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If you take a look at the definition of the geometry_msgs/Twist message, it's fairly straightforward. Generally, the coordinates are aligned such that linear/x is the forward/backward direction for your robot,. Since your robot is likely non-holonomic, you can probably ignore linear/y and linear/z. Angular/z is in-plane rotation, and you can ignore x and y.

Linear velocities are generally in meters/s, and angular velocities in radians/s.