How do I install the Ros2 Skill skill?

Run npx skillmds@latest add modbender/ros2-skill in your terminal (requires Node.js), paste this page's agent-chat prompt into Claude, Cursor, or any MCP-connected agent, or download the SKILL.md file and copy it into your agent's skills directory.

What does the Ros2 Skill skill do?

Controls ROS 2 robots directly via rclpy CLI. Use when the user asks about ROS 2 topics, services, nodes, parameters, actions, robot movement, sensor data, or any ROS 2 robot interaction. It is listed under Coding & Dev Tools on SkillMD.

Is Ros2 Skill safe to use?

This skill has not completed SkillMD's automated safety review yet. Independent scanners report: SkillSpector: PASS, Skill Scanner: PASS. Capability flags: executes scripts. SkillMD never runs a skill's scripts for you; review the SKILL.md before installing.

Which AI agents work with Ros2 Skill?

This skill is tagged as working with Claude Code, Claude.ai, OpenAI Codex. SKILL.md is an open format, so most agents that read a skills directory can load it too.

Is Ros2 Skill free to use?

Yes. Installing skills from SkillMD is free. This skill is licensed under Apache-2.

Who published Ros2 Skill?

modbender (@modbender) published this skill. Their other Agent Skills are listed on their SkillMD profile.

Ros2 Skill by modbender — Agent Skill

Name: Ros2 Skill
Rating: 4.5 (4 reviews)
Author: modbender

ROS 2 Skill

Controls and monitors ROS 2 robots directly via rclpy.

Architecture: Agent → ros2_cli.py → rclpy → ROS 2

All commands output JSON. Errors contain {"error": "..."}.

For full command reference with arguments, options, and output examples, see references/COMMANDS.md.

Setup

1. Source ROS 2 environment

source /opt/ros/${ROS_DISTRO}/setup.bash

2. Install dependencies

pip install rclpy rosidl-runtime-py

3. Run on ROS 2 robot

The CLI must run on a machine with ROS 2 installed and sourced.

Important: Check ROS 2 First

Before any operation, verify ROS 2 is available:

python3 {baseDir}/scripts/ros2_cli.py version

Command Quick Reference

Category	Command	Description
Connection	`version`	Detect ROS 2 distro
Safety	`estop`	Emergency stop for mobile robots
Topics	`topics list`	List all active topics with types
Topics	`topics type <topic>`	Get message type of a topic
Topics	`topics details <topic>`	Get topic publishers/subscribers
Topics	`topics message <msg_type>`	Get message field structure
Topics	`topics subscribe <topic>`	Subscribe and receive messages
Topics	`topics publish <topic> <json>`	Publish a message to a topic
Topics	`topics publish-sequence <topic> <msgs> <durs>`	Publish message sequence
Services	`services list`	List all available services
Services	`services type <service>`	Get service type
Services	`services details <service>`	Get service request/response fields
Services	`services call <service> <json>`	Call a service
Nodes	`nodes list`	List all active nodes
Nodes	`nodes details <node>`	Get node topics/services
Params	`params list <node>`	List node parameters
Params	`params get <node:param>`	Get parameter value
Params	`params set <node:param> <value>`	Set parameter value
Actions	`actions list`	List action servers
Actions	`actions details <action>`	Get action goal/result/feedback fields
Actions	`actions send <action> <json>`	Send action goal

Key Commands

version

python3 {baseDir}/scripts/ros2_cli.py version

topics list / type / details / message

python3 {baseDir}/scripts/ros2_cli.py topics list
python3 {baseDir}/scripts/ros2_cli.py topics type /turtle1/cmd_vel
python3 {baseDir}/scripts/ros2_cli.py topics details /turtle1/cmd_vel
python3 {baseDir}/scripts/ros2_cli.py topics message geometry_msgs/Twist

topics subscribe

Without --duration: returns first message. With --duration: collects multiple messages.

python3 {baseDir}/scripts/ros2_cli.py topics subscribe /turtle1/pose
python3 {baseDir}/scripts/ros2_cli.py topics subscribe /odom --duration 10 --max-messages 50

topics publish

Without --duration: single-shot. With --duration: publishes repeatedly at --rate Hz. Use --duration for velocity commands — most robot controllers stop if they don't receive continuous cmd_vel messages.

