ROS 2 Skill

Controls and monitors ROS 2 robots directly via rclpy. This skill provides a unified JSON interface for standard ROS 2 operations and agent-optimized workflows like closed-loop movement and image capture.

🚀 Capabilities

• Introspection: List and find topics, nodes, services, and actions.
• Data Access: Subscribe to any topic, capture camera images, and monitor diagnostics/battery.
• Interactions: Call services and send action goals with feedback monitoring.
• Movement: Agent-optimized publish-until (closed-loop with odom) and publish-sequence (timed).
• Configuration: Get/set parameters, use presets, and manage lifecycle nodes.
• System: Run ros2 doctor, manage launch files via tmux, and control ros2_control hardware.
• Packages: List installed packages, resolve prefix paths, enumerate executables, and read package.xml manifests — no live graph required.

🏗️ Architecture

• Entry Point: scripts/ros2_cli.py — this is the only file you should ever run directly.
• Interface: Agent → ros2_cli.py → rclpy → ROS 2 Graph
• Format: All commands output JSON. Errors contain {"error": "..."}.

⚠️ Internal modules — do not run directly. All scripts/ros2_*.py files other than ros2_cli.py are internal implementation modules, not standalone scripts. Running one directly prints an error to stderr and exits with code 1 — it performs no ROS operation. Always invoke commands through ros2_cli.py:

python3 scripts/ros2_cli.py <command> [subcommand] [args]
python3 scripts/ros2_cli.py --help   # list all commands

📚 Documentation Reference

To maintain performance and accuracy, this skill uses Progressive Disclosure:

1. references/RULES.md (CRITICAL): Mandatory Agent Behaviour Rules (0–26), Safety Protocols, and Decision Frameworks. These are hard constraints — not guidelines. Read and follow before performing any robot action. Violation = immediate halt, self-correct, retry.
2. references/COMMANDS.md: Full technical reference for all CLI subcommands, flags, and JSON payload structures.
3. references/EXAMPLES.md: Practical walkthroughs for common tasks like "Move N meters" or "Capture Camera Image".
4. references/CLI.md: Direct CLI usage reference for debugging and development. Not needed during normal agent operation.

🛠️ Setup & Preconditions

1. Source ROS 2

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

2. Verify Connection

Before any operation, verify the ROS 2 environment is active:

python3 scripts/ros2_cli.py version

3. Safety First

Always check for velocity limits and active nodes before issuing movement commands. If a command hangs or the robot moves unsafely, use:

python3 scripts/ros2_cli.py estop