Maximum remaining time (s) Minimum remaining time (s) Expected game progress stage GameStatus port on blackboard 己方与兑换区重叠的补给区 己方与兑换区不重叠的补给区 / RMUL 补给区 中心增益点（仅 RMUL 适用） 己方堡垒增益点 RfidStatus port on blackboard Lower then minimum ammo will return FAILURE Maximum heat. NOTE: Sentry heat limit is 400 Minimum HP. NOTE: Sentry init/max HP is 400 RobotStatus port on blackboard Expected goal pose that send to nav2. Fill with format `x;y;yaw` Topic name Angular Z velocity (rad/s) Publish then sleep duration in milliseconds Topic name Linear Y velocity (m/s) Angular Z velocity (rad/s) Linear X velocity (m/s) Publish then sleep duration in milliseconds Topic name