Buttons
Your own buttons, each one doing a single thing:
Publish a message on a topic.
Call a service and show the response, with the time it took.
Send an action goal, show its feedback and result, and cancel it while it runs.
Tap Add button, choose the kind and use Browse to pick a topic, service or action from the network (or type its name). Then fill in the message: there is one field per message field, arrays are written as comma-separated values and arrays of messages as JSON. Header stamps are set to the current time when the button is pressed.
Options
QoS for publishing: Reliable (default), Best effort or Transient local.
Repeat while held (Hz, 0 = once), up to 100 Hz: handy for “move forward while pressed”.
Response / goal acceptance timeout, 5 s by default.
Ask for confirmation before sending, for anything dangerous.
A color: blue, green, red, orange, purple or gray.
Each button’s menu has Edit, Duplicate, Move earlier, Move later and Delete.
Message types
The app knows almost 300 common interfaces (std_msgs, geometry_msgs, nav_msgs,
sensor_msgs, nav2_msgs, std_srvs, example_interfaces…). For your own types, pick
Define a custom type… and paste the output of ros2 interface show your_pkg/msg/YourType.