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am 6c60e9a3: docs cherrypick from hc-mr2: Change-Id: Id8dd0a0baa2fcc88bcfc8171e2be5882d0f06479 Doc update: publishing topics Also fixes bug 5279672 * commit '6c60e9a3ba3555590d7e7bdaf3634c9daaf8b33b': docs cherrypick from hc-mr2: Change-Id: Id8dd0a0baa2fcc88bcfc8171e2be5882d0f06479 Doc update: publishing topics Also fixes bug 5279672