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:
$ r