A living list of ROS 2 CLI commands for debugging nodes, topics and TF.

Workspace

colcon build --symlink-install --packages-select my_pkg
source install/setup.bash

Topics

ros2 topic list -t                 # list with message types
ros2 topic echo /odom --once       # print a single message
ros2 topic hz /scan                # check publish rate

TF

ros2 run tf2_ros tf2_echo map base_link
ros2 run tf2_tools view_frames      # generates frames.pdf

Notes

• Use --symlink-install so Python and launch file edits take effect without rebuilding.
• ros2 doctor --report is a quick sanity check when something feels off.