topics:
  gps     :   /mavros/global_position/global
  battery :   /mavros/battery
  status  :   /mavros/state
  fcclient:   /mavros/cmd/command
  armclient:  /mavros/cmd/arming
  modeclient: /mavros/set_mode
type:
  gps  :  sensor_msgs/NavSatFix
  # for SITL Solo 
  battery :   mavros_msgs/BatteryState
  # for solo
  #battery :   mavros_msgs/BatteryStatus
  status  :   mavros_msgs/State
environment : 
  environment : solo-simulator