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I see that what you're trying to publish is a rather complex message type http://ros.org/doc/api/nao_msgs/html/msg/JointAnglesWithSpeed.html

I am not sure if you can publish a topic like this on the command line, since it has a header. However, ignoring the header, the next two arguments are arrays, so if this works:

rostopic pub -1 /joint_angles nao_msgs/JointAnglesWithSpeed -- '' ['HeadYaw'] [2.0] 0.5 1

If that doesn't work, take a look at this link and see if it helps : http://answers.ros.org/question/10244/publish-arrays-to-a-topic-on-the-command-line/

I see that what you're trying to publish is a rather complex message type http://ros.org/doc/api/nao_msgs/html/msg/JointAnglesWithSpeed.html

I am not sure if you can publish a topic like this on the command line, since it has a header. However, ignoring the header, the next two arguments are arrays, so if this works:

rostopic pub -1 /joint_angles nao_msgs/JointAnglesWithSpeed -- '' ['HeadYaw'] [2.0] 0.5 1

If that doesn't work, take a look at this link and see if it helps : http://answers.ros.org/question/10244/publish-arrays-to-a-topic-on-the-command-line/