driver ( name "roomba" provides ["position2d:0"] port "/dev/ttyS2" safe 1 alwayson 1 ) driver ( name "urglaser" provides ["laser:0"] port "/dev/ttyS0" #port "/dev/ttyACM0" pose [0.05 0.0 0.0] min_angle -115.0 max_angle 115.0 use_serial 1 baud 115200 alwayson 0 ) driver ( name "vfh" provides ["position2d:1"] requires ["position2d:0" "laser2d:0"] cell_size 0.1 window_diameter 61 sector_angle 1 safety_dist 0.3 max_speed 0.3 max_turnrate_0ms 50 max_turnrate_1ms 30 )