What Scry can do¶

This is the full catalogue of what Scry can inspect and do on a robot through scry-connect — 118 capabilities, grouped by area. Of these, 37 change the robot and always require your approval on the phone; the rest are read-only.

You don't call any of these directly — you ask Scry in plain language and it picks the right ones. This page is a reference for what's possible, and a handy vocabulary if you want to be specific (e.g. "check the publish rate of /odom").

Reads vs. actions¶

Reads — listing topics, inspecting nodes, checking diagnostics, reading parameters — run immediately. They don't change anything on the robot.
Actions (marked write below) — publishing, setting a parameter, calling a service, lifecycle changes, and so on — always pause for your tap-to-approve on the phone. Scry shows exactly what it intends to do before anything is sent. When you run the connect in token mode, an extra one-time approval code is required too. See How Scry works for the safety model and Connect from anywhere for the connect's modes.

Capability areas¶

Scry groups its capabilities into areas — topics, services, nodes, parameters, actions, lifecycle, performance, transforms (TF), control, components, packages, interfaces, processes, watchers, diagnostics, logs, network, bags (including recording), doctor, daemon, extensions, build, system, Docker, Nav2, teleop, the host shell, and the robot's incident memory. The tables below list what's in each.

Tool groups¶

Group	Read tools	Write tools (need confirmation)
Topic	`ros_list_topics`, `ros_find_topics_by_type`, `ros_topic_type`, `ros_topic_info`, `ros_read_topic`, `ros_read_scene`, `ros_topic_hz`, `ros_topic_bw`, `ros_topic_delay`	`ros_publish_topic`
Service	`ros_list_services`, `ros_find_services_by_type`, `ros_service_type`, `ros_service_info`, `ros_service_echo`	`ros_call_service`
Node	`ros_list_nodes`, `ros_list_nodes_with_resources`, `ros_inspect_node`	—
Parameter	`ros_list_parameters`, `ros_get_parameter`, `ros_describe_parameter`, `ros_dump_parameters`	`ros_set_parameter`, `ros_load_parameters`, `ros_delete_parameter`
Action	`ros_list_actions`, `ros_action_type`, `ros_action_info`	`ros_send_action_goal`, `ros_cancel_action_goal`
Lifecycle	`ros_lifecycle_nodes`, `ros_lifecycle_get`, `ros_lifecycle_list_transitions`	`ros_lifecycle_set`
Package	`ros_list_packages`, `ros_pkg_prefix`, `ros_pkg_executables`, `ros_pkg_launch_files`, `ros_pkg_xml`	`ros_pkg_create`
Component	`ros_component_list`, `ros_component_types`	`ros_component_load`, `ros_component_unload`, `ros_component_standalone`
ros2_control	`ros_control_list_controllers`, `ros_control_list_controller_types`, `ros_control_list_hardware_components`, `ros_control_list_hardware_interfaces`, `ros_control_view_controller_chains`	`ros_control_load_controller`, `ros_control_unload_controller`, `ros_control_set_controller_state`, `ros_control_switch_controllers`, `ros_control_reload_controller_libraries`, `ros_control_cleanup_controller`, `ros_control_set_hardware_component_state`
Daemon	`ros_daemon_status`	`ros_daemon_start`, `ros_daemon_stop`
Multicast	`ros_multicast_receive`	`ros_multicast_send`
Doctor / WTF	`ros_doctor`, `ros_doctor_hello`	—
Extensions	`ros_extensions`	—
Interface	`ros_list_interfaces`, `ros_show_interface`	—
Bag	`ros_bag_info`, `ros_bag_record_status`, `ros_bag_list`	`ros_bag_record_start`, `ros_bag_record_stop`
DDS / env	`ros_get_dds_info`, `ros_get_dds_env`, `ros_network_interfaces`	—
Diagnostics	`ros_get_diagnostics`, `ros_check_health`, `ros_get_recent_logs`, `ros_liveness`, `ros_graph_diff`	—
TF	`ros_tf_frames`, `ros_tf_lookup`	—
Watchers	`ros_watch_topic`, `ros_watch_diagnostics`, `ros_watch_node`, `ros_wait_for_topic`	—
Process	`ros_list_processes`, `ros_list_system_processes`, `ros_system_processes`, `ros_tail_process`	`ros_run_node`, `ros_run_launch`, `ros_run_script`, `ros_restart_launched`, `ros_kill_process`
Scratch	`ros_list_scratch_files`	`ros_write_scratch_file`
Workspace	`ros_list_workspaces`	`ros_colcon_build`
System	`ros_system_info`	—
Behaviour tree	`ros_bt_list_sources`, `ros_bt_get_active_tree`, `ros_bt_status`	—
Teleop	—	`ros_teleop_start`, `ros_teleop_set`, `ros_teleop_stop`
Docker	`ros_docker_status`, `ros_docker_inspect`, `ros_docker_logs`	—
Host shell	`ros_shell_read`, `ros_query_shell_job`, `ros_list_shell_jobs`	`ros_shell_exec`, `ros_kill_shell_job`
Incidents	`ros_search_incidents`, `ros_get_incident`	`ros_save_incident`

