From 53838245424befc1b5d610fbec3430a355c15e3f Mon Sep 17 00:00:00 2001
From: GitHub Action <action@github.com>
Date: Wed, 26 Jun 2024 12:30:44 +0000
Subject: [PATCH] Add changes for 8826887572ec4e7472409a82781032ffc74adc9d

---
 _00_getting_started/binary_install.html       |   1 +
 _00_getting_started/index.html                |   1 +
 _00_getting_started/source_install.html       |   1 +
 .../aerial_platforms/index.html               |   1 +
 .../architecture/index.html                   |   1 +
 .../as2_communications/index.html             |   1 +
 _01_aerostack2_concepts/behaviors/index.html  |   1 +
 _01_aerostack2_concepts/index.html            |   1 +
 .../motion_controller/index.html              |   1 +
 .../state_estimator/index.html                |   1 +
 _02_examples/crazyflie/index.html             |   1 +
 .../crazyflie/project_crazyflie/index.html    |   1 +
 .../project_crazyflie_gates/index.html        |   1 +
 _02_examples/dji/index.html                   |   1 +
 _02_examples/dji/project_dji_osdk/index.html  |   1 +
 _02_examples/gazebo/index.html                |   1 +
 _02_examples/gazebo/project_gazebo/index.html |   1 +
 _02_examples/index.html                       |   1 +
 _02_examples/multirotor_simulator/index.html  |   1 +
 .../project_multirotor_simulator/index.html   |   1 +
 _02_examples/pixhawk/index.html               |   1 +
 .../pixhawk/project_px4_vision/index.html     |   1 +
 _03_aerial_platforms/_crazyflie/index.html    |   1 +
 _03_aerial_platforms/_dji/index.html          |   1 +
 .../_gazebo_simulation/index.html             |   1 +
 .../ros_gz_bridge/index.html                  |   1 +
 .../_multirotor_simulator/index.html          |   1 +
 _03_aerial_platforms/_pixhawk/index.html      |   1 +
 .../_pixhawk/installation.html                |   1 +
 _03_aerial_platforms/_ryze_tello/index.html   |   1 +
 _03_aerial_platforms/index.html               |   1 +
 _04_robot_behaviors/index.html                |   1 +
 _05_as2_plugins/index.html                    |   1 +
 .../_alphanumeric_viewer/index.html           |   1 +
 .../_keyboard_teleoperation/index.html        |   1 +
 _06_user_interfaces/index.html                |   1 +
 .../aerial_platform/index.html                |   1 +
 .../as2_msgs/index.html                       |   1 +
 .../behaviors/index.html                      |   1 +
 _08_ros2_common_interfaces/index.html         |   1 +
 .../motion_controller/index.html              |   1 +
 .../state_estimator/index.html                |   1 +
 .../aerostack2/aerostack2/CHANGELOG.html      |   1 +
 .../aerostack2/aerostack2/docs/index.html     | 380 ++++++++++--------
 .../as2_platform_gazebo/CHANGELOG.html        |   1 +
 .../as2_behavior_tree/CHANGELOG.html          |   1 +
 .../as2_behaviors/as2_behavior/CHANGELOG.html |   1 +
 .../as2_behaviors_motion/CHANGELOG.html       |   1 +
 .../as2_behaviors_perception/CHANGELOG.html   |   1 +
 .../as2_behaviors_platform/CHANGELOG.html     |   1 +
 .../CHANGELOG.html                            |   1 +
 .../aerostack2/as2_cli/CHANGELOG.html         |   1 +
 .../aerostack2/as2_core/CHANGELOG.html        |   1 +
 .../as2_realsense_interface/CHANGELOG.html    |   1 +
 .../as2_usb_camera_interface/CHANGELOG.html   |   1 +
 .../as2_motion_controller/CHANGELOG.html      |   1 +
 .../CHANGELOG.html                            |   1 +
 .../aerostack2/as2_msgs/CHANGELOG.html        |   1 +
 .../aerostack2/as2_python_api/CHANGELOG.html  |   1 +
 .../as2_python_api/docs/source/about.html     |   1 +
 .../as2_python_api/docs/source/api.html       |   1 +
 .../docs/source/drone_interface.html          |   1 +
 .../as2_python_api/docs/source/examples.html  |   1 +
 .../as2_python_api/docs/source/index.html     |   1 +
 .../as2_python_api/docs/source/modules.html   |   1 +
 .../as2_gazebo_assets/CHANGELOG.html          |   1 +
 .../as2_gazebo_classic_assets/CHANGELOG.html  |   1 +
 .../as2_state_estimator/CHANGELOG.html        |   1 +
 .../as2_alphanumeric_viewer/CHANGELOG.html    |   1 +
 .../as2_keyboard_teleoperation/CHANGELOG.html |   1 +
 .../source/as2_keyboard_teleoperation.html    |   1 +
 .../docs/source/index.html                    |   1 +
 .../docs/source/modules.html                  |   1 +
 _09_development/_api_documentation/index.html |   7 +-
 .../temp_ws/src/as2_python_api/CHANGELOG.html |   1 +
 .../src/as2_python_api/docs/source/about.html |   1 +
 .../src/as2_python_api/docs/source/api.html   |   1 +
 .../as2_python_api.behavior_actions.html      |  12 +
 .../as2_python_api.behavior_manager.html      |   1 +
 .../docs/source/as2_python_api.html           |   2 +
 .../as2_python_api.mission_interpreter.html   |   1 +
 .../docs/source/as2_python_api.modules.html   |   1 +
 .../as2_python_api.service_clients.html       |   1 +
 .../source/as2_python_api.shared_data.html    |   1 +
 .../docs/source/as2_python_api.tools.html     |   1 +
 .../docs/source/drone_interface.html          |   1 +
 .../as2_python_api/docs/source/examples.html  |   1 +
 .../src/as2_python_api/docs/source/index.html |   1 +
 .../as2_python_api/docs/source/modules.html   |   1 +
 _09_development/_cli/index.html               |   1 +
 .../_develop_guide/_develop_new_pkg.html      | 121 +++++-
 .../_develop_guide/_setting_code.html         |   1 +
 _09_development/_develop_guide/index.html     |   2 +
 .../_tutorials/aerial_platform.html           |   1 +
 .../_tutorials/_tutorials/behavior.html       |   1 +
 .../_tutorials/controller_plugin.html         |   1 +
 .../_tutorials/estimator_plugin.html          |   1 +
 _09_development/_tutorials/index.html         |   1 +
 _09_development/index.html                    |   2 +
 _10_roadmaps/index.html                       |   1 +
 _11_license/index.html                        |   1 +
 _12_citations/index.html                      |   1 +
 _13_about_and_contact/index.html              |   1 +
 .../behavior_actions/behavior_handler.html    |  20 +
 .../follow_reference_behavior.html            |   1 +
 .../behavior_actions/followpath_behavior.html |   1 +
 .../behavior_actions/go_to_behavior.html      |   1 +
 .../behavior_actions/land_behavior.html       |   1 +
 .../point_gimbal_behavior.html                |   1 +
 .../behavior_actions/takeoff_behavior.html    |   1 +
 .../behavior_manager/behavior_manager.html    |   1 +
 _modules/as2_python_api/drone_interface.html  |   1 +
 .../as2_python_api/drone_interface_base.html  |   1 +
 .../as2_python_api/drone_interface_gps.html   |   1 +
 .../drone_interface_teleop.html               |   1 +
 .../mission_interpreter/mission.html          |   1 +
 .../mission_interpreter.html                  |   1 +
 .../mission_interpreter/mission_stack.html    |   1 +
 .../mission_interpreter/ros2_adapter.html     |   1 +
 .../as2_python_api/modules/dummy_module.html  |   1 +
 .../modules/follow_path_gps_module.html       |   1 +
 .../modules/follow_path_module.html           |   1 +
 .../modules/follow_reference_module.html      |   1 +
 .../modules/go_to_gps_module.html             |   1 +
 .../as2_python_api/modules/go_to_module.html  |   1 +
 .../as2_python_api/modules/gps_module.html    |   1 +
 .../as2_python_api/modules/land_module.html   |   1 +
 .../as2_python_api/modules/module_base.html   |   1 +
 .../motion_reference_handler_module.html      |   1 +
 .../modules/point_gimbal_module.html          |   1 +
 .../as2_python_api/modules/rtl_module.html    |   1 +
 .../modules/takeoff_module.html               |   1 +
 .../service_clients/arming.html               |   1 +
 .../service_clients/offboard.html             |   1 +
 .../service_clients/service_handler.html      |   1 +
 .../as2_python_api/shared_data/gps_data.html  |   1 +
 .../shared_data/orientation_data.html         |   1 +
 .../shared_data/platform_info_data.html       |   1 +
 .../as2_python_api/shared_data/pose_data.html |   1 +
 .../shared_data/position_data.html            |   1 +
 .../shared_data/twist_data.html               |   1 +
 _modules/as2_python_api/tools/utils.html      |   1 +
 _modules/index.html                           |   1 +
 .../_develop_guide/_develop_new_pkg.rst.txt   | 122 +++++-
 genindex.html                                 | 143 +++----
 index.html                                    |   1 +
 objects.inv                                   | Bin 96425 -> 96479 bytes
 py-modindex.html                              |   1 +
 search.html                                   |   1 +
 searchindex.js                                |   2 +-
 150 files changed, 701 insertions(+), 250 deletions(-)

diff --git a/_00_getting_started/binary_install.html b/_00_getting_started/binary_install.html
index febf8645..cbc25fc0 100644
--- a/_00_getting_started/binary_install.html
+++ b/_00_getting_started/binary_install.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_00_getting_started/index.html b/_00_getting_started/index.html
index acfb8f91..5d96dbc7 100644
--- a/_00_getting_started/index.html
+++ b/_00_getting_started/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_00_getting_started/source_install.html b/_00_getting_started/source_install.html
index de800185..10979333 100644
--- a/_00_getting_started/source_install.html
+++ b/_00_getting_started/source_install.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/aerial_platforms/index.html b/_01_aerostack2_concepts/aerial_platforms/index.html
index 4ea3b68a..677d1401 100644
--- a/_01_aerostack2_concepts/aerial_platforms/index.html
+++ b/_01_aerostack2_concepts/aerial_platforms/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/architecture/index.html b/_01_aerostack2_concepts/architecture/index.html
index e3a5f651..c508ef56 100644
--- a/_01_aerostack2_concepts/architecture/index.html
+++ b/_01_aerostack2_concepts/architecture/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/as2_communications/index.html b/_01_aerostack2_concepts/as2_communications/index.html
index 5bb0628d..11b62f3b 100644
--- a/_01_aerostack2_concepts/as2_communications/index.html
+++ b/_01_aerostack2_concepts/as2_communications/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/behaviors/index.html b/_01_aerostack2_concepts/behaviors/index.html
index 86cfdd3e..45ae124b 100644
--- a/_01_aerostack2_concepts/behaviors/index.html
+++ b/_01_aerostack2_concepts/behaviors/index.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/index.html b/_01_aerostack2_concepts/index.html
index a9f8782e..42e73875 100644
--- a/_01_aerostack2_concepts/index.html
+++ b/_01_aerostack2_concepts/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/motion_controller/index.html b/_01_aerostack2_concepts/motion_controller/index.html
index 9a80c4fa..0ab5a08a 100644
--- a/_01_aerostack2_concepts/motion_controller/index.html
+++ b/_01_aerostack2_concepts/motion_controller/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_01_aerostack2_concepts/state_estimator/index.html b/_01_aerostack2_concepts/state_estimator/index.html
index d046578a..0a421664 100644
--- a/_01_aerostack2_concepts/state_estimator/index.html
+++ b/_01_aerostack2_concepts/state_estimator/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/crazyflie/index.html b/_02_examples/crazyflie/index.html
index aef1eb17..3559b9cb 100644
--- a/_02_examples/crazyflie/index.html
+++ b/_02_examples/crazyflie/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/crazyflie/project_crazyflie/index.html b/_02_examples/crazyflie/project_crazyflie/index.html
index 293b5088..31e41f75 100644
--- a/_02_examples/crazyflie/project_crazyflie/index.html
+++ b/_02_examples/crazyflie/project_crazyflie/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/crazyflie/project_crazyflie_gates/index.html b/_02_examples/crazyflie/project_crazyflie_gates/index.html
index e367cf83..bb610c62 100644
--- a/_02_examples/crazyflie/project_crazyflie_gates/index.html
+++ b/_02_examples/crazyflie/project_crazyflie_gates/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/dji/index.html b/_02_examples/dji/index.html
index ab8f8376..41de82b5 100644
--- a/_02_examples/dji/index.html
+++ b/_02_examples/dji/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/dji/project_dji_osdk/index.html b/_02_examples/dji/project_dji_osdk/index.html
index edba571a..67b30e8d 100644
--- a/_02_examples/dji/project_dji_osdk/index.html
+++ b/_02_examples/dji/project_dji_osdk/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
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diff --git a/_02_examples/gazebo/index.html b/_02_examples/gazebo/index.html
index f6ebdcb6..8b70f6cf 100644
--- a/_02_examples/gazebo/index.html
+++ b/_02_examples/gazebo/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/gazebo/project_gazebo/index.html b/_02_examples/gazebo/project_gazebo/index.html
index 5d2988ee..7a22528f 100644
--- a/_02_examples/gazebo/project_gazebo/index.html
+++ b/_02_examples/gazebo/project_gazebo/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/index.html b/_02_examples/index.html
index 1521bf86..5ad83aa1 100644
--- a/_02_examples/index.html
+++ b/_02_examples/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/multirotor_simulator/index.html b/_02_examples/multirotor_simulator/index.html
index bcc420e3..3be223b4 100644
--- a/_02_examples/multirotor_simulator/index.html
+++ b/_02_examples/multirotor_simulator/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/multirotor_simulator/project_multirotor_simulator/index.html b/_02_examples/multirotor_simulator/project_multirotor_simulator/index.html
index f4d9665e..bb8dc5a9 100644
--- a/_02_examples/multirotor_simulator/project_multirotor_simulator/index.html
+++ b/_02_examples/multirotor_simulator/project_multirotor_simulator/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/pixhawk/index.html b/_02_examples/pixhawk/index.html
index 91522b23..b63bb75b 100644
--- a/_02_examples/pixhawk/index.html
+++ b/_02_examples/pixhawk/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_02_examples/pixhawk/project_px4_vision/index.html b/_02_examples/pixhawk/project_px4_vision/index.html
index 81d94114..948e707d 100644
--- a/_02_examples/pixhawk/project_px4_vision/index.html
+++ b/_02_examples/pixhawk/project_px4_vision/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_crazyflie/index.html b/_03_aerial_platforms/_crazyflie/index.html
index 6cb7e0c0..f5961f90 100644
--- a/_03_aerial_platforms/_crazyflie/index.html
+++ b/_03_aerial_platforms/_crazyflie/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_dji/index.html b/_03_aerial_platforms/_dji/index.html
index 95738e55..751b912b 100644
--- a/_03_aerial_platforms/_dji/index.html
+++ b/_03_aerial_platforms/_dji/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_gazebo_simulation/index.html b/_03_aerial_platforms/_gazebo_simulation/index.html
index 03240fd7..ba114b56 100644
--- a/_03_aerial_platforms/_gazebo_simulation/index.html
+++ b/_03_aerial_platforms/_gazebo_simulation/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_gazebo_simulation/ros_gz_bridge/index.html b/_03_aerial_platforms/_gazebo_simulation/ros_gz_bridge/index.html
index b9395d93..f5fd6c80 100644
--- a/_03_aerial_platforms/_gazebo_simulation/ros_gz_bridge/index.html
+++ b/_03_aerial_platforms/_gazebo_simulation/ros_gz_bridge/index.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_multirotor_simulator/index.html b/_03_aerial_platforms/_multirotor_simulator/index.html
index 75261d01..e9a3ad75 100644
--- a/_03_aerial_platforms/_multirotor_simulator/index.html
+++ b/_03_aerial_platforms/_multirotor_simulator/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_pixhawk/index.html b/_03_aerial_platforms/_pixhawk/index.html
index c5c92cf3..82bbae15 100644
--- a/_03_aerial_platforms/_pixhawk/index.html
+++ b/_03_aerial_platforms/_pixhawk/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_pixhawk/installation.html b/_03_aerial_platforms/_pixhawk/installation.html
index acfdccab..818becd0 100644
--- a/_03_aerial_platforms/_pixhawk/installation.html
+++ b/_03_aerial_platforms/_pixhawk/installation.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/_ryze_tello/index.html b/_03_aerial_platforms/_ryze_tello/index.html
index 322cb9ff..fccdca18 100644
--- a/_03_aerial_platforms/_ryze_tello/index.html
+++ b/_03_aerial_platforms/_ryze_tello/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_03_aerial_platforms/index.html b/_03_aerial_platforms/index.html
index fdf1c53a..87c840db 100644
--- a/_03_aerial_platforms/index.html
+++ b/_03_aerial_platforms/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_04_robot_behaviors/index.html b/_04_robot_behaviors/index.html
index 20b95209..1ba1d4cd 100644
--- a/_04_robot_behaviors/index.html
+++ b/_04_robot_behaviors/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_05_as2_plugins/index.html b/_05_as2_plugins/index.html
index 9c69924c..5d4434fd 100644
--- a/_05_as2_plugins/index.html
+++ b/_05_as2_plugins/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_06_user_interfaces/_alphanumeric_viewer/index.html b/_06_user_interfaces/_alphanumeric_viewer/index.html
index 0fb65c90..e5c2ec28 100644
--- a/_06_user_interfaces/_alphanumeric_viewer/index.html
+++ b/_06_user_interfaces/_alphanumeric_viewer/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_06_user_interfaces/_keyboard_teleoperation/index.html b/_06_user_interfaces/_keyboard_teleoperation/index.html
index 1fa030e6..d4a21236 100644
--- a/_06_user_interfaces/_keyboard_teleoperation/index.html
+++ b/_06_user_interfaces/_keyboard_teleoperation/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_06_user_interfaces/index.html b/_06_user_interfaces/index.html
index 02f44261..5e1cc088 100644
--- a/_06_user_interfaces/index.html
+++ b/_06_user_interfaces/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_08_ros2_common_interfaces/aerial_platform/index.html b/_08_ros2_common_interfaces/aerial_platform/index.html
index 346c9077..c9bafc5f 100644
--- a/_08_ros2_common_interfaces/aerial_platform/index.html
+++ b/_08_ros2_common_interfaces/aerial_platform/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_08_ros2_common_interfaces/as2_msgs/index.html b/_08_ros2_common_interfaces/as2_msgs/index.html
index 6c87338b..b5e74438 100644
--- a/_08_ros2_common_interfaces/as2_msgs/index.html
+++ b/_08_ros2_common_interfaces/as2_msgs/index.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_08_ros2_common_interfaces/behaviors/index.html b/_08_ros2_common_interfaces/behaviors/index.html
index 1e2a2259..863af90d 100644
--- a/_08_ros2_common_interfaces/behaviors/index.html
+++ b/_08_ros2_common_interfaces/behaviors/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_08_ros2_common_interfaces/index.html b/_08_ros2_common_interfaces/index.html
index 25ede406..8c66baee 100644
--- a/_08_ros2_common_interfaces/index.html
+++ b/_08_ros2_common_interfaces/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_08_ros2_common_interfaces/motion_controller/index.html b/_08_ros2_common_interfaces/motion_controller/index.html
index ae4136c5..b0fab34f 100644
--- a/_08_ros2_common_interfaces/motion_controller/index.html
+++ b/_08_ros2_common_interfaces/motion_controller/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_08_ros2_common_interfaces/state_estimator/index.html b/_08_ros2_common_interfaces/state_estimator/index.html
index 8c03e700..fe08bd34 100644
--- a/_08_ros2_common_interfaces/state_estimator/index.html
+++ b/_08_ros2_common_interfaces/state_estimator/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/aerostack2/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/aerostack2/CHANGELOG.html
index d82925e0..03dab891 100644
--- a/_09_development/_api_documentation/aerostack2/aerostack2/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/aerostack2/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html b/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html
index 833f2919..5958a778 100644
--- a/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html
+++ b/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -6792,7 +6793,7 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <dd><div class="docutils container">
 <em>#include &lt;<a class="reference internal" href="#node_8hpp"><span class="std std-ref">node.hpp</span></a>&gt;</em></div>
 <p>Basic Aerostack2 <a class="reference internal" href="#classas2_1_1Node"><span class="std std-ref">Node</span></a>, it heritages all the functionality of an rclcpp::Node. </p>
-<p>Subclassed by <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Takeoff &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::FollowPath &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::GoToWaypoint &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Land &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Takeoff &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::FollowPath &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::GoToWaypoint &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Land &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::SetArmingState &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::Takeoff &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::FollowReference &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::GeneratePolynomialTrajectory &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::FollowPath &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::SetOffboardMode &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::GoToWaypoint &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::PointGimbal &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::DetectArucoMarkers &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::Land &gt;</span></a>, <a class="reference internal" href="#classAlphanumericViewer"><span class="std std-ref">AlphanumericViewer</span></a>, <a class="reference internal" href="#classPlatformEmulator"><span class="std std-ref">PlatformEmulator</span></a>, <a class="reference internal" href="#classRealsenseInterface"><span class="std std-ref">RealsenseInterface</span></a>, <a class="reference internal" href="#classUsbCameraInterface"><span class="std std-ref">UsbCameraInterface</span></a>, <a class="reference internal" href="#classas2_1_1AerialPlatform"><span class="std std-ref">as2::AerialPlatform</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; MessageT &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; MessageT &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; actionT &gt;</span></a>, <a class="reference internal" href="#classas2__state__estimator_1_1StateEstimator"><span class="std std-ref">as2_state_estimator::StateEstimator</span></a>, <a class="reference internal" href="#classcontroller__manager_1_1ControllerManager"><span class="std std-ref">controller_manager::ControllerManager</span></a></p>
+<p>Subclassed by <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Takeoff &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::FollowPath &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::GoToWaypoint &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Land &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Takeoff &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::FollowPath &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::GoToWaypoint &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; as2_msgs::action::Land &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::SetArmingState &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::Takeoff &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::FollowReference &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::GeneratePolynomialTrajectory &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::FollowPath &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::SetOffboardMode &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::GoToWaypoint &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::PointGimbal &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::DetectArucoMarkers &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; as2_msgs::action::Land &gt;</span></a>, <a class="reference internal" href="#classAlphanumericViewer"><span class="std std-ref">AlphanumericViewer</span></a>, <a class="reference internal" href="#classPlatformEmulator"><span class="std std-ref">PlatformEmulator</span></a>, <a class="reference internal" href="#classas2_1_1AerialPlatform"><span class="std std-ref">as2::AerialPlatform</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; MessageT &gt;</span></a>, <a class="reference internal" href="#classas2_1_1BasicBehavior"><span class="std std-ref">as2::BasicBehavior&lt; MessageT &gt;</span></a>, <a class="reference internal" href="#classas2__behavior_1_1BehaviorServer"><span class="std std-ref">as2_behavior::BehaviorServer&lt; actionT &gt;</span></a>, <a class="reference internal" href="#classas2__state__estimator_1_1StateEstimator"><span class="std std-ref">as2_state_estimator::StateEstimator</span></a>, <a class="reference internal" href="#classcontroller__manager_1_1ControllerManager"><span class="std std-ref">controller_manager::ControllerManager</span></a>, <a class="reference internal" href="#classreal__sense__interface_1_1RealsenseInterface"><span class="std std-ref">real_sense_interface::RealsenseInterface</span></a>, <a class="reference internal" href="#classusb__camera__interface_1_1UsbCameraInterface"><span class="std std-ref">usb_camera_interface::UsbCameraInterface</span></a></p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
 <dl class="cpp function">
@@ -9737,25 +9738,25 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 </dd></dl>
 
