CLI tools
dc_cli/package.xml doesn't declare a dependency on typer (the CLI framework this
tool is built on) — a real python3-typer rosdep key exists and resolves to a real
Ubuntu apt package, but nothing in package.xml tells rosdep to install it. A plain
rosdep install + colcon build leaves ros2 run dc_cli list_plugins failing with
ModuleNotFoundError: No module named 'typer'. pip install --break-system-packages typer (or add it to a uv-managed virtualenv) is the workaround until the package
declares it — or sudo apt install python3-typer directly.
List plugins
You can list available plugins by running the CLI tool:
ros2 run dc_cli list_plugins --help
Usage: list_plugins [OPTIONS] COMMAND [ARGS]...
╭─ Options ─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╮
│ --install-completion Install completion for the current shell. │
│ --show-completion Show completion for the current shell, to copy it or customize the installation. │
│ --help Show this message and exit. │
╰───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
╭─ Commands ────────────────────────────────────────────────────────────────────────────────────────────────────────────────╮
│ by-package List plugins of a pluginlib file with their descriptions, by package name and filename. │
│ by-path List plugins of a pluginlib file with their descriptions, by their path. │
│ conditions List condition plugins with their descriptions. │
│ measurements List measurement plugins with their descriptions. │
╰───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
There is no destinations command. Destinations are not pluginlib plugins in DC 2.0
(ADR-0003): the blessed types are
listed in Destinations, and
everything else is reached through the passthrough.