commands.txt

-> colcon build
-> colcon build --packages-select package_name
-> source install/setup.bash


Python package
-> ros2 pkg create package_name --build-type ament_python --dependencies rclpy           #and other dependencies
-> chmod +x python_node_name.py
-> colcon build --packages-select package_name --symlink-install                         #don't have to rebuild python nodes repeatedly


C++ package
-> ros2 pkg create package_name --build-type ament_cmake -- dependencies rclcpp          #and other dependencies


Nodes
-> ros2 node list
-> ros2 node info /node_name
-> ros2 run package_name node_executable_name 
-> ros2 run package_name node_executable_name --ros-ars -r __node:=new_node_name -r topic_name:=new_topic_name -r service_name:=new_service_name 


Launch
-> ros2 launch package_name launch_name


Topics
-> ros2 topic list
-> ros2 topic echo /topic_name
-> ros2 topic info /topic_name
-> ros2 topic bw /topic_name
-> ros2 topic pub -r 10 /topic_name data_type "{data: 'example'}"              #10 hz


Services
-> ros2 service list
-> ros2 service call /service_name data_type "{  }"


Params
-> ros2 param list
-> ros2 param get /node_name param_name
-> ros2 param dump /node_name                                                 #get all params together
-> ros2 param dump /node_name > file_name.yaml                                #save params in file
-> ros2 param set /node_name param_name any_value                             #set param at runtime
-> ros2 param load /node_name file_name                                                  #load from file at runtime
-> ros2 run package_name node_executable_name --ros-ars -p param_name:=any_value         #setting param at startup
-> ros2 run package_name node_executable_name --ros-args --params-file file_name         #load from file at startup


Other Tools
-> rqt_graph
-> ros2 interface list
-> ros2 interface package package_name
-> ros2 interface show std_msgs/msg/Int16
-> rqt                                                                     #rqt -> service -> service caller
-> ros2 bag record /topic_1 /topic_2 -o desired_file_name
-> ros2 bag info bag_file_name
-> ros2 bag play bag_file_name
-> ros2 bag record -a -o desired_file_name                                 #record all topics