ROS 2 Introspection (Sandboxed)

Setup & Installation

Before this skill can be used, the local environment must be configured.

1. Source your environment: You MUST source your ROS 2 environment first in your terminal.

```bash

source /opt/ros//setup.bash

```

1. Run setup:

```bash

./scripts/setup.sh

```

Overview

Use this skill to inspect the ROS 2 graph. It is STRICTLY read-only.

You cannot use this skill to run nodes, call services, or send action goals (use ros2-execution for that).

SECURITY CONSTRAINT: You must ALWAYS use the safe wrapper script located at ./scripts/safe_ros2_introspection.py.

This Python script uses subprocess (shell=False) to prevent command injection and validates the command against a strict allowlist.

Wrapper Path: Resolve ./scripts/safe_ros2_introspection.py against this SKILL.md directory.

Allowed Commands

Usage: ./scripts/safe_ros2_introspection.py [args]

• Topics:
• ./scripts/safe_ros2_introspection.py topic list
• ./scripts/safe_ros2_introspection.py topic info
• ./scripts/safe_ros2_introspection.py topic echo
• ./scripts/safe_ros2_introspection.py topic hz
• ./scripts/safe_ros2_introspection.py topic bw
• Nodes:
• ./scripts/safe_ros2_introspection.py node list
• ./scripts/safe_ros2_introspection.py node info
• Services:
• ./scripts/safe_ros2_introspection.py service list
• ./scripts/safe_ros2_introspection.py service type
• ./scripts/safe_ros2_introspection.py service find
• Actions:
• ./scripts/safe_ros2_introspection.py action list
• ./scripts/safe_ros2_introspection.py action info
• Parameters:
• ./scripts/safe_ros2_introspection.py param list
• ./scripts/safe_ros2_introspection.py param get
• ./scripts/safe_ros2_introspection.py param dump
• Interfaces:
• ./scripts/safe_ros2_introspection.py interface show
• RQT:
• ./scripts/safe_ros2_introspection.py rqt_graph