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並前往https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html

Understanding topics — ROS 2 Documentation

1 Setup. 2 rqt_graph. 3 ros2 topic list. 4 ros2 topic echo. 5 ros2 topic info. 6 ros2 interface show. 7 ros2 topic pub. 8 ros2 topic hz. 9 Clean up. Summary.

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