• You can get the publishing frequency of a topic with $ ros2 topic hz [topic_name]
  • Show a graph of all current topics and nodes with $ rqt_graph
  • VS Code’s “Remote - SSH” extension is a good way to develop remotely on the Quad. Files, terminals, and more all appear as though you were working locally on the Quad.
  • Other useful VS Code extensions include Prettier, GitLens, Doxygen Documenttion Generator (C++), autoDocstring (Python), and the C/C++ entension pack.


  • ROS Services are alternatives to publishers/subscribers. They return results only when requested by a Client.