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Macros
#define	TOPIC_CLOCK "/clock"

#define	TOPIC_DIAGNOSTICS "/diagnostics"

#define	TOPIC_TF_DYNAMIC "/tf"

#define	TOPIC_TF_STATIC "/tf_static"

#define	FRAME_NAME_WORLD "world"

#define	FRAME_NAME_BODY "body"

#define	FRAME_NAME_TRUTH "truth"

#define	FRAME_NAME_VIVE "vive"

#define	FRAME_NAME_HANDRAIL "handrail/body"

#define	FRAME_NAME_DOCK "dock/body"

#define	FRAME_NAME_DOCK_BERTH_1 "dock/berth1"

#define	FRAME_NAME_DOCK_BERTH_2 "dock/berth2"

#define	FRAME_NAME_DOCK_MARKER "dock/marker"

#define	FRAME_NAME_PERCH_CAM "perch_cam"

#define	FRAME_NAME_HAZ_CAM "haz_cam"

#define	FRAME_NAME_DOCK_CAM "dock_cam"

#define	FRAME_NAME_NAV_CAM "nav_cam"

#define	FRAME_NAME_FLASHLIGHT_FRONT "flashlight_front"

#define	FRAME_NAME_FLASHLIGHT_AFT "flashlight_aft"

#define	FRAME_NAME_LASER "laser"

#define	FRAME_NAME_IMU "imu"

#define	LOCALIZATION_NONE "no"

#define	LOCALIZATION_MAPPED_LANDMARKS "ml"

#define	LOCALIZATION_AR_TAGS "ar"

#define	LOCALIZATION_HANDRAIL "hr"

#define	LOCALIZATION_PERCH "pl"

#define	FLIGHT_MODE_NOMINAL "nominal"

#define	FLIGHT_MODE_DOCKING "docking"

#define	FLIGHT_MODE_PERCHING "perching"

#define	PRIVATE_PREFIX "cfg/"

#define	TOPIC_COMMAND "command"

#define	TOPIC_HEARTBEAT "heartbeat"

#define	TOPIC_JOINT_GOALS "joint_goals"

#define	TOPIC_JOINT_STATES "joint_states"

#define	TOPIC_PERFORMANCE "performance"

#define	TOPIC_ROBOT_NAME "robot_name"

#define	TOPIC_SIGNALS "signals"

#define	TOPIC_TRIGGER "trigger"

#define	SUBSYSTEM_COMMUNICATIONS "comm"

#define	NODE_DDS_ROS_BRIDGE "dds_ros_bridge"

#define	NODE_ASTROBEE_ASTROBEE_BRIDGE "astrobee_astrobee_bridge"

#define	SERVICE_COMMUNICATIONS_ENABLE_ASTROBEE_INTERCOMMS "comm/astrobee_astrobee_bridge/enable"

#define	SERVICE_COMMUNICATIONS_DDS_SET_TELEM_RATES "comm/dds/set_telem_rate"

#define	TOPIC_COMMUNICATIONS_DDS_COMMAND "comm/dds/command"

#define	TOPIC_COMMUNICATIONS_DDS_DATA "comm/dds/data"

#define	TOPIC_COMMUNICATIONS_DDS_PLAN "comm/dds/plan"

#define	TOPIC_COMMUNICATIONS_DDS_ZONES "comm/dds/zones"

#define	TOPIC_COMMUNICATIONS_ROBOTS_AVAILABLE "comm/robots_available"

#define	SUBSYSTEM_GNC "gnc"

#define	NODE_CTL "ctl"

#define	NODE_PERCH_CTL "perch_ctl"

#define	NODE_EKF "ekf"

#define	NODE_GRAPH_LOC "graph_loc"

#define	NODE_GRAPH_VIO "graph_vio"

#define	NODE_POSE_EXTR "pose_extr"

#define	NODE_SIM_LOC "sim_loc"

#define	NODE_FAM "fam"

#define	TOPIC_GRAPH_LOC "graph_loc/graph"

#define	TOPIC_GRAPH_VIO "graph_vio/graph"

#define	TOPIC_GRAPH_LOC_STATE "graph_loc/state"

#define	TOPIC_GRAPH_VIO_STATE "graph_vio/state"

#define	TOPIC_AR_TAG_POSE "ar_tag/pose"

#define	TOPIC_SPARSE_MAPPING_POSE "sparse_mapping/pose"

#define	TOPIC_IMU_BIAS_EXTRAPOLATOR_POSE "imu_bias_extrapolator/pose"

#define	TOPIC_IMU_BIAS_EXTRAPOLATOR_VELOCITY "imu_bias_extrapolator/velocity"

#define	ACTION_GNC_CTL_CONTROL "gnc/control"

#define	TOPIC_GNC_EKF "gnc/ekf"

#define	TOPIC_GNC_EKF_FEATURES "gnc/ekf/features"

#define	TOPIC_GNC_CTL_SHAPER "gnc/ctl/shaper"

#define	TOPIC_GNC_CTL_TRAJ "gnc/ctl/traj"

#define	TOPIC_GNC_CTL_SEGMENT "gnc/ctl/segment"

#define	TOPIC_GNC_CTL_PROGRESS "gnc/ctl/progress"

#define	TOPIC_GNC_CTL_SETPOINT "gnc/ctl/setpoint"

#define	TOPIC_GNC_CTL_COMMAND "gnc/ctl/command"

#define	TOPIC_GNC_EKF_RESET "gnc/ekf/reset"

#define	SERVICE_GNC_EKF_RESET "gnc/ekf/reset"

#define	SERVICE_GNC_EKF_RESET_HR "gnc/ekf/reset_hr"

#define	SERVICE_GNC_EKF_INIT_BIAS "gnc/ekf/init_bias"

#define	SERVICE_GNC_EKF_INIT_BIAS_FROM_FILE "gnc/ekf/init_bias_from_file"

#define	SERVICE_GNC_EKF_SET_INPUT "gnc/ekf/set_input"

#define	SERVICE_GNC_CTL_ENABLE "gnc/ctl/enable"

#define	SUBSYSTEM_GUEST_SCIENCE "gs"

#define	NODE_GUEST_SCIENCE_MANAGER "gs_manager"

#define	TOPIC_GUEST_SCIENCE_DATA "gs/data"

#define	TOPIC_GUEST_SCIENCE_MANAGER_ACK "gs/gs_manager/ack"

#define	TOPIC_GUEST_SCIENCE_MANAGER_CONFIG "gs/gs_manager/config"

#define	TOPIC_GUEST_SCIENCE_MANAGER_STATE "gs/gs_manager/state"

#define	SUBSYSTEM_MANAGEMENT "mgt"

#define	NODE_ACCESS_CONTROL "access_control"

#define	NODE_EXECUTIVE "executive"

#define	NODE_SYS_MONITOR "sys_monitor"

#define	NODE_IMG_SAMPLER "image_sampler"

#define	NODE_DATA_BAGGER "data_bagger"

#define	TOPIC_MANAGEMENT_ACK "mgt/ack"

#define	TOPIC_MANAGEMENT_ACCESS_CONTROL_CMD "mgt/access_control/cmd"

#define	TOPIC_MANAGEMENT_ACCESS_CONTROL_STATE "mgt/access_control/state"

#define	TOPIC_MANAGEMENT_CPU_MONITOR_STATE "mgt/cpu_monitor/state"

#define	TOPIC_MANAGEMENT_DISK_MONITOR_STATE "mgt/disk_monitor/state"

#define	TOPIC_MANAGEMENT_MEM_MONITOR_STATE "mgt/mem_monitor/state"

#define	TOPIC_MANAGEMENT_EXEC_AGENT_STATE "mgt/executive/agent_state"

#define	TOPIC_MANAGEMENT_EXEC_CF_ACK "mgt/executive/cf_ack"

#define	TOPIC_MANAGEMENT_EXEC_COMMAND "mgt/executive/command"

#define	TOPIC_MANAGEMENT_EXEC_PLAN "mgt/executive/plan"

#define	TOPIC_MANAGEMENT_EXEC_PLAN_STATUS "mgt/executive/plan_status"

#define	TOPIC_MANAGEMENT_SYS_MONITOR_CONFIG "mgt/sys_monitor/config"

#define	TOPIC_MANAGEMENT_SYS_MONITOR_STATE "mgt/sys_monitor/state"

#define	TOPIC_MANAGEMENT_SYS_MONITOR_HEARTBEAT "mgt/sys_monitor/heartbeat"

#define	TOPIC_MANAGEMENT_SYS_MONITOR_TIME_SYNC "mgt/sys_monitor/time_sync"

#define	TOPIC_MANAGEMENT_DATA_BAGGER_STATE "mgt/data_bagger/state"

#define	TOPIC_MANAGEMENT_DATA_BAGGER_TOPICS "mgt/data_bagger/topics"

#define	TOPIC_MANAGEMENT_CAMERA_STATE "mgt/camera_state"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_NAV_CAM_RECORD "mgt/img_sampler/nav_cam/image_record"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_NAV_CAM_STREAM "mgt/img_sampler/nav_cam/image_stream"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_DOCK_CAM_RECORD "mgt/img_sampler/dock_cam/image_record"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_DOCK_CAM_STREAM "mgt/img_sampler/dock_cam/image_stream"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_HAZ_CAM_RECORD "mgt/img_sampler/haz_cam/image_record"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_HAZ_CAM_STREAM "mgt/img_sampler/haz_cam/image_stream"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_PERCH_CAM_RECORD "mgt/img_sampler/perch_cam/image_record"

#define	TOPIC_MANAGEMENT_IMG_SAMPLER_PERCH_CAM_STREAM "mgt/img_sampler/perch_cam/image_stream"