 <dl class="cpp class">
-<dt class="sig sig-object cpp" id="_CPPv418RealsenseInterface">
-<span id="_CPPv318RealsenseInterface"></span><span id="_CPPv218RealsenseInterface"></span><span id="RealsenseInterface"></span><span class="target" id="classRealsenseInterface"></span><span class="k"><span class="pre">class</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">RealsenseInterface</span></span></span><span class="w"> </span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="k"><span class="pre">public</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as24NodeE" title="as2::Node"><span class="n"><span class="pre">Node</span></span></a><a class="headerlink" href="#_CPPv418RealsenseInterface" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterfaceE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterfaceE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterfaceE"></span><span id="real_sense_interface::RealsenseInterface"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface"></span><span class="k"><span class="pre">class</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">RealsenseInterface</span></span></span><span class="w"> </span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="k"><span class="pre">public</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as24NodeE" title="as2::Node"><span class="n"><span class="pre">Node</span></span></a><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterfaceE" title="Link to this definition"></a><br /></dt>
 <dd><div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface18RealsenseInterfaceEv">
-<span id="_CPPv3N18RealsenseInterface18RealsenseInterfaceEv"></span><span id="_CPPv2N18RealsenseInterface18RealsenseInterfaceEv"></span><span id="RealsenseInterface::RealsenseInterface"></span><span class="target" id="classRealsenseInterface_1a3f7baf141d2997c63ddd785c8fe19e37"></span><span class="sig-name descname"><span class="n"><span class="pre">RealsenseInterface</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface18RealsenseInterfaceEv" title="Link to this definition"></a><br /></dt>
-<dd><p>Constructor of the <a class="reference internal" href="#classRealsenseInterface"><span class="std std-ref">RealsenseInterface</span></a> object. </p>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface18RealsenseInterfaceERKN6rclcpp11NodeOptionsE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface18RealsenseInterfaceERKN6rclcpp11NodeOptionsE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface18RealsenseInterfaceERKN6rclcpp11NodeOptionsE"></span><span id="real_sense_interface::RealsenseInterface::RealsenseInterface__rclcpp::NodeOptionsCR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aa9694ffec76b36e898d34a61c59a2b00"></span><span class="k"><span class="pre">explicit</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">RealsenseInterface</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv46rclcpp" title="rclcpp"><span class="n"><span class="pre">rclcpp</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">NodeOptions</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">options</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv46rclcpp" title="rclcpp"><span class="n"><span class="pre">rclcpp</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">NodeOptions</span></span><span class="p"><span class="pre">(</span></span><span class="p"><span class="pre">)</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface18RealsenseInterfaceERKN6rclcpp11NodeOptionsE" title="Link to this definition"></a><br /></dt>
+<dd><p>Constructor of the <a class="reference internal" href="#classreal__sense__interface_1_1RealsenseInterface"><span class="std std-ref">RealsenseInterface</span></a> object. </p>
 </dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface4stopEv">
-<span id="_CPPv3N18RealsenseInterface4stopEv"></span><span id="_CPPv2N18RealsenseInterface4stopEv"></span><span id="RealsenseInterface::stop"></span><span class="target" id="classRealsenseInterface_1a3ac0ad1b617b66663412049be7d7078c"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">stop</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface4stopEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface4stopEv">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface4stopEv"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface4stopEv"></span><span id="real_sense_interface::RealsenseInterface::stop"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a0f9834003a8e49e21190682f91d5b8dd"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">stop</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface4stopEv" title="Link to this definition"></a><br /></dt>
 <dd><p>Stop rutine for odometry node. This function stops the pipeline. </p>
 </dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface3runEv">
-<span id="_CPPv3N18RealsenseInterface3runEv"></span><span id="_CPPv2N18RealsenseInterface3runEv"></span><span id="RealsenseInterface::run"></span><span class="target" id="classRealsenseInterface_1ac79989b89cca993dbe34cf97626fdbb0"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">run</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface3runEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface3runEv">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface3runEv"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface3runEv"></span><span id="real_sense_interface::RealsenseInterface::run"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1af2fb664f5a15cebaf3339125273161f4"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">run</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface3runEv" title="Link to this definition"></a><br /></dt>
 <dd><p>Funtionality during node lifetime. This function gets the sensor measurements from realsense device and publish them. </p>
 </dd></dl>
 
