Publish message on geometry_msgs/TwistStamped from terminal

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Hi there I'm back to using ROS after a few years break and would appreciate some help.

I'm trying to publish a message from the terminal but are having trouble getting the arguments right. Could anyone help me with this?

The message is geometry_msgs/TwistStamped: http://docs.ros.org/jade/api/geometry...

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Twist twist
  geometry_msgs/Vector3 linear
    float64 x
    float64 y
    float64 z
  geometry_msgs/Vector3 angular    
    float64 x
    float64 y
    float64 z

I have tried all sorts of combinations but no luck.

One example:

rostopic pub -r 100 /mavros/setpoint_velocity/cmd_vel geometry_msgs/TwistStamped "{header: auto, twist.linear:[1, 2, 3], twist.angular:[1, 1, 1]}"