Wiring snapshot: full_default
- generated-by: tests/system/test_wiring_snapshot.py
- date: 2026-09-11 01:19:36
- sim: isaacsim
- num_robots: 1
- source-sha: 54707677a
graph LR
subgraph g0["behavior"]
n2["/robot_1/behavior/drone_safety_monitor/drone_safety_monitor"]
end
subgraph g1["control"]
n3["/robot_1/control/pid_controller"]
end
subgraph g2["interface"]
n5["/robot_1/interface/mavros/mavros"]
n6["/robot_1/interface/mavros/mavros/actuator_control"]
n7["/robot_1/interface/mavros/mavros/adsb"]
n8["/robot_1/interface/mavros/mavros/altitude"]
n9["/robot_1/interface/mavros/mavros/cam_imu_sync"]
n10["/robot_1/interface/mavros/mavros/camera"]
n11["/robot_1/interface/mavros/mavros/cellular_status"]
n12["/robot_1/interface/mavros/mavros/cmd"]
n13["/robot_1/interface/mavros/mavros/companion_process"]
n14["/robot_1/interface/mavros/mavros/debug_value"]
n15["/robot_1/interface/mavros/mavros/esc_status"]
n16["/robot_1/interface/mavros/mavros/esc_telemetry"]
n17["/robot_1/interface/mavros/mavros/fake_gps"]
n18["/robot_1/interface/mavros/mavros/ftp"]
n19["/robot_1/interface/mavros/mavros/geofence"]
n20["/robot_1/interface/mavros/mavros/gimbal_control"]
n21["/robot_1/interface/mavros/mavros/global_position"]
n22["/robot_1/interface/mavros/mavros/gps_input"]
n23["/robot_1/interface/mavros/mavros/gps_rtk"]
n24["/robot_1/interface/mavros/mavros/gpsstatus"]
n25["/robot_1/interface/mavros/mavros/guided_target"]
n26["/robot_1/interface/mavros/mavros/hil"]
n27["/robot_1/interface/mavros/mavros/home_position"]
n28["/robot_1/interface/mavros/mavros/imu"]
n29["/robot_1/interface/mavros/mavros/landing_target"]
n30["/robot_1/interface/mavros/mavros/local_position"]
n31["/robot_1/interface/mavros/mavros/log_transfer"]
n32["/robot_1/interface/mavros/mavros/mag_calibration"]
n33["/robot_1/interface/mavros/mavros/manual_control"]
n34["/robot_1/interface/mavros/mavros/mission"]
n35["/robot_1/interface/mavros/mavros/mocap"]
n36["/robot_1/interface/mavros/mavros/mount_control"]
n37["/robot_1/interface/mavros/mavros/nav_controller_output"]
n38["/robot_1/interface/mavros/mavros/obstacle"]
n39["/robot_1/interface/mavros/mavros/obstacle_distance_3d"]
n40["/robot_1/interface/mavros/mavros/odometry"]
n41["/robot_1/interface/mavros/mavros/onboard_computer"]
n42["/robot_1/interface/mavros/mavros/open_drone_id"]
n43["/robot_1/interface/mavros/mavros/optical_flow"]
n44["/robot_1/interface/mavros/mavros/param"]
n45["/robot_1/interface/mavros/mavros/play_tune"]
n46["/robot_1/interface/mavros/mavros/px4flow"]
n47["/robot_1/interface/mavros/mavros/rallypoint"]
n48["/robot_1/interface/mavros/mavros/rc"]
n49["/robot_1/interface/mavros/mavros/setpoint_accel"]
n50["/robot_1/interface/mavros/mavros/setpoint_attitude"]
n51["/robot_1/interface/mavros/mavros/setpoint_position"]
n52["/robot_1/interface/mavros/mavros/setpoint_raw"]
n53["/robot_1/interface/mavros/mavros/setpoint_trajectory"]
n54["/robot_1/interface/mavros/mavros/setpoint_velocity"]
n55["/robot_1/interface/mavros/mavros/sim_state"]
n56["/robot_1/interface/mavros/mavros/sys"]
n57["/robot_1/interface/mavros/mavros/tdr_radio"]
n58["/robot_1/interface/mavros/mavros/terrain"]
n59["/robot_1/interface/mavros/mavros/time"]
n60["/robot_1/interface/mavros/mavros/trajectory"]
n61["/robot_1/interface/mavros/mavros/tunnel"]
n62["/robot_1/interface/mavros/mavros/vfr_hud"]
n63["/robot_1/interface/mavros/mavros/vision_pose"]
n64["/robot_1/interface/mavros/mavros/vision_speed"]
n65["/robot_1/interface/mavros/mavros/wind"]
n66["/robot_1/interface/mavros/mavros_node"]
n67["/robot_1/interface/mavros/mavros_router"]
n68["/robot_1/interface/odom_modifier"]
n69["/robot_1/interface/robot_interface"]
end
subgraph g3["mighty"]
n70["/robot_1/mighty/global_mapper_ros"]
n71["/robot_1/mighty/mighty_bridge"]
n72["/robot_1/mighty/mighty_init_pose_tf"]
n73["/robot_1/mighty/mighty_node"]
end
subgraph g4["odometry_conversion"]
n74["/robot_1/odometry_conversion/odometry_conversion"]
end
subgraph g5["perception"]
n75["/robot_1/perception/stereo_image_proc/disparity_node"]
n76["/robot_1/perception/stereo_pointcloud"]
end
subgraph g6["robot_1"]
n1["/robot_1/Container"]
n4["/robot_1/gossip_node"]
n77["/robot_1/random_walk_node"]
n78["/robot_1/robot_state_publisher"]
n81["/robot_1/topic_keepalive"]
n84["/robot_1/vdb_mapping"]
n85["/robot_1/world_to_map_broadcaster"]
end
subgraph g7["root"]
n0["/action_relay_client"]
end
subgraph g8["sensors"]
n79["/robot_1/sensors/lidar_point_cloud_filter"]
end
subgraph g9["takeoff_landing_planner"]
n80["/robot_1/takeoff_landing_planner/takeoff_landing_task"]
end
subgraph g10["trajectory_controller"]
n82["/robot_1/trajectory_controller/fixed_trajectory_task"]
n83["/robot_1/trajectory_controller/trajectory_control_node"]
end
d0(["/clock (no publishers)"]) -->|"/clock<br/>Clock"| n1
d0 -->|"/clock<br/>Clock"| n2
d0 -->|"/clock<br/>Clock"| n3
d0 -->|"/clock<br/>Clock"| n4
d0 -->|"/clock<br/>Clock"| n5
d0 -->|"/clock<br/>Clock"| n66
d0 -->|"/clock<br/>Clock"| n67
d0 -->|"/clock<br/>Clock"| n68
d0 -->|"/clock<br/>Clock"| n69
d0 -->|"/clock<br/>Clock"| n70
d0 -->|"/clock<br/>Clock"| n71
d0 -->|"/clock<br/>Clock"| n72
d0 -->|"/clock<br/>Clock"| n73
d0 -->|"/clock<br/>Clock"| n74
d0 -->|"/clock<br/>Clock"| n75
d0 -->|"/clock<br/>Clock"| n76
d0 -->|"/clock<br/>Clock"| n77
d0 -->|"/clock<br/>Clock"| n78
d0 -->|"/clock<br/>Clock"| n79
d0 -->|"/clock<br/>Clock"| n80
d0 -->|"/clock<br/>Clock"| n81
d0 -->|"/clock<br/>Clock"| n82
d0 -->|"/clock<br/>Clock"| n83
d0 -->|"/clock<br/>Clock"| n84
d0 -->|"/clock<br/>Clock"| n85
n5 -->|"/diagnostics<br/>DiagnosticArray"| d1(["/diagnostics (no subscribers)"])
n67 -->|"/diagnostics<br/>DiagnosticArray"| d1
n70 -->|"/globalstatus<br/>ProcessStatus"| d2(["/globalstatus (no subscribers)"])
n4 -->|"/gossip/peers<br/>PeerProfile"| n4
n25 -->|"/move_base_simple/goal<br/>PoseStamped"| d3(["/move_base_simple/goal (no subscribers)"])
d4(["/robot_1/behavior/drone_safety_monitor/command (no publishers)"]) -->|"/robot_1/behavior/drone_safety_monitor/command<br/>String"| n2
