From 19c4adc4e289686716c58533e1d208bc30ad1ab2 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Thu, 20 Aug 2026 18:08:09 -0400
Subject: [PATCH 1/4] P5-E1(rfc-379): reference stack folders (wrap form),
 --stack dispatch, single-locus lint
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- stacks/{full_default,full_droan_cpu,full_macvo}: self-contained stack
  folders (modules.repos w/ airstack_compat, flat wrap-form stack.launch.xml,
  compose stub, README). full_macvo FIXES the broken
  local_macvo_obstacle_avoidance.launch.xml wiring in the stack file
  (correct local_-prefixed args, real perception/macvo/disparity topic,
  launch_macvo actually enabled) — collapses the local_* variant explosion
  into named stacks differing by include lines
- robot.launch.xml: stack_dir/stack_entry env-default args; stack group
  replaces role groups when AIRSTACK_STACK_DIR set; legacy role path
  byte-preserved. Compose: stacks/ volume + env passthrough in robot-base
- airstack up --stack <name>[:<entry>]: host-side validation, container-path
  exports, effective-config lines; AUTONOMY_ROLE deprecation warning
- single-locus launch lint (unit mark): no remaps outside stacks/*/launch/,
  frozen shrink-only allowlist (19 grandfathered files), description=
  required on stack args. write-launch-file skill rewritten same commit
  (canonical-default args, never remap in module files)
- wiring mark is stack-aware: --stack makes the golden stacks/<name>/wiring.md
- docs/development/stacks.md + nav; 8 new launch-intent contract tests

Unit suite: 294 passed.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
---
 .agents/skills/write-launch-file/SKILL.md     | 394 +++++-------------
 airstack.sh                                   |  61 ++-
 docs/development/stacks.md                    | 134 ++++++
 mkdocs.yml                                    |   1 +
 robot/docker/robot-base-docker-compose.yaml   |   7 +
 .../autonomy_bringup/launch/robot.launch.xml  |  25 +-
 stacks/full_default/README.md                 |  51 +++
 stacks/full_default/docker-compose.yaml       |  11 +
 stacks/full_default/launch/stack.launch.xml   |  67 +++
 stacks/full_default/modules.repos             |  15 +
 stacks/full_droan_cpu/README.md               |  44 ++
 stacks/full_droan_cpu/docker-compose.yaml     |  11 +
 stacks/full_droan_cpu/launch/stack.launch.xml |  65 +++
 stacks/full_droan_cpu/modules.repos           |  15 +
 stacks/full_macvo/README.md                   |  60 +++
 stacks/full_macvo/docker-compose.yaml         |  13 +
 stacks/full_macvo/launch/stack.launch.xml     |  78 ++++
 stacks/full_macvo/modules.repos               |  16 +
 tests/conftest.py                             |  17 +
 tests/meta/launch_lint_allowlist.txt          |  29 ++
 tests/meta/test_launch_intent_contract.py     |  71 ++++
 tests/meta/test_launch_single_locus.py        | 138 ++++++
 tests/meta/test_stack_layout_contract.py      | 117 ++++++
 tests/system/test_wiring_snapshot.py          |  29 +-
 24 files changed, 1170 insertions(+), 299 deletions(-)
 create mode 100644 docs/development/stacks.md
 create mode 100644 stacks/full_default/README.md
 create mode 100644 stacks/full_default/docker-compose.yaml
 create mode 100644 stacks/full_default/launch/stack.launch.xml
 create mode 100644 stacks/full_default/modules.repos
 create mode 100644 stacks/full_droan_cpu/README.md
 create mode 100644 stacks/full_droan_cpu/docker-compose.yaml
 create mode 100644 stacks/full_droan_cpu/launch/stack.launch.xml
 create mode 100644 stacks/full_droan_cpu/modules.repos
 create mode 100644 stacks/full_macvo/README.md
 create mode 100644 stacks/full_macvo/docker-compose.yaml
 create mode 100644 stacks/full_macvo/launch/stack.launch.xml
 create mode 100644 stacks/full_macvo/modules.repos
 create mode 100644 tests/meta/launch_lint_allowlist.txt
 create mode 100644 tests/meta/test_launch_single_locus.py
 create mode 100644 tests/meta/test_stack_layout_contract.py

diff --git a/.agents/skills/write-launch-file/SKILL.md b/.agents/skills/write-launch-file/SKILL.md
index 5c80bc001..0850e73a6 100644
--- a/.agents/skills/write-launch-file/SKILL.md
+++ b/.agents/skills/write-launch-file/SKILL.md
@@ -1,6 +1,6 @@
 ---
 name: write-launch-file
-description: Author a ROS 2 launch file for AirStack with the correct conventions. Use when creating or editing any .launch.xml/.launch.py for the robot autonomy stack — covers ROBOT_NAME namespacing, topic remapping, allow_substs parameter loading, conditional launch, and layer bringup composition.
+description: Author a ROS 2 launch file for AirStack with the correct conventions. Use when creating or editing any .launch.xml/.launch.py — covers the single-locus wiring rule (remaps live ONLY in stack launch files), canonical-default topic args with descriptions, ROBOT_NAME namespacing, allow_substs parameter loading, and stack-folder composition.
 license: Apache-2.0
 metadata:
   author: AirLab CMU
@@ -12,181 +12,108 @@ metadata:
 ## When to Use
 
 - Creating a launch file for a brand-new module package (paired with [add-ros2-package](../add-ros2-package))
-- Editing a layer's bringup launch file to wire in a new module (paired with [integrate-module-into-layer](../integrate-module-into-layer))
-- Adding optional/conditional behavior (e.g. `enable_rviz`, `use_alt_planner`) to an existing launch file
-- Composing multiple module launch files into a higher-level launch
-- Any time a module's topic names, parameters, or remappings need to change
+- Wiring a module into a stack's entry launch file (`stacks/<name>/launch/*.launch.xml`)
+- Adding optional/conditional behavior (e.g. `enable_rviz`) to an existing launch file
+- Any time a module's topic names, parameters, or connections need to change
 
-If you only need to tweak runtime parameters and the launch file already exists with sensible launch arguments, override via `<arg>` rather than editing the file.
+If you only need different runtime wiring and the module already declares topic args, override the args from the stack launch file — never edit the module.
 
-## Core Conventions (Read First)
+## The Two Kinds of Launch File (Read First)
 
-These are non-negotiable in AirStack:
+AirStack separates launch files into exactly two roles (RFC #379 §4 — the **single-locus wiring rule**):
 
-1. **Every robot-side topic is under `/$(env ROBOT_NAME)/...`.** Never hardcode `/drone1`, `/robot`, etc. Multi-robot scenarios depend on this.
-2. **Module nodes use *relative* topic names internally** (e.g. `odometry`, `global_plan`). The launch file **remaps** them to the correct global topic.
-3. **YAML config files load with `allow_substs="true"`.** Without it, `$(env ...)` and `$(var ...)` inside the YAML are not expanded.
-4. **XML is the AirStack default.** Use `*.launch.xml`. Use Python (`*.launch.py`) only when you need real control flow (loops, conditional graph construction, computed values).
-5. **Launch files are installed at build time.** After editing, you must rebuild the package (`bws --packages-select <pkg>`) before the change takes effect.
-6. **ROS 2 does NOT scope launch arguments.** A `<arg name="odometry_topic">` declared in a child launch file leaks to the parent. Prefix args with the layer/module name (e.g. `local_odometry_in_topic`) — see the warning at the top of `local.launch.xml`.
+| | Module launch file | Stack launch file |
+|---|---|---|
+| Lives in | `<package>/launch/` | `stacks/<name>/launch/` |
+| Declares topic `<arg>`s | YES — with **canonical defaults** and a `description=` on every arg | May declare args (each needs `description=`) |
+| `<remap>` / `remappings=` | **NEVER** | YES — this is the only place cross-module wiring lives |
+| Hardcodes cross-module topics | NEVER | N/A — the stack file IS the wiring document |
+| Format | XML default; Python only for real control flow | **XML only** — declarative, greppable, statically parseable |
 
-## XML vs. Python Launch Files
+Consequences:
 
-| Use XML when… | Use Python when… |
-|---------------|------------------|
-| Launching a fixed set of nodes | You need to loop (e.g. spawn N robots from a list) |
-| Static remappings, parameter files, conditional groups | You need to compute values at launch time |
-| Including other launch files | You need conditional logic that XML's `if`/`unless` cannot express |
-| You want a config that is easy to diff and read | You need to read JSON/YAML and generate nodes from it |
+- **All cross-module wiring lives in the stack's entry launch file(s).** One flat file where every `<include>` block reads "this module, these connections." `grep -r global_plan stacks/my_stack/` answers "who touches this."
+- **A CI lint enforces it** ([`tests/meta/test_launch_single_locus.py`](../../../tests/meta/test_launch_single_locus.py)): any `<remap>`/`remappings=` outside `stacks/*/launch/` fails unless the file is in the frozen [`launch_lint_allowlist.txt`](../../../tests/meta/launch_lint_allowlist.txt). The allowlist only shrinks — never add to it. Legacy layer-bringup files still carry remaps (wrap form); they flatten into the stack files over time, deleting their allowlist lines as they go.
+- **Module topic args default to the canonical names** from [docs/robot/autonomy/integration_checklist.md](../../../docs/robot/autonomy/integration_checklist.md). A module launched with zero overrides connects to a default stack correctly.
 
-Almost every module launch file and every layer bringup launch file in `robot/ros_ws/src/` is XML. Defaulting to XML keeps the codebase consistent and reviewable. If you find yourself reaching for Python, first check whether environment variables + `<arg>` + `<group if=...>` can express the same thing.
+Current status: **wrap form**. Reference stacks (`stacks/full_default/` etc.) include the existing layer bringups; flattening the nodes and remaps into the stack files arrives in a later phase. New wiring you write goes in the stack file, not in a module or bringup file. See [docs/development/stacks.md](../../../docs/development/stacks.md).
 
-## Steps (Module Launch File)
-
-This is the typical "I just made a new package" workflow. The result is a single `<package>/launch/<package>.launch.xml`.
-
-### 1. Locate the Launch Directory
-
-```
-robot/ros_ws/src/<layer>/<category>/<package_name>/launch/<package_name>.launch.xml
-```
+## Core Conventions
 
-Make sure your `CMakeLists.txt` (C++) or `setup.py` (Python) installs the `launch/` directory — see [add-ros2-package](../add-ros2-package). A launch file that is not installed does not exist as far as `ros2 launch` is concerned.
+1. **Every robot-side topic is under `/$(env ROBOT_NAME)/...`.** Never hardcode `/drone1`, `/robot`, etc. — multi-robot depends on this.
+2. **Module nodes use *relative* topic names internally** (e.g. `odometry`, `global_plan`); the module launch file exposes them as prefixed `<arg>`s; the **stack** launch file overrides those args (or remaps) to wire modules together.
+3. **Every `<arg>` gets a `description=`.** The lint requires it for stack launch files; treat it as mandatory everywhere — an undescribed arg is unwireable by the next person.
+4. **YAML config files load with `allow_substs="true"`.** Without it, `$(env ...)`/`$(var ...)` inside the YAML are not expanded.
+5. **ROS 2 does NOT scope launch arguments.** A child's `<arg name="odometry_topic">` collides with a sibling's. Prefix args with the module name: `my_planner_odometry_in_topic`.
+6. **Launch files are installed at build time.** Rebuild (`bws --packages-select <pkg>`) after editing — except stack launch files, which are read from the bind-mounted `stacks/` folder and need no build.
 
-### 2. Declare Launch Arguments
+## Steps (Module Launch File)
 
-Put every topic name, every config path, and every toggleable feature behind an `<arg>` with a sensible default. This is what lets the layer bringup file remap your module without editing your launch file.
+Result: a single `<package>/launch/<package>.launch.xml` that declares its interface and starts its nodes — **no remaps, no cross-module topic knowledge beyond canonical defaults**.
 
 ```xml
 <launch>
-  <!-- Topic args: prefix with module name to avoid collisions in parent launches -->
+  <!-- Topic args: module-name prefix, canonical defaults, described. -->
   <arg name="my_planner_odometry_in_topic"
-       default="/$(env ROBOT_NAME)/odometry_conversion/odometry" />
+       default="/$(env ROBOT_NAME)/odometry_conversion/odometry"
+       description="Input odometry (nav_msgs/Odometry)" />
   <arg name="my_planner_global_plan_in_topic"
-       default="/$(env ROBOT_NAME)/global_plan" />
+       default="/$(env ROBOT_NAME)/global_plan"
+       description="Input global waypoint path (nav_msgs/Path)" />
   <arg name="my_planner_trajectory_out_topic"
-       default="/$(env ROBOT_NAME)/trajectory_controller/trajectory_segment_to_add" />
+       default="/$(env ROBOT_NAME)/trajectory_controller/trajectory_segment_to_add"
+       description="Output planned trajectory segment (airstack_msgs/TrajectorySegment)" />
 
-  <!-- Config -->
   <arg name="my_planner_config"
-       default="$(find-pkg-share my_planner)/config/my_planner.yaml" />
-
-  <!-- Toggles -->
-  <arg name="enable_my_planner_debug" default="false" />
-```
-
-### 3. Launch the Node with Param + Remap
+       default="$(find-pkg-share my_planner)/config/my_planner.yaml"
+       description="Node parameter YAML" />
 
-```xml
   <node pkg="my_planner" exec="my_planner_node" name="my_planner" output="screen">
-    <!-- allow_substs="true" is required if the YAML uses $(env ...) or $(var ...) -->
     <param from="$(var my_planner_config)" allow_substs="true" />
-
-    <!-- Remap relative topic names from the node's code to global AirStack topics -->
-    <remap from="odometry"            to="$(var my_planner_odometry_in_topic)" />
-    <remap from="global_plan"         to="$(var my_planner_global_plan_in_topic)" />
-    <remap from="trajectory_segment"  to="$(var my_planner_trajectory_out_topic)" />
+    <!-- Topics come from the args: pass them as parameters or use the args
+         directly in code via declared parameters. Do NOT add <remap> here —
+         wiring is the stack file's job. -->
+    <param name="odometry_topic" value="$(var my_planner_odometry_in_topic)" />
+    <param name="global_plan_topic" value="$(var my_planner_global_plan_in_topic)" />
+    <param name="trajectory_topic" value="$(var my_planner_trajectory_out_topic)" />
   </node>
 </launch>
 ```
 
-The `<remap from="X" to="Y"/>` direction always reads as: "the topic the node calls **X** in its source code should resolve to **Y** at runtime."
-
-### 4. (Optional) Add Conditional Sub-Components
-
-Anything that should only sometimes run goes in a `<group if=...>`:
-
-```xml
-  <group if="$(var enable_my_planner_debug)">
-    <node pkg="rviz2" exec="rviz2"
-          args="-d $(find-pkg-share my_planner)/rviz/debug.rviz" output="screen" />
-  </group>
-```
-
-Use `<group unless="$(var ...)">` for the inverse. For mutually exclusive alternatives, pair an `if` group with an `unless` group on the same arg.
+If the node subscribes by relative name in code (the common ROS pattern), keep the relative names and let the **stack** launch file remap them — the prohibition is on remaps *in module files*, not on nodes using relative names.
 
-### 5. (Optional) Push a Sub-Namespace
-
-If your module spawns several supporting nodes, group them under a namespace so all of their topics get a clean prefix:
+Sub-namespace grouping is still fine inside a module:
 
 ```xml
-  <group>
-    <push-ros-namespace namespace="my_planner" />
-    <node pkg="my_planner" exec="planner_node"   output="screen"> ... </node>
-    <node pkg="my_planner" exec="visualizer"     output="screen"> ... </node>
-  </group>
-```
-
-This is exactly the pattern `local.launch.xml` uses for the `droan` group and `px4_interface.launch.xml` uses for the `fmu` group.
-
-## Steps (Layer Bringup Launch File)
-
-A layer bringup file (e.g. `local_bringup/launch/local.launch.xml`) is a *composition* — it does not start a single node, it starts every node the layer needs and wires them together with shared topic args.
-
-### 1. Define Shared Topic Args at the Top
-
-Use prefixed argument names so they cannot collide with sibling layers' args:
-
-```xml
-<launch>
-    <!-- WARNING: ROS2 does NOT scope launch arguments. Use unique names. -->
-    <arg name="local_odometry_in_topic"
-         default="/$(env ROBOT_NAME)/odometry_conversion/odometry" />
-    <arg name="local_disparity_in_topic"
-         default="/$(env ROBOT_NAME)/perception/stereo_image_proc/disparity" />
-    <arg name="local_camera_info_in_topic"
-         default="/$(env ROBOT_NAME)/sensors/front_stereo/right/camera_info" />
+<group>
+  <push-ros-namespace namespace="my_planner" />
+  <node pkg="my_planner" exec="planner_node" output="screen" />
+  <node pkg="my_planner" exec="visualizer" output="screen" />
+</group>
 ```
 
-### 2. For Each Module: Add a `<node>` (or `<include>`) Block
+## Steps (Stack Launch File)
 
-Two valid styles:
+A stack folder (`stacks/<name>/`) is the unit of topology — see [docs/development/stacks.md](../../../docs/development/stacks.md) for the full anatomy. Its `launch/stack.launch.xml` is **THE wiring document**: a flat list of module `<include>`s, each block stating that module's connections.
 
-**Style A — direct `<node>`** (when the module's launch file is small or you need to override most of its params):
+1. **Start from a reference stack.** Copy `stacks/full_default/` and rename (`airstack stack new` arrives in a later phase).
+2. **One `<include>` per module.** Pass the module's declared topic args to wire it:
 
 ```xml
-    <node pkg="trajectory_controller" exec="trajectory_controller"
-          namespace="trajectory_controller" output="screen">
-        <param name="target_frame" value="map" />
-        <param name="look_ahead_time" value="1.0" />
-        <!-- ... -->
-        <remap from="odometry" to="$(var local_odometry_in_topic)" />
-    </node>
-```
-
-**Style B — `<include>` the module's own launch file** (preferred when the module already exposes good launch args):
-
-```xml
-    <include file="$(find-pkg-share vdb_mapping_ros2)/launch/vdb_mapping_ros2.py">
-        <arg name="config" value="$(find-pkg-share global_bringup)/config/vdb_params.yaml" />
-    </include>
+<!-- Local planner: disparity from MAC-VO instead of stereo -->
+<include file="$(find-pkg-share local_bringup)/launch/local.launch.xml">
+  <arg name="local_disparity_in_topic"
+       value="/$(env ROBOT_NAME)/perception/macvo/disparity" />
+</include>
 ```
 
-Style B keeps wiring concerns in the bringup file and parameter concerns in the module — that's the goal.
-
-### 3. Wire Cross-Module Topics Using AirStack Standard Names
-
-Use the canonical names from AGENTS.md → "Standard Topic Patterns":
-
-| Topic | Where it comes from | Where it goes to |
-|-------|---------------------|------------------|
-| `/$(env ROBOT_NAME)/odometry_conversion/odometry` | `px4_interface` (or other interface) | every consumer (planners, controllers) |
-| `/$(env ROBOT_NAME)/global_plan` | global planner | local planner |
-| `/$(env ROBOT_NAME)/trajectory_controller/trajectory_segment_to_add` | local planner | trajectory controller |
-| `/$(env ROBOT_NAME)/trajectory_controller/look_ahead` | trajectory controller | local planner |
-| `/$(env ROBOT_NAME)/trajectory_controller/tracking_point` | trajectory controller | controllers, action servers |
-| `/$(env ROBOT_NAME)/trajectory_controller/trajectory_override` | takeoff/land/fixed-traj action servers | trajectory controller |
-| `/$(env ROBOT_NAME)/tasks/<task_name>` | behavior tree / GCS | task executor action server |
-
-### 4. Add the Module to the Bringup `package.xml`
-
-`ros2 launch` does not need this, but `colcon build --packages-up-to <bringup>` and the install dependency tracking do. Add `<depend>my_planner</depend>` to `<bringup>/package.xml`. See [integrate-module-into-layer](../integrate-module-into-layer) step 5.
+3. **Remaps (when a module exposes relative names) go here and only here.**
+4. **Swap a module = edit one include.** Point the include at a different package/launch file and adjust the args — nothing else changes.
+5. **XML only** in stack launch files. Python launch stays available *inside* modules where genuinely needed.
+6. **No rebuild needed** — `stacks/` is bind-mounted into the robot container at `/root/AirStack/stacks`; re-launch to pick up edits.
+7. Run it: `airstack up --stack <name> --sim isaac`.
 
-### 5. Rebuild
-
-```bash
-docker exec airstack-robot-desktop-1 bash -c "bws --packages-select <bringup_pkg> my_planner"
-```
+The shared per-robot preamble (ROBOT_NAME namespace push, `use_sim_time`, `robot_state_publisher`, world→map static TF) runs in `autonomy_bringup/launch/robot.launch.xml` before your stack entry file is included — do not repeat it.
 
 ## Loading YAML Config Files
 
@@ -194,190 +121,77 @@ docker exec airstack-robot-desktop-1 bash -c "bws --packages-select <bringup_pkg
 <param from="$(find-pkg-share my_planner)/config/my_planner.yaml" allow_substs="true" />
 ```
 
-`allow_substs="true"` enables `$(env VAR)` and `$(var arg)` substitution **inside the YAML file itself**. Without it, a YAML line like:
-
-```yaml
-/**:
-  ros__parameters:
-    frame_id: $(env ROBOT_NAME)/base_link
-```
-
-…will load the literal string `"$(env ROBOT_NAME)/base_link"` and downstream code will fail in confusing ways. **When in doubt, set `allow_substs="true"` — there is no downside.**
-
-YAML structure for ROS 2 parameters (this is what your `config/<package>.yaml` should look like):
+`allow_substs="true"` enables `$(env VAR)` / `$(var arg)` substitution **inside the YAML**. Without it a line like `frame_id: $(env ROBOT_NAME)/base_link` loads as a literal string. When in doubt, set it — there is no downside.
 
 ```yaml
 /**:
   ros__parameters:
     update_rate: 10.0
     target_frame: map
-    enable_visualization: true
 ```
 
-The `/**:` wildcard matches any node name, which is the most portable form when the launch file may rename the node.
-
-## Including Child Launch Files
-
-```xml
-<include file="$(find-pkg-share other_pkg)/launch/other.launch.xml">
-  <arg name="some_arg"  value="some_value" />
-  <arg name="namespace" value="$(env ROBOT_NAME)/foo" />
-</include>
-```
-
-Notes:
-- Use `$(find-pkg-share <pkg>)` to locate launch files — never hardcode absolute paths.
-- `<include>` runs the child launch file in the parent's argument scope (remember: ROS 2 does NOT scope args). Set every argument you depend on explicitly.
-- You can include `.launch.xml` from a `.launch.xml`, and either format from a `.launch.py`.
+The `/**:` wildcard matches any node name — the most portable form.
 
 ## Conditional Launch Patterns
 
-### Toggle a node on/off
-
 ```xml
-<arg name="enable_logger" default="false" />
-
+<arg name="enable_logger" default="false" description="Record a rosbag of all topics" />
 <group if="$(var enable_logger)">
   <node pkg="rosbag2" exec="record" args="-a" output="screen" />
 </group>
 ```
 
-### Pick one of two implementations
-
-```xml
-<arg name="use_droan" default="true" />
-
-<group if="$(var use_droan)">
-  <node pkg="droan_local_planner" exec="droan_local_planner" output="screen"> ... </node>
-</group>
-<group unless="$(var use_droan)">
-  <node pkg="alt_local_planner"   exec="alt_local_planner"   output="screen"> ... </node>
-</group>
-```
-
-### Read a default from an env var
-
-```xml
-<arg name="enable_rviz" default="$(env ENABLE_RVIZ false)" />
-```
-
-The second positional value to `$(env VAR default)` is the fallback when the env var is unset.
+- `<group unless="...">` for the inverse; pair `if`/`unless` on one arg for two-way alternatives.
+- Env-var default: `<arg name="enable_rviz" default="$(env ENABLE_RVIZ false)" description="..."/>` — the second token is the fallback when unset (`''` for an empty-string fallback).
+- String comparison in conditions uses the escaped-quote eval idiom:
+  `<group if="$(eval '&quot;$(var mode)&quot; == &quot;sim&quot;')">`.
 
 ## Common Pitfalls
 
-This list also appears in AGENTS.md → "Critical Pitfalls #5"; this is the expanded version.
-
-- **Hardcoded topic names in node code.**
-  - Bad: `create_subscription<Odometry>("/drone1/odometry", ...)`
-  - Good: `create_subscription<Odometry>("odometry", ...)` and remap in the launch file.
-- **Hardcoded topic prefixes in launch files.**
-  - Bad: `<remap from="odometry" to="/drone1/odometry"/>`
-  - Good: `<remap from="odometry" to="/$(env ROBOT_NAME)/odometry"/>`
-- **Forgetting `allow_substs="true"` on a `<param from=...>`.** YAML substitutions silently fail to expand. Symptom: parameters look like literal `$(env ROBOT_NAME)` strings at runtime.
-- **`ROBOT_NAME` env var not set.** All `$(env ROBOT_NAME)` substitutions become an empty string, producing topic names like `//odometry`. `ROBOT_NAME` is normally resolved at container shell startup by `robot/docker/.bashrc` via `robot/docker/robot_name_map/resolve_robot_name.py` — see [configure-multi-robot](../configure-multi-robot). For ad-hoc overrides, pass `-e ROBOT_NAME=robot_X` to `docker exec`.
-- **`<arg>` name collisions across layers.** Two child launch files that both define `<arg name="odometry_topic">` will silently fight. Always prefix: `local_odometry_in_topic`, `global_odometry_in_topic`, etc.
-- **Missing `install(DIRECTORY launch …)` in CMakeLists.txt.** The launch file builds fine but `ros2 launch` cannot find it. Run `ls install/<pkg>/share/<pkg>/launch/` to verify after build.
-- **Editing a launch file but not rebuilding.** Launch files are *installed* by `colcon build`. The source `launch/` directory is NOT what `ros2 launch` reads. Always rebuild after editing.
-- **Forgetting `output="screen"`.** The node runs but its logs go to a file you have to hunt for. Use `output="screen"` on every node during development.
-- **Wrong `<remap from/to>` direction.** `from` is what the *node's source code* calls the topic; `to` is what it should resolve to at runtime. Swapping these is one of the most common silent failures.
-- **Using `~/topic` without understanding it.** `~/foo` resolves to `<node_name>/foo`. Useful for action server private namespaces (see `random_walk` and `takeoff_landing_planner` examples) but confusing if you don't expect it.
-- **Pushing a namespace and then absolute-path remapping anyway.** `<push-ros-namespace>` only affects *relative* topic names. `<remap from="odometry" to="/drone1/odometry">` ignores the pushed namespace entirely. That's usually what you want, but be aware of the interaction.
+- **Adding a `<remap>` to a module or layer launch file.** The single-locus lint fails CI. Wiring belongs in `stacks/<name>/launch/`.
+- **Hardcoded topic names in node code.** Bad: `create_subscription("/drone1/odometry", ...)`. Good: relative `"odometry"` (stack remaps it) or a declared parameter fed by a launch arg.
+- **Hardcoded topic prefixes.** Always `/$(env ROBOT_NAME)/...`, never a literal robot name.
+- **Missing `description=` on an `<arg>`.** Mandatory in stack files (lint rule 3); expected everywhere.
+- **Forgetting `allow_substs="true"`.** Symptom: parameters contain literal `$(env ROBOT_NAME)` at runtime.
+- **`ROBOT_NAME` unset** → topics like `//odometry`. It is resolved by `robot/docker/.bashrc` via `resolve_robot_name.py`; for ad-hoc `docker exec`, pass `-e ROBOT_NAME=robot_1`.
+- **`<arg>` name collisions across included files.** ROS 2 does not scope args — prefix them (`local_odometry_in_topic`, not `odometry_in_topic`). Passing a wrongly-named arg to an include fails *silently* (the legacy `local_macvo_obstacle_avoidance.launch.xml` bug — superseded by `stacks/full_macvo/`).
+- **Editing a module launch file but not rebuilding.** `ros2 launch` reads the *installed* copy. (Stack launch files are exempt — bind-mounted, no build.)
+- **Missing `install(DIRECTORY launch …)` in CMakeLists.txt.** Builds fine, `ros2 launch` can't find it.
+- **Wrong `<remap from/to>` direction** (stack files only): `from` = the name in the node's code, `to` = what it should resolve to.
+- **`~/topic`** resolves to `<node_name>/topic` — used for action-server private namespaces.
 
 ## Verification
 
-After writing or editing the launch file, run through this checklist:
-
 ```bash
-# 1. Rebuild
+# Module files: rebuild + confirm installed
 docker exec airstack-robot-desktop-1 bash -c "bws --packages-select <pkg>"
-
-# 2. Confirm the file was installed
 docker exec airstack-robot-desktop-1 bash -c "ls install/<pkg>/share/<pkg>/launch/"
 
-# 3. Dry-run launch to catch XML/syntax errors
-docker exec airstack-robot-desktop-1 bash -c "sws && ros2 launch <pkg> <pkg>.launch.xml --print"
-
-# 4. Actually launch and watch logs
-docker exec airstack-robot-desktop-1 bash -c "sws && ros2 launch <pkg> <pkg>.launch.xml"
-
-# 5. Verify the node and its topics resolved correctly
-docker exec airstack-robot-desktop-1 bash -c "ros2 node list"
-docker exec airstack-robot-desktop-1 bash -c "ros2 node info /<robot_name>/<namespace>/<node>"
-docker exec airstack-robot-desktop-1 bash -c "ros2 topic info /<robot_name>/<expected_topic>"
-```
+# Static parse (host): stack files are plain XML
+xmllint --noout stacks/<name>/launch/stack.launch.xml
 
-If `ros2 node info` shows a node subscribing to `/odometry` instead of `/<robot_name>/odometry_conversion/odometry`, your remap is wrong or `ROBOT_NAME` is unset.
+# Dry-run launch to catch errors
+docker exec airstack-robot-desktop-1 bash -c "sws && ros2 launch <pkg> <file>.launch.xml --print"
 
-## Skeleton Template
+# Verify actual connections
+docker exec airstack-robot-desktop-1 bash -c "ros2 node info /<robot_name>/<node>"
+docker exec airstack-robot-desktop-1 bash -c "ros2 topic info /<robot_name>/<topic>"
 
-Copy-paste this into `robot/ros_ws/src/<layer>/<category>/<my_package>/launch/<my_package>.launch.xml` and replace the `MY_*` / `my_*` tokens.
+# The observed-truth check: snapshot the running graph and diff against the
+# stack's committed wiring.md
+airstack test -m wiring --stack <name> --sim isaacsim --num-robots 1
 
