Ros2 Engineering SkillsSAFE

From the repository's own README, as read at the audited commit. Badges and raw HTML are left out.

The instruction file, verbatim from the audited commit — this is the text the model reads, and the surface the audit's instruction layer examines. Quoted here so you can judge it without cloning anything.

---
name: ros2-engineering-skills
description: >
  Comprehensive ROS 2 engineering guide covering workspace setup, node architecture,
  communication patterns (topics/services/actions with QoS), lifecycle and component nodes,
  launch composition, tf2/URDF, ros2_control hardware interfaces, real-time constraints,
  Nav2, MoveIt 2, perception pipelines, simulation (Gazebo/Isaac Sim), security (SROS2/DDS),
  micro-ROS (MCU/RTOS), multi-robot systems (fleet management/Open-RMF),
  testing, debugging, deployment, and ROS 1 migration.
  Trigger whenever the user works on ROS 2 code, packages, launch files, URDF/xacro,
  DDS configuration, ros2_control, Nav2, MoveIt 2, or any robotics middleware task
  involving rclcpp, rclpy, colcon, ament, rosbag2, ros2 CLI tools, Gazebo/Isaac Sim,
  micro-ROS, SROS2, or multi-robot coordination. Also trigger for ROS 1 to ROS 2 migration,
  cross-compilation, Docker-based ROS 2 workflows, and CI/CD for robotics.
---

# ROS 2 Engineering Skills

A progressive-disclosure skill for ROS 2 development — from first workspace to
production fleet deployment. Each section below gives you the essential decision
framework; detailed patterns, code templates, and anti-patterns live in the
`references/` directory. Read the relevant reference file before writing code.

## How to use this skill

1. Identify what the user is building (see Decision Router below).
2. Read the matching `references/*.md` file for detailed guidance.
3. Apply the Core Engineering Principles in every piece of code you generate.
4. When multiple domains intersect (e.g. Nav2 + ros2_control), read both files.

## Decision router

| User is doing...                                  | Read                              |
|---------------------------------------------------|-----------------------------------|
| Creating a workspace, package, or build config    | `references/workspace-build.md`   |
| Writing nodes, executors, callback groups         | `references/nodes-executors.md`   |
| Topics, services, actions, custom interfaces, QoS | `references/communication.md`     |
| Lifecycle nodes, component loading, composition   | `references/lifecycle-components.md` |
| Launch files, conditional logic, event handlers   | `references/launch-system.md`     |
| tf2, URDF, xacro, robot_state_publisher           | `references/tf2-urdf.md`         |
| ros2_control, hardware interfaces, controllers    | `references/hardware-interface.md` |
| Real-time constraints, PREEMPT_RT, memory, jitter | `references/realtime.md`         |
| Nav2, SLAM, costmaps, behavior trees              | `references/navigation.md`       |
| MoveIt 2, planning scene, grasp pipelines         | `references/manipulation.md`     |
| Camera, LiDAR, PCL, cv_bridge, depth processing   | `references/perception.md`       |
| Unit tests, integration tests, launch_testing, CI | `references/testing.md`          |
| ros2 doctor, tracing, profiling, rosbag2          | `references/debugging.md`        |
| Docker, cross-compile, fleet deployment, OTA      | `references/deployment.md`       |
| Gazebo, Isaac Sim, sim-to-real, use_sim_time      | `references/simulation.md`       |
| SROS2, DDS security, certificates, supply chain   | `references/security.md`         |
| micro-ROS, MCU/RTOS, XRCE-DDS, rclc              | `references/micro-ros.md`        |
| Multi-robot fleet, Open-RMF, DDS discovery scale  | `references/multi-robot.md`      |
| Message types, units, covariance, frame conventions | `references/message-types.md`    |
| ROS 1 migration, ros1_bridge, hybrid operation    | `references/migration-ros1.md`   |

When a task spans multiple domains, read all relevant files and reconcile
conflicting recommendations by favoring safety, then determinism, then simplicity.

**Cross-cutting concern — Security:** Security is not isolated to `references/security.md`.
Every domain should consider its security implications: hardware interfaces need safe
shutdown on auth failure, DDS topics may need encryption, deployment images need supply
chain verification, and fleet communication must use TLS. When reviewing code in any
domain, check whether the data path crosses a trust boundary.

## Core engineering principles

These apply to every ROS 2 artifact you produce, regardless of domain.

### 1. Distro awareness

Always ask which ROS 2 distribution the user targets. Key differences:

| Feature                   | Foxy (**EOL**)       | Humble (LTS)       | Jazzy (LTS)        | Kilted (non-LTS)   | Rolling            |
|---------------------------|----------------------|--------------------|--------------------|--------------------|--------------------|
| EOL                       | Jun 2023 (**ended**) | May 2027           | May 2029           | Nov 2025           | Rolling            |
| Ubuntu                    | 20.04               | 22.04              | 24.04              | 24.04              | Latest             |
| Default DDS               | Fast DDS             | Fast DDS           | Fast DDS           | Fast DDS           | Fast DDS           |
| Zenoh support             | —                    | —                  | —                  | Tier 1             | Tier 1             |
| Type description support  | No                   | No                 | Yes                | Yes                | Yes                |
| Service introspection     | No                   | No                 | Yes                | Yes                | Yes                |
| EventsExecutor            | No                   | No                 | Experimental       | Stable (+ rclpy)   | Stable (+ rclpy)   |
| Default bag format        | sqlite3              | sqlite3            | MCAP               | MCAP               | MCAP               |
| ros2_control interface    | N/A (separate)       | 2.x                | 4.x                | 4.x                | Latest             |
| CMake recommendation      | ament_target_deps    | ament_target_deps  | either             | target_lin

SAFEgrade B · trust 89/100 Nothing in the source contradicts what it says it does. Grade A is reserved for packages that have also passed the behavioural sandbox.

What the source does

Filesystem

none-observed

Network

none-observed

Shell

none-observed

Dependencies

pinned

Secrets in source

none-found

Findings (4)

<key>k5Ey9KFlkqpj+SDkUw+5ED9lTA3En/qUi0zdrydUCH3kMWTE3Eh65NXnFCaxlY2omY2JHnlEoK7Li7oOEvM7eG5VPdcO/sFlMfoCRdnLYdepJ+uLzYwOWR8W4yQVve/clxVFTVRL4DFleKInGdpAxIbHZT2yi4ADAMENls1N1XSLojRuqXePXDeAT/4Mv4TTx0s

| `EnvironmentVariable('VAR')` | Read an environment variable | Robot-specific config |

# Add to ~/.bashrc

curl -fsSL https://tailscale.com/install.sh | sh

Gates applied: no_behavioural_pass.