Command Line (CLI)

Overview

The Nimbus Command Line CLI allows you to control and inspect your robot agent directly from a terminal — without using the web UI.
It mirrors most operations available on the Cogniteam Cloud Platform and exposes additional diagnostic and maintenance tools.

To see the built-in help menu:

nimbus -h

Each top-level manager (e.g., platform, system, comp, stream) exposes its own set of subcommands.

Command Groups

Command	Description
session	Manage active I/O sessions
platform	Inspect hardware, OS, and device info
kpi	Monitor real-time KPI updates
notification	List notification settings and watch emitted notifications
debug	Manage Debug settings and support bundles
config	Load, stop, or inspect configurations
system	Manage agent versions, logs, and services
comp	Manage components (start/stop/stats/params)
device	List registered hardware devices
stream	View and manipulate data streams
nav2	Run Nav2 commands
service	Call or inspect ROS services
param	Manage ROS1/ROS2 dynamic parameters
security	Security hardening and access control
task	Manage persisted agent tasks and task catalog files
record	Record and upload sensor data (previously datalog)
fleet	Manage local fleet robots and fleet presets
preset	Manage robot presets
ros2-listen	Discover and listen to ROS 2 topics
grep	Search CLI commands and run interactively

Session Manager

Inspect current cloud and local sessions.

nimbus session <command>

Command	Description
`list`	List all active sessions and endpoints
`local`	Show local server addresses, useful controller paths, and SSH password for direct access

Example

nimbus session local

Local server addresses:
Name   Address
https  https://192.168.1.5:19993
http   http://192.168.1.5:19992

https  https://127.0.0.1:19993
http   http://127.0.0.1:19992

Controller paths:
Name                Path
webrtc-diagnostics api/webrtc-diagnostics/ui
task-status         api/task-status/ui

Password:
bdebdc1e-59b

Platform Manager

Show information about your robot’s hardware and system state.

nimbus platform <command>

Command	Description
`system`	OS details (kernel, distro, uptime)
`memory`	RAM and swap usage
`cpu`	CPU utilization
`gpu`	GPU info (if available)
`wifi`	Wi-Fi connection info
`battery`	Battery level
`usb` / `usb-info <id>`	List or inspect USB devices
`disk`	Disk usage and throughput
`network`	Network I/O statistics
`thermal`	CPU temperature
`ros-version`	Installed ROS versions
`vendor-name`	Motherboard vendor
`computer-name`	Hostname
`cuda-version`	CUDA toolkit version (if installed)

Example

nimbus platform usb

→ lists connected USB devices with vendor/product IDs.

KPI Manager

Config and stream KPI metrics from the robot in real time.

nimbus kpi <command>

Command	Description
`monitor-updates`	Displays live agent metric emissions from the shared periodic cadence and dynamic update surface, including periodic telemetry, component/runtime state, config state, NAV2, recordings, task status, agent operational state, and custom user KPI metrics
`export-user-kpi-config <path>`	Export current user Kpi config to a JSON file
`import-user-kpi-config <path>`	Import user Kpi config from a JSON file and apply it

Example

nimbus kpi monitor-updates

→ Streams the metrics emitted through the agent periodic/dynamic monitor surface, including:

CPU utilization
RAM usage
Disk usage
Network upload/download totals
GPU information
Ping latency
Wi-Fi network, bitrate, and signal strength
Thermal sensors summary
USB/device inventory
Component inventory
Recorder status
Active configuration info
ROS configuration
User KPI settings
Security configuration
Recording profile configuration
Task catalog configuration
Task run lifecycle state
Agent operational state and version
NAV2 status
Cloud provider configuration
Docker registry configuration
Notification settings configuration
Custom user KPI metrics

Appendix: `monitor-updates` metrics

CPU

Metric type: SystemMetricType.Cpu
Properties shown: CPU usage percentage.

RAM

Metric type: SystemMetricType.Ram
Properties shown: RAM usage percentage.

Disk

Metric type: SystemMetricType.Disk
Properties shown: Disk usage.

Network

Metric type: SystemMetricType.Network
Properties shown: Total uploaded KB and total downloaded KB.

GPU

Metric type: SystemMetricType.Gpu
Properties shown: Detected GPU devices and their reported information.

Ping

Metric type: SystemMetricType.Ping
Properties shown: Ping latency in milliseconds.

