• current_time : Kinematics
• kin : PlatformCtrlNode
• last_time : Kinematics
• m_dAxisLength : DiffDrive2WKinematics
• m_dDiam : DiffDrive2WKinematics
• mutex : PlatformCtrlNode
• n : PlatformCtrlNode
• odom_broadcaster : PlatformCtrlNode
• p : PlatformCtrlNode
• phiAbs : OdomPose
• sendTransform : PlatformCtrlNode
• topicPub_DriveCommands : PlatformCtrlNode
• topicPub_Odometry : PlatformCtrlNode
• topicSub_ComVel : PlatformCtrlNode
• topicSub_DriveState : PlatformCtrlNode
• xAbs : OdomPose
• yAbs : OdomPose