• CONSTRAINTS_TOPIC : broadcast.cpp
• PLANNING_REQUEST_TOPIC : broadcast.cpp
• PLANNING_RESULTS_TOPIC : broadcast.cpp
• PLANNING_SCENE_TOPIC : broadcast.cpp
• ROBOT_DESCRIPTION : import_from_text.cpp , save_to_warehouse.cpp , save_as_text.cpp , initialize_demo_db.cpp
• STATES_TOPIC : broadcast.cpp