Ros2 Development

This is a solid reference for anyone building ROS2 systems beyond toy examples. It covers the practical stuff you'll actually hit: setting up lifecycle nodes for production deployments, configuring QoS profiles so your messages don't disappear, writing proper CMakeLists and package.xml files, and handling parameter callbacks since dynamic_reconfigure is gone. The code examples show both rclpy and rclcpp patterns with real QoS configurations and proper parameter declarations. If you're moving from ROS1 or setting up CI/CD for a robotics project, this will save you from digging through scattered documentation. Covers Humble through Rolling, includes Nav2 and MoveIt2 context, and addresses the DDS layer when you need to debug discovery issues.

skills.sh installs: 123
GitHub stars: 400
last updated: May 25, 2026

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Install

$ npx -y skills add arpitg1304/robotics-agent-skills --skill ros2-development --agent claude-code

Installs into .claude/skills of the current project.

Files

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):

#!/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')

SKILL.md on GitHub