Block Diagram of ROS Node Network

Task: either by hand or with a chart software (LucidChart for example), develop a block Diagram of all the Raspberry Pi Nodes, topics they publish to, Topics they Subscribe, with consideration of the Arduino as a big node.

Additionally, find on ROS std_messages if there are existing message data types for our sensors (there should be, just gotta find them). Black box for central processing

Note: consider how we could utilize either a ROS connection to a PC, or the Bluetooth of the Raspberry Pi to output something to Matlab if we want to (either for observation, or computationally expensive tasks)