16. ROS2 Common Command Tools

1. Package Management Tool ros2 pkg

1.1. ros2 pkg create

Function: Creates a package. When creating a package, you must specify the package name, compilation method, dependencies, etc.

Format:

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ros2 pkg create <package_name> --build-type <build-type> --dependencies <dependencies>

In the ros2 command:

• pkg: Indicates the functions associated with the package;
• create: Indicates the creation of a package;
• package_name: Required: The name of the new package;
• build-type: Required: Indicates whether the newly created package is C++ or Python. If using C++ or C, follow ament_cmake; if using Python, follow ament_python;
• dependencies: Optional: Indicates the package's dependencies. C++ packages must include rclcpp; Python packages must include rclpy, as well as other required dependencies.

1.2, ros2 pkg list

Function: View the list of packages in the system

Format:

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ros2 pkg list

1.3. ros2 pkg executables

Function: View all executable files in a package

Format:

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ros2 pkg executables pkg_name

2. Node Run ros2 run

Function: Run the node program in the package

Format:

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ros2 run pkg_name node_name

• pkg_name: Package name
• node_name: The name of the executable program

3. Node-Related Tools: ros2 node

3.1. ros2 node list

Function: Lists all node names in the current domain

Format:

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ros2 node list

3.2. ros2 node info

Function: View detailed node information, including subscriptions, published messages, enabled services, and actions.

Format:

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ros2 node info node_name

• node_name: The name of the node to be viewed.

4. Topic-Related Tools: ros2 topic

4.1. ros2 topic list

Function: List all topics in the current domain

Format:

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ros2 topic list
 ROS2 time related API
ROS2 rviz2 use