-```xml
-<launch>
-  <!-- =========================================================
-       MY_MODULE_NAME launch file
-       Wires MY_MODULE into the AirStack autonomy stack.
-       Topic args use the `my_module_*` prefix to avoid collision
-       when this file is included from a layer bringup.
-       ========================================================= -->
-
-  <!-- ── Topic arguments ─────────────────────────────────────── -->
-  <arg name="my_module_odometry_in_topic"
-       default="/$(env ROBOT_NAME)/odometry_conversion/odometry" />
-  <arg name="my_module_global_plan_in_topic"
-       default="/$(env ROBOT_NAME)/global_plan" />
-  <arg name="my_module_output_topic"
-       default="/$(env ROBOT_NAME)/my_module/output" />
-
-  <!-- ── Config + toggles ────────────────────────────────────── -->
-  <arg name="my_module_config"
-       default="$(find-pkg-share my_package)/config/my_package.yaml" />
-  <arg name="enable_my_module_debug" default="false" />
-
-  <!-- ── Main node ───────────────────────────────────────────── -->
-  <group>
-    <push-ros-namespace namespace="my_module" />
-
-    <node pkg="my_package" exec="my_module_node"
-          name="my_module" output="screen">
-      <!-- allow_substs lets the YAML use $(env ROBOT_NAME) etc. -->
-      <param from="$(var my_module_config)" allow_substs="true" />
-      <param name="enable_debug" value="$(var enable_my_module_debug)" />
-
-      <!-- Inputs -->
-      <remap from="odometry"    to="$(var my_module_odometry_in_topic)" />
-      <remap from="global_plan" to="$(var my_module_global_plan_in_topic)" />
-
-      <!-- Outputs -->
-      <remap from="output"      to="$(var my_module_output_topic)" />
-    </node>
-  </group>
-
-  <!-- ── Optional debug visualization ────────────────────────── -->
-  <group if="$(var enable_my_module_debug)">
-    <node pkg="rviz2" exec="rviz2"
-          args="-d $(find-pkg-share my_package)/rviz/debug.rviz"
-          output="screen" />
-  </group>
-</launch>
+# The static lint (runs in CI as a unit test)
+airstack test -m unit -v
 ```
 
+If `ros2 node info` shows a node subscribing to `/odometry` instead of `/<robot_name>/...`, the stack wiring or `ROBOT_NAME` is wrong.
+
 ## References
 
-- **Real launch files to study:**
-  - Module: `robot/ros_ws/src/interface/px4_interface/launch/px4_interface.launch.xml`
-  - Module: `robot/ros_ws/src/local/planners/droan_local_planner/launch/droan_local_planner.launch.xml`
-  - Layer bringup (global): `robot/ros_ws/src/global/global_bringup/launch/global.launch.xml`
-  - Layer bringup (local): `robot/ros_ws/src/local/local_bringup/launch/local.launch.xml`
-  - Template: `.agents/skills/add-ros2-package/assets/package_template/launch/template.launch.xml`
-
-- **ROS 2 docs:**
-  - [ROS 2 Launch Tutorials](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Launch-Main.html)
-  - [Using ROS 2 Launch For Large Projects](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html)
-  - [Launch XML format reference](https://design.ros2.org/articles/roslaunch_xml.html)
-
-- **Related skills:**
-  - [add-ros2-package](../add-ros2-package) — full package creation flow that includes a launch file
-  - [integrate-module-into-layer](../integrate-module-into-layer) — wiring your launch file into a layer bringup
-  - [debug-module](../debug-module) — diagnosing launch and topic issues
-  - [test-in-simulation](../test-in-simulation) — verifying the launched stack end-to-end
+- **Stacks:** [docs/development/stacks.md](../../../docs/development/stacks.md) — anatomy, wrap-vs-flatten status, wiring.md generation, AUTONOMY_ROLE deprecation
+- **Canonical topic names:** [docs/robot/autonomy/integration_checklist.md](../../../docs/robot/autonomy/integration_checklist.md)
+- **Reference stack launch files:** `stacks/full_default/launch/stack.launch.xml`, `stacks/full_droan_cpu/`, `stacks/full_macvo/`
+- **Lint:** `tests/meta/test_launch_single_locus.py` + `tests/meta/launch_lint_allowlist.txt`
+- **ROS 2 docs:** [Launch tutorials](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Launch-Main.html) · [Launch XML format](https://design.ros2.org/articles/roslaunch_xml.html)
+- **Related skills:** [add-ros2-package](../add-ros2-package) · [integrate-module-into-layer](../integrate-module-into-layer) (legacy wrap-form path) · [debug-module](../debug-module) · [test-in-simulation](../test-in-simulation)
diff --git a/airstack.sh b/airstack.sh
index 23d1bf08b..7a0afe8a0 100755
--- a/airstack.sh
+++ b/airstack.sh
@@ -161,6 +161,9 @@ function print_command_help {
             echo "Options:"
             echo "  --build       Build images before starting containers"
             echo "  --recreate    Recreate containers even if their configuration and image haven't changed"
+            echo "  --stack NAME  Launch a stack folder (stacks/NAME/launch/stack.launch.xml) instead of"
+            echo "                the legacy AUTONOMY_ROLE dispatch. NAME:ENTRY selects an alternate entry"
+            echo "                file (launch/ENTRY.launch.xml). See docs/development/stacks.md."
             ;;
         images)
             echo "Usage: airstack images"
@@ -959,6 +962,7 @@ function parse_launch_intent {
     AIRSTACK_INTENT_HEADLESS=""
     AIRSTACK_INTENT_PLAY=""
     AIRSTACK_INTENT_AUTOLAUNCH=""
+    AIRSTACK_INTENT_STACK=""
     AIRSTACK_DRY_RUN=""
     AIRSTACK_UP_WAIT=""
 
@@ -974,6 +978,8 @@ function parse_launch_intent {
             --play)         AIRSTACK_INTENT_PLAY="true";;
             --no-play)      AIRSTACK_INTENT_PLAY="false";;
             --no-autolaunch) AIRSTACK_INTENT_AUTOLAUNCH="false";;
+            --stack)        i=$((i+1)); AIRSTACK_INTENT_STACK="${args[$i]:-}";;
+            --stack=*)      AIRSTACK_INTENT_STACK="${a#--stack=}";;
             --wait)         AIRSTACK_UP_WAIT="1";;
             # NOTE: shadows compose's own `up --dry-run`; ours validates the
             # derived launch config and exits without starting services.
@@ -994,9 +1000,44 @@ function parse_launch_intent {
     return 0
 }
 
+# Validate a --stack selection against the host stacks/ tree and export the
+# CONTAINER paths the launch dispatch reads (stacks/ is bind-mounted at
+# /root/AirStack/stacks by robot-base-docker-compose.yaml). Accepts the
+# split-entry form `<name>:<entry>` (entry names launch/<entry>.launch.xml;
+# reserved for split stacks — RFC #380 §2). Default entry: stack.
+function apply_stack_intent {
+    local stack_name="$AIRSTACK_INTENT_STACK" stack_entry="stack"
+    if [[ "$stack_name" == *:* ]]; then
+        stack_entry="${stack_name#*:}"
+        stack_name="${stack_name%%:*}"
+    fi
+    if [[ -z "$stack_name" || -z "$stack_entry" ]]; then
+        log_error "--stack requires a stack name (got '$AIRSTACK_INTENT_STACK'; expected <name> or <name>:<entry>)"
+        return 1
+    fi
+    local stack_host_dir="$PROJECT_ROOT/stacks/$stack_name"
+    if [[ ! -d "$stack_host_dir" ]]; then
+        local available
+        available=$(ls -1 "$PROJECT_ROOT/stacks" 2>/dev/null | grep -v '^\.' | tr '\n' ' ')
+        log_error "Unknown stack '$stack_name' — $stack_host_dir does not exist. Available stacks: ${available:-<none>}"
+        return 1
+    fi
+    if [[ ! -f "$stack_host_dir/launch/$stack_entry.launch.xml" ]]; then
+        log_error "Stack '$stack_name' has no entry point launch/$stack_entry.launch.xml (expected $stack_host_dir/launch/$stack_entry.launch.xml)"
+        return 1
+    fi
+    export AIRSTACK_STACK_DIR="/root/AirStack/stacks/$stack_name"
+    export AIRSTACK_STACK_ENTRY="$stack_entry"
+    return 0
+}
+
 # Derive + export env vars from the parsed intent. Args: remaining CLI args
 # (scanned for --env-file when resolving current values).
 function apply_launch_intent {
+    if [[ -n "$AIRSTACK_INTENT_STACK" ]]; then
+        apply_stack_intent || return 1
+    fi
+
     if [[ -n "$AIRSTACK_INTENT_SIM" ]]; then
         local sim_profile urdf
         case "$AIRSTACK_INTENT_SIM" in
@@ -1063,7 +1104,8 @@ function apply_launch_intent {
 function print_launch_config {
     local keys=(COMPOSE_PROFILES NUM_ROBOTS URDF_FILE AUTOLAUNCH PLAY_SIM_ON_START
                 ISAAC_SIM_SCRIPT_NAME ISAAC_SIM_USE_STANDALONE ISAAC_SIM_HEADLESS
-                MS_AIRSIM_HEADLESS VERSION DOCKER_IMAGE_BUILD_MODE)
+                MS_AIRSIM_HEADLESS AIRSTACK_STACK_DIR AIRSTACK_STACK_ENTRY
+                VERSION DOCKER_IMAGE_BUILD_MODE)
     local k v lines=()
     for k in "${keys[@]}"; do
         v=$(resolve_launch_var "$k" "$@")
@@ -1077,6 +1119,11 @@ function print_launch_config {
         log_info "  isaac: script=$(resolve_launch_var ISAAC_SIM_SCRIPT_NAME "$@") headless=$(resolve_launch_var ISAAC_SIM_HEADLESS "$@")"
     fi
     log_info "  urdf=$(resolve_launch_var URDF_FILE "$@")"
+    local _stack_dir
+    _stack_dir=$(resolve_launch_var AIRSTACK_STACK_DIR "$@")
+    if [[ -n "$_stack_dir" ]]; then
+        log_info "  stack: dir=$_stack_dir entry=$(resolve_launch_var AIRSTACK_STACK_ENTRY "$@")"
+    fi
 
     echo "--- effective launch config ---"
     printf '%s\n' "${lines[@]}"
@@ -1175,6 +1222,18 @@ function preflight_up {
         log_warn "Docker $docker_major < 29: container-name DNS resolution fails, robots will resolve as 'unknown_robot' on domain 0 (MAVROS will not connect). Upgrade Docker or set ROBOT_NAME_SOURCE=hostname."
     fi
 
+    # 7. Stack vs legacy AUTONOMY_ROLE dispatch. AUTONOMY_ROLE counts as
+    # "explicitly set" only via env / --env-file / .env — the compose files'
+    # own `${AUTONOMY_ROLE:-full}` default is invisible here, by design.
+    local _pf_stack_dir _pf_role
+    _pf_stack_dir=$(resolve_launch_var AIRSTACK_STACK_DIR "${_pf_global[@]}")
+    _pf_role=$(resolve_launch_var AUTONOMY_ROLE "${_pf_global[@]}")
+    if [[ -n "$_pf_role" && -z "$_pf_stack_dir" ]]; then
+        log_warn "AUTONOMY_ROLE is the legacy dispatch; stacks replace it in 0.21 — try: airstack up --stack full_default"
+    elif [[ -n "$_pf_role" && -n "$_pf_stack_dir" ]]; then
+        log_warn "Both a stack ($_pf_stack_dir) and AUTONOMY_ROLE=$_pf_role are set — the stack wins: robot.launch.xml ignores the role when a stack dir is set."
+    fi
+
     unset -f _pf_error
     return $errors
 }
diff --git a/docs/development/stacks.md b/docs/development/stacks.md
new file mode 100644
index 000000000..0c0935fdf
--- /dev/null
+++ b/docs/development/stacks.md
@@ -0,0 +1,134 @@
+# AirStack Stacks
+
+A **stack** is a self-contained folder that defines a complete robot topology:
+which modules run and how they are wired together ([RFC #379 §3](https://github.com/castacks/AirStack/discussions/379)).
+Trunk ships a small set of **reference stacks** under `stacks/`; custom stacks
+live with their owners (a lab keeps a private stack repo wiring together
+public modules — no fork of AirStack needed).
+
+## Stack folder anatomy
+
+Plain files, no schema beyond a required layout (from [RFC #385 §1](https://github.com/castacks/AirStack/discussions/385)):
+
+| File | Purpose |
+|------|---------|
+| `modules.repos` | vcstool format, **pinned** to tags/commits — never branches. A stack with a pinned `.repos` *is* a localized release set. Carries a top-level `airstack_compat:` key (sibling of `repositories:`; vcstool ignores it) declaring the trunk semver range the stack was tested against. |
+| `launch/stack.launch.xml` | **THE wiring document**: a flat list of module `<include>`s. All cross-module remaps and topic-arg overrides live here — nowhere else (the single-locus rule). Unsplit stacks have exactly this one entry point; split stacks (RFC #380 §2) carry one entry file per host role plus `bridge.yaml`. |
+| `docker-compose.yaml` | Composes this stack's images from module layers (RFC #379 §6). A documented stub until the stack pins modules. |
+| `wiring.md` | **Generated** from the *running* graph by the wiring-snapshot test — never hand-edited. Drift-checked in CI. |
+| `README.md` | What this stack is for, how to run it, its known limits. |
+
+Anatomy is enforced by a unit test: `tests/meta/test_stack_layout_contract.py`
+(`wiring.md` is optional until the first snapshot run commits it).
+
+## Reference stacks in trunk
+
+| Stack | Topology |
+|-------|----------|
+| [`full_default`](https://github.com/castacks/AirStack/tree/develop/stacks/full_default) | The current full-autonomy topology (GPU `droan_gl` planner) — baseline, graph-identical to legacy `AUTONOMY_ROLE=full`. |
+| [`full_droan_cpu`](https://github.com/castacks/AirStack/tree/develop/stacks/full_droan_cpu) | CPU DROAN planner + live `disparity_expansion` — absorbs `local_droan_cpu.launch.xml`. |
+| [`full_macvo`](https://github.com/castacks/AirStack/tree/develop/stacks/full_macvo) | MAC-VO as the planner's disparity source — supersedes (and fixes) the broken `local_macvo_obstacle_avoidance.launch.xml` variant. |
+
+## Wrap vs. flatten — current status
+
+Stack adoption is a two-step migration:
+
+- **Wrap form (now):** each reference stack's `stack.launch.xml` *includes*
+  the existing layer bringup files (`interface_bringup`, `local_bringup`, …),
+  capturing today's topology without moving any wiring. The remaps still live
+  inside those layer bringups.
+- **Flatten (next phases):** the layer bringups' nodes and remaps move into
+  the stack entry files, the legacy files shrink, and their lines disappear
+  from the lint allowlist (below). `autonomy_bringup` thins until the
+  AUTONOMY_ROLE dispatch is gone.
+
+In both forms, the stack's `wiring.md` — snapshotted from the running system —
+is the observed truth of the graph.
+
+## Running a stack
+
+```bash
+airstack up --stack full_default --sim isaac --robots 1
+airstack ready
+```
+
+Mechanics: `--stack <name>` validates `stacks/<name>/launch/stack.launch.xml`
+exists, then exports `AIRSTACK_STACK_DIR=/root/AirStack/stacks/<name>` (the
+*container* path — `stacks/` is bind-mounted into every robot container) and
+`AIRSTACK_STACK_ENTRY=stack`. Inside the container,
+`autonomy_bringup/launch/robot.launch.xml` still runs the shared preamble
+(ROBOT_NAME namespace, `use_sim_time`, `robot_state_publisher`, world→map TF),
+then includes the stack entry file *instead of* the legacy role groups.
+
+`--stack <name>:<entry>` selects an alternate entry file
+(`launch/<entry>.launch.xml`) — reserved for split stacks (RFC #380 §2).
+
+Stack launch files need no `colcon build` — they are read from the bind mount;
+edit and re-launch.
+
+## wiring.md: generation and drift-checking
+
+The wiring-snapshot system test brings the stack up in sim, waits for the node
+graph to settle, captures it (`ros2 node list` + `ros2 topic info --verbose`),
+and renders a mermaid dataflow document:
+
+```bash
+airstack test -m wiring --stack full_default --sim isaacsim --num-robots 1
+```
+
+- **No `stacks/<name>/wiring.md` committed yet (bootstrap):** the test PASSES
+  and logs an INSTRUCTION pointing at the observed snapshot
+  (`tests/results/<run>/wiring/observed_<name>.md`). Validate it, copy it to
+  `stacks/<name>/wiring.md`, commit.
+- **Committed:** the test fails on any drift between the committed diagram and
+  the observed graph — a PR that changes wiring must regenerate `wiring.md`,
+  so the review diff shows the topology change.
+
+Legacy runs without `--stack` keep using the golden at
+`tests/goldens/wiring/full_default.<sim>.<N>robot.md`.
+
+## The single-locus rule (and its lint)
+
+All cross-module remaps and topic-arg overrides live in the stack's entry
+launch file(s). Module launch files declare topic args (canonical defaults per
+[the integration checklist](../robot/autonomy/integration_checklist.md), a
+`description=` on every arg) but **never** `<remap>` and never hardcode
+cross-module topics. The stack file *is* the wiring diagram; `grep -r
+global_plan stacks/my_stack/` answers "who touches this".
+
+Enforced by `tests/meta/test_launch_single_locus.py` (`unit` mark, runs in CI):
+
+1. No `<remap>`/`remappings=` outside `stacks/*/launch/` — except files frozen
+   in `tests/meta/launch_lint_allowlist.txt` (the wrap-form legacy set).
+2. The allowlist only shrinks: an entry whose file no longer carries a remap
+   fails the lint until its line is deleted.
+3. Stack launch files must describe every `<arg>` they declare.
+
+See the [write-launch-file skill](https://github.com/castacks/AirStack/blob/develop/.agents/skills/write-launch-file/SKILL.md)
+for the authoring workflow.
+
+## Making a new stack today
+
+1. Copy a reference stack: `cp -r stacks/full_default stacks/my_stack`
+   (`airstack stack new` arrives in a later phase).
+2. Edit `launch/stack.launch.xml` — swap/add/remove module `<include>`s and
+   their topic args. Update `README.md`.
+3. Run it: `airstack up --stack my_stack --sim isaac`.
+4. Snapshot the wiring: `airstack test -m wiring --stack my_stack`, validate
+   the observed file, commit it as `stacks/my_stack/wiring.md`.
+5. `airstack test -m unit` — the layout contract and the launch lint must pass.
+
+## AUTONOMY_ROLE deprecation
+
+`AUTONOMY_ROLE` remains fully functional while stacks land, but it is the
+legacy dispatch — stacks replace it in 0.21. `airstack up` warns when it sees
+an explicitly set `AUTONOMY_ROLE`:
+
+| You have | What happens | Migration |
+|----------|--------------|-----------|
+| No stack, no explicit `AUTONOMY_ROLE` | Legacy dispatch, compose default role (`full`) — unchanged, no warning | `airstack up --stack full_default` when ready |
+| Explicit `AUTONOMY_ROLE=full` (env / `.env` / `--env-file`) | Legacy dispatch + deprecation warning | `--stack full_default` |
+| `AUTONOMY_ROLE=full` + `local_launch_file:=local_droan_cpu.launch.xml` | Legacy dispatch + warning | `--stack full_droan_cpu` |
+| `local_macvo_obstacle_avoidance.launch.xml` | Broken (wrong arg names, stale topic) | `--stack full_macvo` (fixed) |
+| `AUTONOMY_ROLE=onboard` / `offboard` (split) | Legacy dispatch + warning | split stacks arrive with RFC #380 §2 (`lite_offload_global`) |
+| `--stack X` **and** explicit `AUTONOMY_ROLE` | Stack wins — the role is ignored by the launch dispatch; warning says so | Drop `AUTONOMY_ROLE` |
diff --git a/mkdocs.yml b/mkdocs.yml
index 3a4bc5d86..51f67c1be 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -82,6 +82,7 @@ nav:
       - Advanced Tutorials:
           - AI Agent Guide: docs/development/advanced/ai_agent_guide.md
           - AirStack Modules: docs/development/modules.md
+          - AirStack Stacks: docs/development/stacks.md
           - AirStack CLI Tool:
               - Extending: docs/development/advanced/airstack-cli/extending.md
               - Architecture: docs/development/advanced/airstack-cli/architecture.md
diff --git a/robot/docker/robot-base-docker-compose.yaml b/robot/docker/robot-base-docker-compose.yaml
index 793cf6cab..2d1ffb207 100644
--- a/robot/docker/robot-base-docker-compose.yaml
+++ b/robot/docker/robot-base-docker-compose.yaml
@@ -23,6 +23,11 @@ services:
       - DEBUG_RVIZ=${DEBUG_RVIZ:-false}
       # OptiTrack / NatNet
       - NATNET_SERVER_IP=${NATNET_SERVER_IP:-172.31.0.200}
+      # Stack dispatch (RFC #379): set by `airstack up --stack <name>` to the
+      # CONTAINER path of the stack folder (/root/AirStack/stacks/<name>).
+      # Empty = legacy AUTONOMY_ROLE dispatch in robot.launch.xml.
+      - AIRSTACK_STACK_DIR=${AIRSTACK_STACK_DIR:-}
+      - AIRSTACK_STACK_ENTRY=${AIRSTACK_STACK_ENTRY:-stack}
     volumes:
       # display stuff
       - $HOME/.Xauthority:/.Xauthority
@@ -40,6 +45,8 @@ services:
       - ../../common/ros_packages:/root/AirStack/robot/ros_ws/src/common:rw
       - ../../common/fastdds.xml:/root/AirStack/robot/ros_ws/src/fastdds.xml
       - ../ros_ws:/root/AirStack/robot/ros_ws:rw
+      # reference stack folders (launch entry points read via AIRSTACK_STACK_DIR)
+      - ../../stacks:/root/AirStack/stacks:rw
       # bags
       - ../bags:/bags:rw
 
diff --git a/robot/ros_ws/src/autonomy_bringup/launch/robot.launch.xml b/robot/ros_ws/src/autonomy_bringup/launch/robot.launch.xml
index 0a30ea3f0..e93244e73 100644
--- a/robot/ros_ws/src/autonomy_bringup/launch/robot.launch.xml
+++ b/robot/ros_ws/src/autonomy_bringup/launch/robot.launch.xml
@@ -1,9 +1,13 @@
 <!-- Single entry point for all robot deployments.
-     role choices:
+     role choices (legacy AUTONOMY_ROLE dispatch):
        full     - all autonomy modules run on this machine (default: sim/dev desktop, autonomous Jetson)
        onboard  - lite modules only: interface, sensors, perception, local planning, behavior (VOXL, Jetson
 lite, desktop_split sim)
        offboard - global planning only: runs on GCS paired with onboard robots (robot-offboard service)
+     stack dispatch (RFC #379): when AIRSTACK_STACK_DIR is set (airstack up
+     with the stack flag), the stack folder's entry launch file runs instead
+     of the role groups; role is ignored. The shared preamble below runs in
+     both modes.
 -->
 <launch>
   <arg name="sim" default="true" />
@@ -13,6 +17,15 @@ lite, desktop_split sim)
   <arg name="gossip_domain" default="99" />
   <arg name="gossip_publish_rate" default="1.0" />
 
+  <!-- Stack dispatch (RFC #379 S3): when stack_dir is non-empty, the stack
+       folder's launch/<stack_entry>.launch.xml replaces the AUTONOMY_ROLE
+       role groups below. Defaults come from env vars so both launch wrappers
+       (desktop_bringup, autonomy_bringup) work unchanged; `airstack up` with
+       the stack flag exports them (container paths, e.g.
+       /root/AirStack/stacks/full_default). Empty = legacy role dispatch. -->
+  <arg name="stack_dir" default="$(env AIRSTACK_STACK_DIR '')" />
+  <arg name="stack_entry" default="$(env AIRSTACK_STACK_ENTRY stack)" />
+
   <push_ros_namespace namespace="$(env ROBOT_NAME)" />
 
   <set_parameter name="use_sim_time" value="true" if="$(var sim)" />
@@ -30,7 +43,13 @@ lite, desktop_split sim)
     name="world_to_map_broadcaster"
     args="0 0 0 0 0 0 world map" />
 
-  <!-- ── Role dispatch ───────────────────────────────────────────────── -->
+  <!-- ── Stack dispatch (takes precedence over role dispatch) ─────────── -->
+  <group if="$(eval '&quot;$(var stack_dir)&quot; != &quot;&quot;')">
+    <include file="$(var stack_dir)/launch/$(var stack_entry).launch.xml" />
+  </group>
+
+  <!-- ── Role dispatch (legacy; skipped entirely when a stack is selected) -->
+  <group unless="$(eval '&quot;$(var stack_dir)&quot; != &quot;&quot;')">
 
   <!-- full: every autonomy module runs here -->
   <group if="$(eval '&quot;$(var role)&quot; == &quot;full&quot;')">
@@ -77,4 +96,6 @@ lite, desktop_split sim)
       file="$(find-pkg-share autonomy_bringup)/onboard_local_offboard_global/launch/offboard_autonomy_global.launch.xml" />
   </group>
 
+  </group>
+
 </launch>
\ No newline at end of file
diff --git a/stacks/full_default/README.md b/stacks/full_default/README.md
new file mode 100644
index 000000000..a371b4dc3
--- /dev/null
+++ b/stacks/full_default/README.md
@@ -0,0 +1,51 @@
+# `full_default` — trunk reference stack
+
+The current full-autonomy topology, as a self-contained stack folder (RFC #379 §3).
+This is the stack most users start from and the baseline other stacks are copied from.
+
+## What it launches
+
+Wrap form (E1): the entry point `launch/stack.launch.xml` includes the existing
+layer bringups — interface, sensors, perception, local, global, behavior,
+logging — exactly as `onboard_autonomy_all.launch.xml` does with default args,
+plus the two role-`full` extras (DDS-router domain bridge to the GCS, gossip
+coordination layer). Flattening the layer bringups' nodes and remaps into the
+stack file (the single-locus wiring rule) arrives in a later phase (E2/E3).
+
+## Equivalence claim
+
+`airstack up --stack full_default` produces a ROS graph identical to the legacy
+`AUTONOMY_ROLE=full` dispatch. Verify with the wiring snapshot test:
+
+```bash
+airstack test -m wiring --stack full_default --sim isaacsim --num-robots 1
+```
+
+## How to run
+
+```bash
+airstack up --stack full_default --sim isaac --robots 1
+airstack ready
+```
+
+The shared per-robot preamble (ROBOT_NAME namespace, `use_sim_time`,
+`robot_state_publisher`, world→map static TF) still runs in
+`autonomy_bringup/launch/robot.launch.xml`, which dispatches to this stack when
+`AIRSTACK_STACK_DIR` is set.
+
+## Known limits
+
+- Wrap form: cross-module remaps still live inside the layer bringup launch
+  files, not in `stack.launch.xml`. Grep the layer bringups (or read
+  `wiring.md` once committed) for the actual topic wiring.
+- `modules.repos` pins no external modules yet; every package is trunk-resident.
+- `docker-compose.yaml` is a stub — per-stack image composition arrives with
+  the first module pins; trunk compose profiles provide all services.
+
+## wiring.md
+
+Generated — the commit arrives with the first snapshot run of
+`airstack test -m wiring --stack full_default` (the harness writes
+`observed_full_default.md` under the run directory; validate it and copy it
+here as `wiring.md`). Once committed, CI drift-checks the running graph
+against it.
diff --git a/stacks/full_default/docker-compose.yaml b/stacks/full_default/docker-compose.yaml
new file mode 100644
index 000000000..45e512d3b
--- /dev/null
+++ b/stacks/full_default/docker-compose.yaml
@@ -0,0 +1,11 @@
+# Per-stack image composition (RFC #379 S6) arrives with this stack's first
+# module pins: the P4 machinery (tools/compose_module_layers.py) composes
+# per-module dependency layers on top of the trunk base image and emits a
+# compose override for `airstack up`.
+#
+# full_default pins no modules (see modules.repos), so there is nothing to
+# compose yet -- the trunk compose profiles (root docker-compose.yaml,
+# robot/docker/docker-compose.yaml) provide every service meanwhile. The empty
+# services map keeps this file valid YAML for the stack-anatomy contract
+# (tests/meta/test_stack_layout_contract.py).
+services: {}
diff --git a/stacks/full_default/launch/stack.launch.xml b/stacks/full_default/launch/stack.launch.xml
new file mode 100644
index 000000000..4d76929c1
--- /dev/null
+++ b/stacks/full_default/launch/stack.launch.xml
@@ -0,0 +1,67 @@
+<!--
+  full_default : trunk reference stack (RFC #379 S3, layout per RFC #385 S1).
+
+  WRAP FORM: this entry point captures today's AUTONOMY_ROLE=full topology by
+  including the existing layer bringups verbatim, i.e. the same seven includes
+  onboard_autonomy_all.launch.xml performs with its default args, plus the two
+  role-full extras from autonomy_bringup/launch/robot.launch.xml (the DDS
+  router domain bridge to the GCS and the gossip coordination layer).
+  Flattening the layer bringups' nodes and remaps into this file (the
+  single-locus wiring rule proper) arrives in E2/E3. Until then the remaps
+  still live in the layer bringup files, and this stack's wiring.md (generated
+  by `airstack test -m wiring` with the stack flag) is the observed truth of
+  the running graph.
+
+  Launched by autonomy_bringup/launch/robot.launch.xml when AIRSTACK_STACK_DIR
+  points at this folder (set by `airstack up` with the stack flag,
+  e.g. `airstack up ...stack full_default`; see `airstack help up`). The
+  shared preamble (ROBOT_NAME namespace push, use_sim_time,
+  robot_state_publisher, world/map static TF) runs there unconditionally, so
+  it is NOT repeated here.
+
+  Equivalence claim: launching this stack produces a ROS graph identical to
+  legacy AUTONOMY_ROLE=full.
+-->
+<launch>
+
+  <!-- Autonomy layers (identical to onboard_autonomy_all.launch.xml defaults) -->
+
+  <!-- Interface (MAVROS/PX4 hardware interface + safety) -->
+  <include file="$(find-pkg-share interface_bringup)/launch/interface.launch.py" />
+
+  <!-- Sensors -->
+  <include file="$(find-pkg-share sensors_bringup)/launch/sensors.launch.xml" />
+
+  <!-- Perception (stereo disparity + point cloud; macvo/natnet off by default) -->
+  <include file="$(find-pkg-share perception_bringup)/launch/perception.launch.xml" />
+
+  <!-- Local (task servers, DROAN GPU planner, trajectory + PID controllers) -->
+  <include file="$(find-pkg-share local_bringup)/launch/local.launch.xml" />
+
+  <!-- Global (global planner + world model) -->
+  <include file="$(find-pkg-share global_bringup)/launch/global.launch.xml" />
+
+  <!-- Behavior (behavior tree + safety monitor) -->
+  <include file="$(find-pkg-share behavior_bringup)/launch/behavior.launch.xml" />
+
+  <!-- Logging -->
+  <include file="$(find-pkg-share logging_bringup)/launch/logging.launch.xml" />
+
+  <!-- Role-full extras (from robot.launch.xml's full group) -->
+
+  <!-- Domain Bridge (GCS) -->
+  <include file="$(find-pkg-share autonomy_bringup)/launch/interpolate_dds_router.launch.py">
+    <arg name="config_file"
+      value="$(find-pkg-share autonomy_bringup)/onboard_all/config/dds_router.yaml" />
+    <!-- 0 = robot.launch.xml's gcs_domain default -->
+    <arg name="args" value="gcs_domain:=0" />
+  </include>
+
+  <!-- Gossip coordination layer -->
+  <include file="$(find-pkg-share coordination_bringup)/launch/gossip.launch.xml">
+    <!-- 99 / 1.0 = robot.launch.xml's gossip_domain / gossip_publish_rate defaults -->
+    <arg name="gossip_domain" value="99" />
+    <arg name="publish_rate" value="1.0" />
+  </include>
+
+</launch>
diff --git a/stacks/full_default/modules.repos b/stacks/full_default/modules.repos
new file mode 100644
index 000000000..b9fa8271f
--- /dev/null
+++ b/stacks/full_default/modules.repos
@@ -0,0 +1,15 @@
+# modules.repos : module pins for the full_default reference stack (RFC #379 S3).
+#
+# vcstool format, PINNED to tags/commits (never branches). `airstack module sync`
+# reads this file into the gitignored modules/ dir; a stack with a pinned .repos
+# IS a localized release set.
+#
+# airstack_compat is a top-level sibling of repositories: (vcstool ignores it,
+# AirStack tooling reads it) declaring the trunk semver range this stack was
+# tested against. sync warns on mismatch; it never gates.
+#
+# This reference stack pulls no external modules yet: every package it launches
+# is trunk-resident (robot/ros_ws/src + common/ros_packages).
+airstack_compat: ">=0.19.0-alpha.18 <0.21.0"
+repositories: {}
+x-local-modules: []
diff --git a/stacks/full_droan_cpu/README.md b/stacks/full_droan_cpu/README.md
new file mode 100644
index 000000000..07c04ccde
--- /dev/null
+++ b/stacks/full_droan_cpu/README.md
@@ -0,0 +1,44 @@
+# `full_droan_cpu` — trunk reference stack
+
+Full autonomy with the **CPU DROAN local planner** (`droan_local_planner` +
+a live `disparity_expansion` world model) instead of the GPU `droan_gl` node.
+One of the presets absorbing the `local_*.launch.xml` variant explosion into
+named stacks a few include lines apart (RFC #379 §3).
+
+## What it launches
+
+Wrap form (E1): identical to [`full_default`](../full_default/README.md)
+except the Local layer include is
+`local_bringup/launch/local_droan_cpu.launch.xml`. Everything else — interface,
+sensors, perception, global, behavior, logging, DDS router, gossip — matches
+`full_default` exactly.
+
+## Equivalence claim
+
+`airstack up --stack full_droan_cpu` produces a ROS graph identical to the
+legacy `AUTONOMY_ROLE=full` dispatch with
+`local_launch_file:=local_droan_cpu.launch.xml` passed to
+`onboard_autonomy_all.launch.xml`.
+
+## How to run
+
+```bash
+airstack up --stack full_droan_cpu --sim isaac --robots 1
+airstack ready
+```
+
+## Known limits
+
+- Wrap form: cross-module remaps still live inside the layer bringup launch
+  files, not in `stack.launch.xml`.
