This page provides an overview of the ROS API for [[starmac_flyer]] -- primarily in terms of [[Nodes]] and [[Topics]] at the  '[[ROS/Concepts#ROS_Computation_Graph_Level|computation graph]]' level of abstraction.

Here is a diagram showing the most important nodes and topics involved in operating an Ascending Technologies Pelican vehicle using the [[starmac_flyer]] and related packages. The diagram highlights the topics actively used when the ''active'' control mode is 'attitude'. Other modes that are in ''standby'' still receive data and produce output but the [[topic_tools/mux|mux]] node only outputs the ''active'' mode.

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