#define	SERVICE_MANAGEMENT_DATA_BAGGER_ENABLE_RECORDING "mgt/data_bagger/enable_recording"

#define	SERVICE_MANAGEMENT_DATA_BAGGER_SET_DATA_TO_DISK "mgt/data_bagger/set_data_to_disk"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_NAV "mgt/img_sampler/nav_cam/configure"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_DOCK "mgt/img_sampler/dock_cam/configure"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_HAZ "mgt/img_sampler/haz_cam/configure"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_PERCH "mgt/img_sampler/perch_cam/configure"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_NAV "mgt/img_sampler/nav_cam/enable"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_DOCK "mgt/img_sampler/dock_cam/enable"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_HAZ "mgt/img_sampler/haz_cam/enable"

#define	SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_PERCH "mgt/img_sampler/perch_cam/enable"

#define	SERVICE_MANAGEMENT_SYS_MONITOR_UNLOAD_LOAD_NODELET "mgt/sys_monitor/unload_load_nodelet"

#define	SERVICE_MANAGEMENT_SCI_CAM_CONFIG "configure_sci_cam"

#define	SERVICE_MANAGEMENT_SCI_CAM_ENABLE "enable_sci_cam"

#define	SUBSYSTEM_MOBILITY "mob"

#define	NODE_CHOREOGRAPHER "choreographer"

#define	NODE_MAPPER "mapper"

#define	ACTION_MOBILITY_MOTION "mob/motion"

#define	ACTION_MOBILITY_VALIDATE "mob/validate"

#define	SERVICE_MOBILITY_SET_INERTIA "mob/set_inertia"

#define	SERVICE_MOBILITY_SET_ZONES "mob/set_zones"

#define	SERVICE_MOBILITY_GET_ZONES "mob/get_zones"

#define	SERVICE_MOBILITY_GET_ZONES_MAP "mob/get_zones_map"

#define	SERVICE_MOBILITY_SET_STATE "mob/set_state"

#define	SERVICE_MOBILITY_SET_MAP_RESOLUTION "mob/mapper/set_map_resolution"

#define	SERVICE_MOBILITY_SET_MEMORY_TIME "mob/mapper/set_memory_time"

#define	SERVICE_MOBILITY_SET_COLLISION_DISTANCE "mob/mapper/set_collision_distance"

#define	SERVICE_MOBILITY_GET_MAP_RESOLUTION "mob/mapper/get_map_resolution"

#define	SERVICE_MOBILITY_GET_MEMORY_TIME "mob/mapper/get_memory_time"

#define	SERVICE_MOBILITY_GET_MAP_INFLATION "mob/mapper/get_map_inflation"

#define	SERVICE_MOBILITY_RESET_MAP "mob/mapper/reset_map"

#define	SERVICE_MOBILITY_GET_FREE_MAP "mob/mapper/get_free_map"

#define	SERVICE_MOBILITY_GET_OBSTACLE_MAP "mob/mapper/get_obstacle_map"

#define	TOPIC_MOBILITY_MOTION_STATE "mob/state"

#define	TOPIC_MOBILITY_FLIGHT_MODE "mob/flight_mode"

#define	TOPIC_MOBILITY_INERTIA "mob/inertia"

#define	TOPIC_MOBILITY_MOTION_RESULT "mob/motion/result"

#define	SERVICE_MOBILITY_PLANNER_REGISTER "mob/planner/register"

#define	PREFIX_MOBILITY_PLANNER_PRIVATE "planner_"

#define	PREFIX_MOBILITY_PLANNER "mob/planner_"

#define	SUFFIX_MOBILITY_PLANNER "/plan"

#define	TOPIC_MOBILITY_SEGMENT "mob/choreographer/segment"

#define	TOPIC_MOBILITY_HAZARD "mob/mapper/hazard"

#define	TOPIC_MOBILITY_ZONES "mob/mapper/zones"

#define	TOPIC_MAPPER_OCTOMAP_MARKERS "mob/mapper/obstacle_markers"

#define	TOPIC_MAPPER_OCTOMAP_FREE_MARKERS "mob/mapper/free_space_markers"

#define	TOPIC_MAPPER_OCTOMAP_CLOUD "mob/mapper/obstacle_cloud"

#define	TOPIC_MAPPER_OCTOMAP_FREE_CLOUD "mob/mapper/free_space_cloud"

#define	TOPIC_MAPPER_OCTOMAP_INFLATED_MARKERS "mob/mapper/inflated_obstacle_markers"

#define	TOPIC_MAPPER_OCTOMAP_INFLATED_FREE_MARKERS "mob/mapper/inflated_free_space_markers"

#define	TOPIC_MAPPER_OCTOMAP_INFLATED_CLOUD "mob/mapper/inflated_obstacle_cloud"

#define	TOPIC_MAPPER_OCTOMAP_INFLATED_FREE_CLOUD "mob/mapper/inflated_free_space_cloud"

#define	TOPIC_MAPPER_FRUSTRUM_MARKERS "mob/mapper/frustum_markers"

#define	TOPIC_MAPPER_DISCRETE_TRAJECTORY_MARKERS "mob/mapper/discrete_trajectory_markers"

#define	SUBSYSTEM_LOCALIZATION "loc"

#define	NODE_HANDRAIL_DETECT "handrail_detect"

#define	NODE_DEPTH_ODOM "depth_odom"

#define	NODE_OPTICAL_FLOW "of"

#define	NODE_LOCALIZATION_MANAGER "localization_manager"

#define	NODE_AR_TAGS "ar_tags"

#define	NODE_MAPPED_LANDMARKS "ml"

#define	NODE_VIVE_LOCALIZATION "vive_localization"

#define	TOPIC_VIO_POSE "vio/pose"

#define	TOPIC_LOCALIZATION_POSE "loc/pose"

#define	TOPIC_LOCALIZATION_TWIST "loc/twist"

#define	TOPIC_LOCALIZATION_TRUTH "loc/truth/pose"

#define	TOPIC_LOCALIZATION_TRUTH_TWIST "loc/truth/twist"

#define	TOPIC_LOCALIZATION_OVERHEAD_IMAGE "loc/overhead"

#define	TOPIC_LOCALIZATION_ML_FEATURES "loc/ml/features"

#define	TOPIC_LOCALIZATION_ML_REGISTRATION "loc/ml/registration"

#define	TOPIC_LOCALIZATION_AR_FEATURES "loc/ar/features"

#define	TOPIC_LOCALIZATION_AR_REGISTRATION "loc/ar/registration"

#define	TOPIC_LOCALIZATION_OF_FEATURES "loc/of/features"

#define	TOPIC_LOCALIZATION_OF_REGISTRATION "loc/of/registration"

#define	TOPIC_LOCALIZATION_HR_FEATURES "loc/hr/features"

#define	TOPIC_LOCALIZATION_HR_REGISTRATION "loc/hr/registration"

#define	TOPIC_LOCALIZATION_HR_IMAGE "loc/hr/image"

#define	TOPIC_LOCALIZATION_HR_CLOUD "loc/hr/cloud"

#define	TOPIC_LOCALIZATION_HR_MARKER "loc/hr/marker"

#define	TOPIC_LOCALIZATION_DEPTH_ODOM "loc/depth/odom"

#define	TOPIC_LOCALIZATION_OF_DEBUG "loc/of/debug_img"

#define	SERVICE_LOCALIZATION_OF_ENABLE "loc/of/enable"

#define	SERVICE_LOCALIZATION_DO_ENABLE "loc/do/enable"

#define	SERVICE_LOCALIZATION_AR_ENABLE "loc/ar/enable"

#define	SERVICE_LOCALIZATION_ML_ENABLE "loc/ml/enable"

#define	SERVICE_LOCALIZATION_HR_ENABLE "loc/hr/enable"

#define	SERVICE_LOCALIZATION_PL_ENABLE "loc/pl/enable"

#define	SERVICE_LOCALIZATION_RESET_MAP "loc/ml/reset_map"

#define	SERVICE_LOCALIZATION_RESET_MAP_LOC "loc/ml/reset_map_loc"

#define	TOPIC_LOCALIZATION_MANAGER_STATE "loc/manager/state"

#define	ACTION_LOCALIZATION_MANAGER_LOCALIZATION "loc/manager/localization"

#define	SERVICE_LOCALIZATION_MANAGER_SET_STATE "loc/manager/set_state"

#define	SERVICE_LOCALIZATION_MANAGER_GET_PIPELINES "loc/manager/get_pipelines"

#define	SERVICE_LOCALIZATION_MANAGER_GET_CURR_PIPELINE "loc/manager/get_curr_pipeline"

#define	TOPIC_NAV_CAM_SIM_POSE "sim/nav_cam/pose"

#define	TOPIC_NAV_CAM_SIM_INFO "sim/nav_cam/info"

#define	TOPIC_HAZ_CAM_SIM_POSE "sim/haz_cam/pose"

#define	TOPIC_HAZ_CAM_SIM_INFO "sim/haz_cam/info"

#define	TOPIC_SCI_CAM_SIM_POSE "sim/sci_cam/pose"

#define	TOPIC_SCI_CAM_SIM_INFO "sim/sci_cam/info"

#define	SUBSYSTEM_BEHAVIORS "beh"

#define	NODE_ARM "arm"

#define	NODE_DOCK "dock"

#define	NODE_PERCH "perch"

#define	ACTION_BEHAVIORS_ARM "beh/arm"

#define	ACTION_BEHAVIORS_DOCK "beh/dock"

#define	ACTION_BEHAVIORS_PERCH "beh/perch"

