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.

Parameters

View and set ROS 2 parameters on any node in the graph. Pass the fully-qualified node name (e.g. /talos_agent).

List a node’s parameters with their current values:

talos-cli list-params /talos_agent

Get specific parameter values:

talos-cli get-param /talos_agent use_sim_time rate

Set a parameter (the value type is inferred — true/false for bool, integers, floats, [1, 2, 3] for arrays, otherwise a string):

talos-cli set-param /talos_agent rate 50.0

set-param exits non-zero if the node rejects the change and prints the reason. The agent reaches each node through the standard rcl_interfaces parameter services, so the target node must be running.

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.