Imported from yaront1111/Moe-s-Tavern (docs/skills/ros2-skill/SKILL.md). Install upstream with npx skills add yaront1111/Moe-s-Tavern --skill ros2-skill. Copyright stays with the author (Apache-2.0).

ROS 2 Skill

⚠️ ATTENTION — READ FIRST. This block overrides any conflicting instinct or rationalisation below.

If profile show returns a non-empty summary, the session is Path A. In Path A:

• Do not run topics find, topics type, tf list (for frame names), services find, or a params list velocity-limit sweep for any data the profile already holds. This is a Rule 14 violation, not "extra safety".
• The profile fields are the source of truth for: cmd_vel_topic, velocity message type, odometry topic, velocity safety limits, TF frame names, controller names, e-stop service, joint names.
• The only live calls allowed before motion in Path A: (1) control list-controllers for runtime active/inactive state, (2) one odom subscribe for the stationary check, (3) interface proto <VEL_TYPE> once per session for the payload template, (4) optional topics hz if you have not yet seen the odom rate.
• Forbidden rationalisations (if you find yourself thinking any of these, you are violating Rule 13 — stop and use the profile):
  • "Maximum safety requires live introspection."
  • "This catches runtime changes the profile might miss."
  • "The profile is just a reference for static info; control and safety checks must be done live."
  • "Profile data alone is never enough for actuation."
  • "Using the profile is justified because it was just rescanned / because it is fresh." — The profile is the source of truth for static data always in Path A, not just when fresh. If you think the profile might be stale, run Rule 0.0b escalation (compare to live graph and stop on disagreement); do not bypass with live discovery.
• The single test before any introspection: "Is this field present in the profile?" — yes → use it; no → fall back to live for that one field only (Rule 0.0a); disagrees with live graph → stop and escalate (Rule 0.0b). The path does not flip.

Detailed Path A operational rules: see "Path A operational summary" section below. Authoritative rules: references/RULES-CORE.md Rule 13 + Rule 14, references/RULES-MOTION.md Rule 3 Step 1.

Structural enforcement (since v1.0.8): the CLI itself refuses topics find / services find calls that violate Path A. The refusal JSON names the matching profile field. profile show always includes a path_a_reminder block listing forbidden commands and the profile fields that replace them. Read that block at session start — it is the contract. If the guard refuses a call you genuinely need (Path B / debug), pass --ignore-profile; that override is logged.

Provides a structured JSON interface to a live ROS 2 robot. All commands output JSON. Every skill invocation follows three mandatory phases: resolve → act → verify. Resolve means: read every static field (topic names, message types, limits, frame names, controller names) from the profile first (Path A) and run a live call only when (a) the profile is absent / does not have that field (Path B / Rule 0.0a), or (b) the value is dynamic runtime state — controller active/inactive, robot stationary, payload template, odom rate. "Resolve" is not a synonym for "introspect everything live" — in Path A it collapses to zero live calls for profile-covered fields. Act issues the command. Verify reads post-action state. Never skip any phase, and never expand "resolve" into full live discovery when Path A is active.

Entry Point

Always use ros2_cli.py. Never call ros2 directly or run submodules directly.

python3 {baseDir}/scripts/ros2_cli.py <command> [subcommand] [args]
python3 {baseDir}/scripts/ros2_cli.py --help           # list all commands
python3 {baseDir}/scripts/ros2_cli.py <command> --help # list subcommands

{baseDir} is the path to the skill root directory. Resolve it from the skill metadata before running any command.

Session Start Checklist

Run once per session before the first task. Takes seconds. Catches the most common silent failures.

# Step 1 — health check
python3 {baseDir}/scripts/ros2_cli.py doctor

# Step 2 — daemon
python3 {baseDir}/scripts/ros2_cli.py daemon status
python3 {baseDir}/scripts/ros2_cli.py daemon start      # if not running

# Step 3 — simulated time (if applicable)
python3 {baseDir}/scripts/ros2_cli.py topics find rosgraph_msgs/msg/Clock

# Step 4 — lifecycle nodes (if present)
python3 {baseDir}/scripts/ros2_cli.py lifecycle nodes

# Step 5 — log directory (no command — note for diagnostics)
# Resolve: $ROS_LOG_DIR → $ROS_HOME/log/ → ~/.ros/log/

# Step 6 — graph snapshot
python3 {baseDir}/scripts/ros2_cli.py context          # topics (cap 50), services, actions, nodes