#define	TOPIC_BEHAVIORS_DOCKING_STATE "beh/dock/state"

#define	TOPIC_BEHAVIORS_PERCHING_STATE "beh/perch/state"

#define	TOPIC_BEHAVIORS_ARM_STATE "beh/arm/state"

#define	TOPIC_BEHAVIORS_ARM_ARM_STATE "beh/arm/arm_state"

#define	TOPIC_BEHAVIORS_ARM_JOINT_SAMPLE "beh/arm/joint_sample"

#define	SERVICE_BEHAVIORS_ARM_SET_STATE "beh/arm/set_state"

#define	SERVICE_BEHAVIORS_DOCK_SET_STATE "beh/dock/set_state"

#define	SERVICE_BEHAVIORS_PERCH_SET_STATE "beh/perch/set_state"

#define	SUBSYSTEM_HARDWARE "hw"

#define	NODE_FRAMESTORE "framestore"

#define	NODE_EPSON_IMU "epson_imu"

#define	NODE_EPS_DRIVER "eps_driver"

#define	NODE_PMC_ACTUATOR "pmc_actuator"

#define	NODE_LASER "node_laser"

#define	NODE_FLASHLIGHTS "flashlights"

#define	NODE_PERCHING_ARM "perching_arm"

#define	NODE_SPEED_CAM "speed_cam"

#define	NODE_TEMP_MONITOR "temp_monitor"

#define	NODE_NAV_CAM "nav_cam"

#define	NODE_DOCK_CAM "dock_cam"

#define	NODE_PERCH_CAM "perch_cam"

#define	NODE_HAZ_CAM "haz_cam"

#define	NODE_SIGNAL_LIGHTS "signal_lights"

#define	NODE_VIVE "vive"

#define	TOPIC_HARDWARE_PMC_COMMAND "hw/pmc/command"

#define	TOPIC_HARDWARE_PMC_TELEMETRY "hw/pmc/telemetry"

#define	TOPIC_HARDWARE_PMC_STATE "hw/pmc/state"

#define	TOPIC_HARDWARE_IMU "hw/imu"

#define	TOPIC_HARDWARE_NAV_CAM "hw/cam_nav"

#define	TOPIC_HARDWARE_DOCK_CAM "hw/cam_dock"

#define	TOPIC_HARDWARE_CAM_SUFFIX_BAYER_RAW "_bayer"

#define	TOPIC_HARDWARE_CAM_SUFFIX_BAYER_COLOR "_color"

#define	TOPIC_HARDWARE_CAM_INFO "/camera_info"

#define	TOPIC_HARDWARE_SCI_CAM "hw/cam_sci"

#define	TOPIC_HARDWARE_LIGHT_FRONT "hw/light_front"

#define	TOPIC_HARDWARE_LIGHT_AFT "hw/light_aft"

#define	TOPIC_HARDWARE_LASER "hw/laser"

#define	TOPIC_HARDWARE_LASER_RVIZ "hw/laser/rviz"

#define	TOPIC_HARDWARE_LIGHTS_RVIZ "hw/lights/rviz"

#define	TOPIC_HARDWARE_EPS_HOUSEKEEPING "hw/eps/housekeeping"

#define	TOPIC_HARDWARE_EPS_POWER_STATE "hw/eps/power_state"

#define	TOPIC_HARDWARE_EPS_BATTERY_STATE_TL "hw/eps/battery/top_left/state"

#define	TOPIC_HARDWARE_EPS_BATTERY_STATE_TR "hw/eps/battery/top_right/state"

#define	TOPIC_HARDWARE_EPS_BATTERY_STATE_BL "hw/eps/battery/bottom_left/state"

#define	TOPIC_HARDWARE_EPS_BATTERY_STATE_BR "hw/eps/battery/bottom_right/state"

#define	TOPIC_HARDWARE_EPS_BATTERY_TEMP_TL "hw/eps/battery/top_left/temp"

#define	TOPIC_HARDWARE_EPS_BATTERY_TEMP_TR "hw/eps/battery/top_right/temp"

#define	TOPIC_HARDWARE_EPS_BATTERY_TEMP_BL "hw/eps/battery/bottom_left/temp"

#define	TOPIC_HARDWARE_EPS_BATTERY_TEMP_BR "hw/eps/battery/bottom_right/temp"

#define	TOPIC_HARDWARE_EPS_DOCK_STATE "hw/eps/dock"

#define	TOPIC_HARDWARE_PICOFLEXX_PREFIX "hw/depth_"

#define	TOPIC_HARDWARE_PICOFLEXX_SUFFIX "/points"

#define	TOPIC_HARDWARE_PICOFLEXX_SUFFIX_EXTENDED "/extended"

#define	TOPIC_HARDWARE_PICOFLEXX_SUFFIX_DEPTH_IMAGE "/depth_image"

#define	TOPIC_HARDWARE_PICOFLEXX_SUFFIX_AMPLITUDE_IMAGE "/amplitude_int"

#define	TOPIC_HARDWARE_NAME_HAZ_CAM "haz"

#define	TOPIC_HARDWARE_NAME_PERCH_CAM "perch"

#define	TOPIC_HARDWARE_SPEED_CAM_CAMERA_IMAGE "hw/speed_cam/camera_image"

#define	TOPIC_HARDWARE_SPEED_CAM_OPTICAL_FLOW "hw/speed_cam/optical_flow"

#define	TOPIC_HARDWARE_SPEED_CAM_IMU "hw/speed_cam/imu"

#define	TOPIC_HARDWARE_SPEED_CAM_SPEED "hw/speed_cam/speed"

#define	TOPIC_HARDWARE_TEMP_MONITOR_PREFIX "hw/temp_monitor/"

#define	TOPIC_HARDWARE_DOCK_STATE "hw/dock/state"

#define	TOPIC_HARDWARE_SIGNAL_LIGHTS_TELEMETRY "hw/sig/telemetry"

#define	TOPIC_HARDWARE_SIGNAL_LIGHTS_CONFIG "hw/sig/config"

#define	TOPIC_HARDWARE_SIGNAL_LIGHTS_STATE "hw/sig/state"

#define	TOPIC_HARDWARE_VIVE_BUTTON "hw/vive/buttons"

#define	TOPIC_HARDWARE_VIVE_IMU "hw/vive/imu"

#define	TOPIC_HARDWARE_VIVE_LIGHT "hw/vive/light"

#define	TOPIC_HARDWARE_VIVE_TRACKERS "hw/vive/trackers"

#define	TOPIC_HARDWARE_VIVE_LIGHTHOUSES "hw/vive/lighthouses"

#define	SERVICE_HARDWARE_EPS_RESET "hw/eps/reset"

#define	SERVICE_HARDWARE_EPS_CONF_LED_STATE "hw/eps/configure_led_state"

#define	SERVICE_HARDWARE_EPS_CONF_PAYLOAD_POWER "hw/eps/configure_payload_power"

#define	SERVICE_HARDWARE_EPS_CONF_ADVANCED_POWER "hw/eps/configure_advanced_power"

#define	SERVICE_HARDWARE_EPS_RING_BUZZER "hw/eps/ring_buzzer"

#define	SERVICE_HARDWARE_EPS_ENABLE_PMCS "hw/eps/enable_pmcs"

#define	SERVICE_HARDWARE_EPS_GET_BATTERY_STATUS "hw/eps/get_battery_status"

#define	SERVICE_HARDWARE_EPS_GET_TEMPERATURES "hw/eps/get_temperatures"

#define	SERVICE_HARDWARE_EPS_UNDOCK "hw/eps/undock"

#define	SERVICE_HARDWARE_EPS_GET_BOARD_INFO "hw/eps/get_board_info"

#define	SERVICE_HARDWARE_EPS_CLEAR_TERMINATE "hw/eps/clear_terminate"

#define	SERVICE_HARDWARE_PERCHING_ARM_ENABLE "hw/arm/enable_arm"

#define	SERVICE_HARDWARE_PERCHING_ARM_DIST_VEL "hw/arm/set_dist_vel"

#define	SERVICE_HARDWARE_PERCHING_ARM_PROX_VEL "hw/arm/set_prox_vel"

#define	SERVICE_HARDWARE_PERCHING_ARM_PROX_SERVO "hw/arm/enable_proximal_servo"

#define	SERVICE_HARDWARE_PERCHING_ARM_DIST_SERVO "hw/arm/enable_distal_servo"

#define	SERVICE_HARDWARE_PERCHING_ARM_GRIP_SERVO "hw/arm/enable_gripper_servo"

#define	SERVICE_HARDWARE_PERCHING_ARM_CALIBRATE "hw/arm/calibrate_gripper"

#define	SERVICE_HARDWARE_LIGHT_FRONT_CONTROL "hw/flashlight_front/control"

#define	SERVICE_HARDWARE_LIGHT_AFT_CONTROL "hw/flashlight_aft/control"

#define	SERVICE_HARDWARE_LASER_ENABLE "hw/laser/enable"

#define	SERVICE_HARDWARE_PMC_ENABLE "hw/pmc/enable"

#define	SERVICE_HARDWARE_PMC_TIMEOUT "hw/pmc/set_timeout"

#define	SERVICE_STREAMING_LIGHTS "hw/signal_lights/streaming"

#define	SERVICE_SET_EXPOSURE "/set_exposure"

Macro Definition Documentation

◆ ACTION_BEHAVIORS_ARM

#define ACTION_BEHAVIORS_ARM "beh/arm"

◆ ACTION_BEHAVIORS_DOCK

#define ACTION_BEHAVIORS_DOCK "beh/dock"

◆ ACTION_BEHAVIORS_PERCH

#define ACTION_BEHAVIORS_PERCH "beh/perch"