Topic tools¶

`ros_list_topics`¶

List active topics with types and pub/sub counts. Equivalent to ros2 topic list -t.

Param	Type	Default	Description
`filter`	string	—	Regex to filter topic names
`include_hidden`	bool	`false`	Include `/_*` hidden topics
`count_only`	bool	`false`	Return `{"count": N}` instead of the list

Returns: [{name, type, publisher_count, subscriber_count}]

`ros_find_topics_by_type`¶

Find topics that publish a given message type. Equivalent to ros2 topic find.

`ros_topic_type`¶

Get the message type of a topic. Equivalent to ros2 topic type.

`ros_topic_info`¶

Topic metadata + (with verbose) QoS profile of every endpoint. Equivalent to ros2 topic info [-v].

`ros_read_topic`¶

Subscribe, collect N messages, unsubscribe. Images become 512×512 base64 JPEG thumbnails. Equivalent to ros2 topic echo --once/--times N.

`ros_read_scene`¶

Bundle a single top-down scene snapshot from up to 5 layers — occupancy grid map, pose, laser scan, planned path, pose array. The Android side auto-renders the result as a composed SceneSnapshot (map + base_link silhouette + scan dots + path + scale bar). Use for any contextual spatial question ("where am I", "show me the path on the map", "what does the robot see") instead of N separate ros_read_topic calls.

`ros_topic_hz`¶

Rolling publish rate stats (avg/min/max/stddev) over duration seconds. Equivalent to ros2 topic hz.

`ros_topic_bw`¶

Bandwidth estimate (bytes/sec and per-message sizes). Equivalent to ros2 topic bw.

`ros_topic_delay`¶

Clock-skew between header.stamp and wall time. Requires stamped messages. Equivalent to ros2 topic delay.

`ros_publish_topic` — write¶

Publish a message 1..N times, with server-side safety clamps for Twist linear/angular and JointTrajectory points (overridable via SCRY_MAX_* env vars and SCRY_ALLOW_UNSAFE_PUBLISH=1). Equivalent to ros2 topic pub [--once|--times N] [-r rate].

Service tools¶

`ros_list_services`¶

List services (optionally with types). Equivalent to ros2 service list -t.

`ros_find_services_by_type` · `ros_service_type` · `ros_service_info`¶

Discovery + introspection helpers — equivalents of ros2 service find/type/info.

`ros_service_echo`¶

Observe service traffic via the introspection event topic. Requires rcl service introspection enabled on the server. Equivalent to ros2 service echo.

`ros_call_service` — write¶

Send a synchronous service request. Equivalent to ros2 service call.

Node tools¶

`ros_list_nodes` · `ros_inspect_node`¶

Equivalents of ros2 node list and ros2 node info.

`ros_list_nodes_with_resources`¶

List nodes joined with ps-derived CPU/memory data. Powers the Browse hub's Nodes tile when sorting by resource cost. Lives in the process toolset (not nodes), since it bridges the graph with OS-level resource data.

