🎮 🐢 nvim-ros2

nvim-ros2 is a simple lua plugin that adds useful features to enhance your development workflow while developing ROS 2 modules.

🪄 Features

🌳 Treesitter Parser

• Custom grammar with syntax highlights for ROS 2 interfaces following official conventions.
• After configuring the plugin, the grammar can be installed using TSInstall ros2

✨ Highlights Examples

• .msg file

• .srv file

• .action file

🔭 Telescope

• Telescope extension that adds pickers for ROS 2 components

Active Actions with info preview

Active interfaces with show preview

Active Nodes with info preview

Active Services with type preview

Active topics with info preview

Autocommands

• Configure *.action, *.msg, and *.srv files as ros filetype
• Configure *.launch, *.xacro, and *.urdf files as xml filetype

🧰 Installation

Configuration

Lazy.nvim

Default (Telescope)

return {
  "ErickKramer/nvim-ros2",
  dependencies = {
    "nvim-lua/plenary.nvim",
    "nvim-telescope/telescope.nvim",
    "nvim-treesitter/nvim-treesitter",
  },
  opts = {
    -- picker = "telescope", -- Default
    autocmds = true,
    treesitter = true,
  },
  keys = {
    { "<leader>li", function() require("nvim-ros2").pickers.interfaces() end, desc = "[ROS 2]: List interfaces" },
    { "<leader>ln", function() require("nvim-ros2").pickers.nodes() end, desc = "[ROS 2]: List nodes" },
    { "<leader>la", function() require("nvim-ros2").pickers.actions() end, desc = "[ROS 2]: List actions" },
    { "<leader>lt", function() require("nvim-ros2").pickers.topics_info() end, desc = "[ROS 2]: List topics with info" },
    { "<leader>le", function() require("nvim-ros2").pickers.topics_echo() end, desc = "[ROS 2]: List topics with echo" },
    { "<leader>ls", function() require("nvim-ros2").pickers.services() end, desc = "[ROS 2]: List services" },
  },
}

Snacks.nvim

return {
  "ErickKramer/nvim-ros2",
  dependencies = {
    "folke/snacks.nvim",
    "nvim-treesitter/nvim-treesitter",
  },
  opts = {
    picker = "snacks",
    autocmds = true,
    treesitter = true,
  },
  keys = {
    { "<leader>li", function() require("nvim-ros2").pickers.interfaces() end, desc = "[ROS 2]: List interfaces" },
    { "<leader>ln", function() require("nvim-ros2").pickers.nodes() end, desc = "[ROS 2]: List nodes" },
    { "<leader>la", function() require("nvim-ros2").pickers.actions() end, desc = "[ROS 2]: List actions" },
    { "<leader>lt", function() require("nvim-ros2").pickers.topics_info() end, desc = "[ROS 2]: List topics with info" },
    { "<leader>le", function() require("nvim-ros2").pickers.topics_echo() end, desc = "[ROS 2]: List topics with echo" },
    { "<leader>ls", function() require("nvim-ros2").pickers.services() end, desc = "[ROS 2]: List services" },
  },
}

Fzf-lua

return {
  "ErickKramer/nvim-ros2",
  dependencies = {
    "ibhagwan/fzf-lua",
    "nvim-treesitter/nvim-treesitter",
  },
  opts = {
    picker = "fzf",
    autocmds = true,
    treesitter = true,
  },
  keys = {
    { "<leader>li", function() require("nvim-ros2").pickers.interfaces() end, desc = "[ROS 2]: List interfaces" },
    { "<leader>ln", function() require("nvim-ros2").pickers.nodes() end, desc = "[ROS 2]: List nodes" },
    { "<leader>la", function() require("nvim-ros2").pickers.actions() end, desc = "[ROS 2]: List actions" },
    { "<leader>lt", function() require("nvim-ros2").pickers.topics_info() end, desc = "[ROS 2]: List topics with info" },
    { "<leader>le", function() require("nvim-ros2").pickers.topics_echo() end, desc = "[ROS 2]: List topics with echo" },
    { "<leader>ls", function() require("nvim-ros2").pickers.services() end, desc = "[ROS 2]: List services" },
  },
}

Related Projects

• taDachs/ros-nvim
• thibthib18/ros-nvim

Disclaimer

The functionalities here provided were validated using ROS 2 humble.