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ros2-aliases

Collection of functions and aliases for ROS2 development

Prerequisites

  • fzf For Ubuntu simply: sudo apt install fzf. For more install options refer to the documentation

  • Bash or Zsh

Installation

  • Clone the repo: git clone https://github.com/tonynajjar/ros2-aliases ~/ros2-aliases

Bash:

  • Add ros2_utils.bash to your bashrc: echo 'source ~/ros2-aliases/ros2_utils.bash' >> ~/.bashrc

Zsh:

  • Add ros2_utils.zsh to your zshrc: echo 'source ~/ros2-aliases/ros2_utils.zsh' >> ~/.zshrc

Usage

Executable

Command Alias
ros2 run rrun

Topics

Command Alias
ros2 topic list rtlist
ros2 topic echo rtecho
ros2 topic hz rthz
ros2 topic info rtinfo
ros2 topic bw rtbw

Nodes

Command Alias
ros2 node list rnlist
ros2 node info rninfo
Killing a node rnkill

rnkill is a prototype and might not work as intended. It is an attempt to emulate ROS1's rosnode kill

Services

Command Alias
ros2 service list rslist

Parameters

Command Alias
ros2 param list rplist
ros2 param get rpget
ros2 param set rpset

Interface

Command Alias
ros2 interface show rishow

TF

Command Alias Arguments
ros2 run tf2_tools view_frames view_frames namespace of TF topic [Optional]
ros2 run tf2_ros tf2_echo tf2_echo frame 1 [Required], frame 2 [Required], namespace of TF topic [Optional]

Colcon

Command Alias Arguments
colcon build --symlink-install cb
colcon build --symlink-install --packages-select cbp package 1 [Optional] ... package n [Optional]
colcon list cl

Rosdep

Command Alias
rosdep install --from-paths src --ignore-src -r -y rosdep_install