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How to find formating for rosmsg publishing on command line

asked 2023-06-16 15:56:25 -0500

RichardVZ gravatar image

updated 2023-06-18 09:37:03 -0500

lucasw gravatar image

I want to publish messages to my robot in order to get it to move in the command line but I can't figure out how to format the rostopic pub /topic /type <data>. I'm having issue with the data and how to find the format for it. I'll include a specific example below. Command Line Input:

$ rosmsg show gazebo_msgs/ModelStates
string[] name
geometry_msgs/Pose[] pose
  geometry_msgs/Point position
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation
    float64 x
    float64 y
    float64 z
    float64 w
geometry_msgs/Twist[] twist
  geometry_msgs/Vector3 linear
    float64 x
    float64 y
    float64 z
  geometry_msgs/Vector3 angular
    float64 x
    float64 y
    float64 z

This is what I'm thinking. Someone please help!

rostopic pub -10 /gazebo/model_states gazebo_msgs/ModelStates '"Hello" [] [] [] []"
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answered 2023-06-18 00:20:51 -0500

Mostafa _1995 gravatar image

I think more clarification on what you exactly trying to achieve will be great.

But from what I understand if you have a problem with the message format on the terminal, when you use (rostopic pub), you can simply write

rostopic pub -10 /gazebo/model_states gazebo_msgs/ModelStates

Then press TAB button on your keyboard it will autocomplete with the message format required then you can change it with the required values.

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This will work! I didn't know that this was possible thank you.

RichardVZ gravatar image RichardVZ  ( 2023-06-20 12:58:19 -0500 )edit
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answered 2023-06-17 08:34:03 -0500

Mike Scheutzow gravatar image

updated 2023-06-17 08:39:26 -0500

This terminal command will show you high-level help with various options:

$ rostopic pub --help
Usage: rostopic pub /topic type [args...]
...

The [args...]syntax is a yaml dictionary, which is explained here: http://wiki.ros.org/ROS/YAMLCommandLine

Also, it's a bad idea to publish to some topics if some node is already publishing. You may seriously confuse the subscribers to that topic.

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This page helps a lot. Thank you!

RichardVZ gravatar image RichardVZ  ( 2023-06-20 12:58:55 -0500 )edit

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Asked: 2023-06-16 15:56:25 -0500

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Last updated: Jun 17 '23