[ros topic service] #ros

param_basics.sh

# list parameter
rosparam list

# set parameter
rosparam set parameter_name 
rosparam set /background_r 150

# get parameter
rosparam get /background_g 

# get all parameter
rosparam get /

# dump parameter
rosparam dump params.yaml

# load parameter
rosparam load params.yaml

# load into a namespace
rosparam load params.yaml my_ns

service_basics.sh

# list all services
rosservice list

# get service type
rosservice type my_service

# call a service from CMD
rosservice call service args

# show service datatype
rosservice type /spawn | rossrv show

topic_basic.sh

# echo topic content
rostopic echo topic

# list all topics
rostopic list

# list all topics verbosely
rostopic list -v

# get data type of the topic
rostopic type my_topic

# publish data to topic manually
rostopic pub topic message_type data
rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'

# get publish frequency of topic
rostopic hz my_topic

# plot ros topic
rosrun rqt_plot rqt_plot

# get current graph
rosrun rqt_graph rqt_graph

# echo and dump topic information flow
rostopic echo my_good_topic