# Step 7 — robot profile (load if available; skip if absent)
python3 {baseDir}/scripts/ros2_cli.py profile show
# → robot_type, packages, launch_files, velocity_topics, safety_limits, sensor_flags
#
# Path classification (decided once, here):
#   profile show succeeded AND summary is non-empty  → Path A (profile-first)
#   profile show failed OR summary is empty          → Path B (live introspection for everything)
# Do NOT re-classify per task. Auto-rescan, freshness gating, and `profile scan` triggers:
# see RULES-PREFLIGHT.md Rules 0.0, 0.6, 0.7 (loaded at session start).
#
# If absent: build once, using these rules derived from the user's request:
#
#   ONE robot named  → pass --name <robot_name>  (pkg filter is auto-derived from the name)
#     python3 {baseDir}/scripts/ros2_cli.py profile scan --name lekiwi
#     python3 {baseDir}/scripts/ros2_cli.py profile scan --name depthai
#
#   MULTIPLE robots named  → pass --packages <r1>,<r2> plus --name <combined_label>
#     python3 {baseDir}/scripts/ros2_cli.py profile scan --packages lekiwi,quest_teleop --name lekiwi_quest
#
#   NO robot name given (bare "create a profile" / "scan workspace")  → omit both flags
#     python3 {baseDir}/scripts/ros2_cli.py profile scan
#
# Use summary.safety_limits as the --max-vel / --max-ang ceiling (Rule 28).

Stop and tell the user if Step 1 reports critical failures. Re-run Step 3 before every timed command in simulation.

Path A operational summary (READ BEFORE EVERY ACTION when profile is loaded)

When profile show returned a non-empty summary at Step 7, the session is Path A. In Path A, the profile is the source of truth for static data — running live discovery for data the profile already holds is a rule violation (Rule 14), not extra safety.

Use directly from the profile — zero live calls:

The only live calls still mandatory before motion in Path A (these read runtime state, which the profile cannot know):

1. control list-controllers — confirm the controller named in summary.active_controllers is active right now.
2. Subscribe <ODOM_TOPIC> --max-messages 1 --timeout 2 — confirm robot is stationary (Rule 9). This double-serves as a liveness check on the odom topic.
3. interface proto <VEL_TYPE> — once per session, get the payload template (the type came from the profile, but the field layout did not).
4. Optional: topics hz <ODOM_TOPIC> --duration 2 if publish-until is being used and you have not confirmed odom rate this session.

Path A violation — worked counterexample (what NOT to do):

User request: "drive forward 1 m". Profile is loaded.

❌ topics find geometry_msgs/msg/Twist             # Rule 14: profile has cmd_vel_topic
❌ topics find geometry_msgs/msg/TwistStamped      # Rule 14: profile has velocity_topics[].type
❌ topics find nav_msgs/msg/Odometry               # Rule 14: profile has fused_sources
❌ topics type <discovered_topic>                  # Rule 14: profile has the type
❌ nodes list && params list <each-node>           # Rule 14: profile has safety_limits.binding

Cost of the violation: 5–30 seconds wasted, and if any topics find returns a topic that disagrees with the profile, the agent will silently use the live answer — masking the disagreement that Rule 0.0b is specifically designed to surface. Live discovery in Path A is not "extra safety"; it actively hides safety-relevant mismatches and delays the command.

Correct Path A motion sequence:

✅ Read VEL_TOPIC, VEL_TYPE, ODOM_TOPIC, MAX_VEL, MAX_ANG from profile  (0 live calls)
✅ interface proto <VEL_TYPE>                                           (1 live call, once/session)
✅ control list-controllers                                             (1 live call — runtime state)
✅ topics subscribe <ODOM_TOPIC> --max-messages 1 --timeout 2           (1 live call — stationary + liveness)
✅ topics publish-until <VEL_TOPIC> '<payload>' --monitor <ODOM_TOPIC>   (the actual command)
✅ topics subscribe <ODOM_TOPIC> --max-messages 1 --timeout 2           (post-motion verify, Rule 8)

3 live calls before the command + 1 after. Not the 6–9 live discovery calls of Path B.

If a profile field is missing (Rule 0.0a): fall back to live discovery for that one field only — the path does not flip. Other fields stay on the profile.

If a profile field's value disagrees with the live graph (e.g., summary.cmd_vel_topic is not in topics list): stop and escalate per Rule 0.0b. Do not silently retry with live discovery.

