ros1

# ROS1 Development Skill ## When to Use This Skill - Building or maintaining ROS1 packages and nodes - Writing launch files, message types, or services - Debugging ROS1 communication (topics, services, actions) - Configuring catkin workspaces and build systems - Working with tf/tf2 transforms, URDF, or robot models - Using actionlib for long-running tasks - Optimizing nodelets for zero-copy transport - Planning ROS1 → ROS2 migration ## Core Architecture Principles ### 1. Node Design **Single Responsibility Nodes**: Each node should do ONE thing well. Resist the temptation to build monolithic "do-everything" nodes. ```python # BAD: Monolithic node class RobotNode: def __init__(self): self.sub_camera = rospy.Subscriber('/camera/image', Image, self.camera_cb) self.sub_lidar = rospy.Subscriber('/lidar/points', PointCloud2, self.lidar_cb) self.pub_cmd = rospy.Publisher('/cmd_vel', Twist, queue_size=10) self.pub_map = rospy.Publisher('/map', OccupancyGrid, queue_size=1) # This node does perception, planning, AND control # GOOD: Decomposed nodes class PerceptionNode: # Fuses sensor data → publishes /obstacles class PlannerNode: # Subscribes /obstacles → publishes /path class ControllerNode: # Subscribes /path → publishes /cmd_vel ``` **Node Initialization Pattern**: ```python #!/usr/bin/env python import rospy from std_msgs.msg import String class MyNode: def __init__(self): rospy.init_node('my_node', anonym...