Example: Used when the user asks "What topics are available?"

Args:
    topic_name: The name of the ROS2 topic to check

Example: Used when the user asks "Is the topic /scan publishing data?"

Args:
    pkg_name: Partial or full name of the package to search for

Example: "Are there any packages related to turtle?" → ros2 pkg list | grep turtle

Args:
    package: Name of the ROS2 package
    executable: Name of the executable to run

Example: "Start the turtlesim node" → ros2 run turtlesim turtlesim_node

Example: "Which nodes are currently running?" → ros2 node list

Args:
    node_name: Name of the node (e.g., /turtlesim)

Example: "Tell me about node /turtlesim" → ros2 node info /turtlesim

Args:
    topic: Topic name to publish to (e.g., "/cmd_vel")
    msg_type: ROS 2 message type (e.g., "geometry_msgs/msg/Twist")
    msg_content: Message to send (e.g., '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.5}}')
    duration: Duration in seconds to continue publishing

Example:
    topic: "/cmd_vel"
    msg_type: "geometry_msgs/msg/Twist"
    msg_content: '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.5}}'
    duration: 5

Args:
    topic_name: Name of the topic (e.g., /scan)

Example: "Check the message rate on /scan" → ros2 topic hz /scan

Example: No arguments needed. Just returns the list.

Calls a ROS 2 service with the specified name, type, and optional request.

Args:
    service_name: Name of the service to call.
    srv_type: Type of the service (e.g., "std_srvs/srv/Empty").
    request: Request payload in string format (e.g., "{r: 255, g: 0, b: 0, width: 2, off: 0}").
             If the service type does not require a request (e.g., std_srvs/srv/Empty),
             this can be omitted or set to None.

Example:
    Call a service without a request:
        service_name = "/clear"
        srv_type = "std_srvs/srv/Empty"

    Call a service with a request:
        service_name = "/turtle1/set_pen"
        srv_type = "turtlesim/srv/SetPen"
        request = "{r: 255, g: 0, b: 0, width: 2, off: 0}"

Example: No arguments needed. Just returns the list.

Args:
    action_name: Name of the action
    action_type: Action type (e.g., example_interfaces/action/Fibonacci)
    goal: Goal message (e.g., "{order: 5}")

Example:
    action_name: "/fibonacci"
    action_type: "example_interfaces/action/Fibonacci"
    goal: "{order: 5}"

Example: No arguments needed. Just runs the doctor tool.

Args:
    msg_type: The interface type to show (e.g., std_msgs/msg/String)

Example: msg_type: "std_msgs/msg/String"

Example: Launch rqt_graph to visualize ROS2 node connections

Example: Launch RViz2 for visualization

Example: Launch turtlesim for turtle simulation

Example: Launch Gazebo for physics simulation

Example: Launch TurtleBot3 in a world environment for simulation

Example: Launch TurtleBot3 in an empty world for simulation

Args:
    topic_name: Name of the topic to get info about

Example: Get information about /cmd_vel topic

Args:
    topic_name: Name of the topic to echo
    count: Number of messages to capture (default: 1)

Example: Echo 5 messages from /scan topic