Commits
Bill Gruber authored and Scott Main committed 6c60e9a3ba3
docs cherrypick from hc-mr2: Change-Id: Id8dd0a0baa2fcc88bcfc8171e2be5882d0f06479 Doc update: publishing topics Also fixes bug 5279672 Change-Id: Ifb06f7f56ee372a9680a63bdb659f495698fe794