A secure, read-only sandboxed skill for querying the ROS 2 graph including topics, nodes, services, and parameters.
Install & Download
1. ClawHub CLI
The fastest way to install a skill directly from the registry.
npx clawhub@latest install ros2-introspection
2. Manual Installation
Copy the skill folder to one of these locations
~/.openclaw/skills/ <project>/skills/ Priority: Workspace > Local > Bundled
3. Prompt Installation
Copy this prompt to OpenClaw to install it automatically.
Help me install ros2-introspection using Clawhub. If Clawhub is not installed, install it first (npm i -g clawhub).
Prefer to download?
Get the raw skill files in a ZIP archive.
What is ROS 2 Introspection?
The ROS 2 Introspection skill provides a robust and sandboxed environment for developers to analyze their robotics stack without the risk of accidental state changes. Designed specifically for integration within Openclaw Skills, this utility uses a safe wrapper script to execute read-only commands against the ROS 2 graph. This ensures that while you gain full visibility into your system, the underlying robotics hardware remains protected from unintended execution commands.
By leveraging this skill, developers can gain real-time visibility into active nodes, message topics, and service interfaces. It prioritizes security through a strict command allowlist and prevents shell injection, making it an essential utility for debugging complex autonomous systems and ensuring system health across distributed robotics networks.
ROS 2 Introspection Use Cases
- Monitoring real-time topic data and message frequency to identify latency issues.
- Inspecting node configurations and active service types to verify system architecture.
- Debugging communication bottlenecks by checking topic bandwidth in high-traffic environments.
- Dumping parameter lists for configuration verification and rapid troubleshooting.
- Visualizing the ROS 2 graph topology using rqt_graph in a controlled, read-only manner.
How ROS 2 Introspection Works
- The AI agent initiates a query through the safe_ros2_introspection.py wrapper script included in the skill package.
- The script validates the incoming command against a hardcoded allowlist of read-only ROS 2 operations to maintain security.
- The system executes the specific ROS 2 CLI command using a secure subprocess call with shell=False to prevent injection attacks.
- Output from the ROS 2 graph, such as topic info or node lists, is captured and processed from the standard output.
- The resulting structured data is returned to the Openclaw Skills environment for further analysis, logging, or reporting.
ROS 2 Introspection Setup
To utilize this skill, your local ROS 2 distribution must be installed and properly configured in your terminal environment.
- Source your ROS 2 environment:
source /opt/ros/<distro>/setup.bash
- Run the skill setup script:
./scripts/setup.sh
ROS 2 Introspection Data Schema & Taxonomy
The skill organizes data based on the standard ROS 2 graph hierarchy, providing clear insights into the messaging and parameter architecture.
| Category | Sub-commands Supported | Output Data Type |
|---|---|---|
| Topics | list, info, echo, hz, bw | Stream Metadata & Sample Messages |
| Nodes | list, info | Connection Graph & Interface Mapping |
| Services | list, type, find | Interface Definitions |
| Actions | list, info | Feedback & Result Schema |
| Parameters | list, get, dump | Node Configuration Key-Values |
| Interfaces | show | Data Structure Definitions |
ROS 2 Introspection Advanced Features
- Strict shell=False execution logic to prevent command injection and unauthorized system access.
- Comprehensive support for real-time telemetry including topic frequency and bandwidth monitoring.
- Interface introspection capabilities that reveal complex message structures without requiring source code access.
- Seamless integration with Openclaw Skills for automated robotics diagnostic workflows.
- Specialized RQT graph support for visual topology analysis within a sandboxed execution context.
SKILL.md
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