What problem does it solve? Getting a full ROS2 robot stack to start reliably on boot is error-prone: devices enumerate unpredictably, nodes start before their dependencies exist, and systemd does not source shell environments. This Skill provides production patterns for boot-time bringup of ROS2 systems on robot onboard computers. ## Core Features & Use Cases - systemd Service Units: Templates for running ROS2 launch files as long-running services with watchdog support, restart policies, resource limits via cgroups, and environment files instead of .bashrc. - Layered Launch Composition: Hardware, driver, perception, and application launch layers composed into a single bringup entry point with conditional loading for simulation vs. real hardware and robot variants. - Ordered Startup & Health Checks: Device-check scripts, wait-for-topic utilities, and lifecycle manager orchestration to eliminate boot-time race conditions. - udev Rules: Deterministic device naming for cameras, LiDARs, IMUs, and serial devices based on vendor IDs, serial numbers, and USB port paths. - Use Case: Configure a Jetson-based robot so that on power-up, udev assigns stable device names, systemd starts drivers first, waits for health checks, then brings up perception and navigation with automatic restart on failure. ## Quick Start Ask the assistant to write a systemd service unit and layered launch files that start my ROS2 Humble robot stack automatically on boot with health checks and watchdog monitoring.
