[#23896] Create tools for inpection (ros2 cli) #5

Danipiza · 2025-12-03T15:25:25Z

New commands

- ros2 node
    Commands:
        info  Output information about a node
        list  Output a list of available nodes

- ros2 topic
    Commands:
        bw     Display bandwidth used by topic
        delay  Display delay of topic from timestamp in header
        echo   Output messages from a topic
        find   Output a list of available topics of a given type
        hz     Print the average receiving rate to screen
        info   Print information about a topic
        list   Output a list of available topics
        pub    Publish a message to a topic
        type   Print a topic's type

- ros2 service
    Commands:
        call  Call a service
        echo  Echo a service
        find  Output a list of available services of a given type
        info  Print information about a service
        list  Output a list of available services
        type  Output a service's type

- ros2 action
    Commands:
        info       Print information about an action
        list       Output a list of action names
        send_goal  Send an action goal
        type       Print a action's type
        echo       Echo a action
        find       Find actions from type


- ros2 param
    Commands:
        delete    Delete parameter
        describe  Show descriptive information about declared parameters
        dump      Show all of the parameters of a node in a YAML file format
        get       Get parameter
        list      Output a list of available parameters
        load      Load parameter file for a node
        set       Set parameter

Stream-able commands examples:

execute the following command: "ros2 topic echo /turtle1/pose" for a maximum number of lines of 100000
execute the following command: "ros2 topic hz /turtle1/pose" for a maximum number of lines of 100000
execute the following command: "ros2 topic delay /turtle1/pose" for a maximum number of lines of 100000
execute the following command: "ros2 topic pub /chatter std_msgs/msg/String" for a maximum number of lines of 100000
execute the following command: "ros2 topic bw /turtle1/pose" for a maximum number of lines of 100000
execute the following command: "ros2 service echo /turtlesim/describe_parameters" for a maximum number of lines of 100000

Signed-off-by: danipiza <[email protected]>

cferreiragonz

First review just checking the code. We can consider creating some tests to check all tools.

I am concerned about the optional input parameters. I don't know how all LLMs will treat them.

I will re-review after reviewing Textualize PR

cferreiragonz · 2025-12-05T07:01:50Z

src/vulcanai/console/console.py

                if user_input.strip().lower() in ("exit", "quit"):
                    break
-
+                


cferreiragonz · 2025-12-05T07:02:00Z

src/vulcanai/console/console.py

+        self.logger = VulcanAILogger.log_manager
+        self.stream_task = None
+
+        #self.loop = asyncio.get_running_loop()


Delete if unused

cferreiragonz · 2025-12-05T07:13:11Z

src/vulcanai/console/console.py

+from vulcanai.console.logger import VulcanAILogger
+
+import asyncio


Move import asyncio with the other basic import like os and argparse (alphabetical order) and reuse the vulcanai.console.logger existing import --> from vulcanai.console.logger import console, VulcanAILogger

cferreiragonz · 2025-12-05T07:14:08Z

src/vulcanai/console/console.py

        except Exception:
            pass

+        current_path = os.path.dirname(os.path.abspath(__file__))


We need to be careful with this. __file__ will point to the installation path if installed without using -e argument when installing the package. So we need to either install the default_tools.py file in the same relative path from the installed file or to find another method to add the tools. Maybe we can install them as a module with the package and just load them directly

cferreiragonz · 2025-12-05T07:33:58Z

src/vulcanai/console/utils.py

+import sys
+
+import time
+
+import rclpy
+
+import subprocess
+
+import asyncio
+import os
+from typing import List, Optional
+
+import threading
+
+
+# used to remove possible errors in textual terminal
+# Subscribed to [/turtle1/pose] -> Subscribed to \[/turtle1/pose]
+from textual.markup import escape


Suggested change

import sys

import time

import rclpy

import subprocess

import asyncio

import os

from typing import List, Optional

import threading

# used to remove possible errors in textual terminal

# Subscribed to [/turtle1/pose] -> Subscribed to \[/turtle1/pose]

from textual.markup import escape

from typing import List, Optional

import asyncio

import os

import rclpy

import subprocess

import sys

import threading

import time

# To remove possible errors in textual terminal

# Subscribed to [/turtle1/pose] -> Subscribed to \[/turtle1/pose]

from textual.markup import escape

cferreiragonz · 2025-12-05T08:28:57Z