Critical Rules

Read the domain-specific rule files from references/ before the first action. These are hard constraints — not guidelines. Use references/RULES.md as the index to find the right file. Always load at session start: RULES-CORE.md, RULES-PREFLIGHT.md, and RULES-MOTION.md. Add RULES-DIAGNOSTICS.md when something fails. Key principles:

1. Two-Path Model — profile first, live fallback. Path A (profile loaded) uses profile fields for static data and live calls only for runtime state; Path B (no profile) does full live introspection. Path is fixed for the session, decided once at Step 7. Never hardcode names, types, or limits. Full guardrails (field-presence rules, exact field names, escalation on runtime mismatch, auto-rescan gating, scan triggers) live in RULES-PREFLIGHT.md Rules 0.0, 0.0a, 0.0b, 0.6, 0.7 and RULES-CORE.md Rules 13, 14.

2. Get the payload template. Before publishing or calling: interface proto <msg_type>. Copy the output. Modify only the fields the task requires. For non-primitive nested fields, run interface show <nested_type> recursively until all leaf fields are primitives.

3. Verify every effect. A zero-error CLI response means the request was delivered — not that the effect occurred. Always follow up: params get, control list-controllers, subscribe to confirm, etc.

4. Diagnose before reporting. On any error: introspect → self-correct → retry → report. Never ask the user to interpret an error you can check with the CLI.

5. Safety is non-negotiable. Velocity limits, pre-motion odom checks, and post-motion verify are mandatory. Never bypass them.

6. Context discovery is parallel. When discovering multiple independent facts (velocity topic, odom topic, limits, controller state), issue all commands simultaneously — never sequentially.

Common Operations

Introspection

python3 {baseDir}/scripts/ros2_cli.py context                             # session-start graph snapshot
python3 {baseDir}/scripts/ros2_cli.py context --include-schemas           # + schemas for all discovered topic types (opt-in; adds token cost)
python3 {baseDir}/scripts/ros2_cli.py topics list [--limit N]             # list topics (cap at N)
# Velocity topic — profile fast-path: use summary.cmd_vel_topic + summary.velocity_topics[].type
# Odom topic — profile fast-path: use summary.localization_config.fused_sources values
# Fallback (profile absent or field missing):
python3 {baseDir}/scripts/ros2_cli.py topics find geometry_msgs/msg/Twist # find velocity topic
python3 {baseDir}/scripts/ros2_cli.py topics find nav_msgs/msg/Odometry   # find odom topic
python3 {baseDir}/scripts/ros2_cli.py topics type <topic>                 # confirm exact type
python3 {baseDir}/scripts/ros2_cli.py topics details <topic>              # publisher count + QoS
python3 {baseDir}/scripts/ros2_cli.py topics hz <topic>                   # confirm topic is live
python3 {baseDir}/scripts/ros2_cli.py nodes list
python3 {baseDir}/scripts/ros2_cli.py services list
python3 {baseDir}/scripts/ros2_cli.py actions list
python3 {baseDir}/scripts/ros2_cli.py tf list                             # discover TF frames

Publishing

Path A (profile loaded): resolve <VEL_TOPIC> and <VEL_TYPE> from the profile — do NOT run topics find / topics type. See "Path A operational summary" above.

# Path A field resolution (no live calls):
#   VEL_TOPIC     = summary.cmd_vel_topic                          (e.g. /base_controller/cmd_vel)
#   VEL_TYPE      = summary.velocity_topics[].type                 (e.g. geometry_msgs/msg/TwistStamped)
#   ODOM_TOPIC    = first value of summary.localization_config.fused_sources   (e.g. /base_controller/odom)
#   MAX_VEL       = summary.safety_limits.binding.linear_x
#   MAX_ANG       = summary.safety_limits.binding.angular_z
# Path B (no profile): discover via `topics find geometry_msgs/msg/Twist` and
# `topics find geometry_msgs/msg/TwistStamped`, then `topics type` to confirm.

