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jhurliman/ros2-topic-pub-examples.sh

Created March 7, 2022 22:37
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ros2 topic pub examples
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ros2-topic-pub-examples.sh
# volatile, no history
ros2 topic pub -r 0.5 --qos-durability volatile --qos-reliability reliable /chatter std_msgs/msg/String '{data: hello}'
# transient_local, history of 5
ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable --qos-depth 5 --qos-history keep_last /chatter std_msgs/msg/String '{data: hello}'
# foxy compatible transient_local
ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable /chatter std_msgs/msg/String '{data: hello}'
# /tf_static
ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable /tf_static tf2_msgs/msg/TFMessage '{transforms: [{child_frame_id: "child", header: {frame_id: "parent", seq: 0}, parent_frame_id: "parent", transform: {rotation: {w: 1, x: 0, y: 0, z: 0}, translation: {x: 0, y: 0, z: 0}}}]}'
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