@@ -9763,206 +9764,206 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-private-functions">Private Functions</p>
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface5setupEv">
-<span id="_CPPv3N18RealsenseInterface5setupEv"></span><span id="_CPPv2N18RealsenseInterface5setupEv"></span><span id="RealsenseInterface::setup"></span><span class="target" id="classRealsenseInterface_1aac450e67c74e02bbc1f5eb8a486bfc44"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setup</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface5setupEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface5setupEv">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface5setupEv"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface5setupEv"></span><span id="real_sense_interface::RealsenseInterface::setup"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1ab3dd9a630bd7bcbcf80a10a323a8bd36"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setup</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface5setupEv" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE">
-<span id="_CPPv3N18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE"></span><span id="_CPPv2N18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE"></span><span id="RealsenseInterface::setupCamera__std::shared_ptr:as2::sensors::Camera:CR.rs2_streamC.ssC.ssC"></span><span class="target" id="classRealsenseInterface_1a75fa8d1ac491b274c1e2c60ffc0b9a56"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setupCamera</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors6CameraE" title="as2::sensors::Camera"><span class="n"><span class="pre">Camera</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2_stream</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_rs2_stream</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_encoding</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_camera_model</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE"></span><span id="real_sense_interface::RealsenseInterface::setupCamera__std::shared_ptr:as2::sensors::Camera:CR.rs2_streamC.ssC.ssC"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a5041f2774dc749d7704a9524b77c8dc6"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setupCamera</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors6CameraE" title="as2::sensors::Camera"><span class="n"><span class="pre">Camera</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2_stream</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_rs2_stream</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_encoding</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_camera_model</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE">
-<span id="_CPPv3N18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE"></span><span id="_CPPv2N18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE"></span><span id="RealsenseInterface::runImu__rs2::motion_frameCR.rs2::motion_frameCR"></span><span class="target" id="classRealsenseInterface_1a91f8152342d999d2cf5bf55b867f1a75"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runImu</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">accel_frame</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">gyro_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE"></span><span id="real_sense_interface::RealsenseInterface::runImu__rs2::motion_frameCR.rs2::motion_frameCR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a68026ad0248bc386124ffa4d347c5894"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runImu</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">accel_frame</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">gyro_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface7runPoseERKN3rs210pose_frameE">
-<span id="_CPPv3N18RealsenseInterface7runPoseERKN3rs210pose_frameE"></span><span id="_CPPv2N18RealsenseInterface7runPoseERKN3rs210pose_frameE"></span><span id="RealsenseInterface::runPose__rs2::pose_frameCR"></span><span class="target" id="classRealsenseInterface_1a30d40a506e60891e0f547f3930629981"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runPose</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pose_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">pose_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface7runPoseERKN3rs210pose_frameE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface7runPoseERKN3rs210pose_frameE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface7runPoseERKN3rs210pose_frameE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface7runPoseERKN3rs210pose_frameE"></span><span id="real_sense_interface::RealsenseInterface::runPose__rs2::pose_frameCR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1abb4575e498d339ea1bea35bcfb84e146"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runPose</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pose_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">pose_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface7runPoseERKN3rs210pose_frameE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface7runOdomERKN3rs210pose_frameE">
-<span id="_CPPv3N18RealsenseInterface7runOdomERKN3rs210pose_frameE"></span><span id="_CPPv2N18RealsenseInterface7runOdomERKN3rs210pose_frameE"></span><span id="RealsenseInterface::runOdom__rs2::pose_frameCR"></span><span class="target" id="classRealsenseInterface_1adc1b06b1bbdbcfb0a41bf01ca5d59da3"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runOdom</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pose_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">pose_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface7runOdomERKN3rs210pose_frameE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface7runOdomERKN3rs210pose_frameE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface7runOdomERKN3rs210pose_frameE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface7runOdomERKN3rs210pose_frameE"></span><span id="real_sense_interface::RealsenseInterface::runOdom__rs2::pose_frameCR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aa3f61b8bffd88d5ccfc501aed6f9e6b5"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runOdom</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pose_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">pose_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface7runOdomERKN3rs210pose_frameE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface8runColorERKN3rs211video_frameE">
-<span id="_CPPv3N18RealsenseInterface8runColorERKN3rs211video_frameE"></span><span id="_CPPv2N18RealsenseInterface8runColorERKN3rs211video_frameE"></span><span id="RealsenseInterface::runColor__rs2::video_frameCR"></span><span class="target" id="classRealsenseInterface_1a5d1e499783fe94126285ca1eaa104550"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runColor</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">video_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">color_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface8runColorERKN3rs211video_frameE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface8runColorERKN3rs211video_frameE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface8runColorERKN3rs211video_frameE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface8runColorERKN3rs211video_frameE"></span><span id="real_sense_interface::RealsenseInterface::runColor__rs2::video_frameCR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a9a2f5b5eb7ef4346812900a74b7bfff8"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">runColor</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">video_frame</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">color_frame</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface8runColorERKN3rs211video_frameE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface14identifyDeviceEv">
-<span id="_CPPv3N18RealsenseInterface14identifyDeviceEv"></span><span id="_CPPv2N18RealsenseInterface14identifyDeviceEv"></span><span id="RealsenseInterface::identifyDevice"></span><span class="target" id="classRealsenseInterface_1a8a71305f6e6d0ec964a8b49c0de46aff"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">identifyDevice</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface14identifyDeviceEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface14identifyDeviceEv">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface14identifyDeviceEv"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface14identifyDeviceEv"></span><span id="real_sense_interface::RealsenseInterface::identifyDevice"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a91b9b602192b31d440412b3f70fc725b"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">identifyDevice</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface14identifyDeviceEv" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface15identifySensorsERKN3rs26deviceE">
-<span id="_CPPv3N18RealsenseInterface15identifySensorsERKN3rs26deviceE"></span><span id="_CPPv2N18RealsenseInterface15identifySensorsERKN3rs26deviceE"></span><span id="RealsenseInterface::identifySensors__rs2::deviceCR"></span><span class="target" id="classRealsenseInterface_1ac58b65e4bbb1d6fe4914115f013ca2f4"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">identifySensors</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">device</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">dev</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface15identifySensorsERKN3rs26deviceE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface15identifySensorsERKN3rs26deviceE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface15identifySensorsERKN3rs26deviceE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface15identifySensorsERKN3rs26deviceE"></span><span id="real_sense_interface::RealsenseInterface::identifySensors__rs2::deviceCR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a0c96de041dc826114702f9ed3a55334e"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">identifySensors</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">device</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">dev</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface15identifySensorsERKN3rs26deviceE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">
-<span id="_CPPv3N18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE"></span><span id="_CPPv2N18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdX3EEERKNSt5arrayIdX3EEE"></span><span id="RealsenseInterface::setStaticTransform__ssC.ssC.std::array:double.3:CR.std::array:double.3:CR"></span><span class="target" id="classRealsenseInterface_1af77ce1f2bf3ce4b7be5d67c36d99a4c6"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setStaticTransform</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_rs_link</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_ref_frame</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_t</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_r</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdX3EEERKNSt5arrayIdX3EEE"></span><span id="real_sense_interface::RealsenseInterface::setStaticTransform__ssC.ssC.std::array:double.3:CR.std::array:double.3:CR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a55def6265f71e5643d2e1899aef3f4f1"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setStaticTransform</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_rs_link</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">_ref_frame</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_t</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_r</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">
-<span id="_CPPv3N18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE"></span><span id="_CPPv2N18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdX3EEERKNSt5arrayIdX3EEE"></span><span id="RealsenseInterface::setupPoseTransforms__std::array:double.3:CR.std::array:double.3:CR"></span><span class="target" id="classRealsenseInterface_1accc1e9fae351b18334cb083922fb5b02"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setupPoseTransforms</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">device_t</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">device_r</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdX3EEERKNSt5arrayIdX3EEE"></span><span id="real_sense_interface::RealsenseInterface::setupPoseTransforms__std::array:double.3:CR.std::array:double.3:CR"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a32ea897d1feb4301bf7c25e0d870cff2"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setupPoseTransforms</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">device_t</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">double</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">device_r</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 </div>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-private-members">Private Members</p>
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface15realsense_name_E">
-<span id="_CPPv3N18RealsenseInterface15realsense_name_E"></span><span id="_CPPv2N18RealsenseInterface15realsense_name_E"></span><span id="RealsenseInterface::realsense_name___ss"></span><span class="target" id="classRealsenseInterface_1ab8fc61c59badf56a6aecc93820fa79e8"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_name_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface15realsense_name_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface15realsense_name_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface15realsense_name_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface15realsense_name_E"></span><span id="real_sense_interface::RealsenseInterface::realsense_name___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a1b2466ad9b619fdc4ab6efbe48323dc1"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_name_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface15realsense_name_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface8verbose_E">
-<span id="_CPPv3N18RealsenseInterface8verbose_E"></span><span id="_CPPv2N18RealsenseInterface8verbose_E"></span><span id="RealsenseInterface::verbose___b"></span><span class="target" id="classRealsenseInterface_1a16939f8d320ccb7b1b1c0d8e2adaaa51"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">verbose_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface8verbose_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface8verbose_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface8verbose_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface8verbose_E"></span><span id="real_sense_interface::RealsenseInterface::verbose___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aac8bcc59003bbc0e2872c148477cf7a1"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">verbose_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface8verbose_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface17device_not_found_E">
-<span id="_CPPv3N18RealsenseInterface17device_not_found_E"></span><span id="_CPPv2N18RealsenseInterface17device_not_found_E"></span><span id="RealsenseInterface::device_not_found___b"></span><span class="target" id="classRealsenseInterface_1af76595d95ec3414e1571c74ca70f678a"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">device_not_found_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface17device_not_found_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface17device_not_found_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface17device_not_found_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface17device_not_found_E"></span><span id="real_sense_interface::RealsenseInterface::device_not_found___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aa64c3bf6f896415c30ba85d39dd09bb1"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">device_not_found_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface17device_not_found_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface14imu_available_E">
-<span id="_CPPv3N18RealsenseInterface14imu_available_E"></span><span id="_CPPv2N18RealsenseInterface14imu_available_E"></span><span id="RealsenseInterface::imu_available___b"></span><span class="target" id="classRealsenseInterface_1aef8eee9c78bf15c0290d0870362fee85"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">imu_available_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface14imu_available_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface14imu_available_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface14imu_available_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface14imu_available_E"></span><span id="real_sense_interface::RealsenseInterface::imu_available___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a6406988224b5776d38670f40c49fbc4c"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">imu_available_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface14imu_available_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface16depth_available_E">
-<span id="_CPPv3N18RealsenseInterface16depth_available_E"></span><span id="_CPPv2N18RealsenseInterface16depth_available_E"></span><span id="RealsenseInterface::depth_available___b"></span><span class="target" id="classRealsenseInterface_1ae5068972b99ae2b41d2b915f30163d2d"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">depth_available_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface16depth_available_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface16depth_available_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface16depth_available_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface16depth_available_E"></span><span id="real_sense_interface::RealsenseInterface::depth_available___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a80b286c0b1b95d98b47527a7b4e3b1e8"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">depth_available_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface16depth_available_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface16color_available_E">
-<span id="_CPPv3N18RealsenseInterface16color_available_E"></span><span id="_CPPv2N18RealsenseInterface16color_available_E"></span><span id="RealsenseInterface::color_available___b"></span><span class="target" id="classRealsenseInterface_1aa0de8c3edf2f74a7c4dfcec7099965df"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_available_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface16color_available_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface16color_available_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface16color_available_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface16color_available_E"></span><span id="real_sense_interface::RealsenseInterface::color_available___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a15e3d49fe09070d35f10c01859b19152"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_available_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface16color_available_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface18fisheye_available_E">
-<span id="_CPPv3N18RealsenseInterface18fisheye_available_E"></span><span id="_CPPv2N18RealsenseInterface18fisheye_available_E"></span><span id="RealsenseInterface::fisheye_available___b"></span><span class="target" id="classRealsenseInterface_1ab9023268e86d9a302733a5bdd9901db2"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">fisheye_available_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface18fisheye_available_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface18fisheye_available_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface18fisheye_available_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface18fisheye_available_E"></span><span id="real_sense_interface::RealsenseInterface::fisheye_available___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a7a20964eeb80d1d48a195f5e6a61e5aa"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">fisheye_available_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface18fisheye_available_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface15pose_available_E">
-<span id="_CPPv3N18RealsenseInterface15pose_available_E"></span><span id="_CPPv2N18RealsenseInterface15pose_available_E"></span><span id="RealsenseInterface::pose_available___b"></span><span class="target" id="classRealsenseInterface_1a0a778b981b1823c47628ccb839703d70"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pose_available_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface15pose_available_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface15pose_available_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface15pose_available_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface15pose_available_E"></span><span id="real_sense_interface::RealsenseInterface::pose_available___b"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aaab7beff1daefe3ef88a35ba5c1d2d6c"></span><span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pose_available_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface15pose_available_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface7serial_E">
-<span id="_CPPv3N18RealsenseInterface7serial_E"></span><span id="_CPPv2N18RealsenseInterface7serial_E"></span><span id="RealsenseInterface::serial___ss"></span><span class="target" id="classRealsenseInterface_1ae9af32ffb50bd0a9feda4b94d59120cd"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">serial_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface7serial_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface7serial_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface7serial_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface7serial_E"></span><span id="real_sense_interface::RealsenseInterface::serial___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a4d1e99d6b459c47c6a821cb3e82f156e"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">serial_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface7serial_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface5pipe_E">
-<span id="_CPPv3N18RealsenseInterface5pipe_E"></span><span id="_CPPv2N18RealsenseInterface5pipe_E"></span><span id="RealsenseInterface::pipe___rs2::pipeline"></span><span class="target" id="classRealsenseInterface_1ae598a3ccbed5f69511450ff943f7199b"></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pipeline</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pipe_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface5pipe_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface5pipe_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface5pipe_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface5pipe_E"></span><span id="real_sense_interface::RealsenseInterface::pipe___rs2::pipeline"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a871e7c5c85cf27330d3a25b65d7b4b95"></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pipeline</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pipe_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface5pipe_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface12pose_sensor_E">
-<span id="_CPPv3N18RealsenseInterface12pose_sensor_E"></span><span id="_CPPv2N18RealsenseInterface12pose_sensor_E"></span><span id="RealsenseInterface::pose_sensor___std::shared_ptr:as2::sensors::Sensor:nav_msgs::msg::Odometry::"></span><span class="target" id="classRealsenseInterface_1a0778aa7358d64bc1882b5ee917a2f6b7"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4I0EN3as27sensors6SensorE" title="as2::sensors::Sensor"><span class="n"><span class="pre">Sensor</span></span></a><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">nav_msgs</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Odometry</span></span><span class="p"><span class="pre">&gt;</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pose_sensor_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface12pose_sensor_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface12pose_sensor_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface12pose_sensor_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface12pose_sensor_E"></span><span id="real_sense_interface::RealsenseInterface::pose_sensor___std::shared_ptr:as2::sensors::Sensor:nav_msgs::msg::Odometry::"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1af67edd1920c96c84d49cae940ba361ba"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4I0EN3as27sensors6SensorE" title="as2::sensors::Sensor"><span class="n"><span class="pre">Sensor</span></span></a><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">nav_msgs</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Odometry</span></span><span class="p"><span class="pre">&gt;</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pose_sensor_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface12pose_sensor_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface11imu_sensor_E">
-<span id="_CPPv3N18RealsenseInterface11imu_sensor_E"></span><span id="_CPPv2N18RealsenseInterface11imu_sensor_E"></span><span id="RealsenseInterface::imu_sensor___std::shared_ptr:as2::sensors::Imu:"></span><span class="target" id="classRealsenseInterface_1ac2a470a1ab055adf8977968ffae2c360"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors3ImuE" title="as2::sensors::Imu"><span class="n"><span class="pre">Imu</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">imu_sensor_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface11imu_sensor_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface11imu_sensor_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface11imu_sensor_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface11imu_sensor_E"></span><span id="real_sense_interface::RealsenseInterface::imu_sensor___std::shared_ptr:as2::sensors::Imu:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a1f923314b43041eff261b562e70e9112"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors3ImuE" title="as2::sensors::Imu"><span class="n"><span class="pre">Imu</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">imu_sensor_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface11imu_sensor_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface13color_sensor_E">
-<span id="_CPPv3N18RealsenseInterface13color_sensor_E"></span><span id="_CPPv2N18RealsenseInterface13color_sensor_E"></span><span id="RealsenseInterface::color_sensor___std::shared_ptr:as2::sensors::Camera:"></span><span class="target" id="classRealsenseInterface_1a1a240a1274d7b8b9189cf049f79d2ac3"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors6CameraE" title="as2::sensors::Camera"><span class="n"><span class="pre">Camera</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_sensor_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface13color_sensor_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface13color_sensor_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface13color_sensor_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface13color_sensor_E"></span><span id="real_sense_interface::RealsenseInterface::color_sensor___std::shared_ptr:as2::sensors::Camera:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1af5ca85e92a94763ac7083b3f08017c0f"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors6CameraE" title="as2::sensors::Camera"><span class="n"><span class="pre">Camera</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_sensor_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface13color_sensor_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface12accel_frame_E">
-<span id="_CPPv3N18RealsenseInterface12accel_frame_E"></span><span id="_CPPv2N18RealsenseInterface12accel_frame_E"></span><span id="RealsenseInterface::accel_frame___std::shared_ptr:rs2::motion_frame:"></span><span class="target" id="classRealsenseInterface_1a3cf29189a61db97d1a4bd888585a4398"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">accel_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface12accel_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface12accel_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface12accel_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface12accel_frame_E"></span><span id="real_sense_interface::RealsenseInterface::accel_frame___std::shared_ptr:rs2::motion_frame:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1ae8a438267ce086fcdc863eb5cbce4993"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">accel_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface12accel_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface11gyro_frame_E">
-<span id="_CPPv3N18RealsenseInterface11gyro_frame_E"></span><span id="_CPPv2N18RealsenseInterface11gyro_frame_E"></span><span id="RealsenseInterface::gyro_frame___std::shared_ptr:rs2::motion_frame:"></span><span class="target" id="classRealsenseInterface_1af7db5b377bd983fb3083202c609dab93"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">gyro_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface11gyro_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface11gyro_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface11gyro_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface11gyro_frame_E"></span><span id="real_sense_interface::RealsenseInterface::gyro_frame___std::shared_ptr:rs2::motion_frame:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a9fc2660a1cc187d65715bc13cafc8658"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">motion_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">gyro_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface11gyro_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface11pose_frame_E">
-<span id="_CPPv3N18RealsenseInterface11pose_frame_E"></span><span id="_CPPv2N18RealsenseInterface11pose_frame_E"></span><span id="RealsenseInterface::pose_frame___std::shared_ptr:rs2::pose_frame:"></span><span class="target" id="classRealsenseInterface_1a0dddbf51f2b80cf9467d30f664b15d17"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pose_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pose_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface11pose_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface11pose_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface11pose_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface11pose_frame_E"></span><span id="real_sense_interface::RealsenseInterface::pose_frame___std::shared_ptr:rs2::pose_frame:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a7466650d877f38e4687cdb6ec27a59b2"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">pose_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">pose_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface11pose_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface12color_frame_E">
-<span id="_CPPv3N18RealsenseInterface12color_frame_E"></span><span id="_CPPv2N18RealsenseInterface12color_frame_E"></span><span id="RealsenseInterface::color_frame___std::shared_ptr:rs2::video_frame:"></span><span class="target" id="classRealsenseInterface_1a0bd547aa2f98414acfb9f6213eeb3655"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">video_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface12color_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface12color_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface12color_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface12color_frame_E"></span><span id="real_sense_interface::RealsenseInterface::color_frame___std::shared_ptr:rs2::video_frame:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a0eede43425af477efa88b6af62cf2b6c"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">rs2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">video_frame</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface12color_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface22tf_static_broadcaster_E">
-<span id="_CPPv3N18RealsenseInterface22tf_static_broadcaster_E"></span><span id="_CPPv2N18RealsenseInterface22tf_static_broadcaster_E"></span><span id="RealsenseInterface::tf_static_broadcaster___std::shared_ptr:tf2_ros::StaticTransformBroadcaster:"></span><span class="target" id="classRealsenseInterface_1a197b214e382d00dbd77d52ed70f2b773"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">tf2_ros</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">StaticTransformBroadcaster</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">tf_static_broadcaster_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface22tf_static_broadcaster_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface22tf_static_broadcaster_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface22tf_static_broadcaster_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface22tf_static_broadcaster_E"></span><span id="real_sense_interface::RealsenseInterface::tf_static_broadcaster___std::shared_ptr:tf2_ros::StaticTransformBroadcaster:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a7c71cc552e14342330be74252b98e702"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">tf2_ros</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">StaticTransformBroadcaster</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">tf_static_broadcaster_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface22tf_static_broadcaster_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface19tf2_fix_transforms_E">
-<span id="_CPPv3N18RealsenseInterface19tf2_fix_transforms_E"></span><span id="_CPPv2N18RealsenseInterface19tf2_fix_transforms_E"></span><span id="RealsenseInterface::tf2_fix_transforms___std::vector:geometry_msgs::msg::TransformStamped:"></span><span class="target" id="classRealsenseInterface_1a62b0754c20891de5ec8b553f4cb9adaf"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">vector</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">geometry_msgs</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">TransformStamped</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">tf2_fix_transforms_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface19tf2_fix_transforms_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface19tf2_fix_transforms_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface19tf2_fix_transforms_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface19tf2_fix_transforms_E"></span><span id="real_sense_interface::RealsenseInterface::tf2_fix_transforms___std::vector:geometry_msgs::msg::TransformStamped:"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a4a6e8b75275384aad0654f239f328c3c"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">vector</span></span><span class="p"><span class="pre">&lt;</span></span><span class="n"><span class="pre">geometry_msgs</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">TransformStamped</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">tf2_fix_transforms_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface19tf2_fix_transforms_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface19rs_odom2rs_link_tf_E">
-<span id="_CPPv3N18RealsenseInterface19rs_odom2rs_link_tf_E"></span><span id="_CPPv2N18RealsenseInterface19rs_odom2rs_link_tf_E"></span><span id="RealsenseInterface::rs_odom2rs_link_tf___geometry_msgs::msg::TransformStamped"></span><span class="target" id="classRealsenseInterface_1a190b1a7118326278eb0ed53fd7504b71"></span><span class="n"><span class="pre">geometry_msgs</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">TransformStamped</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">rs_odom2rs_link_tf_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface19rs_odom2rs_link_tf_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface19rs_odom2rs_link_tf_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface19rs_odom2rs_link_tf_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface19rs_odom2rs_link_tf_E"></span><span id="real_sense_interface::RealsenseInterface::rs_odom2rs_link_tf___geometry_msgs::msg::TransformStamped"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aa13515f24cdcb3ce4f3b30203a313f40"></span><span class="n"><span class="pre">geometry_msgs</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">TransformStamped</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">rs_odom2rs_link_tf_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface19rs_odom2rs_link_tf_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface16base_link_frame_E">
-<span id="_CPPv3N18RealsenseInterface16base_link_frame_E"></span><span id="_CPPv2N18RealsenseInterface16base_link_frame_E"></span><span id="RealsenseInterface::base_link_frame___ss"></span><span class="target" id="classRealsenseInterface_1aba1bd26a96a08dc6cf5cc6c934a34053"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">base_link_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface16base_link_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface16base_link_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface16base_link_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface16base_link_frame_E"></span><span id="real_sense_interface::RealsenseInterface::base_link_frame___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a8112fe41f1bf4e83425436c4be9d0008"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">base_link_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface16base_link_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface11odom_frame_E">
-<span id="_CPPv3N18RealsenseInterface11odom_frame_E"></span><span id="_CPPv2N18RealsenseInterface11odom_frame_E"></span><span id="RealsenseInterface::odom_frame___ss"></span><span class="target" id="classRealsenseInterface_1a1d3ea60c111513137d6045f274a772bd"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">odom_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface11odom_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface11odom_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface11odom_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface11odom_frame_E"></span><span id="real_sense_interface::RealsenseInterface::odom_frame___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a4b8f2332a296e3bf0ea586cfba76073e"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">odom_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface11odom_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface21realsense_link_frame_E">
-<span id="_CPPv3N18RealsenseInterface21realsense_link_frame_E"></span><span id="_CPPv2N18RealsenseInterface21realsense_link_frame_E"></span><span id="RealsenseInterface::realsense_link_frame___ss"></span><span class="target" id="classRealsenseInterface_1a7a3db9c74b99d1cfcc249232ad82481f"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_link_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface21realsense_link_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface21realsense_link_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface21realsense_link_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface21realsense_link_frame_E"></span><span id="real_sense_interface::RealsenseInterface::realsense_link_frame___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a081d86906bc211b0317152a9d07d9015"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_link_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface21realsense_link_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface19color_sensor_frame_E">
-<span id="_CPPv3N18RealsenseInterface19color_sensor_frame_E"></span><span id="_CPPv2N18RealsenseInterface19color_sensor_frame_E"></span><span id="RealsenseInterface::color_sensor_frame___ss"></span><span class="target" id="classRealsenseInterface_1a9fdf207137fa3b872937f3c8c6ad6369"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_sensor_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface19color_sensor_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface19color_sensor_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface19color_sensor_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface19color_sensor_frame_E"></span><span id="real_sense_interface::RealsenseInterface::color_sensor_frame___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a5498c3379971118af2af670eec973ec5"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">color_sensor_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface19color_sensor_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface17imu_sensor_frame_E">
-<span id="_CPPv3N18RealsenseInterface17imu_sensor_frame_E"></span><span id="_CPPv2N18RealsenseInterface17imu_sensor_frame_E"></span><span id="RealsenseInterface::imu_sensor_frame___ss"></span><span class="target" id="classRealsenseInterface_1a3ab5c6149a9d5a369377ced97c77506d"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">imu_sensor_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface17imu_sensor_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface17imu_sensor_frame_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface17imu_sensor_frame_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface17imu_sensor_frame_E"></span><span id="real_sense_interface::RealsenseInterface::imu_sensor_frame___ss"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a8b82f03bd4b0f6da67bd8cd39608fe46"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">imu_sensor_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface17imu_sensor_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface28base_link_to_realsense_link_E">
-<span id="_CPPv3N18RealsenseInterface28base_link_to_realsense_link_E"></span><span id="_CPPv2N18RealsenseInterface28base_link_to_realsense_link_E"></span><span id="RealsenseInterface::base_link_to_realsense_link___tf2::Transform"></span><span class="target" id="classRealsenseInterface_1a77911844dc9d783195167d9d390b9141"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">base_link_to_realsense_link_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface28base_link_to_realsense_link_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface28base_link_to_realsense_link_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface28base_link_to_realsense_link_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface28base_link_to_realsense_link_E"></span><span id="real_sense_interface::RealsenseInterface::base_link_to_realsense_link___tf2::Transform"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aed635ce18e3ec0bd385d88ee42955871"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">base_link_to_realsense_link_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface28base_link_to_realsense_link_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface33base_link_to_realsense_pose_odom_E">
-<span id="_CPPv3N18RealsenseInterface33base_link_to_realsense_pose_odom_E"></span><span id="_CPPv2N18RealsenseInterface33base_link_to_realsense_pose_odom_E"></span><span id="RealsenseInterface::base_link_to_realsense_pose_odom___tf2::Transform"></span><span class="target" id="classRealsenseInterface_1a5b7d44f1c975f67f423ebdb4607b0343"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">base_link_to_realsense_pose_odom_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface33base_link_to_realsense_pose_odom_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface33base_link_to_realsense_pose_odom_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface33base_link_to_realsense_pose_odom_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface33base_link_to_realsense_pose_odom_E"></span><span id="real_sense_interface::RealsenseInterface::base_link_to_realsense_pose_odom___tf2::Transform"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1af80830104e2fd8ec8db8d5d0c8b41796"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">base_link_to_realsense_pose_odom_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface33base_link_to_realsense_pose_odom_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface33realsense_link_to_realsense_pose_E">
-<span id="_CPPv3N18RealsenseInterface33realsense_link_to_realsense_pose_E"></span><span id="_CPPv2N18RealsenseInterface33realsense_link_to_realsense_pose_E"></span><span id="RealsenseInterface::realsense_link_to_realsense_pose___tf2::Transform"></span><span class="target" id="classRealsenseInterface_1a75c6fb1f3d86f1ca77dbef7ae2842f43"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_link_to_realsense_pose_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface33realsense_link_to_realsense_pose_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface33realsense_link_to_realsense_pose_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface33realsense_link_to_realsense_pose_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface33realsense_link_to_realsense_pose_E"></span><span id="real_sense_interface::RealsenseInterface::realsense_link_to_realsense_pose___tf2::Transform"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1aec78689aee64107f54b58e72cfa9bcd5"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_link_to_realsense_pose_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface33realsense_link_to_realsense_pose_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface38realsense_link_to_realsense_pose_odom_E">
-<span id="_CPPv3N18RealsenseInterface38realsense_link_to_realsense_pose_odom_E"></span><span id="_CPPv2N18RealsenseInterface38realsense_link_to_realsense_pose_odom_E"></span><span id="RealsenseInterface::realsense_link_to_realsense_pose_odom___tf2::Transform"></span><span class="target" id="classRealsenseInterface_1ab105feef395a20db26947afc9ea90e60"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_link_to_realsense_pose_odom_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface38realsense_link_to_realsense_pose_odom_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface38realsense_link_to_realsense_pose_odom_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface38realsense_link_to_realsense_pose_odom_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface38realsense_link_to_realsense_pose_odom_E"></span><span id="real_sense_interface::RealsenseInterface::realsense_link_to_realsense_pose_odom___tf2::Transform"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1a4c6bd4b6784194b59250a863a42c55b6"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_link_to_realsense_pose_odom_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface38realsense_link_to_realsense_pose_odom_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18RealsenseInterface15realsense_pose_E">
-<span id="_CPPv3N18RealsenseInterface15realsense_pose_E"></span><span id="_CPPv2N18RealsenseInterface15realsense_pose_E"></span><span id="RealsenseInterface::realsense_pose___tf2::Transform"></span><span class="target" id="classRealsenseInterface_1aa82c830fd3b29d3774cd7321dd934b43"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_pose_</span></span></span><a class="headerlink" href="#_CPPv4N18RealsenseInterface15realsense_pose_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20real_sense_interface18RealsenseInterface15realsense_pose_E">
+<span id="_CPPv3N20real_sense_interface18RealsenseInterface15realsense_pose_E"></span><span id="_CPPv2N20real_sense_interface18RealsenseInterface15realsense_pose_E"></span><span id="real_sense_interface::RealsenseInterface::realsense_pose___tf2::Transform"></span><span class="target" id="classreal__sense__interface_1_1RealsenseInterface_1ac906e81570eb91a0c60fbca5f1552a05"></span><span class="n"><span class="pre">tf2</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Transform</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">realsense_pose_</span></span></span><a class="headerlink" href="#_CPPv4N20real_sense_interface18RealsenseInterface15realsense_pose_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 </div>
@@ -12461,121 +12462,121 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 </dd></dl>
 
