robot-bringup

Name: robot-bringup
Author: arpitg1304

320stars44forks

How to install robot-bringup?

arpitg1304/robotics-agent-skills/robot-bringup

$npx -y skills add arpitg1304/robotics-agent-skills --skill robot-bringup

Installs into the current project.

Summary

Patterns and best practices for bringing up a complete ROS2-based robotics system on a robot's onboard computer, including systemd services, launch file composition, ordered startup, and production monitoring. Use this skill when configuring a robot to start ROS2 nodes on boot, w

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SKILL.md

1	# Robot Bringup Skill
2
3	## When to Use This Skill
4
5	- Configuring a robot to automatically start its full ROS2 stack on boot via systemd
6	- Writing systemd unit files that correctly source ROS2 workspaces and set DDS environment
7	- Composing layered launch files (hardware, drivers, perception, application) into a single bringup
8	- Setting up ordered startup with health checks to avoid race conditions between dependent nodes
9	- Writing udev rules for deterministic device naming of cameras, LiDARs, and serial devices
10	- Configuring CycloneDDS or FastDDS for multi-machine ROS2 discovery across robot and base station
11	- Implementing watchdog and heartbeat monitoring for production robot systems
12	- Setting up log rotation and structured logging for long-running robot deployments
13	- Writing graceful shutdown handlers that bring actuators to a safe state before exit
14	- Debugging boot-time failures, service ordering issues, or device enumeration races
15
16	## The Robot Bringup Stack
17
18	A production robot bringup follows a layered startup sequence from hardware initialization through application-level nodes. Each layer depends on the one below it.
19
20	```
21	┌─────────────────────────────────────────────────────────────────────┐
22	│ APPLICATION LAYER │
23	│ Navigation, manipulation, mission planning, HRI │
24	├─────────────────────────────────────────────────────────────────────┤
25	│ PERCEPTION LAYER │
26	│ Object detection, SLAM, point cloud filtering, sensor fusion │
27	├─────────────────────────────────────────────────────────────────────┤
28	│ DRIVER LAYER │
29	│ Camera drivers, LiDAR drivers, motor controllers, IMU │
30	├─────────────────────────────────────────────────────────────────────┤
31	│ HARDWARE LAYER │
32	│ udev rules, device enumeration, USB reset, firmware check │
33	├─────────────────────────────────────────────────────────────────────┤
34	│ ROS2 ENVIRONMENT │
35	│ Source workspace, set RMW, ROS_DOMAIN_ID, DDS config │
36	├─────────────────────────────────────────────────────────────────────┤
37	│ SYSTEMD TARGETS & SERVICES │
38	│ network-online.target → robot-hw.target → robot-bringup.target │
39	├─────────────────────────────────────────────────────────────────────┤
40	│ LINUX BOOT (systemd) │
41	│ BIOS/UEFI → GRUB → kernel → systemd init │
42	├─────────────────────────────────────────────────────────────────────┤
43	│ HARDWARE BOOT │
44	│ Power supply, onboard computer, peripherals │
45	└─────────────────────────────────────────────────────────────────────┘
46	```
47
48	## systemd Service Units for ROS2
49
50	### Basic ROS2 Service Unit
51
52	Place service files in `/etc/systemd/system/`. This template starts a ROS2 launch file as a long-running service with watchdog support.
53
54	```ini
55	# /etc/systemd/system/robot-bringup.service
56	[Unit]
57	Description=Robot ROS2 Bringup Stack
58	Documentation=https://github.com/my-org/my-robot
59	After=network-online.target robot-hw.target
60	Wants=network-online.target
61	Requires=robot-hw.target
62
63	[Service]
64	Type=notify
65	User=robot
66	Group=robot
67	WorkingDirectory=/home/robot
68
69	# Load ROS2 environment variables from a dedicated env file
70	EnvironmentFile=/etc/robot/ros2.env
71
72	# Pre-start check: verify critical devices exist
73	ExecStartPre=/usr/local/bin/robot-device-check.sh
74
75	# Start the ROS2 launch file via bash so we can source the workspace
76	ExecStart=/bin/

