{"planner_mission": {"inputs": ["/planner/hero_state", "/planner/mission", "/dispatch/mission"], "outputs": ["/planner/mission_options", "/planner/mission/zci_metrics", "/dispatch/mission_route_points", "/dispatch/mission_state", "/dbg/mission/points", "/dbg/mission/option_points", "/planner/mission/pre_tick"]}, "ai_monitor_other_llc_release_nogo": {"inputs": ["/vehicle/measurements", "/ai_monitor/status", "/planner/hero_state"], "outputs": ["/ai_monitor/other/llc_release_nogo/pre_tick", "/ai_monitor/other/llc_release_nogo", "/ai_monitor/other/llc_release_nogo/zci_metrics", "/ai_monitor/trajectory_manager/from_llc_release_nogo"]}, "entity_confidence": {"inputs": ["/driving/PerceptionObstacles2"], "outputs": ["/entity_confidence/pre_tick", "/teleop/confidence", "/entity_confidence/zci_metrics"]}, "driving_velodyne10": {"inputs": ["/driving/velodyne10/packets"], "outputs": ["/driving/virtual_velodyne_points", "/driving/velodyne10/points", "/driving/velodyne10/pre_tick", "/driving/velodyne10/VelodyneDiagnostic/metrics", "/driving/velodyne10/zci_metrics"]}, "swopdash_ai_version": {"inputs": [], "outputs": ["/swopdash/ai_version/value", "/swopdash/ai_version/zci_metrics"]}, "swopdash_capability_server": {"inputs": ["/capability_server/start_capability/request", "/capability_server/get_running_capabilities/request", "/capability_server/get_interfaces/request", "/capability_server/stop_capability/request", "/capability_server/get_providers/request"], "outputs": ["/capability_server/start_capability/response", "/capability_server/stop_capability/response", "/capability_server/get_running_capabilities/response", "/capability_server/get_interfaces/response", "/capability_server/get_providers/response", "/swopdash/capability_server/zci_metrics"]}, "swopdash_swopdash_version": {"inputs": [], "outputs": ["/swopdash/swopdash_version/value", "/swopdash/swopdash_version/zci_metrics"]}, "swopdash_drive_control": {"inputs": ["/vehicle/measurements", "/swopdash/drive_control/request", "/logger/heartbeat"], "outputs": ["/swopdash/drive_control/zci_metrics", "/swopdash/drive_control/value", "/swopdash/drive_control/response"]}, "ai_monitor_fault_handler": {"inputs": ["/ai_monitor/status"], "outputs": ["/ai_monitor/fault_handler/pre_tick", "/ai_monitor/fault_handler", "/ai_monitor/trajectory_manager/from_fault_handler", "/ai_monitor/fault_handler/zci_metrics", "/ai_monitor/fault_handler/zci_faults"]}, "pose_estimator_swf_solver": {"inputs": ["/localizer6dof/pose", "/driving/mofo/imu", "/vehicle/measurements", "/driving/mofo/gps_primary", "/driving/mofo/gps_secondary"], "outputs": ["/driving/mofo/swf_solver_state", "/driving/ImuBias", "/pose_estimator/swf_solver/MofoDiagnostics/metrics", "/pose_estimator/swf_solver/MofoDiagnostics/faults", "/pose_estimator/swf_solver/status", "/pose_estimator/swf_solver/pre_tick", "/driving/ApplanixRMS", "/pose_estimator/swf_solver/zci_metrics"]}, "swopdash_debug_visualization_layers": {"inputs": [], "outputs": ["/swopdash/debug_visualization_layers/value", "/swopdash/debug_visualization_layers/zci_metrics"]}, "ai_monitor_master": {"inputs": ["/ai_monitor/trajectory_relay", "/ai_monitor/fault_handler", "/ai_monitor/trajectory_manager", "/ai_monitor/heartbeat", "/ai_monitor/request/swopdash", "/ai_monitor/other/llc_release_nogo"], "outputs": ["/ai_monitor/status", "/ai_monitor/output", "/ai_monitor/trajectory_manager/from_master", "/ai_monitor/master/zci_metrics", "/ai_monitor/master/pre_tick", "/ai_monitor/master/zci_faults", "/ai_monitor/nogo_output"]}, "vh4_gateway": {"inputs": ["/planner/tracker/control", "/nogo/control"], "outputs": ["/vh4/debug", "/vehicle/raw_dr_can1", "/vehicle/measurements", "/vehicle/raw_dr_can2", "/vh4_gateway/zci_metrics"]}, "critical_coprocessor": {"inputs": ["/nogo/control"], "outputs": ["/teleop/nogo_state", "/critical_coprocessor/zci_metrics", "/critical_coprocessor/pre_tick"]}, "dispatch_mission_watchdog": {"inputs": ["/dispatch/mission_request", "/planner/hero_state", "/dispatch/mission_state"], "outputs": ["/dispatch/mission_watchdog/pre_tick", "/dispatch/mission", "/dispatch/mission_watchdog/zci_faults", "/dispatch/mission_watchdog/zci_metrics"]}, "swopdash_mission_location": {"inputs": [], "outputs": ["/swopdash/mission_location/zci_metrics"]}, "planner_corridor": {"inputs": ["/driving/HumanFusedPerceptionObstacles2", "/planner/teleop/corridor_modification_feedback", "/planner/hero_state", "/planner/mission"], "outputs": ["/planner/corridor/debug", "/planner/corridor/fused_static_corridor", "/planner/corridor/zci_metrics"]}, "rovebot_collision_checker": {"inputs": ["/remote_control/control_raw", "/swopdash/swop_status", "/driving/virtual_velodyne_points"], "outputs": ["/remote_control/control", "/rovebot_collision_checker/zci_metrics", "/rovebot_collision_checker/feedback"]}, "tof": {"inputs": ["/tof/tof1/points", "/tof/tof6/points", "/tof/tof5/image", "/tof/tof3/image", "/tof/tof1/image", "/tof/tof3/points", "/tof/tof6/image", "/tof/tof2/image", "/tof/tof2/points", "/tof/tof5/points", "/tof/tof4/image", "/tof/tof4/points"], "outputs": ["/tof/tof6/points", "/tof/tof1/ir_image", "/tof/tof3/fpoints", "/tof/tof5/ir_image", "/tof/tof1/image", "/tof/tof4/depth_image", "/tof/tof2/image", "/tof/tof5/points", "/tof/tof4/fpoints", "/tof/tof5/image", "/tof/tof3/points", "/tof/tof4/ir_image", "/tof/tof4/points", "/tof/tof2/ir_image", "/tof/tof6/fpoints", "/tof/tof6/ir_image", "/tof/tof3/image", "/tof/zci_metrics", "/tof/tof6/depth_image", "/tof/tof4/image", "/tof/tof5/fpoints", "/tof/tof2/depth_image", "/tof/tof1/points", "/tof/pre_tick", "/tof/tof3/depth_image", "/tof/tof1/depth_image", "/tof/tof1/fpoints", "/tof/tof6/image", "/tof/tof2/fpoints", "/tof/tof3/ir_image", "/tof/tof2/points", "/tof/tof5/depth_image"]}, "swopdash_drive_compatibility": {"inputs": ["/swopdash/drive_control/value", "/swopdash/client/heartbeat"], "outputs": ["/swopdash/drive_compatibility/zci_metrics", "/swopdash/nogo_request", "/swopdash/controls", "/swopdash/swop_status"]}, "localizer6dof_spin_loader": {"inputs": ["/driving/virtual_velodyne_points", "/driving/ApplanixPose"], "outputs": ["/localizer6dof/spin_loader/pre_tick", "/localizer6dof/spin_loader/zci_metrics", "/localizer6dof/spin_loader/Loc6SpinLoaderDiagnostics/metrics", "/localizer6dof/spin"]}, "simple_spin_loader": {"inputs": ["/driving/virtual_velodyne_points", "/planner/hero_state"], "outputs": ["/simple_spin_loader/pre_tick", "/simple_spin_loader/zci_faults", "/simple_spin_loader/metaspin", "/simple_spin_loader/zci_metrics"]}, "planner_decision": {"inputs": ["/vision/traffic_light_joint_states", "/planner/mission_options", "/prediction/prediction_internal_state", "/vehicle/measurements", "/driving/HumanFusedPerceptionObstacles2", "/planner/corridor/fused_static_corridor", "/planner/hero_state"], "outputs": ["/planner/decision", "/dbg/decision/action_reference", "/dbg/decision/interactions", "/planner/decision/pre_tick", "/dbg/decision/offset_covariances", "/dbg/decision/fused_corridor", "/planner/decision/metrics", "/dbg/decision/static_offsets", "/dbg/prediction/fused_tracks", "/dbg/prediction/other_tracks", "/planner/turn_signal", "/dbg/prediction/tracks", "/planner/decision/decision_diagnostic/faults", "/planner/decision/debug", "/dbg/decision/smooth_reference", "/planner/decision/zci_faults", "/dbg/decision/offset_classification", "/dbg/decision/nogo_trajectory", "/planner/teleop/corridor_modification_feedback", "/planner/decision/zci_metrics", "/planner/mission", "/dbg/decision/offsets", "/dbg/decision/dynamic_offsets", "/dbg/decision/turn_signal", "/dbg/decision/trajectory", "/dbg/decision/sampled_lane_reference"]}, "planner_smoother": {"inputs": ["/teleop/nogo_recovery", "/vehicle/measurements", "/planner/hero_state", "/planner/decision"], "outputs": ["/dbg/smoother/trajectory", "/planner/smoother/zci_faults", "/dbg/smoother/reference", "/planner/smoother", "/dbg/planner/executed_traj", "/planner/smoother/pre_tick", "/planner/smoother/metrics", "/planner/smoother/zci_metrics", "/planner/smoother/debug", "/dbg/smoother/fused_corridor"]}, "swopdash_system_tree": {"inputs": ["/diagnostics_toplevel_state", "/diagnostics_agg", "/capability_client/state"], "outputs": ["/swopdash/system_tree/snapshot", "/swopdash/system_tree/history", "/swopdash/system_tree/zci_metrics"]}, "swopdash_mission_config": {"inputs": ["/capability_client/state"], "outputs": ["/swopdash/mission_config/notes", "/swopdash/mission_config/zci_metrics", "/mission_config_mode"]}, "planner_hero_state": {"inputs": ["/vehicle/measurements", "/driving/ApplanixPose"], "outputs": ["/planner/hero_state/pre_tick", "/planner/hero_state/zci_faults", "/planner/hero_state/zci_metrics", "/planner/hero_state", "/planner/hero_state/HeroState/faults"]}, "swopdash_mission_compatibility": {"inputs": ["/swopdash/mission_control/value"], "outputs": ["/swopdash/mission_compatibility/zci_metrics", "/dispatch/mission_request"]}, "ai_monitor_other_forward_swopdash_nogo": {"inputs": ["/swopdash/nogo_request"], "outputs": ["/ai_monitor/other/forward_swopdash_nogo/zci_metrics", "/ai_monitor/other/forward_swopdash_nogo/pre_tick", "/ai_monitor/request/swopdash"]}, "swopdash_mission_control": {"inputs": ["/swopdash/mission_control/request"], "outputs": ["/swopdash/mission_control/value", "/swopdash/mission_control/zci_metrics", "/swopdash/mission_control/response"]}, "swopdash_traffic_lights": {"inputs": ["/vision/traffic_light_joint_states"], "outputs": ["/swopdash/traffic_light_group_state_map", "/swopdash/traffic_lights/zci_metrics"]}, "ai_monitor_trajectory_relay": {"inputs": ["/ai_monitor/trajectory_relay/from_trajectory_manager", "/ai_monitor/status", "/planner/smoother", "/planner/decision"], "outputs": ["/ai_monitor/trajectory_relay", "/ai_monitor/trajectory_relay/zci_metrics", "/ai_monitor/trajectory_relay/smoother", "/ai_monitor/trajectory_relay/zci_faults", "/ai_monitor/trajectory_relay/pre_tick"]}, "pose_estimator_swf_inertial": {"inputs": ["/driving/mofo/imu", "/vehicle/measurements", "/driving/mofo/swf_solver_state"], "outputs": ["/pose_estimator/swf_inertial/pre_tick", "/driving/ApplanixPose", "/pose_estimator/swf_inertial/zci_metrics"]}, "nogo": {"inputs": ["/swopdash/nogo_request", "/planner/decision", "/vehicle/measurements", "/driving/ApplanixPose", "/planner/smoother", "/pose_estimator/swf_solver/status", "/swopdash/swop_status", "/planner/hero_state"], "outputs": ["/nogo/faults", "/teleop/nogo_recovery", "/nogo/zci_metrics", "/nogo/zci_faults", "/nogo/control"]}, "swopdash_disengagement_control": {"inputs": ["/vehicle/measurements", "/swopdash/disengagement_control/control