# UvA Rescue Team Logfile # # Created Date: 28-07-2010 # Created Time: 14:21 # # Machine: U013153 # # Original Filename: Logs\Hercules.log NFO {Gametype BotDeathMatch} {Level Nomad-Scout-Experiment} {TimeLimit 0} SEN {Time 13.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 13.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 13.9049} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8768} SEN {Time 13.9506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.176,0.181,0.179,0.179,0.184,0,0,0,0,0,0,0,0,3.686,3.685,3.662,3.661,3.649,3.626,3.61,3.61,3.598,3.598,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.21,3.206,3.21,3.21,3.264,3.358,0,0,0,0,0,0,0,0.151,0.148,0.147,0.147,0.147,0.147,0.14,0.14,0.151,0.151,0.153,0.153,0.16,0.16,3.035,3.039,3.039,3.039,3.035,3.039,3.031,0.159,0.157,0.157,0.155,0.153,0.153,0.153,0.146,0.128,0.107,0.079,0.065,0.062,0.062,0.062,0.062,0.062,0.063,0.063,0.069,0.069,0.063,0.063,0.071,0.076,0.107,0.171,3.335,3.345,3.366,3.358,3.366,3.367,3.375,3.38,3.416,3.419,3.44,3.44,3.456,3.459,3.477,3.487,3.491,3.497,3.5,3.502,3.508,3.513,3.517,3.52,3.523,3.523,3.524,3.535,3.537,3.539,3.544,3.546,3.548,3.551,3.555,3.561,3.565,3.574,3.578,3.578,3.583,3.585,3.595,3.607,3.609,3.623,3.627,3.633,3.638,3.639,3.646,3.649,3.653,3.655,3.657,3.663,3.675,3.676,3.69,3.693,3.701,3.702,3.716,3.725,3.725,3.745,3.745,3.75,3.773,3.775,3.78,3.786,3.8,3.822,3.827,3.828,3.841,3.854,3.872,3.877,3.88,3.894,3.896,3.908,3.93,3.954,3.961,3.977,3.978,3.979,4.009,4.034,4.036,4.065,4.076,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.026,3.998,3.941,3.902,3.871,3.844,3.819,3.765,3.751,3.741,3.705,3.684,3.64,3.629,3.601,3.561,3.546,3.526,3.501,3.489,3.455,3.445,3.423,3.408,3.372,3.372,3.358,3.331,3.313,3.292,3.272,3.255,3.232,3.228,3.197,3.185,3.17,3.158,3.141,3.12,3.11,3.095,3.077,3.067,3.047,3.035,3.017,3.005,3.003,2.988,2.98,2.966,2.955,2.945,2.925,2.921,2.906,2.898,2.879,2.868,2.863,2.847,2.837,2.825,2.808,2.807,2.789,2.782,2.776,2.767,2.758,2.75,2.738,2.731,2.726,2.711,2.71,2.694,2.687,2.68,2.675,2.669,2.659,2.653,2.648,2.635,2.633,2.621,2.615,2.613,2.609,2.596,2.586,2.572,2.572,2.571,2.567,2.56,2.557,2.549,2.547,2.534,2.532,2.524,2.517,2.517,2.509,2.503,2.497,2.495,2.495,2.489,2.483,2.478,2.478,2.478,2.465,2.465,2.463,2.463,2.462,2.457,2.448,2.448,2.446,2.446,2.445,2.443,2.441,2.434,2.429,2.429,2.427,2.427,2.426,2.424,2.419,2.418,2.418,2.416,2.416,2.416,2.411,2.406,2.406,2.406,2.406,2.407,2.407,2.407,2.407,2.409,2.412,2.414,2.417,2.417,2.416,2.414,2.414,2.413,2.413,2.414,2.418,2.418,2.418,2.418,2.418,2.418,2.419,2.427,2.428,2.43,2.43,2.432,2.442,2.442,2.443,2.449,2.449,2.453,2.458,2.46,2.464,2.465,2.467,2.472,2.475,2.475,2.478,2.479,2.488,2.495,2.496,2.501,2.504,2.517,2.519,2.525,2.525,2.529,2.536,2.537,2.546,2.549,2.554,2.571,2.573,2.574,2.586,2.592,2.598,2.608,2.612,2.618,2.619,2.631,2.638,2.64,2.644,2.654,2.662,2.675,2.679,2.679,2.693,2.699,2.711,2.714,2.729,2.739,2.751,2.761,2.762,2.781,2.788,2.8,2.803,2.822,2.828,2.834,2.846,2.853,2.865,2.881,2.888,2.901,2.916,2.918,2.947,2.95,2.954,2.976,2.982,2.998,3.014,3.023,3.046,3.048,3.063,3.079,3.09,3.107,3.118,3.144,3.158,3.165,3.183,3.199,3.212,3.239,3.248,3.263,3.278,3.294,3.32,3.338,3.355,3.367,3.387,3.405,3.436,3.458,3.479,3.5,3.513,3.543,3.563,3.604,3.623,3.643,3.667,3.693,3.72,3.747,3.779,3.798,3.836,3.868,3.878,3.918,3.956,3.994,4.036,4.074,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.356,3.338,3.329,3.311,3.305,3.3,3.291,3.288,3.264,3.255,3.253,3.245,3.239,3.239,3.236,3.221,3.213,3.208,3.19,3.18,3.18,3.17,3.157,3.152,3.144,3.142,3.138,3.13,3.127,3.124,3.119,3.11,3.107,3.102,3.094,3.092,3.075,3.075,3.074,3.073,3.067,3.067,3.061,3.055,3.054,3.049,3.048,3.043,3.043,3.042,3.042,3.033,3.029,3.029,3.022,3.021,3.021,3.021,3.027,3.027,3.027,3.021,3.019,3.017,3.019,3.015,3.013,3.011,3.011,3.011,3.011,3.009,3.006,3.009,3.009,3.009,3.012,3.015,3.015,3.013,3.015,3.015,3.013,3.011,3.015,3.015,3.017,3.017,3.025,3.017,3.017,3.028,3.028,3.028,3.035,3.036,3.038,3.04,3.04,3.042,3.045,3.056,3.058,3.06,3.061,3.061,3.07,3.074,3.087,3.09,3.09,3.092,3.092,3.094,3.095,3.102,3.114,3.118,3.12,3.13,3.13,3.132,3.132,3.133,3.133,3.147,3.151,3.153,3.166,3.168,3.171,3.175,3.179,3.185,3.195,3.217,3.219,3.221,3.228,3.234,3.234,3.239,3.248,3.252,3.263,3.28,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} GEO {Type GroundVehicle} {Name USARBot.Nomad} {Dimensions 0.4,0.4,1.5} {COG 0,0,-0.2} {WheelRadius 0.1016} {WheelSeparation 0.31} {WheelBase 0.0} SEN {Time 14.96} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 14.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 14.9638} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.207} SEN {Time 15.0466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.175,0.186,0.183,0.183,0.188,0,0,0,0,0,0,0,0,3.691,3.684,3.662,3.658,3.637,3.629,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.214,3.209,3.209,3.209,3.27,3.361,0,0,0,0,0,0,0,0.147,0.144,0.144,0.143,0.147,0.146,0.146,0.146,0.153,0.152,0.153,0.153,0.156,0.161,3.029,3.036,3.036,3.036,3.029,3.036,3.029,0.16,0.16,0.16,0.155,0.154,0.149,0.147,0.144,0.126,0.107,0.075,0.065,0.062,0.062,0.062,0.062,0.064,0.064,0.064,0.067,0.067,0.063,0.063,0.064,0.064,0.112,0.17,3.336,3.351,3.362,3.362,3.364,3.378,3.378,3.379,3.414,3.429,3.446,3.446,3.446,3.457,3.472,3.479,3.493,3.495,3.5,3.5,3.506,3.508,3.512,3.518,3.519,3.52,3.524,3.534,3.534,3.542,3.542,3.546,3.549,3.549,3.559,3.563,3.571,3.574,3.574,3.575,3.586,3.591,3.597,3.604,3.605,3.616,3.616,3.623,3.638,3.638,3.641,3.641,3.657,3.663,3.671,3.674,3.674,3.686,3.687,3.698,3.702,3.708,3.725,3.734,3.735,3.748,3.755,3.76,3.772,3.781,3.795,3.795,3.804,3.815,3.821,3.834,3.835,3.848,3.864,3.876,3.88,3.9,3.906,3.914,3.933,3.944,3.961,3.967,3.981,3.982,4.019,4.023,4.049,4.066,4.086,4.089,0.016,0.016,0.016,0.016,0.016,4.088,4.049,4.025,3.994,3.962,3.931,3.9,3.855,3.842,3.804,3.77,3.753,3.73,3.699,3.686,3.641,3.629,3.601,3.577,3.547,3.53,3.514,3.495,3.459,3.457,3.429,3.409,3.383,3.364,3.342,3.326,3.305,3.288,3.279,3.254,3.237,3.218,3.195,3.184,3.167,3.156,3.142,3.127,3.108,3.096,3.08,3.076,3.048,3.04,3.017,3.016,3.003,2.988,2.977,2.963,2.95,2.944,2.922,2.915,2.902,2.895,2.878,2.868,2.859,2.851,2.838,2.83,2.817,2.807,2.798,2.785,2.78,2.767,2.766,2.747,2.739,2.73,2.718,2.714,2.708,2.697,2.681,2.679,2.663,2.66,2.655,2.655,2.648,2.64,2.628,2.623,2.617,2.61,2.61,2.6,2.597,2.576,2.576,2.57,2.57,2.563,2.558,2.554,2.544,2.538,2.53,2.52,2.517,2.516,2.51,2.508,2.499,2.493,2.488,2.487,2.487,2.483,2.477,2.477,2.471,2.468,2.468,2.459,2.454,2.451,2.451,2.451,2.448,2.444,2.444,2.439,2.437,2.437,2.428,2.426,2.421,2.419,2.419,2.419,2.418,2.417,2.416,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.415,2.414,2.414,2.411,2.411,2.413,2.413,2.413,2.414,2.414,2.414,2.413,2.414,2.414,2.415,2.418,2.419,2.419,2.419,2.419,2.423,2.424,2.426,2.429,2.431,2.432,2.435,2.436,2.439,2.439,2.439,2.453,2.454,2.455,2.456,2.457,2.461,2.467,2.473,2.473,2.476,2.481,2.485,2.487,2.488,2.493,2.495,2.496,2.513,2.513,2.515,2.52,2.532,2.533,2.536,2.537,2.554,2.559,2.56,2.563,2.574,2.583,2.59,2.597,2.599,2.605,2.608,2.617,2.62,2.635,2.644,2.645,2.647,2.65,2.654,2.675,2.675,2.68,2.695,2.698,2.716,2.718,2.735,2.743,2.748,2.752,2.765,2.784,2.794,2.797,2.803,2.816,2.822,2.843,2.848,2.859,2.868,2.872,2.896,2.898,2.918,2.929,2.943,2.95,2.958,2.982,2.983,2.994,3.012,3.022,3.034,3.046,3.067,3.085,3.089,3.108,3.125,3.141,3.154,3.167,3.183,3.201,3.216,3.236,3.249,3.268,3.283,3.286,3.314,3.337,3.345,3.387,3.389,3.405,3.43,3.452,3.487,3.488,3.525,3.538,3.567,3.591,3.605,3.642,3.667,3.692,3.717,3.749,3.777,3.797,3.828,3.861,3.888,3.921,4.029,4.067,4.09,4.09,4.09,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.354,3.337,3.324,3.312,3.309,3.296,3.289,3.287,3.27,3.266,3.253,3.244,3.239,3.234,3.222,3.213,3.211,3.201,3.187,3.186,3.172,3.17,3.165,3.154,3.152,3.148,3.137,3.133,3.121,3.118,3.115,3.111,3.108,3.103,3.092,3.092,3.081,3.081,3.08,3.071,3.067,3.066,3.064,3.057,3.055,3.053,3.049,3.045,3.041,3.039,3.038,3.034,3.031,3.03,3.028,3.023,3.023,3.023,3.035,3.035,3.035,3.025,3.02,3.019,3.016,3.011,3.011,3.011,3.011,3.008,3.012,3.008,3.008,3.007,3.008,3.006,3.008,3.014,3.014,3.014,3.014,3.014,3.014,3.014,3.016,3.016,3.016,3.016,3.021,3.026,3.028,3.028,3.028,3.028,3.029,3.035,3.035,3.035,3.039,3.042,3.047,3.052,3.055,3.06,3.064,3.065,3.065,3.076,3.084,3.086,3.088,3.09,3.092,3.092,3.098,3.108,3.115,3.119,3.121,3.127,3.127,3.131,3.137,3.146,3.146,3.148,3.149,3.15,3.16,3.164,3.169,3.173,3.174,3.182,3.197,3.213,3.221,3.222,3.229,3.232,3.234,3.244,3.246,3.246,3.262,3.28,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} CONF {Type GroundVehicle} {Name USARBot.Nomad} {SteeringType SkidSteered} {Mass 30} {MaxSpeed 9.84252} {MaxTorque 20} {MaxFrontSteer 0} {MaxRearSteer 0} SEN {Time 15.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 15.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 15.1999} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.207} SEN {Time 15.2466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.178,0.184,0.189,0,0,0,0,0,0,0,0,3.684,3.683,3.666,3.661,3.645,3.629,3.621,3.621,3.621,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.226,3.215,3.215,3.266,3.36,3.36,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.16,0.15,0.156,0.156,0.156,0.156,3.037,3.037,3.037,3.037,3.035,3.035,3.035,0.158,0.155,0.155,0.154,0.154,0.147,0.147,0.147,0.126,0.11,0.082,0.063,0.063,0.063,0.063,0.063,0.063,0.064,0.062,0.062,0.062,0.062,0.062,0.062,0.079,0.104,0.183,3.333,3.354,3.376,3.364,3.364,3.376,3.376,3.379,3.384,3.411,3.416,3.436,3.48,3.48,3.485,3.485,3.485,3.499,3.501,3.505,3.513,3.513,3.515,3.521,3.521,3.524,3.525,3.525,3.533,3.537,3.537,3.541,3.546,3.554,3.554,3.556,3.559,3.568,3.577,3.575,3.577,3.586,3.591,3.608,3.609,3.609,3.625,3.632,3.633,3.633,3.644,3.647,3.65,3.652,3.66,3.671,3.678,3.685,3.686,3.694,3.694,3.707,3.721,3.734,3.746,3.746,3.746,3.749,3.767,3.782,3.786,3.802,3.806,3.813,3.813,3.838,3.839,3.84,3.879,3.884,3.891,3.891,3.897,3.914,3.932,3.935,3.969,3.971,3.987,3.991,4.014,4.028,4.044,4.061,4.066,4.087,0.016,0.016,0.016,0.007,0,0,0.007,4.058,3.987,3.954,3.923,3.885,3.884,3.841,3.818,3.786,3.762,3.73,3.694,3.681,3.645,3.63,3.591,3.572,3.568,3.524,3.505,3.483,3.459,3.435,3.429,3.395,3.376,3.373,3.339,3.329,3.31,3.291,3.264,3.254,3.225,3.217,3.192,3.192,3.167,3.155,3.147,3.132,3.112,3.105,3.076,3.066,3.045,3.042,3.024,3.016,3.003,2.99,2.983,2.964,2.955,2.938,2.924,2.911,2.908,2.894,2.879,2.872,2.862,2.853,2.837,2.827,2.815,2.803,2.789,2.779,2.777,2.765,2.755,2.751,2.74,2.727,2.722,2.715,2.7,2.699,2.689,2.688,2.671,2.663,2.662,2.655,2.654,2.645,2.635,2.629,2.619,2.612,2.603,2.599,2.587,2.579,2.578,2.57,2.57,2.566,2.56,2.553,2.551,2.533,2.53,2.521,2.516,2.509,2.507,2.506,2.494,2.491,2.487,2.486,2.485,2.48,2.478,2.478,2.471,2.465,2.462,2.461,2.454,2.453,2.452,2.451,2.451,2.447,2.445,2.441,2.439,2.433,2.428,2.426,2.426,2.426,2.425,2.425,2.424,2.423,2.419,2.419,2.414,2.414,2.414,2.414,2.41,2.409,2.41,2.408,2.408,2.41,2.41,2.41,2.412,2.412,2.413,2.413,2.414,2.414,2.414,2.418,2.418,2.419,2.419,2.417,2.417,2.42,2.418,2.42,2.426,2.429,2.432,2.433,2.439,2.439,2.441,2.442,2.442,2.446,2.446,2.451,2.452,2.456,2.458,2.462,2.465,2.468,2.477,2.477,2.483,2.484,2.485,2.499,2.499,2.504,2.51,2.517,2.517,2.523,2.524,2.528,2.534,2.537,2.553,2.553,2.557,2.564,2.567,2.57,2.592,2.593,2.603,2.606,2.608,2.609,2.622,2.626,2.634,2.644,2.647,2.653,2.663,2.675,2.675,2.681,2.703,2.705,2.714,2.714,2.73,2.741,2.749,2.757,2.767,2.78,2.794,2.795,2.809,2.815,2.826,2.836,2.848,2.853,2.87,2.875,2.89,2.9,2.922,2.932,2.938,2.952,2.953,2.978,2.985,2.998,3.015,3.022,3.036,3.04,3.061,3.081,3.091,3.102,3.118,3.141,3.155,3.169,3.18,3.203,3.218,3.239,3.25,3.264,3.28,3.296,3.32,3.325,3.35,3.373,3.402,3.403,3.447,3.466,3.484,3.5,3.525,3.548,3.563,3.601,3.622,3.63,3.671,3.704,3.728,3.743,3.782,3.799,3.835,3.865,3.881,3.916,3.968,3.978,4.024,4.048,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.362,3.341,3.331,3.328,3.316,3.298,3.295,3.278,3.269,3.261,3.259,3.242,3.242,3.24,3.231,3.213,3.211,3.198,3.187,3.185,3.185,3.169,3.16,3.159,3.153,3.148,3.137,3.126,3.121,3.121,3.116,3.102,3.101,3.1,3.093,3.088,3.086,3.085,3.079,3.078,3.073,3.064,3.063,3.062,3.051,3.048,3.048,3.041,3.039,3.034,3.034,3.029,3.028,3.027,3.023,3.021,3.021,3.023,3.03,3.03,3.03,3.018,3.017,3.011,3.011,3.009,3.009,3.009,3.009,3.009,3.009,3.005,3.005,3.007,3.007,3.007,3.009,3.007,3.014,3.011,3.011,3.011,3.012,3.011,3.012,3.013,3.018,3.018,3.023,3.026,3.021,3.027,3.027,3.028,3.029,3.031,3.031,3.038,3.044,3.046,3.05,3.055,3.055,3.056,3.063,3.066,3.068,3.072,3.072,3.084,3.086,3.091,3.091,3.092,3.1,3.11,3.115,3.115,3.123,3.133,3.133,3.135,3.135,3.141,3.143,3.148,3.15,3.153,3.16,3.167,3.172,3.173,3.175,3.187,3.209,3.213,3.221,3.225,3.235,3.236,3.236,3.236,3.24,3.251,3.255,3.278,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 16.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 16.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 16.2446} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.826} SEN {Time 16.3426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.178,0.184,0.184,0,0,0,0,0,0,0,0,3.688,3.686,3.662,3.66,3.64,3.633,3.614,3.614,3.598,3.598,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.219,3.212,3.212,3.212,3.272,3.365,0,0,0,0,0,0,0,0.007,0.14,0.14,0.14,0.14,0.144,0.144,0.144,0.15,0.15,0.155,0.155,0.161,0.165,3.029,3.041,3.041,3.041,3.029,3.041,3.022,0.161,0.158,0.158,0.158,0.158,0.146,0.143,0.141,0.127,0.107,0.073,0.07,0.067,0.061,0.061,0.061,0.063,0.063,0.065,0.063,0.063,0.063,0.063,0.063,0.068,0.107,0.175,3.337,3.352,3.364,3.364,3.365,3.383,3.383,3.383,3.415,3.415,3.417,3.436,3.447,3.476,3.478,3.478,3.483,3.499,3.504,3.505,3.509,3.511,3.517,3.517,3.518,3.525,3.529,3.533,3.54,3.541,3.541,3.545,3.552,3.554,3.555,3.557,3.563,3.566,3.571,3.573,3.578,3.586,3.596,3.599,3.603,3.618,3.623,3.628,3.628,3.632,3.648,3.648,3.649,3.657,3.669,3.669,3.677,3.679,3.686,3.696,3.699,3.717,3.718,3.725,3.732,3.74,3.746,3.752,3.769,3.77,3.774,3.806,3.806,3.806,3.825,3.828,3.842,3.847,3.865,3.882,3.892,3.897,3.903,3.913,3.931,3.94,3.959,3.972,3.981,4,4.009,4.023,4.036,4.069,4.081,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.06,3.983,3.955,3.924,3.9,3.866,3.844,3.809,3.804,3.762,3.728,3.702,3.659,3.659,3.624,3.596,3.574,3.547,3.531,3.504,3.49,3.464,3.449,3.414,3.407,3.379,3.365,3.339,3.338,3.303,3.295,3.273,3.256,3.244,3.22,3.202,3.183,3.168,3.151,3.139,3.121,3.105,3.098,3.087,3.065,3.056,3.039,3.027,3.017,2.999,2.988,2.974,2.964,2.96,2.939,2.922,2.915,2.909,2.9,2.873,2.872,2.857,2.852,2.834,2.829,2.815,2.807,2.791,2.787,2.783,2.764,2.758,2.753,2.742,2.729,2.722,2.715,2.702,2.695,2.683,2.678,2.672,2.654,2.652,2.651,2.645,2.635,2.627,2.616,2.615,2.609,2.604,2.6,2.596,2.581,2.578,2.577,2.571,2.562,2.559,2.546,2.544,2.539,2.523,2.52,2.517,2.508,2.506,2.501,2.499,2.492,2.489,2.489,2.486,2.48,2.475,2.473,2.471,2.47,2.47,2.466,2.453,2.452,2.447,2.445,2.445,2.445,2.443,2.439,2.439,2.437,2.426,2.425,2.425,2.425,2.421,2.42,2.421,2.421,2.421,2.421,2.421,2.416,2.416,2.414,2.413,2.413,2.411,2.411,2.411,2.411,2.413,2.414,2.414,2.414,2.414,2.412,2.412,2.412,2.412,2.418,2.419,2.42,2.42,2.42,2.421,2.421,2.421,2.424,2.429,2.431,2.431,2.432,2.437,2.437,2.44,2.441,2.446,2.451,2.452,2.457,2.457,2.459,2.461,2.461,2.467,2.47,2.477,2.479,2.48,2.485,2.488,2.488,2.497,2.506,2.512,2.517,2.518,2.525,2.529,2.529,2.533,2.534,2.547,2.551,2.559,2.562,2.571,2.574,2.59,2.601,2.602,2.611,2.615,2.617,2.625,2.628,2.638,2.646,2.651,2.655,2.66,2.678,2.68,2.682,2.692,2.704,2.711,2.719,2.726,2.748,2.752,2.755,2.769,2.777,2.79,2.795,2.807,2.813,2.826,2.844,2.847,2.861,2.866,2.88,2.895,2.896,2.92,2.922,2.943,2.948,2.961,2.972,2.978,2.994,3.013,3.027,3.031,3.05,3.068,3.084,3.091,3.11,3.117,3.141,3.159,3.168,3.182,3.198,3.22,3.234,3.249,3.257,3.28,3.295,3.321,3.333,3.358,3.377,3.388,3.405,3.436,3.469,3.481,3.494,3.517,3.546,3.558,3.592,3.612,3.637,3.655,3.697,3.715,3.75,3.776,3.807,3.831,3.867,3.891,3.919,3.983,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.336,3.328,3.312,3.309,3.301,3.297,3.289,3.27,3.267,3.253,3.243,3.243,3.24,3.219,3.212,3.209,3.191,3.185,3.18,3.175,3.171,3.158,3.156,3.151,3.142,3.13,3.128,3.126,3.123,3.121,3.106,3.104,3.101,3.093,3.092,3.079,3.076,3.074,3.074,3.062,3.061,3.058,3.057,3.043,3.042,3.042,3.042,3.042,3.036,3.036,3.033,3.03,3.029,3.026,3.026,3.026,3.027,3.03,3.03,3.03,3.022,3.016,3.015,3.013,3.011,3.008,3.006,3.008,3.008,3.008,3.008,3.008,3.009,3.009,3.011,3.011,3.013,3.013,3.013,3.012,3.013,3.013,3.013,3.013,3.017,3.018,3.021,3.023,3.023,3.023,3.029,3.029,3.033,3.035,3.035,3.035,3.04,3.042,3.047,3.047,3.051,3.054,3.054,3.062,3.062,3.062,3.069,3.074,3.092,3.095,3.095,3.095,3.098,3.102,3.104,3.107,3.115,3.122,3.135,3.135,3.136,3.137,3.137,3.137,3.145,3.148,3.154,3.159,3.16,3.172,3.174,3.174,3.185,3.196,3.215,3.215,3.226,3.23,3.231,3.243,3.243,3.244,3.249,3.267,3.28,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} GEO {Type Sonar} {Name Sonar0 Location 0.19,-0,-0.26 Orientation 0,0,-0 Mount HARD} {Name Sonar1 Location 0.175537,-0.0727099,-0.26 Orientation 0,0,-0.392699 Mount HARD} {Name Sonar2 Location 0.13435,-0.13435,-0.26 Orientation 0,0,-0.785398 Mount HARD} {Name Sonar3 Location 0.0727099,-0.175537,-0.26 Orientation 0,0,-1.1781 Mount HARD} {Name Sonar4 Location 1.16338e-17,-0.19,-0.26 Orientation 0,0,-1.5708 Mount HARD} {Name Sonar5 Location -0.0727099,-0.175537,-0.26 Orientation 0,0,-1.9635 Mount HARD} {Name Sonar6 Location -0.13435,-0.13435,-0.26 Orientation 0,0,-2.35619 Mount HARD} {Name Sonar7 Location -0.175537,-0.0727099,-0.26 Orientation 0,0,-2.74889 Mount HARD} {Name Sonar8 Location -0.19,-2.32675e-17,-0.26 Orientation 0,0,-3.14159 Mount HARD} {Name Sonar9 Location -0.175537,0.0727099,-0.26 Orientation 0,0,2.74889 Mount HARD} {Name Sonar10 Location -0.13435,0.13435,-0.26 Orientation 0,0,2.35619 Mount HARD} {Name Sonar11 Location -0.0727099,0.175537,-0.26 Orientation 0,0,1.9635 Mount HARD} {Name Sonar12 Location 1.16338e-17,0.19,-0.26 Orientation 0,0,1.5708 Mount HARD} {Name Sonar13 Location 0.0727099,0.175537,-0.26 Orientation 0,0,1.1781 Mount HARD} {Name Sonar14 Location 0.13435,0.13435,-0.26 Orientation 0,0,0.785398 Mount HARD} {Name Sonar15 Location 0.175537,0.0727099,-0.26 Orientation 0,0,0.392699 Mount HARD} SEN {Time 16.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 16.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 16.4986} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.826} SEN {Time 16.5396} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.177,0.177,0.185,0,0,0,0,0,0,0,0,3.685,3.675,3.67,3.666,3.657,3.634,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.207,3.207,3.207,3.263,3.368,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.147,0.147,0.144,0.144,0.154,0.152,0.154,0.154,0.156,0.156,3.029,3.034,3.035,3.035,3.035,3.035,0.159,0.159,0.156,0.156,0.156,0.154,0.149,0.145,0.145,0.127,0.104,0.079,0.059,0.058,0.058,0.059,0.06,0.063,0.063,0.063,0.063,0.062,0.062,0.062,0.068,0.074,0.116,0.167,3.339,3.354,3.375,3.363,3.375,3.379,3.379,3.391,3.411,3.411,3.42,3.421,3.453,3.482,3.482,3.487,3.487,3.487,3.49,3.5,3.501,3.502,3.521,3.522,3.525,3.525,3.53,3.534,3.536,3.539,3.544,3.548,3.548,3.554,3.554,3.561,3.569,3.575,3.576,3.579,3.588,3.589,3.595,3.597,3.61,3.613,3.618,3.621,3.632,3.635,3.638,3.642,3.647,3.652,3.652,3.652,3.685,3.687,3.688,3.693,3.699,3.716,3.724,3.73,3.737,3.743,3.745,3.754,3.763,3.764,3.791,3.794,3.806,3.813,3.815,3.838,3.842,3.851,3.864,3.879,3.879,3.889,3.891,3.923,3.929,3.944,3.95,3.971,3.977,4.002,4.008,4.027,4.043,4.073,4.078,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.068,4.02,3.997,3.955,3.938,3.892,3.878,3.841,3.818,3.792,3.756,3.739,3.699,3.672,3.643,3.628,3.602,3.574,3.539,3.528,3.51,3.487,3.464,3.434,3.421,3.405,3.376,3.375,3.349,3.324,3.313,3.3,3.274,3.264,3.229,3.22,3.188,3.181,3.169,3.162,3.134,3.123,3.113,3.089,3.08,3.071,3.041,3.041,3.037,3.02,3.009,2.988,2.985,2.968,2.95,2.933,2.931,2.916,2.899,2.895,2.877,2.87,2.857,2.848,2.846,2.83,2.816,2.802,2.794,2.782,2.77,2.768,2.759,2.746,2.737,2.728,2.724,2.712,2.702,2.698,2.686,2.676,2.671,2.666,2.653,2.646,2.645,2.636,2.628,2.619,2.616,2.611,2.607,2.596,2.585,2.577,2.574,2.574,2.564,2.556,2.549,2.549,2.543,2.54,2.534,2.532,2.52,2.511,2.511,2.5,2.499,2.496,2.488,2.483,2.483,2.479,2.477,2.473,2.472,2.467,2.466,2.453,2.453,2.452,2.448,2.448,2.448,2.445,2.442,2.442,2.442,2.433,2.427,2.425,2.425,2.425,2.423,2.425,2.42,2.42,2.418,2.418,2.414,2.412,2.41,2.409,2.409,2.408,2.408,2.41,2.41,2.407,2.41,2.41,2.414,2.414,2.416,2.414,2.414,2.414,2.417,2.417,2.42,2.421,2.421,2.421,2.42,2.42,2.42,2.427,2.429,2.429,2.429,2.43,2.435,2.437,2.441,2.441,2.444,2.444,2.451,2.452,2.457,2.458,2.466,2.467,2.473,2.474,2.474,2.481,2.482,2.484,2.493,2.494,2.495,2.495,2.512,2.517,2.519,2.524,2.524,2.531,2.532,2.54,2.549,2.555,2.557,2.561,2.566,2.578,2.591,2.597,2.598,2.606,2.61,2.611,2.63,2.63,2.64,2.645,2.649,2.651,2.662,2.669,2.679,2.681,2.694,2.702,2.717,2.718,2.733,2.744,2.751,2.752,2.767,2.784,2.791,2.8,2.809,2.817,2.828,2.84,2.848,2.849,2.867,2.884,2.887,2.901,2.916,2.923,2.942,2.959,2.961,2.979,2.984,2.994,3.016,3.019,3.036,3.047,3.063,3.077,3.085,3.105,3.126,3.137,3.155,3.169,3.179,3.206,3.219,3.224,3.251,3.253,3.274,3.299,3.322,3.342,3.343,3.368,3.391,3.403,3.437,3.461,3.483,3.497,3.514,3.545,3.563,3.604,3.616,3.644,3.664,3.702,3.722,3.748,3.779,3.793,3.834,3.861,3.883,3.922,3.947,3.983,4.029,4.072,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.349,3.344,3.322,3.311,3.309,3.291,3.289,3.28,3.268,3.257,3.255,3.239,3.235,3.229,3.221,3.209,3.202,3.19,3.189,3.186,3.175,3.169,3.16,3.153,3.151,3.144,3.129,3.129,3.12,3.12,3.118,3.107,3.101,3.101,3.096,3.086,3.077,3.077,3.077,3.077,3.073,3.066,3.061,3.056,3.053,3.047,3.047,3.046,3.044,3.044,3.039,3.039,3.033,3.029,3.029,3.02,3.02,3.02,3.028,3.028,3.028,3.023,3.022,3.019,3.015,3.014,3.012,3.012,3.012,3.012,3.012,3.012,3.011,3.007,3.007,3.007,3.011,3.011,3.011,3.011,3.011,3.011,3.01,3.013,3.018,3.02,3.018,3.02,3.021,3.023,3.024,3.025,3.025,3.026,3.029,3.029,3.03,3.032,3.035,3.045,3.048,3.052,3.052,3.057,3.058,3.064,3.072,3.073,3.077,3.08,3.085,3.095,3.095,3.096,3.096,3.104,3.11,3.112,3.121,3.127,3.127,3.131,3.136,3.138,3.138,3.146,3.147,3.158,3.159,3.16,3.164,3.166,3.172,3.184,3.197,3.208,3.213,3.218,3.233,3.243,3.243,3.249,3.249,3.253,3.254,3.277,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} CONF {Type Sonar} {Name Sonar0} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar1} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar2} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar3} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar4} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar5} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar6} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar7} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar8} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar9} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar10} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar11} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar12} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar13} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar14} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar15} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} SEN {Time 16.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 16.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 16.6904} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.08} SEN {Time 16.7386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.179,0.18,0.179,0.179,0.188,0,0,0,0,0,0,0,0,0,3.675,3.671,3.668,3.638,3.628,3.625,3.625,3.625,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.213,3.212,3.212,3.212,3.256,3.36,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.144,0.145,0.152,0.159,0.159,0.16,0.16,0.161,0.161,3.032,3.032,3.037,3.037,3.032,3.037,3.037,0.154,0.154,0.154,0.154,0.154,0.15,0.148,0.145,0.127,0.106,0.077,0.07,0.065,0.058,0.058,0.058,0.062,0.063,0.063,0.063,0.063,0.063,0.068,0.068,0.069,0.108,0.181,3.335,3.354,3.357,3.357,3.365,3.373,3.379,3.379,0,0,0,3.463,3.463,3.463,3.482,3.483,3.489,3.493,3.502,3.505,3.508,3.51,3.516,3.517,3.521,3.527,3.532,3.534,3.537,3.539,3.54,3.546,3.551,3.553,3.553,3.556,3.576,3.576,3.577,3.579,3.583,3.59,3.594,3.594,3.612,3.618,3.62,3.62,3.628,3.636,3.643,3.648,3.651,3.66,3.666,3.667,3.672,3.674,3.684,3.7,3.702,3.715,3.716,3.74,3.741,3.746,3.749,3.751,3.766,3.769,3.789,3.794,3.8,3.81,3.815,3.821,3.842,3.856,3.857,3.874,3.882,3.893,3.896,3.914,3.926,3.944,3.947,3.968,3.986,3.998,4.011,4.02,4.037,4.057,4.072,4.086,0.016,0.016,0.016,0.016,0.016,4.09,4.053,4.018,3.99,3.97,3.94,3.885,3.881,3.838,3.816,3.793,3.757,3.736,3.7,3.672,3.655,3.632,3.596,3.572,3.547,3.523,3.499,3.482,3.466,3.434,3.422,3.4,3.378,3.362,3.343,3.331,3.305,3.303,3.269,3.264,3.238,3.221,3.195,3.187,3.173,3.156,3.134,3.127,3.104,3.095,3.086,3.065,3.043,3.038,3.029,3.012,2.999,2.986,2.976,2.968,2.948,2.936,2.921,2.921,2.911,2.889,2.877,2.874,2.853,2.851,2.833,2.824,2.813,2.805,2.791,2.785,2.781,2.767,2.756,2.747,2.736,2.732,2.724,2.713,2.713,2.697,2.691,2.675,2.675,2.665,2.656,2.652,2.652,2.639,2.632,2.628,2.615,2.613,2.602,2.596,2.591,2.58,2.578,2.569,2.563,2.555,2.552,2.545,2.541,2.541,2.531,2.53,2.519,2.517,2.505,2.501,2.499,2.497,2.492,2.491,2.488,2.477,2.475,2.472,2.467,2.463,2.461,2.46,2.451,2.45,2.449,2.45,2.449,2.447,2.441,2.44,2.437,2.434,2.427,2.427,2.426,2.426,2.424,2.423,2.423,2.414,2.414,2.416,2.414,2.414,2.414,2.411,2.411,2.41,2.41,2.41,2.411,2.41,2.411,2.412,2.412,2.409,2.412,2.41,2.41,2.415,2.415,2.415,2.417,2.417,2.417,2.417,2.418,2.417,2.417,2.418,2.423,2.429,2.43,2.434,2.435,2.436,2.44,2.442,2.446,2.452,2.453,2.453,2.455,2.457,2.466,2.466,2.468,2.473,2.474,2.477,2.478,2.479,2.488,2.492,2.496,2.496,2.505,2.512,2.52,2.522,2.529,2.535,2.537,2.539,2.548,2.549,2.558,2.568,2.574,2.575,2.585,2.593,2.602,2.605,2.612,2.619,2.627,2.633,2.633,2.642,2.649,2.653,2.661,2.671,2.679,2.683,2.694,2.704,2.716,2.724,2.726,2.737,2.752,2.755,2.767,2.783,2.792,2.796,2.81,2.815,2.829,2.839,2.852,2.859,2.862,2.873,2.888,2.901,2.917,2.927,2.943,2.951,2.953,2.972,2.984,2.992,3.023,3.026,3.041,3.053,3.075,3.082,3.092,3.102,3.121,3.142,3.148,3.17,3.179,3.207,3.214,3.234,3.248,3.261,3.284,3.29,3.32,3.345,3.349,3.374,3.391,3.396,3.439,3.451,3.483,3.507,3.525,3.544,3.578,3.598,3.61,3.642,3.669,3.7,3.719,3.751,3.769,3.806,3.831,3.859,3.897,3.902,3.95,4.058,4.088,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.351,3.348,3.328,3.314,3.307,3.292,3.287,3.281,3.276,3.255,3.254,3.243,3.239,3.238,3.22,3.217,3.209,3.19,3.187,3.185,3.176,3.167,3.164,3.16,3.155,3.142,3.132,3.127,3.122,3.12,3.116,3.116,3.115,3.102,3.098,3.088,3.086,3.08,3.076,3.075,3.073,3.067,3.065,3.062,3.053,3.053,3.047,3.043,3.039,3.039,3.036,3.033,3.033,3.028,3.027,3.019,3.019,3.019,3.026,3.026,3.026,3.018,3.017,3.015,3.01,3.009,3.009,3.005,3.007,3.005,3.007,3.007,3.008,3.008,3.01,3.01,3.011,3.01,3.011,3.01,3.011,3.011,3.011,3.017,3.017,3.019,3.013,3.019,3.022,3.024,3.024,3.028,3.029,3.033,3.038,3.038,3.038,3.039,3.046,3.047,3.049,3.05,3.058,3.058,3.06,3.064,3.073,3.076,3.08,3.091,3.092,3.092,3.095,3.098,3.098,3.115,3.115,3.122,3.125,3.135,3.135,3.135,3.135,3.136,3.136,3.139,3.148,3.151,3.155,3.163,3.17,3.171,3.179,3.188,3.204,3.21,3.221,3.221,3.23,3.232,3.232,3.243,3.246,3.248,3.267,3.272,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} GEO {Type RangeScanner} {Name RangeScanner Location 0.115,0,-0.5665 Orientation 0,0,0 Mount HARD} SEN {Time 17.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 17.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 17.1994} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7752} SEN {Time 17.2386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.183,0.187,0.192,0,0,0,0,0,0,0,0,3.69,3.684,3.67,3.659,3.639,3.633,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.238,3.221,3.22,3.219,3.22,3.221,3.271,3.367,0,0,0,0,0,0,0,0.151,0.148,0.148,0.148,0.148,0.143,0.14,0.14,0.15,0.149,0.15,0.15,0.157,0.157,3.028,3.032,3.032,3.032,3.032,3.033,3.032,0.163,0.157,0.157,0.156,0.156,0.153,0.153,0.153,0.126,0.11,0.081,0.064,0.063,0.063,0.064,0.064,0.064,0.066,0.067,0.067,0.067,0.067,0.067,0.067,0.079,0.107,0.186,3.338,3.342,3.374,3.366,3.374,3.379,0,0,0,3.423,3.423,3.423,3.452,3.46,3.475,3.478,3.479,3.492,3.498,3.503,3.504,3.508,3.516,3.524,3.525,3.526,3.528,3.533,3.541,3.544,3.544,3.547,3.548,3.549,3.563,3.564,3.569,3.571,3.579,3.582,3.583,3.584,3.592,3.595,3.606,3.614,3.629,3.629,3.63,3.635,3.64,3.642,3.653,3.658,3.66,3.67,3.673,3.675,3.689,3.692,3.695,3.71,3.725,3.733,3.743,3.751,3.753,3.754,3.769,3.773,3.782,3.789,3.795,3.811,3.816,3.825,3.846,3.85,3.871,3.872,3.886,3.898,3.903,3.913,3.934,3.949,3.958,3.97,3.985,3.988,4.013,4.033,4.041,4.074,4.076,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.06,4.019,3.991,3.971,3.919,3.896,3.878,3.835,3.812,3.784,3.752,3.72,3.701,3.677,3.647,3.627,3.605,3.581,3.535,3.522,3.494,3.478,3.464,3.449,3.411,3.409,3.378,3.359,3.345,3.337,3.311,3.288,3.269,3.253,3.232,3.225,3.202,3.197,3.17,3.159,3.137,3.121,3.107,3.094,3.076,3.066,3.045,3.045,3.038,3.024,3.002,2.982,2.981,2.968,2.955,2.934,2.932,2.919,2.909,2.896,2.88,2.873,2.865,2.842,2.842,2.83,2.811,2.803,2.793,2.786,2.78,2.768,2.758,2.753,2.743,2.733,2.718,2.717,2.704,2.694,2.684,2.684,2.678,2.664,2.662,2.659,2.646,2.636,2.635,2.628,2.616,2.616,2.609,2.598,2.594,2.581,2.578,2.577,2.566,2.563,2.562,2.552,2.541,2.535,2.532,2.524,2.521,2.506,2.5,2.498,2.498,2.495,2.49,2.486,2.478,2.478,2.477,2.477,2.475,2.463,2.461,2.459,2.459,2.459,2.457,2.444,2.444,2.444,2.444,2.442,2.435,2.434,2.433,2.433,2.432,2.427,2.425,2.419,2.417,2.417,2.414,2.414,2.41,2.409,2.409,2.407,2.409,2.411,2.411,2.408,2.412,2.41,2.41,2.412,2.412,2.415,2.416,2.415,2.414,2.414,2.414,2.414,2.417,2.418,2.418,2.42,2.42,2.42,2.423,2.42,2.424,2.427,2.432,2.435,2.436,2.438,2.439,2.44,2.44,2.444,2.452,2.453,2.456,2.457,2.461,2.461,2.471,2.471,2.478,2.483,2.484,2.489,2.493,2.501,2.503,2.506,2.508,2.517,2.517,2.523,2.527,2.53,2.536,2.537,2.55,2.551,2.56,2.562,2.567,2.573,2.582,2.593,2.6,2.602,2.602,2.613,2.63,2.637,2.639,2.641,2.644,2.656,2.663,2.674,2.681,2.684,2.696,2.699,2.719,2.727,2.728,2.74,2.753,2.755,2.755,2.781,2.791,2.795,2.809,2.824,2.828,2.838,2.849,2.855,2.868,2.876,2.891,2.899,2.918,2.929,2.941,2.948,2.962,2.973,2.982,3.002,3.01,3.028,3.034,3.042,3.063,3.081,3.088,3.113,3.122,3.139,3.148,3.17,3.171,3.194,3.218,3.242,3.246,3.26,3.293,3.296,3.32,3.346,3.349,3.379,3.404,3.405,3.431,3.464,3.475,3.495,3.519,3.545,3.569,3.606,3.613,3.637,3.667,3.692,3.726,3.75,3.788,3.802,3.83,3.863,3.897,3.928,3.943,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.366,3.333,3.329,3.316,3.3,3.294,3.288,3.278,3.261,3.259,3.254,3.246,3.24,3.235,3.219,3.216,3.214,3.202,3.192,3.189,3.176,3.169,3.16,3.158,3.156,3.141,3.134,3.13,3.121,3.12,3.113,3.109,3.106,3.103,3.096,3.088,3.085,3.081,3.079,3.075,3.069,3.066,3.059,3.053,3.048,3.044,3.04,3.04,3.04,3.04,3.035,3.032,3.032,3.029,3.027,3.023,3.023,3.023,3.028,3.028,3.028,3.021,3.021,3.018,3.013,3.01,3.007,3.007,3.009,3.007,3.007,3.005,3.005,3.005,3.005,3.01,3.011,3.014,3.011,3.016,3.016,3.016,3.015,3.015,3.014,3.015,3.015,3.015,3.024,3.024,3.024,3.027,3.024,3.027,3.032,3.032,3.033,3.036,3.044,3.046,3.049,3.054,3.058,3.059,3.059,3.062,3.066,3.074,3.077,3.088,3.088,3.089,3.092,3.092,3.098,3.106,3.108,3.119,3.12,3.132,3.132,3.132,3.132,3.143,3.143,3.145,3.148,3.15,3.159,3.16,3.166,3.174,3.177,3.178,3.198,3.217,3.217,3.22,3.229,3.231,3.233,3.237,3.242,3.247,3.26,3.281,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} CONF {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {Fov 4.7131392} {Pawing 0} {Tilting 0} SEN {Time 17.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 17.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 17.3913} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7752} SEN {Time 17.4346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.178,0.188,0.188,0,0,0,0,0,0,0,0,3.681,3.672,3.672,3.663,3.648,3.634,3.619,3.619,3.619,3.597,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.214,3.211,3.211,3.211,3.257,3.368,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.144,0.147,0.148,0.148,0.153,0.149,0.153,0.153,0.153,0.153,3.034,3.034,3.034,3.034,3.03,3.029,0.155,0.155,0.154,0.154,0.154,0.153,0.147,0.146,0.146,0.127,0.108,0.075,0.071,0.063,0.059,0.059,0.059,0.06,0.064,0.065,0.065,0.065,0.064,0.064,0.064,0.069,0.103,0.192,3.346,3.356,3.368,3.359,3.368,3.369,3.375,3.375,3.387,3.409,3.428,3.432,3.451,3.465,3.465,3.483,3.5,3.504,3.504,3.504,3.504,3.512,3.52,3.52,3.523,3.523,3.531,3.531,3.533,3.538,3.538,3.538,3.546,3.549,3.559,3.56,3.562,3.57,3.579,3.58,3.58,3.583,3.594,3.596,3.603,3.613,3.614,3.627,3.636,3.642,3.645,3.646,3.654,3.662,3.662,3.666,3.671,3.682,3.695,3.696,3.703,3.716,3.722,3.738,3.739,3.74,3.75,3.761,3.763,3.776,3.787,3.795,3.795,3.818,3.825,3.826,3.83,3.848,3.867,3.875,3.891,3.891,3.906,3.922,3.934,3.943,3.958,3.97,3.98,3.986,4.017,4.02,4.044,4.056,4.083,4.092,4.094,0.016,0.016,0.007,0,0.016,4.052,4.018,4.018,4,3.972,3.9,3.878,3.849,3.809,3.787,3.742,3.737,3.698,3.673,3.647,3.63,3.598,3.571,3.557,3.537,3.505,3.487,3.459,3.452,3.424,3.411,3.381,3.362,3.348,3.343,3.302,3.287,3.277,3.255,3.245,3.228,3.198,3.196,3.174,3.157,3.136,3.12,3.111,3.088,3.087,3.061,3.045,3.035,3.016,3.01,2.997,2.99,2.978,2.966,2.957,2.942,2.93,2.912,2.911,2.898,2.875,2.87,2.862,2.855,2.837,2.833,2.817,2.806,2.793,2.785,2.781,2.771,2.758,2.752,2.732,2.724,2.723,2.717,2.703,2.695,2.679,2.67,2.67,2.667,2.654,2.643,2.643,2.636,2.634,2.621,2.615,2.613,2.61,2.596,2.591,2.579,2.578,2.576,2.572,2.566,2.552,2.549,2.546,2.538,2.529,2.525,2.516,2.515,2.508,2.5,2.493,2.493,2.485,2.484,2.482,2.479,2.473,2.473,2.47,2.466,2.463,2.457,2.455,2.452,2.448,2.447,2.447,2.445,2.444,2.444,2.438,2.435,2.429,2.428,2.423,2.423,2.419,2.418,2.418,2.417,2.413,2.413,2.413,2.413,2.413,2.41,2.41,2.41,2.409,2.407,2.407,2.407,2.407,2.409,2.409,2.418,2.418,2.417,2.417,2.417,2.417,2.419,2.419,2.419,2.42,2.417,2.417,2.421,2.421,2.428,2.429,2.429,2.429,2.435,2.436,2.44,2.443,2.445,2.445,2.445,2.453,2.454,2.456,2.463,2.463,2.463,2.468,2.473,2.479,2.481,2.484,2.484,2.49,2.495,2.502,2.504,2.508,2.515,2.516,2.518,2.523,2.532,2.536,2.541,2.543,2.552,2.558,2.564,2.567,2.573,2.582,2.594,2.603,2.605,2.605,2.613,2.624,2.631,2.64,2.643,2.646,2.648,2.653,2.671,2.671,2.686,2.693,2.7,2.704,2.721,2.729,2.746,2.757,2.76,2.764,2.783,2.786,2.799,2.811,2.82,2.823,2.834,2.844,2.852,2.87,2.874,2.889,2.9,2.909,2.922,2.944,2.958,2.963,2.973,2.987,2.994,3.021,3.028,3.033,3.046,3.063,3.084,3.094,3.105,3.127,3.138,3.152,3.162,3.176,3.193,3.217,3.229,3.245,3.263,3.273,3.295,3.328,3.33,3.35,3.378,3.405,3.407,3.427,3.458,3.481,3.507,3.523,3.535,3.563,3.596,3.619,3.644,3.661,3.699,3.72,3.742,3.782,3.796,3.841,3.866,3.889,3.907,4.016,0,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.358,3.349,3.326,3.323,3.305,3.291,3.288,3.278,3.27,3.258,3.25,3.248,3.248,3.231,3.228,3.214,3.201,3.199,3.188,3.181,3.17,3.169,3.161,3.154,3.148,3.141,3.139,3.131,3.124,3.123,3.116,3.107,3.104,3.104,3.092,3.087,3.082,3.078,3.074,3.074,3.073,3.065,3.06,3.059,3.052,3.05,3.044,3.044,3.043,3.039,3.038,3.038,3.029,3.026,3.022,3.021,3.022,3.022,3.03,3.03,3.03,3.022,3.016,3.013,3.013,3.013,3.013,3.013,3.012,3.012,3.011,3.01,3.011,3.011,3.005,3.005,3.009,3.009,3.008,3.008,3.009,3.018,3.016,3.018,3.019,3.019,3.017,3.019,3.019,3.017,3.024,3.026,3.026,3.03,3.037,3.037,3.037,3.037,3.038,3.041,3.048,3.053,3.057,3.057,3.061,3.066,3.067,3.069,3.08,3.085,3.087,3.09,3.091,3.091,3.102,3.104,3.104,3.117,3.121,3.129,3.134,3.138,3.138,3.143,3.143,3.144,3.146,3.159,3.159,3.162,3.171,3.173,3.177,3.186,3.199,3.214,3.219,3.226,3.232,3.232,3.24,3.241,3.241,3.248,3.248,3.278,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} GEO {Type Camera} {Name Camera Location 0,0,-0.94 Orientation 0,1.5708,-3.14159 Mount HARD} SEN {Time 18.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 18.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 18.1923} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 18.2346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.174,0.178,0.174,0.178,0.19,0,0,0,0,0,0,0,0,3.682,3.68,3.674,3.669,3.645,3.624,3.62,3.62,3.62,3.602,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.213,3.213,3.213,3.214,3.264,3.364,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.143,0.147,0.147,0.15,0.15,0.155,0.155,0.158,0.158,3.032,3.032,3.036,3.036,3.032,3.028,0.156,0.156,0.153,0.153,0.15,0.147,0.145,0.145,0.145,0.123,0.115,0.077,0.075,0.065,0.065,0.062,0.062,0.064,0.065,0.064,0.064,0.062,0.06,0.06,0.062,0.069,0.105,0.175,3.329,3.356,3.365,3.365,3.365,3.37,3.377,3.408,3.408,3.432,3.441,3.441,3.442,3.46,3.476,3.484,3.499,3.499,3.5,3.5,3.504,3.509,3.516,3.52,3.523,3.525,3.527,3.533,3.535,3.538,3.538,3.538,3.548,3.548,3.553,3.564,3.565,3.57,3.573,3.579,3.583,3.586,3.588,3.594,3.607,3.608,3.624,3.626,3.629,3.642,3.647,3.648,3.65,3.655,3.666,3.672,3.677,3.686,3.686,3.695,3.699,3.71,3.726,3.733,3.734,3.752,3.76,3.76,3.767,3.774,3.79,3.799,3.799,3.809,3.809,3.831,3.833,3.854,3.857,3.878,3.884,3.884,3.893,3.909,3.93,3.945,3.949,3.963,3.981,3.993,4.009,4.03,4.042,4.052,4.082,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.056,4,3.957,3.92,3.901,3.871,3.84,3.814,3.797,3.755,3.735,3.697,3.687,3.647,3.611,3.593,3.571,3.552,3.52,3.506,3.48,3.464,3.434,3.423,3.395,3.385,3.359,3.349,3.347,3.31,3.308,3.278,3.254,3.242,3.22,3.2,3.198,3.174,3.163,3.143,3.133,3.113,3.091,3.082,3.07,3.05,3.043,3.018,3.018,2.998,2.987,2.976,2.964,2.948,2.939,2.926,2.922,2.907,2.893,2.874,2.873,2.858,2.846,2.834,2.825,2.815,2.801,2.792,2.781,2.774,2.772,2.759,2.754,2.737,2.732,2.731,2.717,2.704,2.697,2.684,2.682,2.672,2.661,2.659,2.651,2.647,2.635,2.631,2.624,2.615,2.606,2.603,2.598,2.592,2.577,2.575,2.573,2.559,2.556,2.554,2.552,2.546,2.541,2.531,2.529,2.522,2.515,2.508,2.505,2.5,2.496,2.492,2.49,2.482,2.482,2.482,2.474,2.471,2.471,2.468,2.463,2.454,2.45,2.449,2.45,2.448,2.444,2.442,2.439,2.437,2.432,2.428,2.426,2.426,2.425,2.425,2.425,2.419,2.418,2.418,2.418,2.415,2.414,2.414,2.414,2.414,2.411,2.411,2.411,2.411,2.411,2.412,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.42,2.42,2.421,2.42,2.423,2.423,2.423,2.424,2.424,2.424,2.43,2.432,2.433,2.438,2.442,2.443,2.444,2.446,2.448,2.451,2.456,2.46,2.463,2.465,2.47,2.473,2.475,2.475,2.482,2.483,2.487,2.495,2.495,2.495,2.507,2.516,2.517,2.519,2.52,2.537,2.537,2.539,2.547,2.55,2.552,2.557,2.566,2.579,2.587,2.594,2.6,2.602,2.605,2.617,2.621,2.634,2.636,2.639,2.648,2.655,2.66,2.671,2.676,2.682,2.693,2.703,2.712,2.716,2.725,2.74,2.754,2.758,2.766,2.773,2.795,2.796,2.797,2.817,2.834,2.838,2.845,2.857,2.868,2.877,2.889,2.899,2.914,2.918,2.942,2.956,2.961,2.973,2.986,2.999,3.013,3.02,3.033,3.046,3.065,3.082,3.093,3.105,3.12,3.136,3.152,3.167,3.181,3.204,3.222,3.236,3.246,3.255,3.281,3.295,3.312,3.336,3.354,3.373,3.394,3.409,3.428,3.458,3.477,3.495,3.521,3.547,3.572,3.589,3.614,3.642,3.665,3.7,3.721,3.756,3.774,3.798,3.841,3.863,3.895,3.919,3.98,4.027,4.087,4.087,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.355,3.344,3.325,3.32,3.306,3.294,3.29,3.283,3.278,3.257,3.251,3.25,3.243,3.239,3.223,3.209,3.207,3.194,3.191,3.191,3.172,3.168,3.16,3.156,3.154,3.145,3.136,3.129,3.123,3.121,3.117,3.105,3.102,3.096,3.087,3.083,3.079,3.079,3.079,3.079,3.066,3.065,3.061,3.059,3.055,3.045,3.043,3.041,3.04,3.037,3.037,3.031,3.031,3.03,3.021,3.02,3.021,3.021,3.029,3.029,3.029,3.02,3.02,3.019,3.014,3.01,3.01,3.009,3.008,3.008,3.007,3.005,3.005,3.009,3.009,3.009,3.01,3.015,3.015,3.018,3.018,3.018,3.015,3.015,3.015,3.024,3.015,3.022,3.024,3.022,3.022,3.031,3.031,3.031,3.032,3.034,3.035,3.038,3.043,3.048,3.049,3.057,3.059,3.06,3.061,3.065,3.067,3.073,3.084,3.084,3.088,3.09,3.092,3.093,3.094,3.105,3.112,3.112,3.12,3.127,3.13,3.133,3.138,3.139,3.139,3.15,3.152,3.158,3.158,3.161,3.166,3.177,3.181,3.189,3.19,3.209,3.221,3.226,3.23,3.235,3.236,3.239,3.24,3.242,3.251,3.283,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} CONF {Type Camera} {Name DragonFly2} {DefFov 1.5708} {MinFov 0.349066} {MaxFov 2.0944} SEN {Time 18.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 18.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 18.3932} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 18.4345} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,0,0,0,0,3.685,3.678,3.667,3.652,3.651,3.625,3.614,3.614,3.614,0,0,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.221,3.219,3.212,3.212,3.212,3.264,3.358,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.146,0.146,0.149,0.149,0.151,0.151,0.151,0.151,0.153,0.162,3.036,3.036,3.036,3.036,3.031,3.031,3.031,0.158,0.157,0.157,0.157,0.151,0.148,0.143,0.142,0.124,0.11,0.072,0.061,0.061,0.059,0.059,0.06,0.063,0.063,0.068,0.064,0.064,0.064,0.064,0.064,0.065,0.107,0.176,3.328,3.354,3.359,3.358,3.359,3.368,3.369,3.369,3.42,0.007,3.445,3.445,3.471,3.471,3.478,3.487,3.49,3.496,3.5,3.502,3.506,3.512,3.516,3.52,3.522,3.532,3.533,3.533,3.537,3.54,3.545,3.545,3.547,3.552,3.56,3.561,3.561,3.562,3.567,3.576,3.584,3.59,3.592,3.601,3.61,3.615,3.621,3.623,3.623,3.635,3.645,3.647,3.651,3.652,3.652,3.655,3.679,3.691,3.691,3.692,3.7,3.714,3.716,3.717,3.738,3.748,3.755,3.756,3.765,3.778,3.786,3.796,3.81,3.824,3.827,3.836,3.837,3.851,3.864,3.869,3.884,3.901,3.902,3.91,3.924,3.936,3.955,3.976,3.981,4.002,4.009,4.025,4.059,4.065,4.074,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.047,4.018,3.993,3.955,3.928,3.889,3.869,3.848,3.802,3.766,3.751,3.745,3.695,3.665,3.648,3.614,3.596,3.585,3.564,3.529,3.514,3.486,3.459,3.444,3.413,3.409,3.381,3.357,3.342,3.334,3.304,3.298,3.278,3.261,3.231,3.223,3.194,3.183,3.178,3.151,3.135,3.114,3.106,3.104,3.089,3.067,3.042,3.04,3.021,3.013,2.999,2.986,2.974,2.968,2.949,2.936,2.927,2.921,2.905,2.897,2.88,2.869,2.857,2.848,2.832,2.82,2.816,2.811,2.796,2.785,2.779,2.762,2.759,2.75,2.744,2.732,2.724,2.718,2.699,2.694,2.681,2.677,2.671,2.665,2.658,2.651,2.642,2.639,2.633,2.632,2.61,2.606,2.604,2.592,2.589,2.581,2.576,2.57,2.567,2.566,2.557,2.549,2.541,2.536,2.536,2.524,2.52,2.512,2.508,2.501,2.496,2.495,2.494,2.488,2.488,2.482,2.481,2.477,2.47,2.468,2.467,2.462,2.456,2.45,2.447,2.447,2.447,2.447,2.443,2.442,2.436,2.43,2.427,2.425,2.425,2.425,2.424,2.421,2.413,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.412,2.411,2.411,2.411,2.407,2.407,2.411,2.414,2.413,2.414,2.414,2.413,2.413,2.413,2.413,2.413,2.42,2.42,2.419,2.419,2.419,2.419,2.42,2.423,2.423,2.423,2.423,2.436,2.445,2.445,2.445,2.445,2.442,2.442,2.448,2.451,2.451,2.457,2.464,2.467,2.467,2.472,2.475,2.48,2.481,2.484,2.492,2.494,2.494,2.507,2.508,2.514,2.519,2.521,2.527,2.532,2.534,2.537,2.544,2.552,2.557,2.561,2.569,2.571,2.583,2.6,2.602,2.609,2.609,2.616,2.626,2.635,2.64,2.641,2.645,2.648,2.664,2.667,2.676,2.692,2.692,2.695,2.714,2.728,2.729,2.74,2.751,2.757,2.759,2.783,2.788,2.796,2.817,2.817,2.828,2.834,2.851,2.854,2.866,2.878,2.89,2.897,2.912,2.93,2.938,2.955,2.961,2.972,2.99,3.002,3.014,3.023,3.043,3.05,3.075,3.082,3.092,3.102,3.126,3.142,3.151,3.175,3.178,3.205,3.217,3.233,3.252,3.264,3.277,3.297,3.318,3.336,3.349,3.373,3.397,3.412,3.439,3.451,3.477,3.495,3.526,3.542,3.574,3.586,3.614,3.641,3.668,3.686,3.728,3.747,3.786,3.794,3.829,3.87,3.885,3.929,3.942,3.987,4.034,4.062,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.35,3.334,3.333,3.313,3.312,3.295,3.295,3.284,3.271,3.259,3.249,3.242,3.234,3.231,3.222,3.211,3.211,3.197,3.19,3.186,3.18,3.164,3.163,3.155,3.144,3.141,3.14,3.138,3.129,3.121,3.117,3.108,3.107,3.102,3.094,3.092,3.088,3.083,3.077,3.076,3.072,3.069,3.058,3.051,3.049,3.045,3.042,3.04,3.039,3.038,3.035,3.035,3.029,3.029,3.023,3.023,3.025,3.025,3.028,3.028,3.028,3.024,3.02,3.014,3.014,3.014,3.012,3.012,3.011,3.011,3.01,3.011,3.009,3.009,3.013,3.013,3.013,3.013,3.011,3.011,3.011,3.011,3.011,3.012,3.012,3.012,3.012,3.018,3.025,3.025,3.023,3.026,3.023,3.023,3.032,3.032,3.035,3.037,3.038,3.041,3.044,3.056,3.057,3.061,3.063,3.064,3.07,3.071,3.071,3.088,3.09,3.09,3.092,3.093,3.095,3.107,3.11,3.115,3.119,3.127,3.127,3.132,3.135,3.14,3.14,3.147,3.148,3.156,3.157,3.159,3.166,3.172,3.181,3.187,3.201,3.21,3.219,3.222,3.226,3.226,3.23,3.24,3.24,3.25,3.264,3.286,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 23.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 23.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 23.6866} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7244} SEN {Time 23.7146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.178,0.179,0.179,0,0,0,0,0,0,0,0,3.687,3.681,3.666,3.662,3.648,3.634,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.235,3.214,3.214,3.209,3.214,3.215,3.27,3.361,0,0,0,0,0,0,0,0.142,0.14,0.14,0.14,0.14,0.144,0.144,0.144,0.154,0.149,0.154,0.154,0.16,0.161,3.035,3.035,3.035,3.035,3.032,3.032,3.032,0.159,0.154,0.154,0.15,0.15,0.148,0.146,0.143,0.135,0.113,0.077,0.063,0.057,0.057,0.057,0.057,0.061,0.064,0.065,0.064,0.064,0.064,0.064,0.064,0.071,0.108,0.179,3.356,3.356,3.381,3.365,3.362,3.365,3.373,3.373,3.415,3.43,3.435,3.435,3.446,3.465,3.472,3.477,3.48,3.493,3.502,3.503,3.508,3.508,3.516,3.52,3.52,3.526,3.532,3.538,3.538,3.54,3.54,3.542,3.544,3.546,3.561,3.564,3.566,3.58,3.582,3.583,3.583,3.585,3.599,3.604,3.606,3.609,3.624,3.624,3.63,3.641,3.643,3.647,3.654,3.659,3.66,3.665,3.672,3.681,3.688,3.697,3.705,3.705,3.712,3.726,3.732,3.74,3.75,3.759,3.762,3.773,3.795,3.796,3.808,3.81,3.817,3.835,3.837,3.851,3.862,3.871,3.877,3.897,3.913,3.924,3.929,3.942,3.951,3.974,3.984,3.997,4.021,4.03,4.049,4.061,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.06,4.018,4.006,3.954,3.954,3.927,3.901,3.842,3.814,3.767,3.744,3.732,3.695,3.67,3.64,3.63,3.585,3.576,3.551,3.522,3.504,3.481,3.459,3.435,3.416,3.406,3.378,3.372,3.35,3.326,3.312,3.288,3.275,3.261,3.242,3.223,3.202,3.195,3.165,3.162,3.134,3.131,3.105,3.097,3.086,3.062,3.041,3.037,3.02,3.016,3.006,2.992,2.969,2.959,2.944,2.936,2.92,2.919,2.909,2.892,2.876,2.872,2.849,2.843,2.833,2.819,2.818,2.808,2.792,2.79,2.783,2.775,2.766,2.755,2.735,2.729,2.724,2.713,2.704,2.7,2.682,2.681,2.669,2.66,2.657,2.651,2.647,2.636,2.632,2.626,2.617,2.609,2.609,2.593,2.589,2.578,2.573,2.572,2.571,2.57,2.556,2.549,2.546,2.54,2.529,2.522,2.517,2.508,2.503,2.503,2.495,2.494,2.493,2.489,2.483,2.477,2.476,2.473,2.464,2.464,2.461,2.459,2.454,2.451,2.449,2.445,2.445,2.445,2.441,2.438,2.435,2.434,2.425,2.425,2.425,2.425,2.425,2.419,2.419,2.419,2.417,2.415,2.415,2.413,2.413,2.41,2.414,2.414,2.414,2.414,2.414,2.412,2.409,2.412,2.412,2.412,2.413,2.413,2.413,2.413,2.413,2.414,2.419,2.42,2.421,2.421,2.419,2.421,2.42,2.419,2.42,2.424,2.433,2.433,2.433,2.437,2.44,2.442,2.442,2.445,2.451,2.452,2.452,2.457,2.462,2.468,2.475,2.475,2.475,2.475,2.486,2.487,2.487,2.488,2.489,2.505,2.505,2.515,2.515,2.519,2.527,2.532,2.536,2.537,2.545,2.554,2.555,2.564,2.569,2.578,2.593,2.597,2.6,2.603,2.605,2.607,2.628,2.633,2.64,2.643,2.653,2.657,2.663,2.674,2.68,2.691,2.692,2.698,2.717,2.722,2.727,2.738,2.742,2.75,2.76,2.776,2.787,2.794,2.808,2.819,2.83,2.835,2.852,2.858,2.87,2.886,2.89,2.902,2.914,2.931,2.94,2.951,2.957,2.972,2.984,2.997,3.017,3.028,3.034,3.042,3.067,3.089,3.092,3.109,3.128,3.136,3.153,3.158,3.172,3.198,3.223,3.236,3.252,3.258,3.273,3.301,3.323,3.334,3.36,3.375,3.397,3.415,3.439,3.457,3.482,3.506,3.526,3.538,3.567,3.597,3.612,3.642,3.658,3.702,3.729,3.736,3.78,3.806,3.843,3.862,3.898,3.919,3.946,3.997,4.067,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.36,3.335,3.323,3.31,3.307,3.289,3.289,3.278,3.263,3.259,3.253,3.243,3.241,3.235,3.22,3.214,3.21,3.2,3.179,3.178,3.178,3.175,3.156,3.156,3.151,3.14,3.138,3.127,3.126,3.126,3.118,3.112,3.106,3.101,3.089,3.087,3.079,3.076,3.074,3.072,3.063,3.059,3.055,3.054,3.052,3.043,3.042,3.038,3.038,3.034,3.03,3.029,3.029,3.029,3.027,3.023,3.023,3.023,3.028,3.028,3.028,3.018,3.018,3.016,3.016,3.016,3.012,3.011,3.011,3.011,3.008,3.008,3.008,3.01,3.008,3.01,3.012,3.012,3.008,3.011,3.011,3.011,3.011,3.011,3.014,3.014,3.01,3.016,3.02,3.02,3.02,3.02,3.027,3.029,3.031,3.036,3.037,3.037,3.038,3.04,3.051,3.055,3.055,3.064,3.065,3.065,3.067,3.072,3.075,3.086,3.087,3.087,3.088,3.095,3.101,3.108,3.109,3.116,3.121,3.136,3.136,3.136,3.135,3.135,3.135,3.135,3.148,3.154,3.159,3.162,3.163,3.171,3.172,3.186,3.196,3.221,3.221,3.226,3.228,3.232,3.236,3.244,3.249,3.251,3.267,3.28,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 23.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 23.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 23.8694} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 4.7244} SEN {Time 23.9106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.176,0.182,0.182,0.184,0.184,0,0,0,0,0,0,0,0,3.692,3.691,3.661,3.655,3.634,3.63,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.22,3.217,3.216,3.21,3.21,3.21,3.264,3.368,0,0,0,0,0,0,0,0.148,0.141,0.141,0.139,0.139,0.143,0.144,0.144,0.153,0.153,0.154,0.154,0.155,0.155,3.032,3.034,3.034,3.034,3.034,3.039,3.029,0.163,0.158,0.158,0.153,0.153,0.146,0.144,0.143,0.124,0.109,0.085,0.06,0.06,0.06,0.06,0.06,0.06,0.062,0.067,0.067,0.067,0.067,0.064,0.064,0.064,0.115,0.181,3.336,3.35,3.368,3.361,3.368,3.378,3.387,3.387,3.419,3.419,3.437,3.46,3.46,3.461,3.48,3.486,3.494,3.5,3.501,3.501,3.505,3.511,3.515,3.515,3.517,3.519,3.526,3.528,3.533,3.537,3.537,3.546,3.548,3.549,3.556,3.56,3.566,3.568,3.571,3.583,3.586,3.587,3.598,3.601,3.607,3.612,3.628,3.629,3.632,3.644,3.65,3.652,3.655,3.657,3.665,3.667,3.673,3.681,3.683,3.686,3.694,3.707,3.718,3.729,3.732,3.745,3.749,3.749,3.753,3.778,3.779,3.793,3.796,3.812,3.816,3.834,3.838,3.853,3.863,3.876,3.895,3.898,3.905,3.916,3.926,3.935,3.96,3.977,3.988,3.996,4.02,4.032,4.048,4.059,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.058,4.01,3.992,3.976,3.936,3.887,3.878,3.838,3.825,3.782,3.741,3.73,3.694,3.684,3.658,3.631,3.585,3.579,3.552,3.526,3.501,3.489,3.459,3.439,3.414,3.398,3.384,3.364,3.351,3.339,3.31,3.297,3.271,3.269,3.238,3.227,3.202,3.188,3.18,3.157,3.14,3.123,3.107,3.1,3.083,3.061,3.044,3.044,3.043,3.018,2.997,2.991,2.98,2.959,2.955,2.933,2.92,2.919,2.896,2.895,2.879,2.875,2.856,2.851,2.837,2.824,2.815,2.809,2.791,2.789,2.776,2.769,2.762,2.751,2.74,2.728,2.721,2.715,2.701,2.691,2.681,2.671,2.671,2.662,2.65,2.65,2.641,2.64,2.635,2.617,2.616,2.604,2.601,2.598,2.588,2.585,2.578,2.577,2.569,2.561,2.558,2.549,2.543,2.539,2.523,2.523,2.517,2.514,2.505,2.505,2.497,2.492,2.49,2.487,2.483,2.478,2.476,2.475,2.471,2.464,2.461,2.455,2.455,2.451,2.45,2.451,2.45,2.444,2.444,2.442,2.437,2.433,2.433,2.426,2.425,2.425,2.424,2.424,2.423,2.42,2.417,2.416,2.413,2.411,2.411,2.413,2.413,2.413,2.413,2.413,2.408,2.408,2.408,2.408,2.413,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.415,2.418,2.415,2.423,2.425,2.423,2.425,2.426,2.428,2.429,2.436,2.438,2.439,2.439,2.441,2.442,2.449,2.45,2.45,2.455,2.456,2.459,2.461,2.466,2.473,2.476,2.476,2.479,2.485,2.489,2.49,2.493,2.5,2.511,2.515,2.516,2.517,2.527,2.532,2.534,2.539,2.546,2.554,2.559,2.565,2.569,2.577,2.589,2.595,2.604,2.606,2.612,2.613,2.619,2.636,2.636,2.639,2.649,2.652,2.663,2.676,2.681,2.683,2.705,2.708,2.715,2.726,2.735,2.744,2.747,2.752,2.766,2.774,2.788,2.793,2.801,2.82,2.821,2.835,2.848,2.85,2.872,2.879,2.893,2.908,2.916,2.925,2.943,2.951,2.96,2.979,2.982,2.994,3.014,3.025,3.038,3.052,3.059,3.087,3.094,3.104,3.129,3.139,3.148,3.169,3.183,3.2,3.214,3.231,3.245,3.259,3.277,3.299,3.319,3.332,3.357,3.373,3.397,3.405,3.441,3.444,3.471,3.502,3.527,3.547,3.573,3.596,3.612,3.645,3.667,3.697,3.724,3.744,3.774,3.789,3.833,3.857,3.889,3.957,3.986,4.03,4.03,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.35,3.334,3.333,3.315,3.305,3.299,3.295,3.277,3.263,3.251,3.251,3.241,3.233,3.231,3.223,3.21,3.207,3.193,3.188,3.185,3.172,3.17,3.157,3.153,3.147,3.142,3.136,3.127,3.122,3.121,3.116,3.111,3.105,3.103,3.097,3.089,3.088,3.084,3.077,3.073,3.068,3.066,3.061,3.058,3.058,3.058,3.041,3.037,3.04,3.034,3.034,3.032,3.031,3.029,3.028,3.025,3.025,3.028,3.032,3.032,3.032,3.024,3.012,3.012,3.011,3.011,3.011,3.012,3.011,3.011,3.011,3.01,3.01,3.005,3.005,3.005,3.012,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.014,3.015,3.014,3.019,3.022,3.022,3.024,3.025,3.027,3.028,3.028,3.033,3.033,3.041,3.044,3.045,3.05,3.05,3.06,3.064,3.06,3.064,3.067,3.072,3.075,3.094,3.094,3.094,3.095,3.095,3.1,3.108,3.11,3.11,3.116,3.125,3.129,3.131,3.131,3.141,3.141,3.144,3.152,3.152,3.155,3.165,3.169,3.17,3.173,3.18,3.194,3.213,3.226,3.228,3.228,3.228,3.233,3.237,3.241,3.257,3.262,3.275,3.277,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 24.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 24.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 24.0625} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.0292} SEN {Time 24.1106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.18,0.179,0.18,0.18,0,0,0,0,0,0,0,0,3.681,3.68,3.674,3.665,3.652,3.623,3.614,3.614,3.595,3.595,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.209,3.207,3.207,3.207,3.27,3.358,0,0,0,0,0,0,0,0.147,0.146,0.146,0.145,0.145,0.143,0.145,0.145,0.154,0.153,0.154,0.154,0.159,0.159,3.032,3.032,3.034,3.034,3.032,3.029,0.156,0.156,0.156,0.156,0.153,0.153,0.15,0.146,0.143,0.125,0.104,0.076,0.064,0.064,0.06,0.06,0.06,0.061,0.063,0.066,0.066,0.066,0.063,0.063,0.063,0.072,0.106,0.164,3.356,3.356,3.381,3.381,3.381,0,0,0,3.421,3.421,3.421,3.424,3.439,3.468,3.472,3.474,3.495,3.495,3.501,3.501,3.501,3.503,3.516,3.519,3.524,3.524,3.526,3.537,3.543,3.543,3.544,3.544,3.554,3.554,3.556,3.558,3.57,3.572,3.572,3.576,3.581,3.588,3.594,3.601,3.611,3.618,3.624,3.626,3.63,3.631,3.64,3.653,3.654,3.668,3.669,3.669,3.672,3.674,3.693,3.695,3.696,3.71,3.724,3.729,3.734,3.74,3.749,3.75,3.764,3.769,3.779,3.794,3.804,3.814,3.829,3.838,3.844,3.845,3.868,3.872,3.886,3.899,3.9,3.923,3.927,3.943,3.957,3.967,3.99,3.993,3.998,4.028,4.038,4.057,4.065,4.081,0.016,0.016,0.016,0.016,0.016,4.092,4.055,4.012,3.996,3.957,3.939,3.894,3.879,3.84,3.811,3.784,3.757,3.722,3.692,3.67,3.65,3.623,3.607,3.58,3.548,3.522,3.501,3.493,3.473,3.439,3.41,3.409,3.397,3.354,3.349,3.342,3.306,3.285,3.272,3.259,3.236,3.226,3.202,3.192,3.175,3.149,3.135,3.116,3.105,3.099,3.088,3.061,3.055,3.044,3.028,3.018,2.999,2.989,2.966,2.966,2.949,2.941,2.922,2.913,2.911,2.896,2.874,2.874,2.855,2.841,2.838,2.826,2.815,2.807,2.789,2.784,2.779,2.759,2.758,2.749,2.731,2.725,2.715,2.709,2.694,2.693,2.684,2.676,2.674,2.664,2.66,2.653,2.649,2.635,2.634,2.622,2.612,2.611,2.604,2.596,2.585,2.58,2.578,2.572,2.568,2.566,2.56,2.552,2.543,2.539,2.529,2.517,2.511,2.509,2.505,2.504,2.487,2.484,2.483,2.483,2.482,2.479,2.479,2.471,2.468,2.467,2.465,2.457,2.453,2.452,2.45,2.45,2.446,2.44,2.44,2.436,2.435,2.431,2.427,2.425,2.424,2.425,2.425,2.414,2.413,2.414,2.413,2.413,2.41,2.408,2.408,2.41,2.412,2.412,2.412,2.412,2.41,2.41,2.407,2.41,2.41,2.411,2.413,2.413,2.409,2.413,2.413,2.413,2.414,2.417,2.418,2.419,2.42,2.42,2.423,2.424,2.424,2.43,2.431,2.435,2.437,2.438,2.439,2.439,2.442,2.443,2.446,2.446,2.45,2.458,2.463,2.468,2.472,2.473,2.48,2.48,2.484,2.485,2.491,2.491,2.5,2.505,2.51,2.513,2.516,2.521,2.524,2.532,2.533,2.54,2.545,2.548,2.561,2.565,2.57,2.575,2.589,2.595,2.598,2.6,2.605,2.618,2.622,2.631,2.633,2.641,2.646,2.646,2.662,2.67,2.67,2.694,2.697,2.703,2.713,2.719,2.727,2.746,2.752,2.756,2.77,2.777,2.789,2.802,2.804,2.821,2.828,2.84,2.848,2.857,2.867,2.879,2.886,2.91,2.918,2.926,2.939,2.951,2.956,2.972,2.982,2.996,3.019,3.021,3.03,3.041,3.065,3.081,3.094,3.106,3.121,3.14,3.155,3.169,3.178,3.197,3.222,3.236,3.248,3.258,3.28,3.302,3.315,3.338,3.355,3.378,3.397,3.418,3.44,3.454,3.481,3.5,3.519,3.544,3.578,3.603,3.619,3.647,3.666,3.697,3.729,3.745,3.77,3.792,3.836,3.863,3.894,3.923,3.957,3.98,4.027,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.347,3.329,3.327,3.321,3.312,3.29,3.289,3.286,3.273,3.261,3.252,3.241,3.235,3.231,3.221,3.208,3.204,3.201,3.185,3.18,3.176,3.166,3.153,3.153,3.15,3.14,3.137,3.137,3.121,3.118,3.117,3.117,3.103,3.102,3.092,3.088,3.086,3.084,3.075,3.074,3.065,3.064,3.063,3.056,3.055,3.045,3.044,3.043,3.038,3.038,3.037,3.03,3.028,3.028,3.025,3.024,3.024,3.025,3.029,3.029,3.029,3.016,3.014,3.013,3.013,3.012,3.012,3.011,3.012,3.012,3.011,3.011,3.012,3.008,3.008,3.008,3.012,3.013,3.014,3.014,3.014,3.015,3.015,3.014,3.02,3.022,3.019,3.025,3.025,3.022,3.022,3.027,3.027,3.028,3.035,3.037,3.037,3.037,3.041,3.047,3.047,3.051,3.053,3.061,3.061,3.065,3.07,3.081,3.084,3.085,3.088,3.09,3.094,3.098,3.098,3.099,3.103,3.112,3.118,3.13,3.134,3.134,3.135,3.14,3.14,3.15,3.153,3.154,3.165,3.169,3.169,3.172,3.173,3.18,3.201,3.213,3.216,3.225,3.23,3.231,3.238,3.239,3.244,3.25,3.259,3.276,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 24.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 24.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 24.2634} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.0292} SEN {Time 24.3106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.174,0.174,0.174,0.175,0.181,0,0,0,0,0,0,0,0,3.684,3.684,3.666,3.661,3.648,3.635,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.214,3.213,3.214,3.214,3.278,3.362,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.15,0.15,0.145,0.145,0.158,0.156,0.156,0.156,0.156,0.156,3.027,3.03,3.03,3.03,3.029,3.029,0.158,0.158,0.158,0.158,0.155,0.155,0.153,0.143,0.142,0.125,0.113,0.082,0.067,0.061,0.06,0.06,0.058,0.06,0.067,0.068,0.068,0.068,0.065,0.065,0.065,0.073,0.107,0.179,3.326,3.362,3.362,3.362,3.363,3.363,3.372,3.397,3.397,3.432,0.007,0,3.479,3.479,3.479,3.479,3.486,3.492,3.502,3.502,3.509,3.51,3.517,3.518,3.522,3.527,3.534,3.534,3.535,3.539,3.539,3.539,3.552,3.552,3.556,3.564,3.569,3.57,3.571,3.573,3.579,3.583,3.596,3.596,3.608,3.616,3.619,3.634,3.639,3.641,3.644,3.645,3.646,3.661,3.661,3.667,3.681,3.683,3.687,3.7,3.707,3.707,3.714,3.73,3.731,3.749,3.751,3.753,3.764,3.774,3.776,3.796,3.8,3.812,3.821,3.823,3.834,3.85,3.859,3.872,3.889,3.891,3.897,3.91,3.929,3.932,3.953,3.96,3.987,4.002,4.021,4.023,4.056,4.059,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.046,4.031,3.957,3.929,3.9,3.887,3.837,3.816,3.775,3.751,3.731,3.7,3.673,3.655,3.624,3.599,3.564,3.539,3.522,3.504,3.474,3.448,3.434,3.433,3.403,3.38,3.362,3.351,3.328,3.303,3.298,3.273,3.251,3.238,3.228,3.199,3.185,3.169,3.151,3.14,3.122,3.108,3.101,3.08,3.066,3.047,3.036,3.026,3.021,3,2.994,2.971,2.97,2.955,2.942,2.922,2.914,2.909,2.893,2.875,2.865,2.855,2.848,2.836,2.829,2.825,2.804,2.793,2.785,2.775,2.768,2.756,2.748,2.738,2.725,2.712,2.707,2.705,2.693,2.685,2.681,2.674,2.664,2.663,2.651,2.644,2.641,2.635,2.62,2.615,2.615,2.613,2.599,2.591,2.581,2.576,2.567,2.567,2.564,2.555,2.546,2.543,2.538,2.535,2.524,2.514,2.512,2.508,2.508,2.499,2.496,2.49,2.488,2.483,2.48,2.478,2.475,2.472,2.471,2.468,2.462,2.459,2.453,2.449,2.449,2.445,2.444,2.443,2.437,2.433,2.433,2.428,2.426,2.426,2.426,2.423,2.423,2.416,2.416,2.415,2.415,2.415,2.413,2.412,2.412,2.413,2.413,2.413,2.414,2.413,2.41,2.413,2.415,2.416,2.416,2.416,2.412,2.412,2.412,2.412,2.412,2.415,2.419,2.419,2.419,2.418,2.418,2.416,2.418,2.423,2.424,2.429,2.43,2.439,2.439,2.441,2.441,2.441,2.442,2.444,2.448,2.448,2.459,2.463,2.463,2.471,2.471,2.471,2.478,2.481,2.485,2.489,2.497,2.498,2.502,2.507,2.512,2.515,2.515,2.529,2.53,2.532,2.533,2.544,2.551,2.56,2.562,2.572,2.576,2.595,2.596,2.605,2.607,2.616,2.619,2.626,2.63,2.636,2.643,2.648,2.65,2.659,2.67,2.677,2.682,2.698,2.703,2.711,2.712,2.728,2.743,2.752,2.754,2.77,2.781,2.792,2.798,2.808,2.814,2.83,2.834,2.845,2.858,2.867,2.88,2.891,2.897,2.911,2.927,2.948,2.951,2.96,2.972,2.985,3.002,3.017,3.03,3.039,3.046,3.066,3.078,3.09,3.096,3.121,3.138,3.153,3.169,3.176,3.194,3.223,3.234,3.245,3.256,3.276,3.304,3.32,3.341,3.35,3.377,3.393,3.419,3.429,3.451,3.478,3.497,3.521,3.545,3.577,3.595,3.607,3.65,3.669,3.686,3.72,3.743,3.78,3.794,3.837,3.869,3.896,3.919,3.952,3.985,4.019,4.058,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.337,3.334,3.314,3.302,3.299,3.294,3.289,3.275,3.273,3.248,3.234,3.234,3.233,3.209,3.209,3.205,3.198,3.183,3.182,3.178,3.167,3.162,3.158,3.146,3.141,3.14,3.132,3.126,3.121,3.116,3.11,3.107,3.102,3.093,3.09,3.087,3.081,3.08,3.076,3.072,3.067,3.063,3.062,3.055,3.043,3.043,3.041,3.038,3.036,3.036,3.035,3.031,3.025,3.022,3.021,3.021,3.025,3.034,3.034,3.034,3.023,3.019,3.014,3.014,3.014,3.008,3.008,3.008,3.007,3.007,3.007,3.005,3.005,3.005,3.005,3.005,3.006,3.006,3.014,3.014,3.014,3.014,3.015,3.018,3.018,3.018,3.022,3.023,3.022,3.022,3.024,3.027,3.029,3.03,3.032,3.034,3.041,3.043,3.043,3.049,3.05,3.056,3.059,3.059,3.059,3.064,3.07,3.075,3.078,3.088,3.089,3.09,3.092,3.097,3.106,3.111,3.116,3.121,3.123,3.131,3.133,3.134,3.14,3.14,3.143,3.151,3.151,3.153,3.168,3.17,3.17,3.173,3.19,3.199,3.21,3.217,3.22,3.22,3.229,3.24,3.244,3.246,3.247,3.254,3.285,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 24.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 24.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 24.4642} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0292} SEN {Time 24.5106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.177,0.187,0.187,0,0,0,0,0,0,0,0,3.688,3.683,3.664,3.653,3.643,3.632,3.608,3.608,3.608,3.605,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.222,3.214,3.214,3.214,3.257,3.367,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.144,0.144,0.144,0.15,0.15,0.154,0.154,0.156,0.163,3.037,3.037,3.038,3.038,3.037,3.038,3.038,0.156,0.155,0.155,0.153,0.151,0.151,0.146,0.146,0.125,0.112,0.081,0.062,0.06,0.06,0.06,0.066,0.066,0.066,0.066,0.066,0.062,0.061,0.066,0.068,0.074,0.107,0.173,3.331,3.359,3.366,3.366,3.366,3.376,0.007,0,0,0.007,3.461,3.461,3.469,3.469,3.476,3.478,3.486,3.493,3.499,3.503,3.504,3.507,3.515,3.523,3.523,3.523,3.533,3.535,3.535,3.535,3.536,3.536,3.541,3.554,3.557,3.561,3.566,3.576,3.576,3.576,3.579,3.584,3.597,3.602,3.605,3.61,3.615,3.624,3.627,3.637,3.645,3.646,3.65,3.653,3.662,3.67,3.672,3.677,3.681,3.689,3.701,3.711,3.73,3.73,3.732,3.748,3.749,3.749,3.761,3.769,3.789,3.79,3.804,3.814,3.821,3.838,3.838,3.843,3.861,3.875,3.888,3.896,3.901,3.929,3.93,3.954,3.96,3.969,3.979,3.994,4.018,4.033,4.04,4.067,4.082,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.029,3.995,3.968,3.93,3.891,3.874,3.835,3.809,3.787,3.755,3.722,3.705,3.67,3.648,3.625,3.61,3.582,3.548,3.534,3.514,3.473,3.461,3.435,3.424,3.389,3.38,3.379,3.342,3.33,3.312,3.298,3.278,3.264,3.235,3.221,3.205,3.193,3.175,3.152,3.139,3.123,3.115,3.101,3.083,3.068,3.043,3.036,3.018,3.011,3.001,2.989,2.979,2.965,2.955,2.935,2.925,2.923,2.905,2.891,2.876,2.87,2.862,2.854,2.845,2.827,2.815,2.813,2.79,2.786,2.786,2.769,2.765,2.751,2.732,2.728,2.715,2.712,2.708,2.691,2.687,2.68,2.666,2.665,2.654,2.654,2.653,2.644,2.631,2.625,2.623,2.62,2.616,2.601,2.593,2.585,2.574,2.571,2.567,2.565,2.561,2.559,2.544,2.538,2.534,2.53,2.52,2.51,2.507,2.505,2.492,2.491,2.49,2.49,2.488,2.481,2.476,2.471,2.471,2.468,2.462,2.46,2.459,2.454,2.453,2.45,2.446,2.445,2.444,2.439,2.438,2.436,2.432,2.429,2.424,2.421,2.42,2.42,2.42,2.42,2.42,2.423,2.423,2.416,2.416,2.415,2.412,2.412,2.412,2.412,2.412,2.411,2.409,2.409,2.409,2.413,2.413,2.414,2.413,2.413,2.413,2.416,2.419,2.421,2.421,2.421,2.421,2.423,2.423,2.424,2.426,2.426,2.429,2.429,2.436,2.438,2.439,2.439,2.447,2.448,2.449,2.452,2.458,2.462,2.462,2.465,2.47,2.476,2.477,2.48,2.481,2.485,2.485,2.489,2.493,2.498,2.506,2.515,2.517,2.518,2.525,2.532,2.532,2.548,2.551,2.553,2.557,2.565,2.571,2.573,2.594,2.595,2.597,2.605,2.613,2.615,2.623,2.638,2.64,2.642,2.65,2.654,2.663,2.674,2.683,2.691,2.697,2.708,2.709,2.72,2.725,2.737,2.75,2.758,2.761,2.783,2.787,2.8,2.808,2.811,2.838,2.846,2.849,2.855,2.868,2.875,2.896,2.896,2.915,2.925,2.939,2.949,2.959,2.976,2.982,3.003,3.019,3.022,3.039,3.054,3.062,3.078,3.092,3.104,3.123,3.138,3.151,3.162,3.171,3.201,3.214,3.23,3.254,3.268,3.278,3.306,3.324,3.345,3.361,3.365,3.394,3.405,3.434,3.457,3.482,3.495,3.524,3.544,3.569,3.586,3.618,3.635,3.678,3.697,3.726,3.751,3.777,3.788,3.84,3.872,3.899,3.907,3.955,4.032,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.349,3.342,3.331,3.314,3.296,3.295,3.292,3.281,3.268,3.263,3.242,3.242,3.239,3.234,3.213,3.212,3.212,3.209,3.195,3.192,3.175,3.175,3.161,3.157,3.147,3.146,3.145,3.141,3.121,3.119,3.114,3.106,3.105,3.096,3.094,3.092,3.082,3.08,3.074,3.074,3.067,3.062,3.058,3.058,3.052,3.043,3.043,3.043,3.041,3.041,3.041,3.035,3.028,3.027,3.026,3.026,3.026,3.026,3.029,3.029,3.029,3.022,3.015,3.013,3.012,3.011,3.011,3.011,3.011,3.011,3.011,3.008,3.006,3.008,3.008,3.008,3.011,3.014,3.014,3.016,3.014,3.013,3.013,3.014,3.014,3.017,3.018,3.025,3.025,3.024,3.021,3.024,3.024,3.029,3.029,3.029,3.031,3.036,3.038,3.043,3.051,3.054,3.058,3.06,3.06,3.066,3.069,3.069,3.078,3.088,3.088,3.092,3.093,3.095,3.097,3.109,3.115,3.116,3.119,3.127,3.127,3.132,3.136,3.138,3.138,3.148,3.148,3.155,3.155,3.164,3.169,3.175,3.178,3.187,3.188,3.213,3.217,3.227,3.229,3.233,3.235,3.237,3.239,3.242,3.267,3.277,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 24.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 24.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 24.6652} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 24.7066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.178,0.186,0.186,0,0,0,0,0,0,0,0,3.681,3.673,3.662,3.656,3.643,3.632,3.607,3.607,3.596,3.596,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.213,3.213,3.267,3.363,3.363,0,0,0,0,0,0,0,0.142,0.142,0.139,0.139,0.142,0.142,0.142,0.142,0.153,0.15,0.152,0.152,0.152,0.152,3.035,3.035,3.035,3.035,3.033,3.03,0.155,0.155,0.154,0.154,0.155,0.154,0.152,0.143,0.141,0.13,0.107,0.076,0.065,0.061,0.059,0.059,0.059,0.064,0.064,0.064,0.064,0.064,0.062,0.064,0.064,0.075,0.107,0.182,3.344,3.348,3.35,3.35,3.363,3.372,0.007,0,0,0.007,3.464,3.462,3.463,3.463,3.464,3.464,3.483,3.498,3.5,3.506,3.509,3.515,3.518,3.518,3.518,3.524,3.526,3.529,3.536,3.536,3.54,3.543,3.548,3.548,3.553,3.559,3.567,3.567,3.569,3.573,3.581,3.59,3.601,3.601,3.604,3.61,3.626,3.628,3.638,3.639,3.645,3.645,3.657,3.662,3.668,3.67,3.682,3.684,3.688,3.692,3.692,3.692,3.714,3.724,3.735,3.744,3.751,3.754,3.763,3.77,3.791,3.797,3.798,3.809,3.825,3.826,3.844,3.847,3.874,3.877,3.88,3.882,3.904,3.914,3.936,3.947,3.959,3.971,3.988,4.001,4.017,4.023,4.052,4.065,4.075,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.03,3.986,3.97,3.927,3.902,3.87,3.836,3.815,3.783,3.763,3.729,3.696,3.681,3.662,3.63,3.596,3.582,3.548,3.528,3.506,3.485,3.457,3.453,3.415,3.41,3.379,3.366,3.353,3.339,3.309,3.298,3.272,3.262,3.23,3.225,3.198,3.178,3.175,3.157,3.144,3.119,3.103,3.096,3.083,3.067,3.049,3.049,3.036,3.02,2.996,2.991,2.974,2.964,2.953,2.938,2.92,2.919,2.904,2.894,2.879,2.872,2.855,2.85,2.842,2.833,2.814,2.812,2.795,2.785,2.783,2.769,2.753,2.753,2.734,2.732,2.721,2.703,2.702,2.691,2.679,2.677,2.677,2.664,2.658,2.652,2.647,2.642,2.631,2.625,2.615,2.608,2.603,2.598,2.583,2.583,2.58,2.573,2.572,2.567,2.554,2.547,2.547,2.539,2.531,2.521,2.517,2.515,2.507,2.506,2.492,2.488,2.486,2.486,2.483,2.479,2.479,2.476,2.468,2.467,2.466,2.466,2.458,2.453,2.452,2.453,2.448,2.447,2.443,2.441,2.438,2.434,2.427,2.426,2.426,2.426,2.426,2.418,2.418,2.416,2.413,2.416,2.417,2.413,2.413,2.412,2.412,2.411,2.411,2.411,2.411,2.409,2.411,2.409,2.409,2.409,2.41,2.409,2.41,2.411,2.411,2.414,2.415,2.419,2.421,2.421,2.421,2.421,2.421,2.424,2.427,2.428,2.429,2.43,2.433,2.436,2.44,2.441,2.443,2.447,2.45,2.451,2.454,2.46,2.46,2.464,2.474,2.474,2.476,2.48,2.485,2.488,2.49,2.491,2.5,2.504,2.514,2.516,2.518,2.52,2.523,2.529,2.529,2.532,2.544,2.544,2.553,2.555,2.566,2.567,2.591,2.598,2.6,2.602,2.606,2.617,2.618,2.628,2.634,2.635,2.644,2.65,2.661,2.672,2.681,2.689,2.689,2.702,2.713,2.719,2.73,2.74,2.752,2.753,2.765,2.785,2.789,2.795,2.812,2.817,2.825,2.834,2.85,2.857,2.869,2.881,2.882,2.901,2.92,2.923,2.939,2.949,2.958,2.975,2.99,2.996,3.014,3.027,3.039,3.046,3.066,3.075,3.088,3.113,3.126,3.143,3.161,3.168,3.176,3.202,3.219,3.232,3.242,3.262,3.275,3.295,3.319,3.33,3.343,3.376,3.391,3.412,3.434,3.461,3.489,3.498,3.524,3.542,3.565,3.594,3.62,3.632,3.673,3.697,3.727,3.753,3.773,3.797,3.834,3.864,3.919,3.939,0,0,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.351,3.329,3.321,3.316,3.31,3.294,3.293,3.282,3.273,3.267,3.25,3.246,3.238,3.237,3.226,3.209,3.207,3.201,3.184,3.182,3.174,3.168,3.158,3.152,3.15,3.14,3.138,3.122,3.122,3.121,3.118,3.112,3.108,3.102,3.102,3.092,3.09,3.083,3.079,3.076,3.065,3.061,3.06,3.057,3.055,3.054,3.043,3.042,3.039,3.038,3.036,3.033,3.032,3.032,3.023,3.022,3.022,3.023,3.025,3.025,3.025,3.022,3.021,3.018,3.014,3.011,3.011,3.011,3.011,3.01,3.01,3.008,3.007,3.007,3.007,3.009,3.011,3.013,3.013,3.013,3.013,3.013,3.012,3.013,3.013,3.014,3.019,3.019,3.019,3.019,3.022,3.028,3.029,3.029,3.029,3.036,3.036,3.038,3.039,3.042,3.047,3.053,3.056,3.056,3.06,3.063,3.064,3.066,3.077,3.082,3.088,3.092,3.092,3.092,3.095,3.105,3.11,3.112,3.124,3.132,3.132,3.132,3.137,3.144,3.144,3.144,3.146,3.152,3.158,3.164,3.171,3.173,3.176,3.187,3.211,3.216,3.221,3.229,3.232,3.232,3.241,3.248,3.248,3.249,3.261,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 24.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 24.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 24.8572} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 24.9066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.174,0.174,0.173,0.173,0.181,0,0,0,0,0,0,0,0,3.699,3.673,3.669,3.669,3.647,3.629,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.216,3.213,3.221,3.258,3.367,3.367,0,0,0,0,0,0,0,0.146,0.145,0.145,0.145,0.145,0.15,0.15,0.149,0.153,0.149,0.149,0.149,0.155,0.155,3.03,3.034,3.034,3.034,3.033,3.033,0.158,0.158,0.158,0.158,0.158,0.153,0.151,0.147,0.142,0.13,0.104,0.071,0.067,0.062,0.056,0.056,0.056,0.061,0.066,0.066,0.066,0.066,0.064,0.064,0.064,0.069,0.107,0.174,3.338,3.358,3.359,3.359,3.359,3.363,3.372,3.409,0,0.007,0,0,0,3.478,3.478,3.478,3.487,3.495,3.497,3.502,3.502,3.517,3.522,3.523,3.525,3.525,3.531,3.531,3.538,3.543,3.543,3.543,3.545,3.551,3.559,3.559,3.57,3.571,3.575,3.575,3.588,3.588,3.589,3.601,3.612,3.614,3.622,3.628,3.631,3.634,3.638,3.647,3.66,3.66,3.666,3.668,3.679,3.683,3.686,3.692,3.698,3.715,3.717,3.733,3.734,3.737,3.742,3.755,3.774,3.777,3.787,3.802,3.807,3.812,3.812,3.827,3.837,3.844,3.859,3.877,3.877,3.896,3.898,3.91,3.923,3.942,3.952,3.968,3.987,3.992,4,4.029,4.031,4.053,4.084,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.063,3.986,3.973,3.929,3.899,3.875,3.847,3.803,3.787,3.757,3.726,3.704,3.669,3.646,3.611,3.599,3.579,3.551,3.519,3.505,3.485,3.461,3.43,3.429,3.407,3.387,3.363,3.351,3.321,3.304,3.294,3.28,3.26,3.236,3.223,3.206,3.19,3.173,3.152,3.143,3.119,3.096,3.092,3.077,3.063,3.036,3.032,3.019,3.014,3.003,2.991,2.989,2.965,2.948,2.938,2.926,2.915,2.902,2.897,2.876,2.875,2.855,2.852,2.842,2.828,2.81,2.809,2.792,2.788,2.779,2.771,2.77,2.757,2.736,2.732,2.713,2.708,2.697,2.69,2.678,2.669,2.667,2.666,2.656,2.654,2.652,2.64,2.64,2.622,2.611,2.607,2.607,2.595,2.591,2.577,2.575,2.575,2.568,2.566,2.554,2.551,2.542,2.532,2.527,2.522,2.513,2.509,2.508,2.503,2.499,2.494,2.49,2.486,2.483,2.482,2.478,2.478,2.472,2.463,2.463,2.463,2.457,2.455,2.452,2.449,2.444,2.443,2.44,2.439,2.439,2.428,2.425,2.425,2.425,2.421,2.426,2.426,2.425,2.42,2.418,2.414,2.416,2.414,2.412,2.412,2.407,2.407,2.407,2.407,2.407,2.41,2.41,2.414,2.414,2.414,2.415,2.413,2.413,2.414,2.418,2.414,2.418,2.418,2.42,2.42,2.42,2.421,2.421,2.424,2.424,2.426,2.426,2.434,2.434,2.437,2.438,2.443,2.446,2.447,2.449,2.454,2.458,2.463,2.466,2.471,2.473,2.473,2.474,2.477,2.48,2.49,2.492,2.493,2.495,2.499,2.51,2.515,2.518,2.521,2.525,2.528,2.534,2.54,2.548,2.555,2.559,2.561,2.568,2.576,2.584,2.598,2.601,2.604,2.611,2.619,2.622,2.634,2.64,2.641,2.643,2.655,2.663,2.668,2.682,2.688,2.692,2.697,2.709,2.72,2.727,2.741,2.753,2.755,2.764,2.782,2.787,2.8,2.805,2.823,2.833,2.838,2.841,2.847,2.865,2.875,2.884,2.901,2.912,2.928,2.94,2.951,2.958,2.97,2.981,2.994,3.015,3.019,3.044,3.044,3.064,3.083,3.092,3.105,3.119,3.135,3.155,3.167,3.18,3.202,3.22,3.238,3.252,3.255,3.281,3.296,3.32,3.34,3.348,3.361,3.404,3.416,3.433,3.454,3.487,3.501,3.52,3.553,3.591,3.619,3.633,3.633,3.674,3.697,3.717,3.751,3.783,3.796,3.837,3.872,3.879,3.916,3.947,3.982,4.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.353,3.346,3.322,3.315,3.307,3.297,3.293,3.284,3.278,3.269,3.257,3.246,3.238,3.234,3.221,3.207,3.205,3.191,3.191,3.18,3.179,3.166,3.165,3.159,3.155,3.144,3.14,3.134,3.119,3.114,3.112,3.11,3.106,3.1,3.095,3.086,3.085,3.084,3.077,3.076,3.064,3.063,3.062,3.061,3.049,3.044,3.044,3.042,3.038,3.038,3.038,3.038,3.029,3.027,3.023,3.02,3.02,3.02,3.029,3.029,3.029,3.019,3.019,3.015,3.01,3.008,3.01,3.01,3.01,3.01,3.01,3.009,3.009,3.009,3.009,3.009,3.011,3.011,3.011,3.011,3.011,3.011,3.012,3.012,3.012,3.019,3.012,3.02,3.025,3.025,3.025,3.025,3.028,3.028,3.031,3.034,3.034,3.039,3.041,3.043,3.051,3.059,3.059,3.06,3.063,3.063,3.063,3.065,3.076,3.09,3.09,3.09,3.091,3.093,3.099,3.102,3.108,3.118,3.128,3.128,3.128,3.133,3.136,3.14,3.14,3.147,3.149,3.155,3.16,3.161,3.164,3.175,3.18,3.182,3.192,3.215,3.219,3.219,3.233,3.236,3.236,3.238,3.243,3.253,3.264,3.283,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 25.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 25.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 25.0582} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 25.1066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.184,0.186,0.186,0,0,0,0,0,0,0,0,3.687,3.682,3.669,3.661,3.654,3.627,3.626,3.626,3.626,3.592,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.218,3.218,3.218,3.224,3.262,3.36,3.36,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.148,0.148,0.147,0.147,0.152,0.151,0.152,0.152,0.154,0.154,3.029,3.032,3.039,3.039,3.032,3.032,0.159,0.157,0.154,0.154,0.153,0.153,0.146,0.145,0.145,0.129,0.103,0.068,0.06,0.06,0.06,0.06,0.061,0.061,0.062,0.063,0.064,0.064,0.064,0.064,0.064,0.071,0.101,0.177,3.34,3.357,3.367,3.363,3.363,3.363,3.379,3.402,3.423,3.446,3.444,3.444,3.446,3.462,3.467,3.48,3.492,3.492,3.493,3.499,3.501,3.507,3.518,3.519,3.521,3.525,3.532,3.532,3.533,3.534,3.544,3.548,3.548,3.552,3.558,3.564,3.565,3.566,3.571,3.58,3.58,3.583,3.6,3.605,3.61,3.622,3.625,3.633,3.634,3.638,3.646,3.648,3.649,3.657,3.664,3.666,3.68,3.68,3.683,3.691,3.696,3.711,3.722,3.725,3.734,3.745,3.745,3.747,3.758,3.762,3.775,3.792,3.796,3.814,3.821,3.83,3.838,3.846,3.865,3.874,3.881,3.884,3.897,3.91,3.932,3.943,3.955,3.966,3.98,3.994,4.026,4.03,4.056,4.065,4.08,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.052,4.036,3.989,3.956,3.922,3.906,3.869,3.842,3.822,3.778,3.751,3.735,3.704,3.677,3.654,3.628,3.607,3.566,3.54,3.527,3.505,3.483,3.464,3.438,3.413,3.401,3.378,3.36,3.337,3.324,3.308,3.296,3.276,3.264,3.238,3.226,3.203,3.181,3.172,3.156,3.14,3.128,3.113,3.096,3.079,3.067,3.047,3.036,3.024,3.01,3.004,2.99,2.978,2.963,2.954,2.943,2.926,2.917,2.904,2.894,2.882,2.869,2.859,2.852,2.83,2.82,2.809,2.804,2.787,2.781,2.775,2.766,2.754,2.753,2.736,2.724,2.72,2.716,2.709,2.697,2.68,2.676,2.672,2.664,2.662,2.652,2.649,2.637,2.637,2.626,2.622,2.61,2.599,2.597,2.59,2.577,2.575,2.571,2.571,2.562,2.552,2.55,2.547,2.535,2.53,2.528,2.517,2.516,2.509,2.505,2.501,2.491,2.49,2.489,2.483,2.478,2.473,2.473,2.473,2.472,2.472,2.462,2.457,2.453,2.452,2.449,2.445,2.445,2.441,2.441,2.44,2.434,2.431,2.427,2.427,2.427,2.426,2.421,2.419,2.418,2.416,2.418,2.416,2.414,2.413,2.412,2.411,2.41,2.41,2.411,2.411,2.406,2.407,2.407,2.407,2.411,2.412,2.412,2.412,2.413,2.414,2.414,2.417,2.418,2.418,2.418,2.418,2.418,2.423,2.423,2.424,2.424,2.429,2.429,2.436,2.437,2.438,2.442,2.442,2.447,2.448,2.453,2.457,2.46,2.464,2.465,2.472,2.472,2.476,2.479,2.483,2.484,2.489,2.491,2.496,2.496,2.513,2.515,2.519,2.522,2.531,2.537,2.539,2.545,2.552,2.555,2.562,2.563,2.564,2.577,2.587,2.597,2.6,2.6,2.61,2.615,2.62,2.637,2.639,2.644,2.646,2.657,2.66,2.671,2.684,2.684,2.7,2.707,2.72,2.721,2.729,2.739,2.753,2.758,2.766,2.779,2.792,2.792,2.81,2.823,2.836,2.842,2.849,2.856,2.872,2.874,2.89,2.902,2.918,2.927,2.947,2.952,2.961,2.974,2.986,2.996,3.012,3.028,3.036,3.048,3.069,3.08,3.098,3.104,3.121,3.137,3.152,3.17,3.18,3.196,3.217,3.235,3.254,3.26,3.279,3.295,3.322,3.332,3.342,3.374,3.396,3.404,3.448,3.456,3.474,3.508,3.512,3.55,3.574,3.6,3.619,3.649,3.657,3.701,3.728,3.754,3.777,3.8,3.835,3.866,3.895,3.924,3.948,4.024,4.058,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.358,3.339,3.329,3.322,3.303,3.298,3.297,3.28,3.271,3.263,3.253,3.251,3.24,3.235,3.215,3.209,3.205,3.202,3.186,3.179,3.178,3.173,3.162,3.153,3.146,3.139,3.138,3.129,3.117,3.113,3.111,3.11,3.107,3.099,3.094,3.089,3.081,3.08,3.074,3.07,3.064,3.064,3.061,3.056,3.055,3.047,3.041,3.041,3.041,3.041,3.036,3.029,3.029,3.028,3.028,3.029,3.029,3.029,3.03,3.03,3.03,3.02,3.019,3.016,3.014,3.013,3.011,3.005,3.011,3.009,3.009,3.006,3.008,3.006,3.006,3.006,3.008,3.012,3.013,3.012,3.013,3.012,3.012,3.012,3.013,3.017,3.017,3.021,3.022,3.022,3.022,3.023,3.028,3.03,3.033,3.038,3.041,3.041,3.041,3.045,3.051,3.052,3.056,3.058,3.059,3.06,3.069,3.07,3.072,3.079,3.089,3.089,3.09,3.09,3.096,3.107,3.11,3.113,3.12,3.136,3.136,3.137,3.137,3.137,3.137,3.148,3.154,3.157,3.157,3.161,3.166,3.173,3.175,3.187,3.2,3.22,3.22,3.225,3.229,3.23,3.245,3.254,3.254,3.255,3.279,3.279,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 25.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 25.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 25.2592} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 25.3066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.175,0.182,0.182,0,0,0,0,0,0,0,0,3.685,3.682,3.667,3.662,3.643,3.63,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.216,3.207,3.207,3.207,3.363,0.007,0,0,0,0,0,0,0,0.007,0.143,0.143,0.143,0.143,0.148,0.148,0.151,0.152,0.151,0.152,0.152,0.161,0.161,3.042,3.042,3.042,3.042,3.033,3.033,0.159,0.155,0.155,0.155,0.154,0.15,0.148,0.146,0.146,0.127,0.102,0.082,0.061,0.061,0.06,0.061,0.061,0.063,0.066,0.066,0.066,0.064,0.063,0.063,0.063,0.07,0.102,0.168,3.35,3.354,3.382,3.36,3.382,3.382,3.382,0.007,3.417,3.417,3.44,3.44,3.461,3.478,3.484,3.484,3.493,3.494,3.496,3.499,3.51,3.516,3.521,3.522,3.524,3.527,3.532,3.537,3.541,3.541,3.546,3.546,3.552,3.554,3.559,3.56,3.571,3.571,3.579,3.581,3.582,3.587,3.588,3.588,3.605,3.607,3.621,3.624,3.628,3.636,3.639,3.639,3.649,3.662,3.665,3.673,3.68,3.681,3.69,3.694,3.697,3.71,3.721,3.725,3.729,3.737,3.757,3.761,3.767,3.768,3.773,3.8,3.807,3.811,3.828,3.831,3.838,3.848,3.869,3.874,3.885,3.895,3.897,3.92,3.935,3.948,3.957,3.965,3.977,3.996,3.998,4.034,4.051,4.056,4.082,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.043,4.004,3.972,3.932,3.905,3.869,3.833,3.799,3.786,3.76,3.731,3.702,3.674,3.648,3.627,3.609,3.582,3.55,3.526,3.506,3.489,3.459,3.442,3.411,3.398,3.38,3.368,3.346,3.328,3.306,3.297,3.278,3.259,3.243,3.213,3.199,3.191,3.168,3.161,3.137,3.121,3.117,3.092,3.086,3.066,3.045,3.043,3.018,3.011,3.003,2.984,2.977,2.964,2.951,2.945,2.931,2.913,2.909,2.891,2.879,2.868,2.855,2.851,2.835,2.832,2.816,2.809,2.799,2.787,2.777,2.769,2.768,2.748,2.741,2.733,2.722,2.713,2.702,2.697,2.677,2.676,2.672,2.667,2.656,2.648,2.647,2.632,2.625,2.615,2.609,2.603,2.602,2.595,2.592,2.581,2.576,2.57,2.569,2.565,2.553,2.546,2.545,2.536,2.534,2.522,2.517,2.515,2.504,2.501,2.493,2.491,2.486,2.48,2.479,2.478,2.478,2.47,2.468,2.467,2.466,2.464,2.457,2.455,2.455,2.449,2.448,2.445,2.443,2.439,2.438,2.438,2.426,2.426,2.425,2.425,2.425,2.424,2.419,2.419,2.419,2.416,2.413,2.413,2.41,2.41,2.409,2.409,2.408,2.409,2.409,2.407,2.407,2.409,2.418,2.418,2.418,2.415,2.415,2.415,2.415,2.415,2.42,2.421,2.421,2.421,2.423,2.423,2.42,2.423,2.43,2.43,2.433,2.434,2.439,2.441,2.441,2.447,2.447,2.448,2.449,2.451,2.453,2.463,2.464,2.465,2.467,2.474,2.474,2.484,2.485,2.486,2.494,2.495,2.501,2.502,2.509,2.513,2.519,2.52,2.525,2.531,2.535,2.543,2.547,2.558,2.563,2.565,2.569,2.583,2.587,2.602,2.603,2.608,2.609,2.611,2.613,2.634,2.634,2.641,2.647,2.648,2.66,2.673,2.674,2.688,2.698,2.706,2.719,2.725,2.726,2.74,2.746,2.748,2.77,2.783,2.784,2.791,2.803,2.819,2.831,2.841,2.846,2.856,2.869,2.882,2.886,2.902,2.919,2.929,2.942,2.949,2.959,2.974,2.983,2.995,3.011,3.027,3.041,3.044,3.071,3.086,3.092,3.109,3.125,3.135,3.156,3.168,3.177,3.193,3.224,3.232,3.248,3.262,3.274,3.3,3.323,3.336,3.354,3.37,3.394,3.406,3.432,3.457,3.475,3.505,3.52,3.547,3.557,3.595,3.61,3.633,3.658,3.685,3.727,3.751,3.779,3.796,3.837,3.869,3.889,3.924,3.953,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.35,3.337,3.33,3.31,3.305,3.291,3.291,3.275,3.273,3.259,3.243,3.24,3.239,3.239,3.221,3.217,3.208,3.203,3.189,3.18,3.177,3.17,3.158,3.155,3.15,3.147,3.133,3.127,3.125,3.121,3.121,3.105,3.101,3.098,3.092,3.09,3.083,3.081,3.079,3.077,3.062,3.062,3.061,3.06,3.052,3.051,3.044,3.04,3.04,3.038,3.038,3.031,3.03,3.028,3.028,3.025,3.025,3.025,3.029,3.029,3.029,3.018,3.018,3.015,3.015,3.014,3.01,3.01,3.01,3.01,3.01,3.01,3.011,3.011,3.01,3.01,3.011,3.012,3.009,3.012,3.012,3.012,3.017,3.017,3.017,3.018,3.017,3.021,3.022,3.021,3.025,3.025,3.03,3.026,3.03,3.033,3.033,3.033,3.039,3.048,3.051,3.055,3.056,3.059,3.059,3.066,3.066,3.071,3.076,3.086,3.089,3.089,3.092,3.092,3.095,3.113,3.113,3.121,3.122,3.13,3.134,3.135,3.135,3.136,3.136,3.142,3.144,3.157,3.161,3.167,3.167,3.171,3.172,3.181,3.191,3.209,3.22,3.231,3.231,3.234,3.233,3.239,3.239,3.251,3.265,3.286,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 25.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 25.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 25.4601} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 25.5065} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.182,0.186,0.186,0,0,0,0,0,0,0,0,3.69,3.685,3.665,3.664,3.646,3.637,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.213,3.218,3.258,3.368,3.368,0,0,0,0,0,0,0,0.152,0.146,0.146,0.146,0.148,0.148,0.148,0.148,0.153,0.154,0.154,0.154,0.155,0.155,3.025,3.037,3.039,3.039,3.037,3.039,3.039,0.16,0.16,0.16,0.157,0.153,0.149,0.147,0.144,0.125,0.116,0.078,0.068,0.063,0.063,0.063,0.064,0.064,0.065,0.065,0.062,0.061,0.06,0.06,0.06,0.066,0.107,0.179,3.341,3.354,3.362,3.362,3.37,0,0,0,0,3.427,3.427,3.427,3.469,3.483,3.488,3.488,3.496,3.498,3.5,3.504,3.508,3.512,3.514,3.516,3.518,3.523,3.534,3.535,3.538,3.539,3.539,3.539,3.547,3.552,3.553,3.557,3.568,3.576,3.576,3.578,3.579,3.58,3.588,3.602,3.603,3.607,3.626,3.631,3.633,3.633,3.645,3.651,3.651,3.662,3.663,3.673,3.675,3.68,3.691,3.692,3.698,3.704,3.72,3.733,3.737,3.748,3.751,3.757,3.765,3.769,3.776,3.792,3.803,3.812,3.82,3.838,3.842,3.846,3.865,3.869,3.878,3.904,3.904,3.913,3.931,3.932,3.959,3.962,3.98,3.987,4.012,4.024,4.039,4.057,4.064,4.095,0.016,0.016,0.016,0.016,0.016,0,0.007,4.061,3.985,3.979,3.917,3.898,3.859,3.842,3.801,3.774,3.752,3.732,3.709,3.687,3.647,3.626,3.604,3.567,3.559,3.524,3.514,3.489,3.464,3.452,3.407,3.403,3.383,3.379,3.347,3.332,3.309,3.292,3.273,3.262,3.24,3.228,3.199,3.193,3.161,3.16,3.128,3.122,3.102,3.098,3.084,3.061,3.045,3.037,3.021,3.016,3.002,2.986,2.974,2.963,2.955,2.94,2.923,2.92,2.907,2.903,2.877,2.864,2.862,2.847,2.84,2.825,2.818,2.812,2.791,2.783,2.782,2.773,2.759,2.75,2.735,2.732,2.723,2.712,2.7,2.692,2.689,2.675,2.675,2.666,2.659,2.655,2.644,2.642,2.637,2.625,2.62,2.615,2.613,2.6,2.586,2.585,2.574,2.574,2.573,2.569,2.553,2.55,2.539,2.538,2.533,2.531,2.518,2.517,2.513,2.505,2.493,2.491,2.489,2.487,2.479,2.479,2.478,2.477,2.475,2.474,2.466,2.462,2.458,2.451,2.45,2.447,2.445,2.443,2.44,2.437,2.436,2.435,2.431,2.431,2.425,2.425,2.425,2.418,2.418,2.421,2.417,2.417,2.414,2.414,2.413,2.414,2.414,2.413,2.41,2.411,2.41,2.41,2.41,2.411,2.414,2.414,2.414,2.416,2.416,2.414,2.416,2.416,2.416,2.417,2.419,2.419,2.419,2.423,2.423,2.424,2.426,2.428,2.433,2.433,2.436,2.439,2.439,2.44,2.441,2.447,2.449,2.45,2.455,2.456,2.465,2.468,2.471,2.478,2.482,2.482,2.483,2.489,2.49,2.493,2.496,2.499,2.512,2.515,2.524,2.527,2.527,2.532,2.534,2.543,2.548,2.553,2.561,2.568,2.574,2.581,2.594,2.595,2.604,2.608,2.608,2.61,2.617,2.63,2.641,2.648,2.649,2.65,2.664,2.675,2.68,2.691,2.698,2.703,2.717,2.718,2.727,2.729,2.746,2.756,2.761,2.779,2.787,2.797,2.808,2.819,2.832,2.839,2.852,2.856,2.868,2.879,2.888,2.905,2.919,2.923,2.944,2.953,2.958,2.971,2.989,2.998,3.016,3.023,3.034,3.04,3.067,3.08,3.095,3.113,3.124,3.14,3.155,3.162,3.179,3.198,3.225,3.228,3.243,3.268,3.277,3.3,3.322,3.333,3.352,3.374,3.396,3.415,3.43,3.46,3.476,3.496,3.522,3.543,3.561,3.602,3.614,3.638,3.672,3.7,3.725,3.743,3.779,3.805,3.833,3.868,3.913,3.952,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.356,3.34,3.334,3.311,3.31,3.296,3.294,3.277,3.27,3.267,3.247,3.246,3.238,3.238,3.234,3.217,3.21,3.201,3.184,3.181,3.178,3.171,3.163,3.145,3.145,3.143,3.142,3.132,3.129,3.12,3.11,3.108,3.105,3.104,3.094,3.092,3.083,3.082,3.08,3.067,3.065,3.064,3.063,3.058,3.049,3.048,3.046,3.044,3.042,3.04,3.035,3.033,3.03,3.028,3.024,3.023,3.023,3.023,3.025,3.025,3.025,3.024,3.019,3.018,3.014,3.012,3.012,3.009,3.007,3.009,3.007,3.007,3.006,3.005,3.005,3.005,3.005,3.009,3.01,3.014,3.014,3.014,3.014,3.014,3.015,3.017,3.017,3.023,3.025,3.023,3.023,3.025,3.028,3.03,3.032,3.033,3.033,3.038,3.043,3.045,3.052,3.058,3.059,3.06,3.062,3.064,3.07,3.071,3.08,3.081,3.09,3.09,3.094,3.097,3.097,3.106,3.113,3.114,3.119,3.129,3.129,3.13,3.136,3.145,3.145,3.15,3.15,3.154,3.157,3.167,3.17,3.172,3.173,3.188,3.192,3.211,3.22,3.229,3.229,3.232,3.232,3.234,3.241,3.247,3.255,3.273,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 25.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 25.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 25.6611} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 25.7026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.179,0.182,0.182,0,0,0,0,0,0,0,0,3.677,3.671,3.665,3.658,3.639,3.624,3.617,3.617,3.617,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.214,3.209,3.209,3.209,3.262,3.367,0,0,0,0,0,0,0,0.145,0.143,0.143,0.14,0.14,0.145,0.145,0.145,0.153,0.149,0.153,0.153,0.159,0.159,3.031,3.037,3.037,3.037,3.033,3.039,3.033,0.162,0.161,0.161,0.157,0.152,0.148,0.146,0.146,0.132,0.103,0.08,0.065,0.064,0.063,0.063,0.061,0.063,0.066,0.066,0.066,0.066,0.064,0.064,0.066,0.072,0.108,0.176,3.348,3.348,3.367,3.367,3.367,3.369,3.371,3.417,0,0.007,3.449,3.449,3.459,3.459,3.468,3.477,3.487,3.488,3.489,3.503,3.508,3.514,3.52,3.523,3.525,3.526,3.526,3.539,3.541,3.542,3.544,3.545,3.549,3.555,3.558,3.56,3.574,3.574,3.574,3.578,3.578,3.582,3.589,3.597,3.604,3.615,3.615,3.628,3.631,3.638,3.641,3.649,3.652,3.654,3.658,3.66,3.672,3.689,3.693,3.695,3.7,3.71,3.714,3.728,3.735,3.753,3.753,3.762,3.766,3.773,3.78,3.799,3.8,3.805,3.82,3.831,3.831,3.857,3.866,3.877,3.884,3.892,3.903,3.918,3.922,3.938,3.957,3.983,3.99,3.996,4.009,4.044,4.047,4.061,4.081,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.009,3.99,3.968,3.936,3.905,3.87,3.835,3.812,3.781,3.749,3.713,3.712,3.669,3.648,3.625,3.598,3.57,3.552,3.519,3.513,3.492,3.466,3.452,3.424,3.405,3.383,3.361,3.343,3.334,3.317,3.284,3.273,3.249,3.231,3.222,3.19,3.186,3.167,3.16,3.14,3.131,3.111,3.097,3.087,3.071,3.048,3.038,3.021,3.014,3.004,2.983,2.98,2.962,2.955,2.942,2.921,2.914,2.906,2.903,2.876,2.871,2.86,2.842,2.84,2.826,2.813,2.802,2.789,2.788,2.782,2.764,2.75,2.75,2.741,2.729,2.724,2.712,2.705,2.697,2.682,2.68,2.678,2.668,2.655,2.653,2.65,2.633,2.632,2.621,2.617,2.613,2.609,2.594,2.589,2.586,2.582,2.576,2.565,2.562,2.553,2.55,2.542,2.538,2.531,2.528,2.515,2.509,2.509,2.502,2.494,2.493,2.488,2.487,2.484,2.482,2.477,2.475,2.47,2.465,2.462,2.459,2.456,2.455,2.454,2.453,2.45,2.448,2.447,2.442,2.439,2.436,2.43,2.429,2.427,2.427,2.424,2.421,2.417,2.417,2.416,2.417,2.417,2.416,2.412,2.41,2.41,2.408,2.408,2.411,2.411,2.407,2.411,2.414,2.414,2.414,2.415,2.414,2.414,2.414,2.415,2.415,2.421,2.421,2.417,2.421,2.419,2.419,2.421,2.426,2.427,2.427,2.435,2.436,2.437,2.439,2.442,2.442,2.446,2.449,2.451,2.455,2.458,2.459,2.466,2.467,2.472,2.472,2.473,2.473,2.482,2.486,2.487,2.488,2.496,2.504,2.509,2.513,2.515,2.518,2.528,2.536,2.539,2.539,2.547,2.556,2.561,2.561,2.57,2.577,2.586,2.599,2.605,2.606,2.611,2.613,2.625,2.64,2.642,2.643,2.647,2.651,2.661,2.672,2.675,2.684,2.696,2.702,2.713,2.714,2.731,2.743,2.754,2.756,2.768,2.778,2.793,2.796,2.804,2.816,2.831,2.838,2.852,2.862,2.867,2.875,2.883,2.904,2.911,2.935,2.948,2.956,2.958,2.97,2.98,2.994,3.013,3.029,3.034,3.049,3.067,3.079,3.09,3.105,3.127,3.137,3.151,3.167,3.177,3.201,3.224,3.233,3.251,3.272,3.276,3.296,3.323,3.337,3.357,3.374,3.391,3.409,3.434,3.457,3.48,3.51,3.525,3.546,3.565,3.601,3.627,3.655,3.672,3.698,3.726,3.742,3.769,3.807,3.838,3.862,3.89,3.91,3.954,3.999,4.024,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.348,3.339,3.332,3.306,3.304,3.293,3.293,3.277,3.265,3.257,3.247,3.242,3.242,3.235,3.224,3.212,3.206,3.197,3.194,3.183,3.175,3.169,3.165,3.156,3.151,3.133,3.132,3.132,3.121,3.121,3.113,3.113,3.112,3.102,3.094,3.091,3.084,3.08,3.077,3.07,3.07,3.068,3.064,3.057,3.053,3.049,3.046,3.042,3.041,3.04,3.039,3.034,3.032,3.029,3.022,3.021,3.021,3.021,3.029,3.029,3.029,3.018,3.017,3.017,3.017,3.01,3.01,3.012,3.012,3.01,3.01,3.008,3.008,3.008,3.007,3.006,3.007,3.007,3.011,3.011,3.012,3.012,3.012,3.013,3.014,3.014,3.014,3.016,3.02,3.02,3.027,3.028,3.029,3.029,3.036,3.036,3.037,3.041,3.044,3.046,3.048,3.048,3.056,3.061,3.061,3.062,3.062,3.064,3.082,3.088,3.092,3.092,3.092,3.094,3.097,3.1,3.105,3.115,3.116,3.126,3.128,3.133,3.133,3.136,3.136,3.149,3.15,3.153,3.16,3.165,3.17,3.177,3.177,3.182,3.205,3.211,3.226,3.227,3.228,3.24,3.241,3.243,3.25,3.254,3.263,3.277,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 25.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 25.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 25.853} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 25.9026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.18,0.181,0.181,0,0,0,0,0,0,0,0,3.692,3.684,3.663,3.66,3.647,3.642,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.211,3.211,3.209,3.209,3.209,3.264,3.354,0,0,0,0,0,0,0,0.139,0.139,0.139,0.139,0.139,0.144,0.144,0.147,0.153,0.153,0.153,0.153,0.155,0.155,3.033,3.033,3.033,3.033,3.033,3.029,0.158,0.156,0.153,0.153,0.153,0.153,0.148,0.146,0.143,0.127,0.099,0.087,0.064,0.062,0.062,0.062,0.062,0.066,0.067,0.068,0.068,0.068,0.066,0.066,0.066,0.067,0.107,0.178,3.335,3.357,3.36,3.36,3.363,3.365,3.367,3.374,3.382,3.408,3.425,3.454,3.468,3.468,3.479,3.481,3.483,3.489,3.504,3.504,3.507,3.507,3.518,3.529,3.529,3.529,3.533,3.537,3.539,3.541,3.546,3.546,3.546,3.554,3.555,3.559,3.563,3.571,3.573,3.574,3.577,3.577,3.585,3.596,3.606,3.614,3.619,3.621,3.633,3.64,3.643,3.648,3.651,3.654,3.664,3.664,3.672,3.672,3.688,3.691,3.697,3.7,3.727,3.733,3.735,3.741,3.751,3.754,3.765,3.766,3.782,3.795,3.796,3.81,3.823,3.831,3.834,3.848,3.858,3.871,3.883,3.89,3.89,3.916,3.931,3.936,3.96,3.965,3.993,3.997,4.016,4.027,4.03,4.065,4.082,4.083,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.047,3.998,3.969,3.919,3.901,3.865,3.834,3.808,3.787,3.75,3.732,3.699,3.678,3.646,3.623,3.603,3.554,3.548,3.527,3.501,3.479,3.46,3.45,3.409,3.402,3.393,3.369,3.347,3.338,3.312,3.289,3.273,3.258,3.225,3.215,3.199,3.191,3.17,3.148,3.148,3.13,3.109,3.097,3.086,3.074,3.052,3.033,3.02,3.014,3.005,2.99,2.979,2.964,2.953,2.938,2.92,2.916,2.912,2.89,2.878,2.876,2.852,2.845,2.839,2.83,2.816,2.809,2.79,2.788,2.779,2.769,2.754,2.753,2.739,2.725,2.717,2.715,2.704,2.698,2.687,2.685,2.674,2.67,2.656,2.652,2.645,2.633,2.628,2.619,2.613,2.61,2.61,2.6,2.586,2.581,2.577,2.562,2.561,2.56,2.547,2.545,2.541,2.538,2.532,2.529,2.521,2.507,2.507,2.505,2.498,2.496,2.49,2.486,2.484,2.483,2.478,2.472,2.47,2.47,2.466,2.458,2.451,2.45,2.447,2.446,2.444,2.444,2.441,2.439,2.436,2.434,2.428,2.428,2.428,2.428,2.424,2.421,2.417,2.417,2.417,2.415,2.415,2.415,2.413,2.412,2.41,2.407,2.41,2.41,2.407,2.41,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.41,2.41,2.41,2.415,2.416,2.416,2.416,2.416,2.418,2.42,2.42,2.421,2.423,2.427,2.428,2.428,2.437,2.44,2.44,2.443,2.448,2.449,2.454,2.457,2.463,2.464,2.466,2.466,2.472,2.474,2.475,2.48,2.484,2.49,2.49,2.494,2.502,2.512,2.513,2.519,2.521,2.521,2.534,2.539,2.543,2.551,2.553,2.558,2.564,2.575,2.576,2.594,2.598,2.6,2.604,2.608,2.608,2.628,2.632,2.64,2.641,2.651,2.653,2.662,2.674,2.675,2.683,2.698,2.701,2.714,2.724,2.725,2.741,2.752,2.753,2.764,2.785,2.786,2.797,2.802,2.817,2.827,2.836,2.846,2.852,2.87,2.878,2.88,2.911,2.92,2.929,2.947,2.954,2.956,2.98,2.984,2.995,3.01,3.025,3.042,3.048,3.064,3.079,3.083,3.114,3.121,3.135,3.155,3.169,3.18,3.2,3.217,3.228,3.245,3.257,3.274,3.299,3.314,3.329,3.35,3.376,3.393,3.403,3.442,3.467,3.469,3.516,3.543,3.575,3.575,3.608,3.617,3.644,3.67,3.692,3.718,3.747,3.775,3.794,3.831,3.863,3.89,3.919,3.948,3.993,4.061,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.352,3.328,3.324,3.317,3.302,3.301,3.295,3.288,3.264,3.263,3.256,3.242,3.24,3.238,3.218,3.215,3.211,3.202,3.189,3.188,3.174,3.172,3.162,3.161,3.151,3.143,3.142,3.131,3.123,3.118,3.116,3.109,3.101,3.1,3.095,3.087,3.085,3.08,3.078,3.077,3.07,3.065,3.062,3.057,3.054,3.051,3.05,3.048,3.044,3.042,3.042,3.029,3.029,3.029,3.028,3.021,3.021,3.021,3.029,3.029,3.029,3.019,3.019,3.018,3.016,3.013,3.013,3.008,3.008,3.007,3.007,3.004,3.007,3.007,3.007,3.009,3.013,3.013,3.013,3.013,3.013,3.011,3.011,3.012,3.012,3.014,3.014,3.018,3.023,3.021,3.021,3.023,3.029,3.033,3.034,3.036,3.036,3.036,3.038,3.046,3.047,3.051,3.061,3.062,3.062,3.064,3.065,3.07,3.075,3.085,3.086,3.088,3.091,3.095,3.105,3.105,3.113,3.114,3.117,3.13,3.13,3.132,3.134,3.137,3.137,3.142,3.15,3.154,3.159,3.159,3.167,3.17,3.172,3.189,3.21,3.213,3.221,3.222,3.224,3.231,3.237,3.242,3.249,3.255,3.275,3.275,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 26.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 26.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 26.0551} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 26.1026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.183,0.183,0.183,0,0,0,0,0,0,0,0,3.689,3.687,3.665,3.664,3.652,3.628,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.213,3.205,3.205,3.205,3.26,3.36,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.142,0.145,0.145,0.145,0.156,0.156,0.156,0.156,0.156,0.156,3.041,3.041,3.042,3.042,3.042,3.028,0.155,0.155,0.155,0.155,0.154,0.153,0.149,0.147,0.147,0.122,0.106,0.077,0.067,0.065,0.064,0.064,0.06,0.06,0.064,0.064,0.064,0.065,0.065,0.065,0.065,0.065,0.107,0.178,3.335,3.358,3.364,3.364,3.364,3.367,3.374,3.374,3.406,0.007,3.463,3.455,3.463,3.463,3.466,3.482,3.489,3.497,3.498,3.498,3.499,3.51,3.52,3.521,3.521,3.524,3.531,3.533,3.536,3.54,3.542,3.546,3.546,3.549,3.552,3.561,3.568,3.568,3.572,3.576,3.58,3.585,3.589,3.592,3.594,3.605,3.622,3.623,3.627,3.636,3.642,3.645,3.647,3.656,3.656,3.658,3.683,3.683,3.685,3.697,3.7,3.71,3.713,3.724,3.735,3.742,3.748,3.757,3.765,3.768,3.774,3.787,3.789,3.813,3.823,3.83,3.84,3.842,3.862,3.871,3.873,3.895,3.898,3.925,3.927,3.953,3.957,3.97,3.976,3.994,4.009,4.022,4.04,4.069,4.073,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.056,3.985,3.971,3.926,3.895,3.87,3.824,3.807,3.776,3.745,3.729,3.702,3.67,3.65,3.633,3.602,3.579,3.556,3.534,3.507,3.486,3.462,3.446,3.421,3.409,3.38,3.375,3.349,3.339,3.305,3.285,3.267,3.253,3.23,3.224,3.198,3.175,3.17,3.147,3.146,3.125,3.103,3.099,3.089,3.074,3.048,3.046,3.016,3.013,3.009,2.987,2.977,2.964,2.954,2.938,2.93,2.92,2.907,2.891,2.877,2.87,2.855,2.853,2.841,2.821,2.81,2.805,2.794,2.787,2.779,2.761,2.757,2.752,2.738,2.734,2.718,2.711,2.696,2.691,2.683,2.677,2.673,2.661,2.659,2.652,2.65,2.639,2.635,2.621,2.618,2.609,2.598,2.589,2.589,2.589,2.576,2.571,2.568,2.56,2.558,2.547,2.54,2.532,2.532,2.522,2.516,2.508,2.506,2.504,2.495,2.493,2.487,2.487,2.481,2.481,2.478,2.474,2.472,2.467,2.467,2.459,2.459,2.453,2.451,2.449,2.447,2.446,2.445,2.442,2.436,2.432,2.429,2.426,2.426,2.426,2.425,2.421,2.419,2.418,2.418,2.418,2.418,2.418,2.414,2.411,2.408,2.407,2.408,2.408,2.408,2.409,2.409,2.41,2.412,2.412,2.413,2.413,2.412,2.413,2.413,2.416,2.417,2.418,2.417,2.416,2.419,2.419,2.419,2.425,2.427,2.427,2.431,2.435,2.438,2.439,2.44,2.441,2.443,2.449,2.45,2.453,2.455,2.456,2.458,2.466,2.473,2.475,2.477,2.477,2.481,2.488,2.488,2.492,2.498,2.501,2.506,2.512,2.52,2.521,2.522,2.531,2.534,2.544,2.546,2.56,2.56,2.562,2.567,2.57,2.589,2.603,2.604,2.604,2.605,2.605,2.626,2.633,2.633,2.641,2.649,2.655,2.66,2.673,2.674,2.686,2.7,2.703,2.709,2.713,2.733,2.734,2.749,2.751,2.761,2.773,2.786,2.792,2.806,2.813,2.822,2.839,2.848,2.853,2.875,2.875,2.887,2.91,2.921,2.933,2.945,2.95,2.96,2.969,2.988,2.995,3.015,3.024,3.034,3.051,3.061,3.081,3.097,3.099,3.116,3.138,3.151,3.169,3.176,3.202,3.221,3.236,3.247,3.26,3.27,3.294,3.319,3.333,3.356,3.373,3.388,3.405,3.434,3.464,3.487,3.498,3.529,3.54,3.569,3.593,3.615,3.64,3.662,3.688,3.723,3.747,3.773,3.792,3.828,3.868,3.89,3.925,3.947,3.996,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.345,3.343,3.325,3.314,3.31,3.296,3.293,3.286,3.272,3.261,3.249,3.241,3.24,3.238,3.219,3.212,3.202,3.202,3.188,3.186,3.17,3.164,3.159,3.157,3.148,3.14,3.14,3.127,3.122,3.117,3.115,3.111,3.111,3.103,3.092,3.091,3.089,3.077,3.077,3.068,3.062,3.062,3.061,3.061,3.058,3.053,3.039,3.039,3.038,3.039,3.037,3.037,3.031,3.029,3.028,3.023,3.023,3.023,3.031,3.031,3.031,3.015,3.015,3.014,3.014,3.013,3.013,3.012,3.014,3.011,3.011,3.01,3.008,3.008,3.008,3.008,3.008,3.011,3.011,3.013,3.013,3.014,3.014,3.016,3.018,3.018,3.016,3.016,3.019,3.018,3.019,3.02,3.024,3.032,3.032,3.032,3.032,3.032,3.044,3.044,3.046,3.049,3.059,3.06,3.062,3.063,3.071,3.071,3.072,3.078,3.085,3.089,3.092,3.095,3.101,3.104,3.107,3.112,3.122,3.13,3.13,3.132,3.132,3.132,3.132,3.146,3.147,3.151,3.157,3.157,3.173,3.178,3.179,3.188,3.192,3.215,3.22,3.228,3.231,3.236,3.238,3.244,3.245,3.252,3.266,3.283,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 26.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 26.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 26.2561} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 26.3026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.178,0.178,0.185,0,0,0,0,0,0,0,0,3.691,3.685,3.668,3.654,3.654,3.631,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.213,3.21,3.206,3.21,3.21,3.261,3.368,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.143,0.148,0.148,0.152,0.15,0.152,0.152,0.153,0.153,3.029,3.036,3.036,3.036,3.029,3.036,3.022,0.155,0.153,0.153,0.153,0.147,0.147,0.147,0.147,0.13,0.108,0.076,0.066,0.065,0.06,0.06,0.064,0.064,0.064,0.065,0.064,0.064,0.064,0.064,0.064,0.07,0.096,0.173,3.335,3.36,3.363,3.36,3.363,3.374,3.375,0.007,0,0.007,0,0.007,3.483,3.483,3.483,3.483,3.489,3.489,3.493,3.502,3.502,3.506,3.515,3.518,3.52,3.52,3.537,3.538,3.539,3.542,3.542,3.542,3.543,3.546,3.551,3.556,3.562,3.569,3.578,3.581,3.588,3.591,3.593,3.605,3.605,3.616,3.625,3.631,3.632,3.638,3.641,3.644,3.646,3.658,3.66,3.666,3.676,3.682,3.683,3.686,3.696,3.703,3.713,3.714,3.736,3.741,3.745,3.751,3.763,3.767,3.784,3.793,3.796,3.819,3.823,3.83,3.845,3.852,3.861,3.878,3.879,3.904,3.906,3.927,3.929,3.948,3.949,3.97,3.98,4.011,4.013,4.029,4.042,4.066,4.067,0.016,0.016,0.016,0.016,0.016,0.016,4.092,4.047,4.047,4.02,3.986,3.926,3.896,3.858,3.85,3.8,3.775,3.741,3.717,3.699,3.673,3.655,3.615,3.597,3.573,3.548,3.523,3.5,3.497,3.465,3.439,3.411,3.405,3.384,3.367,3.345,3.332,3.303,3.296,3.275,3.264,3.231,3.225,3.197,3.192,3.18,3.152,3.141,3.123,3.101,3.101,3.089,3.07,3.04,3.03,3.023,3.009,3.004,2.989,2.982,2.967,2.949,2.942,2.923,2.919,2.905,2.895,2.884,2.868,2.857,2.851,2.841,2.829,2.814,2.812,2.791,2.79,2.778,2.771,2.759,2.753,2.732,2.729,2.717,2.715,2.695,2.691,2.689,2.674,2.67,2.666,2.657,2.651,2.649,2.638,2.635,2.623,2.613,2.609,2.606,2.603,2.592,2.579,2.572,2.571,2.567,2.566,2.553,2.553,2.531,2.529,2.528,2.521,2.519,2.515,2.507,2.507,2.496,2.491,2.49,2.486,2.486,2.482,2.48,2.48,2.466,2.466,2.466,2.466,2.454,2.452,2.447,2.447,2.447,2.444,2.438,2.437,2.432,2.428,2.427,2.425,2.425,2.424,2.416,2.416,2.415,2.414,2.415,2.415,2.413,2.412,2.413,2.413,2.413,2.414,2.414,2.414,2.41,2.408,2.408,2.408,2.408,2.41,2.412,2.412,2.416,2.417,2.418,2.418,2.418,2.418,2.42,2.418,2.42,2.42,2.424,2.425,2.426,2.428,2.429,2.431,2.442,2.442,2.442,2.442,2.442,2.447,2.449,2.45,2.452,2.456,2.461,2.466,2.468,2.473,2.476,2.484,2.484,2.484,2.485,2.494,2.499,2.499,2.503,2.511,2.516,2.521,2.525,2.532,2.533,2.54,2.547,2.55,2.559,2.562,2.575,2.577,2.59,2.593,2.596,2.597,2.605,2.622,2.625,2.63,2.638,2.641,2.646,2.658,2.659,2.674,2.683,2.687,2.698,2.707,2.709,2.724,2.726,2.742,2.751,2.756,2.759,2.78,2.781,2.794,2.81,2.812,2.833,2.84,2.846,2.858,2.866,2.883,2.887,2.9,2.914,2.922,2.944,2.949,2.955,2.971,2.975,2.996,3.009,3.02,3.043,3.047,3.068,3.078,3.083,3.105,3.12,3.136,3.164,3.166,3.17,3.194,3.213,3.236,3.246,3.257,3.271,3.292,3.313,3.333,3.356,3.373,3.396,3.415,3.437,3.46,3.486,3.511,3.528,3.54,3.576,3.593,3.617,3.644,3.67,3.697,3.718,3.75,3.78,3.795,3.846,3.856,3.887,3.916,3.946,3.988,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.373,3.354,3.339,3.326,3.317,3.317,3.303,3.291,3.282,3.268,3.262,3.25,3.24,3.238,3.237,3.217,3.209,3.2,3.188,3.186,3.185,3.175,3.171,3.163,3.158,3.146,3.144,3.135,3.133,3.124,3.122,3.122,3.11,3.109,3.103,3.089,3.085,3.084,3.084,3.077,3.076,3.062,3.062,3.062,3.055,3.052,3.051,3.043,3.041,3.041,3.04,3.04,3.038,3.028,3.025,3.023,3.019,3.023,3.023,3.027,3.027,3.027,3.022,3.016,3.015,3.015,3.015,3.011,3.01,3.01,3.01,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.01,3.008,3.008,3.008,3.011,3.008,3.011,3.014,3.016,3.016,3.021,3.021,3.02,3.021,3.027,3.031,3.033,3.033,3.035,3.036,3.038,3.039,3.043,3.049,3.053,3.054,3.056,3.06,3.067,3.068,3.076,3.077,3.086,3.087,3.089,3.09,3.09,3.095,3.102,3.108,3.114,3.123,3.126,3.126,3.128,3.128,3.135,3.135,3.142,3.146,3.155,3.161,3.163,3.172,3.174,3.177,3.186,3.2,3.221,3.225,3.228,3.232,3.232,3.232,3.236,3.245,3.253,3.262,3.28,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 26.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 26.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 26.4559} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 26.5026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.176,0.186,0.186,0,0,0,0,0,0,0,0,3.69,3.672,3.672,3.662,3.648,3.628,3.608,3.608,3.608,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.227,3.225,3.216,3.214,3.216,3.216,3.266,3.367,0,0,0,0,0,0,0,0.15,0.149,0.149,0.149,0.149,0.143,0.143,0.143,0.145,0.145,0.148,0.148,0.155,0.158,3.037,3.039,3.039,3.039,3.037,3.04,3.034,0.16,0.16,0.16,0.154,0.154,0.148,0.147,0.144,0.128,0.11,0.086,0.063,0.062,0.06,0.06,0.062,0.062,0.063,0.064,0.063,0.061,0.059,0.059,0.059,0.068,0.106,0.177,3.332,3.345,3.366,3.366,3.367,3.37,3.39,0.007,0,0,0,0.007,3.471,3.471,3.478,3.478,3.489,3.496,3.503,3.505,3.505,3.506,3.519,3.523,3.523,3.525,3.527,3.536,3.537,3.541,3.537,3.537,3.552,3.552,3.554,3.559,3.56,3.566,3.577,3.579,3.582,3.584,3.585,3.604,3.604,3.62,3.628,3.628,3.634,3.641,3.643,3.648,3.652,3.662,3.665,3.67,3.679,3.68,3.684,3.693,3.708,3.714,3.714,3.719,3.727,3.74,3.75,3.754,3.765,3.774,3.778,3.781,3.798,3.81,3.813,3.822,3.847,3.85,3.855,3.875,3.883,3.896,3.906,3.918,3.932,3.939,3.957,3.977,3.978,3.993,4.016,4.023,4.032,4.057,4.084,4.089,0.016,0.016,0.016,0.016,0.016,4.095,4.052,4.029,4.003,3.951,3.931,3.906,3.872,3.844,3.806,3.772,3.756,3.731,3.686,3.666,3.653,3.624,3.607,3.579,3.546,3.531,3.505,3.487,3.464,3.427,3.423,3.41,3.371,3.368,3.349,3.33,3.303,3.291,3.271,3.25,3.228,3.22,3.198,3.185,3.173,3.161,3.142,3.125,3.105,3.1,3.082,3.071,3.053,3.032,3.02,3.02,3.004,2.984,2.978,2.96,2.952,2.937,2.926,2.914,2.913,2.902,2.878,2.874,2.858,2.852,2.835,2.825,2.813,2.803,2.784,2.783,2.782,2.769,2.758,2.748,2.735,2.733,2.709,2.709,2.707,2.69,2.69,2.68,2.676,2.665,2.656,2.65,2.649,2.64,2.632,2.627,2.622,2.606,2.604,2.594,2.589,2.584,2.57,2.57,2.565,2.564,2.554,2.545,2.539,2.532,2.531,2.524,2.517,2.51,2.504,2.502,2.502,2.496,2.492,2.492,2.481,2.477,2.476,2.471,2.471,2.468,2.463,2.457,2.456,2.451,2.451,2.45,2.449,2.444,2.443,2.443,2.432,2.432,2.43,2.428,2.426,2.425,2.424,2.419,2.416,2.415,2.415,2.413,2.413,2.412,2.411,2.408,2.408,2.408,2.406,2.408,2.408,2.409,2.408,2.409,2.409,2.412,2.413,2.413,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.414,2.415,2.424,2.424,2.423,2.424,2.425,2.428,2.429,2.432,2.435,2.437,2.438,2.448,2.45,2.45,2.45,2.456,2.46,2.46,2.467,2.471,2.477,2.48,2.48,2.48,2.48,2.486,2.494,2.497,2.501,2.511,2.514,2.515,2.518,2.524,2.531,2.534,2.534,2.546,2.552,2.558,2.56,2.56,2.575,2.594,2.597,2.599,2.608,2.61,2.611,2.625,2.626,2.636,2.639,2.647,2.652,2.657,2.676,2.678,2.691,2.698,2.699,2.715,2.717,2.73,2.74,2.753,2.753,2.758,2.783,2.792,2.794,2.803,2.82,2.827,2.833,2.849,2.86,2.875,2.883,2.89,2.904,2.912,2.916,2.939,2.947,2.964,2.973,2.982,2.996,3.013,3.022,3.041,3.049,3.062,3.077,3.096,3.107,3.122,3.144,3.153,3.163,3.187,3.201,3.22,3.236,3.241,3.258,3.279,3.3,3.329,3.342,3.353,3.373,3.386,3.405,3.432,3.456,3.47,3.5,3.522,3.55,3.561,3.602,3.613,3.643,3.658,3.7,3.716,3.743,3.778,3.8,3.83,3.873,3.885,3.927,3.981,0.007,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.356,3.333,3.322,3.318,3.301,3.294,3.291,3.277,3.276,3.276,3.253,3.252,3.241,3.239,3.22,3.206,3.205,3.195,3.187,3.182,3.171,3.171,3.163,3.153,3.151,3.141,3.139,3.129,3.126,3.122,3.118,3.111,3.103,3.103,3.09,3.088,3.077,3.076,3.073,3.072,3.067,3.061,3.06,3.057,3.052,3.049,3.042,3.04,3.037,3.037,3.033,3.033,3.033,3.029,3.027,3.023,3.023,3.023,3.03,3.03,3.03,3.021,3.019,3.015,3.011,3.011,3.011,3.008,3.007,3.007,3.007,3.007,3.009,3.009,3.009,3.009,3.009,3.006,3.009,3.011,3.011,3.012,3.013,3.013,3.013,3.014,3.017,3.018,3.02,3.02,3.021,3.027,3.028,3.029,3.036,3.036,3.036,3.042,3.044,3.048,3.048,3.048,3.052,3.052,3.061,3.061,3.062,3.069,3.08,3.087,3.087,3.09,3.09,3.093,3.096,3.106,3.11,3.114,3.118,3.134,3.134,3.137,3.138,3.138,3.138,3.147,3.152,3.153,3.158,3.158,3.17,3.174,3.179,3.182,3.197,3.206,3.213,3.221,3.231,3.238,3.238,3.239,3.239,3.242,3.255,3.273,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 26.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 26.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 26.657} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 26.6988} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.173,0.18,0.18,0,0,0,0,0,0,0,0,3.686,3.671,3.668,3.661,3.647,3.627,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.21,3.21,3.275,3.352,3.352,0,0,0,0,0,0,0,0.152,0.145,0.145,0.145,0.145,0.155,0.155,0.155,0.156,0.156,0.156,0.156,0.156,0.156,3.039,3.039,3.039,3.039,3.03,3.029,0.16,0.155,0.152,0.152,0.152,0.151,0.151,0.141,0.141,0.135,0.11,0.074,0.068,0.061,0.061,0.061,0.061,0.067,0.067,0.068,0.067,0.064,0.063,0.063,0.063,0.071,0.114,0.178,3.341,3.356,3.364,3.356,3.364,3.364,3.365,3.365,3.391,3.414,3.444,3.456,3.478,3.471,3.471,3.478,3.483,3.495,3.497,3.498,3.511,3.511,3.511,3.515,3.519,3.521,3.528,3.535,3.538,3.545,3.546,3.546,3.55,3.551,3.556,3.561,3.571,3.573,3.576,3.582,3.585,3.588,3.6,3.607,3.608,3.615,3.624,3.625,3.633,3.635,3.639,3.646,3.649,3.66,3.661,3.664,3.673,3.675,3.682,3.689,3.697,3.709,3.718,3.726,3.727,3.746,3.749,3.752,3.762,3.767,3.784,3.792,3.81,3.811,3.831,3.833,3.838,3.856,3.858,3.879,3.885,3.889,3.899,3.921,3.927,3.95,3.961,3.969,3.977,3.989,4.012,4.041,4.049,4.069,4.086,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.053,3.991,3.961,3.932,3.891,3.88,3.831,3.813,3.791,3.751,3.728,3.694,3.678,3.636,3.632,3.602,3.572,3.557,3.52,3.518,3.491,3.461,3.447,3.417,3.415,3.382,3.369,3.353,3.34,3.303,3.296,3.269,3.252,3.24,3.218,3.189,3.183,3.172,3.148,3.135,3.129,3.097,3.093,3.089,3.061,3.044,3.044,3.035,3.022,3.002,2.988,2.975,2.956,2.951,2.938,2.923,2.916,2.91,2.89,2.879,2.878,2.86,2.846,2.84,2.823,2.818,2.803,2.788,2.782,2.775,2.766,2.755,2.751,2.736,2.728,2.724,2.709,2.703,2.69,2.681,2.681,2.676,2.662,2.661,2.655,2.648,2.641,2.638,2.623,2.611,2.611,2.606,2.604,2.594,2.58,2.572,2.571,2.565,2.564,2.556,2.545,2.538,2.533,2.532,2.529,2.52,2.509,2.508,2.501,2.501,2.499,2.492,2.49,2.487,2.479,2.475,2.475,2.472,2.471,2.461,2.461,2.452,2.451,2.45,2.442,2.442,2.44,2.438,2.44,2.438,2.434,2.429,2.428,2.428,2.425,2.425,2.425,2.424,2.421,2.42,2.412,2.412,2.415,2.412,2.412,2.41,2.409,2.408,2.408,2.408,2.41,2.411,2.412,2.412,2.412,2.413,2.413,2.414,2.414,2.417,2.417,2.417,2.418,2.42,2.42,2.419,2.419,2.419,2.419,2.42,2.423,2.425,2.427,2.435,2.437,2.438,2.445,2.446,2.448,2.454,2.455,2.455,2.458,2.458,2.467,2.468,2.473,2.474,2.478,2.486,2.486,2.487,2.49,2.494,2.495,2.501,2.509,2.516,2.517,2.529,2.535,2.539,2.54,2.549,2.559,2.562,2.562,2.564,2.574,2.597,2.6,2.6,2.601,2.607,2.613,2.628,2.631,2.64,2.642,2.649,2.65,2.669,2.678,2.678,2.686,2.699,2.702,2.711,2.724,2.727,2.739,2.753,2.755,2.759,2.779,2.791,2.797,2.805,2.818,2.836,2.844,2.848,2.858,2.861,2.878,2.889,2.91,2.921,2.925,2.941,2.953,2.959,2.969,2.98,2.996,3.014,3.026,3.032,3.041,3.067,3.083,3.09,3.104,3.118,3.14,3.148,3.167,3.177,3.198,3.217,3.236,3.247,3.262,3.276,3.294,3.321,3.343,3.353,3.371,3.405,3.413,3.429,3.458,3.482,3.498,3.522,3.534,3.562,3.593,3.616,3.636,3.662,3.691,3.722,3.751,3.777,3.805,3.863,3.889,3.913,3.913,3.949,3.985,0.016,0.016,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.357,3.341,3.329,3.309,3.303,3.289,3.288,3.285,3.27,3.259,3.25,3.247,3.236,3.23,3.215,3.211,3.211,3.202,3.195,3.183,3.17,3.17,3.16,3.156,3.154,3.142,3.135,3.13,3.13,3.123,3.114,3.113,3.107,3.099,3.094,3.086,3.086,3.081,3.079,3.073,3.072,3.071,3.063,3.06,3.051,3.05,3.044,3.044,3.044,3.039,3.035,3.032,3.023,3.022,3.022,3.022,3.022,3.025,3.03,3.03,3.03,3.02,3.018,3.016,3.013,3.01,3.01,3.008,3.008,3.008,3.008,3.008,3.009,3.008,3.008,3.009,3.009,3.01,3.012,3.01,3.012,3.012,3.014,3.014,3.017,3.019,3.017,3.017,3.017,3.02,3.02,3.022,3.023,3.029,3.031,3.031,3.031,3.031,3.038,3.04,3.05,3.051,3.053,3.056,3.061,3.066,3.066,3.079,3.08,3.089,3.093,3.093,3.093,3.094,3.095,3.102,3.11,3.111,3.12,3.127,3.127,3.128,3.134,3.134,3.134,3.144,3.15,3.157,3.162,3.163,3.163,3.172,3.177,3.178,3.201,3.215,3.219,3.222,3.229,3.232,3.236,3.239,3.247,3.248,3.259,3.279,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 26.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 26.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 26.8489} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 26.8986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.18,0.187,0.187,0,0,0,0,0,0,0,0,3.687,3.681,3.666,3.651,3.65,3.627,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.215,3.209,3.209,3.267,3.362,3.362,0,0,0,0,0,0,0,0.152,0.142,0.142,0.142,0.142,0.141,0.141,0.141,0.154,0.153,0.153,0.153,0.153,0.153,3.039,3.039,3.039,3.039,3.039,3.039,3.02,0.159,0.156,0.156,0.151,0.149,0.145,0.145,0.145,0.132,0.103,0.075,0.068,0.059,0.059,0.059,0.06,0.06,0.065,0.065,0.065,0.065,0.065,0.065,0.07,0.075,0.11,0.183,3.318,3.367,3.37,3.37,3.37,3.369,3.39,3.401,3.401,3.408,3.434,3.44,3.459,3.459,3.464,3.474,3.482,3.495,3.499,3.504,3.506,3.508,3.509,3.513,3.524,3.526,3.535,3.535,3.538,3.541,3.542,3.544,3.549,3.551,3.552,3.561,3.562,3.567,3.568,3.577,3.577,3.583,3.59,3.592,3.604,3.617,3.622,3.626,3.634,3.646,3.651,3.651,3.651,3.659,3.66,3.666,3.675,3.68,3.691,3.696,3.7,3.708,3.724,3.731,3.734,3.75,3.751,3.752,3.766,3.781,3.791,3.798,3.801,3.817,3.82,3.822,3.836,3.855,3.862,3.868,3.889,3.902,3.909,3.917,3.929,3.939,3.958,3.969,3.986,3.996,4.014,4.025,4.045,4.069,4.073,0.016,0.016,0.016,0.016,0.007,0.016,4.092,4.052,4.008,3.999,3.96,3.935,3.905,3.867,3.843,3.798,3.79,3.756,3.728,3.69,3.677,3.653,3.626,3.605,3.583,3.547,3.527,3.506,3.484,3.47,3.453,3.43,3.408,3.373,3.369,3.35,3.331,3.309,3.301,3.269,3.26,3.24,3.228,3.191,3.191,3.171,3.143,3.138,3.122,3.109,3.099,3.087,3.065,3.045,3.045,3.04,3.02,3.001,2.981,2.981,2.959,2.957,2.939,2.923,2.921,2.904,2.897,2.88,2.872,2.86,2.848,2.84,2.823,2.809,2.805,2.795,2.785,2.781,2.772,2.758,2.752,2.737,2.727,2.717,2.711,2.698,2.687,2.682,2.677,2.667,2.657,2.653,2.65,2.646,2.634,2.632,2.621,2.615,2.612,2.604,2.597,2.595,2.578,2.576,2.575,2.567,2.56,2.551,2.55,2.543,2.539,2.536,2.534,2.52,2.511,2.507,2.504,2.499,2.498,2.487,2.485,2.481,2.476,2.474,2.474,2.464,2.463,2.458,2.458,2.457,2.455,2.452,2.452,2.446,2.442,2.442,2.436,2.434,2.434,2.43,2.43,2.43,2.425,2.419,2.419,2.416,2.416,2.415,2.415,2.414,2.411,2.409,2.409,2.409,2.413,2.413,2.414,2.413,2.411,2.411,2.413,2.413,2.414,2.414,2.414,2.414,2.415,2.415,2.415,2.417,2.419,2.423,2.423,2.419,2.419,2.419,2.419,2.421,2.425,2.425,2.433,2.436,2.433,2.437,2.437,2.438,2.447,2.45,2.451,2.451,2.463,2.465,2.465,2.467,2.471,2.475,2.475,2.479,2.481,2.483,2.486,2.499,2.499,2.508,2.509,2.51,2.521,2.521,2.525,2.541,2.544,2.547,2.55,2.562,2.562,2.568,2.569,2.593,2.594,2.595,2.6,2.607,2.611,2.624,2.638,2.64,2.643,2.647,2.652,2.666,2.675,2.678,2.682,2.698,2.705,2.716,2.721,2.735,2.74,2.748,2.753,2.762,2.778,2.793,2.799,2.806,2.821,2.827,2.834,2.847,2.849,2.869,2.879,2.889,2.904,2.919,2.924,2.938,2.949,2.951,2.969,2.986,2.994,3.015,3.023,3.044,3.049,3.062,3.09,3.095,3.103,3.124,3.142,3.155,3.17,3.175,3.199,3.216,3.23,3.247,3.268,3.275,3.295,3.315,3.33,3.358,3.369,3.393,3.414,3.455,3.483,3.502,3.502,3.524,3.549,3.567,3.596,3.614,3.635,3.669,3.687,3.719,3.752,3.78,3.805,3.824,3.867,3.89,3.923,3.955,3.991,4.066,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.35,3.345,3.328,3.317,3.313,3.295,3.292,3.274,3.262,3.261,3.254,3.237,3.234,3.232,3.215,3.209,3.209,3.202,3.192,3.185,3.171,3.167,3.16,3.159,3.158,3.143,3.138,3.134,3.126,3.121,3.12,3.11,3.105,3.1,3.099,3.088,3.088,3.087,3.077,3.073,3.068,3.061,3.06,3.057,3.045,3.045,3.043,3.041,3.037,3.037,3.037,3.037,3.03,3.03,3.026,3.026,3.026,3.026,3.028,3.028,3.028,3.019,3.016,3.014,3.014,3.012,3.012,3.012,3.012,3.012,3.011,3.014,3.014,3.012,3.012,3.012,3.007,3.012,3.009,3.009,3.012,3.012,3.012,3.013,3.013,3.017,3.017,3.017,3.019,3.02,3.024,3.026,3.024,3.029,3.032,3.037,3.037,3.04,3.041,3.046,3.047,3.055,3.055,3.061,3.061,3.064,3.069,3.075,3.079,3.091,3.091,3.091,3.092,3.096,3.096,3.109,3.114,3.114,3.116,3.128,3.128,3.137,3.137,3.139,3.139,3.143,3.151,3.152,3.159,3.164,3.174,3.175,3.176,3.185,3.197,3.211,3.219,3.221,3.227,3.228,3.228,3.245,3.249,3.252,3.263,3.281,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 27.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 27.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 27.0499} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.6642} SEN {Time 27.0986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.18,0.184,0.184,0,0,0,0,0,0,0,0,3.684,3.672,3.671,3.668,3.65,3.625,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.217,3.216,3.215,3.216,3.216,3.27,3.36,0,0,0,0,0,0,0,0.149,0.149,0.149,0.149,0.15,0.15,0.149,0.149,0.153,0.149,0.153,0.153,0.154,0.161,3.027,3.038,3.038,3.038,3.027,3.024,0.153,0.153,0.153,0.153,0.153,0.15,0.149,0.147,0.147,0.127,0.107,0.08,0.065,0.057,0.057,0.057,0.061,0.062,0.062,0.064,0.064,0.064,0.064,0.063,0.063,0.063,0.107,0.179,3.337,3.357,3.366,3.366,3.366,3.359,3.369,3.369,3.393,3.401,3.426,3.434,3.454,3.465,3.471,3.476,3.48,3.493,3.503,3.505,3.507,3.511,3.516,3.522,3.527,3.527,3.533,3.533,3.537,3.539,3.542,3.542,3.546,3.549,3.56,3.56,3.56,3.568,3.571,3.574,3.58,3.584,3.596,3.596,3.6,3.612,3.63,3.631,3.631,3.637,3.646,3.649,3.653,3.656,3.664,3.667,3.675,3.682,3.686,3.69,3.703,3.716,3.723,3.726,3.738,3.749,3.751,3.753,3.761,3.768,3.777,3.79,3.797,3.827,3.831,3.835,3.849,3.849,3.867,3.883,3.888,3.899,3.912,3.917,3.926,3.949,3.964,3.974,3.985,3.99,4.016,4.034,4.046,4.068,4.073,0.016,0.016,0.016,0.016,0.007,0,0.007,4.091,4.091,4.015,3.989,3.93,3.903,3.884,3.825,3.802,3.78,3.746,3.726,3.703,3.679,3.651,3.611,3.603,3.568,3.546,3.529,3.517,3.486,3.462,3.451,3.417,3.412,3.387,3.369,3.34,3.33,3.309,3.289,3.273,3.266,3.235,3.224,3.202,3.193,3.171,3.153,3.134,3.128,3.11,3.1,3.081,3.065,3.052,3.034,3.01,3.007,3,2.985,2.978,2.958,2.956,2.937,2.929,2.926,2.904,2.899,2.869,2.868,2.853,2.848,2.839,2.83,2.818,2.812,2.796,2.791,2.782,2.765,2.762,2.755,2.737,2.734,2.721,2.718,2.705,2.693,2.678,2.678,2.668,2.662,2.656,2.65,2.645,2.635,2.633,2.622,2.616,2.615,2.605,2.603,2.586,2.585,2.576,2.569,2.565,2.563,2.555,2.547,2.546,2.536,2.533,2.522,2.518,2.514,2.506,2.501,2.492,2.491,2.489,2.482,2.479,2.479,2.476,2.474,2.467,2.467,2.459,2.458,2.457,2.455,2.452,2.451,2.449,2.449,2.442,2.439,2.436,2.433,2.428,2.427,2.427,2.427,2.426,2.426,2.418,2.414,2.414,2.414,2.414,2.412,2.412,2.412,2.412,2.41,2.41,2.409,2.409,2.407,2.407,2.407,2.41,2.41,2.414,2.414,2.411,2.411,2.411,2.411,2.42,2.42,2.421,2.421,2.423,2.42,2.423,2.423,2.427,2.423,2.427,2.43,2.437,2.438,2.441,2.442,2.445,2.451,2.452,2.453,2.456,2.457,2.464,2.466,2.47,2.471,2.475,2.475,2.476,2.48,2.488,2.492,2.494,2.495,2.516,2.517,2.52,2.522,2.527,2.531,2.533,2.541,2.551,2.553,2.56,2.569,2.573,2.574,2.59,2.592,2.6,2.601,2.606,2.616,2.622,2.64,2.64,2.644,2.649,2.65,2.663,2.677,2.682,2.683,2.697,2.706,2.715,2.718,2.726,2.742,2.746,2.758,2.76,2.774,2.791,2.799,2.808,2.823,2.833,2.835,2.847,2.851,2.869,2.873,2.893,2.897,2.916,2.917,2.944,2.953,2.962,2.975,2.978,3,3.015,3.018,3.037,3.048,3.062,3.086,3.093,3.107,3.132,3.132,3.158,3.17,3.174,3.196,3.219,3.237,3.248,3.266,3.282,3.303,3.324,3.333,3.352,3.374,3.393,3.408,3.425,3.46,3.482,3.494,3.516,3.543,3.568,3.596,3.618,3.643,3.666,3.696,3.727,3.763,3.775,3.8,3.834,3.862,3.892,3.942,3.994,4.069,4.069,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.362,3.343,3.321,3.318,3.301,3.297,3.287,3.283,3.273,3.257,3.25,3.247,3.246,3.24,3.222,3.217,3.216,3.201,3.189,3.177,3.175,3.17,3.159,3.152,3.151,3.148,3.131,3.13,3.123,3.117,3.117,3.112,3.104,3.101,3.095,3.088,3.088,3.082,3.081,3.074,3.07,3.064,3.063,3.06,3.053,3.051,3.05,3.042,3.038,3.038,3.038,3.038,3.029,3.029,3.026,3.024,3.024,3.024,3.029,3.029,3.029,3.023,3.019,3.017,3.015,3.011,3.011,3.011,3.009,3.009,3.007,3.005,3.007,3.007,3.007,3.01,3.011,3.013,3.013,3.014,3.014,3.014,3.014,3.019,3.019,3.02,3.019,3.019,3.021,3.028,3.028,3.028,3.028,3.029,3.035,3.035,3.036,3.037,3.043,3.044,3.045,3.049,3.05,3.053,3.065,3.065,3.067,3.067,3.075,3.083,3.088,3.088,3.092,3.092,3.097,3.106,3.109,3.115,3.123,3.127,3.128,3.132,3.137,3.139,3.139,3.148,3.15,3.151,3.157,3.168,3.172,3.175,3.185,3.185,3.2,3.211,3.218,3.23,3.233,3.237,3.237,3.243,3.243,3.255,3.258,3.275,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 27.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 27.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 27.2509} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.937} {Name Sonar15 Range 4.8514} SEN {Time 27.2986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0,3.69,3.684,3.665,3.662,3.644,3.635,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.233,3.224,3.215,3.208,3.208,3.208,3.264,3.367,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.146,0.146,0.148,0.149,0.153,0.15,0.153,0.153,0.156,0.156,3.034,3.034,3.034,3.034,3.032,3.029,0.156,0.156,0.156,0.156,0.156,0.151,0.15,0.15,0.15,0.128,0.107,0.075,0.066,0.057,0.056,0.056,0.057,0.06,0.062,0.069,0.069,0.069,0.064,0.064,0.064,0.071,0.107,0.178,3.346,3.364,3.365,3.364,3.365,3.371,3.383,0.007,3.422,3.422,3.447,3.447,3.457,3.462,3.473,3.485,3.487,3.497,3.499,3.501,3.503,3.507,3.508,3.518,3.522,3.526,3.53,3.532,3.533,3.538,3.542,3.549,3.55,3.551,3.555,3.56,3.567,3.576,3.584,3.584,3.584,3.587,3.598,3.603,3.609,3.61,3.623,3.632,3.633,3.634,3.642,3.646,3.65,3.656,3.664,3.667,3.678,3.679,3.689,3.691,3.697,3.702,3.72,3.724,3.73,3.735,3.74,3.75,3.755,3.773,3.785,3.797,3.799,3.817,3.82,3.834,3.837,3.846,3.874,3.879,3.89,3.896,3.898,3.925,3.937,3.941,3.951,3.97,3.983,3.994,3.999,4.022,4.039,4.066,4.073,0.016,0.016,0.016,0.016,0.007,0,0.016,4.042,4.017,4.001,4.001,3.963,3.939,3.877,3.837,3.794,3.785,3.742,3.727,3.7,3.666,3.652,3.622,3.605,3.575,3.548,3.525,3.504,3.492,3.473,3.436,3.426,3.414,3.384,3.363,3.345,3.322,3.3,3.299,3.272,3.251,3.23,3.225,3.204,3.179,3.17,3.158,3.14,3.122,3.103,3.098,3.086,3.061,3.041,3.034,3.02,3.009,3.006,2.99,2.974,2.964,2.957,2.938,2.93,2.928,2.903,2.891,2.881,2.868,2.859,2.857,2.842,2.825,2.808,2.803,2.792,2.778,2.776,2.763,2.758,2.754,2.735,2.732,2.714,2.712,2.709,2.697,2.681,2.677,2.67,2.659,2.657,2.652,2.646,2.638,2.637,2.623,2.617,2.608,2.602,2.593,2.587,2.583,2.579,2.57,2.567,2.562,2.551,2.551,2.539,2.534,2.529,2.524,2.519,2.513,2.512,2.505,2.498,2.497,2.49,2.489,2.477,2.477,2.476,2.476,2.466,2.465,2.464,2.462,2.452,2.451,2.448,2.447,2.446,2.443,2.443,2.442,2.437,2.433,2.425,2.425,2.425,2.425,2.423,2.419,2.419,2.417,2.417,2.416,2.416,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.41,2.409,2.409,2.412,2.41,2.41,2.412,2.41,2.41,2.412,2.413,2.413,2.414,2.417,2.418,2.418,2.42,2.421,2.421,2.421,2.425,2.43,2.432,2.435,2.436,2.436,2.44,2.444,2.444,2.451,2.451,2.453,2.455,2.46,2.464,2.466,2.466,2.47,2.474,2.476,2.478,2.487,2.489,2.493,2.495,2.501,2.502,2.508,2.51,2.518,2.523,2.531,2.537,2.542,2.548,2.553,2.562,2.564,2.571,2.58,2.59,2.595,2.599,2.602,2.603,2.612,2.623,2.634,2.64,2.643,2.648,2.652,2.668,2.671,2.683,2.688,2.7,2.703,2.713,2.713,2.722,2.737,2.75,2.755,2.758,2.769,2.781,2.795,2.799,2.823,2.827,2.842,2.846,2.861,2.873,2.882,2.891,2.901,2.915,2.926,2.934,2.951,2.964,2.977,2.985,2.992,3.015,3.027,3.039,3.047,3.061,3.077,3.094,3.113,3.126,3.138,3.153,3.169,3.17,3.202,3.216,3.233,3.249,3.259,3.271,3.299,3.317,3.331,3.361,3.364,3.392,3.411,3.436,3.455,3.482,3.51,3.515,3.542,3.561,3.592,3.62,3.646,3.662,3.697,3.724,3.753,3.774,3.808,3.839,3.863,3.901,3.913,4.025,0,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.354,3.335,3.324,3.311,3.303,3.295,3.282,3.28,3.264,3.26,3.255,3.242,3.238,3.232,3.225,3.209,3.207,3.202,3.192,3.183,3.181,3.176,3.161,3.154,3.146,3.144,3.135,3.125,3.123,3.116,3.113,3.11,3.107,3.105,3.093,3.089,3.088,3.079,3.077,3.074,3.073,3.062,3.06,3.053,3.052,3.048,3.043,3.041,3.041,3.036,3.034,3.033,3.029,3.028,3.026,3.022,3.022,3.022,3.024,3.024,3.024,3.022,3.019,3.018,3.015,3.013,3.012,3.008,3.008,3.007,3.007,3.007,3.008,3.008,3.01,3.01,3.01,3.013,3.009,3.009,3.01,3.013,3.017,3.017,3.016,3.017,3.016,3.016,3.019,3.019,3.019,3.021,3.022,3.026,3.034,3.034,3.034,3.038,3.044,3.046,3.053,3.056,3.057,3.058,3.06,3.063,3.067,3.069,3.078,3.082,3.089,3.09,3.092,3.096,3.105,3.107,3.109,3.111,3.124,3.13,3.13,3.132,3.132,3.138,3.138,3.145,3.15,3.154,3.157,3.166,3.166,3.168,3.174,3.189,3.2,3.202,3.217,3.219,3.23,3.236,3.239,3.239,3.246,3.247,3.259,3.279,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 27.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 27.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 27.4518} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.937} {Name Sonar15 Range 4.8514} SEN {Time 27.4986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.18,0.18,0.18,0,0,0,0,0,0,0,0,3.682,3.68,3.661,3.657,3.65,3.633,3.612,3.612,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.243,3.222,3.221,3.213,3.213,3.213,3.213,3.352,0.007,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.148,0.144,0.144,0.144,0.153,0.153,0.154,0.154,0.154,0.156,3.032,3.032,3.033,3.033,3.032,3.033,3.033,0.161,0.16,0.16,0.158,0.148,0.148,0.148,0.143,0.129,0.106,0.085,0.069,0.059,0.058,0.058,0.058,0.066,0.068,0.068,0.068,0.066,0.062,0.062,0.068,0.079,0.112,0.174,3.332,3.346,3.357,3.357,3.365,3.367,3.381,0.007,3.428,3.428,3.437,3.437,3.459,3.468,3.478,3.487,3.496,3.501,3.504,3.505,3.506,3.508,3.508,3.516,3.522,3.527,3.535,3.539,3.539,3.54,3.54,3.544,3.547,3.558,3.56,3.564,3.568,3.569,3.573,3.579,3.579,3.594,3.599,3.605,3.609,3.61,3.625,3.627,3.631,3.633,3.644,3.652,3.652,3.655,3.662,3.664,3.675,3.677,3.692,3.694,3.702,3.713,3.713,3.721,3.744,3.746,3.749,3.752,3.765,3.767,3.783,3.785,3.793,3.81,3.814,3.831,3.847,3.851,3.868,3.87,3.881,3.897,3.9,3.924,3.927,3.946,3.957,3.977,3.99,3.995,4.014,4.033,4.043,4.057,4.082,4.094,0.016,0.016,0.016,0.016,0.016,4.094,4.056,4.022,3.981,3.948,3.921,3.897,3.874,3.841,3.811,3.782,3.751,3.72,3.694,3.675,3.643,3.626,3.592,3.581,3.55,3.53,3.512,3.486,3.46,3.443,3.411,3.402,3.383,3.371,3.354,3.341,3.311,3.289,3.278,3.252,3.233,3.228,3.198,3.187,3.175,3.158,3.134,3.131,3.103,3.093,3.087,3.061,3.041,3.032,3.022,3.016,2.996,2.991,2.98,2.962,2.952,2.944,2.926,2.919,2.902,2.895,2.881,2.869,2.865,2.856,2.842,2.823,2.815,2.806,2.789,2.778,2.777,2.766,2.763,2.759,2.739,2.724,2.722,2.706,2.702,2.701,2.683,2.677,2.672,2.667,2.655,2.653,2.647,2.64,2.637,2.621,2.618,2.61,2.606,2.594,2.585,2.578,2.571,2.566,2.564,2.563,2.551,2.548,2.537,2.532,2.531,2.528,2.517,2.514,2.508,2.506,2.499,2.498,2.49,2.488,2.483,2.479,2.479,2.473,2.472,2.468,2.465,2.454,2.454,2.452,2.45,2.449,2.448,2.446,2.445,2.441,2.435,2.435,2.433,2.432,2.429,2.425,2.424,2.423,2.419,2.419,2.415,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.413,2.414,2.416,2.416,2.416,2.416,2.416,2.416,2.417,2.417,2.415,2.417,2.417,2.421,2.424,2.424,2.426,2.426,2.433,2.434,2.438,2.44,2.444,2.444,2.45,2.452,2.455,2.457,2.459,2.461,2.466,2.47,2.474,2.481,2.482,2.483,2.492,2.494,2.497,2.499,2.501,2.51,2.515,2.522,2.527,2.527,2.53,2.533,2.534,2.546,2.55,2.558,2.562,2.563,2.578,2.591,2.599,2.603,2.604,2.61,2.618,2.628,2.631,2.633,2.635,2.651,2.655,2.664,2.672,2.676,2.692,2.696,2.709,2.713,2.723,2.73,2.744,2.746,2.748,2.767,2.785,2.786,2.793,2.797,2.813,2.824,2.843,2.845,2.856,2.869,2.874,2.888,2.902,2.918,2.925,2.943,2.955,2.956,2.961,2.984,2.994,3.01,3.024,3.038,3.039,3.069,3.082,3.099,3.103,3.119,3.14,3.156,3.163,3.178,3.195,3.219,3.234,3.255,3.266,3.281,3.295,3.327,3.342,3.346,3.374,3.388,3.407,3.445,3.459,3.485,3.504,3.518,3.546,3.563,3.592,3.611,3.638,3.659,3.689,3.727,3.744,3.767,3.804,3.837,3.866,3.887,3.916,3.941,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.347,3.332,3.328,3.311,3.308,3.297,3.289,3.283,3.283,3.263,3.257,3.242,3.24,3.236,3.22,3.207,3.206,3.201,3.187,3.182,3.175,3.17,3.16,3.157,3.155,3.136,3.134,3.126,3.123,3.116,3.113,3.103,3.103,3.097,3.096,3.095,3.085,3.084,3.08,3.077,3.07,3.068,3.066,3.056,3.05,3.049,3.044,3.042,3.041,3.038,3.036,3.035,3.029,3.026,3.024,3.024,3.026,3.026,3.028,3.028,3.028,3.021,3.017,3.015,3.015,3.013,3.012,3.011,3.011,3.011,3.01,3.009,3.01,3.006,3.006,3.006,3.01,3.011,3.011,3.013,3.015,3.015,3.015,3.015,3.015,3.021,3.013,3.016,3.022,3.018,3.018,3.024,3.029,3.029,3.036,3.036,3.036,3.036,3.038,3.042,3.051,3.056,3.059,3.06,3.061,3.065,3.069,3.073,3.077,3.082,3.091,3.094,3.094,3.094,3.098,3.105,3.111,3.112,3.126,3.13,3.13,3.134,3.138,3.14,3.14,3.145,3.146,3.155,3.163,3.165,3.169,3.175,3.181,3.191,3.196,3.208,3.222,3.224,3.225,3.235,3.237,3.238,3.25,3.253,3.263,3.276,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 27.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 27.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 27.6527} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8514} SEN {Time 27.6946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.18,0.18,0.188,0.188,0,0,0,0,0,0,0,0,3.689,3.679,3.67,3.662,3.639,3.638,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.213,3.208,3.208,3.208,3.273,3.368,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.146,0.147,0.148,0.15,0.15,0.15,0.15,0.154,0.154,3.031,3.031,3.038,3.038,3.031,3.038,3.038,0.153,0.153,0.153,0.153,0.15,0.15,0.148,0.148,0.134,0.099,0.089,0.062,0.062,0.057,0.062,0.062,0.061,0.064,0.064,0.063,0.061,0.059,0.059,0.059,0.071,0.11,0.171,3.331,3.349,3.363,3.363,3.363,3.379,3.379,3.401,3.401,3.426,3.43,3.43,3.438,3.472,3.475,3.479,3.489,3.49,3.494,3.502,3.509,3.515,3.516,3.522,3.523,3.523,3.534,3.534,3.534,3.539,3.542,3.542,3.542,3.551,3.556,3.56,3.565,3.569,3.571,3.574,3.586,3.587,3.595,3.598,3.607,3.614,3.619,3.621,3.637,3.638,3.645,3.645,3.656,3.66,3.66,3.669,3.673,3.68,3.695,3.697,3.699,3.703,3.725,3.736,3.745,3.747,3.751,3.757,3.767,3.779,3.787,3.804,3.806,3.813,3.824,3.824,3.846,3.85,3.862,3.882,3.885,3.9,3.905,3.91,3.925,3.943,3.957,3.966,3.976,3.984,4.013,4.022,4.043,4.068,4.08,4.091,0.016,0.016,0,0,0,0.016,4.072,4.008,3.996,3.95,3.938,3.906,3.87,3.854,3.81,3.786,3.76,3.734,3.708,3.675,3.649,3.629,3.593,3.578,3.551,3.534,3.511,3.481,3.453,3.442,3.42,3.405,3.374,3.363,3.347,3.33,3.305,3.295,3.269,3.26,3.237,3.225,3.199,3.181,3.175,3.158,3.142,3.134,3.107,3.092,3.089,3.066,3.036,3.033,3.029,3.013,3.003,2.996,2.98,2.964,2.958,2.935,2.93,2.911,2.906,2.9,2.876,2.872,2.855,2.845,2.842,2.825,2.817,2.812,2.791,2.784,2.778,2.764,2.762,2.747,2.734,2.727,2.722,2.711,2.706,2.692,2.686,2.677,2.673,2.669,2.653,2.652,2.652,2.64,2.637,2.626,2.613,2.608,2.605,2.599,2.593,2.579,2.577,2.577,2.568,2.565,2.555,2.541,2.539,2.538,2.524,2.522,2.517,2.512,2.508,2.506,2.497,2.496,2.495,2.486,2.482,2.482,2.478,2.476,2.466,2.465,2.462,2.462,2.452,2.452,2.447,2.445,2.443,2.441,2.44,2.44,2.436,2.436,2.426,2.426,2.423,2.421,2.42,2.42,2.419,2.413,2.413,2.417,2.413,2.413,2.416,2.413,2.409,2.409,2.409,2.409,2.409,2.41,2.41,2.411,2.413,2.413,2.413,2.416,2.416,2.411,2.416,2.416,2.419,2.421,2.421,2.419,2.419,2.419,2.419,2.419,2.42,2.427,2.43,2.432,2.432,2.439,2.441,2.441,2.443,2.446,2.448,2.45,2.459,2.462,2.466,2.471,2.475,2.476,2.477,2.477,2.481,2.487,2.488,2.488,2.492,2.499,2.515,2.516,2.517,2.518,2.522,2.524,2.533,2.54,2.548,2.554,2.555,2.564,2.576,2.578,2.591,2.593,2.601,2.602,2.602,2.61,2.624,2.63,2.644,2.645,2.646,2.658,2.662,2.676,2.685,2.686,2.702,2.702,2.711,2.72,2.736,2.741,2.747,2.752,2.76,2.779,2.785,2.791,2.814,2.815,2.829,2.836,2.852,2.858,2.871,2.883,2.885,2.895,2.916,2.926,2.948,2.952,2.961,2.978,2.989,2.997,3.009,3.022,3.039,3.041,3.068,3.075,3.089,3.101,3.119,3.136,3.154,3.165,3.182,3.199,3.216,3.236,3.249,3.27,3.286,3.301,3.32,3.334,3.354,3.379,3.386,3.403,3.433,3.459,3.478,3.493,3.519,3.545,3.561,3.601,3.613,3.651,3.668,3.699,3.727,3.751,3.794,3.8,3.828,3.86,3.906,3.953,3.985,3.985,4.092,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.354,3.329,3.327,3.313,3.306,3.298,3.293,3.282,3.269,3.269,3.251,3.242,3.234,3.232,3.218,3.212,3.207,3.193,3.186,3.186,3.175,3.166,3.155,3.152,3.147,3.147,3.143,3.141,3.122,3.116,3.115,3.11,3.105,3.099,3.092,3.088,3.086,3.079,3.075,3.067,3.066,3.062,3.058,3.056,3.051,3.051,3.048,3.047,3.044,3.042,3.042,3.036,3.026,3.026,3.024,3.022,3.026,3.027,3.029,3.029,3.029,3.026,3.016,3.016,3.013,3.012,3.012,3.011,3.01,3.01,3.01,3.008,3.008,3.006,3.006,3.01,3.01,3.01,3.011,3.011,3.011,3.011,3.012,3.011,3.014,3.017,3.017,3.014,3.023,3.023,3.025,3.026,3.03,3.026,3.031,3.031,3.032,3.035,3.042,3.05,3.051,3.056,3.058,3.058,3.059,3.065,3.07,3.071,3.075,3.082,3.085,3.09,3.092,3.092,3.097,3.104,3.11,3.117,3.117,3.123,3.128,3.128,3.134,3.134,3.134,3.143,3.146,3.149,3.159,3.164,3.17,3.17,3.175,3.178,3.2,3.223,3.227,3.229,3.229,3.23,3.233,3.236,3.241,3.249,3.26,3.267,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 27.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 27.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 27.8457} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3848} SEN {Time 27.8946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.18,0.178,0.178,0.178,0,0,0,0,0,0,0,0,3.681,3.68,3.672,3.661,3.641,3.625,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.231,3.217,3.216,3.211,3.211,3.211,3.268,3.355,0,0,0,0,0,0,0,0.145,0.142,0.142,0.14,0.14,0.142,0.143,0.143,0.15,0.15,0.15,0.15,0.152,0.152,3.033,3.033,3.039,3.039,3.033,3.039,3.039,0.16,0.16,0.16,0.156,0.156,0.149,0.148,0.147,0.123,0.111,0.076,0.064,0.064,0.062,0.064,0.06,0.06,0.062,0.063,0.062,0.062,0.057,0.057,0.057,0.07,0.107,0.174,3.331,3.346,3.376,3.364,3.373,3.376,3.376,3.41,3.43,3.432,3.432,3.432,3.452,3.454,3.474,3.476,3.486,3.491,3.498,3.508,3.51,3.51,3.51,3.524,3.525,3.525,3.525,3.535,3.534,3.535,3.543,3.545,3.548,3.552,3.552,3.56,3.566,3.571,3.572,3.576,3.579,3.585,3.587,3.603,3.61,3.614,3.627,3.628,3.629,3.631,3.646,3.649,3.652,3.657,3.661,3.665,3.676,3.682,3.687,3.696,3.697,3.706,3.722,3.732,3.738,3.738,3.741,3.741,3.768,3.769,3.781,3.79,3.809,3.819,3.825,3.827,3.835,3.852,3.863,3.879,3.885,3.898,3.901,3.921,3.929,3.953,3.961,3.975,3.981,3.992,4.018,4.027,4.046,4.071,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.05,3.988,3.969,3.934,3.901,3.866,3.841,3.807,3.782,3.759,3.738,3.703,3.665,3.647,3.614,3.59,3.572,3.55,3.521,3.511,3.484,3.453,3.441,3.41,3.409,3.373,3.362,3.346,3.337,3.302,3.294,3.283,3.251,3.229,3.218,3.195,3.188,3.173,3.148,3.14,3.127,3.115,3.096,3.085,3.069,3.037,3.033,3.024,3.012,3.003,2.987,2.978,2.961,2.955,2.939,2.922,2.922,2.908,2.892,2.875,2.867,2.852,2.841,2.837,2.828,2.814,2.808,2.786,2.785,2.779,2.764,2.755,2.743,2.728,2.727,2.715,2.713,2.708,2.703,2.687,2.676,2.674,2.669,2.654,2.653,2.647,2.64,2.639,2.625,2.62,2.617,2.608,2.602,2.587,2.582,2.581,2.57,2.568,2.564,2.552,2.551,2.54,2.537,2.534,2.522,2.521,2.515,2.508,2.501,2.496,2.493,2.491,2.483,2.481,2.479,2.478,2.472,2.468,2.467,2.464,2.463,2.451,2.448,2.446,2.446,2.446,2.446,2.442,2.439,2.438,2.427,2.426,2.426,2.424,2.421,2.421,2.42,2.42,2.418,2.415,2.414,2.415,2.414,2.414,2.414,2.413,2.412,2.412,2.41,2.41,2.407,2.407,2.41,2.408,2.411,2.411,2.409,2.409,2.415,2.415,2.419,2.419,2.423,2.419,2.419,2.42,2.42,2.42,2.426,2.429,2.429,2.429,2.431,2.431,2.438,2.442,2.445,2.442,2.442,2.449,2.449,2.45,2.453,2.464,2.465,2.467,2.473,2.474,2.483,2.486,2.486,2.486,2.49,2.499,2.505,2.514,2.514,2.517,2.518,2.519,2.53,2.537,2.539,2.551,2.553,2.559,2.564,2.565,2.577,2.591,2.604,2.607,2.607,2.61,2.619,2.62,2.628,2.635,2.639,2.648,2.651,2.655,2.669,2.67,2.69,2.695,2.697,2.715,2.717,2.733,2.743,2.75,2.751,2.763,2.788,2.789,2.793,2.802,2.812,2.831,2.839,2.844,2.859,2.867,2.875,2.893,2.899,2.917,2.927,2.944,2.955,2.959,2.971,2.982,3,3.008,3.028,3.028,3.041,3.061,3.075,3.089,3.107,3.126,3.141,3.156,3.168,3.183,3.202,3.22,3.231,3.249,3.26,3.278,3.296,3.322,3.325,3.352,3.37,3.39,3.41,3.432,3.447,3.485,3.495,3.518,3.546,3.566,3.587,3.644,3.67,3.68,3.68,3.718,3.752,3.786,3.799,3.836,3.869,3.889,3.92,3.952,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.346,3.34,3.328,3.319,3.305,3.297,3.293,3.282,3.27,3.261,3.255,3.242,3.242,3.237,3.225,3.21,3.21,3.196,3.183,3.18,3.179,3.175,3.154,3.152,3.149,3.144,3.141,3.133,3.129,3.121,3.12,3.112,3.105,3.101,3.095,3.088,3.086,3.085,3.083,3.071,3.07,3.064,3.061,3.06,3.058,3.051,3.047,3.042,3.039,3.038,3.038,3.033,3.032,3.028,3.027,3.023,3.023,3.023,3.02,3.022,3.022,3.02,3.017,3.014,3.012,3.012,3.012,3.01,3.01,3.01,3.01,3.007,3.007,3.007,3.007,3.007,3.008,3.009,3.009,3.012,3.012,3.012,3.012,3.012,3.015,3.015,3.016,3.019,3.019,3.019,3.019,3.022,3.026,3.029,3.035,3.037,3.037,3.038,3.039,3.039,3.05,3.055,3.058,3.058,3.058,3.061,3.062,3.067,3.082,3.082,3.093,3.094,3.094,3.098,3.102,3.102,3.112,3.115,3.119,3.13,3.13,3.137,3.137,3.139,3.139,3.146,3.15,3.152,3.157,3.158,3.168,3.172,3.178,3.182,3.198,3.216,3.219,3.225,3.228,3.233,3.233,3.234,3.245,3.249,3.262,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 28.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 28.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 28.0458} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3848} SEN {Time 28.0946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.174,0.177,0.184,0,0,0,0,0,0,0,0,3.699,3.679,3.669,3.662,3.647,3.628,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.225,3.213,3.212,3.213,3.225,3.272,3.363,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.15,0.149,0.15,0.15,0.157,0.16,3.024,3.037,3.037,3.037,3.035,3.037,3.035,0.156,0.156,0.156,0.155,0.155,0.155,0.15,0.15,0.13,0.12,0.076,0.067,0.065,0.063,0.063,0.063,0.066,0.068,0.068,0.068,0.066,0.064,0.064,0.064,0.076,0.109,0.166,3.37,3.37,3.377,3.37,3.367,3.366,3.367,3.367,3.405,3.414,3.44,3.44,3.458,3.458,3.473,3.48,3.492,3.5,3.5,3.5,3.513,3.516,3.516,3.524,3.524,3.527,3.536,3.537,3.541,3.543,3.543,3.547,3.548,3.549,3.551,3.553,3.567,3.57,3.579,3.581,3.584,3.587,3.596,3.598,3.599,3.603,3.617,3.622,3.625,3.63,3.646,3.65,3.652,3.653,3.66,3.666,3.671,3.677,3.683,3.686,3.689,3.708,3.721,3.728,3.733,3.745,3.756,3.76,3.762,3.762,3.794,3.794,3.801,3.813,3.815,3.832,3.837,3.846,3.871,3.883,3.886,3.898,3.902,3.914,3.94,3.946,3.956,3.965,3.981,3.994,4.011,4.026,4.036,4.066,4.081,4.09,0.016,0.016,0.016,0.016,0.016,4.088,4.047,4.013,3.982,3.97,3.927,3.906,3.865,3.838,3.825,3.772,3.742,3.733,3.697,3.68,3.652,3.622,3.6,3.558,3.547,3.526,3.511,3.484,3.454,3.438,3.427,3.405,3.385,3.37,3.342,3.331,3.307,3.292,3.281,3.259,3.233,3.219,3.194,3.181,3.173,3.157,3.137,3.128,3.108,3.092,3.09,3.063,3.052,3.039,3.025,3.005,2.999,2.988,2.977,2.97,2.949,2.936,2.933,2.918,2.911,2.898,2.883,2.868,2.86,2.854,2.835,2.829,2.813,2.8,2.793,2.785,2.778,2.769,2.757,2.753,2.734,2.727,2.715,2.711,2.702,2.692,2.685,2.685,2.684,2.659,2.659,2.655,2.654,2.644,2.64,2.629,2.621,2.611,2.606,2.598,2.585,2.582,2.581,2.57,2.569,2.568,2.558,2.549,2.537,2.533,2.531,2.528,2.513,2.509,2.509,2.505,2.498,2.491,2.489,2.485,2.484,2.484,2.483,2.478,2.474,2.473,2.463,2.458,2.455,2.452,2.451,2.447,2.445,2.445,2.439,2.438,2.436,2.436,2.428,2.428,2.428,2.421,2.42,2.42,2.42,2.42,2.42,2.419,2.414,2.413,2.412,2.413,2.413,2.412,2.412,2.409,2.409,2.407,2.409,2.41,2.41,2.41,2.411,2.412,2.416,2.416,2.416,2.415,2.415,2.415,2.415,2.417,2.417,2.423,2.423,2.427,2.427,2.427,2.428,2.43,2.43,2.439,2.439,2.44,2.442,2.445,2.45,2.45,2.455,2.457,2.459,2.466,2.467,2.473,2.48,2.485,2.485,2.487,2.488,2.488,2.494,2.499,2.507,2.518,2.518,2.52,2.532,2.534,2.535,2.543,2.549,2.552,2.558,2.565,2.569,2.583,2.593,2.597,2.6,2.602,2.603,2.606,2.629,2.631,2.635,2.639,2.646,2.655,2.66,2.675,2.681,2.691,2.694,2.702,2.71,2.725,2.729,2.739,2.748,2.756,2.765,2.78,2.79,2.792,2.81,2.821,2.831,2.836,2.847,2.855,2.868,2.884,2.887,2.9,2.909,2.923,2.941,2.955,2.956,2.973,2.979,3,3.017,3.025,3.036,3.037,3.067,3.079,3.094,3.106,3.12,3.141,3.152,3.16,3.176,3.201,3.217,3.241,3.253,3.262,3.283,3.303,3.322,3.334,3.348,3.375,3.395,3.414,3.428,3.454,3.48,3.499,3.521,3.541,3.575,3.594,3.608,3.643,3.66,3.697,3.721,3.749,3.781,3.799,3.824,3.901,3.915,3.974,3.974,4.025,4.078,4.078,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.357,3.335,3.331,3.317,3.31,3.295,3.288,3.282,3.269,3.249,3.247,3.247,3.242,3.235,3.216,3.214,3.2,3.196,3.185,3.183,3.172,3.165,3.163,3.157,3.149,3.136,3.135,3.131,3.128,3.12,3.11,3.109,3.105,3.104,3.096,3.093,3.089,3.08,3.074,3.073,3.072,3.068,3.06,3.06,3.05,3.05,3.05,3.04,3.04,3.04,3.037,3.036,3.032,3.022,3.022,3.022,3.023,3.025,3.029,3.029,3.029,3.018,3.017,3.011,3.011,3.011,3.01,3.009,3.009,3.01,3.007,3.007,3.007,3.011,3.011,3.011,3.015,3.015,3.015,3.015,3.015,3.013,3.013,3.017,3.017,3.019,3.019,3.019,3.023,3.019,3.023,3.023,3.024,3.024,3.032,3.039,3.039,3.042,3.044,3.045,3.048,3.053,3.054,3.061,3.061,3.061,3.068,3.076,3.079,3.087,3.088,3.092,3.093,3.099,3.1,3.11,3.113,3.114,3.124,3.127,3.127,3.135,3.137,3.142,3.142,3.144,3.147,3.149,3.156,3.158,3.167,3.168,3.175,3.177,3.193,3.205,3.207,3.223,3.23,3.232,3.232,3.239,3.239,3.253,3.257,3.273,3.274,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 28.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 28.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 28.2477} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.3848} SEN {Time 28.2946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.18,0.185,0.18,0.18,0.187,0,0,0,0,0,0,0,0,3.686,3.682,3.668,3.657,3.651,3.627,3.601,3.601,3.601,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.221,3.211,3.211,3.211,3.211,3.357,0.007,0,0,0,0,0,0,0,0.142,0.141,0.141,0.141,0.142,0.143,0.143,0.143,0.155,0.152,0.155,0.155,0.155,0.156,3.034,3.034,3.04,3.04,3.034,3.04,3.04,0.163,0.156,0.156,0.156,0.153,0.151,0.148,0.141,0.129,0.107,0.076,0.06,0.055,0.055,0.055,0.059,0.059,0.062,0.066,0.062,0.066,0.066,0.066,0.066,0.067,0.112,0.187,3.338,3.354,3.359,3.359,3.359,3.364,3.373,3.379,3.42,3.434,3.451,3.451,3.451,3.461,3.473,3.48,3.493,3.496,3.498,3.503,3.508,3.509,3.513,3.516,3.519,3.522,3.527,3.536,3.537,3.544,3.545,3.548,3.554,3.554,3.564,3.564,3.567,3.568,3.576,3.581,3.582,3.588,3.588,3.593,3.608,3.614,3.621,3.625,3.629,3.631,3.644,3.645,3.648,3.651,3.655,3.673,3.678,3.681,3.69,3.69,3.697,3.708,3.714,3.733,3.737,3.74,3.741,3.751,3.768,3.771,3.779,3.795,3.806,3.809,3.828,3.831,3.832,3.846,3.862,3.87,3.879,3.892,3.894,3.922,3.937,3.938,3.956,3.964,3.982,3.988,4.016,4.021,4.055,4.059,4.077,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.046,4.046,4.016,3.984,3.935,3.898,3.867,3.843,3.81,3.769,3.751,3.731,3.7,3.676,3.654,3.62,3.603,3.571,3.554,3.514,3.504,3.481,3.469,3.446,3.428,3.412,3.385,3.368,3.34,3.327,3.307,3.294,3.277,3.254,3.246,3.233,3.197,3.186,3.166,3.16,3.145,3.121,3.11,3.092,3.082,3.071,3.046,3.046,3.045,3.024,3.002,2.988,2.973,2.966,2.946,2.932,2.926,2.916,2.902,2.891,2.873,2.867,2.851,2.851,2.835,2.833,2.812,2.8,2.798,2.779,2.776,2.769,2.76,2.744,2.74,2.727,2.716,2.714,2.701,2.699,2.685,2.674,2.664,2.662,2.654,2.649,2.648,2.635,2.633,2.617,2.606,2.605,2.604,2.597,2.582,2.577,2.573,2.572,2.566,2.557,2.554,2.55,2.548,2.537,2.531,2.525,2.518,2.512,2.51,2.505,2.495,2.492,2.491,2.484,2.483,2.48,2.477,2.472,2.468,2.466,2.462,2.459,2.454,2.451,2.451,2.449,2.446,2.445,2.442,2.441,2.433,2.432,2.429,2.429,2.429,2.426,2.423,2.419,2.417,2.416,2.414,2.413,2.413,2.412,2.412,2.416,2.416,2.416,2.416,2.416,2.415,2.412,2.412,2.413,2.411,2.413,2.413,2.412,2.412,2.415,2.417,2.418,2.418,2.42,2.42,2.42,2.42,2.42,2.42,2.42,2.426,2.426,2.427,2.428,2.433,2.441,2.441,2.444,2.447,2.448,2.455,2.456,2.456,2.459,2.46,2.463,2.463,2.471,2.472,2.478,2.482,2.487,2.488,2.493,2.497,2.503,2.513,2.515,2.515,2.522,2.528,2.532,2.533,2.535,2.548,2.555,2.557,2.561,2.564,2.576,2.586,2.595,2.599,2.6,2.613,2.616,2.619,2.632,2.638,2.641,2.649,2.65,2.664,2.673,2.675,2.678,2.698,2.698,2.71,2.724,2.734,2.74,2.75,2.757,2.762,2.786,2.787,2.794,2.802,2.82,2.826,2.835,2.847,2.862,2.869,2.875,2.883,2.91,2.919,2.936,2.939,2.948,2.955,2.978,2.98,3.001,3.014,3.029,3.036,3.052,3.066,3.087,3.092,3.109,3.118,3.141,3.155,3.164,3.176,3.2,3.222,3.228,3.251,3.26,3.278,3.295,3.319,3.327,3.346,3.374,3.391,3.406,3.433,3.462,3.477,3.495,3.518,3.544,3.57,3.603,3.61,3.643,3.669,3.698,3.724,3.75,3.781,3.796,3.834,3.862,3.883,3.923,3.946,3.988,4.015,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.349,3.333,3.317,3.307,3.301,3.283,3.283,3.27,3.257,3.254,3.241,3.239,3.236,3.222,3.212,3.209,3.187,3.185,3.183,3.174,3.163,3.157,3.155,3.148,3.135,3.129,3.128,3.121,3.119,3.118,3.11,3.104,3.1,3.098,3.093,3.079,3.079,3.077,3.076,3.068,3.063,3.061,3.054,3.051,3.045,3.037,3.037,3.037,3.035,3.033,3.033,3.03,3.029,3.026,3.025,3.025,3.025,3.027,3.027,3.027,3.023,3.02,3.017,3.014,3.014,3.014,3.014,3.014,3.014,3.01,3.006,3.006,3.006,3.005,3.005,3.008,3.008,3.008,3.009,3.01,3.009,3.009,3.009,3.009,3.009,3.017,3.02,3.023,3.023,3.023,3.026,3.028,3.028,3.031,3.034,3.035,3.035,3.038,3.044,3.046,3.048,3.049,3.059,3.061,3.062,3.064,3.078,3.08,3.087,3.088,3.092,3.092,3.092,3.095,3.109,3.11,3.113,3.118,3.129,3.129,3.131,3.14,3.144,3.144,3.146,3.148,3.153,3.163,3.163,3.163,3.176,3.183,3.183,3.197,3.218,3.223,3.226,3.232,3.234,3.239,3.241,3.243,3.245,3.258,3.277,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 28.