| platform/emergency_stop | std_msgs/Bool | MCU node | State of platform emergency stop | Sensor Data |
| platform/mcu/_cmd_lights | clearpath_platform_msgs/Lights | Lighting command | Hidden topic used to send lighting commands to the MCU | Sensor Data |
| platform/mcu/status | clearpath_platform_msgs/Status | MCU node | MCU status | Sensor Data |
| platform/mcu/status/power | clearpath_platform_msgs/Power | MCU node | Robot Power status | Sensor Data |
| platform/mcu/status/stop | clearpath_platform_msgs/StopStatus | MCU node | Stop loop status | Sensor Data |
| platform/motors/cmd_drive | clearpath_platform_msgs/Drive | Control node | Command velocities to individual wheels | Sensor Data |
| platform/motors/feedback | clearpath_platform_msgs/DriveFeedback | MCU node | Feedback from motor drive unit | Sensor Data |
| platform/wifi_connected | std_msgs/Bool | Wireless Watcher node | Wi-Fi connected status | Sensor Data |
| /rosout | rcl_interfaces/Log | MCU node | System Logs | Transient Local |