4  Command line tools

Important

You are reading the work-in-progress edition of ROS 2 : Mea Via et Mea Disciplina. This chapter is currently a dumping ground for ideas, and we don’t recommend reading it. The complete version will be available here soon. Stay tuned!

Commands	Short description
ros2 run	Run a ROS2 node from a package.
ros2 node	Interact with a running ROS2 node.
ros2 topic	Interact with ROS2 topics.
ros2 service	Interact with ROS2 services.
ros2 param	Interact with ROS2 parameters.
ros2 bag	Record and play back ROS2 messages.
ros2 launch	Launch multiple nodes at once.
ros2 interface	Interact with ROS2 interfaces.
ros2 pkg	Manage ROS2 packages.
ros2 pkg create	Create a new ROS2 package.
ros2 pkg list	List available ROS2 packages.
ros2 pkg create –build-type ament_cmake	Create a new ROS2 package with the Ament CMake build system.
ros2 pkg create –build-type ament_python	Create a new ROS2 package with the Ament Python build system.

Expand To Learn More About “ros2 pkg create”

Commands	Short description
ros2 pkg create –build-type ament_lint	Create a new ROS2 package with the Ament Lint build system.
ros2 pkg create –build-type ament_cmake_pytest	Create a new ROS2 package with the Ament CMake Pytest build system.
ros2 pkg create –build-type ament_cmake_gtest	Create a new ROS2 package with the Ament CMake Gtest build system.
ros2 pkg create –build-type colcon	Create a new ROS2 package with the Colcon build system.
ros2 pkg create –build-type colcon-python	Create a new ROS2 package with the Colcon Python build system.
ros2 pkg create –build-type colcon-cmake	Create a new ROS2 package with the Colcon CMake build system.
ros2 pkg create –build-type colcon-ros	Create a new ROS2 package with the Colcon ROS build system.
ros2 pkg create –build-type colcon-ros-python	Create a new ROS2 package with the Colcon ROS Python build system.
ros2 pkg create –build-type colcon-ros-cmake	Create a new ROS2 package with the Colcon ROS CMake build system.
ros2 pkg create –build-type ament_cmake_ros	Create a new ROS2 package with the Ament CMake ROS build system.
ros2 pkg create –build-type ament_cmake_python	Create a new ROS2 package with the Ament CMake Python build system.
ros2 pkg create –build-type ament_cmake_lint	Create a new ROS2 package with the Ament CMake Lint build system.
ros2 pkg create –build-type ament_cmake_pytest_coverage	Create a new ROS2 package with the Ament CMake Pytest Coverage build system.
ros2 pkg create –build-type ament_cmake_ros_testing	Create a new ROS2 package with the Ament CMake ROS Testing build system.
ros2 pkg create –build-type ament_cmake_flake8	Create a new ROS2 package with the Ament CMake Flake8 build system.
ros2 pkg create –build-type ament_cmake_mypy	Create a new ROS2 package with the Ament CMake MyPy build system.
ros2 pkg create –build-type ament_cmake_pep257	Create a new ROS2 package with