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9. Appendix

• 9.1 Appendix 1 - Message Definitions Available for Programs
• 9.2 Appendix 2 - Topics and Services
• 9.3 Appendix 3 - Routing ROS2 between Subnets
• 9.4 Appendix 4 - ROS2 Services Compatibility
• 9.5 Appendix 5 - Frequently Asked Questions