driver ( name "MRICP_Driver" requires ["position:0" "laser:0"] provides ["position:1" "opaque:0" "map:0"] plugin "MRICP.so" MINR 0.05 MAXR 3.9 period 1 map_resolution 0.6 map_path maps/ use_max_range 1 number_of_lasers 2 free_space_prob 0.4 sparse_scans_rate 3 laser0_ranges [-90 -50 -30 90] laser1_ranges [-120 120] start_in 1 interpolate 0 use_odom 1 robot_id 1 NIT 15 log 1 )