n2 -->|"/robot_1/behavior/drone_safety_monitor/state_estimate_timed_out<br/>Bool"| n80
n69 -->|"/robot_1/control/reset_integrators<br/>Empty"| n3
n3 -->|"/robot_1/control/vx_pid_info<br/>PIDInfo"| d5(["/robot_1/control/vx_pid_info (no subscribers)"])
n3 -->|"/robot_1/control/vy_pid_info<br/>PIDInfo"| d6(["/robot_1/control/vy_pid_info (no subscribers)"])
n3 -->|"/robot_1/control/vz_pid_info<br/>PIDInfo"| d7(["/robot_1/control/vz_pid_info (no subscribers)"])
n3 -->|"/robot_1/control/x_pid_info<br/>PIDInfo"| d8(["/robot_1/control/x_pid_info (no subscribers)"])
n3 -->|"/robot_1/control/y_pid_info<br/>PIDInfo"| d9(["/robot_1/control/y_pid_info (no subscribers)"])
n3 -->|"/robot_1/control/z_pid_info<br/>PIDInfo"| d10(["/robot_1/control/z_pid_info (no subscribers)"])
n4 -->|"/robot_1/coordination/peer_registry<br/>PeerProfile"| d11(["/robot_1/coordination/peer_registry (no subscribers)"])
n68 -->|"/robot_1/cross_track_error<br/>PoseStamped"| d12(["/robot_1/cross_track_error (no subscribers)"])
d13(["/robot_1/droan/disparity_graph (no publishers)"]) -->|"/robot_1/droan/disparity_graph<br/>MarkerArray"| n81
d14(["/robot_1/droan/disparity_map_debug (no publishers)"]) -->|"/robot_1/droan/disparity_map_debug<br/>MarkerArray"| n81
d15(["/robot_1/droan/expansion_cloud (no publishers)"]) -->|"/robot_1/droan/expansion_cloud<br/>PointCloud2"| n81
d16(["/robot_1/droan/expansion_poly (no publishers)"]) -->|"/robot_1/droan/expansion_poly<br/>MarkerArray"| n81
d17(["/robot_1/droan/fg_bg_cloud (no publishers)"]) -->|"/robot_1/droan/fg_bg_cloud<br/>PointCloud2"| n81
d18(["/robot_1/droan/frustum (no publishers)"]) -->|"/robot_1/droan/frustum<br/>Marker"| n81
d19(["/robot_1/droan/graph_vis (no publishers)"]) -->|"/robot_1/droan/graph_vis<br/>MarkerArray"| n81
d20(["/robot_1/droan/local_planner_global_plan_vis (no publishers)"]) -->|"/robot_1/droan/local_planner_global_plan_vis<br/>MarkerArray"| n81
d21(["/robot_1/droan/rewind_info (no publishers)"]) -->|"/robot_1/droan/rewind_info<br/>MarkerArray"| n81
d22(["/robot_1/droan/traj_debug (no publishers)"]) -->|"/robot_1/droan/traj_debug<br/>MarkerArray"| n81
d23(["/robot_1/droan/trajectory_library_vis (no publishers)"]) -->|"/robot_1/droan/trajectory_library_vis<br/>MarkerArray"| n81
d24(["/robot_1/droan/virtual_obstacles (no publishers)"]) -->|"/robot_1/droan/virtual_obstacles<br/>MarkerArray"| n81
n68 -->|"/robot_1/global_plan<br/>Path"| n4
n68 -->|"/robot_1/global_plan<br/>Path"| n71
n68 -->|"/robot_1/global_plan<br/>Path"| n81
n77 -->|"/robot_1/global_plan<br/>Path"| n4
n77 -->|"/robot_1/global_plan<br/>Path"| n71
n77 -->|"/robot_1/global_plan<br/>Path"| n81
d25(["/robot_1/interface/attitude_thrust_command (no publishers)"]) -->|"/robot_1/interface/attitude_thrust_command<br/>AttitudeThrust"| n69
d26(["/robot_1/interface/cmd_attitude_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_attitude_thrust<br/>AttitudeThrust"| n69
n68 -->|"/robot_1/interface/cmd_pose<br/>PoseStamped"| n69
d27(["/robot_1/interface/cmd_rate_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_rate_thrust<br/>RateThrust"| n69
n3 -->|"/robot_1/interface/cmd_roll_pitch_yawrate_thrust<br/>RollPitchYawrateThrust"| n69
d28(["/robot_1/interface/cmd_torque_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_torque_thrust<br/>TorqueThrust"| n69
n68 -->|"/robot_1/interface/cmd_velocity<br/>TwistStamped"| n69
n69 -->|"/robot_1/interface/has_control<br/>Bool"| n80
n69 -->|"/robot_1/interface/is_armed<br/>Bool"| n80
d29(["/robot_1/interface/mavros/extended_state (no publishers)"]) -->|"/robot_1/interface/mavros/extended_state<br/>ExtendedState"| n80
d30(["/robot_1/interface/mavros/global_position/compass_hdg (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/compass_hdg<br/>Float64"| n4
d31(["/robot_1/interface/mavros/global_position/global (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n69
d32(["/robot_1/interface/mavros/global_position/local (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/local<br/>Odometry"| n69
d33(["/robot_1/interface/mavros/global_position/raw/fix (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/raw/fix<br/>NavSatFix"| n4
d34(["/robot_1/interface/mavros/home_position/home (no publishers)"]) -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n69
n69 -->|"/robot_1/interface/mavros/home_position/set<br/>HomePosition"| d35(["/robot_1/interface/mavros/home_position/set (no subscribers)"])
d36(["/robot_1/interface/mavros/local_position/odom (no publishers)"]) -->|"/robot_1/interface/mavros/local_position/odom<br/>Odometry"| n74
d37(["/robot_1/interface/mavros/mavros/actuator_control (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/actuator_control<br/>ActuatorControl"| n6
d38(["/robot_1/interface/mavros/mavros/adsb/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/adsb/send<br/>ADSBVehicle"| n7
n7 -->|"/robot_1/interface/mavros/mavros/adsb/vehicle<br/>ADSBVehicle"| d39(["/robot_1/interface/mavros/mavros/adsb/vehicle (no subscribers)"])
n8 -->|"/robot_1/interface/mavros/mavros/altitude<br/>Altitude"| d40(["/robot_1/interface/mavros/mavros/altitude (no subscribers)"])
n56 -->|"/robot_1/interface/mavros/mavros/battery<br/>BatteryState"| d41(["/robot_1/interface/mavros/mavros/battery (no subscribers)"])
n9 -->|"/robot_1/interface/mavros/mavros/cam_imu_sync/cam_imu_stamp<br/>CamIMUStamp"| d42(["/robot_1/interface/mavros/mavros/cam_imu_sync/cam_imu_stamp (no subscribers)"])
n10 -->|"/robot_1/interface/mavros/mavros/camera/image_captured<br/>CameraImageCaptured"| d43(["/robot_1/interface/mavros/mavros/camera/image_captured (no subscribers)"])
d44(["/robot_1/interface/mavros/mavros/cellular_status/status (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/cellular_status/status<br/>CellularStatus"| n11
d45(["/robot_1/interface/mavros/mavros/companion_process/status (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/companion_process/status<br/>CompanionProcessStatus"| n13
