
+        println!("\x1b[1mActive Recipe:\x1b[0m");
+        println!("  Name: {}", recipe_state.recipe.name);
+        if let Some(desc) = &recipe_state.recipe.description {
+            println!("  Description: {}", desc);
+        }
+        println!("  Path: {}", recipe_state.recipe_path.display());
+        println!("  Registered at: {}", recipe_state.registered_at);
+        println!();
+    } else {
+        println!("\x1b[1mActive Recipe:\x1b[0m None");
+        println!();
+    }
+
+    // Get all packages from active recipe only
+    let recipe_state = RecipeState::load(&config.package_storage_path)?;
+    let packages_to_show = if let Some(recipe_state) = &recipe_state {
+        // Show packages from recipe
+        recipe_state
+            .recipe
+            .packages
+            .iter()
+            .filter_map(|rp| db.find_by_name(&rp.name))
+            .collect::<Vec<_>>()
+    } else {
+        // No active recipe, nothing to show
+        println!("No active recipe. Register a recipe to see status.");
+        return Ok(());
+    };
+
+    if packages_to_show.is_empty() {
+        println!("No packages to display.");
+        return Ok(());
+    }
+
+    // Collect all capabilities and skills with their status
+    let mut all_items: Vec<(String, String, String, bool, Option<u32>, Option<String>)> =
+        Vec::new();
+    // Format: (package_name, std_name, type, is_running, pid, log_file)
+
+    for pkg_info in &packages_to_show {
+        // Load manifest
+        let manifest_content = std::fs::read_to_string(&pkg_info.manifest_path)?;
+        let _manifest: Value = serde_yaml::from_str(&manifest_content)?;
+
+        // Determine which primitives, services, and skills to show based on recipe
+        // recipe_state is guaranteed to be Some at this point
+        let (prims_to_show, srvs_to_show, skills_to_show) =
+            if let Some(recipe_state) = &recipe_state {
+                if let Some(recipe_pkg) = recipe_state
+                    .recipe
+                    .packages
+                    .iter()
+                    .find(|rp| rp.name == pkg_info.name)
+                {
+                    let prims = if let Some(prims) = &recipe_pkg.primitives {
+                        prims.clone()
+                    } else {
+                        pkg_info.primitives.clone()
+                    };
+                    let srvs = if let Some(srvs) = &recipe_pkg.services {
+                        srvs.clone()
+                    } else {
+                        pkg_info.services.clone()
+                    };
+                    let skills = if let Some(skills) = &recipe_pkg.skills {
+                        skills.clone()
+                    } else {
+                        pkg_info.skills.clone()
+                    };
+                    (prims, srvs, skills)
+                } else {
+                    (
+                        pkg_info.primitives.clone(),
+                        pkg_info.services.clone(),
+                        pkg_info.skills.clone(),
+                    )
+                }
+            } else {
+                // This should never happen due to early return above
+                (
+                    pkg_info.primitives.clone(),
+                    pkg_info.services.clone(),
+                    pkg_info.skills.clone(),
+                )
+            };
+
+        // Add primitives
+        for prim_name in &prims_to_show {
+            let key = (prim_name.clone(), "prm".to_string());
+            let (is_running, pid, log_file) =
+                if let Some((proc_pid, proc_log_file)) = running_map.get(&key) {
+                    (
+                        true,
+                        Some(*proc_pid),
+                        Some(
+                            proc_log_file
+                                .file_name()
+                                .and_then(|n| n.to_str())
+                                .map(|s| s.to_string())
+                                .unwrap_or_default(),
+                        ),
+                    )
+                } else {
+                    (false, None, None)
+                };
+            all_items.push((
+                pkg_info.name.clone(),
+                prim_name.clone(),
+                "prm".to_string(),
+                is_running,
+                pid,
+                log_file,
+            ));
+        }
+
+        // Add services
+        for srv_name in &srvs_to_show {
+            let key = (srv_name.clone(), "srv".to_string());
+            let (is_running, pid, log_file) =
+                if let Some((proc_pid, proc_log_file)) = running_map.get(&key) {
+                    (
+                        true,
+                        Some(*proc_pid),
+                        Some(
+                            proc_log_file
+                                .file_name()
+                                .and_then(|n| n.to_str())
+                                .map(|s| s.to_string())
+                                .unwrap_or_default(),
+                        ),
+                    )
+                } else {
+                    (false, None, None)
+                };
+            all_items.push((
+                pkg_info.name.clone(),
+                srv_name.clone(),
+                "srv".to_string(),
+                is_running,
+                pid,
+                log_file,
+            ));
+        }
+
+        // Add skills
+        for skill_name in &skills_to_show {
+            let key = (skill_name.clone(), "skl".to_string());
+            let (is_running, pid, log_file) =
+                if let Some((proc_pid, proc_log_file)) = running_map.get(&key) {
+                    (
+                        true,
+                        Some(*proc_pid),
+                        Some(
+                            proc_log_file
+                                .file_name()
+                                .and_then(|n| n.to_str())
+                                .map(|s| s.to_string())
+                                .unwrap_or_default(),
+                        ),
+                    )
+                } else {
+                    (false, None, None)
+                };
+            all_items.push((
+                pkg_info.name.clone(),
+                skill_name.clone(),
+                "skl".to_string(),
+                is_running,
+                pid,
+                log_file,
+            ));
+        }
+    }
+
+    if all_items.is_empty() {
+        println!("No primitives, services, or skills to display.");
+        return Ok(());
+    }
+
+    // Calculate column widths
+    let max_package_len = all_items
+        .iter()
+        .map(|(pkg, _, _, _, _, _)| pkg.len())
+        .max()
+        .unwrap_or(0)
+        .max(7);
+    let max_std_name_len = all_items
+        .iter()
+        .map(|(_, name, _, _, _, _)| name.len())
+        .max()
+        .unwrap_or(0)
+        .max(10);
+    let max_log_file_len = all_items
+        .iter()
+        .filter_map(|(_, _, _, _, _, log)| log.as_ref())
+        .map(|s| s.len())
+        .max()
+        .unwrap_or(0)
+        .max(8);
+
+    // Print header
+    println!(
+        "\x1b[1m{:<pkg_width$}  {:<name_width$}  Type  Status    PID     {:<log_width$}\x1b[0m",
+        "Package",
+        "Cap/Skill",
+        "Log File",
+        pkg_width = max_package_len,
+        name_width = max_std_name_len,
+        log_width = max_log_file_len
+    );
+    println!(
+        "{}  {}  {}  {}  {}  {}",
+        "─".repeat(max_package_len),
+        "─".repeat(max_std_name_len),
+        "────",
+        "──────",
+        "───────",
+        "─".repeat(max_log_file_len)
+    );
+
+    // Print all items
+    for (package_name, std_name, item_type, is_running, pid, log_file) in &all_items {
+        let status = if *is_running {
+            "\x1b[32mRunning\x1b[0m"
+        } else {
+            "\x1b[33mStopped\x1b[0m"
+        };
+        let pid_str = if let Some(p) = pid {
+            p.to_string()
+        } else {
+            "-".to_string()
+        };
+        let log_file_str = log_file.as_deref().unwrap_or("-");
+        println!(
+            "{:<pkg_width$}  {:<name_width$}  {:<4}  {:<6}  {:<7}  {:<log_width$}",
+            package_name,
+            std_name,
+            item_type,
+            status,
+            pid_str,
+            log_file_str,
+            pkg_width = max_package_len,
+            name_width = max_std_name_len,
+            log_width = max_log_file_len
+        );
+    }
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/stop.rs b/rust/robonix-cli/src/cmd/stop.rs
new file mode 100644
index 0000000..2142835
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/stop.rs
@@ -0,0 +1,149 @@
+use super::recipe_utils;
+use crate::daemon_client::{DaemonClient, DaemonCommand, DaemonResponse};
+use crate::{output, Config};
+use anyhow::Result;
+
+pub async fn execute(config: Config, target: String) -> Result<()> {
+    // Ensure daemon is running
+    let client = DaemonClient::new()?;
+    client.ensure_daemon_running().await?;
+
+    // Get status from daemon
+    let status_response = client.send_command(DaemonCommand::Status).await?;
+
+    let running_processes = match status_response {
+        DaemonResponse::Status(procs) => procs,
+        _ => {
+            anyhow::bail!("Unexpected response from daemon");
+        }
+    };
+
+    // Get all items from active recipe
+    let all_items = recipe_utils::get_recipe_items(&config)?;
+
+    // Filter running processes by pattern
+    let processes_to_stop: Vec<_> = if target == "all" {
+        // Stop all running processes that are in the recipe
+        let recipe_std_names: std::collections::HashSet<String> = all_items
+            .iter()
+            .map(|item| format!("{}::{}", item.package_type, item.std_name))
+            .collect();
+
+        running_processes
+            .into_iter()
+            .filter(|proc| {
+                let key = format!("{}::{}", proc.package_type, proc.std_name);
+                recipe_std_names.contains(&key)
+            })
+            .collect()
+    } else {
+        // Filter by pattern
+        let matching_items = recipe_utils::filter_items(&all_items, &target);
+        let matching_keys: std::collections::HashSet<String> = matching_items
+            .iter()
+            .map(|item| format!("{}::{}", item.package_type, item.std_name))
+            .collect();
+
+        running_processes
+            .into_iter()
+            .filter(|proc| {
+                let key = format!("{}::{}", proc.package_type, proc.std_name);
+                matching_keys.contains(&key)
+            })
+            .collect()
+    };
+
+    if processes_to_stop.is_empty() {
+        output::warning(&format!(
+            "No matching running processes found for pattern: {}",
+            target
+        ));
+        return Ok(());
+    }
+
+    output::action(
+        "Stopping",
+        &format!("{} process(es)", processes_to_stop.len()),
+    );
+
+    let mut stopped = 0;
+    let mut errors = 0;
+
+    for proc in &processes_to_stop {
+        let mut spinner = output::Spinner::new(format!(
+            "Stopping {} {}...",
+            proc.package_type, proc.std_name
+        ));
+        spinner.start();
+
+        let result = client
+            .send_command(DaemonCommand::Stop {
+                std_name: proc.std_name.clone(),
+                package_type: proc.package_type.clone(),
+            })
+            .await;
+
+        match result {
+            Ok(DaemonResponse::Ok(_)) => {
+                spinner.finish_success(&format!("Stopped {} {}", proc.package_type, proc.std_name));
+                stopped += 1;
+            }
+            Ok(DaemonResponse::OkWithDetails {
+                message,
+                pid,
+                pgid,
+                pids,
+            }) => {
+                spinner.finish_success(&message);
+                if let Some(pgid) = pgid {
+                    if let Some(ref pids_list) = pids {
+                        if pids_list.len() > 1 {
+                            output::sub_step(&format!(
+                                "  Process group {} ({} processes): {}",
+                                pgid,
+                                pids_list.len(),
+                                pids_list
+                                    .iter()
+                                    .map(|p| p.to_string())
+                                    .collect::<Vec<_>>()
+                                    .join(", ")
+                            ));
+                        } else {
+                            output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                        }
+                    } else {
+                        output::sub_step(&format!("  PID: {}, PGID: {}", pid, pgid));
+                    }
+                } else {
+                    output::sub_step(&format!("  PID: {}", pid));
+                }
+                stopped += 1;
+            }
+            Ok(DaemonResponse::Error(e)) => {
+                spinner.finish_error(&format!(
+                    "Failed to stop {} {}: {}",
+                    proc.package_type, proc.std_name, e
+                ));
+                errors += 1;
+            }
+            Err(e) => {
+                spinner.finish_error(&format!(
+                    "Failed to stop {} {}: {}",
+                    proc.package_type, proc.std_name, e
+                ));
+                errors += 1;
+            }
+            _ => {
+                spinner.finish_error(&format!(
+                    "Unexpected response when stopping {} {}",
+                    proc.package_type, proc.std_name
+                ));
+                errors += 1;
+            }
+        }
+    }
+
+    output::summary(&format!("Summary: {} stopped, {} errors", stopped, errors));
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/task.rs b/rust/robonix-cli/src/cmd/task.rs
new file mode 100644
index 0000000..d5caafe
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/task.rs
@@ -0,0 +1,52 @@
+use crate::config::Config;
+use crate::output;
+use crate::task::TaskClient;
+use anyhow::Result;
+
+pub async fn execute_create(config: Config, natural_language: String) -> Result<()> {
+    output::action("Submitting", "task");
+
+    let client = TaskClient::new(config)?;
+    let response = client
+        .submit(natural_language.clone(), serde_json::json!({}))
+        .await?;
+
+    output::success(&format!("Task submitted: {}", response.task_id));
+    output::info(&format!("  Natural language: {}", natural_language));
+    output::info(&format!("  Task ID: {}", response.task_id));
+
+    Ok(())
+}
+
+pub async fn execute_get(config: Config, task_id: String) -> Result<()> {
+    output::action("Getting", &format!("task {}", task_id));
+
+    let client = TaskClient::new(config)?;
+
+    // Get task status
+    let status_response = client.status(task_id.clone()).await?;
+    output::info(&format!("  Status: {}", status_response.status));
+
+    // Get task result
+    let result_response = client.result(task_id.clone()).await?;
+    // Parse JSON string and pretty print
+    let result_value: serde_json::Value = serde_json::from_str(&result_response.result)
+        .unwrap_or_else(|_| serde_json::json!({"error": "Failed to parse result JSON"}));
+    output::info(&format!(
+        "  Result: {}",
+        serde_json::to_string_pretty(&result_value)?
+    ));
+
+    Ok(())
+}
+
+pub async fn execute_list(_config: Config) -> Result<()> {
+    output::warning("List tasks functionality is not yet implemented in the new EAIOS API");
+    output::info("Use 'task get <task_id>' to query individual tasks");
+    Ok(())
+}
+
+pub async fn execute_cancel(_config: Config, _task_id: String) -> Result<()> {
+    output::warning("Cancel task functionality is not yet implemented in the new EAIOS API");
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/cmd/unregister.rs b/rust/robonix-cli/src/cmd/unregister.rs
new file mode 100644
index 0000000..fb14d13
--- /dev/null
+++ b/rust/robonix-cli/src/cmd/unregister.rs
@@ -0,0 +1,67 @@
+use crate::{Config, PackageUnregistrar, ProcessManager};
+use anyhow::Result;
+use std::path::PathBuf;
+
+pub async fn execute(config: Config, target: String) -> Result<()> {
+    // Check if there are any running processes before unregistering
+    let log_dir = config.package_storage_path.join("logs");
+    let process_manager = ProcessManager::new(log_dir)?;
+    let running_processes = process_manager.get_running_processes();
+
+    if !running_processes.is_empty() {
+        anyhow::bail!(
+            "Cannot unregister while processes are running. Please stop all processes first using 'deploy stop'.\n\
+            Running processes:\n{}",
+            running_processes
+                .iter()
+                .map(|p| format!("  - {}::{} (PID: {})", p.package_type, p.std_name, p.pid))
+                .collect::<Vec<_>>()
+                .join("\n")
+        );
+    }
+
+    let unregistrar = PackageUnregistrar::new(config)?;
+
+    // Parse target format
+    if target.ends_with(".yaml") || target.ends_with(".yml") {
+        // Recipe file
+        let recipe_path = PathBuf::from(&target);
+        unregistrar.unregister_from_recipe(&recipe_path).await?;
+    } else if target.contains('.') {
+        // package.primitive, package.service, or package.skill format
+        let parts: Vec<&str> = target.splitn(2, '.').collect();
+        if parts.len() == 2 {
+            let package_name = parts[0];
+            let item_name = parts[1];
+
+            if item_name.starts_with("prm::") {
+                unregistrar
+                    .unregister_primitive(package_name, item_name)
+                    .await?;
+            } else if item_name.starts_with("srv::") {
+                unregistrar
+                    .unregister_service(package_name, item_name)
+                    .await?;
+            } else if item_name.starts_with("skl::") {
+                unregistrar
+                    .unregister_skill(package_name, item_name)
+                    .await?;
+            } else {
+                anyhow::bail!(
+                    "Invalid format. Expected 'package.prm::name', 'package.srv::name', or 'package.skl::name', got: {}",
+                    target
+                );
+            }
+        } else {
+            anyhow::bail!(
+                "Invalid format. Expected 'package.prm::name', 'package.srv::name', or 'package.skl::name', got: {}",
+                target
+            );
+        }
+    } else {
+        // Package name
+        unregistrar.unregister_package(&target).await?;
+    }
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/config.rs b/rust/robonix-cli/src/config.rs
new file mode 100644
index 0000000..1082dd8
--- /dev/null
+++ b/rust/robonix-cli/src/config.rs
@@ -0,0 +1,92 @@
+use anyhow::{Context, Result};
+use dirs;
+use serde::{Deserialize, Serialize};
+use std::path::PathBuf;
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct Config {
+    pub package_storage_path: PathBuf,
+    #[serde(skip_serializing_if = "Option::is_none")]
+    pub robonix_sdk_path: Option<PathBuf>,
+}
+
+impl Config {
+    pub fn config_file_path() -> Result<PathBuf> {
+        // Use ~/.robonix/config.yaml instead of ~/.config/robonix/config.yaml
+        let home_dir = dirs::home_dir().context("Failed to get home directory")?;
+        Ok(home_dir.join(".robonix").join("config.yaml"))
+    }
+
+    pub fn load() -> Result<Self> {
+        let config_path = Self::config_file_path()?;
+
+        if !config_path.exists() {
+            // Create default config
+            let default = Self::default();
+            default.save()?;
+            return Ok(default);
+        }
+
+        let content = std::fs::read_to_string(&config_path)
+            .with_context(|| format!("Failed to read config file: {}", config_path.display()))?;
+
+        let config: Config = serde_yaml::from_str(&content)
+            .with_context(|| format!("Failed to parse config file: {}", config_path.display()))?;
+
+        Ok(config)
+    }
+
+    pub fn save(&self) -> Result<()> {
+        let config_path = Self::config_file_path()?;
+
+        // Create parent directory if it doesn't exist
+        if let Some(parent) = config_path.parent() {
+            std::fs::create_dir_all(parent).with_context(|| {
+                format!("Failed to create config directory: {}", parent.display())
+            })?;
+        }
+
+        let content = serde_yaml::to_string(self).context("Failed to serialize config")?;
+
+        std::fs::write(&config_path, content)
+            .with_context(|| format!("Failed to write config file: {}", config_path.display()))?;
+
+        Ok(())
+    }
+
+    pub fn default() -> Self {
+        let default_path = dirs::home_dir()
+            .unwrap_or_else(|| PathBuf::from("/tmp"))
+            .join(".robonix")
+            .join("packages");
+
+        Self {
+            package_storage_path: default_path,
+            robonix_sdk_path: None,
+        }
+    }
+
+    pub fn ensure_storage_dir(&self) -> Result<()> {
+        // Check if path exists and is a directory (following symlinks)
+        if let Ok(metadata) = std::fs::metadata(&self.package_storage_path) {
+            if metadata.is_dir() {
+                // Directory already exists (or symlink points to directory), nothing to do
+                return Ok(());
+            } else {
+                anyhow::bail!(
+                    "Package storage path exists but is not a directory: {}",
+                    self.package_storage_path.display()
+                );
+            }
+        }
+
+        // Path doesn't exist, create it
+        std::fs::create_dir_all(&self.package_storage_path).with_context(|| {
+            format!(
+                "Failed to create package storage directory: {}",
+                self.package_storage_path.display()
+            )
+        })?;
+        Ok(())
+    }
+}
diff --git a/rust/robonix-cli/src/daemon.rs b/rust/robonix-cli/src/daemon.rs
new file mode 100644
index 0000000..adfba51
--- /dev/null
+++ b/rust/robonix-cli/src/daemon.rs
@@ -0,0 +1,191 @@
+use crate::daemon_client::{DaemonCommand, DaemonResponse, ProcessStatus};
+use crate::process::ProcessManager;
+use anyhow::{Context, Result};
+use dirs;
+use std::path::PathBuf;
+use std::sync::Arc;
+use tokio::fs;
+use tokio::io::{AsyncReadExt, AsyncWriteExt};
+use tokio::net::{UnixListener, UnixStream};
+use tokio::signal;
+use tracing::{error, info, warn};
+
+pub struct Daemon {
+    process_manager: Arc<ProcessManager>,
+    socket_path: PathBuf,
+}
+
+impl Daemon {
+    pub async fn new(config: crate::Config) -> Result<Self> {
+        let log_dir = config.package_storage_path.join("logs");
+        let process_manager = Arc::new(ProcessManager::new(log_dir)?);
+
+        let home_dir = dirs::home_dir().context("Failed to get home directory")?;
+        let socket_dir = home_dir.join(".robonix");
+        std::fs::create_dir_all(&socket_dir).with_context(|| {
+            format!(
+                "Failed to create socket directory: {}",
+                socket_dir.display()
+            )
+        })?;
+        let socket_path = socket_dir.join("daemon.sock");
+
+        // Remove old socket if exists
+        if socket_path.exists() {
+            fs::remove_file(&socket_path).await?;
+        }
+
+        Ok(Self {
+            process_manager,
+            socket_path,
+        })
+    }
+
+    pub async fn run(&self) -> Result<()> {
+        info!("Starting robonix daemon...");
+
+        // Create Unix socket listener
+        let listener = UnixListener::bind(&self.socket_path)
+            .with_context(|| format!("Failed to bind socket: {}", self.socket_path.display()))?;
+
+        info!("Daemon listening on {}", self.socket_path.display());
+
+        // Spawn task to handle shutdown signal
+        let socket_path_clone = self.socket_path.clone();
+        tokio::spawn(async move {
+            signal::ctrl_c().await.ok();
+            info!("Received shutdown signal, cleaning up...");
+            let _ = fs::remove_file(&socket_path_clone).await;
+            std::process::exit(0);
+        });
+
+        // Main loop: accept connections and handle commands
+        loop {
+            match listener.accept().await {
+                Ok((stream, _)) => {
+                    let process_manager = self.process_manager.clone();
+                    tokio::spawn(async move {
+                        if let Err(e) = Self::handle_client(stream, process_manager).await {
+                            error!("Error handling client: {}", e);
+                        }
+                    });
+                }
+                Err(e) => {
+                    error!("Failed to accept connection: {}", e);
+                }
+            }
+        }
+    }
+
+    async fn handle_client(
+        mut stream: UnixStream,
+        process_manager: Arc<ProcessManager>,
+    ) -> Result<()> {
+        // Read command length
+        let command_len = match stream.read_u32_le().await {
+            Ok(len) => len,
+            Err(e) => {
+                warn!("Failed to read command length: {}", e);
+                return Ok(());
+            }
+        };
+
+        // Read command
+        let mut command_bytes = vec![0u8; command_len as usize];
+        stream.read_exact(&mut command_bytes).await?;
+
+        // Deserialize command
+        let command: DaemonCommand = match serde_json::from_slice(&command_bytes) {
+            Ok(cmd) => cmd,
+            Err(e) => {
+                let response = DaemonResponse::Error(format!("Invalid command: {}", e));
+                Self::send_response(&mut stream, response).await?;
+                return Ok(());
+            }
+        };
+
+        // Handle command
+        let response = match command {
+            DaemonCommand::Start {
+                package_name,
+                std_name,
+                package_type,
+                package_path,
+                start_script,
+                robonix_sdk_path,
+            } => {
+                // Check if already running
+                if process_manager.is_running(&std_name, &package_type) {
+                    DaemonResponse::Error(format!(
+                        "{} {} is already running",
+                        package_type, std_name
+                    ))
+                } else {
+                    match process_manager
+                        .start_process(
+                            &package_name,
+                            &std_name,
+                            &package_type,
+                            &package_path,
+                            &start_script,
+                            robonix_sdk_path.as_ref(),
+                        )
+                        .await
+                    {
+                        Ok(result) => DaemonResponse::OkWithDetails {
+                            message: format!("Started {} {}", package_type, std_name),
+                            pid: result.pid,
+                            pgid: result.pgid,
+                            pids: result.pids,
+                        },
+                        Err(e) => DaemonResponse::Error(format!("Failed to start: {}", e)),
+                    }
+                }
+            }
+            DaemonCommand::Stop {
+                std_name,
+                package_type,
+            } => match process_manager.stop_process(&std_name, &package_type).await {
+                Ok(result) => DaemonResponse::OkWithDetails {
+                    message: format!("Stopped {} {}", package_type, std_name),
+                    pid: result.pid,
+                    pgid: result.pgid,
+                    pids: result.pids,
+                },
+                Err(e) => DaemonResponse::Error(format!("Failed to stop: {}", e)),
+            },
+            DaemonCommand::Status => {
+                let processes = process_manager.get_running_processes();
+                let status: Vec<ProcessStatus> = processes
+                    .into_iter()
+                    .map(|proc| ProcessStatus {
+                        package_name: proc.package_name,
+                        std_name: proc.std_name,
+                        package_type: proc.package_type,
+                        pid: proc.pid,
+                        log_file: proc.log_file,
+                    })
+                    .collect();
+                DaemonResponse::Status(status)
+            }
+            DaemonCommand::Ping => DaemonResponse::Ok("pong".to_string()),
+        };
+
+        // Send response
+        Self::send_response(&mut stream, response).await?;
+        Ok(())
+    }
+
+    async fn send_response(stream: &mut UnixStream, response: DaemonResponse) -> Result<()> {
+        let response_json = serde_json::to_string(&response)?;
+        let response_bytes = response_json.as_bytes();
+        let len = response_bytes.len() as u32;
+
+        // Send length prefix (little-endian)
+        stream.write_u32_le(len).await?;
+        // Send response
+        stream.write_all(response_bytes).await?;
+        stream.flush().await?;
+        Ok(())
+    }
+}
diff --git a/rust/robonix-cli/src/daemon_client.rs b/rust/robonix-cli/src/daemon_client.rs
new file mode 100644
index 0000000..16900d8
--- /dev/null
+++ b/rust/robonix-cli/src/daemon_client.rs
@@ -0,0 +1,279 @@
+use anyhow::{Context, Result};
+use dirs;
+use serde::{Deserialize, Serialize};
+use std::path::PathBuf;
+use tokio::io::{AsyncReadExt, AsyncWriteExt};
+use tokio::net::UnixStream;
+
+#[derive(Debug, Serialize, Deserialize)]
+pub enum DaemonCommand {
+    Start {
+        package_name: String,
+        std_name: String,
+        package_type: String,
+        package_path: PathBuf,
+        start_script: String,
+        robonix_sdk_path: Option<PathBuf>,
+    },
+    Stop {
+        std_name: String,
+        package_type: String,
+    },
+    Status,
+    Ping,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub enum DaemonResponse {
+    Ok(String),
+    OkWithDetails {
+        message: String,
+        pid: u32,
+        pgid: Option<u32>,
+        pids: Option<Vec<u32>>,
+    },
+    Error(String),
+    Status(Vec<ProcessStatus>),
+}
+
+#[derive(Debug, Serialize, Deserialize, Clone)]
+pub struct ProcessStatus {
+    pub package_name: String,
+    pub std_name: String,
+    pub package_type: String,
+    pub pid: u32,
+    pub log_file: PathBuf,
+}
+
+pub struct DaemonClient {
+    socket_path: PathBuf,
+}
+
+impl DaemonClient {
+    pub fn new() -> Result<Self> {
+        let home_dir = dirs::home_dir().context("Failed to get home directory")?;
+        let socket_dir = home_dir.join(".robonix");
+        std::fs::create_dir_all(&socket_dir).with_context(|| {
+            format!(
+                "Failed to create socket directory: {}",
+                socket_dir.display()
+            )
+        })?;
+        let socket_path = socket_dir.join("daemon.sock");
+        Ok(Self { socket_path })
+    }
+
+    pub async fn send_command(&self, command: DaemonCommand) -> Result<DaemonResponse> {
+        // Check if daemon is running
+        if !self.is_daemon_running().await {
+            anyhow::bail!("Daemon is not running. Please start it with 'rbnx-daemon'");
+        }
+
+        // Connect to daemon socket
+        let mut stream = UnixStream::connect(&self.socket_path)
+            .await
+            .with_context(|| {
+                format!(
+                    "Failed to connect to daemon socket: {}",
+                    self.socket_path.display()
+                )
+            })?;
+
+        // Serialize and send command
+        let command_json = serde_json::to_string(&command)?;
+        let command_bytes = command_json.as_bytes();
+        let len = command_bytes.len() as u32;
+
+        // Send length prefix (little-endian)
+        stream.write_u32_le(len).await?;
+        // Send command
+        stream.write_all(command_bytes).await?;
+        stream.flush().await?;
+
+        // Read response length
+        let response_len = stream.read_u32_le().await?;
+        let mut response_bytes = vec![0u8; response_len as usize];
+        stream.read_exact(&mut response_bytes).await?;
+
+        // Deserialize response
+        let response: DaemonResponse = serde_json::from_slice(&response_bytes)?;
+        Ok(response)
+    }
+
+    pub async fn is_daemon_running(&self) -> bool {
+        // Check if socket file exists and is accessible
+        if !self.socket_path.exists() {
+            return false;
+        }
+
+        // Try to connect and ping
+        match UnixStream::connect(&self.socket_path).await {
+            Ok(_) => true,
+            Err(_) => false,
+        }
+    }
+
+    pub async fn ensure_daemon_running(&self) -> Result<()> {
+        if !self.is_daemon_running().await {
+            // Try to start daemon
+            tracing::info!("Daemon not running, attempting to start...");
+            let daemon_path = Self::find_daemon_executable()?;
+            tracing::info!("Found daemon executable at: {}", daemon_path.display());
+
+            // Start daemon in background
+            #[cfg(unix)]
+            {
+                use std::process::Stdio;
+
+                // Spawn daemon process with null stdio
+                // The daemon will run in the background
+                let mut child = std::process::Command::new(&daemon_path)
+                    .stdout(Stdio::null())
+                    .stderr(Stdio::null())
+                    .stdin(Stdio::null())
+                    .spawn()
+                    .with_context(|| {
+                        format!("Failed to spawn daemon process: {}", daemon_path.display())
+                    })?;
+
+                // Check if process started successfully
+                // If it exits immediately, there was an error
+                tokio::time::sleep(tokio::time::Duration::from_millis(100)).await;
+
+                // Try to wait for the process with a timeout to see if it exited immediately
+                // Note: This is a best-effort check - the process might have already started successfully
+                if let Ok(Some(status)) = child.try_wait() {
+                    if !status.success() {
+                        anyhow::bail!(
+                            "Daemon process exited immediately with status: {:?}. \
+                            The daemon may have encountered an error during startup. \
+                            Try running 'rbnx-daemon' manually to see error messages.",
+                            status
+                        );
+                    }
+                }
+
+                // Detach the process so it can run independently
+                drop(child);
+
+                // Wait a bit for daemon to start and create socket
+                tokio::time::sleep(tokio::time::Duration::from_millis(1500)).await;
+            }
+
+            // Check if daemon is now running
+            if !self.is_daemon_running().await {
+                // Try to get more info - check if socket directory exists
+                let home_dir = dirs::home_dir().context("Failed to get home directory")?;
+                let socket_dir = home_dir.join(".robonix");
+                let socket_path = socket_dir.join("daemon.sock");
+
+                if !socket_dir.exists() {
+                    anyhow::bail!(
+                        "Failed to start daemon. Socket directory does not exist: {}. \
+                        The daemon may have failed during initialization. \
+                        Try running 'rbnx-daemon' manually to see error messages.",
+                        socket_dir.display()
+                    );
+                }
+
+                if !socket_path.exists() {
+                    anyhow::bail!(
+                        "Failed to start daemon. Socket file was not created at: {}. \
+                        The daemon may have crashed during startup. \
+                        Try running 'rbnx-daemon' manually to see error messages.",
+                        socket_path.display()
+                    );
+                }
+
+                anyhow::bail!(
+                    "Failed to start daemon. Socket exists but daemon is not responding. \
+                    Try running 'rbnx-daemon' manually to see error messages."
