topics:
  gps     :   mavros/global_position/global
  battery :   mavros/battery
  status  :   mavros/state
  fcclient:   mavros/cmd/command
  setpoint:   mavros/setpoint_position/local
  armclient:  mavros/cmd/arming
  modeclient: mavros/set_mode
  localpos: mavros/local_position/pose
  stream: mavros/set_stream_rate
  altitude: mavros/global_position/rel_alt