# Get payload template once per session — always; the type may be Twist OR TwistStamped
python3 {baseDir}/scripts/ros2_cli.py interface proto <VEL_TYPE>
# Twist:        {"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}
# TwistStamped: {"header":{"stamp":{"sec":0},"frame_id":""},"twist":{"linear":{...},"angular":{...}}}

# Single publish
python3 {baseDir}/scripts/ros2_cli.py topics publish <VEL_TOPIC> '<json matching VEL_TYPE>' \
  --max-vel <MAX_VEL> --max-ang <MAX_ANG>

# Closed-loop linear (Euclidean distance) — payload shape depends on VEL_TYPE
python3 {baseDir}/scripts/ros2_cli.py topics publish-until <VEL_TOPIC> \
  '<json matching VEL_TYPE>' \
  --monitor <ODOM_TOPIC> --field pose.pose.position --euclidean --delta 1.0 --timeout 60 \
  --max-vel <MAX_VEL> --max-ang <MAX_ANG>

# Closed-loop rotation (sign of --rotate MUST match sign of angular.z)
python3 {baseDir}/scripts/ros2_cli.py topics publish-until <VEL_TOPIC> \
  '<json with angular.z = +omega>' \
  --monitor <ODOM_TOPIC> --rotate 90 --degrees --timeout 30 \
  --max-vel <MAX_VEL> --max-ang <MAX_ANG>

# Subscribe (read sensor data)
python3 {baseDir}/scripts/ros2_cli.py topics subscribe <topic> --max-messages 1 --timeout 5

# Subscribe and return the first message only, then exit
python3 {baseDir}/scripts/ros2_cli.py topics echo-once <topic> [--timeout 5]

--max-vel N / --max-ang N (Twist / TwistStamped only): clamp linear x/y/z to ±N m/s and angular.z to ±N rad/s inside the CLI before the message is sent. Pass summary.safety_limits.binding.linear_x / .angular_z from the profile (Path A) or the Rule 28 limit-scan result (Path B). Clamped axes are reported in velocity_clamped in the JSON output. Other message types pass through unchanged.

Services and Actions

python3 {baseDir}/scripts/ros2_cli.py services details <service>          # request/response fields
python3 {baseDir}/scripts/ros2_cli.py services call <service> '<json>'
python3 {baseDir}/scripts/ros2_cli.py actions details <action>            # goal/result/feedback fields
python3 {baseDir}/scripts/ros2_cli.py actions send <action> '<json>' --timeout 60
python3 {baseDir}/scripts/ros2_cli.py actions cancel <goal_id>

Parameters

python3 {baseDir}/scripts/ros2_cli.py params list <node>
python3 {baseDir}/scripts/ros2_cli.py params describe <node:param>        # type, range, read-only
python3 {baseDir}/scripts/ros2_cli.py params get <node:param>
python3 {baseDir}/scripts/ros2_cli.py params set <node:param> <value>

Controllers and Lifecycle

python3 {baseDir}/scripts/ros2_cli.py control list-controllers
python3 {baseDir}/scripts/ros2_cli.py control list-hardware-components
python3 {baseDir}/scripts/ros2_cli.py control switch-controllers --activate <name> --deactivate <name>
python3 {baseDir}/scripts/ros2_cli.py lifecycle nodes
python3 {baseDir}/scripts/ros2_cli.py lifecycle get <node>
python3 {baseDir}/scripts/ros2_cli.py lifecycle set <node> activate

Camera and Images

# Always verify camera_info + TF before using camera data
python3 {baseDir}/scripts/ros2_cli.py topics find sensor_msgs/msg/CameraInfo
python3 {baseDir}/scripts/ros2_cli.py topics subscribe <camera_info_topic> --max-messages 1 --timeout 2
# Confirm K matrix is non-zero and frame_id is in tf list before proceeding

# Capture image — profile-aware: if a robot profile is loaded and the URDF shows
# the camera is mounted at a non-upright angle (e.g. upside-down = roll ≈ ±π),
# the image is automatically rotated before being saved.
# Output JSON includes: {success, path, profile_applied, image_rotated_deg}
python3 {baseDir}/scripts/ros2_cli.py topics capture-image --topic <camera_topic> --output {baseDir}/.artifacts/<name>.jpg

# Skip profile-driven rotation (e.g. the detected rotation is wrong for this capture):
python3 {baseDir}/scripts/ros2_cli.py topics capture-image --topic <camera_topic> --output {baseDir}/.artifacts/<name>.jpg --no-profile

# Read depth at a specific pixel from a depth image topic (16UC1 or 32FC1; no numpy/cv2 needed)
python3 {baseDir}/scripts/ros2_cli.py topics depth-point --topic <depth_topic> --u <col> --v <row>
# Returns: {depth_m, invalid, encoding, width, height}

