ROS2 Launch & Configuration

What problem does it solve? Setting up ROS2 systems requires coordinating multiple nodes, namespaces, parameters, and lifecycle states, and ad-hoc launch files quickly become unmaintainable. This Skill provides structured templates for building modular, reusable launch configurations. ## Core Features & Use Cases - Modular Launch Structure: Organize launch files by subsystem (sensors, navigation) with shared includes for common functions and defaults. - Parameter Management: Centralize node parameters in YAML files with namespaced, nested configuration loaded by both C++ and Python nodes. - Lifecycle Node Integration: Auto-configure lifecycle nodes on startup using event handlers and state transitions. - Use Case: When bringing up a robot with a lidar driver, controller, and sensor nodes, generate a main launch file that declares arguments, loads a shared params.yaml, and conditionally starts nodes based on simulation mode. ## Quick Start Create a ROS2 launch file that starts my controller and sensor nodes with parameters loaded from a YAML config file.