Reference: https://docs.ros.org/en/foxy/Tutorials.html

ROS2 RUN

ros2 run <package_name> <executable_name>

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

ros2 run turtlesim turtlesim_node --ros-args --remap __node:=my_turtle

ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml

ROS2 NODE

ros2 node list

ros2 node info <node_name>

ros2 node info /my_turtle

RQT

rqt
rqt_graph
ros2 run rqt_console rqt_console

ROS2 TOPIC

ros2 topic list
ros2 topic list -t

ros2 topic echo <topic_name>

ros2 topic echo /turtle1/cmd_vel

ros2 topic info <topic_name>

ros2 topic info /turtle1/cmd_vel

ros2 interface show <type_name>.msg

ros2 interface show geometry_msgs/msg/Twist

ros2 topic pub <topic_name> <msg_type> "args"

ros2 topic pub --once /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: 1.8}}"
ros2 topic pub --rate 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: 1.8}}"

ros2 topic hz <topic_name>

ros2 topic hz /turtle1/pose

ROS2 SERVICE

ros2 service list
ros2 service list -t

ros2 service type <service_name>

ros2 service type /clear

ros2 service find std_srvs/srv/Empty

ros2 interface show <type_name>.srv

ros2 interface show std_srvs/srv/Empty.srv

ros2 service call <service_name> <service_type> "args"

ros2 service call /clear std_srvs/srv/Empty
ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"

ROS2 PARAM

ros2 param get <node_name> <parameter_name>

ros2 param get /teleop_turtle scale_angular
ros2 param get /turtlesim background_g

ros2 param set <node_name> <parameter_name> "value"

ros2 param set /turtlesim background_r 150

ros2 param dump <node_name>

ros2 param dump /turtlesim

ROS2 ACTION

ros2 action list
ros2 action list -t

ros2 action info /turtle1/rotate_absolute

ros2 interface show turtlesim/action/RotateAbsolute.action

ros2 action send_goal <action_name> <action_type> "values"

ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: -1.57}" --feedback

ROS2 Launch

ros2 launch <launch_file_name>

ros2 launch turtlesim_mimic_launch.py

ros2 launch <package_name> <launch_file_name>

Dependency Check

rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"