Parameter tools¶

`ros_list_parameters` · `ros_get_parameter` · `ros_describe_parameter` · `ros_dump_parameters`¶

Read-only inspection covering ros2 param list/get/describe/dump.

`ros_set_parameter` — write¶

Set a single parameter. Equivalent to ros2 param set.

`ros_load_parameters` — write¶

Apply a batch {name: value, …} to a node. Equivalent to ros2 param load.

`ros_delete_parameter` — write¶

Delete a dynamically-declared parameter. Equivalent to ros2 param delete.

Action tools¶

`ros_list_actions` · `ros_action_type` · `ros_action_info`¶

Equivalents of ros2 action list/type/info.

`ros_send_action_goal` — write¶

Send a goal, wait for the result, optionally capture feedback. Equivalent to ros2 action send_goal [-f].

Lifecycle tools¶

`ros_lifecycle_nodes` · `ros_lifecycle_get` · `ros_lifecycle_list_transitions`¶

Discover lifecycle-enabled nodes, read their current states, list available transitions.

`ros_lifecycle_set` — write¶

Trigger a transition. Valid: configure, cleanup, activate, deactivate, shutdown, unconfigured_shutdown, inactive_shutdown, active_shutdown.

Package tools¶

`ros_list_packages` · `ros_pkg_prefix` · `ros_pkg_executables` · `ros_pkg_xml`¶

Discover installed packages, their install prefixes, lib/<pkg> executables, and package.xml contents.

`ros_pkg_create` — write¶

Scaffold a new package on disk. Equivalent to ros2 pkg create --build-type {ament_cmake,ament_python,cmake}.

Component tools¶

`ros_component_list` · `ros_component_types`¶

Enumerate running containers and their loaded components; list every registered plugin class.

`ros_component_load` · `ros_component_unload` · `ros_component_standalone` — write¶

Grow/shrink a running composition pipeline. standalone launches a throwaway container for smoke-testing and terminates after timeout seconds.

ros2_control tools¶

Full 13-verb surface for the controller_manager framework. All target /controller_manager by default; pass controller_manager to point at another one.

Read¶

ros_control_list_controllers — per-controller state (inactive/active), types, claimed interfaces.
ros_control_list_controller_types — all registered controller plugin classes.
ros_control_list_hardware_components — hardware components with lifecycle state and R/W rate.
ros_control_list_hardware_interfaces — command/state interfaces with is_available/is_claimed.
ros_control_view_controller_chains — returns the chain topology as a Graphviz DOT string.

Write (needs confirmation)¶

ros_control_load_controller — load + optionally set state.
ros_control_unload_controller — unload when unconfigured.
ros_control_set_controller_state — set inactive/active.
ros_control_switch_controllers — atomic activate/deactivate bundle (mode handover).
ros_control_reload_controller_libraries — reload controller plugin .so's.
ros_control_cleanup_controller — transition inactive → unconfigured.
ros_control_set_hardware_component_state — drive hardware lifecycle.

Daemon tools¶

`ros_daemon_status` (read) · `ros_daemon_start` / `ros_daemon_stop` — write¶

Equivalents of ros2 daemon status/start/stop.

Multicast tools¶

`ros_multicast_receive` (read)¶

Listen on a multicast group for duration seconds. Useful when checking if DDS discovery packets reach this host.

`ros_multicast_send` — write¶

Send one datagram. Tagged write because it emits network traffic.

Doctor / WTF tools¶

`ros_doctor`¶

Run ros2 doctor with all switches: report, report_failed, include_warnings, exclude_packages. Returns the full report plus parsed warning/error lines.

`ros_doctor_hello`¶

End-to-end DDS pub/sub round-trip check. Equivalent to ros2 doctor hello.

Extensions¶

`ros_extensions`¶

List registered ros2cli verbs. With all=true, returns a {group: [verb, …]} tree — essentially a live map of what the environment supports.

