rostopic 命令发布测试消息水文

rostopic 命令发布测试消息 水文
官方
http://wiki.ros.org/rostopic
示例

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

接收

rostopic echo /cmd_vel

自己测试的：

rostopic pub -r 1 /light_color autoware_msgs/TrafficLight -- '{traffic_light: 1}'

rostopic pub -r 1  /roi_signal autoware_msgs/Signals -- '{}' '[{signalId: 1,u: 596,v: 221,radius: 39,x: 6.38999986649,y: -0.330000013113,z: 0.649999976158,hang: 270.0,type: 2,linkId: 18,plId: 0}]'

rostopic pub -r 1  /roi_signal autoware_msgs/Signals -- '{}' ' 
[
    {signalId: 1,
    u: 596,
    v: 221,
    radius: 39,
    x: 6.38999986649,
    y: -0.330000013113,
    z: 0.649999976158,
    hang: 270.0,
    type: 2,
    linkId: 18,
    plId: 0
    }, {
    signalId: 2,
    u: 600,
    v: 205,
    radius: 39,
    x: 6.38999986649,
    y: -0.34999999404,
    z: 0.730000019073,
    hang: 270.0,
    type: 3,
    linkId: 18,
    plId: 0
    }, {
    signalId: 3,
    u: 600,
    v: 189,
    radius: 39,
    x: 6.38999986649,
    y: -0.34999999404,
    z: 0.810000002384,
    hang: 270.0,
    type: 1,
    linkId: 18,
    plId: 0
    }
]'