tf_broadcaster - combines tf lookup with a position topic to republish to a global position topic
static_tf_publisher.launch - for quick reference of the built in tf lookup static transformer node
slow_yaw - module to enable a mavros uav to yaw at a controlled rate to prevent visual localisation drift
position_benchmark - benchmark 2 positional sources to check accuracy (ie measured vs ground truth)
mock_multiplexer(depreciated) - used to control multiple drone input sources into one output
mode_manager - mux for a posestamped topic(more generically), able to be used directly for offboard control to mavros, implements the slow_yaw function too to prevent vio drifting