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TUI

talos-tui is the interactive terminal client.

talos-tui

By default it connects over UDS at /tmp/talos.sock. With the quic feature:

talos-tui --remote 192.168.1.50:4433

Views

The TUI has five tabs:

  • Topics
  • Nodes
  • Log
  • Joints
  • Params

Use number keys 1 through 5 to switch tabs. Tab switches focus between panes. q quits.

Connection Behavior

The TUI reconnects when the agent connection is lost. After connecting, it asks for the topic list and subscribes to all discovered topics by default so it can receive live data. If you manually toggle topic subscriptions, those choices are kept in the client state and re-applied after reconnect instead of subscribing to every topic again. Topics that disappear from the latest agent topic list are removed from the Topics pane and reconnect request until the agent advertises them again, which also drops their cached sample/count history.

Topics

The Topics tab shows topic names and current message rates. Selecting a topic shows the latest DynValue tree for that topic. Press s anywhere in the Topics tab to subscribe or unsubscribe the selected topic. The list shows the current subscription state, including pending changes and request errors.

Before you customize anything, newly discovered topics inherit the default behavior and are subscribed automatically. After you manually subscribe or unsubscribe any topic, the TUI switches to using your explicit desired set: newly discovered topics stay unsubscribed until you opt into them with s.

If a manual subscribe or unsubscribe request fails, the TUI keeps your desired choice in client state, shows the error on that topic, and retries the desired state after reconnect.

Nodes

The Nodes tab lists ROS 2 nodes and shows publishers, subscribers, and services for the selected node.

Logs

The Log tab displays /rosout entries with timestamp, severity, node, and message fields. It supports severity, node, and text filtering.

Joints

The Joints tab combines URDF joint definitions with live /joint_states data. It can display limits, current position, velocity, effort, and configured poses. When control is configured, it can send joint position and pose commands to the agent.

Params

The Params tab lists the nodes discovered in the graph in the left pane. Select a node and press Enter to load its parameters into the right pane, where each parameter is shown with its current value and type.

Switch focus to the parameter list with Tab, select a parameter, and press e to edit it. Type the new value and press Enter to apply it (the value type is inferred the same way as the CLI set-param command); Esc cancels. After a successful set the list refreshes so the new value is shown.