ros2cli

This repository contains the source code for ROS 2 command line interface tools included with a standard install of any ROS 2 distro.

Usage

Run ros2 --help to see all available commands.

Run ros2 <command> --help for more information on individual command usage.

Run ros2 <command> <verb> --help for even more usage information on a specific command’s verbs.

Read Introspection with command line tools on ROS Index for more information and an example.

Cheat Sheet

This cheat sheet provides examples for commands and their verbs (some of which rely on the ROS 2 demos package).

Add New Verbs

You can use Python entry points to create new commands and verbs for the CLI.

Here’s an example.

And here’s an example for how to add a command.

Background

You can find a historical discussion on this subject on Discourse.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).