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 28.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 28.4476} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 4.9022} SEN {Time 28.4946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.176,0.177,0.187,0,0,0,0,0,0,0,0,3.688,3.677,3.667,3.659,3.64,3.632,3.62,3.62,3.62,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.215,3.215,3.21,3.215,3.215,3.368,0.007,0,0,0,0,0,0,0,0.149,0.145,0.145,0.145,0.145,0.143,0.141,0.141,0.149,0.149,0.15,0.15,0.153,0.155,3.031,3.04,3.041,3.041,3.04,3.044,3.044,0.156,0.155,0.155,0.155,0.155,0.148,0.147,0.147,0.128,0.116,0.084,0.064,0.061,0.06,0.061,0.061,0.063,0.063,0.064,0.065,0.065,0.064,0.064,0.064,0.064,0.113,0.18,3.337,3.352,3.356,3.356,3.356,3.366,3.375,3.375,3.406,0.007,3.452,3.449,3.452,3.452,3.471,3.481,3.487,3.492,3.498,3.498,3.499,3.502,3.515,3.516,3.516,3.518,3.524,3.533,3.534,3.535,3.539,3.543,3.548,3.552,3.558,3.56,3.568,3.575,3.576,3.576,3.578,3.579,3.586,3.607,3.608,3.613,3.622,3.626,3.628,3.638,3.644,3.65,3.652,3.664,3.664,3.665,3.673,3.675,3.688,3.692,3.694,3.712,3.716,3.731,3.737,3.75,3.751,3.755,3.76,3.764,3.775,3.791,3.803,3.814,3.825,3.833,3.835,3.85,3.857,3.875,3.878,3.905,3.909,3.922,3.944,3.945,3.951,3.986,3.986,3.995,4.019,4.027,4.034,4.074,4.079,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.07,4.07,4.017,4.002,3.918,3.906,3.865,3.84,3.813,3.77,3.75,3.724,3.689,3.669,3.648,3.624,3.582,3.577,3.548,3.529,3.502,3.48,3.464,3.435,3.417,3.406,3.391,3.371,3.357,3.336,3.307,3.286,3.277,3.268,3.228,3.226,3.203,3.19,3.173,3.149,3.138,3.127,3.107,3.089,3.085,3.071,3.041,3.036,3.02,3.009,2.993,2.992,2.985,2.959,2.95,2.941,2.927,2.924,2.912,2.905,2.879,2.869,2.864,2.858,2.842,2.832,2.817,2.809,2.795,2.784,2.781,2.761,2.759,2.754,2.729,2.72,2.716,2.708,2.707,2.691,2.688,2.677,2.677,2.662,2.653,2.652,2.649,2.637,2.637,2.621,2.611,2.607,2.604,2.598,2.589,2.579,2.578,2.572,2.571,2.567,2.552,2.546,2.538,2.532,2.532,2.523,2.511,2.511,2.505,2.504,2.497,2.493,2.49,2.489,2.485,2.48,2.477,2.472,2.47,2.468,2.467,2.467,2.456,2.454,2.452,2.449,2.444,2.444,2.442,2.439,2.437,2.437,2.43,2.426,2.426,2.426,2.42,2.419,2.419,2.419,2.415,2.418,2.418,2.415,2.415,2.413,2.412,2.412,2.412,2.412,2.412,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.415,2.416,2.419,2.419,2.421,2.419,2.418,2.418,2.421,2.423,2.425,2.427,2.428,2.431,2.436,2.437,2.438,2.441,2.444,2.446,2.449,2.455,2.456,2.458,2.463,2.47,2.472,2.473,2.475,2.477,2.482,2.489,2.49,2.49,2.493,2.502,2.515,2.519,2.522,2.524,2.525,2.53,2.534,2.536,2.546,2.554,2.556,2.568,2.568,2.57,2.586,2.595,2.606,2.607,2.616,2.619,2.622,2.637,2.64,2.641,2.647,2.649,2.661,2.672,2.678,2.691,2.691,2.695,2.719,2.72,2.727,2.738,2.755,2.756,2.76,2.782,2.797,2.801,2.802,2.818,2.823,2.836,2.845,2.851,2.864,2.882,2.889,2.902,2.916,2.923,2.948,2.951,2.96,2.976,2.987,2.995,3.007,3.024,3.031,3.045,3.065,3.087,3.09,3.112,3.122,3.139,3.156,3.167,3.175,3.201,3.218,3.234,3.243,3.272,3.281,3.295,3.313,3.329,3.345,3.38,3.39,3.412,3.44,3.451,3.473,3.494,3.523,3.537,3.571,3.585,3.614,3.634,3.663,3.694,3.72,3.751,3.788,3.795,3.835,3.851,3.899,3.911,3.945,3.993,4.026,4.053,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.361,3.344,3.325,3.314,3.314,3.304,3.297,3.279,3.263,3.261,3.248,3.242,3.236,3.233,3.212,3.209,3.207,3.195,3.185,3.183,3.177,3.17,3.155,3.153,3.146,3.143,3.134,3.133,3.122,3.121,3.115,3.111,3.109,3.099,3.094,3.091,3.081,3.08,3.078,3.075,3.067,3.063,3.063,3.061,3.053,3.051,3.048,3.041,3.041,3.038,3.038,3.034,3.029,3.028,3.022,3.018,3.018,3.018,3.023,3.024,3.024,3.023,3.021,3.017,3.016,3.012,3.012,3.009,3.008,3.007,3.007,3.007,3.007,3.009,3.011,3.009,3.01,3.011,3.01,3.01,3.011,3.011,3.016,3.016,3.016,3.023,3.023,3.023,3.023,3.021,3.021,3.028,3.024,3.029,3.031,3.036,3.036,3.038,3.038,3.038,3.049,3.053,3.056,3.06,3.06,3.062,3.066,3.076,3.078,3.08,3.092,3.092,3.094,3.095,3.102,3.105,3.107,3.117,3.12,3.133,3.133,3.14,3.14,3.142,3.146,3.147,3.147,3.156,3.156,3.16,3.167,3.171,3.182,3.183,3.207,3.207,3.215,3.221,3.238,3.241,3.241,3.241,3.243,3.247,3.254,3.278,3.296,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 28.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 28.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 28.6487} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.937} {Name Sonar15 Range 4.9022} SEN {Time 28.6906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.178,0.186,0.186,0,0,0,0,0,0,0,0,3.687,3.675,3.665,3.663,3.649,3.634,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.215,3.206,3.206,3.215,3.259,3.358,0,0,0,0,0,0,0,0.15,0.146,0.146,0.146,0.146,0.144,0.147,0.145,0.147,0.147,0.155,0.155,0.159,0.159,3.031,3.031,3.031,3.031,3.029,3.029,3.029,0.152,0.152,0.152,0.152,0.151,0.148,0.144,0.144,0.118,0.101,0.087,0.067,0.058,0.058,0.06,0.06,0.063,0.064,0.065,0.066,0.066,0.066,0.064,0.064,0.064,0.104,0.184,3.349,3.354,3.356,3.356,3.361,3.362,3.376,3.404,3.413,3.413,3.441,3.454,3.459,3.459,3.468,3.484,3.499,3.502,3.502,3.502,3.506,3.507,3.51,3.52,3.521,3.523,3.525,3.533,3.539,3.54,3.54,3.544,3.549,3.554,3.555,3.558,3.567,3.572,3.574,3.58,3.584,3.586,3.591,3.597,3.605,3.611,3.625,3.628,3.636,3.637,3.646,3.65,3.652,3.659,3.661,3.672,3.679,3.68,3.689,3.696,3.702,3.712,3.72,3.724,3.734,3.744,3.753,3.756,3.763,3.777,3.789,3.796,3.808,3.813,3.82,3.836,3.84,3.844,3.873,3.874,3.875,3.891,3.903,3.903,3.931,3.941,3.943,3.962,3.986,3.999,4.027,4.03,4.049,4.05,4.073,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.049,4.022,4.022,3.983,3.963,3.904,3.87,3.846,3.817,3.775,3.745,3.73,3.71,3.692,3.658,3.632,3.611,3.578,3.546,3.516,3.514,3.485,3.453,3.446,3.419,3.4,3.377,3.359,3.344,3.33,3.307,3.292,3.266,3.253,3.234,3.224,3.196,3.192,3.174,3.157,3.134,3.13,3.11,3.09,3.088,3.071,3.049,3.042,3.028,3.01,2.998,2.988,2.977,2.97,2.953,2.943,2.932,2.922,2.901,2.895,2.879,2.868,2.86,2.847,2.838,2.824,2.814,2.8,2.789,2.784,2.778,2.766,2.761,2.748,2.738,2.728,2.714,2.71,2.7,2.692,2.682,2.681,2.668,2.665,2.659,2.654,2.651,2.636,2.631,2.622,2.616,2.609,2.609,2.601,2.584,2.583,2.576,2.573,2.566,2.562,2.553,2.55,2.541,2.533,2.527,2.522,2.517,2.507,2.506,2.503,2.493,2.491,2.485,2.484,2.48,2.48,2.474,2.472,2.464,2.463,2.46,2.457,2.453,2.451,2.448,2.451,2.448,2.446,2.44,2.44,2.439,2.432,2.43,2.428,2.425,2.424,2.423,2.418,2.418,2.416,2.414,2.416,2.414,2.413,2.413,2.412,2.41,2.41,2.41,2.408,2.407,2.408,2.408,2.411,2.413,2.413,2.414,2.414,2.414,2.409,2.409,2.409,2.415,2.415,2.415,2.415,2.418,2.418,2.417,2.42,2.421,2.425,2.431,2.433,2.435,2.435,2.437,2.437,2.439,2.447,2.449,2.455,2.455,2.458,2.466,2.466,2.467,2.467,2.472,2.472,2.479,2.482,2.489,2.49,2.499,2.5,2.511,2.514,2.519,2.521,2.524,2.53,2.53,2.54,2.549,2.557,2.562,2.563,2.568,2.578,2.596,2.598,2.6,2.6,2.602,2.612,2.626,2.63,2.633,2.642,2.648,2.651,2.671,2.671,2.671,2.691,2.698,2.702,2.714,2.722,2.724,2.732,2.747,2.749,2.759,2.779,2.79,2.792,2.809,2.816,2.827,2.834,2.848,2.859,2.866,2.872,2.889,2.904,2.913,2.915,2.939,2.951,2.959,2.976,2.985,3.005,3.014,3.018,3.038,3.045,3.066,3.08,3.086,3.099,3.121,3.143,3.15,3.171,3.177,3.198,3.212,3.225,3.254,3.262,3.277,3.295,3.322,3.341,3.355,3.376,3.395,3.407,3.427,3.461,3.481,3.499,3.525,3.533,3.571,3.605,3.608,3.637,3.665,3.688,3.731,3.746,3.786,3.802,3.835,3.859,3.893,3.925,3.992,4.017,4.064,4.064,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.356,3.34,3.324,3.313,3.307,3.297,3.283,3.278,3.264,3.26,3.248,3.246,3.24,3.239,3.214,3.214,3.204,3.197,3.188,3.179,3.17,3.169,3.162,3.162,3.16,3.156,3.141,3.127,3.126,3.124,3.117,3.11,3.102,3.099,3.097,3.082,3.078,3.078,3.077,3.077,3.067,3.064,3.062,3.062,3.05,3.047,3.047,3.04,3.04,3.037,3.036,3.031,3.03,3.028,3.024,3.024,3.026,3.026,3.029,3.029,3.029,3.017,3.014,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.006,3.004,3.006,3.006,3.006,3.006,3.008,3.014,3.011,3.011,3.011,3.011,3.01,3.01,3.012,3.014,3.016,3.019,3.021,3.021,3.02,3.022,3.031,3.031,3.031,3.035,3.035,3.036,3.037,3.046,3.048,3.051,3.055,3.06,3.06,3.062,3.062,3.075,3.075,3.085,3.09,3.09,3.092,3.098,3.101,3.105,3.112,3.125,3.125,3.13,3.13,3.134,3.137,3.139,3.14,3.142,3.148,3.153,3.158,3.16,3.17,3.172,3.173,3.184,3.207,3.214,3.217,3.217,3.218,3.219,3.235,3.242,3.242,3.25,3.253,3.278,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 28.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 28.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 28.8406} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 28.8906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.174,0.176,0.176,0.181,0.185,0,0,0,0,0,0,0,0,3.682,3.674,3.663,3.662,3.645,3.63,3.616,3.616,3.601,3.601,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.211,3.211,3.21,3.21,3.21,3.271,3.357,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.146,0.146,0.145,0.145,0.158,0.152,0.158,0.158,0.161,0.161,3.032,3.032,3.041,3.041,3.032,3.041,3.041,0.158,0.154,0.154,0.154,0.154,0.145,0.144,0.143,0.121,0.102,0.076,0.064,0.056,0.056,0.056,0.057,0.06,0.063,0.063,0.064,0.064,0.06,0.06,0.064,0.069,0.101,0.173,3.367,3.367,3.371,3.371,3.367,3.371,3.371,3.394,3.416,3.42,3.42,3.444,3.454,3.464,3.482,3.482,3.487,3.488,3.499,3.502,3.504,3.509,3.514,3.517,3.524,3.527,3.527,3.53,3.531,3.533,3.542,3.543,3.551,3.551,3.551,3.557,3.563,3.57,3.576,3.581,3.581,3.583,3.587,3.597,3.611,3.613,3.627,3.631,3.635,3.635,3.649,3.652,3.653,3.659,3.669,3.671,3.678,3.685,3.69,3.695,3.699,3.701,3.721,3.728,3.741,3.742,3.751,3.753,3.767,3.775,3.79,3.797,3.797,3.809,3.82,3.827,3.83,3.853,3.859,3.875,3.881,3.885,3.897,3.923,3.93,3.936,3.948,3.963,3.983,3.996,4.014,4.028,4.039,4.07,4.078,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.082,4.05,3.99,3.957,3.939,3.887,3.868,3.84,3.817,3.795,3.75,3.727,3.701,3.688,3.652,3.626,3.604,3.567,3.545,3.521,3.51,3.487,3.451,3.437,3.418,3.394,3.383,3.366,3.35,3.329,3.296,3.295,3.294,3.248,3.231,3.22,3.196,3.196,3.169,3.158,3.146,3.124,3.109,3.093,3.084,3.065,3.045,3.045,3.037,3.018,2.998,2.985,2.984,2.965,2.956,2.941,2.927,2.92,2.905,2.889,2.883,2.874,2.85,2.85,2.834,2.826,2.809,2.805,2.795,2.783,2.782,2.762,2.76,2.749,2.735,2.731,2.722,2.713,2.71,2.694,2.688,2.677,2.675,2.675,2.661,2.654,2.649,2.636,2.634,2.628,2.615,2.612,2.607,2.6,2.59,2.584,2.579,2.574,2.571,2.567,2.554,2.551,2.538,2.538,2.53,2.528,2.522,2.508,2.506,2.503,2.501,2.491,2.49,2.486,2.485,2.484,2.476,2.467,2.467,2.466,2.466,2.464,2.456,2.454,2.453,2.445,2.444,2.443,2.441,2.44,2.438,2.433,2.432,2.427,2.427,2.425,2.419,2.416,2.416,2.416,2.416,2.414,2.412,2.412,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.409,2.409,2.411,2.415,2.415,2.415,2.414,2.413,2.413,2.414,2.415,2.417,2.418,2.418,2.418,2.418,2.419,2.424,2.427,2.43,2.431,2.431,2.431,2.432,2.436,2.438,2.442,2.443,2.446,2.45,2.455,2.457,2.461,2.462,2.465,2.467,2.472,2.477,2.482,2.488,2.491,2.493,2.493,2.495,2.502,2.518,2.518,2.518,2.52,2.528,2.531,2.533,2.542,2.554,2.554,2.558,2.565,2.573,2.581,2.591,2.594,2.599,2.606,2.612,2.615,2.626,2.631,2.637,2.646,2.647,2.651,2.662,2.671,2.677,2.68,2.699,2.703,2.711,2.713,2.717,2.744,2.753,2.759,2.762,2.784,2.796,2.796,2.801,2.819,2.835,2.838,2.843,2.853,2.861,2.873,2.89,2.901,2.916,2.921,2.94,2.948,2.961,2.977,2.985,2.994,3.023,3.028,3.031,3.048,3.07,3.071,3.09,3.109,3.123,3.135,3.151,3.166,3.175,3.199,3.22,3.236,3.247,3.265,3.28,3.304,3.32,3.35,3.371,3.39,3.39,3.408,3.435,3.459,3.484,3.5,3.524,3.539,3.569,3.604,3.62,3.636,3.663,3.69,3.726,3.742,3.786,3.797,3.83,3.858,3.893,3.914,3.95,3.996,4.015,4.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.354,3.335,3.335,3.318,3.306,3.303,3.289,3.282,3.263,3.26,3.259,3.244,3.238,3.234,3.225,3.21,3.21,3.204,3.184,3.183,3.176,3.174,3.158,3.158,3.149,3.138,3.138,3.132,3.121,3.119,3.113,3.109,3.105,3.104,3.092,3.087,3.083,3.082,3.078,3.073,3.071,3.063,3.061,3.054,3.052,3.052,3.045,3.04,3.039,3.037,3.036,3.035,3.029,3.029,3.023,3.023,3.023,3.025,3.025,3.025,3.024,3.024,3.019,3.016,3.015,3.015,3.013,3.013,3.013,3.013,3.013,3.007,3.007,3.007,3.007,3.011,3.017,3.017,3.017,3.012,3.015,3.015,3.015,3.015,3.02,3.02,3.02,3.022,3.022,3.022,3.022,3.022,3.025,3.03,3.034,3.034,3.037,3.037,3.041,3.042,3.052,3.054,3.054,3.054,3.06,3.065,3.069,3.071,3.075,3.087,3.088,3.088,3.089,3.095,3.1,3.108,3.111,3.116,3.122,3.133,3.133,3.139,3.139,3.139,3.139,3.145,3.148,3.149,3.164,3.164,3.166,3.175,3.175,3.188,3.203,3.211,3.219,3.221,3.222,3.228,3.238,3.24,3.248,3.253,3.265,3.269,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 29.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 29.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 29.0415} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4864} SEN {Time 29.0906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.177,0.179,0.179,0.185,0.186,0,0,0,0,0,0,0,0,3.692,3.676,3.675,3.669,3.645,3.632,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.224,3.205,3.205,3.205,3.263,3.372,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.14,0.142,0.142,0.153,0.153,0.153,0.153,0.153,0.156,3.035,3.04,3.04,3.04,3.035,3.042,3.029,0.159,0.159,0.159,0.154,0.154,0.145,0.144,0.139,0.127,0.105,0.076,0.064,0.062,0.056,0.056,0.056,0.062,0.067,0.069,0.069,0.069,0.064,0.064,0.064,0.064,0.113,0.185,3.333,3.359,3.371,3.359,3.371,3.377,3.393,3.404,3.417,3.417,3.417,3.435,3.468,3.48,3.487,3.487,3.487,3.492,3.496,3.5,3.502,3.51,3.513,3.522,3.523,3.524,3.527,3.54,3.54,3.54,3.54,3.54,3.54,3.547,3.557,3.559,3.563,3.568,3.575,3.579,3.58,3.584,3.588,3.594,3.611,3.614,3.623,3.625,3.633,3.635,3.647,3.649,3.651,3.651,3.662,3.664,3.68,3.686,3.686,3.694,3.698,3.713,3.724,3.73,3.737,3.749,3.75,3.751,3.752,3.768,3.786,3.792,3.807,3.815,3.824,3.837,3.837,3.854,3.855,3.878,3.879,3.902,3.904,3.911,3.926,3.941,3.95,3.963,3.98,3.997,4.025,4.028,4.046,4.072,4.081,4.092,0.016,0.016,0.016,0.016,0.016,4.087,4.049,4.021,4.021,3.997,3.974,3.892,3.886,3.844,3.815,3.779,3.755,3.737,3.698,3.677,3.649,3.623,3.598,3.57,3.55,3.517,3.51,3.495,3.453,3.446,3.414,3.394,3.373,3.373,3.351,3.322,3.312,3.295,3.28,3.266,3.235,3.225,3.203,3.185,3.17,3.16,3.149,3.123,3.105,3.101,3.08,3.062,3.049,3.037,3.02,3.017,3,2.991,2.978,2.963,2.955,2.939,2.934,2.913,2.907,2.892,2.878,2.873,2.858,2.85,2.844,2.827,2.812,2.809,2.794,2.781,2.776,2.767,2.766,2.759,2.735,2.732,2.722,2.718,2.704,2.692,2.686,2.677,2.672,2.663,2.653,2.651,2.642,2.637,2.634,2.626,2.613,2.611,2.603,2.598,2.588,2.587,2.579,2.576,2.57,2.565,2.562,2.549,2.542,2.536,2.534,2.523,2.519,2.509,2.505,2.499,2.492,2.491,2.487,2.487,2.483,2.476,2.476,2.475,2.47,2.467,2.466,2.465,2.453,2.451,2.45,2.447,2.443,2.442,2.441,2.439,2.435,2.433,2.429,2.429,2.428,2.429,2.428,2.428,2.42,2.418,2.416,2.415,2.415,2.412,2.411,2.409,2.409,2.408,2.408,2.408,2.409,2.409,2.41,2.41,2.411,2.412,2.417,2.413,2.412,2.413,2.416,2.416,2.417,2.419,2.419,2.419,2.419,2.419,2.419,2.42,2.421,2.423,2.426,2.43,2.438,2.442,2.444,2.444,2.447,2.451,2.451,2.451,2.453,2.459,2.462,2.466,2.47,2.472,2.472,2.477,2.481,2.482,2.487,2.493,2.499,2.503,2.509,2.51,2.514,2.518,2.523,2.527,2.54,2.541,2.546,2.548,2.562,2.564,2.569,2.576,2.595,2.597,2.597,2.602,2.609,2.617,2.625,2.63,2.634,2.636,2.646,2.654,2.658,2.666,2.674,2.688,2.696,2.7,2.715,2.718,2.727,2.739,2.748,2.748,2.769,2.782,2.788,2.799,2.8,2.819,2.835,2.842,2.854,2.855,2.868,2.883,2.892,2.901,2.911,2.922,2.943,2.952,2.965,2.974,2.982,3.001,3.014,3.026,3.037,3.046,3.064,3.075,3.097,3.106,3.118,3.139,3.158,3.168,3.179,3.198,3.218,3.235,3.247,3.266,3.279,3.296,3.322,3.339,3.35,3.38,3.395,3.411,3.432,3.461,3.485,3.499,3.518,3.548,3.568,3.591,3.611,3.638,3.671,3.691,3.722,3.771,3.81,3.825,3.825,3.864,3.887,3.925,3.956,3.994,4.019,4.055,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.349,3.337,3.319,3.315,3.309,3.294,3.283,3.281,3.263,3.26,3.257,3.242,3.234,3.234,3.222,3.22,3.2,3.198,3.189,3.186,3.181,3.169,3.165,3.151,3.15,3.147,3.134,3.132,3.123,3.117,3.109,3.109,3.106,3.103,3.093,3.088,3.077,3.077,3.074,3.074,3.066,3.065,3.061,3.058,3.05,3.049,3.046,3.038,3.038,3.037,3.037,3.032,3.029,3.029,3.029,3.023,3.029,3.029,3.026,3.026,3.026,3.024,3.019,3.016,3.016,3.008,3.008,3.008,3.012,3.012,3.012,3.009,3.008,3.008,3.009,3.006,3.011,3.011,3.011,3.011,3.014,3.014,3.015,3.015,3.019,3.019,3.019,3.017,3.017,3.017,3.018,3.025,3.029,3.029,3.031,3.035,3.037,3.04,3.042,3.043,3.048,3.05,3.057,3.06,3.062,3.063,3.065,3.068,3.079,3.086,3.089,3.091,3.091,3.098,3.103,3.103,3.104,3.117,3.124,3.124,3.129,3.129,3.135,3.135,3.135,3.139,3.142,3.15,3.16,3.16,3.166,3.172,3.175,3.185,3.201,3.213,3.215,3.216,3.23,3.233,3.233,3.238,3.242,3.245,3.266,3.284,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 29.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 29.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 29.2426} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4864} SEN {Time 29.2906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.175,0.181,0.175,0.181,0.181,0,0,0,0,0,0,0,0,3.683,3.675,3.669,3.664,3.646,3.622,3.611,3.611,3.611,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.221,3.212,3.212,3.212,3.273,3.364,0,0,0,0,0,0,0,0.149,0.14,0.14,0.14,0.14,0.149,0.149,0.149,0.157,0.155,0.157,0.157,0.16,0.161,3.042,3.042,3.042,3.042,3.035,3.035,3.028,0.162,0.157,0.157,0.153,0.152,0.15,0.144,0.139,0.125,0.11,0.064,0.06,0.06,0.057,0.06,0.06,0.066,0.066,0.068,0.068,0.066,0.064,0.064,0.064,0.069,0.11,0.181,3.332,3.351,3.354,3.353,3.354,3.356,3.367,3.373,3.397,3.414,3.423,0.007,3.474,3.474,3.483,3.483,3.491,3.495,3.498,3.495,3.511,3.511,3.516,3.521,3.523,3.521,3.523,3.523,3.53,3.538,3.544,3.547,3.552,3.555,3.559,3.562,3.569,3.574,3.579,3.58,3.59,3.593,3.599,3.6,3.601,3.611,3.619,3.626,3.632,3.636,3.639,3.64,3.647,3.657,3.666,3.666,3.676,3.677,3.688,3.692,3.698,3.712,3.72,3.73,3.736,3.739,3.755,3.759,3.764,3.773,3.779,3.791,3.795,3.809,3.824,3.837,3.852,3.854,3.868,3.882,3.89,3.895,3.902,3.917,3.934,3.946,3.958,3.969,3.981,3.999,4.018,4.023,4.047,4.062,4.089,4.089,0.016,0.016,0.016,0.016,0.016,4.095,4.044,4.01,3.986,3.951,3.94,3.904,3.863,3.842,3.811,3.781,3.741,3.734,3.702,3.686,3.648,3.625,3.599,3.574,3.554,3.529,3.497,3.483,3.456,3.453,3.416,3.409,3.384,3.366,3.349,3.329,3.298,3.293,3.278,3.25,3.239,3.226,3.188,3.187,3.167,3.153,3.139,3.123,3.102,3.094,3.076,3.061,3.04,3.035,3.018,3.012,3.001,2.982,2.978,2.964,2.95,2.935,2.929,2.919,2.914,2.887,2.879,2.873,2.857,2.85,2.839,2.819,2.816,2.809,2.788,2.781,2.773,2.763,2.758,2.756,2.731,2.731,2.718,2.71,2.698,2.696,2.686,2.676,2.671,2.664,2.657,2.652,2.648,2.639,2.638,2.625,2.616,2.611,2.61,2.597,2.588,2.579,2.577,2.576,2.574,2.557,2.557,2.547,2.541,2.541,2.533,2.525,2.516,2.515,2.507,2.503,2.495,2.493,2.49,2.487,2.484,2.478,2.477,2.476,2.466,2.465,2.465,2.464,2.45,2.45,2.449,2.447,2.446,2.444,2.443,2.441,2.437,2.429,2.426,2.421,2.421,2.426,2.421,2.421,2.421,2.417,2.417,2.416,2.416,2.415,2.415,2.408,2.408,2.408,2.407,2.407,2.407,2.406,2.406,2.408,2.408,2.412,2.413,2.413,2.413,2.414,2.414,2.414,2.416,2.417,2.417,2.418,2.419,2.419,2.419,2.421,2.421,2.425,2.426,2.427,2.433,2.439,2.442,2.444,2.444,2.453,2.453,2.453,2.457,2.459,2.467,2.467,2.467,2.468,2.477,2.477,2.477,2.483,2.493,2.494,2.498,2.503,2.508,2.513,2.515,2.52,2.522,2.529,2.538,2.547,2.549,2.551,2.559,2.567,2.568,2.571,2.585,2.593,2.604,2.608,2.611,2.613,2.625,2.635,2.639,2.639,2.647,2.65,2.662,2.67,2.676,2.688,2.697,2.704,2.716,2.716,2.732,2.741,2.745,2.757,2.76,2.783,2.791,2.796,2.804,2.815,2.836,2.841,2.844,2.852,2.865,2.884,2.89,2.9,2.922,2.923,2.943,2.955,2.963,2.977,2.983,3.002,3.011,3.025,3.042,3.053,3.069,3.084,3.09,3.106,3.118,3.138,3.162,3.171,3.184,3.197,3.209,3.235,3.249,3.26,3.275,3.287,3.33,3.338,3.347,3.38,3.395,3.41,3.439,3.453,3.484,3.509,3.515,3.541,3.569,3.598,3.618,3.639,3.664,3.695,3.716,3.743,3.783,3.797,3.836,3.859,3.896,3.927,3.946,3.99,4.031,4.057,4.093,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.353,3.332,3.33,3.318,3.306,3.292,3.289,3.282,3.27,3.261,3.249,3.243,3.24,3.238,3.219,3.21,3.204,3.193,3.188,3.188,3.175,3.173,3.159,3.156,3.155,3.14,3.138,3.125,3.122,3.122,3.115,3.109,3.107,3.1,3.093,3.088,3.081,3.08,3.075,3.074,3.072,3.067,3.067,3.057,3.051,3.046,3.043,3.039,3.039,3.037,3.032,3.027,3.025,3.025,3.022,3.021,3.021,3.021,3.028,3.028,3.028,3.017,3.016,3.012,3.01,3.008,3.008,3.008,3.013,3.013,3.013,3.007,3.004,3.004,3.004,3.002,3.007,3.012,3.012,3.012,3.012,3.012,3.013,3.013,3.016,3.017,3.017,3.022,3.024,3.022,3.022,3.026,3.027,3.027,3.03,3.033,3.033,3.033,3.041,3.042,3.052,3.055,3.057,3.059,3.063,3.066,3.071,3.077,3.078,3.087,3.09,3.091,3.092,3.098,3.098,3.099,3.11,3.112,3.121,3.129,3.129,3.133,3.137,3.137,3.137,3.14,3.143,3.149,3.157,3.159,3.168,3.173,3.175,3.183,3.198,3.212,3.226,3.23,3.23,3.23,3.232,3.236,3.245,3.246,3.261,3.277,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 29.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 29.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 29.4435} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.4864} SEN {Time 29.4906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.177,0.181,0.177,0.177,0.189,0,0,0,0,0,0,0,0,3.686,3.679,3.666,3.661,3.65,3.62,3.607,3.607,3.607,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.212,3.21,3.199,3.199,3.199,3.273,3.36,0,0,0,0,0,0,0,0.007,0.141,0.141,0.141,0.141,0.146,0.146,0.146,0.147,0.147,0.15,0.15,0.157,0.159,3.027,3.038,3.038,3.038,3.033,3.038,3.033,0.155,0.155,0.155,0.155,0.152,0.147,0.142,0.139,0.124,0.108,0.076,0.064,0.06,0.056,0.056,0.056,0.064,0.067,0.067,0.066,0.066,0.064,0.064,0.064,0.068,0.107,0.18,3.346,3.356,3.36,3.358,3.358,3.36,3.376,3.376,3.409,3.429,3.429,3.45,3.456,3.456,3.478,3.48,3.486,3.488,3.498,3.499,3.508,3.513,3.514,3.516,3.526,3.527,3.528,3.532,3.533,3.535,3.54,3.54,3.553,3.553,3.559,3.561,3.564,3.573,3.574,3.574,3.576,3.587,3.598,3.598,3.604,3.613,3.622,3.628,3.63,3.639,3.642,3.642,3.651,3.655,3.665,3.674,3.68,3.681,3.688,3.697,3.699,3.7,3.712,3.717,3.733,3.746,3.751,3.754,3.772,3.775,3.776,3.799,3.805,3.816,3.818,3.837,3.838,3.839,3.859,3.884,3.887,3.888,3.892,3.923,3.926,3.947,3.949,3.968,3.979,3.998,4.003,4.032,4.035,4.053,4.065,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.065,4.015,3.979,3.964,3.93,3.894,3.867,3.831,3.819,3.782,3.752,3.744,3.693,3.689,3.654,3.62,3.597,3.578,3.546,3.52,3.513,3.487,3.468,3.445,3.411,3.41,3.375,3.373,3.339,3.329,3.307,3.294,3.274,3.256,3.24,3.231,3.2,3.179,3.166,3.15,3.133,3.116,3.105,3.101,3.079,3.072,3.046,3.046,3.039,3.026,2.999,2.984,2.977,2.966,2.955,2.932,2.929,2.911,2.903,2.893,2.874,2.87,2.855,2.847,2.834,2.821,2.819,2.801,2.789,2.781,2.775,2.764,2.758,2.757,2.733,2.728,2.72,2.712,2.703,2.69,2.684,2.675,2.67,2.663,2.652,2.651,2.646,2.64,2.637,2.615,2.611,2.609,2.603,2.599,2.592,2.579,2.576,2.567,2.565,2.563,2.553,2.552,2.548,2.545,2.537,2.529,2.515,2.512,2.503,2.502,2.501,2.491,2.49,2.49,2.478,2.477,2.476,2.472,2.466,2.464,2.461,2.46,2.455,2.454,2.454,2.453,2.444,2.442,2.441,2.438,2.438,2.435,2.429,2.424,2.423,2.421,2.419,2.417,2.417,2.417,2.417,2.414,2.414,2.412,2.412,2.411,2.411,2.411,2.405,2.405,2.409,2.404,2.409,2.41,2.411,2.411,2.412,2.411,2.412,2.411,2.415,2.416,2.416,2.417,2.419,2.417,2.417,2.419,2.42,2.42,2.425,2.428,2.429,2.433,2.433,2.439,2.44,2.44,2.442,2.451,2.451,2.458,2.459,2.464,2.465,2.466,2.467,2.476,2.477,2.478,2.482,2.484,2.49,2.491,2.497,2.499,2.501,2.514,2.517,2.518,2.523,2.535,2.537,2.539,2.548,2.549,2.565,2.568,2.57,2.581,2.588,2.594,2.598,2.606,2.607,2.61,2.615,2.629,2.637,2.638,2.653,2.656,2.66,2.673,2.676,2.678,2.697,2.702,2.714,2.719,2.727,2.736,2.751,2.752,2.764,2.785,2.789,2.795,2.809,2.809,2.828,2.833,2.851,2.862,2.867,2.881,2.887,2.898,2.91,2.927,2.939,2.942,2.957,2.966,2.982,3,3.008,3.026,3.043,3.043,3.057,3.082,3.093,3.109,3.128,3.134,3.161,3.163,3.176,3.204,3.219,3.239,3.253,3.263,3.278,3.294,3.32,3.339,3.35,3.371,3.399,3.405,3.426,3.449,3.482,3.5,3.51,3.531,3.572,3.589,3.611,3.646,3.673,3.691,3.724,3.745,3.78,3.805,3.835,3.861,3.885,3.922,3.996,4.037,4.059,4.059,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.356,3.356,3.342,3.32,3.303,3.297,3.289,3.281,3.265,3.257,3.247,3.243,3.239,3.232,3.217,3.214,3.211,3.2,3.193,3.179,3.175,3.171,3.161,3.155,3.148,3.139,3.131,3.123,3.121,3.121,3.121,3.11,3.109,3.1,3.093,3.088,3.087,3.083,3.077,3.073,3.073,3.069,3.059,3.054,3.05,3.047,3.046,3.042,3.041,3.037,3.037,3.036,3.035,3.028,3.02,3.02,3.02,3.02,3.023,3.023,3.023,3.02,3.016,3.015,3.014,3.01,3.007,3.006,3.007,3.007,3.007,3.003,3.009,3.004,3.004,3.01,3.012,3.014,3.014,3.013,3.017,3.015,3.013,3.013,3.015,3.015,3.012,3.016,3.021,3.021,3.023,3.025,3.025,3.029,3.032,3.034,3.034,3.036,3.038,3.045,3.054,3.055,3.06,3.061,3.061,3.061,3.061,3.07,3.075,3.086,3.088,3.09,3.093,3.097,3.104,3.107,3.108,3.111,3.119,3.132,3.132,3.137,3.132,3.141,3.141,3.147,3.153,3.155,3.157,3.165,3.172,3.175,3.175,3.187,3.199,3.208,3.216,3.229,3.234,3.235,3.238,3.236,3.238,3.24,3.262,3.267,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 29.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 29.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 29.6444} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.08} SEN {Time 29.6866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.174,0.184,0.184,0,0,0,0,0,0,0,0,3.681,3.677,3.663,3.661,3.641,3.628,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.219,3.207,3.207,3.207,3.268,3.365,0,0,0,0,0,0,0,0.147,0.147,0.147,0.141,0.141,0.145,0.145,0.145,0.151,0.151,0.152,0.152,0.152,0.153,3.029,3.032,3.032,3.032,3.032,3.035,3.029,0.155,0.155,0.155,0.153,0.155,0.153,0.15,0.15,0.122,0.111,0.087,0.063,0.063,0.06,0.063,0.064,0.064,0.064,0.066,0.066,0.063,0.06,0.06,0.06,0.07,0.101,0.186,3.325,3.355,3.367,3.359,3.359,3.359,3.362,3.362,3.402,3.421,3.435,3.435,3.468,3.481,3.483,3.483,3.487,3.497,3.501,3.503,3.507,3.516,3.516,3.519,3.527,3.527,3.528,3.533,3.534,3.538,3.537,3.538,3.546,3.547,3.559,3.56,3.566,3.566,3.57,3.572,3.579,3.587,3.594,3.596,3.603,3.611,3.618,3.628,3.637,3.637,3.638,3.65,3.65,3.661,3.661,3.664,3.676,3.676,3.689,3.692,3.695,3.704,3.717,3.733,3.735,3.739,3.751,3.752,3.762,3.767,3.775,3.783,3.807,3.816,3.817,3.832,3.836,3.856,3.87,3.881,3.887,3.892,3.907,3.918,3.926,3.937,3.95,3.962,3.987,3.989,4.017,4.022,4.046,4.07,4.089,4.091,0.016,0.016,0.016,0.007,0,0.007,0,0.007,4.025,3.96,3.939,3.885,3.862,3.839,3.819,3.772,3.752,3.717,3.704,3.67,3.638,3.622,3.584,3.568,3.552,3.526,3.506,3.482,3.454,3.448,3.414,3.401,3.381,3.366,3.343,3.332,3.308,3.281,3.28,3.259,3.228,3.22,3.198,3.186,3.169,3.157,3.138,3.123,3.112,3.096,3.082,3.071,3.042,3.037,3.016,3.009,3.001,2.983,2.971,2.965,2.952,2.934,2.927,2.917,2.91,2.89,2.879,2.871,2.861,2.849,2.844,2.825,2.812,2.802,2.788,2.779,2.775,2.765,2.76,2.751,2.728,2.726,2.716,2.71,2.706,2.693,2.691,2.68,2.67,2.664,2.661,2.654,2.651,2.641,2.64,2.63,2.613,2.61,2.608,2.595,2.591,2.573,2.573,2.573,2.571,2.564,2.561,2.551,2.539,2.537,2.534,2.521,2.516,2.506,2.504,2.501,2.493,2.49,2.482,2.479,2.479,2.478,2.478,2.473,2.466,2.465,2.464,2.463,2.458,2.454,2.451,2.448,2.446,2.441,2.437,2.437,2.436,2.434,2.427,2.425,2.424,2.423,2.423,2.421,2.421,2.417,2.415,2.415,2.414,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.407,2.407,2.409,2.409,2.409,2.41,2.413,2.41,2.413,2.413,2.413,2.416,2.418,2.419,2.419,2.419,2.42,2.424,2.424,2.426,2.427,2.43,2.433,2.434,2.438,2.44,2.444,2.443,2.443,2.449,2.451,2.455,2.456,2.46,2.463,2.464,2.468,2.474,2.475,2.479,2.486,2.486,2.495,2.498,2.503,2.513,2.514,2.521,2.525,2.525,2.528,2.536,2.542,2.546,2.546,2.559,2.559,2.565,2.575,2.589,2.594,2.601,2.604,2.605,2.612,2.623,2.628,2.642,2.644,2.646,2.652,2.66,2.666,2.677,2.685,2.696,2.701,2.711,2.719,2.727,2.741,2.75,2.762,2.764,2.784,2.79,2.797,2.814,2.814,2.823,2.844,2.845,2.859,2.863,2.874,2.892,2.894,2.915,2.915,2.939,2.953,2.961,2.972,2.985,2.994,3.013,3.025,3.037,3.05,3.059,3.078,3.089,3.102,3.126,3.134,3.158,3.166,3.174,3.191,3.223,3.224,3.251,3.262,3.277,3.304,3.323,3.329,3.354,3.372,3.395,3.401,3.434,3.459,3.476,3.495,3.531,3.544,3.563,3.587,3.62,3.633,3.667,3.694,3.718,3.739,3.779,3.806,3.833,3.863,3.897,3.916,3.927,3.982,4.033,4.052,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.359,3.338,3.327,3.313,3.31,3.289,3.285,3.283,3.276,3.253,3.253,3.24,3.238,3.232,3.216,3.212,3.204,3.195,3.195,3.187,3.183,3.159,3.159,3.153,3.151,3.139,3.131,3.127,3.124,3.119,3.113,3.108,3.105,3.103,3.092,3.088,3.088,3.081,3.075,3.071,3.064,3.064,3.062,3.055,3.049,3.047,3.046,3.038,3.038,3.036,3.036,3.032,3.028,3.027,3.024,3.024,3.024,3.026,3.026,3.026,3.024,3.02,3.019,3.018,3.015,3.011,3.01,3.01,3.01,3.01,3.007,3.004,3.004,3.004,3.004,3.006,3.01,3.01,3.009,3.01,3.012,3.012,3.016,3.017,3.016,3.017,3.017,3.02,3.02,3.02,3.019,3.02,3.019,3.019,3.028,3.03,3.035,3.035,3.038,3.041,3.044,3.054,3.057,3.06,3.062,3.066,3.067,3.068,3.074,3.083,3.086,3.088,3.089,3.092,3.099,3.107,3.111,3.114,3.12,3.131,3.132,3.133,3.134,3.143,3.142,3.143,3.15,3.152,3.157,3.165,3.166,3.172,3.174,3.179,3.208,3.22,3.22,3.226,3.229,3.231,3.233,3.238,3.242,3.246,3.263,3.279,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 29.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 29.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 29.8365} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.08} SEN {Time 29.8866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.175,0.177,0.175,0.177,0.187,0,0,0,0,0,0,0,0,3.684,3.678,3.666,3.66,3.652,3.622,3.608,3.608,3.608,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.216,3.215,3.215,3.221,3.345,0.007,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.148,0.147,0.147,0.147,0.162,0.15,0.158,0.158,0.158,0.158,3.038,3.038,3.038,3.038,3.032,3.028,0.163,0.156,0.156,0.156,0.153,0.146,0.146,0.146,0.146,0.129,0.104,0.072,0.062,0.06,0.058,0.058,0.06,0.06,0.063,0.067,0.063,0.06,0.057,0.057,0.057,0.072,0.107,0.174,3.338,3.359,3.362,3.362,3.369,3.369,3.381,3.401,3.401,3.422,3.427,3.427,3.434,3.459,3.477,3.481,3.483,3.492,3.494,3.494,3.496,3.506,3.516,3.519,3.521,3.528,3.532,3.534,3.535,3.537,3.542,3.543,3.549,3.549,3.55,3.566,3.57,3.574,3.577,3.581,3.581,3.59,3.6,3.606,3.607,3.614,3.629,3.63,3.634,3.634,3.65,3.65,3.652,3.655,3.659,3.661,3.677,3.68,3.691,3.694,3.7,3.709,3.717,3.731,3.736,3.745,3.745,3.753,3.767,3.774,3.791,3.795,3.798,3.807,3.819,3.834,3.838,3.842,3.872,3.875,3.881,3.898,3.902,3.914,3.923,3.949,3.96,3.965,3.98,4,4.014,4.03,4.039,4.065,4.069,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.022,3.99,3.96,3.923,3.88,3.87,3.834,3.806,3.771,3.759,3.72,3.698,3.674,3.65,3.627,3.593,3.581,3.543,3.525,3.503,3.484,3.459,3.444,3.421,3.405,3.384,3.364,3.349,3.332,3.304,3.286,3.265,3.265,3.233,3.22,3.194,3.185,3.181,3.153,3.138,3.123,3.107,3.092,3.092,3.061,3.047,3.047,3.042,3.022,3.006,2.986,2.976,2.969,2.951,2.937,2.933,2.924,2.911,2.896,2.876,2.868,2.854,2.843,2.837,2.831,2.808,2.802,2.788,2.78,2.774,2.766,2.764,2.743,2.733,2.73,2.716,2.714,2.705,2.694,2.688,2.679,2.675,2.664,2.661,2.654,2.648,2.64,2.637,2.622,2.611,2.606,2.6,2.596,2.587,2.585,2.577,2.569,2.565,2.56,2.552,2.551,2.542,2.536,2.536,2.52,2.52,2.511,2.508,2.501,2.499,2.493,2.491,2.489,2.484,2.481,2.48,2.474,2.474,2.474,2.474,2.455,2.451,2.451,2.45,2.444,2.442,2.44,2.44,2.44,2.435,2.435,2.431,2.425,2.424,2.421,2.419,2.415,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.412,2.412,2.412,2.407,2.406,2.406,2.406,2.411,2.411,2.412,2.412,2.414,2.414,2.41,2.41,2.412,2.412,2.416,2.418,2.423,2.423,2.42,2.421,2.42,2.419,2.419,2.421,2.427,2.433,2.433,2.435,2.44,2.44,2.447,2.449,2.45,2.45,2.45,2.456,2.459,2.466,2.471,2.471,2.473,2.474,2.476,2.487,2.49,2.493,2.493,2.499,2.504,2.51,2.51,2.519,2.523,2.533,2.533,2.538,2.547,2.552,2.556,2.566,2.576,2.581,2.592,2.592,2.596,2.603,2.606,2.617,2.623,2.631,2.638,2.639,2.647,2.657,2.666,2.674,2.678,2.686,2.699,2.699,2.712,2.719,2.723,2.738,2.748,2.755,2.765,2.78,2.791,2.797,2.808,2.822,2.828,2.836,2.846,2.86,2.867,2.876,2.888,2.9,2.917,2.923,2.937,2.947,2.953,2.964,2.988,2.995,3.014,3.019,3.041,3.043,3.063,3.085,3.092,3.105,3.128,3.136,3.157,3.166,3.177,3.202,3.218,3.226,3.252,3.26,3.298,3.322,3.336,3.336,3.351,3.374,3.393,3.412,3.441,3.451,3.488,3.492,3.511,3.535,3.567,3.604,3.613,3.644,3.668,3.678,3.727,3.753,3.779,3.806,3.827,3.862,3.887,3.916,3.952,4.064,4.082,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.373,3.354,3.34,3.323,3.31,3.306,3.291,3.29,3.279,3.263,3.259,3.252,3.237,3.233,3.233,3.214,3.212,3.21,3.201,3.192,3.185,3.175,3.171,3.16,3.153,3.152,3.137,3.131,3.131,3.121,3.118,3.113,3.106,3.106,3.098,3.093,3.083,3.083,3.082,3.077,3.074,3.067,3.064,3.062,3.056,3.05,3.045,3.044,3.043,3.04,3.039,3.039,3.031,3.03,3.027,3.026,3.026,3.026,3.026,3.029,3.029,3.029,3.021,3.017,3.017,3.017,3.016,3.013,3.012,3.009,3.009,3.009,3.007,3.007,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.018,3.019,3.019,3.018,3.018,3.021,3.018,3.021,3.022,3.025,3.031,3.032,3.032,3.036,3.037,3.039,3.041,3.051,3.052,3.057,3.059,3.062,3.066,3.069,3.078,3.083,3.083,3.086,3.092,3.093,3.095,3.097,3.108,3.111,3.117,3.119,3.126,3.126,3.131,3.137,3.142,3.146,3.148,3.148,3.151,3.152,3.16,3.168,3.173,3.177,3.181,3.196,3.207,3.217,3.225,3.233,3.234,3.237,3.237,3.24,3.25,3.254,3.278,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 30.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 30.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 30.0385} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.08} SEN {Time 30.0866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.175,0.179,0.175,0.179,0.191,0,0,0,0,0,0,0,0,3.683,3.681,3.66,3.657,3.644,3.627,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.215,3.212,3.212,3.219,3.263,3.357,0,0,0,0,0,0,0,0.148,0.141,0.141,0.141,0.141,0.145,0.145,0.145,0.152,0.152,0.159,0.159,0.159,0.159,3.03,3.03,3.035,3.035,3.03,3.027,0.158,0.158,0.157,0.157,0.155,0.153,0.149,0.144,0.144,0.129,0.099,0.077,0.068,0.06,0.06,0.06,0.06,0.064,0.064,0.064,0.064,0.064,0.061,0.061,0.068,0.068,0.114,0.172,3.342,3.358,3.373,3.373,3.373,3.373,3.377,3.409,3.409,0.007,3.449,3.449,3.46,3.46,3.475,3.48,3.484,3.494,3.506,3.507,3.51,3.512,3.52,3.522,3.522,3.528,3.53,3.543,3.543,3.545,3.543,3.542,3.542,3.546,3.562,3.563,3.568,3.572,3.574,3.576,3.577,3.586,3.59,3.598,3.606,3.607,3.62,3.631,3.635,3.637,3.638,3.64,3.65,3.66,3.663,3.663,3.672,3.676,3.686,3.69,3.691,3.709,3.715,3.731,3.732,3.744,3.748,3.756,3.756,3.773,3.782,3.787,3.803,3.809,3.816,3.832,3.847,3.857,3.857,3.871,3.891,3.893,3.912,3.913,3.925,3.955,3.962,3.977,3.982,3.99,4.015,4.038,4.04,4.06,4.074,4.09,0.016,0.016,0.016,0.016,0.016,4.088,4.066,4.014,3.996,3.96,3.93,3.896,3.869,3.845,3.8,3.779,3.752,3.72,3.709,3.669,3.646,3.63,3.597,3.583,3.541,3.53,3.506,3.485,3.46,3.449,3.42,3.405,3.379,3.374,3.349,3.332,3.302,3.291,3.274,3.253,3.231,3.225,3.196,3.187,3.173,3.149,3.135,3.121,3.106,3.097,3.082,3.063,3.043,3.036,3.031,3.019,2.994,2.992,2.982,2.968,2.957,2.943,2.93,2.917,2.905,2.897,2.882,2.871,2.863,2.849,2.846,2.818,2.816,2.806,2.79,2.786,2.778,2.766,2.76,2.751,2.736,2.725,2.715,2.709,2.696,2.696,2.679,2.676,2.672,2.663,2.661,2.648,2.647,2.634,2.629,2.628,2.622,2.612,2.604,2.594,2.583,2.582,2.582,2.575,2.573,2.558,2.557,2.548,2.543,2.537,2.524,2.521,2.515,2.512,2.506,2.501,2.494,2.494,2.493,2.488,2.481,2.479,2.479,2.473,2.473,2.463,2.463,2.458,2.453,2.451,2.451,2.451,2.451,2.446,2.437,2.432,2.432,2.431,2.431,2.426,2.423,2.423,2.421,2.419,2.419,2.413,2.412,2.412,2.414,2.412,2.412,2.412,2.411,2.409,2.409,2.409,2.405,2.405,2.405,2.406,2.409,2.409,2.409,2.41,2.409,2.412,2.414,2.414,2.417,2.419,2.421,2.419,2.421,2.42,2.421,2.421,2.421,2.423,2.427,2.428,2.432,2.434,2.435,2.436,2.442,2.449,2.451,2.456,2.459,2.46,2.462,2.464,2.468,2.474,2.474,2.481,2.484,2.485,2.488,2.49,2.496,2.499,2.511,2.513,2.513,2.514,2.523,2.53,2.53,2.544,2.553,2.555,2.56,2.569,2.571,2.583,2.588,2.597,2.597,2.608,2.61,2.61,2.623,2.629,2.636,2.647,2.648,2.65,2.663,2.677,2.679,2.686,2.701,2.701,2.72,2.72,2.728,2.736,2.745,2.753,2.76,2.778,2.786,2.792,2.805,2.824,2.834,2.834,2.843,2.856,2.871,2.877,2.884,2.903,2.919,2.924,2.945,2.952,2.961,2.976,2.984,2.99,3.011,3.025,3.032,3.045,3.061,3.087,3.091,3.111,3.121,3.141,3.156,3.157,3.179,3.207,3.221,3.229,3.251,3.255,3.285,3.292,3.319,3.335,3.353,3.376,3.383,3.407,3.435,3.449,3.487,3.492,3.522,3.532,3.573,3.588,3.604,3.641,3.665,3.682,3.724,3.743,3.786,3.808,3.835,3.864,3.885,3.916,3.961,3.973,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.353,3.331,3.327,3.323,3.309,3.296,3.288,3.283,3.269,3.255,3.253,3.246,3.243,3.237,3.213,3.212,3.212,3.203,3.183,3.182,3.179,3.167,3.155,3.152,3.15,3.143,3.14,3.13,3.129,3.122,3.118,3.108,3.106,3.102,3.095,3.087,3.085,3.078,3.077,3.072,3.067,3.067,3.066,3.058,3.048,3.045,3.042,3.037,3.037,3.035,3.035,3.031,3.025,3.022,3.022,3.022,3.022,3.028,3.028,3.028,3.023,3.02,3.019,3.014,3.014,3.009,3.009,3.009,3.009,3.008,3.008,3.008,3.007,3.005,3.002,3.002,3.002,3.006,3.006,3.008,3.012,3.008,3.012,3.012,3.012,3.015,3.015,3.025,3.025,3.015,3.018,3.025,3.026,3.026,3.03,3.032,3.032,3.036,3.041,3.044,3.045,3.048,3.053,3.055,3.06,3.062,3.066,3.073,3.075,3.08,3.084,3.09,3.091,3.091,3.098,3.1,3.108,3.115,3.122,3.128,3.128,3.134,3.139,3.139,3.139,3.139,3.148,3.153,3.158,3.159,3.17,3.175,3.179,3.187,3.202,3.208,3.211,3.213,3.223,3.232,3.236,3.239,3.24,3.244,3.256,3.272,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 30.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 30.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 30.2395} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.6736} SEN {Time 30.2866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.182,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.677,3.657,3.655,3.646,3.626,3.612,3.612,3.612,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.217,3.217,3.216,3.216,3.273,3.361,3.361,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.147,0.147,0.149,0.149,0.151,0.151,3.034,3.035,3.04,3.04,3.035,3.035,0.149,0.149,0.149,0.149,0.152,0.152,0.146,0.144,0.144,0.132,0.107,0.073,0.063,0.06,0.06,0.06,0.062,0.063,0.066,0.066,0.064,0.063,0.06,0.06,0.06,0.069,0.105,0.177,3.336,3.356,3.375,3.36,3.36,3.36,3.362,3.362,3.418,3.426,3.452,3.452,3.452,3.462,3.476,3.485,3.49,3.503,3.503,3.504,3.505,3.507,3.524,3.524,3.528,3.532,3.533,3.532,3.533,3.535,3.545,3.545,3.545,3.55,3.556,3.56,3.561,3.563,3.568,3.582,3.587,3.59,3.593,3.593,3.612,3.616,3.626,3.626,3.63,3.633,3.647,3.652,3.653,3.658,3.661,3.67,3.672,3.677,3.69,3.693,3.695,3.7,3.709,3.734,3.737,3.749,3.751,3.752,3.77,3.78,3.791,3.791,3.807,3.812,3.813,3.825,3.833,3.841,3.861,3.881,3.883,3.895,3.902,3.915,3.937,3.938,3.957,3.967,3.984,3.991,4.006,4.036,4.036,4.059,4.066,4.082,0.016,0.016,0.016,0.016,0.016,4.087,4.066,4.028,3.99,3.97,3.928,3.898,3.871,3.842,3.809,3.788,3.752,3.727,3.704,3.673,3.649,3.618,3.594,3.574,3.545,3.516,3.503,3.483,3.451,3.445,3.417,3.407,3.381,3.362,3.351,3.329,3.306,3.285,3.268,3.261,3.233,3.225,3.196,3.189,3.164,3.151,3.136,3.127,3.115,3.098,3.081,3.068,3.047,3.042,3.026,3.006,3.001,2.987,2.972,2.965,2.954,2.943,2.922,2.917,2.902,2.893,2.879,2.859,2.859,2.852,2.829,2.821,2.819,2.809,2.793,2.79,2.779,2.761,2.76,2.758,2.735,2.73,2.718,2.715,2.706,2.694,2.679,2.675,2.675,2.657,2.657,2.647,2.641,2.636,2.634,2.626,2.616,2.61,2.598,2.587,2.582,2.58,2.579,2.572,2.572,2.56,2.557,2.556,2.545,2.535,2.529,2.522,2.52,2.519,2.512,2.503,2.492,2.492,2.49,2.489,2.481,2.477,2.476,2.471,2.465,2.465,2.463,2.457,2.455,2.448,2.448,2.448,2.444,2.443,2.44,2.438,2.437,2.436,2.433,2.428,2.427,2.421,2.421,2.421,2.416,2.415,2.415,2.415,2.413,2.409,2.411,2.409,2.409,2.411,2.411,2.41,2.411,2.41,2.41,2.41,2.412,2.409,2.413,2.413,2.413,2.412,2.415,2.412,2.415,2.417,2.417,2.419,2.419,2.419,2.42,2.42,2.42,2.428,2.428,2.434,2.438,2.435,2.438,2.444,2.444,2.448,2.453,2.454,2.454,2.46,2.464,2.464,2.465,2.466,2.474,2.476,2.487,2.488,2.489,2.494,2.5,2.503,2.516,2.516,2.517,2.522,2.525,2.528,2.533,2.537,2.546,2.554,2.558,2.564,2.567,2.574,2.589,2.591,2.6,2.606,2.61,2.613,2.628,2.63,2.643,2.643,2.646,2.647,2.661,2.674,2.677,2.681,2.696,2.699,2.711,2.716,2.729,2.743,2.749,2.757,2.769,2.777,2.788,2.8,2.801,2.819,2.831,2.836,2.842,2.851,2.873,2.876,2.897,2.898,2.907,2.925,2.945,2.945,2.96,2.978,2.981,3,3.014,3.025,3.034,3.04,3.061,3.082,3.086,3.107,3.123,3.139,3.156,3.167,3.185,3.193,3.209,3.234,3.252,3.254,3.279,3.294,3.324,3.329,3.347,3.371,3.399,3.406,3.433,3.462,3.474,3.506,3.519,3.54,3.565,3.6,3.614,3.647,3.659,3.692,3.725,3.746,3.786,3.797,3.842,3.854,3.886,3.921,3.984,4.028,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.353,3.342,3.329,3.309,3.298,3.291,3.288,3.278,3.268,3.257,3.246,3.245,3.237,3.234,3.216,3.21,3.21,3.202,3.187,3.186,3.18,3.162,3.156,3.15,3.146,3.143,3.13,3.123,3.122,3.119,3.119,3.111,3.107,3.103,3.092,3.089,3.089,3.082,3.076,3.075,3.067,3.067,3.062,3.056,3.054,3.05,3.048,3.04,3.04,3.037,3.037,3.035,3.027,3.023,3.022,3.021,3.021,3.021,3.033,3.033,3.033,3.02,3.015,3.012,3.012,3.009,3.011,3.009,3.011,3.009,3.004,3.004,3.004,3.004,3.011,3.011,3.012,3.011,3.007,3.007,3.007,3.007,3.01,3.015,3.017,3.019,3.019,3.019,3.024,3.024,3.02,3.024,3.024,3.033,3.033,3.033,3.033,3.033,3.037,3.038,3.055,3.057,3.057,3.058,3.059,3.061,3.067,3.07,3.077,3.082,3.09,3.091,3.091,3.092,3.097,3.104,3.109,3.114,3.122,3.128,3.131,3.137,3.137,3.141,3.141,3.148,3.149,3.151,3.16,3.169,3.169,3.171,3.173,3.188,3.196,3.203,3.223,3.224,3.224,3.234,3.241,3.242,3.245,3.245,3.258,3.28,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 30.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 30.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 30.4404} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.6736} SEN {Time 30.4866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.182,0.182,0.182,0,0,0,0,0,0,0,0,3.685,3.683,3.662,3.66,3.636,3.627,3.61,3.61,3.604,3.604,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.214,3.213,3.21,3.21,3.21,3.264,3.364,0,0,0,0,0,0,0,0.147,0.137,0.137,0.137,0.137,0.143,0.143,0.143,0.153,0.148,0.153,0.153,0.154,0.154,3.032,3.033,3.037,3.037,3.033,3.037,3.037,0.162,0.162,0.162,0.156,0.15,0.148,0.145,0.145,0.12,0.11,0.081,0.061,0.06,0.058,0.058,0.061,0.063,0.065,0.065,0.065,0.063,0.06,0.06,0.061,0.061,0.107,0.173,3.334,3.351,3.361,3.361,3.368,3.373,3.374,3.374,3.41,3.425,3.445,3.445,3.457,3.476,3.476,3.485,3.492,3.494,3.5,3.505,3.51,3.515,3.516,3.525,3.525,3.527,3.532,3.535,3.537,3.545,3.545,3.546,3.55,3.553,3.557,3.562,3.57,3.571,3.579,3.579,3.58,3.583,3.587,3.59,3.601,3.609,3.624,3.628,3.63,3.63,3.647,3.65,3.652,3.658,3.666,3.671,3.676,3.678,3.689,3.694,3.698,3.709,3.721,3.722,3.746,3.749,3.756,3.756,3.757,3.768,3.782,3.789,3.804,3.812,3.826,3.83,3.835,3.846,3.864,3.878,3.88,3.898,3.905,3.915,3.92,3.946,3.96,3.961,3.983,3.997,4.006,4.036,4.048,4.067,4.072,4.089,0.016,0.016,0.016,0.016,0.016,4.088,4.036,4.02,3.983,3.96,3.935,3.898,3.864,3.847,3.808,3.775,3.761,3.73,3.698,3.679,3.659,3.629,3.614,3.571,3.547,3.537,3.514,3.492,3.457,3.447,3.419,3.395,3.379,3.366,3.346,3.318,3.308,3.286,3.269,3.256,3.229,3.229,3.191,3.187,3.162,3.15,3.132,3.121,3.101,3.1,3.077,3.067,3.05,3.05,3.043,3.025,3.007,2.994,2.976,2.967,2.948,2.945,2.92,2.918,2.902,2.9,2.876,2.868,2.859,2.855,2.838,2.827,2.807,2.804,2.792,2.786,2.779,2.762,2.757,2.745,2.738,2.73,2.716,2.715,2.704,2.702,2.68,2.677,2.673,2.663,2.658,2.653,2.647,2.637,2.635,2.629,2.619,2.606,2.605,2.593,2.593,2.581,2.571,2.567,2.566,2.564,2.557,2.552,2.536,2.533,2.53,2.519,2.516,2.508,2.508,2.506,2.491,2.489,2.488,2.486,2.48,2.479,2.475,2.467,2.466,2.465,2.463,2.457,2.457,2.455,2.453,2.446,2.444,2.441,2.44,2.438,2.433,2.433,2.428,2.428,2.423,2.423,2.419,2.418,2.416,2.416,2.416,2.416,2.414,2.41,2.41,2.41,2.412,2.412,2.412,2.41,2.409,2.407,2.407,2.409,2.409,2.409,2.41,2.411,2.411,2.413,2.414,2.417,2.419,2.419,2.416,2.42,2.42,2.42,2.42,2.424,2.428,2.426,2.426,2.432,2.432,2.435,2.44,2.442,2.442,2.447,2.447,2.451,2.456,2.459,2.464,2.465,2.468,2.475,2.477,2.478,2.485,2.486,2.49,2.491,2.497,2.506,2.508,2.512,2.516,2.517,2.52,2.531,2.531,2.541,2.549,2.549,2.565,2.566,2.568,2.573,2.585,2.592,2.601,2.604,2.604,2.615,2.616,2.632,2.634,2.635,2.651,2.658,2.658,2.672,2.681,2.681,2.703,2.703,2.713,2.719,2.732,2.741,2.744,2.755,2.758,2.779,2.785,2.79,2.808,2.813,2.829,2.845,2.847,2.864,2.864,2.874,2.891,2.901,2.91,2.928,2.939,2.951,2.96,2.966,2.988,2.995,3.006,3.023,3.032,3.046,3.064,3.085,3.093,3.11,3.125,3.141,3.155,3.158,3.176,3.201,3.217,3.229,3.246,3.262,3.278,3.295,3.325,3.329,3.361,3.374,3.395,3.415,3.436,3.459,3.476,3.501,3.517,3.543,3.562,3.589,3.615,3.635,3.669,3.694,3.718,3.749,3.777,3.799,3.843,3.871,3.901,3.921,3.941,3.981,4.066,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.35,3.342,3.338,3.308,3.303,3.287,3.285,3.279,3.266,3.256,3.255,3.255,3.238,3.238,3.22,3.21,3.205,3.193,3.19,3.184,3.173,3.163,3.16,3.149,3.147,3.139,3.135,3.133,3.121,3.12,3.12,3.105,3.105,3.102,3.091,3.089,3.083,3.079,3.075,3.073,3.068,3.065,3.063,3.057,3.048,3.047,3.045,3.043,3.039,3.039,3.039,3.036,3.033,3.026,3.022,3.021,3.021,3.021,3.024,3.024,3.024,3.015,3.015,3.01,3.009,3.005,3.005,3.005,3.009,3.012,3.012,3.009,3.009,3.009,3.009,3.009,3.01,3.014,3.014,3.011,3.014,3.015,3.011,3.011,3.017,3.018,3.018,3.018,3.02,3.02,3.027,3.029,3.029,3.029,3.029,3.033,3.033,3.035,3.037,3.039,3.05,3.051,3.056,3.059,3.06,3.063,3.063,3.082,3.083,3.084,3.084,3.085,3.091,3.092,3.095,3.109,3.113,3.119,3.121,3.127,3.128,3.128,3.133,3.135,3.145,3.147,3.148,3.148,3.16,3.16,3.17,3.171,3.183,3.185,3.196,3.22,3.221,3.228,3.23,3.235,3.235,3.241,3.242,3.244,3.268,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 30.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 30.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 30.6414} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.6736} SEN {Time 30.6866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.181,0.184,0.184,0.184,0.187,0,0,0,0,0,0,0,0,3.686,3.68,3.671,3.652,3.651,3.616,3.615,3.615,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.235,3.226,3.212,3.211,3.211,3.211,3.26,3.358,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.145,0.146,0.146,0.147,0.154,0.152,0.152,0.152,0.152,0.152,3.04,3.04,3.04,3.04,3.039,3.039,3.039,0.159,0.153,0.153,0.152,0.15,0.15,0.148,0.147,0.122,0.108,0.086,0.064,0.059,0.056,0.056,0.056,0.058,0.065,0.068,0.065,0.065,0.06,0.06,0.06,0.067,0.1,0.179,3.341,3.35,3.355,3.355,3.355,3.365,3.382,3.387,3.422,3.426,3.426,3.438,3.459,3.479,3.48,3.48,3.493,3.499,3.499,3.5,3.503,3.507,3.516,3.517,3.524,3.524,3.525,3.535,3.536,3.538,3.54,3.545,3.549,3.55,3.559,3.559,3.564,3.567,3.569,3.571,3.579,3.583,3.594,3.595,3.598,3.608,3.618,3.63,3.633,3.64,3.646,3.65,3.653,3.657,3.661,3.664,3.673,3.683,3.688,3.692,3.698,3.709,3.712,3.725,3.73,3.742,3.744,3.754,3.76,3.768,3.774,3.797,3.8,3.811,3.813,3.823,3.832,3.847,3.869,3.874,3.882,3.892,3.898,3.914,3.937,3.946,3.96,3.97,3.984,3.998,4.016,4.017,4.05,4.053,4.073,0.016,0.016,0.016,0.016,0.016,0.016,4.083,4.044,4.019,3.993,3.947,3.934,3.885,3.87,3.843,3.815,3.779,3.745,3.735,3.7,3.682,3.646,3.624,3.588,3.574,3.546,3.532,3.501,3.492,3.449,3.443,3.414,3.391,3.377,3.37,3.346,3.34,3.309,3.292,3.278,3.253,3.23,3.224,3.19,3.189,3.167,3.156,3.137,3.116,3.104,3.091,3.083,3.07,3.043,3.033,3.023,3.012,2.993,2.981,2.974,2.956,2.949,2.939,2.921,2.911,2.901,2.891,2.883,2.859,2.858,2.845,2.833,2.818,2.811,2.806,2.795,2.789,2.775,2.767,2.761,2.748,2.735,2.726,2.726,2.717,2.701,2.699,2.686,2.681,2.674,2.668,2.653,2.646,2.645,2.632,2.63,2.621,2.616,2.611,2.604,2.598,2.586,2.58,2.578,2.571,2.564,2.561,2.549,2.545,2.541,2.54,2.534,2.527,2.517,2.514,2.506,2.504,2.497,2.495,2.493,2.49,2.481,2.477,2.476,2.473,2.467,2.465,2.462,2.461,2.456,2.452,2.451,2.451,2.442,2.442,2.44,2.44,2.439,2.433,2.432,2.429,2.428,2.428,2.426,2.425,2.42,2.417,2.416,2.414,2.413,2.412,2.413,2.41,2.412,2.41,2.41,2.41,2.409,2.408,2.409,2.409,2.412,2.412,2.413,2.413,2.413,2.414,2.416,2.416,2.417,2.418,2.418,2.42,2.42,2.42,2.42,2.421,2.421,2.424,2.428,2.428,2.432,2.436,2.441,2.446,2.446,2.446,2.452,2.456,2.456,2.459,2.467,2.467,2.474,2.475,2.475,2.477,2.48,2.485,2.488,2.491,2.491,2.494,2.503,2.516,2.52,2.523,2.527,2.53,2.533,2.537,2.554,2.556,2.562,2.565,2.565,2.579,2.582,2.593,2.601,2.604,2.607,2.615,2.626,2.633,2.642,2.642,2.651,2.653,2.657,2.673,2.677,2.687,2.699,2.701,2.71,2.712,2.731,2.738,2.756,2.758,2.766,2.778,2.783,2.795,2.803,2.816,2.825,2.839,2.846,2.855,2.869,2.872,2.89,2.905,2.913,2.93,2.943,2.951,2.963,2.973,2.984,3,3.014,3.024,3.035,3.048,3.063,3.079,3.093,3.104,3.117,3.136,3.152,3.165,3.183,3.198,3.223,3.233,3.248,3.251,3.282,3.29,3.326,3.335,3.355,3.377,3.387,3.404,3.433,3.459,3.482,3.506,3.522,3.544,3.573,3.596,3.611,3.636,3.666,3.694,3.718,3.748,3.782,3.8,3.833,3.855,3.895,3.924,3.949,3.978,4.022,4.055,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.353,3.34,3.329,3.308,3.306,3.293,3.291,3.282,3.276,3.263,3.252,3.239,3.236,3.236,3.224,3.216,3.209,3.195,3.185,3.184,3.17,3.165,3.159,3.155,3.153,3.15,3.137,3.135,3.135,3.121,3.12,3.106,3.104,3.102,3.092,3.084,3.084,3.08,3.075,3.071,3.07,3.063,3.059,3.056,3.05,3.048,3.047,3.041,3.041,3.04,3.04,3.037,3.031,3.03,3.029,3.022,3.022,3.022,3.022,3.019,3.02,3.019,3.014,3.013,3.013,3.011,3.011,3.011,3.008,3.007,3.007,3.004,3.004,3.007,3.011,3.011,3.011,3.012,3.01,3.01,3.012,3.012,3.014,3.014,3.015,3.017,3.017,3.017,3.024,3.024,3.023,3.024,3.024,3.029,3.034,3.035,3.035,3.035,3.041,3.042,3.049,3.051,3.054,3.056,3.059,3.064,3.066,3.067,3.077,3.081,3.087,3.089,3.093,3.095,3.103,3.106,3.106,3.114,3.117,3.123,3.128,3.134,3.136,3.136,3.136,3.143,3.147,3.151,3.161,3.162,3.166,3.172,3.172,3.187,3.202,3.211,3.223,3.227,3.228,3.234,3.241,3.241,3.241,3.242,3.252,3.28,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 30.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 30.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 30.8424} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7498} SEN {Time 30.8826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.174,0.185,0.185,0,0,0,0,0,0,0,0,3.685,3.683,3.665,3.657,3.647,3.631,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.242,3.21,3.208,3.207,3.207,3.207,3.27,3.361,0,0,0,0,0,0,0,0.007,0.141,0.141,0.141,0.141,0.144,0.144,0.144,0.16,0.15,0.16,0.16,0.16,0.16,3.03,3.032,3.032,3.032,3.03,3.032,3.025,0.153,0.153,0.153,0.153,0.152,0.15,0.148,0.148,0.127,0.119,0.075,0.06,0.059,0.058,0.059,0.06,0.06,0.068,0.068,0.061,0.061,0.06,0.06,0.06,0.068,0.108,0.184,3.345,3.355,3.359,3.359,3.359,3.364,3.378,3.397,3.422,3.432,3.432,3.448,3.463,3.463,3.47,3.481,3.488,3.489,3.5,3.504,3.504,3.509,3.514,3.514,3.523,3.527,3.529,3.529,3.536,3.541,3.542,3.546,3.549,3.55,3.553,3.554,3.57,3.573,3.576,3.576,3.579,3.579,3.598,3.604,3.611,3.616,3.616,3.621,3.633,3.643,3.648,3.648,3.649,3.664,3.667,3.671,3.672,3.68,3.683,3.695,3.701,3.712,3.716,3.726,3.729,3.741,3.744,3.751,3.758,3.76,3.779,3.788,3.802,3.809,3.814,3.842,3.843,3.844,3.862,3.881,3.883,3.897,3.904,3.918,3.922,3.958,3.967,3.969,3.985,3.998,4.008,4.027,4.044,4.068,4.077,4.078,0.016,0.016,0.016,0.016,0.016,4.09,4.035,4.018,3.997,3.958,3.938,3.9,3.873,3.853,3.807,3.793,3.743,3.726,3.694,3.667,3.64,3.614,3.607,3.563,3.555,3.528,3.51,3.485,3.454,3.449,3.422,3.407,3.382,3.363,3.344,3.331,3.312,3.287,3.282,3.261,3.24,3.225,3.198,3.181,3.17,3.159,3.139,3.121,3.107,3.1,3.088,3.072,3.045,3.041,3.019,3.007,3.001,2.986,2.981,2.969,2.95,2.941,2.919,2.916,2.907,2.888,2.874,2.87,2.863,2.848,2.838,2.825,2.819,2.809,2.79,2.785,2.774,2.763,2.763,2.75,2.732,2.728,2.712,2.706,2.705,2.694,2.681,2.677,2.668,2.665,2.656,2.653,2.646,2.636,2.632,2.62,2.619,2.616,2.603,2.597,2.594,2.577,2.577,2.575,2.569,2.564,2.554,2.548,2.543,2.538,2.527,2.524,2.519,2.508,2.503,2.501,2.499,2.498,2.49,2.486,2.485,2.484,2.478,2.473,2.467,2.466,2.466,2.457,2.455,2.452,2.446,2.443,2.441,2.44,2.439,2.436,2.434,2.432,2.426,2.426,2.426,2.425,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.41,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.411,2.411,2.411,2.411,2.411,2.412,2.414,2.415,2.414,2.415,2.416,2.415,2.414,2.416,2.416,2.418,2.419,2.421,2.426,2.427,2.428,2.44,2.44,2.442,2.444,2.447,2.448,2.45,2.452,2.453,2.454,2.46,2.47,2.471,2.471,2.473,2.482,2.483,2.487,2.491,2.494,2.499,2.5,2.503,2.515,2.519,2.52,2.523,2.531,2.535,2.545,2.546,2.559,2.56,2.56,2.569,2.581,2.589,2.595,2.596,2.604,2.607,2.61,2.628,2.633,2.636,2.642,2.645,2.656,2.664,2.676,2.683,2.685,2.7,2.704,2.718,2.721,2.728,2.733,2.755,2.757,2.757,2.78,2.788,2.796,2.811,2.82,2.829,2.835,2.85,2.859,2.874,2.884,2.888,2.899,2.91,2.921,2.941,2.947,2.951,2.972,2.973,2.997,3.02,3.023,3.036,3.043,3.066,3.077,3.092,3.103,3.122,3.14,3.156,3.16,3.176,3.2,3.218,3.245,3.254,3.261,3.281,3.302,3.326,3.333,3.359,3.377,3.395,3.406,3.434,3.461,3.474,3.504,3.516,3.537,3.565,3.589,3.614,3.636,3.669,3.69,3.72,3.745,3.783,3.81,3.833,3.857,3.888,3.926,3.949,3.996,4.017,4.053,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.35,3.329,3.325,3.311,3.305,3.3,3.295,3.284,3.27,3.251,3.247,3.245,3.238,3.236,3.217,3.214,3.203,3.193,3.184,3.178,3.178,3.167,3.164,3.156,3.148,3.146,3.142,3.12,3.119,3.119,3.119,3.106,3.106,3.098,3.093,3.09,3.086,3.077,3.077,3.075,3.068,3.067,3.057,3.052,3.049,3.049,3.045,3.045,3.04,3.039,3.039,3.035,3.033,3.032,3.029,3.023,3.023,3.023,3.031,3.031,3.031,3.015,3.014,3.013,3.013,3.011,3.011,3.01,3.011,3.01,3.01,3.009,3.005,3.005,3.005,3.011,3.017,3.017,3.012,3.012,3.012,3.012,3.012,3.011,3.011,3.014,3.013,3.014,3.021,3.021,3.022,3.023,3.029,3.03,3.03,3.032,3.033,3.034,3.042,3.044,3.044,3.051,3.056,3.057,3.057,3.06,3.063,3.073,3.075,3.085,3.086,3.086,3.087,3.091,3.092,3.109,3.11,3.111,3.118,3.121,3.122,3.134,3.134,3.14,3.14,3.148,3.152,3.154,3.159,3.166,3.174,3.176,3.177,3.19,3.193,3.206,3.216,3.224,3.226,3.233,3.234,3.239,3.245,3.258,3.259,3.273,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 31.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 31.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 31.0342} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7498} SEN {Time 31.0826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.683,3.682,3.668,3.663,3.641,3.631,3.608,3.608,3.608,0.006,0.006,0.006,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.242,3.22,3.216,3.211,3.211,3.211,3.359,0.007,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.145,0.143,0.143,0.143,0.147,0.147,0.154,0.154,0.155,0.161,3.02,3.035,3.035,3.035,3.035,3.035,0.157,0.155,0.155,0.155,0.155,0.152,0.148,0.147,0.143,0.127,0.104,0.086,0.064,0.062,0.061,0.061,0.061,0.064,0.064,0.067,0.066,0.066,0.066,0.066,0.066,0.071,0.103,0.188,3.342,3.364,3.373,3.373,3.373,3.364,3.379,3.379,3.38,3.424,3.431,3.458,3.459,3.459,3.475,3.483,3.489,3.489,3.49,3.502,3.503,3.515,3.519,3.52,3.525,3.525,3.528,3.536,3.536,3.539,3.543,3.544,3.55,3.553,3.554,3.556,3.558,3.576,3.577,3.577,3.579,3.58,3.582,3.598,3.606,3.607,3.625,3.626,3.629,3.631,3.645,3.651,3.656,3.659,3.669,3.671,3.675,3.686,3.694,3.695,3.705,3.707,3.72,3.724,3.736,3.742,3.747,3.751,3.756,3.769,3.771,3.793,3.799,3.81,3.816,3.827,3.844,3.845,3.866,3.874,3.884,3.889,3.899,3.913,3.921,3.945,3.963,3.97,3.985,4.006,4.008,4.037,4.039,4.047,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.046,3.973,3.963,3.935,3.897,3.858,3.833,3.812,3.784,3.758,3.726,3.698,3.683,3.642,3.614,3.6,3.572,3.55,3.534,3.507,3.474,3.467,3.439,3.422,3.409,3.387,3.363,3.349,3.329,3.312,3.295,3.275,3.254,3.234,3.223,3.206,3.187,3.181,3.159,3.141,3.123,3.106,3.09,3.082,3.072,3.04,3.039,3.02,3.016,3.01,2.986,2.982,2.961,2.955,2.939,2.925,2.92,2.906,2.892,2.885,2.874,2.854,2.851,2.843,2.816,2.816,2.813,2.793,2.784,2.774,2.771,2.762,2.75,2.738,2.733,2.72,2.716,2.698,2.693,2.678,2.677,2.671,2.662,2.653,2.652,2.647,2.635,2.632,2.619,2.613,2.606,2.602,2.598,2.588,2.583,2.576,2.574,2.573,2.557,2.551,2.549,2.544,2.537,2.537,2.523,2.516,2.516,2.507,2.504,2.494,2.492,2.488,2.486,2.483,2.48,2.478,2.476,2.474,2.463,2.463,2.456,2.453,2.452,2.451,2.45,2.445,2.444,2.442,2.438,2.436,2.431,2.43,2.429,2.428,2.423,2.423,2.418,2.418,2.418,2.418,2.418,2.418,2.411,2.411,2.411,2.41,2.409,2.408,2.408,2.408,2.405,2.405,2.407,2.407,2.409,2.41,2.41,2.411,2.411,2.417,2.417,2.417,2.417,2.418,2.418,2.423,2.421,2.423,2.426,2.426,2.428,2.43,2.436,2.437,2.436,2.437,2.437,2.442,2.447,2.447,2.452,2.452,2.454,2.461,2.467,2.471,2.473,2.476,2.476,2.488,2.49,2.491,2.491,2.491,2.493,2.511,2.514,2.517,2.517,2.522,2.524,2.538,2.547,2.552,2.556,2.563,2.568,2.569,2.581,2.591,2.596,2.603,2.604,2.609,2.619,2.628,2.633,2.635,2.639,2.646,2.65,2.667,2.678,2.683,2.685,2.694,2.696,2.711,2.721,2.73,2.743,2.749,2.758,2.762,2.769,2.788,2.8,2.804,2.814,2.828,2.838,2.846,2.856,2.863,2.879,2.889,2.907,2.913,2.927,2.947,2.948,2.957,2.973,2.982,2.998,3.021,3.025,3.038,3.041,3.065,3.082,3.092,3.102,3.118,3.143,3.155,3.168,3.177,3.197,3.211,3.235,3.251,3.263,3.277,3.296,3.314,3.338,3.353,3.369,3.387,3.418,3.429,3.451,3.468,3.496,3.528,3.542,3.573,3.593,3.625,3.639,3.666,3.697,3.725,3.743,3.779,3.798,3.836,3.854,3.919,3.962,3.989,3.989,4.031,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.349,3.329,3.327,3.309,3.304,3.287,3.284,3.279,3.27,3.259,3.251,3.241,3.234,3.231,3.215,3.215,3.212,3.187,3.183,3.179,3.177,3.168,3.168,3.153,3.152,3.142,3.134,3.129,3.12,3.119,3.116,3.105,3.105,3.1,3.098,3.091,3.088,3.082,3.077,3.077,3.073,3.062,3.062,3.055,3.051,3.048,3.046,3.044,3.044,3.042,3.036,3.033,3.029,3.028,3.027,3.024,3.024,3.027,3.032,3.032,3.032,3.019,3.015,3.014,3.014,3.012,3.011,3.01,3.01,3.008,3.01,3.01,3.008,3.005,3.005,3.004,3.004,3.008,3.01,3.013,3.014,3.014,3.014,3.014,3.016,3.018,3.018,3.018,3.021,3.022,3.022,3.024,3.029,3.029,3.029,3.033,3.033,3.034,3.04,3.041,3.045,3.049,3.053,3.06,3.06,3.061,3.061,3.069,3.077,3.083,3.089,3.09,3.09,3.09,3.097,3.103,3.111,3.113,3.121,3.126,3.126,3.127,3.136,3.138,3.138,3.142,3.148,3.151,3.153,3.161,3.166,3.169,3.175,3.189,3.194,3.208,3.217,3.22,3.231,3.237,3.241,3.242,3.245,3.253,3.258,3.272,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 31.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 31.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 31.2354} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.7498} SEN {Time 31.2826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.18,0.187,0.187,0,0,0,0,0,0,0,0,3.694,3.679,3.667,3.659,3.642,3.624,3.607,3.607,3.598,3.598,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.217,3.217,3.217,3.357,0.007,0,0,0,0,0,0,0,0.148,0.142,0.141,0.138,0.138,0.139,0.141,0.144,0.15,0.15,0.153,0.153,0.156,0.156,3.028,3.037,3.037,3.037,3.03,3.039,3.03,0.156,0.156,0.156,0.156,0.156,0.151,0.148,0.146,0.132,0.111,0.077,0.061,0.061,0.06,0.06,0.06,0.06,0.067,0.068,0.067,0.067,0.062,0.062,0.062,0.072,0.105,0.18,3.338,3.347,3.362,3.362,3.362,3.362,3.377,3.377,3.379,3.411,3.429,3.432,3.449,3.47,3.481,3.482,3.487,3.496,3.497,3.5,3.504,3.504,3.51,3.512,3.513,3.524,3.526,3.532,3.535,3.536,3.536,3.546,3.546,3.546,3.554,3.554,3.571,3.571,3.574,3.574,3.576,3.589,3.591,3.601,3.606,3.61,3.622,3.626,3.638,3.64,3.64,3.646,3.647,3.662,3.664,3.665,3.673,3.684,3.687,3.692,3.694,3.706,3.727,3.728,3.729,3.744,3.744,3.75,3.764,3.766,3.784,3.785,3.793,3.805,3.817,3.831,3.842,3.848,3.863,3.88,3.886,3.891,3.894,3.922,3.934,3.937,3.951,3.971,3.978,3.998,4.006,4.018,4.048,4.063,4.085,4.095,0.016,0.016,0.016,0.016,0.016,4.092,4.092,4.073,4.023,3.976,3.917,3.901,3.867,3.834,3.811,3.791,3.748,3.731,3.695,3.671,3.641,3.621,3.592,3.578,3.545,3.523,3.512,3.48,3.461,3.441,3.416,3.399,3.388,3.358,3.354,3.327,3.302,3.289,3.278,3.261,3.232,3.224,3.196,3.186,3.165,3.146,3.139,3.12,3.101,3.097,3.083,3.065,3.043,3.043,3.043,3.021,3,2.994,2.982,2.963,2.952,2.937,2.922,2.914,2.902,2.89,2.877,2.868,2.863,2.841,2.828,2.826,2.809,2.804,2.792,2.784,2.78,2.769,2.758,2.745,2.731,2.731,2.718,2.718,2.707,2.695,2.687,2.683,2.676,2.662,2.66,2.655,2.65,2.641,2.639,2.621,2.616,2.604,2.601,2.599,2.583,2.582,2.577,2.566,2.562,2.562,2.55,2.544,2.54,2.538,2.534,2.522,2.516,2.51,2.509,2.509,2.497,2.495,2.486,2.486,2.48,2.479,2.475,2.473,2.468,2.464,2.46,2.458,2.454,2.449,2.447,2.447,2.444,2.442,2.44,2.44,2.439,2.434,2.431,2.43,2.426,2.426,2.421,2.421,2.42,2.418,2.417,2.415,2.413,2.412,2.412,2.41,2.41,2.411,2.411,2.411,2.411,2.41,2.41,2.412,2.412,2.413,2.414,2.415,2.416,2.416,2.417,2.417,2.42,2.42,2.42,2.417,2.417,2.417,2.417,2.42,2.424,2.424,2.426,2.426,2.434,2.437,2.437,2.437,2.439,2.447,2.448,2.453,2.453,2.454,2.465,2.47,2.471,2.471,2.473,2.473,2.474,2.489,2.492,2.492,2.493,2.494,2.512,2.516,2.518,2.527,2.531,2.531,2.532,2.541,2.543,2.554,2.563,2.564,2.567,2.573,2.597,2.599,2.601,2.601,2.606,2.612,2.622,2.627,2.641,2.642,2.65,2.654,2.665,2.67,2.675,2.686,2.692,2.701,2.709,2.719,2.728,2.744,2.746,2.757,2.762,2.779,2.787,2.795,2.803,2.812,2.831,2.842,2.854,2.854,2.871,2.875,2.881,2.906,2.92,2.923,2.933,2.955,2.955,2.969,2.986,2.999,3.014,3.03,3.038,3.044,3.063,3.08,3.086,3.105,3.123,3.143,3.151,3.169,3.176,3.2,3.218,3.235,3.252,3.259,3.28,3.299,3.319,3.338,3.357,3.376,3.39,3.399,3.432,3.459,3.475,3.513,3.52,3.549,3.571,3.6,3.611,3.643,3.668,3.7,3.719,3.736,3.786,3.796,3.83,3.849,3.908,3.911,3.949,3.983,4.023,4.08,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.352,3.336,3.331,3.311,3.307,3.299,3.293,3.273,3.273,3.271,3.25,3.238,3.234,3.234,3.219,3.213,3.205,3.197,3.188,3.187,3.174,3.171,3.165,3.155,3.149,3.138,3.136,3.132,3.119,3.117,3.116,3.11,3.103,3.101,3.101,3.093,3.084,3.081,3.078,3.068,3.067,3.064,3.063,3.06,3.051,3.05,3.049,3.039,3.039,3.037,3.034,3.029,3.028,3.028,3.027,3.022,3.027,3.027,3.029,3.029,3.029,3.02,3.017,3.012,3.012,3.014,3.009,3.009,3.008,3.008,3.006,3.006,3.006,3.006,3.006,3.008,3.008,3.013,3.013,3.011,3.015,3.011,3.01,3.01,3.01,3.01,3.013,3.015,3.017,3.017,3.019,3.029,3.029,3.03,3.032,3.034,3.034,3.034,3.041,3.046,3.048,3.053,3.056,3.058,3.059,3.06,3.065,3.07,3.079,3.088,3.09,3.09,3.09,3.092,3.103,3.104,3.107,3.115,3.116,3.126,3.131,3.132,3.132,3.133,3.133,3.148,3.149,3.156,3.16,3.162,3.166,3.167,3.169,3.188,3.192,3.21,3.213,3.221,3.225,3.241,3.242,3.243,3.25,3.254,3.258,3.275,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 31.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 31.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 31.4353} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.3848} SEN {Time 31.4826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.181,0.181,0.181,0,0,0,0,0,0,0,0,3.678,3.678,3.667,3.656,3.645,3.631,3.613,3.613,3.602,3.602,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.241,3.215,3.212,3.209,3.212,3.212,3.26,3.371,0,0,0,0,0,0,0,0.143,0.142,0.142,0.142,0.142,0.144,0.144,0.148,0.15,0.148,0.148,0.148,0.148,0.148,3.029,3.034,3.034,3.034,3.034,3.04,3.034,0.162,0.157,0.157,0.154,0.154,0.15,0.15,0.149,0.127,0.117,0.081,0.066,0.064,0.061,0.064,0.064,0.064,0.067,0.067,0.065,0.065,0.064,0.064,0.064,0.068,0.111,0.172,3.331,3.349,3.359,3.359,3.359,3.359,3.367,3.368,3.39,3.399,3.42,3.427,3.454,3.458,3.47,3.481,3.493,3.493,3.507,3.507,3.508,3.511,3.515,3.524,3.525,3.533,3.535,3.535,3.535,3.535,3.542,3.552,3.552,3.554,3.554,3.554,3.568,3.572,3.573,3.576,3.578,3.579,3.589,3.591,3.602,3.614,3.62,3.631,3.634,3.642,3.646,3.647,3.659,3.66,3.67,3.674,3.68,3.68,3.69,3.697,3.698,3.712,3.723,3.725,3.727,3.748,3.75,3.755,3.762,3.766,3.773,3.797,3.802,3.811,3.822,3.831,3.831,3.853,3.871,3.873,3.893,3.9,3.902,3.908,3.923,3.943,3.953,3.968,3.975,3.994,3.996,4.035,4.036,4.058,4.082,0.016,0.016,0.016,0.016,0.016,0.016,4.092,4.092,4.061,4.025,3.965,3.925,3.91,3.851,3.837,3.798,3.793,3.761,3.732,3.693,3.681,3.638,3.622,3.608,3.579,3.555,3.523,3.508,3.471,3.459,3.443,3.422,3.399,3.382,3.362,3.338,3.335,3.306,3.297,3.279,3.246,3.232,3.224,3.19,3.189,3.163,3.158,3.137,3.123,3.113,3.094,3.081,3.065,3.048,3.043,3.016,3.014,3,2.985,2.978,2.954,2.944,2.934,2.922,2.917,2.903,2.891,2.883,2.867,2.857,2.844,2.843,2.827,2.815,2.799,2.786,2.779,2.773,2.768,2.762,2.747,2.734,2.728,2.72,2.717,2.707,2.697,2.683,2.677,2.67,2.668,2.661,2.656,2.647,2.639,2.639,2.626,2.62,2.613,2.609,2.593,2.593,2.587,2.574,2.572,2.567,2.563,2.562,2.548,2.537,2.537,2.534,2.525,2.516,2.515,2.506,2.502,2.499,2.49,2.489,2.487,2.487,2.48,2.48,2.476,2.471,2.47,2.467,2.465,2.458,2.456,2.453,2.445,2.442,2.437,2.436,2.435,2.433,2.432,2.427,2.426,2.426,2.42,2.418,2.418,2.418,2.418,2.416,2.415,2.415,2.411,2.408,2.408,2.408,2.41,2.41,2.413,2.413,2.405,2.405,2.409,2.409,2.409,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.415,2.416,2.416,2.418,2.418,2.42,2.423,2.423,2.429,2.429,2.432,2.432,2.437,2.439,2.442,2.448,2.45,2.45,2.451,2.453,2.455,2.458,2.467,2.47,2.476,2.478,2.484,2.486,2.487,2.489,2.497,2.498,2.502,2.509,2.51,2.517,2.517,2.524,2.537,2.538,2.541,2.544,2.545,2.563,2.568,2.569,2.572,2.586,2.602,2.605,2.607,2.612,2.612,2.618,2.627,2.64,2.641,2.642,2.649,2.666,2.674,2.68,2.689,2.698,2.701,2.715,2.721,2.724,2.742,2.743,2.755,2.759,2.779,2.787,2.788,2.799,2.819,2.821,2.832,2.848,2.855,2.869,2.877,2.881,2.895,2.92,2.921,2.945,2.955,2.955,2.963,2.988,2.999,3.01,3.024,3.04,3.046,3.065,3.082,3.095,3.105,3.121,3.14,3.153,3.169,3.17,3.2,3.219,3.238,3.243,3.263,3.276,3.301,3.328,3.338,3.346,3.367,3.389,3.405,3.432,3.454,3.483,3.5,3.522,3.552,3.576,3.589,3.619,3.633,3.675,3.696,3.725,3.742,3.777,3.797,3.831,3.849,3.886,3.92,3.946,3.979,4.033,4.065,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.368,3.34,3.329,3.315,3.311,3.293,3.291,3.274,3.265,3.25,3.239,3.239,3.239,3.231,3.224,3.212,3.204,3.2,3.192,3.19,3.177,3.168,3.168,3.158,3.148,3.137,3.133,3.129,3.118,3.118,3.112,3.108,3.107,3.107,3.098,3.087,3.086,3.084,3.083,3.071,3.067,3.065,3.063,3.061,3.054,3.047,3.037,3.037,3.037,3.036,3.033,3.032,3.032,3.029,3.025,3.018,3.018,3.018,3.022,3.022,3.022,3.02,3.018,3.012,3.011,3.009,3.008,3.006,3.008,3.004,3.004,3.004,3.004,3.004,3.005,3.008,3.009,3.013,3.008,3.01,3.01,3.01,3.008,3.01,3.014,3.016,3.021,3.021,3.022,3.022,3.024,3.025,3.025,3.028,3.03,3.035,3.036,3.038,3.039,3.04,3.041,3.057,3.057,3.061,3.063,3.065,3.069,3.071,3.074,3.076,3.086,3.088,3.091,3.092,3.1,3.101,3.109,3.121,3.122,3.127,3.127,3.131,3.137,3.138,3.138,3.144,3.152,3.153,3.158,3.161,3.167,3.169,3.177,3.185,3.196,3.205,3.219,3.22,3.23,3.232,3.234,3.236,3.241,3.242,3.268,3.278,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 31.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 31.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 31.6371} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.3848} SEN {Time 31.6826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.175,0.186,0.175,0.186,0.186,0,0,0,0,0,0,0,0,0,3.681,3.666,3.658,3.64,3.637,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.245,3.221,3.215,3.214,3.214,3.214,3.261,3.36,0,0,0,0,0,0,0,0.142,0.142,0.142,0.139,0.144,0.144,0.141,0.141,0.143,0.143,0.146,0.146,0.153,0.153,3.038,3.038,3.04,3.04,3.038,3.029,0.15,0.15,0.15,0.15,0.155,0.155,0.148,0.147,0.145,0.136,0.113,0.074,0.068,0.059,0.059,0.059,0.058,0.058,0.066,0.067,0.066,0.066,0.06,0.059,0.059,0.06,0.106,0.192,3.36,3.36,3.372,3.372,3.36,3.372,0.007,0,3.428,3.437,3.437,3.437,3.452,3.465,3.475,3.489,3.497,3.499,3.503,3.505,3.507,3.511,3.519,3.529,3.529,3.534,3.534,3.533,3.533,3.539,3.541,3.542,3.552,3.553,3.558,3.56,3.562,3.569,3.573,3.576,3.576,3.58,3.589,3.603,3.607,3.608,3.617,3.622,3.625,3.635,3.64,3.641,3.645,3.655,3.656,3.672,3.674,3.68,3.69,3.691,3.697,3.708,3.716,3.731,3.737,3.745,3.752,3.756,3.762,3.763,3.778,3.793,3.801,3.811,3.835,3.836,3.838,3.843,3.864,3.88,3.882,3.9,3.907,3.913,3.936,3.953,3.958,3.969,3.977,3.993,4.01,4.024,4.042,4.058,4.076,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.016,3.981,3.958,3.931,3.892,3.865,3.834,3.809,3.789,3.741,3.733,3.701,3.68,3.641,3.623,3.605,3.577,3.554,3.527,3.511,3.478,3.457,3.446,3.427,3.409,3.386,3.376,3.357,3.32,3.308,3.286,3.277,3.249,3.238,3.223,3.191,3.183,3.175,3.165,3.131,3.118,3.108,3.093,3.088,3.065,3.042,3.03,3.022,3.007,2.994,2.992,2.979,2.965,2.953,2.94,2.926,2.91,2.903,2.895,2.877,2.865,2.852,2.847,2.838,2.827,2.814,2.812,2.795,2.78,2.777,2.762,2.757,2.751,2.737,2.734,2.721,2.712,2.71,2.695,2.686,2.682,2.677,2.662,2.659,2.647,2.647,2.636,2.634,2.622,2.616,2.612,2.603,2.594,2.581,2.576,2.575,2.57,2.563,2.561,2.556,2.548,2.543,2.541,2.533,2.528,2.519,2.511,2.51,2.507,2.5,2.495,2.489,2.489,2.488,2.486,2.476,2.471,2.467,2.465,2.464,2.462,2.451,2.449,2.448,2.448,2.448,2.445,2.444,2.443,2.437,2.432,2.43,2.429,2.424,2.42,2.419,2.419,2.419,2.419,2.418,2.417,2.413,2.412,2.412,2.412,2.412,2.412,2.411,2.411,2.408,2.408,2.407,2.407,2.407,2.407,2.411,2.411,2.41,2.411,2.411,2.413,2.414,2.414,2.417,2.418,2.419,2.419,2.423,2.423,2.424,2.424,2.425,2.426,2.435,2.438,2.441,2.441,2.441,2.45,2.453,2.453,2.453,2.464,2.466,2.467,2.468,2.474,2.476,2.477,2.484,2.489,2.491,2.491,2.498,2.501,2.507,2.509,2.514,2.518,2.524,2.533,2.537,2.541,2.546,2.55,2.555,2.568,2.57,2.575,2.592,2.596,2.599,2.601,2.606,2.615,2.625,2.626,2.63,2.646,2.648,2.66,2.66,2.675,2.682,2.692,2.698,2.706,2.717,2.722,2.724,2.737,2.75,2.752,2.764,2.778,2.789,2.793,2.801,2.812,2.832,2.838,2.846,2.859,2.871,2.877,2.887,2.905,2.92,2.927,2.943,2.946,2.958,2.972,2.987,2.994,3.013,3.026,3.04,3.044,3.06,3.08,3.094,3.105,3.123,3.142,3.15,3.166,3.175,3.199,3.213,3.228,3.25,3.258,3.276,3.303,3.323,3.337,3.354,3.365,3.386,3.412,3.433,3.459,3.476,3.501,3.517,3.544,3.566,3.584,3.615,3.628,3.666,3.686,3.726,3.749,3.773,3.809,3.842,3.865,3.891,3.915,3.974,4.031,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.357,3.343,3.324,3.309,3.304,3.296,3.287,3.278,3.266,3.259,3.25,3.242,3.241,3.237,3.22,3.212,3.199,3.196,3.187,3.186,3.183,3.169,3.166,3.148,3.147,3.147,3.147,3.139,3.125,3.115,3.11,3.107,3.105,3.102,3.092,3.085,3.083,3.081,3.075,3.07,3.069,3.061,3.056,3.053,3.053,3.05,3.041,3.039,3.037,3.037,3.031,3.029,3.028,3.028,3.024,3.023,3.023,3.023,3.023,3.023,3.023,3.018,3.013,3.012,3.011,3.011,3.009,3.009,3.008,3.009,3.009,3.004,3.004,3.006,3.006,3.006,3.008,3.008,3.013,3.013,3.013,3.015,3.013,3.015,3.014,3.018,3.018,3.019,3.02,3.02,3.021,3.025,3.029,3.035,3.035,3.035,3.035,3.041,3.042,3.051,3.052,3.053,3.053,3.059,3.061,3.063,3.064,3.069,3.078,3.085,3.085,3.085,3.094,3.094,3.096,3.112,3.113,3.114,3.12,3.124,3.127,3.136,3.136,3.138,3.143,3.148,3.148,3.153,3.156,3.158,3.166,3.175,3.175,3.181,3.197,3.215,3.218,3.222,3.224,3.237,3.237,3.239,3.242,3.249,3.265,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 31.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 31.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 31.8371} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.3848} SEN {Time 31.8786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.174,0.177,0.174,0.177,0.187,0,0,0,0,0,0,0,0,3.688,3.687,3.66,3.66,3.633,3.629,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.216,3.213,3.213,3.213,3.367,0.007,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.143,0.144,0.144,0.156,0.149,0.15,0.15,0.15,0.15,3.032,3.035,3.035,3.035,3.034,3.034,0.157,0.154,0.154,0.154,0.154,0.154,0.149,0.143,0.143,0.132,0.108,0.072,0.066,0.065,0.062,0.062,0.062,0.064,0.068,0.068,0.068,0.068,0.064,0.064,0.068,0.068,0.113,0.18,3.337,3.357,3.365,3.365,3.365,3.369,3.381,3.394,3.432,3.432,3.432,3.432,3.44,3.458,3.474,3.476,3.488,3.49,3.498,3.504,3.507,3.51,3.514,3.517,3.518,3.52,3.522,3.53,3.53,3.54,3.541,3.546,3.552,3.554,3.563,3.564,3.569,3.574,3.576,3.582,3.59,3.599,3.6,3.605,3.605,3.606,3.614,3.628,3.63,3.635,3.642,3.644,3.647,3.656,3.668,3.671,3.675,3.684,3.692,3.703,3.705,3.72,3.721,3.728,3.738,3.738,3.748,3.758,3.765,3.781,3.782,3.795,3.795,3.814,3.815,3.842,3.846,3.847,3.858,3.882,3.886,3.898,3.906,3.918,3.919,3.922,3.955,3.965,3.987,4.003,4.008,4.031,4.051,4.061,4.065,4.089,0.016,0.016,0.016,0.007,0,0.016,0,4.06,4.011,4.011,3.969,3.913,3.877,3.836,3.801,3.783,3.752,3.724,3.699,3.681,3.648,3.615,3.593,3.567,3.547,3.517,3.509,3.479,3.457,3.441,3.42,3.402,3.378,3.376,3.351,3.334,3.306,3.298,3.278,3.249,3.228,3.225,3.196,3.192,3.175,3.168,3.13,3.121,3.109,3.096,3.083,3.073,3.047,3.041,3.015,3.015,2.999,2.991,2.974,2.958,2.948,2.935,2.92,2.918,2.904,2.89,2.875,2.869,2.85,2.849,2.834,2.821,2.809,2.806,2.797,2.784,2.778,2.768,2.748,2.748,2.738,2.731,2.714,2.713,2.706,2.7,2.683,2.679,2.677,2.665,2.655,2.651,2.643,2.633,2.628,2.619,2.615,2.611,2.6,2.597,2.59,2.588,2.571,2.568,2.567,2.565,2.558,2.545,2.544,2.536,2.536,2.519,2.511,2.511,2.504,2.502,2.49,2.488,2.484,2.482,2.476,2.476,2.475,2.475,2.474,2.464,2.462,2.462,2.454,2.452,2.45,2.447,2.444,2.443,2.444,2.44,2.436,2.432,2.423,2.423,2.42,2.42,2.42,2.42,2.42,2.418,2.417,2.418,2.417,2.415,2.412,2.411,2.411,2.411,2.411,2.41,2.408,2.408,2.41,2.41,2.411,2.412,2.412,2.412,2.412,2.412,2.415,2.417,2.421,2.421,2.417,2.415,2.415,2.415,2.421,2.421,2.426,2.427,2.431,2.432,2.434,2.435,2.437,2.438,2.438,2.452,2.452,2.452,2.454,2.455,2.458,2.465,2.472,2.475,2.477,2.479,2.487,2.488,2.49,2.493,2.495,2.496,2.509,2.515,2.52,2.52,2.523,2.528,2.536,2.539,2.548,2.55,2.553,2.567,2.568,2.575,2.59,2.597,2.599,2.602,2.607,2.619,2.629,2.637,2.643,2.646,2.654,2.654,2.658,2.672,2.685,2.687,2.7,2.707,2.714,2.718,2.727,2.731,2.749,2.755,2.764,2.775,2.789,2.79,2.795,2.82,2.828,2.836,2.848,2.849,2.863,2.876,2.88,2.892,2.916,2.92,2.939,2.955,2.959,2.969,2.984,3,3.007,3.028,3.034,3.046,3.071,3.082,3.085,3.112,3.121,3.138,3.152,3.164,3.182,3.2,3.225,3.227,3.25,3.262,3.279,3.297,3.31,3.334,3.35,3.376,3.387,3.408,3.431,3.451,3.476,3.49,3.511,3.546,3.565,3.594,3.602,3.646,3.666,3.693,3.722,3.739,3.783,3.803,3.839,3.859,3.89,3.913,3.959,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.358,3.331,3.329,3.303,3.301,3.295,3.292,3.284,3.267,3.261,3.253,3.243,3.237,3.233,3.214,3.21,3.203,3.197,3.19,3.178,3.175,3.167,3.162,3.155,3.149,3.146,3.143,3.131,3.121,3.117,3.116,3.108,3.107,3.107,3.103,3.091,3.083,3.082,3.074,3.072,3.065,3.065,3.063,3.061,3.054,3.049,3.046,3.039,3.037,3.036,3.036,3.032,3.03,3.029,3.028,3.024,3.028,3.028,3.029,3.029,3.029,3.016,3.016,3.015,3.015,3.014,3.009,3.009,3.008,3.008,3.007,3.005,3.005,3.006,3.006,3.008,3.011,3.013,3.013,3.015,3.015,3.014,3.014,3.014,3.014,3.019,3.019,3.016,3.019,3.019,3.022,3.024,3.027,3.028,3.029,3.033,3.033,3.039,3.04,3.044,3.05,3.052,3.053,3.058,3.061,3.065,3.068,3.076,3.078,3.082,3.082,3.087,3.091,3.093,3.096,3.105,3.115,3.119,3.121,3.129,3.129,3.133,3.135,3.137,3.137,3.149,3.15,3.152,3.156,3.161,3.173,3.174,3.175,3.176,3.197,3.214,3.226,3.23,3.231,3.232,3.239,3.243,3.245,3.25,3.271,3.275,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 32.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 32.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 32.0302} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 32.0786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.194,0.18,0.194,0.194,0,0,0,0,0,0,0,0,3.695,3.684,3.672,3.659,3.64,3.638,3.608,3.608,3.608,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.217,3.207,3.217,3.261,3.364,3.364,0,0,0,0,0,0,0,0.148,0.143,0.143,0.142,0.142,0.142,0.144,0.144,0.154,0.15,0.154,0.154,0.156,0.156,3.034,3.039,3.039,3.039,3.039,3.033,0.153,0.153,0.15,0.15,0.149,0.149,0.149,0.146,0.144,0.12,0.112,0.081,0.068,0.064,0.06,0.06,0.06,0.06,0.067,0.068,0.067,0.067,0.059,0.059,0.059,0.068,0.109,0.184,3.343,3.347,3.369,3.366,3.366,3.36,3.366,3.366,3.385,3.406,3.433,0.007,3.477,3.477,3.484,3.484,3.487,3.495,3.5,3.506,3.508,3.512,3.512,3.516,3.525,3.531,3.535,3.535,3.538,3.543,3.544,3.546,3.546,3.546,3.561,3.567,3.567,3.568,3.574,3.578,3.579,3.579,3.594,3.595,3.603,3.604,3.62,3.632,3.632,3.633,3.639,3.646,3.649,3.661,3.662,3.667,3.676,3.678,3.682,3.696,3.702,3.716,3.717,3.726,3.742,3.744,3.756,3.759,3.766,3.775,3.777,3.794,3.797,3.82,3.822,3.829,3.839,3.851,3.866,3.874,3.881,3.899,3.899,3.914,3.931,3.934,3.946,3.965,3.992,3.993,4.012,4.029,4.048,4.068,4.081,4.081,0.016,0.016,0.016,0.007,0,0.016,4.047,4.012,4.005,3.968,3.935,3.9,3.882,3.839,3.804,3.788,3.761,3.727,3.711,3.685,3.658,3.639,3.594,3.571,3.552,3.531,3.502,3.487,3.457,3.445,3.423,3.413,3.38,3.358,3.347,3.324,3.311,3.292,3.273,3.246,3.229,3.221,3.198,3.183,3.169,3.157,3.134,3.118,3.109,3.105,3.085,3.067,3.043,3.043,3.035,3.019,2.994,2.985,2.976,2.969,2.957,2.947,2.929,2.911,2.909,2.894,2.878,2.868,2.855,2.855,2.838,2.827,2.815,2.809,2.788,2.783,2.78,2.769,2.753,2.743,2.74,2.727,2.719,2.714,2.711,2.694,2.68,2.674,2.673,2.664,2.655,2.653,2.653,2.64,2.636,2.626,2.611,2.611,2.608,2.599,2.585,2.58,2.575,2.572,2.569,2.569,2.555,2.553,2.545,2.535,2.53,2.522,2.52,2.512,2.508,2.505,2.497,2.493,2.489,2.484,2.48,2.479,2.477,2.474,2.473,2.467,2.463,2.461,2.461,2.45,2.446,2.444,2.444,2.443,2.443,2.442,2.44,2.429,2.429,2.427,2.425,2.421,2.419,2.419,2.415,2.415,2.41,2.412,2.413,2.412,2.41,2.41,2.41,2.41,2.41,2.411,2.411,2.409,2.409,2.409,2.407,2.409,2.409,2.411,2.411,2.411,2.417,2.417,2.419,2.419,2.421,2.423,2.423,2.423,2.423,2.423,2.424,2.427,2.429,2.432,2.433,2.438,2.44,2.441,2.441,2.449,2.45,2.456,2.458,2.459,2.462,2.468,2.468,2.478,2.478,2.479,2.481,2.486,2.489,2.491,2.5,2.504,2.509,2.517,2.517,2.517,2.525,2.532,2.536,2.539,2.551,2.553,2.559,2.563,2.571,2.578,2.592,2.595,2.599,2.603,2.61,2.611,2.626,2.633,2.639,2.64,2.648,2.655,2.665,2.673,2.676,2.681,2.694,2.702,2.714,2.717,2.726,2.744,2.749,2.753,2.766,2.779,2.789,2.797,2.805,2.814,2.827,2.834,2.846,2.855,2.863,2.879,2.888,2.904,2.912,2.926,2.948,2.953,2.959,2.97,2.989,3.001,3.021,3.027,3.037,3.045,3.065,3.079,3.093,3.108,3.118,3.141,3.152,3.168,3.18,3.197,3.225,3.233,3.244,3.267,3.279,3.296,3.314,3.336,3.346,3.375,3.402,3.405,3.43,3.461,3.474,3.504,3.522,3.545,3.567,3.6,3.617,3.647,3.675,3.691,3.73,3.751,3.786,3.801,3.828,3.911,3.939,3.971,3.971,3.971,0,0,0,0,0.007,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.351,3.338,3.331,3.323,3.297,3.291,3.29,3.274,3.263,3.262,3.249,3.247,3.244,3.236,3.215,3.21,3.209,3.198,3.194,3.18,3.17,3.165,3.162,3.155,3.153,3.146,3.139,3.127,3.127,3.123,3.116,3.106,3.104,3.092,3.092,3.088,3.087,3.08,3.074,3.073,3.066,3.065,3.058,3.061,3.053,3.049,3.048,3.045,3.044,3.037,3.032,3.032,3.03,3.03,3.028,3.024,3.024,3.024,3.027,3.027,3.027,3.02,3.018,3.016,3.013,3.011,3.011,3.011,3.007,3.007,3.006,3.002,3.002,3.002,3.007,3.008,3.009,3.011,3.011,3.011,3.011,3.011,3.009,3.013,3.014,3.015,3.016,3.018,3.022,3.025,3.026,3.027,3.026,3.032,3.032,3.032,3.035,3.035,3.04,3.041,3.048,3.049,3.055,3.058,3.062,3.062,3.066,3.075,3.084,3.089,3.089,3.09,3.092,3.097,3.098,3.106,3.11,3.118,3.12,3.124,3.133,3.133,3.133,3.134,3.135,3.139,3.143,3.153,3.155,3.171,3.175,3.176,3.177,3.185,3.196,3.208,3.216,3.218,3.225,3.228,3.24,3.241,3.245,3.246,3.272,3.276,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 32.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 32.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 32.2312} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 32.2786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.178,0.178,0.178,0.179,0,0,0,0,0,0,0,0,3.684,3.678,3.668,3.661,3.642,3.627,3.617,3.617,3.617,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.212,3.21,3.21,3.21,3.264,3.358,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.151,0.151,0.151,0.151,0.153,0.153,3.029,3.03,3.03,3.03,3.029,3.028,0.151,0.151,0.151,0.151,0.155,0.155,0.146,0.145,0.139,0.125,0.107,0.081,0.064,0.058,0.058,0.058,0.058,0.064,0.065,0.065,0.065,0.064,0.063,0.063,0.064,0.067,0.109,0.175,3.341,3.353,3.363,3.355,3.363,3.365,3.378,0,0,0,0,3.458,3.458,3.458,3.469,3.486,3.487,3.499,3.499,3.504,3.505,3.509,3.512,3.524,3.525,3.529,3.529,3.532,3.537,3.537,3.539,3.544,3.546,3.549,3.55,3.559,3.57,3.57,3.577,3.579,3.579,3.585,3.591,3.603,3.606,3.615,3.616,3.617,3.631,3.632,3.646,3.649,3.656,3.661,3.662,3.671,3.672,3.683,3.684,3.686,3.693,3.708,3.719,3.729,3.732,3.745,3.746,3.748,3.765,3.771,3.783,3.794,3.794,3.818,3.819,3.828,3.832,3.847,3.855,3.884,3.884,3.89,3.896,3.921,3.923,3.95,3.967,3.968,3.99,4.003,4.017,4.02,4.051,4.074,4.08,4.095,0.016,0.016,0.016,0.016,0,0.016,0.016,4.031,3.988,3.948,3.932,3.894,3.892,3.827,3.817,3.777,3.752,3.736,3.691,3.668,3.644,3.624,3.591,3.586,3.539,3.52,3.501,3.485,3.459,3.439,3.414,3.414,3.387,3.362,3.346,3.33,3.302,3.292,3.272,3.255,3.229,3.224,3.197,3.184,3.166,3.155,3.146,3.119,3.106,3.092,3.076,3.07,3.044,3.04,3.022,3.016,2.994,2.989,2.978,2.967,2.947,2.932,2.923,2.914,2.902,2.889,2.876,2.87,2.86,2.847,2.838,2.823,2.813,2.811,2.793,2.78,2.775,2.762,2.753,2.749,2.735,2.733,2.72,2.717,2.702,2.69,2.683,2.678,2.678,2.65,2.65,2.646,2.642,2.637,2.633,2.627,2.616,2.615,2.6,2.597,2.584,2.58,2.575,2.573,2.567,2.555,2.553,2.547,2.544,2.538,2.53,2.517,2.516,2.515,2.512,2.505,2.497,2.496,2.489,2.487,2.485,2.48,2.478,2.474,2.468,2.463,2.462,2.461,2.449,2.447,2.446,2.446,2.446,2.446,2.442,2.442,2.433,2.432,2.427,2.427,2.426,2.424,2.42,2.42,2.418,2.418,2.415,2.414,2.414,2.413,2.409,2.409,2.409,2.409,2.409,2.408,2.408,2.408,2.408,2.414,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.417,2.417,2.417,2.417,2.417,2.42,2.42,2.42,2.42,2.423,2.424,2.428,2.435,2.435,2.438,2.44,2.441,2.449,2.453,2.454,2.455,2.456,2.463,2.465,2.466,2.467,2.478,2.481,2.481,2.487,2.491,2.493,2.498,2.505,2.509,2.509,2.514,2.517,2.533,2.537,2.538,2.538,2.546,2.548,2.559,2.563,2.569,2.576,2.59,2.596,2.599,2.609,2.612,2.615,2.623,2.633,2.638,2.64,2.645,2.649,2.658,2.673,2.676,2.684,2.701,2.702,2.71,2.716,2.731,2.743,2.752,2.753,2.765,2.78,2.789,2.799,2.802,2.814,2.828,2.833,2.843,2.858,2.86,2.878,2.887,2.905,2.916,2.92,2.938,2.95,2.956,2.976,2.984,2.994,3.015,3.02,3.03,3.046,3.061,3.084,3.087,3.101,3.119,3.13,3.15,3.167,3.178,3.199,3.221,3.233,3.238,3.265,3.271,3.295,3.32,3.333,3.35,3.371,3.395,3.403,3.433,3.461,3.487,3.5,3.523,3.545,3.565,3.592,3.618,3.642,3.669,3.682,3.718,3.745,3.785,3.801,3.835,3.868,3.896,3.916,3.997,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.34,3.325,3.303,3.3,3.295,3.289,3.274,3.273,3.26,3.252,3.238,3.236,3.235,3.221,3.214,3.208,3.196,3.188,3.178,3.177,3.168,3.163,3.155,3.154,3.146,3.138,3.133,3.119,3.119,3.119,3.109,3.106,3.102,3.092,3.09,3.079,3.078,3.078,3.078,3.065,3.064,3.063,3.06,3.058,3.052,3.051,3.046,3.044,3.043,3.035,3.031,3.029,3.024,3.021,3.021,3.024,3.029,3.029,3.029,3.025,3.017,3.017,3.017,3.014,3.009,3.009,3.007,3.008,3.008,3.008,3.007,3.007,3.005,3.005,3.006,3.006,3.006,3.011,3.013,3.014,3.016,3.016,3.016,3.017,3.019,3.017,3.019,3.022,3.022,3.022,3.025,3.025,3.025,3.031,3.036,3.042,3.043,3.044,3.045,3.047,3.049,3.054,3.058,3.059,3.064,3.07,3.071,3.072,3.079,3.092,3.092,3.092,3.092,3.098,3.104,3.11,3.115,3.126,3.131,3.131,3.135,3.139,3.142,3.142,3.148,3.151,3.155,3.161,3.165,3.17,3.172,3.175,3.184,3.207,3.208,3.214,3.216,3.227,3.229,3.235,3.236,3.239,3.249,3.261,3.285,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 32.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 32.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 32.432} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 32.4786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.174,0.178,0.19,0,0,0,0,0,0,0,0,3.685,3.676,3.662,3.653,3.642,3.637,3.608,3.608,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.215,3.213,3.21,3.213,3.215,3.261,3.362,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.145,0.145,0.145,0.148,0.148,0.148,0.148,0.153,0.153,3.031,3.032,3.037,3.037,3.037,3.038,3.037,0.16,0.157,0.157,0.157,0.155,0.151,0.148,0.143,0.127,0.105,0.079,0.062,0.062,0.06,0.06,0.06,0.064,0.066,0.066,0.066,0.066,0.064,0.064,0.064,0.07,0.098,0.168,3.34,3.356,3.359,3.359,3.37,3.371,3.379,3.379,3.417,3.432,3.447,3.447,3.447,3.465,3.482,3.49,3.492,3.505,3.505,3.505,3.505,3.506,3.509,3.518,3.521,3.521,3.531,3.536,3.539,3.544,3.544,3.547,3.547,3.553,3.553,3.56,3.565,3.57,3.574,3.576,3.582,3.592,3.592,3.603,3.611,3.612,3.624,3.624,3.628,3.639,3.648,3.652,3.655,3.656,3.661,3.662,3.674,3.678,3.691,3.693,3.701,3.713,3.724,3.726,3.733,3.745,3.754,3.755,3.766,3.772,3.791,3.792,3.794,3.807,3.819,3.831,3.831,3.847,3.864,3.878,3.888,3.889,3.899,3.911,3.926,3.951,3.969,3.974,3.98,3.992,4.009,4.025,4.035,4.048,4.077,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.082,4.044,3.981,3.961,3.928,3.886,3.869,3.846,3.817,3.789,3.747,3.72,3.705,3.681,3.652,3.633,3.593,3.581,3.56,3.53,3.498,3.483,3.463,3.439,3.418,3.409,3.379,3.363,3.342,3.331,3.312,3.291,3.266,3.256,3.232,3.224,3.201,3.184,3.172,3.148,3.138,3.125,3.101,3.098,3.075,3.068,3.048,3.039,3.025,3.015,2.995,2.994,2.975,2.968,2.952,2.936,2.927,2.925,2.913,2.894,2.876,2.875,2.853,2.848,2.837,2.823,2.813,2.806,2.793,2.78,2.779,2.768,2.763,2.752,2.739,2.733,2.715,2.712,2.702,2.695,2.683,2.678,2.672,2.665,2.654,2.649,2.648,2.634,2.633,2.622,2.621,2.618,2.597,2.594,2.593,2.584,2.575,2.571,2.566,2.564,2.557,2.546,2.542,2.539,2.525,2.522,2.519,2.511,2.502,2.497,2.495,2.491,2.49,2.486,2.481,2.481,2.478,2.474,2.473,2.47,2.464,2.458,2.454,2.452,2.45,2.448,2.446,2.443,2.441,2.439,2.436,2.436,2.432,2.427,2.421,2.42,2.42,2.419,2.417,2.417,2.414,2.414,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.411,2.411,2.41,2.41,2.41,2.41,2.41,2.412,2.416,2.412,2.411,2.416,2.414,2.414,2.419,2.42,2.419,2.42,2.419,2.424,2.424,2.43,2.43,2.43,2.437,2.438,2.44,2.442,2.443,2.444,2.447,2.448,2.452,2.456,2.457,2.461,2.466,2.468,2.468,2.471,2.48,2.482,2.483,2.492,2.495,2.496,2.498,2.508,2.511,2.514,2.52,2.52,2.528,2.531,2.538,2.547,2.55,2.553,2.556,2.562,2.573,2.596,2.597,2.6,2.603,2.606,2.616,2.62,2.63,2.635,2.637,2.648,2.656,2.656,2.671,2.671,2.687,2.696,2.698,2.709,2.721,2.725,2.746,2.747,2.756,2.763,2.782,2.787,2.797,2.798,2.813,2.822,2.842,2.85,2.853,2.873,2.878,2.895,2.895,2.918,2.924,2.94,2.952,2.96,2.972,2.98,2.998,3.012,3.024,3.038,3.039,3.063,3.077,3.089,3.098,3.122,3.143,3.156,3.166,3.174,3.195,3.219,3.234,3.252,3.263,3.278,3.285,3.322,3.329,3.351,3.378,3.394,3.402,3.441,3.459,3.485,3.497,3.522,3.542,3.568,3.589,3.619,3.641,3.671,3.686,3.718,3.751,3.775,3.792,3.831,3.862,3.889,3.928,3.984,4.028,4.074,4.074,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.348,3.332,3.325,3.308,3.297,3.297,3.295,3.29,3.272,3.261,3.254,3.238,3.233,3.233,3.213,3.21,3.207,3.195,3.187,3.183,3.176,3.175,3.156,3.148,3.148,3.14,3.139,3.129,3.121,3.121,3.114,3.112,3.107,3.1,3.094,3.088,3.083,3.081,3.075,3.069,3.069,3.068,3.061,3.057,3.055,3.044,3.044,3.039,3.039,3.038,3.037,3.037,3.029,3.027,3.023,3.023,3.025,3.027,3.03,3.03,3.03,3.023,3.017,3.015,3.013,3.009,3.009,3.008,3.008,3.008,3.008,3.002,3.002,3.002,3.006,3.009,3.012,3.012,3.012,3.01,3.01,3.01,3.01,3.013,3.017,3.019,3.019,3.017,3.021,3.019,3.019,3.021,3.022,3.028,3.033,3.034,3.041,3.041,3.042,3.042,3.045,3.05,3.051,3.054,3.058,3.061,3.062,3.067,3.079,3.088,3.088,3.088,3.088,3.095,3.099,3.109,3.11,3.111,3.12,3.13,3.13,3.133,3.13,3.136,3.136,3.14,3.146,3.149,3.16,3.16,3.175,3.175,3.183,3.195,3.204,3.215,3.215,3.22,3.221,3.229,3.231,3.236,3.24,3.244,3.255,3.277,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 32.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 32.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 32.633} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 5.0546} SEN {Time 32.6786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.181,0.184,0.184,0,0,0,0,0,0,0,0,3.685,3.679,3.664,3.66,3.646,3.632,3.606,3.606,3.589,3.589,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.215,3.208,3.215,3.258,3.352,3.352,0,0,0,0,0,0,0,0.144,0.144,0.144,0.142,0.145,0.145,0.143,0.143,0.151,0.149,0.151,0.151,0.158,0.158,3.034,3.034,3.036,3.036,3.034,3.027,0.16,0.158,0.153,0.153,0.153,0.152,0.149,0.144,0.144,0.131,0.11,0.087,0.065,0.06,0.059,0.059,0.06,0.063,0.065,0.065,0.063,0.063,0.063,0.063,0.063,0.068,0.103,0.187,3.337,3.356,3.36,3.36,3.368,3.385,0,0,0,0,0,3.465,3.465,3.465,3.473,3.479,3.487,3.489,3.498,3.5,3.502,3.504,3.51,3.517,3.52,3.529,3.53,3.532,3.534,3.534,3.537,3.542,3.546,3.554,3.556,3.563,3.569,3.57,3.585,3.585,3.586,3.594,3.595,3.598,3.61,3.618,3.623,3.626,3.634,3.635,3.645,3.65,3.655,3.658,3.662,3.664,3.68,3.682,3.683,3.686,3.697,3.701,3.716,3.735,3.738,3.739,3.744,3.75,3.762,3.766,3.781,3.793,3.801,3.815,3.818,3.842,3.846,3.853,3.86,3.872,3.882,3.898,3.899,3.928,3.935,3.948,3.949,3.964,3.982,3.994,4.027,4.031,4.032,4.066,4.081,4.094,0.016,0.016,0.016,0.016,0.016,4.082,4.062,4.014,3.994,3.969,3.93,3.887,3.878,3.832,3.807,3.789,3.748,3.741,3.704,3.687,3.651,3.616,3.585,3.564,3.548,3.517,3.497,3.478,3.458,3.448,3.418,3.401,3.385,3.367,3.349,3.33,3.312,3.295,3.278,3.249,3.228,3.213,3.202,3.201,3.169,3.153,3.145,3.123,3.114,3.097,3.089,3.062,3.051,3.051,3.04,3.019,2.999,2.984,2.974,2.961,2.946,2.936,2.933,2.918,2.899,2.889,2.873,2.863,2.855,2.846,2.838,2.824,2.817,2.811,2.789,2.786,2.775,2.761,2.76,2.751,2.742,2.723,2.718,2.711,2.698,2.69,2.685,2.672,2.672,2.661,2.655,2.647,2.643,2.637,2.63,2.626,2.613,2.607,2.604,2.593,2.588,2.58,2.578,2.574,2.559,2.559,2.556,2.551,2.547,2.538,2.537,2.52,2.513,2.511,2.508,2.506,2.495,2.491,2.485,2.485,2.479,2.478,2.475,2.47,2.468,2.468,2.462,2.459,2.455,2.453,2.452,2.451,2.451,2.447,2.444,2.439,2.437,2.43,2.424,2.424,2.424,2.421,2.419,2.423,2.419,2.419,2.419,2.416,2.412,2.411,2.41,2.41,2.409,2.409,2.409,2.409,2.408,2.408,2.408,2.409,2.409,2.41,2.411,2.411,2.41,2.41,2.41,2.41,2.415,2.421,2.421,2.42,2.421,2.42,2.42,2.421,2.427,2.43,2.431,2.432,2.436,2.44,2.44,2.443,2.443,2.446,2.451,2.451,2.451,2.458,2.461,2.47,2.472,2.472,2.474,2.478,2.482,2.491,2.492,2.493,2.495,2.501,2.508,2.512,2.513,2.523,2.523,2.532,2.533,2.534,2.554,2.558,2.56,2.564,2.567,2.574,2.589,2.595,2.597,2.602,2.606,2.617,2.624,2.638,2.638,2.642,2.651,2.651,2.664,2.674,2.681,2.691,2.701,2.703,2.709,2.722,2.722,2.742,2.747,2.748,2.764,2.777,2.787,2.801,2.808,2.82,2.826,2.846,2.847,2.857,2.861,2.882,2.886,2.905,2.92,2.922,2.944,2.956,2.956,2.976,2.987,3.001,3.011,3.021,3.04,3.046,3.069,3.082,3.086,3.105,3.124,3.14,3.146,3.166,3.18,3.19,3.223,3.227,3.248,3.258,3.291,3.296,3.32,3.34,3.344,3.369,3.394,3.407,3.426,3.445,3.474,3.5,3.522,3.551,3.566,3.593,3.619,3.641,3.673,3.692,3.718,3.742,3.785,3.795,3.831,3.857,3.913,0.007,0,4.056,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.356,3.331,3.33,3.31,3.308,3.296,3.289,3.286,3.268,3.258,3.253,3.243,3.237,3.236,3.217,3.208,3.207,3.198,3.189,3.175,3.174,3.164,3.164,3.156,3.153,3.147,3.132,3.126,3.123,3.122,3.121,3.108,3.106,3.105,3.1,3.092,3.086,3.085,3.074,3.074,3.072,3.066,3.062,3.055,3.051,3.049,3.045,3.039,3.039,3.039,3.037,3.034,3.029,3.021,3.02,3.02,3.02,3.021,3.024,3.024,3.024,3.02,3.017,3.014,3.014,3.007,3.007,3.007,3.007,3.008,3.008,3.007,3.006,3.006,3.006,3.008,3.008,3.008,3.01,3.012,3.012,3.012,3.012,3.014,3.014,3.019,3.02,3.02,3.022,3.022,3.024,3.026,3.028,3.028,3.035,3.037,3.037,3.037,3.041,3.042,3.045,3.057,3.058,3.06,3.059,3.061,3.066,3.071,3.072,3.081,3.084,3.088,3.088,3.094,3.098,3.098,3.111,3.113,3.121,3.134,3.134,3.134,3.138,3.138,3.138,3.141,3.144,3.156,3.158,3.16,3.171,3.174,3.178,3.179,3.195,3.209,3.214,3.219,3.23,3.232,3.233,3.234,3.25,3.253,3.266,3.28,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 32.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 32.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 32.8339} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 5.6642} SEN {Time 32.8746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.175,0.179,0.173,0.179,0.186,0,0,0,0,0,0,0,0,3.687,3.683,3.672,3.663,3.647,3.631,3.615,3.615,3.615,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.214,3.214,3.214,3.214,3.267,3.35,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.143,0.147,0.146,0.148,0.148,0.148,0.148,0.156,0.156,3.029,3.043,3.043,3.042,3.038,3.042,3.038,0.159,0.154,0.154,0.153,0.147,0.147,0.146,0.142,0.129,0.107,0.08,0.068,0.067,0.06,0.06,0.061,0.064,0.064,0.064,0.064,0.064,0.06,0.06,0.06,0.065,0.105,0.177,3.339,3.354,3.362,3.362,3.362,3.363,3.364,3.364,3.408,3.415,3.431,3.431,3.459,3.472,3.478,3.478,3.488,3.489,3.493,3.497,3.504,3.51,3.51,3.513,3.521,3.526,3.527,3.528,3.537,3.54,3.544,3.544,3.544,3.548,3.557,3.562,3.564,3.564,3.584,3.584,3.584,3.587,3.588,3.606,3.609,3.611,3.619,3.627,3.628,3.642,3.652,3.652,3.653,3.653,3.665,3.667,3.677,3.678,3.686,3.695,3.697,3.703,3.718,3.724,3.739,3.741,3.744,3.759,3.76,3.764,3.78,3.788,3.81,3.816,3.817,3.828,3.841,3.844,3.856,3.87,3.889,3.898,3.909,3.911,3.931,3.944,3.946,3.976,3.977,4.003,4.009,4.021,4.042,4.06,4.064,4.095,0.016,0.016,0.016,0.016,0.016,4.079,4.05,4.028,3.975,3.96,3.929,3.89,3.875,3.836,3.825,3.775,3.745,3.728,3.704,3.673,3.648,3.617,3.593,3.569,3.546,3.522,3.497,3.486,3.456,3.445,3.423,3.395,3.377,3.363,3.349,3.329,3.306,3.29,3.271,3.264,3.241,3.227,3.198,3.197,3.173,3.152,3.132,3.121,3.108,3.097,3.08,3.063,3.047,3.036,3.019,3.013,3.004,2.984,2.972,2.966,2.947,2.941,2.919,2.919,2.902,2.893,2.873,2.866,2.859,2.85,2.833,2.825,2.82,2.809,2.792,2.785,2.783,2.771,2.766,2.752,2.741,2.73,2.73,2.718,2.696,2.694,2.681,2.667,2.666,2.659,2.654,2.652,2.638,2.636,2.632,2.618,2.617,2.603,2.599,2.591,2.588,2.583,2.579,2.577,2.566,2.557,2.551,2.546,2.542,2.535,2.535,2.519,2.517,2.51,2.508,2.5,2.498,2.493,2.489,2.485,2.483,2.482,2.478,2.476,2.468,2.467,2.464,2.459,2.456,2.455,2.451,2.449,2.446,2.446,2.445,2.44,2.437,2.431,2.424,2.424,2.42,2.42,2.42,2.419,2.419,2.419,2.418,2.418,2.415,2.412,2.411,2.411,2.409,2.409,2.41,2.41,2.409,2.409,2.409,2.409,2.412,2.412,2.412,2.413,2.41,2.41,2.413,2.414,2.418,2.418,2.418,2.418,2.418,2.419,2.42,2.421,2.423,2.425,2.426,2.433,2.435,2.433,2.435,2.435,2.442,2.446,2.447,2.449,2.458,2.459,2.464,2.465,2.465,2.482,2.482,2.482,2.487,2.487,2.488,2.491,2.493,2.497,2.505,2.508,2.512,2.518,2.53,2.532,2.536,2.539,2.548,2.549,2.562,2.569,2.57,2.571,2.589,2.597,2.598,2.61,2.612,2.616,2.616,2.632,2.638,2.641,2.648,2.657,2.664,2.673,2.679,2.683,2.695,2.702,2.713,2.72,2.725,2.745,2.746,2.752,2.758,2.779,2.789,2.793,2.804,2.818,2.827,2.839,2.84,2.857,2.86,2.875,2.885,2.903,2.91,2.925,2.942,2.948,2.951,2.969,2.984,2.994,3.016,3.032,3.036,3.041,3.066,3.085,3.089,3.107,3.127,3.135,3.153,3.16,3.182,3.196,3.213,3.23,3.247,3.266,3.285,3.294,3.319,3.329,3.355,3.375,3.396,3.407,3.421,3.455,3.474,3.498,3.519,3.534,3.57,3.598,3.604,3.641,3.663,3.692,3.722,3.746,3.774,3.797,3.836,3.856,3.897,3.925,4.03,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.357,3.343,3.329,3.321,3.314,3.294,3.282,3.281,3.271,3.256,3.249,3.241,3.241,3.234,3.218,3.211,3.207,3.192,3.19,3.178,3.173,3.17,3.158,3.155,3.153,3.14,3.137,3.133,3.118,3.115,3.112,3.112,3.109,3.1,3.088,3.087,3.085,3.081,3.08,3.067,3.067,3.062,3.061,3.054,3.054,3.05,3.045,3.045,3.043,3.036,3.036,3.033,3.029,3.027,3.027,3.022,3.022,3.022,3.023,3.023,3.023,3.021,3.016,3.015,3.012,3.011,3.011,3.012,3.012,3.012,3.012,3.008,3.007,3.007,3.007,3.007,3.008,3.009,3.009,3.009,3.009,3.012,3.013,3.013,3.016,3.016,3.017,3.017,3.021,3.019,3.019,3.023,3.025,3.026,3.029,3.033,3.038,3.038,3.039,3.042,3.052,3.054,3.055,3.056,3.061,3.062,3.065,3.075,3.079,3.081,3.086,3.09,3.095,3.097,3.098,3.098,3.1,3.12,3.122,3.124,3.13,3.132,3.137,3.137,3.137,3.15,3.151,3.158,3.161,3.165,3.165,3.173,3.181,3.185,3.2,3.21,3.226,3.23,3.232,3.232,3.235,3.236,3.246,3.247,3.259,3.275,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 33.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 33.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 33.0259} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 5.6642} SEN {Time 33.0746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.188,0.185,0.175,0.175,0.185,0,0,0,0,0,0,0,0,3.696,3.68,3.67,3.652,3.652,3.642,3.609,3.609,3.609,3.609,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.216,3.214,3.212,3.214,3.214,3.263,3.36,0,0,0,0,0,0,0,0.007,0.143,0.143,0.143,0.143,0.147,0.147,0.147,0.153,0.153,0.153,0.153,0.154,0.154,3.03,3.031,3.035,3.035,3.031,3.031,0.157,0.157,0.157,0.157,0.152,0.152,0.152,0.151,0.151,0.123,0.106,0.085,0.06,0.059,0.057,0.057,0.057,0.062,0.064,0.064,0.062,0.06,0.058,0.058,0.06,0.067,0.107,0.172,3.33,3.364,3.371,3.371,0.007,3.371,3.371,0,0,0,0,3.467,3.467,3.467,3.475,3.481,3.486,3.494,3.497,3.503,3.511,3.514,3.516,3.517,3.517,3.526,3.529,3.532,3.532,3.535,3.543,3.543,3.554,3.554,3.558,3.561,3.565,3.573,3.574,3.579,3.585,3.585,3.586,3.599,3.604,3.611,3.617,3.632,3.636,3.638,3.639,3.648,3.649,3.653,3.66,3.662,3.665,3.685,3.694,3.697,3.698,3.709,3.717,3.732,3.735,3.742,3.745,3.753,3.761,3.764,3.791,3.791,3.795,3.813,3.816,3.833,3.84,3.841,3.863,3.87,3.892,3.896,3.897,3.922,3.926,3.94,3.953,3.962,3.972,4.002,4.01,4.033,4.048,4.061,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.079,3.989,3.977,3.925,3.889,3.87,3.84,3.824,3.789,3.753,3.73,3.699,3.668,3.644,3.624,3.593,3.566,3.55,3.526,3.508,3.479,3.456,3.436,3.417,3.396,3.377,3.366,3.342,3.33,3.306,3.294,3.265,3.253,3.228,3.227,3.208,3.191,3.175,3.159,3.14,3.12,3.107,3.1,3.088,3.068,3.05,3.046,3.024,3.017,2.998,2.985,2.971,2.959,2.948,2.93,2.926,2.915,2.91,2.891,2.876,2.864,2.85,2.848,2.839,2.83,2.821,2.806,2.793,2.784,2.781,2.767,2.766,2.754,2.74,2.735,2.717,2.716,2.711,2.697,2.683,2.682,2.67,2.655,2.655,2.653,2.649,2.638,2.635,2.627,2.617,2.605,2.603,2.601,2.594,2.582,2.581,2.575,2.572,2.559,2.548,2.542,2.539,2.536,2.533,2.515,2.511,2.509,2.507,2.504,2.495,2.493,2.491,2.489,2.481,2.476,2.475,2.474,2.47,2.468,2.464,2.457,2.457,2.453,2.453,2.449,2.446,2.444,2.443,2.437,2.43,2.429,2.428,2.428,2.428,2.421,2.421,2.416,2.414,2.414,2.413,2.413,2.412,2.41,2.41,2.41,2.412,2.412,2.412,2.412,2.412,2.408,2.408,2.408,2.408,2.411,2.411,2.411,2.411,2.411,2.413,2.413,2.416,2.419,2.421,2.419,2.423,2.423,2.423,2.424,2.425,2.426,2.429,2.433,2.433,2.438,2.44,2.441,2.442,2.443,2.451,2.451,2.456,2.458,2.459,2.462,2.468,2.472,2.473,2.477,2.486,2.486,2.489,2.491,2.494,2.502,2.512,2.514,2.516,2.522,2.523,2.524,2.529,2.54,2.543,2.545,2.552,2.562,2.572,2.574,2.589,2.599,2.6,2.606,2.611,2.612,2.626,2.632,2.634,2.64,2.65,2.651,2.665,2.675,2.68,2.686,2.698,2.699,2.714,2.72,2.727,2.74,2.751,2.755,2.764,2.774,2.79,2.796,2.803,2.822,2.83,2.833,2.846,2.858,2.865,2.88,2.891,2.894,2.915,2.926,2.938,2.946,2.957,2.976,2.977,3.001,3.014,3.026,3.029,3.048,3.068,3.081,3.089,3.106,3.128,3.136,3.159,3.173,3.184,3.205,3.214,3.231,3.247,3.257,3.279,3.301,3.316,3.34,3.341,3.373,3.4,3.403,3.431,3.463,3.49,3.503,3.518,3.537,3.559,3.599,3.604,3.648,3.664,3.683,3.724,3.785,3.806,3.836,3.836,3.862,3.893,3.924,3.988,4.036,0,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.36,3.336,3.329,3.319,3.303,3.299,3.294,3.28,3.267,3.252,3.25,3.239,3.239,3.237,3.223,3.204,3.202,3.198,3.188,3.181,3.17,3.169,3.165,3.158,3.147,3.139,3.135,3.129,3.127,3.116,3.115,3.115,3.105,3.103,3.088,3.084,3.083,3.083,3.08,3.077,3.072,3.061,3.061,3.055,3.048,3.047,3.04,3.035,3.034,3.033,3.034,3.032,3.029,3.028,3.025,3.025,3.025,3.025,3.025,3.025,3.021,3.02,3.017,3.011,3.011,3.009,3.009,3.006,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.009,3.01,3.012,3.012,3.014,3.014,3.015,3.018,3.019,3.023,3.024,3.023,3.023,3.027,3.027,3.028,3.029,3.033,3.034,3.038,3.039,3.042,3.046,3.053,3.056,3.058,3.057,3.058,3.071,3.074,3.075,3.081,3.081,3.083,3.085,3.094,3.098,3.104,3.106,3.112,3.125,3.13,3.13,3.13,3.132,3.137,3.137,3.141,3.152,3.153,3.159,3.161,3.172,3.173,3.175,3.178,3.193,3.218,3.228,3.233,3.233,3.234,3.233,3.233,3.248,3.255,3.265,3.281,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 33.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 33.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 33.2271} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7178} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 33.2746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.178,0.185,0,0,0,0,0,0,0,0,3.683,3.679,3.664,3.656,3.639,3.625,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.217,3.211,3.217,3.222,3.259,3.366,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.142,0.143,0.143,0.143,0.148,0.148,0.149,0.149,0.149,0.156,3.029,3.035,3.037,3.037,3.037,3.038,3.038,0.157,0.154,0.154,0.153,0.15,0.15,0.149,0.146,0.124,0.107,0.072,0.066,0.061,0.061,0.061,0.06,0.061,0.066,0.067,0.066,0.066,0.064,0.064,0.064,0.074,0.102,0.182,3.338,3.344,3.353,3.353,3.356,3.38,3.381,3.4,3.4,0.007,3.441,3.441,3.451,3.451,3.471,3.48,3.484,3.498,3.502,3.505,3.507,3.511,3.515,3.521,3.522,3.53,3.531,3.531,3.54,3.546,3.546,3.546,3.55,3.555,3.558,3.559,3.57,3.571,3.571,3.571,3.575,3.577,3.582,3.601,3.607,3.609,3.625,3.63,3.63,3.634,3.64,3.641,3.649,3.654,3.654,3.658,3.672,3.682,3.691,3.697,3.702,3.713,3.718,3.729,3.738,3.746,3.749,3.751,3.76,3.763,3.773,3.795,3.807,3.81,3.815,3.834,3.835,3.843,3.859,3.865,3.881,3.889,3.891,3.917,3.937,3.941,3.959,3.968,3.974,3.989,4.011,4.023,4.047,4.062,4.079,4.088,4.093,0.016,0.016,0.016,0,0,0,0,3.983,3.968,3.937,3.895,3.89,3.844,3.814,3.772,3.745,3.731,3.697,3.679,3.641,3.633,3.586,3.569,3.546,3.522,3.509,3.488,3.459,3.439,3.416,3.408,3.385,3.366,3.341,3.333,3.314,3.278,3.269,3.258,3.233,3.231,3.188,3.187,3.172,3.155,3.14,3.121,3.109,3.091,3.087,3.068,3.046,3.046,3.039,3.009,2.996,2.985,2.978,2.954,2.948,2.937,2.928,2.917,2.9,2.899,2.877,2.867,2.856,2.847,2.834,2.831,2.811,2.807,2.788,2.781,2.779,2.766,2.754,2.74,2.735,2.728,2.719,2.717,2.702,2.699,2.683,2.681,2.673,2.657,2.656,2.651,2.645,2.633,2.632,2.632,2.615,2.608,2.603,2.588,2.586,2.583,2.577,2.568,2.567,2.56,2.557,2.547,2.538,2.534,2.533,2.523,2.516,2.513,2.513,2.502,2.499,2.499,2.496,2.491,2.482,2.481,2.476,2.475,2.468,2.467,2.464,2.461,2.451,2.45,2.448,2.447,2.446,2.444,2.444,2.442,2.438,2.431,2.428,2.426,2.425,2.424,2.423,2.417,2.419,2.419,2.416,2.416,2.418,2.416,2.416,2.414,2.413,2.409,2.409,2.409,2.408,2.408,2.408,2.411,2.41,2.41,2.411,2.41,2.41,2.415,2.416,2.416,2.416,2.419,2.417,2.417,2.417,2.419,2.423,2.425,2.426,2.427,2.427,2.427,2.429,2.433,2.435,2.438,2.441,2.444,2.451,2.453,2.462,2.462,2.463,2.465,2.466,2.466,2.474,2.479,2.481,2.483,2.488,2.49,2.495,2.501,2.509,2.512,2.516,2.521,2.522,2.525,2.533,2.539,2.547,2.551,2.556,2.566,2.568,2.578,2.592,2.594,2.6,2.601,2.601,2.615,2.622,2.63,2.641,2.642,2.648,2.658,2.663,2.67,2.673,2.688,2.702,2.704,2.711,2.72,2.721,2.743,2.753,2.756,2.764,2.776,2.792,2.795,2.803,2.819,2.827,2.834,2.844,2.855,2.865,2.88,2.891,2.897,2.917,2.923,2.937,2.946,2.954,2.977,2.979,2.994,3.017,3.026,3.033,3.039,3.066,3.084,3.096,3.107,3.122,3.144,3.154,3.157,3.184,3.198,3.22,3.235,3.245,3.271,3.278,3.296,3.322,3.342,3.354,3.373,3.388,3.402,3.432,3.448,3.473,3.496,3.515,3.541,3.562,3.586,3.609,3.637,3.676,3.695,3.717,3.751,3.778,3.808,3.83,3.874,3.887,3.924,3.97,4.024,0.007,0,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.343,3.337,3.329,3.312,3.298,3.297,3.293,3.275,3.274,3.263,3.252,3.243,3.233,3.23,3.221,3.218,3.209,3.203,3.195,3.181,3.175,3.171,3.164,3.146,3.145,3.144,3.14,3.127,3.121,3.118,3.117,3.106,3.105,3.1,3.091,3.088,3.083,3.077,3.073,3.07,3.069,3.066,3.063,3.059,3.054,3.049,3.041,3.041,3.039,3.036,3.035,3.031,3.031,3.029,3.019,3.017,3.017,3.017,3.025,3.025,3.025,3.02,3.019,3.014,3.014,3.014,3.013,3.011,3.01,3.01,3.01,3.009,3.009,3.011,3.007,3.008,3.011,3.013,3.009,3.013,3.013,3.012,3.01,3.01,3.01,3.012,3.013,3.017,3.022,3.022,3.022,3.023,3.023,3.027,3.027,3.027,3.033,3.038,3.038,3.048,3.052,3.056,3.06,3.064,3.064,3.065,3.065,3.072,3.077,3.088,3.088,3.088,3.088,3.091,3.101,3.103,3.109,3.119,3.121,3.133,3.133,3.134,3.137,3.143,3.143,3.148,3.15,3.152,3.153,3.165,3.172,3.175,3.181,3.181,3.2,3.206,3.215,3.222,3.222,3.232,3.237,3.239,3.246,3.25,3.261,3.285,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 33.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 33.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 33.4278} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7178} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.699} SEN {Time 33.4746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.192,0.176,0.192,0.192,0,0,0,0,0,0,0,0,3.684,3.681,3.671,3.667,3.644,3.638,3.605,3.605,3.602,3.602,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.221,3.216,3.221,3.221,3.26,3.369,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.148,0.148,0.142,0.142,0.156,0.156,0.156,0.156,0.158,0.158,3.033,3.033,3.036,3.036,3.033,3.036,3.036,0.16,0.157,0.157,0.154,0.153,0.149,0.145,0.143,0.127,0.107,0.085,0.064,0.062,0.056,0.056,0.056,0.06,0.061,0.061,0.067,0.067,0.061,0.067,0.068,0.072,0.108,0.181,3.343,3.349,3.362,3.358,3.358,3.358,3.368,3.368,3.409,3.422,3.451,3.451,3.457,3.477,3.477,3.481,3.487,3.488,3.501,3.501,3.502,3.508,3.511,3.516,3.518,3.518,3.526,3.537,3.541,3.542,3.542,3.543,3.546,3.548,3.556,3.561,3.562,3.567,3.572,3.573,3.585,3.587,3.6,3.602,3.607,3.614,3.618,3.631,3.633,3.634,3.647,3.648,3.649,3.655,3.656,3.659,3.666,3.673,3.683,3.697,3.699,3.705,3.713,3.735,3.738,3.738,3.745,3.751,3.76,3.777,3.785,3.794,3.798,3.815,3.82,3.831,3.835,3.864,3.864,3.877,3.882,3.892,3.9,3.92,3.923,3.935,3.963,3.974,3.987,4.001,4.02,4.032,4.034,4.046,4.067,0.016,0.016,0.016,0.016,0.007,0.016,4.086,4.068,4.013,3.992,3.96,3.934,3.903,3.845,3.833,3.814,3.774,3.767,3.728,3.697,3.689,3.655,3.633,3.59,3.572,3.549,3.51,3.502,3.485,3.458,3.443,3.42,3.399,3.384,3.367,3.344,3.336,3.303,3.287,3.273,3.252,3.238,3.219,3.191,3.189,3.164,3.158,3.143,3.124,3.109,3.086,3.086,3.071,3.047,3.047,3.032,3.028,2.994,2.984,2.974,2.963,2.952,2.931,2.926,2.918,2.907,2.892,2.875,2.873,2.861,2.844,2.839,2.822,2.815,2.81,2.79,2.787,2.776,2.768,2.758,2.755,2.742,2.73,2.72,2.71,2.703,2.693,2.684,2.675,2.67,2.662,2.658,2.646,2.644,2.637,2.633,2.632,2.619,2.605,2.605,2.596,2.591,2.579,2.572,2.572,2.566,2.565,2.55,2.549,2.535,2.532,2.531,2.53,2.517,2.513,2.511,2.499,2.493,2.492,2.488,2.484,2.484,2.482,2.481,2.477,2.473,2.467,2.464,2.459,2.451,2.449,2.448,2.448,2.447,2.447,2.443,2.441,2.44,2.432,2.43,2.426,2.425,2.425,2.421,2.421,2.419,2.419,2.419,2.418,2.414,2.414,2.411,2.411,2.411,2.409,2.408,2.408,2.407,2.407,2.408,2.408,2.412,2.415,2.416,2.416,2.416,2.416,2.417,2.417,2.419,2.42,2.424,2.424,2.424,2.424,2.424,2.425,2.426,2.426,2.426,2.429,2.435,2.435,2.437,2.437,2.445,2.448,2.453,2.454,2.458,2.459,2.461,2.465,2.471,2.472,2.477,2.478,2.48,2.484,2.488,2.491,2.498,2.502,2.513,2.513,2.515,2.515,2.52,2.528,2.532,2.537,2.541,2.552,2.561,2.561,2.564,2.573,2.592,2.596,2.597,2.602,2.604,2.612,2.629,2.631,2.636,2.639,2.65,2.655,2.658,2.675,2.679,2.69,2.698,2.699,2.708,2.721,2.722,2.735,2.746,2.76,2.76,2.778,2.781,2.799,2.805,2.819,2.823,2.836,2.843,2.858,2.864,2.882,2.892,2.905,2.923,2.935,2.952,2.952,2.961,2.969,2.982,2.996,3.012,3.014,3.039,3.05,3.061,3.07,3.091,3.101,3.12,3.141,3.141,3.165,3.18,3.198,3.223,3.228,3.25,3.259,3.273,3.293,3.324,3.338,3.347,3.377,3.382,3.408,3.44,3.457,3.483,3.499,3.514,3.553,3.566,3.598,3.61,3.652,3.669,3.689,3.73,3.742,3.774,3.804,3.829,3.86,3.895,3.903,3.947,3.998,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.352,3.339,3.339,3.332,3.307,3.301,3.292,3.278,3.272,3.257,3.253,3.246,3.243,3.229,3.221,3.202,3.201,3.201,3.186,3.184,3.172,3.166,3.164,3.159,3.146,3.145,3.132,3.13,3.125,3.123,3.122,3.11,3.108,3.094,3.091,3.091,3.079,3.077,3.076,3.073,3.065,3.065,3.063,3.056,3.048,3.047,3.044,3.039,3.039,3.038,3.036,3.031,3.031,3.029,3.026,3.024,3.024,3.024,3.031,3.031,3.031,3.024,3.013,3.012,3.012,3.012,3.009,3.006,3.009,3.009,3.009,3.003,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.014,3.014,3.014,3.017,3.017,3.019,3.021,3.022,3.023,3.027,3.027,3.031,3.031,3.034,3.035,3.037,3.039,3.042,3.045,3.055,3.059,3.059,3.06,3.061,3.065,3.071,3.076,3.087,3.09,3.09,3.092,3.092,3.096,3.103,3.11,3.116,3.122,3.13,3.13,3.132,3.133,3.137,3.137,3.143,3.15,3.157,3.157,3.164,3.173,3.174,3.175,3.188,3.199,3.209,3.221,3.226,3.226,3.234,3.235,3.241,3.247,3.255,3.259,3.282,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 33.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 33.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 33.6313} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7178} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.699} SEN {Time 33.6746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.175,0.175,0.173,0.175,0.182,0,0,0,0,0,0,0,0,3.689,3.671,3.667,3.665,3.64,3.627,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.207,3.207,3.207,3.256,3.361,0,0,0,0,0,0,0,0.151,0.146,0.146,0.146,0.146,0.146,0.143,0.143,0.156,0.15,0.156,0.156,0.159,0.159,3.022,3.032,3.032,3.032,3.027,3.032,3.027,0.159,0.159,0.159,0.155,0.155,0.153,0.143,0.141,0.131,0.101,0.076,0.061,0.06,0.059,0.06,0.059,0.06,0.06,0.064,0.06,0.06,0.059,0.059,0.059,0.061,0.102,0.176,3.341,3.356,3.357,3.357,3.357,3.369,3.371,3.371,3.407,0.007,0,0.007,3.476,3.476,3.48,3.48,3.489,3.497,3.5,3.5,3.502,3.516,3.517,3.517,3.521,3.522,3.527,3.535,3.536,3.537,3.537,3.54,3.551,3.552,3.558,3.558,3.569,3.571,3.578,3.578,3.58,3.581,3.588,3.596,3.603,3.609,3.614,3.623,3.629,3.636,3.641,3.641,3.652,3.653,3.663,3.671,3.673,3.674,3.684,3.69,3.695,3.705,3.71,3.733,3.739,3.739,3.754,3.754,3.76,3.765,3.783,3.784,3.796,3.809,3.809,3.83,3.832,3.842,3.868,3.869,3.875,3.904,3.908,3.914,3.93,3.94,3.957,3.972,3.975,3.997,4.01,4.029,4.041,4.07,4.08,4.084,0.016,0.016,0.016,0.016,0.016,4.095,4.057,4.027,3.998,3.974,3.925,3.894,3.872,3.847,3.814,3.761,3.75,3.737,3.704,3.668,3.639,3.622,3.597,3.571,3.544,3.532,3.504,3.484,3.467,3.45,3.427,3.396,3.388,3.367,3.343,3.327,3.306,3.285,3.281,3.248,3.225,3.224,3.194,3.193,3.163,3.16,3.137,3.122,3.103,3.092,3.082,3.071,3.045,3.039,3.022,3.006,2.999,2.994,2.973,2.958,2.954,2.939,2.926,2.922,2.908,2.888,2.881,2.87,2.858,2.856,2.838,2.828,2.816,2.805,2.791,2.78,2.779,2.767,2.759,2.749,2.73,2.727,2.716,2.715,2.704,2.7,2.681,2.681,2.673,2.669,2.654,2.649,2.647,2.635,2.634,2.621,2.619,2.607,2.605,2.598,2.593,2.583,2.573,2.572,2.566,2.562,2.551,2.541,2.534,2.533,2.53,2.517,2.515,2.508,2.506,2.506,2.493,2.493,2.49,2.485,2.48,2.48,2.478,2.477,2.474,2.47,2.461,2.46,2.46,2.455,2.449,2.445,2.444,2.442,2.439,2.434,2.434,2.433,2.429,2.427,2.424,2.42,2.417,2.416,2.416,2.415,2.414,2.414,2.412,2.411,2.409,2.408,2.408,2.407,2.409,2.409,2.409,2.409,2.41,2.41,2.41,2.41,2.412,2.414,2.415,2.415,2.415,2.415,2.416,2.416,2.419,2.419,2.421,2.419,2.421,2.42,2.423,2.423,2.431,2.431,2.435,2.435,2.437,2.444,2.445,2.448,2.453,2.453,2.454,2.461,2.462,2.467,2.47,2.476,2.478,2.48,2.483,2.483,2.483,2.489,2.495,2.497,2.507,2.512,2.515,2.523,2.527,2.532,2.533,2.541,2.545,2.549,2.564,2.57,2.574,2.581,2.589,2.593,2.601,2.608,2.609,2.613,2.624,2.631,2.636,2.644,2.647,2.654,2.659,2.677,2.682,2.683,2.696,2.698,2.71,2.717,2.721,2.741,2.743,2.753,2.768,2.775,2.79,2.797,2.807,2.817,2.83,2.84,2.843,2.854,2.858,2.873,2.895,2.898,2.91,2.924,2.946,2.954,2.962,2.982,2.984,2.997,3.01,3.019,3.042,3.046,3.058,3.08,3.084,3.107,3.118,3.142,3.15,3.17,3.179,3.202,3.223,3.242,3.255,3.262,3.269,3.301,3.327,3.328,3.356,3.38,3.389,3.406,3.427,3.453,3.485,3.498,3.518,3.556,3.569,3.594,3.619,3.637,3.672,3.701,3.725,3.74,3.776,3.801,3.838,3.861,3.897,3.916,3.954,3.983,4.061,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.356,3.334,3.32,3.312,3.306,3.295,3.292,3.279,3.266,3.253,3.253,3.239,3.231,3.229,3.222,3.211,3.206,3.199,3.185,3.179,3.176,3.175,3.167,3.157,3.15,3.141,3.141,3.122,3.117,3.114,3.111,3.11,3.109,3.103,3.094,3.088,3.082,3.076,3.073,3.073,3.064,3.062,3.061,3.057,3.054,3.054,3.047,3.044,3.042,3.041,3.039,3.034,3.029,3.025,3.023,3.021,3.021,3.021,3.029,3.029,3.029,3.02,3.017,3.013,3.012,3.012,3.007,3.006,3.005,3.005,3.003,3.002,3.002,3.005,3.003,3.005,3.007,3.007,3.007,3.011,3.01,3.011,3.011,3.016,3.018,3.018,3.018,3.018,3.018,3.023,3.023,3.025,3.023,3.025,3.029,3.033,3.033,3.033,3.035,3.038,3.048,3.052,3.055,3.059,3.061,3.061,3.062,3.07,3.072,3.085,3.086,3.087,3.088,3.094,3.097,3.102,3.106,3.107,3.117,3.133,3.133,3.133,3.133,3.141,3.141,3.148,3.148,3.149,3.161,3.163,3.169,3.175,3.175,3.187,3.188,3.212,3.215,3.224,3.226,3.231,3.236,3.237,3.239,3.247,3.255,3.279,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 33.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 33.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 33.8298} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7178} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4704} {Name Sonar15 Range 4.699} SEN {Time 33.8706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.179,0.188,0.188,0,0,0,0,0,0,0,0,3.699,3.68,3.671,3.67,3.642,3.624,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.245,3.217,3.21,3.208,3.208,3.21,3.271,3.366,0,0,0,0,0,0,0,0.147,0.146,0.146,0.146,0.146,0.146,0.145,0.145,0.149,0.149,0.152,0.152,0.156,0.16,3.026,3.031,3.031,3.031,3.029,3.029,0.161,0.16,0.155,0.155,0.16,0.155,0.15,0.147,0.147,0.121,0.106,0.081,0.064,0.062,0.062,0.064,0.064,0.066,0.067,0.067,0.067,0.067,0.065,0.065,0.065,0.07,0.101,0.178,3.334,3.358,3.369,3.358,3.358,3.358,3.376,3.379,3.408,3.411,3.431,3.431,3.454,3.466,3.478,3.486,3.487,3.487,3.489,3.507,3.509,3.509,3.509,3.518,3.528,3.528,3.532,3.533,3.533,3.533,3.537,3.54,3.54,3.552,3.553,3.556,3.561,3.573,3.579,3.58,3.581,3.589,3.592,3.602,3.605,3.605,3.632,3.632,3.632,3.632,3.632,3.644,3.648,3.659,3.665,3.672,3.679,3.68,3.683,3.697,3.699,3.708,3.729,3.729,3.732,3.733,3.738,3.746,3.761,3.773,3.784,3.803,3.806,3.812,3.825,3.828,3.836,3.854,3.857,3.88,3.887,3.899,3.901,3.923,3.924,3.949,3.951,3.968,3.988,3.997,4.018,4.021,4.055,4.057,4.067,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.093,4.069,4.069,0.007,3.948,3.896,3.872,3.847,3.807,3.781,3.76,3.731,3.704,3.682,3.646,3.63,3.591,3.57,3.546,3.532,3.504,3.482,3.452,3.442,3.416,3.414,3.381,3.365,3.342,3.338,3.316,3.286,3.278,3.248,3.236,3.224,3.195,3.188,3.174,3.162,3.143,3.114,3.103,3.094,3.091,3.064,3.037,3.037,3.037,3.028,2.995,2.989,2.983,2.963,2.953,2.935,2.928,2.918,2.901,2.887,2.876,2.868,2.856,2.843,2.835,2.819,2.817,2.804,2.791,2.779,2.778,2.77,2.757,2.755,2.743,2.732,2.72,2.718,2.697,2.692,2.687,2.674,2.673,2.656,2.648,2.648,2.647,2.639,2.629,2.618,2.611,2.603,2.599,2.597,2.591,2.577,2.572,2.567,2.564,2.559,2.554,2.553,2.547,2.542,2.528,2.528,2.518,2.516,2.505,2.504,2.493,2.491,2.482,2.48,2.476,2.476,2.475,2.468,2.468,2.468,2.462,2.461,2.455,2.454,2.454,2.453,2.448,2.442,2.44,2.437,2.433,2.429,2.428,2.425,2.425,2.425,2.417,2.417,2.417,2.417,2.417,2.417,2.419,2.416,2.416,2.416,2.41,2.408,2.408,2.408,2.407,2.408,2.406,2.41,2.411,2.411,2.409,2.411,2.411,2.411,2.411,2.412,2.417,2.418,2.419,2.418,2.424,2.418,2.424,2.424,2.427,2.427,2.43,2.43,2.431,2.435,2.436,2.441,2.442,2.447,2.45,2.452,2.459,2.46,2.464,2.47,2.472,2.472,2.472,2.474,2.48,2.485,2.485,2.491,2.495,2.498,2.511,2.512,2.514,2.519,2.522,2.533,2.536,2.541,2.55,2.553,2.559,2.562,2.567,2.575,2.582,2.593,2.598,2.6,2.607,2.619,2.628,2.63,2.638,2.64,2.642,2.651,2.666,2.67,2.68,2.685,2.701,2.703,2.708,2.718,2.727,2.731,2.754,2.756,2.759,2.782,2.784,2.798,2.807,2.815,2.824,2.83,2.855,2.86,2.866,2.877,2.888,2.898,2.916,2.923,2.942,2.948,2.951,2.973,2.983,2.993,3.01,3.028,3.038,3.047,3.058,3.078,3.08,3.107,3.124,3.134,3.147,3.164,3.18,3.206,3.227,3.241,3.244,3.261,3.284,3.306,3.326,3.332,3.352,3.369,3.392,3.407,3.436,3.459,3.477,3.503,3.517,3.541,3.566,3.605,3.62,3.641,3.666,3.692,3.726,3.748,3.778,3.795,3.843,3.855,3.888,3.919,3.952,3.996,4.022,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.357,3.344,3.33,3.319,3.311,3.296,3.285,3.279,3.263,3.262,3.253,3.248,3.239,3.234,3.215,3.215,3.212,3.186,3.182,3.176,3.173,3.169,3.165,3.156,3.149,3.144,3.134,3.124,3.123,3.123,3.115,3.111,3.102,3.101,3.094,3.092,3.091,3.083,3.083,3.08,3.073,3.062,3.061,3.056,3.051,3.047,3.044,3.042,3.041,3.041,3.038,3.037,3.031,3.029,3.026,3.019,3.019,3.019,3.026,3.026,3.026,3.025,3.012,3.012,3.012,3.012,3.011,3.011,3.01,3.006,3.007,3.007,3.007,3.007,3.007,3.01,3.01,3.015,3.01,3.014,3.014,3.014,3.014,3.014,3.014,3.02,3.016,3.022,3.024,3.024,3.024,3.028,3.029,3.03,3.034,3.038,3.04,3.041,3.042,3.042,3.045,3.047,3.051,3.056,3.06,3.063,3.068,3.073,3.076,3.088,3.088,3.09,3.092,3.093,3.093,3.112,3.113,3.113,3.124,3.132,3.133,3.133,3.133,3.134,3.134,3.148,3.149,3.151,3.154,3.164,3.165,3.174,3.18,3.184,3.198,3.213,3.224,3.227,3.231,3.231,3.236,3.238,3.239,3.253,3.263,3.273,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 34.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 34.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 34.0217} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4704} {Name Sonar15 Range 5.2324} SEN {Time 34.0706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.179,0.184,0.187,0,0,0,0,0,0,0,0,3.688,3.681,3.659,3.659,3.65,3.627,3.61,3.61,3.61,3.597,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.223,3.211,3.207,3.207,3.207,3.264,3.362,0,0,0,0,0,0,0,0.141,0.141,0.141,0.141,0.141,0.143,0.144,0.148,0.153,0.153,0.154,0.154,0.158,0.158,3.035,3.039,3.039,3.039,3.038,3.039,3.038,0.157,0.156,0.156,0.153,0.15,0.146,0.145,0.141,0.127,0.109,0.084,0.059,0.059,0.058,0.059,0.063,0.063,0.063,0.063,0.063,0.063,0.063,0.063,0.065,0.065,0.107,0.183,3.346,3.348,3.356,3.356,3.357,3.361,3.379,3.41,3.425,0,3.464,3.459,3.463,3.464,3.464,3.473,3.49,3.491,3.491,3.494,3.497,3.503,3.511,3.518,3.523,3.525,3.526,3.53,3.531,3.537,3.537,3.538,3.55,3.55,3.55,3.559,3.562,3.566,3.575,3.578,3.58,3.582,3.584,3.602,3.609,3.613,3.622,3.628,3.632,3.633,3.643,3.648,3.652,3.652,3.663,3.664,3.668,3.672,3.688,3.693,3.699,3.711,3.723,3.733,3.74,3.742,3.742,3.751,3.765,3.768,3.769,3.791,3.799,3.804,3.818,3.837,3.847,3.849,3.862,3.877,3.888,3.903,3.903,3.91,3.921,3.945,3.96,3.966,3.975,3.995,4.027,4.03,4.047,4.06,4.079,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.014,4.014,3.988,3.968,3.891,3.866,3.842,3.814,3.773,3.751,3.733,3.715,3.685,3.645,3.632,3.59,3.572,3.549,3.525,3.506,3.483,3.455,3.438,3.431,3.406,3.368,3.357,3.35,3.33,3.315,3.296,3.276,3.248,3.233,3.221,3.192,3.188,3.172,3.157,3.142,3.12,3.114,3.106,3.08,3.061,3.046,3.046,3.043,3.02,3.001,2.991,2.977,2.963,2.943,2.939,2.924,2.917,2.907,2.895,2.871,2.869,2.856,2.841,2.841,2.817,2.816,2.814,2.79,2.778,2.777,2.762,2.759,2.741,2.734,2.733,2.717,2.717,2.707,2.694,2.679,2.677,2.668,2.658,2.655,2.641,2.639,2.632,2.631,2.62,2.613,2.609,2.605,2.595,2.59,2.581,2.577,2.575,2.565,2.56,2.552,2.551,2.539,2.535,2.533,2.525,2.514,2.512,2.505,2.501,2.495,2.492,2.492,2.482,2.482,2.478,2.475,2.472,2.464,2.464,2.462,2.461,2.458,2.454,2.453,2.448,2.443,2.443,2.442,2.441,2.441,2.435,2.429,2.429,2.425,2.42,2.42,2.42,2.416,2.416,2.413,2.413,2.411,2.411,2.411,2.413,2.411,2.411,2.409,2.409,2.409,2.409,2.413,2.413,2.413,2.416,2.416,2.416,2.412,2.415,2.415,2.416,2.417,2.417,2.417,2.417,2.423,2.423,2.423,2.423,2.427,2.429,2.429,2.429,2.436,2.437,2.438,2.443,2.444,2.444,2.448,2.45,2.458,2.459,2.464,2.465,2.468,2.471,2.473,2.474,2.48,2.488,2.489,2.493,2.493,2.494,2.509,2.514,2.516,2.518,2.524,2.53,2.539,2.541,2.544,2.546,2.557,2.562,2.564,2.577,2.587,2.601,2.603,2.605,2.61,2.613,2.623,2.631,2.638,2.639,2.642,2.646,2.661,2.661,2.672,2.684,2.684,2.697,2.713,2.714,2.733,2.74,2.749,2.754,2.769,2.775,2.792,2.802,2.805,2.817,2.831,2.833,2.845,2.853,2.869,2.873,2.892,2.9,2.912,2.921,2.943,2.947,2.96,2.974,2.986,2.996,3.013,3.024,3.031,3.052,3.063,3.082,3.092,3.103,3.114,3.142,3.15,3.172,3.18,3.198,3.218,3.236,3.244,3.259,3.279,3.293,3.32,3.334,3.343,3.371,3.395,3.397,3.439,3.459,3.48,3.498,3.525,3.548,3.573,3.592,3.619,3.643,3.696,3.72,3.744,3.744,3.781,3.794,3.834,3.87,3.886,3.918,3.982,4.028,4.045,4.045,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.353,3.333,3.332,3.31,3.31,3.291,3.287,3.277,3.267,3.265,3.254,3.239,3.233,3.228,3.214,3.209,3.209,3.195,3.181,3.179,3.171,3.164,3.16,3.147,3.146,3.143,3.134,3.128,3.121,3.12,3.115,3.111,3.108,3.101,3.092,3.085,3.085,3.083,3.078,3.073,3.065,3.061,3.061,3.055,3.052,3.048,3.048,3.038,3.038,3.035,3.032,3.029,3.028,3.028,3.027,3.019,3.019,3.028,3.032,3.032,3.032,3.019,3.014,3.013,3.013,3.013,3.011,3.011,3.005,3.005,3.004,3.004,3.005,3.006,3.006,3.006,3.007,3.008,3.012,3.01,3.01,3.008,3.01,3.01,3.013,3.016,3.016,3.02,3.023,3.021,3.023,3.027,3.027,3.03,3.033,3.035,3.035,3.037,3.04,3.051,3.051,3.052,3.052,3.054,3.054,3.062,3.067,3.067,3.076,3.085,3.087,3.09,3.09,3.09,3.097,3.106,3.109,3.111,3.122,3.134,3.134,3.136,3.138,3.138,3.138,3.142,3.147,3.148,3.162,3.164,3.167,3.173,3.179,3.184,3.198,3.207,3.214,3.215,3.226,3.238,3.238,3.241,3.243,3.253,3.261,3.277,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 34.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 34.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 34.2228} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.4704} {Name Sonar15 Range 5.2324} SEN {Time 34.2706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.179,0.179,0.185,0,0,0,0,0,0,0,0,3.685,3.683,3.667,3.66,3.633,3.625,3.608,3.608,3.608,3.597,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.218,3.213,3.209,3.209,3.213,3.262,3.366,0,0,0,0,0,0,0,0.007,0.14,0.14,0.14,0.14,0.141,0.146,0.146,0.153,0.151,0.151,0.151,0.151,0.151,3.029,3.029,3.031,3.031,3.031,3.031,3.031,0.159,0.159,0.159,0.157,0.151,0.146,0.145,0.145,0.123,0.103,0.082,0.063,0.063,0.062,0.063,0.063,0.064,0.064,0.064,0.064,0.063,0.061,0.061,0.063,0.064,0.105,0.177,3.336,3.351,3.364,3.362,3.364,3.379,3.379,0.007,0,0.007,3.45,3.45,3.461,3.461,3.472,3.482,3.488,3.49,3.495,3.503,3.505,3.509,3.513,3.514,3.519,3.524,3.524,3.53,3.536,3.543,3.543,3.543,3.548,3.549,3.56,3.561,3.566,3.567,3.569,3.58,3.583,3.587,3.59,3.594,3.609,3.613,3.626,3.627,3.627,3.638,3.638,3.646,3.651,3.654,3.663,3.665,3.675,3.678,3.686,3.694,3.698,3.699,3.711,3.725,3.73,3.734,3.747,3.75,3.759,3.768,3.788,3.795,3.802,3.812,3.814,3.832,3.84,3.844,3.851,3.879,3.882,3.895,3.904,3.906,3.927,3.942,3.953,3.97,3.974,4,4.011,4.035,4.045,4.06,4.077,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.066,3.979,3.96,3.939,3.886,3.886,3.839,3.812,3.783,3.75,3.725,3.704,3.668,3.635,3.627,3.591,3.567,3.551,3.524,3.488,3.486,3.459,3.44,3.413,3.404,3.381,3.35,3.35,3.331,3.304,3.288,3.281,3.263,3.228,3.222,3.2,3.189,3.165,3.155,3.143,3.123,3.107,3.092,3.084,3.065,3.046,3.045,3.024,3.01,3.001,2.99,2.974,2.969,2.952,2.935,2.919,2.918,2.911,2.889,2.874,2.871,2.857,2.844,2.829,2.823,2.816,2.806,2.79,2.786,2.769,2.764,2.756,2.745,2.737,2.733,2.722,2.714,2.705,2.696,2.683,2.679,2.67,2.665,2.655,2.651,2.647,2.638,2.636,2.617,2.615,2.607,2.602,2.596,2.587,2.578,2.573,2.573,2.566,2.558,2.556,2.545,2.542,2.538,2.531,2.527,2.518,2.512,2.511,2.505,2.499,2.495,2.489,2.486,2.483,2.479,2.475,2.472,2.471,2.463,2.463,2.459,2.453,2.453,2.452,2.451,2.447,2.446,2.439,2.438,2.434,2.429,2.429,2.427,2.426,2.426,2.426,2.424,2.417,2.416,2.415,2.415,2.415,2.412,2.412,2.412,2.41,2.41,2.409,2.409,2.407,2.407,2.409,2.411,2.411,2.411,2.412,2.411,2.411,2.412,2.413,2.413,2.417,2.417,2.421,2.421,2.423,2.423,2.425,2.426,2.428,2.429,2.431,2.434,2.435,2.437,2.437,2.437,2.442,2.447,2.447,2.449,2.451,2.455,2.455,2.464,2.466,2.468,2.478,2.478,2.481,2.486,2.494,2.494,2.495,2.498,2.51,2.514,2.518,2.519,2.524,2.531,2.538,2.538,2.548,2.55,2.556,2.557,2.571,2.576,2.592,2.598,2.599,2.606,2.606,2.608,2.616,2.628,2.64,2.644,2.644,2.649,2.655,2.67,2.681,2.684,2.694,2.702,2.712,2.722,2.727,2.736,2.753,2.76,2.761,2.783,2.791,2.799,2.808,2.815,2.818,2.834,2.846,2.856,2.866,2.882,2.883,2.907,2.917,2.922,2.946,2.95,2.958,2.975,2.982,2.996,3.013,3.024,3.034,3.045,3.061,3.079,3.085,3.106,3.122,3.141,3.159,3.16,3.179,3.201,3.219,3.233,3.248,3.267,3.278,3.299,3.317,3.332,3.354,3.372,3.389,3.403,3.44,3.463,3.486,3.503,3.52,3.539,3.571,3.601,3.613,3.651,3.671,3.68,3.724,3.741,3.778,3.805,3.835,3.867,3.891,3.91,3.982,4.024,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.345,3.342,3.326,3.316,3.304,3.296,3.294,3.278,3.273,3.262,3.253,3.241,3.237,3.232,3.213,3.205,3.202,3.199,3.188,3.182,3.178,3.168,3.158,3.155,3.149,3.141,3.135,3.133,3.132,3.127,3.122,3.109,3.1,3.098,3.091,3.089,3.083,3.082,3.072,3.072,3.064,3.061,3.059,3.057,3.053,3.047,3.039,3.035,3.035,3.033,3.031,3.029,3.027,3.023,3.023,3.021,3.021,3.023,3.026,3.026,3.026,3.017,3.015,3.014,3.014,3.009,3.007,3.005,3.003,3.003,3.003,3.003,3.003,3.004,3.004,3.005,3.009,3.01,3.01,3.007,3.007,3.007,3.007,3.01,3.012,3.013,3.014,3.014,3.014,3.022,3.022,3.023,3.023,3.023,3.032,3.032,3.032,3.037,3.037,3.043,3.047,3.049,3.051,3.056,3.059,3.06,3.061,3.071,3.074,3.085,3.086,3.089,3.093,3.094,3.102,3.113,3.114,3.114,3.131,3.132,3.132,3.134,3.134,3.136,3.136,3.138,3.15,3.158,3.162,3.162,3.168,3.179,3.183,3.188,3.189,3.208,3.219,3.222,3.228,3.229,3.238,3.238,3.24,3.24,3.262,3.281,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 34.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 34.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 34.4237} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2324} SEN {Time 34.4706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,0,0,0,0,3.696,3.686,3.667,3.66,3.647,3.621,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.212,3.212,3.208,3.208,3.208,3.267,3.346,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.145,0.145,0.145,0.145,0.146,0.146,3.032,3.034,3.034,3.034,3.032,3.034,3.031,0.163,0.161,0.161,0.155,0.153,0.152,0.142,0.14,0.131,0.108,0.069,0.064,0.064,0.06,0.06,0.06,0.062,0.064,0.066,0.064,0.064,0.062,0.062,0.062,0.065,0.102,0.187,3.331,3.352,3.364,3.364,3.372,3.375,3.376,3.38,3.415,3.415,3.429,3.462,3.462,3.479,3.482,3.498,3.494,3.495,3.498,3.507,3.507,3.51,3.51,3.515,3.52,3.527,3.527,3.531,3.533,3.535,3.541,3.545,3.547,3.551,3.552,3.561,3.568,3.569,3.571,3.577,3.579,3.592,3.595,3.599,3.601,3.608,3.624,3.629,3.633,3.637,3.639,3.639,3.658,3.66,3.664,3.676,3.677,3.679,3.682,3.698,3.702,3.706,3.72,3.72,3.734,3.744,3.751,3.766,3.771,3.775,3.782,3.799,3.807,3.811,3.814,3.834,3.835,3.835,3.862,3.862,3.882,3.886,3.9,3.902,3.934,3.943,3.947,3.975,3.977,4.008,4.012,4.034,4.046,4.06,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.066,4.018,3.984,3.965,3.943,3.904,3.883,3.852,3.818,3.78,3.751,3.723,3.7,3.686,3.648,3.627,3.597,3.574,3.556,3.519,3.505,3.479,3.464,3.436,3.418,3.401,3.39,3.375,3.346,3.331,3.308,3.294,3.284,3.254,3.235,3.222,3.196,3.183,3.181,3.148,3.135,3.128,3.1,3.097,3.081,3.068,3.049,3.042,3.021,3.01,3,2.989,2.977,2.959,2.953,2.931,2.921,2.915,2.902,2.887,2.874,2.873,2.85,2.844,2.835,2.829,2.818,2.803,2.788,2.784,2.777,2.767,2.761,2.744,2.737,2.729,2.716,2.708,2.708,2.691,2.677,2.671,2.666,2.666,2.651,2.644,2.643,2.631,2.626,2.62,2.613,2.604,2.602,2.6,2.586,2.585,2.575,2.575,2.574,2.567,2.556,2.549,2.537,2.533,2.524,2.521,2.519,2.511,2.509,2.503,2.493,2.492,2.489,2.488,2.482,2.478,2.472,2.471,2.468,2.467,2.459,2.457,2.457,2.456,2.449,2.446,2.444,2.443,2.442,2.442,2.44,2.439,2.429,2.427,2.426,2.423,2.421,2.418,2.416,2.416,2.414,2.414,2.413,2.41,2.41,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.412,2.415,2.415,2.415,2.414,2.414,2.412,2.412,2.412,2.414,2.415,2.418,2.418,2.418,2.419,2.42,2.424,2.426,2.427,2.427,2.432,2.433,2.441,2.441,2.442,2.442,2.446,2.448,2.45,2.455,2.455,2.463,2.464,2.473,2.473,2.474,2.477,2.482,2.489,2.491,2.496,2.497,2.497,2.506,2.506,2.517,2.518,2.522,2.53,2.532,2.534,2.545,2.553,2.558,2.563,2.565,2.583,2.588,2.596,2.596,2.604,2.612,2.615,2.622,2.627,2.63,2.631,2.646,2.65,2.657,2.672,2.68,2.683,2.693,2.697,2.709,2.717,2.733,2.742,2.751,2.752,2.761,2.783,2.791,2.796,2.801,2.818,2.829,2.833,2.842,2.854,2.866,2.878,2.898,2.898,2.918,2.925,2.946,2.953,2.955,2.974,2.978,2.994,3.008,3.024,3.032,3.047,3.069,3.077,3.091,3.098,3.121,3.134,3.15,3.165,3.177,3.193,3.213,3.231,3.254,3.258,3.275,3.29,3.318,3.33,3.354,3.366,3.383,3.405,3.432,3.454,3.474,3.511,3.522,3.537,3.559,3.605,3.609,3.639,3.671,3.689,3.727,3.748,3.772,3.797,3.828,3.857,3.887,3.906,4.028,0,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.342,3.328,3.32,3.306,3.293,3.291,3.284,3.272,3.261,3.253,3.245,3.241,3.237,3.221,3.21,3.203,3.201,3.184,3.178,3.172,3.168,3.158,3.152,3.147,3.142,3.132,3.129,3.124,3.121,3.118,3.11,3.105,3.094,3.093,3.088,3.083,3.075,3.075,3.073,3.062,3.06,3.057,3.053,3.049,3.049,3.039,3.039,3.036,3.036,3.034,3.029,3.026,3.023,3.023,3.022,3.022,3.023,3.025,3.025,3.025,3.024,3.013,3.013,3.009,3.008,3.008,3.008,3.008,3.008,3.008,3.006,3.001,3.001,3.001,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.01,3.013,3.015,3.016,3.017,3.017,3.018,3.021,3.024,3.027,3.027,3.027,3.033,3.033,3.033,3.037,3.038,3.04,3.051,3.051,3.054,3.056,3.056,3.061,3.065,3.074,3.084,3.085,3.089,3.091,3.091,3.092,3.092,3.104,3.117,3.119,3.121,3.123,3.134,3.135,3.135,3.139,3.139,3.143,3.146,3.149,3.162,3.162,3.169,3.174,3.176,3.193,3.196,3.213,3.219,3.222,3.228,3.229,3.235,3.247,3.248,3.248,3.262,3.278,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 34.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 34.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 34.6246} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 34.6706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.177,0.187,0.187,0,0,0,0,0,0,0,0,3.685,3.682,3.663,3.663,3.648,3.631,3.611,3.611,3.611,3.596,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.218,3.207,3.207,3.207,3.259,3.353,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.14,0.143,0.143,0.155,0.155,0.155,0.155,0.155,0.156,3.023,3.034,3.034,3.034,3.033,3.033,0.155,0.155,0.153,0.153,0.152,0.15,0.147,0.145,0.14,0.127,0.107,0.072,0.068,0.064,0.059,0.059,0.059,0.06,0.064,0.068,0.064,0.062,0.062,0.062,0.062,0.071,0.111,0.172,3.337,3.353,3.356,3.354,3.354,3.354,3.37,3.37,3.388,3.416,3.427,3.454,3.458,3.458,3.467,3.475,3.489,3.489,3.5,3.5,3.501,3.508,3.509,3.511,3.521,3.525,3.529,3.533,3.536,3.541,3.541,3.541,3.548,3.548,3.566,3.567,3.567,3.57,3.576,3.578,3.579,3.581,3.591,3.601,3.608,3.611,3.623,3.632,3.637,3.637,3.637,3.647,3.649,3.652,3.663,3.667,3.673,3.679,3.683,3.697,3.7,3.709,3.71,3.734,3.741,3.744,3.747,3.765,3.776,3.777,3.778,3.786,3.79,3.814,3.823,3.829,3.84,3.845,3.864,3.869,3.881,3.891,3.902,3.922,3.928,3.952,3.957,3.969,3.984,3.998,4.015,4.03,4.033,4.064,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.05,3.987,3.968,3.934,3.902,3.86,3.832,3.816,3.768,3.759,3.725,3.699,3.675,3.648,3.627,3.597,3.565,3.564,3.525,3.511,3.497,3.455,3.436,3.414,3.397,3.377,3.362,3.352,3.333,3.308,3.287,3.27,3.261,3.232,3.218,3.196,3.182,3.174,3.148,3.136,3.127,3.103,3.091,3.08,3.072,3.053,3.04,3.027,3.019,3.003,2.99,2.975,2.968,2.951,2.931,2.926,2.92,2.905,2.891,2.877,2.871,2.855,2.85,2.841,2.826,2.808,2.803,2.792,2.782,2.776,2.762,2.758,2.753,2.739,2.732,2.716,2.716,2.7,2.697,2.683,2.676,2.674,2.669,2.654,2.654,2.641,2.638,2.63,2.62,2.619,2.609,2.607,2.591,2.585,2.585,2.574,2.57,2.568,2.56,2.553,2.543,2.541,2.539,2.531,2.528,2.517,2.516,2.504,2.498,2.494,2.494,2.489,2.487,2.485,2.482,2.472,2.472,2.47,2.47,2.466,2.454,2.454,2.454,2.449,2.448,2.444,2.443,2.441,2.439,2.435,2.428,2.428,2.427,2.426,2.424,2.424,2.42,2.419,2.414,2.414,2.414,2.411,2.409,2.409,2.409,2.409,2.409,2.411,2.411,2.411,2.411,2.414,2.414,2.415,2.415,2.414,2.415,2.415,2.417,2.417,2.417,2.417,2.417,2.414,2.415,2.415,2.415,2.415,2.423,2.424,2.427,2.43,2.431,2.438,2.441,2.443,2.443,2.443,2.45,2.452,2.454,2.456,2.457,2.46,2.46,2.471,2.471,2.471,2.471,2.479,2.482,2.488,2.493,2.494,2.502,2.509,2.514,2.514,2.522,2.533,2.537,2.539,2.541,2.546,2.548,2.556,2.563,2.567,2.568,2.596,2.601,2.601,2.608,2.611,2.613,2.621,2.63,2.637,2.637,2.648,2.649,2.663,2.678,2.681,2.691,2.694,2.703,2.708,2.717,2.724,2.738,2.753,2.754,2.756,2.785,2.785,2.8,2.801,2.811,2.832,2.835,2.851,2.853,2.867,2.882,2.89,2.904,2.912,2.923,2.936,2.95,2.955,2.978,2.982,2.997,3.018,3.021,3.03,3.044,3.065,3.087,3.097,3.107,3.123,3.137,3.152,3.169,3.176,3.202,3.218,3.228,3.25,3.262,3.276,3.294,3.329,3.329,3.354,3.374,3.39,3.415,3.434,3.459,3.484,3.498,3.524,3.544,3.561,3.586,3.614,3.641,3.664,3.691,3.712,3.751,3.784,3.791,3.826,3.865,3.894,3.925,3.941,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.363,3.335,3.326,3.318,3.305,3.294,3.293,3.279,3.269,3.257,3.25,3.242,3.241,3.233,3.223,3.217,3.203,3.203,3.195,3.181,3.177,3.171,3.158,3.154,3.152,3.141,3.141,3.131,3.127,3.121,3.116,3.109,3.109,3.102,3.095,3.091,3.087,3.083,3.083,3.083,3.066,3.065,3.061,3.052,3.051,3.048,3.04,3.037,3.035,3.035,3.035,3.035,3.028,3.027,3.025,3.022,3.022,3.022,3.026,3.026,3.026,3.019,3.018,3.017,3.014,3.014,3.012,3.011,3.011,3.007,3.007,3.007,3.007,3.005,3.005,3.007,3.011,3.012,3.012,3.012,3.012,3.012,3.013,3.014,3.014,3.015,3.015,3.018,3.02,3.022,3.024,3.029,3.029,3.029,3.031,3.034,3.035,3.04,3.043,3.045,3.054,3.055,3.056,3.057,3.057,3.061,3.068,3.07,3.075,3.092,3.092,3.093,3.094,3.099,3.102,3.104,3.111,3.111,3.114,3.119,3.133,3.133,3.133,3.133,3.133,3.15,3.151,3.153,3.155,3.156,3.172,3.176,3.183,3.19,3.199,3.217,3.222,3.223,3.236,3.237,3.237,3.237,3.245,3.253,3.259,3.277,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 34.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 34.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 34.8257} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 34.8666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.174,0.176,0.174,0.176,0.189,0,0,0,0,0,0,0,0,3.685,3.67,3.669,3.667,3.64,3.636,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.212,3.209,3.212,3.218,3.359,0.007,0,0,0,0,0,0,0,0.141,0.141,0.141,0.141,0.147,0.147,0.147,0.146,0.147,0.147,0.15,0.15,0.153,0.153,3.036,3.036,3.036,3.036,3.033,3.033,3.033,0.153,0.153,0.153,0.152,0.15,0.143,0.142,0.142,0.127,0.109,0.077,0.06,0.059,0.059,0.059,0.059,0.06,0.063,0.063,0.062,0.062,0.06,0.06,0.062,0.072,0.107,0.181,3.341,3.343,3.353,3.351,3.353,3.373,3.375,0.007,0,3.447,3.453,3.453,3.453,3.456,3.473,3.479,3.491,3.492,3.497,3.5,3.507,3.507,3.51,3.513,3.516,3.528,3.532,3.532,3.534,3.536,3.538,3.542,3.545,3.546,3.554,3.565,3.565,3.567,3.571,3.579,3.589,3.589,3.589,3.603,3.604,3.605,3.619,3.622,3.629,3.63,3.646,3.654,3.654,3.655,3.66,3.67,3.67,3.684,3.693,3.695,3.699,3.708,3.716,3.733,3.734,3.74,3.749,3.753,3.763,3.773,3.782,3.789,3.791,3.812,3.813,3.828,3.837,3.855,3.863,3.876,3.879,3.895,3.896,3.916,3.924,3.937,3.954,3.962,3.969,3.998,4.022,4.027,4.039,4.056,4.076,4.089,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.055,3.954,3.944,3.907,3.865,3.839,3.813,3.779,3.755,3.729,3.702,3.682,3.652,3.62,3.597,3.564,3.549,3.519,3.507,3.482,3.463,3.432,3.423,3.386,3.379,3.363,3.342,3.329,3.307,3.298,3.278,3.26,3.229,3.218,3.205,3.19,3.177,3.155,3.137,3.12,3.113,3.101,3.085,3.063,3.045,3.045,3.038,3.019,3.004,2.992,2.982,2.961,2.955,2.936,2.921,2.917,2.907,2.894,2.879,2.872,2.855,2.845,2.837,2.827,2.819,2.801,2.79,2.789,2.776,2.766,2.751,2.75,2.739,2.721,2.72,2.718,2.702,2.698,2.68,2.678,2.671,2.666,2.655,2.653,2.651,2.636,2.635,2.619,2.618,2.608,2.601,2.593,2.58,2.579,2.576,2.574,2.565,2.558,2.55,2.547,2.543,2.537,2.533,2.523,2.515,2.512,2.503,2.502,2.501,2.496,2.492,2.491,2.483,2.482,2.472,2.472,2.467,2.463,2.461,2.454,2.452,2.445,2.444,2.443,2.442,2.44,2.44,2.437,2.436,2.432,2.426,2.426,2.424,2.423,2.42,2.419,2.418,2.416,2.416,2.416,2.413,2.412,2.412,2.412,2.413,2.413,2.413,2.41,2.406,2.406,2.406,2.408,2.413,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.414,2.414,2.414,2.414,2.414,2.418,2.418,2.423,2.424,2.423,2.428,2.428,2.429,2.432,2.434,2.435,2.441,2.45,2.45,2.452,2.454,2.455,2.461,2.465,2.467,2.472,2.475,2.475,2.482,2.486,2.487,2.487,2.492,2.497,2.509,2.509,2.518,2.521,2.529,2.532,2.533,2.533,2.551,2.551,2.561,2.566,2.571,2.571,2.591,2.595,2.597,2.601,2.611,2.613,2.619,2.632,2.634,2.64,2.646,2.649,2.665,2.669,2.679,2.686,2.696,2.697,2.711,2.717,2.718,2.739,2.747,2.75,2.765,2.773,2.788,2.796,2.802,2.821,2.827,2.84,2.85,2.857,2.86,2.878,2.883,2.897,2.91,2.926,2.938,2.954,2.955,2.976,2.979,2.992,3.018,3.03,3.039,3.039,3.065,3.079,3.094,3.108,3.125,3.142,3.153,3.172,3.178,3.198,3.222,3.235,3.246,3.257,3.277,3.299,3.326,3.338,3.362,3.371,3.393,3.407,3.43,3.451,3.487,3.503,3.515,3.535,3.566,3.593,3.603,3.636,3.665,3.696,3.715,3.747,3.791,3.793,3.832,3.845,3.891,3.918,3.957,3.987,4.022,4.086,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.353,3.338,3.327,3.32,3.303,3.291,3.289,3.278,3.269,3.264,3.251,3.244,3.243,3.233,3.218,3.213,3.21,3.202,3.197,3.182,3.171,3.166,3.154,3.152,3.143,3.139,3.131,3.128,3.124,3.112,3.112,3.105,3.104,3.097,3.092,3.088,3.088,3.082,3.078,3.074,3.072,3.064,3.064,3.052,3.052,3.05,3.046,3.038,3.038,3.034,3.034,3.033,3.029,3.025,3.024,3.022,3.022,3.024,3.025,3.025,3.025,3.017,3.012,3.012,3.009,3.007,3.007,3.003,3.003,3.007,3.004,3.004,3.008,3.006,3.006,3.006,3.006,3.006,3.006,3.007,3.015,3.015,3.015,3.017,3.017,3.017,3.017,3.017,3.021,3.017,3.018,3.021,3.021,3.029,3.029,3.03,3.032,3.034,3.038,3.039,3.046,3.051,3.051,3.059,3.06,3.065,3.068,3.068,3.081,3.088,3.088,3.09,3.091,3.099,3.099,3.107,3.108,3.109,3.119,3.125,3.127,3.134,3.136,3.136,3.136,3.146,3.147,3.15,3.161,3.164,3.168,3.17,3.172,3.192,3.195,3.197,3.214,3.219,3.229,3.231,3.231,3.241,3.241,3.244,3.257,3.273,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 35.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 35.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 35.0176} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1562} SEN {Time 35.0666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.179,0.179,0.183,0,0,0,0,0,0,0,0,3.681,3.68,3.668,3.664,3.656,3.631,3.624,3.624,3.624,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.214,3.211,3.211,3.214,3.255,3.357,0,0,0,0,0,0,0,0.149,0.145,0.145,0.145,0.145,0.145,0.143,0.143,0.145,0.143,0.145,0.145,0.155,0.155,3.031,3.035,3.035,3.035,3.031,3.035,3.031,0.163,0.152,0.153,0.153,0.153,0.152,0.145,0.143,0.131,0.107,0.073,0.062,0.06,0.059,0.059,0.059,0.061,0.066,0.066,0.066,0.066,0.063,0.062,0.062,0.062,0.108,0.186,3.357,0,0.007,3.38,3.38,3.38,3.38,0.007,3.427,3.427,3.43,3.43,3.444,3.447,3.47,3.487,3.496,3.498,3.5,3.5,3.502,3.512,3.514,3.518,3.521,3.532,3.533,3.536,3.536,3.54,3.54,3.542,3.548,3.549,3.55,3.557,3.559,3.573,3.577,3.577,3.579,3.588,3.591,3.606,3.61,3.612,3.619,3.627,3.635,3.639,3.642,3.643,3.653,3.656,3.66,3.661,3.663,3.682,3.687,3.691,3.705,3.716,3.72,3.729,3.729,3.738,3.751,3.754,3.768,3.768,3.785,3.794,3.802,3.803,3.829,3.829,3.833,3.854,3.862,3.875,3.879,3.899,3.903,3.914,3.939,3.94,3.94,3.969,3.97,3.997,4.013,4.03,4.045,4.053,4.075,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.083,4.039,3.998,3.974,3.928,3.88,3.855,3.851,3.798,3.778,3.748,3.714,3.699,3.684,3.651,3.623,3.598,3.578,3.546,3.532,3.506,3.488,3.454,3.431,3.416,3.407,3.377,3.373,3.345,3.332,3.303,3.302,3.276,3.251,3.237,3.215,3.193,3.192,3.171,3.153,3.133,3.124,3.104,3.1,3.079,3.066,3.041,3.041,3.036,3.02,2.993,2.988,2.981,2.967,2.943,2.936,2.929,2.912,2.907,2.89,2.873,2.868,2.854,2.849,2.837,2.82,2.817,2.808,2.787,2.786,2.775,2.769,2.755,2.751,2.74,2.731,2.726,2.719,2.703,2.696,2.678,2.675,2.67,2.667,2.655,2.654,2.648,2.636,2.631,2.62,2.608,2.606,2.601,2.595,2.584,2.583,2.576,2.569,2.566,2.555,2.551,2.547,2.544,2.541,2.529,2.525,2.523,2.512,2.507,2.505,2.494,2.492,2.491,2.488,2.486,2.483,2.476,2.476,2.471,2.465,2.462,2.462,2.455,2.451,2.447,2.447,2.443,2.439,2.437,2.436,2.435,2.434,2.432,2.429,2.428,2.428,2.428,2.421,2.417,2.415,2.414,2.414,2.417,2.414,2.412,2.413,2.412,2.41,2.408,2.41,2.408,2.408,2.407,2.407,2.407,2.414,2.415,2.415,2.415,2.414,2.415,2.415,2.415,2.416,2.417,2.417,2.418,2.417,2.416,2.416,2.419,2.421,2.426,2.429,2.432,2.436,2.437,2.439,2.439,2.448,2.449,2.449,2.449,2.457,2.46,2.464,2.468,2.47,2.473,2.481,2.485,2.485,2.487,2.493,2.494,2.502,2.506,2.508,2.515,2.518,2.527,2.536,2.536,2.537,2.546,2.554,2.559,2.564,2.568,2.58,2.586,2.596,2.596,2.603,2.606,2.609,2.626,2.63,2.64,2.641,2.644,2.65,2.658,2.673,2.684,2.688,2.694,2.701,2.714,2.717,2.721,2.738,2.749,2.752,2.761,2.774,2.782,2.793,2.809,2.817,2.833,2.837,2.837,2.859,2.872,2.874,2.886,2.907,2.922,2.924,2.938,2.952,2.955,2.964,2.978,2.994,3.01,3.022,3.038,3.051,3.055,3.08,3.095,3.102,3.122,3.138,3.157,3.172,3.175,3.197,3.22,3.23,3.243,3.258,3.29,3.296,3.324,3.339,3.349,3.377,3.389,3.409,3.436,3.455,3.478,3.501,3.517,3.538,3.572,3.598,3.639,3.654,3.695,3.695,3.726,3.742,3.778,3.793,3.838,3.869,3.884,3.93,3.943,4.029,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.352,3.349,3.331,3.315,3.313,3.292,3.285,3.28,3.259,3.249,3.242,3.237,3.236,3.233,3.216,3.212,3.208,3.194,3.19,3.186,3.177,3.165,3.164,3.155,3.145,3.139,3.137,3.13,3.121,3.12,3.118,3.117,3.104,3.104,3.09,3.089,3.088,3.081,3.073,3.069,3.065,3.057,3.056,3.055,3.055,3.047,3.045,3.039,3.039,3.037,3.036,3.031,3.025,3.024,3.023,3.02,3.023,3.023,3.024,3.024,3.024,3.023,3.021,3.019,3.016,3.009,3.007,3.007,3.007,3.008,3.007,3.008,3.008,3.009,3.009,3.009,3.01,3.01,3.01,3.009,3.014,3.014,3.014,3.014,3.014,3.019,3.014,3.019,3.019,3.019,3.019,3.021,3.021,3.029,3.031,3.031,3.031,3.036,3.041,3.042,3.05,3.052,3.052,3.056,3.06,3.068,3.07,3.075,3.075,3.083,3.085,3.086,3.09,3.09,3.095,3.114,3.114,3.117,3.119,3.127,3.127,3.135,3.138,3.141,3.141,3.141,3.147,3.149,3.149,3.158,3.166,3.17,3.174,3.183,3.19,3.22,3.223,3.227,3.23,3.235,3.235,3.242,3.244,3.25,3.268,3.273,3.277,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 35.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 35.