/nav_planner
  Subscribers:
    /odom: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /scan: sensor_msgs/msg/LaserScan
    /tf: tf2_msgs/msg/TFMessage
  Publishers:
    /cmd_vel: geometry_msgs/msg/Twist
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /nav_planner/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /nav_planner/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /nav_planner/get_parameters: rcl_interfaces/srv/GetParameters
    /nav_planner/list_parameters: rcl_interfaces/srv/ListParameters
    /nav_planner/set_parameters: rcl_interfaces/srv/SetParameters
    /nav_planner/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:
    /map_server/load_map: nav2_msgs/srv/LoadMap

  Action Servers:
    /navigate_to_pose: nav2_msgs/action/NavigateToPose
  Action Clients:

