• alg_mutex_ : SafeCmdAlgorithm
• cmd_vel_mutex_ : SafeCmdAlgNode
• cmd_vel_safe_publisher_ : SafeCmdAlgNode
• cmd_vel_subscriber_ : SafeCmdAlgNode
• collision_time_ : SafeCmdAlgNode
• config_ : SafeCmdAlgorithm
• front_laser_mutex_ : SafeCmdAlgNode
• front_laser_subscriber_ : SafeCmdAlgNode
• last_twist_ : SafeCmdAlgNode
• limit_vel_front_ : SafeCmdAlgNode
• limit_vel_rear_ : SafeCmdAlgNode
• max_vel_front_ : SafeCmdAlgNode
• max_vel_rear_ : SafeCmdAlgNode
• min_dist_ : SafeCmdAlgNode
• rear_laser_mutex_ : SafeCmdAlgNode
• rear_laser_subscriber_ : SafeCmdAlgNode
• Twist_msg_ : SafeCmdAlgNode