RtcStreamType: "ping" | "pong" | "stream-control" | "streams-info" | "agent-info" | "numeric" | "boolean" | "bitset" | "twist" | "compressed-image" | "h264-video-frame" | "audio-chunk" | "pose" | "goal-id" | "joint-state" | "pose-with-covariance" | "point-cloud" | "marker-array" | "point" | "json-string"