Ros2

ROS 2

Treat ROS 2 as a live distributed graph. Inspect the graph that is actually running before changing source code.

Establish the environment

• Identify the repository's ROS distro, RMW implementation, workspace, and ROS_DOMAIN_ID; do not substitute catalog-wide defaults.
• Source the underlay before the workspace overlay. A fresh shell is a fresh environment.
• Run rosdep after a fresh clone or dependency change, before interpreting a build failure as a source bug.
• Prefer an overlay package or launch-time wiring over editing an installed third-party package.

Inspect the boundary that failed

• Build: separate missing dependencies, package metadata, and stale build artifacts from compiler or application failures.
• Launch: resolve the final arguments, parameters, namespaces, and remaps; do not reason only from a launch file's defaults.
• Graph: confirm that the expected nodes and endpoints exist and that names include the namespace you expect.
• Messages: compare publisher and subscriber types and QoS. Discovery without data is often an interface mismatch, especially for sensor topics.
• Time and transforms: confirm a single time source and a connected, current TF path before debugging downstream behavior.
• Lifecycle: distinguish an inactive node from a missing or crashed node.

Use topics for streams, services for bounded requests, and actions for long-running goals with feedback and cancellation. Choose based on semantics, not convenience.

Go deeper only when needed

• For workspace layout, package anatomy, overlays, and rosdep, read workspace and packages.
• For launch composition, parameters, includes, remaps, and relays, read launch patterns.
• For topics, services, actions, QoS, and TF fundamentals, read interfaces and QoS.
• When callbacks block or unexpectedly serialize, read concurrency before adding executor threads.
• For a failing command or silent graph, read failures and then the fuller debugging guide if necessary.
• For Create 3 and TurtleBot 4 evidence, read TurtleBot 4.
• Use the bundled ament_python example only when a complete minimal package is useful; re-check its APIs against the project's distro.

Cross into navigation, gazebo, or a visualization skill only after ROS 2 evidence shows that their boundary is receiving valid data. Cross into integration when the failure is between processes, containers, or non-ROS systems; use environments when the runtime itself is not reproducible.

Done

• The intended nodes and endpoints exist under the expected names.
• QoS, time, and TF contracts are compatible at every changed boundary.
• A message, service response, or action result proves the real interface, not merely that processes started.
• Version-sensitive syntax was checked against the project's ROS distro and current ROS 2 documentation.