ROS 2 Doctor
ROS2 Doctor is a diagnostic tool that succeeds ros wtf (where is the fault). It checks all aspects of ROS 2, including platform, version, network, environment, running systems. It’s part of the ros2cli package. So if ros2cli is installed, ROS2doctor is installed.
What Does ROS2 Doctor Check?
One can see ros2 doctor --report
- Package versioning, such as
tf2_bullet NETWORK CONFIGURATION, items like:inet : 192.168.1.65…
PLATFORM INFORMATION, items like:- like
platform info : Linux-6.9.3-76060903-generic-x86_64-with-glibc2.35
- like
QOS COMPATIBILITY LISTcompatibility status : No publisher/subscriber pairs found
ROS 2 INFORMATION:distribution name : humble
TOPIC LIST- Existence of “dangling” topics without subscribers.
One can check failed checks only (report fail): ros2 doctor -rf. Reference
What ros2 doctor Can’t Detect
- I had a mix of
ROS2 IronandROS2 Humble- ROS 2 Iron cannot directly listen to ROS 2 Humble messages due to ABI incompatibility and other changes between ROS 2 distributions. E.g.,
sensor_msgsthat has different symbols or behavior inIron
- ROS 2 Iron cannot directly listen to ROS 2 Humble messages due to ABI incompatibility and other changes between ROS 2 distributions. E.g.,
Ros2 Topic
In ROS 2 design, it’s generally good to keep in mind what QoS we might need for each topic
ros2 topic echo /your_topic --qos-reliability best_effort- Messages might be dropped if the subscriber cannot keep up or if the network connection is unreliable.
Multicast
This command is a diagnostic tool that’s often used in ROS 2 for discovery and communication between nodes
ros2 multicast receive
