| Variable name | Short description | Who publishes it? | Who subscribes to it? |
| ODOMETRY | The robot absolute odometry in format "[x y phi]" | MobileRobot_Giraff MobileRobot_Pioneer MobileRobot_Simul MobileRobot_Simul3D | Localization_Fusion Localization_PF NavigatorReactivePTG NavigatorReactivePTG3D |