{"swopdash_system_tree": {"inputs": ["/diagnostics_agg", "/diagnostics_toplevel_state", "/capability_client/state"], "outputs": ["/swopdash/system_tree/history", "/swopdash/system_tree/snapshot"]}, "swopdash_swopdash_server": {"inputs": [], "outputs": []}, "swopdash_mission_config": {"inputs": ["/swopdash/mission_config/request", "/capability_client/state"], "outputs": ["/mission_config_mode", "/swopdash/mission_config/notes"]}, "planner_hero_state": {"inputs": ["/driving/ApplanixPose", "/vehicle/measurements"], "outputs": ["/planner/hero_state"]}, "calibration_board_calibration": {"inputs": ["/calibration/assembled_detections"], "outputs": ["/calibration/status", "/calibration/completed_calibration"]}, "ai_monitor_other_llc_release_nogo": {"inputs": ["/vehicle/measurements", "/planner/hero_state", "/ai_monitor/status"], "outputs": ["/ai_monitor/trajectory_manager/from_llc_release_nogo", "/ai_monitor/other/llc_release_nogo"]}, "entity_confidence": {"inputs": ["/driving/PerceptionObstacles2", "/planner/decision"], "outputs": ["/teleop/confidence"]}, "swopdash_mission_compatibility": {"inputs": ["/swopdash/mission_control/value"], "outputs": ["/dispatch/mission_request"]}, "ai_monitor_other_forward_swopdash_nogo": {"inputs": ["/swopdash/nogo_request"], "outputs": ["/ai_monitor/request/swopdash"]}, "teleop_monitoring_echo": {"inputs": ["/teleop/timestamp"], "outputs": ["/teleop/timestamp_echo"]}, "ai_monitor_trajectory_manager": {"inputs": ["/ai_monitor/trajectory_manager/from_fault_handler", "/ai_monitor/trajectory_manager/from_heartbeat", "/ai_monitor/trajectory_manager/from_master", "/ai_monitor/trajectory_manager/from_llc_release_nogo", "/ai_monitor/status"], "outputs": ["/ai_monitor/trajectory_relay/from_trajectory_manager", "/ai_monitor/trajectory_manager"]}, "minimal_namespace_minimal_component": {"inputs": ["/some_other_component/ros_point", "/some_other_component/point"], "outputs": ["/minimal_namespace/minimal_component/ros_point", "/minimal_namespace/minimal_component/point"]}, "swopdash_capability_server": {"inputs": ["/capability_server/get_capability_spec/request", "/capability_server/get_capability_specs/request", "/capability_server/get_interfaces/request", "/capability_server/get_providers/request", "/capability_server/get_running_capabilities/request", "/capability_server/start_capability/request", "/capability_server/stop_capability/request"], "outputs": ["/capability_server/get_capability_spec/response", "/capability_server/get_capability_specs/response", "/capability_server/get_interfaces/response", "/capability_server/get_providers/response", "/capability_server/get_running_capabilities/response", "/capability_server/start_capability/response", "/capability_server/stop_capability/response"]}, "swopdash_swopdash_version": {"inputs": [], "outputs": ["/swopdash/swopdash_version/value"]}, "swopdash_mission_control": {"inputs": ["/swopdash/mission_control/request"], "outputs": ["/swopdash/mission_control/response", "/swopdash/mission_control/value"]}, "calibration_board_detection_assembler": {"inputs": [], "outputs": ["/calibration/assembled_detections"]}, "my_namespace_my_component": {"inputs": ["/my_namespace/my_component/branch"], "outputs": ["/my_namespace/my_component/branch", "/my_namespace/my_component/marker"]}, "pose_estimator_swf_inertial": {"inputs": ["/driving/mofo/imu", "/vehicle/measurements", "/autobox/esp_wheel_speeds", "/autobox/gear_status", "/driving/mofo/swf_solver_state"], "outputs": ["/driving/ApplanixPose"]}, "swopdash_traffic_lights": {"inputs": ["/swopdash/zrn_select/value", "/vision/traffic_light_joint_states"], "outputs": ["/swopdash/traffic_light_group_state_map"]}, "ai_monitor_trajectory_relay": {"inputs": ["/ai_monitor/trajectory_relay/from_trajectory_manager", "/planner/decision", "/planner/smoother", "/ai_monitor/status"], "outputs": ["/ai_monitor/trajectory_relay/smoother", "/ai_monitor/trajectory_relay"]}, "pose_estimator_swf_solver": {"inputs": ["/driving/mofo/imu", "/vehicle/measurements", "/autobox/esp_wheel_speeds", "/autobox/gear_status", "/driving/mofo/gps_primary", "/driving/gps_fix", "/driving/mofo/gps_secondary", "/localizer6dof/pose"], "outputs": ["/driving/mofo/swf_solver_state", "/driving/ImuBias", "/driving/ApplanixRMS", "/pose_estimator/swf_solver/status"]}, "ai_monitor_fault_handler": {"inputs": ["/Atx/faults", "/Atx/fault_summary", "/ChronyPPS/faults", "/ChronyPPS/fault_summary", "/HazelFault/faults", "/HazelFault/fault_summary", "/Efu/faults", "/Efu/fault_summary", "/Pwr/faults", "/Pwr/fault_summary", "/Velodyne/faults", "/Velodyne/fault_summary", "/Llc/faults", "/Llc/fault_summary", "/Sm/faults", "/Sm/fault_summary", "/Loc6Dof/faults", "/Loc6Dof/fault_summary", "/Mofo/faults", "/Mofo/fault_summary", "/Perception/faults", "/Perception/fault_summary", "/Decision/faults", "/Decision/fault_summary", "/HeroStateDiagnostic/faults", "/HeroStateDiagnostic/fault_summary", "/Mission/faults", "/Mission/fault_summary", "/Smoother/faults", "/Smoother/fault_summary", "/Radar/faults", "/Radar/fault_summary", "/rc_control/faults", "/rc_control/fault_summary", "/sbg_gateway/faults", "/sbg_gateway/fault_summary", "/CameraDiagnostic/faults", "/CameraDiagnostic/fault_summary", "/CammuxDiagnostic/faults", "/CammuxDiagnostic/fault_summary", "/TrafficLightMonitorFaults/faults", "/TrafficLightMonitorFaults/fault_summary", "/ai_monitor/status"], "outputs": ["/ai_monitor/trajectory_manager/from_fault_handler", "/ai_monitor/fault_handler"]}, "nogo": {"inputs": ["/planner/smoother", "/planner/hero_state", "/vehicle/measurements", "/swopdash/nogo_request", "/planner/decision", "/swopdash/swop_status", "/pose_estimator/swf_solver/status", "/driving/ApplanixPose"], "outputs": ["/nogo/control", "/teleop/nogo_recovery"]}, "swopdash_disengagement_control": {"inputs": ["/logger/heartbeat", "/logger/run_type", "/swopdash/disengagement_control/control", "/swopdash/disengagement_control/report/request", "/vehicle/event_log", "/vehicle/measurements", "/notes/disengagements"], "outputs": ["/notes/disengagements", "/notes/reengagements", "/status/disengagements", "/swopdash/disengagement_control/report/response", "/swopdash/disengagement_control/state"]}, "tof": {"inputs": [""], "outputs": [""]}, "swopdash_capability_client": {"inputs": ["/capability_server/get_interfaces/response", "/capability_server/get_providers/response", "/capability_server/get_running_capabilities/response"], "outputs": ["/capability_client/state", "/capability_server/get_interfaces/request", "/capability_server/get_providers/request", "/capability_server/get_running_capabilities/request"]}, "vh4_gateway": {"inputs": ["/planner/tracker/control", "/zabotage", "/nogo/control"], "outputs": ["/vehicle/raw_dr_can2", "/vehicle/raw_dr_can1", "/vh4/debug", "/vehicle/measurements"]}, "simple_spin_loader": {"inputs": ["/driving/virtual_velodyne_points", "/planner/hero_state"], "outputs": ["/simple_spin_loader/metaspin", "metaspin"]}, "critical_coprocessor": {"inputs": ["/nogo/control"], "outputs": ["/teleop/nogo_state"]}, "dispatch_mission_watchdog": {"inputs": ["/planner/hero_state", "/dispatch/mission_request", "/dispatch/mission_state"], "outputs": ["/dispatch/mission"]}, "confidence_analyzer": {"inputs": ["/teleop/confidence"], "outputs": ["/teleop/system_confidence", "/trigger"]}, "swopdash_zrn_registry": {"inputs": ["/swopdash/zrn_registry/register/request", "/swopdash/zrn_registry/unregister/request"], "outputs": ["/swopdash/zrn_registry/register/response", "/swopdash/zrn_registry/unregister/response", "/swopdash/zrn_registry/value"]}, "teleop_monitoring_estimator": {"inputs": ["/teleop/timestamp_echo"], "outputs": ["/teleop/timestamp"]}, "teleop_supervisor": {"inputs": ["/teleop/vehicle_discovery", "/teleop/teleop_interaction", "/teleop/ziod_router_stats", "/vehicle/measurements", "/driving/teleop_interaction", "/teleop/router_health", "/teleop/telemetry_state", "/nogo/control", "/planner/hero_state"], "outputs": ["/driving/teleop_interaction", "/driving/telemetry_output", "/driving/hero_heartbeat"]}, "swopdash_ai_version": {"inputs": [], "outputs": ["/swopdash/ai_version/value"]}, "swopdash_mission_location": {"inputs": ["/swopdash/mission_location/request"], "outputs": ["/swopdash/mission_location/response", "/swopdash/mission_location/value"]}, "rovebot_collision_checker": {"inputs": ["/remote_control/control_raw", "/swopdash/swop_status", "/driving/virtual_velodyne_points"], "outputs": ["/remote_control/control", "/rovebot_collision_checker/feedback"]}, "swopdash_zrn_select": {"inputs": ["/logger/heartbeat", "/swopdash/zrn_registry/value", "/capability_server/start_capability/response", "/capability_server/stop_capability/response", "/swopdash/zrn_select/request"], "outputs": ["/logger/signal", "/capability_server/start_capability/request", "/capability_server/stop_capability/request", "/swopdash/zrn_select/response", "/swopdash/zrn_select/value"]}, "teleop_monitoring_health": {"inputs": ["/teleop/dds_health"], "outputs": ["/teleop/health"]}, "swopdash_drive_control": {"inputs": ["/logger/heartbeat", "/vehicle/measurements", "/planner/teleop/tag", "/nogo/output", "/swopdash/drive_control/request"], "outputs": ["/swopdash/drive_control/response", "/swopdash/drive_control/value"]}, "swopdash_debug_visualization_layers": {"inputs": [], "outputs": ["/swopdash/debug_visualization_layers/value"]}, "localizer6dof_aligner": {"inputs": ["/driving/ApplanixPose", "/driving/mofo/gps_primary", "/localizer6dof/spin"], "outputs": ["/localizer6dof/pose", "/localizer6dof/poses_proto", "/localizer6dof/internals"]}, "swopdash_drive_compatibility": {"inputs": ["/swopdash/client/heartbeat", "/swopdash/drive_control/value", "/nogo/output"], "outputs": ["/swopdash/controls", "/swopdash/nogo_command", "/swopdash/nogo_request", "/swopdash/swop_status", "/swopdash/humantriggered/doubleparkedcar"]}, "example_component_two": {"inputs": ["/unlogged_topic"], "outputs": ["/logged_topic"]}, "example_component_one": {"inputs": [], "outputs": ["/unlogged_topic"]}, "ai_monitor_heartbeat": {"inputs": ["/driving/ApplanixPose", "/planner/hero_state", "/planner/smoother", "/pose_estimator/swf_solver/status", "/swopdash/nogo_request", "/swopdash/swop_status", "/vehicle/measurements", "/ai_monitor/status"], "outputs": ["/ai_monitor/trajectory_manager/from_heartbeat", "/ai_monitor/heartbeat"]}, "localizer6dof_spin_loader": {"inputs": ["/driving/ApplanixPose", "/driving/virtual_velodyne_points"], "outputs": ["/localizer6dof/spin"]}, "ai_monitor_other_rovebot_disables_nogo": {"inputs": ["/swopdash/swop_status"], "outputs": ["/ai_monitor/request/rovebot"]}, "ai_monitor_master": {"inputs": ["/ai_monitor/fault_handler", "/ai_monitor/heartbeat", "/ai_monitor/trajectory_manager", "/ai_monitor/trajectory_relay", "/ai_monitor/other/llc_release_nogo", "/ai_monitor/request/coredash", "/ai_monitor/request/teleop", "/ai_monitor/request/rovebot", "/ai_monitor/request/swopdash"], "outputs": ["/ai_monitor/trajectory_manager/from_master", "/ai_monitor/output", "/ai_monitor/status"]}, "teleop_coprocessor": {"inputs": ["/trigger"], "outputs": ["/planner/teleop/tag"]}, "driving_DEVICE_NAME": {"inputs": ["/driving/DEVICE_NAME/packets"], "outputs": ["/driving/DEVICE_NAME/points", "/driving/virtual_velodyne_points"]}}