ROS1 Development Skill
When to Use This Skill
- Building or maintaining ROS1 packages and nodes
- Writing launch files, message types, or services
- Debugging ROS1 communication (topics, services, actions)
- Configuring catkin workspaces and build systems
- Working with tf/tf2 transforms, URDF, or robot models
- Using actionlib for long-running tasks
- Optimizing nodelets for zero-copy transport
- Planning ROS1 → ROS2 migration
Core Architecture Principles
1. Node Design
Single Responsibility Nodes: Each node should do ONE thing well. Resist the temptation to build monolithic "do-everything" nodes.
# BAD: Monolithic node
class RobotNode:
def __init__(self):
self.sub_camera = rospy.Subscriber('/camera/image', Image, self.camera_cb)
self.sub_lidar = rospy.Subscriber('/lidar/points', PointCloud2, self.lidar_cb)
self.pub_cmd = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
self.pub_map = rospy.Publisher('/map', OccupancyGrid, queue_size=1)
# This node does perception, planning, AND control
# GOOD: Decomposed nodes
class PerceptionNode: # Fuses sensor data → publishes /obstacles
class PlannerNode: # Subscribes /obstacles → publishes /path
class ControllerNode: # Subscribes /path → publishes /cmd_vel
Node Initialization Pattern:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
class MyNode:
def __init__(self):
rospy.init_node('my_node', anonymous=False)
# 1. Load parameters FIRST
self.rate = rospy.get_param('~rate', 10.0)
self.frame_id = rospy.get_param('~frame_id', 'base_link')
# 2. Set up publishers BEFORE subscribers
# (prevents callbacks firing before publisher is ready)
self.pub = rospy.Publisher('~output', String, queue_size=10)
# 3. Set up subscribers LAST
self.sub = rospy.Subscriber('~input', String, self.callback)
rospy.loginfo(f"[{rospy.get_na
（为兼容发布已截断）