Wi-Fi

Metric type: SystemMetricType.Wifi
Properties shown: Network name, bitrate, and signal strength.

Thermal

Metric type: SystemMetricType.Thermal
Properties shown: Maximum reported temperature across thermal sensors.

Devices

Metric type: SystemMetricType.Devices Properties shown: Number of USB/device entries.

Components

Metric type: SystemMetricType.Components Properties shown: Number of component entries, including environment stats when the periodic component-stats cadence emits them.

Recordings

Metric type: SystemMetricType.Recordings Properties shown: Number of recorder status entries.

Configuration

Metric type: SystemMetricType.Configuration
Properties shown: Active configuration information.

ROS Configuration

Metric type: SystemMetricType.RosConfig
Properties shown: ROS master URI, ROS IP, and ROS 2 domain ID.

User KPI Settings

Metric type: SystemMetricType.UserKpiSettingsConfig Properties shown: Number of configured user KPI settings.

Security

Metric type: SystemMetricType.Security
Properties shown: Whether HTTP is blocked, USB storage is blocked, Wi-Fi is disabled, and Bluetooth is disabled.

Recording Profile

Metric type: SystemMetricType.RecordingProfileConfig
Properties shown: Number of CSV and video recorders, plus recorder details such as auto-recording, stream count, max file size, id, alias, and source type.

Task Catalog

Metric type: SystemMetricType.TaskManagerConfig Properties shown: Task count and up to eight task summaries with name, id, enabled state, subtask count, and trigger count.

Task Run Status

Metric type: SystemMetricType.TaskRunStatus Properties shown: Task run start, current subtask, cancellation request, and terminal state.

Agent Operational State

Metric type: SystemMetricType.AgentOperationalState
Properties shown: Agent status and version.

NAV2

Metric type: SystemMetricType.Nav2 Properties shown: Latest NAV2 status update payload.

Resources Storage

Metric type: SystemMetricType.ResourcesStorage Properties shown: Configured resources storage provider, local resources quota, provider-specific details such as bucket name, region, masked credentials, local disk size, and used bytes.

Docker Registry

Metric type: SystemMetricType.DockerRegistryConfig
Properties shown: Configured registry entries including URL, username, and masked password.

Notification Settings

Metric type: SystemMetricType.NotificationSettingsConfig Properties shown: Notification settings configuration summary.

Custom User KPI

Metric type: SystemMetricType.Custom
Properties shown: KPI name, status, source stream, field, aggregation function, and current value.

Notification Manager

Inspect notification settings, import/export them, and watch notifications emitted by the agent.

nimbus notification <command>

Command	Description
`list`	Show current notification settings (default command)
`monitor`	Stream notifications when agent-side rules emit them
`export <path>`	Export notification settings to a JSON file
`import <path>`	Import notification settings from a JSON file

Examples

# Show built-in and stream notification rules
nimbus notification list

# Watch emitted notifications
nimbus notification monitor

# Export/import settings
nimbus notification export /tmp/notification-settings.json
nimbus notification import /tmp/notification-settings.json

list prints built-in CPU/RAM/Disk rules and stream rules. monitor prints a line when a configured rule emits a notification, including the rule name, source, field/value comparison, renotify interval, and custom message when configured.

Debug Manager

Manage Debug settings and create bounded diagnostic support bundles.

nimbus debug <command>

Command	Description
`list`	Show current Debug settings
`export <path>`	Export Debug settings to a JSON file
`import <path>`	Import Debug settings from a JSON file
`download-bundle <path>`	Create a Debug support bundle ZIP at a local path on the agent
`upload-bundle [--path <path>]`	Create a Debug support bundle ZIP and upload it to the configured cloud storage

Support-bundle selection options:

--from <time>: UTC lower bound in ISO-8601 or a relative value like "1 hour ago". Empty uses the agent default window.
--to <time>: UTC upper bound in ISO-8601, now, or a relative value like "5 minutes ago". Empty uses now.
--domains <ids>: comma-separated domain ids. Empty includes all support-bundle domains.
--limit <n>: structured diagnostic rows per domain. Zero uses the agent default.
--service-log-line-limit <n>: raw service-log lines. Zero uses the agent default.
--max-mb <n>: maximum bundle size in MB. Zero uses the agent default.