# Single-shot
python3 {baseDir}/scripts/ros2_cli.py topics publish /trigger '{"data": ""}'

# Move forward 3 seconds (velocity — use --duration)
python3 {baseDir}/scripts/ros2_cli.py topics publish /cmd_vel \
  '{"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}' --duration 3

# Stop
python3 {baseDir}/scripts/ros2_cli.py topics publish /cmd_vel \
  '{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}'

Options: --duration SECONDS, --rate HZ (default 10)

topics publish-sequence

Publish a sequence of messages, each repeated at --rate Hz for its corresponding duration. Arrays must have the same length.

# Forward 3s then stop
python3 {baseDir}/scripts/ros2_cli.py topics publish-sequence /cmd_vel \
  '[{"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}},{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}]' \
  '[3.0, 0.5]'

# Draw a square (turtlesim)
python3 {baseDir}/scripts/ros2_cli.py topics publish-sequence /turtle1/cmd_vel \
  '[{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":0},"angular":{"z":0}}]' \
  '[1,1,1,1,1,1,1,1,0.5]'

Options: --rate HZ (default 10)

services list / type / details

python3 {baseDir}/scripts/ros2_cli.py services list
python3 {baseDir}/scripts/ros2_cli.py services type /spawn
python3 {baseDir}/scripts/ros2_cli.py services details /spawn

services call

python3 {baseDir}/scripts/ros2_cli.py services call /reset '{}'
python3 {baseDir}/scripts/ros2_cli.py services call /spawn \
  '{"x":3.0,"y":3.0,"theta":0.0,"name":"turtle2"}'

nodes list / details

python3 {baseDir}/scripts/ros2_cli.py nodes list
python3 {baseDir}/scripts/ros2_cli.py nodes details /turtlesim

params list / get / set

Uses node:param_name format.

python3 {baseDir}/scripts/ros2_cli.py params list /turtlesim
python3 {baseDir}/scripts/ros2_cli.py params get /turtlesim:background_r
python3 {baseDir}/scripts/ros2_cli.py params set /turtlesim:background_r 255

actions list / details / send

python3 {baseDir}/scripts/ros2_cli.py actions list
python3 {baseDir}/scripts/ros2_cli.py actions details /turtle1/rotate_absolute
python3 {baseDir}/scripts/ros2_cli.py actions send /turtle1/rotate_absolute \
  '{"theta":3.14}'

Workflow Examples

1. Explore a Robot System

python3 {baseDir}/scripts/ros2_cli.py version
python3 {baseDir}/scripts/ros2_cli.py topics list
python3 {baseDir}/scripts/ros2_cli.py nodes list
python3 {baseDir}/scripts/ros2_cli.py services list
python3 {baseDir}/scripts/ros2_cli.py topics type /cmd_vel
python3 {baseDir}/scripts/ros2_cli.py topics message geometry_msgs/Twist
python3 {baseDir}/scripts/ros2_cli.py actions list
python3 {baseDir}/scripts/ros2_cli.py params list /robot_node

2. Move a Robot

Always check the message structure first, then publish movement, and always stop after.

python3 {baseDir}/scripts/ros2_cli.py topics message geometry_msgs/Twist
python3 {baseDir}/scripts/ros2_cli.py topics publish-sequence /cmd_vel \
  '[{"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}},{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}]' \
  '[2.0, 0.5]'

3. Read Sensor Data

python3 {baseDir}/scripts/ros2_cli.py topics type /scan
python3 {baseDir}/scripts/ros2_cli.py topics message sensor_msgs/LaserScan
python3 {baseDir}/scripts/ros2_cli.py topics subscribe /scan --duration 3
python3 {baseDir}/scripts/ros2_cli.py topics subscribe /odom --duration 10 --max-messages 50