Interface tools¶

`ros_list_interfaces` · `ros_show_interface`¶

Equivalents of ros2 interface list/show.

Bag tools¶

`ros_bag_info`¶

Inspect a bag directory on the robot's filesystem (pinned under $SCRY_BAG_ROOT, default ~/ros2_bags). Recording / playback are deferred.

DDS / environment tools¶

`ros_get_dds_info`¶

High-level summary: distro, middleware, domain id, localhost-only flag, discovery range, hostname.

`ros_get_dds_env`¶

Full env var dump. Pass group= to narrow to one of: discovery, rmw, network, zenoh, logging, distro.

Covered variables:

Group	Variables
discovery	`ROS_DOMAIN_ID`, `ROS_LOCALHOST_ONLY`, `ROS_AUTOMATIC_DISCOVERY_RANGE`
rmw	`RMW_IMPLEMENTATION`, `FASTRTPS_DEFAULT_PROFILES_FILE`, `FASTDDS_DEFAULT_PROFILES_FILE`, `CYCLONEDDS_URI`
network	`ROS_IP`, `ROS_HOSTNAME`
zenoh	`ZENOH_ROUTER_CONFIG_URI`, `RMW_ZENOH_CONFIG_FILE`, `RMW_ZENOH_SESSION_CONFIG_URI`
logging	`RCUTILS_LOGGING_SEVERITY_THRESHOLD`, `RCUTILS_COLORIZED_OUTPUT`, `RCUTILS_CONSOLE_OUTPUT_FORMAT`, `ROS_DISABLE_LOANED_MESSAGES`
distro	`ROS_DISTRO`, `ROS_VERSION`, `ROS_PYTHON_VERSION`, `AMENT_PREFIX_PATH`

`ros_network_interfaces`¶

Enumerate IPv4/IPv6 addresses on every interface — primary DDS discovery triage tool.

Diagnostics tools¶

`ros_get_diagnostics` · `ros_check_health` · `ros_get_recent_logs` · `ros_liveness`¶

Read the latest /diagnostics, roll up a one-shot health summary, tail /rosout with filters, or grab a cheap heartbeat (ros_liveness — /tf, /clock, /rosout error counts, node-churn over 5 min; safe to poll once a second).

ros_check_health is the single MCP call the Android dashboard makes to populate its Graph / Liveness / Diagnostics sections, so its return shape is wider than the name suggests. Fields:

Field	Type	Source
`nodes_up`	int	rclpy graph
`topics_active`	int	rclpy graph
`services_available`	int	rclpy graph
`actions_active`	int	derived from hidden `/_action/` topic markers
`lifecycle_nodes_total`	int	service graph (`*/get_state`)
`last_rosout_seen_s`	float \| null	one short subscribe to `/rosout` (1 s timeout)
`last_diagnostics_seen_s`	float \| null	piggyback of the existing `/diagnostics` read
`diagnostics_total`	int	length of the latest `/diagnostics` aggregate
`diagnostics_summary`	object	`{OK, WARN, ERROR, STALE, UNKNOWN}` counts
`warnings`, `errors`	list[str]	legacy, kept for AI-prose summarisation
`timestamp`	float	wall clock when the connect produced the snapshot

null values are honest: a last_rosout_seen_s of null means no message arrived during the read window, not the topic doesn't exist. The Android dashboard renders this as "no message in window" and lets the developer interpret it.

The call is designed to stay under ~1.5 s by piggybacking last-seen timestamps on cheap rclpy graph queries plus two short reads (/rosout and /diagnostics), each capped at a 1-second timeout.

TF tools¶

`ros_tf_frames`¶

List every TF frame currently known, with its parent, broadcaster, and publish rate. Analogous to ros2 run tf2_tools view_frames (no PDF). Powers the Browse hub's TF tile and is auto-rendered as a Tree block in chat with per-edge rate badges.

`ros_tf_lookup`¶

Look up the latest transform from source_frame to target_frame. Equivalent to one shot of tf2_echo. Auto-rendered as an EntityCard (translation + rotation sections).