Supported support-bundle domains:

agent-structured-logs
agent-service-log
frontend-telemetry
memory-diagnostics
agent-lifecycle
agent-db-health

Autocomplete and inline help are driven by the DebugManagerService command registration and the support-bundle request parsers. Domain ids are free-form option values, so keep the documented domain list aligned with DebugSupportBundleService when adding new bundle domains.

Examples

# Show current Debug settings
nimbus debug list

# Export/import Debug settings
nimbus debug export /tmp/debug-settings.json
nimbus debug import /tmp/debug-settings.json

# Download a bundle with all domains using agent defaults
nimbus debug download-bundle /tmp/nimbus-debug-bundle.zip

# Download a bundle for the last hour
nimbus debug download-bundle /tmp/nimbus-debug-last-hour.zip --from "1 hour ago"

# Download only frontend telemetry for a specific UTC window
nimbus debug download-bundle /tmp/frontend-debug.zip \
  --from 2026-06-16T08:00:00Z \
  --to 2026-06-16T09:00:00Z \
  --domains frontend-telemetry

# Download the largest bundle currently allowed for the default diagnostics window.
# Retention, enabled diagnostics, per-domain byte caps, row caps, and the hard bundle cap still apply.
nimbus debug download-bundle /tmp/nimbus-debug-bundle-max.zip \
  --limit 20000 \
  --service-log-line-limit 50000 \
  --max-mb 256

# Download the largest bundle currently allowed for a known UTC incident window.
nimbus debug download-bundle /tmp/nimbus-debug-bundle-window.zip \
  --from 2026-06-21T13:00:00Z \
  --to 2026-06-21T14:00:00Z \
  --limit 20000 \
  --service-log-line-limit 50000 \
  --max-mb 256

# Upload a temporary bundle to cloud and remove the temporary local file
nimbus debug upload-bundle

# Upload and retain a local copy at the requested path
nimbus debug upload-bundle --path /tmp/nimbus-debug-bundle.zip --max-mb 64

Configuration Manager

View or control the active configuration on the robot.

nimbus config <command>

Command	Description
`show`	Display current configuration name and version
`start`	Load (start) the current configuration
`stop`	Unload the current configuration
`log`	Show configuration history

Example

nimbus config show

→ Configuration test-robot-default v1.0.5 loaded

System Manager

Control the Nimbus agent lifecycle and manage installed versions.

nimbus system <command>

Command	Description
`status`	Show agent status (default command)
`log`	Show system log
`loglevel`	Change minimal log level (debug, info, warning, error)
`upgrade` / `stop-upgrade`	Upgrade or cancel upgrade
`link`	Show installation command and API key
`login <api-key>`	Set API key
`start` / `stop` / `reload`	Manage service process
`factory-reset`	Reset agent to default settings and reload
`db-backups`	List restorable local database backups created by factory reset or restore
`db-restore <id> [--no-restart]`	Schedule restore of a listed local database backup by id; restarts the service by default
`service-status`	Show nimbusd service status
`log-service`	Show service logs
`uninstall`	Remove Nimbus agent
`prune`	Clean temp files and unused layers
`agent-version`	Show current version
`agent-list`	List available backups
`agent-backup <name>`	Create version backup
`agent-revert <name>`	Revert to a backup version
`agent-clean-backup`	Remove all local backups
`storage`	Show storage info

Example

nimbus system agent-backup yakir

→ Creates backup folder /etc/nimbus/yakir/

nimbus system db-backups
nimbus system db-restore agent-db-factory-reset-20260705T100000Z-...

→ db-backups shows only restorable operator backups such as agent-db-factory-reset-* and agent-db-pre-restore-*. Internal migration snapshots are hidden. db-restore rejects ids that are not listed and writes a pending-restore marker. The restore is applied at the next Nimbus process start before runtime storage opens SQLite; by default the command requests that restart immediately.

Components Manager

Manage software components running on the robot.

nimbus comp <command>

Command	Description
`list`	Show current components
`new`	Install a new component
`start <name>`	Start component
`stop <name>`	Stop component
`show <name>`	Display component info
`log <name>`	Show component logs
`stats <name>`	Show CPU/memory/network usage
`docker-registry-status`	Show current Docker Registry configuration
`export-docker-registry-config <path>`	Export Docker Registry config to JSON
`import-docker-registry-config <path>`	Import Docker Registry config from JSON and apply it
`param`	Manage component parameters (see below)

Component Parameters

Component parameters are accessed under comp param:

nimbus comp param <command> <component> [parameter]

Command	Description
`list <component>`	List all parameters
`get <component> <name>`	Get parameter value
`set <component> <name> <value>`	Set parameter value
`info <component> <name>`	Show parameter metadata

Example

nimbus comp param list NB_webcam

→ lists resolution, fps, and other component settings.

