dbwls99706/ros2-engineering-skills

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"$schema": "https://anthropic.com/claude-code/marketplace.schema.json",

"source": "./",       "category": "development",       "homepage": "https://github.com/dbwls99706/ros2-engineering-skills#readme",

"category": "development",       "homepage": "https://github.com/dbwls99706/ros2-engineering-skills#readme",       "keywords": [

"homepage": "https://github.com/dbwls99706/ros2-engineering-skills#readme",

{   "$schema": "https://json.schemastore.org/claude-code-plugin-manifest.json",

"$schema": "https://json.schemastore.org/claude-code-plugin-manifest.json",

"name": "YuJin Hong",     "email": "yujinhong3@gmail.com",     "url": "https://github.com/dbwls99706"

"email": "yujinhong3@gmail.com",     "url": "https://github.com/dbwls99706"   },

"url": "https://github.com/dbwls99706"

},   "homepage": "https://github.com/dbwls99706/ros2-engineering-skills#readme",   "repository": "https://github.com/dbwls99706/ros2-engineering-skills",

"homepage": "https://github.com/dbwls99706/ros2-engineering-skills#readme",

"repository": "https://github.com/dbwls99706/ros2-engineering-skills",

[Credential-related source omitted]

[Credential-related source omitted]

trap 'docker rm -f "$cid" >/dev/null 2>&1 || true' EXIT

[Credential-related source omitted]

(`sudo mkfs`, `ssh host 'rm -rf /'`, a here-doc script line), so `grep mkfs`,

git clone https://github.com/dbwls99706/ros2-engineering-skills.git

Apache License                            Version 2.0, January 2004                         http://www.apache.org/licenses/

http://www.apache.org/licenses/

http://www.apache.org/licenses/LICENSE-2.0

[![Test](https://github.com/dbwls99706/ros2-engineering-skills/actions/workflows/test.yml/badge.svg)](https://github.com/dbwls99706/ros2-engineering-skills/actions/workflows/test.yml)

[![License](https://img.shields.io/badge/license-Apache--2.0-blue.svg)](LICENSE)

[![GitHub stars](https://img.shields.io/github/stars/dbwls99706/ros2-engineering-skills?style=social)](https://github.com/dbwls99706/ros2-engineering-skills/stargazers)

git clone https://github.com/dbwls99706/ros2-engineering-skills.git

author: dbwls99706   version: "1.7.2"   repository: "https://github.com/dbwls99706/ros2-engineering-skills"

version: "1.7.2"   repository: "https://github.com/dbwls99706/ros2-engineering-skills" ---

repository: "https://github.com/dbwls99706/ros2-engineering-skills"

git clone https://github.com/dbwls99706/ros2-engineering-skills /path/skill-src

The invocation and permission comparison here was reviewed on 2026-09-09 against [Codex skills](https://learn.chatgpt.com/docs/build-skills) and

[Codex skills](https://learn.chatgpt.com/docs/build-skills) and

[Claude Code skills](https://code.claude.com/docs/en/skills). It is not a claim that

Sources: [Codex app-server protocol](https://learn.chatgpt.com/docs/app-server)

and [Gemini CLI skill listing implementation](https://github.com/google-gemini/gemini-cli/blob/v0.58.0/packages/cli/src/commands/skills/list.ts).

- [Agent Skills specification](https://agentskills.io/specification)

- [Claude Code skills](https://code.claude.com/docs/en/skills)

- [Claude plugin reference](https://code.claude.com/docs/en/plugins-reference)

- [Claude hooks reference](https://code.claude.com/docs/en/hooks)

- [OpenAI skill authoring and Codex installation](https://learn.chatgpt.com/docs/build-skills)

- [Cursor skills](https://cursor.com/docs/skills)

- [Gemini CLI skills](https://geminicli.com/docs/cli/skills/)

Sources: [Agent Skills specification](https://agentskills.io/specification),

[skill authoring practices](https://agentskills.io/skill-creation/best-practices),

and [tiktoken](https://github.com/openai/tiktoken).

Brad Groux's [Astra Field Study](https://github.com/BradGroux/astra-field-study)

Sources: [trigger evaluation](https://agentskills.io/skill-creation/optimizing-descriptions),

[skill iteration](https://agentskills.io/skill-creation/best-practices), and

[Claude skill evaluation](https://code.claude.com/docs/en/skills#evaluate-and-iterate-on-a-skill),

[OpenAI skill routing](https://developers.openai.com/codex/skills/),

[OpenAI model guidance](https://developers.openai.com/api/docs/guides/latest-model),

and [Claude skill authoring](https://platform.claude.com/docs/en/agents-and-tools/agent-skills/best-practices).

Sources: [Kilted lifecycle event manager](https://github.com/ros2/launch_ros/blob/kilted/launch_ros/launch_ros/utilities/lifecycle_event_manager.py)

and [OpaqueCoroutine](https://docs.ros.org/en/ros2_packages/kilted/api/launch/launch.actions.opaque_coroutine.html).

Source: [Official ROS images](https://hub.docker.com/_/ros).

Source: [ROS 2 Humble QoS compatibility tables](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Quality-of-Service-Settings.html).

Source: [GitHub squash and merge](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/incorporating-changes-from-a-pull-request/about-pull-request-merges).

