`autonomy ros2 run`¶

Run a ros2 subcommand under policy governance (dual-path)

Synopsis¶

Run any ros2 subcommand under AutonomyOps policy governance.

The dual-path executor selects the execution mode automatically:

Container path: requires –image pointing to a ROS2-capable OCI image. docker run –rm ros2 [args…]

Native path: used when Docker is unavailable and ros2 is in PATH. ros2 [args…] A REDUCED-GOVERNANCE warning is printed to stderr.

PASS markers are emitted to stdout at each governance checkpoint so that demo scripts and CI harnesses can assert end-to-end correctness:

PASS ros2-telemetry-active context=<container|native> PASS ros2-runtime-container-ready context=container (container path only) PASS ros2-stack-start context=<container|native> PASS ros2-policy-enforced context=<container|native> (on success only) PASS ros2-wal-recording context=<container|native> (on success only)

Examples:

List topics using the container path (pin to a specific release)¶

autonomy ros2 run –image ghcr.io/autonomyops/adk-ros2-runtime:v1.0.0
topic list

Launch a node using the container path with a custom policy¶

autonomy ros2 run
–image ghcr.io/autonomyops/adk-ros2-runtime:v1.0.0
–policy policies/arm_safety.rego
launch arm_control arm.launch.py

Native path (no Docker): ros2 must be in PATH¶

autonomy ros2 run topic echo /cmd_vel

Usage¶

autonomy ros2 run <subcommand> [args...] [flags]

Options¶

      --force-native         bypass Docker availability probe and run ros2 as a native subprocess (ros2 must be in PATH; implies REDUCED-GOVERNANCE mode)
      --image string         OCI image for container-path execution (required when Docker is available; must include the ROS2 toolchain)
      --policy string        policy bundle OCI reference or local path (default: dev-mode ros2 policy)
      --runtime-url string   AutonomyOps runtime HTTP address for governance callbacks (e.g. http://localhost:8080; default: local-only evaluation)
      --workspace string     ROS2 workspace directory forwarded as AUTONOMY_ROS2_WORKSPACE (native path only)

autonomy ros2 run¶