roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
rosrun rqt_graph rqt_graph
rostopic -h
rostopic echo /turtle1/cmd_vel
rosrun rqt_graph rqt_graph
rostopic list -h
rostopic list -v
rostopic type /turtle1/cmd_vel
rosmsg show geometry_msgs/Twist
rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0,0.0,0.0]' '[0.0,0.0,1.8]'
rosrun rqt_plot rqt_plot
/turtle1/pose/x
/turtle1/pose/theta