n14 -->|"/robot_1/interface/mavros/mavros/debug_value/debug<br/>DebugValue"| d46(["/robot_1/interface/mavros/mavros/debug_value/debug (no subscribers)"])
n14 -->|"/robot_1/interface/mavros/mavros/debug_value/debug_float_array<br/>DebugValue"| d47(["/robot_1/interface/mavros/mavros/debug_value/debug_float_array (no subscribers)"])
n14 -->|"/robot_1/interface/mavros/mavros/debug_value/debug_vector<br/>DebugValue"| d48(["/robot_1/interface/mavros/mavros/debug_value/debug_vector (no subscribers)"])
n14 -->|"/robot_1/interface/mavros/mavros/debug_value/named_value_float<br/>DebugValue"| d49(["/robot_1/interface/mavros/mavros/debug_value/named_value_float (no subscribers)"])
n14 -->|"/robot_1/interface/mavros/mavros/debug_value/named_value_int<br/>DebugValue"| d50(["/robot_1/interface/mavros/mavros/debug_value/named_value_int (no subscribers)"])
d51(["/robot_1/interface/mavros/mavros/debug_value/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/debug_value/send<br/>DebugValue"| n14
n15 -->|"/robot_1/interface/mavros/mavros/esc_status/info<br/>ESCInfo"| d52(["/robot_1/interface/mavros/mavros/esc_status/info (no subscribers)"])
n15 -->|"/robot_1/interface/mavros/mavros/esc_status/status<br/>ESCStatus"| d53(["/robot_1/interface/mavros/mavros/esc_status/status (no subscribers)"])
n16 -->|"/robot_1/interface/mavros/mavros/esc_telemetry/telemetry<br/>ESCTelemetry"| d54(["/robot_1/interface/mavros/mavros/esc_telemetry/telemetry (no subscribers)"])
n56 -->|"/robot_1/interface/mavros/mavros/estimator_status<br/>EstimatorStatus"| d55(["/robot_1/interface/mavros/mavros/estimator_status (no subscribers)"])
n56 -->|"/robot_1/interface/mavros/mavros/extended_state<br/>ExtendedState"| d56(["/robot_1/interface/mavros/mavros/extended_state (no subscribers)"])
d57(["/robot_1/interface/mavros/mavros/fake_gps/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/fake_gps/mocap/tf<br/>TransformStamped"| n17
n19 -->|"/robot_1/interface/mavros/mavros/geofence/fences<br/>WaypointList"| d58(["/robot_1/interface/mavros/mavros/geofence/fences (no subscribers)"])
n20 -->|"/robot_1/interface/mavros/mavros/gimbal_control/device/attitude_status<br/>GimbalDeviceAttitudeStatus"| d59(["/robot_1/interface/mavros/mavros/gimbal_control/device/attitude_status (no subscribers)"])
n20 -->|"/robot_1/interface/mavros/mavros/gimbal_control/device/info<br/>GimbalDeviceInformation"| d60(["/robot_1/interface/mavros/mavros/gimbal_control/device/info (no subscribers)"])
d61(["/robot_1/interface/mavros/mavros/gimbal_control/device/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/gimbal_control/device/set_attitude<br/>GimbalDeviceSetAttitude"| n20
n20 -->|"/robot_1/interface/mavros/mavros/gimbal_control/manager/info<br/>GimbalManagerInformation"| d62(["/robot_1/interface/mavros/mavros/gimbal_control/manager/info (no subscribers)"])
d63(["/robot_1/interface/mavros/mavros/gimbal_control/manager/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/gimbal_control/manager/set_attitude<br/>GimbalManagerSetAttitude"| n20
d64(["/robot_1/interface/mavros/mavros/gimbal_control/manager/set_manual_control (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/gimbal_control/manager/set_manual_control<br/>GimbalManagerSetPitchyaw"| n20
d65(["/robot_1/interface/mavros/mavros/gimbal_control/manager/set_pitchyaw (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/gimbal_control/manager/set_pitchyaw<br/>GimbalManagerSetPitchyaw"| n20
n20 -->|"/robot_1/interface/mavros/mavros/gimbal_control/manager/status<br/>GimbalManagerStatus"| d66(["/robot_1/interface/mavros/mavros/gimbal_control/manager/status (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/compass_hdg<br/>Float64"| d67(["/robot_1/interface/mavros/mavros/global_position/compass_hdg (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/global<br/>NavSatFix"| n51
n21 -->|"/robot_1/interface/mavros/mavros/global_position/gp_lp_offset<br/>PoseStamped"| d68(["/robot_1/interface/mavros/mavros/global_position/gp_lp_offset (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/gp_origin<br/>GeoPointStamped"| n25
n21 -->|"/robot_1/interface/mavros/mavros/global_position/local<br/>Odometry"| d69(["/robot_1/interface/mavros/mavros/global_position/local (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/raw/fix<br/>NavSatFix"| d70(["/robot_1/interface/mavros/mavros/global_position/raw/fix (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/raw/gps_vel<br/>TwistStamped"| d71(["/robot_1/interface/mavros/mavros/global_position/raw/gps_vel (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/raw/satellites<br/>UInt32"| d72(["/robot_1/interface/mavros/mavros/global_position/raw/satellites (no subscribers)"])
n21 -->|"/robot_1/interface/mavros/mavros/global_position/rel_alt<br/>Float64"| d73(["/robot_1/interface/mavros/mavros/global_position/rel_alt (no subscribers)"])
d74(["/robot_1/interface/mavros/mavros/global_position/set_gp_origin (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/global_position/set_gp_origin<br/>GeoPointStamped"| n21
d75(["/robot_1/interface/mavros/mavros/gps_input/gps_input (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/gps_input/gps_input<br/>GPSINPUT"| n22
n23 -->|"/robot_1/interface/mavros/mavros/gps_rtk/rtk_baseline<br/>RTKBaseline"| d76(["/robot_1/interface/mavros/mavros/gps_rtk/rtk_baseline (no subscribers)"])
d77(["/robot_1/interface/mavros/mavros/gps_rtk/send_rtcm (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/gps_rtk/send_rtcm<br/>RTCM"| n23
n24 -->|"/robot_1/interface/mavros/mavros/gpsstatus/gps1/raw<br/>GPSRAW"| d78(["/robot_1/interface/mavros/mavros/gpsstatus/gps1/raw (no subscribers)"])
n24 -->|"/robot_1/interface/mavros/mavros/gpsstatus/gps1/rtk<br/>GPSRTK"| d79(["/robot_1/interface/mavros/mavros/gpsstatus/gps1/rtk (no subscribers)"])
n24 -->|"/robot_1/interface/mavros/mavros/gpsstatus/gps2/raw<br/>GPSRAW"| d80(["/robot_1/interface/mavros/mavros/gpsstatus/gps2/raw (no subscribers)"])
