ROS2 Command Line Cheatsheet

# Launch turtlesim node
ros2 run turtlesim turtlesim_node

# Launch teleop keyboard control (in separate terminal)
ros2 run turtlesim turtle_teleop_key

# Note: turtlesim has no built-in launch files
# For multiple turtles, use spawn service instead:
ros2 service call /spawn turtlesim/srv/Spawn "{x: 2.0, y: 2.0, theta: 0.0, name: 'turtle2'}"

# List all running nodes
ros2 node list

# Get detailed info about a node
ros2 node info /turtlesim

# List all topics
ros2 topic list

# List topics with message types
ros2 topic list -t

# Echo topic messages
ros2 topic echo /turtle1/pose

# Publish velocity commands (move turtle)
ros2 topic pub /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}"

# Publish once
ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist \
  "linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}"

# Publish at specific rate (10 Hz)
ros2 topic pub --rate 10 /turtle1/cmd_vel geometry_msgs/msg/Twist \
  "linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}"

# List all services
ros2 service list

# Spawn a new turtle
ros2 service call /spawn turtlesim/srv/Spawn \
  "{x: 5.0, y: 5.0, theta: 0.0, name: 'turtle2'}"

# Change pen color and width
ros2 service call /turtle1/set_pen turtlesim/srv/SetPen \
  "{r: 255, g: 0, b: 0, width: 5, 'off': 0}"

# Teleport turtle (absolute)
ros2 service call /turtle1/teleport_absolute turtlesim/srv/TeleportAbsolute \
  "{x: 1.0, y: 1.0, theta: 0.0}"

# Clear screen
ros2 service call /clear std_srvs/srv/Empty

# List all actions
ros2 action list

# Rotate turtle to absolute angle
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \
  "{theta: 1.57}"

# Rotate with feedback
ros2 action send_goal --feedback /turtle1/rotate_absolute \
  turtlesim/action/RotateAbsolute "{theta: 3.14}"

# List all parameters
ros2 param list

# Set background color
ros2 param set /turtlesim background_r 255

# Apply background changes (call after setting colors)
ros2 service call /clear std_srvs/srv/Empty

# Show message definition
ros2 interface show geometry_msgs/msg/Twist

# Show message prototype
ros2 interface proto geometry_msgs/msg/Twist

# Launch RQt (GUI tools)
rqt

# RQt graph (visualize nodes and topics)
rqt_graph

# RQt console (view log messages)
rqt_console

# RQt plot (plot topic data)
rqt_plot /turtle1/pose/x /turtle1/pose/y

# Check ROS2 environment
ros2 doctor

# Record topics
ros2 bag record /turtle1/cmd_vel /turtle1/pose

# Play back recorded data
ros2 bag play my_bag

# Get bag info
ros2 bag info my_bag

# Play with rate control
ros2 bag play my_bag --rate 0.5

linear:
  x: 2.0    # forward/backward
  y: 0.0    # left/right (usually 0 for differential drive)
  z: 0.0    # up/down (usually 0 for ground robots)
angular:
  x: 0.0    # roll (usually 0)
  y: 0.0    # pitch (usually 0)
  z: 1.8    # yaw (turning)

x: 5.544444561004639        # x position
y: 5.544444561004639        # y position
theta: 0.0                  # orientation (radians)
linear_velocity: 0.0        # current linear velocity
angular_velocity: 0.0       # current angular velocity

# Start simulation
ros2 run turtlesim turtlesim_node

# Start teleop
ros2 run turtlesim turtle_teleop_key

# Move turtle programmatically
ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist \
  "linear: {x: 2.0}, angular: {z: 1.8}"

# Spawn new turtle
ros2 service call /spawn turtlesim/srv/Spawn \
  "{x: 2.0, y: 2.0, theta: 0.0, name: 'turtle2'}"

# Change pen color
ros2 service call /turtle1/set_pen turtlesim/srv/SetPen \
  "{r: 255, g: 0, b: 0, width: 3}"

# Watch turtle position
ros2 topic echo /turtle1/pose