The ftm_msgs package provides a recommended interface to be used when developing FTM application in ROS.

The recommended interface consists of three main blocks:

1. FTMSensor - a node that performs periodic FTM measurements for a given list of FTM Responders.
   
2. LCIActionServer - An action server node that implements the following:
   
   • Performs an on-demand LCI requests for a given list of FTM responders
     
   • Exposes Action to perform LCI request for a list of responders
     
   • Can be configured to publish LCI measurements results to a topic. If so, publishes results to ftm/lci topic
     

3. LCIRegistry - An optional node implementing the following:
   

   • Stores FTM Responders data
     
   • Subscribes to ftm/lci topic in order to update its data structure
     
   • Exposes CRUD services
     

   ftm_msgs package provides the definitions of the Messages, Services and Actions needed in order to implement the architecture described above.