+- CPU DROAN is the slower planner path — use `full_default` (GPU `droan_gl`)
+  unless you need to run without the GPU planner or are debugging
+  `disparity_expansion`.
+- `modules.repos` pins no external modules yet; `docker-compose.yaml` is a
+  stub (trunk compose profiles provide all services).
+
+## wiring.md
+
+Generated — the commit arrives with the first snapshot run of
+`airstack test -m wiring --stack full_droan_cpu`. Once committed, CI
+drift-checks the running graph against it.
diff --git a/stacks/full_droan_cpu/docker-compose.yaml b/stacks/full_droan_cpu/docker-compose.yaml
new file mode 100644
index 000000000..ce27cbd0f
--- /dev/null
+++ b/stacks/full_droan_cpu/docker-compose.yaml
@@ -0,0 +1,11 @@
+# Per-stack image composition (RFC #379 S6) arrives with this stack's first
+# module pins: the P4 machinery (tools/compose_module_layers.py) composes
+# per-module dependency layers on top of the trunk base image and emits a
+# compose override for `airstack up`.
+#
+# full_droan_cpu pins no modules (see modules.repos), so there is nothing to
+# compose yet -- the trunk compose profiles (root docker-compose.yaml,
+# robot/docker/docker-compose.yaml) provide every service meanwhile. The empty
+# services map keeps this file valid YAML for the stack-anatomy contract
+# (tests/meta/test_stack_layout_contract.py).
+services: {}
diff --git a/stacks/full_droan_cpu/launch/stack.launch.xml b/stacks/full_droan_cpu/launch/stack.launch.xml
new file mode 100644
index 000000000..57378c4dc
--- /dev/null
+++ b/stacks/full_droan_cpu/launch/stack.launch.xml
@@ -0,0 +1,65 @@
+<!--
+  full_droan_cpu : trunk reference stack (RFC #379 S3, layout per RFC #385 S1).
+
+  Preset absorbing the local_droan_cpu.launch.xml variant: identical to the
+  full_default stack except the Local layer includes
+  local_droan_cpu.launch.xml (CPU droan_local_planner + a live
+  disparity_expansion world model) instead of local.launch.xml (GPU droan_gl).
+
+  WRAP FORM: includes the existing layer bringups verbatim; flattening their
+  nodes and remaps into this file arrives in E2/E3. This stack's wiring.md
+  (generated by `airstack test -m wiring` with the stack flag) is the observed
+  truth of the running graph.
+
+  Launched by autonomy_bringup/launch/robot.launch.xml when AIRSTACK_STACK_DIR
+  points at this folder (set by `airstack up` with the stack flag). The shared
+  preamble (ROBOT_NAME namespace push, use_sim_time, robot_state_publisher,
+  world/map static TF) runs there unconditionally, so it is NOT repeated here.
+
+  Equivalence claim: launching this stack produces a ROS graph identical to
+  legacy AUTONOMY_ROLE=full with
+  local_launch_file:=local_droan_cpu.launch.xml.
+-->
+<launch>
+
+  <!-- Autonomy layers -->
+
+  <!-- Interface (MAVROS/PX4 hardware interface + safety) -->
+  <include file="$(find-pkg-share interface_bringup)/launch/interface.launch.py" />
+
+  <!-- Sensors -->
+  <include file="$(find-pkg-share sensors_bringup)/launch/sensors.launch.xml" />
+
+  <!-- Perception (stereo disparity + point cloud; macvo/natnet off by default) -->
+  <include file="$(find-pkg-share perception_bringup)/launch/perception.launch.xml" />
+
+  <!-- Local : CPU DROAN variant (droan_local_planner + disparity_expansion) -->
+  <include file="$(find-pkg-share local_bringup)/launch/local_droan_cpu.launch.xml" />
+
+  <!-- Global (global planner + world model) -->
+  <include file="$(find-pkg-share global_bringup)/launch/global.launch.xml" />
+
+  <!-- Behavior (behavior tree + safety monitor) -->
+  <include file="$(find-pkg-share behavior_bringup)/launch/behavior.launch.xml" />
+
+  <!-- Logging -->
+  <include file="$(find-pkg-share logging_bringup)/launch/logging.launch.xml" />
+
+  <!-- Role-full extras (from robot.launch.xml's full group) -->
+
+  <!-- Domain Bridge (GCS) -->
+  <include file="$(find-pkg-share autonomy_bringup)/launch/interpolate_dds_router.launch.py">
+    <arg name="config_file"
+      value="$(find-pkg-share autonomy_bringup)/onboard_all/config/dds_router.yaml" />
+    <!-- 0 = robot.launch.xml's gcs_domain default -->
+    <arg name="args" value="gcs_domain:=0" />
+  </include>
+
+  <!-- Gossip coordination layer -->
+  <include file="$(find-pkg-share coordination_bringup)/launch/gossip.launch.xml">
+    <!-- 99 / 1.0 = robot.launch.xml's gossip_domain / gossip_publish_rate defaults -->
+    <arg name="gossip_domain" value="99" />
+    <arg name="publish_rate" value="1.0" />
+  </include>
+
+</launch>
diff --git a/stacks/full_droan_cpu/modules.repos b/stacks/full_droan_cpu/modules.repos
new file mode 100644
index 000000000..a2bce54e2
--- /dev/null
+++ b/stacks/full_droan_cpu/modules.repos
@@ -0,0 +1,15 @@
+# modules.repos : module pins for the full_droan_cpu reference stack (RFC #379 S3).
+#
+# vcstool format, PINNED to tags/commits (never branches). `airstack module sync`
+# reads this file into the gitignored modules/ dir; a stack with a pinned .repos
+# IS a localized release set.
+#
+# airstack_compat is a top-level sibling of repositories: (vcstool ignores it,
+# AirStack tooling reads it) declaring the trunk semver range this stack was
+# tested against. sync warns on mismatch; it never gates.
+#
+# This reference stack pulls no external modules yet: every package it launches
+# is trunk-resident (robot/ros_ws/src + common/ros_packages).
+airstack_compat: ">=0.19.0-alpha.18 <0.21.0"
+repositories: {}
+x-local-modules: []
diff --git a/stacks/full_macvo/README.md b/stacks/full_macvo/README.md
new file mode 100644
index 000000000..f003c8f3f
--- /dev/null
+++ b/stacks/full_macvo/README.md
@@ -0,0 +1,60 @@
+# `full_macvo` — trunk reference stack
+
+Full autonomy with **MAC-VO** as the disparity source for the local planner.
+One of the presets absorbing the `local_*.launch.xml` variant explosion into
+named stacks a few include lines apart (RFC #379 §3).
+
+## What it launches
+
+Wrap form (E1): identical to [`full_default`](../full_default/README.md)
+except:
+
+1. Perception is included with `launch_macvo:=true`, so the `macvo_ros2` node
+   runs and publishes `/$ROBOT_NAME/perception/macvo/disparity` (plus macvo
+   odometry/pose/point-cloud topics).
+2. The Local layer include passes
+   `local_disparity_in_topic:=/$ROBOT_NAME/perception/macvo/disparity` and
+   `local_depth_in_topic:=none`, wiring the planner's disparity input to
+   MAC-VO's real output topic.
+
+## Supersedes the broken legacy variant
+
+This stack **supersedes**
+`robot/ros_ws/src/local/local_bringup/launch/local_macvo_obstacle_avoidance.launch.xml`,
+which is broken two ways and is left untouched:
+
+- It passes `odometry_in_topic` / `disparity_in_topic` / `depth_in_topic` —
+  arg names missing the `local_` prefix, so `local.launch.xml` never sees them
+  and silently uses its stereo defaults.
+- Its disparity topic `/$ROBOT_NAME/macvo/disparity` is stale: macvo launches
+  inside the `perception` namespace and actually publishes
+  `/$ROBOT_NAME/perception/macvo/disparity`.
+- It also never enabled `launch_macvo` in perception, so the macvo node it
+  pointed at was not even running.
+
+## How to run
+
+```bash
+airstack up --stack full_macvo --sim isaac --robots 1
+airstack ready
+```
+
+## Known limits
+
+- Wrap form: cross-module remaps still live inside the layer bringup launch
+  files, not in `stack.launch.xml`.
+- `stereo_image_proc` still runs alongside MAC-VO (perception's
+  `launch_stereo_image_proc` default is kept `true`): the stereo point cloud
+  feeds other consumers, so this stack runs both estimators. A leaner
+  macvo-only preset can flip that arg once downstream consumers are audited.
+- MAC-VO is GPU-heavy; expect reduced sim real-time factor on a shared GPU.
+- No committed equivalence baseline exists for this topology (the legacy
+  variant never worked), so the first `wiring.md` snapshot IS the baseline.
+- `modules.repos` pins no external modules yet; `docker-compose.yaml` is a
+  stub (trunk compose profiles provide all services).
+
+## wiring.md
+
+Generated — the commit arrives with the first snapshot run of
+`airstack test -m wiring --stack full_macvo`. Once committed, CI drift-checks
+the running graph against it.
diff --git a/stacks/full_macvo/docker-compose.yaml b/stacks/full_macvo/docker-compose.yaml
new file mode 100644
index 000000000..85c1ef99f
--- /dev/null
+++ b/stacks/full_macvo/docker-compose.yaml
@@ -0,0 +1,13 @@
+# Per-stack image composition (RFC #379 S6) arrives with this stack's first
+# module pins: the P4 machinery (tools/compose_module_layers.py) composes
+# per-module dependency layers on top of the trunk base image and emits a
+# compose override for `airstack up`.
+#
+# full_macvo pins no modules (see modules.repos), so there is nothing to
+# compose yet -- the trunk compose profiles (root docker-compose.yaml,
+# robot/docker/docker-compose.yaml) provide every service meanwhile (MAC-VO's
+# networks are baked into the trunk robot image today; they migrate into a
+# module layer when macvo_ros2 moves out of trunk). The empty services map
+# keeps this file valid YAML for the stack-anatomy contract
+# (tests/meta/test_stack_layout_contract.py).
+services: {}
diff --git a/stacks/full_macvo/launch/stack.launch.xml b/stacks/full_macvo/launch/stack.launch.xml
new file mode 100644
index 000000000..ced9c15bb
--- /dev/null
+++ b/stacks/full_macvo/launch/stack.launch.xml
@@ -0,0 +1,78 @@
+<!--
+  full_macvo : trunk reference stack (RFC #379 S3, layout per RFC #385 S1).
+
+  Preset absorbing (and FIXING) the local_macvo_obstacle_avoidance.launch.xml
+  variant: full autonomy with MAC-VO as the disparity source for the local
+  planner. Two include-line differences from full_default:
+    1. Perception is included with launch_macvo:=true, so the macvo_ros2 node
+       runs and publishes /$ROBOT_NAME/perception/macvo/disparity.
+    2. The Local layer (local.launch.xml) is included with the correctly
+       prefixed args pointing the planner's disparity input at macvo's real
+       output topic.
+  The legacy variant file is broken: it passes odometry_in_topic /
+  disparity_in_topic / depth_in_topic (arg names missing the local_ prefix, so
+  local.launch.xml never sees them) and points at the stale
+  /$ROBOT_NAME/macvo/disparity topic (macvo publishes under the perception
+  namespace). This stack supersedes it; the legacy file is left untouched.
+
+  WRAP FORM: includes the existing layer bringups verbatim; flattening their
+  nodes and remaps into this file arrives in E2/E3. This stack's wiring.md
+  (generated by `airstack test -m wiring` with the stack flag) is the observed
+  truth of the running graph.
+
+  Launched by autonomy_bringup/launch/robot.launch.xml when AIRSTACK_STACK_DIR
+  points at this folder (set by `airstack up` with the stack flag). The shared
+  preamble (ROBOT_NAME namespace push, use_sim_time, robot_state_publisher,
+  world/map static TF) runs there unconditionally, so it is NOT repeated here.
+-->
+<launch>
+
+  <!-- Autonomy layers -->
+
+  <!-- Interface (MAVROS/PX4 hardware interface + safety) -->
+  <include file="$(find-pkg-share interface_bringup)/launch/interface.launch.py" />
+
+  <!-- Sensors -->
+  <include file="$(find-pkg-share sensors_bringup)/launch/sensors.launch.xml" />
+
+  <!-- Perception : MAC-VO enabled (publishes perception/macvo/disparity) -->
+  <include file="$(find-pkg-share perception_bringup)/launch/perception.launch.xml">
+    <arg name="launch_macvo" value="true" />
+  </include>
+
+  <!-- Local : planner disparity input wired to MAC-VO's real output topic.
+       macvo_ros2 publishes no depth, so depth stays 'none' (the
+       disparity_expansion depth path is unused). -->
+  <include file="$(find-pkg-share local_bringup)/launch/local.launch.xml">
+    <arg name="local_disparity_in_topic"
+      value="/$(env ROBOT_NAME)/perception/macvo/disparity" />
+    <arg name="local_depth_in_topic" value="none" />
+  </include>
+
+  <!-- Global (global planner + world model) -->
+  <include file="$(find-pkg-share global_bringup)/launch/global.launch.xml" />
+
+  <!-- Behavior (behavior tree + safety monitor) -->
+  <include file="$(find-pkg-share behavior_bringup)/launch/behavior.launch.xml" />
+
+  <!-- Logging -->
+  <include file="$(find-pkg-share logging_bringup)/launch/logging.launch.xml" />
+
+  <!-- Role-full extras (from robot.launch.xml's full group) -->
+
+  <!-- Domain Bridge (GCS) -->
+  <include file="$(find-pkg-share autonomy_bringup)/launch/interpolate_dds_router.launch.py">
+    <arg name="config_file"
+      value="$(find-pkg-share autonomy_bringup)/onboard_all/config/dds_router.yaml" />
+    <!-- 0 = robot.launch.xml's gcs_domain default -->
+    <arg name="args" value="gcs_domain:=0" />
+  </include>
+
+  <!-- Gossip coordination layer -->
+  <include file="$(find-pkg-share coordination_bringup)/launch/gossip.launch.xml">
+    <!-- 99 / 1.0 = robot.launch.xml's gossip_domain / gossip_publish_rate defaults -->
+    <arg name="gossip_domain" value="99" />
+    <arg name="publish_rate" value="1.0" />
+  </include>
+
+</launch>
diff --git a/stacks/full_macvo/modules.repos b/stacks/full_macvo/modules.repos
new file mode 100644
index 000000000..1abe4c500
--- /dev/null
+++ b/stacks/full_macvo/modules.repos
@@ -0,0 +1,16 @@
+# modules.repos : module pins for the full_macvo reference stack (RFC #379 S3).
+#
+# vcstool format, PINNED to tags/commits (never branches). `airstack module sync`
+# reads this file into the gitignored modules/ dir; a stack with a pinned .repos
+# IS a localized release set.
+#
+# airstack_compat is a top-level sibling of repositories: (vcstool ignores it,
+# AirStack tooling reads it) declaring the trunk semver range this stack was
+# tested against. sync warns on mismatch; it never gates.
+#
+# This reference stack pulls no external modules yet: every package it launches
+# is trunk-resident (macvo_ros2 lives in robot/ros_ws/src/perception; it is a
+# prime candidate to migrate out as a module later).
+airstack_compat: ">=0.19.0-alpha.18 <0.21.0"
+repositories: {}
+x-local-modules: []
diff --git a/tests/conftest.py b/tests/conftest.py
index 38aec5c5f..b721e0c02 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -27,6 +27,13 @@ def pytest_addoption(parser):
                           "Default isaacsim; pass --sim msairsim to opt in.")
     parser.addoption("--num-robots", default="1,3",
                      help="Comma-separated robot counts, e.g. 1,3")
+    parser.addoption("--stack", default=None,
+                     help="Stack folder under stacks/ to launch instead of "
+                          "the legacy AUTONOMY_ROLE dispatch (sets "
+                          "AIRSTACK_STACK_DIR for airstack up). Default: "
+                          "None (legacy role dispatch). The wiring test "
+                          "drift-checks against stacks/<name>/wiring.md "
+                          "when set.")
     parser.addoption("--stress-iterations", type=int, default=1,
                      help="Number of up/down iterations per (sim, num_robots) config")
     parser.addoption("--stable-duration", type=int, default=120,
@@ -220,6 +227,14 @@ def airstack_env(request):
         env_overrides["QT_QPA_PLATFORM"] = "offscreen"
     env_overrides.update(cfg.get("extra_env", {}))
 
+    # Stack dispatch (RFC #379 §3): route robot.launch.xml to the stack's
+    # entry launch file instead of the legacy AUTONOMY_ROLE role groups.
+    # Container path — stacks/ is bind-mounted at /root/AirStack/stacks.
+    stack = request.config.getoption("--stack")
+    if stack:
+        env_overrides["AIRSTACK_STACK_DIR"] = f"/root/AirStack/stacks/{stack}"
+        env_overrides["AIRSTACK_STACK_ENTRY"] = "stack"
+
     with logger_to(log):
         missing = missing_images(env=env_overrides)
         if missing:
@@ -250,6 +265,8 @@ def airstack_env(request):
         "robot_pattern": "robot.*desktop",
         "up_started_at": t0,
         "cfg": cfg,
+        # None = legacy AUTONOMY_ROLE dispatch; else the stacks/<name> launched.
+        "stack": stack,
     }
 
     tid = current_test_id()
diff --git a/tests/meta/launch_lint_allowlist.txt b/tests/meta/launch_lint_allowlist.txt
new file mode 100644
index 000000000..6bb81ca10
--- /dev/null
+++ b/tests/meta/launch_lint_allowlist.txt
@@ -0,0 +1,29 @@
+# Launch files allowed to carry <remap>/remappings= OUTSIDE stacks/*/launch/
+# (tests/meta/test_launch_single_locus.py — RFC #379 §4 single-locus rule).
+#
+# This list is FROZEN at the wrap-form baseline (P5-E1): it names every launch
+# file that carried remaps when the rule landed. It only shrinks — as E2/E3
+# flatten wiring into the stack entry files, delete the corresponding line.
+# A listed file that no longer contains a remap FAILS the lint until its line
+# is removed; adding a NEW line needs the same scrutiny as an RFC change.
+#
+# Paths are relative to the repo root, one per line; '#' starts a comment.
+common/ros_packages/airstack_common/launch/playback.launch.xml
+robot/docker/zed/ws/src/zed_wrapper/launch/zed_camera.launch.py
+robot/ros_ws/src/behavior/behavior_bringup/launch/behavior.launch.xml
+robot/ros_ws/src/global/global_bringup/launch/global.launch.xml
+robot/ros_ws/src/global/planners/exploration/launch/exploration_launch.xml
+robot/ros_ws/src/global/planners/exploration/launch/robot_launch_gazebo/gz_behavior_launch.xml
+robot/ros_ws/src/global/planners/exploration/launch/robot_launch_gazebo/gz_global_launch.xml
+robot/ros_ws/src/global/planners/exploration/launch/robot_launch_gazebo/gz_interface_launch.xml
+robot/ros_ws/src/global/planners/exploration/launch/robot_launch_gazebo/gz_local_launch.xml
+robot/ros_ws/src/global/planners/random_walk/launch/random_walk_launch.xml
+robot/ros_ws/src/interface/interface_bringup/launch/interface.launch.py
+robot/ros_ws/src/interface/px4_interface/launch/px4_interface.launch.xml
+robot/ros_ws/src/interface/robot_interface/launch/odometry_conversion.xml
+robot/ros_ws/src/local/local_bringup/launch/local.launch.xml
+robot/ros_ws/src/local/local_bringup/launch/local_droan_cpu.launch.xml
+robot/ros_ws/src/local/world_models/disparity_expansion/launch/disparity_pcd.launch.xml
+robot/ros_ws/src/perception/natnet_ros2/launch/mavros_gp_origin.launch.xml
+robot/ros_ws/src/perception/natnet_ros2/launch/px4_param_setter.launch.xml
+robot/ros_ws/src/perception/perception_bringup/launch/perception.launch.xml
diff --git a/tests/meta/test_launch_intent_contract.py b/tests/meta/test_launch_intent_contract.py
index 2d541e138..856c877d4 100644
--- a/tests/meta/test_launch_intent_contract.py
+++ b/tests/meta/test_launch_intent_contract.py
@@ -178,3 +178,74 @@ def test_invalid_sim_is_fatal():
     code, out, _ = run_up_dry("--sim", "gazebo", check=False)
     assert code != 0
     assert "gazebo" in out
+
+
+# ── --stack dispatch (RFC #379 §3, P5-E1) ──────────────────────────────────
+
+def test_stack_flag_exports_container_paths():
+    """--stack validates host-side but exports the CONTAINER path (stacks/ is
+    bind-mounted at /root/AirStack/stacks)."""
+    _, _, cfg = run_up_dry("--sim", "isaac", "--stack", "full_default")
+    assert cfg["AIRSTACK_STACK_DIR"] == "/root/AirStack/stacks/full_default"
+    assert cfg["AIRSTACK_STACK_ENTRY"] == "stack"
+
+
+def test_stack_split_entry_form():
+    """--stack <name>:<entry> selects launch/<entry>.launch.xml (reserved for
+    split stacks; the default entry file also resolves through it)."""
+    _, _, cfg = run_up_dry("--sim", "isaac", "--stack", "full_default:stack")
+    assert cfg["AIRSTACK_STACK_DIR"] == "/root/AirStack/stacks/full_default"
+    assert cfg["AIRSTACK_STACK_ENTRY"] == "stack"
+
+
+def test_unknown_stack_is_fatal():
+    code, out, _ = run_up_dry("--stack", "no_such_stack", check=False)
+    assert code != 0
+    assert "no_such_stack" in out
+    assert "full_default" in out  # error lists the available stacks
+
+
+def test_stack_missing_entry_is_fatal():
+    code, out, _ = run_up_dry("--stack", "full_default:onboard", check=False)
+    assert code != 0
+    assert "onboard.launch.xml" in out
+
+
+def test_no_stack_leaves_stack_vars_empty():
+    """Legacy path: no --stack → both stack vars empty in effective config."""
+    _, _, cfg = run_up_dry(
+        "--sim", "isaac",
+        # Scrub any stack vars inherited from the invoking shell.
+        env={"AIRSTACK_STACK_DIR": "", "AIRSTACK_STACK_ENTRY": ""},
+    )
+    assert cfg.get("AIRSTACK_STACK_DIR", "") == ""
+
+
+def test_autonomy_role_without_stack_warns_deprecation():
+    """AUTONOMY_ROLE explicitly set (env/--env-file) + no stack → one
+    deprecation warning pointing at --stack."""
+    _, out, _ = run_up_dry(
+        "--sim", "isaac",
+        env={"AUTONOMY_ROLE": "full", "AIRSTACK_STACK_DIR": ""},
+    )
+    assert "legacy dispatch" in out
+    assert "--stack full_default" in out
+
+
+def test_no_deprecation_warning_without_explicit_role():
+    """The compose files' own ${AUTONOMY_ROLE:-full} default must NOT trip the
+    warning — only an explicit env / --env-file / .env value does."""
+    _, out, _ = run_up_dry(
+        "--sim", "isaac",
+        env={"AUTONOMY_ROLE": "", "AIRSTACK_STACK_DIR": ""},
+    )
+    assert "legacy dispatch" not in out
+
+
+def test_stack_and_role_both_set_warns_stack_wins():
+    _, out, _ = run_up_dry(
+        "--sim", "isaac", "--stack", "full_default",
+        env={"AUTONOMY_ROLE": "full"},
+    )
+    assert "stack wins" in out
+    assert "legacy dispatch" not in out
diff --git a/tests/meta/test_launch_single_locus.py b/tests/meta/test_launch_single_locus.py
new file mode 100644
index 000000000..57f19f38d
--- /dev/null
+++ b/tests/meta/test_launch_single_locus.py
@@ -0,0 +1,138 @@
+# Copyright (c) 2026 Carnegie Mellon University
+# MIT License - see LICENSE in the repository root for full text.
+"""Single-locus wiring lint (RFC #379 §4.1).
+
+All cross-module remaps belong in a stack's entry launch files
+(``stacks/*/launch/``). Module and layer launch files declare topic args with
+canonical defaults but never ``<remap>`` (XML) or ``remappings=`` (Python
+launch).
+
+The rule lands mid-migration (wrap form, P5-E1), so the launch files that
+carried remaps at freeze time are grandfathered in
+``launch_lint_allowlist.txt``. The allowlist only shrinks:
+
+* rule 1 — no remap outside ``stacks/*/launch/`` except allowlisted files;
+* rule 2 — every allowlist entry must still exist AND still contain a remap
+  (once E2/E3 flatten a file's wiring away, its line must be deleted);
+* rule 3 — stack launch files must carry ``description=`` on every ``<arg>``
+  they declare (they are the wiring document — args must be self-describing).
+
+Scan scope: ``*.xml`` / ``*.py`` under any ``launch/`` directory inside
+``robot/``, ``gcs/``, ``common/``, and ``simulation/``.
+"""
+import re
+import xml.etree.ElementTree as ET
+
+import pytest
+
+from harness.discovery import TESTS_DIR
+
+pytestmark = pytest.mark.unit
+
+REPO = TESTS_DIR.parent
+ALLOWLIST_PATH = TESTS_DIR / "meta" / "launch_lint_allowlist.txt"
+SCAN_ROOTS = ("robot", "gcs", "common", "simulation")
+
+# <remap ...> in XML launch; remappings=[...] in Python launch.
+_REMAP_RE = re.compile(r"<remap\b|remappings\s*=")
+
+
+def _scanned_launch_files():
+    """Every *.xml / *.py under a launch/ dir inside the scan roots."""
+    files = []
+    for root in SCAN_ROOTS:
+        base = REPO / root
+        if not base.is_dir():
+            continue
+        for suffix in ("xml", "py"):
+            for path in base.rglob(f"*.{suffix}"):
+                if "launch" in path.parent.parts:
+                    files.append(path)
+    return sorted(files)
+
+
+def _has_remap(path):
+    try:
+        return bool(_REMAP_RE.search(path.read_text(errors="replace")))
+    except OSError:
+        return False
+
+
+def _allowlist():
+    entries = []
+    for line in ALLOWLIST_PATH.read_text().splitlines():
+        line = line.strip()
+        if line and not line.startswith("#"):
+            entries.append(line)
+    return entries
+
+
+def test_no_remaps_outside_stack_launch_files():
+    """Rule 1: remaps live in stacks/*/launch/ — everything else is frozen."""
+    allowed = set(_allowlist())
+    offenders = []
+    for path in _scanned_launch_files():
+        rel = path.relative_to(REPO).as_posix()
+        if _has_remap(path) and rel not in allowed:
+            offenders.append(rel)
+    assert not offenders, (
+        "Launch files outside stacks/*/launch/ contain <remap>/remappings= "
+        "but are not in the frozen allowlist "
+        f"({ALLOWLIST_PATH.relative_to(REPO)}):\n  "
+        + "\n  ".join(offenders)
+        + "\nCross-module wiring belongs in the stack entry launch file "
+        "(RFC #379 §4 single-locus rule; see "
+        ".agents/skills/write-launch-file/SKILL.md). The allowlist only "
+        "shrinks — do not add new entries."
+    )
+
+
+def test_allowlist_entries_exist_and_still_have_remaps():
+    """Rule 2 (shrink-only): stale allowlist lines must be deleted."""
+    problems = []
+    for rel in _allowlist():
+        path = REPO / rel
+        if not path.is_file():
+            problems.append(f"{rel}: file no longer exists — delete its "
+                            "allowlist line")
+        elif not _has_remap(path):
+            problems.append(f"{rel}: no longer contains a remap — its wiring "
+                            "moved (good!); delete its allowlist line so the "
+                            "file stays remap-free")
+    assert not problems, (
+        f"Stale entries in {ALLOWLIST_PATH.relative_to(REPO)}:\n  "
+        + "\n  ".join(problems)
+    )
+
+
+def _stack_launch_files():
+    stacks = REPO / "stacks"
+    if not stacks.is_dir():
+        return []
+    return sorted(
+        p for p in stacks.glob("*/launch/*.launch.xml")
+        if not p.parts[len(stacks.parts)].startswith(".")
+    )
+
+
+def test_stack_launch_args_have_descriptions():
+    """Rule 3: stack entry files are the wiring document — every <arg> they
+    declare needs a description=. Vacuously true while stack files declare no
+    args (wrap form passes include args instead)."""
+    stack_files = _stack_launch_files()
+    assert stack_files, "no stack launch files found under stacks/*/launch/"
+    offenders = []
+    for path in stack_files:
+        tree = ET.parse(path)  # also asserts well-formed XML
+        # Only top-level <arg> children of <launch> are declarations;
+        # <arg> inside <include> passes a value and needs no description.
+        for arg in tree.getroot().findall("arg"):
+            if not arg.get("description"):
+                offenders.append(
+                    f"{path.relative_to(REPO).as_posix()}: "
+                    f"<arg name=\"{arg.get('name')}\"> missing description="
+                )
+    assert not offenders, (
+        "Stack launch files must describe every declared <arg>:\n  "
+        + "\n  ".join(offenders)
+    )
diff --git a/tests/meta/test_stack_layout_contract.py b/tests/meta/test_stack_layout_contract.py
new file mode 100644
index 000000000..a1208bf0b
--- /dev/null
+++ b/tests/meta/test_stack_layout_contract.py
@@ -0,0 +1,117 @@
+# Copyright (c) 2026 Carnegie Mellon University
+# MIT License - see LICENSE in the repository root for full text.
+"""Stack folder anatomy contract (RFC #379 §3, RFC #385 §1).
+
+Every stack directory under ``stacks/`` (ignoring ``.external``, the gitignored
+home of fetched third-party stack repos) must ship the four committed anatomy
+files:
+
+* ``modules.repos`` — YAML with a top-level ``airstack_compat`` semver range
+  (sibling of ``repositories:``; vcstool ignores it, our tooling reads it);
+* ``launch/`` — at least one ``*.launch.xml`` entry point;
+* ``docker-compose.yaml`` — valid YAML (a documented stub until module pins
+  arrive);
+* ``README.md`` — non-trivial.
+
+``wiring.md`` is NOT required yet (bootstrap: it is generated from the first
+validated wiring-snapshot run), but when present it must carry the
+machine-readable ``wiring-graph-v1`` trailer that the drift check reads.
+"""
+import pytest
+import yaml
+
+from harness.discovery import TESTS_DIR
+
+pytestmark = pytest.mark.unit
+
+REPO = TESTS_DIR.parent
+STACKS_DIR = REPO / "stacks"
+
+
+def _stack_dirs():
+    if not STACKS_DIR.is_dir():
+        return []
+    return sorted(
+        d for d in STACKS_DIR.iterdir()
+        if d.is_dir() and not d.name.startswith(".")
+    )
+
+
+def _stack_ids():
+    return [d.name for d in _stack_dirs()]
+
+
+def test_stacks_dir_has_reference_stacks():
+    assert _stack_dirs(), (
+        f"{STACKS_DIR} has no stack folders — trunk ships reference stacks "
+        "(full_default, ...)"
+    )
+
+
+@pytest.mark.parametrize("stack", _stack_dirs(), ids=_stack_ids())
+class TestStackAnatomy:
+
+    def test_modules_repos(self, stack):
+        path = stack / "modules.repos"
+        assert path.is_file(), f"{stack.name}: missing modules.repos"
+        data = yaml.safe_load(path.read_text())
+        assert isinstance(data, dict), (
+            f"{stack.name}: modules.repos did not parse to a YAML mapping"
+        )
+        compat = data.get("airstack_compat")
+        assert isinstance(compat, str) and compat.strip(), (
+            f"{stack.name}: modules.repos needs a top-level airstack_compat "
+            "semver-range string (the trunk range the stack was tested "
+            "against — RFC #379 §3)"
+        )
+        assert "repositories" in data, (
+            f"{stack.name}: modules.repos needs a repositories: key "
+            "(vcstool format; {} when the stack pins no modules)"
+        )
+
+    def test_launch_entry_points(self, stack):
+        launch_dir = stack / "launch"
+        assert launch_dir.is_dir(), f"{stack.name}: missing launch/ dir"
+        entries = list(launch_dir.glob("*.launch.xml"))
+        assert entries, (
+            f"{stack.name}: launch/ has no *.launch.xml entry point "
+            "(unsplit stacks have exactly stack.launch.xml)"
+        )
+
+    def test_docker_compose_is_valid_yaml(self, stack):
+        path = stack / "docker-compose.yaml"
+        assert path.is_file(), f"{stack.name}: missing docker-compose.yaml"
+        data = yaml.safe_load(path.read_text())
+        assert data is not None, (
+            f"{stack.name}: docker-compose.yaml is empty — keep at least "
+            "'services: {}' plus the explanatory comments"
+        )
+
+    def test_readme_non_trivial(self, stack):
+        path = stack / "README.md"
+        assert path.is_file(), f"{stack.name}: missing README.md"
+        text = path.read_text().strip()
+        assert len(text) >= 200, (
+            f"{stack.name}: README.md is trivial ({len(text)} chars) — state "
+            "what the stack is for, how to run it, and its known limits"
+        )
+
+    def test_wiring_md_trailer_when_present(self, stack):
+        """wiring.md is optional (bootstrap) but must be machine-readable."""
+        path = stack / "wiring.md"
+        if not path.exists():
+            pytest.skip(f"{stack.name}: wiring.md not committed yet "
+                        "(generated by the first wiring-snapshot run)")
+        import wiring_snapshot as ws
+        try:
+            graph = ws.extract_graph_from_md(path.read_text())
+        except ValueError as exc:
+            pytest.fail(
+                f"{stack.name}: wiring.md lacks a parseable wiring-graph-v1 "
+                f"trailer ({exc}) — regenerate it from a wiring-snapshot "
+                "run, never hand-edit"
