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Use SSH + tmux + ROS2 CLI to debug quickly on robot.

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Basic workflow

  1. SSH into MARS.
  2. Attach to runtime session with tmux attach.
  3. Inspect active nodes, topics, and logs.

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Useful commands

ros2 node list
ros2 topic list
ros2 service list
ros2 doctor
For hardware/runtime issue patterns, see Troubleshooting. For visualization workflows (RViz and flora.fan + Foxglove Bridge), see ROS2 Overview.