• first_signal : assembler_node
• image_pub : assembler_node
• info_pub : assembler_node
• intensity_pub : laser_image_node , assembler_node
• intensity_sub : laser_image_node
• joint_pos_pub : assembler_node
• laser_cache : assembler_node
• mech_sub : assembler_node
• prev_signal_time : assembler_node
• range_pub : assembler_node , laser_image_node
• range_sub : laser_image_node
• req_lock : assembler_node
• scan_sub : assembler_node
• signal_sub : assembler_node
• test_pub : assembler_node