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日本語 | English

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

  • (Optional) editor
    Configuration of editor is recommended.

    sudo update-alternatives --config editor

Installation

  1. Clone this repository: 
    git clone https://github.com/kimushun1101/ros2-aliases.git $HOME/.local/ros2-aliases
  2. Add ros2_aliases.bash to bashrc: 
    echo 'source $HOME/.local/ros2-aliases/ros2_aliases.bash' >> ~/.bashrc
  3. (Optional) Apply the bashrc update and edit .env for initial settings: 
    source ~/.bashrc
setenvfile
    Here, # means comment out. Recommended is to set ROS_WORKSPACE to the path of the workspace you use most often. 
    ROS_WORKSPACE=${HOME}/ros2_ws

Usage

rahelp shows ros2_aliases help. (Important!) Just remember this.
The current key environment variables can also be viewed.

Environment variables

  • setenvfile sets environment variables with a file. This function can also take an env file as an argument.

    Environment variable Description
    ROS_DISTRO humble, Iron, Jazzy, etc.
    ROS_WORKSPACE full path to your ROS 2 workspace
    ROS_DOMAIN_ID refer to the official documentation
    COLCON_BUILD_CMD build command with options

  • setrws sets ROS 2 workspace.

  • setrdi sets ROS_DOMAIN_ID. If the argument is 0, ROS_LOCALHOST_ONLY=1 is set.

  • setcbc sets colcon build command with its arguments.

Roscd

roscd sets the working directory into the selected package directory under $ROS_WORKSPACE/src.

Executable

Command Alias
ros2 run rrun
ros2 launch rlaunch

Topics

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

Nodes

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

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 source_frame [Required], target_frame [Required], namespace of TF topic [Optional]

Colcon

Command Alias
colcon build --symlink-install cb
colcon build --symlink-install --packages-select cbp
colcon test --packages-select and colcon test-result --verbose ctp
colcon build --symlink-install --cmake-clean-cache cbcc
colcon build --symlink-install --cmake-clean-first cbcf
rm build install log and colcon build --symlink-install cbrm
rm build install log for selected packages and colcon build --symlink-install --packages-select cbprm
colcon list cl

Rosdep

Command Alias
cd $ROS_WORKSPACE && rosdep install --from-paths src --ignore-src -y rosdep_install

Uninstall

Delete source $HOME/.local/ros2-aliases/ros2_aliases.bash in ~/.bashrc then remove this directory.

sed -i '\|source $HOME/.local/ros2-aliases/ros2_aliases.bash|d' ~/.bashrc
rm -rf $HOME/.local/ros2-aliases

Reference