What problem does it solve? Building ROS2 nodes often leads to tangled code where business logic is mixed with ROS middleware calls, making nodes hard to test and maintain. This Skill provides templates and structure for creating ROS2 nodes that follow Clean Architecture principles, separating domain logic from ROS2 infrastructure. ## Core Features & Use Cases - Layered Architecture Template: Organizes code into domain (entities, repositories, use cases), application (services, interfaces), and infrastructure (ROS2 nodes, publishers, subscribers, services) layers. - Python Base Node: Provides an abstract BaseNode class with lifecycle hooks for parameters, publishers, subscribers, services, and timers, plus a default QoS profile. - C++ Implementation: Includes header/source templates for BaseNode and concrete nodes with dependency injection of application services and reusable QoS profile presets. - Use Case: When adding a new sensor processing node to a robot, use this Skill to scaffold the node so the sensor processing logic lives in a testable application service while the ROS2 node only handles topic wiring. ## Quick Start Ask the AI to create a new ROS2 node for your robot using this Skill, specifying the node name, topics, and whether you want Python or C++.
