turtlesimの例。
まず以下を実行する。
トピックについて
$ rostopic list /rosout /rosout_agg /statistics /turtle1/cmd_vel ←これに興味をもつ /turtle1/color_sensor /turtle1/pose $ rostopic type /turtle1/cmd_vel geometry_msgs/Twist $ rostopic type /turtle1/cmd_vel | rosmsg show geometry_msgs/Vector3 linear float64 x float64 y float64 z geometry_msgs/Vector3 angular float64 x float64 y float64 z
サービスについて
$ rosservice list /clear /kill /reset /rosout/get_loggers /rosout/set_logger_level /rqt_gui_py_node_80447/get_loggers /rqt_gui_py_node_80447/set_logger_level /spawn ←これに興味をもつ /teleop_turtle/get_loggers /teleop_turtle/set_logger_level /turtle1/set_pen /turtle1/teleport_absolute /turtle1/teleport_relative /turtlesim/get_loggers /turtlesim/set_logger_level $ rosservice type /spawn turtlesim/Spawn $ rosservice type /spawn | rossrv show float32 x float32 y float32 theta string name --- string name
