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, ........]