+                );
+            }
+        }
+        Ok(())
+    }
+
+    fn find_daemon_executable() -> Result<PathBuf> {
+        // Try 1: Same directory as current executable
+        if let Ok(current_exe) = std::env::current_exe() {
+            if let Some(parent) = current_exe.parent() {
+                let daemon_path = parent.join("rbnx-daemon");
+                if daemon_path.exists() {
+                    return Ok(daemon_path);
+                }
+            }
+        }
+
+        // Try 2: In PATH
+        if let Ok(path) = std::env::var("PATH") {
+            for dir in path.split(':') {
+                let daemon_path = PathBuf::from(dir).join("rbnx-daemon");
+                if daemon_path.exists() {
+                    return Ok(daemon_path);
+                }
+            }
+        }
+
+        // Try 3: Common installation paths
+        let common_paths = vec![
+            PathBuf::from("/usr/local/bin/rbnx-daemon"),
+            PathBuf::from("/usr/bin/rbnx-daemon"),
+            PathBuf::from("/opt/robonix/bin/rbnx-daemon"),
+        ];
+
+        for path in common_paths {
+            if path.exists() {
+                return Ok(path);
+            }
+        }
+
+        // Try 4: Cargo build directory (for development)
+        // When running with cargo run, current_exe might be the cargo binary,
+        // so we also check common cargo build directories
+        if let Ok(current_exe) = std::env::current_exe() {
+            // Check if we're in a target directory structure
+            let exe_path = current_exe.to_string_lossy();
+            if exe_path.contains("/target/debug/") || exe_path.contains("/target/release/") {
+                // Extract the target directory path
+                if let Some(target_idx) = exe_path.find("/target/") {
+                    let base_path = &exe_path[..target_idx + 8]; // +8 for "/target/"
+                    let profile = if exe_path.contains("/target/debug/") {
+                        "debug"
+                    } else {
+                        "release"
+                    };
+                    let daemon_path =
+                        PathBuf::from(format!("{}{}/rbnx-daemon", base_path, profile));
+                    if daemon_path.exists() {
+                        return Ok(daemon_path);
+                    }
+                }
+            }
+            // Also check parent directory if it's a target directory
+            if let Some(parent) = current_exe.parent() {
+                let parent_str = parent.to_string_lossy();
+                if parent_str.ends_with("/debug") || parent_str.ends_with("/release") {
+                    let daemon_path = parent.join("rbnx-daemon");
+                    if daemon_path.exists() {
+                        return Ok(daemon_path);
+                    }
+                }
+            }
+        }
+
+        // Try 5: Check current working directory for target folder (for cargo run)
+        if let Ok(cwd) = std::env::current_dir() {
+            for profile in &["debug", "release"] {
+                let daemon_path = cwd.join("target").join(profile).join("rbnx-daemon");
+                if daemon_path.exists() {
+                    return Ok(daemon_path);
+                }
+            }
+        }
+
+        anyhow::bail!(
+            "Daemon executable (rbnx-daemon) not found. Please build the project with 'cargo build' or install it."
+        )
+    }
+}
diff --git a/rust/robonix-cli/src/daemon_main.rs b/rust/robonix-cli/src/daemon_main.rs
new file mode 100644
index 0000000..ea55484
--- /dev/null
+++ b/rust/robonix-cli/src/daemon_main.rs
@@ -0,0 +1,23 @@
+use anyhow::Result;
+use robonix_cli::*;
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    tracing_subscriber::fmt()
+        .with_env_filter(
+            tracing_subscriber::EnvFilter::try_from_default_env().unwrap_or_else(|_| {
+                tracing_subscriber::EnvFilter::new("info")
+                    .add_directive("rustdds=off".parse().unwrap())
+                    .add_directive("ros2_client=warn".parse().unwrap())
+            }),
+        )
+        .init();
+
+    let config = Config::load()?;
+    config.ensure_storage_dir()?;
+
+    let daemon = daemon::Daemon::new(config).await?;
+    daemon.run().await?;
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/database.rs b/rust/robonix-cli/src/database.rs
new file mode 100644
index 0000000..d33193f
--- /dev/null
+++ b/rust/robonix-cli/src/database.rs
@@ -0,0 +1,231 @@
+use anyhow::{Context, Result};
+use serde::{Deserialize, Serialize};
+use std::collections::{HashMap, HashSet};
+use std::path::{Path, PathBuf};
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct PackageInfo {
+    pub name: String,
+    pub version: String,
+    pub path: PathBuf,
+    pub manifest_path: PathBuf,
+    #[serde(default)]
+    pub primitives: Vec<String>, // List of primitive names
+    #[serde(default)]
+    pub services: Vec<String>, // List of service names
+    #[serde(default)]
+    pub skills: Vec<String>, // List of skill names
+    pub installed_at: String, // ISO 8601 timestamp
+    pub source: PackageSource,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub enum PackageSource {
+    Local {
+        path: PathBuf,
+    },
+    GitHub {
+        repo: String,
+        branch: Option<String>,
+        commit: String,
+    },
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct PackageDatabase {
+    packages: HashMap<String, PackageInfo>,
+}
+
+impl PackageDatabase {
+    pub fn db_path(storage_path: &Path) -> PathBuf {
+        storage_path.join("db.json")
+    }
+
+    pub fn load(storage_path: &Path) -> Result<Self> {
+        let db_path = Self::db_path(storage_path);
+
+        if !db_path.exists() {
+            return Ok(Self {
+                packages: HashMap::new(),
+            });
+        }
+
+        let content = std::fs::read_to_string(&db_path)
+            .with_context(|| format!("Failed to read database: {}", db_path.display()))?;
+
+        let db: PackageDatabase = serde_json::from_str(&content)
+            .with_context(|| format!("Failed to parse database: {}", db_path.display()))?;
+
+        Ok(db)
+    }
+
+    pub fn save(&self, storage_path: &Path) -> Result<()> {
+        let db_path = Self::db_path(storage_path);
+
+        let content = serde_json::to_string_pretty(self).context("Failed to serialize database")?;
+
+        std::fs::write(&db_path, content)
+            .with_context(|| format!("Failed to write database: {}", db_path.display()))?;
+
+        Ok(())
+    }
+
+    pub fn add_package(&mut self, info: PackageInfo) {
+        self.packages.insert(info.name.clone(), info);
+    }
+
+    pub fn remove_package(&mut self, name: &str) -> Option<PackageInfo> {
+        self.packages.remove(name)
+    }
+
+    pub fn get_package(&self, name: &str) -> Option<&PackageInfo> {
+        self.packages.get(name)
+    }
+
+    pub fn list_packages(&self) -> Vec<&PackageInfo> {
+        let mut packages: Vec<&PackageInfo> = self.packages.values().collect();
+        packages.sort_by(|a, b| a.name.cmp(&b.name));
+        packages
+    }
+
+    pub fn find_by_primitive(&self, primitive_name: &str) -> Vec<&PackageInfo> {
+        let mut packages: Vec<&PackageInfo> = self
+            .packages
+            .values()
+            .filter(|pkg| pkg.primitives.iter().any(|p| p == primitive_name))
+            .collect();
+        packages.sort_by(|a, b| a.name.cmp(&b.name));
+        packages
+    }
+
+    pub fn find_by_service(&self, service_name: &str) -> Vec<&PackageInfo> {
+        let mut packages: Vec<&PackageInfo> = self
+            .packages
+            .values()
+            .filter(|pkg| pkg.services.iter().any(|s| s == service_name))
+            .collect();
+        packages.sort_by(|a, b| a.name.cmp(&b.name));
+        packages
+    }
+
+    pub fn find_by_skill(&self, skill_name: &str) -> Vec<&PackageInfo> {
+        let mut packages: Vec<&PackageInfo> = self
+            .packages
+            .values()
+            .filter(|pkg| pkg.skills.iter().any(|s| s == skill_name))
+            .collect();
+        packages.sort_by(|a, b| a.name.cmp(&b.name));
+        packages
+    }
+
+    pub fn find_by_name(&self, name: &str) -> Option<&PackageInfo> {
+        self.packages.get(name)
+    }
+
+    /// Sync database with actual packages in storage path
+    /// This scans the storage directory and updates the database to match the filesystem
+    pub fn sync(storage_path: &Path) -> Result<()> {
+        use crate::install::PackageInstaller;
+
+        // Load existing database
+        let mut db = Self::load(storage_path)?;
+
+        // Track which packages we found in the filesystem
+        let mut found_packages = HashSet::new();
+
+        // Scan storage directory for packages
+        if storage_path.exists() {
+            for entry in std::fs::read_dir(storage_path).with_context(|| {
+                format!(
+                    "Failed to read storage directory: {}",
+                    storage_path.display()
+                )
+            })? {
+                let entry = entry?;
+                let path = entry.path();
+
+                // Skip db.json file
+                if path.file_name().and_then(|n| n.to_str()) == Some("db.json") {
+                    continue;
+                }
+
+                // Only process directories
+                if !path.is_dir() {
+                    continue;
+                }
+
+                // Check if this directory contains a manifest
+                let manifest_path = path.join("rbnx_manifest.yaml");
+                if !manifest_path.exists() {
+                    continue;
+                }
+
+                // Parse manifest and create/update package info
+                match PackageInstaller::parse_manifest_name(&manifest_path) {
+                    Ok(package_name) => {
+                        found_packages.insert(package_name.clone());
+
+                        // Determine source (try to preserve existing source if available)
+                        let source = if let Some(existing) = db.get_package(&package_name) {
+                            // Preserve existing source if path matches
+                            if existing.path == path {
+                                existing.source.clone()
+                            } else {
+                                // Path changed, treat as local
+                                PackageSource::Local { path: path.clone() }
+                            }
+                        } else {
+                            // New package, treat as local
+                            PackageSource::Local { path: path.clone() }
+                        };
+
+                        // Create or update package info
+                        match PackageInstaller::create_package_info(
+                            &package_name,
+                            &path,
+                            &manifest_path,
+                            source,
+                        ) {
+                            Ok(package_info) => {
+                                db.add_package(package_info);
+                            }
+                            Err(e) => {
+                                tracing::warn!(
+                                    "Failed to parse manifest for package at {}: {}",
+                                    path.display(),
+                                    e
+                                );
+                            }
+                        }
+                    }
+                    Err(e) => {
+                        tracing::warn!(
+                            "Failed to parse manifest at {}: {}",
+                            manifest_path.display(),
+                            e
+                        );
+                    }
+                }
+            }
+        }
+
+        // Remove packages from database that no longer exist in filesystem
+        let db_package_names: Vec<String> = db.packages.keys().cloned().collect();
+        for package_name in db_package_names {
+            if !found_packages.contains(&package_name) {
+                if let Some(removed) = db.remove_package(&package_name) {
+                    tracing::info!(
+                        "Removed package '{}' from database (directory not found: {})",
+                        package_name,
+                        removed.path.display()
+                    );
+                }
+            }
+        }
+
+        // Save updated database
+        db.save(storage_path)?;
+
+        Ok(())
+    }
+}
diff --git a/rust/robonix-cli/src/install.rs b/rust/robonix-cli/src/install.rs
new file mode 100644
index 0000000..acafd8b
--- /dev/null
+++ b/rust/robonix-cli/src/install.rs
@@ -0,0 +1,304 @@
+use crate::config::Config;
+use crate::database::{PackageDatabase, PackageInfo, PackageSource};
+use crate::output;
+use anyhow::{Context, Result};
+use serde_yaml::Value;
+use std::io::{self, Write};
+use std::path::Path;
+use std::time::SystemTime;
+
+pub struct PackageInstaller {
+    config: Config,
+}
+
+impl PackageInstaller {
+    pub fn new(config: Config) -> Self {
+        Self { config }
+    }
+
+    pub fn install_from_github(&self, repo: &str, branch: Option<&str>) -> Result<String> {
+        let repo_url = repo.to_string(); // Save original repo URL
+        let repo_name = repo
+            .split('/')
+            .last()
+            .context("Invalid GitHub repository format")?
+            .trim_end_matches(".git");
+
+        let target_path = self.config.package_storage_path.join(repo_name);
+
+        // Clone repository to temporary location first
+        let temp_path = self
+            .config
+            .package_storage_path
+            .join(format!("{}_temp", repo_name));
+        if temp_path.exists() {
+            std::fs::remove_dir_all(&temp_path)?;
+        }
+
+        let mut repo_builder = git2::build::RepoBuilder::new();
+        if let Some(branch) = branch {
+            repo_builder.branch(branch);
+        }
+
+        let git_repo = repo_builder
+            .clone(repo, &temp_path)
+            .context("Failed to clone repository")?;
+
+        let head = git_repo.head().context("Failed to get HEAD")?;
+        let commit = head.target().context("Failed to get commit OID")?;
+
+        let commit_str = commit.to_string();
+
+        // Verify package has manifest
+        let manifest_path = temp_path.join("rbnx_manifest.yaml");
+        if !manifest_path.exists() {
+            std::fs::remove_dir_all(&temp_path)?;
+            anyhow::bail!("Package does not have rbnx_manifest.yaml");
+        }
+
+        // Validate manifest and get package info
+        output::step("Validating", "package manifest");
+        let (package_name, version) = Self::validate_manifest(&manifest_path)
+            .with_context(|| "Invalid robonix package manifest")?;
+
+        // Display validation info
+        output::sub_step(&format!("Package name: {}", package_name));
+        output::sub_step(&format!("Version: {}", version));
+
+        // Check if package already exists by name
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        if let Some(existing_pkg) = db.get_package(&package_name) {
+            let old_version = &existing_pkg.version;
+
+            if !Self::prompt_overwrite(old_version, &version, &package_name)? {
+                std::fs::remove_dir_all(&temp_path)?;
+                output::info("Installation cancelled.");
+                std::process::exit(0);
+            }
+
+            // Remove old package directory if it exists
+            if existing_pkg.path.exists() {
+                std::fs::remove_dir_all(&existing_pkg.path)?;
+            }
+        }
+
+        // Move temp directory to final location
+        if target_path.exists() {
+            std::fs::remove_dir_all(&target_path)?;
+        }
+        std::fs::rename(&temp_path, &target_path)?;
+
+        // Create package info and add to database
+        let package_info = Self::create_package_info(
+            &package_name,
+            &target_path,
+            &target_path.join("rbnx_manifest.yaml"),
+            PackageSource::GitHub {
+                repo: repo_url,
+                branch: branch.map(|s| s.to_string()),
+                commit: commit_str,
+            },
+        )?;
+
+        let mut db = PackageDatabase::load(&self.config.package_storage_path)?;
+        db.add_package(package_info);
+        db.save(&self.config.package_storage_path)?;
+
+        Ok(package_name)
+    }
+
+    pub fn install_from_path(&self, source_path: &Path) -> Result<String> {
+        let source_path = source_path
+            .canonicalize()
+            .with_context(|| format!("Failed to canonicalize path: {}", source_path.display()))?;
+
+        // Verify package has manifest
+        let manifest_path = source_path.join("rbnx_manifest.yaml");
+        if !manifest_path.exists() {
+            anyhow::bail!("Package does not have rbnx_manifest.yaml");
+        }
+
+        // Validate manifest and get package info
+        output::step("Validating", "package manifest");
+        let (package_name, version) = Self::validate_manifest(&manifest_path)
+            .with_context(|| "Invalid robonix package manifest")?;
+
+        // Display validation info
+        output::sub_step(&format!("Package name: {}", package_name));
+        output::sub_step(&format!("Version: {}", version));
+
+        // Check if package already exists by name
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        if let Some(existing_pkg) = db.get_package(&package_name) {
+            let old_version = &existing_pkg.version;
+
+            if !Self::prompt_overwrite(old_version, &version, &package_name)? {
+                output::info("Installation cancelled.");
+                std::process::exit(0);
+            }
+
+            // Remove old package directory if it exists
+            if existing_pkg.path.exists() {
+                std::fs::remove_dir_all(&existing_pkg.path)?;
+            }
+        }
+
+        let target_path = self.config.package_storage_path.join(&package_name);
+
+        // Copy package
+        copy_dir_all(&source_path, &target_path).with_context(|| {
+            format!(
+                "Failed to copy package from {} to {}",
+                source_path.display(),
+                target_path.display()
+            )
+        })?;
+
+        let manifest_path = target_path.join("rbnx_manifest.yaml");
+        let package_info = Self::create_package_info(
+            &package_name,
+            &target_path,
+            &manifest_path,
+            PackageSource::Local { path: source_path },
+        )?;
+
+        let mut db = PackageDatabase::load(&self.config.package_storage_path)?;
+        db.add_package(package_info);
+        db.save(&self.config.package_storage_path)?;
+
+        Ok(package_name)
+    }
+
+    pub fn parse_manifest_name(manifest_path: &Path) -> Result<String> {
+        let content = std::fs::read_to_string(manifest_path)
+            .with_context(|| format!("Failed to read manifest: {}", manifest_path.display()))?;
+
+        let manifest: Value = serde_yaml::from_str(&content)
+            .with_context(|| format!("Failed to parse manifest: {}", manifest_path.display()))?;
+
+        let name = manifest["package"]["name"]
+            .as_str()
+            .context("Package name not found in manifest")?;
+
+        Ok(name.to_string())
+    }
+
+    /// Validate that the manifest is a valid robonix package
+    /// Returns (name, version) if valid
+    pub fn validate_manifest(manifest_path: &Path) -> Result<(String, String)> {
+        let content = std::fs::read_to_string(manifest_path)
+            .with_context(|| format!("Failed to read manifest: {}", manifest_path.display()))?;
+
+        let manifest: Value = serde_yaml::from_str(&content)
+            .with_context(|| format!("Failed to parse manifest: {}", manifest_path.display()))?;
+
+        // Check required fields
+        let package = manifest
+            .get("package")
+            .context("Missing 'package' section in manifest")?;
+
+        let name = package
+            .get("name")
+            .and_then(|v| v.as_str())
+            .context("Missing 'package.name' in manifest")?;
+
+        let version = package
+            .get("version")
+            .and_then(|v| v.as_str())
+            .context("Missing 'package.version' in manifest")?;
+
+        // Check that at least one of primitives, services, or skills sections exist
+        // (They can be empty lists, but the sections should exist)
+        // Note: We don't require all sections to exist, as packages may only provide primitives, services, or skills
+
+        Ok((name.to_string(), version.to_string()))
+    }
+
+    /// Prompt user for confirmation to overwrite existing package
+    fn prompt_overwrite(old_version: &str, new_version: &str, package_name: &str) -> Result<bool> {
+        output::warning(&format!("Package '{}' is already installed", package_name));
+        output::sub_step(&format!("Old version: {}", old_version));
+        output::sub_step(&format!("New version: {}", new_version));
+        print!("Overwrite? [y/N]: ");
+        io::stdout().flush()?;
+
+        let mut input = String::new();
+        io::stdin().read_line(&mut input)?;
+
+        let answer = input.trim().to_lowercase();
+        Ok(answer == "y" || answer == "yes")
+    }
+
+    pub fn create_package_info(
+        name: &str,
+        path: &Path,
+        manifest_path: &Path,
+        source: PackageSource,
+    ) -> Result<PackageInfo> {
+        let content = std::fs::read_to_string(manifest_path)?;
+        let manifest: Value = serde_yaml::from_str(&content)?;
+
+        let version = manifest["package"]["version"]
+            .as_str()
+            .unwrap_or("0.0.0")
+            .to_string();
+
+        let mut primitives = Vec::new();
+        if let Some(prms) = manifest["primitives"].as_sequence() {
+            for prm in prms {
+                if let Some(name) = prm["name"].as_str() {
+                    primitives.push(name.to_string());
+                }
+            }
+        }
+
+        let mut services = Vec::new();
+        if let Some(srvs) = manifest["services"].as_sequence() {
+            for srv in srvs {
+                if let Some(name) = srv["name"].as_str() {
+                    services.push(name.to_string());
+                }
+            }
+        }
+
+        let mut skills = Vec::new();
+        if let Some(skls) = manifest["skills"].as_sequence() {
+            for skl in skls {
+                if let Some(name) = skl["name"].as_str() {
+                    skills.push(name.to_string());
+                }
+            }
+        }
+
+        let installed_at = chrono::DateTime::<chrono::Utc>::from(SystemTime::now()).to_rfc3339();
+
+        Ok(PackageInfo {
+            name: name.to_string(),
+            version,
+            path: path.to_path_buf(),
+            manifest_path: manifest_path.to_path_buf(),
+            primitives,
+            services,
+            skills,
+            installed_at,
+            source,
+        })
+    }
+}
+
+fn copy_dir_all(src: &Path, dst: &Path) -> Result<()> {
+    std::fs::create_dir_all(dst)?;
+    for entry in std::fs::read_dir(src)? {
+        let entry = entry?;
+        let ty = entry.file_type()?;
+        let src_path = entry.path();
+        let dst_path = dst.join(entry.file_name());
+
+        if ty.is_dir() {
+            copy_dir_all(&src_path, &dst_path)?;
+        } else {
+            std::fs::copy(&src_path, &dst_path)?;
+        }
+    }
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/lib.rs b/rust/robonix-cli/src/lib.rs
new file mode 100644
index 0000000..34dab70
--- /dev/null
+++ b/rust/robonix-cli/src/lib.rs
@@ -0,0 +1,23 @@
+pub mod config;
+pub mod daemon;
+pub mod daemon_client;
+pub mod database;
+pub mod install;
+pub mod output;
+pub mod process;
+pub mod query;
+pub mod recipe;
+pub mod recipe_state;
+pub mod register;
+pub mod task;
+pub mod unregister;
+
+pub use config::Config;
+pub use database::PackageDatabase;
+pub use install::PackageInstaller;
+pub use process::ProcessManager;
+pub use query::PackageQuery;
+pub use recipe::Recipe;
+pub use recipe_state::RecipeState;
+pub use register::PackageRegistrar;
+pub use unregister::PackageUnregistrar;
diff --git a/rust/robonix-cli/src/main.rs b/rust/robonix-cli/src/main.rs
new file mode 100644
index 0000000..671938f
--- /dev/null
+++ b/rust/robonix-cli/src/main.rs
@@ -0,0 +1,38 @@
+use anyhow::{Context, Result};
+use clap::Parser;
+use robonix_cli::*;
+
+mod cmd;
+
+#[derive(Parser)]
+#[command(name = "rbnx")]
+#[command(about = "Robonix Package Manager CLI", long_about = None)]
+struct Cli {
+    #[command(subcommand)]
+    command: cmd::Commands,
+}
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    tracing_subscriber::fmt()
+        .with_env_filter(
+            tracing_subscriber::EnvFilter::try_from_default_env().unwrap_or_else(|_| {
+                tracing_subscriber::EnvFilter::new("info")
+                    .add_directive("rustdds=off".parse().unwrap())
+                    .add_directive("ros2_client=warn".parse().unwrap())
+            }),
+        )
+        .init();
+
+    let cli = Cli::parse();
+
+    let config = Config::load()?;
+    config.ensure_storage_dir()?;
+
+    // Sync database with filesystem on startup
+    PackageDatabase::sync(&config.package_storage_path).context("Failed to sync database")?;
+
+    cmd::execute(cli.command, config).await?;
+
+    Ok(())
+}
diff --git a/rust/robonix-cli/src/output.rs b/rust/robonix-cli/src/output.rs
new file mode 100644
index 0000000..2654276
--- /dev/null
+++ b/rust/robonix-cli/src/output.rs
@@ -0,0 +1,122 @@
+use colored::*;
+use std::io::{self, Write};
+
+/// Print a main action header (e.g., "Installing", "Registering")
+pub fn action(action: &str, target: &str) {
+    println!("{} {}", format!("[{}]", action).green().bold(), target);
+}
+
+/// Print a success completion message
+pub fn success(message: &str) {
+    println!("{} {}", "✓".green().bold(), message.green());
+}
+
+/// Print an info message
+pub fn info(message: &str) {
+    println!("{}", message);
+}
+
+/// Print a warning message
+pub fn warning(message: &str) {
+    println!("{} {}", "⚠".yellow().bold(), message.yellow());
+}
+
+/// Print an error message
+pub fn error(message: &str) {
+    eprintln!("{} {}", "✗".red().bold(), message.red());
+}
+
+/// Print a step message (like "Validating", "Processing", etc.)
+pub fn step(action: &str, target: &str) {
+    println!("  {} {}", format!("→ {}", action).cyan(), target);
+}
+
+/// Print a sub-step message (indented detail)
+pub fn sub_step(message: &str) {
+    println!("    {}", message);
+}
+
+/// Print a checkmark success message for individual items
+pub fn check(message: &str) {
+    println!("  {} {}", "✓".green(), message);
+}
+
+/// Print a cross error message for individual items
+pub fn cross(message: &str) {
+    eprintln!("  {} {}", "✗".red(), message);
+}
+
+/// Print a summary line
+pub fn summary(message: &str) {
+    println!("\n{}", message.dimmed());
+}
+
+/// Spinner for animated progress indication
+pub struct Spinner {
+    message: String,
+    frames: Vec<char>,
+    handle: Option<tokio::task::JoinHandle<()>>,
+}
+
+impl Spinner {
+    /// Create a new spinner with a message
+    pub fn new(message: String) -> Self {
+        Self {
+            message,
+            frames: vec!['|', '/', '-', '\\'],
+            handle: None,
+        }
+    }
+
+    /// Start the spinner animation (spawns background task)
+    pub fn start(&mut self) {
+        let message = self.message.clone();
+        let mut frame = 0;
+        let frames = self.frames.clone();
+
+        let handle = tokio::spawn(async move {
+            loop {
+                let spinner_char = frames[frame % frames.len()];
+                let line = format!("  {} {}", spinner_char, message);
+                print!("\r{}", line);
+                io::stdout().flush().unwrap();
+                frame += 1;
+                tokio::time::sleep(tokio::time::Duration::from_millis(100)).await;
+            }
+        });
+
+        self.handle = Some(handle);
+    }
+
+    /// Stop the spinner and show success message
+    pub fn finish_success(&mut self, final_message: &str) {
+        if let Some(handle) = self.handle.take() {
+            handle.abort();
+        }
+        // Clear the line first (using ANSI escape code)
+        print!("\r\x1b[K");
+        let line = format!("  {} {}", "✓".green(), final_message.green());
+        print!("{}\n", line);
+        io::stdout().flush().unwrap();
+    }
+
+    /// Stop the spinner and show error message
+    pub fn finish_error(&mut self, final_message: &str) {
+        if let Some(handle) = self.handle.take() {
+            handle.abort();
+        }
+        // Clear the line first (using ANSI escape code)
+        print!("\r\x1b[K");
+        let line = format!("  {} {}", "✗".red(), final_message.red());
+        print!("{}\n", line);
+        io::stdout().flush().unwrap();
+    }
+}
+
+impl Drop for Spinner {
+    fn drop(&mut self) {
+        if let Some(handle) = self.handle.take() {
+            handle.abort();
+        }
+    }
+}
diff --git a/rust/robonix-cli/src/process.rs b/rust/robonix-cli/src/process.rs
new file mode 100644
index 0000000..d1042c8
--- /dev/null
+++ b/rust/robonix-cli/src/process.rs
@@ -0,0 +1,875 @@
+use anyhow::{Context, Result};
+use dirs;
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+use std::path::{Path, PathBuf};
+use std::process::Stdio;
+use std::sync::{Arc, Mutex};
+use tokio::fs::OpenOptions;
+use tokio::io::{AsyncWriteExt, BufWriter};
+use tokio::process::Command;
+
+/// Information about a running process for a capability or skill
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct ProcessInfo {
+    pub package_name: String,
+    pub std_name: String,
+    pub package_type: String, // "cap" or "skl"
+    pub pid: u32,
+    pub log_file: PathBuf,
+    pub hostname: String,
+}
+
+/// Process start result with group information
+#[derive(Debug, Clone)]
+pub struct ProcessStartResult {
+    pub pid: u32,
+    pub pgid: Option<u32>,
+    pub pids: Option<Vec<u32>>,
+}
+
+/// Process stop result with group information
+#[derive(Debug, Clone)]
+pub struct ProcessStopResult {
+    pub pid: u32,
+    pub pgid: Option<u32>,
+    pub pids: Option<Vec<u32>>,
+}
+
+/// Process tree node structure
+#[derive(Debug, Clone)]
+pub struct ProcessTreeNode {
+    pub pid: u32,
+    pub cmd: String,
+    pub children: Vec<ProcessTreeNode>,
+}
+
+impl ProcessTreeNode {
+    /// Format tree as string with indentation
+    pub fn format_tree(&self, prefix: &str, is_last: bool) -> String {
+        let connector = if is_last { "└── " } else { "├── " };
+        let mut result = format!("{}{}PID {}: {}\n", prefix, connector, self.pid, self.cmd);
+
+        let new_prefix = if is_last {
+            format!("{}    ", prefix)
+        } else {
+            format!("{}│   ", prefix)
+        };
+
+        let child_count = self.children.len();
+        for (idx, child) in self.children.iter().enumerate() {
+            let is_last_child = idx == child_count - 1;
+            result.push_str(&child.format_tree(&new_prefix, is_last_child));
+        }
+
+        result
+    }
+}
+
+/// Manager for processes running capabilities and skills
+pub struct ProcessManager {
+    processes: Arc<Mutex<HashMap<String, ProcessInfo>>>, // key: "{package_type}::{std_name}"
+    log_dir: PathBuf,
+    state_file: PathBuf,
+    hostname: String,
+}
+
+impl ProcessManager {
+    pub fn new(log_dir: PathBuf) -> Result<Self> {
+        // Ensure log directory exists
+        std::fs::create_dir_all(&log_dir)
+            .with_context(|| format!("Failed to create log directory: {}", log_dir.display()))?;
+
+        // Get hostname
+        let hostname = hostname::get()
+            .context("Failed to get hostname")?
