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Ros Skill

Controls ROS/ROS2 robots via rosbridge WebSocket CLI.

Rating: 4.6 (45 reviews)
Downloads: 1,611 downloads
Version: 1.0.0

Overview

Controls ROS/ROS2 robots via rosbridge WebSocket CLI.

Complete Documentation

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ROS Skill

Controls and monitors ROS/ROS2 robots via rosbridge WebSocket.

Architecture: Agent → ros_cli.py → rosbridge (WebSocket :9090) → ROS/ROS2 Robot

All commands output JSON. Errors contain {"error": "..."}.

For full command reference with arguments, options, and output examples, see references/COMMANDS.md.

Setup

1. Install dependency

bash

pip install websocket-client

2. Launch rosbridge on the robot

ROS 1:

bash

sudo apt install ros-${ROS_DISTRO}-rosbridge-server
roslaunch rosbridge_server rosbridge_websocket.launch

ROS 2:

bash

sudo apt install ros-${ROS_DISTRO}-rosbridge-server
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Important: Always Connect First

Before any operation, test connectivity:

bash

python {baseDir}/scripts/ros_cli.py connect
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> connect

Global Options

Flag	Default	Description
--ip IP	127.0.0.1	Rosbridge IP address
--port PORT	9090	Rosbridge port number
--timeout SECONDS	5.0	Connection and request timeout

Command Quick Reference

Category	Command	Description
Connection	connect	Test rosbridge connectivity (ping, port, WebSocket)
Connection	version	Detect ROS version and distro
Topics	topics list	List all active topics with types
Topics	topics type	Get message type of a topic
Topics	topics details	Get topic publishers/subscribers
Topics	topics message	Get message field structure
Topics	topics subscribe	Subscribe and receive messages
Topics	topics publish	Publish a message to a topic
Topics	topics publish-sequence	Publish message sequence
Services	services list	List all available services
Services	services type	Get service type
Services	services details	Get service request/response fields
Services	services call	Call a service
Nodes	nodes list	List all active nodes
Nodes	nodes details	Get node topics/services
Params	params list	List node parameters (ROS 2)
Params	params get	Get parameter value (ROS 2)
Params	params set	Set parameter value (ROS 2)
Actions	actions list	List action servers (ROS 2)
Actions	actions details	Get action goal/result/feedback fields (ROS 2)
Actions	actions send	Send action goal (ROS 2)

Key Commands

connect

bash

python {baseDir}/scripts/ros_cli.py connect
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> connect

version

bash

python {baseDir}/scripts/ros_cli.py version

topics list / type / details / message

bash

python {baseDir}/scripts/ros_cli.py topics list
python {baseDir}/scripts/ros_cli.py topics type /turtle1/cmd_vel
python {baseDir}/scripts/ros_cli.py topics details /turtle1/cmd_vel
python {baseDir}/scripts/ros_cli.py topics message geometry_msgs/Twist

topics subscribe

Without --duration: returns first message. With --duration: collects multiple messages.

bash

python {baseDir}/scripts/ros_cli.py topics subscribe /turtle1/pose turtlesim/Pose
python {baseDir}/scripts/ros_cli.py topics subscribe /odom nav_msgs/Odometry --duration 10 --max-messages 50
python {baseDir}/scripts/ros_cli.py topics subscribe /scan sensor_msgs/LaserScan --timeout 10

topics publish

Without --duration: single-shot. With --duration: publishes repeatedly at --rate Hz. Use --duration for velocity commands — most robot controllers stop if they don't receive continuous cmd_vel messages.

bash

# Single-shot
python {baseDir}/scripts/ros_cli.py topics publish /trigger std_msgs/Empty '{}'

# Move forward 3 seconds (velocity — use --duration)
python {baseDir}/scripts/ros_cli.py topics publish /cmd_vel geometry_msgs/Twist \
  '{"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}' --duration 3

# Rotate left 2 seconds
python {baseDir}/scripts/ros_cli.py topics publish /cmd_vel geometry_msgs/Twist \
  '{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0.5}}' --duration 2

# Stop
python {baseDir}/scripts/ros_cli.py topics publish /cmd_vel geometry_msgs/Twist \
  '{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}'

Options: --duration SECONDS, --rate HZ (default 10)

topics publish-sequence

Publish a sequence of messages, each repeated at --rate Hz for its corresponding duration. Arrays must have the same length.

bash

# Forward 3s then stop
python {baseDir}/scripts/ros_cli.py topics publish-sequence /cmd_vel geometry_msgs/Twist \
  '[{"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}},{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}]' \
  '[3.0, 0.5]'

# Draw a square (turtlesim)
python {baseDir}/scripts/ros_cli.py topics publish-sequence /turtle1/cmd_vel geometry_msgs/Twist \
  '[{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":2},"angular":{"z":0}},{"linear":{"x":0},"angular":{"z":1.5708}},{"linear":{"x":0},"angular":{"z":0}}]' \
  '[1,1,1,1,1,1,1,1,0.5]'