+            )
+        assert graph.get("nodes") is not None, (
+            f"{stack.name}: wiring.md trailer has no nodes key — regenerate "
+            "it from a wiring-snapshot run"
+        )
diff --git a/tests/system/test_wiring_snapshot.py b/tests/system/test_wiring_snapshot.py
index 6be788964..1a78391e2 100644
--- a/tests/system/test_wiring_snapshot.py
+++ b/tests/system/test_wiring_snapshot.py
@@ -12,6 +12,14 @@
 committed from a validated local run — see ``tests/goldens/wiring/README.md``);
 if present, ``diff_graphs`` must report identical or the test fails with the
 JSON drift verdict.
+
+Stack mode (RFC #379 §3/§4): with ``--stack <name>`` the fixture launches the
+stack's entry launch file and the golden becomes ``stacks/<name>/wiring.md``
+(one observed-wiring document per stack, committed in the stack folder). The
+observed snapshot is written as ``observed_<name>.md`` and the same
+bootstrap-pass + INSTRUCTION behavior applies when the stack has no wiring.md
+yet. Legacy runs (no ``--stack``) keep the tests/goldens/wiring path
+unchanged.
 """
 import json
 import os
@@ -236,6 +244,12 @@ def test_wiring_matches_golden(self, airstack_env):
         m = get_metrics()
         tid = current_test_id()
 
+        # Legacy (no --stack) keeps the full_default naming and the
+        # tests/goldens/wiring golden; a selected stack owns its golden at
+        # stacks/<name>/wiring.md.
+        stack = airstack_env.get("stack")
+        stack_name = stack or "full_default"
+
         _wait_for_settled_node_sets(airstack_env)
         t0 = time.time()
         graph = _capture_merged_graph(airstack_env)
@@ -243,7 +257,7 @@ def test_wiring_matches_golden(self, airstack_env):
                  round(time.time() - t0, 2), unit="s")
 
         meta = {
-            "stack": "full_default",
+            "stack": stack_name,
             "generated-by": "tests/system/test_wiring_snapshot.py",
             "date": time.strftime("%Y-%m-%d %H:%M:%S"),
             "sim": sim,
@@ -252,7 +266,7 @@ def test_wiring_matches_golden(self, airstack_env):
         }
         out_dir = run_dir() / "wiring"
         out_dir.mkdir(parents=True, exist_ok=True)
-        observed_path = out_dir / "observed_full_default.md"
+        observed_path = out_dir / f"observed_{stack_name}.md"
         observed_path.write_text(ws.render_wiring_md(graph, meta))
         logger.info("Wrote observed wiring snapshot to %s", observed_path)
 
@@ -265,10 +279,13 @@ def test_wiring_matches_golden(self, airstack_env):
         m.record(tid, "wiring_topic_count", len(graph["topics"]),
                  unit="count", direction="higher_is_better")
 
-        golden_path = repo_path(
-            "tests", "goldens", "wiring",
-            f"full_default.{sim}.{num_robots}robot.md",
-        )
+        if stack:
+            golden_path = repo_path("stacks", stack, "wiring.md")
+        else:
+            golden_path = repo_path(
+                "tests", "goldens", "wiring",
+                f"full_default.{sim}.{num_robots}robot.md",
+            )
         if not golden_path.exists():
             logger.info(
                 "INSTRUCTION: no golden at %s — bootstrap by validating the "

From 5efffa3d1b9c867212835d4d509e6782ded3c9dd Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Thu, 20 Aug 2026 18:25:04 -0400
Subject: [PATCH 2/4] P5-E1(rfc-379): observed wiring.md for all three
 reference stacks
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Captured from live isaacsim bring-ups @ d02a3467:
- full_default: 83 nodes / 405 edges — diff vs the legacy AUTONOMY_ROLE=full
  golden is IDENTICAL (machine-proven wrap-form equivalence)
- full_droan_cpu: 84 nodes / 419 edges (CPU droan + live disparity_expansion)
- full_macvo: 84 nodes / 407 edges — first working MACVO topology: droan's
  disparity_expander subscribes /perception/macvo/disparity (the wiring the
  broken legacy variant never achieved)

These are the E2 flatten gates: the refactor must reproduce these graphs.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
---
 stacks/full_default/wiring.md   | 7633 ++++++++++++++++++++++++++++++
 stacks/full_droan_cpu/wiring.md | 7865 +++++++++++++++++++++++++++++++
 stacks/full_macvo/wiring.md     | 7662 ++++++++++++++++++++++++++++++
 3 files changed, 23160 insertions(+)
 create mode 100644 stacks/full_default/wiring.md
 create mode 100644 stacks/full_droan_cpu/wiring.md
 create mode 100644 stacks/full_macvo/wiring.md

diff --git a/stacks/full_default/wiring.md b/stacks/full_default/wiring.md
new file mode 100644
index 000000000..ca8e779e8
--- /dev/null
+++ b/stacks/full_default/wiring.md
@@ -0,0 +1,7633 @@
+# Wiring snapshot: full_default
+
+- **generated-by**: tests/system/test_wiring_snapshot.py
+- **date**: 2026-08-20 22:14:34
+- **sim**: isaacsim
+- **num_robots**: 1
+- **source-sha**: d02a3467b72d
+
+```mermaid
+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["droan"]
+    n4["/robot_1/droan/disparity_expander_node"]
+  end
+  subgraph g3["interface"]
+    n6["/robot_1/interface/mavros/actuator_control"]
+    n7["/robot_1/interface/mavros/adsb"]
+    n8["/robot_1/interface/mavros/altitude"]
+    n9["/robot_1/interface/mavros/cam_imu_sync"]
+    n10["/robot_1/interface/mavros/camera"]
+    n11["/robot_1/interface/mavros/cellular_status"]
+    n12["/robot_1/interface/mavros/cmd"]
+    n13["/robot_1/interface/mavros/companion_process"]
+    n14["/robot_1/interface/mavros/debug_value"]
+    n15["/robot_1/interface/mavros/esc_status"]
+    n16["/robot_1/interface/mavros/esc_telemetry"]
+    n17["/robot_1/interface/mavros/fake_gps"]
+    n18["/robot_1/interface/mavros/ftp"]
+    n19["/robot_1/interface/mavros/geofence"]
+    n20["/robot_1/interface/mavros/gimbal_control"]
+    n21["/robot_1/interface/mavros/global_position"]
+    n22["/robot_1/interface/mavros/gps_input"]
+    n23["/robot_1/interface/mavros/gps_rtk"]
+    n24["/robot_1/interface/mavros/gpsstatus"]
+    n25["/robot_1/interface/mavros/guided_target"]
+    n26["/robot_1/interface/mavros/hil"]
+    n27["/robot_1/interface/mavros/home_position"]
+    n28["/robot_1/interface/mavros/imu"]
+    n29["/robot_1/interface/mavros/landing_target"]
+    n30["/robot_1/interface/mavros/local_position"]
+    n31["/robot_1/interface/mavros/log_transfer"]
+    n32["/robot_1/interface/mavros/mag_calibration"]
+    n33["/robot_1/interface/mavros/manual_control"]
+    n34["/robot_1/interface/mavros/mavros"]
+    n35["/robot_1/interface/mavros/mavros_node"]
+    n36["/robot_1/interface/mavros/mavros_router"]
+    n37["/robot_1/interface/mavros/mission"]
+    n38["/robot_1/interface/mavros/mocap"]
+    n39["/robot_1/interface/mavros/mount_control"]
+    n40["/robot_1/interface/mavros/nav_controller_output"]
+    n41["/robot_1/interface/mavros/obstacle"]
+    n42["/robot_1/interface/mavros/obstacle_distance_3d"]
+    n43["/robot_1/interface/mavros/odometry"]
+    n44["/robot_1/interface/mavros/onboard_computer"]
+    n45["/robot_1/interface/mavros/open_drone_id"]
+    n46["/robot_1/interface/mavros/optical_flow"]
+    n47["/robot_1/interface/mavros/param"]
+    n48["/robot_1/interface/mavros/play_tune"]
+    n49["/robot_1/interface/mavros/px4flow"]
+    n50["/robot_1/interface/mavros/rallypoint"]
+    n51["/robot_1/interface/mavros/rc"]
+    n52["/robot_1/interface/mavros/setpoint_accel"]
+    n53["/robot_1/interface/mavros/setpoint_attitude"]
+    n54["/robot_1/interface/mavros/setpoint_position"]
+    n55["/robot_1/interface/mavros/setpoint_raw"]
+    n56["/robot_1/interface/mavros/setpoint_trajectory"]
+    n57["/robot_1/interface/mavros/setpoint_velocity"]
+    n58["/robot_1/interface/mavros/sim_state"]
+    n59["/robot_1/interface/mavros/sys"]
+    n60["/robot_1/interface/mavros/tdr_radio"]
+    n61["/robot_1/interface/mavros/terrain"]
+    n62["/robot_1/interface/mavros/time"]
+    n63["/robot_1/interface/mavros/trajectory"]
+    n64["/robot_1/interface/mavros/tunnel"]
+    n65["/robot_1/interface/mavros/vfr_hud"]
+    n66["/robot_1/interface/mavros/vision_pose"]
+    n67["/robot_1/interface/mavros/vision_speed"]
+    n68["/robot_1/interface/mavros/wind"]
+    n69["/robot_1/interface/odom_modifier"]
+    n70["/robot_1/interface/robot_interface"]
+  end
+  subgraph g4["odometry_conversion"]
+    n71["/robot_1/odometry_conversion/odometry_conversion"]
+  end
+  subgraph g5["perception"]
+    n72["/robot_1/perception/stereo_image_proc/disparity_node"]
+    n73["/robot_1/perception/stereo_pointcloud"]
+  end
+  subgraph g6["robot_1"]
+    n1["/robot_1/Container"]
+    n5["/robot_1/gossip_node"]
+    n74["/robot_1/random_walk_node"]
+    n75["/robot_1/robot_state_publisher"]
+    n78["/robot_1/topic_keepalive"]
+    n81["/robot_1/vdb_mapping"]
+    n82["/robot_1/world_to_map_broadcaster"]
+  end
+  subgraph g7["root"]
+    n0["/action_relay_client"]
+  end
+  subgraph g8["sensors"]
+    n76["/robot_1/sensors/lidar_point_cloud_filter"]
+  end
+  subgraph g9["takeoff_landing_planner"]
+    n77["/robot_1/takeoff_landing_planner/takeoff_landing_task"]
+  end
+  subgraph g10["trajectory_controller"]
+    n79["/robot_1/trajectory_controller/fixed_trajectory_task"]
+    n80["/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"| n6
+  d0 -->|"/clock<br/>Clock"| n7
+  d0 -->|"/clock<br/>Clock"| n8
+  d0 -->|"/clock<br/>Clock"| n9
+  d0 -->|"/clock<br/>Clock"| n10
+  d0 -->|"/clock<br/>Clock"| n11
+  d0 -->|"/clock<br/>Clock"| n12
+  d0 -->|"/clock<br/>Clock"| n13
+  d0 -->|"/clock<br/>Clock"| n14
+  d0 -->|"/clock<br/>Clock"| n15
+  d0 -->|"/clock<br/>Clock"| n16
+  d0 -->|"/clock<br/>Clock"| n17
+  d0 -->|"/clock<br/>Clock"| n18
+  d0 -->|"/clock<br/>Clock"| n19
+  d0 -->|"/clock<br/>Clock"| n20
+  d0 -->|"/clock<br/>Clock"| n21
+  d0 -->|"/clock<br/>Clock"| n22
+  d0 -->|"/clock<br/>Clock"| n23
+  d0 -->|"/clock<br/>Clock"| n24
+  d0 -->|"/clock<br/>Clock"| n25
+  d0 -->|"/clock<br/>Clock"| n26
+  d0 -->|"/clock<br/>Clock"| n27
+  d0 -->|"/clock<br/>Clock"| n28
+  d0 -->|"/clock<br/>Clock"| n29
+  d0 -->|"/clock<br/>Clock"| n30
+  d0 -->|"/clock<br/>Clock"| n31
+  d0 -->|"/clock<br/>Clock"| n32
+  d0 -->|"/clock<br/>Clock"| n33
+  d0 -->|"/clock<br/>Clock"| n34
+  d0 -->|"/clock<br/>Clock"| n35
+  d0 -->|"/clock<br/>Clock"| n36
+  d0 -->|"/clock<br/>Clock"| n37
+  d0 -->|"/clock<br/>Clock"| n38
+  d0 -->|"/clock<br/>Clock"| n39
+  d0 -->|"/clock<br/>Clock"| n40
+  d0 -->|"/clock<br/>Clock"| n41
+  d0 -->|"/clock<br/>Clock"| n42
+  d0 -->|"/clock<br/>Clock"| n43
+  d0 -->|"/clock<br/>Clock"| n44
+  d0 -->|"/clock<br/>Clock"| n45
+  d0 -->|"/clock<br/>Clock"| n46
+  d0 -->|"/clock<br/>Clock"| n47
+  d0 -->|"/clock<br/>Clock"| n48
+  d0 -->|"/clock<br/>Clock"| n49
+  d0 -->|"/clock<br/>Clock"| n50
+  d0 -->|"/clock<br/>Clock"| n51
+  d0 -->|"/clock<br/>Clock"| n52
+  d0 -->|"/clock<br/>Clock"| n53
+  d0 -->|"/clock<br/>Clock"| n54
+  d0 -->|"/clock<br/>Clock"| n55
+  d0 -->|"/clock<br/>Clock"| n56
+  d0 -->|"/clock<br/>Clock"| n57
+  d0 -->|"/clock<br/>Clock"| n58
+  d0 -->|"/clock<br/>Clock"| n59
+  d0 -->|"/clock<br/>Clock"| n60
+  d0 -->|"/clock<br/>Clock"| n61
+  d0 -->|"/clock<br/>Clock"| n62
+  d0 -->|"/clock<br/>Clock"| n63
+  d0 -->|"/clock<br/>Clock"| n64
+  d0 -->|"/clock<br/>Clock"| n65
+  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
+  n34 -->|"/diagnostics<br/>DiagnosticArray"| d1(["/diagnostics (no subscribers)"])
+  n36 -->|"/diagnostics<br/>DiagnosticArray"| d1
+  n5 -->|"/gossip/peers<br/>PeerProfile"| n5
+  n25 -->|"/move_base_simple/goal<br/>PoseStamped"| d2(["/move_base_simple/goal (no subscribers)"])
+  d3(["/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"| n77
+  n70 -->|"/robot_1/control/reset_integrators<br/>Empty"| n3
+  n3 -->|"/robot_1/control/vx_pid_info<br/>PIDInfo"| d4(["/robot_1/control/vx_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/vy_pid_info<br/>PIDInfo"| d5(["/robot_1/control/vy_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/vz_pid_info<br/>PIDInfo"| d6(["/robot_1/control/vz_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/x_pid_info<br/>PIDInfo"| d7(["/robot_1/control/x_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/y_pid_info<br/>PIDInfo"| d8(["/robot_1/control/y_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/z_pid_info<br/>PIDInfo"| d9(["/robot_1/control/z_pid_info (no subscribers)"])
+  n5 -->|"/robot_1/coordination/peer_registry<br/>PeerProfile"| d10(["/robot_1/coordination/peer_registry (no subscribers)"])
+  n69 -->|"/robot_1/cross_track_error<br/>PoseStamped"| d11(["/robot_1/cross_track_error (no subscribers)"])
+  n4 -->|"/robot_1/droan/background_expanded<br/>Image"| d12(["/robot_1/droan/background_expanded (no subscribers)"])
+  d13(["/robot_1/droan/clear_map (no publishers)"]) -->|"/robot_1/droan/clear_map<br/>Empty"| n4
+  d14(["/robot_1/droan/disparity_graph (no publishers)"]) -->|"/robot_1/droan/disparity_graph<br/>MarkerArray"| n78
+  d15(["/robot_1/droan/disparity_map_debug (no publishers)"]) -->|"/robot_1/droan/disparity_map_debug<br/>MarkerArray"| n78
+  d16(["/robot_1/droan/expansion_cloud (no publishers)"]) -->|"/robot_1/droan/expansion_cloud<br/>PointCloud2"| n78
+  d17(["/robot_1/droan/expansion_poly (no publishers)"]) -->|"/robot_1/droan/expansion_poly<br/>MarkerArray"| n78
+  n4 -->|"/robot_1/droan/fg_bg_cloud<br/>PointCloud2"| n78
+  n4 -->|"/robot_1/droan/foreground_expanded<br/>Image"| d18(["/robot_1/droan/foreground_expanded (no subscribers)"])
+  d19(["/robot_1/droan/frustum (no publishers)"]) -->|"/robot_1/droan/frustum<br/>Marker"| n78
+  n4 -->|"/robot_1/droan/graph_vis<br/>MarkerArray"| n78
+  n4 -->|"/robot_1/droan/local_planner_global_plan_vis<br/>MarkerArray"| n78
+  d20(["/robot_1/droan/reset_stuck (no publishers)"]) -->|"/robot_1/droan/reset_stuck<br/>Empty"| n4
+  n4 -->|"/robot_1/droan/rewind_info<br/>MarkerArray"| n78
+  n4 -->|"/robot_1/droan/stuck<br/>Bool"| d21(["/robot_1/droan/stuck (no subscribers)"])
+  n4 -->|"/robot_1/droan/traj_debug<br/>MarkerArray"| n78
+  d22(["/robot_1/droan/trajectory_library_vis (no publishers)"]) -->|"/robot_1/droan/trajectory_library_vis<br/>MarkerArray"| n78
+  d23(["/robot_1/droan/virtual_obstacles (no publishers)"]) -->|"/robot_1/droan/virtual_obstacles<br/>MarkerArray"| n78
+  n69 -->|"/robot_1/global_plan<br/>Path"| n4
+  n69 -->|"/robot_1/global_plan<br/>Path"| n5
+  n69 -->|"/robot_1/global_plan<br/>Path"| n78
+  n74 -->|"/robot_1/global_plan<br/>Path"| n4
+  n74 -->|"/robot_1/global_plan<br/>Path"| n5
+  n74 -->|"/robot_1/global_plan<br/>Path"| n78
+  d24(["/robot_1/interface/attitude_thrust_command (no publishers)"]) -->|"/robot_1/interface/attitude_thrust_command<br/>AttitudeThrust"| n70
+  d25(["/robot_1/interface/cmd_attitude_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_attitude_thrust<br/>AttitudeThrust"| n70
+  n69 -->|"/robot_1/interface/cmd_pose<br/>PoseStamped"| n70
+  d26(["/robot_1/interface/cmd_rate_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_rate_thrust<br/>RateThrust"| n70
+  n3 -->|"/robot_1/interface/cmd_roll_pitch_yawrate_thrust<br/>RollPitchYawrateThrust"| n70
+  d27(["/robot_1/interface/cmd_torque_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_torque_thrust<br/>TorqueThrust"| n70
+  n69 -->|"/robot_1/interface/cmd_velocity<br/>TwistStamped"| n70
+  n70 -->|"/robot_1/interface/has_control<br/>Bool"| n77
+  n70 -->|"/robot_1/interface/is_armed<br/>Bool"| n77
+  d28(["/robot_1/interface/mavros/actuator_control (no publishers)"]) -->|"/robot_1/interface/mavros/actuator_control<br/>ActuatorControl"| n6
+  d29(["/robot_1/interface/mavros/adsb/send (no publishers)"]) -->|"/robot_1/interface/mavros/adsb/send<br/>ADSBVehicle"| n7
+  n7 -->|"/robot_1/interface/mavros/adsb/vehicle<br/>ADSBVehicle"| d30(["/robot_1/interface/mavros/adsb/vehicle (no subscribers)"])
+  n8 -->|"/robot_1/interface/mavros/altitude<br/>Altitude"| d31(["/robot_1/interface/mavros/altitude (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/battery<br/>BatteryState"| d32(["/robot_1/interface/mavros/battery (no subscribers)"])
+  n9 -->|"/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp<br/>CamIMUStamp"| d33(["/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp (no subscribers)"])
+  n10 -->|"/robot_1/interface/mavros/camera/image_captured<br/>CameraImageCaptured"| d34(["/robot_1/interface/mavros/camera/image_captured (no subscribers)"])
+  d35(["/robot_1/interface/mavros/cellular_status/status (no publishers)"]) -->|"/robot_1/interface/mavros/cellular_status/status<br/>CellularStatus"| n11
+  d36(["/robot_1/interface/mavros/companion_process/status (no publishers)"]) -->|"/robot_1/interface/mavros/companion_process/status<br/>CompanionProcessStatus"| n13
+  n14 -->|"/robot_1/interface/mavros/debug_value/debug<br/>DebugValue"| d37(["/robot_1/interface/mavros/debug_value/debug (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/debug_float_array<br/>DebugValue"| d38(["/robot_1/interface/mavros/debug_value/debug_float_array (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/debug_vector<br/>DebugValue"| d39(["/robot_1/interface/mavros/debug_value/debug_vector (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/named_value_float<br/>DebugValue"| d40(["/robot_1/interface/mavros/debug_value/named_value_float (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/named_value_int<br/>DebugValue"| d41(["/robot_1/interface/mavros/debug_value/named_value_int (no subscribers)"])
+  d42(["/robot_1/interface/mavros/debug_value/send (no publishers)"]) -->|"/robot_1/interface/mavros/debug_value/send<br/>DebugValue"| n14
+  n15 -->|"/robot_1/interface/mavros/esc_status/info<br/>ESCInfo"| d43(["/robot_1/interface/mavros/esc_status/info (no subscribers)"])
+  n15 -->|"/robot_1/interface/mavros/esc_status/status<br/>ESCStatus"| d44(["/robot_1/interface/mavros/esc_status/status (no subscribers)"])
+  n16 -->|"/robot_1/interface/mavros/esc_telemetry/telemetry<br/>ESCTelemetry"| d45(["/robot_1/interface/mavros/esc_telemetry/telemetry (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/estimator_status<br/>EstimatorStatus"| d46(["/robot_1/interface/mavros/estimator_status (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/extended_state<br/>ExtendedState"| n77
+  d47(["/robot_1/interface/mavros/fake_gps/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/fake_gps/mocap/tf<br/>TransformStamped"| n17
+  n19 -->|"/robot_1/interface/mavros/geofence/fences<br/>WaypointList"| d48(["/robot_1/interface/mavros/geofence/fences (no subscribers)"])
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/device/attitude_status<br/>GimbalDeviceAttitudeStatus"| d49(["/robot_1/interface/mavros/gimbal_control/device/attitude_status (no subscribers)"])
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/device/info<br/>GimbalDeviceInformation"| d50(["/robot_1/interface/mavros/gimbal_control/device/info (no subscribers)"])
+  d51(["/robot_1/interface/mavros/gimbal_control/device/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/device/set_attitude<br/>GimbalDeviceSetAttitude"| n20
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/manager/info<br/>GimbalManagerInformation"| d52(["/robot_1/interface/mavros/gimbal_control/manager/info (no subscribers)"])
+  d53(["/robot_1/interface/mavros/gimbal_control/manager/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_attitude<br/>GimbalManagerSetAttitude"| n20
+  d54(["/robot_1/interface/mavros/gimbal_control/manager/set_manual_control (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_manual_control<br/>GimbalManagerSetPitchyaw"| n20
+  d55(["/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw<br/>GimbalManagerSetPitchyaw"| n20
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/manager/status<br/>GimbalManagerStatus"| d56(["/robot_1/interface/mavros/gimbal_control/manager/status (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/compass_hdg<br/>Float64"| n5
+  n21 -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n54
+  n21 -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n70
+  n21 -->|"/robot_1/interface/mavros/global_position/gp_lp_offset<br/>PoseStamped"| d57(["/robot_1/interface/mavros/global_position/gp_lp_offset (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/gp_origin<br/>GeoPointStamped"| n25
+  n21 -->|"/robot_1/interface/mavros/global_position/local<br/>Odometry"| n70
+  n21 -->|"/robot_1/interface/mavros/global_position/raw/fix<br/>NavSatFix"| n5
+  n21 -->|"/robot_1/interface/mavros/global_position/raw/gps_vel<br/>TwistStamped"| d58(["/robot_1/interface/mavros/global_position/raw/gps_vel (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/raw/satellites<br/>UInt32"| d59(["/robot_1/interface/mavros/global_position/raw/satellites (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/rel_alt<br/>Float64"| d60(["/robot_1/interface/mavros/global_position/rel_alt (no subscribers)"])
+  d61(["/robot_1/interface/mavros/global_position/set_gp_origin (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/set_gp_origin<br/>GeoPointStamped"| n21
+  d62(["/robot_1/interface/mavros/gps_input/gps_input (no publishers)"]) -->|"/robot_1/interface/mavros/gps_input/gps_input<br/>GPSINPUT"| n22
+  n23 -->|"/robot_1/interface/mavros/gps_rtk/rtk_baseline<br/>RTKBaseline"| d63(["/robot_1/interface/mavros/gps_rtk/rtk_baseline (no subscribers)"])
+  d64(["/robot_1/interface/mavros/gps_rtk/send_rtcm (no publishers)"]) -->|"/robot_1/interface/mavros/gps_rtk/send_rtcm<br/>RTCM"| n23
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps1/raw<br/>GPSRAW"| d65(["/robot_1/interface/mavros/gpsstatus/gps1/raw (no subscribers)"])
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps1/rtk<br/>GPSRTK"| d66(["/robot_1/interface/mavros/gpsstatus/gps1/rtk (no subscribers)"])
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps2/raw<br/>GPSRAW"| d67(["/robot_1/interface/mavros/gpsstatus/gps2/raw (no subscribers)"])
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps2/rtk<br/>GPSRTK"| d68(["/robot_1/interface/mavros/gpsstatus/gps2/rtk (no subscribers)"])
+  n26 -->|"/robot_1/interface/mavros/hil/actuator_controls<br/>HilActuatorControls"| d69(["/robot_1/interface/mavros/hil/actuator_controls (no subscribers)"])
+  n26 -->|"/robot_1/interface/mavros/hil/controls<br/>HilControls"| d70(["/robot_1/interface/mavros/hil/controls (no subscribers)"])
+  d71(["/robot_1/interface/mavros/hil/gps (no publishers)"]) -->|"/robot_1/interface/mavros/hil/gps<br/>HilGPS"| n26
+  d72(["/robot_1/interface/mavros/hil/imu_ned (no publishers)"]) -->|"/robot_1/interface/mavros/hil/imu_ned<br/>HilSensor"| n26
+  d73(["/robot_1/interface/mavros/hil/optical_flow (no publishers)"]) -->|"/robot_1/interface/mavros/hil/optical_flow<br/>OpticalFlowRad"| n26
+  d74(["/robot_1/interface/mavros/hil/rc_inputs (no publishers)"]) -->|"/robot_1/interface/mavros/hil/rc_inputs<br/>RCIn"| n26
+  d75(["/robot_1/interface/mavros/hil/state (no publishers)"]) -->|"/robot_1/interface/mavros/hil/state<br/>HilStateQuaternion"| n26
+  n27 -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n21
+  n27 -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n70
+  n70 -->|"/robot_1/interface/mavros/home_position/set<br/>HomePosition"| n27
+  n28 -->|"/robot_1/interface/mavros/imu/data<br/>Imu"| d76(["/robot_1/interface/mavros/imu/data (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/data_raw<br/>Imu"| d77(["/robot_1/interface/mavros/imu/data_raw (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/diff_pressure<br/>FluidPressure"| d78(["/robot_1/interface/mavros/imu/diff_pressure (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/mag<br/>MagneticField"| d79(["/robot_1/interface/mavros/imu/mag (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/static_pressure<br/>FluidPressure"| d80(["/robot_1/interface/mavros/imu/static_pressure (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/temperature_baro<br/>Temperature"| d81(["/robot_1/interface/mavros/imu/temperature_baro (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/temperature_imu<br/>Temperature"| d82(["/robot_1/interface/mavros/imu/temperature_imu (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/landing_target/lt_marker<br/>Vector3Stamped"| d83(["/robot_1/interface/mavros/landing_target/lt_marker (no subscribers)"])
+  d84(["/robot_1/interface/mavros/landing_target/pose (no publishers)"]) -->|"/robot_1/interface/mavros/landing_target/pose<br/>PoseStamped"| n29
+  n29 -->|"/robot_1/interface/mavros/landing_target/pose_in<br/>PoseStamped"| d85(["/robot_1/interface/mavros/landing_target/pose_in (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/accel<br/>AccelWithCovarianceStamped"| d86(["/robot_1/interface/mavros/local_position/accel (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/odom<br/>Odometry"| n71
+  n30 -->|"/robot_1/interface/mavros/local_position/pose<br/>PoseStamped"| n54
+  n30 -->|"/robot_1/interface/mavros/local_position/pose_cov<br/>PoseWithCovarianceStamped"| d87(["/robot_1/interface/mavros/local_position/pose_cov (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/velocity_body<br/>TwistStamped"| d88(["/robot_1/interface/mavros/local_position/velocity_body (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/velocity_body_cov<br/>TwistWithCovarianceStamped"| d89(["/robot_1/interface/mavros/local_position/velocity_body_cov (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/velocity_local<br/>TwistStamped"| d90(["/robot_1/interface/mavros/local_position/velocity_local (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/log_transfer/raw/log_data<br/>LogData"| d91(["/robot_1/interface/mavros/log_transfer/raw/log_data (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/log_transfer/raw/log_entry<br/>LogEntry"| d92(["/robot_1/interface/mavros/log_transfer/raw/log_entry (no subscribers)"])
+  n32 -->|"/robot_1/interface/mavros/mag_calibration/report<br/>MagnetometerReporter"| d93(["/robot_1/interface/mavros/mag_calibration/report (no subscribers)"])
+  n32 -->|"/robot_1/interface/mavros/mag_calibration/status<br/>UInt8"| d94(["/robot_1/interface/mavros/mag_calibration/status (no subscribers)"])
+  n33 -->|"/robot_1/interface/mavros/manual_control/control<br/>ManualControl"| d95(["/robot_1/interface/mavros/manual_control/control (no subscribers)"])
+  d96(["/robot_1/interface/mavros/manual_control/send (no publishers)"]) -->|"/robot_1/interface/mavros/manual_control/send<br/>ManualControl"| n33
+  n37 -->|"/robot_1/interface/mavros/mission/reached<br/>WaypointReached"| d97(["/robot_1/interface/mavros/mission/reached (no subscribers)"])
+  n37 -->|"/robot_1/interface/mavros/mission/waypoints<br/>WaypointList"| d98(["/robot_1/interface/mavros/mission/waypoints (no subscribers)"])
+  d99(["/robot_1/interface/mavros/mocap/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/pose<br/>PoseStamped"| n38
+  d100(["/robot_1/interface/mavros/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/tf<br/>TransformStamped"| n38
+  d101(["/robot_1/interface/mavros/mount_control/command (no publishers)"]) -->|"/robot_1/interface/mavros/mount_control/command<br/>MountControl"| n39
+  n39 -->|"/robot_1/interface/mavros/mount_control/orientation<br/>Quaternion"| d102(["/robot_1/interface/mavros/mount_control/orientation (no subscribers)"])
+  n39 -->|"/robot_1/interface/mavros/mount_control/status<br/>Vector3Stamped"| d103(["/robot_1/interface/mavros/mount_control/status (no subscribers)"])
+  n40 -->|"/robot_1/interface/mavros/nav_controller_output/output<br/>NavControllerOutput"| d104(["/robot_1/interface/mavros/nav_controller_output/output (no subscribers)"])
+  d105(["/robot_1/interface/mavros/obstacle/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle/send<br/>LaserScan"| n41
+  d106(["/robot_1/interface/mavros/obstacle_distance_3d/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle_distance_3d/send<br/>ObstacleDistance3D"| n42
+  n43 -->|"/robot_1/interface/mavros/odometry/in<br/>Odometry"| d107(["/robot_1/interface/mavros/odometry/in (no subscribers)"])
+  d108(["/robot_1/interface/mavros/odometry/out (no publishers)"]) -->|"/robot_1/interface/mavros/odometry/out<br/>Odometry"| n43
+  d109(["/robot_1/interface/mavros/onboard_computer/status (no publishers)"]) -->|"/robot_1/interface/mavros/onboard_computer/status<br/>OnboardComputerStatus"| n44
+  d110(["/robot_1/interface/mavros/open_drone_id/basic_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/basic_id<br/>OpenDroneIDBasicID"| n45
+  d111(["/robot_1/interface/mavros/open_drone_id/operator_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/operator_id<br/>OpenDroneIDOperatorID"| n45
+  d112(["/robot_1/interface/mavros/open_drone_id/self_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/self_id<br/>OpenDroneIDSelfID"| n45
+  d113(["/robot_1/interface/mavros/open_drone_id/system (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system<br/>OpenDroneIDSystem"| n45
+  d114(["/robot_1/interface/mavros/open_drone_id/system_update (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system_update<br/>OpenDroneIDSystemUpdate"| n45
+  n46 -->|"/robot_1/interface/mavros/optical_flow/ground_distance<br/>Range"| d115(["/robot_1/interface/mavros/optical_flow/ground_distance (no subscribers)"])
+  n46 -->|"/robot_1/interface/mavros/optical_flow/raw/optical_flow<br/>OpticalFlow"| d116(["/robot_1/interface/mavros/optical_flow/raw/optical_flow (no subscribers)"])
+  d117(["/robot_1/interface/mavros/optical_flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/optical_flow/raw/send<br/>OpticalFlow"| n46
+  n47 -->|"/robot_1/interface/mavros/param/event<br/>ParamEvent"| d118(["/robot_1/interface/mavros/param/event (no subscribers)"])
+  d119(["/robot_1/interface/mavros/play_tune (no publishers)"]) -->|"/robot_1/interface/mavros/play_tune<br/>PlayTuneV2"| n48
+  n49 -->|"/robot_1/interface/mavros/px4flow/ground_distance<br/>Range"| d120(["/robot_1/interface/mavros/px4flow/ground_distance (no subscribers)"])
+  n49 -->|"/robot_1/interface/mavros/px4flow/raw/optical_flow_rad<br/>OpticalFlowRad"| d121(["/robot_1/interface/mavros/px4flow/raw/optical_flow_rad (no subscribers)"])
+  d122(["/robot_1/interface/mavros/px4flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/px4flow/raw/send<br/>OpticalFlowRad"| n49
+  n49 -->|"/robot_1/interface/mavros/px4flow/temperature<br/>Temperature"| d123(["/robot_1/interface/mavros/px4flow/temperature (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/radio_status<br/>RadioStatus"| d124(["/robot_1/interface/mavros/radio_status (no subscribers)"])
+  n50 -->|"/robot_1/interface/mavros/rallypoint/rallypoints<br/>WaypointList"| d125(["/robot_1/interface/mavros/rallypoint/rallypoints (no subscribers)"])
+  n51 -->|"/robot_1/interface/mavros/rc/in<br/>RCIn"| d126(["/robot_1/interface/mavros/rc/in (no subscribers)"])
+  n51 -->|"/robot_1/interface/mavros/rc/out<br/>RCOut"| d127(["/robot_1/interface/mavros/rc/out (no subscribers)"])
+  d128(["/robot_1/interface/mavros/rc/override (no publishers)"]) -->|"/robot_1/interface/mavros/rc/override<br/>OverrideRCIn"| n51
+  d129(["/robot_1/interface/mavros/setpoint_accel/accel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_accel/accel<br/>Vector3Stamped"| n52
+  d130(["/robot_1/interface/mavros/setpoint_attitude/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/cmd_vel<br/>TwistStamped"| n53
+  d131(["/robot_1/interface/mavros/setpoint_attitude/thrust (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/thrust<br/>Thrust"| n53
+  n70 -->|"/robot_1/interface/mavros/setpoint_position/global<br/>GeoPoseStamped"| n54
