ROS2 Messaging Patterns Skill

This skill covers ROS2 messaging patterns adhering to Clean Architecture principles, protecting the domain layer from ROS2 dependencies.

Publisher/Subscriber Patterns

1. Domain-Driven Publisher (Python)

See previous Python example.

2. Domain-Driven Publisher (C++)

// infrastructure/ros2/publishers/state_publisher.hpp
#pragma once
#include <rclcpp/rclcpp.hpp>
#include "domain/entities/robot_state.hpp"
#include "robot_interfaces/msg/robot_state.hpp"