A single device-to-topic mapping. One per sensor or motor.
sensor Attribute
Type: xs:string — Reference to an HCDF sensor name (e.g., "imu0", "camera0").
Mutually exclusive with the 'motor' attribute — specify one or the other.
motor Attribute
Type: xs:string — Reference to an HCDF motor name (e.g., "prop_fl", "joint_motor_1").
Mutually exclusive with the 'sensor' attribute — specify one or the other.
name Attribute
Type: xs:string (required) — ROS 2 topic name (e.g., "/imu/data", "/camera/image_raw").
Should follow ROS 2 naming conventions: lowercase, forward-slash separated,
no special characters except underscores.
type Attribute
Type: xs:string (required) — ROS 2 message type in package/msg/Type format
(e.g., "sensor_msgs/msg/Imu", "actuator_msgs/msg/MotorCommand").
Must be a valid, installed ROS 2 message type.
qos Attribute
Type: sensor_data | reliable | system_default | services_default | parameters | parameter_events | action_status, default="system_default" — QoS profile preset for this topic. Defaults to "system_default".
Use "sensor_data" for high-frequency best-effort streams,
"reliable" for commands that must not be dropped.