ros2

Name: ros2
Author: arpitg1304

320stars44forks

How to install ros2?

arpitg1304/robotics-agent-skills/ros2

$npx -y skills add arpitg1304/robotics-agent-skills --skill ros2

Installs into the current project.

Summary

Comprehensive best practices, design patterns, and common pitfalls for ROS2 (Robot Operating System 2) development. Use this skill when building ROS2 nodes, packages, launch files, components, or debugging ROS2 systems. Trigger whenever the user mentions ROS2, colcon, rclpy, rclc

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SKILL.md

1	# ROS2 Development Skill
2
3	## When to Use This Skill
4	- Building ROS2 packages, nodes, or component containers
5	- Setting up colcon workspaces, ament_cmake, or ament_python packages
6	- Writing CMakeLists.txt, package.xml, or setup.py for ROS2
7	- Defining custom messages, services, or actions
8	- Writing Python launch files with conditional logic
9	- Configuring DDS middleware and QoS profiles
10	- Implementing lifecycle (managed) nodes
11	- Working with Nav2, MoveIt2, or other ROS2 frameworks
12	- Debugging DDS discovery, QoS mismatches, or build failures
13	- Deploying ROS2 to production or embedded systems (micro-ROS)
14	- Setting up CI/CD for ROS2 packages
15
16	## Core Architecture
17
18	### 1. Node Design Patterns
19
20	Basic Node (rclpy):
21	```python
22	#!/usr/bin/env python3
23	import rclpy
24	from rclpy.node import Node
25	from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
26	from std_msgs.msg import String
27
28	class PerceptionNode(Node):
29	def __init__(self):
30	super().__init__('perception_node')
31
32	# 1. Declare parameters with types and descriptions
33	self.declare_parameter('rate_hz', 30.0,
34	descriptor=ParameterDescriptor(
35	description='Processing rate in Hz',
36	floating_point_range=[FloatingPointRange(
37	from_value=1.0, to_value=120.0, step=0.0
38	)]
39	))
40	self.declare_parameter('confidence_threshold', 0.7)
41	self.declare_parameter('frame_id', 'camera_link')
42
43	# 2. Read parameters
44	rate_hz = self.get_parameter('rate_hz').value
45	self.threshold = self.get_parameter('confidence_threshold').value
46	self.frame_id = self.get_parameter('frame_id').value
47
48	# 3. Set up QoS profiles
49	sensor_qos = QoSProfile(
50	reliability=ReliabilityPolicy.BEST_EFFORT,
51	history=HistoryPolicy.KEEP_LAST,
52	depth=1
53	)
54	reliable_qos = QoSProfile(
55	reliability=ReliabilityPolicy.RELIABLE,
56	history=HistoryPolicy.KEEP_LAST,
57	depth=10
58	)
59
60	# 4. Publishers first, then subscribers
61	self.det_pub = self.create_publisher(
62	DetectionArray, 'detections', reliable_qos)
63
64	self.image_sub = self.create_subscription(
65	Image, 'camera/image_raw', self.image_callback, sensor_qos)
66
67	# 5. Timers for periodic work
68	self.timer = self.create_timer(1.0 / rate_hz, self.timer_callback)
69
70	# 6. Parameter change callback
71	self.add_on_set_parameters_callback(self.param_callback)
72
73	self.get_logger().info(
74	f'Perception node started at {rate_hz}Hz, '
75	f'threshold={self.threshold}')
76
77	def param_callback(self, params):
78	"""Handle runtime parameter changes (replaces dynamic_reconfigure)"""
79	for param in params:
80	if param.name == 'confidence_threshold':
81	self.threshold = param.value
82	self.get_logger().info(f'Threshold updated to {param.value}')
83	return SetParametersResult(successful=True)
84
85	def image_callback(self, msg):
86	# Process incoming images
87	pass
88
89	def timer_callback(self):
90	# Periodic work
91	pass
92
93	def main(args=None):
94	rclpy.init(args=args)
95	node = PerceptionNode()
96	try:
97	rclpy.spin(node)
98	except KeyboardInterrupt:
99	pass
100	finally:
101	node.destroy_node()
102	rclpy.shutdown()
103
104	if __name__ == '__main__':
105	main()
106	```
107
108	Basic Node (rclcpp):
109	```cpp
110	#include <rclcpp/rclcpp.hpp>
111	#include <sensor_msgs/msg/image.hpp>
112	#include <vision_msgs/msg/detection2_d.hpp>
113	#include <memory>
114
115	class PerceptionNode : public rclcpp::Node {
116	public:
117	PerceptionNode() : Node("perception_node") {
118	// Declare and get parameters
119	this->declare_parameter("rate_hz", 30.0);
120	this->declare_parameter("confidence_threshold", 0.7);
121	double rate_hz = this->get_parameter("rate_hz").as_double();
122
123	// QoS
124	auto sensor_qos = rclcpp::SensorDataQoS();
125	auto reliable_qos = rclcpp::QoS(10).reliable();
126
127	// Publishers and subscribers
128	det_pub