+            .to_string_lossy()
+            .to_string();
+
+        // State file in ~/.robonix/processes.json
+        let home_dir = dirs::home_dir().context("Failed to get home directory")?;
+        let state_dir = home_dir.join(".robonix");
+        std::fs::create_dir_all(&state_dir).with_context(|| {
+            format!("Failed to create state directory: {}", state_dir.display())
+        })?;
+        let state_file = state_dir.join("processes.json");
+
+        let mut manager = Self {
+            processes: Arc::new(Mutex::new(HashMap::new())),
+            log_dir,
+            state_file,
+            hostname,
+        };
+
+        // Load existing processes from state file
+        manager.load_state()?;
+
+        Ok(manager)
+    }
+
+    /// Load process state from persistent storage
+    fn load_state(&mut self) -> Result<()> {
+        if !self.state_file.exists() {
+            return Ok(());
+        }
+
+        let content = std::fs::read_to_string(&self.state_file)
+            .with_context(|| format!("Failed to read state file: {}", self.state_file.display()))?;
+
+        let processes: Vec<ProcessInfo> = serde_json::from_str(&content).with_context(|| {
+            format!("Failed to parse state file: {}", self.state_file.display())
+        })?;
+
+        // Verify processes are still running and filter out dead ones
+        let mut valid_processes = HashMap::new();
+        let original_count = processes.len();
+        for process_info in processes {
+            // Check if process is still running
+            if Self::is_process_running(process_info.pid) {
+                let key = format!("{}::{}", process_info.package_type, process_info.std_name);
+                valid_processes.insert(key, process_info);
+            } else {
+                tracing::info!(
+                    "Process {} (PID: {}) is no longer running, removing from state",
+                    process_info.std_name,
+                    process_info.pid
+                );
+            }
+        }
+
+        // Update state file with only valid processes
+        if valid_processes.len() != original_count {
+            self.save_state_internal(&valid_processes)?;
+        }
+
+        *self.processes.lock().unwrap() = valid_processes;
+
+        Ok(())
+    }
+
+    /// Check if a process with given PID is still running
+    fn is_process_running(pid: u32) -> bool {
+        #[cfg(unix)]
+        {
+            use nix::sys::signal::kill;
+            use nix::unistd::Pid;
+            let pid = Pid::from_raw(pid as i32);
+            // Send signal 0 to check if process exists
+            kill(pid, None).is_ok()
+        }
+        #[cfg(not(unix))]
+        {
+            // On Windows, check process existence differently
+            std::process::Command::new("tasklist")
+                .args(&["/FI", &format!("PID eq {}", pid)])
+                .output()
+                .map(|output| {
+                    let stdout = String::from_utf8_lossy(&output.stdout);
+                    stdout.contains(&pid.to_string())
+                })
+                .unwrap_or(false)
+        }
+    }
+
+    /// Save process state to persistent storage
+    fn save_state(&self) -> Result<()> {
+        let processes = self.processes.lock().unwrap();
+        self.save_state_internal(&processes)
+    }
+
+    fn save_state_internal(&self, processes: &HashMap<String, ProcessInfo>) -> Result<()> {
+        let processes_vec: Vec<&ProcessInfo> = processes.values().collect();
+        let content = serde_json::to_string_pretty(&processes_vec)
+            .context("Failed to serialize process state")?;
+
+        std::fs::write(&self.state_file, content).with_context(|| {
+            format!("Failed to write state file: {}", self.state_file.display())
+        })?;
+
+        Ok(())
+    }
+
+    pub fn get_hostname(&self) -> &str {
+        &self.hostname
+    }
+
+    /// Start a process for a capability or skill
+    pub async fn start_process(
+        &self,
+        package_name: &str,
+        std_name: &str,
+        package_type: &str,
+        package_path: &Path,
+        start_script: &str,
+        robonix_sdk_path: Option<&PathBuf>,
+    ) -> Result<ProcessStartResult> {
+        let key = format!("{}::{}", package_type, std_name);
+
+        // Check if already running
+        {
+            let processes = self.processes.lock().unwrap();
+            if let Some(existing) = processes.get(&key) {
+                tracing::warn!("Process for {} already running, skipping", key);
+                // Return existing process info
+                #[cfg(unix)]
+                let (pgid, pids) = {
+                    if let Ok(pgid) = Self::get_process_group_id(existing.pid) {
+                        let pids = Self::get_processes_in_group(pgid).ok();
+                        (Some(pgid), pids)
+                    } else {
+                        (None, None)
+                    }
+                };
+                #[cfg(not(unix))]
+                let (pgid, pids) = (None, None);
+                return Ok(ProcessStartResult {
+                    pid: existing.pid,
+                    pgid,
+                    pids,
+                });
+            }
+        }
+
+        // Resolve script path
+        let script_path = package_path.join(start_script);
+        if !script_path.exists() {
+            anyhow::bail!("Start script not found: {}", script_path.display());
+        }
+
+        // Make script executable
+        #[cfg(unix)]
+        {
+            use std::os::unix::fs::PermissionsExt;
+            let mut perms = std::fs::metadata(&script_path)?.permissions();
+            perms.set_mode(0o755);
+            std::fs::set_permissions(&script_path, perms)?;
+        }
+
+        // Create log file path
+        let log_filename = format!(
+            "{}_{}_{}.log",
+            package_name,
+            package_type,
+            std_name.replace("::", "_")
+        );
+        let log_file = self.log_dir.join(&log_filename);
+
+        // Open log file for writing
+        let log_file_handle = OpenOptions::new()
+            .create(true)
+            .append(true)
+            .open(&log_file)
+            .await
+            .with_context(|| format!("Failed to open log file: {}", log_file.display()))?;
+
+        let mut log_writer = BufWriter::new(log_file_handle);
+
+        // Write header to log
+        let header = format!(
+            "=== Started {} {} at {} ===\n",
+            package_type,
+            std_name,
+            chrono::Utc::now().to_rfc3339()
+        );
+        log_writer.write_all(header.as_bytes()).await?;
+        log_writer.flush().await?;
+
+        // Start the process
+        tracing::info!(
+            "Starting process: {} (script: {})",
+            key,
+            script_path.display()
+        );
+
+        // Use tokio::process::Command for async I/O
+        let mut cmd = Command::new(&script_path);
+        cmd.current_dir(package_path);
+        cmd.stdout(Stdio::piped());
+        cmd.stderr(Stdio::piped());
+
+        // Set PYTHONUNBUFFERED=1 to disable Python output buffering
+        // This ensures logs are written immediately
+        cmd.env("PYTHONUNBUFFERED", "1");
+
+        // Set ROBONIX_SDK_PATH from config or environment variable
+        if std::env::var("ROBONIX_SDK_PATH").is_err() {
+            if let Some(config_path) = robonix_sdk_path {
+                cmd.env("ROBONIX_SDK_PATH", config_path);
+            }
+        }
+
+        // Create process in new process group for isolation
+        #[cfg(unix)]
+        {
+            use nix::unistd::setsid;
+            // Use pre_exec to create new session/process group before exec
+            unsafe {
+                cmd.pre_exec(|| {
+                    // Create new session (which also creates new process group)
+                    // This ensures all child processes are in the same group
+                    setsid().map_err(|e| {
+                        // Convert nix error to io::Error
+                        std::io::Error::from_raw_os_error(e as i32)
+                    })?;
+                    Ok(())
+                });
+            }
+        }
+
+        let mut child = cmd
+            .spawn()
+            .with_context(|| format!("Failed to start script: {}", script_path.display()))?;
+
+        // Spawn tasks to capture output and write to log
+        // Use separate file handles for stdout and stderr to avoid synchronization issues
+        let log_file_stdout = log_file.clone();
+        let log_file_stderr = log_file.clone();
+        let stdout = child.stdout.take();
+        let stderr = child.stderr.take();
+
+        // Capture stdout (line-by-line for better reliability)
+        if let Some(stdout) = stdout {
+            tokio::spawn(async move {
+                if let Ok(mut file) = OpenOptions::new()
+                    .create(true)
+                    .append(true)
+                    .open(&log_file_stdout)
+                    .await
+                {
+                    use tokio::io::{AsyncBufReadExt, BufReader};
+                    let reader = BufReader::new(stdout);
+                    let mut lines = reader.lines();
+
+                    while let Ok(Some(line)) = lines.next_line().await {
+                        if let Err(e) = file.write_all(line.as_bytes()).await {
+                            tracing::error!("Failed to write stdout to log: {}", e);
+                            break;
+                        }
+                        if let Err(e) = file.write_all(b"\n").await {
+                            tracing::error!("Failed to write newline: {}", e);
+                            break;
+                        }
+                        // Flush after each line to ensure immediate persistence
+                        if let Err(e) = file.flush().await {
+                            tracing::error!("Failed to flush stdout log: {}", e);
+                            break;
+                        }
+                    }
+                }
+            });
+        }
+
+        // Capture stderr with prefix (line-by-line for proper prefix placement)
+        if let Some(stderr) = stderr {
+            tokio::spawn(async move {
+                if let Ok(mut file) = OpenOptions::new()
+                    .create(true)
+                    .append(true)
+                    .open(&log_file_stderr)
+                    .await
+                {
+                    use tokio::io::{AsyncBufReadExt, BufReader};
+                    let reader = BufReader::new(stderr);
+                    let mut lines = reader.lines();
+                    let mut is_new_line = true;
+
+                    while let Ok(Some(line)) = lines.next_line().await {
+                        // Add prefix only at the start of each line
+                        if is_new_line {
+                            if let Err(e) = file.write_all(b"[STDERR] ").await {
+                                tracing::error!("Failed to write stderr prefix: {}", e);
+                                break;
+                            }
+                        }
+                        if let Err(e) = file.write_all(line.as_bytes()).await {
+                            tracing::error!("Failed to write stderr to log: {}", e);
+                            break;
+                        }
+                        if let Err(e) = file.write_all(b"\n").await {
+                            tracing::error!("Failed to write newline: {}", e);
+                            break;
+                        }
+                        if let Err(e) = file.flush().await {
+                            tracing::error!("Failed to flush stderr log: {}", e);
+                            break;
+                        }
+                        is_new_line = true;
+                    }
+                }
+            });
+        }
+
+        // Wait a bit to check if process started successfully and let initial output be captured
+        tokio::time::sleep(tokio::time::Duration::from_millis(1000)).await;
+
+        // Check if process is still running
+        match child.try_wait() {
+            Ok(Some(status)) => {
+                // Process exited, wait a bit more for log capture to finish
+                tokio::time::sleep(tokio::time::Duration::from_millis(500)).await;
+                anyhow::bail!(
+                    "Process exited immediately with status: {:?}. Check log: {}",
+                    status,
+                    log_file.display()
+                );
+            }
+            Ok(None) => {
+                // Process is still running, good
+                tracing::info!("Process started successfully: {}", key);
+            }
+            Err(e) => {
+                anyhow::bail!("Failed to check process status: {}", e);
+            }
+        }
+
+        // Get PID and detach the child (let it run independently)
+        let pid = child
+            .id()
+            .ok_or_else(|| anyhow::anyhow!("Failed to get process ID"))?;
+
+        // Detach the child - it will continue running even if we drop the handle
+        // We'll manage it by PID
+        drop(child);
+
+        // Get process group information for return value
+        #[cfg(unix)]
+        let (pgid, pids) = {
+            if let Ok(pgid) = Self::get_process_group_id(pid) {
+                let pids = Self::get_processes_in_group(pgid).ok();
+                (Some(pgid), pids)
+            } else {
+                (None, None)
+            }
+        };
+        #[cfg(not(unix))]
+        let (pgid, pids) = (None, None);
+
+        // Store process info
+        let process_info = ProcessInfo {
+            package_name: package_name.to_string(),
+            std_name: std_name.to_string(),
+            package_type: package_type.to_string(),
+            pid,
+            log_file,
+            hostname: self.hostname.clone(),
+        };
+
+        {
+            let mut processes = self.processes.lock().unwrap();
+            processes.insert(key, process_info.clone());
+        }
+
+        // Save state to persistent storage
+        self.save_state()?;
+
+        Ok(ProcessStartResult { pid, pgid, pids })
+    }
+
+    /// Get all running processes
+    pub fn get_running_processes(&self) -> Vec<ProcessInfo> {
+        let processes = self.processes.lock().unwrap();
+        processes.values().cloned().collect()
+    }
+
+    /// Check if a process is running
+    pub fn is_running(&self, std_name: &str, package_type: &str) -> bool {
+        let key = format!("{}::{}", package_type, std_name);
+
+        // Check in memory first
+        let process_info = {
+            let processes = self.processes.lock().unwrap();
+            processes.get(&key).cloned()
+        };
+
+        if let Some(process_info) = process_info {
+            // Verify the process is actually still running
+            if Self::is_process_running(process_info.pid) {
+                return true;
+            } else {
+                // Process is dead, remove it from state
+                let mut processes = self.processes.lock().unwrap();
+                processes.remove(&key);
+                drop(processes);
+                let _ = self.save_state();
+                return false;
+            }
+        }
+
+        false
+    }
+
+    /// Kill a process group (more efficient than killing individual processes)
+    #[cfg(unix)]
+    fn kill_process_tree(&self, pid: u32) -> Result<()> {
+        use nix::sys::signal::{kill, killpg, Signal};
+        use nix::unistd::Pid;
+        use std::io::{BufRead, BufReader};
+        use std::process::Command as SyncCommand;
+
+        let pid_obj = Pid::from_raw(pid as i32);
+
+        // Get the actual process group ID from the process
+        // If we used setsid, the PGID should equal the PID, but let's verify
+        let pgid = match Self::get_process_group_id(pid) {
+            Ok(gid) => {
+                let pgid_obj = Pid::from_raw(gid as i32);
+                // List all processes in the group before killing
+                if let Ok(pids) = Self::get_processes_in_group(gid) {
+                    tracing::info!(
+                        "Stopping process group {} (root PID: {}): found {} processes: {:?}",
+                        gid,
+                        pid,
+                        pids.len(),
+                        pids
+                    );
+                } else {
+                    tracing::info!("Stopping process group {} (root PID: {})", gid, pid);
+                }
+                pgid_obj
+            }
+            Err(_) => {
+                // Fallback: assume PGID equals PID (true if we used setsid)
+                tracing::warn!(
+                    "Could not get process group ID for PID {}, assuming PGID=PID",
+                    pid
+                );
+                tracing::info!("Stopping process (PID: {}, assumed PGID: {})", pid, pid);
+                pid_obj
+            }
+        };
+
+        // First, send SIGTERM to the entire process group
+        if let Err(e) = killpg(pgid, Signal::SIGTERM) {
+            tracing::warn!("Failed to send SIGTERM to process group {}: {:?}", pgid, e);
+            // Fallback: try killing the process directly
+            let _ = kill(pid_obj, Signal::SIGTERM);
+        }
+
+        // Wait a bit for processes to terminate gracefully
+        std::thread::sleep(std::time::Duration::from_secs(2));
+
+        // Check if process group still has any processes alive
+        // Use pgrep to find processes in the group
+        if let Ok(output) = SyncCommand::new("pgrep")
+            .arg("-g")
+            .arg(pgid.as_raw().to_string())
+            .output()
+        {
+            if output.status.success() {
+                let reader = BufReader::new(&*output.stdout);
+                let mut still_alive = Vec::new();
+                for line in reader.lines() {
+                    if let Ok(pid_str) = line {
+                        if let Ok(proc_pid) = pid_str.parse::<u32>() {
+                            still_alive.push(proc_pid);
+                        }
+                    }
+                }
+
+                if !still_alive.is_empty() {
+                    tracing::info!(
+                        "Process group still has {} processes alive, sending SIGKILL",
+                        still_alive.len()
+                    );
+                    // Send SIGKILL to the process group
+                    let _ = killpg(pgid, Signal::SIGKILL);
+                    // Also kill individual processes as fallback
+                    for proc_pid in still_alive {
+                        let proc_pid_obj = Pid::from_raw(proc_pid as i32);
+                        let _ = kill(proc_pid_obj, Signal::SIGKILL);
+                    }
+                }
+            }
+        } else {
+            // Fallback: try to kill the process directly if pgrep fails
+            // Check if process still exists
+            if let Ok(output) = SyncCommand::new("ps")
+                .arg("-p")
+                .arg(pid.to_string())
+                .output()
+            {
+                if output.status.success() {
+                    let _ = kill(pid_obj, Signal::SIGKILL);
+                }
+            }
+        }
+
+        Ok(())
+    }
+
+    /// Get process group ID for a given PID
+    #[cfg(unix)]
+    fn get_process_group_id(pid: u32) -> Result<u32> {
+        use std::process::Command as SyncCommand;
+
+        // Use ps to get the process group ID
+        if let Ok(output) = SyncCommand::new("ps")
+            .arg("-o")
+            .arg("pgid=")
+            .arg("-p")
+            .arg(pid.to_string())
+            .output()
+        {
+            if output.status.success() {
+                let pgid_str = String::from_utf8_lossy(&output.stdout).trim().to_string();
+                if let Ok(pgid) = pgid_str.parse::<u32>() {
+                    return Ok(pgid);
+                }
+            }
+        }
+
+        anyhow::bail!("Failed to get process group ID for PID {}", pid)
+    }
+
+    /// Get all process IDs in a process group
+    #[cfg(unix)]
+    fn get_processes_in_group(pgid: u32) -> Result<Vec<u32>> {
+        use std::io::{BufRead, BufReader};
+        use std::process::Command as SyncCommand;
+        use std::process::Stdio;
+
+        let mut pids = Vec::new();
+
+        // Use pgrep to find all processes in the group
+        if let Ok(output) = SyncCommand::new("pgrep")
+            .arg("-g")
+            .arg(pgid.to_string())
+            .stdout(Stdio::piped())
+            .output()
+        {
+            if output.status.success() {
+                let reader = BufReader::new(&*output.stdout);
+                for line in reader.lines() {
+                    if let Ok(pid_str) = line {
+                        if let Ok(pid) = pid_str.parse::<u32>() {
+                            pids.push(pid);
+                        }
+                    }
+                }
+            }
+        }
+
+        Ok(pids)
+    }
+
+    /// Get process tree structure (parent-child relationships)
+    #[cfg(unix)]
+    pub fn get_process_tree(pid: u32) -> Result<ProcessTreeNode> {
+        use std::collections::HashMap;
+        use std::io::{BufRead, BufReader};
+        use std::process::Command as SyncCommand;
+        use std::process::Stdio;
+
+        #[derive(Debug, Clone)]
+        struct ProcessInfo {
+            pid: u32,
+            ppid: u32,
+            cmd: String,
+        }
+
+        // Get all processes with their parent PIDs
+        let mut processes: HashMap<u32, ProcessInfo> = HashMap::new();
+
+        // Use ps to get process tree with full command
+        // Use -ww to get full command line (no width limit)
+        if let Ok(output) = SyncCommand::new("ps")
+            .arg("-eo")
+            .arg("pid,ppid,args")
+            .arg("--no-headers")
+            .stdout(Stdio::piped())
+            .output()
+        {
+            if output.status.success() {
+                let reader = BufReader::new(&*output.stdout);
+                for line in reader.lines() {
+                    if let Ok(line_str) = line {
+                        // Parse line: PID PPID COMMAND...
+                        // We need to handle spaces in command, so split by first two numbers
+                        let trimmed = line_str.trim();
+                        if let Some(first_space) = trimmed.find(' ') {
+                            if let Ok(proc_pid) = trimmed[..first_space].parse::<u32>() {
+                                let rest = &trimmed[first_space + 1..].trim_start();
+                                if let Some(second_space) = rest.find(' ') {
+                                    if let Ok(proc_ppid) = rest[..second_space].parse::<u32>() {
+                                        let cmd = rest[second_space + 1..].trim().to_string();
+                                        // Truncate long commands for display
+                                        let cmd_display = if cmd.len() > 60 {
+                                            format!("{}...", &cmd[..57])
+                                        } else {
+                                            cmd
+                                        };
+                                        processes.insert(
+                                            proc_pid,
+                                            ProcessInfo {
+                                                pid: proc_pid,
+                                                ppid: proc_ppid,
+                                                cmd: cmd_display,
+                                            },
+                                        );
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        // Check if root process exists
+        if !processes.contains_key(&pid) {
+            anyhow::bail!("Process {} not found in process list", pid);
+        }
+
+        // Build tree starting from root PID
+        fn build_tree(pid: u32, processes: &HashMap<u32, ProcessInfo>) -> ProcessTreeNode {
+            let proc_info = processes.get(&pid);
+            let cmd = proc_info
+                .map(|p| p.cmd.clone())
+                .unwrap_or_else(|| format!("[PID {}]", pid));
+
+            // Find all children
+            let children: Vec<ProcessTreeNode> = processes
+                .values()
+                .filter(|p| p.ppid == pid)
+                .map(|p| build_tree(p.pid, processes))
+                .collect();
+
+            ProcessTreeNode { pid, cmd, children }
+        }
+
+        Ok(build_tree(pid, &processes))
+    }
+
+    #[cfg(not(unix))]
+    pub fn get_process_tree(pid: u32) -> Result<ProcessTreeNode> {
+        // On Windows, return simple structure
+        Ok(ProcessTreeNode {
+            pid,
+            cmd: format!("[PID {}]", pid),
+            children: Vec::new(),
+        })
+    }
+
+    #[cfg(not(unix))]
+    fn kill_process_tree(&self, pid: u32) -> Result<()> {
+        // On Windows, use taskkill with /T flag to kill process tree
+        use std::process::Command as SyncCommand;
+        let _ = SyncCommand::new("taskkill")
+            .args(&["/PID", &pid.to_string(), "/T", "/F"])
+            .output();
+        Ok(())
+    }
+
+    /// Stop a specific process
+    pub async fn stop_process(
+        &self,
+        std_name: &str,
+        package_type: &str,
+    ) -> Result<ProcessStopResult> {
+        let key = format!("{}::{}", package_type, std_name);
+
+        // Get and remove process info, then drop the lock
+        let process_info = {
+            let mut processes = self.processes.lock().unwrap();
+            processes.remove(&key)
+        };
+
+        if let Some(process_info) = process_info {
+            tracing::info!("Stopping process: {} (PID: {})", key, process_info.pid);
+
+            // Get process group information before killing
+            #[cfg(unix)]
+            let (pgid, pids) = {
+                if let Ok(pgid) = Self::get_process_group_id(process_info.pid) {
+                    let pids = Self::get_processes_in_group(pgid).ok();
+                    (Some(pgid), pids)
+                } else {
+                    (None, None)
+                }
+            };
+            #[cfg(not(unix))]
+            let (pgid, pids) = (None, None);
+
+            // Kill the process tree (parent + all children)
+            if let Err(e) = self.kill_process_tree(process_info.pid) {
+                tracing::warn!(
+                    "Failed to kill process tree for PID {}: {:?}",
+                    process_info.pid,
+                    e
+                );
+                // Fallback: try to kill just the main process
+                #[cfg(unix)]
+                {
+                    use nix::sys::signal::{kill, Signal};
+                    use nix::unistd::Pid;
+                    let pid = Pid::from_raw(process_info.pid as i32);
+                    let _ = kill(pid, Signal::SIGTERM);
+                    tokio::time::sleep(tokio::time::Duration::from_secs(1)).await;
+                    let _ = kill(pid, Signal::SIGKILL);
+                }
+                #[cfg(not(unix))]
+                {
+                    let _ = Command::new("taskkill")
+                        .args(&["/PID", &process_info.pid.to_string(), "/F"])
+                        .output()
+                        .await;
+                }
+            }
+
+            // Append stop message to log
+            if let Ok(mut file) = OpenOptions::new()
+                .create(true)
+                .append(true)
+                .open(&process_info.log_file)
+                .await
+            {
+                let stop_msg = format!(
+                    "\n=== Stopped {} {} at {} ===\n",
+                    package_type,
+                    std_name,
+                    chrono::Utc::now().to_rfc3339()
+                );
+                let _ = file.write_all(stop_msg.as_bytes()).await;
+            }
+
+            tracing::info!("Process stopped: {}", key);
+
+            // Save state to persistent storage (lock is already dropped, so this is safe)
+            self.save_state()?;
+
+            Ok(ProcessStopResult {
+                pid: process_info.pid,
+                pgid,
+                pids,
+            })
+        } else {
+            tracing::warn!("Process not found: {}", key);
+            anyhow::bail!("Process not found: {}", key)
+        }
+    }
+
+    /// Stop all processes
+    pub async fn stop_all(&self) -> Result<()> {
+        let processes = {
+            let processes = self.processes.lock().unwrap();
+            let keys: Vec<String> = processes.keys().cloned().collect();
+            keys
+        };
+
+        for key in processes {
+            let parts: Vec<&str> = key.split("::").collect();
+            if parts.len() == 2 {
+                let package_type = parts[0];
+                let std_name = parts[1];
+                let _ = self.stop_process(std_name, package_type).await;
+            }
+        }
+
+        Ok(())
+    }
+}
+
+// Note: We intentionally do NOT implement Drop for ProcessManager.
+// Processes are started as daemon processes and should continue running
+// even after the CLI exits. They can be stopped explicitly using the
+// unregister command or stop_process/stop_all methods.
diff --git a/rust/robonix-cli/src/query.rs b/rust/robonix-cli/src/query.rs
new file mode 100644
index 0000000..9906acd
--- /dev/null
+++ b/rust/robonix-cli/src/query.rs
@@ -0,0 +1,64 @@
+use crate::config::Config;
+use crate::database::PackageDatabase;
+use anyhow::Result;
+
+pub struct PackageQuery {
+    config: Config,
+}
+
+impl PackageQuery {
+    pub fn new(config: Config) -> Self {
+        Self { config }
+    }
+
+    pub fn list_all(&self) -> Result<Vec<String>> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let packages = db.list_packages();
+        Ok(packages.iter().map(|p| p.name.clone()).collect())
+    }
+
+    pub fn show_info(&self, name: &str) -> Result<()> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let pkg = db
+            .find_by_name(name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", name))?;
+
+        println!("Package: {}", pkg.name);
+        println!("Version: {}", pkg.version);
+        println!("Path: {}", pkg.path.display());
+        println!("Installed at: {}", pkg.installed_at);
+        println!("Source: {:?}", pkg.source);
+        println!("\nPrimitives:");
+        for prm in &pkg.primitives {
+            println!("  - {}", prm);
+        }
+        println!("\nServices:");
+        for srv in &pkg.services {
+            println!("  - {}", srv);
+        }
+        println!("\nSkills:");
+        for skill in &pkg.skills {
+            println!("  - {}", skill);
+        }
+
+        Ok(())
+    }
+
+    pub fn find_by_primitive(&self, primitive_name: &str) -> Result<Vec<String>> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let packages = db.find_by_primitive(primitive_name);
+        Ok(packages.iter().map(|p| p.name.clone()).collect())
+    }
+
+    pub fn find_by_service(&self, service_name: &str) -> Result<Vec<String>> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let packages = db.find_by_service(service_name);
+        Ok(packages.iter().map(|p| p.name.clone()).collect())
+    }
+
+    pub fn find_by_skill(&self, skill_name: &str) -> Result<Vec<String>> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let packages = db.find_by_skill(skill_name);
+        Ok(packages.iter().map(|p| p.name.clone()).collect())
+    }
+}
diff --git a/rust/robonix-cli/src/recipe.rs b/rust/robonix-cli/src/recipe.rs
new file mode 100644
index 0000000..39c42bb
--- /dev/null
+++ b/rust/robonix-cli/src/recipe.rs
@@ -0,0 +1,39 @@
+use anyhow::{Context, Result};
+use serde::{Deserialize, Serialize};
+use std::path::PathBuf;
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct Recipe {
+    pub name: String,
+    pub description: Option<String>,
+    pub packages: Vec<RecipePackage>,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RecipePackage {
+    pub name: String,
+    pub primitives: Option<Vec<String>>, // If None, register all primitives
+    pub services: Option<Vec<String>>,   // If None, register all services
+    pub skills: Option<Vec<String>>,     // If None, register all skills
+}
+
+impl Recipe {
+    pub fn load(path: &PathBuf) -> Result<Self> {
+        let content = std::fs::read_to_string(path)
+            .with_context(|| format!("Failed to read recipe: {}", path.display()))?;
+
+        let recipe: Recipe = serde_yaml::from_str(&content)
+            .with_context(|| format!("Failed to parse recipe: {}", path.display()))?;
+
+        Ok(recipe)
+    }
+
+    pub fn save(&self, path: &PathBuf) -> Result<()> {
+        let content = serde_yaml::to_string(self).context("Failed to serialize recipe")?;
+
+        std::fs::write(path, content)
+            .with_context(|| format!("Failed to write recipe: {}", path.display()))?;
+
+        Ok(())
+    }
+}
diff --git a/rust/robonix-cli/src/recipe_state.rs b/rust/robonix-cli/src/recipe_state.rs
new file mode 100644
index 0000000..e4c93a3
--- /dev/null
+++ b/rust/robonix-cli/src/recipe_state.rs
@@ -0,0 +1,55 @@
+use crate::recipe::Recipe;
+use anyhow::{Context, Result};
+use serde::{Deserialize, Serialize};
+use std::path::{Path, PathBuf};
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RecipeState {
+    pub recipe_path: PathBuf,
+    pub recipe: Recipe,
+    pub registered_at: String, // ISO 8601 timestamp
+}
+
+impl RecipeState {
+    pub fn state_file_path(storage_path: &Path) -> PathBuf {
+        storage_path.join("active_recipe.json")
+    }
+
+    pub fn load(storage_path: &Path) -> Result<Option<Self>> {
+        let state_path = Self::state_file_path(storage_path);
+
+        if !state_path.exists() {
+            return Ok(None);
+        }
+
+        let content = std::fs::read_to_string(&state_path)
+            .with_context(|| format!("Failed to read recipe state: {}", state_path.display()))?;
+
+        let state: RecipeState = serde_json::from_str(&content)
+            .with_context(|| format!("Failed to parse recipe state: {}", state_path.display()))?;
+
+        Ok(Some(state))
+    }
+
+    pub fn save(&self, storage_path: &Path) -> Result<()> {
+        let state_path = Self::state_file_path(storage_path);
+
+        let content =
+            serde_json::to_string_pretty(self).context("Failed to serialize recipe state")?;
+
+        std::fs::write(&state_path, content)
+            .with_context(|| format!("Failed to write recipe state: {}", state_path.display()))?;
+
+        Ok(())
+    }
+
+    pub fn clear(storage_path: &Path) -> Result<()> {
+        let state_path = Self::state_file_path(storage_path);
+        if state_path.exists() {
+            std::fs::remove_file(&state_path).with_context(|| {
+                format!("Failed to remove recipe state: {}", state_path.display())
+            })?;
+        }
+        Ok(())
+    }
+}
diff --git a/rust/robonix-cli/src/register.rs b/rust/robonix-cli/src/register.rs
new file mode 100644
index 0000000..8935176
--- /dev/null
+++ b/rust/robonix-cli/src/register.rs
@@ -0,0 +1,620 @@
+use crate::config::Config;
+use crate::database::PackageDatabase;
+use crate::output;
+use crate::process::ProcessManager;
+use crate::recipe::Recipe;
+use crate::recipe_state::RecipeState;
+use anyhow::Result;
+use robonix_core::primitive::primitive::{RegisterPrimitiveRequest, RegisterPrimitiveResponse};
+use robonix_core::service::service::{RegisterServiceRequest, RegisterServiceResponse};
+use robonix_core::skill_library::skill::{RegisterSkillRequest, RegisterSkillResponse};
+use ros2_client::{
+    service::AService, Context, Name, Node, NodeName, NodeOptions, ServiceMapping, ServiceTypeName,
+};
+use rustdds::{policy, QosPolicyBuilder};
+use serde_json;
+use serde_yaml::Value;
+use std::path::PathBuf;
+use std::sync::Arc;
+use tokio::sync::Mutex;
+
+pub struct PackageRegistrar {
+    config: Config,
+    node: Arc<Mutex<Option<Node>>>,
+    primitive_client: Arc<
+        Mutex<
+            Option<
+                ros2_client::service::Client<
+                    AService<RegisterPrimitiveRequest, RegisterPrimitiveResponse>,
+                >,
+            >,
+        >,
+    >,
+    service_client: Arc<
+        Mutex<
+            Option<
+                ros2_client::service::Client<
+                    AService<RegisterServiceRequest, RegisterServiceResponse>,
+                >,
+            >,
+        >,
+    >,
+    skill_client: Arc<
+        Mutex<
+            Option<
+                ros2_client::service::Client<AService<RegisterSkillRequest, RegisterSkillResponse>>,
+            >,
+        >,
+    >,
+    process_manager: Arc<ProcessManager>,
+}
+
+impl PackageRegistrar {
+    pub fn new(config: Config) -> Result<Self> {
+        // Create log directory for process logs
+        let log_dir = config.package_storage_path.join("logs");
+        let process_manager = Arc::new(ProcessManager::new(log_dir)?);
+
+        Ok(Self {
+            config,
+            node: Arc::new(Mutex::new(None)),
+            primitive_client: Arc::new(Mutex::new(None)),
+            service_client: Arc::new(Mutex::new(None)),
+            skill_client: Arc::new(Mutex::new(None)),
+            process_manager,
+        })
+    }
+
+    async fn ensure_clients(&self) -> Result<()> {
+        let mut node_guard = self.node.lock().await;
+        let mut primitive_client_guard = self.primitive_client.lock().await;
+        let mut service_client_guard = self.service_client.lock().await;
+        let mut skill_client_guard = self.skill_client.lock().await;
+
+        if node_guard.is_none() {
+            let context = Context::new()
+                .map_err(|e| anyhow::anyhow!("Failed to create ROS2 context: {:?}", e))?;
+
+            let mut node = context
+                .new_node(
+                    NodeName::new("/rbnx", "rbnx_cli").unwrap(),
+                    NodeOptions::new().enable_rosout(false),
+                )
+                .map_err(|e| anyhow::anyhow!("Failed to create ROS2 node: {:?}", e))?;
+
+            // Start spinner in background
+            let spinner = node
+                .spinner()
+                .map_err(|e| anyhow::anyhow!("Failed to get node spinner: {:?}", e))?;
+            tokio::spawn(async move {
+                let _ = spinner.spin().await;
+            });
+
+            // Create service clients
+            let service_qos = QosPolicyBuilder::new()
+                .reliability(policy::Reliability::Reliable {
+                    max_blocking_time: rustdds::Duration::from_millis(100),
+                })
+                .history(policy::History::KeepLast { depth: 1 })
+                .build();
+
+            // Primitive register client
+            let primitive_client = node
+                .create_client::<AService<RegisterPrimitiveRequest, RegisterPrimitiveResponse>>(
+                    ServiceMapping::Enhanced,
+                    &Name::new("/rbnx/prm", "register").unwrap(),
+                    &ServiceTypeName::new("robonix_sdk", "RegisterPrimitive"),
+                    service_qos.clone(),
+                    service_qos.clone(),
+                )
+                .map_err(|e| {
+                    anyhow::anyhow!(
+                        "Failed to create primitive register service client: {:?}",
+                        e
+                    )
+                })?;
+
+            // Service register client
+            let service_client = node
+                .create_client::<AService<RegisterServiceRequest, RegisterServiceResponse>>(
+                    ServiceMapping::Enhanced,
+                    &Name::new("/rbnx/srv", "register").unwrap(),
+                    &ServiceTypeName::new("robonix_sdk", "RegisterService"),
+                    service_qos.clone(),
+                    service_qos.clone(),
+                )
+                .map_err(|e| {
+                    anyhow::anyhow!("Failed to create service register service client: {:?}", e)
+                })?;
+
+            // Skill register client
+            let skill_client = node
+                .create_client::<AService<RegisterSkillRequest, RegisterSkillResponse>>(
+                    ServiceMapping::Enhanced,
+                    &Name::new("/rbnx/skl", "register").unwrap(),
+                    &ServiceTypeName::new("robonix_sdk", "RegisterSkill"),
+                    service_qos.clone(),
+                    service_qos,
+                )
+                .map_err(|e| {
+                    anyhow::anyhow!("Failed to create skill register service client: {:?}", e)
+                })?;
+
+            // Wait for services to be available (with timeout)
+            tracing::debug!("Waiting for register services to be available...");
+            let wait_future = primitive_client.wait_for_service(&node);
+            let timeout_future = tokio::time::sleep(tokio::time::Duration::from_secs(5));
+            tokio::select! {
+                _ = wait_future => {
+                    tracing::debug!("Register services are available");
+                }
+                _ = timeout_future => {
+                    tracing::warn!("Register services not available after 5 seconds, continuing anyway...");
+                }
+            }
+
+            *node_guard = Some(node);
+            *primitive_client_guard = Some(primitive_client);
+            *service_client_guard = Some(service_client);
+            *skill_client_guard = Some(skill_client);
+        }
+
+        Ok(())
+    }
+
+    pub async fn register_from_recipe(&self, recipe_path: &PathBuf) -> Result<()> {
+        let recipe = Recipe::load(recipe_path)?;
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+
+        output::action("Registering", &format!("recipe '{}'", recipe.name));
+        if let Some(desc) = &recipe.description {
+            output::sub_step(&format!("Description: {}", desc));
+        }
+
+        // Register all primitives, services, and skills
+        output::info("");
+        for recipe_pkg in &recipe.packages {
+            let pkg_info = db
+                .find_by_name(&recipe_pkg.name)
+                .ok_or_else(|| anyhow::anyhow!("Package not found: {}", recipe_pkg.name))?;
+
+            // Load manifest
+            let manifest_content = std::fs::read_to_string(&pkg_info.manifest_path)?;
+            let manifest: Value = serde_yaml::from_str(&manifest_content)?;
+
+            // Register primitives
+            let primitives_to_register = if let Some(primitives) = &recipe_pkg.primitives {
+                primitives.clone()
+            } else {
+                pkg_info.primitives.clone()
+            };
+
+            for primitive_name in primitives_to_register {
+                if let Some(primitive) = find_primitive_in_manifest(&manifest, &primitive_name)? {
+                    self.register_primitive(&pkg_info.name, &pkg_info.path, primitive)
+                        .await?;
+                }
+            }
+
+            // Register services
+            let services_to_register = if let Some(services) = &recipe_pkg.services {
+                services.clone()
+            } else {
+                pkg_info.services.clone()
+            };
+
+            for service_name in services_to_register {
+                if let Some(service) = find_service_in_manifest(&manifest, &service_name)? {
+                    self.register_service(&pkg_info.name, &pkg_info.path, service)
+                        .await?;
+                }
+            }
+
+            // Register skills
+            let skills_to_register = if let Some(skills) = &recipe_pkg.skills {
+                skills.clone()
+            } else {
+                pkg_info.skills.clone()
+            };
+
+            for skill_name in skills_to_register {
+                if let Some(skill) = find_skill_in_manifest(&manifest, &skill_name)? {
+                    self.register_skill(&pkg_info.name, &pkg_info.path, skill)
+                        .await?;
+                }
+            }
+        }
+
+        // Save recipe state
+        let recipe_state = RecipeState {
+            recipe_path: recipe_path.clone(),
+            recipe: recipe.clone(),
+            registered_at: chrono::Utc::now().to_rfc3339(),
+        };
+        recipe_state.save(&self.config.package_storage_path)?;
+
+        output::success("Recipe registration completed");
+        Ok(())
+    }
+
+    async fn register_primitive(
+        &self,
+        package_name: &str,
+        package_path: &PathBuf,
+        primitive: &Value,
+    ) -> Result<()> {
+        let name = primitive["name"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Primitive name not found"))?
