Ros2 microros

Skill Leehyunbin0131/claude-ros2-skills/skills/ros2-microros

Claude Code skills for ROS 2 Jazzy — establish the unknowns first, verify against the installed system, prove the result ran.

Install

npx -y skills add Leehyunbin0131/claude-ros2-skills --skill ros2-microros

Assembled from the repository path, not quoted from the project. Check it against their README if it does not work.

2 things to look at

14 days oldThe repository was created 14 days ago. New is not bad, but a brand new repository carrying a familiar-sounding name is the shape a typosquat arrives in, and there has been no time for anyone else to find a problem with it.
12 stars12 stars. Stars are a popularity signal and not a quality one, but at this level it is likely that nobody has read this closely except its author, and you would be relying on your own review.

What its author says it does

Copied from the file, not written here

micro-ROS: agent, rclc client API, micro_ros_setup, custom transports, static memory.

SKILL.md

3.1 KB, 788 tokens by cl100k_base, as published. Nobody here has run it

micro-ROS Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy)

1. Architecture

micro-ROS connects constrained MCUs (STM32, ESP32, FreeRTOS, Zephyr) to the ROS 2 DDS graph via micro_ros_agent + the rclc client library over Micro XRCE-DDS. Static memory pools (rmw_microxrcedds) give zero steady-state heap allocation when RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS=OFF.

2. Documentation Entry Points

For	Entry point
Tutorials, supported boards, transports	`https://micro.ros.org/`
Firmware build system (`micro_ros_setup`)	`https://github.com/micro-ROS/micro_ros_setup`
`rclc` executor / node API source	`https://github.com/ros2/rclc`

3. Key Concepts & Patterns

A. Embedded Client Node Setup (`rclc` in C)

#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/int32.h>

int main(void) {
  rcl_allocator_t allocator = rcl_get_default_allocator();
  rclc_support_t support = {0};
  rcl_node_t node = {0};
  rcl_publisher_t pub = {0};

  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "mcu_node", "", &support);
  rclc_publisher_init_default(&pub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "chatter");

  // Clean up
  rcl_publisher_fini(&pub, &node);
  rcl_node_fini(&node);
  rclc_support_fini(&support);
  return 0;
}

B. Micro-ROS Agent Execution

# Serial Transport (e.g. UART to USB)
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -b 115200

# UDP Transport
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

4. Symptom -> Root Cause -> Action

Symptom	Likely root cause	Action
MCU node vanishes from graph after MCU reset, agent still running	XRCE session not re-created; firmware assumes a one-time init	Add a reconnect state machine: `rmw_uros_ping_agent()` periodically, re-init entities on failure
`rclc_support_init` returns error on the MCU	Transport not reachable (wrong serial dev/baud, UDP port/IP)	Run the agent with `-v6` verbose and watch for session establishment; verify transport config in firmware
Publisher works but subscriber callback never fires	Executor never spun, or `rclc_executor_init` handle count smaller than the number of subscriptions/timers	Spin the executor in the main loop; count every subscription+timer+service in `num_handles`
Hard fault / crash when publishing string or sequence messages	Message memory not allocated — rclc doesn't auto-allocate unbounded fields	Allocate with `micro_ros_utilities_create_message_memory` or assign static buffers before publishing
Large messages never arrive	Payload exceeds XRCE-DDS stream/MTU buffer configured in the firmware	Increase the transport MTU/stream buffer in the colcon.meta / transport config, or shrink the message
Best-effort topics flood then stall on serial	Serial bandwidth saturated: publish rate x message size exceeds baud rate	Lower publish rate, raise baud rate, or switch to UDP transport