+  d132(["/robot_1/interface/mavros/setpoint_position/global_to_local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_position/global_to_local<br/>GeoPoseStamped"| n54
+  n70 -->|"/robot_1/interface/mavros/setpoint_position/local<br/>PoseStamped"| n54
+  n70 -->|"/robot_1/interface/mavros/setpoint_raw/attitude<br/>AttitudeTarget"| n55
+  d133(["/robot_1/interface/mavros/setpoint_raw/global (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_raw/global<br/>GlobalPositionTarget"| n55
+  n70 -->|"/robot_1/interface/mavros/setpoint_raw/local<br/>PositionTarget"| n55
+  n55 -->|"/robot_1/interface/mavros/setpoint_raw/target_attitude<br/>AttitudeTarget"| d134(["/robot_1/interface/mavros/setpoint_raw/target_attitude (no subscribers)"])
+  n55 -->|"/robot_1/interface/mavros/setpoint_raw/target_global<br/>GlobalPositionTarget"| d135(["/robot_1/interface/mavros/setpoint_raw/target_global (no subscribers)"])
+  n55 -->|"/robot_1/interface/mavros/setpoint_raw/target_local<br/>PositionTarget"| d136(["/robot_1/interface/mavros/setpoint_raw/target_local (no subscribers)"])
+  n56 -->|"/robot_1/interface/mavros/setpoint_trajectory/desired<br/>Path"| d137(["/robot_1/interface/mavros/setpoint_trajectory/desired (no subscribers)"])
+  d138(["/robot_1/interface/mavros/setpoint_trajectory/local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_trajectory/local<br/>MultiDOFJointTrajectory"| n56
+  d139(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel<br/>TwistStamped"| n57
+  d140(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped<br/>Twist"| n57
+  n58 -->|"/robot_1/interface/mavros/sim_state/acceleration<br/>Vector3Stamped"| d141(["/robot_1/interface/mavros/sim_state/acceleration (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/attitude<br/>Imu"| d142(["/robot_1/interface/mavros/sim_state/attitude (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/global_position<br/>NavSatFix"| d143(["/robot_1/interface/mavros/sim_state/global_position (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/velocity_body<br/>TwistStamped"| d144(["/robot_1/interface/mavros/sim_state/velocity_body (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/velocity_local<br/>TwistStamped"| d145(["/robot_1/interface/mavros/sim_state/velocity_local (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/state<br/>State"| n70
+  n59 -->|"/robot_1/interface/mavros/status_event<br/>StatusEvent"| d146(["/robot_1/interface/mavros/status_event (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/statustext/recv<br/>StatusText"| d147(["/robot_1/interface/mavros/statustext/recv (no subscribers)"])
+  d148(["/robot_1/interface/mavros/statustext/send (no publishers)"]) -->|"/robot_1/interface/mavros/statustext/send<br/>StatusText"| n59
+  n59 -->|"/robot_1/interface/mavros/sys_status<br/>SysStatus"| d149(["/robot_1/interface/mavros/sys_status (no subscribers)"])
+  n6 -->|"/robot_1/interface/mavros/target_actuator_control<br/>ActuatorControl"| d150(["/robot_1/interface/mavros/target_actuator_control (no subscribers)"])
+  n61 -->|"/robot_1/interface/mavros/terrain/report<br/>TerrainReport"| d151(["/robot_1/interface/mavros/terrain/report (no subscribers)"])
+  n62 -->|"/robot_1/interface/mavros/time_reference<br/>TimeReference"| d152(["/robot_1/interface/mavros/time_reference (no subscribers)"])
+  n62 -->|"/robot_1/interface/mavros/timesync_status<br/>TimesyncStatus"| d153(["/robot_1/interface/mavros/timesync_status (no subscribers)"])
+  n63 -->|"/robot_1/interface/mavros/trajectory/desired<br/>Trajectory"| d154(["/robot_1/interface/mavros/trajectory/desired (no subscribers)"])
+  d155(["/robot_1/interface/mavros/trajectory/generated (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/generated<br/>Trajectory"| n63
+  d156(["/robot_1/interface/mavros/trajectory/path (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/path<br/>Path"| n63
+  d157(["/robot_1/interface/mavros/tunnel/in (no publishers)"]) -->|"/robot_1/interface/mavros/tunnel/in<br/>Tunnel"| n64
+  n64 -->|"/robot_1/interface/mavros/tunnel/out<br/>Tunnel"| d158(["/robot_1/interface/mavros/tunnel/out (no subscribers)"])
+  n65 -->|"/robot_1/interface/mavros/vfr_hud<br/>VfrHud"| d159(["/robot_1/interface/mavros/vfr_hud (no subscribers)"])
+  d160(["/robot_1/interface/mavros/vision_pose/pose (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose<br/>PoseStamped"| n66
+  d161(["/robot_1/interface/mavros/vision_pose/pose_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose_cov<br/>PoseWithCovarianceStamped"| n66
+  d162(["/robot_1/interface/mavros/vision_speed/speed_twist (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist<br/>TwistStamped"| n67
+  d163(["/robot_1/interface/mavros/vision_speed/speed_twist_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist_cov<br/>TwistWithCovarianceStamped"| n67
+  d164(["/robot_1/interface/mavros/vision_speed/speed_vector (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_vector<br/>Vector3Stamped"| n67
+  n68 -->|"/robot_1/interface/mavros/wind_estimation<br/>TwistWithCovarianceStamped"| d165(["/robot_1/interface/mavros/wind_estimation (no subscribers)"])
+  d166(["/robot_1/interface/pose_command (no publishers)"]) -->|"/robot_1/interface/pose_command<br/>PoseStamped"| n70
+  d167(["/robot_1/interface/rate_thrust_command (no publishers)"]) -->|"/robot_1/interface/rate_thrust_command<br/>RateThrust"| n70
+  d168(["/robot_1/interface/roll_pitch_yawrate_thrust_command (no publishers)"]) -->|"/robot_1/interface/roll_pitch_yawrate_thrust_command<br/>RollPitchYawrateThrust"| n70
+  d169(["/robot_1/interface/torque_thrust_command (no publishers)"]) -->|"/robot_1/interface/torque_thrust_command<br/>TorqueThrust"| n70
+  d170(["/robot_1/interface/velocity_command (no publishers)"]) -->|"/robot_1/interface/velocity_command<br/>TwistStamped"| n70
+  d171(["/robot_1/joint_states (no publishers)"]) -->|"/robot_1/joint_states<br/>JointState"| n75
+  d172(["/robot_1/macvo/odometry (no publishers)"]) -->|"/robot_1/macvo/odometry<br/>Odometry"| n78
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n2
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n3
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n69
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n74
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n77
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n78
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n79
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n80
+  d173(["/robot_1/perception/macvo/disparity (no publishers)"]) -->|"/robot_1/perception/macvo/disparity<br/>Image"| n78
+  d174(["/robot_1/perception/macvo/point_cloud (no publishers)"]) -->|"/robot_1/perception/macvo/point_cloud<br/>PointCloud"| n78
+  n72 -->|"/robot_1/perception/stereo_image_proc/disparity<br/>DisparityImage"| n4
+  n72 -->|"/robot_1/perception/stereo_image_proc/disparity<br/>DisparityImage"| n73
+  n73 -->|"/robot_1/perception/stereo_image_proc/point_cloud<br/>PointCloud2"| n78
+  n74 -->|"/robot_1/random_walk_node/goal_point_viz<br/>Marker"| d175(["/robot_1/random_walk_node/goal_point_viz (no subscribers)"])
+  n74 -->|"/robot_1/random_walk_node/traj_viz<br/>Marker"| d176(["/robot_1/random_walk_node/traj_viz (no subscribers)"])
+  n75 -->|"/robot_1/robot_description<br/>String"| d177(["/robot_1/robot_description (no subscribers)"])
+  d178(["/robot_1/sensors/front_stereo/left/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n72
+  d178 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n73
+  d178 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n78
+  d179(["/robot_1/sensors/front_stereo/left/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/depth_ground_truth<br/>Image"| n78
+  d180(["/robot_1/sensors/front_stereo/left/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n72
+  d180 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n73
+  d180 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n78
+  d181(["/robot_1/sensors/front_stereo/right/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n4
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n72
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n73
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n78
+  d182(["/robot_1/sensors/front_stereo/right/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/depth_ground_truth<br/>Image"| n78
+  d183(["/robot_1/sensors/front_stereo/right/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n72
+  d183 -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n78
+  d184(["/robot_1/sensors/lidar/point_cloud (no publishers)"]) -->|"/robot_1/sensors/lidar/point_cloud<br/>PointCloud2"| n78
+  n76 -->|"/robot_1/sensors/ouster/point_cloud<br/>PointCloud2"| n81
+  d185(["/robot_1/sensors/ouster/point_cloud_raw (no publishers)"]) -->|"/robot_1/sensors/ouster/point_cloud_raw<br/>PointCloud2"| n76
+  n77 -->|"/robot_1/takeoff_landing_planner/is_airborne<br/>Bool"| d186(["/robot_1/takeoff_landing_planner/is_airborne (no subscribers)"])
+  d187(["/robot_1/takeoff_landing_planner/trajectory_completion_percentage (no publishers)"]) -->|"/robot_1/takeoff_landing_planner/trajectory_completion_percentage<br/>Float32"| n77
+  n80 -->|"/robot_1/trajectory_controller/closest_point<br/>Odometry"| d188(["/robot_1/trajectory_controller/closest_point (no subscribers)"])
+  n80 -->|"/robot_1/trajectory_controller/look_ahead<br/>Odometry"| n4
+  n80 -->|"/robot_1/trajectory_controller/projected_drone_pose<br/>PoseStamped"| n69
+  n80 -->|"/robot_1/trajectory_controller/tracking_error<br/>Float32"| d189(["/robot_1/trajectory_controller/tracking_error (no subscribers)"])
+  n80 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n3
+  n80 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n4
+  n80 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n69
+  n80 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n77
+  n80 -->|"/robot_1/trajectory_controller/tracking_point_velocity_magnitude<br/>Float32"| d190(["/robot_1/trajectory_controller/tracking_point_velocity_magnitude (no subscribers)"])
+  n80 -->|"/robot_1/trajectory_controller/traj_drone_point<br/>Odometry"| d191(["/robot_1/trajectory_controller/traj_drone_point (no subscribers)"])
+  n80 -->|"/robot_1/trajectory_controller/trajectory_completion_percentage<br/>Float32"| n79
+  n80 -->|"/robot_1/trajectory_controller/trajectory_controller_debug_markers<br/>MarkerArray"| n78
+  n77 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n80
+  n79 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n80
+  n4 -->|"/robot_1/trajectory_controller/trajectory_segment_to_add<br/>TrajectoryXYZVYaw"| n80
+  n80 -->|"/robot_1/trajectory_controller/trajectory_time<br/>Float32"| d192(["/robot_1/trajectory_controller/trajectory_time (no subscribers)"])
+  n80 -->|"/robot_1/trajectory_controller/trajectory_vis<br/>MarkerArray"| n78
+  n80 -->|"/robot_1/trajectory_controller/virtual_tracking_point<br/>Odometry"| d193(["/robot_1/trajectory_controller/virtual_tracking_point (no subscribers)"])
+  n81 -->|"/robot_1/vdb_mapping/vdb_map_overwrites<br/>UpdateGrid"| d194(["/robot_1/vdb_mapping/vdb_map_overwrites (no subscribers)"])
+  n81 -->|"/robot_1/vdb_mapping/vdb_map_pointcloud<br/>PointCloud2"| d195(["/robot_1/vdb_mapping/vdb_map_pointcloud (no subscribers)"])
+  n81 -->|"/robot_1/vdb_mapping/vdb_map_sections<br/>UpdateGrid"| d196(["/robot_1/vdb_mapping/vdb_map_sections (no subscribers)"])
+  n81 -->|"/robot_1/vdb_mapping/vdb_map_updates<br/>UpdateGrid"| d197(["/robot_1/vdb_mapping/vdb_map_updates (no subscribers)"])
+  n81 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n74
+  n81 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n78
+  n34 -->|"/tf<br/>TFMessage"| n69
+  n34 -->|"/tf<br/>TFMessage"| n78
+  n71 -->|"/tf<br/>TFMessage"| n69
+  n71 -->|"/tf<br/>TFMessage"| n78
+  n75 -->|"/tf<br/>TFMessage"| n69
+  n75 -->|"/tf<br/>TFMessage"| n78
+  n80 -->|"/tf<br/>TFMessage"| n69
+  n80 -->|"/tf<br/>TFMessage"| n78
+  n34 -->|"/tf_static<br/>TFMessage"| n69
+  n34 -->|"/tf_static<br/>TFMessage"| n78
+  n75 -->|"/tf_static<br/>TFMessage"| n69
+  n75 -->|"/tf_static<br/>TFMessage"| n78
+  n82 -->|"/tf_static<br/>TFMessage"| n69
+  n82 -->|"/tf_static<br/>TFMessage"| n78
+  n34 -->|"/uas2/mavlink_sink<br/>Mavlink"| n36
+  n36 -->|"/uas2/mavlink_source<br/>Mavlink"| n34
+```
+
+<!-- wiring-graph-v1
+{
+"edges": [
+{
+"dir": "sub",
+"node": "/robot_1/Container",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/behavior/drone_safety_monitor/drone_safety_monitor",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/control/pid_controller",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/droan/disparity_expander_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/gossip_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/actuator_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/adsb",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/altitude",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cam_imu_sync",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/camera",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cellular_status",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cmd",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/companion_process",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/debug_value",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/esc_status",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/esc_telemetry",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/fake_gps",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/ftp",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/geofence",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gimbal_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/global_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gps_input",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gps_rtk",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gpsstatus",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/guided_target",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/hil",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/home_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/imu",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/landing_target",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/local_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/log_transfer",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mag_calibration",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/manual_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros_router",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mission",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mocap",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mount_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/nav_controller_output",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/obstacle",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/obstacle_distance_3d",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/odometry",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/onboard_computer",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/open_drone_id",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/optical_flow",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/param",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/play_tune",
+"qos_profile": {
+"depth": "UNKNOWN",
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+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/interface/mavros/state": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/State"
+},
+"/robot_1/interface/mavros/status_event": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/StatusEvent"
+},
+"/robot_1/interface/mavros/statustext/recv": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/StatusText"
+},
+"/robot_1/interface/mavros/statustext/send": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/StatusText"
+},
+"/robot_1/interface/mavros/sys_status": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/SysStatus"
+},
+"/robot_1/interface/mavros/target_actuator_control": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/ActuatorControl"
+},
+"/robot_1/interface/mavros/terrain/report": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/TerrainReport"
+},
+"/robot_1/interface/mavros/time_reference": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/TimeReference"
+},
+"/robot_1/interface/mavros/timesync_status": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/TimesyncStatus"
+},
+"/robot_1/interface/mavros/trajectory/desired": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Trajectory"
+},
+"/robot_1/interface/mavros/trajectory/generated": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Trajectory"
+},
+"/robot_1/interface/mavros/trajectory/path": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Path"
+},
+"/robot_1/interface/mavros/tunnel/in": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Tunnel"
+},
+"/robot_1/interface/mavros/tunnel/out": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Tunnel"
+},
+"/robot_1/interface/mavros/vfr_hud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/VfrHud"
+},
+"/robot_1/interface/mavros/vision_pose/pose": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/interface/mavros/vision_pose/pose_cov": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseWithCovarianceStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_twist": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_twist_cov": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistWithCovarianceStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_vector": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/Vector3Stamped"
+},
+"/robot_1/interface/mavros/wind_estimation": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "geometry_msgs/msg/TwistWithCovarianceStamped"
+},
+"/robot_1/interface/pose_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/interface/rate_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/RateThrust"
+},
+"/robot_1/interface/roll_pitch_yawrate_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/RollPitchYawrateThrust"
+},
+"/robot_1/interface/torque_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/TorqueThrust"
+},
+"/robot_1/interface/velocity_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/joint_states": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/JointState"
+},
+"/robot_1/macvo/odometry": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Odometry"
+},
+"/robot_1/odometry_conversion/odometry": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Odometry"
+},
+"/robot_1/perception/macvo/disparity": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/perception/macvo/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/PointCloud"
+},
+"/robot_1/perception/stereo_image_proc/disparity": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "stereo_msgs/msg/DisparityImage"
+},
+"/robot_1/perception/stereo_image_proc/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/random_walk_node/goal_point_viz": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/robot_1/random_walk_node/traj_viz": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/robot_1/robot_description": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/String"
+},
+"/robot_1/sensors/front_stereo/left/camera_info": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/CameraInfo"
+},
+"/robot_1/sensors/front_stereo/left/depth_ground_truth": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/left/image_rect": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/right/camera_info": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/CameraInfo"
+},
+"/robot_1/sensors/front_stereo/right/depth_ground_truth": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/right/image_rect": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/lidar/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/sensors/ouster/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/sensors/ouster/point_cloud_raw": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/takeoff_landing_planner/is_airborne": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Bool"
+},
+"/robot_1/takeoff_landing_planner/trajectory_completion_percentage": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/closest_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/look_ahead": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/projected_drone_pose": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/trajectory_controller/tracking_error": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/tracking_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/tracking_point_velocity_magnitude": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/traj_drone_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/trajectory_completion_percentage": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/trajectory_controller_debug_markers": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/MarkerArray"
+},
+"/robot_1/trajectory_controller/trajectory_override": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/TrajectoryXYZVYaw"
+},
+"/robot_1/trajectory_controller/trajectory_segment_to_add": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/TrajectoryXYZVYaw"
+},
+"/robot_1/trajectory_controller/trajectory_time": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/trajectory_vis": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/MarkerArray"
+},
+"/robot_1/trajectory_controller/virtual_tracking_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/vdb_mapping/vdb_map_overwrites": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_pointcloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/vdb_mapping/vdb_map_sections": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_updates": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_visualization": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/tf": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "tf2_msgs/msg/TFMessage"
+},
+"/tf_static": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "tf2_msgs/msg/TFMessage"
+},
+"/uas2/mavlink_sink": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/Mavlink"
+},
+"/uas2/mavlink_source": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/Mavlink"
+}
+},
+"version": 1
+}
+wiring-graph-v1 -->
diff --git a/stacks/full_droan_cpu/wiring.md b/stacks/full_droan_cpu/wiring.md
new file mode 100644
index 000000000..92ab3380a
--- /dev/null
+++ b/stacks/full_droan_cpu/wiring.md
@@ -0,0 +1,7865 @@
+# Wiring snapshot: full_droan_cpu
+
+- **generated-by**: tests/system/test_wiring_snapshot.py
+- **date**: 2026-08-20 22:16:26
+- **sim**: isaacsim
+- **num_robots**: 1
+- **source-sha**: d02a3467b72d
+
+```mermaid
+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["droan"]
+    n4["/robot_1/droan/disparity_expansion"]
+    n5["/robot_1/droan/droan_local_planner"]
+  end
+  subgraph g3["interface"]
+    n7["/robot_1/interface/mavros/actuator_control"]
+    n8["/robot_1/interface/mavros/adsb"]
+    n9["/robot_1/interface/mavros/altitude"]
+    n10["/robot_1/interface/mavros/cam_imu_sync"]
+    n11["/robot_1/interface/mavros/camera"]
+    n12["/robot_1/interface/mavros/cellular_status"]
+    n13["/robot_1/interface/mavros/cmd"]
+    n14["/robot_1/interface/mavros/companion_process"]
+    n15["/robot_1/interface/mavros/debug_value"]
+    n16["/robot_1/interface/mavros/esc_status"]
+    n17["/robot_1/interface/mavros/esc_telemetry"]
+    n18["/robot_1/interface/mavros/fake_gps"]
+    n19["/robot_1/interface/mavros/ftp"]
+    n20["/robot_1/interface/mavros/geofence"]
+    n21["/robot_1/interface/mavros/gimbal_control"]
+    n22["/robot_1/interface/mavros/global_position"]
+    n23["/robot_1/interface/mavros/gps_input"]
+    n24["/robot_1/interface/mavros/gps_rtk"]
+    n25["/robot_1/interface/mavros/gpsstatus"]
+    n26["/robot_1/interface/mavros/guided_target"]
+    n27["/robot_1/interface/mavros/hil"]
+    n28["/robot_1/interface/mavros/home_position"]
+    n29["/robot_1/interface/mavros/imu"]
+    n30["/robot_1/interface/mavros/landing_target"]
+    n31["/robot_1/interface/mavros/local_position"]
+    n32["/robot_1/interface/mavros/log_transfer"]
+    n33["/robot_1/interface/mavros/mag_calibration"]
+    n34["/robot_1/interface/mavros/manual_control"]
+    n35["/robot_1/interface/mavros/mavros"]
+    n36["/robot_1/interface/mavros/mavros_node"]
+    n37["/robot_1/interface/mavros/mavros_router"]
+    n38["/robot_1/interface/mavros/mission"]
+    n39["/robot_1/interface/mavros/mocap"]
+    n40["/robot_1/interface/mavros/mount_control"]
+    n41["/robot_1/interface/mavros/nav_controller_output"]
+    n42["/robot_1/interface/mavros/obstacle"]
+    n43["/robot_1/interface/mavros/obstacle_distance_3d"]
+    n44["/robot_1/interface/mavros/odometry"]
+    n45["/robot_1/interface/mavros/onboard_computer"]
+    n46["/robot_1/interface/mavros/open_drone_id"]
+    n47["/robot_1/interface/mavros/optical_flow"]
+    n48["/robot_1/interface/mavros/param"]
+    n49["/robot_1/interface/mavros/play_tune"]
+    n50["/robot_1/interface/mavros/px4flow"]
+    n51["/robot_1/interface/mavros/rallypoint"]
+    n52["/robot_1/interface/mavros/rc"]
+    n53["/robot_1/interface/mavros/setpoint_accel"]
+    n54["/robot_1/interface/mavros/setpoint_attitude"]
+    n55["/robot_1/interface/mavros/setpoint_position"]
+    n56["/robot_1/interface/mavros/setpoint_raw"]
+    n57["/robot_1/interface/mavros/setpoint_trajectory"]
+    n58["/robot_1/interface/mavros/setpoint_velocity"]
+    n59["/robot_1/interface/mavros/sim_state"]
+    n60["/robot_1/interface/mavros/sys"]
+    n61["/robot_1/interface/mavros/tdr_radio"]
+    n62["/robot_1/interface/mavros/terrain"]
+    n63["/robot_1/interface/mavros/time"]
+    n64["/robot_1/interface/mavros/trajectory"]
+    n65["/robot_1/interface/mavros/tunnel"]
+    n66["/robot_1/interface/mavros/vfr_hud"]
+    n67["/robot_1/interface/mavros/vision_pose"]
+    n68["/robot_1/interface/mavros/vision_speed"]
+    n69["/robot_1/interface/mavros/wind"]
+    n70["/robot_1/interface/odom_modifier"]
+    n71["/robot_1/interface/robot_interface"]
+  end
+  subgraph g4["odometry_conversion"]
+    n72["/robot_1/odometry_conversion/odometry_conversion"]
+  end
+  subgraph g5["perception"]
+    n73["/robot_1/perception/stereo_image_proc/disparity_node"]
+    n74["/robot_1/perception/stereo_pointcloud"]
+  end
+  subgraph g6["robot_1"]
+    n1["/robot_1/Container"]
+    n6["/robot_1/gossip_node"]
+    n75["/robot_1/random_walk_node"]
+    n76["/robot_1/robot_state_publisher"]
+    n79["/robot_1/topic_keepalive"]
+    n82["/robot_1/vdb_mapping"]
+    n83["/robot_1/world_to_map_broadcaster"]
+  end
+  subgraph g7["root"]
+    n0["/action_relay_client"]
+  end
+  subgraph g8["sensors"]
+    n77["/robot_1/sensors/lidar_point_cloud_filter"]
+  end
+  subgraph g9["takeoff_landing_planner"]
+    n78["/robot_1/takeoff_landing_planner/takeoff_landing_task"]
+  end
+  subgraph g10["trajectory_controller"]
+    n80["/robot_1/trajectory_controller/fixed_trajectory_task"]
+    n81["/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"| n6
+  d0 -->|"/clock<br/>Clock"| n7
+  d0 -->|"/clock<br/>Clock"| n8
+  d0 -->|"/clock<br/>Clock"| n9
+  d0 -->|"/clock<br/>Clock"| n10
+  d0 -->|"/clock<br/>Clock"| n11
+  d0 -->|"/clock<br/>Clock"| n12
+  d0 -->|"/clock<br/>Clock"| n13
+  d0 -->|"/clock<br/>Clock"| n14
+  d0 -->|"/clock<br/>Clock"| n15
+  d0 -->|"/clock<br/>Clock"| n16
+  d0 -->|"/clock<br/>Clock"| n17
+  d0 -->|"/clock<br/>Clock"| n18
+  d0 -->|"/clock<br/>Clock"| n19
+  d0 -->|"/clock<br/>Clock"| n20
+  d0 -->|"/clock<br/>Clock"| n21
+  d0 -->|"/clock<br/>Clock"| n22
+  d0 -->|"/clock<br/>Clock"| n23
+  d0 -->|"/clock<br/>Clock"| n24
+  d0 -->|"/clock<br/>Clock"| n25
+  d0 -->|"/clock<br/>Clock"| n26
+  d0 -->|"/clock<br/>Clock"| n27
+  d0 -->|"/clock<br/>Clock"| n28
+  d0 -->|"/clock<br/>Clock"| n29
+  d0 -->|"/clock<br/>Clock"| n30
+  d0 -->|"/clock<br/>Clock"| n31
+  d0 -->|"/clock<br/>Clock"| n32
+  d0 -->|"/clock<br/>Clock"| n33
+  d0 -->|"/clock<br/>Clock"| n34
+  d0 -->|"/clock<br/>Clock"| n35
+  d0 -->|"/clock<br/>Clock"| n36
+  d0 -->|"/clock<br/>Clock"| n37
+  d0 -->|"/clock<br/>Clock"| n38
+  d0 -->|"/clock<br/>Clock"| n39
+  d0 -->|"/clock<br/>Clock"| n40
+  d0 -->|"/clock<br/>Clock"| n41
+  d0 -->|"/clock<br/>Clock"| n42
+  d0 -->|"/clock<br/>Clock"| n43
+  d0 -->|"/clock<br/>Clock"| n44
+  d0 -->|"/clock<br/>Clock"| n45
+  d0 -->|"/clock<br/>Clock"| n46
+  d0 -->|"/clock<br/>Clock"| n47
+  d0 -->|"/clock<br/>Clock"| n48
+  d0 -->|"/clock<br/>Clock"| n49
+  d0 -->|"/clock<br/>Clock"| n50
+  d0 -->|"/clock<br/>Clock"| n51
+  d0 -->|"/clock<br/>Clock"| n52
+  d0 -->|"/clock<br/>Clock"| n53
+  d0 -->|"/clock<br/>Clock"| n54
+  d0 -->|"/clock<br/>Clock"| n55
+  d0 -->|"/clock<br/>Clock"| n56
+  d0 -->|"/clock<br/>Clock"| n57
+  d0 -->|"/clock<br/>Clock"| n58
+  d0 -->|"/clock<br/>Clock"| n59
+  d0 -->|"/clock<br/>Clock"| n60
+  d0 -->|"/clock<br/>Clock"| n61
+  d0 -->|"/clock<br/>Clock"| n62
+  d0 -->|"/clock<br/>Clock"| n63
+  d0 -->|"/clock<br/>Clock"| n64
+  d0 -->|"/clock<br/>Clock"| n65
+  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
+  n35 -->|"/diagnostics<br/>DiagnosticArray"| d1(["/diagnostics (no subscribers)"])
+  n37 -->|"/diagnostics<br/>DiagnosticArray"| d1
+  n6 -->|"/gossip/peers<br/>PeerProfile"| n6
+  n26 -->|"/move_base_simple/goal<br/>PoseStamped"| d2(["/move_base_simple/goal (no subscribers)"])
+  d3(["/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"| n78
+  n71 -->|"/robot_1/control/reset_integrators<br/>Empty"| n3
+  n3 -->|"/robot_1/control/vx_pid_info<br/>PIDInfo"| d4(["/robot_1/control/vx_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/vy_pid_info<br/>PIDInfo"| d5(["/robot_1/control/vy_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/vz_pid_info<br/>PIDInfo"| d6(["/robot_1/control/vz_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/x_pid_info<br/>PIDInfo"| d7(["/robot_1/control/x_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/y_pid_info<br/>PIDInfo"| d8(["/robot_1/control/y_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/z_pid_info<br/>PIDInfo"| d9(["/robot_1/control/z_pid_info (no subscribers)"])
+  n6 -->|"/robot_1/coordination/peer_registry<br/>PeerProfile"| d10(["/robot_1/coordination/peer_registry (no subscribers)"])
+  n70 -->|"/robot_1/cross_track_error<br/>PoseStamped"| d11(["/robot_1/cross_track_error (no subscribers)"])
+  d12(["/robot_1/droan/clear_map (no publishers)"]) -->|"/robot_1/droan/clear_map<br/>Empty"| n5
+  d13(["/robot_1/droan/custom_waypoint (no publishers)"]) -->|"/robot_1/droan/custom_waypoint<br/>PoseStamped"| n5
+  n5 -->|"/robot_1/droan/disparity_graph<br/>MarkerArray"| n79
+  n5 -->|"/robot_1/droan/disparity_map_debug<br/>MarkerArray"| n79
+  n4 -->|"/robot_1/droan/expanded_disparity_bg<br/>Image"| n5
+  n4 -->|"/robot_1/droan/expanded_disparity_fg<br/>Image"| n5
+  n4 -->|"/robot_1/droan/expansion_cloud<br/>PointCloud2"| n79
+  n4 -->|"/robot_1/droan/expansion_poly<br/>MarkerArray"| n79
+  d14(["/robot_1/droan/fg_bg_cloud (no publishers)"]) -->|"/robot_1/droan/fg_bg_cloud<br/>PointCloud2"| n79
+  n4 -->|"/robot_1/droan/frustum<br/>Marker"| n79
+  d15(["/robot_1/droan/graph_vis (no publishers)"]) -->|"/robot_1/droan/graph_vis<br/>MarkerArray"| n79
+  n5 -->|"/robot_1/droan/local_planner_global_plan_vis<br/>MarkerArray"| n79
+  n5 -->|"/robot_1/droan/map_clearing_point<br/>PoseStamped"| d16(["/robot_1/droan/map_clearing_point (no subscribers)"])
