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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

• ros2_utils.bash : https://github.com/tonynajjar/ros2-aliases by Tony Najjar