在客户端模拟调用srv和topic

rostopic pub -r 10 /toipic_name Tab+Tab

rosservice call /service_name  Tab+Tab

 

?

1	rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.15}}'

　　

firefly@firefly:~$ rostopic pub /navigation_goal/Goal navigation_goal/Goal "seq: 0

 

firefly@firefly:~$ rosservice call /submap_switch_srv "pose_number: 0
access_pose:
- x: 0.0
  y: 0.0
  theta: 0.0"