topics:
  gps      :   /global_position
  battery  :   /power_status
  status   :   /flight_status
  fcclient :   /dji_mavcmd
  setpoint :   /setpoint_position/local
  armclient:   /dji_mavarm
  modeclient:  /dji_mavmode
  altitude: /rel_alt
  stream:  /set_stream_rate

type:
  gps  :  sensor_msgs/NavSatFix
  battery :   mavros_msgs/BatteryStatus
  status  :   mavros_msgs/ExtendedState
  altitude: std_msgs/Float64