Diagnostics and Health

python3 {baseDir}/scripts/ros2_cli.py doctor                              # full DDS/graph health check
python3 {baseDir}/scripts/ros2_cli.py doctor hello                        # DDS multicast test
python3 {baseDir}/scripts/ros2_cli.py topics diag                         # subscribe /diagnostics
python3 {baseDir}/scripts/ros2_cli.py topics battery                      # battery state

Launch

# Find a launch file by keyword
python3 {baseDir}/scripts/ros2_cli.py launch list <keyword>

# Start a launch file (duplicate detection runs automatically)
python3 {baseDir}/scripts/ros2_cli.py launch new <package> <launch_file>

# With launch arguments (name:=value — passed directly to the launch file, highest priority)
# This is the correct form for any launch argument: use_sim_time:=true, robot_name:=my_bot, etc.
python3 {baseDir}/scripts/ros2_cli.py launch new <package> <launch_file> use_sim_time:=true
python3 {baseDir}/scripts/ros2_cli.py launch new <package> <launch_file> use_sim_time:=true robot_name:=my_bot

# With comma-separated launch arguments via --param (same as positional args but lower priority)
# Use this when the arg list is long or dynamic — positional args always win over --param on conflict
python3 {baseDir}/scripts/ros2_cli.py launch new <package> <launch_file> --param use_sim_time:=true,robot_name:=my_bot

# ⚠️  --config-path is for YAML node-parameter files only (forwarded via --ros-args --params-file)
# Do NOT use --config-path for launch arguments like config:=k2 — use positional args instead
python3 {baseDir}/scripts/ros2_cli.py launch new <package> <launch_file> --config-path /path/to/config.yaml

# With a saved parameter preset (lowest priority — positional and --param override)
python3 {baseDir}/scripts/ros2_cli.py launch new <package> <launch_file> --preset my_preset

# Manage sessions
python3 {baseDir}/scripts/ros2_cli.py launch list                         # running launch sessions
python3 {baseDir}/scripts/ros2_cli.py launch kill <session>               # stop a session
python3 {baseDir}/scripts/ros2_cli.py launch restart <session>            # restart with same args

Priority order (ROS 2 last-wins): positional args > --param > --preset. Positional args always win on conflict. --config-path is independent of the priority stack — it adds --ros-args --params-file <file> to launched nodes; it does not set launch arguments. Duplicate detection: if the same package + launch file is already running, a warning with existing_session is returned instead of launching again.

Log Introspection

Works without a live ROS 2 graph — reads ~/.ros/log/ (or $ROS_LOG_DIR).

# Discover available runs (newest first)
python3 {baseDir}/scripts/ros2_cli.py logs list-runs [--limit 20]

# Query entries with filters (default: latest run, all severities)
python3 {baseDir}/scripts/ros2_cli.py logs query [--run <id>] [--severity WARN] \
  [--node <name>] [--after -30s] [--before -5m] [--text <substr>] [--regex <pat>] \
  [--max 200]

# Incremental tail — only entries since the last call (persists offsets)
python3 {baseDir}/scripts/ros2_cli.py logs tail [--run <id>] [--initial-lines 50] \
  [--reset]

# Per-node statistics: totals, severity breakdown, top recurring messages
python3 {baseDir}/scripts/ros2_cli.py logs node-summary [--run <id>] [--top 5]

Time filter formats for --after / --before: -30s, -5m, -2h (relative to now), epoch float, or ISO datetime (2026-04-30T10:00:00).

logs tail workflow: Call once to seed offsets (returns last ~50 lines); call again during the run to get only new entries. Use --reset to re-seed when switching to a new run.

Packages, Bags, and TF

python3 {baseDir}/scripts/ros2_cli.py pkg list                            # installed packages (no graph)
python3 {baseDir}/scripts/ros2_cli.py pkg prefix <package>                # install prefix
python3 {baseDir}/scripts/ros2_cli.py pkg executables <package>           # launchable executables
python3 {baseDir}/scripts/ros2_cli.py pkg xml <package>                   # package.xml contents
python3 {baseDir}/scripts/ros2_cli.py pkg create <name> [--build-type ament_cmake|ament_python|cmake] \
    [--dependencies rclcpp std_msgs] [--node-name my_node] [--library-name my_lib] \
    [--destination-directory /path]                                        # scaffold new package (no graph)
python3 {baseDir}/scripts/ros2_cli.py bag info <bag_path>                 # bag metadata (no graph)
python3 {baseDir}/scripts/ros2_cli.py tf list                             # all TF frames
python3 {baseDir}/scripts/ros2_cli.py tf echo <source_frame> <target_frame>

Robot Profile (no live graph required)

Build once; load every session. The profile captures robot type, packages, launch files (as filenames from the workspace), velocity topics, safety limits, and sensor flags — eliminating per-session re-discovery.

