Show all topics currently being published
$ rostopic listShow details of a message
rosmsg show rospackagename/msgnameNotes: works well with tab completion, add -r for original source
Show Messages Published on a Topic
$ rostopic echo topicNotes: can be performed on topics and sub-parts of topics
Publish Messages on a Topic
$ rostopic pub --rate=x topic message-type //double tap tab,Notes: double tap tab, then it’ll fill out a stub for you. Rate, x, specifies how often to publish the message.
Visualize Sensor Data
$ rosrun rqt_gui rqt_guiNotes: To make a time series plot go to plugins, visualization, plots. Then choose topic (scan/ranges[0] for example)… can add more than one topic at a time
Rviz
$ rosrun rviz rvizNotes: can also just type rviz