+            .to_string();
+
+        let input_schema_str = primitive["input_schema"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Primitive input_schema not found"))?;
+        // Validate JSON but keep as string for ROS2 service
+        let input_schema_str = primitive["input_schema"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Primitive input_schema not found"))?;
+        serde_json::from_str::<serde_json::Value>(input_schema_str)
+            .map_err(|e| anyhow::anyhow!("Invalid input_schema JSON: {}", e))?;
+
+        let output_schema_str = primitive["output_schema"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Primitive output_schema not found"))?;
+        serde_json::from_str::<serde_json::Value>(output_schema_str)
+            .map_err(|e| anyhow::anyhow!("Invalid output_schema JSON: {}", e))?;
+
+        let metadata_str = primitive["metadata"].as_str().unwrap_or("{}");
+        serde_json::from_str::<serde_json::Value>(metadata_str)
+            .map_err(|e| anyhow::anyhow!("Invalid metadata JSON: {}", e))?;
+
+        let version = primitive["version"].as_str().unwrap_or("1.0.0").to_string();
+
+        // Use package name as provider
+        let provider = package_name.to_string();
+
+        let request = RegisterPrimitiveRequest {
+            name: name.clone(),
+            input_schema: input_schema_str.to_string(),
+            output_schema: output_schema_str.to_string(),
+            metadata: metadata_str.to_string(),
+            provider: provider.clone(),
+            version,
+        };
+
+        self.call_primitive_register_service(request).await?;
+        output::check(&format!(
+            "Registered primitive: {} (provider: {})",
+            name, provider
+        ));
+        Ok(())
+    }
+
+    async fn register_service(
+        &self,
+        package_name: &str,
+        package_path: &PathBuf,
+        service: &Value,
+    ) -> Result<()> {
+        let name = service["name"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Service name not found"))?
+            .to_string();
+
+        let srv_type = service["srv_type"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Service srv_type not found"))?
+            .to_string();
+
+        let entry = service["entry"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Service entry not found"))?
+            .to_string();
+
+        let metadata_str = service["metadata"].as_str().unwrap_or("{}");
+        // Validate JSON but keep as string for ROS2 service
+        serde_json::from_str::<serde_json::Value>(metadata_str)
+            .map_err(|e| anyhow::anyhow!("Invalid metadata JSON: {}", e))?;
+
+        let version = service["version"].as_str().unwrap_or("1.0.0").to_string();
+
+        // Use package name as provider
+        let provider = package_name.to_string();
+
+        let request = RegisterServiceRequest {
+            name: name.clone(),
+            srv_type,
+            entry,
+            metadata: metadata_str.to_string(),
+            provider: provider.clone(),
+            version,
+        };
+
+        self.call_service_register_service(request).await?;
+        output::check(&format!(
+            "Registered service: {} (provider: {})",
+            name, provider
+        ));
+        Ok(())
+    }
+
+    async fn register_skill(
+        &self,
+        package_name: &str,
+        package_path: &PathBuf,
+        skill: &Value,
+    ) -> Result<()> {
+        let name_raw = skill["name"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Skill name not found"))?
+            .to_string();
+        // Automatically add 'skl::' prefix if not present
+        let name = if name_raw.starts_with("skl::") {
+            name_raw
+        } else {
+            format!("skl::{}", name_raw)
+        };
+
+        let start_topic = skill["start_topic"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Skill start_topic not found"))?
+            .to_string();
+
+        let status_topic = skill["status_topic"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Skill status_topic not found"))?
+            .to_string();
+
+        let skill_type = skill["type"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Skill type not found (must be 'basic' or 'rtdl')"))?
+            .to_string();
+
+        if skill_type != "basic" && skill_type != "rtdl" {
+            anyhow::bail!("Skill type must be 'basic' or 'rtdl', got: {}", skill_type);
+        }
+
+        // Handle entry (for basic skills) or skill_dir/main_rtdl (for RTDL skills)
+        let entry = if skill_type == "basic" {
+            skill["entry"]
+                .as_str()
+                .ok_or_else(|| anyhow::anyhow!("Basic skill entry not found"))?
+                .to_string()
+        } else {
+            String::new()
+        };
+
+        let (skill_dir, main_rtdl) = if skill_type == "rtdl" {
+            let skill_dir_str = skill["skill_dir"]
+                .as_str()
+                .ok_or_else(|| anyhow::anyhow!("RTDL skill skill_dir not found"))?
+                .to_string();
+            // Make skill_dir absolute path
+            let skill_dir_abs = if skill_dir_str.starts_with('/') {
+                skill_dir_str
+            } else {
+                package_path
+                    .join(&skill_dir_str)
+                    .to_str()
+                    .ok_or_else(|| anyhow::anyhow!("Invalid skill_dir path"))?
+                    .to_string()
+            };
+
+            let main_rtdl_str = skill["main_rtdl"]
+                .as_str()
+                .ok_or_else(|| anyhow::anyhow!("RTDL skill main_rtdl not found"))?
+                .to_string();
+
+            (skill_dir_abs, main_rtdl_str)
+        } else {
+            (String::new(), String::new())
+        };
+
+        let start_args_str = skill["start_args"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Skill start_args not found"))?;
+        // Validate JSON but keep as string for ROS2 service
+        serde_json::from_str::<serde_json::Value>(start_args_str)
+            .map_err(|e| anyhow::anyhow!("Invalid start_args JSON: {}", e))?;
+
+        let status_str = skill["status"]
+            .as_str()
+            .ok_or_else(|| anyhow::anyhow!("Skill status not found"))?;
+        serde_json::from_str::<serde_json::Value>(status_str)
+            .map_err(|e| anyhow::anyhow!("Invalid status JSON: {}", e))?;
+
+        let metadata_str = skill["metadata"].as_str().unwrap_or("{}");
+        serde_json::from_str::<serde_json::Value>(metadata_str)
+            .map_err(|e| anyhow::anyhow!("Invalid metadata JSON: {}", e))?;
+
+        // Use package name as provider
+        let provider = package_name.to_string();
+
+        let version = skill["version"].as_str().unwrap_or("1.0.0").to_string();
+
+        let request = RegisterSkillRequest {
+            name: name.clone(),
+            r#type: skill_type,
+            start_topic,
+            status_topic,
+            entry,
+            skill_dir,
+            main_rtdl,
+            start_args: start_args_str.to_string(),
+            status: status_str.to_string(),
+            metadata: metadata_str.to_string(),
+            provider: provider.clone(),
+            version,
+        };
+
+        let response = self.call_skill_register_service(request).await?;
+        output::check(&format!(
+            "Registered skill: {} (skill_id: {}, provider: {})",
+            name, response.skill_id, provider
+        ));
+        Ok(())
+    }
+
+    async fn call_primitive_register_service(
+        &self,
+        request: RegisterPrimitiveRequest,
+    ) -> Result<RegisterPrimitiveResponse> {
+        self.ensure_clients().await?;
+
+        let client_guard = self.primitive_client.lock().await;
+        let client = client_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("Primitive register client not initialized"))?;
+
+        let node_guard = self.node.lock().await;
+        let _node = node_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("ROS2 node not initialized"))?;
+
+        tracing::info!("Calling primitive register service for: {}", request.name);
+        let call_result = tokio::time::timeout(
+            tokio::time::Duration::from_secs(10),
+            client.async_call_service(request),
+        )
+        .await;
+
+        match call_result {
+            Ok(Ok(response)) => {
+                tracing::info!("Received response: ok={}", response.ok);
+                if !response.ok {
+                    anyhow::bail!("Primitive registration failed");
+                }
+                Ok(response)
+            }
+            Ok(Err(e)) => {
+                tracing::error!("Service call error: {:?}", e);
+                anyhow::bail!("Service call error: {:?}", e);
+            }
+            Err(_) => {
+                tracing::error!("Service call timeout after 10 seconds");
+                anyhow::bail!("Service call timeout after 10 seconds");
+            }
+        }
+    }
+
+    async fn call_service_register_service(
+        &self,
+        request: RegisterServiceRequest,
+    ) -> Result<RegisterServiceResponse> {
+        self.ensure_clients().await?;
+
+        let client_guard = self.service_client.lock().await;
+        let client = client_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("Service register client not initialized"))?;
+
+        let node_guard = self.node.lock().await;
+        let _node = node_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("ROS2 node not initialized"))?;
+
+        tracing::info!("Calling service register service for: {}", request.name);
+        let call_result = tokio::time::timeout(
+            tokio::time::Duration::from_secs(10),
+            client.async_call_service(request),
+        )
+        .await;
+
+        match call_result {
+            Ok(Ok(response)) => {
+                tracing::info!("Received response: ok={}", response.ok);
+                if !response.ok {
+                    anyhow::bail!("Service registration failed");
+                }
+                Ok(response)
+            }
+            Ok(Err(e)) => {
+                tracing::error!("Service call error: {:?}", e);
+                anyhow::bail!("Service call error: {:?}", e);
+            }
+            Err(_) => {
+                tracing::error!("Service call timeout after 10 seconds");
+                anyhow::bail!("Service call timeout after 10 seconds");
+            }
+        }
+    }
+
+    async fn call_skill_register_service(
+        &self,
+        request: RegisterSkillRequest,
+    ) -> Result<RegisterSkillResponse> {
+        self.ensure_clients().await?;
+
+        let client_guard = self.skill_client.lock().await;
+        let client = client_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("Skill register client not initialized"))?;
+
+        let node_guard = self.node.lock().await;
+        let _node = node_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("ROS2 node not initialized"))?;
+
+        tracing::info!("Calling skill register service for: {}", request.name);
+        let call_result = tokio::time::timeout(
+            tokio::time::Duration::from_secs(10),
+            client.async_call_service(request),
+        )
+        .await;
+
+        match call_result {
+            Ok(Ok(response)) => {
+                tracing::info!(
+                    "Received response: ok={}, skill_id={}",
+                    response.ok,
+                    response.skill_id
+                );
+                if !response.ok {
+                    anyhow::bail!("Skill registration failed");
+                }
+                Ok(response)
+            }
+            Ok(Err(e)) => {
+                tracing::error!("Service call error: {:?}", e);
+                anyhow::bail!("Service call error: {:?}", e);
+            }
+            Err(_) => {
+                tracing::error!("Service call timeout after 10 seconds");
+                anyhow::bail!("Service call timeout after 10 seconds");
+            }
+        }
+    }
+}
+
+fn find_primitive_in_manifest<'a>(manifest: &'a Value, name: &str) -> Result<Option<&'a Value>> {
+    if let Some(primitives) = manifest["primitives"].as_sequence() {
+        for primitive in primitives {
+            if primitive["name"].as_str() == Some(name) {
+                return Ok(Some(primitive));
+            }
+        }
+    }
+    Ok(None)
+}
+
+fn find_service_in_manifest<'a>(manifest: &'a Value, name: &str) -> Result<Option<&'a Value>> {
+    if let Some(services) = manifest["services"].as_sequence() {
+        for service in services {
+            if service["name"].as_str() == Some(name) {
+                return Ok(Some(service));
+            }
+        }
+    }
+    Ok(None)
+}
+
+fn find_skill_in_manifest<'a>(manifest: &'a Value, name: &str) -> Result<Option<&'a Value>> {
+    if let Some(skills) = manifest["skills"].as_sequence() {
+        for skill in skills {
+            if skill["name"].as_str() == Some(name) {
+                return Ok(Some(skill));
+            }
+        }
+    }
+    Ok(None)
+}
diff --git a/rust/robonix-cli/src/task.rs b/rust/robonix-cli/src/task.rs
new file mode 100644
index 0000000..ad289d9
--- /dev/null
+++ b/rust/robonix-cli/src/task.rs
@@ -0,0 +1,283 @@
+use crate::config::Config;
+use anyhow::Result;
+use robonix_core::task_manager::api::{
+    SubmitTaskRequest, SubmitTaskResponse, TaskResultRequest, TaskResultResponse,
+    TaskStatusRequest, TaskStatusResponse,
+};
+use ros2_client::{
+    service::AService, Context, Name, Node, NodeName, NodeOptions, ServiceMapping, ServiceTypeName,
+};
+use rustdds::{policy, QosPolicyBuilder};
+use std::sync::Arc;
+use tokio::sync::Mutex;
+
+pub struct TaskClient {
+    _config: Config,
+    node: Arc<Mutex<Option<Node>>>,
+    submit_client: Arc<
+        Mutex<
+            Option<ros2_client::service::Client<AService<SubmitTaskRequest, SubmitTaskResponse>>>,
+        >,
+    >,
+    status_client: Arc<
+        Mutex<
+            Option<ros2_client::service::Client<AService<TaskStatusRequest, TaskStatusResponse>>>,
+        >,
+    >,
+    result_client: Arc<
+        Mutex<
+            Option<ros2_client::service::Client<AService<TaskResultRequest, TaskResultResponse>>>,
+        >,
+    >,
+}
+
+impl TaskClient {
+    pub fn new(config: Config) -> Result<Self> {
+        Ok(Self {
+            _config: config,
+            node: Arc::new(Mutex::new(None)),
+            submit_client: Arc::new(Mutex::new(None)),
+            status_client: Arc::new(Mutex::new(None)),
+            result_client: Arc::new(Mutex::new(None)),
+        })
+    }
+
+    async fn ensure_clients(&self) -> Result<()> {
+        let mut node_guard = self.node.lock().await;
+        let mut submit_guard = self.submit_client.lock().await;
+        let mut status_guard = self.status_client.lock().await;
+        let mut result_guard = self.result_client.lock().await;
+
+        if node_guard.is_none() {
+            let context = Context::new()
+                .map_err(|e| anyhow::anyhow!("Failed to create ROS2 context: {:?}", e))?;
+
+            let mut node = context
+                .new_node(
+                    NodeName::new("/rbnx", "rbnx_cli_task").unwrap(),
+                    NodeOptions::new().enable_rosout(false),
+                )
+                .map_err(|e| anyhow::anyhow!("Failed to create ROS2 node: {:?}", e))?;
+
+            // Start spinner in background
+            let spinner = node
+                .spinner()
+                .map_err(|e| anyhow::anyhow!("Failed to get node spinner: {:?}", e))?;
+            tokio::spawn(async move {
+                let _ = spinner.spin().await;
+            });
+
+            // Create service clients
+            let service_qos = QosPolicyBuilder::new()
+                .reliability(policy::Reliability::Reliable {
+                    max_blocking_time: rustdds::Duration::from_millis(100),
+                })
+                .history(policy::History::KeepLast { depth: 1 })
+                .build();
+
+            let submit_client = node
+                .create_client::<AService<SubmitTaskRequest, SubmitTaskResponse>>(
+                    ServiceMapping::Enhanced,
+                    &Name::new("/rbnx/task", "submit").unwrap(),
+                    &ServiceTypeName::new("robonix_sdk", "SubmitTask"),
+                    service_qos.clone(),
+                    service_qos.clone(),
+                )
+                .map_err(|e| anyhow::anyhow!("Failed to create submit_task client: {:?}", e))?;
+
+            let status_client = node
+                .create_client::<AService<TaskStatusRequest, TaskStatusResponse>>(
+                    ServiceMapping::Enhanced,
+                    &Name::new("/rbnx/task", "status").unwrap(),
+                    &ServiceTypeName::new("robonix_sdk", "TaskStatus"),
+                    service_qos.clone(),
+                    service_qos.clone(),
+                )
+                .map_err(|e| anyhow::anyhow!("Failed to create task_status client: {:?}", e))?;
+
+            let result_client = node
+                .create_client::<AService<TaskResultRequest, TaskResultResponse>>(
+                    ServiceMapping::Enhanced,
+                    &Name::new("/rbnx/task", "result").unwrap(),
+                    &ServiceTypeName::new("robonix_sdk", "TaskResult"),
+                    service_qos.clone(),
+                    service_qos,
+                )
+                .map_err(|e| anyhow::anyhow!("Failed to create task_result client: {:?}", e))?;
+
+            // Wait for services to be available (with timeout)
+            tracing::debug!("Waiting for task services to be available...");
+            let wait_submit = submit_client.wait_for_service(&node);
+            let wait_status = status_client.wait_for_service(&node);
+            let wait_result = result_client.wait_for_service(&node);
+            let timeout_future = tokio::time::sleep(tokio::time::Duration::from_secs(5));
+
+            tokio::select! {
+                _ = wait_submit => {
+                    tracing::debug!("Submit task service is available");
+                }
+                _ = timeout_future => {
+                    tracing::warn!("Submit task service not available after 5 seconds, continuing anyway...");
+                }
+            }
+            tokio::select! {
+                _ = wait_status => {
+                    tracing::debug!("Task status service is available");
+                }
+                _ = tokio::time::sleep(tokio::time::Duration::from_secs(1)) => {
+                    tracing::debug!("Task status service wait timeout, continuing...");
+                }
+            }
+            tokio::select! {
+                _ = wait_result => {
+                    tracing::debug!("Task result service is available");
+                }
+                _ = tokio::time::sleep(tokio::time::Duration::from_secs(1)) => {
+                    tracing::debug!("Task result service wait timeout, continuing...");
+                }
+            }
+
+            *node_guard = Some(node);
+            *submit_guard = Some(submit_client);
+            *status_guard = Some(status_client);
+            *result_guard = Some(result_client);
+        }
+
+        Ok(())
+    }
+
+    pub async fn submit(
+        &self,
+        description: String,
+        params: serde_json::Value,
+    ) -> Result<SubmitTaskResponse> {
+        self.ensure_clients().await?;
+
+        // Serialize params to JSON string
+        let params_str = serde_json::to_string(&params).unwrap_or_else(|_| "{}".to_string());
+        let request = SubmitTaskRequest {
+            description,
+            params: params_str,
+        };
+
+        let client_guard: tokio::sync::MutexGuard<
+            '_,
+            Option<ros2_client::service::Client<AService<SubmitTaskRequest, SubmitTaskResponse>>>,
+        > = self.submit_client.lock().await;
+        let client = client_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("Submit client not initialized"))?;
+
+        let node_guard = self.node.lock().await;
+        let _node = node_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("ROS2 node not initialized"))?;
+
+        tracing::info!("Calling submit_task service");
+        let call_result = tokio::time::timeout(
+            tokio::time::Duration::from_secs(30),
+            client.async_call_service(request),
+        )
+        .await;
+
+        match call_result {
+            Ok(Ok(response)) => {
+                tracing::info!("Received response: task_id={}", response.task_id);
+                Ok(response)
+            }
+            Ok(Err(e)) => {
+                tracing::error!("Service call error: {:?}", e);
+                anyhow::bail!("Service call error: {:?}", e);
+            }
+            Err(_) => {
+                tracing::error!("Service call timeout after 30 seconds");
+                anyhow::bail!(
+                    "Service call timeout after 30 seconds. Make sure robonix-core is running: \
+                    Run 'cargo run --bin robonix-core' in the robonix-core directory."
