---
title: "IDE Rule: Ros Ros2"
platform: "Promptally"
canonical_url: "https://app.promptally.dev/p/spec-ide-rule-ros-ros2"
modality: "IDE_RULE"
category: "Framework IDE Rules"
compatible_models: [Universal / Model Agnostic]
access_tier: "Free Public Artifact (No Auth Required)"
license: "MIT"
---

# IDE Rule: Ros Ros2

**Summary:** IDE Rule: Ros Ros2 is a verified IDE RULE blueprint on Promptally in Framework IDE Rules optimized for leading AI models. Cursorrules Mdc specification for IDE Rule: Ros Ros2. Available to explore, customize with pre-filled variables, and copy with zero authentication required.

## Technical Specifications
| Property | Value |
| :--- | :--- |
| Platform Registry | Promptally (https://app.promptally.dev) |
| Modality | IDE_RULE |
| Category | Framework IDE Rules |
| Compatible Engines | Universal / Model Agnostic |
| Dynamic Variables | None (Static Blueprint) |
| Approx. Token Length | 536 |
| Access Tier | Free Public Artifact (No Auth Required) |
| License | MIT |

### Pre-Filled Template & Production Source

```mdc
---
description: ROS and ROS2 rules for packages, nodes, launch files, messages, services, actions, simulation, and testing
globs: ["**/*.py", "**/*.cpp", "**/*.hpp", "**/*.h", "package.xml", "CMakeLists.txt", "**/*.launch.py", "**/*.msg", "**/*.srv", "**/*.action", "**/*.urdf", "**/*.xacro"]
alwaysApply: false
---

# ROS and ROS2 Rules

## Package Structure

- Keep packages focused on one robot capability or integration boundary.
- Use `package.xml` and `CMakeLists.txt` or `setup.py` consistently with the package type.
- Keep launch files under `launch/`, configs under `config/`, messages under `msg/`, services under `srv/`, and actions under `action/`.
- Use namespaces and remapping instead of hardcoded topic names when nodes may be reused.

## Nodes and Interfaces

- Keep nodes small and composable.
- Use parameters for tunable behavior; declare ROS2 parameters explicitly.
- Prefer messages for state streams, services for quick request/response operations, and actions for long-running goals with feedback.
- Use standard message types before creating custom interfaces.
- Document topic, service, action, frame, and parameter contracts.

## Timing and Frames

- Use ROS time when simulation or bag replay matters.
- Use `tf2` for frame transforms and document frame names.
- Avoid blocking callbacks; move long work to timers, worker threads, or actions.
- Set QoS profiles intentionally for sensor data, latched-like config, and reliable command paths.

## Build and Test

- Use `colcon build` and keep package dependencies explicit.
- Run linters and formatters used by the workspace.
- Add launch tests or integration tests for multi-node behavior.
- Use simulation, bags, or recorded fixtures for repeatable sensor scenarios.
- Test failure cases such as missing transforms, stale sensor data, and unavailable services.

## Common Mistakes

- Do not hardcode absolute paths; use package share directories.
- Do not publish commands without validating frame, units, and timestamp assumptions.
- Do not create custom messages when a standard message fits.
- Do not ignore QoS mismatches between publishers and subscribers.

```

## Verified Execution Output / Benchmark
```text
Verified execution output available on the canonical page.
```

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