README.md

MyROS2

This is the repo for RnD ROS2 Humble and Testing for McGill Robotics

Table of Contents

• MyROS2
  • Table of Contents
  • Node Management
  • Graphical Tools
  • Topic Management
  • Service Management
  • Parameter Management
  • Action Management
  • Logging and Launching
  • Rosbridge with Webapp
  • Build Tools
  • Docker for Unity

Node Management

• List all nodes:

  ros2 node list

• Get information about a node:

  ros2 node info <node_name>

• Run a node from a package:

  ros2 run <package_name> <executable_name>

Graphical Tools

• View the ROS graph:

  rqt_graph

Topic Management

• Echo messages from a topic:

  ros2 topic echo <topic_name>

• Show interface of a message type:

  ros2 interface show <msg_type>

• Publish a message to a topic:

  ros2 topic pub <topic_name> <msg_type> '<arguments>'

• Check the publishing rate of a topic:

  ros2 topic hz <topic_name>

Service Management

• Get the type of a service:

  ros2 service type <service_name>

Parameter Management

• List all parameters:

  ros2 param list

• Set a parameter for a node:

  ros2 param set <node_name> <param_name> <value>

Action Management

• List all actions:

  ros2 action list

Logging and Launching

• Run the ROS console:

  ros2 run rqt_console rqt_console

• Publish a Twist message to control a turtle:

  ros2 topic pub -r 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

• Launch a ROS launch file (supports Python launch scripts):

  ros2 launch <launch_file>

• Record data to a bag file:

  ros2 bag record <topics>

Rosbridge with Webapp

• Run the rosbridge websocket server:

  ros2 run rosbridge_server rosbridge_websocket

• Launch the rosbridge websocket server:

  ros2 launch rosbridge_server rosbridge_websocket.launch

Build Tools

• Build packages with colcon:

  colcon build --symlink-install

• Create a new ROS package:

  ros2 pkg create <package_name>

Docker for Unity

• (Add relevant Docker commands for Unity here)