ROS2 Introspection

Execute core ROS 2 introspection commands to query the ROS graph (topics, nodes, services, actions, parameters). STRICTLY read-only.

ROS 2 Introspection (Sandboxed)

Setup & Installation

Before this skill can be used, the local environment must be configured.

1. Source your environment: You MUST source your ROS 2 environment first in your terminal.

   bash

   source /opt/ros/<distro>/setup.bash
   

2. Run setup:

   bash

   ./scripts/setup.sh
   

Overview

Use this skill to inspect the ROS 2 graph. It is STRICTLY read-only. You cannot use this skill to run nodes, call services, or send action goals (use ros2-execution for that).

SECURITY CONSTRAINT: You must ALWAYS use the safe wrapper script located at ./scripts/safe_ros2_introspection.py. This Python script uses subprocess (shell=False) to prevent command injection and validates the command against a strict allowlist.

Wrapper Path: Resolve ./scripts/safe_ros2_introspection.py against this SKILL.md directory.

Allowed Commands

Usage: ./scripts/safe_ros2_introspection.py <category> <subcmd> [args]

• Topics:
  • ./scripts/safe_ros2_introspection.py topic list
  • ./scripts/safe_ros2_introspection.py topic info <topic>
  • ./scripts/safe_ros2_introspection.py topic echo <topic>
  • ./scripts/safe_ros2_introspection.py topic hz <topic>
  • ./scripts/safe_ros2_introspection.py topic bw <topic>
• Nodes:
  • ./scripts/safe_ros2_introspection.py node list
  • ./scripts/safe_ros2_introspection.py node info <node>
• Services:
  • ./scripts/safe_ros2_introspection.py service list
  • ./scripts/safe_ros2_introspection.py service type <srv>
  • ./scripts/safe_ros2_introspection.py service find <type>
• Actions:
  • ./scripts/safe_ros2_introspection.py action list
  • ./scripts/safe_ros2_introspection.py action info <action>
• Parameters:
  • ./scripts/safe_ros2_introspection.py param list
  • ./scripts/safe_ros2_introspection.py param get <node> <param>
  • ./scripts/safe_ros2_introspection.py param dump <node>
• Interfaces:
  • ./scripts/safe_ros2_introspection.py interface show <type>
• RQT:
  • ./scripts/safe_ros2_introspection.py rqt_graph