## TOPICS
# list topics (and their messages using the -t flag)
ros2 topic list -t
# print topic output
ros2 topic echo
# view message (message_type usuaully = msg or srv)
ros2 interface show <message_package/message_type/message>

## NODES
# run a node
ros2 run <package> <node>
# list nodes
ros2 node list

## SERVICES
# list services
ros2 service list
# call service
ros2 service call <service_name>

## PARAMETERS AND REMAPPING
# run a package with ros-args
ros2 run <package> <node> --ros-args -p serial_port:=<serial_port> -r <remap_this>:=<to_this>
# best to remap name space of component instead of keeping track of all services / topics
ros2 run <package> <node> --ros-args -p serial_port:=<serial_port> -r __ns:=<to_this>

## LAUNCH
ros2 launch <launch_script>

## VISUALISE NODES AND TOPICS
ros2 run rqt_graph rqt_graph