Agent
talos-agent runs on the machine that has ROS 2 access.
talos-agent --config talos-agent.toml
The --config argument is optional. Without it, the agent checks for
talos-agent.toml in the current directory. If the file is not present, the
agent uses defaults: UDS enabled at /tmp/talos.sock, QUIC disabled, no topic
subscriptions, and no joint control.
Startup Behavior
On startup, the agent:
- Loads configuration.
- Starts configured transport listeners.
- Creates the ROS 2 bridge node.
- Subscribes to configured topics with supported message types.
- Waits for clients to connect and subscribe.
If neither UDS nor QUIC is configured, the agent logs an error and exits without serving clients.
ROS 2 Environment
The agent requires the ROS 2 and rclrs environment to be sourced before build
or run:
source rclrs_ws/install/setup.bash
Logging
The agent uses tracing. Set RUST_LOG to adjust log verbosity:
RUST_LOG=talos_agent=debug talos-agent --config talos-agent.toml