• actual_speed_l : BaseController
• actual_speed_r : BaseController
• device : BaseController
• initial_md49_acceleration : BaseController
• initial_md49_mode : BaseController
• initial_md49_regulator : BaseController
• initial_md49_timeout : BaseController
• md49_data : BaseController
• md49_data_pub : BaseController
• md49_encoders : BaseController
• md49_encoders_pub : BaseController
• n : BaseController
• reply : BaseController
• requested_speed_l : BaseController
• requested_speed_r : BaseController
• serialport : BaseController
• serialport_bps : BaseController
• sub_cmd_vel : BaseController