FreqUseCmd.txt

ros2 run <package_name> <executable_name> # launches an executable from a package
ros2 node list # view list of nodes

# reassign default node properties (node name, topic names, service names, etc.)
ros2 run <package_name> <executable_name> --ros-args --remap __node:=<new node name>

ros2 node info <node_name> # view node info

ros2 topic list # view list of topics
-t: show type of topics

rqt_graph # show ros graph
rqt # GUI tool to view & manipulate any running instances (view types/graph, publish msg...)

ros2 topic echo <topic_name> # print content of that topic
ros2 topic info <topic_name> # view topic info (msg type, subscribers, publishers...)

ros2 topic pub <topic_name> <msg_type> '<args>' # publish msg to a topic
<args>: using YAML format (Ex: {linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}})
--once: publish once then exist
--rate <#>: publish msg at <#>Hz

ros2 topic hz <topic_name> # show publishing rate of msg received at that topic

ros2 service type <service_name> # view type of service
ros2 service list # view list of services
-t: show type of service

ros2 service find <msg_service_type> # find services using their msg type

# call a service
ros2 service call <service_name> <msg_service_type> "<args>"
<args>: using YAML format

ros2 param list # view list of params
ros2 param get <node_name> <parameter_name> # view type of param
ros2 param set <node_name> <parameter_name> <value> # set value to param
ros2 param dump <node_name> # dump value of all params of node to file
ros2 param load <node_name> <parameter_file> # load params from file

# load parameter file on node startup
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

ros2 action list # view list of actions
-t: show type of action

ros2 action info <action_name> # view detail info of action

ros2 interface show <msg_type> # inspect structure of msg type
<msg_type>: could be either topic msg type/srv msg type/action msg type

ros2 bag record <topic_1_name>... <topic_n_name> # record content of topics
-o <bag_file_name>: indicate record file name

ros2 bag info <bag_file_name> # print info within bag file
ros2 bag play <bag_file_name> # re-publish recorded contents to respective topics

colcon build # build pkg (run this cmd in ws root dir)
--symlink-install: allows the installed files to be changed by changing the files in the source space (e.g. Python files or other not compiled resourced) for faster iteration
--packages-select <pkg_name>: indicate which pkg to build

rosdep install -i --from-path <src> --rosdistro <ros_dist> -y # check installed dep needed for building <src>