Common

SKILL — common

miuav c58a6a1 775 B Updated

File contents

SKILL — common

通用机器人开发技能

Tools

  • tf2_transform: 坐标系转换(URDF + TF2)
  • time_sync: 多传感器时间同步(message_filters)
  • multi_sensor_fusion: EKF/UKF 多传感器融合

Usage

跨平台通用技能,适用于任何 ROS2 机器人项目:

  • 坐标系树构建(robot_state_publisher + joint_state_publisher)
  • IMU+编码器融合(robot_localization ekf_node)
  • 硬件时间同步(camera_info + encoder tick 同步)

Tips

  • TF2 坐标系必须符合 REP105 标准(map → odom → base_link → ...)
  • message_filters::ApproximateTimePolicy 用于异步传感器同步
  • EKF 节点最多支持 3 个传感器输入(IMU、GPS、编码器)

miuav/vibe-coding-ros2/tree/main/agents/skills/common commit c58a6a1d0c

Frequently asked questions

npx skillmds@latest add miuav/common