+  d17(["/robot_1/droan/none (no publishers)"]) -->|"/robot_1/droan/none<br/>Image"| n4
+  n5 -->|"/robot_1/droan/obstacle_vis<br/>Range"| d18(["/robot_1/droan/obstacle_vis (no subscribers)"])
+  d19(["/robot_1/droan/reset_stuck (no publishers)"]) -->|"/robot_1/droan/reset_stuck<br/>Empty"| n5
+  n5 -->|"/robot_1/droan/rewind_info<br/>MarkerArray"| n79
+  n5 -->|"/robot_1/droan/stuck<br/>Bool"| d20(["/robot_1/droan/stuck (no subscribers)"])
+  d21(["/robot_1/droan/traj_debug (no publishers)"]) -->|"/robot_1/droan/traj_debug<br/>MarkerArray"| n79
+  n5 -->|"/robot_1/droan/trajectory_library_vis<br/>MarkerArray"| n79
+  n5 -->|"/robot_1/droan/trajectory_override<br/>TrajectoryXYZVYaw"| d22(["/robot_1/droan/trajectory_override (no subscribers)"])
+  n5 -->|"/robot_1/droan/virtual_obstacles<br/>MarkerArray"| n79
+  d23(["/robot_1/droan/way_point (no publishers)"]) -->|"/robot_1/droan/way_point<br/>PointStamped"| n5
+  n70 -->|"/robot_1/global_plan<br/>Path"| n5
+  n70 -->|"/robot_1/global_plan<br/>Path"| n6
+  n70 -->|"/robot_1/global_plan<br/>Path"| n79
+  n75 -->|"/robot_1/global_plan<br/>Path"| n5
+  n75 -->|"/robot_1/global_plan<br/>Path"| n6
+  n75 -->|"/robot_1/global_plan<br/>Path"| n79
+  d24(["/robot_1/interface/attitude_thrust_command (no publishers)"]) -->|"/robot_1/interface/attitude_thrust_command<br/>AttitudeThrust"| n71
+  d25(["/robot_1/interface/cmd_attitude_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_attitude_thrust<br/>AttitudeThrust"| n71
+  n70 -->|"/robot_1/interface/cmd_pose<br/>PoseStamped"| n71
+  d26(["/robot_1/interface/cmd_rate_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_rate_thrust<br/>RateThrust"| n71
+  n3 -->|"/robot_1/interface/cmd_roll_pitch_yawrate_thrust<br/>RollPitchYawrateThrust"| n71
+  d27(["/robot_1/interface/cmd_torque_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_torque_thrust<br/>TorqueThrust"| n71
+  n70 -->|"/robot_1/interface/cmd_velocity<br/>TwistStamped"| n71
+  n71 -->|"/robot_1/interface/has_control<br/>Bool"| n78
+  n71 -->|"/robot_1/interface/is_armed<br/>Bool"| n78
+  d28(["/robot_1/interface/mavros/actuator_control (no publishers)"]) -->|"/robot_1/interface/mavros/actuator_control<br/>ActuatorControl"| n7
+  d29(["/robot_1/interface/mavros/adsb/send (no publishers)"]) -->|"/robot_1/interface/mavros/adsb/send<br/>ADSBVehicle"| n8
+  n8 -->|"/robot_1/interface/mavros/adsb/vehicle<br/>ADSBVehicle"| d30(["/robot_1/interface/mavros/adsb/vehicle (no subscribers)"])
+  n9 -->|"/robot_1/interface/mavros/altitude<br/>Altitude"| d31(["/robot_1/interface/mavros/altitude (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/battery<br/>BatteryState"| d32(["/robot_1/interface/mavros/battery (no subscribers)"])
+  n10 -->|"/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp<br/>CamIMUStamp"| d33(["/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp (no subscribers)"])
+  n11 -->|"/robot_1/interface/mavros/camera/image_captured<br/>CameraImageCaptured"| d34(["/robot_1/interface/mavros/camera/image_captured (no subscribers)"])
+  d35(["/robot_1/interface/mavros/cellular_status/status (no publishers)"]) -->|"/robot_1/interface/mavros/cellular_status/status<br/>CellularStatus"| n12
+  d36(["/robot_1/interface/mavros/companion_process/status (no publishers)"]) -->|"/robot_1/interface/mavros/companion_process/status<br/>CompanionProcessStatus"| n14
+  n15 -->|"/robot_1/interface/mavros/debug_value/debug<br/>DebugValue"| d37(["/robot_1/interface/mavros/debug_value/debug (no subscribers)"])
+  n15 -->|"/robot_1/interface/mavros/debug_value/debug_float_array<br/>DebugValue"| d38(["/robot_1/interface/mavros/debug_value/debug_float_array (no subscribers)"])
+  n15 -->|"/robot_1/interface/mavros/debug_value/debug_vector<br/>DebugValue"| d39(["/robot_1/interface/mavros/debug_value/debug_vector (no subscribers)"])
+  n15 -->|"/robot_1/interface/mavros/debug_value/named_value_float<br/>DebugValue"| d40(["/robot_1/interface/mavros/debug_value/named_value_float (no subscribers)"])
+  n15 -->|"/robot_1/interface/mavros/debug_value/named_value_int<br/>DebugValue"| d41(["/robot_1/interface/mavros/debug_value/named_value_int (no subscribers)"])
+  d42(["/robot_1/interface/mavros/debug_value/send (no publishers)"]) -->|"/robot_1/interface/mavros/debug_value/send<br/>DebugValue"| n15
+  n16 -->|"/robot_1/interface/mavros/esc_status/info<br/>ESCInfo"| d43(["/robot_1/interface/mavros/esc_status/info (no subscribers)"])
+  n16 -->|"/robot_1/interface/mavros/esc_status/status<br/>ESCStatus"| d44(["/robot_1/interface/mavros/esc_status/status (no subscribers)"])
+  n17 -->|"/robot_1/interface/mavros/esc_telemetry/telemetry<br/>ESCTelemetry"| d45(["/robot_1/interface/mavros/esc_telemetry/telemetry (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/estimator_status<br/>EstimatorStatus"| d46(["/robot_1/interface/mavros/estimator_status (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/extended_state<br/>ExtendedState"| n78
+  d47(["/robot_1/interface/mavros/fake_gps/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/fake_gps/mocap/tf<br/>TransformStamped"| n18
+  n20 -->|"/robot_1/interface/mavros/geofence/fences<br/>WaypointList"| d48(["/robot_1/interface/mavros/geofence/fences (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/gimbal_control/device/attitude_status<br/>GimbalDeviceAttitudeStatus"| d49(["/robot_1/interface/mavros/gimbal_control/device/attitude_status (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/gimbal_control/device/info<br/>GimbalDeviceInformation"| d50(["/robot_1/interface/mavros/gimbal_control/device/info (no subscribers)"])
+  d51(["/robot_1/interface/mavros/gimbal_control/device/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/device/set_attitude<br/>GimbalDeviceSetAttitude"| n21
+  n21 -->|"/robot_1/interface/mavros/gimbal_control/manager/info<br/>GimbalManagerInformation"| d52(["/robot_1/interface/mavros/gimbal_control/manager/info (no subscribers)"])
+  d53(["/robot_1/interface/mavros/gimbal_control/manager/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_attitude<br/>GimbalManagerSetAttitude"| n21
+  d54(["/robot_1/interface/mavros/gimbal_control/manager/set_manual_control (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_manual_control<br/>GimbalManagerSetPitchyaw"| n21
+  d55(["/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw<br/>GimbalManagerSetPitchyaw"| n21
+  n21 -->|"/robot_1/interface/mavros/gimbal_control/manager/status<br/>GimbalManagerStatus"| d56(["/robot_1/interface/mavros/gimbal_control/manager/status (no subscribers)"])
+  n22 -->|"/robot_1/interface/mavros/global_position/compass_hdg<br/>Float64"| n6
+  n22 -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n55
+  n22 -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n71
+  n22 -->|"/robot_1/interface/mavros/global_position/gp_lp_offset<br/>PoseStamped"| d57(["/robot_1/interface/mavros/global_position/gp_lp_offset (no subscribers)"])
+  n22 -->|"/robot_1/interface/mavros/global_position/gp_origin<br/>GeoPointStamped"| n26
+  n22 -->|"/robot_1/interface/mavros/global_position/local<br/>Odometry"| n71
+  n22 -->|"/robot_1/interface/mavros/global_position/raw/fix<br/>NavSatFix"| n6
+  n22 -->|"/robot_1/interface/mavros/global_position/raw/gps_vel<br/>TwistStamped"| d58(["/robot_1/interface/mavros/global_position/raw/gps_vel (no subscribers)"])
+  n22 -->|"/robot_1/interface/mavros/global_position/raw/satellites<br/>UInt32"| d59(["/robot_1/interface/mavros/global_position/raw/satellites (no subscribers)"])
+  n22 -->|"/robot_1/interface/mavros/global_position/rel_alt<br/>Float64"| d60(["/robot_1/interface/mavros/global_position/rel_alt (no subscribers)"])
+  d61(["/robot_1/interface/mavros/global_position/set_gp_origin (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/set_gp_origin<br/>GeoPointStamped"| n22
+  d62(["/robot_1/interface/mavros/gps_input/gps_input (no publishers)"]) -->|"/robot_1/interface/mavros/gps_input/gps_input<br/>GPSINPUT"| n23
+  n24 -->|"/robot_1/interface/mavros/gps_rtk/rtk_baseline<br/>RTKBaseline"| d63(["/robot_1/interface/mavros/gps_rtk/rtk_baseline (no subscribers)"])
+  d64(["/robot_1/interface/mavros/gps_rtk/send_rtcm (no publishers)"]) -->|"/robot_1/interface/mavros/gps_rtk/send_rtcm<br/>RTCM"| n24
+  n25 -->|"/robot_1/interface/mavros/gpsstatus/gps1/raw<br/>GPSRAW"| d65(["/robot_1/interface/mavros/gpsstatus/gps1/raw (no subscribers)"])
+  n25 -->|"/robot_1/interface/mavros/gpsstatus/gps1/rtk<br/>GPSRTK"| d66(["/robot_1/interface/mavros/gpsstatus/gps1/rtk (no subscribers)"])
+  n25 -->|"/robot_1/interface/mavros/gpsstatus/gps2/raw<br/>GPSRAW"| d67(["/robot_1/interface/mavros/gpsstatus/gps2/raw (no subscribers)"])
+  n25 -->|"/robot_1/interface/mavros/gpsstatus/gps2/rtk<br/>GPSRTK"| d68(["/robot_1/interface/mavros/gpsstatus/gps2/rtk (no subscribers)"])
+  n27 -->|"/robot_1/interface/mavros/hil/actuator_controls<br/>HilActuatorControls"| d69(["/robot_1/interface/mavros/hil/actuator_controls (no subscribers)"])
+  n27 -->|"/robot_1/interface/mavros/hil/controls<br/>HilControls"| d70(["/robot_1/interface/mavros/hil/controls (no subscribers)"])
+  d71(["/robot_1/interface/mavros/hil/gps (no publishers)"]) -->|"/robot_1/interface/mavros/hil/gps<br/>HilGPS"| n27
+  d72(["/robot_1/interface/mavros/hil/imu_ned (no publishers)"]) -->|"/robot_1/interface/mavros/hil/imu_ned<br/>HilSensor"| n27
+  d73(["/robot_1/interface/mavros/hil/optical_flow (no publishers)"]) -->|"/robot_1/interface/mavros/hil/optical_flow<br/>OpticalFlowRad"| n27
+  d74(["/robot_1/interface/mavros/hil/rc_inputs (no publishers)"]) -->|"/robot_1/interface/mavros/hil/rc_inputs<br/>RCIn"| n27
+  d75(["/robot_1/interface/mavros/hil/state (no publishers)"]) -->|"/robot_1/interface/mavros/hil/state<br/>HilStateQuaternion"| n27
+  n28 -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n22
+  n28 -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n71
+  n71 -->|"/robot_1/interface/mavros/home_position/set<br/>HomePosition"| n28
+  n29 -->|"/robot_1/interface/mavros/imu/data<br/>Imu"| d76(["/robot_1/interface/mavros/imu/data (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/imu/data_raw<br/>Imu"| d77(["/robot_1/interface/mavros/imu/data_raw (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/imu/diff_pressure<br/>FluidPressure"| d78(["/robot_1/interface/mavros/imu/diff_pressure (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/imu/mag<br/>MagneticField"| d79(["/robot_1/interface/mavros/imu/mag (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/imu/static_pressure<br/>FluidPressure"| d80(["/robot_1/interface/mavros/imu/static_pressure (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/imu/temperature_baro<br/>Temperature"| d81(["/robot_1/interface/mavros/imu/temperature_baro (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/imu/temperature_imu<br/>Temperature"| d82(["/robot_1/interface/mavros/imu/temperature_imu (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/landing_target/lt_marker<br/>Vector3Stamped"| d83(["/robot_1/interface/mavros/landing_target/lt_marker (no subscribers)"])
+  d84(["/robot_1/interface/mavros/landing_target/pose (no publishers)"]) -->|"/robot_1/interface/mavros/landing_target/pose<br/>PoseStamped"| n30
+  n30 -->|"/robot_1/interface/mavros/landing_target/pose_in<br/>PoseStamped"| d85(["/robot_1/interface/mavros/landing_target/pose_in (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/local_position/accel<br/>AccelWithCovarianceStamped"| d86(["/robot_1/interface/mavros/local_position/accel (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/local_position/odom<br/>Odometry"| n72
+  n31 -->|"/robot_1/interface/mavros/local_position/pose<br/>PoseStamped"| n55
+  n31 -->|"/robot_1/interface/mavros/local_position/pose_cov<br/>PoseWithCovarianceStamped"| d87(["/robot_1/interface/mavros/local_position/pose_cov (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/local_position/velocity_body<br/>TwistStamped"| d88(["/robot_1/interface/mavros/local_position/velocity_body (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/local_position/velocity_body_cov<br/>TwistWithCovarianceStamped"| d89(["/robot_1/interface/mavros/local_position/velocity_body_cov (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/local_position/velocity_local<br/>TwistStamped"| d90(["/robot_1/interface/mavros/local_position/velocity_local (no subscribers)"])
+  n32 -->|"/robot_1/interface/mavros/log_transfer/raw/log_data<br/>LogData"| d91(["/robot_1/interface/mavros/log_transfer/raw/log_data (no subscribers)"])
+  n32 -->|"/robot_1/interface/mavros/log_transfer/raw/log_entry<br/>LogEntry"| d92(["/robot_1/interface/mavros/log_transfer/raw/log_entry (no subscribers)"])
+  n33 -->|"/robot_1/interface/mavros/mag_calibration/report<br/>MagnetometerReporter"| d93(["/robot_1/interface/mavros/mag_calibration/report (no subscribers)"])
+  n33 -->|"/robot_1/interface/mavros/mag_calibration/status<br/>UInt8"| d94(["/robot_1/interface/mavros/mag_calibration/status (no subscribers)"])
+  n34 -->|"/robot_1/interface/mavros/manual_control/control<br/>ManualControl"| d95(["/robot_1/interface/mavros/manual_control/control (no subscribers)"])
+  d96(["/robot_1/interface/mavros/manual_control/send (no publishers)"]) -->|"/robot_1/interface/mavros/manual_control/send<br/>ManualControl"| n34
+  n38 -->|"/robot_1/interface/mavros/mission/reached<br/>WaypointReached"| d97(["/robot_1/interface/mavros/mission/reached (no subscribers)"])
+  n38 -->|"/robot_1/interface/mavros/mission/waypoints<br/>WaypointList"| d98(["/robot_1/interface/mavros/mission/waypoints (no subscribers)"])
+  d99(["/robot_1/interface/mavros/mocap/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/pose<br/>PoseStamped"| n39
+  d100(["/robot_1/interface/mavros/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/tf<br/>TransformStamped"| n39
+  d101(["/robot_1/interface/mavros/mount_control/command (no publishers)"]) -->|"/robot_1/interface/mavros/mount_control/command<br/>MountControl"| n40
+  n40 -->|"/robot_1/interface/mavros/mount_control/orientation<br/>Quaternion"| d102(["/robot_1/interface/mavros/mount_control/orientation (no subscribers)"])
+  n40 -->|"/robot_1/interface/mavros/mount_control/status<br/>Vector3Stamped"| d103(["/robot_1/interface/mavros/mount_control/status (no subscribers)"])
+  n41 -->|"/robot_1/interface/mavros/nav_controller_output/output<br/>NavControllerOutput"| d104(["/robot_1/interface/mavros/nav_controller_output/output (no subscribers)"])
+  d105(["/robot_1/interface/mavros/obstacle/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle/send<br/>LaserScan"| n42
+  d106(["/robot_1/interface/mavros/obstacle_distance_3d/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle_distance_3d/send<br/>ObstacleDistance3D"| n43
+  n44 -->|"/robot_1/interface/mavros/odometry/in<br/>Odometry"| d107(["/robot_1/interface/mavros/odometry/in (no subscribers)"])
+  d108(["/robot_1/interface/mavros/odometry/out (no publishers)"]) -->|"/robot_1/interface/mavros/odometry/out<br/>Odometry"| n44
+  d109(["/robot_1/interface/mavros/onboard_computer/status (no publishers)"]) -->|"/robot_1/interface/mavros/onboard_computer/status<br/>OnboardComputerStatus"| n45
+  d110(["/robot_1/interface/mavros/open_drone_id/basic_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/basic_id<br/>OpenDroneIDBasicID"| n46
+  d111(["/robot_1/interface/mavros/open_drone_id/operator_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/operator_id<br/>OpenDroneIDOperatorID"| n46
+  d112(["/robot_1/interface/mavros/open_drone_id/self_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/self_id<br/>OpenDroneIDSelfID"| n46
+  d113(["/robot_1/interface/mavros/open_drone_id/system (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system<br/>OpenDroneIDSystem"| n46
+  d114(["/robot_1/interface/mavros/open_drone_id/system_update (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system_update<br/>OpenDroneIDSystemUpdate"| n46
+  n47 -->|"/robot_1/interface/mavros/optical_flow/ground_distance<br/>Range"| d115(["/robot_1/interface/mavros/optical_flow/ground_distance (no subscribers)"])
+  n47 -->|"/robot_1/interface/mavros/optical_flow/raw/optical_flow<br/>OpticalFlow"| d116(["/robot_1/interface/mavros/optical_flow/raw/optical_flow (no subscribers)"])
+  d117(["/robot_1/interface/mavros/optical_flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/optical_flow/raw/send<br/>OpticalFlow"| n47
+  n48 -->|"/robot_1/interface/mavros/param/event<br/>ParamEvent"| d118(["/robot_1/interface/mavros/param/event (no subscribers)"])
+  d119(["/robot_1/interface/mavros/play_tune (no publishers)"]) -->|"/robot_1/interface/mavros/play_tune<br/>PlayTuneV2"| n49
+  n50 -->|"/robot_1/interface/mavros/px4flow/ground_distance<br/>Range"| d120(["/robot_1/interface/mavros/px4flow/ground_distance (no subscribers)"])
+  n50 -->|"/robot_1/interface/mavros/px4flow/raw/optical_flow_rad<br/>OpticalFlowRad"| d121(["/robot_1/interface/mavros/px4flow/raw/optical_flow_rad (no subscribers)"])
+  d122(["/robot_1/interface/mavros/px4flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/px4flow/raw/send<br/>OpticalFlowRad"| n50
+  n50 -->|"/robot_1/interface/mavros/px4flow/temperature<br/>Temperature"| d123(["/robot_1/interface/mavros/px4flow/temperature (no subscribers)"])
+  n61 -->|"/robot_1/interface/mavros/radio_status<br/>RadioStatus"| d124(["/robot_1/interface/mavros/radio_status (no subscribers)"])
+  n51 -->|"/robot_1/interface/mavros/rallypoint/rallypoints<br/>WaypointList"| d125(["/robot_1/interface/mavros/rallypoint/rallypoints (no subscribers)"])
+  n52 -->|"/robot_1/interface/mavros/rc/in<br/>RCIn"| d126(["/robot_1/interface/mavros/rc/in (no subscribers)"])
+  n52 -->|"/robot_1/interface/mavros/rc/out<br/>RCOut"| d127(["/robot_1/interface/mavros/rc/out (no subscribers)"])
+  d128(["/robot_1/interface/mavros/rc/override (no publishers)"]) -->|"/robot_1/interface/mavros/rc/override<br/>OverrideRCIn"| n52
+  d129(["/robot_1/interface/mavros/setpoint_accel/accel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_accel/accel<br/>Vector3Stamped"| n53
+  d130(["/robot_1/interface/mavros/setpoint_attitude/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/cmd_vel<br/>TwistStamped"| n54
+  d131(["/robot_1/interface/mavros/setpoint_attitude/thrust (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/thrust<br/>Thrust"| n54
+  n71 -->|"/robot_1/interface/mavros/setpoint_position/global<br/>GeoPoseStamped"| n55
+  d132(["/robot_1/interface/mavros/setpoint_position/global_to_local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_position/global_to_local<br/>GeoPoseStamped"| n55
+  n71 -->|"/robot_1/interface/mavros/setpoint_position/local<br/>PoseStamped"| n55
+  n71 -->|"/robot_1/interface/mavros/setpoint_raw/attitude<br/>AttitudeTarget"| n56
+  d133(["/robot_1/interface/mavros/setpoint_raw/global (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_raw/global<br/>GlobalPositionTarget"| n56
+  n71 -->|"/robot_1/interface/mavros/setpoint_raw/local<br/>PositionTarget"| n56
+  n56 -->|"/robot_1/interface/mavros/setpoint_raw/target_attitude<br/>AttitudeTarget"| d134(["/robot_1/interface/mavros/setpoint_raw/target_attitude (no subscribers)"])
+  n56 -->|"/robot_1/interface/mavros/setpoint_raw/target_global<br/>GlobalPositionTarget"| d135(["/robot_1/interface/mavros/setpoint_raw/target_global (no subscribers)"])
+  n56 -->|"/robot_1/interface/mavros/setpoint_raw/target_local<br/>PositionTarget"| d136(["/robot_1/interface/mavros/setpoint_raw/target_local (no subscribers)"])
+  n57 -->|"/robot_1/interface/mavros/setpoint_trajectory/desired<br/>Path"| d137(["/robot_1/interface/mavros/setpoint_trajectory/desired (no subscribers)"])
+  d138(["/robot_1/interface/mavros/setpoint_trajectory/local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_trajectory/local<br/>MultiDOFJointTrajectory"| n57
+  d139(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel<br/>TwistStamped"| n58
+  d140(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped<br/>Twist"| n58
+  n59 -->|"/robot_1/interface/mavros/sim_state/acceleration<br/>Vector3Stamped"| d141(["/robot_1/interface/mavros/sim_state/acceleration (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/sim_state/attitude<br/>Imu"| d142(["/robot_1/interface/mavros/sim_state/attitude (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/sim_state/global_position<br/>NavSatFix"| d143(["/robot_1/interface/mavros/sim_state/global_position (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/sim_state/velocity_body<br/>TwistStamped"| d144(["/robot_1/interface/mavros/sim_state/velocity_body (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/sim_state/velocity_local<br/>TwistStamped"| d145(["/robot_1/interface/mavros/sim_state/velocity_local (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/state<br/>State"| n71
+  n60 -->|"/robot_1/interface/mavros/status_event<br/>StatusEvent"| d146(["/robot_1/interface/mavros/status_event (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/statustext/recv<br/>StatusText"| d147(["/robot_1/interface/mavros/statustext/recv (no subscribers)"])
+  d148(["/robot_1/interface/mavros/statustext/send (no publishers)"]) -->|"/robot_1/interface/mavros/statustext/send<br/>StatusText"| n60
+  n60 -->|"/robot_1/interface/mavros/sys_status<br/>SysStatus"| d149(["/robot_1/interface/mavros/sys_status (no subscribers)"])
+  n7 -->|"/robot_1/interface/mavros/target_actuator_control<br/>ActuatorControl"| d150(["/robot_1/interface/mavros/target_actuator_control (no subscribers)"])
+  n62 -->|"/robot_1/interface/mavros/terrain/report<br/>TerrainReport"| d151(["/robot_1/interface/mavros/terrain/report (no subscribers)"])
+  n63 -->|"/robot_1/interface/mavros/time_reference<br/>TimeReference"| d152(["/robot_1/interface/mavros/time_reference (no subscribers)"])
+  n63 -->|"/robot_1/interface/mavros/timesync_status<br/>TimesyncStatus"| d153(["/robot_1/interface/mavros/timesync_status (no subscribers)"])
+  n64 -->|"/robot_1/interface/mavros/trajectory/desired<br/>Trajectory"| d154(["/robot_1/interface/mavros/trajectory/desired (no subscribers)"])
+  d155(["/robot_1/interface/mavros/trajectory/generated (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/generated<br/>Trajectory"| n64
+  d156(["/robot_1/interface/mavros/trajectory/path (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/path<br/>Path"| n64
+  d157(["/robot_1/interface/mavros/tunnel/in (no publishers)"]) -->|"/robot_1/interface/mavros/tunnel/in<br/>Tunnel"| n65
+  n65 -->|"/robot_1/interface/mavros/tunnel/out<br/>Tunnel"| d158(["/robot_1/interface/mavros/tunnel/out (no subscribers)"])
+  n66 -->|"/robot_1/interface/mavros/vfr_hud<br/>VfrHud"| d159(["/robot_1/interface/mavros/vfr_hud (no subscribers)"])
+  d160(["/robot_1/interface/mavros/vision_pose/pose (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose<br/>PoseStamped"| n67
+  d161(["/robot_1/interface/mavros/vision_pose/pose_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose_cov<br/>PoseWithCovarianceStamped"| n67
+  d162(["/robot_1/interface/mavros/vision_speed/speed_twist (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist<br/>TwistStamped"| n68
+  d163(["/robot_1/interface/mavros/vision_speed/speed_twist_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist_cov<br/>TwistWithCovarianceStamped"| n68
+  d164(["/robot_1/interface/mavros/vision_speed/speed_vector (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_vector<br/>Vector3Stamped"| n68
+  n69 -->|"/robot_1/interface/mavros/wind_estimation<br/>TwistWithCovarianceStamped"| d165(["/robot_1/interface/mavros/wind_estimation (no subscribers)"])
+  d166(["/robot_1/interface/pose_command (no publishers)"]) -->|"/robot_1/interface/pose_command<br/>PoseStamped"| n71
+  d167(["/robot_1/interface/rate_thrust_command (no publishers)"]) -->|"/robot_1/interface/rate_thrust_command<br/>RateThrust"| n71
+  d168(["/robot_1/interface/roll_pitch_yawrate_thrust_command (no publishers)"]) -->|"/robot_1/interface/roll_pitch_yawrate_thrust_command<br/>RollPitchYawrateThrust"| n71
+  d169(["/robot_1/interface/torque_thrust_command (no publishers)"]) -->|"/robot_1/interface/torque_thrust_command<br/>TorqueThrust"| n71
+  d170(["/robot_1/interface/velocity_command (no publishers)"]) -->|"/robot_1/interface/velocity_command<br/>TwistStamped"| n71
+  d171(["/robot_1/joint_states (no publishers)"]) -->|"/robot_1/joint_states<br/>JointState"| n76
+  d172(["/robot_1/macvo/odometry (no publishers)"]) -->|"/robot_1/macvo/odometry<br/>Odometry"| n79
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n2
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n3
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n70
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n75
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n78
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n79
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n80
+  n72 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n81
+  d173(["/robot_1/perception/macvo/disparity (no publishers)"]) -->|"/robot_1/perception/macvo/disparity<br/>Image"| n79
+  d174(["/robot_1/perception/macvo/point_cloud (no publishers)"]) -->|"/robot_1/perception/macvo/point_cloud<br/>PointCloud"| n79
+  n73 -->|"/robot_1/perception/stereo_image_proc/disparity<br/>DisparityImage"| n4
+  n73 -->|"/robot_1/perception/stereo_image_proc/disparity<br/>DisparityImage"| n74
+  n74 -->|"/robot_1/perception/stereo_image_proc/point_cloud<br/>PointCloud2"| n79
+  n75 -->|"/robot_1/random_walk_node/goal_point_viz<br/>Marker"| d175(["/robot_1/random_walk_node/goal_point_viz (no subscribers)"])
+  n75 -->|"/robot_1/random_walk_node/traj_viz<br/>Marker"| d176(["/robot_1/random_walk_node/traj_viz (no subscribers)"])
+  n76 -->|"/robot_1/robot_description<br/>String"| d177(["/robot_1/robot_description (no subscribers)"])
+  d178(["/robot_1/sensors/front_stereo/left/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n73
+  d178 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n74
+  d178 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n79
+  d179(["/robot_1/sensors/front_stereo/left/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/depth_ground_truth<br/>Image"| n79
+  d180(["/robot_1/sensors/front_stereo/left/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n73
+  d180 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n74
+  d180 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n79
+  d181(["/robot_1/sensors/front_stereo/right/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n4
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n5
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n73
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n74
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n79
+  d182(["/robot_1/sensors/front_stereo/right/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/depth_ground_truth<br/>Image"| n79
+  d183(["/robot_1/sensors/front_stereo/right/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n73
+  d183 -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n79
+  d184(["/robot_1/sensors/lidar/point_cloud (no publishers)"]) -->|"/robot_1/sensors/lidar/point_cloud<br/>PointCloud2"| n79
+  n77 -->|"/robot_1/sensors/ouster/point_cloud<br/>PointCloud2"| n82
+  d185(["/robot_1/sensors/ouster/point_cloud_raw (no publishers)"]) -->|"/robot_1/sensors/ouster/point_cloud_raw<br/>PointCloud2"| n77
+  n78 -->|"/robot_1/takeoff_landing_planner/is_airborne<br/>Bool"| d186(["/robot_1/takeoff_landing_planner/is_airborne (no subscribers)"])
+  d187(["/robot_1/takeoff_landing_planner/trajectory_completion_percentage (no publishers)"]) -->|"/robot_1/takeoff_landing_planner/trajectory_completion_percentage<br/>Float32"| n78
+  n81 -->|"/robot_1/trajectory_controller/closest_point<br/>Odometry"| d188(["/robot_1/trajectory_controller/closest_point (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/look_ahead<br/>Odometry"| n5
+  n81 -->|"/robot_1/trajectory_controller/projected_drone_pose<br/>PoseStamped"| n70
+  n81 -->|"/robot_1/trajectory_controller/tracking_error<br/>Float32"| d189(["/robot_1/trajectory_controller/tracking_error (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n3
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n5
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n70
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n78
+  n81 -->|"/robot_1/trajectory_controller/tracking_point_velocity_magnitude<br/>Float32"| d190(["/robot_1/trajectory_controller/tracking_point_velocity_magnitude (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/traj_drone_point<br/>Odometry"| d191(["/robot_1/trajectory_controller/traj_drone_point (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/trajectory_completion_percentage<br/>Float32"| n80
+  n81 -->|"/robot_1/trajectory_controller/trajectory_controller_debug_markers<br/>MarkerArray"| n79
+  n78 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n81
+  n80 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n81
+  n5 -->|"/robot_1/trajectory_controller/trajectory_segment_to_add<br/>TrajectoryXYZVYaw"| n81
+  n81 -->|"/robot_1/trajectory_controller/trajectory_time<br/>Float32"| d192(["/robot_1/trajectory_controller/trajectory_time (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/trajectory_vis<br/>MarkerArray"| n79
+  n81 -->|"/robot_1/trajectory_controller/virtual_tracking_point<br/>Odometry"| d193(["/robot_1/trajectory_controller/virtual_tracking_point (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_overwrites<br/>UpdateGrid"| d194(["/robot_1/vdb_mapping/vdb_map_overwrites (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_pointcloud<br/>PointCloud2"| d195(["/robot_1/vdb_mapping/vdb_map_pointcloud (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_sections<br/>UpdateGrid"| d196(["/robot_1/vdb_mapping/vdb_map_sections (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_updates<br/>UpdateGrid"| d197(["/robot_1/vdb_mapping/vdb_map_updates (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n75
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n79
+  n35 -->|"/tf<br/>TFMessage"| n70
+  n35 -->|"/tf<br/>TFMessage"| n79
+  n72 -->|"/tf<br/>TFMessage"| n70
+  n72 -->|"/tf<br/>TFMessage"| n79
+  n76 -->|"/tf<br/>TFMessage"| n70
+  n76 -->|"/tf<br/>TFMessage"| n79
+  n81 -->|"/tf<br/>TFMessage"| n70
+  n81 -->|"/tf<br/>TFMessage"| n79
+  n35 -->|"/tf_static<br/>TFMessage"| n70
+  n35 -->|"/tf_static<br/>TFMessage"| n79
+  n76 -->|"/tf_static<br/>TFMessage"| n70
+  n76 -->|"/tf_static<br/>TFMessage"| n79
+  n83 -->|"/tf_static<br/>TFMessage"| n70
+  n83 -->|"/tf_static<br/>TFMessage"| n79
+  n35 -->|"/uas2/mavlink_sink<br/>Mavlink"| n37
+  n37 -->|"/uas2/mavlink_source<br/>Mavlink"| n35
+```
+
+<!-- wiring-graph-v1
+{
+"edges": [
+{
+"dir": "sub",