 <dl class="cpp class">
-<dt class="sig sig-object cpp" id="_CPPv418UsbCameraInterface">
-<span id="_CPPv318UsbCameraInterface"></span><span id="_CPPv218UsbCameraInterface"></span><span id="UsbCameraInterface"></span><span class="target" id="classUsbCameraInterface"></span><span class="k"><span class="pre">class</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">UsbCameraInterface</span></span></span><span class="w"> </span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="k"><span class="pre">public</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as24NodeE" title="as2::Node"><span class="n"><span class="pre">Node</span></span></a><a class="headerlink" href="#_CPPv418UsbCameraInterface" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterfaceE">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterfaceE"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterfaceE"></span><span id="usb_camera_interface::UsbCameraInterface"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface"></span><span class="k"><span class="pre">class</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">UsbCameraInterface</span></span></span><span class="w"> </span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="k"><span class="pre">public</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as24NodeE" title="as2::Node"><span class="n"><span class="pre">Node</span></span></a><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterfaceE" title="Link to this definition"></a><br /></dt>
 <dd><div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface18UsbCameraInterfaceEv">
-<span id="_CPPv3N18UsbCameraInterface18UsbCameraInterfaceEv"></span><span id="_CPPv2N18UsbCameraInterface18UsbCameraInterfaceEv"></span><span id="UsbCameraInterface::UsbCameraInterface"></span><span class="target" id="classUsbCameraInterface_1a034ecbe519639006151b794d0a7b7213"></span><span class="sig-name descname"><span class="n"><span class="pre">UsbCameraInterface</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface18UsbCameraInterfaceEv" title="Link to this definition"></a><br /></dt>
-<dd><p>Construct a new <a class="reference internal" href="#classUsbCameraInterface"><span class="std std-ref">UsbCameraInterface</span></a> object. </p>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface18UsbCameraInterfaceERKN6rclcpp11NodeOptionsE">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface18UsbCameraInterfaceERKN6rclcpp11NodeOptionsE"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface18UsbCameraInterfaceERKN6rclcpp11NodeOptionsE"></span><span id="usb_camera_interface::UsbCameraInterface::UsbCameraInterface__rclcpp::NodeOptionsCR"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a747953ddf06b32a7d061cb31d4965fcb"></span><span class="k"><span class="pre">explicit</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">UsbCameraInterface</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv46rclcpp" title="rclcpp"><span class="n"><span class="pre">rclcpp</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">NodeOptions</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">options</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv46rclcpp" title="rclcpp"><span class="n"><span class="pre">rclcpp</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">NodeOptions</span></span><span class="p"><span class="pre">(</span></span><span class="p"><span class="pre">)</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface18UsbCameraInterfaceERKN6rclcpp11NodeOptionsE" title="Link to this definition"></a><br /></dt>
+<dd><p>Construct a new <a class="reference internal" href="#classusb__camera__interface_1_1UsbCameraInterface"><span class="std std-ref">UsbCameraInterface</span></a> object. </p>
 </dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterfaceD0Ev">
-<span id="_CPPv3N18UsbCameraInterfaceD0Ev"></span><span id="_CPPv2N18UsbCameraInterfaceD0Ev"></span><span id="UsbCameraInterface::~UsbCameraInterface"></span><span class="target" id="classUsbCameraInterface_1a15925ce857cc6273773adf9e2249055a"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">~UsbCameraInterface</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterfaceD0Ev" title="Link to this definition"></a><br /></dt>
-<dd><p>Destroy the <a class="reference internal" href="#classUsbCameraInterface"><span class="std std-ref">UsbCameraInterface</span></a> object. </p>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterfaceD0Ev">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterfaceD0Ev"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterfaceD0Ev"></span><span id="usb_camera_interface::UsbCameraInterface::~UsbCameraInterface"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1ab3cabfc619b63de326f1f3bfdda48a93"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">~UsbCameraInterface</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterfaceD0Ev" title="Link to this definition"></a><br /></dt>
+<dd><p>Destroy the <a class="reference internal" href="#classusb__camera__interface_1_1UsbCameraInterface"><span class="std std-ref">UsbCameraInterface</span></a> object. </p>
 </dd></dl>
 
 </div>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-private-functions">Private Functions</p>
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE">
-<span id="_CPPv3N18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE"></span><span id="_CPPv2N18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE"></span><span id="UsbCameraInterface::setCameraParameters__cv::MatCR.cv::MatCR"></span><span class="target" id="classUsbCameraInterface_1a47ee54f5225ac2cf806bb1e9ac52be28"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setCameraParameters</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera_matrix</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_dist_coeffs</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE"></span><span id="usb_camera_interface::UsbCameraInterface::setCameraParameters__cv::MatCR.cv::MatCR"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1abd9e79bd4102acae2560dbd60b37c05d"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setCameraParameters</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera_matrix</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_dist_coeffs</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface14loadParametersEv">
-<span id="_CPPv3N18UsbCameraInterface14loadParametersEv"></span><span id="_CPPv2N18UsbCameraInterface14loadParametersEv"></span><span id="UsbCameraInterface::loadParameters"></span><span class="target" id="classUsbCameraInterface_1ab3009b9e3381acb3bf4719041b71a639"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">loadParameters</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface14loadParametersEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface14loadParametersEv">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface14loadParametersEv"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface14loadParametersEv"></span><span id="usb_camera_interface::UsbCameraInterface::loadParameters"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a210631463dc1d99ea28d6145f97163be"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">loadParameters</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface14loadParametersEv" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface12captureImageEv">
-<span id="_CPPv3N18UsbCameraInterface12captureImageEv"></span><span id="_CPPv2N18UsbCameraInterface12captureImageEv"></span><span id="UsbCameraInterface::captureImage"></span><span class="target" id="classUsbCameraInterface_1a972c3e6edb272ac1d3c1f98913a49318"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">captureImage</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface12captureImageEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface12captureImageEv">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface12captureImageEv"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface12captureImageEv"></span><span id="usb_camera_interface::UsbCameraInterface::captureImage"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1ab9efae712e8113c4195bb0c8f5340796"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">captureImage</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface12captureImageEv" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface11setupCameraEv">
-<span id="_CPPv3N18UsbCameraInterface11setupCameraEv"></span><span id="_CPPv2N18UsbCameraInterface11setupCameraEv"></span><span id="UsbCameraInterface::setupCamera"></span><span class="target" id="classUsbCameraInterface_1adb8e245f4f38bfb38ab185f8cd094b89"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setupCamera</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface11setupCameraEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface11setupCameraEv">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface11setupCameraEv"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface11setupCameraEv"></span><span id="usb_camera_interface::UsbCameraInterface::setupCamera"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1ac023c9c5ca5cca1de21f64199ddb3fbc"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setupCamera</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface11setupCameraEv" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface18setCameraTransformEv">
-<span id="_CPPv3N18UsbCameraInterface18setCameraTransformEv"></span><span id="_CPPv2N18UsbCameraInterface18setCameraTransformEv"></span><span id="UsbCameraInterface::setCameraTransform"></span><span class="target" id="classUsbCameraInterface_1aca01c1de7aa8d6a522677ae42e8794fd"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setCameraTransform</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface18setCameraTransformEv" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface18setCameraTransformEv">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface18setCameraTransformEv"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface18setCameraTransformEv"></span><span id="usb_camera_interface::UsbCameraInterface::setCameraTransform"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a3fb70c73aaa14ac0f2293c44194c2810"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setCameraTransform</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface18setCameraTransformEv" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE">
-<span id="_CPPv3N18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE"></span><span id="_CPPv2N18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE"></span><span id="UsbCameraInterface::setCameraModelTransform__ssCR.ssCR"></span><span class="target" id="classUsbCameraInterface_1ac69ee51ca5e0e81f816bd76dd1053017"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setCameraModelTransform</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera_flu</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera_rdf</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE"></span><span id="usb_camera_interface::UsbCameraInterface::setCameraModelTransform__ssCR.ssCR"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1af3a1237981fd10d920a27be0e539bbfb"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">setCameraModelTransform</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera_flu</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">_camera_rdf</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 </div>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-private-members">Private Members</p>
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface7camera_E">
-<span id="_CPPv3N18UsbCameraInterface7camera_E"></span><span id="_CPPv2N18UsbCameraInterface7camera_E"></span><span id="UsbCameraInterface::camera___std::shared_ptr:as2::sensors::Camera:"></span><span class="target" id="classUsbCameraInterface_1a106cf6e2d0fae5862db4a3a433a49996"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors6CameraE" title="as2::sensors::Camera"><span class="n"><span class="pre">Camera</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface7camera_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface7camera_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface7camera_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface7camera_E"></span><span id="usb_camera_interface::UsbCameraInterface::camera___std::shared_ptr:as2::sensors::Camera:"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a6ae88875cbbc424e8902f5860d42bc88"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">shared_ptr</span></span><span class="p"><span class="pre">&lt;</span></span><a class="reference internal" href="#_CPPv43as2" title="as2"><span class="n"><span class="pre">as2</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensorsE" title="as2::sensors"><span class="n"><span class="pre">sensors</span></span></a><span class="p"><span class="pre">::</span></span><a class="reference internal" href="#_CPPv4N3as27sensors6CameraE" title="as2::sensors::Camera"><span class="n"><span class="pre">Camera</span></span></a><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface7camera_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface12camera_name_E">
-<span id="_CPPv3N18UsbCameraInterface12camera_name_E"></span><span id="_CPPv2N18UsbCameraInterface12camera_name_E"></span><span id="UsbCameraInterface::camera_name___ss"></span><span class="target" id="classUsbCameraInterface_1a185f4a2c56fb7dfbd78991fb0c91e5b5"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_name_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface12camera_name_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface12camera_name_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface12camera_name_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface12camera_name_E"></span><span id="usb_camera_interface::UsbCameraInterface::camera_name___ss"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1aeeab6400b0291fc5c6b65212ca7fda12"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_name_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface12camera_name_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface13camera_frame_E">
-<span id="_CPPv3N18UsbCameraInterface13camera_frame_E"></span><span id="_CPPv2N18UsbCameraInterface13camera_frame_E"></span><span id="UsbCameraInterface::camera_frame___ss"></span><span class="target" id="classUsbCameraInterface_1a06c63bb09a3e410cf6e395a357cb8d81"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_frame_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface13camera_frame_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface13camera_frame_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface13camera_frame_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface13camera_frame_E"></span><span id="usb_camera_interface::UsbCameraInterface::camera_frame___ss"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1ae5e0e31ed288fbb3c844e5e0af448995"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_frame_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface13camera_frame_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface12device_port_E">
-<span id="_CPPv3N18UsbCameraInterface12device_port_E"></span><span id="_CPPv2N18UsbCameraInterface12device_port_E"></span><span id="UsbCameraInterface::device_port___ss"></span><span class="target" id="classUsbCameraInterface_1af358a5398d360f2bf3659d6eea83cba7"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">device_port_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface12device_port_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface12device_port_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface12device_port_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface12device_port_E"></span><span id="usb_camera_interface::UsbCameraInterface::device_port___ss"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a397fbf2308393afbbbe6311963596d19"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">device_port_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface12device_port_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface12image_width_E">
-<span id="_CPPv3N18UsbCameraInterface12image_width_E"></span><span id="_CPPv2N18UsbCameraInterface12image_width_E"></span><span id="UsbCameraInterface::image_width___i"></span><span class="target" id="classUsbCameraInterface_1a4ce637a32a7291177df2bae737e9b06c"></span><span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">image_width_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface12image_width_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface12image_width_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface12image_width_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface12image_width_E"></span><span id="usb_camera_interface::UsbCameraInterface::image_width___i"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a14b393fa4ac68e3103925143b1261833"></span><span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">image_width_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface12image_width_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface13image_height_E">
-<span id="_CPPv3N18UsbCameraInterface13image_height_E"></span><span id="_CPPv2N18UsbCameraInterface13image_height_E"></span><span id="UsbCameraInterface::image_height___i"></span><span class="target" id="classUsbCameraInterface_1a31bd23f32168ea896c5e1e4e321e6509"></span><span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">image_height_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface13image_height_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface13image_height_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface13image_height_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface13image_height_E"></span><span id="usb_camera_interface::UsbCameraInterface::image_height___i"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a379cd04ae740d5d06e7bccfb66f4ce65"></span><span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">image_height_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface13image_height_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface10framerate_E">
-<span id="_CPPv3N18UsbCameraInterface10framerate_E"></span><span id="_CPPv2N18UsbCameraInterface10framerate_E"></span><span id="UsbCameraInterface::framerate___double"></span><span class="target" id="classUsbCameraInterface_1ae57dc2b8a579f5edbb8c5c31a7ab1e52"></span><span class="kt"><span class="pre">double</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">framerate_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface10framerate_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface10framerate_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface10framerate_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface10framerate_E"></span><span id="usb_camera_interface::UsbCameraInterface::framerate___double"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a4317c7e60acb0e5787ea65a1fa21c7c7"></span><span class="kt"><span class="pre">double</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">framerate_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface10framerate_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface14camera_matrix_E">
-<span id="_CPPv3N18UsbCameraInterface14camera_matrix_E"></span><span id="_CPPv2N18UsbCameraInterface14camera_matrix_E"></span><span id="UsbCameraInterface::camera_matrix___cv::Mat"></span><span class="target" id="classUsbCameraInterface_1aab7b1e5ad158fba74ff4524d20d9a7f4"></span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_matrix_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface14camera_matrix_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface14camera_matrix_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface14camera_matrix_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface14camera_matrix_E"></span><span id="usb_camera_interface::UsbCameraInterface::camera_matrix___cv::Mat"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1ab87953a9aeb4d42c240d682ecb56ae7f"></span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_matrix_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface14camera_matrix_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface12dist_coeffs_E">
-<span id="_CPPv3N18UsbCameraInterface12dist_coeffs_E"></span><span id="_CPPv2N18UsbCameraInterface12dist_coeffs_E"></span><span id="UsbCameraInterface::dist_coeffs___cv::Mat"></span><span class="target" id="classUsbCameraInterface_1a3332aeb905912a564486dd1983ecca2b"></span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">dist_coeffs_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface12dist_coeffs_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface12dist_coeffs_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface12dist_coeffs_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface12dist_coeffs_E"></span><span id="usb_camera_interface::UsbCameraInterface::dist_coeffs___cv::Mat"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a1b3ce03788b6586eb148ccb271792165"></span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">Mat</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">dist_coeffs_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface12dist_coeffs_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface17distortion_model_E">
-<span id="_CPPv3N18UsbCameraInterface17distortion_model_E"></span><span id="_CPPv2N18UsbCameraInterface17distortion_model_E"></span><span id="UsbCameraInterface::distortion_model___ss"></span><span class="target" id="classUsbCameraInterface_1a3f2fa01d4e05f8fffd86378557016192"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">distortion_model_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface17distortion_model_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface17distortion_model_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface17distortion_model_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface17distortion_model_E"></span><span id="usb_camera_interface::UsbCameraInterface::distortion_model___ss"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a1dab058fdfca6b5012e4c5852f533ead"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">distortion_model_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface17distortion_model_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface13camera_model_E">
-<span id="_CPPv3N18UsbCameraInterface13camera_model_E"></span><span id="_CPPv2N18UsbCameraInterface13camera_model_E"></span><span id="UsbCameraInterface::camera_model___ss"></span><span class="target" id="classUsbCameraInterface_1aaa7e1344b612c9c221620f63e0d279b8"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_model_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface13camera_model_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface13camera_model_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface13camera_model_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface13camera_model_E"></span><span id="usb_camera_interface::UsbCameraInterface::camera_model___ss"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a4ecd864b3f5b50f51d6cddb845ef5532"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">camera_model_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface13camera_model_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface9encoding_E">
-<span id="_CPPv3N18UsbCameraInterface9encoding_E"></span><span id="_CPPv2N18UsbCameraInterface9encoding_E"></span><span id="UsbCameraInterface::encoding___ss"></span><span class="target" id="classUsbCameraInterface_1ab99e8ae308c7a0356dc18963d5e7806a"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">encoding_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface9encoding_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface9encoding_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface9encoding_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface9encoding_E"></span><span id="usb_camera_interface::UsbCameraInterface::encoding___ss"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1a0129415107fb7600c00a1ebe8515423d"></span><a class="reference internal" href="#_CPPv4St" title="std"><span class="n"><span class="pre">std</span></span></a><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">string</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">encoding_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface9encoding_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 <dl class="cpp var">
-<dt class="sig sig-object cpp" id="_CPPv4N18UsbCameraInterface4cap_E">
-<span id="_CPPv3N18UsbCameraInterface4cap_E"></span><span id="_CPPv2N18UsbCameraInterface4cap_E"></span><span id="UsbCameraInterface::cap___cv::VideoCapture"></span><span class="target" id="classUsbCameraInterface_1ad9341b7190cbc36bceb78ec072f9abd0"></span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">VideoCapture</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">cap_</span></span></span><a class="headerlink" href="#_CPPv4N18UsbCameraInterface4cap_E" title="Link to this definition"></a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N20usb_camera_interface18UsbCameraInterface4cap_E">
+<span id="_CPPv3N20usb_camera_interface18UsbCameraInterface4cap_E"></span><span id="_CPPv2N20usb_camera_interface18UsbCameraInterface4cap_E"></span><span id="usb_camera_interface::UsbCameraInterface::cap___cv::VideoCapture"></span><span class="target" id="classusb__camera__interface_1_1UsbCameraInterface_1aaf87b50b1a5964d242c4f11235a8a78c"></span><span class="n"><span class="pre">cv</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">VideoCapture</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">cap_</span></span></span><a class="headerlink" href="#_CPPv4N20usb_camera_interface18UsbCameraInterface4cap_E" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
 </div>
@@ -14086,6 +14087,11 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <span id="_CPPv36rclcpp"></span><span id="_CPPv26rclcpp"></span><span id="rclcpp"></span><span class="target" id="namespacerclcpp"></span><span class="k"><span class="pre">namespace</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">rclcpp</span></span></span><a class="headerlink" href="#_CPPv46rclcpp" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
+<dl class="cpp type">
+<dt class="sig sig-object cpp" id="_CPPv420real_sense_interface">
+<span id="_CPPv320real_sense_interface"></span><span id="_CPPv220real_sense_interface"></span><span id="real_sense_interface"></span><span class="target" id="namespacereal__sense__interface"></span><span class="k"><span class="pre">namespace</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">real_sense_interface</span></span></span><a class="headerlink" href="#_CPPv420real_sense_interface" title="Link to this definition"></a><br /></dt>
+<dd></dd></dl>
+
 <dl class="cpp type">
 <dt class="sig sig-object cpp" id="_CPPv4St">
 <span id="_CPPv3St"></span><span id="_CPPv2St"></span><span id="std"></span><span class="target" id="namespacestd"></span><span class="k"><span class="pre">namespace</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">std</span></span></span><a class="headerlink" href="#_CPPv4St" title="Link to this definition"></a><br /></dt>
@@ -14122,6 +14128,11 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <span id="_CPPv325takeoff_plugin_trajectory"></span><span id="_CPPv225takeoff_plugin_trajectory"></span><span id="takeoff_plugin_trajectory"></span><span class="target" id="namespacetakeoff__plugin__trajectory"></span><span class="k"><span class="pre">namespace</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">takeoff_plugin_trajectory</span></span></span><a class="headerlink" href="#_CPPv425takeoff_plugin_trajectory" title="Link to this definition"></a><br /></dt>
 <dd></dd></dl>
 