Watcher tools¶

Long-running observers, up to 60 s each.

ros_watch_topic(topic, duration, condition?, max_events) — subscribes, optionally stops early when a condition like pose.x > 5 matches. Returns sequence of messages with timestamps; auto-rendered as a LineChart when fields are scalar.
ros_watch_diagnostics(duration, level_filter?) — captures /diagnostics with level filtering.
ros_watch_node(node, duration, poll_interval) — detects appearance / disappearance (crash / restart).
ros_wait_for_topic(topic, timeout) — blocks until a topic appears (bringup debugging).

Condition expressions are evaluated safely — only dotted field paths and comparison operators are allowed, never arbitrary code.

Process tools¶

The connect tracks every process it launches and can also enumerate any ROS-related process on the host.

Read¶

ros_list_processes — every background process the connect launched (pid, uptime, return code if exited).
ros_list_system_processes — system-wide ps view filtered to ROS-related commands, cross-referenced against connect-launched IDs. Powers the Browse hub's Processes tile.
ros_system_processes — same as ros_list_system_processes with a finer-grained sort/filter surface. The two coexist; consolidating is a follow-up.
ros_tail_process — last N lines of stdout for a connect-launched process.

Write¶

ros_run_node, ros_run_launch, ros_run_script — spawn an ros2 run / ros2 launch / python process in the background, tracked. Identifiers validated against _validate_ident (lowercase alnum + underscore, ≤64); launch args whitelisted by _LAUNCH_ARG_RE / _ROS_FLAG_RE.
ros_restart_launched — restart a previously-launched process.
ros_kill_process — TERM (or KILL) a tracked background process.

Scratch-file tools¶

Drop a small file (Python relay node, ad-hoc launch, YAML snippet) under /tmp/scry-scratch/<session>/ so a subsequent ros_run_* can use it.

Read¶

ros_list_scratch_files — enumerate.

Write¶

ros_write_scratch_file — create / overwrite.

Workspace tools¶

`ros_list_workspaces` (read)¶

List colcon workspaces the connect can detect. Auto-discovery uses $SCRY_BUILD_WORKSPACES (override), $COLCON_PREFIX_PATH, and the usual install conventions.

`ros_colcon_build` — write¶

Run colcon build --packages-select <pkg…> in a workspace. The package list is required — Scry must name exactly what it's building.

System tools¶

`ros_system_info`¶

Host system snapshot — OS / kernel / CPU / memory / disk / GPU. One call powers the dashboard's System card (cheap, ~50–150 ms).

Behaviour-tree tools¶

For Nav2 / BehaviorTree.CPP integrations.

ros_bt_list_sources — discover every navigator on the graph and the BT XMLs it exposes via param.
ros_bt_get_active_tree — fetch the active Nav2 BT XML (via /bt_navigator's default_nav_to_pose_bt_xml param), parse it, and return a flat node list ({root_uid, nodes:[{uid, tag, name, kind, children, attrs}]}). Auto-rendered as a BtTreeView block (kind-coloured nodes, status-coloured borders) — same canvas used by the Viz tab's BT section.
ros_bt_status — subscribe to /behavior_tree_log briefly and return the latest status (IDLE / RUNNING / SUCCESS / FAILURE) per node UID, plus how recently each was reported.

Teleop tools¶

All three are write-gated — they emit Twist commands.

ros_teleop_start(topic, rate_hz) — open a persistent Twist publisher at rate_hz. Cheap setup tax — call once when the user opens the teleop view.
ros_teleop_set(linear, angular) — update the latched Twist value.
ros_teleop_stop() — close the publisher.

The Twist values are clamped by the same safety.SafetyPolicy envelope as ros_publish_topic.

Docker tools¶

Useful when the robot runs Nav2 / drivers in containers.

ros_docker_status — aggregate snapshot: daemon availability, version, container list, per-running-container live stats (CPU %, mem, IO).
ros_docker_inspect — docker inspect for one container.
ros_docker_logs — last N lines from a container's stdout.

