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The rosmsg tool will show you all of the fields available for a given message type. For example, to see all of the fields available in the nav_msgs/Odometry message type, you would use the following:

rosmsg show nav_msgs/Odometry

The rosmsg tool will show you all of the fields available for a given message type. For example, to see all of the fields available in the nav_msgs/Odometry message type, you would use the following:

rosmsg show nav_msgs/Odometry

Note that that page shows how you can use this to easily get the fields available on a given topic using something like:

rostopic type <topic_name> | rosmsg show