+"node": "/robot_1/Container",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/behavior/drone_safety_monitor/drone_safety_monitor",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/control/pid_controller",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/droan/disparity_expansion",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/droan/droan_local_planner",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/gossip_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/actuator_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/adsb",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/altitude",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cam_imu_sync",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/camera",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cellular_status",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cmd",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/companion_process",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/debug_value",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/esc_status",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/esc_telemetry",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/fake_gps",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/ftp",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/geofence",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gimbal_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/global_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gps_input",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gps_rtk",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gpsstatus",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/guided_target",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/hil",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/home_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/imu",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/landing_target",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/local_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/log_transfer",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mag_calibration",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/manual_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros_router",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mission",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mocap",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mount_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/nav_controller_output",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/obstacle",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/obstacle_distance_3d",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/odometry",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/onboard_computer",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/open_drone_id",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/optical_flow",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/param",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/play_tune",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/px4flow",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/rallypoint",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/rc",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_accel",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_attitude",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_raw",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_trajectory",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_velocity",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/sim_state",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/sys",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/tdr_radio",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/terrain",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/time",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/trajectory",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
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+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/Vector3Stamped"
+},
+"/robot_1/interface/mavros/sim_state/attitude": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/Imu"
+},
+"/robot_1/interface/mavros/sim_state/global_position": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/NavSatFix"
+},
+"/robot_1/interface/mavros/sim_state/velocity_body": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/interface/mavros/sim_state/velocity_local": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/interface/mavros/state": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/State"
+},
+"/robot_1/interface/mavros/status_event": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/StatusEvent"
+},
+"/robot_1/interface/mavros/statustext/recv": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/StatusText"
+},
+"/robot_1/interface/mavros/statustext/send": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/StatusText"
+},
+"/robot_1/interface/mavros/sys_status": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/SysStatus"
+},
+"/robot_1/interface/mavros/target_actuator_control": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/ActuatorControl"
+},
+"/robot_1/interface/mavros/terrain/report": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/TerrainReport"
+},
+"/robot_1/interface/mavros/time_reference": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/TimeReference"
+},
+"/robot_1/interface/mavros/timesync_status": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/TimesyncStatus"
+},
+"/robot_1/interface/mavros/trajectory/desired": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Trajectory"
+},
+"/robot_1/interface/mavros/trajectory/generated": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Trajectory"
+},
+"/robot_1/interface/mavros/trajectory/path": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Path"
+},
+"/robot_1/interface/mavros/tunnel/in": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Tunnel"
+},
+"/robot_1/interface/mavros/tunnel/out": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/Tunnel"
+},
+"/robot_1/interface/mavros/vfr_hud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mavros_msgs/msg/VfrHud"
+},
+"/robot_1/interface/mavros/vision_pose/pose": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/interface/mavros/vision_pose/pose_cov": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseWithCovarianceStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_twist": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_twist_cov": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistWithCovarianceStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_vector": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/Vector3Stamped"
+},
+"/robot_1/interface/mavros/wind_estimation": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "geometry_msgs/msg/TwistWithCovarianceStamped"
+},
+"/robot_1/interface/pose_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/interface/rate_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/RateThrust"
+},
+"/robot_1/interface/roll_pitch_yawrate_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/RollPitchYawrateThrust"
+},
+"/robot_1/interface/torque_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/TorqueThrust"
+},
+"/robot_1/interface/velocity_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/joint_states": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/JointState"
+},
+"/robot_1/macvo/odometry": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Odometry"
+},
+"/robot_1/odometry_conversion/odometry": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Odometry"
+},
+"/robot_1/perception/macvo/disparity": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/perception/macvo/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/PointCloud"
+},
+"/robot_1/perception/stereo_image_proc/disparity": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "stereo_msgs/msg/DisparityImage"
+},
+"/robot_1/perception/stereo_image_proc/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/random_walk_node/goal_point_viz": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/robot_1/random_walk_node/traj_viz": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/robot_1/robot_description": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/String"
+},
+"/robot_1/sensors/front_stereo/left/camera_info": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/CameraInfo"
+},
+"/robot_1/sensors/front_stereo/left/depth_ground_truth": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/left/image_rect": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/right/camera_info": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/CameraInfo"
+},
+"/robot_1/sensors/front_stereo/right/depth_ground_truth": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/right/image_rect": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/lidar/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/sensors/ouster/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/sensors/ouster/point_cloud_raw": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/takeoff_landing_planner/is_airborne": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Bool"
+},
+"/robot_1/takeoff_landing_planner/trajectory_completion_percentage": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/closest_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/look_ahead": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/projected_drone_pose": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/trajectory_controller/tracking_error": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/tracking_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/tracking_point_velocity_magnitude": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/traj_drone_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/trajectory_completion_percentage": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/trajectory_controller_debug_markers": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/MarkerArray"
+},
+"/robot_1/trajectory_controller/trajectory_override": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/TrajectoryXYZVYaw"
+},
+"/robot_1/trajectory_controller/trajectory_segment_to_add": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/TrajectoryXYZVYaw"
+},
+"/robot_1/trajectory_controller/trajectory_time": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/trajectory_vis": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/MarkerArray"
+},
+"/robot_1/trajectory_controller/virtual_tracking_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/vdb_mapping/vdb_map_overwrites": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_pointcloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/vdb_mapping/vdb_map_sections": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_updates": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_visualization": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/tf": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "tf2_msgs/msg/TFMessage"
+},
+"/tf_static": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "tf2_msgs/msg/TFMessage"
+},
+"/uas2/mavlink_sink": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/Mavlink"
+},
+"/uas2/mavlink_source": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/Mavlink"
+}
+},
+"version": 1
+}
+wiring-graph-v1 -->
diff --git a/stacks/full_macvo/wiring.md b/stacks/full_macvo/wiring.md
new file mode 100644
index 000000000..ffcc15e8a
--- /dev/null
+++ b/stacks/full_macvo/wiring.md
@@ -0,0 +1,7662 @@
+# Wiring snapshot: full_macvo
+
+- **generated-by**: tests/system/test_wiring_snapshot.py
+- **date**: 2026-08-20 22:17:32
+- **sim**: isaacsim
+- **num_robots**: 1
+- **source-sha**: d02a3467b72d
+
+```mermaid
+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["droan"]
+    n4["/robot_1/droan/disparity_expander_node"]
+  end
+  subgraph g3["interface"]
+    n6["/robot_1/interface/mavros/actuator_control"]
+    n7["/robot_1/interface/mavros/adsb"]
+    n8["/robot_1/interface/mavros/altitude"]
+    n9["/robot_1/interface/mavros/cam_imu_sync"]
+    n10["/robot_1/interface/mavros/camera"]
+    n11["/robot_1/interface/mavros/cellular_status"]
+    n12["/robot_1/interface/mavros/cmd"]
+    n13["/robot_1/interface/mavros/companion_process"]
+    n14["/robot_1/interface/mavros/debug_value"]
+    n15["/robot_1/interface/mavros/esc_status"]
+    n16["/robot_1/interface/mavros/esc_telemetry"]
+    n17["/robot_1/interface/mavros/fake_gps"]
+    n18["/robot_1/interface/mavros/ftp"]
+    n19["/robot_1/interface/mavros/geofence"]
+    n20["/robot_1/interface/mavros/gimbal_control"]
+    n21["/robot_1/interface/mavros/global_position"]
+    n22["/robot_1/interface/mavros/gps_input"]
+    n23["/robot_1/interface/mavros/gps_rtk"]
+    n24["/robot_1/interface/mavros/gpsstatus"]
+    n25["/robot_1/interface/mavros/guided_target"]
+    n26["/robot_1/interface/mavros/hil"]
+    n27["/robot_1/interface/mavros/home_position"]
+    n28["/robot_1/interface/mavros/imu"]
+    n29["/robot_1/interface/mavros/landing_target"]
+    n30["/robot_1/interface/mavros/local_position"]
+    n31["/robot_1/interface/mavros/log_transfer"]
+    n32["/robot_1/interface/mavros/mag_calibration"]
+    n33["/robot_1/interface/mavros/manual_control"]
+    n34["/robot_1/interface/mavros/mavros"]
+    n35["/robot_1/interface/mavros/mavros_node"]
+    n36["/robot_1/interface/mavros/mavros_router"]
+    n37["/robot_1/interface/mavros/mission"]
+    n38["/robot_1/interface/mavros/mocap"]
+    n39["/robot_1/interface/mavros/mount_control"]
+    n40["/robot_1/interface/mavros/nav_controller_output"]
+    n41["/robot_1/interface/mavros/obstacle"]
+    n42["/robot_1/interface/mavros/obstacle_distance_3d"]
+    n43["/robot_1/interface/mavros/odometry"]
+    n44["/robot_1/interface/mavros/onboard_computer"]
+    n45["/robot_1/interface/mavros/open_drone_id"]
+    n46["/robot_1/interface/mavros/optical_flow"]
+    n47["/robot_1/interface/mavros/param"]
+    n48["/robot_1/interface/mavros/play_tune"]
+    n49["/robot_1/interface/mavros/px4flow"]
+    n50["/robot_1/interface/mavros/rallypoint"]
+    n51["/robot_1/interface/mavros/rc"]
+    n52["/robot_1/interface/mavros/setpoint_accel"]
+    n53["/robot_1/interface/mavros/setpoint_attitude"]
+    n54["/robot_1/interface/mavros/setpoint_position"]
+    n55["/robot_1/interface/mavros/setpoint_raw"]
+    n56["/robot_1/interface/mavros/setpoint_trajectory"]
+    n57["/robot_1/interface/mavros/setpoint_velocity"]
+    n58["/robot_1/interface/mavros/sim_state"]
+    n59["/robot_1/interface/mavros/sys"]
+    n60["/robot_1/interface/mavros/tdr_radio"]
+    n61["/robot_1/interface/mavros/terrain"]
+    n62["/robot_1/interface/mavros/time"]
+    n63["/robot_1/interface/mavros/trajectory"]
+    n64["/robot_1/interface/mavros/tunnel"]
+    n65["/robot_1/interface/mavros/vfr_hud"]
+    n66["/robot_1/interface/mavros/vision_pose"]
+    n67["/robot_1/interface/mavros/vision_speed"]
+    n68["/robot_1/interface/mavros/wind"]
+    n69["/robot_1/interface/odom_modifier"]
+    n70["/robot_1/interface/robot_interface"]
+  end
+  subgraph g4["odometry_conversion"]
+    n71["/robot_1/odometry_conversion/odometry_conversion"]
+  end
+  subgraph g5["perception"]
+    n72["/robot_1/perception/static_transform_publisher"]
+    n73["/robot_1/perception/stereo_image_proc/disparity_node"]
+    n74["/robot_1/perception/stereo_pointcloud"]
+  end
+  subgraph g6["robot_1"]
+    n1["/robot_1/Container"]
+    n5["/robot_1/gossip_node"]
+    n75["/robot_1/random_walk_node"]
+    n76["/robot_1/robot_state_publisher"]
+    n79["/robot_1/topic_keepalive"]
+    n82["/robot_1/vdb_mapping"]
+    n83["/robot_1/world_to_map_broadcaster"]
+  end
+  subgraph g7["root"]
+    n0["/action_relay_client"]
+  end
+  subgraph g8["sensors"]
+    n77["/robot_1/sensors/lidar_point_cloud_filter"]
+  end
+  subgraph g9["takeoff_landing_planner"]
+    n78["/robot_1/takeoff_landing_planner/takeoff_landing_task"]
+  end
+  subgraph g10["trajectory_controller"]
+    n80["/robot_1/trajectory_controller/fixed_trajectory_task"]
+    n81["/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"| n6
+  d0 -->|"/clock<br/>Clock"| n7
+  d0 -->|"/clock<br/>Clock"| n8
+  d0 -->|"/clock<br/>Clock"| n9
+  d0 -->|"/clock<br/>Clock"| n10
+  d0 -->|"/clock<br/>Clock"| n11
+  d0 -->|"/clock<br/>Clock"| n12
+  d0 -->|"/clock<br/>Clock"| n13
+  d0 -->|"/clock<br/>Clock"| n14
+  d0 -->|"/clock<br/>Clock"| n15
+  d0 -->|"/clock<br/>Clock"| n16
+  d0 -->|"/clock<br/>Clock"| n17
+  d0 -->|"/clock<br/>Clock"| n18
+  d0 -->|"/clock<br/>Clock"| n19
+  d0 -->|"/clock<br/>Clock"| n20
+  d0 -->|"/clock<br/>Clock"| n21
+  d0 -->|"/clock<br/>Clock"| n22
+  d0 -->|"/clock<br/>Clock"| n23
+  d0 -->|"/clock<br/>Clock"| n24
+  d0 -->|"/clock<br/>Clock"| n25
+  d0 -->|"/clock<br/>Clock"| n26
+  d0 -->|"/clock<br/>Clock"| n27
+  d0 -->|"/clock<br/>Clock"| n28
+  d0 -->|"/clock<br/>Clock"| n29
+  d0 -->|"/clock<br/>Clock"| n30
+  d0 -->|"/clock<br/>Clock"| n31
+  d0 -->|"/clock<br/>Clock"| n32
+  d0 -->|"/clock<br/>Clock"| n33
+  d0 -->|"/clock<br/>Clock"| n34
+  d0 -->|"/clock<br/>Clock"| n35
+  d0 -->|"/clock<br/>Clock"| n36
+  d0 -->|"/clock<br/>Clock"| n37
+  d0 -->|"/clock<br/>Clock"| n38
+  d0 -->|"/clock<br/>Clock"| n39
+  d0 -->|"/clock<br/>Clock"| n40
+  d0 -->|"/clock<br/>Clock"| n41
+  d0 -->|"/clock<br/>Clock"| n42
+  d0 -->|"/clock<br/>Clock"| n43
+  d0 -->|"/clock<br/>Clock"| n44
+  d0 -->|"/clock<br/>Clock"| n45
+  d0 -->|"/clock<br/>Clock"| n46
+  d0 -->|"/clock<br/>Clock"| n47
+  d0 -->|"/clock<br/>Clock"| n48
+  d0 -->|"/clock<br/>Clock"| n49
+  d0 -->|"/clock<br/>Clock"| n50
+  d0 -->|"/clock<br/>Clock"| n51
+  d0 -->|"/clock<br/>Clock"| n52
+  d0 -->|"/clock<br/>Clock"| n53
+  d0 -->|"/clock<br/>Clock"| n54
+  d0 -->|"/clock<br/>Clock"| n55
+  d0 -->|"/clock<br/>Clock"| n56
+  d0 -->|"/clock<br/>Clock"| n57
+  d0 -->|"/clock<br/>Clock"| n58
+  d0 -->|"/clock<br/>Clock"| n59
+  d0 -->|"/clock<br/>Clock"| n60
+  d0 -->|"/clock<br/>Clock"| n61
+  d0 -->|"/clock<br/>Clock"| n62
+  d0 -->|"/clock<br/>Clock"| n63
+  d0 -->|"/clock<br/>Clock"| n64
+  d0 -->|"/clock<br/>Clock"| n65
+  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
+  n34 -->|"/diagnostics<br/>DiagnosticArray"| d1(["/diagnostics (no subscribers)"])
+  n36 -->|"/diagnostics<br/>DiagnosticArray"| d1
+  n5 -->|"/gossip/peers<br/>PeerProfile"| n5
+  n25 -->|"/move_base_simple/goal<br/>PoseStamped"| d2(["/move_base_simple/goal (no subscribers)"])
+  d3(["/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"| n78
+  n70 -->|"/robot_1/control/reset_integrators<br/>Empty"| n3
+  n3 -->|"/robot_1/control/vx_pid_info<br/>PIDInfo"| d4(["/robot_1/control/vx_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/vy_pid_info<br/>PIDInfo"| d5(["/robot_1/control/vy_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/vz_pid_info<br/>PIDInfo"| d6(["/robot_1/control/vz_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/x_pid_info<br/>PIDInfo"| d7(["/robot_1/control/x_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/y_pid_info<br/>PIDInfo"| d8(["/robot_1/control/y_pid_info (no subscribers)"])
+  n3 -->|"/robot_1/control/z_pid_info<br/>PIDInfo"| d9(["/robot_1/control/z_pid_info (no subscribers)"])
+  n5 -->|"/robot_1/coordination/peer_registry<br/>PeerProfile"| d10(["/robot_1/coordination/peer_registry (no subscribers)"])
+  n69 -->|"/robot_1/cross_track_error<br/>PoseStamped"| d11(["/robot_1/cross_track_error (no subscribers)"])
+  n4 -->|"/robot_1/droan/background_expanded<br/>Image"| d12(["/robot_1/droan/background_expanded (no subscribers)"])
+  d13(["/robot_1/droan/clear_map (no publishers)"]) -->|"/robot_1/droan/clear_map<br/>Empty"| n4
+  d14(["/robot_1/droan/disparity_graph (no publishers)"]) -->|"/robot_1/droan/disparity_graph<br/>MarkerArray"| n79
+  d15(["/robot_1/droan/disparity_map_debug (no publishers)"]) -->|"/robot_1/droan/disparity_map_debug<br/>MarkerArray"| n79
+  d16(["/robot_1/droan/expansion_cloud (no publishers)"]) -->|"/robot_1/droan/expansion_cloud<br/>PointCloud2"| n79
+  d17(["/robot_1/droan/expansion_poly (no publishers)"]) -->|"/robot_1/droan/expansion_poly<br/>MarkerArray"| n79
+  n4 -->|"/robot_1/droan/fg_bg_cloud<br/>PointCloud2"| n79
+  n4 -->|"/robot_1/droan/foreground_expanded<br/>Image"| d18(["/robot_1/droan/foreground_expanded (no subscribers)"])
+  d19(["/robot_1/droan/frustum (no publishers)"]) -->|"/robot_1/droan/frustum<br/>Marker"| n79
+  n4 -->|"/robot_1/droan/graph_vis<br/>MarkerArray"| n79
+  n4 -->|"/robot_1/droan/local_planner_global_plan_vis<br/>MarkerArray"| n79
+  d20(["/robot_1/droan/reset_stuck (no publishers)"]) -->|"/robot_1/droan/reset_stuck<br/>Empty"| n4
+  n4 -->|"/robot_1/droan/rewind_info<br/>MarkerArray"| n79
+  n4 -->|"/robot_1/droan/stuck<br/>Bool"| d21(["/robot_1/droan/stuck (no subscribers)"])
+  n4 -->|"/robot_1/droan/traj_debug<br/>MarkerArray"| n79
+  d22(["/robot_1/droan/trajectory_library_vis (no publishers)"]) -->|"/robot_1/droan/trajectory_library_vis<br/>MarkerArray"| n79
+  d23(["/robot_1/droan/virtual_obstacles (no publishers)"]) -->|"/robot_1/droan/virtual_obstacles<br/>MarkerArray"| n79
+  n69 -->|"/robot_1/global_plan<br/>Path"| n4
+  n69 -->|"/robot_1/global_plan<br/>Path"| n5
+  n69 -->|"/robot_1/global_plan<br/>Path"| n79
+  n75 -->|"/robot_1/global_plan<br/>Path"| n4
+  n75 -->|"/robot_1/global_plan<br/>Path"| n5
+  n75 -->|"/robot_1/global_plan<br/>Path"| n79
+  d24(["/robot_1/interface/attitude_thrust_command (no publishers)"]) -->|"/robot_1/interface/attitude_thrust_command<br/>AttitudeThrust"| n70
+  d25(["/robot_1/interface/cmd_attitude_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_attitude_thrust<br/>AttitudeThrust"| n70
+  n69 -->|"/robot_1/interface/cmd_pose<br/>PoseStamped"| n70
+  d26(["/robot_1/interface/cmd_rate_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_rate_thrust<br/>RateThrust"| n70
+  n3 -->|"/robot_1/interface/cmd_roll_pitch_yawrate_thrust<br/>RollPitchYawrateThrust"| n70
+  d27(["/robot_1/interface/cmd_torque_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_torque_thrust<br/>TorqueThrust"| n70
+  n69 -->|"/robot_1/interface/cmd_velocity<br/>TwistStamped"| n70
+  n70 -->|"/robot_1/interface/has_control<br/>Bool"| n78
+  n70 -->|"/robot_1/interface/is_armed<br/>Bool"| n78
+  d28(["/robot_1/interface/mavros/actuator_control (no publishers)"]) -->|"/robot_1/interface/mavros/actuator_control<br/>ActuatorControl"| n6
+  d29(["/robot_1/interface/mavros/adsb/send (no publishers)"]) -->|"/robot_1/interface/mavros/adsb/send<br/>ADSBVehicle"| n7
+  n7 -->|"/robot_1/interface/mavros/adsb/vehicle<br/>ADSBVehicle"| d30(["/robot_1/interface/mavros/adsb/vehicle (no subscribers)"])
+  n8 -->|"/robot_1/interface/mavros/altitude<br/>Altitude"| d31(["/robot_1/interface/mavros/altitude (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/battery<br/>BatteryState"| d32(["/robot_1/interface/mavros/battery (no subscribers)"])
+  n9 -->|"/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp<br/>CamIMUStamp"| d33(["/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp (no subscribers)"])
+  n10 -->|"/robot_1/interface/mavros/camera/image_captured<br/>CameraImageCaptured"| d34(["/robot_1/interface/mavros/camera/image_captured (no subscribers)"])
+  d35(["/robot_1/interface/mavros/cellular_status/status (no publishers)"]) -->|"/robot_1/interface/mavros/cellular_status/status<br/>CellularStatus"| n11
+  d36(["/robot_1/interface/mavros/companion_process/status (no publishers)"]) -->|"/robot_1/interface/mavros/companion_process/status<br/>CompanionProcessStatus"| n13
+  n14 -->|"/robot_1/interface/mavros/debug_value/debug<br/>DebugValue"| d37(["/robot_1/interface/mavros/debug_value/debug (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/debug_float_array<br/>DebugValue"| d38(["/robot_1/interface/mavros/debug_value/debug_float_array (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/debug_vector<br/>DebugValue"| d39(["/robot_1/interface/mavros/debug_value/debug_vector (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/named_value_float<br/>DebugValue"| d40(["/robot_1/interface/mavros/debug_value/named_value_float (no subscribers)"])
+  n14 -->|"/robot_1/interface/mavros/debug_value/named_value_int<br/>DebugValue"| d41(["/robot_1/interface/mavros/debug_value/named_value_int (no subscribers)"])
+  d42(["/robot_1/interface/mavros/debug_value/send (no publishers)"]) -->|"/robot_1/interface/mavros/debug_value/send<br/>DebugValue"| n14
+  n15 -->|"/robot_1/interface/mavros/esc_status/info<br/>ESCInfo"| d43(["/robot_1/interface/mavros/esc_status/info (no subscribers)"])
+  n15 -->|"/robot_1/interface/mavros/esc_status/status<br/>ESCStatus"| d44(["/robot_1/interface/mavros/esc_status/status (no subscribers)"])
+  n16 -->|"/robot_1/interface/mavros/esc_telemetry/telemetry<br/>ESCTelemetry"| d45(["/robot_1/interface/mavros/esc_telemetry/telemetry (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/estimator_status<br/>EstimatorStatus"| d46(["/robot_1/interface/mavros/estimator_status (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/extended_state<br/>ExtendedState"| n78
+  d47(["/robot_1/interface/mavros/fake_gps/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/fake_gps/mocap/tf<br/>TransformStamped"| n17
+  n19 -->|"/robot_1/interface/mavros/geofence/fences<br/>WaypointList"| d48(["/robot_1/interface/mavros/geofence/fences (no subscribers)"])
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/device/attitude_status<br/>GimbalDeviceAttitudeStatus"| d49(["/robot_1/interface/mavros/gimbal_control/device/attitude_status (no subscribers)"])
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/device/info<br/>GimbalDeviceInformation"| d50(["/robot_1/interface/mavros/gimbal_control/device/info (no subscribers)"])
+  d51(["/robot_1/interface/mavros/gimbal_control/device/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/device/set_attitude<br/>GimbalDeviceSetAttitude"| n20
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/manager/info<br/>GimbalManagerInformation"| d52(["/robot_1/interface/mavros/gimbal_control/manager/info (no subscribers)"])
+  d53(["/robot_1/interface/mavros/gimbal_control/manager/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_attitude<br/>GimbalManagerSetAttitude"| n20
+  d54(["/robot_1/interface/mavros/gimbal_control/manager/set_manual_control (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_manual_control<br/>GimbalManagerSetPitchyaw"| n20
+  d55(["/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw<br/>GimbalManagerSetPitchyaw"| n20
+  n20 -->|"/robot_1/interface/mavros/gimbal_control/manager/status<br/>GimbalManagerStatus"| d56(["/robot_1/interface/mavros/gimbal_control/manager/status (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/compass_hdg<br/>Float64"| n5
+  n21 -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n54
+  n21 -->|"/robot_1/interface/mavros/global_position/global<br/>NavSatFix"| n70
+  n21 -->|"/robot_1/interface/mavros/global_position/gp_lp_offset<br/>PoseStamped"| d57(["/robot_1/interface/mavros/global_position/gp_lp_offset (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/gp_origin<br/>GeoPointStamped"| n25
+  n21 -->|"/robot_1/interface/mavros/global_position/local<br/>Odometry"| n70
+  n21 -->|"/robot_1/interface/mavros/global_position/raw/fix<br/>NavSatFix"| n5
+  n21 -->|"/robot_1/interface/mavros/global_position/raw/gps_vel<br/>TwistStamped"| d58(["/robot_1/interface/mavros/global_position/raw/gps_vel (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/raw/satellites<br/>UInt32"| d59(["/robot_1/interface/mavros/global_position/raw/satellites (no subscribers)"])
+  n21 -->|"/robot_1/interface/mavros/global_position/rel_alt<br/>Float64"| d60(["/robot_1/interface/mavros/global_position/rel_alt (no subscribers)"])
+  d61(["/robot_1/interface/mavros/global_position/set_gp_origin (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/set_gp_origin<br/>GeoPointStamped"| n21
+  d62(["/robot_1/interface/mavros/gps_input/gps_input (no publishers)"]) -->|"/robot_1/interface/mavros/gps_input/gps_input<br/>GPSINPUT"| n22
+  n23 -->|"/robot_1/interface/mavros/gps_rtk/rtk_baseline<br/>RTKBaseline"| d63(["/robot_1/interface/mavros/gps_rtk/rtk_baseline (no subscribers)"])
+  d64(["/robot_1/interface/mavros/gps_rtk/send_rtcm (no publishers)"]) -->|"/robot_1/interface/mavros/gps_rtk/send_rtcm<br/>RTCM"| n23
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps1/raw<br/>GPSRAW"| d65(["/robot_1/interface/mavros/gpsstatus/gps1/raw (no subscribers)"])
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps1/rtk<br/>GPSRTK"| d66(["/robot_1/interface/mavros/gpsstatus/gps1/rtk (no subscribers)"])
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps2/raw<br/>GPSRAW"| d67(["/robot_1/interface/mavros/gpsstatus/gps2/raw (no subscribers)"])
+  n24 -->|"/robot_1/interface/mavros/gpsstatus/gps2/rtk<br/>GPSRTK"| d68(["/robot_1/interface/mavros/gpsstatus/gps2/rtk (no subscribers)"])
+  n26 -->|"/robot_1/interface/mavros/hil/actuator_controls<br/>HilActuatorControls"| d69(["/robot_1/interface/mavros/hil/actuator_controls (no subscribers)"])
+  n26 -->|"/robot_1/interface/mavros/hil/controls<br/>HilControls"| d70(["/robot_1/interface/mavros/hil/controls (no subscribers)"])
+  d71(["/robot_1/interface/mavros/hil/gps (no publishers)"]) -->|"/robot_1/interface/mavros/hil/gps<br/>HilGPS"| n26
+  d72(["/robot_1/interface/mavros/hil/imu_ned (no publishers)"]) -->|"/robot_1/interface/mavros/hil/imu_ned<br/>HilSensor"| n26
+  d73(["/robot_1/interface/mavros/hil/optical_flow (no publishers)"]) -->|"/robot_1/interface/mavros/hil/optical_flow<br/>OpticalFlowRad"| n26
+  d74(["/robot_1/interface/mavros/hil/rc_inputs (no publishers)"]) -->|"/robot_1/interface/mavros/hil/rc_inputs<br/>RCIn"| n26
+  d75(["/robot_1/interface/mavros/hil/state (no publishers)"]) -->|"/robot_1/interface/mavros/hil/state<br/>HilStateQuaternion"| n26
+  n27 -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n21
+  n27 -->|"/robot_1/interface/mavros/home_position/home<br/>HomePosition"| n70
+  n70 -->|"/robot_1/interface/mavros/home_position/set<br/>HomePosition"| n27
+  n28 -->|"/robot_1/interface/mavros/imu/data<br/>Imu"| d76(["/robot_1/interface/mavros/imu/data (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/data_raw<br/>Imu"| d77(["/robot_1/interface/mavros/imu/data_raw (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/diff_pressure<br/>FluidPressure"| d78(["/robot_1/interface/mavros/imu/diff_pressure (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/mag<br/>MagneticField"| d79(["/robot_1/interface/mavros/imu/mag (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/static_pressure<br/>FluidPressure"| d80(["/robot_1/interface/mavros/imu/static_pressure (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/temperature_baro<br/>Temperature"| d81(["/robot_1/interface/mavros/imu/temperature_baro (no subscribers)"])
+  n28 -->|"/robot_1/interface/mavros/imu/temperature_imu<br/>Temperature"| d82(["/robot_1/interface/mavros/imu/temperature_imu (no subscribers)"])
+  n29 -->|"/robot_1/interface/mavros/landing_target/lt_marker<br/>Vector3Stamped"| d83(["/robot_1/interface/mavros/landing_target/lt_marker (no subscribers)"])
+  d84(["/robot_1/interface/mavros/landing_target/pose (no publishers)"]) -->|"/robot_1/interface/mavros/landing_target/pose<br/>PoseStamped"| n29
+  n29 -->|"/robot_1/interface/mavros/landing_target/pose_in<br/>PoseStamped"| d85(["/robot_1/interface/mavros/landing_target/pose_in (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/accel<br/>AccelWithCovarianceStamped"| d86(["/robot_1/interface/mavros/local_position/accel (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/odom<br/>Odometry"| n71
+  n30 -->|"/robot_1/interface/mavros/local_position/pose<br/>PoseStamped"| n54
+  n30 -->|"/robot_1/interface/mavros/local_position/pose_cov<br/>PoseWithCovarianceStamped"| d87(["/robot_1/interface/mavros/local_position/pose_cov (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/velocity_body<br/>TwistStamped"| d88(["/robot_1/interface/mavros/local_position/velocity_body (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/velocity_body_cov<br/>TwistWithCovarianceStamped"| d89(["/robot_1/interface/mavros/local_position/velocity_body_cov (no subscribers)"])
