Skills ros2-skill

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.

install

source · Clone the upstream repo

git clone https://github.com/openclaw/skills

Claude Code · Install into ~/.claude/skills/

T=$(mktemp -d) && git clone --depth=1 https://github.com/openclaw/skills "$T" && mkdir -p ~/.claude/skills && cp -r "$T/skills/adityakamath/ros2-skill" ~/.claude/skills/clawdbot-skills-ros2-skill && rm -rf "$T"

manifest: skills/adityakamath/ros2-skill/SKILL.md

source content

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
:
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:

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.
references/COMMANDS.md: Full technical reference for all CLI subcommands, flags, and JSON payload structures.
references/EXAMPLES.md: Practical walkthroughs for common tasks like "Move N meters" or "Capture Camera Image".
references/CLI.md: Direct CLI usage reference for debugging and development. Not needed during normal agent operation.

🛠️ Setup & Preconditions

1. Source ROS 2

source /opt/ros/${ROS_DISTRO}/setup.bash

2. Verify Connection

Before any operation, verify the ROS 2 environment is active:

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:

python3 scripts/ros2_cli.py estop