+                );
+            }
+        }
+    }
+
+    pub async fn status(&self, task_id: String) -> Result<TaskStatusResponse> {
+        self.ensure_clients().await?;
+
+        let request = TaskStatusRequest { task_id };
+
+        let client_guard: tokio::sync::MutexGuard<
+            '_,
+            Option<ros2_client::service::Client<AService<TaskStatusRequest, TaskStatusResponse>>>,
+        > = self.status_client.lock().await;
+        let client = client_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("Status client not initialized"))?;
+
+        let node_guard = self.node.lock().await;
+        let _node = node_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("ROS2 node not initialized"))?;
+
+        tracing::info!("Calling task_status service");
+        let call_result = tokio::time::timeout(
+            tokio::time::Duration::from_secs(10),
+            client.async_call_service(request),
+        )
+        .await;
+
+        match call_result {
+            Ok(Ok(response)) => {
+                tracing::info!("Received response: status={}", response.status);
+                Ok(response)
+            }
+            Ok(Err(e)) => {
+                tracing::error!("Service call error: {:?}", e);
+                anyhow::bail!("Service call error: {:?}", e);
+            }
+            Err(_) => {
+                tracing::error!("Service call timeout after 10 seconds");
+                anyhow::bail!("Service call timeout after 10 seconds");
+            }
+        }
+    }
+
+    pub async fn result(&self, task_id: String) -> Result<TaskResultResponse> {
+        self.ensure_clients().await?;
+
+        let request = TaskResultRequest { task_id };
+
+        let client_guard: tokio::sync::MutexGuard<
+            '_,
+            Option<ros2_client::service::Client<AService<TaskResultRequest, TaskResultResponse>>>,
+        > = self.result_client.lock().await;
+        let client = client_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("Result client not initialized"))?;
+
+        let node_guard = self.node.lock().await;
+        let _node = node_guard
+            .as_ref()
+            .ok_or_else(|| anyhow::anyhow!("ROS2 node not initialized"))?;
+
+        tracing::info!("Calling task_result service");
+        let call_result = tokio::time::timeout(
+            tokio::time::Duration::from_secs(10),
+            client.async_call_service(request),
+        )
+        .await;
+
+        match call_result {
+            Ok(Ok(response)) => {
+                tracing::info!("Received response: result={:?}", response.result);
+                Ok(response)
+            }
+            Ok(Err(e)) => {
+                tracing::error!("Service call error: {:?}", e);
+                anyhow::bail!("Service call error: {:?}", e);
+            }
+            Err(_) => {
+                tracing::error!("Service call timeout after 10 seconds");
+                anyhow::bail!("Service call timeout after 10 seconds");
+            }
+        }
+    }
+}
diff --git a/rust/robonix-cli/src/unregister.rs b/rust/robonix-cli/src/unregister.rs
new file mode 100644
index 0000000..e46201b
--- /dev/null
+++ b/rust/robonix-cli/src/unregister.rs
@@ -0,0 +1,257 @@
+use crate::config::Config;
+use crate::database::PackageDatabase;
+use crate::output;
+use crate::recipe::Recipe;
+use crate::recipe_state::RecipeState;
+use anyhow::Result;
+use serde_yaml::Value;
+use std::path::PathBuf;
+
+pub struct PackageUnregistrar {
+    config: Config,
+}
+
+impl PackageUnregistrar {
+    pub fn new(config: Config) -> Result<Self> {
+        Ok(Self { config })
+    }
+
+    /// Unregister a package (all primitives, services, and skills)
+    pub async fn unregister_package(&self, package_name: &str) -> Result<()> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let pkg_info = db
+            .find_by_name(package_name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", package_name))?;
+
+        // Load manifest
+        let manifest_content = std::fs::read_to_string(&pkg_info.manifest_path)?;
+        let manifest: Value = serde_yaml::from_str(&manifest_content)?;
+
+        output::action("Unregistering", &format!("package '{}'", package_name));
+
+        // TODO: Call core unregister service for all primitives, services, and skills
+        // For now, we'll just stop the processes
+
+        // Unregister all primitives
+        if let Some(primitives) = manifest["primitives"].as_sequence() {
+            for primitive in primitives {
+                if let Some(std_name) = primitive["name"].as_str() {
+                    output::sub_step(&format!("Unregistering primitive: {}", std_name));
+                    // TODO: Call core unregister service
+                    // self.call_unregister_primitive(package_name, std_name).await?;
+                }
+            }
+        }
+
+        // Unregister all services
+        if let Some(services) = manifest["services"].as_sequence() {
+            for service in services {
+                if let Some(std_name) = service["name"].as_str() {
+                    output::sub_step(&format!("Unregistering service: {}", std_name));
+                    // TODO: Call core unregister service
+                    // self.call_unregister_service(package_name, std_name).await?;
+                }
+            }
+        }
+
+        // Unregister all skills
+        if let Some(skills) = manifest["skills"].as_sequence() {
+            for skill in skills {
+                if let Some(std_name) = skill["name"].as_str() {
+                    output::sub_step(&format!("Unregistering skill: {}", std_name));
+                    // TODO: Call core unregister service
+                    // self.call_unregister_skill(package_name, std_name).await?;
+                }
+            }
+        }
+
+        output::success("Package unregistration completed");
+        Ok(())
+    }
+
+    /// Unregister a specific primitive
+    pub async fn unregister_primitive(&self, package_name: &str, std_name: &str) -> Result<()> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let _pkg_info = db
+            .find_by_name(package_name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", package_name))?;
+
+        output::action(
+            "Unregistering",
+            &format!("primitive '{}' from package '{}'", std_name, package_name),
+        );
+
+        // TODO: Call core unregister service
+        // self.call_unregister_primitive(package_name, std_name).await?;
+
+        output::success("Primitive unregistration completed");
+        Ok(())
+    }
+
+    /// Unregister a specific service
+    pub async fn unregister_service(&self, package_name: &str, std_name: &str) -> Result<()> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let _pkg_info = db
+            .find_by_name(package_name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", package_name))?;
+
+        output::action(
+            "Unregistering",
+            &format!("service '{}' from package '{}'", std_name, package_name),
+        );
+
+        // TODO: Call core unregister service
+        // self.call_unregister_service(package_name, std_name).await?;
+
+        output::success("Service unregistration completed");
+        Ok(())
+    }
+
+    /// Unregister a specific skill
+    pub async fn unregister_skill(&self, package_name: &str, std_name: &str) -> Result<()> {
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+        let _pkg_info = db
+            .find_by_name(package_name)
+            .ok_or_else(|| anyhow::anyhow!("Package not found: {}", package_name))?;
+
+        output::action(
+            "Unregistering",
+            &format!("skill '{}' from package '{}'", std_name, package_name),
+        );
+
+        // TODO: Call core unregister service
+        // self.call_unregister_service(package_name, "skl", std_name).await?;
+
+        output::success("Skill unregistration completed");
+        Ok(())
+    }
+
+    /// Unregister from a recipe
+    pub async fn unregister_from_recipe(&self, recipe_path: &PathBuf) -> Result<()> {
+        let recipe = Recipe::load(recipe_path)?;
+        let db = PackageDatabase::load(&self.config.package_storage_path)?;
+
+        output::action("Unregistering", &format!("recipe '{}'", recipe.name));
+        if let Some(desc) = &recipe.description {
+            output::sub_step(&format!("Description: {}", desc));
+        }
+
+        // Unregister each package in recipe
+        for recipe_pkg in &recipe.packages {
+            let pkg_info = db
+                .find_by_name(&recipe_pkg.name)
+                .ok_or_else(|| anyhow::anyhow!("Package not found: {}", recipe_pkg.name))?;
+
+            // Load manifest
+            let manifest_content = std::fs::read_to_string(&pkg_info.manifest_path)?;
+            let manifest: Value = serde_yaml::from_str(&manifest_content)?;
+
+            // Unregister primitives
+            let primitives_to_unregister = if let Some(primitives) = &recipe_pkg.primitives {
+                primitives.clone()
+            } else {
+                pkg_info.primitives.clone()
+            };
+
+            for primitive_name in primitives_to_unregister {
+                if let Some(primitive) = find_primitive_in_manifest(&manifest, &primitive_name)? {
+                    let std_name = primitive["name"]
+                        .as_str()
+                        .ok_or_else(|| anyhow::anyhow!("Primitive name not found"))?;
+
+                    output::sub_step(&format!("Unregistering primitive: {}", std_name));
+                    // TODO: Call core unregister service
+                    // self.call_unregister_primitive(&pkg_info.name, std_name).await?;
+                }
+            }
+
+            // Unregister services
+            let services_to_unregister = if let Some(services) = &recipe_pkg.services {
+                services.clone()
+            } else {
+                pkg_info.services.clone()
+            };
+
+            for service_name in services_to_unregister {
+                if let Some(service) = find_service_in_manifest(&manifest, &service_name)? {
+                    let std_name = service["name"]
+                        .as_str()
+                        .ok_or_else(|| anyhow::anyhow!("Service name not found"))?;
+
+                    output::sub_step(&format!("Unregistering service: {}", std_name));
+                    // TODO: Call core unregister service
+                    // self.call_unregister_service(&pkg_info.name, std_name).await?;
+                }
+            }
+
+            // Unregister skills
+            let skills_to_unregister = if let Some(skills) = &recipe_pkg.skills {
+                skills.clone()
+            } else {
+                pkg_info.skills.clone()
+            };
+
+            for skill_name in skills_to_unregister {
+                if let Some(skill) = find_skill_in_manifest(&manifest, &skill_name)? {
+                    let std_name = skill["name"]
+                        .as_str()
+                        .ok_or_else(|| anyhow::anyhow!("Skill name not found"))?;
+
+                    output::sub_step(&format!("Unregistering skill: {}", std_name));
+                    // TODO: Call core unregister service
+                    // self.call_unregister_skill(&pkg_info.name, std_name).await?;
+                }
+            }
+        }
+
+        // Clear recipe state if this recipe was active
+        if let Ok(Some(state)) = RecipeState::load(&self.config.package_storage_path) {
+            if state.recipe_path == *recipe_path {
+                RecipeState::clear(&self.config.package_storage_path)?;
+            }
+        }
+
+        output::success("Recipe unregistration completed");
+        Ok(())
+    }
+
+    // TODO: Implement when core unregister service is available
+    // async fn call_unregister_service(&self, package_name: &str, package_type: &str, std_name: &str) -> Result<()> {
+    //     // Call robonix-core unregister service
+    //     // This will be implemented when the service is available
+    //     Ok(())
+    // }
+}
+
+fn find_primitive_in_manifest<'a>(manifest: &'a Value, name: &str) -> Result<Option<&'a Value>> {
+    if let Some(primitives) = manifest["primitives"].as_sequence() {
+        for primitive in primitives {
+            if primitive["name"].as_str() == Some(name) {
+                return Ok(Some(primitive));
+            }
+        }
+    }
+    Ok(None)
+}
+
+fn find_service_in_manifest<'a>(manifest: &'a Value, name: &str) -> Result<Option<&'a Value>> {
+    if let Some(services) = manifest["services"].as_sequence() {
+        for service in services {
+            if service["name"].as_str() == Some(name) {
+                return Ok(Some(service));
+            }
+        }
+    }
+    Ok(None)
+}
+
+fn find_skill_in_manifest<'a>(manifest: &'a Value, name: &str) -> Result<Option<&'a Value>> {
+    if let Some(skills) = manifest["skills"].as_sequence() {
+        for skill in skills {
+            if skill["name"].as_str() == Some(name) {
+                return Ok(Some(skill));
+            }
+        }
+    }
+    Ok(None)
+}
diff --git a/rust/robonix-core/.gitignore b/rust/robonix-core/.gitignore
new file mode 100644
index 0000000..5c25314
--- /dev/null
+++ b/rust/robonix-core/.gitignore
@@ -0,0 +1,21 @@
+# Generated by Cargo
+# will have compiled files and executables
+debug
+target
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# MSVC Windows builds of rustc generate these, which store debugging information
+*.pdb
+
+# Generated by cargo mutants
+# Contains mutation testing data
+**/mutants.out*/
+
+# RustRover
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
\ No newline at end of file
diff --git a/rust/robonix-core/Cargo.lock b/rust/robonix-core/Cargo.lock
new file mode 100644
index 0000000..acd5290
--- /dev/null
+++ b/rust/robonix-core/Cargo.lock
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+checksum = "f17a85883d4e6d00e8a97c586de764dabcc06133f7f1d55dce5cdc070ad7fe59"
+
+[[package]]
+name = "writeable"
+version = "0.6.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9edde0db4769d2dc68579893f2306b26c6ecfbe0ef499b013d731b7b9247e0b9"
+
+[[package]]
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+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d59cefebd0c892fa2dd6de581e937301d8552cb44489cdff035c6187cb63fa5e"
+dependencies = [
+ "winapi 0.2.8",
+ "winapi-build",
+]
+
+[[package]]
+name = "yoke"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72d6e5c6afb84d73944e5cedb052c4680d5657337201555f9f2a16b7406d4954"
+dependencies = [
+ "stable_deref_trait",
+ "yoke-derive",
+ "zerofrom",
+]
+
+[[package]]
+name = "yoke-derive"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b659052874eb698efe5b9e8cf382204678a0086ebf46982b79d6ca3182927e5d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.108",
+ "synstructure",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.8.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0894878a5fa3edfd6da3f88c4805f4c8558e2b996227a3d864f47fe11e38282c"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.108",
+]
+
+[[package]]
+name = "zerofrom"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "50cc42e0333e05660c3587f3bf9d0478688e15d870fab3346451ce7f8c9fbea5"
+dependencies = [
+ "zerofrom-derive",
+]
+
+[[package]]
+name = "zerofrom-derive"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.108",
+ "synstructure",
+]
+
+[[package]]
+name = "zeroize"
+version = "1.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b97154e67e32c85465826e8bcc1c59429aaaf107c1e4a9e53c8d8ccd5eff88d0"
+
+[[package]]
+name = "zerotrie"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2a59c17a5562d507e4b54960e8569ebee33bee890c70aa3fe7b97e85a9fd7851"
+dependencies = [
+ "displaydoc",
+ "yoke",
+ "zerofrom",
+]
+
+[[package]]
+name = "zerovec"
+version = "0.11.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c28719294829477f525be0186d13efa9a3c602f7ec202ca9e353d310fb9a002"
+dependencies = [
+ "yoke",
+ "zerofrom",
+ "zerovec-derive",
+]
+
+[[package]]
+name = "zerovec-derive"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eadce39539ca5cb3985590102671f2567e659fca9666581ad3411d59207951f3"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.108",
+]
diff --git a/rust/robonix-core/Cargo.toml b/rust/robonix-core/Cargo.toml
new file mode 100644
index 0000000..5fb8a9d
--- /dev/null
+++ b/rust/robonix-core/Cargo.toml
@@ -0,0 +1,18 @@
+[package]
+name = "robonix-core"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+ros2-client = {version = "0.8.2", features = ["pre-iron-gid"]}
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter", "ansi", "chrono"] }
+futures = "0.3"
+futures-util = "0.3"
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+smol = "2.0.2"
+tokio = { version = "1.0", features = ["full"] }
+ansi_term = "0.12"
+chrono = "0.4"
+reqwest = { version = "0.12.24", features = ["json", "blocking"] }
diff --git a/rust/robonix-core/src/core.rs b/rust/robonix-core/src/core.rs
new file mode 100644
index 0000000..b48441e
--- /dev/null
+++ b/rust/robonix-core/src/core.rs
@@ -0,0 +1,59 @@
+use crate::primitive::PrimitiveRegistry;
+use crate::service::ServiceRegistry;
+use crate::skill_library::SkillLibrary;
+use crate::spec::SpecRegistry;
+use crate::task_manager::TaskManager;
+use std::sync::Arc;
+
+// robonix Core - coordinates all modules according to robonix architecture
+pub struct RobonixCore {
+    // robonix core components
+    task_manager: Arc<TaskManager>,
+    skill_library: Arc<SkillLibrary>,
+    service_registry: Arc<ServiceRegistry>,
+    primitive_registry: Arc<PrimitiveRegistry>,
+}
+
+impl RobonixCore {
+    pub fn new() -> Self {
+        // Create shared spec registry (used by both primitive and service registries)
+        let spec_registry = Arc::new(SpecRegistry::new());
+
+        // Create robonix core components
+        let skill_library = Arc::new(SkillLibrary::new());
+        let service_registry = Arc::new(ServiceRegistry::new_with_spec(spec_registry.clone()));
+        let primitive_registry = Arc::new(PrimitiveRegistry::new_with_spec(spec_registry));
+
+        let task_manager = TaskManager::new(
+            skill_library.clone(),
+            service_registry.clone(),
+            primitive_registry.clone(),
+        );
+
+        let task_manager = Arc::new(task_manager);
+
+        Self {
+            task_manager,
+            skill_library,
+            service_registry,
+            primitive_registry,
+        }
+    }
+
+    // robonix core component accessors
+    pub fn get_task_manager(&self) -> Arc<TaskManager> {
+        self.task_manager.clone()
+    }
+
+    pub fn get_skill_library(&self) -> Arc<SkillLibrary> {
+        self.skill_library.clone()
+    }
+
+    pub fn get_service_registry(&self) -> Arc<ServiceRegistry> {
+        self.service_registry.clone()
+    }
+
+    pub fn get_primitive_registry(&self) -> Arc<PrimitiveRegistry> {
+        self.primitive_registry.clone()
+    }
+}
diff --git a/rust/robonix-core/src/lib.rs b/rust/robonix-core/src/lib.rs
new file mode 100644
index 0000000..946ae6d
--- /dev/null
+++ b/rust/robonix-core/src/lib.rs
@@ -0,0 +1,9 @@
+#[macro_use]
+pub mod spec;
+pub mod core;
+pub mod messages;
+pub mod primitive;
+pub mod service;
+pub mod skill_library;
+pub mod specs_table;
+pub mod task_manager;
diff --git a/rust/robonix-core/src/main.rs b/rust/robonix-core/src/main.rs
new file mode 100644
index 0000000..6a54ee2
--- /dev/null
+++ b/rust/robonix-core/src/main.rs
@@ -0,0 +1,527 @@
+use ansi_term::Colour;
+use futures_util::stream::StreamExt;
+use robonix_core::core::RobonixCore;
+use robonix_core::primitive::primitive::{
+    QueryPrimitiveRequest, QueryPrimitiveResponse, RegisterPrimitiveRequest,
+    RegisterPrimitiveResponse,
+};
+use robonix_core::service::service::{
+    QueryServiceRequest, QueryServiceResponse, RegisterServiceRequest, RegisterServiceResponse,
+};
+use robonix_core::skill_library::skill::{
+    QuerySkillRequest, QuerySkillResponse, RegisterSkillRequest, RegisterSkillResponse,
+};
+use robonix_core::task_manager::{
+    SubmitTaskRequest, SubmitTaskResponse, TaskResultRequest, TaskResultResponse,
+    TaskStatusRequest, TaskStatusResponse,
+};
+use ros2_client::{
+    AService, Context, Name, Node, NodeName, NodeOptions, ServiceMapping, ServiceTypeName,
+    rustdds::{
+        Duration, QosPolicies, QosPolicyBuilder,
+        policy::{self, Deadline, Lifespan},
+    },
+};
+use serde::{Deserialize, Serialize};
+use std::fmt;
+use std::sync::Arc;
+use tracing::{debug, error, info};
+use tracing_subscriber::fmt::FmtContext;
+use tracing_subscriber::fmt::format::{FormatEvent, FormatFields, Writer};
+use tracing_subscriber::registry::LookupSpan;
+
+// Ping Pong service types for testing
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct PingPongRequest {
+    pub message: String,
+    pub sequence: u64,
+}
+
+impl ros2_client::Message for PingPongRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct PingPongResponse {
+    pub message: String,
+    pub sequence: u64,
+    pub timestamp: u64,
+}
+
+impl ros2_client::Message for PingPongResponse {}
+
+fn main() {
+    tracing_subscriber::fmt()
+        .with_env_filter(
+            tracing_subscriber::EnvFilter::try_from_default_env().unwrap_or_else(|_| {
+                // Default: only show info+ for robonix_core, error+ for rustdds
+                tracing_subscriber::EnvFilter::new("robonix_core=info,rustdds=error")
+            }),
+        )
+        .with_target(false)
+        .event_format(Formatter)
+        .init();
+
+    info!("robonix core starting...");
+
+    let mut node = create_node();
+    let service_qos = create_qos();
+    info!("robonix core node started");
+
+    let core = Arc::new(RobonixCore::new());
+
+    // Get robonix core components
+    let task_manager = core.get_task_manager();
+    let skill_library = core.get_skill_library();
+    let service_registry = core.get_service_registry();
+    let primitive_registry = core.get_primitive_registry();
+
+    // ===== robonix API Services =====
+
+    // Primitive API: /rbnx/prm/register
+    let register_primitive_server = node
+        .create_server::<AService<RegisterPrimitiveRequest, RegisterPrimitiveResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/prm", "register").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "RegisterPrimitive"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("primitive register service created at /rbnx/prm/register");
+
+    // Primitive API: /rbnx/prm/query
+    let query_primitive_server = node
+        .create_server::<AService<QueryPrimitiveRequest, QueryPrimitiveResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/prm", "query").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "QueryPrimitive"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("primitive query service created at /rbnx/prm/query");
+
+    // Service API: /rbnx/srv/register
+    let register_service_server = node
+        .create_server::<AService<RegisterServiceRequest, RegisterServiceResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/srv", "register").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "RegisterService"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("service register service created at /rbnx/srv/register");
+
+    // Service API: /rbnx/srv/query
+    let query_service_server = node
+        .create_server::<AService<QueryServiceRequest, QueryServiceResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/srv", "query").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "QueryService"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("service query service created at /rbnx/srv/query");
+
+    // Skill API: /rbnx/skl/register
+    let register_skill_server = node
+        .create_server::<AService<RegisterSkillRequest, RegisterSkillResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/skl", "register").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "RegisterSkill"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("skill register service created at /rbnx/skl/register");
+
+    // Skill API: /rbnx/skl/query
+    let query_skill_server = node
+        .create_server::<AService<QuerySkillRequest, QuerySkillResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/skl", "query").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "QuerySkill"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("skill query service created at /rbnx/skl/query");
+
+    // Task API: /rbnx/task/submit
+    let submit_task_server = node
+        .create_server::<AService<SubmitTaskRequest, SubmitTaskResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/task", "submit").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "SubmitTask"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("task submit service created at /rbnx/task/submit");
+
+    // Task API: /rbnx/task/status
+    let task_status_server = node
+        .create_server::<AService<TaskStatusRequest, TaskStatusResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/task", "status").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "TaskStatus"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("task status service created at /rbnx/task/status");
+
+    // Task API: /rbnx/task/result
+    let task_result_server = node
+        .create_server::<AService<TaskResultRequest, TaskResultResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx/task", "result").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "TaskResult"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("task result service created at /rbnx/task/result");
+
+    // Ping Pong API: /rbnx/ping
+    let ping_pong_server = node
+        .create_server::<AService<PingPongRequest, PingPongResponse>>(
+            ServiceMapping::Enhanced,
+            &Name::new("/rbnx", "ping").unwrap(),
+            &ServiceTypeName::new("robonix_sdk", "PingPong"),
+            service_qos.clone(),
+            service_qos.clone(),
+        )
+        .unwrap();
+    info!("ping pong service created at /rbnx/ping");
+
+    info!("all robonix modules initialized");
+    info!("robonix core ready. waiting for requests...");
+
+    // Run all service handlers
+    smol::block_on(async {
+        // robonix core component clones
+        let task_manager_clone1 = task_manager.clone();
+        let task_manager_clone2 = task_manager.clone();
+        let task_manager_clone3 = task_manager.clone();
+        let skill_library_clone1 = skill_library.clone();
+        let skill_library_clone2 = skill_library.clone();
+        let service_registry_clone1 = service_registry.clone();
+        let service_registry_clone2 = service_registry.clone();
+        let primitive_registry_clone1 = primitive_registry.clone();
+        let primitive_registry_clone2 = primitive_registry.clone();
+
+        // Handle primitive registration requests
+        let register_primitive_task = smol::spawn(async move {
+            let stream = register_primitive_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            info!(primitive_name = %req.name, "received primitive registration request");
+                            let resp = primitive_registry_clone1.register_primitive(req).await;
+                            if let Err(e) = register_primitive_server.async_send_response(req_id, resp).await {
+                                error!("send primitive registration response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive primitive registration request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle primitive query requests
+        let query_primitive_task = smol::spawn(async move {
+            let stream = query_primitive_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            debug!(primitive_name = %req.name, "received primitive query request");
+                            let resp = primitive_registry_clone2.query_primitive(req).await;
+                            if let Err(e) = query_primitive_server
+                                .async_send_response(req_id, resp)
+                                .await
+                            {
+                                error!("send primitive query response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive primitive query request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle service registration requests
+        let register_service_task = smol::spawn(async move {
+            let stream = register_service_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            info!(service_name = %req.name, "received service registration request");
+                            let resp = service_registry_clone1.register_service(req).await;
+                            if let Err(e) = register_service_server.async_send_response(req_id, resp).await {
+                                error!("send service registration response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive service registration request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle service query requests
+        let query_service_task = smol::spawn(async move {
+            let stream = query_service_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            debug!(service_name = %req.name, "received service query request");
+                            let resp = service_registry_clone2.query_service(req).await;
+                            if let Err(e) =
+                                query_service_server.async_send_response(req_id, resp).await
+                            {
+                                error!("send service query response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive service query request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle skill registration requests
+        let register_skill_task = smol::spawn(async move {
+            let stream = register_skill_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            info!(skill_name = %req.name, "received skill registration request");
+                            let resp = skill_library_clone1.register_skill(req).await;
+                            if let Err(e) = register_skill_server
+                                .async_send_response(req_id, resp)
+                                .await
+                            {
+                                error!("send skill registration response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive skill registration request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle skill query requests
+        let query_skill_task = smol::spawn(async move {
+            let stream = query_skill_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            debug!(skill_name = %req.name, "received skill query request");
+                            let resp = skill_library_clone2.query_skill(req).await;
+                            if let Err(e) =
+                                query_skill_server.async_send_response(req_id, resp).await
+                            {
+                                error!("send skill query response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive skill query request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle task submit requests
+        let submit_task_task = smol::spawn(async move {
+            let stream = submit_task_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            info!(description = %req.description, "received task submit request");
+                            let resp = task_manager_clone1.submit_task(req).await;
+                            if let Err(e) =
+                                submit_task_server.async_send_response(req_id, resp).await
+                            {
+                                error!("send task submit response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive task submit request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle task status requests
+        let task_status_task = smol::spawn(async move {
+            let stream = task_status_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            debug!(task_id = %req.task_id, "received task status request");
+                            let resp = task_manager_clone2.get_task_status(req).await;
+                            if let Err(e) =
+                                task_status_server.async_send_response(req_id, resp).await
+                            {
+                                error!("send task status response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive task status request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle task result requests
+        let task_result_task = smol::spawn(async move {
+            let stream = task_result_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            debug!(task_id = %req.task_id, "received task result request");
+                            let resp = task_manager_clone3.get_task_result(req).await;
+                            if let Err(e) =
+                                task_result_server.async_send_response(req_id, resp).await
+                            {
+                                error!("send task result response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive task result request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Handle ping pong requests
+        let ping_pong_task = smol::spawn(async move {
+            let stream = ping_pong_server.receive_request_stream();
+            stream
+                .for_each(|result| async {
+                    match result {
+                        Ok((req_id, req)) => {
+                            debug!(sequence = req.sequence, message = %req.message, "received ping request");
+                            let timestamp = std::time::SystemTime::now()
+                                .duration_since(std::time::UNIX_EPOCH)
+                                .unwrap()
+                                .as_millis() as u64;
+                            let resp = PingPongResponse {
+                                message: format!("pong: {}", req.message),
+                                sequence: req.sequence,
+                                timestamp,
+                            };
+                            if let Err(e) = ping_pong_server.async_send_response(req_id, resp).await {
+                                error!("send ping pong response error: {e:?}");
+                            }
+                        }
+                        Err(e) => error!("receive ping pong request error: {e:?}"),
+                    }
+                })
+                .await;
+        });
+
+        // Wait for all tasks (all run indefinitely)
+        futures_util::future::select_all(vec![
+            Box::pin(register_primitive_task),
+            Box::pin(query_primitive_task),
+            Box::pin(register_service_task),
+            Box::pin(query_service_task),
+            Box::pin(register_skill_task),
+            Box::pin(query_skill_task),
+            Box::pin(submit_task_task),
+            Box::pin(task_status_task),
+            Box::pin(task_result_task),
+            Box::pin(ping_pong_task),
+        ])
+        .await;
+    });
+}
+
+fn create_qos() -> QosPolicies {
+    let service_qos: QosPolicies = {
+        QosPolicyBuilder::new()
+            .history(policy::History::KeepLast { depth: 1000 })
+            .reliability(policy::Reliability::Reliable {
+                max_blocking_time: Duration::from_millis(100),
+            })
+            .durability(policy::Durability::Volatile)
+            .deadline(Deadline(Duration::INFINITE))
+            .lifespan(Lifespan {
+                duration: Duration::INFINITE,
+            })
+            .liveliness(policy::Liveliness::Automatic {
+                lease_duration: Duration::INFINITE,
+            })
+            .build()
+    };
+    service_qos
+}
+
+fn create_node() -> Node {
+    let context = Context::new().unwrap();
+    context
+        .new_node(
+            NodeName::new("/rbnx", "core").unwrap(),
+            NodeOptions::new().enable_rosout(true),
+        )
+        .unwrap()
+}
+
+struct Formatter;
+
+impl<S, N> FormatEvent<S, N> for Formatter
+where
+    S: tracing::Subscriber + for<'a> LookupSpan<'a>,
+    N: for<'a> FormatFields<'a> + 'static,
+{
+    fn format_event(
+        &self,
+        ctx: &FmtContext<'_, S, N>,
+        mut writer: Writer<'_>,
+        event: &tracing::Event<'_>,
+    ) -> fmt::Result {
+        // Get timestamp in Linux kernel style [seconds.microseconds]
+        static START: std::sync::OnceLock<std::time::Instant> = std::sync::OnceLock::new();
+        let start = START.get_or_init(std::time::Instant::now);
+        let elapsed = start.elapsed();
+        let secs = elapsed.as_secs();
+        let micros = elapsed.subsec_micros();
+        let timestamp = format!("[{}.{:06}]", secs, micros);
+
+        // Get log level and format it as a single colored letter
+        let level = *event.metadata().level();
+        let (level_char, level_color) = match level {
+            tracing::Level::ERROR => ('E', Colour::Red),
+            tracing::Level::WARN => ('W', Colour::Yellow),
+            tracing::Level::INFO => ('I', Colour::Green),
+            tracing::Level::DEBUG => ('D', Colour::Cyan),
+            tracing::Level::TRACE => ('T', Colour::White),
+        };
+
+        // Get process name
+        let proc_name = std::env::current_exe()
+            .ok()
+            .and_then(|p| p.file_name().map(|n| n.to_string_lossy().into_owned()))
+            .unwrap_or_else(|| "eaios-core".to_string());
+
+        // Write Linux-style log entry: timestamp procname[pid]: LEVEL message
+        write!(
+            writer,
+            "{} {}[{}]: {} ",
+            timestamp,
+            proc_name,
+            std::process::id(),
+            level_color.paint(level_char.to_string())
+        )?;
+
+        // Format the message and fields
+        ctx.format_fields(writer.by_ref(), event)?;
+        writeln!(writer)
+    }
+}
diff --git a/rust/robonix-core/src/messages.rs b/rust/robonix-core/src/messages.rs
new file mode 100644
index 0000000..6bdbbd0
--- /dev/null
+++ b/rust/robonix-core/src/messages.rs
@@ -0,0 +1,29 @@
+use serde::{Deserialize, Serialize};
+
+// Input/Output parameter specification
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct IOParameter {
+    pub name: String,
+    pub ros_type: String, // ROS message type (e.g., "geometry_msgs/msg/PoseStamped")
+    pub channel: String,  // Topic or service name (e.g., "/piper/pose_goal")
+}
+
+// Configuration service specification
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct ConfigService {
+    pub service: String, // Service name (e.g., "/arm/configure")
+    pub name: String,    // Configuration parameter name (e.g., "piper_arm_config_update")
+}
+
+// Skill registration data (legacy format, used for compatibility in skill_library)
+#[derive(Debug, Clone)]
+pub struct Skill {
+    pub package_name: String,
+    pub std_name: String,
+    pub impl_id: String, // Implementation ID
+    pub description: String,
+    pub code_path: String,
+    pub inputs: Vec<IOParameter>,
+    pub outputs: Vec<IOParameter>,
+    pub configs: Vec<ConfigService>,
+}
diff --git a/rust/robonix-core/src/primitive/mod.rs b/rust/robonix-core/src/primitive/mod.rs
new file mode 100644
index 0000000..2ff7da3
--- /dev/null
+++ b/rust/robonix-core/src/primitive/mod.rs
@@ -0,0 +1,48 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Primitive Abstraction Layer Module
+//
+// The Primitive Abstraction Layer provides standardized, controllable hardware capability mapping,
+// unified management of actuator and sensor access, avoiding direct binding of upper-layer tasks to underlying hardware.
+
+pub mod primitive;
+
+use crate::spec::SpecRegistry;
+use primitive::PrimitiveRegistry as PrimitiveRegistryImpl;
+use std::sync::Arc;
+
+/// Primitive Registry - Manages primitive registration and querying
+pub struct PrimitiveRegistry {
+    registry: Arc<PrimitiveRegistryImpl>,
+    spec_registry: Arc<SpecRegistry>,
+}
+
+impl PrimitiveRegistry {
+    pub fn new() -> Self {
+        Self::new_with_spec(Arc::new(SpecRegistry::new()))
+    }
+
+    pub fn new_with_spec(spec_registry: Arc<SpecRegistry>) -> Self {
+        Self {
+            registry: Arc::new(PrimitiveRegistryImpl::new()),
+            spec_registry,
+        }
+    }
+
+    pub fn get_registry(&self) -> Arc<PrimitiveRegistryImpl> {
+        self.registry.clone()
+    }
+
+    pub async fn register_primitive(
+        &self,
+        req: primitive::RegisterPrimitiveRequest,
+    ) -> primitive::RegisterPrimitiveResponse {
+        self.registry.register(req, &self.spec_registry).await
+    }
+
+    pub async fn query_primitive(
+        &self,
+        req: primitive::QueryPrimitiveRequest,
+    ) -> primitive::QueryPrimitiveResponse {
+        self.registry.query(req).await
+    }
+}
diff --git a/rust/robonix-core/src/primitive/primitive.rs b/rust/robonix-core/src/primitive/primitive.rs
new file mode 100644
index 0000000..d963b0b
--- /dev/null
+++ b/rust/robonix-core/src/primitive/primitive.rs
@@ -0,0 +1,268 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Primitive Registry Module
+//
+// Handles primitive registration and querying according to robonix spec.
+// Primitives provide standardized hardware capability mapping.
+
+use crate::spec::SpecRegistry;
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+use std::sync::Arc;
+use tokio::sync::RwLock;
+use tracing::{info, warn};
+
+/// Primitive registration request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RegisterPrimitiveRequest {
+    pub name: String,          // Standard primitive name
+    pub input_schema: String,  // JSON string: {"argname0":"/topic0", ...}
+    pub output_schema: String, // JSON string: {"argname1":"/topic1", ...}
+    pub metadata: String,      // JSON string: metadata for instance filtering
+    pub provider: String,      // Primitive provider identifier
+    pub version: String,       // Implementation version (e.g., "1.0.0", "1.0.0-alpha")
+}
+
+impl ros2_client::Message for RegisterPrimitiveRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RegisterPrimitiveResponse {
+    pub ok: bool,
+}
+
+impl ros2_client::Message for RegisterPrimitiveResponse {}
+
+/// Primitive query request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct QueryPrimitiveRequest {
+    pub name: String,
+    pub filter: String, // JSON string: filter by metadata (e.g., {"resolution":">=720p"}, {"index":0}). Empty string means no filter
+}
+
+impl ros2_client::Message for QueryPrimitiveRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct PrimitiveInstance {
+    pub provider: String,
+    pub version: String,
+    pub input_schema: serde_json::Value,
+    pub output_schema: serde_json::Value,
+    pub metadata: serde_json::Value,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct QueryPrimitiveResponse {
+    pub instances: Vec<PrimitiveInstance>,
+}
+
+impl ros2_client::Message for QueryPrimitiveResponse {}
+
+#[derive(Debug, Clone)]
+struct PrimitiveEntry {
+    name: String,
+    input_schema: serde_json::Value,
+    output_schema: serde_json::Value,
+    metadata: serde_json::Value,
+    provider: String,
+    version: String,
+}
+
+/// Primitive Registry - Manages primitive registration and querying
+pub struct PrimitiveRegistry {
+    primitives: Arc<RwLock<HashMap<String, PrimitiveEntry>>>,
+}
+
+impl PrimitiveRegistry {
+    pub fn new() -> Self {
+        Self {
+            primitives: Arc::new(RwLock::new(HashMap::new())),
+        }
+    }
+
+    /// Register a primitive
+    pub async fn register(
+        &self,
+        req: RegisterPrimitiveRequest,
+        spec_registry: &Arc<SpecRegistry>,
+    ) -> RegisterPrimitiveResponse {
+        // Parse JSON strings
+        let input_schema: serde_json::Value = match serde_json::from_str(&req.input_schema) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    primitive_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse input_schema json"
+                );
+                return RegisterPrimitiveResponse { ok: false };
+            }
+        };
+        let output_schema: serde_json::Value = match serde_json::from_str(&req.output_schema) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    primitive_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse output_schema json"
+                );
+                return RegisterPrimitiveResponse { ok: false };
+            }
+        };
+        let metadata: serde_json::Value = match serde_json::from_str(&req.metadata) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    primitive_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse metadata json"
+                );
+                return RegisterPrimitiveResponse { ok: false };
+            }
+        };
+
+        // Validate against spec
+        match spec_registry.validate_primitive(&req.name, &input_schema, &output_schema) {
+            Ok(()) => {
+                // Validation passed
+            }
+            Err(e) => {
+                warn!(
+                    primitive_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "primitive validation failed"
+                );
+                return RegisterPrimitiveResponse { ok: false };
+            }
+        }
+
+        // Key includes name, provider, and version to distinguish different implementations
+        let key = format!("{}::{}::{}", req.name, req.provider, req.version);
+
+        let entry = PrimitiveEntry {
+            name: req.name.clone(),
+            input_schema,
+            output_schema,
+            metadata,
+            provider: req.provider.clone(),
+            version: req.version.clone(),
+        };
+
+        let mut primitives = self.primitives.write().await;
+        primitives.insert(key, entry);
+
+        info!(
+            primitive_name = %req.name,
+            provider = %req.provider,
+            "registered primitive"
+        );
+
+        RegisterPrimitiveResponse { ok: true }
+    }
+
+    /// Query primitives
+    pub async fn query(&self, req: QueryPrimitiveRequest) -> QueryPrimitiveResponse {
+        let primitives = self.primitives.read().await;
+        let mut instances = Vec::new();
+
+        for entry in primitives.values() {
+            // Match by name
+            if entry.name != req.name {
+                continue;
+            }
+
+            // Apply filter if provided
+            if !req.filter.is_empty() {
+                let filter_value: serde_json::Value = match serde_json::from_str(&req.filter) {
+                    Ok(v) => v,
+                    Err(_) => continue, // Skip if filter is invalid JSON
+                };
+                if !self.matches_filter(&entry.metadata, &filter_value) {
+                    continue;
+                }
+            }
+
+            instances.push(PrimitiveInstance {
+                provider: entry.provider.clone(),
+                version: entry.version.clone(),
+                input_schema: entry.input_schema.clone(),
+                output_schema: entry.output_schema.clone(),
+                metadata: entry.metadata.clone(),
+            });
+        }
+
+        QueryPrimitiveResponse { instances }
+    }
+
+    /// Check if metadata matches filter
+    /// Supports simple equality and comparison operators (>=, <=, >, <) for numeric values
+    fn matches_filter(&self, metadata: &serde_json::Value, filter: &serde_json::Value) -> bool {
+        if let (Some(meta_obj), Some(filter_obj)) = (metadata.as_object(), filter.as_object()) {
+            for (key, filter_value) in filter_obj {
+                if let Some(meta_value) = meta_obj.get(key) {
+                    // Check if filter_value is a string with comparison operator
+                    if let Some(filter_str) = filter_value.as_str() {
+                        if filter_str.starts_with(">=") {
+                            if let (Some(meta_num), Some(filter_num)) =
+                                (meta_value.as_f64(), filter_str[2..].parse::<f64>().ok())
+                            {
+                                if meta_num < filter_num {
+                                    return false;
+                                }
+                            } else {
+                                return false;
+                            }
+                        } else if filter_str.starts_with("<=") {
+                            if let (Some(meta_num), Some(filter_num)) =
+                                (meta_value.as_f64(), filter_str[2..].parse::<f64>().ok())
+                            {
+                                if meta_num > filter_num {
+                                    return false;
+                                }
+                            } else {
+                                return false;
+                            }
+                        } else if filter_str.starts_with(">") {
+                            if let (Some(meta_num), Some(filter_num)) =
+                                (meta_value.as_f64(), filter_str[1..].parse::<f64>().ok())
+                            {
+                                if meta_num <= filter_num {
+                                    return false;
+                                }
+                            } else {
+                                return false;
+                            }
+                        } else if filter_str.starts_with("<") {
+                            if let (Some(meta_num), Some(filter_num)) =
+                                (meta_value.as_f64(), filter_str[1..].parse::<f64>().ok())
+                            {
+                                if meta_num >= filter_num {
+                                    return false;
+                                }
+                            } else {
+                                return false;
+                            }
+                        } else {
+                            // Simple equality
+                            if meta_value != filter_value {
+                                return false;
+                            }
+                        }
+                    } else {
+                        // Simple equality
+                        if meta_value != filter_value {
+                            return false;
+                        }
+                    }
+                } else {
+                    return false;
+                }
+            }
+            true
+        } else {
+            false
+        }
+    }
+}
diff --git a/rust/robonix-core/src/service/mod.rs b/rust/robonix-core/src/service/mod.rs
new file mode 100644
index 0000000..b3424e4
--- /dev/null
+++ b/rust/robonix-core/src/service/mod.rs
@@ -0,0 +1,48 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Service Module
+//
+// Services provide runtime capabilities such as perception, planning, deduction, and control.
