ROS 2 Cheat Sheets
2024-12-14
Table of Contents
- ROS 2 Environment Configuration Cheat Sheet
- Commands and Explanations
- 1. Source the Setup Files
- 2. Add Sourcing to Shell Startup Script
- 3. Check Environment Variables
- 4. Set the ROS_DOMAIN_ID Variable
- 5. Set the ROS_AUTOMATIC_DISCOVERY_RANGE Variable
- Turtlesim and ROS2 Cheat Sheet
- 1. Install Turtlesim
- 2. Start Turtlesim
- 3. Control the Turtle
- 4. Install and Use RQT
- 5. Use RQT Service Caller
- 6. Spawn a New Turtle (Service Call)
- 7. Change Pen Settings (Service Call)
- 8. Remap Topics for Multiple Turtles
- 9. Stop Turtlesim
- Understanding Nodes in ROS 2 Cheat Sheet
- The ROS 2 Graph
- Nodes in ROS 2
- 1. ros2 run
- 2. ros2 node list
- 3. ros2 node info
- 3.1 Remapping Node Names and Topics
- ROS 2 Topic Commands Cheat Sheet
- Topics in ROS2
- 1. rqt_graph (Graphical Tool):
- 2. ros2 topic list:
- 3. ros2 topic echo:
- 4. ros2 topic info:
- 5. ros2 interface show:
- 6. ros2 topic pub:
- 7. ros2 topic hz:
- 8. ros2 topic bw:
- 9. ros2 topic find:
- ROS 2 Services Cheat Sheet
- Services in ROS2:
- 1. List Active Services:
- 2. Service Type:
- 3. Service Info:
- 4. Find Services by Type:
- 5. Show Service Interface:
- 6. Call a Service:
- 7. Echo Service Data:
- ROS 2 Parameters Cheat Sheet
- Parameters in ROS2:
- 1. ros2 param list
- 2. ros2 param get
- 3. ros2 param set
- 4. ros2 param dump
- 5. ros2 param load
- 6. Load Parameter File on Node Startup
- ROS 2 Actions Cheat Sheet
- Overview of Actions
- 1. ros2 node info
- 2. ros2 action list
- 3. ros2 action type
- 4. ros2 action info
- 5. ros2 interface show
- 6. ros2 action send_goal
- Using rqt_console to view logs
- 1. Setup
- 2. Messages on rqt_console
- 3. Set the Default Logger Level
- Recording and Playing Back Data in ROS 2
- Managing Topic Data
- 1. Setup
- 2. Choose a Topic
- 3. Record Topics
- 4. Inspect Topic Data
- 5. Play Topic Data
- Managing Service Data
- 1. Setup
- 2. Check Service Availability
- 3. Record Services
- 4. Inspect Service Data
- 5. Play Service Data