• g_host : ros::master , ros::network
• g_log_directory : ros::file_log
• g_name : ros::this_node
• g_namespace : ros::this_node
• g_params : ros::param
• g_params_mutex : ros::param
• g_port : ros::master
• g_remappings : ros::names
• g_retry_timeout : ros::master
• g_subscribed_params : ros::param
• g_tcpros_server_port : ros::network
• g_unresolved_remappings : ros::names
• g_uri : ros::master
• MSG_TYPE_TO_CPP : msg_gen