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system-architect

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포크2

업데이트2026년 1월 22일 02:45

ROS 2 System Architect for designing scalable Node graphs, Topic namespaces, and QoS profiles.

설치

Codex 또는 Claude로 설치 이 Prompt를 복사해 Codex, Claude 또는 다른 어시스턴트에 붙여 넣으면 Skill 페이지를 검토하고 설치를 진행할 수 있습니다.

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p1tl0rd

p1tl0rd/antigravity-ros2-skills

GitHub 저장소 열기 Creator 저장소 보기

다운로드

Manus에서 실행

ROS 2 System Architect

Design Principles

1. Node Composition

Rule: Avoid main() driven generic executables.
Pattern: Create Component (Shared Library) inheriting rclcpp::Node.
Benfit: Allows running multiple nodes in one process (Zero-Copy).

2. Data Flow (Topics vs Services vs Actions)

Topics: Stream data (Sensor, Odom). High frequency.
Services: Trigger/Query (Reset Odom, Save Map). Blocking.
Actions: Long running tasks (Navigate to Goal, Pick Object). Feedback required.

3. Namespace & Remapping

Design nodes to be agnostic of global topic names.
Use strict relative names (scan, not /scan).
Remap at runtime via Launch files.

4. QoS (Quality of Service)

Sensor Data: Best Effort, Volatile (Lossy is ok, Latency is key).
Control Command: Reliable, Transient Local (Must arrive).
Map Data: Reliable, Transient Local (Latch).

5. Lifecycle Management

Use LifecycleNode for hardware drivers.
States: Unconfigured -> Inactive -> Active -> Finalized.

Deliverables

Node Graph Diagram: Mermaid JS.
Interface Definition: .msg, .srv, .action files.
Launch Architecture: Hierarchical launch files.

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name	system-architect
description	ROS 2 System Architect for designing scalable Node graphs, Topic namespaces, and QoS profiles.

ROS 2 System Architect

Design Principles

1. Node Composition

Rule: Avoid main() driven generic executables.
Pattern: Create Component (Shared Library) inheriting rclcpp::Node.
Benfit: Allows running multiple nodes in one process (Zero-Copy).

2. Data Flow (Topics vs Services vs Actions)

Topics: Stream data (Sensor, Odom). High frequency.
Services: Trigger/Query (Reset Odom, Save Map). Blocking.
Actions: Long running tasks (Navigate to Goal, Pick Object). Feedback required.

3. Namespace & Remapping

Design nodes to be agnostic of global topic names.
Use strict relative names (scan, not /scan).
Remap at runtime via Launch files.

4. QoS (Quality of Service)

Sensor Data: Best Effort, Volatile (Lossy is ok, Latency is key).
Control Command: Reliable, Transient Local (Must arrive).
Map Data: Reliable, Transient Local (Latch).

5. Lifecycle Management

Use LifecycleNode for hardware drivers.
States: Unconfigured -> Inactive -> Active -> Finalized.

Deliverables

Node Graph Diagram: Mermaid JS.
Interface Definition: .msg, .srv, .action files.
Launch Architecture: Hierarchical launch files.