• DEFAULT_CONTROLLER_GOAL_DURATION_MARGIN : trajectory_execution_manager
• DEFAULT_CONTROLLER_GOAL_DURATION_SCALING : trajectory_execution_manager
• DEFAULT_CONTROLLER_INFORMATION_VALIDITY_AGE : trajectory_execution_manager
• LOGGER : default_planner_request_adapters
• LOGNAME : kinematics_plugin_loader , moveit_cpp , planning_scene_monitor
• PLANNING_PLUGIN_PARAM : moveit_cpp