n24 -->|"/robot_1/interface/mavros/mavros/gpsstatus/gps2/rtk<br/>GPSRTK"| d81(["/robot_1/interface/mavros/mavros/gpsstatus/gps2/rtk (no subscribers)"])
n26 -->|"/robot_1/interface/mavros/mavros/hil/actuator_controls<br/>HilActuatorControls"| d82(["/robot_1/interface/mavros/mavros/hil/actuator_controls (no subscribers)"])
n26 -->|"/robot_1/interface/mavros/mavros/hil/controls<br/>HilControls"| d83(["/robot_1/interface/mavros/mavros/hil/controls (no subscribers)"])
d84(["/robot_1/interface/mavros/mavros/hil/gps (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/hil/gps<br/>HilGPS"| n26
d85(["/robot_1/interface/mavros/mavros/hil/imu_ned (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/hil/imu_ned<br/>HilSensor"| n26
d86(["/robot_1/interface/mavros/mavros/hil/optical_flow (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/hil/optical_flow<br/>OpticalFlowRad"| n26
d87(["/robot_1/interface/mavros/mavros/hil/rc_inputs (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/hil/rc_inputs<br/>RCIn"| n26
d88(["/robot_1/interface/mavros/mavros/hil/state (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/hil/state<br/>HilStateQuaternion"| n26
n27 -->|"/robot_1/interface/mavros/mavros/home_position/home<br/>HomePosition"| n21
d89(["/robot_1/interface/mavros/mavros/home_position/set (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/home_position/set<br/>HomePosition"| n27
n28 -->|"/robot_1/interface/mavros/mavros/imu/data<br/>Imu"| d90(["/robot_1/interface/mavros/mavros/imu/data (no subscribers)"])
n28 -->|"/robot_1/interface/mavros/mavros/imu/data_raw<br/>Imu"| d91(["/robot_1/interface/mavros/mavros/imu/data_raw (no subscribers)"])
n28 -->|"/robot_1/interface/mavros/mavros/imu/diff_pressure<br/>FluidPressure"| d92(["/robot_1/interface/mavros/mavros/imu/diff_pressure (no subscribers)"])
n28 -->|"/robot_1/interface/mavros/mavros/imu/mag<br/>MagneticField"| d93(["/robot_1/interface/mavros/mavros/imu/mag (no subscribers)"])
n28 -->|"/robot_1/interface/mavros/mavros/imu/static_pressure<br/>FluidPressure"| d94(["/robot_1/interface/mavros/mavros/imu/static_pressure (no subscribers)"])
n28 -->|"/robot_1/interface/mavros/mavros/imu/temperature_baro<br/>Temperature"| d95(["/robot_1/interface/mavros/mavros/imu/temperature_baro (no subscribers)"])
n28 -->|"/robot_1/interface/mavros/mavros/imu/temperature_imu<br/>Temperature"| d96(["/robot_1/interface/mavros/mavros/imu/temperature_imu (no subscribers)"])
n29 -->|"/robot_1/interface/mavros/mavros/landing_target/lt_marker<br/>Vector3Stamped"| d97(["/robot_1/interface/mavros/mavros/landing_target/lt_marker (no subscribers)"])
d98(["/robot_1/interface/mavros/mavros/landing_target/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/landing_target/pose<br/>PoseStamped"| n29
n29 -->|"/robot_1/interface/mavros/mavros/landing_target/pose_in<br/>PoseStamped"| d99(["/robot_1/interface/mavros/mavros/landing_target/pose_in (no subscribers)"])
n30 -->|"/robot_1/interface/mavros/mavros/local_position/accel<br/>AccelWithCovarianceStamped"| d100(["/robot_1/interface/mavros/mavros/local_position/accel (no subscribers)"])
n30 -->|"/robot_1/interface/mavros/mavros/local_position/odom<br/>Odometry"| d101(["/robot_1/interface/mavros/mavros/local_position/odom (no subscribers)"])
n30 -->|"/robot_1/interface/mavros/mavros/local_position/pose<br/>PoseStamped"| n51
n30 -->|"/robot_1/interface/mavros/mavros/local_position/pose_cov<br/>PoseWithCovarianceStamped"| d102(["/robot_1/interface/mavros/mavros/local_position/pose_cov (no subscribers)"])
n30 -->|"/robot_1/interface/mavros/mavros/local_position/velocity_body<br/>TwistStamped"| d103(["/robot_1/interface/mavros/mavros/local_position/velocity_body (no subscribers)"])
n30 -->|"/robot_1/interface/mavros/mavros/local_position/velocity_body_cov<br/>TwistWithCovarianceStamped"| d104(["/robot_1/interface/mavros/mavros/local_position/velocity_body_cov (no subscribers)"])
n30 -->|"/robot_1/interface/mavros/mavros/local_position/velocity_local<br/>TwistStamped"| d105(["/robot_1/interface/mavros/mavros/local_position/velocity_local (no subscribers)"])
n31 -->|"/robot_1/interface/mavros/mavros/log_transfer/raw/log_data<br/>LogData"| d106(["/robot_1/interface/mavros/mavros/log_transfer/raw/log_data (no subscribers)"])
n31 -->|"/robot_1/interface/mavros/mavros/log_transfer/raw/log_entry<br/>LogEntry"| d107(["/robot_1/interface/mavros/mavros/log_transfer/raw/log_entry (no subscribers)"])
n32 -->|"/robot_1/interface/mavros/mavros/mag_calibration/report<br/>MagnetometerReporter"| d108(["/robot_1/interface/mavros/mavros/mag_calibration/report (no subscribers)"])
n32 -->|"/robot_1/interface/mavros/mavros/mag_calibration/status<br/>UInt8"| d109(["/robot_1/interface/mavros/mavros/mag_calibration/status (no subscribers)"])
n33 -->|"/robot_1/interface/mavros/mavros/manual_control/control<br/>ManualControl"| d110(["/robot_1/interface/mavros/mavros/manual_control/control (no subscribers)"])
d111(["/robot_1/interface/mavros/mavros/manual_control/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/manual_control/send<br/>ManualControl"| n33
n34 -->|"/robot_1/interface/mavros/mavros/mission/reached<br/>WaypointReached"| d112(["/robot_1/interface/mavros/mavros/mission/reached (no subscribers)"])
n34 -->|"/robot_1/interface/mavros/mavros/mission/waypoints<br/>WaypointList"| d113(["/robot_1/interface/mavros/mavros/mission/waypoints (no subscribers)"])
d114(["/robot_1/interface/mavros/mavros/mocap/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/mocap/pose<br/>PoseStamped"| n35
d115(["/robot_1/interface/mavros/mavros/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/mocap/tf<br/>TransformStamped"| n35
d116(["/robot_1/interface/mavros/mavros/mount_control/command (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/mount_control/command<br/>MountControl"| n36
n36 -->|"/robot_1/interface/mavros/mavros/mount_control/orientation<br/>Quaternion"| d117(["/robot_1/interface/mavros/mavros/mount_control/orientation (no subscribers)"])
