Topic Observation

Talos observes ROS 2 topics through configured agent subscriptions.

The agent subscribes with concrete ROS 2 message types and converts received messages into DynValue. Clients receive the generic tree and can render it without ROS 2 type definitions.

Current Message Support

The current agent supports these message families:

• nav_msgs/msg/Odometry
• geometry_msgs/msg/Twist
• std_msgs/msg/String
• sensor_msgs/msg/JointState
• rcl_interfaces/msg/Log

Support for arbitrary ROS 2 message definitions is future work.

Rates

The TUI keeps the latest value for each topic and renders on a fixed tick loop. High-frequency topics are naturally deduplicated by display rate: the UI shows the most recent received value at render time rather than drawing every incoming message.

CLI Echo

The CLI echo command subscribes to a single topic and prints received DynValue trees until interrupted or until --count messages have been printed.