#Miro topic sub and Published topics:

/miro/rob01/platform/mics [miro_msgs/platform_mics] 1 publisher
/miro/rob01/platform/caml/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/rosout_agg [rosgraph_msgs/Log] 1 publisher
/miro/rob01/platform/caml/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
/miro/rob01/log [std_msgs/String] 1 publisher
/miro/rob01/platform/camr/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/miro/rob01/platform/camr/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/miro/rob01/platform/caml/theora [theora_image_transport/Packet] 1 publisher
/miro/rob01/core/state [miro_msgs/core_state] 1 publisher
/miro/rob01/platform/caml/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/miro/rob01/platform/sensors [miro_msgs/platform_sensors] 1 publisher
/miro/rob01/platform/camr/compressed [sensor_msgs/CompressedImage] 1 publisher
/miro/rob01/platform/camr/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/miro/rob01/platform/caml/compressed [sensor_msgs/CompressedImage] 1 publisher
/miro/rob01/platform/caml/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/miro/rob01/platform/caml/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/miro/rob01/platform/camr/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/rosout [rosgraph_msgs/Log] 1 publisher
/miro/rob01/platform/caml/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/miro/rob01/platform/camr/theora [theora_image_transport/Packet] 1 publisher
/miro/rob01/platform/camr/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/miro/rob01/platform/camr/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
/miro/rob01/platform/camr [sensor_msgs/Image] 1 publisher
/miro/rob01/platform/camr/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/miro/rob01/platform/caml/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/miro/rob01/platform/caml [sensor_msgs/Image] 1 publisher
/miro/rob01/platform/state [miro_msgs/platform_state] 1 publisher

Subscribed topics:

/miro/rob01/core/control [miro_msgs/core_control] 1 subscriber
/miro/rob01/platform/control [miro_msgs/platform_control] 1 subscriber
/rosout [rosgraph_msgs/Log] 1 subscriber
/miro/rob01/bridge/config [miro_msgs/bridge_config] 1 subscriber
/miro/rob01/platform/config [miro_msgs/platform_config] 1 subscriber
/miro/rob01/bridge/stream [miro_msgs/bridge_stream] 1 subscriber
/miro/rob01/core/config [miro_msgs/core_config] 1 subscriber

type of [miro_msgs/platform_sensors]

std_msgs/Header header uint32 seq time stamp string frame_id uint32 msg_flags int32 time_usec float32 battery_voltage sensor_msgs/Temperature temperature std_msgs/Header header uint32 seq time stamp string frame_id float64 temperature float64 variance sensor_msgs/Imu accel_head std_msgs/Header header uint32 seq time stamp string frame_id geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64[9] orientation_covariance geometry_msgs/Vector3 angular_velocity float64 x float64 y float64 z float64[9] angular_velocity_covariance geometry_msgs/Vector3 linear_acceleration float64 x float64 y float64 z float64[9] linear_acceleration_covariance sensor_msgs/Imu accel_body std_msgs/Header header uint32 seq time stamp string frame_id geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64[9] orientation_covariance geometry_msgs/Vector3 angular_velocity float64 x float64 y float64 z float64[9] angular_velocity_covariance geometry_msgs/Vector3 linear_acceleration float64 x float64 y float64 z float64[9] linear_acceleration_covariance nav_msgs/Odometry odometry std_msgs/Header header uint32 seq time stamp string frame_id string child_frame_id geometry_msgs/PoseWithCovariance pose geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64[36] covariance geometry_msgs/TwistWithCovariance twist geometry_msgs/Twist twist geometry_msgs/Vector3 linear float64 x float64 y float64 z geometry_msgs/Vector3 angular float64 x float64 y float64 z float64[36] covariance sensor_msgs/JointState joint_state std_msgs/Header header uint32 seq time stamp string frame_id string[] name float64[] position float64[] velocity float64[] effort float32 eyelid_closure uint8 dip_state_phys sensor_msgs/Range sonar_range uint8 ULTRASOUND=0 uint8 INFRARED=1 std_msgs/Header header uint32 seq time stamp string frame_id uint8 radiation_type float32 field_of_view float32 min_range float32 max_range float32 range uint8[4] light uint8[4] touch_head uint8[4] touch_body uint8[2] cliff