ros2.fish

Integrate ROS2 with the fish-shell, and add interactive goodies to make you robotics workflow a little more fluid.

You may get most of the functionality (and possibly better completion of a command's options) by simply putting register-python-argcomplete --shell fish ros2 | source into your config.fish. However, this package has quite a few other advantages, see the list below. You can still add the argcomplete-line into your config, but then the completions may get a bit more crowded.

• Complete message/request/goal type (ros2 topic pub, ros2 service call, ros2 action send_goal) by simply pressing tab after completing the topic/service name

• Complete interface type (ros2 interface show, ros2 interface proto) or available packages, (ros2 interface package) by simply pressing tab after writing the subcommand

• Complete message/request/goal structure (ros2 topic pub, ros2 service call, ros2 action send_goal) with all their fields and default values, making it simple to publish/call complex message/service-request types. Note that fish of version 4.0

• Complete launch file arguments

• Complete available transitions for ros2 lifecycle set <node name>

  

• Abbreviations for commands, such as

  • rnl to get a tree of running nodes

  

  • rtl to get a tree of topics

  

  • rti to get an interactive display of topics and show their type, number of subscribers/publishers for the selected topic (this requires fzf to be installed!)

  

Requirements

• fish ^3.6.0 enhanced the capabilities of abbr which this plugin makes use of. Note that for proper completion of message/request contents, you'll need fish ^4.0.0!
• Optional for the interactive view of topic info: fzf

Installation

Using fisher

fisher install sven-hoek/ros2.fish