robotics-design-patterns

# 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 │ └─────────────────────────────────────────────┘ ``` **...