◆ ACTION_GNC_CTL_CONTROL

#define ACTION_GNC_CTL_CONTROL "gnc/control"

◆ ACTION_LOCALIZATION_MANAGER_LOCALIZATION

#define ACTION_LOCALIZATION_MANAGER_LOCALIZATION "loc/manager/localization"

◆ ACTION_MOBILITY_MOTION

#define ACTION_MOBILITY_MOTION "mob/motion"

◆ ACTION_MOBILITY_VALIDATE

#define ACTION_MOBILITY_VALIDATE "mob/validate"

◆ FLIGHT_MODE_DOCKING

#define FLIGHT_MODE_DOCKING "docking"

◆ FLIGHT_MODE_NOMINAL

#define FLIGHT_MODE_NOMINAL "nominal"

◆ FLIGHT_MODE_PERCHING

#define FLIGHT_MODE_PERCHING "perching"

◆ FRAME_NAME_BODY

#define FRAME_NAME_BODY "body"

◆ FRAME_NAME_DOCK

#define FRAME_NAME_DOCK "dock/body"

◆ FRAME_NAME_DOCK_BERTH_1

#define FRAME_NAME_DOCK_BERTH_1 "dock/berth1"

◆ FRAME_NAME_DOCK_BERTH_2

#define FRAME_NAME_DOCK_BERTH_2 "dock/berth2"

◆ FRAME_NAME_DOCK_CAM

#define FRAME_NAME_DOCK_CAM "dock_cam"

◆ FRAME_NAME_DOCK_MARKER

#define FRAME_NAME_DOCK_MARKER "dock/marker"

◆ FRAME_NAME_FLASHLIGHT_AFT

#define FRAME_NAME_FLASHLIGHT_AFT "flashlight_aft"

◆ FRAME_NAME_FLASHLIGHT_FRONT

#define FRAME_NAME_FLASHLIGHT_FRONT "flashlight_front"

◆ FRAME_NAME_HANDRAIL

#define FRAME_NAME_HANDRAIL "handrail/body"

◆ FRAME_NAME_HAZ_CAM

#define FRAME_NAME_HAZ_CAM "haz_cam"

◆ FRAME_NAME_IMU

#define FRAME_NAME_IMU "imu"

◆ FRAME_NAME_LASER

#define FRAME_NAME_LASER "laser"

◆ FRAME_NAME_NAV_CAM

#define FRAME_NAME_NAV_CAM "nav_cam"

◆ FRAME_NAME_PERCH_CAM

#define FRAME_NAME_PERCH_CAM "perch_cam"

◆ FRAME_NAME_TRUTH

#define FRAME_NAME_TRUTH "truth"

◆ FRAME_NAME_VIVE

#define FRAME_NAME_VIVE "vive"

◆ FRAME_NAME_WORLD

#define FRAME_NAME_WORLD "world"

◆ LOCALIZATION_AR_TAGS

#define LOCALIZATION_AR_TAGS "ar"

◆ LOCALIZATION_HANDRAIL

#define LOCALIZATION_HANDRAIL "hr"

◆ LOCALIZATION_MAPPED_LANDMARKS

#define LOCALIZATION_MAPPED_LANDMARKS "ml"

◆ LOCALIZATION_NONE

#define LOCALIZATION_NONE "no"

◆ LOCALIZATION_PERCH

#define LOCALIZATION_PERCH "pl"

◆ NODE_ACCESS_CONTROL

#define NODE_ACCESS_CONTROL "access_control"

◆ NODE_AR_TAGS

#define NODE_AR_TAGS "ar_tags"

◆ NODE_ARM

#define NODE_ARM "arm"

◆ NODE_ASTROBEE_ASTROBEE_BRIDGE

#define NODE_ASTROBEE_ASTROBEE_BRIDGE "astrobee_astrobee_bridge"

◆ NODE_CHOREOGRAPHER

#define NODE_CHOREOGRAPHER "choreographer"

◆ NODE_CTL

#define NODE_CTL "ctl"

◆ NODE_DATA_BAGGER

#define NODE_DATA_BAGGER "data_bagger"

◆ NODE_DDS_ROS_BRIDGE

#define NODE_DDS_ROS_BRIDGE "dds_ros_bridge"

◆ NODE_DEPTH_ODOM

#define NODE_DEPTH_ODOM "depth_odom"

◆ NODE_DOCK

#define NODE_DOCK "dock"

◆ NODE_DOCK_CAM

#define NODE_DOCK_CAM "dock_cam"

◆ NODE_EKF

#define NODE_EKF "ekf"

◆ NODE_EPS_DRIVER

#define NODE_EPS_DRIVER "eps_driver"

◆ NODE_EPSON_IMU

#define NODE_EPSON_IMU "epson_imu"

◆ NODE_EXECUTIVE

#define NODE_EXECUTIVE "executive"

◆ NODE_FAM

#define NODE_FAM "fam"

◆ NODE_FLASHLIGHTS

#define NODE_FLASHLIGHTS "flashlights"

◆ NODE_FRAMESTORE

#define NODE_FRAMESTORE "framestore"

◆ NODE_GRAPH_LOC

#define NODE_GRAPH_LOC "graph_loc"

◆ NODE_GRAPH_VIO

#define NODE_GRAPH_VIO "graph_vio"

◆ NODE_GUEST_SCIENCE_MANAGER

#define NODE_GUEST_SCIENCE_MANAGER "gs_manager"

◆ NODE_HANDRAIL_DETECT

#define NODE_HANDRAIL_DETECT "handrail_detect"

◆ NODE_HAZ_CAM

#define NODE_HAZ_CAM "haz_cam"

◆ NODE_IMG_SAMPLER

#define NODE_IMG_SAMPLER "image_sampler"

◆ NODE_LASER

#define NODE_LASER "node_laser"

◆ NODE_LOCALIZATION_MANAGER

#define NODE_LOCALIZATION_MANAGER "localization_manager"

◆ NODE_MAPPED_LANDMARKS

#define NODE_MAPPED_LANDMARKS "ml"

◆ NODE_MAPPER

#define NODE_MAPPER "mapper"

◆ NODE_NAV_CAM

#define NODE_NAV_CAM "nav_cam"

◆ NODE_OPTICAL_FLOW

#define NODE_OPTICAL_FLOW "of"

◆ NODE_PERCH

#define NODE_PERCH "perch"

◆ NODE_PERCH_CAM

#define NODE_PERCH_CAM "perch_cam"

◆ NODE_PERCH_CTL

#define NODE_PERCH_CTL "perch_ctl"

◆ NODE_PERCHING_ARM

#define NODE_PERCHING_ARM "perching_arm"

◆ NODE_PMC_ACTUATOR

#define NODE_PMC_ACTUATOR "pmc_actuator"

◆ NODE_POSE_EXTR

#define NODE_POSE_EXTR "pose_extr"

◆ NODE_SIGNAL_LIGHTS

#define NODE_SIGNAL_LIGHTS "signal_lights"

◆ NODE_SIM_LOC

#define NODE_SIM_LOC "sim_loc"

◆ NODE_SPEED_CAM

#define NODE_SPEED_CAM "speed_cam"

◆ NODE_SYS_MONITOR

#define NODE_SYS_MONITOR "sys_monitor"

◆ NODE_TEMP_MONITOR

#define NODE_TEMP_MONITOR "temp_monitor"

◆ NODE_VIVE

#define NODE_VIVE "vive"

◆ NODE_VIVE_LOCALIZATION

#define NODE_VIVE_LOCALIZATION "vive_localization"

◆ PREFIX_MOBILITY_PLANNER

#define PREFIX_MOBILITY_PLANNER "mob/planner_"

◆ PREFIX_MOBILITY_PLANNER_PRIVATE

#define PREFIX_MOBILITY_PLANNER_PRIVATE "planner_"

◆ PRIVATE_PREFIX

#define PRIVATE_PREFIX "cfg/"

◆ SERVICE_BEHAVIORS_ARM_SET_STATE

#define SERVICE_BEHAVIORS_ARM_SET_STATE "beh/arm/set_state"

◆ SERVICE_BEHAVIORS_DOCK_SET_STATE

#define SERVICE_BEHAVIORS_DOCK_SET_STATE "beh/dock/set_state"

◆ SERVICE_BEHAVIORS_PERCH_SET_STATE

#define SERVICE_BEHAVIORS_PERCH_SET_STATE "beh/perch/set_state"

◆ SERVICE_COMMUNICATIONS_DDS_SET_TELEM_RATES

#define SERVICE_COMMUNICATIONS_DDS_SET_TELEM_RATES "comm/dds/set_telem_rate"

◆ SERVICE_COMMUNICATIONS_ENABLE_ASTROBEE_INTERCOMMS

#define SERVICE_COMMUNICATIONS_ENABLE_ASTROBEE_INTERCOMMS "comm/astrobee_astrobee_bridge/enable"

◆ SERVICE_GNC_CTL_ENABLE

#define SERVICE_GNC_CTL_ENABLE "gnc/ctl/enable"

◆ SERVICE_GNC_EKF_INIT_BIAS

#define SERVICE_GNC_EKF_INIT_BIAS "gnc/ekf/init_bias"

◆ SERVICE_GNC_EKF_INIT_BIAS_FROM_FILE

#define SERVICE_GNC_EKF_INIT_BIAS_FROM_FILE "gnc/ekf/init_bias_from_file"

◆ SERVICE_GNC_EKF_RESET

#define SERVICE_GNC_EKF_RESET "gnc/ekf/reset"

◆ SERVICE_GNC_EKF_RESET_HR

#define SERVICE_GNC_EKF_RESET_HR "gnc/ekf/reset_hr"