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ros2

320stars44forks

View on GitHub

How to install ros2?

arpitg1304/robotics-agent-skills/ros2

$npx -y skills add arpitg1304/robotics-agent-skills --skill ros2

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# ROS2 Development Skill
2
3	## When to Use This Skill
4	- Building ROS2 packages, nodes, or component containers
5	- Setting up colcon workspaces, ament_cmake, or ament_python packages
6	- Writing CMakeLists.txt, package.xml, or setup.py for ROS2
7	- Defining custom messages, services, or actions
8	- Writing Python launch files with conditional logic
9	- Configuring DDS middleware and QoS profiles
10	- Implementing lifecycle (managed) nodes
11	- Working with Nav2, MoveIt2, or other ROS2 frameworks
12	- Debugging DDS discovery, QoS mismatches, or build failures
13	- Deploying ROS2 to production or embedded systems (micro-ROS)
14	- Setting up CI/CD for ROS2 packages
15
16	## Core Architecture
17
18	### 1. Node Design Patterns
19
20	Basic Node (rclpy):
21	```python
22	#!/usr/bin/env python3
23	import rclpy
24	from rclpy.node import Node
25	from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
26	from std_msgs.msg import String
27
28	class PerceptionNode(Node):
29	def __init__(self):
30	super().__init__('perception_node')
31
32	# 1. Declare parameters with types and descriptions
33	self.declare_parameter('rate_hz', 30.0,
34	descriptor=ParameterDescriptor(
35	description='Processing rate in Hz',
36	floating_point_range=[FloatingPointRange(
37	from_value=1.0, to_value=120.0, step=0.0
38	)]
39	))
40	self.declare_parameter('confidence_threshold', 0.7)
41	self.declare_parameter('frame_id', 'camera_link')
42
43	# 2. Read parameters
44	rate_hz = self.get_parameter('rate_hz').value
45	self.threshold = self.get_parameter('confidence_threshold').value
46	self.frame_id = self.get_parameter('frame_id').value
47
48	# 3. Set up QoS profiles
49	sensor_qos = QoSProfile(
50	reliability=ReliabilityPolicy.BEST_EFFORT,
51	history=HistoryPolicy.KEEP_LAST,
52	depth=1
53	)
54	reliable_qos = QoSProfile(
55	reliability=ReliabilityPolicy.RELIABLE,
56	history=HistoryPolicy.KEEP_LAST,
57	depth=10
58	)
59
60	# 4. Publishers first, then subscribers
61	self.det_pub = self.create_publisher(
62	DetectionArray, 'detections', reliable_qos)
63
64	self.image_sub = self.create_subscription(
65	Image, 'camera/image_raw', self.image_callback, sensor_qos)
66
67	# 5. Timers for periodic work
68	self.timer = self.create_timer(1.0 / rate_hz, self.timer_callback)
69
70	# 6. Parameter change callback
71	self.add_on_set_parameters_callback(self.param_callback)
72
73	self.get_logger().info(
74	f'Perception node started at {rate_hz}Hz, '
75	f'threshold={self.threshold}')
76
77	def param_callback(self, params):
78	"""Handle runtime parameter changes (replaces dynamic_reconfigure)"""
79	for param in params:
80	if param.name == 'confidence_threshold':
81	self.threshold = param.value
82	self.get_logger().info(f'Threshold updated to {param.value}')
83	return SetParametersResult(successful=True)
84
85	def image_callback(self, msg):
86	# Process incoming images
87	pass
88
89	def timer_callback(self):
90	# Periodic work
91	pass
92
93	def main(args=None):
94	rclpy.init(args=args)
95	node = PerceptionNode()
96	try:
97	rclpy.spin(node)
98	except KeyboardInterrupt:
99	pass
100	finally:
101	node.destroy_node()
102	rclpy.shutdown()
103
104	if __name__ == '__main__':
105	main()
106	```
107
108	Basic Node (rclcpp):
109	```cpp
110	#include <rclcpp/rclcpp.hpp>
111	#include <sensor_msgs/msg/image.hpp>
112	#include <vision_msgs/msg/detection2_d.hpp>
113	#include <memory>
114
115	class PerceptionNode : public rclcpp::Node {
116	public:
117	PerceptionNode() : Node("perception_node") {
118	// Declare and get parameters
119	this->declare_parameter("rate_hz", 30.0);
120	this->declare_parameter("confidence_threshold", 0.7);
121	double rate_hz = this->get_parameter("rate_hz").as_double();
122
123	// QoS
124	auto sensor_qos = rclcpp::SensorDataQoS();
125	auto reliable_qos = rclcpp::QoS(10).reliable();
126
127	// Publishers and subscribers
128	det_pub

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