Device Manager

List or inspect devices known to the Nimbus agent.

nimbus device list

Example

ID          Type      Vendor   Product   Name
a8e659aa    camera    04f2     b6d9      Integrated Camera

Streams Manager

View and control data streams between components and devices.

nimbus stream <command>

Command	Description
`list`	List all streams
`list-ros [--domain-id <id>]`	List ROS 2 topics and message types
`info <component> <stream>`	Show stream metadata
`echo <component> <stream>`	Print stream messages
`echo-ros <topic> <type> [--domain-id <id>] [--once]`	Print ROS 2 topic messages as JSON
`pub <component> <stream> '<json>'`	Publish a message
`PubRos <topic> <ros-type> '<json>'`	Publish JSON to a ROS topic via the agent (auto-gateway)
`upload-log`	Upload component log
`connect-remote-robot`	Open remote robot stream channel
`ros1-remote-listener`	Mirror remote ROS1 streams locally
`ros2-remote-listener`	Mirror remote ROS2 streams locally
`disconnect-remote-robot`	Stop remote connection

Examples

nimbus stream echo waypoints-navigation move_to_next_point
nimbus stream list-ros --domain-id 16
nimbus stream echo-ros /cmd_vel geometry_msgs/msg/Twist --domain-id 16 --once
nimbus stream pub tutorials-listener message '{ "data": "Hello" }'

Service Manager

Interact with ROS2 services through the Nimbus agent.

nimbus service <command>

Command	Description
`list`	List available services
`info <name>`	Show service details
`describe <name>`	Display introspection of service type
`call <name>`	Call service with provided request JSON

Example

nimbus service describe /example_interfaces/add_two_ints

Security Manager

Configure on-device security hardening features.

nimbus security <command>

Command	Description
`status`	Show current security configuration (HTTP/USB/Wi-Fi/Bluetooth/local API)
`set <feature> <enabled>`	Toggle a single feature: `network-lockdown`, `block-usb`, `disable-wifi`, `disable-bluetooth`, `disable-local-api` (`true` = block/disable, `false` = allow/enable)

Examples

# Show current config
nimbus security status

# Block unsecured HTTP ports
nimbus security set network-lockdown true

# Disable Wi-Fi
nimbus security set disable-wifi true

# Re-enable Bluetooth
nimbus security set disable-bluetooth false

# Mark local API access disabled in security config
nimbus security set disable-local-api true

Task Manager

Manage persisted task definitions stored on the agent.

nimbus task <command>

Command	Description
`list`	List configured tasks
`get <task-id-or-name>`	Show a single task definition as JSON
`add <path>`	Add a task from a JSON file; the agent generates the `task_id`
`update <path> [--task-ref <task-id-or-name>]`	Replace an existing task from a JSON file
`delete <task-id-or-name>`	Delete a task by id or unique name
`list-running`	List currently running task executions
`monitor`	Monitor task run lifecycle updates
`history [task-id-or-name] [--limit <n>]`	List persisted task run history
`history-get <run-id>`	Show one persisted task run history record
`export <path>`	Export the full task catalog to a JSON file
`import <path> [--replace-existing]`	Import tasks from a JSON file and optionally replace the existing catalog
`run <task-id-or-name>`	Start a task immediately
`cancel <task-id-or-name>`	Cancel a currently running task

Current runtime scope:

Manual execution and persisted triggers are supported
Delay, embedded allowlisted RunScript, local RunScript, PublishRosJson, Nav2Goal, RebootRobotComputer, and AgentSystemReload subtasks are supported
Set maxIterations to a value greater than 0 to repeat the full subtask list that many total times
Task names are required and must be unique after trimming and case normalization
timeout: 0s or an omitted timeout means no timeout
PublishRosJson is supported in two modes:
- publish-only when responseStreamSource is omitted
- publish-and-wait when responseStreamSource and responseSuccessValue are provided
The task contract carries ROS topic name/type only; ROS2 domain comes from agent settings
Response wait currently uses first-message-wins semantics on the configured response topic
Sample allowlisted scripts are available under sample/emit_five_beeps, sample/write_marker, and sample/fail_with_message
Local task scripts can be placed under <config-folder>/scripts and referenced by file name with scriptDomain set to scripts or local, or omitted

