Architecture Skill

This skill ensures all development follows the project architecture defined in docs/ARCHITECTURE.md.

Key Rules

1. •Always check docs/ARCHITECTURE.md before implementing new features
2. •Follow the package layer structure:
   • •驱动层 (Drivers): *_driver - agv_driver, arm_driver, hikvision_driver
   • •控制层 (Control): *_controller - arm_controller
   • •算法层 (Algo): *_detector, *_planner - pose_detector, path_planner, defect_detector
   • •协调层 (Coordination): task_coordinator
   • •基础设施: inspection_*
3. •Private members must use underscore prefix: _member_name
4. •Use relative topic names: ~/topic instead of absolute paths
5. •Namespace: /inspection/*

ROS Interface Standards

• •All topics under /inspection/* namespace
• •Use relative topics ~/topic inside nodes
• •Follow message definitions in inspection_interface

Package Structure

<package_name>/
├── include/<package>/     # Headers
├── src/                   # Source
├── config/                # YAML parameters
├── launch/                # Launch files
└── package.xml

Implementation Checklist

When implementing new features:

• • Check docs/ARCHITECTURE.md first
• • Follow layer hierarchy
• • Use underscore prefix for private members
• • Add unit tests for new logic
• • Update docs/ARCHITECTURE.md if interface changes