• _angular_velocities_type : diffbot_msgs::AngularVelocitiesStamped , diffbot_msgs::WheelsCmd
• _encoders_type : diffbot_msgs::EncodersStamped
• _header_type : diffbot_msgs::AngularVelocitiesStamped , diffbot_msgs::EncodersStamped , diffbot_msgs::PIDStamped , diffbot_msgs::WheelsCmdStamped
• _joint_type : diffbot_msgs::AngularVelocities
• _kd_type : diffbot_msgs::PID
• _ki_type : diffbot_msgs::PID
• _kp_type : diffbot_msgs::PID
• _pid_type : diffbot_msgs::PIDStamped
• _wheels_cmd_type : diffbot_msgs::WheelsCmdStamped
• DynamicReconfigServer : diffbot_base::PID