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driver
(
name "passthrough"
provides ["7000:map:0"]
requires ["6665:map:0"]
)
driver
(
name "vfh"
provides ["7000:position2d:1"]
requires ["6665:position2d:0" "6665:laser:0"]
)
driver
(
name "amcl"
provides ["7000:localize:0" "7000:position2d:2"]
requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::7000:map:0"]
)
driver
(
name "wavefront"
provides ["7000:planner:0"]
requires ["output::7000:position2d:1" "input::7000:position2d:2" "7000:map:0"]
safety_dist 0.15
distance_epsilon 0.5
angle_epsilon 10
)
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