# Ros2 Development

> Idiomatic ROS2 development. Lifecycle nodes, QoS, launch files, TF2, custom messages.

- Skill: `aselimc/ros2-development` (Agent Skill)
- Install (CLI): `npx skillmds@latest add aselimc/ros2-development`
- Raw SKILL.md: https://api.skillmd.com/api/skills/aselimc/ros2-development/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: aselimc (https://skillmd.com/u/aselimc)
- Updated: 2026-09-10
- Page: https://skillmd.com/skills/aselimc/ros2-development

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# ROS2 Development

## Node Pattern (rclpy)
```python
class MyNode(Node):
    def __init__(self):
        super().__init__('my_node')
        self.pub = self.create_publisher(Twist, 'cmd_vel', 10)
        self.sub = self.create_subscription(LaserScan, 'scan', self.scan_cb,
            QoSProfile(reliability=ReliabilityPolicy.BEST_EFFORT, depth=5))
        self.timer = self.create_timer(0.1, self.timer_cb)
```

## QoS Cheat Sheet
- Sensors: `BEST_EFFORT`, `VOLATILE`, depth=5
- Commands: `RELIABLE`, `VOLATILE`, depth=10
- Map data: `RELIABLE`, `TRANSIENT_LOCAL`, depth=1

## Standards
- REP-103: SI units (meters, radians, seconds)
- REP-105: frame names (base_link, odom, map)
- Use `sim_time` in simulation, `wall_time` on real hardware
- Lifecycle nodes for managed startup/shutdown

## Key Libraries
rclpy, rclcpp, launch_ros, tf2_ros, robot_state_publisher