+<dl class="cpp type">
+<dt class="sig sig-object cpp" id="_CPPv420usb_camera_interface">
+<span id="_CPPv320usb_camera_interface"></span><span id="_CPPv220usb_camera_interface"></span><span id="usb_camera_interface"></span><span class="target" id="namespaceusb__camera__interface"></span><span class="k"><span class="pre">namespace</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">usb_camera_interface</span></span></span><a class="headerlink" href="#_CPPv420usb_camera_interface" title="Link to this definition"></a><br /></dt>
+<dd></dd></dl>
+
 <dl>
 <dt class="sig sig-object cpp">
 <span class="target" id="as2__platform__gazebo_8hpp"></span><em><span class="pre">file</span></em> <span class="sig-name descname"><span class="pre">as2_platform_gazebo.hpp</span></span></dt>
@@ -17393,6 +17404,14 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <dt class="sig sig-object cpp">
 <span class="target" id="as2__realsense__interface_8hpp"></span><em><span class="pre">file</span></em> <span class="sig-name descname"><span class="pre">as2_realsense_interface.hpp</span></span></dt>
 <dd><div class="docutils container">
+<em>#include &lt;tf2_ros/static_transform_broadcaster.h&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;string&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;vector&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;memory&gt;</em></div>
+<div class="docutils container">
 <em>#include &lt;rclcpp/rclcpp.hpp&gt;</em></div>
 <div class="docutils container">
 <em>#include “<a class="reference internal" href="#node_8hpp"><span class="std std-ref">as2_core/node.hpp</span></a>”</em></div>
@@ -17401,8 +17420,6 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <div class="docutils container">
 <em>#include “<a class="reference internal" href="#tf__utils_8hpp"><span class="std std-ref">as2_core/utils/tf_utils.hpp</span></a>”</em></div>
 <div class="docutils container">
-<em>#include &lt;tf2_ros/static_transform_broadcaster.h&gt;</em></div>
-<div class="docutils container">
 <em>#include &lt;librealsense2/rs.hpp&gt;</em></div>
 <div class="docutils container">
 <em>#include &lt;geometry_msgs/msg/transform_stamped.hpp&gt;</em></div>
@@ -17412,22 +17429,12 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <em>#include “nav_msgs/msg/odometry.hpp”</em></div>
 <div class="docutils container">
 <em>#include “sensor_msgs/msg/imu.hpp”</em></div>
-<p>Realsense camera interface header file. </p>
-<p>
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:<dl class="simple">
-<dt><strong>Authors</strong></dt><dd><p>David Perez Saura </p>
-</dd>
-<dt><strong>Copyright</strong></dt><dd><p>Copyright (c) 2021 Universidad Politécnica de Madrid All Rights Reserved</p>
+<p>as2_realsense_interface header file.</p>
+<p><dl class="simple">
+<dt><strong>Author</strong></dt><dd><p>David Perez Saura </p>
 </dd>
 </dl>
 </p>
-<p><ol class="arabic simple">
-<li><p>Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.</p></li>
-<li><p>Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.</p></li>
-<li><p>Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.</p></li>
-</ol>
-</p>
-<p>THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. </p>
 </dd></dl>
 
 <dl>
@@ -17435,22 +17442,12 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <span class="target" id="as2__realsense__interface_8cpp"></span><em><span class="pre">file</span></em> <span class="sig-name descname"><span class="pre">as2_realsense_interface.cpp</span></span></dt>
 <dd><div class="docutils container">
 <em>#include “<a class="reference internal" href="#as2__realsense__interface_8hpp"><span class="std std-ref">as2_realsense_interface.hpp</span></a>”</em></div>
-<p>Realsense camera interface implementation file. </p>
-<p>
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:<dl class="simple">
-<dt><strong>Authors</strong></dt><dd><p>David Perez Saura </p>
-</dd>
-<dt><strong>Copyright</strong></dt><dd><p>Copyright (c) 2021 Universidad Politécnica de Madrid All Rights Reserved</p>
+<p>as2_realsense_interface source file.</p>
+<p><dl class="simple">
+<dt><strong>Author</strong></dt><dd><p>David Perez Saura </p>
 </dd>
 </dl>
 </p>
-<p><ol class="arabic simple">
-<li><p>Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.</p></li>
-<li><p>Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.</p></li>
-<li><p>Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.</p></li>
-</ol>
-</p>
-<p>THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. </p>
 </dd></dl>
 
 <dl>
@@ -17460,6 +17457,12 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <em>#include “<a class="reference internal" href="#core__functions_8hpp"><span class="std std-ref">as2_core/core_functions.hpp</span></a>”</em></div>
 <div class="docutils container">
 <em>#include “<a class="reference internal" href="#as2__realsense__interface_8hpp"><span class="std std-ref">as2_realsense_interface.hpp</span></a>”</em></div>
+<p>as2_realsense_interface node file.</p>
+<p><dl class="simple">
+<dt><strong>Author</strong></dt><dd><p>David Perez Saura </p>
+</dd>
+</dl>
+</p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-functions">Functions</p>
 <dl class="cpp function">
@@ -17474,6 +17477,16 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <dt class="sig sig-object cpp">
 <span class="target" id="as2__usb__camera__interface_8hpp"></span><em><span class="pre">file</span></em> <span class="sig-name descname"><span class="pre">as2_usb_camera_interface.hpp</span></span></dt>
 <dd><div class="docutils container">
+<em>#include &lt;tf2/LinearMath/Quaternion.h&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;cv_bridge/cv_bridge.h&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;vector&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;memory&gt;</em></div>
+<div class="docutils container">
+<em>#include &lt;string&gt;</em></div>
+<div class="docutils container">
 <em>#include &lt;rclcpp/rclcpp.hpp&gt;</em></div>
 <div class="docutils container">
 <em>#include “<a class="reference internal" href="#topics_8hpp"><span class="std std-ref">as2_core/names/topics.hpp</span></a>”</em></div>
@@ -17482,18 +17495,12 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <div class="docutils container">
 <em>#include “<a class="reference internal" href="#sensor_8hpp"><span class="std std-ref">as2_core/sensor.hpp</span></a>”</em></div>
 <div class="docutils container">
-<em>#include &lt;tf2/LinearMath/Quaternion.h&gt;</em></div>
-<div class="docutils container">
 <em>#include “sensor_msgs/image_encodings.hpp”</em></div>
 <div class="docutils container">
 <em>#include “sensor_msgs/msg/image.hpp”</em></div>
 <div class="docutils container">
-<em>#include &lt;cv_bridge/cv_bridge.h&gt;</em></div>
-<div class="docutils container">
 <em>#include &lt;image_transport/image_transport.hpp&gt;</em></div>
 <div class="docutils container">
-<em>#include &lt;memory&gt;</em></div>
-<div class="docutils container">
 <em>#include &lt;opencv2/calib3d.hpp&gt;</em></div>
 <div class="docutils container">
 <em>#include &lt;opencv2/highgui.hpp&gt;</em></div>
@@ -17501,8 +17508,13 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <em>#include &lt;opencv2/imgproc.hpp&gt;</em></div>
 <div class="docutils container">
 <em>#include &lt;opencv2/opencv.hpp&gt;</em></div>
-<div class="docutils container">
-<em>#include &lt;vector&gt;</em></div>
+<p>Class definition for the USB camera interface node. </p>
+<p>Main for the USB camera interface node.</p>
+<p><dl class="simple">
+<dt><strong>Authors</strong></dt><dd><p>David Perez Saura, Miguel Fernandez Cortizas </p>
+</dd>
+</dl>
+</p>
 </dd></dl>
 
