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ROS2 Shell Command Cheat Sheet

  • Initialize ROS2 Workspace source /opt/ros/<distro>/setup.bash

  • Create a New ROS2 Package ros2 pkg create <package_name> --build-type ament_cmake

  • Build the ROS2 Workspace (do this in the root of the repository) colcon build

  • Source the Workspace ./install/setup.bash

  • Run a Node ros2 run <package_name> <node_name>

  • List Available Nodes ros2 node list

  • Show Node Information ros2 node info <node_name>

  • List Topics ros2 topic list

  • Echo Topic Data ros2 topic echo <topic_name>

  • Publish to a Topic ros2 topic pub <topic_name> <message_type> "{data: <value>}"

  • List Services ros2 service list

  • Call a Service ros2 service call <service_name> <service_type> "{data: <value>}"

  • List Parameters ros2 param list

  • Get Parameter Value ros2 param get <node_name> <parameter_name>

  • Set Parameter Value ros2 param set <node_name> <parameter_name> <value>

  • Record Topics ros2 bag record <topic_name>

  • Play Recorded Bag File ros2 bag play <bag_file>

  • Launch a ROS2 Launch File ros2 launch <package_name> <launch_file># ROS2 Shell Command Cheat Sheet

  • Initialize ROS2 Workspace source /opt/ros/<distro>/setup.bash

  • Create a New ROS2 Package ros2 pkg create <package_name> --build- type ament_cmake

  • Build the ROS2 Workspace (do this in the root of the repository) colcon build

  • Source the Workspace ./install/setup.bash

  • Run a Node ros2 run <package_name> <node_name>

  • List Available Nodes ros2 node list

  • Show Node Information ros2 node info <node_name>

  • List Topics ros2 topic list

  • Echo Topic Data ros2 topic echo <topic_name>

  • Publish to a Topic ros2 topic pub <topic_name> <message_type> "{data: <value>}"

  • List Services ros2 service list

  • Call a Service ros2 service call <service_name> <service_type> "{data: <value>}"

  • List Parameters ros2 param list

  • Get Parameter Value ros2 param get <node_name> <parameter_name>

  • Set Parameter Value ros2 param set <node_name> <parameter_name> <value>

  • Record Topics ros2 bag record <topic_name>

  • Play Recorded Bag File ros2 bag play <bag_file>

  • Launch a ROS2 Launch File ros2 launch <package_name> <launch_file>