| Variable name | Short description | Who publishes it? | Who subscribes to it? |
| LOCALIZATION | The robot estimated pose in format "[x y phi]" | Localization_Fusion MobileRobot_Simul3D Online_Maps | Enose_Simul LookAtPoint MQTTMosquitto NavigatorReactivePTG NavigatorReactivePTG3D NavigatorTopological Online_Maps RobotGUI2010 WifiAlert |