Bag recording¶

Record topics to an mcap bag on the robot — pick the topics (or everything), let it run, then download the result from the app's Viz → Bag page or share it with your team.

ros_bag_record_start — write. Start a background ros2 bag record -s mcap; explicit topic list or all topics, optional name and auto-stop duration. Bags land under ~/ros2_bags (SCRY_BAG_ROOT to change).
ros_bag_record_stop — write. Stop cleanly (finalizes the mcap + metadata).
ros_bag_record_status / ros_bag_list — recording progress (elapsed, size) and every bag on the robot, with download routes (GET /bags/<name> streams a tar).

Graph history¶

ros_graph_diff — "it worked five minutes ago, what changed?" in one call. The connect samples the graph every 30 s (2 h of history); this diffs now against the snapshot closest to since_seconds ago and returns nodes/topics/services added & removed plus per-topic publisher/subscriber changes.

Goal cancellation¶

ros_cancel_action_goal — write. Cancel all active goals on an action server (stop an in-flight navigation), whoever sent them. ros_send_action_goal also auto-cancels its own goal if the result doesn't arrive within its timeout, so a timed-out navigation never keeps the robot driving.

Host shell¶

The last resort for host-level work with no ROS tool (systemd, configs, disk, clock). Inspection commands run freely; anything state-changing pauses for your approval like every other write.

ros_shell_read — inspection commands only (mutation-shaped commands are refused robot-side; secret paths always refused).
ros_shell_exec — write. State-changing command; background=true for anything long, with job tracking.
ros_query_shell_job / ros_list_shell_jobs / ros_kill_shell_job (write) — background-job status, list, abort.

Incident memory¶

Solved problems persist on the robot itself (~/.scry/incidents/), so the second time a fault appears Scry looks the fix up instead of re-deriving it — across phones and app reinstalls.

ros_search_incidents / ros_get_incident — keyword search past diagnosed-and-fixed problems; fetch one full record (symptom, root cause, fix, verification).
ros_save_incident — write. Save a record after a fix is verified.

MCP resources¶

In addition to tools, the connect exposes read-only resources:

URI	Description
`ros://system/info`	ROS distro, hostname, domain ID, middleware, uptime
`ros://topics/{name}/schema`	Message type definition for a topic
`ros://nodes/{name}/info`	Cached node introspection

Why reads and actions are split¶

Two ideas shape the list above:

Safe by default. Scry can freely inspect anything — topics, bandwidth, diagnostics, logs, controller chains, behaviour trees, scenes. None of it changes how the robot behaves.
Explicit consent to act. Anything that publishes a message, drives a controller, changes a parameter, writes a file, or launches a process pauses for your approval on the phone first (and, in token mode, an extra one-time approval code).

What Scry adds on the phone¶

Beyond what the robot exposes, Scry has a few capabilities that run entirely on your phone — they never go to the robot:

Capability	What it does
Live panels	Embed a short live sensor / plot / scene / camera panel right in the chat
Live scene	Combine a map, pose, laser scan, and path into one live view
Plans	Render a multi-step diagnostic checklist with a verdict
Background monitors	Watch a topic in the background and alert you when a condition trips (see Background monitors)
Fleet overview	Ping every saved robot and show a per-robot status card
Robot comparison	Put two robots side by side on the metrics you choose

What Scry can do¶

Reads vs. actions¶

Capability areas¶

Tool groups¶

Topic tools¶

ros_list_topics¶

ros_find_topics_by_type¶

ros_topic_type¶

ros_topic_info¶

ros_read_topic¶

ros_read_scene¶

ros_topic_hz¶

ros_topic_bw¶

ros_topic_delay¶

ros_publish_topic — write¶

Service tools¶

ros_list_services¶

ros_find_services_by_type · ros_service_type · ros_service_info¶

ros_service_echo¶

ros_call_service — write¶

Node tools¶

ros_list_nodes · ros_inspect_node¶

ros_list_nodes_with_resources¶

Parameter tools¶

ros_list_parameters · ros_get_parameter · ros_describe_parameter · ros_dump_parameters¶

