On server where your admin run kafka find kafka-console-consumer.sh by command find . -name kafka-console-consumer.sh then go to that directory and run for read message from your topic
./kafka-console-consumer.sh --bootstrap-server localhost:9092 --topic test --from-beginning --max-messages 10
note that in topic may be many messages in that case I use --max-messages key
For me the easiest way is, if you are using a JetBrains IDE (I don't know if the others has that plugin), download Big Data Tools plugin.
It will be added to right toolbar. You can connect to your Kafka Server. If it is on localhost the URL of the server is set to default to 127.0.0.1:9092.
After connected successfully, the Kafka will be added your bottom toolbar. Click it and click the Add Consumer button. Select your topic to consume, and start consuming.