Remote Commands¶

Publish std_msgs/String to the /command topic to control iROSLink remotely from your ROS2 graph.

Command table¶

Command	Effect
`explore`	Start autonomous exploration. Starts SLAM if not already running.
`stop_explore`	Stop exploration. Robot halts.
`clean`	Start coverage clean. Starts SLAM if not already running.
`clean_stop`	Stop coverage clean.
`cancel`	Cancel the current drive goal. Robot stops in place.
`pause`	Pause the AR/SLAM session. Publishing stops.
`resume`	Resume a paused AR/SLAM session.
`reset`	Reset the AR/SLAM session. Map is cleared and tracking restarts from the current position.

# With ROS2 + rmw_zenoh_cpp:
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 topic pub --once /command std_msgs/String "data: 'explore'"

explore and clean require Autonomous IDD mode. In Sensor Bridge mode, these commands are ignored.
reset clears the current map. This cannot be undone from within the session. Save the map first if you want to keep it (Data tab → Save Map).
Commands are processed on the main thread. There may be a short delay (< 1 s) between publishing and the app responding, depending on phone load.