| Variable name | Short description | Who publishes it? | Who subscribes to it? |
| LOCALIZATION | The Robot localization as (x y phi) triplet. | DistributionMapping Localization2D_Fusion | DistributionMapping Enose_Simul Executor LookAtPoint MQTTMosquitto NavigatorReactivePTG NavigatorReactivePTG3D NavigatorTopological RobotControlManager RobotGUI Wifi_KeepCoverage WorldModel |