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 35.2186} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 35.2666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.178,0.177,0.178,0.178,0,0,0,0,0,0,0,0,3.684,3.676,3.673,3.664,3.653,3.624,3.617,3.617,3.617,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.222,3.215,3.215,3.215,3.266,3.352,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.147,0.147,0.146,0.146,0.153,0.15,0.15,0.15,0.15,0.15,3.033,3.033,3.033,3.033,3.029,3.024,0.156,0.156,0.153,0.153,0.151,0.147,0.145,0.144,0.142,0.13,0.107,0.071,0.066,0.058,0.058,0.058,0.059,0.06,0.061,0.064,0.064,0.064,0.064,0.064,0.066,0.067,0.113,0.18,3.341,3.368,3.374,3.368,3.368,3.368,3.377,3.386,3.402,3.423,3.423,3.425,3.442,3.468,3.471,3.477,3.489,3.49,3.492,3.502,3.502,3.505,3.516,3.517,3.517,3.519,3.522,3.529,3.539,3.54,3.54,3.543,3.545,3.552,3.557,3.562,3.567,3.57,3.577,3.579,3.581,3.583,3.6,3.608,3.613,3.614,3.619,3.635,3.636,3.64,3.64,3.641,3.655,3.661,3.667,3.671,3.672,3.673,3.687,3.688,3.701,3.702,3.724,3.736,3.738,3.744,3.75,3.751,3.759,3.77,3.772,3.79,3.805,3.809,3.817,3.829,3.831,3.849,3.856,3.879,3.882,3.884,3.9,3.92,3.927,3.954,3.957,3.971,3.988,3.991,4.021,4.028,4.049,4.063,4.066,0.016,0.016,0.016,0.016,0.007,0.016,4.085,4.057,4.021,3.989,3.963,3.933,3.89,3.87,3.842,3.818,3.784,3.747,3.744,3.697,3.668,3.648,3.633,3.588,3.579,3.545,3.521,3.504,3.484,3.451,3.447,3.421,3.39,3.386,3.367,3.358,3.337,3.303,3.292,3.276,3.253,3.233,3.226,3.197,3.194,3.175,3.152,3.148,3.126,3.101,3.1,3.082,3.07,3.042,3.042,3.041,3.023,2.999,2.986,2.977,2.965,2.948,2.936,2.918,2.916,2.905,2.893,2.871,2.868,2.865,2.845,2.834,2.825,2.818,2.805,2.787,2.777,2.776,2.767,2.758,2.749,2.733,2.723,2.714,2.709,2.696,2.694,2.684,2.675,2.674,2.665,2.649,2.645,2.638,2.629,2.629,2.624,2.611,2.608,2.607,2.594,2.592,2.582,2.579,2.566,2.562,2.556,2.554,2.544,2.542,2.536,2.53,2.529,2.516,2.509,2.507,2.5,2.498,2.495,2.493,2.49,2.482,2.476,2.474,2.473,2.472,2.466,2.462,2.461,2.456,2.455,2.452,2.45,2.448,2.448,2.448,2.436,2.435,2.435,2.429,2.426,2.426,2.425,2.423,2.416,2.415,2.415,2.414,2.414,2.411,2.41,2.41,2.41,2.407,2.409,2.409,2.407,2.407,2.405,2.405,2.409,2.409,2.408,2.408,2.408,2.408,2.414,2.416,2.416,2.416,2.416,2.415,2.415,2.414,2.414,2.416,2.419,2.425,2.426,2.431,2.432,2.432,2.435,2.435,2.446,2.446,2.448,2.453,2.454,2.456,2.461,2.462,2.468,2.47,2.471,2.473,2.477,2.48,2.481,2.482,2.485,2.496,2.496,2.508,2.514,2.515,2.516,2.524,2.53,2.53,2.534,2.546,2.558,2.56,2.566,2.567,2.578,2.593,2.593,2.597,2.604,2.606,2.607,2.629,2.633,2.637,2.645,2.649,2.655,2.66,2.666,2.676,2.689,2.691,2.705,2.711,2.719,2.723,2.742,2.746,2.749,2.762,2.775,2.785,2.791,2.808,2.828,2.837,2.839,2.847,2.857,2.864,2.878,2.887,2.898,2.917,2.926,2.938,2.945,2.956,2.963,2.978,2.994,3.014,3.023,3.042,3.05,3.062,3.078,3.092,3.102,3.123,3.135,3.151,3.166,3.18,3.201,3.218,3.228,3.251,3.265,3.275,3.286,3.324,3.326,3.354,3.376,3.383,3.414,3.439,3.455,3.469,3.496,3.516,3.546,3.568,3.594,3.609,3.635,3.668,3.687,3.712,3.742,3.771,3.805,3.831,3.861,3.905,3.922,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.349,3.339,3.33,3.308,3.299,3.293,3.29,3.278,3.274,3.274,3.244,3.243,3.239,3.228,3.219,3.213,3.202,3.202,3.191,3.184,3.172,3.165,3.163,3.158,3.148,3.138,3.134,3.131,3.116,3.115,3.114,3.106,3.105,3.095,3.089,3.086,3.082,3.081,3.075,3.071,3.066,3.066,3.061,3.05,3.049,3.048,3.044,3.043,3.043,3.036,3.034,3.031,3.03,3.03,3.023,3.022,3.023,3.03,3.022,3.022,3.023,3.022,3.017,3.017,3.017,3.014,3.014,3.012,3.009,3.008,3.004,3.004,3.004,3.004,3.008,3.011,3.011,3.011,3.011,3.01,3.01,3.013,3.012,3.012,3.015,3.015,3.012,3.015,3.023,3.015,3.017,3.024,3.025,3.029,3.033,3.034,3.034,3.036,3.038,3.04,3.05,3.051,3.056,3.061,3.063,3.063,3.066,3.07,3.079,3.085,3.085,3.088,3.091,3.098,3.104,3.112,3.117,3.119,3.121,3.133,3.134,3.134,3.136,3.136,3.136,3.14,3.147,3.151,3.154,3.16,3.168,3.174,3.175,3.187,3.2,3.203,3.219,3.222,3.232,3.24,3.24,3.24,3.243,3.248,3.263,3.276,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 35.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 35.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 35.4196} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 35.4666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.184,0.184,0.184,0,0,0,0,0,0,0,0,0,3.677,3.669,3.665,3.645,3.627,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.222,3.222,3.222,3.222,3.222,3.259,3.354,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.148,0.143,0.147,0.147,0.153,0.153,0.153,0.153,0.155,0.155,3.025,3.029,3.041,3.041,3.029,3.043,3.043,0.156,0.147,0.147,0.147,0.147,0.146,0.143,0.143,0.127,0.101,0.081,0.068,0.067,0.06,0.06,0.06,0.064,0.067,0.067,0.066,0.066,0.063,0.063,0.063,0.068,0.106,0.174,3.336,3.352,3.354,3.352,3.354,3.382,3.383,3.411,0,3.443,3.443,0.007,3.479,3.479,3.482,3.482,3.491,3.496,3.497,3.507,3.507,3.517,3.518,3.518,3.524,3.528,3.528,3.531,3.535,3.538,3.544,3.545,3.546,3.554,3.554,3.556,3.565,3.569,3.578,3.579,3.58,3.583,3.587,3.597,3.605,3.606,3.613,3.616,3.631,3.631,3.648,3.649,3.652,3.652,3.659,3.665,3.671,3.687,3.687,3.688,3.697,3.71,3.718,3.735,3.738,3.742,3.752,3.752,3.768,3.78,3.783,3.785,3.799,3.811,3.814,3.827,3.839,3.841,3.87,3.876,3.888,3.892,3.9,3.912,3.933,3.948,3.961,3.969,3.976,3.996,4.025,4.031,4.033,4.064,4.072,4.084,0.016,0.016,0.016,0.016,0,0.016,0,0.007,4.011,3.977,3.922,3.884,3.879,3.853,3.824,3.786,3.751,3.732,3.7,3.664,3.655,3.633,3.595,3.56,3.547,3.516,3.504,3.473,3.447,3.443,3.421,3.41,3.39,3.363,3.343,3.335,3.308,3.292,3.269,3.26,3.23,3.226,3.194,3.19,3.175,3.156,3.133,3.122,3.11,3.094,3.08,3.063,3.038,3.038,3.031,3.019,3.006,2.993,2.989,2.963,2.944,2.939,2.924,2.919,2.907,2.889,2.88,2.875,2.856,2.852,2.844,2.825,2.807,2.803,2.788,2.784,2.777,2.763,2.75,2.748,2.727,2.723,2.723,2.718,2.702,2.694,2.676,2.674,2.667,2.667,2.654,2.652,2.647,2.63,2.629,2.621,2.616,2.613,2.61,2.593,2.589,2.577,2.571,2.568,2.565,2.559,2.554,2.545,2.542,2.538,2.531,2.531,2.521,2.517,2.506,2.501,2.499,2.493,2.491,2.485,2.483,2.479,2.475,2.475,2.471,2.471,2.461,2.457,2.456,2.451,2.45,2.446,2.446,2.441,2.441,2.441,2.437,2.431,2.427,2.431,2.423,2.419,2.419,2.419,2.418,2.415,2.414,2.414,2.414,2.414,2.412,2.412,2.411,2.408,2.408,2.408,2.408,2.408,2.409,2.412,2.415,2.415,2.415,2.413,2.41,2.41,2.41,2.411,2.417,2.417,2.417,2.417,2.417,2.417,2.42,2.42,2.423,2.423,2.424,2.429,2.433,2.435,2.439,2.442,2.442,2.451,2.451,2.452,2.456,2.462,2.462,2.466,2.474,2.474,2.474,2.48,2.483,2.487,2.489,2.492,2.497,2.498,2.504,2.513,2.515,2.518,2.52,2.525,2.535,2.537,2.548,2.552,2.554,2.559,2.568,2.578,2.591,2.593,2.597,2.599,2.603,2.608,2.624,2.636,2.641,2.642,2.649,2.654,2.656,2.676,2.676,2.683,2.691,2.693,2.71,2.721,2.721,2.739,2.747,2.753,2.763,2.784,2.788,2.797,2.801,2.819,2.834,2.842,2.844,2.852,2.873,2.877,2.893,2.901,2.914,2.916,2.938,2.943,2.958,2.972,2.986,2.999,3.008,3.029,3.034,3.045,3.07,3.082,3.097,3.104,3.12,3.143,3.148,3.167,3.176,3.201,3.226,3.232,3.249,3.26,3.274,3.289,3.329,3.334,3.355,3.373,3.384,3.411,3.425,3.456,3.475,3.501,3.523,3.534,3.557,3.597,3.613,3.648,3.675,3.697,3.723,3.751,3.766,3.807,3.83,3.859,3.918,0.007,0,0.007,0,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.347,3.337,3.329,3.313,3.301,3.292,3.289,3.278,3.265,3.262,3.253,3.247,3.235,3.233,3.218,3.21,3.206,3.192,3.191,3.179,3.174,3.17,3.161,3.153,3.148,3.141,3.134,3.122,3.121,3.118,3.113,3.107,3.104,3.096,3.094,3.085,3.084,3.084,3.078,3.078,3.07,3.067,3.06,3.059,3.049,3.045,3.041,3.037,3.037,3.036,3.031,3.028,3.026,3.025,3.022,3.021,3.021,3.021,3.026,3.026,3.026,3.021,3.015,3.015,3.015,3.013,3.006,3.006,3.006,3.008,3.008,3.008,3.008,3.008,3.009,3.011,3.011,3.013,3.013,3.013,3.01,3.013,3.018,3.018,3.018,3.022,3.022,3.018,3.023,3.023,3.024,3.027,3.027,3.027,3.03,3.032,3.032,3.039,3.045,3.047,3.047,3.056,3.056,3.058,3.06,3.066,3.068,3.071,3.072,3.083,3.087,3.088,3.09,3.093,3.096,3.11,3.111,3.118,3.118,3.127,3.127,3.136,3.137,3.138,3.138,3.141,3.148,3.15,3.16,3.163,3.169,3.177,3.178,3.185,3.194,3.209,3.224,3.227,3.228,3.229,3.234,3.249,3.251,3.255,3.266,3.271,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 35.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 35.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 35.6205} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 35.6666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.176,0.185,0.185,0,0,0,0,0,0,0,0,3.69,3.675,3.66,3.658,3.651,3.625,3.608,3.608,3.608,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.233,3.215,3.214,3.211,3.211,3.211,3.269,3.356,0,0,0,0,0,0,0,0.007,0.143,0.143,0.143,0.143,0.147,0.147,0.147,0.156,0.147,0.156,0.156,0.161,0.161,3.032,3.033,3.033,3.033,3.032,3.033,3.025,0.151,0.151,0.151,0.151,0.151,0.146,0.144,0.144,0.127,0.113,0.075,0.06,0.058,0.057,0.057,0.057,0.061,0.065,0.066,0.065,0.065,0.059,0.059,0.059,0.071,0.113,0.194,3.358,3.359,3.381,3.365,3.365,3.365,3.379,3.379,3.405,3.405,3.421,3.426,3.445,3.459,3.477,3.485,3.487,3.496,3.501,3.508,3.508,3.509,3.509,3.512,3.518,3.519,3.527,3.529,3.532,3.535,3.543,3.543,3.543,3.546,3.552,3.552,3.566,3.568,3.578,3.579,3.584,3.586,3.587,3.602,3.604,3.611,3.618,3.631,3.631,3.639,3.642,3.645,3.655,3.66,3.664,3.671,3.675,3.676,3.676,3.691,3.691,3.701,3.716,3.732,3.733,3.748,3.751,3.751,3.764,3.768,3.782,3.795,3.797,3.802,3.828,3.835,3.84,3.854,3.876,3.878,3.883,3.9,3.902,3.919,3.921,3.946,3.96,3.98,3.994,3.995,4.008,4.022,4.042,4.061,4.08,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.041,3.992,3.966,3.922,3.901,3.872,3.839,3.808,3.784,3.759,3.73,3.696,3.674,3.642,3.63,3.609,3.573,3.548,3.525,3.5,3.486,3.466,3.455,3.42,3.402,3.388,3.359,3.35,3.331,3.306,3.295,3.277,3.253,3.242,3.226,3.193,3.189,3.175,3.154,3.136,3.126,3.11,3.097,3.082,3.069,3.045,3.045,3.042,3.017,3.002,2.986,2.968,2.963,2.944,2.942,2.926,2.922,2.909,2.896,2.877,2.872,2.855,2.849,2.846,2.829,2.818,2.804,2.795,2.783,2.773,2.768,2.752,2.747,2.731,2.726,2.716,2.714,2.699,2.697,2.685,2.675,2.673,2.661,2.654,2.651,2.647,2.64,2.633,2.618,2.616,2.615,2.608,2.604,2.588,2.581,2.579,2.569,2.567,2.562,2.557,2.555,2.541,2.536,2.529,2.525,2.515,2.514,2.505,2.499,2.496,2.489,2.487,2.485,2.481,2.478,2.475,2.474,2.474,2.468,2.465,2.457,2.452,2.452,2.45,2.444,2.442,2.44,2.44,2.439,2.438,2.438,2.426,2.423,2.423,2.423,2.419,2.423,2.418,2.416,2.416,2.416,2.416,2.413,2.413,2.412,2.407,2.406,2.406,2.406,2.407,2.407,2.407,2.412,2.409,2.409,2.41,2.41,2.41,2.411,2.415,2.415,2.417,2.417,2.421,2.421,2.421,2.421,2.426,2.426,2.426,2.428,2.428,2.433,2.435,2.44,2.441,2.441,2.442,2.446,2.449,2.449,2.457,2.46,2.462,2.465,2.468,2.472,2.472,2.479,2.482,2.485,2.488,2.489,2.492,2.505,2.509,2.51,2.515,2.521,2.523,2.527,2.529,2.54,2.546,2.549,2.557,2.562,2.571,2.572,2.587,2.59,2.599,2.601,2.608,2.617,2.628,2.636,2.638,2.641,2.645,2.651,2.667,2.674,2.685,2.686,2.702,2.705,2.717,2.718,2.722,2.735,2.755,2.757,2.761,2.775,2.79,2.792,2.809,2.818,2.834,2.837,2.845,2.857,2.873,2.874,2.893,2.897,2.911,2.923,2.943,2.955,2.963,2.977,2.978,2.996,3.015,3.019,3.035,3.045,3.064,3.079,3.085,3.112,3.125,3.141,3.147,3.166,3.179,3.198,3.215,3.233,3.245,3.26,3.276,3.297,3.32,3.331,3.349,3.378,3.398,3.41,3.432,3.455,3.474,3.492,3.521,3.538,3.558,3.595,3.605,3.636,3.669,3.689,3.719,3.74,3.777,3.805,3.846,3.865,3.889,3.918,4.027,4.063,4.094,4.094,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.359,3.335,3.329,3.312,3.311,3.294,3.29,3.278,3.27,3.254,3.254,3.238,3.237,3.226,3.225,3.225,3.211,3.209,3.191,3.19,3.176,3.175,3.159,3.149,3.149,3.141,3.138,3.133,3.116,3.116,3.113,3.111,3.108,3.107,3.093,3.091,3.089,3.079,3.078,3.072,3.07,3.065,3.061,3.061,3.054,3.041,3.04,3.036,3.036,3.034,3.034,3.029,3.026,3.026,3.024,3.021,3.021,3.024,3.029,3.029,3.029,3.026,3.018,3.018,3.015,3.015,3.012,3.011,3.01,3.008,3.005,3.005,3.005,3.005,3.006,3.007,3.01,3.01,3.01,3.01,3.011,3.011,3.01,3.011,3.011,3.014,3.016,3.016,3.019,3.021,3.021,3.024,3.024,3.029,3.032,3.033,3.034,3.036,3.039,3.042,3.05,3.051,3.053,3.054,3.055,3.056,3.062,3.062,3.07,3.081,3.082,3.087,3.088,3.093,3.1,3.108,3.111,3.115,3.117,3.13,3.131,3.133,3.143,3.146,3.148,3.148,3.15,3.151,3.16,3.163,3.163,3.173,3.173,3.188,3.197,3.214,3.214,3.224,3.228,3.238,3.238,3.241,3.251,3.253,3.267,3.272,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 35.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 35.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 35.8215} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2578} SEN {Time 35.8626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.176,0.184,0.184,0,0,0,0,0,0,0,0,3.681,3.677,3.668,3.659,3.64,3.629,3.613,3.613,3.613,3.601,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.213,3.211,3.211,3.211,3.213,3.27,3.364,0,0,0,0,0,0,0,0.149,0.141,0.141,0.141,0.141,0.141,0.139,0.139,0.151,0.147,0.151,0.151,0.153,0.158,3.035,3.035,3.035,3.035,3.031,3.031,3.031,0.156,0.155,0.155,0.152,0.148,0.147,0.146,0.143,0.126,0.107,0.078,0.061,0.059,0.058,0.058,0.058,0.06,0.06,0.063,0.06,0.06,0.06,0.06,0.06,0.067,0.101,0.186,3.361,3.361,3.382,3.364,3.363,3.363,3.364,3.364,3.419,0.007,3.441,3.441,3.465,3.465,3.466,3.478,3.494,3.496,3.499,3.501,3.504,3.506,3.511,3.525,3.525,3.525,3.528,3.53,3.535,3.537,3.539,3.54,3.542,3.553,3.557,3.558,3.561,3.565,3.573,3.582,3.586,3.594,3.597,3.602,3.608,3.616,3.626,3.628,3.633,3.633,3.642,3.645,3.649,3.665,3.665,3.665,3.672,3.681,3.693,3.694,3.7,3.713,3.716,3.73,3.733,3.738,3.751,3.757,3.771,3.772,3.776,3.792,3.801,3.811,3.814,3.832,3.84,3.852,3.868,3.881,3.881,3.895,3.901,3.924,3.935,3.936,3.967,3.971,3.98,3.987,4.017,4.034,4.051,4.066,4.078,4.087,4.094,0.016,0.016,0,0.007,0,0.007,4.055,3.988,3.955,3.935,3.898,3.877,3.836,3.812,3.778,3.747,3.733,3.693,3.68,3.649,3.618,3.61,3.573,3.552,3.521,3.51,3.495,3.47,3.446,3.427,3.405,3.377,3.371,3.349,3.326,3.299,3.296,3.274,3.257,3.234,3.223,3.197,3.191,3.168,3.151,3.139,3.125,3.101,3.093,3.078,3.056,3.042,3.034,3.025,3.009,3.001,2.987,2.976,2.969,2.952,2.934,2.927,2.911,2.91,2.897,2.879,2.873,2.861,2.842,2.839,2.824,2.815,2.803,2.788,2.784,2.776,2.766,2.761,2.754,2.74,2.724,2.715,2.713,2.696,2.694,2.683,2.679,2.676,2.664,2.658,2.656,2.645,2.637,2.631,2.623,2.623,2.609,2.605,2.596,2.595,2.576,2.573,2.57,2.567,2.557,2.549,2.548,2.541,2.537,2.535,2.524,2.518,2.513,2.507,2.5,2.494,2.491,2.491,2.486,2.481,2.48,2.477,2.476,2.473,2.468,2.465,2.455,2.454,2.454,2.451,2.448,2.442,2.441,2.438,2.438,2.436,2.432,2.432,2.429,2.421,2.421,2.421,2.418,2.419,2.418,2.416,2.416,2.414,2.411,2.411,2.408,2.408,2.408,2.408,2.408,2.408,2.408,2.406,2.408,2.408,2.412,2.412,2.412,2.414,2.414,2.415,2.415,2.416,2.416,2.417,2.416,2.417,2.418,2.418,2.42,2.42,2.42,2.426,2.429,2.437,2.442,2.443,2.444,2.447,2.448,2.449,2.449,2.45,2.459,2.46,2.467,2.471,2.472,2.473,2.476,2.479,2.485,2.488,2.489,2.496,2.499,2.508,2.513,2.519,2.522,2.524,2.532,2.537,2.544,2.546,2.554,2.562,2.564,2.572,2.58,2.586,2.592,2.593,2.599,2.605,2.609,2.626,2.631,2.638,2.645,2.646,2.653,2.658,2.672,2.678,2.683,2.694,2.701,2.712,2.715,2.729,2.745,2.751,2.756,2.766,2.781,2.789,2.799,2.802,2.816,2.832,2.833,2.841,2.856,2.866,2.874,2.887,2.9,2.913,2.924,2.94,2.953,2.96,2.98,2.986,3,3.006,3.027,3.041,3.046,3.068,3.083,3.095,3.107,3.12,3.135,3.149,3.164,3.178,3.201,3.217,3.242,3.25,3.254,3.275,3.296,3.318,3.331,3.352,3.371,3.385,3.403,3.428,3.454,3.475,3.499,3.517,3.543,3.577,3.594,3.616,3.632,3.672,3.687,3.715,3.741,3.778,3.801,3.841,3.86,3.889,3.915,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.35,3.336,3.321,3.316,3.305,3.299,3.297,3.278,3.263,3.262,3.25,3.233,3.231,3.228,3.216,3.215,3.215,3.192,3.183,3.183,3.175,3.164,3.159,3.15,3.149,3.148,3.129,3.128,3.119,3.116,3.109,3.109,3.108,3.104,3.104,3.088,3.086,3.085,3.072,3.07,3.067,3.067,3.057,3.055,3.052,3.051,3.046,3.042,3.037,3.037,3.037,3.033,3.028,3.025,3.024,3.018,3.018,3.018,3.031,3.031,3.031,3.022,3.019,3.013,3.011,3.011,3.01,3.009,3.011,3.01,3.009,3.008,3.006,3.006,3.006,3.006,3.007,3.011,3.011,3.012,3.012,3.013,3.012,3.014,3.016,3.018,3.018,3.023,3.024,3.024,3.024,3.025,3.027,3.027,3.027,3.032,3.036,3.038,3.038,3.038,3.048,3.051,3.052,3.056,3.059,3.061,3.068,3.072,3.074,3.082,3.088,3.089,3.093,3.093,3.095,3.106,3.112,3.113,3.12,3.129,3.131,3.138,3.138,3.138,3.138,3.138,3.139,3.155,3.157,3.159,3.175,3.176,3.177,3.184,3.191,3.201,3.211,3.232,3.232,3.232,3.235,3.237,3.237,3.246,3.248,3.281,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 36.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 36.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 36.0134} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.397} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2578} SEN {Time 36.0626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.182,0.184,0.184,0,0,0,0,0,0,0,0,0,3.678,3.677,3.662,3.652,3.629,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.22,3.216,3.216,3.216,3.271,3.36,0,0,0,0,0,0,0,0.143,0.14,0.14,0.14,0.143,0.143,0.143,0.143,0.148,0.143,0.148,0.148,0.148,0.158,3.043,3.043,3.043,3.043,3.038,3.038,3.038,0.157,0.155,0.155,0.153,0.151,0.148,0.144,0.144,0.124,0.107,0.076,0.066,0.065,0.053,0.053,0.053,0.057,0.06,0.06,0.06,0.06,0.056,0.056,0.06,0.068,0.104,0.182,3.328,3.352,3.385,3.385,0.007,0,0.007,0,0,0.007,3.458,3.458,3.459,3.459,3.479,3.483,3.487,3.493,3.501,3.502,3.508,3.508,3.508,3.518,3.524,3.525,3.528,3.532,3.532,3.535,3.536,3.545,3.547,3.547,3.547,3.556,3.564,3.571,3.572,3.579,3.583,3.583,3.585,3.599,3.613,3.615,3.616,3.622,3.622,3.642,3.644,3.648,3.65,3.654,3.655,3.663,3.675,3.677,3.693,3.694,3.703,3.709,3.719,3.737,3.74,3.744,3.754,3.757,3.763,3.781,3.785,3.795,3.798,3.808,3.815,3.835,3.836,3.851,3.865,3.869,3.874,3.898,3.902,3.911,3.922,3.935,3.963,3.969,3.976,4.006,4.021,4.025,4.039,4.07,4.072,4.091,0.016,0.016,0.016,0.007,0,0,0,0,0.007,3.975,3.922,3.891,3.873,3.842,3.8,3.778,3.736,3.731,3.699,3.676,3.658,3.622,3.598,3.575,3.552,3.527,3.505,3.491,3.463,3.437,3.42,3.404,3.387,3.374,3.341,3.327,3.303,3.289,3.277,3.259,3.236,3.23,3.193,3.179,3.167,3.142,3.13,3.114,3.105,3.096,3.076,3.058,3.042,3.029,3.024,3.007,2.999,2.99,2.966,2.966,2.95,2.934,2.923,2.918,2.907,2.894,2.873,2.869,2.86,2.854,2.838,2.827,2.814,2.8,2.791,2.779,2.777,2.766,2.763,2.75,2.739,2.732,2.722,2.711,2.703,2.694,2.683,2.681,2.673,2.671,2.661,2.654,2.653,2.644,2.641,2.625,2.62,2.61,2.606,2.603,2.599,2.583,2.583,2.573,2.572,2.564,2.555,2.55,2.543,2.54,2.534,2.522,2.518,2.514,2.511,2.504,2.497,2.495,2.493,2.491,2.485,2.482,2.477,2.474,2.474,2.466,2.462,2.461,2.455,2.45,2.45,2.449,2.446,2.446,2.443,2.438,2.437,2.436,2.424,2.424,2.42,2.419,2.418,2.417,2.417,2.418,2.417,2.417,2.417,2.41,2.409,2.409,2.409,2.41,2.41,2.411,2.41,2.407,2.407,2.41,2.41,2.41,2.411,2.412,2.412,2.411,2.412,2.413,2.413,2.418,2.418,2.419,2.423,2.419,2.419,2.424,2.424,2.427,2.43,2.432,2.436,2.436,2.44,2.441,2.446,2.447,2.45,2.455,2.455,2.461,2.462,2.463,2.464,2.467,2.481,2.484,2.485,2.489,2.49,2.496,2.499,2.504,2.52,2.52,2.523,2.525,2.528,2.534,2.537,2.538,2.547,2.554,2.556,2.564,2.568,2.575,2.592,2.599,2.602,2.603,2.607,2.612,2.621,2.629,2.638,2.644,2.648,2.654,2.662,2.662,2.684,2.689,2.692,2.697,2.71,2.727,2.731,2.745,2.752,2.754,2.761,2.773,2.792,2.799,2.811,2.819,2.828,2.839,2.841,2.856,2.872,2.875,2.887,2.895,2.915,2.923,2.938,2.947,2.953,2.968,2.977,2.998,3.01,3.021,3.03,3.035,3.063,3.076,3.095,3.098,3.117,3.129,3.145,3.16,3.178,3.201,3.218,3.225,3.247,3.26,3.275,3.296,3.321,3.329,3.355,3.373,3.393,3.405,3.434,3.463,3.486,3.494,3.528,3.541,3.595,3.619,3.638,3.638,3.668,3.688,3.712,3.749,3.78,3.797,3.838,3.861,3.889,3.917,0,0.009,0.009,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.35,3.334,3.33,3.317,3.303,3.3,3.292,3.281,3.269,3.253,3.249,3.235,3.232,3.229,3.215,3.205,3.203,3.199,3.181,3.178,3.168,3.168,3.154,3.153,3.14,3.137,3.136,3.132,3.121,3.116,3.108,3.108,3.105,3.099,3.094,3.089,3.077,3.076,3.074,3.072,3.063,3.06,3.058,3.054,3.049,3.045,3.044,3.042,3.041,3.037,3.034,3.034,3.029,3.025,3.024,3.017,3.017,3.017,3.028,3.028,3.028,3.017,3.012,3.012,3.01,3.009,3.009,3.01,3.009,3.005,3.005,3.003,3.003,3.005,3.005,3.005,3.007,3.009,3.009,3.01,3.01,3.01,3.01,3.011,3.015,3.015,3.015,3.018,3.019,3.019,3.019,3.026,3.026,3.028,3.028,3.028,3.028,3.029,3.038,3.04,3.043,3.05,3.051,3.057,3.06,3.065,3.066,3.067,3.075,3.08,3.083,3.087,3.088,3.09,3.09,3.1,3.104,3.111,3.121,3.124,3.124,3.129,3.136,3.136,3.144,3.144,3.144,3.147,3.155,3.159,3.163,3.17,3.179,3.188,3.203,3.203,3.208,3.216,3.228,3.237,3.24,3.241,3.241,3.246,3.262,3.273,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 36.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 36.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 36.2146} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.397} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.2578} SEN {Time 36.2626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.184,0.179,0.184,0.184,0,0,0,0,0,0,0,0,3.687,3.68,3.677,3.659,3.642,3.632,3.609,3.609,3.609,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.221,3.207,3.207,3.207,3.266,3.359,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.145,0.146,0.151,0.153,0.156,0.153,0.153,0.152,0.152,0.152,3.029,3.036,3.036,3.036,3.036,3.031,0.155,0.155,0.154,0.154,0.15,0.148,0.147,0.144,0.144,0.124,0.113,0.081,0.06,0.06,0.055,0.06,0.06,0.062,0.066,0.066,0.063,0.063,0.062,0.062,0.063,0.076,0.109,0.183,3.341,0.007,0,0.007,0,0,0,0,0,0,0,3.454,3.454,3.454,3.472,3.481,3.487,3.494,3.494,3.498,3.502,3.505,3.508,3.518,3.524,3.526,3.532,3.538,3.538,3.538,3.542,3.542,3.55,3.552,3.558,3.567,3.57,3.571,3.574,3.576,3.581,3.584,3.6,3.612,3.612,3.618,3.627,3.631,3.634,3.636,3.637,3.65,3.65,3.652,3.662,3.667,3.673,3.679,3.685,3.695,3.695,3.711,3.716,3.732,3.741,3.759,3.761,3.764,3.766,3.768,3.784,3.791,3.794,3.814,3.817,3.836,3.84,3.852,3.855,3.876,3.878,3.892,3.896,3.929,3.934,3.95,3.958,3.977,3.986,3.993,4.014,4.022,4.042,4.059,4.081,0.016,0.016,0.016,0,0,0,0,0.007,4.052,3.992,3.965,3.922,3.897,3.876,3.836,3.808,3.765,3.759,3.74,3.705,3.68,3.656,3.626,3.601,3.584,3.551,3.521,3.502,3.483,3.46,3.444,3.419,3.405,3.38,3.363,3.354,3.334,3.303,3.291,3.273,3.251,3.232,3.225,3.196,3.178,3.165,3.143,3.128,3.122,3.103,3.092,3.082,3.055,3.05,3.038,3.022,3.01,2.992,2.987,2.981,2.968,2.953,2.939,2.93,2.916,2.913,2.887,2.881,2.879,2.857,2.848,2.842,2.82,2.813,2.809,2.789,2.782,2.777,2.762,2.758,2.752,2.738,2.735,2.721,2.715,2.711,2.704,2.687,2.677,2.675,2.669,2.66,2.652,2.647,2.637,2.633,2.626,2.618,2.618,2.615,2.595,2.592,2.583,2.581,2.572,2.569,2.563,2.552,2.548,2.546,2.537,2.534,2.531,2.517,2.516,2.506,2.506,2.497,2.493,2.493,2.488,2.481,2.478,2.477,2.475,2.474,2.466,2.465,2.461,2.457,2.455,2.449,2.448,2.446,2.445,2.442,2.441,2.438,2.429,2.429,2.429,2.428,2.428,2.426,2.425,2.424,2.419,2.417,2.417,2.419,2.417,2.417,2.415,2.413,2.412,2.412,2.41,2.41,2.41,2.41,2.411,2.411,2.412,2.413,2.413,2.414,2.414,2.414,2.415,2.417,2.417,2.417,2.417,2.418,2.418,2.424,2.424,2.427,2.425,2.425,2.43,2.436,2.437,2.437,2.445,2.446,2.447,2.452,2.456,2.459,2.463,2.464,2.47,2.473,2.473,2.474,2.483,2.484,2.488,2.492,2.494,2.496,2.5,2.505,2.52,2.52,2.528,2.528,2.535,2.537,2.549,2.554,2.557,2.562,2.569,2.576,2.58,2.595,2.6,2.604,2.605,2.609,2.616,2.63,2.637,2.644,2.647,2.657,2.659,2.663,2.677,2.684,2.694,2.699,2.703,2.718,2.718,2.725,2.748,2.749,2.759,2.767,2.775,2.786,2.801,2.802,2.816,2.828,2.843,2.848,2.86,2.869,2.884,2.889,2.895,2.915,2.924,2.942,2.947,2.958,2.972,2.979,2.992,3.011,3.021,3.022,3.043,3.063,3.069,3.088,3.094,3.115,3.133,3.15,3.167,3.173,3.199,3.213,3.229,3.246,3.262,3.277,3.295,3.328,3.334,3.354,3.39,3.4,3.406,3.434,3.461,3.475,3.502,3.524,3.541,3.561,3.604,3.621,3.644,3.664,3.69,3.714,3.751,3.783,3.799,3.835,3.877,3.92,3.946,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.331,3.327,3.315,3.304,3.294,3.294,3.276,3.268,3.26,3.248,3.24,3.235,3.228,3.217,3.216,3.205,3.189,3.181,3.179,3.172,3.158,3.153,3.149,3.148,3.141,3.135,3.131,3.125,3.119,3.117,3.104,3.101,3.098,3.087,3.081,3.081,3.075,3.066,3.066,3.064,3.061,3.054,3.051,3.046,3.044,3.041,3.044,3.038,3.035,3.035,3.031,3.026,3.025,3.023,3.018,3.018,3.018,3.024,3.024,3.024,3.014,3.014,3.012,3.014,3.011,3.01,3.01,3.01,3.01,3.01,3.004,3.002,3.002,3.004,3.004,3.006,3.009,3.009,3.009,3.012,3.012,3.012,3.013,3.015,3.017,3.017,3.02,3.023,3.024,3.024,3.027,3.028,3.029,3.03,3.03,3.033,3.037,3.038,3.038,3.048,3.049,3.052,3.056,3.058,3.061,3.066,3.068,3.074,3.081,3.085,3.086,3.087,3.091,3.096,3.103,3.109,3.112,3.116,3.122,3.125,3.132,3.135,3.135,3.135,3.14,3.143,3.151,3.156,3.157,3.169,3.173,3.173,3.192,3.194,3.215,3.218,3.228,3.228,3.233,3.237,3.242,3.242,3.248,3.257,3.28,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 36.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 36.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 36.4154} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.397} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.08} SEN {Time 36.4626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.174,0.172,0.174,0.174,0,0,0,0,0,0,0,0,3.684,3.684,3.665,3.662,3.649,3.627,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.213,3.213,3.213,3.271,3.368,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.142,0.147,0.147,0.147,0.147,0.151,0.151,0.151,0.151,0.151,3.031,3.034,3.034,3.034,3.031,3.034,3.031,0.163,0.16,0.16,0.155,0.154,0.148,0.144,0.144,0.121,0.109,0.078,0.064,0.062,0.06,0.06,0.059,0.06,0.067,0.067,0.064,0.064,0.061,0.061,0.064,0.086,0.101,0.17,3.342,3.362,3.362,3.362,3.363,3.366,0,0.007,0,0,0,3.463,3.463,3.463,3.477,3.485,3.485,3.49,3.491,3.496,3.503,3.508,3.509,3.516,3.519,3.52,3.524,3.527,3.527,3.536,3.535,3.543,3.545,3.552,3.559,3.561,3.57,3.572,3.572,3.572,3.583,3.586,3.595,3.598,3.6,3.608,3.624,3.629,3.638,3.639,3.645,3.651,3.658,3.659,3.665,3.667,3.668,3.681,3.688,3.69,3.695,3.711,3.714,3.725,3.726,3.739,3.748,3.756,3.759,3.776,3.78,3.796,3.8,3.804,3.81,3.825,3.833,3.854,3.866,3.867,3.887,3.901,3.902,3.915,3.939,3.942,3.95,3.973,3.987,3.999,4.024,4.029,4.04,4.062,4.083,4.094,0.016,0.016,0,0,0,0,0,4.048,4.006,3.958,3.933,3.933,3.889,3.889,0.007,3.803,3.751,3.721,3.704,3.674,3.642,3.634,3.594,3.567,3.56,3.525,3.507,3.487,3.456,3.443,3.431,3.402,3.381,3.368,3.35,3.332,3.308,3.303,3.278,3.261,3.237,3.224,3.2,3.181,3.166,3.155,3.134,3.116,3.109,3.095,3.085,3.067,3.039,3.033,3.014,3.005,2.999,2.984,2.983,2.955,2.955,2.943,2.938,2.919,2.907,2.895,2.875,2.873,2.855,2.853,2.837,2.821,2.817,2.805,2.792,2.792,2.781,2.766,2.759,2.748,2.735,2.733,2.718,2.713,2.707,2.696,2.684,2.684,2.667,2.663,2.657,2.649,2.648,2.636,2.633,2.622,2.618,2.609,2.605,2.598,2.591,2.582,2.579,2.572,2.568,2.561,2.552,2.547,2.542,2.537,2.534,2.529,2.523,2.51,2.51,2.505,2.498,2.498,2.492,2.488,2.484,2.481,2.476,2.476,2.47,2.465,2.465,2.458,2.456,2.455,2.455,2.453,2.45,2.447,2.443,2.443,2.441,2.434,2.427,2.427,2.426,2.424,2.421,2.418,2.418,2.417,2.415,2.415,2.415,2.415,2.414,2.413,2.413,2.413,2.413,2.413,2.413,2.41,2.41,2.41,2.411,2.411,2.414,2.411,2.411,2.411,2.413,2.413,2.413,2.413,2.416,2.416,2.416,2.416,2.417,2.425,2.426,2.427,2.43,2.432,2.436,2.441,2.442,2.443,2.443,2.444,2.446,2.448,2.454,2.455,2.463,2.464,2.466,2.467,2.475,2.481,2.488,2.492,2.495,2.496,2.499,2.502,2.513,2.52,2.525,2.525,2.528,2.539,2.54,2.54,2.544,2.551,2.558,2.56,2.567,2.581,2.591,2.598,2.602,2.606,2.616,2.619,2.63,2.637,2.64,2.643,2.648,2.658,2.659,2.669,2.68,2.688,2.697,2.698,2.71,2.722,2.726,2.74,2.747,2.748,2.766,2.782,2.783,2.798,2.804,2.815,2.832,2.841,2.845,2.855,2.865,2.877,2.888,2.901,2.913,2.918,2.94,2.945,2.957,2.964,2.978,2.992,3.009,3.019,3.034,3.042,3.064,3.074,3.083,3.107,3.118,3.13,3.153,3.162,3.179,3.2,3.205,3.227,3.239,3.255,3.281,3.292,3.317,3.325,3.355,3.376,3.401,3.415,3.437,3.453,3.479,3.504,3.528,3.534,3.565,3.59,3.623,3.651,3.674,3.699,3.724,3.75,3.783,3.802,3.832,3.859,3.886,3.917,3.989,0.007,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.354,3.33,3.321,3.315,3.298,3.291,3.286,3.281,3.269,3.256,3.241,3.238,3.234,3.228,3.214,3.204,3.203,3.197,3.18,3.179,3.165,3.164,3.153,3.153,3.152,3.139,3.138,3.121,3.119,3.117,3.105,3.104,3.104,3.1,3.092,3.089,3.079,3.078,3.075,3.073,3.072,3.061,3.058,3.056,3.046,3.045,3.04,3.035,3.035,3.032,3.032,3.032,3.029,3.024,3.023,3.019,3.023,3.023,3.025,3.025,3.025,3.021,3.019,3.015,3.014,3.009,3.009,3.009,3.009,3.009,3.009,3.006,3.006,3.005,3.006,3.006,3.007,3.009,3.011,3.011,3.011,3.011,3.011,3.012,3.012,3.014,3.014,3.019,3.019,3.021,3.022,3.024,3.024,3.024,3.029,3.031,3.033,3.039,3.04,3.041,3.047,3.049,3.053,3.055,3.057,3.057,3.057,3.065,3.073,3.079,3.083,3.089,3.089,3.089,3.1,3.106,3.111,3.112,3.114,3.124,3.125,3.125,3.136,3.141,3.138,3.141,3.141,3.148,3.15,3.158,3.165,3.167,3.173,3.196,3.201,3.203,3.221,3.222,3.237,3.237,3.239,3.239,3.239,3.251,3.264,3.272,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 36.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 36.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 36.6175} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.08} SEN {Time 36.6625} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.176,0.181,0.181,0,0,0,0,0,0,0,0,3.688,3.684,3.66,3.659,3.652,3.626,3.609,3.609,3.609,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.227,3.216,3.216,3.264,3.36,3.36,0,0,0,0,0,0,0,0.142,0.136,0.136,0.136,0.136,0.147,0.147,0.147,0.158,0.149,0.159,0.159,0.159,0.162,3.035,3.035,3.042,3.042,3.035,3.033,0.159,0.159,0.152,0.152,0.152,0.15,0.149,0.148,0.148,0.126,0.111,0.083,0.063,0.06,0.06,0.06,0.06,0.06,0.064,0.064,0.064,0.064,0.06,0.06,0.061,0.061,0.11,0.181,3.327,3.347,3.363,3.363,3.376,0,0,0,0,0,0,0,0,0,0,3.503,3.5,3.5,3.503,3.511,3.513,3.514,3.517,3.518,3.521,3.524,3.533,3.536,3.537,3.542,3.549,3.55,3.551,3.556,3.558,3.56,3.568,3.575,3.576,3.578,3.582,3.584,3.588,3.602,3.604,3.61,3.61,3.632,3.633,3.634,3.637,3.652,3.661,3.661,3.667,3.675,3.681,3.683,3.695,3.697,3.697,3.713,3.717,3.723,3.739,3.74,3.751,3.752,3.763,3.77,3.782,3.792,3.793,3.804,3.831,3.831,3.845,3.855,3.858,3.876,3.896,3.903,3.917,3.917,3.94,3.942,3.962,3.98,3.981,3.984,4.011,4.043,4.044,4.062,4.075,4.087,0.016,0.016,0,0,0,0,0,0,0,0,3.928,3.888,3.871,3.835,3.798,3.772,3.747,3.741,3.705,3.682,3.653,3.619,3.603,3.578,3.552,3.527,3.507,3.484,3.464,3.45,3.422,3.407,3.385,3.357,3.342,3.33,3.31,3.3,3.272,3.252,3.228,3.214,3.196,3.187,3.163,3.157,3.137,3.115,3.1,3.091,3.081,3.063,3.04,3.033,3.02,3.005,3.005,2.993,2.973,2.963,2.954,2.933,2.925,2.915,2.904,2.892,2.88,2.87,2.856,2.848,2.838,2.825,2.819,2.802,2.797,2.785,2.78,2.772,2.758,2.749,2.742,2.736,2.722,2.714,2.702,2.696,2.68,2.679,2.679,2.661,2.655,2.651,2.65,2.64,2.629,2.623,2.619,2.611,2.61,2.596,2.594,2.589,2.578,2.573,2.573,2.568,2.557,2.549,2.548,2.534,2.533,2.528,2.519,2.517,2.513,2.504,2.498,2.492,2.488,2.488,2.48,2.479,2.477,2.472,2.468,2.463,2.458,2.455,2.455,2.452,2.452,2.452,2.447,2.447,2.445,2.442,2.437,2.435,2.429,2.425,2.424,2.423,2.423,2.423,2.421,2.419,2.419,2.419,2.419,2.409,2.408,2.408,2.409,2.41,2.41,2.41,2.409,2.409,2.409,2.415,2.415,2.415,2.415,2.415,2.412,2.415,2.415,2.42,2.42,2.421,2.421,2.42,2.418,2.42,2.42,2.421,2.425,2.427,2.428,2.434,2.437,2.44,2.441,2.442,2.442,2.451,2.457,2.46,2.46,2.464,2.467,2.468,2.475,2.477,2.48,2.481,2.481,2.484,2.49,2.495,2.496,2.499,2.51,2.512,2.515,2.519,2.527,2.538,2.539,2.548,2.551,2.555,2.56,2.568,2.572,2.577,2.591,2.598,2.603,2.604,2.616,2.624,2.629,2.633,2.64,2.645,2.648,2.654,2.662,2.675,2.685,2.689,2.7,2.708,2.722,2.724,2.724,2.738,2.753,2.755,2.767,2.778,2.789,2.797,2.801,2.818,2.823,2.834,2.846,2.855,2.867,2.882,2.89,2.899,2.913,2.922,2.943,2.955,2.96,2.97,2.983,3.003,3.011,3.017,3.031,3.049,3.06,3.082,3.088,3.098,3.12,3.134,3.15,3.166,3.173,3.194,3.216,3.23,3.242,3.265,3.273,3.299,3.316,3.336,3.357,3.371,3.397,3.41,3.439,3.459,3.483,3.501,3.517,3.545,3.565,3.592,3.616,3.641,3.681,3.692,3.73,3.738,3.781,3.811,3.842,3.854,3.893,3.924,4.018,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.353,3.335,3.327,3.32,3.298,3.298,3.288,3.275,3.268,3.256,3.238,3.235,3.232,3.224,3.215,3.203,3.2,3.191,3.18,3.176,3.17,3.167,3.151,3.148,3.146,3.146,3.142,3.129,3.114,3.111,3.106,3.106,3.105,3.097,3.089,3.089,3.08,3.078,3.07,3.069,3.061,3.058,3.052,3.051,3.047,3.043,3.043,3.037,3.036,3.034,3.034,3.032,3.029,3.027,3.026,3.019,3.019,3.019,3.025,3.025,3.025,3.018,3.014,3.013,3.011,3.01,3.006,3.006,3.007,3.007,3.007,3.007,3.007,3.008,3.012,3.012,3.012,3.012,3.012,3.011,3.011,3.011,3.011,3.011,3.011,3.017,3.017,3.016,3.018,3.02,3.023,3.025,3.026,3.03,3.03,3.03,3.03,3.031,3.034,3.039,3.049,3.05,3.05,3.054,3.059,3.06,3.06,3.067,3.068,3.081,3.082,3.086,3.087,3.089,3.097,3.103,3.106,3.109,3.121,3.131,3.131,3.133,3.134,3.136,3.136,3.138,3.149,3.151,3.152,3.155,3.162,3.162,3.179,3.179,3.198,3.217,3.218,3.227,3.228,3.231,3.231,3.238,3.243,3.253,3.26,3.266,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 36.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 36.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 36.8183} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.08} SEN {Time 36.8586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.18,0.18,0.18,0,0,0,0,0,0,0,0,3.681,3.677,3.671,3.66,3.639,3.625,3.62,3.62,3.62,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.218,3.209,3.218,3.218,3.256,3.372,0,0,0,0,0,0,0,0.142,0.142,0.142,0.142,0.142,0.138,0.142,0.146,0.146,0.15,0.15,0.15,0.15,0.15,3.03,3.031,3.035,3.035,3.031,3.031,0.157,0.157,0.156,0.156,0.155,0.15,0.149,0.143,0.139,0.125,0.108,0.08,0.068,0.067,0.057,0.057,0.057,0.057,0.064,0.064,0.059,0.059,0.057,0.057,0.059,0.068,0.111,0.171,3.335,0.007,3.376,3.367,3.376,3.376,0,0,0,0,0,0.007,0,3.476,3.492,3.492,3.492,3.5,3.503,3.503,3.504,3.511,3.515,3.525,3.525,3.525,3.527,3.531,3.536,3.537,3.538,3.546,3.547,3.548,3.562,3.564,3.571,3.579,3.579,3.579,3.579,3.587,3.589,3.594,3.606,3.61,3.625,3.63,3.631,3.638,3.64,3.64,3.657,3.658,3.666,3.67,3.671,3.679,3.691,3.697,3.7,3.713,3.722,3.725,3.732,3.74,3.746,3.756,3.758,3.764,3.78,3.795,3.807,3.813,3.814,3.839,3.843,3.861,3.865,3.879,3.885,3.891,3.911,3.912,3.939,3.946,3.957,3.961,3.979,3.993,4.021,4.028,4.043,4.068,4.079,4.089,0.016,0.016,0.016,0.016,0.007,0,0.007,0.009,4.053,3.952,3.929,3.894,3.881,3.843,3.808,3.789,3.761,3.727,3.709,3.674,3.649,3.617,3.604,3.576,3.558,3.529,3.504,3.487,3.449,3.443,3.421,3.392,3.381,3.363,3.35,3.334,3.304,3.291,3.274,3.253,3.226,3.222,3.202,3.186,3.17,3.157,3.139,3.122,3.113,3.089,3.072,3.066,3.04,3.04,3.034,3.02,2.999,2.983,2.97,2.962,2.954,2.932,2.925,2.921,2.909,2.884,2.88,2.868,2.861,2.842,2.836,2.821,2.817,2.804,2.797,2.789,2.778,2.777,2.759,2.751,2.745,2.736,2.722,2.72,2.702,2.698,2.687,2.682,2.672,2.664,2.662,2.649,2.643,2.635,2.631,2.624,2.617,2.613,2.603,2.599,2.589,2.585,2.582,2.57,2.565,2.561,2.555,2.548,2.546,2.539,2.535,2.525,2.522,2.511,2.509,2.508,2.499,2.494,2.491,2.483,2.481,2.482,2.479,2.478,2.468,2.466,2.465,2.465,2.458,2.456,2.456,2.45,2.448,2.444,2.444,2.442,2.44,2.436,2.428,2.427,2.426,2.427,2.426,2.424,2.421,2.417,2.415,2.415,2.415,2.414,2.414,2.414,2.414,2.414,2.415,2.415,2.415,2.411,2.411,2.411,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.419,2.421,2.421,2.421,2.421,2.417,2.417,2.423,2.424,2.425,2.426,2.43,2.435,2.436,2.438,2.444,2.445,2.447,2.455,2.456,2.459,2.46,2.463,2.471,2.471,2.474,2.474,2.484,2.485,2.487,2.487,2.488,2.5,2.5,2.519,2.519,2.521,2.524,2.524,2.535,2.536,2.542,2.543,2.559,2.559,2.571,2.571,2.576,2.589,2.595,2.604,2.609,2.617,2.619,2.628,2.637,2.641,2.647,2.652,2.655,2.662,2.677,2.683,2.687,2.701,2.709,2.718,2.726,2.73,2.742,2.749,2.756,2.766,2.775,2.79,2.798,2.808,2.818,2.832,2.835,2.85,2.86,2.869,2.88,2.892,2.897,2.916,2.921,2.944,2.954,2.961,2.966,2.979,2.993,3.016,3.027,3.029,3.048,3.06,3.075,3.089,3.106,3.121,3.136,3.153,3.164,3.173,3.198,3.223,3.233,3.243,3.256,3.279,3.295,3.316,3.331,3.348,3.378,3.39,3.409,3.437,3.459,3.492,3.502,3.526,3.553,3.566,3.602,3.614,3.652,3.671,3.675,3.718,3.756,3.786,3.787,3.84,3.857,3.891,3.916,4.022,0,0.007,0.009,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.354,3.34,3.335,3.309,3.306,3.299,3.29,3.279,3.268,3.259,3.245,3.237,3.236,3.228,3.216,3.21,3.203,3.195,3.184,3.178,3.176,3.173,3.153,3.148,3.146,3.144,3.132,3.126,3.118,3.118,3.115,3.108,3.104,3.103,3.091,3.089,3.079,3.078,3.073,3.065,3.061,3.061,3.061,3.057,3.046,3.042,3.04,3.034,3.034,3.034,3.034,3.034,3.029,3.025,3.019,3.017,3.019,3.019,3.025,3.025,3.025,3.017,3.016,3.016,3.011,3.007,3.007,3.006,3.006,3.006,3.004,3.004,3.004,3.004,3.004,3.005,3.009,3.01,3.01,3.013,3.013,3.013,3.013,3.013,3.013,3.015,3.015,3.015,3.017,3.021,3.021,3.024,3.025,3.031,3.032,3.035,3.035,3.036,3.039,3.04,3.045,3.049,3.05,3.057,3.057,3.065,3.067,3.068,3.08,3.081,3.083,3.087,3.088,3.088,3.094,3.105,3.108,3.108,3.122,3.131,3.131,3.131,3.131,3.134,3.134,3.143,3.148,3.154,3.154,3.161,3.161,3.167,3.177,3.185,3.202,3.206,3.215,3.216,3.223,3.229,3.234,3.24,3.243,3.244,3.253,3.284,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 37.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 37.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 37.0103} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.667} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.5372} SEN {Time 37.0586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.177,0.183,0.183,0,0,0,0,0,0,0,0,3.693,3.685,3.674,3.663,3.651,3.626,3.62,3.62,3.603,3.603,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.217,3.215,3.215,3.224,3.265,3.354,0,0,0,0,0,0,0,0.143,0.142,0.142,0.142,0.142,0.143,0.144,0.144,0.147,0.145,0.147,0.147,0.152,0.152,3.038,3.039,3.039,3.039,3.038,3.039,3.032,0.157,0.157,0.157,0.156,0.151,0.143,0.142,0.142,0.127,0.115,0.081,0.058,0.057,0.057,0.058,0.059,0.061,0.062,0.062,0.062,0.061,0.057,0.057,0.057,0.072,0.106,0.188,3.357,3.357,3.375,3.357,3.357,3.375,0,0,0,0,0,3.466,3.489,3.489,3.489,3.489,3.489,3.497,3.503,3.506,3.506,3.515,3.516,3.517,3.52,3.52,3.529,3.532,3.539,3.539,3.545,3.544,3.545,3.547,3.554,3.555,3.564,3.57,3.573,3.579,3.582,3.587,3.598,3.601,3.603,3.605,3.62,3.62,3.622,3.632,3.642,3.649,3.652,3.666,3.666,3.669,3.669,3.678,3.69,3.696,3.696,3.712,3.714,3.737,3.74,3.75,3.75,3.753,3.765,3.774,3.782,3.802,3.804,3.806,3.825,3.833,3.837,3.85,3.86,3.878,3.887,3.897,3.905,3.933,3.935,3.946,3.956,3.979,3.987,4.005,4.011,4.039,4.039,4.067,4.079,4.092,0.016,0.016,0.016,0,0,0,0,4.016,4.001,3.964,3.922,3.895,3.87,3.844,3.802,3.789,3.753,3.716,3.708,3.679,3.652,3.625,3.6,3.573,3.548,3.533,3.492,3.49,3.463,3.45,3.428,3.406,3.383,3.364,3.354,3.33,3.302,3.289,3.267,3.25,3.23,3.218,3.194,3.182,3.171,3.153,3.136,3.12,3.103,3.092,3.074,3.064,3.043,3.036,3.021,3.011,2.993,2.986,2.975,2.957,2.951,2.931,2.925,2.923,2.899,2.894,2.875,2.875,2.857,2.85,2.849,2.82,2.818,2.807,2.793,2.79,2.778,2.77,2.758,2.756,2.745,2.734,2.721,2.716,2.704,2.696,2.681,2.681,2.675,2.668,2.654,2.653,2.648,2.638,2.635,2.625,2.618,2.617,2.605,2.598,2.589,2.588,2.584,2.581,2.565,2.561,2.554,2.543,2.539,2.533,2.533,2.532,2.522,2.516,2.513,2.504,2.501,2.495,2.494,2.487,2.485,2.479,2.478,2.477,2.475,2.47,2.466,2.46,2.457,2.453,2.452,2.452,2.449,2.447,2.443,2.443,2.441,2.438,2.43,2.428,2.425,2.427,2.425,2.425,2.418,2.418,2.417,2.415,2.413,2.411,2.411,2.41,2.408,2.408,2.408,2.411,2.411,2.411,2.412,2.414,2.414,2.417,2.417,2.416,2.415,2.415,2.415,2.415,2.415,2.417,2.417,2.417,2.417,2.417,2.423,2.423,2.424,2.429,2.433,2.433,2.439,2.439,2.439,2.439,2.448,2.449,2.452,2.452,2.452,2.458,2.464,2.467,2.468,2.474,2.478,2.481,2.482,2.486,2.49,2.493,2.499,2.511,2.513,2.516,2.518,2.52,2.532,2.539,2.543,2.547,2.548,2.55,2.563,2.565,2.566,2.583,2.587,2.602,2.604,2.607,2.61,2.616,2.627,2.637,2.644,2.645,2.65,2.657,2.661,2.671,2.673,2.69,2.695,2.706,2.714,2.718,2.74,2.744,2.749,2.759,2.772,2.775,2.79,2.797,2.805,2.824,2.827,2.834,2.844,2.862,2.873,2.879,2.881,2.9,2.919,2.92,2.95,2.95,2.954,2.97,2.982,2.999,3.015,3.023,3.036,3.045,3.059,3.077,3.087,3.096,3.124,3.138,3.149,3.162,3.174,3.202,3.223,3.228,3.241,3.258,3.272,3.298,3.324,3.332,3.344,3.383,3.392,3.406,3.432,3.455,3.487,3.502,3.532,3.548,3.57,3.599,3.614,3.637,3.679,3.695,3.728,3.748,3.775,3.829,3.861,3.886,3.886,3.92,3.984,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.34,3.332,3.32,3.301,3.295,3.288,3.279,3.269,3.254,3.246,3.235,3.234,3.226,3.219,3.206,3.202,3.198,3.187,3.183,3.174,3.161,3.161,3.149,3.147,3.132,3.132,3.121,3.117,3.114,3.114,3.103,3.102,3.099,3.092,3.088,3.083,3.076,3.07,3.067,3.066,3.065,3.058,3.052,3.045,3.039,3.036,3.036,3.036,3.036,3.036,3.036,3.024,3.022,3.022,3.021,3.021,3.024,3.024,3.024,3.024,3.02,3.018,3.014,3.013,3.011,3.011,3.011,3.007,3.007,3.007,3.006,3.004,3.004,3.004,3.004,3.005,3.01,3.012,3.012,3.012,3.012,3.014,3.014,3.014,3.018,3.014,3.018,3.02,3.019,3.02,3.02,3.021,3.023,3.03,3.031,3.031,3.035,3.036,3.044,3.047,3.048,3.048,3.053,3.054,3.063,3.063,3.063,3.079,3.08,3.089,3.091,3.091,3.091,3.094,3.106,3.108,3.115,3.116,3.13,3.13,3.133,3.136,3.136,3.136,3.146,3.148,3.148,3.158,3.165,3.167,3.17,3.179,3.185,3.189,3.199,3.215,3.224,3.227,3.229,3.233,3.248,3.251,3.262,3.279,3.279,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 37.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 37.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 37.2114} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.667} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.5372} SEN {Time 37.2586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.174,0.18,0.18,0,0,0,0,0,0,0,0,3.687,3.682,3.664,3.66,3.647,3.628,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.215,3.214,3.214,3.255,3.368,3.368,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.147,0.148,0.148,0.148,0.151,0.151,0.151,0.151,0.154,0.154,3.036,3.038,3.038,3.038,3.036,3.041,3.029,0.161,0.154,0.154,0.154,0.153,0.15,0.148,0.148,0.123,0.113,0.077,0.064,0.061,0.06,0.06,0.06,0.06,0.061,0.061,0.062,0.061,0.056,0.056,0.064,0.076,0.112,0.176,3.332,3.357,3.357,3.357,3.372,3.373,3.384,0.007,0,3.446,3.446,3.446,3.446,3.454,3.482,3.484,3.49,3.497,3.501,3.503,3.503,3.508,3.515,3.525,3.528,3.528,3.529,3.532,3.538,3.539,3.538,3.539,3.551,3.551,3.559,3.563,3.571,3.571,3.573,3.577,3.585,3.586,3.593,3.599,3.599,3.604,3.624,3.626,3.637,3.645,3.647,3.651,3.652,3.653,3.656,3.661,3.673,3.683,3.684,3.692,3.697,3.717,3.72,3.731,3.733,3.735,3.749,3.76,3.768,3.779,3.784,3.8,3.806,3.817,3.823,3.832,3.846,3.858,3.86,3.878,3.883,3.895,3.906,3.918,3.919,3.942,3.952,3.97,3.982,3.999,4.01,4.034,4.047,4.06,4.078,4.094,0.016,0.016,0.016,0.016,0.016,4.093,4.06,4.021,3.996,3.963,3.963,3.917,3.877,3.845,3.816,3.787,3.751,3.73,3.701,3.682,3.653,3.636,3.593,3.588,3.546,3.527,3.513,3.482,3.469,3.443,3.411,3.408,3.375,3.358,3.345,3.333,3.305,3.291,3.274,3.257,3.234,3.217,3.196,3.181,3.175,3.145,3.141,3.121,3.104,3.094,3.088,3.064,3.055,3.039,3.023,3.01,2.997,2.988,2.98,2.96,2.947,2.943,2.929,2.921,2.909,2.891,2.873,2.867,2.86,2.856,2.837,2.824,2.807,2.805,2.787,2.784,2.784,2.768,2.761,2.754,2.735,2.729,2.721,2.718,2.699,2.696,2.683,2.679,2.673,2.667,2.664,2.655,2.648,2.643,2.636,2.629,2.626,2.613,2.61,2.599,2.59,2.585,2.576,2.576,2.567,2.563,2.552,2.551,2.543,2.539,2.533,2.525,2.523,2.515,2.509,2.505,2.499,2.497,2.494,2.485,2.485,2.484,2.479,2.474,2.473,2.471,2.466,2.459,2.455,2.454,2.453,2.452,2.446,2.445,2.445,2.437,2.437,2.437,2.43,2.426,2.426,2.426,2.424,2.423,2.421,2.42,2.417,2.417,2.414,2.413,2.412,2.41,2.41,2.41,2.41,2.408,2.408,2.405,2.405,2.412,2.412,2.412,2.413,2.413,2.412,2.412,2.412,2.412,2.415,2.418,2.418,2.418,2.418,2.418,2.42,2.42,2.425,2.426,2.426,2.43,2.431,2.432,2.434,2.44,2.446,2.449,2.452,2.459,2.461,2.461,2.461,2.466,2.468,2.471,2.475,2.48,2.482,2.489,2.49,2.492,2.502,2.505,2.515,2.515,2.517,2.522,2.523,2.535,2.535,2.548,2.548,2.554,2.561,2.566,2.568,2.58,2.599,2.6,2.602,2.608,2.608,2.619,2.623,2.637,2.643,2.645,2.654,2.658,2.665,2.675,2.684,2.686,2.701,2.705,2.718,2.719,2.734,2.74,2.757,2.759,2.768,2.782,2.79,2.798,2.81,2.819,2.835,2.835,2.849,2.854,2.87,2.872,2.885,2.897,2.912,2.922,2.945,2.949,2.957,2.966,2.992,2.998,3.009,3.019,3.035,3.042,3.06,3.072,3.088,3.104,3.12,3.137,3.154,3.159,3.172,3.202,3.208,3.224,3.244,3.261,3.275,3.294,3.323,3.332,3.348,3.38,3.388,3.406,3.429,3.461,3.474,3.491,3.524,3.549,3.572,3.6,3.615,3.65,3.666,3.704,3.735,3.752,3.788,3.801,3.832,3.852,3.893,3.916,3.955,4.027,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.353,3.337,3.321,3.31,3.299,3.291,3.29,3.279,3.258,3.249,3.248,3.244,3.234,3.234,3.219,3.21,3.205,3.194,3.191,3.185,3.17,3.153,3.153,3.148,3.148,3.144,3.132,3.124,3.124,3.121,3.115,3.107,3.102,3.099,3.089,3.088,3.086,3.078,3.074,3.065,3.061,3.061,3.057,3.052,3.051,3.05,3.043,3.033,3.033,3.031,3.031,3.029,3.027,3.023,3.023,3.021,3.021,3.021,3.023,3.023,3.024,3.023,3.017,3.013,3.013,3.011,3.008,3.007,3.006,3.005,3.002,3.001,3.001,3.005,3.006,3.006,3.011,3.012,3.012,3.012,3.012,3.013,3.012,3.013,3.013,3.015,3.015,3.018,3.018,3.018,3.026,3.028,3.028,3.028,3.029,3.032,3.033,3.033,3.034,3.038,3.043,3.047,3.05,3.052,3.058,3.061,3.063,3.069,3.083,3.083,3.084,3.088,3.088,3.09,3.091,3.102,3.102,3.105,3.11,3.123,3.123,3.128,3.135,3.137,3.138,3.139,3.148,3.151,3.152,3.166,3.168,3.175,3.178,3.178,3.199,3.211,3.217,3.223,3.241,3.241,3.241,3.242,3.242,3.247,3.263,3.288,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 37.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 37.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 37.4123} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.667} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.5372} SEN {Time 37.4586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,3.683,3.679,3.673,3.668,3.643,3.628,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.216,3.211,3.216,3.216,3.267,3.36,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.146,0.149,0.146,0.149,0.155,0.15,0.155,0.155,0.155,0.156,3.027,3.027,3.04,3.04,3.027,3.024,0.159,0.159,0.155,0.155,0.151,0.15,0.145,0.143,0.143,0.125,0.108,0.089,0.062,0.06,0.06,0.06,0.06,0.064,0.065,0.065,0.064,0.062,0.061,0.061,0.061,0.07,0.118,0.182,3.34,3.349,3.361,3.361,3.371,0,0,0,0,0,0,3.456,3.456,3.466,3.486,3.486,3.495,3.499,3.5,3.504,3.508,3.511,3.524,3.524,3.526,3.53,3.531,3.531,3.536,3.537,3.539,3.542,3.552,3.553,3.557,3.568,3.569,3.573,3.576,3.579,3.579,3.582,3.589,3.601,3.602,3.609,3.622,3.624,3.633,3.641,3.641,3.655,3.661,3.661,3.664,3.67,3.678,3.685,3.691,3.699,3.703,3.711,3.72,3.731,3.735,3.741,3.755,3.755,3.769,3.774,3.789,3.795,3.802,3.811,3.821,3.825,3.841,3.845,3.863,3.874,3.877,3.897,3.907,3.912,3.936,3.944,3.957,3.971,3.991,3.997,4.011,4.024,4.05,4.062,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.08,4.048,3.996,3.969,3.929,3.906,3.872,3.832,3.809,3.78,3.761,3.736,3.709,3.678,3.65,3.623,3.606,3.575,3.546,3.526,3.495,3.479,3.467,3.431,3.422,3.4,3.381,3.368,3.339,3.329,3.312,3.284,3.282,3.258,3.231,3.221,3.193,3.185,3.169,3.163,3.133,3.118,3.109,3.092,3.076,3.056,3.046,3.038,3.024,3.011,2.996,2.99,2.984,2.96,2.946,2.934,2.92,2.916,2.904,2.894,2.879,2.871,2.866,2.851,2.84,2.825,2.816,2.805,2.795,2.79,2.781,2.769,2.751,2.751,2.74,2.739,2.724,2.71,2.709,2.698,2.686,2.682,2.678,2.665,2.663,2.656,2.652,2.641,2.638,2.626,2.617,2.615,2.605,2.603,2.594,2.583,2.58,2.579,2.568,2.564,2.556,2.555,2.543,2.542,2.539,2.525,2.516,2.51,2.509,2.505,2.502,2.494,2.493,2.491,2.487,2.477,2.474,2.475,2.474,2.473,2.463,2.463,2.455,2.451,2.445,2.445,2.445,2.445,2.443,2.439,2.435,2.435,2.43,2.428,2.427,2.425,2.425,2.419,2.419,2.416,2.416,2.416,2.417,2.415,2.412,2.412,2.411,2.41,2.41,2.406,2.406,2.406,2.406,2.408,2.408,2.409,2.409,2.414,2.41,2.414,2.414,2.414,2.414,2.419,2.42,2.42,2.424,2.424,2.424,2.42,2.425,2.425,2.434,2.438,2.438,2.438,2.438,2.438,2.44,2.448,2.448,2.456,2.457,2.459,2.465,2.47,2.471,2.471,2.475,2.481,2.489,2.49,2.495,2.498,2.498,2.504,2.51,2.511,2.52,2.522,2.523,2.533,2.533,2.541,2.543,2.558,2.56,2.56,2.576,2.578,2.596,2.601,2.604,2.611,2.611,2.611,2.627,2.636,2.638,2.64,2.647,2.652,2.661,2.676,2.684,2.698,2.707,2.708,2.719,2.722,2.73,2.744,2.754,2.756,2.757,2.777,2.79,2.796,2.806,2.816,2.831,2.837,2.846,2.855,2.868,2.876,2.892,2.906,2.922,2.925,2.941,2.945,2.955,2.971,2.983,2.997,3.013,3.018,3.033,3.045,3.061,3.073,3.093,3.097,3.121,3.141,3.148,3.16,3.176,3.197,3.223,3.233,3.237,3.256,3.281,3.296,3.321,3.334,3.349,3.369,3.393,3.4,3.432,3.457,3.49,3.507,3.521,3.545,3.573,3.602,3.62,3.646,3.669,3.693,3.718,3.742,3.781,3.795,3.832,3.86,3.889,3.923,3.95,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.356,3.33,3.326,3.311,3.307,3.307,3.29,3.284,3.268,3.262,3.259,3.238,3.228,3.227,3.219,3.203,3.202,3.194,3.187,3.186,3.173,3.168,3.156,3.154,3.15,3.142,3.141,3.13,3.119,3.118,3.118,3.108,3.104,3.097,3.093,3.092,3.087,3.083,3.076,3.066,3.065,3.061,3.059,3.059,3.047,3.047,3.04,3.034,3.033,3.033,3.033,3.029,3.024,3.023,3.02,3.02,3.02,3.02,3.032,3.032,3.032,3.024,3.019,3.017,3.012,3.011,3.01,3.01,3.01,3.008,3.007,3.006,3.006,3.006,3.006,3.008,3.008,3.011,3.012,3.012,3.012,3.012,3.012,3.013,3.013,3.014,3.013,3.017,3.019,3.017,3.019,3.022,3.022,3.026,3.027,3.034,3.035,3.036,3.037,3.039,3.048,3.055,3.056,3.059,3.061,3.063,3.065,3.071,3.077,3.083,3.088,3.09,3.094,3.094,3.095,3.105,3.107,3.114,3.12,3.129,3.132,3.132,3.132,3.14,3.139,3.142,3.142,3.151,3.151,3.166,3.169,3.175,3.175,3.188,3.197,3.215,3.223,3.228,3.231,3.238,3.238,3.238,3.239,3.247,3.258,3.287,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 37.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 37.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 37.6132} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 37.6586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.174,0.178,0.178,0,0,0,0,0,0,0,0,3.685,3.679,3.668,3.662,3.643,3.626,3.62,3.62,3.62,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.211,3.206,3.206,3.206,3.366,0.007,0,0,0,0,0,0,0,0.144,0.142,0.142,0.142,0.142,0.144,0.144,0.144,0.154,0.154,0.154,0.154,0.154,0.158,3.028,3.031,3.036,3.036,3.031,3.04,3.04,0.163,0.16,0.16,0.158,0.152,0.151,0.15,0.148,0.134,0.101,0.083,0.068,0.063,0.057,0.057,0.057,0.061,0.064,0.064,0.064,0.064,0.06,0.06,0.067,0.077,0.105,0.163,3.335,3.354,3.379,3.359,3.379,0,0,0,0,0.007,0,0.007,3.474,3.474,3.475,3.475,3.488,3.499,3.502,3.511,3.511,3.512,3.512,3.522,3.522,3.522,3.525,3.528,3.533,3.537,3.539,3.544,3.547,3.553,3.558,3.558,3.564,3.57,3.573,3.579,3.583,3.585,3.595,3.603,3.604,3.625,3.627,3.627,3.633,3.638,3.64,3.652,3.652,3.653,3.662,3.669,3.671,3.678,3.696,3.697,3.7,3.713,3.716,3.738,3.739,3.739,3.751,3.756,3.76,3.767,3.777,3.778,3.806,3.809,3.822,3.838,3.841,3.843,3.868,3.872,3.881,3.894,3.901,3.92,3.942,3.943,3.962,3.962,3.975,3.994,4.014,4.029,4.049,4.072,4.072,4.088,0.016,0.016,0.016,0.016,0.016,0,0.007,4.042,3.996,3.968,3.942,3.896,3.863,3.854,3.807,3.782,3.753,3.729,3.7,3.686,3.653,3.612,3.595,3.572,3.548,3.533,3.502,3.478,3.45,3.434,3.416,3.399,3.382,3.359,3.342,3.335,3.303,3.297,3.273,3.268,3.231,3.226,3.192,3.182,3.168,3.161,3.133,3.122,3.104,3.104,3.085,3.061,3.042,3.04,3.024,3.011,2.997,2.989,2.975,2.964,2.945,2.933,2.924,2.911,2.906,2.89,2.88,2.872,2.863,2.847,2.834,2.822,2.815,2.809,2.795,2.782,2.778,2.763,2.755,2.753,2.741,2.73,2.721,2.716,2.703,2.698,2.681,2.677,2.67,2.665,2.655,2.647,2.645,2.634,2.633,2.618,2.616,2.61,2.606,2.591,2.587,2.581,2.58,2.572,2.57,2.563,2.555,2.549,2.545,2.541,2.537,2.525,2.522,2.511,2.507,2.505,2.501,2.495,2.491,2.49,2.485,2.477,2.471,2.471,2.47,2.468,2.465,2.457,2.457,2.456,2.454,2.454,2.449,2.447,2.447,2.443,2.439,2.43,2.43,2.427,2.425,2.424,2.421,2.419,2.421,2.417,2.415,2.415,2.415,2.412,2.412,2.411,2.411,2.412,2.412,2.412,2.412,2.407,2.407,2.409,2.409,2.41,2.411,2.411,2.411,2.414,2.416,2.419,2.419,2.419,2.419,2.418,2.418,2.416,2.416,2.419,2.42,2.423,2.428,2.429,2.43,2.437,2.437,2.439,2.445,2.447,2.455,2.456,2.458,2.459,2.462,2.467,2.471,2.472,2.475,2.478,2.48,2.485,2.485,2.489,2.501,2.507,2.516,2.517,2.518,2.521,2.525,2.532,2.532,2.538,2.555,2.555,2.56,2.567,2.575,2.582,2.588,2.592,2.601,2.604,2.612,2.615,2.621,2.637,2.638,2.642,2.653,2.658,2.665,2.672,2.673,2.69,2.698,2.704,2.711,2.721,2.727,2.746,2.75,2.756,2.765,2.779,2.788,2.798,2.805,2.821,2.827,2.834,2.842,2.855,2.873,2.873,2.889,2.902,2.916,2.922,2.946,2.957,2.959,2.977,2.979,2.988,3.018,3.028,3.03,3.048,3.064,3.078,3.094,3.103,3.121,3.144,3.151,3.167,3.178,3.194,3.217,3.231,3.24,3.266,3.278,3.301,3.32,3.342,3.349,3.376,3.396,3.408,3.435,3.462,3.471,3.5,3.519,3.542,3.575,3.598,3.614,3.633,3.674,3.689,3.72,3.735,3.779,3.797,3.841,3.855,3.893,3.909,3.992,0.007,4.085,4.085,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.352,3.336,3.324,3.311,3.308,3.292,3.287,3.278,3.27,3.262,3.247,3.245,3.234,3.228,3.222,3.215,3.213,3.192,3.183,3.178,3.174,3.172,3.172,3.157,3.154,3.13,3.13,3.129,3.121,3.121,3.114,3.104,3.103,3.1,3.091,3.09,3.083,3.08,3.079,3.066,3.065,3.062,3.062,3.061,3.051,3.042,3.038,3.038,3.037,3.035,3.035,3.034,3.032,3.03,3.029,3.021,3.021,3.021,3.022,3.022,3.022,3.015,3.015,3.011,3.012,3.01,3.01,3.009,3.012,3.009,3.009,3.007,3.009,3.002,3.002,3.003,3.006,3.006,3.007,3.011,3.013,3.014,3.015,3.015,3.018,3.021,3.02,3.022,3.024,3.022,3.022,3.023,3.024,3.029,3.03,3.031,3.032,3.036,3.039,3.04,3.046,3.049,3.05,3.055,3.057,3.063,3.068,3.069,3.069,3.087,3.087,3.088,3.094,3.099,3.106,3.109,3.112,3.115,3.118,3.133,3.133,3.133,3.134,3.139,3.139,3.141,3.143,3.148,3.159,3.16,3.173,3.175,3.177,3.181,3.195,3.2,3.222,3.228,3.236,3.236,3.236,3.237,3.243,3.253,3.264,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 37.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 37.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 37.8142} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 37.8546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.182,0.183,0.183,0,0,0,0,0,0,0,0,3.692,3.685,3.658,3.656,3.645,3.64,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.216,3.211,3.216,3.216,3.264,3.354,0,0,0,0,0,0,0,0.147,0.144,0.144,0.144,0.144,0.145,0.145,0.145,0.151,0.151,0.152,0.152,0.155,0.156,3.034,3.034,3.034,3.034,3.034,3.034,3.03,0.158,0.154,0.154,0.153,0.15,0.149,0.143,0.143,0.128,0.107,0.077,0.062,0.061,0.057,0.057,0.056,0.056,0.063,0.065,0.063,0.063,0.058,0.058,0.058,0.068,0.111,0.182,3.334,3.356,3.376,3.376,0.007,0,0,0,0,0.007,0,3.459,3.478,3.478,3.478,3.479,3.499,3.499,3.504,3.505,3.507,3.509,3.515,3.517,3.517,3.517,3.53,3.535,3.54,3.542,3.542,3.545,3.551,3.551,3.553,3.558,3.57,3.572,3.578,3.581,3.586,3.588,3.595,3.6,3.602,3.611,3.627,3.634,3.638,3.641,3.643,3.644,3.653,3.653,3.662,3.667,3.672,3.684,3.686,3.696,3.705,3.711,3.72,3.734,3.734,3.741,3.747,3.752,3.766,3.78,3.784,3.8,3.802,3.804,3.815,3.836,3.846,3.85,3.852,3.872,3.881,3.901,3.907,3.913,3.929,3.952,3.959,3.981,3.986,3.996,4.013,4.028,4.041,4.063,4.081,4.087,0.016,0.016,0.016,0.016,0.016,0,0.007,4.061,4.005,3.969,3.916,3.905,3.852,3.84,3.809,3.787,3.758,3.722,3.7,3.673,3.648,3.628,3.591,3.581,3.555,3.516,3.503,3.481,3.452,3.432,3.409,3.401,3.379,3.362,3.344,3.329,3.308,3.292,3.28,3.238,3.236,3.229,3.194,3.186,3.169,3.148,3.133,3.12,3.103,3.103,3.085,3.062,3.045,3.045,3.038,3.026,2.998,2.983,2.981,2.967,2.947,2.935,2.922,2.92,2.906,2.89,2.876,2.867,2.852,2.85,2.839,2.825,2.816,2.809,2.789,2.779,2.772,2.761,2.76,2.749,2.748,2.73,2.726,2.72,2.704,2.693,2.682,2.682,2.68,2.662,2.658,2.655,2.646,2.634,2.633,2.617,2.616,2.602,2.6,2.598,2.592,2.581,2.577,2.573,2.57,2.566,2.553,2.552,2.551,2.537,2.534,2.529,2.518,2.516,2.51,2.506,2.503,2.494,2.494,2.492,2.485,2.484,2.478,2.472,2.468,2.465,2.46,2.46,2.46,2.456,2.454,2.453,2.451,2.447,2.445,2.441,2.438,2.437,2.427,2.427,2.425,2.424,2.423,2.419,2.419,2.418,2.418,2.417,2.413,2.409,2.409,2.409,2.409,2.408,2.409,2.409,2.409,2.409,2.41,2.411,2.411,2.412,2.414,2.416,2.416,2.416,2.415,2.412,2.412,2.415,2.419,2.419,2.42,2.419,2.419,2.421,2.424,2.424,2.428,2.429,2.433,2.441,2.441,2.442,2.443,2.445,2.451,2.455,2.457,2.46,2.467,2.468,2.473,2.475,2.477,2.479,2.482,2.485,2.491,2.493,2.501,2.502,2.51,2.52,2.52,2.524,2.524,2.532,2.539,2.541,2.548,2.555,2.555,2.564,2.57,2.575,2.592,2.594,2.599,2.602,2.604,2.622,2.625,2.632,2.64,2.644,2.644,2.656,2.662,2.673,2.677,2.686,2.701,2.702,2.712,2.712,2.734,2.738,2.747,2.753,2.769,2.781,2.788,2.795,2.811,2.814,2.823,2.843,2.845,2.854,2.862,2.869,2.886,2.901,2.913,2.921,2.942,2.952,2.955,2.972,2.979,3.001,3.015,3.023,3.033,3.045,3.066,3.075,3.087,3.105,3.118,3.133,3.156,3.163,3.178,3.202,3.221,3.228,3.25,3.251,3.274,3.301,3.323,3.33,3.349,3.373,3.394,3.405,3.431,3.456,3.483,3.508,3.519,3.535,3.575,3.597,3.609,3.649,3.673,3.695,3.726,3.747,3.785,3.801,3.832,3.852,3.887,3.92,3.946,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.353,3.336,3.331,3.314,3.303,3.29,3.288,3.276,3.261,3.259,3.254,3.244,3.243,3.238,3.212,3.209,3.204,3.192,3.186,3.185,3.17,3.161,3.16,3.149,3.148,3.143,3.132,3.129,3.12,3.118,3.112,3.105,3.102,3.099,3.092,3.088,3.086,3.077,3.077,3.077,3.075,3.075,0.007,3.066,3.047,3.045,3.044,3.041,3.039,3.037,3.036,3.033,3.027,3.025,3.017,3.017,3.018,3.018,3.026,3.026,3.026,3.016,3.012,3.011,3.01,3.008,3.008,3.008,3.005,3.005,3.005,3.002,3.002,3.002,3.002,3.003,3.008,3.01,3.01,3.01,3.01,3.012,3.01,3.01,3.012,3.018,3.018,3.019,3.02,3.019,3.019,3.024,3.026,3.026,3.032,3.032,3.032,3.034,3.034,3.04,3.047,3.054,3.056,3.056,3.059,3.061,3.066,3.068,3.076,3.086,3.087,3.089,3.089,3.095,3.097,3.106,3.111,3.115,3.117,3.127,3.128,3.134,3.134,3.136,3.136,3.142,3.146,3.156,3.157,3.158,3.165,3.175,3.178,3.179,3.202,3.221,3.228,3.235,3.235,3.237,3.237,3.239,3.241,3.244,3.259,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 38.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 38.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 38.0062} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 38.0546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.181,0.181,0.188,0,0,0,0,0,0,0,0,3.689,3.679,3.667,3.662,3.646,3.636,3.612,3.612,3.612,3.606,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.222,3.213,3.222,3.222,3.249,3.369,0,0,0,0,0,0,0,0.142,0.142,0.142,0.142,0.146,0.146,0.146,0.146,0.149,0.147,0.149,0.149,0.156,0.159,3.031,3.031,3.032,3.032,3.031,3.032,3.032,0.155,0.155,0.155,0.153,0.153,0.151,0.143,0.142,0.124,0.102,0.085,0.068,0.063,0.063,0.057,0.057,0.061,0.061,0.061,0.061,0.061,0.059,0.059,0.059,0.073,0.104,0.18,3.353,3.353,3.393,3.393,3.358,3.393,0.007,0,3.421,3.428,3.428,3.428,3.449,3.463,3.477,3.478,3.487,3.498,3.499,3.505,3.511,3.512,3.514,3.515,3.516,3.527,3.531,3.531,3.533,3.54,3.543,3.546,3.548,3.555,3.557,3.557,3.563,3.564,3.566,3.577,3.579,3.58,3.589,3.601,3.602,3.612,3.614,3.628,3.628,3.636,3.645,3.65,3.653,3.66,3.664,3.665,3.68,3.681,3.687,3.694,3.697,3.701,3.723,3.733,3.739,3.748,3.749,3.76,3.765,3.768,3.786,3.787,3.806,3.81,3.826,3.832,3.838,3.847,3.855,3.878,3.881,3.889,3.892,3.923,3.932,3.948,3.958,3.968,3.986,3.991,4.009,4.026,4.043,4.059,4.076,4.078,0.016,0.016,0.016,0.016,0,0,0,0,0,3.973,3.922,3.894,3.874,3.839,3.815,3.774,3.749,3.735,3.697,3.686,3.639,3.627,3.596,3.58,3.546,3.522,3.509,3.484,3.461,3.439,3.42,3.404,3.377,3.369,3.35,3.327,3.303,3.289,3.272,3.241,3.237,3.222,3.189,3.182,3.171,3.151,3.132,3.124,3.102,3.087,3.078,3.066,3.04,3.038,3.013,3.011,2.992,2.986,2.972,2.961,2.946,2.939,2.92,2.916,2.906,2.896,2.874,2.87,2.851,2.849,2.839,2.825,2.812,2.802,2.794,2.788,2.776,2.767,2.752,2.749,2.736,2.733,2.719,2.713,2.7,2.695,2.683,2.68,2.679,2.665,2.661,2.656,2.65,2.641,2.633,2.623,2.619,2.609,2.607,2.601,2.595,2.578,2.575,2.566,2.564,2.562,2.552,2.55,2.549,2.537,2.528,2.524,2.518,2.518,2.512,2.505,2.499,2.498,2.492,2.486,2.479,2.477,2.477,2.47,2.468,2.467,2.46,2.458,2.455,2.452,2.445,2.445,2.445,2.445,2.444,2.441,2.437,2.433,2.43,2.428,2.427,2.427,2.424,2.424,2.414,2.414,2.414,2.414,2.414,2.414,2.41,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.41,2.41,2.413,2.413,2.413,2.413,2.413,2.414,2.414,2.416,2.416,2.416,2.417,2.417,2.417,2.421,2.425,2.425,2.428,2.438,2.439,2.439,2.442,2.443,2.443,2.448,2.449,2.451,2.454,2.458,2.467,2.468,2.468,2.468,2.482,2.486,2.487,2.487,2.492,2.493,2.497,2.5,2.513,2.516,2.517,2.523,2.528,2.531,2.533,2.537,2.542,2.554,2.559,2.563,2.566,2.573,2.591,2.594,2.601,2.606,2.612,2.621,2.622,2.637,2.639,2.644,2.647,2.653,2.663,2.678,2.682,2.685,2.692,2.7,2.715,2.717,2.738,2.74,2.751,2.752,2.766,2.778,2.79,2.798,2.802,2.816,2.833,2.837,2.848,2.855,2.866,2.878,2.889,2.898,2.913,2.917,2.938,2.949,2.957,2.974,2.977,2.994,3.014,3.019,3.029,3.04,3.061,3.077,3.083,3.102,3.125,3.132,3.143,3.17,3.186,3.199,3.215,3.236,3.254,3.267,3.277,3.288,3.315,3.336,3.356,3.376,3.391,3.406,3.441,3.464,3.483,3.512,3.516,3.547,3.574,3.598,3.607,3.634,3.663,3.701,3.743,3.77,3.805,3.805,3.825,3.856,3.892,3.914,4.027,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.349,3.342,3.323,3.314,3.313,3.295,3.293,3.279,3.275,3.258,3.25,3.238,3.238,3.235,3.213,3.207,3.205,3.199,3.194,3.184,3.176,3.168,3.156,3.154,3.15,3.139,3.131,3.13,3.123,3.122,3.113,3.112,3.108,3.094,3.091,3.088,3.085,3.08,3.079,3.077,3.067,3.066,3.063,3.061,3.058,3.047,3.043,3.041,3.041,3.037,3.037,3.036,3.029,3.029,3.024,3.024,3.024,3.024,3.028,3.028,3.028,3.016,3.014,3.013,3.012,3.009,3.006,3.006,3.008,3.008,3.008,3.01,3.008,3.01,3.01,3.01,3.015,3.015,3.011,3.01,3.011,3.011,3.011,3.014,3.015,3.022,3.018,3.018,3.025,3.022,3.02,3.022,3.029,3.029,3.029,3.036,3.036,3.036,3.038,3.039,3.045,3.046,3.056,3.059,3.059,3.062,3.064,3.067,3.071,3.083,3.084,3.086,3.086,3.086,3.097,3.104,3.111,3.112,3.117,3.125,3.129,3.129,3.132,3.132,3.132,3.147,3.148,3.154,3.16,3.163,3.164,3.17,3.181,3.182,3.206,3.208,3.225,3.226,3.228,3.228,3.237,3.241,3.243,3.246,3.257,3.283,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 38.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 38.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 38.2073} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 38.2546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.177,0.183,0.183,0,0,0,0,0,0,0,0,3.69,3.682,3.675,3.663,3.641,3.633,3.614,3.614,3.614,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.215,3.211,3.215,3.215,3.266,3.365,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.146,0.146,0.147,0.147,0.148,0.148,0.153,0.153,0.153,0.158,3.03,3.046,3.046,3.046,3.039,3.039,0.156,0.156,0.154,0.154,0.151,0.15,0.144,0.144,0.144,0.117,0.11,0.074,0.067,0.063,0.057,0.057,0.057,0.06,0.06,0.063,0.063,0.063,0.06,0.063,0.064,0.064,0.114,0.168,3.331,3.345,3.348,3.348,3.377,3.381,3.381,0.007,3.425,3.425,3.455,3.455,3.459,3.48,3.48,3.483,3.488,3.49,3.499,3.503,3.507,3.512,3.515,3.522,3.523,3.525,3.536,3.536,3.536,3.541,3.541,3.541,3.547,3.553,3.553,3.565,3.572,3.572,3.574,3.582,3.584,3.592,3.593,3.6,3.615,3.62,3.623,3.624,3.624,3.635,3.64,3.65,3.652,3.656,3.661,3.667,3.68,3.687,3.689,3.696,3.696,3.711,3.716,3.732,3.737,3.738,3.756,3.758,3.761,3.773,3.774,3.785,3.801,3.811,3.813,3.832,3.833,3.855,3.865,3.878,3.89,3.893,3.893,3.912,3.931,3.94,3.965,3.971,3.988,4.001,4.01,4.033,4.052,4.074,4.077,4.084,0.016,0.016,0.016,0,0,0,0.007,0,4.065,3.952,3.94,3.894,3.854,3.845,3.807,3.79,3.743,3.721,3.693,3.672,3.652,3.63,3.605,3.579,3.553,3.525,3.509,3.487,3.459,3.44,3.431,3.394,3.373,3.371,3.354,3.335,3.295,3.293,3.276,3.251,3.23,3.224,3.197,3.187,3.167,3.156,3.143,3.124,3.105,3.094,3.083,3.062,3.046,3.044,3.016,3.014,2.996,2.992,2.978,2.966,2.954,2.943,2.924,2.92,2.906,2.895,2.882,2.869,2.861,2.855,2.841,2.831,2.816,2.801,2.787,2.784,2.78,2.771,2.76,2.754,2.739,2.729,2.718,2.715,2.703,2.697,2.683,2.681,2.675,2.663,2.657,2.653,2.644,2.642,2.639,2.622,2.618,2.611,2.611,2.6,2.59,2.581,2.579,2.572,2.567,2.566,2.56,2.547,2.541,2.538,2.532,2.529,2.515,2.515,2.514,2.509,2.5,2.491,2.489,2.489,2.488,2.482,2.477,2.475,2.465,2.464,2.463,2.461,2.458,2.453,2.452,2.449,2.449,2.445,2.441,2.439,2.439,2.434,2.424,2.424,2.423,2.421,2.421,2.419,2.417,2.417,2.417,2.417,2.417,2.417,2.411,2.411,2.412,2.411,2.41,2.411,2.41,2.41,2.41,2.411,2.41,2.411,2.411,2.411,2.412,2.415,2.415,2.418,2.42,2.42,2.419,2.419,2.419,2.419,2.42,2.423,2.43,2.43,2.431,2.431,2.434,2.436,2.44,2.443,2.443,2.447,2.448,2.454,2.46,2.461,2.462,2.464,2.466,2.474,2.475,2.476,2.479,2.483,2.494,2.495,2.5,2.501,2.511,2.518,2.52,2.522,2.527,2.532,2.538,2.54,2.548,2.548,2.565,2.566,2.567,2.583,2.593,2.598,2.599,2.609,2.611,2.62,2.628,2.634,2.637,2.639,2.643,2.656,2.66,2.675,2.677,2.689,2.701,2.705,2.716,2.722,2.732,2.746,2.753,2.754,2.764,2.779,2.789,2.795,2.804,2.817,2.827,2.842,2.845,2.855,2.872,2.875,2.887,2.9,2.911,2.929,2.94,2.956,2.959,2.969,2.98,2.996,3.012,3.02,3.038,3.039,3.063,3.081,3.088,3.093,3.117,3.133,3.148,3.161,3.175,3.203,3.224,3.23,3.248,3.265,3.278,3.297,3.329,3.329,3.345,3.378,3.402,3.409,3.433,3.466,3.48,3.497,3.525,3.545,3.575,3.596,3.605,3.637,3.671,3.701,3.727,3.752,3.78,3.795,3.834,3.871,3.904,3.923,3.944,4.042,0.016,0,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.354,3.334,3.329,3.324,3.31,3.296,3.288,3.277,3.268,3.256,3.253,3.247,3.235,3.233,3.213,3.213,3.206,3.193,3.184,3.177,3.172,3.171,3.161,3.149,3.148,3.146,3.14,3.129,3.125,3.122,3.112,3.112,3.111,3.096,3.093,3.09,3.087,3.082,3.073,3.064,3.062,3.058,3.058,3.054,3.052,3.049,3.041,3.04,3.038,3.035,3.031,3.03,3.025,3.026,3.023,3.018,3.018,3.026,3.02,3.02,3.021,3.02,3.016,3.015,3.007,3.007,3.007,3.007,3.009,3.009,3.007,3.007,3.007,3.007,3.011,3.011,3.011,3.011,3.011,3.011,3.01,3.013,3.01,3.013,3.014,3.017,3.017,3.017,3.018,3.022,3.022,3.022,3.027,3.029,3.032,3.032,3.032,3.032,3.039,3.043,3.052,3.056,3.056,3.058,3.061,3.063,3.065,3.069,3.071,3.085,3.086,3.087,3.088,3.094,3.099,3.111,3.111,3.119,3.121,3.124,3.126,3.131,3.132,3.139,3.139,3.142,3.148,3.153,3.158,3.161,3.174,3.174,3.18,3.184,3.201,3.202,3.213,3.22,3.227,3.228,3.232,3.242,3.243,3.243,3.264,3.284,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 38.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 38.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 38.4081} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 38.4546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.18,0.18,0.185,0.186,0,0,0,0,0,0,0,0,3.691,3.688,3.671,3.656,3.652,3.64,3.613,3.613,3.613,0,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.214,3.212,3.212,3.212,3.266,3.364,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.148,0.148,0.148,0.155,0.149,0.154,0.154,0.154,0.154,3.032,3.032,3.032,3.032,3.032,3.032,0.159,0.159,0.159,0.159,0.156,0.154,0.146,0.143,0.143,0.133,0.109,0.075,0.067,0.062,0.059,0.059,0.059,0.064,0.064,0.064,0.064,0.063,0.063,0.063,0.063,0.074,0.109,0.174,3.347,3.348,3.35,3.35,3.353,3.377,3.384,3.415,3.415,3.415,3.415,3.435,3.436,3.46,3.475,3.485,3.494,3.497,3.497,3.503,3.504,3.507,3.518,3.52,3.52,3.522,3.524,3.531,3.534,3.541,3.541,3.541,3.545,3.545,3.554,3.566,3.566,3.567,3.568,3.578,3.582,3.582,3.59,3.598,3.603,3.606,3.622,3.624,3.628,3.634,3.645,3.646,3.654,3.66,3.663,3.664,3.682,3.691,3.691,3.693,3.694,3.71,3.716,3.731,3.734,3.747,3.751,3.753,3.766,3.771,3.776,3.805,3.807,3.808,3.816,3.828,3.838,3.848,3.868,3.876,3.882,3.893,3.9,3.919,3.932,3.949,3.963,3.965,3.984,4.005,4.012,4.036,4.055,4.06,4.067,4.093,0.016,0.016,0.016,0.016,0,0.016,0,0.007,4.027,3.962,3.93,3.889,3.868,3.848,3.812,3.786,3.754,3.736,3.704,3.683,3.641,3.63,3.599,3.57,3.556,3.522,3.508,3.488,3.465,3.449,3.426,3.4,3.381,3.36,3.345,3.334,3.307,3.288,3.275,3.251,3.234,3.222,3.194,3.186,3.17,3.157,3.134,3.121,3.104,3.084,3.081,3.067,3.051,3.042,3.027,3.016,2.997,2.99,2.978,2.955,2.95,2.942,2.922,2.914,2.907,2.902,2.874,2.868,2.858,2.847,2.839,2.818,2.818,2.812,2.79,2.789,2.778,2.769,2.756,2.752,2.736,2.733,2.718,2.712,2.711,2.693,2.685,2.677,2.675,2.662,2.657,2.657,2.655,2.64,2.636,2.618,2.616,2.609,2.607,2.597,2.593,2.577,2.574,2.572,2.563,2.561,2.553,2.546,2.545,2.542,2.537,2.528,2.519,2.516,2.509,2.505,2.494,2.494,2.49,2.487,2.483,2.479,2.478,2.475,2.468,2.466,2.464,2.463,2.457,2.456,2.454,2.447,2.446,2.444,2.444,2.442,2.437,2.436,2.426,2.426,2.425,2.425,2.425,2.421,2.415,2.415,2.415,2.415,2.415,2.413,2.412,2.411,2.411,2.411,2.411,2.411,2.407,2.407,2.407,2.409,2.409,2.41,2.41,2.41,2.41,2.416,2.418,2.418,2.417,2.417,2.417,2.417,2.417,2.424,2.42,2.425,2.427,2.43,2.431,2.433,2.436,2.436,2.438,2.439,2.443,2.451,2.451,2.454,2.458,2.46,2.463,2.464,2.465,2.475,2.476,2.481,2.486,2.487,2.492,2.494,2.501,2.506,2.511,2.513,2.52,2.523,2.527,2.528,2.537,2.537,2.547,2.55,2.559,2.564,2.571,2.577,2.587,2.594,2.596,2.602,2.616,2.616,2.629,2.633,2.642,2.643,2.652,2.656,2.667,2.677,2.682,2.692,2.698,2.699,2.713,2.721,2.735,2.745,2.753,2.756,2.77,2.785,2.79,2.803,2.81,2.82,2.826,2.837,2.841,2.854,2.877,2.883,2.89,2.896,2.917,2.923,2.942,2.944,2.962,2.968,2.981,2.999,3.006,3.029,3.04,3.044,3.063,3.075,3.091,3.109,3.12,3.14,3.149,3.159,3.18,3.193,3.214,3.23,3.244,3.266,3.278,3.3,3.323,3.335,3.348,3.379,3.396,3.407,3.438,3.459,3.475,3.496,3.515,3.536,3.57,3.606,3.614,3.644,3.664,3.692,3.73,3.748,3.785,3.806,3.831,3.873,3.883,3.934,3.947,3.987,4.032,4.064,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.349,3.349,3.334,3.317,3.301,3.3,3.291,3.279,3.274,3.256,3.253,3.239,3.238,3.233,3.217,3.207,3.202,3.191,3.185,3.18,3.176,3.159,3.158,3.151,3.147,3.137,3.136,3.12,3.117,3.116,3.115,3.111,3.108,3.105,3.089,3.088,3.086,3.08,3.076,3.075,3.071,3.068,3.067,3.055,3.05,3.05,3.04,3.04,3.04,3.039,3.039,3.033,3.033,3.029,3.022,3.022,3.022,3.022,3.032,3.032,3.032,3.022,3.014,3.011,3.011,3.009,3.009,3.009,3.011,3.009,3.009,3.006,3.006,3.006,3.006,3.006,3.009,3.009,3.009,3.01,3.011,3.011,3.015,3.017,3.017,3.02,3.02,3.02,3.026,3.024,3.024,3.026,3.029,3.031,3.031,3.034,3.034,3.039,3.039,3.042,3.044,3.051,3.058,3.061,3.064,3.066,3.066,3.067,3.07,3.078,3.088,3.088,3.092,3.092,3.1,3.1,3.103,3.117,3.119,3.127,3.131,3.134,3.136,3.136,3.136,3.143,3.146,3.153,3.161,3.165,3.169,3.178,3.179,3.19,3.2,3.202,3.215,3.218,3.223,3.23,3.241,3.247,3.249,3.254,3.261,3.286,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 38.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 38.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 38.609} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 38.6546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.185,0.19,0.19,0,0,0,0,0,0,0,0,3.692,3.682,3.667,3.658,3.636,3.622,3.622,3.622,3.622,3.597,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.214,3.214,3.216,3.216,3.259,3.358,0,0,0,0,0,0,0,0.148,0.148,0.146,0.146,0.146,0.146,0.146,0.146,0.153,0.153,0.153,0.153,0.155,0.155,3.038,3.04,3.04,3.04,3.038,3.04,3.031,0.156,0.156,0.156,0.153,0.151,0.151,0.147,0.147,0.124,0.112,0.078,0.06,0.059,0.059,0.059,0.06,0.061,0.065,0.065,0.065,0.065,0.064,0.064,0.065,0.068,0.105,0.181,3.342,3.352,3.355,3.355,3.355,3.371,3.373,3.413,3.417,3.437,3.437,3.437,3.455,3.46,3.477,3.483,3.488,3.489,3.496,3.501,3.513,3.513,3.518,3.52,3.521,3.521,3.532,3.532,3.538,3.541,3.541,3.546,3.549,3.549,3.556,3.563,3.563,3.565,3.575,3.575,3.589,3.59,3.592,3.603,3.609,3.622,3.623,3.624,3.628,3.636,3.645,3.648,3.659,3.664,3.665,3.666,3.68,3.682,3.688,3.69,3.694,3.704,3.716,3.728,3.73,3.744,3.745,3.76,3.762,3.768,3.782,3.8,3.8,3.813,3.827,3.847,3.847,3.849,3.868,3.875,3.882,3.902,3.905,3.917,3.927,3.943,3.958,3.966,3.983,3.996,4.016,4.027,4.042,4.075,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,3.929,3.897,3.875,3.855,3.81,3.77,3.756,3.723,3.701,3.669,3.647,3.627,3.595,3.573,3.55,3.533,3.51,3.493,3.459,3.43,3.422,3.407,3.384,3.359,3.345,3.337,3.316,3.29,3.277,3.265,3.239,3.229,3.196,3.196,3.176,3.156,3.137,3.118,3.106,3.092,3.078,3.061,3.048,3.035,3.015,3.012,3.005,2.991,2.978,2.959,2.948,2.938,2.923,2.922,2.907,2.897,2.873,2.872,2.855,2.851,2.834,2.827,2.816,2.81,2.79,2.789,2.78,2.775,2.754,2.75,2.737,2.731,2.728,2.711,2.709,2.691,2.683,2.677,2.668,2.665,2.657,2.648,2.646,2.634,2.633,2.624,2.622,2.611,2.611,2.594,2.589,2.583,2.578,2.574,2.562,2.561,2.558,2.549,2.54,2.54,2.531,2.528,2.519,2.512,2.509,2.5,2.5,2.497,2.493,2.488,2.482,2.479,2.474,2.468,2.468,2.467,2.463,2.456,2.455,2.454,2.45,2.449,2.448,2.448,2.442,2.439,2.435,2.434,2.432,2.432,2.431,2.424,2.419,2.419,2.417,2.417,2.415,2.415,2.414,2.413,2.413,2.413,2.411,2.409,2.409,2.408,2.408,2.408,2.408,2.411,2.413,2.416,2.416,2.416,2.416,2.416,2.417,2.417,2.417,2.417,2.417,2.418,2.418,2.417,2.419,2.425,2.426,2.427,2.427,2.429,2.435,2.44,2.442,2.445,2.445,2.446,2.451,2.453,2.454,2.463,2.466,2.468,2.474,2.474,2.476,2.479,2.482,2.485,2.492,2.494,2.499,2.502,2.509,2.512,2.514,2.518,2.53,2.534,2.537,2.549,2.551,2.556,2.566,2.569,2.571,2.579,2.59,2.598,2.601,2.601,2.613,2.613,2.623,2.639,2.645,2.648,2.654,2.654,2.665,2.672,2.688,2.697,2.697,2.704,2.709,2.72,2.726,2.738,2.745,2.754,2.766,2.779,2.789,2.797,2.809,2.816,2.829,2.834,2.844,2.855,2.869,2.884,2.886,2.903,2.911,2.924,2.933,2.945,2.963,2.971,2.984,3,3.02,3.021,3.042,3.044,3.063,3.081,3.092,3.108,3.119,3.139,3.153,3.165,3.179,3.196,3.219,3.235,3.245,3.266,3.28,3.291,3.324,3.332,3.352,3.368,3.393,3.405,3.432,3.455,3.478,3.501,3.528,3.539,3.576,3.598,3.617,3.636,3.662,3.696,3.719,3.744,3.779,3.797,3.84,3.869,3.885,3.919,3.957,3.983,4.027,4.087,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.355,3.34,3.328,3.312,3.306,3.291,3.29,3.28,3.269,3.26,3.254,3.246,3.243,3.23,3.212,3.21,3.201,3.196,3.196,3.195,3.18,3.162,3.161,3.154,3.143,3.14,3.139,3.126,3.121,3.115,3.114,3.109,3.105,3.101,3.09,3.084,3.081,3.08,3.073,3.072,3.063,3.063,3.061,3.053,3.051,3.05,3.043,3.043,3.035,3.034,3.034,3.029,3.029,3.028,3.024,3.02,3.02,3.02,3.033,3.033,3.033,3.021,3.016,3.009,3.009,3.008,3.008,3.007,3.007,3.006,3.006,3.006,3.006,3.007,3.007,3.008,3.009,3.014,3.008,3.008,3.014,3.014,3.014,3.016,3.016,3.018,3.018,3.018,3.021,3.021,3.021,3.021,3.021,3.027,3.032,3.032,3.034,3.035,3.036,3.043,3.053,3.053,3.053,3.054,3.054,3.061,3.064,3.074,3.079,3.079,3.082,3.086,3.089,3.09,3.092,3.106,3.111,3.112,3.112,3.123,3.127,3.135,3.135,3.135,3.135,3.14,3.148,3.15,3.156,3.157,3.174,3.174,3.176,3.176,3.197,3.211,3.216,3.221,3.233,3.235,3.235,3.235,3.242,3.245,3.261,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 38.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 38.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 38.8101} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 38.8507} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.182,0.182,0.183,0.186,0,0,0,0,0,0,0,0,3.694,3.683,3.671,3.666,3.646,3.632,3.608,3.608,3.608,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.214,3.207,3.207,3.214,3.253,3.357,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.148,0.15,0.15,0.15,0.15,0.149,0.149,0.149,0.149,0.153,3.031,3.039,3.039,3.039,3.035,3.039,3.035,0.164,0.155,0.155,0.155,0.155,0.152,0.143,0.143,0.126,0.101,0.084,0.064,0.059,0.058,0.059,0.061,0.061,0.062,0.065,0.065,0.065,0.06,0.06,0.06,0.072,0.107,0.179,3.338,3.35,3.354,3.354,3.372,3.38,0,0,0,3.432,3.432,3.432,3.453,3.456,3.475,3.492,3.495,3.495,3.501,3.508,3.51,3.51,3.513,3.518,3.525,3.527,3.529,3.529,3.531,3.533,3.539,3.544,3.549,3.551,3.554,3.556,3.564,3.564,3.571,3.577,3.579,3.59,3.598,3.604,3.604,3.614,3.614,3.63,3.635,3.636,3.646,3.652,3.655,3.656,3.664,3.67,3.677,3.68,3.689,3.69,3.695,3.71,3.716,3.719,3.74,3.74,3.751,3.757,3.758,3.776,3.781,3.791,3.791,3.815,3.829,3.831,3.837,3.853,3.859,3.871,3.882,3.892,3.901,3.914,3.934,3.943,3.953,3.967,3.98,3.996,4.021,4.026,4.034,4.072,4.079,4.089,0.016,0.016,0.016,0.016,0.016,0,0,0,0,3.976,3.932,3.905,3.86,3.842,3.82,3.779,3.733,3.733,3.707,3.681,3.652,3.63,3.591,3.572,3.544,3.54,3.512,3.487,3.459,3.446,3.422,3.413,3.381,3.373,3.338,3.32,3.298,3.284,3.28,3.256,3.239,3.225,3.2,3.185,3.172,3.148,3.14,3.117,3.104,3.088,3.083,3.07,3.043,3.04,3.024,3.013,2.998,2.992,2.973,2.963,2.957,2.937,2.925,2.921,2.911,2.892,2.876,2.871,2.855,2.852,2.838,2.826,2.816,2.81,2.787,2.781,2.779,2.772,2.758,2.754,2.734,2.727,2.716,2.709,2.705,2.694,2.685,2.678,2.674,2.666,2.662,2.65,2.649,2.639,2.638,2.628,2.617,2.617,2.605,2.597,2.589,2.583,2.582,2.574,2.569,2.562,2.559,2.544,2.544,2.537,2.531,2.528,2.522,2.508,2.507,2.499,2.495,2.491,2.487,2.485,2.484,2.484,2.48,2.475,2.473,2.471,2.47,2.465,2.456,2.45,2.45,2.45,2.45,2.445,2.443,2.441,2.437,2.432,2.426,2.426,2.426,2.426,2.423,2.419,2.419,2.416,2.414,2.414,2.414,2.412,2.412,2.416,2.415,2.415,2.415,2.414,2.411,2.411,2.411,2.411,2.411,2.412,2.414,2.414,2.413,2.413,2.417,2.417,2.42,2.42,2.418,2.418,2.42,2.423,2.424,2.424,2.425,2.426,2.428,2.433,2.441,2.442,2.443,2.445,2.446,2.449,2.451,2.454,2.455,2.457,2.459,2.466,2.468,2.471,2.476,2.484,2.484,2.485,2.485,2.491,2.501,2.505,2.506,2.514,2.527,2.528,2.529,2.533,2.537,2.543,2.548,2.553,2.561,2.567,2.57,2.571,2.587,2.6,2.601,2.612,2.613,2.613,2.628,2.635,2.642,2.645,2.646,2.648,2.656,2.671,2.68,2.686,2.701,2.703,2.714,2.719,2.727,2.739,2.748,2.762,2.766,2.779,2.796,2.801,2.804,2.82,2.832,2.839,2.849,2.85,2.865,2.88,2.889,2.903,2.919,2.922,2.941,2.954,2.955,2.973,2.982,2.991,3.01,3.018,3.037,3.051,3.061,3.084,3.088,3.104,3.12,3.131,3.155,3.162,3.177,3.195,3.218,3.229,3.248,3.264,3.28,3.301,3.324,3.343,3.356,3.374,3.4,3.414,3.44,3.455,3.485,3.492,3.523,3.536,3.567,3.588,3.617,3.636,3.671,3.691,3.717,3.747,3.783,3.79,3.841,3.862,3.895,3.922,4.03,0,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.36,3.339,3.326,3.315,3.307,3.288,3.281,3.274,3.27,3.257,3.245,3.242,3.237,3.231,3.216,3.204,3.199,3.197,3.192,3.175,3.173,3.169,3.152,3.151,3.148,3.14,3.133,3.123,3.121,3.116,3.112,3.11,3.107,3.102,3.093,3.091,3.091,3.08,3.076,3.07,3.069,3.065,3.061,3.057,3.044,3.04,3.038,3.038,3.037,3.037,3.037,3.037,3.028,3.024,3.023,3.019,3.019,3.019,3.027,3.027,3.027,3.018,3.016,3.012,3.011,3.01,3.01,3.01,3.01,3.007,3.007,3.007,3.007,3.006,3.006,3.005,3.005,3.009,3.009,3.009,3.009,3.01,3.012,3.013,3.017,3.018,3.017,3.017,3.019,3.015,3.015,3.029,3.029,3.03,3.031,3.037,3.04,3.04,3.042,3.043,3.054,3.054,3.057,3.06,3.06,3.061,3.062,3.069,3.075,3.076,3.085,3.085,3.088,3.092,3.098,3.101,3.102,3.109,3.122,3.132,3.132,3.133,3.133,3.138,3.138,3.146,3.148,3.154,3.156,3.165,3.171,3.177,3.178,3.179,3.2,3.214,3.22,3.226,3.228,3.246,3.246,3.246,3.246,3.254,3.268,3.269,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 39.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 39.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 39.003} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 39.0506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.18,0.183,0.183,0,0,0,0,0,0,0,0,3.689,3.683,3.672,3.665,3.64,3.637,3.61,3.61,3.61,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.218,3.206,3.206,3.206,3.264,3.365,0,0,0,0,0,0,0,0.15,0.148,0.148,0.148,0.15,0.149,0.149,0.149,0.154,0.149,0.154,0.154,0.154,0.154,3.029,3.036,3.036,3.036,3.029,3.036,3.028,0.162,0.155,0.155,0.153,0.15,0.148,0.142,0.14,0.125,0.108,0.076,0.057,0.057,0.056,0.057,0.059,0.063,0.066,0.066,0.065,0.065,0.06,0.06,0.06,0.071,0.113,0.186,3.348,3.352,3.355,3.355,3.369,3.373,3.383,3.413,0,0.007,3.449,3.449,3.459,3.459,3.476,3.479,3.49,3.499,3.5,3.504,3.506,3.506,3.507,3.516,3.521,3.526,3.53,3.531,3.533,3.537,3.543,3.547,3.55,3.556,3.558,3.559,3.564,3.567,3.569,3.579,3.581,3.586,3.586,3.6,3.608,3.611,3.627,3.633,3.635,3.642,3.645,3.646,3.65,3.664,3.668,3.672,3.673,3.683,3.687,3.705,3.705,3.707,3.721,3.731,3.734,3.744,3.751,3.756,3.765,3.776,3.791,3.797,3.8,3.816,3.826,3.829,3.84,3.851,3.861,3.879,3.886,3.899,3.906,3.925,3.926,3.953,3.957,3.969,3.977,4,4.012,4.022,4.037,4.07,4.078,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.047,4.031,3.982,3.956,3.937,3.895,3.86,3.846,3.822,3.785,3.756,3.733,3.704,3.686,3.659,3.624,3.605,3.58,3.544,3.536,3.509,3.481,3.47,3.447,3.424,3.411,3.383,3.371,3.342,3.329,3.306,3.288,3.277,3.258,3.241,3.226,3.193,3.179,3.175,3.155,3.137,3.12,3.1,3.096,3.085,3.057,3.046,3.032,3.027,3.017,3.009,2.985,2.975,2.961,2.956,2.938,2.923,2.919,2.908,2.895,2.882,2.879,2.859,2.846,2.844,2.823,2.81,2.807,2.792,2.787,2.779,2.769,2.762,2.75,2.735,2.731,2.725,2.709,2.703,2.702,2.684,2.675,2.675,2.67,2.658,2.649,2.647,2.642,2.632,2.622,2.62,2.613,2.603,2.603,2.583,2.581,2.579,2.575,2.571,2.567,2.554,2.552,2.54,2.539,2.528,2.52,2.519,2.513,2.507,2.503,2.498,2.495,2.489,2.489,2.489,2.479,2.475,2.472,2.468,2.467,2.466,2.46,2.458,2.452,2.452,2.449,2.447,2.443,2.44,2.437,2.435,2.431,2.427,2.427,2.423,2.421,2.418,2.421,2.418,2.418,2.418,2.417,2.417,2.414,2.412,2.412,2.412,2.411,2.41,2.41,2.41,2.408,2.409,2.412,2.409,2.409,2.41,2.41,2.41,2.412,2.415,2.415,2.416,2.416,2.416,2.418,2.42,2.42,2.423,2.425,2.425,2.427,2.427,2.429,2.436,2.442,2.442,2.443,2.443,2.45,2.451,2.452,2.453,2.463,2.463,2.466,2.474,2.474,2.478,2.481,2.486,2.489,2.489,2.492,2.492,2.498,2.513,2.516,2.52,2.524,2.528,2.529,2.533,2.541,2.549,2.551,2.554,2.561,2.569,2.585,2.593,2.596,2.603,2.61,2.616,2.619,2.628,2.629,2.642,2.644,2.646,2.646,2.659,2.671,2.674,2.689,2.691,2.708,2.716,2.722,2.738,2.742,2.749,2.754,2.767,2.778,2.79,2.798,2.805,2.818,2.829,2.837,2.839,2.853,2.867,2.878,2.896,2.904,2.915,2.923,2.943,2.944,2.956,2.973,2.986,2.994,3.01,3.015,3.031,3.043,3.069,3.072,3.084,3.095,3.126,3.135,3.147,3.168,3.179,3.205,3.22,3.227,3.25,3.266,3.278,3.3,3.321,3.336,3.361,3.37,3.389,3.406,3.426,3.458,3.484,3.497,3.526,3.544,3.572,3.593,3.614,3.633,3.669,3.693,3.721,3.745,3.773,3.792,3.825,3.867,3.881,3.951,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.35,3.341,3.328,3.314,3.3,3.299,3.284,3.279,3.271,3.254,3.248,3.241,3.24,3.239,3.221,3.209,3.206,3.201,3.182,3.181,3.172,3.167,3.158,3.155,3.149,3.14,3.135,3.129,3.121,3.116,3.112,3.109,3.104,3.101,3.092,3.088,3.081,3.081,3.075,3.066,3.062,3.061,3.061,3.055,3.048,3.048,3.04,3.04,3.04,3.038,3.031,3.028,3.026,3.026,3.023,3.023,3.023,3.023,3.022,3.022,3.022,3.019,3.017,3.014,3.011,3.011,3.01,3.01,3.01,3.009,3.006,3.003,3.009,3.005,3.005,3.008,3.009,3.009,3.009,3.015,3.017,3.02,3.02,3.02,3.02,3.016,3.015,3.016,3.02,3.016,3.022,3.026,3.026,3.027,3.032,3.033,3.036,3.038,3.04,3.04,3.05,3.052,3.057,3.057,3.057,3.065,3.066,3.07,3.082,3.084,3.086,3.091,3.091,3.093,3.094,3.109,3.112,3.114,3.121,3.13,3.13,3.131,3.132,3.135,3.135,3.135,3.147,3.153,3.156,3.163,3.164,3.17,3.175,3.187,3.202,3.215,3.215,3.222,3.23,3.234,3.236,3.236,3.247,3.254,3.258,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 39.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 39.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 39.2041} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.8354} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 39.2506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.176,0.179,0.187,0,0,0,0,0,0,0,0,3.689,3.687,3.668,3.664,3.653,3.639,3.62,3.62,3.597,3.597,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.214,3.218,3.259,3.362,3.362,0,0,0,0,0,0,0,0.147,0.147,0.147,0.147,0.147,0.145,0.143,0.143,0.154,0.155,0.155,0.155,0.157,0.16,3.03,3.037,3.037,3.037,3.036,3.036,0.165,0.158,0.158,0.158,0.158,0.155,0.153,0.148,0.144,0.131,0.107,0.079,0.066,0.064,0.06,0.06,0.06,0.06,0.065,0.067,0.067,0.067,0.061,0.061,0.061,0.068,0.098,0.184,3.33,3.348,3.353,3.353,3.361,3.362,3.371,3.395,3.418,3.418,3.424,3.432,3.455,3.477,3.478,3.478,3.49,3.493,3.499,3.502,3.502,3.506,3.517,3.518,3.522,3.528,3.529,3.529,3.532,3.532,3.535,3.541,3.544,3.546,3.554,3.563,3.57,3.57,3.57,3.582,3.586,3.589,3.591,3.603,3.607,3.611,3.614,3.629,3.629,3.632,3.642,3.647,3.649,3.661,3.663,3.67,3.675,3.678,3.685,3.694,3.703,3.71,3.715,3.726,3.735,3.737,3.748,3.756,3.763,3.766,3.768,3.787,3.794,3.811,3.816,3.843,3.844,3.845,3.858,3.874,3.885,3.89,3.903,3.92,3.924,3.95,3.967,3.971,3.986,4,4.014,4.03,4.056,4.069,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.013,3.99,3.967,3.923,3.902,3.876,3.83,3.805,3.786,3.754,3.722,3.696,3.675,3.654,3.636,3.599,3.562,3.553,3.522,3.511,3.486,3.456,3.438,3.417,3.405,3.388,3.368,3.343,3.336,3.309,3.291,3.287,3.255,3.235,3.221,3.206,3.188,3.171,3.151,3.133,3.124,3.1,3.092,3.077,3.065,3.04,3.037,3.029,3.015,2.998,2.984,2.972,2.959,2.95,2.938,2.924,2.918,2.91,2.886,2.876,2.87,2.862,2.85,2.84,2.824,2.822,2.805,2.793,2.785,2.781,2.768,2.761,2.755,2.737,2.725,2.716,2.71,2.705,2.692,2.686,2.68,2.677,2.659,2.656,2.652,2.648,2.637,2.633,2.628,2.618,2.609,2.606,2.596,2.595,2.581,2.578,2.57,2.569,2.563,2.559,2.55,2.543,2.543,2.534,2.534,2.52,2.518,2.506,2.503,2.501,2.496,2.489,2.488,2.483,2.478,2.476,2.473,2.472,2.471,2.465,2.462,2.451,2.45,2.449,2.447,2.447,2.444,2.439,2.438,2.438,2.432,2.43,2.429,2.427,2.425,2.424,2.421,2.42,2.42,2.42,2.42,2.418,2.412,2.411,2.411,2.411,2.407,2.411,2.411,2.413,2.411,2.411,2.411,2.41,2.41,2.414,2.414,2.414,2.414,2.414,2.416,2.418,2.418,2.418,2.418,2.421,2.421,2.421,2.421,2.423,2.427,2.431,2.431,2.438,2.44,2.44,2.44,2.445,2.452,2.452,2.455,2.456,2.462,2.462,2.467,2.472,2.473,2.475,2.478,2.481,2.486,2.487,2.489,2.493,2.505,2.508,2.512,2.519,2.52,2.524,2.536,2.54,2.541,2.547,2.55,2.552,2.563,2.564,2.568,2.595,2.599,2.601,2.601,2.61,2.616,2.63,2.632,2.638,2.642,2.644,2.657,2.659,2.673,2.679,2.69,2.699,2.705,2.715,2.723,2.73,2.739,2.745,2.748,2.76,2.777,2.786,2.786,2.816,2.819,2.826,2.839,2.844,2.851,2.87,2.881,2.882,2.901,2.919,2.921,2.941,2.948,2.958,2.976,2.977,2.993,3.014,3.028,3.038,3.049,3.062,3.082,3.087,3.111,3.133,3.137,3.158,3.165,3.179,3.202,3.218,3.23,3.247,3.257,3.275,3.291,3.326,3.333,3.354,3.374,3.389,3.409,3.432,3.458,3.475,3.503,3.52,3.536,3.572,3.586,3.619,3.632,3.672,3.689,3.72,3.757,3.783,3.804,3.834,3.862,3.919,0.007,0,0.007,0,0.016,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.339,3.33,3.33,3.308,3.304,3.298,3.29,3.278,3.272,3.265,3.248,3.244,3.237,3.234,3.221,3.21,3.209,3.192,3.185,3.182,3.179,3.168,3.159,3.149,3.144,3.143,3.136,3.132,3.118,3.115,3.112,3.11,3.105,3.095,3.092,3.084,3.083,3.076,3.074,3.069,3.069,3.068,3.065,3.056,3.052,3.046,3.046,3.04,3.038,3.037,3.036,3.035,3.031,3.029,3.02,3.02,3.02,3.028,3.028,3.028,3.027,3.02,3.017,3.017,3.016,3.015,3.013,3.01,3.007,3.007,3.007,3.007,3.008,3.008,3.008,3.009,3.009,3.011,3.011,3.011,3.01,3.016,3.015,3.015,3.015,3.018,3.015,3.018,3.021,3.023,3.023,3.024,3.024,3.024,3.029,3.033,3.033,3.037,3.038,3.041,3.045,3.053,3.054,3.062,3.065,3.068,3.071,3.072,3.073,3.085,3.086,3.089,3.09,3.092,3.096,3.105,3.114,3.115,3.127,3.13,3.132,3.135,3.135,3.139,3.144,3.145,3.145,3.157,3.161,3.167,3.168,3.175,3.178,3.189,3.191,3.207,3.214,3.227,3.231,3.239,3.24,3.248,3.251,3.254,3.259,3.273,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 39.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 39.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 39.405} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.8354} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6642} SEN {Time 39.4506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.175,0.179,0.182,0,0,0,0,0,0,0,0,3.681,3.679,3.669,3.663,3.644,3.624,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.218,3.209,3.209,3.209,3.263,3.363,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.143,0.144,0.144,0.15,0.15,0.153,0.153,0.153,0.159,3.028,3.034,3.034,3.034,3.029,3.029,0.16,0.152,0.152,0.152,0.148,0.148,0.146,0.144,0.136,0.127,0.102,0.079,0.062,0.061,0.061,0.061,0.062,0.062,0.063,0.064,0.063,0.063,0.054,0.054,0.054,0.069,0.108,0.177,3.332,3.352,3.353,3.353,3.363,3.367,3.372,3.374,3.38,3.413,3.427,0.007,3.477,3.465,3.477,3.477,3.482,3.488,3.493,3.498,3.501,3.504,3.516,3.516,3.517,3.517,3.536,3.536,3.537,3.541,3.542,3.543,3.553,3.554,3.557,3.558,3.562,3.565,3.572,3.576,3.579,3.591,3.593,3.599,3.608,3.62,3.621,3.622,3.627,3.628,3.641,3.642,3.652,3.654,3.662,3.662,3.676,3.68,3.688,3.695,3.696,3.704,3.716,3.723,3.739,3.744,3.755,3.755,3.766,3.776,3.787,3.797,3.81,3.819,3.82,3.835,3.838,3.845,3.86,3.867,3.885,3.898,3.903,3.913,3.924,3.947,3.958,3.965,3.976,3.981,4.006,4.033,4.049,4.059,4.079,4.085,0.016,0.016,0,0,0,4.088,4.059,4.011,3.983,3.958,3.919,3.895,3.869,3.847,3.812,3.779,3.751,3.729,3.697,3.671,3.652,3.616,3.588,3.577,3.561,3.536,3.507,3.487,3.475,3.436,3.422,3.405,3.388,3.36,3.344,3.33,3.305,3.301,3.276,3.253,3.228,3.221,3.186,3.185,3.18,3.154,3.128,3.124,3.101,3.101,3.079,3.062,3.039,3.032,3.023,3.019,2.999,2.992,2.983,2.969,2.95,2.938,2.928,2.915,2.911,2.892,2.876,2.872,2.855,2.848,2.837,2.825,2.815,2.805,2.783,2.775,2.772,2.767,2.756,2.751,2.734,2.728,2.721,2.709,2.708,2.688,2.679,2.678,2.675,2.659,2.658,2.654,2.647,2.641,2.632,2.622,2.611,2.61,2.61,2.598,2.581,2.577,2.575,2.573,2.565,2.562,2.557,2.551,2.539,2.539,2.533,2.525,2.515,2.512,2.509,2.501,2.5,2.495,2.492,2.492,2.484,2.481,2.478,2.473,2.473,2.466,2.459,2.457,2.453,2.452,2.446,2.445,2.446,2.445,2.444,2.436,2.435,2.433,2.426,2.426,2.425,2.423,2.423,2.42,2.418,2.418,2.417,2.417,2.416,2.414,2.412,2.411,2.409,2.409,2.409,2.409,2.411,2.412,2.413,2.413,2.413,2.413,2.413,2.415,2.415,2.411,2.415,2.415,2.419,2.42,2.42,2.419,2.42,2.418,2.418,2.423,2.426,2.428,2.429,2.431,2.433,2.437,2.437,2.437,2.442,2.447,2.447,2.453,2.456,2.46,2.46,2.463,2.468,2.471,2.472,2.474,2.48,2.482,2.488,2.494,2.495,2.504,2.511,2.511,2.519,2.521,2.524,2.53,2.533,2.542,2.548,2.557,2.558,2.564,2.569,2.581,2.588,2.595,2.602,2.603,2.606,2.611,2.623,2.64,2.642,2.643,2.646,2.651,2.667,2.671,2.678,2.685,2.697,2.699,2.706,2.714,2.733,2.74,2.749,2.754,2.765,2.776,2.789,2.803,2.803,2.824,2.824,2.834,2.843,2.858,2.861,2.87,2.898,2.9,2.919,2.925,2.943,2.953,2.955,2.974,2.984,3.003,3.016,3.029,3.035,3.044,3.062,3.079,3.091,3.109,3.131,3.142,3.155,3.163,3.176,3.201,3.222,3.235,3.249,3.257,3.279,3.303,3.322,3.335,3.346,3.371,3.386,3.407,3.432,3.456,3.468,3.505,3.524,3.54,3.561,3.602,3.622,3.642,3.67,3.694,3.729,3.747,3.771,3.795,3.838,3.866,3.888,3.92,4.027,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.351,3.335,3.33,3.317,3.303,3.296,3.295,3.295,3.275,3.264,3.251,3.244,3.241,3.235,3.216,3.205,3.205,3.202,3.189,3.179,3.176,3.167,3.163,3.149,3.148,3.146,3.133,3.13,3.121,3.117,3.117,3.108,3.107,3.105,3.097,3.091,3.085,3.084,3.078,3.072,3.065,3.063,3.057,3.051,3.05,3.048,3.047,3.043,3.042,3.04,3.038,3.034,3.033,3.024,3.021,3.021,3.021,3.022,3.033,3.033,3.033,3.021,3.02,3.016,3.008,3.006,3.006,3.006,3.008,3.006,3.006,3.005,3.004,3.004,3.004,3.006,3.009,3.015,3.016,3.015,3.015,3.015,3.015,3.012,3.012,3.017,3.012,3.023,3.024,3.023,3.024,3.025,3.026,3.027,3.033,3.034,3.035,3.037,3.04,3.042,3.051,3.052,3.052,3.052,3.062,3.062,3.066,3.077,3.083,3.083,3.088,3.091,3.092,3.092,3.093,3.109,3.111,3.115,3.121,3.135,3.135,3.135,3.137,3.137,3.137,3.142,3.147,3.149,3.154,3.154,3.17,3.171,3.173,3.181,3.195,3.208,3.221,3.221,3.231,3.233,3.233,3.241,3.241,3.243,3.261,3.274,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 39.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 39.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 39.606} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.8354} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832} SEN {Time 39.6506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.184,0.188,0.188,0,0,0,0,0,0,0,0,3.68,3.672,3.661,3.66,3.643,3.631,3.614,3.614,3.614,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.218,3.217,3.217,3.218,3.261,3.352,0,0,0,0,0,0,0,0.146,0.143,0.142,0.142,0.142,0.142,0.143,0.147,0.148,0.148,0.154,0.154,0.155,0.159,3.027,3.029,3.029,3.029,3.027,3.026,0.163,0.158,0.158,0.158,0.152,0.151,0.148,0.143,0.143,0.13,0.116,0.074,0.069,0.06,0.058,0.058,0.06,0.06,0.064,0.064,0.064,0.062,0.061,0.061,0.061,0.061,0.098,0.186,3.341,3.368,3.378,3.368,3.378,3.378,3.378,3.378,3.396,3.396,3.426,3.452,3.459,3.467,3.467,3.475,3.476,3.492,3.497,3.504,3.506,3.51,3.513,3.517,3.517,3.517,3.521,3.525,3.534,3.541,3.541,3.548,3.555,3.557,3.557,3.559,3.565,3.574,3.577,3.578,3.583,3.588,3.59,3.606,3.607,3.608,3.625,3.632,3.635,3.642,3.648,3.649,3.656,3.658,3.662,3.668,3.674,3.682,3.683,3.694,3.704,3.704,3.719,3.722,3.737,3.738,3.745,3.756,3.765,3.768,3.768,3.799,3.799,3.808,3.821,3.829,3.831,3.85,3.86,3.883,3.887,3.895,3.909,3.915,3.923,3.945,3.962,3.969,3.986,3.997,4.012,4.026,4.045,4.061,4.084,0.016,0.016,0.016,0.016,0.007,0.016,0.016,4.04,4.01,3.986,3.972,3.94,3.897,3.869,3.837,3.813,3.774,3.745,3.73,3.703,3.702,3.651,3.622,3.586,3.579,3.55,3.521,3.512,3.481,3.47,3.446,3.43,3.405,3.371,3.365,3.35,3.316,3.297,3.282,3.271,3.259,3.231,3.228,3.194,3.185,3.175,3.156,3.143,3.119,3.107,3.102,3.084,3.062,3.048,3.041,3.027,3.009,2.998,2.99,2.982,2.96,2.951,2.94,2.925,2.919,2.907,2.896,2.884,2.872,2.859,2.851,2.837,2.82,2.819,2.798,2.789,2.779,2.777,2.766,2.752,2.751,2.732,2.731,2.713,2.708,2.7,2.693,2.684,2.681,2.676,2.673,2.659,2.655,2.647,2.636,2.631,2.627,2.621,2.607,2.605,2.604,2.594,2.585,2.581,2.575,2.567,2.563,2.556,2.552,2.543,2.54,2.527,2.525,2.516,2.512,2.506,2.504,2.498,2.498,2.494,2.491,2.484,2.475,2.474,2.47,2.47,2.468,2.465,2.464,2.454,2.452,2.446,2.446,2.445,2.443,2.442,2.442,2.435,2.428,2.427,2.427,2.425,2.421,2.418,2.418,2.418,2.418,2.414,2.414,2.414,2.413,2.412,2.408,2.408,2.411,2.403,2.409,2.409,2.409,2.409,2.41,2.415,2.415,2.411,2.411,2.411,2.411,2.411,2.412,2.415,2.418,2.421,2.421,2.421,2.421,2.423,2.423,2.425,2.425,2.429,2.432,2.437,2.437,2.441,2.442,2.444,2.445,2.447,2.451,2.452,2.459,2.459,2.463,2.466,2.471,2.478,2.479,2.48,2.483,2.485,2.489,2.498,2.499,2.514,2.516,2.523,2.524,2.524,2.533,2.536,2.541,2.544,2.555,2.565,2.566,2.569,2.571,2.59,2.594,2.603,2.608,2.612,2.621,2.624,2.635,2.643,2.645,2.646,2.653,2.66,2.67,2.677,2.683,2.7,2.703,2.708,2.714,2.729,2.742,2.751,2.755,2.766,2.783,2.792,2.797,2.804,2.817,2.834,2.835,2.849,2.849,2.868,2.871,2.889,2.901,2.912,2.923,2.939,2.955,2.957,2.973,2.976,2.997,3.017,3.028,3.035,3.05,3.059,3.074,3.092,3.106,3.124,3.139,3.154,3.169,3.178,3.201,3.218,3.234,3.245,3.261,3.277,3.3,3.321,3.331,3.348,3.374,3.395,3.41,3.431,3.461,3.479,3.503,3.514,3.533,3.56,3.608,3.614,3.642,3.665,3.693,3.72,3.753,3.781,3.84,3.864,3.889,3.889,3.915,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.355,3.35,3.336,3.309,3.301,3.299,3.294,3.283,3.27,3.268,3.248,3.242,3.238,3.235,3.212,3.205,3.204,3.203,3.177,3.177,3.175,3.174,3.159,3.156,3.155,3.156,3.141,3.123,3.122,3.121,3.118,3.111,3.104,3.104,3.095,3.09,3.08,3.08,3.076,3.074,3.073,3.073,3.063,3.061,3.054,3.047,3.043,3.043,3.042,3.04,3.04,3.031,3.029,3.027,3.026,3.026,3.026,3.026,3.029,3.029,3.029,3.015,3.014,3.011,3.011,3.01,3.01,3.008,3.009,3.008,3.008,3.008,3.009,3.008,3.009,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.01,3.014,3.016,3.016,3.016,3.021,3.025,3.021,3.023,3.025,3.026,3.029,3.036,3.037,3.037,3.037,3.037,3.037,3.049,3.053,3.058,3.06,3.061,3.063,3.07,3.07,3.073,3.089,3.089,3.091,3.096,3.096,3.099,3.109,3.114,3.117,3.119,3.125,3.125,3.128,3.134,3.137,3.137,3.146,3.147,3.152,3.16,3.166,3.168,3.172,3.176,3.187,3.206,3.21,3.217,3.22,3.226,3.241,3.246,3.246,3.246,3.248,3.252,3.275,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 39.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 39.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 39.8069} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832} SEN {Time 39.8505} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.18,0.183,0.188,0,0,0,0,0,0,0,0,3.69,3.684,3.672,3.662,3.64,3.639,3.614,3.614,3.614,3.609,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.214,3.207,3.207,3.207,3.259,3.361,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.145,0.145,0.145,0.153,0.15,0.153,0.153,0.154,0.155,3.036,3.036,3.036,3.036,3.031,3.031,3.031,0.158,0.155,0.155,0.152,0.151,0.15,0.143,0.143,0.133,0.107,0.076,0.068,0.058,0.058,0.058,0.059,0.065,0.066,0.066,0.066,0.065,0.062,0.062,0.066,0.067,0.101,0.188,3.342,3.354,3.357,3.354,3.357,3.362,3.378,3.383,3.431,3.431,3.431,3.441,3.441,3.46,3.468,3.479,3.485,3.495,3.499,3.503,3.505,3.507,3.511,3.514,3.521,3.525,3.526,3.528,3.534,3.538,3.541,3.541,3.542,3.553,3.554,3.559,3.562,3.564,3.568,3.575,3.587,3.589,3.59,3.599,3.603,3.607,3.621,3.632,3.633,3.634,3.646,3.649,3.653,3.656,3.664,3.678,3.679,3.683,3.688,3.697,3.697,3.709,3.717,3.728,3.73,3.739,3.74,3.743,3.765,3.776,3.778,3.79,3.799,3.811,3.815,3.817,3.838,3.85,3.865,3.879,3.883,3.899,3.902,3.912,3.935,3.942,3.96,3.964,3.979,3.982,4.006,4.029,4.037,4.072,4.079,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.039,4.026,3.994,3.972,3.931,3.894,3.866,3.832,3.812,3.781,3.75,3.729,3.689,3.684,3.652,3.63,3.611,3.58,3.543,3.525,3.497,3.487,3.465,3.446,3.415,3.395,3.391,3.364,3.346,3.325,3.304,3.294,3.278,3.253,3.232,3.226,3.197,3.185,3.174,3.159,3.135,3.122,3.105,3.095,3.088,3.072,3.045,3.045,3.023,3.006,3.005,2.987,2.977,2.962,2.953,2.937,2.924,2.917,2.905,2.893,2.876,2.873,2.855,2.845,2.835,2.826,2.815,2.812,2.795,2.788,2.783,2.766,2.76,2.746,2.746,2.736,2.721,2.718,2.706,2.7,2.675,2.674,2.668,2.662,2.66,2.648,2.647,2.638,2.635,2.619,2.613,2.61,2.602,2.59,2.589,2.582,2.58,2.572,2.57,2.565,2.557,2.546,2.544,2.543,2.523,2.523,2.518,2.51,2.508,2.507,2.497,2.492,2.486,2.486,2.484,2.482,2.479,2.474,2.465,2.464,2.462,2.459,2.451,2.451,2.449,2.449,2.445,2.444,2.442,2.441,2.437,2.433,2.428,2.427,2.426,2.426,2.423,2.423,2.423,2.415,2.415,2.415,2.415,2.412,2.412,2.411,2.41,2.409,2.409,2.409,2.409,2.409,2.412,2.408,2.412,2.41,2.411,2.411,2.413,2.413,2.413,2.415,2.42,2.42,2.416,2.416,2.417,2.416,2.417,2.419,2.424,2.426,2.428,2.428,2.432,2.437,2.437,2.438,2.443,2.449,2.45,2.451,2.453,2.46,2.467,2.468,2.472,2.475,2.476,2.481,2.484,2.485,2.488,2.491,2.496,2.5,2.508,2.512,2.514,2.514,2.518,2.528,2.532,2.54,2.549,2.555,2.561,2.572,2.572,2.582,2.588,2.595,2.597,2.602,2.605,2.609,2.627,2.63,2.633,2.643,2.648,2.65,2.668,2.679,2.682,2.689,2.696,2.7,2.716,2.729,2.73,2.737,2.742,2.752,2.764,2.78,2.78,2.801,2.812,2.821,2.832,2.849,2.85,2.858,2.868,2.875,2.895,2.909,2.922,2.923,2.945,2.954,2.964,2.972,2.979,2.992,3.007,3.02,3.036,3.037,3.064,3.082,3.089,3.108,3.121,3.138,3.157,3.163,3.178,3.199,3.22,3.237,3.247,3.261,3.275,3.297,3.321,3.334,3.342,3.378,3.395,3.407,3.43,3.461,3.482,3.504,3.525,3.535,3.567,3.6,3.618,3.651,3.658,3.694,3.717,3.755,3.771,3.803,3.821,3.863,3.89,3.923,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.351,3.335,3.331,3.326,3.311,3.293,3.289,3.28,3.276,3.26,3.253,3.24,3.234,3.229,3.216,3.215,3.206,3.196,3.191,3.185,3.176,3.164,3.162,3.154,3.149,3.14,3.138,3.129,3.129,3.123,3.116,3.105,3.1,3.1,3.093,3.085,3.084,3.078,3.077,3.071,3.07,3.064,3.06,3.06,3.055,3.052,3.05,3.048,3.044,3.041,3.038,3.029,3.029,3.028,3.025,3.025,3.025,3.027,3.027,3.027,3.027,3.021,3.019,3.017,3.015,3.015,3.008,3.006,3.006,3.005,3,3,3.005,3.005,3.006,3.006,3.007,3.007,3.008,3.016,3.016,3.016,3.017,3.016,3.019,3.019,3.019,3.026,3.026,3.024,3.024,3.026,3.028,3.028,3.03,3.03,3.03,3.031,3.041,3.042,3.048,3.052,3.054,3.054,3.06,3.064,3.064,3.073,3.076,3.08,3.087,3.087,3.091,3.093,3.099,3.106,3.11,3.113,3.121,3.127,3.127,3.127,3.129,3.129,3.129,3.143,3.144,3.154,3.161,3.168,3.175,3.175,3.176,3.183,3.196,3.211,3.221,3.225,3.228,3.236,3.239,3.241,3.247,3.252,3.262,3.282,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 40.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 40.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 40.0079} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832} SEN {Time 40.0466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.182,0.182,0.191,0,0,0,0,0,0,0,0,3.688,3.687,3.667,3.658,3.641,3.631,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.219,3.219,3.222,3.252,3.365,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.144,0.144,0.144,0.148,0.158,0.153,0.158,0.158,0.16,0.161,3.031,3.035,3.035,3.035,3.032,3.032,0.159,0.158,0.158,0.158,0.157,0.154,0.151,0.145,0.145,0.122,0.099,0.088,0.059,0.056,0.056,0.056,0.056,0.06,0.064,0.064,0.068,0.068,0.064,0.064,0.068,0.068,0.11,0.182,3.331,0.007,3.381,3.367,3.367,3.365,3.367,3.367,3.414,0.007,3.452,3.452,3.467,3.467,3.477,3.478,3.479,3.495,3.501,3.504,3.505,3.51,3.515,3.524,3.524,3.524,3.524,3.524,3.524,3.536,3.538,3.538,3.548,3.548,3.555,3.557,3.568,3.571,3.573,3.573,3.577,3.582,3.597,3.603,3.611,3.614,3.624,3.625,3.627,3.632,3.646,3.65,3.655,3.659,3.662,3.668,3.678,3.678,3.681,3.69,3.691,3.716,3.717,3.736,3.742,3.748,3.755,3.756,3.762,3.77,3.778,3.795,3.805,3.807,3.826,3.837,3.843,3.849,3.857,3.874,3.876,3.896,3.902,3.928,3.931,3.946,3.954,3.967,3.984,3.988,4.007,4.021,4.044,4.067,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,4.074,4.003,3.964,3.934,3.896,3.87,3.841,3.808,3.777,3.751,3.737,3.705,3.667,3.649,3.62,3.596,3.579,3.548,3.517,3.511,3.495,3.454,3.437,3.417,3.397,3.382,3.375,3.343,3.334,3.301,3.287,3.28,3.255,3.228,3.227,3.193,3.189,3.174,3.155,3.146,3.126,3.105,3.102,3.083,3.064,3.048,3.048,3.045,3.018,2.992,2.989,2.973,2.966,2.948,2.934,2.929,2.92,2.902,2.894,2.873,2.869,2.857,2.855,2.845,2.835,2.814,2.808,2.787,2.781,2.78,2.762,2.757,2.75,2.735,2.733,2.728,2.717,2.703,2.694,2.686,2.678,2.674,2.663,2.66,2.659,2.654,2.644,2.637,2.62,2.618,2.611,2.608,2.599,2.591,2.579,2.577,2.568,2.565,2.564,2.559,2.547,2.546,2.536,2.532,2.527,2.519,2.511,2.508,2.503,2.5,2.492,2.487,2.487,2.484,2.484,2.478,2.474,2.474,2.464,2.461,2.46,2.457,2.455,2.45,2.45,2.447,2.446,2.44,2.439,2.431,2.43,2.428,2.428,2.428,2.425,2.425,2.419,2.417,2.417,2.416,2.416,2.416,2.414,2.414,2.413,2.413,2.412,2.412,2.412,2.409,2.409,2.407,2.407,2.407,2.407,2.408,2.41,2.41,2.411,2.416,2.415,2.415,2.415,2.421,2.421,2.426,2.421,2.426,2.424,2.424,2.424,2.425,2.425,2.43,2.44,2.441,2.442,2.444,2.451,2.451,2.452,2.452,2.46,2.464,2.465,2.467,2.471,2.473,2.476,2.482,2.488,2.489,2.49,2.495,2.505,2.508,2.51,2.513,2.517,2.523,2.535,2.536,2.537,2.549,2.552,2.558,2.562,2.57,2.576,2.588,2.602,2.602,2.608,2.61,2.612,2.624,2.628,2.638,2.64,2.647,2.652,2.652,2.675,2.68,2.693,2.699,2.701,2.715,2.719,2.727,2.738,2.752,2.752,2.762,2.779,2.79,2.793,2.809,2.813,2.83,2.84,2.85,2.853,2.87,2.88,2.885,2.901,2.917,2.931,2.944,2.955,2.957,2.978,2.983,2.993,3.012,3.021,3.045,3.047,3.066,3.077,3.092,3.106,3.128,3.138,3.156,3.167,3.179,3.197,3.217,3.237,3.247,3.263,3.275,3.304,3.329,3.333,3.353,3.376,3.392,3.41,3.433,3.465,3.482,3.505,3.53,3.551,3.564,3.593,3.615,3.639,3.659,3.699,3.728,3.743,3.78,3.796,3.834,3.861,3.884,3.992,4.026,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.355,3.344,3.33,3.323,3.314,3.296,3.291,3.276,3.275,3.261,3.248,3.242,3.239,3.237,3.225,3.215,3.203,3.198,3.189,3.189,3.178,3.163,3.16,3.158,3.154,3.135,3.132,3.132,3.124,3.123,3.119,3.11,3.104,3.099,3.093,3.092,3.085,3.081,3.076,3.074,3.063,3.061,3.059,3.057,3.051,3.047,3.045,3.04,3.04,3.036,3.036,3.03,3.029,3.028,3.028,3.028,3.028,3.028,3.025,3.025,3.025,3.025,3.024,3.024,3.024,3.016,3.014,3.013,3.013,3.01,3.01,3.007,3.008,3.008,3.008,3.008,3.01,3.012,3.012,3.009,3.009,3.009,3.009,3.017,3.019,3.022,3.02,3.022,3.026,3.026,3.026,3.026,3.029,3.032,3.032,3.032,3.032,3.037,3.041,3.043,3.047,3.055,3.056,3.059,3.061,3.064,3.072,3.072,3.092,3.092,3.092,3.092,3.092,3.092,3.101,3.105,3.112,3.117,3.123,3.125,3.129,3.132,3.13,3.137,3.139,3.146,3.148,3.15,3.157,3.158,3.17,3.175,3.184,3.188,3.201,3.212,3.215,3.218,3.224,3.234,3.234,3.235,3.243,3.243,3.252,3.278,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 40.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 40.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 40.2001} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1562} SEN {Time 40.2494} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.182,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.69,3.689,3.66,3.659,3.648,3.623,3.617,3.617,3.623,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.215,3.209,3.209,3.209,3.267,3.358,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.146,0.146,0.14,0.14,0.152,0.152,0.153,0.153,0.158,0.158,3.035,3.035,3.035,3.035,3.035,3.033,0.154,0.154,0.154,0.154,0.152,0.146,0.143,0.143,0.142,0.12,0.096,0.075,0.065,0.064,0.06,0.06,0.06,0.064,0.066,0.066,0.066,0.064,0.064,0.064,0.064,0.068,0.104,0.178,3.332,3.35,3.365,3.358,3.361,3.361,3.374,3.378,0,0,0,0,3.477,3.471,3.471,3.477,3.492,3.494,3.501,3.502,3.512,3.516,3.519,3.522,3.525,3.532,3.535,3.536,3.542,3.543,3.543,3.543,3.546,3.55,3.551,3.558,3.562,3.571,3.571,3.575,3.576,3.585,3.588,3.593,3.599,3.61,3.617,3.622,3.634,3.645,3.647,3.651,3.651,3.652,3.658,3.666,3.668,3.676,3.684,3.685,3.697,3.708,3.725,3.727,3.732,3.736,3.745,3.757,3.767,3.771,3.783,3.791,3.811,3.811,3.815,3.83,3.838,3.85,3.868,3.879,3.89,3.893,3.911,3.922,3.926,3.957,3.966,3.969,3.98,3.996,4.018,4.028,4.05,4.063,4.073,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.006,3.986,3.942,3.935,3.907,3.877,3.831,3.811,3.783,3.751,3.732,3.7,3.681,3.643,3.627,3.594,3.572,3.545,3.523,3.509,3.487,3.466,3.448,3.414,3.408,3.382,3.37,3.339,3.337,3.301,3.291,3.273,3.258,3.228,3.226,3.195,3.188,3.168,3.156,3.139,3.13,3.113,3.09,3.081,3.069,3.043,3.043,3.043,3.027,3.001,2.992,2.983,2.957,2.949,2.939,2.93,2.912,2.907,2.896,2.88,2.861,2.858,2.854,2.842,2.824,2.818,2.809,2.795,2.795,2.775,2.773,2.755,2.75,2.735,2.732,2.718,2.711,2.71,2.689,2.685,2.676,2.673,2.663,2.662,2.652,2.65,2.643,2.636,2.62,2.619,2.61,2.61,2.601,2.581,2.58,2.577,2.57,2.569,2.56,2.554,2.549,2.541,2.539,2.525,2.522,2.516,2.506,2.505,2.501,2.5,2.494,2.492,2.484,2.483,2.48,2.473,2.472,2.472,2.464,2.464,2.462,2.451,2.45,2.449,2.447,2.441,2.439,2.437,2.437,2.437,2.433,2.425,2.425,2.424,2.424,2.42,2.42,2.419,2.419,2.418,2.418,2.418,2.41,2.41,2.41,2.412,2.412,2.412,2.41,2.407,2.407,2.41,2.41,2.41,2.411,2.414,2.414,2.412,2.412,2.412,2.412,2.412,2.414,2.415,2.415,2.415,2.421,2.421,2.421,2.421,2.421,2.432,2.432,2.434,2.433,2.441,2.444,2.444,2.45,2.452,2.452,2.454,2.458,2.459,2.464,2.466,2.475,2.478,2.479,2.484,2.487,2.488,2.489,2.492,2.503,2.514,2.515,2.515,2.522,2.523,2.53,2.536,2.539,2.546,2.547,2.554,2.559,2.565,2.577,2.59,2.601,2.603,2.606,2.606,2.615,2.621,2.628,2.631,2.633,2.652,2.659,2.663,2.67,2.671,2.683,2.694,2.707,2.71,2.725,2.733,2.736,2.749,2.749,2.769,2.779,2.783,2.786,2.804,2.813,2.832,2.84,2.847,2.862,2.869,2.883,2.888,2.901,2.92,2.927,2.949,2.951,2.955,2.969,2.977,2.998,3.011,3.027,3.035,3.04,3.061,3.081,3.091,3.105,3.121,3.137,3.153,3.17,3.18,3.214,3.221,3.228,3.245,3.273,3.291,3.298,3.318,3.334,3.358,3.374,3.395,3.408,3.429,3.454,3.482,3.501,3.518,3.532,3.563,3.599,3.608,3.641,3.671,3.693,3.722,3.753,3.786,3.803,3.829,3.863,3.89,3.916,3.944,3.999,4.024,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.35,3.337,3.327,3.315,3.31,3.294,3.286,3.278,3.273,3.254,3.252,3.247,3.233,3.233,3.218,3.214,3.211,3.192,3.181,3.178,3.177,3.166,3.16,3.15,3.148,3.145,3.143,3.13,3.121,3.121,3.115,3.11,3.106,3.105,3.089,3.087,3.086,3.083,3.075,3.073,3.066,3.061,3.058,3.052,3.049,3.049,3.044,3.041,3.038,3.037,3.036,3.028,3.028,3.028,3.021,3.021,3.022,3.022,3.022,3.022,3.022,3.019,3.016,3.013,3.01,3.009,3.009,3.01,3.01,3.011,3.011,3.004,3.004,3.003,3.003,3.003,3.01,3.011,3.011,3.011,3.012,3.014,3.013,3.014,3.014,3.017,3.014,3.016,3.022,3.016,3.016,3.017,3.025,3.025,3.033,3.033,3.033,3.033,3.042,3.042,3.046,3.053,3.059,3.061,3.064,3.065,3.068,3.068,3.073,3.082,3.091,3.091,3.091,3.092,3.1,3.106,3.108,3.116,3.116,3.134,3.134,3.135,3.138,3.14,3.143,3.146,3.154,3.155,3.158,3.162,3.169,3.171,3.176,3.181,3.204,3.216,3.22,3.223,3.224,3.234,3.236,3.236,3.237,3.246,3.251,3.286,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 40.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 40.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 40.3999} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1562} SEN {Time 40.4467} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.178,0.18,0.18,0.184,0.187,0,0,0,0,0,0,0,0,3.685,3.67,3.661,3.652,3.644,3.625,3.607,3.607,3.607,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.219,3.217,3.208,3.217,3.217,3.264,3.367,0,0,0,0,0,0,0,0.007,0.142,0.142,0.14,0.14,0.139,0.143,0.143,0.153,0.153,0.153,0.153,0.153,0.157,3.025,3.028,3.031,3.031,3.028,3.031,3.031,0.158,0.153,0.153,0.153,0.151,0.149,0.145,0.145,0.13,0.101,0.076,0.062,0.059,0.059,0.059,0.06,0.065,0.065,0.066,0.065,0.064,0.063,0.063,0.063,0.07,0.101,0.175,3.347,3.356,3.359,3.356,3.359,3.361,3.365,3.365,3.411,0.007,3.448,3.448,3.473,3.473,3.478,3.484,3.499,3.501,3.502,3.502,3.502,3.507,3.519,3.525,3.525,3.531,3.533,3.536,3.539,3.54,3.54,3.54,3.546,3.546,3.553,3.553,3.562,3.567,3.574,3.575,3.578,3.582,3.582,3.596,3.603,3.61,3.619,3.625,3.625,3.632,3.644,3.648,3.653,3.66,3.66,3.662,3.682,3.686,3.693,3.697,3.699,3.707,3.72,3.721,3.739,3.747,3.752,3.761,3.762,3.769,3.783,3.799,3.8,3.818,3.83,3.832,3.843,3.845,3.855,3.868,3.889,3.895,3.896,3.922,3.934,3.944,3.951,3.951,3.989,3.99,4.017,4.022,4.046,4.057,4.069,0.016,0.016,0.016,0.016,0,0.007,0.016,4.044,4.019,3.995,3.948,3.933,3.895,3.873,3.845,3.818,3.781,3.747,3.726,3.695,3.667,3.661,3.626,3.599,3.57,3.545,3.518,3.512,3.487,3.46,3.449,3.416,3.405,3.375,3.355,3.351,3.329,3.325,3.29,3.276,3.253,3.235,3.225,3.185,3.179,3.175,3.155,3.143,3.122,3.111,3.092,3.086,3.067,3.049,3.049,3.031,3.011,3,2.983,2.976,2.973,2.955,2.936,2.93,2.92,2.905,2.893,2.876,2.871,2.858,2.854,2.841,2.824,2.821,2.81,2.785,2.783,2.774,2.769,2.759,2.747,2.735,2.73,2.72,2.717,2.706,2.691,2.677,2.674,2.672,2.663,2.659,2.65,2.644,2.638,2.632,2.624,2.621,2.607,2.605,2.603,2.584,2.581,2.581,2.574,2.569,2.559,2.554,2.551,2.547,2.546,2.535,2.529,2.518,2.515,2.508,2.505,2.496,2.491,2.49,2.483,2.482,2.48,2.477,2.472,2.466,2.465,2.464,2.46,2.457,2.452,2.448,2.448,2.448,2.443,2.443,2.442,2.44,2.435,2.432,2.431,2.43,2.428,2.427,2.426,2.417,2.416,2.416,2.416,2.416,2.416,2.413,2.413,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.412,2.413,2.413,2.413,2.413,2.413,2.414,2.414,2.418,2.418,2.418,2.418,2.419,2.42,2.418,2.421,2.423,2.424,2.425,2.426,2.432,2.435,2.437,2.437,2.444,2.451,2.452,2.452,2.458,2.459,2.461,2.464,2.467,2.47,2.475,2.477,2.478,2.483,2.483,2.483,2.495,2.499,2.499,2.509,2.514,2.52,2.521,2.527,2.531,2.536,2.542,2.55,2.557,2.557,2.559,2.57,2.573,2.594,2.601,2.602,2.602,2.61,2.611,2.623,2.63,2.636,2.638,2.645,2.649,2.659,2.678,2.682,2.687,2.696,2.701,2.713,2.715,2.732,2.736,2.743,2.756,2.759,2.777,2.794,2.796,2.799,2.82,2.837,2.837,2.847,2.858,2.868,2.879,2.888,2.904,2.92,2.924,2.945,2.95,2.951,2.979,2.986,2.996,3.015,3.023,3.035,3.05,3.061,3.082,3.093,3.107,3.121,3.138,3.151,3.162,3.18,3.195,3.214,3.231,3.254,3.266,3.276,3.293,3.315,3.331,3.351,3.374,3.39,3.407,3.435,3.459,3.482,3.501,3.528,3.543,3.576,3.598,3.619,3.636,3.671,3.693,3.725,3.751,3.787,3.797,3.841,3.852,3.883,3.926,0,0,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.358,3.336,3.336,3.319,3.313,3.29,3.287,3.278,3.27,3.265,3.252,3.241,3.234,3.227,3.214,3.213,3.209,3.194,3.191,3.182,3.172,3.169,3.161,3.156,3.153,3.14,3.131,3.126,3.126,3.123,3.111,3.111,3.108,3.104,3.092,3.09,3.082,3.081,3.073,3.07,3.067,3.061,3.06,3.054,3.051,3.046,3.043,3.038,3.038,3.038,3.038,3.038,3.026,3.026,3.025,3.023,3.025,3.026,3.027,3.027,3.027,3.017,3.017,3.013,3.013,3.01,3.01,3.01,3.01,3.01,3.01,3.008,3.007,3.006,3.006,3.006,3.006,3.014,3.014,3.012,3.014,3.014,3.012,3.012,3.014,3.014,3.011,3.014,3.02,3.021,3.021,3.021,3.025,3.029,3.031,3.031,3.031,3.031,3.033,3.04,3.055,3.059,3.061,3.061,3.061,3.061,3.065,3.073,3.074,3.086,3.092,3.092,3.092,3.092,3.096,3.103,3.105,3.117,3.121,3.131,3.131,3.135,3.136,3.137,3.137,3.143,3.149,3.157,3.158,3.161,3.173,3.175,3.181,3.184,3.201,3.223,3.223,3.224,3.228,3.228,3.229,3.241,3.246,3.248,3.272,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 40.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 40.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 40.6017} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1562} SEN {Time 40.6477} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.176,0.187,0.192,0,0,0,0,0,0,0,0,3.685,3.682,3.665,3.658,3.655,3.635,3.621,3.621,3.621,3.599,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.235,3.229,3.221,3.219,3.217,3.219,3.219,3.262,3.351,0,0,0,0,0,0,0,0.142,0.142,0.142,0.142,0.145,0.145,0.146,0.146,0.153,0.153,0.153,0.153,0.153,0.153,3.039,3.039,3.039,3.039,3.036,3.028,0.155,0.152,0.151,0.151,0.151,0.149,0.145,0.145,0.142,0.127,0.106,0.073,0.061,0.06,0.059,0.059,0.06,0.061,0.067,0.067,0.064,0.064,0.063,0.063,0.063,0.065,0.107,0.18,3.346,3.35,3.356,3.356,3.366,3.371,3.383,3.411,3.411,0.007,3.45,3.45,3.466,3.466,3.479,3.483,3.489,3.49,3.495,3.495,3.502,3.502,3.515,3.516,3.519,3.521,3.525,3.536,3.539,3.54,3.54,3.54,3.54,3.55,3.551,3.555,3.561,3.577,3.578,3.578,3.587,3.591,3.593,3.596,3.609,3.614,3.619,3.627,3.628,3.642,3.648,3.65,3.655,3.658,3.659,3.674,3.675,3.683,3.687,3.693,3.694,3.716,3.72,3.723,3.728,3.74,3.754,3.756,3.767,3.773,3.778,3.79,3.802,3.805,3.819,3.831,3.843,3.857,3.866,3.875,3.882,3.896,3.902,3.905,3.93,3.946,3.957,3.979,3.984,4.004,4.025,4.035,4.045,4.064,4.075,4.093,4.094,0.016,0,0,0,0,4.055,4.007,3.99,3.978,3.924,3.895,3.868,3.833,3.819,3.778,3.757,3.726,3.702,3.694,3.65,3.618,3.607,3.57,3.545,3.516,3.502,3.482,3.444,3.439,3.413,3.4,3.375,3.362,3.344,3.327,3.312,3.294,3.277,3.26,3.23,3.225,3.199,3.187,3.169,3.153,3.138,3.125,3.107,3.098,3.092,3.07,3.045,3.045,3.042,3.024,3.009,2.993,2.976,2.966,2.953,2.94,2.928,2.909,2.904,2.889,2.873,2.87,2.851,2.845,2.844,2.821,2.811,2.8,2.79,2.782,2.779,2.761,2.759,2.756,2.741,2.731,2.725,2.713,2.702,2.69,2.679,2.675,2.671,2.662,2.652,2.65,2.648,2.635,2.634,2.621,2.612,2.611,2.603,2.595,2.587,2.577,2.572,2.566,2.565,2.557,2.554,2.546,2.537,2.535,2.534,2.53,2.515,2.511,2.502,2.498,2.498,2.496,2.492,2.484,2.479,2.479,2.476,2.467,2.467,2.467,2.461,2.459,2.451,2.448,2.445,2.445,2.441,2.441,2.44,2.437,2.434,2.431,2.427,2.427,2.425,2.424,2.423,2.423,2.415,2.415,2.414,2.414,2.411,2.41,2.41,2.41,2.409,2.406,2.406,2.406,2.406,2.408,2.409,2.409,2.413,2.413,2.412,2.411,2.412,2.412,2.415,2.416,2.416,2.416,2.416,2.416,2.418,2.419,2.423,2.424,2.424,2.427,2.432,2.433,2.435,2.436,2.441,2.442,2.444,2.445,2.452,2.453,2.453,2.461,2.462,2.467,2.468,2.47,2.478,2.48,2.48,2.485,2.486,2.492,2.498,2.502,2.512,2.517,2.519,2.519,2.527,2.535,2.535,2.539,2.542,2.543,2.557,2.56,2.565,2.572,2.589,2.593,2.603,2.607,2.611,2.613,2.616,2.636,2.64,2.643,2.644,2.65,2.658,2.674,2.675,2.688,2.693,2.7,2.714,2.716,2.733,2.743,2.743,2.757,2.762,2.776,2.79,2.792,2.803,2.815,2.824,2.839,2.846,2.85,2.868,2.876,2.885,2.9,2.917,2.93,2.95,2.953,2.955,2.977,2.983,2.994,3.019,3.028,3.04,3.044,3.063,3.079,3.092,3.104,3.113,3.141,3.153,3.169,3.174,3.195,3.219,3.229,3.253,3.265,3.279,3.301,3.319,3.328,3.338,3.369,3.388,3.407,3.434,3.456,3.485,3.5,3.516,3.547,3.57,3.601,3.611,3.646,3.668,3.693,3.723,3.75,3.781,3.799,3.84,3.861,3.889,3.925,3.938,4.006,4.05,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.357,3.332,3.332,3.315,3.312,3.297,3.285,3.281,3.268,3.264,3.252,3.234,3.231,3.23,3.222,3.214,3.207,3.193,3.193,3.189,3.181,3.181,3.169,3.161,3.147,3.142,3.138,3.129,3.119,3.118,3.112,3.112,3.109,3.1,3.092,3.09,3.087,3.086,3.077,3.074,3.064,3.062,3.056,3.054,3.054,3.044,3.042,3.037,3.037,3.037,3.036,3.036,3.029,3.028,3.021,3.021,3.021,3.021,3.029,3.029,3.029,3.021,3.017,3.017,3.014,3.012,3.011,3.01,3.011,3.01,3.008,3.008,3.008,3.008,3.01,3.01,3.011,3.011,3.01,3.011,3.012,3.014,3.012,3.014,3.015,3.015,3.014,3.018,3.02,3.022,3.024,3.031,3.031,3.031,3.032,3.036,3.037,3.038,3.04,3.043,3.05,3.051,3.055,3.057,3.057,3.06,3.062,3.07,3.08,3.088,3.089,3.089,3.09,3.092,3.102,3.103,3.108,3.114,3.117,3.129,3.129,3.131,3.131,3.131,3.131,3.148,3.153,3.153,3.164,3.168,3.172,3.175,3.18,3.185,3.19,3.213,3.214,3.223,3.227,3.233,3.233,3.24,3.24,3.243,3.275,3.275,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 40.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 40.80} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 40.8028} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276} SEN {Time 40.8489} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.191,0.187,0.191,0.191,0,0,0,0,0,0,0,0,3.682,3.678,3.668,3.666,3.644,3.628,3.607,3.607,3.599,3.599,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.222,3.217,3.213,3.213,3.213,3.267,3.361,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.145,0.145,0.145,0.145,0.145,0.152,0.152,0.154,0.158,3.033,3.033,3.033,3.033,3.033,3.031,0.157,0.157,0.155,0.155,0.155,0.152,0.145,0.144,0.144,0.134,0.103,0.081,0.072,0.061,0.061,0.061,0.061,0.064,0.065,0.065,0.062,0.062,0.061,0.061,0.061,0.071,0.106,0.177,3.355,3.355,3.381,3.368,3.365,3.365,3.368,3.368,3.386,3.401,3.427,3.429,3.432,3.454,3.476,3.49,3.49,3.492,3.492,3.502,3.502,3.503,3.514,3.515,3.516,3.516,3.532,3.533,3.537,3.546,3.546,3.546,3.549,3.556,3.557,3.559,3.571,3.571,3.571,3.572,3.577,3.588,3.591,3.595,3.608,3.613,3.625,3.628,3.633,3.641,3.644,3.646,3.646,3.657,3.662,3.667,3.667,3.677,3.69,3.697,3.704,3.704,3.716,3.728,3.74,3.742,3.749,3.751,3.766,3.769,3.788,3.8,3.802,3.805,3.815,3.831,3.84,3.853,3.856,3.869,3.875,3.897,3.904,3.915,3.938,3.95,3.965,3.966,3.985,3.997,4.006,4.017,4.051,4.058,4.085,4.093,0.016,0.016,0.016,0.016,0.016,4.091,4.053,4.02,3.985,3.959,3.933,3.885,3.861,3.837,3.81,3.783,3.753,3.712,3.701,3.676,3.643,3.623,3.6,3.571,3.546,3.526,3.517,3.494,3.455,3.448,3.415,3.403,3.387,3.375,3.349,3.337,3.308,3.283,3.278,3.247,3.23,3.222,3.199,3.184,3.17,3.149,3.124,3.121,3.109,3.093,3.084,3.066,3.044,3.043,3.02,3.009,3.004,2.986,2.979,2.971,2.953,2.936,2.924,2.917,2.907,2.895,2.882,2.879,2.859,2.846,2.839,2.831,2.819,2.805,2.792,2.789,2.783,2.767,2.754,2.748,2.733,2.722,2.717,2.71,2.698,2.693,2.681,2.679,2.673,2.665,2.657,2.645,2.645,2.642,2.641,2.621,2.62,2.608,2.603,2.603,2.587,2.58,2.578,2.574,2.571,2.559,2.558,2.545,2.54,2.532,2.528,2.521,2.519,2.512,2.509,2.506,2.5,2.497,2.49,2.489,2.482,2.48,2.477,2.477,2.468,2.466,2.458,2.456,2.455,2.452,2.451,2.45,2.443,2.442,2.438,2.437,2.435,2.431,2.425,2.424,2.424,2.421,2.419,2.419,2.417,2.415,2.413,2.413,2.413,2.412,2.414,2.414,2.414,2.41,2.41,2.409,2.407,2.406,2.406,2.407,2.407,2.407,2.407,2.407,2.407,2.41,2.41,2.417,2.417,2.417,2.421,2.421,2.421,2.421,2.421,2.421,2.423,2.43,2.431,2.432,2.435,2.438,2.438,2.439,2.439,2.441,2.45,2.452,2.452,2.455,2.46,2.461,2.471,2.476,2.479,2.483,2.483,2.486,2.488,2.493,2.497,2.505,2.513,2.518,2.52,2.521,2.528,2.532,2.535,2.536,2.55,2.553,2.561,2.566,2.567,2.567,2.584,2.597,2.601,2.604,2.61,2.612,2.62,2.63,2.632,2.641,2.646,2.65,2.661,2.671,2.675,2.684,2.696,2.702,2.715,2.72,2.722,2.74,2.75,2.751,2.759,2.78,2.785,2.792,2.802,2.814,2.828,2.834,2.853,2.854,2.87,2.874,2.889,2.902,2.906,2.927,2.942,2.945,2.956,2.969,2.987,2.998,3.009,3.028,3.037,3.04,3.061,3.082,3.087,3.102,3.12,3.136,3.148,3.167,3.177,3.194,3.218,3.23,3.251,3.265,3.281,3.29,3.314,3.339,3.344,3.373,3.39,3.415,3.423,3.46,3.481,3.494,3.524,3.547,3.567,3.599,3.614,3.634,3.67,3.699,3.712,3.746,3.774,3.795,3.835,3.849,3.892,3.915,3.96,0,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.348,3.337,3.329,3.312,3.309,3.288,3.288,3.272,3.264,3.262,3.252,3.246,3.237,3.231,3.23,3.208,3.198,3.192,3.189,3.187,3.17,3.165,3.164,3.152,3.149,3.142,3.131,3.128,3.121,3.118,3.117,3.109,3.106,3.101,3.093,3.091,3.083,3.082,3.077,3.07,3.07,3.068,3.064,3.061,3.048,3.044,3.04,3.038,3.038,3.036,3.035,3.033,3.03,3.028,3.026,3.024,3.026,3.028,3.031,3.031,3.031,3.022,3.011,3.009,3.009,3.009,3.008,3.01,3.01,3.009,3.008,3.006,3.006,3.006,3.006,3.006,3.007,3.008,3.008,3.008,3.012,3.012,3.012,3.013,3.013,3.014,3.014,3.02,3.022,3.022,3.022,3.027,3.025,3.03,3.033,3.034,3.034,3.034,3.035,3.043,3.045,3.055,3.055,3.057,3.06,3.061,3.062,3.064,3.082,3.086,3.087,3.089,3.092,3.092,3.098,3.108,3.109,3.117,3.118,3.131,3.131,3.136,3.136,3.14,3.14,3.146,3.147,3.153,3.163,3.166,3.166,3.172,3.175,3.186,3.201,3.202,3.218,3.225,3.228,3.239,3.242,3.243,3.245,3.251,3.252,3.283,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 41.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 41.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 41.0038} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276} SEN {Time 41.0426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.174,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.674,3.666,3.665,3.644,3.626,3.608,3.608,3.608,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.213,3.212,3.207,3.207,3.213,3.263,3.362,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.149,0.149,0.142,0.142,0.157,0.153,0.157,0.157,0.16,0.16,3.024,3.038,3.038,3.038,3.034,3.038,3.034,0.16,0.153,0.153,0.15,0.148,0.148,0.147,0.145,0.128,0.11,0.076,0.062,0.06,0.06,0.061,0.061,0.061,0.062,0.064,0.064,0.064,0.058,0.058,0.058,0.068,0.104,0.174,3.344,3.35,3.355,3.355,3.356,3.361,3.364,3.364,3.401,3.428,3.435,3.435,3.444,3.464,3.468,3.483,3.491,3.496,3.498,3.505,3.506,3.507,3.514,3.523,3.524,3.524,3.525,3.532,3.532,3.534,3.536,3.544,3.549,3.549,3.549,3.555,3.561,3.566,3.571,3.584,3.586,3.587,3.596,3.598,3.606,3.609,3.621,3.634,3.637,3.638,3.643,3.647,3.653,3.654,3.664,3.678,3.678,3.68,3.684,3.684,3.696,3.698,3.713,3.725,3.732,3.735,3.742,3.754,3.773,3.776,3.785,3.792,3.796,3.811,3.815,3.817,3.838,3.844,3.87,3.88,3.881,3.888,3.892,3.92,3.929,3.932,3.963,3.977,3.984,3.997,4.005,4.034,4.045,4.051,4.082,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.053,4.021,3.98,3.954,3.935,3.897,3.87,3.835,3.819,3.786,3.765,3.735,3.702,3.682,3.646,3.629,3.601,3.586,3.554,3.536,3.502,3.477,3.471,3.452,3.433,3.403,3.381,3.368,3.344,3.335,3.317,3.296,3.277,3.256,3.235,3.22,3.194,3.193,3.165,3.158,3.143,3.116,3.097,3.093,3.088,3.064,3.051,3.042,3.018,3.017,2.994,2.984,2.983,2.957,2.955,2.936,2.927,2.927,2.9,2.9,2.878,2.876,2.858,2.853,2.836,2.821,2.815,2.808,2.789,2.786,2.776,2.77,2.764,2.754,2.74,2.725,2.723,2.713,2.709,2.698,2.69,2.686,2.671,2.669,2.655,2.651,2.649,2.64,2.631,2.627,2.613,2.609,2.608,2.6,2.591,2.587,2.575,2.569,2.563,2.562,2.556,2.545,2.54,2.533,2.532,2.518,2.516,2.513,2.508,2.507,2.497,2.491,2.491,2.487,2.485,2.478,2.477,2.474,2.467,2.464,2.46,2.458,2.451,2.45,2.449,2.444,2.443,2.441,2.44,2.438,2.437,2.433,2.429,2.427,2.426,2.426,2.425,2.423,2.421,2.414,2.414,2.414,2.414,2.412,2.411,2.409,2.409,2.409,2.406,2.406,2.409,2.406,2.409,2.411,2.411,2.411,2.414,2.415,2.411,2.415,2.415,2.415,2.417,2.418,2.418,2.418,2.418,2.418,2.419,2.421,2.421,2.429,2.429,2.431,2.434,2.436,2.441,2.442,2.445,2.451,2.452,2.453,2.455,2.458,2.458,2.466,2.467,2.468,2.475,2.477,2.483,2.486,2.488,2.489,2.498,2.499,2.51,2.514,2.523,2.524,2.524,2.528,2.533,2.533,2.543,2.547,2.558,2.559,2.564,2.575,2.59,2.593,2.605,2.609,2.612,2.616,2.617,2.63,2.637,2.637,2.644,2.654,2.661,2.671,2.671,2.684,2.694,2.706,2.709,2.72,2.73,2.736,2.747,2.757,2.767,2.778,2.789,2.792,2.801,2.817,2.825,2.833,2.842,2.85,2.868,2.882,2.884,2.897,2.915,2.924,2.941,2.946,2.955,2.975,2.988,2.998,3.017,3.029,3.038,3.041,3.059,3.08,3.093,3.114,3.124,3.134,3.159,3.172,3.186,3.198,3.218,3.229,3.251,3.26,3.285,3.303,3.32,3.337,3.353,3.367,3.395,3.418,3.438,3.465,3.476,3.5,3.528,3.538,3.574,3.59,3.607,3.642,3.673,3.687,3.719,3.754,3.772,3.799,3.837,3.86,3.9,3.92,3.944,3.995,4.024,0,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.371,3.355,3.338,3.323,3.312,3.304,3.297,3.296,3.281,3.264,3.253,3.253,3.242,3.231,3.231,3.221,3.218,3.208,3.195,3.182,3.179,3.176,3.175,3.159,3.156,3.148,3.14,3.136,3.132,3.128,3.122,3.119,3.105,3.104,3.101,3.1,3.097,3.079,3.077,3.07,3.068,3.066,3.061,3.06,3.057,3.052,3.051,3.05,3.044,3.042,3.036,3.034,3.03,3.028,3.026,3.026,3.026,3.026,3.026,3.026,3.087,3.087,3.026,3.02,3.015,3.011,3.011,3.011,3.008,3.011,3.011,3.008,3.008,3.008,3.008,3.008,3.008,3.008,3.011,3.008,3.011,3.013,3.014,3.016,3.016,3.019,3.019,3.016,3.019,3.019,3.021,3.025,3.026,3.028,3.029,3.032,3.034,3.039,3.039,3.04,3.044,3.051,3.053,3.06,3.061,3.063,3.064,3.066,3.069,3.072,3.082,3.086,3.088,3.088,3.088,3.1,3.106,3.112,3.118,3.119,3.132,3.132,3.135,3.136,3.135,3.136,3.149,3.149,3.156,3.158,3.164,3.172,3.173,3.176,3.18,3.193,3.207,3.217,3.22,3.23,3.232,3.235,3.235,3.238,3.25,3.256,3.277,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 41.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 41.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 41.1957} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 4.9276} SEN {Time 41.2426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.185,0.178,0.185,0.185,0,0,0,0,0,0,0,0,3.683,3.68,3.67,3.66,3.649,3.632,3.609,3.609,3.595,3.595,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.221,3.218,3.221,3.262,3.366,3.366,0,0,0,0,0,0,0,0.149,0.146,0.146,0.146,0.147,0.144,0.144,0.144,0.154,0.149,0.154,0.154,0.154,0.156,3.029,3.029,3.029,3.029,3.029,3.025,0.158,0.158,0.154,0.154,0.152,0.149,0.149,0.148,0.147,0.129,0.114,0.078,0.063,0.058,0.058,0.058,0.061,0.065,0.065,0.065,0.065,0.065,0.06,0.064,0.064,0.064,0.101,0.179,3.341,3.358,3.358,3.358,3.358,3.369,3.37,3.37,3.384,3.417,3.418,3.445,3.451,3.476,3.476,3.486,3.49,3.492,3.501,3.509,3.512,3.512,3.511,3.511,3.513,3.521,3.521,3.532,3.534,3.539,3.539,3.541,3.548,3.55,3.553,3.559,3.567,3.572,3.574,3.574,3.581,3.584,3.598,3.604,3.608,3.615,3.619,3.623,3.636,3.642,3.643,3.646,3.652,3.653,3.659,3.669,3.679,3.68,3.686,3.697,3.709,3.709,3.72,3.722,3.74,3.75,3.751,3.757,3.768,3.77,3.781,3.796,3.799,3.811,3.823,3.823,3.846,3.848,3.864,3.867,3.879,3.9,3.92,3.924,3.928,3.947,3.958,3.964,3.975,3.99,4.019,4.028,4.04,4.051,4.084,4.092,0.016,0.016,0.016,0.007,0.016,4.08,4.046,4.019,3.989,3.953,3.932,3.893,3.872,3.842,3.812,3.765,3.755,3.731,3.688,3.669,3.652,3.63,3.587,3.573,3.566,3.522,3.513,3.487,3.459,3.446,3.413,3.412,3.382,3.368,3.353,3.326,3.295,3.295,3.274,3.249,3.229,3.226,3.19,3.182,3.181,3.159,3.134,3.126,3.104,3.094,3.083,3.07,3.041,3.041,3.018,3.014,2.999,2.986,2.977,2.959,2.95,2.942,2.927,2.92,2.913,2.897,2.882,2.864,2.864,2.842,2.836,2.83,2.819,2.816,2.788,2.787,2.782,2.775,2.759,2.749,2.738,2.734,2.718,2.715,2.705,2.701,2.679,2.673,2.67,2.661,2.659,2.652,2.64,2.638,2.626,2.623,2.613,2.61,2.603,2.6,2.596,2.578,2.577,2.574,2.565,2.56,2.554,2.55,2.546,2.536,2.53,2.523,2.519,2.515,2.502,2.502,2.493,2.492,2.492,2.489,2.483,2.475,2.475,2.474,2.471,2.467,2.46,2.456,2.456,2.449,2.449,2.451,2.451,2.447,2.447,2.442,2.435,2.431,2.429,2.428,2.424,2.424,2.421,2.419,2.417,2.417,2.416,2.414,2.414,2.413,2.409,2.409,2.409,2.409,2.409,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.414,2.418,2.418,2.42,2.42,2.415,2.415,2.42,2.42,2.421,2.421,2.424,2.425,2.43,2.431,2.435,2.435,2.439,2.449,2.453,2.454,2.454,2.458,2.465,2.465,2.465,2.47,2.476,2.478,2.478,2.484,2.486,2.488,2.496,2.501,2.512,2.512,2.514,2.522,2.53,2.53,2.54,2.544,2.549,2.552,2.555,2.561,2.572,2.581,2.591,2.597,2.601,2.602,2.602,2.612,2.622,2.631,2.639,2.642,2.653,2.656,2.66,2.677,2.68,2.694,2.695,2.699,2.717,2.719,2.723,2.737,2.747,2.749,2.766,2.769,2.787,2.799,2.805,2.82,2.828,2.836,2.844,2.86,2.865,2.878,2.891,2.902,2.912,2.926,2.942,2.954,2.964,2.971,2.976,2.994,3.007,3.017,3.039,3.042,3.069,3.082,3.095,3.107,3.122,3.142,3.152,3.159,3.183,3.201,3.22,3.229,3.255,3.26,3.278,3.295,3.326,3.329,3.361,3.376,3.387,3.405,3.43,3.466,3.479,3.502,3.522,3.548,3.57,3.593,3.612,3.632,3.662,3.699,3.726,3.747,3.773,3.799,3.832,3.853,3.892,3.912,3.94,3.974,4.019,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.354,3.346,3.328,3.318,3.305,3.297,3.293,3.278,3.273,3.269,3.244,3.241,3.24,3.238,3.219,3.21,3.201,3.192,3.191,3.18,3.18,3.167,3.159,3.153,3.148,3.14,3.139,3.131,3.128,3.118,3.117,3.105,3.103,3.094,3.091,3.085,3.084,3.079,3.073,3.068,3.068,3.064,3.063,3.063,3.052,3.049,3.045,3.038,3.037,3.037,3.036,3.035,3.029,3.029,3.025,3.015,3.015,3.015,3.025,3.025,3.025,3.025,3.015,3.011,3.012,3.009,3.007,3.007,3.007,3.007,3.007,3.009,3.009,3.009,3.01,3.01,3.01,3.012,3.01,3.01,3.01,3.012,3.008,3.01,3.01,3.012,3.021,3.021,3.022,3.021,3.022,3.022,3.025,3.029,3.034,3.034,3.034,3.035,3.037,3.042,3.051,3.052,3.054,3.056,3.061,3.062,3.064,3.066,3.068,3.083,3.085,3.086,3.089,3.09,3.098,3.101,3.102,3.11,3.123,3.129,3.129,3.132,3.132,3.135,3.139,3.147,3.147,3.149,3.153,3.165,3.167,3.173,3.174,3.187,3.204,3.207,3.215,3.222,3.23,3.237,3.238,3.239,3.241,3.252,3.256,3.283,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 41.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 41.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 41.3957} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 4.8768} SEN {Time 41.4426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.181,0.183,0.183,0,0,0,0,0,0,0,0,3.686,3.681,3.672,3.669,3.634,3.629,3.61,3.61,3.599,3.599,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.262,3.228,3.228,3.221,3.228,3.259,3.364,3.364,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.144,0.143,0.143,0.153,0.147,0.152,0.152,0.152,0.152,3.031,3.031,3.037,3.037,3.031,3.037,3.037,0.157,0.157,0.157,0.151,0.148,0.147,0.145,0.145,0.126,0.117,0.072,0.061,0.061,0.061,0.063,0.063,0.064,0.068,0.068,0.068,0.068,0.066,0.066,0.066,0.066,0.103,0.171,3.33,3.356,3.356,3.356,3.356,3.363,3.375,3.375,3.409,3.419,3.432,3.432,3.442,3.457,3.471,3.471,3.49,3.494,3.503,3.504,3.51,3.511,3.519,3.519,3.521,3.523,3.531,3.535,3.539,3.539,3.538,3.539,3.546,3.546,3.553,3.556,3.559,3.571,3.573,3.581,3.582,3.583,3.589,3.61,3.61,3.61,3.617,3.625,3.633,3.64,3.644,3.644,3.653,3.653,3.661,3.663,3.678,3.686,3.687,3.697,3.697,3.698,3.723,3.733,3.748,3.749,3.752,3.759,3.761,3.763,3.774,3.8,3.802,3.817,3.818,3.837,3.838,3.84,3.871,3.874,3.882,3.894,3.908,3.914,3.925,3.946,3.956,3.963,3.978,3.996,4.011,4.027,4.039,4.065,4.081,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.055,4.055,4.021,3.989,3.942,3.893,3.877,3.848,3.812,3.774,3.753,3.731,3.697,3.677,3.652,3.616,3.595,3.578,3.548,3.527,3.519,3.474,3.463,3.45,3.423,3.401,3.375,3.364,3.35,3.326,3.319,3.29,3.278,3.259,3.227,3.227,3.191,3.191,3.171,3.149,3.138,3.118,3.096,3.09,3.087,3.069,3.051,3.041,3.02,3.017,2.998,2.991,2.975,2.966,2.948,2.941,2.923,2.917,2.909,2.891,2.874,2.872,2.855,2.853,2.839,2.823,2.82,2.808,2.787,2.782,2.779,2.768,2.755,2.752,2.74,2.726,2.719,2.707,2.705,2.701,2.686,2.673,2.67,2.664,2.652,2.651,2.647,2.635,2.633,2.628,2.618,2.615,2.599,2.594,2.591,2.585,2.577,2.571,2.57,2.563,2.555,2.554,2.539,2.538,2.538,2.534,2.517,2.507,2.505,2.502,2.495,2.493,2.492,2.49,2.481,2.48,2.476,2.475,2.472,2.47,2.467,2.465,2.451,2.45,2.448,2.444,2.442,2.441,2.441,2.44,2.433,2.433,2.429,2.427,2.427,2.427,2.424,2.424,2.424,2.424,2.42,2.413,2.413,2.413,2.413,2.411,2.413,2.411,2.411,2.41,2.407,2.406,2.406,2.407,2.411,2.411,2.412,2.412,2.415,2.418,2.418,2.418,2.418,2.418,2.418,2.418,2.418,2.419,2.419,2.419,2.425,2.428,2.43,2.43,2.438,2.438,2.439,2.441,2.446,2.447,2.449,2.45,2.457,2.457,2.463,2.464,2.468,2.47,2.48,2.48,2.48,2.487,2.492,2.492,2.494,2.495,2.507,2.513,2.518,2.52,2.524,2.528,2.535,2.539,2.544,2.55,2.562,2.566,2.575,2.578,2.587,2.599,2.601,2.602,2.605,2.61,2.622,2.627,2.635,2.635,2.643,2.651,2.664,2.67,2.685,2.688,2.706,2.706,2.714,2.715,2.723,2.738,2.749,2.75,2.765,2.778,2.786,2.792,2.81,2.822,2.827,2.833,2.846,2.851,2.867,2.881,2.891,2.899,2.919,2.926,2.94,2.946,2.95,2.978,2.98,2.996,3.016,3.022,3.037,3.046,3.072,3.079,3.092,3.106,3.119,3.137,3.151,3.163,3.178,3.205,3.214,3.224,3.247,3.259,3.276,3.3,3.329,3.329,3.351,3.361,3.392,3.416,3.427,3.459,3.479,3.503,3.531,3.545,3.566,3.595,3.619,3.641,3.664,3.693,3.722,3.746,3.78,3.789,3.831,3.853,3.894,3.91,3.987,4.024,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.354,3.336,3.323,3.32,3.306,3.295,3.294,3.289,3.269,3.262,3.251,3.246,3.241,3.237,3.221,3.212,3.204,3.2,3.19,3.186,3.174,3.171,3.166,3.157,3.15,3.136,3.133,3.127,3.118,3.117,3.111,3.105,3.104,3.102,3.093,3.09,3.083,3.081,3.076,3.073,3.065,3.063,3.061,3.055,3.044,3.041,3.039,3.041,3.039,3.039,3.036,3.036,3.034,3.027,3.026,3.024,3.024,3.024,3.029,3.029,3.029,3.017,3.016,3.013,3.016,3.013,3.011,3.008,3.009,3.009,3.009,3.008,3.009,3.007,3.007,3.009,3.012,3.009,3.011,3.011,3.013,3.011,3.014,3.015,3.014,3.015,3.016,3.016,3.018,3.018,3.018,3.024,3.025,3.027,3.029,3.029,3.029,3.034,3.037,3.042,3.051,3.051,3.061,3.061,3.061,3.061,3.063,3.069,3.078,3.087,3.089,3.089,3.094,3.094,3.101,3.106,3.11,3.117,3.121,3.122,3.125,3.133,3.133,3.134,3.134,3.145,3.148,3.148,3.158,3.16,3.167,3.174,3.175,3.184,3.203,3.208,3.212,3.227,3.228,3.236,3.236,3.237,3.24,3.245,3.257,3.276,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 41.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 41.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 41.5976} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 4.8768} SEN {Time 41.6426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.17,0.179,0.179,0.181,0.185,0,0,0,0,0,0,0,0,3.687,3.682,3.663,3.656,3.646,3.631,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.206,3.206,3.206,3.272,3.365,0,0,0,0,0,0,0,0.15,0.146,0.146,0.146,0.146,0.146,0.146,0.146,0.151,0.15,0.151,0.151,0.156,0.158,3.03,3.034,3.034,3.034,3.031,3.041,3.031,0.152,0.152,0.152,0.152,0.15,0.15,0.147,0.142,0.13,0.107,0.078,0.066,0.059,0.057,0.057,0.057,0.057,0.066,0.067,0.067,0.067,0.067,0.069,0.07,0.072,0.104,0.17,3.339,3.354,3.355,3.355,3.361,3.361,3.363,3.363,3.385,3.417,3.422,3.437,3.472,3.476,3.476,3.476,3.493,3.493,3.498,3.498,3.509,3.509,3.509,3.509,3.516,3.518,3.53,3.531,3.53,3.531,3.535,3.54,3.548,3.549,3.557,3.561,3.567,3.568,3.569,3.575,3.58,3.584,3.594,3.614,3.617,3.617,3.624,3.627,3.63,3.631,3.648,3.65,3.65,3.656,3.658,3.662,3.671,3.68,3.683,3.691,3.698,3.703,3.719,3.721,3.736,3.744,3.751,3.754,3.763,3.77,3.773,3.797,3.803,3.812,3.821,3.835,3.841,3.851,3.864,3.87,3.879,3.894,3.902,3.919,3.921,3.942,3.947,3.973,3.996,4,4.018,4.031,4.047,4.059,4.082,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.091,4.019,3.985,3.928,3.9,3.873,3.854,3.8,3.778,3.759,3.719,3.697,3.675,3.652,3.621,3.59,3.572,3.553,3.52,3.499,3.489,3.459,3.443,3.421,3.4,3.384,3.373,3.351,3.331,3.318,3.29,3.272,3.249,3.238,3.226,3.191,3.185,3.169,3.157,3.143,3.131,3.107,3.1,3.087,3.062,3.045,3.038,3.015,3.009,3.002,2.994,2.977,2.959,2.94,2.933,2.925,2.915,2.907,2.894,2.876,2.868,2.859,2.846,2.843,2.824,2.824,2.806,2.788,2.78,2.777,2.763,2.755,2.75,2.732,2.727,2.718,2.706,2.705,2.693,2.682,2.68,2.673,2.671,2.657,2.65,2.649,2.637,2.636,2.622,2.611,2.609,2.605,2.596,2.594,2.577,2.576,2.574,2.571,2.569,2.554,2.552,2.548,2.536,2.533,2.524,2.522,2.512,2.507,2.5,2.5,2.498,2.492,2.49,2.481,2.478,2.477,2.477,2.467,2.467,2.462,2.462,2.456,2.453,2.449,2.449,2.448,2.445,2.444,2.444,2.438,2.435,2.43,2.429,2.429,2.428,2.419,2.415,2.415,2.415,2.415,2.415,2.415,2.41,2.41,2.41,2.41,2.41,2.41,2.408,2.408,2.407,2.407,2.41,2.411,2.412,2.415,2.415,2.412,2.412,2.416,2.416,2.416,2.417,2.417,2.416,2.418,2.418,2.42,2.42,2.426,2.428,2.429,2.432,2.437,2.442,2.442,2.443,2.443,2.447,2.452,2.456,2.457,2.459,2.464,2.466,2.467,2.467,2.474,2.476,2.477,2.483,2.488,2.496,2.496,2.497,2.509,2.512,2.515,2.515,2.529,2.533,2.536,2.537,2.549,2.553,2.558,2.563,2.567,2.573,2.583,2.594,2.599,2.6,2.603,2.62,2.628,2.634,2.635,2.639,2.65,2.653,2.663,2.675,2.679,2.687,2.697,2.703,2.712,2.717,2.729,2.741,2.751,2.759,2.768,2.786,2.787,2.794,2.807,2.813,2.825,2.83,2.843,2.852,2.865,2.884,2.887,2.9,2.918,2.931,2.933,2.955,2.955,2.966,2.979,3,3.021,3.026,3.032,3.046,3.062,3.074,3.093,3.108,3.115,3.144,3.156,3.171,3.18,3.206,3.216,3.236,3.247,3.259,3.279,3.3,3.328,3.335,3.355,3.379,3.397,3.405,3.431,3.449,3.484,3.504,3.516,3.546,3.565,3.597,3.617,3.633,3.662,3.687,3.716,3.756,3.783,3.808,3.833,3.86,3.883,3.909,3.948,4.001,4.026,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.35,3.343,3.334,3.31,3.306,3.298,3.286,3.277,3.263,3.262,3.253,3.237,3.234,3.232,3.223,3.212,3.211,3.202,3.194,3.186,3.186,3.178,3.168,3.165,3.152,3.148,3.138,3.128,3.123,3.118,3.108,3.106,3.105,3.104,3.096,3.085,3.082,3.081,3.08,3.066,3.064,3.062,3.062,3.051,3.048,3.047,3.047,3.043,3.04,3.036,3.036,3.029,3.029,3.029,3.029,3.028,3.028,3.029,3.028,3.028,3.023,3.018,3.016,3.015,3.013,3.011,3.013,3.005,3.011,3.005,3.009,3.005,3.005,3.005,3.004,3.004,3.004,3.004,3.009,3.011,3.011,3.014,3.014,3.016,3.018,3.018,3.018,3.019,3.02,3.019,3.02,3.026,3.026,3.031,3.031,3.031,3.031,3.032,3.038,3.043,3.05,3.052,3.054,3.061,3.064,3.066,3.068,3.074,3.08,3.086,3.086,3.092,3.094,3.099,3.103,3.103,3.112,3.115,3.121,3.127,3.127,3.129,3.134,3.135,3.135,3.146,3.151,3.153,3.162,3.167,3.169,3.172,3.175,3.193,3.204,3.212,3.228,3.23,3.235,3.236,3.236,3.239,3.245,3.245,3.262,3.28,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 41.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 41.80} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 41.7976} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.8768} SEN {Time 41.8426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.174,0.179,0.188,0,0,0,0,0,0,0,0,3.684,3.681,3.67,3.664,3.647,3.63,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.212,3.212,3.212,3.212,3.261,3.362,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.149,0.145,0.147,0.147,0.153,0.152,0.153,0.153,0.159,0.163,3.034,3.036,3.038,3.038,3.036,3.038,3.038,0.154,0.153,0.153,0.153,0.149,0.149,0.145,0.145,0.127,0.107,0.082,0.063,0.06,0.06,0.06,0.06,0.063,0.065,0.065,0.065,0.065,0.065,0.065,0.065,0.067,0.115,0.177,3.342,3.356,3.369,3.36,3.366,3.369,3.369,3.376,3.395,3.404,3.42,3.43,3.462,3.47,3.477,3.477,3.489,3.495,3.499,3.5,3.504,3.506,3.513,3.519,3.52,3.52,3.525,3.536,3.537,3.542,3.544,3.544,3.546,3.546,3.557,3.563,3.565,3.568,3.57,3.57,3.588,3.588,3.59,3.606,3.611,3.617,3.617,3.629,3.63,3.631,3.646,3.648,3.652,3.657,3.659,3.663,3.667,3.675,3.687,3.694,3.702,3.714,3.719,3.72,3.727,3.744,3.748,3.756,3.766,3.773,3.783,3.796,3.802,3.809,3.827,3.836,3.84,3.851,3.869,3.87,3.874,3.897,3.899,3.933,3.935,3.936,3.961,3.973,3.98,4.008,4.008,4.025,4.045,4.06,4.077,4.087,4.095,0.016,0.016,0.007,0,0.016,4.071,4.001,3.99,3.958,3.911,3.903,3.876,3.84,3.81,3.767,3.76,3.71,3.709,3.678,3.652,3.617,3.597,3.577,3.552,3.532,3.515,3.483,3.463,3.44,3.414,3.406,3.379,3.362,3.349,3.336,3.317,3.284,3.278,3.26,3.232,3.224,3.203,3.195,3.179,3.146,3.134,3.124,3.108,3.102,3.092,3.074,3.048,3.042,3.016,3.007,3.001,2.984,2.981,2.96,2.948,2.939,2.924,2.917,2.899,2.883,2.881,2.873,2.856,2.85,2.846,2.824,2.818,2.808,2.79,2.781,2.778,2.768,2.754,2.752,2.745,2.725,2.722,2.712,2.704,2.691,2.686,2.674,2.672,2.669,2.651,2.651,2.643,2.637,2.635,2.628,2.615,2.603,2.602,2.597,2.591,2.582,2.582,2.57,2.563,2.558,2.551,2.546,2.543,2.532,2.527,2.523,2.522,2.511,2.505,2.503,2.497,2.494,2.494,2.488,2.483,2.481,2.479,2.468,2.468,2.466,2.462,2.46,2.456,2.454,2.451,2.449,2.449,2.448,2.444,2.441,2.437,2.429,2.427,2.427,2.425,2.424,2.423,2.419,2.419,2.416,2.413,2.413,2.416,2.413,2.412,2.412,2.411,2.411,2.41,2.41,2.409,2.409,2.411,2.411,2.411,2.411,2.412,2.411,2.412,2.413,2.414,2.415,2.417,2.417,2.417,2.417,2.417,2.417,2.421,2.423,2.423,2.424,2.427,2.432,2.435,2.437,2.44,2.443,2.449,2.455,2.455,2.455,2.455,2.456,2.462,2.462,2.47,2.47,2.479,2.479,2.48,2.483,2.488,2.491,2.501,2.504,2.514,2.514,2.521,2.525,2.525,2.53,2.534,2.541,2.546,2.552,2.556,2.56,2.57,2.577,2.591,2.595,2.598,2.604,2.605,2.616,2.626,2.633,2.637,2.638,2.641,2.65,2.66,2.671,2.676,2.69,2.702,2.703,2.713,2.715,2.73,2.747,2.749,2.76,2.763,2.782,2.785,2.798,2.808,2.817,2.829,2.834,2.848,2.857,2.868,2.878,2.89,2.911,2.915,2.922,2.947,2.957,2.965,2.974,2.979,3.001,3.014,3.024,3.041,3.045,3.067,3.075,3.092,3.104,3.117,3.143,3.155,3.164,3.18,3.194,3.217,3.228,3.249,3.272,3.273,3.291,3.311,3.334,3.348,3.374,3.391,3.406,3.429,3.454,3.482,3.497,3.523,3.55,3.559,3.604,3.621,3.626,3.663,3.686,3.716,3.741,3.773,3.806,3.838,3.864,3.89,3.917,3.985,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.353,3.336,3.332,3.311,3.307,3.293,3.287,3.276,3.275,3.258,3.251,3.242,3.238,3.238,3.217,3.213,3.202,3.199,3.184,3.182,3.17,3.164,3.158,3.156,3.15,3.148,3.133,3.133,3.133,3.127,3.113,3.107,3.107,3.105,3.093,3.09,3.089,3.08,3.076,3.075,3.065,3.065,3.062,3.062,3.048,3.047,3.046,3.04,3.039,3.039,3.036,3.032,3.031,3.03,3.029,3.026,3.026,3.026,3.026,3.026,3.026,3.019,3.015,3.011,3.011,3.011,3.011,3.011,3.009,3.012,3.009,3.007,3.008,3.008,3.008,3.008,3.009,3.01,3.01,3.01,3.01,3.012,3.016,3.016,3.018,3.024,3.024,3.024,3.024,3.023,3.023,3.024,3.03,3.031,3.033,3.036,3.036,3.036,3.038,3.046,3.046,3.055,3.057,3.058,3.063,3.064,3.069,3.069,3.076,3.086,3.086,3.088,3.088,3.095,3.099,3.1,3.104,3.117,3.125,3.133,3.133,3.133,3.138,3.139,3.139,3.147,3.148,3.149,3.16,3.165,3.167,3.169,3.181,3.193,3.206,3.216,3.219,3.219,3.229,3.229,3.232,3.233,3.241,3.253,3.265,3.283,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 42.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 42.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 41.9986} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.826} SEN {Time 42.0386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.18,0.181,0.181,0,0,0,0,0,0,0,0,3.689,3.683,3.672,3.666,3.649,3.636,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.219,3.216,3.219,3.222,3.265,3.355,0,0,0,0,0,0,0,0.148,0.146,0.146,0.146,0.146,0.149,0.149,0.149,0.153,0.153,0.153,0.153,0.159,0.162,3.038,3.038,3.038,3.038,3.036,3.036,3.035,0.162,0.154,0.154,0.153,0.152,0.151,0.144,0.144,0.133,0.105,0.08,0.064,0.064,0.064,0.064,0.06,0.064,0.066,0.066,0.062,0.062,0.061,0.061,0.061,0.072,0.117,0.18,3.338,3.366,3.371,3.366,3.366,3.36,3.36,3.36,3.419,3.431,3.431,3.431,3.456,3.481,3.481,3.481,3.485,3.487,3.495,3.498,3.504,3.512,3.515,3.517,3.517,3.518,3.518,3.534,3.534,3.544,3.551,3.551,3.556,3.556,3.556,3.557,3.573,3.575,3.575,3.577,3.579,3.586,3.594,3.596,3.61,3.612,3.621,3.632,3.636,3.639,3.644,3.646,3.654,3.656,3.661,3.668,3.679,3.682,3.686,3.689,3.693,3.708,3.725,3.729,3.735,3.747,3.753,3.765,3.774,3.775,3.782,3.794,3.809,3.81,3.823,3.831,3.832,3.843,3.86,3.866,3.891,3.893,3.904,3.924,3.939,3.947,3.955,3.973,3.987,3.997,4.014,4.037,4.044,4.066,4.072,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0,4.052,4.018,3.965,3.935,3.907,3.871,3.846,3.798,3.776,3.756,3.72,3.715,3.683,3.656,3.614,3.598,3.568,3.563,3.523,3.506,3.487,3.458,3.451,3.418,3.411,3.377,3.373,3.356,3.331,3.313,3.285,3.275,3.254,3.234,3.219,3.204,3.192,3.175,3.156,3.134,3.127,3.109,3.098,3.087,3.061,3.045,3.038,3.017,3.013,3.011,2.983,2.975,2.967,2.958,2.941,2.933,2.922,2.913,2.901,2.876,2.868,2.858,2.855,2.836,2.825,2.811,2.808,2.8,2.779,2.776,2.766,2.766,2.75,2.738,2.729,2.723,2.721,2.702,2.693,2.682,2.676,2.675,2.66,2.655,2.655,2.65,2.637,2.634,2.62,2.619,2.612,2.605,2.597,2.593,2.579,2.576,2.571,2.571,2.559,2.553,2.553,2.548,2.533,2.533,2.529,2.522,2.519,2.509,2.504,2.497,2.495,2.49,2.49,2.484,2.484,2.48,2.472,2.465,2.464,2.461,2.457,2.454,2.454,2.454,2.45,2.447,2.447,2.442,2.442,2.441,2.434,2.428,2.424,2.424,2.421,2.42,2.421,2.42,2.417,2.416,2.416,2.413,2.412,2.412,2.412,2.412,2.412,2.411,2.411,2.41,2.41,2.41,2.41,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.413,2.42,2.42,2.421,2.425,2.425,2.425,2.425,2.426,2.425,2.43,2.432,2.438,2.438,2.443,2.443,2.445,2.449,2.452,2.455,2.457,2.459,2.46,2.465,2.466,2.477,2.478,2.48,2.488,2.488,2.488,2.49,2.499,2.5,2.512,2.516,2.517,2.521,2.527,2.53,2.53,2.538,2.555,2.56,2.563,2.568,2.571,2.579,2.587,2.593,2.596,2.597,2.604,2.611,2.625,2.629,2.64,2.646,2.647,2.656,2.661,2.673,2.685,2.691,2.696,2.699,2.72,2.725,2.732,2.738,2.744,2.748,2.766,2.784,2.789,2.8,2.801,2.819,2.829,2.839,2.847,2.857,2.872,2.88,2.897,2.901,2.917,2.923,2.944,2.952,2.956,2.963,2.988,2.998,3.023,3.025,3.037,3.047,3.068,3.08,3.092,3.108,3.125,3.147,3.153,3.168,3.184,3.202,3.225,3.246,3.249,3.253,3.291,3.3,3.317,3.335,3.36,3.377,3.394,3.407,3.428,3.459,3.487,3.503,3.522,3.539,3.564,3.605,3.614,3.646,3.661,3.688,3.727,3.747,3.789,3.796,3.825,3.857,3.896,3.92,3.946,4.02,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.349,3.335,3.332,3.316,3.306,3.301,3.294,3.281,3.276,3.265,3.245,3.241,3.239,3.239,3.22,3.212,3.207,3.203,3.185,3.179,3.178,3.175,3.16,3.156,3.148,3.148,3.131,3.123,3.123,3.115,3.112,3.108,3.103,3.098,3.097,3.092,3.088,3.078,3.078,3.073,3.072,3.064,3.064,3.055,3.051,3.051,3.048,3.048,3.043,3.043,3.04,3.038,3.03,3.029,3.024,3.02,3.02,3.02,3.024,3.024,3.024,3.022,3.022,3.017,3.016,3.011,3.012,3.01,3.01,3.01,3.009,3.007,3.007,3.017,3.009,3.011,3.015,3.015,3.011,3.011,3.014,3.014,3.014,3.014,3.016,3.017,3.017,3.016,3.021,3.017,3.017,3.024,3.025,3.029,3.031,3.032,3.036,3.037,3.045,3.046,3.05,3.055,3.056,3.056,3.061,3.061,3.062,3.072,3.081,3.086,3.086,3.087,3.097,3.097,3.097,3.11,3.111,3.115,3.125,3.126,3.131,3.131,3.134,3.134,3.134,3.147,3.152,3.155,3.158,3.168,3.169,3.171,3.174,3.183,3.185,3.211,3.218,3.222,3.238,3.238,3.24,3.243,3.245,3.253,3.257,3.277,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 42.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 42.