ros2-developmentlisted
Install: claude install-skill vicky23383/robotics-agent-skills
# ROS2 Development Skill
## When to Use This Skill
- Building ROS2 packages, nodes, or component containers
- Setting up colcon workspaces, ament_cmake, or ament_python packages
- Writing CMakeLists.txt, package.xml, or setup.py for ROS2
- Defining custom messages, services, or actions
- Writing Python launch files with conditional logic
- Configuring DDS middleware and QoS profiles
- Implementing lifecycle (managed) nodes
- Working with Nav2, MoveIt2, or other ROS2 frameworks
- Debugging DDS discovery, QoS mismatches, or build failures
- Deploying ROS2 to production or embedded systems (micro-ROS)
- Setting up CI/CD for ROS2 packages
## Core Architecture
### 1. Node Design Patterns
**Basic Node (rclpy)**:
```python
#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
from std_msgs.msg import String
class PerceptionNode(Node):
def __init__(self):
super().__init__('perception_node')
# 1. Declare parameters with types and descriptions
self.declare_parameter('rate_hz', 30.0,
descriptor=ParameterDescriptor(
description='Processing rate in Hz',
floating_point_range=[FloatingPointRange(
from_value=1.0, to_value=120.0, step=0.0
)]
))
self.declare_parameter('confidence_threshold', 0.7)
self.declare_parameter('frame_id', 'camera_link')
# 2. Read parameters