# Scan the entire workspace and write .profiles/<robot>_profile.json
# Omit --packages to include every package in <ws>/src/ (full workspace profile).
python3 {baseDir}/scripts/ros2_cli.py profile scan [--workspace /path/to/ros2_ws] [--name my_robot]

# Scope the scan to one robot's packages using fuzzy pattern matching.
# --packages accepts a comma-separated list of substrings; any package whose
# name OR path contains a pattern is included.  Unrelated workspace deps are
# excluded automatically.  Robot name defaults to the first pattern.
python3 {baseDir}/scripts/ros2_cli.py profile scan --packages lekiwi
python3 {baseDir}/scripts/ros2_cli.py profile scan --packages lekiwi --name lekiwi
python3 {baseDir}/scripts/ros2_cli.py profile scan --packages lekiwi,soarm --name my_robot

# Add --allow-live to also query the live graph for topics static analysis missed
python3 {baseDir}/scripts/ros2_cli.py profile scan --allow-live

# Override auto-detected robot type (e.g. if detection mis-classifies)
python3 {baseDir}/scripts/ros2_cli.py profile scan --robot-type mobile_base

# Load summary (robot_type, packages, launch_files, velocity_topics, safety_limits)
python3 {baseDir}/scripts/ros2_cli.py profile show

# Load a specific section
python3 {baseDir}/scripts/ros2_cli.py profile show --section summary
python3 {baseDir}/scripts/ros2_cli.py profile show --section detail
python3 {baseDir}/scripts/ros2_cli.py profile show --section <launch-filename>   # e.g. bringup.launch.py

# Full rescan (workspace changed):
#   ONE robot named  → pass --name <robot_name>  (pkg filter auto-derived; overrides stored empty filter)
#     python3 {baseDir}/scripts/ros2_cli.py profile rescan --name lekiwi
#
#   MULTIPLE robots named  → pass --packages <r1>,<r2> --name <combined_label>
#     python3 {baseDir}/scripts/ros2_cli.py profile rescan --packages lekiwi,quest_teleop --name lekiwi_quest
#
#   NO robot name given  → omit --name; stored pkg_filter is reused automatically
python3 {baseDir}/scripts/ros2_cli.py profile rescan [--workspace PATH]

# Override the package filter on rescan (e.g. widen or change scope)
python3 {baseDir}/scripts/ros2_cli.py profile rescan --packages lekiwi,quest_teleop

# Remove the filter and scan the full workspace on rescan
python3 {baseDir}/scripts/ros2_cli.py profile rescan --packages ''

# Partial rescan — only refresh launch args for one file (fast)
python3 {baseDir}/scripts/ros2_cli.py profile rescan --launch-file <launch-filename>

# List all saved profiles
python3 {baseDir}/scripts/ros2_cli.py profile list

# Append a free-text annotation (shown every session; agent MUST read and apply)
python3 {baseDir}/scripts/ros2_cli.py profile annotate "Left encoder drifts right — apply 5% left correction to cmd_vel."
python3 {baseDir}/scripts/ros2_cli.py profile annotate "Camera faces a mirror — image is horizontally flipped."

Profile JSON shape:

{
  "summary": {                          ← always load; compact
    ← Fields with no detected value are ABSENT (never null/[]/{}). Missing key = not detected.
    "robot_type": "mobile_base",        ← primary type (see types below)
    "robot_features": ["pantilt"],      ← supplementary features alongside primary type
    "robot_type_evidence": {            ← signals that drove the detected type
      "mobile_base": ["topic:/cmd_vel", "ament:nav2"],
      "pantilt": ["pkg:my_pantilt_driver"]
    },
    "packages": ["my_bringup", "my_nav"],
    "launch_files": ["bringup.launch.py", "nav2_bringup.launch.py"],  ← filenames from workspace; keys into detail
    "urdf_files": ["/path/to/robot.urdf.xacro"],  ← primary packages only; deduplicated
    "velocity_topics": [{"topic": "/cmd_vel", "type": "geometry_msgs/msg/Twist"}],  ← topic+type objects
    "safety_limits": {
      "sources": [                        ← one entry per YAML config that had a velocity limit
        {"file": "teleop_joy.yaml", "path": "...", "linear_x": 0.5, "linear_y": 0.3, "angular_z": 1.0},
        {"file": "nav2_params.yaml", "path": "...", "linear_x": 0.3, "angular_z": 0.8}
        ← axes with no limit are absent from each source entry
      ],
      "binding": {                        ← most restrictive per axis across all sources + URDF
        "linear_x": 0.3, "angular_z": 0.8
        ← linear_y only present for holonomic robots
      }
    },
    "has_lidar": true, "has_camera": true, "has_imu": true, "has_nav2": false,
    "sensor_mounts": [          ← sensor/actuator links from URDF; unresolved xacro variables excluded
      {                         ← sensor_type: camera|depth_camera|lidar|imu|sonar|gps|gripper
        "joint": "camera_joint", "link": "camera_link",
        "sensor_type": "camera",
        "xyz": [0.1, 0.0, 0.5],        ← position relative to parent link
        "rpy": [3.14159, 0.0, 0.0],    ← orientation; roll ≈ π → upside-down
        "image_rotation_deg": 180       ← visual sensors only; capture-image applies this
      }
    ],
    ← Drive / kinematics (present when ros2_control YAML was found)
    "drive_type": "differential",        ← differential|holonomic_omni|mecanum|ackermann|bicycle|tricycle
    "kinematics": {"wheel_radius": 0.05, "wheel_separation": 0.2},
    "controller_update_rate_hz": 100,
    "cmd_vel_topic": "/base_controller/cmd_vel",
    "odom_frame_ids": {"odom_frame_id": "odom", "base_frame_id": "base_link"},
    "active_controllers": ["base_controller", "joint_state_broadcaster"],
    "controller_plugins": ["diff_drive_controller/DiffDriveController", "joint_state_broadcaster/JointStateBroadcaster"],
    ← Hardware
    "hardware_interfaces": [{"name": "...", "plugin": "...", "joints": [...], "command_interfaces": [...], "state_interfaces": [...], "hardware_params": {...}}],
    "mock_hardware_available": false,    ← true when enable_mock_mode=true or a "mock"/"fake" launch arg exists
    "imu_config": {"plugin": "...", "state_interfaces": [...], "hardware_params": {...}, "broadcaster": {"frame_id": "imu_link", "publish_rate": 100}},
    ← Sensors
    "lidar_config": {"topic": "/scan", "frame_id": "lidar_link"},
    "camera_configs": [...],
    "sensor_filter_pipeline": [{"name": "range_filter", "type": "laser_filters/LaserScanRangeFilter", "source_file": "...", "params": {...}}],
    ← Navigation
    "localization_config": {"method": "ekf", "frequency_hz": 50, "fused_sources": {"odom0": "/base_controller/odom"}},
    "nav2_config": {"planner_plugins": [...], "controller_plugins": [...], "behavior_plugins": [...]},
    "maps": [{"name": "map", "type": "occupancy", "resolution": 0.05, "image": "map.pgm", "file": "map.yaml", "path": "..."}],
    ← Teleop / e-stop
    "teleop_config": {"cmd_vel_topic": "/cmd_vel", "joy_topic": "/joy", "scales": {"scale_linear_x": 0.5, "scale_angular_z": 1.0}},
    "estop_config": {"topic": "/e_stop", "service_type": "std_srvs/srv/SetBool", "activate_buttons": [0], "deactivate_buttons": [1]},
    ← TF / launch
    "tf_frames": {"urdf_links": ["base_link", "imu_link", ...], "map_frame": "map", "odom_frame": "odom", "base_frame": "base_link"},
    "launch_configurations": {"config": {"default": "base", "choices": ["base", "pantilt"], "description": "..."}},
    ← Package metadata
    "package_dependencies": {"my_robot_bringup": ["rclpy", "nav2_bringup", ...]}
  },
  "annotations": [              ← user-added free-text notes; ALWAYS read at session start
    {
      "added_at": "2026-05-12T...",
      "note": "Left motor encoder is worn — odometry drifts right."
    }
  ],
  "detail": {                           ← load on demand per launch file; null-stripped like summary
    "bringup.launch.py": {
      "path": "...", "package": "...",
      "launch_args": {
        ← unified: AST defaults + live-resolved values merged; no null values
        "config":       {"default": "base", "choices": ["base", "k2"], "description": "hw config"},
        "use_sim_time": {"default": "false"},
        "serial_port":  {"default": "/dev/ttySERVO", "description": "Serial port for motors"}
      },
      "includes": [                      ← sub-launch files included by this file
        {
          "source": "pkg:nav2_bringup/launch/bringup_launch.py",
          "package": "nav2_bringup", "file": "bringup_launch.py",
          "args_forwarded": {            ← "$ref" = pass-through; literal = hardcoded
            "use_sim_time": "$use_sim_time",
            "map_yaml_file": "$map_yaml"
          }
        }
      ],
      "yaml_files": [...], "urdf_files": [...], "joint_limits": {...}
    },
    ...
  }
}