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 42.1906} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.826} SEN {Time 42.2386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.684,3.679,3.671,3.654,3.646,3.634,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.222,3.222,3.211,3.222,3.265,3.36,3.36,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.145,0.153,0.153,0.153,0.158,0.153,0.158,0.158,0.158,0.161,3.04,3.04,3.04,3.04,3.034,3.029,0.156,0.156,0.154,0.154,0.154,0.15,0.149,0.149,0.149,0.127,0.101,0.076,0.064,0.062,0.062,0.062,0.061,0.062,0.07,0.07,0.065,0.065,0.063,0.063,0.063,0.064,0.101,0.181,3.338,3.359,3.36,3.36,3.36,3.375,3.387,3.406,3.406,3.425,3.428,3.428,3.457,3.478,3.494,3.494,3.496,3.499,3.5,3.501,3.503,3.503,3.519,3.521,3.521,3.521,3.522,3.536,3.538,3.546,3.544,3.546,3.55,3.555,3.565,3.567,3.567,3.567,3.567,3.579,3.579,3.583,3.587,3.589,3.595,3.609,3.623,3.627,3.632,3.635,3.636,3.643,3.65,3.659,3.661,3.663,3.679,3.68,3.686,3.693,3.701,3.709,3.721,3.733,3.733,3.751,3.751,3.751,3.763,3.771,3.778,3.794,3.807,3.807,3.818,3.833,3.839,3.846,3.86,3.883,3.886,3.887,3.91,3.917,3.925,3.95,3.97,3.979,3.984,3.993,4.016,4.022,4.045,4.068,4.086,4.093,0.016,0.016,0.016,0.007,0.016,0.016,4.047,4.047,4.017,3.982,3.929,3.9,3.869,3.831,3.808,3.774,3.745,3.725,3.703,3.661,3.655,3.633,3.601,3.578,3.549,3.536,3.501,3.49,3.464,3.433,3.429,3.402,3.383,3.369,3.344,3.33,3.301,3.292,3.281,3.254,3.232,3.221,3.201,3.184,3.164,3.15,3.137,3.123,3.103,3.095,3.083,3.061,3.043,3.043,3.041,3.023,3.004,2.99,2.98,2.965,2.954,2.941,2.928,2.91,2.902,2.893,2.884,2.872,2.866,2.852,2.843,2.827,2.82,2.808,2.791,2.785,2.771,2.769,2.76,2.744,2.738,2.725,2.717,2.71,2.708,2.698,2.682,2.681,2.679,2.666,2.659,2.657,2.654,2.64,2.632,2.628,2.618,2.616,2.607,2.597,2.584,2.58,2.574,2.568,2.561,2.56,2.558,2.548,2.547,2.539,2.538,2.522,2.518,2.517,2.511,2.506,2.498,2.492,2.49,2.489,2.483,2.478,2.476,2.471,2.467,2.465,2.465,2.46,2.452,2.451,2.449,2.451,2.446,2.444,2.443,2.438,2.437,2.433,2.423,2.423,2.423,2.424,2.424,2.424,2.424,2.42,2.418,2.418,2.416,2.414,2.411,2.411,2.411,2.408,2.409,2.409,2.409,2.408,2.409,2.411,2.411,2.414,2.414,2.414,2.413,2.414,2.416,2.416,2.416,2.419,2.421,2.421,2.419,2.419,2.423,2.425,2.428,2.428,2.431,2.432,2.433,2.434,2.437,2.439,2.445,2.446,2.449,2.45,2.452,2.455,2.463,2.468,2.47,2.473,2.474,2.483,2.487,2.487,2.492,2.492,2.496,2.497,2.516,2.517,2.518,2.521,2.522,2.53,2.533,2.535,2.551,2.553,2.554,2.562,2.565,2.582,2.591,2.597,2.598,2.604,2.608,2.61,2.618,2.629,2.633,2.643,2.645,2.652,2.665,2.677,2.678,2.692,2.698,2.701,2.719,2.72,2.73,2.739,2.75,2.76,2.77,2.777,2.779,2.792,2.805,2.814,2.832,2.837,2.85,2.86,2.867,2.881,2.894,2.91,2.92,2.925,2.939,2.95,2.956,2.974,2.982,2.995,3.011,3.019,3.044,3.044,3.064,3.077,3.088,3.112,3.125,3.142,3.153,3.171,3.177,3.195,3.22,3.23,3.244,3.26,3.277,3.295,3.322,3.342,3.357,3.379,3.395,3.402,3.43,3.459,3.484,3.51,3.53,3.541,3.563,3.599,3.611,3.647,3.665,3.695,3.722,3.747,3.776,3.797,3.844,3.851,3.923,3.94,0,0,0.009,0.009,0.009,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.372,3.358,3.339,3.329,3.308,3.306,3.296,3.294,3.279,3.269,3.263,3.251,3.242,3.236,3.235,3.224,3.208,3.205,3.2,3.179,3.179,3.177,3.166,3.156,3.153,3.152,3.15,3.142,3.128,3.119,3.119,3.118,3.108,3.103,3.097,3.094,3.085,3.084,3.079,3.073,3.07,3.063,3.061,3.059,3.059,3.044,3.044,3.041,3.041,3.036,3.036,3.034,3.032,3.033,3.031,3.029,3.024,3.024,3.024,3.029,3.029,3.029,3.02,3.02,3.011,3.02,3.013,3.017,3.013,3.013,3.009,3.008,3.006,3.008,3.009,3.011,3.011,3.014,3.014,3.013,3.007,3.011,3.011,3.011,3.013,3.014,3.018,3.018,3.019,3.019,3.019,3.024,3.025,3.028,3.033,3.035,3.037,3.037,3.037,3.038,3.039,3.042,3.052,3.054,3.055,3.06,3.063,3.064,3.074,3.076,3.084,3.086,3.092,3.092,3.093,3.094,3.109,3.112,3.114,3.121,3.128,3.128,3.13,3.131,3.134,3.135,3.137,3.138,3.151,3.155,3.159,3.169,3.178,3.186,3.186,3.203,3.211,3.215,3.225,3.229,3.233,3.236,3.236,3.247,3.253,3.262,3.281,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 42.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 42.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 42.3916} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.826} SEN {Time 42.4386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.178,0.181,0.181,0.181,0.186,0,0,0,0,0,0,0,0,3.691,3.682,3.667,3.649,3.645,3.635,3.619,3.619,3.619,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.214,3.213,3.213,3.213,3.254,3.361,0,0,0,0,0,0,0,0.153,0.147,0.147,0.147,0.153,0.146,0.14,0.14,0.154,0.154,0.154,0.154,0.159,0.16,3.036,3.041,3.041,3.041,3.041,3.03,0.158,0.157,0.152,0.152,0.152,0.151,0.148,0.143,0.143,0.125,0.111,0.078,0.066,0.06,0.06,0.061,0.061,0.061,0.064,0.064,0.064,0.064,0.063,0.06,0.06,0.06,0.096,0.174,3.327,3.348,3.355,3.355,3.355,3.367,3.37,3.41,3.417,3.417,3.417,3.417,3.455,3.46,3.478,3.484,3.487,3.491,3.492,3.492,3.506,3.508,3.517,3.519,3.521,3.525,3.525,3.536,3.538,3.544,3.544,3.546,3.551,3.552,3.553,3.556,3.565,3.567,3.567,3.567,3.577,3.584,3.598,3.599,3.608,3.613,3.618,3.622,3.633,3.641,3.642,3.647,3.656,3.662,3.665,3.669,3.673,3.678,3.688,3.69,3.691,3.703,3.714,3.729,3.731,3.741,3.749,3.756,3.767,3.768,3.784,3.788,3.807,3.816,3.818,3.831,3.834,3.844,3.864,3.872,3.882,3.897,3.907,3.917,3.926,3.943,3.953,3.965,3.972,3.997,4.028,4.034,4.056,4.062,4.073,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0.007,4.011,3.962,3.926,3.908,3.877,3.841,3.811,3.772,3.759,3.723,3.706,3.674,3.634,3.628,3.601,3.564,3.55,3.521,3.51,3.484,3.456,3.447,3.42,3.407,3.376,3.363,3.358,3.328,3.311,3.283,3.28,3.256,3.235,3.23,3.197,3.191,3.174,3.152,3.144,3.124,3.106,3.096,3.082,3.069,3.041,3.041,3.031,3.029,2.997,2.991,2.976,2.963,2.952,2.935,2.925,2.921,2.911,2.894,2.876,2.87,2.855,2.852,2.839,2.826,2.813,2.81,2.786,2.781,2.78,2.773,2.751,2.75,2.738,2.736,2.717,2.712,2.706,2.692,2.682,2.681,2.671,2.655,2.655,2.653,2.646,2.635,2.628,2.625,2.62,2.606,2.602,2.593,2.586,2.577,2.575,2.569,2.561,2.556,2.556,2.545,2.541,2.537,2.53,2.519,2.514,2.512,2.504,2.501,2.496,2.491,2.489,2.488,2.479,2.477,2.477,2.475,2.47,2.464,2.464,2.456,2.452,2.449,2.446,2.445,2.443,2.441,2.441,2.437,2.436,2.433,2.431,2.429,2.427,2.427,2.42,2.419,2.419,2.419,2.415,2.419,2.415,2.413,2.41,2.406,2.406,2.406,2.406,2.41,2.41,2.407,2.407,2.417,2.417,2.417,2.417,2.415,2.415,2.415,2.414,2.415,2.416,2.419,2.419,2.419,2.42,2.423,2.421,2.423,2.425,2.425,2.426,2.429,2.434,2.437,2.437,2.437,2.44,2.446,2.453,2.456,2.457,2.459,2.459,2.464,2.47,2.47,2.471,2.476,2.481,2.484,2.487,2.491,2.491,2.5,2.506,2.515,2.519,2.522,2.527,2.533,2.533,2.54,2.551,2.556,2.557,2.565,2.571,2.577,2.586,2.595,2.601,2.606,2.607,2.61,2.629,2.633,2.635,2.637,2.646,2.65,2.663,2.67,2.678,2.679,2.695,2.696,2.712,2.721,2.729,2.739,2.755,2.756,2.763,2.777,2.793,2.795,2.813,2.816,2.821,2.838,2.846,2.851,2.865,2.883,2.889,2.894,2.914,2.926,2.938,2.951,2.955,2.978,2.983,2.999,3.016,3.021,3.042,3.05,3.07,3.082,3.092,3.107,3.122,3.138,3.156,3.167,3.175,3.195,3.218,3.236,3.241,3.259,3.273,3.287,3.323,3.34,3.354,3.368,3.383,3.408,3.442,3.456,3.478,3.503,3.525,3.546,3.56,3.595,3.614,3.643,3.662,3.7,3.729,3.746,3.789,3.797,3.828,3.861,3.891,3.949,3.988,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.354,3.338,3.326,3.32,3.308,3.291,3.29,3.279,3.272,3.271,3.25,3.241,3.235,3.233,3.219,3.208,3.207,3.195,3.186,3.175,3.174,3.174,3.159,3.155,3.153,3.139,3.135,3.133,3.122,3.121,3.12,3.108,3.105,3.098,3.096,3.091,3.085,3.082,3.076,3.076,3.066,3.061,3.06,3.053,3.05,3.048,3.043,3.041,3.041,3.041,3.035,3.035,3.03,3.028,3.027,3.023,3.023,3.023,3.027,3.027,3.027,3.019,3.015,3.015,3.015,3.015,3.014,3.014,3.013,3.013,3.013,3.005,3.005,3.005,3.005,3.005,3.009,3.01,3.01,3.01,3.012,3.01,3.01,3.01,3.012,3.017,3.018,3.018,3.018,3.018,3.027,3.03,3.034,3.034,3.034,3.034,3.034,3.037,3.039,3.041,3.052,3.053,3.056,3.059,3.06,3.066,3.069,3.071,3.074,3.082,3.089,3.09,3.092,3.092,3.096,3.101,3.109,3.116,3.121,3.126,3.133,3.133,3.134,3.137,3.137,3.149,3.15,3.157,3.16,3.164,3.173,3.175,3.178,3.182,3.199,3.205,3.216,3.22,3.227,3.231,3.237,3.244,3.249,3.253,3.261,3.284,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 42.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 42.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 42.5924} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.8768} SEN {Time 42.6386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,0,0,0,3.686,3.669,3.664,3.659,3.647,3.633,3.605,3.605,3.605,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.212,3.212,3.212,3.266,3.362,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.144,0.144,0.144,0.147,0.147,0.15,0.15,0.157,0.157,3.035,3.036,3.036,3.036,3.035,3.036,3.024,0.158,0.156,0.156,0.153,0.153,0.15,0.148,0.148,0.133,0.104,0.083,0.064,0.058,0.057,0.058,0.058,0.061,0.062,0.063,0.064,0.064,0.063,0.063,0.064,0.073,0.11,0.181,3.34,3.353,3.366,3.361,3.366,3.368,3.369,3.369,3.382,3.432,3.445,3.458,3.458,3.458,3.472,3.475,3.487,3.5,3.504,3.504,3.51,3.51,3.517,3.518,3.52,3.525,3.527,3.533,3.536,3.537,3.537,3.544,3.547,3.553,3.559,3.563,3.565,3.568,3.571,3.578,3.588,3.592,3.593,3.603,3.614,3.618,3.627,3.628,3.632,3.636,3.644,3.645,3.656,3.658,3.661,3.662,3.672,3.683,3.683,3.689,3.69,3.709,3.716,3.722,3.728,3.748,3.749,3.751,3.764,3.767,3.779,3.783,3.795,3.816,3.822,3.831,3.848,3.851,3.876,3.881,3.883,3.894,3.908,3.914,3.928,3.948,3.96,3.975,3.985,3.997,4.014,4.033,4.035,4.061,4.068,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.013,3.975,3.953,3.936,3.904,3.862,3.853,3.819,3.782,3.747,3.724,3.695,3.673,3.646,3.623,3.601,3.583,3.56,3.526,3.51,3.496,3.454,3.443,3.418,3.402,3.379,3.365,3.34,3.328,3.299,3.295,3.285,3.258,3.236,3.224,3.191,3.178,3.162,3.153,3.137,3.123,3.113,3.098,3.078,3.071,3.05,3.044,3.018,3.009,3.009,2.982,2.974,2.97,2.953,2.939,2.931,2.919,2.907,2.896,2.878,2.874,2.855,2.846,2.84,2.825,2.821,2.801,2.796,2.791,2.784,2.764,2.758,2.749,2.732,2.731,2.721,2.712,2.701,2.69,2.673,2.673,2.67,2.659,2.652,2.651,2.643,2.641,2.634,2.623,2.613,2.61,2.602,2.599,2.589,2.58,2.572,2.57,2.567,2.562,2.559,2.549,2.539,2.539,2.528,2.524,2.513,2.511,2.509,2.502,2.494,2.493,2.488,2.488,2.478,2.478,2.478,2.47,2.47,2.468,2.461,2.461,2.459,2.458,2.452,2.45,2.445,2.443,2.443,2.439,2.437,2.433,2.426,2.426,2.425,2.423,2.421,2.415,2.413,2.413,2.413,2.412,2.412,2.408,2.408,2.408,2.408,2.408,2.408,2.408,2.408,2.408,2.409,2.411,2.409,2.409,2.409,2.409,2.409,2.413,2.414,2.414,2.415,2.417,2.418,2.418,2.417,2.417,2.418,2.425,2.425,2.425,2.425,2.435,2.438,2.441,2.443,2.444,2.447,2.449,2.452,2.453,2.459,2.461,2.464,2.466,2.468,2.473,2.473,2.479,2.485,2.486,2.49,2.495,2.495,2.502,2.508,2.515,2.517,2.521,2.525,2.531,2.533,2.546,2.547,2.549,2.564,2.565,2.567,2.58,2.587,2.595,2.607,2.609,2.609,2.619,2.625,2.629,2.642,2.643,2.644,2.651,2.659,2.671,2.679,2.683,2.694,2.699,2.718,2.718,2.726,2.745,2.745,2.746,2.769,2.778,2.792,2.792,2.807,2.817,2.83,2.842,2.844,2.85,2.863,2.877,2.891,2.894,2.909,2.925,2.937,2.949,2.956,2.968,2.978,2.999,3.013,3.027,3.039,3.04,3.066,3.082,3.09,3.106,3.121,3.135,3.152,3.167,3.183,3.202,3.223,3.233,3.245,3.269,3.272,3.298,3.323,3.33,3.354,3.379,3.389,3.406,3.434,3.46,3.48,3.506,3.518,3.54,3.568,3.597,3.6,3.641,3.658,3.696,3.727,3.746,3.78,3.806,3.829,3.863,3.881,3.922,3.962,3.98,4.026,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.353,3.343,3.329,3.326,3.311,3.297,3.288,3.288,3.278,3.266,3.256,3.244,3.238,3.231,3.22,3.209,3.205,3.197,3.187,3.183,3.173,3.167,3.157,3.152,3.143,3.142,3.137,3.128,3.12,3.112,3.11,3.11,3.11,3.11,3.094,3.092,3.088,3.084,3.075,3.07,3.067,3.067,3.062,3.059,3.053,3.041,3.041,3.04,3.041,3.04,3.04,3.032,3.03,3.025,3.025,3.023,3.023,3.023,3.036,3.036,3.036,3.017,3.017,3.016,3.016,3.012,3.012,3.012,3.011,3.009,3.009,3.009,3.008,3.005,3.005,3.005,3.006,3.008,3.013,3.012,3.014,3.014,3.014,3.014,3.014,3.016,3.016,3.017,3.021,3.022,3.022,3.024,3.025,3.029,3.033,3.034,3.034,3.035,3.039,3.042,3.047,3.051,3.053,3.055,3.056,3.066,3.069,3.069,3.071,3.08,3.089,3.094,3.096,3.096,3.096,3.101,3.111,3.113,3.12,3.128,3.13,3.133,3.133,3.133,3.133,3.147,3.149,3.151,3.156,3.165,3.169,3.169,3.18,3.186,3.208,3.21,3.22,3.224,3.226,3.227,3.227,3.237,3.24,3.258,3.265,3.283,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 42.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 42.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 42.7934} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.8768} SEN {Time 42.8386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.185,0.187,0.187,0,0,0,0,0,0,0,0,3.689,3.688,3.664,3.66,3.637,3.635,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.24,3.221,3.218,3.206,3.206,3.206,3.256,3.353,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.15,0.15,0.15,0.151,0.15,0.151,0.151,0.156,0.161,3.024,3.029,3.035,3.035,3.029,3.035,3.035,0.153,0.153,0.153,0.153,0.152,0.146,0.141,0.139,0.121,0.101,0.081,0.06,0.06,0.06,0.06,0.061,0.062,0.063,0.063,0.063,0.062,0.061,0.061,0.061,0.076,0.109,0.18,3.342,3.354,3.36,3.354,3.36,3.36,3.37,3.385,3.405,3.405,3.437,3.457,3.468,3.468,3.485,3.487,3.493,3.493,3.497,3.497,3.5,3.507,3.516,3.521,3.522,3.524,3.524,3.536,3.536,3.537,3.537,3.537,3.549,3.555,3.562,3.566,3.566,3.566,3.575,3.576,3.576,3.579,3.598,3.598,3.598,3.598,3.62,3.628,3.629,3.635,3.643,3.643,3.654,3.655,3.664,3.667,3.671,3.686,3.687,3.702,3.707,3.708,3.719,3.736,3.738,3.742,3.756,3.757,3.768,3.772,3.783,3.793,3.796,3.813,3.827,3.833,3.841,3.849,3.868,3.872,3.883,3.894,3.899,3.918,3.923,3.949,3.954,3.977,3.99,3.997,4.01,4.033,4.041,4.062,4.08,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.027,3.987,3.969,3.931,3.902,3.866,3.838,3.81,3.782,3.749,3.724,3.698,3.675,3.641,3.626,3.609,3.58,3.548,3.524,3.499,3.486,3.457,3.454,3.424,3.414,3.379,3.363,3.343,3.339,3.303,3.293,3.273,3.255,3.238,3.228,3.195,3.187,3.174,3.159,3.14,3.123,3.102,3.097,3.082,3.058,3.055,3.055,3.037,3.012,2.996,2.982,2.981,2.963,2.948,2.931,2.923,2.92,2.898,2.891,2.871,2.87,2.854,2.854,2.846,2.828,2.814,2.8,2.788,2.778,2.778,2.761,2.757,2.747,2.739,2.727,2.716,2.714,2.704,2.698,2.687,2.68,2.679,2.669,2.66,2.649,2.644,2.639,2.632,2.617,2.608,2.608,2.605,2.591,2.584,2.573,2.573,2.57,2.567,2.555,2.55,2.547,2.543,2.534,2.533,2.522,2.516,2.515,2.507,2.503,2.497,2.489,2.488,2.486,2.482,2.482,2.476,2.472,2.466,2.466,2.466,2.466,2.456,2.455,2.455,2.453,2.448,2.446,2.445,2.442,2.436,2.435,2.43,2.426,2.425,2.424,2.423,2.419,2.416,2.415,2.415,2.415,2.415,2.415,2.415,2.412,2.412,2.412,2.412,2.412,2.412,2.411,2.411,2.415,2.414,2.414,2.414,2.414,2.41,2.41,2.411,2.418,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.426,2.427,2.427,2.427,2.428,2.436,2.436,2.439,2.439,2.444,2.448,2.45,2.453,2.453,2.459,2.461,2.468,2.47,2.47,2.476,2.477,2.482,2.484,2.489,2.491,2.495,2.502,2.511,2.513,2.519,2.522,2.523,2.529,2.532,2.54,2.541,2.549,2.556,2.564,2.565,2.579,2.591,2.596,2.6,2.601,2.608,2.611,2.631,2.632,2.636,2.64,2.647,2.655,2.665,2.672,2.679,2.684,2.699,2.7,2.715,2.719,2.723,2.737,2.746,2.75,2.762,2.776,2.794,2.797,2.808,2.825,2.829,2.837,2.853,2.861,2.866,2.876,2.89,2.9,2.915,2.923,2.944,2.948,2.955,2.976,2.98,2.998,3.012,3.029,3.032,3.05,3.064,3.075,3.082,3.103,3.123,3.141,3.154,3.167,3.182,3.205,3.224,3.23,3.246,3.253,3.278,3.302,3.319,3.345,3.357,3.364,3.399,3.409,3.426,3.456,3.481,3.498,3.541,3.552,3.571,3.605,3.607,3.638,3.663,3.695,3.717,3.748,3.782,3.8,3.832,3.86,3.892,3.906,3.943,3.995,4.018,4.056,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.357,3.334,3.326,3.325,3.307,3.297,3.283,3.28,3.273,3.253,3.252,3.249,3.241,3.24,3.219,3.214,3.207,3.194,3.183,3.179,3.175,3.169,3.16,3.158,3.158,3.153,3.144,3.131,3.13,3.121,3.114,3.114,3.103,3.092,3.091,3.088,3.084,3.083,3.079,3.077,3.067,3.062,3.059,3.056,3.056,3.048,3.04,3.038,3.036,3.035,3.032,3.03,3.032,3.03,3.022,3.022,3.022,3.022,3.028,3.028,3.028,3.023,3.018,3.011,3.011,3.007,3.008,3.008,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.008,3.008,3.009,3.009,3.009,3.012,3.013,3.013,3.015,3.014,3.015,3.015,3.02,3.021,3.021,3.021,3.027,3.03,3.034,3.035,3.035,3.035,3.035,3.041,3.041,3.044,3.049,3.052,3.052,3.056,3.064,3.064,3.072,3.072,3.089,3.09,3.09,3.092,3.093,3.105,3.107,3.112,3.119,3.119,3.126,3.126,3.135,3.135,3.135,3.135,3.141,3.146,3.149,3.154,3.16,3.168,3.169,3.177,3.191,3.2,3.215,3.22,3.221,3.23,3.23,3.234,3.236,3.238,3.242,3.254,3.293,3.296,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 42.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 42.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 42.9944} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.8768} SEN {Time 43.0347} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.179,0.184,0.186,0,0,0,0,0,0,0,0,0,3.675,3.66,3.658,3.642,3.636,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.247,3.222,3.214,3.211,3.211,3.211,3.358,0.007,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.147,0.147,0.149,0.15,0.158,0.155,0.155,0.155,0.155,0.155,3.027,3.027,3.028,3.028,3.027,3.028,3.028,0.158,0.157,0.157,0.157,0.157,0.15,0.146,0.146,0.121,0.1,0.079,0.065,0.062,0.06,0.06,0.06,0.06,0.068,0.068,0.061,0.06,0.059,0.059,0.059,0.068,0.119,0.166,3.36,3.36,3.379,3.379,3.365,3.365,3.379,0,0,0,0,3.461,3.461,3.461,3.472,3.484,3.485,3.491,3.495,3.496,3.509,3.51,3.516,3.52,3.524,3.526,3.531,3.536,3.538,3.54,3.544,3.544,3.549,3.555,3.56,3.562,3.565,3.572,3.574,3.575,3.579,3.581,3.592,3.595,3.606,3.614,3.615,3.619,3.632,3.641,3.642,3.642,3.648,3.652,3.659,3.665,3.673,3.68,3.692,3.692,3.693,3.717,3.725,3.725,3.739,3.74,3.751,3.759,3.769,3.776,3.786,3.792,3.804,3.816,3.83,3.834,3.842,3.85,3.87,3.879,3.884,3.896,3.905,3.914,3.923,3.942,3.95,3.975,3.982,4,4.025,4.028,4.037,4.067,4.071,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.072,4.025,3.998,3.965,3.965,3.933,3.912,3.853,3.81,3.789,3.752,3.733,3.694,3.683,3.657,3.629,3.586,3.577,3.551,3.514,3.498,3.473,3.459,3.44,3.426,3.401,3.383,3.372,3.35,3.32,3.311,3.294,3.278,3.264,3.231,3.226,3.203,3.182,3.166,3.155,3.142,3.125,3.108,3.095,3.091,3.072,3.047,3.038,3.021,3.012,2.998,2.988,2.973,2.959,2.946,2.935,2.92,2.918,2.907,2.896,2.877,2.872,2.855,2.848,2.833,2.823,2.822,2.803,2.794,2.787,2.778,2.767,2.765,2.744,2.737,2.736,2.722,2.713,2.702,2.697,2.679,2.679,2.672,2.66,2.651,2.648,2.643,2.642,2.629,2.61,2.608,2.607,2.604,2.597,2.589,2.58,2.576,2.573,2.561,2.561,2.558,2.546,2.542,2.537,2.528,2.527,2.523,2.509,2.508,2.506,2.495,2.494,2.491,2.485,2.484,2.477,2.477,2.475,2.472,2.468,2.464,2.462,2.456,2.45,2.45,2.449,2.449,2.444,2.444,2.443,2.441,2.431,2.43,2.43,2.43,2.43,2.425,2.425,2.414,2.414,2.413,2.411,2.411,2.411,2.411,2.41,2.41,2.411,2.412,2.412,2.412,2.411,2.407,2.407,2.407,2.414,2.414,2.414,2.414,2.414,2.414,2.416,2.418,2.419,2.419,2.419,2.421,2.42,2.42,2.421,2.421,2.426,2.428,2.432,2.432,2.432,2.437,2.445,2.446,2.446,2.448,2.448,2.449,2.457,2.458,2.46,2.465,2.467,2.475,2.482,2.482,2.484,2.487,2.49,2.502,2.504,2.505,2.515,2.519,2.52,2.53,2.531,2.532,2.541,2.551,2.556,2.556,2.562,2.569,2.578,2.592,2.595,2.599,2.61,2.615,2.621,2.626,2.631,2.633,2.634,2.642,2.653,2.66,2.668,2.677,2.684,2.699,2.707,2.716,2.725,2.732,2.742,2.749,2.755,2.765,2.778,2.791,2.798,2.803,2.814,2.827,2.833,2.847,2.858,2.874,2.881,2.886,2.894,2.908,2.923,2.94,2.953,2.955,2.974,2.983,2.995,3.014,3.024,3.037,3.046,3.066,3.083,3.094,3.094,3.121,3.134,3.151,3.167,3.175,3.201,3.227,3.233,3.245,3.26,3.28,3.301,3.322,3.337,3.355,3.375,3.4,3.411,3.43,3.458,3.481,3.492,3.528,3.536,3.569,3.6,3.621,3.632,3.666,3.701,3.714,3.751,3.775,3.804,3.83,3.86,3.904,3.917,3.947,4.058,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.352,3.337,3.326,3.319,3.299,3.289,3.281,3.275,3.266,3.253,3.25,3.244,3.24,3.234,3.215,3.213,3.21,3.193,3.188,3.181,3.172,3.171,3.159,3.158,3.156,3.14,3.131,3.125,3.123,3.118,3.114,3.109,3.104,3.104,3.094,3.087,3.085,3.083,3.078,3.073,3.073,3.066,3.066,3.066,3.06,3.05,3.046,3.043,3.043,3.041,3.041,3.032,3.032,3.03,3.03,3.023,3.023,3.023,3.023,3.023,3.023,3.02,3.018,3.017,3.014,3.013,3.012,3.007,3.011,3.008,3.011,3.008,3.008,3.006,3.006,3.005,3.006,3.012,3.012,3.014,3.014,3.014,3.015,3.014,3.015,3.017,3.017,3.019,3.02,3.02,3.02,3.02,3.025,3.025,3.031,3.032,3.035,3.04,3.042,3.044,3.048,3.05,3.055,3.056,3.061,3.064,3.065,3.077,3.08,3.088,3.088,3.089,3.091,3.091,3.104,3.105,3.11,3.116,3.121,3.136,3.136,3.137,3.137,3.14,3.14,3.148,3.148,3.149,3.154,3.163,3.171,3.172,3.178,3.19,3.205,3.205,3.213,3.225,3.23,3.23,3.243,3.246,3.248,3.249,3.257,3.28,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 43.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 43.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 43.1864} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.8768} SEN {Time 43.2346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.182,0.183,0.183,0,0,0,0,0,0,0,0,3.683,3.676,3.669,3.667,3.651,3.629,3.61,3.61,3.61,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.233,3.212,3.212,3.208,3.208,3.271,3.359,3.359,0,0,0,0,0,0,0,0.147,0.144,0.144,0.144,0.144,0.143,0.148,0.148,0.149,0.149,0.153,0.153,0.154,0.161,3.02,3.03,3.03,3.03,3.024,3.03,3.024,0.154,0.154,0.155,0.154,0.152,0.148,0.148,0.145,0.125,0.102,0.071,0.064,0.059,0.059,0.059,0.059,0.064,0.066,0.066,0.065,0.064,0.064,0.064,0.064,0.072,0.105,0.183,3.342,3.349,3.356,3.356,3.362,3.378,0.007,0,0,0,0.007,3.445,3.445,3.478,3.478,3.482,3.488,3.493,3.499,3.503,3.503,3.509,3.514,3.514,3.522,3.53,3.531,3.533,3.533,3.534,3.536,3.54,3.546,3.549,3.555,3.559,3.563,3.576,3.577,3.578,3.578,3.59,3.594,3.598,3.6,3.614,3.618,3.628,3.633,3.64,3.643,3.644,3.661,3.661,3.662,3.664,3.681,3.682,3.687,3.69,3.696,3.706,3.716,3.725,3.726,3.737,3.746,3.753,3.76,3.768,3.786,3.788,3.796,3.814,3.824,3.825,3.84,3.849,3.869,3.875,3.894,3.894,3.898,3.917,3.927,3.955,3.958,3.966,3.984,4,4.014,4.031,4.032,4.056,4.069,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.017,3.95,3.924,3.895,3.878,3.834,3.82,3.787,3.751,3.731,3.691,3.664,3.638,3.627,3.596,3.56,3.557,3.521,3.501,3.483,3.449,3.446,3.424,3.402,3.392,3.371,3.343,3.325,3.303,3.294,3.275,3.265,3.24,3.229,3.193,3.192,3.181,3.151,3.138,3.124,3.111,3.089,3.086,3.066,3.041,3.039,3.018,3.013,2.999,2.991,2.981,2.963,2.954,2.932,2.928,2.919,2.908,2.896,2.879,2.872,2.857,2.848,2.83,2.82,2.819,2.802,2.793,2.782,2.777,2.77,2.757,2.751,2.738,2.736,2.721,2.708,2.698,2.697,2.682,2.674,2.674,2.658,2.652,2.649,2.643,2.638,2.637,2.627,2.613,2.608,2.606,2.596,2.588,2.578,2.576,2.57,2.561,2.56,2.56,2.544,2.543,2.532,2.531,2.522,2.517,2.511,2.509,2.504,2.504,2.497,2.494,2.487,2.486,2.478,2.477,2.473,2.47,2.467,2.462,2.46,2.455,2.449,2.449,2.448,2.447,2.445,2.442,2.441,2.44,2.438,2.432,2.431,2.429,2.429,2.423,2.416,2.415,2.415,2.414,2.415,2.414,2.414,2.408,2.408,2.408,2.411,2.411,2.411,2.411,2.409,2.409,2.409,2.41,2.41,2.411,2.413,2.412,2.412,2.413,2.412,2.412,2.416,2.416,2.416,2.416,2.416,2.418,2.419,2.419,2.425,2.426,2.43,2.434,2.437,2.439,2.44,2.446,2.449,2.45,2.457,2.459,2.46,2.463,2.465,2.468,2.47,2.47,2.47,2.483,2.484,2.486,2.489,2.496,2.498,2.508,2.516,2.519,2.524,2.531,2.537,2.542,2.546,2.547,2.556,2.557,2.56,2.567,2.579,2.59,2.596,2.604,2.606,2.61,2.613,2.627,2.634,2.64,2.641,2.65,2.653,2.66,2.67,2.677,2.683,2.692,2.697,2.712,2.723,2.729,2.74,2.751,2.756,2.761,2.78,2.785,2.803,2.803,2.815,2.829,2.834,2.848,2.852,2.869,2.875,2.879,2.907,2.91,2.922,2.943,2.954,2.962,2.977,2.985,2.997,3.016,3.025,3.042,3.053,3.07,3.087,3.09,3.105,3.121,3.148,3.155,3.167,3.177,3.197,3.224,3.235,3.242,3.268,3.27,3.297,3.315,3.333,3.343,3.374,3.399,3.406,3.439,3.451,3.486,3.501,3.523,3.549,3.568,3.595,3.619,3.638,3.673,3.687,3.726,3.753,3.784,3.833,3.858,3.892,3.892,3.928,3.948,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.356,3.328,3.328,3.322,3.315,3.289,3.289,3.274,3.266,3.253,3.253,3.246,3.243,3.232,3.222,3.21,3.205,3.197,3.185,3.179,3.173,3.17,3.158,3.155,3.151,3.135,3.132,3.124,3.12,3.118,3.117,3.111,3.107,3.104,3.093,3.09,3.085,3.082,3.077,3.076,3.067,3.066,3.066,3.058,3.054,3.05,3.043,3.04,3.04,3.039,3.038,3.033,3.029,3.029,3.022,3.02,3.02,3.029,3.031,3.031,3.031,3.019,3.016,3.016,3.016,3.013,3.012,3.009,3.012,3.012,3.012,3.012,3.012,3.003,3.003,3.003,3.003,3.004,3.01,3.012,3.016,3.016,3.016,3.016,3.018,3.022,3.022,3.021,3.022,3.021,3.021,3.021,3.027,3.03,3.03,3.032,3.033,3.038,3.043,3.043,3.051,3.054,3.059,3.06,3.06,3.061,3.065,3.073,3.077,3.08,3.087,3.091,3.096,3.096,3.099,3.106,3.111,3.113,3.119,3.13,3.13,3.14,3.14,3.143,3.143,3.143,3.147,3.151,3.151,3.159,3.172,3.173,3.182,3.185,3.202,3.207,3.219,3.232,3.232,3.232,3.234,3.235,3.247,3.248,3.259,3.282,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 43.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 43.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 43.3874} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.6642} SEN {Time 43.4346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.174,0.19,0.19,0,0,0,0,0,0,0,0,3.697,3.684,3.674,3.661,3.639,3.626,3.615,3.615,3.599,3.599,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.212,3.212,3.212,3.213,3.213,3.254,3.359,0,0,0,0,0,0,0,0.151,0.149,0.149,0.149,0.149,0.149,0.149,0.149,0.154,0.149,0.154,0.154,0.154,0.157,3.028,3.034,3.034,3.034,3.028,3.043,3.017,0.158,0.156,0.156,0.156,0.156,0.145,0.145,0.145,0.128,0.113,0.073,0.067,0.06,0.06,0.06,0.063,0.064,0.065,0.065,0.064,0.064,0.064,0.064,0.064,0.065,0.113,0.189,3.347,3.363,3.372,3.363,3.372,3.372,3.372,3.384,3.405,3.405,3.44,0.007,3.476,3.476,3.479,3.479,3.499,3.499,3.5,3.502,3.502,3.505,3.516,3.519,3.519,3.52,3.521,3.526,3.535,3.54,3.541,3.544,3.547,3.551,3.551,3.554,3.56,3.569,3.576,3.578,3.58,3.59,3.595,3.596,3.605,3.608,3.621,3.633,3.635,3.641,3.645,3.647,3.655,3.655,3.659,3.673,3.673,3.677,3.688,3.689,3.692,3.707,3.719,3.733,3.735,3.741,3.747,3.748,3.752,3.764,3.784,3.798,3.8,3.806,3.821,3.826,3.839,3.849,3.868,3.868,3.885,3.894,3.9,3.92,3.926,3.949,3.96,3.967,3.986,3.994,4.003,4.036,4.038,4.059,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.009,3.95,3.943,3.906,3.863,3.829,3.813,3.79,3.746,3.732,3.704,3.674,3.667,3.619,3.603,3.579,3.553,3.521,3.496,3.476,3.462,3.438,3.424,3.398,3.386,3.364,3.345,3.329,3.304,3.298,3.283,3.25,3.239,3.225,3.198,3.182,3.181,3.155,3.137,3.131,3.11,3.093,3.085,3.061,3.046,3.043,3.023,3.011,3.005,2.987,2.978,2.966,2.955,2.938,2.929,2.925,2.909,2.896,2.878,2.87,2.862,2.855,2.833,2.827,2.816,2.808,2.79,2.789,2.782,2.767,2.758,2.754,2.742,2.721,2.717,2.71,2.701,2.69,2.688,2.68,2.667,2.663,2.66,2.653,2.649,2.637,2.633,2.623,2.611,2.608,2.608,2.594,2.59,2.585,2.585,2.578,2.575,2.561,2.56,2.556,2.548,2.539,2.53,2.52,2.514,2.508,2.507,2.502,2.499,2.488,2.485,2.484,2.483,2.475,2.474,2.475,2.473,2.47,2.463,2.463,2.459,2.454,2.454,2.449,2.447,2.446,2.445,2.436,2.432,2.427,2.427,2.426,2.426,2.426,2.426,2.416,2.415,2.415,2.414,2.415,2.418,2.418,2.414,2.414,2.414,2.414,2.414,2.412,2.409,2.409,2.409,2.409,2.41,2.411,2.418,2.413,2.418,2.418,2.415,2.415,2.418,2.418,2.419,2.419,2.419,2.425,2.419,2.43,2.43,2.428,2.428,2.433,2.44,2.44,2.442,2.443,2.444,2.446,2.449,2.45,2.457,2.46,2.463,2.464,2.465,2.471,2.475,2.478,2.481,2.488,2.489,2.495,2.496,2.504,2.506,2.513,2.516,2.517,2.52,2.53,2.534,2.537,2.549,2.553,2.559,2.559,2.564,2.573,2.592,2.597,2.599,2.607,2.609,2.62,2.621,2.633,2.637,2.64,2.643,2.648,2.657,2.668,2.681,2.688,2.69,2.701,2.715,2.72,2.736,2.737,2.749,2.76,2.766,2.785,2.787,2.789,2.803,2.819,2.831,2.842,2.85,2.855,2.87,2.883,2.885,2.898,2.914,2.923,2.944,2.945,2.959,2.977,2.981,2.999,3.012,3.026,3.041,3.042,3.061,3.076,3.093,3.104,3.125,3.139,3.15,3.163,3.177,3.199,3.217,3.224,3.248,3.258,3.286,3.294,3.32,3.346,3.354,3.374,3.388,3.405,3.434,3.462,3.486,3.493,3.529,3.545,3.569,3.6,3.614,3.637,3.669,3.692,3.722,3.753,3.775,3.802,3.833,3.861,3.888,3.922,3.954,3.981,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.356,3.343,3.329,3.311,3.307,3.299,3.295,3.289,3.274,3.253,3.253,3.24,3.239,3.23,3.221,3.209,3.209,3.195,3.187,3.183,3.169,3.168,3.165,3.152,3.145,3.142,3.137,3.135,3.121,3.121,3.12,3.108,3.104,3.094,3.093,3.09,3.085,3.082,3.078,3.074,3.07,3.068,3.061,3.061,3.052,3.05,3.045,3.045,3.043,3.039,3.039,3.035,3.034,3.029,3.028,3.025,3.025,3.025,3.026,3.026,3.026,3.016,3.016,3.013,3.012,3.012,3.011,3.011,3.011,3.011,3.007,3.007,3.006,3.005,3.005,3.006,3.012,3.012,3.012,3.011,3.011,3.011,3.016,3.016,3.017,3.017,3.016,3.018,3.018,3.024,3.024,3.025,3.025,3.027,3.029,3.035,3.035,3.037,3.041,3.044,3.045,3.051,3.055,3.056,3.059,3.062,3.066,3.082,3.082,3.084,3.086,3.092,3.092,3.099,3.099,3.107,3.111,3.117,3.121,3.13,3.13,3.137,3.137,3.137,3.137,3.143,3.147,3.152,3.156,3.167,3.168,3.172,3.177,3.189,3.198,3.202,3.217,3.219,3.223,3.232,3.234,3.239,3.247,3.248,3.252,3.286,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 43.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 43.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 43.5883} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 6.223} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.6642} SEN {Time 43.6346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.188,0.188,0,0,0,0,0,0,0,0,3.69,3.689,3.659,3.658,3.637,3.631,3.614,3.614,3.614,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.217,3.217,3.217,3.217,3.255,3.372,3.372,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.142,0.149,0.149,0.153,0.149,0.153,0.153,0.153,0.153,3.031,3.032,3.039,3.039,3.039,3.039,3.039,0.161,0.161,0.161,0.157,0.152,0.15,0.148,0.141,0.127,0.113,0.08,0.065,0.06,0.06,0.06,0.061,0.065,0.067,0.067,0.067,0.065,0.063,0.063,0.065,0.065,0.107,0.184,3.326,3.354,3.382,3.364,3.364,3.37,3.37,3.37,3.397,3.399,3.455,3.471,3.474,3.472,3.472,3.474,3.492,3.504,3.504,3.506,3.51,3.511,3.516,3.52,3.52,3.523,3.524,3.537,3.537,3.542,3.545,3.544,3.546,3.546,3.555,3.559,3.565,3.567,3.58,3.58,3.582,3.586,3.586,3.604,3.615,3.617,3.635,3.635,3.638,3.64,3.647,3.649,3.651,3.657,3.661,3.672,3.675,3.681,3.689,3.69,3.697,3.697,3.714,3.724,3.746,3.747,3.747,3.747,3.763,3.772,3.784,3.791,3.799,3.81,3.825,3.838,3.838,3.851,3.87,3.871,3.884,3.891,3.894,3.922,3.937,3.941,3.964,3.967,3.989,3.997,4.019,4.033,4.047,4.064,4.071,4.089,0.016,0.016,0.016,0.007,0.016,0.016,4.09,4.051,3.994,3.956,3.918,3.901,3.872,3.834,3.813,3.776,3.747,3.725,3.708,3.678,3.651,3.645,3.607,3.569,3.552,3.532,3.504,3.492,3.46,3.446,3.427,3.406,3.379,3.369,3.342,3.33,3.311,3.303,3.262,3.253,3.229,3.224,3.202,3.189,3.169,3.155,3.138,3.124,3.105,3.101,3.085,3.062,3.05,3.039,3.024,3.015,3.004,2.987,2.979,2.963,2.95,2.938,2.925,2.922,2.908,2.896,2.874,2.87,2.859,2.858,2.838,2.826,2.815,2.805,2.789,2.783,2.773,2.765,2.759,2.742,2.739,2.73,2.722,2.711,2.706,2.693,2.686,2.685,2.682,2.672,2.658,2.658,2.652,2.642,2.634,2.622,2.618,2.609,2.604,2.596,2.588,2.586,2.583,2.575,2.571,2.56,2.559,2.543,2.54,2.535,2.529,2.529,2.524,2.51,2.506,2.506,2.498,2.496,2.487,2.487,2.487,2.485,2.474,2.472,2.47,2.467,2.464,2.461,2.453,2.45,2.45,2.449,2.446,2.445,2.443,2.442,2.439,2.437,2.425,2.425,2.425,2.425,2.424,2.423,2.421,2.42,2.415,2.415,2.414,2.411,2.408,2.408,2.408,2.408,2.411,2.412,2.411,2.411,2.412,2.412,2.412,2.412,2.416,2.412,2.409,2.409,2.414,2.414,2.414,2.416,2.416,2.416,2.418,2.419,2.42,2.42,2.424,2.424,2.433,2.435,2.439,2.439,2.439,2.439,2.439,2.443,2.445,2.447,2.455,2.456,2.462,2.464,2.47,2.477,2.477,2.483,2.484,2.485,2.489,2.49,2.495,2.499,2.515,2.515,2.519,2.519,2.528,2.533,2.534,2.537,2.548,2.556,2.557,2.561,2.565,2.58,2.599,2.6,2.603,2.605,2.609,2.61,2.624,2.634,2.637,2.64,2.642,2.657,2.66,2.676,2.678,2.694,2.702,2.703,2.711,2.716,2.728,2.737,2.742,2.753,2.767,2.777,2.784,2.799,2.806,2.824,2.825,2.84,2.845,2.859,2.873,2.876,2.89,2.898,2.915,2.926,2.938,2.951,2.957,2.97,2.983,2.997,3.012,3.028,3.042,3.043,3.062,3.082,3.096,3.109,3.123,3.135,3.159,3.168,3.175,3.2,3.217,3.228,3.248,3.26,3.272,3.295,3.325,3.332,3.348,3.379,3.389,3.407,3.431,3.459,3.483,3.507,3.518,3.543,3.57,3.596,3.612,3.641,3.666,3.691,3.716,3.75,3.774,3.804,3.826,3.855,3.888,3.909,4.007,4.015,0.016,0.016,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.357,3.336,3.335,3.319,3.319,3.304,3.299,3.284,3.269,3.258,3.253,3.247,3.24,3.238,3.22,3.219,3.207,3.194,3.19,3.184,3.177,3.167,3.153,3.151,3.148,3.141,3.133,3.132,3.128,3.121,3.118,3.111,3.11,3.106,3.09,3.084,3.081,3.081,3.078,3.07,3.066,3.061,3.061,3.053,3.048,3.047,3.045,3.04,3.04,3.039,3.037,3.036,3.026,3.022,3.02,3.018,3.018,3.018,3.032,3.032,3.032,3.024,3.018,3.015,3.015,3.015,3.015,3.013,3.013,3.007,3.007,3.006,3.005,3.005,3.006,3.005,3.011,3.011,3.011,3.011,3.011,3.01,3.008,3.01,3.01,3.012,3.022,3.022,3.022,3.022,3.024,3.026,3.028,3.028,3.032,3.035,3.037,3.043,3.044,3.044,3.046,3.055,3.057,3.061,3.062,3.064,3.065,3.068,3.076,3.085,3.092,3.093,3.094,3.094,3.095,3.101,3.104,3.109,3.118,3.127,3.131,3.14,3.14,3.142,3.142,3.149,3.153,3.158,3.161,3.162,3.166,3.175,3.177,3.185,3.201,3.213,3.226,3.227,3.228,3.234,3.239,3.242,3.242,3.244,3.26,3.28,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 43.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 43.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 43.7894} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 6.223} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.6642} SEN {Time 43.8346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,0,3.681,3.67,3.649,3.645,3.632,3.616,3.616,3.616,3.606,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.221,3.217,3.221,3.267,3.362,3.362,0,0,0,0,0,0,0,0.144,0.14,0.14,0.14,0.14,0.146,0.146,0.145,0.146,0.146,0.152,0.152,0.157,0.157,3.033,3.033,3.033,3.033,3.029,3.029,3.028,0.158,0.157,0.157,0.156,0.156,0.149,0.147,0.143,0.134,0.101,0.076,0.067,0.062,0.062,0.062,0.062,0.063,0.064,0.064,0.064,0.064,0.06,0.06,0.064,0.072,0.102,0.18,3.33,3.356,3.365,3.359,3.361,3.361,3.375,3.402,0,0.007,3.45,3.45,3.473,3.473,3.474,3.478,3.489,3.497,3.508,3.509,3.51,3.511,3.511,3.518,3.525,3.527,3.533,3.538,3.54,3.542,3.542,3.542,3.543,3.547,3.554,3.556,3.565,3.571,3.577,3.578,3.581,3.588,3.59,3.602,3.603,3.608,3.619,3.621,3.632,3.636,3.641,3.643,3.648,3.66,3.66,3.665,3.677,3.682,3.69,3.697,3.703,3.711,3.711,3.724,3.731,3.743,3.751,3.751,3.764,3.782,3.788,3.801,3.801,3.813,3.827,3.839,3.847,3.85,3.862,3.876,3.88,3.9,3.906,3.921,3.936,3.96,3.962,3.97,3.981,4.002,4.004,4.028,4.043,4.059,4.063,4.086,0.016,0.016,0.016,0.007,0,0,0,4.021,3.988,3.969,3.937,3.897,3.867,3.841,3.822,3.787,3.748,3.726,3.701,3.672,3.65,3.623,3.587,3.571,3.546,3.532,3.508,3.487,3.468,3.441,3.43,3.413,3.382,3.364,3.349,3.335,3.307,3.282,3.277,3.256,3.228,3.228,3.196,3.187,3.175,3.156,3.139,3.121,3.101,3.096,3.085,3.065,3.04,3.039,3.026,3.014,2.994,2.986,2.977,2.96,2.953,2.937,2.927,2.912,2.91,2.894,2.876,2.869,2.856,2.849,2.845,2.828,2.815,2.803,2.796,2.793,2.779,2.768,2.761,2.759,2.732,2.732,2.717,2.714,2.7,2.695,2.682,2.68,2.669,2.657,2.648,2.648,2.644,2.635,2.624,2.62,2.616,2.604,2.603,2.597,2.58,2.577,2.577,2.571,2.568,2.568,2.549,2.548,2.539,2.535,2.534,2.523,2.521,2.511,2.506,2.503,2.503,2.493,2.492,2.486,2.485,2.482,2.473,2.473,2.471,2.467,2.465,2.464,2.455,2.455,2.448,2.446,2.443,2.443,2.442,2.44,2.44,2.435,2.427,2.427,2.426,2.426,2.425,2.425,2.421,2.416,2.415,2.415,2.415,2.413,2.411,2.411,2.411,2.411,2.411,2.411,2.408,2.407,2.408,2.411,2.407,2.407,2.411,2.411,2.411,2.412,2.415,2.415,2.416,2.418,2.418,2.418,2.418,2.42,2.421,2.423,2.424,2.424,2.428,2.431,2.435,2.438,2.439,2.439,2.444,2.445,2.448,2.452,2.457,2.462,2.464,2.464,2.465,2.471,2.477,2.483,2.486,2.486,2.488,2.492,2.499,2.501,2.506,2.509,2.517,2.518,2.52,2.533,2.535,2.539,2.548,2.549,2.558,2.568,2.569,2.577,2.589,2.597,2.599,2.6,2.6,2.609,2.617,2.632,2.634,2.64,2.645,2.655,2.662,2.67,2.684,2.684,2.703,2.706,2.713,2.723,2.729,2.74,2.752,2.752,2.763,2.779,2.789,2.798,2.804,2.821,2.835,2.84,2.846,2.862,2.869,2.87,2.889,2.906,2.915,2.928,2.951,2.952,2.958,2.971,2.978,2.996,3.017,3.029,3.034,3.036,3.069,3.082,3.092,3.108,3.127,3.142,3.154,3.168,3.177,3.202,3.216,3.229,3.243,3.261,3.282,3.295,3.325,3.338,3.347,3.372,3.391,3.408,3.42,3.455,3.471,3.506,3.516,3.544,3.568,3.596,3.615,3.637,3.67,3.692,3.718,3.746,3.78,3.803,3.839,3.86,3.893,3.91,3.993,4.041,4.069,4.069,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.349,3.346,3.331,3.318,3.307,3.29,3.289,3.276,3.269,3.26,3.25,3.239,3.237,3.236,3.211,3.21,3.209,3.209,3.19,3.184,3.175,3.171,3.171,3.157,3.154,3.144,3.135,3.13,3.128,3.121,3.12,3.108,3.104,3.102,3.092,3.089,3.087,3.08,3.08,3.08,3.072,3.065,3.065,3.058,3.055,3.048,3.048,3.042,3.042,3.034,3.034,3.034,3.028,3.026,3.025,3.023,3.023,3.023,3.029,3.029,3.029,3.025,3.019,3.016,3.016,3.016,3.012,3.01,3.01,3.01,3.006,3.005,3.006,3.005,3.006,3.004,3.006,3.007,3.009,3.009,3.011,3.013,3.013,3.016,3.017,3.017,3.017,3.018,3.02,3.02,3.02,3.023,3.026,3.027,3.03,3.032,3.036,3.037,3.037,3.046,3.048,3.052,3.056,3.059,3.066,3.069,3.069,3.071,3.075,3.088,3.089,3.091,3.091,3.091,3.102,3.105,3.106,3.111,3.121,3.128,3.128,3.131,3.135,3.136,3.136,3.141,3.149,3.153,3.158,3.16,3.164,3.168,3.18,3.18,3.206,3.211,3.212,3.212,3.214,3.236,3.24,3.241,3.244,3.245,3.264,3.267,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 43.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 43.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 43.9903} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 6.223} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.2578} SEN {Time 44.0308} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,3.685,3.677,3.661,3.654,3.646,3.632,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.214,3.209,3.209,3.209,3.26,3.36,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.149,0.149,0.154,0.154,0.156,0.156,3.031,3.039,3.039,3.039,3.031,3.039,3.027,0.156,0.154,0.154,0.152,0.147,0.145,0.144,0.141,0.127,0.109,0.07,0.063,0.061,0.057,0.057,0.057,0.064,0.065,0.065,0.064,0.064,0.063,0.063,0.064,0.067,0.107,0.177,3.367,3.367,3.377,3.377,3.367,3.377,0.007,0,0,0,3.45,3.45,3.45,3.457,3.469,3.491,3.492,3.496,3.5,3.504,3.506,3.511,3.514,3.516,3.518,3.528,3.529,3.531,3.537,3.539,3.539,3.541,3.546,3.553,3.555,3.556,3.567,3.568,3.574,3.575,3.575,3.583,3.587,3.597,3.607,3.612,3.612,3.623,3.626,3.633,3.642,3.645,3.652,3.652,3.657,3.67,3.671,3.672,3.692,3.695,3.695,3.717,3.728,3.737,3.737,3.743,3.749,3.759,3.77,3.77,3.79,3.792,3.809,3.811,3.815,3.831,3.84,3.855,3.856,3.87,3.882,3.885,3.908,3.917,3.929,3.944,3.959,3.96,3.981,3.993,4.021,4.024,4.042,4.073,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.081,4.081,0.007,3.993,3.937,3.897,3.866,3.831,3.823,3.788,3.753,3.739,3.689,3.684,3.646,3.618,3.592,3.583,3.542,3.526,3.506,3.485,3.456,3.441,3.407,3.405,3.383,3.371,3.347,3.331,3.324,3.295,3.281,3.247,3.237,3.228,3.201,3.194,3.178,3.152,3.139,3.129,3.1,3.092,3.085,3.071,3.051,3.051,3.042,3.017,3.007,2.991,2.983,2.956,2.948,2.931,2.926,2.918,2.901,2.888,2.876,2.872,2.854,2.848,2.841,2.826,2.817,2.803,2.79,2.784,2.781,2.765,2.76,2.746,2.737,2.734,2.723,2.713,2.705,2.697,2.681,2.674,2.673,2.663,2.654,2.652,2.643,2.637,2.636,2.623,2.611,2.609,2.604,2.6,2.591,2.587,2.583,2.568,2.567,2.561,2.556,2.554,2.549,2.536,2.528,2.525,2.521,2.515,2.509,2.505,2.499,2.491,2.49,2.484,2.481,2.48,2.478,2.468,2.463,2.463,2.461,2.46,2.457,2.453,2.451,2.451,2.449,2.442,2.441,2.441,2.439,2.435,2.429,2.429,2.426,2.426,2.424,2.418,2.418,2.414,2.41,2.414,2.419,2.411,2.414,2.414,2.414,2.411,2.408,2.408,2.408,2.408,2.409,2.411,2.411,2.412,2.414,2.416,2.414,2.414,2.416,2.416,2.415,2.415,2.416,2.416,2.416,2.417,2.42,2.42,2.425,2.427,2.429,2.43,2.435,2.435,2.437,2.44,2.443,2.449,2.45,2.455,2.458,2.46,2.461,2.461,2.464,2.474,2.478,2.479,2.482,2.484,2.487,2.496,2.5,2.502,2.514,2.514,2.517,2.528,2.528,2.531,2.535,2.537,2.544,2.551,2.554,2.564,2.566,2.568,2.59,2.597,2.6,2.607,2.607,2.618,2.626,2.634,2.637,2.639,2.647,2.65,2.66,2.672,2.678,2.688,2.693,2.7,2.715,2.716,2.723,2.748,2.748,2.754,2.759,2.772,2.793,2.8,2.808,2.81,2.828,2.831,2.846,2.858,2.864,2.875,2.887,2.903,2.915,2.925,2.946,2.95,2.961,2.973,2.986,2.997,3.014,3.025,3.029,3.039,3.052,3.085,3.092,3.106,3.129,3.14,3.154,3.163,3.181,3.199,3.218,3.236,3.256,3.262,3.276,3.293,3.326,3.327,3.351,3.372,3.396,3.407,3.434,3.459,3.482,3.501,3.528,3.546,3.565,3.608,3.623,3.647,3.664,3.687,3.723,3.741,3.771,3.792,3.825,3.861,3.893,3.912,3.949,3.978,4.024,4.092,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.355,3.342,3.329,3.31,3.303,3.297,3.289,3.282,3.265,3.255,3.253,3.246,3.237,3.236,3.22,3.207,3.202,3.196,3.193,3.185,3.172,3.165,3.164,3.162,3.151,3.139,3.132,3.126,3.123,3.122,3.119,3.111,3.105,3.1,3.092,3.09,3.085,3.084,3.081,3.081,3.078,3.066,3.064,3.054,3.05,3.047,3.045,3.036,3.036,3.036,3.036,3.034,3.034,3.03,3.026,3.018,3.026,3.03,3.032,3.032,3.032,3.018,3.017,3.014,3.012,3.012,3.01,3.01,3.01,3.01,3.009,3.004,3.004,3.004,3.007,3.007,3.007,3.007,3.007,3.007,3.015,3.015,3.014,3.014,3.014,3.014,3.014,3.019,3.019,3.019,3.021,3.024,3.023,3.029,3.03,3.034,3.037,3.038,3.04,3.047,3.053,3.054,3.055,3.063,3.063,3.064,3.064,3.07,3.082,3.086,3.091,3.091,3.091,3.092,3.092,3.111,3.113,3.114,3.121,3.131,3.131,3.132,3.132,3.132,3.132,3.142,3.146,3.149,3.157,3.165,3.172,3.176,3.178,3.186,3.207,3.208,3.214,3.223,3.227,3.23,3.237,3.244,3.247,3.251,3.27,3.282,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 44.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 44.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 44.1833} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.2578} SEN {Time 44.2306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.19,0.182,0.19,0.19,0,0,0,0,0,0,0,0,3.694,3.685,3.66,3.648,3.646,3.63,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.211,3.207,3.211,3.211,3.266,3.36,0,0,0,0,0,0,0,0.152,0.144,0.144,0.144,0.144,0.144,0.143,0.143,0.152,0.152,0.153,0.153,0.156,0.162,3.031,3.037,3.037,3.037,3.031,3.037,3.025,0.16,0.156,0.156,0.153,0.146,0.146,0.143,0.143,0.127,0.101,0.081,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.063,0.063,0.065,0.072,0.107,0.182,3.338,3.35,3.36,3.36,3.373,3.383,3.394,3.415,0,3.435,3.435,3.451,3.456,3.456,3.466,3.482,3.488,3.496,3.496,3.5,3.501,3.507,3.516,3.522,3.523,3.523,3.526,3.529,3.532,3.534,3.543,3.546,3.55,3.551,3.555,3.562,3.566,3.57,3.57,3.575,3.581,3.59,3.594,3.596,3.601,3.606,3.624,3.629,3.638,3.638,3.639,3.646,3.652,3.656,3.66,3.664,3.674,3.68,3.696,3.697,3.7,3.711,3.721,3.725,3.734,3.746,3.748,3.758,3.762,3.765,3.792,3.793,3.805,3.818,3.822,3.834,3.841,3.852,3.854,3.874,3.884,3.896,3.902,3.922,3.931,3.943,3.954,3.972,3.98,3.992,4.016,4.022,4.033,4.061,4.064,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0,4.095,4.051,3.941,3.919,3.884,3.866,3.84,3.806,3.778,3.76,3.724,3.702,3.683,3.657,3.619,3.598,3.568,3.537,3.516,3.516,3.482,3.459,3.444,3.432,3.407,3.385,3.369,3.344,3.329,3.3,3.291,3.28,3.256,3.24,3.214,3.201,3.193,3.179,3.15,3.133,3.126,3.104,3.101,3.078,3.064,3.041,3.041,3.04,3.023,3.002,2.995,2.981,2.963,2.957,2.939,2.921,2.921,2.904,2.89,2.877,2.865,2.862,2.848,2.84,2.829,2.82,2.807,2.793,2.785,2.771,2.769,2.756,2.75,2.741,2.731,2.716,2.714,2.703,2.702,2.687,2.678,2.673,2.662,2.66,2.649,2.643,2.637,2.633,2.631,2.615,2.613,2.606,2.598,2.592,2.577,2.575,2.57,2.57,2.562,2.56,2.549,2.543,2.538,2.53,2.524,2.516,2.516,2.508,2.506,2.502,2.497,2.494,2.493,2.486,2.48,2.476,2.473,2.472,2.471,2.471,2.457,2.455,2.454,2.452,2.45,2.449,2.448,2.446,2.446,2.443,2.432,2.425,2.425,2.425,2.425,2.423,2.423,2.418,2.418,2.418,2.417,2.417,2.411,2.411,2.411,2.414,2.413,2.414,2.413,2.413,2.411,2.41,2.41,2.41,2.412,2.412,2.412,2.412,2.415,2.417,2.417,2.418,2.417,2.417,2.418,2.418,2.418,2.42,2.424,2.429,2.429,2.429,2.433,2.436,2.437,2.438,2.438,2.445,2.447,2.449,2.449,2.456,2.459,2.461,2.463,2.47,2.472,2.476,2.477,2.481,2.488,2.491,2.492,2.495,2.497,2.515,2.515,2.52,2.523,2.525,2.534,2.537,2.544,2.548,2.548,2.564,2.565,2.567,2.574,2.594,2.597,2.599,2.603,2.609,2.615,2.631,2.634,2.64,2.643,2.652,2.653,2.66,2.668,2.672,2.688,2.689,2.704,2.712,2.721,2.724,2.748,2.754,2.756,2.766,2.783,2.787,2.797,2.805,2.816,2.824,2.838,2.841,2.851,2.867,2.879,2.886,2.907,2.918,2.926,2.941,2.944,2.96,2.97,2.983,2.997,3.014,3.028,3.035,3.037,3.066,3.086,3.092,3.111,3.119,3.14,3.158,3.166,3.177,3.201,3.22,3.232,3.249,3.26,3.275,3.292,3.325,3.331,3.354,3.373,3.383,3.41,3.43,3.455,3.484,3.504,3.526,3.537,3.569,3.597,3.612,3.628,3.67,3.686,3.729,3.749,3.783,3.797,3.839,3.855,3.916,3.95,4.025,4.025,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.357,3.335,3.326,3.306,3.304,3.294,3.29,3.27,3.267,3.262,3.242,3.237,3.236,3.236,3.219,3.216,3.203,3.191,3.191,3.184,3.175,3.165,3.163,3.156,3.155,3.142,3.139,3.133,3.125,3.119,3.118,3.11,3.108,3.105,3.089,3.088,3.087,3.084,3.081,3.077,3.072,3.063,3.061,3.05,3.048,3.048,3.046,3.042,3.041,3.04,3.04,3.034,3.031,3.03,3.025,3.025,3.025,3.03,3.029,3.029,3.029,3.019,3.017,3.017,3.012,3.012,3.012,3.01,3.012,3.01,3.008,3.008,3.006,3.004,3.004,3.004,3.006,3.009,3.011,3.015,3.016,3.016,3.013,3.013,3.013,3.012,3.013,3.015,3.016,3.019,3.02,3.021,3.024,3.029,3.03,3.032,3.033,3.036,3.041,3.044,3.052,3.055,3.059,3.06,3.061,3.064,3.065,3.073,3.08,3.08,3.087,3.089,3.089,3.089,3.106,3.107,3.109,3.11,3.121,3.13,3.13,3.131,3.134,3.138,3.136,3.138,3.145,3.152,3.152,3.158,3.169,3.17,3.175,3.183,3.193,3.205,3.224,3.228,3.23,3.241,3.241,3.244,3.248,3.253,3.258,3.273,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 44.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 44.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 44.3843} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 5.2578} SEN {Time 44.4306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.177,0.182,0.185,0,0,0,0,0,0,0,0,3.68,3.674,3.668,3.662,3.645,3.625,3.615,3.615,3.605,3.585,3.585,0,3.362,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.218,3.209,3.205,3.205,3.205,3.266,3.36,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.151,0.151,0.146,0.146,0.153,0.153,0.156,0.156,0.157,0.158,3.033,3.033,3.037,3.037,3.033,3.029,0.149,0.149,0.149,0.152,0.152,0.152,0.149,0.148,0.143,0.127,0.106,0.081,0.064,0.057,0.057,0.063,0.063,0.064,0.067,0.067,0.064,0.064,0.061,0.061,0.061,0.066,0.116,0.178,3.348,3.358,3.361,3.361,3.361,3.364,3.37,3.37,3.403,3.433,3.438,3.438,3.448,3.48,3.484,3.484,3.492,3.496,3.498,3.498,3.505,3.508,3.52,3.52,3.528,3.531,3.536,3.538,3.539,3.541,3.542,3.542,3.547,3.548,3.556,3.557,3.568,3.572,3.574,3.577,3.585,3.585,3.588,3.597,3.609,3.611,3.615,3.629,3.639,3.639,3.648,3.651,3.653,3.653,3.659,3.661,3.667,3.676,3.683,3.691,3.7,3.708,3.727,3.728,3.733,3.747,3.751,3.761,3.766,3.771,3.789,3.797,3.8,3.809,3.813,3.84,3.842,3.855,3.865,3.883,3.884,3.899,3.901,3.92,3.934,3.941,3.953,3.969,3.978,3.985,4.006,4.03,4.033,4.062,4.063,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.021,3.986,3.965,3.923,3.897,3.862,3.838,3.818,3.77,3.752,3.73,3.706,3.685,3.645,3.618,3.606,3.568,3.555,3.53,3.504,3.479,3.463,3.448,3.42,3.398,3.379,3.359,3.355,3.331,3.306,3.297,3.265,3.258,3.235,3.223,3.193,3.188,3.17,3.15,3.139,3.126,3.109,3.104,3.086,3.064,3.047,3.047,3.041,3.021,3.006,2.984,2.983,2.964,2.955,2.938,2.93,2.92,2.909,2.891,2.879,2.869,2.862,2.846,2.84,2.824,2.812,2.807,2.795,2.783,2.778,2.769,2.756,2.747,2.735,2.73,2.723,2.715,2.711,2.701,2.687,2.679,2.679,2.671,2.654,2.651,2.647,2.641,2.638,2.623,2.61,2.608,2.607,2.598,2.584,2.58,2.577,2.57,2.566,2.559,2.549,2.549,2.542,2.54,2.54,2.528,2.524,2.513,2.509,2.506,2.496,2.494,2.491,2.491,2.486,2.48,2.478,2.476,2.473,2.468,2.466,2.46,2.455,2.454,2.454,2.445,2.444,2.443,2.439,2.436,2.435,2.431,2.426,2.426,2.426,2.428,2.428,2.428,2.423,2.419,2.419,2.418,2.416,2.416,2.413,2.413,2.413,2.412,2.409,2.409,2.409,2.409,2.409,2.41,2.409,2.41,2.41,2.41,2.409,2.41,2.41,2.411,2.414,2.416,2.417,2.419,2.42,2.421,2.424,2.427,2.428,2.428,2.43,2.431,2.435,2.437,2.441,2.444,2.445,2.446,2.452,2.455,2.457,2.46,2.462,2.463,2.467,2.468,2.476,2.477,2.478,2.479,2.491,2.491,2.493,2.501,2.507,2.514,2.515,2.519,2.524,2.529,2.533,2.543,2.544,2.547,2.559,2.566,2.568,2.582,2.59,2.599,2.599,2.601,2.608,2.623,2.626,2.633,2.637,2.645,2.646,2.652,2.664,2.675,2.681,2.689,2.699,2.701,2.713,2.722,2.725,2.739,2.749,2.757,2.762,2.772,2.789,2.798,2.81,2.815,2.824,2.845,2.85,2.859,2.871,2.879,2.884,2.905,2.916,2.921,2.938,2.949,2.962,2.972,2.986,2.996,3.006,3.022,3.032,3.052,3.068,3.082,3.094,3.107,3.124,3.136,3.16,3.168,3.174,3.206,3.222,3.226,3.251,3.26,3.275,3.301,3.322,3.328,3.352,3.379,3.393,3.411,3.434,3.459,3.483,3.497,3.519,3.547,3.56,3.595,3.617,3.637,3.671,3.697,3.725,3.744,3.779,3.803,3.833,3.86,3.899,3.918,3.995,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.356,3.333,3.325,3.321,3.303,3.3,3.291,3.281,3.276,3.262,3.25,3.241,3.236,3.232,3.219,3.217,3.207,3.195,3.184,3.181,3.178,3.172,3.169,3.15,3.148,3.144,3.143,3.129,3.121,3.119,3.112,3.112,3.106,3.099,3.094,3.09,3.086,3.085,3.084,3.066,3.065,3.063,3.062,3.056,3.053,3.051,3.049,3.049,3.048,3.039,3.039,3.038,3.034,3.032,3.03,3.019,3.019,3.019,3.029,3.029,3.029,3.022,3.022,3.018,3.015,3.009,3.009,3.004,3.004,3.01,3.01,3.009,3.009,3.008,3.008,3.006,3.008,3.011,3.012,3.011,3.012,3.012,3.012,3.015,3.015,3.017,3.017,3.02,3.02,3.02,3.02,3.028,3.029,3.032,3.034,3.037,3.038,3.038,3.038,3.045,3.051,3.053,3.054,3.055,3.059,3.06,3.061,3.068,3.082,3.084,3.084,3.087,3.089,3.092,3.102,3.103,3.111,3.115,3.115,3.126,3.127,3.132,3.135,3.137,3.137,3.144,3.148,3.151,3.162,3.167,3.172,3.173,3.18,3.19,3.195,3.207,3.21,3.226,3.226,3.229,3.232,3.24,3.243,3.245,3.258,3.286,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 44.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 44.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 44.5852} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 4.9022} SEN {Time 44.6313} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.178,0.186,0.186,0,0,0,0,0,0,0,0,3.688,3.683,3.672,3.658,3.65,3.631,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.232,3.225,3.211,3.208,3.211,3.211,3.359,0.007,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.144,0.144,0.144,0.153,0.144,0.153,0.153,0.153,0.153,3.038,3.038,3.038,3.038,3.033,3.028,0.16,0.156,0.156,0.156,0.156,0.154,0.153,0.149,0.14,0.124,0.113,0.077,0.067,0.063,0.062,0.062,0.062,0.063,0.065,0.066,0.065,0.065,0.063,0.063,0.063,0.074,0.112,0.176,3.363,3.363,0,3.363,3.363,0.007,0,0,0,3.439,3.439,3.439,3.468,3.478,3.487,3.487,3.488,3.491,3.502,3.502,3.504,3.508,3.514,3.517,3.519,3.519,3.527,3.531,3.532,3.539,3.539,3.546,3.548,3.55,3.557,3.558,3.562,3.581,3.581,3.582,3.583,3.586,3.602,3.605,3.605,3.621,3.621,3.624,3.632,3.639,3.644,3.647,3.649,3.665,3.667,3.667,3.673,3.679,3.686,3.689,3.689,3.709,3.716,3.724,3.735,3.744,3.75,3.759,3.771,3.771,3.786,3.796,3.798,3.815,3.817,3.826,3.84,3.845,3.876,3.878,3.881,3.9,3.908,3.919,3.932,3.943,3.955,3.976,3.977,3.992,4.016,4.024,4.044,4.068,4.079,4.087,4.094,0.016,0.016,0.016,0.016,0.016,4.068,4.032,3.997,3.954,3.933,3.9,3.88,3.83,3.821,3.786,3.761,3.727,3.714,3.687,3.655,3.622,3.592,3.571,3.553,3.525,3.507,3.481,3.459,3.436,3.43,3.408,3.383,3.369,3.357,3.331,3.298,3.291,3.276,3.247,3.228,3.213,3.198,3.179,3.171,3.151,3.14,3.13,3.106,3.099,3.079,3.062,3.048,3.042,3.019,3.008,3.001,2.989,2.978,2.961,2.95,2.936,2.923,2.915,2.909,2.889,2.877,2.874,2.854,2.843,2.837,2.823,2.82,2.809,2.794,2.787,2.782,2.761,2.758,2.754,2.735,2.733,2.716,2.716,2.708,2.697,2.677,2.671,2.67,2.661,2.655,2.647,2.64,2.636,2.633,2.624,2.612,2.612,2.61,2.598,2.586,2.584,2.572,2.571,2.569,2.558,2.547,2.546,2.545,2.536,2.533,2.521,2.513,2.51,2.505,2.503,2.495,2.492,2.491,2.484,2.483,2.481,2.475,2.471,2.468,2.465,2.464,2.464,2.456,2.454,2.451,2.45,2.448,2.448,2.441,2.44,2.439,2.438,2.429,2.428,2.427,2.421,2.42,2.419,2.419,2.418,2.418,2.416,2.413,2.413,2.413,2.413,2.413,2.411,2.41,2.41,2.408,2.405,2.405,2.414,2.41,2.413,2.414,2.414,2.413,2.414,2.415,2.416,2.417,2.42,2.42,2.419,2.424,2.424,2.424,2.424,2.425,2.426,2.429,2.433,2.435,2.441,2.441,2.442,2.443,2.445,2.452,2.456,2.456,2.46,2.462,2.464,2.464,2.471,2.48,2.483,2.486,2.489,2.492,2.493,2.494,2.502,2.509,2.51,2.51,2.524,2.524,2.534,2.535,2.538,2.543,2.553,2.557,2.567,2.569,2.576,2.597,2.6,2.602,2.606,2.607,2.617,2.623,2.629,2.636,2.638,2.648,2.652,2.663,2.677,2.68,2.693,2.704,2.711,2.717,2.721,2.725,2.74,2.747,2.752,2.762,2.778,2.79,2.8,2.803,2.816,2.835,2.836,2.848,2.857,2.877,2.882,2.892,2.91,2.911,2.924,2.942,2.947,2.955,2.972,2.98,2.994,3.02,3.028,3.042,3.049,3.064,3.081,3.096,3.108,3.125,3.137,3.154,3.171,3.187,3.209,3.214,3.236,3.254,3.268,3.285,3.292,3.322,3.334,3.346,3.374,3.399,3.41,3.436,3.455,3.473,3.508,3.516,3.54,3.563,3.586,3.614,3.644,3.663,3.693,3.73,3.753,3.779,3.804,3.833,3.867,3.889,3.921,3.984,0.007,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.356,3.339,3.326,3.318,3.312,3.295,3.291,3.281,3.265,3.257,3.246,3.246,3.243,3.236,3.215,3.213,3.208,3.196,3.19,3.184,3.174,3.174,3.161,3.148,3.148,3.141,3.133,3.125,3.123,3.121,3.116,3.112,3.106,3.106,3.091,3.088,3.082,3.078,3.07,3.068,3.067,3.064,3.059,3.054,3.05,3.05,3.046,3.04,3.04,3.037,3.034,3.031,3.028,3.026,3.025,3.021,3.021,3.021,3.031,3.031,3.031,3.025,3.016,3.016,3.016,3.01,3.01,3.009,3.01,3.01,3.01,3.011,3.011,3.011,3.014,3.014,3.012,3.013,3.013,3.013,3.013,3.013,3.016,3.014,3.018,3.019,3.018,3.019,3.022,3.028,3.025,3.028,3.029,3.029,3.034,3.038,3.038,3.038,3.038,3.041,3.053,3.057,3.057,3.06,3.061,3.066,3.066,3.067,3.073,3.084,3.087,3.09,3.092,3.092,3.101,3.112,3.114,3.117,3.119,3.125,3.126,3.13,3.139,3.139,3.139,3.148,3.151,3.155,3.158,3.164,3.164,3.178,3.182,3.183,3.203,3.205,3.215,3.221,3.223,3.234,3.237,3.239,3.246,3.248,3.249,3.278,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 44.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 44.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 44.7852} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 4.9022} SEN {Time 44.8306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.18,0.184,0.184,0,0,0,0,0,0,0,0,3.683,3.681,3.669,3.657,3.633,3.628,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.212,3.212,3.212,3.214,3.265,3.368,0,0,0,0,0,0,0,0.15,0.142,0.142,0.142,0.142,0.145,0.145,0.145,0.153,0.153,0.155,0.155,0.155,0.157,3.039,3.039,3.039,3.039,3.03,3.03,3.028,0.16,0.154,0.154,0.154,0.154,0.153,0.145,0.145,0.132,0.111,0.085,0.065,0.063,0.06,0.06,0.06,0.063,0.068,0.069,0.069,0.069,0.069,0.069,0.07,0.074,0.107,0.176,3.345,3.35,3.371,3.358,3.362,3.362,0,3.408,3.422,3.424,3.424,3.424,3.455,3.477,3.478,3.485,3.487,3.487,3.502,3.502,3.511,3.511,3.511,3.518,3.518,3.527,3.527,3.536,3.536,3.544,3.544,3.546,3.547,3.547,3.553,3.559,3.564,3.579,3.581,3.581,3.584,3.588,3.59,3.598,3.602,3.611,3.624,3.628,3.631,3.638,3.644,3.65,3.656,3.659,3.668,3.668,3.673,3.682,3.683,3.689,3.692,3.707,3.71,3.728,3.739,3.745,3.748,3.754,3.766,3.772,3.779,3.793,3.796,3.814,3.816,3.833,3.847,3.851,3.854,3.883,3.89,3.898,3.908,3.927,3.934,3.955,3.966,3.978,3.981,3.991,4.018,4.03,4.051,4.06,4.088,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.014,4.001,3.968,3.934,3.882,3.86,3.833,3.812,3.774,3.765,3.735,3.707,3.68,3.646,3.628,3.603,3.573,3.54,3.529,3.511,3.481,3.467,3.447,3.418,3.396,3.385,3.365,3.346,3.334,3.302,3.292,3.271,3.25,3.246,3.223,3.192,3.188,3.166,3.157,3.138,3.125,3.1,3.097,3.085,3.062,3.048,3.036,3.024,3.015,2.999,2.993,2.985,2.961,2.955,2.936,2.925,2.911,2.905,2.895,2.87,2.87,2.855,2.846,2.838,2.824,2.809,2.803,2.782,2.779,2.778,2.763,2.753,2.748,2.739,2.735,2.727,2.715,2.704,2.689,2.687,2.677,2.672,2.667,2.664,2.646,2.64,2.639,2.632,2.625,2.618,2.613,2.613,2.6,2.593,2.577,2.574,2.568,2.562,2.559,2.554,2.547,2.541,2.535,2.534,2.527,2.521,2.512,2.507,2.505,2.496,2.493,2.493,2.488,2.48,2.478,2.477,2.473,2.47,2.466,2.462,2.462,2.457,2.454,2.452,2.45,2.445,2.444,2.444,2.442,2.437,2.437,2.434,2.428,2.428,2.428,2.424,2.418,2.416,2.416,2.415,2.415,2.415,2.409,2.409,2.409,2.411,2.411,2.411,2.411,2.408,2.408,2.408,2.413,2.413,2.414,2.414,2.414,2.414,2.41,2.41,2.412,2.412,2.415,2.415,2.415,2.418,2.418,2.423,2.424,2.428,2.428,2.43,2.436,2.44,2.44,2.443,2.443,2.444,2.446,2.447,2.449,2.457,2.457,2.46,2.46,2.465,2.466,2.48,2.485,2.485,2.489,2.495,2.496,2.497,2.509,2.514,2.516,2.517,2.528,2.529,2.532,2.535,2.535,2.547,2.553,2.555,2.562,2.568,2.574,2.593,2.595,2.605,2.609,2.612,2.622,2.626,2.633,2.638,2.64,2.643,2.656,2.663,2.676,2.681,2.693,2.695,2.7,2.716,2.717,2.729,2.749,2.75,2.752,2.765,2.784,2.789,2.791,2.804,2.815,2.833,2.841,2.848,2.855,2.865,2.88,2.888,2.902,2.921,2.929,2.945,2.951,2.963,2.976,2.986,2.999,3.008,3.025,3.04,3.042,3.067,3.084,3.092,3.1,3.121,3.144,3.152,3.165,3.181,3.199,3.219,3.236,3.249,3.268,3.28,3.299,3.32,3.329,3.351,3.375,3.395,3.411,3.432,3.457,3.482,3.492,3.525,3.546,3.563,3.599,3.607,3.642,3.663,3.689,3.728,3.753,3.785,3.802,3.839,3.865,3.89,3.927,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.339,3.327,3.316,3.303,3.292,3.286,3.282,3.27,3.264,3.253,3.244,3.239,3.233,3.216,3.212,3.209,3.202,3.19,3.19,3.186,3.18,3.166,3.157,3.148,3.143,3.14,3.131,3.124,3.123,3.118,3.118,3.104,3.104,3.089,3.083,3.082,3.079,3.078,3.074,3.063,3.062,3.057,3.057,3.051,3.05,3.047,3.043,3.042,3.041,3.039,3.036,3.03,3.029,3.026,3.026,3.026,3.026,3.029,3.029,3.029,3.021,3.015,3.013,3.009,3.009,3.009,3.009,3.009,3.011,3.011,3.005,3.004,3.004,3.004,3.009,3.01,3.012,3.01,3.011,3.011,3.011,3.011,3.012,3.016,3.019,3.019,3.025,3.025,3.023,3.023,3.025,3.029,3.029,3.032,3.035,3.035,3.038,3.038,3.05,3.051,3.054,3.056,3.056,3.064,3.065,3.069,3.076,3.082,3.084,3.092,3.092,3.094,3.094,3.103,3.11,3.117,3.118,3.124,3.124,3.124,3.134,3.134,3.137,3.137,3.137,3.144,3.156,3.158,3.16,3.172,3.175,3.183,3.184,3.203,3.211,3.22,3.225,3.229,3.232,3.234,3.235,3.248,3.252,3.254,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 44.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 44.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 44.9871} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 45.0306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.18,0.18,0.184,0,0,0,0,0,0,0,0,3.695,3.682,3.663,3.661,3.649,3.632,3.603,3.603,3.603,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.219,3.214,3.214,3.214,3.214,3.262,3.365,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.144,0.148,0.148,0.151,0.151,0.153,0.153,0.159,0.159,3.03,3.037,3.037,3.037,3.03,3.029,0.161,0.158,0.156,0.156,0.156,0.156,0.15,0.146,0.146,0.123,0.113,0.077,0.068,0.064,0.057,0.057,0.064,0.064,0.066,0.067,0.067,0.067,0.067,0.067,0.068,0.068,0.113,0.187,3.332,3.353,3.359,3.359,3.359,3.357,3.368,3.368,3.416,3.419,3.435,3.435,3.453,3.47,3.483,3.486,3.486,3.494,3.508,3.508,3.511,3.514,3.515,3.519,3.519,3.526,3.531,3.543,3.543,3.544,3.544,3.544,3.544,3.549,3.551,3.563,3.565,3.568,3.573,3.578,3.58,3.582,3.593,3.595,3.608,3.612,3.621,3.63,3.636,3.637,3.65,3.651,3.66,3.661,3.668,3.671,3.675,3.685,3.689,3.692,3.697,3.711,3.714,3.733,3.733,3.743,3.75,3.759,3.761,3.767,3.774,3.801,3.803,3.815,3.816,3.839,3.844,3.856,3.864,3.876,3.886,3.892,3.899,3.912,3.931,3.95,3.961,3.962,3.984,3.986,4.009,4.027,4.047,4.065,4.08,0.016,0.016,0.016,0,0,0,0,0.016,4.073,3.982,3.964,3.924,3.893,3.86,3.836,3.807,3.784,3.748,3.716,3.698,3.678,3.654,3.632,3.604,3.58,3.54,3.533,3.501,3.478,3.462,3.446,3.423,3.399,3.379,3.37,3.343,3.335,3.305,3.302,3.275,3.256,3.247,3.225,3.201,3.184,3.177,3.156,3.133,3.127,3.112,3.101,3.084,3.069,3.047,3.04,3.02,3.008,2.998,2.989,2.973,2.961,2.951,2.942,2.929,2.913,2.908,2.893,2.878,2.873,2.862,2.848,2.838,2.826,2.823,2.804,2.795,2.784,2.783,2.769,2.76,2.757,2.735,2.733,2.717,2.711,2.704,2.691,2.678,2.674,2.664,2.661,2.657,2.646,2.645,2.632,2.629,2.624,2.611,2.611,2.608,2.599,2.592,2.586,2.579,2.579,2.572,2.564,2.562,2.546,2.543,2.534,2.528,2.527,2.52,2.512,2.507,2.505,2.499,2.491,2.491,2.479,2.478,2.478,2.477,2.472,2.465,2.464,2.463,2.463,2.452,2.451,2.451,2.447,2.447,2.446,2.443,2.442,2.433,2.429,2.429,2.425,2.425,2.425,2.424,2.417,2.416,2.415,2.414,2.414,2.414,2.412,2.412,2.411,2.411,2.415,2.415,2.411,2.41,2.409,2.409,2.41,2.414,2.414,2.416,2.416,2.415,2.412,2.415,2.415,2.417,2.42,2.421,2.421,2.421,2.421,2.421,2.426,2.427,2.428,2.431,2.436,2.438,2.44,2.443,2.444,2.444,2.446,2.45,2.454,2.458,2.459,2.46,2.466,2.466,2.476,2.48,2.481,2.482,2.49,2.49,2.497,2.498,2.505,2.509,2.515,2.521,2.523,2.528,2.529,2.535,2.541,2.545,2.546,2.558,2.566,2.572,2.578,2.591,2.6,2.605,2.605,2.605,2.615,2.623,2.628,2.638,2.64,2.643,2.656,2.658,2.679,2.683,2.69,2.7,2.703,2.71,2.722,2.731,2.74,2.752,2.752,2.769,2.774,2.788,2.798,2.802,2.822,2.828,2.847,2.855,2.859,2.873,2.876,2.884,2.906,2.911,2.923,2.945,2.952,2.953,2.975,2.983,2.994,3.012,3.026,3.038,3.049,3.063,3.081,3.091,3.104,3.123,3.134,3.149,3.167,3.185,3.198,3.217,3.235,3.248,3.264,3.28,3.294,3.322,3.33,3.357,3.377,3.391,3.407,3.424,3.465,3.487,3.506,3.528,3.544,3.561,3.601,3.618,3.638,3.661,3.691,3.722,3.743,3.768,3.8,3.834,3.862,3.879,3.916,3.947,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.35,3.336,3.331,3.311,3.305,3.298,3.293,3.282,3.275,3.255,3.249,3.238,3.235,3.231,3.222,3.215,3.206,3.197,3.188,3.184,3.173,3.165,3.156,3.149,3.148,3.148,3.138,3.131,3.119,3.115,3.114,3.107,3.106,3.101,3.095,3.094,3.086,3.082,3.078,3.075,3.067,3.061,3.061,3.057,3.052,3.049,3.044,3.044,3.039,3.035,3.033,3.032,3.031,3.031,3.031,3.031,3.031,3.031,3.031,3.031,3.03,3.021,3.021,3.015,3.015,3.012,3.012,3.012,3.012,3.012,3.01,3.01,3.008,3.008,3.008,3.004,3.004,3.011,3.011,3.012,3.013,3.013,3.013,3.013,3.013,3.022,3.022,3.022,3.018,3.018,3.018,3.02,3.025,3.028,3.036,3.036,3.038,3.038,3.038,3.044,3.048,3.054,3.054,3.06,3.061,3.061,3.063,3.073,3.083,3.088,3.088,3.089,3.093,3.094,3.1,3.108,3.11,3.115,3.127,3.129,3.129,3.133,3.133,3.137,3.137,3.147,3.151,3.153,3.162,3.163,3.166,3.17,3.179,3.185,3.205,3.21,3.22,3.22,3.229,3.233,3.238,3.239,3.246,3.246,3.254,3.281,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 45.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 45.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 45.1881} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 45.2267} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.176,0.178,0.178,0.183,0.192,0,0,0,0,0,0,0,0,3.685,3.676,3.668,3.667,3.644,3.634,3.611,3.611,3.604,3.596,3.604,0,3.345,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.218,3.207,3.207,3.207,3.27,3.366,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.144,0.149,0.149,0.149,0.149,0.153,0.153,0.153,0.159,3.018,3.031,3.038,3.038,3.031,3.038,3.038,0.161,0.157,0.157,0.153,0.151,0.15,0.148,0.147,0.124,0.11,0.077,0.068,0.06,0.06,0.06,0.06,0.063,0.064,0.067,0.064,0.064,0.063,0.063,0.063,0.072,0.104,0.185,3.364,3.364,3.372,3.364,3.364,3.368,3.372,0.007,3.417,3.417,3.435,3.435,3.45,3.459,3.478,3.489,3.489,3.493,3.493,3.505,3.505,3.508,3.508,3.518,3.524,3.524,3.526,3.528,3.533,3.537,3.539,3.546,3.546,3.546,3.557,3.56,3.571,3.575,3.577,3.579,3.586,3.592,3.594,3.608,3.609,3.614,3.623,3.63,3.634,3.64,3.651,3.653,3.655,3.658,3.659,3.671,3.673,3.675,3.692,3.697,3.698,3.704,3.714,3.729,3.732,3.747,3.751,3.754,3.765,3.77,3.782,3.79,3.801,3.802,3.813,3.837,3.842,3.85,3.865,3.871,3.877,3.899,3.907,3.912,3.939,3.939,3.947,3.971,3.983,3.996,4.019,4.033,4.052,4.066,4.085,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.068,4.032,3.988,3.965,3.928,3.899,3.874,3.844,3.809,3.782,3.759,3.722,3.701,3.683,3.658,3.617,3.597,3.562,3.546,3.523,3.506,3.483,3.45,3.441,3.41,3.406,3.371,3.362,3.355,3.336,3.306,3.292,3.283,3.258,3.244,3.221,3.19,3.187,3.171,3.161,3.129,3.122,3.105,3.099,3.08,3.07,3.048,3.043,3.022,3.019,3.003,2.987,2.975,2.963,2.954,2.929,2.921,2.92,2.906,2.891,2.873,2.867,2.857,2.846,2.839,2.824,2.814,2.807,2.789,2.782,2.772,2.766,2.757,2.751,2.741,2.736,2.725,2.717,2.702,2.7,2.685,2.679,2.674,2.671,2.655,2.655,2.649,2.634,2.63,2.624,2.621,2.611,2.603,2.596,2.591,2.576,2.569,2.569,2.565,2.56,2.556,2.543,2.539,2.538,2.532,2.52,2.517,2.512,2.509,2.507,2.494,2.491,2.487,2.485,2.484,2.479,2.478,2.478,2.476,2.473,2.473,2.463,2.459,2.457,2.453,2.45,2.449,2.447,2.441,2.439,2.437,2.432,2.428,2.428,2.428,2.425,2.421,2.418,2.417,2.417,2.417,2.417,2.416,2.415,2.413,2.41,2.41,2.409,2.411,2.406,2.406,2.406,2.409,2.409,2.41,2.41,2.414,2.414,2.416,2.414,2.416,2.418,2.421,2.423,2.423,2.423,2.423,2.423,2.425,2.42,2.425,2.426,2.429,2.435,2.439,2.441,2.442,2.442,2.444,2.446,2.452,2.452,2.454,2.46,2.46,2.471,2.473,2.478,2.478,2.478,2.488,2.489,2.489,2.49,2.497,2.502,2.504,2.515,2.516,2.523,2.525,2.53,2.538,2.538,2.541,2.552,2.56,2.565,2.565,2.574,2.594,2.599,2.601,2.604,2.61,2.616,2.624,2.628,2.637,2.646,2.646,2.648,2.664,2.676,2.678,2.697,2.704,2.709,2.715,2.719,2.726,2.74,2.744,2.751,2.769,2.777,2.788,2.803,2.806,2.812,2.824,2.832,2.844,2.855,2.873,2.879,2.894,2.895,2.916,2.924,2.938,2.952,2.958,2.969,2.987,3.005,3.013,3.029,3.035,3.049,3.056,3.079,3.095,3.108,3.121,3.139,3.155,3.171,3.184,3.2,3.218,3.233,3.247,3.259,3.285,3.302,3.325,3.333,3.351,3.374,3.393,3.407,3.435,3.458,3.486,3.5,3.529,3.549,3.564,3.589,3.614,3.64,3.662,3.697,3.725,3.748,3.79,3.799,3.829,3.848,3.891,3.924,3.95,3.992,4.056,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.358,3.342,3.331,3.314,3.303,3.296,3.29,3.282,3.269,3.266,3.246,3.243,3.243,3.234,3.216,3.213,3.208,3.197,3.191,3.189,3.175,3.17,3.165,3.158,3.157,3.148,3.142,3.13,3.129,3.119,3.11,3.108,3.102,3.095,3.095,3.086,3.085,3.079,3.077,3.073,3.063,3.061,3.061,3.057,3.053,3.052,3.047,3.041,3.037,3.036,3.034,3.033,3.027,3.023,3.022,3.022,3.022,3.023,3.028,3.028,3.028,3.019,3.019,3.017,3.014,3.011,3.014,3.011,3.014,3.007,3.007,3.004,3.006,3.004,3.004,3.006,3.006,3.006,3.006,3.008,3.012,3.013,3.013,3.016,3.013,3.016,3.016,3.016,3.016,3.017,3.017,3.026,3.027,3.028,3.029,3.031,3.031,3.042,3.043,3.044,3.049,3.056,3.056,3.06,3.06,3.063,3.065,3.076,3.079,3.084,3.087,3.092,3.096,3.096,3.098,3.109,3.113,3.122,3.125,3.135,3.135,3.136,3.136,3.136,3.136,3.144,3.145,3.156,3.158,3.159,3.168,3.169,3.176,3.183,3.194,3.21,3.213,3.218,3.231,3.232,3.232,3.242,3.243,3.253,3.266,3.278,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 45.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 45.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 45.3801} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 45.4266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.178,0.178,0.189,0,0,0,0,0,0,0,0,3.692,3.68,3.666,3.666,3.652,3.633,3.619,3.619,3.606,3.606,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.212,3.211,3.211,3.211,3.361,0.007,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.143,0.146,0.146,0.153,0.153,0.157,0.157,0.158,0.158,3.029,3.038,3.038,3.038,3.032,3.032,0.157,0.155,0.155,0.155,0.154,0.154,0.15,0.149,0.149,0.13,0.106,0.081,0.064,0.063,0.06,0.06,0.061,0.061,0.064,0.064,0.064,0.064,0.064,0.064,0.068,0.072,0.101,0.167,3.337,3.353,3.355,3.355,3.363,3.364,3.372,3.372,3.416,0.007,0,3.458,3.484,3.461,3.461,3.484,3.487,3.49,3.491,3.496,3.508,3.516,3.516,3.516,3.518,3.525,3.528,3.533,3.534,3.537,3.542,3.547,3.551,3.547,3.547,3.558,3.567,3.574,3.575,3.576,3.579,3.584,3.594,3.596,3.615,3.616,3.623,3.627,3.627,3.636,3.64,3.647,3.65,3.658,3.658,3.663,3.676,3.682,3.689,3.696,3.697,3.709,3.721,3.73,3.736,3.744,3.759,3.76,3.761,3.777,3.783,3.798,3.799,3.815,3.818,3.833,3.841,3.847,3.863,3.879,3.887,3.9,3.9,3.92,3.928,3.944,3.959,3.963,3.981,3.987,4.02,4.04,4.042,4.052,4.06,4.087,0.016,0.016,0,0,0,4.089,4.045,4.022,3.978,3.966,3.94,3.883,3.859,3.843,3.804,3.782,3.759,3.727,3.701,3.677,3.653,3.632,3.603,3.579,3.557,3.525,3.505,3.483,3.455,3.446,3.421,3.402,3.382,3.361,3.35,3.33,3.303,3.295,3.271,3.259,3.226,3.225,3.2,3.18,3.168,3.159,3.139,3.121,3.107,3.091,3.087,3.068,3.053,3.048,3.026,3.011,3.01,2.993,2.98,2.968,2.952,2.944,2.923,2.921,2.905,2.89,2.882,2.873,2.869,2.849,2.841,2.827,2.811,2.811,2.787,2.787,2.779,2.767,2.76,2.747,2.731,2.729,2.715,2.711,2.707,2.698,2.684,2.682,2.673,2.664,2.66,2.656,2.651,2.643,2.636,2.628,2.622,2.609,2.606,2.591,2.588,2.587,2.577,2.572,2.572,2.567,2.559,2.552,2.539,2.535,2.532,2.527,2.516,2.511,2.506,2.504,2.498,2.492,2.491,2.488,2.483,2.482,2.478,2.475,2.474,2.472,2.468,2.463,2.452,2.45,2.448,2.446,2.446,2.446,2.44,2.436,2.433,2.431,2.428,2.428,2.423,2.423,2.418,2.423,2.418,2.419,2.419,2.419,2.415,2.415,2.414,2.414,2.415,2.414,2.41,2.41,2.409,2.408,2.408,2.408,2.408,2.409,2.414,2.414,2.412,2.414,2.42,2.414,2.42,2.42,2.421,2.421,2.423,2.423,2.423,2.423,2.423,2.429,2.429,2.434,2.436,2.439,2.441,2.441,2.446,2.448,2.454,2.454,2.455,2.458,2.458,2.465,2.467,2.468,2.471,2.479,2.485,2.486,2.491,2.492,2.498,2.499,2.505,2.51,2.518,2.52,2.524,2.533,2.537,2.539,2.542,2.554,2.56,2.561,2.567,2.575,2.596,2.603,2.607,2.607,2.608,2.617,2.621,2.63,2.634,2.635,2.644,2.657,2.662,2.674,2.674,2.69,2.707,2.708,2.713,2.726,2.732,2.733,2.748,2.755,2.765,2.784,2.789,2.795,2.796,2.815,2.83,2.847,2.851,2.857,2.871,2.887,2.893,2.904,2.911,2.925,2.94,2.949,2.96,2.977,2.988,2.995,3.013,3.022,3.039,3.043,3.06,3.078,3.09,3.101,3.121,3.136,3.151,3.166,3.177,3.197,3.216,3.241,3.248,3.258,3.278,3.297,3.325,3.336,3.345,3.375,3.396,3.406,3.435,3.469,3.478,3.505,3.528,3.538,3.575,3.598,3.603,3.64,3.668,3.692,3.728,3.744,3.772,3.802,3.827,3.862,3.886,3.915,3.959,3.998,4.03,4.056,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.358,3.338,3.325,3.315,3.306,3.294,3.292,3.278,3.264,3.263,3.26,3.246,3.244,3.238,3.221,3.212,3.199,3.197,3.193,3.187,3.176,3.174,3.166,3.152,3.148,3.142,3.131,3.128,3.121,3.121,3.116,3.11,3.106,3.105,3.095,3.095,3.079,3.079,3.075,3.074,3.068,3.066,3.061,3.058,3.052,3.047,3.045,3.044,3.038,3.038,3.038,3.036,3.032,3.027,3.023,3.023,3.023,3.023,3.028,3.028,3.028,3.018,3.017,3.017,3.013,3.01,3.01,3.01,3.01,3.013,3.013,3.01,3.008,3.008,3.008,3.008,3.008,3.011,3.011,3.011,3.011,3.014,3.013,3.013,3.013,3.021,3.014,3.021,3.024,3.021,3.023,3.025,3.025,3.028,3.035,3.035,3.036,3.038,3.039,3.042,3.046,3.054,3.057,3.059,3.06,3.061,3.064,3.077,3.08,3.086,3.092,3.094,3.094,3.097,3.098,3.105,3.109,3.115,3.121,3.134,3.134,3.134,3.134,3.142,3.142,3.143,3.151,3.156,3.157,3.164,3.175,3.178,3.179,3.187,3.199,3.214,3.219,3.22,3.231,3.234,3.238,3.239,3.242,3.243,3.259,3.275,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 45.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 45.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 45.581} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.9022} SEN {Time 45.6266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.181,0.187,0.189,0,0,0,0,0,0,0,0,3.688,3.686,3.674,3.665,3.649,3.629,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.217,3.212,3.212,3.212,3.27,3.371,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.145,0.144,0.144,0.144,0.153,0.144,0.153,0.153,0.153,0.154,3.04,3.04,3.04,3.04,3.037,3.033,0.165,0.157,0.157,0.157,0.154,0.154,0.154,0.154,0.153,0.125,0.111,0.076,0.066,0.064,0.064,0.064,0.065,0.064,0.065,0.066,0.065,0.064,0.059,0.059,0.059,0.07,0.101,0.173,3.331,3.352,3.366,3.366,3.366,3.381,0.007,3.405,3.405,3.433,3.433,3.455,3.47,3.47,3.47,3.478,3.479,3.485,3.505,3.505,3.506,3.507,3.511,3.517,3.52,3.524,3.527,3.534,3.54,3.549,3.549,3.55,3.551,3.551,3.56,3.561,3.567,3.568,3.575,3.577,3.579,3.582,3.595,3.601,3.61,3.61,3.621,3.632,3.633,3.64,3.652,3.656,3.657,3.663,3.665,3.665,3.665,3.683,3.695,3.696,3.699,3.709,3.717,3.727,3.739,3.75,3.751,3.76,3.774,3.775,3.786,3.789,3.791,3.807,3.819,3.831,3.84,3.842,3.872,3.881,3.889,3.894,3.895,3.92,3.921,3.942,3.955,3.973,3.974,3.99,4.019,4.023,4.047,4.056,4.09,4.092,0.016,0.016,0.016,0.007,0,0.016,4.051,4.03,3.987,3.956,3.929,3.905,3.865,3.836,3.813,3.786,3.757,3.723,3.702,3.685,3.652,3.622,3.593,3.578,3.538,3.524,3.504,3.489,3.463,3.439,3.411,3.408,3.379,3.373,3.357,3.339,3.303,3.297,3.284,3.261,3.233,3.228,3.204,3.185,3.181,3.159,3.137,3.126,3.105,3.101,3.083,3.06,3.043,3.033,3.03,3.018,3.004,2.989,2.975,2.964,2.945,2.938,2.926,2.919,2.903,2.892,2.877,2.871,2.857,2.849,2.845,2.827,2.809,2.806,2.794,2.782,2.781,2.767,2.759,2.752,2.735,2.73,2.721,2.709,2.705,2.699,2.685,2.682,2.674,2.663,2.657,2.648,2.646,2.638,2.625,2.623,2.623,2.613,2.603,2.589,2.589,2.583,2.577,2.577,2.561,2.556,2.555,2.546,2.544,2.54,2.527,2.521,2.52,2.513,2.507,2.506,2.496,2.493,2.491,2.485,2.48,2.475,2.475,2.47,2.467,2.466,2.464,2.458,2.451,2.451,2.45,2.447,2.447,2.445,2.445,2.442,2.441,2.434,2.428,2.428,2.427,2.425,2.425,2.415,2.415,2.415,2.414,2.415,2.415,2.414,2.413,2.412,2.412,2.412,2.412,2.412,2.41,2.408,2.41,2.414,2.413,2.414,2.417,2.419,2.419,2.419,2.419,2.415,2.415,2.421,2.421,2.421,2.421,2.421,2.421,2.426,2.428,2.428,2.429,2.432,2.432,2.436,2.44,2.44,2.444,2.445,2.447,2.447,2.454,2.458,2.46,2.462,2.465,2.471,2.476,2.478,2.481,2.487,2.492,2.493,2.495,2.499,2.514,2.515,2.522,2.522,2.529,2.535,2.536,2.538,2.541,2.543,2.559,2.563,2.572,2.574,2.587,2.594,2.599,2.606,2.613,2.617,2.622,2.63,2.641,2.644,2.648,2.65,2.663,2.675,2.684,2.685,2.699,2.702,2.711,2.714,2.733,2.735,2.754,2.762,2.764,2.786,2.794,2.8,2.806,2.822,2.825,2.838,2.842,2.861,2.865,2.87,2.883,2.903,2.909,2.929,2.945,2.949,2.953,2.971,2.983,3.001,3.015,3.022,3.035,3.051,3.063,3.083,3.09,3.108,3.122,3.14,3.16,3.174,3.179,3.199,3.217,3.238,3.252,3.26,3.28,3.298,3.323,3.331,3.354,3.378,3.391,3.407,3.428,3.459,3.486,3.492,3.533,3.538,3.567,3.607,3.613,3.645,3.664,3.689,3.713,3.744,3.782,3.805,3.837,3.86,3.891,3.918,3.992,4.026,4.09,4.09,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.36,3.334,3.331,3.314,3.31,3.298,3.288,3.277,3.277,3.275,3.259,3.239,3.238,3.229,3.223,3.21,3.208,3.194,3.184,3.183,3.176,3.17,3.159,3.157,3.155,3.145,3.138,3.126,3.119,3.119,3.117,3.115,3.106,3.102,3.094,3.09,3.082,3.082,3.078,3.075,3.069,3.066,3.059,3.053,3.052,3.049,3.044,3.041,3.039,3.037,3.037,3.03,3.027,3.027,3.022,3.021,3.021,3.021,3.028,3.028,3.028,3.022,3.02,3.02,3.018,3.016,3.014,3.009,3.009,3.009,3.009,3.005,3.009,3.009,3.009,3.011,3.011,3.011,3.01,3.01,3.01,3.011,3.015,3.015,3.015,3.015,3.015,3.018,3.027,3.027,3.027,3.027,3.027,3.032,3.036,3.038,3.038,3.038,3.039,3.043,3.05,3.053,3.055,3.055,3.058,3.059,3.064,3.068,3.077,3.084,3.087,3.092,3.093,3.096,3.111,3.112,3.112,3.114,3.116,3.127,3.127,3.138,3.13,3.142,3.142,3.144,3.145,3.148,3.159,3.166,3.172,3.173,3.174,3.189,3.195,3.21,3.211,3.217,3.221,3.227,3.238,3.242,3.245,3.261,3.275,3.275,3.276,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 45.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 45.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 45.7822} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 45.8266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.185,0.188,0.188,0,0,0,0,0,0,0,0,3.687,3.681,3.66,3.655,3.64,3.629,3.607,3.607,3.607,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.22,3.22,3.216,3.216,3.264,3.365,3.365,0,0,0,0,0,0,0,0.151,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.153,0.153,0.158,0.158,0.158,0.161,3.029,3.031,3.031,3.031,3.031,3.04,3.023,0.158,0.154,0.154,0.154,0.154,0.148,0.146,0.143,0.131,0.107,0.082,0.056,0.056,0.056,0.059,0.06,0.062,0.066,0.068,0.068,0.066,0.066,0.066,0.066,0.068,0.119,0.174,3.362,0,0.007,3.362,3.362,3.362,3.362,3.407,3.425,3.442,3.442,3.442,3.445,3.448,3.474,3.476,3.486,3.498,3.498,3.499,3.502,3.508,3.516,3.52,3.522,3.522,3.526,3.537,3.541,3.544,3.546,3.547,3.548,3.555,3.556,3.561,3.571,3.575,3.579,3.58,3.582,3.584,3.594,3.605,3.606,3.612,3.621,3.627,3.628,3.63,3.649,3.649,3.656,3.662,3.662,3.663,3.678,3.679,3.692,3.692,3.7,3.71,3.71,3.719,3.731,3.742,3.751,3.759,3.767,3.768,3.781,3.792,3.801,3.82,3.82,3.833,3.84,3.855,3.861,3.874,3.881,3.899,3.907,3.916,3.928,3.947,3.956,3.972,3.977,3.993,4.011,4.034,4.045,4.065,4.073,0.016,0.016,0.016,0.016,0.016,0,0,0,0,3.986,3.955,3.912,3.894,3.865,3.836,3.815,3.784,3.758,3.727,3.698,3.667,3.65,3.617,3.598,3.575,3.542,3.538,3.515,3.481,3.45,3.443,3.415,3.405,3.381,3.37,3.352,3.326,3.314,3.292,3.279,3.262,3.235,3.228,3.201,3.189,3.181,3.154,3.147,3.124,3.103,3.095,3.088,3.061,3.044,3.044,3.036,3.018,3.007,2.993,2.981,2.962,2.954,2.936,2.922,2.916,2.907,2.89,2.872,2.871,2.854,2.847,2.842,2.822,2.814,2.807,2.795,2.786,2.783,2.764,2.763,2.745,2.74,2.737,2.716,2.714,2.698,2.692,2.681,2.677,2.674,2.666,2.659,2.654,2.648,2.638,2.627,2.622,2.621,2.609,2.608,2.599,2.59,2.583,2.574,2.571,2.57,2.567,2.556,2.554,2.545,2.536,2.53,2.519,2.518,2.515,2.502,2.501,2.497,2.492,2.491,2.49,2.478,2.478,2.477,2.477,2.47,2.467,2.465,2.457,2.456,2.453,2.452,2.451,2.45,2.446,2.442,2.435,2.433,2.432,2.429,2.427,2.426,2.426,2.424,2.424,2.421,2.42,2.418,2.418,2.415,2.415,2.415,2.415,2.412,2.412,2.409,2.409,2.408,2.408,2.409,2.411,2.408,2.412,2.415,2.415,2.414,2.415,2.416,2.418,2.424,2.424,2.424,2.424,2.42,2.42,2.42,2.42,2.421,2.425,2.426,2.428,2.437,2.44,2.441,2.442,2.449,2.449,2.453,2.455,2.456,2.464,2.467,2.467,2.468,2.471,2.474,2.481,2.483,2.484,2.485,2.487,2.501,2.502,2.512,2.515,2.521,2.525,2.525,2.537,2.538,2.543,2.545,2.552,2.559,2.563,2.572,2.58,2.596,2.598,2.6,2.602,2.608,2.617,2.625,2.629,2.639,2.641,2.655,2.658,2.659,2.675,2.676,2.686,2.694,2.697,2.717,2.723,2.723,2.745,2.747,2.756,2.77,2.779,2.789,2.798,2.807,2.812,2.828,2.843,2.845,2.854,2.865,2.881,2.892,2.897,2.925,2.933,2.939,2.94,2.957,2.969,2.984,2.997,3.015,3.026,3.037,3.045,3.072,3.086,3.093,3.105,3.122,3.144,3.157,3.169,3.18,3.197,3.22,3.229,3.249,3.265,3.274,3.29,3.323,3.344,3.357,3.375,3.387,3.394,3.44,3.462,3.487,3.506,3.52,3.549,3.561,3.601,3.612,3.647,3.666,3.689,3.717,3.752,3.777,3.799,3.841,3.86,3.895,3.924,3.997,4.025,0.016,0.016,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.357,3.345,3.334,3.31,3.304,3.292,3.285,3.279,3.269,3.254,3.253,3.246,3.238,3.236,3.218,3.216,3.215,3.2,3.189,3.186,3.182,3.177,3.16,3.157,3.156,3.141,3.133,3.131,3.131,3.122,3.121,3.11,3.105,3.101,3.095,3.09,3.088,3.077,3.076,3.073,3.071,3.062,3.061,3.061,3.057,3.049,3.046,3.041,3.041,3.037,3.037,3.034,3.029,3.028,3.027,3.027,3.027,3.027,3.032,3.032,3.032,3.029,3.021,3.014,3.014,3.013,3.013,3.007,3.011,3.011,3.01,3.01,3.011,3.01,3.01,3.011,3.011,3.01,3.012,3.012,3.012,3.012,3.013,3.013,3.013,3.014,3.019,3.021,3.022,3.022,3.022,3.022,3.024,3.028,3.04,3.04,3.041,3.043,3.046,3.047,3.051,3.055,3.056,3.058,3.061,3.064,3.068,3.077,3.081,3.088,3.089,3.09,3.091,3.092,3.105,3.109,3.109,3.115,3.123,3.132,3.132,3.137,3.137,3.145,3.145,3.147,3.149,3.152,3.154,3.16,3.17,3.174,3.176,3.192,3.202,3.207,3.216,3.218,3.222,3.233,3.24,3.241,3.242,3.248,3.259,3.274,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 45.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 45.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 45.983} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 46.0266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.183,0.183,0.183,0,0,0,0,0,0,0,0,3.683,3.676,3.664,3.657,3.637,3.634,3.611,3.611,3.611,3.593,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.224,3.224,0.007,0,0.007,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.143,0.144,0.144,0.149,0.149,0.151,0.151,0.156,0.16,3.036,3.036,3.036,3.036,3.033,3.033,3.03,0.159,0.156,0.156,0.153,0.153,0.151,0.147,0.144,0.131,0.107,0.085,0.062,0.062,0.06,0.06,0.06,0.062,0.062,0.066,0.066,0.066,0.062,0.066,0.069,0.075,0.11,0.183,3.371,3.371,3.385,3.385,3.385,3.385,0,0.007,0,0.007,3.452,3.452,3.476,3.476,3.487,3.497,3.495,3.497,3.499,3.504,3.507,3.515,3.519,3.524,3.529,3.532,3.533,3.533,3.535,3.536,3.539,3.544,3.55,3.555,3.561,3.563,3.567,3.569,3.581,3.582,3.591,3.592,3.594,3.599,3.612,3.624,3.625,3.628,3.635,3.638,3.646,3.651,3.652,3.662,3.663,3.666,3.685,3.69,3.692,3.693,3.697,3.705,3.708,3.731,3.735,3.742,3.746,3.754,3.759,3.761,3.776,3.79,3.793,3.82,3.821,3.838,3.841,3.858,3.869,3.872,3.89,3.893,3.901,3.917,3.935,3.951,3.962,3.978,3.978,4.002,4.023,4.023,4.046,4.051,4.087,4.093,0.016,0.016,0.016,0.007,0,0.007,4.081,4.024,3.98,3.949,3.912,3.899,3.859,3.833,3.818,3.791,3.75,3.738,3.704,3.679,3.658,3.629,3.601,3.571,3.55,3.533,3.511,3.487,3.452,3.44,3.426,3.391,3.388,3.373,3.344,3.341,3.303,3.285,3.27,3.253,3.234,3.226,3.192,3.189,3.171,3.148,3.143,3.118,3.105,3.099,3.089,3.074,3.045,3.032,3.021,3.014,3,2.991,2.983,2.97,2.956,2.941,2.935,2.917,2.912,2.892,2.878,2.874,2.857,2.856,2.843,2.834,2.823,2.808,2.789,2.782,2.776,2.773,2.757,2.753,2.728,2.727,2.722,2.714,2.697,2.691,2.68,2.678,2.678,2.67,2.651,2.649,2.644,2.64,2.638,2.62,2.619,2.606,2.605,2.599,2.597,2.576,2.575,2.572,2.566,2.565,2.562,2.551,2.539,2.539,2.532,2.523,2.518,2.513,2.511,2.508,2.497,2.494,2.493,2.487,2.487,2.479,2.477,2.475,2.475,2.472,2.464,2.46,2.454,2.453,2.453,2.444,2.444,2.443,2.442,2.439,2.438,2.428,2.427,2.425,2.425,2.425,2.424,2.424,2.424,2.419,2.418,2.418,2.414,2.413,2.413,2.413,2.412,2.411,2.409,2.409,2.41,2.409,2.408,2.41,2.41,2.408,2.416,2.416,2.414,2.413,2.414,2.414,2.414,2.419,2.419,2.419,2.421,2.423,2.423,2.424,2.425,2.426,2.427,2.433,2.438,2.441,2.441,2.444,2.447,2.449,2.454,2.459,2.459,2.461,2.461,2.464,2.465,2.474,2.48,2.483,2.484,2.487,2.487,2.487,2.496,2.501,2.514,2.517,2.518,2.521,2.523,2.524,2.54,2.54,2.545,2.548,2.558,2.564,2.565,2.57,2.593,2.6,2.602,2.602,2.613,2.615,2.618,2.63,2.636,2.636,2.648,2.651,2.66,2.675,2.678,2.694,2.702,2.705,2.715,2.722,2.732,2.74,2.754,2.759,2.764,2.776,2.789,2.8,2.801,2.816,2.829,2.833,2.855,2.862,2.865,2.878,2.897,2.907,2.911,2.923,2.943,2.95,2.956,2.972,2.984,3.004,3.016,3.027,3.037,3.052,3.065,3.079,3.09,3.108,3.119,3.136,3.157,3.158,3.177,3.197,3.222,3.236,3.247,3.274,3.275,3.305,3.32,3.325,3.356,3.376,3.399,3.407,3.432,3.458,3.477,3.5,3.527,3.543,3.577,3.601,3.608,3.635,3.669,3.697,3.73,3.746,3.78,3.79,3.84,3.853,3.896,3.916,3.982,4.02,4.059,4.059,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.358,3.341,3.329,3.316,3.307,3.299,3.291,3.285,3.274,3.263,3.25,3.249,3.244,3.237,3.217,3.204,3.2,3.195,3.189,3.182,3.176,3.169,3.161,3.159,3.146,3.14,3.133,3.131,3.121,3.12,3.114,3.111,3.104,3.103,3.101,3.092,3.082,3.078,3.074,3.072,3.07,3.069,3.062,3.056,3.056,3.055,3.049,3.04,3.04,3.039,3.039,3.032,3.029,3.029,3.025,3.019,3.019,3.019,3.028,3.028,3.028,3.02,3.018,3.018,3.015,3.014,3.013,3.011,3.013,3.012,3.012,3.011,3.011,3.01,3.005,3.004,3.005,3.005,3.006,3.012,3.012,3.012,3.012,3.014,3.02,3.02,3.02,3.02,3.023,3.02,3.023,3.025,3.03,3.03,3.033,3.033,3.033,3.036,3.038,3.041,3.048,3.055,3.059,3.062,3.065,3.067,3.071,3.071,3.071,3.082,3.086,3.093,3.094,3.094,3.102,3.107,3.113,3.114,3.121,3.128,3.133,3.133,3.133,3.136,3.136,3.148,3.151,3.154,3.163,3.169,3.169,3.174,3.175,3.191,3.205,3.208,3.228,3.228,3.228,3.229,3.239,3.245,3.248,3.251,3.264,3.28,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 46.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 46.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 46.184} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 46.2226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.176,0.186,0.186,0,0,0,0,0,0,0,0,3.682,3.677,3.664,3.654,3.65,3.634,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.248,3.216,3.216,3.214,3.214,3.272,3.367,3.367,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.144,0.147,0.147,0.147,0.156,0.153,0.153,0.153,0.153,0.153,3.028,3.038,3.038,3.038,3.028,3.028,0.16,0.156,0.156,0.156,0.156,0.154,0.15,0.149,0.149,0.133,0.11,0.084,0.066,0.061,0.061,0.061,0.06,0.062,0.065,0.065,0.064,0.064,0.064,0.064,0.064,0.068,0.114,0.174,3.332,3.361,3.366,3.366,3.366,3.366,3.371,3.412,3.412,0.007,0,0,0,3.474,3.474,3.474,3.488,3.493,3.493,3.501,3.502,3.507,3.52,3.525,3.526,3.527,3.531,3.532,3.532,3.536,3.539,3.549,3.552,3.555,3.563,3.563,3.568,3.57,3.572,3.575,3.581,3.585,3.59,3.599,3.6,3.608,3.623,3.633,3.633,3.639,3.641,3.649,3.65,3.656,3.657,3.657,3.68,3.681,3.692,3.697,3.697,3.713,3.721,3.733,3.736,3.737,3.76,3.766,3.767,3.773,3.775,3.799,3.805,3.814,3.823,3.836,3.842,3.855,3.858,3.867,3.878,3.892,3.906,3.919,3.933,3.94,3.959,3.968,3.971,3.99,4.008,4.032,4.046,4.063,4.066,0.016,0.016,0.016,0.016,0.007,0.016,4.09,4.058,4.017,3.988,3.988,3.954,3.921,3.87,3.84,3.818,3.775,3.741,3.736,3.701,3.691,3.654,3.629,3.598,3.578,3.545,3.517,3.516,3.49,3.469,3.444,3.429,3.406,3.375,3.368,3.35,3.328,3.3,3.293,3.278,3.26,3.227,3.222,3.199,3.19,3.169,3.153,3.146,3.125,3.114,3.096,3.085,3.071,3.043,3.043,3.036,3.021,2.999,2.996,2.985,2.958,2.957,2.938,2.925,2.922,2.905,2.903,2.881,2.872,2.858,2.847,2.842,2.826,2.817,2.808,2.794,2.785,2.778,2.768,2.759,2.75,2.734,2.73,2.717,2.714,2.701,2.696,2.682,2.678,2.669,2.659,2.658,2.657,2.648,2.642,2.638,2.623,2.623,2.616,2.612,2.596,2.594,2.582,2.58,2.576,2.565,2.565,2.559,2.556,2.543,2.533,2.53,2.524,2.518,2.51,2.51,2.501,2.493,2.49,2.489,2.489,2.486,2.483,2.479,2.471,2.466,2.465,2.464,2.456,2.455,2.454,2.452,2.449,2.447,2.445,2.445,2.441,2.44,2.435,2.428,2.427,2.426,2.426,2.421,2.417,2.417,2.418,2.414,2.418,2.418,2.418,2.417,2.417,2.417,2.415,2.417,2.416,2.416,2.41,2.416,2.416,2.412,2.413,2.417,2.415,2.413,2.415,2.415,2.415,2.415,2.417,2.421,2.417,2.423,2.417,2.424,2.423,2.425,2.427,2.433,2.433,2.435,2.438,2.44,2.441,2.441,2.446,2.453,2.454,2.456,2.461,2.462,2.465,2.467,2.473,2.478,2.483,2.486,2.487,2.491,2.495,2.498,2.498,2.511,2.515,2.515,2.518,2.524,2.527,2.532,2.534,2.548,2.551,2.565,2.565,2.565,2.577,2.595,2.599,2.606,2.606,2.612,2.615,2.621,2.629,2.64,2.643,2.644,2.65,2.663,2.669,2.675,2.687,2.696,2.697,2.707,2.717,2.732,2.741,2.753,2.758,2.765,2.779,2.79,2.791,2.809,2.817,2.824,2.842,2.844,2.859,2.868,2.87,2.887,2.906,2.917,2.925,2.941,2.955,2.957,2.967,2.98,2.998,3.014,3.024,3.038,3.049,3.068,3.077,3.085,3.103,3.125,3.14,3.157,3.17,3.172,3.208,3.223,3.232,3.25,3.256,3.281,3.302,3.325,3.334,3.358,3.368,3.387,3.404,3.426,3.459,3.478,3.505,3.511,3.53,3.564,3.6,3.62,3.633,3.667,3.703,3.719,3.747,3.787,3.797,3.829,3.861,3.929,3.944,3.988,3.988,4.027,4.065,4.094,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.36,3.335,3.332,3.32,3.303,3.3,3.294,3.273,3.269,3.26,3.253,3.248,3.24,3.239,3.217,3.216,3.203,3.192,3.188,3.178,3.174,3.169,3.157,3.153,3.153,3.147,3.139,3.137,3.12,3.116,3.115,3.113,3.107,3.106,3.095,3.09,3.085,3.082,3.077,3.072,3.064,3.063,3.061,3.06,3.054,3.052,3.042,3.042,3.042,3.037,3.037,3.033,3.033,3.029,3.027,3.023,3.023,3.023,3.029,3.029,3.029,3.023,3.023,3.021,3.018,3.017,3.012,3.01,3.011,3.012,3.011,3.01,3.009,3.005,3.005,3.005,3.007,3.008,3.01,3.013,3.013,3.012,3.011,3.012,3.012,3.013,3.016,3.017,3.02,3.02,3.022,3.027,3.031,3.031,3.032,3.033,3.033,3.038,3.039,3.044,3.049,3.051,3.055,3.055,3.059,3.064,3.066,3.079,3.083,3.086,3.086,3.089,3.091,3.093,3.095,3.102,3.104,3.11,3.117,3.129,3.131,3.133,3.132,3.133,3.133,3.147,3.151,3.153,3.157,3.16,3.17,3.17,3.179,3.184,3.188,3.204,3.217,3.221,3.237,3.239,3.24,3.244,3.244,3.246,3.267,3.277,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 46.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 46.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 46.376} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7752} SEN {Time 46.4226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.185,0.179,0.185,0.187,0,0,0,0,0,0,0,0,3.681,3.665,3.66,3.659,3.643,3.62,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.214,3.209,3.209,3.209,3.361,0.007,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.144,0.141,0.141,0.141,0.15,0.15,0.15,0.15,0.15,0.156,3.041,3.041,3.041,3.041,3.03,3.03,3.03,0.162,0.161,0.161,0.158,0.154,0.151,0.149,0.149,0.129,0.109,0.086,0.065,0.06,0.06,0.06,0.061,0.063,0.067,0.067,0.068,0.068,0.068,0.068,0.069,0.077,0.109,0.184,3.35,0.007,3.38,3.373,3.373,3.372,3.373,3.373,3.411,3.426,3.442,3.442,3.45,3.481,3.481,3.483,3.493,3.494,3.494,3.504,3.506,3.509,3.512,3.521,3.528,3.53,3.53,3.531,3.535,3.538,3.543,3.547,3.549,3.55,3.55,3.559,3.563,3.572,3.576,3.579,3.589,3.589,3.591,3.599,3.605,3.614,3.625,3.629,3.633,3.639,3.645,3.652,3.652,3.657,3.662,3.665,3.682,3.683,3.685,3.696,3.697,3.705,3.713,3.731,3.734,3.746,3.759,3.762,3.765,3.765,3.77,3.787,3.797,3.811,3.817,3.829,3.845,3.847,3.863,3.879,3.891,3.892,3.901,3.913,3.922,3.951,3.966,3.969,3.979,3.995,4.012,4.04,4.041,4.057,4.065,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,4.068,0,3.961,3.924,3.88,3.831,3.823,3.797,3.756,3.736,3.693,3.676,3.652,3.629,3.604,3.572,3.543,3.527,3.515,3.474,3.458,3.443,3.424,3.409,3.383,3.361,3.348,3.335,3.299,3.295,3.269,3.26,3.232,3.228,3.191,3.186,3.175,3.151,3.134,3.122,3.106,3.088,3.088,3.072,3.051,3.043,3.024,3.013,2.994,2.99,2.985,2.961,2.957,2.941,2.925,2.923,2.904,2.897,2.875,2.875,2.859,2.853,2.843,2.822,2.815,2.81,2.791,2.786,2.779,2.764,2.762,2.754,2.739,2.73,2.721,2.715,2.706,2.687,2.682,2.676,2.674,2.665,2.658,2.649,2.646,2.638,2.634,2.625,2.62,2.613,2.609,2.605,2.593,2.585,2.577,2.573,2.566,2.562,2.552,2.546,2.543,2.537,2.529,2.527,2.517,2.515,2.506,2.503,2.494,2.494,2.492,2.492,2.482,2.479,2.474,2.476,2.471,2.471,2.465,2.461,2.454,2.449,2.444,2.443,2.441,2.441,2.437,2.436,2.436,2.431,2.431,2.429,2.429,2.428,2.423,2.42,2.415,2.413,2.413,2.413,2.413,2.413,2.413,2.409,2.41,2.41,2.412,2.41,2.41,2.41,2.41,2.41,2.411,2.411,2.411,2.411,2.41,2.41,2.41,2.411,2.42,2.42,2.421,2.42,2.421,2.421,2.421,2.424,2.43,2.426,2.432,2.436,2.436,2.436,2.441,2.441,2.447,2.451,2.451,2.456,2.459,2.461,2.459,2.464,2.468,2.47,2.472,2.477,2.482,2.486,2.49,2.494,2.498,2.499,2.508,2.513,2.514,2.519,2.519,2.529,2.536,2.546,2.548,2.552,2.557,2.561,2.57,2.579,2.585,2.594,2.595,2.606,2.611,2.613,2.63,2.634,2.636,2.639,2.644,2.653,2.663,2.676,2.68,2.689,2.697,2.703,2.712,2.722,2.73,2.741,2.752,2.756,2.768,2.783,2.786,2.802,2.804,2.818,2.833,2.834,2.853,2.864,2.875,2.881,2.897,2.909,2.909,2.925,2.948,2.952,2.958,2.972,2.98,2.998,3.013,3.024,3.034,3.045,3.063,3.08,3.086,3.105,3.115,3.139,3.16,3.165,3.179,3.205,3.226,3.229,3.246,3.257,3.281,3.294,3.32,3.332,3.349,3.374,3.39,3.412,3.439,3.464,3.485,3.513,3.524,3.548,3.569,3.597,3.621,3.65,3.673,3.697,3.724,3.748,3.776,3.794,3.837,3.869,3.895,3.918,3.948,4.03,0.007,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.353,3.346,3.33,3.313,3.311,3.299,3.285,3.285,3.271,3.257,3.247,3.244,3.238,3.238,3.22,3.219,3.205,3.202,3.187,3.186,3.177,3.172,3.157,3.154,3.153,3.145,3.143,3.124,3.122,3.121,3.119,3.109,3.107,3.093,3.093,3.088,3.084,3.083,3.075,3.071,3.07,3.067,3.061,3.061,3.056,3.05,3.039,3.039,3.039,3.039,3.039,3.035,3.035,3.031,3.025,3.025,3.025,3.025,3.027,3.027,3.027,3.025,3.018,3.015,3.015,3.01,3.01,3.01,3.01,3.01,3.01,3.008,3.007,3.005,3.005,3.006,3.007,3.013,3.013,3.015,3.014,3.014,3.014,3.018,3.018,3.018,3.014,3.019,3.019,3.019,3.024,3.026,3.028,3.029,3.031,3.036,3.036,3.039,3.042,3.044,3.048,3.049,3.056,3.061,3.062,3.066,3.068,3.076,3.076,3.089,3.091,3.092,3.094,3.101,3.103,3.105,3.111,3.113,3.122,3.131,3.131,3.131,3.131,3.142,3.142,3.143,3.144,3.158,3.163,3.168,3.17,3.178,3.18,3.18,3.2,3.207,3.217,3.22,3.221,3.234,3.238,3.24,3.241,3.242,3.267,3.271,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 46.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 46.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 46.5769} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7752} SEN {Time 46.6226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.182,0.183,0.186,0,0,0,0,0,0,0,0,3.687,3.68,3.672,3.662,3.654,3.633,3.622,3.622,3.622,3.601,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.21,3.216,3.216,3.268,3.367,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.15,0.15,0.15,0.15,0.151,0.151,3.027,3.037,3.037,3.037,3.034,3.034,0.153,0.153,0.153,0.153,0.153,0.153,0.151,0.151,0.144,0.133,0.105,0.073,0.071,0.06,0.06,0.06,0.063,0.063,0.064,0.067,0.064,0.061,0.061,0.061,0.061,0.074,0.111,0.181,3.364,3.364,3.372,3.364,3.364,3.365,3.372,3.41,0,0.007,3.45,3.45,3.478,3.472,3.478,3.495,3.495,3.495,3.499,3.501,3.501,3.513,3.514,3.515,3.525,3.526,3.529,3.53,3.532,3.538,3.54,3.545,3.546,3.55,3.553,3.56,3.56,3.573,3.574,3.576,3.586,3.591,3.603,3.607,3.608,3.614,3.624,3.631,3.634,3.638,3.638,3.653,3.653,3.655,3.665,3.672,3.684,3.685,3.685,3.685,3.707,3.712,3.714,3.72,3.723,3.748,3.75,3.752,3.764,3.768,3.778,3.791,3.802,3.806,3.814,3.834,3.837,3.856,3.87,3.879,3.89,3.892,3.901,3.917,3.924,3.948,3.959,3.971,3.987,3.99,4.015,4.036,4.039,4.07,4.081,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.04,3.991,3.974,3.93,3.89,3.867,3.839,3.811,3.771,3.762,3.723,3.691,3.667,3.65,3.623,3.6,3.571,3.54,3.525,3.494,3.489,3.452,3.44,3.419,3.405,3.379,3.36,3.341,3.322,3.307,3.293,3.272,3.257,3.233,3.231,3.2,3.185,3.168,3.152,3.129,3.127,3.108,3.102,3.092,3.071,3.043,3.032,3.018,3.009,3.003,2.988,2.979,2.964,2.955,2.943,2.928,2.922,2.906,2.895,2.881,2.878,2.857,2.847,2.837,2.829,2.824,2.812,2.797,2.787,2.783,2.767,2.764,2.754,2.741,2.731,2.716,2.712,2.71,2.696,2.677,2.674,2.672,2.667,2.65,2.649,2.644,2.638,2.633,2.632,2.609,2.609,2.609,2.602,2.595,2.585,2.581,2.577,2.565,2.565,2.554,2.551,2.546,2.532,2.527,2.523,2.515,2.506,2.506,2.502,2.496,2.493,2.493,2.485,2.482,2.479,2.476,2.473,2.465,2.465,2.46,2.459,2.456,2.454,2.452,2.449,2.449,2.446,2.446,2.437,2.437,2.431,2.431,2.429,2.427,2.425,2.425,2.423,2.416,2.415,2.413,2.411,2.413,2.411,2.411,2.412,2.415,2.412,2.412,2.41,2.406,2.406,2.406,2.413,2.413,2.413,2.413,2.411,2.411,2.412,2.412,2.414,2.418,2.419,2.421,2.421,2.424,2.424,2.423,2.425,2.426,2.425,2.425,2.434,2.434,2.439,2.439,2.439,2.445,2.449,2.45,2.45,2.45,2.457,2.463,2.464,2.468,2.47,2.472,2.478,2.485,2.486,2.491,2.496,2.498,2.505,2.511,2.513,2.518,2.522,2.529,2.537,2.538,2.545,2.545,2.546,2.561,2.567,2.57,2.573,2.59,2.596,2.601,2.61,2.612,2.613,2.62,2.63,2.637,2.643,2.643,2.652,2.657,2.674,2.676,2.684,2.693,2.706,2.721,2.722,2.723,2.745,2.749,2.757,2.764,2.772,2.789,2.798,2.807,2.813,2.83,2.843,2.844,2.853,2.869,2.88,2.898,2.907,2.912,2.925,2.942,2.953,2.956,2.979,2.987,3,3.01,3.022,3.044,3.045,3.064,3.082,3.096,3.111,3.124,3.141,3.148,3.162,3.185,3.194,3.217,3.235,3.25,3.266,3.292,3.303,3.322,3.338,3.342,3.379,3.395,3.405,3.431,3.461,3.483,3.492,3.516,3.546,3.562,3.601,3.612,3.641,3.668,3.696,3.722,3.752,3.788,3.799,3.844,3.865,3.886,3.913,3.957,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.357,3.337,3.315,3.315,3.305,3.305,3.292,3.287,3.266,3.262,3.248,3.242,3.236,3.233,3.219,3.211,3.205,3.204,3.191,3.183,3.175,3.171,3.161,3.155,3.153,3.142,3.141,3.132,3.124,3.121,3.119,3.115,3.112,3.109,3.092,3.089,3.082,3.077,3.077,3.071,3.071,3.07,3.064,3.061,3.055,3.052,3.047,3.041,3.041,3.038,3.037,3.036,3.033,3.027,3.022,3.022,3.023,3.023,3.023,3.023,3.023,3.017,3.015,3.007,3.007,3.005,3.007,3.009,3.01,3.011,3.011,3.011,3.011,3.009,3.009,3.009,3.009,3.014,3.014,3.014,3.015,3.015,3.015,3.017,3.017,3.018,3.018,3.018,3.018,3.02,3.025,3.028,3.028,3.033,3.033,3.033,3.033,3.039,3.04,3.04,3.05,3.053,3.054,3.056,3.062,3.065,3.067,3.072,3.075,3.076,3.089,3.093,3.096,3.097,3.097,3.106,3.107,3.117,3.118,3.129,3.129,3.13,3.131,3.136,3.145,3.145,3.15,3.158,3.158,3.158,3.172,3.177,3.182,3.182,3.209,3.219,3.22,3.223,3.23,3.231,3.232,3.237,3.24,3.25,3.262,3.282,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 46.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 46.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 46.7778} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7752} SEN {Time 46.8226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.18,0.186,0.186,0,0,0,0,0,0,0,0,3.688,3.678,3.668,3.665,3.651,3.63,3.615,3.615,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.224,3.221,3.219,3.221,3.221,3.268,3.356,0,0,0,0,0,0,0,0.153,0.149,0.149,0.149,0.149,0.152,0.152,0.152,0.152,0.151,0.151,0.151,0.151,0.163,3.03,3.03,3.041,3.041,3.03,3.041,3.041,0.163,0.162,0.162,0.154,0.151,0.147,0.143,0.141,0.13,0.109,0.076,0.068,0.061,0.06,0.06,0.06,0.06,0.062,0.068,0.062,0.062,0.062,0.062,0.062,0.077,0.112,0.172,3.335,3.354,3.366,3.366,3.368,3.37,3.377,3.406,0,0.007,0,0,0,3.479,3.479,3.479,3.488,3.488,3.493,3.499,3.505,3.508,3.518,3.52,3.521,3.525,3.529,3.533,3.535,3.539,3.54,3.546,3.551,3.552,3.557,3.557,3.567,3.57,3.575,3.579,3.586,3.586,3.587,3.604,3.611,3.617,3.618,3.629,3.631,3.632,3.639,3.651,3.653,3.658,3.665,3.677,3.677,3.686,3.688,3.692,3.699,3.708,3.729,3.737,3.74,3.742,3.753,3.754,3.758,3.761,3.786,3.791,3.805,3.812,3.823,3.834,3.836,3.852,3.878,3.879,3.885,3.897,3.902,3.92,3.934,3.949,3.953,3.967,3.978,3.995,4.013,4.029,4.047,4.075,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.052,4.015,3.987,3.959,3.923,3.9,3.869,3.846,3.807,3.79,3.746,3.714,3.704,3.679,3.645,3.629,3.59,3.585,3.546,3.522,3.509,3.486,3.451,3.443,3.417,3.402,3.382,3.374,3.353,3.336,3.308,3.297,3.276,3.25,3.246,3.237,3.199,3.194,3.166,3.16,3.141,3.121,3.103,3.096,3.086,3.066,3.042,3.042,3.017,3.008,2.998,2.988,2.985,2.963,2.948,2.93,2.926,2.924,2.914,2.881,2.873,2.864,2.858,2.844,2.836,2.824,2.814,2.804,2.796,2.788,2.774,2.763,2.762,2.75,2.734,2.726,2.715,2.713,2.703,2.693,2.687,2.68,2.673,2.66,2.655,2.654,2.643,2.635,2.632,2.622,2.616,2.611,2.607,2.592,2.588,2.578,2.577,2.575,2.565,2.556,2.547,2.545,2.542,2.541,2.531,2.528,2.521,2.514,2.506,2.497,2.492,2.492,2.49,2.488,2.484,2.481,2.478,2.47,2.47,2.464,2.46,2.459,2.452,2.451,2.45,2.45,2.45,2.442,2.44,2.439,2.437,2.431,2.428,2.428,2.427,2.427,2.425,2.424,2.42,2.419,2.416,2.414,2.413,2.413,2.412,2.411,2.411,2.411,2.407,2.407,2.407,2.407,2.41,2.411,2.412,2.417,2.417,2.415,2.415,2.415,2.415,2.416,2.416,2.417,2.417,2.417,2.42,2.418,2.418,2.418,2.424,2.424,2.426,2.434,2.435,2.436,2.437,2.437,2.439,2.449,2.451,2.453,2.458,2.461,2.463,2.466,2.472,2.472,2.477,2.481,2.482,2.484,2.485,2.489,2.492,2.494,2.504,2.508,2.519,2.52,2.523,2.532,2.535,2.542,2.546,2.55,2.562,2.563,2.567,2.584,2.597,2.598,2.598,2.598,2.607,2.618,2.63,2.636,2.639,2.643,2.644,2.657,2.66,2.68,2.681,2.683,2.705,2.707,2.713,2.724,2.728,2.741,2.754,2.754,2.762,2.785,2.786,2.789,2.808,2.82,2.839,2.841,2.848,2.858,2.863,2.879,2.886,2.903,2.923,2.932,2.938,2.95,2.956,2.973,2.979,2.996,3.004,3.03,3.038,3.043,3.067,3.087,3.091,3.114,3.129,3.144,3.156,3.172,3.184,3.2,3.221,3.228,3.25,3.256,3.286,3.297,3.322,3.345,3.353,3.367,3.4,3.417,3.432,3.458,3.478,3.499,3.533,3.544,3.572,3.592,3.61,3.646,3.666,3.684,3.728,3.749,3.786,3.803,3.842,3.864,3.886,3.918,3.948,3.985,4.019,4.095,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.35,3.331,3.322,3.309,3.307,3.296,3.285,3.278,3.263,3.26,3.256,3.239,3.232,3.23,3.223,3.215,3.21,3.2,3.188,3.185,3.175,3.172,3.163,3.152,3.152,3.148,3.143,3.131,3.124,3.121,3.119,3.11,3.109,3.102,3.091,3.089,3.082,3.078,3.078,3.076,3.063,3.063,3.061,3.061,3.059,3.052,3.049,3.042,3.041,3.04,3.034,3.033,3.03,3.028,3.027,3.025,3.025,3.025,3.029,3.029,3.029,3.017,3.015,3.014,3.013,3.013,3.013,3.007,3.007,3.007,3.007,3.007,3.01,3.01,3.01,3.01,3.012,3.015,3.015,3.014,3.014,3.014,3.014,3.015,3.015,3.015,3.015,3.017,3.017,3.017,3.022,3.023,3.029,3.032,3.037,3.037,3.037,3.038,3.04,3.043,3.049,3.054,3.056,3.057,3.062,3.063,3.07,3.07,3.078,3.089,3.093,3.094,3.096,3.097,3.1,3.108,3.11,3.115,3.118,3.131,3.131,3.135,3.139,3.14,3.14,3.148,3.152,3.153,3.155,3.156,3.17,3.17,3.176,3.183,3.199,3.2,3.216,3.217,3.221,3.23,3.24,3.245,3.247,3.25,3.261,3.279,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 46.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 46.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 46.9778} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7244} SEN {Time 47.0226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.177,0.185,0.177,0.185,0.185,0,0,0,0,0,0,0,0,3.684,3.681,3.671,3.662,3.643,3.62,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.246,3.215,3.213,3.209,3.209,3.213,3.253,3.359,0,0,0,0,0,0,0,0.151,0.142,0.142,0.142,0.151,0.142,0.148,0.148,0.153,0.148,0.153,0.153,0.153,0.153,3.039,3.039,3.039,3.039,3.039,3.039,3.039,0.158,0.15,0.15,0.15,0.15,0.15,0.15,0.145,0.13,0.105,0.08,0.066,0.066,0.063,0.059,0.059,0.059,0.069,0.069,0.069,0.067,0.064,0.064,0.067,0.068,0.104,0.177,3.34,3.359,3.362,3.359,3.359,3.359,3.367,3.41,0,0.007,0,3.462,3.479,3.479,3.479,3.481,3.488,3.493,3.5,3.503,3.506,3.507,3.517,3.519,3.519,3.522,3.522,3.523,3.528,3.538,3.543,3.543,3.553,3.555,3.557,3.568,3.568,3.57,3.571,3.577,3.581,3.585,3.597,3.608,3.612,3.617,3.621,3.628,3.63,3.639,3.65,3.65,3.654,3.657,3.66,3.667,3.669,3.68,3.686,3.692,3.695,3.71,3.723,3.725,3.733,3.748,3.75,3.754,3.77,3.771,3.783,3.789,3.793,3.817,3.82,3.837,3.841,3.846,3.875,3.879,3.89,3.9,3.903,3.913,3.937,3.941,3.961,3.981,3.983,3.999,4.009,4.024,4.044,4.069,4.088,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.015,3.986,3.951,3.918,3.889,3.871,3.845,3.802,3.789,3.756,3.73,3.699,3.679,3.65,3.611,3.603,3.579,3.562,3.521,3.507,3.485,3.457,3.43,3.414,3.414,3.379,3.36,3.346,3.333,3.306,3.286,3.283,3.254,3.228,3.223,3.199,3.198,3.175,3.152,3.139,3.116,3.109,3.093,3.084,3.07,3.041,3.041,3.029,3.01,3.005,2.988,2.98,2.966,2.95,2.938,2.922,2.917,2.904,2.895,2.876,2.874,2.856,2.852,2.838,2.82,2.808,2.806,2.79,2.786,2.78,2.766,2.757,2.75,2.739,2.728,2.721,2.71,2.704,2.696,2.685,2.676,2.675,2.667,2.651,2.647,2.646,2.638,2.633,2.621,2.617,2.609,2.606,2.594,2.588,2.58,2.577,2.569,2.568,2.554,2.553,2.549,2.546,2.545,2.533,2.527,2.522,2.513,2.512,2.504,2.496,2.496,2.486,2.486,2.485,2.481,2.476,2.474,2.47,2.47,2.461,2.46,2.453,2.453,2.451,2.449,2.446,2.446,2.445,2.441,2.438,2.434,2.429,2.424,2.424,2.421,2.42,2.42,2.42,2.418,2.418,2.418,2.418,2.418,2.418,2.414,2.411,2.411,2.411,2.411,2.413,2.413,2.411,2.411,2.411,2.41,2.411,2.412,2.412,2.416,2.418,2.418,2.419,2.42,2.42,2.42,2.42,2.42,2.42,2.423,2.426,2.426,2.426,2.427,2.436,2.436,2.436,2.444,2.445,2.445,2.451,2.453,2.453,2.455,2.461,2.463,2.472,2.473,2.475,2.481,2.481,2.487,2.489,2.489,2.492,2.497,2.51,2.515,2.519,2.519,2.53,2.533,2.537,2.538,2.542,2.559,2.562,2.568,2.57,2.581,2.586,2.599,2.604,2.604,2.606,2.607,2.619,2.639,2.639,2.645,2.646,2.65,2.663,2.67,2.678,2.695,2.699,2.704,2.717,2.721,2.729,2.742,2.747,2.747,2.765,2.769,2.784,2.799,2.801,2.815,2.833,2.843,2.843,2.858,2.867,2.883,2.891,2.905,2.911,2.925,2.943,2.95,2.957,2.975,2.984,2.989,3.014,3.029,3.037,3.049,3.066,3.077,3.094,3.111,3.117,3.139,3.153,3.172,3.176,3.202,3.227,3.231,3.249,3.262,3.272,3.296,3.327,3.328,3.356,3.368,3.395,3.419,3.436,3.458,3.48,3.5,3.521,3.543,3.568,3.588,3.615,3.636,3.664,3.683,3.729,3.747,3.76,3.805,3.832,3.856,3.899,3.925,3.947,3.982,4.022,0.016,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.352,3.352,3.337,3.319,3.304,3.3,3.29,3.278,3.268,3.26,3.253,3.239,3.238,3.237,3.226,3.211,3.206,3.201,3.187,3.184,3.174,3.167,3.156,3.153,3.15,3.146,3.14,3.134,3.121,3.12,3.116,3.12,3.109,3.095,3.093,3.091,3.09,3.082,3.079,3.077,3.075,3.072,3.057,3.056,3.055,3.045,3.044,3.041,3.038,3.038,3.037,3.037,3.036,3.036,3.021,3.021,3.023,3.023,3.029,3.029,3.029,3.02,3.017,3.013,3.013,3.01,3.008,3.008,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.011,3.012,3.011,3.011,3.011,3.013,3.015,3.018,3.018,3.018,3.022,3.022,3.023,3.024,3.023,3.023,3.024,3.032,3.037,3.038,3.038,3.038,3.039,3.042,3.044,3.052,3.056,3.062,3.064,3.064,3.065,3.07,3.072,3.085,3.088,3.091,3.091,3.091,3.096,3.098,3.105,3.115,3.121,3.121,3.132,3.132,3.137,3.137,3.14,3.14,3.142,3.148,3.154,3.156,3.168,3.168,3.17,3.176,3.186,3.202,3.209,3.225,3.231,3.239,3.24,3.24,3.241,3.241,3.248,3.271,3.276,3.277,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 47.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 47.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 47.1798} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7244} SEN {Time 47.2187} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.18,0.183,0.189,0,0,0,0,0,0,0,0,3.692,3.678,3.662,3.658,3.651,3.631,3.615,3.615,3.615,3.608,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.218,3.211,3.211,3.211,3.259,3.362,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.152,0.151,0.152,0.152,0.154,0.154,3.036,3.036,3.036,3.036,3.033,3.033,3.033,0.162,0.161,0.161,0.161,0.161,0.149,0.146,0.145,0.128,0.108,0.087,0.066,0.061,0.061,0.061,0.061,0.061,0.065,0.066,0.066,0.066,0.064,0.064,0.064,0.07,0.102,0.186,3.346,3.362,3.375,3.375,3.375,3.365,3.379,3.379,3.411,3.42,3.431,3.431,3.459,3.471,3.476,3.481,3.481,3.487,3.498,3.5,3.511,3.512,3.513,3.518,3.525,3.525,3.534,3.535,3.536,3.538,3.545,3.55,3.553,3.555,3.557,3.559,3.569,3.571,3.574,3.579,3.585,3.585,3.592,3.602,3.609,3.615,3.633,3.633,3.636,3.637,3.645,3.648,3.648,3.658,3.658,3.669,3.672,3.685,3.693,3.697,3.707,3.711,3.718,3.726,3.733,3.738,3.749,3.761,3.773,3.773,3.781,3.804,3.807,3.812,3.814,3.838,3.838,3.851,3.853,3.862,3.89,3.897,3.9,3.921,3.927,3.948,3.95,3.974,3.975,3.996,4.004,4.031,4.047,4.07,4.081,4.09,4.094,0.016,0.016,0.016,0.016,0.016,4.057,4.032,4.001,3.968,3.925,3.906,3.882,3.84,3.814,3.793,3.749,3.733,3.7,3.678,3.656,3.63,3.603,3.567,3.553,3.52,3.511,3.48,3.451,3.448,3.424,3.405,3.379,3.362,3.349,3.334,3.316,3.293,3.271,3.257,3.231,3.226,3.19,3.189,3.175,3.148,3.138,3.13,3.108,3.095,3.089,3.063,3.041,3.041,3.039,3.026,3.003,2.991,2.979,2.965,2.951,2.939,2.924,2.924,2.907,2.891,2.883,2.874,2.861,2.852,2.842,2.83,2.815,2.808,2.786,2.785,2.785,2.762,2.755,2.752,2.737,2.726,2.717,2.714,2.703,2.688,2.684,2.68,2.674,2.665,2.663,2.653,2.649,2.635,2.634,2.624,2.612,2.612,2.609,2.596,2.588,2.584,2.577,2.573,2.565,2.564,2.552,2.551,2.548,2.536,2.524,2.522,2.517,2.512,2.508,2.504,2.495,2.494,2.49,2.486,2.482,2.478,2.476,2.476,2.475,2.475,2.464,2.459,2.454,2.453,2.452,2.445,2.445,2.444,2.442,2.441,2.436,2.432,2.429,2.425,2.425,2.424,2.423,2.423,2.423,2.419,2.419,2.419,2.419,2.416,2.415,2.416,2.415,2.414,2.414,2.415,2.41,2.41,2.409,2.409,2.409,2.411,2.414,2.414,2.414,2.414,2.414,2.416,2.419,2.419,2.42,2.419,2.42,2.425,2.42,2.426,2.429,2.43,2.432,2.432,2.435,2.438,2.439,2.439,2.446,2.448,2.453,2.453,2.454,2.455,2.464,2.468,2.47,2.474,2.475,2.481,2.481,2.482,2.485,2.489,2.5,2.502,2.51,2.514,2.517,2.517,2.528,2.528,2.534,2.539,2.548,2.551,2.557,2.572,2.574,2.576,2.592,2.6,2.601,2.608,2.609,2.611,2.623,2.637,2.64,2.642,2.651,2.655,2.662,2.671,2.68,2.681,2.697,2.704,2.72,2.72,2.726,2.74,2.754,2.755,2.764,2.775,2.786,2.792,2.813,2.82,2.832,2.841,2.842,2.858,2.873,2.877,2.898,2.907,2.917,2.929,2.947,2.954,2.958,2.975,2.985,3.005,3.016,3.024,3.046,3.05,3.069,3.081,3.094,3.11,3.125,3.137,3.16,3.161,3.174,3.208,3.222,3.23,3.247,3.259,3.287,3.298,3.321,3.334,3.352,3.373,3.393,3.402,3.437,3.45,3.486,3.497,3.525,3.546,3.557,3.585,3.613,3.646,3.663,3.687,3.731,3.747,3.781,3.808,3.832,3.859,3.888,3.923,3.945,3.979,4.028,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.36,3.348,3.322,3.317,3.303,3.285,3.284,3.281,3.269,3.267,3.245,3.245,3.243,3.236,3.22,3.209,3.208,3.195,3.188,3.187,3.173,3.172,3.158,3.155,3.153,3.142,3.142,3.133,3.127,3.122,3.119,3.113,3.107,3.096,3.092,3.087,3.087,3.08,3.076,3.074,3.069,3.068,3.066,3.057,3.05,3.049,3.046,3.045,3.043,3.043,3.042,3.042,3.033,3.028,3.026,3.023,3.026,3.026,3.027,3.027,3.085,3.027,3.021,3.018,3.016,3.014,3.012,3.01,3.012,3.011,3.01,3.007,3.01,3.01,3.007,3.007,3.01,3.013,3.007,3.011,3.013,3.013,3.013,3.014,3.014,3.015,3.015,3.016,3.02,3.023,3.023,3.024,3.024,3.029,3.031,3.034,3.034,3.042,3.043,3.043,3.045,3.056,3.059,3.062,3.062,3.063,3.064,3.074,3.077,3.077,3.091,3.092,3.092,3.093,3.096,3.111,3.113,3.116,3.122,3.129,3.129,3.137,3.138,3.142,3.144,3.147,3.152,3.154,3.154,3.161,3.166,3.172,3.177,3.178,3.197,3.209,3.21,3.221,3.228,3.233,3.239,3.241,3.243,3.247,3.263,3.27,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 47.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 47.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 47.3718} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.7244} SEN {Time 47.4186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,0,0,3.684,3.682,3.668,3.66,3.656,3.63,3.617,3.617,3.617,3.597,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.218,3.213,3.213,3.218,3.267,3.361,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.142,0.146,0.149,0.149,0.16,0.149,0.155,0.155,0.155,0.155,3.033,3.033,3.04,3.04,3.033,3.04,3.04,0.155,0.155,0.155,0.153,0.153,0.152,0.152,0.152,0.132,0.111,0.073,0.065,0.06,0.06,0.061,0.06,0.061,0.064,0.066,0.064,0.064,0.062,0.062,0.062,0.067,0.099,0.174,3.327,3.347,3.357,3.357,3.36,3.368,3.375,3.375,3.429,3.436,3.45,3.45,3.45,3.464,3.48,3.486,3.491,3.493,3.498,3.502,3.505,3.508,3.521,3.523,3.525,3.526,3.528,3.54,3.543,3.543,3.546,3.546,3.546,3.546,3.555,3.561,3.569,3.569,3.573,3.573,3.579,3.584,3.588,3.6,3.61,3.614,3.617,3.622,3.63,3.633,3.643,3.644,3.648,3.663,3.664,3.665,3.676,3.687,3.689,3.696,3.7,3.716,3.721,3.731,3.733,3.739,3.754,3.755,3.76,3.774,3.78,3.787,3.807,3.81,3.831,3.831,3.836,3.849,3.853,3.869,3.889,3.904,3.904,3.914,3.927,3.935,3.961,3.964,3.976,3.993,4.014,4.02,4.036,4.048,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.089,4.055,4.055,0.007,3.959,3.89,3.87,3.838,3.81,3.771,3.749,3.735,3.703,3.686,3.642,3.625,3.603,3.576,3.558,3.517,3.508,3.484,3.461,3.434,3.417,3.403,3.383,3.369,3.348,3.341,3.301,3.295,3.272,3.251,3.239,3.225,3.201,3.193,3.171,3.155,3.14,3.128,3.107,3.101,3.09,3.069,3.048,3.048,3.043,3.022,3.004,2.99,2.979,2.962,2.952,2.938,2.929,2.92,2.908,2.894,2.881,2.865,2.856,2.853,2.837,2.824,2.818,2.803,2.793,2.781,2.779,2.769,2.756,2.755,2.74,2.728,2.716,2.712,2.701,2.695,2.685,2.681,2.676,2.659,2.654,2.651,2.649,2.637,2.636,2.624,2.612,2.61,2.609,2.6,2.592,2.586,2.583,2.577,2.573,2.569,2.555,2.547,2.546,2.536,2.528,2.522,2.52,2.511,2.506,2.5,2.495,2.495,2.491,2.49,2.486,2.482,2.48,2.476,2.474,2.471,2.465,2.459,2.456,2.452,2.451,2.45,2.45,2.444,2.438,2.438,2.436,2.433,2.43,2.43,2.43,2.425,2.421,2.421,2.418,2.418,2.417,2.415,2.415,2.414,2.413,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.412,2.413,2.414,2.414,2.414,2.412,2.411,2.411,2.412,2.416,2.417,2.418,2.419,2.419,2.423,2.424,2.424,2.424,2.426,2.427,2.427,2.43,2.433,2.437,2.439,2.444,2.445,2.447,2.449,2.452,2.456,2.461,2.461,2.47,2.471,2.475,2.477,2.481,2.483,2.488,2.489,2.498,2.498,2.5,2.513,2.52,2.521,2.522,2.53,2.533,2.534,2.539,2.549,2.55,2.56,2.561,2.573,2.585,2.59,2.596,2.597,2.603,2.607,2.608,2.626,2.634,2.635,2.636,2.647,2.647,2.666,2.675,2.686,2.691,2.698,2.699,2.715,2.717,2.729,2.738,2.748,2.754,2.764,2.781,2.785,2.796,2.798,2.813,2.835,2.838,2.846,2.857,2.874,2.879,2.89,2.897,2.923,2.924,2.938,2.953,2.955,2.972,2.98,2.997,3.01,3.022,3.038,3.044,3.061,3.07,3.09,3.106,3.116,3.146,3.149,3.168,3.179,3.2,3.222,3.232,3.253,3.266,3.275,3.303,3.328,3.339,3.349,3.377,3.398,3.41,3.434,3.455,3.482,3.5,3.526,3.542,3.573,3.594,3.613,3.645,3.652,3.688,3.713,3.743,3.787,3.802,3.838,3.872,3.888,3.921,3.941,4.036,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.354,3.337,3.333,3.312,3.309,3.292,3.289,3.278,3.258,3.257,3.245,3.237,3.235,3.232,3.211,3.211,3.206,3.201,3.189,3.184,3.169,3.169,3.154,3.151,3.151,3.142,3.137,3.134,3.12,3.117,3.114,3.112,3.112,3.1,3.097,3.09,3.084,3.081,3.079,3.07,3.068,3.064,3.063,3.057,3.055,3.048,3.047,3.047,3.04,3.039,3.039,3.039,3.032,3.029,3.029,3.025,3.025,3.025,3.026,3.026,3.026,3.019,3.019,3.019,3.016,3.014,3.011,3.011,3.011,3.01,3.011,3.01,3.01,3.01,3.011,3.008,3.011,3.011,3.011,3.011,3.012,3.012,3.012,3.012,3.019,3.02,3.02,3.02,3.02,3.02,3.02,3.024,3.026,3.027,3.027,3.032,3.036,3.037,3.038,3.043,3.052,3.052,3.055,3.058,3.059,3.064,3.068,3.075,3.078,3.08,3.09,3.092,3.093,3.096,3.099,3.101,3.11,3.118,3.122,3.135,3.135,3.135,3.135,3.145,3.143,3.145,3.147,3.152,3.155,3.159,3.166,3.17,3.179,3.186,3.199,3.207,3.217,3.219,3.23,3.232,3.24,3.24,3.244,3.251,3.268,3.283,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 47.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 47.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 47.5717} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3594} SEN {Time 47.6186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.185,0.187,0.187,0,0,0,0,0,0,0,0,3.696,3.684,3.67,3.664,3.646,3.633,3.629,3.629,3.629,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.214,3.207,3.207,3.207,3.269,3.366,0,0,0,0,0,0,0,0.149,0.146,0.146,0.143,0.146,0.14,0.139,0.139,0.152,0.152,0.152,0.152,0.153,0.153,3.033,3.036,3.039,3.039,3.039,3.04,3.039,0.155,0.155,0.155,0.154,0.153,0.149,0.147,0.147,0.13,0.107,0.079,0.067,0.063,0.062,0.062,0.062,0.064,0.065,0.065,0.065,0.065,0.064,0.064,0.069,0.072,0.098,0.177,3.329,3.362,3.369,3.369,3.369,3.373,3.388,3.412,0,0.007,3.437,3.437,3.467,3.467,3.469,3.49,3.491,3.492,3.5,3.507,3.513,3.515,3.515,3.516,3.525,3.527,3.528,3.537,3.538,3.538,3.543,3.543,3.543,3.546,3.558,3.562,3.564,3.566,3.572,3.574,3.579,3.587,3.593,3.6,3.613,3.614,3.62,3.626,3.63,3.641,3.642,3.649,3.65,3.655,3.663,3.664,3.679,3.682,3.69,3.69,3.692,3.715,3.723,3.732,3.735,3.739,3.746,3.771,3.774,3.776,3.777,3.79,3.811,3.812,3.813,3.831,3.832,3.847,3.868,3.879,3.891,3.896,3.899,3.918,3.922,3.947,3.964,3.969,3.97,3.985,4.004,4.031,4.035,4.06,4.074,4.094,0.016,0.016,0.016,0.016,0.016,4.094,4.049,4.022,4.003,3.956,3.924,3.894,3.869,3.835,3.813,3.772,3.751,3.73,3.695,3.681,3.643,3.626,3.594,3.568,3.559,3.523,3.505,3.479,3.455,3.439,3.426,3.41,3.379,3.372,3.345,3.344,3.308,3.289,3.278,3.253,3.234,3.211,3.201,3.185,3.164,3.161,3.148,3.121,3.108,3.1,3.091,3.068,3.052,3.052,3.035,3.029,3.003,2.992,2.982,2.972,2.958,2.934,2.927,2.918,2.916,2.892,2.878,2.863,2.863,2.848,2.839,2.824,2.819,2.799,2.792,2.784,2.781,2.765,2.761,2.748,2.73,2.73,2.724,2.715,2.702,2.701,2.678,2.676,2.675,2.666,2.662,2.655,2.648,2.642,2.64,2.624,2.622,2.61,2.609,2.603,2.591,2.582,2.577,2.569,2.567,2.562,2.558,2.544,2.539,2.533,2.531,2.516,2.516,2.509,2.508,2.506,2.494,2.492,2.49,2.49,2.488,2.482,2.475,2.474,2.465,2.462,2.461,2.461,2.46,2.458,2.451,2.449,2.444,2.442,2.442,2.438,2.432,2.427,2.426,2.426,2.424,2.423,2.421,2.421,2.418,2.418,2.416,2.416,2.416,2.414,2.412,2.409,2.411,2.41,2.409,2.41,2.411,2.411,2.412,2.414,2.415,2.414,2.414,2.414,2.414,2.414,2.415,2.416,2.417,2.418,2.42,2.42,2.421,2.421,2.423,2.425,2.426,2.425,2.428,2.437,2.439,2.439,2.439,2.441,2.441,2.448,2.45,2.454,2.457,2.458,2.465,2.465,2.472,2.475,2.477,2.479,2.481,2.485,2.496,2.497,2.499,2.502,2.507,2.514,2.519,2.522,2.529,2.531,2.537,2.542,2.548,2.549,2.552,2.564,2.567,2.573,2.596,2.598,2.601,2.603,2.61,2.611,2.622,2.627,2.635,2.641,2.644,2.649,2.659,2.67,2.672,2.694,2.696,2.702,2.716,2.721,2.733,2.741,2.746,2.754,2.765,2.779,2.788,2.796,2.805,2.814,2.831,2.838,2.841,2.86,2.873,2.884,2.892,2.9,2.919,2.927,2.946,2.954,2.962,2.975,2.991,2.991,3.015,3.028,3.034,3.046,3.062,3.086,3.092,3.105,3.117,3.14,3.148,3.162,3.188,3.201,3.223,3.231,3.253,3.262,3.267,3.297,3.317,3.34,3.343,3.379,3.39,3.408,3.428,3.462,3.482,3.507,3.529,3.549,3.583,3.592,3.623,3.642,3.667,3.69,3.732,3.752,3.771,3.794,3.841,3.863,3.894,3.914,3.953,0,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.356,3.337,3.336,3.324,3.305,3.296,3.29,3.279,3.276,3.262,3.253,3.238,3.237,3.228,3.214,3.213,3.206,3.198,3.19,3.178,3.176,3.168,3.156,3.151,3.151,3.138,3.133,3.132,3.121,3.118,3.117,3.113,3.112,3.105,3.098,3.092,3.089,3.081,3.076,3.072,3.067,3.061,3.057,3.055,3.053,3.052,3.051,3.039,3.036,3.035,3.035,3.034,3.029,3.027,3.019,3.019,3.019,3.019,3.032,3.032,3.032,3.024,3.018,3.014,3.014,3.013,3.013,3.013,3.01,3.01,3.01,3.004,3.004,3.004,3.007,3.007,3.011,3.011,3.011,3.012,3.017,3.018,3.018,3.018,3.018,3.018,3.012,3.018,3.022,3.022,3.024,3.024,3.024,3.029,3.032,3.034,3.035,3.041,3.045,3.047,3.048,3.055,3.056,3.057,3.061,3.062,3.071,3.076,3.08,3.09,3.09,3.09,3.09,3.09,3.102,3.109,3.111,3.112,3.112,3.126,3.13,3.134,3.138,3.14,3.14,3.14,3.151,3.156,3.165,3.165,3.166,3.172,3.173,3.186,3.204,3.214,3.222,3.229,3.231,3.234,3.236,3.248,3.252,3.253,3.267,3.28,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 47.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 47.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 47.7737} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3594} SEN {Time 47.8186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.183,0.189,0.189,0,0,0,0,0,0,0,0,3.69,3.68,3.668,3.664,3.642,3.633,3.607,3.607,3.607,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.224,3.22,3.218,3.218,3.218,3.265,3.36,0,0,0,0,0,0,0,0.007,0.149,0.149,0.149,0.149,0.148,0.148,0.148,0.153,0.149,0.153,0.153,0.155,0.161,3.035,3.035,3.037,3.037,3.035,3.037,3.037,0.155,0.155,0.155,0.155,0.156,0.156,0.149,0.149,0.133,0.104,0.071,0.067,0.06,0.057,0.057,0.057,0.064,0.064,0.065,0.067,0.067,0.067,0.067,0.071,0.072,0.107,0.18,3.348,3.351,3.363,3.363,3.366,3.37,3.395,3.418,3.418,0.007,3.454,3.454,3.47,3.47,3.473,3.49,3.49,3.5,3.507,3.507,3.508,3.508,3.517,3.52,3.52,3.521,3.53,3.533,3.537,3.542,3.546,3.547,3.547,3.548,3.555,3.565,3.566,3.573,3.573,3.581,3.585,3.585,3.596,3.606,3.614,3.615,3.62,3.633,3.636,3.64,3.646,3.648,3.65,3.661,3.661,3.671,3.676,3.682,3.686,3.692,3.697,3.715,3.726,3.728,3.741,3.744,3.748,3.748,3.774,3.777,3.78,3.797,3.803,3.816,3.819,3.834,3.845,3.852,3.874,3.888,3.889,3.903,3.905,3.92,3.929,3.936,3.955,3.981,3.982,3.986,4.022,4.026,4.041,4.065,4.087,4.091,0.016,0.016,0,0,0,0,0,0,3.973,3.958,3.937,3.909,3.872,3.841,3.818,3.786,3.746,3.728,3.697,3.683,3.64,3.631,3.613,3.57,3.553,3.522,3.505,3.486,3.451,3.447,3.426,3.41,3.387,3.361,3.354,3.324,3.317,3.289,3.278,3.255,3.24,3.212,3.197,3.189,3.172,3.161,3.136,3.121,3.113,3.096,3.076,3.065,3.048,3.048,3.042,3.02,3.001,2.989,2.989,2.968,2.949,2.946,2.925,2.92,2.912,2.897,2.885,2.869,2.864,2.847,2.834,2.833,2.818,2.802,2.796,2.79,2.783,2.766,2.762,2.747,2.734,2.731,2.715,2.712,2.7,2.689,2.683,2.681,2.669,2.669,2.663,2.653,2.651,2.64,2.64,2.629,2.618,2.617,2.613,2.598,2.589,2.583,2.58,2.572,2.567,2.566,2.557,2.55,2.538,2.537,2.531,2.53,2.515,2.513,2.508,2.501,2.495,2.494,2.493,2.491,2.485,2.483,2.478,2.478,2.477,2.472,2.462,2.462,2.461,2.458,2.452,2.446,2.445,2.442,2.442,2.441,2.439,2.435,2.429,2.429,2.425,2.423,2.421,2.421,2.419,2.418,2.418,2.417,2.414,2.414,2.416,2.414,2.411,2.414,2.411,2.411,2.411,2.411,2.411,2.413,2.413,2.412,2.413,2.412,2.412,2.413,2.416,2.416,2.418,2.42,2.42,2.42,2.42,2.423,2.423,2.423,2.424,2.426,2.431,2.432,2.434,2.439,2.439,2.439,2.444,2.45,2.454,2.454,2.456,2.459,2.464,2.466,2.47,2.473,2.478,2.479,2.48,2.484,2.487,2.492,2.499,2.5,2.508,2.515,2.517,2.519,2.523,2.533,2.534,2.543,2.552,2.552,2.563,2.567,2.575,2.578,2.59,2.6,2.605,2.608,2.611,2.611,2.622,2.638,2.641,2.642,2.651,2.658,2.661,2.678,2.678,2.687,2.702,2.703,2.718,2.721,2.728,2.74,2.752,2.758,2.767,2.779,2.782,2.798,2.803,2.82,2.83,2.837,2.846,2.857,2.867,2.88,2.89,2.896,2.913,2.926,2.942,2.949,2.961,2.978,2.982,2.998,3.022,3.027,3.038,3.051,3.068,3.076,3.086,3.106,3.123,3.141,3.156,3.166,3.179,3.21,3.224,3.237,3.251,3.254,3.278,3.303,3.324,3.33,3.348,3.374,3.395,3.404,3.435,3.459,3.48,3.504,3.524,3.543,3.574,3.603,3.614,3.64,3.676,3.699,3.72,3.751,3.773,3.808,3.833,3.864,3.888,3.919,3.959,3.982,4.027,4.057,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.345,3.338,3.323,3.319,3.307,3.296,3.284,3.279,3.274,3.257,3.252,3.236,3.235,3.235,3.213,3.209,3.204,3.201,3.188,3.184,3.175,3.175,3.168,3.157,3.156,3.134,3.134,3.127,3.123,3.119,3.114,3.114,3.103,3.103,3.099,3.09,3.084,3.081,3.079,3.071,3.071,3.066,3.061,3.061,3.055,3.045,3.045,3.044,3.042,3.041,3.041,3.034,3.034,3.032,3.03,3.025,3.03,3.03,3.03,3.03,3.03,3.019,3.016,3.015,3.013,3.011,3.011,3.01,3.011,3.014,3.014,3.01,3.011,3.009,3.005,3.009,3.01,3.01,3.013,3.015,3.015,3.016,3.015,3.019,3.019,3.02,3.019,3.02,3.022,3.022,3.022,3.026,3.031,3.033,3.033,3.038,3.038,3.04,3.045,3.046,3.052,3.052,3.06,3.061,3.062,3.063,3.065,3.069,3.077,3.085,3.088,3.089,3.089,3.092,3.097,3.104,3.116,3.116,3.125,3.129,3.132,3.14,3.14,3.14,3.14,3.141,3.154,3.157,3.157,3.161,3.169,3.176,3.181,3.196,3.201,3.211,3.218,3.218,3.232,3.236,3.237,3.238,3.244,3.25,3.262,3.282,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 47.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 47.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 47.9747} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3594} SEN {Time 48.0186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.185,0.189,0.189,0,0,0,0,0,0,0,0,3.69,3.679,3.662,3.661,3.65,3.627,3.613,3.613,3.599,3.594,3.594,0,3.366,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.215,3.212,3.208,3.208,3.208,3.258,3.363,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.149,0.151,0.151,0.156,0.151,0.153,0.153,0.153,0.153,3.037,3.037,3.043,3.043,3.037,3.043,3.043,0.155,0.155,0.155,0.155,0.153,0.151,0.148,0.148,0.127,0.116,0.074,0.062,0.058,0.058,0.058,0.062,0.063,0.065,0.066,0.066,0.066,0.066,0.062,0.062,0.062,0.096,0.173,3.351,3.353,3.361,3.361,3.362,3.369,3.387,3.388,3.399,3.44,3.44,0.007,3.483,3.478,3.483,3.483,3.489,3.493,3.502,3.509,3.509,3.517,3.518,3.518,3.519,3.528,3.528,3.536,3.543,3.543,3.543,3.543,3.543,3.549,3.551,3.556,3.567,3.574,3.576,3.576,3.58,3.582,3.596,3.597,3.603,3.606,3.621,3.623,3.632,3.634,3.635,3.649,3.65,3.66,3.667,3.667,3.676,3.678,3.685,3.692,3.696,3.712,3.722,3.739,3.74,3.748,3.75,3.753,3.758,3.776,3.777,3.796,3.796,3.821,3.833,3.837,3.839,3.846,3.855,3.87,3.885,3.902,3.911,3.914,3.932,3.941,3.956,3.973,3.976,4.006,4.008,4.029,4.051,4.057,4.079,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.001,3.961,3.931,3.9,3.857,3.844,3.82,3.775,3.753,3.73,3.712,3.68,3.655,3.638,3.604,3.581,3.556,3.517,3.509,3.485,3.455,3.448,3.428,3.406,3.396,3.362,3.357,3.328,3.303,3.299,3.268,3.258,3.234,3.224,3.194,3.184,3.175,3.151,3.144,3.13,3.111,3.091,3.086,3.068,3.047,3.047,3.042,3.021,3.003,2.988,2.983,2.963,2.954,2.942,2.92,2.915,2.909,2.896,2.876,2.864,2.857,2.848,2.844,2.826,2.82,2.814,2.787,2.781,2.78,2.77,2.767,2.748,2.74,2.733,2.719,2.718,2.704,2.696,2.683,2.674,2.67,2.668,2.648,2.646,2.645,2.635,2.632,2.627,2.618,2.605,2.604,2.602,2.586,2.58,2.577,2.575,2.563,2.563,2.552,2.545,2.545,2.542,2.529,2.525,2.52,2.514,2.509,2.506,2.499,2.494,2.493,2.49,2.483,2.482,2.478,2.476,2.471,2.465,2.463,2.46,2.454,2.454,2.454,2.454,2.454,2.451,2.442,2.439,2.435,2.432,2.429,2.429,2.429,2.429,2.421,2.423,2.421,2.417,2.416,2.416,2.415,2.409,2.409,2.413,2.413,2.413,2.413,2.415,2.411,2.411,2.41,2.414,2.412,2.414,2.413,2.413,2.413,2.413,2.413,2.414,2.415,2.421,2.421,2.418,2.423,2.423,2.423,2.423,2.425,2.431,2.431,2.433,2.435,2.435,2.439,2.44,2.446,2.454,2.457,2.458,2.459,2.461,2.461,2.463,2.468,2.47,2.48,2.483,2.483,2.485,2.485,2.487,2.493,2.499,2.514,2.518,2.518,2.522,2.523,2.53,2.533,2.544,2.55,2.554,2.563,2.573,2.573,2.583,2.586,2.596,2.599,2.604,2.607,2.615,2.623,2.635,2.637,2.648,2.649,2.65,2.664,2.676,2.683,2.687,2.7,2.701,2.714,2.726,2.729,2.74,2.75,2.757,2.757,2.777,2.785,2.792,2.801,2.816,2.833,2.848,2.849,2.862,2.871,2.875,2.887,2.902,2.923,2.929,2.938,2.949,2.956,2.97,2.979,2.992,3.013,3.022,3.03,3.045,3.065,3.079,3.093,3.116,3.122,3.143,3.155,3.171,3.176,3.206,3.23,3.231,3.249,3.259,3.272,3.305,3.324,3.334,3.353,3.375,3.388,3.418,3.432,3.452,3.48,3.497,3.522,3.54,3.563,3.597,3.614,3.652,3.669,3.677,3.734,3.75,3.778,3.807,3.83,3.87,3.893,3.919,3.945,3.993,4.035,4.086,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.356,3.33,3.329,3.315,3.312,3.294,3.292,3.279,3.267,3.261,3.253,3.253,3.235,3.235,3.227,3.217,3.212,3.205,3.186,3.179,3.176,3.174,3.164,3.15,3.149,3.147,3.138,3.128,3.121,3.118,3.117,3.111,3.107,3.1,3.097,3.086,3.085,3.081,3.081,3.081,3.069,3.064,3.062,3.062,3.053,3.047,3.047,3.043,3.039,3.039,3.037,3.027,3.027,3.027,3.025,3.025,3.028,3.028,3.025,3.024,3.024,3.021,3.014,3.012,3.012,3.012,3.012,3.009,3.012,3.009,3.009,3.009,3.008,3.008,3.008,3.008,3.009,3.013,3.013,3.011,3.011,3.011,3.011,3.011,3.016,3.017,3.016,3.019,3.02,3.022,3.022,3.025,3.027,3.03,3.031,3.033,3.035,3.04,3.042,3.044,3.047,3.056,3.056,3.059,3.06,3.063,3.064,3.073,3.082,3.085,3.09,3.092,3.092,3.094,3.097,3.103,3.112,3.116,3.12,3.128,3.128,3.134,3.134,3.134,3.134,3.144,3.15,3.155,3.156,3.165,3.17,3.173,3.175,3.184,3.203,3.211,3.219,3.222,3.224,3.235,3.238,3.241,3.248,3.253,3.262,3.275,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 48.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 48.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 48.1758} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1562} SEN {Time 48.2147} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.178,0.184,0.192,0,0,0,0,0,0,0,0,3.686,3.684,3.673,3.661,3.644,3.63,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.217,3.214,3.211,3.211,3.214,3.269,3.365,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.142,0.149,0.149,0.154,0.154,0.159,0.159,0.161,0.161,3.039,3.039,3.039,3.039,3.034,3.034,3.034,0.161,0.159,0.159,0.154,0.154,0.151,0.15,0.149,0.134,0.107,0.078,0.067,0.063,0.059,0.059,0.063,0.063,0.064,0.066,0.066,0.066,0.066,0.066,0.066,0.075,0.113,0.184,3.344,3.358,3.364,3.364,3.364,3.372,3.379,3.379,3.379,3.411,3.432,0.007,3.473,3.473,3.479,3.479,3.487,3.495,3.505,3.505,3.505,3.508,3.514,3.522,3.522,3.528,3.53,3.533,3.535,3.535,3.545,3.547,3.551,3.552,3.556,3.563,3.565,3.572,3.577,3.581,3.583,3.584,3.592,3.601,3.617,3.623,3.625,3.629,3.638,3.648,3.648,3.648,3.649,3.657,3.662,3.671,3.674,3.683,3.689,3.692,3.693,3.712,3.72,3.722,3.734,3.746,3.757,3.757,3.762,3.772,3.776,3.794,3.804,3.806,3.809,3.833,3.839,3.849,3.873,3.874,3.892,3.895,3.898,3.918,3.928,3.945,3.955,3.975,3.976,3.987,4.016,4.019,4.045,4.059,4.082,4.094,0.016,0.016,0.016,0.016,0.016,0,0.007,4.058,3.978,3.955,3.923,3.902,3.868,3.837,3.805,3.795,3.751,3.729,3.697,3.675,3.644,3.625,3.604,3.577,3.556,3.532,3.516,3.489,3.457,3.45,3.429,3.411,3.378,3.366,3.341,3.33,3.299,3.296,3.276,3.26,3.231,3.228,3.202,3.183,3.175,3.162,3.139,3.125,3.113,3.092,3.088,3.067,3.046,3.042,3.022,3.007,2.998,2.99,2.985,2.968,2.946,2.936,2.929,2.92,2.907,2.892,2.885,2.867,2.854,2.848,2.84,2.825,2.814,2.81,2.787,2.786,2.772,2.764,2.761,2.748,2.747,2.732,2.719,2.718,2.697,2.692,2.684,2.679,2.677,2.663,2.657,2.652,2.645,2.639,2.638,2.623,2.621,2.612,2.608,2.596,2.591,2.587,2.586,2.574,2.573,2.561,2.554,2.553,2.54,2.535,2.532,2.529,2.518,2.517,2.511,2.504,2.503,2.501,2.488,2.488,2.485,2.48,2.477,2.475,2.475,2.473,2.467,2.46,2.456,2.454,2.45,2.45,2.448,2.444,2.444,2.442,2.44,2.439,2.43,2.43,2.429,2.426,2.425,2.423,2.418,2.418,2.417,2.417,2.417,2.417,2.415,2.413,2.415,2.412,2.412,2.409,2.412,2.412,2.411,2.412,2.413,2.412,2.415,2.415,2.415,2.415,2.417,2.418,2.418,2.418,2.418,2.417,2.417,2.417,2.423,2.423,2.423,2.423,2.428,2.428,2.431,2.438,2.439,2.447,2.447,2.452,2.453,2.455,2.458,2.459,2.463,2.464,2.464,2.465,2.471,2.478,2.486,2.489,2.492,2.494,2.497,2.503,2.513,2.513,2.513,2.521,2.536,2.538,2.542,2.544,2.546,2.552,2.561,2.567,2.568,2.572,2.586,2.596,2.6,2.609,2.609,2.613,2.627,2.631,2.635,2.643,2.645,2.649,2.655,2.667,2.675,2.687,2.7,2.701,2.713,2.719,2.726,2.747,2.753,2.754,2.769,2.779,2.796,2.796,2.81,2.818,2.832,2.841,2.844,2.855,2.862,2.881,2.89,2.891,2.925,2.927,2.945,2.948,2.952,2.975,2.982,2.999,3.011,3.021,3.034,3.049,3.062,3.083,3.097,3.109,3.122,3.141,3.158,3.165,3.179,3.202,3.225,3.225,3.249,3.262,3.279,3.302,3.32,3.331,3.363,3.372,3.391,3.404,3.438,3.455,3.471,3.506,3.527,3.55,3.563,3.595,3.624,3.638,3.672,3.698,3.714,3.742,3.771,3.791,3.836,3.868,3.881,3.919,3.948,4.022,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.342,3.337,3.318,3.318,3.293,3.291,3.278,3.276,3.261,3.255,3.244,3.237,3.234,3.226,3.212,3.204,3.202,3.191,3.181,3.174,3.172,3.161,3.155,3.153,3.148,3.147,3.129,3.118,3.117,3.117,3.115,3.115,3.102,3.097,3.09,3.084,3.08,3.071,3.07,3.068,3.067,3.065,3.057,3.054,3.049,3.042,3.042,3.04,3.039,3.036,3.034,3.029,3.029,3.027,3.025,3.027,3.034,3.083,0.007,3.083,3.022,3.017,3.017,3.016,3.014,3.009,3.009,3.007,3.005,3.005,3.006,3.006,3.009,3.01,3.01,3.01,3.013,3.013,3.012,3.013,3.013,3.018,3.018,3.022,3.023,3.023,3.018,3.023,3.018,3.018,3.023,3.027,3.029,3.031,3.037,3.037,3.039,3.041,3.045,3.054,3.054,3.056,3.057,3.058,3.061,3.07,3.071,3.074,3.089,3.092,3.092,3.096,3.098,3.1,3.108,3.11,3.112,3.121,3.131,3.131,3.138,3.139,3.142,3.142,3.145,3.149,3.159,3.161,3.165,3.167,3.173,3.183,3.186,3.196,3.207,3.208,3.216,3.226,3.236,3.236,3.238,3.238,3.246,3.263,3.278,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 48.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 48.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 48.3677} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1562} SEN {Time 48.4146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.182,0.182,0.182,0,0,0,0,0,0,0,0,3.691,3.684,3.658,3.657,3.645,3.64,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.204,3.204,3.204,3.265,3.36,0,0,0,0,0,0,0,0.147,0.14,0.14,0.14,0.147,0.149,0.149,0.149,0.155,0.152,0.155,0.155,0.159,0.162,3.031,3.035,3.035,3.035,3.032,3.035,3.032,0.158,0.158,0.158,0.156,0.156,0.153,0.146,0.143,0.13,0.107,0.076,0.072,0.067,0.064,0.064,0.064,0.064,0.066,0.067,0.067,0.067,0.062,0.062,0.062,0.071,0.102,0.181,3.331,0.007,0,0.007,3.369,3.361,3.369,3.369,3.401,3.416,3.43,3.441,3.445,3.478,3.483,3.496,3.496,3.497,3.5,3.5,3.511,3.513,3.516,3.516,3.525,3.529,3.531,3.539,3.543,3.545,3.545,3.545,3.548,3.554,3.554,3.558,3.57,3.572,3.573,3.579,3.584,3.586,3.595,3.599,3.614,3.618,3.626,3.63,3.634,3.643,3.646,3.65,3.65,3.66,3.661,3.669,3.683,3.686,3.691,3.695,3.701,3.717,3.724,3.729,3.738,3.744,3.748,3.766,3.767,3.768,3.786,3.794,3.802,3.807,3.813,3.833,3.845,3.847,3.864,3.88,3.887,3.889,3.896,3.915,3.93,3.945,3.962,3.978,3.982,3.995,4.006,4.031,4.05,4.061,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.052,3.991,3.965,3.927,3.907,3.879,3.841,3.81,3.786,3.738,3.721,3.701,3.677,3.653,3.62,3.605,3.569,3.557,3.523,3.507,3.491,3.458,3.442,3.43,3.403,3.395,3.372,3.345,3.331,3.309,3.284,3.269,3.254,3.235,3.233,3.196,3.182,3.174,3.153,3.139,3.13,3.106,3.105,3.092,3.061,3.045,3.044,3.028,3.022,3.001,2.987,2.983,2.966,2.955,2.943,2.926,2.919,2.908,2.9,2.879,2.872,2.856,2.848,2.842,2.828,2.819,2.808,2.793,2.786,2.784,2.764,2.762,2.761,2.74,2.732,2.725,2.715,2.71,2.702,2.685,2.681,2.672,2.668,2.664,2.652,2.652,2.636,2.635,2.623,2.618,2.611,2.606,2.597,2.587,2.583,2.581,2.573,2.567,2.563,2.549,2.546,2.545,2.544,2.531,2.53,2.517,2.514,2.512,2.506,2.498,2.498,2.497,2.484,2.484,2.483,2.481,2.473,2.467,2.466,2.463,2.461,2.46,2.455,2.454,2.454,2.451,2.45,2.446,2.441,2.438,2.438,2.429,2.428,2.424,2.424,2.421,2.417,2.414,2.414,2.417,2.417,2.415,2.415,2.412,2.411,2.411,2.411,2.411,2.411,2.412,2.411,2.411,2.411,2.412,2.412,2.413,2.413,2.415,2.415,2.417,2.415,2.417,2.417,2.418,2.419,2.42,2.42,2.423,2.424,2.426,2.432,2.435,2.435,2.437,2.437,2.439,2.441,2.443,2.444,2.451,2.455,2.455,2.465,2.465,2.47,2.472,2.472,2.474,2.474,2.484,2.484,2.49,2.498,2.502,2.504,2.507,2.509,2.519,2.523,2.524,2.53,2.532,2.538,2.551,2.557,2.561,2.571,2.571,2.576,2.591,2.599,2.6,2.603,2.613,2.613,2.628,2.636,2.646,2.646,2.654,2.658,2.663,2.676,2.685,2.688,2.7,2.703,2.716,2.719,2.72,2.736,2.755,2.757,2.763,2.782,2.785,2.796,2.808,2.815,2.832,2.837,2.846,2.854,2.871,2.878,2.894,2.901,2.916,2.925,2.938,2.95,2.959,2.978,2.985,2.998,3.009,3.03,3.032,3.038,3.065,3.088,3.093,3.104,3.123,3.14,3.159,3.165,3.18,3.2,3.214,3.233,3.247,3.269,3.278,3.296,3.329,3.331,3.343,3.38,3.399,3.399,3.436,3.462,3.478,3.502,3.533,3.549,3.57,3.594,3.612,3.645,3.664,3.689,3.716,3.75,3.778,3.803,3.84,3.863,3.888,3.912,3.95,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.357,3.34,3.329,3.311,3.31,3.306,3.29,3.278,3.278,3.264,3.248,3.245,3.237,3.235,3.225,3.213,3.207,3.192,3.189,3.184,3.177,3.173,3.161,3.158,3.143,3.14,3.14,3.126,3.124,3.121,3.119,3.115,3.108,3.1,3.092,3.09,3.09,3.085,3.083,3.078,3.067,3.066,3.061,3.058,3.051,3.05,3.044,3.044,3.044,3.042,3.042,3.035,3.032,3.029,3.023,3.023,3.023,3.023,3.027,3.027,3.027,3.016,3.016,3.013,3.016,3.016,3.013,3.011,3.011,3.011,3.011,3.011,3.012,3.011,3.012,3.012,3.011,3.011,3.011,3.011,3.012,3.012,3.012,3.012,3.017,3.017,3.018,3.019,3.02,3.021,3.025,3.026,3.026,3.028,3.036,3.036,3.036,3.038,3.04,3.046,3.053,3.054,3.057,3.061,3.064,3.07,3.071,3.073,3.077,3.088,3.091,3.091,3.092,3.095,3.099,3.106,3.11,3.111,3.125,3.129,3.129,3.13,3.14,3.143,3.143,3.144,3.145,3.156,3.166,3.168,3.172,3.181,3.183,3.187,3.203,3.217,3.219,3.225,3.228,3.232,3.238,3.241,3.241,3.244,3.258,3.269,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 48.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 48.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 48.5687} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1562} SEN {Time 48.6146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.18,0.18,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.691,3.683,3.676,3.66,3.653,3.625,3.604,3.604,3.604,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.214,3.214,3.214,3.27,3.368,0,0,0,0,0,0,0,0.144,0.142,0.142,0.141,0.141,0.147,0.147,0.147,0.156,0.147,0.154,0.154,0.154,0.154,3.034,3.034,3.034,3.034,3.029,3.029,3.028,0.157,0.156,0.156,0.156,0.156,0.146,0.143,0.143,0.123,0.101,0.083,0.064,0.064,0.061,0.061,0.062,0.062,0.062,0.068,0.068,0.068,0.068,0.068,0.071,0.071,0.112,0.163,3.347,3.351,3.367,3.364,3.364,3.367,3.375,3.375,3.412,3.42,3.432,3.432,3.455,3.464,3.471,3.471,3.495,3.496,3.498,3.501,3.513,3.513,3.519,3.525,3.526,3.528,3.528,3.528,3.537,3.543,3.543,3.543,3.55,3.553,3.56,3.566,3.567,3.571,3.574,3.579,3.582,3.584,3.597,3.598,3.609,3.614,3.62,3.621,3.632,3.635,3.638,3.649,3.655,3.661,3.665,3.669,3.681,3.682,3.69,3.696,3.697,3.709,3.725,3.729,3.736,3.747,3.751,3.758,3.765,3.771,3.783,3.796,3.807,3.813,3.815,3.836,3.839,3.843,3.867,3.875,3.875,3.891,3.91,3.922,3.928,3.944,3.958,3.968,3.974,4,4.002,4.018,4.047,4.073,4.078,4.09,0.016,0.016,0.016,0.016,0.016,4.089,4.067,4.009,3.987,3.952,3.928,3.897,3.871,3.832,3.815,3.778,3.749,3.731,3.694,3.677,3.661,3.622,3.607,3.58,3.541,3.528,3.506,3.484,3.463,3.45,3.419,3.395,3.385,3.36,3.351,3.329,3.309,3.303,3.27,3.255,3.232,3.226,3.191,3.187,3.176,3.146,3.135,3.124,3.115,3.096,3.074,3.066,3.049,3.035,3.019,3.015,2.996,2.99,2.974,2.97,2.956,2.935,2.933,2.92,2.906,2.892,2.876,2.871,2.855,2.852,2.842,2.828,2.818,2.803,2.792,2.786,2.775,2.77,2.761,2.756,2.737,2.73,2.719,2.711,2.71,2.699,2.686,2.679,2.673,2.671,2.666,2.649,2.646,2.637,2.635,2.626,2.619,2.607,2.605,2.597,2.588,2.58,2.578,2.572,2.567,2.557,2.552,2.549,2.543,2.541,2.538,2.524,2.519,2.514,2.51,2.509,2.504,2.498,2.493,2.49,2.485,2.485,2.477,2.474,2.473,2.468,2.468,2.463,2.451,2.45,2.449,2.446,2.445,2.443,2.443,2.443,2.443,2.436,2.432,2.43,2.43,2.429,2.419,2.417,2.419,2.417,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.411,2.411,2.41,2.41,2.411,2.412,2.412,2.414,2.414,2.414,2.413,2.413,2.413,2.416,2.418,2.419,2.421,2.421,2.421,2.421,2.421,2.421,2.423,2.424,2.425,2.429,2.434,2.437,2.437,2.438,2.443,2.445,2.45,2.454,2.455,2.457,2.467,2.467,2.472,2.473,2.478,2.479,2.484,2.485,2.489,2.489,2.496,2.496,2.512,2.518,2.518,2.518,2.52,2.531,2.534,2.542,2.547,2.556,2.557,2.568,2.568,2.578,2.585,2.601,2.603,2.607,2.612,2.615,2.627,2.628,2.637,2.641,2.652,2.66,2.664,2.671,2.681,2.689,2.7,2.707,2.722,2.724,2.726,2.733,2.751,2.753,2.766,2.785,2.789,2.796,2.81,2.814,2.824,2.843,2.852,2.858,2.874,2.881,2.896,2.905,2.921,2.923,2.942,2.951,2.957,2.971,2.987,2.994,3.01,3.022,3.039,3.046,3.067,3.081,3.092,3.106,3.117,3.145,3.161,3.168,3.179,3.196,3.223,3.236,3.248,3.261,3.292,3.297,3.324,3.337,3.347,3.371,3.402,3.411,3.441,3.466,3.479,3.497,3.516,3.546,3.564,3.597,3.614,3.634,3.657,3.697,3.714,3.755,3.777,3.806,3.84,3.864,3.893,3.922,3.955,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.354,3.339,3.328,3.299,3.294,3.292,3.292,3.261,3.26,3.26,3.246,3.243,3.234,3.221,3.211,3.202,3.198,3.183,3.18,3.175,3.169,3.162,3.152,3.152,3.147,3.134,3.128,3.125,3.121,3.112,3.112,3.108,3.104,3.096,3.095,3.093,3.084,3.078,3.072,3.067,3.067,3.055,3.054,3.049,3.047,3.046,3.045,3.045,3.041,3.033,3.032,3.03,3.026,3.024,3.024,3.024,3.024,3.026,3.026,3.026,3.026,3.019,3.015,3.014,3.014,3.013,3.014,3.014,3.014,3.011,3.011,3.011,3.011,3.011,3.012,3.012,3.012,3.012,3.012,3.012,3.013,3.016,3.016,3.016,3.02,3.016,3.022,3.022,3.021,3.021,3.026,3.029,3.035,3.036,3.036,3.036,3.037,3.038,3.043,3.049,3.053,3.056,3.061,3.062,3.063,3.065,3.066,3.072,3.082,3.09,3.091,3.092,3.095,3.099,3.109,3.116,3.121,3.124,3.133,3.133,3.137,3.137,3.137,3.137,3.143,3.145,3.149,3.16,3.163,3.167,3.175,3.181,3.183,3.201,3.211,3.217,3.223,3.227,3.24,3.242,3.243,3.245,3.246,3.255,3.284,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 48.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 48.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 48.7696} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 48.8146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.175,0.179,0.187,0,0,0,0,0,0,0,0,3.693,3.681,3.666,3.662,3.654,3.632,3.611,3.611,3.596,3.596,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.213,3.204,3.204,3.204,3.262,3.37,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.145,0.145,0.144,0.144,0.154,0.148,0.154,0.154,0.156,0.156,3.031,3.039,3.039,3.039,3.033,3.039,3.033,0.155,0.155,0.155,0.153,0.153,0.149,0.144,0.144,0.129,0.107,0.08,0.064,0.062,0.062,0.062,0.061,0.062,0.068,0.068,0.064,0.064,0.06,0.06,0.06,0.071,0.108,0.181,3.334,3.364,3.373,3.37,3.373,3.37,3.373,0.007,3.416,3.416,3.438,3.438,3.46,3.47,3.482,3.487,3.489,3.49,3.498,3.499,3.51,3.51,3.512,3.513,3.523,3.524,3.535,3.537,3.537,3.538,3.538,3.54,3.546,3.548,3.562,3.566,3.566,3.572,3.578,3.581,3.581,3.588,3.591,3.603,3.608,3.614,3.618,3.625,3.631,3.641,3.651,3.652,3.652,3.658,3.665,3.672,3.675,3.677,3.685,3.697,3.697,3.71,3.713,3.718,3.733,3.736,3.747,3.75,3.763,3.781,3.791,3.797,3.81,3.811,3.817,3.833,3.836,3.86,3.869,3.885,3.892,3.894,3.902,3.919,3.928,3.959,3.962,3.975,3.976,3.992,4.025,4.026,4.042,4.063,4.09,4.091,0.016,0.016,0.016,0.007,0.016,0.016,4.058,4.031,3.99,3.95,3.936,3.892,3.871,3.844,3.824,3.789,3.746,3.734,3.703,3.674,3.646,3.625,3.604,3.572,3.553,3.532,3.513,3.498,3.462,3.443,3.417,3.399,3.381,3.369,3.344,3.329,3.317,3.298,3.27,3.255,3.234,3.224,3.196,3.194,3.181,3.146,3.131,3.121,3.113,3.097,3.083,3.072,3.039,3.036,3.025,3.012,3.006,2.989,2.983,2.967,2.959,2.943,2.924,2.916,2.903,2.892,2.876,2.868,2.859,2.848,2.838,2.82,2.816,2.803,2.787,2.783,2.779,2.769,2.761,2.746,2.742,2.729,2.725,2.721,2.705,2.696,2.686,2.68,2.668,2.668,2.653,2.653,2.648,2.639,2.632,2.618,2.612,2.607,2.606,2.601,2.588,2.58,2.576,2.575,2.565,2.563,2.552,2.549,2.549,2.545,2.537,2.528,2.52,2.517,2.507,2.505,2.501,2.494,2.491,2.489,2.484,2.482,2.48,2.48,2.47,2.47,2.47,2.457,2.454,2.453,2.452,2.451,2.445,2.445,2.445,2.445,2.435,2.434,2.434,2.43,2.43,2.428,2.428,2.42,2.42,2.419,2.419,2.419,2.415,2.412,2.412,2.411,2.412,2.411,2.41,2.41,2.41,2.41,2.409,2.41,2.415,2.414,2.415,2.415,2.414,2.414,2.416,2.416,2.417,2.417,2.418,2.42,2.42,2.42,2.424,2.427,2.428,2.429,2.433,2.433,2.438,2.438,2.445,2.447,2.447,2.449,2.45,2.451,2.452,2.456,2.461,2.467,2.471,2.474,2.477,2.482,2.484,2.488,2.495,2.495,2.495,2.498,2.508,2.517,2.522,2.522,2.523,2.527,2.536,2.541,2.546,2.557,2.557,2.566,2.569,2.581,2.595,2.603,2.604,2.606,2.608,2.611,2.62,2.628,2.636,2.643,2.645,2.649,2.658,2.672,2.681,2.688,2.699,2.703,2.715,2.717,2.733,2.746,2.755,2.76,2.769,2.777,2.788,2.797,2.804,2.817,2.827,2.84,2.848,2.848,2.867,2.882,2.891,2.903,2.914,2.93,2.944,2.948,2.961,2.973,2.986,2.991,3.012,3.02,3.043,3.049,3.062,3.08,3.094,3.105,3.122,3.146,3.156,3.172,3.18,3.201,3.232,3.237,3.249,3.262,3.278,3.295,3.324,3.333,3.349,3.373,3.387,3.402,3.435,3.46,3.488,3.5,3.525,3.543,3.577,3.604,3.62,3.641,3.668,3.697,3.722,3.751,3.785,3.785,3.839,3.853,3.895,3.919,3.958,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.354,3.346,3.329,3.314,3.309,3.291,3.288,3.28,3.269,3.258,3.249,3.247,3.24,3.232,3.215,3.209,3.204,3.201,3.201,3.185,3.181,3.171,3.158,3.157,3.154,3.142,3.14,3.13,3.124,3.122,3.117,3.109,3.107,3.098,3.088,3.087,3.079,3.076,3.075,3.073,3.069,3.067,3.061,3.057,3.055,3.047,3.044,3.041,3.04,3.04,3.04,3.038,3.034,3.029,3.027,3.024,3.024,3.024,3.025,3.025,3.025,3.019,3.018,3.018,3.011,3.011,3.011,3.008,3.008,3.008,3.007,3.007,3.007,3.007,3.007,3.008,3.009,3.013,3.009,3.013,3.013,3.013,3.017,3.017,3.018,3.018,3.021,3.021,3.023,3.021,3.021,3.024,3.029,3.034,3.034,3.036,3.036,3.036,3.044,3.047,3.05,3.055,3.058,3.061,3.061,3.064,3.07,3.071,3.076,3.083,3.093,3.093,3.095,3.095,3.101,3.109,3.113,3.113,3.122,3.126,3.132,3.136,3.136,3.137,3.137,3.144,3.148,3.153,3.157,3.158,3.171,3.172,3.179,3.184,3.2,3.201,3.22,3.222,3.225,3.236,3.236,3.243,3.243,3.254,3.265,3.273,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 48.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 48.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 48.9705} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 49.0146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.177,0.189,0.189,0,0,0,0,0,0,0,0,3.689,3.672,3.67,3.666,3.644,3.635,3.622,3.622,3.622,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.212,3.212,3.212,3.212,3.213,3.262,3.354,3.354,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.145,0.145,0.146,0.146,0.155,0.153,0.153,0.153,0.153,0.153,3.034,3.036,3.038,3.038,3.038,3.042,3.042,0.161,0.16,0.16,0.16,0.158,0.152,0.148,0.145,0.127,0.121,0.073,0.064,0.062,0.062,0.062,0.064,0.068,0.07,0.07,0.068,0.065,0.06,0.06,0.06,0.065,0.111,0.175,3.345,3.347,3.35,3.35,3.356,3.37,3.373,3.377,3.414,3.414,3.426,3.435,3.458,3.471,3.477,3.477,3.487,3.496,3.508,3.508,3.509,3.51,3.517,3.522,3.524,3.524,3.525,3.531,3.54,3.542,3.544,3.545,3.549,3.55,3.555,3.562,3.565,3.571,3.58,3.58,3.581,3.583,3.584,3.589,3.611,3.616,3.621,3.636,3.637,3.637,3.645,3.647,3.65,3.655,3.662,3.663,3.679,3.679,3.687,3.697,3.697,3.72,3.725,3.729,3.742,3.749,3.749,3.759,3.76,3.769,3.779,3.797,3.809,3.817,3.823,3.828,3.831,3.847,3.868,3.887,3.893,3.894,3.907,3.915,3.939,3.94,3.962,3.974,3.99,3.993,4.016,4.036,4.058,4.062,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.028,4.015,3.961,3.932,3.889,3.872,3.853,3.807,3.789,3.743,3.732,3.709,3.67,3.652,3.612,3.601,3.583,3.552,3.522,3.509,3.482,3.462,3.436,3.431,3.415,3.384,3.377,3.348,3.34,3.303,3.292,3.277,3.251,3.234,3.224,3.195,3.191,3.168,3.164,3.134,3.124,3.102,3.101,3.082,3.067,3.05,3.05,3.041,3.023,2.998,2.983,2.976,2.966,2.958,2.937,2.933,2.919,2.906,2.892,2.881,2.875,2.855,2.854,2.837,2.824,2.815,2.807,2.793,2.789,2.778,2.774,2.756,2.755,2.742,2.733,2.725,2.711,2.708,2.686,2.682,2.682,2.67,2.664,2.655,2.651,2.641,2.633,2.628,2.622,2.613,2.611,2.601,2.6,2.595,2.588,2.574,2.574,2.569,2.565,2.553,2.55,2.542,2.537,2.53,2.529,2.516,2.513,2.512,2.502,2.496,2.496,2.488,2.485,2.485,2.481,2.481,2.473,2.473,2.47,2.463,2.457,2.455,2.454,2.453,2.451,2.448,2.447,2.446,2.441,2.44,2.428,2.427,2.427,2.427,2.427,2.426,2.42,2.417,2.417,2.417,2.416,2.416,2.413,2.409,2.409,2.413,2.412,2.413,2.413,2.412,2.409,2.409,2.409,2.413,2.413,2.418,2.418,2.417,2.418,2.418,2.417,2.419,2.421,2.421,2.421,2.423,2.424,2.424,2.424,2.424,2.425,2.426,2.435,2.437,2.44,2.44,2.445,2.446,2.446,2.453,2.454,2.459,2.461,2.466,2.468,2.47,2.474,2.475,2.478,2.481,2.483,2.496,2.498,2.499,2.5,2.508,2.513,2.52,2.52,2.53,2.532,2.532,2.542,2.544,2.553,2.561,2.563,2.571,2.58,2.593,2.597,2.598,2.606,2.61,2.617,2.629,2.63,2.642,2.645,2.647,2.657,2.664,2.674,2.68,2.691,2.695,2.697,2.715,2.72,2.729,2.74,2.749,2.755,2.762,2.785,2.789,2.802,2.81,2.825,2.837,2.838,2.846,2.861,2.865,2.883,2.888,2.9,2.916,2.936,2.941,2.951,2.959,2.98,2.986,3.003,3.015,3.023,3.042,3.051,3.063,3.081,3.092,3.102,3.12,3.139,3.149,3.178,3.181,3.199,3.22,3.233,3.252,3.267,3.288,3.308,3.328,3.331,3.35,3.377,3.391,3.413,3.432,3.461,3.481,3.496,3.519,3.541,3.562,3.59,3.609,3.634,3.662,3.692,3.725,3.756,3.794,3.795,3.836,3.873,3.895,3.922,3.982,4.025,4.063,4.063,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.354,3.345,3.329,3.318,3.305,3.297,3.289,3.283,3.268,3.267,3.251,3.241,3.24,3.239,3.213,3.211,3.205,3.194,3.191,3.186,3.183,3.169,3.16,3.152,3.152,3.148,3.143,3.139,3.122,3.121,3.113,3.112,3.104,3.104,3.094,3.092,3.092,3.09,3.08,3.072,3.069,3.067,3.065,3.061,3.05,3.047,3.043,3.043,3.043,3.042,3.039,3.039,3.03,3.029,3.027,3.026,3.026,3.026,3.032,3.032,3.032,3.021,3.019,3.014,3.011,3.011,3.01,3.008,3.01,3.01,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.014,3.014,3.013,3.014,3.016,3.014,3.014,3.017,3.017,3.014,3.017,3.025,3.017,3.017,3.027,3.027,3.027,3.028,3.037,3.04,3.04,3.04,3.046,3.051,3.058,3.059,3.06,3.062,3.065,3.065,3.072,3.075,3.084,3.086,3.087,3.091,3.092,3.092,3.111,3.117,3.118,3.12,3.129,3.134,3.135,3.134,3.143,3.143,3.146,3.148,3.154,3.159,3.164,3.171,3.174,3.175,3.183,3.187,3.209,3.218,3.227,3.236,3.236,3.238,3.247,3.251,3.251,3.252,3.28,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 49.