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.