Ros2 Testing
Testing: launch_testing, gtest/pytest, rosbag2 C++/Python APIs, ros2trace profiling.
Ros2 Perception
Perception: image_transport, cv_bridge, vision_msgs, depth_image_proc, laser_geometry, pcl_ros.
Ros2 Troubleshooting
Troubleshooting: REP 103/105 ground-truth checks, TF/IMU/LiDAR misalignment, use_sim_time, lifecycle states, executor deadlocks, DDS domain conflicts.
Gazebo Sim
Gazebo Harmonic simulation: ros_gz_bridge, ros_gz_sim, SDF modeling, sensor & diff-drive plugins.
Ros2 Dev
Nav2 & SLAM: AMCL, costmaps, MPPI/DWB/Smac plugins, behavior trees, SLAM Toolbox, RTAB-Map, Isaac ROS VSLAM, docking.
Ros2 Core
ROS 2 Jazzy core: rclcpp/rclpy, TF2 transforms, odometry/EKF fusion, node parameters, launch, QoS.
Ros2 Control
ros2_control: controller manager, hardware interfaces, URDF ros2_control tags, controller spawners.
Ros2 Microros
micro-ROS: agent, rclc client API, micro_ros_setup, custom transports, static memory.
Ros2
Master router: directs any ROS 2 Jazzy task to the matching domain skill (core, Nav2, Gazebo, control, MoveIt, perception, testing, micro-ROS, security, troubleshooting).
Ros2 Security
SROS2: ros2 security CLI, PKI keystore, enclaves, access-control XML, DDS Security.
Ros2 Moveit
MoveIt 2: MoveGroup C++/Python API, IK solvers, OMPL planning, MoveIt Servo, SRDF.