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 49.17} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 49.1715} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 49.2106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.185,0.187,0.187,0,0,0,0,0,0,0,0,3.685,3.681,3.661,3.661,3.65,3.619,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.214,3.214,3.214,3.27,3.366,0,0,0,0,0,0,0,0.143,0.142,0.142,0.142,0.142,0.142,0.142,0.142,0.153,0.15,0.153,0.153,0.153,0.155,3.035,3.035,3.035,3.035,3.034,3.034,3.034,0.163,0.156,0.156,0.153,0.153,0.153,0.15,0.15,0.126,0.106,0.081,0.065,0.062,0.062,0.062,0.06,0.062,0.067,0.068,0.068,0.068,0.064,0.064,0.064,0.072,0.114,0.183,3.345,3.354,3.357,3.357,3.359,3.368,3.369,3.37,3.385,3.421,3.428,3.436,3.445,3.467,3.479,3.482,3.483,3.494,3.498,3.5,3.501,3.513,3.514,3.527,3.528,3.529,3.53,3.534,3.539,3.544,3.544,3.545,3.546,3.552,3.559,3.563,3.565,3.569,3.578,3.58,3.584,3.586,3.588,3.598,3.612,3.615,3.624,3.627,3.633,3.637,3.641,3.642,3.649,3.664,3.668,3.67,3.672,3.672,3.687,3.697,3.699,3.713,3.717,3.73,3.734,3.747,3.749,3.754,3.763,3.771,3.786,3.797,3.797,3.81,3.819,3.824,3.843,3.854,3.855,3.884,3.885,3.892,3.91,3.916,3.937,3.947,3.953,3.969,3.979,4.004,4.019,4.019,4.045,4.07,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.021,4.002,3.964,3.922,3.893,3.873,3.855,3.815,3.778,3.757,3.731,3.694,3.672,3.642,3.616,3.602,3.578,3.554,3.525,3.503,3.48,3.463,3.439,3.418,3.409,3.387,3.371,3.349,3.328,3.307,3.295,3.283,3.253,3.225,3.224,3.201,3.197,3.175,3.152,3.137,3.126,3.11,3.103,3.09,3.068,3.04,3.04,3.038,3.014,3.001,2.99,2.974,2.963,2.955,2.94,2.927,2.923,2.908,2.898,2.881,2.872,2.863,2.844,2.837,2.831,2.821,2.81,2.789,2.787,2.782,2.773,2.765,2.759,2.736,2.721,2.72,2.714,2.707,2.698,2.685,2.681,2.672,2.665,2.659,2.65,2.645,2.636,2.636,2.63,2.629,2.609,2.607,2.597,2.59,2.587,2.576,2.57,2.567,2.566,2.556,2.548,2.54,2.539,2.534,2.525,2.521,2.511,2.509,2.507,2.499,2.496,2.494,2.491,2.487,2.487,2.484,2.473,2.472,2.467,2.467,2.459,2.458,2.452,2.448,2.448,2.448,2.443,2.443,2.44,2.437,2.435,2.432,2.429,2.429,2.429,2.427,2.421,2.42,2.419,2.414,2.414,2.414,2.414,2.414,2.414,2.411,2.41,2.41,2.411,2.41,2.41,2.411,2.414,2.412,2.414,2.415,2.415,2.414,2.415,2.416,2.417,2.417,2.418,2.419,2.419,2.42,2.42,2.421,2.423,2.424,2.424,2.429,2.432,2.437,2.441,2.441,2.441,2.446,2.452,2.452,2.455,2.455,2.46,2.467,2.47,2.472,2.475,2.479,2.482,2.485,2.487,2.489,2.492,2.497,2.501,2.515,2.517,2.521,2.522,2.524,2.532,2.537,2.542,2.556,2.556,2.556,2.564,2.571,2.573,2.59,2.6,2.604,2.609,2.61,2.612,2.631,2.638,2.641,2.642,2.642,2.644,2.662,2.668,2.684,2.685,2.703,2.704,2.715,2.723,2.73,2.74,2.755,2.763,2.767,2.781,2.79,2.795,2.807,2.817,2.828,2.841,2.845,2.856,2.865,2.882,2.883,2.909,2.921,2.928,2.941,2.953,2.96,2.975,2.982,2.998,3.018,3.025,3.041,3.048,3.071,3.083,3.095,3.109,3.131,3.14,3.157,3.162,3.182,3.203,3.225,3.235,3.251,3.264,3.283,3.296,3.316,3.345,3.347,3.377,3.398,3.404,3.446,3.459,3.478,3.497,3.532,3.539,3.57,3.594,3.631,3.643,3.672,3.696,3.716,3.739,3.78,3.803,3.836,3.859,3.888,3.929,3.957,3.99,4.066,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.355,3.334,3.329,3.311,3.31,3.299,3.294,3.281,3.276,3.255,3.25,3.238,3.238,3.232,3.218,3.214,3.211,3.204,3.187,3.182,3.175,3.173,3.163,3.154,3.153,3.148,3.139,3.125,3.125,3.121,3.117,3.108,3.108,3.105,3.089,3.087,3.086,3.086,3.074,3.073,3.071,3.064,3.059,3.051,3.05,3.049,3.047,3.043,3.04,3.04,3.039,3.036,3.022,3.022,3.022,3.021,3.022,0.007,3.091,3.033,3.033,3.018,3.018,3.015,3.018,3.011,3.012,3.008,3.012,3.012,3.012,3.008,3.012,3.009,3.009,3.009,3.012,3.011,3.012,3.012,3.012,3.012,3.013,3.018,3.018,3.021,3.023,3.023,3.023,3.023,3.023,3.023,3.025,3.028,3.03,3.03,3.036,3.037,3.041,3.047,3.051,3.051,3.058,3.062,3.064,3.064,3.068,3.077,3.079,3.084,3.085,3.087,3.089,3.09,3.101,3.107,3.107,3.117,3.121,3.128,3.132,3.133,3.138,3.14,3.14,3.146,3.15,3.158,3.161,3.162,3.168,3.169,3.173,3.179,3.196,3.216,3.221,3.225,3.225,3.238,3.238,3.245,3.245,3.251,3.264,3.277,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 49.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 49.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 49.3636} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.7366} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 49.4106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.176,0.176,0.186,0,0,0,0,0,0,0,0,3.686,3.677,3.675,3.659,3.645,3.627,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.214,3.213,3.209,3.209,3.213,3.264,3.369,0,0,0,0,0,0,0,0,0.149,0.149,0.149,0.15,0.143,0.143,0.143,0.155,0.153,0.155,0.155,0.155,0.155,3.032,3.039,3.039,3.039,3.036,3.04,3.036,0.163,0.158,0.158,0.156,0.155,0.153,0.152,0.152,0.129,0.115,0.077,0.064,0.064,0.057,0.064,0.062,0.062,0.065,0.065,0.065,0.065,0.065,0.065,0.065,0.079,0.102,0.186,3.327,3.353,3.367,3.367,3.379,0,0,0,3.43,3.43,3.43,3.433,3.483,3.483,3.5,3.494,3.494,3.494,3.5,3.502,3.504,3.509,3.516,3.526,3.527,3.527,3.53,3.532,3.536,3.541,3.542,3.544,3.546,3.549,3.556,3.568,3.568,3.572,3.579,3.583,3.59,3.599,3.6,3.604,3.609,3.621,3.626,3.633,3.636,3.636,3.636,3.647,3.653,3.66,3.662,3.666,3.672,3.679,3.683,3.694,3.697,3.707,3.722,3.73,3.731,3.739,3.751,3.753,3.761,3.769,3.786,3.803,3.804,3.813,3.826,3.834,3.851,3.854,3.867,3.871,3.898,3.899,3.913,3.921,3.931,3.939,3.962,3.986,3.99,3.991,4.023,4.032,4.038,4.065,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.056,4.029,3.964,3.932,3.914,3.865,3.846,3.809,3.79,3.77,3.736,3.71,3.692,3.639,3.62,3.599,3.578,3.55,3.522,3.503,3.484,3.451,3.447,3.409,3.407,3.381,3.368,3.348,3.329,3.312,3.295,3.275,3.251,3.23,3.223,3.202,3.194,3.174,3.153,3.145,3.122,3.11,3.096,3.085,3.069,3.056,3.039,3.022,3.01,3,2.994,2.977,2.965,2.949,2.945,2.925,2.922,2.906,2.897,2.883,2.871,2.864,2.857,2.843,2.827,2.821,2.808,2.795,2.785,2.778,2.761,2.751,2.749,2.743,2.732,2.718,2.711,2.705,2.704,2.691,2.681,2.678,2.669,2.663,2.657,2.65,2.637,2.632,2.629,2.612,2.606,2.604,2.597,2.591,2.586,2.58,2.569,2.567,2.562,2.558,2.546,2.544,2.541,2.536,2.523,2.518,2.509,2.507,2.506,2.496,2.494,2.494,2.492,2.482,2.481,2.477,2.476,2.473,2.468,2.465,2.459,2.459,2.454,2.451,2.449,2.448,2.445,2.445,2.442,2.437,2.433,2.427,2.425,2.425,2.427,2.427,2.424,2.42,2.418,2.417,2.417,2.414,2.414,2.41,2.41,2.41,2.41,2.41,2.411,2.408,2.408,2.411,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.418,2.418,2.421,2.423,2.423,2.424,2.424,2.424,2.429,2.43,2.444,2.444,2.444,2.444,2.446,2.449,2.45,2.45,2.456,2.456,2.463,2.47,2.47,2.474,2.475,2.48,2.487,2.489,2.489,2.493,2.499,2.507,2.508,2.517,2.52,2.521,2.524,2.53,2.53,2.538,2.545,2.556,2.558,2.564,2.57,2.571,2.597,2.598,2.6,2.602,2.609,2.612,2.626,2.632,2.641,2.646,2.651,2.655,2.664,2.666,2.689,2.692,2.7,2.702,2.719,2.719,2.73,2.739,2.741,2.748,2.765,2.777,2.785,2.796,2.804,2.821,2.825,2.84,2.85,2.86,2.871,2.881,2.887,2.91,2.913,2.923,2.938,2.948,2.955,2.972,2.984,3.003,3.014,3.021,3.04,3.044,3.063,3.081,3.1,3.101,3.123,3.141,3.161,3.171,3.18,3.203,3.224,3.236,3.25,3.257,3.272,3.304,3.326,3.348,3.349,3.379,3.394,3.401,3.433,3.459,3.475,3.494,3.529,3.54,3.572,3.604,3.614,3.638,3.664,3.697,3.725,3.75,3.777,3.801,3.847,3.877,3.894,3.911,3.986,0.007,4.091,4.091,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.355,3.346,3.329,3.319,3.304,3.295,3.291,3.284,3.278,3.253,3.253,3.246,3.24,3.235,3.218,3.215,3.208,3.203,3.187,3.186,3.181,3.175,3.16,3.156,3.15,3.14,3.132,3.128,3.122,3.121,3.114,3.106,3.102,3.102,3.095,3.094,3.084,3.083,3.079,3.076,3.075,3.067,3.064,3.055,3.051,3.051,3.044,3.039,3.039,3.039,3.032,3.03,3.026,3.026,3.024,3.024,3.026,3.028,3.033,3.033,3.033,3.025,3.02,3.019,3.012,3.012,3.012,3.011,3.011,3.008,3.008,3.006,3.006,3.007,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.011,3.013,3.012,3.019,3.021,3.021,3.021,3.031,3.031,3.034,3.034,3.034,3.034,3.039,3.042,3.048,3.052,3.054,3.058,3.06,3.061,3.063,3.069,3.072,3.072,3.083,3.089,3.09,3.091,3.094,3.099,3.11,3.113,3.115,3.123,3.133,3.137,3.137,3.137,3.137,3.137,3.148,3.15,3.157,3.161,3.162,3.173,3.176,3.184,3.187,3.202,3.213,3.22,3.234,3.234,3.235,3.237,3.237,3.241,3.243,3.274,3.278,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 49.56} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 49.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 49.5644} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.7366} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 49.6106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.18,0.184,0.184,0,0,0,0,0,0,0,0,3.688,3.686,3.665,3.664,3.65,3.629,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.219,3.219,3.206,3.206,3.206,3.262,3.359,0,0,0,0,0,0,0,0.151,0.15,0.15,0.15,0.15,0.147,0.147,0.147,0.153,0.147,0.153,0.153,0.153,0.153,3.029,3.041,3.041,3.041,3.034,3.041,3.034,0.163,0.159,0.159,0.157,0.159,0.157,0.149,0.149,0.126,0.106,0.081,0.063,0.062,0.056,0.056,0.056,0.061,0.07,0.07,0.068,0.068,0.06,0.06,0.067,0.067,0.1,0.173,3.329,3.354,3.358,3.358,3.358,3.382,0.007,3.414,3.414,3.427,3.427,3.428,3.444,3.461,3.477,3.483,3.492,3.497,3.502,3.503,3.504,3.505,3.516,3.521,3.527,3.531,3.536,3.54,3.54,3.544,3.548,3.551,3.552,3.552,3.555,3.562,3.565,3.567,3.569,3.574,3.586,3.588,3.588,3.602,3.603,3.603,3.617,3.626,3.628,3.634,3.642,3.644,3.645,3.653,3.663,3.668,3.671,3.682,3.693,3.694,3.702,3.705,3.723,3.723,3.724,3.742,3.75,3.757,3.762,3.764,3.774,3.791,3.794,3.808,3.823,3.838,3.84,3.856,3.87,3.888,3.89,3.894,3.901,3.922,3.931,3.944,3.962,3.971,3.988,3.989,4.024,4.028,4.049,4.061,4.076,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.044,4.023,3.963,3.927,3.912,3.878,3.845,3.789,3.789,3.741,3.723,3.709,3.678,3.654,3.631,3.605,3.576,3.55,3.525,3.51,3.489,3.462,3.437,3.411,3.405,3.379,3.369,3.356,3.337,3.307,3.29,3.28,3.253,3.245,3.229,3.196,3.188,3.172,3.154,3.145,3.125,3.109,3.095,3.091,3.063,3.049,3.049,3.042,3.014,3.004,2.99,2.977,2.963,2.955,2.937,2.926,2.918,2.905,2.89,2.876,2.87,2.859,2.844,2.836,2.823,2.819,2.808,2.793,2.777,2.777,2.763,2.756,2.75,2.736,2.729,2.717,2.709,2.701,2.698,2.679,2.676,2.675,2.661,2.657,2.65,2.644,2.631,2.623,2.619,2.615,2.603,2.6,2.592,2.582,2.581,2.576,2.571,2.569,2.559,2.558,2.549,2.543,2.541,2.531,2.524,2.523,2.51,2.509,2.506,2.5,2.499,2.491,2.489,2.487,2.48,2.479,2.475,2.474,2.468,2.462,2.462,2.46,2.452,2.449,2.445,2.442,2.442,2.441,2.441,2.439,2.432,2.427,2.427,2.427,2.427,2.424,2.426,2.421,2.419,2.418,2.415,2.414,2.411,2.411,2.414,2.415,2.415,2.415,2.415,2.414,2.411,2.414,2.414,2.414,2.415,2.416,2.415,2.415,2.415,2.415,2.415,2.417,2.418,2.418,2.419,2.419,2.419,2.424,2.424,2.424,2.425,2.425,2.431,2.434,2.441,2.443,2.443,2.443,2.447,2.448,2.456,2.456,2.458,2.466,2.471,2.472,2.474,2.474,2.477,2.486,2.486,2.487,2.492,2.493,2.499,2.505,2.511,2.516,2.52,2.521,2.532,2.532,2.544,2.545,2.553,2.56,2.561,2.574,2.581,2.588,2.596,2.598,2.6,2.602,2.612,2.631,2.634,2.638,2.64,2.644,2.655,2.666,2.675,2.686,2.687,2.698,2.71,2.712,2.724,2.728,2.737,2.753,2.754,2.764,2.776,2.792,2.793,2.805,2.827,2.829,2.834,2.85,2.857,2.868,2.882,2.894,2.899,2.919,2.928,2.941,2.954,2.966,2.979,2.988,2.993,3.021,3.023,3.041,3.043,3.067,3.081,3.085,3.1,3.124,3.14,3.164,3.171,3.173,3.197,3.223,3.236,3.245,3.267,3.278,3.299,3.32,3.334,3.351,3.367,3.398,3.406,3.441,3.464,3.479,3.503,3.528,3.546,3.575,3.593,3.626,3.636,3.666,3.697,3.718,3.748,3.785,3.795,3.831,3.867,3.881,3.925,3.939,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.354,3.333,3.325,3.306,3.304,3.297,3.293,3.278,3.264,3.264,3.248,3.242,3.235,3.235,3.214,3.211,3.203,3.194,3.186,3.177,3.176,3.168,3.154,3.154,3.153,3.145,3.138,3.131,3.123,3.12,3.114,3.105,3.105,3.1,3.095,3.087,3.083,3.082,3.077,3.077,3.067,3.064,3.062,3.055,3.054,3.052,3.04,3.039,3.038,3.037,3.037,3.035,3.029,3.027,3.027,3.024,3.024,3.024,3.029,3.029,3.029,3.028,3.024,3.018,3.017,3.013,3.013,3.009,3.008,3.004,3.004,3.004,3.004,3.004,3.005,3.005,3.008,3.011,3.011,3.011,3.011,3.011,3.013,3.014,3.013,3.014,3.013,3.014,3.021,3.023,3.024,3.026,3.029,3.031,3.031,3.031,3.031,3.032,3.041,3.043,3.046,3.047,3.055,3.061,3.063,3.064,3.07,3.075,3.076,3.081,3.086,3.09,3.092,3.092,3.097,3.108,3.112,3.113,3.122,3.125,3.125,3.129,3.137,3.14,3.138,3.14,3.143,3.155,3.156,3.167,3.17,3.177,3.182,3.188,3.204,3.208,3.22,3.226,3.228,3.234,3.241,3.243,3.243,3.252,3.26,3.282,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 49.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 49.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 49.7654} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.7366} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 49.8106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.177,0.181,0.181,0.181,0.188,0,0,0,0,0,0,0,0,3.691,3.677,3.662,3.661,3.648,3.63,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.219,3.219,3.208,3.208,3.208,3.269,3.363,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.153,0.149,0.153,0.153,0.153,0.153,3.031,3.035,3.043,3.043,3.035,3.035,0.152,0.152,0.152,0.152,0.155,0.155,0.153,0.149,0.149,0.132,0.113,0.08,0.065,0.061,0.06,0.06,0.061,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.068,0.074,0.107,0.175,3.329,3.349,3.349,3.349,3.354,3.354,3.372,3.372,3.411,0.007,3.446,3.446,3.459,3.459,3.466,3.495,3.498,3.498,3.506,3.509,3.511,3.512,3.512,3.519,3.521,3.524,3.528,3.544,3.544,3.544,3.544,3.544,3.544,3.552,3.557,3.558,3.566,3.57,3.576,3.583,3.586,3.587,3.591,3.601,3.606,3.612,3.624,3.628,3.628,3.638,3.64,3.652,3.658,3.659,3.661,3.67,3.677,3.681,3.685,3.686,3.702,3.708,3.724,3.728,3.738,3.75,3.752,3.755,3.769,3.772,3.784,3.799,3.805,3.809,3.827,3.833,3.84,3.847,3.868,3.874,3.884,3.89,3.896,3.912,3.923,3.941,3.953,3.968,3.982,3.995,4.021,4.038,4.047,4.056,4.072,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.065,4.012,3.986,3.97,3.929,3.907,3.87,3.857,3.815,3.794,3.755,3.729,3.699,3.677,3.652,3.622,3.601,3.574,3.544,3.528,3.499,3.486,3.469,3.44,3.429,3.41,3.383,3.369,3.344,3.337,3.306,3.294,3.277,3.259,3.23,3.224,3.195,3.186,3.165,3.156,3.136,3.121,3.1,3.097,3.089,3.063,3.05,3.038,3.024,3.021,3.003,2.99,2.974,2.963,2.95,2.943,2.928,2.908,2.907,2.895,2.877,2.872,2.865,2.851,2.845,2.824,2.819,2.81,2.791,2.789,2.779,2.77,2.753,2.752,2.735,2.731,2.714,2.71,2.702,2.694,2.69,2.677,2.669,2.666,2.662,2.654,2.651,2.637,2.636,2.621,2.618,2.613,2.604,2.598,2.592,2.577,2.577,2.576,2.569,2.559,2.555,2.553,2.54,2.535,2.534,2.524,2.512,2.508,2.506,2.5,2.5,2.495,2.488,2.485,2.484,2.483,2.479,2.479,2.471,2.466,2.465,2.458,2.455,2.452,2.452,2.451,2.449,2.446,2.442,2.441,2.439,2.436,2.427,2.427,2.427,2.426,2.419,2.419,2.419,2.417,2.415,2.417,2.415,2.414,2.414,2.412,2.412,2.409,2.409,2.409,2.41,2.408,2.41,2.414,2.417,2.417,2.417,2.416,2.416,2.416,2.415,2.415,2.419,2.42,2.42,2.42,2.42,2.42,2.42,2.421,2.425,2.426,2.428,2.431,2.437,2.437,2.437,2.442,2.443,2.447,2.449,2.455,2.456,2.459,2.46,2.463,2.465,2.473,2.478,2.478,2.486,2.486,2.493,2.495,2.496,2.504,2.51,2.513,2.517,2.525,2.53,2.536,2.54,2.541,2.544,2.545,2.552,2.566,2.568,2.578,2.59,2.596,2.596,2.607,2.616,2.618,2.624,2.637,2.64,2.641,2.647,2.653,2.663,2.665,2.679,2.688,2.697,2.701,2.717,2.72,2.726,2.745,2.752,2.758,2.77,2.78,2.791,2.803,2.803,2.817,2.833,2.836,2.838,2.853,2.868,2.877,2.883,2.896,2.917,2.928,2.943,2.946,2.966,2.979,2.982,2.995,3.013,3.017,3.034,3.049,3.07,3.077,3.087,3.105,3.125,3.133,3.152,3.166,3.179,3.202,3.22,3.228,3.243,3.26,3.281,3.299,3.324,3.337,3.347,3.373,3.392,3.405,3.436,3.46,3.474,3.504,3.522,3.548,3.577,3.591,3.612,3.639,3.661,3.697,3.731,3.743,3.777,3.79,3.869,3.896,3.917,3.917,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.377,3.354,3.346,3.33,3.314,3.303,3.294,3.293,3.282,3.272,3.261,3.244,3.24,3.237,3.231,3.224,3.208,3.208,3.205,3.192,3.189,3.177,3.167,3.162,3.16,3.154,3.145,3.135,3.134,3.12,3.117,3.115,3.113,3.112,3.098,3.089,3.085,3.082,3.082,3.079,3.073,3.07,3.07,3.068,3.056,3.047,3.044,3.044,3.042,3.04,3.038,3.037,3.03,3.03,3.028,3.026,3.025,3.026,3.026,3.029,3.029,3.029,3.018,3.015,3.014,3.011,3.011,3.011,3.01,3.01,3.01,3.01,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.011,3.011,3.011,3.018,3.019,3.019,3.019,3.019,3.019,3.023,3.023,3.023,3.023,3.025,3.029,3.029,3.035,3.035,3.037,3.039,3.04,3.045,3.048,3.052,3.055,3.057,3.063,3.066,3.069,3.073,3.08,3.085,3.085,3.087,3.094,3.1,3.1,3.105,3.111,3.111,3.118,3.126,3.129,3.13,3.134,3.135,3.135,3.152,3.152,3.152,3.157,3.16,3.171,3.172,3.172,3.177,3.198,3.204,3.223,3.229,3.23,3.23,3.233,3.246,3.25,3.256,3.286,3.286,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 49.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 49.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 49.9664} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 50.0106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,3.69,3.683,3.674,3.662,3.647,3.633,3.613,3.613,3.6,3.6,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.218,3.214,3.211,3.211,3.214,3.265,3.371,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.143,0.145,0.148,0.153,0.152,0.153,0.153,0.154,0.154,3.033,3.033,3.033,3.033,3.027,3.027,3.027,0.152,0.152,0.152,0.152,0.151,0.15,0.146,0.143,0.123,0.109,0.071,0.067,0.064,0.06,0.06,0.06,0.064,0.064,0.064,0.064,0.061,0.06,0.06,0.06,0.076,0.105,0.18,3.343,3.368,0,0,0,0,0,0,0,3.445,3.452,3.455,3.455,3.455,3.47,3.482,3.489,3.491,3.501,3.507,3.507,3.509,3.518,3.518,3.523,3.524,3.528,3.527,3.543,3.544,3.544,3.544,3.545,3.556,3.559,3.563,3.565,3.569,3.578,3.581,3.583,3.585,3.601,3.601,3.606,3.614,3.618,3.631,3.632,3.637,3.64,3.648,3.652,3.662,3.67,3.675,3.676,3.683,3.689,3.691,3.698,3.708,3.721,3.731,3.736,3.742,3.751,3.758,3.759,3.777,3.785,3.792,3.806,3.816,3.816,3.841,3.846,3.849,3.875,3.88,3.883,3.899,3.914,3.919,3.922,3.947,3.966,3.97,3.986,3.996,4.006,4.018,4.033,4.06,4.08,4.093,0.016,0.016,0.016,0.016,0.016,4.093,4.068,4.021,3.988,3.965,3.943,3.903,3.872,3.852,3.821,3.766,3.761,3.74,3.714,3.685,3.65,3.618,3.595,3.574,3.544,3.541,3.501,3.487,3.458,3.435,3.422,3.405,3.379,3.37,3.35,3.338,3.307,3.297,3.275,3.253,3.233,3.226,3.193,3.186,3.17,3.149,3.144,3.125,3.106,3.097,3.091,3.058,3.047,3.039,3.023,3.021,3.006,2.984,2.979,2.961,2.955,2.94,2.92,2.915,2.913,2.891,2.878,2.872,2.858,2.846,2.841,2.823,2.812,2.801,2.792,2.785,2.777,2.768,2.763,2.749,2.742,2.729,2.722,2.717,2.704,2.697,2.683,2.682,2.67,2.66,2.656,2.652,2.651,2.643,2.64,2.628,2.616,2.606,2.605,2.601,2.59,2.58,2.572,2.571,2.571,2.563,2.557,2.556,2.544,2.542,2.535,2.527,2.519,2.515,2.512,2.506,2.496,2.495,2.493,2.486,2.484,2.481,2.478,2.475,2.468,2.463,2.463,2.463,2.454,2.454,2.454,2.453,2.453,2.45,2.444,2.441,2.439,2.432,2.432,2.428,2.428,2.423,2.423,2.42,2.416,2.416,2.416,2.415,2.415,2.414,2.415,2.414,2.413,2.413,2.413,2.41,2.409,2.408,2.408,2.409,2.418,2.418,2.418,2.415,2.411,2.411,2.411,2.411,2.417,2.417,2.419,2.419,2.42,2.421,2.421,2.421,2.425,2.427,2.427,2.427,2.436,2.436,2.439,2.443,2.444,2.448,2.449,2.456,2.458,2.458,2.47,2.47,2.471,2.471,2.473,2.478,2.486,2.488,2.489,2.489,2.503,2.503,2.511,2.515,2.516,2.522,2.524,2.534,2.535,2.541,2.55,2.554,2.563,2.564,2.569,2.577,2.595,2.596,2.596,2.606,2.606,2.611,2.621,2.636,2.639,2.643,2.648,2.653,2.66,2.671,2.676,2.683,2.692,2.699,2.715,2.723,2.732,2.74,2.752,2.755,2.763,2.783,2.791,2.796,2.812,2.817,2.829,2.841,2.851,2.862,2.867,2.879,2.893,2.904,2.919,2.919,2.939,2.95,2.959,2.972,2.986,2.998,3.018,3.027,3.041,3.051,3.061,3.08,3.092,3.11,3.118,3.139,3.153,3.163,3.179,3.201,3.228,3.232,3.254,3.275,3.277,3.298,3.322,3.343,3.354,3.37,3.388,3.408,3.431,3.463,3.477,3.5,3.527,3.55,3.574,3.595,3.611,3.639,3.66,3.698,3.72,3.747,3.781,3.802,3.836,3.879,3.903,3.924,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.356,3.34,3.322,3.321,3.304,3.296,3.283,3.275,3.265,3.259,3.249,3.244,3.237,3.234,3.215,3.214,3.212,3.193,3.186,3.186,3.181,3.17,3.165,3.157,3.151,3.146,3.137,3.13,3.125,3.122,3.122,3.111,3.108,3.099,3.099,3.094,3.088,3.08,3.079,3.076,3.066,3.063,3.062,3.062,3.056,3.054,3.047,3.045,3.043,3.039,3.036,3.031,3.031,3.028,3.028,3.028,3.028,3.028,3.028,3.027,3.026,3.017,3.017,3.015,3.016,3.013,3.013,3.008,3.012,3.012,3.008,3.007,3.012,3.012,3.006,3.011,3.012,3.012,3.012,3.015,3.018,3.018,3.018,3.018,3.02,3.025,3.02,3.025,3.027,3.027,3.028,3.029,3.028,3.028,3.035,3.035,3.035,3.036,3.039,3.041,3.044,3.047,3.051,3.057,3.062,3.063,3.066,3.071,3.074,3.08,3.091,3.094,3.095,3.098,3.101,3.105,3.115,3.117,3.119,3.132,3.135,3.135,3.137,3.137,3.138,3.148,3.153,3.159,3.162,3.164,3.169,3.177,3.178,3.188,3.194,3.206,3.216,3.227,3.233,3.234,3.236,3.236,3.245,3.25,3.261,3.272,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 50.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 50.17} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 50.1684} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388} SEN {Time 50.2067} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.177,0.185,0.185,0,0,0,0,0,0,0,0,3.686,3.68,3.674,3.665,3.64,3.631,3.618,3.618,3.618,3.608,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.215,3.214,3.214,3.221,3.268,3.365,0,0,0,0,0,0,0,0.152,0.145,0.145,0.145,0.145,0.146,0.146,0.146,0.153,0.153,0.153,0.153,0.153,0.153,3.032,3.034,3.037,3.037,3.034,3.034,0.156,0.156,0.156,0.156,0.156,0.151,0.148,0.146,0.144,0.131,0.113,0.081,0.064,0.063,0.063,0.063,0.064,0.063,0.064,0.067,0.064,0.063,0.063,0.063,0.063,0.078,0.102,0.178,3.331,3.356,3.359,3.359,3.37,3.371,3.379,3.38,3.399,3.399,3.42,3.444,0.007,3.472,3.472,3.491,3.491,3.502,3.502,3.503,3.506,3.511,3.514,3.52,3.52,3.52,3.523,3.528,3.539,3.541,3.546,3.548,3.549,3.551,3.554,3.562,3.562,3.567,3.571,3.583,3.588,3.59,3.597,3.597,3.612,3.612,3.622,3.628,3.637,3.638,3.642,3.644,3.652,3.658,3.659,3.668,3.67,3.671,3.693,3.702,3.702,3.706,3.724,3.726,3.734,3.737,3.758,3.759,3.764,3.769,3.783,3.789,3.797,3.822,3.824,3.837,3.843,3.848,3.863,3.867,3.88,3.884,3.902,3.914,3.936,3.945,3.956,3.976,3.989,4.003,4.023,4.028,4.05,4.06,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.059,3.993,3.963,3.935,3.901,3.861,3.834,3.818,3.782,3.749,3.724,3.709,3.673,3.644,3.637,3.596,3.575,3.544,3.518,3.505,3.483,3.458,3.45,3.425,3.407,3.381,3.378,3.346,3.337,3.315,3.295,3.279,3.257,3.236,3.22,3.198,3.191,3.175,3.154,3.145,3.121,3.11,3.098,3.091,3.066,3.044,3.044,3.038,3.022,2.998,2.99,2.981,2.966,2.956,2.933,2.926,2.92,2.904,2.894,2.874,2.87,2.861,2.847,2.842,2.83,2.814,2.807,2.792,2.79,2.784,2.77,2.759,2.755,2.736,2.734,2.718,2.711,2.703,2.696,2.683,2.675,2.674,2.66,2.658,2.653,2.647,2.636,2.635,2.622,2.622,2.615,2.606,2.598,2.591,2.581,2.575,2.575,2.573,2.56,2.554,2.549,2.536,2.531,2.53,2.522,2.52,2.513,2.506,2.5,2.497,2.495,2.493,2.49,2.484,2.479,2.477,2.47,2.467,2.467,2.464,2.461,2.456,2.455,2.454,2.451,2.449,2.448,2.446,2.44,2.433,2.432,2.431,2.428,2.428,2.426,2.425,2.419,2.419,2.419,2.419,2.416,2.412,2.411,2.411,2.411,2.41,2.41,2.413,2.41,2.409,2.407,2.409,2.409,2.413,2.413,2.413,2.415,2.413,2.413,2.416,2.419,2.421,2.421,2.425,2.425,2.42,2.42,2.42,2.42,2.427,2.431,2.434,2.434,2.435,2.437,2.443,2.443,2.445,2.449,2.451,2.452,2.458,2.46,2.463,2.464,2.466,2.471,2.476,2.479,2.482,2.491,2.491,2.491,2.5,2.508,2.51,2.515,2.518,2.522,2.528,2.534,2.535,2.537,2.545,2.547,2.552,2.566,2.574,2.577,2.59,2.599,2.604,2.611,2.615,2.615,2.624,2.634,2.644,2.645,2.645,2.648,2.662,2.671,2.675,2.687,2.695,2.698,2.715,2.716,2.73,2.745,2.751,2.762,2.764,2.783,2.789,2.796,2.804,2.82,2.823,2.836,2.842,2.851,2.87,2.872,2.884,2.901,2.919,2.925,2.943,2.952,2.96,2.979,2.99,2.996,3.014,3.026,3.037,3.038,3.065,3.075,3.092,3.101,3.127,3.145,3.158,3.17,3.177,3.202,3.222,3.233,3.249,3.259,3.284,3.29,3.326,3.34,3.352,3.367,3.398,3.408,3.432,3.456,3.474,3.5,3.532,3.539,3.565,3.596,3.63,3.645,3.663,3.698,3.719,3.751,3.785,3.813,3.839,3.855,3.897,3.928,3.949,3.996,4.037,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.334,3.332,3.317,3.305,3.296,3.295,3.282,3.263,3.261,3.251,3.244,3.238,3.237,3.22,3.212,3.205,3.2,3.189,3.188,3.168,3.167,3.167,3.149,3.149,3.138,3.135,3.128,3.122,3.12,3.117,3.109,3.109,3.107,3.09,3.088,3.087,3.081,3.079,3.075,3.065,3.061,3.061,3.06,3.058,3.049,3.042,3.038,3.038,3.037,3.035,3.035,3.031,3.028,3.025,3.025,3.025,3.025,3.026,3.026,3.026,3.014,3.014,3.014,3.014,3.014,3.016,3.014,3.009,3.009,3.009,3.006,3.008,3.008,3.008,3.008,3.008,3.012,3.012,3.012,3.012,3.01,3.01,3.014,3.014,3.021,3.021,3.02,3.023,3.02,3.02,3.023,3.027,3.029,3.037,3.039,3.039,3.04,3.042,3.047,3.054,3.054,3.056,3.057,3.057,3.069,3.072,3.074,3.08,3.087,3.088,3.09,3.093,3.094,3.096,3.106,3.109,3.111,3.12,3.129,3.132,3.134,3.135,3.139,3.139,3.147,3.15,3.152,3.159,3.161,3.167,3.173,3.173,3.185,3.192,3.212,3.215,3.221,3.229,3.237,3.237,3.241,3.246,3.254,3.265,3.285,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 50.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 50.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 50.3604} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388} SEN {Time 50.4066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.182,0.183,0.183,0.183,0.192,0,0,0,0,0,0,0,0,3.677,3.675,3.661,3.657,3.649,3.62,3.62,3.62,3.62,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.212,3.218,3.267,3.361,3.361,0,0,0,0,0,0,0,0.153,0.151,0.151,0.151,0.151,0.152,0.152,0.152,0.154,0.152,0.153,0.153,0.153,0.153,3.026,3.039,3.039,3.039,3.029,3.039,3.029,0.161,0.161,0.161,0.153,0.147,0.146,0.142,0.142,0.125,0.112,0.079,0.065,0.064,0.06,0.06,0.065,0.063,0.066,0.07,0.066,0.063,0.061,0.061,0.061,0.069,0.104,0.183,3.342,3.36,3.363,3.363,3.365,3.37,3.372,3.376,3.395,3.426,3.438,3.438,3.461,3.466,3.473,3.48,3.483,3.492,3.493,3.494,3.506,3.509,3.517,3.52,3.522,3.529,3.532,3.54,3.541,3.542,3.544,3.545,3.549,3.552,3.554,3.559,3.568,3.569,3.574,3.577,3.582,3.583,3.585,3.601,3.602,3.61,3.628,3.631,3.631,3.634,3.643,3.644,3.644,3.66,3.664,3.666,3.681,3.688,3.689,3.698,3.699,3.712,3.717,3.727,3.737,3.745,3.748,3.748,3.771,3.778,3.786,3.792,3.799,3.806,3.823,3.834,3.843,3.853,3.861,3.866,3.876,3.896,3.9,3.917,3.924,3.94,3.957,3.959,3.987,3.992,4.019,4.029,4.046,4.072,4.082,4.094,0.016,0.016,0.016,0.016,0.016,4.087,4.069,4.021,3.991,3.966,3.966,3.937,3.908,3.845,3.813,3.783,3.757,3.731,3.71,3.682,3.644,3.613,3.603,3.585,3.538,3.527,3.507,3.483,3.461,3.436,3.423,3.399,3.386,3.37,3.339,3.339,3.312,3.298,3.278,3.252,3.244,3.234,3.193,3.184,3.179,3.157,3.148,3.121,3.104,3.095,3.079,3.066,3.046,3.036,3.023,3.004,2.992,2.99,2.983,2.963,2.959,2.937,2.924,2.922,2.906,2.901,2.877,2.869,2.857,2.849,2.839,2.826,2.819,2.812,2.796,2.784,2.783,2.763,2.763,2.751,2.735,2.73,2.726,2.707,2.704,2.693,2.677,2.674,2.672,2.67,2.653,2.652,2.647,2.64,2.631,2.623,2.618,2.613,2.613,2.603,2.589,2.581,2.577,2.572,2.565,2.564,2.558,2.552,2.544,2.536,2.529,2.523,2.522,2.509,2.509,2.502,2.496,2.496,2.492,2.486,2.485,2.479,2.475,2.475,2.473,2.467,2.46,2.46,2.46,2.451,2.451,2.449,2.449,2.447,2.438,2.438,2.436,2.436,2.434,2.43,2.43,2.43,2.419,2.421,2.418,2.418,2.417,2.417,2.415,2.415,2.415,2.41,2.415,2.412,2.412,2.409,2.409,2.409,2.409,2.409,2.409,2.411,2.413,2.416,2.417,2.417,2.419,2.419,2.42,2.42,2.42,2.42,2.419,2.419,2.419,2.425,2.427,2.429,2.429,2.429,2.436,2.441,2.441,2.442,2.443,2.452,2.454,2.454,2.454,2.46,2.464,2.467,2.47,2.475,2.475,2.481,2.485,2.489,2.489,2.494,2.497,2.501,2.514,2.515,2.517,2.522,2.525,2.534,2.536,2.539,2.554,2.555,2.56,2.565,2.569,2.578,2.592,2.592,2.598,2.598,2.612,2.615,2.624,2.641,2.641,2.645,2.648,2.649,2.668,2.676,2.679,2.686,2.7,2.707,2.714,2.721,2.723,2.741,2.752,2.753,2.765,2.778,2.789,2.802,2.805,2.82,2.834,2.834,2.853,2.858,2.866,2.877,2.895,2.9,2.918,2.922,2.944,2.955,2.958,2.972,2.979,2.992,3.015,3.027,3.041,3.043,3.063,3.076,3.088,3.106,3.119,3.145,3.152,3.171,3.175,3.207,3.221,3.238,3.247,3.257,3.28,3.296,3.32,3.334,3.343,3.372,3.401,3.402,3.435,3.45,3.484,3.499,3.524,3.548,3.562,3.594,3.613,3.65,3.675,3.695,3.722,3.734,3.783,3.809,3.831,3.857,3.889,3.913,3.96,4.026,4.06,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.354,3.34,3.326,3.308,3.307,3.3,3.289,3.287,3.273,3.259,3.253,3.252,3.235,3.232,3.214,3.211,3.204,3.192,3.191,3.189,3.173,3.173,3.158,3.157,3.149,3.148,3.14,3.134,3.121,3.119,3.118,3.117,3.111,3.106,3.095,3.09,3.083,3.078,3.078,3.073,3.07,3.067,3.065,3.056,3.054,3.052,3.041,3.041,3.041,3.041,3.041,3.036,3.028,3.028,3.026,3.021,3.021,3.021,3.023,3.023,3.023,3.023,3.017,3.017,3.015,3.013,3.013,3.012,3.012,3.012,3.012,3.012,3.012,3.011,3.011,3.011,3.011,3.014,3.015,3.014,3.015,3.016,3.016,3.015,3.016,3.02,3.015,3.02,3.022,3.022,3.024,3.024,3.024,3.029,3.031,3.035,3.035,3.036,3.04,3.04,3.051,3.055,3.058,3.058,3.067,3.068,3.07,3.077,3.082,3.082,3.089,3.09,3.095,3.095,3.097,3.103,3.117,3.117,3.121,3.133,3.133,3.137,3.141,3.142,3.142,3.148,3.148,3.148,3.164,3.167,3.172,3.173,3.182,3.183,3.194,3.216,3.219,3.22,3.226,3.237,3.237,3.238,3.243,3.252,3.253,3.274,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 50.56} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 50.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 50.5613} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.762} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.6388} SEN {Time 50.6066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.176,0.176,0.179,0.179,0,0,0,0,0,0,0,0,0,3.678,3.671,3.669,3.651,3.627,3.615,3.615,3.615,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.216,3.211,3.216,3.216,3.263,3.36,0,0,0,0,0,0,0,0.153,0.145,0.145,0.145,0.145,0.145,0.143,0.143,0.156,0.148,0.156,0.156,0.157,0.157,3.042,3.042,3.042,3.042,3.042,3.03,0.156,0.156,0.155,0.155,0.155,0.155,0.151,0.145,0.143,0.135,0.106,0.081,0.063,0.063,0.061,0.061,0.06,0.064,0.067,0.068,0.067,0.067,0.065,0.065,0.065,0.07,0.105,0.178,3.349,3.36,3.366,3.36,3.366,3.362,3.366,3.377,3.411,3.424,3.432,3.432,3.458,3.463,3.475,3.483,3.488,3.488,3.494,3.503,3.506,3.507,3.52,3.526,3.526,3.525,3.533,3.533,3.533,3.535,3.543,3.548,3.55,3.552,3.554,3.565,3.567,3.567,3.576,3.579,3.58,3.582,3.592,3.593,3.606,3.608,3.62,3.628,3.632,3.634,3.648,3.652,3.654,3.662,3.662,3.67,3.678,3.685,3.693,3.699,3.703,3.707,3.723,3.725,3.732,3.74,3.755,3.756,3.758,3.77,3.791,3.792,3.794,3.821,3.821,3.834,3.847,3.848,3.858,3.884,3.885,3.896,3.902,3.923,3.929,3.947,3.954,3.981,3.981,3.997,4.016,4.026,4.049,4.067,4.069,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.08,4.049,3.999,3.972,3.937,3.903,3.889,3.846,3.806,3.78,3.754,3.727,3.695,3.689,3.656,3.621,3.605,3.569,3.548,3.524,3.511,3.476,3.465,3.444,3.424,3.398,3.377,3.363,3.349,3.34,3.292,3.289,3.27,3.258,3.243,3.226,3.195,3.175,3.175,3.153,3.145,3.121,3.103,3.1,3.086,3.067,3.04,3.033,3.023,3.017,2.998,2.988,2.976,2.967,2.953,2.936,2.928,2.919,2.907,2.895,2.873,2.873,2.861,2.848,2.84,2.824,2.815,2.802,2.785,2.782,2.778,2.766,2.753,2.746,2.737,2.737,2.722,2.711,2.706,2.7,2.683,2.681,2.671,2.665,2.659,2.655,2.647,2.643,2.639,2.627,2.62,2.616,2.611,2.599,2.579,2.577,2.574,2.57,2.568,2.559,2.556,2.55,2.545,2.54,2.529,2.528,2.518,2.514,2.512,2.505,2.497,2.495,2.495,2.487,2.483,2.479,2.478,2.474,2.474,2.466,2.464,2.462,2.455,2.453,2.451,2.451,2.448,2.447,2.446,2.443,2.441,2.438,2.431,2.43,2.428,2.428,2.428,2.426,2.419,2.416,2.416,2.415,2.415,2.413,2.413,2.411,2.41,2.41,2.41,2.41,2.411,2.415,2.415,2.416,2.415,2.417,2.417,2.415,2.415,2.415,2.415,2.415,2.417,2.417,2.418,2.418,2.418,2.418,2.424,2.426,2.429,2.431,2.432,2.435,2.436,2.436,2.44,2.444,2.451,2.451,2.451,2.454,2.456,2.457,2.457,2.46,2.465,2.472,2.474,2.478,2.48,2.481,2.491,2.491,2.5,2.5,2.513,2.514,2.517,2.521,2.524,2.525,2.536,2.54,2.55,2.555,2.56,2.562,2.567,2.577,2.593,2.604,2.604,2.605,2.606,2.61,2.611,2.631,2.633,2.639,2.644,2.65,2.658,2.679,2.681,2.685,2.696,2.7,2.712,2.721,2.732,2.741,2.75,2.756,2.766,2.777,2.78,2.799,2.804,2.813,2.828,2.84,2.851,2.858,2.867,2.884,2.889,2.903,2.914,2.93,2.945,2.95,2.964,2.972,2.984,2.995,3.014,3.023,3.033,3.049,3.069,3.078,3.092,3.105,3.125,3.148,3.156,3.164,3.18,3.2,3.221,3.228,3.251,3.265,3.274,3.303,3.322,3.34,3.357,3.377,3.398,3.408,3.442,3.467,3.481,3.501,3.521,3.546,3.573,3.604,3.622,3.646,3.668,3.689,3.718,3.756,3.779,3.796,3.835,3.867,3.893,3.914,3.948,3.98,4.024,4.063,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.352,3.344,3.329,3.311,3.304,3.304,3.303,3.288,3.275,3.261,3.255,3.245,3.232,3.231,3.219,3.213,3.202,3.201,3.192,3.187,3.177,3.173,3.161,3.149,3.147,3.143,3.139,3.131,3.125,3.122,3.118,3.112,3.108,3.106,3.094,3.089,3.085,3.08,3.076,3.072,3.066,3.064,3.063,3.056,3.053,3.048,3.046,3.046,3.046,3.039,3.039,3.037,3.029,3.026,3.024,3.024,3.024,3.024,3.029,3.029,3.029,3.026,3.02,3.012,3.012,3.009,3.009,3.009,3.009,3.009,3.008,3.008,3.004,3.004,3.004,3.009,3.009,3.009,3.012,3.012,3.014,3.014,3.014,3.018,3.019,3.02,3.02,3.022,3.022,3.021,3.021,3.022,3.023,3.025,3.035,3.035,3.035,3.041,3.041,3.042,3.048,3.052,3.054,3.054,3.059,3.061,3.066,3.074,3.077,3.087,3.092,3.092,3.092,3.093,3.108,3.109,3.109,3.115,3.115,3.134,3.134,3.135,3.136,3.136,3.139,3.141,3.147,3.152,3.157,3.164,3.166,3.175,3.18,3.18,3.198,3.222,3.224,3.226,3.228,3.234,3.238,3.239,3.241,3.249,3.254,3.282,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 50.76} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 50.76} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 50.7622} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.762} {Name Sonar8 Range 0.8382} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.461} SEN {Time 50.8066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.177,0.184,0.184,0,0,0,0,0,0,0,0,3.695,3.683,3.663,3.662,3.639,3.638,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.211,3.209,3.211,3.211,3.266,3.362,0,0,0,0,0,0,0,0.15,0.142,0.142,0.142,0.142,0.143,0.146,0.15,0.153,0.153,0.153,0.153,0.158,0.163,3.037,3.037,3.037,3.037,3.037,3.031,0.161,0.161,0.16,0.16,0.154,0.154,0.15,0.145,0.137,0.129,0.108,0.086,0.065,0.061,0.06,0.06,0.06,0.065,0.068,0.07,0.068,0.068,0.068,0.068,0.068,0.072,0.102,0.193,3.35,3.355,3.378,3.363,3.363,3.363,3.378,3.398,3.436,3.427,3.436,3.452,3.452,3.463,3.468,3.481,3.492,3.499,3.506,3.508,3.509,3.512,3.512,3.521,3.524,3.524,3.524,3.531,3.538,3.541,3.542,3.544,3.548,3.548,3.553,3.557,3.567,3.574,3.577,3.581,3.586,3.589,3.59,3.602,3.608,3.616,3.628,3.631,3.631,3.641,3.644,3.648,3.652,3.667,3.669,3.67,3.674,3.68,3.685,3.696,3.699,3.718,3.72,3.731,3.732,3.739,3.752,3.753,3.761,3.773,3.78,3.781,3.803,3.811,3.816,3.834,3.84,3.852,3.864,3.873,3.876,3.894,3.899,3.919,3.927,3.941,3.966,3.969,3.979,3.993,4.008,4.019,4.037,4.069,4.081,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.052,4.052,4.016,3.993,3.942,3.898,3.877,3.833,3.822,3.785,3.752,3.722,3.706,3.67,3.646,3.622,3.603,3.579,3.556,3.524,3.5,3.499,3.461,3.437,3.431,3.398,3.376,3.371,3.347,3.336,3.303,3.299,3.272,3.26,3.242,3.229,3.202,3.196,3.167,3.161,3.137,3.131,3.116,3.097,3.081,3.073,3.048,3.048,3.048,3.024,2.997,2.989,2.982,2.965,2.958,2.94,2.918,2.918,2.906,2.89,2.875,2.87,2.856,2.851,2.833,2.821,2.811,2.801,2.789,2.786,2.779,2.77,2.756,2.754,2.741,2.729,2.724,2.712,2.709,2.698,2.683,2.679,2.674,2.667,2.655,2.647,2.646,2.637,2.635,2.623,2.612,2.612,2.6,2.594,2.589,2.58,2.576,2.572,2.571,2.567,2.556,2.552,2.54,2.54,2.533,2.53,2.52,2.519,2.504,2.503,2.503,2.497,2.493,2.488,2.485,2.479,2.476,2.476,2.467,2.465,2.463,2.46,2.459,2.454,2.453,2.453,2.451,2.446,2.444,2.444,2.443,2.43,2.43,2.43,2.427,2.424,2.421,2.418,2.416,2.415,2.414,2.414,2.414,2.414,2.412,2.41,2.41,2.409,2.411,2.409,2.409,2.407,2.407,2.407,2.418,2.418,2.418,2.418,2.414,2.414,2.416,2.416,2.416,2.42,2.42,2.42,2.425,2.427,2.427,2.427,2.428,2.428,2.429,2.434,2.435,2.444,2.445,2.445,2.446,2.448,2.449,2.456,2.456,2.458,2.459,2.466,2.467,2.473,2.474,2.48,2.484,2.487,2.493,2.494,2.494,2.499,2.508,2.512,2.522,2.527,2.528,2.528,2.534,2.546,2.553,2.554,2.564,2.568,2.568,2.58,2.586,2.597,2.601,2.602,2.607,2.62,2.623,2.639,2.639,2.641,2.646,2.649,2.656,2.675,2.679,2.69,2.69,2.702,2.711,2.723,2.734,2.743,2.755,2.756,2.763,2.778,2.794,2.797,2.802,2.816,2.83,2.84,2.845,2.856,2.869,2.878,2.886,2.897,2.918,2.927,2.947,2.955,2.964,2.973,2.978,2.997,3.014,3.03,3.036,3.044,3.062,3.086,3.092,3.109,3.122,3.141,3.161,3.169,3.181,3.199,3.222,3.235,3.246,3.256,3.281,3.297,3.328,3.335,3.35,3.369,3.4,3.413,3.432,3.465,3.488,3.502,3.538,3.538,3.57,3.61,3.612,3.644,3.671,3.683,3.723,3.747,3.788,3.813,3.836,3.853,3.893,3.919,3.95,3.997,4.01,4.066,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.358,3.342,3.329,3.319,3.313,3.292,3.29,3.282,3.268,3.26,3.253,3.243,3.241,3.237,3.223,3.204,3.202,3.193,3.187,3.182,3.176,3.171,3.16,3.16,3.159,3.151,3.135,3.127,3.124,3.116,3.115,3.11,3.104,3.098,3.096,3.095,3.082,3.078,3.076,3.069,3.064,3.062,3.062,3.056,3.05,3.046,3.045,3.041,3.041,3.04,3.04,3.04,3.033,3.028,3.026,3.022,3.022,3.022,3.029,3.029,3.029,3.026,3.019,3.016,3.015,3.012,3.011,3.011,3.012,3.012,3.011,3.008,3.006,3.006,3.006,3.006,3.006,3.011,3.011,3.013,3.013,3.013,3.013,3.018,3.018,3.021,3.021,3.021,3.021,3.021,3.022,3.023,3.023,3.029,3.029,3.03,3.038,3.039,3.042,3.044,3.056,3.056,3.058,3.058,3.058,3.064,3.066,3.08,3.081,3.085,3.092,3.092,3.093,3.094,3.096,3.11,3.114,3.114,3.119,3.135,3.135,3.135,3.133,3.133,3.133,3.143,3.149,3.151,3.153,3.163,3.166,3.175,3.181,3.192,3.202,3.202,3.214,3.226,3.226,3.236,3.236,3.24,3.242,3.247,3.256,3.271,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 50.96} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 50.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 50.9632} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.762} {Name Sonar8 Range 0.8382} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.461} SEN {Time 51.0076} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.178,0.18,0.185,0,0,0,0,0,0,0,0,3.693,3.674,3.673,3.664,3.652,3.631,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.241,3.217,3.21,3.21,3.21,3.217,3.261,3.365,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.147,0.148,0.148,0.148,0.157,0.153,0.156,0.156,0.156,0.156,3.033,3.033,3.033,3.033,3.032,3.031,0.153,0.153,0.153,0.153,0.158,0.158,0.155,0.149,0.147,0.125,0.106,0.076,0.067,0.061,0.061,0.066,0.067,0.067,0.067,0.067,0.067,0.065,0.065,0.065,0.068,0.068,0.108,0.183,3.344,3.354,3.365,3.365,3.365,3.365,3.39,3.39,3.39,3.413,3.419,3.432,3.448,3.462,3.475,3.477,3.49,3.492,3.5,3.502,3.506,3.508,3.513,3.523,3.527,3.527,3.528,3.537,3.542,3.544,3.546,3.546,3.547,3.557,3.562,3.564,3.565,3.569,3.571,3.583,3.583,3.586,3.594,3.605,3.607,3.608,3.623,3.624,3.626,3.638,3.639,3.642,3.654,3.655,3.657,3.666,3.676,3.682,3.684,3.697,3.711,3.716,3.722,3.726,3.732,3.741,3.751,3.754,3.762,3.775,3.785,3.797,3.798,3.815,3.82,3.822,3.843,3.849,3.869,3.872,3.882,3.897,3.907,3.922,3.924,3.948,3.952,3.962,3.985,3.996,4.006,4.023,4.053,4.068,4.072,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.061,3.996,3.972,3.926,3.899,3.877,3.843,3.818,3.775,3.748,3.717,3.705,3.682,3.655,3.633,3.594,3.582,3.557,3.519,3.504,3.487,3.467,3.437,3.418,3.412,3.382,3.37,3.337,3.336,3.303,3.302,3.277,3.261,3.228,3.225,3.196,3.184,3.173,3.162,3.137,3.129,3.11,3.1,3.086,3.072,3.046,3.04,3.018,3.013,2.998,2.984,2.978,2.966,2.955,2.935,2.926,2.916,2.905,2.899,2.876,2.866,2.856,2.844,2.84,2.825,2.814,2.803,2.796,2.786,2.778,2.769,2.764,2.76,2.742,2.732,2.721,2.72,2.705,2.698,2.689,2.677,2.671,2.661,2.657,2.654,2.652,2.635,2.631,2.622,2.607,2.606,2.603,2.591,2.591,2.575,2.574,2.572,2.565,2.56,2.556,2.549,2.546,2.532,2.532,2.531,2.516,2.516,2.51,2.501,2.499,2.496,2.495,2.485,2.483,2.481,2.477,2.475,2.471,2.467,2.465,2.46,2.458,2.453,2.448,2.447,2.446,2.444,2.44,2.44,2.44,2.435,2.43,2.43,2.428,2.427,2.427,2.421,2.419,2.418,2.414,2.414,2.411,2.409,2.409,2.411,2.411,2.411,2.413,2.411,2.411,2.409,2.409,2.409,2.411,2.413,2.415,2.415,2.415,2.414,2.415,2.419,2.419,2.418,2.419,2.419,2.419,2.423,2.425,2.426,2.429,2.429,2.431,2.435,2.441,2.441,2.441,2.441,2.447,2.447,2.447,2.451,2.453,2.454,2.457,2.462,2.471,2.478,2.478,2.481,2.483,2.486,2.488,2.488,2.498,2.503,2.514,2.514,2.516,2.52,2.528,2.533,2.534,2.536,2.544,2.55,2.551,2.56,2.572,2.581,2.593,2.601,2.605,2.606,2.606,2.612,2.625,2.634,2.638,2.643,2.648,2.658,2.661,2.68,2.683,2.687,2.703,2.704,2.719,2.725,2.731,2.741,2.748,2.75,2.768,2.784,2.787,2.793,2.811,2.818,2.833,2.85,2.857,2.859,2.873,2.881,2.893,2.897,2.913,2.925,2.942,2.953,2.955,2.974,2.979,2.996,3.015,3.033,3.043,3.05,3.064,3.084,3.093,3.113,3.126,3.137,3.162,3.168,3.178,3.199,3.222,3.239,3.249,3.261,3.278,3.3,3.33,3.339,3.356,3.378,3.398,3.407,3.435,3.463,3.478,3.504,3.523,3.541,3.585,3.588,3.609,3.65,3.675,3.692,3.724,3.748,3.774,3.799,3.835,3.864,3.888,3.92,3.961,3.992,4.022,0.016,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.357,3.335,3.322,3.314,3.313,3.299,3.292,3.281,3.266,3.259,3.246,3.245,3.235,3.232,3.224,3.209,3.202,3.193,3.182,3.182,3.182,3.169,3.161,3.156,3.147,3.147,3.139,3.124,3.118,3.118,3.116,3.112,3.111,3.107,3.091,3.091,3.09,3.082,3.082,3.074,3.072,3.072,3.068,3.066,3.051,3.05,3.049,3.043,3.039,3.039,3.039,3.038,3.03,3.028,3.026,3.023,3.023,3.023,3.033,3.033,3.033,3.024,3.02,3.019,3.015,3.015,3.014,3.009,3.013,3.009,3.005,3.004,3.004,3.004,3.004,3.005,3.01,3.01,3.007,3.007,3.008,3.008,3.011,3.012,3.016,3.021,3.016,3.021,3.026,3.026,3.02,3.028,3.029,3.033,3.033,3.034,3.034,3.034,3.034,3.039,3.053,3.054,3.054,3.059,3.065,3.066,3.067,3.075,3.081,3.087,3.088,3.091,3.092,3.1,3.101,3.104,3.109,3.113,3.116,3.133,3.133,3.134,3.134,3.138,3.139,3.139,3.141,3.152,3.163,3.166,3.17,3.173,3.177,3.188,3.204,3.217,3.219,3.224,3.229,3.23,3.243,3.244,3.246,3.246,3.266,3.28,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 51.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 51.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 51.1632} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.8128} {Name Sonar8 Range 0.8382} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.461} SEN {Time 51.2034} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.181,0.184,0.184,0,0,0,0,0,0,0,0,3.689,3.685,3.662,3.66,3.648,3.627,3.621,3.621,3.621,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.212,3.21,3.21,3.212,3.26,3.365,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.144,0.144,0.144,0.151,0.151,0.152,0.152,0.155,0.155,3.029,3.031,3.031,3.031,3.029,3.031,3.029,0.157,0.157,0.157,0.157,0.157,0.146,0.145,0.145,0.127,0.108,0.081,0.063,0.061,0.06,0.061,0.063,0.064,0.069,0.069,0.068,0.068,0.062,0.062,0.063,0.063,0.106,0.176,3.335,3.354,3.365,3.365,3.365,3.373,3.375,3.378,3.378,3.404,3.428,3.433,3.47,3.472,3.482,3.482,3.485,3.492,3.497,3.506,3.514,3.516,3.516,3.521,3.521,3.525,3.535,3.535,3.535,3.546,3.547,3.548,3.552,3.554,3.56,3.565,3.571,3.575,3.579,3.579,3.579,3.581,3.592,3.594,3.603,3.607,3.624,3.625,3.629,3.635,3.644,3.647,3.654,3.657,3.663,3.667,3.671,3.675,3.686,3.698,3.699,3.704,3.722,3.73,3.737,3.744,3.751,3.759,3.761,3.777,3.794,3.795,3.795,3.822,3.824,3.834,3.84,3.859,3.87,3.872,3.891,3.893,3.903,3.913,3.94,3.942,3.962,3.971,3.971,3.996,4.025,4.028,4.037,4.057,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.092,4.068,4.011,3.985,3.959,3.93,3.896,3.867,3.841,3.813,3.782,3.756,3.727,3.704,3.675,3.645,3.613,3.588,3.568,3.544,3.527,3.504,3.491,3.454,3.44,3.42,3.409,3.376,3.364,3.351,3.329,3.305,3.294,3.276,3.257,3.243,3.229,3.196,3.188,3.177,3.148,3.135,3.127,3.102,3.093,3.08,3.073,3.046,3.034,3.024,3.014,3.002,2.985,2.981,2.966,2.955,2.937,2.919,2.917,2.897,2.895,2.874,2.866,2.856,2.846,2.834,2.821,2.815,2.813,2.79,2.787,2.782,2.769,2.758,2.755,2.736,2.728,2.723,2.716,2.714,2.698,2.684,2.683,2.674,2.662,2.661,2.655,2.643,2.631,2.631,2.624,2.623,2.61,2.606,2.595,2.594,2.582,2.579,2.577,2.574,2.562,2.56,2.554,2.546,2.542,2.527,2.525,2.522,2.508,2.501,2.499,2.497,2.494,2.491,2.488,2.481,2.477,2.475,2.47,2.47,2.467,2.466,2.461,2.456,2.454,2.453,2.453,2.45,2.447,2.444,2.442,2.439,2.435,2.43,2.427,2.427,2.427,2.423,2.42,2.42,2.419,2.414,2.418,2.414,2.412,2.412,2.412,2.412,2.413,2.413,2.412,2.412,2.41,2.41,2.41,2.416,2.416,2.416,2.416,2.415,2.415,2.415,2.415,2.415,2.416,2.418,2.416,2.418,2.421,2.424,2.426,2.429,2.429,2.429,2.429,2.436,2.436,2.44,2.445,2.445,2.449,2.45,2.452,2.456,2.458,2.459,2.46,2.471,2.472,2.473,2.478,2.484,2.489,2.496,2.499,2.5,2.503,2.514,2.517,2.519,2.527,2.53,2.531,2.536,2.541,2.541,2.553,2.553,2.561,2.566,2.581,2.593,2.594,2.603,2.606,2.612,2.613,2.633,2.634,2.639,2.643,2.647,2.648,2.656,2.673,2.687,2.691,2.701,2.705,2.713,2.721,2.728,2.74,2.751,2.751,2.765,2.777,2.789,2.789,2.808,2.817,2.835,2.838,2.84,2.857,2.873,2.876,2.893,2.898,2.919,2.926,2.946,2.952,2.956,2.977,2.982,2.994,3.02,3.021,3.047,3.052,3.066,3.092,3.096,3.104,3.129,3.141,3.154,3.169,3.182,3.204,3.228,3.232,3.246,3.269,3.278,3.303,3.327,3.339,3.354,3.387,3.407,3.41,3.433,3.46,3.473,3.5,3.523,3.552,3.568,3.602,3.614,3.635,3.685,3.697,3.723,3.741,3.785,3.802,3.83,3.86,3.897,3.932,3.955,3.993,4.042,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.352,3.338,3.328,3.311,3.303,3.301,3.296,3.285,3.272,3.259,3.258,3.243,3.237,3.234,3.223,3.21,3.202,3.193,3.19,3.185,3.175,3.17,3.157,3.155,3.153,3.14,3.139,3.136,3.121,3.121,3.118,3.116,3.116,3.115,3.095,3.092,3.084,3.083,3.077,3.07,3.068,3.06,3.058,3.056,3.055,3.052,3.045,3.04,3.04,3.038,3.038,3.035,3.025,3.025,3.023,3.021,3.023,3.092,3.034,3.034,3.034,3.021,3.02,3.017,3.016,3.012,3.012,3.012,3.013,3.013,3.013,3.009,3.009,3.007,3.007,3.007,3.012,3.013,3.013,3.013,3.013,3.013,3.015,3.017,3.02,3.021,3.021,3.022,3.022,3.021,3.024,3.028,3.028,3.029,3.03,3.03,3.031,3.036,3.039,3.041,3.053,3.058,3.06,3.063,3.066,3.068,3.07,3.074,3.08,3.085,3.085,3.091,3.092,3.095,3.096,3.103,3.11,3.119,3.126,3.133,3.133,3.134,3.135,3.143,3.143,3.144,3.152,3.155,3.156,3.158,3.167,3.177,3.186,3.189,3.192,3.214,3.217,3.228,3.228,3.236,3.239,3.241,3.245,3.25,3.255,3.28,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 51.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 51.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 51.3562} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.8128} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 51.4026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.175,0.184,0.184,0,0,0,0,0,0,0,0,3.692,3.689,3.668,3.662,3.647,3.629,3.617,3.617,3.617,3.611,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.218,3.215,3.215,3.218,3.273,3.363,0,0,0,0,0,0,0,0.146,0.145,0.145,0.145,0.146,0.143,0.143,0.143,0.149,0.149,0.153,0.153,0.155,0.156,3.032,3.032,3.043,3.043,3.032,3.045,3.045,0.161,0.16,0.16,0.154,0.154,0.153,0.148,0.148,0.135,0.114,0.075,0.072,0.065,0.064,0.064,0.063,0.064,0.065,0.065,0.065,0.065,0.065,0.065,0.068,0.068,0.112,0.182,3.335,3.353,3.373,3.354,3.362,3.362,3.389,3.396,3.413,3.423,3.423,3.426,3.454,3.456,3.47,3.479,3.496,3.499,3.501,3.503,3.516,3.516,3.516,3.529,3.529,3.529,3.531,3.534,3.543,3.545,3.543,3.547,3.547,3.551,3.555,3.567,3.567,3.569,3.572,3.579,3.584,3.59,3.593,3.598,3.601,3.618,3.626,3.628,3.632,3.637,3.646,3.651,3.651,3.66,3.664,3.666,3.673,3.678,3.688,3.696,3.697,3.719,3.723,3.733,3.741,3.743,3.748,3.762,3.775,3.777,3.783,3.794,3.795,3.813,3.817,3.835,3.84,3.842,3.855,3.881,3.888,3.893,3.897,3.924,3.926,3.938,3.953,3.981,3.983,3.993,4.02,4.037,4.049,4.061,4.08,4.087,0.016,0.016,0.016,0.016,0.016,4.083,4.057,4.007,3.992,3.958,3.923,3.908,3.866,3.839,3.82,3.775,3.747,3.723,3.694,3.684,3.654,3.615,3.599,3.567,3.562,3.531,3.507,3.485,3.462,3.456,3.428,3.405,3.386,3.368,3.347,3.319,3.308,3.297,3.279,3.261,3.233,3.226,3.196,3.188,3.17,3.146,3.141,3.119,3.108,3.096,3.081,3.068,3.053,3.045,3.025,3.011,3.005,2.988,2.98,2.959,2.946,2.942,2.926,2.925,2.908,2.894,2.881,2.871,2.867,2.852,2.844,2.826,2.817,2.803,2.792,2.787,2.775,2.766,2.761,2.752,2.736,2.726,2.716,2.716,2.701,2.7,2.684,2.683,2.68,2.661,2.657,2.657,2.651,2.639,2.636,2.624,2.618,2.616,2.612,2.596,2.595,2.588,2.579,2.577,2.573,2.568,2.556,2.548,2.546,2.533,2.527,2.524,2.521,2.51,2.509,2.509,2.495,2.494,2.486,2.485,2.484,2.477,2.476,2.473,2.471,2.47,2.468,2.465,2.457,2.455,2.452,2.451,2.447,2.447,2.447,2.439,2.434,2.432,2.429,2.424,2.424,2.421,2.421,2.42,2.421,2.421,2.419,2.414,2.414,2.412,2.411,2.41,2.411,2.411,2.41,2.408,2.414,2.414,2.413,2.415,2.415,2.415,2.413,2.417,2.413,2.417,2.417,2.419,2.421,2.421,2.421,2.42,2.42,2.419,2.419,2.42,2.424,2.428,2.433,2.435,2.437,2.438,2.442,2.447,2.449,2.452,2.452,2.452,2.458,2.459,2.462,2.467,2.47,2.47,2.475,2.482,2.485,2.485,2.488,2.496,2.496,2.497,2.515,2.515,2.516,2.516,2.529,2.533,2.534,2.542,2.544,2.555,2.557,2.559,2.561,2.579,2.594,2.6,2.604,2.612,2.612,2.62,2.621,2.633,2.635,2.638,2.645,2.651,2.664,2.67,2.676,2.692,2.695,2.703,2.723,2.723,2.728,2.742,2.742,2.76,2.768,2.783,2.787,2.8,2.801,2.825,2.826,2.846,2.853,2.858,2.868,2.882,2.89,2.899,2.919,2.925,2.944,2.956,2.957,2.98,2.986,3,3.019,3.019,3.037,3.048,3.066,3.087,3.095,3.099,3.121,3.137,3.16,3.17,3.181,3.196,3.217,3.23,3.249,3.268,3.278,3.298,3.318,3.334,3.354,3.368,3.394,3.416,3.443,3.453,3.485,3.498,3.516,3.547,3.574,3.598,3.615,3.633,3.666,3.696,3.733,3.751,3.778,3.795,3.836,3.853,3.961,3.995,4.026,4.026,4.026,4.057,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.358,3.348,3.329,3.315,3.312,3.298,3.292,3.279,3.277,3.254,3.25,3.241,3.238,3.231,3.223,3.22,3.206,3.201,3.194,3.183,3.174,3.172,3.16,3.153,3.151,3.145,3.139,3.129,3.121,3.118,3.117,3.111,3.11,3.105,3.094,3.09,3.079,3.076,3.074,3.07,3.068,3.066,3.065,3.054,3.054,3.052,3.041,3.04,3.039,3.038,3.038,3.029,3.028,3.026,3.023,3.022,3.023,3.023,3.032,3.032,3.032,3.021,3.021,3.02,3.013,3.01,3.01,3.009,3.01,3.01,3.009,3.008,3.008,3.008,3.011,3.011,3.014,3.014,3.014,3.016,3.016,3.016,3.016,3.016,3.016,3.017,3.022,3.026,3.026,3.026,3.026,3.026,3.027,3.03,3.03,3.033,3.036,3.038,3.039,3.042,3.052,3.055,3.061,3.061,3.063,3.064,3.072,3.073,3.081,3.089,3.089,3.09,3.096,3.097,3.097,3.106,3.109,3.116,3.121,3.132,3.132,3.136,3.137,3.143,3.143,3.146,3.148,3.15,3.152,3.161,3.171,3.171,3.175,3.183,3.204,3.213,3.222,3.222,3.228,3.231,3.24,3.241,3.241,3.244,3.258,3.283,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 51.56} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 51.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 51.5572} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.8128} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 51.6026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.177,0.184,0.184,0,0,0,0,0,0,0,0,3.691,3.686,3.668,3.663,3.634,3.633,3.616,3.616,3.616,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.228,3.223,3.222,3.212,3.212,3.212,3.265,3.361,0,0,0,0,0,0,0,0.151,0.144,0.144,0.144,0.144,0.143,0.141,0.141,0.157,0.157,0.158,0.158,0.159,0.161,3.038,3.038,3.038,3.038,3.036,3.033,0.163,0.163,0.155,0.155,0.155,0.153,0.151,0.149,0.149,0.127,0.104,0.076,0.069,0.064,0.064,0.064,0.062,0.064,0.066,0.066,0.066,0.066,0.066,0.066,0.066,0.076,0.102,0.175,3.344,3.366,3.373,3.366,3.366,3.373,3.378,0,0,0,0.007,3.461,3.461,3.476,3.476,3.487,3.494,3.494,3.494,3.502,3.508,3.509,3.516,3.52,3.522,3.527,3.534,3.538,3.54,3.541,3.541,3.541,3.551,3.553,3.56,3.56,3.561,3.565,3.57,3.578,3.58,3.581,3.594,3.595,3.609,3.619,3.629,3.633,3.635,3.641,3.646,3.656,3.66,3.657,3.666,3.666,3.683,3.686,3.698,3.698,3.699,3.709,3.718,3.729,3.736,3.737,3.747,3.75,3.771,3.775,3.778,3.791,3.799,3.812,3.83,3.835,3.836,3.858,3.868,3.87,3.879,3.908,3.911,3.92,3.928,3.942,3.96,3.962,3.979,3.995,4.01,4.029,4.043,4.068,4.077,4.083,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.051,4.026,3.981,3.933,3.902,3.874,3.847,3.812,3.793,3.764,3.728,3.687,3.673,3.653,3.632,3.595,3.579,3.544,3.528,3.504,3.475,3.46,3.449,3.419,3.413,3.382,3.368,3.359,3.334,3.298,3.283,3.282,3.257,3.235,3.223,3.193,3.184,3.173,3.157,3.138,3.126,3.11,3.095,3.074,3.063,3.049,3.049,3.038,3.015,3.002,2.987,2.978,2.964,2.953,2.938,2.938,2.929,2.915,2.897,2.876,2.872,2.863,2.85,2.843,2.824,2.812,2.81,2.792,2.788,2.78,2.772,2.765,2.75,2.741,2.732,2.718,2.709,2.708,2.691,2.683,2.681,2.676,2.66,2.653,2.651,2.644,2.64,2.635,2.627,2.619,2.609,2.604,2.602,2.595,2.592,2.579,2.574,2.567,2.566,2.562,2.551,2.541,2.531,2.529,2.524,2.515,2.512,2.506,2.503,2.496,2.493,2.487,2.485,2.483,2.481,2.481,2.477,2.471,2.467,2.465,2.464,2.454,2.453,2.452,2.451,2.451,2.445,2.44,2.439,2.433,2.43,2.427,2.427,2.427,2.427,2.426,2.423,2.42,2.416,2.416,2.416,2.414,2.414,2.413,2.411,2.413,2.411,2.41,2.408,2.408,2.406,2.406,2.406,2.407,2.413,2.413,2.413,2.413,2.413,2.413,2.416,2.42,2.42,2.42,2.42,2.424,2.423,2.424,2.424,2.424,2.424,2.432,2.434,2.436,2.438,2.439,2.443,2.444,2.447,2.448,2.451,2.459,2.46,2.464,2.464,2.467,2.472,2.476,2.478,2.484,2.486,2.491,2.492,2.494,2.5,2.506,2.509,2.516,2.522,2.53,2.53,2.54,2.544,2.546,2.552,2.558,2.559,2.559,2.576,2.591,2.594,2.598,2.602,2.609,2.613,2.626,2.639,2.643,2.646,2.648,2.652,2.663,2.678,2.681,2.691,2.694,2.703,2.718,2.721,2.73,2.739,2.753,2.755,2.762,2.776,2.787,2.795,2.813,2.817,2.834,2.837,2.851,2.86,2.869,2.881,2.887,2.899,2.914,2.919,2.942,2.953,2.959,2.971,2.996,2.998,3.011,3.028,3.04,3.045,3.062,3.08,3.097,3.106,3.116,3.137,3.161,3.165,3.181,3.202,3.217,3.243,3.251,3.265,3.28,3.294,3.319,3.331,3.346,3.376,3.389,3.402,3.433,3.452,3.484,3.491,3.526,3.549,3.581,3.6,3.605,3.644,3.665,3.684,3.722,3.748,3.779,3.807,3.865,3.893,3.918,3.918,3.984,4.02,4.074,4.074,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.356,3.335,3.335,3.318,3.318,3.315,3.292,3.279,3.273,3.258,3.255,3.241,3.24,3.234,3.223,3.219,3.208,3.187,3.186,3.184,3.169,3.168,3.168,3.157,3.151,3.136,3.131,3.131,3.131,3.126,3.116,3.108,3.105,3.104,3.1,3.097,3.084,3.083,3.078,3.077,3.068,3.063,3.061,3.052,3.048,3.048,3.041,3.038,3.038,3.037,3.035,3.033,3.031,3.028,3.025,3.024,3.024,3.025,3.031,3.031,3.031,3.021,3.019,3.016,3.014,3.012,3.012,3.005,3.005,3.004,3.005,3.005,3.007,3.008,3.008,3.01,3.014,3.01,3.01,3.01,3.011,3.011,3.011,3.011,3.013,3.017,3.017,3.02,3.024,3.02,3.02,3.025,3.029,3.032,3.038,3.039,3.039,3.039,3.04,3.04,3.049,3.054,3.056,3.063,3.065,3.067,3.071,3.075,3.079,3.085,3.086,3.09,3.09,3.092,3.103,3.107,3.113,3.119,3.12,3.135,3.135,3.136,3.137,3.141,3.141,3.147,3.149,3.156,3.16,3.165,3.168,3.17,3.179,3.179,3.197,3.201,3.219,3.228,3.228,3.228,3.238,3.243,3.244,3.251,3.256,3.283,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 51.76} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 51.76} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 51.758} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 51.8026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.189,0.187,0.185,0.187,0.187,0,0,0,0,0,0,0,0,3.689,3.682,3.676,3.663,3.652,3.626,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.217,3.216,3.216,3.216,3.216,3.27,3.364,0,0,0,0,0,0,0,0.148,0.146,0.146,0.146,0.148,0.146,0.146,0.146,0.152,0.152,0.153,0.153,0.155,0.155,3.033,3.043,3.043,3.043,3.033,3.043,3.029,0.155,0.154,0.154,0.154,0.149,0.149,0.147,0.146,0.123,0.106,0.079,0.065,0.063,0.063,0.063,0.063,0.063,0.066,0.069,0.069,0.069,0.064,0.064,0.064,0.07,0.104,0.173,3.346,3.347,3.353,3.353,3.368,3.368,3.369,3.369,3.398,0.007,0,0.007,3.481,3.476,3.48,3.48,3.481,3.486,3.499,3.505,3.507,3.513,3.515,3.519,3.52,3.529,3.53,3.53,3.536,3.541,3.544,3.544,3.552,3.557,3.557,3.563,3.57,3.576,3.578,3.581,3.583,3.584,3.597,3.598,3.609,3.611,3.623,3.629,3.631,3.631,3.643,3.648,3.648,3.659,3.663,3.666,3.678,3.68,3.689,3.698,3.702,3.705,3.718,3.734,3.734,3.739,3.76,3.76,3.767,3.779,3.785,3.796,3.803,3.82,3.822,3.838,3.839,3.856,3.865,3.875,3.885,3.896,3.902,3.916,3.929,3.949,3.964,3.976,3.981,3.999,4.007,4.037,4.041,4.059,4.065,4.084,0.016,0.016,0.016,0.016,0.016,4.088,4.056,4.056,4.021,3.985,3.94,3.901,3.868,3.834,3.824,3.778,3.755,3.729,3.703,3.669,3.65,3.631,3.602,3.566,3.554,3.535,3.507,3.486,3.466,3.437,3.42,3.408,3.379,3.366,3.347,3.327,3.311,3.292,3.28,3.261,3.235,3.216,3.199,3.192,3.169,3.168,3.144,3.128,3.104,3.097,3.082,3.068,3.051,3.051,3.048,3.019,3.004,2.989,2.983,2.964,2.958,2.944,2.93,2.92,2.912,2.895,2.876,2.875,2.863,2.851,2.842,2.83,2.813,2.81,2.793,2.782,2.777,2.768,2.761,2.752,2.737,2.734,2.721,2.708,2.703,2.698,2.689,2.678,2.672,2.669,2.663,2.653,2.645,2.638,2.633,2.631,2.619,2.617,2.608,2.595,2.585,2.582,2.581,2.568,2.566,2.563,2.556,2.552,2.539,2.538,2.53,2.523,2.52,2.512,2.507,2.502,2.495,2.487,2.487,2.486,2.485,2.485,2.48,2.479,2.477,2.47,2.463,2.461,2.456,2.455,2.455,2.453,2.452,2.443,2.441,2.441,2.438,2.438,2.433,2.432,2.424,2.424,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.414,2.413,2.413,2.412,2.412,2.413,2.413,2.415,2.415,2.413,2.412,2.412,2.412,2.412,2.412,2.414,2.414,2.414,2.414,2.416,2.418,2.423,2.423,2.423,2.423,2.421,2.421,2.423,2.426,2.427,2.43,2.439,2.439,2.441,2.442,2.446,2.446,2.452,2.453,2.455,2.459,2.459,2.467,2.471,2.471,2.474,2.476,2.483,2.486,2.499,2.502,2.504,2.51,2.512,2.513,2.514,2.519,2.528,2.53,2.539,2.54,2.547,2.556,2.558,2.564,2.57,2.574,2.592,2.594,2.603,2.604,2.615,2.616,2.619,2.622,2.631,2.641,2.645,2.656,2.662,2.676,2.677,2.687,2.703,2.705,2.715,2.728,2.732,2.744,2.75,2.757,2.767,2.784,2.788,2.798,2.805,2.817,2.835,2.84,2.851,2.858,2.869,2.878,2.898,2.898,2.914,2.916,2.947,2.951,2.964,2.969,2.988,2.994,3.009,3.024,3.036,3.038,3.069,3.076,3.091,3.106,3.118,3.139,3.152,3.165,3.182,3.211,3.22,3.236,3.257,3.264,3.276,3.3,3.318,3.331,3.34,3.367,3.392,3.411,3.433,3.459,3.487,3.503,3.523,3.546,3.577,3.593,3.619,3.652,3.668,3.694,3.717,3.736,3.774,3.798,3.826,3.865,3.885,3.915,3.95,3.987,4.071,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.362,3.339,3.329,3.324,3.309,3.287,3.286,3.279,3.275,3.268,3.251,3.242,3.238,3.236,3.226,3.22,3.212,3.206,3.194,3.189,3.189,3.182,3.168,3.16,3.148,3.142,3.135,3.134,3.122,3.121,3.117,3.111,3.108,3.107,3.095,3.09,3.081,3.081,3.078,3.078,3.066,3.066,3.062,3.054,3.048,3.047,3.044,3.042,3.04,3.038,3.038,3.035,3.03,3.028,3.022,3.022,3.022,3.022,3.029,3.029,3.029,3.022,3.022,3.019,3.018,3.015,3.014,3.009,3.013,3.009,3.009,3.009,3.006,3.006,3.007,3.009,3.009,3.01,3.013,3.013,3.015,3.017,3.016,3.017,3.017,3.021,3.021,3.021,3.024,3.021,3.021,3.024,3.026,3.035,3.035,3.035,3.035,3.039,3.039,3.047,3.054,3.054,3.058,3.06,3.062,3.063,3.07,3.076,3.082,3.084,3.089,3.09,3.093,3.094,3.094,3.112,3.116,3.12,3.129,3.132,3.132,3.132,3.139,3.146,3.141,3.146,3.151,3.16,3.161,3.162,3.168,3.172,3.175,3.186,3.2,3.212,3.216,3.228,3.231,3.237,3.238,3.247,3.249,3.253,3.258,3.268,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 51.96} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 51.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 51.959} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784} SEN {Time 52.0026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.186,0.179,0.186,0.187,0,0,0,0,0,0,0,0,3.689,3.678,3.672,3.66,3.647,3.623,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.24,3.226,3.216,3.212,3.216,3.216,3.262,3.366,0,0,0,0,0,0,0,0.15,0.148,0.146,0.146,0.146,0.145,0.141,0.141,0.151,0.147,0.151,0.151,0.156,0.156,3.033,3.042,3.043,3.043,3.043,3.043,0.165,0.163,0.16,0.16,0.156,0.153,0.151,0.149,0.149,0.127,0.106,0.085,0.061,0.061,0.06,0.061,0.063,0.066,0.067,0.068,0.067,0.067,0.062,0.062,0.062,0.066,0.095,0.187,3.344,3.359,3.359,3.359,3.364,3.374,3.375,3.375,3.381,3.439,3.448,3.473,3.473,3.473,3.474,3.485,3.487,3.495,3.502,3.503,3.51,3.511,3.512,3.513,3.519,3.52,3.528,3.528,3.529,3.537,3.538,3.544,3.548,3.548,3.563,3.566,3.566,3.569,3.577,3.58,3.588,3.589,3.605,3.606,3.608,3.62,3.622,3.635,3.64,3.645,3.652,3.659,3.661,3.661,3.663,3.669,3.673,3.68,3.692,3.694,3.699,3.7,3.722,3.733,3.734,3.751,3.751,3.757,3.764,3.769,3.783,3.789,3.8,3.812,3.816,3.828,3.844,3.855,3.874,3.876,3.891,3.891,3.894,3.921,3.935,3.942,3.953,3.956,3.975,4.001,4.021,4.03,4.047,4.069,4.082,4.094,0.016,0.016,0.016,0,0.007,0.016,4.079,4.02,3.983,3.969,3.929,3.885,3.87,3.846,3.816,3.778,3.743,3.738,3.709,3.677,3.653,3.624,3.612,3.577,3.544,3.524,3.512,3.489,3.457,3.446,3.412,3.401,3.384,3.361,3.342,3.341,3.312,3.294,3.275,3.257,3.233,3.218,3.201,3.189,3.168,3.151,3.145,3.124,3.114,3.099,3.083,3.072,3.043,3.04,3.024,3.01,3.006,2.994,2.981,2.975,2.949,2.942,2.928,2.926,2.902,2.9,2.882,2.873,2.859,2.853,2.833,2.827,2.819,2.81,2.795,2.784,2.778,2.767,2.762,2.749,2.74,2.737,2.723,2.719,2.701,2.694,2.689,2.676,2.67,2.664,2.663,2.656,2.649,2.638,2.635,2.627,2.613,2.611,2.61,2.602,2.588,2.579,2.573,2.569,2.567,2.564,2.557,2.551,2.544,2.541,2.539,2.533,2.521,2.516,2.515,2.506,2.494,2.493,2.491,2.491,2.491,2.481,2.479,2.475,2.468,2.468,2.466,2.46,2.455,2.451,2.45,2.443,2.446,2.443,2.443,2.437,2.436,2.432,2.432,2.429,2.429,2.425,2.425,2.423,2.419,2.419,2.417,2.417,2.417,2.414,2.414,2.41,2.414,2.409,2.409,2.408,2.407,2.406,2.406,2.407,2.414,2.416,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.418,2.419,2.423,2.423,2.423,2.421,2.423,2.423,2.425,2.427,2.432,2.439,2.439,2.439,2.439,2.449,2.449,2.453,2.454,2.456,2.456,2.457,2.466,2.466,2.474,2.477,2.479,2.485,2.489,2.49,2.499,2.502,2.506,2.51,2.518,2.518,2.52,2.53,2.536,2.537,2.538,2.552,2.554,2.566,2.566,2.569,2.574,2.595,2.603,2.605,2.613,2.618,2.619,2.619,2.633,2.634,2.643,2.644,2.652,2.663,2.673,2.675,2.68,2.693,2.699,2.716,2.718,2.738,2.744,2.754,2.755,2.759,2.782,2.788,2.801,2.808,2.82,2.829,2.841,2.847,2.852,2.867,2.876,2.886,2.909,2.912,2.926,2.95,2.952,2.97,2.972,2.986,2.997,3.014,3.023,3.038,3.039,3.068,3.082,3.092,3.111,3.122,3.145,3.161,3.171,3.178,3.199,3.228,3.239,3.253,3.26,3.272,3.303,3.323,3.339,3.358,3.369,3.4,3.409,3.436,3.461,3.48,3.499,3.528,3.536,3.562,3.6,3.621,3.636,3.672,3.686,3.734,3.742,3.783,3.805,3.836,3.87,3.901,3.921,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.358,3.341,3.329,3.321,3.311,3.29,3.287,3.286,3.273,3.261,3.251,3.243,3.237,3.237,3.218,3.205,3.204,3.197,3.193,3.19,3.172,3.172,3.156,3.155,3.155,3.141,3.138,3.136,3.121,3.12,3.117,3.111,3.109,3.101,3.092,3.091,3.088,3.086,3.086,3.079,3.073,3.063,3.061,3.058,3.057,3.051,3.047,3.036,3.035,3.035,3.034,3.034,3.033,3.029,3.028,3.024,3.024,3.024,3.028,3.028,3.028,3.024,3.018,3.017,3.017,3.011,3.007,3.007,3.007,3.008,3.008,3.008,3.008,3.008,3.011,3.011,3.012,3.012,3.012,3.013,3.014,3.016,3.013,3.015,3.016,3.016,3.015,3.02,3.021,3.02,3.024,3.025,3.026,3.026,3.029,3.031,3.031,3.037,3.043,3.048,3.053,3.059,3.06,3.061,3.061,3.063,3.068,3.076,3.078,3.092,3.092,3.092,3.094,3.094,3.099,3.11,3.111,3.117,3.121,3.128,3.128,3.13,3.131,3.135,3.137,3.145,3.148,3.156,3.161,3.162,3.171,3.175,3.182,3.188,3.198,3.213,3.218,3.221,3.228,3.242,3.242,3.244,3.249,3.253,3.268,3.281,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 52.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 52.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 52.1601} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784} SEN {Time 52.2025} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.175,0.187,0.183,0.187,0.189,0,0,0,0,0,0,0,0,3.69,3.684,3.668,3.667,3.642,3.624,3.614,3.614,3.6,3.6,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.214,3.21,3.214,3.222,3.263,3.362,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.147,0.147,0.147,0.147,0.149,0.149,0.15,0.15,0.157,0.157,3.032,3.034,3.036,3.036,3.036,3.037,3.036,0.159,0.157,0.157,0.157,0.157,0.152,0.147,0.144,0.125,0.113,0.081,0.065,0.062,0.058,0.062,0.062,0.062,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.066,0.103,0.183,3.336,3.362,3.365,3.365,3.365,3.368,3.378,3.378,3.415,3.427,3.43,3.43,3.457,3.462,3.473,3.48,3.494,3.495,3.496,3.507,3.51,3.51,3.525,3.526,3.526,3.526,3.529,3.532,3.532,3.54,3.541,3.548,3.549,3.552,3.56,3.561,3.575,3.578,3.579,3.579,3.581,3.582,3.594,3.61,3.612,3.614,3.621,3.628,3.629,3.641,3.649,3.65,3.652,3.654,3.663,3.671,3.673,3.675,3.684,3.695,3.696,3.709,3.714,3.727,3.731,3.749,3.753,3.756,3.772,3.773,3.787,3.792,3.806,3.823,3.826,3.829,3.842,3.852,3.867,3.885,3.887,3.899,3.911,3.912,3.925,3.945,3.947,3.976,3.979,4.002,4.015,4.028,4.053,4.057,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.061,3.977,3.963,3.934,3.897,3.872,3.85,3.808,3.765,3.752,3.735,3.697,3.679,3.651,3.61,3.588,3.573,3.55,3.512,3.506,3.477,3.456,3.455,3.42,3.402,3.387,3.374,3.34,3.328,3.304,3.289,3.279,3.264,3.236,3.23,3.195,3.19,3.175,3.153,3.14,3.122,3.102,3.097,3.084,3.064,3.046,3.042,3.019,3.008,2.995,2.989,2.978,2.964,2.949,2.933,2.927,2.915,2.908,2.895,2.878,2.87,2.852,2.843,2.839,2.828,2.816,2.815,2.789,2.785,2.777,2.765,2.762,2.751,2.742,2.738,2.721,2.716,2.707,2.699,2.687,2.673,2.671,2.671,2.658,2.647,2.647,2.64,2.638,2.621,2.619,2.602,2.599,2.596,2.587,2.585,2.574,2.572,2.564,2.557,2.557,2.549,2.542,2.54,2.537,2.527,2.522,2.513,2.51,2.507,2.494,2.49,2.489,2.485,2.484,2.483,2.478,2.474,2.466,2.465,2.464,2.459,2.454,2.454,2.454,2.453,2.453,2.447,2.443,2.44,2.439,2.433,2.433,2.428,2.428,2.427,2.427,2.424,2.421,2.414,2.414,2.414,2.415,2.415,2.415,2.414,2.409,2.409,2.409,2.409,2.409,2.411,2.412,2.415,2.417,2.417,2.417,2.412,2.411,2.41,2.411,2.412,2.415,2.418,2.421,2.421,2.421,2.421,2.421,2.423,2.425,2.429,2.432,2.435,2.441,2.441,2.441,2.441,2.441,2.448,2.451,2.454,2.455,2.456,2.465,2.465,2.468,2.471,2.471,2.483,2.486,2.488,2.488,2.49,2.496,2.509,2.509,2.513,2.516,2.518,2.527,2.532,2.537,2.538,2.547,2.55,2.561,2.561,2.57,2.571,2.59,2.601,2.604,2.604,2.605,2.613,2.623,2.631,2.637,2.638,2.655,2.656,2.667,2.675,2.684,2.689,2.699,2.702,2.72,2.722,2.723,2.74,2.751,2.751,2.759,2.773,2.787,2.788,2.806,2.814,2.828,2.834,2.853,2.856,2.869,2.88,2.89,2.903,2.919,2.921,2.946,2.95,2.958,2.977,2.984,2.999,3.022,3.03,3.042,3.042,3.065,3.081,3.091,3.109,3.121,3.139,3.153,3.165,3.176,3.19,3.219,3.227,3.253,3.261,3.267,3.299,3.315,3.339,3.359,3.375,3.4,3.404,3.432,3.451,3.482,3.508,3.523,3.539,3.559,3.598,3.611,3.637,3.669,3.695,3.731,3.757,3.78,3.806,3.832,3.876,3.898,3.92,4.036,4.058,4.078,4.078,4.078,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.358,3.339,3.329,3.315,3.314,3.295,3.294,3.286,3.268,3.263,3.253,3.243,3.233,3.23,3.213,3.206,3.203,3.202,3.184,3.183,3.173,3.173,3.164,3.15,3.149,3.146,3.145,3.124,3.121,3.121,3.118,3.107,3.1,3.099,3.097,3.09,3.083,3.081,3.075,3.072,3.066,3.064,3.064,3.053,3.051,3.046,3.044,3.044,3.041,3.039,3.039,3.037,3.031,3.029,3.026,3.022,3.022,3.022,3.025,3.025,3.025,3.016,3.016,3.012,3.012,3.012,3.012,3.012,3.013,3.007,3.005,3.004,3.005,3.005,3.005,3.01,3.011,3.014,3.014,3.015,3.015,3.015,3.009,3.014,3.014,3.015,3.016,3.016,3.025,3.025,3.025,3.028,3.029,3.033,3.035,3.035,3.036,3.036,3.041,3.044,3.048,3.057,3.057,3.057,3.063,3.064,3.068,3.07,3.073,3.084,3.086,3.088,3.09,3.092,3.1,3.106,3.113,3.119,3.121,3.134,3.134,3.134,3.134,3.139,3.139,3.145,3.148,3.151,3.16,3.167,3.171,3.174,3.176,3.184,3.202,3.215,3.215,3.226,3.229,3.236,3.237,3.239,3.242,3.252,3.261,3.284,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 52.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 52.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 52.361} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.9784} SEN {Time 52.3986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.175,0.187,0.187,0,0,0,0,0,0,0,0,3.692,3.677,3.668,3.661,3.643,3.63,3.605,3.605,3.605,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.216,3.215,3.215,3.216,3.266,3.366,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.146,0.146,0.146,0.146,0.157,0.157,0.158,0.158,0.159,0.163,3.031,3.042,3.042,3.042,3.031,3.026,0.161,0.159,0.159,0.159,0.159,0.157,0.151,0.149,0.149,0.127,0.107,0.073,0.064,0.061,0.059,0.059,0.061,0.064,0.065,0.065,0.067,0.067,0.065,0.065,0.068,0.072,0.101,0.184,3.34,3.351,3.357,3.357,3.361,3.366,3.377,3.377,3.405,3.424,3.429,3.429,3.459,3.463,3.471,3.492,3.492,3.492,3.495,3.504,3.504,3.518,3.522,3.523,3.528,3.531,3.538,3.538,3.539,3.541,3.542,3.542,3.546,3.553,3.564,3.564,3.566,3.569,3.573,3.577,3.587,3.588,3.591,3.6,3.606,3.607,3.623,3.628,3.63,3.64,3.643,3.646,3.648,3.649,3.655,3.677,3.683,3.683,3.685,3.696,3.703,3.713,3.729,3.73,3.732,3.745,3.754,3.755,3.765,3.768,3.789,3.791,3.802,3.809,3.82,3.844,3.845,3.854,3.87,3.877,3.884,3.894,3.895,3.918,3.93,3.945,3.967,3.973,3.989,3.998,4.02,4.026,4.032,4.061,4.073,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.052,3.968,3.936,3.905,3.871,3.831,3.812,3.773,3.757,3.723,3.693,3.688,3.636,3.616,3.595,3.579,3.564,3.524,3.514,3.49,3.458,3.434,3.42,3.407,3.385,3.372,3.344,3.331,3.319,3.295,3.274,3.261,3.233,3.228,3.196,3.189,3.178,3.146,3.139,3.126,3.109,3.094,3.077,3.064,3.046,3.046,3.044,3.029,3.006,2.988,2.974,2.964,2.952,2.941,2.931,2.921,2.91,2.894,2.875,2.871,2.866,2.85,2.839,2.827,2.823,2.811,2.79,2.786,2.783,2.771,2.756,2.747,2.736,2.728,2.715,2.715,2.702,2.69,2.685,2.678,2.676,2.665,2.653,2.653,2.649,2.638,2.635,2.625,2.625,2.617,2.61,2.608,2.591,2.585,2.582,2.571,2.57,2.564,2.557,2.55,2.538,2.533,2.533,2.53,2.513,2.512,2.51,2.5,2.499,2.491,2.49,2.489,2.486,2.48,2.477,2.477,2.473,2.472,2.47,2.468,2.459,2.457,2.457,2.453,2.447,2.446,2.445,2.441,2.441,2.438,2.429,2.425,2.425,2.426,2.424,2.424,2.42,2.42,2.417,2.417,2.416,2.41,2.41,2.41,2.412,2.412,2.412,2.411,2.407,2.407,2.407,2.407,2.41,2.414,2.415,2.414,2.414,2.414,2.415,2.416,2.416,2.417,2.418,2.418,2.418,2.426,2.423,2.426,2.43,2.433,2.434,2.434,2.435,2.439,2.443,2.443,2.443,2.449,2.455,2.455,2.457,2.457,2.457,2.466,2.471,2.472,2.475,2.482,2.487,2.488,2.489,2.49,2.494,2.505,2.51,2.515,2.521,2.522,2.528,2.539,2.541,2.543,2.543,2.553,2.558,2.562,2.567,2.578,2.594,2.603,2.604,2.605,2.611,2.611,2.621,2.635,2.636,2.645,2.651,2.656,2.663,2.671,2.684,2.686,2.699,2.702,2.72,2.723,2.73,2.742,2.753,2.753,2.762,2.783,2.784,2.801,2.809,2.815,2.834,2.84,2.851,2.857,2.868,2.882,2.892,2.905,2.923,2.925,2.948,2.95,2.956,2.969,2.989,2.995,3.012,3.023,3.031,3.049,3.064,3.083,3.093,3.106,3.123,3.14,3.155,3.171,3.177,3.207,3.22,3.237,3.248,3.267,3.279,3.298,3.329,3.334,3.351,3.381,3.396,3.407,3.442,3.459,3.483,3.497,3.523,3.549,3.574,3.597,3.619,3.638,3.668,3.691,3.72,3.736,3.782,3.79,3.841,3.869,3.896,3.919,4.025,4.05,4.082,4.082,4.082,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.348,3.339,3.328,3.324,3.303,3.301,3.289,3.288,3.272,3.272,3.244,3.235,3.234,3.233,3.228,3.219,3.204,3.202,3.185,3.185,3.181,3.17,3.158,3.157,3.153,3.142,3.14,3.131,3.122,3.12,3.12,3.111,3.108,3.107,3.093,3.092,3.084,3.082,3.08,3.079,3.07,3.07,3.067,3.061,3.048,3.048,3.046,3.046,3.043,3.041,3.041,3.037,3.034,3.031,3.031,3.024,3.024,3.024,3.034,3.034,3.034,3.022,3.017,3.014,3.014,3.012,3.012,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.014,3.014,3.012,3.014,3.013,3.013,3.013,3.014,3.013,3.012,3.012,3.014,3.02,3.024,3.024,3.024,3.022,3.025,3.025,3.027,3.031,3.032,3.037,3.041,3.041,3.049,3.05,3.052,3.053,3.06,3.068,3.07,3.071,3.075,3.081,3.081,3.093,3.093,3.094,3.094,3.101,3.103,3.113,3.118,3.126,3.128,3.128,3.135,3.142,3.143,3.146,3.148,3.149,3.158,3.159,3.168,3.175,3.178,3.185,3.192,3.206,3.209,3.218,3.229,3.23,3.231,3.235,3.245,3.248,3.269,3.277,3.277,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 52.55} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 52.55} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 52.5529} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6604} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.7244} SEN {Time 52.5986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.184,0.19,0.19,0,0,0,0,0,0,0,0,3.692,3.689,3.66,3.659,3.643,3.621,3.611,3.611,3.611,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.221,3.217,3.216,3.216,3.216,3.216,3.267,3.36,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.144,0.143,0.143,0.143,0.153,0.153,0.156,0.156,0.158,0.158,3.04,3.04,3.04,3.04,3.039,3.039,3.039,0.158,0.157,0.157,0.152,0.153,0.148,0.144,0.144,0.123,0.107,0.078,0.063,0.06,0.057,0.06,0.06,0.061,0.066,0.069,0.069,0.069,0.062,0.062,0.062,0.066,0.109,0.186,3.337,0.007,3.387,3.369,3.378,3.377,3.378,3.378,3.413,3.434,3.436,3.436,3.448,3.463,3.473,3.503,3.505,3.503,3.505,3.505,3.506,3.51,3.511,3.52,3.52,3.522,3.523,3.533,3.539,3.544,3.544,3.544,3.548,3.555,3.558,3.558,3.562,3.57,3.578,3.579,3.582,3.585,3.597,3.604,3.607,3.62,3.624,3.627,3.628,3.631,3.649,3.654,3.655,3.656,3.663,3.668,3.678,3.69,3.695,3.7,3.701,3.705,3.721,3.729,3.734,3.738,3.754,3.757,3.766,3.766,3.783,3.792,3.798,3.811,3.813,3.831,3.841,3.852,3.875,3.876,3.879,3.892,3.893,3.921,3.922,3.945,3.967,3.977,3.99,3.992,4.021,4.026,4.044,4.077,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.026,3.96,3.938,3.89,3.865,3.835,3.811,3.786,3.764,3.724,3.696,3.683,3.643,3.622,3.596,3.573,3.553,3.524,3.517,3.496,3.449,3.444,3.422,3.402,3.379,3.365,3.35,3.339,3.32,3.293,3.266,3.259,3.236,3.226,3.199,3.189,3.181,3.154,3.134,3.128,3.11,3.098,3.083,3.065,3.046,3.036,3.026,3.023,2.998,2.99,2.978,2.957,2.955,2.937,2.933,2.92,2.909,2.893,2.874,2.872,2.851,2.85,2.837,2.822,2.816,2.81,2.794,2.785,2.784,2.773,2.758,2.755,2.742,2.734,2.721,2.721,2.704,2.695,2.679,2.679,2.671,2.662,2.655,2.649,2.647,2.645,2.637,2.626,2.613,2.612,2.609,2.602,2.592,2.583,2.578,2.573,2.569,2.562,2.552,2.546,2.546,2.536,2.534,2.527,2.525,2.509,2.504,2.502,2.5,2.496,2.489,2.486,2.485,2.477,2.475,2.472,2.465,2.462,2.461,2.46,2.454,2.453,2.452,2.447,2.447,2.446,2.446,2.443,2.439,2.436,2.426,2.425,2.423,2.423,2.419,2.419,2.418,2.415,2.415,2.415,2.412,2.413,2.413,2.414,2.413,2.413,2.414,2.416,2.413,2.413,2.415,2.415,2.413,2.411,2.415,2.411,2.411,2.411,2.418,2.418,2.419,2.419,2.419,2.419,2.419,2.42,2.421,2.425,2.425,2.426,2.427,2.435,2.436,2.436,2.44,2.44,2.446,2.446,2.45,2.452,2.454,2.457,2.461,2.465,2.466,2.475,2.478,2.479,2.485,2.487,2.493,2.496,2.503,2.508,2.511,2.512,2.516,2.521,2.533,2.535,2.535,2.537,2.55,2.551,2.559,2.565,2.571,2.574,2.595,2.596,2.603,2.604,2.608,2.616,2.616,2.627,2.631,2.634,2.648,2.653,2.659,2.68,2.681,2.685,2.694,2.698,2.718,2.724,2.729,2.745,2.752,2.759,2.769,2.776,2.792,2.795,2.797,2.823,2.833,2.837,2.854,2.857,2.867,2.88,2.895,2.899,2.917,2.926,2.947,2.952,2.955,2.975,2.983,2.998,3.017,3.024,3.04,3.044,3.062,3.082,3.094,3.107,3.121,3.14,3.15,3.172,3.181,3.203,3.222,3.223,3.248,3.265,3.278,3.303,3.326,3.33,3.349,3.379,3.391,3.415,3.441,3.459,3.487,3.507,3.528,3.546,3.575,3.593,3.6,3.641,3.663,3.699,3.726,3.742,3.78,3.811,3.837,3.877,3.896,3.922,3.953,4.025,4.066,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.347,3.334,3.317,3.306,3.298,3.293,3.273,3.268,3.265,3.252,3.245,3.241,3.233,3.217,3.215,3.215,3.196,3.192,3.187,3.169,3.165,3.156,3.155,3.148,3.143,3.135,3.131,3.121,3.117,3.113,3.106,3.102,3.1,3.095,3.092,3.087,3.084,3.084,3.075,3.069,3.061,3.06,3.058,3.054,3.047,3.043,3.04,3.04,3.04,3.04,3.04,3.033,3.029,3.028,3.028,3.028,3.028,3.022,3.022,3.022,3.019,3.013,3.013,3.013,3.013,3.018,3.018,3.018,3.012,3.009,3.008,3.009,3.011,3.011,3.011,3.011,3.016,3.016,3.016,3.016,3.016,3.016,3.016,3.016,3.021,3.02,3.02,3.025,3.021,3.021,3.029,3.029,3.029,3.029,3.033,3.033,3.035,3.043,3.047,3.049,3.051,3.054,3.06,3.061,3.063,3.068,3.069,3.076,3.086,3.087,3.089,3.09,3.096,3.097,3.11,3.11,3.122,3.125,3.132,3.132,3.135,3.138,3.141,3.141,3.148,3.148,3.15,3.162,3.163,3.171,3.174,3.178,3.188,3.201,3.202,3.22,3.228,3.234,3.234,3.241,3.242,3.242,3.245,3.265,3.283,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 52.75} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 52.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 52.7539} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6604} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.7244} SEN {Time 52.7986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.183,0.182,0.183,0.185,0,0,0,0,0,0,0,0,3.688,3.678,3.66,3.655,3.653,3.631,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.229,3.223,3.215,3.204,3.204,3.204,3.269,3.358,0,0,0,0,0,0,0,0.15,0.147,0.147,0.147,0.147,0.149,0.153,0.153,0.155,0.153,0.155,0.155,0.155,0.158,3.029,3.033,3.037,3.037,3.033,3.033,0.158,0.158,0.158,0.158,0.158,0.158,0.155,0.146,0.141,0.133,0.107,0.08,0.068,0.064,0.061,0.061,0.061,0.068,0.068,0.068,0.068,0.068,0.059,0.059,0.068,0.069,0.109,0.171,3.332,3.351,3.362,3.359,3.362,3.374,3.377,0.007,0,0.007,3.454,3.454,3.459,3.459,3.48,3.487,3.492,3.494,3.499,3.502,3.51,3.51,3.511,3.526,3.527,3.53,3.53,3.533,3.536,3.54,3.54,3.544,3.544,3.557,3.559,3.561,3.566,3.572,3.579,3.58,3.581,3.585,3.59,3.592,3.6,3.606,3.624,3.63,3.636,3.638,3.651,3.652,3.656,3.662,3.665,3.667,3.673,3.678,3.69,3.694,3.699,3.709,3.732,3.732,3.733,3.745,3.746,3.755,3.772,3.775,3.793,3.802,3.802,3.811,3.823,3.835,3.847,3.847,3.871,3.878,3.88,3.89,3.905,3.907,3.922,3.941,3.949,3.981,3.986,3.991,4.022,4.032,4.044,4.046,4.076,4.094,0.016,0.016,0.016,0.007,0.016,4.08,4.055,4.021,3.994,3.972,3.933,3.896,3.896,3.866,3.857,3.784,3.752,3.734,3.695,3.684,3.645,3.624,3.595,3.579,3.551,3.524,3.514,3.488,3.471,3.454,3.427,3.405,3.386,3.369,3.34,3.338,3.314,3.303,3.282,3.258,3.242,3.231,3.195,3.191,3.177,3.153,3.143,3.12,3.109,3.094,3.092,3.064,3.049,3.037,3.025,3.011,2.996,2.983,2.981,2.97,2.955,2.945,2.927,2.917,2.911,2.889,2.878,2.871,2.862,2.849,2.84,2.824,2.822,2.81,2.792,2.784,2.779,2.769,2.761,2.75,2.736,2.723,2.718,2.717,2.701,2.694,2.691,2.681,2.676,2.667,2.657,2.653,2.65,2.643,2.639,2.63,2.618,2.609,2.606,2.6,2.581,2.579,2.577,2.571,2.571,2.563,2.556,2.555,2.547,2.542,2.53,2.525,2.519,2.512,2.512,2.506,2.506,2.496,2.496,2.485,2.483,2.482,2.476,2.473,2.472,2.466,2.464,2.459,2.458,2.451,2.451,2.45,2.447,2.447,2.443,2.442,2.441,2.435,2.434,2.43,2.429,2.427,2.425,2.425,2.421,2.419,2.419,2.419,2.419,2.418,2.416,2.414,2.414,2.414,2.414,2.409,2.409,2.409,2.409,2.415,2.415,2.415,2.415,2.413,2.413,2.413,2.415,2.415,2.418,2.418,2.418,2.418,2.418,2.418,2.421,2.423,2.426,2.426,2.433,2.434,2.439,2.442,2.442,2.442,2.445,2.445,2.448,2.451,2.459,2.461,2.464,2.47,2.473,2.476,2.48,2.481,2.485,2.488,2.489,2.494,2.494,2.495,2.511,2.512,2.52,2.52,2.521,2.534,2.534,2.543,2.551,2.558,2.564,2.567,2.572,2.579,2.593,2.597,2.604,2.609,2.609,2.613,2.627,2.636,2.645,2.645,2.651,2.651,2.657,2.673,2.683,2.684,2.706,2.707,2.716,2.723,2.735,2.739,2.754,2.757,2.769,2.785,2.787,2.791,2.81,2.816,2.827,2.834,2.85,2.856,2.862,2.879,2.888,2.9,2.922,2.922,2.945,2.949,2.956,2.977,2.985,3.001,3.024,3.026,3.03,3.044,3.065,3.072,3.094,3.11,3.123,3.146,3.16,3.173,3.183,3.199,3.221,3.233,3.245,3.257,3.272,3.311,3.32,3.335,3.358,3.377,3.394,3.41,3.438,3.463,3.484,3.504,3.521,3.53,3.569,3.594,3.606,3.633,3.665,3.7,3.716,3.751,3.78,3.801,3.842,3.865,3.891,3.917,3.96,4.006,4.029,0.016,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.376,3.354,3.351,3.329,3.318,3.303,3.301,3.291,3.276,3.265,3.263,3.26,3.242,3.239,3.236,3.219,3.213,3.213,3.21,3.197,3.187,3.171,3.167,3.162,3.157,3.147,3.14,3.132,3.132,3.124,3.122,3.113,3.11,3.108,3.104,3.092,3.092,3.081,3.08,3.076,3.074,3.07,3.067,3.062,3.052,3.049,3.047,3.045,3.034,3.034,3.034,3.034,3.034,3.027,3.026,3.023,3.021,3.021,3.021,3.032,3.032,3.032,3.029,3.021,3.014,3.014,3.01,3.01,3.01,3.012,3.013,3.013,3.012,3.013,3.011,3.011,3.011,3.011,3.011,3.016,3.016,3.016,3.019,3.019,3.021,3.021,3.021,3.021,3.022,3.021,3.022,3.022,3.026,3.028,3.03,3.032,3.032,3.034,3.036,3.037,3.047,3.047,3.058,3.06,3.06,3.061,3.061,3.066,3.072,3.075,3.087,3.091,3.093,3.095,3.097,3.099,3.103,3.11,3.116,3.124,3.127,3.127,3.14,3.14,3.14,3.14,3.144,3.151,3.152,3.159,3.165,3.175,3.175,3.177,3.189,3.2,3.217,3.225,3.227,3.228,3.228,3.237,3.237,3.241,3.243,3.263,3.283,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 52.95} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 52.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 52.9548} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6604} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.7244} SEN {Time 52.9986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.174,0.182,0.182,0.183,0.187,0,0,0,0,0,0,0,0,3.687,3.687,3.663,3.66,3.638,3.632,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.237,3.226,3.223,3.205,3.205,3.205,3.262,3.36,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.144,0.15,0.15,0.151,0.154,0.154,0.155,0.155,0.158,0.158,3.034,3.034,3.034,3.034,3.03,3.028,0.158,0.151,0.151,0.154,0.154,0.154,0.154,0.152,0.145,0.132,0.109,0.079,0.067,0.062,0.062,0.063,0.063,0.067,0.067,0.068,0.067,0.065,0.062,0.062,0.062,0.069,0.109,0.19,3.336,3.354,3.354,3.354,3.354,3.382,0,0,0,0,3.445,3.445,3.445,3.462,3.472,3.475,3.488,3.497,3.5,3.5,3.513,3.514,3.524,3.524,3.524,3.524,3.528,3.537,3.543,3.543,3.548,3.549,3.549,3.555,3.561,3.565,3.566,3.567,3.569,3.578,3.584,3.586,3.59,3.606,3.607,3.612,3.624,3.629,3.636,3.644,3.644,3.646,3.65,3.652,3.658,3.667,3.673,3.676,3.683,3.692,3.7,3.711,3.715,3.728,3.738,3.739,3.756,3.758,3.763,3.771,3.787,3.789,3.816,3.818,3.822,3.833,3.835,3.861,3.863,3.864,3.886,3.903,3.904,3.92,3.925,3.936,3.945,3.964,3.977,3.996,4.027,4.034,4.039,4.06,4.084,4.095,0.016,0.016,0.016,0.016,0.016,4.085,4.056,4.056,4.027,3.979,3.926,3.891,3.875,3.844,3.817,3.778,3.747,3.729,3.702,3.678,3.649,3.618,3.597,3.567,3.55,3.522,3.504,3.493,3.466,3.436,3.414,3.4,3.386,3.366,3.349,3.335,3.307,3.296,3.274,3.262,3.232,3.222,3.199,3.181,3.179,3.16,3.133,3.121,3.11,3.095,3.094,3.059,3.049,3.049,3.04,3.024,2.999,2.988,2.981,2.965,2.953,2.943,2.924,2.92,2.896,2.891,2.877,2.866,2.865,2.844,2.833,2.826,2.816,2.808,2.792,2.789,2.775,2.763,2.761,2.75,2.741,2.733,2.728,2.716,2.701,2.692,2.678,2.675,2.672,2.663,2.651,2.647,2.645,2.637,2.633,2.619,2.612,2.609,2.606,2.598,2.596,2.589,2.572,2.57,2.568,2.563,2.554,2.55,2.546,2.539,2.532,2.531,2.518,2.513,2.506,2.502,2.494,2.491,2.489,2.486,2.483,2.482,2.474,2.473,2.472,2.468,2.466,2.462,2.457,2.452,2.45,2.45,2.449,2.449,2.44,2.438,2.434,2.433,2.428,2.426,2.426,2.425,2.42,2.418,2.418,2.418,2.418,2.419,2.419,2.418,2.418,2.418,2.418,2.408,2.408,2.408,2.413,2.408,2.41,2.413,2.413,2.415,2.415,2.418,2.418,2.418,2.418,2.418,2.419,2.419,2.42,2.42,2.424,2.428,2.426,2.427,2.428,2.431,2.431,2.434,2.439,2.439,2.441,2.441,2.445,2.452,2.452,2.457,2.457,2.46,2.467,2.472,2.473,2.477,2.478,2.484,2.484,2.488,2.488,2.489,2.497,2.498,2.507,2.517,2.52,2.528,2.53,2.532,2.538,2.543,2.545,2.554,2.563,2.566,2.568,2.581,2.596,2.597,2.6,2.604,2.612,2.62,2.629,2.636,2.641,2.644,2.651,2.651,2.666,2.668,2.677,2.682,2.694,2.703,2.714,2.717,2.724,2.744,2.749,2.754,2.77,2.779,2.8,2.801,2.805,2.816,2.834,2.836,2.854,2.862,2.87,2.882,2.887,2.899,2.914,2.931,2.939,2.956,2.96,2.97,2.98,2.997,3.015,3.023,3.042,3.053,3.061,3.079,3.094,3.105,3.122,3.138,3.158,3.172,3.176,3.2,3.216,3.228,3.251,3.267,3.283,3.3,3.329,3.341,3.356,3.375,3.398,3.401,3.432,3.459,3.477,3.5,3.53,3.547,3.578,3.595,3.609,3.642,3.658,3.692,3.72,3.746,3.772,3.8,3.825,3.863,3.897,3.912,3.961,4.004,4.023,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.358,3.346,3.335,3.317,3.308,3.293,3.286,3.274,3.274,3.264,3.252,3.244,3.243,3.231,3.219,3.213,3.208,3.193,3.193,3.192,3.179,3.168,3.164,3.161,3.155,3.143,3.14,3.121,3.12,3.118,3.114,3.109,3.107,3.105,3.105,3.099,3.092,3.08,3.078,3.075,3.073,3.068,3.06,3.059,3.05,3.048,3.043,3.042,3.042,3.042,3.039,3.033,3.033,3.031,3.029,3.022,3.029,3.029,3.029,3.029,3.029,3.021,3.017,3.016,3.016,3.014,3.014,3.01,3.01,3.009,3.009,3.009,3.009,3.009,3.012,3.012,3.014,3.015,3.014,3.011,3.011,3.011,3.009,3.011,3.015,3.017,3.017,3.022,3.022,3.022,3.022,3.022,3.027,3.029,3.033,3.036,3.036,3.037,3.039,3.049,3.053,3.054,3.056,3.057,3.058,3.061,3.065,3.073,3.073,3.09,3.09,3.091,3.094,3.095,3.095,3.111,3.112,3.118,3.118,3.131,3.131,3.132,3.14,3.14,3.141,3.145,3.15,3.156,3.157,3.171,3.171,3.18,3.183,3.197,3.197,3.218,3.218,3.222,3.23,3.233,3.242,3.243,3.244,3.248,3.275,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 53.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 53.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 53.1559} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.9022} SEN {Time 53.1986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.179,0.184,0.184,0,0,0,0,0,0,0,0,3.686,3.678,3.665,3.663,3.64,3.626,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.216,3.214,3.216,3.227,3.271,3.362,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.146,0.146,0.145,0.145,0.15,0.15,0.156,0.156,0.156,0.158,3.031,3.031,3.031,3.031,3.029,3.029,3.021,0.161,0.154,0.154,0.154,0.154,0.151,0.142,0.142,0.123,0.104,0.079,0.066,0.062,0.062,0.065,0.063,0.065,0.07,0.07,0.068,0.068,0.064,0.064,0.064,0.064,0.108,0.179,3.344,3.358,3.362,3.362,3.365,3.376,3.388,3.4,3.41,3.41,3.461,3.461,3.478,3.478,3.478,3.48,3.487,3.488,3.495,3.502,3.504,3.51,3.516,3.522,3.522,3.522,3.531,3.537,3.542,3.542,3.546,3.546,3.546,3.55,3.557,3.558,3.57,3.57,3.574,3.577,3.588,3.589,3.601,3.604,3.61,3.611,3.612,3.628,3.628,3.641,3.65,3.651,3.652,3.659,3.665,3.67,3.675,3.675,3.692,3.7,3.7,3.708,3.73,3.735,3.739,3.745,3.748,3.759,3.759,3.772,3.788,3.789,3.804,3.809,3.816,3.835,3.836,3.85,3.874,3.878,3.891,3.891,3.898,3.921,3.93,3.947,3.953,3.971,3.976,4.001,4.001,4.029,4.047,4.068,4.083,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.064,4.064,4.023,3.986,3.934,3.897,3.881,3.846,3.812,3.782,3.752,3.727,3.716,3.676,3.649,3.626,3.591,3.568,3.549,3.519,3.505,3.481,3.452,3.445,3.423,3.4,3.378,3.376,3.354,3.329,3.308,3.29,3.281,3.253,3.231,3.228,3.2,3.197,3.171,3.158,3.139,3.121,3.114,3.099,3.092,3.061,3.047,3.044,3.017,3.012,2.994,2.99,2.97,2.966,2.949,2.934,2.924,2.918,2.91,2.892,2.878,2.867,2.859,2.855,2.838,2.826,2.819,2.807,2.794,2.79,2.789,2.765,2.757,2.75,2.735,2.73,2.714,2.713,2.7,2.69,2.683,2.681,2.676,2.663,2.657,2.654,2.644,2.642,2.637,2.622,2.618,2.611,2.609,2.608,2.593,2.589,2.581,2.571,2.57,2.561,2.555,2.55,2.534,2.534,2.529,2.519,2.518,2.511,2.508,2.507,2.504,2.497,2.489,2.486,2.485,2.477,2.475,2.474,2.471,2.471,2.465,2.459,2.456,2.452,2.449,2.447,2.446,2.443,2.443,2.442,2.437,2.434,2.428,2.427,2.426,2.426,2.425,2.425,2.421,2.421,2.417,2.417,2.416,2.412,2.413,2.412,2.412,2.412,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.415,2.415,2.415,2.413,2.413,2.413,2.415,2.415,2.415,2.418,2.418,2.418,2.418,2.424,2.426,2.428,2.43,2.43,2.436,2.437,2.444,2.444,2.444,2.444,2.445,2.451,2.454,2.459,2.462,2.464,2.466,2.471,2.478,2.479,2.481,2.484,2.495,2.495,2.495,2.497,2.499,2.514,2.515,2.52,2.521,2.528,2.53,2.531,2.541,2.549,2.553,2.556,2.565,2.566,2.582,2.591,2.599,2.603,2.608,2.609,2.61,2.625,2.639,2.641,2.641,2.65,2.651,2.662,2.671,2.678,2.683,2.697,2.706,2.72,2.721,2.729,2.747,2.749,2.755,2.764,2.781,2.782,2.795,2.802,2.819,2.831,2.846,2.846,2.856,2.864,2.882,2.889,2.903,2.924,2.925,2.941,2.952,2.958,2.963,2.978,2.993,3.009,3.018,3.034,3.049,3.068,3.08,3.099,3.101,3.113,3.146,3.159,3.167,3.185,3.199,3.221,3.239,3.253,3.267,3.276,3.304,3.32,3.336,3.354,3.381,3.397,3.414,3.429,3.458,3.484,3.499,3.523,3.534,3.555,3.591,3.61,3.636,3.667,3.688,3.728,3.752,3.777,3.798,3.831,3.863,3.895,3.923,3.944,3.995,4.028,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.361,3.342,3.329,3.308,3.303,3.298,3.294,3.276,3.268,3.253,3.253,3.242,3.237,3.228,3.218,3.213,3.21,3.2,3.194,3.187,3.172,3.169,3.164,3.152,3.145,3.142,3.141,3.124,3.123,3.121,3.118,3.11,3.109,3.104,3.088,3.084,3.081,3.08,3.076,3.073,3.071,3.064,3.063,3.058,3.05,3.05,3.047,3.047,3.047,3.041,3.041,3.037,3.037,3.027,3.026,3.023,3.023,3.023,3.029,3.029,3.029,3.017,3.015,3.014,3.01,3.01,3.01,3.006,3.006,3.011,3.01,3.01,3.011,3.01,3.01,3.007,3.013,3.011,3.011,3.011,3.011,3.011,3.015,3.015,3.016,3.016,3.016,3.016,3.016,3.019,3.025,3.031,3.03,3.03,3.031,3.031,3.035,3.036,3.04,3.043,3.049,3.054,3.058,3.061,3.061,3.063,3.065,3.073,3.082,3.086,3.092,3.092,3.092,3.098,3.101,3.103,3.103,3.122,3.126,3.127,3.127,3.141,3.141,3.141,3.139,3.141,3.145,3.159,3.16,3.165,3.171,3.172,3.177,3.189,3.194,3.215,3.227,3.227,3.234,3.237,3.237,3.243,3.25,3.256,3.256,3.274,3.277,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 53.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 53.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 53.3569} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.9022} SEN {Time 53.3946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.181,0.182,0.181,0.182,0.187,0,0,0,0,0,0,0,0,3.688,3.681,3.668,3.666,3.652,3.628,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.222,3.22,3.209,3.209,3.22,3.264,3.357,0,0,0,0,0,0,0,0.149,0.145,0.145,0.144,0.144,0.144,0.145,0.145,0.151,0.15,0.151,0.151,0.152,0.152,3.034,3.034,3.036,3.036,3.034,3.029,0.155,0.155,0.155,0.155,0.155,0.153,0.153,0.151,0.146,0.127,0.113,0.076,0.07,0.067,0.061,0.061,0.065,0.067,0.066,0.066,0.067,0.066,0.065,0.065,0.068,0.068,0.103,0.183,3.334,3.356,3.361,3.358,3.361,3.367,3.368,3.368,3.396,3.413,3.432,3.45,3.462,3.466,3.466,3.487,3.487,3.492,3.502,3.502,3.506,3.511,3.517,3.519,3.526,3.528,3.53,3.54,3.542,3.543,3.543,3.546,3.548,3.549,3.553,3.559,3.565,3.566,3.577,3.579,3.582,3.587,3.588,3.598,3.611,3.613,3.618,3.63,3.631,3.632,3.648,3.65,3.653,3.657,3.667,3.673,3.68,3.681,3.694,3.694,3.699,3.709,3.722,3.729,3.732,3.742,3.751,3.759,3.769,3.77,3.78,3.799,3.802,3.805,3.822,3.831,3.838,3.846,3.862,3.879,3.882,3.893,3.907,3.921,3.924,3.939,3.96,3.964,3.971,3.993,4.015,4.023,4.034,4.07,4.082,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.043,4.033,3.989,3.964,3.932,3.902,3.872,3.841,3.816,3.783,3.748,3.727,3.714,3.686,3.647,3.625,3.592,3.574,3.549,3.523,3.517,3.487,3.464,3.452,3.419,3.398,3.382,3.364,3.354,3.318,3.303,3.289,3.282,3.262,3.242,3.221,3.196,3.183,3.17,3.156,3.144,3.123,3.104,3.091,3.088,3.064,3.044,3.044,3.023,3.016,2.997,2.994,2.979,2.971,2.949,2.941,2.927,2.916,2.904,2.897,2.878,2.876,2.859,2.858,2.843,2.824,2.817,2.812,2.79,2.789,2.783,2.769,2.757,2.746,2.734,2.728,2.726,2.714,2.705,2.698,2.687,2.684,2.668,2.667,2.662,2.648,2.647,2.638,2.636,2.631,2.618,2.611,2.61,2.597,2.593,2.583,2.574,2.572,2.572,2.567,2.556,2.554,2.542,2.539,2.532,2.516,2.516,2.512,2.509,2.499,2.499,2.49,2.489,2.486,2.486,2.482,2.478,2.478,2.472,2.472,2.467,2.46,2.458,2.457,2.454,2.452,2.448,2.444,2.441,2.44,2.437,2.435,2.429,2.428,2.428,2.428,2.428,2.421,2.421,2.419,2.419,2.419,2.419,2.417,2.417,2.416,2.415,2.414,2.413,2.409,2.408,2.408,2.408,2.411,2.413,2.415,2.417,2.418,2.417,2.417,2.418,2.418,2.419,2.419,2.419,2.42,2.42,2.419,2.42,2.424,2.426,2.426,2.43,2.432,2.433,2.438,2.438,2.438,2.442,2.443,2.45,2.451,2.451,2.46,2.462,2.47,2.472,2.476,2.48,2.482,2.49,2.49,2.491,2.492,2.497,2.498,2.516,2.52,2.52,2.522,2.523,2.529,2.535,2.54,2.543,2.551,2.557,2.566,2.568,2.568,2.586,2.603,2.607,2.607,2.616,2.617,2.625,2.636,2.64,2.643,2.65,2.653,2.658,2.672,2.676,2.682,2.693,2.702,2.714,2.726,2.73,2.744,2.75,2.751,2.769,2.78,2.793,2.795,2.805,2.819,2.831,2.835,2.843,2.86,2.866,2.881,2.9,2.902,2.918,2.926,2.94,2.953,2.962,2.978,2.983,2.994,3.017,3.025,3.038,3.039,3.061,3.078,3.092,3.104,3.12,3.141,3.15,3.168,3.181,3.193,3.218,3.237,3.251,3.266,3.274,3.298,3.322,3.343,3.35,3.368,3.396,3.405,3.433,3.461,3.47,3.5,3.533,3.54,3.57,3.603,3.616,3.641,3.666,3.7,3.732,3.741,3.78,3.799,3.848,3.857,3.894,3.92,3.992,4.024,4.061,4.061,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.359,3.331,3.328,3.314,3.303,3.299,3.292,3.283,3.274,3.261,3.251,3.246,3.236,3.23,3.219,3.216,3.206,3.193,3.185,3.183,3.174,3.171,3.167,3.158,3.156,3.146,3.144,3.137,3.125,3.116,3.115,3.103,3.103,3.096,3.094,3.091,3.081,3.08,3.079,3.079,3.07,3.065,3.062,3.061,3.053,3.047,3.043,3.042,3.041,3.041,3.041,3.04,3.032,3.029,3.025,3.025,3.025,3.025,3.025,3.025,3.025,3.023,3.017,3.013,3.011,3.011,3.013,3.011,3.011,3.01,3.009,3.009,3.008,3.009,3.012,3.012,3.012,3.014,3.014,3.014,3.014,3.015,3.011,3.013,3.013,3.015,3.014,3.019,3.021,3.019,3.021,3.028,3.024,3.033,3.033,3.034,3.034,3.038,3.04,3.044,3.048,3.05,3.054,3.059,3.06,3.06,3.061,3.073,3.075,3.081,3.088,3.091,3.093,3.095,3.101,3.108,3.114,3.117,3.118,3.135,3.135,3.14,3.14,3.14,3.141,3.148,3.15,3.158,3.168,3.172,3.174,3.175,3.175,3.185,3.199,3.214,3.218,3.222,3.23,3.235,3.238,3.239,3.246,3.25,3.259,3.287,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 53.55} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 53.55} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 53.5488} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4958} {Name Sonar15 Range 4.9022} SEN {Time 53.5946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.178,0.184,0.189,0,0,0,0,0,0,0,0,0,3.675,3.668,3.662,3.649,3.621,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.222,3.212,3.208,3.208,3.208,3.259,3.367,0,0,0,0,0,0,0,0.143,0.141,0.141,0.141,0.141,0.143,0.143,0.143,0.153,0.144,0.153,0.153,0.153,0.153,3.029,3.036,3.037,3.037,3.036,3.036,0.162,0.162,0.162,0.162,0.156,0.155,0.153,0.145,0.145,0.13,0.113,0.083,0.064,0.062,0.06,0.06,0.06,0.06,0.063,0.063,0.068,0.068,0.068,0.068,0.068,0.068,0.107,0.177,3.34,3.355,3.365,3.364,3.364,3.364,3.364,3.364,3.38,3.411,3.434,3.445,3.463,3.482,3.482,3.487,3.487,3.492,3.497,3.502,3.508,3.511,3.519,3.521,3.521,3.524,3.535,3.535,3.536,3.543,3.546,3.551,3.551,3.551,3.556,3.569,3.569,3.571,3.576,3.579,3.58,3.582,3.595,3.601,3.607,3.612,3.626,3.628,3.628,3.633,3.635,3.647,3.653,3.655,3.661,3.663,3.668,3.67,3.682,3.691,3.693,3.712,3.713,3.74,3.741,3.743,3.746,3.761,3.773,3.774,3.774,3.796,3.798,3.807,3.828,3.838,3.843,3.856,3.869,3.881,3.884,3.896,3.898,3.913,3.929,3.952,3.953,3.972,3.988,3.991,4.011,4.02,4.051,4.067,4.074,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.055,4.038,3.995,3.963,3.931,3.91,3.875,3.842,3.817,3.789,3.743,3.741,3.697,3.675,3.665,3.618,3.601,3.573,3.544,3.52,3.514,3.487,3.468,3.442,3.434,3.409,3.382,3.369,3.353,3.331,3.315,3.283,3.278,3.256,3.241,3.227,3.188,3.184,3.17,3.148,3.139,3.127,3.107,3.097,3.081,3.071,3.047,3.043,3.019,3.013,3.001,2.984,2.979,2.961,2.948,2.94,2.922,2.921,2.908,2.893,2.877,2.869,2.86,2.848,2.834,2.833,2.807,2.807,2.796,2.787,2.787,2.767,2.76,2.75,2.734,2.728,2.725,2.707,2.7,2.695,2.684,2.676,2.675,2.664,2.658,2.652,2.64,2.635,2.631,2.622,2.622,2.608,2.607,2.596,2.585,2.58,2.579,2.574,2.567,2.567,2.55,2.549,2.544,2.544,2.53,2.524,2.518,2.515,2.504,2.502,2.499,2.495,2.495,2.49,2.485,2.481,2.477,2.475,2.467,2.467,2.466,2.457,2.454,2.453,2.45,2.449,2.448,2.445,2.444,2.441,2.435,2.433,2.432,2.43,2.428,2.427,2.423,2.421,2.421,2.423,2.414,2.414,2.413,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.411,2.411,2.411,2.414,2.414,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.426,2.426,2.427,2.438,2.44,2.44,2.442,2.447,2.447,2.448,2.451,2.451,2.451,2.458,2.466,2.468,2.47,2.475,2.476,2.476,2.485,2.486,2.492,2.495,2.497,2.501,2.507,2.516,2.519,2.525,2.532,2.537,2.538,2.542,2.549,2.554,2.557,2.564,2.568,2.568,2.596,2.599,2.608,2.613,2.616,2.618,2.619,2.631,2.641,2.641,2.651,2.651,2.652,2.677,2.68,2.69,2.693,2.698,2.709,2.724,2.731,2.742,2.749,2.749,2.762,2.78,2.791,2.794,2.809,2.812,2.827,2.845,2.846,2.853,2.865,2.88,2.889,2.9,2.919,2.924,2.942,2.954,2.965,2.982,2.984,2.993,3.016,3.029,3.038,3.049,3.071,3.076,3.093,3.107,3.12,3.141,3.16,3.164,3.182,3.203,3.227,3.228,3.252,3.265,3.279,3.304,3.317,3.343,3.355,3.368,3.398,3.406,3.439,3.462,3.476,3.509,3.525,3.55,3.572,3.598,3.62,3.643,3.671,3.693,3.725,3.738,3.776,3.803,3.832,3.871,3.888,3.913,3.96,3.974,4.033,4.067,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.346,3.335,3.326,3.311,3.308,3.296,3.29,3.286,3.268,3.263,3.252,3.249,3.24,3.232,3.221,3.211,3.209,3.197,3.187,3.187,3.177,3.175,3.164,3.15,3.145,3.144,3.134,3.134,3.125,3.119,3.118,3.111,3.111,3.106,3.097,3.095,3.084,3.079,3.077,3.076,3.073,3.066,3.065,3.06,3.051,3.045,3.041,3.04,3.04,3.037,3.035,3.035,3.031,3.029,3.027,3.025,3.025,3.025,3.027,3.027,3.027,3.025,3.016,3.015,3.014,3.011,3.011,3.011,3.011,3.008,3.008,3.008,3.008,3.007,3.008,3.005,3.011,3.011,3.011,3.014,3.014,3.018,3.019,3.019,3.019,3.022,3.019,3.022,3.022,3.016,3.016,3.022,3.024,3.027,3.032,3.032,3.032,3.042,3.044,3.048,3.052,3.054,3.056,3.061,3.061,3.068,3.069,3.07,3.074,3.086,3.086,3.091,3.093,3.096,3.101,3.109,3.109,3.116,3.125,3.132,3.132,3.134,3.136,3.137,3.137,3.148,3.15,3.152,3.162,3.162,3.168,3.175,3.184,3.187,3.205,3.22,3.227,3.228,3.23,3.237,3.244,3.245,3.245,3.259,3.265,3.274,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 53.75} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 53.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 53.7498} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4958} {Name Sonar15 Range 4.7752} SEN {Time 53.7946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,0,0,0,3.688,3.672,3.658,3.647,3.628,3.615,3.615,3.605,3.605,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.249,3.224,3.215,3.213,3.211,3.211,3.211,3.269,3.362,0,0,0,0,0,0,0,0.148,0.143,0.143,0.141,0.141,0.148,0.148,0.148,0.156,0.148,0.153,0.153,0.153,0.153,3.035,3.037,3.039,3.039,3.037,3.037,0.158,0.158,0.158,0.158,0.157,0.157,0.155,0.151,0.144,0.123,0.116,0.087,0.065,0.064,0.06,0.06,0.06,0.063,0.064,0.068,0.064,0.064,0.06,0.06,0.06,0.072,0.118,0.182,3.339,3.35,3.356,3.356,3.356,3.355,3.366,3.366,3.386,3.419,3.424,3.458,3.458,3.466,3.474,3.476,3.488,3.492,3.502,3.502,3.502,3.505,3.519,3.528,3.531,3.53,3.531,3.531,3.531,3.532,3.537,3.539,3.543,3.55,3.561,3.567,3.567,3.572,3.574,3.577,3.579,3.585,3.59,3.607,3.611,3.614,3.626,3.631,3.635,3.635,3.64,3.647,3.655,3.659,3.66,3.669,3.677,3.684,3.697,3.7,3.704,3.708,3.722,3.731,3.738,3.752,3.755,3.76,3.766,3.769,3.785,3.803,3.807,3.825,3.829,3.833,3.836,3.855,3.859,3.877,3.879,3.892,3.905,3.913,3.923,3.941,3.945,3.975,3.988,3.992,4.011,4.032,4.034,4.064,4.08,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.024,3.997,3.958,3.926,3.891,3.877,3.843,3.814,3.784,3.746,3.73,3.702,3.681,3.64,3.617,3.595,3.568,3.548,3.524,3.511,3.479,3.465,3.456,3.41,3.405,3.39,3.354,3.354,3.338,3.307,3.296,3.281,3.245,3.245,3.227,3.203,3.193,3.172,3.161,3.137,3.121,3.105,3.089,3.088,3.064,3.048,3.043,3.024,3.009,2.997,2.989,2.973,2.96,2.959,2.942,2.92,2.915,2.911,2.897,2.876,2.872,2.849,2.847,2.841,2.825,2.807,2.803,2.795,2.788,2.785,2.771,2.763,2.758,2.741,2.732,2.718,2.717,2.707,2.694,2.683,2.678,2.674,2.661,2.654,2.654,2.649,2.637,2.637,2.617,2.616,2.609,2.607,2.59,2.589,2.587,2.575,2.571,2.571,2.564,2.557,2.553,2.541,2.541,2.531,2.53,2.521,2.513,2.508,2.504,2.498,2.494,2.493,2.484,2.479,2.478,2.476,2.471,2.47,2.468,2.465,2.459,2.459,2.457,2.452,2.452,2.452,2.45,2.442,2.441,2.438,2.428,2.426,2.426,2.423,2.423,2.423,2.423,2.423,2.421,2.421,2.418,2.416,2.41,2.41,2.412,2.41,2.412,2.412,2.412,2.41,2.411,2.411,2.411,2.413,2.414,2.414,2.414,2.414,2.414,2.414,2.416,2.416,2.421,2.421,2.418,2.421,2.423,2.425,2.425,2.428,2.431,2.431,2.433,2.436,2.437,2.438,2.439,2.447,2.448,2.455,2.457,2.458,2.462,2.47,2.47,2.471,2.473,2.477,2.485,2.486,2.486,2.49,2.492,2.495,2.501,2.507,2.509,2.519,2.522,2.525,2.532,2.533,2.542,2.555,2.556,2.557,2.57,2.575,2.578,2.59,2.597,2.602,2.603,2.606,2.619,2.622,2.636,2.641,2.642,2.653,2.655,2.666,2.674,2.683,2.689,2.696,2.706,2.714,2.716,2.729,2.748,2.753,2.763,2.766,2.783,2.792,2.799,2.802,2.818,2.827,2.84,2.844,2.856,2.87,2.873,2.889,2.904,2.917,2.924,2.946,2.952,2.958,2.974,2.98,2.99,3.024,3.025,3.037,3.053,3.071,3.083,3.095,3.105,3.127,3.139,3.15,3.167,3.182,3.196,3.224,3.235,3.25,3.259,3.279,3.3,3.325,3.328,3.344,3.373,3.396,3.406,3.43,3.461,3.487,3.503,3.519,3.548,3.565,3.601,3.615,3.643,3.672,3.704,3.726,3.74,3.773,3.797,3.829,3.869,3.918,3.955,4.001,4.001,4.022,4.051,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.353,3.336,3.335,3.329,3.298,3.298,3.293,3.291,3.275,3.255,3.246,3.245,3.243,3.235,3.235,3.229,3.2,3.196,3.187,3.184,3.178,3.174,3.164,3.156,3.149,3.147,3.146,3.127,3.125,3.124,3.118,3.107,3.106,3.098,3.096,3.094,3.082,3.078,3.076,3.074,3.073,3.068,3.066,3.058,3.052,3.047,3.047,3.044,3.043,3.041,3.037,3.033,3.033,3.027,3.027,3.027,3.029,3.029,3.031,3.031,3.031,3.016,3.015,3.012,3.01,3.007,3.007,3.007,3.008,3.008,3.008,3.008,3.008,3.011,3.011,3.011,3.012,3.013,3.012,3.015,3.015,3.014,3.014,3.014,3.014,3.017,3.017,3.017,3.021,3.021,3.021,3.029,3.03,3.03,3.03,3.038,3.038,3.041,3.042,3.043,3.044,3.052,3.057,3.061,3.068,3.068,3.069,3.071,3.082,3.085,3.095,3.095,3.096,3.099,3.103,3.103,3.108,3.115,3.117,3.13,3.13,3.132,3.132,3.133,3.133,3.151,3.152,3.157,3.16,3.161,3.168,3.17,3.178,3.184,3.194,3.223,3.223,3.226,3.226,3.233,3.233,3.233,3.237,3.251,3.263,3.283,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 53.95} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 53.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 53.9507} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4958} {Name Sonar15 Range 4.7752} SEN {Time 53.9946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.184,0.184,0,0,0,0,0,0,0,0,3.691,3.678,3.67,3.659,3.652,3.633,3.62,3.62,3.62,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.241,3.222,3.219,3.217,3.214,3.214,3.214,3.267,3.361,0,0,0,0,0,0,0,0.151,0.14,0.14,0.14,0.14,0.14,0.138,0.138,0.154,0.153,0.153,0.153,0.153,0.153,3.03,3.03,3.032,3.032,3.03,3.032,3.032,0.157,0.157,0.157,0.157,0.149,0.147,0.145,0.143,0.128,0.11,0.077,0.061,0.056,0.056,0.056,0.058,0.064,0.064,0.064,0.064,0.064,0.064,0.061,0.061,0.061,0.115,0.187,3.345,3.356,3.366,3.364,3.364,3.366,3.381,3.399,3.411,3.422,3.422,3.437,3.445,3.469,3.478,3.488,3.489,3.49,3.498,3.503,3.506,3.506,3.516,3.519,3.52,3.527,3.531,3.537,3.538,3.543,3.543,3.542,3.543,3.547,3.551,3.563,3.566,3.569,3.574,3.581,3.582,3.586,3.588,3.602,3.602,3.622,3.623,3.627,3.633,3.644,3.646,3.652,3.652,3.659,3.666,3.669,3.674,3.674,3.683,3.686,3.691,3.717,3.724,3.725,3.726,3.751,3.751,3.753,3.769,3.773,3.786,3.804,3.804,3.805,3.821,3.829,3.839,3.843,3.864,3.88,3.889,3.898,3.902,3.917,3.927,3.942,3.948,3.981,3.987,3.998,4.02,4.033,4.041,4.065,4.07,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.06,4.036,3.999,3.956,3.934,3.91,3.876,3.835,3.804,3.784,3.748,3.731,3.714,3.676,3.642,3.627,3.591,3.573,3.546,3.529,3.516,3.491,3.458,3.444,3.432,3.394,3.38,3.372,3.349,3.337,3.308,3.295,3.267,3.267,3.222,3.213,3.199,3.197,3.173,3.149,3.135,3.12,3.112,3.102,3.084,3.062,3.049,3.049,3.044,3.026,2.997,2.988,2.985,2.971,2.951,2.945,2.92,2.919,2.903,2.894,2.879,2.877,2.858,2.856,2.838,2.821,2.818,2.805,2.792,2.786,2.778,2.77,2.76,2.748,2.739,2.737,2.722,2.714,2.705,2.695,2.684,2.678,2.674,2.668,2.659,2.647,2.646,2.64,2.636,2.619,2.617,2.615,2.611,2.599,2.593,2.582,2.582,2.571,2.571,2.565,2.557,2.555,2.545,2.54,2.536,2.525,2.515,2.513,2.506,2.504,2.499,2.495,2.493,2.492,2.482,2.479,2.479,2.476,2.468,2.468,2.464,2.464,2.459,2.458,2.454,2.451,2.45,2.446,2.44,2.438,2.436,2.435,2.432,2.43,2.425,2.424,2.424,2.424,2.42,2.419,2.418,2.416,2.416,2.414,2.414,2.414,2.414,2.414,2.412,2.412,2.411,2.411,2.411,2.412,2.414,2.414,2.414,2.414,2.413,2.413,2.413,2.415,2.418,2.419,2.421,2.421,2.421,2.421,2.427,2.425,2.427,2.427,2.432,2.436,2.436,2.441,2.441,2.442,2.445,2.445,2.445,2.452,2.456,2.459,2.461,2.468,2.47,2.472,2.476,2.479,2.486,2.49,2.491,2.492,2.501,2.503,2.512,2.516,2.516,2.524,2.527,2.528,2.533,2.542,2.552,2.556,2.557,2.563,2.567,2.574,2.589,2.596,2.596,2.61,2.611,2.612,2.624,2.631,2.633,2.636,2.64,2.654,2.667,2.674,2.679,2.69,2.698,2.704,2.715,2.723,2.727,2.748,2.749,2.758,2.759,2.781,2.785,2.796,2.81,2.816,2.831,2.843,2.853,2.86,2.874,2.878,2.896,2.908,2.922,2.932,2.942,2.951,2.955,2.973,2.983,2.997,3.008,3.026,3.04,3.046,3.065,3.08,3.094,3.112,3.124,3.136,3.154,3.169,3.186,3.201,3.219,3.228,3.244,3.268,3.278,3.29,3.324,3.339,3.352,3.376,3.402,3.408,3.435,3.47,3.486,3.507,3.522,3.546,3.57,3.601,3.619,3.645,3.664,3.691,3.716,3.733,3.784,3.797,3.831,3.869,3.882,3.914,3.953,3.984,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.352,3.341,3.336,3.312,3.308,3.295,3.295,3.278,3.266,3.264,3.248,3.239,3.238,3.233,3.216,3.215,3.206,3.199,3.189,3.181,3.178,3.177,3.164,3.153,3.153,3.143,3.141,3.134,3.128,3.119,3.118,3.114,3.114,3.102,3.1,3.092,3.085,3.081,3.071,3.07,3.07,3.064,3.061,3.058,3.053,3.052,3.04,3.038,3.036,3.035,3.034,3.031,3.029,3.028,3.023,3.023,3.023,3.023,3.026,3.026,3.026,3.022,3.017,3.016,3.016,3.015,3.015,3.009,3.009,3.009,3.007,3.007,3.007,3.01,3.011,3.011,3.011,3.011,3.011,3.011,3.012,3.015,3.015,3.015,3.015,3.016,3.017,3.018,3.022,3.023,3.023,3.024,3.026,3.029,3.031,3.032,3.034,3.039,3.039,3.041,3.044,3.053,3.059,3.059,3.06,3.063,3.067,3.072,3.081,3.082,3.082,3.086,3.087,3.094,3.098,3.116,3.117,3.121,3.125,3.136,3.136,3.14,3.136,3.143,3.143,3.148,3.15,3.167,3.169,3.171,3.172,3.176,3.177,3.184,3.21,3.211,3.218,3.22,3.233,3.234,3.241,3.242,3.245,3.249,3.264,3.279,3.297,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 54.15} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 54.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 54.1518} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.7752} SEN {Time 54.1946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.18,0.18,0.18,0.18,0.187,0,0,0,0,0,0,0,0,3.69,3.667,3.661,3.656,3.644,3.625,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.241,3.226,3.22,3.211,3.203,3.203,3.203,3.366,0.007,0,0,0,0,0,0,0,0.147,0.144,0.144,0.144,0.147,0.142,0.148,0.148,0.156,0.15,0.154,0.154,0.154,0.154,3.029,3.035,3.035,3.035,3.033,3.035,3.033,0.163,0.163,0.163,0.156,0.156,0.151,0.146,0.145,0.129,0.109,0.082,0.064,0.062,0.06,0.06,0.06,0.066,0.067,0.068,0.068,0.068,0.068,0.064,0.064,0.064,0.107,0.192,3.35,3.353,3.356,3.356,3.364,3.37,3.383,3.394,3.436,3.436,0.007,3.468,3.468,3.476,3.476,3.484,3.49,3.497,3.497,3.504,3.504,3.505,3.506,3.517,3.522,3.526,3.527,3.527,3.53,3.538,3.539,3.541,3.544,3.554,3.556,3.564,3.564,3.57,3.577,3.581,3.583,3.595,3.598,3.607,3.609,3.612,3.625,3.628,3.634,3.636,3.641,3.651,3.652,3.659,3.661,3.664,3.677,3.683,3.697,3.699,3.7,3.706,3.724,3.73,3.73,3.747,3.751,3.755,3.77,3.78,3.784,3.803,3.809,3.812,3.82,3.838,3.839,3.852,3.857,3.876,3.889,3.892,3.901,3.92,3.926,3.952,3.959,3.973,3.979,4.005,4.008,4.034,4.034,4.076,4.082,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.052,3.986,3.974,3.933,3.907,3.874,3.838,3.81,3.783,3.755,3.733,3.708,3.68,3.629,3.621,3.61,3.571,3.552,3.534,3.496,3.487,3.457,3.435,3.425,3.402,3.387,3.372,3.349,3.341,3.316,3.29,3.28,3.26,3.232,3.225,3.201,3.189,3.169,3.162,3.145,3.121,3.103,3.098,3.08,3.068,3.043,3.041,3.023,3.017,3.002,2.99,2.974,2.958,2.95,2.935,2.922,2.916,2.903,2.896,2.874,2.872,2.859,2.852,2.838,2.83,2.813,2.81,2.8,2.78,2.779,2.772,2.761,2.754,2.737,2.73,2.718,2.716,2.704,2.697,2.683,2.683,2.678,2.662,2.655,2.651,2.643,2.632,2.627,2.618,2.617,2.612,2.602,2.595,2.592,2.585,2.577,2.57,2.566,2.563,2.557,2.555,2.543,2.539,2.529,2.529,2.515,2.512,2.509,2.505,2.497,2.495,2.493,2.488,2.486,2.483,2.475,2.475,2.474,2.471,2.466,2.462,2.456,2.453,2.451,2.449,2.448,2.444,2.443,2.441,2.437,2.433,2.429,2.425,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.416,2.418,2.418,2.416,2.416,2.411,2.411,2.41,2.41,2.41,2.407,2.407,2.41,2.413,2.414,2.414,2.414,2.413,2.413,2.413,2.415,2.416,2.419,2.419,2.419,2.419,2.419,2.426,2.427,2.428,2.429,2.429,2.432,2.435,2.44,2.44,2.441,2.442,2.448,2.451,2.453,2.454,2.455,2.461,2.462,2.473,2.477,2.479,2.479,2.487,2.49,2.491,2.493,2.499,2.5,2.512,2.515,2.517,2.519,2.522,2.536,2.538,2.539,2.546,2.552,2.554,2.569,2.574,2.576,2.584,2.603,2.606,2.608,2.609,2.616,2.626,2.635,2.639,2.639,2.65,2.653,2.664,2.672,2.676,2.685,2.699,2.706,2.716,2.718,2.73,2.733,2.746,2.754,2.763,2.777,2.79,2.795,2.802,2.822,2.83,2.836,2.849,2.863,2.867,2.882,2.89,2.908,2.916,2.921,2.946,2.947,2.957,2.973,2.983,2.992,3.009,3.022,3.041,3.049,3.072,3.076,3.092,3.104,3.121,3.146,3.157,3.17,3.175,3.2,3.223,3.239,3.25,3.259,3.278,3.301,3.324,3.342,3.354,3.374,3.393,3.409,3.431,3.459,3.485,3.492,3.525,3.541,3.56,3.596,3.613,3.639,3.66,3.699,3.724,3.754,3.796,3.803,3.842,3.857,3.892,3.915,3.946,3.992,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.349,3.336,3.322,3.314,3.305,3.29,3.285,3.281,3.267,3.26,3.251,3.243,3.241,3.235,3.217,3.209,3.207,3.198,3.186,3.181,3.172,3.163,3.163,3.156,3.153,3.138,3.13,3.13,3.123,3.119,3.113,3.108,3.107,3.1,3.098,3.09,3.08,3.078,3.077,3.075,3.073,3.071,3.063,3.058,3.051,3.05,3.048,3.045,3.043,3.041,3.043,3.041,3.04,3.032,3.027,3.019,3.019,3.019,3.033,3.033,3.033,3.021,3.02,3.014,3.013,3.011,3.011,3.009,3.009,3.009,3.009,3.01,3.01,3.01,3.009,3.01,3.01,3.009,3.01,3.011,3.011,3.011,3.016,3.016,3.016,3.02,3.016,3.023,3.024,3.023,3.024,3.026,3.025,3.025,3.032,3.034,3.033,3.036,3.038,3.039,3.051,3.051,3.055,3.055,3.061,3.066,3.067,3.073,3.079,3.088,3.093,3.093,3.093,3.099,3.108,3.11,3.11,3.114,3.12,3.133,3.133,3.135,3.136,3.136,3.136,3.144,3.144,3.152,3.159,3.166,3.168,3.172,3.175,3.184,3.187,3.222,3.222,3.222,3.227,3.24,3.241,3.242,3.253,3.259,3.273,3.273,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 54.35} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 54.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 54.3527} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.953} SEN {Time 54.3907} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.182,0.188,0.188,0,0,0,0,0,0,0,0,3.688,3.681,3.667,3.667,3.642,3.625,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.231,3.212,3.212,3.211,3.212,3.219,3.354,0.007,0,0,0,0,0,0,0,0.15,0.137,0.137,0.137,0.137,0.149,0.149,0.149,0.154,0.15,0.151,0.151,0.151,0.151,3.037,3.037,3.037,3.037,3.035,3.026,0.16,0.16,0.155,0.155,0.155,0.152,0.152,0.151,0.149,0.127,0.106,0.077,0.061,0.06,0.056,0.056,0.056,0.062,0.063,0.065,0.064,0.064,0.064,0.064,0.064,0.067,0.111,0.178,3.332,3.347,3.353,3.353,3.357,3.375,3.376,3.42,0,0.007,3.449,3.449,3.464,3.464,3.479,3.486,3.49,3.493,3.5,3.504,3.505,3.51,3.51,3.517,3.523,3.531,3.534,3.536,3.537,3.539,3.543,3.547,3.549,3.556,3.56,3.565,3.567,3.57,3.573,3.58,3.584,3.584,3.599,3.603,3.607,3.614,3.624,3.63,3.633,3.642,3.642,3.642,3.648,3.652,3.67,3.672,3.673,3.687,3.688,3.693,3.697,3.703,3.715,3.728,3.736,3.741,3.749,3.751,3.768,3.774,3.774,3.787,3.809,3.811,3.815,3.835,3.839,3.86,3.864,3.875,3.881,3.902,3.903,3.911,3.92,3.942,3.957,3.966,3.974,4.001,4.019,4.027,4.046,4.057,4.077,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.052,4.014,3.992,3.954,3.928,3.904,3.871,3.84,3.82,3.788,3.754,3.729,3.713,3.667,3.652,3.631,3.596,3.575,3.543,3.529,3.509,3.481,3.461,3.437,3.417,3.404,3.377,3.36,3.353,3.339,3.319,3.295,3.273,3.249,3.233,3.227,3.202,3.186,3.173,3.157,3.136,3.127,3.108,3.094,3.09,3.058,3.046,3.031,3.028,3.012,3.006,2.986,2.974,2.97,2.946,2.935,2.919,2.913,2.903,2.901,2.875,2.873,2.859,2.853,2.843,2.827,2.812,2.804,2.79,2.787,2.776,2.764,2.755,2.745,2.742,2.727,2.717,2.714,2.708,2.697,2.686,2.671,2.671,2.667,2.658,2.653,2.648,2.637,2.633,2.628,2.616,2.607,2.605,2.6,2.59,2.582,2.58,2.572,2.571,2.56,2.552,2.549,2.539,2.534,2.53,2.529,2.512,2.509,2.508,2.502,2.498,2.49,2.487,2.484,2.48,2.477,2.476,2.474,2.467,2.466,2.466,2.458,2.454,2.453,2.453,2.45,2.446,2.445,2.445,2.444,2.438,2.435,2.429,2.428,2.426,2.425,2.418,2.418,2.417,2.417,2.416,2.416,2.412,2.411,2.411,2.412,2.413,2.413,2.413,2.411,2.41,2.41,2.41,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.415,2.418,2.418,2.419,2.421,2.421,2.425,2.425,2.431,2.431,2.431,2.434,2.434,2.436,2.437,2.437,2.439,2.448,2.449,2.452,2.453,2.458,2.466,2.466,2.468,2.471,2.476,2.481,2.482,2.482,2.482,2.49,2.496,2.498,2.514,2.516,2.516,2.519,2.527,2.527,2.531,2.546,2.551,2.552,2.561,2.562,2.569,2.569,2.591,2.593,2.601,2.608,2.612,2.613,2.624,2.639,2.639,2.642,2.644,2.649,2.666,2.675,2.679,2.684,2.703,2.708,2.718,2.723,2.73,2.737,2.75,2.754,2.762,2.784,2.79,2.794,2.808,2.813,2.828,2.841,2.841,2.856,2.871,2.882,2.888,2.894,2.914,2.925,2.937,2.956,2.957,2.972,2.98,2.995,3.016,3.019,3.037,3.044,3.061,3.084,3.092,3.112,3.123,3.133,3.15,3.169,3.175,3.198,3.219,3.233,3.246,3.256,3.278,3.293,3.329,3.329,3.353,3.379,3.396,3.401,3.435,3.463,3.494,3.5,3.526,3.542,3.566,3.598,3.609,3.641,3.672,3.698,3.715,3.742,3.779,3.788,3.837,3.862,3.886,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.354,3.336,3.328,3.31,3.309,3.299,3.295,3.282,3.269,3.262,3.253,3.242,3.236,3.233,3.219,3.213,3.211,3.199,3.184,3.181,3.177,3.164,3.158,3.156,3.153,3.147,3.142,3.132,3.122,3.118,3.112,3.107,3.107,3.096,3.094,3.094,3.085,3.083,3.079,3.073,3.071,3.065,3.061,3.06,3.054,3.05,3.048,3.041,3.041,3.041,3.041,3.031,3.031,3.029,3.029,3.021,3.021,3.021,3.025,3.025,3.025,3.018,3.017,3.016,3.017,3.016,3.01,3.01,3.017,3.01,3.009,3.009,3.009,3.007,3.009,3.011,3.011,3.012,3.012,3.008,3.008,3.011,3.011,3.011,3.013,3.017,3.017,3.019,3.021,3.021,3.023,3.028,3.028,3.028,3.03,3.031,3.031,3.037,3.04,3.043,3.049,3.051,3.053,3.061,3.061,3.062,3.067,3.075,3.076,3.08,3.088,3.09,3.092,3.093,3.102,3.107,3.11,3.111,3.117,3.138,3.138,3.138,3.137,3.137,3.137,3.145,3.15,3.158,3.16,3.166,3.173,3.175,3.176,3.194,3.2,3.209,3.216,3.219,3.229,3.233,3.242,3.244,3.244,3.247,3.258,3.28,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 54.55} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 54.55} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 54.5456} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.953} SEN {Time 54.5906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.179,0.183,0.179,0.183,0.186,0,0,0,0,0,0,0,0,3.688,3.674,3.67,3.664,3.653,3.632,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.22,3.216,3.212,3.216,3.216,3.259,3.368,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.143,0.143,0.143,0.147,0.146,0.147,0.147,0.153,0.153,3.027,3.031,3.031,3.031,3.031,3.031,3.031,0.161,0.156,0.156,0.156,0.156,0.151,0.149,0.149,0.123,0.101,0.082,0.066,0.06,0.06,0.06,0.063,0.063,0.064,0.064,0.063,0.061,0.061,0.061,0.061,0.072,0.104,0.183,3.369,3.369,3.384,3.378,3.369,3.372,3.378,3.378,3.39,3.432,3.433,3.446,3.446,3.463,3.478,3.483,3.484,3.488,3.497,3.499,3.503,3.509,3.51,3.516,3.526,3.527,3.528,3.539,3.542,3.542,3.546,3.549,3.553,3.555,3.555,3.559,3.565,3.571,3.579,3.58,3.582,3.586,3.587,3.6,3.602,3.613,3.615,3.63,3.631,3.645,3.646,3.651,3.657,3.658,3.658,3.664,3.676,3.682,3.686,3.688,3.705,3.708,3.719,3.735,3.737,3.746,3.755,3.755,3.773,3.774,3.785,3.791,3.807,3.815,3.817,3.829,3.839,3.845,3.872,3.878,3.879,3.896,3.896,3.914,3.932,3.948,3.952,3.973,3.984,4.001,4.002,4.029,4.047,4.064,4.079,0.016,0.016,0.016,0.016,0.016,0.016,4.081,4.053,4.014,3.998,3.97,3.928,3.898,3.875,3.836,3.805,3.8,3.765,3.73,3.697,3.67,3.647,3.637,3.6,3.57,3.548,3.529,3.497,3.485,3.459,3.436,3.425,3.4,3.383,3.368,3.344,3.334,3.316,3.3,3.281,3.255,3.238,3.218,3.191,3.189,3.179,3.163,3.138,3.125,3.11,3.099,3.092,3.069,3.048,3.039,3.026,3.015,3.005,2.981,2.98,2.959,2.951,2.943,2.927,2.913,2.903,2.889,2.876,2.869,2.851,2.844,2.842,2.827,2.821,2.81,2.792,2.792,2.786,2.766,2.758,2.755,2.737,2.736,2.723,2.721,2.698,2.697,2.681,2.677,2.67,2.661,2.653,2.649,2.648,2.642,2.633,2.622,2.619,2.612,2.611,2.603,2.594,2.583,2.578,2.576,2.571,2.557,2.553,2.55,2.55,2.54,2.537,2.525,2.514,2.51,2.508,2.501,2.494,2.494,2.49,2.49,2.487,2.482,2.479,2.474,2.472,2.467,2.464,2.461,2.455,2.454,2.452,2.452,2.45,2.449,2.445,2.443,2.438,2.433,2.428,2.428,2.427,2.425,2.42,2.42,2.42,2.42,2.416,2.416,2.413,2.413,2.411,2.411,2.411,2.411,2.411,2.411,2.412,2.411,2.412,2.413,2.412,2.412,2.415,2.413,2.413,2.413,2.414,2.414,2.415,2.421,2.421,2.421,2.419,2.419,2.419,2.421,2.425,2.428,2.428,2.433,2.436,2.438,2.438,2.439,2.441,2.447,2.452,2.452,2.461,2.462,2.464,2.464,2.466,2.471,2.478,2.478,2.48,2.483,2.488,2.491,2.495,2.495,2.511,2.516,2.518,2.524,2.525,2.528,2.538,2.543,2.549,2.556,2.565,2.57,2.572,2.572,2.59,2.599,2.603,2.605,2.607,2.618,2.625,2.634,2.639,2.644,2.648,2.66,2.662,2.676,2.683,2.687,2.698,2.7,2.71,2.724,2.725,2.746,2.749,2.755,2.765,2.775,2.792,2.798,2.813,2.819,2.827,2.844,2.846,2.853,2.867,2.878,2.893,2.903,2.911,2.922,2.946,2.95,2.961,2.972,2.977,2.994,3.015,3.022,3.039,3.046,3.064,3.085,3.094,3.111,3.12,3.146,3.157,3.17,3.171,3.196,3.215,3.235,3.252,3.263,3.279,3.293,3.327,3.339,3.345,3.378,3.394,3.411,3.434,3.464,3.492,3.501,3.527,3.546,3.563,3.586,3.611,3.642,3.675,3.698,3.726,3.752,3.783,3.807,3.842,3.867,3.891,3.923,3.989,0.007,0,0.016,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.354,3.343,3.343,3.332,3.318,3.301,3.292,3.275,3.273,3.254,3.245,3.237,3.236,3.233,3.221,3.213,3.21,3.19,3.189,3.179,3.177,3.174,3.16,3.152,3.148,3.136,3.131,3.13,3.128,3.122,3.115,3.114,3.106,3.101,3.092,3.092,3.084,3.081,3.076,3.076,3.076,3.071,3.066,3.061,3.059,3.049,3.047,3.046,3.044,3.044,3.041,3.031,3.03,3.026,3.021,3.019,3.019,3.019,3.023,3.023,3.023,3.021,3.02,3.014,3.012,3.009,3.012,3.012,3.012,3.012,3.012,3.008,3.008,3.007,3.007,3.006,3.006,3.006,3.014,3.006,3.013,3.014,3.013,3.013,3.015,3.019,3.019,3.019,3.019,3.019,3.024,3.024,3.026,3.028,3.034,3.034,3.037,3.039,3.039,3.04,3.048,3.051,3.056,3.056,3.061,3.061,3.063,3.07,3.081,3.083,3.089,3.092,3.093,3.093,3.098,3.11,3.113,3.116,3.121,3.135,3.135,3.137,3.137,3.138,3.139,3.145,3.148,3.152,3.159,3.161,3.171,3.174,3.175,3.194,3.202,3.205,3.213,3.22,3.222,3.228,3.229,3.242,3.249,3.252,3.264,3.282,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 54.75} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 54.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 54.7466} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 54.7906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.179,0.181,0.186,0,0,0,0,0,0,0,0,3.688,3.682,3.667,3.658,3.655,3.639,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.221,3.21,3.21,3.221,3.269,3.367,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.147,0.147,0.14,0.14,0.148,0.148,0.148,0.148,0.153,0.153,3.03,3.034,3.037,3.037,3.037,3.037,0.163,0.163,0.158,0.158,0.155,0.152,0.151,0.148,0.141,0.122,0.108,0.077,0.07,0.065,0.06,0.06,0.06,0.065,0.066,0.068,0.068,0.068,0.06,0.06,0.06,0.068,0.118,0.195,3.346,3.346,3.349,3.349,3.372,3.374,3.374,3.375,3.395,3.423,3.424,3.451,3.451,3.464,3.467,3.485,3.487,3.494,3.501,3.503,3.509,3.51,3.519,3.524,3.524,3.524,3.53,3.538,3.54,3.542,3.545,3.548,3.549,3.549,3.553,3.558,3.571,3.571,3.573,3.579,3.587,3.591,3.6,3.6,3.601,3.604,3.626,3.631,3.632,3.637,3.649,3.654,3.654,3.659,3.665,3.667,3.683,3.684,3.692,3.696,3.698,3.715,3.719,3.728,3.735,3.743,3.752,3.76,3.763,3.767,3.775,3.787,3.806,3.815,3.821,3.833,3.847,3.848,3.863,3.882,3.886,3.893,3.911,3.921,3.925,3.94,3.952,3.956,3.978,3.993,4.016,4.028,4.04,4.068,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.044,3.988,3.968,3.942,3.894,3.872,3.851,3.815,3.782,3.74,3.73,3.704,3.676,3.639,3.615,3.602,3.586,3.539,3.527,3.503,3.487,3.459,3.444,3.416,3.404,3.381,3.363,3.358,3.331,3.312,3.299,3.264,3.25,3.234,3.222,3.204,3.183,3.177,3.16,3.137,3.112,3.107,3.092,3.087,3.063,3.042,3.042,3.037,3.021,3.005,2.99,2.982,2.956,2.952,2.938,2.922,2.917,2.908,2.886,2.874,2.869,2.855,2.845,2.835,2.833,2.814,2.807,2.799,2.784,2.782,2.775,2.755,2.755,2.733,2.73,2.723,2.708,2.699,2.696,2.685,2.68,2.673,2.661,2.66,2.651,2.645,2.638,2.63,2.626,2.622,2.606,2.605,2.595,2.587,2.577,2.575,2.574,2.567,2.564,2.562,2.55,2.539,2.534,2.527,2.524,2.513,2.512,2.504,2.504,2.495,2.493,2.491,2.482,2.482,2.479,2.479,2.476,2.47,2.464,2.461,2.46,2.455,2.455,2.452,2.451,2.449,2.447,2.447,2.445,2.439,2.433,2.43,2.426,2.426,2.426,2.425,2.424,2.42,2.42,2.417,2.416,2.415,2.413,2.413,2.413,2.412,2.408,2.409,2.409,2.409,2.41,2.411,2.413,2.413,2.414,2.415,2.414,2.413,2.415,2.415,2.417,2.42,2.42,2.42,2.42,2.42,2.42,2.421,2.427,2.427,2.427,2.427,2.439,2.442,2.442,2.442,2.442,2.442,2.45,2.45,2.45,2.45,2.458,2.463,2.465,2.477,2.478,2.478,2.479,2.48,2.483,2.492,2.501,2.502,2.505,2.505,2.513,2.518,2.528,2.528,2.528,2.528,2.534,2.544,2.554,2.562,2.564,2.569,2.573,2.59,2.601,2.604,2.605,2.607,2.608,2.621,2.627,2.638,2.639,2.645,2.653,2.658,2.679,2.68,2.683,2.702,2.703,2.708,2.726,2.729,2.74,2.745,2.756,2.764,2.78,2.785,2.795,2.806,2.829,2.831,2.843,2.845,2.863,2.872,2.877,2.891,2.897,2.916,2.929,2.942,2.953,2.955,2.968,2.978,2.996,3.02,3.022,3.041,3.046,3.071,3.089,3.091,3.108,3.129,3.14,3.156,3.163,3.172,3.203,3.224,3.232,3.25,3.266,3.278,3.298,3.325,3.33,3.357,3.377,3.405,3.414,3.435,3.454,3.47,3.499,3.52,3.537,3.571,3.582,3.603,3.637,3.663,3.695,3.719,3.754,3.777,3.802,3.835,3.859,3.905,3.905,3.967,3.992,4.028,4.06,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.356,3.339,3.332,3.313,3.311,3.299,3.289,3.277,3.276,3.253,3.251,3.246,3.239,3.238,3.225,3.216,3.214,3.198,3.188,3.186,3.18,3.18,3.168,3.157,3.145,3.143,3.138,3.126,3.124,3.123,3.119,3.111,3.111,3.105,3.093,3.089,3.086,3.086,3.075,3.069,3.068,3.063,3.061,3.055,3.052,3.045,3.044,3.039,3.039,3.039,3.039,3.037,3.034,3.026,3.022,3.022,3.022,3.024,3.029,3.029,3.029,3.024,3.019,3.019,3.012,3.012,3.012,3.012,3.01,3.012,3.01,3.007,3.002,3.002,3.002,3.005,3.008,3.016,3.016,3.016,3.016,3.014,3.013,3.013,3.013,3.014,3.02,3.022,3.023,3.022,3.023,3.026,3.033,3.034,3.034,3.034,3.034,3.036,3.038,3.044,3.05,3.051,3.054,3.056,3.061,3.061,3.065,3.069,3.07,3.082,3.084,3.088,3.092,3.094,3.101,3.112,3.115,3.119,3.129,3.131,3.131,3.133,3.132,3.133,3.133,3.144,3.147,3.153,3.159,3.169,3.17,3.175,3.18,3.192,3.202,3.213,3.221,3.225,3.229,3.235,3.241,3.245,3.247,3.251,3.263,3.274,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 54.95} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 54.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 54.9466} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 54.9906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.192,0.187,0.192,0.192,0,0,0,0,0,0,0,0,3.684,3.683,3.671,3.661,3.652,3.623,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.253,3.222,3.218,3.21,3.21,3.21,3.264,3.366,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.148,0.149,0.149,0.149,0.158,0.153,0.153,0.153,0.153,0.153,3.032,3.037,3.039,3.039,3.039,3.039,0.159,0.155,0.153,0.153,0.153,0.152,0.15,0.148,0.148,0.121,0.109,0.086,0.064,0.064,0.057,0.064,0.062,0.064,0.064,0.064,0.064,0.064,0.06,0.06,0.064,0.067,0.129,0.201,3.329,3.349,3.352,3.352,3.358,3.376,3.379,3.393,3.406,3.406,3.429,3.447,3.459,3.459,3.477,3.487,3.493,3.493,3.503,3.507,3.509,3.512,3.514,3.521,3.521,3.524,3.537,3.537,3.537,3.537,3.548,3.548,3.551,3.554,3.559,3.564,3.564,3.575,3.578,3.578,3.584,3.584,3.59,3.597,3.599,3.606,3.627,3.628,3.632,3.635,3.642,3.644,3.653,3.656,3.661,3.663,3.682,3.682,3.687,3.697,3.699,3.71,3.715,3.725,3.734,3.744,3.75,3.758,3.764,3.771,3.786,3.794,3.801,3.813,3.818,3.831,3.842,3.857,3.861,3.873,3.877,3.898,3.904,3.904,3.93,3.946,3.955,3.969,3.974,3.993,4.01,4.025,4.039,4.057,4.081,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.083,4.049,3.994,3.968,3.937,3.908,3.863,3.851,3.804,3.778,3.761,3.726,3.693,3.677,3.646,3.637,3.607,3.583,3.552,3.526,3.512,3.492,3.465,3.45,3.421,3.413,3.376,3.376,3.347,3.333,3.293,3.291,3.276,3.259,3.236,3.227,3.197,3.183,3.168,3.163,3.142,3.116,3.109,3.099,3.076,3.063,3.049,3.036,3.023,3.017,2.999,2.996,2.975,2.961,2.958,2.94,2.931,2.918,2.913,2.89,2.881,2.873,2.858,2.851,2.849,2.834,2.814,2.811,2.8,2.782,2.78,2.762,2.757,2.755,2.734,2.733,2.725,2.716,2.704,2.694,2.688,2.678,2.678,2.665,2.66,2.653,2.647,2.638,2.635,2.623,2.612,2.61,2.607,2.602,2.584,2.583,2.575,2.571,2.567,2.561,2.555,2.547,2.539,2.538,2.538,2.531,2.518,2.514,2.512,2.505,2.502,2.495,2.495,2.49,2.486,2.481,2.479,2.477,2.472,2.466,2.463,2.459,2.456,2.452,2.447,2.447,2.447,2.447,2.446,2.438,2.437,2.434,2.434,2.432,2.43,2.43,2.425,2.425,2.424,2.421,2.417,2.417,2.414,2.413,2.413,2.413,2.409,2.407,2.406,2.406,2.407,2.409,2.409,2.412,2.413,2.413,2.416,2.413,2.413,2.413,2.413,2.413,2.415,2.415,2.417,2.417,2.417,2.419,2.42,2.424,2.424,2.429,2.43,2.431,2.436,2.439,2.441,2.441,2.446,2.447,2.452,2.453,2.456,2.458,2.463,2.474,2.475,2.475,2.475,2.475,2.482,2.483,2.486,2.493,2.497,2.5,2.509,2.516,2.517,2.523,2.529,2.531,2.538,2.538,2.544,2.558,2.559,2.564,2.567,2.577,2.585,2.593,2.603,2.605,2.606,2.61,2.629,2.633,2.636,2.644,2.647,2.656,2.658,2.672,2.68,2.693,2.696,2.697,2.714,2.717,2.731,2.742,2.752,2.757,2.768,2.774,2.786,2.793,2.806,2.819,2.825,2.841,2.844,2.856,2.864,2.879,2.888,2.897,2.914,2.928,2.94,2.955,2.957,2.974,2.985,2.995,3.016,3.022,3.047,3.049,3.07,3.078,3.094,3.107,3.122,3.133,3.157,3.169,3.179,3.202,3.224,3.233,3.246,3.262,3.273,3.297,3.324,3.329,3.35,3.376,3.391,3.416,3.443,3.459,3.485,3.496,3.527,3.547,3.561,3.599,3.62,3.646,3.682,3.69,3.722,3.751,3.786,3.796,3.834,3.859,3.89,3.925,3.943,4.001,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.357,3.341,3.331,3.318,3.308,3.295,3.295,3.289,3.262,3.257,3.251,3.247,3.24,3.237,3.218,3.211,3.206,3.199,3.188,3.183,3.177,3.173,3.165,3.148,3.146,3.142,3.136,3.125,3.124,3.124,3.123,3.118,3.109,3.101,3.094,3.088,3.084,3.076,3.076,3.073,3.075,3.064,3.061,3.06,3.053,3.053,3.044,3.043,3.043,3.043,3.043,3.031,3.03,3.028,3.027,3.026,3.026,3.026,3.028,3.028,3.028,3.022,3.016,3.015,3.015,3.015,3.015,3.012,3.013,3.012,3.01,3.01,3.01,3.01,3.01,3.009,3.009,3.012,3.008,3.016,3.016,3.016,3.013,3.016,3.016,3.021,3.021,3.021,3.022,3.019,3.019,3.027,3.027,3.027,3.033,3.035,3.036,3.036,3.044,3.046,3.048,3.049,3.058,3.06,3.061,3.061,3.064,3.075,3.08,3.081,3.086,3.086,3.094,3.094,3.101,3.106,3.117,3.12,3.121,3.133,3.133,3.134,3.137,3.137,3.137,3.142,3.143,3.158,3.165,3.169,3.171,3.178,3.178,3.182,3.199,3.214,3.217,3.223,3.231,3.232,3.239,3.241,3.247,3.249,3.26,3.278,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 55.15} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 55.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 55.1486} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 55.1906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.175,0.181,0.185,0,0,0,0,0,0,0,0,3.679,3.671,3.663,3.663,3.644,3.634,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.219,3.212,3.219,3.219,3.263,3.355,0,0,0,0,0,0,0,0.147,0.147,0.147,0.147,0.148,0.151,0.151,0.151,0.153,0.151,0.153,0.153,0.153,0.153,3.04,3.04,3.04,3.04,3.031,3.031,0.158,0.157,0.157,0.157,0.157,0.155,0.148,0.144,0.144,0.135,0.101,0.083,0.068,0.063,0.061,0.061,0.061,0.067,0.068,0.068,0.067,0.064,0.062,0.062,0.062,0.068,0.122,0.197,3.344,3.354,3.363,3.363,3.363,3.363,3.372,3.372,3.417,3.43,3.435,3.435,3.461,3.471,3.472,3.476,3.491,3.493,3.495,3.5,3.51,3.513,3.516,3.517,3.524,3.53,3.533,3.533,3.536,3.536,3.545,3.546,3.547,3.555,3.56,3.562,3.569,3.575,3.576,3.579,3.581,3.587,3.588,3.599,3.602,3.615,3.624,3.632,3.635,3.637,3.643,3.647,3.649,3.656,3.66,3.665,3.677,3.685,3.688,3.692,3.699,3.712,3.723,3.727,3.738,3.74,3.749,3.755,3.767,3.77,3.787,3.788,3.812,3.821,3.822,3.836,3.85,3.858,3.859,3.88,3.884,3.896,3.9,3.924,3.936,3.938,3.962,3.974,3.982,3.985,4.021,4.038,4.045,4.067,4.076,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.034,3.99,3.942,3.923,3.908,3.882,3.849,3.819,3.775,3.742,3.723,3.697,3.677,3.659,3.619,3.609,3.563,3.563,3.527,3.502,3.486,3.464,3.443,3.42,3.409,3.39,3.368,3.343,3.331,3.301,3.3,3.265,3.262,3.236,3.229,3.195,3.188,3.169,3.148,3.147,3.13,3.11,3.101,3.082,3.068,3.046,3.041,3.024,3.015,3.004,2.991,2.975,2.966,2.958,2.935,2.932,2.923,2.906,2.897,2.873,2.871,2.865,2.852,2.851,2.818,2.811,2.81,2.794,2.783,2.773,2.764,2.76,2.752,2.733,2.727,2.714,2.708,2.704,2.697,2.682,2.671,2.671,2.663,2.658,2.652,2.649,2.636,2.636,2.621,2.617,2.616,2.607,2.603,2.601,2.586,2.579,2.576,2.57,2.566,2.555,2.551,2.543,2.535,2.531,2.529,2.518,2.517,2.509,2.504,2.498,2.492,2.491,2.485,2.479,2.478,2.474,2.471,2.47,2.47,2.461,2.46,2.457,2.454,2.452,2.451,2.449,2.448,2.448,2.446,2.438,2.437,2.427,2.427,2.427,2.427,2.425,2.419,2.418,2.418,2.416,2.416,2.416,2.412,2.412,2.415,2.415,2.415,2.415,2.414,2.414,2.411,2.408,2.411,2.411,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.413,2.416,2.416,2.416,2.424,2.421,2.421,2.423,2.423,2.423,2.424,2.429,2.436,2.437,2.438,2.443,2.446,2.446,2.451,2.453,2.454,2.461,2.462,2.464,2.466,2.471,2.474,2.477,2.485,2.489,2.494,2.499,2.502,2.504,2.514,2.52,2.521,2.522,2.529,2.534,2.537,2.54,2.55,2.554,2.56,2.562,2.571,2.581,2.59,2.595,2.602,2.602,2.611,2.613,2.624,2.632,2.636,2.638,2.648,2.653,2.662,2.67,2.671,2.685,2.697,2.698,2.716,2.72,2.73,2.738,2.752,2.755,2.762,2.779,2.793,2.794,2.803,2.814,2.826,2.831,2.851,2.853,2.87,2.878,2.887,2.899,2.919,2.927,2.948,2.955,2.96,2.98,2.985,2.994,3.015,3.023,3.04,3.048,3.065,3.077,3.089,3.106,3.114,3.147,3.157,3.168,3.191,3.192,3.228,3.241,3.255,3.257,3.277,3.298,3.312,3.341,3.348,3.373,3.392,3.405,3.446,3.46,3.489,3.5,3.521,3.548,3.571,3.604,3.619,3.645,3.672,3.694,3.729,3.751,3.778,3.797,3.838,3.869,3.897,3.91,3.949,3.999,4.034,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.363,3.339,3.33,3.317,3.315,3.298,3.291,3.277,3.267,3.261,3.255,3.241,3.236,3.233,3.222,3.212,3.209,3.208,3.189,3.184,3.176,3.169,3.166,3.16,3.146,3.146,3.136,3.13,3.123,3.118,3.114,3.112,3.11,3.108,3.099,3.095,3.086,3.086,3.078,3.077,3.069,3.064,3.061,3.055,3.054,3.049,3.046,3.039,3.039,3.037,3.033,3.034,3.033,3.03,3.027,3.024,3.024,3.024,3.086,0.007,3.086,3.023,3.017,3.014,3.014,3.012,3.01,3.01,3.01,3.01,3.01,3.008,3.01,3.01,3.011,3.014,3.016,3.015,3.015,3.014,3.014,3.014,3.014,3.015,3.016,3.016,3.02,3.02,3.022,3.02,3.024,3.025,3.026,3.03,3.037,3.037,3.037,3.038,3.04,3.041,3.051,3.053,3.053,3.055,3.057,3.066,3.068,3.072,3.073,3.089,3.09,3.092,3.094,3.094,3.105,3.11,3.113,3.115,3.124,3.133,3.133,3.133,3.141,3.142,3.142,3.145,3.15,3.163,3.163,3.163,3.172,3.174,3.183,3.188,3.198,3.202,3.224,3.226,3.234,3.236,3.236,3.239,3.244,3.244,3.261,3.283,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 55.35} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 55.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 55.3496} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 55.3867} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.18,0.18,0.184,0,0,0,0,0,0,0,0,3.688,3.679,3.667,3.66,3.64,3.631,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.248,3.224,3.22,3.209,3.209,3.209,3.367,0.007,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.149,0.149,0.144,0.149,0.149,0.153,0.153,0.153,0.16,3.03,3.036,3.039,3.039,3.036,3.036,0.163,0.157,0.155,0.155,0.155,0.152,0.149,0.144,0.144,0.127,0.105,0.077,0.065,0.062,0.06,0.06,0.065,0.067,0.067,0.068,0.068,0.068,0.066,0.068,0.068,0.074,0.118,0.198,3.331,3.358,3.359,3.359,3.36,3.363,3.368,3.371,3.405,0.007,0,3.47,3.483,3.483,3.483,3.483,3.488,3.492,3.494,3.498,3.502,3.513,3.521,3.521,3.525,3.525,3.527,3.529,3.532,3.533,3.542,3.543,3.549,3.552,3.552,3.557,3.572,3.573,3.576,3.578,3.582,3.589,3.597,3.61,3.611,3.614,3.627,3.633,3.635,3.638,3.643,3.652,3.657,3.658,3.661,3.665,3.68,3.681,3.684,3.697,3.703,3.708,3.717,3.724,3.73,3.739,3.753,3.761,3.763,3.764,3.785,3.79,3.794,3.811,3.828,3.829,3.831,3.857,3.863,3.882,3.888,3.895,3.9,3.915,3.929,3.941,3.957,3.975,3.986,3.991,4.012,4.031,4.039,4.056,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.082,4.027,3.996,3.978,3.929,3.885,3.872,3.837,3.831,3.77,3.75,3.741,3.706,3.674,3.659,3.619,3.604,3.576,3.547,3.527,3.509,3.475,3.459,3.44,3.408,3.402,3.38,3.369,3.349,3.326,3.313,3.294,3.277,3.254,3.241,3.222,3.202,3.185,3.163,3.159,3.13,3.119,3.106,3.092,3.088,3.068,3.053,3.053,3.045,3.022,2.999,2.991,2.978,2.97,2.949,2.942,2.931,2.915,2.905,2.894,2.875,2.87,2.861,2.846,2.836,2.821,2.81,2.809,2.786,2.785,2.779,2.768,2.761,2.752,2.739,2.729,2.718,2.715,2.708,2.693,2.689,2.685,2.678,2.66,2.659,2.653,2.652,2.639,2.636,2.622,2.618,2.617,2.605,2.595,2.589,2.581,2.576,2.574,2.569,2.556,2.55,2.546,2.545,2.542,2.532,2.528,2.518,2.515,2.514,2.506,2.494,2.492,2.492,2.49,2.483,2.48,2.479,2.472,2.467,2.467,2.463,2.459,2.452,2.45,2.449,2.449,2.447,2.443,2.441,2.437,2.435,2.433,2.431,2.428,2.428,2.427,2.42,2.42,2.42,2.419,2.417,2.416,2.416,2.416,2.415,2.412,2.408,2.408,2.408,2.408,2.408,2.409,2.409,2.412,2.413,2.413,2.413,2.414,2.415,2.415,2.415,2.416,2.417,2.424,2.424,2.42,2.424,2.421,2.421,2.425,2.425,2.432,2.432,2.433,2.438,2.442,2.442,2.442,2.442,2.448,2.449,2.451,2.456,2.456,2.463,2.467,2.467,2.478,2.481,2.483,2.49,2.49,2.49,2.492,2.493,2.498,2.508,2.512,2.519,2.522,2.522,2.529,2.533,2.536,2.552,2.556,2.556,2.567,2.57,2.577,2.595,2.6,2.606,2.608,2.611,2.616,2.62,2.631,2.637,2.64,2.643,2.65,2.665,2.677,2.684,2.69,2.695,2.7,2.714,2.723,2.73,2.732,2.758,2.758,2.763,2.784,2.789,2.796,2.808,2.817,2.826,2.832,2.842,2.86,2.868,2.884,2.892,2.901,2.921,2.932,2.941,2.952,2.957,2.978,2.984,2.997,3.017,3.027,3.039,3.045,3.065,3.083,3.089,3.109,3.122,3.142,3.161,3.174,3.181,3.202,3.221,3.228,3.248,3.269,3.279,3.3,3.328,3.344,3.349,3.371,3.399,3.404,3.439,3.458,3.484,3.503,3.519,3.545,3.569,3.593,3.625,3.646,3.659,3.698,3.723,3.754,3.783,3.797,3.83,3.861,3.893,3.924,3.947,3.975,4.027,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.354,3.339,3.333,3.318,3.306,3.292,3.287,3.276,3.273,3.267,3.257,3.247,3.243,3.234,3.217,3.211,3.208,3.201,3.192,3.182,3.175,3.175,3.159,3.15,3.148,3.146,3.143,3.131,3.126,3.121,3.116,3.108,3.102,3.098,3.096,3.094,3.087,3.087,3.084,3.075,3.067,3.065,3.064,3.056,3.053,3.051,3.047,3.041,3.04,3.036,3.036,3.035,3.029,3.027,3.027,3.027,3.027,3.027,3.027,3.027,3.026,3.02,3.017,3.015,3.014,3.013,3.013,3.012,3.008,3.013,3.008,3.008,3.013,3.013,3.013,3.013,3.015,3.013,3.009,3.018,3.006,3.006,3.014,3.018,3.019,3.021,3.019,3.024,3.029,3.024,3.027,3.029,3.027,3.027,3.034,3.037,3.035,3.037,3.046,3.049,3.05,3.053,3.053,3.06,3.061,3.065,3.068,3.074,3.082,3.084,3.087,3.099,3.1,3.1,3.103,3.109,3.109,3.111,3.115,3.132,3.132,3.135,3.136,3.143,3.14,3.143,3.144,3.149,3.151,3.158,3.167,3.17,3.172,3.186,3.202,3.214,3.217,3.221,3.225,3.234,3.235,3.236,3.241,3.25,3.267,3.284,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 55.54} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 55.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 55.5415} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.6858} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8768} SEN {Time 55.5866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.178,0.182,0.182,0,0,0,0,0,0,0,0,3.685,3.679,3.668,3.664,3.647,3.636,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.258,3.218,3.218,3.216,3.218,3.218,3.26,3.366,0,0,0,0,0,0,0,0.153,0.146,0.146,0.146,0.153,0.146,0.149,0.149,0.155,0.149,0.155,0.155,0.155,0.155,3.029,3.034,3.034,3.034,3.03,3.03,0.16,0.157,0.154,0.154,0.154,0.153,0.153,0.146,0.146,0.121,0.12,0.081,0.071,0.06,0.06,0.06,0.06,0.064,0.065,0.065,0.067,0.067,0.064,0.064,0.067,0.074,0.12,0.196,3.335,3.354,3.36,3.36,3.367,3.373,3.379,3.397,3.428,3.428,3.433,3.459,3.459,3.469,3.48,3.502,3.502,3.503,3.503,3.507,3.511,3.513,3.522,3.522,3.524,3.525,3.53,3.541,3.541,3.543,3.543,3.543,3.551,3.556,3.556,3.557,3.571,3.574,3.579,3.579,3.583,3.583,3.597,3.601,3.604,3.611,3.622,3.626,3.628,3.639,3.642,3.643,3.652,3.664,3.665,3.666,3.68,3.686,3.689,3.694,3.699,3.707,3.72,3.723,3.736,3.741,3.751,3.759,3.762,3.776,3.785,3.791,3.798,3.803,3.815,3.838,3.839,3.848,3.869,3.876,3.884,3.896,3.903,3.917,3.929,3.948,3.964,3.972,3.984,4.005,4.008,4.033,4.045,4.077,4.085,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.023,3.984,3.956,3.933,3.913,3.865,3.849,3.809,3.767,3.764,3.714,3.702,3.671,3.645,3.636,3.603,3.582,3.554,3.525,3.52,3.482,3.461,3.438,3.43,3.405,3.382,3.367,3.346,3.329,3.303,3.293,3.274,3.253,3.225,3.222,3.195,3.19,3.166,3.156,3.141,3.125,3.111,3.102,3.084,3.072,3.051,3.043,3.023,3.015,3.01,2.991,2.973,2.961,2.951,2.939,2.933,2.917,2.911,2.894,2.887,2.875,2.863,2.845,2.842,2.829,2.813,2.801,2.787,2.785,2.782,2.766,2.757,2.747,2.737,2.727,2.726,2.721,2.705,2.694,2.681,2.677,2.676,2.665,2.662,2.658,2.65,2.638,2.633,2.629,2.617,2.609,2.599,2.596,2.586,2.579,2.576,2.573,2.565,2.564,2.56,2.55,2.546,2.545,2.534,2.525,2.52,2.512,2.506,2.505,2.503,2.498,2.496,2.482,2.48,2.479,2.478,2.478,2.473,2.47,2.465,2.459,2.458,2.456,2.452,2.452,2.449,2.449,2.449,2.439,2.439,2.439,2.427,2.427,2.424,2.424,2.419,2.418,2.418,2.418,2.415,2.415,2.417,2.417,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.41,2.41,2.413,2.414,2.414,2.414,2.414,2.414,2.413,2.416,2.416,2.417,2.42,2.421,2.421,2.421,2.423,2.425,2.429,2.431,2.431,2.432,2.431,2.435,2.436,2.436,2.436,2.444,2.452,2.452,2.458,2.458,2.458,2.462,2.465,2.467,2.475,2.476,2.479,2.482,2.489,2.49,2.491,2.5,2.501,2.515,2.52,2.52,2.52,2.528,2.532,2.535,2.548,2.552,2.554,2.558,2.567,2.569,2.577,2.592,2.597,2.598,2.605,2.609,2.616,2.625,2.639,2.641,2.648,2.649,2.654,2.666,2.681,2.681,2.697,2.701,2.704,2.716,2.717,2.73,2.744,2.752,2.756,2.77,2.783,2.794,2.796,2.804,2.815,2.826,2.841,2.846,2.859,2.87,2.877,2.895,2.9,2.922,2.924,2.946,2.953,2.959,2.979,2.982,2.994,3.012,3.025,3.038,3.043,3.07,3.077,3.096,3.104,3.125,3.139,3.151,3.173,3.185,3.204,3.214,3.238,3.241,3.254,3.279,3.303,3.315,3.346,3.354,3.368,3.393,3.412,3.436,3.458,3.476,3.502,3.526,3.539,3.572,3.601,3.624,3.641,3.669,3.689,3.731,3.747,3.785,3.791,3.837,3.869,3.891,3.921,3.952,4.011,4.026,4.061,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.356,3.356,3.341,3.325,3.308,3.294,3.293,3.272,3.267,3.263,3.258,3.245,3.24,3.231,3.222,3.212,3.209,3.202,3.183,3.182,3.176,3.172,3.158,3.153,3.151,3.139,3.133,3.132,3.127,3.122,3.121,3.111,3.1,3.1,3.094,3.089,3.087,3.08,3.078,3.075,3.066,3.066,3.065,3.052,3.049,3.048,3.048,3.041,3.039,3.039,3.039,3.038,3.029,3.028,3.024,3.024,3.024,3.024,3.032,3.032,3.032,3.021,3.017,3.017,3.017,3.013,3.012,3.008,3.008,3.007,3.007,3.007,3.008,3.009,3.01,3.01,3.013,3.011,3.013,3.011,3.016,3.011,3.013,3.013,3.018,3.018,3.018,3.018,3.02,3.02,3.02,3.021,3.031,3.032,3.032,3.032,3.033,3.042,3.043,3.047,3.054,3.054,3.058,3.06,3.061,3.063,3.065,3.074,3.077,3.089,3.092,3.094,3.096,3.096,3.099,3.1,3.113,3.113,3.12,3.134,3.134,3.134,3.136,3.136,3.136,3.146,3.146,3.157,3.162,3.166,3.167,3.172,3.183,3.183,3.2,3.212,3.218,3.223,3.231,3.236,3.241,3.244,3.246,3.246,3.258,3.278,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 55.74} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 55.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 55.7424} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.2032} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8768} SEN {Time 55.7866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.177,0.189,0.189,0,0,0,0,0,0,0,0,3.686,3.68,3.665,3.659,3.647,3.635,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.226,3.215,3.204,3.204,3.204,3.273,3.368,0,0,0,0,0,0,0,0.151,0.147,0.147,0.147,0.147,0.146,0.144,0.144,0.156,0.154,0.158,0.158,0.162,0.162,3.037,3.039,3.039,3.039,3.037,3.039,3.032,0.154,0.154,0.154,0.154,0.152,0.147,0.146,0.142,0.126,0.114,0.078,0.062,0.062,0.062,0.062,0.061,0.062,0.067,0.067,0.064,0.064,0.064,0.064,0.064,0.076,0.127,0.195,3.349,0,0.007,3.381,3.375,3.375,3.375,3.375,3.404,3.407,3.434,3.458,3.462,3.462,3.471,3.479,3.481,3.497,3.499,3.506,3.511,3.511,3.516,3.516,3.52,3.529,3.532,3.532,3.535,3.535,3.539,3.547,3.547,3.554,3.558,3.559,3.569,3.569,3.576,3.579,3.585,3.592,3.593,3.601,3.608,3.608,3.629,3.634,3.635,3.636,3.641,3.644,3.65,3.656,3.665,3.668,3.67,3.687,3.689,3.697,3.703,3.719,3.721,3.734,3.735,3.738,3.756,3.757,3.76,3.784,3.79,3.799,3.8,3.811,3.829,3.831,3.831,3.847,3.87,3.874,3.885,3.904,3.905,3.915,3.922,3.945,3.955,3.966,3.979,3.996,4.012,4.037,4.039,4.061,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.036,3.999,3.966,3.932,3.906,3.875,3.841,3.809,3.794,3.76,3.729,3.695,3.67,3.648,3.624,3.607,3.576,3.554,3.524,3.5,3.487,3.472,3.445,3.422,3.4,3.387,3.376,3.354,3.331,3.308,3.29,3.278,3.26,3.232,3.228,3.2,3.191,3.165,3.163,3.136,3.122,3.105,3.096,3.079,3.074,3.042,3.039,3.021,3.014,3.001,2.985,2.974,2.959,2.957,2.937,2.926,2.921,2.899,2.884,2.88,2.871,2.868,2.848,2.843,2.825,2.809,2.804,2.798,2.786,2.784,2.772,2.756,2.754,2.745,2.736,2.727,2.72,2.704,2.698,2.684,2.68,2.667,2.667,2.657,2.648,2.646,2.635,2.63,2.624,2.621,2.611,2.607,2.601,2.591,2.584,2.581,2.579,2.572,2.567,2.554,2.546,2.545,2.543,2.536,2.527,2.516,2.515,2.508,2.5,2.493,2.49,2.488,2.485,2.483,2.48,2.48,2.477,2.471,2.468,2.465,2.465,2.458,2.458,2.457,2.449,2.447,2.447,2.445,2.445,2.444,2.439,2.429,2.427,2.427,2.427,2.427,2.426,2.426,2.419,2.418,2.418,2.418,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.41,2.409,2.409,2.409,2.409,2.41,2.415,2.414,2.414,2.413,2.414,2.414,2.414,2.417,2.418,2.419,2.42,2.424,2.425,2.426,2.427,2.428,2.43,2.432,2.437,2.441,2.442,2.444,2.444,2.447,2.451,2.457,2.457,2.465,2.466,2.466,2.468,2.472,2.478,2.48,2.488,2.49,2.493,2.495,2.496,2.504,2.506,2.512,2.516,2.516,2.521,2.531,2.538,2.541,2.552,2.555,2.562,2.564,2.572,2.578,2.593,2.598,2.599,2.603,2.608,2.617,2.627,2.628,2.638,2.644,2.649,2.656,2.663,2.676,2.687,2.688,2.7,2.704,2.716,2.718,2.728,2.739,2.753,2.754,2.757,2.778,2.787,2.794,2.813,2.814,2.831,2.844,2.845,2.86,2.872,2.879,2.893,2.913,2.917,2.931,2.942,2.952,2.955,2.97,2.979,2.997,3.017,3.025,3.034,3.048,3.065,3.079,3.091,3.11,3.125,3.132,3.15,3.166,3.185,3.194,3.217,3.23,3.254,3.263,3.276,3.3,3.316,3.343,3.344,3.371,3.407,3.409,3.436,3.458,3.49,3.505,3.52,3.543,3.573,3.591,3.606,3.633,3.669,3.692,3.722,3.754,3.775,3.801,3.838,3.862,3.899,3.917,3.944,4.034,0.007,0,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.35,3.344,3.331,3.308,3.307,3.296,3.293,3.286,3.274,3.253,3.251,3.241,3.237,3.236,3.218,3.214,3.208,3.203,3.203,3.181,3.181,3.17,3.158,3.157,3.155,3.143,3.142,3.13,3.121,3.121,3.12,3.116,3.105,3.104,3.087,3.086,3.085,3.079,3.077,3.076,3.072,3.07,3.066,3.058,3.055,3.054,3.041,3.04,3.038,3.037,3.035,3.032,3.03,3.03,3.023,3.023,3.023,3.023,3.028,3.028,3.028,3.019,3.018,3.013,3.017,3.017,3.016,3.016,3.016,3.015,3.01,3.005,3.005,3.005,3.008,3.008,3.014,3.014,3.013,3.013,3.013,3.013,3.015,3.016,3.016,3.019,3.019,3.023,3.024,3.024,3.024,3.026,3.024,3.032,3.032,3.034,3.034,3.037,3.041,3.046,3.053,3.053,3.06,3.06,3.061,3.065,3.068,3.081,3.081,3.086,3.086,3.092,3.093,3.093,3.095,3.103,3.116,3.119,3.123,3.131,3.131,3.136,3.136,3.14,3.14,3.142,3.144,3.153,3.162,3.166,3.175,3.182,3.186,3.187,3.202,3.215,3.218,3.226,3.228,3.229,3.233,3.241,3.247,3.255,3.263,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 55.94} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 55.