MQTT_ROS:
  msg_format: Proto
  MQTTClientNamePub: Drone650Pub
  MQTTClientNameSub: Drone650Sub
  host: 192.168.50.117
  port: 1883
  keepalive: 60
  willTopic: CheckDoneConnect
  willTopicQOS: 1
  lwt: Drone650 Gone Offline
  willRetain: False
  # Mqtt topic
  Flight_Information_topicToMqtt: drone/leader/Flight_Information
  Fly_Formation_topicToMqtt: drone/leader/Formation
  # Change formate qos
  Fly_Formation_topicToMqtt_QOS: 2
  #ROS
  ROSClientNamePub: Drone650Pub
  ROSClientNameSub: Drone650Sub
  ROStopicName_Flight_Information: Flight_Information_reciver
  ROStopicName_Fly_Formation: Fly_Formation_reciver