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You can use rostopic to print the contents of a message to standard output. For example,

rostopic echo /camera/image_raw

will echo the full contents of the /camera/image_raw topic. If the message contains binary data, such as with Image, this will likely cause problems with your terminal emulator. In those cases it is useful to only echo the fields of interest:

rostopic echo /camera/image_raw/width /camera/image_raw/height

You can use rostopic to print the contents of a message to standard output. For example,

rostopic echo /camera/image_raw

will echo the full contents of the /camera/image_raw topic. If the message contains binary data, such as with Image, this will likely cause problems with your terminal emulator. In those cases it is useful to only echo the fields of interest:

rostopic echo /camera/image_raw/width /camera/image_raw/height

I don't believe that there is a graphical (rx...) analog rostopic.