nodes_communication

NODES COMMUNICATION

1. Formation:
  - Subscribers:
    * NONE
  - Publishers:
    * ($UAV_NAME)/flocking/mode_changed  (only when using virtual heading)
  - Message filters:
    * ($UAV_NAME)/sensor_neighbor/neighbors + ($UAV_NAME)/odometry/odom_main
  - Service servers:
    * ($UAV_NAME)/formation/start_start_machine_in
    * ($UAV_NAME)/formation/start_hover_mode
    * ($UAV_NAME)/formation/start_swarming_mode
    * ($UAV_NAME)/formation/close_node
  - Service clients:
    * ($UAV_NAME)/control_manager/reference
    * ($UAV_NAME)/uav_manager/land

2. SensorNeighbors
  - Subscribers:
    * ($THIS_UAV)/odometry/odom_main
    * ($THIS_UAV)/odometry/odom_local   (only when using GPS)
    * ($THIS_UAV)/uvdar/filteredPoses   (only when using UVDAR)
    * ($OTHERS_UAV)/odometry/slow_odom  (only when using GPS)
    * ($OTHERS_UAV)/odometry/odom_local (only when using GPS)
  - Publishers:
    * ($THIS_UAV)/sensor_neighbor/neighbors
  - Message filters:
    * NONE
  - Service servers:
    * NONE
  - Service clients:
    * NONE

3. CommandSender
  - Subscribers:
    * NONE
  - Publishers:
    * NONE
  - Message filters:
    * NONE
  - Service servers:
    * /command_sender/send_command
  - Service clients:
    * ($UAV_NAME)/formation/start_hover_mode
    * ($UAV_NAME)/formation/start_swarming_mode
    * ($UAV_NAME)/formation/close_node