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Streamed messages are transmitted periodically. These include streaming sensor readings, actuator commands, and any kind of signal that would get continuously updated. For our rover, all streamed messages are sent at 100Hz. One-shot messages are event-based - they are transmitted only when needed. These include commands to change control modes and PID gains, and ACK messages (acknowledgement messages that are transmitted to the Jetson whenever a one-shot message is received by a node).