Options: --rate HZ (default 10)

services list / type / details

bash

python {baseDir}/scripts/ros_cli.py services list
python {baseDir}/scripts/ros_cli.py services type /spawn
python {baseDir}/scripts/ros_cli.py services details /spawn

services call

bash

python {baseDir}/scripts/ros_cli.py services call /reset std_srvs/Empty '{}'
python {baseDir}/scripts/ros_cli.py services call /spawn turtlesim/Spawn \
  '{"x":3.0,"y":3.0,"theta":0.0,"name":"turtle2"}'
python {baseDir}/scripts/ros_cli.py services call /turtle1/set_pen turtlesim/srv/SetPen \
  '{"r":255,"g":0,"b":0,"width":3,"off":0}'

nodes list / details

bash

python {baseDir}/scripts/ros_cli.py nodes list
python {baseDir}/scripts/ros_cli.py nodes details /turtlesim

params list / get / set (ROS 2 only)

Uses node:param_name format from params list output.

bash

python {baseDir}/scripts/ros_cli.py params list /turtlesim
python {baseDir}/scripts/ros_cli.py params get /turtlesim:background_r
python {baseDir}/scripts/ros_cli.py params set /turtlesim:background_r 255

actions list / details / send (ROS 2 only)

bash

python {baseDir}/scripts/ros_cli.py actions list
python {baseDir}/scripts/ros_cli.py actions details /turtle1/rotate_absolute
python {baseDir}/scripts/ros_cli.py actions send /turtle1/rotate_absolute \
  turtlesim/action/RotateAbsolute '{"theta":3.14}'

Workflow Examples

1. Explore a Robot System

bash

python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> connect
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> version
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> topics list
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> nodes list
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> services list
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> topics type /cmd_vel
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> topics message geometry_msgs/Twist
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> actions list
python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> params list /robot_node

2. Move a Robot

Always check the message structure first, then publish movement, and always stop after.

bash

python {baseDir}/scripts/ros_cli.py topics message geometry_msgs/Twist
python {baseDir}/scripts/ros_cli.py topics publish-sequence /cmd_vel geometry_msgs/Twist \
  '[{"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}},{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}]' \
  '[2.0, 0.5]'

3. Read Sensor Data

bash

python {baseDir}/scripts/ros_cli.py topics type /scan
python {baseDir}/scripts/ros_cli.py topics message sensor_msgs/LaserScan
python {baseDir}/scripts/ros_cli.py topics subscribe /scan sensor_msgs/LaserScan --timeout 3
python {baseDir}/scripts/ros_cli.py topics subscribe /odom nav_msgs/Odometry --duration 10 --max-messages 50

4. Use Services

bash

python {baseDir}/scripts/ros_cli.py services list
python {baseDir}/scripts/ros_cli.py services details /spawn
python {baseDir}/scripts/ros_cli.py services call /spawn turtlesim/Spawn \
  '{"x":3.0,"y":3.0,"theta":0.0,"name":"turtle2"}'

5. ROS 2 Actions

bash

python {baseDir}/scripts/ros_cli.py actions list
python {baseDir}/scripts/ros_cli.py actions details /turtle1/rotate_absolute
python {baseDir}/scripts/ros_cli.py actions send /turtle1/rotate_absolute \
  turtlesim/action/RotateAbsolute '{"theta":1.57}'

6. Change Parameters (ROS 2)

bash

python {baseDir}/scripts/ros_cli.py params list /turtlesim
python {baseDir}/scripts/ros_cli.py params get /turtlesim:background_r
python {baseDir}/scripts/ros_cli.py params set /turtlesim:background_r 255
python {baseDir}/scripts/ros_cli.py params set /turtlesim:background_g 0
python {baseDir}/scripts/ros_cli.py params set /turtlesim:background_b 0

Safety Notes

Destructive commands (can move the robot or change state):

topics publish / topics publish-sequence — sends movement or control commands
services call — can reset, spawn, kill, or change robot state
params set — modifies runtime parameters
actions send — triggers robot actions (rotation, navigation, etc.)

Always stop the robot after movement. The last message in any publish-sequence should be all zeros:

json

{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}

Always check JSON output for errors before proceeding.

Troubleshooting

Problem	Cause	Solution
Connection refused	rosbridge not running	Start rosbridge: ros2 launch rosbridge_server rosbridge_websocket_launch.xml
Timeout errors	Slow network or large data	Increase timeout: --timeout 10 or --timeout 30
No topics found	ROS nodes not running	Ensure nodes are launched and workspace is sourced
Empty topic list	rosapi not available	Verify rosbridge includes rosapi (default in standard install)
Parameter commands fail	Using ROS 1	params commands only work with ROS 2
Action commands fail	Using ROS 1	actions commands only work with ROS 2
Invalid JSON error	Malformed message	Validate JSON before passing (watch for single vs double quotes)
Subscribe timeout	No publisher on topic	Check topics details to verify publishers exist
publish-sequence length error	Array mismatch	messages and durations arrays must have the same length

Installation

Terminal bash


openclaw install ros-skill

Copied!

