| Variable name | Short description | Who publishes it? | Who subscribes to it? |
| MOTION_CMD_V | The requested robot linear speed | AutoDocking_Camera AutoDocking_Laser JoystickControl LookAtPoint NavigatorReactivePTG NavigatorReactivePTG3D RobotControlManager | AutoDocking_Laser MobileRobot_Giraff MobileRobot_Pioneer MobileRobot_Segway MobileRobot_Simul |