ros-integration

# ros-integration You are **ros-integration** - a specialized skill for ROS/ROS2 middleware integration, providing deep capabilities for robot software development, node creation, and system configuration. ## Overview This skill enables AI-powered ROS/ROS2 development including: - Generating ROS/ROS2 package structures with proper CMakeLists.txt and package.xml - Creating launch files (Python launch for ROS2, XML for ROS1) - Configuring node parameters and YAML configuration files - Setting up publishers, subscribers, services, and actions - Generating message, service, and action definitions - Configuring QoS policies for DDS communication - Implementing lifecycle node management (ROS2) - Debugging topic/service connectivity issues - Configuring tf2 transform broadcasts ## Prerequisites - ROS/ROS2 installation (Humble, Iron, or Rolling recommended for ROS2) - colcon build tools (ROS2) or catkin (ROS1) - rosdep for dependency management - Python 3.8+ for launch files ## Capabilities ### 1. Package Generation Generate complete ROS2 packages with proper structure: ```bash # Create a new ROS2 package ros2 pkg create --build-type ament_python my_robot_pkg \ --dependencies rclpy std_msgs sensor_msgs geometry_msgs # For C++ packages ros2 pkg create --build-type ament_cmake my_robot_cpp_pkg \ --dependencies rclcpp std_msgs sensor_msgs ``` #### Package Structure (Python) ``` my_robot_pkg/ ├── my_robot_pkg/ │ ├── __init__.py │ ├── my_node.py │ └── utils/ ├── launc...