查看当前节点关系图rosrun rqt_graph rqt_graph查看tf树rosrun rqt_tf_tree rqt_tf_tree编译colcon build运行节点ros2 run turtlesim turtlesim_node查看节点列表ros2 node list查看节点信息ros2 node info turtlesim_node查看话题相关的命令行ros2 topic -h打印话题内容ros2 topic echo查看话题信息ros2 topic info查看所有话题:ros2 topic list手动发布命令ros2 topic pub查看所有服务ros2 service list调用服务:ros2 service call使用rqt进行调试在终端输入rqt