Sources: [Docker build drivers](https://docs.docker.com/build/builders/drivers/),

[Docker init process](https://docs.docker.com/reference/cli/docker/container/run/#init),

and [GNU timeout](https://www.gnu.org/software/coreutils/manual/html_node/timeout-invocation.html).

The network-isolated runtime still runs `ament_xmllint`. Generated `package.xml` files reference `http://download.ros.org/schema/package_format3.xsd`. A pristine

files reference `http://download.ros.org/schema/package_format3.xsd`. A pristine

Sources: [REP schema](https://github.com/ros-infrastructure/rep/blob/11ca24a41f31480dfb9562ba99f2a5b93d3ebda5/xsd/package_format3.xsd)

and [ament XML validation](https://github.com/ament/ament_lint/blob/rolling/ament_xmllint/ament_xmllint/main.py).

Primary references: [Agent Skills](https://agentskills.io/specification),

[authoring practices](https://agentskills.io/skill-creation/best-practices),

[Claude hook protocol](https://code.claude.com/docs/en/hooks), and

[OpenAI skill configuration](https://learn.chatgpt.com/docs/build-skills).

<svg xmlns="http://www.w3.org/2000/svg" width="1280" height="640" viewBox="0 0 1280 640" role="img" aria-labelledby="title desc">

<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 128 128" width="128" height="128" role="img" aria-labelledby="title">

"scope": "Only the named files and, when present, listed claims; not a full audit of all ROS references.",   "sources": [     {"id":"agent-skills","url":"https://agentskills.io/specification","reviewed_on":"2026-09-07","review_after":"2026-

"sources": [     {"id":"agent-skills","url":"https://agentskills.io/specification","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/SKILL_CONTRACT.md","scripts/validate_skill.py"]},     {"id":"skill-practices","url":"h

{"id":"agent-skills","url":"https://agentskills.io/specification","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/SKILL_CONTRACT.md","scripts/validate_skill.py"]},

{"id":"skill-practices","url":"https://agentskills.io/skill-creation/best-practices","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/EVIDENCE_CAPTURE.md","SKILL.md","docs/CONTEXT_BUDGET.md"]},

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{"id":"claude-skills","url":"https://code.claude.com/docs/en/skills","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/CLIENT_COMPATIBILITY.md"]},

{"id":"claude-hooks","url":"https://code.claude.com/docs/en/hooks","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/SKILL_CONTRACT.md","scripts/claude_hook.py"]},

{"id":"codex-skills","url":"https://learn.chatgpt.com/docs/build-skills","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/CLIENT_COMPATIBILITY.md","agents/openai.yaml"]},

{"id":"cursor-skills","url":"https://cursor.com/docs/skills","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/CLIENT_COMPATIBILITY.md"]},

{"id":"gemini-skills","url":"https://geminicli.com/docs/cli/skills/","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/CLIENT_COMPATIBILITY.md"]},

{"id":"ros-qos","url":"https://docs.ros.org/en/humble/Concepts/Intermediate/About-Quality-of-Service-Settings.html","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/QOS_CASE_STUDY.md"]},

{"id":"codex-app-server","url":"https://learn.chatgpt.com/docs/app-server","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/CLIENT_COMPATIBILITY.md"]},

{"id":"gemini-list-source","url":"https://github.com/google-gemini/gemini-cli/blob/v0.58.0/packages/cli/src/commands/skills/list.ts","reviewed_on":"2026-09-07","review_after":"2026-12-06","covers":["docs/CLIENT_COMPATIBILITY.md"]},

{"id":"humble-imu-covariance","url":"https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Imu.msg","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/message-types.md"],"claims":["All-zero IMU cova

{"id":"humble-pose-covariance","url":"https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/PoseWithCovariance.msg","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/message-types.md"],"claims":[

{"id":"humble-quaternion-default","url":"https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/Quaternion.msg","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/message-types.md"],"claims":["The 

{"id":"foxy-quaternion-default","url":"https://github.com/ros2/common_interfaces/blob/foxy/geometry_msgs/msg/Quaternion.msg","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/message-types.md"],"claims":["The Foxy

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{"id":"rep-117-distance-values","url":"https://github.com/ros-infrastructure/rep/blob/master/rep-0117.rst","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/message-types.md"],"claims":["Distance sensors use negat

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{"id":"jazzy-sros2-enclave","url":"https://github.com/ros2/sros2/blob/jazzy/sros2/sros2/keystore/_enclave.py","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/security.md"],"claims":["create_enclave preserves an 

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{"id":"jazzy-rcl-security","url":"https://github.com/ros2/rcl/blob/jazzy/rcl/src/rcl/security.c","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/security.md","references/safety-estop.md","references/deployment.m

{"id":"humble-domain-id","url":"https://github.com/ros2/ros2_documentation/blob/humble/source/Concepts/Intermediate/About-Domain-ID.rst","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/security.md"],"claims":["T

{"id":"python-quaternion-product","url":"https://github.com/DLu/tf_transformations/blob/main/tf_transformations/__init__.py","reviewed_on":"2026-09-10","review_after":"2026-12-09","covers":["references/message-types.md"],"claims":["quaterni