+  n30 -->|"/robot_1/interface/mavros/local_position/velocity_local<br/>TwistStamped"| d90(["/robot_1/interface/mavros/local_position/velocity_local (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/log_transfer/raw/log_data<br/>LogData"| d91(["/robot_1/interface/mavros/log_transfer/raw/log_data (no subscribers)"])
+  n31 -->|"/robot_1/interface/mavros/log_transfer/raw/log_entry<br/>LogEntry"| d92(["/robot_1/interface/mavros/log_transfer/raw/log_entry (no subscribers)"])
+  n32 -->|"/robot_1/interface/mavros/mag_calibration/report<br/>MagnetometerReporter"| d93(["/robot_1/interface/mavros/mag_calibration/report (no subscribers)"])
+  n32 -->|"/robot_1/interface/mavros/mag_calibration/status<br/>UInt8"| d94(["/robot_1/interface/mavros/mag_calibration/status (no subscribers)"])
+  n33 -->|"/robot_1/interface/mavros/manual_control/control<br/>ManualControl"| d95(["/robot_1/interface/mavros/manual_control/control (no subscribers)"])
+  d96(["/robot_1/interface/mavros/manual_control/send (no publishers)"]) -->|"/robot_1/interface/mavros/manual_control/send<br/>ManualControl"| n33
+  n37 -->|"/robot_1/interface/mavros/mission/reached<br/>WaypointReached"| d97(["/robot_1/interface/mavros/mission/reached (no subscribers)"])
+  n37 -->|"/robot_1/interface/mavros/mission/waypoints<br/>WaypointList"| d98(["/robot_1/interface/mavros/mission/waypoints (no subscribers)"])
+  d99(["/robot_1/interface/mavros/mocap/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/pose<br/>PoseStamped"| n38
+  d100(["/robot_1/interface/mavros/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/tf<br/>TransformStamped"| n38
+  d101(["/robot_1/interface/mavros/mount_control/command (no publishers)"]) -->|"/robot_1/interface/mavros/mount_control/command<br/>MountControl"| n39
+  n39 -->|"/robot_1/interface/mavros/mount_control/orientation<br/>Quaternion"| d102(["/robot_1/interface/mavros/mount_control/orientation (no subscribers)"])
+  n39 -->|"/robot_1/interface/mavros/mount_control/status<br/>Vector3Stamped"| d103(["/robot_1/interface/mavros/mount_control/status (no subscribers)"])
+  n40 -->|"/robot_1/interface/mavros/nav_controller_output/output<br/>NavControllerOutput"| d104(["/robot_1/interface/mavros/nav_controller_output/output (no subscribers)"])
+  d105(["/robot_1/interface/mavros/obstacle/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle/send<br/>LaserScan"| n41
+  d106(["/robot_1/interface/mavros/obstacle_distance_3d/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle_distance_3d/send<br/>ObstacleDistance3D"| n42
+  n43 -->|"/robot_1/interface/mavros/odometry/in<br/>Odometry"| d107(["/robot_1/interface/mavros/odometry/in (no subscribers)"])
+  d108(["/robot_1/interface/mavros/odometry/out (no publishers)"]) -->|"/robot_1/interface/mavros/odometry/out<br/>Odometry"| n43
+  d109(["/robot_1/interface/mavros/onboard_computer/status (no publishers)"]) -->|"/robot_1/interface/mavros/onboard_computer/status<br/>OnboardComputerStatus"| n44
+  d110(["/robot_1/interface/mavros/open_drone_id/basic_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/basic_id<br/>OpenDroneIDBasicID"| n45
+  d111(["/robot_1/interface/mavros/open_drone_id/operator_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/operator_id<br/>OpenDroneIDOperatorID"| n45
+  d112(["/robot_1/interface/mavros/open_drone_id/self_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/self_id<br/>OpenDroneIDSelfID"| n45
+  d113(["/robot_1/interface/mavros/open_drone_id/system (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system<br/>OpenDroneIDSystem"| n45
+  d114(["/robot_1/interface/mavros/open_drone_id/system_update (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system_update<br/>OpenDroneIDSystemUpdate"| n45
+  n46 -->|"/robot_1/interface/mavros/optical_flow/ground_distance<br/>Range"| d115(["/robot_1/interface/mavros/optical_flow/ground_distance (no subscribers)"])
+  n46 -->|"/robot_1/interface/mavros/optical_flow/raw/optical_flow<br/>OpticalFlow"| d116(["/robot_1/interface/mavros/optical_flow/raw/optical_flow (no subscribers)"])
+  d117(["/robot_1/interface/mavros/optical_flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/optical_flow/raw/send<br/>OpticalFlow"| n46
+  n47 -->|"/robot_1/interface/mavros/param/event<br/>ParamEvent"| d118(["/robot_1/interface/mavros/param/event (no subscribers)"])
+  d119(["/robot_1/interface/mavros/play_tune (no publishers)"]) -->|"/robot_1/interface/mavros/play_tune<br/>PlayTuneV2"| n48
+  n49 -->|"/robot_1/interface/mavros/px4flow/ground_distance<br/>Range"| d120(["/robot_1/interface/mavros/px4flow/ground_distance (no subscribers)"])
+  n49 -->|"/robot_1/interface/mavros/px4flow/raw/optical_flow_rad<br/>OpticalFlowRad"| d121(["/robot_1/interface/mavros/px4flow/raw/optical_flow_rad (no subscribers)"])
+  d122(["/robot_1/interface/mavros/px4flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/px4flow/raw/send<br/>OpticalFlowRad"| n49
+  n49 -->|"/robot_1/interface/mavros/px4flow/temperature<br/>Temperature"| d123(["/robot_1/interface/mavros/px4flow/temperature (no subscribers)"])
+  n60 -->|"/robot_1/interface/mavros/radio_status<br/>RadioStatus"| d124(["/robot_1/interface/mavros/radio_status (no subscribers)"])
+  n50 -->|"/robot_1/interface/mavros/rallypoint/rallypoints<br/>WaypointList"| d125(["/robot_1/interface/mavros/rallypoint/rallypoints (no subscribers)"])
+  n51 -->|"/robot_1/interface/mavros/rc/in<br/>RCIn"| d126(["/robot_1/interface/mavros/rc/in (no subscribers)"])
+  n51 -->|"/robot_1/interface/mavros/rc/out<br/>RCOut"| d127(["/robot_1/interface/mavros/rc/out (no subscribers)"])
+  d128(["/robot_1/interface/mavros/rc/override (no publishers)"]) -->|"/robot_1/interface/mavros/rc/override<br/>OverrideRCIn"| n51
+  d129(["/robot_1/interface/mavros/setpoint_accel/accel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_accel/accel<br/>Vector3Stamped"| n52
+  d130(["/robot_1/interface/mavros/setpoint_attitude/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/cmd_vel<br/>TwistStamped"| n53
+  d131(["/robot_1/interface/mavros/setpoint_attitude/thrust (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/thrust<br/>Thrust"| n53
+  n70 -->|"/robot_1/interface/mavros/setpoint_position/global<br/>GeoPoseStamped"| n54
+  d132(["/robot_1/interface/mavros/setpoint_position/global_to_local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_position/global_to_local<br/>GeoPoseStamped"| n54
+  n70 -->|"/robot_1/interface/mavros/setpoint_position/local<br/>PoseStamped"| n54
+  n70 -->|"/robot_1/interface/mavros/setpoint_raw/attitude<br/>AttitudeTarget"| n55
+  d133(["/robot_1/interface/mavros/setpoint_raw/global (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_raw/global<br/>GlobalPositionTarget"| n55
+  n70 -->|"/robot_1/interface/mavros/setpoint_raw/local<br/>PositionTarget"| n55
+  n55 -->|"/robot_1/interface/mavros/setpoint_raw/target_attitude<br/>AttitudeTarget"| d134(["/robot_1/interface/mavros/setpoint_raw/target_attitude (no subscribers)"])
+  n55 -->|"/robot_1/interface/mavros/setpoint_raw/target_global<br/>GlobalPositionTarget"| d135(["/robot_1/interface/mavros/setpoint_raw/target_global (no subscribers)"])
+  n55 -->|"/robot_1/interface/mavros/setpoint_raw/target_local<br/>PositionTarget"| d136(["/robot_1/interface/mavros/setpoint_raw/target_local (no subscribers)"])
+  n56 -->|"/robot_1/interface/mavros/setpoint_trajectory/desired<br/>Path"| d137(["/robot_1/interface/mavros/setpoint_trajectory/desired (no subscribers)"])
+  d138(["/robot_1/interface/mavros/setpoint_trajectory/local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_trajectory/local<br/>MultiDOFJointTrajectory"| n56
+  d139(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel<br/>TwistStamped"| n57
+  d140(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped<br/>Twist"| n57
+  n58 -->|"/robot_1/interface/mavros/sim_state/acceleration<br/>Vector3Stamped"| d141(["/robot_1/interface/mavros/sim_state/acceleration (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/attitude<br/>Imu"| d142(["/robot_1/interface/mavros/sim_state/attitude (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/global_position<br/>NavSatFix"| d143(["/robot_1/interface/mavros/sim_state/global_position (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/velocity_body<br/>TwistStamped"| d144(["/robot_1/interface/mavros/sim_state/velocity_body (no subscribers)"])
+  n58 -->|"/robot_1/interface/mavros/sim_state/velocity_local<br/>TwistStamped"| d145(["/robot_1/interface/mavros/sim_state/velocity_local (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/state<br/>State"| n70
+  n59 -->|"/robot_1/interface/mavros/status_event<br/>StatusEvent"| d146(["/robot_1/interface/mavros/status_event (no subscribers)"])
+  n59 -->|"/robot_1/interface/mavros/statustext/recv<br/>StatusText"| d147(["/robot_1/interface/mavros/statustext/recv (no subscribers)"])
+  d148(["/robot_1/interface/mavros/statustext/send (no publishers)"]) -->|"/robot_1/interface/mavros/statustext/send<br/>StatusText"| n59
+  n59 -->|"/robot_1/interface/mavros/sys_status<br/>SysStatus"| d149(["/robot_1/interface/mavros/sys_status (no subscribers)"])
+  n6 -->|"/robot_1/interface/mavros/target_actuator_control<br/>ActuatorControl"| d150(["/robot_1/interface/mavros/target_actuator_control (no subscribers)"])
+  n61 -->|"/robot_1/interface/mavros/terrain/report<br/>TerrainReport"| d151(["/robot_1/interface/mavros/terrain/report (no subscribers)"])
+  n62 -->|"/robot_1/interface/mavros/time_reference<br/>TimeReference"| d152(["/robot_1/interface/mavros/time_reference (no subscribers)"])
+  n62 -->|"/robot_1/interface/mavros/timesync_status<br/>TimesyncStatus"| d153(["/robot_1/interface/mavros/timesync_status (no subscribers)"])
+  n63 -->|"/robot_1/interface/mavros/trajectory/desired<br/>Trajectory"| d154(["/robot_1/interface/mavros/trajectory/desired (no subscribers)"])
+  d155(["/robot_1/interface/mavros/trajectory/generated (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/generated<br/>Trajectory"| n63
+  d156(["/robot_1/interface/mavros/trajectory/path (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/path<br/>Path"| n63
+  d157(["/robot_1/interface/mavros/tunnel/in (no publishers)"]) -->|"/robot_1/interface/mavros/tunnel/in<br/>Tunnel"| n64
+  n64 -->|"/robot_1/interface/mavros/tunnel/out<br/>Tunnel"| d158(["/robot_1/interface/mavros/tunnel/out (no subscribers)"])
+  n65 -->|"/robot_1/interface/mavros/vfr_hud<br/>VfrHud"| d159(["/robot_1/interface/mavros/vfr_hud (no subscribers)"])
+  d160(["/robot_1/interface/mavros/vision_pose/pose (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose<br/>PoseStamped"| n66
+  d161(["/robot_1/interface/mavros/vision_pose/pose_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose_cov<br/>PoseWithCovarianceStamped"| n66
+  d162(["/robot_1/interface/mavros/vision_speed/speed_twist (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist<br/>TwistStamped"| n67
+  d163(["/robot_1/interface/mavros/vision_speed/speed_twist_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist_cov<br/>TwistWithCovarianceStamped"| n67
+  d164(["/robot_1/interface/mavros/vision_speed/speed_vector (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_vector<br/>Vector3Stamped"| n67
+  n68 -->|"/robot_1/interface/mavros/wind_estimation<br/>TwistWithCovarianceStamped"| d165(["/robot_1/interface/mavros/wind_estimation (no subscribers)"])
+  d166(["/robot_1/interface/pose_command (no publishers)"]) -->|"/robot_1/interface/pose_command<br/>PoseStamped"| n70
+  d167(["/robot_1/interface/rate_thrust_command (no publishers)"]) -->|"/robot_1/interface/rate_thrust_command<br/>RateThrust"| n70
+  d168(["/robot_1/interface/roll_pitch_yawrate_thrust_command (no publishers)"]) -->|"/robot_1/interface/roll_pitch_yawrate_thrust_command<br/>RollPitchYawrateThrust"| n70
+  d169(["/robot_1/interface/torque_thrust_command (no publishers)"]) -->|"/robot_1/interface/torque_thrust_command<br/>TorqueThrust"| n70
+  d170(["/robot_1/interface/velocity_command (no publishers)"]) -->|"/robot_1/interface/velocity_command<br/>TwistStamped"| n70
+  d171(["/robot_1/joint_states (no publishers)"]) -->|"/robot_1/joint_states<br/>JointState"| n76
+  d172(["/robot_1/macvo/odometry (no publishers)"]) -->|"/robot_1/macvo/odometry<br/>Odometry"| n79
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n2
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n3
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n69
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n75
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n78
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n79
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n80
+  n71 -->|"/robot_1/odometry_conversion/odometry<br/>Odometry"| n81
+  d173(["/robot_1/perception/macvo/disparity (no publishers)"]) -->|"/robot_1/perception/macvo/disparity<br/>DisparityImage"| n4
+  d173 -->|"/robot_1/perception/macvo/disparity<br/>DisparityImage"| n79
+  d174(["/robot_1/perception/macvo/point_cloud (no publishers)"]) -->|"/robot_1/perception/macvo/point_cloud<br/>PointCloud"| n79
+  n73 -->|"/robot_1/perception/stereo_image_proc/disparity<br/>DisparityImage"| n74
+  n74 -->|"/robot_1/perception/stereo_image_proc/point_cloud<br/>PointCloud2"| n79
+  n75 -->|"/robot_1/random_walk_node/goal_point_viz<br/>Marker"| d175(["/robot_1/random_walk_node/goal_point_viz (no subscribers)"])
+  n75 -->|"/robot_1/random_walk_node/traj_viz<br/>Marker"| d176(["/robot_1/random_walk_node/traj_viz (no subscribers)"])
+  n76 -->|"/robot_1/robot_description<br/>String"| d177(["/robot_1/robot_description (no subscribers)"])
+  d178(["/robot_1/sensors/front_stereo/left/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n73
+  d178 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n74
+  d178 -->|"/robot_1/sensors/front_stereo/left/camera_info<br/>CameraInfo"| n79
+  d179(["/robot_1/sensors/front_stereo/left/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/depth_ground_truth<br/>Image"| n79
+  d180(["/robot_1/sensors/front_stereo/left/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n73
+  d180 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n74
+  d180 -->|"/robot_1/sensors/front_stereo/left/image_rect<br/>Image"| n79
+  d181(["/robot_1/sensors/front_stereo/right/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n4
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n73
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n74
+  d181 -->|"/robot_1/sensors/front_stereo/right/camera_info<br/>CameraInfo"| n79
+  d182(["/robot_1/sensors/front_stereo/right/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/depth_ground_truth<br/>Image"| n79
+  d183(["/robot_1/sensors/front_stereo/right/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n73
+  d183 -->|"/robot_1/sensors/front_stereo/right/image_rect<br/>Image"| n79
+  d184(["/robot_1/sensors/lidar/point_cloud (no publishers)"]) -->|"/robot_1/sensors/lidar/point_cloud<br/>PointCloud2"| n79
+  n77 -->|"/robot_1/sensors/ouster/point_cloud<br/>PointCloud2"| n82
+  d185(["/robot_1/sensors/ouster/point_cloud_raw (no publishers)"]) -->|"/robot_1/sensors/ouster/point_cloud_raw<br/>PointCloud2"| n77
+  n78 -->|"/robot_1/takeoff_landing_planner/is_airborne<br/>Bool"| d186(["/robot_1/takeoff_landing_planner/is_airborne (no subscribers)"])
+  d187(["/robot_1/takeoff_landing_planner/trajectory_completion_percentage (no publishers)"]) -->|"/robot_1/takeoff_landing_planner/trajectory_completion_percentage<br/>Float32"| n78
+  n81 -->|"/robot_1/trajectory_controller/closest_point<br/>Odometry"| d188(["/robot_1/trajectory_controller/closest_point (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/look_ahead<br/>Odometry"| n4
+  n81 -->|"/robot_1/trajectory_controller/projected_drone_pose<br/>PoseStamped"| n69
+  n81 -->|"/robot_1/trajectory_controller/tracking_error<br/>Float32"| d189(["/robot_1/trajectory_controller/tracking_error (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n3
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n4
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n69
+  n81 -->|"/robot_1/trajectory_controller/tracking_point<br/>Odometry"| n78
+  n81 -->|"/robot_1/trajectory_controller/tracking_point_velocity_magnitude<br/>Float32"| d190(["/robot_1/trajectory_controller/tracking_point_velocity_magnitude (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/traj_drone_point<br/>Odometry"| d191(["/robot_1/trajectory_controller/traj_drone_point (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/trajectory_completion_percentage<br/>Float32"| n80
+  n81 -->|"/robot_1/trajectory_controller/trajectory_controller_debug_markers<br/>MarkerArray"| n79
+  n78 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n81
+  n80 -->|"/robot_1/trajectory_controller/trajectory_override<br/>TrajectoryXYZVYaw"| n81
+  n4 -->|"/robot_1/trajectory_controller/trajectory_segment_to_add<br/>TrajectoryXYZVYaw"| n81
+  n81 -->|"/robot_1/trajectory_controller/trajectory_time<br/>Float32"| d192(["/robot_1/trajectory_controller/trajectory_time (no subscribers)"])
+  n81 -->|"/robot_1/trajectory_controller/trajectory_vis<br/>MarkerArray"| n79
+  n81 -->|"/robot_1/trajectory_controller/virtual_tracking_point<br/>Odometry"| d193(["/robot_1/trajectory_controller/virtual_tracking_point (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_overwrites<br/>UpdateGrid"| d194(["/robot_1/vdb_mapping/vdb_map_overwrites (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_pointcloud<br/>PointCloud2"| d195(["/robot_1/vdb_mapping/vdb_map_pointcloud (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_sections<br/>UpdateGrid"| d196(["/robot_1/vdb_mapping/vdb_map_sections (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_updates<br/>UpdateGrid"| d197(["/robot_1/vdb_mapping/vdb_map_updates (no subscribers)"])
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n75
+  n82 -->|"/robot_1/vdb_mapping/vdb_map_visualization<br/>Marker"| n79
+  n34 -->|"/tf<br/>TFMessage"| n69
+  n34 -->|"/tf<br/>TFMessage"| n79
+  n71 -->|"/tf<br/>TFMessage"| n69
+  n71 -->|"/tf<br/>TFMessage"| n79
+  n76 -->|"/tf<br/>TFMessage"| n69
+  n76 -->|"/tf<br/>TFMessage"| n79
+  n81 -->|"/tf<br/>TFMessage"| n69
+  n81 -->|"/tf<br/>TFMessage"| n79
+  n34 -->|"/tf_static<br/>TFMessage"| n69
+  n34 -->|"/tf_static<br/>TFMessage"| n79
+  n72 -->|"/tf_static<br/>TFMessage"| n69
+  n72 -->|"/tf_static<br/>TFMessage"| n79
+  n76 -->|"/tf_static<br/>TFMessage"| n69
+  n76 -->|"/tf_static<br/>TFMessage"| n79
+  n83 -->|"/tf_static<br/>TFMessage"| n69
+  n83 -->|"/tf_static<br/>TFMessage"| n79
+  n34 -->|"/uas2/mavlink_sink<br/>Mavlink"| n36
+  n36 -->|"/uas2/mavlink_source<br/>Mavlink"| n34
+```
+
+<!-- wiring-graph-v1
+{
+"edges": [
+{
+"dir": "sub",
+"node": "/robot_1/Container",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/behavior/drone_safety_monitor/drone_safety_monitor",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/control/pid_controller",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/droan/disparity_expander_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/gossip_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/actuator_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/adsb",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/altitude",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cam_imu_sync",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/camera",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cellular_status",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/cmd",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/companion_process",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/debug_value",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/esc_status",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/esc_telemetry",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/fake_gps",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/ftp",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/geofence",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gimbal_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/global_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gps_input",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gps_rtk",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/gpsstatus",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/guided_target",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/hil",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/home_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/imu",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/landing_target",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/local_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/log_transfer",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mag_calibration",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/manual_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros_node",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mavros_router",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mission",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mocap",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/mount_control",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/nav_controller_output",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/obstacle",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/obstacle_distance_3d",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/odometry",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/onboard_computer",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/open_drone_id",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/optical_flow",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/param",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/play_tune",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/px4flow",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/rallypoint",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/rc",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_accel",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_attitude",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_position",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_raw",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_trajectory",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/setpoint_velocity",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/sim_state",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/sys",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/tdr_radio",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/terrain",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"topic": "/clock",
+"type": "rosgraph_msgs/msg/Clock"
+},
+{
+"dir": "sub",
+"node": "/robot_1/interface/mavros/time",
+"qos_profile": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
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+"/robot_1/interface/mavros/vision_pose/pose": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/interface/mavros/vision_pose/pose_cov": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseWithCovarianceStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_twist": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_twist_cov": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistWithCovarianceStamped"
+},
+"/robot_1/interface/mavros/vision_speed/speed_vector": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/Vector3Stamped"
+},
+"/robot_1/interface/mavros/wind_estimation": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "geometry_msgs/msg/TwistWithCovarianceStamped"
+},
+"/robot_1/interface/pose_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/interface/rate_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/RateThrust"
+},
+"/robot_1/interface/roll_pitch_yawrate_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/RollPitchYawrateThrust"
+},
+"/robot_1/interface/torque_thrust_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "mav_msgs/msg/TorqueThrust"
+},
+"/robot_1/interface/velocity_command": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/TwistStamped"
+},
+"/robot_1/joint_states": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/JointState"
+},
+"/robot_1/macvo/odometry": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Odometry"
+},
+"/robot_1/odometry_conversion/odometry": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "nav_msgs/msg/Odometry"
+},
+"/robot_1/perception/macvo/disparity": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "['sensor_msgs/msg/Image', 'stereo_msgs/msg/DisparityImage']"
+},
+"/robot_1/perception/macvo/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/PointCloud"
+},
+"/robot_1/perception/stereo_image_proc/disparity": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "stereo_msgs/msg/DisparityImage"
+},
+"/robot_1/perception/stereo_image_proc/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/random_walk_node/goal_point_viz": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/robot_1/random_walk_node/traj_viz": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/robot_1/robot_description": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/String"
+},
+"/robot_1/sensors/front_stereo/left/camera_info": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/CameraInfo"
+},
+"/robot_1/sensors/front_stereo/left/depth_ground_truth": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/left/image_rect": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/right/camera_info": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/CameraInfo"
+},
+"/robot_1/sensors/front_stereo/right/depth_ground_truth": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/front_stereo/right/image_rect": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/Image"
+},
+"/robot_1/sensors/lidar/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/sensors/ouster/point_cloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/sensors/ouster/point_cloud_raw": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/takeoff_landing_planner/is_airborne": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Bool"
+},
+"/robot_1/takeoff_landing_planner/trajectory_completion_percentage": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/closest_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/look_ahead": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/projected_drone_pose": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "geometry_msgs/msg/PoseStamped"
+},
+"/robot_1/trajectory_controller/tracking_error": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/tracking_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/tracking_point_velocity_magnitude": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/traj_drone_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/trajectory_controller/trajectory_completion_percentage": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/trajectory_controller_debug_markers": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/MarkerArray"
+},
+"/robot_1/trajectory_controller/trajectory_override": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/TrajectoryXYZVYaw"
+},
+"/robot_1/trajectory_controller/trajectory_segment_to_add": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/TrajectoryXYZVYaw"
+},
+"/robot_1/trajectory_controller/trajectory_time": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "std_msgs/msg/Float32"
+},
+"/robot_1/trajectory_controller/trajectory_vis": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/MarkerArray"
+},
+"/robot_1/trajectory_controller/virtual_tracking_point": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "airstack_msgs/msg/Odometry"
+},
+"/robot_1/vdb_mapping/vdb_map_overwrites": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_pointcloud": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "sensor_msgs/msg/PointCloud2"
+},
+"/robot_1/vdb_mapping/vdb_map_sections": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_updates": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "vdb_mapping_interfaces/msg/UpdateGrid"
+},
+"/robot_1/vdb_mapping/vdb_map_visualization": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "visualization_msgs/msg/Marker"
+},
+"/tf": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "tf2_msgs/msg/TFMessage"
+},
+"/tf_static": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "TRANSIENT_LOCAL",
+"history": "UNKNOWN",
+"reliability": "RELIABLE"
+},
+"type": "tf2_msgs/msg/TFMessage"
+},
+"/uas2/mavlink_sink": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/Mavlink"
+},
+"/uas2/mavlink_source": {
+"qos": {
+"depth": "UNKNOWN",
+"durability": "VOLATILE",
+"history": "UNKNOWN",
+"reliability": "BEST_EFFORT"
+},
+"type": "mavros_msgs/msg/Mavlink"
+}
+},
+"version": 1
+}
+wiring-graph-v1 -->

From e361ef18ac9ab4189dc1976de3c2c73ac2a44b79 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Thu, 20 Aug 2026 18:55:33 -0400
Subject: [PATCH 3/4] P3(rfc-379): build module Docker layers in the reusable
 workflow

Gap found by the asm_macvo extraction: the workflow ran module add/sync (layer
plan only) but never 'module lock --build', so tier-2/3 Dockerfile.module /
overlay layers went unbuilt and untested in module CI. The build step runs
after trunk image-ensure (the chain builds FROM those bases); the zero-module
identity rule keeps it a no-op for dep-free modules.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
---
 .github/workflows/module-system-tests.yml | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/.github/workflows/module-system-tests.yml b/.github/workflows/module-system-tests.yml
index cc743b19e..3b403c466 100644
--- a/.github/workflows/module-system-tests.yml
+++ b/.github/workflows/module-system-tests.yml
@@ -461,6 +461,16 @@ jobs:
             echo "All required images present after pull/retag — skipping build."
           fi
 
+      # Build the module's Docker layer chain (RFC #379 §6) — must run AFTER
+      # the trunk base images are present (chain builds FROM them). The
+      # zero-module identity rule makes this a fast no-op for modules with no
+      # docker-relevant declarations; for tier-2/3 modules (Dockerfile.module /
+      # overlay_image) it builds the composed image and points the generated
+      # compose override at it, so the test bring-up actually exercises the
+      # module's dependency layers.
+      - name: Build module Docker layers
+        run: ./airstack.sh module lock --build
+
       - name: Run tests
         env:
           AIRSTACK_ROOT: ${{ github.workspace }}

From f1c1352b5b47d599b921dcc8a33113c17eb1a2a2 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Sat, 22 Aug 2026 04:02:10 -0400
Subject: [PATCH 4/4] Bump version to 0.20.0-alpha.3

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
---
 .env | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.env b/.env
index eba42f47d..1d087323e 100644
--- a/.env
+++ b/.env
@@ -12,7 +12,7 @@ PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
 # auto-generated from git commit hash
-VERSION="0.20.0-alpha.2"
+VERSION="0.20.0-alpha.3"
 # Choose "dev" or "prebuilt". "dev" is for mounted code that must be built live. "prebuilt" is for built ros_ws baked into the image
 DOCKER_IMAGE_BUILD_MODE="dev"  
 # Where to push and pull images from. Can replace with your docker hub username if using docker hub.