ros2-engineering-skills

ROS 2 Engineering Skills

Single responsibility: This skill is an API reference & code template guide

for ROS 2 development. It tells you how to use ROS 2 APIs correctly and

what mistakes to avoid. It does NOT do CI/CD orchestration, incident response,

data analysis, or deployment automation — those are separate skill categories.

A progressive-disclosure skill for ROS 2 development — from first workspace to production fleet deployment. Each section below gives you the essential decision framework; detailed patterns, code templates, and anti-patterns live in the references/ directory. Read the relevant reference file before writing code.

How to use this skill

Progressive disclosure — do NOT read everything at once. This skill is structured in layers. Only load what you need for the current task:

1. This file (SKILL.md) — always loaded. Contains decision routing, core

principles, pitfalls, and anti-patterns. Sufficient for answering quick questions and making architectural decisions.

1. **references/*.md** — load on demand. Use the Decision Router below to

pick the 1–2 files relevant to the user's current task. Do NOT read all 20 reference files — that wastes context and causes confusion.

1. scripts/ — run only when the user needs code generation, QoS checking,

or launch validation. These are tools, not reading material.

Steps:

1. If .skill-runs.log exists in the workspace, read the last few lines to

understand what was done and what issues occurred in previous sessions.

1. Identify what the user is building (see Decision Router below).
2. Read only the matching references/*.md file(s) for detailed guidance.
3. Check the AI pitfalls table before generating any code.
4. Apply the Core Engineering Principles in every artifact you produce.
5. When multiple domains intersect (e.g. Nav2 + ros2_control), read both files

but favor safety > determinism > simplicity when recommendations conflict.

Execution log: The Stop hook automatically appends a session summary to .skill-runs.log in the workspace. This lets you see what was validated last time and what issues were found — check it to avoid repeating past mistakes.

Decision router

| User is doing... | Read | |---------------------------------------------------|-----------------------------------| | Creating a workspace, package, or build config | references/workspace-build.md | | Writing nodes, executors, callback groups | references/nodes-executors.md | | Topics, services, actions, custom interfaces, QoS | references/communication.md | | Lifecycle nodes, component loading, composition | references/lifecycle-components.md | | Launch files, conditional logic, event handlers | references/launch-system.md | | tf2, URDF, xacro, robot_state_publisher | references/tf2-urdf.md | | ros2_control, hardware interfaces, controllers | references/hardware-interface.md | | Real-time constraints, PREEMPT_RT, memory, jitter | references/realtime.md | | Nav2, SLAM, costmaps, behavior trees | references/navigation.md | | MoveIt 2, planning scene, grasp pipelines | references/manipulation.md | | Camera, LiDAR, PCL, cv_bridge, depth processing | references/perception.md | | Unit tests, integration tests, launch_testing, CI | references/testing.md | | ros2 doctor, tracing, profiling, rosbag2, CLI cheat sheet | references/debugging.md | | Docker, cross-compile, fleet deployment, OTA | references/deployment.md | | Gazebo, Isaac Sim, sim-to-real, use_sim_time | references/simulation.md | | SROS2, DDS security, certificates, supply chain | references/security.md | | micro-ROS, MCU/RTOS, XRCE-DDS, rclc | references/micro-ros.md | | Multi-robot fleet, Open-RMF, DDS discovery scale | references/multi-robot.md | | Message types, units, covariance, frame conventions | references/message-types.md | | ROS 1 migration, ros1_bridge, hybrid operation | references/migration-ros1.md |

Cross-cutting concerns: Security, error handling, and QoS are not isolated to single reference files — apply them whenever the data path crosses a trust boundary, a node owns hardware, or communication reliability matters. Use your judgment about which cross-cutting concerns apply to the user's specific situation.

Core engineering principles

These apply to every ROS 2 artifact you produce, regardless of domain.

1. Distro awareness

<!-- LAST_UPDATED: 2026-03-30 — Review this table every 6 months or when a new distro is released. --> <!-- NEXT_REVIEW: 2026-09-30 -->

Staleness warning: The table below was last verified on 2026-03-30.

If the current date is more than 6 months past that, re-verify EOL dates and

feature support against https://docs.ros.org/en/rolling/Releases.html before

relying on this table. When you update it, change both LAST_UPDATED and

NEXT_REVIEW comments above.

Always ask which ROS 2 distribution the user targets. Key differences:

| Feature | Foxy (EOL) | Humble (LTS) | Jazzy (LTS) | Kilted (non-LTS) | Rolling | |---------------------------|----------------------|--------------------|--------------------|--------------------|--------------------| | EOL | Jun 2023 (ended) | May 2027 | May 2029 | Nov 2025 | Rolling | | Ubuntu | 20.04 | 22.04 | 24.04 | 24.04 | Latest | | Default DDS | Fast DDS | Fast DDS | Fast DDS | Fast DDS | Fast DDS | | Zenoh support | — | — | — | Tier 1 | Tier 1 | | Type description support | No | No | Yes | Yes | Yes | | Service introspection | No | No | Yes | Yes | Yes | | EventsExecutor | No | No | Experimental | Stable (+ rclpy) | Stable (+ rclpy) | | Default bag format | sqlite3 | sqlite3 | MCAP | MCAP | MCAP | | ros2_control interface | N/A (separate) | 2.x | 4.x | 4.x | Latest | | CMake recommendation | ament_target_deps | ament_target_deps | either | target_link_libs | target_link_libs |

When the user does not specify, default to the latest LTS (Jazzy). Pin the exact distro in Dockerfile, CI, and documentation so builds are reproducible.

2. C++ vs Python decision

Choose the language based on the node's role, not personal preference.

Use rclcpp (C++) when:

• The node sits in a control loop running ≥100 Hz
• Deterministic memory allocation matters (real-time path)
• The node is a hardware driver or controller plugin
• Intra-process zero-copy communication is required

Use rclpy (Python) when:

• The node is orchestration, monitoring, or parameter management
• Rapid prototyping with frequent iteration
• Heavy use of ML frameworks (PyTorch, TensorFlow) that are Python-native
• The node does not sit in a latency-critical path

Mixed stacks are normal. A typical robot has C++ drivers/controllers and Python orchestration/monitoring. Note: component_container (composition) only loads C++ components via pluginlib. Python nodes run as separate processes, but can share a launch file and communicate via zero-overhead intra-host DDS.

Intra-process communication works for any