driver
(
  name "p2os"
  provides ["odometry::position:1"]
  port "/dev/ttyS0"
)
driver
(
  name "sicklms200"
  provides ["laser:0"]
  port "/dev/ttyS1"
)
driver
(
  name "mapfile"
  provides ["map:0"]
  filename "mymap.pgm"
  resolution 0.1
)
driver
(
  name "amcl"
  provides ["localize:0"]
  requires ["odometry::position:1" "laser:0" "laser::map:0"]
)
driver
(
  name "vfh"
  provides ["position:0"]
  requires ["position:1" "laser:0"]
  safety_dist 0.1
  distance_epsilon 0.3
  angle_epsilon 5
)
driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["position:0" "localize:0" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)