robotics-design-patternslisted
Install: claude install-skill vicky23383/robotics-agent-skills
# Robotics Design Patterns
## When to Use This Skill
- Designing robot software architecture from scratch
- Choosing between behavior trees, FSMs, or hybrid approaches
- Structuring perception → planning → control pipelines
- Implementing safety systems and watchdogs
- Building hardware abstraction layers (HAL)
- Designing for sim-to-real transfer
- Architecting multi-robot / fleet systems
- Making real-time vs. non-real-time tradeoffs
## Pattern 1: The Robot Software Stack
Every robot system follows this layered architecture, regardless of complexity:
```
┌─────────────────────────────────────────────┐
│ APPLICATION LAYER │
│ Mission planning, task allocation, UI │
├─────────────────────────────────────────────┤
│ BEHAVIORAL LAYER │
│ Behavior trees, FSMs, decision-making │
├─────────────────────────────────────────────┤
│ FUNCTIONAL LAYER │
│ Perception, Planning, Control, Estimation │
├─────────────────────────────────────────────┤
│ COMMUNICATION LAYER │
│ ROS2, DDS, shared memory, IPC │
├─────────────────────────────────────────────┤
│ HARDWARE ABSTRACTION LAYER │
│ Drivers, sensor interfaces, actuators │
├─────────────────────────────────────────────┤
│ HARDWARE LAYER │
│ Cameras, LiDARs, motors, grippers, IMUs │
└─────────────────────────────────────────────┘
```
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