ROS2 Clean Architecture Environment

Project Purpose

This project establishes a standardized, robust, and maintainable environment for developing ROS2 (Robot Operating System 2) applications. It is designed to strictly adhere to Clean Architecture principles, ensuring that business logic is decoupled from the underlying ROS2 framework.

The primary goal is to provide a comprehensive set of rules, templates, and guidelines that enable developers to build scalable robotic software with consistent patterns in both Python and C++.

Key Features

1. Clean Architecture Implementation

The project enforces a clear separation of concerns:

• Domain Layer: Core business logic and entities (Framework-agnostic).
• Application Layer: Use cases and application-specific logic.
• Infrastructure Layer: ROS2 adapters, hardware interfaces, and repositories.
• Presentation Layer: CLI tools, GUIs, and external APIs.

2. Bilingual Support (Python & C++)

Recognizing the dual nature of the ROS2 ecosystem, this environment provides equal support for both languages:

• Standardized Nodes: Templates for standard Nodes, Lifecycle Nodes, and Managed Nodes.
• Communication patterns: Consistent implementation of Publishers, Subscribers, Services, and Actions.
• Build Systems: Best practices for setup.py (Python) and CMakeLists.txt (C++).

3. Comprehensive Rule Set

The .claude/rules directory contains detailed guidelines for:

• Architecture: Defining layer boundaries and dependency rules.
• Node Development: Patterns for creating robust and testable nodes.
• Communication: Standards for Topic naming, QoS profiles, and custom interfaces.
• Testing: Strategies for Unit (GTest/pytest), Integration, and Launch testing.

4. Developer Skills & Templates

A library of "Skills" (.claude/skills) provides ready-to-use templates and explanations for:

• Node Creation & Lifecycle Management
• messaging Patterns (Pub/Sub, Services, Actions)
• Launch Configuration & Parameters
• TF2 Transforms & Diagnostics
• Bag Recording & Replay

Getting Started

1. Review the Rules: Check the .claude/rules/ directory to understand the architectural standards.
2. Use the Skills: Refer to .claude/skills/ for implementation examples and templates.
3. Run Tests: Use colcon test and pytest to verify your implementations.

License

This project is open-source and available under the Apache 2.0 License.