Robot type values: humanoid · legged · aerial · underwater · surface_vessel · mobile_manipulator · arm · mobile_base · unknown

Detection rules (applied strictly in this order):

1. Humanoid — specific platform package name (NAO, Atlas, Valkyrie …) or ≥ 4 URDF joints with torso/neck/shoulder/elbow patterns. Generic terms like "walking"/"balance" are intentionally excluded (too broad).
2. Legged — specific quadruped/hexapod package name (Spot, Go1, ANYmal …) or ≥ 4 URDF joints with FL/FR/RL/RR leg naming.
3. Aerial, underwater, surface_vessel — platform-specific package names or source keywords.
4. Mobile manipulator — both mobile-base and arm signals present.
5. Arm — arm/gripper/MoveIt package or ≥ 3 non-wheel URDF joints.
6. Mobile base — velocity topics (/cmd_vel) or Nav2 present, or explicit diff-drive/Ackermann packages.

If detection is wrong: run profile scan --robot-type <type> to override. The evidence field always shows what matched so you can see why a type was chosen.

Use summary.safety_limits.binding.linear_x as the --max-vel ceiling and summary.safety_limits.binding.angular_z as the --max-ang ceiling (Rule 28). binding.linear_y is set for holonomic robots. sources lists every config file that contributed a limit — useful when multiple teleop configs are present. Use summary.launch_files to see what launch files exist in the workspace; load any one's full detail with --section <filename>. Launch arg defaults and choices are always populated — a missing default key means the argument is required with no declared default.

Output Folders

All outputs are written to hidden folders inside the skill directory. Never use /tmp.

Emergency Stop

Send immediately on any unsafe motion or unexpected robot behaviour:

python3 {baseDir}/scripts/ros2_cli.py estop

After estop: verify velocity ≈ 0 by subscribing <ODOM_TOPIC> --max-messages 1 --timeout 5. If velocity is still non-zero after 5 s (10 s for heavy platforms > 20 kg), escalate as critical failure.

Nav2 Navigation

Send autonomous navigation goals to the Nav2 stack (NavigateToPose action). Requires Nav2 to be running on the robot.

# Navigate to a map pose and wait for completion (up to 120 s)
python3 {baseDir}/scripts/ros2_cli.py nav2 go 1.5 -0.3

# With heading constraint
python3 {baseDir}/scripts/ros2_cli.py nav2 go 1.5 -0.3 --yaw 90

# Waypoint sequence (chained NavigateToPose calls)
python3 {baseDir}/scripts/ros2_cli.py nav2 go-waypoints 1.0,0.0 2.0,1.5 3.0,0.0

# Cancel active goal + send zero-velocity burst
python3 {baseDir}/scripts/ros2_cli.py nav2 cancel

# Check whether Nav2 is active and report current feedback
python3 {baseDir}/scripts/ros2_cli.py nav2 status

# Set AMCL initial pose (slam_mode: amcl only)
python3 {baseDir}/scripts/ros2_cli.py nav2 initial-pose 1.0 2.0 --yaw 45

Key flags:

• --frame MAP — coordinate frame (default: map)
• --timeout 120 — seconds to wait for goal completion (default: 120; navigation can take minutes)
• --feedback — include per-step feedback messages in output (nav2 go only)
• --no-stop-on-failure — continue waypoint sequence even if one leg fails (go-waypoints)

Output fields (nav2 go): success (bool), status (int, 4=SUCCEEDED), status_name, goal {x,y,frame}, error?

Before nav2 go: always run nav2 cancel first if a previous goal may still be active (Rule 9 pre-motion check). Use nav2 status to confirm no active goal is present.

Commands Without a Live Graph

These work without ROS running or nodes active:

Reference Files

This skill uses progressive disclosure. SKILL.md covers the most common operations. Load the files below when the task requires deeper detail.