Check ROS 2 topic CLI

[Yadunund]

Setup

• DDS vendor: FastDDS
• BuildType: Debian
• Os: Ubuntu Jammy
• Chip: Amd64

Checks

• [ ] Check bw

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic bw /joint_states ``` **Expect** 1. Something like the following. ```bash # stdout in terminal 2 Subscribed to [/joint_states] 5.04 KB/s from 50 messages Message size mean: 0.10 KB min: 0.10 KB max: 0.10 KB 5.02 KB/s from 100 messages Message size mean: 0.10 KB min: 0.10 KB max: 0.10 KB ... ```

• [ ] Check delay

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic delay /joint_states ``` **Expect** 1. Something like the following. ```bash # stdout in terminal 2 average delay: 0.001 min: 0.000s max: 0.001s std dev: 0.00012s window: 47 average delay: 0.001 min: 0.000s max: 0.002s std dev: 0.00021s window: 97 ... ```

• [ ] Check echo

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic echo /joint_states ``` **Expect** 1. Something like the following. ```bash # stdout in terminal 2 --- header: stamp: sec: 1649125169 nanosec: 961952254 frame_id: '' name: - single_rrbot_joint1 - single_rrbot_joint2 position: - -0.9985924716759744 - -0.9985924716759744 velocity: [] effort: [] --- ... ```

• [ ] Check find

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic find sensor_msgs/msg/JointState ``` **Expect** 1. ```bash # stdout in terminal 2 /joint_states ```

• [ ] Check hz

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic hz /joint_states ``` **Expect** 1. Something like the following. ```bash # stdout in terminal 2 average rate: 50.252 min: 0.000s max: 0.043s std dev: 0.00451s window: 52 average rate: 50.125 min: 0.000s max: 0.043s std dev: 0.00492s window: 102 ... ```

• [ ] Check info

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic info /joint_states ``` **Expect** 1. ```bash # stdout in terminal 2 Type: sensor_msgs/msg/JointState Publisher count: 1 Subscription count: 1 ```

• [ ] Check list

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic list ``` **Expect** 1. ```bash # stdout in terminal 2 /joint_states /map /parameter_events /robot_description /rosout /scan /tf /tf_static ```

• [ ] Check type

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py ``` 1. ```bash # User input in terminal 2 ros2 topic type /joint_states ``` **Expect** 1. ```bash # stdout in terminal 2 sensor_msgs/msg/JointState ```

• [ ] Check pub

  details

  **Try** 1. ```bash # User input in terminal 1 ros2 run demo_nodes_cpp listener ``` 1. ```bash # User input in terminal 2 ros2 topic pub /chatter std_msgs/msg/String "{data: 'hi'}" ``` **Expect** 1. Something like the following. ```bash # stdout in terminal 1 [INFO] [1649125551.479505602] [listener]: I heard: [hi] [INFO] [1649125552.480104544] [listener]: I heard: [hi] ... ``` 1. Something like the following. ```bash # stdout in terminal 2 publisher: beginning loop publishing #1: std_msgs.msg.String(data='hi') publishing #2: std_msgs.msg.String(data='hi') ... ```

---

You can find the code used to generate this test case here

[wep21]

• bw

  ❯ ros2 topic bw /joint_states
  Subscribed to [/joint_states]
  5.09 KB/s from 50 messages
  Message size mean: 0.10 KB min: 0.10 KB max: 0.10 KB
  5.04 KB/s from 100 messages
  Message size mean: 0.10 KB min: 0.10 KB max: 0.10 KB
  5.04 KB/s from 100 messages
  Message size mean: 0.10 KB min: 0.10 KB max: 0.10 KB

• delay

  ❯ ros2 topic delay /joint_states
  average delay: 0.000
  min: 0.000s max: 0.001s std dev: 0.00012s window: 49
  average delay: 0.000
  min: 0.000s max: 0.001s std dev: 0.00012s window: 99
  average delay: 0.000
  min: 0.000s max: 0.001s std dev: 0.00011s window: 149

• echo

  
  ❯ ros2 topic echo /joint_states
  header:
  stamp:
  sec: 1683349449
  nanosec: 796098206
  frame_id: ''
  name:

• single_rrbot_joint1
• single_rrbot_joint2 position:
• -0.9986391842666132

• -0.9986391842666132 velocity: [] effort: []

[wep21]

• find

  ❯ ros2 topic find sensor_msgs/msg/JointState
  /joint_states

• hz

  ❯ ros2 topic hz /joint_states 
  average rate: 50.008
  min: 0.020s max: 0.020s std dev: 0.00009s window: 52
  average rate: 50.002
  min: 0.020s max: 0.020s std dev: 0.00012s window: 102

• info

  ❯ ros2 topic info /joint_states
  Type: sensor_msgs/msg/JointState
  Publisher count: 1
  Subscription count: 1

• type

  ❯ ros2 topic type /joint_states
  sensor_msgs/msg/JointState

• pub

  
  ❯ ros2 topic pub /chatter std_msgs/msg/String "{data: 'hi'}"
  publisher: beginning loop
  publishing #1: std_msgs.msg.String(data='hi')

publishing #2: std_msgs.msg.String(data='hi')

❯ ros2 run demo_nodes_cpp listener [INFO] [1683349697.542371594] [listener]: I heard: [hi] [INFO] [1683349698.542367468] [listener]: I heard: [hi] [INFO] [1683349699.542348538] [listener]: I heard: [hi]

[clalancette]

Thank you for testing!