◆ SERVICE_GNC_EKF_SET_INPUT

#define SERVICE_GNC_EKF_SET_INPUT "gnc/ekf/set_input"

◆ SERVICE_HARDWARE_EPS_CLEAR_TERMINATE

#define SERVICE_HARDWARE_EPS_CLEAR_TERMINATE "hw/eps/clear_terminate"

◆ SERVICE_HARDWARE_EPS_CONF_ADVANCED_POWER

#define SERVICE_HARDWARE_EPS_CONF_ADVANCED_POWER "hw/eps/configure_advanced_power"

◆ SERVICE_HARDWARE_EPS_CONF_LED_STATE

#define SERVICE_HARDWARE_EPS_CONF_LED_STATE "hw/eps/configure_led_state"

◆ SERVICE_HARDWARE_EPS_CONF_PAYLOAD_POWER

#define SERVICE_HARDWARE_EPS_CONF_PAYLOAD_POWER "hw/eps/configure_payload_power"

◆ SERVICE_HARDWARE_EPS_ENABLE_PMCS

#define SERVICE_HARDWARE_EPS_ENABLE_PMCS "hw/eps/enable_pmcs"

◆ SERVICE_HARDWARE_EPS_GET_BATTERY_STATUS

#define SERVICE_HARDWARE_EPS_GET_BATTERY_STATUS "hw/eps/get_battery_status"

◆ SERVICE_HARDWARE_EPS_GET_BOARD_INFO

#define SERVICE_HARDWARE_EPS_GET_BOARD_INFO "hw/eps/get_board_info"

◆ SERVICE_HARDWARE_EPS_GET_TEMPERATURES

#define SERVICE_HARDWARE_EPS_GET_TEMPERATURES "hw/eps/get_temperatures"

◆ SERVICE_HARDWARE_EPS_RESET

#define SERVICE_HARDWARE_EPS_RESET "hw/eps/reset"

◆ SERVICE_HARDWARE_EPS_RING_BUZZER

#define SERVICE_HARDWARE_EPS_RING_BUZZER "hw/eps/ring_buzzer"

◆ SERVICE_HARDWARE_EPS_UNDOCK

#define SERVICE_HARDWARE_EPS_UNDOCK "hw/eps/undock"

◆ SERVICE_HARDWARE_LASER_ENABLE

#define SERVICE_HARDWARE_LASER_ENABLE "hw/laser/enable"

◆ SERVICE_HARDWARE_LIGHT_AFT_CONTROL

#define SERVICE_HARDWARE_LIGHT_AFT_CONTROL "hw/flashlight_aft/control"

◆ SERVICE_HARDWARE_LIGHT_FRONT_CONTROL

#define SERVICE_HARDWARE_LIGHT_FRONT_CONTROL "hw/flashlight_front/control"

◆ SERVICE_HARDWARE_PERCHING_ARM_CALIBRATE

#define SERVICE_HARDWARE_PERCHING_ARM_CALIBRATE "hw/arm/calibrate_gripper"

◆ SERVICE_HARDWARE_PERCHING_ARM_DIST_SERVO

#define SERVICE_HARDWARE_PERCHING_ARM_DIST_SERVO "hw/arm/enable_distal_servo"

◆ SERVICE_HARDWARE_PERCHING_ARM_DIST_VEL

#define SERVICE_HARDWARE_PERCHING_ARM_DIST_VEL "hw/arm/set_dist_vel"

◆ SERVICE_HARDWARE_PERCHING_ARM_ENABLE

#define SERVICE_HARDWARE_PERCHING_ARM_ENABLE "hw/arm/enable_arm"

◆ SERVICE_HARDWARE_PERCHING_ARM_GRIP_SERVO

#define SERVICE_HARDWARE_PERCHING_ARM_GRIP_SERVO "hw/arm/enable_gripper_servo"

◆ SERVICE_HARDWARE_PERCHING_ARM_PROX_SERVO

#define SERVICE_HARDWARE_PERCHING_ARM_PROX_SERVO "hw/arm/enable_proximal_servo"

◆ SERVICE_HARDWARE_PERCHING_ARM_PROX_VEL

#define SERVICE_HARDWARE_PERCHING_ARM_PROX_VEL "hw/arm/set_prox_vel"

◆ SERVICE_HARDWARE_PMC_ENABLE

#define SERVICE_HARDWARE_PMC_ENABLE "hw/pmc/enable"

◆ SERVICE_HARDWARE_PMC_TIMEOUT

#define SERVICE_HARDWARE_PMC_TIMEOUT "hw/pmc/set_timeout"

◆ SERVICE_LOCALIZATION_AR_ENABLE

#define SERVICE_LOCALIZATION_AR_ENABLE "loc/ar/enable"

◆ SERVICE_LOCALIZATION_DO_ENABLE

#define SERVICE_LOCALIZATION_DO_ENABLE "loc/do/enable"

◆ SERVICE_LOCALIZATION_HR_ENABLE

#define SERVICE_LOCALIZATION_HR_ENABLE "loc/hr/enable"

◆ SERVICE_LOCALIZATION_MANAGER_GET_CURR_PIPELINE

#define SERVICE_LOCALIZATION_MANAGER_GET_CURR_PIPELINE "loc/manager/get_curr_pipeline"

◆ SERVICE_LOCALIZATION_MANAGER_GET_PIPELINES

#define SERVICE_LOCALIZATION_MANAGER_GET_PIPELINES "loc/manager/get_pipelines"

◆ SERVICE_LOCALIZATION_MANAGER_SET_STATE

#define SERVICE_LOCALIZATION_MANAGER_SET_STATE "loc/manager/set_state"

◆ SERVICE_LOCALIZATION_ML_ENABLE

#define SERVICE_LOCALIZATION_ML_ENABLE "loc/ml/enable"

◆ SERVICE_LOCALIZATION_OF_ENABLE

#define SERVICE_LOCALIZATION_OF_ENABLE "loc/of/enable"

◆ SERVICE_LOCALIZATION_PL_ENABLE

#define SERVICE_LOCALIZATION_PL_ENABLE "loc/pl/enable"

◆ SERVICE_LOCALIZATION_RESET_MAP

#define SERVICE_LOCALIZATION_RESET_MAP "loc/ml/reset_map"

◆ SERVICE_LOCALIZATION_RESET_MAP_LOC

#define SERVICE_LOCALIZATION_RESET_MAP_LOC "loc/ml/reset_map_loc"

◆ SERVICE_MANAGEMENT_DATA_BAGGER_ENABLE_RECORDING

#define SERVICE_MANAGEMENT_DATA_BAGGER_ENABLE_RECORDING "mgt/data_bagger/enable_recording"

◆ SERVICE_MANAGEMENT_DATA_BAGGER_SET_DATA_TO_DISK

#define SERVICE_MANAGEMENT_DATA_BAGGER_SET_DATA_TO_DISK "mgt/data_bagger/set_data_to_disk"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_DOCK

#define SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_DOCK "mgt/img_sampler/dock_cam/configure"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_HAZ

#define SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_HAZ "mgt/img_sampler/haz_cam/configure"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_NAV

#define SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_NAV "mgt/img_sampler/nav_cam/configure"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_PERCH

#define SERVICE_MANAGEMENT_IMG_SAMPLER_CONFIG_PERCH "mgt/img_sampler/perch_cam/configure"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_DOCK

#define SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_DOCK "mgt/img_sampler/dock_cam/enable"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_HAZ

#define SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_HAZ "mgt/img_sampler/haz_cam/enable"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_NAV

#define SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_NAV "mgt/img_sampler/nav_cam/enable"

◆ SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_PERCH

#define SERVICE_MANAGEMENT_IMG_SAMPLER_ENABLE_PERCH "mgt/img_sampler/perch_cam/enable"

◆ SERVICE_MANAGEMENT_SCI_CAM_CONFIG

#define SERVICE_MANAGEMENT_SCI_CAM_CONFIG "configure_sci_cam"

◆ SERVICE_MANAGEMENT_SCI_CAM_ENABLE

#define SERVICE_MANAGEMENT_SCI_CAM_ENABLE "enable_sci_cam"

◆ SERVICE_MANAGEMENT_SYS_MONITOR_UNLOAD_LOAD_NODELET

#define SERVICE_MANAGEMENT_SYS_MONITOR_UNLOAD_LOAD_NODELET "mgt/sys_monitor/unload_load_nodelet"

◆ SERVICE_MOBILITY_GET_FREE_MAP

#define SERVICE_MOBILITY_GET_FREE_MAP "mob/mapper/get_free_map"

◆ SERVICE_MOBILITY_GET_MAP_INFLATION

#define SERVICE_MOBILITY_GET_MAP_INFLATION "mob/mapper/get_map_inflation"

◆ SERVICE_MOBILITY_GET_MAP_RESOLUTION

#define SERVICE_MOBILITY_GET_MAP_RESOLUTION "mob/mapper/get_map_resolution"

◆ SERVICE_MOBILITY_GET_MEMORY_TIME

#define SERVICE_MOBILITY_GET_MEMORY_TIME "mob/mapper/get_memory_time"

◆ SERVICE_MOBILITY_GET_OBSTACLE_MAP

#define SERVICE_MOBILITY_GET_OBSTACLE_MAP "mob/mapper/get_obstacle_map"

◆ SERVICE_MOBILITY_GET_ZONES

#define SERVICE_MOBILITY_GET_ZONES "mob/get_zones"

◆ SERVICE_MOBILITY_GET_ZONES_MAP

#define SERVICE_MOBILITY_GET_ZONES_MAP "mob/get_zones_map"

