Tricks

Tools

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.