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There are 2 principal ways to work with GRIB2 files:
1. ecCodes
A library developed at ECMWF consisting of a set of tools to code and decode GRIBs, as well as other formats. The eccodes command-line utilities are commonly used by the meteorology community. Please consult the Copernicus Knowledge Base page How to read GRIB files for an overview of the commands available.
2. CFGRIB
A Python interface to the eccodes library. It is one of the supported backends of Xarray. Please consult the Open CEMS-Flood data page for example of using CFGRIB with CEMS-Flood data.
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