• bumper_event_subscriber_ : xbot::SafetyController
• bumper_front_pressed_ : xbot::SafetyController
• bumper_rear_pressed_ : xbot::SafetyController
• cliff_event_subscriber_ : xbot::SafetyController
• cliff_front_detected_ : xbot::SafetyController
• cliff_rear_detected_ : xbot::SafetyController
• controller_ : xbot::SafetyControllerNodelet
• controller_state_publisher_ : xbot::SafetyController
• disable_controller_subscriber_ : xbot::SafetyController
• enable_controller_subscriber_ : xbot::SafetyController
• last_event_time_ : xbot::SafetyController
• msg_ : xbot::SafetyController
• name_ : xbot::SafetyController
• nh_ : xbot::SafetyController
• reset_safety_states_subscriber_ : xbot::SafetyController
• shutdown_requested_ : xbot::SafetyControllerNodelet
• time_to_extend_bump_cliff_events_ : xbot::SafetyController
• update_thread_ : xbot::SafetyControllerNodelet
• velocity_command_publisher_ : xbot::SafetyController