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 55.9434} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.2032} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.8768} SEN {Time 55.9866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.183,0.185,0.185,0,0,0,0,0,0,0,0,3.691,3.69,3.67,3.669,3.643,3.636,3.612,3.612,3.604,3.604,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.222,3.216,3.216,3.216,3.265,3.367,0,0,0,0,0,0,0,0.144,0.142,0.142,0.142,0.142,0.143,0.15,0.149,0.15,0.15,0.152,0.152,0.156,0.156,3.03,3.03,3.032,3.032,3.03,3.032,3.032,0.161,0.154,0.154,0.154,0.15,0.149,0.143,0.143,0.122,0.106,0.071,0.068,0.066,0.06,0.066,0.065,0.066,0.066,0.068,0.067,0.067,0.066,0.067,0.067,0.077,0.146,0.221,3.342,3.356,3.36,3.36,3.36,3.38,3.383,3.399,3.399,3.415,3.42,3.428,3.458,3.474,3.477,3.484,3.49,3.49,3.492,3.504,3.512,3.516,3.519,3.524,3.527,3.529,3.529,3.529,3.534,3.537,3.545,3.544,3.548,3.549,3.559,3.567,3.569,3.573,3.574,3.579,3.58,3.582,3.599,3.604,3.605,3.609,3.622,3.623,3.631,3.636,3.643,3.648,3.648,3.653,3.666,3.67,3.686,3.687,3.693,3.697,3.697,3.71,3.719,3.734,3.739,3.741,3.756,3.76,3.773,3.773,3.787,3.792,3.802,3.809,3.82,3.843,3.844,3.846,3.86,3.881,3.891,3.898,3.901,3.918,3.933,3.936,3.963,3.97,3.971,4.002,4.01,4.031,4.049,4.06,4.086,4.091,0.016,0.016,0.016,0.016,0.016,4.095,4.042,4.027,3.989,3.967,3.932,3.907,3.873,3.873,3.845,3.817,3.759,3.727,3.705,3.69,3.651,3.618,3.6,3.577,3.545,3.528,3.498,3.487,3.459,3.448,3.422,3.411,3.38,3.37,3.352,3.338,3.308,3.3,3.274,3.25,3.24,3.227,3.207,3.188,3.164,3.16,3.136,3.128,3.109,3.1,3.078,3.067,3.054,3.047,3.025,3.012,3.001,2.99,2.979,2.968,2.952,2.945,2.923,2.921,2.91,2.891,2.873,2.867,2.86,2.858,2.831,2.821,2.82,2.804,2.792,2.787,2.784,2.769,2.759,2.757,2.739,2.728,2.722,2.71,2.704,2.696,2.68,2.679,2.674,2.664,2.654,2.653,2.647,2.641,2.629,2.624,2.616,2.611,2.605,2.596,2.593,2.581,2.576,2.572,2.57,2.561,2.554,2.547,2.543,2.539,2.535,2.53,2.521,2.517,2.507,2.503,2.498,2.498,2.494,2.492,2.484,2.483,2.479,2.476,2.47,2.466,2.462,2.461,2.461,2.456,2.454,2.453,2.452,2.446,2.444,2.441,2.439,2.433,2.426,2.426,2.426,2.424,2.423,2.423,2.416,2.415,2.414,2.412,2.411,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.406,2.406,2.412,2.414,2.415,2.415,2.417,2.417,2.415,2.415,2.415,2.415,2.415,2.415,2.417,2.417,2.417,2.417,2.424,2.427,2.428,2.427,2.431,2.431,2.432,2.442,2.442,2.443,2.444,2.445,2.448,2.451,2.452,2.464,2.47,2.47,2.472,2.473,2.473,2.475,2.48,2.488,2.49,2.493,2.502,2.506,2.51,2.513,2.521,2.525,2.528,2.535,2.535,2.538,2.544,2.553,2.565,2.565,2.569,2.579,2.59,2.591,2.598,2.604,2.61,2.616,2.632,2.641,2.643,2.647,2.647,2.65,2.659,2.672,2.679,2.682,2.697,2.703,2.708,2.714,2.733,2.735,2.754,2.754,2.763,2.783,2.792,2.8,2.802,2.823,2.828,2.842,2.844,2.857,2.87,2.881,2.883,2.903,2.92,2.932,2.947,2.95,2.959,2.974,2.985,2.998,3.014,3.021,3.034,3.039,3.062,3.087,3.092,3.109,3.121,3.146,3.151,3.169,3.178,3.186,3.222,3.241,3.248,3.268,3.275,3.301,3.321,3.336,3.357,3.377,3.396,3.416,3.436,3.459,3.483,3.492,3.518,3.539,3.573,3.608,3.617,3.644,3.678,3.69,3.72,3.751,3.777,3.799,3.831,3.861,3.895,3.909,3.939,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.34,3.331,3.322,3.309,3.3,3.299,3.275,3.272,3.257,3.247,3.241,3.237,3.235,3.228,3.209,3.203,3.193,3.193,3.191,3.178,3.177,3.163,3.156,3.151,3.143,3.133,3.121,3.121,3.121,3.117,3.112,3.11,3.106,3.094,3.088,3.084,3.084,3.082,3.078,3.066,3.066,3.063,3.055,3.052,3.047,3.045,3.045,3.042,3.04,3.04,3.034,3.032,3.027,3.023,3.021,3.021,3.023,3.027,3.027,3.027,3.022,3.02,3.015,3.014,3.012,3.012,3.012,3.007,3.007,3.007,3.004,3.004,3.004,3.005,3.005,3.012,3.013,3.008,3.011,3.011,3.011,3.011,3.011,3.011,3.011,3.016,3.016,3.023,3.023,3.023,3.026,3.031,3.031,3.034,3.033,3.033,3.04,3.041,3.043,3.051,3.051,3.057,3.059,3.061,3.07,3.072,3.079,3.081,3.085,3.085,3.089,3.09,3.095,3.095,3.11,3.113,3.117,3.129,3.131,3.131,3.133,3.136,3.14,3.14,3.148,3.148,3.152,3.164,3.165,3.168,3.171,3.175,3.181,3.193,3.211,3.221,3.223,3.224,3.224,3.231,3.233,3.248,3.257,3.259,3.286,3.295,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 56.14} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 56.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 56.1436} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.2032} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 5.08} SEN {Time 56.1866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.181,0.189,0.189,0,0,0,0,0,0,0,0,3.685,3.678,3.662,3.661,3.646,3.627,3.62,3.62,3.62,3.598,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.22,3.218,3.213,3.213,3.213,3.262,3.369,0,0,0,0,0,0,0,0.146,0.142,0.142,0.142,0.142,0.143,0.143,0.143,0.15,0.149,0.15,0.15,0.153,0.153,3.034,3.035,3.035,3.035,3.034,3.032,0.157,0.157,0.156,0.156,0.156,0.153,0.153,0.147,0.147,0.121,0.111,0.076,0.071,0.065,0.06,0.06,0.06,0.066,0.068,0.068,0.066,0.064,0.063,0.063,0.063,0.08,0.148,0.207,3.332,3.353,3.357,3.369,3.369,3.375,3.378,3.41,3.419,3.425,3.425,3.434,3.469,3.483,3.484,3.486,3.491,3.501,3.504,3.504,3.507,3.513,3.513,3.522,3.524,3.529,3.535,3.535,3.537,3.541,3.543,3.543,3.546,3.55,3.562,3.57,3.571,3.576,3.577,3.577,3.582,3.587,3.592,3.595,3.599,3.62,3.629,3.631,3.631,3.632,3.633,3.64,3.654,3.654,3.658,3.667,3.675,3.681,3.688,3.7,3.707,3.708,3.722,3.733,3.734,3.749,3.756,3.758,3.765,3.779,3.785,3.794,3.795,3.825,3.83,3.83,3.842,3.848,3.862,3.868,3.886,3.905,3.907,3.918,3.924,3.949,3.958,3.963,3.991,3.994,4.016,4.037,4.038,4.053,4.067,4.08,0.016,0.016,0.016,0.016,0.016,4.087,4.06,4.034,3.992,3.969,3.945,3.901,3.901,3.869,3.855,3.783,3.758,3.741,3.71,3.69,3.642,3.629,3.606,3.58,3.553,3.54,3.507,3.499,3.459,3.447,3.438,3.405,3.38,3.366,3.349,3.326,3.304,3.289,3.286,3.249,3.235,3.225,3.197,3.187,3.169,3.146,3.143,3.123,3.104,3.1,3.082,3.073,3.045,3.034,3.029,3.018,3.007,2.992,2.982,2.961,2.955,2.936,2.924,2.923,2.909,2.89,2.884,2.87,2.867,2.849,2.842,2.822,2.818,2.815,2.801,2.781,2.779,2.769,2.764,2.745,2.739,2.727,2.711,2.709,2.703,2.696,2.681,2.681,2.679,2.666,2.659,2.657,2.654,2.638,2.637,2.626,2.622,2.62,2.616,2.596,2.593,2.585,2.578,2.577,2.574,2.564,2.562,2.545,2.54,2.538,2.53,2.522,2.514,2.51,2.508,2.5,2.496,2.488,2.488,2.488,2.486,2.483,2.479,2.476,2.473,2.472,2.47,2.464,2.455,2.452,2.45,2.449,2.449,2.449,2.44,2.439,2.438,2.432,2.429,2.427,2.426,2.427,2.424,2.421,2.421,2.421,2.419,2.418,2.418,2.417,2.417,2.417,2.417,2.412,2.41,2.41,2.411,2.41,2.411,2.412,2.412,2.413,2.414,2.414,2.414,2.413,2.414,2.414,2.417,2.417,2.418,2.418,2.42,2.423,2.423,2.423,2.429,2.429,2.43,2.433,2.44,2.44,2.442,2.442,2.447,2.448,2.45,2.454,2.456,2.458,2.462,2.465,2.467,2.471,2.476,2.477,2.48,2.488,2.488,2.493,2.501,2.502,2.511,2.515,2.519,2.519,2.525,2.532,2.535,2.536,2.549,2.552,2.557,2.564,2.569,2.585,2.586,2.599,2.601,2.606,2.616,2.62,2.623,2.628,2.64,2.641,2.644,2.653,2.659,2.669,2.676,2.688,2.693,2.697,2.712,2.726,2.731,2.747,2.747,2.76,2.765,2.78,2.789,2.796,2.806,2.817,2.833,2.839,2.847,2.855,2.871,2.873,2.886,2.905,2.919,2.929,2.94,2.95,2.969,2.971,2.984,3.002,3.02,3.024,3.039,3.048,3.063,3.086,3.086,3.111,3.119,3.137,3.152,3.17,3.182,3.193,3.224,3.229,3.243,3.266,3.273,3.291,3.314,3.341,3.349,3.366,3.403,3.417,3.429,3.46,3.472,3.493,3.527,3.529,3.573,3.592,3.611,3.653,3.661,3.699,3.729,3.744,3.772,3.803,3.829,3.867,3.887,3.92,3.96,3.998,4.034,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.355,3.336,3.333,3.313,3.312,3.302,3.297,3.277,3.269,3.26,3.248,3.24,3.233,3.225,3.213,3.211,3.207,3.193,3.185,3.183,3.179,3.177,3.166,3.158,3.153,3.139,3.136,3.134,3.127,3.126,3.12,3.108,3.104,3.095,3.093,3.092,3.088,3.083,3.083,3.079,3.067,3.061,3.061,3.054,3.049,3.048,3.048,3.041,3.041,3.041,3.041,3.038,3.036,3.026,3.026,3.025,3.026,3.026,3.031,3.031,3.031,3.022,3.014,3.013,3.013,3.012,3.009,3.011,3.011,3.011,3.009,3.008,3.008,3.008,3.008,3.01,3.014,3.016,3.016,3.016,3.014,3.014,3.014,3.015,3.017,3.021,3.021,3.021,3.022,3.022,3.022,3.025,3.026,3.029,3.039,3.039,3.039,3.039,3.04,3.046,3.049,3.053,3.061,3.061,3.062,3.064,3.064,3.075,3.079,3.084,3.092,3.092,3.093,3.093,3.094,3.11,3.11,3.117,3.129,3.133,3.136,3.136,3.138,3.14,3.14,3.148,3.149,3.149,3.157,3.169,3.169,3.173,3.173,3.186,3.202,3.213,3.215,3.227,3.233,3.237,3.237,3.237,3.246,3.249,3.261,3.272,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 56.34} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 56.34} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 56.3364} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 5.08} SEN {Time 56.3827} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.181,0.186,0,0,0,0,0,0,0,0,3.688,3.677,3.668,3.664,3.652,3.628,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.22,3.217,3.217,3.217,3.258,3.376,0,0,0,0,0,0,0,0.149,0.145,0.145,0.143,0.149,0.144,0.144,0.144,0.151,0.149,0.151,0.151,0.154,0.154,3.03,3.036,3.038,3.038,3.036,3.038,3.038,0.157,0.157,0.157,0.157,0.154,0.152,0.149,0.149,0.128,0.106,0.076,0.064,0.062,0.061,0.061,0.061,0.062,0.064,0.064,0.062,0.061,0.061,0.061,0.061,0.074,0.139,0.203,3.342,3.359,3.37,3.37,3.37,3.372,3.386,3.391,3.427,3.427,3.427,3.436,3.464,3.477,3.478,3.482,3.484,3.502,3.504,3.505,3.507,3.515,3.515,3.519,3.522,3.525,3.526,3.528,3.536,3.543,3.545,3.545,3.546,3.553,3.557,3.564,3.566,3.574,3.578,3.582,3.588,3.596,3.6,3.601,3.608,3.611,3.621,3.629,3.638,3.638,3.645,3.646,3.658,3.657,3.664,3.67,3.673,3.677,3.689,3.69,3.69,3.701,3.722,3.723,3.73,3.744,3.753,3.755,3.76,3.762,3.777,3.786,3.787,3.818,3.825,3.831,3.841,3.854,3.87,3.872,3.886,3.897,3.902,3.916,3.928,3.948,3.948,3.979,3.99,3.999,4.009,4.019,4.039,4.062,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.038,3.999,3.972,3.936,3.91,3.879,3.841,3.812,3.776,3.759,3.733,3.696,3.671,3.65,3.625,3.61,3.581,3.544,3.529,3.509,3.481,3.461,3.445,3.43,3.399,3.384,3.369,3.345,3.334,3.308,3.303,3.281,3.262,3.235,3.226,3.189,3.185,3.169,3.151,3.143,3.128,3.11,3.096,3.084,3.066,3.053,3.038,3.023,3.007,2.999,2.987,2.981,2.965,2.956,2.942,2.924,2.922,2.901,2.893,2.879,2.872,2.871,2.842,2.838,2.829,2.82,2.812,2.794,2.787,2.778,2.764,2.755,2.748,2.742,2.73,2.721,2.705,2.704,2.697,2.684,2.683,2.678,2.663,2.656,2.652,2.65,2.636,2.635,2.629,2.621,2.615,2.615,2.6,2.589,2.587,2.584,2.571,2.569,2.568,2.559,2.553,2.54,2.535,2.524,2.523,2.517,2.509,2.509,2.508,2.5,2.499,2.49,2.487,2.484,2.483,2.477,2.475,2.474,2.47,2.47,2.459,2.453,2.45,2.449,2.446,2.444,2.444,2.442,2.439,2.438,2.435,2.43,2.43,2.429,2.429,2.424,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.414,2.411,2.411,2.411,2.411,2.412,2.413,2.412,2.413,2.414,2.414,2.412,2.415,2.415,2.415,2.416,2.417,2.417,2.417,2.42,2.421,2.42,2.42,2.421,2.421,2.423,2.425,2.425,2.428,2.43,2.438,2.438,2.441,2.441,2.447,2.451,2.451,2.456,2.456,2.467,2.467,2.467,2.467,2.473,2.476,2.477,2.48,2.487,2.487,2.492,2.499,2.507,2.508,2.519,2.52,2.522,2.523,2.531,2.532,2.534,2.548,2.55,2.559,2.569,2.569,2.579,2.589,2.596,2.608,2.609,2.61,2.62,2.624,2.635,2.642,2.647,2.648,2.655,2.656,2.677,2.682,2.682,2.695,2.702,2.711,2.723,2.726,2.749,2.751,2.763,2.771,2.781,2.791,2.793,2.807,2.816,2.826,2.845,2.854,2.861,2.871,2.885,2.887,2.903,2.914,2.927,2.949,2.954,2.956,2.97,2.989,2.999,3.011,3.028,3.036,3.049,3.077,3.081,3.083,3.103,3.121,3.138,3.158,3.171,3.181,3.199,3.218,3.233,3.248,3.263,3.275,3.298,3.319,3.338,3.357,3.384,3.395,3.409,3.433,3.46,3.48,3.493,3.53,3.548,3.558,3.595,3.609,3.636,3.667,3.692,3.721,3.75,3.779,3.801,3.839,3.853,3.896,3.918,3.95,3.985,4.027,0.016,0.007,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.359,3.342,3.334,3.317,3.312,3.303,3.302,3.278,3.273,3.259,3.246,3.241,3.24,3.236,3.215,3.212,3.204,3.2,3.184,3.183,3.176,3.175,3.159,3.157,3.151,3.143,3.142,3.141,3.12,3.12,3.115,3.108,3.098,3.097,3.093,3.086,3.086,3.085,3.081,3.073,3.07,3.064,3.064,3.055,3.054,3.045,3.041,3.038,3.038,3.037,3.036,3.036,3.033,3.029,3.023,3.021,3.023,3.023,3.031,3.031,3.031,3.025,3.024,3.017,3.016,3.014,3.012,3.012,3.012,3.007,3.002,3.002,3.006,3.004,3.006,3.006,3.011,3.016,3.016,3.014,3.014,3.014,3.014,3.015,3.016,3.021,3.021,3.021,3.022,3.027,3.024,3.028,3.028,3.028,3.036,3.036,3.036,3.039,3.042,3.045,3.046,3.051,3.052,3.058,3.058,3.066,3.068,3.073,3.08,3.08,3.084,3.085,3.088,3.093,3.105,3.106,3.111,3.116,3.121,3.134,3.134,3.138,3.14,3.14,3.14,3.146,3.15,3.164,3.165,3.165,3.168,3.17,3.176,3.184,3.196,3.204,3.22,3.223,3.227,3.238,3.238,3.244,3.246,3.25,3.262,3.275,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 56.54} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 56.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 56.5374} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.08} SEN {Time 56.5826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.174,0.174,0.174,0.186,0.187,0,0,0,0,0,0,0,0,3.687,3.686,3.67,3.661,3.642,3.627,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.217,3.214,3.211,3.211,3.211,3.261,3.374,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.144,0.147,0.151,0.153,0.153,0.154,0.154,0.158,0.159,3.037,3.037,3.037,3.037,3.029,3.029,3.029,0.163,0.153,0.153,0.153,0.153,0.153,0.153,0.15,0.127,0.107,0.074,0.064,0.063,0.062,0.062,0.063,0.064,0.066,0.069,0.069,0.069,0.069,0.069,0.069,0.084,0.144,0.197,3.344,3.356,3.364,3.362,3.364,3.366,3.37,3.37,3.433,3.434,3.46,3.46,3.46,3.47,3.47,3.488,3.498,3.499,3.499,3.505,3.508,3.514,3.517,3.517,3.525,3.525,3.53,3.534,3.538,3.541,3.543,3.545,3.553,3.56,3.563,3.57,3.572,3.574,3.574,3.581,3.587,3.588,3.592,3.595,3.609,3.61,3.622,3.622,3.635,3.639,3.645,3.652,3.653,3.662,3.663,3.668,3.674,3.678,3.693,3.699,3.7,3.713,3.716,3.735,3.743,3.747,3.758,3.762,3.764,3.772,3.787,3.804,3.809,3.81,3.825,3.831,3.843,3.848,3.859,3.873,3.875,3.904,3.905,3.92,3.929,3.934,3.945,3.962,3.973,3.993,4.02,4.029,4.044,4.061,4.075,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.062,4.018,3.958,3.95,3.901,3.872,3.843,3.82,3.79,3.756,3.728,3.693,3.676,3.653,3.628,3.602,3.576,3.546,3.529,3.515,3.494,3.452,3.434,3.428,3.4,3.385,3.364,3.345,3.34,3.308,3.287,3.271,3.256,3.233,3.228,3.204,3.185,3.169,3.158,3.141,3.128,3.106,3.099,3.077,3.061,3.039,3.037,3.027,3.007,2.999,2.99,2.98,2.964,2.946,2.942,2.928,2.92,2.91,2.889,2.875,2.871,2.856,2.846,2.845,2.827,2.825,2.811,2.792,2.782,2.78,2.779,2.758,2.751,2.738,2.728,2.72,2.715,2.71,2.698,2.69,2.68,2.68,2.665,2.664,2.65,2.647,2.646,2.637,2.625,2.612,2.611,2.608,2.597,2.593,2.581,2.577,2.573,2.567,2.565,2.559,2.546,2.54,2.536,2.535,2.524,2.518,2.514,2.508,2.503,2.5,2.493,2.492,2.492,2.486,2.48,2.478,2.474,2.472,2.468,2.463,2.462,2.458,2.458,2.448,2.446,2.446,2.445,2.443,2.443,2.441,2.434,2.431,2.43,2.424,2.424,2.424,2.421,2.42,2.418,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.415,2.411,2.411,2.411,2.411,2.412,2.412,2.413,2.413,2.414,2.414,2.414,2.414,2.416,2.417,2.417,2.417,2.419,2.415,2.415,2.419,2.421,2.423,2.424,2.43,2.432,2.434,2.435,2.436,2.438,2.442,2.446,2.447,2.448,2.453,2.46,2.462,2.465,2.467,2.472,2.473,2.48,2.483,2.483,2.49,2.492,2.496,2.499,2.508,2.508,2.512,2.514,2.52,2.524,2.53,2.534,2.539,2.546,2.554,2.557,2.562,2.566,2.58,2.592,2.599,2.599,2.607,2.612,2.613,2.625,2.631,2.637,2.642,2.645,2.646,2.662,2.668,2.685,2.688,2.701,2.703,2.708,2.724,2.733,2.746,2.753,2.757,2.768,2.775,2.784,2.793,2.803,2.819,2.837,2.838,2.845,2.856,2.874,2.881,2.892,2.909,2.918,2.922,2.946,2.955,2.957,2.971,2.98,2.997,3.011,3.028,3.034,3.05,3.07,3.083,3.093,3.107,3.12,3.14,3.152,3.157,3.183,3.204,3.22,3.236,3.255,3.258,3.28,3.308,3.324,3.338,3.359,3.382,3.392,3.409,3.446,3.463,3.487,3.501,3.52,3.537,3.571,3.589,3.61,3.647,3.655,3.697,3.725,3.751,3.783,3.795,3.839,3.863,3.893,3.925,3.936,3.991,4.058,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.358,3.329,3.314,3.304,3.298,3.288,3.274,3.272,3.254,3.253,3.245,3.241,3.233,3.214,3.214,3.212,3.205,3.191,3.19,3.18,3.165,3.16,3.152,3.151,3.143,3.137,3.13,3.127,3.122,3.121,3.111,3.107,3.106,3.09,3.087,3.082,3.082,3.071,3.071,3.071,3.064,3.061,3.061,3.052,3.051,3.045,3.04,3.04,3.04,3.04,3.04,3.032,3.03,3.029,3.026,3.026,3.026,3.033,3.033,3.033,3.025,3.024,3.015,3.015,3.015,3.015,3.011,3.015,3.011,3.008,3.008,3.008,3.008,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.017,3.017,3.022,3.024,3.022,3.022,3.026,3.029,3.029,3.031,3.036,3.036,3.036,3.041,3.047,3.049,3.054,3.056,3.067,3.068,3.068,3.071,3.073,3.075,3.082,3.089,3.089,3.091,3.095,3.099,3.109,3.113,3.115,3.127,3.135,3.135,3.137,3.137,3.137,3.139,3.144,3.15,3.153,3.158,3.159,3.17,3.17,3.176,3.183,3.201,3.22,3.221,3.223,3.223,3.227,3.232,3.248,3.252,3.253,3.261,3.281,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 56.74} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 56.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 56.7383} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.826} SEN {Time 56.7826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.689,3.678,3.665,3.665,3.642,3.639,3.607,3.607,3.607,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.216,3.217,3.217,3.362,0.007,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.144,0.143,0.143,0.143,0.153,0.153,0.154,0.154,0.155,0.156,3.031,3.035,3.035,3.035,3.031,3.035,3.031,0.162,0.161,0.161,0.158,0.153,0.152,0.147,0.147,0.126,0.107,0.076,0.068,0.063,0.06,0.06,0.06,0.067,0.067,0.068,0.067,0.067,0.065,0.065,0.065,0.07,0.153,0.218,3.336,3.358,3.359,3.359,3.367,3.388,0,0,0,3.43,3.43,3.43,3.466,3.471,3.487,3.493,3.495,3.499,3.505,3.507,3.513,3.516,3.516,3.522,3.525,3.525,3.525,3.53,3.539,3.542,3.545,3.549,3.55,3.558,3.56,3.56,3.561,3.564,3.569,3.577,3.581,3.587,3.595,3.596,3.606,3.61,3.62,3.624,3.635,3.639,3.641,3.651,3.653,3.661,3.664,3.676,3.682,3.683,3.689,3.693,3.695,3.715,3.721,3.728,3.735,3.746,3.754,3.762,3.769,3.774,3.788,3.801,3.805,3.819,3.82,3.833,3.836,3.845,3.874,3.876,3.88,3.891,3.901,3.906,3.937,3.957,3.958,3.964,3.987,3.988,4.016,4.034,4.047,4.06,4.075,4.086,0.016,0.016,0.016,0,0.007,0.016,4.065,4.025,4.003,3.971,3.922,3.905,3.874,3.846,3.81,3.79,3.755,3.732,3.702,3.669,3.651,3.619,3.606,3.578,3.554,3.529,3.509,3.479,3.46,3.445,3.423,3.405,3.39,3.364,3.353,3.336,3.303,3.289,3.276,3.267,3.23,3.222,3.197,3.187,3.169,3.154,3.142,3.123,3.11,3.092,3.084,3.071,3.057,3.044,3.025,3.012,3.002,2.991,2.982,2.958,2.955,2.941,2.924,2.914,2.909,2.9,2.878,2.868,2.861,2.85,2.841,2.825,2.813,2.807,2.789,2.784,2.778,2.771,2.766,2.75,2.736,2.73,2.72,2.715,2.705,2.693,2.684,2.676,2.671,2.666,2.662,2.652,2.651,2.636,2.631,2.626,2.62,2.615,2.605,2.6,2.595,2.579,2.577,2.571,2.569,2.566,2.558,2.554,2.547,2.536,2.535,2.529,2.519,2.514,2.509,2.508,2.498,2.494,2.491,2.49,2.479,2.478,2.478,2.473,2.471,2.466,2.466,2.459,2.456,2.455,2.45,2.449,2.449,2.448,2.447,2.443,2.434,2.434,2.433,2.433,2.428,2.428,2.425,2.418,2.418,2.417,2.416,2.413,2.412,2.412,2.412,2.412,2.412,2.41,2.411,2.41,2.411,2.411,2.411,2.411,2.412,2.412,2.412,2.412,2.412,2.41,2.414,2.414,2.418,2.42,2.42,2.418,2.419,2.419,2.419,2.426,2.427,2.429,2.432,2.435,2.439,2.44,2.44,2.441,2.445,2.447,2.452,2.455,2.457,2.463,2.465,2.465,2.466,2.466,2.471,2.477,2.482,2.484,2.485,2.494,2.496,2.498,2.51,2.51,2.519,2.522,2.525,2.53,2.535,2.544,2.553,2.554,2.559,2.561,2.564,2.579,2.59,2.598,2.599,2.606,2.606,2.606,2.628,2.631,2.641,2.643,2.649,2.657,2.667,2.678,2.68,2.686,2.698,2.7,2.715,2.723,2.727,2.737,2.755,2.755,2.759,2.777,2.794,2.795,2.801,2.819,2.832,2.835,2.853,2.856,2.864,2.882,2.889,2.902,2.918,2.923,2.937,2.947,2.959,2.981,2.982,3.002,3.011,3.032,3.038,3.051,3.06,3.084,3.096,3.109,3.115,3.141,3.15,3.167,3.182,3.202,3.217,3.238,3.251,3.259,3.285,3.307,3.323,3.324,3.356,3.369,3.397,3.409,3.435,3.452,3.481,3.505,3.527,3.54,3.555,3.587,3.613,3.633,3.671,3.693,3.721,3.743,3.782,3.81,3.836,3.867,3.893,3.909,3.948,3.991,4.02,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.374,3.363,3.343,3.32,3.315,3.311,3.297,3.297,3.28,3.276,3.257,3.253,3.244,3.238,3.233,3.21,3.207,3.207,3.197,3.184,3.182,3.181,3.174,3.16,3.152,3.149,3.145,3.137,3.128,3.122,3.119,3.116,3.11,3.11,3.1,3.092,3.085,3.085,3.081,3.081,3.08,3.074,3.063,3.062,3.061,3.056,3.054,3.053,3.043,3.04,3.038,3.038,3.038,3.031,3.027,3.027,3.02,3.02,3.027,3.029,3.029,3.029,3.019,3.019,3.015,3.015,3.014,3.012,3.01,3.011,3.011,3.009,3.011,3.011,3.011,3.011,3.011,3.011,3.012,3.011,3.012,3.012,3.012,3.01,3.015,3.015,3.018,3.018,3.02,3.022,3.022,3.024,3.024,3.028,3.029,3.032,3.034,3.034,3.035,3.041,3.044,3.047,3.051,3.053,3.054,3.061,3.061,3.067,3.07,3.079,3.088,3.091,3.092,3.096,3.104,3.108,3.111,3.115,3.118,3.127,3.128,3.128,3.133,3.139,3.141,3.141,3.144,3.151,3.154,3.159,3.159,3.165,3.17,3.178,3.18,3.201,3.205,3.214,3.223,3.231,3.231,3.232,3.241,3.248,3.248,3.25,3.275,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 56.94} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 56.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 56.9402} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.826} SEN {Time 56.9826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.18,0.188,0.188,0,0,0,0,0,0,0,0,3.696,3.688,3.667,3.666,3.645,3.627,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.214,3.213,3.214,3.214,3.265,3.373,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.147,0.145,0.145,0.151,0.151,0.153,0.153,0.154,0.156,3.038,3.043,3.043,3.043,3.043,3.044,3.037,0.164,0.159,0.159,0.159,0.153,0.153,0.153,0.153,0.13,0.107,0.08,0.066,0.061,0.061,0.065,0.061,0.065,0.07,0.07,0.065,0.065,0.064,0.064,0.064,0.08,0.137,0.214,3.318,3.336,3.34,3.361,3.371,3.383,3.398,3.407,3.411,3.411,3.427,3.465,3.474,3.477,3.477,3.489,3.494,3.497,3.497,3.498,3.511,3.518,3.519,3.521,3.525,3.526,3.532,3.54,3.544,3.546,3.55,3.55,3.551,3.557,3.56,3.572,3.572,3.572,3.577,3.579,3.581,3.588,3.594,3.596,3.605,3.612,3.622,3.628,3.633,3.634,3.65,3.657,3.662,3.664,3.669,3.67,3.676,3.69,3.692,3.698,3.707,3.708,3.717,3.733,3.741,3.747,3.756,3.766,3.767,3.779,3.788,3.798,3.806,3.814,3.823,3.838,3.841,3.842,3.858,3.872,3.89,3.897,3.903,3.91,3.925,3.943,3.949,3.961,3.985,3.998,4.009,4.021,4.042,4.059,4.067,4.089,0.016,0.016,0.016,0.016,0,0.007,4.091,4.022,4.003,3.968,3.931,3.907,3.877,3.85,3.811,3.778,3.747,3.73,3.686,3.674,3.658,3.621,3.6,3.571,3.536,3.531,3.511,3.494,3.456,3.435,3.424,3.4,3.383,3.376,3.345,3.333,3.312,3.294,3.274,3.256,3.23,3.224,3.199,3.185,3.171,3.154,3.145,3.126,3.107,3.102,3.081,3.062,3.054,3.046,3.033,3.01,3.001,2.987,2.985,2.968,2.954,2.933,2.932,2.915,2.902,2.898,2.878,2.867,2.864,2.855,2.84,2.83,2.825,2.815,2.791,2.786,2.778,2.772,2.755,2.74,2.74,2.727,2.723,2.714,2.7,2.694,2.684,2.682,2.681,2.666,2.662,2.655,2.647,2.641,2.637,2.632,2.62,2.613,2.609,2.603,2.593,2.58,2.578,2.572,2.571,2.568,2.558,2.546,2.539,2.537,2.531,2.53,2.522,2.512,2.503,2.5,2.5,2.492,2.492,2.487,2.487,2.482,2.476,2.475,2.47,2.468,2.468,2.465,2.459,2.455,2.445,2.445,2.446,2.445,2.44,2.44,2.438,2.438,2.431,2.427,2.427,2.427,2.425,2.424,2.423,2.421,2.419,2.416,2.419,2.416,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.41,2.41,2.412,2.412,2.412,2.414,2.414,2.411,2.411,2.415,2.415,2.419,2.42,2.42,2.42,2.424,2.424,2.424,2.425,2.427,2.429,2.43,2.435,2.438,2.44,2.44,2.44,2.44,2.45,2.452,2.453,2.454,2.463,2.467,2.467,2.47,2.472,2.477,2.482,2.484,2.486,2.488,2.498,2.501,2.505,2.508,2.518,2.519,2.522,2.527,2.532,2.536,2.54,2.548,2.556,2.562,2.564,2.566,2.576,2.59,2.601,2.601,2.604,2.612,2.618,2.625,2.634,2.638,2.644,2.65,2.652,2.668,2.675,2.677,2.693,2.698,2.698,2.719,2.724,2.735,2.739,2.747,2.751,2.76,2.78,2.787,2.799,2.801,2.815,2.831,2.843,2.849,2.861,2.868,2.874,2.887,2.911,2.924,2.93,2.943,2.955,2.955,2.969,2.987,2.999,3.013,3.026,3.038,3.045,3.069,3.082,3.086,3.106,3.119,3.135,3.152,3.167,3.181,3.2,3.227,3.239,3.247,3.266,3.278,3.295,3.325,3.332,3.355,3.381,3.399,3.401,3.438,3.459,3.484,3.494,3.525,3.541,3.566,3.601,3.613,3.649,3.672,3.687,3.714,3.752,3.782,3.807,3.846,3.858,3.897,3.925,3.961,3.991,4.033,4.093,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.351,3.329,3.329,3.32,3.309,3.295,3.292,3.279,3.278,3.255,3.252,3.237,3.233,3.233,3.215,3.212,3.202,3.198,3.186,3.185,3.182,3.177,3.166,3.158,3.148,3.139,3.136,3.132,3.125,3.119,3.116,3.108,3.106,3.101,3.096,3.091,3.088,3.086,3.081,3.07,3.07,3.065,3.061,3.056,3.056,3.056,3.056,3.045,3.042,3.04,3.04,3.037,3.03,3.029,3.026,3.021,3.021,3.021,3.029,3.029,3.029,3.024,3.022,3.016,3.016,3.014,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.008,3.008,3.008,3.008,3.012,3.012,3.01,3.01,3.01,3.01,3.014,3.016,3.021,3.017,3.021,3.025,3.023,3.023,3.025,3.029,3.032,3.035,3.035,3.035,3.036,3.043,3.043,3.044,3.053,3.059,3.059,3.06,3.061,3.073,3.074,3.081,3.086,3.092,3.092,3.095,3.095,3.106,3.107,3.112,3.112,3.124,3.138,3.138,3.14,3.141,3.143,3.143,3.148,3.149,3.158,3.165,3.165,3.167,3.179,3.185,3.185,3.202,3.207,3.218,3.222,3.222,3.228,3.228,3.234,3.238,3.242,3.262,3.275,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 57.14} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 57.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 57.1413} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.826} SEN {Time 57.1837} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.178,0.186,0.186,0,0,0,0,0,0,0,0,3.7,3.682,3.675,3.668,3.643,3.633,3.614,3.614,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.214,3.213,3.214,3.216,3.258,3.363,0,0,0,0,0,0,0,0.149,0.147,0.147,0.147,0.147,0.147,0.147,0.147,0.153,0.148,0.153,0.153,0.157,0.157,3.034,3.034,3.038,3.038,3.034,3.025,0.155,0.155,0.155,0.155,0.155,0.156,0.153,0.147,0.147,0.129,0.104,0.078,0.067,0.063,0.063,0.063,0.064,0.068,0.07,0.07,0.068,0.065,0.064,0.064,0.065,0.084,0.139,0.205,3.335,3.353,3.356,3.365,3.368,3.377,3.385,3.398,3.425,3.425,3.43,3.462,3.462,3.467,3.477,3.486,3.494,3.496,3.501,3.505,3.51,3.515,3.516,3.519,3.522,3.524,3.53,3.532,3.538,3.544,3.546,3.548,3.549,3.549,3.56,3.564,3.574,3.575,3.577,3.579,3.58,3.581,3.581,3.607,3.612,3.614,3.626,3.631,3.636,3.639,3.643,3.65,3.655,3.655,3.67,3.671,3.673,3.674,3.694,3.696,3.696,3.703,3.711,3.732,3.733,3.745,3.755,3.767,3.769,3.769,3.78,3.792,3.797,3.805,3.812,3.83,3.839,3.847,3.863,3.881,3.886,3.89,3.9,3.915,3.929,3.947,3.956,3.977,3.983,3.984,4.018,4.02,4.051,4.063,4.082,0.016,0.016,0.016,0.016,0,0,0,4.046,4.027,3.992,3.965,3.923,3.895,3.873,3.842,3.803,3.778,3.739,3.739,3.703,3.671,3.649,3.627,3.606,3.572,3.56,3.53,3.515,3.485,3.464,3.447,3.422,3.403,3.388,3.378,3.353,3.344,3.311,3.291,3.275,3.257,3.24,3.237,3.196,3.188,3.173,3.149,3.147,3.131,3.109,3.092,3.079,3.068,3.06,3.045,3.026,3.016,2.996,2.992,2.982,2.97,2.955,2.937,2.934,2.916,2.906,2.895,2.877,2.868,2.857,2.85,2.843,2.828,2.815,2.805,2.794,2.79,2.784,2.759,2.754,2.748,2.74,2.726,2.72,2.714,2.702,2.699,2.682,2.68,2.679,2.663,2.659,2.653,2.649,2.645,2.641,2.624,2.615,2.612,2.606,2.601,2.593,2.58,2.577,2.571,2.57,2.569,2.56,2.555,2.545,2.54,2.535,2.523,2.517,2.512,2.511,2.502,2.496,2.495,2.492,2.49,2.483,2.48,2.475,2.474,2.474,2.473,2.471,2.465,2.457,2.455,2.453,2.447,2.446,2.446,2.441,2.441,2.435,2.433,2.429,2.429,2.428,2.426,2.424,2.421,2.419,2.419,2.417,2.419,2.419,2.416,2.416,2.416,2.415,2.415,2.415,2.414,2.411,2.411,2.41,2.411,2.412,2.413,2.414,2.414,2.412,2.414,2.415,2.415,2.418,2.418,2.418,2.418,2.418,2.418,2.42,2.424,2.426,2.431,2.432,2.435,2.437,2.437,2.437,2.441,2.442,2.447,2.452,2.453,2.458,2.46,2.46,2.466,2.471,2.473,2.473,2.484,2.486,2.49,2.49,2.49,2.497,2.499,2.509,2.514,2.515,2.516,2.525,2.528,2.532,2.538,2.546,2.555,2.559,2.572,2.573,2.58,2.59,2.6,2.604,2.606,2.606,2.607,2.619,2.634,2.639,2.639,2.65,2.653,2.661,2.674,2.682,2.688,2.7,2.705,2.715,2.718,2.729,2.729,2.75,2.759,2.761,2.781,2.785,2.794,2.805,2.818,2.83,2.842,2.846,2.864,2.868,2.875,2.885,2.907,2.912,2.928,2.94,2.952,2.955,2.968,2.978,2.999,3.015,3.029,3.033,3.052,3.072,3.082,3.089,3.102,3.126,3.138,3.152,3.167,3.178,3.197,3.223,3.229,3.253,3.268,3.276,3.297,3.319,3.333,3.355,3.371,3.396,3.408,3.441,3.449,3.477,3.501,3.527,3.539,3.578,3.6,3.603,3.644,3.668,3.697,3.722,3.755,3.787,3.798,3.837,3.864,3.895,3.93,3.957,4.033,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.352,3.342,3.334,3.314,3.304,3.298,3.287,3.285,3.266,3.258,3.253,3.247,3.239,3.228,3.209,3.209,3.208,3.198,3.191,3.191,3.172,3.17,3.161,3.151,3.149,3.148,3.137,3.126,3.125,3.117,3.114,3.111,3.11,3.098,3.095,3.092,3.086,3.082,3.08,3.075,3.073,3.065,3.062,3.057,3.049,3.049,3.049,3.047,3.044,3.041,3.036,3.036,3.035,3.026,3.024,3.023,3.024,3.026,3.025,3.025,3.025,3.019,3.013,3.013,3.019,3.013,3.012,3.01,3.01,3.009,3.009,3.008,3.008,3.008,3.008,3.008,3.01,3.013,3.01,3.009,3.01,3.013,3.01,3.013,3.013,3.013,3.013,3.015,3.024,3.024,3.024,3.024,3.024,3.028,3.03,3.03,3.03,3.038,3.04,3.046,3.046,3.057,3.058,3.059,3.059,3.061,3.068,3.071,3.076,3.089,3.089,3.089,3.09,3.092,3.095,3.106,3.113,3.117,3.122,3.125,3.128,3.128,3.133,3.133,3.133,3.142,3.146,3.156,3.163,3.163,3.166,3.175,3.176,3.182,3.202,3.207,3.218,3.225,3.229,3.233,3.236,3.238,3.248,3.257,3.264,3.28,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 57.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 57.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 57.3332} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.8514} SEN {Time 57.3787} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.177,0.187,0.188,0,0,0,0,0,0,0,0,3.694,3.69,3.667,3.663,3.648,3.625,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.243,3.228,3.216,3.216,3.216,3.216,3.264,3.371,0,0,0,0,0,0,0,0.149,0.149,0.149,0.141,0.141,0.142,0.142,0.142,0.153,0.151,0.153,0.153,0.154,0.155,3.029,3.032,3.043,3.043,3.032,3.043,3.043,0.157,0.157,0.157,0.157,0.157,0.157,0.143,0.142,0.121,0.109,0.073,0.062,0.059,0.059,0.059,0.059,0.06,0.062,0.066,0.065,0.065,0.065,0.065,0.065,0.074,0.134,0.21,3.312,3.338,3.354,3.363,3.363,3.371,3.381,3.381,3.386,3.428,3.435,3.435,3.461,3.478,3.485,3.492,3.496,3.499,3.509,3.509,3.512,3.514,3.52,3.524,3.524,3.525,3.529,3.53,3.544,3.545,3.544,3.545,3.55,3.552,3.556,3.558,3.562,3.569,3.569,3.575,3.581,3.582,3.594,3.608,3.611,3.619,3.629,3.631,3.632,3.636,3.647,3.656,3.658,3.661,3.661,3.673,3.678,3.683,3.683,3.688,3.698,3.709,3.72,3.723,3.73,3.733,3.754,3.755,3.767,3.773,3.773,3.801,3.802,3.812,3.83,3.831,3.836,3.857,3.872,3.88,3.886,3.893,3.898,3.919,3.929,3.948,3.961,3.965,3.988,3.996,4,4.022,4.045,4.067,4.08,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.055,3.989,3.959,3.936,3.885,3.884,3.833,3.811,3.783,3.743,3.721,3.701,3.669,3.648,3.625,3.601,3.573,3.55,3.528,3.507,3.474,3.463,3.451,3.42,3.406,3.379,3.363,3.335,3.334,3.305,3.297,3.269,3.262,3.233,3.226,3.204,3.183,3.171,3.146,3.135,3.123,3.1,3.096,3.083,3.066,3.056,3.038,3.02,3.003,2.998,2.989,2.973,2.965,2.957,2.941,2.932,2.909,2.9,2.89,2.875,2.873,2.856,2.855,2.83,2.826,2.814,2.806,2.792,2.784,2.782,2.763,2.763,2.744,2.738,2.733,2.717,2.714,2.709,2.694,2.688,2.678,2.669,2.659,2.656,2.652,2.65,2.639,2.639,2.623,2.615,2.613,2.604,2.6,2.582,2.581,2.579,2.567,2.567,2.559,2.558,2.553,2.546,2.537,2.534,2.524,2.523,2.513,2.51,2.506,2.499,2.498,2.496,2.489,2.483,2.478,2.477,2.473,2.472,2.464,2.461,2.456,2.456,2.453,2.453,2.451,2.451,2.445,2.443,2.439,2.439,2.43,2.429,2.425,2.425,2.424,2.423,2.423,2.423,2.42,2.416,2.417,2.414,2.412,2.414,2.409,2.409,2.412,2.412,2.409,2.408,2.408,2.408,2.409,2.413,2.413,2.413,2.412,2.412,2.412,2.413,2.415,2.417,2.418,2.418,2.417,2.417,2.417,2.417,2.417,2.426,2.43,2.43,2.43,2.434,2.438,2.44,2.445,2.445,2.446,2.451,2.452,2.452,2.462,2.464,2.465,2.471,2.476,2.476,2.478,2.486,2.488,2.489,2.49,2.497,2.503,2.508,2.513,2.519,2.524,2.527,2.531,2.533,2.536,2.554,2.56,2.56,2.561,2.568,2.575,2.59,2.601,2.602,2.605,2.607,2.612,2.622,2.626,2.636,2.639,2.646,2.65,2.662,2.674,2.688,2.688,2.697,2.701,2.717,2.724,2.725,2.745,2.75,2.751,2.758,2.777,2.794,2.798,2.803,2.809,2.826,2.835,2.849,2.862,2.877,2.879,2.884,2.909,2.918,2.929,2.937,2.946,2.954,2.976,2.989,2.997,3.013,3.022,3.04,3.045,3.069,3.074,3.089,3.112,3.125,3.133,3.149,3.165,3.183,3.198,3.217,3.236,3.246,3.26,3.274,3.297,3.318,3.329,3.356,3.366,3.393,3.411,3.431,3.469,3.481,3.496,3.522,3.543,3.568,3.597,3.619,3.639,3.673,3.692,3.719,3.745,3.779,3.805,3.826,3.854,3.892,3.923,3.956,3.984,4.023,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.372,3.356,3.34,3.328,3.319,3.312,3.294,3.293,3.278,3.266,3.254,3.253,3.245,3.238,3.232,3.219,3.218,3.203,3.2,3.192,3.191,3.175,3.163,3.159,3.158,3.157,3.14,3.137,3.125,3.125,3.121,3.118,3.117,3.109,3.099,3.092,3.089,3.089,3.083,3.081,3.073,3.072,3.068,3.061,3.055,3.054,3.049,3.039,3.039,3.038,3.038,3.036,3.031,3.029,3.029,3.025,3.025,3.029,3.029,3.032,3.032,3.032,3.022,3.022,3.014,3.016,3.014,3.014,3.012,3.013,3.012,3.01,3.007,3.006,3.006,3.006,3.009,3.009,3.009,3.011,3.009,3.011,3.011,3.013,3.014,3.016,3.017,3.017,3.018,3.024,3.018,3.024,3.028,3.029,3.031,3.031,3.034,3.035,3.039,3.039,3.039,3.045,3.054,3.056,3.06,3.064,3.064,3.064,3.068,3.084,3.086,3.087,3.086,3.089,3.092,3.101,3.104,3.108,3.123,3.125,3.127,3.128,3.135,3.141,3.142,3.142,3.143,3.147,3.156,3.162,3.164,3.169,3.174,3.175,3.182,3.199,3.212,3.213,3.226,3.23,3.237,3.24,3.243,3.243,3.253,3.26,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 57.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 57.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 57.5342} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.8514} SEN {Time 57.5786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.178,0.18,0.184,0,0,0,0,0,0,0,0,0,3.685,3.66,3.653,3.647,3.626,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.212,3.212,3.212,3.212,3.261,3.356,0,0,0,0,0,0,0,0.149,0.144,0.144,0.144,0.149,0.144,0.152,0.152,0.152,0.152,0.152,0.152,0.152,0.154,3.039,3.039,3.039,3.039,3.034,3.034,0.156,0.156,0.155,0.155,0.155,0.153,0.148,0.147,0.146,0.135,0.107,0.071,0.066,0.064,0.061,0.061,0.06,0.06,0.063,0.068,0.068,0.068,0.064,0.064,0.064,0.081,0.136,0.203,3.35,3.357,3.373,3.365,3.365,3.365,3.373,3.389,3.397,3.424,3.447,0.007,3.476,3.476,3.486,3.486,3.489,3.499,3.502,3.502,3.513,3.515,3.521,3.521,3.526,3.526,3.528,3.534,3.538,3.54,3.542,3.546,3.546,3.554,3.556,3.556,3.568,3.57,3.575,3.575,3.581,3.582,3.593,3.603,3.611,3.611,3.626,3.629,3.631,3.64,3.643,3.646,3.653,3.654,3.659,3.66,3.673,3.676,3.682,3.688,3.707,3.707,3.716,3.718,3.728,3.734,3.748,3.751,3.769,3.771,3.771,3.802,3.807,3.815,3.821,3.838,3.848,3.856,3.864,3.883,3.883,3.901,3.906,3.915,3.933,3.937,3.951,3.966,3.982,3.991,4.019,4.02,4.05,4.064,4.08,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.052,4.024,4.008,4.008,3.979,3.931,3.888,3.833,3.808,3.788,3.756,3.734,3.697,3.686,3.644,3.62,3.607,3.583,3.543,3.542,3.512,3.491,3.464,3.454,3.428,3.411,3.372,3.365,3.347,3.332,3.304,3.287,3.278,3.262,3.228,3.224,3.2,3.196,3.172,3.15,3.136,3.129,3.108,3.102,3.077,3.077,3.044,3.044,3.035,3.021,3,2.987,2.974,2.962,2.951,2.941,2.921,2.916,2.911,2.895,2.882,2.878,2.855,2.851,2.838,2.825,2.807,2.803,2.79,2.787,2.779,2.765,2.757,2.753,2.735,2.726,2.72,2.719,2.704,2.693,2.681,2.678,2.677,2.671,2.662,2.65,2.648,2.642,2.629,2.624,2.617,2.61,2.609,2.603,2.592,2.58,2.577,2.572,2.567,2.56,2.557,2.551,2.543,2.54,2.531,2.522,2.519,2.518,2.507,2.506,2.499,2.498,2.495,2.489,2.484,2.479,2.476,2.474,2.473,2.466,2.464,2.461,2.456,2.454,2.447,2.447,2.447,2.442,2.441,2.441,2.44,2.435,2.427,2.427,2.427,2.424,2.424,2.415,2.415,2.414,2.41,2.411,2.411,2.41,2.411,2.411,2.415,2.411,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.414,2.414,2.414,2.414,2.413,2.413,2.413,2.419,2.42,2.425,2.425,2.425,2.425,2.425,2.425,2.425,2.425,2.425,2.433,2.439,2.442,2.443,2.445,2.451,2.452,2.453,2.453,2.454,2.458,2.467,2.467,2.468,2.47,2.473,2.479,2.483,2.484,2.489,2.493,2.497,2.501,2.514,2.518,2.519,2.52,2.525,2.525,2.534,2.542,2.55,2.552,2.558,2.568,2.575,2.583,2.584,2.597,2.601,2.609,2.613,2.619,2.625,2.633,2.635,2.642,2.643,2.656,2.658,2.676,2.68,2.68,2.696,2.701,2.708,2.72,2.721,2.743,2.753,2.754,2.764,2.777,2.785,2.799,2.811,2.816,2.824,2.834,2.849,2.852,2.866,2.882,2.894,2.904,2.911,2.925,2.948,2.957,2.958,2.971,2.988,2.997,3.018,3.022,3.04,3.047,3.062,3.075,3.098,3.106,3.121,3.136,3.152,3.169,3.177,3.2,3.222,3.237,3.24,3.264,3.281,3.3,3.317,3.336,3.355,3.375,3.392,3.405,3.432,3.466,3.483,3.498,3.517,3.546,3.564,3.599,3.614,3.64,3.662,3.695,3.719,3.738,3.779,3.794,3.835,3.864,3.888,3.926,3.992,4.03,4.091,4.091,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.356,3.34,3.331,3.315,3.307,3.296,3.296,3.29,3.283,3.256,3.246,3.237,3.236,3.234,3.217,3.216,3.215,3.196,3.191,3.178,3.175,3.171,3.158,3.151,3.145,3.144,3.142,3.133,3.127,3.118,3.113,3.106,3.106,3.098,3.093,3.087,3.084,3.083,3.073,3.071,3.068,3.066,3.063,3.056,3.05,3.048,3.044,3.042,3.04,3.036,3.036,3.035,3.035,3.024,3.024,3.023,3.023,3.074,3.074,3.029,3.029,3.023,3.019,3.014,3.014,3.014,3.01,3.009,3.009,3.009,3.004,3.004,3.005,3.007,3.007,3.007,3.01,3.01,3.016,3.016,3.016,3.016,3.016,3.016,3.016,3.022,3.022,3.025,3.025,3.018,3.018,3.021,3.021,3.029,3.035,3.035,3.035,3.038,3.043,3.046,3.049,3.055,3.057,3.061,3.062,3.066,3.074,3.074,3.08,3.081,3.082,3.087,3.095,3.1,3.101,3.104,3.107,3.116,3.124,3.136,3.136,3.136,3.138,3.141,3.142,3.143,3.147,3.148,3.157,3.162,3.165,3.175,3.178,3.198,3.199,3.203,3.216,3.228,3.231,3.234,3.239,3.241,3.243,3.25,3.265,3.275,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 57.74} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 57.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 57.7352} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 4.8514} SEN {Time 57.7786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.178,0.184,0.184,0,0,0,0,0,0,0,0,3.681,3.68,3.666,3.658,3.645,3.63,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.243,3.228,3.218,3.216,3.21,3.21,3.216,3.267,3.357,0,0,0,0,0,0,0,0.147,0.146,0.146,0.142,0.142,0.149,0.149,0.149,0.149,0.149,0.152,0.152,0.152,0.159,3.039,3.039,3.039,3.039,3.035,3.035,3.035,0.163,0.16,0.16,0.155,0.152,0.151,0.147,0.147,0.122,0.107,0.074,0.064,0.064,0.064,0.064,0.061,0.064,0.065,0.066,0.068,0.068,0.066,0.068,0.068,0.086,0.141,0.213,3.352,3.352,3.354,3.354,3.368,3.375,3.385,3.393,3.422,3.422,3.436,3.464,3.472,3.477,3.477,3.482,3.49,3.496,3.502,3.505,3.509,3.51,3.512,3.516,3.522,3.521,3.526,3.534,3.536,3.538,3.538,3.545,3.549,3.555,3.558,3.559,3.568,3.57,3.577,3.575,3.58,3.583,3.6,3.605,3.613,3.616,3.619,3.625,3.626,3.637,3.645,3.645,3.66,3.664,3.665,3.666,3.675,3.679,3.686,3.694,3.704,3.708,3.715,3.722,3.733,3.745,3.755,3.757,3.757,3.759,3.776,3.787,3.804,3.814,3.822,3.825,3.839,3.841,3.855,3.882,3.884,3.889,3.896,3.921,3.936,3.937,3.972,3.975,3.985,3.993,4.01,4.024,4.046,4.066,4.077,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.04,3.978,3.932,3.901,3.885,3.851,3.819,3.785,3.751,3.737,3.702,3.69,3.658,3.627,3.602,3.577,3.545,3.529,3.505,3.477,3.46,3.446,3.423,3.409,3.386,3.366,3.352,3.333,3.317,3.283,3.275,3.25,3.229,3.219,3.203,3.199,3.17,3.163,3.138,3.12,3.107,3.096,3.09,3.075,3.046,3.044,3.029,3.013,2.996,2.986,2.985,2.966,2.954,2.933,2.925,2.914,2.905,2.893,2.875,2.87,2.859,2.852,2.839,2.821,2.814,2.811,2.794,2.785,2.782,2.763,2.753,2.75,2.747,2.729,2.725,2.719,2.705,2.703,2.684,2.68,2.669,2.665,2.654,2.652,2.646,2.636,2.635,2.627,2.618,2.61,2.605,2.598,2.588,2.578,2.574,2.571,2.569,2.568,2.551,2.547,2.543,2.542,2.533,2.524,2.518,2.517,2.507,2.501,2.495,2.493,2.492,2.485,2.485,2.48,2.479,2.471,2.47,2.466,2.463,2.463,2.456,2.452,2.45,2.45,2.449,2.443,2.441,2.438,2.437,2.435,2.43,2.43,2.428,2.424,2.424,2.424,2.419,2.417,2.414,2.414,2.413,2.412,2.412,2.412,2.412,2.412,2.412,2.411,2.411,2.408,2.408,2.411,2.412,2.418,2.418,2.415,2.414,2.414,2.414,2.415,2.416,2.417,2.417,2.417,2.421,2.418,2.418,2.421,2.424,2.428,2.428,2.431,2.436,2.437,2.442,2.444,2.447,2.449,2.45,2.452,2.455,2.46,2.462,2.467,2.468,2.47,2.475,2.484,2.488,2.49,2.492,2.492,2.499,2.505,2.513,2.518,2.521,2.525,2.529,2.533,2.541,2.542,2.551,2.555,2.559,2.563,2.568,2.57,2.589,2.598,2.6,2.604,2.608,2.613,2.63,2.632,2.638,2.641,2.645,2.646,2.659,2.666,2.681,2.682,2.703,2.706,2.717,2.719,2.736,2.74,2.748,2.759,2.767,2.776,2.792,2.802,2.802,2.814,2.832,2.841,2.848,2.857,2.875,2.878,2.883,2.9,2.92,2.922,2.949,2.954,2.962,2.974,2.983,2.994,3.011,3.028,3.036,3.042,3.066,3.083,3.09,3.102,3.124,3.142,3.16,3.167,3.173,3.195,3.224,3.231,3.246,3.266,3.279,3.299,3.324,3.341,3.358,3.372,3.392,3.405,3.429,3.454,3.475,3.5,3.527,3.548,3.575,3.602,3.614,3.634,3.671,3.688,3.716,3.742,3.778,3.805,3.827,3.868,3.894,3.923,3.936,3.992,4.033,0.016,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.355,3.341,3.337,3.315,3.312,3.296,3.291,3.278,3.278,3.253,3.251,3.247,3.242,3.235,3.221,3.207,3.195,3.195,3.19,3.187,3.174,3.168,3.167,3.163,3.163,3.152,3.139,3.131,3.123,3.122,3.119,3.105,3.105,3.105,3.095,3.095,3.085,3.077,3.074,3.072,3.068,3.067,3.066,3.059,3.053,3.053,3.049,3.04,3.04,3.036,3.036,3.036,3.033,3.029,3.027,3.026,3.027,3.027,3.032,3.032,3.032,3.019,3.017,3.012,3.011,3.011,3.011,3.011,3.01,3.008,3.008,3.01,3.01,3.01,3.014,3.01,3.008,3.01,3.011,3.011,3.011,3.016,3.017,3.017,3.017,3.018,3.017,3.017,3.024,3.024,3.025,3.026,3.026,3.033,3.033,3.039,3.04,3.04,3.042,3.043,3.05,3.053,3.057,3.058,3.06,3.065,3.065,3.067,3.082,3.087,3.089,3.092,3.095,3.096,3.107,3.109,3.113,3.117,3.12,3.135,3.135,3.136,3.138,3.139,3.139,3.145,3.15,3.152,3.159,3.166,3.168,3.175,3.176,3.187,3.195,3.199,3.212,3.221,3.223,3.24,3.24,3.246,3.247,3.254,3.262,3.282,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 57.94} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 57.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 57.9361} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.2832} SEN {Time 57.9786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.18,0.18,0.18,0,0,0,0,0,0,0,0,3.684,3.674,3.666,3.66,3.642,3.633,3.605,3.605,3.605,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.216,3.211,3.208,3.211,3.216,3.267,3.358,0,0,0,0,0,0,0,0.147,0.147,0.146,0.146,0.146,0.145,0.146,0.146,0.15,0.15,0.156,0.156,0.158,0.162,3.04,3.04,3.04,3.04,3.039,3.039,3.039,0.16,0.153,0.153,0.153,0.16,0.153,0.15,0.15,0.127,0.111,0.074,0.07,0.064,0.064,0.064,0.061,0.062,0.065,0.065,0.064,0.064,0.064,0.064,0.064,0.074,0.127,0.198,3.337,3.362,3.362,3.362,3.362,3.393,0,0,0,3.439,3.439,3.439,3.446,3.465,3.488,3.491,3.499,3.502,3.503,3.503,3.51,3.513,3.519,3.522,3.523,3.533,3.54,3.54,3.54,3.54,3.542,3.542,3.551,3.553,3.554,3.561,3.569,3.569,3.576,3.577,3.585,3.585,3.592,3.609,3.61,3.611,3.623,3.628,3.631,3.641,3.643,3.651,3.663,3.663,3.665,3.672,3.674,3.675,3.682,3.698,3.702,3.705,3.716,3.724,3.734,3.747,3.753,3.759,3.766,3.779,3.788,3.797,3.8,3.805,3.83,3.838,3.838,3.86,3.874,3.882,3.891,3.902,3.903,3.917,3.932,3.944,3.968,3.98,3.982,4.002,4.005,4.023,4.045,4.056,4.076,4.089,0.016,0.016,0.016,0.016,0.016,4.089,4.051,4.011,3.989,3.974,3.935,3.889,3.877,3.845,3.803,3.794,3.757,3.729,3.698,3.685,3.647,3.631,3.596,3.582,3.546,3.528,3.509,3.49,3.462,3.442,3.428,3.398,3.394,3.367,3.355,3.337,3.306,3.292,3.269,3.258,3.235,3.228,3.192,3.183,3.173,3.154,3.141,3.124,3.109,3.103,3.084,3.06,3.049,3.041,3.026,3.013,3.003,2.995,2.979,2.964,2.961,2.938,2.925,2.922,2.904,2.896,2.883,2.869,2.864,2.848,2.84,2.826,2.821,2.799,2.795,2.789,2.775,2.77,2.752,2.75,2.742,2.73,2.721,2.717,2.704,2.7,2.685,2.679,2.677,2.671,2.663,2.658,2.653,2.64,2.64,2.629,2.617,2.608,2.606,2.599,2.595,2.584,2.58,2.567,2.565,2.563,2.559,2.554,2.536,2.535,2.527,2.518,2.517,2.507,2.506,2.506,2.493,2.493,2.493,2.485,2.483,2.483,2.482,2.473,2.473,2.468,2.462,2.459,2.454,2.453,2.45,2.45,2.447,2.442,2.442,2.441,2.437,2.432,2.431,2.426,2.425,2.425,2.424,2.421,2.421,2.416,2.416,2.416,2.417,2.416,2.416,2.413,2.411,2.411,2.409,2.409,2.407,2.409,2.409,2.409,2.41,2.41,2.414,2.414,2.414,2.414,2.415,2.415,2.418,2.418,2.418,2.417,2.42,2.423,2.423,2.425,2.425,2.425,2.431,2.435,2.436,2.437,2.441,2.442,2.442,2.452,2.452,2.456,2.456,2.458,2.467,2.468,2.471,2.474,2.475,2.477,2.482,2.484,2.488,2.491,2.496,2.501,2.513,2.517,2.519,2.52,2.52,2.535,2.538,2.542,2.554,2.554,2.564,2.564,2.573,2.573,2.595,2.598,2.604,2.605,2.611,2.617,2.618,2.636,2.64,2.645,2.653,2.657,2.665,2.678,2.682,2.692,2.699,2.702,2.71,2.723,2.727,2.737,2.749,2.753,2.768,2.777,2.792,2.799,2.808,2.818,2.831,2.84,2.846,2.855,2.876,2.879,2.88,2.897,2.917,2.925,2.941,2.945,2.961,2.968,2.99,2.997,3.015,3.024,3.038,3.04,3.066,3.074,3.093,3.1,3.129,3.136,3.148,3.169,3.176,3.193,3.223,3.233,3.247,3.261,3.275,3.304,3.319,3.337,3.352,3.37,3.387,3.399,3.442,3.451,3.486,3.498,3.521,3.54,3.557,3.601,3.612,3.638,3.667,3.688,3.724,3.75,3.784,3.809,3.833,3.85,3.89,3.916,3.966,3.982,4.028,4.064,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.354,3.346,3.329,3.315,3.303,3.297,3.282,3.271,3.266,3.264,3.252,3.246,3.236,3.235,3.222,3.213,3.208,3.2,3.192,3.19,3.169,3.167,3.158,3.157,3.148,3.143,3.138,3.128,3.125,3.123,3.121,3.111,3.11,3.107,3.092,3.091,3.082,3.08,3.076,3.074,3.066,3.059,3.059,3.058,3.053,3.05,3.05,3.044,3.044,3.042,3.042,3.039,3.035,3.029,3.029,3.022,3.022,3.022,3.029,3.029,3.029,3.025,3.017,3.011,3.014,3.013,3.013,3.013,3.013,3.013,3.009,3.013,3.009,3.009,3.012,3.012,3.012,3.012,3.012,3.012,3.013,3.014,3.014,3.016,3.016,3.019,3.019,3.021,3.021,3.021,3.021,3.027,3.027,3.03,3.032,3.032,3.037,3.044,3.045,3.047,3.051,3.058,3.058,3.06,3.061,3.064,3.072,3.074,3.076,3.086,3.086,3.09,3.091,3.092,3.096,3.11,3.113,3.119,3.121,3.132,3.132,3.135,3.132,3.137,3.137,3.147,3.148,3.162,3.165,3.167,3.171,3.177,3.185,3.187,3.195,3.21,3.213,3.222,3.227,3.231,3.236,3.241,3.245,3.254,3.258,3.285,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 58.13} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 58.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 58.129} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 5.2832} SEN {Time 58.1786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.178,0.187,0.187,0,0,0,0,0,0,0,0,3.691,3.677,3.673,3.663,3.658,3.627,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.224,3.221,3.21,3.21,3.21,3.258,3.36,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.148,0.148,0.148,0.153,0.152,0.153,0.153,0.154,0.156,3.036,3.036,3.036,3.036,3.035,3.035,3.029,0.157,0.156,0.156,0.156,0.156,0.154,0.149,0.149,0.128,0.103,0.08,0.065,0.063,0.062,0.063,0.065,0.065,0.066,0.067,0.067,0.067,0.067,0.067,0.067,0.082,0.135,0.203,3.341,3.36,3.365,3.365,3.366,3.38,3.381,3.383,3.395,0,0,0,3.481,3.48,3.48,3.481,3.495,3.501,3.508,3.508,3.511,3.511,3.512,3.521,3.521,3.522,3.525,3.532,3.535,3.536,3.536,3.542,3.547,3.547,3.561,3.563,3.575,3.579,3.579,3.583,3.583,3.584,3.601,3.604,3.608,3.612,3.63,3.631,3.634,3.634,3.652,3.653,3.658,3.656,3.658,3.664,3.669,3.682,3.685,3.696,3.7,3.709,3.714,3.723,3.733,3.751,3.753,3.754,3.767,3.77,3.786,3.797,3.807,3.818,3.822,3.833,3.846,3.855,3.856,3.87,3.882,3.893,3.895,3.916,3.93,3.938,3.962,3.971,3.987,4.009,4.023,4.044,4.047,4.06,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.035,4.029,3.994,3.971,3.939,3.902,3.862,3.845,3.811,3.792,3.747,3.729,3.699,3.67,3.654,3.617,3.605,3.567,3.554,3.521,3.498,3.477,3.465,3.452,3.428,3.404,3.392,3.366,3.359,3.333,3.306,3.293,3.271,3.26,3.238,3.236,3.201,3.182,3.169,3.151,3.136,3.12,3.112,3.106,3.088,3.073,3.051,3.04,3.029,3.013,2.994,2.988,2.981,2.959,2.952,2.932,2.926,2.911,2.905,2.9,2.882,2.867,2.859,2.855,2.847,2.827,2.814,2.8,2.791,2.787,2.786,2.765,2.763,2.753,2.738,2.737,2.722,2.718,2.706,2.692,2.689,2.676,2.676,2.658,2.658,2.653,2.642,2.633,2.632,2.62,2.615,2.604,2.602,2.597,2.585,2.583,2.575,2.574,2.573,2.56,2.551,2.549,2.546,2.541,2.529,2.527,2.517,2.512,2.507,2.503,2.501,2.496,2.496,2.485,2.483,2.479,2.477,2.476,2.467,2.466,2.465,2.463,2.461,2.453,2.453,2.451,2.447,2.445,2.441,2.441,2.436,2.43,2.429,2.429,2.429,2.425,2.424,2.418,2.416,2.416,2.412,2.412,2.413,2.412,2.412,2.413,2.414,2.414,2.414,2.414,2.414,2.413,2.411,2.413,2.413,2.413,2.414,2.414,2.414,2.414,2.414,2.415,2.416,2.416,2.416,2.419,2.419,2.421,2.424,2.425,2.426,2.431,2.433,2.434,2.437,2.438,2.438,2.44,2.443,2.447,2.453,2.455,2.455,2.457,2.458,2.467,2.471,2.475,2.476,2.478,2.482,2.488,2.492,2.493,2.501,2.504,2.516,2.517,2.521,2.527,2.532,2.533,2.534,2.535,2.55,2.551,2.556,2.567,2.569,2.577,2.587,2.601,2.601,2.608,2.61,2.618,2.623,2.632,2.637,2.642,2.65,2.654,2.655,2.676,2.676,2.681,2.699,2.703,2.717,2.722,2.728,2.746,2.752,2.758,2.767,2.784,2.787,2.798,2.807,2.812,2.83,2.839,2.842,2.856,2.875,2.878,2.892,2.902,2.912,2.934,2.94,2.947,2.956,2.976,2.99,3.001,3.015,3.024,3.04,3.048,3.057,3.082,3.088,3.107,3.125,3.145,3.16,3.171,3.174,3.203,3.225,3.228,3.237,3.254,3.277,3.293,3.326,3.327,3.356,3.371,3.391,3.414,3.442,3.452,3.483,3.51,3.526,3.542,3.579,3.595,3.613,3.645,3.681,3.699,3.726,3.745,3.779,3.808,3.836,3.864,3.882,3.924,3.957,4.034,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.024,3.364,3.359,3.335,3.33,3.318,3.311,3.299,3.286,3.28,3.274,3.263,3.237,3.237,3.237,3.233,3.219,3.215,3.213,3.189,3.189,3.183,3.176,3.17,3.16,3.158,3.148,3.144,3.139,3.134,3.122,3.119,3.118,3.114,3.111,3.102,3.093,3.09,3.081,3.081,3.074,3.068,3.068,3.067,3.067,3.056,3.055,3.054,3.048,3.045,3.045,3.045,3.045,3.036,3.03,3.029,3.024,3.023,3.023,3.023,3.027,3.027,3.027,3.025,3.018,3.018,3.017,3.013,3.01,3.01,3.01,3.01,3.01,3.011,3.011,3.01,3.01,3.01,3.01,3.01,3.013,3.015,3.015,3.016,3.017,3.017,3.017,3.019,3.018,3.022,3.022,3.025,3.025,3.028,3.025,3.031,3.033,3.035,3.031,3.038,3.038,3.043,3.049,3.058,3.059,3.061,3.063,3.068,3.073,3.075,3.077,3.086,3.086,3.09,3.092,3.098,3.104,3.107,3.11,3.114,3.121,3.131,3.131,3.135,3.137,3.137,3.137,3.144,3.148,3.152,3.163,3.165,3.168,3.175,3.177,3.182,3.19,3.208,3.219,3.223,3.224,3.228,3.239,3.247,3.247,3.247,3.254,3.274,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 58.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 58.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 58.3301} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2832} SEN {Time 58.3747} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.181,0.189,0.189,0,0,0,0,0,0,0,0,3.688,3.677,3.668,3.665,3.639,3.628,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.216,3.216,3.216,3.221,3.262,3.374,0,0,0,0,0,0,0,0.007,0.14,0.14,0.139,0.139,0.139,0.142,0.142,0.152,0.152,0.153,0.153,0.156,0.156,3.034,3.039,3.039,3.039,3.038,3.038,0.16,0.158,0.155,0.155,0.152,0.152,0.152,0.144,0.144,0.135,0.107,0.083,0.068,0.067,0.064,0.064,0.062,0.062,0.066,0.067,0.067,0.067,0.065,0.065,0.065,0.075,0.13,0.211,3.328,3.345,3.354,3.368,3.373,3.374,3.375,3.375,3.413,3.436,3.459,3.459,3.467,3.484,3.484,3.487,3.489,3.494,3.504,3.507,3.511,3.511,3.514,3.518,3.525,3.528,3.536,3.539,3.539,3.544,3.542,3.542,3.548,3.55,3.552,3.561,3.565,3.57,3.576,3.579,3.586,3.586,3.595,3.603,3.605,3.608,3.617,3.629,3.63,3.631,3.655,3.656,3.659,3.663,3.663,3.669,3.676,3.683,3.69,3.697,3.704,3.709,3.73,3.736,3.736,3.749,3.755,3.766,3.771,3.773,3.782,3.801,3.803,3.814,3.822,3.822,3.842,3.855,3.864,3.873,3.884,3.891,3.897,3.908,3.936,3.943,3.96,3.967,3.977,3.998,4.012,4.013,4.046,4.058,4.077,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.055,4.021,4.005,3.958,3.928,3.901,3.859,3.84,3.816,3.779,3.759,3.733,3.71,3.685,3.641,3.624,3.598,3.579,3.542,3.522,3.507,3.488,3.461,3.442,3.407,3.406,3.39,3.364,3.345,3.341,3.301,3.297,3.276,3.253,3.243,3.223,3.198,3.186,3.162,3.156,3.145,3.121,3.108,3.096,3.088,3.061,3.053,3.037,3.025,3.014,2.996,2.988,2.983,2.969,2.955,2.933,2.928,2.914,2.905,2.892,2.878,2.878,2.855,2.847,2.836,2.834,2.818,2.815,2.792,2.786,2.783,2.769,2.756,2.753,2.741,2.741,2.72,2.708,2.703,2.696,2.677,2.676,2.673,2.66,2.66,2.65,2.641,2.632,2.632,2.623,2.617,2.612,2.611,2.593,2.59,2.579,2.575,2.575,2.571,2.565,2.555,2.546,2.539,2.538,2.533,2.531,2.524,2.516,2.511,2.502,2.501,2.495,2.493,2.489,2.48,2.478,2.475,2.47,2.468,2.463,2.46,2.458,2.457,2.455,2.452,2.451,2.447,2.447,2.447,2.447,2.437,2.435,2.431,2.431,2.427,2.425,2.423,2.423,2.42,2.417,2.416,2.408,2.408,2.41,2.41,2.41,2.413,2.413,2.412,2.408,2.408,2.408,2.408,2.412,2.412,2.412,2.412,2.414,2.412,2.414,2.418,2.418,2.419,2.421,2.421,2.419,2.425,2.426,2.426,2.427,2.428,2.428,2.432,2.433,2.434,2.438,2.44,2.444,2.445,2.446,2.452,2.454,2.459,2.464,2.466,2.467,2.471,2.472,2.479,2.48,2.483,2.484,2.494,2.494,2.503,2.505,2.515,2.516,2.519,2.528,2.529,2.532,2.533,2.536,2.554,2.557,2.561,2.567,2.575,2.575,2.589,2.601,2.601,2.606,2.609,2.612,2.628,2.632,2.642,2.644,2.653,2.654,2.663,2.67,2.682,2.688,2.693,2.699,2.713,2.717,2.736,2.744,2.747,2.76,2.768,2.783,2.793,2.8,2.809,2.815,2.827,2.839,2.842,2.86,2.866,2.88,2.89,2.904,2.919,2.919,2.94,2.952,2.961,2.974,2.988,2.999,3.018,3.019,3.035,3.039,3.062,3.08,3.089,3.106,3.131,3.138,3.155,3.172,3.177,3.203,3.219,3.236,3.252,3.263,3.279,3.3,3.325,3.331,3.35,3.376,3.391,3.405,3.429,3.46,3.474,3.5,3.526,3.546,3.569,3.596,3.619,3.628,3.665,3.701,3.723,3.747,3.787,3.8,3.835,3.86,3.888,3.917,3.953,3.986,4.036,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.354,3.329,3.328,3.32,3.316,3.3,3.287,3.278,3.273,3.257,3.245,3.239,3.238,3.226,3.219,3.219,3.206,3.202,3.188,3.182,3.175,3.174,3.159,3.154,3.153,3.137,3.133,3.126,3.123,3.123,3.122,3.118,3.108,3.107,3.092,3.088,3.083,3.081,3.081,3.07,3.068,3.066,3.063,3.052,3.052,3.051,3.05,3.045,3.042,3.042,3.038,3.038,3.031,3.026,3.025,3.024,3.024,3.026,3.026,3.026,3.026,3.022,3.021,3.018,3.011,3.011,3.009,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.01,3.011,3.012,3.012,3.011,3.012,3.014,3.014,3.015,3.016,3.016,3.022,3.022,3.022,3.024,3.023,3.024,3.025,3.03,3.035,3.035,3.036,3.036,3.038,3.048,3.049,3.051,3.054,3.055,3.059,3.063,3.072,3.077,3.081,3.081,3.083,3.087,3.092,3.093,3.093,3.096,3.105,3.11,3.11,3.116,3.137,3.137,3.137,3.133,3.133,3.133,3.144,3.146,3.148,3.159,3.167,3.168,3.174,3.175,3.182,3.196,3.206,3.223,3.228,3.228,3.233,3.234,3.239,3.243,3.246,3.27,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 58.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 58.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 58.5311} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7244} SEN {Time 58.5747} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.177,0.177,0.185,0,0,0,0,0,0,0,0,3.694,3.69,3.666,3.662,3.652,3.629,3.617,3.617,3.617,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.214,3.214,3.214,3.261,3.362,0,0,0,0,0,0,0,0.151,0.151,0.147,0.147,0.147,0.147,0.147,0.149,0.157,0.155,0.157,0.157,0.157,0.161,3.03,3.031,3.045,3.045,3.031,3.045,3.045,0.163,0.156,0.156,0.156,0.154,0.153,0.151,0.147,0.127,0.096,0.077,0.067,0.064,0.064,0.064,0.064,0.064,0.065,0.069,0.065,0.061,0.061,0.061,0.061,0.081,0.137,0.193,3.336,3.35,3.355,3.355,3.366,3.369,3.381,0,0,0,3.46,3.46,3.46,3.463,3.475,3.484,3.487,3.492,3.507,3.511,3.511,3.515,3.516,3.518,3.53,3.533,3.538,3.538,3.54,3.541,3.543,3.552,3.552,3.556,3.556,3.56,3.57,3.573,3.573,3.58,3.583,3.586,3.595,3.596,3.614,3.621,3.626,3.628,3.632,3.633,3.649,3.651,3.658,3.659,3.66,3.667,3.671,3.678,3.684,3.687,3.7,3.703,3.712,3.723,3.732,3.747,3.749,3.757,3.757,3.76,3.774,3.787,3.806,3.811,3.825,3.828,3.85,3.851,3.866,3.876,3.884,3.892,3.896,3.915,3.934,3.941,3.96,3.972,3.981,3.994,4.011,4.04,4.043,4.061,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.088,4.05,4.004,3.961,3.929,3.899,3.867,3.831,3.817,3.775,3.761,3.716,3.706,3.688,3.661,3.621,3.606,3.57,3.546,3.533,3.496,3.481,3.455,3.443,3.424,3.4,3.382,3.362,3.359,3.33,3.318,3.298,3.278,3.259,3.238,3.234,3.205,3.185,3.175,3.146,3.14,3.119,3.116,3.097,3.076,3.064,3.05,3.039,3.028,3.014,2.996,2.996,2.983,2.959,2.958,2.941,2.923,2.915,2.903,2.885,2.871,2.869,2.859,2.85,2.838,2.821,2.813,2.804,2.801,2.788,2.78,2.768,2.759,2.749,2.739,2.727,2.721,2.721,2.699,2.693,2.682,2.682,2.672,2.66,2.656,2.655,2.65,2.642,2.639,2.625,2.618,2.616,2.609,2.597,2.582,2.58,2.579,2.57,2.569,2.569,2.557,2.545,2.543,2.532,2.53,2.52,2.516,2.516,2.508,2.507,2.506,2.5,2.498,2.493,2.483,2.48,2.479,2.474,2.473,2.471,2.468,2.466,2.461,2.454,2.452,2.449,2.444,2.444,2.442,2.438,2.438,2.438,2.434,2.429,2.426,2.426,2.426,2.423,2.42,2.417,2.417,2.417,2.415,2.411,2.415,2.41,2.41,2.416,2.416,2.41,2.416,2.415,2.412,2.415,2.415,2.412,2.412,2.412,2.412,2.417,2.417,2.417,2.419,2.419,2.419,2.419,2.42,2.42,2.42,2.424,2.425,2.429,2.43,2.434,2.434,2.435,2.438,2.442,2.444,2.447,2.448,2.454,2.455,2.459,2.462,2.47,2.47,2.475,2.476,2.48,2.483,2.486,2.488,2.497,2.498,2.5,2.504,2.512,2.516,2.517,2.527,2.531,2.533,2.537,2.543,2.55,2.561,2.564,2.567,2.573,2.586,2.6,2.606,2.606,2.609,2.61,2.628,2.631,2.638,2.641,2.642,2.648,2.664,2.674,2.681,2.688,2.698,2.7,2.714,2.72,2.728,2.746,2.754,2.754,2.769,2.781,2.788,2.8,2.807,2.817,2.832,2.832,2.847,2.852,2.868,2.882,2.883,2.906,2.92,2.928,2.941,2.952,2.958,2.974,2.994,2.999,3.017,3.027,3.037,3.046,3.074,3.08,3.089,3.107,3.125,3.143,3.155,3.159,3.183,3.204,3.217,3.231,3.245,3.273,3.281,3.302,3.327,3.334,3.358,3.369,3.392,3.415,3.429,3.457,3.489,3.5,3.524,3.543,3.565,3.605,3.614,3.641,3.677,3.694,3.719,3.747,3.785,3.796,3.837,3.865,3.913,3.947,4.034,4.034,0.007,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.354,3.341,3.332,3.317,3.307,3.29,3.286,3.279,3.263,3.258,3.248,3.241,3.241,3.24,3.219,3.219,3.209,3.206,3.194,3.183,3.182,3.169,3.157,3.152,3.148,3.143,3.142,3.127,3.125,3.123,3.12,3.114,3.105,3.1,3.092,3.09,3.081,3.079,3.074,3.074,3.071,3.071,3.064,3.058,3.055,3.049,3.044,3.044,3.039,3.038,3.038,3.037,3.031,3.031,3.029,3.024,3.031,3.031,3.033,3.033,3.033,3.019,3.019,3.018,3.018,3.011,3.011,3.011,3.014,3.014,3.014,3.012,3.008,3.006,3.006,3.006,3.008,3.013,3.013,3.013,3.018,3.019,3.019,3.019,3.021,3.021,3.02,3.02,3.021,3.023,3.026,3.028,3.029,3.03,3.033,3.034,3.034,3.036,3.039,3.051,3.051,3.055,3.058,3.06,3.061,3.063,3.07,3.075,3.075,3.086,3.087,3.094,3.095,3.1,3.102,3.109,3.11,3.114,3.121,3.134,3.134,3.139,3.141,3.144,3.144,3.148,3.15,3.155,3.156,3.163,3.172,3.174,3.18,3.189,3.212,3.217,3.219,3.233,3.233,3.238,3.238,3.238,3.24,3.249,3.256,3.27,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 58.73} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 58.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 58.732} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.7244} SEN {Time 58.7746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.182,0.182,0,0,0,0,0,0,0,0,3.687,3.683,3.665,3.651,3.648,3.63,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.216,3.213,3.211,3.211,3.213,3.263,3.363,0,0,0,0,0,0,0,0.148,0.148,0.148,0.148,0.148,0.148,0.148,0.153,0.153,0.153,0.153,0.153,0.154,0.156,3.027,3.034,3.036,3.036,3.034,3.034,0.156,0.156,0.156,0.156,0.156,0.155,0.148,0.147,0.146,0.133,0.102,0.078,0.064,0.061,0.061,0.061,0.061,0.061,0.068,0.068,0.063,0.063,0.063,0.063,0.063,0.082,0.127,0.197,3.36,3.372,3.379,3.372,3.371,3.372,3.379,3.389,3.418,3.426,3.426,3.434,3.46,3.474,3.476,3.487,3.491,3.502,3.506,3.508,3.508,3.509,3.511,3.514,3.521,3.522,3.522,3.533,3.535,3.538,3.54,3.54,3.551,3.557,3.558,3.565,3.567,3.573,3.58,3.582,3.587,3.589,3.6,3.606,3.607,3.607,3.624,3.627,3.631,3.644,3.644,3.648,3.652,3.664,3.667,3.669,3.672,3.679,3.688,3.689,3.705,3.713,3.72,3.723,3.726,3.742,3.745,3.751,3.767,3.777,3.778,3.796,3.801,3.81,3.826,3.829,3.843,3.859,3.869,3.879,3.889,3.89,3.904,3.914,3.935,3.953,3.962,3.977,3.985,3.993,4.022,4.022,4.038,4.065,4.081,4.084,0.016,0.016,0.016,0.016,0.016,4.086,4.042,4.029,3.987,3.987,3.966,3.926,3.872,3.837,3.815,3.776,3.752,3.734,3.698,3.669,3.652,3.614,3.598,3.576,3.553,3.526,3.509,3.482,3.459,3.443,3.414,3.402,3.379,3.371,3.345,3.332,3.314,3.303,3.275,3.259,3.221,3.21,3.201,3.196,3.172,3.151,3.148,3.118,3.103,3.095,3.079,3.061,3.05,3.039,3.025,3.015,3.002,2.989,2.979,2.959,2.95,2.933,2.927,2.917,2.908,2.888,2.874,2.863,2.857,2.851,2.833,2.825,2.811,2.805,2.8,2.786,2.78,2.767,2.763,2.744,2.744,2.737,2.723,2.722,2.704,2.694,2.684,2.679,2.678,2.669,2.655,2.654,2.653,2.64,2.637,2.622,2.621,2.613,2.606,2.601,2.588,2.582,2.58,2.571,2.568,2.563,2.556,2.551,2.548,2.544,2.53,2.524,2.518,2.518,2.507,2.505,2.496,2.495,2.495,2.483,2.483,2.478,2.475,2.475,2.474,2.47,2.465,2.464,2.453,2.453,2.453,2.451,2.447,2.447,2.44,2.437,2.432,2.432,2.43,2.43,2.425,2.424,2.424,2.424,2.424,2.421,2.418,2.418,2.416,2.414,2.414,2.409,2.409,2.415,2.415,2.413,2.413,2.408,2.408,2.412,2.412,2.412,2.413,2.413,2.413,2.413,2.414,2.416,2.42,2.42,2.42,2.42,2.42,2.42,2.426,2.427,2.43,2.432,2.435,2.436,2.44,2.441,2.443,2.446,2.447,2.448,2.45,2.451,2.456,2.458,2.461,2.464,2.471,2.472,2.474,2.484,2.486,2.49,2.492,2.493,2.496,2.502,2.512,2.513,2.518,2.52,2.521,2.534,2.536,2.542,2.549,2.552,2.553,2.562,2.565,2.575,2.595,2.595,2.6,2.608,2.611,2.618,2.625,2.627,2.638,2.642,2.643,2.658,2.659,2.674,2.685,2.689,2.697,2.708,2.713,2.72,2.732,2.733,2.752,2.756,2.767,2.783,2.789,2.796,2.804,2.809,2.832,2.833,2.842,2.858,2.874,2.884,2.889,2.905,2.92,2.933,2.945,2.961,2.962,2.975,2.987,3.005,3.008,3.027,3.032,3.046,3.066,3.074,3.09,3.107,3.129,3.147,3.149,3.173,3.178,3.198,3.228,3.239,3.247,3.253,3.276,3.303,3.325,3.345,3.347,3.372,3.402,3.419,3.436,3.458,3.484,3.495,3.522,3.546,3.566,3.596,3.61,3.637,3.673,3.697,3.723,3.756,3.785,3.802,3.832,3.856,3.89,3.911,3.989,0.007,0,0.016,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.349,3.341,3.323,3.32,3.309,3.302,3.291,3.275,3.272,3.258,3.253,3.243,3.239,3.238,3.225,3.217,3.21,3.191,3.189,3.187,3.175,3.171,3.152,3.15,3.15,3.141,3.134,3.125,3.123,3.121,3.119,3.109,3.109,3.108,3.108,3.091,3.081,3.08,3.076,3.073,3.066,3.063,3.061,3.059,3.053,3.05,3.048,3.043,3.04,3.039,3.035,3.032,3.031,3.029,3.025,3.024,3.024,3.024,3.031,3.031,3.031,3.021,3.02,3.019,3.014,3.01,3.01,3.01,3.014,3.01,3.012,3.008,3.012,3.008,3.012,3.009,3.012,3.012,3.012,3.012,3.012,3.012,3.016,3.016,3.016,3.018,3.019,3.019,3.019,3.023,3.023,3.028,3.028,3.031,3.031,3.034,3.038,3.043,3.044,3.049,3.054,3.054,3.056,3.057,3.06,3.061,3.066,3.077,3.077,3.083,3.092,3.094,3.097,3.097,3.108,3.113,3.117,3.117,3.122,3.13,3.132,3.132,3.134,3.136,3.136,3.144,3.148,3.155,3.161,3.17,3.172,3.173,3.175,3.179,3.204,3.208,3.211,3.222,3.226,3.232,3.233,3.239,3.239,3.247,3.265,3.283,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 58.93} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 58.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 58.933} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7244} SEN {Time 58.9746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,0,0,0,0,3.697,3.694,3.665,3.66,3.652,3.622,3.616,3.616,3.596,3.594,3.596,0,3.356,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.216,3.21,3.216,3.216,3.257,3.354,0,0,0,0,0,0,0,0.143,0.14,0.14,0.14,0.143,0.148,0.149,0.149,0.153,0.149,0.153,0.153,0.156,0.156,3.036,3.038,3.038,3.038,3.038,3.038,3.034,0.157,0.155,0.155,0.148,0.148,0.148,0.148,0.148,0.129,0.104,0.075,0.066,0.062,0.062,0.062,0.062,0.068,0.068,0.068,0.066,0.065,0.065,0.065,0.066,0.079,0.138,0.198,3.338,3.357,3.367,3.367,3.369,3.389,3.392,3.404,3.415,3.438,3.438,3.445,3.469,3.47,3.472,3.489,3.491,3.494,3.499,3.5,3.501,3.507,3.516,3.516,3.519,3.523,3.53,3.536,3.538,3.542,3.542,3.542,3.549,3.551,3.554,3.564,3.577,3.577,3.579,3.583,3.583,3.593,3.6,3.603,3.608,3.613,3.619,3.624,3.625,3.636,3.644,3.648,3.652,3.655,3.662,3.664,3.672,3.679,3.687,3.697,3.701,3.708,3.723,3.734,3.742,3.743,3.756,3.756,3.764,3.772,3.79,3.794,3.803,3.815,3.824,3.832,3.849,3.855,3.86,3.868,3.883,3.888,3.897,3.914,3.937,3.939,3.962,3.974,3.986,4.007,4.012,4.016,4.051,4.062,4.076,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.045,4.02,4.02,3.993,3.965,3.891,3.884,3.833,3.817,3.776,3.754,3.728,3.699,3.676,3.648,3.624,3.599,3.574,3.542,3.535,3.507,3.478,3.468,3.442,3.422,3.399,3.372,3.365,3.359,3.33,3.303,3.293,3.268,3.258,3.224,3.219,3.204,3.181,3.16,3.147,3.138,3.124,3.117,3.096,3.078,3.074,3.046,3.034,3.027,3.009,3.008,2.988,2.982,2.962,2.951,2.935,2.924,2.915,2.909,2.893,2.875,2.869,2.862,2.845,2.839,2.833,2.813,2.81,2.799,2.792,2.783,2.775,2.758,2.75,2.747,2.73,2.725,2.716,2.702,2.69,2.684,2.675,2.672,2.66,2.65,2.649,2.647,2.639,2.635,2.624,2.616,2.616,2.604,2.603,2.598,2.585,2.579,2.573,2.573,2.565,2.558,2.557,2.544,2.539,2.535,2.527,2.518,2.508,2.507,2.504,2.499,2.493,2.491,2.486,2.485,2.482,2.477,2.475,2.472,2.467,2.467,2.456,2.455,2.452,2.452,2.451,2.451,2.45,2.449,2.441,2.439,2.436,2.434,2.43,2.429,2.429,2.426,2.426,2.425,2.42,2.418,2.418,2.418,2.413,2.412,2.412,2.41,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.416,2.416,2.416,2.415,2.414,2.413,2.413,2.413,2.414,2.417,2.419,2.418,2.419,2.421,2.423,2.424,2.424,2.424,2.43,2.432,2.439,2.439,2.44,2.441,2.447,2.448,2.45,2.452,2.453,2.455,2.462,2.463,2.467,2.468,2.474,2.475,2.475,2.487,2.49,2.491,2.498,2.5,2.512,2.512,2.519,2.52,2.528,2.533,2.535,2.539,2.547,2.555,2.557,2.564,2.565,2.575,2.588,2.597,2.606,2.608,2.615,2.615,2.624,2.628,2.634,2.643,2.645,2.653,2.657,2.674,2.677,2.683,2.699,2.706,2.713,2.723,2.728,2.74,2.749,2.755,2.769,2.789,2.795,2.797,2.805,2.82,2.826,2.829,2.842,2.86,2.874,2.881,2.892,2.901,2.915,2.926,2.941,2.952,2.954,2.977,2.98,2.992,3.017,3.026,3.043,3.048,3.066,3.085,3.085,3.107,3.115,3.14,3.153,3.168,3.173,3.206,3.218,3.233,3.248,3.26,3.281,3.298,3.323,3.332,3.347,3.375,3.393,3.403,3.434,3.45,3.482,3.506,3.527,3.544,3.566,3.603,3.624,3.644,3.67,3.683,3.724,3.741,3.778,3.801,3.839,3.859,3.891,3.922,3.953,3.99,4.039,4.065,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.357,3.338,3.327,3.325,3.306,3.301,3.291,3.276,3.272,3.262,3.261,3.241,3.24,3.234,3.218,3.216,3.207,3.203,3.184,3.175,3.174,3.172,3.164,3.154,3.154,3.146,3.138,3.124,3.124,3.121,3.117,3.109,3.108,3.099,3.097,3.091,3.084,3.082,3.078,3.077,3.072,3.069,3.059,3.054,3.05,3.046,3.042,3.04,3.04,3.042,3.042,3.039,3.032,3.029,3.021,3.02,3.021,3.021,3.021,3.024,3.024,3.021,3.019,3.016,3.014,3.013,3.011,3.011,3.011,3.011,3.011,3.01,3.01,3.01,3.01,3.01,3.014,3.014,3.014,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.015,3.018,3.02,3.024,3.019,3.024,3.026,3.024,3.026,3.032,3.032,3.037,3.037,3.042,3.053,3.055,3.055,3.061,3.061,3.062,3.07,3.072,3.072,3.083,3.086,3.092,3.096,3.096,3.099,3.108,3.113,3.117,3.118,3.132,3.132,3.134,3.136,3.136,3.136,3.141,3.144,3.152,3.158,3.164,3.164,3.171,3.172,3.189,3.196,3.199,3.226,3.228,3.228,3.23,3.233,3.238,3.252,3.256,3.262,3.273,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 59.13} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 59.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 59.1329} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.5588} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.3594} SEN {Time 59.1746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.185,0.189,0.189,0,0,0,0,0,0,0,0,3.691,3.686,3.667,3.662,3.648,3.622,3.608,3.608,3.593,3.593,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.221,3.218,3.212,3.212,3.212,3.268,3.365,0,0,0,0,0,0,0,0.147,0.145,0.145,0.145,0.147,0.145,0.145,0.145,0.158,0.153,0.158,0.158,0.159,0.159,3.032,3.037,3.044,3.044,3.037,3.044,3.044,0.161,0.156,0.156,0.154,0.154,0.153,0.153,0.153,0.13,0.106,0.079,0.06,0.06,0.06,0.06,0.061,0.064,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.081,0.141,0.209,3.348,3.354,3.373,3.367,3.367,3.367,3.367,3.367,3.438,0,0.007,3.473,3.473,3.473,3.473,3.483,3.489,3.499,3.504,3.508,3.512,3.512,3.519,3.52,3.522,3.522,3.529,3.532,3.533,3.54,3.541,3.544,3.546,3.551,3.557,3.559,3.566,3.568,3.575,3.583,3.583,3.584,3.597,3.6,3.609,3.62,3.624,3.626,3.631,3.635,3.643,3.649,3.655,3.657,3.658,3.669,3.677,3.686,3.688,3.695,3.697,3.702,3.718,3.723,3.732,3.747,3.752,3.755,3.757,3.757,3.786,3.8,3.802,3.81,3.815,3.823,3.833,3.858,3.867,3.882,3.888,3.888,3.898,3.924,3.927,3.945,3.953,3.973,3.987,3.989,4.016,4.026,4.045,4.064,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.077,3.99,3.959,3.927,3.898,3.879,3.835,3.812,3.775,3.759,3.731,3.696,3.672,3.65,3.637,3.607,3.583,3.546,3.531,3.497,3.479,3.466,3.447,3.425,3.389,3.379,3.369,3.351,3.328,3.316,3.295,3.278,3.258,3.239,3.229,3.198,3.188,3.176,3.148,3.137,3.115,3.114,3.093,3.085,3.062,3.047,3.035,3.021,3.006,3.002,2.983,2.981,2.959,2.956,2.936,2.929,2.924,2.904,2.897,2.881,2.866,2.855,2.854,2.84,2.832,2.816,2.808,2.797,2.79,2.784,2.771,2.759,2.755,2.744,2.737,2.727,2.713,2.693,2.687,2.68,2.678,2.673,2.652,2.651,2.651,2.649,2.641,2.636,2.624,2.624,2.62,2.612,2.594,2.588,2.586,2.585,2.578,2.571,2.568,2.56,2.556,2.542,2.541,2.534,2.524,2.519,2.516,2.5,2.498,2.498,2.495,2.493,2.485,2.483,2.482,2.473,2.473,2.473,2.473,2.471,2.461,2.459,2.457,2.453,2.447,2.446,2.444,2.442,2.438,2.437,2.436,2.427,2.427,2.427,2.427,2.423,2.417,2.417,2.414,2.414,2.413,2.413,2.413,2.413,2.412,2.415,2.416,2.412,2.406,2.411,2.411,2.406,2.411,2.413,2.415,2.415,2.415,2.413,2.412,2.411,2.411,2.412,2.417,2.417,2.417,2.424,2.418,2.418,2.425,2.426,2.427,2.429,2.431,2.432,2.439,2.443,2.443,2.449,2.45,2.451,2.456,2.457,2.46,2.465,2.465,2.467,2.476,2.476,2.476,2.478,2.484,2.494,2.495,2.496,2.497,2.508,2.52,2.521,2.524,2.528,2.531,2.537,2.543,2.553,2.557,2.56,2.563,2.563,2.579,2.583,2.598,2.6,2.612,2.613,2.615,2.618,2.626,2.635,2.637,2.643,2.65,2.658,2.671,2.681,2.687,2.692,2.707,2.714,2.722,2.728,2.749,2.754,2.759,2.766,2.782,2.792,2.804,2.806,2.815,2.824,2.838,2.841,2.855,2.868,2.879,2.89,2.901,2.917,2.925,2.941,2.945,2.96,2.973,2.978,2.996,3.014,3.029,3.038,3.04,3.068,3.084,3.086,3.108,3.121,3.138,3.155,3.168,3.182,3.202,3.219,3.238,3.246,3.26,3.277,3.297,3.329,3.335,3.354,3.377,3.396,3.404,3.44,3.451,3.484,3.503,3.525,3.537,3.566,3.593,3.627,3.637,3.666,3.69,3.72,3.751,3.773,3.807,3.831,3.856,3.897,3.918,3.951,3.987,4.032,4.059,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.354,3.339,3.329,3.321,3.31,3.293,3.291,3.277,3.276,3.252,3.251,3.241,3.236,3.234,3.22,3.209,3.207,3.197,3.192,3.186,3.173,3.172,3.167,3.157,3.148,3.145,3.132,3.132,3.12,3.116,3.113,3.107,3.106,3.098,3.092,3.09,3.085,3.083,3.075,3.074,3.072,3.065,3.06,3.056,3.055,3.053,3.046,3.042,3.042,3.041,3.04,3.034,3.031,3.029,3.024,3.023,3.023,3.023,3.031,3.031,3.031,3.023,3.022,3.017,3.016,3.013,3.011,3.011,3.01,3.009,3.008,3.009,3.01,3.01,3.01,3.01,3.012,3.012,3.009,3.015,3.019,3.019,3.015,3.018,3.019,3.018,3.017,3.018,3.02,3.02,3.02,3.024,3.024,3.024,3.031,3.031,3.031,3.038,3.039,3.042,3.052,3.053,3.056,3.056,3.058,3.063,3.071,3.076,3.076,3.084,3.084,3.089,3.09,3.094,3.095,3.1,3.114,3.116,3.119,3.128,3.128,3.13,3.133,3.133,3.133,3.148,3.151,3.154,3.166,3.167,3.171,3.174,3.177,3.188,3.192,3.201,3.209,3.221,3.223,3.229,3.233,3.24,3.242,3.242,3.259,3.278,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 59.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 59.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 59.326} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.8128} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.3594} SEN {Time 59.3745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,0,0,0,3.683,3.678,3.667,3.661,3.646,3.628,3.624,3.624,3.624,0,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.221,3.213,3.208,3.208,3.213,3.268,3.368,0,0,0,0,0,0,0,0.153,0.15,0.148,0.145,0.145,0.143,0.143,0.143,0.152,0.152,0.156,0.156,0.158,0.162,3.038,3.038,3.039,3.039,3.038,3.037,0.159,0.159,0.158,0.158,0.156,0.151,0.151,0.15,0.15,0.134,0.119,0.077,0.067,0.061,0.061,0.061,0.061,0.062,0.069,0.069,0.068,0.068,0.068,0.068,0.068,0.076,0.13,0.205,3.326,3.34,3.355,3.36,3.363,3.369,3.369,3.369,3.384,3.43,0.007,3.478,3.471,3.478,3.478,3.483,3.491,3.493,3.499,3.503,3.514,3.514,3.523,3.523,3.525,3.526,3.53,3.536,3.537,3.546,3.541,3.546,3.551,3.551,3.551,3.558,3.562,3.572,3.576,3.582,3.585,3.586,3.591,3.598,3.611,3.619,3.623,3.624,3.64,3.645,3.647,3.651,3.655,3.661,3.663,3.665,3.667,3.681,3.694,3.695,3.708,3.711,3.715,3.733,3.739,3.745,3.75,3.756,3.757,3.768,3.786,3.795,3.801,3.807,3.821,3.836,3.837,3.84,3.867,3.872,3.891,3.893,3.897,3.901,3.925,3.935,3.958,3.971,3.975,3.985,4.016,4.033,4.05,4.065,4.067,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.023,4.001,3.972,3.939,3.911,3.876,3.839,3.818,3.778,3.766,3.734,3.706,3.681,3.648,3.624,3.606,3.579,3.544,3.535,3.502,3.488,3.463,3.443,3.426,3.415,3.379,3.355,3.349,3.338,3.306,3.302,3.263,3.261,3.228,3.225,3.193,3.185,3.173,3.154,3.14,3.125,3.113,3.094,3.081,3.07,3.051,3.045,3.029,3.012,3.003,2.99,2.98,2.962,2.955,2.935,2.923,2.923,2.902,2.901,2.872,2.871,2.865,2.853,2.834,2.825,2.816,2.814,2.8,2.788,2.782,2.771,2.765,2.743,2.741,2.728,2.721,2.711,2.708,2.704,2.682,2.679,2.678,2.661,2.659,2.652,2.645,2.643,2.638,2.624,2.62,2.617,2.609,2.602,2.593,2.578,2.572,2.57,2.569,2.566,2.554,2.549,2.542,2.539,2.529,2.525,2.521,2.515,2.505,2.504,2.5,2.499,2.496,2.488,2.482,2.48,2.48,2.475,2.474,2.468,2.465,2.464,2.463,2.459,2.453,2.448,2.447,2.441,2.441,2.44,2.439,2.432,2.432,2.431,2.426,2.426,2.421,2.418,2.418,2.418,2.416,2.418,2.416,2.416,2.413,2.413,2.41,2.41,2.41,2.409,2.41,2.413,2.407,2.413,2.413,2.413,2.413,2.416,2.413,2.416,2.418,2.418,2.421,2.421,2.42,2.421,2.42,2.42,2.421,2.426,2.432,2.432,2.432,2.432,2.434,2.438,2.441,2.442,2.442,2.446,2.452,2.452,2.454,2.458,2.465,2.466,2.473,2.473,2.474,2.475,2.479,2.48,2.489,2.492,2.496,2.498,2.507,2.511,2.512,2.52,2.523,2.532,2.533,2.543,2.551,2.553,2.561,2.562,2.565,2.579,2.593,2.601,2.602,2.605,2.605,2.61,2.621,2.631,2.637,2.642,2.648,2.658,2.662,2.669,2.682,2.684,2.696,2.711,2.719,2.719,2.728,2.741,2.754,2.755,2.763,2.778,2.79,2.796,2.806,2.818,2.833,2.842,2.846,2.863,2.869,2.879,2.89,2.902,2.91,2.923,2.943,2.952,2.96,2.975,2.983,2.989,3.011,3.024,3.041,3.05,3.066,3.084,3.095,3.109,3.121,3.144,3.149,3.165,3.183,3.207,3.222,3.243,3.253,3.263,3.275,3.305,3.32,3.334,3.353,3.377,3.395,3.415,3.429,3.456,3.489,3.507,3.523,3.55,3.572,3.596,3.618,3.644,3.66,3.693,3.719,3.756,3.772,3.801,3.838,3.862,3.894,3.917,3.956,3.99,4.027,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.359,3.343,3.321,3.311,3.308,3.296,3.288,3.281,3.264,3.258,3.25,3.244,3.235,3.233,3.223,3.218,3.204,3.197,3.188,3.179,3.174,3.172,3.159,3.157,3.151,3.141,3.131,3.129,3.124,3.121,3.115,3.115,3.102,3.098,3.092,3.091,3.086,3.085,3.082,3.079,3.066,3.062,3.059,3.058,3.055,3.048,3.043,3.042,3.042,3.04,3.039,3.034,3.034,3.031,3.031,3.027,3.027,3.027,3.033,3.033,3.033,3.018,3.018,3.018,3.018,3.016,3.014,3.014,3.014,3.013,3.008,3.008,3.007,3.007,3.01,3.01,3.01,3.011,3.013,3.013,3.016,3.019,3.019,3.02,3.023,3.023,3.022,3.02,3.02,3.02,3.02,3.022,3.027,3.03,3.033,3.033,3.033,3.033,3.04,3.048,3.05,3.052,3.056,3.06,3.062,3.067,3.069,3.072,3.079,3.082,3.088,3.092,3.092,3.093,3.102,3.112,3.112,3.12,3.126,3.131,3.131,3.136,3.137,3.142,3.142,3.145,3.149,3.161,3.164,3.164,3.167,3.167,3.18,3.183,3.194,3.204,3.22,3.221,3.225,3.243,3.245,3.245,3.251,3.253,3.254,3.278,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 59.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 59.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 59.5269} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.8128} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.3594} SEN {Time 59.5707} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.184,0.189,0.189,0,0,0,0,0,0,0,0,3.692,3.689,3.663,3.657,3.653,3.631,3.614,3.614,3.614,3.608,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.241,3.23,3.223,3.217,3.208,3.208,3.208,3.272,3.364,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.145,0.145,0.144,0.144,0.155,0.15,0.155,0.155,0.156,0.159,3.035,3.041,3.041,3.041,3.035,3.034,0.16,0.156,0.155,0.155,0.152,0.152,0.152,0.151,0.151,0.126,0.106,0.072,0.066,0.065,0.059,0.059,0.064,0.064,0.071,0.071,0.065,0.065,0.063,0.063,0.063,0.083,0.127,0.212,3.336,3.356,3.363,3.363,3.364,3.374,3.378,3.409,0.007,3.438,3.438,3.475,3.475,3.475,3.478,3.492,3.495,3.499,3.501,3.502,3.509,3.511,3.516,3.519,3.525,3.526,3.526,3.53,3.537,3.538,3.546,3.546,3.55,3.551,3.556,3.561,3.566,3.567,3.568,3.573,3.573,3.583,3.591,3.596,3.614,3.62,3.627,3.635,3.638,3.642,3.644,3.644,3.651,3.662,3.672,3.673,3.684,3.69,3.693,3.696,3.699,3.713,3.723,3.724,3.741,3.745,3.751,3.754,3.77,3.773,3.777,3.8,3.804,3.811,3.822,3.833,3.841,3.855,3.872,3.875,3.884,3.899,3.91,3.924,3.942,3.948,3.958,3.975,3.991,3.994,4.013,4.03,4.037,4.059,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.043,4.016,3.99,3.958,3.911,3.884,3.871,3.843,3.813,3.781,3.745,3.722,3.719,3.671,3.652,3.628,3.594,3.577,3.553,3.534,3.51,3.485,3.468,3.451,3.426,3.404,3.382,3.362,3.354,3.334,3.307,3.301,3.279,3.254,3.233,3.227,3.194,3.185,3.175,3.144,3.143,3.116,3.113,3.094,3.082,3.068,3.053,3.046,3.034,3.015,2.999,2.987,2.981,2.956,2.95,2.933,2.929,2.911,2.907,2.897,2.882,2.87,2.859,2.854,2.839,2.823,2.822,2.809,2.796,2.783,2.772,2.769,2.763,2.744,2.74,2.731,2.722,2.717,2.708,2.697,2.678,2.678,2.677,2.665,2.664,2.653,2.645,2.641,2.637,2.617,2.616,2.613,2.607,2.604,2.589,2.582,2.581,2.576,2.567,2.565,2.556,2.554,2.547,2.543,2.539,2.536,2.517,2.514,2.507,2.502,2.502,2.496,2.495,2.485,2.482,2.48,2.479,2.473,2.473,2.468,2.461,2.46,2.458,2.454,2.451,2.446,2.445,2.443,2.442,2.44,2.439,2.436,2.429,2.429,2.426,2.426,2.423,2.423,2.421,2.421,2.421,2.42,2.416,2.414,2.414,2.414,2.413,2.412,2.411,2.411,2.412,2.415,2.415,2.415,2.416,2.419,2.419,2.419,2.413,2.413,2.413,2.414,2.42,2.42,2.42,2.42,2.42,2.42,2.421,2.426,2.427,2.431,2.433,2.433,2.436,2.436,2.436,2.442,2.445,2.446,2.454,2.455,2.456,2.458,2.468,2.471,2.475,2.476,2.477,2.479,2.481,2.484,2.487,2.488,2.497,2.501,2.513,2.516,2.52,2.522,2.527,2.534,2.535,2.536,2.548,2.553,2.559,2.567,2.567,2.576,2.587,2.598,2.604,2.605,2.61,2.623,2.625,2.628,2.634,2.642,2.646,2.649,2.658,2.673,2.675,2.684,2.698,2.703,2.715,2.718,2.733,2.742,2.747,2.755,2.769,2.78,2.786,2.799,2.807,2.821,2.829,2.837,2.85,2.857,2.867,2.877,2.882,2.902,2.915,2.921,2.951,2.954,2.959,2.974,2.985,2.998,3.014,3.025,3.035,3.042,3.068,3.082,3.091,3.104,3.127,3.141,3.158,3.171,3.18,3.202,3.22,3.232,3.246,3.266,3.282,3.299,3.325,3.332,3.358,3.375,3.398,3.415,3.431,3.461,3.487,3.504,3.524,3.544,3.566,3.594,3.613,3.638,3.678,3.689,3.726,3.755,3.774,3.805,3.829,3.853,3.888,3.942,3.991,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.349,3.344,3.332,3.32,3.305,3.3,3.286,3.282,3.271,3.254,3.248,3.237,3.237,3.234,3.226,3.208,3.203,3.192,3.19,3.186,3.179,3.172,3.165,3.16,3.15,3.149,3.138,3.133,3.12,3.117,3.115,3.115,3.109,3.102,3.092,3.092,3.086,3.082,3.078,3.076,3.074,3.07,3.067,3.065,3.056,3.052,3.047,3.041,3.041,3.04,3.04,3.034,3.031,3.029,3.028,3.021,3.021,3.021,3.024,3.026,3.026,3.024,3.019,3.017,3.012,3.012,3.011,3.011,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.013,3.013,3.013,3.013,3.015,3.013,3.013,3.016,3.017,3.021,3.021,3.021,3.024,3.021,3.028,3.029,3.029,3.029,3.029,3.029,3.029,3.036,3.04,3.048,3.056,3.058,3.061,3.062,3.065,3.065,3.074,3.077,3.079,3.091,3.091,3.092,3.092,3.094,3.094,3.105,3.109,3.114,3.122,3.132,3.132,3.132,3.138,3.142,3.142,3.15,3.153,3.155,3.159,3.17,3.174,3.175,3.175,3.187,3.206,3.216,3.216,3.224,3.228,3.231,3.234,3.243,3.243,3.252,3.253,3.283,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 59.73} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 59.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 59.7269} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.8128} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 59.7706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.18,0.184,0.184,0,0,0,0,0,0,0,0,3.689,3.675,3.669,3.662,3.653,3.627,3.615,3.615,3.599,3.599,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.22,3.217,3.22,3.223,3.366,0.007,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.147,0.147,0.152,0.154,0.154,0.154,0.154,0.153,0.153,0.153,3.029,3.029,3.04,3.04,3.029,3.029,0.16,0.157,0.153,0.153,0.153,0.15,0.149,0.149,0.149,0.126,0.108,0.068,0.065,0.064,0.062,0.064,0.065,0.067,0.068,0.068,0.067,0.065,0.065,0.065,0.065,0.078,0.136,0.204,3.34,3.363,3.367,3.363,3.367,3.373,3.378,0.007,3.433,3.433,3.434,3.434,3.446,3.464,3.479,3.481,3.491,3.499,3.502,3.504,3.508,3.516,3.524,3.526,3.526,3.527,3.531,3.537,3.537,3.538,3.539,3.547,3.548,3.552,3.564,3.567,3.572,3.573,3.573,3.577,3.582,3.584,3.599,3.611,3.611,3.62,3.624,3.626,3.634,3.636,3.643,3.647,3.653,3.656,3.666,3.669,3.675,3.678,3.679,3.697,3.702,3.72,3.721,3.732,3.739,3.745,3.749,3.756,3.766,3.766,3.78,3.793,3.793,3.809,3.813,3.831,3.836,3.855,3.871,3.874,3.884,3.896,3.908,3.923,3.93,3.945,3.966,3.968,3.977,3.985,4.018,4.025,4.048,4.065,4.068,4.082,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.021,3.995,3.968,3.934,3.9,3.865,3.846,3.806,3.773,3.745,3.733,3.712,3.674,3.657,3.632,3.593,3.573,3.548,3.538,3.514,3.489,3.452,3.433,3.42,3.406,3.391,3.376,3.343,3.323,3.306,3.299,3.271,3.253,3.227,3.217,3.196,3.18,3.164,3.155,3.14,3.12,3.115,3.102,3.081,3.07,3.045,3.037,3.021,3.014,2.997,2.994,2.976,2.962,2.951,2.935,2.93,2.921,2.909,2.895,2.872,2.871,2.857,2.855,2.84,2.83,2.811,2.811,2.796,2.781,2.778,2.769,2.761,2.747,2.74,2.737,2.718,2.712,2.699,2.691,2.684,2.681,2.672,2.66,2.655,2.652,2.648,2.638,2.636,2.622,2.618,2.616,2.615,2.6,2.593,2.585,2.579,2.571,2.57,2.57,2.558,2.557,2.544,2.537,2.528,2.527,2.512,2.511,2.509,2.509,2.503,2.498,2.496,2.495,2.488,2.481,2.48,2.473,2.472,2.467,2.463,2.457,2.453,2.447,2.447,2.446,2.446,2.446,2.445,2.442,2.435,2.43,2.429,2.429,2.429,2.427,2.421,2.421,2.419,2.419,2.417,2.416,2.414,2.414,2.414,2.413,2.413,2.413,2.414,2.411,2.414,2.411,2.414,2.414,2.414,2.412,2.414,2.414,2.415,2.416,2.417,2.417,2.419,2.419,2.418,2.418,2.417,2.417,2.418,2.425,2.426,2.427,2.432,2.437,2.439,2.441,2.442,2.442,2.444,2.445,2.447,2.452,2.456,2.459,2.461,2.468,2.472,2.474,2.474,2.481,2.483,2.486,2.491,2.493,2.5,2.505,2.513,2.517,2.523,2.525,2.529,2.533,2.537,2.543,2.55,2.555,2.56,2.565,2.565,2.577,2.594,2.595,2.604,2.609,2.611,2.616,2.619,2.639,2.64,2.643,2.646,2.658,2.667,2.675,2.684,2.692,2.697,2.703,2.721,2.723,2.731,2.742,2.75,2.755,2.768,2.775,2.788,2.8,2.801,2.816,2.829,2.837,2.849,2.856,2.869,2.876,2.89,2.905,2.909,2.925,2.944,2.946,2.96,2.973,2.983,2.997,3.015,3.029,3.045,3.05,3.065,3.084,3.099,3.113,3.126,3.141,3.155,3.164,3.176,3.198,3.214,3.234,3.251,3.264,3.278,3.3,3.325,3.354,3.356,3.371,3.396,3.407,3.425,3.457,3.478,3.498,3.52,3.54,3.57,3.586,3.616,3.63,3.669,3.693,3.719,3.746,3.787,3.788,3.834,3.875,3.887,3.916,3.958,3.985,4.033,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.362,3.34,3.335,3.322,3.303,3.296,3.29,3.278,3.265,3.256,3.253,3.252,3.241,3.237,3.214,3.212,3.202,3.2,3.198,3.198,3.179,3.168,3.159,3.155,3.147,3.14,3.139,3.134,3.123,3.119,3.117,3.111,3.109,3.107,3.094,3.092,3.084,3.081,3.079,3.076,3.066,3.062,3.062,3.06,3.054,3.053,3.049,3.046,3.04,3.04,3.035,3.035,3.029,3.025,3.025,3.025,3.025,3.025,3.029,3.029,3.029,3.019,3.018,3.015,3.014,3.014,3.012,3.012,3.012,3.017,3.012,3.006,3.006,3.006,3.006,3.007,3.01,3.014,3.014,3.014,3.014,3.012,3.012,3.012,3.012,3.02,3.02,3.023,3.023,3.021,3.021,3.026,3.026,3.029,3.036,3.038,3.038,3.038,3.039,3.042,3.051,3.051,3.055,3.06,3.062,3.063,3.068,3.073,3.078,3.084,3.086,3.092,3.092,3.094,3.098,3.099,3.116,3.117,3.127,3.134,3.134,3.135,3.138,3.138,3.138,3.14,3.148,3.161,3.161,3.165,3.166,3.175,3.176,3.189,3.197,3.217,3.22,3.224,3.231,3.233,3.233,3.246,3.253,3.253,3.254,3.283,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 59.93} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 59.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 59.9289} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.5842} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 59.9706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.181,0.188,0.188,0,0,0,0,0,0,0,0,3.695,3.679,3.666,3.659,3.641,3.625,3.622,3.622,3.625,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.219,3.218,3.218,3.219,3.369,0.007,0,0,0,0,0,0,0,0,0.152,0.147,0.147,0.147,0.144,0.147,0.147,0.155,0.149,0.155,0.155,0.155,0.159,3.033,3.035,3.038,3.038,3.038,3.039,3.038,0.159,0.157,0.157,0.153,0.154,0.153,0.148,0.146,0.132,0.103,0.072,0.066,0.066,0.062,0.066,0.068,0.068,0.068,0.071,0.068,0.068,0.064,0.064,0.064,0.078,0.137,0.209,3.329,3.346,3.352,3.364,3.364,3.364,3.379,3.379,3.402,3.413,3.43,3.434,3.458,3.477,3.477,3.477,3.492,3.503,3.506,3.511,3.516,3.518,3.519,3.524,3.525,3.526,3.526,3.528,3.535,3.535,3.538,3.54,3.547,3.552,3.554,3.557,3.56,3.564,3.567,3.572,3.575,3.594,3.596,3.598,3.609,3.614,3.615,3.619,3.628,3.637,3.639,3.652,3.652,3.659,3.661,3.671,3.685,3.687,3.692,3.696,3.699,3.709,3.723,3.735,3.735,3.742,3.754,3.759,3.763,3.782,3.793,3.794,3.799,3.813,3.822,3.827,3.846,3.849,3.863,3.875,3.885,3.891,3.904,3.92,3.925,3.939,3.956,3.989,3.989,3.994,4.012,4.023,4.039,4.066,4.067,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.027,3.996,3.971,3.942,3.903,3.874,3.828,3.816,3.778,3.749,3.729,3.696,3.681,3.646,3.627,3.6,3.579,3.551,3.531,3.511,3.481,3.468,3.44,3.409,3.397,3.379,3.376,3.346,3.333,3.31,3.298,3.278,3.251,3.243,3.227,3.196,3.183,3.172,3.152,3.139,3.117,3.111,3.098,3.095,3.067,3.046,3.046,3.029,3.007,2.999,2.985,2.981,2.959,2.95,2.936,2.92,2.911,2.904,2.891,2.874,2.871,2.852,2.849,2.835,2.825,2.817,2.811,2.79,2.79,2.773,2.768,2.756,2.751,2.74,2.732,2.725,2.719,2.7,2.697,2.69,2.679,2.67,2.658,2.655,2.653,2.647,2.638,2.634,2.619,2.608,2.607,2.607,2.598,2.59,2.574,2.573,2.573,2.573,2.559,2.552,2.546,2.545,2.54,2.531,2.518,2.517,2.516,2.509,2.505,2.499,2.497,2.491,2.486,2.483,2.483,2.474,2.472,2.471,2.464,2.462,2.46,2.457,2.454,2.452,2.45,2.448,2.447,2.447,2.442,2.441,2.44,2.427,2.427,2.426,2.423,2.421,2.42,2.417,2.414,2.414,2.414,2.414,2.414,2.416,2.414,2.414,2.415,2.415,2.415,2.415,2.413,2.413,2.415,2.416,2.416,2.416,2.415,2.413,2.413,2.414,2.414,2.418,2.42,2.42,2.418,2.418,2.424,2.424,2.426,2.427,2.429,2.43,2.432,2.437,2.441,2.442,2.443,2.446,2.45,2.451,2.452,2.457,2.461,2.462,2.462,2.474,2.475,2.478,2.479,2.484,2.484,2.485,2.488,2.495,2.499,2.51,2.513,2.513,2.525,2.529,2.536,2.537,2.543,2.548,2.552,2.558,2.563,2.566,2.576,2.592,2.599,2.6,2.609,2.61,2.613,2.63,2.633,2.637,2.642,2.646,2.658,2.671,2.675,2.677,2.693,2.698,2.701,2.717,2.724,2.727,2.733,2.748,2.756,2.761,2.777,2.791,2.798,2.816,2.82,2.836,2.841,2.851,2.859,2.87,2.885,2.888,2.901,2.916,2.93,2.948,2.949,2.959,2.972,2.985,3.001,3.017,3.023,3.037,3.043,3.065,3.083,3.09,3.103,3.118,3.14,3.152,3.17,3.178,3.206,3.221,3.228,3.243,3.265,3.271,3.298,3.32,3.329,3.356,3.375,3.396,3.406,3.432,3.455,3.474,3.507,3.522,3.547,3.579,3.59,3.61,3.638,3.666,3.687,3.715,3.749,3.781,3.805,3.831,3.859,3.888,3.927,3.955,3.991,4.031,0.016,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.351,3.34,3.33,3.323,3.306,3.291,3.29,3.274,3.272,3.26,3.253,3.244,3.236,3.232,3.225,3.211,3.204,3.194,3.19,3.185,3.179,3.171,3.158,3.157,3.151,3.148,3.137,3.121,3.121,3.121,3.121,3.111,3.107,3.101,3.092,3.089,3.086,3.08,3.071,3.069,3.067,3.065,3.06,3.059,3.057,3.047,3.046,3.046,3.04,3.039,3.037,3.032,3.029,3.028,3.022,3.022,3.023,3.023,3.026,3.026,3.026,3.019,3.019,3.016,3.016,3.008,3.008,3.008,3.008,3.011,3.011,3.009,3.008,3.009,3.007,3.007,3.007,3.011,3.013,3.013,3.015,3.015,3.015,3.016,3.017,3.017,3.017,3.018,3.019,3.019,3.019,3.022,3.023,3.029,3.036,3.036,3.038,3.039,3.039,3.045,3.049,3.05,3.051,3.061,3.062,3.064,3.07,3.07,3.081,3.09,3.09,3.09,3.092,3.092,3.108,3.11,3.111,3.121,3.122,3.132,3.132,3.135,3.14,3.14,3.14,3.153,3.153,3.156,3.156,3.169,3.17,3.175,3.182,3.185,3.204,3.211,3.215,3.219,3.227,3.23,3.237,3.244,3.245,3.246,3.256,3.273,3.295,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 60.12} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 60.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 60.1208} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.5842} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1562} SEN {Time 60.1706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.177,0.18,0.184,0,0,0,0,0,0,0,0,3.685,3.674,3.669,3.653,3.647,3.632,3.613,3.613,3.613,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.212,3.224,3.256,3.37,3.37,0,0,0,0,0,0,0,0.147,0.144,0.144,0.144,0.147,0.14,0.143,0.143,0.152,0.152,0.153,0.153,0.154,0.158,3.029,3.036,3.037,3.037,3.036,3.039,3.039,0.159,0.158,0.158,0.156,0.156,0.155,0.145,0.144,0.129,0.111,0.082,0.066,0.064,0.064,0.064,0.06,0.062,0.062,0.064,0.064,0.064,0.064,0.064,0.067,0.076,0.128,0.205,3.342,3.354,3.395,3.362,3.395,0,0,0,0,0,3.455,3.455,3.455,3.468,3.481,3.496,3.496,3.496,3.496,3.503,3.506,3.511,3.518,3.521,3.525,3.532,3.532,3.534,3.536,3.536,3.546,3.548,3.552,3.554,3.557,3.56,3.569,3.575,3.575,3.575,3.583,3.585,3.591,3.599,3.606,3.612,3.627,3.629,3.636,3.638,3.644,3.647,3.654,3.658,3.662,3.665,3.678,3.688,3.688,3.688,3.691,3.719,3.723,3.729,3.731,3.735,3.746,3.753,3.771,3.776,3.786,3.795,3.801,3.801,3.82,3.837,3.843,3.849,3.866,3.873,3.885,3.896,3.9,3.912,3.922,3.944,3.946,3.983,3.988,3.993,4.019,4.027,4.038,4.066,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.057,4.057,3.989,3.96,3.892,3.863,3.846,3.81,3.773,3.751,3.739,3.697,3.674,3.651,3.625,3.608,3.582,3.552,3.523,3.513,3.477,3.449,3.444,3.426,3.401,3.382,3.363,3.354,3.326,3.306,3.286,3.277,3.254,3.229,3.224,3.203,3.189,3.168,3.139,3.137,3.109,3.1,3.093,3.092,3.061,3.044,3.033,3.029,3.012,2.999,2.993,2.986,2.962,2.954,2.935,2.928,2.917,2.908,2.89,2.877,2.87,2.867,2.855,2.835,2.822,2.82,2.807,2.792,2.784,2.783,2.766,2.764,2.744,2.735,2.732,2.723,2.721,2.706,2.699,2.679,2.677,2.676,2.659,2.658,2.654,2.654,2.639,2.637,2.623,2.618,2.617,2.604,2.595,2.595,2.582,2.575,2.566,2.565,2.559,2.557,2.552,2.54,2.537,2.536,2.525,2.522,2.515,2.506,2.504,2.501,2.501,2.498,2.492,2.486,2.48,2.478,2.472,2.466,2.466,2.462,2.457,2.456,2.448,2.447,2.447,2.447,2.447,2.447,2.441,2.436,2.435,2.434,2.432,2.427,2.427,2.42,2.42,2.418,2.418,2.411,2.414,2.414,2.414,2.411,2.414,2.411,2.411,2.406,2.411,2.406,2.406,2.407,2.409,2.409,2.415,2.415,2.415,2.413,2.413,2.413,2.417,2.42,2.42,2.417,2.416,2.416,2.416,2.423,2.425,2.428,2.433,2.434,2.435,2.436,2.439,2.439,2.442,2.445,2.445,2.447,2.451,2.452,2.46,2.464,2.465,2.47,2.474,2.476,2.476,2.485,2.486,2.49,2.491,2.492,2.501,2.51,2.51,2.517,2.521,2.531,2.534,2.541,2.541,2.55,2.553,2.559,2.561,2.572,2.578,2.595,2.595,2.599,2.606,2.609,2.616,2.627,2.64,2.644,2.645,2.646,2.65,2.662,2.669,2.673,2.685,2.692,2.7,2.714,2.719,2.725,2.734,2.75,2.754,2.768,2.78,2.788,2.798,2.81,2.818,2.831,2.834,2.837,2.853,2.868,2.878,2.882,2.899,2.916,2.926,2.947,2.956,2.958,2.973,2.983,2.996,3.016,3.021,3.039,3.042,3.074,3.089,3.09,3.109,3.121,3.138,3.163,3.175,3.181,3.201,3.218,3.231,3.249,3.261,3.274,3.298,3.321,3.331,3.345,3.376,3.395,3.404,3.442,3.458,3.487,3.503,3.526,3.547,3.574,3.598,3.605,3.649,3.663,3.688,3.716,3.746,3.785,3.806,3.83,3.87,3.905,3.913,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.354,3.348,3.332,3.321,3.3,3.295,3.29,3.282,3.271,3.264,3.25,3.237,3.235,3.232,3.221,3.213,3.213,3.198,3.192,3.187,3.17,3.166,3.154,3.151,3.151,3.148,3.145,3.128,3.122,3.121,3.117,3.111,3.106,3.102,3.094,3.09,3.087,3.083,3.082,3.069,3.069,3.059,3.059,3.055,3.054,3.053,3.048,3.045,3.04,3.04,3.04,3.037,3.026,3.026,3.025,3.024,3.024,3.024,3.029,3.029,3.029,3.023,3.015,3.014,3.014,3.015,3.015,3.015,3.015,3.016,3.011,3.011,3.006,3.006,3.006,3.009,3.01,3.012,3.012,3.012,3.012,3.012,3.012,3.014,3.015,3.023,3.023,3.023,3.023,3.026,3.025,3.026,3.029,3.029,3.034,3.036,3.037,3.038,3.038,3.047,3.049,3.057,3.058,3.06,3.06,3.062,3.068,3.077,3.078,3.09,3.091,3.094,3.095,3.095,3.097,3.105,3.107,3.116,3.12,3.132,3.132,3.134,3.139,3.139,3.139,3.15,3.154,3.156,3.159,3.163,3.171,3.172,3.181,3.185,3.2,3.216,3.217,3.224,3.232,3.238,3.238,3.245,3.245,3.251,3.261,3.279,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 60.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 60.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 60.3219} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.5842} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8006} SEN {Time 60.3667} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.183,0.184,0.186,0,0,0,0,0,0,0,0,3.689,3.684,3.665,3.659,3.637,3.631,3.613,3.613,3.613,3.61,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.221,3.209,3.209,3.262,3.36,3.36,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.144,0.146,0.146,0.153,0.153,0.153,0.153,0.153,0.158,3.029,3.039,3.039,3.039,3.038,3.038,0.154,0.154,0.154,0.154,0.157,0.157,0.153,0.145,0.145,0.125,0.111,0.075,0.063,0.063,0.059,0.063,0.064,0.067,0.068,0.068,0.067,0.066,0.066,0.066,0.066,0.08,0.123,0.208,3.345,3.349,3.365,3.365,3.372,3.379,3.383,0.007,0,3.444,3.444,3.444,3.444,3.466,3.477,3.488,3.49,3.499,3.503,3.507,3.51,3.511,3.521,3.521,3.523,3.526,3.528,3.528,3.533,3.543,3.54,3.543,3.545,3.551,3.556,3.572,3.574,3.575,3.579,3.579,3.579,3.592,3.596,3.603,3.604,3.605,3.629,3.629,3.63,3.64,3.648,3.653,3.656,3.662,3.664,3.67,3.675,3.679,3.687,3.692,3.692,3.704,3.716,3.725,3.733,3.739,3.751,3.756,3.765,3.769,3.779,3.788,3.799,3.808,3.819,3.833,3.836,3.857,3.861,3.871,3.88,3.892,3.904,3.927,3.927,3.941,3.975,3.979,3.983,3.994,4.013,4.027,4.035,4.071,4.08,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.05,3.98,3.965,3.905,3.866,3.841,3.806,3.783,3.743,3.725,3.699,3.675,3.653,3.63,3.6,3.575,3.547,3.527,3.507,3.504,3.458,3.446,3.424,3.417,3.381,3.37,3.354,3.334,3.304,3.294,3.274,3.255,3.229,3.222,3.202,3.188,3.161,3.143,3.137,3.121,3.107,3.092,3.088,3.061,3.058,3.046,3.026,3.014,2.993,2.993,2.983,2.957,2.953,2.937,2.931,2.91,2.903,2.898,2.876,2.87,2.864,2.852,2.833,2.829,2.815,2.799,2.79,2.786,2.78,2.766,2.765,2.745,2.735,2.725,2.717,2.714,2.697,2.692,2.689,2.677,2.676,2.666,2.653,2.651,2.648,2.636,2.634,2.628,2.621,2.616,2.61,2.597,2.59,2.579,2.576,2.573,2.566,2.562,2.554,2.551,2.54,2.537,2.525,2.517,2.516,2.515,2.504,2.502,2.498,2.498,2.497,2.489,2.483,2.48,2.476,2.474,2.47,2.467,2.467,2.461,2.456,2.452,2.448,2.444,2.443,2.442,2.441,2.439,2.438,2.436,2.431,2.429,2.429,2.429,2.429,2.417,2.417,2.415,2.415,2.415,2.415,2.415,2.415,2.414,2.414,2.415,2.415,2.41,2.41,2.41,2.406,2.41,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.418,2.418,2.418,2.418,2.418,2.418,2.424,2.426,2.426,2.428,2.434,2.436,2.437,2.439,2.439,2.444,2.447,2.447,2.455,2.456,2.459,2.463,2.463,2.471,2.473,2.473,2.473,2.478,2.484,2.487,2.488,2.492,2.493,2.496,2.51,2.511,2.513,2.517,2.523,2.528,2.533,2.537,2.547,2.562,2.566,2.568,2.569,2.569,2.595,2.6,2.603,2.605,2.607,2.617,2.622,2.629,2.638,2.644,2.647,2.657,2.664,2.676,2.68,2.688,2.697,2.701,2.718,2.721,2.722,2.739,2.747,2.755,2.761,2.775,2.787,2.796,2.803,2.811,2.829,2.842,2.849,2.859,2.874,2.878,2.89,2.905,2.917,2.931,2.945,2.952,2.957,2.967,2.981,2.994,3.019,3.021,3.04,3.048,3.069,3.077,3.092,3.101,3.126,3.146,3.151,3.171,3.18,3.199,3.213,3.23,3.25,3.265,3.282,3.293,3.322,3.33,3.353,3.369,3.399,3.405,3.426,3.454,3.483,3.496,3.512,3.537,3.559,3.589,3.615,3.638,3.666,3.694,3.724,3.746,3.772,3.799,3.841,3.856,3.89,3.929,3.952,4.053,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.358,3.346,3.323,3.317,3.312,3.303,3.283,3.28,3.264,3.261,3.26,3.238,3.238,3.233,3.219,3.205,3.203,3.196,3.186,3.182,3.174,3.169,3.158,3.15,3.147,3.147,3.134,3.133,3.121,3.118,3.116,3.109,3.109,3.107,3.096,3.092,3.083,3.079,3.077,3.077,3.07,3.069,3.067,3.056,3.052,3.048,3.046,3.042,3.041,3.041,3.041,3.034,3.03,3.03,3.022,3.022,3.022,3.022,3.029,3.029,3.029,3.023,3.016,3.016,3.016,3.016,3.012,3.01,3.01,3.01,3.01,3.005,3.005,3.005,3.009,3.009,3.009,3.009,3.009,3.009,3.013,3.019,3.013,3.019,3.019,3.02,3.018,3.018,3.018,3.02,3.02,3.027,3.027,3.027,3.03,3.036,3.036,3.036,3.04,3.047,3.049,3.051,3.061,3.062,3.062,3.064,3.069,3.072,3.08,3.09,3.09,3.092,3.094,3.094,3.097,3.109,3.118,3.118,3.125,3.133,3.133,3.134,3.136,3.141,3.141,3.146,3.147,3.15,3.167,3.168,3.17,3.171,3.178,3.181,3.199,3.208,3.216,3.223,3.229,3.23,3.236,3.244,3.246,3.251,3.262,3.278,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 60.52} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 60.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 60.5228} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.889} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8006} SEN {Time 60.5667} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.177,0.188,0.188,0,0,0,0,0,0,0,0,3.686,3.683,3.661,3.659,3.646,3.625,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.226,3.209,3.226,0.007,0,0.007,0,0,0,0,0,0,0,0.151,0.149,0.149,0.149,0.149,0.146,0.146,0.146,0.152,0.148,0.152,0.152,0.153,0.154,3.042,3.042,3.042,3.042,3.04,3.04,3.032,0.162,0.156,0.156,0.149,0.149,0.149,0.145,0.145,0.127,0.108,0.081,0.068,0.061,0.06,0.06,0.06,0.068,0.068,0.068,0.064,0.06,0.06,0.06,0.06,0.082,0.13,0.193,3.351,3.354,3.38,3.374,3.38,3.393,3.394,0,0.007,3.44,3.44,3.453,3.453,3.473,3.478,3.488,3.495,3.502,3.502,3.504,3.504,3.511,3.516,3.519,3.521,3.524,3.527,3.534,3.534,3.535,3.547,3.544,3.548,3.548,3.55,3.563,3.566,3.571,3.574,3.578,3.578,3.583,3.601,3.603,3.605,3.619,3.621,3.628,3.629,3.637,3.641,3.646,3.652,3.658,3.665,3.667,3.672,3.683,3.688,3.696,3.697,3.717,3.72,3.734,3.75,3.752,3.755,3.757,3.768,3.776,3.788,3.792,3.807,3.813,3.815,3.838,3.844,3.845,3.857,3.87,3.884,3.889,3.909,3.916,3.93,3.945,3.954,3.967,3.984,4.001,4.018,4.033,4.035,4.06,4.064,4.091,0.016,0.016,0.016,0.007,0,0,0,0,3.979,3.975,3.931,3.892,3.859,3.841,3.809,3.774,3.756,3.742,3.702,3.688,3.646,3.628,3.594,3.573,3.55,3.526,3.507,3.489,3.449,3.449,3.411,3.403,3.389,3.359,3.347,3.325,3.315,3.299,3.268,3.254,3.234,3.225,3.197,3.183,3.181,3.156,3.137,3.119,3.113,3.096,3.083,3.072,3.051,3.046,3.029,3.014,3.005,2.985,2.979,2.959,2.948,2.942,2.928,2.915,2.907,2.889,2.884,2.873,2.858,2.851,2.833,2.831,2.812,2.803,2.793,2.787,2.778,2.767,2.76,2.745,2.741,2.736,2.717,2.713,2.701,2.691,2.687,2.682,2.676,2.666,2.652,2.65,2.65,2.639,2.633,2.627,2.623,2.613,2.609,2.597,2.588,2.583,2.575,2.574,2.572,2.571,2.554,2.55,2.545,2.536,2.535,2.522,2.519,2.509,2.507,2.503,2.502,2.497,2.493,2.492,2.487,2.486,2.48,2.473,2.467,2.466,2.465,2.463,2.458,2.457,2.453,2.449,2.442,2.442,2.44,2.439,2.438,2.435,2.432,2.427,2.427,2.425,2.425,2.423,2.42,2.42,2.419,2.413,2.413,2.413,2.413,2.413,2.41,2.41,2.409,2.409,2.408,2.408,2.408,2.414,2.412,2.412,2.414,2.417,2.417,2.417,2.418,2.418,2.418,2.419,2.42,2.42,2.42,2.42,2.42,2.421,2.426,2.43,2.433,2.433,2.433,2.437,2.441,2.442,2.443,2.444,2.45,2.453,2.453,2.458,2.458,2.465,2.473,2.473,2.474,2.48,2.486,2.487,2.488,2.495,2.499,2.499,2.509,2.514,2.521,2.522,2.528,2.532,2.536,2.538,2.546,2.547,2.552,2.559,2.568,2.573,2.593,2.595,2.605,2.605,2.611,2.613,2.628,2.631,2.639,2.64,2.641,2.658,2.667,2.677,2.686,2.688,2.693,2.707,2.714,2.722,2.73,2.738,2.748,2.755,2.767,2.781,2.788,2.791,2.801,2.808,2.833,2.839,2.85,2.852,2.864,2.878,2.89,2.901,2.926,2.928,2.944,2.946,2.958,2.978,2.981,2.996,3.017,3.029,3.04,3.044,3.063,3.086,3.096,3.108,3.121,3.146,3.156,3.161,3.18,3.201,3.222,3.229,3.25,3.262,3.272,3.299,3.319,3.34,3.352,3.375,3.398,3.413,3.43,3.458,3.48,3.502,3.527,3.546,3.567,3.59,3.623,3.641,3.665,3.697,3.716,3.742,3.777,3.804,3.829,3.868,3.902,3.927,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.357,3.344,3.329,3.311,3.303,3.29,3.287,3.279,3.272,3.255,3.25,3.241,3.239,3.233,3.223,3.219,3.208,3.203,3.196,3.179,3.169,3.164,3.159,3.152,3.149,3.147,3.134,3.131,3.121,3.121,3.12,3.112,3.112,3.105,3.094,3.086,3.084,3.08,3.076,3.074,3.07,3.069,3.064,3.064,3.058,3.05,3.041,3.041,3.041,3.039,3.039,3.032,3.031,3.027,3.02,3.017,3.02,3.02,3.026,3.026,3.026,3.019,3.016,3.013,3.013,3.011,3.011,3.013,3.013,3.011,3.01,3.01,3.007,3.009,3.009,3.01,3.01,3.013,3.014,3.014,3.015,3.018,3.018,3.019,3.021,3.021,3.02,3.021,3.021,3.02,3.021,3.023,3.029,3.03,3.034,3.036,3.037,3.039,3.042,3.042,3.047,3.06,3.06,3.061,3.061,3.063,3.063,3.075,3.078,3.09,3.092,3.092,3.092,3.092,3.096,3.108,3.11,3.119,3.123,3.126,3.13,3.132,3.135,3.14,3.14,3.148,3.148,3.153,3.155,3.155,3.167,3.168,3.169,3.184,3.188,3.216,3.22,3.223,3.226,3.232,3.233,3.238,3.243,3.247,3.268,3.281,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 60.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 60.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 60.7237} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.889} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.8006} SEN {Time 60.7666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.178,0.179,0.187,0,0,0,0,0,0,0,0,3.697,3.688,3.672,3.652,3.642,3.639,3.615,3.615,3.615,3.598,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.238,3.213,3.213,3.208,3.213,3.213,3.266,3.359,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.145,0.147,0.147,0.15,0.15,0.153,0.153,0.153,0.153,3.035,3.035,3.038,3.038,3.035,3.038,3.038,0.157,0.154,0.154,0.154,0.154,0.154,0.148,0.145,0.13,0.109,0.079,0.062,0.062,0.061,0.062,0.064,0.068,0.068,0.068,0.068,0.064,0.063,0.063,0.064,0.086,0.125,0.217,3.344,3.354,3.365,3.365,3.379,3.379,0,0.007,0,0.007,3.45,3.45,3.47,3.47,3.471,3.481,3.496,3.503,3.506,3.511,3.511,3.511,3.513,3.514,3.515,3.518,3.524,3.529,3.535,3.538,3.539,3.546,3.554,3.555,3.555,3.557,3.57,3.573,3.574,3.579,3.584,3.59,3.596,3.598,3.601,3.613,3.618,3.619,3.628,3.631,3.642,3.649,3.654,3.655,3.659,3.662,3.677,3.685,3.688,3.694,3.701,3.709,3.724,3.729,3.735,3.743,3.746,3.758,3.763,3.768,3.772,3.797,3.803,3.823,3.826,3.827,3.845,3.85,3.866,3.881,3.889,3.902,3.907,3.923,3.923,3.932,3.953,3.971,3.983,3.987,4.013,4.033,4.048,4.06,4.075,4.084,0.016,0.016,0.016,0.016,0.007,0.016,4.068,4.022,3.99,3.969,3.929,3.914,3.875,3.839,3.815,3.773,3.755,3.739,3.702,3.679,3.652,3.624,3.593,3.577,3.555,3.536,3.512,3.493,3.456,3.454,3.416,3.406,3.379,3.372,3.354,3.329,3.31,3.297,3.269,3.263,3.236,3.228,3.203,3.181,3.164,3.152,3.134,3.127,3.103,3.097,3.085,3.07,3.048,3.034,3.026,3.01,2.993,2.991,2.977,2.957,2.953,2.935,2.933,2.911,2.905,2.904,2.878,2.872,2.862,2.85,2.839,2.824,2.821,2.805,2.799,2.78,2.777,2.774,2.759,2.752,2.747,2.738,2.721,2.718,2.697,2.695,2.682,2.676,2.675,2.661,2.654,2.652,2.645,2.637,2.636,2.621,2.615,2.613,2.602,2.598,2.596,2.582,2.582,2.57,2.57,2.566,2.557,2.552,2.546,2.538,2.53,2.53,2.528,2.512,2.504,2.503,2.493,2.492,2.488,2.488,2.485,2.484,2.482,2.467,2.466,2.465,2.464,2.464,2.455,2.453,2.452,2.446,2.446,2.445,2.445,2.438,2.435,2.434,2.43,2.43,2.427,2.421,2.421,2.421,2.418,2.418,2.415,2.413,2.412,2.411,2.411,2.411,2.411,2.413,2.413,2.411,2.415,2.412,2.412,2.412,2.414,2.412,2.414,2.414,2.414,2.414,2.415,2.415,2.418,2.419,2.419,2.419,2.42,2.42,2.42,2.421,2.424,2.429,2.43,2.431,2.436,2.437,2.442,2.442,2.444,2.444,2.451,2.453,2.455,2.464,2.464,2.465,2.473,2.475,2.475,2.479,2.481,2.489,2.491,2.494,2.499,2.503,2.512,2.516,2.519,2.521,2.533,2.534,2.534,2.54,2.547,2.555,2.561,2.568,2.573,2.58,2.585,2.599,2.603,2.605,2.612,2.617,2.626,2.631,2.639,2.643,2.645,2.657,2.664,2.669,2.677,2.684,2.699,2.701,2.714,2.714,2.728,2.739,2.755,2.755,2.761,2.784,2.79,2.79,2.812,2.818,2.834,2.837,2.848,2.852,2.869,2.88,2.885,2.902,2.918,2.921,2.948,2.952,2.953,2.973,2.98,2.992,3.016,3.027,3.043,3.047,3.067,3.08,3.099,3.108,3.127,3.14,3.155,3.168,3.185,3.196,3.221,3.228,3.245,3.262,3.278,3.295,3.319,3.336,3.349,3.376,3.391,3.409,3.429,3.452,3.481,3.505,3.526,3.54,3.562,3.595,3.61,3.639,3.67,3.693,3.716,3.751,3.77,3.806,3.831,3.854,3.898,3.929,4.023,4.064,0,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.356,3.342,3.324,3.314,3.312,3.292,3.289,3.28,3.268,3.259,3.246,3.243,3.243,3.238,3.221,3.217,3.215,3.203,3.184,3.18,3.172,3.164,3.158,3.15,3.148,3.137,3.136,3.136,3.125,3.12,3.116,3.111,3.108,3.108,3.09,3.089,3.084,3.08,3.076,3.073,3.072,3.067,3.06,3.057,3.054,3.05,3.044,3.042,3.042,3.04,3.04,3.038,3.028,3.027,3.026,3.024,3.024,3.024,3.023,3.023,3.023,3.021,3.017,3.015,3.012,3.012,3.012,3.012,3.012,3.012,3.011,3.007,3.011,3.007,3.007,3.011,3.011,3.011,3.011,3.012,3.013,3.013,3.013,3.014,3.016,3.018,3.014,3.023,3.026,3.026,3.026,3.029,3.033,3.033,3.035,3.035,3.036,3.036,3.043,3.046,3.051,3.051,3.06,3.061,3.062,3.063,3.063,3.07,3.082,3.087,3.09,3.09,3.09,3.09,3.096,3.11,3.111,3.116,3.123,3.125,3.127,3.135,3.135,3.139,3.139,3.141,3.143,3.156,3.162,3.162,3.163,3.166,3.174,3.185,3.198,3.216,3.217,3.219,3.224,3.23,3.235,3.24,3.246,3.25,3.26,3.276,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 60.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 60.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 60.9248} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.889} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 60.9666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.183,0.186,0.186,0,0,0,0,0,0,0,0,3.69,3.674,3.672,3.663,3.652,3.632,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.214,3.215,3.215,3.265,3.36,0,0,0,0,0,0,0,0.144,0.144,0.144,0.142,0.142,0.144,0.15,0.15,0.151,0.151,0.153,0.153,0.153,0.153,3.041,3.041,3.041,3.041,3.037,3.037,3.03,0.158,0.158,0.158,0.153,0.15,0.15,0.149,0.149,0.125,0.103,0.078,0.063,0.056,0.056,0.061,0.061,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.083,0.139,0.198,3.368,3.368,3.392,3.392,3.392,3.392,0,0.007,0,0,0,3.465,3.465,3.465,3.482,3.489,3.507,3.507,3.508,3.508,3.512,3.512,3.515,3.516,3.518,3.518,3.525,3.534,3.536,3.539,3.539,3.543,3.548,3.555,3.561,3.562,3.571,3.577,3.578,3.582,3.583,3.584,3.585,3.593,3.603,3.618,3.62,3.63,3.634,3.64,3.652,3.652,3.661,3.665,3.671,3.673,3.681,3.686,3.688,3.691,3.703,3.705,3.714,3.722,3.73,3.739,3.745,3.751,3.767,3.772,3.784,3.792,3.811,3.812,3.813,3.841,3.844,3.847,3.867,3.885,3.885,3.886,3.898,3.917,3.93,3.944,3.954,3.967,3.994,3.995,4.034,4.035,4.041,4.056,4.07,4.092,0.016,0.016,0.016,0.016,0.016,4.084,4.047,4.028,4.028,4.005,3.97,3.904,3.867,3.837,3.81,3.776,3.746,3.725,3.687,3.663,3.652,3.621,3.591,3.576,3.552,3.541,3.504,3.482,3.475,3.438,3.432,3.406,3.38,3.369,3.349,3.34,3.312,3.298,3.269,3.26,3.233,3.228,3.196,3.186,3.163,3.152,3.14,3.121,3.11,3.099,3.08,3.06,3.056,3.044,3.031,3.007,2.994,2.993,2.989,2.963,2.949,2.932,2.931,2.918,2.904,2.891,2.878,2.878,2.858,2.847,2.842,2.827,2.811,2.81,2.793,2.782,2.78,2.773,2.766,2.747,2.738,2.731,2.722,2.709,2.7,2.689,2.687,2.68,2.678,2.662,2.655,2.655,2.652,2.638,2.63,2.629,2.62,2.616,2.61,2.595,2.59,2.581,2.578,2.571,2.57,2.567,2.562,2.558,2.534,2.532,2.531,2.522,2.514,2.512,2.508,2.506,2.5,2.499,2.494,2.489,2.485,2.484,2.483,2.468,2.468,2.466,2.464,2.459,2.457,2.453,2.45,2.446,2.443,2.442,2.441,2.437,2.436,2.433,2.429,2.429,2.428,2.427,2.427,2.423,2.417,2.417,2.416,2.416,2.415,2.415,2.412,2.411,2.413,2.413,2.411,2.409,2.409,2.407,2.407,2.409,2.413,2.416,2.417,2.417,2.417,2.417,2.417,2.417,2.42,2.421,2.421,2.421,2.417,2.417,2.417,2.43,2.431,2.432,2.433,2.435,2.436,2.438,2.441,2.444,2.445,2.45,2.455,2.455,2.456,2.46,2.462,2.463,2.47,2.472,2.472,2.476,2.489,2.492,2.495,2.495,2.501,2.502,2.509,2.517,2.52,2.523,2.531,2.538,2.539,2.541,2.542,2.553,2.56,2.562,2.566,2.573,2.584,2.597,2.609,2.609,2.611,2.613,2.623,2.633,2.635,2.642,2.645,2.647,2.666,2.677,2.677,2.687,2.7,2.703,2.716,2.717,2.727,2.736,2.745,2.745,2.77,2.778,2.786,2.8,2.812,2.812,2.829,2.84,2.844,2.858,2.874,2.876,2.893,2.905,2.916,2.927,2.949,2.953,2.959,2.977,2.984,2.992,3.01,3.025,3.042,3.044,3.071,3.087,3.103,3.108,3.122,3.143,3.159,3.169,3.181,3.202,3.223,3.236,3.251,3.259,3.278,3.3,3.321,3.331,3.35,3.366,3.394,3.401,3.448,3.456,3.48,3.503,3.532,3.545,3.58,3.595,3.614,3.64,3.666,3.694,3.72,3.752,3.778,3.8,3.836,3.856,3.901,3.914,4.036,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.356,3.339,3.336,3.323,3.315,3.301,3.295,3.281,3.273,3.252,3.252,3.239,3.237,3.234,3.222,3.212,3.211,3.193,3.186,3.182,3.175,3.17,3.161,3.159,3.153,3.142,3.133,3.132,3.127,3.123,3.121,3.113,3.11,3.096,3.096,3.094,3.088,3.085,3.083,3.082,3.069,3.065,3.061,3.061,3.05,3.048,3.048,3.042,3.042,3.041,3.041,3.037,3.034,3.028,3.025,3.025,3.025,3.025,3.03,3.03,3.03,3.02,3.018,3.016,3.016,3.015,3.014,3.014,3.014,3.014,3.013,3.009,3.002,3.002,3.002,3.011,3.015,3.018,3.018,3.017,3.017,3.017,3.011,3.014,3.014,3.015,3.015,3.017,3.02,3.022,3.022,3.023,3.024,3.029,3.029,3.036,3.036,3.038,3.04,3.049,3.051,3.056,3.056,3.057,3.066,3.067,3.071,3.076,3.081,3.085,3.088,3.09,3.09,3.092,3.1,3.11,3.112,3.112,3.123,3.128,3.128,3.132,3.137,3.138,3.145,3.148,3.15,3.151,3.155,3.166,3.169,3.171,3.176,3.195,3.199,3.218,3.22,3.225,3.225,3.229,3.231,3.24,3.249,3.253,3.262,3.275,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 61.12} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 61.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 61.1167} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 61.1666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.184,0.184,0.184,0,0,0,0,0,0,0,0,3.694,3.683,3.671,3.656,3.644,3.633,3.612,3.612,3.596,3.595,3.596,0,3.346,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.22,3.218,3.218,3.218,3.265,3.364,0,0,0,0,0,0,0,0.149,0.147,0.147,0.147,0.147,0.147,0.148,0.148,0.155,0.153,0.153,0.153,0.153,0.153,3.035,3.035,3.036,3.036,3.035,3.036,3.036,0.157,0.151,0.153,0.153,0.153,0.152,0.152,0.149,0.126,0.102,0.079,0.064,0.062,0.06,0.06,0.06,0.067,0.068,0.068,0.068,0.067,0.064,0.064,0.064,0.082,0.135,0.213,3.336,3.352,3.362,3.362,3.362,3.362,3.369,3.379,3.395,3.432,3.433,3.433,3.453,3.474,3.476,3.482,3.484,3.49,3.501,3.51,3.514,3.516,3.519,3.519,3.528,3.533,3.534,3.534,3.537,3.539,3.541,3.546,3.552,3.558,3.561,3.564,3.57,3.579,3.582,3.583,3.589,3.595,3.598,3.603,3.61,3.611,3.617,3.626,3.632,3.637,3.638,3.651,3.653,3.657,3.664,3.665,3.675,3.686,3.687,3.701,3.704,3.71,3.731,3.732,3.732,3.739,3.758,3.759,3.759,3.775,3.788,3.795,3.797,3.814,3.821,3.836,3.846,3.847,3.861,3.879,3.887,3.894,3.903,3.908,3.926,3.947,3.947,3.968,3.984,3.998,4.01,4.03,4.034,4.051,4.078,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.056,4.013,3.986,3.977,3.934,3.896,3.889,3.838,3.825,3.792,3.751,3.724,3.697,3.667,3.659,3.61,3.609,3.566,3.546,3.524,3.511,3.491,3.462,3.448,3.418,3.407,3.384,3.362,3.353,3.34,3.309,3.297,3.265,3.262,3.235,3.228,3.199,3.186,3.169,3.153,3.133,3.115,3.104,3.099,3.074,3.063,3.052,3.038,3.035,3.011,2.998,2.986,2.979,2.966,2.951,2.936,2.922,2.915,2.909,2.894,2.875,2.867,2.859,2.851,2.838,2.826,2.815,2.804,2.797,2.784,2.779,2.767,2.756,2.75,2.737,2.736,2.725,2.719,2.701,2.694,2.68,2.678,2.67,2.658,2.655,2.652,2.651,2.634,2.632,2.618,2.61,2.608,2.604,2.596,2.591,2.582,2.574,2.57,2.566,2.563,2.554,2.554,2.551,2.534,2.534,2.532,2.522,2.518,2.515,2.506,2.5,2.497,2.492,2.486,2.482,2.482,2.481,2.473,2.472,2.468,2.465,2.46,2.457,2.457,2.456,2.448,2.443,2.443,2.443,2.439,2.438,2.436,2.429,2.425,2.425,2.425,2.424,2.419,2.418,2.417,2.416,2.415,2.415,2.413,2.413,2.413,2.413,2.413,2.413,2.412,2.41,2.41,2.41,2.41,2.412,2.412,2.412,2.414,2.414,2.416,2.416,2.416,2.416,2.418,2.419,2.418,2.419,2.421,2.424,2.424,2.427,2.429,2.431,2.433,2.438,2.439,2.439,2.439,2.442,2.445,2.45,2.454,2.455,2.457,2.464,2.465,2.471,2.475,2.478,2.484,2.485,2.486,2.49,2.495,2.498,2.504,2.509,2.511,2.521,2.522,2.524,2.533,2.535,2.536,2.54,2.553,2.566,2.566,2.572,2.576,2.594,2.595,2.607,2.609,2.609,2.611,2.624,2.633,2.635,2.638,2.645,2.656,2.668,2.675,2.68,2.691,2.696,2.703,2.714,2.721,2.732,2.74,2.747,2.753,2.768,2.788,2.791,2.802,2.808,2.814,2.827,2.838,2.844,2.86,2.869,2.882,2.894,2.902,2.914,2.928,2.947,2.954,2.956,2.979,2.983,2.997,3.008,3.014,3.033,3.047,3.067,3.087,3.092,3.099,3.125,3.143,3.156,3.166,3.175,3.206,3.219,3.23,3.253,3.268,3.276,3.293,3.328,3.34,3.346,3.379,3.392,3.409,3.43,3.466,3.485,3.499,3.527,3.541,3.575,3.595,3.609,3.631,3.661,3.686,3.724,3.742,3.777,3.797,3.831,3.863,3.919,3.954,3.977,3.977,4.032,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.353,3.338,3.328,3.316,3.304,3.301,3.297,3.278,3.266,3.258,3.253,3.246,3.239,3.238,3.222,3.214,3.212,3.197,3.185,3.185,3.174,3.171,3.16,3.154,3.148,3.148,3.147,3.133,3.124,3.121,3.117,3.109,3.108,3.104,3.104,3.1,3.083,3.083,3.077,3.071,3.069,3.068,3.066,3.056,3.053,3.051,3.043,3.043,3.04,3.04,3.036,3.029,3.026,3.026,3.024,3.024,3.026,3.026,3.025,3.025,3.025,3.022,3.019,3.013,3.012,3.012,3.012,3.012,3.012,3.012,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.012,3.012,3.014,3.019,3.019,3.019,3.019,3.017,3.017,3.014,3.014,3.019,3.021,3.021,3.021,3.021,3.029,3.029,3.029,3.033,3.036,3.039,3.045,3.049,3.05,3.059,3.059,3.06,3.063,3.067,3.07,3.071,3.084,3.088,3.088,3.089,3.091,3.102,3.106,3.111,3.111,3.126,3.136,3.136,3.137,3.139,3.14,3.14,3.141,3.143,3.154,3.162,3.163,3.165,3.175,3.183,3.189,3.205,3.207,3.219,3.224,3.228,3.237,3.237,3.239,3.245,3.255,3.262,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 61.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 61.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 61.3177} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.953} SEN {Time 61.3666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.179,0.186,0.193,0,0,0,0,0,0,0,0,3.685,3.684,3.661,3.656,3.643,3.639,3.614,3.614,3.614,3.602,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.212,3.216,3.216,3.366,0.007,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.148,0.153,0.153,0.15,0.153,0.153,0.155,0.155,0.158,0.158,3.029,3.031,3.031,3.031,3.031,3.03,0.159,0.159,0.155,0.155,0.152,0.151,0.149,0.147,0.147,0.134,0.109,0.068,0.067,0.06,0.06,0.06,0.06,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.07,0.084,0.143,0.211,3.349,0.007,3.394,3.362,3.362,3.362,3.366,3.366,3.432,3.436,3.463,3.463,3.463,3.464,3.485,3.487,3.499,3.507,3.508,3.51,3.511,3.515,3.518,3.518,3.524,3.529,3.529,3.535,3.546,3.548,3.548,3.548,3.548,3.551,3.551,3.568,3.575,3.576,3.576,3.577,3.582,3.591,3.595,3.602,3.605,3.611,3.617,3.622,3.622,3.629,3.641,3.645,3.645,3.659,3.67,3.675,3.683,3.684,3.693,3.697,3.7,3.713,3.716,3.718,3.728,3.736,3.756,3.757,3.769,3.775,3.794,3.795,3.809,3.82,3.824,3.827,3.847,3.849,3.86,3.876,3.879,3.903,3.906,3.913,3.938,3.947,3.959,3.965,3.983,3.987,4.003,4.042,4.043,4.056,4.071,4.088,0.016,0.016,0.016,0.016,0.016,4.079,4.052,4.017,4,4,3.968,3.931,3.876,3.841,3.806,3.773,3.746,3.726,3.697,3.684,3.652,3.629,3.605,3.575,3.56,3.532,3.504,3.485,3.454,3.454,3.426,3.401,3.393,3.376,3.347,3.333,3.304,3.296,3.278,3.255,3.23,3.222,3.21,3.183,3.174,3.151,3.137,3.113,3.11,3.1,3.081,3.068,3.045,3.043,3.023,3.018,3.001,2.993,2.983,2.964,2.957,2.937,2.924,2.918,2.909,2.897,2.879,2.874,2.864,2.851,2.846,2.827,2.812,2.805,2.792,2.787,2.787,2.77,2.758,2.751,2.742,2.736,2.725,2.718,2.707,2.694,2.687,2.68,2.678,2.662,2.657,2.656,2.656,2.639,2.633,2.623,2.62,2.609,2.606,2.603,2.584,2.577,2.576,2.57,2.568,2.566,2.561,2.548,2.536,2.531,2.529,2.522,2.52,2.509,2.508,2.505,2.501,2.5,2.496,2.494,2.48,2.48,2.479,2.479,2.474,2.474,2.464,2.461,2.461,2.454,2.453,2.45,2.449,2.447,2.446,2.446,2.439,2.439,2.429,2.426,2.426,2.426,2.426,2.419,2.419,2.418,2.415,2.415,2.415,2.414,2.414,2.412,2.411,2.41,2.409,2.409,2.406,2.406,2.406,2.41,2.412,2.412,2.412,2.414,2.414,2.414,2.415,2.418,2.42,2.42,2.42,2.42,2.421,2.421,2.423,2.423,2.424,2.43,2.43,2.435,2.436,2.436,2.439,2.445,2.445,2.448,2.454,2.459,2.46,2.461,2.467,2.467,2.467,2.473,2.473,2.473,2.488,2.489,2.489,2.49,2.498,2.504,2.509,2.509,2.513,2.523,2.527,2.527,2.541,2.542,2.554,2.559,2.562,2.573,2.578,2.578,2.593,2.598,2.598,2.6,2.606,2.615,2.629,2.635,2.642,2.643,2.653,2.657,2.668,2.674,2.676,2.685,2.7,2.703,2.712,2.723,2.728,2.739,2.749,2.751,2.764,2.781,2.791,2.796,2.806,2.818,2.836,2.848,2.85,2.858,2.873,2.881,2.892,2.899,2.924,2.931,2.934,2.955,2.957,2.975,2.977,3.002,3.022,3.028,3.044,3.048,3.066,3.085,3.096,3.104,3.121,3.147,3.15,3.166,3.186,3.196,3.226,3.236,3.25,3.252,3.285,3.293,3.32,3.332,3.355,3.368,3.392,3.408,3.433,3.466,3.479,3.502,3.524,3.535,3.564,3.6,3.614,3.634,3.668,3.689,3.722,3.748,3.78,3.803,3.832,3.86,3.888,3.931,3.952,3.985,4.027,4.089,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.356,3.348,3.332,3.317,3.309,3.3,3.288,3.274,3.272,3.266,3.247,3.241,3.237,3.233,3.226,3.209,3.206,3.198,3.188,3.185,3.179,3.171,3.159,3.157,3.152,3.143,3.138,3.131,3.129,3.126,3.121,3.106,3.104,3.104,3.098,3.093,3.089,3.084,3.084,3.077,3.069,3.067,3.063,3.059,3.052,3.048,3.047,3.039,3.039,3.039,3.039,3.032,3.03,3.028,3.028,3.022,3.022,3.022,3.034,3.034,3.034,3.018,3.018,3.017,3.017,3.016,3.011,3.009,3.01,3.009,3.008,3.008,3.008,3.008,3.009,3.009,3.009,3.01,3.009,3.02,3.02,3.013,3.013,3.013,3.013,3.018,3.019,3.021,3.022,3.024,3.025,3.028,3.029,3.033,3.034,3.036,3.036,3.039,3.04,3.041,3.052,3.055,3.056,3.061,3.063,3.063,3.071,3.077,3.081,3.087,3.088,3.089,3.093,3.093,3.101,3.111,3.111,3.115,3.126,3.129,3.132,3.137,3.137,3.142,3.143,3.151,3.154,3.157,3.158,3.16,3.162,3.178,3.181,3.182,3.193,3.216,3.218,3.22,3.227,3.23,3.24,3.246,3.248,3.252,3.26,3.282,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 61.52} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 61.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 61.5186} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.4102} SEN {Time 61.5627} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,3.692,3.677,3.66,3.657,3.653,3.627,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.256,3.219,3.214,3.205,3.205,3.205,3.361,0.007,0,0,0,0,0,0,0,0.146,0.143,0.143,0.14,0.14,0.142,0.143,0.143,0.151,0.15,0.151,0.151,0.151,0.152,3.036,3.036,3.043,3.043,3.036,3.043,3.043,0.162,0.158,0.158,0.158,0.158,0.153,0.152,0.148,0.128,0.103,0.071,0.07,0.066,0.06,0.06,0.064,0.064,0.069,0.069,0.066,0.066,0.064,0.064,0.066,0.079,0.133,0.2,3.335,3.34,3.356,3.362,3.366,3.37,3.371,3.371,3.397,3.419,3.437,3.446,3.463,3.476,3.477,3.48,3.485,3.493,3.496,3.501,3.519,3.519,3.523,3.523,3.526,3.526,3.531,3.539,3.546,3.548,3.548,3.548,3.555,3.558,3.558,3.562,3.574,3.576,3.579,3.579,3.581,3.583,3.588,3.596,3.608,3.609,3.62,3.634,3.635,3.637,3.645,3.658,3.659,3.659,3.666,3.673,3.674,3.68,3.685,3.693,3.699,3.707,3.714,3.719,3.733,3.748,3.754,3.76,3.768,3.77,3.781,3.795,3.799,3.814,3.83,3.835,3.839,3.849,3.86,3.873,3.88,3.904,3.905,3.92,3.931,3.936,3.959,3.976,3.984,3.998,4.01,4.03,4.043,4.067,4.072,4.085,0.016,0.016,0,0,0,0.016,4.051,4.02,3.978,3.946,3.932,3.891,3.875,3.845,3.817,3.779,3.752,3.74,3.693,3.681,3.649,3.622,3.596,3.571,3.555,3.526,3.507,3.487,3.466,3.446,3.424,3.404,3.375,3.362,3.345,3.338,3.311,3.301,3.263,3.262,3.236,3.227,3.193,3.184,3.173,3.157,3.135,3.122,3.116,3.102,3.079,3.07,3.053,3.038,3.022,3.008,2.996,2.994,2.991,2.963,2.952,2.932,2.928,2.915,2.905,2.896,2.868,2.867,2.859,2.847,2.841,2.823,2.819,2.807,2.801,2.785,2.776,2.77,2.762,2.745,2.744,2.73,2.72,2.711,2.703,2.701,2.683,2.683,2.68,2.67,2.655,2.655,2.643,2.642,2.64,2.626,2.617,2.616,2.609,2.596,2.59,2.577,2.575,2.574,2.574,2.567,2.554,2.547,2.543,2.542,2.538,2.528,2.524,2.518,2.506,2.504,2.5,2.496,2.491,2.489,2.489,2.488,2.475,2.474,2.472,2.471,2.468,2.46,2.455,2.455,2.451,2.45,2.448,2.445,2.445,2.445,2.438,2.43,2.428,2.428,2.426,2.426,2.424,2.418,2.418,2.418,2.417,2.415,2.414,2.414,2.414,2.414,2.415,2.415,2.415,2.415,2.411,2.409,2.409,2.411,2.411,2.413,2.415,2.416,2.415,2.416,2.416,2.419,2.421,2.423,2.423,2.423,2.423,2.423,2.423,2.423,2.423,2.433,2.435,2.436,2.438,2.44,2.442,2.442,2.443,2.443,2.455,2.456,2.458,2.459,2.46,2.466,2.471,2.476,2.478,2.482,2.482,2.484,2.496,2.497,2.501,2.501,2.509,2.512,2.514,2.524,2.527,2.531,2.537,2.538,2.547,2.553,2.556,2.566,2.568,2.58,2.592,2.597,2.604,2.607,2.612,2.618,2.619,2.632,2.635,2.642,2.648,2.648,2.664,2.679,2.682,2.69,2.693,2.703,2.719,2.722,2.732,2.737,2.75,2.753,2.771,2.779,2.792,2.8,2.806,2.811,2.83,2.832,2.845,2.863,2.866,2.879,2.893,2.906,2.916,2.927,2.943,2.952,2.958,2.982,2.985,2.996,3.017,3.022,3.042,3.047,3.071,3.091,3.092,3.101,3.124,3.138,3.156,3.166,3.182,3.204,3.211,3.234,3.252,3.27,3.276,3.299,3.328,3.335,3.353,3.374,3.404,3.413,3.429,3.461,3.486,3.506,3.527,3.551,3.567,3.596,3.617,3.647,3.666,3.695,3.729,3.741,3.778,3.801,3.82,3.864,3.888,3.913,3.949,3.987,4.038,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.348,3.333,3.33,3.32,3.305,3.298,3.298,3.288,3.279,3.261,3.257,3.247,3.237,3.233,3.217,3.211,3.207,3.195,3.193,3.189,3.175,3.173,3.163,3.163,3.15,3.142,3.141,3.132,3.124,3.121,3.121,3.115,3.109,3.103,3.097,3.089,3.081,3.078,3.074,3.073,3.07,3.07,3.067,3.056,3.053,3.043,3.043,3.041,3.04,3.04,3.037,3.035,3.028,3.028,3.028,3.027,3.028,3.028,3.026,3.026,3.026,3.022,3.02,3.016,3.018,3.015,3.013,3.013,3.014,3.013,3.01,3.004,3.009,3.009,3.009,3.009,3.012,3.013,3.013,3.012,3.014,3.014,3.011,3.011,3.017,3.017,3.018,3.02,3.021,3.028,3.028,3.028,3.029,3.033,3.033,3.034,3.034,3.037,3.04,3.045,3.05,3.058,3.059,3.061,3.061,3.061,3.064,3.068,3.077,3.087,3.095,3.095,3.096,3.096,3.098,3.106,3.11,3.117,3.117,3.126,3.126,3.127,3.131,3.139,3.134,3.139,3.145,3.158,3.159,3.159,3.169,3.173,3.175,3.192,3.207,3.216,3.218,3.221,3.227,3.229,3.239,3.24,3.251,3.254,3.255,3.278,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 61.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 61.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 61.7195} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.4102} SEN {Time 61.7626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.182,0.182,0.186,0,0,0,0,0,0,0,0,3.685,3.684,3.657,3.657,3.649,3.629,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.224,3.216,3.207,3.207,3.207,3.354,0.007,0,0,0,0,0,0,0,0.154,0.144,0.144,0.142,0.142,0.144,0.148,0.148,0.149,0.149,0.151,0.151,0.153,0.157,3.025,3.036,3.036,3.036,3.03,3.03,0.157,0.157,0.152,0.152,0.157,0.153,0.153,0.153,0.153,0.132,0.099,0.072,0.072,0.061,0.061,0.061,0.061,0.063,0.065,0.068,0.065,0.065,0.063,0.063,0.063,0.068,0.134,0.194,3.334,3.354,3.356,3.356,3.365,3.373,3.379,0.007,0,3.437,0,3.484,3.472,3.484,3.485,3.485,3.486,3.499,3.504,3.504,3.505,3.519,3.52,3.524,3.525,3.526,3.533,3.542,3.542,3.545,3.549,3.547,3.551,3.551,3.554,3.56,3.563,3.573,3.573,3.573,3.583,3.584,3.587,3.6,3.608,3.61,3.623,3.629,3.632,3.638,3.644,3.645,3.647,3.662,3.665,3.67,3.68,3.68,3.689,3.696,3.703,3.709,3.716,3.727,3.736,3.74,3.752,3.758,3.762,3.778,3.78,3.792,3.805,3.82,3.82,3.83,3.844,3.847,3.858,3.871,3.891,3.894,3.904,3.912,3.923,3.937,3.95,3.966,3.975,3.99,4.015,4.038,4.042,4.066,4.078,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.043,4.017,3.993,3.969,3.942,3.902,3.878,3.852,3.796,3.79,3.766,3.723,3.697,3.674,3.641,3.637,3.604,3.567,3.555,3.53,3.512,3.485,3.461,3.448,3.425,3.413,3.377,3.363,3.345,3.326,3.315,3.292,3.274,3.264,3.229,3.228,3.208,3.176,3.17,3.161,3.144,3.123,3.108,3.097,3.087,3.067,3.052,3.043,3.026,3.017,3.008,2.983,2.983,2.964,2.953,2.939,2.929,2.914,2.906,2.894,2.877,2.872,2.866,2.85,2.845,2.828,2.812,2.808,2.796,2.785,2.78,2.772,2.765,2.745,2.739,2.73,2.723,2.718,2.704,2.697,2.684,2.684,2.682,2.664,2.662,2.654,2.647,2.64,2.633,2.626,2.622,2.619,2.612,2.601,2.586,2.581,2.581,2.578,2.572,2.563,2.559,2.548,2.543,2.543,2.525,2.523,2.514,2.513,2.507,2.504,2.495,2.495,2.494,2.487,2.483,2.478,2.476,2.475,2.472,2.468,2.468,2.461,2.458,2.453,2.452,2.449,2.449,2.447,2.441,2.439,2.437,2.436,2.43,2.428,2.428,2.427,2.426,2.418,2.418,2.417,2.417,2.417,2.419,2.417,2.419,2.419,2.417,2.414,2.414,2.408,2.405,2.405,2.405,2.408,2.41,2.411,2.411,2.41,2.41,2.412,2.412,2.414,2.419,2.419,2.42,2.42,2.419,2.419,2.42,2.428,2.434,2.434,2.434,2.434,2.435,2.439,2.439,2.443,2.447,2.449,2.451,2.453,2.455,2.461,2.467,2.468,2.468,2.474,2.48,2.48,2.48,2.485,2.49,2.492,2.495,2.497,2.502,2.511,2.512,2.521,2.523,2.528,2.538,2.542,2.553,2.556,2.558,2.571,2.574,2.579,2.591,2.591,2.603,2.603,2.608,2.619,2.62,2.631,2.64,2.641,2.649,2.65,2.66,2.679,2.682,2.696,2.702,2.704,2.714,2.72,2.724,2.732,2.748,2.755,2.761,2.78,2.788,2.799,2.808,2.816,2.834,2.839,2.841,2.857,2.87,2.878,2.891,2.901,2.918,2.927,2.941,2.953,2.961,2.971,2.989,2.998,3.014,3.035,3.042,3.051,3.06,3.077,3.092,3.108,3.117,3.139,3.152,3.167,3.188,3.205,3.228,3.231,3.248,3.265,3.283,3.29,3.333,3.338,3.364,3.38,3.402,3.405,3.434,3.459,3.478,3.509,3.525,3.54,3.573,3.601,3.617,3.638,3.666,3.68,3.731,3.746,3.787,3.798,3.865,3.89,3.92,3.92,3.984,4.037,4.067,4.067,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.354,3.336,3.327,3.313,3.31,3.297,3.29,3.285,3.276,3.257,3.249,3.244,3.244,3.239,3.224,3.213,3.206,3.198,3.188,3.18,3.174,3.174,3.167,3.155,3.155,3.15,3.137,3.131,3.126,3.121,3.115,3.109,3.109,3.106,3.094,3.092,3.084,3.084,3.071,3.07,3.069,3.068,3.067,3.055,3.054,3.053,3.043,3.043,3.037,3.034,3.033,3.033,3.031,3.031,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.022,3.017,3.016,3.016,3.015,3.015,3.012,3.012,3.015,3.012,3.009,3.009,3.011,3.009,3.011,3.011,3.014,3.011,3.015,3.015,3.015,3.014,3.019,3.019,3.02,3.02,3.025,3.025,3.024,3.024,3.027,3.027,3.036,3.037,3.038,3.038,3.039,3.043,3.043,3.052,3.052,3.058,3.059,3.059,3.061,3.067,3.07,3.078,3.085,3.09,3.09,3.091,3.097,3.1,3.103,3.111,3.112,3.124,3.13,3.131,3.131,3.131,3.141,3.141,3.147,3.149,3.152,3.166,3.167,3.168,3.174,3.183,3.189,3.193,3.208,3.218,3.232,3.232,3.234,3.237,3.245,3.248,3.257,3.259,3.278,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 61.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 61.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 61.9205} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4102} SEN {Time 61.9626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,0,0,0,3.694,3.679,3.664,3.66,3.652,3.63,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.213,3.209,3.209,3.209,3.266,3.356,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.144,0.144,0.149,0.154,0.149,0.153,0.153,0.153,0.153,3.036,3.036,3.036,3.036,3.036,3.036,3.029,0.162,0.161,0.161,0.156,0.156,0.153,0.153,0.145,0.122,0.102,0.08,0.066,0.064,0.064,0.064,0.064,0.064,0.064,0.068,0.068,0.068,0.062,0.068,0.068,0.086,0.134,0.21,3.335,3.336,3.355,3.365,3.367,3.368,3.38,3.397,3.43,3.43,3.441,3.471,3.471,3.471,3.479,3.479,3.497,3.498,3.503,3.505,3.508,3.514,3.518,3.519,3.52,3.521,3.532,3.537,3.54,3.541,3.541,3.541,3.55,3.553,3.555,3.558,3.56,3.561,3.571,3.581,3.584,3.585,3.59,3.6,3.609,3.611,3.626,3.628,3.633,3.643,3.644,3.646,3.652,3.655,3.656,3.668,3.673,3.681,3.694,3.698,3.702,3.717,3.727,3.728,3.729,3.745,3.75,3.754,3.767,3.777,3.785,3.791,3.8,3.805,3.812,3.841,3.844,3.864,3.868,3.876,3.883,3.905,3.905,3.918,3.922,3.943,3.959,3.967,3.994,3.997,4.005,4.02,4.045,4.075,4.079,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.031,3.989,3.961,3.926,3.907,3.874,3.843,3.818,3.778,3.757,3.719,3.702,3.661,3.649,3.637,3.588,3.578,3.55,3.521,3.502,3.488,3.455,3.441,3.424,3.406,3.382,3.357,3.356,3.335,3.308,3.292,3.27,3.258,3.23,3.218,3.204,3.183,3.167,3.145,3.142,3.119,3.108,3.096,3.088,3.069,3.051,3.037,3.025,3.014,2.997,2.986,2.983,2.96,2.951,2.946,2.927,2.915,2.906,2.898,2.878,2.866,2.863,2.853,2.84,2.829,2.82,2.805,2.794,2.779,2.777,2.771,2.76,2.75,2.738,2.725,2.724,2.719,2.698,2.695,2.681,2.677,2.675,2.665,2.658,2.65,2.648,2.639,2.634,2.627,2.619,2.616,2.608,2.595,2.59,2.59,2.584,2.577,2.571,2.562,2.558,2.558,2.547,2.539,2.536,2.525,2.52,2.513,2.51,2.501,2.501,2.497,2.493,2.493,2.483,2.481,2.475,2.474,2.474,2.472,2.468,2.467,2.46,2.454,2.454,2.449,2.447,2.446,2.444,2.44,2.434,2.433,2.429,2.429,2.427,2.427,2.421,2.425,2.421,2.421,2.419,2.417,2.414,2.414,2.414,2.414,2.414,2.412,2.41,2.408,2.408,2.408,2.409,2.411,2.413,2.413,2.413,2.413,2.412,2.412,2.413,2.413,2.417,2.418,2.418,2.418,2.418,2.42,2.424,2.427,2.429,2.429,2.431,2.433,2.433,2.443,2.443,2.443,2.446,2.447,2.452,2.452,2.453,2.46,2.47,2.47,2.471,2.475,2.475,2.483,2.484,2.486,2.494,2.494,2.501,2.501,2.51,2.517,2.52,2.521,2.528,2.529,2.536,2.537,2.546,2.555,2.562,2.568,2.569,2.569,2.593,2.6,2.603,2.606,2.611,2.617,2.626,2.63,2.637,2.641,2.644,2.649,2.668,2.675,2.676,2.681,2.687,2.706,2.715,2.727,2.733,2.741,2.753,2.754,2.766,2.783,2.793,2.795,2.805,2.813,2.829,2.835,2.84,2.852,2.871,2.88,2.889,2.902,2.92,2.931,2.945,2.95,2.96,2.976,2.981,2.999,3.017,3.022,3.04,3.048,3.063,3.076,3.093,3.107,3.12,3.136,3.153,3.169,3.179,3.198,3.227,3.228,3.241,3.258,3.276,3.294,3.323,3.334,3.345,3.375,3.399,3.405,3.438,3.462,3.483,3.496,3.518,3.544,3.58,3.603,3.614,3.645,3.663,3.699,3.727,3.754,3.786,3.801,3.831,3.857,3.893,3.92,3.94,4,4.016,4.055,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.352,3.342,3.321,3.314,3.306,3.29,3.284,3.278,3.264,3.261,3.259,3.245,3.242,3.237,3.22,3.217,3.21,3.197,3.184,3.183,3.18,3.17,3.159,3.155,3.151,3.144,3.141,3.132,3.129,3.123,3.121,3.113,3.111,3.102,3.093,3.089,3.08,3.079,3.075,3.068,3.064,3.064,3.064,3.061,3.06,3.057,3.049,3.046,3.044,3.042,3.041,3.038,3.029,3.029,3.027,3.023,3.023,3.023,3.03,3.03,3.03,3.019,3.017,3.013,3.017,3.013,3.012,3.012,3.011,3.01,3.01,3.01,3.01,3.008,3.008,3.008,3.013,3.013,3.013,3.015,3.015,3.019,3.015,3.02,3.02,3.023,3.023,3.023,3.025,3.02,3.02,3.025,3.029,3.029,3.034,3.038,3.037,3.038,3.038,3.043,3.051,3.053,3.056,3.056,3.06,3.061,3.071,3.075,3.076,3.087,3.09,3.091,3.092,3.093,3.096,3.099,3.108,3.113,3.117,3.129,3.129,3.133,3.135,3.135,3.135,3.151,3.152,3.154,3.157,3.166,3.17,3.172,3.176,3.185,3.196,3.216,3.216,3.227,3.233,3.234,3.234,3.234,3.246,3.252,3.267,3.278,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 62.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 62.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 62.1124} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.826} SEN {Time 62.1628} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.177,0.184,0.184,0,0,0,0,0,0,0,0,3.697,3.692,3.666,3.661,3.643,3.637,3.61,3.61,3.61,3.603,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.219,3.218,3.218,3.219,3.261,3.36,0,0,0,0,0,0,0,0.151,0.143,0.143,0.138,0.138,0.147,0.147,0.147,0.153,0.153,0.154,0.154,0.157,0.159,3.032,3.032,3.032,3.032,3.032,3.032,3.029,0.159,0.159,0.159,0.159,0.159,0.156,0.151,0.151,0.126,0.107,0.082,0.066,0.063,0.061,0.061,0.061,0.065,0.067,0.067,0.067,0.064,0.063,0.063,0.063,0.078,0.134,0.2,3.336,3.349,3.358,3.367,3.367,3.368,3.379,3.379,3.398,3.412,3.429,3.439,3.451,3.461,3.483,3.492,3.501,3.505,3.509,3.509,3.51,3.512,3.521,3.527,3.528,3.531,3.532,3.541,3.541,3.542,3.544,3.549,3.551,3.558,3.56,3.563,3.563,3.568,3.577,3.58,3.582,3.588,3.593,3.606,3.607,3.616,3.63,3.63,3.636,3.637,3.642,3.642,3.649,3.657,3.672,3.673,3.679,3.681,3.69,3.691,3.698,3.699,3.714,3.727,3.737,3.742,3.751,3.761,3.766,3.779,3.781,3.796,3.806,3.809,3.818,3.845,3.848,3.858,3.869,3.876,3.888,3.894,3.906,3.927,3.941,3.952,3.954,3.973,3.99,4.005,4.021,4.035,4.044,4.067,4.077,4.092,0.016,0.016,0.016,0.016,0.016,4.092,4.056,4.031,4.002,3.972,3.939,3.9,3.872,3.831,3.814,3.772,3.759,3.741,3.697,3.686,3.655,3.634,3.593,3.561,3.552,3.531,3.504,3.491,3.468,3.442,3.424,3.401,3.367,3.359,3.352,3.334,3.309,3.303,3.274,3.257,3.233,3.224,3.202,3.187,3.163,3.161,3.136,3.12,3.105,3.097,3.091,3.069,3.051,3.041,3.034,3.017,3.001,2.989,2.982,2.966,2.954,2.933,2.929,2.91,2.91,2.893,2.875,2.871,2.861,2.847,2.839,2.829,2.811,2.804,2.8,2.786,2.777,2.769,2.751,2.751,2.741,2.738,2.721,2.713,2.705,2.701,2.681,2.68,2.674,2.66,2.657,2.65,2.649,2.638,2.635,2.624,2.622,2.607,2.607,2.605,2.584,2.583,2.576,2.575,2.572,2.566,2.557,2.553,2.547,2.54,2.54,2.533,2.52,2.516,2.505,2.503,2.496,2.496,2.496,2.485,2.483,2.481,2.48,2.474,2.473,2.467,2.462,2.461,2.461,2.457,2.455,2.452,2.448,2.445,2.443,2.441,2.441,2.439,2.43,2.43,2.427,2.427,2.424,2.424,2.421,2.418,2.416,2.416,2.416,2.416,2.412,2.411,2.412,2.412,2.414,2.414,2.414,2.414,2.414,2.414,2.413,2.416,2.416,2.416,2.416,2.416,2.417,2.418,2.418,2.418,2.42,2.421,2.421,2.421,2.421,2.424,2.429,2.43,2.435,2.435,2.435,2.437,2.439,2.439,2.443,2.449,2.451,2.451,2.454,2.456,2.464,2.465,2.468,2.471,2.476,2.481,2.486,2.487,2.488,2.492,2.499,2.503,2.509,2.513,2.514,2.519,2.532,2.535,2.536,2.539,2.549,2.555,2.563,2.565,2.569,2.576,2.584,2.596,2.596,2.605,2.609,2.612,2.615,2.636,2.639,2.649,2.653,2.655,2.66,2.677,2.679,2.685,2.697,2.708,2.719,2.722,2.726,2.742,2.75,2.752,2.763,2.778,2.791,2.8,2.803,2.82,2.832,2.844,2.848,2.857,2.873,2.876,2.888,2.896,2.915,2.924,2.945,2.947,2.963,2.971,2.987,2.996,3.011,3.03,3.038,3.046,3.072,3.084,3.086,3.106,3.123,3.143,3.159,3.166,3.186,3.202,3.217,3.241,3.252,3.264,3.285,3.301,3.323,3.34,3.361,3.371,3.399,3.405,3.441,3.454,3.479,3.502,3.523,3.536,3.579,3.589,3.613,3.64,3.671,3.696,3.724,3.741,3.803,3.836,3.855,3.855,3.894,3.914,3.951,3.99,4.019,4.072,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.362,3.351,3.327,3.322,3.316,3.3,3.291,3.277,3.272,3.26,3.248,3.242,3.241,3.23,3.226,3.215,3.206,3.204,3.186,3.184,3.175,3.166,3.155,3.154,3.15,3.144,3.137,3.136,3.125,3.124,3.113,3.109,3.106,3.102,3.092,3.09,3.087,3.085,3.072,3.071,3.067,3.065,3.061,3.054,3.052,3.05,3.049,3.047,3.04,3.038,3.038,3.038,3.035,3.026,3.023,3.021,3.021,3.021,3.023,3.023,3.023,3.022,3.017,3.016,3.013,3.013,3.013,3.012,3.012,3.008,3.008,3.006,3.006,3.006,3.006,3.007,3.008,3.008,3.008,3.011,3.012,3.012,3.013,3.015,3.015,3.015,3.013,3.017,3.024,3.025,3.024,3.025,3.026,3.026,3.031,3.035,3.035,3.037,3.04,3.045,3.052,3.052,3.059,3.059,3.064,3.066,3.067,3.07,3.084,3.088,3.09,3.09,3.091,3.091,3.104,3.106,3.107,3.11,3.126,3.131,3.131,3.132,3.139,3.139,3.139,3.148,3.149,3.157,3.162,3.165,3.166,3.169,3.182,3.191,3.196,3.214,3.218,3.222,3.223,3.228,3.236,3.239,3.243,3.248,3.273,3.278,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 62.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 62.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 62.3145} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.826} SEN {Time 62.3626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.175,0.179,0.175,0.179,0.182,0,0,0,0,0,0,0,0,3.686,3.679,3.678,3.67,3.638,3.633,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.217,3.205,3.205,3.224,3.251,3.371,0,0,0,0,0,0,0,0,0.15,0.15,0.15,0.151,0.146,0.147,0.147,0.157,0.153,0.157,0.157,0.158,0.158,3.029,3.029,3.031,3.031,3.029,3.031,3.031,0.154,0.151,0.151,0.151,0.154,0.151,0.149,0.149,0.127,0.101,0.073,0.068,0.064,0.063,0.063,0.063,0.069,0.069,0.07,0.069,0.068,0.06,0.06,0.06,0.085,0.138,0.206,3.325,3.345,3.347,3.359,3.367,3.367,3.375,3.375,3.4,3.415,3.422,3.426,3.464,3.472,3.483,3.487,3.495,3.495,3.498,3.504,3.507,3.513,3.518,3.521,3.524,3.526,3.538,3.539,3.54,3.54,3.541,3.544,3.549,3.554,3.557,3.566,3.569,3.574,3.577,3.577,3.579,3.585,3.59,3.603,3.603,3.603,3.625,3.626,3.636,3.638,3.64,3.641,3.655,3.658,3.661,3.664,3.677,3.678,3.69,3.693,3.694,3.713,3.716,3.726,3.732,3.739,3.743,3.751,3.755,3.766,3.788,3.789,3.809,3.809,3.825,3.838,3.847,3.858,3.871,3.874,3.892,3.894,3.903,3.912,3.931,3.944,3.955,3.966,3.988,3.999,4.015,4.024,4.045,4.067,4.079,4.085,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.047,4.015,3.964,3.943,3.905,3.881,3.859,3.795,3.779,3.745,3.727,3.7,3.666,3.655,3.632,3.598,3.566,3.554,3.528,3.512,3.484,3.465,3.444,3.414,3.402,3.382,3.363,3.349,3.318,3.307,3.293,3.27,3.249,3.237,3.225,3.2,3.181,3.178,3.154,3.141,3.122,3.099,3.094,3.082,3.069,3.056,3.043,3.032,3.011,3.002,2.981,2.978,2.962,2.956,2.933,2.923,2.915,2.905,2.896,2.878,2.874,2.862,2.846,2.842,2.824,2.817,2.809,2.793,2.787,2.778,2.767,2.758,2.748,2.737,2.734,2.719,2.706,2.703,2.691,2.684,2.679,2.676,2.668,2.657,2.654,2.653,2.644,2.638,2.628,2.619,2.618,2.615,2.605,2.59,2.586,2.578,2.572,2.57,2.567,2.562,2.543,2.541,2.541,2.528,2.528,2.514,2.51,2.509,2.509,2.507,2.497,2.494,2.493,2.489,2.483,2.483,2.475,2.47,2.47,2.47,2.458,2.456,2.453,2.451,2.45,2.445,2.445,2.444,2.444,2.441,2.438,2.429,2.426,2.424,2.423,2.419,2.42,2.419,2.418,2.418,2.418,2.418,2.412,2.417,2.412,2.413,2.413,2.413,2.41,2.413,2.413,2.41,2.414,2.414,2.411,2.411,2.417,2.413,2.415,2.417,2.417,2.418,2.42,2.42,2.421,2.421,2.419,2.419,2.421,2.426,2.429,2.433,2.434,2.434,2.434,2.436,2.441,2.442,2.448,2.453,2.454,2.454,2.458,2.461,2.468,2.47,2.472,2.472,2.476,2.486,2.489,2.489,2.493,2.496,2.5,2.509,2.514,2.517,2.52,2.523,2.525,2.534,2.535,2.557,2.558,2.561,2.569,2.57,2.574,2.588,2.593,2.596,2.608,2.608,2.617,2.624,2.634,2.641,2.645,2.648,2.655,2.663,2.67,2.673,2.681,2.697,2.698,2.715,2.72,2.731,2.746,2.752,2.758,2.766,2.784,2.788,2.795,2.813,2.821,2.832,2.842,2.848,2.857,2.872,2.876,2.892,2.906,2.917,2.93,2.944,2.954,2.96,2.964,2.984,2.994,3.013,3.028,3.037,3.045,3.065,3.086,3.092,3.106,3.121,3.141,3.156,3.168,3.176,3.202,3.217,3.231,3.244,3.272,3.285,3.296,3.33,3.335,3.353,3.368,3.39,3.4,3.434,3.465,3.476,3.498,3.521,3.538,3.565,3.592,3.615,3.637,3.673,3.697,3.717,3.751,3.78,3.813,3.825,3.865,3.895,3.92,4.022,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.34,3.324,3.323,3.307,3.294,3.29,3.275,3.271,3.26,3.253,3.236,3.235,3.232,3.223,3.217,3.205,3.194,3.186,3.18,3.178,3.165,3.154,3.152,3.149,3.142,3.137,3.136,3.124,3.123,3.121,3.11,3.104,3.101,3.087,3.087,3.08,3.079,3.077,3.076,3.075,3.068,3.063,3.054,3.048,3.046,3.041,3.041,3.041,3.041,3.041,3.036,3.035,3.028,3.028,3.021,3.021,3.021,3.026,3.026,3.026,3.022,3.019,3.017,3.017,3.015,3.015,3.012,3.012,3.007,3.007,3.007,3.007,3.008,3.009,3.009,3.009,3.01,3.01,3.015,3.015,3.012,3.012,3.015,3.015,3.019,3.019,3.019,3.019,3.019,3.019,3.022,3.025,3.028,3.034,3.034,3.034,3.04,3.04,3.048,3.05,3.052,3.052,3.059,3.062,3.062,3.066,3.067,3.08,3.087,3.09,3.092,3.097,3.097,3.106,3.109,3.11,3.116,3.123,3.136,3.136,3.136,3.135,3.135,3.135,3.143,3.147,3.148,3.161,3.165,3.167,3.175,3.18,3.183,3.197,3.21,3.212,3.224,3.226,3.226,3.236,3.236,3.237,3.25,3.262,3.269,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 62.52} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 62.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 62.5155} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.826} SEN {Time 62.5625} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.678,3.672,3.672,3.646,3.631,3.608,3.608,3.595,3.592,3.592,0,3.362,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.217,3.214,3.21,3.21,3.21,3.264,3.358,0,0,0,0,0,0,0,0.15,0.147,0.147,0.146,0.146,0.152,0.152,0.152,0.153,0.152,0.153,0.153,0.153,0.154,3.033,3.033,3.033,3.033,3.031,3.031,3.027,0.161,0.156,0.156,0.156,0.155,0.154,0.153,0.153,0.133,0.106,0.08,0.068,0.067,0.062,0.062,0.06,0.062,0.064,0.067,0.066,0.066,0.064,0.066,0.066,0.081,0.136,0.197,3.329,3.339,3.362,3.364,3.365,3.366,3.39,3.39,0.007,3.432,3.432,3.454,3.454,3.461,3.472,3.484,3.487,3.495,3.501,3.503,3.509,3.523,3.523,3.527,3.53,3.532,3.533,3.537,3.541,3.542,3.542,3.545,3.547,3.549,3.562,3.563,3.567,3.569,3.577,3.577,3.583,3.585,3.6,3.6,3.601,3.626,3.628,3.629,3.63,3.633,3.648,3.65,3.662,3.662,3.664,3.667,3.668,3.674,3.692,3.694,3.699,3.708,3.714,3.727,3.731,3.743,3.748,3.75,3.76,3.777,3.777,3.793,3.813,3.814,3.815,3.834,3.836,3.841,3.862,3.872,3.879,3.888,3.891,3.909,3.932,3.939,3.964,3.974,3.982,4.008,4.01,4.032,4.038,4.06,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.023,3.986,3.959,3.933,3.891,3.869,3.839,3.814,3.786,3.752,3.726,3.695,3.679,3.647,3.618,3.598,3.579,3.551,3.518,3.497,3.49,3.463,3.444,3.424,3.397,3.379,3.372,3.353,3.338,3.309,3.299,3.275,3.262,3.23,3.228,3.189,3.185,3.171,3.152,3.129,3.118,3.109,3.099,3.076,3.07,3.049,3.035,3.024,3.009,3,2.99,2.981,2.956,2.949,2.932,2.924,2.912,2.893,2.893,2.877,2.872,2.859,2.854,2.832,2.825,2.817,2.801,2.801,2.783,2.779,2.768,2.756,2.748,2.742,2.734,2.717,2.709,2.699,2.695,2.684,2.677,2.677,2.659,2.657,2.653,2.651,2.64,2.64,2.621,2.619,2.612,2.607,2.593,2.587,2.579,2.571,2.571,2.566,2.562,2.555,2.552,2.547,2.542,2.535,2.528,2.522,2.511,2.511,2.505,2.503,2.502,2.498,2.493,2.485,2.481,2.479,2.477,2.473,2.472,2.464,2.459,2.456,2.452,2.451,2.447,2.447,2.444,2.443,2.435,2.435,2.435,2.432,2.43,2.428,2.427,2.423,2.42,2.419,2.419,2.418,2.417,2.417,2.415,2.415,2.412,2.412,2.412,2.411,2.411,2.412,2.412,2.411,2.412,2.412,2.411,2.411,2.411,2.411,2.416,2.417,2.418,2.419,2.419,2.419,2.418,2.419,2.419,2.419,2.421,2.425,2.426,2.43,2.433,2.437,2.443,2.443,2.445,2.446,2.447,2.452,2.455,2.456,2.459,2.465,2.465,2.472,2.475,2.477,2.478,2.485,2.488,2.493,2.493,2.5,2.501,2.508,2.516,2.518,2.519,2.525,2.535,2.537,2.54,2.548,2.556,2.558,2.57,2.572,2.581,2.59,2.599,2.6,2.602,2.604,2.623,2.624,2.63,2.634,2.641,2.648,2.658,2.662,2.671,2.684,2.687,2.7,2.703,2.722,2.727,2.727,2.74,2.748,2.754,2.767,2.776,2.789,2.796,2.809,2.821,2.831,2.84,2.846,2.863,2.867,2.878,2.893,2.902,2.911,2.916,2.942,2.953,2.954,2.972,2.987,2.994,3.012,3.029,3.037,3.051,3.061,3.081,3.088,3.103,3.123,3.14,3.153,3.166,3.176,3.196,3.218,3.235,3.248,3.27,3.287,3.298,3.323,3.337,3.349,3.372,3.392,3.412,3.442,3.458,3.484,3.497,3.522,3.546,3.579,3.595,3.626,3.63,3.668,3.69,3.719,3.761,3.764,3.806,3.834,3.863,3.894,3.92,0,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.352,3.335,3.324,3.321,3.301,3.293,3.286,3.284,3.266,3.259,3.253,3.245,3.24,3.229,3.218,3.218,3.215,3.213,3.19,3.187,3.169,3.164,3.157,3.152,3.15,3.149,3.135,3.132,3.129,3.122,3.121,3.12,3.106,3.099,3.092,3.085,3.081,3.078,3.075,3.074,3.071,3.066,3.064,3.056,3.055,3.052,3.049,3.047,3.045,3.039,3.034,3.033,3.033,3.03,3.029,3.023,3.023,3.023,3.034,3.034,3.034,3.022,3.019,3.013,3.009,3.009,3.01,3.011,3.011,3.011,3.011,3.008,3.007,3.007,3.007,3.009,3.009,3.011,3.009,3.011,3.01,3.015,3.011,3.015,3.014,3.016,3.016,3.017,3.023,3.023,3.026,3.027,3.028,3.031,3.034,3.037,3.038,3.038,3.039,3.039,3.05,3.057,3.058,3.061,3.062,3.063,3.063,3.07,3.074,3.088,3.088,3.088,3.093,3.093,3.104,3.112,3.114,3.115,3.115,3.133,3.133,3.136,3.136,3.136,3.136,3.148,3.154,3.156,3.159,3.17,3.171,3.174,3.175,3.187,3.207,3.218,3.221,3.222,3.223,3.223,3.237,3.24,3.24,3.243,3.265,3.275,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 62.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 62.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 62.7164} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 62.7586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,3.695,3.686,3.66,3.655,3.648,3.626,3.617,3.617,3.597,3.597,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.222,3.222,3.216,3.216,3.253,3.366,3.366,0,0,0,0,0,0,0,0.15,0.142,0.142,0.142,0.142,0.148,0.148,0.148,0.151,0.151,0.155,0.155,0.157,0.157,3.04,3.04,3.04,3.04,3.039,3.039,3.039,0.16,0.16,0.16,0.153,0.153,0.15,0.148,0.148,0.129,0.112,0.069,0.064,0.064,0.06,0.064,0.064,0.067,0.068,0.07,0.068,0.068,0.065,0.065,0.065,0.083,0.143,0.205,3.331,3.367,3.374,3.367,3.374,3.382,3.386,3.405,0,3.422,3.456,3.459,3.459,3.459,3.476,3.482,3.493,3.504,3.508,3.509,3.51,3.513,3.519,3.523,3.524,3.527,3.529,3.532,3.533,3.537,3.541,3.542,3.548,3.55,3.55,3.552,3.57,3.573,3.574,3.575,3.582,3.589,3.601,3.602,3.608,3.614,3.621,3.632,3.634,3.647,3.648,3.651,3.652,3.657,3.666,3.669,3.685,3.686,3.69,3.697,3.698,3.703,3.707,3.737,3.738,3.747,3.749,3.751,3.77,3.773,3.78,3.795,3.797,3.81,3.823,3.831,3.84,3.851,3.854,3.887,3.889,3.892,3.897,3.922,3.93,3.94,3.955,3.973,3.98,3.996,4.018,4.031,4.035,4.073,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,3.993,3.971,3.937,3.905,3.871,3.851,3.817,3.791,3.751,3.728,3.696,3.689,3.651,3.622,3.605,3.574,3.546,3.529,3.502,3.49,3.452,3.441,3.419,3.408,3.39,3.37,3.353,3.329,3.307,3.3,3.273,3.253,3.232,3.226,3.194,3.175,3.164,3.162,3.133,3.117,3.112,3.099,3.082,3.066,3.048,3.033,3.022,3.02,3.002,2.993,2.983,2.957,2.956,2.934,2.925,2.915,2.906,2.906,2.886,2.871,2.863,2.849,2.841,2.825,2.813,2.808,2.797,2.787,2.786,2.765,2.765,2.754,2.743,2.735,2.714,2.712,2.698,2.687,2.686,2.675,2.673,2.665,2.656,2.651,2.649,2.637,2.635,2.624,2.618,2.616,2.61,2.596,2.592,2.581,2.577,2.573,2.571,2.57,2.563,2.555,2.538,2.534,2.527,2.525,2.519,2.51,2.503,2.499,2.499,2.495,2.492,2.492,2.489,2.483,2.479,2.477,2.47,2.467,2.464,2.462,2.458,2.451,2.451,2.451,2.449,2.446,2.443,2.438,2.435,2.434,2.429,2.43,2.428,2.429,2.424,2.425,2.424,2.42,2.415,2.415,2.415,2.414,2.414,2.414,2.414,2.413,2.413,2.413,2.408,2.408,2.408,2.409,2.411,2.412,2.411,2.412,2.412,2.412,2.415,2.416,2.419,2.421,2.421,2.421,2.423,2.425,2.425,2.425,2.426,2.426,2.432,2.433,2.433,2.437,2.438,2.44,2.448,2.448,2.451,2.455,2.456,2.457,2.465,2.471,2.471,2.476,2.476,2.476,2.485,2.488,2.488,2.49,2.501,2.503,2.509,2.517,2.518,2.518,2.53,2.53,2.536,2.54,2.548,2.56,2.56,2.565,2.571,2.591,2.592,2.594,2.599,2.605,2.607,2.612,2.617,2.637,2.638,2.646,2.647,2.658,2.668,2.675,2.678,2.695,2.702,2.71,2.715,2.726,2.73,2.738,2.752,2.754,2.762,2.784,2.787,2.798,2.81,2.815,2.828,2.842,2.849,2.856,2.869,2.876,2.885,2.903,2.916,2.922,2.941,2.954,2.958,2.973,2.978,2.997,3.024,3.025,3.042,3.046,3.072,3.085,3.087,3.102,3.118,3.144,3.159,3.164,3.185,3.202,3.226,3.232,3.253,3.264,3.277,3.297,3.328,3.333,3.354,3.37,3.391,3.407,3.434,3.455,3.477,3.499,3.516,3.539,3.569,3.603,3.604,3.637,3.669,3.696,3.724,3.758,3.777,3.799,3.835,3.871,3.897,3.916,3.956,3.993,4.065,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.352,3.342,3.327,3.316,3.313,3.292,3.291,3.285,3.268,3.257,3.253,3.243,3.241,3.235,3.221,3.216,3.211,3.198,3.191,3.185,3.179,3.175,3.16,3.155,3.153,3.147,3.139,3.131,3.123,3.121,3.118,3.11,3.108,3.108,3.105,3.095,3.084,3.08,3.079,3.076,3.07,3.068,3.066,3.056,3.05,3.047,3.043,3.043,3.042,3.041,3.038,3.035,3.03,3.028,3.026,3.025,3.025,3.025,3.032,3.032,3.032,3.026,3.024,3.017,3.016,3.012,3.012,3.011,3.011,3.01,3.008,3.004,3.01,3.01,3.01,3.01,3.01,3.012,3.014,3.014,3.014,3.018,3.014,3.014,3.014,3.02,3.014,3.026,3.026,3.023,3.023,3.029,3.028,3.03,3.033,3.035,3.037,3.039,3.043,3.047,3.047,3.053,3.058,3.058,3.064,3.064,3.066,3.073,3.077,3.085,3.085,3.089,3.094,3.094,3.097,3.11,3.114,3.114,3.118,3.132,3.132,3.137,3.14,3.14,3.14,3.146,3.15,3.152,3.164,3.165,3.169,3.174,3.175,3.188,3.197,3.202,3.211,3.221,3.232,3.235,3.235,3.237,3.237,3.253,3.267,3.278,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 62.