| Variable name | Short description | Who publishes it? | Who subscribes to it? |
| LASER2 | The laser scan, as a "CObservation2DRangeScan" passed through "ObjectToString". | MobileRobot_Simul3D | Localization_PF NavigatorReactivePTG NavigatorReactivePTG3D Rawlog_grabber RobotGUI2010 |