ros2

# ROS2 Development Skill ## When to Use This Skill - Building ROS2 packages, nodes, or component containers - Setting up colcon workspaces, ament_cmake, or ament_python packages - Writing CMakeLists.txt, package.xml, or setup.py for ROS2 - Defining custom messages, services, or actions - Writing Python launch files with conditional logic - Configuring DDS middleware and QoS profiles - Implementing lifecycle (managed) nodes - Working with Nav2, MoveIt2, or other ROS2 frameworks - Debugging DDS discovery, QoS mismatches, or build failures - Deploying ROS2 to production or embedded systems (micro-ROS) - Setting up CI/CD for ROS2 packages ## Core Architecture ### 1. Node Design Patterns **Basic Node (rclpy)**: ```python #!/usr/bin/env python3 import rclpy from rclpy.node import Node from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy from std_msgs.msg import String class PerceptionNode(Node): def __init__(self): super().__init__('perception_node') # 1. Declare parameters with types and descriptions self.declare_parameter('rate_hz', 30.0, descriptor=ParameterDescriptor( description='Processing rate in Hz', floating_point_range=[FloatingPointRange( from_value=1.0, to_value=120.0, step=0.0 )] )) self.declare_parameter('confidence_threshold', 0.7) self.declare_parameter('frame_id', 'camera_link') # 2. Read parameters ...