ROS2 equivalents to ROS1 roscd, rosmsg rossrv...
Are there equivalent commands for roscd
, rosmsg
and rossrv
(especially for rosmsg show
), rosed
, rosls
and rosmv
?
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Are there equivalent commands for roscd
, rosmsg
and rossrv
(especially for rosmsg show
), rosed
, rosls
and rosmv
?
There are equivalents for some of them. In ROS 2 they're all under the ros2
command.
The equivalent to rosmsg/rossrv
is ros2 interface
.
$ rosmsg show std_msgs/Bool
bool data
ROS 2 equivalent
$ ros2 interface show std_msgs/msg/Bool
bool data
and for services
$ rossrv show std_srvs/Trigger
---
bool success
string message
ROS 2 equivalent
$ ros2 interface show std_srvs/srv/Trigger
---
bool success # indicate successful run of triggered service
string message # informational, e.g. for error messages
And ros2 interface
also works with actions
$ ros2 interface show test_msgs/action/Fibonacci
#goal definition
int32 order
---
#result definition
int32[] sequence
---
#feedback
int32[] sequence
In ROS 1 I think these were provided by rosbash
: http://wiki.ros.org/rosbash
$ rosls std_msgs
cmake msg package.xml
There's nothing equivalent in ROS 2 that I know of. Maybe you could make a bash alias around ros2 pkg prefix
?
$ ls `ros2 pkg prefix --share std_msgs`
cmake environment local_setup.bash local_setup.dsv local_setup.sh local_setup.zsh msg package.dsv package.xml
Here's a brief intro to the command line tools. https://index.ros.org/doc/ros2/Tutori...
If you'd like to contribute to them, most of the source code is in the ros2cli
repo: https://github.com/ros2/ros2cli . Some tools are in other repos; for example ros2 launch
is in the ros2/launch_ros repo: https://github.com/ros2/launch_ros/tr...
Yes alias ros2cd="ros2 pkg prefix"
works but is not as handy as the original roscd: Autocompletion does not work and ros2cd
alone either. Since we're in a Python subprocess, it can't work the same. Maybe opening a subshell? Not sure that would be nice though.
ros2 pkg prefix <tab>
does provide completion of all available package names. For a custom alias you will need to register the completion function yourself.
An equivalent to roscd
is provided by colcon-cd
- see https://github.com/colcon/colcon-cd/
Asked: 2020-08-03 11:00:08 -0500
Seen: 3,196 times
Last updated: Aug 05 '20
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