 <dl>
@@ -18715,6 +18727,14 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <em>#include “sensor_msgs/msg/nav_sat_fix.hpp”</em></div>
 <div class="docutils container">
 <em>#include “sensor_msgs/msg/temperature.hpp”</em></div>
+<p>Alphanumeric viewer header file. </p>
+<p><dl class="simple">
+<dt><strong>Authors</strong></dt><dd><p>Javier Melero Deza </p>
+</dd>
+<dt><strong>Copyright</strong></dt><dd><p>Copyright (c) 2024 Universidad Politécnica de Madrid All Rights Reserved </p>
+</dd>
+</dl>
+</p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-defines">Defines</p>
 <dl class="cpp macro">
@@ -18745,6 +18765,14 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <span class="target" id="alphanumeric__viewer_8cpp"></span><em><span class="pre">file</span></em> <span class="sig-name descname"><span class="pre">alphanumeric_viewer.cpp</span></span></dt>
 <dd><div class="docutils container">
 <em>#include “<a class="reference internal" href="#alphanumeric__viewer_8hpp"><span class="std std-ref">alphanumeric_viewer.hpp</span></a>”</em></div>
+<p>Alphanumeric viewer source file. </p>
+<p><dl class="simple">
+<dt><strong>Authors</strong></dt><dd><p>Javier Melero Deza </p>
+</dd>
+<dt><strong>Copyright</strong></dt><dd><p>Copyright (c) 2024 Universidad Politécnica de Madrid All Rights Reserved </p>
+</dd>
+</dl>
+</p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-typedefs">Typedefs</p>
 <dl class="cpp type">
@@ -18762,6 +18790,14 @@ <h1>aerostack2<a class="headerlink" href="#aerostack2" title="Link to this headi
 <em>#include “<a class="reference internal" href="#alphanumeric__viewer_8hpp"><span class="std std-ref">alphanumeric_viewer.hpp</span></a>”</em></div>
 <div class="docutils container">
 <em>#include “<a class="reference internal" href="#core__functions_8hpp"><span class="std std-ref">as2_core/core_functions.hpp</span></a>”</em></div>
+<p>Alphanumeric viewer node file. </p>
+<p><dl class="simple">
+<dt><strong>Authors</strong></dt><dd><p>Javier Melero Deza </p>
+</dd>
+<dt><strong>Copyright</strong></dt><dd><p>Copyright (c) 2024 Universidad Politécnica de Madrid All Rights Reserved </p>
+</dd>
+</dl>
+</p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-functions">Functions</p>
 <dl class="cpp function">
diff --git a/_09_development/_api_documentation/aerostack2/as2_aerial_platforms/as2_platform_gazebo/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_aerial_platforms/as2_platform_gazebo/CHANGELOG.html
index 889778f7..f8d082a2 100644
--- a/_09_development/_api_documentation/aerostack2/as2_aerial_platforms/as2_platform_gazebo/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_aerial_platforms/as2_platform_gazebo/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_behavior_tree/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_behavior_tree/CHANGELOG.html
index b3ed4d9c..4cf5a15d 100644
--- a/_09_development/_api_documentation/aerostack2/as2_behavior_tree/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_behavior_tree/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behavior/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behavior/CHANGELOG.html
index 0e14a415..2aa3f775 100644
--- a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behavior/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behavior/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_motion/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_motion/CHANGELOG.html
index 977325e8..c37c4481 100644
--- a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_motion/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_motion/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_perception/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_perception/CHANGELOG.html
index da7c3f11..db76f573 100644
--- a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_perception/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_perception/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_platform/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_platform/CHANGELOG.html
index 857ac2c5..77cf1cfc 100644
--- a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_platform/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_platform/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_trajectory_generation/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_trajectory_generation/CHANGELOG.html
index 98fe40a4..b9279a72 100644
--- a/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_trajectory_generation/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_behaviors/as2_behaviors_trajectory_generation/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_cli/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_cli/CHANGELOG.html
index 9c2ac613..97eb0b71 100644
--- a/_09_development/_api_documentation/aerostack2/as2_cli/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_cli/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_core/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_core/CHANGELOG.html
index 07b12be4..185ab6ff 100644
--- a/_09_development/_api_documentation/aerostack2/as2_core/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_core/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
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 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_realsense_interface/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_realsense_interface/CHANGELOG.html
index ec7d7e91..c69b0c8e 100644
--- a/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_realsense_interface/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_realsense_interface/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_usb_camera_interface/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_usb_camera_interface/CHANGELOG.html
index b9c52f2e..babd6dde 100644
--- a/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_usb_camera_interface/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_hardware_drivers/as2_usb_camera_interface/CHANGELOG.html
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+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_motion_controller/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_motion_controller/CHANGELOG.html
index 565db57b..940bb9d8 100644
--- a/_09_development/_api_documentation/aerostack2/as2_motion_controller/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_motion_controller/CHANGELOG.html
@@ -307,6 +307,7 @@
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 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_motion_reference_handlers/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_motion_reference_handlers/CHANGELOG.html
index 19f7aeda..dfdf3169 100644
--- a/_09_development/_api_documentation/aerostack2/as2_motion_reference_handlers/CHANGELOG.html
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 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_msgs/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_msgs/CHANGELOG.html
index 7e4d6f31..bc0cb091 100644
--- a/_09_development/_api_documentation/aerostack2/as2_msgs/CHANGELOG.html
+++ b/_09_development/_api_documentation/aerostack2/as2_msgs/CHANGELOG.html
@@ -307,6 +307,7 @@
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+<li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/aerostack2/as2_python_api/CHANGELOG.html b/_09_development/_api_documentation/aerostack2/as2_python_api/CHANGELOG.html
index e452442f..5437e5a3 100644
--- a/_09_development/_api_documentation/aerostack2/as2_python_api/CHANGELOG.html
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+<li class="toctree-l2"><a class="reference internal" href="aerostack2/aerostack2/docs/index.html#_CPPv420real_sense_interface"><code class="docutils literal notranslate"><span class="pre">real_sense_interface</span></code></a></li>
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+<li class="toctree-l2"><a class="reference internal" href="aerostack2/aerostack2/docs/index.html#_CPPv420usb_camera_interface"><code class="docutils literal notranslate"><span class="pre">usb_camera_interface</span></code></a></li>
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index 42e3a676..291969bc 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/CHANGELOG.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/CHANGELOG.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
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index 5c57ca97..db951cc4 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/about.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/about.html
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+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
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index a3239c7f..98cfacc9 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/api.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/api.html
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 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html
index bf07b579..6effb97b 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
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@@ -420,6 +421,17 @@ <h2>Submodules<a class="headerlink" href="#submodules" title="Link to this headi
 </dl>
 </dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.is_running">
+<span class="sig-name descname"><span class="pre">is_running</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="reference internal" href="../../../../../../../_modules/as2_python_api/behavior_actions/behavior_handler.html#BehaviorHandler.is_running"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.is_running" title="Link to this definition"></a></dt>
+<dd><p>Check if behavior is running.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>running or not</p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py method">
 <dt class="sig sig-object py" id="as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.modify">
 <span class="sig-name descname"><span class="pre">modify</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">goal_msg</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../../../_modules/as2_python_api/behavior_actions/behavior_handler.html#BehaviorHandler.modify"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.modify" title="Link to this definition"></a></dt>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_manager.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_manager.html
index 5149a636..c05318a8 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_manager.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_manager.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
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diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.html
index 74c3cacd..2f03fc34 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -379,6 +380,7 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Link to this hea
 <li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.TIMEOUT"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.TIMEOUT</span></code></a></li>
 <li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.destroy"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.destroy()</span></code></a></li>
 <li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.feedback"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.feedback</span></code></a></li>
+<li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.is_running"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.is_running()</span></code></a></li>
 <li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.modify"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.modify()</span></code></a></li>
 <li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.pause"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.pause()</span></code></a></li>
 <li class="toctree-l4"><a class="reference internal" href="as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.result"><code class="docutils literal notranslate"><span class="pre">BehaviorHandler.result</span></code></a></li>
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index 72319694..71849ce4 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.mission_interpreter.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.mission_interpreter.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.modules.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.modules.html
index ff5a654f..a4f41391 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.modules.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.modules.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
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 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.service_clients.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.service_clients.html
index 2ea0a298..f3fd17da 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.service_clients.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.service_clients.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.shared_data.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.shared_data.html
index ddca3185..98a089f2 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.shared_data.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.shared_data.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.tools.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.tools.html
index 32664a48..6a7df07f 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.tools.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.tools.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/drone_interface.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/drone_interface.html
index 27cf9d54..96633a00 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/drone_interface.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/drone_interface.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/examples.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/examples.html
index f7988d8a..f20b8268 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/examples.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/examples.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/index.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/index.html
index 5945c467..66739d78 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/index.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/modules.html b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/modules.html
index 974c9b5a..eca183ea 100644
--- a/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/modules.html
+++ b/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/modules.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../../../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_cli/index.html b/_09_development/_cli/index.html
index 30555c9f..438ee7f9 100644
--- a/_09_development/_cli/index.html
+++ b/_09_development/_cli/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html b/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html
index 837f563a..9dccf008 100644
--- a/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html
+++ b/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -695,12 +696,120 @@ <h5>· Running and Passing ‘ament_cppcheck’<a class="headerlink" href="#runn
 <span class="nb">endif</span><span class="p">()</span>
 </pre></div>
 </div>
-<p>In order to link this <code class="docutils literal notranslate"><span class="pre">./tests/CMakeLists.txt</span></code> file into the <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> file of the package, the following line must be added:</p>
-<div class="highlight-cmake notranslate"><div class="highlight"><pre><span></span><span class="c"># Build tests if testing is enabled</span>
+<p>In order to link and run your functional tests alongside with the code style ones, your package’s CMakeLists.txt should follow the next structure:</p>
+<div class="highlight-cmake notranslate"><div class="highlight"><pre><span></span><span class="c"># Set the minimum required CMake version</span>
+<span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span><span class="w"> </span><span class="s">3.5</span><span class="p">)</span>
+
+<span class="c"># Set the project name</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">PROJECT_NAME</span><span class="w"> </span><span class="s">as2_node_template</span><span class="p">)</span>
+<span class="nb">project</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="p">)</span>
+
+<span class="c"># Default to C++17 if not set</span>
+<span class="nb">if</span><span class="p">(</span><span class="s">NOT</span><span class="w"> </span><span class="s">CMAKE_CXX_STANDARD</span><span class="p">)</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">CMAKE_CXX_STANDARD</span><span class="w"> </span><span class="s">17</span><span class="p">)</span>
+<span class="nb">endif</span><span class="p">()</span>
+
+<span class="c"># Set Release as default build type if not set</span>
+<span class="nb">if</span><span class="p">(</span><span class="s">NOT</span><span class="w"> </span><span class="s">CMAKE_BUILD_TYPE</span><span class="p">)</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">CMAKE_BUILD_TYPE</span><span class="w"> </span><span class="s">Release</span><span class="p">)</span>
+<span class="nb">endif</span><span class="p">()</span>
+
+<span class="c"># find dependencies</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">PROJECT_DEPENDENCIES</span>
+<span class="s">ament_cmake</span>
+<span class="s">rclcpp</span>
+<span class="s">as2_core</span>
+<span class="s">as2_msgs</span>
+<span class="s">std_msgs</span>
+<span class="p">)</span>
+
+<span class="nb">foreach</span><span class="p">(</span><span class="s">DEPENDENCY</span><span class="w"> </span><span class="o">${</span><span class="nv">PROJECT_DEPENDENCIES</span><span class="o">}</span><span class="p">)</span>
+<span class="nb">find_package</span><span class="p">(</span><span class="o">${</span><span class="nv">DEPENDENCY</span><span class="o">}</span><span class="w"> </span><span class="s">REQUIRED</span><span class="p">)</span>
+<span class="nb">endforeach</span><span class="p">()</span>
+
+<span class="c"># Include necessary directories</span>
+<span class="nb">include_directories</span><span class="p">(</span>
+<span class="s">include</span>
+<span class="s">include/</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span>
+<span class="p">)</span>
+
+<span class="c"># Set source files</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">SOURCE_CPP_FILES</span>
+<span class="s">src/</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="s">_node.cpp</span>
+<span class="s">src/</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="s">.cpp</span>
+<span class="p">)</span>
+
+<span class="c"># Create the node executable</span>
+<span class="nb">add_executable</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="s">_node</span><span class="w"> </span><span class="o">${</span><span class="nv">SOURCE_CPP_FILES</span><span class="o">}</span><span class="p">)</span>
+<span class="nb">ament_target_dependencies</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="s">_node</span><span class="w"> </span><span class="o">${</span><span class="nv">PROJECT_DEPENDENCIES</span><span class="o">}</span><span class="p">)</span>
+
+<span class="c"># Create the dynamic library</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">CMAKE_POSITION_INDEPENDENT_CODE</span><span class="w"> </span><span class="s">ON</span><span class="p">)</span>
+<span class="nb">add_library</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="w"> </span><span class="s">SHARED</span><span class="w"> </span><span class="o">${</span><span class="nv">SOURCE_CPP_FILES</span><span class="o">}</span><span class="p">)</span>
+<span class="nb">ament_target_dependencies</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="w"> </span><span class="o">${</span><span class="nv">PROJECT_DEPENDENCIES</span><span class="o">}</span><span class="p">)</span>
+
+<span class="c"># Set the public include directories for the library</span>
+<span class="nb">target_include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="w"> </span><span class="s">PUBLIC</span>
+<span class="o">$&lt;</span><span class="nv">BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include</span><span class="o">&gt;</span>
+<span class="o">$&lt;</span><span class="nv">INSTALL_INTERFACE:include</span><span class="o">&gt;</span><span class="p">)</span>
+
+<span class="c"># Install the headers</span>
+<span class="nb">install</span><span class="p">(</span>
+<span class="s">DIRECTORY</span><span class="w"> </span><span class="s">include/</span>
+<span class="s">DESTINATION</span><span class="w"> </span><span class="s">include</span>
+<span class="p">)</span>
+
+<span class="c"># Install the node executable</span>
+<span class="nb">install</span><span class="p">(</span><span class="s">TARGETS</span>
+<span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="s">_node</span>
+<span class="s">DESTINATION</span><span class="w"> </span><span class="s">lib/</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span>
+<span class="p">)</span>
+
+<span class="c"># Install the shared library</span>
+<span class="nb">install</span><span class="p">(</span>
+<span class="s">TARGETS</span><span class="w"> </span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span>
+<span class="s">EXPORT</span><span class="w"> </span><span class="s">export_</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span>
+<span class="s">ARCHIVE</span><span class="w"> </span><span class="s">DESTINATION</span><span class="w"> </span><span class="s">lib</span>
+<span class="s">LIBRARY</span><span class="w"> </span><span class="s">DESTINATION</span><span class="w"> </span><span class="s">lib</span>
+<span class="s">RUNTIME</span><span class="w"> </span><span class="s">DESTINATION</span><span class="w"> </span><span class="s">bin</span>
+<span class="p">)</span>
+
+<span class="c"># Export the libraries</span>
+<span class="nb">ament_export_libraries</span><span class="p">(</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="p">)</span>
+
+<span class="c"># Export the targets</span>
+<span class="nb">ament_export_targets</span><span class="p">(</span><span class="s">export_</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span><span class="p">)</span>
+
+<span class="c"># Export the include directories</span>
+<span class="nb">ament_export_include_directories</span><span class="p">(</span><span class="s">include</span><span class="p">)</span>
+
+<span class="c"># Install the launch directory</span>
+<span class="nb">install</span><span class="p">(</span><span class="s">DIRECTORY</span>
+<span class="s">launch</span>
+<span class="s">DESTINATION</span><span class="w"> </span><span class="s">share/</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span>
+<span class="p">)</span>
+
+<span class="c"># Install the config directory</span>
+<span class="nb">install</span><span class="p">(</span><span class="s">DIRECTORY</span>
+<span class="s">config</span>
+<span class="s">DESTINATION</span><span class="w"> </span><span class="s">share/</span><span class="o">${</span><span class="nv">PROJECT_NAME</span><span class="o">}</span>
+<span class="p">)</span>
+
+<span class="c"># Build tests if testing is enabled</span>
 <span class="nb">if</span><span class="p">(</span><span class="s">BUILD_TESTING</span><span class="p">)</span>
-<span class="w">    </span><span class="c"># all other tests</span>
-<span class="w">    </span><span class="nb">add_subdirectory</span><span class="p">(</span><span class="s">tests</span><span class="p">)</span>
+<span class="nb">find_package</span><span class="p">(</span><span class="s">ament_lint_auto</span><span class="w"> </span><span class="s">REQUIRED</span><span class="p">)</span>
+<span class="nb">file</span><span class="p">(</span><span class="s">GLOB_RECURSE</span><span class="w"> </span><span class="s">EXCLUDE_FILES</span>
+<span class="w">    </span><span class="s">build/*</span>
+<span class="w">    </span><span class="s">install/*</span>
+<span class="p">)</span>
+<span class="nb">set</span><span class="p">(</span><span class="s">AMENT_LINT_AUTO_FILE_EXCLUDE</span><span class="w"> </span><span class="o">${</span><span class="nv">EXCLUDE_FILES</span><span class="o">}</span><span class="p">)</span>
+<span class="nb">ament_lint_auto_find_test_dependencies</span><span class="p">()</span>
+
+<span class="nb">add_subdirectory</span><span class="p">(</span><span class="s">tests</span><span class="p">)</span>
 <span class="nb">endif</span><span class="p">()</span>
+
+<span class="c"># Create the ament package</span>
+<span class="nb">ament_package</span><span class="p">()</span>
 </pre></div>
 </div>
 <p>To run these tests:</p>
@@ -709,6 +818,10 @@ <h5>· Running and Passing ‘ament_cppcheck’<a class="headerlink" href="#runn
 </div>
 </section>
 </section>
+</section>
+<section id="node-template-for-new-packages">
+<h1>Node Template for New Packages<a class="headerlink" href="#node-template-for-new-packages" title="Link to this heading"></a></h1>
+<p>An example node with the proper structure and all the templates can be found <a class="reference external" href="https://github.com/aerostack2/as2_node_template">here</a>.</p>
 </section>
 
 
diff --git a/_09_development/_develop_guide/_develop_guide/_setting_code.html b/_09_development/_develop_guide/_develop_guide/_setting_code.html
index 4321185f..fe8030dc 100644
--- a/_09_development/_develop_guide/_develop_guide/_setting_code.html
+++ b/_09_development/_develop_guide/_develop_guide/_setting_code.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3 current"><a class="current reference internal" href="#">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_develop_guide/index.html b/_09_development/_develop_guide/index.html
index e254f9ed..8067f15c 100644
--- a/_09_development/_develop_guide/index.html
+++ b/_09_development/_develop_guide/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -366,6 +367,7 @@
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="_develop_guide/_develop_new_pkg.html">Developing a New Package</a></li>
+<li class="toctree-l1"><a class="reference internal" href="_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l1"><a class="reference internal" href="_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a></li>
 </ul>
 </div>
diff --git a/_09_development/_tutorials/_tutorials/aerial_platform.html b/_09_development/_tutorials/_tutorials/aerial_platform.html
index 43cca4ee..2efba98a 100644
--- a/_09_development/_tutorials/_tutorials/aerial_platform.html
+++ b/_09_development/_tutorials/_tutorials/aerial_platform.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_tutorials/_tutorials/behavior.html b/_09_development/_tutorials/_tutorials/behavior.html
index 8ce91a19..c361a905 100644
--- a/_09_development/_tutorials/_tutorials/behavior.html
+++ b/_09_development/_tutorials/_tutorials/behavior.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_tutorials/_tutorials/controller_plugin.html b/_09_development/_tutorials/_tutorials/controller_plugin.html
index 3cb9290f..7137d43d 100644
--- a/_09_development/_tutorials/_tutorials/controller_plugin.html
+++ b/_09_development/_tutorials/_tutorials/controller_plugin.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_tutorials/_tutorials/estimator_plugin.html b/_09_development/_tutorials/_tutorials/estimator_plugin.html
index b18f2b3d..6ac4a699 100644
--- a/_09_development/_tutorials/_tutorials/estimator_plugin.html
+++ b/_09_development/_tutorials/_tutorials/estimator_plugin.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/_tutorials/index.html b/_09_development/_tutorials/index.html
index 870fdb15..70425df4 100644
--- a/_09_development/_tutorials/index.html
+++ b/_09_development/_tutorials/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_09_development/index.html b/_09_development/index.html
index 4536ea39..e8461f41 100644
--- a/_09_development/index.html
+++ b/_09_development/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -374,6 +375,7 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="_develop_guide/index.html">Develop Guide</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="_develop_guide/_develop_guide/_develop_new_pkg.html">Developing a New Package</a></li>
+<li class="toctree-l2"><a class="reference internal" href="_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l2"><a class="reference internal" href="_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a></li>
 </ul>
 </li>
diff --git a/_10_roadmaps/index.html b/_10_roadmaps/index.html
index 72ddd569..7e4d978d 100644
--- a/_10_roadmaps/index.html
+++ b/_10_roadmaps/index.html
@@ -307,6 +307,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_11_license/index.html b/_11_license/index.html
index cca82760..56c152ca 100644
--- a/_11_license/index.html
+++ b/_11_license/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_12_citations/index.html b/_12_citations/index.html
index 0b547ba6..6f9b71d7 100644
--- a/_12_citations/index.html
+++ b/_12_citations/index.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_13_about_and_contact/index.html b/_13_about_and_contact/index.html
index 29cd5bbc..e0beedf0 100644
--- a/_13_about_and_contact/index.html
+++ b/_13_about_and_contact/index.html
@@ -308,6 +308,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_actions/behavior_handler.html b/_modules/as2_python_api/behavior_actions/behavior_handler.html
index ba982e7a..f9a521d6 100644
--- a/_modules/as2_python_api/behavior_actions/behavior_handler.html
+++ b/_modules/as2_python_api/behavior_actions/behavior_handler.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -504,6 +505,17 @@ <h1>Source code for as2_python_api.behavior_actions.behavior_handler</h1><div cl
             <span class="k">raise</span> <span class="bp">self</span><span class="o">.</span><span class="n">ResultUnknown</span><span class="p">(</span><span class="s1">&#39;Result not received yet&#39;</span><span class="p">)</span>
         <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">__result</span><span class="o">.</span><span class="n">result</span>
 
