
driver
(
  name "stage"
  plugin "stageplugin"
  provides ["simulation:0"]
  worldfile "rescue.world"
)

# robot 1
driver
(
  name "stage"
  provides ["position2d:0" "laser:0"]
  model "robot"
)

driver
(
  name "mricp"
  provides ["position2d:1" "map:0"]
  requires ["position2d:0" "laser:0"]
  number_of_lasers 1
  laser0_ranges [-120 120]
  playerv_debug 0
  period 0.2
  MAXR 3.9
  MINR 0.05
  map_resolution 0.05
  map_saving_period 5
  map_size 10
  use_max_range 1
  sparse_scans_rate 3
  map_path "logs/"
  debug 0
  alwayson 1
  log 1
  sanitycheck_distance 0.1
  sanitycheck_angle 5
)