+// Services are algorithm and model carriers that run in managed environments.
+
+pub mod service;
+
+use crate::spec::SpecRegistry;
+use service::ServiceRegistry as ServiceRegistryImpl;
+use std::sync::Arc;
+
+/// Service Registry - Manages service registration and querying
+pub struct ServiceRegistry {
+    registry: Arc<ServiceRegistryImpl>,
+    spec_registry: Arc<SpecRegistry>,
+}
+
+impl ServiceRegistry {
+    pub fn new() -> Self {
+        Self::new_with_spec(Arc::new(SpecRegistry::new()))
+    }
+
+    pub fn new_with_spec(spec_registry: Arc<SpecRegistry>) -> Self {
+        Self {
+            registry: Arc::new(ServiceRegistryImpl::new()),
+            spec_registry,
+        }
+    }
+
+    pub fn get_registry(&self) -> Arc<ServiceRegistryImpl> {
+        self.registry.clone()
+    }
+
+    pub async fn register_service(
+        &self,
+        req: service::RegisterServiceRequest,
+    ) -> service::RegisterServiceResponse {
+        self.registry.register(req, &self.spec_registry).await
+    }
+
+    pub async fn query_service(
+        &self,
+        req: service::QueryServiceRequest,
+    ) -> service::QueryServiceResponse {
+        self.registry.query(req).await
+    }
+}
diff --git a/rust/robonix-core/src/service/service.rs b/rust/robonix-core/src/service/service.rs
new file mode 100644
index 0000000..42ef129
--- /dev/null
+++ b/rust/robonix-core/src/service/service.rs
@@ -0,0 +1,194 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Service Registry Module
+//
+// Handles service registration and querying according to robonix spec.
+// Services encapsulate algorithm capabilities such as perception, planning, evaluation, and verification.
+
+use crate::spec::SpecRegistry;
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+use std::sync::Arc;
+use tokio::sync::RwLock;
+use tracing::{info, warn};
+
+/// Service registration request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RegisterServiceRequest {
+    pub name: String,     // Standard service name
+    pub srv_type: String, // ROS2 service type (e.g., "robonix_sdk/srv/service/spatial_map/GetSpatialMap")
+    pub entry: String,    // Actual ROS2 service name
+    pub metadata: String, // JSON string: metadata for instance filtering
+    pub provider: String, // Service provider identifier
+    pub version: String,  // Implementation version (e.g., "1.0.0", "1.0.0-alpha")
+}
+
+impl ros2_client::Message for RegisterServiceRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RegisterServiceResponse {
+    pub ok: bool,
+}
+
+impl ros2_client::Message for RegisterServiceResponse {}
+
+/// Service query request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct QueryServiceRequest {
+    pub name: String,
+    pub filter: String, // JSON string: filter by metadata. Empty string means no filter
+}
+
+impl ros2_client::Message for QueryServiceRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct ServiceInstance {
+    pub provider: String,
+    pub version: String,
+    pub entry: String,
+    pub metadata: serde_json::Value,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct QueryServiceResponse {
+    pub instances: Vec<ServiceInstance>,
+}
+
+impl ros2_client::Message for QueryServiceResponse {}
+
+#[derive(Debug, Clone)]
+struct ServiceEntry {
+    name: String,
+    srv_type: String,
+    entry: String,
+    metadata: serde_json::Value,
+    provider: String,
+    version: String,
+}
+
+/// Service Registry - Manages service registration and querying
+pub struct ServiceRegistry {
+    services: Arc<RwLock<HashMap<String, ServiceEntry>>>,
+}
+
+impl ServiceRegistry {
+    pub fn new() -> Self {
+        Self {
+            services: Arc::new(RwLock::new(HashMap::new())),
+        }
+    }
+
+    /// Register a service
+    pub async fn register(
+        &self,
+        req: RegisterServiceRequest,
+        spec_registry: &Arc<SpecRegistry>,
+    ) -> RegisterServiceResponse {
+        // Validate against spec
+        match spec_registry.validate_service(&req.name, &req.srv_type) {
+            Ok(()) => {
+                // Validation passed
+            }
+            Err(e) => {
+                warn!(
+                    service_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "service validation failed"
+                );
+                return RegisterServiceResponse { ok: false };
+            }
+        }
+
+        // Key includes name, provider, and version to distinguish different implementations
+        let key = format!("{}::{}::{}", req.name, req.provider, req.version);
+
+        // Parse metadata JSON string
+        let metadata: serde_json::Value = match serde_json::from_str(&req.metadata) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    service_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse metadata json"
+                );
+                return RegisterServiceResponse { ok: false };
+            }
+        };
+
+        let entry = ServiceEntry {
+            name: req.name.clone(),
+            srv_type: req.srv_type.clone(),
+            entry: req.entry.clone(),
+            metadata,
+            provider: req.provider.clone(),
+            version: req.version.clone(),
+        };
+
+        let mut services = self.services.write().await;
+        services.insert(key, entry);
+
+        info!(
+            service_name = %req.name,
+            provider = %req.provider,
+            entry = %req.entry,
+            srv_type = %req.srv_type,
+            "registered service"
+        );
+
+        RegisterServiceResponse { ok: true }
+    }
+
+    /// Query services
+    pub async fn query(&self, req: QueryServiceRequest) -> QueryServiceResponse {
+        let services = self.services.read().await;
+        let mut instances = Vec::new();
+
+        for entry in services.values() {
+            // Match by name
+            if entry.name != req.name {
+                continue;
+            }
+
+            // Apply filter if provided
+            if !req.filter.is_empty() {
+                let filter_value: serde_json::Value = match serde_json::from_str(&req.filter) {
+                    Ok(v) => v,
+                    Err(_) => continue, // Skip if filter is invalid JSON
+                };
+                if !self.matches_filter(&entry.metadata, &filter_value) {
+                    continue;
+                }
+            }
+
+            instances.push(ServiceInstance {
+                provider: entry.provider.clone(),
+                version: entry.version.clone(),
+                entry: entry.entry.clone(),
+                metadata: entry.metadata.clone(),
+            });
+        }
+
+        QueryServiceResponse { instances }
+    }
+
+    /// Check if metadata matches filter
+    fn matches_filter(&self, metadata: &serde_json::Value, filter: &serde_json::Value) -> bool {
+        if let (Some(meta_obj), Some(filter_obj)) = (metadata.as_object(), filter.as_object()) {
+            for (key, filter_value) in filter_obj {
+                if let Some(meta_value) = meta_obj.get(key) {
+                    // Simple equality check for now
+                    // Could extend to support >=, <=, etc. for numeric values
+                    if meta_value != filter_value {
+                        return false;
+                    }
+                } else {
+                    return false;
+                }
+            }
+            true
+        } else {
+            false
+        }
+    }
+}
diff --git a/rust/robonix-core/src/skill_library/mod.rs b/rust/robonix-core/src/skill_library/mod.rs
new file mode 100644
index 0000000..9dbf160
--- /dev/null
+++ b/rust/robonix-core/src/skill_library/mod.rs
@@ -0,0 +1,49 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Skill Library Module
+//
+// Skill Library stores reusable skills that can be called at runtime.
+// Skills themselves do not have scheduling capabilities, but are triggered
+// by the Task Manager in a controlled manner after scheduling and resource allocation.
+//
+// Note: Skills do not have specifications - they are user-defined and flexible.
+
+pub mod skill;
+
+use skill::SkillRegistry;
+use std::sync::Arc;
+
+/// Skill Library - Stores and manages reusable skills
+pub struct SkillLibrary {
+    registry: Arc<SkillRegistry>,
+}
+
+impl SkillLibrary {
+    pub fn new() -> Self {
+        Self {
+            registry: Arc::new(SkillRegistry::new()),
+        }
+    }
+
+    pub fn get_registry(&self) -> Arc<SkillRegistry> {
+        self.registry.clone()
+    }
+
+    pub async fn register_skill(
+        &self,
+        req: skill::RegisterSkillRequest,
+    ) -> skill::RegisterSkillResponse {
+        self.registry.register(req).await
+    }
+
+    pub async fn query_skill(&self, req: skill::QuerySkillRequest) -> skill::QuerySkillResponse {
+        self.registry.query(req).await
+    }
+
+    pub async fn get_skill(&self, skill_id: &str) -> Option<skill::SkillInstance> {
+        self.registry.get_skill_by_id(skill_id).await
+    }
+
+    pub async fn get_skills(&self) -> Vec<String> {
+        self.registry.get_all_skill_names().await
+    }
+}
diff --git a/rust/robonix-core/src/skill_library/skill.rs b/rust/robonix-core/src/skill_library/skill.rs
new file mode 100644
index 0000000..f61b5a9
--- /dev/null
+++ b/rust/robonix-core/src/skill_library/skill.rs
@@ -0,0 +1,340 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Skill Registry Module
+//
+// Handles skill registration and querying according to robonix spec.
+
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+use std::sync::Arc;
+use tokio::sync::RwLock;
+use tracing::{info, warn};
+
+/// Skill registration request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RegisterSkillRequest {
+    pub name: String,         // Skill name
+    pub r#type: String,       // Skill type: "basic" | "rtdl"
+    pub start_topic: String,  // Skill start topic
+    pub status_topic: String, // Status feedback topic
+    pub entry: String,        // Basic skill entry (required if type="basic")
+    pub skill_dir: String,    // Skill directory path (required if type="rtdl")
+    pub main_rtdl: String,    // Main RTDL file name (required if type="rtdl")
+    pub start_args: String,   // JSON string: input parameter schema
+    pub status: String,       // JSON string: status feedback schema
+    pub metadata: String,     // JSON string: metadata for instance filtering
+    pub provider: String,     // Skill provider identifier
+    pub version: String,      // Skill version
+}
+
+impl ros2_client::Message for RegisterSkillRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct RegisterSkillResponse {
+    pub ok: bool,
+    pub skill_id: String,
+}
+
+impl ros2_client::Message for RegisterSkillResponse {}
+
+/// Skill query request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct QuerySkillRequest {
+    pub name: String,
+    pub filter: String, // JSON string: filter by metadata. Empty string means no filter
+}
+
+impl ros2_client::Message for QuerySkillRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct SkillInstance {
+    pub skill_id: String,
+    pub provider: String,
+    pub version: String,
+    pub r#type: String, // Skill type: "basic" | "rtdl"
+    pub start_topic: String,
+    pub status_topic: String,
+    pub entry: String,     // Basic skill entry (if type="basic")
+    pub skill_dir: String, // Skill directory path (if type="rtdl")
+    pub main_rtdl: String, // Main RTDL file name (if type="rtdl")
+    pub start_args: serde_json::Value,
+    pub status: serde_json::Value,
+    pub metadata: serde_json::Value,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct QuerySkillResponse {
+    pub instances: Vec<SkillInstance>,
+}
+
+impl ros2_client::Message for QuerySkillResponse {}
+
+/// Skill Registry - Manages skill registration and querying
+pub struct SkillRegistry {
+    skills: Arc<RwLock<HashMap<String, SkillEntry>>>,
+    skill_id_counter: Arc<std::sync::atomic::AtomicU64>,
+}
+
+#[derive(Debug, Clone)]
+struct SkillEntry {
+    skill_id: String,
+    name: String,
+    r#type: String, // Skill type: "basic" | "rtdl"
+    start_topic: String,
+    status_topic: String,
+    entry: String,     // Basic skill entry (if type="basic")
+    skill_dir: String, // Skill directory path (if type="rtdl")
+    main_rtdl: String, // Main RTDL file name (if type="rtdl")
+    start_args: serde_json::Value,
+    status: serde_json::Value,
+    metadata: serde_json::Value,
+    provider: String,
+    version: String,
+}
+
+impl SkillRegistry {
+    pub fn new() -> Self {
+        Self {
+            skills: Arc::new(RwLock::new(HashMap::new())),
+            skill_id_counter: Arc::new(std::sync::atomic::AtomicU64::new(0)),
+        }
+    }
+
+    /// Register a skill
+    /// Note: Skills do not have specifications - they are user-defined and flexible
+    pub async fn register(&self, req: RegisterSkillRequest) -> RegisterSkillResponse {
+        // Parse JSON strings
+        let start_args: serde_json::Value = match serde_json::from_str(&req.start_args) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    skill_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse start_args json"
+                );
+                return RegisterSkillResponse {
+                    ok: false,
+                    skill_id: String::new(),
+                };
+            }
+        };
+        let status: serde_json::Value = match serde_json::from_str(&req.status) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    skill_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse status json"
+                );
+                return RegisterSkillResponse {
+                    ok: false,
+                    skill_id: String::new(),
+                };
+            }
+        };
+        let metadata: serde_json::Value = match serde_json::from_str(&req.metadata) {
+            Ok(v) => v,
+            Err(e) => {
+                warn!(
+                    skill_name = %req.name,
+                    provider = %req.provider,
+                    error = %e,
+                    "failed to parse metadata json"
+                );
+                return RegisterSkillResponse {
+                    ok: false,
+                    skill_id: String::new(),
+                };
+            }
+        };
+
+        // Validate skill type
+        if req.r#type != "basic" && req.r#type != "rtdl" {
+            warn!(
+                skill_name = %req.name,
+                skill_type = %req.r#type,
+                "invalid skill type, must be 'basic' or 'rtdl'"
+            );
+            return RegisterSkillResponse {
+                ok: false,
+                skill_id: String::new(),
+            };
+        }
+
+        // Validate required fields based on type
+        if req.r#type == "basic" && req.entry.is_empty() {
+            warn!(
+                skill_name = %req.name,
+                "basic skill must provide entry field"
+            );
+            return RegisterSkillResponse {
+                ok: false,
+                skill_id: String::new(),
+            };
+        }
+        if req.r#type == "rtdl" && (req.skill_dir.is_empty() || req.main_rtdl.is_empty()) {
+            warn!(
+                skill_name = %req.name,
+                "rtdl skill must provide skill_dir and main_rtdl fields"
+            );
+            return RegisterSkillResponse {
+                ok: false,
+                skill_id: String::new(),
+            };
+        }
+
+        // Generate unique skill_id
+        let counter = self
+            .skill_id_counter
+            .fetch_add(1, std::sync::atomic::Ordering::SeqCst);
+        let skill_id = format!("skl_{}_{}", req.name.replace("::", "_"), counter);
+
+        // Basic validation: skill name should start with 'skl::'
+        if !req.name.starts_with("skl::") {
+            warn!(skill_name = %req.name, "skill name should start with 'skl::'");
+        }
+
+        let entry = SkillEntry {
+            skill_id: skill_id.clone(),
+            name: req.name.clone(),
+            r#type: req.r#type.clone(),
+            start_topic: req.start_topic.clone(),
+            status_topic: req.status_topic.clone(),
+            entry: req.entry.clone(),
+            skill_dir: req.skill_dir.clone(),
+            main_rtdl: req.main_rtdl.clone(),
+            start_args,
+            status,
+            metadata,
+            provider: req.provider.clone(),
+            version: req.version.clone(),
+        };
+
+        let mut skills = self.skills.write().await;
+        skills.insert(skill_id.clone(), entry);
+
+        info!(
+            skill_id = %skill_id,
+            skill_name = %req.name,
+            provider = %req.provider,
+            "registered skill"
+        );
+
+        RegisterSkillResponse { ok: true, skill_id }
+    }
+
+    /// Query skills
+    pub async fn query(&self, req: QuerySkillRequest) -> QuerySkillResponse {
+        let skills = self.skills.read().await;
+        let mut instances = Vec::new();
+
+        for entry in skills.values() {
+            // Match by name
+            if entry.name != req.name {
+                continue;
+            }
+
+            // Apply filter if provided
+            if !req.filter.is_empty() {
+                let filter_value: serde_json::Value = match serde_json::from_str(&req.filter) {
+                    Ok(v) => v,
+                    Err(_) => continue, // Skip if filter is invalid JSON
+                };
+
+                // Check if filter contains "type" field (special handling for skill type)
+                if let Some(filter_obj) = filter_value.as_object() {
+                    if let Some(type_value) = filter_obj.get("type") {
+                        if let Some(type_str) = type_value.as_str() {
+                            if entry.r#type != type_str {
+                                continue;
+                            }
+                        }
+                    }
+                }
+
+                // Apply metadata filter (excluding "type" which is handled separately)
+                let mut metadata_filter = filter_value.clone();
+                if let Some(filter_obj) = metadata_filter.as_object_mut() {
+                    filter_obj.remove("type");
+                }
+
+                if !metadata_filter.is_null()
+                    && !self.matches_filter(&entry.metadata, &metadata_filter)
+                {
+                    continue;
+                }
+            }
+
+            instances.push(SkillInstance {
+                skill_id: entry.skill_id.clone(),
+                provider: entry.provider.clone(),
+                version: entry.version.clone(),
+                r#type: entry.r#type.clone(),
+                start_topic: entry.start_topic.clone(),
+                status_topic: entry.status_topic.clone(),
+                entry: entry.entry.clone(),
+                skill_dir: entry.skill_dir.clone(),
+                main_rtdl: entry.main_rtdl.clone(),
+                start_args: entry.start_args.clone(),
+                status: entry.status.clone(),
+                metadata: entry.metadata.clone(),
+            });
+        }
+
+        QuerySkillResponse { instances }
+    }
+
+    /// Get skill by ID (returns SkillInstance)
+    pub async fn get_skill_by_id(&self, skill_id: &str) -> Option<SkillInstance> {
+        let skills = self.skills.read().await;
+        if let Some(entry) = skills.get(skill_id) {
+            Some(SkillInstance {
+                skill_id: entry.skill_id.clone(),
+                provider: entry.provider.clone(),
+                version: entry.version.clone(),
+                r#type: entry.r#type.clone(),
+                start_topic: entry.start_topic.clone(),
+                status_topic: entry.status_topic.clone(),
+                entry: entry.entry.clone(),
+                skill_dir: entry.skill_dir.clone(),
+                main_rtdl: entry.main_rtdl.clone(),
+                start_args: entry.start_args.clone(),
+                status: entry.status.clone(),
+                metadata: entry.metadata.clone(),
+            })
+        } else {
+            None
+        }
+    }
+
+    /// Get all skill names
+    pub async fn get_all_skill_names(&self) -> Vec<String> {
+        let skills = self.skills.read().await;
+        let mut names = std::collections::HashSet::new();
+        for entry in skills.values() {
+            names.insert(entry.name.clone());
+        }
+        names.into_iter().collect()
+    }
+
+    /// Check if metadata matches filter
+    fn matches_filter(&self, metadata: &serde_json::Value, filter: &serde_json::Value) -> bool {
+        if let (Some(meta_obj), Some(filter_obj)) = (metadata.as_object(), filter.as_object()) {
+            for (key, filter_value) in filter_obj {
+                if let Some(meta_value) = meta_obj.get(key) {
+                    // Simple equality check for now
+                    // Could extend to support >=, <=, etc. for numeric values
+                    if meta_value != filter_value {
+                        return false;
+                    }
+                } else {
+                    return false;
+                }
+            }
+            true
+        } else {
+            false
+        }
+    }
+}
diff --git a/rust/robonix-core/src/spec.rs b/rust/robonix-core/src/spec.rs
new file mode 100644
index 0000000..9974ec3
--- /dev/null
+++ b/rust/robonix-core/src/spec.rs
@@ -0,0 +1,174 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Standard Primitive and Service Specifications
+//
+// This module defines the formal specifications for all standard primitives
+// and services in the EAIOS system. These specifications are used to validate
+// registration requests.
+//
+// Note: Skills do not have specifications - they are user-defined and flexible.
+
+use std::collections::HashMap;
+
+#[derive(Debug, Clone)]
+pub struct PrimitiveSpec {
+    pub description: String,
+    // Input parameters: label -> ROS message type (e.g., {"pose": "geometry_msgs/msg/PoseStamped"})
+    pub input_params: HashMap<String, String>,
+    // Output parameters: label -> ROS message type (e.g., {"image": "sensor_msgs/msg/Image"})
+    pub output_params: HashMap<String, String>,
+}
+
+#[derive(Debug, Clone)]
+pub struct ServiceSpec {
+    pub description: String,
+    pub srv_type: String, // Expected ROS2 service type (e.g., "robonix_sdk/srv/service/spatial_map/GetSpatialMap")
+}
+
+pub struct SpecRegistry {
+    pub primitives: HashMap<String, PrimitiveSpec>,
+    pub services: HashMap<String, ServiceSpec>,
+}
+
+// Macro to define a single primitive
+// Format: PRM!(primitives, name, desc, input_params, output_params)
+// input_params/output_params: HashMap of label -> ROS message type
+// Example: PRM!(primitives, "prm::camera_capture", "Capture RGB image", {}, {"image": "sensor_msgs/msg/Image"})
+#[macro_export]
+macro_rules! PRM {
+    ($primitives:ident, $name:expr, $desc:expr, $input_params:tt, $output_params:tt) => {{
+        use std::collections::HashMap;
+        let mut input_map = HashMap::new();
+        let mut output_map = HashMap::new();
+
+        // Parse input parameters: {label => ros_type, ...}
+        let input_json = serde_json::json!($input_params);
+        if let Some(input_obj) = input_json.as_object() {
+            for (label, ros_type) in input_obj {
+                if let Some(ros_type_str) = ros_type.as_str() {
+                    input_map.insert(label.clone(), ros_type_str.to_string());
+                }
+            }
+        }
+
+        // Parse output parameters: {label => ros_type, ...}
+        let output_json = serde_json::json!($output_params);
+        if let Some(output_obj) = output_json.as_object() {
+            for (label, ros_type) in output_obj {
+                if let Some(ros_type_str) = ros_type.as_str() {
+                    output_map.insert(label.clone(), ros_type_str.to_string());
+                }
+            }
+        }
+
+        $primitives.insert(
+            $name.to_string(),
+            $crate::spec::PrimitiveSpec {
+                description: $desc.to_string(),
+                input_params: input_map,
+                output_params: output_map,
+            },
+        );
+    }};
+}
+
+// Macro to define a single service
+// Format: SRV!(services, name, desc, srv_type)
+#[macro_export]
+macro_rules! SRV {
+    ($services:ident, $name:expr, $desc:expr, $srv_type:expr) => {
+        $services.insert(
+            $name.to_string(),
+            $crate::spec::ServiceSpec {
+                description: $desc.to_string(),
+                srv_type: $srv_type.to_string(),
+            },
+        );
+    };
+}
+
+impl SpecRegistry {
+    pub fn new() -> Self {
+        // Load specifications from the table
+        let primitives = crate::specs_table::load_primitives();
+        let services = crate::specs_table::load_services();
+
+        Self {
+            primitives,
+            services,
+        }
+    }
+
+    /// Validate primitive registration against spec
+    ///
+    /// Validates that:
+    /// 1. Primitive name exists in spec
+    /// 2. All required input parameter labels from spec are present in the provided input_schema
+    /// 3. All required output parameter labels from spec are present in the provided output_schema
+    ///
+    /// Note: The provided schemas contain label -> topic mappings, while spec contains label -> ROS type mappings.
+    /// We only validate that the labels match, not the topics (topics are user-defined).
+    ///
+    /// TODO: Validate ROS message types match between spec and provided schema
+    pub fn validate_primitive(
+        &self,
+        std_name: &str,
+        input_schema: &serde_json::Value,
+        output_schema: &serde_json::Value,
+    ) -> Result<(), String> {
+        // Check if primitive name exists in spec
+        let spec = self
+            .primitives
+            .get(std_name)
+            .ok_or_else(|| format!("Unknown primitive: {}", std_name))?;
+
+        // Validate input schema: check that all required parameter labels from spec are present
+        if let Some(provided_obj) = input_schema.as_object() {
+            for label in spec.input_params.keys() {
+                if !provided_obj.contains_key(label) {
+                    return Err(format!(
+                        "Missing required input parameter label in schema: '{}'",
+                        label
+                    ));
+                }
+            }
+        } else if !spec.input_params.is_empty() {
+            return Err("Input schema must be a JSON object".to_string());
+        }
+
+        // Validate output schema: check that all required parameter labels from spec are present
+        if let Some(provided_obj) = output_schema.as_object() {
+            for label in spec.output_params.keys() {
+                if !provided_obj.contains_key(label) {
+                    return Err(format!(
+                        "Missing required output parameter label in schema: '{}'",
+                        label
+                    ));
+                }
+            }
+        } else if !spec.output_params.is_empty() {
+            return Err("Output schema must be a JSON object".to_string());
+        }
+
+        // TODO: Validate ROS message types match between spec and provided schema
+        // For now, we only check that labels are present, not that types match
+
+        Ok(())
+    }
+
+    /// Validate service registration against spec
+    pub fn validate_service(&self, std_name: &str, srv_type: &str) -> Result<(), String> {
+        let spec = self
+            .services
+            .get(std_name)
+            .ok_or_else(|| format!("Unknown service: {}", std_name))?;
+
+        if srv_type != spec.srv_type {
+            return Err(format!(
+                "Service type mismatch for '{}': expected '{}', got '{}'",
+                std_name, spec.srv_type, srv_type
+            ));
+        }
+
+        Ok(())
+    }
+}
diff --git a/rust/robonix-core/src/specs_table.rs b/rust/robonix-core/src/specs_table.rs
new file mode 100644
index 0000000..099ffba
--- /dev/null
+++ b/rust/robonix-core/src/specs_table.rs
@@ -0,0 +1,76 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Standard Primitive and Service Specifications Table
+//
+// This file defines all standard primitives and services in a compact table format.
+// Note: Skills do not have specifications - they are user-defined and flexible.
+
+use crate::spec::{PrimitiveSpec, ServiceSpec};
+use std::collections::HashMap;
+use tracing::info;
+
+pub fn load_primitives() -> HashMap<String, PrimitiveSpec> {
+    let mut primitives = HashMap::new();
+
+    PRM!(primitives, "prm::camera_capture", "Capture RGB image from camera",
+         {},  // No input parameters
+         { "image": "sensor_msgs/msg/Image" });
+
+    PRM!(primitives, "prm::arm_move_ee", "Move end effector to target pose",
+         { "pose": "geometry_msgs/msg/PoseStamped" },
+         { "status": "std_msgs/msg/Bool" });
+
+    PRM!(primitives, "prm::gripper.close", "Close gripper",
+         {},  // No input parameters
+         { "status": "std_msgs/msg/Bool" });
+
+    info!(
+        "Loaded primitives specs, number of primitives: {}",
+        primitives.len()
+    );
+    primitives
+}
+
+pub fn load_services() -> HashMap<String, ServiceSpec> {
+    let mut services = HashMap::new();
+
+    SRV!(
+        services,
+        "spatial_map",
+        "Spatial map service providing geometric structure information",
+        "robonix_sdk/srv/service/spatial_map/GetSpatialMap"
+    );
+
+    SRV!(
+        services,
+        "semantic_map",
+        "Semantic map service providing entity-level representation",
+        "robonix_sdk/srv/service/semantic_map/QuerySemanticMap"
+    );
+
+    SRV!(
+        services,
+        "task_plan",
+        "Task planning service converting natural language to RTDL",
+        "robonix_sdk/srv/service/task_plan/PlanTask"
+    );
+
+    SRV!(
+        services,
+        "plan_simulate",
+        "Plan simulation service for feasibility and safety checking",
+        "robonix_sdk/srv/service/plan_simulate/SimulatePlan"
+    );
+
+    SRV!(
+        services,
+        "result_feedback",
+        "Result feedback service for execution verification",
+        "robonix_sdk/srv/service/result_feedback/ResultFeedback"
+    );
+
+    info!(
+        "Loaded services specs, number of services: {}",
+        services.len()
+    );
+    services
+}
diff --git a/rust/robonix-core/src/task_manager/api.rs b/rust/robonix-core/src/task_manager/api.rs
new file mode 100644
index 0000000..75614d7
--- /dev/null
+++ b/rust/robonix-core/src/task_manager/api.rs
@@ -0,0 +1,52 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Task API Message Types
+//
+// Task API according to robonix spec
+
+use serde::{Deserialize, Serialize};
+
+/// Task submit request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct SubmitTaskRequest {
+    pub description: String, // Natural language task description
+    pub params: String,      // JSON string: optional parameters
+}
+
+impl ros2_client::Message for SubmitTaskRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct SubmitTaskResponse {
+    pub task_id: String,
+}
+
+impl ros2_client::Message for SubmitTaskResponse {}
+
+/// Task status request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct TaskStatusRequest {
+    pub task_id: String,
+}
+
+impl ros2_client::Message for TaskStatusRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct TaskStatusResponse {
+    pub status: String, // pending / planning / running / finished
+}
+
+impl ros2_client::Message for TaskStatusResponse {}
+
+/// Task result request (robonix spec)
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct TaskResultRequest {
+    pub task_id: String,
+}
+
+impl ros2_client::Message for TaskResultRequest {}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct TaskResultResponse {
+    pub result: String, // JSON string: task result
+}
+
+impl ros2_client::Message for TaskResultResponse {}
diff --git a/rust/robonix-core/src/task_manager/mod.rs b/rust/robonix-core/src/task_manager/mod.rs
new file mode 100644
index 0000000..93e2061
--- /dev/null
+++ b/rust/robonix-core/src/task_manager/mod.rs
@@ -0,0 +1,100 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Task Manager Module
+//
+// Task Manager is the global scheduling and control core of the system,
+// responsible for receiving user tasks, completing task parsing and planning,
+// and coordinating task execution in the "planning-deduction-decision-execution-feedback" loop.
