ROS查询话题具体内容常用指令

记忆力不好老是忘记ros查询话题的具体内容，现在来做一下笔记，不记得就翻博客吧。

一.

$rostopic list

输出

/scan

二.

$rostopic info /scan

 输出

Type: sensor_msgs/LaserScan Publishers: * /play_1599208623127841919 (http://lzm:40267/) Subscribers: None

三.

$rosmsg show sensor_msgs/LaserScan

输出

std_msgs/Header header uint32 seq time stamp string frame_id float32 angle_min float32 angle_max float32 angle_increment float32 time_increment float32 scan_time float32 range_min float32 range_max float32[] ranges float32[] intensities

四.

$rostopic echo /scan -n1

 输出

header: seq: 11949 stamp: secs: 1541936147 nsecs: 883302943 frame_id: "laser_link" angle_min: 0.0 angle_max: 6.27445888519 angle_increment: 0.00872664619237 time_increment: 0.000272695964668 scan_time: 0.109351083636 range_min: 0.0799999982119 range_max: 15.0 ranges: [8.829999923706055, 8.756999969482422, 0.0, 9.017999649047852, 0.0, 8.987000465393066, 0.0, 9.060999870300293, 0.0, 0.0, 0.0, 0.0, 9.119999885559082, 0.0, 9.17199993133545, 0.0, 8.293999671936035, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, ........]