topics:
  gps     :   global_position/global
  battery :   battery
  status  :   state
  estatus :   extended_state
  setpoint:   setpoint_position/local
  localpos: local_position/pose
  altitude: global_position/rel_alt
  obstacles: obstacles
  inpayload:  inMavlink
  outpayload: outMavlink
  gridn: grid
  bstate: bvmstate
  npose: neighbours_pos
  fstatus: fleet_status
services:
  fcclient:   cmd/command
  armclient:  cmd/arming
  modeclient: set_mode
  stream:  set_stream_rate
  rcservice:  buzzcmd
  netstatus:  network_status