rostopic pub -r 10 /toipic_name Tab+Tab
rosservice call /service_name Tab+Tab
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.15}}'
firefly@firefly:~$ rostopic pub /navigation_goal/Goal navigation_goal/Goal "seq: 0
firefly@firefly:~$ rosservice call /submap_switch_srv "pose_number: 0 access_pose: - x: 0.0 y: 0.0 theta: 0.0"