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 62.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 62.9174} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 62.9586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.179,0.182,0.182,0,0,0,0,0,0,0,0,3.689,3.682,3.668,3.662,3.654,3.631,3.613,3.613,3.613,3.603,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.215,3.214,3.214,3.214,3.255,3.357,0,0,0,0,0,0,0,0.148,0.146,0.146,0.146,0.146,0.147,0.152,0.15,0.152,0.152,0.152,0.152,0.153,0.158,3.037,3.037,3.041,3.041,3.037,3.041,3.041,0.158,0.157,0.157,0.156,0.155,0.151,0.15,0.15,0.135,0.106,0.077,0.071,0.066,0.066,0.066,0.066,0.066,0.067,0.067,0.066,0.066,0.062,0.062,0.062,0.078,0.132,0.197,3.344,3.355,3.367,3.365,3.367,3.372,3.375,3.406,3.409,3.409,3.439,3.468,3.478,3.489,3.489,3.489,3.492,3.498,3.506,3.506,3.507,3.513,3.513,3.516,3.519,3.522,3.525,3.535,3.537,3.538,3.543,3.545,3.555,3.555,3.56,3.564,3.564,3.57,3.573,3.579,3.581,3.582,3.596,3.599,3.605,3.616,3.617,3.624,3.631,3.637,3.646,3.653,3.656,3.659,3.664,3.667,3.67,3.684,3.692,3.7,3.706,3.708,3.72,3.728,3.735,3.751,3.758,3.761,3.765,3.769,3.789,3.798,3.8,3.813,3.82,3.824,3.839,3.849,3.872,3.882,3.887,3.891,3.899,3.923,3.929,3.953,3.965,3.967,3.978,3.996,4.018,4.027,4.051,4.058,4.082,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.025,3.997,3.948,3.925,3.894,3.874,3.831,3.81,3.779,3.748,3.735,3.698,3.69,3.66,3.623,3.604,3.557,3.553,3.519,3.509,3.475,3.457,3.439,3.426,3.407,3.387,3.364,3.354,3.335,3.311,3.298,3.275,3.258,3.23,3.226,3.198,3.183,3.167,3.151,3.144,3.123,3.115,3.099,3.088,3.069,3.05,3.04,3.029,3.017,2.994,2.993,2.989,2.961,2.958,2.943,2.929,2.922,2.908,2.892,2.877,2.869,2.857,2.854,2.832,2.832,2.815,2.81,2.794,2.787,2.781,2.761,2.76,2.752,2.748,2.732,2.724,2.71,2.704,2.696,2.69,2.679,2.674,2.669,2.653,2.652,2.647,2.639,2.635,2.623,2.619,2.616,2.616,2.604,2.592,2.586,2.576,2.574,2.569,2.568,2.559,2.545,2.537,2.535,2.535,2.528,2.524,2.509,2.505,2.504,2.499,2.495,2.493,2.487,2.485,2.483,2.476,2.475,2.474,2.468,2.468,2.464,2.453,2.453,2.449,2.447,2.445,2.442,2.441,2.438,2.436,2.436,2.429,2.429,2.427,2.427,2.425,2.421,2.416,2.416,2.416,2.416,2.417,2.417,2.416,2.414,2.411,2.411,2.411,2.41,2.41,2.41,2.41,2.41,2.415,2.416,2.416,2.415,2.412,2.412,2.412,2.415,2.417,2.417,2.418,2.417,2.418,2.419,2.423,2.425,2.426,2.431,2.431,2.431,2.432,2.432,2.44,2.445,2.448,2.451,2.454,2.454,2.454,2.455,2.466,2.466,2.472,2.474,2.475,2.477,2.486,2.489,2.49,2.493,2.497,2.502,2.512,2.516,2.517,2.525,2.529,2.532,2.533,2.535,2.555,2.555,2.556,2.564,2.565,2.575,2.591,2.599,2.603,2.605,2.61,2.617,2.622,2.636,2.636,2.637,2.646,2.651,2.665,2.677,2.687,2.69,2.699,2.704,2.713,2.721,2.735,2.739,2.749,2.75,2.769,2.783,2.788,2.799,2.802,2.81,2.826,2.84,2.847,2.854,2.868,2.879,2.896,2.9,2.918,2.928,2.95,2.951,2.959,2.963,2.986,2.992,3.007,3.029,3.042,3.044,3.07,3.084,3.089,3.112,3.122,3.14,3.151,3.167,3.176,3.202,3.228,3.241,3.241,3.262,3.278,3.303,3.329,3.333,3.35,3.383,3.39,3.41,3.441,3.451,3.48,3.5,3.525,3.538,3.564,3.59,3.604,3.637,3.671,3.684,3.723,3.744,3.775,3.797,3.837,3.867,3.913,3.924,3.953,3.986,4.028,4.058,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.36,3.333,3.323,3.32,3.304,3.289,3.288,3.285,3.267,3.263,3.26,3.246,3.24,3.232,3.219,3.213,3.208,3.202,3.188,3.185,3.177,3.176,3.164,3.16,3.158,3.14,3.134,3.13,3.129,3.118,3.115,3.111,3.111,3.109,3.091,3.087,3.086,3.082,3.081,3.08,3.07,3.069,3.063,3.061,3.05,3.046,3.045,3.044,3.042,3.039,3.039,3.038,3.038,3.026,3.025,3.023,3.023,3.023,3.033,3.033,3.033,3.023,3.021,3.02,3.02,3.012,3.01,3.01,3.009,3.009,3.008,3.007,3.007,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.009,3.011,3.014,3.012,3.012,3.014,3.017,3.021,3.023,3.023,3.023,3.027,3.028,3.029,3.038,3.04,3.04,3.042,3.043,3.043,3.05,3.05,3.057,3.058,3.06,3.061,3.063,3.072,3.079,3.087,3.092,3.092,3.092,3.092,3.098,3.111,3.115,3.115,3.121,3.129,3.129,3.135,3.142,3.145,3.145,3.15,3.151,3.155,3.156,3.163,3.169,3.175,3.179,3.184,3.199,3.209,3.224,3.225,3.231,3.235,3.237,3.238,3.25,3.253,3.262,3.279,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 63.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 63.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 63.1093} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.9022} SEN {Time 63.1586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.181,0.186,0.186,0,0,0,0,0,0,0,0,3.693,3.692,3.672,3.662,3.642,3.632,3.622,3.622,3.622,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.216,3.213,3.21,3.21,3.21,3.271,3.36,0,0,0,0,0,0,0,0.156,0.146,0.144,0.144,0.144,0.144,0.144,0.148,0.153,0.151,0.151,0.151,0.154,0.157,3.032,3.036,3.036,3.036,3.036,3.036,3.036,0.159,0.157,0.157,0.157,0.154,0.15,0.146,0.146,0.135,0.1,0.081,0.064,0.062,0.062,0.064,0.067,0.067,0.07,0.07,0.068,0.068,0.067,0.067,0.068,0.075,0.144,0.205,3.338,3.354,3.361,3.361,3.371,3.38,0.007,0,3.423,0,3.461,3.461,3.464,3.48,3.48,3.482,3.49,3.492,3.494,3.505,3.51,3.516,3.522,3.526,3.529,3.531,3.536,3.538,3.538,3.54,3.54,3.541,3.546,3.552,3.552,3.557,3.567,3.571,3.573,3.581,3.581,3.585,3.596,3.596,3.612,3.617,3.619,3.635,3.637,3.64,3.645,3.652,3.652,3.652,3.66,3.671,3.675,3.675,3.686,3.691,3.698,3.707,3.718,3.727,3.743,3.747,3.755,3.756,3.767,3.776,3.783,3.798,3.813,3.814,3.825,3.831,3.843,3.848,3.869,3.876,3.882,3.901,3.916,3.918,3.934,3.946,3.953,3.978,3.985,3.996,4.02,4.034,4.041,4.049,4.078,4.092,0.016,0.016,0.016,0.016,0.007,0,0.016,4.017,3.997,3.997,3.977,3.933,3.885,3.849,3.81,3.781,3.773,3.738,3.699,3.676,3.652,3.612,3.597,3.571,3.566,3.517,3.501,3.485,3.451,3.445,3.42,3.393,3.388,3.366,3.356,3.34,3.315,3.297,3.274,3.247,3.238,3.217,3.201,3.177,3.17,3.154,3.135,3.125,3.105,3.099,3.093,3.069,3.051,3.038,3.033,3.018,3,2.986,2.976,2.964,2.953,2.934,2.92,2.92,2.902,2.899,2.875,2.866,2.854,2.84,2.839,2.829,2.814,2.809,2.796,2.784,2.782,2.768,2.756,2.752,2.735,2.734,2.719,2.712,2.709,2.706,2.684,2.677,2.676,2.662,2.656,2.649,2.647,2.638,2.633,2.619,2.611,2.61,2.605,2.597,2.595,2.584,2.578,2.571,2.567,2.556,2.553,2.553,2.54,2.537,2.533,2.532,2.524,2.511,2.509,2.504,2.502,2.497,2.495,2.488,2.485,2.483,2.476,2.475,2.473,2.472,2.471,2.466,2.462,2.458,2.456,2.452,2.45,2.446,2.445,2.441,2.437,2.435,2.432,2.43,2.428,2.428,2.428,2.423,2.421,2.42,2.418,2.418,2.416,2.415,2.414,2.414,2.411,2.41,2.41,2.41,2.41,2.409,2.409,2.409,2.413,2.413,2.415,2.415,2.415,2.415,2.417,2.421,2.421,2.421,2.418,2.418,2.418,2.418,2.425,2.426,2.427,2.429,2.434,2.434,2.435,2.436,2.44,2.441,2.446,2.451,2.454,2.454,2.457,2.458,2.462,2.47,2.472,2.472,2.477,2.481,2.486,2.487,2.491,2.492,2.502,2.503,2.511,2.516,2.519,2.52,2.527,2.538,2.542,2.546,2.546,2.554,2.56,2.565,2.572,2.575,2.593,2.595,2.598,2.605,2.607,2.615,2.62,2.635,2.639,2.645,2.652,2.653,2.655,2.674,2.683,2.686,2.702,2.705,2.72,2.721,2.729,2.736,2.751,2.757,2.761,2.777,2.79,2.794,2.813,2.816,2.834,2.84,2.849,2.86,2.869,2.878,2.889,2.903,2.917,2.921,2.939,2.951,2.959,2.976,2.985,3.001,3.01,3.025,3.031,3.047,3.064,3.083,3.093,3.106,3.119,3.141,3.154,3.17,3.185,3.199,3.218,3.235,3.243,3.268,3.27,3.301,3.321,3.34,3.356,3.376,3.391,3.414,3.439,3.459,3.475,3.497,3.516,3.543,3.574,3.593,3.6,3.642,3.668,3.694,3.724,3.756,3.777,3.814,3.834,3.865,3.877,3.934,3.945,3.983,4.056,0.016,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.36,3.337,3.322,3.315,3.303,3.297,3.286,3.279,3.265,3.259,3.252,3.243,3.241,3.24,3.216,3.215,3.206,3.202,3.186,3.185,3.172,3.172,3.161,3.152,3.15,3.141,3.133,3.126,3.125,3.123,3.117,3.112,3.107,3.1,3.092,3.091,3.085,3.084,3.079,3.066,3.061,3.058,3.058,3.058,3.054,3.054,3.044,3.042,3.042,3.04,3.04,3.037,3.033,3.025,3.024,3.024,3.024,3.025,3.029,3.029,3.029,3.022,3.019,3.018,3.015,3.013,3.013,3.011,3.013,3.012,3.012,3.007,3.01,3.01,3.009,3.009,3.01,3.01,3.011,3.011,3.014,3.014,3.013,3.014,3.014,3.016,3.017,3.018,3.021,3.02,3.02,3.025,3.025,3.029,3.03,3.037,3.037,3.044,3.045,3.048,3.05,3.053,3.054,3.056,3.061,3.062,3.065,3.071,3.086,3.087,3.09,3.092,3.093,3.093,3.102,3.107,3.109,3.11,3.119,3.134,3.134,3.138,3.138,3.139,3.139,3.148,3.151,3.153,3.163,3.165,3.167,3.175,3.182,3.185,3.2,3.215,3.215,3.22,3.224,3.231,3.234,3.242,3.244,3.25,3.256,3.277,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 63.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 63.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 63.3103} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.953} SEN {Time 63.3586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.177,0.189,0.189,0,0,0,0,0,0,0,0,3.685,3.669,3.665,3.665,3.642,3.635,3.62,3.62,3.62,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.229,3.222,3.221,3.217,3.217,3.221,3.266,3.371,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.147,0.147,0.147,0.147,0.153,0.153,0.156,0.156,0.159,0.159,3.027,3.029,3.036,3.036,3.029,3.038,3.038,0.153,0.153,0.153,0.153,0.156,0.156,0.15,0.147,0.136,0.113,0.069,0.068,0.067,0.061,0.061,0.061,0.067,0.068,0.07,0.07,0.07,0.06,0.06,0.06,0.081,0.128,0.206,3.333,3.345,3.358,3.358,3.366,3.379,3.389,3.392,3.415,3.415,3.45,3.479,3.479,3.479,3.479,3.479,3.487,3.5,3.502,3.502,3.508,3.514,3.526,3.527,3.527,3.527,3.537,3.537,3.539,3.541,3.541,3.546,3.546,3.546,3.556,3.561,3.561,3.573,3.577,3.579,3.586,3.588,3.596,3.599,3.6,3.611,3.629,3.632,3.634,3.638,3.645,3.646,3.655,3.659,3.666,3.667,3.67,3.679,3.683,3.702,3.702,3.709,3.709,3.728,3.735,3.748,3.759,3.76,3.761,3.77,3.774,3.801,3.805,3.814,3.827,3.834,3.843,3.854,3.871,3.882,3.89,3.894,3.904,3.933,3.936,3.938,3.957,3.968,3.992,4.001,4.021,4.035,4.036,4.062,4.077,4.081,0.016,0.016,0.016,0.007,0,0,0.007,4.071,3.994,3.972,3.926,3.9,3.882,3.849,3.807,3.776,3.756,3.728,3.694,3.677,3.66,3.623,3.588,3.573,3.545,3.521,3.514,3.487,3.452,3.45,3.415,3.406,3.374,3.366,3.344,3.342,3.306,3.288,3.276,3.255,3.235,3.228,3.202,3.177,3.172,3.159,3.131,3.124,3.111,3.096,3.088,3.064,3.049,3.044,3.022,3.012,3.004,2.996,2.977,2.959,2.949,2.94,2.932,2.914,2.906,2.889,2.873,2.871,2.857,2.852,2.836,2.825,2.824,2.813,2.803,2.789,2.78,2.766,2.759,2.752,2.741,2.73,2.73,2.714,2.698,2.691,2.677,2.677,2.675,2.66,2.652,2.65,2.645,2.639,2.638,2.628,2.618,2.612,2.609,2.6,2.594,2.586,2.585,2.577,2.573,2.567,2.557,2.553,2.544,2.542,2.532,2.523,2.519,2.513,2.506,2.501,2.498,2.496,2.492,2.491,2.481,2.479,2.476,2.467,2.467,2.465,2.463,2.463,2.457,2.453,2.452,2.45,2.45,2.449,2.441,2.44,2.439,2.437,2.432,2.432,2.431,2.426,2.421,2.42,2.42,2.42,2.419,2.418,2.418,2.417,2.413,2.406,2.406,2.407,2.407,2.407,2.407,2.407,2.41,2.411,2.411,2.413,2.412,2.412,2.414,2.413,2.413,2.414,2.416,2.418,2.418,2.418,2.42,2.42,2.42,2.421,2.423,2.426,2.432,2.436,2.437,2.44,2.44,2.441,2.445,2.448,2.45,2.454,2.454,2.461,2.465,2.465,2.467,2.47,2.47,2.481,2.482,2.483,2.488,2.495,2.499,2.501,2.508,2.515,2.519,2.522,2.529,2.536,2.538,2.541,2.547,2.553,2.564,2.567,2.568,2.571,2.584,2.595,2.601,2.612,2.613,2.619,2.619,2.634,2.639,2.64,2.649,2.651,2.665,2.674,2.68,2.685,2.695,2.699,2.712,2.719,2.731,2.743,2.751,2.757,2.769,2.78,2.79,2.8,2.803,2.822,2.833,2.84,2.847,2.862,2.869,2.883,2.89,2.903,2.914,2.929,2.94,2.948,2.951,2.967,2.989,3,3.019,3.028,3.036,3.041,3.065,3.072,3.092,3.103,3.124,3.139,3.154,3.16,3.183,3.194,3.219,3.231,3.251,3.263,3.275,3.293,3.325,3.325,3.354,3.367,3.4,3.416,3.435,3.459,3.48,3.501,3.531,3.544,3.577,3.588,3.613,3.646,3.671,3.694,3.725,3.75,3.776,3.798,3.824,3.861,3.884,3.928,3.947,3.983,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.352,3.346,3.333,3.315,3.297,3.297,3.295,3.279,3.272,3.258,3.241,3.241,3.239,3.238,3.219,3.214,3.21,3.199,3.192,3.189,3.181,3.175,3.156,3.154,3.153,3.142,3.135,3.132,3.12,3.116,3.114,3.112,3.111,3.098,3.097,3.088,3.084,3.077,3.075,3.072,3.071,3.07,3.066,3.054,3.054,3.051,3.047,3.042,3.042,3.039,3.039,3.03,3.029,3.029,3.025,3.025,3.025,3.029,3.028,3.028,3.028,3.022,3.021,3.021,3.015,3.014,3.012,3.012,3.012,3.009,3.009,3.008,3.008,3.008,3.008,3.008,3.01,3.011,3.011,3.013,3.014,3.014,3.013,3.014,3.015,3.021,3.015,3.022,3.018,3.02,3.02,3.02,3.02,3.029,3.03,3.035,3.036,3.037,3.04,3.041,3.05,3.054,3.059,3.059,3.059,3.061,3.067,3.068,3.084,3.091,3.091,3.092,3.093,3.095,3.097,3.107,3.11,3.113,3.117,3.134,3.134,3.134,3.141,3.142,3.142,3.145,3.149,3.15,3.158,3.162,3.17,3.178,3.185,3.187,3.202,3.206,3.211,3.228,3.229,3.238,3.239,3.239,3.244,3.247,3.261,3.272,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 63.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 63.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 63.5113} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.953} SEN {Time 63.5586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.183,0.186,0.186,0,0,0,0,0,0,0,0,0,3.686,3.656,3.656,3.648,3.635,3.613,3.613,3.613,0,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.243,3.222,3.212,3.211,3.211,3.211,3.264,3.36,0,0,0,0,0,0,0,0.007,0,0.151,0.151,0.151,0.141,0.147,0.146,0.147,0.147,0.15,0.15,0.154,0.154,3.04,3.04,3.04,3.04,3.036,3.036,3.036,0.162,0.157,0.157,0.155,0.155,0.154,0.152,0.152,0.131,0.101,0.088,0.065,0.065,0.064,0.064,0.063,0.065,0.066,0.066,0.064,0.064,0.06,0.06,0.064,0.072,0.134,0.198,3.329,3.335,3.355,3.369,3.375,3.375,3.386,3.401,3.414,3.414,3.421,3.433,3.471,3.473,3.474,3.474,3.493,3.494,3.497,3.505,3.508,3.51,3.517,3.518,3.524,3.526,3.529,3.535,3.538,3.539,3.543,3.544,3.544,3.554,3.554,3.56,3.572,3.573,3.573,3.579,3.581,3.582,3.589,3.595,3.6,3.601,3.626,3.633,3.633,3.641,3.642,3.647,3.652,3.663,3.669,3.669,3.674,3.688,3.69,3.69,3.695,3.698,3.715,3.736,3.74,3.75,3.75,3.757,3.772,3.773,3.783,3.802,3.805,3.814,3.83,3.841,3.841,3.853,3.876,3.884,3.885,3.897,3.902,3.924,3.935,3.944,3.958,3.962,3.982,3.984,4.013,4.02,4.045,4.056,4.076,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,4.006,3.989,3.968,3.93,3.901,3.869,3.846,3.812,3.773,3.747,3.733,3.702,3.69,3.651,3.632,3.589,3.575,3.551,3.532,3.513,3.485,3.46,3.45,3.427,3.415,3.379,3.37,3.347,3.331,3.312,3.294,3.274,3.26,3.239,3.216,3.195,3.175,3.175,3.161,3.14,3.119,3.112,3.101,3.084,3.069,3.05,3.04,3.033,3.012,2.999,2.989,2.982,2.96,2.956,2.936,2.929,2.917,2.909,2.898,2.874,2.873,2.86,2.848,2.845,2.832,2.82,2.805,2.794,2.793,2.783,2.765,2.764,2.746,2.743,2.73,2.722,2.715,2.695,2.695,2.681,2.679,2.677,2.659,2.658,2.656,2.65,2.647,2.639,2.626,2.623,2.619,2.607,2.598,2.594,2.584,2.575,2.574,2.57,2.564,2.56,2.551,2.54,2.534,2.53,2.53,2.516,2.514,2.505,2.499,2.495,2.493,2.487,2.486,2.482,2.479,2.475,2.473,2.47,2.465,2.465,2.456,2.456,2.452,2.45,2.45,2.45,2.449,2.445,2.443,2.442,2.431,2.427,2.425,2.425,2.423,2.421,2.421,2.421,2.42,2.419,2.419,2.418,2.415,2.414,2.412,2.412,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.415,2.415,2.417,2.417,2.409,2.415,2.415,2.415,2.417,2.417,2.417,2.419,2.421,2.421,2.426,2.426,2.427,2.429,2.431,2.435,2.438,2.441,2.443,2.443,2.443,2.448,2.451,2.453,2.455,2.46,2.467,2.47,2.47,2.473,2.476,2.479,2.487,2.489,2.493,2.494,2.497,2.508,2.51,2.513,2.519,2.519,2.522,2.53,2.53,2.534,2.552,2.555,2.557,2.558,2.567,2.576,2.589,2.6,2.605,2.608,2.609,2.62,2.622,2.633,2.636,2.636,2.65,2.654,2.655,2.672,2.681,2.697,2.7,2.707,2.721,2.728,2.728,2.749,2.753,2.757,2.764,2.783,2.785,2.799,2.811,2.813,2.826,2.838,2.847,2.862,2.878,2.879,2.881,2.9,2.914,2.93,2.947,2.951,2.965,2.977,2.985,2.993,3.018,3.019,3.039,3.044,3.064,3.078,3.092,3.108,3.121,3.143,3.158,3.165,3.186,3.208,3.221,3.232,3.242,3.262,3.272,3.298,3.318,3.339,3.354,3.384,3.398,3.413,3.437,3.457,3.492,3.505,3.527,3.541,3.563,3.597,3.621,3.64,3.668,3.694,3.726,3.744,3.777,3.805,3.833,3.865,3.897,3.926,3.984,4.032,4.094,4.094,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.36,3.339,3.333,3.319,3.314,3.296,3.289,3.282,3.277,3.258,3.253,3.25,3.244,3.244,3.24,3.212,3.206,3.204,3.191,3.183,3.175,3.165,3.163,3.157,3.148,3.146,3.143,3.133,3.121,3.121,3.112,3.112,3.112,3.1,3.089,3.087,3.083,3.083,3.079,3.075,3.074,3.072,3.068,3.057,3.049,3.048,3.048,3.046,3.045,3.045,3.036,3.034,3.032,3.028,3.024,3.02,3.024,3.024,3.031,3.031,3.031,3.021,3.019,3.017,3.013,3.01,3.01,3.01,3.011,3.011,3.011,3.011,3.013,3.013,3.009,3.013,3.014,3.014,3.014,3.015,3.015,3.016,3.016,3.016,3.016,3.018,3.018,3.02,3.024,3.02,3.02,3.024,3.027,3.031,3.031,3.031,3.032,3.035,3.042,3.043,3.044,3.049,3.057,3.059,3.059,3.06,3.07,3.074,3.076,3.087,3.088,3.09,3.092,3.094,3.1,3.1,3.113,3.115,3.122,3.134,3.134,3.134,3.134,3.135,3.135,3.148,3.15,3.156,3.157,3.167,3.171,3.175,3.179,3.184,3.196,3.207,3.218,3.224,3.227,3.231,3.232,3.243,3.244,3.248,3.261,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 63.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 63.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 63.7122} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.953} SEN {Time 63.7546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.178,0.184,0.184,0,0,0,0,0,0,0,0,3.686,3.678,3.665,3.66,3.642,3.624,3.616,3.616,3.601,3.601,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.219,3.213,3.213,3.213,3.262,3.356,0,0,0,0,0,0,0,0.146,0.145,0.145,0.144,0.144,0.141,0.145,0.145,0.156,0.145,0.154,0.154,0.154,0.154,3.031,3.043,3.043,3.043,3.041,3.043,3.041,0.163,0.156,0.156,0.155,0.153,0.153,0.149,0.149,0.127,0.114,0.081,0.068,0.064,0.064,0.064,0.064,0.065,0.068,0.068,0.069,0.069,0.065,0.065,0.069,0.079,0.129,0.203,3.314,3.357,3.393,3.393,3.386,3.386,3.386,3.386,3.398,0,0,0,3.487,3.474,3.474,3.487,3.493,3.495,3.498,3.507,3.511,3.517,3.515,3.517,3.52,3.524,3.525,3.536,3.538,3.539,3.539,3.54,3.547,3.548,3.552,3.565,3.566,3.568,3.57,3.575,3.579,3.58,3.593,3.6,3.608,3.608,3.628,3.63,3.633,3.633,3.635,3.652,3.658,3.663,3.665,3.673,3.674,3.683,3.684,3.695,3.698,3.709,3.713,3.729,3.73,3.749,3.751,3.752,3.768,3.77,3.783,3.794,3.794,3.81,3.811,3.834,3.839,3.858,3.873,3.885,3.887,3.897,3.904,3.919,3.933,3.941,3.964,3.972,3.976,4.002,4.026,4.035,4.041,4.073,4.08,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,4.03,4,3.981,3.933,3.897,3.873,3.851,3.815,3.776,3.761,3.713,3.704,3.671,3.649,3.63,3.592,3.578,3.555,3.538,3.511,3.487,3.467,3.449,3.426,3.413,3.385,3.368,3.342,3.338,3.307,3.284,3.276,3.254,3.231,3.228,3.199,3.183,3.159,3.144,3.142,3.121,3.102,3.096,3.087,3.066,3.054,3.044,3.022,3.004,2.997,2.986,2.984,2.961,2.957,2.936,2.928,2.917,2.899,2.891,2.882,2.874,2.862,2.847,2.839,2.828,2.816,2.807,2.799,2.783,2.775,2.768,2.756,2.75,2.746,2.736,2.717,2.715,2.7,2.699,2.684,2.676,2.673,2.66,2.656,2.65,2.647,2.631,2.628,2.625,2.617,2.612,2.61,2.6,2.593,2.587,2.575,2.573,2.571,2.568,2.563,2.548,2.539,2.538,2.531,2.522,2.521,2.517,2.514,2.505,2.496,2.492,2.491,2.484,2.483,2.482,2.477,2.47,2.47,2.465,2.46,2.46,2.459,2.457,2.453,2.451,2.451,2.446,2.439,2.439,2.439,2.438,2.428,2.428,2.426,2.418,2.418,2.418,2.418,2.418,2.417,2.417,2.415,2.414,2.41,2.41,2.41,2.41,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.412,2.412,2.412,2.413,2.417,2.42,2.42,2.42,2.423,2.423,2.425,2.425,2.425,2.425,2.426,2.428,2.429,2.434,2.439,2.439,2.439,2.439,2.439,2.442,2.448,2.451,2.451,2.461,2.462,2.464,2.467,2.476,2.48,2.485,2.488,2.488,2.492,2.493,2.496,2.5,2.509,2.514,2.518,2.519,2.53,2.531,2.54,2.547,2.55,2.553,2.565,2.565,2.568,2.581,2.592,2.593,2.601,2.604,2.611,2.617,2.62,2.64,2.643,2.645,2.653,2.66,2.671,2.677,2.678,2.689,2.691,2.698,2.719,2.725,2.729,2.754,2.754,2.757,2.772,2.786,2.793,2.795,2.808,2.818,2.83,2.836,2.849,2.853,2.861,2.885,2.887,2.902,2.919,2.924,2.944,2.955,2.956,2.971,2.988,2.994,3.013,3.029,3.037,3.043,3.068,3.086,3.086,3.108,3.124,3.137,3.156,3.17,3.186,3.198,3.219,3.235,3.246,3.262,3.282,3.292,3.329,3.339,3.349,3.378,3.387,3.405,3.429,3.459,3.48,3.494,3.52,3.55,3.573,3.595,3.627,3.637,3.663,3.691,3.721,3.754,3.787,3.794,3.831,3.867,3.891,3.915,4.02,0,0.007,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.361,3.342,3.331,3.319,3.31,3.297,3.294,3.282,3.274,3.263,3.25,3.242,3.242,3.233,3.22,3.214,3.205,3.193,3.185,3.176,3.17,3.165,3.155,3.149,3.148,3.146,3.14,3.132,3.132,3.124,3.121,3.11,3.109,3.104,3.095,3.094,3.092,3.087,3.081,3.08,3.071,3.067,3.063,3.061,3.056,3.048,3.045,3.04,3.04,3.04,3.038,3.033,3.03,3.029,3.028,3.024,3.028,3.029,3.032,3.032,3.032,3.023,3.02,3.018,3.018,3.014,3.01,3.007,3.007,3.007,3.005,3.005,3.005,3.005,3.006,3.009,3.009,3.012,3.009,3.009,3.018,3.018,3.012,3.013,3.013,3.013,3.013,3.025,3.025,3.016,3.016,3.025,3.027,3.029,3.034,3.037,3.043,3.043,3.044,3.051,3.059,3.06,3.06,3.06,3.06,3.062,3.072,3.075,3.077,3.086,3.088,3.088,3.089,3.091,3.102,3.111,3.118,3.118,3.121,3.132,3.132,3.136,3.141,3.143,3.143,3.145,3.148,3.155,3.159,3.162,3.166,3.17,3.172,3.19,3.193,3.212,3.222,3.224,3.226,3.226,3.232,3.233,3.242,3.244,3.263,3.272,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 63.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 63.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 63.9132} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.0292} SEN {Time 63.9546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.191,0.182,0.191,0.191,0,0,0,0,0,0,0,0,3.697,3.69,3.674,3.656,3.632,3.629,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.21,3.215,3.215,3.256,3.355,0,0,0,0,0,0,0,0.144,0.141,0.141,0.141,0.141,0.144,0.144,0.144,0.155,0.155,0.155,0.155,0.158,0.161,3.027,3.032,3.032,3.032,3.031,3.032,3.031,0.159,0.156,0.156,0.15,0.15,0.149,0.146,0.146,0.13,0.11,0.074,0.067,0.06,0.06,0.062,0.062,0.064,0.066,0.066,0.065,0.064,0.064,0.064,0.065,0.081,0.135,0.216,3.342,3.366,3.368,3.368,3.371,3.375,3.38,3.38,3.408,3.409,3.423,3.443,3.463,3.48,3.49,3.495,3.495,3.498,3.499,3.5,3.507,3.512,3.516,3.52,3.523,3.527,3.529,3.532,3.534,3.538,3.538,3.538,3.546,3.549,3.557,3.557,3.567,3.575,3.578,3.583,3.587,3.59,3.605,3.607,3.61,3.612,3.625,3.633,3.639,3.643,3.646,3.646,3.657,3.657,3.665,3.669,3.679,3.679,3.689,3.69,3.694,3.709,3.712,3.724,3.734,3.74,3.752,3.761,3.764,3.777,3.779,3.794,3.804,3.815,3.819,3.83,3.846,3.849,3.868,3.874,3.891,3.9,3.909,3.923,3.924,3.934,3.957,3.967,3.99,3.993,4.006,4.035,4.047,4.058,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.017,4.001,3.974,3.948,3.887,3.87,3.839,3.813,3.792,3.751,3.716,3.706,3.671,3.652,3.622,3.598,3.571,3.539,3.534,3.513,3.482,3.459,3.435,3.434,3.405,3.387,3.38,3.344,3.337,3.313,3.302,3.269,3.253,3.238,3.225,3.198,3.191,3.169,3.155,3.135,3.121,3.112,3.099,3.081,3.064,3.048,3.048,3.029,3.011,2.999,2.995,2.977,2.962,2.947,2.938,2.931,2.918,2.904,2.896,2.873,2.867,2.863,2.856,2.839,2.827,2.817,2.801,2.8,2.789,2.784,2.772,2.758,2.753,2.741,2.732,2.718,2.717,2.699,2.698,2.686,2.681,2.677,2.659,2.658,2.656,2.647,2.642,2.632,2.624,2.612,2.608,2.604,2.593,2.591,2.582,2.576,2.572,2.572,2.565,2.553,2.542,2.54,2.538,2.531,2.525,2.519,2.515,2.504,2.503,2.499,2.499,2.491,2.491,2.486,2.481,2.477,2.475,2.47,2.465,2.464,2.457,2.457,2.456,2.455,2.453,2.449,2.444,2.442,2.44,2.435,2.431,2.429,2.428,2.427,2.423,2.423,2.423,2.421,2.421,2.417,2.417,2.416,2.414,2.414,2.414,2.416,2.416,2.416,2.416,2.413,2.413,2.413,2.415,2.415,2.415,2.414,2.411,2.409,2.409,2.409,2.411,2.412,2.415,2.419,2.419,2.423,2.423,2.423,2.423,2.427,2.429,2.433,2.435,2.435,2.435,2.435,2.437,2.442,2.446,2.451,2.454,2.455,2.458,2.46,2.468,2.472,2.475,2.475,2.481,2.484,2.494,2.494,2.5,2.501,2.503,2.51,2.516,2.523,2.527,2.528,2.53,2.538,2.542,2.546,2.551,2.553,2.566,2.566,2.578,2.589,2.601,2.603,2.607,2.612,2.612,2.624,2.63,2.635,2.639,2.646,2.651,2.665,2.672,2.684,2.689,2.695,2.703,2.705,2.722,2.731,2.744,2.751,2.751,2.765,2.784,2.791,2.796,2.806,2.823,2.832,2.832,2.844,2.857,2.87,2.877,2.89,2.899,2.928,2.93,2.943,2.953,2.959,2.975,2.985,2.999,3.013,3.029,3.044,3.044,3.057,3.08,3.092,3.107,3.118,3.135,3.158,3.165,3.186,3.198,3.219,3.232,3.252,3.254,3.271,3.296,3.321,3.326,3.352,3.373,3.39,3.415,3.426,3.46,3.487,3.494,3.511,3.54,3.578,3.593,3.616,3.646,3.663,3.697,3.732,3.743,3.774,3.802,3.834,3.859,3.887,3.923,3.988,4.024,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.35,3.341,3.329,3.322,3.299,3.299,3.295,3.28,3.266,3.266,3.253,3.244,3.238,3.233,3.219,3.218,3.213,3.197,3.183,3.181,3.176,3.165,3.163,3.157,3.153,3.144,3.141,3.128,3.126,3.118,3.115,3.109,3.102,3.102,3.09,3.084,3.08,3.08,3.079,3.077,3.074,3.069,3.066,3.059,3.049,3.049,3.049,3.038,3.038,3.038,3.038,3.033,3.029,3.028,3.022,3.022,3.024,3.024,3.029,3.029,3.029,3.016,3.016,3.016,3.016,3.016,3.016,3.014,3.013,3.013,3.009,3.008,3.007,3.006,3.006,3.007,3.008,3.014,3.014,3.014,3.015,3.015,3.015,3.017,3.02,3.022,3.022,3.022,3.022,3.02,3.02,3.029,3.032,3.032,3.033,3.034,3.034,3.036,3.039,3.039,3.055,3.055,3.056,3.057,3.064,3.065,3.069,3.076,3.08,3.084,3.088,3.09,3.09,3.09,3.104,3.111,3.112,3.117,3.122,3.13,3.13,3.137,3.141,3.141,3.14,3.141,3.148,3.154,3.158,3.165,3.166,3.176,3.178,3.184,3.204,3.205,3.213,3.218,3.225,3.229,3.236,3.241,3.244,3.249,3.261,3.274,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 64.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 64.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 64.1061} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.0292} SEN {Time 64.1546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.697,3.687,3.671,3.663,3.646,3.635,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.212,3.21,3.212,3.215,3.26,3.37,0,0,0,0,0,0,0,0.146,0.143,0.143,0.143,0.146,0.143,0.146,0.146,0.151,0.151,0.152,0.152,0.154,0.154,3.03,3.035,3.035,3.035,3.035,3.035,3.033,0.155,0.155,0.155,0.153,0.152,0.151,0.15,0.15,0.134,0.11,0.075,0.065,0.064,0.064,0.064,0.064,0.065,0.068,0.068,0.068,0.068,0.066,0.066,0.066,0.076,0.127,0.203,3.344,3.344,3.364,3.364,3.379,3.379,3.39,3.395,3.412,3.412,3.425,3.437,3.46,3.477,3.48,3.495,3.495,3.495,3.505,3.506,3.506,3.512,3.516,3.523,3.524,3.525,3.531,3.54,3.54,3.543,3.543,3.547,3.553,3.556,3.556,3.56,3.573,3.573,3.577,3.579,3.581,3.583,3.594,3.594,3.613,3.614,3.622,3.623,3.633,3.635,3.651,3.652,3.653,3.658,3.666,3.671,3.675,3.685,3.697,3.699,3.701,3.714,3.715,3.736,3.738,3.742,3.757,3.76,3.769,3.777,3.785,3.79,3.8,3.806,3.822,3.828,3.843,3.854,3.859,3.879,3.883,3.885,3.897,3.915,3.926,3.948,3.948,3.959,3.981,3.997,4.015,4.026,4.046,4.072,4.075,4.082,0.016,0.016,0.016,0.016,0.016,4.085,4.044,4.044,4.015,3.993,3.931,3.902,3.869,3.846,3.821,3.78,3.763,3.741,3.699,3.674,3.652,3.618,3.59,3.575,3.547,3.526,3.506,3.48,3.459,3.457,3.415,3.406,3.388,3.367,3.346,3.325,3.311,3.293,3.274,3.253,3.235,3.226,3.2,3.182,3.165,3.153,3.145,3.121,3.115,3.099,3.082,3.073,3.054,3.03,3.026,3.009,2.997,2.988,2.977,2.967,2.96,2.947,2.925,2.919,2.908,2.893,2.875,2.867,2.856,2.851,2.845,2.822,2.822,2.804,2.796,2.786,2.783,2.769,2.759,2.75,2.739,2.733,2.728,2.714,2.706,2.69,2.689,2.675,2.673,2.666,2.656,2.654,2.647,2.634,2.633,2.623,2.615,2.613,2.608,2.595,2.588,2.58,2.576,2.571,2.567,2.562,2.56,2.549,2.544,2.541,2.532,2.527,2.522,2.516,2.506,2.505,2.499,2.496,2.491,2.487,2.48,2.478,2.477,2.475,2.465,2.464,2.462,2.457,2.456,2.452,2.452,2.446,2.446,2.445,2.444,2.442,2.439,2.436,2.434,2.428,2.427,2.426,2.426,2.423,2.421,2.417,2.417,2.417,2.413,2.411,2.411,2.413,2.413,2.413,2.413,2.413,2.411,2.411,2.411,2.413,2.413,2.415,2.415,2.415,2.413,2.413,2.413,2.415,2.423,2.423,2.423,2.428,2.426,2.426,2.427,2.427,2.427,2.427,2.429,2.433,2.436,2.441,2.441,2.441,2.447,2.45,2.454,2.457,2.458,2.461,2.463,2.467,2.471,2.472,2.475,2.475,2.481,2.486,2.488,2.493,2.501,2.503,2.508,2.511,2.518,2.52,2.522,2.533,2.537,2.543,2.554,2.56,2.563,2.567,2.568,2.57,2.591,2.596,2.597,2.607,2.607,2.615,2.621,2.629,2.636,2.646,2.649,2.652,2.665,2.673,2.681,2.685,2.701,2.704,2.714,2.714,2.731,2.732,2.752,2.755,2.769,2.78,2.795,2.798,2.81,2.821,2.833,2.839,2.847,2.857,2.871,2.877,2.883,2.902,2.92,2.933,2.943,2.95,2.952,2.975,2.981,2.994,3.013,3.033,3.037,3.045,3.073,3.08,3.095,3.108,3.121,3.151,3.154,3.167,3.189,3.199,3.223,3.225,3.247,3.262,3.277,3.299,3.319,3.33,3.355,3.369,3.399,3.405,3.429,3.459,3.485,3.504,3.52,3.543,3.568,3.602,3.625,3.636,3.67,3.699,3.721,3.754,3.782,3.795,3.845,3.854,3.892,3.923,4.019,4.066,0,0,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.348,3.341,3.329,3.317,3.314,3.296,3.29,3.278,3.277,3.259,3.25,3.246,3.234,3.231,3.223,3.211,3.202,3.195,3.192,3.181,3.175,3.175,3.166,3.16,3.147,3.143,3.138,3.127,3.125,3.121,3.114,3.106,3.103,3.102,3.09,3.088,3.085,3.083,3.082,3.078,3.073,3.069,3.066,3.052,3.049,3.048,3.047,3.043,3.042,3.041,3.038,3.034,3.032,3.03,3.022,3.022,3.023,3.023,3.031,3.031,3.031,3.023,3.016,3.016,3.014,3.01,3.009,3.009,3.009,3.009,3.011,3.011,3.011,3.011,3.008,3.004,3.008,3.008,3.008,3.012,3.018,3.015,3.015,3.018,3.018,3.019,3.019,3.019,3.02,3.02,3.02,3.021,3.024,3.029,3.033,3.04,3.04,3.041,3.043,3.044,3.049,3.05,3.055,3.058,3.061,3.068,3.07,3.075,3.079,3.085,3.088,3.091,3.092,3.093,3.096,3.105,3.11,3.115,3.119,3.129,3.129,3.133,3.132,3.136,3.136,3.147,3.149,3.156,3.158,3.161,3.17,3.172,3.172,3.191,3.194,3.212,3.217,3.219,3.224,3.236,3.245,3.248,3.248,3.252,3.261,3.276,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 64.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 64.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 64.3072} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.0292} SEN {Time 64.3546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.182,0.186,0.186,0,0,0,0,0,0,0,0,3.682,3.678,3.668,3.668,3.642,3.626,3.61,3.61,3.61,3.61,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.219,3.215,3.212,3.212,3.215,3.256,3.362,0,0,0,0,0,0,0,0.007,0.143,0.143,0.142,0.142,0.147,0.147,0.147,0.151,0.147,0.151,0.151,0.153,0.153,3.033,3.033,3.033,3.033,3.033,3.032,0.156,0.156,0.156,0.156,0.159,0.159,0.152,0.148,0.148,0.136,0.105,0.076,0.063,0.062,0.062,0.062,0.063,0.067,0.068,0.068,0.069,0.069,0.069,0.069,0.07,0.086,0.137,0.209,3.328,3.363,3.367,3.365,3.365,3.367,3.381,3.381,3.398,3.42,3.442,3.446,3.458,3.462,3.479,3.481,3.492,3.497,3.497,3.5,3.508,3.508,3.516,3.517,3.517,3.518,3.519,3.535,3.541,3.543,3.543,3.547,3.547,3.548,3.548,3.564,3.571,3.571,3.573,3.575,3.58,3.59,3.593,3.6,3.607,3.618,3.631,3.632,3.634,3.636,3.644,3.654,3.656,3.66,3.66,3.67,3.67,3.679,3.689,3.693,3.696,3.702,3.716,3.722,3.739,3.749,3.75,3.752,3.766,3.771,3.78,3.793,3.796,3.811,3.814,3.829,3.845,3.849,3.865,3.882,3.884,3.9,3.901,3.926,3.929,3.95,3.964,3.969,3.988,4.001,4.012,4.037,4.038,4.06,4.07,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.052,3.989,3.956,3.928,3.908,3.879,3.854,3.814,3.778,3.758,3.723,3.7,3.669,3.664,3.626,3.604,3.589,3.556,3.531,3.518,3.479,3.459,3.449,3.422,3.404,3.393,3.375,3.356,3.329,3.311,3.299,3.277,3.266,3.226,3.225,3.202,3.179,3.17,3.141,3.131,3.125,3.107,3.093,3.082,3.07,3.053,3.043,3.025,3.01,2.998,2.99,2.98,2.958,2.955,2.937,2.923,2.913,2.908,2.902,2.883,2.868,2.858,2.852,2.839,2.826,2.818,2.802,2.794,2.787,2.779,2.769,2.767,2.742,2.74,2.731,2.724,2.708,2.703,2.701,2.689,2.672,2.672,2.664,2.656,2.656,2.652,2.642,2.639,2.627,2.617,2.612,2.606,2.597,2.591,2.585,2.58,2.575,2.573,2.564,2.558,2.551,2.54,2.538,2.529,2.525,2.524,2.513,2.51,2.504,2.504,2.497,2.495,2.492,2.484,2.483,2.48,2.474,2.473,2.471,2.47,2.462,2.458,2.455,2.453,2.451,2.449,2.445,2.442,2.439,2.436,2.432,2.431,2.43,2.428,2.427,2.423,2.423,2.417,2.417,2.416,2.416,2.419,2.419,2.417,2.417,2.417,2.415,2.413,2.41,2.41,2.41,2.41,2.412,2.412,2.414,2.415,2.414,2.415,2.417,2.417,2.417,2.421,2.419,2.419,2.419,2.419,2.419,2.423,2.423,2.424,2.425,2.43,2.431,2.437,2.441,2.441,2.443,2.444,2.448,2.454,2.454,2.454,2.458,2.462,2.47,2.47,2.472,2.475,2.479,2.483,2.484,2.487,2.495,2.498,2.504,2.511,2.512,2.521,2.525,2.527,2.53,2.537,2.538,2.555,2.555,2.561,2.566,2.577,2.581,2.588,2.593,2.605,2.608,2.611,2.616,2.628,2.638,2.638,2.639,2.653,2.655,2.664,2.681,2.684,2.692,2.696,2.697,2.716,2.719,2.726,2.734,2.748,2.751,2.765,2.783,2.788,2.796,2.808,2.815,2.833,2.85,2.851,2.859,2.87,2.882,2.888,2.905,2.921,2.932,2.943,2.945,2.949,2.977,2.989,2.996,3.018,3.03,3.041,3.045,3.07,3.077,3.092,3.103,3.119,3.141,3.152,3.169,3.181,3.203,3.225,3.231,3.248,3.26,3.282,3.297,3.325,3.332,3.355,3.377,3.395,3.405,3.438,3.464,3.481,3.501,3.528,3.547,3.57,3.593,3.616,3.631,3.673,3.691,3.728,3.753,3.794,3.795,3.844,3.867,3.91,0.007,0,0,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.352,3.352,3.339,3.334,3.31,3.293,3.292,3.279,3.27,3.266,3.246,3.244,3.241,3.24,3.222,3.22,3.218,3.197,3.193,3.181,3.179,3.17,3.159,3.153,3.149,3.143,3.137,3.132,3.126,3.125,3.118,3.111,3.105,3.104,3.095,3.092,3.083,3.08,3.077,3.076,3.071,3.07,3.07,3.063,3.05,3.05,3.048,3.041,3.037,3.035,3.035,3.032,3.032,3.03,3.029,3.028,3.028,3.028,3.025,3.025,3.025,3.021,3.015,3.015,3.013,3.013,3.013,3.013,3.013,3.009,3.007,3.004,3.004,3.004,3.012,3.012,3.013,3.012,3.011,3.011,3.011,3.011,3.011,3.014,3.014,3.017,3.015,3.017,3.025,3.025,3.028,3.029,3.03,3.032,3.032,3.033,3.035,3.038,3.043,3.047,3.048,3.052,3.055,3.059,3.061,3.063,3.072,3.074,3.077,3.09,3.092,3.092,3.093,3.094,3.104,3.111,3.115,3.117,3.118,3.134,3.134,3.137,3.137,3.143,3.143,3.149,3.152,3.153,3.156,3.167,3.171,3.173,3.179,3.185,3.202,3.211,3.214,3.219,3.22,3.237,3.243,3.244,3.245,3.247,3.255,3.273,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 64.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 64.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 64.5082} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1562} SEN {Time 64.5546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.178,0.189,0.189,0,0,0,0,0,0,0,0,3.687,3.683,3.662,3.66,3.65,3.635,3.602,3.602,3.595,3.595,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.219,3.206,3.206,3.206,3.257,3.351,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.153,0.153,0.153,0.154,0.154,0.153,0.153,0.154,0.154,3.028,3.028,3.037,3.037,3.028,3.037,3.037,0.155,0.153,0.153,0.153,0.151,0.149,0.145,0.145,0.131,0.109,0.081,0.068,0.065,0.065,0.065,0.066,0.067,0.067,0.068,0.066,0.066,0.066,0.066,0.066,0.081,0.129,0.213,3.35,3.357,3.36,3.36,3.368,3.372,3.381,3.381,3.407,3.418,3.422,3.432,3.451,3.469,3.476,3.48,3.491,3.496,3.5,3.503,3.51,3.511,3.515,3.515,3.525,3.527,3.527,3.529,3.536,3.538,3.54,3.541,3.551,3.555,3.557,3.567,3.573,3.575,3.577,3.582,3.583,3.594,3.594,3.604,3.609,3.62,3.621,3.629,3.632,3.641,3.642,3.651,3.658,3.659,3.665,3.667,3.685,3.685,3.686,3.687,3.698,3.711,3.718,3.727,3.728,3.753,3.756,3.758,3.767,3.77,3.785,3.796,3.806,3.807,3.819,3.83,3.838,3.862,3.872,3.874,3.886,3.9,3.902,3.913,3.934,3.944,3.951,3.966,3.987,3.997,4.015,4.033,4.042,4.053,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.045,3.984,3.962,3.931,3.909,3.876,3.843,3.813,3.775,3.749,3.727,3.703,3.676,3.636,3.624,3.598,3.573,3.55,3.531,3.503,3.484,3.443,3.435,3.42,3.404,3.386,3.363,3.354,3.334,3.31,3.293,3.276,3.264,3.233,3.228,3.204,3.189,3.162,3.155,3.134,3.126,3.105,3.099,3.081,3.073,3.051,3.045,3.029,3.012,3.002,2.983,2.979,2.957,2.944,2.935,2.926,2.914,2.898,2.892,2.869,2.868,2.861,2.85,2.837,2.825,2.814,2.81,2.794,2.788,2.78,2.764,2.758,2.752,2.742,2.74,2.723,2.712,2.705,2.695,2.682,2.67,2.668,2.659,2.652,2.651,2.651,2.637,2.634,2.627,2.621,2.608,2.607,2.596,2.586,2.579,2.575,2.574,2.571,2.561,2.554,2.549,2.548,2.537,2.533,2.528,2.525,2.511,2.508,2.502,2.5,2.499,2.494,2.491,2.483,2.483,2.48,2.472,2.467,2.465,2.464,2.464,2.455,2.455,2.453,2.449,2.449,2.442,2.442,2.442,2.442,2.434,2.43,2.43,2.424,2.424,2.423,2.421,2.419,2.417,2.415,2.415,2.417,2.417,2.412,2.411,2.411,2.411,2.41,2.411,2.411,2.409,2.409,2.409,2.409,2.41,2.416,2.416,2.41,2.409,2.409,2.409,2.416,2.418,2.418,2.418,2.418,2.418,2.421,2.423,2.424,2.424,2.424,2.425,2.434,2.435,2.439,2.439,2.441,2.45,2.451,2.452,2.457,2.458,2.461,2.467,2.474,2.474,2.475,2.476,2.482,2.488,2.494,2.495,2.496,2.501,2.509,2.517,2.519,2.52,2.521,2.533,2.539,2.543,2.549,2.554,2.558,2.565,2.565,2.574,2.582,2.587,2.598,2.602,2.603,2.622,2.623,2.636,2.638,2.647,2.649,2.652,2.672,2.674,2.68,2.687,2.701,2.706,2.711,2.724,2.726,2.741,2.751,2.753,2.77,2.781,2.785,2.801,2.803,2.814,2.836,2.837,2.847,2.857,2.874,2.886,2.886,2.902,2.915,2.928,2.942,2.948,2.958,2.971,2.981,3.002,3.014,3.034,3.035,3.044,3.061,3.084,3.095,3.107,3.124,3.142,3.155,3.169,3.185,3.206,3.222,3.245,3.252,3.261,3.277,3.292,3.323,3.341,3.35,3.377,3.399,3.412,3.439,3.457,3.486,3.499,3.53,3.539,3.563,3.594,3.614,3.644,3.666,3.687,3.731,3.741,3.773,3.791,3.84,3.857,3.88,3.929,3.946,3.991,4.068,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.351,3.345,3.322,3.309,3.302,3.287,3.283,3.275,3.274,3.254,3.252,3.249,3.244,3.241,3.217,3.212,3.209,3.196,3.186,3.183,3.183,3.177,3.17,3.157,3.153,3.144,3.134,3.129,3.121,3.12,3.115,3.109,3.106,3.105,3.097,3.09,3.086,3.083,3.079,3.077,3.073,3.066,3.061,3.057,3.048,3.048,3.042,3.041,3.038,3.037,3.037,3.037,3.031,3.029,3.027,3.025,3.027,3.027,3.027,3.027,3.027,3.027,3.02,3.016,3.017,3.017,3.016,3.013,3.015,3.015,3.015,3.006,3.007,3.007,3.007,3.007,3.012,3.012,3.012,3.012,3.013,3.018,3.018,3.018,3.015,3.018,3.018,3.017,3.018,3.026,3.023,3.026,3.026,3.026,3.032,3.034,3.034,3.038,3.041,3.046,3.048,3.053,3.053,3.061,3.062,3.064,3.068,3.076,3.077,3.081,3.085,3.086,3.09,3.09,3.099,3.107,3.11,3.116,3.117,3.134,3.134,3.135,3.137,3.141,3.135,3.141,3.147,3.155,3.161,3.166,3.172,3.176,3.182,3.184,3.199,3.217,3.225,3.227,3.227,3.228,3.233,3.237,3.244,3.245,3.266,3.284,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 64.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 64.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 64.7091} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1562} SEN {Time 64.7506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.176,0.178,0.178,0.182,0.187,0,0,0,0,0,0,0,0,3.69,3.686,3.666,3.663,3.646,3.622,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.219,3.205,3.205,3.205,3.257,3.362,0,0,0,0,0,0,0,0.149,0.141,0.141,0.141,0.141,0.146,0.146,0.147,0.153,0.147,0.151,0.151,0.151,0.151,3.037,3.037,3.037,3.037,3.033,3.033,3.033,0.162,0.159,0.159,0.153,0.153,0.153,0.153,0.142,0.131,0.095,0.07,0.068,0.061,0.061,0.061,0.06,0.066,0.068,0.068,0.067,0.067,0.06,0.06,0.06,0.091,0.143,0.205,3.333,3.354,3.365,3.361,3.365,3.371,3.381,3.412,0.007,3.444,3.444,3.461,3.461,3.47,3.473,3.487,3.487,3.498,3.502,3.503,3.514,3.515,3.523,3.522,3.523,3.525,3.531,3.541,3.542,3.544,3.545,3.546,3.552,3.557,3.563,3.57,3.572,3.579,3.581,3.581,3.588,3.592,3.602,3.602,3.607,3.612,3.63,3.632,3.633,3.637,3.638,3.645,3.655,3.655,3.66,3.669,3.675,3.677,3.682,3.692,3.697,3.706,3.707,3.724,3.726,3.744,3.753,3.757,3.766,3.768,3.783,3.8,3.804,3.812,3.822,3.834,3.849,3.851,3.862,3.874,3.878,3.89,3.895,3.923,3.94,3.942,3.964,3.973,3.973,3.991,4.017,4.025,4.045,4.055,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.06,3.983,3.966,3.921,3.894,3.86,3.844,3.815,3.779,3.757,3.73,3.688,3.672,3.644,3.634,3.598,3.562,3.548,3.519,3.515,3.484,3.456,3.449,3.42,3.398,3.387,3.354,3.349,3.333,3.306,3.291,3.269,3.26,3.233,3.222,3.197,3.185,3.171,3.151,3.14,3.117,3.112,3.089,3.078,3.074,3.053,3.052,3.037,3.005,2.997,2.985,2.977,2.961,2.953,2.938,2.919,2.912,2.906,2.89,2.881,2.87,2.86,2.848,2.836,2.826,2.81,2.803,2.797,2.788,2.78,2.765,2.765,2.745,2.744,2.74,2.723,2.712,2.7,2.697,2.686,2.685,2.675,2.662,2.655,2.654,2.652,2.64,2.636,2.627,2.618,2.61,2.607,2.605,2.589,2.579,2.57,2.567,2.565,2.564,2.551,2.551,2.545,2.539,2.538,2.527,2.518,2.513,2.508,2.504,2.502,2.499,2.496,2.486,2.483,2.477,2.477,2.476,2.472,2.467,2.464,2.462,2.457,2.456,2.456,2.45,2.45,2.447,2.446,2.444,2.438,2.438,2.431,2.431,2.428,2.427,2.425,2.419,2.419,2.416,2.416,2.416,2.416,2.415,2.413,2.412,2.412,2.413,2.413,2.412,2.41,2.41,2.41,2.413,2.415,2.415,2.417,2.417,2.417,2.415,2.415,2.415,2.417,2.417,2.42,2.42,2.417,2.417,2.42,2.425,2.426,2.428,2.433,2.433,2.437,2.439,2.44,2.442,2.444,2.447,2.451,2.452,2.456,2.46,2.46,2.462,2.466,2.467,2.468,2.476,2.481,2.483,2.491,2.496,2.5,2.504,2.509,2.514,2.519,2.523,2.529,2.53,2.534,2.539,2.54,2.55,2.555,2.559,2.567,2.579,2.586,2.599,2.602,2.607,2.615,2.617,2.62,2.629,2.639,2.64,2.648,2.655,2.662,2.681,2.683,2.689,2.704,2.71,2.711,2.726,2.727,2.731,2.746,2.748,2.771,2.782,2.793,2.794,2.808,2.823,2.828,2.833,2.852,2.861,2.869,2.877,2.891,2.901,2.914,2.927,2.943,2.949,2.96,2.965,2.984,2.994,3.016,3.018,3.046,3.046,3.066,3.086,3.094,3.105,3.128,3.132,3.152,3.172,3.189,3.194,3.226,3.233,3.247,3.265,3.277,3.297,3.322,3.331,3.35,3.365,3.399,3.41,3.443,3.459,3.481,3.5,3.524,3.546,3.574,3.591,3.614,3.641,3.674,3.681,3.722,3.744,3.777,3.808,3.838,3.864,3.894,3.916,3.945,3.982,0.016,0.016,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.349,3.335,3.334,3.316,3.307,3.291,3.289,3.283,3.274,3.266,3.246,3.243,3.24,3.23,3.227,3.21,3.205,3.196,3.196,3.181,3.178,3.177,3.156,3.156,3.154,3.14,3.136,3.135,3.126,3.118,3.115,3.11,3.109,3.103,3.091,3.087,3.087,3.085,3.085,3.073,3.071,3.07,3.069,3.057,3.055,3.044,3.041,3.039,3.035,3.035,3.034,3.033,3.03,3.028,3.027,3.023,3.023,3.023,3.032,3.032,3.032,3.021,3.016,3.015,3.012,3.012,3.012,3.012,3.012,3.01,3.01,3.009,3.009,3.009,3.009,3.005,3.009,3.009,3.01,3.012,3.012,3.012,3.012,3.014,3.014,3.019,3.019,3.02,3.021,3.02,3.02,3.025,3.025,3.025,3.029,3.039,3.039,3.039,3.039,3.039,3.049,3.052,3.055,3.059,3.064,3.064,3.07,3.075,3.075,3.086,3.092,3.096,3.097,3.1,3.101,3.108,3.11,3.116,3.123,3.131,3.132,3.138,3.14,3.14,3.144,3.148,3.151,3.151,3.161,3.163,3.176,3.178,3.183,3.185,3.207,3.215,3.223,3.224,3.224,3.23,3.232,3.239,3.249,3.251,3.259,3.269,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 64.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 64.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 64.901} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.1562} SEN {Time 64.9506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.176,0.181,0.181,0.184,0.188,0,0,0,0,0,0,0,0,3.694,3.676,3.668,3.656,3.639,3.631,3.614,3.614,3.598,3.598,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.221,3.215,3.215,3.215,3.258,3.366,0,0,0,0,0,0,0,0.151,0.146,0.146,0.146,0.146,0.147,0.147,0.147,0.15,0.147,0.15,0.15,0.155,0.158,3.033,3.034,3.034,3.034,3.033,3.034,3.031,0.16,0.153,0.153,0.153,0.153,0.152,0.147,0.147,0.132,0.107,0.082,0.07,0.065,0.063,0.063,0.063,0.063,0.068,0.068,0.068,0.068,0.068,0.068,0.07,0.087,0.135,0.204,3.316,3.337,3.357,3.366,3.368,3.379,3.387,3.387,3.424,3.43,3.451,3.451,3.451,3.48,3.481,3.485,3.497,3.502,3.506,3.508,3.513,3.516,3.518,3.518,3.523,3.53,3.53,3.532,3.541,3.547,3.547,3.547,3.547,3.557,3.558,3.57,3.57,3.571,3.571,3.579,3.581,3.586,3.597,3.601,3.601,3.605,3.619,3.624,3.633,3.638,3.65,3.654,3.654,3.655,3.657,3.66,3.671,3.679,3.695,3.7,3.703,3.714,3.724,3.729,3.731,3.743,3.748,3.756,3.778,3.78,3.782,3.785,3.799,3.815,3.817,3.829,3.843,3.845,3.868,3.874,3.875,3.885,3.91,3.924,3.927,3.941,3.959,3.973,3.983,3.985,4.018,4.029,4.036,4.062,4.065,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.058,4.021,3.98,3.966,3.917,3.912,3.856,3.849,3.821,3.786,3.751,3.73,3.706,3.677,3.652,3.63,3.6,3.579,3.551,3.523,3.509,3.476,3.465,3.448,3.414,3.4,3.381,3.365,3.348,3.329,3.299,3.297,3.266,3.259,3.228,3.219,3.195,3.193,3.17,3.157,3.135,3.123,3.106,3.096,3.077,3.061,3.048,3.036,3.032,3.01,3.001,2.991,2.988,2.96,2.953,2.94,2.932,2.918,2.906,2.899,2.877,2.869,2.856,2.855,2.835,2.827,2.819,2.794,2.794,2.786,2.78,2.764,2.757,2.748,2.742,2.726,2.723,2.714,2.71,2.703,2.682,2.681,2.672,2.667,2.655,2.65,2.648,2.639,2.635,2.627,2.624,2.612,2.611,2.602,2.594,2.582,2.576,2.572,2.565,2.564,2.555,2.554,2.541,2.536,2.531,2.524,2.52,2.513,2.504,2.502,2.494,2.49,2.488,2.486,2.485,2.483,2.476,2.47,2.47,2.468,2.468,2.466,2.464,2.457,2.451,2.446,2.443,2.443,2.439,2.438,2.436,2.436,2.427,2.421,2.421,2.424,2.42,2.424,2.424,2.421,2.417,2.417,2.415,2.415,2.415,2.416,2.418,2.418,2.416,2.414,2.414,2.41,2.414,2.414,2.416,2.417,2.42,2.42,2.417,2.417,2.417,2.417,2.419,2.421,2.421,2.421,2.421,2.421,2.423,2.424,2.429,2.43,2.431,2.431,2.433,2.436,2.438,2.444,2.445,2.445,2.448,2.451,2.456,2.459,2.465,2.468,2.468,2.47,2.474,2.476,2.486,2.486,2.489,2.49,2.497,2.498,2.509,2.51,2.517,2.519,2.524,2.532,2.533,2.538,2.539,2.555,2.558,2.571,2.572,2.581,2.591,2.601,2.602,2.603,2.611,2.616,2.624,2.629,2.639,2.639,2.644,2.656,2.66,2.669,2.686,2.686,2.698,2.707,2.717,2.723,2.728,2.738,2.745,2.749,2.771,2.779,2.794,2.799,2.802,2.819,2.825,2.836,2.844,2.867,2.871,2.883,2.886,2.906,2.915,2.923,2.945,2.957,2.963,2.976,2.982,2.992,3.012,3.025,3.044,3.046,3.06,3.084,3.092,3.108,3.121,3.141,3.154,3.16,3.186,3.206,3.228,3.235,3.248,3.264,3.275,3.298,3.325,3.328,3.352,3.376,3.394,3.401,3.431,3.456,3.484,3.499,3.525,3.554,3.563,3.586,3.615,3.669,3.694,3.73,3.73,3.748,3.778,3.794,3.828,3.861,3.891,3.922,3.952,4.032,0.007,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.361,3.335,3.327,3.314,3.312,3.301,3.286,3.285,3.27,3.264,3.255,3.242,3.239,3.235,3.218,3.207,3.206,3.194,3.184,3.179,3.176,3.169,3.152,3.151,3.148,3.148,3.137,3.136,3.125,3.121,3.117,3.113,3.109,3.107,3.095,3.091,3.087,3.083,3.077,3.073,3.072,3.068,3.059,3.056,3.051,3.046,3.046,3.043,3.039,3.039,3.039,3.037,3.03,3.029,3.029,3.027,3.027,3.027,3.025,3.025,3.025,3.022,3.02,3.016,3.015,3.015,3.015,3.014,3.014,3.009,3.008,3.007,3.008,3.007,3.007,3.007,3.009,3.009,3.009,3.009,3.011,3.011,3.015,3.015,3.015,3.02,3.02,3.02,3.02,3.018,3.018,3.024,3.026,3.03,3.032,3.037,3.038,3.039,3.041,3.043,3.051,3.055,3.055,3.058,3.062,3.062,3.063,3.065,3.077,3.083,3.089,3.089,3.091,3.091,3.091,3.107,3.108,3.116,3.123,3.135,3.135,3.135,3.135,3.135,3.135,3.144,3.145,3.148,3.163,3.165,3.175,3.175,3.181,3.186,3.192,3.219,3.219,3.221,3.225,3.228,3.228,3.242,3.246,3.255,3.257,3.278,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 65.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 65.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 65.102} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.826} SEN {Time 65.1516} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.684,3.682,3.664,3.655,3.64,3.639,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.216,3.204,3.204,3.204,3.253,3.373,0,0,0,0,0,0,0,0.155,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.151,0.151,0.151,0.151,0.155,0.155,3.036,3.036,3.036,3.036,3.035,3.035,3.035,0.158,0.158,0.158,0.158,0.157,0.153,0.145,0.145,0.133,0.116,0.072,0.066,0.064,0.063,0.063,0.063,0.063,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.077,0.133,0.206,3.353,3.369,3.379,3.369,3.369,3.373,3.374,3.374,3.414,3.416,3.421,3.44,3.462,3.473,3.476,3.49,3.49,3.496,3.497,3.502,3.506,3.508,3.509,3.521,3.522,3.528,3.531,3.537,3.537,3.538,3.538,3.548,3.55,3.551,3.551,3.561,3.568,3.568,3.575,3.575,3.579,3.587,3.591,3.592,3.61,3.614,3.623,3.628,3.633,3.635,3.64,3.647,3.661,3.661,3.661,3.666,3.677,3.683,3.69,3.694,3.695,3.721,3.726,3.727,3.729,3.745,3.751,3.756,3.762,3.764,3.785,3.799,3.807,3.816,3.824,3.833,3.837,3.847,3.871,3.875,3.881,3.892,3.896,3.915,3.933,3.952,3.956,3.971,3.974,3.99,4.008,4.023,4.051,4.056,4.076,4.081,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.008,4.005,3.956,3.925,3.891,3.885,3.832,3.812,3.788,3.753,3.729,3.694,3.677,3.656,3.627,3.603,3.587,3.553,3.532,3.505,3.491,3.46,3.443,3.427,3.406,3.388,3.374,3.348,3.328,3.31,3.289,3.276,3.253,3.234,3.222,3.199,3.182,3.169,3.159,3.145,3.125,3.101,3.098,3.08,3.064,3.057,3.043,3.021,3.019,2.996,2.992,2.98,2.966,2.957,2.937,2.935,2.921,2.905,2.894,2.881,2.874,2.863,2.847,2.841,2.83,2.82,2.804,2.792,2.784,2.784,2.769,2.759,2.746,2.74,2.733,2.723,2.716,2.698,2.686,2.686,2.681,2.67,2.662,2.659,2.657,2.642,2.637,2.636,2.626,2.623,2.607,2.604,2.603,2.586,2.585,2.585,2.573,2.571,2.57,2.558,2.556,2.542,2.535,2.527,2.527,2.523,2.514,2.512,2.503,2.5,2.491,2.49,2.486,2.481,2.479,2.478,2.47,2.467,2.467,2.461,2.459,2.453,2.453,2.451,2.45,2.449,2.445,2.445,2.438,2.436,2.433,2.428,2.426,2.426,2.421,2.417,2.417,2.417,2.417,2.417,2.414,2.414,2.411,2.411,2.411,2.413,2.411,2.411,2.411,2.411,2.411,2.408,2.412,2.412,2.412,2.413,2.413,2.411,2.413,2.413,2.413,2.416,2.418,2.418,2.418,2.42,2.42,2.424,2.425,2.426,2.429,2.432,2.434,2.434,2.434,2.436,2.44,2.446,2.446,2.448,2.451,2.454,2.458,2.459,2.462,2.465,2.471,2.476,2.48,2.484,2.485,2.491,2.495,2.499,2.501,2.518,2.518,2.519,2.52,2.522,2.536,2.539,2.546,2.548,2.555,2.556,2.566,2.57,2.581,2.587,2.592,2.596,2.606,2.607,2.617,2.621,2.636,2.646,2.647,2.649,2.65,2.669,2.672,2.677,2.69,2.697,2.703,2.716,2.723,2.725,2.742,2.749,2.756,2.765,2.782,2.786,2.798,2.814,2.815,2.829,2.84,2.844,2.859,2.872,2.878,2.893,2.898,2.908,2.922,2.94,2.949,2.954,2.973,2.985,2.999,3.015,3.029,3.041,3.043,3.071,3.085,3.098,3.111,3.131,3.14,3.157,3.162,3.188,3.202,3.223,3.233,3.248,3.265,3.266,3.303,3.331,3.339,3.354,3.378,3.404,3.407,3.437,3.458,3.476,3.5,3.517,3.535,3.568,3.603,3.61,3.641,3.663,3.691,3.72,3.744,3.789,3.795,3.836,3.868,3.894,3.918,3.935,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.351,3.35,3.329,3.318,3.306,3.291,3.289,3.282,3.273,3.253,3.249,3.245,3.234,3.233,3.217,3.215,3.206,3.19,3.19,3.19,3.179,3.166,3.155,3.151,3.149,3.144,3.133,3.128,3.114,3.112,3.106,3.106,3.102,3.101,3.092,3.085,3.083,3.081,3.08,3.077,3.073,3.064,3.063,3.055,3.051,3.051,3.042,3.042,3.042,3.042,3.042,3.034,3.031,3.029,3.027,3.027,3.029,3.03,3.03,3.03,3.029,3.022,3.014,3.007,3.007,3.007,3.009,3.009,3.011,3.011,3.009,3.007,3.009,3.009,3.009,3.009,3.009,3.009,3.014,3.014,3.014,3.014,3.01,3.009,3.01,3.016,3.016,3.018,3.019,3.019,3.02,3.021,3.022,3.032,3.037,3.037,3.037,3.039,3.041,3.042,3.052,3.054,3.057,3.058,3.061,3.064,3.067,3.072,3.078,3.081,3.085,3.087,3.091,3.094,3.101,3.103,3.104,3.111,3.123,3.128,3.13,3.131,3.139,3.142,3.141,3.142,3.152,3.153,3.159,3.164,3.168,3.17,3.175,3.18,3.191,3.203,3.22,3.235,3.235,3.237,3.237,3.243,3.248,3.248,3.253,3.28,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 65.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 65.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 65.303} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.826} SEN {Time 65.3506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.177,0.182,0.178,0.182,0.182,0,0,0,0,0,0,0,0,3.686,3.677,3.677,3.663,3.652,3.64,3.604,3.604,3.604,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.242,3.228,3.226,3.223,3.226,3.226,3.257,3.366,0,0,0,0,0,0,0,0.144,0.143,0.143,0.142,0.143,0.144,0.146,0.146,0.153,0.149,0.153,0.153,0.154,0.154,3.038,3.038,3.038,3.038,3.036,3.036,3.036,0.156,0.156,0.156,0.155,0.154,0.152,0.151,0.151,0.13,0.107,0.072,0.061,0.061,0.06,0.061,0.066,0.066,0.068,0.068,0.068,0.066,0.066,0.066,0.066,0.085,0.138,0.203,3.365,3.365,3.392,3.368,3.365,3.368,3.382,3.382,3.427,0,0.007,3.473,3.473,3.476,3.476,3.478,3.495,3.501,3.509,3.509,3.511,3.518,3.518,3.523,3.525,3.525,3.531,3.541,3.541,3.541,3.545,3.546,3.551,3.552,3.554,3.562,3.569,3.573,3.575,3.578,3.579,3.591,3.602,3.603,3.608,3.617,3.625,3.627,3.637,3.637,3.642,3.643,3.648,3.653,3.666,3.67,3.673,3.675,3.692,3.693,3.698,3.71,3.723,3.724,3.725,3.736,3.751,3.755,3.769,3.77,3.788,3.791,3.806,3.807,3.81,3.839,3.84,3.857,3.869,3.882,3.892,3.892,3.905,3.924,3.936,3.94,3.962,3.967,3.973,3.989,4.02,4.028,4.048,4.063,4.082,4.094,0.016,0.016,0.016,0.007,0,0.016,4.058,4.023,3.992,3.96,3.941,3.902,3.885,3.839,3.806,3.771,3.753,3.716,3.697,3.673,3.661,3.626,3.607,3.576,3.554,3.538,3.513,3.485,3.459,3.447,3.424,3.409,3.381,3.362,3.341,3.332,3.313,3.287,3.275,3.26,3.229,3.227,3.197,3.185,3.177,3.148,3.144,3.123,3.101,3.096,3.088,3.066,3.053,3.045,3.029,3.007,2.996,2.994,2.984,2.961,2.95,2.941,2.923,2.912,2.911,2.899,2.876,2.863,2.855,2.849,2.832,2.826,2.816,2.805,2.793,2.789,2.779,2.764,2.756,2.749,2.739,2.729,2.72,2.711,2.704,2.702,2.686,2.682,2.677,2.659,2.658,2.656,2.65,2.638,2.633,2.625,2.617,2.615,2.608,2.6,2.591,2.578,2.575,2.575,2.564,2.561,2.559,2.546,2.544,2.535,2.534,2.531,2.52,2.513,2.508,2.506,2.501,2.498,2.493,2.487,2.483,2.479,2.479,2.477,2.473,2.467,2.467,2.462,2.456,2.453,2.452,2.452,2.45,2.446,2.441,2.44,2.436,2.434,2.433,2.432,2.429,2.425,2.424,2.42,2.416,2.413,2.413,2.413,2.413,2.413,2.413,2.409,2.409,2.409,2.412,2.412,2.412,2.412,2.417,2.417,2.417,2.417,2.414,2.412,2.412,2.412,2.414,2.418,2.419,2.419,2.419,2.415,2.415,2.415,2.421,2.423,2.428,2.428,2.428,2.434,2.435,2.44,2.44,2.442,2.447,2.45,2.45,2.452,2.456,2.462,2.462,2.463,2.466,2.472,2.476,2.479,2.479,2.488,2.49,2.497,2.497,2.499,2.507,2.517,2.52,2.52,2.531,2.533,2.536,2.54,2.547,2.558,2.559,2.56,2.57,2.575,2.591,2.6,2.602,2.608,2.61,2.612,2.622,2.637,2.641,2.642,2.647,2.652,2.658,2.677,2.678,2.685,2.7,2.701,2.719,2.725,2.733,2.747,2.748,2.749,2.766,2.777,2.789,2.794,2.812,2.815,2.832,2.846,2.852,2.86,2.879,2.884,2.889,2.905,2.916,2.925,2.939,2.945,2.95,2.98,2.987,2.99,3.019,3.024,3.038,3.044,3.063,3.081,3.099,3.109,3.125,3.141,3.16,3.168,3.178,3.202,3.213,3.236,3.246,3.263,3.285,3.295,3.32,3.334,3.352,3.375,3.402,3.405,3.429,3.458,3.486,3.494,3.517,3.546,3.568,3.597,3.607,3.634,3.671,3.693,3.721,3.751,3.783,3.81,3.84,3.867,3.897,3.907,3.997,4.029,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.356,3.342,3.341,3.314,3.311,3.298,3.292,3.285,3.265,3.263,3.253,3.241,3.234,3.233,3.225,3.214,3.201,3.201,3.195,3.182,3.177,3.173,3.155,3.15,3.148,3.141,3.14,3.137,3.122,3.12,3.115,3.108,3.105,3.105,3.096,3.094,3.085,3.083,3.079,3.071,3.071,3.066,3.061,3.058,3.055,3.055,3.043,3.042,3.041,3.04,3.036,3.027,3.026,3.024,3.023,3.023,3.023,3.023,3.033,3.033,3.033,3.017,3.017,3.016,3.016,3.011,3.016,3.011,3.015,3.014,3.014,3.01,3.01,3.01,3.01,3.01,3.013,3.013,3.013,3.012,3.012,3.011,3.012,3.012,3.014,3.014,3.014,3.019,3.019,3.016,3.019,3.021,3.024,3.032,3.036,3.038,3.038,3.039,3.039,3.045,3.047,3.048,3.054,3.059,3.065,3.065,3.07,3.071,3.076,3.085,3.091,3.091,3.093,3.096,3.096,3.098,3.112,3.113,3.115,3.134,3.134,3.139,3.139,3.141,3.141,3.148,3.151,3.153,3.166,3.167,3.169,3.174,3.176,3.189,3.198,3.214,3.222,3.223,3.228,3.236,3.237,3.238,3.248,3.25,3.262,3.274,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 65.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 65.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 65.504} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.826} SEN {Time 65.5506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0,3.68,3.672,3.67,3.659,3.654,3.633,3.616,3.616,3.604,3.604,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.218,3.217,3.21,3.217,3.217,3.265,3.359,0,0,0,0,0,0,0,0.151,0.145,0.145,0.143,0.143,0.15,0.15,0.15,0.154,0.15,0.154,0.154,0.159,0.159,3.029,3.031,3.031,3.031,3.03,3.031,3.03,0.16,0.158,0.158,0.158,0.154,0.148,0.147,0.146,0.133,0.11,0.069,0.068,0.065,0.064,0.064,0.065,0.067,0.067,0.068,0.067,0.067,0.065,0.067,0.067,0.075,0.132,3.324,3.337,3.354,3.354,3.366,3.388,3.388,0,0.007,0,3.437,3.458,3.458,3.458,3.471,3.472,3.478,3.487,3.494,3.504,3.506,3.511,3.516,3.517,3.524,3.526,3.528,3.53,3.534,3.537,3.539,3.54,3.546,3.547,3.555,3.562,3.57,3.57,3.57,3.575,3.576,3.587,3.59,3.59,3.599,3.6,3.613,3.619,3.624,3.63,3.632,3.643,3.649,3.652,3.663,3.664,3.667,3.682,3.683,3.69,3.69,3.697,3.704,3.724,3.73,3.734,3.738,3.747,3.752,3.772,3.777,3.782,3.797,3.806,3.82,3.827,3.831,3.837,3.853,3.868,3.877,3.885,3.9,3.906,3.912,3.932,3.942,3.957,3.963,3.986,4.003,4.018,4.021,4.039,4.062,4.073,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.085,4.085,0.007,3.991,3.929,3.894,3.869,3.847,3.804,3.786,3.767,3.734,3.696,3.676,3.659,3.617,3.616,3.574,3.55,3.536,3.501,3.473,3.458,3.448,3.422,3.405,3.379,3.364,3.35,3.337,3.305,3.289,3.272,3.255,3.237,3.227,3.204,3.184,3.171,3.157,3.142,3.133,3.108,3.101,3.089,3.07,3.05,3.043,3.021,3.009,2.997,2.992,2.977,2.958,2.951,2.933,2.929,2.918,2.906,2.903,2.876,2.866,2.863,2.844,2.832,2.826,2.816,2.804,2.795,2.784,2.779,2.77,2.76,2.758,2.742,2.74,2.726,2.719,2.705,2.7,2.677,2.677,2.67,2.66,2.655,2.65,2.646,2.639,2.63,2.621,2.617,2.613,2.607,2.605,2.586,2.582,2.58,2.572,2.57,2.563,2.558,2.557,2.543,2.533,2.528,2.528,2.524,2.508,2.505,2.505,2.498,2.496,2.496,2.483,2.481,2.48,2.478,2.475,2.474,2.467,2.467,2.466,2.454,2.453,2.453,2.449,2.445,2.443,2.442,2.441,2.438,2.437,2.434,2.428,2.427,2.426,2.425,2.424,2.421,2.419,2.419,2.418,2.418,2.415,2.415,2.413,2.413,2.413,2.413,2.408,2.408,2.408,2.408,2.41,2.411,2.41,2.412,2.414,2.412,2.412,2.415,2.416,2.42,2.42,2.42,2.42,2.42,2.42,2.423,2.423,2.427,2.427,2.431,2.431,2.437,2.438,2.439,2.441,2.446,2.45,2.453,2.454,2.456,2.457,2.461,2.464,2.464,2.465,2.468,2.476,2.484,2.484,2.486,2.489,2.495,2.499,2.512,2.517,2.517,2.522,2.525,2.53,2.534,2.546,2.548,2.56,2.56,2.569,2.572,2.574,2.591,2.599,2.6,2.601,2.602,2.619,2.628,2.637,2.639,2.64,2.649,2.657,2.658,2.674,2.678,2.688,2.701,2.707,2.715,2.718,2.73,2.743,2.753,2.757,2.762,2.78,2.797,2.799,2.801,2.82,2.829,2.838,2.84,2.855,2.869,2.875,2.892,2.898,2.914,2.927,2.944,2.953,2.953,2.972,2.984,3.003,3.01,3.019,3.038,3.051,3.066,3.088,3.092,3.101,3.12,3.14,3.152,3.164,3.18,3.2,3.218,3.24,3.253,3.262,3.276,3.291,3.32,3.331,3.36,3.374,3.401,3.403,3.436,3.456,3.48,3.505,3.515,3.539,3.565,3.594,3.627,3.646,3.672,3.697,3.715,3.745,3.783,3.793,3.84,3.86,3.877,3.941,3.99,4.031,4.031,4.092,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.35,3.335,3.327,3.316,3.311,3.298,3.297,3.284,3.273,3.261,3.259,3.248,3.243,3.235,3.212,3.212,3.208,3.208,3.198,3.19,3.176,3.174,3.165,3.158,3.148,3.139,3.138,3.137,3.121,3.117,3.114,3.108,3.099,3.095,3.093,3.089,3.083,3.076,3.075,3.074,3.069,3.066,3.064,3.054,3.053,3.047,3.046,3.046,3.04,3.038,3.033,3.033,3.03,3.027,3.024,3.022,3.022,3.022,3.029,3.029,3.029,3.022,3.021,3.018,3.01,3.009,3.009,3.008,3.009,3.009,3.009,3.009,3.009,3.009,3.007,3.007,3.007,3.012,3.01,3.012,3.015,3.015,3.015,3.015,3.016,3.018,3.016,3.018,3.019,3.019,3.019,3.024,3.026,3.029,3.034,3.037,3.037,3.039,3.04,3.04,3.042,3.054,3.06,3.061,3.061,3.065,3.07,3.078,3.08,3.084,3.09,3.09,3.091,3.092,3.103,3.104,3.11,3.114,3.117,3.128,3.128,3.137,3.138,3.14,3.14,3.145,3.148,3.152,3.157,3.166,3.171,3.173,3.174,3.179,3.192,3.21,3.22,3.222,3.223,3.228,3.235,3.245,3.245,3.249,3.263,3.284,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 65.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 65.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 65.7049} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3086} SEN {Time 65.7466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.18,0.18,0.186,0.186,0,0,0,0,0,0,0,0,3.686,3.68,3.667,3.655,3.641,3.63,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.214,3.211,3.211,3.211,3.255,3.367,0,0,0,0,0,0,0,0.148,0.144,0.142,0.142,0.142,0.142,0.146,0.157,0.157,0.155,0.155,0.154,0.154,0.154,3.033,3.033,3.033,3.033,3.03,3.03,3.021,0.163,0.156,0.156,0.153,0.153,0.151,0.145,0.143,0.132,0.112,0.071,0.065,0.064,0.062,0.064,0.065,0.065,0.07,0.072,0.072,0.072,0.063,0.063,0.063,0.076,0.142,0.217,3.335,3.358,3.359,3.359,3.361,3.366,3.388,0.007,0,3.436,3.456,3.456,3.456,3.465,3.475,3.48,3.495,3.497,3.504,3.506,3.512,3.513,3.516,3.52,3.523,3.523,3.523,3.532,3.534,3.539,3.539,3.543,3.548,3.551,3.556,3.556,3.565,3.574,3.575,3.575,3.581,3.587,3.596,3.6,3.611,3.611,3.619,3.625,3.631,3.647,3.647,3.651,3.657,3.657,3.665,3.668,3.679,3.682,3.684,3.693,3.697,3.698,3.727,3.731,3.734,3.755,3.758,3.759,3.764,3.766,3.786,3.792,3.798,3.814,3.82,3.823,3.832,3.842,3.868,3.87,3.878,3.902,3.905,3.913,3.928,3.946,3.958,3.961,3.984,3.998,4.02,4.033,4.055,4.057,4.081,4.092,0.016,0.016,0.016,0.007,0.016,4.092,4.061,4.027,4.001,3.972,3.936,3.903,3.879,3.848,3.808,3.767,3.754,3.719,3.697,3.675,3.646,3.615,3.592,3.573,3.55,3.527,3.514,3.485,3.465,3.451,3.425,3.398,3.391,3.366,3.346,3.345,3.315,3.298,3.283,3.255,3.247,3.23,3.197,3.185,3.176,3.15,3.145,3.127,3.113,3.094,3.076,3.062,3.052,3.039,3.034,3.012,2.999,2.984,2.982,2.964,2.954,2.935,2.931,2.919,2.904,2.891,2.881,2.865,2.854,2.854,2.837,2.831,2.811,2.81,2.789,2.789,2.777,2.769,2.764,2.745,2.744,2.724,2.718,2.715,2.701,2.694,2.677,2.675,2.668,2.667,2.661,2.654,2.652,2.64,2.639,2.62,2.612,2.611,2.609,2.604,2.59,2.586,2.579,2.573,2.57,2.568,2.554,2.553,2.549,2.541,2.535,2.534,2.522,2.511,2.51,2.501,2.5,2.493,2.493,2.491,2.478,2.476,2.474,2.473,2.467,2.467,2.466,2.459,2.453,2.453,2.448,2.448,2.445,2.445,2.442,2.441,2.438,2.433,2.426,2.426,2.424,2.424,2.423,2.423,2.419,2.415,2.415,2.415,2.415,2.415,2.415,2.413,2.412,2.412,2.411,2.411,2.411,2.412,2.412,2.413,2.413,2.413,2.412,2.412,2.412,2.411,2.412,2.417,2.421,2.423,2.423,2.423,2.423,2.423,2.423,2.427,2.43,2.43,2.431,2.431,2.431,2.436,2.443,2.443,2.443,2.447,2.448,2.45,2.453,2.459,2.46,2.463,2.467,2.468,2.477,2.479,2.482,2.483,2.493,2.494,2.495,2.499,2.514,2.515,2.516,2.522,2.522,2.531,2.537,2.54,2.545,2.557,2.562,2.566,2.568,2.578,2.594,2.6,2.606,2.606,2.606,2.609,2.619,2.626,2.634,2.636,2.648,2.652,2.661,2.678,2.678,2.684,2.696,2.703,2.714,2.726,2.732,2.742,2.749,2.754,2.767,2.773,2.793,2.796,2.806,2.81,2.825,2.833,2.849,2.856,2.869,2.878,2.893,2.908,2.914,2.927,2.945,2.953,2.955,2.974,2.982,2.997,3.009,3.027,3.038,3.048,3.067,3.078,3.095,3.101,3.121,3.142,3.153,3.17,3.177,3.202,3.219,3.235,3.249,3.269,3.275,3.3,3.323,3.336,3.351,3.377,3.403,3.415,3.435,3.446,3.487,3.496,3.524,3.54,3.568,3.596,3.622,3.638,3.671,3.688,3.713,3.746,3.784,3.803,3.834,3.865,3.893,3.918,3.942,3.991,4.023,4.065,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.353,3.34,3.328,3.316,3.311,3.293,3.285,3.275,3.264,3.257,3.256,3.236,3.233,3.232,3.224,3.217,3.206,3.19,3.19,3.19,3.177,3.175,3.167,3.154,3.152,3.136,3.134,3.126,3.121,3.118,3.115,3.107,3.104,3.094,3.092,3.092,3.086,3.085,3.081,3.071,3.071,3.067,3.067,3.059,3.054,3.049,3.042,3.042,3.04,3.04,3.04,3.038,3.029,3.028,3.027,3.023,3.023,3.028,3.025,3.025,3.025,3.019,3.019,3.019,3.017,3.012,3.012,3.012,3.012,3.01,3.01,3.012,3.01,3.01,3.01,3.009,3.009,3.008,3.008,3.008,3.013,3.014,3.015,3.015,3.019,3.02,3.019,3.02,3.02,3.02,3.026,3.026,3.028,3.028,3.029,3.034,3.037,3.038,3.039,3.041,3.044,3.055,3.061,3.064,3.064,3.065,3.065,3.071,3.078,3.086,3.092,3.094,3.095,3.095,3.102,3.107,3.11,3.113,3.117,3.128,3.128,3.137,3.141,3.142,3.142,3.15,3.15,3.158,3.159,3.166,3.175,3.176,3.182,3.187,3.194,3.208,3.223,3.223,3.227,3.231,3.238,3.24,3.244,3.247,3.263,3.28,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 65.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 65.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 65.8969} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3086} SEN {Time 65.9468} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.189,0.189,0,0,0,0,0,0,0,0,3.687,3.676,3.676,3.669,3.64,3.635,3.616,3.616,3.616,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.22,3.213,3.213,3.223,3.373,0.007,0,0,0,0,0,0,0,0.153,0.147,0.147,0.147,0.147,0.147,0.147,0.148,0.156,0.151,0.151,0.151,0.151,0.151,3.029,3.029,3.035,3.035,3.035,3.035,3.035,0.157,0.154,0.154,0.154,0.157,0.153,0.148,0.148,0.126,0.104,0.08,0.065,0.064,0.062,0.062,0.064,0.065,0.065,0.066,0.065,0.065,0.064,0.064,0.064,0.08,0.138,0.199,3.342,3.356,3.366,3.366,3.391,3.391,0,0.007,0,0.007,3.454,3.454,3.466,3.466,3.484,3.488,3.494,3.496,3.501,3.504,3.506,3.511,3.516,3.517,3.526,3.526,3.532,3.526,3.533,3.538,3.538,3.541,3.547,3.551,3.556,3.559,3.569,3.571,3.572,3.576,3.58,3.587,3.589,3.601,3.606,3.608,3.624,3.628,3.64,3.643,3.644,3.648,3.657,3.658,3.67,3.673,3.673,3.682,3.684,3.697,3.701,3.706,3.715,3.731,3.733,3.751,3.757,3.757,3.764,3.771,3.782,3.792,3.805,3.807,3.819,3.828,3.836,3.855,3.864,3.872,3.891,3.895,3.903,3.917,3.928,3.948,3.954,3.976,3.983,3.995,4.011,4.039,4.048,4.062,4.073,0.016,0.016,0.016,0.016,0.016,0.016,4.092,4.055,4.055,4.02,3.99,3.921,3.902,3.857,3.84,3.807,3.777,3.735,3.729,3.704,3.683,3.658,3.628,3.585,3.573,3.55,3.53,3.512,3.488,3.463,3.447,3.431,3.397,3.388,3.368,3.351,3.339,3.306,3.296,3.277,3.261,3.238,3.228,3.202,3.184,3.163,3.153,3.131,3.121,3.107,3.099,3.083,3.064,3.047,3.034,3.024,3.017,3.005,2.994,2.979,2.964,2.955,2.939,2.929,2.917,2.901,2.892,2.876,2.866,2.864,2.852,2.838,2.831,2.816,2.808,2.786,2.784,2.781,2.775,2.756,2.749,2.732,2.729,2.72,2.71,2.697,2.692,2.679,2.677,2.672,2.66,2.657,2.657,2.653,2.64,2.639,2.623,2.62,2.615,2.613,2.602,2.599,2.59,2.583,2.575,2.574,2.564,2.557,2.555,2.535,2.535,2.533,2.522,2.518,2.511,2.506,2.501,2.497,2.492,2.491,2.489,2.486,2.483,2.478,2.477,2.472,2.466,2.464,2.461,2.458,2.455,2.453,2.449,2.448,2.447,2.443,2.439,2.435,2.434,2.43,2.426,2.426,2.425,2.425,2.42,2.42,2.419,2.415,2.416,2.414,2.414,2.412,2.41,2.41,2.41,2.409,2.409,2.411,2.411,2.412,2.414,2.414,2.413,2.413,2.413,2.412,2.413,2.416,2.416,2.42,2.42,2.421,2.42,2.421,2.421,2.426,2.426,2.428,2.429,2.432,2.433,2.434,2.435,2.438,2.443,2.446,2.45,2.452,2.453,2.457,2.459,2.463,2.466,2.467,2.47,2.475,2.483,2.484,2.485,2.488,2.493,2.494,2.5,2.508,2.509,2.515,2.525,2.528,2.531,2.532,2.538,2.549,2.552,2.56,2.57,2.572,2.575,2.591,2.6,2.601,2.603,2.604,2.622,2.624,2.639,2.643,2.645,2.651,2.656,2.667,2.675,2.678,2.689,2.699,2.704,2.714,2.724,2.726,2.738,2.753,2.756,2.76,2.781,2.785,2.798,2.81,2.818,2.83,2.845,2.847,2.859,2.867,2.875,2.887,2.901,2.914,2.923,2.945,2.954,2.958,2.973,2.982,3.004,3.019,3.028,3.036,3.045,3.065,3.083,3.097,3.108,3.128,3.145,3.153,3.172,3.188,3.21,3.219,3.231,3.248,3.263,3.282,3.3,3.329,3.343,3.353,3.377,3.395,3.409,3.436,3.447,3.485,3.492,3.525,3.546,3.56,3.614,3.64,3.67,3.67,3.693,3.722,3.743,3.787,3.8,3.842,3.869,3.913,3.95,3.994,3.994,4.025,4.064,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.354,3.332,3.327,3.318,3.303,3.303,3.294,3.28,3.273,3.258,3.248,3.242,3.238,3.236,3.219,3.21,3.21,3.199,3.191,3.184,3.174,3.165,3.165,3.156,3.151,3.142,3.141,3.134,3.127,3.123,3.121,3.111,3.107,3.103,3.095,3.092,3.088,3.08,3.078,3.07,3.063,3.061,3.06,3.055,3.055,3.046,3.044,3.041,3.041,3.04,3.036,3.035,3.031,3.03,3.03,3.025,3.025,3.025,3.039,3.039,3.039,3.023,3.017,3.016,3.016,3.013,3.012,3.009,3.009,3.012,3.012,3.009,3.008,3.008,3.008,3.007,3.01,3.011,3.01,3.014,3.014,3.015,3.015,3.015,3.017,3.017,3.017,3.018,3.019,3.02,3.022,3.023,3.023,3.025,3.029,3.033,3.035,3.035,3.036,3.038,3.047,3.049,3.055,3.06,3.06,3.063,3.064,3.07,3.072,3.083,3.086,3.088,3.094,3.099,3.102,3.105,3.11,3.112,3.117,3.128,3.128,3.13,3.133,3.133,3.133,3.144,3.148,3.152,3.16,3.16,3.167,3.173,3.176,3.184,3.191,3.21,3.222,3.226,3.227,3.235,3.236,3.241,3.248,3.253,3.265,3.28,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 66.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 66.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 66.0978} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3086} SEN {Time 66.1477} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.182,0.186,0.187,0,0,0,0,0,0,0,0,3.681,3.679,3.674,3.665,3.647,3.63,3.618,3.618,3.601,3.588,3.588,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.218,3.212,3.218,3.219,3.263,3.357,0,0,0,0,0,0,0,0.149,0.145,0.145,0.143,0.143,0.142,0.148,0.148,0.149,0.149,0.15,0.15,0.154,0.154,3.032,3.032,3.036,3.036,3.032,3.028,0.156,0.156,0.156,0.156,0.152,0.151,0.15,0.148,0.148,0.127,0.1,0.07,0.066,0.06,0.06,0.06,0.064,0.065,0.066,0.066,0.066,0.065,0.064,0.064,0.064,0.078,0.137,0.206,3.341,3.346,3.364,3.364,3.364,3.373,3.397,3.42,3.427,3.435,3.435,3.435,3.453,3.47,3.472,3.488,3.49,3.499,3.502,3.502,3.505,3.507,3.516,3.52,3.525,3.53,3.535,3.537,3.537,3.539,3.537,3.542,3.547,3.553,3.553,3.561,3.566,3.57,3.577,3.577,3.577,3.579,3.591,3.604,3.605,3.608,3.622,3.626,3.632,3.635,3.643,3.652,3.653,3.657,3.666,3.671,3.678,3.68,3.687,3.697,3.707,3.71,3.723,3.728,3.733,3.748,3.751,3.752,3.763,3.771,3.79,3.792,3.795,3.819,3.824,3.828,3.835,3.853,3.864,3.874,3.878,3.898,3.906,3.909,3.928,3.947,3.958,3.959,3.992,3.993,4.011,4.03,4.048,4.059,4.077,4.083,0.016,0.016,0.016,0.016,0.016,0.016,4.056,4.011,4.001,3.965,3.931,3.901,3.884,3.841,3.82,3.775,3.75,3.733,3.702,3.682,3.641,3.622,3.6,3.579,3.552,3.522,3.508,3.488,3.455,3.444,3.415,3.402,3.379,3.369,3.358,3.329,3.305,3.291,3.275,3.262,3.222,3.217,3.206,3.184,3.175,3.146,3.144,3.114,3.107,3.1,3.089,3.074,3.054,3.043,3.031,3.021,3.008,2.985,2.982,2.956,2.955,2.939,2.923,2.915,2.902,2.9,2.87,2.862,2.862,2.851,2.839,2.83,2.813,2.799,2.798,2.79,2.779,2.765,2.76,2.75,2.743,2.736,2.722,2.713,2.696,2.693,2.684,2.672,2.672,2.667,2.655,2.652,2.649,2.637,2.634,2.621,2.62,2.617,2.604,2.598,2.591,2.585,2.584,2.57,2.57,2.567,2.558,2.551,2.539,2.537,2.535,2.531,2.514,2.509,2.506,2.502,2.497,2.497,2.497,2.485,2.484,2.482,2.482,2.47,2.468,2.467,2.463,2.462,2.457,2.455,2.45,2.45,2.45,2.448,2.443,2.443,2.438,2.435,2.428,2.425,2.425,2.425,2.421,2.421,2.42,2.419,2.417,2.413,2.416,2.411,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.411,2.412,2.412,2.413,2.412,2.411,2.411,2.411,2.411,2.417,2.419,2.42,2.42,2.42,2.42,2.42,2.42,2.424,2.427,2.428,2.429,2.432,2.444,2.445,2.445,2.446,2.446,2.452,2.454,2.454,2.463,2.466,2.466,2.467,2.472,2.474,2.48,2.481,2.486,2.49,2.491,2.503,2.503,2.514,2.514,2.516,2.525,2.529,2.531,2.533,2.539,2.548,2.549,2.554,2.564,2.568,2.574,2.601,2.603,2.604,2.607,2.61,2.611,2.626,2.638,2.639,2.64,2.65,2.657,2.663,2.675,2.675,2.68,2.696,2.703,2.719,2.722,2.736,2.741,2.749,2.756,2.77,2.781,2.786,2.802,2.809,2.815,2.825,2.842,2.848,2.852,2.874,2.875,2.895,2.905,2.912,2.924,2.943,2.952,2.958,2.972,2.981,3,3.015,3.019,3.039,3.054,3.071,3.083,3.093,3.106,3.128,3.142,3.158,3.171,3.177,3.197,3.221,3.233,3.251,3.261,3.274,3.296,3.327,3.337,3.351,3.369,3.397,3.41,3.445,3.455,3.478,3.502,3.521,3.543,3.576,3.595,3.621,3.64,3.669,3.697,3.724,3.746,3.771,3.8,3.831,3.873,3.898,3.918,3.984,4.022,4.093,4.093,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.357,3.335,3.331,3.307,3.303,3.289,3.289,3.275,3.268,3.259,3.248,3.242,3.241,3.234,3.222,3.212,3.211,3.197,3.19,3.188,3.175,3.171,3.167,3.159,3.15,3.141,3.132,3.13,3.127,3.124,3.121,3.11,3.107,3.103,3.095,3.093,3.082,3.081,3.075,3.069,3.067,3.065,3.061,3.059,3.047,3.047,3.047,3.046,3.04,3.04,3.039,3.039,3.033,3.029,3.029,3.023,3.023,3.023,3.034,3.034,3.034,3.023,3.02,3.016,3.016,3.015,3.013,3.011,3.013,3.011,3.006,3.006,3.006,3.006,3.015,3.015,3.015,3.015,3.013,3.013,3.015,3.015,3.015,3.016,3.017,3.017,3.018,3.02,3.021,3.021,3.021,3.024,3.025,3.028,3.032,3.033,3.033,3.034,3.042,3.046,3.051,3.055,3.055,3.058,3.059,3.063,3.063,3.07,3.078,3.092,3.092,3.093,3.094,3.095,3.105,3.11,3.111,3.113,3.126,3.126,3.126,3.138,3.141,3.141,3.141,3.144,3.148,3.152,3.158,3.162,3.17,3.173,3.175,3.182,3.189,3.209,3.219,3.222,3.228,3.232,3.234,3.242,3.246,3.25,3.261,3.277,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 66.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 66.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 66.2989} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 66.3466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.188,0.183,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.694,3.687,3.669,3.66,3.642,3.63,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.215,3.209,3.209,3.209,3.256,3.354,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.148,0.148,0.148,0.153,0.153,0.153,0.153,0.155,0.163,3.033,3.035,3.035,3.035,3.033,3.035,3.029,0.153,0.153,0.153,0.153,0.153,0.153,0.144,0.144,0.131,0.099,0.07,0.066,0.064,0.062,0.062,0.062,0.064,0.066,0.066,0.066,0.066,0.061,0.061,0.068,0.079,0.148,0.207,3.34,3.351,3.365,3.362,3.365,3.367,3.389,3.4,3.407,3.439,3.439,3.46,3.463,3.463,3.469,3.481,3.493,3.502,3.502,3.503,3.507,3.51,3.512,3.52,3.521,3.531,3.531,3.536,3.536,3.54,3.546,3.55,3.55,3.554,3.558,3.562,3.571,3.571,3.575,3.577,3.579,3.58,3.587,3.597,3.605,3.614,3.624,3.627,3.633,3.636,3.65,3.657,3.662,3.661,3.662,3.667,3.676,3.676,3.681,3.685,3.706,3.71,3.713,3.718,3.732,3.742,3.754,3.754,3.767,3.771,3.773,3.787,3.812,3.814,3.826,3.834,3.841,3.852,3.862,3.874,3.879,3.895,3.91,3.914,3.935,3.949,3.958,3.977,3.987,4,4.007,4.033,4.033,4.058,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.014,3.983,3.972,3.932,3.901,3.878,3.842,3.812,3.777,3.754,3.729,3.702,3.673,3.656,3.633,3.597,3.585,3.559,3.524,3.512,3.489,3.461,3.451,3.423,3.41,3.373,3.365,3.358,3.331,3.3,3.284,3.271,3.256,3.236,3.229,3.197,3.185,3.155,3.154,3.13,3.121,3.113,3.094,3.092,3.065,3.05,3.043,3.03,3.006,3.003,2.99,2.989,2.967,2.955,2.931,2.924,2.921,2.898,2.893,2.88,2.875,2.856,2.846,2.839,2.826,2.816,2.806,2.794,2.792,2.776,2.766,2.757,2.748,2.741,2.735,2.72,2.715,2.702,2.692,2.679,2.674,2.667,2.66,2.658,2.656,2.646,2.639,2.635,2.62,2.617,2.608,2.607,2.594,2.585,2.582,2.576,2.568,2.567,2.56,2.554,2.547,2.539,2.536,2.533,2.529,2.52,2.515,2.508,2.501,2.498,2.496,2.492,2.49,2.486,2.477,2.476,2.472,2.471,2.468,2.465,2.463,2.454,2.454,2.454,2.454,2.451,2.446,2.441,2.439,2.434,2.432,2.428,2.428,2.427,2.427,2.42,2.419,2.415,2.415,2.414,2.413,2.415,2.41,2.409,2.408,2.41,2.408,2.408,2.409,2.409,2.409,2.412,2.415,2.415,2.415,2.416,2.415,2.412,2.412,2.415,2.415,2.415,2.417,2.418,2.418,2.421,2.421,2.428,2.428,2.43,2.431,2.431,2.437,2.438,2.44,2.44,2.44,2.444,2.45,2.451,2.451,2.453,2.461,2.463,2.465,2.475,2.475,2.479,2.481,2.487,2.493,2.495,2.496,2.497,2.505,2.505,2.51,2.518,2.52,2.523,2.524,2.533,2.54,2.544,2.554,2.559,2.569,2.57,2.573,2.592,2.604,2.604,2.604,2.605,2.618,2.622,2.638,2.641,2.645,2.647,2.649,2.668,2.676,2.679,2.692,2.7,2.702,2.712,2.719,2.726,2.738,2.752,2.753,2.761,2.783,2.787,2.802,2.805,2.819,2.83,2.838,2.851,2.858,2.868,2.873,2.886,2.898,2.917,2.923,2.944,2.949,2.954,2.98,2.983,2.995,3.019,3.023,3.041,3.043,3.067,3.082,3.091,3.109,3.128,3.137,3.151,3.169,3.183,3.202,3.22,3.228,3.248,3.275,3.278,3.305,3.325,3.33,3.361,3.37,3.388,3.413,3.435,3.458,3.489,3.504,3.526,3.539,3.573,3.592,3.614,3.633,3.675,3.697,3.727,3.749,3.769,3.796,3.837,3.859,3.89,3.92,3.954,3.982,4.043,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.354,3.343,3.336,3.324,3.31,3.294,3.291,3.281,3.267,3.252,3.25,3.246,3.237,3.236,3.216,3.21,3.207,3.2,3.198,3.188,3.174,3.169,3.157,3.154,3.15,3.149,3.141,3.131,3.119,3.119,3.116,3.116,3.105,3.102,3.095,3.087,3.084,3.084,3.075,3.074,3.072,3.063,3.061,3.052,3.05,3.049,3.048,3.04,3.04,3.037,3.037,3.037,3.031,3.029,3.024,3.024,3.024,3.024,3.029,3.029,3.029,3.021,3.019,3.016,3.013,3.013,3.013,3.006,3.011,3.011,3.011,3.006,3.005,3.005,3.005,3.005,3.011,3.017,3.011,3.014,3.014,3.014,3.014,3.014,3.014,3.02,3.02,3.02,3.021,3.023,3.023,3.025,3.029,3.03,3.032,3.033,3.033,3.035,3.04,3.045,3.047,3.054,3.054,3.054,3.055,3.062,3.068,3.072,3.079,3.089,3.092,3.093,3.093,3.094,3.094,3.112,3.115,3.116,3.125,3.132,3.132,3.133,3.136,3.142,3.142,3.143,3.147,3.159,3.159,3.168,3.17,3.171,3.18,3.183,3.196,3.218,3.219,3.222,3.223,3.232,3.242,3.244,3.246,3.247,3.261,3.288,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 66.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 66.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 66.4999} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276} SEN {Time 66.5466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.173,0.18,0.18,0.187,0.187,0,0,0,0,0,0,0,0,3.69,3.675,3.665,3.66,3.645,3.626,3.62,3.62,3.62,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.218,3.218,3.217,3.218,3.265,3.355,3.355,0,0,0,0,0,0,0,0.148,0.145,0.145,0.145,0.145,0.147,0.147,0.144,0.147,0.147,0.151,0.151,0.159,0.16,3.021,3.039,3.039,3.039,3.036,3.041,3.036,0.157,0.157,0.157,0.156,0.155,0.146,0.144,0.143,0.132,0.101,0.068,0.064,0.063,0.062,0.063,0.063,0.065,0.068,0.068,0.07,0.07,0.067,0.067,0.072,0.081,0.129,0.193,3.345,3.373,3.384,3.373,3.373,3.382,3.384,3.387,3.413,3.413,3.429,3.442,3.46,3.469,3.48,3.481,3.484,3.498,3.498,3.504,3.513,3.513,3.517,3.517,3.523,3.523,3.527,3.538,3.54,3.541,3.541,3.544,3.548,3.548,3.554,3.56,3.567,3.578,3.58,3.582,3.583,3.586,3.593,3.598,3.606,3.614,3.625,3.625,3.627,3.632,3.641,3.647,3.656,3.665,3.668,3.674,3.675,3.679,3.688,3.69,3.706,3.712,3.719,3.727,3.731,3.732,3.744,3.757,3.767,3.768,3.793,3.795,3.797,3.804,3.824,3.825,3.848,3.85,3.864,3.874,3.881,3.903,3.908,3.92,3.935,3.948,3.962,3.97,3.971,3.993,4.016,4.028,4.044,4.069,4.075,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.026,3.991,3.991,3.958,3.93,3.875,3.846,3.811,3.789,3.753,3.734,3.706,3.663,3.65,3.625,3.602,3.562,3.545,3.522,3.497,3.479,3.464,3.453,3.425,3.404,3.379,3.363,3.349,3.334,3.311,3.284,3.272,3.255,3.231,3.22,3.193,3.178,3.17,3.153,3.129,3.127,3.112,3.093,3.086,3.072,3.053,3.038,3.028,3.019,3.001,2.994,2.987,2.955,2.955,2.936,2.927,2.918,2.911,2.883,2.873,2.869,2.853,2.852,2.835,2.824,2.82,2.803,2.799,2.785,2.774,2.763,2.763,2.749,2.735,2.734,2.715,2.714,2.7,2.693,2.685,2.682,2.672,2.659,2.652,2.651,2.643,2.633,2.63,2.618,2.61,2.608,2.606,2.593,2.592,2.584,2.576,2.572,2.564,2.564,2.564,2.556,2.546,2.539,2.535,2.523,2.519,2.51,2.503,2.501,2.498,2.498,2.497,2.485,2.481,2.479,2.477,2.472,2.471,2.468,2.467,2.463,2.457,2.456,2.455,2.446,2.446,2.443,2.443,2.439,2.431,2.43,2.428,2.428,2.428,2.428,2.423,2.423,2.423,2.419,2.419,2.419,2.419,2.416,2.415,2.409,2.415,2.413,2.408,2.408,2.409,2.409,2.409,2.411,2.412,2.415,2.415,2.417,2.417,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.42,2.419,2.419,2.42,2.429,2.431,2.431,2.433,2.437,2.441,2.441,2.441,2.444,2.45,2.45,2.454,2.455,2.46,2.461,2.471,2.471,2.472,2.475,2.48,2.485,2.488,2.49,2.494,2.497,2.498,2.513,2.517,2.523,2.524,2.527,2.534,2.535,2.539,2.552,2.557,2.56,2.569,2.574,2.577,2.586,2.598,2.603,2.604,2.613,2.615,2.625,2.63,2.632,2.642,2.651,2.654,2.662,2.673,2.678,2.688,2.693,2.703,2.71,2.719,2.729,2.738,2.749,2.758,2.768,2.781,2.792,2.804,2.807,2.819,2.832,2.841,2.845,2.86,2.874,2.887,2.894,2.904,2.919,2.923,2.942,2.955,2.958,2.971,2.985,2.998,3.016,3.029,3.036,3.045,3.065,3.082,3.091,3.103,3.12,3.129,3.154,3.168,3.181,3.209,3.224,3.233,3.245,3.267,3.281,3.295,3.324,3.331,3.354,3.374,3.399,3.413,3.445,3.459,3.482,3.502,3.522,3.547,3.567,3.593,3.604,3.636,3.662,3.692,3.721,3.754,3.77,3.806,3.831,3.871,3.898,3.924,3.993,4.02,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.352,3.343,3.332,3.313,3.306,3.304,3.303,3.28,3.272,3.253,3.253,3.247,3.237,3.235,3.218,3.218,3.214,3.211,3.186,3.186,3.172,3.17,3.165,3.159,3.154,3.143,3.132,3.125,3.12,3.12,3.116,3.114,3.105,3.101,3.093,3.092,3.088,3.084,3.08,3.076,3.069,3.067,3.064,3.055,3.05,3.047,3.045,3.045,3.045,3.039,3.039,3.03,3.03,3.029,3.023,3.021,3.021,3.021,3.029,3.029,3.029,3.017,3.015,3.015,3.014,3.013,3.013,3.011,3.013,3.011,3.003,3.003,3.003,3.003,3.008,3.01,3.012,3.013,3.012,3.013,3.015,3.015,3.013,3.013,3.013,3.013,3.016,3.018,3.028,3.028,3.028,3.029,3.03,3.03,3.038,3.04,3.038,3.04,3.04,3.042,3.056,3.056,3.058,3.059,3.061,3.063,3.069,3.07,3.082,3.085,3.088,3.089,3.092,3.092,3.094,3.106,3.11,3.118,3.123,3.131,3.136,3.136,3.136,3.14,3.14,3.145,3.147,3.156,3.161,3.165,3.175,3.175,3.179,3.19,3.201,3.214,3.216,3.221,3.228,3.23,3.23,3.239,3.246,3.253,3.264,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 66.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 66.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 66.7008} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276} SEN {Time 66.7426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,3.694,3.68,3.674,3.66,3.643,3.625,3.606,3.606,3.606,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.216,3.214,3.214,3.216,3.26,3.361,0,0,0,0,0,0,0,0.146,0.143,0.143,0.143,0.143,0.148,0.148,0.148,0.155,0.149,0.155,0.155,0.155,0.155,3.031,3.036,3.036,3.036,3.036,3.036,3.036,0.16,0.159,0.159,0.153,0.15,0.15,0.15,0.146,0.126,0.104,0.07,0.07,0.064,0.064,0.064,0.064,0.067,0.068,0.068,0.068,0.068,0.066,0.066,0.066,0.091,0.137,0.206,3.35,0.007,3.391,3.368,3.368,3.368,3.379,3.379,3.392,3.428,3.434,3.459,3.459,3.466,3.475,3.491,3.494,3.498,3.503,3.507,3.516,3.518,3.519,3.521,3.526,3.527,3.535,3.532,3.535,3.54,3.542,3.546,3.557,3.557,3.561,3.563,3.563,3.567,3.568,3.578,3.579,3.588,3.591,3.594,3.607,3.614,3.617,3.619,3.636,3.641,3.643,3.648,3.652,3.662,3.662,3.67,3.674,3.68,3.691,3.694,3.702,3.713,3.725,3.728,3.743,3.747,3.759,3.76,3.763,3.774,3.781,3.795,3.81,3.813,3.818,3.835,3.856,3.857,3.864,3.876,3.888,3.901,3.908,3.912,3.931,3.947,3.947,3.979,3.981,4.001,4.016,4.027,4.04,4.067,4.073,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.012,4.012,3.997,3.963,3.902,3.881,3.832,3.814,3.778,3.757,3.742,3.697,3.672,3.652,3.631,3.596,3.569,3.552,3.522,3.513,3.486,3.451,3.448,3.424,3.405,3.39,3.371,3.346,3.33,3.312,3.299,3.278,3.262,3.231,3.227,3.201,3.177,3.17,3.161,3.136,3.12,3.115,3.093,3.086,3.074,3.047,3.04,3.031,3.014,3,2.992,2.979,2.958,2.954,2.939,2.922,2.921,2.905,2.898,2.88,2.865,2.861,2.848,2.829,2.826,2.815,2.801,2.798,2.788,2.776,2.766,2.761,2.752,2.741,2.73,2.73,2.713,2.702,2.692,2.681,2.677,2.666,2.661,2.659,2.654,2.652,2.64,2.621,2.621,2.618,2.61,2.601,2.597,2.591,2.579,2.575,2.567,2.566,2.565,2.561,2.561,2.548,2.534,2.532,2.525,2.519,2.518,2.511,2.51,2.498,2.497,2.49,2.49,2.479,2.478,2.477,2.475,2.468,2.464,2.463,2.463,2.456,2.453,2.452,2.45,2.448,2.445,2.445,2.438,2.436,2.434,2.432,2.432,2.43,2.428,2.427,2.421,2.421,2.421,2.418,2.42,2.42,2.416,2.415,2.415,2.415,2.415,2.413,2.413,2.413,2.409,2.409,2.413,2.413,2.413,2.413,2.415,2.413,2.412,2.415,2.417,2.419,2.419,2.419,2.418,2.418,2.418,2.419,2.424,2.424,2.428,2.429,2.433,2.439,2.439,2.439,2.441,2.444,2.449,2.45,2.456,2.456,2.461,2.459,2.462,2.471,2.475,2.48,2.48,2.481,2.485,2.486,2.491,2.5,2.504,2.513,2.516,2.522,2.523,2.523,2.527,2.529,2.538,2.551,2.553,2.56,2.56,2.568,2.578,2.588,2.598,2.598,2.608,2.61,2.615,2.628,2.631,2.634,2.635,2.651,2.656,2.662,2.678,2.68,2.69,2.699,2.7,2.717,2.723,2.727,2.731,2.746,2.748,2.762,2.779,2.79,2.799,2.806,2.822,2.826,2.835,2.851,2.855,2.869,2.878,2.892,2.901,2.915,2.919,2.944,2.95,2.959,2.964,2.982,2.996,3.015,3.029,3.04,3.048,3.067,3.084,3.094,3.104,3.121,3.14,3.158,3.16,3.184,3.202,3.218,3.241,3.249,3.271,3.279,3.302,3.323,3.333,3.347,3.379,3.402,3.406,3.434,3.454,3.477,3.508,3.526,3.541,3.571,3.599,3.61,3.642,3.668,3.69,3.73,3.747,3.778,3.805,3.834,3.858,3.907,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.356,3.336,3.32,3.316,3.311,3.293,3.29,3.288,3.277,3.262,3.251,3.239,3.238,3.238,3.213,3.208,3.204,3.195,3.188,3.181,3.168,3.164,3.164,3.158,3.153,3.139,3.135,3.127,3.121,3.117,3.114,3.109,3.109,3.102,3.102,3.089,3.088,3.083,3.075,3.068,3.064,3.064,3.063,3.062,3.049,3.047,3.047,3.04,3.037,3.036,3.036,3.033,3.032,3.03,3.023,3.023,3.026,3.026,3.026,3.026,3.026,3.021,3.019,3.017,3.016,3.014,3.013,3.013,3.013,3.01,3.008,3.006,3.005,3.005,3.005,3.009,3.014,3.014,3.012,3.012,3.012,3.012,3.011,3.012,3.016,3.017,3.02,3.021,3.021,3.021,3.021,3.026,3.029,3.031,3.032,3.034,3.034,3.038,3.044,3.045,3.05,3.06,3.06,3.063,3.064,3.066,3.069,3.071,3.076,3.079,3.089,3.089,3.093,3.096,3.099,3.107,3.11,3.119,3.121,3.123,3.124,3.128,3.132,3.138,3.138,3.142,3.146,3.15,3.164,3.17,3.174,3.177,3.178,3.178,3.204,3.212,3.219,3.23,3.232,3.238,3.239,3.239,3.242,3.253,3.26,3.278,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 66.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 66.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 66.8928} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 66.9426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,3.691,3.687,3.662,3.662,3.648,3.625,3.609,3.609,3.609,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.221,3.216,3.216,3.216,3.261,3.368,0,0,0,0,0,0,0,0.144,0.137,0.137,0.137,0.137,0.145,0.147,0.147,0.148,0.147,0.147,0.147,0.157,0.157,3.032,3.039,3.039,3.039,3.032,3.04,3.029,0.162,0.155,0.155,0.154,0.154,0.152,0.146,0.146,0.127,0.108,0.065,0.064,0.062,0.062,0.062,0.06,0.06,0.068,0.068,0.066,0.066,0.064,0.064,0.064,0.078,0.128,0.202,3.371,3.371,3.387,3.372,3.371,3.369,3.372,3.372,3.396,3.436,3.436,3.468,3.468,3.476,3.476,3.482,3.483,3.502,3.504,3.508,3.515,3.515,3.531,3.531,3.531,3.531,3.531,3.536,3.538,3.541,3.542,3.546,3.554,3.56,3.56,3.568,3.572,3.572,3.577,3.577,3.581,3.592,3.593,3.601,3.601,3.612,3.624,3.626,3.628,3.631,3.644,3.646,3.658,3.659,3.665,3.668,3.676,3.676,3.687,3.695,3.697,3.709,3.718,3.727,3.73,3.74,3.75,3.755,3.768,3.769,3.791,3.801,3.807,3.818,3.824,3.831,3.841,3.849,3.867,3.872,3.884,3.896,3.909,3.922,3.936,3.941,3.96,3.973,3.976,4.003,4.014,4.023,4.037,4.075,4.085,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.029,3.975,3.96,3.936,3.91,3.863,3.835,3.797,3.777,3.745,3.728,3.684,3.668,3.649,3.635,3.608,3.576,3.556,3.53,3.513,3.48,3.454,3.447,3.423,3.402,3.38,3.368,3.353,3.335,3.306,3.292,3.272,3.261,3.235,3.23,3.194,3.178,3.169,3.153,3.145,3.121,3.111,3.093,3.077,3.076,3.049,3.046,3.03,3.01,2.999,2.988,2.982,2.968,2.948,2.938,2.923,2.917,2.897,2.887,2.866,2.866,2.861,2.852,2.834,2.824,2.816,2.808,2.79,2.782,2.778,2.77,2.762,2.748,2.734,2.733,2.724,2.716,2.707,2.695,2.686,2.68,2.674,2.664,2.657,2.653,2.648,2.642,2.633,2.623,2.613,2.612,2.61,2.599,2.586,2.581,2.581,2.575,2.569,2.566,2.556,2.548,2.538,2.535,2.533,2.522,2.52,2.512,2.507,2.504,2.494,2.494,2.494,2.494,2.482,2.482,2.481,2.47,2.47,2.47,2.468,2.467,2.455,2.451,2.451,2.449,2.446,2.446,2.445,2.439,2.439,2.437,2.43,2.43,2.428,2.424,2.423,2.424,2.419,2.418,2.418,2.418,2.418,2.418,2.416,2.413,2.413,2.413,2.413,2.411,2.411,2.409,2.409,2.409,2.416,2.417,2.417,2.416,2.415,2.415,2.415,2.415,2.417,2.419,2.417,2.419,2.419,2.419,2.421,2.424,2.426,2.426,2.428,2.43,2.438,2.44,2.441,2.443,2.443,2.443,2.453,2.454,2.458,2.461,2.467,2.467,2.47,2.471,2.473,2.481,2.482,2.483,2.486,2.492,2.496,2.499,2.511,2.517,2.519,2.52,2.525,2.527,2.53,2.537,2.553,2.554,2.556,2.564,2.574,2.577,2.596,2.597,2.606,2.606,2.608,2.608,2.626,2.632,2.633,2.641,2.649,2.652,2.657,2.673,2.677,2.694,2.697,2.701,2.713,2.722,2.729,2.745,2.753,2.755,2.773,2.782,2.787,2.8,2.804,2.818,2.835,2.839,2.84,2.854,2.875,2.876,2.885,2.909,2.913,2.925,2.944,2.953,2.962,2.973,2.987,2.994,3.01,3.025,3.04,3.044,3.064,3.081,3.092,3.109,3.124,3.142,3.153,3.165,3.183,3.199,3.214,3.236,3.25,3.258,3.274,3.303,3.324,3.339,3.352,3.374,3.387,3.403,3.446,3.46,3.475,3.493,3.517,3.535,3.564,3.613,3.642,3.661,3.661,3.696,3.721,3.749,3.787,3.8,3.831,3.868,3.894,3.923,3.952,4.026,4.051,0.016,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.363,3.339,3.33,3.313,3.304,3.294,3.29,3.278,3.27,3.256,3.244,3.241,3.238,3.232,3.218,3.215,3.213,3.193,3.189,3.185,3.172,3.172,3.159,3.158,3.151,3.143,3.14,3.139,3.123,3.121,3.118,3.108,3.102,3.1,3.092,3.087,3.083,3.083,3.076,3.076,3.071,3.066,3.064,3.056,3.054,3.053,3.042,3.041,3.041,3.041,3.039,3.036,3.033,3.032,3.026,3.026,3.026,3.026,3.027,3.027,3.027,3.022,3.017,3.015,3.015,3.014,3.015,3.01,3.01,3.009,3.008,3.006,3.005,3.005,3.006,3.005,3.007,3.015,3.015,3.013,3.015,3.013,3.013,3.013,3.02,3.02,3.02,3.021,3.021,3.02,3.02,3.025,3.029,3.032,3.033,3.035,3.036,3.037,3.041,3.045,3.045,3.052,3.056,3.057,3.063,3.065,3.068,3.07,3.083,3.084,3.092,3.092,3.092,3.094,3.103,3.105,3.115,3.121,3.13,3.131,3.131,3.133,3.134,3.14,3.144,3.145,3.148,3.154,3.157,3.159,3.174,3.175,3.176,3.194,3.195,3.213,3.218,3.226,3.228,3.23,3.235,3.236,3.237,3.248,3.263,3.278,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 67.09} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 67.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 67.0937} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 67.1426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.185,0.184,0.185,0.189,0,0,0,0,0,0,0,0,3.691,3.681,3.664,3.663,3.644,3.628,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.22,3.22,3.213,3.22,3.263,3.357,3.357,0,0,0,0,0,0,0,0.153,0.145,0.145,0.145,0.145,0.147,0.148,0.15,0.153,0.156,0.159,0.159,0.16,0.163,3.029,3.037,3.037,3.037,3.037,3.037,3.037,0.155,0.155,0.155,0.153,0.152,0.148,0.143,0.143,0.122,0.102,0.079,0.06,0.06,0.058,0.058,0.058,0.062,0.064,0.064,0.065,0.065,0.063,0.063,0.07,0.085,0.133,0.203,3.337,3.368,3.37,3.37,3.37,3.378,3.378,3.378,3.414,3.421,3.439,3.439,3.453,3.47,3.473,3.484,3.492,3.493,3.5,3.511,3.514,3.516,3.518,3.519,3.522,3.527,3.53,3.542,3.544,3.545,3.544,3.545,3.549,3.551,3.556,3.571,3.571,3.571,3.571,3.575,3.575,3.587,3.588,3.597,3.606,3.611,3.615,3.624,3.631,3.636,3.644,3.645,3.651,3.653,3.669,3.67,3.672,3.686,3.688,3.69,3.701,3.711,3.712,3.732,3.733,3.747,3.748,3.758,3.761,3.778,3.783,3.792,3.806,3.814,3.819,3.84,3.844,3.846,3.851,3.88,3.883,3.895,3.912,3.913,3.927,3.942,3.948,3.973,3.985,3.988,4.021,4.028,4.048,4.059,4.07,4.081,0.016,0.016,0.016,0.016,0.016,4.092,4.045,4.011,3.99,3.957,3.93,3.894,3.857,3.839,3.803,3.783,3.754,3.735,3.698,3.671,3.653,3.626,3.604,3.57,3.559,3.523,3.516,3.498,3.459,3.444,3.428,3.399,3.379,3.371,3.36,3.337,3.302,3.294,3.277,3.252,3.228,3.222,3.203,3.186,3.172,3.153,3.142,3.119,3.107,3.096,3.087,3.079,3.043,3.04,3.035,3.014,2.994,2.99,2.978,2.959,2.952,2.939,2.931,2.922,2.901,2.897,2.875,2.862,2.857,2.846,2.836,2.827,2.814,2.809,2.798,2.783,2.769,2.766,2.76,2.748,2.738,2.737,2.72,2.716,2.714,2.695,2.684,2.67,2.666,2.662,2.661,2.66,2.649,2.638,2.632,2.63,2.616,2.607,2.606,2.598,2.586,2.582,2.576,2.575,2.574,2.563,2.556,2.551,2.541,2.529,2.527,2.527,2.519,2.514,2.508,2.503,2.499,2.498,2.498,2.489,2.481,2.478,2.476,2.476,2.475,2.47,2.465,2.463,2.452,2.45,2.45,2.448,2.448,2.448,2.44,2.44,2.44,2.439,2.426,2.424,2.424,2.424,2.421,2.421,2.417,2.417,2.417,2.417,2.417,2.417,2.415,2.415,2.413,2.41,2.412,2.412,2.412,2.412,2.412,2.412,2.416,2.416,2.415,2.415,2.415,2.415,2.415,2.416,2.421,2.421,2.421,2.419,2.419,2.419,2.425,2.425,2.429,2.43,2.433,2.434,2.435,2.435,2.435,2.435,2.44,2.444,2.454,2.454,2.456,2.46,2.465,2.465,2.467,2.472,2.473,2.475,2.484,2.485,2.487,2.488,2.494,2.506,2.513,2.514,2.521,2.523,2.523,2.525,2.539,2.54,2.551,2.555,2.559,2.563,2.564,2.573,2.585,2.59,2.594,2.604,2.612,2.621,2.626,2.629,2.639,2.644,2.65,2.651,2.662,2.679,2.679,2.683,2.704,2.704,2.71,2.718,2.734,2.743,2.756,2.758,2.768,2.783,2.8,2.801,2.806,2.815,2.828,2.835,2.836,2.855,2.87,2.88,2.885,2.896,2.916,2.932,2.946,2.958,2.961,2.971,2.983,2.994,3.015,3.035,3.04,3.042,3.071,3.08,3.094,3.106,3.12,3.143,3.158,3.173,3.173,3.199,3.221,3.24,3.248,3.265,3.272,3.308,3.318,3.337,3.355,3.367,3.391,3.412,3.435,3.462,3.48,3.495,3.525,3.546,3.578,3.593,3.618,3.64,3.662,3.692,3.732,3.748,3.781,3.804,3.838,3.876,3.896,3.925,3.955,4.02,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.346,3.336,3.334,3.322,3.309,3.292,3.29,3.281,3.265,3.26,3.248,3.242,3.239,3.232,3.216,3.213,3.201,3.197,3.19,3.187,3.168,3.166,3.164,3.16,3.148,3.14,3.139,3.128,3.125,3.123,3.118,3.111,3.106,3.103,3.095,3.089,3.087,3.083,3.077,3.073,3.072,3.071,3.067,3.056,3.055,3.055,3.048,3.041,3.04,3.034,3.034,3.029,3.029,3.027,3.026,3.023,3.023,3.023,3.028,3.028,3.028,3.019,3.018,3.016,3.014,3.01,3.01,3.011,3.011,3.011,3.011,3.011,3.008,3.007,3.006,3.007,3.008,3.01,3.011,3.013,3.013,3.015,3.014,3.014,3.015,3.017,3.015,3.017,3.021,3.022,3.028,3.028,3.029,3.033,3.037,3.037,3.037,3.038,3.041,3.045,3.047,3.05,3.052,3.054,3.061,3.065,3.067,3.071,3.085,3.091,3.091,3.092,3.094,3.094,3.107,3.108,3.118,3.119,3.121,3.134,3.134,3.134,3.134,3.138,3.141,3.147,3.148,3.157,3.16,3.162,3.172,3.176,3.183,3.19,3.193,3.213,3.222,3.224,3.226,3.231,3.232,3.242,3.247,3.247,3.268,3.281,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 67.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 67.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 67.2947} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 67.3426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,0,0,0,3.697,3.682,3.662,3.661,3.643,3.632,3.618,3.618,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.214,3.213,3.213,3.225,3.26,3.365,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.144,0.144,0.143,0.145,0.144,0.144,0.144,0.155,0.155,3.037,3.037,3.037,3.037,3.033,3.025,0.159,0.159,0.153,0.153,0.153,0.152,0.149,0.148,0.144,0.126,0.117,0.075,0.063,0.062,0.058,0.058,0.058,0.066,0.066,0.066,0.065,0.065,0.063,0.065,0.066,0.086,0.13,0.222,3.352,3.372,3.381,3.375,3.375,3.378,3.381,3.397,3.413,3.413,3.436,3.45,3.473,3.482,3.487,3.487,3.492,3.494,3.505,3.508,3.508,3.511,3.523,3.524,3.529,3.529,3.531,3.531,3.534,3.537,3.543,3.545,3.548,3.552,3.555,3.563,3.566,3.574,3.576,3.584,3.584,3.586,3.595,3.599,3.612,3.614,3.62,3.625,3.626,3.642,3.645,3.646,3.652,3.659,3.672,3.673,3.674,3.677,3.678,3.697,3.698,3.711,3.712,3.732,3.733,3.747,3.749,3.756,3.76,3.769,3.776,3.793,3.809,3.811,3.822,3.83,3.839,3.855,3.869,3.882,3.889,3.897,3.908,3.925,3.928,3.948,3.954,3.974,3.984,3.991,4.016,4.025,4.036,4.071,4.079,4.087,0.016,0.016,0.016,0.007,0,0.007,0.016,4.009,3.996,3.971,3.929,3.904,3.864,3.845,3.806,3.772,3.734,3.729,3.697,3.679,3.661,3.634,3.599,3.583,3.548,3.542,3.508,3.488,3.454,3.439,3.426,3.406,3.395,3.369,3.345,3.33,3.304,3.299,3.272,3.261,3.237,3.234,3.197,3.178,3.175,3.148,3.148,3.121,3.112,3.096,3.088,3.058,3.055,3.039,3.025,3.004,3,2.989,2.985,2.963,2.958,2.934,2.932,2.911,2.904,2.895,2.872,2.866,2.855,2.852,2.837,2.824,2.81,2.805,2.79,2.788,2.779,2.76,2.757,2.744,2.742,2.74,2.721,2.716,2.7,2.697,2.681,2.676,2.674,2.656,2.656,2.655,2.649,2.634,2.632,2.626,2.623,2.61,2.608,2.595,2.585,2.581,2.578,2.573,2.565,2.556,2.549,2.546,2.54,2.534,2.527,2.523,2.522,2.514,2.513,2.499,2.496,2.496,2.495,2.492,2.487,2.479,2.477,2.473,2.468,2.468,2.464,2.462,2.459,2.457,2.453,2.448,2.447,2.445,2.445,2.442,2.437,2.436,2.429,2.429,2.429,2.424,2.421,2.418,2.418,2.418,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.412,2.412,2.409,2.41,2.41,2.41,2.411,2.412,2.412,2.413,2.415,2.415,2.41,2.416,2.416,2.418,2.418,2.418,2.418,2.418,2.419,2.423,2.425,2.426,2.428,2.429,2.431,2.437,2.438,2.44,2.444,2.444,2.447,2.449,2.451,2.456,2.456,2.465,2.465,2.472,2.472,2.476,2.481,2.488,2.488,2.488,2.495,2.498,2.499,2.512,2.518,2.519,2.523,2.523,2.53,2.535,2.541,2.547,2.558,2.56,2.561,2.571,2.578,2.589,2.603,2.605,2.609,2.611,2.619,2.621,2.631,2.636,2.64,2.649,2.653,2.661,2.681,2.687,2.688,2.698,2.706,2.719,2.726,2.731,2.74,2.748,2.752,2.761,2.772,2.782,2.803,2.809,2.821,2.826,2.838,2.844,2.856,2.874,2.883,2.895,2.9,2.913,2.92,2.938,2.956,2.96,2.976,2.985,3.006,3.012,3.027,3.043,3.044,3.069,3.074,3.092,3.107,3.127,3.14,3.156,3.169,3.18,3.202,3.223,3.234,3.248,3.27,3.27,3.31,3.324,3.341,3.356,3.382,3.403,3.404,3.432,3.468,3.484,3.504,3.531,3.542,3.567,3.602,3.604,3.642,3.669,3.692,3.727,3.749,3.777,3.804,3.828,3.861,3.892,3.911,4.024,0,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.351,3.336,3.331,3.315,3.305,3.298,3.292,3.275,3.268,3.258,3.244,3.243,3.242,3.234,3.213,3.211,3.204,3.193,3.19,3.186,3.177,3.17,3.156,3.155,3.151,3.145,3.14,3.136,3.12,3.117,3.115,3.112,3.109,3.102,3.094,3.089,3.088,3.087,3.087,3.08,3.069,3.069,3.055,3.054,3.054,3.048,3.048,3.046,3.043,3.038,3.038,3.034,3.034,3.03,3.029,3.021,3.021,3.021,3.031,3.031,3.031,3.022,3.018,3.017,3.011,3.011,3.011,3.011,3.013,3.013,3.008,3.008,3.005,3.005,3.005,3.005,3.012,3.012,3.012,3.012,3.015,3.015,3.015,3.015,3.017,3.018,3.018,3.023,3.023,3.023,3.023,3.024,3.029,3.031,3.032,3.032,3.034,3.036,3.038,3.042,3.052,3.053,3.055,3.063,3.065,3.065,3.065,3.078,3.079,3.09,3.092,3.092,3.094,3.095,3.099,3.112,3.113,3.114,3.124,3.13,3.13,3.132,3.132,3.132,3.132,3.145,3.145,3.152,3.156,3.162,3.171,3.182,3.182,3.19,3.193,3.215,3.223,3.225,3.225,3.228,3.242,3.244,3.245,3.245,3.258,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 67.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 67.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 67.4958} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.08} SEN {Time 67.5426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.183,0.184,0.185,0,0,0,0,0,0,0,0,3.688,3.685,3.669,3.658,3.644,3.636,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.221,3.213,3.213,3.213,3.359,0.007,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.153,0.152,0.153,0.153,0.153,0.153,3.032,3.032,3.032,3.032,3.029,3.029,3.029,0.156,0.156,0.156,0.156,0.156,0.152,0.148,0.144,0.13,0.098,0.073,0.07,0.061,0.061,0.061,0.061,0.061,0.066,0.066,0.066,0.066,0.066,0.066,0.072,0.084,0.138,0.214,3.333,3.362,3.362,3.362,3.362,3.379,3.379,3.386,3.408,3.432,3.436,3.436,3.469,3.471,3.477,3.488,3.497,3.499,3.503,3.504,3.512,3.515,3.516,3.521,3.523,3.526,3.528,3.532,3.537,3.537,3.537,3.539,3.545,3.547,3.547,3.558,3.574,3.575,3.576,3.575,3.584,3.586,3.597,3.602,3.603,3.612,3.622,3.63,3.638,3.64,3.64,3.647,3.656,3.666,3.67,3.67,3.678,3.684,3.687,3.692,3.7,3.709,3.713,3.717,3.721,3.746,3.752,3.758,3.765,3.765,3.776,3.794,3.799,3.805,3.813,3.839,3.84,3.851,3.862,3.875,3.878,3.893,3.895,3.917,3.932,3.938,3.957,3.966,3.983,3.994,4.018,4.025,4.04,4.069,4.074,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.03,3.966,3.919,3.893,3.865,3.833,3.808,3.771,3.761,3.734,3.694,3.683,3.645,3.632,3.606,3.579,3.546,3.526,3.499,3.48,3.459,3.44,3.409,3.398,3.381,3.368,3.355,3.343,3.316,3.291,3.275,3.261,3.233,3.229,3.202,3.182,3.174,3.151,3.139,3.124,3.107,3.091,3.074,3.062,3.049,3.037,3.029,3.016,2.999,2.992,2.973,2.962,2.957,2.933,2.93,2.913,2.901,2.893,2.869,2.865,2.855,2.853,2.844,2.829,2.814,2.807,2.807,2.79,2.775,2.77,2.759,2.746,2.745,2.741,2.725,2.715,2.704,2.697,2.682,2.679,2.669,2.662,2.655,2.643,2.642,2.641,2.634,2.623,2.616,2.606,2.604,2.603,2.59,2.578,2.578,2.574,2.569,2.559,2.548,2.548,2.539,2.536,2.535,2.528,2.523,2.515,2.509,2.504,2.496,2.493,2.493,2.491,2.48,2.478,2.476,2.471,2.466,2.465,2.465,2.455,2.453,2.453,2.453,2.449,2.447,2.447,2.442,2.442,2.437,2.436,2.432,2.428,2.428,2.428,2.42,2.419,2.419,2.418,2.416,2.416,2.415,2.414,2.414,2.414,2.415,2.416,2.416,2.411,2.41,2.409,2.409,2.41,2.416,2.418,2.418,2.418,2.415,2.415,2.415,2.415,2.415,2.417,2.418,2.417,2.419,2.419,2.419,2.42,2.423,2.432,2.436,2.437,2.438,2.438,2.442,2.444,2.444,2.444,2.452,2.457,2.461,2.463,2.463,2.463,2.466,2.471,2.473,2.477,2.48,2.483,2.489,2.493,2.497,2.505,2.509,2.516,2.518,2.523,2.527,2.534,2.535,2.537,2.552,2.552,2.557,2.566,2.571,2.571,2.588,2.604,2.605,2.606,2.61,2.615,2.622,2.634,2.638,2.639,2.645,2.646,2.66,2.677,2.679,2.687,2.702,2.703,2.709,2.719,2.728,2.749,2.753,2.756,2.762,2.779,2.789,2.798,2.808,2.82,2.826,2.842,2.843,2.862,2.867,2.889,2.892,2.895,2.911,2.928,2.945,2.954,2.957,2.974,2.982,2.994,3.019,3.023,3.041,3.043,3.068,3.078,3.098,3.104,3.128,3.135,3.155,3.165,3.174,3.208,3.221,3.235,3.252,3.252,3.278,3.302,3.322,3.328,3.346,3.371,3.396,3.408,3.432,3.454,3.487,3.499,3.531,3.551,3.569,3.59,3.606,3.642,3.662,3.703,3.723,3.749,3.775,3.793,3.837,3.859,3.892,3.926,3.998,4.034,0.016,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.374,3.361,3.328,3.328,3.318,3.315,3.294,3.287,3.277,3.271,3.258,3.251,3.249,3.236,3.236,3.235,3.206,3.201,3.201,3.188,3.185,3.178,3.172,3.154,3.152,3.151,3.139,3.138,3.13,3.125,3.116,3.115,3.115,3.106,3.102,3.098,3.09,3.084,3.082,3.078,3.077,3.071,3.069,3.06,3.053,3.05,3.044,3.04,3.038,3.038,3.036,3.035,3.034,3.032,3.029,3.029,3.025,3.025,3.025,3.028,3.028,3.028,3.023,3.02,3.015,3.014,3.008,3.008,3.007,3.007,3.008,3.007,3.005,3.005,3.007,3.007,3.007,3.009,3.013,3.013,3.011,3.013,3.017,3.011,3.013,3.018,3.021,3.016,3.021,3.022,3.022,3.023,3.025,3.025,3.029,3.038,3.038,3.038,3.038,3.041,3.044,3.046,3.054,3.055,3.06,3.063,3.063,3.066,3.066,3.078,3.089,3.089,3.09,3.092,3.093,3.094,3.102,3.107,3.122,3.123,3.132,3.132,3.137,3.141,3.145,3.145,3.147,3.148,3.148,3.162,3.167,3.169,3.17,3.182,3.188,3.206,3.214,3.22,3.226,3.227,3.227,3.233,3.245,3.249,3.252,3.266,3.279,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 67.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 67.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 67.6956} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.08} SEN {Time 67.7386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.178,0.178,0.179,0.179,0,0,0,0,0,0,0,0,3.687,3.682,3.667,3.654,3.639,3.635,3.608,3.608,3.608,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.218,3.21,3.21,3.21,3.264,3.361,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.149,0.149,0.146,0.149,0.149,0.155,0.155,0.157,0.157,3.028,3.037,3.038,3.038,3.037,3.038,3.038,0.158,0.157,0.157,0.152,0.152,0.151,0.15,0.15,0.131,0.107,0.073,0.065,0.064,0.063,0.063,0.063,0.063,0.065,0.065,0.065,0.065,0.063,0.063,0.063,0.078,0.123,0.199,3.34,3.357,3.361,3.361,3.361,3.367,3.379,3.379,3.407,0.007,0,3.467,3.475,3.475,3.475,3.477,3.49,3.499,3.5,3.507,3.507,3.514,3.521,3.521,3.522,3.522,3.527,3.535,3.537,3.538,3.541,3.542,3.547,3.548,3.552,3.563,3.57,3.571,3.574,3.579,3.58,3.586,3.589,3.597,3.607,3.617,3.626,3.631,3.635,3.639,3.644,3.651,3.651,3.652,3.658,3.67,3.679,3.683,3.685,3.697,3.7,3.71,3.723,3.728,3.735,3.749,3.749,3.757,3.762,3.774,3.776,3.795,3.803,3.805,3.824,3.826,3.831,3.844,3.862,3.877,3.879,3.897,3.903,3.908,3.93,3.946,3.952,3.968,3.986,3.999,4.014,4.021,4.051,4.066,4.078,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.02,4,3.971,3.923,3.922,3.875,3.853,3.811,3.78,3.752,3.729,3.697,3.685,3.651,3.623,3.588,3.579,3.553,3.526,3.496,3.484,3.455,3.438,3.415,3.405,3.389,3.359,3.346,3.333,3.312,3.298,3.281,3.265,3.235,3.232,3.194,3.184,3.173,3.15,3.141,3.122,3.11,3.097,3.08,3.063,3.046,3.042,3.033,3.02,2.999,2.994,2.976,2.959,2.955,2.926,2.922,2.911,2.9,2.894,2.884,2.87,2.861,2.85,2.84,2.836,2.814,2.81,2.802,2.78,2.779,2.775,2.757,2.748,2.745,2.734,2.734,2.713,2.704,2.696,2.685,2.677,2.676,2.666,2.651,2.65,2.643,2.635,2.628,2.626,2.617,2.61,2.604,2.595,2.591,2.588,2.578,2.575,2.569,2.554,2.553,2.548,2.545,2.542,2.534,2.524,2.523,2.517,2.507,2.505,2.495,2.494,2.492,2.485,2.482,2.479,2.477,2.474,2.471,2.467,2.465,2.459,2.459,2.456,2.451,2.446,2.446,2.442,2.441,2.44,2.439,2.432,2.432,2.432,2.426,2.424,2.423,2.423,2.42,2.417,2.417,2.415,2.414,2.412,2.412,2.412,2.412,2.411,2.411,2.411,2.411,2.411,2.414,2.417,2.417,2.417,2.417,2.412,2.412,2.413,2.416,2.416,2.417,2.418,2.418,2.417,2.417,2.417,2.417,2.424,2.427,2.427,2.427,2.436,2.438,2.438,2.44,2.442,2.449,2.451,2.451,2.458,2.461,2.463,2.464,2.465,2.466,2.466,2.471,2.478,2.48,2.483,2.49,2.492,2.496,2.499,2.511,2.518,2.518,2.523,2.53,2.531,2.536,2.544,2.55,2.554,2.563,2.567,2.573,2.581,2.587,2.598,2.601,2.605,2.61,2.617,2.624,2.634,2.635,2.647,2.648,2.655,2.669,2.671,2.679,2.691,2.703,2.703,2.716,2.718,2.723,2.736,2.75,2.757,2.763,2.777,2.791,2.797,2.808,2.821,2.83,2.835,2.846,2.858,2.873,2.879,2.895,2.906,2.915,2.919,2.95,2.952,2.955,2.969,2.984,3.001,3.01,3.037,3.038,3.044,3.069,3.079,3.094,3.104,3.131,3.147,3.155,3.159,3.183,3.192,3.211,3.232,3.244,3.265,3.276,3.301,3.32,3.331,3.348,3.381,3.4,3.409,3.444,3.461,3.488,3.503,3.527,3.548,3.565,3.598,3.602,3.642,3.664,3.692,3.721,3.748,3.782,3.806,3.827,3.874,3.897,3.917,0,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.354,3.343,3.329,3.31,3.308,3.294,3.292,3.278,3.272,3.26,3.259,3.243,3.239,3.232,3.213,3.213,3.209,3.199,3.184,3.183,3.183,3.171,3.159,3.159,3.156,3.143,3.142,3.13,3.123,3.121,3.112,3.112,3.108,3.101,3.093,3.089,3.086,3.084,3.079,3.079,3.065,3.064,3.062,3.051,3.049,3.043,3.043,3.04,3.04,3.037,3.034,3.032,3.032,3.031,3.023,3.023,3.023,3.031,3.025,3.025,3.025,3.022,3.018,3.012,3.015,3.012,3.01,3.008,3.009,3.009,3.007,3.007,3.009,3.008,3.008,3.008,3.011,3.012,3.012,3.012,3.012,3.014,3.014,3.014,3.017,3.017,3.017,3.017,3.017,3.018,3.022,3.024,3.024,3.028,3.034,3.034,3.037,3.044,3.044,3.044,3.045,3.051,3.059,3.065,3.068,3.072,3.072,3.073,3.077,3.087,3.088,3.089,3.092,3.096,3.097,3.103,3.103,3.106,3.115,3.131,3.131,3.131,3.132,3.143,3.143,3.144,3.151,3.153,3.16,3.16,3.162,3.17,3.176,3.187,3.19,3.21,3.214,3.216,3.224,3.235,3.235,3.243,3.245,3.248,3.256,3.28,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 67.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 67.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 67.8966} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.08} SEN {Time 67.9397} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.183,0.186,0.186,0,0,0,0,0,0,0,0,3.683,3.677,3.663,3.661,3.649,3.626,3.61,3.61,3.61,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.215,3.214,3.214,3.214,3.246,3.359,0,0,0,0,0,0,0,0.007,0.143,0.143,0.143,0.143,0.143,0.144,0.144,0.15,0.15,0.152,0.152,0.152,0.154,3.037,3.037,3.038,3.038,3.037,3.042,3.042,0.16,0.16,0.16,0.158,0.16,0.152,0.15,0.15,0.126,0.101,0.073,0.065,0.06,0.06,0.065,0.065,0.064,0.064,0.064,0.064,0.064,0.064,0.066,0.067,0.077,0.136,0.201,3.331,3.359,3.365,3.363,3.365,3.371,3.379,3.38,3.43,3.435,3.461,3.461,3.461,3.466,3.477,3.49,3.49,3.499,3.499,3.5,3.504,3.505,3.513,3.518,3.526,3.525,3.526,3.534,3.54,3.546,3.546,3.546,3.548,3.549,3.559,3.561,3.564,3.564,3.57,3.577,3.579,3.589,3.59,3.605,3.607,3.617,3.629,3.629,3.632,3.632,3.636,3.652,3.652,3.656,3.658,3.658,3.676,3.676,3.691,3.693,3.699,3.706,3.72,3.725,3.739,3.745,3.748,3.758,3.775,3.779,3.789,3.793,3.794,3.814,3.819,3.822,3.841,3.857,3.863,3.867,3.879,3.891,3.901,3.913,3.928,3.947,3.949,3.965,3.981,4.003,4.015,4.016,4.045,4.065,4.073,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.062,4.018,3.968,3.934,3.9,3.88,3.842,3.805,3.779,3.761,3.733,3.69,3.681,3.642,3.64,3.601,3.577,3.546,3.531,3.511,3.484,3.465,3.443,3.432,3.4,3.379,3.374,3.341,3.329,3.308,3.289,3.263,3.255,3.232,3.226,3.192,3.186,3.161,3.153,3.138,3.118,3.1,3.097,3.084,3.064,3.046,3.036,3.032,3.016,2.998,2.998,2.977,2.96,2.955,2.935,2.929,2.913,2.911,2.892,2.868,2.868,2.861,2.848,2.845,2.829,2.812,2.806,2.793,2.783,2.777,2.773,2.764,2.75,2.739,2.725,2.719,2.715,2.704,2.699,2.686,2.678,2.673,2.666,2.664,2.651,2.648,2.635,2.633,2.623,2.62,2.615,2.613,2.595,2.594,2.584,2.581,2.574,2.572,2.567,2.55,2.549,2.546,2.533,2.532,2.524,2.522,2.508,2.505,2.499,2.498,2.494,2.493,2.49,2.485,2.484,2.478,2.476,2.471,2.47,2.466,2.455,2.454,2.453,2.449,2.449,2.448,2.443,2.442,2.437,2.436,2.434,2.43,2.425,2.425,2.425,2.424,2.423,2.419,2.419,2.417,2.417,2.412,2.412,2.412,2.412,2.412,2.413,2.413,2.413,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.413,2.415,2.415,2.416,2.416,2.418,2.42,2.42,2.419,2.42,2.419,2.419,2.421,2.427,2.429,2.434,2.434,2.434,2.441,2.441,2.441,2.445,2.45,2.45,2.453,2.459,2.459,2.461,2.467,2.471,2.472,2.476,2.48,2.482,2.488,2.488,2.491,2.494,2.5,2.507,2.509,2.516,2.518,2.528,2.529,2.529,2.54,2.546,2.559,2.559,2.565,2.568,2.575,2.594,2.598,2.601,2.606,2.608,2.613,2.624,2.625,2.637,2.641,2.653,2.654,2.664,2.678,2.68,2.692,2.703,2.707,2.716,2.723,2.73,2.739,2.749,2.751,2.761,2.78,2.793,2.797,2.807,2.816,2.833,2.845,2.849,2.854,2.869,2.882,2.898,2.898,2.922,2.924,2.941,2.945,2.954,2.973,2.987,2.994,3.016,3.03,3.041,3.044,3.069,3.076,3.085,3.108,3.126,3.131,3.154,3.172,3.186,3.192,3.211,3.229,3.251,3.266,3.275,3.299,3.322,3.336,3.354,3.375,3.387,3.414,3.432,3.456,3.477,3.499,3.513,3.549,3.567,3.596,3.61,3.64,3.672,3.69,3.723,3.751,3.785,3.792,3.827,3.86,3.888,3.913,3.949,3.979,4.02,4.064,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.346,3.342,3.329,3.319,3.304,3.301,3.292,3.272,3.27,3.259,3.248,3.242,3.238,3.228,3.213,3.21,3.207,3.197,3.188,3.187,3.176,3.175,3.156,3.155,3.153,3.136,3.135,3.133,3.122,3.121,3.117,3.108,3.106,3.101,3.096,3.094,3.088,3.086,3.086,3.08,3.073,3.066,3.062,3.058,3.053,3.052,3.04,3.04,3.04,3.038,3.037,3.036,3.035,3.03,3.022,3.021,3.022,3.022,3.027,3.027,3.027,3.024,3.022,3.018,3.018,3.017,3.016,3.015,3.015,3.013,3.013,3.01,3.008,3.008,3.007,3.008,3.012,3.014,3.014,3.015,3.014,3.013,3.013,3.013,3.013,3.015,3.018,3.019,3.025,3.026,3.026,3.028,3.029,3.029,3.037,3.037,3.04,3.04,3.041,3.042,3.047,3.052,3.054,3.056,3.061,3.065,3.065,3.075,3.08,3.082,3.089,3.089,3.094,3.094,3.094,3.104,3.113,3.114,3.121,3.128,3.13,3.131,3.132,3.137,3.137,3.147,3.147,3.148,3.166,3.169,3.173,3.184,3.187,3.192,3.2,3.213,3.218,3.226,3.229,3.232,3.24,3.24,3.242,3.246,3.256,3.287,3.295,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 68.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 68.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 68.0976} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.6736} SEN {Time 68.1386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.178,0.186,0.186,0,0,0,0,0,0,0,0,3.701,3.676,3.664,3.658,3.656,3.626,3.615,3.615,3.599,3.591,3.591,0,3.369,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.222,3.213,3.213,3.213,3.254,3.371,0,0,0,0,0,0,0,0.15,0.145,0.145,0.145,0.146,0.145,0.146,0.15,0.153,0.15,0.153,0.153,0.153,0.157,3.033,3.033,3.038,3.038,3.033,3.043,3.043,0.157,0.153,0.153,0.153,0.153,0.153,0.144,0.144,0.127,0.104,0.074,0.062,0.062,0.06,0.062,0.062,0.067,0.067,0.068,0.067,0.067,0.064,0.064,0.064,0.084,0.14,0.216,3.345,3.35,3.357,3.357,3.369,3.369,3.372,3.372,3.432,3.44,3.458,3.458,3.458,3.476,3.48,3.482,3.49,3.492,3.5,3.504,3.506,3.506,3.515,3.515,3.517,3.533,3.535,3.535,3.535,3.54,3.537,3.54,3.547,3.558,3.558,3.561,3.564,3.569,3.579,3.581,3.583,3.586,3.591,3.604,3.607,3.618,3.628,3.635,3.642,3.651,3.653,3.654,3.663,3.664,3.672,3.672,3.678,3.678,3.679,3.685,3.691,3.705,3.714,3.731,3.734,3.742,3.752,3.755,3.759,3.78,3.784,3.795,3.798,3.811,3.824,3.825,3.834,3.861,3.866,3.88,3.888,3.893,3.896,3.917,3.941,3.95,3.952,3.988,3.992,3.994,4.014,4.021,4.037,4.067,4.079,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,3.998,3.98,3.926,3.891,3.866,3.86,3.817,3.784,3.756,3.716,3.697,3.672,3.655,3.621,3.602,3.578,3.55,3.524,3.509,3.482,3.46,3.439,3.414,3.412,3.385,3.365,3.336,3.332,3.31,3.294,3.278,3.267,3.232,3.228,3.2,3.191,3.173,3.146,3.143,3.121,3.111,3.09,3.087,3.065,3.042,3.041,3.032,3.017,3,2.991,2.98,2.958,2.946,2.935,2.932,2.92,2.907,2.894,2.876,2.87,2.86,2.847,2.838,2.823,2.82,2.807,2.793,2.787,2.785,2.769,2.768,2.744,2.737,2.734,2.72,2.72,2.71,2.695,2.688,2.676,2.67,2.66,2.652,2.651,2.648,2.634,2.631,2.629,2.617,2.609,2.606,2.596,2.586,2.584,2.577,2.568,2.566,2.564,2.555,2.551,2.549,2.539,2.535,2.528,2.523,2.514,2.514,2.512,2.501,2.497,2.494,2.487,2.482,2.479,2.475,2.474,2.466,2.464,2.463,2.461,2.457,2.457,2.452,2.452,2.446,2.445,2.444,2.443,2.442,2.433,2.432,2.429,2.428,2.428,2.42,2.42,2.419,2.419,2.416,2.415,2.411,2.41,2.41,2.411,2.411,2.413,2.413,2.414,2.414,2.414,2.414,2.415,2.415,2.415,2.413,2.412,2.412,2.41,2.41,2.414,2.417,2.418,2.419,2.418,2.421,2.421,2.424,2.425,2.425,2.427,2.432,2.435,2.436,2.437,2.44,2.444,2.445,2.448,2.451,2.453,2.456,2.462,2.464,2.47,2.472,2.472,2.476,2.476,2.478,2.481,2.492,2.496,2.496,2.503,2.512,2.516,2.517,2.519,2.524,2.53,2.531,2.542,2.548,2.554,2.562,2.565,2.568,2.58,2.594,2.595,2.597,2.605,2.611,2.617,2.624,2.64,2.64,2.641,2.65,2.654,2.669,2.676,2.68,2.692,2.695,2.697,2.716,2.727,2.73,2.736,2.752,2.76,2.762,2.777,2.788,2.801,2.802,2.821,2.83,2.835,2.844,2.861,2.872,2.874,2.883,2.903,2.905,2.923,2.944,2.952,2.952,2.976,2.983,2.996,3.018,3.028,3.041,3.041,3.067,3.074,3.094,3.115,3.124,3.138,3.162,3.163,3.182,3.202,3.224,3.237,3.243,3.268,3.273,3.299,3.325,3.339,3.354,3.377,3.4,3.413,3.44,3.461,3.48,3.5,3.527,3.543,3.564,3.582,3.609,3.641,3.664,3.702,3.723,3.746,3.788,3.818,3.831,3.853,3.892,3.907,3.985,4.02,4.069,4.069,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.35,3.342,3.334,3.318,3.308,3.292,3.279,3.276,3.258,3.253,3.248,3.244,3.24,3.235,3.221,3.213,3.211,3.196,3.195,3.181,3.179,3.169,3.163,3.161,3.149,3.141,3.138,3.128,3.118,3.115,3.112,3.106,3.106,3.103,3.092,3.09,3.086,3.078,3.077,3.077,3.072,3.067,3.06,3.053,3.052,3.05,3.044,3.042,3.042,3.042,3.042,3.042,3.03,3.028,3.027,3.025,3.025,3.028,3.028,3.028,3.028,3.024,3.017,3.014,3.01,3.01,3.01,3.011,3.011,3.011,3.011,3.009,3.009,3.009,3.009,3.009,3.012,3.008,3.008,3.008,3.01,3.01,3.018,3.018,3.018,3.021,3.02,3.02,3.021,3.02,3.02,3.028,3.028,3.029,3.033,3.037,3.037,3.045,3.04,3.047,3.047,3.051,3.059,3.062,3.061,3.062,3.066,3.07,3.074,3.094,3.094,3.094,3.094,3.094,3.094,3.11,3.111,3.113,3.115,3.128,3.128,3.137,3.14,3.141,3.141,3.143,3.153,3.155,3.161,3.167,3.167,3.173,3.176,3.189,3.203,3.211,3.211,3.214,3.226,3.231,3.243,3.244,3.25,3.253,3.267,3.273,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 68.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 68.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 68.2896} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.6736} SEN {Time 68.3386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.692,3.673,3.666,3.659,3.639,3.631,3.611,3.611,3.602,3.602,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.214,3.214,3.214,3.26,3.361,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.144,0.141,0.141,0.148,0.148,0.153,0.153,0.153,0.154,3.032,3.032,3.041,3.041,3.041,3.031,0.161,0.161,0.157,0.157,0.155,0.151,0.148,0.145,0.145,0.133,0.109,0.072,0.067,0.063,0.061,0.063,0.063,0.066,0.066,0.066,0.066,0.064,0.064,0.064,0.066,0.076,0.143,0.209,3.335,3.351,3.36,3.354,3.354,3.354,3.374,3.374,3.393,3.418,3.433,3.473,3.473,3.473,3.485,3.485,3.491,3.498,3.514,3.514,3.514,3.515,3.522,3.525,3.525,3.528,3.531,3.536,3.541,3.541,3.542,3.546,3.547,3.552,3.555,3.557,3.575,3.576,3.579,3.582,3.584,3.589,3.596,3.599,3.606,3.607,3.627,3.634,3.634,3.639,3.652,3.656,3.656,3.66,3.663,3.669,3.678,3.68,3.693,3.694,3.702,3.711,3.714,3.728,3.735,3.741,3.746,3.756,3.771,3.771,3.792,3.792,3.796,3.812,3.822,3.825,3.847,3.847,3.852,3.871,3.88,3.888,3.902,3.921,3.934,3.949,3.961,3.976,3.991,3.995,4.014,4.027,4.05,4.065,4.068,4.081,0.016,0.016,0.016,0.016,0.016,0.016,4.047,4.008,3.989,3.957,3.924,3.894,3.877,3.846,3.821,3.786,3.733,3.72,3.704,3.673,3.642,3.631,3.599,3.57,3.545,3.518,3.512,3.485,3.455,3.432,3.428,3.398,3.39,3.36,3.342,3.329,3.313,3.295,3.276,3.262,3.239,3.235,3.197,3.187,3.175,3.151,3.139,3.122,3.113,3.107,3.085,3.065,3.054,3.034,3.027,3.004,2.994,2.993,2.985,2.959,2.956,2.942,2.929,2.914,2.902,2.891,2.872,2.868,2.856,2.849,2.839,2.829,2.816,2.805,2.797,2.789,2.781,2.774,2.762,2.747,2.746,2.737,2.725,2.713,2.705,2.696,2.689,2.678,2.668,2.664,2.657,2.643,2.642,2.641,2.638,2.622,2.62,2.61,2.604,2.604,2.585,2.583,2.582,2.577,2.569,2.565,2.559,2.557,2.54,2.535,2.532,2.524,2.519,2.51,2.508,2.504,2.498,2.494,2.488,2.487,2.485,2.479,2.476,2.473,2.47,2.466,2.463,2.458,2.458,2.455,2.455,2.45,2.449,2.447,2.441,2.439,2.437,2.434,2.432,2.428,2.427,2.423,2.42,2.423,2.415,2.416,2.414,2.414,2.413,2.411,2.411,2.41,2.411,2.412,2.412,2.409,2.414,2.409,2.409,2.41,2.414,2.416,2.416,2.416,2.413,2.413,2.413,2.413,2.417,2.417,2.417,2.417,2.421,2.421,2.423,2.425,2.429,2.429,2.43,2.431,2.437,2.439,2.441,2.442,2.442,2.446,2.451,2.454,2.457,2.463,2.464,2.468,2.471,2.474,2.477,2.48,2.481,2.494,2.494,2.495,2.499,2.508,2.512,2.515,2.52,2.523,2.524,2.53,2.532,2.534,2.543,2.558,2.56,2.568,2.571,2.575,2.587,2.601,2.603,2.61,2.611,2.612,2.626,2.641,2.641,2.644,2.649,2.651,2.665,2.68,2.681,2.69,2.696,2.703,2.716,2.72,2.729,2.735,2.753,2.757,2.764,2.779,2.789,2.793,2.807,2.818,2.831,2.835,2.85,2.854,2.862,2.88,2.889,2.905,2.916,2.926,2.942,2.954,2.962,2.978,2.986,2.996,3.017,3.021,3.041,3.047,3.067,3.08,3.092,3.107,3.121,3.135,3.155,3.168,3.178,3.2,3.22,3.229,3.244,3.255,3.282,3.297,3.321,3.326,3.354,3.374,3.397,3.416,3.44,3.459,3.478,3.505,3.522,3.543,3.577,3.605,3.614,3.641,3.669,3.699,3.726,3.743,3.777,3.805,3.823,3.858,3.9,3.924,3.966,0.007,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.355,3.338,3.324,3.315,3.304,3.296,3.291,3.28,3.268,3.265,3.249,3.249,3.235,3.23,3.221,3.217,3.211,3.194,3.184,3.184,3.174,3.161,3.161,3.151,3.151,3.137,3.137,3.131,3.116,3.116,3.115,3.11,3.106,3.105,3.091,3.085,3.085,3.082,3.079,3.069,3.067,3.063,3.063,3.057,3.055,3.043,3.041,3.039,3.039,3.038,3.038,3.038,3.035,3.029,3.024,3.021,3.021,3.021,3.028,3.028,3.028,3.019,3.017,3.017,3.017,3.014,3.014,3.007,3.014,3.009,3.009,3.007,3.009,3.009,3.01,3.01,3.011,3.011,3.011,3.011,3.014,3.012,3.012,3.014,3.016,3.016,3.016,3.016,3.022,3.022,3.022,3.023,3.029,3.029,3.029,3.033,3.033,3.037,3.037,3.045,3.046,3.055,3.057,3.057,3.064,3.068,3.069,3.074,3.077,3.088,3.09,3.092,3.094,3.095,3.098,3.111,3.112,3.119,3.121,3.131,3.131,3.134,3.134,3.134,3.134,3.144,3.154,3.155,3.161,3.163,3.167,3.17,3.178,3.187,3.201,3.215,3.216,3.22,3.216,3.231,3.235,3.239,3.241,3.244,3.258,3.279,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 68.49} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 68.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 68.4916} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.6736} SEN {Time 68.5386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.184,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.681,3.672,3.656,3.649,3.624,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.22,3.214,3.214,3.222,3.364,0.007,0,0,0,0,0,0,0,0.154,0.152,0.144,0.138,0.138,0.144,0.144,0.144,0.153,0.153,0.153,0.153,0.16,0.161,3.034,3.034,3.041,3.041,3.041,3.041,3.041,0.162,0.159,0.159,0.153,0.153,0.153,0.152,0.152,0.131,0.109,0.075,0.064,0.064,0.061,0.061,0.064,0.065,0.065,0.065,0.065,0.065,0.063,0.063,0.063,0.08,0.135,0.202,3.338,3.355,3.369,3.369,3.378,3.391,0.007,0,3.429,3.432,3.432,3.432,3.461,3.467,3.484,3.488,3.496,3.498,3.498,3.501,3.508,3.508,3.521,3.523,3.524,3.527,3.532,3.534,3.536,3.545,3.545,3.545,3.545,3.549,3.549,3.555,3.564,3.566,3.57,3.572,3.584,3.591,3.596,3.596,3.605,3.619,3.629,3.634,3.636,3.636,3.643,3.646,3.647,3.654,3.66,3.665,3.676,3.684,3.686,3.697,3.699,3.713,3.722,3.727,3.739,3.739,3.747,3.751,3.763,3.77,3.78,3.793,3.795,3.81,3.818,3.824,3.842,3.857,3.862,3.875,3.878,3.89,3.896,3.906,3.923,3.958,3.959,3.969,3.992,4.002,4.013,4.033,4.046,4.072,4.079,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.035,3.998,3.974,3.933,3.907,3.86,3.848,3.811,3.777,3.753,3.727,3.703,3.673,3.644,3.632,3.59,3.565,3.546,3.522,3.509,3.486,3.458,3.442,3.426,3.396,3.378,3.373,3.351,3.336,3.31,3.297,3.274,3.255,3.24,3.223,3.213,3.18,3.178,3.154,3.135,3.12,3.117,3.09,3.085,3.07,3.05,3.041,3.03,3.013,3.003,2.992,2.976,2.959,2.95,2.94,2.925,2.921,2.903,2.895,2.872,2.864,2.859,2.851,2.842,2.822,2.819,2.805,2.796,2.783,2.778,2.77,2.763,2.748,2.744,2.735,2.721,2.719,2.707,2.7,2.689,2.676,2.675,2.667,2.654,2.651,2.646,2.632,2.628,2.621,2.617,2.612,2.611,2.6,2.596,2.582,2.576,2.574,2.571,2.567,2.557,2.548,2.543,2.54,2.535,2.519,2.518,2.512,2.511,2.503,2.497,2.494,2.489,2.485,2.48,2.476,2.475,2.47,2.468,2.464,2.461,2.46,2.456,2.456,2.454,2.452,2.444,2.442,2.442,2.441,2.436,2.43,2.429,2.429,2.426,2.424,2.423,2.418,2.418,2.417,2.415,2.415,2.415,2.415,2.413,2.415,2.415,2.413,2.411,2.411,2.41,2.409,2.409,2.41,2.411,2.411,2.417,2.411,2.411,2.412,2.415,2.415,2.416,2.423,2.423,2.423,2.423,2.418,2.418,2.423,2.425,2.429,2.43,2.43,2.436,2.438,2.444,2.444,2.444,2.445,2.45,2.455,2.456,2.457,2.461,2.468,2.472,2.472,2.476,2.482,2.484,2.49,2.49,2.498,2.5,2.507,2.512,2.513,2.513,2.518,2.521,2.523,2.532,2.541,2.545,2.558,2.562,2.565,2.569,2.578,2.591,2.599,2.601,2.604,2.609,2.613,2.616,2.63,2.633,2.638,2.646,2.647,2.66,2.675,2.675,2.692,2.695,2.7,2.718,2.721,2.723,2.736,2.745,2.745,2.762,2.782,2.785,2.8,2.811,2.815,2.832,2.845,2.851,2.86,2.871,2.878,2.889,2.907,2.92,2.932,2.935,2.949,2.955,2.98,2.988,2.995,3.02,3.032,3.043,3.049,3.063,3.087,3.092,3.104,3.121,3.139,3.162,3.164,3.186,3.202,3.213,3.231,3.244,3.259,3.276,3.296,3.327,3.335,3.346,3.37,3.381,3.415,3.442,3.464,3.485,3.499,3.526,3.54,3.561,3.588,3.623,3.637,3.662,3.695,3.728,3.754,3.782,3.796,3.843,3.861,3.896,3.913,4.018,4.072,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.351,3.349,3.325,3.315,3.301,3.3,3.289,3.282,3.266,3.265,3.259,3.259,3.242,3.235,3.222,3.215,3.21,3.194,3.19,3.19,3.177,3.171,3.166,3.159,3.148,3.144,3.141,3.132,3.128,3.12,3.118,3.11,3.107,3.105,3.096,3.093,3.084,3.083,3.078,3.07,3.067,3.061,3.058,3.051,3.049,3.044,3.044,3.041,3.041,3.04,3.034,3.033,3.033,3.031,3.03,3.025,3.03,3.031,3.031,3.031,3.031,3.016,3.016,3.015,3.015,3.015,3.017,3.01,3.012,3.01,3.01,3.005,3.005,3.005,3.005,3.007,3.008,3.014,3.014,3.014,3.02,3.02,3.02,3.02,3.02,3.023,3.023,3.023,3.023,3.023,3.025,3.025,3.028,3.028,3.029,3.031,3.035,3.036,3.037,3.037,3.047,3.051,3.058,3.061,3.064,3.067,3.07,3.071,3.072,3.088,3.09,3.092,3.092,3.096,3.098,3.107,3.111,3.113,3.121,3.133,3.133,3.135,3.139,3.139,3.137,3.139,3.139,3.153,3.159,3.165,3.169,3.184,3.185,3.185,3.196,3.211,3.218,3.22,3.22,3.233,3.233,3.244,3.248,3.253,3.261,3.28,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 68.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 68.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 68.6925} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8514} SEN {Time 68.7386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,3.691,3.675,3.664,3.664,3.646,3.625,3.611,3.611,3.611,3.599,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.21,3.206,3.21,3.21,3.368,0.007,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.144,0.15,0.15,0.155,0.151,0.155,0.155,0.159,0.159,3.027,3.04,3.04,3.04,3.04,3.04,0.158,0.158,0.153,0.153,0.153,0.153,0.152,0.148,0.148,0.131,0.11,0.067,0.066,0.064,0.063,0.063,0.063,0.068,0.068,0.069,0.068,0.068,0.061,0.061,0.061,0.072,0.129,0.203,3.338,3.358,3.364,3.358,3.358,3.364,3.38,3.381,3.396,3.421,3.422,3.432,3.461,3.462,3.476,3.482,3.486,3.501,3.503,3.503,3.506,3.516,3.523,3.524,3.525,3.526,3.527,3.53,3.539,3.542,3.543,3.545,3.547,3.554,3.564,3.565,3.57,3.57,3.582,3.583,3.586,3.592,3.595,3.595,3.608,3.611,3.62,3.624,3.627,3.628,3.634,3.641,3.653,3.66,3.661,3.663,3.675,3.679,3.695,3.695,3.695,3.697,3.728,3.728,3.729,3.74,3.751,3.753,3.754,3.764,3.772,3.796,3.807,3.812,3.823,3.831,3.849,3.853,3.867,3.873,3.884,3.895,3.907,3.918,3.925,3.942,3.955,3.973,3.994,4.001,4.014,4.029,4.052,4.067,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.028,3.972,3.917,3.904,3.88,3.843,3.813,3.775,3.738,3.724,3.701,3.676,3.643,3.625,3.602,3.578,3.54,3.532,3.498,3.487,3.454,3.444,3.418,3.411,3.38,3.369,3.349,3.336,3.305,3.303,3.275,3.254,3.24,3.229,3.205,3.189,3.17,3.153,3.147,3.127,3.105,3.093,3.081,3.061,3.047,3.033,3.032,3.011,3,2.987,2.982,2.965,2.941,2.934,2.924,2.922,2.901,2.89,2.879,2.866,2.86,2.848,2.838,2.829,2.813,2.813,2.793,2.786,2.782,2.763,2.761,2.751,2.737,2.732,2.725,2.706,2.704,2.698,2.685,2.675,2.669,2.659,2.654,2.645,2.639,2.634,2.632,2.618,2.617,2.608,2.603,2.592,2.585,2.584,2.578,2.569,2.567,2.558,2.556,2.553,2.546,2.535,2.528,2.527,2.519,2.509,2.505,2.504,2.499,2.497,2.497,2.49,2.482,2.479,2.479,2.472,2.466,2.466,2.466,2.459,2.459,2.456,2.454,2.454,2.45,2.446,2.437,2.437,2.437,2.436,2.43,2.43,2.429,2.43,2.426,2.426,2.421,2.417,2.416,2.416,2.416,2.416,2.413,2.413,2.413,2.413,2.408,2.408,2.408,2.408,2.409,2.41,2.413,2.413,2.411,2.413,2.411,2.411,2.413,2.414,2.416,2.417,2.417,2.417,2.421,2.421,2.421,2.421,2.426,2.429,2.43,2.434,2.435,2.436,2.436,2.445,2.446,2.451,2.452,2.457,2.461,2.462,2.462,2.465,2.467,2.467,2.472,2.478,2.482,2.482,2.483,2.492,2.498,2.506,2.51,2.517,2.518,2.521,2.527,2.534,2.536,2.538,2.547,2.552,2.557,2.563,2.568,2.576,2.585,2.596,2.599,2.602,2.607,2.618,2.623,2.64,2.642,2.643,2.654,2.657,2.665,2.676,2.677,2.686,2.7,2.7,2.714,2.722,2.726,2.745,2.745,2.749,2.77,2.782,2.789,2.802,2.81,2.818,2.828,2.838,2.848,2.857,2.873,2.88,2.884,2.904,2.916,2.928,2.945,2.947,2.959,2.973,2.985,2.999,3.01,3.029,3.043,3.045,3.073,3.083,3.095,3.109,3.123,3.146,3.154,3.161,3.176,3.204,3.224,3.227,3.255,3.267,3.272,3.301,3.326,3.343,3.361,3.364,3.395,3.406,3.442,3.458,3.481,3.501,3.524,3.533,3.568,3.594,3.614,3.652,3.662,3.705,3.722,3.753,3.776,3.803,3.844,3.861,3.872,3.918,4.028,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.353,3.338,3.329,3.321,3.303,3.295,3.291,3.273,3.268,3.257,3.252,3.25,3.246,3.237,3.224,3.214,3.207,3.198,3.195,3.189,3.171,3.17,3.157,3.157,3.148,3.148,3.137,3.129,3.123,3.123,3.119,3.113,3.112,3.103,3.092,3.092,3.08,3.078,3.075,3.073,3.065,3.063,3.063,3.055,3.053,3.05,3.049,3.045,3.043,3.039,3.039,3.037,3.03,3.029,3.024,3.021,3.021,3.021,3.035,3.035,3.035,3.022,3.017,3.017,3.017,3.012,3.012,3.012,3.009,3.009,3.011,3.009,3.011,3.011,3.011,3.011,3.011,3.009,3.009,3.009,3.009,3.01,3.014,3.014,3.014,3.019,3.019,3.024,3.024,3.017,3.017,3.024,3.029,3.031,3.035,3.038,3.038,3.038,3.038,3.045,3.045,3.053,3.058,3.059,3.059,3.059,3.066,3.067,3.077,3.086,3.087,3.089,3.092,3.092,3.096,3.111,3.112,3.114,3.127,3.13,3.13,3.13,3.13,3.14,3.14,3.146,3.149,3.158,3.16,3.165,3.167,3.17,3.183,3.185,3.201,3.218,3.219,3.221,3.224,3.237,3.243,3.243,3.243,3.251,3.259,3.277,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 68.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 68.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 68.8935} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8514} SEN {Time 68.9346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.184,0.185,0.185,0,0,0,0,0,0,0,0,3.689,3.686,3.668,3.657,3.637,3.627,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.231,3.215,3.215,3.214,3.215,3.265,3.367,3.367,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.144,0.143,0.142,0.142,0.15,0.15,0.15,0.15,0.15,0.155,3.043,3.043,3.043,3.043,3.03,3.03,3.027,0.162,0.157,0.157,0.155,0.153,0.153,0.149,0.143,0.128,0.101,0.067,0.063,0.061,0.058,0.061,0.061,0.061,0.063,0.063,0.061,0.061,0.059,0.059,0.059,0.076,0.142,0.215,3.335,3.355,3.364,3.364,3.364,3.368,3.376,3.379,3.401,3.417,3.421,3.456,3.465,3.476,3.476,3.49,3.495,3.497,3.498,3.502,3.51,3.515,3.517,3.52,3.523,3.523,3.531,3.533,3.541,3.546,3.546,3.546,3.555,3.556,3.562,3.566,3.567,3.567,3.58,3.58,3.58,3.584,3.591,3.604,3.606,3.612,3.618,3.628,3.633,3.634,3.641,3.646,3.652,3.652,3.655,3.658,3.669,3.681,3.69,3.692,3.7,3.71,3.725,3.728,3.731,3.753,3.76,3.761,3.763,3.774,3.783,3.796,3.798,3.819,3.831,3.835,3.844,3.852,3.861,3.865,3.875,3.897,3.899,3.925,3.926,3.938,3.961,3.97,3.984,3.996,4.004,4.037,4.058,4.084,4.084,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.036,3.999,3.96,3.941,3.91,3.874,3.855,3.805,3.783,3.753,3.727,3.705,3.68,3.652,3.629,3.606,3.572,3.545,3.528,3.5,3.487,3.468,3.444,3.413,3.401,3.378,3.366,3.343,3.326,3.308,3.289,3.279,3.255,3.227,3.226,3.199,3.178,3.176,3.143,3.137,3.116,3.112,3.098,3.083,3.08,3.053,3.038,3.037,3.006,2.999,2.986,2.983,2.956,2.949,2.944,2.925,2.918,2.906,2.904,2.882,2.867,2.866,2.849,2.845,2.83,2.822,2.805,2.791,2.785,2.782,2.77,2.759,2.745,2.741,2.735,2.723,2.714,2.699,2.696,2.681,2.675,2.673,2.662,2.656,2.649,2.648,2.641,2.635,2.626,2.612,2.611,2.61,2.601,2.592,2.584,2.581,2.569,2.567,2.564,2.558,2.555,2.54,2.536,2.528,2.527,2.524,2.511,2.507,2.502,2.499,2.494,2.491,2.489,2.485,2.483,2.477,2.475,2.473,2.472,2.466,2.463,2.46,2.451,2.45,2.444,2.444,2.444,2.44,2.438,2.435,2.431,2.427,2.427,2.426,2.425,2.421,2.419,2.419,2.416,2.412,2.414,2.412,2.412,2.41,2.41,2.41,2.412,2.41,2.412,2.412,2.408,2.408,2.409,2.408,2.409,2.412,2.414,2.414,2.415,2.417,2.417,2.417,2.418,2.418,2.418,2.418,2.418,2.425,2.426,2.427,2.43,2.43,2.435,2.439,2.439,2.439,2.442,2.445,2.448,2.45,2.459,2.46,2.462,2.462,2.466,2.47,2.472,2.472,2.474,2.484,2.487,2.487,2.493,2.493,2.505,2.512,2.515,2.519,2.521,2.524,2.529,2.538,2.539,2.553,2.553,2.554,2.568,2.573,2.576,2.592,2.594,2.597,2.604,2.606,2.609,2.624,2.641,2.641,2.646,2.651,2.656,2.665,2.682,2.682,2.683,2.703,2.703,2.715,2.721,2.729,2.732,2.747,2.756,2.763,2.781,2.79,2.795,2.814,2.818,2.831,2.838,2.84,2.856,2.876,2.88,2.889,2.899,2.915,2.924,2.944,2.949,2.955,2.978,2.98,2.994,3.015,3.028,3.041,3.048,3.07,3.077,3.094,3.104,3.121,3.14,3.157,3.167,3.187,3.196,3.228,3.232,3.246,3.267,3.282,3.293,3.325,3.331,3.354,3.379,3.389,3.405,3.432,3.459,3.487,3.491,3.528,3.536,3.575,3.596,3.615,3.64,3.67,3.687,3.722,3.744,3.784,3.805,3.838,3.85,3.894,3.936,4.043,0,0.007,0,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.363,3.339,3.327,3.311,3.311,3.294,3.291,3.282,3.27,3.262,3.246,3.239,3.236,3.229,3.219,3.207,3.204,3.195,3.193,3.183,3.176,3.175,3.155,3.154,3.153,3.139,3.138,3.133,3.123,3.118,3.111,3.11,3.103,3.1,3.097,3.094,3.088,3.079,3.079,3.073,3.068,3.066,3.063,3.058,3.051,3.049,3.047,3.047,3.045,3.045,3.04,3.037,3.034,3.03,3.028,3.024,3.024,3.024,3.029,3.029,3.029,3.023,3.014,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.005,3.004,3.004,3.004,3.003,3.006,3.013,3.013,3.011,3.013,3.012,3.012,3.013,3.013,3.016,3.019,3.019,3.021,3.021,3.021,3.028,3.028,3.033,3.033,3.033,3.033,3.033,3.033,3.044,3.049,3.053,3.055,3.056,3.063,3.064,3.067,3.074,3.082,3.082,3.087,3.089,3.09,3.093,3.099,3.105,3.105,3.111,3.127,3.13,3.13,3.131,3.14,3.141,3.143,3.145,3.147,3.148,3.156,3.164,3.171,3.176,3.178,3.183,3.197,3.21,3.213,3.222,3.222,3.229,3.232,3.241,3.245,3.251,3.259,3.277,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 69.09} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 69.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 69.0854} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8514} SEN {Time 69.1346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.181,0.187,0.187,0,0,0,0,0,0,0,0,3.689,3.684,3.669,3.663,3.648,3.628,3.604,3.604,3.592,3.589,3.589,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.216,3.208,3.208,3.208,3.258,3.363,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.151,0.151,0.15,0.151,0.151,0.151,0.151,0.153,0.156,3.036,3.037,3.037,3.037,3.037,3.037,3.033,0.154,0.154,0.154,0.153,0.154,0.152,0.151,0.151,0.126,0.109,0.072,0.06,0.06,0.06,0.064,0.068,0.068,0.069,0.07,0.069,0.069,0.06,0.06,0.06,0.076,0.146,0.196,3.334,3.339,3.359,3.363,3.363,3.367,3.374,3.374,3.432,3.432,3.453,3.453,3.453,3.473,3.475,3.485,3.487,3.501,3.506,3.506,3.508,3.515,3.516,3.519,3.519,3.519,3.527,3.53,3.535,3.537,3.541,3.547,3.55,3.551,3.557,3.563,3.563,3.572,3.572,3.579,3.581,3.582,3.594,3.604,3.609,3.612,3.62,3.623,3.63,3.64,3.641,3.644,3.648,3.663,3.668,3.668,3.675,3.685,3.689,3.695,3.697,3.706,3.713,3.722,3.728,3.752,3.758,3.759,3.764,3.77,3.783,3.793,3.807,3.811,3.822,3.838,3.841,3.854,3.862,3.877,3.879,3.901,3.911,3.916,3.929,3.933,3.954,3.964,3.973,4.005,4.019,4.035,4.047,4.075,4.082,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.091,0.007,4.003,3.923,3.904,3.88,3.845,3.804,3.787,3.748,3.725,3.719,3.665,3.654,3.627,3.598,3.579,3.557,3.527,3.514,3.488,3.468,3.447,3.427,3.405,3.382,3.37,3.347,3.327,3.302,3.292,3.269,3.261,3.222,3.22,3.2,3.18,3.169,3.147,3.138,3.124,3.108,3.097,3.086,3.061,3.052,3.044,3.026,3.013,3.002,2.993,2.985,2.964,2.961,2.933,2.923,2.911,2.911,2.893,2.879,2.868,2.862,2.844,2.839,2.832,2.81,2.805,2.791,2.79,2.771,2.762,2.758,2.745,2.741,2.732,2.722,2.72,2.708,2.698,2.686,2.677,2.673,2.665,2.659,2.658,2.652,2.635,2.635,2.619,2.616,2.607,2.607,2.604,2.586,2.583,2.575,2.573,2.57,2.563,2.554,2.553,2.545,2.542,2.534,2.528,2.521,2.514,2.511,2.508,2.498,2.497,2.494,2.483,2.481,2.481,2.478,2.475,2.473,2.471,2.47,2.458,2.457,2.455,2.455,2.455,2.448,2.446,2.443,2.439,2.438,2.438,2.432,2.429,2.428,2.423,2.42,2.42,2.416,2.416,2.413,2.413,2.413,2.413,2.412,2.41,2.41,2.409,2.408,2.408,2.408,2.408,2.408,2.408,2.412,2.413,2.414,2.414,2.413,2.413,2.415,2.415,2.418,2.418,2.418,2.42,2.419,2.419,2.42,2.426,2.428,2.431,2.432,2.434,2.437,2.441,2.441,2.443,2.446,2.449,2.451,2.452,2.455,2.455,2.458,2.462,2.47,2.478,2.48,2.483,2.493,2.493,2.494,2.494,2.497,2.499,2.517,2.518,2.519,2.521,2.522,2.523,2.531,2.542,2.543,2.551,2.558,2.561,2.576,2.586,2.59,2.599,2.6,2.61,2.611,2.612,2.624,2.636,2.642,2.643,2.651,2.653,2.661,2.679,2.68,2.691,2.704,2.706,2.714,2.722,2.723,2.732,2.749,2.756,2.764,2.773,2.784,2.797,2.803,2.817,2.828,2.844,2.851,2.857,2.872,2.878,2.893,2.9,2.91,2.927,2.942,2.951,2.96,2.977,2.978,3.001,3.012,3.023,3.041,3.048,3.064,3.08,3.097,3.106,3.131,3.132,3.155,3.166,3.182,3.205,3.226,3.228,3.25,3.266,3.269,3.3,3.328,3.338,3.344,3.376,3.395,3.411,3.433,3.461,3.472,3.496,3.515,3.542,3.569,3.589,3.625,3.645,3.676,3.686,3.721,3.75,3.782,3.797,3.839,3.856,3.923,0.007,0,0.007,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.353,3.342,3.329,3.319,3.318,3.296,3.289,3.282,3.269,3.263,3.249,3.241,3.24,3.238,3.218,3.211,3.206,3.197,3.189,3.185,3.174,3.168,3.157,3.155,3.151,3.142,3.14,3.13,3.127,3.121,3.115,3.113,3.105,3.103,3.093,3.092,3.085,3.082,3.08,3.079,3.073,3.067,3.061,3.061,3.053,3.049,3.048,3.039,3.039,3.038,3.038,3.038,3.03,3.029,3.028,3.022,3.022,3.028,3.022,3.022,3.024,3.021,3.02,3.014,3.02,3.014,3.013,3.01,3.01,3.01,3.009,3.007,3.006,3.006,3.006,3.008,3.01,3.01,3.009,3.009,3.014,3.014,3.015,3.016,3.016,3.019,3.019,3.023,3.023,3.024,3.023,3.026,3.026,3.026,3.031,3.034,3.034,3.04,3.041,3.044,3.05,3.055,3.057,3.061,3.062,3.063,3.065,3.065,3.084,3.085,3.086,3.087,3.089,3.09,3.092,3.112,3.116,3.116,3.118,3.129,3.129,3.135,3.137,3.137,3.137,3.143,3.149,3.158,3.163,3.169,3.171,3.175,3.184,3.188,3.197,3.215,3.216,3.218,3.226,3.228,3.23,3.242,3.251,3.252,3.253,3.277,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 69.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 69.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 69.2865} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2578} SEN {Time 69.3346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.179,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,3.688,3.676,3.674,3.659,3.65,3.624,3.608,3.608,3.608,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.212,3.211,3.212,3.217,3.256,3.362,0,0,0,0,0,0,0,0.007,0.148,0.148,0.148,0.148,0.143,0.149,0.149,0.152,0.149,0.152,0.152,0.153,0.158,3.026,3.034,3.036,3.036,3.034,3.034,0.156,0.156,0.156,0.156,0.156,0.154,0.153,0.153,0.147,0.13,0.105,0.072,0.071,0.068,0.063,0.068,0.065,0.068,0.068,0.069,0.069,0.069,0.069,0.069,0.072,0.088,0.136,0.21,3.332,3.332,3.357,3.368,3.37,3.373,3.38,3.38,3.405,3.43,3.436,3.436,3.449,3.466,3.478,3.487,3.489,3.491,3.495,3.506,3.51,3.513,3.515,3.526,3.526,3.529,3.529,3.536,3.537,3.542,3.545,3.555,3.556,3.556,3.556,3.562,3.575,3.575,3.578,3.582,3.587,3.587,3.589,3.593,3.612,3.619,3.625,3.626,3.631,3.634,3.642,3.647,3.649,3.657,3.664,3.665,3.668,3.672,3.685,3.696,3.702,3.705,3.719,3.722,3.724,3.744,3.746,3.748,3.767,3.771,3.771,3.802,3.808,3.809,3.813,3.838,3.845,3.855,3.861,3.879,3.885,3.9,3.902,3.919,3.936,3.937,3.951,3.968,3.989,3.999,4.011,4.033,4.046,4.058,4.079,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,4.066,4.028,3.979,3.923,3.9,3.872,3.854,3.806,3.782,3.754,3.729,3.696,3.688,3.651,3.62,3.609,3.572,3.557,3.527,3.506,3.484,3.448,3.444,3.43,3.403,3.386,3.38,3.349,3.333,3.314,3.287,3.272,3.254,3.23,3.226,3.195,3.175,3.173,3.157,3.132,3.119,3.104,3.092,3.086,3.06,3.057,3.041,3.029,3.01,3.003,2.985,2.977,2.954,2.946,2.933,2.929,2.92,2.909,2.899,2.877,2.872,2.864,2.848,2.842,2.832,2.814,2.81,2.795,2.787,2.783,2.765,2.762,2.747,2.738,2.729,2.72,2.713,2.702,2.697,2.682,2.679,2.675,2.661,2.659,2.659,2.651,2.642,2.636,2.63,2.623,2.621,2.608,2.6,2.594,2.575,2.574,2.57,2.569,2.568,2.558,2.55,2.54,2.539,2.524,2.523,2.52,2.518,2.506,2.5,2.5,2.493,2.491,2.49,2.484,2.482,2.475,2.473,2.472,2.472,2.465,2.465,2.462,2.451,2.45,2.449,2.448,2.444,2.442,2.438,2.434,2.432,2.431,2.427,2.427,2.427,2.425,2.421,2.421,2.418,2.418,2.418,2.418,2.417,2.415,2.415,2.413,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.412,2.412,2.415,2.416,2.412,2.413,2.416,2.416,2.425,2.425,2.425,2.42,2.42,2.42,2.42,2.421,2.426,2.426,2.433,2.435,2.436,2.437,2.437,2.44,2.443,2.451,2.452,2.454,2.46,2.46,2.464,2.464,2.473,2.473,2.474,2.476,2.485,2.485,2.49,2.491,2.496,2.5,2.513,2.515,2.517,2.522,2.529,2.53,2.533,2.536,2.555,2.557,2.565,2.566,2.568,2.573,2.591,2.599,2.601,2.603,2.603,2.617,2.628,2.629,2.64,2.641,2.648,2.654,2.667,2.674,2.678,2.689,2.701,2.702,2.72,2.724,2.733,2.739,2.745,2.754,2.768,2.784,2.785,2.798,2.813,2.818,2.835,2.844,2.85,2.857,2.873,2.882,2.89,2.898,2.909,2.932,2.938,2.951,2.96,2.976,2.985,2.995,3.005,3.032,3.037,3.042,3.065,3.07,3.091,3.106,3.127,3.138,3.152,3.16,3.181,3.202,3.224,3.234,3.246,3.26,3.278,3.299,3.323,3.342,3.346,3.37,3.403,3.408,3.432,3.461,3.48,3.505,3.525,3.539,3.57,3.596,3.626,3.642,3.665,3.692,3.723,3.745,3.774,3.802,3.841,3.853,3.897,3.92,0,0,0,0.009,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.357,3.332,3.325,3.313,3.308,3.294,3.283,3.278,3.264,3.262,3.253,3.241,3.238,3.237,3.224,3.207,3.204,3.194,3.19,3.189,3.184,3.168,3.159,3.152,3.152,3.14,3.138,3.131,3.126,3.119,3.119,3.11,3.105,3.101,3.094,3.088,3.087,3.084,3.077,3.076,3.071,3.066,3.063,3.05,3.049,3.046,3.044,3.044,3.043,3.041,3.031,3.03,3.027,3.026,3.022,3.019,3.019,3.019,3.019,3.019,3.019,3.018,3.018,3.017,3.014,3.011,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.014,3.015,3.015,3.017,3.018,3.022,3.018,3.025,3.025,3.021,3.021,3.028,3.025,3.029,3.031,3.034,3.034,3.039,3.04,3.04,3.046,3.053,3.055,3.056,3.057,3.062,3.065,3.069,3.069,3.088,3.09,3.092,3.094,3.099,3.103,3.106,3.108,3.113,3.12,3.128,3.131,3.131,3.132,3.143,3.138,3.143,3.147,3.152,3.16,3.165,3.171,3.171,3.179,3.182,3.195,3.206,3.216,3.225,3.231,3.235,3.239,3.244,3.245,3.248,3.262,3.283,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 69.49} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 69.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 69.4875} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2578} SEN {Time 69.5346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.182,0.186,0.186,0,0,0,0,0,0,0,0,0,3.677,3.674,3.659,3.638,3.631,3.623,3.623,3.623,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.211,3.211,3.211,3.261,3.364,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.148,0.148,0.148,0.155,0.151,0.155,0.155,0.156,0.156,3.03,3.043,3.043,3.043,3.031,3.043,3.031,0.154,0.154,0.154,0.154,0.154,0.154,0.151,0.146,0.129,0.104,0.076,0.064,0.063,0.061,0.063,0.061,0.061,0.068,0.069,0.069,0.069,0.065,0.065,0.065,0.086,0.138,0.211,3.332,3.335,3.361,3.365,3.365,3.371,3.379,3.395,3.426,3.425,3.426,3.449,3.449,3.469,3.482,3.483,3.492,3.494,3.501,3.505,3.512,3.516,3.516,3.516,3.527,3.529,3.533,3.536,3.536,3.539,3.543,3.548,3.548,3.551,3.563,3.563,3.567,3.569,3.575,3.577,3.58,3.58,3.596,3.598,3.606,3.613,3.627,3.628,3.632,3.632,3.646,3.647,3.65,3.654,3.658,3.66,3.676,3.678,3.679,3.696,3.702,3.708,3.716,3.726,3.735,3.746,3.752,3.758,3.77,3.772,3.777,3.795,3.801,3.808,3.81,3.815,3.851,3.852,3.865,3.884,3.888,3.896,3.903,3.915,3.926,3.938,3.959,3.976,3.988,4.011,4.024,4.026,4.04,4.059,4.067,0.016,0.016,0.016,0.016,0.007,0,0.016,0,4.044,4.028,3.965,3.925,3.887,3.866,3.84,3.813,3.783,3.75,3.725,3.702,3.667,3.657,3.628,3.598,3.573,3.561,3.522,3.505,3.491,3.454,3.439,3.415,3.402,3.376,3.375,3.355,3.329,3.308,3.285,3.283,3.268,3.228,3.226,3.199,3.175,3.168,3.148,3.139,3.117,3.111,3.095,3.084,3.068,3.048,3.033,3.029,3.013,2.994,2.994,2.984,2.958,2.954,2.933,2.921,2.917,2.91,2.893,2.874,2.864,2.862,2.855,2.833,2.824,2.816,2.81,2.799,2.783,2.782,2.769,2.763,2.762,2.741,2.735,2.72,2.714,2.706,2.697,2.689,2.684,2.675,2.658,2.653,2.653,2.65,2.64,2.633,2.618,2.617,2.61,2.61,2.594,2.591,2.581,2.578,2.57,2.57,2.562,2.562,2.551,2.545,2.538,2.536,2.523,2.52,2.512,2.51,2.508,2.499,2.494,2.492,2.482,2.482,2.479,2.477,2.467,2.467,2.465,2.464,2.459,2.455,2.451,2.451,2.451,2.448,2.448,2.448,2.448,2.441,2.431,2.426,2.424,2.424,2.423,2.421,2.417,2.417,2.417,2.416,2.415,2.416,2.412,2.412,2.412,2.416,2.417,2.417,2.416,2.416,2.41,2.41,2.413,2.413,2.413,2.413,2.413,2.413,2.41,2.41,2.414,2.414,2.416,2.416,2.418,2.419,2.419,2.421,2.423,2.424,2.425,2.426,2.435,2.438,2.442,2.442,2.443,2.447,2.447,2.452,2.456,2.456,2.458,2.465,2.466,2.466,2.474,2.474,2.476,2.48,2.486,2.49,2.493,2.504,2.505,2.513,2.517,2.521,2.524,2.531,2.533,2.539,2.54,2.552,2.556,2.559,2.563,2.573,2.58,2.591,2.595,2.602,2.603,2.603,2.62,2.623,2.633,2.634,2.637,2.646,2.647,2.658,2.673,2.679,2.688,2.693,2.705,2.717,2.719,2.732,2.748,2.754,2.756,2.775,2.784,2.786,2.803,2.812,2.818,2.836,2.84,2.846,2.856,2.876,2.876,2.884,2.898,2.916,2.93,2.94,2.948,2.964,2.974,2.98,3.004,3.022,3.025,3.041,3.042,3.065,3.083,3.092,3.108,3.123,3.128,3.16,3.167,3.183,3.197,3.222,3.231,3.249,3.265,3.278,3.301,3.326,3.328,3.35,3.378,3.403,3.405,3.432,3.456,3.474,3.504,3.518,3.539,3.579,3.6,3.622,3.645,3.667,3.69,3.721,3.738,3.785,3.802,3.846,3.858,3.889,3.917,3.986,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.35,3.346,3.33,3.315,3.307,3.296,3.291,3.274,3.263,3.263,3.257,3.253,3.24,3.233,3.217,3.209,3.206,3.191,3.189,3.186,3.175,3.163,3.16,3.158,3.153,3.142,3.136,3.133,3.127,3.123,3.12,3.109,3.104,3.103,3.102,3.092,3.085,3.082,3.082,3.078,3.069,3.066,3.063,3.057,3.055,3.049,3.047,3.044,3.039,3.039,3.038,3.038,3.028,3.026,3.024,3.025,3.026,3.026,3.026,3.026,3.026,3.019,3.018,3.014,3.014,3.013,3.013,3.01,3.01,3.006,3.01,3.006,3.006,3.006,3.006,3.006,3.006,3.012,3.012,3.012,3.012,3.01,3.01,3.015,3.015,3.017,3.017,3.017,3.025,3.025,3.025,3.028,3.03,3.03,3.03,3.036,3.036,3.036,3.046,3.049,3.053,3.053,3.055,3.059,3.059,3.06,3.067,3.067,3.073,3.087,3.087,3.092,3.092,3.097,3.1,3.104,3.114,3.114,3.121,3.132,3.132,3.132,3.132,3.142,3.142,3.147,3.153,3.153,3.163,3.168,3.173,3.175,3.175,3.185,3.198,3.214,3.215,3.221,3.228,3.231,3.231,3.234,3.235,3.242,3.275,3.287,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 69.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 69.