nmap *your_local_ip_address*
for example
nmap 192.168.1.43/24
will show you what devices are connected to the local network, and what ports are open there. really useful, for example, when you forgot the address of your printer or raspi yet again.
you can also use it to understand what ports on your computer are open from an attacker's perspective, or simply to figure out what services are running (ssh service).