topics:
  gps      :   global_position
  localpos      :   local_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