", "/logger/heartbeat"], "outputs": ["/status/disengagements", "/swopdash/disengagement_control/zci_metrics", "/swopdash/disengagement_control/state"]}, "lux_vox_gateway": {"inputs": ["/planner/turn_signal", "/planner/hero_state"], "outputs": ["/lux_vox_gateway/zci_metrics", "/lux_vox_gateway/zci_faults"]}, "vision_traffic_light_monitor": {"inputs": ["/vision/VisionDetectionResult", "/planner/hero_state"], "outputs": ["/vision/traffic_light_joint_states", "/vision/traffic_light_monitor/traffic_light_monitor_node/faults", "/vision/traffic_light_monitor/zci_metrics"]}, "driving_velodyne3": {"inputs": ["/driving/velodyne3/packets"], "outputs": ["/driving/velodyne3/pre_tick", "/driving/virtual_velodyne_points", "/driving/velodyne3/points", "/driving/velodyne3/zci_metrics", "/driving/velodyne3/VelodyneDiagnostic/metrics"]}, "driving_velodyne2": {"inputs": ["/driving/velodyne2/packets"], "outputs": ["/driving/velodyne2/VelodyneDiagnostic/metrics", "/driving/virtual_velodyne_points", "/driving/velodyne2/points", "/driving/velodyne2/pre_tick", "/driving/velodyne2/zci_metrics"]}, "driving_velodyne1": {"inputs": ["/driving/velodyne1/packets"], "outputs": ["/driving/velodyne1/zci_metrics", "/driving/velodyne1/VelodyneDiagnostic/faults", "/driving/virtual_velodyne_points", "/driving/velodyne1/VelodyneDiagnostic/metrics", "/driving/velodyne1/pre_tick", "/driving/velodyne1/points"]}, "driving_velodyne7": {"inputs": ["/driving/velodyne7/packets"], "outputs": ["/driving/virtual_velodyne_points", "/driving/velodyne7/points", "/driving/velodyne7/VelodyneDiagnostic/metrics", "/driving/velodyne7/zci_metrics", "/driving/velodyne7/pre_tick"]}, "driving_velodyne6": {"inputs": ["/driving/velodyne6/packets"], "outputs": ["/driving/virtual_velodyne_points", "/driving/velodyne6/zci_metrics", "/driving/velodyne6/pre_tick", "/driving/velodyne6/VelodyneDiagnostic/metrics", "/driving/velodyne6/points", "/driving/velodyne6/VelodyneDiagnostic/faults"]}, "driving_velodyne5": {"inputs": ["/driving/velodyne5/packets"], "outputs": ["/driving/virtual_velodyne_points", "/driving/velodyne5/points", "/driving/velodyne5/pre_tick", "/driving/velodyne5/VelodyneDiagnostic/metrics", "/driving/velodyne5/zci_metrics"]}, "driving_velodyne4": {"inputs": ["/driving/velodyne4/packets"], "outputs": ["/driving/virtual_velodyne_points", "/driving/velodyne4/VelodyneDiagnostic/metrics", "/driving/velodyne4/zci_metrics", "/driving/velodyne4/points", "/driving/velodyne4/VelodyneDiagnostic/faults", "/driving/velodyne4/pre_tick"]}, "driving_velodyne9": {"inputs": ["/driving/velodyne9/packets"], "outputs": ["/driving/velodyne9/VelodyneDiagnostic/metrics", "/driving/virtual_velodyne_points", "/driving/velodyne9/pre_tick", "/driving/velodyne9/points", "/driving/velodyne9/zci_metrics"]}, "driving_velodyne8": {"inputs": ["/driving/velodyne8/packets"], "outputs": ["/driving/velodyne8/zci_metrics", "/driving/virtual_velodyne_points", "/driving/velodyne8/points", "/driving/velodyne8/pre_tick", "/driving/velodyne8/VelodyneDiagnostic/metrics"]}, "swopdash_capability_client": {"inputs": ["/capability_server/get_providers/response", "/capability_server/get_interfaces/response", "/capability_server/get_running_capabilities/response"], "outputs": ["/capability_server/get_providers/request", "/swopdash/capability_client/zci_metrics", "/capability_server/get_running_capabilities/request", "/capability_server/get_interfaces/request", "/capability_client/state"]}, "confidence_analyzer": {"inputs": ["/teleop/confidence"], "outputs": ["/confidence_analyzer/pre_tick", "/teleop/system_confidence", "/confidence_analyzer/zci_metrics"]}, "swopdash_zrn_registry": {"inputs": [], "outputs": ["/swopdash/zrn_registry/zci_metrics"]}, "teleop_monitoring_estimator": {"inputs": ["/teleop/timestamp_echo"], "outputs": ["/teleop/monitoring/estimator/pre_tick", "/teleop/monitoring/estimator/zci_metrics", "/teleop/timestamp"]}, "teleop_supervisor": {"inputs": ["/teleop/vehicle_discovery", "/teleop/ziod_router_stats", "/vehicle/measurements", "/driving/teleop_interaction", "/teleop/router_health", "/nogo/control", "/planner/hero_state"], "outputs": ["/teleop/supervisor/pre_tick", "/teleop/supervisor/zci_metrics", "/driving/teleop_interaction", "/driving/hero_heartbeat", "/driving/telemetry_output"]}, "ai_monitor_trajectory_manager": {"inputs": ["/ai_monitor/trajectory_manager/from_master", "/ai_monitor/trajectory_manager/from_heartbeat", "/ai_monitor/trajectory_manager/from_fault_handler", "/ai_monitor/status", "/ai_monitor/trajectory_manager/from_llc_release_nogo"], "outputs": ["/ai_monitor/trajectory_manager/zci_metrics", "/ai_monitor/trajectory_manager/pre_tick", "/ai_monitor/trajectory_manager", "/ai_monitor/trajectory_relay/from_trajectory_manager"]}, "swopdash_zrn_select": {"inputs": ["/logger/heartbeat"], "outputs": ["/swopdash/zrn_select/zci_metrics"]}, "teleop_monitoring_health": {"inputs": ["/teleop/dds_health"], "outputs": ["/teleop/monitoring/health/zci_metrics", "/teleop/monitoring/health/pre_tick", "/teleop/health"]}, "localizer6dof_aligner": {"inputs": ["/driving/ApplanixPose", "/driving/mofo/gps_primary", "/localizer6dof/spin"], "outputs": ["/localizer6dof/aligner/pre_tick", "/localizer6dof/poses_proto", "/localizer6dof/pose", "/localizer6dof/aligner/zci_metrics", "/localizer6dof/aligner/zci_faults", "/localizer6dof/aligner/Loc6AlignerDiagnostics/metrics", "/localizer6dof/internals", "/localizer6dof/aligner/Loc6AlignerDiagnostics/faults"]}, "prediction_server": {"inputs": ["/driving/HumanFusedPerceptionObstacles2", "/planner/hero_state"], "outputs": ["/prediction/visualization", "/prediction/prediction_internal_state", "/prediction/server/zci_faults", "/dbg/prediction/future_states", "/prediction/server/pre_tick", "/prediction/server/zci_metrics"]}, "ai_monitor_heartbeat": {"inputs": ["/swopdash/nogo_request", "/ai_monitor/status", "/vehicle/measurements", "/driving/ApplanixPose", "/planner/smoother", "/pose_estimator/swf_solver/status", "/swopdash/swop_status", "/planner/hero_state"], "outputs": ["/ai_monitor/heartbeat/zci_metrics", "/ai_monitor/heartbeat/zci_faults", "/ai_monitor/heartbeat/pre_tick", "/ai_monitor/heartbeat", "/ai_monitor/trajectory_manager/from_heartbeat"]}, "planner_tracker": {"inputs": ["/planner/hero_state", "/planner/smoother"], "outputs": ["/planner/tracker/zci_metrics", "/dbg/tracker/trajectory", "/planner/tracker/debug", "/planner/tracker/pre_tick", "/planner/tracker/control", "/planner/tracker/trajectory", "/planner/tracker/zci_faults"]}, "planner_teleop_obstacle_fusion": {"inputs": ["/planner/hero_state", "/driving/PerceptionObstacles2"], "outputs": ["/planner/teleop/obstacle_fusion_feedback", "/dbg/teleop_obstacle/ignore_zone", "/driving/HumanFusedPerceptionObstacles2", "/dbg/teleop_obstacle/fenced_zone", "/planner/teleop_obstacle_fusion/zci_metrics", "/planner/teleop_obstacle_fusion/zci_faults"]}, "ai_monitor_other_rovebot_disables_nogo": {"inputs": ["/swopdash/swop_status"], "outputs": ["/ai_monitor/other/rovebot_disables_nogo/pre_tick", "/ai_monitor/other/rovebot_disables_nogo/zci_metrics"]}}