n36 -->|"/robot_1/interface/mavros/mavros/mount_control/status<br/>Vector3Stamped"| d118(["/robot_1/interface/mavros/mavros/mount_control/status (no subscribers)"])
n37 -->|"/robot_1/interface/mavros/mavros/nav_controller_output/output<br/>NavControllerOutput"| d119(["/robot_1/interface/mavros/mavros/nav_controller_output/output (no subscribers)"])
d120(["/robot_1/interface/mavros/mavros/obstacle/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/obstacle/send<br/>LaserScan"| n38
d121(["/robot_1/interface/mavros/mavros/obstacle_distance_3d/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/obstacle_distance_3d/send<br/>ObstacleDistance3D"| n39
n40 -->|"/robot_1/interface/mavros/mavros/odometry/in<br/>Odometry"| d122(["/robot_1/interface/mavros/mavros/odometry/in (no subscribers)"])
d123(["/robot_1/interface/mavros/mavros/odometry/out (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/odometry/out<br/>Odometry"| n40
d124(["/robot_1/interface/mavros/mavros/onboard_computer/status (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/onboard_computer/status<br/>OnboardComputerStatus"| n41
d125(["/robot_1/interface/mavros/mavros/open_drone_id/basic_id (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/open_drone_id/basic_id<br/>OpenDroneIDBasicID"| n42
d126(["/robot_1/interface/mavros/mavros/open_drone_id/operator_id (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/open_drone_id/operator_id<br/>OpenDroneIDOperatorID"| n42
d127(["/robot_1/interface/mavros/mavros/open_drone_id/self_id (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/open_drone_id/self_id<br/>OpenDroneIDSelfID"| n42
d128(["/robot_1/interface/mavros/mavros/open_drone_id/system (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/open_drone_id/system<br/>OpenDroneIDSystem"| n42
d129(["/robot_1/interface/mavros/mavros/open_drone_id/system_update (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/open_drone_id/system_update<br/>OpenDroneIDSystemUpdate"| n42
n43 -->|"/robot_1/interface/mavros/mavros/optical_flow/ground_distance<br/>Range"| d130(["/robot_1/interface/mavros/mavros/optical_flow/ground_distance (no subscribers)"])
n43 -->|"/robot_1/interface/mavros/mavros/optical_flow/raw/optical_flow<br/>OpticalFlow"| d131(["/robot_1/interface/mavros/mavros/optical_flow/raw/optical_flow (no subscribers)"])
d132(["/robot_1/interface/mavros/mavros/optical_flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/optical_flow/raw/send<br/>OpticalFlow"| n43
n44 -->|"/robot_1/interface/mavros/mavros/param/event<br/>ParamEvent"| d133(["/robot_1/interface/mavros/mavros/param/event (no subscribers)"])
d134(["/robot_1/interface/mavros/mavros/play_tune (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/play_tune<br/>PlayTuneV2"| n45
n46 -->|"/robot_1/interface/mavros/mavros/px4flow/ground_distance<br/>Range"| d135(["/robot_1/interface/mavros/mavros/px4flow/ground_distance (no subscribers)"])
n46 -->|"/robot_1/interface/mavros/mavros/px4flow/raw/optical_flow_rad<br/>OpticalFlowRad"| d136(["/robot_1/interface/mavros/mavros/px4flow/raw/optical_flow_rad (no subscribers)"])
d137(["/robot_1/interface/mavros/mavros/px4flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/px4flow/raw/send<br/>OpticalFlowRad"| n46
n46 -->|"/robot_1/interface/mavros/mavros/px4flow/temperature<br/>Temperature"| d138(["/robot_1/interface/mavros/mavros/px4flow/temperature (no subscribers)"])
n57 -->|"/robot_1/interface/mavros/mavros/radio_status<br/>RadioStatus"| d139(["/robot_1/interface/mavros/mavros/radio_status (no subscribers)"])
n47 -->|"/robot_1/interface/mavros/mavros/rallypoint/rallypoints<br/>WaypointList"| d140(["/robot_1/interface/mavros/mavros/rallypoint/rallypoints (no subscribers)"])
n48 -->|"/robot_1/interface/mavros/mavros/rc/in<br/>RCIn"| d141(["/robot_1/interface/mavros/mavros/rc/in (no subscribers)"])
n48 -->|"/robot_1/interface/mavros/mavros/rc/out<br/>RCOut"| d142(["/robot_1/interface/mavros/mavros/rc/out (no subscribers)"])
d143(["/robot_1/interface/mavros/mavros/rc/override (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/rc/override<br/>OverrideRCIn"| n48
d144(["/robot_1/interface/mavros/mavros/setpoint_accel/accel (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_accel/accel<br/>Vector3Stamped"| n49
d145(["/robot_1/interface/mavros/mavros/setpoint_attitude/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_attitude/cmd_vel<br/>TwistStamped"| n50
d146(["/robot_1/interface/mavros/mavros/setpoint_attitude/thrust (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_attitude/thrust<br/>Thrust"| n50
d147(["/robot_1/interface/mavros/mavros/setpoint_position/global (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_position/global<br/>GeoPoseStamped"| n51
d148(["/robot_1/interface/mavros/mavros/setpoint_position/global_to_local (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_position/global_to_local<br/>GeoPoseStamped"| n51
d149(["/robot_1/interface/mavros/mavros/setpoint_position/local (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_position/local<br/>PoseStamped"| n51
d150(["/robot_1/interface/mavros/mavros/setpoint_raw/attitude (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_raw/attitude<br/>AttitudeTarget"| n52
d151(["/robot_1/interface/mavros/mavros/setpoint_raw/global (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_raw/global<br/>GlobalPositionTarget"| n52
d152(["/robot_1/interface/mavros/mavros/setpoint_raw/local (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_raw/local<br/>PositionTarget"| n52
n52 -->|"/robot_1/interface/mavros/mavros/setpoint_raw/target_attitude<br/>AttitudeTarget"| d153(["/robot_1/interface/mavros/mavros/setpoint_raw/target_attitude (no subscribers)"])
n52 -->|"/robot_1/interface/mavros/mavros/setpoint_raw/target_global<br/>GlobalPositionTarget"| d154(["/robot_1/interface/mavros/mavros/setpoint_raw/target_global (no subscribers)"])