+
+pub mod api;
+pub mod task;
+
+use crate::primitive::PrimitiveRegistry;
+use crate::service::ServiceRegistry;
+use crate::skill_library::SkillLibrary;
+use std::sync::Arc;
+
+/// Task Manager - Global scheduling and control core
+pub struct TaskManager {
+    task_store: Arc<task::TaskStore>,
+    skill_library: Arc<SkillLibrary>,
+    service_registry: Arc<ServiceRegistry>,
+    primitive_registry: Arc<PrimitiveRegistry>,
+}
+
+impl TaskManager {
+    pub fn new(
+        skill_library: Arc<SkillLibrary>,
+        service_registry: Arc<ServiceRegistry>,
+        primitive_registry: Arc<PrimitiveRegistry>,
+    ) -> Self {
+        Self {
+            task_store: Arc::new(task::TaskStore::new()),
+            skill_library,
+            service_registry,
+            primitive_registry,
+        }
+    }
+
+    pub fn get_task_store(&self) -> Arc<task::TaskStore> {
+        self.task_store.clone()
+    }
+
+    pub fn get_skill_library(&self) -> Arc<SkillLibrary> {
+        self.skill_library.clone()
+    }
+
+    pub fn get_service_registry(&self) -> Arc<ServiceRegistry> {
+        self.service_registry.clone()
+    }
+
+    pub fn get_primitive_registry(&self) -> Arc<PrimitiveRegistry> {
+        self.primitive_registry.clone()
+    }
+
+    /// Submit a new task
+    pub async fn submit_task(&self, req: api::SubmitTaskRequest) -> api::SubmitTaskResponse {
+        // Parse params JSON string
+        let params: serde_json::Value = match serde_json::from_str(&req.params) {
+            Ok(v) => v,
+            Err(_) => serde_json::json!({}), // Default to empty object if parsing fails
+        };
+        let task_id = self.task_store.create_task(req.description, params).await;
+        api::SubmitTaskResponse { task_id }
+    }
+
+    /// Get task status
+    pub async fn get_task_status(&self, req: api::TaskStatusRequest) -> api::TaskStatusResponse {
+        let status = if let Some(task) = self.task_store.get_task(&req.task_id).await {
+            match task.state {
+                task::TaskState::Pending => "pending".to_string(),
+                task::TaskState::Planning => "planning".to_string(),
+                task::TaskState::Running => "running".to_string(),
+                task::TaskState::Finished => "finished".to_string(),
+                task::TaskState::Failed => "failed".to_string(),
+                task::TaskState::Cancelled => "cancelled".to_string(),
+            }
+        } else {
+            "not_found".to_string()
+        };
+        api::TaskStatusResponse { status }
+    }
+
+    /// Get task result
+    pub async fn get_task_result(&self, req: api::TaskResultRequest) -> api::TaskResultResponse {
+        let result_value = if let Some(task) = self.task_store.get_task(&req.task_id).await {
+            task.result.unwrap_or(serde_json::json!({}))
+        } else {
+            serde_json::json!({"error": "Task not found"})
+        };
+        // Serialize to JSON string
+        let result = serde_json::to_string(&result_value).unwrap_or_else(|_| "{}".to_string());
+        api::TaskResultResponse { result }
+    }
+}
+
+// Re-export task types
+pub use api::{
+    SubmitTaskRequest, SubmitTaskResponse, TaskResultRequest, TaskResultResponse,
+    TaskStatusRequest, TaskStatusResponse,
+};
+pub use task::{Task, TaskState};
diff --git a/rust/robonix-core/src/task_manager/task.rs b/rust/robonix-core/src/task_manager/task.rs
new file mode 100644
index 0000000..21f8357
--- /dev/null
+++ b/rust/robonix-core/src/task_manager/task.rs
@@ -0,0 +1,125 @@
+// SPDX-License-Identifier: MulanPSL-2.0
+// Task Store Module
+//
+// Manages task lifecycle and state.
+
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+use std::sync::Arc;
+use std::sync::atomic::{AtomicU64, Ordering};
+use tokio::sync::RwLock;
+use tracing::info;
+
+// Task states according to robonix spec
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum TaskState {
+    Pending,   // Task created, waiting for processing
+    Planning,  // Task planning phase
+    Running,   // Task execution phase
+    Finished,  // Task completed successfully
+    Failed,    // Task failed
+    Cancelled, // Task cancelled
+}
+
+// Task structure
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct Task {
+    pub task_id: String,
+    pub description: String,       // Natural language task description
+    pub params: serde_json::Value, // Optional parameters (JSON)
+    pub state: TaskState,
+    pub result: Option<serde_json::Value>, // Task result (JSON)
+    pub error_message: Option<String>,
+    pub created_at: u64, // Unix timestamp in nanoseconds
+    pub updated_at: u64,
+}
+
+/// Task Store - Manages task storage and lifecycle
+pub struct TaskStore {
+    tasks: Arc<RwLock<HashMap<String, Task>>>,
+    task_counter: Arc<AtomicU64>,
+}
+
+impl TaskStore {
+    pub fn new() -> Self {
+        Self {
+            tasks: Arc::new(RwLock::new(HashMap::new())),
+            task_counter: Arc::new(AtomicU64::new(0)),
+        }
+    }
+
+    /// Create a new task from description and optional parameters
+    pub async fn create_task(&self, description: String, params: serde_json::Value) -> String {
+        let counter = self.task_counter.fetch_add(1, Ordering::SeqCst);
+        let task_id = format!("task_{}", counter);
+        let now = std::time::SystemTime::now()
+            .duration_since(std::time::UNIX_EPOCH)
+            .unwrap()
+            .as_nanos() as u64;
+
+        let task = Task {
+            task_id: task_id.clone(),
+            description,
+            params,
+            state: TaskState::Pending,
+            result: None,
+            error_message: None,
+            created_at: now,
+            updated_at: now,
+        };
+
+        let mut tasks = self.tasks.write().await;
+        tasks.insert(task_id.clone(), task);
+
+        info!(task_id = %task_id, "created new task");
+        task_id
+    }
+
+    /// Get task by ID
+    pub async fn get_task(&self, task_id: &str) -> Option<Task> {
+        let tasks = self.tasks.read().await;
+        tasks.get(task_id).cloned()
+    }
+
+    /// Get all tasks
+    pub async fn get_all_tasks(&self) -> Vec<Task> {
+        let tasks = self.tasks.read().await;
+        tasks.values().cloned().collect()
+    }
+
+    /// Update task state
+    pub async fn update_task_state(
+        &self,
+        task_id: &str,
+        state: TaskState,
+        error_message: Option<String>,
+    ) -> bool {
+        let mut tasks = self.tasks.write().await;
+        if let Some(task) = tasks.get_mut(task_id) {
+            task.state = state;
+            task.error_message = error_message;
+            task.updated_at = std::time::SystemTime::now()
+                .duration_since(std::time::UNIX_EPOCH)
+                .unwrap()
+                .as_nanos() as u64;
+            true
+        } else {
+            false
+        }
+    }
+
+    /// Set task result
+    pub async fn set_task_result(&self, task_id: &str, result: serde_json::Value) -> bool {
+        let mut tasks = self.tasks.write().await;
+        if let Some(task) = tasks.get_mut(task_id) {
+            task.result = Some(result);
+            task.updated_at = std::time::SystemTime::now()
+                .duration_since(std::time::UNIX_EPOCH)
+                .unwrap()
+                .as_nanos() as u64;
+            true
+        } else {
+            false
+        }
+    }
+}
diff --git a/rust/robonix-sdk/CMakeLists.txt b/rust/robonix-sdk/CMakeLists.txt
new file mode 100644
index 0000000..4ed433f
--- /dev/null
+++ b/rust/robonix-sdk/CMakeLists.txt
@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.20)
+project(robonix_sdk)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+# Generate interfaces from .msg and .srv files
+rosidl_generate_interfaces(${PROJECT_NAME}
+# messages
+  "msg/RelationType.msg"
+  "msg/Relation.msg"
+  "msg/TextureType.msg"
+  "msg/BoundingBox.msg"
+  "msg/Point3D.msg"
+  "msg/FrameMapping.msg"
+  "msg/Entity.msg"
+  "msg/SpatialMapEntry.msg"
+  "msg/Dict.msg"
+  "msg/Occupancy3D.msg"
+  "msg/PrimitiveInstance.msg"
+  "msg/ServiceInstance.msg"
+  "msg/SkillInstance.msg"
+# services - robonix API
+  # Primitive services
+  "srv/primitive/RegisterPrimitive.srv"
+  "srv/primitive/QueryPrimitive.srv"
+  # Service services
+  "srv/service/RegisterService.srv"
+  "srv/service/QueryService.srv"
+  # Standard service definitions
+  "srv/service/spatial_map/GetSpatialMap.srv"
+  "srv/service/semantic_map/QuerySemanticMap.srv"
+  "srv/service/task_plan/PlanTask.srv"
+  "srv/service/plan_simulate/SimulatePlan.srv"
+  "srv/service/result_feedback/ResultFeedback.srv"
+  # Skill services
+  "srv/skill/RegisterSkill.srv"
+  "srv/skill/QuerySkill.srv"
+  # Task services
+  "srv/task/SubmitTask.srv"
+  "srv/task/TaskStatus.srv"
+  "srv/task/TaskResult.srv"
+  # Test services
+  "srv/PingPong.srv"
+  DEPENDENCIES
+    std_msgs
+    geometry_msgs
+    nav_msgs
+    sensor_msgs
+    builtin_interfaces
+)
+
+# Install Python client library
+# Install to Python site-packages (local/lib/python3.10/dist-packages)
+# This ensures the package can be imported via PYTHONPATH
+install(DIRECTORY robonixpy
+  DESTINATION local/lib/python3.10/dist-packages
+  FILES_MATCHING
+  PATTERN "*.py"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+
diff --git a/rust/robonix-sdk/build_ros2.sh b/rust/robonix-sdk/build_ros2.sh
new file mode 100755
index 0000000..3f2246a
--- /dev/null
+++ b/rust/robonix-sdk/build_ros2.sh
@@ -0,0 +1,66 @@
+#!/bin/bash
+set -e
+
+echo "Building robonix_sdk ROS2 interface package..."
+
+# Disable conda environment completely
+unset CONDA_DEFAULT_ENV
+unset CONDA_PREFIX
+unset CONDA_PROMPT_MODIFIER
+unset CONDA_PYTHON_EXE
+unset CONDA_SHLVL
+
+# Remove conda from PATH
+export PATH=$(echo $PATH | tr ':' '\n' | grep -v conda | tr '\n' ':' | sed 's/:$//')
+
+# Use system Python explicitly (force /usr/bin/python3)
+export PYTHON3_EXECUTABLE=/usr/bin/python3
+
+# Install required Python dependencies using system Python
+echo "Installing Python dependencies..."
+$PYTHON3_EXECUTABLE -m pip install "empy==3.3.4" --upgrade --ignore-installed --quiet
+$PYTHON3_EXECUTABLE -m pip install lark --quiet
+$PYTHON3_EXECUTABLE -m pip install numpy --quiet
+
+# Source ROS2 environment
+echo "Sourcing ROS2 environment..."
+source /opt/ros/humble/setup.bash
+
+# Force ROS2 to use system Python (override any conda settings)
+export PYTHON3_EXECUTABLE=/usr/bin/python3
+export PYTHON_EXECUTABLE=/usr/bin/python3
+
+# compile check robonixpy python package
+echo "Compiling robonixpy python package..."
+$PYTHON3_EXECUTABLE -m compileall robonixpy
+
+# Build the package with explicit Python path and disable Python generator if needed
+echo "Building ROS2 package..."
+colcon build --cmake-args \
+  -DPYTHON3_EXECUTABLE=/usr/bin/python3 \
+  -DCMAKE_PREFIX_PATH=/opt/ros/humble
+
+# # Install robonixpy to system site-packages for easy import
+# echo "Installing robonixpy to system site-packages..."
+# # Use the same Python executable that was used for building
+# INSTALL_DIR=$($PYTHON3_EXECUTABLE -c "import site; print(site.getsitepackages()[0])")
+# ROBONIXPY_SOURCE="install/robonix_sdk/local/lib/python3.10/dist-packages/robonixpy"
+# ROBONIXPY_TARGET="$INSTALL_DIR/robonixpy"
+
+# if [ -d "$ROBONIXPY_SOURCE" ]; then
+#     # Remove old installation if exists
+#     if [ -d "$ROBONIXPY_TARGET" ] || [ -L "$ROBONIXPY_TARGET" ]; then
+#         echo "Removing old robonixpy installation..."
+#         rm -rf "$ROBONIXPY_TARGET"
+#     fi
+    
+#     # Copy or symlink to system site-packages
+#     echo "Installing robonixpy to $ROBONIXPY_TARGET..."
+#     cp -r "$ROBONIXPY_SOURCE" "$ROBONIXPY_TARGET"
+#     echo "robonixpy installed successfully to system site-packages"
+# else
+#     echo "Warning: robonixpy source directory not found at $ROBONIXPY_SOURCE"
+#     echo "Skipping system site-packages installation"
+# fi
+
+echo "Build completed successfully!"
\ No newline at end of file
diff --git a/rust/robonix-sdk/msg/BoundingBox.msg b/rust/robonix-sdk/msg/BoundingBox.msg
new file mode 100644
index 0000000..62575e8
--- /dev/null
+++ b/rust/robonix-sdk/msg/BoundingBox.msg
@@ -0,0 +1,6 @@
+# 3D bounding box
+float64 scale_x
+float64 scale_y
+float64 scale_z
+float64 yaw
+
diff --git a/rust/robonix-sdk/msg/Dict.msg b/rust/robonix-sdk/msg/Dict.msg
new file mode 100644
index 0000000..6fbb2c3
--- /dev/null
+++ b/rust/robonix-sdk/msg/Dict.msg
@@ -0,0 +1,4 @@
+# Dictionary type for key-value pairs
+string[] keys
+string[] values
+
diff --git a/rust/robonix-sdk/msg/Entity.msg b/rust/robonix-sdk/msg/Entity.msg
new file mode 100644
index 0000000..3eaa4bf
--- /dev/null
+++ b/rust/robonix-sdk/msg/Entity.msg
@@ -0,0 +1,8 @@
+# Semantic entity node
+string id
+string label
+Relation[] relations
+string[] registered_skills
+string[] registered_capabilities
+FrameMapping[] frame_mapping
+
diff --git a/rust/robonix-sdk/msg/FrameMapping.msg b/rust/robonix-sdk/msg/FrameMapping.msg
new file mode 100644
index 0000000..77b10b7
--- /dev/null
+++ b/rust/robonix-sdk/msg/FrameMapping.msg
@@ -0,0 +1,6 @@
+# Frame mapping to 3D space
+Point3D center
+BoundingBox[] bbox
+TextureType[] texture
+string frame_id
+
diff --git a/rust/robonix-sdk/msg/Occupancy3D.msg b/rust/robonix-sdk/msg/Occupancy3D.msg
new file mode 100644
index 0000000..22b6da0
--- /dev/null
+++ b/rust/robonix-sdk/msg/Occupancy3D.msg
@@ -0,0 +1,9 @@
+# 3D occupancy grid
+std_msgs/Header header
+uint32 width
+uint32 height
+uint32 depth
+float32 resolution
+geometry_msgs/Point origin
+int8[] data
+
diff --git a/rust/robonix-sdk/msg/Point3D.msg b/rust/robonix-sdk/msg/Point3D.msg
new file mode 100644
index 0000000..9b53221
--- /dev/null
+++ b/rust/robonix-sdk/msg/Point3D.msg
@@ -0,0 +1,5 @@
+# 3D center point
+float64 x
+float64 y
+float64 z
+
diff --git a/rust/robonix-sdk/msg/PrimitiveInstance.msg b/rust/robonix-sdk/msg/PrimitiveInstance.msg
new file mode 100644
index 0000000..041d3cc
--- /dev/null
+++ b/rust/robonix-sdk/msg/PrimitiveInstance.msg
@@ -0,0 +1,7 @@
+# PrimitiveInstance message
+string provider
+string version
+string input_schema
+string output_schema
+string metadata
+
diff --git a/rust/robonix-sdk/msg/Relation.msg b/rust/robonix-sdk/msg/Relation.msg
new file mode 100644
index 0000000..b47278a
--- /dev/null
+++ b/rust/robonix-sdk/msg/Relation.msg
@@ -0,0 +1,4 @@
+# Entity relation
+RelationType relation_type
+string target_entity_id
+
diff --git a/rust/robonix-sdk/msg/RelationType.msg b/rust/robonix-sdk/msg/RelationType.msg
new file mode 100644
index 0000000..79cce11
--- /dev/null
+++ b/rust/robonix-sdk/msg/RelationType.msg
@@ -0,0 +1,9 @@
+# RelationType enum
+uint8 CHILD_OF = 0
+uint8 ON_TOP = 1
+uint8 INSIDE = 2
+uint8 NEAR = 3
+uint8 CUSTOM = 4
+uint8 type
+string custom_type  # Only used when type == CUSTOM
+
diff --git a/rust/robonix-sdk/msg/ServiceInstance.msg b/rust/robonix-sdk/msg/ServiceInstance.msg
new file mode 100644
index 0000000..cc643ff
--- /dev/null
+++ b/rust/robonix-sdk/msg/ServiceInstance.msg
@@ -0,0 +1,6 @@
+# ServiceInstance message
+string provider
+string version
+string entry
+string metadata
+
diff --git a/rust/robonix-sdk/msg/SkillInstance.msg b/rust/robonix-sdk/msg/SkillInstance.msg
new file mode 100644
index 0000000..c2b3e42
--- /dev/null
+++ b/rust/robonix-sdk/msg/SkillInstance.msg
@@ -0,0 +1,14 @@
+# SkillInstance message
+string skill_id
+string provider
+string version
+string type                    # Skill type: "basic" | "rtdl"
+string start_topic
+string status_topic
+string entry                   # Basic skill entry (if type="basic")
+string skill_dir               # Skill directory path (if type="rtdl")
+string main_rtdl               # Main RTDL file name (if type="rtdl")
+string start_args
+string status
+string metadata
+
diff --git a/rust/robonix-sdk/msg/SpatialMapEntry.msg b/rust/robonix-sdk/msg/SpatialMapEntry.msg
new file mode 100644
index 0000000..62949f8
--- /dev/null
+++ b/rust/robonix-sdk/msg/SpatialMapEntry.msg
@@ -0,0 +1,5 @@
+# Spatial map entry (pointcloud2 reference)
+string frame_id
+uint64 timestamp  # Unix timestamp in nanoseconds
+string source_skill  # Which skill provided this map
+
diff --git a/rust/robonix-sdk/msg/TextureType.msg b/rust/robonix-sdk/msg/TextureType.msg
new file mode 100644
index 0000000..3d05286
--- /dev/null
+++ b/rust/robonix-sdk/msg/TextureType.msg
@@ -0,0 +1,7 @@
+# TextureType enum
+uint8 WOOD = 0
+uint8 PLASTIC = 1
+uint8 METAL = 2
+uint8 UNKNOWN = 3
+uint8 type
+
diff --git a/rust/robonix-sdk/package.xml b/rust/robonix-sdk/package.xml
new file mode 100644
index 0000000..2fa22c5
--- /dev/null
+++ b/rust/robonix-sdk/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robonix_sdk</name>
+  <version>0.1.0</version>
+  <description>Robonix SDK service definitions</description>
+  <maintainer email="wheatfox17@icloud.com">wheatfox</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+
diff --git a/rust/robonix-sdk/robonixpy/__init__.py b/rust/robonix-sdk/robonixpy/__init__.py
new file mode 100644
index 0000000..356f3f6
--- /dev/null
+++ b/rust/robonix-sdk/robonixpy/__init__.py
@@ -0,0 +1,9 @@
+"""
+Robonix Python Client Library
+
+This package provides a high-level Python client for Robonix Core services.
+"""
+
+from .client import RobonixClient, create_client
+
+__all__ = ['RobonixClient', 'create_client']
diff --git a/rust/robonix-sdk/robonixpy/client.py b/rust/robonix-sdk/robonixpy/client.py
new file mode 100644
index 0000000..96ed783
--- /dev/null
+++ b/rust/robonix-sdk/robonixpy/client.py
@@ -0,0 +1,460 @@
+#!/usr/bin/env python3
+"""
+Robonix Python Client - High-level client for Robonix Core services.
+
+This module provides a thread-safe, concurrent client for all Robonix Core services.
+It handles service discovery, connection management, and concurrent request handling.
+"""
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
+from concurrent.futures import ThreadPoolExecutor
+import threading
+import time
+import json
+from typing import Optional, Dict, List, Any
+
+
+class RobonixClient(Node):
+    """
+    High-level client for Robonix Core services.
+    
+    This client provides thread-safe, concurrent access to all Robonix services.
+    It uses a thread pool to handle concurrent requests and automatically manages
+    service connections.
+    
+    Example:
+        ```python
+        import rclpy
+        from robonixpy import RobonixClient
+        
+        rclpy.init()
+        client = RobonixClient()
+        
+        # Query a primitive
+        result = client.query_primitive('prm::camera_capture')
+        if result and result.instances:
+            instance = result.instances[0]
+            print(f"Found primitive: provider={instance.provider}, version={instance.version}")
+        
+        # Query a skill
+        result = client.query_skill('skl::pick', filter={'type': 'basic'})
+        if result and result.instances:
+            skill = result.instances[0]
+            print(f"Found skill: skill_id={skill.skill_id}, type={skill.type}")
+        
+        rclpy.spin_once(client, timeout_sec=0.1)  # Process callbacks
+        ```
+    """
+    
+    def __init__(self, node_name: str = 'robonix_client', max_workers: int = 10):
+        """
+        Initialize Robonix Client.
+        
+        Args:
+            node_name: Name for the ROS2 node
+            max_workers: Maximum number of worker threads for concurrent requests
+        """
+        super().__init__(node_name)
+        
+        # Thread pool for concurrent service calls
+        self._executor = ThreadPoolExecutor(max_workers=max_workers)
+        self._lock = threading.Lock()
+        
+        # Service clients (lazy initialization)
+        self._service_clients: Dict[str, Any] = {}
+        self._client_locks: Dict[str, threading.Lock] = {}
+        
+        # Service names
+        self._service_names = {
+            # Primitive services
+            'register_primitive': '/rbnx/prm/register',
+            'query_primitive': '/rbnx/prm/query',
+            # Service services
+            'register_service': '/rbnx/srv/register',
+            'query_service': '/rbnx/srv/query',
+            # Skill services
+            'register_skill': '/rbnx/skl/register',
+            'query_skill': '/rbnx/skl/query',
+            # Task services
+            'submit_task': '/rbnx/task/submit',
+            'task_status': '/rbnx/task/status',
+            'task_result': '/rbnx/task/result',
+            # Ping pong service
+            'ping_pong': '/rbnx/ping',
+        }
+        
+        # Create QoS profile matching server configuration
+        self._service_qos = QoSProfile(
+            reliability=ReliabilityPolicy.RELIABLE,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=1000,
+            durability=DurabilityPolicy.VOLATILE
+        )
+        
+        self.get_logger().info('RobonixClient initialized')
+    
+    def _get_client(self, service_name: str, service_type):
+        """
+        Get or create a service client (thread-safe, lazy initialization).
+        
+        Args:
+            service_name: Key name for the service (e.g., 'query_primitive')
+            service_type: ROS2 service type class
+            
+        Returns:
+            Service client instance
+        """
+        if service_name not in self._service_clients:
+            with self._lock:
+                # Double-check locking pattern
+                if service_name not in self._service_clients:
+                    full_name = self._service_names[service_name]
+                    # Create client with matching QoS profile
+                    client = self.create_client(
+                        service_type, 
+                        full_name,
+                        qos_profile=self._service_qos
+                    )
+                    self._service_clients[service_name] = client
+                    self._client_locks[service_name] = threading.Lock()
+        
+        return self._service_clients[service_name]
+    
+    def _call_service(self, service_name: str, service_type, request, timeout_sec: float = 5.0):
+        """
+        Call a service (thread-safe, supports concurrent calls).
+        
+        Args:
+            service_name: Key name for the service
+            service_type: ROS2 service type class
+            request: Service request object
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            Service response object, or None on timeout/error
+        """
+        client = self._get_client(service_name, service_type)
+        client_lock = self._client_locks[service_name]
+        
+        # Wait for service to be available (with lock to avoid race condition)
+        with client_lock:
+            if not client.wait_for_service(timeout_sec=2.0):
+                self.get_logger().warn(f'{service_name} service not available')
+                return None
+        
+        # Make async call (thread-safe - each call gets its own future)
+        future = client.call_async(request)
+        
+        # Wait for response with timeout
+        start_time = time.time()
+        while not future.done() and (time.time() - start_time) < timeout_sec:
+            # Spin once to process callbacks (thread-safe)
+            rclpy.spin_once(self, timeout_sec=0.05)
+            if not future.done():
+                time.sleep(0.01)  # Small sleep to avoid busy waiting
+        
+        if future.done():
+            try:
+                return future.result()
+            except Exception as e:
+                self.get_logger().error(f'{service_name} service call error: {e}')
+                return None
+        else:
+            self.get_logger().warn(f'{service_name} service call timeout after {timeout_sec}s')
+            return None
+    
+    def query_primitive(self, name: str, filter: Optional[Dict[str, Any]] = None, timeout_sec: float = 5.0):
+        """
+        Query primitives by standard name.
+        
+        Args:
+            name: Standard primitive name (e.g., 'prm::camera_capture')
+            filter: Optional filter dictionary for metadata (e.g., {'resolution': '>=720p'})
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            QueryPrimitiveResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import QueryPrimitive
+            request = QueryPrimitive.Request()
+            request.name = name
+            request.filter = json.dumps(filter) if filter else ''
+            return self._call_service('query_primitive', QueryPrimitive, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import QueryPrimitive service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'query_primitive error: {e}')
+            return None
+    
+    def register_primitive(self, name: str, input_schema: Dict[str, str], output_schema: Dict[str, str],
+                          metadata: Optional[Dict[str, Any]] = None, provider: str = '', 
+                          version: str = '1.0.0', timeout_sec: float = 10.0):
+        """
+        Register a primitive.
+        
+        Args:
+            name: Standard primitive name (e.g., 'prm::camera_capture')
+            input_schema: Input schema mapping argument names to topic channels
+            output_schema: Output schema mapping argument names to topic channels
+            metadata: Optional metadata dictionary for instance filtering
+            provider: Provider identifier (usually package name)
+            version: Implementation version (e.g., '1.0.0', '1.0.0-alpha')
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            RegisterPrimitiveResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import RegisterPrimitive
+            request = RegisterPrimitive.Request()
+            request.name = name
+            request.input_schema = json.dumps(input_schema)
+            request.output_schema = json.dumps(output_schema)
+            request.metadata = json.dumps(metadata) if metadata else '{}'
+            request.provider = provider
+            request.version = version
+            return self._call_service('register_primitive', RegisterPrimitive, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import RegisterPrimitive service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'register_primitive error: {e}')
+            return None
+    
+    def query_service(self, name: str, filter: Optional[Dict[str, Any]] = None, timeout_sec: float = 5.0):
+        """
+        Query services by standard name.
+        
+        Args:
+            name: Standard service name (e.g., 'spatial_map')
+            filter: Optional filter dictionary for metadata
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            QueryServiceResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import QueryService
+            request = QueryService.Request()
+            request.name = name
+            request.filter = json.dumps(filter) if filter else ''
+            return self._call_service('query_service', QueryService, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import QueryService service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'query_service error: {e}')
+            return None
+    
+    def register_service(self, name: str, srv_type: str, entry: str,
+                        metadata: Optional[Dict[str, Any]] = None, provider: str = '',
+                        version: str = '1.0.0', timeout_sec: float = 10.0):
+        """
+        Register a service.
+        
+        Args:
+            name: Standard service name (e.g., 'spatial_map')
+            srv_type: ROS2 service type (e.g., 'robonix_sdk/srv/service/spatial_map/GetSpatialMap')
+            entry: Actual ROS2 service name (e.g., '/mapping/get_spatial_map')
+            metadata: Optional metadata dictionary for instance filtering
+            provider: Provider identifier (usually package name)
+            version: Implementation version (e.g., '1.0.0', '1.0.0-alpha')
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            RegisterServiceResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import RegisterService
+            request = RegisterService.Request()
+            request.name = name
+            request.srv_type = srv_type
+            request.entry = entry
+            request.metadata = json.dumps(metadata) if metadata else '{}'
+            request.provider = provider
+            request.version = version
+            return self._call_service('register_service', RegisterService, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import RegisterService service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'register_service error: {e}')
+            return None
+    
+    def query_skill(self, name: str, filter: Optional[Dict[str, Any]] = None, timeout_sec: float = 5.0):
+        """
+        Query skills by name.
+        
+        Args:
+            name: Skill name (e.g., 'skl::pick' or 'pick')
+            filter: Optional filter dictionary (e.g., {'type': 'basic'}, {'domain': 'indoor'})
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            QuerySkillResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import QuerySkill
+            request = QuerySkill.Request()
+            # Ensure name starts with 'skl::'
+            if not name.startswith('skl::'):
+                name = f'skl::{name}'
+            request.name = name
+            request.filter = json.dumps(filter) if filter else ''
+            return self._call_service('query_skill', QuerySkill, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import QuerySkill service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'query_skill error: {e}')
+            return None
+    
+    def register_skill(self, name: str, skill_type: str, start_topic: str, status_topic: str,
+                      start_args: Dict[str, str], status: Dict[str, str],
+                      metadata: Optional[Dict[str, Any]] = None, provider: str = '',
+                      version: str = '1.0.0',
+                      entry: Optional[str] = None,  # For basic skills
+                      skill_dir: Optional[str] = None,  # For RTDL skills
+                      main_rtdl: Optional[str] = None,  # For RTDL skills
+                      timeout_sec: float = 10.0):
+        """
+        Register a skill.
+        
+        Args:
+            name: Skill name (e.g., 'pick')
+            skill_type: Skill type ('basic' or 'rtdl')
+            start_topic: Skill start topic (e.g., '/robot1/skill/pick/start')
+            status_topic: Status feedback topic (e.g., '/robot1/skill/pick/status')
+            start_args: Input parameter schema (e.g., {'target_label': 'string'})
+            status: Status feedback schema (e.g., {'state': 'string', 'result': 'any'})
+            metadata: Optional metadata dictionary for instance filtering
+            provider: Provider identifier (usually package name)
+            version: Skill version (e.g., '1.0.0')
+            entry: Basic skill entry point (required if type='basic')
+            skill_dir: Skill directory path (required if type='rtdl')
+            main_rtdl: Main RTDL file name (required if type='rtdl')
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            RegisterSkillResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import RegisterSkill
+            request = RegisterSkill.Request()
+            # Ensure name starts with 'skl::'
+            if not name.startswith('skl::'):
+                name = f'skl::{name}'
+            request.name = name
+            request.type = skill_type
+            request.start_topic = start_topic
+            request.status_topic = status_topic
+            request.entry = entry if entry else ''
+            request.skill_dir = skill_dir if skill_dir else ''
+            request.main_rtdl = main_rtdl if main_rtdl else ''
+            request.start_args = json.dumps(start_args)
+            request.status = json.dumps(status)
+            request.metadata = json.dumps(metadata) if metadata else '{}'
+            request.provider = provider
+            request.version = version
+            return self._call_service('register_skill', RegisterSkill, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import RegisterSkill service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'register_skill error: {e}')
+            return None
+    
+    def submit_task(self, description: str, params: Optional[Dict[str, Any]] = None, timeout_sec: float = 30.0):
+        """
+        Submit a task.
+        
+        Args:
+            description: Task description
+            params: Optional task parameters
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            SubmitTaskResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import SubmitTask
+            request = SubmitTask.Request()
+            request.description = description
+            request.params = json.dumps(params) if params else '{}'
+            return self._call_service('submit_task', SubmitTask, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import SubmitTask service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'submit_task error: {e}')
+            return None
+    
+    def task_status(self, task_id: str, timeout_sec: float = 5.0):
+        """
+        Get task status.
+        
+        Args:
+            task_id: Task ID
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            TaskStatusResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import TaskStatus
+            request = TaskStatus.Request()
+            request.task_id = task_id
+            return self._call_service('task_status', TaskStatus, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import TaskStatus service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'task_status error: {e}')
+            return None
+    
+    def task_result(self, task_id: str, timeout_sec: float = 5.0):
+        """
+        Get task result.
