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The subscription to tf is pretty common, every node that instantiates a tf::TransformListener subscribes to it, so I don't think it is part of the API and needs to be mentioned in the documentation.

The subscriptions to the move_base topics is actually mentioned in the documentation at section 2.1.4. Every action client subscribes to the result, feedback and status topic of the action server and publishes the goal and the cancel topic.

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