ros1

Name: ros1
Author: arpitg1304

320stars44forks

How to install ros1?

arpitg1304/robotics-agent-skills/ros1

$npx -y skills add arpitg1304/robotics-agent-skills --skill ros1

Installs into the current project.

Summary

Best practices, design patterns, and common pitfalls for ROS1 (Robot Operating System 1) development. Use this skill when building ROS1 nodes, packages, launch files, or debugging ROS1 systems. Trigger whenever the user mentions ROS1, catkin, rospy, roscpp, roslaunch, roscore, ro

Files · 1

View on GitHub

SKILL.md

1	# ROS1 Development Skill
2
3	## When to Use This Skill
4	- Building or maintaining ROS1 packages and nodes
5	- Writing launch files, message types, or services
6	- Debugging ROS1 communication (topics, services, actions)
7	- Configuring catkin workspaces and build systems
8	- Working with tf/tf2 transforms, URDF, or robot models
9	- Using actionlib for long-running tasks
10	- Optimizing nodelets for zero-copy transport
11	- Planning ROS1 → ROS2 migration
12
13	## Core Architecture Principles
14
15	### 1. Node Design
16
17	Single Responsibility Nodes: Each node should do ONE thing well. Resist the temptation to build monolithic "do-everything" nodes.
18
19	```python
20	# BAD: Monolithic node
21	class RobotNode:
22	def __init__(self):
23	self.sub_camera = rospy.Subscriber('/camera/image', Image, self.camera_cb)
24	self.sub_lidar = rospy.Subscriber('/lidar/points', PointCloud2, self.lidar_cb)
25	self.pub_cmd = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
26	self.pub_map = rospy.Publisher('/map', OccupancyGrid, queue_size=1)
27	# This node does perception, planning, AND control
28
29	# GOOD: Decomposed nodes
30	class PerceptionNode: # Fuses sensor data → publishes /obstacles
31	class PlannerNode: # Subscribes /obstacles → publishes /path
32	class ControllerNode: # Subscribes /path → publishes /cmd_vel
33	```
34
35	Node Initialization Pattern:
36	```python
37	#!/usr/bin/env python
38	import rospy
39	from std_msgs.msg import String
40
41	class MyNode:
42	def __init__(self):
43	rospy.init_node('my_node', anonymous=False)
44
45	# 1. Load parameters FIRST
46	self.rate = rospy.get_param('~rate', 10.0)
47	self.frame_id = rospy.get_param('~frame_id', 'base_link')
48
49	# 2. Set up publishers BEFORE subscribers
50	# (prevents callbacks firing before publisher is ready)
51	self.pub = rospy.Publisher('~output', String, queue_size=10)
52
53	# 3. Set up subscribers LAST
54	self.sub = rospy.Subscriber('~input', String, self.callback)
55
56	rospy.loginfo(f"[{rospy.get_name()}] Initialized with rate={self.rate}")
57
58	def callback(self, msg):
59	# Process and republish
60	result = String(data=msg.data.upper())
61	self.pub.publish(result)
62
63	def run(self):
64	rate = rospy.Rate(self.rate)
65	while not rospy.is_shutdown():
66	# Periodic work here
67	rate.sleep()
68
69	if __name__ == '__main__':
70	try:
71	node = MyNode()
72	node.run()
73	except rospy.ROSInterruptException:
74	pass
75	```
76
77	### 2. Topic Design
78
79	Naming Conventions:
80	```
81	/robot_name/sensor_type/data_type
82
83	# Examples:
84	/ur5/joint_states # Robot joint states
85	/realsense/color/image_raw # Camera color image
86	/realsense/depth/points # Depth point cloud
87	/mobile_base/cmd_vel # Velocity commands
88	/gripper/command # Gripper commands
89	```
90
91	Queue Sizes Matter:
92	```python
93	# For sensor data (high frequency, OK to drop old messages):
94	rospy.Subscriber('/camera/image', Image, self.cb, queue_size=1)
95
96	# For commands (don't want to miss any):
97	rospy.Publisher('/cmd_vel', Twist, queue_size=10)
98
99	# For large data (point clouds, images) - use small queues to prevent memory bloat:
100	rospy.Subscriber('/lidar/points', PointCloud2, self.cb, queue_size=1)
101
102	# NEVER use queue_size=0 (infinite) for high-frequency topics
103	# This WILL cause memory leaks under load
104	```
105
106	Latched Topics for data that changes infrequently:
107	```python
108	# Robot description, static maps, calibration data
109	pub = rospy.Publisher('/robot_description', String, queue_size=1, latch=True)
110	```
111
112	### 3. Launch File Best Practices
113
114	```xml
115	<launch>
116	<!-- ALWAYS use args for configurability -->
117	<arg name="robot_name" default="ur5"/>
118	<arg name="sim" default="false"/>
119	<arg name="debug" default="false"/>
120
121	<!-- Group by subsystem with namespaces -->
122	<group ns="$(arg robot_name)">
123
124	<!-- Conditional loading based on sim vs real -->
125	<group if="$(arg sim)">
126	<include file="$(find my_pkg)/launch/sim_drivers.launch"/>
127	</group>
128	<group unless="$(arg sim)">
129	<include file="$(find my_pkg)/launch/real_drivers.launch"/>
130	</group>
131
132	<!-- Node with proper remapping -->
133	<node pkg="my_pkg" type="perception_node.py" name="perception"
134	output="screen" respawn="true" respawn_delay="5">
135	<param name="rate" value="30.0"/>
136	<param name="frame_id" value="$(arg robot_na