n52 -->|"/robot_1/interface/mavros/mavros/setpoint_raw/target_local<br/>PositionTarget"| d155(["/robot_1/interface/mavros/mavros/setpoint_raw/target_local (no subscribers)"])
n53 -->|"/robot_1/interface/mavros/mavros/setpoint_trajectory/desired<br/>Path"| d156(["/robot_1/interface/mavros/mavros/setpoint_trajectory/desired (no subscribers)"])
d157(["/robot_1/interface/mavros/mavros/setpoint_trajectory/local (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_trajectory/local<br/>MultiDOFJointTrajectory"| n53
d158(["/robot_1/interface/mavros/mavros/setpoint_velocity/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_velocity/cmd_vel<br/>TwistStamped"| n54
d159(["/robot_1/interface/mavros/mavros/setpoint_velocity/cmd_vel_unstamped (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/setpoint_velocity/cmd_vel_unstamped<br/>Twist"| n54
n55 -->|"/robot_1/interface/mavros/mavros/sim_state/acceleration<br/>Vector3Stamped"| d160(["/robot_1/interface/mavros/mavros/sim_state/acceleration (no subscribers)"])
n55 -->|"/robot_1/interface/mavros/mavros/sim_state/attitude<br/>Imu"| d161(["/robot_1/interface/mavros/mavros/sim_state/attitude (no subscribers)"])
n55 -->|"/robot_1/interface/mavros/mavros/sim_state/global_position<br/>NavSatFix"| d162(["/robot_1/interface/mavros/mavros/sim_state/global_position (no subscribers)"])
n55 -->|"/robot_1/interface/mavros/mavros/sim_state/velocity_body<br/>TwistStamped"| d163(["/robot_1/interface/mavros/mavros/sim_state/velocity_body (no subscribers)"])
n55 -->|"/robot_1/interface/mavros/mavros/sim_state/velocity_local<br/>TwistStamped"| d164(["/robot_1/interface/mavros/mavros/sim_state/velocity_local (no subscribers)"])
n56 -->|"/robot_1/interface/mavros/mavros/state<br/>State"| d165(["/robot_1/interface/mavros/mavros/state (no subscribers)"])
n56 -->|"/robot_1/interface/mavros/mavros/status_event<br/>StatusEvent"| d166(["/robot_1/interface/mavros/mavros/status_event (no subscribers)"])
n56 -->|"/robot_1/interface/mavros/mavros/statustext/recv<br/>StatusText"| d167(["/robot_1/interface/mavros/mavros/statustext/recv (no subscribers)"])
d168(["/robot_1/interface/mavros/mavros/statustext/send (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/statustext/send<br/>StatusText"| n56
n56 -->|"/robot_1/interface/mavros/mavros/sys_status<br/>SysStatus"| d169(["/robot_1/interface/mavros/mavros/sys_status (no subscribers)"])
n6 -->|"/robot_1/interface/mavros/mavros/target_actuator_control<br/>ActuatorControl"| d170(["/robot_1/interface/mavros/mavros/target_actuator_control (no subscribers)"])
d171(["/robot_1/interface/mavros/mavros/terrain/data (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/terrain/data<br/>TerrainData"| n58
n58 -->|"/robot_1/interface/mavros/mavros/terrain/report<br/>TerrainReport"| d172(["/robot_1/interface/mavros/mavros/terrain/report (no subscribers)"])
n58 -->|"/robot_1/interface/mavros/mavros/terrain/request<br/>TerrainRequest"| d173(["/robot_1/interface/mavros/mavros/terrain/request (no subscribers)"])
n59 -->|"/robot_1/interface/mavros/mavros/time_reference<br/>TimeReference"| d174(["/robot_1/interface/mavros/mavros/time_reference (no subscribers)"])
n59 -->|"/robot_1/interface/mavros/mavros/timesync_status<br/>TimesyncStatus"| d175(["/robot_1/interface/mavros/mavros/timesync_status (no subscribers)"])
n60 -->|"/robot_1/interface/mavros/mavros/trajectory/desired<br/>Trajectory"| d176(["/robot_1/interface/mavros/mavros/trajectory/desired (no subscribers)"])
d177(["/robot_1/interface/mavros/mavros/trajectory/generated (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/trajectory/generated<br/>Trajectory"| n60
d178(["/robot_1/interface/mavros/mavros/trajectory/path (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/trajectory/path<br/>Path"| n60
d179(["/robot_1/interface/mavros/mavros/tunnel/in (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/tunnel/in<br/>Tunnel"| n61
n61 -->|"/robot_1/interface/mavros/mavros/tunnel/out<br/>Tunnel"| d180(["/robot_1/interface/mavros/mavros/tunnel/out (no subscribers)"])
n62 -->|"/robot_1/interface/mavros/mavros/vfr_hud<br/>VfrHud"| d181(["/robot_1/interface/mavros/mavros/vfr_hud (no subscribers)"])
d182(["/robot_1/interface/mavros/mavros/vision_pose/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/vision_pose/pose<br/>PoseStamped"| n63
d183(["/robot_1/interface/mavros/mavros/vision_pose/pose_cov (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/vision_pose/pose_cov<br/>PoseWithCovarianceStamped"| n63
d184(["/robot_1/interface/mavros/mavros/vision_speed/speed_twist (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/vision_speed/speed_twist<br/>TwistStamped"| n64
d185(["/robot_1/interface/mavros/mavros/vision_speed/speed_twist_cov (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/vision_speed/speed_twist_cov<br/>TwistWithCovarianceStamped"| n64
d186(["/robot_1/interface/mavros/mavros/vision_speed/speed_vector (no publishers)"]) -->|"/robot_1/interface/mavros/mavros/vision_speed/speed_vector<br/>Vector3Stamped"| n64
n65 -->|"/robot_1/interface/mavros/mavros/wind_estimation<br/>TwistWithCovarianceStamped"| d187(["/robot_1/interface/mavros/mavros/wind_estimation (no subscribers)"])
n69 -->|"/robot_1/interface/mavros/setpoint_position/global<br/>GeoPoseStamped"| d188(["/robot_1/interface/mavros/setpoint_position/global (no subscribers)"])
n69 -->|"/robot_1/interface/mavros/setpoint_position/local<br/>PoseStamped"| d189(["/robot_1/interface/mavros/setpoint_position/local (no subscribers)"])
n69 -->|"/robot_1/interface/mavros/setpoint_raw/attitude<br/>AttitudeTarget"| d190(["/robot_1/interface/mavros/setpoint_raw/attitude (no subscribers)"])
n69 -->|"/robot_1/interface/mavros/setpoint_raw/local<br/>PositionTarget"| d191(["/robot_1/interface/mavros/setpoint_raw/local (no subscribers)"])
d192(["/robot_1/interface/mavros/state (no publishers)"]) -->|"/robot_1/interface/mavros/state<br/>State"| n69
