ros2-patterns

ROS 2 node templates and message types for robotics development. Use when creating ROS 2 nodes, understanding message types, or writing publisher/subscriber patterns.

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Install this agent skill to your Project

npx add-skill https://github.com/majiayu000/claude-skill-registry/tree/main/skills/development/ros2-patterns

SKILL.md

ROS 2 Patterns

Instructions

When creating ROS 2 code:

Use the provided templates as starting points
Follow ROS 2 Humble conventions
Include proper error handling
Add docstrings and comments

Common Patterns

Pattern	Template	Use Case
Publisher	publisher.py	Sending data to topics
Subscriber	subscriber.py	Receiving data from topics
Service Server	(extend publisher)	Request/response pattern
Action Server	(advanced)	Long-running tasks

Node Structure

python

import rclpy
from rclpy.node import Node

class MyNode(Node):
    def __init__(self):
        super().__init__('node_name')
        # Initialize publishers, subscribers, timers

    def callback(self, msg):
        # Handle incoming messages
        pass

def main(args=None):
    rclpy.init(args=args)
    node = MyNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Reference

See messages.md for common message types. See templates/ for complete templates.