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 info	rtinfo

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