ros2-patterns

name	ros2-patterns
description	ROS 2 node templates and message types for robotics development. Use when creating ROS 2 nodes, understanding message types, or writing publisher/subscriber patterns.
allowed-tools	Read, Bash

ROS 2 Patterns

Instructions

When creating ROS 2 code:

1. Use the provided templates as starting points
2. Follow ROS 2 Humble conventions
3. Include proper error handling
4. Add docstrings and comments

Common Patterns

Pattern	Template	Use Case
Publisher	publisher.py	Sending data to topics
Subscriber	subscriber.py	Receiving data from topics
Service Server	(extend publisher)	Request/response pattern
Action Server	(advanced)	Long-running tasks

Node Structure

import rclpy
from rclpy.node import Node

class MyNode(Node):
    def __init__(self):
        super().__init__('node_name')
        # Initialize publishers, subscribers, timers

    def callback(self, msg):
        # Handle incoming messages
        pass

def main(args=None):
    rclpy.init(args=args)
    node = MyNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Reference

See messages.md for common message types. See templates/ for complete templates.