• DEFAULT_JOINTS : ros_main.cpp
• EMPTY_VALUES : lowbandwidth_trajectory_follower.cpp
• JOINTS : rt_publisher.h
• LINKS : rt_publisher.h
• MULT_JOINTSTATE_ : trajectory_follower.cpp
• POSITION_PROGRAM : lowbandwidth_trajectory_follower.cpp , trajectory_follower.cpp
• UR_PRIMARY_PORT : factory.h
• UR_RT_PORT : ros_main.cpp
• UR_SECONDARY_PORT : ros_main.cpp