ROS 2 Nodes

dd# ROS 2 Nodes

Node Layout

Nodes are the different ROS topics. in the below picture the nodes are in blue. ![[ros2_nodes.png|900]]

Getting Node info

To get information about a ROS 2 node you can use the ros2 cli to explore the nodes.

The command ros2 node list shows a list of all the nodes avalible. It can be handy to make sure the nodes are all discovered and working properly.

ros2 node list

Their is also a ROS 2 command for getting information about an individual node.

ros2 node info {/node_name}

Renaming a Node at Runtime

Renaming a node at runtime is useful when their are two ROS packages with the same node name. This method will allow you to change the name of the node so that both packages can run with out interference.

The command to rename a node is:

ros2 run {package_name} {node_name} --ros-args -r __node:{new_name}