ROS2常用命令行工具整理ROS2CLI

参数相关

$ ros2 param list
$  ros2 param describe /turtlesim background_b
$ ros2 param get /turtlesim background_b
$ ros2 param set /turtlesim background_r 44
$ ros2 param dump /turtlesim  #保存
$ ros2 param load  /turtlesim ./turtlesim.yaml   #加载
$ ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml
$ ros2 run example_parameters_rclcpp parameters_basic --ros-args -p rcl_log_level:=10

话题相关

$ ros2 topic list                # 查看话题列表
$ ros2 topic info /turtle1/cmd_vel   # 查看话题信息
$ ros2 topic hz /turtle1/cmd_vel     # 查看话题发布频率
$ ros2 topic bw /turtle1/cmd_vel     # 查看话题传输带宽
$ ros2 topic echo /turtle1/cmd_vel  
$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 -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: 1.8}}"