{"id":"ros2-launch-migration-rolling","url":"https://github.com/ros2/ros2_documentation/blob/rolling/source/Migration-and-Upgrades/Migrating-from-ROS1/Migrating-Launch-Files.rst","reviewed_on":"2026-09-30","review_after":"2026-12-29","cover

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{"id":"rosbag2-writer-close","url":"https://github.com/ros2/rosbag2/blob/humble/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp","reviewed_on":"2026-09-30","review_after":"2026-12-29","covers":["references/debugging.md"],"claims":

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#!/usr/bin/env python3

[Credential-related source omitted]

Executable file

#!/usr/bin/env bash

# The rm -rf below would otherwise delete a mistyped parent such as

rm -rf -- "$TARGET"

<!-- cyclonedds.xml --> <?xml version="1.0" encoding="UTF-8"?> <CycloneDDS xmlns="https://cdds.io/config">

<?xml version="1.0" encoding="UTF-8"?> <CycloneDDS xmlns="https://cdds.io/config">   <Domain>

<CycloneDDS xmlns="https://cdds.io/config">

sudo apt install ros-jazzy-rmw-zenoh-cpp

sudo sysctl -w net.core.rmem_max=67108864        # 64 MB receive buffer

sudo sysctl -w net.core.rmem_default=67108864

sudo sysctl -w net.core.wmem_max=67108864         # 64 MB send buffer

sudo sysctl -w net.core.wmem_default=67108864

sudo sysctl -w net.ipv4.ipfrag_time=3             # Default 30s is too long

sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728  # 128 MB fragment buffer

<!-- cyclonedds_shm.xml — legacy iceoryx-plugin generation (CycloneDDS      0.10.x era) ONLY; PSMX-based releases configure this differently --> <CycloneDDS xmlns="https://cdds.io/config">

0.10.x era) ONLY; PSMX-based releases configure this differently --> <CycloneDDS xmlns="https://cdds.io/config">   <Domain>

<CycloneDDS xmlns="https://cdds.io/config">

<!-- FastDDS: Override QoS for specific topics via XML profile --> <?xml version="1.0" encoding="UTF-8"?> <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<?xml version="1.0" encoding="UTF-8"?> <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">   <profiles>

<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

sudo apt install ros-jazzy-ros2trace ros-jazzy-tracetools-analysis

sudo apt install lttng-tools babeltrace2

sudo usermod -aG tracing $USER

Source: [SequentialWriter::close writes the metadata](https://github.com/ros2/rosbag2/blob/humble/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp).

sudo apt install ros-jazzy-foxglove-bridge

sudo apt install ros-jazzy-foxglove-bridge ros2 launch foxglove_bridge foxglove_bridge_launch.xml # Open https://app.foxglove.dev and connect to ws://localhost:8765

# Open https://app.foxglove.dev and connect to ws://localhost:8765

echo '/tmp/core.%e.%p' | sudo tee /proc/sys/kernel/core_pattern

sudo ufw allow 7400:7500/udp   # DDS discovery range

sudo ufw allow 7400:7500/tcp

RUN apt-get update && apt-get install -y --no-install-recommends      python3-colcon-common-extensions      python3-rosdep      && rm -rf /var/lib/apt/lists/*

&& rm -rf /var/lib/apt/lists/*

RUN apt-get update &&      rosdep update &&      rosdep install --from-paths /tmp/src --ignore-src -y      --skip-keys "ament_cmake ament_lint_auto" &&      rm -rf /tmp/src /var/lib/apt/lists/*

rm -rf /tmp/src /var/lib/apt/lists/*

<!-- cyclonedds_docker.xml — unicast for Docker bridge network --> <CycloneDDS xmlns="https://cdds.io/config">

<CycloneDDS xmlns="https://cdds.io/config">

sudo apt install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu

sudo apt install ros-jazzy-ros-base  # No desktop on headless Pi

sudo systemctl enable ros2-robot

sudo systemctl start ros2-robot

sudo systemctl status ros2-robot

sudo journalctl -u ros2-robot -f

sudo systemctl restart ros2-robot

> **Staleness warning:** The table below was last verified on **2026-07-15**. > If the current date is more than 6 months past that, re-verify EOL dates and > feature support against https://docs.ros.org/en/rolling/Releases.html before

> If the current date is more than 6 months past that, re-verify EOL dates and > feature support against https://docs.ros.org/en/rolling/Releases.html before > relying on this table. When you update it, change both `LAST_UPDATED` and

> feature support against https://docs.ros.org/en/rolling/Releases.html before

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">

| Permission denied on serial port | User not in dialout group | `sudo usermod -aG dialout $USER`, re-login |

**Technical sources:** [Rolling migration guide](https://github.com/ros2/ros2_documentation/blob/rolling/source/Migration-and-Upgrades/Migrating-from-ROS1/Migrating-Launch-Files.rst),

[Humble migration guide](https://docs.ros.org/en/humble/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.html),

[Jazzy launch format guide](https://docs.ros.org/en/jazzy/How-To-Guides/Launch-file-different-formats.html),

[roslaunch XML design](https://design.ros2.org/articles/roslaunch_xml.html),

[ros2launch options](https://github.com/ros2/launch_ros/blob/humble/ros2launch/ros2launch/command/launch.py).

| `PythonExpression(['expr'])` | `$(eval 'expr')` | Evaluate a Python expression when no dedicated substitution exists or would be less clear |

**Technical sources:** [OnProcessExit](https://github.com/ros2/launch/blob/humble/launch/launch/event_handlers/on_process_exit.py),

[boolean substitutions](https://github.com/ros2/launch/blob/humble/launch/launch/substitutions/boolean_substitution.py).

