ros2

Retrieve information about ROS 2 network

Syntax

ros2 msg list

ros2 msg show msgType

ros2 node list

ros2 topic list

msgList = ros2("msg", "list")

msgInfo = ros2("msg", "show", msgType)

nodeList = ros2("node", "list")

topicList = ros2("topic", "list")

Description

ros2 msg list returns a list of all available ROS 2 message types that can be used in MATLAB.

ros2 msg show msgType provides the definition of the ROS 2 message, msgType.

ros2 node list lists nodes on the ROS 2 network.

ros2 topic list lists topic names with registered publishers or subscribers on the ROS 2 network.

msgList = ros2("msg", "list") returns a list of all available ROS 2 message types that can be used in MATLAB.

msgInfo = ros2("msg", "show", msgType) provides the definition of the ROS 2 message, msgType.

nodeList = ros2("node", "list") lists nodes on the ROS 2 network.

topicList = ros2("topic", "list") lists topic names with registered publishers or subscribers on the ROS 2 network.

Note

The first time ros2 is called for a specific domain ID not all information on the network may be immediately available. If incomplete network information is returned from ros2, wait for a short time before trying again.

Examples

Get Definition of ROS 2 Message

Show the definition of the geometry_msgs/Accel message.

ros2 msg show geometry_msgs/Accel

# This expresses acceleration in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

Get Definition of ROS 2 Message

Show the definition of the geometry_msgs/Accel message.

ros2 msg show geometry_msgs/Accel

# This expresses acceleration in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

Get List of ROS 2 Nodes

Create sample node, myNode, on the ROS 2 network.

node = ros2node("myNode");

Lists the nodes on the network.

ros2 node list

/myNode

Remove myNode from the network.

delete(node)

Get List of ROS 2 Topics

List the available ROS 2 topics.

ros2 topic list

/parameter_events

Input Arguments

msgType — Message type

string scalar | character vector

Message type, specified as a string scalar or character vector. The string is case-sensitive and no partial matches are allowed. It must match a message on the list given by calling ros2("msg", "list").

Output Arguments

msgList — List of all message types available in MATLAB^®

cell array of character vectors

List of all message types available in MATLAB, returned as a cell array of character vectors.

msgInfo — Details of message definition

character vector

Details of the information inside the ROS message definition, returned as a character vector.

topicList — List of topics from the ROS master

cell array of character vectors

List of topics from ROS master, returned as a cell array of character vectors.

nodeList — List of node names available

cell array of character vectors

List of node names available, returned as a cell array of character vectors.