• check_nan : joints_to_diagnostics
• has_warned_invalid : joints_to_diagnostics
• last_msg : joints_to_diagnostics
• last_publish_time : controllers_to_diagnostics
• last_update_time : joints_to_diagnostics
• mutex : joints_to_diagnostics
• my_rate : joints_to_diagnostics
• my_version : joints_to_diagnostics
• pub_diag : controllers_to_diagnostics , joints_to_diagnostics
• use_sim_time : controllers_to_diagnostics