**Technical sources:** [launch_xml sources](https://github.com/ros2/launch/blob/humble/launch_xml/launch_xml/launch_description_sources/__init__.py),

[launch_yaml sources](https://github.com/ros2/launch/blob/humble/launch_yaml/launch_yaml/launch_description_sources/__init__.py),

[AnyLaunchDescriptionSource](https://github.com/ros2/launch/blob/humble/launch/launch/launch_description_sources/any_launch_description_source.py).

**Technical sources:** [controller manager spawner options](https://github.com/ros-controls/ros2_control/blob/humble/controller_manager/doc/userdoc.rst).

Sources: [TimerAction](https://github.com/ros2/launch/blob/3.4.11/launch/launch/actions/timer_action.py),

[controller manager spawner options](https://github.com/ros-controls/ros2_control/blob/jazzy/controller_manager/doc/userdoc.rst).

Sources: [Python asyncio SIGINT behavior](https://docs.python.org/3.12/library/asyncio-runner.html#handling-keyboard-interruption),

[ROS launch 3.4.11 signal management](https://github.com/ros2/launch/blob/3.4.11/launch/launch/utilities/signal_management.py),

[LaunchService.run](https://github.com/ros2/launch/blob/3.4.11/launch/launch/launch_service.py).

Lifecycle (managed) nodes follow the ROS 2 managed node state machine defined in the [Managed Nodes design article](https://design.ros2.org/articles/node_lifecycle.html).

in the [Managed Nodes design article](https://design.ros2.org/articles/node_lifecycle.html).

[`rclcpp::TimerBase::cancel()` can throw](https://github.com/ros2/rclcpp/blob/jazzy/rclcpp/include/rclcpp/timer.hpp).

Install: `sudo apt install ros-jazzy-moveit-task-constructor-core`

Install: `sudo apt install ros-jazzy-pick-ik`

Source: [REP-117 informational distance measurements](https://github.com/ros-infrastructure/rep/blob/master/rep-0117.rst).

Source: [Humble Image definition](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg).

Source: [Humble CameraInfo definition](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/CameraInfo.msg).

Sources: [Humble Imu definition](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Imu.msg)

and [Humble PoseWithCovariance definition](https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/PoseWithCovariance.msg).

Source: [REP-118 depth images](https://github.com/ros-infrastructure/rep/blob/master/rep-0118.rst).

Sources: [Humble Quaternion definition](https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/Quaternion.msg)

and [tf_transformations implementation](https://github.com/DLu/tf_transformations/blob/main/tf_transformations/__init__.py).

mkdir -p ~/microros_ws/src cd ~/microros_ws/src git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git

cd ~/microros_ws/src git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git cd ~/microros_ws

git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git

sudo apt install ros-jazzy-micro-ros-agent   # or ros-humble-micro-ros-agent

sudo usermod -a -G dialout $USER   # log out/in after this

sudo apt install ros-humble-ros1-bridge

RUN apt-get update && apt-get install -y      ros-noetic-ros-base &&      rm -rf /var/lib/apt/lists/*

rm -rf /var/lib/apt/lists/*

rm -rf /var/lib/apt/lists/* # Build Humble and ros1_bridge from source in this container # See: https://github.com/ros2/ros1_bridge for detailed build instructions

# See: https://github.com/ros2/ros1_bridge for detailed build instructions

Source: [Humble migration guide](https://docs.ros.org/en/humble/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.html),

[Rolling migration guide](https://github.com/ros2/ros2_documentation/blob/rolling/source/Migration-and-Upgrades/Migrating-from-ROS1/Migrating-Launch-Files.rst).

sudo apt install ros-jazzy-rmf-fleet-adapter ros-jazzy-rmf-traffic-ros2

sudo apt install ros-humble-rmf-fleet-adapter ros-humble-rmf-traffic-ros2

sudo apt install ros-humble-free-fleet ros-humble-free-fleet-client-ros2  # may need source build on Jazzy

sudo apt install ros-jazzy-multirobot-map-merge  # check availability per distro

<!-- fastdds_client_profile.xml --> <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

sudo apt install chrony

sudo systemctl restart chrony

sudo apt install linuxptp

sudo ptp4l -i eth0 -s -m        # run as PTP slave

sudo phc2sys -s /dev/ptp0 -w -m # sync system clock to PTP hardware clock

sudo apt install ros-jazzy-robot-localization ros-jazzy-nav2-waypoint-follower

sudo apt install ros-jazzy-realsense2-camera

sudo apt install ros-jazzy-apriltag-ros

sudo apt install linux-image-rt-generic

# On Ubuntu Pro, use `sudo pro enable realtime-kernel` instead.

sudo groupadd -f realtime

sudo usermod -aG realtime $USER

sudo update-grub && sudo reboot

<!-- cyclonedds_rt.xml --> <CycloneDDS xmlns="https://cdds.io/config">

<CycloneDDS xmlns="https://cdds.io/config">

sudo apt install rt-tests

sudo cyclictest -t1 -p 80 -n -i 1000 -l 10000 -a 2

hardware — not sourced measurements. For continuously published, per-system cyclictest data (with the exact command and measurement duration per plot), see the [OSADL QA Farm](https://www.osadl.org/Continuous-latency-monitoring.qa-farm-moni