Examples

# List tasks
nimbus task list

# Start a task immediately by unique name
nimbus task run "beep-loop-smoke-test"

# Update a task by unique name
nimbus task update ./task.json --task-ref "beep-loop-smoke-test"

# List currently running executions
nimbus task list-running

# Monitor task lifecycle updates
nimbus task monitor

# List recent runs for one task
nimbus task history "beep-loop-smoke-test" --limit 20

# Show a full persisted run record
nimbus task history-get "<run-id>"

# Cancel a running task by id or unique name
nimbus task cancel "beep-loop-smoke-test"

# Export the current task catalog
nimbus task export ./tasks.json

# Import and replace the existing task catalog from a file
nimbus task import ./tasks.json --replace-existing

Task JSON examples

Publish only:

{
  "name": "publish-only-example",
  "enabled": true,
  "subtasks": [
    {
      "ordinal": 1,
      "name": "send-command",
      "publishRosJson": {
        "requestStreamSource": {
          "ros2Topic": {
            "name": "/robot/command",
            "type": "std_msgs/msg/String"
          }
        },
        "requestJson": "{\"data\":\"start\"}"
      }
    }
  ]
}

Publish and wait for allowed:

{
  "name": "permission-example",
  "enabled": true,
  "maxIterations": 3,
  "subtasks": [
    {
      "ordinal": 1,
      "name": "request-permission",
      "timeout": "10s",
      "publishRosJson": {
        "requestStreamSource": {
          "ros2Topic": {
            "name": "/task/permission/request",
            "type": "std_msgs/msg/String"
          }
        },
        "requestJson": "{\"data\":\"ask for permission\"}",
        "responseStreamSource": {
          "ros2Topic": {
            "name": "/task/permission/response",
            "type": "std_msgs/msg/String"
          }
        },
        "responseSuccessValue": "allowed"
      }
    }
  ]
}

Current limitation:

response wait is not correlated; the first message received on the response topic is the one evaluated

Local Fleet Manager

Manage robots stored in the agent’s local fleet list and fleet preset files.

nimbus fleet <command>

Command	Description
`list-robot`	List all local fleet robots (includes online status)
`add-robot <url> <password>`	Add a robot to local fleet
`update-robot <id> <url> <password>`	Update a robot in local fleet by id
`delete-robot <id>`	Delete a robot from local fleet by id
`list-preset`	List fleet presets
`export-preset <path>`	Export fleet presets to a JSON file
`import-preset <path>`	Import fleet presets from a JSON file and apply them

Examples

nimbus fleet list-robot
nimbus fleet add-robot http://192.168.1.74:19992 mypassword
nimbus fleet update-robot robot-123 http://192.168.1.75:19992 newpassword
nimbus fleet delete-robot robot-123
nimbus fleet list-preset
nimbus fleet export-preset /tmp/fleet-presets.json
nimbus fleet import-preset /tmp/fleet-presets.json

Preset Manager

Manage robot presets.

nimbus preset <command>

Command	Description
`list`	List robot presets
`export <path>`	Export robot presets to a JSON file
`import <path>`	Import robot presets from a JSON file and apply them

Examples

nimbus preset list
nimbus preset export /tmp/robot-presets.json
nimbus preset import /tmp/robot-presets.json

Record Manager (previously Data Log)

Record, segment, and upload video or sensor data.

nimbus record <command>

Command	Description
`recorders-status`	Show status of managed recorders
`cli-recorders-status`	Show CLI-created recorders
`start-record`	Start a one-off CLI recorder
`stop-record <id>`	Stop and remove CLI recorder
`start-segment <id>`	Begin DVR segment (managed recorder) by id or alias
`stop-segment <id> [--file-name <name>]`	End DVR segment (managed recorder) by id or alias, with optional export base name
`discard-segment <id>`	Discard current active or pending DVR segment (managed recorder) by id or alias without finalizing a recording artifact
`report-recording-event [--alias <id-or-alias>] --tag <tag> [--description <text>]`	Report a recording event/tag. `--description` is optional and currently not used by the recording metadata flow.
`cleanup-orphaned-events`	Delete recording event rows that are not linked to any recording
`query-recordings`	Query local recording metadata
`get-recording <file-id>`	Show one recording by stable file id
`upload-file <path>`	Upload file to cloud and keep the local source file
`sync`	Sync local recordings with cloud
`export-recording-profile <path>`	Export current RecordingProfile to a JSON file
`import-recording-profile <path>`	Import RecordingProfile from a JSON file and apply it
`resources-storage-status`	Show current resources storage configuration
`export-resources-storage-config <path>`	Export resources storage config to a JSON file
`import-resources-storage-config <path>`	Import resources storage config from a JSON file and apply it

