1.前进

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[4.0,0.0,0.0]' '[0.0,0.0,0.0]'

 2.后退

SRE实战 互联网时代守护先锋，助力企业售后服务体系运筹帷幄！一键直达领取阿里云限量特价优惠。 
 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[-4.0,0.0,0.0]' '[0.0,0.0,0.0]'

 3.顺时针旋转

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[1.0,0.0,0.0]' '[0.0,0.0,-0.5]'

4.逆时针旋转

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[1.0,0.0,0.0]' '[0.0,0.0,0.5]'

　　

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