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I'm new in ROS but I found this on ROS wiki: http://wiki.ros.org/rostopic
$ rostopic pub --once bebop/cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 1.0}}'
I hope it helps.