+<div class="viewcode-block" id="BehaviorHandler.is_running">
+<a class="viewcode-back" href="../../../_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.is_running">[docs]</a>
+    <span class="k">def</span> <span class="nf">is_running</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">        Check if behavior is running.</span>
+
+<span class="sd">        :return: running or not</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">__status</span> <span class="o">==</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">RUNNING</span></div>
+
+
 <div class="viewcode-block" id="BehaviorHandler.start">
 <a class="viewcode-back" href="../../../_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.start">[docs]</a>
     <span class="k">def</span> <span class="nf">start</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">goal_msg</span><span class="p">,</span> <span class="n">wait_result</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
@@ -530,6 +542,8 @@ <h1>Source code for as2_python_api.behavior_actions.behavior_handler</h1><div cl
         <span class="bp">self</span><span class="o">.</span><span class="n">__goal_handle</span> <span class="o">=</span> <span class="n">send_goal_future</span><span class="o">.</span><span class="n">result</span><span class="p">()</span>
         <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">__goal_handle</span><span class="o">.</span><span class="n">accepted</span><span class="p">:</span>
             <span class="k">raise</span> <span class="bp">self</span><span class="o">.</span><span class="n">GoalRejected</span><span class="p">(</span><span class="s1">&#39;Goal Rejected&#39;</span><span class="p">)</span>
+        <span class="c1"># Modify status</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">__status</span> <span class="o">=</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">RUNNING</span>
 
         <span class="k">if</span> <span class="n">wait_result</span><span class="p">:</span>
             <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">wait_to_result</span><span class="p">()</span>
@@ -557,6 +571,8 @@ <h1>Source code for as2_python_api.behavior_actions.behavior_handler</h1><div cl
         <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">status</span> <span class="o">!=</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">RUNNING</span><span class="p">:</span>
             <span class="k">return</span> <span class="kc">True</span>
         <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">__pause_client</span><span class="o">.</span><span class="n">call</span><span class="p">(</span><span class="n">Trigger</span><span class="o">.</span><span class="n">Request</span><span class="p">())</span>
+        <span class="k">if</span> <span class="n">response</span><span class="o">.</span><span class="n">success</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">__status</span> <span class="o">=</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">PAUSED</span>
         <span class="k">return</span> <span class="n">response</span><span class="o">.</span><span class="n">success</span></div>
 
 
@@ -575,6 +591,8 @@ <h1>Source code for as2_python_api.behavior_actions.behavior_handler</h1><div cl
         <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">status</span> <span class="o">!=</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">PAUSED</span><span class="p">:</span>
             <span class="k">return</span> <span class="kc">True</span>
         <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">__resume_client</span><span class="o">.</span><span class="n">call</span><span class="p">(</span><span class="n">Trigger</span><span class="o">.</span><span class="n">Request</span><span class="p">())</span>
+        <span class="k">if</span> <span class="n">response</span><span class="o">.</span><span class="n">success</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">__status</span> <span class="o">=</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">RUNNING</span>
         <span class="k">if</span> <span class="n">wait_result</span><span class="p">:</span>
             <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">wait_to_result</span><span class="p">()</span>
         <span class="k">return</span> <span class="n">response</span><span class="o">.</span><span class="n">success</span></div>
@@ -592,6 +610,8 @@ <h1>Source code for as2_python_api.behavior_actions.behavior_handler</h1><div cl
         <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">status</span> <span class="o">==</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">IDLE</span><span class="p">:</span>
             <span class="k">return</span> <span class="kc">True</span>
         <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">__stop_client</span><span class="o">.</span><span class="n">call</span><span class="p">(</span><span class="n">Trigger</span><span class="o">.</span><span class="n">Request</span><span class="p">())</span>
+        <span class="k">if</span> <span class="n">response</span><span class="o">.</span><span class="n">success</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">__status</span> <span class="o">=</span> <span class="n">BehaviorStatus</span><span class="o">.</span><span class="n">IDLE</span>
         <span class="k">return</span> <span class="n">response</span><span class="o">.</span><span class="n">success</span></div>
 
 
diff --git a/_modules/as2_python_api/behavior_actions/follow_reference_behavior.html b/_modules/as2_python_api/behavior_actions/follow_reference_behavior.html
index c62df815..4895eb13 100644
--- a/_modules/as2_python_api/behavior_actions/follow_reference_behavior.html
+++ b/_modules/as2_python_api/behavior_actions/follow_reference_behavior.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_actions/followpath_behavior.html b/_modules/as2_python_api/behavior_actions/followpath_behavior.html
index 64126f7b..973fb5b4 100644
--- a/_modules/as2_python_api/behavior_actions/followpath_behavior.html
+++ b/_modules/as2_python_api/behavior_actions/followpath_behavior.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_actions/go_to_behavior.html b/_modules/as2_python_api/behavior_actions/go_to_behavior.html
index de5db0de..b1239bef 100644
--- a/_modules/as2_python_api/behavior_actions/go_to_behavior.html
+++ b/_modules/as2_python_api/behavior_actions/go_to_behavior.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_actions/land_behavior.html b/_modules/as2_python_api/behavior_actions/land_behavior.html
index 0b0b516f..c0ef3f6e 100644
--- a/_modules/as2_python_api/behavior_actions/land_behavior.html
+++ b/_modules/as2_python_api/behavior_actions/land_behavior.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_actions/point_gimbal_behavior.html b/_modules/as2_python_api/behavior_actions/point_gimbal_behavior.html
index 867138f8..57c911d6 100644
--- a/_modules/as2_python_api/behavior_actions/point_gimbal_behavior.html
+++ b/_modules/as2_python_api/behavior_actions/point_gimbal_behavior.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_actions/takeoff_behavior.html b/_modules/as2_python_api/behavior_actions/takeoff_behavior.html
index 2fd157bf..5e995307 100644
--- a/_modules/as2_python_api/behavior_actions/takeoff_behavior.html
+++ b/_modules/as2_python_api/behavior_actions/takeoff_behavior.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/behavior_manager/behavior_manager.html b/_modules/as2_python_api/behavior_manager/behavior_manager.html
index 16e7e4f8..64ab8453 100644
--- a/_modules/as2_python_api/behavior_manager/behavior_manager.html
+++ b/_modules/as2_python_api/behavior_manager/behavior_manager.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/drone_interface.html b/_modules/as2_python_api/drone_interface.html
index d76b199f..d20b5218 100644
--- a/_modules/as2_python_api/drone_interface.html
+++ b/_modules/as2_python_api/drone_interface.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/drone_interface_base.html b/_modules/as2_python_api/drone_interface_base.html
index 2c08b141..fdc9485e 100644
--- a/_modules/as2_python_api/drone_interface_base.html
+++ b/_modules/as2_python_api/drone_interface_base.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/drone_interface_gps.html b/_modules/as2_python_api/drone_interface_gps.html
index 4be5eeb4..5228152e 100644
--- a/_modules/as2_python_api/drone_interface_gps.html
+++ b/_modules/as2_python_api/drone_interface_gps.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/drone_interface_teleop.html b/_modules/as2_python_api/drone_interface_teleop.html
index f10bb551..003056f9 100644
--- a/_modules/as2_python_api/drone_interface_teleop.html
+++ b/_modules/as2_python_api/drone_interface_teleop.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/mission_interpreter/mission.html b/_modules/as2_python_api/mission_interpreter/mission.html
index 4370bdc4..77b4d654 100644
--- a/_modules/as2_python_api/mission_interpreter/mission.html
+++ b/_modules/as2_python_api/mission_interpreter/mission.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/mission_interpreter/mission_interpreter.html b/_modules/as2_python_api/mission_interpreter/mission_interpreter.html
index 60b1163c..624f4c2f 100644
--- a/_modules/as2_python_api/mission_interpreter/mission_interpreter.html
+++ b/_modules/as2_python_api/mission_interpreter/mission_interpreter.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/mission_interpreter/mission_stack.html b/_modules/as2_python_api/mission_interpreter/mission_stack.html
index 309cea7e..1b653b3a 100644
--- a/_modules/as2_python_api/mission_interpreter/mission_stack.html
+++ b/_modules/as2_python_api/mission_interpreter/mission_stack.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/mission_interpreter/ros2_adapter.html b/_modules/as2_python_api/mission_interpreter/ros2_adapter.html
index 7e8a72bd..32cebde1 100644
--- a/_modules/as2_python_api/mission_interpreter/ros2_adapter.html
+++ b/_modules/as2_python_api/mission_interpreter/ros2_adapter.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/dummy_module.html b/_modules/as2_python_api/modules/dummy_module.html
index ef9ad9a8..13efd599 100644
--- a/_modules/as2_python_api/modules/dummy_module.html
+++ b/_modules/as2_python_api/modules/dummy_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/follow_path_gps_module.html b/_modules/as2_python_api/modules/follow_path_gps_module.html
index c10c50a3..2a086844 100644
--- a/_modules/as2_python_api/modules/follow_path_gps_module.html
+++ b/_modules/as2_python_api/modules/follow_path_gps_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/follow_path_module.html b/_modules/as2_python_api/modules/follow_path_module.html
index b3241144..83dff547 100644
--- a/_modules/as2_python_api/modules/follow_path_module.html
+++ b/_modules/as2_python_api/modules/follow_path_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/follow_reference_module.html b/_modules/as2_python_api/modules/follow_reference_module.html
index a990371e..0d9e79d9 100644
--- a/_modules/as2_python_api/modules/follow_reference_module.html
+++ b/_modules/as2_python_api/modules/follow_reference_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/go_to_gps_module.html b/_modules/as2_python_api/modules/go_to_gps_module.html
index 8490cdc5..23866826 100644
--- a/_modules/as2_python_api/modules/go_to_gps_module.html
+++ b/_modules/as2_python_api/modules/go_to_gps_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/go_to_module.html b/_modules/as2_python_api/modules/go_to_module.html
index 498b7e5b..c17aa918 100644
--- a/_modules/as2_python_api/modules/go_to_module.html
+++ b/_modules/as2_python_api/modules/go_to_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/gps_module.html b/_modules/as2_python_api/modules/gps_module.html
index 2c619ad8..6f388c1c 100644
--- a/_modules/as2_python_api/modules/gps_module.html
+++ b/_modules/as2_python_api/modules/gps_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/land_module.html b/_modules/as2_python_api/modules/land_module.html
index 08da4bfc..7b8c4cc9 100644
--- a/_modules/as2_python_api/modules/land_module.html
+++ b/_modules/as2_python_api/modules/land_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/module_base.html b/_modules/as2_python_api/modules/module_base.html
index 6aef1b14..8effb45d 100644
--- a/_modules/as2_python_api/modules/module_base.html
+++ b/_modules/as2_python_api/modules/module_base.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/motion_reference_handler_module.html b/_modules/as2_python_api/modules/motion_reference_handler_module.html
index b491816c..3a15e666 100644
--- a/_modules/as2_python_api/modules/motion_reference_handler_module.html
+++ b/_modules/as2_python_api/modules/motion_reference_handler_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/point_gimbal_module.html b/_modules/as2_python_api/modules/point_gimbal_module.html
index 6d5c73cf..434a8e34 100644
--- a/_modules/as2_python_api/modules/point_gimbal_module.html
+++ b/_modules/as2_python_api/modules/point_gimbal_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/rtl_module.html b/_modules/as2_python_api/modules/rtl_module.html
index f6f1105f..9903ea9c 100644
--- a/_modules/as2_python_api/modules/rtl_module.html
+++ b/_modules/as2_python_api/modules/rtl_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/modules/takeoff_module.html b/_modules/as2_python_api/modules/takeoff_module.html
index 9125ae53..2136d1ed 100644
--- a/_modules/as2_python_api/modules/takeoff_module.html
+++ b/_modules/as2_python_api/modules/takeoff_module.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/service_clients/arming.html b/_modules/as2_python_api/service_clients/arming.html
index 3a04c350..620f0888 100644
--- a/_modules/as2_python_api/service_clients/arming.html
+++ b/_modules/as2_python_api/service_clients/arming.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/service_clients/offboard.html b/_modules/as2_python_api/service_clients/offboard.html
index 335f6c19..79734080 100644
--- a/_modules/as2_python_api/service_clients/offboard.html
+++ b/_modules/as2_python_api/service_clients/offboard.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/service_clients/service_handler.html b/_modules/as2_python_api/service_clients/service_handler.html
index bb469f2d..6d4bf29c 100644
--- a/_modules/as2_python_api/service_clients/service_handler.html
+++ b/_modules/as2_python_api/service_clients/service_handler.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/shared_data/gps_data.html b/_modules/as2_python_api/shared_data/gps_data.html
index 140a373f..436b8ac7 100644
--- a/_modules/as2_python_api/shared_data/gps_data.html
+++ b/_modules/as2_python_api/shared_data/gps_data.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/shared_data/orientation_data.html b/_modules/as2_python_api/shared_data/orientation_data.html
index dad081b2..decb6370 100644
--- a/_modules/as2_python_api/shared_data/orientation_data.html
+++ b/_modules/as2_python_api/shared_data/orientation_data.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/shared_data/platform_info_data.html b/_modules/as2_python_api/shared_data/platform_info_data.html
index 0e7a712d..224191d3 100644
--- a/_modules/as2_python_api/shared_data/platform_info_data.html
+++ b/_modules/as2_python_api/shared_data/platform_info_data.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/shared_data/pose_data.html b/_modules/as2_python_api/shared_data/pose_data.html
index 31a1054f..f90ee30a 100644
--- a/_modules/as2_python_api/shared_data/pose_data.html
+++ b/_modules/as2_python_api/shared_data/pose_data.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/shared_data/position_data.html b/_modules/as2_python_api/shared_data/position_data.html
index e5bd514d..af947207 100644
--- a/_modules/as2_python_api/shared_data/position_data.html
+++ b/_modules/as2_python_api/shared_data/position_data.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/shared_data/twist_data.html b/_modules/as2_python_api/shared_data/twist_data.html
index 786ff558..ceb8cecf 100644
--- a/_modules/as2_python_api/shared_data/twist_data.html
+++ b/_modules/as2_python_api/shared_data/twist_data.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/as2_python_api/tools/utils.html b/_modules/as2_python_api/tools/utils.html
index 00438e04..08875559 100644
--- a/_modules/as2_python_api/tools/utils.html
+++ b/_modules/as2_python_api/tools/utils.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_modules/index.html b/_modules/index.html
index 3cd8bb25..1480c3cc 100644
--- a/_modules/index.html
+++ b/_modules/index.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/_sources/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.rst.txt b/_sources/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.rst.txt
index 16ab1b16..e07a0dd3 100644
--- a/_sources/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.rst.txt
+++ b/_sources/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.rst.txt
@@ -4,6 +4,7 @@
 Developing a New Package
 ------------------------
 
+
 .. _development_guide_new_pkg_architecture:
 
 Architecture of a New Package
@@ -420,16 +421,124 @@ In order to compile this tests some lines must be added into a **NEW** ``CMakeLi
     endforeach()
     endif()
 
-In order to link this ``./tests/CMakeLists.txt`` file into the ``CMakeLists.txt`` file of the package, the following line must be added:
+In order to link and run your functional tests alongside with the code style ones, your package's CMakeLists.txt should follow the next structure:
 
 .. code-block:: cmake
 
+    # Set the minimum required CMake version
+    cmake_minimum_required(VERSION 3.5)
+
+    # Set the project name
+    set(PROJECT_NAME as2_node_template)
+    project(${PROJECT_NAME})
+
+    # Default to C++17 if not set
+    if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+    endif()
+
+    # Set Release as default build type if not set
+    if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+    endif()
+
+    # find dependencies
+    set(PROJECT_DEPENDENCIES
+    ament_cmake
+    rclcpp
+    as2_core
+    as2_msgs
+    std_msgs
+    )
+
+    foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
+    find_package(${DEPENDENCY} REQUIRED)
+    endforeach()
+
+    # Include necessary directories
+    include_directories(
+    include
+    include/${PROJECT_NAME}
+    )
+
+    # Set source files
+    set(SOURCE_CPP_FILES
+    src/${PROJECT_NAME}_node.cpp
+    src/${PROJECT_NAME}.cpp
+    )
+
+    # Create the node executable
+    add_executable(${PROJECT_NAME}_node ${SOURCE_CPP_FILES})
+    ament_target_dependencies(${PROJECT_NAME}_node ${PROJECT_DEPENDENCIES})
+
+    # Create the dynamic library
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+    add_library(${PROJECT_NAME} SHARED ${SOURCE_CPP_FILES})
+    ament_target_dependencies(${PROJECT_NAME} ${PROJECT_DEPENDENCIES})
+
+    # Set the public include directories for the library
+    target_include_directories(${PROJECT_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+
+    # Install the headers
+    install(
+    DIRECTORY include/
+    DESTINATION include
+    )
+
+    # Install the node executable
+    install(TARGETS
+    ${PROJECT_NAME}_node
+    DESTINATION lib/${PROJECT_NAME}
+    )
+
+    # Install the shared library
+    install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT export_${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+    )
+
+    # Export the libraries
+    ament_export_libraries(${PROJECT_NAME})
+
+    # Export the targets
+    ament_export_targets(export_${PROJECT_NAME})
+
+    # Export the include directories
+    ament_export_include_directories(include)
+
+    # Install the launch directory
+    install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+    )
+
+    # Install the config directory
+    install(DIRECTORY
+    config
+    DESTINATION share/${PROJECT_NAME}
+    )
+
     # Build tests if testing is enabled
     if(BUILD_TESTING)
-        # all other tests
-        add_subdirectory(tests)
+    find_package(ament_lint_auto REQUIRED)
+    file(GLOB_RECURSE EXCLUDE_FILES
+        build/*
+        install/*
+    )
+    set(AMENT_LINT_AUTO_FILE_EXCLUDE ${EXCLUDE_FILES})
+    ament_lint_auto_find_test_dependencies()
+
+    add_subdirectory(tests)
     endif()
 
+    # Create the ament package
+    ament_package()
+
 
 To run these tests:
 
