DataHub uses Kafka as the pub-sub message queue in the backend. Official Confluent Kafka Docker images found in Docker Hub is used without any modification.
You can install kafkacat to consume and produce messaged to Kafka topics. For example, to consume messages on MetadataAuditEvent topic, you can run below command.
kafkacat -b localhost:9092 -t MetadataAuditEvent
However, kafkacat currently doesn't support Avro deserialization at this point,
but they have an ongoing work for that.