Usage

nimbus record start-record <topic|url|device> <id> <type> [--ros1] [--file-name <name>] [--audio <src>]

<type>: raw | compressed | rtsp | onvif | device
--audio: rtsp, onvif, or device path
CLI recorders write directly to disk; start-segment/stop-segment apply only to managed recorders.
For managed DVR recorders, recorders-status reflects logical segmenting state, not the background continuous capture pipeline. Seeing stopped before the first start-segment is valid.

Examples

# ROS2 topic
nimbus record start-record /camera/image frontcam raw --file-name run1

# RTSP source
nimbus record start-record rtsp://user:pass@10.0.0.12/stream lobby rtsp

# Local device with audio
nimbus record start-record /dev/video0 deskcam device --audio plughw:1,0

# Managed recorder
nimbus record start-segment cam01
nimbus record stop-segment cam01

# Discard the current managed DVR segment without exporting it
nimbus record discard-segment cam01

# Report a general event
nimbus record report-recording-event --tag "red car"

# Report an alias-scoped event
nimbus record report-recording-event --alias cam01 --tag "white van" --description "alias event"

# Query the whole local recording repository
nimbus record query-recordings

# Query by alias
nimbus record query-recordings --alias cam01

# Query by tag
nimbus record query-recordings --tag "red car"

# Inspect one recording
nimbus record get-recording <file-id>

# Delete unattached event rows
nimbus record cleanup-orphaned-events

get-recording prints the recording fields (including VideoSource) and, when available, an attached-events table with EventId, Tag, and Offset. query-recordings prints EventIds in the list view; get-recording shows both EventIds and the attached-events table. report-recording-event stamps the event at agent ingress time. --description is optional and currently accepted but not used by the recording metadata flow. discard-segment cancels the current active or post-roll-pending managed DVR window. It does not delete recording files that were already finalized, including running chunks from a long active recording.

RecordingProfile import / export

# Export current RecordingProfile
nimbus record export-recording-profile /tmp/recording-profile.json

# Import RecordingProfile from disk
nimbus record import-recording-profile /tmp/recording-profile.json

Export writes the effective agent-owned RecordingProfile.
Import applies the profile via agent SoT and propagates it to recorders.

Dynamic Parameters Manager

Manage ROS1/ROS2 node parameters dynamically (not component-local).

nimbus param <command>

Command	Description
`list`	List all nodes with parameters
`nodes`	Show node names
`get <node> <param>`	Get parameter value
`set <node> <param> <value>`	Set parameter value

Example

nimbus param get /camera_driver exposure_time

Top-level Utilities: `ros2-listen` & `grep`

These commands are available at the root level (before any manager). Use them for quick ROS 2 discovery/listening and for fuzzy-searching CLI commands.

`ros2-listen`

Discover ROS 2 topics on a domain and start a live listener for the selected topic (auto-detects message type via Nimbus.Ros2.Messages). Optional substring filter and a boolean flag to enable Hz rate printing.

nimbus ros2-listen <domain-id> [filter] [hz]

Args

<domain-id> — ROS 2 domain ID (integer, required)
[filter] — Optional case-insensitive substring to filter by topic name or type
[hz] — Optional true|false. If true, prints message frequency (Hz). Default: false

Flow

Enumerates discovered topics and types on the given domain.
Applies optional filter to topic name or type.
Shows a selection menu; pick a topic to start listening.
Starts a dynamic RosToNimbusAdapter<T> based on the detected message type.

Examples

# Discover everything on domain 25
nimbus ros2-listen 25

# Filter to camera topics and show Hz rate
nimbus ros2-listen 25 camera true

Notes

Topic names with a leading / are normalized (leading slash removed).
Unknown message types (not found in Nimbus.Ros2.Messages) are reported as unsupported.

