Buttons for services and actions

Goal: a panel with the commands you use every day.

A service button

  1. Tap + → Buttons, then Add button.

  2. Choose Service and tap Browse to pick it (for example /demo_robot/return_home in the demo, or /reset_odom on your robot).

  3. Fill in the request fields, give it a label and a color, and save.

  4. Tap it: the response appears under the button with the time it took.

An action button

Same steps choosing Action (for example /fibonacci with order: 10 in the demo, or /navigate_to_pose with a pose on a Nav2 robot). While the goal runs the button shows the feedback and becomes Cancel.

A “hold to move” button

Choose Publish, topic /cmd_vel, type geometry_msgs/msg/Twist, linear.x = 0.2 and set Repeat while held to 10 Hz. The robot moves only while you keep the button pressed.

For anything risky, turn on Ask for confirmation before sending.