◆ SERVICE_MOBILITY_PLANNER_REGISTER

#define SERVICE_MOBILITY_PLANNER_REGISTER "mob/planner/register"

◆ SERVICE_MOBILITY_RESET_MAP

#define SERVICE_MOBILITY_RESET_MAP "mob/mapper/reset_map"

◆ SERVICE_MOBILITY_SET_COLLISION_DISTANCE

#define SERVICE_MOBILITY_SET_COLLISION_DISTANCE "mob/mapper/set_collision_distance"

◆ SERVICE_MOBILITY_SET_INERTIA

#define SERVICE_MOBILITY_SET_INERTIA "mob/set_inertia"

◆ SERVICE_MOBILITY_SET_MAP_RESOLUTION

#define SERVICE_MOBILITY_SET_MAP_RESOLUTION "mob/mapper/set_map_resolution"

◆ SERVICE_MOBILITY_SET_MEMORY_TIME

#define SERVICE_MOBILITY_SET_MEMORY_TIME "mob/mapper/set_memory_time"

◆ SERVICE_MOBILITY_SET_STATE

#define SERVICE_MOBILITY_SET_STATE "mob/set_state"

◆ SERVICE_MOBILITY_SET_ZONES

#define SERVICE_MOBILITY_SET_ZONES "mob/set_zones"

◆ SERVICE_SET_EXPOSURE

#define SERVICE_SET_EXPOSURE "/set_exposure"

◆ SERVICE_STREAMING_LIGHTS

#define SERVICE_STREAMING_LIGHTS "hw/signal_lights/streaming"

◆ SUBSYSTEM_BEHAVIORS

#define SUBSYSTEM_BEHAVIORS "beh"

◆ SUBSYSTEM_COMMUNICATIONS

#define SUBSYSTEM_COMMUNICATIONS "comm"

◆ SUBSYSTEM_GNC

#define SUBSYSTEM_GNC "gnc"

◆ SUBSYSTEM_GUEST_SCIENCE

#define SUBSYSTEM_GUEST_SCIENCE "gs"

◆ SUBSYSTEM_HARDWARE

#define SUBSYSTEM_HARDWARE "hw"

◆ SUBSYSTEM_LOCALIZATION

#define SUBSYSTEM_LOCALIZATION "loc"

◆ SUBSYSTEM_MANAGEMENT

#define SUBSYSTEM_MANAGEMENT "mgt"

◆ SUBSYSTEM_MOBILITY

#define SUBSYSTEM_MOBILITY "mob"

◆ SUFFIX_MOBILITY_PLANNER

#define SUFFIX_MOBILITY_PLANNER "/plan"

◆ TOPIC_AR_TAG_POSE

#define TOPIC_AR_TAG_POSE "ar_tag/pose"

◆ TOPIC_BEHAVIORS_ARM_ARM_STATE

#define TOPIC_BEHAVIORS_ARM_ARM_STATE "beh/arm/arm_state"

◆ TOPIC_BEHAVIORS_ARM_JOINT_SAMPLE

#define TOPIC_BEHAVIORS_ARM_JOINT_SAMPLE "beh/arm/joint_sample"

◆ TOPIC_BEHAVIORS_ARM_STATE

#define TOPIC_BEHAVIORS_ARM_STATE "beh/arm/state"

◆ TOPIC_BEHAVIORS_DOCKING_STATE

#define TOPIC_BEHAVIORS_DOCKING_STATE "beh/dock/state"

◆ TOPIC_BEHAVIORS_PERCHING_STATE

#define TOPIC_BEHAVIORS_PERCHING_STATE "beh/perch/state"

◆ TOPIC_CLOCK

#define TOPIC_CLOCK "/clock"

◆ TOPIC_COMMAND

#define TOPIC_COMMAND "command"

◆ TOPIC_COMMUNICATIONS_DDS_COMMAND

#define TOPIC_COMMUNICATIONS_DDS_COMMAND "comm/dds/command"

◆ TOPIC_COMMUNICATIONS_DDS_DATA

#define TOPIC_COMMUNICATIONS_DDS_DATA "comm/dds/data"

◆ TOPIC_COMMUNICATIONS_DDS_PLAN

#define TOPIC_COMMUNICATIONS_DDS_PLAN "comm/dds/plan"

◆ TOPIC_COMMUNICATIONS_DDS_ZONES

#define TOPIC_COMMUNICATIONS_DDS_ZONES "comm/dds/zones"

◆ TOPIC_COMMUNICATIONS_ROBOTS_AVAILABLE

#define TOPIC_COMMUNICATIONS_ROBOTS_AVAILABLE "comm/robots_available"

◆ TOPIC_DIAGNOSTICS

#define TOPIC_DIAGNOSTICS "/diagnostics"

◆ TOPIC_GNC_CTL_COMMAND

#define TOPIC_GNC_CTL_COMMAND "gnc/ctl/command"

◆ TOPIC_GNC_CTL_PROGRESS

#define TOPIC_GNC_CTL_PROGRESS "gnc/ctl/progress"

◆ TOPIC_GNC_CTL_SEGMENT

#define TOPIC_GNC_CTL_SEGMENT "gnc/ctl/segment"

◆ TOPIC_GNC_CTL_SETPOINT

#define TOPIC_GNC_CTL_SETPOINT "gnc/ctl/setpoint"

◆ TOPIC_GNC_CTL_SHAPER

#define TOPIC_GNC_CTL_SHAPER "gnc/ctl/shaper"

◆ TOPIC_GNC_CTL_TRAJ

#define TOPIC_GNC_CTL_TRAJ "gnc/ctl/traj"

◆ TOPIC_GNC_EKF

#define TOPIC_GNC_EKF "gnc/ekf"

◆ TOPIC_GNC_EKF_FEATURES

#define TOPIC_GNC_EKF_FEATURES "gnc/ekf/features"

◆ TOPIC_GNC_EKF_RESET

#define TOPIC_GNC_EKF_RESET "gnc/ekf/reset"

◆ TOPIC_GRAPH_LOC

#define TOPIC_GRAPH_LOC "graph_loc/graph"

◆ TOPIC_GRAPH_LOC_STATE

#define TOPIC_GRAPH_LOC_STATE "graph_loc/state"

◆ TOPIC_GRAPH_VIO

#define TOPIC_GRAPH_VIO "graph_vio/graph"

◆ TOPIC_GRAPH_VIO_STATE

#define TOPIC_GRAPH_VIO_STATE "graph_vio/state"

◆ TOPIC_GUEST_SCIENCE_DATA

#define TOPIC_GUEST_SCIENCE_DATA "gs/data"

◆ TOPIC_GUEST_SCIENCE_MANAGER_ACK

#define TOPIC_GUEST_SCIENCE_MANAGER_ACK "gs/gs_manager/ack"

◆ TOPIC_GUEST_SCIENCE_MANAGER_CONFIG

#define TOPIC_GUEST_SCIENCE_MANAGER_CONFIG "gs/gs_manager/config"

◆ TOPIC_GUEST_SCIENCE_MANAGER_STATE

#define TOPIC_GUEST_SCIENCE_MANAGER_STATE "gs/gs_manager/state"

◆ TOPIC_HARDWARE_CAM_INFO

#define TOPIC_HARDWARE_CAM_INFO "/camera_info"

◆ TOPIC_HARDWARE_CAM_SUFFIX_BAYER_COLOR

#define TOPIC_HARDWARE_CAM_SUFFIX_BAYER_COLOR "_color"

◆ TOPIC_HARDWARE_CAM_SUFFIX_BAYER_RAW

#define TOPIC_HARDWARE_CAM_SUFFIX_BAYER_RAW "_bayer"

◆ TOPIC_HARDWARE_DOCK_CAM

#define TOPIC_HARDWARE_DOCK_CAM "hw/cam_dock"

◆ TOPIC_HARDWARE_DOCK_STATE

#define TOPIC_HARDWARE_DOCK_STATE "hw/dock/state"

◆ TOPIC_HARDWARE_EPS_BATTERY_STATE_BL

#define TOPIC_HARDWARE_EPS_BATTERY_STATE_BL "hw/eps/battery/bottom_left/state"

◆ TOPIC_HARDWARE_EPS_BATTERY_STATE_BR

#define TOPIC_HARDWARE_EPS_BATTERY_STATE_BR "hw/eps/battery/bottom_right/state"

◆ TOPIC_HARDWARE_EPS_BATTERY_STATE_TL

#define TOPIC_HARDWARE_EPS_BATTERY_STATE_TL "hw/eps/battery/top_left/state"

◆ TOPIC_HARDWARE_EPS_BATTERY_STATE_TR

#define TOPIC_HARDWARE_EPS_BATTERY_STATE_TR "hw/eps/battery/top_right/state"

◆ TOPIC_HARDWARE_EPS_BATTERY_TEMP_BL

#define TOPIC_HARDWARE_EPS_BATTERY_TEMP_BL "hw/eps/battery/bottom_left/temp"

◆ TOPIC_HARDWARE_EPS_BATTERY_TEMP_BR

#define TOPIC_HARDWARE_EPS_BATTERY_TEMP_BR "hw/eps/battery/bottom_right/temp"

◆ TOPIC_HARDWARE_EPS_BATTERY_TEMP_TL

#define TOPIC_HARDWARE_EPS_BATTERY_TEMP_TL "hw/eps/battery/top_left/temp"

◆ TOPIC_HARDWARE_EPS_BATTERY_TEMP_TR

#define TOPIC_HARDWARE_EPS_BATTERY_TEMP_TR "hw/eps/battery/top_right/temp"

