architecture.yaml

- action-clients: []
  action-servers: []
  fullname: /spawn_urdf
  kind: spawn_model
  name: spawn_urdf
  namespace: /
  package: gazebo_ros
  provides: []
  pubs: []
  reads: []
  subs:
  - format: gazebo_msgs/ModelStates
    name: /gazebo/model_states
  uses:
  - format: std_srvs/Empty
    name: /gazebo/unpause_physics
  - format: gazebo_msgs/SpawnModel
    name: /gazebo/spawn_urdf_model_client
  - format: gazebo_msgs/DeleteModel
    name: /gazebo/delete_model
  - format: gazebo_msgs/SetModelConfiguration
    name: /gazebo/set_model_configuration
  - format: gazebo_msgs/SpawnModel
    name: /gazebo/spawn_sdf_model_client
  writes: []


- action-clients: []
  action-servers: []
  fullname: /turtlebot3_teleop_keyboard
  kind: turtlebot3_teleop_key
  name: turtlebot3_teleop_keyboard
  namespace: /
  package: turtlebot3_teleop
  provides: []
  pubs:
  - format: geometry_msgs/Twist
    name: /cmd_vel
  reads:
  - /model
  subs: []
  uses: []
  writes: []


- action-clients: []
  action-servers: []
  fullname: /gazebo
  kind: gzserver
  name: gazebo
  namespace: /
  package: gazebo_ros
  provides:
  - format: gazebo_msgs/GetLinkState
    name: /gazebo/get_link_state
  - format: std_srvs/Empty
    name: /gazebo/reset_simulation
  - format: gazebo_msgs/SpawnModel
    name: /gazebo/spawn_sdf_model
  - format: gazebo_msgs/DeleteModel
    name: /gazebo/delete_model
  - format: gazebo_msgs/GetPhysicsProperties
    name: /gazebo/get_physics_properties
  - format: gazebo_msgs/ApplyJointEffort
    name: /gazebo/apply_joint_effort
  - format: gazebo_msgs/SetLinkProperties
    name: /gazebo/set_link_properties
  - format: std_srvs/Empty
    name: /gazebo/unpause_physics
  - format: gazebo_msgs/BodyRequest
    name: /gazebo/clear_body_wrenches
  - format: gazebo_msgs/GetModelProperties
    name: /gazebo/get_model_properties
  - format: gazebo_msgs/DeleteLight
    name: /gazebo/delete_light
  - format: gazebo_msgs/GetLinkProperties
    name: /gazebo/get_link_properties
  - format: gazebo_msgs/SpawnModel
    name: /gazebo/spawn_urdf_model
  - format: std_srvs/Empty
    name: /gazebo/reset_world
  - format: gazebo_msgs/SetPhysicsProperties
    name: /gazebo/set_physics_properties
  - format: gazebo_msgs/SetLightProperties
    name: /gazebo/set_light_properties
  - format: gazebo_msgs/SetJointProperties
    name: /gazebo/set_joint_properties
  - format: gazebo_msgs/GetLightProperties
    name: /gazebo/get_light_properties
  - format: gazebo_msgs/JointRequest
    name: /gazebo/clear_joint_forces
  - format: gazebo_msgs/SetModelState
    name: /gazebo/set_model_state
  - format: gazebo_msgs/ApplyBodyWrench
    name: /gazebo/apply_body_wrench
  - format: gazebo_msgs/GetWorldProperties
    name: /gazebo/get_world_properties
  - format: gazebo_msgs/GetJointProperties
    name: /gazebo/get_joint_properties
  - format: gazebo_msgs/GetModelState
    name: /gazebo/get_model_state
  - format: gazebo_msgs/SetModelConfiguration
    name: /gazebo/set_model_configuration
  pubs:
  - format: gazebo_msgs/Light
    name: /gazebo/light/modify
  - format: gazebo_msgs/Request
    name: /gazebo/request
  - format: sensor_msgs/JointState
    name: /joint_states
  - format: gazebo_msgs/LinkState
    name: /gazebo/link_states
  - format: rosgraph_msgs/Clock
    name: /clock
  - format: gazebo_msgs/Factory
    name: /gazebo/factory
  - format: gazebo_msgs/ModelState
    name: /gazebo/model_states
  - format: gazebo_msgs/Light
    name: /gazebo/factory/light
  - format: geometry_msgs/Twist
    name: /cmd_vel
  - format: nav_msgs/Odometry
    name: /odom
  reads:
  - /gazebo/pub_clock_frequency
  subs:
  - format: gazebo_msgs/ModelState
    name: /gazebo/set_model_state
  - format: gazebo_msgs/Response
    name: /gazebo/response
  - format: gazebo_msgs/LinkState
    name: /gazebo/set_link_state
  uses: []
  writes:
  - /gazebo/use_sim_time