d193(["/robot_1/interface/pose_command (no publishers)"]) -->|"/robot_1/interface/pose_command<br/>PoseStamped"| n69
d194(["/robot_1/interface/rate_thrust_command (no publishers)"]) -->|"/robot_1/interface/rate_thrust_command<br/>RateThrust"| n69
d195(["/robot_1/interface/roll_pitch_yawrate_thrust_command (no publishers)"]) -->|"/robot_1/interface/roll_pitch_yawrate_thrust_command<br/>RollPitchYawrateThrust"| n69
d196(["/robot_1/interface/torque_thrust_command (no publishers)"]) -->|"/robot_1/interface/torque_thrust_command<br/>TorqueThrust"| n69
d197(["/robot_1/interface/velocity_command (no publishers)"]) -->|"/robot_1/interface/velocity_command<br/>TwistStamped"| n69
d198(["/robot_1/joint_states (no publishers)"]) -->|"/robot_1/joint_states<br/>JointState"| n78
n73 -->|"/robot_1/mighty/actual_traj<br/>MarkerArray"| d199(["/robot_1/mighty/actual_traj (no subscribers)"])
n73 -->|"/robot_1/mighty/command_to_exec_time<br/>Float64"| d200(["/robot_1/mighty/command_to_exec_time (no subscribers)"])
n73 -->|"/robot_1/mighty/corridor_yaw_target<br/>Marker"| d201(["/robot_1/mighty/corridor_yaw_target (no subscribers)"])
n73 -->|"/robot_1/mighty/cp<br/>MarkerArray"| d202(["/robot_1/mighty/cp (no subscribers)"])
n73 -->|"/robot_1/mighty/dynamic_map_marker<br/>MarkerArray"| d203(["/robot_1/mighty/dynamic_map_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/dynamic_occupied_grid<br/>PointCloud2"| d204(["/robot_1/mighty/dynamic_occupied_grid (no subscribers)"])
n73 -->|"/robot_1/mighty/fov<br/>Marker"| d205(["/robot_1/mighty/fov (no subscribers)"])
n73 -->|"/robot_1/mighty/free_grid<br/>PointCloud2"| d206(["/robot_1/mighty/free_grid (no subscribers)"])
n73 -->|"/robot_1/mighty/free_hgp_path_marker<br/>MarkerArray"| d207(["/robot_1/mighty/free_hgp_path_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/free_map_marker<br/>MarkerArray"| d208(["/robot_1/mighty/free_map_marker (no subscribers)"])
n70 -->|"/robot_1/mighty/frontier_grid_topic<br/>PointCloud2"| d209(["/robot_1/mighty/frontier_grid_topic (no subscribers)"])
n73 -->|"/robot_1/mighty/goal<br/>Goal"| d210(["/robot_1/mighty/goal (no subscribers)"])
n73 -->|"/robot_1/mighty/goal_reached<br/>Empty"| d211(["/robot_1/mighty/goal_reached (no subscribers)"])
n73 -->|"/robot_1/mighty/ground_2d_heat<br/>PointCloud2"| d212(["/robot_1/mighty/ground_2d_heat (no subscribers)"])
n73 -->|"/robot_1/mighty/ground_2d_occupied<br/>PointCloud2"| d213(["/robot_1/mighty/ground_2d_occupied (no subscribers)"])
n73 -->|"/robot_1/mighty/heat_cloud<br/>PointCloud2"| d214(["/robot_1/mighty/heat_cloud (no subscribers)"])
n73 -->|"/robot_1/mighty/hgp_path_marker<br/>MarkerArray"| d215(["/robot_1/mighty/hgp_path_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/local_global_path_after_push_marker<br/>MarkerArray"| d216(["/robot_1/mighty/local_global_path_after_push_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/local_global_path_marker<br/>MarkerArray"| d217(["/robot_1/mighty/local_global_path_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/mpc_waypoints<br/>SpeedyPath"| d218(["/robot_1/mighty/mpc_waypoints (no subscribers)"])
n70 -->|"/robot_1/mighty/occupancy_grid<br/>PointCloud2"| n73
n73 -->|"/robot_1/mighty/original_hgp_path_marker<br/>MarkerArray"| d219(["/robot_1/mighty/original_hgp_path_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/p_points<br/>MarkerArray"| d220(["/robot_1/mighty/p_points (no subscribers)"])
n73 -->|"/robot_1/mighty/point_A<br/>PointStamped"| d221(["/robot_1/mighty/point_A (no subscribers)"])
n73 -->|"/robot_1/mighty/point_E<br/>PointStamped"| d222(["/robot_1/mighty/point_E (no subscribers)"])
n73 -->|"/robot_1/mighty/point_G<br/>PointStamped"| d223(["/robot_1/mighty/point_G (no subscribers)"])
n73 -->|"/robot_1/mighty/point_G_term<br/>PointStamped"| d224(["/robot_1/mighty/point_G_term (no subscribers)"])
n73 -->|"/robot_1/mighty/point_current_state<br/>PointStamped"| d225(["/robot_1/mighty/point_current_state (no subscribers)"])
n73 -->|"/robot_1/mighty/poly_safe<br/>PolyhedronArray"| d226(["/robot_1/mighty/poly_safe (no subscribers)"])
n73 -->|"/robot_1/mighty/poly_whole<br/>PolyhedronArray"| d227(["/robot_1/mighty/poly_whole (no subscribers)"])
d228(["/robot_1/mighty/predicted_trajs (no publishers)"]) -->|"/robot_1/mighty/predicted_trajs<br/>DynTraj"| n73
n73 -->|"/robot_1/mighty/setpoint_vis<br/>PointStamped"| d229(["/robot_1/mighty/setpoint_vis (no subscribers)"])
n71 -->|"/robot_1/mighty/state<br/>State"| n70
n71 -->|"/robot_1/mighty/state<br/>State"| n73
n73 -->|"/robot_1/mighty/static_map_marker<br/>MarkerArray"| d230(["/robot_1/mighty/static_map_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/static_push_points<br/>MarkerArray"| d231(["/robot_1/mighty/static_push_points (no subscribers)"])
n71 -->|"/robot_1/mighty/term_goal<br/>PoseStamped"| n70
n71 -->|"/robot_1/mighty/term_goal<br/>PoseStamped"| n73
n73 -->|"/robot_1/mighty/traj_committed_colored<br/>MarkerArray"| d232(["/robot_1/mighty/traj_committed_colored (no subscribers)"])
n73 -->|"/robot_1/mighty/traj_received<br/>Marker"| d233(["/robot_1/mighty/traj_received (no subscribers)"])
n73 -->|"/robot_1/mighty/traj_subopt_colored<br/>MarkerArray"| d234(["/robot_1/mighty/traj_subopt_colored (no subscribers)"])
n73 -->|"/robot_1/mighty/traj_transformed<br/>Marker"| d235(["/robot_1/mighty/traj_transformed (no subscribers)"])
n73 -->|"/robot_1/mighty/trajectory<br/>Trajectory"| n71
n70 -->|"/robot_1/mighty/unknown_grid<br/>PointCloud2"| n73
n73 -->|"/robot_1/mighty/unknown_grid<br/>PointCloud2"| n73
n73 -->|"/robot_1/mighty/unknown_map_marker<br/>MarkerArray"| d236(["/robot_1/mighty/unknown_map_marker (no subscribers)"])
n73 -->|"/robot_1/mighty/vel_text<br/>Marker"| d237(["/robot_1/mighty/vel_text (no subscribers)"])
n73 -->|"/robot_1/mighty/yaw_output<br/>YawOutput"| d238(["/robot_1/mighty/yaw_output (no subscribers)"])
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n2
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n3