+        
+        Args:
+            task_id: Task ID
+            timeout_sec: Timeout in seconds
+            
+        Returns:
+            TaskResultResponse or None on error
+        """
+        try:
+            from robonix_sdk.srv import TaskResult
+            request = TaskResult.Request()
+            request.task_id = task_id
+            return self._call_service('task_result', TaskResult, request, timeout_sec)
+        except ImportError as e:
+            self.get_logger().error(f'Failed to import TaskResult service: {e}')
+            return None
+        except Exception as e:
+            self.get_logger().error(f'task_result error: {e}')
+            return None
+    
+    def shutdown(self):
+        """Shutdown the client and cleanup resources."""
+        self._executor.shutdown(wait=True)
+        self.destroy_node()
+
+
+# Convenience function for creating a client instance
+def create_client(node_name: str = 'robonix_client', max_workers: int = 10) -> RobonixClient:
+    """
+    Create a RobonixClient instance.
+    
+    Args:
+        node_name: Name for the ROS2 node
+        max_workers: Maximum number of worker threads
+        
+    Returns:
+        RobonixClient instance
+    """
+    return RobonixClient(node_name, max_workers)
diff --git a/rust/robonix-sdk/srv/PingPong.srv b/rust/robonix-sdk/srv/PingPong.srv
new file mode 100644
index 0000000..4da33d0
--- /dev/null
+++ b/rust/robonix-sdk/srv/PingPong.srv
@@ -0,0 +1,8 @@
+# PingPong service for testing
+string message
+uint64 sequence
+---
+string message
+uint64 sequence
+uint64 timestamp
+
diff --git a/rust/robonix-sdk/srv/primitive/QueryPrimitive.srv b/rust/robonix-sdk/srv/primitive/QueryPrimitive.srv
new file mode 100644
index 0000000..0a93ecd
--- /dev/null
+++ b/rust/robonix-sdk/srv/primitive/QueryPrimitive.srv
@@ -0,0 +1,6 @@
+# QueryPrimitive service (robonix spec)
+string name                    # Standard primitive name
+string filter                  # JSON: filter by metadata (e.g., {"resolution":">=720p"}, {"index":0}). Empty string means no filter
+---
+robonix_sdk/PrimitiveInstance[] instances
+
diff --git a/rust/robonix-sdk/srv/primitive/RegisterPrimitive.srv b/rust/robonix-sdk/srv/primitive/RegisterPrimitive.srv
new file mode 100644
index 0000000..79e0ff4
--- /dev/null
+++ b/rust/robonix-sdk/srv/primitive/RegisterPrimitive.srv
@@ -0,0 +1,10 @@
+# RegisterPrimitive service (robonix spec)
+string name                    # Standard primitive name
+string input_schema            # JSON: {"argname0":"/topic0", ...}
+string output_schema          # JSON: {"argname1":"/topic1", ...}
+string metadata                # JSON: metadata for instance filtering
+string provider                # Primitive provider identifier
+string version                 # Implementation version (e.g., "1.0.0", "1.0.0-alpha")
+---
+bool ok
+
diff --git a/rust/robonix-sdk/srv/service/QueryService.srv b/rust/robonix-sdk/srv/service/QueryService.srv
new file mode 100644
index 0000000..5ac4d24
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/QueryService.srv
@@ -0,0 +1,6 @@
+# QueryService service (robonix spec)
+string name                    # Standard service name
+string filter                  # JSON string: filter by metadata (e.g., {"model":"deepseek"}). Empty string means no filter
+---
+robonix_sdk/ServiceInstance[] instances
+
diff --git a/rust/robonix-sdk/srv/service/RegisterService.srv b/rust/robonix-sdk/srv/service/RegisterService.srv
new file mode 100644
index 0000000..207fc4b
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/RegisterService.srv
@@ -0,0 +1,10 @@
+# RegisterService service (robonix spec)
+string name                    # Standard service name
+string srv_type                # ROS2 service type (e.g., "robonix_sdk/srv/service/spatial_map/GetSpatialMap")
+string entry                   # Actual ROS2 service name
+string metadata                # JSON: metadata for instance filtering
+string provider                # Service provider identifier
+string version                 # Implementation version (e.g., "1.0.0", "1.0.0-alpha")
+---
+bool ok
+
diff --git a/rust/robonix-sdk/srv/service/plan_simulate/SimulatePlan.srv b/rust/robonix-sdk/srv/service/plan_simulate/SimulatePlan.srv
new file mode 100644
index 0000000..dc53010
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/plan_simulate/SimulatePlan.srv
@@ -0,0 +1,14 @@
+# SimulatePlan service (robonix spec)
+# Plan simulation service performs feasibility and safety checks on skill sequences in simulation environment or other offline evaluators
+string rtdl_code        # RTDL task description to be evaluated
+string context_id       # Optional, environment context snapshot identifier (semantic/spatial map version, etc.)
+string options_json     # Optional, evaluation options in JSON string format
+                        # Example:
+                        #   {"check":["collision","limits"],
+                        #    "max_sim_time": 120.0}
+---
+bool   feasible         # Whether physical and safety constraints are satisfied
+string[] violations     # Unsatisfied constraint items, e.g., ["collision","joint_limit"]
+string diagnostics_json # Diagnostic information (JSON string)
+builtin_interfaces/Time stamp
+
diff --git a/rust/robonix-sdk/srv/service/result_feedback/ResultFeedback.srv b/rust/robonix-sdk/srv/service/result_feedback/ResultFeedback.srv
new file mode 100644
index 0000000..3ea3de0
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/result_feedback/ResultFeedback.srv
@@ -0,0 +1,14 @@
+# ResultFeedback service (robonix spec)
+# Result feedback service performs semantic analysis on execution process data using multimodal models after real execution
+string task_id          # Task identifier, assigned by task manager
+string execution_id     # Execution identifier, corresponding to data collection record
+string options_json     # Optional, verification strategy (JSON string)
+                        # Example:
+                        #   {"mode":"video-only",
+                        #    "required_checks":["all_rooms","all_windows"]}
+---
+bool   success          # Whether task passed verification
+string[] missing_goals  # Uncompleted goals (e.g., ["kitchen_window_closed"])
+string report           # Text report (natural language or structured summary)
+builtin_interfaces/Time stamp
+
diff --git a/rust/robonix-sdk/srv/service/semantic_map/QuerySemanticMap.srv b/rust/robonix-sdk/srv/service/semantic_map/QuerySemanticMap.srv
new file mode 100644
index 0000000..6dff818
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/semantic_map/QuerySemanticMap.srv
@@ -0,0 +1,7 @@
+# QuerySemanticMap service (robonix spec)
+# Semantic map service builds entity-level representation on top of spatial map
+string[] types             # Filter by entity type, e.g., ["room","window","robot"]
+---
+robonix_sdk/Entity[] entities
+builtin_interfaces/Time stamp
+
diff --git a/rust/robonix-sdk/srv/service/spatial_map/GetSpatialMap.srv b/rust/robonix-sdk/srv/service/spatial_map/GetSpatialMap.srv
new file mode 100644
index 0000000..4e7c669
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/spatial_map/GetSpatialMap.srv
@@ -0,0 +1,9 @@
+# GetSpatialMap service (robonix spec)
+# Spatial map service provides geometric structure information of the robot environment
+uint8 map_type         # 0=2D occupancy, 1=3D occupancy, 2=pointcloud
+---
+nav_msgs/OccupancyGrid occupancy_grid   # if map_type=0
+robonix_sdk/Occupancy3D occupancy_3d     # if map_type=1
+sensor_msgs/PointCloud2 cloud            # if map_type=2
+builtin_interfaces/Time stamp
+
diff --git a/rust/robonix-sdk/srv/service/task_plan/PlanTask.srv b/rust/robonix-sdk/srv/service/task_plan/PlanTask.srv
new file mode 100644
index 0000000..72d3ff7
--- /dev/null
+++ b/rust/robonix-sdk/srv/service/task_plan/PlanTask.srv
@@ -0,0 +1,9 @@
+# PlanTask service (robonix spec)
+# Task planning service converts user's natural language description to structured RTDL
+string description            # Natural language task description
+robonix_sdk/Dict params        # Optional parameters
+---
+string rtdl                   # RTDL code
+string rtdl_type              # RTDL style
+builtin_interfaces/Time stamp
+
diff --git a/rust/robonix-sdk/srv/skill/QuerySkill.srv b/rust/robonix-sdk/srv/skill/QuerySkill.srv
new file mode 100644
index 0000000..356e968
--- /dev/null
+++ b/rust/robonix-sdk/srv/skill/QuerySkill.srv
@@ -0,0 +1,6 @@
+# QuerySkill service (robonix spec)
+string name                    # Skill name
+string filter                  # JSON string: filter by metadata (e.g., {"domain":"indoor"}, {"robot":"arm6dof"}). Empty string means no filter
+---
+robonix_sdk/SkillInstance[] instances
+
diff --git a/rust/robonix-sdk/srv/skill/RegisterSkill.srv b/rust/robonix-sdk/srv/skill/RegisterSkill.srv
new file mode 100644
index 0000000..02c347d
--- /dev/null
+++ b/rust/robonix-sdk/srv/skill/RegisterSkill.srv
@@ -0,0 +1,17 @@
+# RegisterSkill service (robonix spec)
+string name                    # Skill name
+string type                    # Skill type: "basic" | "rtdl"
+string start_topic             # Skill start topic
+string status_topic            # Status feedback topic
+string entry                   # Basic skill entry (required if type="basic")
+string skill_dir               # Skill directory path (required if type="rtdl")
+string main_rtdl               # Main RTDL file name (required if type="rtdl")
+string start_args              # JSON: input parameter schema
+string status                  # JSON: status feedback schema
+string metadata                # JSON: metadata for instance filtering
+string provider                # Skill provider identifier
+string version                 # Skill version
+---
+bool ok
+string skill_id
+
diff --git a/rust/robonix-sdk/srv/task/SubmitTask.srv b/rust/robonix-sdk/srv/task/SubmitTask.srv
new file mode 100644
index 0000000..eaf96a9
--- /dev/null
+++ b/rust/robonix-sdk/srv/task/SubmitTask.srv
@@ -0,0 +1,6 @@
+# SubmitTask service (robonix spec)
+string description             # Natural language task description
+string params                  # JSON: optional parameters
+---
+string task_id
+
diff --git a/rust/robonix-sdk/srv/task/TaskResult.srv b/rust/robonix-sdk/srv/task/TaskResult.srv
new file mode 100644
index 0000000..e072dc1
--- /dev/null
+++ b/rust/robonix-sdk/srv/task/TaskResult.srv
@@ -0,0 +1,5 @@
+# TaskResult service (robonix spec)
+string task_id
+---
+string result                  # JSON: task result
+
diff --git a/rust/robonix-sdk/srv/task/TaskStatus.srv b/rust/robonix-sdk/srv/task/TaskStatus.srv
new file mode 100644
index 0000000..c28d48b
--- /dev/null
+++ b/rust/robonix-sdk/srv/task/TaskStatus.srv
@@ -0,0 +1,5 @@
+# TaskStatus service (robonix spec)
+string task_id
+---
+string status                  # pending / planning / running / finished
+
diff --git a/rust/scripts/generated/Image.rs b/rust/scripts/generated/Image.rs
new file mode 100644
index 0000000..bb3067e
--- /dev/null
+++ b/rust/scripts/generated/Image.rs
@@ -0,0 +1,30 @@
+// # This message contains an uncompressed image
+// # (0, 0) is at top-left corner of image
+
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Image {
+  pub header : super::std_msgs::Header, // # Header timestamp should be acquisition time of image
+  // # Header frame_id should be optical frame of camera
+  // # origin of frame should be optical center of cameara
+  // # +x should point to the right in the image
+  // # +y should point down in the image
+  // # +z should point into to plane of the image
+  // # If the frame_id here and the frame_id of the CameraInfo
+  // # message associated with the image conflict
+  // # the behavior is undefined
+
+  pub height : u32, // # image height, that is, number of rows
+  pub width : u32, // # image width, that is, number of columns
+
+  // # The legal values for encoding are in file src/image_encodings.cpp
+  // # If you want to standardize a new string format, join
+  // # ros-users@lists.ros.org and send an email proposing a new encoding.
+
+  pub encoding : String, // # Encoding of pixels -- channel meaning, ordering, size
+  // # taken from the list of strings in include/sensor_msgs/image_encodings.hpp
+
+  pub is_bigendian : u8, // # is this data bigendian?
+  pub step : u32, // # Full row length in bytes
+  pub data : Vec<u8>, // # actual matrix data, size is (step * rows)
+}
diff --git a/rust/scripts/generated/PointCloud2.rs b/rust/scripts/generated/PointCloud2.rs
new file mode 100644
index 0000000..7f95942
--- /dev/null
+++ b/rust/scripts/generated/PointCloud2.rs
@@ -0,0 +1,30 @@
+// # This message holds a collection of N-dimensional points, which may
+// # contain additional information such as normals, intensity, etc. The
+// # point data is stored as a binary blob, its layout described by the
+// # contents of the "fields" array.
+// #
+// # The point cloud data may be organized 2d (image-like) or 1d (unordered).
+// # Point clouds organized as 2d images may be produced by camera depth sensors
+// # such as stereo or time-of-flight.
+
+// # Time of sensor data acquisition, and the coordinate frame ID (for 3d points).
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct PointCloud2 {
+  pub header : super::std_msgs::Header, 
+
+  // # 2D structure of the point cloud. If the cloud is unordered, height is
+  // # 1 and width is the length of the point cloud.
+  pub height : u32, 
+  pub width : u32, 
+
+  // # Describes the channels and their layout in the binary data blob.
+  pub fields : Vec<PointField>, 
+
+  pub is_bigendian : bool, // # Is this data bigendian?
+  pub point_step : u32, // # Length of a point in bytes
+  pub row_step : u32, // # Length of a row in bytes
+  pub data : Vec<u8>, // # Actual point data, size is (row_step*height)
+
+  pub is_dense : bool, // # True if there are no invalid points
+}
diff --git a/rust/scripts/generated/Register.rs b/rust/scripts/generated/Register.rs
new file mode 100644
index 0000000..86e1bf0
--- /dev/null
+++ b/rust/scripts/generated/Register.rs
@@ -0,0 +1,19 @@
+// # Register.srv
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Register {
+  pub provider_name : String, 
+  pub provider_type : String, 
+  pub std_name : String, 
+  pub description : String, 
+  pub code_path : String, 
+  pub input_names : Vec<String>, 
+  pub input_ros_types : Vec<String>, 
+  pub input_channels : Vec<String>, 
+  pub output_names : Vec<String>, 
+  pub output_ros_types : Vec<String>, 
+  pub output_channels : Vec<String>, 
+  pub config_services : Vec<String>, 
+  pub config_names : Vec<String>, 
+  pub dependencies : Vec<String>, 
+}
diff --git a/rust/scripts/service_load_test/README.md b/rust/scripts/service_load_test/README.md
new file mode 100644
index 0000000..3f348e7
--- /dev/null
+++ b/rust/scripts/service_load_test/README.md
@@ -0,0 +1,62 @@
+# Service Load Test
+
+This directory contains high-intensity load testing scripts for robonix-core services.
+
+## Purpose
+
+Test concurrent access to robonix-core services, particularly the ping pong service, to identify any issues with multiple processes making high-frequency requests.
+
+## Files
+
+- `ping_client_1.py`: First test client node that continuously calls the ping pong service
+- `ping_client_2.py`: Second test client node that continuously calls the ping pong service
+- `run_test.sh`: Script to run both test clients simultaneously
+
+## Usage
+
+1. Build robonix-sdk to generate service types:
+```bash
+cd /root/workspace/rust/robonix-sdk
+colcon build --packages-select robonix_sdk
+source install/setup.bash
+```
+
+2. Start robonix-core:
+```bash
+cd /root/workspace/rust/robonix-core
+cargo run --release
+```
+
+3. In separate terminals, run the test clients:
+```bash
+# Terminal 1
+cd /root/workspace/rust/scripts/service_load_test
+source /root/workspace/rust/robonix-sdk/install/setup.bash
+python3 ping_client_1.py
+
+# Terminal 2
+cd /root/workspace/rust/scripts/service_load_test
+source /root/workspace/rust/robonix-sdk/install/setup.bash
+python3 ping_client_2.py
+```
+
+Or use the test script:
+```bash
+./run_test.sh
+```
+
+Note: The test clients will automatically fall back to using `ros2 service call` if the service types are not available, but native ROS2 client is preferred for better performance.
+
+## Expected Behavior
+
+Both clients should be able to successfully call the ping pong service concurrently without one blocking the other. The clients will print statistics every 5 seconds showing:
+- Total requests
+- Successful requests
+- Failed requests
+- Request rate (req/s)
+- Success rate (%)
+
+## Troubleshooting
+
+If you see high failure rates or one client blocking the other, this indicates a concurrency issue in robonix-core that needs to be fixed.
+
diff --git a/rust/scripts/service_load_test/ping_client_1.py b/rust/scripts/service_load_test/ping_client_1.py
new file mode 100755
index 0000000..a491cdf
--- /dev/null
+++ b/rust/scripts/service_load_test/ping_client_1.py
@@ -0,0 +1,213 @@
+#!/usr/bin/env python3
+"""
+High-intensity ping pong service test client - Node 1
+
+This node continuously calls the ping pong service to test concurrent access.
+"""
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
+import time
+import threading
+import sys
+
+try:
+    from robonix_sdk.srv import PingPong
+except ImportError:
+    print("Warning: robonix_sdk.srv.PingPong not found. Make sure robonix_sdk is built and sourced.")
+    print("Trying to use ros2 service call as fallback...")
+    PingPong = None
+
+
+class PingClient1(Node):
+    """High-intensity ping pong test client node 1"""
+
+    def __init__(self):
+        super().__init__('ping_client_1')
+        
+        self.service_name = '/rbnx/ping'
+        
+        # Statistics
+        self.total_requests = 0
+        self.successful_requests = 0
+        self.failed_requests = 0
+        self.start_time = time.time()
+        self.lock = threading.Lock()
+        self.running = True
+        
+        # Create service client if service type is available
+        if PingPong is not None:
+            # Create QoS profile matching server configuration
+            service_qos = QoSProfile(
+                reliability=ReliabilityPolicy.RELIABLE,
+                history=HistoryPolicy.KEEP_LAST,
+                depth=1000,
+                durability=DurabilityPolicy.VOLATILE
+            )
+            self.client = self.create_client(PingPong, self.service_name, qos_profile=service_qos)
+            self.use_native_client = True
+        else:
+            self.client = None
+            self.use_native_client = False
+            # Fallback to ros2 service call
+            import subprocess
+            import json
+            self.subprocess = subprocess
+            self.json = json
+        
+        # Start high-intensity testing
+        self.get_logger().info(f'Ping Client 1 starting high-intensity test on {self.service_name}')
+        self.test_thread = threading.Thread(target=self._run_test, daemon=True)
+        self.test_thread.start()
+        
+        # Print statistics periodically
+        self.create_timer(5.0, self._print_stats)
+    
+    def _call_ping_service(self, sequence: int):
+        """Call the ping pong service"""
+        if self.use_native_client:
+            return self._call_ping_service_native(sequence)
+        else:
+            return self._call_ping_service_subprocess(sequence)
+    
+    def _call_ping_service_native(self, sequence: int):
+        """Call the ping pong service using native ROS2 client"""
+        try:
+            # Wait for service with longer timeout on first few calls
+            wait_timeout = 5.0 if sequence < 10 else 0.1
+            if not self.client.wait_for_service(timeout_sec=wait_timeout):
+                return False, "Service not available"
+            
+            request = PingPong.Request()
+            request.message = f'ping from client 1'
+            request.sequence = sequence
+            
+            future = self.client.call_async(request)
+            
+            # Wait for response with timeout
+            start_time = time.time()
+            timeout_sec = 3.0  # Increased timeout for high load
+            while not future.done() and (time.time() - start_time) < timeout_sec:
+                rclpy.spin_once(self, timeout_sec=0.01)
+            
+            if future.done():
+                try:
+                    response = future.result()
+                    return True, response
+                except Exception as e:
+                    return False, str(e)
+            else:
+                return False, "Timeout"
+        except Exception as e:
+            return False, str(e)
+    
+    def _call_ping_service_subprocess(self, sequence: int):
+        """Call the ping pong service using ros2 service call (fallback)"""
+        try:
+            request_data = {
+                'message': f'ping from client 1',
+                'sequence': sequence
+            }
+            
+            cmd = [
+                'ros2', 'service', 'call',
+                self.service_name,
+                'robonix_sdk/srv/PingPong',
+                self.json.dumps(request_data)
+            ]
+            
+            result = self.subprocess.run(
+                cmd,
+                capture_output=True,
+                text=True,
+                timeout=2.0
+            )
+            
+            if result.returncode == 0:
+                return True, result.stdout
+            else:
+                return False, result.stderr
+                
+        except self.subprocess.TimeoutExpired:
+            return False, "Timeout"
+        except Exception as e:
+            return False, str(e)
+    
+    def _run_test(self):
+        """Run high-intensity test loop"""
+        sequence = 0
+        while self.running and rclpy.ok():
+            sequence += 1
+            success, result = self._call_ping_service(sequence)
+            
+            with self.lock:
+                self.total_requests += 1
+                if success:
+                    self.successful_requests += 1
+                    if sequence % 100 == 0:
+                        self.get_logger().info(
+                            f'Client 1: Sent {sequence} requests, '
+                            f'success rate: {100.0 * self.successful_requests / self.total_requests:.1f}%'
+                        )
+                else:
+                    self.failed_requests += 1
+                    if self.failed_requests % 10 == 0:
+                        self.get_logger().warn(
+                            f'Client 1: Failed request #{self.failed_requests}, '
+                            f'error: {result[:100] if result else "Unknown"}'
+                        )
+            
+            # High intensity: minimal delay
+            time.sleep(0.001)  # 1ms delay = ~1000 requests/second
+    
+    def _print_stats(self):
+        """Print statistics"""
+        elapsed = time.time() - self.start_time
+        with self.lock:
+            total = self.total_requests
+            success = self.successful_requests
+            failed = self.failed_requests
+            rate = total / elapsed if elapsed > 0 else 0
+            success_rate = 100.0 * success / total if total > 0 else 0
+            
+            self.get_logger().info(
+                f'Client 1 Stats: Total={total}, Success={success}, Failed={failed}, '
+                f'Rate={rate:.1f} req/s, Success Rate={success_rate:.1f}%'
+            )
+    
+    def shutdown(self):
+        """Shutdown the test"""
+        self.running = False
+        if self.test_thread.is_alive():
+            self.test_thread.join(timeout=1.0)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = None
+    
+    try:
+        node = PingClient1()
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        if node:
+            node.get_logger().info('Shutting down...')
+            node.shutdown()
+    except Exception as e:
+        if node:
+            node.get_logger().error(f'Error: {e}')
+    finally:
+        if node:
+            try:
+                node.destroy_node()
+            except:
+                pass
+        try:
+            rclpy.shutdown()
+        except:
+            pass  # Ignore if already shut down
+
+
+if __name__ == '__main__':
+    main()
diff --git a/rust/scripts/service_load_test/ping_client_2.py b/rust/scripts/service_load_test/ping_client_2.py
new file mode 100755
index 0000000..b1e279e
--- /dev/null
+++ b/rust/scripts/service_load_test/ping_client_2.py
@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""
+High-intensity ping pong service test client - Node 2
+
+This node continuously calls the ping pong service to test concurrent access.
+"""
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
+import time
+import threading
+import sys
+
+try:
+    from robonix_sdk.srv import PingPong
+except ImportError:
+    print("Warning: robonix_sdk.srv.PingPong not found. Make sure robonix_sdk is built and sourced.")
+    print("Trying to use ros2 service call as fallback...")
+    PingPong = None
+
+
+class PingClient2(Node):
+    """High-intensity ping pong test client node 2"""
+
+    def __init__(self):
+        super().__init__('ping_client_2')
+        
+        self.service_name = '/rbnx/ping'
+        
+        # Statistics
+        self.total_requests = 0
+        self.successful_requests = 0
+        self.failed_requests = 0
+        self.start_time = time.time()
+        self.lock = threading.Lock()
+        self.running = True
+        
+        # Create service client if service type is available
+        if PingPong is not None:
+            # Create QoS profile matching server configuration
+            service_qos = QoSProfile(
+                reliability=ReliabilityPolicy.RELIABLE,
+                history=HistoryPolicy.KEEP_LAST,
+                depth=1000,
+                durability=DurabilityPolicy.VOLATILE
+            )
+            self.client = self.create_client(PingPong, self.service_name, qos_profile=service_qos)
+            self.use_native_client = True
+        else:
+            self.client = None
+            self.use_native_client = False
+            # Fallback to ros2 service call
+            import subprocess
+            import json
+            self.subprocess = subprocess
+            self.json = json
+        
+        # Start high-intensity testing
+        self.get_logger().info(f'Ping Client 2 starting high-intensity test on {self.service_name}')
+        self.test_thread = threading.Thread(target=self._run_test, daemon=True)
+        self.test_thread.start()
+        
+        # Print statistics periodically
+        self.create_timer(5.0, self._print_stats)
+    
+    def _call_ping_service(self, sequence: int):
+        """Call the ping pong service"""
+        if self.use_native_client:
+            return self._call_ping_service_native(sequence)
+        else:
+            return self._call_ping_service_subprocess(sequence)
+    
+    def _call_ping_service_native(self, sequence: int):
+        """Call the ping pong service using native ROS2 client"""
+        try:
+            # Wait for service with longer timeout on first few calls
+            wait_timeout = 5.0 if sequence < 10 else 0.1
+            if not self.client.wait_for_service(timeout_sec=wait_timeout):
+                return False, "Service not available"
+            
+            request = PingPong.Request()
+            request.message = f'ping from client 2'
+            request.sequence = sequence
+            
+            future = self.client.call_async(request)
+            
+            # Wait for response with timeout
+            start_time = time.time()
+            timeout_sec = 3.0  # Increased timeout for high load
+            while not future.done() and (time.time() - start_time) < timeout_sec:
+                rclpy.spin_once(self, timeout_sec=0.01)
+            
+            if future.done():
+                try:
+                    response = future.result()
+                    return True, response
+                except Exception as e:
+                    return False, str(e)
+            else:
+                return False, "Timeout"
+        except Exception as e:
+            return False, str(e)
+    
+    def _call_ping_service_subprocess(self, sequence: int):
+        """Call the ping pong service using ros2 service call (fallback)"""
+        try:
+            request_data = {
+                'message': f'ping from client 2',
+                'sequence': sequence
+            }
+            
+            cmd = [
+                'ros2', 'service', 'call',
+                self.service_name,
+                'robonix_sdk/srv/PingPong',
+                self.json.dumps(request_data)
+            ]
+            
+            result = self.subprocess.run(
+                cmd,
+                capture_output=True,
+                text=True,
+                timeout=2.0
+            )
+            
+            if result.returncode == 0:
+                return True, result.stdout
+            else:
+                return False, result.stderr
+                
+        except self.subprocess.TimeoutExpired:
+            return False, "Timeout"
+        except Exception as e:
+            return False, str(e)
+    
+    def _run_test(self):
+        """Run high-intensity test loop"""
+        sequence = 0
+        while self.running and rclpy.ok():
+            sequence += 1
+            success, result = self._call_ping_service(sequence)
+            
+            with self.lock:
+                self.total_requests += 1
+                if success:
+                    self.successful_requests += 1
+                    if sequence % 100 == 0:
+                        self.get_logger().info(
+                            f'Client 2: Sent {sequence} requests, '
+                            f'success rate: {100.0 * self.successful_requests / self.total_requests:.1f}%'
+                        )
+                else:
+                    self.failed_requests += 1
+                    if self.failed_requests % 10 == 0:
+                        self.get_logger().warn(
+                            f'Client 2: Failed request #{self.failed_requests}, '
+                            f'error: {result[:100] if result else "Unknown"}'
+                        )
+            
+            # High intensity: minimal delay
+            time.sleep(0.001)  # 1ms delay = ~1000 requests/second
+    
+    def _print_stats(self):
+        """Print statistics"""
+        elapsed = time.time() - self.start_time
+        with self.lock:
+            total = self.total_requests
+            success = self.successful_requests
+            failed = self.failed_requests
+            rate = total / elapsed if elapsed > 0 else 0
+            success_rate = 100.0 * success / total if total > 0 else 0
+            
+            self.get_logger().info(
+                f'Client 2 Stats: Total={total}, Success={success}, Failed={failed}, '
+                f'Rate={rate:.1f} req/s, Success Rate={success_rate:.1f}%'
+            )
+    
+    def shutdown(self):
+        """Shutdown the test"""
+        self.running = False
+        if self.test_thread.is_alive():
+            self.test_thread.join(timeout=1.0)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = None
+    
+    try:
+        node = PingClient2()
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        if node:
+            node.get_logger().info('Shutting down...')
+            node.shutdown()
+    except Exception as e:
+        if node:
+            node.get_logger().error(f'Error: {e}')
+    finally:
+        if node:
+            try:
+                node.destroy_node()
+            except:
+                pass
+        try:
+            rclpy.shutdown()
+        except:
+            pass  # Ignore if already shut down
+
+
+if __name__ == '__main__':
+    main()
+
diff --git a/rust/scripts/service_load_test/run_test.sh b/rust/scripts/service_load_test/run_test.sh
new file mode 100755
index 0000000..bd58615
--- /dev/null
+++ b/rust/scripts/service_load_test/run_test.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+# Run both ping clients simultaneously to test concurrent service access
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$SCRIPT_DIR"
+
+# source robonix sdk
+ROBONIX_SDK_DIR=$(realpath "../../robonix-sdk")
+
+(
+  cd $ROBONIX_SDK_DIR
+  ./build_ros2.sh
+)
+
+source $ROBONIX_SDK_DIR/install/setup.bash
+
+echo "Starting ping client 1..."
+python3 ping_client_1.py &
+CLIENT1_PID=$!
+
+sleep 2
+
+echo "Starting ping client 2..."
+python3 ping_client_2.py &
+CLIENT2_PID=$!
+
+echo "Both clients started. PIDs: $CLIENT1_PID, $CLIENT2_PID"
+echo "Press Ctrl+C to stop both clients"
+
+# Wait for user interrupt
+trap "kill $CLIENT1_PID $CLIENT2_PID 2>/dev/null; exit" INT TERM
+
+wait
+
diff --git a/rust/scripts/test1.sh b/rust/scripts/test1.sh
new file mode 100755
index 0000000..abeacd1
--- /dev/null
+++ b/rust/scripts/test1.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+# Get absolute path to the package directory
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PACKAGE_PATH="$(cd "$SCRIPT_DIR/../provider/demo_package" && pwd)"
+
+ros2 service call /rbnx/srv/register robonix_core/srv/Register \
+"{package_name: 'demo_package', package_type: 'cap', std_name: 'cap::vision.capture_rgb', description: 'Demo RGB camera package that outputs random color images', code_path: '$PACKAGE_PATH', input_names: [], input_ros_types: [], input_channels: [], output_names: ['image'], output_ros_types: ['sensor_msgs/msg/Image'], output_channels: ['/demo_package/rgb_image'], config_services: [], config_names: []}"
\ No newline at end of file
diff --git a/rust/scripts/test_gen.sh b/rust/scripts/test_gen.sh
new file mode 100755
index 0000000..9fe1c8f
--- /dev/null
+++ b/rust/scripts/test_gen.sh
@@ -0,0 +1,6 @@
+cd ../ros2-client
+echo PWD: $(pwd)
+cargo run --bin msggen -- -i ../robonix-core/srv/Register.srv -o ../scripts/generated/Register.rs
+
+cargo run --bin msggen -- -i ../common_interfaces/sensor_msgs/msg/Image.msg -o ../scripts/generated/Image.rs
+cargo run --bin msggen -- -i ../common_interfaces/sensor_msgs/msg/PointCloud2.msg -o ../scripts/generated/PointCloud2.rs
\ No newline at end of file