cyclictest data (with the exact command and measurement duration per plot), see the [OSADL QA Farm](https://www.osadl.org/Continuous-latency-monitoring.qa-farm-monitoring.0.html); for histogram interpretation, the

see the [OSADL QA Farm](https://www.osadl.org/Continuous-latency-monitoring.qa-farm-monitoring.0.html);

for histogram interpretation, the [Linux Foundation cyclictest guide](https://wiki.linuxfoundation.org/realtime/documentation/howto/tools/cyclictest/start). Your numbers **will differ** based on CPU, kernel version, BIOS settings, and

[Linux Foundation cyclictest guide](https://wiki.linuxfoundation.org/realtime/documentation/howto/tools/cyclictest/start).

sudo cyclictest -m -S -p 90 -i 1000 -h 20000 -D 10m -q > histogram.txt

sudo cpupower frequency-set -g performance

echo 1 | sudo tee /sys/devices/system/cpu/intel_pstate/no_turbo

echo 0 | sudo tee /sys/devices/system/cpu/cpufreq/boost

echo 0 | sudo tee "$irq" 2>/dev/null || true

History semantics: [DDS reliability and history](https://fast-dds.docs.eprosima.com/en/v2.14.5/fastdds/dds_layer/core/policy/standardQosPolicies.html#historyqospolicy).

sudo apt install ros-${ROS_DISTRO}-twist-mux

starting points, not measured stopping limits. Check the installed mux's message type and output topic; `Twist` and `TwistStamped` options vary by package version. See [twist_mux masking and callbacks](https://github.com/ros-teleop/twist_mu

See [twist_mux masking and callbacks](https://github.com/ros-teleop/twist_mux/blob/rolling/include/twist_mux/topic_handle.hpp).

of physical stopping; confirm what the hardware writes and observe the response. See `references/hardware-interface.md` for driver cleanup, and the [controller-manager interface](https://control.ros.org/jazzy/doc/ros2_control/controller_man

See `references/hardware-interface.md` for driver cleanup, and the [controller-manager interface](https://control.ros.org/jazzy/doc/ros2_control/controller_manager/doc/userdoc.html) for switching and fallback limitations. Process cleanup on

[controller-manager interface](https://control.ros.org/jazzy/doc/ros2_control/controller_manager/doc/userdoc.html)

permissions with `ros2 security create_permission`, see security.md §2) --> <policy version="0.2.0"         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">

<policy version="0.2.0"         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">   <enclaves>

xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">   <enclaves>     <!-- Supervisor owns permits and requests gate reset. -->

and authorized start/source-generation interfaces; then generate and verify the effective DDS grants. It is not a complete policy for unspecified nodes. Service policy syntax: [SROS2 client/server example](https://github.com/ros2/sros2/blob

Service policy syntax: [SROS2 client/server example](https://github.com/ros2/sros2/blob/jazzy/sros2/test/policies/add_two_ints.policy.xml).

Local rejection is expected when [rcl security directory discovery](https://github.com/ros2/rcl/blob/jazzy/rcl/src/rcl/security.c)

fails under Enforce: [rcl_init](https://github.com/ros2/rcl/blob/jazzy/rcl/src/rcl/init.c)

DDS authentication uses the PKI-DH plugin with participant certificates; see the [ROS 2 DDS-Security design](https://design.ros2.org/articles/ros2_dds_security.html).

[ROS 2 DDS-Security design](https://design.ros2.org/articles/ros2_dds_security.html).

The usable range is further constrained by platform ephemeral-port settings. See the [ROS 2 Domain ID guidance](https://github.com/ros2/ros2_documentation/blob/humble/source/Concepts/Intermediate/About-Domain-ID.rst).

See the [ROS 2 Domain ID guidance](https://github.com/ros2/ros2_documentation/blob/humble/source/Concepts/Intermediate/About-Domain-ID.rst).

sudo apt install ros-${ROS_DISTRO}-sros2

deployment policy: inspect the installed version and rotate on a shorter, explicit production schedule. See the [SROS2 certificate builder](https://github.com/ros2/sros2/blob/jazzy/sros2/sros2/_utilities.py).

[SROS2 certificate builder](https://github.com/ros2/sros2/blob/jazzy/sros2/sros2/_utilities.py).

trap 'rm -rf -- "$STAGING"' EXIT

rm -f -- "$staged/cert.pem" "$staged/key.pem"

ssh "robot@${robot}" 'sudo systemctl restart ros2-robot'

operation and requires an overlap plan for every participant. The source behavior is defined in the [SROS2 enclave implementation](https://github.com/ros2/sros2/blob/jazzy/sros2/sros2/keystore/_enclave.py).

[SROS2 enclave implementation](https://github.com/ros2/sros2/blob/jazzy/sros2/sros2/keystore/_enclave.py).

