driver
(
  name "p2os"
  provides ["odometry:::position2d:0"
            "compass:::position2d:1"
            "sonar:0"
            "aio:0"
            "dio:0"
            "power:0"
           ]
)

driver
(
  name "sicklms200"
  provides ["laser:0"]
  connect_rate 38400
  transfer_rate 38400
  port "/dev/ttyUSB0"
)

driver
(
  name "vfh"
  provides ["position2d:2"]
  requires ["position2d:0" "laser:0"]
  cell_size 0.1
  window_diameter 61
  sector_angle 5
  safety_dist_0ms 0.1
  safety_dist_1ms 0.1
  max_speed 0.3
  max_turnrate_0ms 75
  max_turnrate_1ms 50
  weight_desired_dir 5.0
  weight_current_dir 3.0
)