CLI

The CLI binary is named talos-cli.

List Topics

talos-cli list-topics

This asks the agent for the current topic list and prints topic name, type, publisher count, and subscriber count.

List Nodes

talos-cli list-nodes

This asks the agent for discovered ROS 2 nodes and prints their names and namespaces.

Echo Topic Data

talos-cli echo /joint_states --count 5

echo subscribes to the requested topic before waiting for data. A count of zero means unlimited output.

Socket Selection

The default transport is UDS:

talos-cli --socket /tmp/talos.sock list-topics

With the quic feature enabled, --remote selects QUIC:

talos-cli --remote 192.168.1.50:4433 list-topics

--socket and --remote are mutually exclusive. If the binary was compiled without QUIC support, --remote returns an error.