RobotHubCourse outline

ROS 2 Lyrical Luth · Lesson 02 of 8

CLI and the ROS graph

Discover nodes, topics, services, parameters and actions with command-line tools.

Estimated time · 45–75 min

Guided lesson

Work through these steps

  1. 1.

    Source the ROS 2 Lyrical environment in a fresh terminal.

  2. 2.

    Run the cli and the ros graph inspection commands before creating code.

  3. 3.

    Build only the affected package, then source the workspace overlay.

  4. 4.

    Inspect the ROS graph and verify the result from a second terminal.

Example

Try it yourself

ros2 node list
ros2 topic list -t
ros2 service list
ros2 action list

Practical exercise

Apply the lesson

Create a minimal ROS 2 workspace demonstration for cli and the ros graph, then prove it works with the ROS 2 CLI.

Before you continue

  • ROS_DISTRO reports lyrical
  • The workspace builds without errors
  • The expected node, topic, service, or action is visible in the graph