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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

In Chapter 2, ROS Architecture and Concepts – I, we discussed listing nodes, topics, services, and parameters. The CLI commands rosnode list, rostopic list, rosservice list, and rosparam list provide the most basic level of introspection. Any of these commands can also be combined with regular bash commands to look for the desired nodes, topics, services, or parameters, such as grep:

$ rostopic list | grep speed

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