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There are two issues with your command:

• On ROS groovy the line is not being accepted, if you flatten your arrays and add -- for the negative numbers it works
• The relative speed must be a value between 0 and 1

So if you type something like this:

rostopic pub /joint_angles nao_msgs/JointAnglesWithSpeed -- '[ 1, now, Head]' '[HeadYaw,HeadPitch]' '[1,-1]'  1.0  0

It works (at least on ros groovy with nao_controller up and running)

There are two issues with your command:

• On ROS groovy the line is not being accepted, if you flatten your arrays and add -- -- for the negative numbers it works
• The relative speed must be a value between 0 and 1

So if you type something like this:this...

rostopic pub /joint_angles nao_msgs/JointAnglesWithSpeed -- '[ 1, now, Head]' '[HeadYaw,HeadPitch]' '[1,-1]'  1.0  0

It works ... it should work (at least on ros groovy with nao_controller nao_controller up and running)