relations of gz topic & rostopic, and how to check the information of a gz topic message type(like: mav_msgs::msgs::CommandMotorSpeed)?
I have learned that gz topics
use almost the same subscribe and publish mechanism with ros topics
, but what confuses me is, one name(gazebo/command/motor_speed) of two topics appears in a project. One is a ros topic
and the other is a gz topic
.
I checked the information of the two topics.
The first one has message type of : mav_msgs/Actuators
.
The latter one has message type of : mav_msgs::msgs::CommandMotorSpeed
.
-1. I want to know the difference between gz topics and ros topics, which matters a lot as for things I am learning now.
-2. How can I check the content of the message type mav_msgs::msgs::CommandMotorSpeed
(or any other gz topic message types)?
I would be really grateful if one can help.