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robot-bringup

320stars44forks

View on GitHub

How to install robot-bringup?

arpitg1304/robotics-agent-skills/robot-bringup

$npx -y skills add arpitg1304/robotics-agent-skills --skill robot-bringup

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# Robot Bringup Skill
2
3	## When to Use This Skill
4
5	- Configuring a robot to automatically start its full ROS2 stack on boot via systemd
6	- Writing systemd unit files that correctly source ROS2 workspaces and set DDS environment
7	- Composing layered launch files (hardware, drivers, perception, application) into a single bringup
8	- Setting up ordered startup with health checks to avoid race conditions between dependent nodes
9	- Writing udev rules for deterministic device naming of cameras, LiDARs, and serial devices
10	- Configuring CycloneDDS or FastDDS for multi-machine ROS2 discovery across robot and base station
11	- Implementing watchdog and heartbeat monitoring for production robot systems
12	- Setting up log rotation and structured logging for long-running robot deployments
13	- Writing graceful shutdown handlers that bring actuators to a safe state before exit
14	- Debugging boot-time failures, service ordering issues, or device enumeration races
15
16	## The Robot Bringup Stack
17
18	A production robot bringup follows a layered startup sequence from hardware initialization through application-level nodes. Each layer depends on the one below it.
19
20	```
21	┌─────────────────────────────────────────────────────────────────────┐
22	│ APPLICATION LAYER │
23	│ Navigation, manipulation, mission planning, HRI │
24	├─────────────────────────────────────────────────────────────────────┤
25	│ PERCEPTION LAYER │
26	│ Object detection, SLAM, point cloud filtering, sensor fusion │
27	├─────────────────────────────────────────────────────────────────────┤
28	│ DRIVER LAYER │
29	│ Camera drivers, LiDAR drivers, motor controllers, IMU │
30	├─────────────────────────────────────────────────────────────────────┤
31	│ HARDWARE LAYER │
32	│ udev rules, device enumeration, USB reset, firmware check │
33	├─────────────────────────────────────────────────────────────────────┤
34	│ ROS2 ENVIRONMENT │
35	│ Source workspace, set RMW, ROS_DOMAIN_ID, DDS config │
36	├─────────────────────────────────────────────────────────────────────┤
37	│ SYSTEMD TARGETS & SERVICES │
38	│ network-online.target → robot-hw.target → robot-bringup.target │
39	├─────────────────────────────────────────────────────────────────────┤
40	│ LINUX BOOT (systemd) │
41	│ BIOS/UEFI → GRUB → kernel → systemd init │
42	├─────────────────────────────────────────────────────────────────────┤
43	│ HARDWARE BOOT │
44	│ Power supply, onboard computer, peripherals │
45	└─────────────────────────────────────────────────────────────────────┘
46	```
47
48	## systemd Service Units for ROS2
49
50	### Basic ROS2 Service Unit
51
52	Place service files in `/etc/systemd/system/`. This template starts a ROS2 launch file as a long-running service with watchdog support.
53
54	```ini
55	# /etc/systemd/system/robot-bringup.service
56	[Unit]
57	Description=Robot ROS2 Bringup Stack
58	Documentation=https://github.com/my-org/my-robot
59	After=network-online.target robot-hw.target
60	Wants=network-online.target
61	Requires=robot-hw.target
62
63	[Service]
64	Type=notify
65	User=robot
66	Group=robot
67	WorkingDirectory=/home/robot
68
69	# Load ROS2 environment variables from a dedicated env file
70	EnvironmentFile=/etc/robot/ros2.env
71
72	# Pre-start check: verify critical devices exist
73	ExecStartPre=/usr/local/bin/robot-device-check.sh
74
75	# Start the ROS2 launch file via bash so we can source the workspace
76	ExecStart=/bin/

People who liked this also viewed

6 picks

Type