cmd.txt

Ros commands:
ros2 node list
ros2 node info
ros2 run packageName executableName
rqt_graph
ros2 topic echo topicName
ros2 interface show msgType
ros2 topic pub topicName msgType 'arguments'
ros2 topic hz topicName
ros2 service type serviceName
ros2 param list
ros2 param set nodeName paramName aValue
ros2 action list
ros2 run rqt_console rqt_console
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}}"
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}}"
ros2 launch //supports python launch script
ros2 bag //logging data bag_files is stored in the invoked directory

rosbridge with webapp:
ros2 run rosbridge_server rosbridge_websocket
ros2 launch rosbridge_server rosbridge_websocket.launch

Build tool:
colcon
colcon build --symlink-install
ros2 pkg create

Docker:
docker run -it --rm -p 10000:10000 foxy /bin/bash //delete immediately after use
docker run -it -p 10000:10000 --name my_foxy_container foxy /bin/bash
docker start -ai my_foxy_container

Unity:
ros2 run ros_tcp_endpoint default_server_endpoint