* commit 'a903932948c0a93b47e243a1dcd6e2a8643191ff': docs cherrypick from hc-mr2: Change-Id: Id8dd0a0baa2fcc88bcfc8171e2be5882d0f06479 Doc update: publishing topics Also fixes bug 5279672
* commit 'a903932948c0a93b47e243a1dcd6e2a8643191ff': docs cherrypick from hc-mr2: Change-Id: Id8dd0a0baa2fcc88bcfc8171e2be5882d0f06479 Doc update: publishing topics Also fixes bug 5279672