• angular : turtle_tf_listener , turtle_tf_listener_wait
• br : dynamic_tf_broadcaster
• linear : turtle_tf_listener , turtle_tf_listener_wait
• listener : turtle_tf_listener , turtle_tf_listener_wait
• msg : turtle_tf_listener , turtle_tf_message_broadcaster , turtle_tf_listener_wait
• now : turtle_tf_listener_wait
• pp : turtle_tf_message_broadcaster
• pub : turtle_tf_message_broadcaster
• rate : dynamic_tf_broadcaster , turtle_tf_listener_wait , turtle_tf_listener
• spawner : turtle_tf_listener , turtle_tf_message_broadcaster , turtle_tf_listener_wait
• t : dynamic_tf_broadcaster
• tfb : fixed_tf_broadcaster
• turtle_vel : turtle_tf_listener_wait , turtle_tf_listener
• turtlename : turtle_tf_broadcaster