1. service call
$ ros2 run turtlesim
$ ros2 run turtlesim turtle_teleop_key
$ ros2 service call /clear std_srvs/srv/Empty
$ ros2 service call /turtle1/set_pen turtlesim/srv/SetPen "{r: 255, g: 0, b: 0, width: 10}"
$ ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: 'turtle3'}"
2. action
$ ros2 action list -t
$ ros2 action info /turtle1/rotate_absolute
$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.5708}"
$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.5708}" --feedback
3. inerface : data type for ROS2 communication
$ ros2 topic list -t
$ ros2 interface show geometry_msgs/msg/Twist
$ ros2 interface show geometry_msgs/msg/Vector3
$ ros2 interface list
$ ros2 interface packages
https://discourse.ros.org/t/mini-pupper-ros-opencv-open-source-pi-robot-dog/22177
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