Robot Bringup Skill
When to Use This Skill
- Configuring a robot to automatically start its full ROS2 stack on boot via systemd
- Writing systemd unit files that correctly source ROS2 workspaces and set DDS environment
- Composing layered launch files (hardware, drivers, perception, application) into a single bringup
- Setting up ordered startup with health checks to avoid race conditions between dependent nodes
- Writing udev rules for deterministic device naming of cameras, LiDARs, and serial devices
- Configuring CycloneDDS or FastDDS for multi-machine ROS2 discovery across robot and base station
- Implementing watchdog and heartbeat monitoring for production robot systems
- Setting up log rotation and structured logging for long-running robot deployments
- Writing graceful shutdown handlers that bring actuators to a safe state before exit
- Debugging boot-time failures, service ordering issues, or device enumeration races
The Robot Bringup Stack
A production robot bringup follows a layered startup sequence from hardware initialization through application-level nodes. Each layer depends on the one below it.
┌─────────────────────────────────────────────────────────────────────┐
│ APPLICATION LAYER │
│ Navigation, manipulation, mission planning, HRI │
├─────────────────────────────────────────────────────────────────────┤
│ PERCEPTION LAYER │
│ Object detection, SLAM, point cloud filtering, sensor fusion │
├─────────────────────────────────────────────────────────────────────┤
│ DRIVER LAYER │
│ Camera drivers, LiDAR drivers, motor controllers, IMU │
├─────────────────────────────────────────────────────────────────────┤
│ HARDWARE LAYER │
│ udev rules, device enumeration, USB reset, firmware check
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