SRT-ROS/ROS2Cmds.txt at main · SwinRoverTeam/SRT-ROS · GitHub

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------------------------------------------------------------------------------------------------------------------
    ROS2 Commands
------------------------------------------------------------------------------------------------------------------
 - Author: Disha Anchan
 - Last Updated: 21/03/2026
 - Description: This contains a list of ROS2 Commands used for the 2026 ARch Competition
                to make everyone's lives easier ( Skill issue for not remembering Commands :P )
------------------------------------------------------------------------------------------------------------------

--------------------------------------------------
    Rover Specific ROS2 Commands
--------------------------------------------------

[To kill the entire Rover System]

    ros2 topic pub -t 1 /KillSwitch std_msgs/msg/Bool "{data: true}"

    --------------------------------------------------
        Rover Pivot Specific Commands
    --------------------------------------------------

    [To stop Pivot Movement]

        ros2 topic pub -t 1 /Pivot_Stop std_msgs/msg/Bool "{data: true}"

    [To Restart the Pivot ESP32]

        ros2 topic pub -t 1 /Pivot_Restart std_msgs/msg/Bool "{data: true}"

    --------------------------------------------------
        Rover Arm Specific Commands
    --------------------------------------------------

    [To Stop Rover Arm Movement]

        ros2 topic pub -t 1 /Arm_Stop std_msgs/msg/Bool "{data: true}"

    [To Restart the Arm ESP32]

        ros2 topic pub -t 1 /Arm_Restart std_msgs/msg/Bool "{data: true}"


--------------------------------------------------
Basic ROS2 commands
--------------------------------------------------

    [To check all available nodes in the ROS2 network]

        ros2 node list


    [To check all available topics in the ROS2 network]

        ros2 topic list

    [To check the details of a ROS2 topic]

        ros2 topic info /<topic_name>

    [To check the values being published under a topic]

        ros2 topic echo /<topic_name>

    [To publish values under a topic]

        ros2 topic pub /<topic_name> <topic_type> "<arg>"

    Note: You need to understand the message structure of the topic type.