Tool for mocking ROS 2 services and actions.

Mock a service

ros2 mock service foobar std_srvs/srv/Trigger --timeout 10.0

Creates a service server that responds with default response and has a delay of 10s.

You can also specify a custom response:

ros2 mock service foobar std_srvs/srv/Trigger "{success: True, message: 'Foobar'}"

Mock an action

ros2 mock action /foobar example_interfaces/action/Fibonacci

You can also specify feedback messages and the result:

ros2 mock action /foobar example_interfaces/action/Fibonacci "sequence: [0, 1]" --feedback "sequence: [0]"

This action sends a single feedback message. You can specify --feedback multiple times to define multiple feedback messages that all get send in sequence.