`grep`

Search CLI commands by keyword and execute interactively.

nimbus grep <keyword>

How it works

Builds a navigable tree of commands from the root CLI.
Prints matches with numbered ordinals at depth 2 (e.g., manager subcommand).
Prompts for a number to run the selected command with its arguments.

Example

# Search for any command mentioning "segment"
nimbus grep segment
# → Shows numbered matches; enter the number to execute.

Notes

All commands are case-insensitive.
Use -h or no arguments to view inline help.
Most commands output structured text; for scripting, use JSON options if available.
Default root command: nimbus system status.

Nav2 Manager

Nav2 actions (single active goal per action type)

The nav2 manager exposes Nav2 navigation actions via the Nav2SingleActive gRPC service.
It maintains a single active goal per action kind and hides the internal ROS 2 goal_id from the user.

Supported action kinds (CLI tokens):

nav → NavigateToPose
ntp → NavigateThroughPoses

Send a goal

nimbus nav2 send nav '{
  "pose": {
    "header": { "frameId": "map" },
    "position":   { "x": -3.5, "y": 0.8, "z": 0.0 },
    "orientation": { "x": 0.0, "y": 0.0, "z": 0.7071068, "w": 0.7071068 }
  },
  "behaviorTree": ""
}'

nimbus nav2 send ntp '{
  "poses": [
    {
      "header": { "frameId": "map" },
      "position":   { "x": -3.5, "y": 0.8, "z": 0.0 },
      "orientation": { "x": 0.0, "y": 0.0, "z": 0.7071068, "w": 0.7071068 }
    },
    {
      "header": { "frameId": "map" },
      "position":   { "x": -2.8, "y": 1.1, "z": 0.0 },
      "orientation": { "x": 0.0, "y": 0.0, "z": 0.7071068, "w": 0.7071068 }
    }
  ],
  "behaviorTree": ""
}'

Get status

nimbus nav2 status nav
nimbus nav2 status ntp

Cancel goal

nimbus nav2 cancel nav
nimbus nav2 cancel ntp

Watch status

nimbus nav2 watch nav
nimbus nav2 watch ntp

The <kind> parameter is used for CLI consistency and autocomplete;
the server currently streams all Nav2 status updates.

Last updated: June 2026 (UTC)

Overview​

Command Groups​

Session Manager​

Platform Manager​

KPI Manager​

Appendix: monitor-updates metrics​

CPU​

RAM​

Disk​

Network​

GPU​

Ping​

Wi-Fi​

Thermal​

Devices​

Components​

Recordings​

Configuration​

ROS Configuration​

User KPI Settings​

Security​

Recording Profile​

Task Catalog​

Task Run Status​

Agent Operational State​

NAV2​

Resources Storage​

Docker Registry​

Notification Settings​

Custom User KPI​

Notification Manager​

Debug Manager​

Configuration Manager​

System Manager​

Components Manager​

Component Parameters​

Device Manager​

Streams Manager​

Service Manager​

Security Manager​

Task Manager​

Local Fleet Manager​

Preset Manager​

Record Manager (previously Data Log)​

RecordingProfile import / export​

Dynamic Parameters Manager​

Top-level Utilities: ros2-listen & grep​

ros2-listen​

grep​

Notes​

Nav2 Manager​

Send a goal​

Get status​

Cancel goal​

Watch status​

Overview

Command Groups

Session Manager

Platform Manager

KPI Manager

Appendix: `monitor-updates` metrics

CPU

RAM

Disk

Network

GPU

Ping

Wi-Fi

Thermal

Devices

Components

Recordings

Configuration

ROS Configuration

User KPI Settings

Security

Recording Profile

Task Catalog

Task Run Status

Agent Operational State

NAV2

Resources Storage

Docker Registry

Notification Settings

Custom User KPI

Notification Manager

Debug Manager

Configuration Manager

System Manager

Components Manager

Component Parameters

Device Manager

Streams Manager

Service Manager

Security Manager

Task Manager

Local Fleet Manager

Preset Manager

Record Manager (previously Data Log)

RecordingProfile import / export

Dynamic Parameters Manager

Top-level Utilities: `ros2-listen` & `grep`

`ros2-listen`

`grep`

Notes

Nav2 Manager

Send a goal

Get status

Cancel goal

Watch status