For linear velocity:
rostopic pub -r 1 cmd_vel geometry_msgs/Twist ‘{linear: { x: 0.1, y: 0.0, z: 0.0 },
angular: {x: 0.0, y: 0.0, z: 0} }'
For angular velocity:
rostopic pub -r 1 cmd_vel geometry_msgs/Twist ‘{linear: { x: 0.0, y: 0.0, z: 0.0 },
angular: {x: 0.0, y: 0.0, z: 0 .5}}'