ROS2-NODE
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key
ros2 node list
ros2 run turtlesim turtlesim_node --ros-args --remap __node:=my_turtle
ros2 node info /my_turtle
rqt_graph
ros2 topic
ros2 topic list -t
ros2 topic echo <topic_name>
ros2 topic info /turtle1/cmd_vel
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 echo /turtle1/pose
ros2 topic hz /turtle1/pose
ROS2-SERVICE
ros2 service type <service_name>
ros2 service list -t
ros2 service find <type_name>
ros2 interface show <type_name>
ros2 service call <service_name> <service_type> <arguments>
ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"
ROS2-PARAM
ros2 param list
ros2 param get <node_name> <parameter_name>
ros2 param set <node_name> <parameter_name> <value>
ros2 param set /turtlesim background_r 150
ros2 param dump <node_name>
ros2 param load <node_name> <parameter_file>
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>
ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml
ROS2-ACTINON
ros2 action list
ros2 action list -t
ros2 action info /turtle1/rotate_absolute
ros2 interface show turtlesim/action/RotateAbsolute
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-rqt_console
ros2 run rqt_console rqt_console
ros2 run turtlesim turtlesim_node --ros-args --log-level WARN
ROS2-launch file
touch launch/turtlesim_mimic_launch.py
ROS2-CREATE A PACKAGE
ros2 pkg create --build-type ament_cmake <package_name>
ros2 pkg create --build-type ament_python <package_name>
ros2 pkg create --build-type ament_cmake --node-name my_node my_package
ros2 pkg create --build-type ament_python --node-name my_node my_package
ros2 pkg create --build-type ament_cmake --node-name my_node my_package
ros2 pkg create --build-type ament_python --node-name my_node my_package
cd ~/dev_ws
colcon build
colcon build --packages-select my_package
ros2 run my_package my_node
crosdep install -i --from-path src --rosdistro galactic -y