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n68
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n71
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n77
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n80
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n81
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n82
n74 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n83
n75 -->|"/robot_1/perception/stereo_image_proc/disparity<br/>DisparityImage"| n76
n76 -->|"/robot_1/perception/stereo_image_proc/point_cloud<br/>PointCloud2"| n81
n77 -->|"/robot_1/random_walk_node/goal_point_viz<br/>Marker"| d239(["/robot_1/random_walk_node/goal_point_viz (no subscribers)"])
n77 -->|"/robot_1/random_walk_node/traj_viz<br/>Marker"| d240(["/robot_1/random_walk_node/traj_viz (no subscribers)"])
n78 -->|"/robot_1/robot_description<br/>String"| d241(["/robot_1/robot_description (no subscribers)"])
d242(["/robot_1/sensors/front_stereo/left/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n75
d242 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n76
d242 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n81
d243(["/robot_1/sensors/front_stereo/left/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/depth_ground_truth<br/>Image"| n81
d244(["/robot_1/sensors/front_stereo/left/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n75
d244 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n76
d244 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n81
d245(["/robot_1/sensors/front_stereo/right/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n75
d245 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n76
d245 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n81
d246(["/robot_1/sensors/front_stereo/right/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/depth_ground_truth<br/>Image"| n81
d247(["/robot_1/sensors/front_stereo/right/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n75
d247 -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n81
d248(["/robot_1/sensors/lidar/point_cloud (no publishers)"]) -->|"/robot_1/sensors/lidar/point_cloud<br/>PointCloud2"| n81
n79 -->|"/robot_1/sensors/ouster/point_cloud<br/>PointCloud2"| n70
n79 -->|"/robot_1/sensors/ouster/point_cloud<br/>PointCloud2"| n84
d249(["/robot_1/sensors/ouster/point_cloud_raw (no publishers)"]) -->|"/robot_1/sensors/ouster/point_cloud_raw<br/>PointCloud2"| n79
n80 -->|"/robot_1/takeoff_landing_planner/is_airborne<br/>Bool"| n71
d250(["/robot_1/takeoff_landing_planner/trajectory_completion_percentage (no publishers)"]) -->|"/robot_1/takeoff_landing_planner/trajectory_completion_percentage<br/>Float32"| n80
n83 -->|"/robot_1/trajectory_controller/closest_point<br/>Odometry"| d251(["/robot_1/trajectory_controller/closest_point (no subscribers)"])
n83 -->|"/robot_1/trajectory_controller/look_ahead<br/>Odometry"| d252(["/robot_1/trajectory_controller/look_ahead (no subscribers)"])
n83 -->|"/robot_1/trajectory_controller/projected_drone_pose<br/>PoseStamped"| n68
n83 -->|"/robot_1/trajectory_controller/tracking_error<br/>Float32"| d253(["/robot_1/trajectory_controller/tracking_error (no subscribers)"])
n83 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n3
n83 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n68
n83 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n80
n83 -->|"/robot_1/trajectory_controller/tracking_point_velocity_magnitude<br/>Float32"| d254(["/robot_1/trajectory_controller/tracking_point_velocity_magnitude (no subscribers)"])
n83 -->|"/robot_1/trajectory_controller/traj_drone_point<br/>Odometry"| d255(["/robot_1/trajectory_controller/traj_drone_point (no subscribers)"])
n83 -->|"/robot_1/trajectory_controller/trajectory_completion_percentage<br/>Float32"| n82
n83 -->|"/robot_1/trajectory_controller/trajectory_controller_debug_markers<br/>MarkerArray"| n81
n71 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n83
n80 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n83
n82 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n83
d256(["/robot_1/trajectory_controller/trajectory_segment_to_add (no publishers)"]) -->|"/robot_1/trajectory_controller/trajectory_segment_to_add<br/>TrajectoryXYZVYaw"| n83
n83 -->|"/robot_1/trajectory_controller/trajectory_time<br/>Float32"| d257(["/robot_1/trajectory_controller/trajectory_time (no subscribers)"])
n83 -->|"/robot_1/trajectory_controller/trajectory_vis<br/>MarkerArray"| n81
n83 -->|"/robot_1/trajectory_controller/virtual_tracking_point<br/>Odometry"| d258(["/robot_1/trajectory_controller/virtual_tracking_point (no subscribers)"])
n84 -->|"/robot_1/vdb_mapping/vdb_map_overwrites<br/>UpdateGrid"| d259(["/robot_1/vdb_mapping/vdb_map_overwrites (no subscribers)"])
n84 -->|"/robot_1/vdb_mapping/vdb_map_pointcloud<br/>PointCloud2"| d260(["/robot_1/vdb_mapping/vdb_map_pointcloud (no subscribers)"])
n84 -->|"/robot_1/vdb_mapping/vdb_map_sections<br/>UpdateGrid"| d261(["/robot_1/vdb_mapping/vdb_map_sections (no subscribers)"])
n84 -->|"/robot_1/vdb_mapping/vdb_map_updates<br/>UpdateGrid"| d262(["/robot_1/vdb_mapping/vdb_map_updates (no subscribers)"])
n84 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n77
n84 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n81
n5 -->|"/tf<br/>TFMessage"| n68
n5 -->|"/tf<br/>TFMessage"| n81
n74 -->|"/tf<br/>TFMessage"| n68
n74 -->|"/tf<br/>TFMessage"| n81
n78 -->|"/tf<br/>TFMessage"| n68
n78 -->|"/tf<br/>TFMessage"| n81
n83 -->|"/tf<br/>TFMessage"| n68
n83 -->|"/tf<br/>TFMessage"| n81
n5 -->|"/tf_static<br/>TFMessage"| n68
n5 -->|"/tf_static<br/>TFMessage"| n81
n72 -->|"/tf_static<br/>TFMessage"| n68
n72 -->|"/tf_static<br/>TFMessage"| n81
n78 -->|"/tf_static<br/>TFMessage"| n68
n78 -->|"/tf_static<br/>TFMessage"| n81
n85 -->|"/tf_static<br/>TFMessage"| n68
n85 -->|"/tf_static<br/>TFMessage"| n81
n73 -->|"/trajs<br/>DynTraj"| n73
n5 -->|"/uas2/mavlink_sink<br/>Mavlink"| n67
n67 -->|"/uas2/mavlink_source<br/>Mavlink"| n5