ros2-introspection（ros2 introspection 搜索）

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.

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

1. Run setup:

   ./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