ros2-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.

Progressive disclosure — do NOT read everything at once. This skill is structured in layers. Only load what you need for the current task: • This file (SKILL.md) — always loaded. Contains decision routing, core principles, pitfalls, and anti-patterns. Sufficient for answering quick questions and making architectural decisions. • 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. • scripts/ — run only when the user needs code generation, QoS checking, or launch validation. These are tools, not reading material. Steps: • 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. • Identify what the user is building (see Decision Router below). • Read only the matching references/*.md file(s) for detailed guidance. • Check the AI pitfalls table before generating any code. • Apply the Core Engineering Principles in every artifact you produce. • 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.

| 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 | 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.

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