ros2 topic pub examples

ros2-topic-pub-examples.sh

# volatile, no history
ros2 topic pub -r 0.5 --qos-durability volatile --qos-reliability reliable /chatter std_msgs/msg/String '{data: hello}'

# transient_local, history of 5
ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable --qos-depth 5 --qos-history keep_last /chatter std_msgs/msg/String '{data: hello}'

# foxy compatible transient_local
ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable /chatter std_msgs/msg/String '{data: hello}'

# /tf_static
ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable /tf_static tf2_msgs/msg/TFMessage '{transforms: [{child_frame_id: "child", header: {frame_id: "parent", seq: 0}, parent_frame_id: "parent", transform: {rotation: {w: 1, x: 0, y: 0, z: 0}, translation: {x: 0, y: 0, z: 0}}}]}'