rosnode command-line tool
The rosnode command-line tool displays information about ROS Nodes. The currently supported commands are:
rosnode info print information about node rosnode kill kill a running node rosnode list list active nodes rosnode machine list nodes running on a particular machine or list machines rosnode ping test connectivity to node rosnode cleanup purge registration information of unreachable nodes
Display information about a node, including publications and subscriptions.
$ rosnode info /node_name
IMPORTANT: rosnode kill is not guaranteed to succeed. If a node is hung or set to "respawn" in roslaunch, it may either fail to die or may quickly reappear.
Kill one or more nodes by name.
$ rosnode kill rosout add_two_ints_server
Interactive mode. This enables you to select which node to kill from a numbered list, which is useful for killing anonymous nodes.
$ rosnode kill 1. /rosout Please enter the number of the node you wish to kill. >
kill -a, kill --all
- Kill all nodes.
Display a list of current nodes.
$ rosnode list
Display a list of current nodes inside /namespace.
$ rosnode list /my_ns
List XML-RPC URIs of current nodes.
$ rosnode list -u
list -a, list --all
List name and XML-RPC URIs (all info) of current nodes.
$ rosnode list -a
List nodes running on a particular machine.
$ rosnode machine ninja.local /talker-ninja.local-72266-1257921234733 /rosout /listener-ninja.local-72615-1257921238320
New in Fuerte
- List all machines
Ping a node repeatedly.
$ rosnode ping /node_name
Ping all nodes. This option cannot be used with -c.
$ rosnode ping --all
ROS 0.11: -a may also be used.
ping -c COUNT
Ping a node COUNT times. This option cannot be used with --all.
$ rosnode ping -c 4 rosout rosnode: node is [/rosout] pinging /rosout with a timeout of 3.0s xmlrpc reply from http://ann:46635/ time=1.195908ms xmlrpc reply from http://ann:46635/ time=1.123905ms xmlrpc reply from http://ann:46635/ time=1.144886ms xmlrpc reply from http://ann:46635/ time=1.137018ms ping average: 1.150429ms
IMPORTANT: rosnode cleanup was meant as a temporary solution and its use was not encouraged in normal operation. Its benefit is aesthetic and it has the downside of potentially unregistering functioning nodes. Relevant discussion.
Purge the registration of any node that cannot be contacted immediately. Prints list of unreachable nodes which has to be confirmed.
$ rosnode cleanup
rosnode is a stable command-line tool within the ROS core toolchain. No major feature development is currently scheduled for this tool.