◆ TOPIC_HARDWARE_EPS_DOCK_STATE

#define TOPIC_HARDWARE_EPS_DOCK_STATE "hw/eps/dock"

◆ TOPIC_HARDWARE_EPS_HOUSEKEEPING

#define TOPIC_HARDWARE_EPS_HOUSEKEEPING "hw/eps/housekeeping"

◆ TOPIC_HARDWARE_EPS_POWER_STATE

#define TOPIC_HARDWARE_EPS_POWER_STATE "hw/eps/power_state"

◆ TOPIC_HARDWARE_IMU

#define TOPIC_HARDWARE_IMU "hw/imu"

◆ TOPIC_HARDWARE_LASER

#define TOPIC_HARDWARE_LASER "hw/laser"

◆ TOPIC_HARDWARE_LASER_RVIZ

#define TOPIC_HARDWARE_LASER_RVIZ "hw/laser/rviz"

◆ TOPIC_HARDWARE_LIGHT_AFT

#define TOPIC_HARDWARE_LIGHT_AFT "hw/light_aft"

◆ TOPIC_HARDWARE_LIGHT_FRONT

#define TOPIC_HARDWARE_LIGHT_FRONT "hw/light_front"

◆ TOPIC_HARDWARE_LIGHTS_RVIZ

#define TOPIC_HARDWARE_LIGHTS_RVIZ "hw/lights/rviz"

◆ TOPIC_HARDWARE_NAME_HAZ_CAM

#define TOPIC_HARDWARE_NAME_HAZ_CAM "haz"

◆ TOPIC_HARDWARE_NAME_PERCH_CAM

#define TOPIC_HARDWARE_NAME_PERCH_CAM "perch"

◆ TOPIC_HARDWARE_NAV_CAM

#define TOPIC_HARDWARE_NAV_CAM "hw/cam_nav"

◆ TOPIC_HARDWARE_PICOFLEXX_PREFIX

#define TOPIC_HARDWARE_PICOFLEXX_PREFIX "hw/depth_"

◆ TOPIC_HARDWARE_PICOFLEXX_SUFFIX

#define TOPIC_HARDWARE_PICOFLEXX_SUFFIX "/points"

◆ TOPIC_HARDWARE_PICOFLEXX_SUFFIX_AMPLITUDE_IMAGE

#define TOPIC_HARDWARE_PICOFLEXX_SUFFIX_AMPLITUDE_IMAGE "/amplitude_int"

◆ TOPIC_HARDWARE_PICOFLEXX_SUFFIX_DEPTH_IMAGE

#define TOPIC_HARDWARE_PICOFLEXX_SUFFIX_DEPTH_IMAGE "/depth_image"

◆ TOPIC_HARDWARE_PICOFLEXX_SUFFIX_EXTENDED

#define TOPIC_HARDWARE_PICOFLEXX_SUFFIX_EXTENDED "/extended"

◆ TOPIC_HARDWARE_PMC_COMMAND

#define TOPIC_HARDWARE_PMC_COMMAND "hw/pmc/command"

◆ TOPIC_HARDWARE_PMC_STATE

#define TOPIC_HARDWARE_PMC_STATE "hw/pmc/state"

◆ TOPIC_HARDWARE_PMC_TELEMETRY

#define TOPIC_HARDWARE_PMC_TELEMETRY "hw/pmc/telemetry"

◆ TOPIC_HARDWARE_SCI_CAM

#define TOPIC_HARDWARE_SCI_CAM "hw/cam_sci"

◆ TOPIC_HARDWARE_SIGNAL_LIGHTS_CONFIG

#define TOPIC_HARDWARE_SIGNAL_LIGHTS_CONFIG "hw/sig/config"

◆ TOPIC_HARDWARE_SIGNAL_LIGHTS_STATE

#define TOPIC_HARDWARE_SIGNAL_LIGHTS_STATE "hw/sig/state"

◆ TOPIC_HARDWARE_SIGNAL_LIGHTS_TELEMETRY

#define TOPIC_HARDWARE_SIGNAL_LIGHTS_TELEMETRY "hw/sig/telemetry"

◆ TOPIC_HARDWARE_SPEED_CAM_CAMERA_IMAGE

#define TOPIC_HARDWARE_SPEED_CAM_CAMERA_IMAGE "hw/speed_cam/camera_image"

◆ TOPIC_HARDWARE_SPEED_CAM_IMU

#define TOPIC_HARDWARE_SPEED_CAM_IMU "hw/speed_cam/imu"

◆ TOPIC_HARDWARE_SPEED_CAM_OPTICAL_FLOW

#define TOPIC_HARDWARE_SPEED_CAM_OPTICAL_FLOW "hw/speed_cam/optical_flow"

◆ TOPIC_HARDWARE_SPEED_CAM_SPEED

#define TOPIC_HARDWARE_SPEED_CAM_SPEED "hw/speed_cam/speed"

◆ TOPIC_HARDWARE_TEMP_MONITOR_PREFIX

#define TOPIC_HARDWARE_TEMP_MONITOR_PREFIX "hw/temp_monitor/"

◆ TOPIC_HARDWARE_VIVE_BUTTON

#define TOPIC_HARDWARE_VIVE_BUTTON "hw/vive/buttons"

◆ TOPIC_HARDWARE_VIVE_IMU

#define TOPIC_HARDWARE_VIVE_IMU "hw/vive/imu"

◆ TOPIC_HARDWARE_VIVE_LIGHT

#define TOPIC_HARDWARE_VIVE_LIGHT "hw/vive/light"

◆ TOPIC_HARDWARE_VIVE_LIGHTHOUSES

#define TOPIC_HARDWARE_VIVE_LIGHTHOUSES "hw/vive/lighthouses"

◆ TOPIC_HARDWARE_VIVE_TRACKERS

#define TOPIC_HARDWARE_VIVE_TRACKERS "hw/vive/trackers"

◆ TOPIC_HAZ_CAM_SIM_INFO

#define TOPIC_HAZ_CAM_SIM_INFO "sim/haz_cam/info"

◆ TOPIC_HAZ_CAM_SIM_POSE

#define TOPIC_HAZ_CAM_SIM_POSE "sim/haz_cam/pose"

◆ TOPIC_HEARTBEAT

#define TOPIC_HEARTBEAT "heartbeat"

◆ TOPIC_IMU_BIAS_EXTRAPOLATOR_POSE

#define TOPIC_IMU_BIAS_EXTRAPOLATOR_POSE "imu_bias_extrapolator/pose"

◆ TOPIC_IMU_BIAS_EXTRAPOLATOR_VELOCITY

#define TOPIC_IMU_BIAS_EXTRAPOLATOR_VELOCITY "imu_bias_extrapolator/velocity"

◆ TOPIC_JOINT_GOALS

#define TOPIC_JOINT_GOALS "joint_goals"

◆ TOPIC_JOINT_STATES

#define TOPIC_JOINT_STATES "joint_states"

◆ TOPIC_LOCALIZATION_AR_FEATURES

#define TOPIC_LOCALIZATION_AR_FEATURES "loc/ar/features"

◆ TOPIC_LOCALIZATION_AR_REGISTRATION

#define TOPIC_LOCALIZATION_AR_REGISTRATION "loc/ar/registration"

◆ TOPIC_LOCALIZATION_DEPTH_ODOM

#define TOPIC_LOCALIZATION_DEPTH_ODOM "loc/depth/odom"

◆ TOPIC_LOCALIZATION_HR_CLOUD

#define TOPIC_LOCALIZATION_HR_CLOUD "loc/hr/cloud"

◆ TOPIC_LOCALIZATION_HR_FEATURES

#define TOPIC_LOCALIZATION_HR_FEATURES "loc/hr/features"

◆ TOPIC_LOCALIZATION_HR_IMAGE

#define TOPIC_LOCALIZATION_HR_IMAGE "loc/hr/image"

◆ TOPIC_LOCALIZATION_HR_MARKER

#define TOPIC_LOCALIZATION_HR_MARKER "loc/hr/marker"

◆ TOPIC_LOCALIZATION_HR_REGISTRATION

#define TOPIC_LOCALIZATION_HR_REGISTRATION "loc/hr/registration"

◆ TOPIC_LOCALIZATION_MANAGER_STATE

#define TOPIC_LOCALIZATION_MANAGER_STATE "loc/manager/state"

◆ TOPIC_LOCALIZATION_ML_FEATURES

#define TOPIC_LOCALIZATION_ML_FEATURES "loc/ml/features"

◆ TOPIC_LOCALIZATION_ML_REGISTRATION

#define TOPIC_LOCALIZATION_ML_REGISTRATION "loc/ml/registration"

◆ TOPIC_LOCALIZATION_OF_DEBUG

#define TOPIC_LOCALIZATION_OF_DEBUG "loc/of/debug_img"

◆ TOPIC_LOCALIZATION_OF_FEATURES

#define TOPIC_LOCALIZATION_OF_FEATURES "loc/of/features"

◆ TOPIC_LOCALIZATION_OF_REGISTRATION

#define TOPIC_LOCALIZATION_OF_REGISTRATION "loc/of/registration"

◆ TOPIC_LOCALIZATION_OVERHEAD_IMAGE

#define TOPIC_LOCALIZATION_OVERHEAD_IMAGE "loc/overhead"

◆ TOPIC_LOCALIZATION_POSE

#define TOPIC_LOCALIZATION_POSE "loc/pose"

◆ TOPIC_LOCALIZATION_TRUTH

#define TOPIC_LOCALIZATION_TRUTH "loc/truth/pose"

◆ TOPIC_LOCALIZATION_TRUTH_TWIST

#define TOPIC_LOCALIZATION_TRUTH_TWIST "loc/truth/twist"

◆ TOPIC_LOCALIZATION_TWIST

#define TOPIC_LOCALIZATION_TWIST "loc/twist"

◆ TOPIC_MANAGEMENT_ACCESS_CONTROL_CMD

#define TOPIC_MANAGEMENT_ACCESS_CONTROL_CMD "mgt/access_control/cmd"

◆ TOPIC_MANAGEMENT_ACCESS_CONTROL_STATE

#define TOPIC_MANAGEMENT_ACCESS_CONTROL_STATE "mgt/access_control/state"

◆ TOPIC_MANAGEMENT_ACK

#define TOPIC_MANAGEMENT_ACK "mgt/ack"

◆ TOPIC_MANAGEMENT_CAMERA_STATE

#define TOPIC_MANAGEMENT_CAMERA_STATE "mgt/camera_state"

◆ TOPIC_MANAGEMENT_CPU_MONITOR_STATE

#define TOPIC_MANAGEMENT_CPU_MONITOR_STATE "mgt/cpu_monitor/state"

◆ TOPIC_MANAGEMENT_DATA_BAGGER_STATE

#define TOPIC_MANAGEMENT_DATA_BAGGER_STATE "mgt/data_bagger/state"

◆ TOPIC_MANAGEMENT_DATA_BAGGER_TOPICS

#define TOPIC_MANAGEMENT_DATA_BAGGER_TOPICS "mgt/data_bagger/topics"

◆ TOPIC_MANAGEMENT_DISK_MONITOR_STATE

#define TOPIC_MANAGEMENT_DISK_MONITOR_STATE "mgt/disk_monitor/state"

◆ TOPIC_MANAGEMENT_EXEC_AGENT_STATE

#define TOPIC_MANAGEMENT_EXEC_AGENT_STATE "mgt/executive/agent_state"

◆ TOPIC_MANAGEMENT_EXEC_CF_ACK

#define TOPIC_MANAGEMENT_EXEC_CF_ACK "mgt/executive/cf_ack"

◆ TOPIC_MANAGEMENT_EXEC_COMMAND

#define TOPIC_MANAGEMENT_EXEC_COMMAND "mgt/executive/command"

◆ TOPIC_MANAGEMENT_EXEC_PLAN

#define TOPIC_MANAGEMENT_EXEC_PLAN "mgt/executive/plan"

◆ TOPIC_MANAGEMENT_EXEC_PLAN_STATUS

#define TOPIC_MANAGEMENT_EXEC_PLAN_STATUS "mgt/executive/plan_status"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_DOCK_CAM_RECORD

#define TOPIC_MANAGEMENT_IMG_SAMPLER_DOCK_CAM_RECORD "mgt/img_sampler/dock_cam/image_record"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_DOCK_CAM_STREAM

#define TOPIC_MANAGEMENT_IMG_SAMPLER_DOCK_CAM_STREAM "mgt/img_sampler/dock_cam/image_stream"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_HAZ_CAM_RECORD

#define TOPIC_MANAGEMENT_IMG_SAMPLER_HAZ_CAM_RECORD "mgt/img_sampler/haz_cam/image_record"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_HAZ_CAM_STREAM

#define TOPIC_MANAGEMENT_IMG_SAMPLER_HAZ_CAM_STREAM "mgt/img_sampler/haz_cam/image_stream"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_NAV_CAM_RECORD

#define TOPIC_MANAGEMENT_IMG_SAMPLER_NAV_CAM_RECORD "mgt/img_sampler/nav_cam/image_record"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_NAV_CAM_STREAM

#define TOPIC_MANAGEMENT_IMG_SAMPLER_NAV_CAM_STREAM "mgt/img_sampler/nav_cam/image_stream"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_PERCH_CAM_RECORD

#define TOPIC_MANAGEMENT_IMG_SAMPLER_PERCH_CAM_RECORD "mgt/img_sampler/perch_cam/image_record"

◆ TOPIC_MANAGEMENT_IMG_SAMPLER_PERCH_CAM_STREAM

#define TOPIC_MANAGEMENT_IMG_SAMPLER_PERCH_CAM_STREAM "mgt/img_sampler/perch_cam/image_stream"

◆ TOPIC_MANAGEMENT_MEM_MONITOR_STATE

#define TOPIC_MANAGEMENT_MEM_MONITOR_STATE "mgt/mem_monitor/state"

◆ TOPIC_MANAGEMENT_SYS_MONITOR_CONFIG

#define TOPIC_MANAGEMENT_SYS_MONITOR_CONFIG "mgt/sys_monitor/config"

◆ TOPIC_MANAGEMENT_SYS_MONITOR_HEARTBEAT

#define TOPIC_MANAGEMENT_SYS_MONITOR_HEARTBEAT "mgt/sys_monitor/heartbeat"

◆ TOPIC_MANAGEMENT_SYS_MONITOR_STATE

#define TOPIC_MANAGEMENT_SYS_MONITOR_STATE "mgt/sys_monitor/state"

◆ TOPIC_MANAGEMENT_SYS_MONITOR_TIME_SYNC

#define TOPIC_MANAGEMENT_SYS_MONITOR_TIME_SYNC "mgt/sys_monitor/time_sync"

◆ TOPIC_MAPPER_DISCRETE_TRAJECTORY_MARKERS

#define TOPIC_MAPPER_DISCRETE_TRAJECTORY_MARKERS "mob/mapper/discrete_trajectory_markers"

◆ TOPIC_MAPPER_FRUSTRUM_MARKERS

#define TOPIC_MAPPER_FRUSTRUM_MARKERS "mob/mapper/frustum_markers"

◆ TOPIC_MAPPER_OCTOMAP_CLOUD

#define TOPIC_MAPPER_OCTOMAP_CLOUD "mob/mapper/obstacle_cloud"

◆ TOPIC_MAPPER_OCTOMAP_FREE_CLOUD

#define TOPIC_MAPPER_OCTOMAP_FREE_CLOUD "mob/mapper/free_space_cloud"

◆ TOPIC_MAPPER_OCTOMAP_FREE_MARKERS

#define TOPIC_MAPPER_OCTOMAP_FREE_MARKERS "mob/mapper/free_space_markers"

◆ TOPIC_MAPPER_OCTOMAP_INFLATED_CLOUD

#define TOPIC_MAPPER_OCTOMAP_INFLATED_CLOUD "mob/mapper/inflated_obstacle_cloud"

◆ TOPIC_MAPPER_OCTOMAP_INFLATED_FREE_CLOUD

#define TOPIC_MAPPER_OCTOMAP_INFLATED_FREE_CLOUD "mob/mapper/inflated_free_space_cloud"

◆ TOPIC_MAPPER_OCTOMAP_INFLATED_FREE_MARKERS

#define TOPIC_MAPPER_OCTOMAP_INFLATED_FREE_MARKERS "mob/mapper/inflated_free_space_markers"

◆ TOPIC_MAPPER_OCTOMAP_INFLATED_MARKERS

#define TOPIC_MAPPER_OCTOMAP_INFLATED_MARKERS "mob/mapper/inflated_obstacle_markers"

◆ TOPIC_MAPPER_OCTOMAP_MARKERS

#define TOPIC_MAPPER_OCTOMAP_MARKERS "mob/mapper/obstacle_markers"

◆ TOPIC_MOBILITY_FLIGHT_MODE

#define TOPIC_MOBILITY_FLIGHT_MODE "mob/flight_mode"

◆ TOPIC_MOBILITY_HAZARD

#define TOPIC_MOBILITY_HAZARD "mob/mapper/hazard"

◆ TOPIC_MOBILITY_INERTIA

#define TOPIC_MOBILITY_INERTIA "mob/inertia"

◆ TOPIC_MOBILITY_MOTION_RESULT

#define TOPIC_MOBILITY_MOTION_RESULT "mob/motion/result"

◆ TOPIC_MOBILITY_MOTION_STATE

#define TOPIC_MOBILITY_MOTION_STATE "mob/state"

◆ TOPIC_MOBILITY_SEGMENT

#define TOPIC_MOBILITY_SEGMENT "mob/choreographer/segment"

◆ TOPIC_MOBILITY_ZONES

#define TOPIC_MOBILITY_ZONES "mob/mapper/zones"

◆ TOPIC_NAV_CAM_SIM_INFO

#define TOPIC_NAV_CAM_SIM_INFO "sim/nav_cam/info"

◆ TOPIC_NAV_CAM_SIM_POSE

#define TOPIC_NAV_CAM_SIM_POSE "sim/nav_cam/pose"

◆ TOPIC_PERFORMANCE

#define TOPIC_PERFORMANCE "performance"

◆ TOPIC_ROBOT_NAME

#define TOPIC_ROBOT_NAME "robot_name"

◆ TOPIC_SCI_CAM_SIM_INFO

#define TOPIC_SCI_CAM_SIM_INFO "sim/sci_cam/info"

◆ TOPIC_SCI_CAM_SIM_POSE

#define TOPIC_SCI_CAM_SIM_POSE "sim/sci_cam/pose"

◆ TOPIC_SIGNALS

#define TOPIC_SIGNALS "signals"

◆ TOPIC_SPARSE_MAPPING_POSE

#define TOPIC_SPARSE_MAPPING_POSE "sparse_mapping/pose"

◆ TOPIC_TF_DYNAMIC

#define TOPIC_TF_DYNAMIC "/tf"

◆ TOPIC_TF_STATIC

#define TOPIC_TF_STATIC "/tf_static"

◆ TOPIC_TRIGGER

#define TOPIC_TRIGGER "trigger"

◆ TOPIC_VIO_POSE

#define TOPIC_VIO_POSE "vio/pose"

Macros