• answerObjectSrv() : ui_answer
• asisted_BBmove_server() : ui_bbmove
• asisted_Detection_server() : ui_detection
• assisted_answer_server() : ui_answer
• detectObjectSrv() : ui_detection
• main() : ui_detect_sm
• moveBBSrv() : ui_bbmove , ui_answer
• user_msg() : fake_action_user , fake_detection_user , fake_bb_user