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:

1. Loads configuration.
2. Starts configured transport listeners.
3. Creates the ROS 2 bridge node.
4. Subscribes to configured topics with supported message types.
5. 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 Lyrical environment, managed by Pixi. It provides the ROS 2 runtime and the pre-generated Rust message bindings. Enter the environment before building or running:

pixi install
pixi shell        # or prefix commands with `pixi run`

Logging

The agent uses tracing. Set RUST_LOG to adjust log verbosity:

RUST_LOG=talos_agent=debug talos-agent --config talos-agent.toml