ROS 2 Scope (r2s)

ROS 2 desktop scope application with Dear ImGui UI and runtime plugin loading.

Build and Install

cd /path/to/ros2scope
source /opt/ros/$ROS_DISTRO/setup.bash
cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build -j
cmake --install build --prefix ~/.local

Optional system-wide install:

sudo cmake --install build --prefix /usr/local

Run

Use a terminal with the ROS environment you want to inspect:

source /opt/ros/$ROS_DISTRO/setup.bash
# optional overlay workspace
# source /path/to/ws/install/setup.bash
r2s

Common options:

r2s --layout minimal.json
r2s --plugin topic_echo
r2s --safe-mode

License

Licensed under the Apache License 2.0. See LICENSE, NOTICE, and AUTHORS.