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cli_cheats_sheet
cli_cheats_sheet
cli_cheats_sheet
c 2019 Canonical
$ ros2 msg list $ ros2 pkg executables demo nodes cpp
$ ros2 msg package std msgs $ ros2 pkg list srv (deprecated) Various srv related verbs.
$ ros2 msg packages $ ros2 pkg prefix std msgs Verbs:
$ ros2 msg show geometry msgs/msg/Pose $ ros2 pkg xml -t version list Output a list of available service types.
package Output a list of available service types
multicast Various multicast related verbs. run Allows to run an executable in an arbitrary package within one package.
Verbs: without having to ‘cd’ there first. packages Output a list of packages which contain
receive Receive a single UDP multicast packet. Usage: services.
send Send a single UDP multicast packet. $ ros2 run <package> <executable> show Output the service definition.
node Displays debugging information about nodes. Example: test Run a ROS2 launch test.
Verbs: $ ros2 run demo node cpp talker
info Output information about a node. topic A tool for displaying debug information about ROS
list Output a list of available nodes. security Various security related verbs. topics, including publishers, subscribers, publishing rate,
Examples: Verbs: and messages.
$ ros2 node info /talker create key Create key. Verbs:
$ ros2 node list create permission Create keystore. bw Display bandwidth used by topic.
generate artifacts Create permission. delay Display delay of topic from timestamp in
list keys Distribute key. header.
param Allows to manipulate parameters.
create keystore Generate keys and permission echo Output messages of a given topic to screen.
Verbs:
delete Delete parameter. files from a list of identities and find Find topics of a given type type.
describe Show descriptive information about de- policy files. hz Display publishing rate of topic.
clared parameters. distribute key Generate XML policy file from info Output information about a given topic.
dump Dump the parameters of a given node in ROS graph data. list Output list of active topics.
yaml format, either in terminal or in a file. generate policy List keys. pub Publish data to a topic.
get Get parameter. Examples (see sros2 package): type Output topic’s type.
list Output a list of available parameters. $ ros2 security create key demo keys /talker Examples:
set Set parameter $ ros2 security create permission demo keys /talker \ $ ros2 topic bw /chatter
Examples: policies/sample policy.xml $ ros2 topic echo /chatter
$ ros2 param delete /talker /use sim time $ ros2 security generate artifacts $ ros2 topic find rcl interfaces/msg/Log
$ ros2 param get /talker /use sim time $ ros2 security create keystore demo keys $ ros2 topic hz /chatter
$ ros2 param list $ ros2 topic info /chatter
$ ros2 param set /talker /use sim time false service Allows to manually call a service and displays de- $ ros2 topic list
bugging information about services. $ ros2 topic pub /chatter std msgs/msg/String \
pkg Create a ros2 package or output package(s)-related Verbs: ’data: Hello ROS 2 world’
information. call Call a service. $ ros2 topic type /rosout
Verbs: find Output a list of services of a given type.
create Create a new ROS2 package. list Output a list of service names.
executables Output a list of package specific exe- type Output service’s type.
cutables. Examples:
list Output a list of available packages. $ ros2 service call /add two ints \
prefix Output the prefix path of a package. example interfaces/AddTwoInts ”a: 1, b: 2”
xml Output the information contained in $ ros2 service find rcl interfaces/srv/ListParameters
the package xml manifest. $ ros2 service list
Examples: $ ros2 service type /talker/describe parameters
c 2019 Canonical