Base Controller

/base_controller/cmd_vel_unstamped [sensor_msgs/msg/Twist.msg]
/base_controller/odom [sensor_msgs/msg/Odometery.msg]
/joint_states [sensor_msgs/msg/JointState.msg

Former GPIO Controller

/former_io_controller/enable_motor [std_msgs/msg/Bool.msg]
/former_io_controller/robot_feedback [former_interfaces/msg/RobotFeedback.msg]
/dock_state [std_msgs/msg/Bool.msg]
/l_sonar_range [sensor_msgs/msg/Range.msg]
/r_sonar_range [sensor_msgs/msg/Range.msg]

D435 Camera

/camera/color/camera_info [sensor_msgs/msg/CameraInfo.msg]
/camera/color/image_raw [sensor_msgs/msg/Image.msg]
/camera/depth/camera_info [sensor_msgs/msg/CameraInfo.msg]
/camera/depth/color/points [sensor_msgs/msg/PointCloud2.msg]
/camera/depth/image_rect_raw [sensor_msgs/msg/Image.msg]
/camera/imu [sensor_msgs/msg/Imu.msg]

TIM571

/front_lidar/encoder [x]
/front_lidar/imu [x]
/cloud [x]
/scan [sensor_msgs/msg/Scan.msg]
/diagnostics

IMU (XG6000)

/imu_raw [sensor_msgs/msg/Imu.msg]

Joystick

/joy
/joy/set_feedback

Etc

/line_markers
/robot_description
/tf
/tf_static