ROS话题

1.使用rqt_graph

在终端运行：
$ rosrun rqt_graph rqt_graph

2.使用rostopic

可以使用帮助选项查看rostopic的子命令:

$ rostopic -h

rostopic bw        display bandwidth used by topic
rostopic echo      prinnt message to screen
rostopic hz         display publishing rate of topic
rostopic list         print information about active topics
rostopic pub        publish data to topic
rostopic type        print topic type

rostopic echo可以显示在某个话题上发布的数据。用法：
$ rostopic echo [topic]

rostopic list能够列出所有当前订阅和发布的话题：
$ rostopic list -h
Usage: rostopic list [/topic]
Options:
-h, --help show this help message and exit
-b BAGFILE, --bag=BAGFILE list topics in .bag file
-v, --verbose list full details about each topic
-p list