| platform/emergency_stop | std_msgs/Bool | MCU node | State of platform emergency stop | Sensor Data | All |
| platform/bms/state | sensor_msgs/BatteryState | Battery node | Battery State | Sensor Data | A300 |
| platform/display/status | clearpath_platform_msgs/DisplayStatus | User | Status strings to write to e-ink display | Sensor Data | A300 |
| platform/mcu/status | clearpath_platform_msgs/Status | MCU node | MCU status | Sensor Data | All |
| platform/mcu/status/pinout | clearpath_platform_msgs/PinoutState | MCU node | MCU Pinout state | Sensor Data | A300, DX100, DX150 |
| platform/mcu/status/power | clearpath_platform_msgs/Power | MCU node | Robot Power status | Sensor Data | All |
| platform/mcu/status/stop | clearpath_platform_msgs/StopStatus | MCU node | Stop loop status | Sensor Data | A300, J100, DX100, DX150, R100, W200 |
| platform/mcu/status/temperature | clearpath_platform_msgs/Temperature | MCU node | Temperature readings | Sensor Data | A300, J100, DX100, DX150, R100, W200 |
| platform/motors/cmd | clearpath_platform_msgs/Drive | Control node | Command velocities to individual wheels | Sensor Data | J100 |
| platform/motors/feedback | clearpath_platform_msgs/DriveFeedback | MCU node | Feedback from motor drive unit | Sensor Data | J100 |
| platform/wifi_connected | std_msgs/Bool | Wireless Watcher node | Wi-Fi connected status | Sensor Data | All |
| /rosout | rcl_interfaces/Log | MCU node | System Logs | Transient Local | All |