driver
(
  name "p2os"
  provides ["odometry:::position2d:0"]
)
driver
(
  name "sicklms200"
  provides ["laser:0"]
)
driver
(
  name "vfh" 
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  cell_size 0.1 
  window_diameter 61
  sector_angle 1
  safety_dist_0ms 0.2
  safety_dist_1ms 0.4
  max_speed 0.3
  max_turnrate_0ms 75
  max_turnrate_1ms 50
  weight_desired_dir 5.0
  weight_current_dir 3.0
)