<?xml version="1.0" encoding="UTF-8"?> <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

xsi:noNamespaceSchemaLocation="http://www.omg.org/spec/DDS-SECURITY/20170901/omg_shared_ca_governance.xsd">

<?xml version="1.0" encoding="UTF-8"?> <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

xsi:noNamespaceSchemaLocation="http://www.omg.org/spec/DDS-SECURITY/20170901/omg_shared_ca_permissions.xsd">

RUN apt-get update && apt-get install -y --no-install-recommends      ros-jazzy-ros-base      ros-jazzy-rmw-cyclonedds-cpp      && rm -rf /var/lib/apt/lists/*

&& rm -rf /var/lib/apt/lists/*

sudo add-apt-repository ppa:random-user/ros-packages

# CORRECT — use only the official OSRF repositories sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \

[Credential-related source omitted]

[Credential-related source omitted]

[Credential-related source omitted]

[Credential-related source omitted]

# Tailscale: install on each robot, assigns 100.x.y.z addresses curl -fsSL https://tailscale.com/install.sh | sh

curl -fsSL https://tailscale.com/install.sh | sh

curl -fsSL https://tailscale.com/install.sh | sh

sudo tailscale up --hostname=robot-001

when security artifacts are unavailable; it is not a log-only mode for access control violations. Valid secured participants remain subject to DDS permissions. See the [rcl security initialization path](https://github.com/ros2/rcl/blob/jazz

See the [rcl security initialization path](https://github.com/ros2/rcl/blob/jazzy/rcl/src/rcl/security.c).

sudo apt install ros-${ROS_DISTRO}-usb-cam

sudo ip addr add 192.168.1.10/24 dev eth1

sudo tcpdump -i eth1 udp port 2368 -c 3   # packets actually arriving?

sudo apt install chrony

sudo apt install linuxptp

sudo ptp4l -i eth1 -m &               # gPTP profile for Ouster: add -f /etc/linuxptp/gPTP.cfg

sudo phc2sys -c eth1 -s CLOCK_REALTIME -O 0 -m &   # push system time into the NIC's PHC

sudo apt install gz-harmonic  # DO NOT do this on Humble

sudo apt install ros-humble-ros-gz    # Humble

sudo apt install ros-jazzy-ros-gz     # Jazzy

sudo chmod 666 /dev/ttyUSB0    # in some startup script

sudo usermod -aG dialout robot_user   # serial devices

sudo usermod -aG video robot_user     # cameras

sudo udevadm control --reload-rules

sudo udevadm trigger --subsystem-match=tty --subsystem-match=video4linux

sudo cp "$(ros2 pkg prefix my_robot_bringup)/share/my_robot_bringup/udev/99-my-robot.rules" \

/etc/udev/rules.d/ && sudo udevadm control --reload-rules && sudo udevadm trigger

sudo systemctl enable systemd-networkd-wait-online.service   # networkd systems

sudo systemctl enable NetworkManager-wait-online.service     # NetworkManager (desktop Ubuntu)

sudo systemctl enable systemd-time-wait-sync.service         # with systemd-timesyncd

sudo systemctl edit ros2-base.service

sudo apt install ros-${ROS_DISTRO}-diagnostic-aggregator

<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">

# Install mixin repo colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd"

<?xml-model href="http://download.ros.org/schema/package_format3.xsd"

schematypens="http://www.w3.org/2001/XMLSchema"?>

- `<depend>` = build + exec (most common, use by default)

sudo apt install ccache

sudo apt install ros-jazzy-performance-test

sudo apt install ros-jazzy-ros2trace ros-jazzy-tracetools-launch

echo "yaml file://$(pwd)/rosdep.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/50-custom.list

my_robot_driver:     type: git     url: https://github.com/org/my_robot_driver.git

type: git     url: https://github.com/org/my_robot_driver.git     version: jazzy

url: https://github.com/org/my_robot_driver.git

my_robot_interfaces:     type: git     url: https://github.com/org/my_robot_interfaces.git

type: git     url: https://github.com/org/my_robot_interfaces.git     version: jazzy

url: https://github.com/org/my_robot_interfaces.git

#!/usr/bin/env python3

[Credential-related source omitted]

[Credential-related source omitted]

#!/usr/bin/env python3

[Credential-related source omitted]

[Credential-related source omitted]

[Credential-related source omitted]

#!/usr/bin/env python3

# You may obtain a copy of the License at # #     http://www.apache.org/licenses/LICENSE-2.0

# #     http://www.apache.org/licenses/LICENSE-2.0 #

#     http://www.apache.org/licenses/LICENSE-2.0

// You may obtain a copy of the License at // //     http://www.apache.org/licenses/LICENSE-2.0

// //     http://www.apache.org/licenses/LICENSE-2.0 //

//     http://www.apache.org/licenses/LICENSE-2.0

_write(pkg / "config" / f"{name}.ros2_control.xacro", f"""<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

_write(dest / name / "security" / "governance.xml", """<?xml version="1.0" encoding="UTF-8"?> <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

_write(pkg / "package.xml", f"""<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd"

<?xml-model href="http://download.ros.org/schema/package_format3.xsd"

schematypens="http://www.w3.org/2001/XMLSchema"?>

#!/usr/bin/env python3

print(f'Error: eval "{eval_name}" not found', file=sys.stderr)

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

[Credential-related source omitted]

[Credential-related source omitted]

[Credential-related source omitted]

[Credential-related source omitted]

