ros2 run

This command is used to run nodes within a package, by activating certain entrypoints within the package definition.

Usage

ros2 run [PACKAGE] [EXECUTABLE]

[PACKAGE]

This is replaced with the packge that the code is located within. The packge is the highest level folder underneath the src folder.

[EXECUTABLE]

This is replaced with the executable name located in the setup.py file. This can be used to trigger specific files within a node.