💻Code Examples

pip install websocket-client

pip-install-websocket-client.txt

### 2. Launch rosbridge on the robot

**ROS 1:**

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

ros2-launch-rosbridgeserver-rosbridgewebsocketlaunchxml.txt

---

## Important: Always Connect First

Before any operation, test connectivity:

python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> connect

python-basedirscriptsrosclipy---ip-robotip-connect.txt

---

## Global Options

| Flag | Default | Description |
|------|---------|-------------|
| `--ip IP` | `127.0.0.1` | Rosbridge IP address |
| `--port PORT` | `9090` | Rosbridge port number |
| `--timeout SECONDS` | `5.0` | Connection and request timeout |

---

## Command Quick Reference

| Category | Command | Description |
|----------|---------|-------------|
| Connection | `connect` | Test rosbridge connectivity (ping, port, WebSocket) |
| Connection | `version` | Detect ROS version and distro |
| Topics | `topics list` | List all active topics with types |
| Topics | `topics type <topic>` | Get message type of a topic |
| Topics | `topics details <topic>` | Get topic publishers/subscribers |
| Topics | `topics message <msg_type>` | Get message field structure |
| Topics | `topics subscribe <topic> <msg_type>` | Subscribe and receive messages |
| Topics | `topics publish <topic> <msg_type> <json>` | Publish a message to a topic |
| Topics | `topics publish-sequence <topic> <msg_type> <msgs> <durs>` | Publish message sequence |
| Services | `services list` | List all available services |
| Services | `services type <service>` | Get service type |
| Services | `services details <service>` | Get service request/response fields |
| Services | `services call <service> <type> <json>` | Call a service |
| Nodes | `nodes list` | List all active nodes |
| Nodes | `nodes details <node>` | Get node topics/services |
| Params | `params list <node>` | List node parameters (ROS 2) |
| Params | `params get <node:param>` | Get parameter value (ROS 2) |
| Params | `params set <node:param> <value>` | Set parameter value (ROS 2) |
| Actions | `actions list` | List action servers (ROS 2) |
| Actions | `actions details <action>` | Get action goal/result/feedback fields (ROS 2) |
| Actions | `actions send <action> <type> <json>` | Send action goal (ROS 2) |

---

## Key Commands

### connect

python {baseDir}/scripts/ros_cli.py topics message geometry_msgs/Twist

python-basedirscriptsrosclipy-topics-message-geometrymsgstwist.txt

### topics subscribe

Without `--duration`: returns first message. With `--duration`: collects multiple messages.

python {baseDir}/scripts/ros_cli.py topics subscribe /scan sensor_msgs/LaserScan --timeout 10

python-basedirscriptsrosclipy-topics-subscribe-scan-sensormsgslaserscan---timeout-10.txt

### topics publish

Without `--duration`: single-shot. With `--duration`: publishes repeatedly at `--rate` Hz. **Use `--duration` for velocity commands** — most robot controllers stop if they don't receive continuous `cmd_vel` messages.

'{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}'

-linearx0y0z0angularx0y0z0.txt

Options: `--duration SECONDS`, `--rate HZ` (default 10)

### topics publish-sequence

Publish a sequence of messages, each repeated at `--rate` Hz for its corresponding duration. Arrays must have the same length.

'[1,1,1,1,1,1,1,1,0.5]'

-1111111105.txt

Options: `--rate HZ` (default 10)

### services list / type / details

python {baseDir}/scripts/ros_cli.py nodes details /turtlesim

python-basedirscriptsrosclipy-nodes-details-turtlesim.txt

### params list / get / set (ROS 2 only)

Uses `node:param_name` format from `params list` output.

turtlesim/action/RotateAbsolute '{"theta":3.14}'

-turtlesimactionrotateabsolute-theta314.txt

---

## Workflow Examples

### 1. Explore a Robot System

python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> params list /robot_node

python-basedirscriptsrosclipy---ip-robotip-params-list-robotnode.txt

### 2. Move a Robot

Always check the message structure first, then publish movement, and always stop after.

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Overview

Complete Documentation

ROS Skill

Setup

1. Install dependency

2. Launch rosbridge on the robot

Important: Always Connect First

Global Options

Command Quick Reference

Key Commands

connect

version

topics list / type / details / message

topics subscribe

topics publish

topics publish-sequence

services list / type / details

services call

nodes list / details

params list / get / set (ROS 2 only)

actions list / details / send (ROS 2 only)

Workflow Examples

1. Explore a Robot System

2. Move a Robot

3. Read Sensor Data

4. Use Services

5. ROS 2 Actions

6. Change Parameters (ROS 2)

Safety Notes

Troubleshooting

Installation

💻Code Examples

pip install websocket-client

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> connect

python {baseDir}/scripts/ros_cli.py topics message geometry_msgs/Twist

python {baseDir}/scripts/ros_cli.py topics subscribe /scan sensor_msgs/LaserScan --timeout 10

'{"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}}'

'[1,1,1,1,1,1,1,1,0.5]'

python {baseDir}/scripts/ros_cli.py nodes details /turtlesim

turtlesim/action/RotateAbsolute '{"theta":3.14}'

python {baseDir}/scripts/ros_cli.py --ip <ROBOT_IP> params list /robot_node

Tags

Quick Info

Ready to Install?

Resources

Related Skills

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Aap Passport

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