• center : rtswitches
• d : rtlightsensors , rtswitches
• data : rtlightsensors
• devfile : rtlightsensors , rtswitches
• freq : rtlightsensors
• front : rtswitches
• left_forward : rtlightsensors
• left_side : rtlightsensors
• ms : rtbuzzer
• pub : rtlightsensors , rtswitches
• rate : rtlightsensors , rtswitches
• rear : rtswitches
• right_forward : rtlightsensors
• right_side : rtlightsensors
• srv : rtmotor
• state : rtswitches
• state_change_counter : rtswitches
• sub : rtbuzzer , rtmotor