People who liked this also viewed

6 picks

Type

ros1

320stars44forks

View on GitHub

How to install ros1?

arpitg1304/robotics-agent-skills/ros1

$npx -y skills add arpitg1304/robotics-agent-skills --skill ros1

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# ROS1 Development Skill
2
3	## When to Use This Skill
4	- Building or maintaining ROS1 packages and nodes
5	- Writing launch files, message types, or services
6	- Debugging ROS1 communication (topics, services, actions)
7	- Configuring catkin workspaces and build systems
8	- Working with tf/tf2 transforms, URDF, or robot models
9	- Using actionlib for long-running tasks
10	- Optimizing nodelets for zero-copy transport
11	- Planning ROS1 → ROS2 migration
12
13	## Core Architecture Principles
14
15	### 1. Node Design
16
17	Single Responsibility Nodes: Each node should do ONE thing well. Resist the temptation to build monolithic "do-everything" nodes.
18
19	```python
20	# BAD: Monolithic node
21	class RobotNode:
22	def __init__(self):
23	self.sub_camera = rospy.Subscriber('/camera/image', Image, self.camera_cb)
24	self.sub_lidar = rospy.Subscriber('/lidar/points', PointCloud2, self.lidar_cb)
25	self.pub_cmd = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
26	self.pub_map = rospy.Publisher('/map', OccupancyGrid, queue_size=1)
27	# This node does perception, planning, AND control
28
29	# GOOD: Decomposed nodes
30	class PerceptionNode: # Fuses sensor data → publishes /obstacles
31	class PlannerNode: # Subscribes /obstacles → publishes /path
32	class ControllerNode: # Subscribes /path → publishes /cmd_vel
33	```
34
35	Node Initialization Pattern:
36	```python
37	#!/usr/bin/env python
38	import rospy
39	from std_msgs.msg import String
40
41	class MyNode:
42	def __init__(self):
43	rospy.init_node('my_node', anonymous=False)
44
45	# 1. Load parameters FIRST
46	self.rate = rospy.get_param('~rate', 10.0)
47	self.frame_id = rospy.get_param('~frame_id', 'base_link')
48
49	# 2. Set up publishers BEFORE subscribers
50	# (prevents callbacks firing before publisher is ready)
51	self.pub = rospy.Publisher('~output', String, queue_size=10)
52
53	# 3. Set up subscribers LAST
54	self.sub = rospy.Subscriber('~input', String, self.callback)
55
56	rospy.loginfo(f"[{rospy.get_name()}] Initialized with rate={self.rate}")
57
58	def callback(self, msg):
59	# Process and republish
60	result = String(data=msg.data.upper())
61	self.pub.publish(result)
62
63	def run(self):
64	rate = rospy.Rate(self.rate)
65	while not rospy.is_shutdown():
66	# Periodic work here
67	rate.sleep()
68
69	if __name__ == '__main__':
70	try:
71	node = MyNode()
72	node.run()
73	except rospy.ROSInterruptException:
74	pass
75	```
76
77	### 2. Topic Design
78
79	Naming Conventions:
80	```
81	/robot_name/sensor_type/data_type
82
83	# Examples:
84	/ur5/joint_states # Robot joint states
85	/realsense/color/image_raw # Camera color image
86	/realsense/depth/points # Depth point cloud
87	/mobile_base/cmd_vel # Velocity commands
88	/gripper/command # Gripper commands
89	```
90
91	Queue Sizes Matter:
92	```python
93	# For sensor data (high frequency, OK to drop old messages):
94	rospy.Subscriber('/camera/image', Image, self.cb, queue_size=1)
95
96	# For commands (don't want to miss any):
97	rospy.Publisher('/cmd_vel', Twist, queue_size=10)
98
99	# For large data (point clouds, images) - use small queues to prevent memory bloat:
100	rospy.Subscriber('/lidar/points', PointCloud2, self.cb, queue_size=1)
101
102	# NEVER use queue_size=0 (infinite) for high-frequency topics
103	# This WILL cause memory leaks under load
104	```
105
106	Latched Topics for data that changes infrequently:
107	```python
108	# Robot description, static maps, calibration data
109	pub = rospy.Publisher('/robot_description', String, queue_size=1, latch=True)
110	```
111
112	### 3. Launch File Best Practices
113
114	```xml
115	<launch>
116	<!-- ALWAYS use args for configurability -->
117	<arg name="robot_name" default="ur5"/>
118	<arg name="sim" default="false"/>
119	<arg name="debug" default="false"/>
120
121	<!-- Group by subsystem with namespaces -->
122	<group ns="$(arg robot_name)">
123
124	<!-- Conditional loading based on sim vs real -->
125	<group if="$(arg sim)">
126	<include file="$(find my_pkg)/launch/sim_drivers.launch"/>
127	</group>
128	<group unless="$(arg sim)">
129	<include file="$(find my_pkg)/launch/real_drivers.launch"/>
130	</group>
131
132	<!-- Node with proper remapping -->
133	<node pkg="my_pkg" type="perception_node.py" name="perception"
134	output="screen" respawn="true" respawn_delay="5">
135	<param name="rate" value="30.0"/>
136	<param name="frame_id" value="$(arg robot_na

People who liked this also viewed

6 picks

Type