• PI : rbcar_robot_control.cpp
• RBCAR_D_WHEELS_M : rbcar_robot_control.cpp
• RBCAR_MAX_COMMAND_REC_FREQ : rbcar_robot_control.cpp
• RBCAR_MIN_COMMAND_REC_FREQ : rbcar_robot_control.cpp
• RBCAR_WHEEL_DIAMETER : rbcar_robot_control.cpp