:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/ros2controlcli/doc/userdoc.rst .. _ros2controlcli_userdoc: Command Line Interface ====================== The following commands support interacting with the ``controller_manager`` from the command line. They are available through the standard ROS2 CLI framework. Currently supported commands are - ros2 control list_controllers - ros2 control list_controller_types - ros2 control list_hardware_components - ros2 control list_hardware_interfaces - ros2 control load_controller - ros2 control reload_controller_libraries - ros2 control set_controller_state - ros2 control set_hardware_component_state - ros2 control switch_controllers - ros2 control unload_controller - ros2 control cleanup_controller - ros2 control view_controller_chains - ros2 control view_hardware_status list_controllers ---------------- .. code-block:: console $ ros2 control list_controllers -h usage: ros2 control list_controllers [-h] [--spin-time SPIN_TIME] [-s] [--claimed-interfaces] [--required-state-interfaces] [--required-command-interfaces] [--chained-interfaces] [--exported-interfaces] [--verbose] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Output the list of loaded controllers, their type and status options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time --claimed-interfaces List controller's claimed interfaces --required-state-interfaces List controller's required state interfaces --required-command-interfaces List controller's required command interfaces --chained-interfaces List interfaces that the controllers are chained to --exported-interfaces List controller's exported state and reference interfaces --verbose, -v List controller's claimed interfaces, required state interfaces and required command interfaces -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable Example output: .. code-block:: console $ ros2 control list_controllers test_controller_name[test_controller] active list_controller_types --------------------- .. code-block:: console $ ros2 control list_controller_types -h usage: ros2 control list_controller_types [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Output the available controller types and their base classes options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable Example output: .. code-block:: console $ ros2 control list_controller_types diff_drive_controller/DiffDriveController controller_interface::ControllerInterface joint_state_broadcaster/JointStateBroadcaster controller_interface::ControllerInterface joint_trajectory_controller/JointTrajectoryController controller_interface::ControllerInterface list_hardware_components ------------------------ .. code-block:: console $ ros2 control list_hardware_components -h usage: ros2 control list_hardware_components [-h] [--spin-time SPIN_TIME] [-s] [--verbose] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Output the list of available hardware components options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time --verbose, -v List hardware components with command and state interfaces along with their data types -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable Example output: .. code-block:: console $ ros2 control list_hardware_components Hardware Component 0 name: RRBot type: system plugin name: ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware state: id=3 label=active command interfaces joint2/position [available] [claimed] joint1/position [available] [claimed] .. code-block:: console $ ros2 control list_hardware_components -v Hardware Component 0 name: RRBot type: system plugin name: ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware state: id=3 label=active command interfaces joint2/position [double] [available] [claimed] joint1/position [double] [available] [claimed] state interfaces joint2/position [double] [available] joint1/position [double] [available] list_hardware_interfaces ------------------------ .. code-block:: console $ ros2 control list_hardware_interfaces -h usage: ros2 control list_hardware_interfaces [-h] [--spin-time SPIN_TIME] [-s] [--verbose] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Output the list of available command and state interfaces options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time --verbose, -v List hardware interfaces and their data types -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable .. code-block:: console $ ros2 control list_hardware_interfaces command interfaces joint1/position [unclaimed] joint2/position [unclaimed] state interfaces joint1/position joint2/position .. code-block:: console $ ros2 control list_hardware_interfaces -v command interfaces joint1/position [double] [unclaimed] joint2/position [double] [unclaimed] state interfaces joint1/position [double] joint2/position [double] load_controller --------------- .. code-block:: console $ ros2 control load_controller -h usage: ros2 control load_controller [-h] [--spin-time SPIN_TIME] [-s] [--set-state {inactive,active}] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name [param_file] Load a controller in a controller manager positional arguments: controller_name Name of the controller param_file The YAML file with the controller parameters options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time --set-state {inactive,active} Set the state of the loaded controller -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable reload_controller_libraries --------------------------- .. code-block:: console $ ros2 control reload_controller_libraries -h usage: ros2 control reload_controller_libraries [-h] [--spin-time SPIN_TIME] [-s] [--force-kill] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Reload controller libraries options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time --force-kill Force stop of loaded controllers -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable set_controller_state -------------------- .. code-block:: console $ ros2 control set_controller_state -h usage: ros2 control set_controller_state [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name {unconfigured,inactive,active} Adjust the state of the controller positional arguments: controller_name Name of the controller to be changed {unconfigured,inactive,active} State in which the controller should be changed to options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable set_hardware_component_state ---------------------------- .. code-block:: console $ ros2 control set_hardware_component_state -h usage: ros2 control set_hardware_component_state [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] hardware_component_name {unconfigured,inactive,active} Adjust the state of the hardware component positional arguments: hardware_component_name Name of the hardware_component to be changed {unconfigured,inactive,active} State in which the hardware component should be changed to options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable switch_controllers ------------------ .. code-block:: console $ ros2 control switch_controllers -h usage: ros2 control switch_controllers [-h] [--spin-time SPIN_TIME] [-s] [--deactivate [DEACTIVATE ...]] [--activate [ACTIVATE ...]] [--strict] [--activate-asap] [--switch-timeout SWITCH_TIMEOUT] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Switch controllers in a controller manager options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time --deactivate [DEACTIVATE ...] Name of the controllers to be deactivated --activate [ACTIVATE ...] Name of the controllers to be activated --strict Strict switch --activate-asap Start asap controllers --switch-timeout SWITCH_TIMEOUT Timeout for switching controllers -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable unload_controller ----------------- .. code-block:: console $ ros2 control unload_controller -h usage: ros2 control unload_controller [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name Unload a controller in a controller manager positional arguments: controller_name Name of the controller options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable cleanup_controller ---------------------- .. code-block:: console $ ros2 control cleanup_controller -h usage: ros2 control cleanup_controller [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name Cleanup a controller in a controller manager positional arguments: controller_name Name of the controller options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable view_controller_chains ---------------------- .. code-block:: console $ ros2 control view_controller_chains -h usage: ros2 control view_controller_chains [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] Generates a diagram of the loaded chained controllers into /tmp/controller_diagram.gv.pdf options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node (default: controller_manager) --include-hidden-nodes Consider hidden nodes as well --ros-args ... Pass arbitrary arguments to the executable view_hardware_status ---------------------- .. code-block:: console $ ros2 control view_hardware_status -h usage: ros2 control view_hardware_status [-h] [--spin-time SPIN_TIME] [-s] [-i HARDWARE_ID] [-d DEVICE_ID] Echo hardware status messages with filtering capabilities options: -h, --help show this help message and exit --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not using an already running daemon) -s, --use-sim-time Enable ROS simulation time -i HARDWARE_ID, --hardware-id HARDWARE_ID Filter by a specific hardware component ID. -d DEVICE_ID, --device-id DEVICE_ID Filter by a specific device ID within a hardware component.