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