#!/usr/bin/env python3

intended to catch obvious accidents like a literal ``rm -rf /``. They are

*not* a security boundary. Variable expansion (``rm -rf $X``), command

substitution (``rm -rf $(echo /)``), aliasing, here-docs, and minor

[Credential-related source omitted]

[Credential-related source omitted]

# accidental literal commands like `rm -rf /`, not to defend against an

#                wrappers (`sudo -u root`, `env A=1`, `xargs`, `timeout 5`).

# or a shell separator, so compound commands (`rm -rf /; echo done`,

# `rm -rf / && true`) are still caught, while longer paths under the

# same root (`rm -rf /var/lib/apt/lists/*`) are not.

'message': 'Refusing to remove root filesystem (rm -rf /)',

'message': 'Refusing to remove all files from root (rm -rf /*)',

'message': 'Refusing to recursively chmod 777 on root filesystem',

[Credential-related source omitted]

[Credential-related source omitted]

#!/usr/bin/env python3

#!/usr/bin/env python3

RUN apt-get update \     && apt-get install -y --no-install-recommends python3-pytest python3-pip \        git ca-certificates build-essential cmake curl libxml2-utils \

&& apt-get install -y --no-install-recommends python3-pytest python3-pip \        git ca-certificates build-essential cmake curl libxml2-utils \        python3-vcstool python3-yaml \

git ca-certificates build-essential cmake curl libxml2-utils \

&& rm -rf /var/lib/apt/lists/*

RUN set -e; \     for file in package_format3.xsd package_common.xsd; do \       curl --fail --location --proto '=https' --proto-redir '=https' \

for file in package_format3.xsd package_common.xsd; do \       curl --fail --location --proto '=https' --proto-redir '=https' \         --max-time 60 --retry 2 \

curl --fail --location --proto '=https' --proto-redir '=https' \

"https://raw.githubusercontent.com/ros-infrastructure/rep/11ca24a41f31480dfb9562ba99f2a5b93d3ebda5/xsd/$file" \

cd /tmp/overlay_ws; \       echo "[overlay] fetching ros2.repos"; \       curl -fsSL https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos -o ros2.repos; \

echo "[overlay] fetching ros2.repos"; \       curl -fsSL https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos -o ros2.repos; \       python3 -c "import yaml; \

curl -fsSL https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos -o ros2.repos; \

vcs import src < rosidl.repos; \       echo "[overlay] cloning ros-controls repos"; \       git clone --quiet --depth=1 https://github.com/ros-controls/ros2_control_cmake.git src/ros2_control_cmake; \

echo "[overlay] cloning ros-controls repos"; \       git clone --quiet --depth=1 https://github.com/ros-controls/ros2_control_cmake.git src/ros2_control_cmake; \       git clone --quiet --depth=1 https://github.com/ros-controls/control_msgs

git clone --quiet --depth=1 https://github.com/ros-controls/ros2_control_cmake.git src/ros2_control_cmake; \

git clone --quiet --depth=1 https://github.com/ros-controls/control_msgs.git src/control_msgs; \

git clone --quiet --depth=1 https://github.com/ros-controls/ros2_control.git src/ros2_control; \

rm -f /tmp/colcon.log; \

cd / && rm -rf /tmp/overlay_ws; \

cd / && rm -rf /tmp/fp_check; \

RUN apt-get update \     && apt-get install -y --no-install-recommends \        build-essential cmake git curl ca-certificates libxml2-utils \

&& apt-get install -y --no-install-recommends \        build-essential cmake git curl ca-certificates libxml2-utils \        python3-pip python3-venv python3-colcon-common-extensions python3-yaml \

build-essential cmake git curl ca-certificates libxml2-utils \

&& rm -rf /var/lib/apt/lists/* /root/.cache

RUN set -e; \     for file in package_format3.xsd package_common.xsd; do \       curl --fail --location --proto '=https' --proto-redir '=https' \

for file in package_format3.xsd package_common.xsd; do \       curl --fail --location --proto '=https' --proto-redir '=https' \         --max-time 60 --retry 2 \

curl --fail --location --proto '=https' --proto-redir '=https' \

"https://raw.githubusercontent.com/ros-infrastructure/rep/11ca24a41f31480dfb9562ba99f2a5b93d3ebda5/xsd/$file" \

Executable file

Executable file

#!/usr/bin/env python3

[Credential-related source omitted]

[Credential-related source omitted]

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

#!/usr/bin/env python3

exec(compile(source, str(ROOT / 'references/lifecycle-components.md'), 'exec'), namespace)

#!/usr/bin/env python3

SCHEMA_URI = 'http://download.ros.org/schema/package_format3.xsd'

VALID = f'''<?xml version="1.0"?> <?xml-model href="{SCHEMA_URI}" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3">

<?xml-model href="{SCHEMA_URI}" schematypens="http://www.w3.org/2001/XMLSchema"?>

#!/usr/bin/env bash

#!/usr/bin/env bash

timeout -k 2s 10s docker rm -f "$container" >> "$out/diagnostics.log" 2>&1 || true

timeout -k 2s 15s docker buildx rm "$builder" >> "$out/diagnostics.log" 2>&1 || true

timeout -k 2s 10s docker image rm "$tag" >> "$out/diagnostics.log" 2>&1 || true

<?xml version="1.0" encoding="UTF-8"?> <catalog xmlns="urn:oasis:names:tc:entity:xmlns:xml:catalog">   <uri name="http://download.ros.org/schema/package_format3.xsd" uri="package_format3.xsd"/>

