Ros commands Messages Look at all messages available rosmsg list Look at the definition of a single message type rosmsg show message_type For example rosmsg show turtlesim/pose Topics Look at all topics being published rostopic list Get information about a topic (who subscribes, who published, whats the message type?) rostopic info topic_name Print all the messages from one topic rostopic echo topic_name Running nodes Running a single node rosrun package_name node_name.py Running a launch file roslaunch package_name launch_file.launch