ros2-standards

Production-grade ROS 2 Python code uses class-based nodes inheriting from rclpy.node.Node or LifecycleNode, implements comprehensive type hints, manages parameters declaratively, replaces time.sleep with timers, and logs via ROS 2 utilities. This Skill provides authoritative guidelines for Python 3.11+ on Humble compatibility.

Structure nodes as classes inheriting from Node or LifecycleNode, declare parameters upfront, use async/await for asynchronous I/O, apply type hints throughout, implement consistent logging, and handle errors with safe-stop behavior. This approach ensures robust, production-ready Python nodes on ROS 2 Humble.

Yes. This Skill covers ROS 2 Humble projects written in Python 3.11+ that leverage 3.12+ features where compatible, including modern async/await patterns, type hints, and lifecycle management best practices for production deployments.

time.sleep blocks the entire node and prevents responsive handling of callbacks and lifecycle events. ROS 2 best practices use timers instead, allowing asynchronous execution and reliable node behavior in production environments.

Declare parameters in node constructors using declare_parameter, retrieve them via get_parameter, and inherit from LifecycleNode to manage node state transitions. This ensures consistent parameter handling and safe lifecycle transitions for Humble-based systems.