ros_set_parameter — write¶

ros_load_parameters — write¶

ros_delete_parameter — write¶

Action tools¶

ros_list_actions · ros_action_type · ros_action_info¶

ros_send_action_goal — write¶

Lifecycle tools¶

ros_lifecycle_nodes · ros_lifecycle_get · ros_lifecycle_list_transitions¶

ros_lifecycle_set — write¶

Package tools¶

ros_list_packages · ros_pkg_prefix · ros_pkg_executables · ros_pkg_xml¶

ros_pkg_create — write¶

Component tools¶

ros_component_list · ros_component_types¶

ros_component_load · ros_component_unload · ros_component_standalone — write¶

ros2_control tools¶

Read¶

Write (needs confirmation)¶

Daemon tools¶

ros_daemon_status (read) · ros_daemon_start / ros_daemon_stop — write¶

Multicast tools¶

ros_multicast_receive (read)¶

ros_multicast_send — write¶

Doctor / WTF tools¶

ros_doctor¶

ros_doctor_hello¶

Extensions¶

ros_extensions¶

Interface tools¶

ros_list_interfaces · ros_show_interface¶

Bag tools¶

ros_bag_info¶

DDS / environment tools¶

ros_get_dds_info¶

ros_get_dds_env¶

ros_network_interfaces¶

Diagnostics tools¶

ros_get_diagnostics · ros_check_health · ros_get_recent_logs · ros_liveness¶

TF tools¶

ros_tf_frames¶

ros_tf_lookup¶

Watcher tools¶

Process tools¶

Read¶

Write¶

Scratch-file tools¶

Read¶

Write¶

Workspace tools¶

ros_list_workspaces (read)¶

ros_colcon_build — write¶

System tools¶

ros_system_info¶

Behaviour-tree tools¶

Teleop tools¶

`ros_list_topics`¶

`ros_find_topics_by_type`¶

`ros_topic_type`¶

`ros_topic_info`¶

`ros_read_topic`¶

`ros_read_scene`¶

`ros_topic_hz`¶

`ros_topic_bw`¶

`ros_topic_delay`¶

`ros_publish_topic` — write¶

`ros_list_services`¶

`ros_find_services_by_type` · `ros_service_type` · `ros_service_info`¶

`ros_service_echo`¶

`ros_call_service` — write¶

`ros_list_nodes` · `ros_inspect_node`¶

`ros_list_nodes_with_resources`¶

`ros_list_parameters` · `ros_get_parameter` · `ros_describe_parameter` · `ros_dump_parameters`¶

`ros_set_parameter` — write¶

`ros_load_parameters` — write¶

`ros_delete_parameter` — write¶

`ros_list_actions` · `ros_action_type` · `ros_action_info`¶

`ros_send_action_goal` — write¶

`ros_lifecycle_nodes` · `ros_lifecycle_get` · `ros_lifecycle_list_transitions`¶

`ros_lifecycle_set` — write¶

`ros_list_packages` · `ros_pkg_prefix` · `ros_pkg_executables` · `ros_pkg_xml`¶

`ros_pkg_create` — write¶

`ros_component_list` · `ros_component_types`¶

`ros_component_load` · `ros_component_unload` · `ros_component_standalone` — write¶

`ros_daemon_status` (read) · `ros_daemon_start` / `ros_daemon_stop` — write¶

`ros_multicast_receive` (read)¶

`ros_multicast_send` — write¶

`ros_doctor`¶

`ros_doctor_hello`¶

`ros_extensions`¶

`ros_list_interfaces` · `ros_show_interface`¶

`ros_bag_info`¶

`ros_get_dds_info`¶

`ros_get_dds_env`¶

`ros_network_interfaces`¶

`ros_get_diagnostics` · `ros_check_health` · `ros_get_recent_logs` · `ros_liveness`¶

`ros_tf_frames`¶

`ros_tf_lookup`¶

`ros_list_workspaces` (read)¶

`ros_colcon_build` — write¶

`ros_system_info`¶