<catalog xmlns="urn:oasis:names:tc:entity:xmlns:xml:catalog">   <uri name="http://download.ros.org/schema/package_format3.xsd" uri="package_format3.xsd"/>   <uri name="https://download.ros.org/schema/package_format3.xsd" uri="package_format

<uri name="http://download.ros.org/schema/package_format3.xsd" uri="package_format3.xsd"/>

<uri name="https://download.ros.org/schema/package_format3.xsd" uri="package_format3.xsd"/>

<system systemId="http://download.ros.org/schema/package_format3.xsd" uri="package_format3.xsd"/>

<system systemId="https://download.ros.org/schema/package_format3.xsd" uri="package_format3.xsd"/>

#!/usr/bin/env python3

#!/usr/bin/env bash

Executable file

Executable file

Executable file

Executable file

Executable file

Executable file

Executable file

Executable file

exec(compile(blocks[0], 'artifact-lineage.md:counterexample', 'exec'), namespace)

Executable file

'sudo cyclictest'):

remove = 'rm -f -- "$staged/cert.pem" "$staged/key.pem"'

[Credential-related source omitted]

Executable file

Executable file

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exec(compile(ast.Module(body=[handler], type_ignores=[]), '<startup-observer>', 'exec'), namespace)

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exec(_LIFECYCLE_ACTIVATION, namespace)

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exec(compile(ast.parse(block), 'documented-normalization-example', 'exec'), namespace)

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('Bash', {'command': 'rm -rf /'}, 'blocked'),

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''', encoding='utf-8')     save(root / 'docs/sources.json', {'sources': [{         'id': 'spec', 'url': 'https://agentskills.io/specification',

save(root / 'docs/sources.json', {'sources': [{         'id': 'spec', 'url': 'https://agentskills.io/specification',         'reviewed_on': '2026-09-07', 'review_after': '2026-12-06',

'id': 'spec', 'url': 'https://agentskills.io/specification',

@pytest.mark.parametrize('field,value', [('review_after', '2026-09-06'),                                          ('reviewed_on', '2026-09-08'), ('reviewed_on', 'bad'),                                          ('id', ''), ('url', 'http://ex

('reviewed_on', '2026-09-08'), ('reviewed_on', 'bad'),                                          ('id', ''), ('url', 'http://example.com'), ('covers', [])]) def test_bad_source_registry(bundle, field, value):

('id', ''), ('url', 'http://example.com'), ('covers', [])])

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# guard returning 1 prints its refusal and then lets `rm -rf /` run, so

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issues = _check_dangerous_commands('rm -rf /')

issues = _check_dangerous_commands('rm -rf /*')

issues = _check_dangerous_commands('rm -rf /opt/ros')

issues = _check_dangerous_commands(f'rm -rf {d}')

assert len(issues) >= 1, f"Should detect rm -rf {d}"

issues = _check_dangerous_commands('rm -rf ~')

issues = _check_dangerous_commands('chmod -R 777 /')

for cmd in ['rm -rf /usr/', 'rm -rf /var/*']:

for cmd in ['rm -rf /; echo done', 'rm -rf / && true',

'rm -rf ~ && echo gone', 'rm -rf /etc; ls']:

for cmd in ['rm -rf /var/lib/apt/lists/*',

'rm -rf /var/tmp/build_cache',

'rm -rf /usr/local/share/mystuff']:

issues = _check_dangerous_commands('chmod -R 777 /home/user/my_ws')

issues = _check_dangerous_commands('chmod -R 777 / && echo done')

'rm -rf build/ install/ log/',

"printf '%s\\n' 'never run rm -rf / on the robot' >> NOTES.md",

"cat > SAFETY.md <<'EOF'\nDo not run rm -rf / or "

for cmd in ['sudo mkfs.ext4 /dev/sdb1',

'sudo -u root mkfs.vfat /dev/sdc1',

'FOO=1 env A=2 rm -rf /',

'nice -n 19 rm -rf /usr',

'echo y | sudo mkfs /dev/sdb',

"ssh robot 'sudo mkfs.ext4 /dev/mmcblk0p1'",

'bash -c "rm -rf / && echo gone"',

_check_dangerous_commands('sudo ' + '-a b ' * 20000 + 'true')

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result = self._run('Bash', 'rm -rf /')

"""Test via CLI that rm -rf / is blocked."""

tool_input = json.dumps({'command': 'rm -rf /'})

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'command': 'rm -rf /opt/ros',

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'command': 'rm -rf /opt/ros',

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'tool_input': {'command': 'rm -rf /'},

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'tool_input': {'command': 'rm -rf /'},

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f.write_bytes(b'\xff\xfe\x00\x01binary')

result = self._run('--command', 'rm -rf /')

'--command', 'rm -rf /')

reports on stdout, and README documents `--command 'rm -rf /'` as

same_command = 'rm -rf /'

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['--file', str(source), str(missing), '--command', 'rm -rf /', '--debug'])

{'tool_name': 'Bash', 'tool_input': {'command': 'rm -rf /'}})