4. Use Services

python3 {baseDir}/scripts/ros2_cli.py services list
python3 {baseDir}/scripts/ros2_cli.py services details /spawn
python3 {baseDir}/scripts/ros2_cli.py services call /spawn \
  '{"x":3.0,"y":3.0,"theta":0.0,"name":"turtle2"}'

5. Actions

python3 {baseDir}/scripts/ros2_cli.py actions list
python3 {baseDir}/scripts/ros2_cli.py actions details /turtle1/rotate_absolute
python3 {baseDir}/scripts/ros2_cli.py actions send /turtle1/rotate_absolute \
  '{"theta":1.57}'

6. Change Parameters

python3 {baseDir}/scripts/ros2_cli.py params list /turtlesim
python3 {baseDir}/scripts/ros2_cli.py params get /turtlesim:background_r
python3 {baseDir}/scripts/ros2_cli.py params set /turtlesim:background_r 255
python3 {baseDir}/scripts/ros2_cli.py params set /turtlesim:background_g 0
python3 {baseDir}/scripts/ros2_cli.py params set /turtlesim:background_b 0

Safety Notes

Destructive commands (can move the robot or change state):

topics publish / topics publish-sequence — sends movement or control commands
services call — can reset, spawn, kill, or change robot state
params set — modifies runtime parameters
actions send — triggers robot actions (rotation, navigation, etc.)

Always stop the robot after movement. The last message in any publish-sequence should be all zeros:

{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}

Always check JSON output for errors before proceeding.

Troubleshooting

Problem	Cause	Solution
rclpy not installed	Missing Python packages	Run: `pip install rclpy rosidl-runtime-py`
ROS 2 not sourced	Environment not set up	Run: `source /opt/ros/${ROS_DISTRO}/setup.bash`
No topics found	ROS nodes not running	Ensure nodes are launched and workspace is sourced
Service not found	Service not available	Use `services list` to see available services
Parameter commands fail	Node doesn't have parameters	Some nodes don't expose parameters
Action commands fail	Action server not available	Use `actions list` to see available actions
Invalid JSON error	Malformed message	Validate JSON before passing (watch for single vs double quotes)
Subscribe timeout	No publisher on topic	Check `topics details` to verify publishers exist
publish-sequence length error	Array mismatch	`messages` and `durations` arrays must have the same length

Ros2 Skill

File contents

ROS 2 Skill

Setup

1. Source ROS 2 environment

2. Install dependencies

3. Run on ROS 2 robot

Important: Check ROS 2 First

Command Quick Reference

Key Commands

version

topics list / type / details / message

topics subscribe

topics publish

topics publish-sequence

services list / type / details

services call

nodes list / details

params list / get / set

actions list / details / send

Workflow Examples

1. Explore a Robot System

2. Move a Robot

3. Read Sensor Data

4. Use Services

5. Actions

6. Change Parameters

Safety Notes

Troubleshooting

Frequently asked questions

Ros2 Skill

File contents

ROS 2 Skill

Setup

1. Source ROS 2 environment

2. Install dependencies

3. Run on ROS 2 robot

Important: Check ROS 2 First

Command Quick Reference

Key Commands

version

topics list / type / details / message

topics subscribe

topics publish

topics publish-sequence

services list / type / details

services call

nodes list / details

params list / get / set

actions list / details / send

Workflow Examples

1. Explore a Robot System

2. Move a Robot

3. Read Sensor Data

4. Use Services

5. Actions

6. Change Parameters

Safety Notes

Troubleshooting

Related skills

Frequently asked questions

How do I install the Ros2 Skill skill?

What does the Ros2 Skill skill do?

Is Ros2 Skill safe to use?

Which AI agents work with Ros2 Skill?

Is Ros2 Skill free to use?

Who published Ros2 Skill?