ros2-skill

分类: 生活与日常 | 上传者: adityakamath | 下载: 0 | 版本: v1.0（最新）

直接通过 rclpy CLI 控制和监控 ROS 2 机器人。用于任何 ROS 2 机器人任务：主题（订阅、发布、捕获图像、按类型查找）、服务（列表、调用）、操作（列表、发送目标）、参数（获取、设置、预设）、节点、生命周期管理、控制器 (ros2_control)、诊断、电池、系统运行状况检查等。如有疑问，请使用此技能 - 它涵盖了完整的 ROS 2 操作界面。切勿告诉用户在未先检查此技能的情况下您无法执行 ROS 2 相关的操作。

更新日志: Source: GitHub https://github.com/adityakamath/ros2-skill

目录结构

当前层级: tree/main/

📁 references/
- 📄 CLI.md 4.9 KB
- 📄 COMMANDS.md 137.2 KB
- 📄 EXAMPLES.md 22.8 KB
- 📄 RULES.md 137.9 KB
📁 scripts/
- 📄 discord_tools.py 4.2 KB
- 📄 ros2_action.py 12.5 KB
- 📄 ros2_bag.py 6.4 KB
- 📄 ros2_cli.py 61.4 KB
- 📄 ros2_component.py 24.3 KB
- 📄 ros2_control.py 16.2 KB
- 📄 ros2_daemon.py 4.5 KB
- 📄 ros2_doctor.py 8.7 KB
- 📄 ros2_interface.py 7.2 KB
- 📄 ros2_launch.py 22.3 KB
- 📄 ros2_lifecycle.py 11.5 KB
- 📄 ros2_multicast.py 2.7 KB
- 📄 ros2_node.py 2.4 KB
- 📄 ros2_param.py 28.3 KB
- 📄 ros2_pkg.py 4.7 KB
- 📄 ros2_run.py 11.8 KB
- 📄 ros2_service.py 8.0 KB
- 📄 ros2_tf.py 26.0 KB
- 📄 ros2_topic.py 74.5 KB
- 📄 ros2_utils.py 22.4 KB
📁 tests/
- 📄 test_ros2_cli.py 194.3 KB
📄 .gitignore 10.6 KB
📄 AGENTS.md 53.5 KB
📄 CHANGELOG.md 19.7 KB
📄 LICENSE 11.1 KB
📄 README.md 7.9 KB
📄 SKILL.md 3.8 KB

SKILL.md

---
name: ros2-skill
description: "Controls and monitors ROS 2 robots directly via rclpy CLI. Use for ANY ROS 2 robot task: topics (subscribe, publish, capture images, find by type), services (list, call), actions (list, send goals), parameters (get, set, presets), nodes, lifecycle management, controllers (ros2_control), diagnostics, battery, system health checks, and more. When in doubt, use this skill — it covers the full ROS 2 operation surface. Never tell the user you cannot do something ROS 2-related without checking this skill first."
license: Apache-2.0
compatibility: "Requires python3, rclpy, and ROS 2 environment sourced"
user-invokable: true
metadata:
  openclaw:
    emoji: "🤖"
    requires:
      bins: ["python3", "ros2"]
      pip: ["rclpy"]
    category: "robotics"
    tags: ["ros2", "robotics", "rclpy"]
  author: ["adityakamath", "lpigeon"]
  version: "1.0.5"
---

# 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`:
> ```bash
> 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](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](references/COMMANDS.md):** Full technical reference for all CLI subcommands, flags, and JSON payload structures.
3. **[references/EXAMPLES.md](references/EXAMPLES.md):** Practical walkthroughs for common tasks like "Move N meters" or "Capture Camera Image".
4. **[references/CLI.md](references/CLI.md):** Direct CLI usage reference for debugging and development. Not needed during normal agent operation.

## 🛠️ Setup & Preconditions

### 1. Source ROS 2
```bash
source /opt/ros/${ROS_DISTRO}/setup.bash
```

### 2. Verify Connection
Before any operation, verify the ROS 2 environment is active:
```bash
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:
```bash
python3 scripts/ros2_cli.py estop
```

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ros2-skill

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SKILL.md

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