You're reading the documentation for an obsolete version. For the latest released version, please have a look at v10.9.

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