@@ -437,3 +546,10 @@ To run these tests:
 
     colcon test
 
+    
+
+------------------------------
+Node Template for New Packages
+------------------------------
+
+An example node with the proper structure and all the templates can be found `here <https://github.com/aerostack2/as2_node_template>`_.
diff --git a/genindex.html b/genindex.html
index c379a182..561a9ab4 100644
--- a/genindex.html
+++ b/genindex.html
@@ -306,6 +306,7 @@
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
@@ -3763,13 +3764,15 @@ <h2 id="I">I</h2>
 </li>
       <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N8ignition6gazeboE">ignition::gazebo (C++ type)</a>
 </li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.html#as2_python_api.drone_interface_base.DroneInterfaceBase.info">info (as2_python_api.drone_interface_base.DroneInterfaceBase property)</a>
 </li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.mission_interpreter.html#as2_python_api.mission_interpreter.mission_interpreter.MissionInterpreter.insert_mission">insert_mission() (as2_python_api.mission_interpreter.mission_interpreter.MissionInterpreter method)</a>
 </li>
       <li><a href="_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.mission_interpreter.html#as2_python_api.mission_interpreter.mission.InterpreterStatus">InterpreterStatus (class in as2_python_api.mission_interpreter.mission)</a>
+</li>
+      <li><a href="_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.behavior_actions.html#as2_python_api.behavior_actions.behavior_handler.BehaviorHandler.is_running">is_running() (as2_python_api.behavior_actions.behavior_handler.BehaviorHandler method)</a>
 </li>
   </ul></td>
 </tr></table>
@@ -4848,95 +4851,97 @@ <h2 id="R">R</h2>
 </li>
       <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv46rclcpp">rclcpp (C++ type)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv418RealsenseInterface">RealsenseInterface (C++ class)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv420real_sense_interface">real_sense_interface (C++ type)</a>
+</li>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterfaceE">real_sense_interface::RealsenseInterface (C++ class)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface12accel_frame_E">RealsenseInterface::accel_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface12accel_frame_E">real_sense_interface::RealsenseInterface::accel_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface16base_link_frame_E">RealsenseInterface::base_link_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface16base_link_frame_E">real_sense_interface::RealsenseInterface::base_link_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface28base_link_to_realsense_link_E">RealsenseInterface::base_link_to_realsense_link_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface28base_link_to_realsense_link_E">real_sense_interface::RealsenseInterface::base_link_to_realsense_link_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface33base_link_to_realsense_pose_odom_E">RealsenseInterface::base_link_to_realsense_pose_odom_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface33base_link_to_realsense_pose_odom_E">real_sense_interface::RealsenseInterface::base_link_to_realsense_pose_odom_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface16color_available_E">RealsenseInterface::color_available_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface16color_available_E">real_sense_interface::RealsenseInterface::color_available_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface12color_frame_E">RealsenseInterface::color_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface12color_frame_E">real_sense_interface::RealsenseInterface::color_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface13color_sensor_E">RealsenseInterface::color_sensor_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface13color_sensor_E">real_sense_interface::RealsenseInterface::color_sensor_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface19color_sensor_frame_E">RealsenseInterface::color_sensor_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface19color_sensor_frame_E">real_sense_interface::RealsenseInterface::color_sensor_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface16depth_available_E">RealsenseInterface::depth_available_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface16depth_available_E">real_sense_interface::RealsenseInterface::depth_available_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface17device_not_found_E">RealsenseInterface::device_not_found_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface17device_not_found_E">real_sense_interface::RealsenseInterface::device_not_found_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface18fisheye_available_E">RealsenseInterface::fisheye_available_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface18fisheye_available_E">real_sense_interface::RealsenseInterface::fisheye_available_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface11gyro_frame_E">RealsenseInterface::gyro_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface11gyro_frame_E">real_sense_interface::RealsenseInterface::gyro_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface14identifyDeviceEv">RealsenseInterface::identifyDevice (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface14identifyDeviceEv">real_sense_interface::RealsenseInterface::identifyDevice (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface15identifySensorsERKN3rs26deviceE">RealsenseInterface::identifySensors (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface15identifySensorsERKN3rs26deviceE">real_sense_interface::RealsenseInterface::identifySensors (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface14imu_available_E">RealsenseInterface::imu_available_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface14imu_available_E">real_sense_interface::RealsenseInterface::imu_available_ (C++ member)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface11imu_sensor_E">RealsenseInterface::imu_sensor_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface11imu_sensor_E">real_sense_interface::RealsenseInterface::imu_sensor_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface17imu_sensor_frame_E">RealsenseInterface::imu_sensor_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface17imu_sensor_frame_E">real_sense_interface::RealsenseInterface::imu_sensor_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface11odom_frame_E">RealsenseInterface::odom_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface11odom_frame_E">real_sense_interface::RealsenseInterface::odom_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface5pipe_E">RealsenseInterface::pipe_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface5pipe_E">real_sense_interface::RealsenseInterface::pipe_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface15pose_available_E">RealsenseInterface::pose_available_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface15pose_available_E">real_sense_interface::RealsenseInterface::pose_available_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface11pose_frame_E">RealsenseInterface::pose_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface11pose_frame_E">real_sense_interface::RealsenseInterface::pose_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface12pose_sensor_E">RealsenseInterface::pose_sensor_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface12pose_sensor_E">real_sense_interface::RealsenseInterface::pose_sensor_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface21realsense_link_frame_E">RealsenseInterface::realsense_link_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface21realsense_link_frame_E">real_sense_interface::RealsenseInterface::realsense_link_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface33realsense_link_to_realsense_pose_E">RealsenseInterface::realsense_link_to_realsense_pose_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface33realsense_link_to_realsense_pose_E">real_sense_interface::RealsenseInterface::realsense_link_to_realsense_pose_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface38realsense_link_to_realsense_pose_odom_E">RealsenseInterface::realsense_link_to_realsense_pose_odom_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface38realsense_link_to_realsense_pose_odom_E">real_sense_interface::RealsenseInterface::realsense_link_to_realsense_pose_odom_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface15realsense_name_E">RealsenseInterface::realsense_name_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface15realsense_name_E">real_sense_interface::RealsenseInterface::realsense_name_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface15realsense_pose_E">RealsenseInterface::realsense_pose_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface15realsense_pose_E">real_sense_interface::RealsenseInterface::realsense_pose_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface18RealsenseInterfaceEv">RealsenseInterface::RealsenseInterface (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface18RealsenseInterfaceERKN6rclcpp11NodeOptionsE">real_sense_interface::RealsenseInterface::RealsenseInterface (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface19rs_odom2rs_link_tf_E">RealsenseInterface::rs_odom2rs_link_tf_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface19rs_odom2rs_link_tf_E">real_sense_interface::RealsenseInterface::rs_odom2rs_link_tf_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface3runEv">RealsenseInterface::run (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface3runEv">real_sense_interface::RealsenseInterface::run (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface8runColorERKN3rs211video_frameE">RealsenseInterface::runColor (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface8runColorERKN3rs211video_frameE">real_sense_interface::RealsenseInterface::runColor (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE">RealsenseInterface::runImu (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface6runImuERKN3rs212motion_frameERKN3rs212motion_frameE">real_sense_interface::RealsenseInterface::runImu (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface7runOdomERKN3rs210pose_frameE">RealsenseInterface::runOdom (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface7runOdomERKN3rs210pose_frameE">real_sense_interface::RealsenseInterface::runOdom (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface7runPoseERKN3rs210pose_frameE">RealsenseInterface::runPose (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface7runPoseERKN3rs210pose_frameE">real_sense_interface::RealsenseInterface::runPose (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface7serial_E">RealsenseInterface::serial_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface7serial_E">real_sense_interface::RealsenseInterface::serial_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">RealsenseInterface::setStaticTransform (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface18setStaticTransformEKNSt6stringEKNSt6stringERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">real_sense_interface::RealsenseInterface::setStaticTransform (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface5setupEv">RealsenseInterface::setup (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface5setupEv">real_sense_interface::RealsenseInterface::setup (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE">RealsenseInterface::setupCamera (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface11setupCameraERKNSt10shared_ptrIN3as27sensors6CameraEEEK10rs2_streamKNSt6stringEKNSt6stringE">real_sense_interface::RealsenseInterface::setupCamera (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">RealsenseInterface::setupPoseTransforms (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface19setupPoseTransformsERKNSt5arrayIdXL3EEEERKNSt5arrayIdXL3EEEE">real_sense_interface::RealsenseInterface::setupPoseTransforms (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface4stopEv">RealsenseInterface::stop (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface4stopEv">real_sense_interface::RealsenseInterface::stop (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface19tf2_fix_transforms_E">RealsenseInterface::tf2_fix_transforms_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface19tf2_fix_transforms_E">real_sense_interface::RealsenseInterface::tf2_fix_transforms_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface22tf_static_broadcaster_E">RealsenseInterface::tf_static_broadcaster_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface22tf_static_broadcaster_E">real_sense_interface::RealsenseInterface::tf_static_broadcaster_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18RealsenseInterface8verbose_E">RealsenseInterface::verbose_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20real_sense_interface18RealsenseInterface8verbose_E">real_sense_interface::RealsenseInterface::verbose_ (C++ member)</a>
 </li>
       <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#c.REF_TRAJ_TOPIC">REF_TRAJ_TOPIC (C macro)</a>
 </li>
@@ -5392,51 +5397,53 @@ <h2 id="U">U</h2>
   <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#c.UNSET_MODE_MASK">UNSET_MODE_MASK (C macro)</a>, <a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#c.UNSET_MODE_MASK">[1]</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv418UsbCameraInterface">UsbCameraInterface (C++ class)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv420usb_camera_interface">usb_camera_interface (C++ type)</a>
+</li>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterfaceE">usb_camera_interface::UsbCameraInterface (C++ class)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface7camera_E">UsbCameraInterface::camera_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface7camera_E">usb_camera_interface::UsbCameraInterface::camera_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface13camera_frame_E">UsbCameraInterface::camera_frame_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface13camera_frame_E">usb_camera_interface::UsbCameraInterface::camera_frame_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface14camera_matrix_E">UsbCameraInterface::camera_matrix_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface14camera_matrix_E">usb_camera_interface::UsbCameraInterface::camera_matrix_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface13camera_model_E">UsbCameraInterface::camera_model_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface13camera_model_E">usb_camera_interface::UsbCameraInterface::camera_model_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface12camera_name_E">UsbCameraInterface::camera_name_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface12camera_name_E">usb_camera_interface::UsbCameraInterface::camera_name_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface4cap_E">UsbCameraInterface::cap_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface4cap_E">usb_camera_interface::UsbCameraInterface::cap_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface12captureImageEv">UsbCameraInterface::captureImage (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface12captureImageEv">usb_camera_interface::UsbCameraInterface::captureImage (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface12device_port_E">UsbCameraInterface::device_port_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface12device_port_E">usb_camera_interface::UsbCameraInterface::device_port_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface12dist_coeffs_E">UsbCameraInterface::dist_coeffs_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface12dist_coeffs_E">usb_camera_interface::UsbCameraInterface::dist_coeffs_ (C++ member)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface17distortion_model_E">UsbCameraInterface::distortion_model_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface17distortion_model_E">usb_camera_interface::UsbCameraInterface::distortion_model_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface9encoding_E">UsbCameraInterface::encoding_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface9encoding_E">usb_camera_interface::UsbCameraInterface::encoding_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface10framerate_E">UsbCameraInterface::framerate_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface10framerate_E">usb_camera_interface::UsbCameraInterface::framerate_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface13image_height_E">UsbCameraInterface::image_height_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface13image_height_E">usb_camera_interface::UsbCameraInterface::image_height_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface12image_width_E">UsbCameraInterface::image_width_ (C++ member)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface12image_width_E">usb_camera_interface::UsbCameraInterface::image_width_ (C++ member)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface14loadParametersEv">UsbCameraInterface::loadParameters (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface14loadParametersEv">usb_camera_interface::UsbCameraInterface::loadParameters (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE">UsbCameraInterface::setCameraModelTransform (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface23setCameraModelTransformERKNSt6stringERKNSt6stringE">usb_camera_interface::UsbCameraInterface::setCameraModelTransform (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE">UsbCameraInterface::setCameraParameters (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface19setCameraParametersERKN2cv3MatERKN2cv3MatE">usb_camera_interface::UsbCameraInterface::setCameraParameters (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface18setCameraTransformEv">UsbCameraInterface::setCameraTransform (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface18setCameraTransformEv">usb_camera_interface::UsbCameraInterface::setCameraTransform (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface11setupCameraEv">UsbCameraInterface::setupCamera (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface11setupCameraEv">usb_camera_interface::UsbCameraInterface::setupCamera (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterface18UsbCameraInterfaceEv">UsbCameraInterface::UsbCameraInterface (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterface18UsbCameraInterfaceERKN6rclcpp11NodeOptionsE">usb_camera_interface::UsbCameraInterface::UsbCameraInterface (C++ function)</a>
 </li>
-      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N18UsbCameraInterfaceD0Ev">UsbCameraInterface::~UsbCameraInterface (C++ function)</a>
+      <li><a href="_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html#_CPPv4N20usb_camera_interface18UsbCameraInterfaceD0Ev">usb_camera_interface::UsbCameraInterface::~UsbCameraInterface (C++ function)</a>
 </li>
   </ul></td>
 </tr></table>
diff --git a/index.html b/index.html
index fd9ba02f..17fb833e 100644
--- a/index.html
+++ b/index.html
@@ -308,6 +308,7 @@
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html#modify-settings-json">Modify ‘settings.json’</a></li>
diff --git a/objects.inv b/objects.inv
index 389175b952cc26594239e512f8b80f8ca15a2505..732105df34410d655759337ba30dba6ca6a57544 100644
GIT binary patch
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diff --git a/py-modindex.html b/py-modindex.html
index b2873df7..14543ad4 100644
--- a/py-modindex.html
+++ b/py-modindex.html
@@ -309,6 +309,7 @@
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#test">Test</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html#node-template-for-new-packages">Node Template for New Packages</a></li>
 <li class="toctree-l3"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html">Setting Up Visual Studio Code</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="_09_development/_develop_guide/_develop_guide/_setting_code.html#install-required-extensions">Install required Extensions</a></li>
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"Aerial Platform": [[3, "aerial-platform"], [36, "aerial-platform"]], "Architecture": [[4, "architecture"]], "Inter-process Communication": [[4, "inter-process-communication"]], "Platform and Sensors": [[4, "platform-and-sensors"]], "Robotics Functions": [[4, "robotics-functions"]], "Behaviors": [[4, "behaviors"], [6, "behaviors"], [38, "behaviors"]], "Mission Control": [[4, "mission-control"]], "Applications": [[4, "applications"]], "Aerostack2 Inter-process Communication": [[5, "aerostack2-inter-process-communication"]], "Motion References": [[5, "motion-references"]], "Actuator Commands": [[5, "actuator-commands"]], "Sensor Measurements": [[5, "sensor-measurements"]], "Self Localization": [[5, "self-localization"]], "Emergency": [[5, "emergency"]], "Aerostack2 Concepts": [[7, "aerostack2-concepts"]], "Motion Controller": [[8, "motion-controller"], [40, "motion-controller"]], "Motion Reference Handler": [[8, "motion-reference-handler"]], "Control Modes": [[8, "control-modes"], [22, 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"Table of Contents": [[22, "table-of-contents"], [23, "table-of-contents"], [24, "table-of-contents"], [26, "table-of-contents"], [27, "table-of-contents"], [28, "table-of-contents"], [29, "table-of-contents"], [33, "table-of-contents"], [34, "table-of-contents"], [93, "table-of-contents"], [94, "table-of-contents"], [95, "table-of-contents"], [96, "table-of-contents"]], "Introduction": [[22, "introduction"], [23, "introduction"], [24, "introduction"], [26, "introduction"], [27, "introduction"], [29, "introduction"], [33, "introduction"], [34, "introduction"]], "Installation": [[22, "installation"], [23, "installation"], [24, "installation"], [26, "installation"], [27, "installation"], [29, "installation"]], "Install platform package": [[22, "install-platform-package"], [23, "install-platform-package"], [24, "install-platform-package"], [28, "install-platform-package"]], "Aerostack2 Common Interface": [[22, "aerostack2-common-interface"], [23, "aerostack2-common-interface"], [24, 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"swarm-drones"]], "Real execution": [[11, "real-execution"], [12, "real-execution"], [21, "real-execution"]], "Crazyflie Gates Example": [[12, "crazyflie-gates-example"]], "DJI OSDK": [[13, "dji-osdk"]], "DJI OSDK Example": [[14, "dji-osdk-example"]], "Gazebo Simulator": [[15, "gazebo-simulator"]], "Simple Gazebo Example": [[16, "simple-gazebo-example"]], "Behavior Tree": [[16, "project-gazebo-simulated-behavior-tree"]], "Examples": [[17, "examples"], [22, "examples"], [62, "examples"], [86, "examples"]], "Prerequisites": [[17, "prerequisites"], [22, "prerequisites"], [24, "prerequisites"]], "Basics Examples": [[17, "basics-examples"]], "Multirotor Simulator": [[18, "multirotor-simulator"], [26, "multirotor-simulator"]], "Multirotor Simulator Example": [[19, "multirotor-simulator-example"]], "Pixhawk 4": [[20, "pixhawk-4"], [27, "pixhawk-4"]], "PX4 Vision Example": [[21, "px4-vision-example"]], "Table of Contents": [[22, "table-of-contents"], [23, "table-of-contents"], [24, 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"aerostack2-common-interface"], [29, "aerostack2-common-interface"]], "Control Modes Gazebo Platform": [[22, "id1"], [24, "id1"]], "Sensors": [[22, "sensors"], [23, "sensors"], [24, "sensors"], [25, "sensors"], [26, "sensors"], [27, "sensors"], [29, "sensors"]], "Sensors Gazebo Platform": [[22, "id2"], [24, "id2"]], "Platform Launch": [[22, "platform-launch"], [23, "platform-launch"], [24, "platform-launch"], [26, "platform-launch"], [27, "platform-launch"], [29, "platform-launch"]], "Gazebo Platform Parameters": [[22, "id3"], [24, "id7"]], "Basic example": [[22, "basic-example"]], "DJI Matrice Series": [[23, "dji-matrice-series"]], "Setup connection with DJI Matrice": [[23, "setup-connection-with-dji-matrice"]], "Control Modes DJI OSDK Platform": [[23, "id1"]], "Sensors DJI OSDK Platform": [[23, "id2"]], "DJI OSDK Platform Parameters": [[23, "id3"]], "Gazebo": [[24, "gazebo"]], "Using \u2018Gazebo Harmonic\u2019": [[24, "using-gazebo-harmonic"]], "Install simulation assets": [[24, 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