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 69.6884} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578} SEN {Time 69.7306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.681,3.674,3.666,3.662,3.644,3.63,3.61,3.61,3.61,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.218,3.213,3.218,3.218,3.261,3.356,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.148,0.148,0.147,0.149,0.149,0.153,0.153,0.157,0.158,3.027,3.037,3.039,3.039,3.037,3.043,3.043,0.157,0.153,0.153,0.152,0.152,0.152,0.148,0.144,0.13,0.107,0.076,0.064,0.063,0.063,0.063,0.065,0.065,0.065,0.065,0.065,0.064,0.064,0.064,0.068,0.074,0.135,0.201,3.348,3.365,3.391,3.391,3.379,3.391,0.007,0,0,0,0.007,0,3.481,3.481,3.481,3.481,3.492,3.495,3.495,3.497,3.507,3.509,3.516,3.519,3.52,3.521,3.535,3.541,3.541,3.544,3.545,3.546,3.547,3.548,3.549,3.561,3.574,3.58,3.58,3.582,3.583,3.589,3.598,3.606,3.609,3.616,3.625,3.627,3.632,3.638,3.65,3.652,3.659,3.66,3.666,3.666,3.674,3.684,3.69,3.691,3.692,3.696,3.702,3.728,3.73,3.743,3.751,3.752,3.757,3.768,3.769,3.797,3.806,3.812,3.813,3.834,3.847,3.851,3.863,3.879,3.882,3.894,3.903,3.917,3.919,3.941,3.968,3.978,3.989,4.003,4.014,4.031,4.047,4.067,4.071,4.09,0.016,0.016,0.016,0.016,0.016,4.089,4.044,4.021,3.991,3.98,3.918,3.901,3.882,3.84,3.804,3.787,3.755,3.73,3.7,3.668,3.662,3.614,3.593,3.571,3.554,3.516,3.509,3.483,3.457,3.442,3.429,3.401,3.388,3.361,3.352,3.327,3.309,3.299,3.281,3.261,3.232,3.226,3.193,3.192,3.176,3.156,3.142,3.125,3.117,3.102,3.091,3.057,3.046,3.043,3.03,3.018,2.997,2.99,2.986,2.963,2.96,2.939,2.928,2.92,2.905,2.89,2.88,2.868,2.856,2.851,2.833,2.824,2.815,2.801,2.796,2.791,2.784,2.759,2.758,2.747,2.742,2.739,2.719,2.714,2.707,2.693,2.686,2.678,2.675,2.66,2.66,2.65,2.643,2.639,2.638,2.624,2.617,2.611,2.611,2.596,2.587,2.582,2.581,2.565,2.565,2.56,2.559,2.551,2.537,2.537,2.537,2.53,2.524,2.512,2.51,2.51,2.501,2.499,2.498,2.487,2.482,2.48,2.479,2.474,2.474,2.47,2.467,2.46,2.46,2.456,2.455,2.449,2.446,2.446,2.441,2.436,2.433,2.432,2.431,2.431,2.428,2.427,2.425,2.424,2.419,2.417,2.417,2.417,2.416,2.415,2.413,2.412,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.412,2.412,2.416,2.42,2.42,2.416,2.415,2.415,2.415,2.418,2.424,2.424,2.418,2.418,2.418,2.418,2.426,2.427,2.427,2.429,2.436,2.438,2.438,2.439,2.439,2.441,2.442,2.452,2.455,2.456,2.46,2.465,2.474,2.475,2.475,2.475,2.478,2.483,2.486,2.486,2.487,2.491,2.499,2.507,2.509,2.517,2.522,2.525,2.527,2.527,2.541,2.548,2.551,2.564,2.568,2.571,2.581,2.59,2.591,2.597,2.602,2.602,2.619,2.624,2.631,2.644,2.646,2.648,2.652,2.662,2.675,2.685,2.689,2.699,2.703,2.719,2.729,2.73,2.746,2.753,2.753,2.769,2.779,2.786,2.797,2.809,2.817,2.833,2.841,2.846,2.859,2.874,2.883,2.889,2.904,2.918,2.922,2.937,2.953,2.958,2.976,2.978,2.997,3.012,3.015,3.036,3.043,3.061,3.087,3.097,3.1,3.12,3.136,3.15,3.168,3.184,3.206,3.223,3.236,3.243,3.258,3.274,3.298,3.326,3.33,3.35,3.383,3.399,3.405,3.438,3.456,3.49,3.506,3.516,3.545,3.569,3.604,3.616,3.632,3.672,3.686,3.709,3.747,3.776,3.799,3.832,3.865,3.92,3.949,3.996,3.996,4.024,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.346,3.341,3.339,3.324,3.31,3.294,3.29,3.278,3.277,3.266,3.251,3.246,3.239,3.228,3.217,3.209,3.201,3.198,3.193,3.19,3.177,3.171,3.159,3.158,3.148,3.148,3.143,3.13,3.127,3.121,3.117,3.113,3.11,3.102,3.093,3.092,3.084,3.075,3.075,3.073,3.072,3.067,3.066,3.054,3.052,3.049,3.045,3.036,3.036,3.036,3.036,3.033,3.032,3.03,3.023,3.021,3.021,3.021,3.031,3.031,3.031,3.021,3.016,3.016,3.016,3.016,3.015,3.015,3.01,3.01,3.01,3.01,3.01,3.008,3.008,3.008,3.008,3.008,3.008,3.008,3.011,3.011,3.014,3.016,3.016,3.016,3.017,3.018,3.02,3.02,3.02,3.022,3.029,3.029,3.038,3.038,3.039,3.042,3.043,3.045,3.05,3.057,3.059,3.06,3.061,3.061,3.072,3.075,3.078,3.088,3.092,3.092,3.092,3.092,3.095,3.109,3.115,3.115,3.121,3.133,3.133,3.133,3.133,3.138,3.142,3.149,3.15,3.153,3.156,3.163,3.171,3.172,3.173,3.196,3.197,3.214,3.214,3.218,3.224,3.234,3.235,3.237,3.246,3.253,3.26,3.277,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 69.88} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 69.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 69.8814} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7752} SEN {Time 69.9306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.178,0.183,0.183,0,0,0,0,0,0,0,0,3.695,3.678,3.668,3.665,3.643,3.62,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.221,3.221,3.221,3.221,3.222,3.262,3.361,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.146,0.146,0.148,0.153,0.153,0.153,0.153,0.153,0.158,0.158,3.033,3.033,3.033,3.033,3.029,3.029,3.028,0.156,0.155,0.155,0.153,0.152,0.15,0.15,0.149,0.132,0.099,0.068,0.065,0.064,0.064,0.064,0.064,0.065,0.065,0.065,0.065,0.065,0.064,0.064,0.064,0.076,0.14,0.202,3.341,3.354,3.386,3.357,3.364,3.374,3.374,3.374,3.428,0,0.007,0,3.487,3.487,3.487,3.487,3.489,3.49,3.495,3.503,3.506,3.51,3.519,3.52,3.52,3.524,3.525,3.529,3.53,3.543,3.544,3.546,3.546,3.559,3.56,3.562,3.571,3.576,3.581,3.583,3.585,3.594,3.595,3.606,3.612,3.617,3.626,3.63,3.633,3.633,3.646,3.652,3.654,3.654,3.66,3.665,3.672,3.673,3.689,3.694,3.7,3.706,3.716,3.726,3.74,3.751,3.756,3.758,3.76,3.761,3.791,3.792,3.806,3.806,3.825,3.829,3.843,3.851,3.872,3.875,3.885,3.901,3.909,3.916,3.935,3.944,3.958,3.967,3.992,3.997,4.014,4.037,4.05,4.052,4.074,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.043,3.987,3.97,3.932,3.897,3.872,3.837,3.822,3.796,3.751,3.735,3.702,3.676,3.649,3.623,3.6,3.575,3.542,3.529,3.498,3.49,3.468,3.449,3.416,3.396,3.379,3.369,3.354,3.337,3.31,3.297,3.269,3.257,3.236,3.233,3.201,3.187,3.165,3.157,3.145,3.118,3.104,3.089,3.086,3.066,3.05,3.04,3.029,3.005,2.997,2.995,2.978,2.958,2.955,2.936,2.932,2.916,2.906,2.894,2.872,2.865,2.859,2.85,2.842,2.822,2.818,2.81,2.795,2.791,2.782,2.769,2.763,2.749,2.747,2.735,2.723,2.72,2.703,2.699,2.686,2.679,2.678,2.663,2.655,2.648,2.646,2.634,2.631,2.617,2.616,2.61,2.602,2.595,2.586,2.58,2.576,2.572,2.567,2.559,2.559,2.545,2.542,2.541,2.527,2.525,2.524,2.513,2.508,2.501,2.497,2.497,2.496,2.486,2.482,2.48,2.479,2.474,2.474,2.471,2.462,2.46,2.454,2.453,2.449,2.449,2.445,2.444,2.442,2.44,2.44,2.433,2.428,2.427,2.427,2.425,2.425,2.423,2.418,2.417,2.413,2.413,2.411,2.411,2.411,2.412,2.414,2.414,2.414,2.413,2.409,2.409,2.409,2.41,2.414,2.414,2.414,2.414,2.41,2.41,2.41,2.411,2.415,2.415,2.417,2.417,2.417,2.417,2.42,2.421,2.425,2.429,2.433,2.434,2.439,2.441,2.442,2.443,2.442,2.442,2.448,2.451,2.458,2.458,2.464,2.468,2.47,2.473,2.477,2.48,2.481,2.487,2.489,2.491,2.501,2.505,2.509,2.518,2.518,2.521,2.527,2.534,2.536,2.539,2.547,2.555,2.563,2.565,2.572,2.575,2.586,2.593,2.597,2.606,2.61,2.619,2.626,2.627,2.642,2.643,2.647,2.655,2.662,2.674,2.674,2.689,2.695,2.702,2.714,2.72,2.73,2.747,2.751,2.755,2.764,2.778,2.781,2.803,2.809,2.815,2.833,2.837,2.845,2.853,2.87,2.879,2.88,2.899,2.918,2.927,2.945,2.949,2.958,2.975,2.982,3.002,3.012,3.027,3.04,3.05,3.065,3.085,3.097,3.104,3.125,3.137,3.155,3.163,3.181,3.2,3.219,3.236,3.253,3.26,3.28,3.29,3.33,3.333,3.353,3.367,3.395,3.417,3.438,3.453,3.479,3.495,3.521,3.55,3.576,3.583,3.608,3.677,3.695,3.709,3.709,3.751,3.772,3.798,3.845,3.865,3.89,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.358,3.346,3.323,3.314,3.308,3.29,3.29,3.275,3.275,3.26,3.25,3.238,3.237,3.233,3.216,3.206,3.204,3.196,3.189,3.187,3.172,3.171,3.157,3.155,3.153,3.138,3.138,3.134,3.127,3.12,3.118,3.106,3.103,3.102,3.09,3.088,3.085,3.081,3.078,3.077,3.072,3.068,3.064,3.056,3.05,3.048,3.046,3.04,3.036,3.036,3.036,3.036,3.035,3.032,3.026,3.023,3.026,3.026,3.029,3.029,3.029,3.018,3.018,3.017,3.017,3.012,3.012,3.011,3.009,3.008,3.008,3.007,3.007,3.007,3.008,3.009,3.011,3.01,3.01,3.01,3.012,3.012,3.014,3.012,3.017,3.019,3.017,3.019,3.023,3.019,3.023,3.026,3.025,3.025,3.036,3.036,3.038,3.041,3.042,3.042,3.047,3.048,3.057,3.058,3.058,3.064,3.07,3.072,3.075,3.082,3.085,3.088,3.088,3.092,3.102,3.108,3.118,3.123,3.123,3.128,3.129,3.13,3.13,3.142,3.142,3.147,3.148,3.156,3.159,3.17,3.176,3.181,3.182,3.189,3.195,3.213,3.219,3.224,3.224,3.228,3.236,3.237,3.247,3.248,3.268,3.282,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 70.08} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 70.08} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 70.0822} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7752} SEN {Time 70.1337} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.181,0.188,0.188,0,0,0,0,0,0,0,0,3.689,3.681,3.669,3.664,3.641,3.635,3.615,3.615,3.615,0.006,0.006,0.006,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.215,3.215,3.215,3.215,3.254,3.358,0,0,0,0,0,0,0,0.142,0.142,0.142,0.142,0.144,0.144,0.143,0.143,0.153,0.147,0.153,0.153,0.16,3.038,3.039,3.039,3.039,3.039,3.039,3.039,3.037,0.158,0.158,0.158,0.156,0.156,0.153,0.152,0.148,0.133,0.1,0.07,0.06,0.058,0.058,0.06,0.061,0.063,0.064,0.065,0.064,0.064,0.063,0.063,0.063,0.081,0.134,0.206,3.33,0.007,0,0.007,3.37,3.37,3.371,3.371,3.404,3.444,3.466,3.477,3.476,3.476,3.477,3.479,3.497,3.497,3.501,3.503,3.506,3.506,3.515,3.516,3.524,3.526,3.527,3.529,3.533,3.542,3.542,3.542,3.542,3.55,3.557,3.562,3.562,3.566,3.574,3.587,3.588,3.593,3.595,3.607,3.616,3.617,3.621,3.622,3.631,3.632,3.643,3.645,3.654,3.665,3.668,3.672,3.672,3.688,3.69,3.693,3.699,3.71,3.714,3.727,3.732,3.747,3.751,3.753,3.767,3.767,3.78,3.798,3.802,3.813,3.815,3.831,3.848,3.852,3.864,3.881,3.881,3.903,3.911,3.922,3.936,3.946,3.96,3.961,3.982,3.993,4.019,4.029,4.03,4.059,4.069,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.023,3.987,3.962,3.93,3.895,3.877,3.851,3.822,3.781,3.745,3.722,3.695,3.675,3.642,3.63,3.592,3.58,3.551,3.524,3.515,3.475,3.454,3.444,3.415,3.404,3.382,3.366,3.353,3.344,3.309,3.29,3.276,3.269,3.242,3.224,3.199,3.182,3.171,3.15,3.134,3.122,3.104,3.103,3.093,3.064,3.049,3.045,3.026,3.014,2.992,2.989,2.979,2.958,2.951,2.937,2.924,2.917,2.898,2.896,2.869,2.868,2.866,2.849,2.833,2.832,2.818,2.81,2.794,2.784,2.777,2.769,2.76,2.758,2.742,2.74,2.723,2.71,2.696,2.694,2.679,2.678,2.671,2.659,2.656,2.654,2.643,2.642,2.636,2.627,2.622,2.616,2.611,2.595,2.592,2.587,2.579,2.577,2.575,2.569,2.558,2.555,2.544,2.534,2.53,2.527,2.515,2.509,2.506,2.506,2.499,2.494,2.491,2.489,2.486,2.484,2.477,2.477,2.471,2.471,2.471,2.468,2.455,2.451,2.45,2.45,2.449,2.445,2.443,2.443,2.437,2.437,2.429,2.429,2.428,2.428,2.428,2.425,2.423,2.423,2.42,2.419,2.417,2.412,2.412,2.411,2.411,2.408,2.411,2.411,2.411,2.411,2.411,2.412,2.412,2.412,2.416,2.417,2.416,2.417,2.417,2.42,2.421,2.421,2.421,2.42,2.42,2.42,2.423,2.426,2.432,2.433,2.434,2.435,2.435,2.438,2.44,2.443,2.443,2.446,2.447,2.455,2.456,2.46,2.461,2.47,2.471,2.471,2.475,2.476,2.489,2.491,2.495,2.496,2.499,2.501,2.512,2.513,2.519,2.521,2.53,2.532,2.534,2.541,2.551,2.555,2.555,2.565,2.567,2.577,2.597,2.601,2.606,2.613,2.615,2.618,2.621,2.632,2.633,2.645,2.645,2.646,2.661,2.674,2.676,2.697,2.701,2.706,2.717,2.722,2.73,2.737,2.746,2.756,2.767,2.78,2.788,2.792,2.812,2.814,2.826,2.842,2.851,2.857,2.868,2.881,2.888,2.907,2.92,2.92,2.935,2.947,2.961,2.974,2.978,2.999,3.015,3.032,3.032,3.047,3.069,3.078,3.097,3.105,3.126,3.142,3.156,3.167,3.183,3.204,3.216,3.228,3.248,3.265,3.266,3.302,3.325,3.336,3.351,3.374,3.4,3.409,3.439,3.457,3.475,3.508,3.524,3.54,3.573,3.599,3.621,3.642,3.669,3.695,3.73,3.742,3.769,3.805,3.831,3.859,3.908,3.918,4.027,0,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.35,3.345,3.326,3.318,3.316,3.294,3.288,3.285,3.268,3.262,3.251,3.243,3.239,3.228,3.22,3.215,3.208,3.199,3.186,3.186,3.175,3.169,3.162,3.154,3.148,3.139,3.139,3.127,3.121,3.121,3.118,3.108,3.103,3.102,3.092,3.088,3.085,3.082,3.077,3.072,3.072,3.069,3.061,3.06,3.049,3.048,3.044,3.044,3.044,3.04,3.036,3.031,3.029,3.029,3.028,3.022,3.022,3.022,3.029,3.029,3.029,3.018,3.016,3.011,3.011,3.011,3.015,3.015,3.015,3.015,3.014,3.012,3.008,3.008,3.004,3.008,3.009,3.01,3.01,3.01,3.015,3.015,3.015,3.017,3.018,3.023,3.021,3.021,3.025,3.021,3.021,3.025,3.031,3.028,3.035,3.035,3.035,3.039,3.041,3.041,3.047,3.055,3.058,3.06,3.061,3.062,3.068,3.069,3.077,3.086,3.086,3.088,3.094,3.097,3.101,3.108,3.112,3.117,3.119,3.129,3.129,3.137,3.137,3.138,3.138,3.147,3.151,3.151,3.166,3.169,3.171,3.172,3.176,3.18,3.201,3.211,3.218,3.219,3.226,3.228,3.239,3.239,3.24,3.252,3.259,3.282,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 70.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 70.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 70.2923} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7752} SEN {Time 70.3306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.182,0.188,0.188,0,0,0,0,0,0,0,0,3.691,3.682,3.658,3.654,3.642,3.633,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.213,3.204,3.204,3.204,3.354,0.007,0,0,0,0,0,0,0,0.151,0.146,0.146,0.146,0.151,0.141,0.147,0.147,0.152,0.149,0.151,0.151,0.151,0.151,3.037,3.039,3.04,3.04,3.04,3.04,0.155,0.155,0.155,0.155,0.155,0.153,0.151,0.147,0.147,0.129,0.106,0.07,0.062,0.061,0.061,0.061,0.064,0.064,0.064,0.068,0.064,0.063,0.064,0.064,0.064,0.076,0.135,0.217,3.334,3.353,3.361,3.361,3.372,3.38,3.4,3.415,3.415,3.415,3.419,3.432,3.457,3.474,3.48,3.49,3.493,3.494,3.496,3.499,3.5,3.511,3.512,3.523,3.524,3.527,3.529,3.531,3.534,3.535,3.543,3.545,3.547,3.551,3.558,3.559,3.577,3.577,3.578,3.581,3.586,3.592,3.593,3.6,3.61,3.616,3.621,3.627,3.633,3.635,3.649,3.656,3.657,3.664,3.668,3.669,3.67,3.68,3.681,3.7,3.705,3.71,3.716,3.727,3.732,3.748,3.75,3.752,3.766,3.767,3.785,3.79,3.798,3.806,3.831,3.831,3.847,3.851,3.868,3.88,3.88,3.899,3.902,3.907,3.935,3.941,3.957,3.971,3.985,3.999,4.008,4.035,4.051,4.068,4.079,4.084,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.023,3.995,3.974,3.926,3.906,3.86,3.842,3.806,3.773,3.751,3.736,3.699,3.68,3.644,3.625,3.585,3.572,3.559,3.522,3.501,3.486,3.467,3.441,3.417,3.394,3.391,3.362,3.355,3.34,3.311,3.291,3.27,3.26,3.235,3.227,3.203,3.183,3.17,3.148,3.136,3.124,3.105,3.101,3.078,3.073,3.054,3.035,3.027,3.009,3,2.988,2.98,2.955,2.952,2.937,2.93,2.913,2.906,2.902,2.871,2.869,2.86,2.854,2.84,2.827,2.822,2.803,2.797,2.788,2.783,2.772,2.761,2.751,2.741,2.736,2.726,2.714,2.706,2.694,2.692,2.681,2.663,2.661,2.654,2.654,2.645,2.637,2.633,2.628,2.623,2.613,2.612,2.602,2.59,2.583,2.579,2.576,2.57,2.569,2.561,2.551,2.543,2.533,2.524,2.521,2.517,2.512,2.506,2.498,2.496,2.496,2.49,2.485,2.484,2.482,2.48,2.475,2.472,2.467,2.463,2.458,2.457,2.452,2.449,2.448,2.447,2.445,2.445,2.439,2.437,2.436,2.426,2.425,2.425,2.425,2.421,2.42,2.419,2.418,2.417,2.419,2.415,2.412,2.41,2.41,2.41,2.41,2.412,2.412,2.412,2.407,2.41,2.41,2.41,2.412,2.412,2.412,2.412,2.413,2.417,2.418,2.419,2.419,2.419,2.42,2.42,2.42,2.425,2.425,2.425,2.425,2.429,2.43,2.436,2.436,2.44,2.442,2.443,2.449,2.449,2.452,2.456,2.458,2.466,2.466,2.472,2.473,2.474,2.481,2.488,2.488,2.492,2.492,2.501,2.504,2.51,2.512,2.515,2.524,2.527,2.532,2.532,2.536,2.551,2.553,2.556,2.565,2.575,2.579,2.59,2.594,2.604,2.606,2.607,2.611,2.623,2.635,2.64,2.646,2.651,2.656,2.666,2.677,2.685,2.69,2.698,2.707,2.715,2.715,2.724,2.735,2.752,2.752,2.765,2.781,2.792,2.793,2.811,2.818,2.832,2.841,2.844,2.858,2.872,2.878,2.883,2.905,2.914,2.922,2.942,2.948,2.961,2.976,2.985,3.001,3.015,3.026,3.033,3.044,3.068,3.082,3.085,3.111,3.123,3.142,3.153,3.167,3.179,3.196,3.211,3.232,3.251,3.266,3.271,3.291,3.324,3.332,3.348,3.378,3.391,3.41,3.443,3.455,3.482,3.501,3.51,3.538,3.57,3.593,3.612,3.644,3.668,3.695,3.729,3.754,3.785,3.803,3.834,3.857,3.896,3.921,3.982,4.027,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.351,3.335,3.329,3.315,3.306,3.299,3.293,3.28,3.272,3.258,3.256,3.241,3.239,3.231,3.221,3.21,3.204,3.202,3.188,3.183,3.176,3.165,3.161,3.154,3.148,3.145,3.13,3.129,3.124,3.121,3.117,3.112,3.108,3.105,3.101,3.097,3.083,3.078,3.077,3.076,3.069,3.066,3.06,3.057,3.048,3.043,3.043,3.042,3.042,3.037,3.033,3.033,3.03,3.029,3.025,3.023,3.023,3.023,3.031,3.031,3.031,3.024,3.018,3.015,3.011,3.01,3.01,3.01,3.01,3.01,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.007,3.007,3.012,3.013,3.013,3.013,3.013,3.015,3.017,3.02,3.023,3.023,3.023,3.024,3.024,3.024,3.034,3.034,3.037,3.037,3.045,3.045,3.047,3.053,3.053,3.053,3.059,3.061,3.062,3.068,3.073,3.078,3.087,3.087,3.091,3.099,3.099,3.102,3.108,3.113,3.113,3.118,3.127,3.132,3.132,3.133,3.143,3.143,3.144,3.145,3.159,3.16,3.162,3.165,3.171,3.186,3.19,3.19,3.215,3.22,3.227,3.232,3.242,3.242,3.242,3.242,3.252,3.268,3.268,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 70.48} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 70.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 70.4843} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7498} SEN {Time 70.5306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.181,0.187,0.187,0,0,0,0,0,0,0,0,3.693,3.67,3.658,3.657,3.647,3.629,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.217,3.213,3.213,3.213,3.264,3.361,0,0,0,0,0,0,0,0.007,0.147,0.145,0.145,0.145,0.145,0.145,0.146,0.148,0.146,0.146,0.146,0.155,0.16,3.032,3.037,3.04,3.04,3.04,3.04,3.04,0.161,0.155,0.155,0.153,0.153,0.146,0.143,0.143,0.134,0.113,0.08,0.064,0.064,0.063,0.064,0.063,0.064,0.064,0.066,0.066,0.066,0.061,0.061,0.061,0.085,0.14,0.206,3.321,3.352,3.356,3.367,3.367,3.38,3.392,0.007,0,0,0,3.472,3.472,3.472,3.481,3.485,3.499,3.502,3.504,3.507,3.507,3.508,3.516,3.518,3.527,3.527,3.533,3.533,3.541,3.542,3.541,3.541,3.545,3.549,3.555,3.561,3.57,3.571,3.575,3.578,3.578,3.583,3.59,3.601,3.602,3.614,3.624,3.624,3.627,3.638,3.647,3.648,3.649,3.653,3.658,3.666,3.678,3.681,3.684,3.695,3.699,3.708,3.726,3.731,3.737,3.739,3.749,3.752,3.758,3.775,3.794,3.795,3.799,3.804,3.81,3.831,3.848,3.853,3.855,3.87,3.884,3.902,3.903,3.922,3.923,3.95,3.964,3.971,3.99,4.009,4.017,4.032,4.041,4.055,4.076,4.095,0.016,0.016,0.016,0.016,0,0.016,0.016,0.007,4.016,4.016,3.973,3.922,3.892,3.842,3.812,3.777,3.755,3.731,3.695,3.673,3.653,3.619,3.595,3.578,3.552,3.523,3.505,3.479,3.46,3.453,3.432,3.397,3.388,3.363,3.348,3.333,3.315,3.295,3.264,3.26,3.236,3.224,3.197,3.184,3.173,3.149,3.129,3.12,3.112,3.095,3.078,3.069,3.047,3.038,3.024,3.008,3,2.987,2.983,2.961,2.955,2.934,2.922,2.914,2.903,2.891,2.88,2.873,2.855,2.846,2.834,2.828,2.815,2.803,2.793,2.781,2.778,2.768,2.759,2.75,2.74,2.736,2.721,2.718,2.7,2.694,2.688,2.679,2.676,2.668,2.661,2.655,2.647,2.642,2.641,2.626,2.624,2.613,2.611,2.607,2.591,2.581,2.579,2.577,2.57,2.562,2.555,2.546,2.538,2.534,2.532,2.53,2.523,2.517,2.507,2.503,2.502,2.498,2.496,2.493,2.486,2.481,2.476,2.471,2.471,2.467,2.465,2.464,2.454,2.452,2.45,2.45,2.445,2.44,2.439,2.439,2.433,2.433,2.427,2.427,2.427,2.427,2.426,2.421,2.42,2.418,2.416,2.415,2.413,2.413,2.409,2.409,2.409,2.409,2.409,2.409,2.412,2.412,2.413,2.414,2.414,2.414,2.413,2.413,2.413,2.415,2.415,2.423,2.423,2.424,2.424,2.423,2.423,2.421,2.418,2.421,2.424,2.429,2.43,2.433,2.436,2.438,2.441,2.442,2.445,2.447,2.452,2.453,2.457,2.458,2.462,2.464,2.466,2.47,2.473,2.48,2.483,2.485,2.486,2.495,2.496,2.504,2.512,2.514,2.517,2.518,2.52,2.52,2.537,2.541,2.546,2.553,2.56,2.568,2.572,2.576,2.59,2.598,2.599,2.606,2.606,2.618,2.627,2.632,2.639,2.639,2.651,2.652,2.663,2.677,2.684,2.691,2.696,2.704,2.725,2.726,2.728,2.736,2.743,2.755,2.769,2.777,2.791,2.792,2.805,2.816,2.83,2.851,2.852,2.854,2.875,2.877,2.89,2.9,2.916,2.925,2.939,2.954,2.96,2.972,2.986,2.999,3.012,3.022,3.031,3.046,3.075,3.084,3.092,3.099,3.125,3.139,3.156,3.167,3.173,3.2,3.218,3.231,3.245,3.264,3.277,3.298,3.326,3.339,3.349,3.374,3.4,3.404,3.431,3.459,3.478,3.502,3.519,3.543,3.563,3.589,3.617,3.632,3.659,3.685,3.718,3.75,3.785,3.81,3.836,3.867,3.892,3.923,3.951,3.988,4.068,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.361,3.34,3.336,3.325,3.313,3.295,3.291,3.282,3.272,3.265,3.256,3.247,3.242,3.238,3.213,3.213,3.213,3.212,3.19,3.186,3.176,3.172,3.161,3.158,3.156,3.148,3.14,3.134,3.128,3.124,3.119,3.111,3.107,3.103,3.097,3.095,3.089,3.086,3.082,3.069,3.065,3.061,3.058,3.057,3.052,3.051,3.047,3.043,3.043,3.043,3.041,3.035,3.03,3.03,3.027,3.022,3.022,3.022,3.037,3.037,3.037,3.022,3.022,3.018,3.018,3.015,3.015,3.014,3.014,3.012,3.011,3.009,3.009,3.009,3.011,3.009,3.011,3.013,3.013,3.013,3.013,3.01,3.01,3.01,3.01,3.017,3.017,3.022,3.024,3.024,3.024,3.026,3.027,3.028,3.029,3.034,3.035,3.038,3.038,3.043,3.051,3.055,3.055,3.055,3.061,3.064,3.068,3.071,3.078,3.089,3.092,3.093,3.093,3.098,3.104,3.105,3.108,3.12,3.123,3.129,3.129,3.135,3.136,3.141,3.141,3.141,3.148,3.154,3.154,3.159,3.173,3.175,3.184,3.187,3.207,3.22,3.22,3.222,3.225,3.232,3.234,3.238,3.241,3.245,3.258,3.277,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 70.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 70.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 70.6851} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7498} SEN {Time 70.7306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.178,0.18,0.187,0,0,0,0,0,0,0,0,3.686,3.674,3.673,3.665,3.649,3.631,3.61,3.61,3.61,3.596,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.226,3.219,3.218,3.212,3.218,3.218,3.27,3.363,0,0,0,0,0,0,0,0.007,0.149,0.148,0.148,0.145,0.144,0.145,0.145,0.149,0.149,0.153,0.153,0.156,0.159,3.031,3.033,3.042,3.042,3.033,3.042,3.042,0.154,0.152,0.152,0.152,0.149,0.149,0.143,0.143,0.13,0.106,0.069,0.064,0.064,0.061,0.061,0.061,0.063,0.069,0.069,0.063,0.062,0.06,0.06,0.06,0.081,0.131,0.197,3.364,3.368,3.388,3.373,3.373,3.373,3.388,3.404,0,0,0,0,3.473,3.473,3.473,3.488,3.494,3.503,3.503,3.504,3.507,3.512,3.513,3.516,3.521,3.524,3.526,3.531,3.533,3.535,3.542,3.543,3.544,3.544,3.544,3.556,3.564,3.573,3.577,3.579,3.585,3.589,3.59,3.591,3.603,3.604,3.631,3.632,3.64,3.64,3.649,3.65,3.655,3.669,3.669,3.672,3.675,3.686,3.686,3.693,3.705,3.71,3.718,3.724,3.727,3.747,3.747,3.748,3.762,3.771,3.787,3.79,3.807,3.808,3.813,3.834,3.84,3.85,3.855,3.875,3.882,3.897,3.905,3.914,3.934,3.951,3.962,3.968,3.985,3.986,4.022,4.04,4.045,4.067,4.074,0.016,0.016,0.016,0.016,0.016,0.007,0.016,4.055,4.019,3.988,3.977,3.93,3.907,3.886,3.844,3.82,3.78,3.753,3.72,3.697,3.68,3.652,3.617,3.603,3.58,3.555,3.524,3.508,3.47,3.458,3.443,3.424,3.405,3.385,3.369,3.344,3.33,3.307,3.288,3.278,3.264,3.236,3.231,3.187,3.182,3.165,3.148,3.148,3.111,3.105,3.096,3.08,3.065,3.057,3.048,3.023,3.006,3.003,2.998,2.986,2.967,2.952,2.939,2.928,2.915,2.906,2.899,2.871,2.87,2.854,2.847,2.835,2.825,2.816,2.8,2.798,2.784,2.779,2.768,2.76,2.742,2.74,2.73,2.721,2.721,2.703,2.697,2.684,2.681,2.674,2.666,2.663,2.653,2.647,2.645,2.637,2.625,2.618,2.617,2.61,2.603,2.589,2.587,2.579,2.574,2.57,2.562,2.561,2.551,2.544,2.535,2.534,2.521,2.517,2.514,2.506,2.502,2.497,2.496,2.493,2.489,2.485,2.479,2.478,2.475,2.473,2.471,2.464,2.457,2.454,2.453,2.452,2.443,2.443,2.442,2.441,2.44,2.436,2.434,2.43,2.43,2.426,2.426,2.423,2.417,2.417,2.415,2.417,2.415,2.415,2.413,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.407,2.407,2.41,2.41,2.414,2.416,2.416,2.416,2.416,2.416,2.414,2.414,2.42,2.42,2.42,2.42,2.42,2.42,2.424,2.424,2.425,2.432,2.433,2.438,2.438,2.438,2.44,2.446,2.45,2.453,2.454,2.457,2.457,2.466,2.47,2.472,2.472,2.476,2.48,2.481,2.486,2.49,2.49,2.491,2.495,2.511,2.511,2.514,2.521,2.523,2.533,2.534,2.538,2.553,2.553,2.562,2.565,2.568,2.576,2.591,2.595,2.598,2.601,2.606,2.607,2.622,2.637,2.641,2.643,2.651,2.652,2.668,2.679,2.68,2.685,2.701,2.712,2.716,2.725,2.73,2.738,2.749,2.756,2.763,2.779,2.792,2.803,2.815,2.821,2.831,2.844,2.849,2.857,2.876,2.879,2.883,2.9,2.923,2.93,2.944,2.951,2.952,2.975,2.982,3,3.017,3.023,3.04,3.046,3.064,3.083,3.095,3.115,3.119,3.138,3.154,3.169,3.177,3.2,3.215,3.24,3.253,3.265,3.272,3.302,3.326,3.329,3.355,3.376,3.397,3.41,3.44,3.463,3.489,3.5,3.522,3.543,3.566,3.586,3.612,3.633,3.655,3.692,3.72,3.738,3.783,3.798,3.84,3.864,3.903,3.957,3.978,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.354,3.339,3.333,3.311,3.3,3.295,3.291,3.285,3.271,3.262,3.253,3.246,3.244,3.237,3.216,3.209,3.205,3.203,3.193,3.192,3.175,3.167,3.159,3.152,3.151,3.144,3.138,3.13,3.12,3.119,3.117,3.108,3.106,3.106,3.097,3.085,3.084,3.077,3.073,3.072,3.071,3.071,3.065,3.058,3.052,3.043,3.042,3.04,3.04,3.038,3.036,3.036,3.031,3.028,3.026,3.023,3.026,3.026,3.027,3.027,3.027,3.02,3.016,3.016,3.013,3.013,3.013,3.01,3.007,3.006,3.006,3.004,3.006,3.004,3.004,3.003,3.004,3.004,3.008,3.012,3.012,3.013,3.013,3.013,3.013,3.015,3.015,3.022,3.023,3.022,3.022,3.029,3.029,3.029,3.032,3.035,3.035,3.039,3.039,3.042,3.047,3.049,3.057,3.06,3.063,3.065,3.069,3.071,3.073,3.086,3.088,3.091,3.092,3.092,3.106,3.107,3.115,3.119,3.122,3.134,3.134,3.139,3.139,3.141,3.141,3.142,3.143,3.154,3.158,3.165,3.168,3.171,3.171,3.192,3.202,3.208,3.217,3.226,3.232,3.235,3.236,3.239,3.242,3.249,3.259,3.278,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 70.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 70.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 70.8862} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.7498} SEN {Time 70.9266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,3.689,3.676,3.675,3.66,3.652,3.634,3.614,3.614,3.614,3.6,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.216,3.213,3.212,3.216,3.216,3.264,3.366,0,0,0,0,0,0,0,0,0.145,0.145,0.145,0.15,0.143,0.143,0.143,0.154,0.143,0.151,0.151,0.151,0.151,3.028,3.029,3.03,3.03,3.029,3.043,3.043,0.162,0.159,0.159,0.156,0.151,0.151,0.148,0.148,0.13,0.101,0.08,0.064,0.064,0.063,0.063,0.063,0.065,0.068,0.068,0.068,0.068,0.061,0.061,0.061,0.081,0.127,0.206,3.353,3.363,3.382,3.371,3.363,3.371,3.382,0,0,0,0.007,3.465,3.465,3.469,3.469,3.487,3.499,3.499,3.501,3.503,3.509,3.512,3.522,3.524,3.527,3.531,3.535,3.535,3.536,3.541,3.543,3.546,3.549,3.556,3.559,3.56,3.572,3.577,3.579,3.584,3.589,3.59,3.595,3.605,3.61,3.611,3.622,3.629,3.639,3.642,3.643,3.649,3.654,3.656,3.668,3.675,3.676,3.686,3.69,3.691,3.697,3.697,3.724,3.733,3.734,3.748,3.75,3.752,3.756,3.77,3.785,3.79,3.798,3.821,3.828,3.831,3.843,3.849,3.862,3.867,3.867,3.891,3.901,3.916,3.935,3.944,3.956,3.976,3.988,3.993,4.016,4.021,4.041,4.062,4.077,4.087,0.016,0.016,0.016,0.016,0,0.016,0.016,4.024,3.986,3.975,3.934,3.898,3.869,3.844,3.812,3.771,3.746,3.722,3.694,3.666,3.646,3.627,3.605,3.579,3.546,3.526,3.513,3.491,3.459,3.445,3.437,3.403,3.381,3.354,3.353,3.324,3.313,3.299,3.284,3.253,3.228,3.221,3.194,3.192,3.175,3.155,3.147,3.124,3.114,3.098,3.078,3.065,3.051,3.037,3.031,3.007,3,2.989,2.982,2.965,2.955,2.943,2.927,2.915,2.906,2.895,2.883,2.874,2.855,2.85,2.838,2.829,2.815,2.81,2.802,2.783,2.78,2.77,2.762,2.746,2.737,2.733,2.717,2.716,2.7,2.695,2.68,2.677,2.673,2.661,2.661,2.656,2.649,2.643,2.643,2.624,2.609,2.605,2.605,2.6,2.588,2.585,2.574,2.572,2.57,2.568,2.557,2.552,2.546,2.539,2.535,2.524,2.513,2.511,2.505,2.503,2.5,2.498,2.491,2.487,2.485,2.48,2.479,2.478,2.471,2.471,2.466,2.463,2.463,2.458,2.449,2.447,2.444,2.444,2.441,2.437,2.437,2.434,2.428,2.428,2.428,2.428,2.426,2.424,2.423,2.421,2.42,2.42,2.413,2.413,2.413,2.413,2.415,2.415,2.412,2.411,2.411,2.41,2.409,2.409,2.409,2.413,2.413,2.413,2.413,2.414,2.413,2.418,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.423,2.424,2.432,2.439,2.44,2.44,2.441,2.441,2.444,2.451,2.452,2.455,2.456,2.461,2.461,2.464,2.467,2.472,2.472,2.475,2.484,2.488,2.493,2.493,2.496,2.498,2.504,2.509,2.516,2.522,2.532,2.532,2.535,2.541,2.549,2.557,2.559,2.563,2.567,2.581,2.59,2.6,2.603,2.605,2.609,2.612,2.627,2.634,2.635,2.636,2.647,2.654,2.662,2.671,2.684,2.687,2.702,2.704,2.718,2.722,2.723,2.736,2.75,2.753,2.766,2.781,2.787,2.794,2.808,2.816,2.834,2.845,2.852,2.853,2.871,2.884,2.884,2.898,2.919,2.925,2.939,2.949,2.953,2.97,2.971,2.994,3.011,3.029,3.034,3.038,3.066,3.085,3.089,3.113,3.123,3.146,3.155,3.164,3.18,3.196,3.221,3.224,3.245,3.269,3.273,3.295,3.327,3.34,3.353,3.369,3.396,3.416,3.447,3.466,3.484,3.503,3.516,3.546,3.566,3.588,3.613,3.632,3.67,3.676,3.736,3.757,3.789,3.798,3.838,3.865,3.89,3.914,3.954,3.986,4.04,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.353,3.347,3.332,3.318,3.314,3.302,3.287,3.278,3.272,3.25,3.242,3.24,3.234,3.23,3.223,3.215,3.211,3.202,3.186,3.183,3.175,3.171,3.166,3.154,3.146,3.145,3.14,3.127,3.123,3.12,3.117,3.113,3.105,3.098,3.096,3.09,3.077,3.075,3.073,3.072,3.067,3.063,3.062,3.059,3.053,3.047,3.047,3.046,3.039,3.038,3.039,3.038,3.033,3.031,3.026,3.018,3.026,3.026,3.029,3.029,3.029,3.021,3.017,3.014,3.013,3.013,3.013,3.007,3.007,3.009,3.009,3.006,3.007,3.006,3.004,3.005,3.005,3.005,3.006,3.016,3.016,3.011,3.011,3.016,3.018,3.018,3.018,3.018,3.021,3.018,3.018,3.027,3.027,3.028,3.031,3.038,3.039,3.039,3.041,3.043,3.048,3.057,3.058,3.058,3.059,3.061,3.067,3.077,3.079,3.09,3.09,3.091,3.091,3.091,3.104,3.107,3.109,3.118,3.119,3.13,3.13,3.135,3.135,3.145,3.145,3.148,3.154,3.154,3.162,3.162,3.167,3.174,3.18,3.182,3.189,3.212,3.221,3.222,3.227,3.234,3.241,3.244,3.244,3.252,3.267,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 71.08} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 71.08} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 71.0782} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8768} SEN {Time 71.1266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.18,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.684,3.679,3.66,3.655,3.642,3.628,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.204,3.204,3.215,3.268,3.364,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.15,0.15,0.15,0.152,0.15,0.152,0.152,0.152,0.154,3.035,3.039,3.039,3.039,3.035,3.042,3.033,0.156,0.156,0.156,0.153,0.152,0.151,0.149,0.148,0.127,0.107,0.078,0.067,0.065,0.064,0.064,0.064,0.065,0.066,0.066,0.066,0.066,0.065,0.065,0.068,0.073,0.13,0.203,3.342,3.361,3.363,3.363,3.365,3.368,3.394,3.394,3.421,3.433,3.433,3.465,3.47,3.484,3.484,3.488,3.501,3.498,3.501,3.503,3.508,3.508,3.516,3.526,3.526,3.526,3.526,3.526,3.542,3.543,3.546,3.546,3.546,3.553,3.553,3.564,3.564,3.572,3.576,3.577,3.579,3.585,3.601,3.604,3.606,3.61,3.623,3.624,3.63,3.637,3.639,3.64,3.649,3.653,3.655,3.669,3.67,3.675,3.682,3.69,3.698,3.708,3.716,3.725,3.734,3.747,3.755,3.759,3.761,3.771,3.789,3.795,3.797,3.807,3.816,3.828,3.832,3.836,3.867,3.874,3.883,3.901,3.915,3.921,3.923,3.93,3.958,3.976,3.977,4.001,4.01,4.032,4.052,4.053,4.075,4.095,0.016,0.016,0.016,0.016,0,0.016,0.016,4.032,3.996,3.996,3.951,3.931,3.868,3.838,3.813,3.787,3.754,3.73,3.708,3.673,3.662,3.618,3.6,3.572,3.539,3.519,3.51,3.483,3.45,3.44,3.425,3.396,3.389,3.371,3.354,3.335,3.305,3.299,3.271,3.253,3.239,3.225,3.195,3.186,3.174,3.152,3.14,3.124,3.106,3.101,3.077,3.071,3.048,3.039,3.03,3.01,2.999,2.988,2.981,2.958,2.947,2.929,2.921,2.915,2.906,2.895,2.868,2.868,2.856,2.852,2.836,2.827,2.816,2.808,2.795,2.784,2.779,2.771,2.765,2.75,2.738,2.733,2.721,2.719,2.693,2.692,2.679,2.675,2.672,2.661,2.657,2.648,2.642,2.637,2.63,2.622,2.613,2.613,2.61,2.594,2.594,2.582,2.581,2.578,2.577,2.565,2.556,2.554,2.545,2.542,2.529,2.523,2.521,2.519,2.511,2.495,2.495,2.494,2.491,2.488,2.483,2.481,2.477,2.473,2.467,2.465,2.463,2.462,2.455,2.454,2.451,2.451,2.451,2.447,2.441,2.438,2.435,2.435,2.43,2.429,2.426,2.423,2.419,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.415,2.416,2.415,2.415,2.411,2.407,2.407,2.407,2.407,2.412,2.412,2.414,2.412,2.412,2.412,2.414,2.414,2.423,2.423,2.423,2.42,2.42,2.42,2.421,2.426,2.426,2.428,2.429,2.434,2.435,2.436,2.44,2.442,2.444,2.451,2.453,2.453,2.453,2.463,2.464,2.466,2.471,2.476,2.482,2.482,2.483,2.482,2.488,2.491,2.495,2.495,2.511,2.515,2.524,2.524,2.527,2.529,2.534,2.545,2.547,2.549,2.558,2.562,2.566,2.579,2.586,2.591,2.597,2.598,2.608,2.616,2.628,2.64,2.641,2.644,2.651,2.66,2.668,2.674,2.677,2.679,2.694,2.698,2.71,2.714,2.726,2.743,2.752,2.756,2.776,2.787,2.793,2.795,2.808,2.816,2.834,2.84,2.842,2.858,2.863,2.87,2.886,2.903,2.913,2.926,2.942,2.955,2.956,2.97,2.983,3,3.01,3.027,3.045,3.048,3.065,3.077,3.092,3.108,3.123,3.139,3.159,3.163,3.175,3.207,3.213,3.228,3.247,3.261,3.276,3.29,3.324,3.33,3.347,3.39,3.391,3.404,3.444,3.462,3.479,3.499,3.517,3.538,3.574,3.602,3.619,3.635,3.662,3.689,3.713,3.74,3.779,3.802,3.837,3.853,3.889,3.925,3.948,3.99,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.354,3.341,3.321,3.318,3.314,3.297,3.297,3.285,3.275,3.26,3.253,3.244,3.236,3.231,3.227,3.214,3.208,3.195,3.186,3.185,3.167,3.165,3.164,3.162,3.149,3.145,3.141,3.131,3.124,3.112,3.112,3.107,3.103,3.102,3.095,3.09,3.082,3.08,3.078,3.074,3.071,3.067,3.067,3.063,3.053,3.05,3.041,3.037,3.037,3.036,3.036,3.036,3.031,3.027,3.027,3.024,3.024,3.024,3.028,3.028,3.028,3.019,3.016,3.012,3.015,3.009,3.01,3.01,3.01,3.01,3.01,3.006,3.006,3.009,3.009,3.009,3.01,3.011,3.01,3.011,3.013,3.014,3.017,3.017,3.017,3.02,3.02,3.017,3.017,3.019,3.019,3.022,3.027,3.029,3.032,3.033,3.038,3.038,3.039,3.039,3.053,3.056,3.056,3.059,3.061,3.067,3.067,3.07,3.075,3.092,3.092,3.092,3.092,3.092,3.101,3.104,3.105,3.117,3.122,3.136,3.136,3.139,3.14,3.141,3.142,3.144,3.147,3.149,3.158,3.162,3.167,3.172,3.176,3.181,3.188,3.217,3.22,3.223,3.232,3.243,3.245,3.248,3.249,3.257,3.275,3.275,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 71.28} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 71.28} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 71.2791} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8768} SEN {Time 71.3266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.175,0.181,0.181,0,0,0,0,0,0,0,0,3.695,3.681,3.665,3.658,3.646,3.622,3.62,3.62,3.62,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.209,3.219,3.225,3.264,3.354,0,0,0,0,0,0,0,0.154,0.146,0.144,0.144,0.144,0.146,0.144,0.15,0.159,0.158,0.158,0.158,0.158,0.158,3.027,3.036,3.036,3.036,3.033,3.036,3.033,0.162,0.152,0.152,0.152,0.152,0.147,0.147,0.143,0.128,0.098,0.074,0.064,0.064,0.061,0.061,0.061,0.064,0.068,0.07,0.068,0.068,0.061,0.061,0.061,0.084,0.133,0.212,3.355,0,0.007,3.381,3.381,3.381,3.381,3.388,3.415,3.415,3.425,3.472,3.476,3.479,3.479,3.479,3.481,3.492,3.501,3.501,3.511,3.515,3.521,3.522,3.525,3.528,3.529,3.536,3.536,3.539,3.547,3.547,3.553,3.553,3.553,3.565,3.569,3.574,3.578,3.578,3.584,3.587,3.592,3.598,3.609,3.612,3.62,3.63,3.642,3.647,3.647,3.652,3.657,3.658,3.659,3.659,3.678,3.681,3.686,3.691,3.692,3.709,3.719,3.731,3.74,3.747,3.749,3.751,3.772,3.774,3.79,3.797,3.798,3.811,3.813,3.834,3.836,3.838,3.859,3.871,3.886,3.892,3.901,3.923,3.935,3.937,3.963,3.978,3.997,4,4.019,4.037,4.042,4.057,4.07,4.088,0.016,0.016,0.016,0.016,0.016,4.089,4.05,4.027,3.994,3.964,3.943,3.905,3.858,3.84,3.804,3.78,3.737,3.727,3.698,3.679,3.657,3.614,3.604,3.568,3.545,3.516,3.508,3.476,3.47,3.437,3.414,3.404,3.382,3.37,3.348,3.33,3.307,3.294,3.276,3.259,3.236,3.227,3.203,3.183,3.171,3.161,3.141,3.12,3.105,3.087,3.076,3.065,3.052,3.043,3.029,3.015,3.004,2.981,2.978,2.961,2.953,2.939,2.924,2.918,2.907,2.891,2.872,2.866,2.856,2.85,2.84,2.822,2.815,2.812,2.792,2.785,2.781,2.768,2.766,2.748,2.737,2.728,2.718,2.714,2.703,2.686,2.679,2.672,2.67,2.662,2.654,2.647,2.642,2.634,2.634,2.619,2.615,2.612,2.61,2.592,2.589,2.584,2.579,2.574,2.568,2.558,2.551,2.547,2.546,2.538,2.533,2.522,2.519,2.511,2.504,2.504,2.494,2.491,2.489,2.483,2.476,2.475,2.471,2.47,2.467,2.465,2.465,2.456,2.454,2.454,2.451,2.448,2.447,2.441,2.441,2.435,2.435,2.433,2.427,2.427,2.425,2.423,2.42,2.418,2.418,2.418,2.418,2.41,2.41,2.41,2.41,2.41,2.413,2.416,2.416,2.413,2.408,2.408,2.408,2.408,2.412,2.413,2.415,2.416,2.415,2.416,2.415,2.416,2.416,2.416,2.418,2.418,2.419,2.418,2.418,2.425,2.429,2.433,2.435,2.435,2.436,2.44,2.44,2.442,2.443,2.443,2.444,2.447,2.454,2.457,2.458,2.461,2.466,2.472,2.478,2.479,2.486,2.488,2.488,2.495,2.504,2.507,2.509,2.52,2.521,2.522,2.532,2.532,2.534,2.539,2.54,2.549,2.553,2.564,2.57,2.579,2.586,2.599,2.601,2.604,2.613,2.615,2.623,2.633,2.638,2.643,2.646,2.649,2.651,2.662,2.678,2.683,2.694,2.704,2.715,2.723,2.73,2.739,2.751,2.752,2.77,2.787,2.792,2.799,2.804,2.813,2.831,2.839,2.844,2.856,2.87,2.88,2.889,2.906,2.919,2.925,2.949,2.953,2.953,2.971,2.986,2.993,3.02,3.023,3.031,3.049,3.059,3.073,3.089,3.111,3.121,3.136,3.16,3.172,3.179,3.203,3.225,3.232,3.248,3.272,3.285,3.295,3.314,3.328,3.351,3.374,3.391,3.406,3.44,3.459,3.492,3.501,3.524,3.547,3.573,3.587,3.619,3.65,3.669,3.697,3.723,3.75,3.788,3.799,3.834,3.853,3.895,3.933,3.953,3.98,4.029,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.343,3.32,3.313,3.301,3.292,3.287,3.281,3.27,3.258,3.251,3.236,3.236,3.232,3.224,3.214,3.207,3.198,3.19,3.185,3.175,3.167,3.165,3.157,3.147,3.141,3.14,3.13,3.122,3.119,3.116,3.114,3.109,3.103,3.093,3.093,3.087,3.084,3.077,3.073,3.071,3.07,3.064,3.056,3.05,3.049,3.046,3.04,3.038,3.035,3.034,3.032,3.028,3.023,3.023,3.023,3.023,3.023,3.032,3.032,3.032,3.023,3.017,3.015,3.015,3.015,3.014,3.012,3.012,3.009,3.005,3.005,3.002,3.002,3.007,3.007,3.011,3.013,3.013,3.013,3.013,3.013,3.011,3.015,3.015,3.015,3.015,3.02,3.023,3.02,3.026,3.03,3.03,3.03,3.038,3.038,3.038,3.038,3.038,3.041,3.049,3.051,3.054,3.058,3.064,3.065,3.066,3.068,3.077,3.083,3.087,3.09,3.092,3.092,3.106,3.106,3.107,3.119,3.12,3.138,3.138,3.138,3.138,3.138,3.143,3.144,3.146,3.159,3.16,3.161,3.165,3.168,3.176,3.179,3.199,3.217,3.218,3.221,3.232,3.232,3.241,3.243,3.246,3.247,3.259,3.271,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 71.48} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 71.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 71.4801} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8768} SEN {Time 71.5266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.179,0.18,0.18,0.18,0.182,0,0,0,0,0,0,0,0,3.698,3.682,3.673,3.666,3.644,3.627,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.239,3.226,3.218,3.211,3.211,3.211,3.258,3.366,0,0,0,0,0,0,0,0.153,0.147,0.144,0.144,0.144,0.143,0.144,0.148,0.154,0.152,0.154,0.154,0.159,0.162,3.029,3.029,3.033,3.033,3.029,3.033,3.033,0.157,0.157,0.157,0.154,0.157,0.153,0.151,0.151,0.13,0.107,0.077,0.063,0.063,0.062,0.063,0.063,0.064,0.07,0.07,0.068,0.068,0.063,0.063,0.068,0.081,0.141,0.214,3.344,3.358,3.362,3.362,3.369,3.369,3.38,3.38,3.408,3.426,3.47,3.47,3.476,3.476,3.476,3.483,3.485,3.495,3.502,3.502,3.502,3.511,3.515,3.516,3.519,3.52,3.53,3.533,3.533,3.537,3.538,3.54,3.543,3.547,3.547,3.561,3.566,3.57,3.574,3.576,3.585,3.587,3.595,3.598,3.612,3.616,3.623,3.632,3.639,3.639,3.643,3.647,3.648,3.661,3.663,3.664,3.672,3.686,3.692,3.697,3.703,3.707,3.721,3.723,3.737,3.745,3.751,3.751,3.769,3.772,3.777,3.789,3.8,3.816,3.819,3.836,3.853,3.854,3.854,3.875,3.876,3.9,3.92,3.92,3.923,3.95,3.953,3.968,3.984,3.994,4.023,4.028,4.039,4.066,4.068,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.014,3.996,3.977,3.932,3.895,3.868,3.834,3.8,3.764,3.752,3.732,3.694,3.676,3.662,3.617,3.601,3.579,3.547,3.526,3.511,3.478,3.463,3.438,3.422,3.404,3.384,3.37,3.346,3.331,3.31,3.299,3.271,3.265,3.227,3.226,3.189,3.183,3.179,3.153,3.145,3.13,3.105,3.096,3.078,3.065,3.05,3.032,3.028,3.008,2.995,2.986,2.981,2.957,2.946,2.928,2.926,2.914,2.901,2.9,2.872,2.865,2.864,2.844,2.832,2.822,2.817,2.8,2.8,2.787,2.787,2.768,2.763,2.743,2.738,2.734,2.717,2.712,2.705,2.692,2.687,2.677,2.677,2.658,2.656,2.65,2.644,2.632,2.63,2.618,2.617,2.61,2.608,2.599,2.588,2.581,2.581,2.568,2.561,2.559,2.558,2.551,2.544,2.539,2.533,2.532,2.524,2.516,2.514,2.505,2.504,2.498,2.496,2.486,2.479,2.479,2.479,2.472,2.468,2.467,2.466,2.465,2.452,2.452,2.449,2.448,2.442,2.441,2.441,2.441,2.44,2.433,2.432,2.432,2.429,2.429,2.425,2.418,2.418,2.42,2.42,2.42,2.42,2.417,2.415,2.413,2.413,2.413,2.409,2.409,2.411,2.411,2.411,2.414,2.415,2.415,2.415,2.414,2.414,2.414,2.414,2.414,2.417,2.417,2.417,2.417,2.424,2.424,2.424,2.424,2.427,2.431,2.432,2.433,2.433,2.433,2.439,2.442,2.446,2.45,2.451,2.452,2.456,2.46,2.464,2.466,2.466,2.474,2.474,2.477,2.48,2.485,2.488,2.497,2.497,2.502,2.505,2.517,2.525,2.525,2.531,2.532,2.535,2.547,2.55,2.551,2.565,2.567,2.569,2.575,2.591,2.597,2.599,2.603,2.609,2.613,2.616,2.632,2.636,2.64,2.648,2.658,2.66,2.674,2.684,2.691,2.703,2.704,2.721,2.723,2.727,2.74,2.748,2.753,2.763,2.777,2.785,2.793,2.801,2.814,2.824,2.844,2.848,2.861,2.872,2.882,2.891,2.899,2.92,2.92,2.943,2.947,2.949,2.973,2.98,2.998,3.016,3.024,3.045,3.05,3.062,3.075,3.089,3.103,3.123,3.143,3.15,3.173,3.188,3.198,3.219,3.229,3.253,3.265,3.283,3.288,3.326,3.328,3.353,3.379,3.386,3.411,3.434,3.458,3.488,3.504,3.527,3.538,3.569,3.579,3.616,3.633,3.67,3.693,3.711,3.749,3.791,3.795,3.834,3.864,3.896,3.921,3.951,3.986,4.049,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.353,3.352,3.336,3.317,3.31,3.296,3.293,3.274,3.266,3.255,3.249,3.243,3.243,3.239,3.239,3.204,3.202,3.2,3.191,3.189,3.172,3.172,3.161,3.159,3.156,3.142,3.142,3.128,3.127,3.121,3.113,3.109,3.103,3.096,3.094,3.094,3.087,3.072,3.072,3.072,3.068,3.066,3.063,3.061,3.052,3.052,3.042,3.039,3.039,3.036,3.036,3.035,3.035,3.029,3.028,3.024,3.024,3.024,3.027,3.027,3.027,3.022,3.016,3.015,3.015,3.011,3.011,3.011,3.011,3.011,3.007,3.007,3.007,3.009,3.009,3.009,3.01,3.01,3.011,3.013,3.013,3.013,3.018,3.018,3.018,3.02,3.018,3.021,3.021,3.02,3.02,3.021,3.021,3.034,3.035,3.037,3.037,3.037,3.039,3.039,3.046,3.055,3.057,3.057,3.058,3.061,3.065,3.068,3.079,3.092,3.092,3.092,3.093,3.093,3.11,3.11,3.11,3.113,3.117,3.135,3.135,3.135,3.139,3.143,3.143,3.148,3.151,3.152,3.157,3.161,3.167,3.171,3.174,3.18,3.199,3.215,3.221,3.222,3.231,3.232,3.237,3.241,3.241,3.248,3.25,3.281,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 71.68} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 71.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 71.681} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2578} SEN {Time 71.7266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.175,0.184,0.184,0,0,0,0,0,0,0,0,3.69,3.679,3.672,3.658,3.648,3.626,3.624,3.624,3.624,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.214,3.212,3.214,3.214,3.269,3.363,0,0,0,0,0,0,0,0.144,0.143,0.143,0.144,0.144,0.144,0.148,0.148,0.157,0.149,0.149,0.149,0.149,0.149,3.025,3.034,3.038,3.038,3.034,3.038,3.038,0.157,0.154,0.154,0.154,0.154,0.151,0.15,0.148,0.125,0.101,0.07,0.067,0.065,0.063,0.065,0.064,0.063,0.064,0.064,0.062,0.062,0.06,0.06,0.062,0.083,0.14,0.219,3.324,3.355,3.359,3.359,3.372,3.403,0,0,0,0,3.453,3.453,3.46,3.475,3.475,3.488,3.49,3.494,3.502,3.506,3.513,3.515,3.516,3.523,3.523,3.523,3.529,3.538,3.538,3.543,3.543,3.543,3.549,3.551,3.562,3.565,3.566,3.574,3.574,3.576,3.585,3.586,3.594,3.605,3.608,3.616,3.624,3.625,3.635,3.638,3.641,3.649,3.649,3.659,3.663,3.672,3.672,3.676,3.687,3.689,3.698,3.71,3.71,3.721,3.726,3.736,3.748,3.75,3.756,3.775,3.787,3.787,3.808,3.81,3.816,3.841,3.842,3.847,3.855,3.862,3.88,3.891,3.893,3.921,3.923,3.944,3.951,3.966,3.979,3.991,4.018,4.036,4.036,4.068,4.07,4.089,0.016,0.016,0.016,0.016,0.016,4.093,4.06,4.028,3.988,3.976,3.927,3.894,3.872,3.84,3.793,3.785,3.758,3.734,3.71,3.668,3.655,3.629,3.588,3.582,3.543,3.53,3.509,3.487,3.459,3.445,3.427,3.398,3.38,3.368,3.353,3.332,3.313,3.289,3.27,3.26,3.233,3.221,3.205,3.179,3.165,3.151,3.142,3.118,3.102,3.092,3.087,3.061,3.055,3.042,3.029,3.01,2.996,2.993,2.975,2.959,2.948,2.935,2.923,2.916,2.907,2.9,2.881,2.867,2.86,2.846,2.835,2.824,2.818,2.812,2.788,2.787,2.784,2.767,2.759,2.75,2.739,2.732,2.712,2.712,2.697,2.696,2.684,2.678,2.666,2.665,2.656,2.652,2.649,2.64,2.63,2.625,2.617,2.61,2.608,2.596,2.589,2.585,2.579,2.572,2.572,2.559,2.555,2.547,2.546,2.536,2.524,2.523,2.52,2.518,2.508,2.506,2.501,2.492,2.488,2.485,2.48,2.478,2.473,2.473,2.473,2.465,2.463,2.46,2.458,2.452,2.448,2.448,2.448,2.446,2.446,2.445,2.438,2.435,2.429,2.427,2.427,2.425,2.425,2.418,2.417,2.417,2.415,2.413,2.412,2.412,2.411,2.411,2.411,2.411,2.407,2.412,2.412,2.409,2.409,2.414,2.414,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.416,2.416,2.418,2.417,2.419,2.417,2.419,2.421,2.424,2.424,2.43,2.432,2.439,2.439,2.44,2.44,2.442,2.447,2.452,2.454,2.456,2.46,2.462,2.472,2.472,2.474,2.477,2.479,2.479,2.492,2.492,2.496,2.497,2.498,2.509,2.512,2.513,2.519,2.522,2.524,2.54,2.543,2.549,2.556,2.56,2.571,2.573,2.579,2.587,2.594,2.599,2.6,2.609,2.616,2.617,2.634,2.637,2.64,2.654,2.655,2.661,2.674,2.682,2.686,2.692,2.708,2.711,2.723,2.724,2.741,2.75,2.75,2.766,2.778,2.788,2.795,2.805,2.809,2.832,2.837,2.844,2.859,2.868,2.882,2.891,2.91,2.918,2.926,2.948,2.95,2.954,2.964,2.976,2.994,3.012,3.028,3.038,3.043,3.061,3.082,3.093,3.103,3.116,3.138,3.157,3.161,3.186,3.201,3.209,3.233,3.25,3.266,3.279,3.301,3.319,3.331,3.353,3.383,3.393,3.41,3.436,3.457,3.478,3.509,3.529,3.54,3.568,3.595,3.609,3.643,3.674,3.69,3.722,3.75,3.775,3.804,3.839,3.864,3.889,3.923,4.03,4.068,0,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.355,3.328,3.324,3.316,3.31,3.298,3.287,3.275,3.265,3.258,3.25,3.243,3.236,3.236,3.224,3.212,3.208,3.196,3.194,3.183,3.172,3.163,3.159,3.153,3.152,3.142,3.138,3.132,3.125,3.125,3.118,3.117,3.109,3.1,3.092,3.086,3.085,3.08,3.079,3.072,3.066,3.062,3.06,3.056,3.054,3.051,3.049,3.047,3.038,3.036,3.036,3.034,3.029,3.028,3.024,3.02,3.02,3.02,3.029,3.029,3.029,3.025,3.016,3.015,3.015,3.012,3.012,3.01,3.01,3.009,3.005,3.004,3.004,3.004,3.012,3.012,3.013,3.012,3.012,3.012,3.017,3.017,3.017,3.017,3.017,3.018,3.018,3.018,3.024,3.024,3.024,3.024,3.029,3.03,3.031,3.033,3.033,3.036,3.038,3.043,3.049,3.056,3.058,3.061,3.062,3.064,3.067,3.077,3.08,3.084,3.087,3.094,3.095,3.098,3.098,3.103,3.104,3.113,3.115,3.132,3.132,3.132,3.133,3.136,3.136,3.15,3.152,3.159,3.16,3.161,3.171,3.177,3.182,3.184,3.184,3.219,3.219,3.226,3.226,3.233,3.237,3.239,3.244,3.244,3.271,3.276,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 71.88} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 71.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 71.882} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2578} SEN {Time 71.9226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.18,0.189,0.189,0,0,0,0,0,0,0,0,3.693,3.68,3.673,3.66,3.647,3.633,3.605,3.605,3.591,3.591,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.213,3.212,3.213,3.213,3.359,0.007,0,0,0,0,0,0,0,0.007,0.144,0.144,0.143,0.143,0.143,0.146,0.146,0.151,0.151,0.151,0.151,0.154,0.155,3.031,3.031,3.038,3.038,3.031,3.04,3.04,0.154,0.152,0.152,0.152,0.152,0.152,0.145,0.145,0.127,0.113,0.079,0.061,0.058,0.058,0.061,0.061,0.064,0.072,0.072,0.068,0.068,0.06,0.06,0.06,0.076,0.135,0.214,3.328,3.361,3.362,3.362,3.371,3.381,3.386,0.007,0,0,0.007,3.473,3.466,3.473,3.473,3.479,3.487,3.5,3.5,3.5,3.502,3.511,3.515,3.52,3.521,3.527,3.528,3.532,3.54,3.54,3.546,3.546,3.549,3.554,3.555,3.566,3.567,3.574,3.575,3.577,3.591,3.592,3.598,3.598,3.602,3.615,3.626,3.629,3.63,3.634,3.64,3.649,3.65,3.656,3.661,3.662,3.675,3.679,3.692,3.695,3.697,3.715,3.716,3.732,3.737,3.746,3.753,3.754,3.763,3.773,3.785,3.804,3.804,3.807,3.831,3.831,3.836,3.856,3.859,3.867,3.89,3.897,3.904,3.915,3.934,3.936,3.951,3.965,3.978,3.99,4.007,4.027,4.05,4.063,4.079,4.091,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.055,3.998,3.998,3.954,3.928,3.879,3.85,3.802,3.794,3.745,3.731,3.701,3.679,3.638,3.614,3.604,3.568,3.547,3.536,3.503,3.485,3.456,3.44,3.422,3.405,3.377,3.356,3.346,3.341,3.307,3.293,3.28,3.253,3.233,3.232,3.204,3.187,3.171,3.15,3.14,3.127,3.105,3.096,3.08,3.061,3.046,3.042,3.029,3.01,2.995,2.988,2.982,2.962,2.949,2.94,2.927,2.91,2.903,2.891,2.873,2.866,2.857,2.85,2.834,2.825,2.819,2.803,2.794,2.79,2.776,2.768,2.764,2.745,2.742,2.735,2.725,2.713,2.705,2.697,2.683,2.677,2.675,2.662,2.65,2.649,2.648,2.636,2.628,2.627,2.62,2.606,2.601,2.594,2.584,2.584,2.58,2.571,2.563,2.558,2.557,2.552,2.542,2.537,2.532,2.529,2.523,2.511,2.508,2.506,2.495,2.494,2.493,2.487,2.482,2.478,2.478,2.475,2.468,2.465,2.462,2.455,2.455,2.453,2.452,2.451,2.447,2.444,2.441,2.437,2.437,2.43,2.429,2.429,2.428,2.428,2.427,2.417,2.416,2.416,2.416,2.416,2.416,2.414,2.416,2.414,2.411,2.41,2.409,2.408,2.408,2.408,2.413,2.414,2.416,2.418,2.418,2.418,2.414,2.412,2.412,2.412,2.413,2.417,2.417,2.417,2.42,2.419,2.419,2.425,2.426,2.426,2.427,2.434,2.437,2.441,2.442,2.443,2.443,2.443,2.45,2.454,2.455,2.459,2.467,2.467,2.468,2.474,2.475,2.478,2.486,2.486,2.487,2.493,2.499,2.5,2.51,2.511,2.513,2.521,2.528,2.531,2.537,2.543,2.545,2.55,2.559,2.565,2.565,2.566,2.59,2.592,2.603,2.605,2.61,2.618,2.618,2.632,2.633,2.633,2.645,2.647,2.658,2.676,2.679,2.688,2.699,2.704,2.719,2.723,2.727,2.745,2.753,2.754,2.764,2.781,2.793,2.799,2.81,2.811,2.832,2.84,2.843,2.856,2.873,2.88,2.886,2.904,2.921,2.926,2.941,2.949,2.952,2.972,2.989,2.991,3.01,3.024,3.038,3.047,3.066,3.084,3.095,3.102,3.12,3.141,3.152,3.165,3.18,3.199,3.22,3.239,3.247,3.269,3.277,3.299,3.322,3.336,3.356,3.379,3.396,3.41,3.434,3.451,3.48,3.507,3.519,3.539,3.563,3.604,3.618,3.632,3.661,3.699,3.728,3.751,3.794,3.795,3.843,3.855,3.894,3.931,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.374,3.358,3.343,3.329,3.316,3.304,3.296,3.295,3.278,3.275,3.26,3.251,3.245,3.232,3.231,3.22,3.214,3.208,3.197,3.188,3.183,3.173,3.168,3.152,3.151,3.147,3.146,3.142,3.125,3.124,3.12,3.12,3.111,3.104,3.098,3.097,3.085,3.084,3.083,3.079,3.072,3.071,3.064,3.061,3.061,3.051,3.047,3.047,3.044,3.044,3.038,3.038,3.037,3.035,3.029,3.027,3.027,3.027,3.029,3.026,3.026,3.026,3.019,3.019,3.019,3.014,3.014,3.013,3.01,3.011,3.01,3.007,3.007,3.007,3.007,3.01,3.01,3.01,3.01,3.008,3.008,3.012,3.012,3.017,3.017,3.018,3.023,3.018,3.022,3.023,3.022,3.022,3.027,3.03,3.03,3.035,3.035,3.036,3.038,3.043,3.047,3.049,3.058,3.058,3.063,3.063,3.063,3.064,3.067,3.076,3.085,3.088,3.089,3.09,3.092,3.103,3.105,3.108,3.108,3.12,3.131,3.131,3.133,3.135,3.137,3.137,3.145,3.146,3.151,3.158,3.172,3.172,3.173,3.175,3.187,3.196,3.204,3.217,3.225,3.228,3.229,3.229,3.23,3.24,3.248,3.257,3.282,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 72.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 72.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 72.0739} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578} SEN {Time 72.1226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.191,0.175,0.191,0.191,0,0,0,0,0,0,0,0,3.697,3.683,3.666,3.665,3.642,3.633,3.622,3.622,3.622,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.215,3.207,3.207,3.207,3.26,3.361,0,0,0,0,0,0,0,0.151,0.146,0.146,0.146,0.15,0.143,0.15,0.15,0.15,0.153,0.153,0.153,0.153,0.154,3.027,3.027,3.036,3.036,3.027,3.036,3.036,0.161,0.159,0.159,0.155,0.152,0.152,0.143,0.143,0.142,0.101,0.089,0.067,0.062,0.062,0.062,0.063,0.064,0.064,0.064,0.065,0.063,0.061,0.061,0.07,0.084,0.131,0.206,3.35,3.364,3.365,3.365,3.373,3.381,3.387,3.406,3.41,3.432,3.432,3.467,3.48,3.48,3.483,3.485,3.494,3.498,3.502,3.505,3.506,3.513,3.522,3.522,3.522,3.526,3.53,3.534,3.541,3.543,3.543,3.545,3.548,3.555,3.556,3.56,3.568,3.572,3.574,3.574,3.584,3.584,3.588,3.595,3.606,3.614,3.614,3.629,3.635,3.637,3.639,3.646,3.647,3.656,3.665,3.669,3.676,3.676,3.678,3.696,3.701,3.715,3.717,3.729,3.73,3.74,3.754,3.757,3.765,3.779,3.785,3.789,3.797,3.812,3.817,3.83,3.836,3.854,3.865,3.872,3.879,3.894,3.902,3.913,3.932,3.933,3.952,3.964,3.982,4.007,4.019,4.029,4.038,4.052,4.06,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.028,3.995,3.963,3.92,3.904,3.88,3.839,3.796,3.784,3.747,3.726,3.707,3.677,3.651,3.617,3.593,3.576,3.554,3.518,3.511,3.484,3.472,3.45,3.422,3.416,3.381,3.369,3.361,3.341,3.311,3.295,3.27,3.258,3.241,3.218,3.206,3.189,3.169,3.148,3.14,3.121,3.108,3.098,3.077,3.067,3.044,3.04,3.027,3.015,3.003,2.987,2.983,2.965,2.949,2.938,2.924,2.914,2.899,2.888,2.871,2.865,2.86,2.847,2.834,2.825,2.809,2.806,2.802,2.785,2.777,2.764,2.764,2.747,2.741,2.739,2.722,2.715,2.701,2.692,2.679,2.674,2.674,2.659,2.652,2.651,2.65,2.639,2.631,2.617,2.617,2.606,2.603,2.598,2.582,2.578,2.574,2.567,2.566,2.565,2.553,2.546,2.542,2.536,2.533,2.532,2.516,2.511,2.506,2.506,2.504,2.497,2.497,2.488,2.487,2.486,2.477,2.474,2.473,2.468,2.467,2.46,2.459,2.448,2.446,2.446,2.446,2.445,2.442,2.442,2.441,2.441,2.429,2.427,2.427,2.427,2.427,2.42,2.418,2.415,2.414,2.41,2.41,2.41,2.412,2.41,2.412,2.413,2.413,2.413,2.413,2.413,2.412,2.413,2.413,2.414,2.416,2.416,2.416,2.416,2.416,2.417,2.417,2.417,2.419,2.42,2.42,2.42,2.423,2.424,2.426,2.426,2.427,2.431,2.435,2.436,2.439,2.444,2.448,2.45,2.452,2.454,2.455,2.459,2.461,2.467,2.467,2.471,2.481,2.483,2.485,2.488,2.49,2.496,2.498,2.502,2.507,2.514,2.515,2.518,2.527,2.529,2.541,2.543,2.547,2.548,2.558,2.565,2.568,2.574,2.594,2.596,2.598,2.606,2.608,2.615,2.628,2.637,2.639,2.643,2.651,2.653,2.663,2.676,2.678,2.682,2.695,2.703,2.712,2.716,2.732,2.745,2.754,2.756,2.772,2.777,2.79,2.796,2.805,2.811,2.831,2.837,2.842,2.852,2.871,2.873,2.89,2.899,2.92,2.928,2.943,2.956,2.956,2.973,2.987,2.996,3.015,3.027,3.029,3.045,3.064,3.078,3.092,3.104,3.121,3.132,3.158,3.164,3.184,3.204,3.223,3.232,3.243,3.262,3.283,3.301,3.322,3.331,3.344,3.374,3.391,3.405,3.433,3.457,3.482,3.495,3.515,3.546,3.582,3.596,3.615,3.643,3.675,3.694,3.727,3.743,3.776,3.799,3.834,3.866,3.885,3.985,0.009,0.007,0.009,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.351,3.334,3.332,3.321,3.298,3.296,3.291,3.274,3.272,3.264,3.251,3.238,3.237,3.234,3.217,3.206,3.202,3.201,3.196,3.181,3.172,3.167,3.157,3.155,3.153,3.145,3.13,3.13,3.122,3.118,3.118,3.113,3.11,3.104,3.093,3.092,3.079,3.078,3.072,3.072,3.072,3.067,3.063,3.053,3.048,3.045,3.045,3.041,3.04,3.04,3.037,3.037,3.031,3.028,3.027,3.026,3.026,3.026,3.028,3.028,3.028,3.023,3.016,3.016,3.016,3.016,3.015,3.012,3.012,3.012,3.012,3.012,3.008,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.011,3.013,3.013,3.016,3.017,3.019,3.019,3.021,3.023,3.021,3.023,3.029,3.029,3.03,3.03,3.035,3.035,3.036,3.036,3.043,3.047,3.054,3.055,3.061,3.061,3.065,3.065,3.075,3.077,3.088,3.088,3.089,3.093,3.098,3.099,3.102,3.113,3.115,3.125,3.135,3.135,3.135,3.14,3.144,3.144,3.146,3.147,3.149,3.151,3.156,3.172,3.173,3.175,3.175,3.202,3.206,3.218,3.228,3.228,3.228,3.228,3.23,3.232,3.241,3.262,3.28,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 72.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 72.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 72.275} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.3594} SEN {Time 72.3226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.185,0.185,0,0,0,0,0,0,0,0,3.684,3.677,3.67,3.657,3.647,3.627,3.621,3.621,3.621,3.592,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.217,3.215,3.217,3.265,3.356,3.356,0,0,0,0,0,0,0,0.007,0.148,0.148,0.148,0.148,0.148,0.149,0.153,0.153,0.153,0.153,0.153,0.153,0.16,3.029,3.032,3.036,3.036,3.036,3.046,3.046,0.161,0.153,0.153,0.153,0.149,0.147,0.145,0.145,0.126,0.103,0.074,0.068,0.062,0.059,0.059,0.062,0.062,0.066,0.068,0.068,0.066,0.064,0.064,0.064,0.077,0.135,0.212,3.342,3.352,3.361,3.361,3.369,3.372,3.373,3.373,3.403,3.416,3.422,3.438,3.457,3.474,3.474,3.487,3.488,3.494,3.498,3.499,3.499,3.504,3.511,3.513,3.519,3.53,3.535,3.535,3.539,3.54,3.54,3.544,3.545,3.553,3.558,3.562,3.566,3.571,3.571,3.584,3.587,3.587,3.598,3.598,3.61,3.615,3.621,3.621,3.63,3.64,3.643,3.648,3.661,3.661,3.664,3.665,3.681,3.682,3.685,3.696,3.698,3.715,3.716,3.719,3.723,3.738,3.753,3.757,3.764,3.778,3.783,3.8,3.807,3.813,3.823,3.832,3.837,3.845,3.867,3.881,3.883,3.905,3.91,3.917,3.934,3.943,3.958,3.963,3.985,4.001,4.019,4.038,4.043,4.057,4.082,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.039,3.991,3.991,3.965,3.925,3.861,3.838,3.811,3.782,3.756,3.732,3.701,3.67,3.646,3.628,3.597,3.576,3.552,3.515,3.513,3.488,3.459,3.44,3.413,3.409,3.387,3.368,3.346,3.343,3.315,3.291,3.279,3.25,3.235,3.224,3.201,3.192,3.168,3.154,3.142,3.118,3.106,3.098,3.079,3.072,3.048,3.044,3.03,3.013,3,2.99,2.984,2.955,2.95,2.933,2.92,2.91,2.903,2.881,2.873,2.872,2.856,2.849,2.828,2.826,2.809,2.809,2.789,2.783,2.783,2.764,2.759,2.751,2.737,2.734,2.72,2.719,2.701,2.696,2.679,2.673,2.669,2.66,2.653,2.653,2.652,2.634,2.634,2.621,2.618,2.606,2.605,2.597,2.593,2.581,2.579,2.568,2.566,2.565,2.558,2.548,2.543,2.539,2.534,2.524,2.521,2.512,2.506,2.504,2.495,2.494,2.492,2.489,2.481,2.478,2.476,2.472,2.472,2.47,2.465,2.462,2.461,2.456,2.455,2.452,2.445,2.443,2.443,2.443,2.44,2.435,2.431,2.431,2.428,2.428,2.426,2.423,2.416,2.416,2.416,2.415,2.411,2.411,2.41,2.41,2.41,2.41,2.409,2.41,2.411,2.411,2.412,2.415,2.415,2.415,2.415,2.417,2.418,2.418,2.418,2.418,2.421,2.423,2.423,2.423,2.418,2.418,2.418,2.424,2.425,2.428,2.43,2.432,2.433,2.44,2.441,2.442,2.442,2.443,2.453,2.453,2.456,2.457,2.458,2.472,2.472,2.474,2.474,2.474,2.483,2.485,2.494,2.496,2.496,2.501,2.506,2.51,2.511,2.528,2.529,2.531,2.534,2.543,2.547,2.548,2.558,2.561,2.567,2.581,2.589,2.593,2.599,2.601,2.609,2.619,2.623,2.627,2.634,2.637,2.646,2.646,2.659,2.679,2.682,2.683,2.696,2.702,2.714,2.719,2.735,2.744,2.752,2.757,2.765,2.78,2.793,2.803,2.81,2.814,2.832,2.834,2.837,2.863,2.872,2.882,2.891,2.9,2.912,2.921,2.941,2.949,2.959,2.975,2.979,3.001,3.013,3.026,3.04,3.041,3.067,3.078,3.093,3.103,3.124,3.129,3.159,3.169,3.18,3.208,3.22,3.235,3.244,3.252,3.281,3.302,3.321,3.332,3.35,3.379,3.392,3.408,3.437,3.455,3.482,3.498,3.523,3.552,3.568,3.59,3.616,3.648,3.676,3.691,3.735,3.747,3.783,3.808,3.84,3.855,3.899,3.932,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.354,3.334,3.334,3.326,3.308,3.298,3.298,3.275,3.271,3.259,3.251,3.246,3.239,3.231,3.214,3.213,3.202,3.195,3.191,3.178,3.173,3.172,3.163,3.155,3.154,3.138,3.137,3.13,3.124,3.114,3.111,3.11,3.101,3.1,3.097,3.092,3.083,3.081,3.08,3.08,3.068,3.066,3.061,3.058,3.057,3.05,3.047,3.04,3.039,3.036,3.036,3.031,3.03,3.029,3.025,3.021,3.021,3.021,3.03,3.03,3.03,3.019,3.011,3.01,3.007,3.007,3.007,3.007,3.01,3.012,3.01,3.007,3.012,3.007,3.007,3.007,3.008,3.008,3.008,3.012,3.013,3.014,3.013,3.014,3.016,3.017,3.016,3.016,3.016,3.017,3.017,3.025,3.026,3.03,3.033,3.034,3.034,3.038,3.042,3.043,3.053,3.054,3.054,3.058,3.061,3.061,3.069,3.077,3.083,3.088,3.092,3.092,3.092,3.095,3.105,3.11,3.111,3.115,3.119,3.124,3.126,3.136,3.137,3.137,3.138,3.142,3.146,3.153,3.156,3.157,3.176,3.178,3.179,3.184,3.2,3.218,3.22,3.22,3.221,3.223,3.236,3.236,3.24,3.252,3.259,3.277,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 72.48} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 72.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 72.477} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.3594} SEN {Time 72.5226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.182,0.184,0.184,0,0,0,0,0,0,0,0,3.687,3.682,3.664,3.662,3.641,3.618,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.214,3.214,3.214,3.214,3.26,3.354,0,0,0,0,0,0,0,0,0.148,0.148,0.148,0.15,0.143,0.147,0.147,0.151,0.147,0.151,0.151,0.156,0.156,3.04,3.04,3.04,3.04,3.037,3.037,3.029,0.16,0.156,0.156,0.156,0.152,0.152,0.15,0.15,0.132,0.111,0.074,0.062,0.061,0.061,0.061,0.061,0.061,0.065,0.065,0.063,0.063,0.061,0.061,0.061,0.08,0.134,0.206,3.338,3.354,3.357,3.357,3.36,3.363,3.39,3.396,3.421,3.421,3.45,3.48,3.48,3.48,3.48,3.48,3.496,3.503,3.506,3.506,3.507,3.512,3.518,3.523,3.524,3.524,3.531,3.538,3.547,3.548,3.547,3.547,3.549,3.549,3.562,3.564,3.565,3.569,3.576,3.578,3.579,3.585,3.593,3.596,3.607,3.611,3.617,3.628,3.629,3.633,3.645,3.65,3.652,3.653,3.655,3.665,3.677,3.682,3.684,3.69,3.693,3.706,3.721,3.726,3.727,3.743,3.757,3.762,3.768,3.774,3.779,3.798,3.804,3.81,3.823,3.833,3.848,3.858,3.864,3.878,3.884,3.895,3.905,3.915,3.932,3.957,3.96,3.976,3.985,3.993,4.008,4.028,4.053,4.056,4.068,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.046,3.992,3.968,3.931,3.891,3.87,3.837,3.804,3.778,3.749,3.735,3.708,3.666,3.652,3.619,3.599,3.568,3.556,3.522,3.501,3.489,3.463,3.435,3.422,3.402,3.393,3.372,3.349,3.333,3.303,3.303,3.274,3.263,3.232,3.224,3.194,3.18,3.167,3.15,3.149,3.122,3.103,3.093,3.087,3.069,3.045,3.034,3.021,3.005,3,2.993,2.981,2.961,2.949,2.937,2.925,2.917,2.901,2.893,2.876,2.865,2.859,2.855,2.831,2.824,2.814,2.808,2.796,2.79,2.784,2.769,2.754,2.749,2.749,2.739,2.723,2.719,2.703,2.693,2.676,2.67,2.67,2.656,2.653,2.65,2.649,2.634,2.633,2.623,2.61,2.61,2.603,2.601,2.591,2.579,2.578,2.577,2.575,2.567,2.559,2.552,2.541,2.537,2.535,2.529,2.52,2.518,2.505,2.505,2.496,2.495,2.495,2.484,2.482,2.478,2.476,2.473,2.472,2.47,2.464,2.463,2.459,2.455,2.453,2.452,2.443,2.443,2.442,2.442,2.439,2.435,2.428,2.428,2.425,2.423,2.421,2.421,2.418,2.415,2.414,2.414,2.414,2.41,2.41,2.41,2.413,2.41,2.41,2.41,2.41,2.41,2.41,2.416,2.41,2.413,2.416,2.413,2.413,2.414,2.417,2.417,2.417,2.42,2.42,2.417,2.42,2.42,2.42,2.424,2.426,2.426,2.43,2.433,2.434,2.435,2.438,2.44,2.442,2.449,2.45,2.454,2.454,2.464,2.466,2.468,2.47,2.472,2.477,2.479,2.482,2.484,2.488,2.49,2.49,2.496,2.504,2.514,2.518,2.525,2.528,2.529,2.536,2.542,2.552,2.556,2.556,2.562,2.567,2.574,2.584,2.594,2.604,2.606,2.607,2.612,2.627,2.633,2.644,2.644,2.646,2.657,2.66,2.671,2.686,2.696,2.703,2.704,2.713,2.72,2.724,2.732,2.745,2.761,2.767,2.788,2.789,2.797,2.808,2.821,2.827,2.835,2.845,2.858,2.875,2.885,2.891,2.904,2.914,2.927,2.944,2.951,2.955,2.978,2.983,3.004,3.01,3.027,3.04,3.043,3.066,3.083,3.084,3.106,3.125,3.141,3.149,3.174,3.182,3.198,3.22,3.234,3.251,3.258,3.277,3.296,3.325,3.33,3.354,3.383,3.389,3.406,3.438,3.455,3.475,3.499,3.528,3.536,3.572,3.59,3.603,3.645,3.663,3.7,3.72,3.75,3.785,3.805,3.84,3.87,3.899,3.925,3.979,4.019,4.072,4.072,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.372,3.367,3.332,3.329,3.32,3.303,3.296,3.293,3.282,3.276,3.263,3.256,3.243,3.242,3.238,3.22,3.205,3.204,3.199,3.19,3.19,3.184,3.168,3.159,3.158,3.156,3.143,3.138,3.136,3.118,3.118,3.113,3.113,3.105,3.1,3.097,3.091,3.089,3.082,3.08,3.076,3.072,3.061,3.058,3.054,3.05,3.049,3.042,3.038,3.037,3.035,3.034,3.033,3.027,3.027,3.026,3.026,3.026,3.026,3.025,3.025,3.025,3.017,3.015,3.014,3.014,3.014,3.01,3.014,3.012,3.01,3.01,3.01,3.007,3.007,3.007,3.008,3.012,3.012,3.012,3.014,3.014,3.014,3.015,3.014,3.015,3.017,3.017,3.018,3.028,3.028,3.028,3.028,3.029,3.031,3.031,3.034,3.034,3.038,3.039,3.041,3.048,3.054,3.059,3.061,3.061,3.063,3.065,3.072,3.077,3.088,3.091,3.092,3.094,3.094,3.095,3.108,3.116,3.116,3.117,3.129,3.129,3.133,3.141,3.144,3.144,3.144,3.145,3.151,3.166,3.166,3.172,3.175,3.182,3.192,3.202,3.214,3.215,3.226,3.227,3.231,3.235,3.24,3.245,3.247,3.26,3.28,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 72.68} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 72.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 72.6779} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.3594} SEN {Time 72.7226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.181,0.181,0.185,0,0,0,0,0,0,0,0,3.685,3.676,3.672,3.667,3.652,3.634,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.213,3.211,3.211,3.211,3.264,3.361,0,0,0,0,0,0,0,0.007,0.141,0.141,0.141,0.141,0.142,0.145,0.145,0.151,0.151,0.151,0.151,0.151,0.153,3.026,3.036,3.036,3.036,3.03,3.036,3.03,0.156,0.156,0.156,0.154,0.153,0.147,0.147,0.147,0.128,0.107,0.076,0.065,0.065,0.06,0.06,0.06,0.063,0.064,0.066,0.066,0.063,0.064,0.064,0.064,0.076,0.13,0.212,3.345,3.355,3.37,3.355,3.37,3.371,3.376,3.376,3.398,3.424,3.445,3.459,3.471,3.479,3.479,3.481,3.494,3.495,3.501,3.503,3.503,3.509,3.509,3.519,3.519,3.52,3.523,3.536,3.537,3.54,3.541,3.545,3.546,3.55,3.55,3.555,3.565,3.567,3.572,3.579,3.579,3.589,3.6,3.603,3.604,3.607,3.624,3.626,3.63,3.637,3.649,3.657,3.657,3.664,3.665,3.668,3.677,3.677,3.685,3.695,3.704,3.716,3.716,3.73,3.737,3.74,3.751,3.754,3.762,3.767,3.779,3.801,3.802,3.808,3.813,3.837,3.845,3.849,3.862,3.875,3.882,3.89,3.901,3.918,3.925,3.944,3.949,3.968,3.984,3.992,4.01,4.026,4.046,4.061,4.076,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.028,4.028,3.99,3.961,3.895,3.87,3.851,3.818,3.789,3.744,3.733,3.705,3.677,3.648,3.629,3.601,3.576,3.548,3.526,3.503,3.486,3.448,3.445,3.426,3.409,3.379,3.364,3.342,3.331,3.314,3.298,3.278,3.253,3.235,3.216,3.198,3.187,3.176,3.15,3.139,3.121,3.111,3.101,3.088,3.062,3.049,3.038,3.029,3.008,2.994,2.994,2.983,2.96,2.955,2.932,2.932,2.911,2.904,2.886,2.875,2.875,2.859,2.847,2.841,2.826,2.822,2.808,2.793,2.779,2.774,2.769,2.758,2.752,2.737,2.736,2.719,2.712,2.702,2.7,2.682,2.681,2.678,2.664,2.663,2.655,2.651,2.64,2.637,2.63,2.623,2.615,2.613,2.601,2.588,2.578,2.578,2.576,2.573,2.561,2.557,2.549,2.545,2.529,2.529,2.524,2.516,2.515,2.504,2.502,2.5,2.499,2.497,2.496,2.482,2.478,2.477,2.47,2.468,2.466,2.464,2.46,2.453,2.451,2.45,2.444,2.442,2.442,2.441,2.438,2.435,2.431,2.427,2.427,2.427,2.427,2.418,2.423,2.418,2.416,2.416,2.416,2.415,2.415,2.415,2.415,2.414,2.414,2.411,2.408,2.408,2.408,2.409,2.411,2.411,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.417,2.42,2.42,2.42,2.419,2.42,2.423,2.424,2.428,2.432,2.434,2.435,2.441,2.441,2.441,2.446,2.446,2.452,2.454,2.455,2.46,2.461,2.467,2.47,2.47,2.475,2.482,2.483,2.488,2.493,2.496,2.502,2.504,2.509,2.509,2.522,2.523,2.527,2.531,2.531,2.541,2.551,2.552,2.56,2.567,2.57,2.57,2.587,2.598,2.599,2.6,2.61,2.616,2.618,2.628,2.635,2.639,2.652,2.654,2.657,2.679,2.681,2.685,2.704,2.707,2.714,2.721,2.725,2.743,2.745,2.748,2.766,2.778,2.785,2.797,2.802,2.816,2.823,2.84,2.855,2.856,2.865,2.887,2.888,2.896,2.917,2.925,2.953,2.955,2.957,2.969,2.981,2.999,3.011,3.029,3.038,3.044,3.061,3.081,3.092,3.104,3.124,3.145,3.158,3.168,3.183,3.193,3.225,3.228,3.243,3.256,3.278,3.295,3.333,3.337,3.349,3.369,3.401,3.406,3.437,3.457,3.482,3.502,3.525,3.546,3.558,3.587,3.608,3.635,3.665,3.7,3.723,3.75,3.77,3.796,3.837,3.87,3.892,3.922,3.942,4.02,4.061,4.091,4.091,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.359,3.341,3.329,3.315,3.307,3.293,3.289,3.289,3.27,3.256,3.254,3.24,3.239,3.234,3.221,3.213,3.211,3.193,3.188,3.179,3.175,3.173,3.161,3.152,3.149,3.144,3.137,3.13,3.122,3.119,3.118,3.111,3.107,3.097,3.087,3.084,3.084,3.084,3.081,3.075,3.073,3.066,3.065,3.058,3.054,3.041,3.041,3.041,3.041,3.038,3.035,3.035,3.027,3.027,3.022,3.018,3.018,3.022,3.025,3.025,3.025,3.021,3.014,3.012,3.011,3.011,3.005,3.011,3.012,3.012,3.008,3.008,3.006,3.006,3.006,3.009,3.011,3.013,3.011,3.011,3.013,3.013,3.014,3.014,3.015,3.015,3.016,3.019,3.021,3.021,3.027,3.029,3.029,3.03,3.033,3.033,3.033,3.036,3.037,3.037,3.047,3.052,3.053,3.059,3.061,3.063,3.063,3.068,3.076,3.084,3.085,3.086,3.095,3.099,3.1,3.105,3.111,3.112,3.115,3.13,3.13,3.132,3.14,3.14,3.148,3.151,3.151,3.156,3.16,3.162,3.167,3.169,3.183,3.187,3.198,3.209,3.217,3.222,3.23,3.23,3.237,3.241,3.247,3.254,3.258,3.277,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 72.88} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 72.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 72.8788} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.5146} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0292} SEN {Time 72.9186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.183,0.183,0.186,0,0,0,0,0,0,0,0,3.688,3.677,3.656,3.652,3.638,3.63,3.616,3.616,3.616,3.601,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.213,3.209,3.206,3.206,3.206,3.26,3.366,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.146,0.146,0.147,0.147,0.149,0.147,0.148,0.148,0.148,0.148,3.035,3.035,3.035,3.035,3.03,3.03,3.03,0.162,0.157,0.157,0.154,0.154,0.154,0.149,0.149,0.131,0.113,0.072,0.065,0.065,0.062,0.062,0.065,0.065,0.068,0.068,0.068,0.068,0.064,0.064,0.069,0.081,0.129,0.204,3.355,3.36,3.39,3.373,3.365,3.368,3.373,3.373,3.409,3.426,3.433,3.46,3.46,3.471,3.48,3.483,3.496,3.499,3.502,3.503,3.506,3.511,3.517,3.521,3.527,3.528,3.528,3.535,3.538,3.54,3.545,3.545,3.55,3.555,3.559,3.561,3.567,3.573,3.576,3.578,3.579,3.589,3.591,3.596,3.601,3.605,3.623,3.626,3.627,3.628,3.632,3.633,3.657,3.668,3.669,3.672,3.681,3.689,3.693,3.698,3.699,3.707,3.73,3.732,3.735,3.744,3.756,3.757,3.771,3.772,3.78,3.798,3.813,3.823,3.825,3.834,3.835,3.854,3.861,3.869,3.886,3.891,3.905,3.913,3.933,3.95,3.955,3.97,3.981,4.004,4.008,4.028,4.051,4.052,4.071,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.06,4.027,3.993,3.984,3.928,3.896,3.87,3.834,3.805,3.763,3.745,3.72,3.708,3.673,3.649,3.618,3.608,3.563,3.551,3.533,3.507,3.478,3.457,3.443,3.42,3.406,3.373,3.355,3.34,3.323,3.304,3.3,3.27,3.268,3.231,3.226,3.191,3.181,3.169,3.154,3.135,3.124,3.106,3.091,3.091,3.068,3.05,3.044,3.028,3.011,3,2.997,2.991,2.96,2.956,2.944,2.925,2.917,2.9,2.9,2.879,2.868,2.861,2.849,2.835,2.833,2.816,2.811,2.791,2.783,2.779,2.761,2.757,2.748,2.74,2.732,2.721,2.716,2.703,2.687,2.685,2.677,2.677,2.667,2.653,2.652,2.646,2.641,2.638,2.63,2.618,2.616,2.599,2.598,2.584,2.581,2.574,2.566,2.565,2.555,2.553,2.546,2.541,2.537,2.533,2.523,2.52,2.519,2.506,2.504,2.5,2.495,2.494,2.493,2.485,2.481,2.475,2.473,2.472,2.47,2.468,2.461,2.454,2.452,2.45,2.447,2.442,2.442,2.442,2.442,2.442,2.434,2.428,2.426,2.426,2.426,2.425,2.421,2.417,2.417,2.416,2.416,2.416,2.416,2.415,2.414,2.411,2.411,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.411,2.412,2.412,2.412,2.412,2.412,2.413,2.414,2.415,2.415,2.421,2.423,2.425,2.426,2.43,2.43,2.432,2.432,2.433,2.438,2.44,2.444,2.445,2.45,2.452,2.455,2.456,2.464,2.465,2.466,2.468,2.471,2.477,2.477,2.481,2.483,2.488,2.492,2.494,2.503,2.509,2.512,2.521,2.522,2.525,2.533,2.534,2.541,2.547,2.562,2.562,2.565,2.569,2.575,2.588,2.599,2.6,2.604,2.611,2.617,2.62,2.637,2.639,2.642,2.644,2.653,2.665,2.675,2.677,2.679,2.694,2.702,2.708,2.717,2.732,2.739,2.748,2.756,2.764,2.781,2.786,2.795,2.802,2.82,2.832,2.836,2.842,2.858,2.863,2.875,2.888,2.899,2.92,2.922,2.943,2.95,2.956,2.976,2.987,2.999,3.015,3.02,3.045,3.047,3.066,3.083,3.092,3.104,3.124,3.143,3.153,3.168,3.178,3.195,3.223,3.233,3.253,3.26,3.276,3.293,3.329,3.336,3.35,3.368,3.389,3.402,3.439,3.457,3.482,3.499,3.517,3.544,3.578,3.603,3.622,3.633,3.664,3.69,3.723,3.747,3.771,3.8,3.827,3.871,3.891,3.915,3.992,4.029,4.073,4.073,4.094,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.358,3.33,3.329,3.314,3.312,3.29,3.289,3.278,3.265,3.252,3.249,3.244,3.244,3.236,3.222,3.213,3.207,3.194,3.191,3.186,3.183,3.173,3.158,3.155,3.152,3.14,3.139,3.134,3.121,3.117,3.116,3.114,3.11,3.107,3.098,3.095,3.09,3.087,3.075,3.071,3.07,3.061,3.056,3.051,3.05,3.05,3.049,3.046,3.04,3.038,3.038,3.034,3.028,3.027,3.026,3.026,3.028,3.082,3.082,3.082,3.034,3.018,3.017,3.017,3.016,3.013,3.013,3.012,3.012,3.011,3.011,3.006,3.004,3.004,3.004,3.003,3.008,3.01,3.01,3.01,3.013,3.013,3.015,3.017,3.019,3.021,3.021,3.021,3.022,3.022,3.022,3.024,3.028,3.028,3.032,3.035,3.037,3.037,3.043,3.043,3.049,3.054,3.061,3.062,3.063,3.064,3.069,3.072,3.079,3.081,3.084,3.092,3.098,3.099,3.099,3.109,3.11,3.116,3.127,3.132,3.132,3.136,3.136,3.136,3.136,3.147,3.148,3.149,3.158,3.165,3.17,3.171,3.18,3.194,3.204,3.216,3.218,3.228,3.228,3.229,3.235,3.243,3.244,3.252,3.257,3.281,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 73.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 73.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 73.0708} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.5146} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0292} SEN {Time 73.1186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.178,0.179,0.179,0.181,0.192,0,0,0,0,0,0,0,0,3.689,3.684,3.674,3.662,3.644,3.627,3.622,3.622,3.592,3.592,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.219,3.213,3.213,3.213,3.267,3.365,0,0,0,0,0,0,0,0.144,0.143,0.143,0.142,0.142,0.143,0.143,0.143,0.144,0.152,0.153,0.153,0.155,0.163,3.03,3.033,3.033,3.033,3.033,3.036,3.03,0.154,0.154,0.154,0.154,0.155,0.155,0.15,0.15,0.132,0.105,0.064,0.064,0.059,0.059,0.059,0.065,0.067,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.087,0.132,0.218,3.34,3.362,3.364,3.364,3.379,3.379,0,0.007,0,3.431,3.456,3.456,3.456,3.469,3.47,3.481,3.493,3.497,3.499,3.502,3.507,3.516,3.516,3.518,3.519,3.521,3.529,3.53,3.536,3.542,3.542,3.544,3.545,3.546,3.559,3.562,3.564,3.57,3.579,3.579,3.583,3.59,3.594,3.599,3.608,3.613,3.62,3.625,3.629,3.629,3.652,3.653,3.654,3.654,3.657,3.67,3.672,3.68,3.688,3.698,3.702,3.704,3.713,3.722,3.731,3.749,3.749,3.757,3.766,3.767,3.771,3.787,3.797,3.809,3.82,3.833,3.837,3.848,3.871,3.877,3.884,3.9,3.904,3.919,3.927,3.946,3.956,3.97,3.986,3.999,4.02,4.042,4.046,4.074,4.078,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.072,3.979,3.965,3.94,3.893,3.881,3.839,3.815,3.762,3.755,3.732,3.707,3.685,3.645,3.623,3.606,3.58,3.553,3.517,3.507,3.483,3.441,3.439,3.416,3.393,3.383,3.371,3.354,3.331,3.308,3.295,3.274,3.254,3.227,3.225,3.197,3.171,3.17,3.158,3.148,3.127,3.104,3.1,3.076,3.071,3.049,3.046,3.029,3,2.998,2.985,2.979,2.967,2.953,2.938,2.932,2.915,2.906,2.89,2.875,2.87,2.861,2.843,2.842,2.822,2.81,2.806,2.793,2.786,2.784,2.769,2.762,2.748,2.742,2.734,2.721,2.712,2.697,2.689,2.677,2.676,2.669,2.661,2.659,2.656,2.649,2.635,2.626,2.616,2.615,2.608,2.607,2.605,2.593,2.578,2.578,2.577,2.57,2.562,2.561,2.546,2.541,2.533,2.531,2.522,2.521,2.515,2.508,2.499,2.497,2.494,2.489,2.484,2.484,2.48,2.48,2.471,2.466,2.465,2.464,2.461,2.455,2.454,2.451,2.451,2.451,2.451,2.447,2.444,2.437,2.435,2.428,2.428,2.427,2.427,2.427,2.425,2.419,2.419,2.418,2.414,2.414,2.411,2.411,2.412,2.412,2.41,2.41,2.406,2.406,2.406,2.409,2.409,2.415,2.415,2.416,2.416,2.415,2.416,2.416,2.416,2.416,2.419,2.419,2.419,2.421,2.419,2.419,2.421,2.423,2.423,2.431,2.433,2.433,2.436,2.438,2.444,2.448,2.449,2.451,2.456,2.456,2.457,2.458,2.467,2.467,2.47,2.47,2.476,2.478,2.482,2.49,2.494,2.499,2.505,2.512,2.515,2.517,2.522,2.53,2.534,2.537,2.54,2.548,2.549,2.562,2.565,2.565,2.576,2.588,2.595,2.601,2.603,2.617,2.62,2.62,2.632,2.636,2.642,2.652,2.657,2.663,2.671,2.678,2.692,2.693,2.701,2.717,2.721,2.721,2.738,2.751,2.753,2.768,2.783,2.788,2.803,2.808,2.818,2.84,2.842,2.847,2.856,2.863,2.876,2.886,2.899,2.917,2.922,2.943,2.947,2.954,2.975,2.978,3.001,3.015,3.027,3.048,3.049,3.069,3.086,3.093,3.104,3.122,3.147,3.151,3.162,3.175,3.199,3.214,3.233,3.253,3.257,3.272,3.302,3.32,3.336,3.346,3.379,3.39,3.417,3.435,3.454,3.482,3.504,3.525,3.54,3.561,3.601,3.614,3.643,3.673,3.694,3.713,3.738,3.782,3.8,3.838,3.868,3.898,3.93,3.958,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.35,3.339,3.325,3.323,3.308,3.292,3.289,3.285,3.267,3.261,3.251,3.244,3.236,3.236,3.226,3.216,3.206,3.192,3.191,3.184,3.175,3.172,3.159,3.154,3.152,3.145,3.14,3.12,3.118,3.117,3.115,3.106,3.105,3.101,3.098,3.088,3.088,3.084,3.08,3.075,3.063,3.063,3.06,3.048,3.043,3.043,3.041,3.041,3.041,3.035,3.035,3.033,3.032,3.03,3.026,3.022,3.022,3.022,3.029,3.029,3.029,3.019,3.015,3.015,3.015,3.012,3.012,3.007,3.009,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.007,3.007,3.007,3.011,3.011,3.013,3.013,3.011,3.011,3.014,3.018,3.018,3.018,3.022,3.022,3.023,3.026,3.031,3.033,3.033,3.033,3.035,3.037,3.042,3.043,3.051,3.055,3.061,3.061,3.061,3.071,3.076,3.079,3.085,3.091,3.091,3.092,3.092,3.099,3.108,3.108,3.119,3.125,3.131,3.131,3.137,3.137,3.144,3.144,3.145,3.149,3.152,3.16,3.167,3.17,3.173,3.18,3.186,3.193,3.211,3.22,3.228,3.231,3.231,3.234,3.236,3.237,3.246,3.257,3.286,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 73.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 73.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 73.2718} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.5146} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.0292} SEN {Time 73.3186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,3.692,3.685,3.668,3.666,3.646,3.629,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.222,3.221,3.21,3.21,3.21,3.259,3.369,0,0,0,0,0,0,0,0.145,0.143,0.143,0.142,0.142,0.142,0.145,0.144,0.146,0.146,0.151,0.151,0.153,0.153,3.035,3.035,3.035,3.035,3.031,3.031,3.03,0.168,0.161,0.161,0.16,0.16,0.152,0.148,0.148,0.128,0.108,0.079,0.066,0.063,0.063,0.063,0.062,0.062,0.063,0.064,0.063,0.063,0.063,0.063,0.063,0.078,0.131,0.198,3.336,3.364,3.365,3.365,3.367,3.383,3.389,3.401,3.428,3.428,3.428,3.44,3.458,3.471,3.473,3.484,3.487,3.492,3.492,3.503,3.509,3.514,3.521,3.521,3.521,3.521,3.532,3.532,3.535,3.535,3.539,3.543,3.551,3.556,3.556,3.561,3.566,3.578,3.578,3.583,3.584,3.584,3.594,3.597,3.612,3.612,3.625,3.63,3.63,3.639,3.643,3.651,3.654,3.658,3.661,3.67,3.682,3.684,3.686,3.695,3.708,3.712,3.722,3.734,3.739,3.747,3.751,3.756,3.766,3.766,3.782,3.797,3.804,3.818,3.82,3.838,3.844,3.849,3.87,3.875,3.876,3.893,3.893,3.92,3.943,3.946,3.946,3.981,3.984,3.988,4.019,4.049,4.062,4.062,4.076,4.095,0.016,0.016,0,0,0,0,0,4.092,4.055,3.97,3.928,3.902,3.869,3.847,3.815,3.794,3.749,3.748,3.698,3.667,3.643,3.628,3.604,3.579,3.543,3.533,3.504,3.479,3.468,3.437,3.422,3.404,3.385,3.367,3.347,3.342,3.309,3.303,3.278,3.253,3.231,3.227,3.192,3.182,3.171,3.157,3.151,3.129,3.107,3.092,3.079,3.068,3.047,3.041,3.029,3.006,2.997,2.988,2.978,2.959,2.954,2.942,2.924,2.923,2.9,2.888,2.875,2.867,2.861,2.852,2.841,2.83,2.813,2.809,2.795,2.777,2.773,2.763,2.759,2.744,2.737,2.737,2.72,2.714,2.7,2.693,2.685,2.68,2.675,2.659,2.654,2.652,2.652,2.643,2.631,2.626,2.617,2.609,2.608,2.595,2.59,2.574,2.573,2.571,2.562,2.56,2.556,2.553,2.542,2.534,2.534,2.523,2.521,2.506,2.504,2.503,2.494,2.492,2.49,2.489,2.482,2.479,2.478,2.477,2.475,2.472,2.462,2.461,2.455,2.454,2.451,2.449,2.446,2.443,2.442,2.438,2.436,2.432,2.431,2.43,2.428,2.427,2.424,2.423,2.418,2.418,2.417,2.416,2.412,2.412,2.412,2.41,2.413,2.413,2.408,2.408,2.409,2.409,2.411,2.412,2.415,2.415,2.416,2.416,2.416,2.414,2.413,2.413,2.413,2.417,2.417,2.419,2.419,2.419,2.419,2.425,2.426,2.427,2.431,2.433,2.435,2.435,2.439,2.442,2.447,2.448,2.45,2.459,2.459,2.461,2.463,2.465,2.467,2.468,2.479,2.479,2.479,2.491,2.493,2.494,2.497,2.504,2.516,2.519,2.522,2.522,2.528,2.53,2.534,2.535,2.552,2.556,2.559,2.564,2.566,2.577,2.587,2.591,2.601,2.601,2.617,2.617,2.625,2.634,2.641,2.641,2.649,2.653,2.665,2.674,2.675,2.692,2.696,2.697,2.715,2.719,2.728,2.732,2.748,2.75,2.769,2.783,2.785,2.8,2.809,2.812,2.833,2.843,2.853,2.858,2.871,2.879,2.882,2.896,2.91,2.926,2.946,2.958,2.961,2.968,2.986,3.003,3.013,3.023,3.039,3.046,3.064,3.074,3.092,3.098,3.12,3.142,3.155,3.163,3.182,3.195,3.217,3.236,3.247,3.266,3.28,3.289,3.329,3.338,3.356,3.37,3.401,3.402,3.438,3.461,3.48,3.502,3.515,3.548,3.574,3.593,3.63,3.646,3.665,3.687,3.716,3.751,3.784,3.8,3.864,3.887,3.926,3.926,3.99,0.007,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.355,3.341,3.333,3.32,3.308,3.303,3.3,3.28,3.269,3.264,3.253,3.25,3.234,3.231,3.22,3.213,3.208,3.202,3.185,3.18,3.177,3.168,3.164,3.155,3.153,3.144,3.136,3.134,3.122,3.121,3.12,3.107,3.103,3.099,3.092,3.092,3.089,3.082,3.08,3.075,3.07,3.061,3.059,3.057,3.052,3.045,3.044,3.042,3.037,3.037,3.037,3.037,3.029,3.028,3.025,3.023,3.028,3.028,3.029,3.029,3.029,3.02,3.02,3.019,3.013,3.012,3.011,3.011,3.011,3.011,3.011,3.011,3.01,3.01,3.01,3.011,3.011,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.018,3.019,3.021,3.022,3.021,3.021,3.025,3.029,3.029,3.036,3.036,3.036,3.04,3.041,3.046,3.048,3.05,3.054,3.056,3.061,3.062,3.069,3.071,3.077,3.084,3.088,3.088,3.088,3.088,3.103,3.105,3.111,3.113,3.123,3.135,3.135,3.138,3.138,3.138,3.138,3.147,3.148,3.16,3.161,3.168,3.173,3.175,3.18,3.187,3.196,3.205,3.218,3.219,3.227,3.229,3.233,3.244,3.25,3.25,3.265,3.272,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 73.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 73.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 73.4729} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.7244} SEN {Time 73.5186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.176,0.176,0.176,0.179,0.185,0,0,0,0,0,0,0,0,3.688,3.683,3.662,3.66,3.638,3.635,3.616,3.616,3.616,3.608,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.227,3.222,3.22,3.222,3.222,3.264,3.359,0,0,0,0,0,0,0,0.007,0.145,0.145,0.143,0.143,0.145,0.145,0.145,0.155,0.151,0.154,0.154,0.154,0.154,3.035,3.037,3.038,3.038,3.037,3.038,3.038,0.158,0.155,0.155,0.155,0.155,0.153,0.145,0.145,0.135,0.115,0.067,0.066,0.064,0.06,0.06,0.064,0.064,0.066,0.066,0.064,0.063,0.062,0.062,0.062,0.073,0.125,0.209,3.328,3.329,3.362,3.368,3.369,3.369,3.371,3.371,3.394,3.427,3.428,3.437,3.459,3.468,3.481,3.482,3.496,3.497,3.502,3.504,3.505,3.505,3.515,3.518,3.523,3.53,3.531,3.539,3.539,3.539,3.543,3.544,3.553,3.553,3.561,3.564,3.566,3.573,3.576,3.58,3.58,3.584,3.598,3.602,3.606,3.613,3.625,3.626,3.632,3.641,3.644,3.649,3.655,3.659,3.661,3.662,3.674,3.684,3.693,3.693,3.706,3.711,3.712,3.733,3.742,3.744,3.755,3.76,3.768,3.77,3.782,3.795,3.802,3.819,3.825,3.833,3.839,3.854,3.869,3.889,3.89,3.895,3.897,3.929,3.936,3.948,3.956,3.969,3.976,3.999,4.012,4.027,4.045,4.068,4.073,4.094,0.016,0.016,0.016,0.007,0,0.007,0.016,4.024,3.996,3.98,3.934,3.934,3.905,3.882,3.808,3.782,3.751,3.73,3.711,3.685,3.656,3.623,3.595,3.577,3.546,3.532,3.51,3.474,3.464,3.446,3.423,3.399,3.387,3.373,3.354,3.334,3.309,3.303,3.275,3.26,3.234,3.224,3.193,3.185,3.17,3.156,3.141,3.123,3.111,3.092,3.083,3.071,3.045,3.043,3.022,3.017,2.999,2.989,2.984,2.956,2.955,2.935,2.927,2.912,2.902,2.898,2.88,2.873,2.863,2.851,2.838,2.828,2.815,2.802,2.788,2.786,2.78,2.767,2.758,2.748,2.732,2.732,2.722,2.715,2.705,2.701,2.685,2.677,2.669,2.666,2.66,2.651,2.649,2.631,2.63,2.623,2.623,2.613,2.607,2.602,2.589,2.578,2.577,2.569,2.568,2.565,2.559,2.55,2.548,2.534,2.531,2.527,2.524,2.513,2.511,2.508,2.499,2.498,2.496,2.488,2.483,2.482,2.478,2.473,2.468,2.467,2.467,2.46,2.458,2.45,2.45,2.448,2.445,2.443,2.443,2.443,2.442,2.436,2.43,2.428,2.428,2.427,2.426,2.421,2.421,2.421,2.418,2.418,2.414,2.414,2.414,2.414,2.414,2.413,2.409,2.407,2.409,2.409,2.407,2.409,2.41,2.412,2.412,2.412,2.414,2.414,2.415,2.417,2.419,2.42,2.42,2.42,2.42,2.42,2.424,2.426,2.426,2.43,2.433,2.435,2.436,2.437,2.437,2.438,2.441,2.444,2.453,2.454,2.456,2.458,2.466,2.466,2.47,2.47,2.473,2.475,2.482,2.487,2.489,2.492,2.496,2.499,2.51,2.511,2.522,2.523,2.529,2.532,2.539,2.541,2.552,2.554,2.555,2.566,2.57,2.572,2.598,2.598,2.598,2.599,2.601,2.616,2.618,2.634,2.635,2.64,2.654,2.655,2.664,2.676,2.679,2.685,2.698,2.713,2.714,2.724,2.728,2.74,2.754,2.754,2.768,2.777,2.792,2.793,2.813,2.824,2.835,2.837,2.847,2.858,2.87,2.884,2.892,2.9,2.917,2.927,2.948,2.951,2.954,2.978,2.984,2.996,3.014,3.027,3.038,3.044,3.068,3.089,3.092,3.108,3.122,3.144,3.15,3.169,3.179,3.209,3.224,3.23,3.245,3.267,3.282,3.297,3.32,3.337,3.35,3.372,3.393,3.416,3.442,3.463,3.481,3.505,3.522,3.537,3.566,3.595,3.613,3.636,3.674,3.692,3.72,3.754,3.784,3.793,3.839,3.862,3.918,3.96,4.027,4.027,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.352,3.339,3.333,3.315,3.305,3.295,3.285,3.275,3.269,3.254,3.252,3.246,3.242,3.24,3.219,3.217,3.212,3.212,3.195,3.184,3.182,3.173,3.165,3.159,3.149,3.145,3.136,3.134,3.124,3.121,3.117,3.11,3.107,3.101,3.089,3.089,3.087,3.086,3.073,3.072,3.068,3.068,3.066,3.063,3.054,3.044,3.044,3.038,3.038,3.038,3.038,3.036,3.031,3.029,3.022,3.021,3.021,3.029,3.03,3.03,3.03,3.021,3.018,3.015,3.013,3.011,3.011,3.011,3.01,3.011,3.009,3.008,3.008,3.005,3.005,3.005,3.005,3.011,3.011,3.013,3.013,3.013,3.013,3.013,3.016,3.019,3.019,3.021,3.023,3.023,3.024,3.029,3.032,3.036,3.037,3.037,3.037,3.037,3.037,3.043,3.049,3.055,3.056,3.059,3.064,3.064,3.066,3.074,3.084,3.084,3.087,3.089,3.092,3.101,3.106,3.107,3.112,3.117,3.119,3.132,3.132,3.135,3.139,3.139,3.139,3.145,3.148,3.153,3.161,3.165,3.167,3.175,3.177,3.178,3.187,3.211,3.216,3.218,3.231,3.231,3.236,3.236,3.242,3.249,3.26,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 73.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 73.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 73.6737} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.7244} SEN {Time 73.7186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.182,0.186,0.186,0,0,0,0,0,0,0,0,3.689,3.675,3.667,3.665,3.652,3.624,3.622,3.622,3.624,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.23,3.222,3.214,3.212,3.212,3.212,3.212,3.262,3.363,0,0,0,0,0,0,0,0.146,0.144,0.144,0.14,0.144,0.146,0.148,0.148,0.148,0.148,0.149,0.149,0.157,0.161,3.031,3.038,3.041,3.041,3.038,3.046,3.046,0.161,0.161,0.161,0.161,0.158,0.154,0.154,0.151,0.129,0.107,0.081,0.065,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.062,0.062,0.065,0.074,0.129,0.203,3.343,3.345,3.378,3.365,3.378,3.379,3.399,3.399,3.407,3.434,3.434,3.455,3.471,3.471,3.482,3.483,3.491,3.495,3.507,3.509,3.51,3.514,3.516,3.525,3.525,3.525,3.528,3.529,3.529,3.534,3.535,3.544,3.55,3.55,3.553,3.569,3.569,3.572,3.573,3.576,3.581,3.585,3.591,3.599,3.6,3.6,3.623,3.632,3.632,3.635,3.644,3.646,3.646,3.652,3.662,3.667,3.676,3.682,3.689,3.689,3.701,3.714,3.716,3.732,3.735,3.74,3.747,3.756,3.767,3.778,3.785,3.801,3.801,3.818,3.821,3.832,3.837,3.849,3.857,3.877,3.88,3.91,3.912,3.915,3.937,3.941,3.956,3.971,3.984,3.999,4.013,4.033,4.052,4.061,4.074,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.016,4.008,4.008,3.976,3.926,3.876,3.852,3.814,3.778,3.75,3.729,3.71,3.682,3.639,3.623,3.595,3.581,3.548,3.533,3.507,3.483,3.461,3.448,3.418,3.408,3.382,3.361,3.358,3.331,3.302,3.298,3.263,3.262,3.231,3.23,3.201,3.182,3.17,3.15,3.142,3.119,3.105,3.095,3.087,3.069,3.041,3.04,3.027,3.009,3.004,2.992,2.986,2.961,2.956,2.939,2.931,2.916,2.907,2.89,2.872,2.867,2.856,2.847,2.835,2.825,2.818,2.806,2.79,2.786,2.781,2.764,2.763,2.751,2.743,2.731,2.724,2.716,2.703,2.696,2.689,2.678,2.67,2.669,2.657,2.657,2.654,2.643,2.637,2.623,2.617,2.61,2.607,2.593,2.586,2.584,2.575,2.566,2.563,2.56,2.548,2.546,2.546,2.539,2.529,2.521,2.52,2.515,2.506,2.503,2.498,2.496,2.495,2.488,2.483,2.478,2.476,2.475,2.47,2.467,2.466,2.466,2.46,2.459,2.453,2.449,2.447,2.447,2.447,2.441,2.436,2.435,2.431,2.428,2.427,2.425,2.425,2.421,2.418,2.418,2.417,2.415,2.415,2.414,2.414,2.413,2.414,2.412,2.411,2.411,2.409,2.406,2.409,2.411,2.411,2.413,2.413,2.414,2.414,2.414,2.415,2.415,2.415,2.421,2.421,2.421,2.421,2.417,2.416,2.417,2.423,2.426,2.426,2.433,2.434,2.437,2.44,2.442,2.446,2.447,2.452,2.452,2.458,2.467,2.471,2.472,2.472,2.474,2.474,2.476,2.485,2.488,2.488,2.495,2.496,2.501,2.51,2.516,2.516,2.523,2.527,2.528,2.535,2.537,2.55,2.55,2.561,2.566,2.573,2.578,2.591,2.592,2.601,2.604,2.61,2.615,2.629,2.632,2.638,2.644,2.655,2.656,2.667,2.671,2.678,2.687,2.689,2.7,2.709,2.717,2.727,2.742,2.749,2.754,2.761,2.777,2.787,2.794,2.806,2.815,2.831,2.838,2.848,2.854,2.864,2.877,2.894,2.901,2.916,2.924,2.942,2.947,2.955,2.971,2.989,2.99,3.021,3.021,3.046,3.046,3.071,3.08,3.093,3.107,3.126,3.137,3.156,3.163,3.187,3.2,3.222,3.232,3.243,3.267,3.279,3.303,3.318,3.33,3.348,3.379,3.398,3.409,3.428,3.452,3.486,3.503,3.518,3.548,3.571,3.598,3.615,3.641,3.674,3.683,3.721,3.744,3.789,3.798,3.838,3.849,3.896,3.916,3.942,3.986,4.035,4.095,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.351,3.339,3.338,3.321,3.309,3.293,3.292,3.277,3.267,3.264,3.25,3.24,3.237,3.232,3.225,3.206,3.203,3.192,3.18,3.177,3.175,3.175,3.16,3.157,3.154,3.144,3.138,3.131,3.122,3.121,3.114,3.108,3.103,3.1,3.1,3.093,3.092,3.085,3.08,3.071,3.067,3.066,3.065,3.061,3.053,3.048,3.043,3.041,3.041,3.041,3.039,3.034,3.034,3.028,3.027,3.026,3.026,3.027,3.033,3.033,3.033,3.026,3.022,3.017,3.015,3.014,3.013,3.013,3.012,3.012,3.007,3.006,3.004,3.004,3.004,3.008,3.008,3.011,3.011,3.012,3.012,3.012,3.012,3.018,3.019,3.02,3.02,3.023,3.023,3.025,3.027,3.028,3.028,3.028,3.036,3.038,3.039,3.039,3.04,3.045,3.047,3.053,3.053,3.058,3.061,3.063,3.067,3.068,3.08,3.087,3.088,3.088,3.088,3.092,3.104,3.11,3.11,3.116,3.121,3.131,3.131,3.136,3.136,3.137,3.137,3.144,3.149,3.157,3.157,3.165,3.166,3.171,3.173,3.185,3.188,3.206,3.221,3.225,3.234,3.236,3.237,3.242,3.253,3.253,3.261,3.278,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 73.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 73.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 73.8747} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.7244} SEN {Time 73.9146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.185,0.188,0.188,0,0,0,0,0,0,0,0,0,3.683,3.666,3.66,3.643,3.632,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.219,3.217,3.217,3.217,3.265,3.361,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.147,0.148,0.148,0.149,0.154,0.155,0.155,0.155,0.155,3.032,3.032,3.032,3.032,3.031,3.031,3.031,0.153,0.153,0.153,0.153,0.153,0.151,0.144,0.144,0.133,0.105,0.075,0.064,0.064,0.063,0.064,0.064,0.065,0.066,0.066,0.065,0.064,0.061,0.061,0.061,0.083,0.135,0.194,3.325,3.356,3.358,3.369,3.358,3.369,3.378,3.386,0.007,3.432,3.432,3.447,3.447,3.476,3.483,3.49,3.494,3.496,3.501,3.502,3.516,3.516,3.517,3.517,3.521,3.526,3.535,3.535,3.54,3.541,3.541,3.546,3.546,3.55,3.561,3.563,3.571,3.571,3.574,3.58,3.583,3.585,3.592,3.603,3.604,3.605,3.62,3.628,3.64,3.64,3.644,3.65,3.654,3.662,3.665,3.67,3.675,3.676,3.69,3.697,3.702,3.705,3.716,3.732,3.741,3.747,3.747,3.747,3.773,3.773,3.782,3.797,3.804,3.811,3.814,3.831,3.844,3.852,3.863,3.88,3.882,3.892,3.903,3.909,3.93,3.943,3.947,3.966,3.989,3.997,4.007,4.03,4.033,4.07,4.087,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,4.032,3.993,3.93,3.906,3.874,3.848,3.813,3.778,3.75,3.727,3.701,3.68,3.64,3.637,3.594,3.576,3.567,3.529,3.501,3.481,3.455,3.45,3.435,3.403,3.392,3.368,3.34,3.333,3.304,3.292,3.273,3.257,3.232,3.228,3.203,3.186,3.174,3.151,3.146,3.124,3.111,3.097,3.086,3.061,3.045,3.045,3.029,3.01,2.994,2.987,2.981,2.96,2.957,2.938,2.93,2.919,2.907,2.901,2.871,2.869,2.862,2.84,2.838,2.83,2.816,2.805,2.793,2.791,2.788,2.771,2.76,2.745,2.736,2.729,2.713,2.71,2.699,2.697,2.685,2.676,2.675,2.661,2.659,2.653,2.644,2.643,2.635,2.618,2.616,2.61,2.607,2.599,2.597,2.586,2.58,2.579,2.572,2.569,2.562,2.555,2.544,2.535,2.528,2.523,2.514,2.509,2.507,2.499,2.496,2.495,2.489,2.489,2.481,2.481,2.475,2.472,2.47,2.47,2.467,2.459,2.458,2.457,2.45,2.444,2.443,2.441,2.439,2.438,2.436,2.433,2.428,2.428,2.428,2.428,2.424,2.418,2.418,2.417,2.417,2.417,2.417,2.412,2.412,2.41,2.41,2.408,2.407,2.408,2.41,2.41,2.41,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.412,2.412,2.415,2.417,2.418,2.418,2.419,2.421,2.421,2.423,2.424,2.428,2.429,2.43,2.432,2.436,2.436,2.436,2.442,2.452,2.452,2.453,2.454,2.46,2.464,2.471,2.471,2.473,2.473,2.475,2.483,2.485,2.487,2.491,2.497,2.498,2.507,2.507,2.512,2.521,2.529,2.53,2.533,2.547,2.551,2.554,2.558,2.568,2.57,2.578,2.589,2.592,2.599,2.605,2.608,2.619,2.624,2.628,2.633,2.643,2.644,2.652,2.664,2.674,2.682,2.685,2.701,2.704,2.718,2.724,2.728,2.739,2.749,2.757,2.766,2.779,2.795,2.8,2.81,2.817,2.83,2.832,2.848,2.851,2.869,2.873,2.887,2.897,2.915,2.928,2.948,2.954,2.958,2.97,2.987,2.995,3.019,3.029,3.041,3.047,3.075,3.081,3.089,3.106,3.118,3.134,3.158,3.168,3.186,3.197,3.212,3.229,3.244,3.263,3.278,3.303,3.32,3.329,3.362,3.374,3.396,3.407,3.437,3.457,3.487,3.504,3.526,3.544,3.58,3.601,3.618,3.647,3.671,3.697,3.724,3.752,3.783,3.788,3.834,3.856,3.917,3.961,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.351,3.336,3.324,3.319,3.313,3.295,3.291,3.28,3.27,3.257,3.249,3.244,3.243,3.235,3.222,3.211,3.206,3.204,3.184,3.181,3.174,3.169,3.165,3.155,3.148,3.143,3.134,3.128,3.123,3.119,3.118,3.111,3.106,3.099,3.091,3.088,3.087,3.08,3.077,3.068,3.068,3.062,3.061,3.053,3.049,3.048,3.044,3.041,3.041,3.041,3.041,3.041,3.041,3.039,3.027,3.027,3.027,3.027,3.027,3.027,3.027,3.019,3.018,3.018,3.012,3.01,3.009,3.009,3.009,3.005,3.005,3.008,3.004,3.004,3.007,3.008,3.012,3.015,3.012,3.015,3.012,3.016,3.019,3.019,3.018,3.019,3.018,3.018,3.02,3.021,3.023,3.023,3.029,3.03,3.034,3.035,3.035,3.035,3.041,3.047,3.048,3.053,3.054,3.058,3.062,3.065,3.069,3.069,3.075,3.086,3.086,3.087,3.09,3.09,3.101,3.105,3.115,3.116,3.116,3.133,3.133,3.134,3.136,3.136,3.136,3.142,3.148,3.15,3.154,3.165,3.173,3.177,3.181,3.186,3.194,3.215,3.216,3.22,3.224,3.23,3.235,3.242,3.244,3.252,3.266,3.281,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 74.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 74.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 74.0676} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.826} SEN {Time 74.1146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.183,0.185,0,0,0,0,0,0,0,0,0,3.676,3.664,3.659,3.645,3.637,3.607,3.607,3.607,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.209,3.208,3.208,3.208,3.258,3.377,0,0,0,0,0,0,0,0.007,0.143,0.143,0.143,0.143,0.144,0.148,0.148,0.151,0.151,0.152,0.152,0.155,0.155,3.029,3.031,3.031,3.031,3.029,3.035,3.025,0.159,0.158,0.158,0.153,0.153,0.153,0.148,0.144,0.135,0.105,0.077,0.063,0.059,0.059,0.059,0.064,0.064,0.064,0.064,0.064,0.063,0.062,0.065,0.065,0.082,0.136,0.215,3.331,3.354,3.358,3.371,3.371,3.376,3.387,0,0,0,0,3.465,3.465,3.487,3.49,3.49,3.497,3.497,3.499,3.503,3.504,3.505,3.515,3.516,3.517,3.526,3.535,3.535,3.535,3.537,3.535,3.537,3.552,3.553,3.558,3.56,3.562,3.568,3.574,3.579,3.585,3.593,3.597,3.6,3.607,3.612,3.629,3.634,3.634,3.636,3.643,3.648,3.654,3.657,3.658,3.66,3.673,3.678,3.679,3.689,3.698,3.714,3.723,3.73,3.74,3.743,3.758,3.76,3.77,3.771,3.795,3.798,3.809,3.814,3.816,3.841,3.841,3.856,3.858,3.862,3.875,3.894,3.898,3.908,3.923,3.938,3.96,3.963,3.986,3.994,4.004,4.019,4.042,4.075,4.078,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.023,3.992,3.966,3.926,3.895,3.875,3.845,3.797,3.784,3.741,3.737,3.704,3.668,3.657,3.614,3.59,3.574,3.546,3.519,3.516,3.475,3.456,3.448,3.425,3.412,3.384,3.368,3.35,3.329,3.308,3.295,3.28,3.263,3.241,3.226,3.202,3.178,3.171,3.151,3.138,3.124,3.099,3.097,3.089,3.061,3.043,3.042,3.034,3.02,2.999,2.989,2.983,2.96,2.953,2.933,2.918,2.916,2.905,2.891,2.878,2.868,2.86,2.846,2.832,2.828,2.816,2.811,2.793,2.783,2.776,2.767,2.756,2.748,2.74,2.736,2.718,2.715,2.705,2.691,2.685,2.674,2.672,2.659,2.658,2.649,2.648,2.641,2.631,2.618,2.618,2.611,2.611,2.597,2.588,2.58,2.576,2.57,2.566,2.558,2.556,2.545,2.539,2.538,2.528,2.524,2.521,2.514,2.511,2.505,2.5,2.494,2.493,2.489,2.487,2.482,2.477,2.468,2.468,2.466,2.464,2.457,2.456,2.452,2.449,2.447,2.446,2.442,2.442,2.441,2.435,2.435,2.433,2.43,2.426,2.421,2.418,2.418,2.417,2.416,2.416,2.417,2.416,2.416,2.414,2.413,2.411,2.409,2.409,2.407,2.407,2.407,2.41,2.41,2.411,2.411,2.412,2.413,2.412,2.41,2.412,2.419,2.42,2.42,2.42,2.419,2.419,2.419,2.424,2.425,2.425,2.427,2.428,2.43,2.436,2.436,2.438,2.442,2.446,2.45,2.452,2.453,2.453,2.458,2.464,2.465,2.472,2.473,2.475,2.475,2.48,2.483,2.491,2.492,2.495,2.504,2.507,2.514,2.515,2.523,2.527,2.527,2.534,2.542,2.545,2.554,2.559,2.565,2.574,2.584,2.587,2.598,2.601,2.608,2.609,2.609,2.63,2.633,2.638,2.643,2.644,2.654,2.669,2.678,2.678,2.691,2.693,2.705,2.713,2.726,2.729,2.739,2.752,2.754,2.758,2.779,2.786,2.797,2.812,2.813,2.833,2.842,2.846,2.861,2.87,2.879,2.898,2.908,2.92,2.93,2.942,2.956,2.956,2.975,2.984,2.994,3.018,3.022,3.044,3.048,3.064,3.085,3.096,3.099,3.123,3.141,3.157,3.171,3.179,3.202,3.222,3.235,3.252,3.262,3.275,3.306,3.323,3.337,3.356,3.377,3.403,3.408,3.433,3.459,3.477,3.504,3.507,3.545,3.571,3.595,3.616,3.637,3.656,3.682,3.72,3.754,3.771,3.809,3.838,3.854,3.888,3.922,4.025,4.07,0,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.347,3.341,3.318,3.318,3.308,3.298,3.294,3.288,3.273,3.258,3.253,3.244,3.232,3.23,3.216,3.215,3.213,3.197,3.185,3.183,3.177,3.168,3.159,3.156,3.148,3.138,3.132,3.131,3.122,3.113,3.111,3.111,3.109,3.104,3.099,3.092,3.083,3.081,3.077,3.072,3.071,3.068,3.064,3.059,3.054,3.052,3.049,3.043,3.043,3.04,3.04,3.034,3.029,3.026,3.026,3.025,3.025,3.025,3.027,3.027,3.027,3.025,3.023,3.012,3.013,3.013,3.013,3.013,3.013,3.013,3.011,3.008,3.011,3.008,3.008,3.01,3.012,3.014,3.014,3.014,3.015,3.014,3.014,3.014,3.016,3.02,3.02,3.018,3.02,3.02,3.021,3.025,3.029,3.033,3.038,3.038,3.041,3.044,3.047,3.048,3.053,3.054,3.054,3.054,3.061,3.065,3.066,3.067,3.08,3.084,3.085,3.088,3.09,3.096,3.097,3.103,3.11,3.112,3.125,3.134,3.134,3.134,3.134,3.138,3.137,3.138,3.149,3.151,3.155,3.159,3.17,3.172,3.176,3.187,3.2,3.203,3.212,3.218,3.229,3.233,3.235,3.242,3.247,3.253,3.266,3.275,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 74.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 74.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 74.2688} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.826} SEN {Time 74.3146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.186,0.187,0.187,0,0,0,0,0,0,0,0,3.697,3.679,3.668,3.663,3.639,3.624,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.235,3.212,3.212,3.21,3.21,3.21,3.25,3.362,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.151,0.155,0.155,0.155,0.155,0.155,3.029,3.035,3.036,3.036,3.036,3.036,0.161,0.157,0.157,0.157,0.156,0.153,0.153,0.147,0.147,0.121,0.105,0.077,0.061,0.061,0.061,0.062,0.062,0.064,0.064,0.064,0.06,0.06,0.06,0.06,0.06,0.081,0.13,0.207,3.352,3.354,3.387,3.363,3.363,3.368,3.387,3.409,0.007,0,0,0.007,3.481,3.481,3.488,3.488,3.488,3.491,3.507,3.507,3.508,3.51,3.514,3.522,3.525,3.529,3.529,3.535,3.538,3.539,3.544,3.544,3.547,3.55,3.554,3.564,3.572,3.572,3.574,3.574,3.587,3.595,3.598,3.601,3.609,3.614,3.615,3.622,3.637,3.644,3.644,3.647,3.651,3.661,3.662,3.667,3.673,3.683,3.689,3.692,3.698,3.713,3.718,3.73,3.735,3.746,3.749,3.75,3.766,3.771,3.78,3.799,3.809,3.813,3.82,3.823,3.84,3.849,3.862,3.867,3.88,3.896,3.908,3.913,3.928,3.94,3.96,3.968,3.985,3.993,4.009,4.033,4.051,4.058,4.067,4.092,4.093,0.016,0.016,0.016,0.016,0.007,0.016,4.018,4.001,4.001,3.966,3.934,3.862,3.848,3.812,3.785,3.743,3.728,3.71,3.672,3.647,3.62,3.594,3.565,3.553,3.518,3.516,3.494,3.465,3.449,3.421,3.399,3.378,3.362,3.351,3.328,3.3,3.295,3.284,3.26,3.231,3.223,3.202,3.191,3.163,3.14,3.137,3.118,3.106,3.095,3.079,3.073,3.051,3.035,3.035,3.005,2.998,2.986,2.975,2.961,2.945,2.938,2.927,2.915,2.893,2.893,2.88,2.869,2.851,2.851,2.841,2.83,2.82,2.811,2.801,2.781,2.78,2.773,2.761,2.744,2.743,2.727,2.723,2.715,2.703,2.694,2.681,2.678,2.676,2.656,2.656,2.655,2.649,2.64,2.629,2.622,2.62,2.612,2.612,2.608,2.592,2.583,2.578,2.571,2.568,2.568,2.553,2.549,2.547,2.539,2.525,2.516,2.514,2.509,2.504,2.503,2.495,2.494,2.492,2.483,2.482,2.481,2.481,2.468,2.465,2.463,2.461,2.458,2.454,2.454,2.45,2.45,2.448,2.446,2.441,2.439,2.437,2.436,2.428,2.427,2.427,2.424,2.419,2.419,2.419,2.416,2.414,2.412,2.412,2.411,2.411,2.41,2.41,2.41,2.41,2.408,2.41,2.408,2.408,2.409,2.41,2.411,2.411,2.411,2.411,2.411,2.411,2.412,2.419,2.42,2.42,2.42,2.42,2.424,2.425,2.425,2.425,2.425,2.432,2.434,2.434,2.436,2.436,2.439,2.441,2.448,2.451,2.453,2.457,2.459,2.466,2.468,2.468,2.468,2.468,2.476,2.481,2.486,2.487,2.494,2.496,2.499,2.509,2.511,2.512,2.527,2.528,2.53,2.531,2.539,2.55,2.556,2.559,2.561,2.562,2.579,2.585,2.598,2.599,2.602,2.609,2.612,2.619,2.634,2.637,2.638,2.65,2.654,2.658,2.671,2.685,2.689,2.699,2.708,2.711,2.714,2.728,2.741,2.754,2.755,2.77,2.778,2.797,2.8,2.801,2.82,2.829,2.84,2.845,2.86,2.871,2.886,2.889,2.906,2.921,2.922,2.949,2.952,2.954,2.977,2.989,3.006,3.007,3.024,3.037,3.052,3.069,3.081,3.094,3.107,3.121,3.135,3.152,3.169,3.175,3.203,3.221,3.234,3.253,3.261,3.274,3.304,3.323,3.339,3.35,3.377,3.392,3.412,3.434,3.453,3.48,3.494,3.517,3.537,3.568,3.602,3.609,3.646,3.669,3.694,3.717,3.755,3.783,3.798,3.834,3.857,3.89,3.98,4.023,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.356,3.341,3.329,3.321,3.303,3.298,3.298,3.283,3.283,3.259,3.255,3.243,3.24,3.236,3.218,3.216,3.204,3.199,3.185,3.184,3.175,3.175,3.158,3.154,3.151,3.146,3.141,3.128,3.124,3.122,3.121,3.114,3.11,3.098,3.092,3.091,3.088,3.085,3.08,3.08,3.07,3.062,3.057,3.056,3.056,3.054,3.048,3.042,3.041,3.039,3.033,3.033,3.03,3.03,3.027,3.021,3.021,3.021,3.03,3.03,3.03,3.023,3.02,3.015,3.015,3.015,3.015,3.013,3.014,3.013,3.011,3.011,3.011,3.011,3.005,3.005,3.005,3.005,3.013,3.015,3.015,3.015,3.015,3.015,3.021,3.021,3.021,3.021,3.022,3.022,3.022,3.023,3.026,3.026,3.031,3.035,3.038,3.04,3.041,3.043,3.049,3.05,3.056,3.056,3.058,3.063,3.068,3.073,3.073,3.089,3.089,3.091,3.093,3.093,3.094,3.11,3.113,3.119,3.12,3.131,3.131,3.138,3.138,3.138,3.138,3.145,3.146,3.147,3.162,3.163,3.169,3.179,3.179,3.182,3.199,3.213,3.214,3.218,3.223,3.228,3.239,3.239,3.239,3.253,3.26,3.281,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 74.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 74.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 74.4696} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.826} SEN {Time 74.5146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.183,0.188,0.188,0,0,0,0,0,0,0,0,3.691,3.681,3.662,3.649,3.645,3.643,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.246,3.232,3.221,3.209,3.207,3.209,3.209,3.266,3.361,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.143,0.143,0.143,0.15,0.143,0.15,0.15,0.15,0.157,3.031,3.038,3.038,3.038,3.031,3.038,3.029,0.16,0.151,0.151,0.151,0.151,0.15,0.146,0.146,0.129,0.11,0.072,0.064,0.061,0.061,0.061,0.062,0.068,0.069,0.069,0.068,0.064,0.062,0.062,0.062,0.07,0.134,0.203,3.327,3.358,3.371,3.373,3.372,3.373,3.374,3.378,3.405,3.416,3.435,3.442,3.462,3.474,3.478,3.487,3.487,3.49,3.504,3.504,3.504,3.51,3.51,3.512,3.516,3.524,3.528,3.53,3.532,3.533,3.535,3.541,3.543,3.555,3.558,3.564,3.566,3.568,3.575,3.575,3.585,3.592,3.592,3.609,3.609,3.615,3.625,3.63,3.631,3.638,3.647,3.651,3.652,3.665,3.668,3.675,3.678,3.687,3.688,3.695,3.695,3.709,3.722,3.723,3.735,3.736,3.75,3.759,3.765,3.772,3.789,3.794,3.8,3.809,3.817,3.829,3.834,3.851,3.857,3.88,3.881,3.892,3.902,3.906,3.927,3.934,3.952,3.962,3.981,4.009,4.014,4.039,4.047,4.068,4.075,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.027,4.027,3.96,3.929,3.863,3.848,3.813,3.786,3.755,3.724,3.696,3.679,3.643,3.627,3.598,3.572,3.547,3.523,3.506,3.489,3.453,3.442,3.427,3.399,3.383,3.364,3.355,3.338,3.318,3.293,3.273,3.253,3.226,3.224,3.195,3.175,3.167,3.157,3.14,3.123,3.106,3.094,3.094,3.062,3.051,3.037,3.028,3.015,3.001,2.987,2.98,2.959,2.952,2.936,2.921,2.913,2.91,2.889,2.869,2.869,2.855,2.849,2.838,2.829,2.812,2.804,2.794,2.781,2.778,2.763,2.752,2.742,2.737,2.735,2.721,2.711,2.708,2.694,2.686,2.678,2.676,2.662,2.656,2.653,2.65,2.638,2.636,2.627,2.618,2.613,2.609,2.599,2.578,2.576,2.569,2.569,2.567,2.562,2.559,2.546,2.537,2.534,2.533,2.525,2.521,2.511,2.508,2.507,2.494,2.491,2.491,2.486,2.481,2.476,2.475,2.474,2.474,2.472,2.472,2.462,2.451,2.45,2.446,2.444,2.446,2.444,2.442,2.438,2.435,2.434,2.43,2.43,2.427,2.425,2.425,2.425,2.416,2.416,2.416,2.416,2.414,2.413,2.411,2.41,2.41,2.409,2.41,2.409,2.41,2.409,2.409,2.409,2.412,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.414,2.42,2.415,2.42,2.42,2.421,2.421,2.424,2.425,2.43,2.43,2.434,2.434,2.436,2.437,2.442,2.449,2.449,2.45,2.452,2.457,2.458,2.465,2.471,2.472,2.477,2.477,2.48,2.49,2.492,2.492,2.497,2.502,2.513,2.514,2.516,2.519,2.525,2.53,2.534,2.537,2.552,2.553,2.559,2.561,2.563,2.569,2.585,2.598,2.602,2.604,2.612,2.615,2.622,2.632,2.634,2.639,2.642,2.655,2.666,2.667,2.678,2.69,2.694,2.705,2.715,2.717,2.732,2.734,2.749,2.752,2.769,2.779,2.787,2.801,2.809,2.813,2.833,2.842,2.846,2.865,2.865,2.878,2.89,2.899,2.909,2.933,2.944,2.948,2.964,2.972,2.981,2.996,3.016,3.028,3.037,3.046,3.071,3.078,3.093,3.105,3.123,3.14,3.153,3.166,3.184,3.193,3.215,3.234,3.253,3.266,3.275,3.301,3.324,3.332,3.352,3.377,3.394,3.405,3.429,3.456,3.47,3.504,3.524,3.548,3.571,3.596,3.623,3.645,3.67,3.697,3.716,3.749,3.784,3.809,3.83,3.868,3.924,3.956,0,0,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.357,3.343,3.325,3.316,3.312,3.293,3.289,3.289,3.277,3.271,3.253,3.248,3.238,3.233,3.22,3.213,3.206,3.196,3.189,3.184,3.178,3.175,3.158,3.158,3.154,3.145,3.145,3.13,3.122,3.119,3.116,3.106,3.106,3.106,3.094,3.088,3.083,3.081,3.078,3.073,3.065,3.064,3.061,3.056,3.052,3.044,3.044,3.042,3.04,3.039,3.038,3.036,3.029,3.029,3.024,3.024,3.024,3.024,3.031,3.031,3.031,3.022,3.017,3.013,3.013,3.013,3.013,3.008,3.008,3.008,3.006,3.006,3.007,3.008,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.014,3.016,3.016,3.019,3.019,3.016,3.02,3.021,3.023,3.023,3.024,3.026,3.024,3.028,3.039,3.04,3.04,3.042,3.043,3.045,3.054,3.057,3.061,3.061,3.061,3.062,3.074,3.074,3.088,3.088,3.09,3.09,3.094,3.096,3.107,3.108,3.12,3.123,3.134,3.134,3.135,3.137,3.138,3.138,3.151,3.152,3.154,3.161,3.168,3.169,3.177,3.184,3.186,3.201,3.219,3.219,3.222,3.226,3.228,3.237,3.238,3.24,3.24,3.254,3.277,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 74.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 74.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 74.6707} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 74.7146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.169,0.181,0.179,0.181,0.187,0,0,0,0,0,0,0,0,3.694,3.68,3.67,3.659,3.647,3.618,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.212,3.205,3.205,3.205,3.265,3.36,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.149,0.149,0.149,0.156,0.153,0.156,0.156,0.157,0.157,3.03,3.03,3.03,3.03,3.029,3.029,3.024,0.158,0.154,0.154,0.154,0.158,0.154,0.143,0.142,0.135,0.101,0.072,0.064,0.063,0.062,0.062,0.061,0.061,0.064,0.068,0.064,0.064,0.064,0.064,0.064,0.075,0.138,0.207,3.345,3.359,3.363,3.363,3.393,0,0,0,3.437,3.437,3.437,3.446,3.447,3.472,3.481,3.485,3.504,3.504,3.504,3.504,3.505,3.508,3.515,3.516,3.516,3.517,3.526,3.537,3.537,3.539,3.541,3.541,3.546,3.553,3.558,3.558,3.563,3.569,3.57,3.581,3.585,3.59,3.604,3.604,3.607,3.614,3.622,3.627,3.63,3.641,3.65,3.657,3.659,3.663,3.666,3.667,3.679,3.679,3.685,3.69,3.691,3.697,3.72,3.734,3.735,3.751,3.754,3.759,3.771,3.775,3.787,3.799,3.803,3.82,3.823,3.837,3.841,3.846,3.859,3.863,3.874,3.892,3.895,3.912,3.936,3.942,3.963,3.972,3.978,3.99,4.013,4.031,4.042,4.071,4.081,4.089,0.016,0.016,0.016,0.016,0.016,4.089,4.066,4.066,4.066,4.029,3.984,3.894,3.877,3.84,3.818,3.768,3.755,3.732,3.701,3.677,3.651,3.604,3.599,3.568,3.553,3.526,3.51,3.479,3.455,3.432,3.425,3.396,3.377,3.373,3.361,3.334,3.303,3.294,3.266,3.263,3.23,3.228,3.2,3.185,3.174,3.149,3.145,3.121,3.112,3.095,3.09,3.061,3.048,3.039,3.03,3.017,3,2.992,2.979,2.952,2.951,2.936,2.924,2.913,2.904,2.885,2.875,2.871,2.853,2.851,2.833,2.823,2.823,2.8,2.797,2.785,2.776,2.772,2.761,2.751,2.737,2.735,2.723,2.714,2.704,2.693,2.671,2.67,2.67,2.66,2.657,2.656,2.648,2.637,2.632,2.622,2.613,2.613,2.611,2.594,2.589,2.586,2.574,2.574,2.57,2.563,2.557,2.547,2.544,2.537,2.529,2.529,2.518,2.507,2.507,2.504,2.5,2.498,2.493,2.492,2.485,2.48,2.473,2.476,2.468,2.468,2.466,2.46,2.456,2.452,2.449,2.448,2.447,2.447,2.445,2.444,2.442,2.431,2.427,2.426,2.425,2.421,2.421,2.421,2.421,2.421,2.42,2.42,2.415,2.415,2.414,2.413,2.414,2.413,2.413,2.412,2.41,2.409,2.409,2.41,2.411,2.411,2.416,2.417,2.416,2.412,2.417,2.415,2.415,2.417,2.417,2.417,2.418,2.421,2.421,2.426,2.431,2.431,2.432,2.438,2.44,2.44,2.443,2.444,2.444,2.444,2.449,2.45,2.451,2.454,2.459,2.466,2.472,2.476,2.479,2.48,2.486,2.486,2.486,2.492,2.498,2.499,2.507,2.508,2.516,2.516,2.524,2.53,2.535,2.544,2.548,2.56,2.562,2.564,2.565,2.577,2.595,2.598,2.598,2.599,2.609,2.612,2.622,2.638,2.642,2.642,2.642,2.654,2.661,2.681,2.682,2.691,2.699,2.709,2.717,2.72,2.727,2.737,2.748,2.749,2.758,2.778,2.793,2.795,2.809,2.819,2.833,2.839,2.853,2.859,2.876,2.883,2.886,2.897,2.92,2.928,2.936,2.95,2.956,2.968,2.984,2.997,3.016,3.023,3.039,3.047,3.071,3.084,3.092,3.108,3.123,3.138,3.158,3.16,3.175,3.196,3.222,3.231,3.25,3.266,3.278,3.295,3.321,3.329,3.35,3.375,3.396,3.412,3.439,3.46,3.479,3.496,3.527,3.537,3.571,3.592,3.612,3.633,3.667,3.691,3.73,3.751,3.791,3.793,3.835,3.863,3.89,3.918,4.014,4.059,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.355,3.343,3.328,3.312,3.305,3.295,3.284,3.282,3.267,3.26,3.248,3.241,3.239,3.236,3.218,3.213,3.212,3.2,3.186,3.18,3.172,3.167,3.163,3.155,3.153,3.143,3.133,3.132,3.123,3.121,3.121,3.111,3.107,3.103,3.092,3.092,3.085,3.079,3.078,3.069,3.068,3.065,3.065,3.062,3.053,3.045,3.04,3.039,3.033,3.032,3.032,3.031,3.029,3.027,3.025,3.025,3.025,3.025,3.029,3.029,3.029,3.019,3.019,3.015,3.016,3.011,3.01,3.009,3.009,3.008,3.009,3.009,3.01,3.008,3.008,3.008,3.01,3.01,3.01,3.02,3.02,3.019,3.014,3.015,3.015,3.019,3.017,3.021,3.023,3.023,3.023,3.025,3.029,3.029,3.029,3.031,3.036,3.036,3.042,3.045,3.047,3.053,3.054,3.056,3.059,3.061,3.064,3.068,3.08,3.084,3.089,3.089,3.091,3.092,3.097,3.105,3.114,3.115,3.118,3.126,3.126,3.132,3.133,3.134,3.134,3.147,3.147,3.156,3.159,3.162,3.172,3.178,3.182,3.19,3.193,3.213,3.215,3.218,3.22,3.229,3.229,3.24,3.245,3.248,3.256,3.284,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 74.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 74.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 74.8715} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 74.9145} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.181,0.18,0.181,0.181,0,0,0,0,0,0,0,0,3.688,3.687,3.67,3.663,3.642,3.621,3.605,3.605,3.605,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.223,3.213,3.213,3.228,3.268,3.357,0,0,0,0,0,0,0,0,0.147,0.147,0.147,0.155,0.142,0.141,0.141,0.156,0.153,0.156,0.156,0.157,0.163,3.035,3.035,3.035,3.035,3.035,3.035,3.035,0.157,0.153,0.153,0.15,0.15,0.146,0.145,0.142,0.129,0.108,0.07,0.064,0.064,0.059,0.059,0.059,0.068,0.068,0.068,0.066,0.065,0.061,0.061,0.061,0.086,0.139,0.206,3.335,3.354,3.361,3.361,3.361,3.376,3.379,0.007,3.435,3.435,3.435,3.435,3.465,3.467,3.481,3.482,3.485,3.493,3.5,3.506,3.516,3.518,3.519,3.52,3.521,3.527,3.531,3.537,3.537,3.539,3.542,3.543,3.544,3.551,3.557,3.56,3.568,3.571,3.573,3.579,3.582,3.584,3.592,3.592,3.602,3.607,3.616,3.622,3.623,3.63,3.645,3.645,3.651,3.657,3.662,3.666,3.676,3.687,3.69,3.69,3.69,3.706,3.721,3.725,3.728,3.749,3.757,3.768,3.768,3.772,3.791,3.795,3.797,3.818,3.82,3.831,3.846,3.85,3.864,3.865,3.87,3.899,3.901,3.914,3.918,3.936,3.95,3.982,3.989,3.992,4.006,4.031,4.038,4.053,4.07,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,4.019,3.979,3.951,3.883,3.872,3.842,3.809,3.789,3.748,3.718,3.699,3.681,3.644,3.616,3.597,3.577,3.544,3.521,3.505,3.486,3.455,3.448,3.419,3.401,3.383,3.357,3.351,3.328,3.308,3.3,3.272,3.257,3.237,3.234,3.202,3.18,3.177,3.159,3.143,3.124,3.106,3.088,3.078,3.063,3.041,3.038,3.026,3.018,3.002,2.986,2.985,2.96,2.951,2.934,2.926,2.917,2.911,2.898,2.878,2.871,2.864,2.85,2.838,2.826,2.815,2.812,2.798,2.793,2.782,2.767,2.76,2.752,2.739,2.73,2.722,2.707,2.697,2.696,2.688,2.68,2.671,2.663,2.655,2.653,2.648,2.636,2.633,2.628,2.62,2.609,2.602,2.596,2.593,2.581,2.581,2.58,2.58,2.559,2.558,2.545,2.539,2.537,2.529,2.52,2.518,2.516,2.507,2.504,2.497,2.497,2.492,2.491,2.483,2.483,2.476,2.475,2.475,2.474,2.473,2.46,2.456,2.455,2.45,2.449,2.446,2.443,2.438,2.437,2.435,2.435,2.431,2.427,2.426,2.426,2.425,2.423,2.418,2.416,2.415,2.413,2.412,2.412,2.411,2.411,2.41,2.41,2.408,2.405,2.405,2.405,2.411,2.411,2.412,2.412,2.412,2.414,2.414,2.414,2.415,2.417,2.417,2.419,2.419,2.418,2.418,2.419,2.419,2.421,2.426,2.429,2.429,2.433,2.44,2.441,2.441,2.447,2.442,2.447,2.451,2.452,2.454,2.463,2.467,2.467,2.468,2.471,2.476,2.479,2.48,2.481,2.488,2.493,2.497,2.5,2.512,2.517,2.517,2.519,2.531,2.532,2.535,2.539,2.546,2.553,2.561,2.563,2.565,2.578,2.593,2.594,2.601,2.602,2.605,2.62,2.624,2.637,2.64,2.641,2.646,2.656,2.661,2.673,2.675,2.683,2.693,2.7,2.71,2.721,2.727,2.739,2.755,2.756,2.765,2.783,2.789,2.795,2.805,2.826,2.831,2.832,2.842,2.85,2.863,2.876,2.879,2.905,2.913,2.92,2.941,2.955,2.956,2.975,2.983,2.999,3.015,3.022,3.037,3.04,3.065,3.078,3.081,3.098,3.12,3.13,3.157,3.169,3.178,3.196,3.22,3.228,3.246,3.262,3.278,3.298,3.332,3.333,3.347,3.365,3.396,3.405,3.432,3.451,3.486,3.5,3.529,3.546,3.578,3.593,3.623,3.643,3.668,3.698,3.724,3.747,3.772,3.807,3.83,3.85,3.896,3.921,3.944,3.994,4.095,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.34,3.332,3.312,3.31,3.305,3.301,3.278,3.269,3.256,3.252,3.247,3.236,3.235,3.215,3.212,3.211,3.19,3.186,3.182,3.172,3.17,3.156,3.154,3.148,3.144,3.137,3.134,3.121,3.118,3.112,3.112,3.106,3.104,3.092,3.09,3.087,3.076,3.075,3.073,3.072,3.071,3.06,3.054,3.054,3.052,3.044,3.043,3.043,3.039,3.036,3.036,3.034,3.03,3.027,3.023,3.023,3.023,3.027,3.074,3.074,3.027,3.021,3.01,3.01,3.007,3.01,3.009,3.009,3.009,3.009,3.009,3.008,3.008,3.008,3.009,3.011,3.011,3.011,3.014,3.014,3.016,3.016,3.014,3.016,3.019,3.016,3.016,3.024,3.025,3.024,3.025,3.024,3.025,3.029,3.037,3.042,3.043,3.044,3.044,3.053,3.053,3.053,3.055,3.057,3.058,3.069,3.069,3.085,3.085,3.089,3.092,3.093,3.093,3.099,3.112,3.113,3.114,3.118,3.127,3.128,3.132,3.135,3.139,3.139,3.148,3.15,3.152,3.158,3.163,3.164,3.17,3.172,3.179,3.2,3.207,3.213,3.221,3.221,3.224,3.24,3.241,3.244,3.252,3.274,3.274,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 75.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 75.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 75.0725} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.1308} SEN {Time 75.1106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.185,0.188,0.188,0,0,0,0,0,0,0,0,3.697,3.682,3.665,3.658,3.641,3.627,3.602,3.602,3.599,3.599,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.229,3.214,3.213,3.213,3.214,3.256,3.365,0,0,0,0,0,0,0,0.007,0.141,0.141,0.141,0.141,0.143,0.146,0.151,0.151,0.151,0.151,0.151,0.151,0.153,3.029,3.031,3.031,3.031,3.03,3.031,3.03,0.165,0.154,0.154,0.154,0.158,0.152,0.149,0.149,0.129,0.108,0.081,0.066,0.065,0.065,0.066,0.061,0.067,0.067,0.067,0.064,0.064,0.063,0.063,0.064,0.076,0.132,0.205,3.339,3.358,3.362,3.358,3.362,3.386,3.407,0,0.007,3.432,3.432,3.462,3.462,3.471,3.477,3.482,3.492,3.494,3.501,3.503,3.511,3.516,3.521,3.524,3.525,3.528,3.528,3.535,3.539,3.542,3.541,3.547,3.557,3.557,3.557,3.561,3.565,3.568,3.577,3.578,3.587,3.589,3.596,3.598,3.61,3.621,3.624,3.624,3.629,3.632,3.635,3.648,3.652,3.653,3.66,3.663,3.671,3.676,3.689,3.697,3.7,3.703,3.721,3.726,3.736,3.748,3.748,3.752,3.757,3.769,3.782,3.8,3.802,3.804,3.828,3.832,3.846,3.847,3.864,3.882,3.889,3.901,3.911,3.916,3.943,3.944,3.965,3.968,3.981,4.001,4.009,4.021,4.043,4.062,4.075,0.016,0.016,0.016,0.016,0.016,0,0.016,4.088,4.016,3.988,3.973,3.937,3.9,3.865,3.841,3.809,3.784,3.742,3.736,3.691,3.662,3.648,3.621,3.603,3.576,3.553,3.531,3.506,3.492,3.459,3.446,3.423,3.408,3.386,3.373,3.35,3.33,3.311,3.293,3.276,3.255,3.223,3.221,3.187,3.183,3.171,3.148,3.14,3.115,3.112,3.094,3.082,3.061,3.047,3.045,3.03,3.011,3.003,2.991,2.98,2.965,2.95,2.933,2.926,2.914,2.912,2.902,2.879,2.872,2.867,2.85,2.833,2.828,2.814,2.799,2.793,2.788,2.78,2.769,2.76,2.748,2.743,2.733,2.717,2.716,2.699,2.697,2.686,2.682,2.679,2.66,2.658,2.657,2.648,2.641,2.64,2.632,2.622,2.608,2.608,2.592,2.585,2.58,2.578,2.574,2.573,2.56,2.557,2.555,2.546,2.534,2.525,2.522,2.518,2.515,2.503,2.503,2.501,2.494,2.494,2.489,2.489,2.48,2.477,2.474,2.473,2.467,2.466,2.461,2.454,2.453,2.453,2.447,2.446,2.441,2.44,2.436,2.431,2.43,2.426,2.426,2.424,2.426,2.424,2.423,2.42,2.419,2.415,2.413,2.413,2.413,2.413,2.412,2.411,2.408,2.408,2.408,2.408,2.408,2.409,2.411,2.413,2.413,2.414,2.415,2.415,2.415,2.417,2.417,2.421,2.421,2.421,2.421,2.421,2.419,2.421,2.421,2.429,2.429,2.432,2.432,2.438,2.438,2.44,2.44,2.447,2.447,2.449,2.449,2.45,2.455,2.464,2.465,2.467,2.471,2.477,2.479,2.487,2.487,2.491,2.493,2.496,2.507,2.511,2.512,2.517,2.525,2.529,2.53,2.532,2.544,2.546,2.556,2.565,2.569,2.57,2.58,2.58,2.593,2.602,2.605,2.605,2.615,2.621,2.626,2.645,2.645,2.65,2.651,2.664,2.677,2.68,2.686,2.696,2.707,2.711,2.72,2.722,2.739,2.748,2.755,2.765,2.778,2.789,2.791,2.808,2.818,2.823,2.841,2.844,2.866,2.867,2.876,2.889,2.904,2.921,2.924,2.937,2.953,2.958,2.969,2.988,2.994,3.017,3.025,3.034,3.051,3.068,3.084,3.092,3.104,3.13,3.131,3.159,3.163,3.178,3.2,3.221,3.24,3.247,3.267,3.273,3.295,3.315,3.331,3.349,3.371,3.4,3.416,3.436,3.465,3.474,3.485,3.52,3.544,3.563,3.598,3.613,3.647,3.662,3.693,3.734,3.75,3.78,3.796,3.832,3.87,3.902,3.92,3.939,3.983,4.021,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.347,3.336,3.327,3.312,3.311,3.292,3.285,3.279,3.279,3.259,3.252,3.248,3.239,3.234,3.216,3.211,3.202,3.196,3.19,3.184,3.178,3.177,3.16,3.149,3.148,3.146,3.141,3.129,3.115,3.114,3.114,3.112,3.108,3.103,3.092,3.086,3.085,3.082,3.079,3.079,3.067,3.063,3.061,3.054,3.049,3.048,3.045,3.042,3.041,3.034,3.034,3.031,3.027,3.02,3.02,3.02,3.021,3.022,3.03,3.03,3.03,3.014,3.014,3.013,3.01,3.008,3.008,3.009,3.009,3.008,3.008,3.007,3.006,3.006,3.006,3.007,3.009,3.01,3.01,3.011,3.011,3.017,3.017,3.017,3.017,3.017,3.017,3.02,3.02,3.02,3.02,3.02,3.024,3.03,3.035,3.04,3.042,3.042,3.043,3.047,3.053,3.054,3.057,3.06,3.061,3.065,3.069,3.08,3.081,3.083,3.088,3.089,3.092,3.092,3.098,3.102,3.108,3.118,3.122,3.132,3.132,3.134,3.136,3.137,3.137,3.148,3.154,3.157,3.167,3.168,3.169,3.175,3.175,3.179,3.198,3.207,3.216,3.222,3.222,3.224,3.235,3.241,3.246,3.251,3.258,3.272,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 75.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 75.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 75.2635} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.9276} SEN {Time 75.3106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.178,0.176,0.178,0.178,0,0,0,0,0,0,0,0,3.683,3.674,3.666,3.658,3.652,3.638,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.217,3.224,3.27,3.353,3.353,0,0,0,0,0,0,0,0.153,0.145,0.145,0.145,0.15,0.145,0.15,0.146,0.15,0.15,0.151,0.151,0.154,0.154,3.028,3.033,3.033,3.033,3.032,3.036,3.032,0.157,0.154,0.154,0.151,0.151,0.148,0.147,0.147,0.135,0.099,0.076,0.065,0.064,0.064,0.064,0.065,0.067,0.067,0.068,0.067,0.067,0.064,0.064,0.064,0.081,0.138,0.21,3.334,3.36,3.362,3.362,3.362,3.365,3.377,3.403,3.432,0,3.449,3.449,3.479,3.479,3.479,3.484,3.496,3.499,3.503,3.505,3.506,3.514,3.516,3.516,3.52,3.523,3.531,3.533,3.535,3.542,3.542,3.544,3.556,3.557,3.558,3.56,3.565,3.572,3.578,3.578,3.582,3.59,3.593,3.603,3.606,3.617,3.624,3.625,3.625,3.637,3.643,3.644,3.652,3.659,3.664,3.666,3.677,3.681,3.686,3.692,3.697,3.709,3.721,3.724,3.732,3.744,3.751,3.757,3.766,3.767,3.778,3.794,3.796,3.814,3.814,3.827,3.844,3.844,3.861,3.873,3.878,3.894,3.902,3.917,3.936,3.948,3.963,3.965,3.97,3.997,4.017,4.03,4.041,4.067,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.086,4.045,4.018,3.957,3.921,3.9,3.868,3.842,3.809,3.769,3.754,3.733,3.696,3.676,3.642,3.62,3.597,3.572,3.549,3.531,3.497,3.487,3.465,3.456,3.419,3.408,3.376,3.363,3.345,3.342,3.308,3.287,3.271,3.259,3.236,3.224,3.196,3.184,3.173,3.145,3.145,3.125,3.112,3.097,3.083,3.066,3.056,3.029,3.029,3.011,3.009,2.988,2.98,2.963,2.955,2.94,2.927,2.914,2.9,2.898,2.877,2.868,2.862,2.845,2.84,2.83,2.814,2.808,2.792,2.79,2.783,2.769,2.757,2.755,2.739,2.729,2.728,2.708,2.705,2.694,2.681,2.674,2.67,2.66,2.655,2.653,2.646,2.637,2.629,2.624,2.62,2.612,2.612,2.603,2.592,2.581,2.578,2.577,2.575,2.569,2.557,2.548,2.543,2.536,2.531,2.523,2.521,2.512,2.509,2.508,2.505,2.495,2.495,2.488,2.486,2.477,2.476,2.475,2.473,2.47,2.459,2.458,2.458,2.456,2.454,2.453,2.45,2.444,2.442,2.438,2.437,2.433,2.426,2.426,2.424,2.421,2.421,2.417,2.417,2.417,2.417,2.417,2.417,2.415,2.415,2.415,2.413,2.413,2.413,2.413,2.411,2.409,2.411,2.416,2.409,2.413,2.413,2.413,2.413,2.413,2.414,2.414,2.414,2.419,2.419,2.419,2.419,2.419,2.423,2.424,2.426,2.427,2.43,2.432,2.434,2.44,2.44,2.44,2.442,2.447,2.449,2.452,2.458,2.46,2.461,2.465,2.466,2.471,2.472,2.478,2.479,2.481,2.487,2.493,2.497,2.504,2.506,2.516,2.522,2.524,2.533,2.536,2.539,2.54,2.545,2.556,2.562,2.564,2.572,2.572,2.584,2.596,2.604,2.605,2.612,2.616,2.619,2.629,2.637,2.638,2.653,2.654,2.662,2.668,2.676,2.682,2.697,2.7,2.711,2.716,2.726,2.738,2.746,2.758,2.761,2.781,2.791,2.799,2.807,2.812,2.83,2.836,2.849,2.857,2.864,2.878,2.885,2.898,2.917,2.926,2.946,2.953,2.957,2.974,2.99,2.998,3.014,3.024,3.036,3.047,3.063,3.079,3.09,3.108,3.126,3.147,3.15,3.174,3.176,3.206,3.214,3.233,3.25,3.261,3.277,3.294,3.322,3.339,3.357,3.36,3.393,3.41,3.427,3.459,3.485,3.508,3.53,3.546,3.579,3.601,3.617,3.636,3.663,3.698,3.71,3.751,3.776,3.799,3.836,3.867,3.892,3.916,3.987,4.017,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.347,3.337,3.326,3.32,3.31,3.292,3.287,3.283,3.271,3.265,3.252,3.238,3.236,3.233,3.22,3.21,3.206,3.196,3.192,3.188,3.176,3.168,3.161,3.157,3.157,3.143,3.135,3.13,3.121,3.121,3.118,3.109,3.105,3.103,3.089,3.088,3.087,3.084,3.079,3.074,3.069,3.068,3.062,3.059,3.052,3.047,3.047,3.043,3.043,3.043,3.039,3.038,3.035,3.023,3.023,3.023,3.023,3.025,3.025,3.023,3.023,3.019,3.019,3.018,3.013,3.007,3.013,3.007,3.007,3.007,3.007,3.004,3.003,3.004,3.004,3.006,3.009,3.011,3.011,3.011,3.011,3.011,3.009,3.014,3.015,3.015,3.015,3.021,3.021,3.019,3.019,3.021,3.022,3.038,3.038,3.038,3.038,3.04,3.044,3.044,3.048,3.05,3.05,3.054,3.062,3.063,3.066,3.076,3.076,3.087,3.087,3.09,3.092,3.096,3.101,3.102,3.111,3.117,3.121,3.129,3.129,3.134,3.134,3.137,3.137,3.148,3.15,3.154,3.159,3.165,3.167,3.168,3.175,3.193,3.194,3.218,3.219,3.221,3.227,3.229,3.233,3.238,3.24,3.242,3.256,3.287,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 75.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 75.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 75.4655} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 4.9276} SEN {Time 75.5106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.696,3.683,3.664,3.66,3.651,3.627,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.213,3.216,3.264,3.352,3.352,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.144,0.153,0.153,0.154,0.154,0.154,0.154,0.155,0.155,3.033,3.036,3.036,3.036,3.033,3.041,3.028,0.16,0.151,0.151,0.151,0.151,0.149,0.149,0.149,0.129,0.096,0.084,0.063,0.063,0.062,0.062,0.062,0.063,0.064,0.064,0.064,0.062,0.062,0.062,0.063,0.089,0.125,0.201,3.328,3.344,3.357,3.357,3.369,3.382,3.405,0.007,0,0.007,3.453,3.453,3.469,3.469,3.478,3.484,3.498,3.505,3.505,3.51,3.513,3.516,3.517,3.523,3.525,3.526,3.53,3.535,3.538,3.539,3.546,3.546,3.546,3.55,3.553,3.564,3.566,3.573,3.575,3.575,3.579,3.582,3.598,3.602,3.607,3.61,3.623,3.626,3.626,3.631,3.646,3.648,3.651,3.66,3.66,3.66,3.673,3.683,3.684,3.7,3.704,3.712,3.723,3.733,3.733,3.752,3.757,3.758,3.769,3.771,3.777,3.791,3.803,3.81,3.822,3.832,3.842,3.849,3.86,3.882,3.884,3.886,3.9,3.914,3.942,3.944,3.963,3.97,3.973,4.004,4.016,4.023,4.044,4.058,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.047,3.999,3.964,3.938,3.901,3.859,3.836,3.801,3.773,3.744,3.726,3.7,3.677,3.652,3.624,3.599,3.574,3.553,3.529,3.507,3.494,3.46,3.441,3.422,3.399,3.388,3.361,3.356,3.332,3.309,3.294,3.278,3.253,3.228,3.227,3.197,3.186,3.169,3.155,3.141,3.121,3.105,3.092,3.08,3.065,3.047,3.041,3.034,3.007,2.995,2.988,2.98,2.962,2.95,2.933,2.932,2.911,2.906,2.892,2.875,2.871,2.858,2.854,2.842,2.823,2.818,2.812,2.79,2.786,2.781,2.77,2.763,2.745,2.743,2.737,2.723,2.713,2.702,2.692,2.684,2.682,2.673,2.656,2.653,2.65,2.645,2.638,2.637,2.623,2.615,2.611,2.605,2.593,2.586,2.583,2.583,2.574,2.572,2.563,2.56,2.554,2.539,2.535,2.529,2.529,2.52,2.513,2.507,2.503,2.499,2.494,2.488,2.485,2.481,2.474,2.473,2.474,2.473,2.47,2.461,2.455,2.453,2.453,2.451,2.447,2.446,2.446,2.443,2.436,2.436,2.432,2.424,2.424,2.424,2.424,2.424,2.424,2.42,2.42,2.418,2.418,2.418,2.413,2.413,2.412,2.412,2.411,2.411,2.409,2.409,2.408,2.409,2.409,2.413,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.417,2.417,2.417,2.417,2.417,2.417,2.427,2.427,2.429,2.432,2.433,2.435,2.437,2.44,2.443,2.444,2.444,2.445,2.456,2.456,2.456,2.456,2.462,2.471,2.473,2.477,2.478,2.479,2.484,2.488,2.491,2.491,2.491,2.496,2.514,2.516,2.517,2.523,2.527,2.531,2.535,2.536,2.548,2.553,2.555,2.568,2.569,2.575,2.591,2.595,2.6,2.608,2.608,2.611,2.62,2.631,2.64,2.646,2.648,2.655,2.661,2.671,2.672,2.684,2.689,2.704,2.713,2.718,2.725,2.748,2.753,2.754,2.767,2.782,2.79,2.8,2.805,2.816,2.833,2.841,2.845,2.858,2.871,2.886,2.893,2.897,2.918,2.927,2.94,2.949,2.962,2.967,2.977,3,3.015,3.032,3.033,3.041,3.066,3.085,3.093,3.107,3.121,3.142,3.157,3.169,3.179,3.202,3.22,3.238,3.248,3.257,3.273,3.292,3.329,3.334,3.349,3.376,3.395,3.405,3.432,3.445,3.476,3.501,3.517,3.541,3.563,3.6,3.622,3.641,3.677,3.681,3.722,3.748,3.774,3.803,3.827,3.863,3.894,3.913,3.955,4.036,0.007,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.353,3.338,3.33,3.314,3.311,3.303,3.296,3.289,3.27,3.256,3.25,3.243,3.24,3.236,3.216,3.206,3.202,3.197,3.195,3.187,3.185,3.172,3.172,3.162,3.149,3.144,3.133,3.131,3.122,3.121,3.117,3.112,3.111,3.102,3.1,3.093,3.089,3.078,3.077,3.077,3.072,3.065,3.063,3.061,3.055,3.047,3.047,3.046,3.036,3.035,3.035,3.033,3.028,3.028,3.023,3.021,3.021,3.023,3.034,3.034,3.034,3.019,3.019,3.019,3.019,3.019,3.015,3.008,3.008,3.008,3.008,3.007,3.007,3.012,3.012,3.012,3.012,3.012,3.012,3.013,3.013,3.015,3.015,3.015,3.015,3.015,3.018,3.018,3.018,3.018,3.018,3.024,3.024,3.025,3.033,3.038,3.038,3.039,3.041,3.042,3.059,3.059,3.061,3.061,3.061,3.061,3.063,3.071,3.078,3.082,3.085,3.088,3.092,3.092,3.097,3.105,3.114,3.115,3.12,3.127,3.127,3.129,3.13,3.143,3.143,3.146,3.15,3.154,3.159,3.161,3.171,3.173,3.176,3.186,3.202,3.208,3.21,3.212,3.22,3.234,3.234,3.239,3.249,3.253,3.253,3.277,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 75.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 75.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 75.6665} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 75.7106} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.18,0.181,0.181,0,0,0,0,0,0,0,0,3.695,3.692,3.673,3.665,3.65,3.633,3.62,3.62,3.62,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.217,3.212,3.212,3.217,3.256,3.366,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.148,0.148,0.148,0.151,0.148,0.151,0.151,0.151,0.153,3.033,3.033,3.036,3.036,3.033,3.037,3.037,0.162,0.159,0.159,0.155,0.152,0.147,0.144,0.143,0.129,0.113,0.074,0.068,0.061,0.061,0.061,0.064,0.064,0.064,0.066,0.064,0.065,0.065,0.065,0.065,0.08,0.135,0.212,3.317,3.329,3.361,3.371,3.371,3.371,3.384,3.397,0.007,3.433,3.433,3.462,3.462,3.467,3.48,3.484,3.488,3.498,3.504,3.505,3.509,3.51,3.515,3.519,3.519,3.523,3.529,3.532,3.534,3.539,3.546,3.554,3.554,3.554,3.556,3.557,3.571,3.575,3.579,3.581,3.586,3.586,3.592,3.594,3.595,3.615,3.617,3.621,3.638,3.64,3.642,3.654,3.655,3.656,3.659,3.676,3.676,3.681,3.687,3.691,3.697,3.702,3.722,3.724,3.73,3.743,3.751,3.756,3.766,3.767,3.788,3.796,3.806,3.81,3.822,3.827,3.835,3.85,3.87,3.877,3.886,3.895,3.906,3.917,3.922,3.941,3.951,3.972,3.975,3.999,4.028,4.032,4.076,4.081,4.094,4.094,4.094,0.016,0.016,0.016,0.016,0.016,4.089,4.061,3.998,3.979,3.938,3.904,3.871,3.852,3.803,3.778,3.75,3.719,3.708,3.676,3.666,3.616,3.592,3.569,3.546,3.523,3.505,3.483,3.458,3.451,3.413,3.405,3.378,3.364,3.349,3.333,3.303,3.299,3.269,3.255,3.232,3.227,3.198,3.187,3.162,3.153,3.14,3.117,3.113,3.092,3.088,3.07,3.054,3.045,3.024,3.007,2.998,2.992,2.985,2.957,2.95,2.931,2.929,2.912,2.9,2.894,2.887,2.867,2.86,2.842,2.832,2.823,2.815,2.813,2.79,2.783,2.779,2.769,2.759,2.75,2.742,2.732,2.72,2.715,2.7,2.699,2.684,2.683,2.672,2.663,2.653,2.649,2.648,2.634,2.632,2.619,2.613,2.608,2.608,2.595,2.586,2.584,2.576,2.573,2.563,2.558,2.556,2.55,2.539,2.539,2.527,2.527,2.524,2.511,2.511,2.504,2.499,2.499,2.497,2.486,2.483,2.477,2.475,2.467,2.465,2.465,2.465,2.462,2.461,2.453,2.449,2.447,2.446,2.445,2.442,2.442,2.435,2.432,2.429,2.429,2.429,2.428,2.423,2.423,2.423,2.418,2.418,2.418,2.419,2.418,2.413,2.413,2.411,2.411,2.411,2.411,2.409,2.408,2.408,2.409,2.412,2.413,2.413,2.415,2.415,2.415,2.416,2.418,2.418,2.418,2.42,2.419,2.42,2.42,2.42,2.42,2.421,2.426,2.43,2.432,2.432,2.434,2.436,2.444,2.447,2.454,2.455,2.456,2.456,2.462,2.464,2.466,2.468,2.471,2.474,2.475,2.476,2.485,2.489,2.49,2.497,2.499,2.505,2.514,2.516,2.518,2.527,2.53,2.538,2.546,2.546,2.555,2.555,2.566,2.566,2.58,2.587,2.592,2.598,2.606,2.608,2.618,2.627,2.631,2.641,2.643,2.646,2.652,2.664,2.675,2.677,2.69,2.696,2.703,2.709,2.72,2.724,2.737,2.75,2.758,2.765,2.784,2.785,2.796,2.813,2.819,2.826,2.838,2.847,2.857,2.87,2.877,2.894,2.904,2.913,2.922,2.942,2.955,2.961,2.976,2.981,3,3.01,3.026,3.035,3.042,3.056,3.076,3.1,3.104,3.124,3.143,3.159,3.164,3.175,3.203,3.22,3.233,3.248,3.267,3.282,3.298,3.327,3.336,3.35,3.377,3.397,3.411,3.43,3.455,3.49,3.503,3.526,3.542,3.565,3.598,3.605,3.64,3.658,3.69,3.722,3.745,3.779,3.799,3.833,3.875,3.897,3.919,4.025,4.053,0,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.355,3.344,3.332,3.316,3.305,3.292,3.289,3.283,3.267,3.261,3.253,3.239,3.237,3.236,3.221,3.212,3.21,3.197,3.186,3.184,3.181,3.164,3.154,3.15,3.148,3.139,3.139,3.128,3.122,3.121,3.119,3.11,3.107,3.107,3.092,3.091,3.089,3.08,3.075,3.073,3.071,3.067,3.067,3.057,3.053,3.049,3.048,3.041,3.038,3.037,3.034,3.033,3.033,3.031,3.022,3.021,3.022,3.022,3.028,3.028,3.028,3.018,3.015,3.014,3.013,3.011,3.011,3.008,3.008,3.006,3.005,3.005,3.005,3.005,3.005,3.006,3.006,3.01,3.01,3.012,3.012,3.013,3.014,3.014,3.014,3.016,3.016,3.019,3.021,3.024,3.024,3.024,3.024,3.024,3.029,3.032,3.032,3.037,3.039,3.046,3.047,3.048,3.058,3.059,3.061,3.062,3.064,3.073,3.076,3.084,3.088,3.092,3.093,3.095,3.097,3.106,3.106,3.119,3.123,3.135,3.135,3.141,3.141,3.141,3.141,3.148,3.148,3.152,3.153,3.156,3.173,3.175,3.178,3.182,3.202,3.213,3.215,3.221,3.227,3.231,3.232,3.232,3.239,3.241,3.277,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 75.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 75.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 75.8676} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 75.9066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.178,0.183,0.183,0,0,0,0,0,0,0,0,3.693,3.677,3.677,3.665,3.647,3.628,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.215,3.219,3.271,3.363,3.363,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.149,0.143,0.146,0.146,0.147,0.147,0.153,0.153,0.154,0.156,3.029,3.041,3.041,3.041,3.029,3.041,3.022,0.153,0.153,0.153,0.152,0.153,0.153,0.148,0.148,0.13,0.105,0.082,0.068,0.068,0.064,0.064,0.067,0.063,0.067,0.067,0.067,0.066,0.066,0.066,0.067,0.077,0.126,0.209,3.332,3.365,3.368,3.368,3.368,3.369,3.375,3.375,3.42,3.423,3.462,3.462,3.473,3.474,3.474,3.474,3.492,3.499,3.5,3.504,3.514,3.515,3.518,3.524,3.529,3.529,3.534,3.538,3.538,3.539,3.545,3.546,3.552,3.552,3.552,3.563,3.566,3.568,3.568,3.577,3.582,3.584,3.591,3.592,3.605,3.611,3.617,3.629,3.629,3.635,3.642,3.646,3.65,3.657,3.664,3.665,3.675,3.676,3.688,3.689,3.696,3.712,3.715,3.727,3.731,3.75,3.75,3.756,3.76,3.787,3.796,3.8,3.802,3.811,3.816,3.831,3.837,3.862,3.869,3.876,3.88,3.903,3.908,3.91,3.935,3.949,3.957,3.97,3.982,3.983,4.024,4.046,4.047,4.061,4.074,4.089,0.016,0.016,0.016,0.016,0,0,0,4.015,3.996,3.977,3.93,3.903,3.882,3.857,3.81,3.78,3.749,3.741,3.697,3.676,3.64,3.628,3.592,3.566,3.551,3.53,3.513,3.491,3.459,3.445,3.43,3.391,3.386,3.37,3.358,3.337,3.307,3.301,3.272,3.255,3.228,3.223,3.195,3.175,3.169,3.155,3.137,3.121,3.111,3.09,3.081,3.07,3.045,3.041,3.029,3.016,3.002,2.99,2.987,2.963,2.952,2.936,2.922,2.916,2.896,2.89,2.872,2.869,2.867,2.852,2.832,2.827,2.817,2.808,2.793,2.79,2.78,2.766,2.764,2.75,2.742,2.735,2.724,2.712,2.708,2.693,2.684,2.677,2.674,2.659,2.654,2.651,2.648,2.635,2.628,2.618,2.617,2.608,2.605,2.596,2.589,2.581,2.577,2.569,2.565,2.561,2.55,2.55,2.548,2.539,2.534,2.53,2.529,2.511,2.508,2.506,2.496,2.492,2.49,2.489,2.487,2.478,2.475,2.473,2.471,2.466,2.465,2.456,2.455,2.454,2.449,2.447,2.447,2.445,2.443,2.441,2.436,2.435,2.433,2.433,2.427,2.427,2.425,2.42,2.418,2.417,2.417,2.414,2.412,2.409,2.409,2.409,2.411,2.409,2.411,2.411,2.414,2.411,2.415,2.415,2.415,2.414,2.415,2.414,2.414,2.413,2.415,2.415,2.416,2.417,2.417,2.416,2.418,2.418,2.418,2.418,2.419,2.419,2.428,2.432,2.436,2.436,2.439,2.442,2.447,2.451,2.452,2.456,2.458,2.464,2.464,2.465,2.467,2.47,2.471,2.473,2.483,2.491,2.492,2.495,2.497,2.497,2.513,2.52,2.523,2.524,2.525,2.535,2.54,2.541,2.55,2.558,2.558,2.563,2.572,2.575,2.588,2.6,2.601,2.603,2.613,2.616,2.624,2.63,2.641,2.643,2.649,2.653,2.659,2.667,2.681,2.685,2.697,2.701,2.713,2.713,2.735,2.743,2.755,2.759,2.759,2.784,2.792,2.801,2.805,2.818,2.83,2.833,2.849,2.849,2.87,2.882,2.882,2.904,2.918,2.921,2.943,2.946,2.957,2.973,2.984,3.006,3.009,3.02,3.035,3.048,3.067,3.077,3.089,3.1,3.127,3.136,3.16,3.171,3.18,3.202,3.216,3.235,3.241,3.26,3.27,3.294,3.318,3.336,3.348,3.371,3.396,3.413,3.43,3.466,3.482,3.5,3.517,3.546,3.579,3.598,3.61,3.639,3.669,3.686,3.717,3.748,3.776,3.808,3.831,3.875,3.886,3.919,4.02,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.363,3.339,3.329,3.319,3.309,3.292,3.292,3.282,3.278,3.257,3.249,3.242,3.237,3.233,3.219,3.209,3.207,3.196,3.187,3.183,3.175,3.166,3.156,3.153,3.151,3.148,3.142,3.127,3.122,3.118,3.116,3.113,3.105,3.104,3.092,3.089,3.082,3.08,3.075,3.069,3.066,3.064,3.062,3.061,3.05,3.048,3.047,3.047,3.041,3.04,3.037,3.031,3.029,3.028,3.025,3.024,3.024,3.024,3.024,3.024,3.023,3.017,3.017,3.014,3.014,3.014,3.012,3.014,3.014,3.012,3.012,3.012,3.012,3.01,3.01,3.01,3.01,3.01,3.01,3.013,3.013,3.013,3.013,3.014,3.014,3.016,3.016,3.018,3.021,3.021,3.021,3.025,3.026,3.029,3.032,3.034,3.036,3.036,3.036,3.041,3.053,3.053,3.055,3.055,3.062,3.064,3.067,3.069,3.084,3.088,3.089,3.09,3.092,3.092,3.108,3.108,3.114,3.115,3.121,3.13,3.13,3.135,3.135,3.137,3.137,3.143,3.145,3.148,3.158,3.159,3.166,3.166,3.176,3.181,3.186,3.215,3.222,3.224,3.226,3.237,3.239,3.24,3.246,3.25,3.255,3.276,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 76.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 76.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 76.0594} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 76.1066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.178,0.184,0.184,0,0,0,0,0,0,0,0,0,3.67,3.661,3.655,3.642,3.629,3.61,3.61,3.61,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.221,3.217,3.221,3.262,3.36,3.36,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.143,0.148,0.148,0.153,0.148,0.153,0.153,0.153,0.157,3.04,3.04,3.04,3.04,3.032,3.032,3.032,0.156,0.155,0.155,0.153,0.152,0.148,0.146,0.146,0.131,0.1,0.072,0.06,0.06,0.06,0.06,0.06,0.06,0.06,0.063,0.063,0.06,0.06,0.064,0.064,0.082,0.127,0.202,3.345,3.355,3.36,3.36,3.362,3.378,3.397,0.007,3.441,3.441,3.458,3.458,0.007,3.483,3.483,3.495,3.495,3.501,3.507,3.507,3.508,3.509,3.512,3.516,3.523,3.527,3.533,3.53,3.534,3.539,3.538,3.538,3.546,3.549,3.556,3.556,3.571,3.578,3.579,3.58,3.581,3.584,3.595,3.602,3.608,3.61,3.623,3.626,3.634,3.636,3.643,3.645,3.648,3.663,3.663,3.673,3.678,3.683,3.691,3.694,3.697,3.715,3.72,3.729,3.729,3.742,3.743,3.751,3.77,3.775,3.786,3.8,3.805,3.816,3.822,3.835,3.845,3.847,3.864,3.869,3.872,3.893,3.898,3.914,3.92,3.939,3.954,3.963,3.978,3.985,4.016,4.034,4.038,4.061,4.071,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.041,4.017,3.994,3.957,3.926,3.899,3.879,3.827,3.805,3.788,3.755,3.737,3.697,3.674,3.644,3.628,3.599,3.579,3.544,3.53,3.507,3.488,3.448,3.435,3.42,3.408,3.381,3.375,3.343,3.326,3.32,3.293,3.274,3.253,3.231,3.226,3.201,3.189,3.172,3.156,3.141,3.118,3.107,3.095,3.081,3.069,3.048,3.045,3.042,3.016,2.998,2.986,2.98,2.96,2.945,2.934,2.933,2.917,2.905,2.892,2.881,2.877,2.852,2.848,2.841,2.825,2.818,2.805,2.797,2.783,2.781,2.768,2.757,2.747,2.735,2.728,2.72,2.715,2.697,2.691,2.684,2.677,2.668,2.659,2.657,2.652,2.647,2.642,2.641,2.627,2.619,2.615,2.603,2.597,2.587,2.579,2.575,2.569,2.567,2.566,2.554,2.55,2.542,2.534,2.532,2.528,2.518,2.511,2.507,2.506,2.496,2.496,2.492,2.486,2.481,2.48,2.476,2.47,2.47,2.468,2.464,2.464,2.454,2.452,2.451,2.445,2.44,2.44,2.439,2.437,2.432,2.431,2.43,2.431,2.425,2.421,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.412,2.412,2.412,2.411,2.411,2.409,2.409,2.409,2.406,2.406,2.41,2.412,2.412,2.417,2.417,2.413,2.413,2.418,2.414,2.419,2.42,2.42,2.419,2.42,2.42,2.421,2.426,2.426,2.429,2.436,2.437,2.438,2.439,2.44,2.44,2.44,2.446,2.45,2.457,2.457,2.46,2.461,2.462,2.462,2.475,2.476,2.478,2.487,2.491,2.491,2.491,2.499,2.501,2.507,2.509,2.516,2.52,2.524,2.53,2.531,2.532,2.546,2.552,2.555,2.565,2.566,2.578,2.588,2.595,2.601,2.602,2.607,2.607,2.621,2.63,2.638,2.642,2.646,2.648,2.664,2.667,2.672,2.69,2.702,2.704,2.713,2.723,2.728,2.738,2.748,2.751,2.766,2.779,2.782,2.795,2.803,2.807,2.833,2.841,2.844,2.859,2.869,2.873,2.893,2.899,2.907,2.925,2.946,2.946,2.958,2.97,2.986,3.003,3.008,3.027,3.04,3.047,3.068,3.08,3.087,3.094,3.123,3.137,3.16,3.172,3.181,3.202,3.22,3.228,3.247,3.264,3.278,3.292,3.325,3.338,3.354,3.377,3.395,3.412,3.436,3.455,3.492,3.497,3.519,3.55,3.567,3.593,3.616,3.646,3.67,3.69,3.714,3.745,3.778,3.796,3.836,3.871,3.898,3.934,3.952,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.337,3.329,3.317,3.301,3.285,3.283,3.283,3.27,3.258,3.253,3.241,3.233,3.231,3.219,3.21,3.199,3.198,3.183,3.182,3.176,3.166,3.162,3.151,3.151,3.136,3.133,3.123,3.121,3.121,3.12,3.112,3.106,3.102,3.092,3.085,3.082,3.079,3.076,3.074,3.07,3.065,3.064,3.059,3.051,3.049,3.045,3.044,3.037,3.037,3.037,3.037,3.03,3.03,3.028,3.026,3.026,3.031,3.032,3.032,3.032,3.02,3.019,3.018,3.017,3.014,3.014,3.011,3.011,3.009,3.009,3.009,3.007,3.004,3.004,3.004,3.004,3.009,3.009,3.009,3.01,3.012,3.012,3.013,3.014,3.015,3.016,3.016,3.021,3.025,3.026,3.027,3.027,3.029,3.034,3.034,3.036,3.036,3.038,3.043,3.047,3.051,3.052,3.058,3.061,3.061,3.07,3.071,3.075,3.088,3.088,3.089,3.092,3.092,3.094,3.105,3.111,3.112,3.119,3.128,3.131,3.131,3.134,3.143,3.143,3.149,3.154,3.154,3.159,3.162,3.165,3.167,3.174,3.184,3.196,3.201,3.214,3.223,3.228,3.233,3.235,3.238,3.243,3.253,3.268,3.275,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 76.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 76.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 76.2604} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.937} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 76.3066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,0,3.681,3.667,3.664,3.651,3.622,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.21,3.206,3.206,3.206,3.257,3.372,0,0,0,0,0,0,0,0.15,0.145,0.145,0.145,0.145,0.145,0.145,0.15,0.15,0.15,0.15,0.15,0.151,0.151,3.029,3.035,3.038,3.038,3.035,3.039,3.039,0.158,0.157,0.157,0.153,0.151,0.149,0.147,0.145,0.124,0.104,0.067,0.062,0.062,0.062,0.062,0.062,0.066,0.067,0.068,0.067,0.067,0.061,0.061,0.061,0.076,0.135,0.198,0,0,0,3.383,3.375,3.37,3.375,3.375,3.413,3.415,3.451,3.451,3.455,3.477,3.477,3.491,3.493,3.497,3.5,3.502,3.503,3.507,3.518,3.52,3.52,3.52,3.528,3.536,3.536,3.538,3.539,3.539,3.548,3.552,3.556,3.57,3.57,3.573,3.576,3.578,3.583,3.584,3.592,3.595,3.602,3.602,3.624,3.625,3.632,3.642,3.645,3.647,3.651,3.656,3.661,3.672,3.676,3.679,3.69,3.692,3.697,3.705,3.72,3.727,3.734,3.739,3.754,3.76,3.764,3.771,3.796,3.801,3.802,3.813,3.813,3.83,3.838,3.84,3.861,3.882,3.889,3.89,3.892,3.904,3.925,3.942,3.945,3.964,3.989,3.999,4.02,4.027,4.032,4.059,4.062,4.09,0.016,0.016,0.016,0.016,0.016,4.09,4.09,4.048,4.024,3.97,3.933,3.893,3.878,3.841,3.812,3.775,3.753,3.723,3.702,3.674,3.652,3.624,3.595,3.561,3.554,3.532,3.522,3.487,3.461,3.45,3.426,3.401,3.386,3.366,3.349,3.331,3.313,3.295,3.278,3.265,3.225,3.225,3.196,3.175,3.169,3.148,3.137,3.131,3.109,3.09,3.083,3.062,3.046,3.033,3.03,3.008,3.001,2.994,2.981,2.964,2.953,2.934,2.924,2.917,2.903,2.898,2.877,2.863,2.858,2.849,2.838,2.831,2.815,2.807,2.796,2.788,2.782,2.766,2.755,2.748,2.738,2.733,2.721,2.711,2.697,2.692,2.681,2.676,2.672,2.66,2.655,2.649,2.649,2.64,2.64,2.617,2.615,2.615,2.615,2.598,2.589,2.582,2.577,2.571,2.568,2.564,2.556,2.552,2.542,2.541,2.537,2.527,2.525,2.51,2.51,2.5,2.495,2.492,2.491,2.491,2.479,2.478,2.475,2.471,2.463,2.463,2.463,2.461,2.456,2.456,2.451,2.448,2.444,2.442,2.442,2.44,2.434,2.433,2.432,2.431,2.43,2.429,2.429,2.424,2.418,2.418,2.411,2.415,2.414,2.414,2.411,2.414,2.414,2.406,2.414,2.414,2.414,2.412,2.415,2.415,2.415,2.412,2.415,2.415,2.412,2.415,2.416,2.416,2.416,2.418,2.418,2.423,2.423,2.424,2.424,2.426,2.427,2.427,2.428,2.431,2.434,2.436,2.438,2.438,2.438,2.449,2.451,2.451,2.456,2.458,2.459,2.46,2.467,2.468,2.473,2.481,2.484,2.492,2.497,2.497,2.497,2.507,2.509,2.512,2.523,2.523,2.525,2.528,2.528,2.535,2.545,2.547,2.552,2.563,2.568,2.58,2.591,2.593,2.599,2.601,2.608,2.612,2.623,2.633,2.637,2.641,2.643,2.645,2.662,2.666,2.682,2.685,2.689,2.705,2.708,2.726,2.728,2.742,2.748,2.751,2.767,2.781,2.79,2.802,2.812,2.812,2.836,2.837,2.848,2.857,2.864,2.882,2.886,2.901,2.916,2.917,2.944,2.952,2.959,2.97,2.98,2.996,3.02,3.02,3.032,3.049,3.062,3.073,3.093,3.109,3.122,3.132,3.159,3.17,3.183,3.201,3.213,3.241,3.248,3.262,3.275,3.299,3.326,3.335,3.349,3.37,3.396,3.411,3.427,3.458,3.48,3.488,3.513,3.546,3.569,3.595,3.614,3.629,3.675,3.691,3.725,3.751,3.778,3.805,3.824,3.855,3.888,3.913,3.998,4.024,4.088,4.088,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.363,3.348,3.333,3.318,3.307,3.296,3.295,3.276,3.274,3.262,3.244,3.239,3.236,3.232,3.226,3.208,3.206,3.192,3.188,3.182,3.176,3.173,3.16,3.154,3.15,3.147,3.144,3.13,3.126,3.123,3.113,3.106,3.099,3.099,3.093,3.091,3.081,3.079,3.077,3.073,3.068,3.064,3.061,3.06,3.054,3.052,3.051,3.039,3.039,3.038,3.036,3.036,3.034,3.028,3.026,3.024,3.026,3.028,3.026,3.026,3.026,3.021,3.019,3.011,3.011,3.01,3.008,3.01,3.012,3.01,3.01,3.01,3.01,3.01,3.005,3.006,3.01,3.01,3.009,3.009,3.01,3.011,3.011,3.014,3.015,3.019,3.015,3.019,3.02,3.019,3.017,3.02,3.027,3.027,3.032,3.035,3.035,3.035,3.037,3.042,3.045,3.047,3.052,3.053,3.059,3.061,3.064,3.076,3.079,3.083,3.084,3.089,3.092,3.098,3.099,3.103,3.104,3.113,3.123,3.13,3.13,3.13,3.13,3.141,3.142,3.146,3.15,3.151,3.153,3.166,3.169,3.171,3.178,3.179,3.203,3.214,3.226,3.228,3.228,3.231,3.234,3.234,3.235,3.246,3.26,3.28,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 76.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 76.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 76.4614} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.937} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.9276} SEN {Time 76.5066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.176,0.176,0.175,0.176,0.183,0,0,0,0,0,0,0,0,3.691,3.689,3.664,3.663,3.642,3.629,3.628,3.628,3.593,3.593,3.593,0,3.355,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.211,3.21,3.205,3.21,3.21,3.264,3.356,0,0,0,0,0,0,0,0.15,0.147,0.147,0.147,0.147,0.147,0.149,0.149,0.154,0.153,0.154,0.154,0.157,0.161,3.038,3.038,3.038,3.038,3.036,3.036,3.036,0.16,0.159,0.159,0.151,0.151,0.151,0.15,0.15,0.123,0.107,0.082,0.066,0.065,0.065,0.066,0.067,0.068,0.068,0.068,0.067,0.065,0.063,0.063,0.063,0.071,0.13,0.204,3.333,3.345,3.372,3.372,3.368,3.368,3.39,3.394,0.007,3.432,3.432,3.464,3.464,3.464,3.474,3.477,3.485,3.488,3.489,3.507,3.51,3.516,3.516,3.518,3.525,3.533,3.534,3.534,3.542,3.545,3.545,3.545,3.546,3.55,3.557,3.571,3.571,3.571,3.573,3.576,3.579,3.587,3.592,3.599,3.606,3.614,3.625,3.625,3.626,3.627,3.641,3.647,3.65,3.653,3.663,3.665,3.675,3.679,3.69,3.694,3.697,3.709,3.721,3.725,3.746,3.746,3.747,3.749,3.77,3.773,3.786,3.791,3.795,3.816,3.819,3.832,3.837,3.841,3.867,3.878,3.881,3.901,3.903,3.929,3.934,3.952,3.964,3.972,3.984,4.005,4.017,4.019,4.038,4.061,4.08,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.046,4.023,4,3.971,3.93,3.901,3.875,3.843,3.816,3.786,3.761,3.727,3.704,3.68,3.646,3.618,3.607,3.577,3.552,3.526,3.502,3.481,3.471,3.448,3.417,3.403,3.386,3.364,3.344,3.337,3.301,3.285,3.272,3.261,3.238,3.233,3.202,3.183,3.162,3.146,3.143,3.116,3.108,3.095,3.081,3.073,3.044,3.038,3.029,3.014,3.003,2.986,2.986,2.959,2.956,2.937,2.922,2.911,2.903,2.894,2.873,2.87,2.857,2.847,2.833,2.829,2.809,2.806,2.794,2.777,2.777,2.764,2.763,2.748,2.737,2.727,2.722,2.707,2.701,2.7,2.684,2.683,2.681,2.659,2.659,2.655,2.652,2.637,2.636,2.634,2.613,2.611,2.61,2.598,2.589,2.581,2.578,2.573,2.57,2.562,2.558,2.55,2.541,2.533,2.533,2.523,2.521,2.514,2.506,2.5,2.5,2.497,2.495,2.486,2.484,2.482,2.479,2.476,2.471,2.467,2.465,2.463,2.457,2.452,2.451,2.451,2.443,2.44,2.437,2.436,2.435,2.432,2.427,2.427,2.426,2.424,2.423,2.42,2.42,2.42,2.418,2.418,2.413,2.411,2.411,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.41,2.411,2.411,2.418,2.418,2.418,2.415,2.415,2.415,2.417,2.421,2.421,2.419,2.42,2.42,2.42,2.427,2.427,2.428,2.429,2.43,2.432,2.439,2.439,2.439,2.441,2.441,2.446,2.455,2.456,2.456,2.461,2.461,2.462,2.474,2.474,2.475,2.476,2.481,2.487,2.491,2.494,2.494,2.501,2.509,2.516,2.517,2.519,2.523,2.534,2.536,2.539,2.554,2.557,2.561,2.564,2.568,2.58,2.593,2.596,2.599,2.606,2.607,2.612,2.619,2.634,2.636,2.638,2.645,2.649,2.661,2.676,2.679,2.692,2.693,2.706,2.716,2.726,2.726,2.74,2.749,2.755,2.759,2.773,2.79,2.798,2.804,2.823,2.832,2.838,2.84,2.862,2.872,2.88,2.888,2.899,2.92,2.923,2.942,2.954,2.958,2.974,2.983,2.994,3.015,3.016,3.04,3.047,3.066,3.076,3.096,3.102,3.124,3.142,3.152,3.166,3.19,3.191,3.22,3.232,3.241,3.261,3.27,3.3,3.326,3.34,3.353,3.373,3.391,3.407,3.436,3.459,3.483,3.499,3.523,3.539,3.562,3.596,3.62,3.63,3.666,3.69,3.727,3.743,3.784,3.796,3.835,3.879,3.887,3.909,3.989,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.357,3.343,3.334,3.303,3.3,3.292,3.289,3.274,3.272,3.253,3.251,3.245,3.239,3.234,3.215,3.21,3.21,3.207,3.207,3.189,3.176,3.175,3.16,3.154,3.149,3.143,3.138,3.131,3.121,3.117,3.113,3.112,3.11,3.109,3.092,3.09,3.085,3.082,3.082,3.07,3.067,3.065,3.058,3.055,3.052,3.049,3.045,3.044,3.042,3.037,3.037,3.034,3.029,3.025,3.02,3.019,3.02,3.02,3.028,3.028,3.028,3.02,3.017,3.011,3.007,3.006,3.007,3.006,3.006,3.006,3.005,3.005,3.006,3.006,3.007,3.007,3.007,3.008,3.007,3.01,3.011,3.011,3.011,3.014,3.014,3.018,3.018,3.019,3.02,3.019,3.019,3.022,3.028,3.035,3.035,3.035,3.035,3.036,3.045,3.049,3.05,3.05,3.061,3.061,3.063,3.064,3.065,3.077,3.078,3.088,3.089,3.092,3.092,3.092,3.098,3.104,3.104,3.116,3.124,3.126,3.131,3.132,3.132,3.137,3.137,3.143,3.148,3.152,3.154,3.166,3.168,3.175,3.18,3.192,3.199,3.22,3.22,3.22,3.22,3.228,3.236,3.242,3.244,3.245,3.273,3.286,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 76.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 76.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 76.6623} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.937} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.9276} SEN {Time 76.7068} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.176,0.184,0.184,0,0,0,0,0,0,0,0,3.692,3.678,3.666,3.658,3.655,3.627,3.607,3.607,3.607,3.599,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.219,3.218,3.219,3.219,3.249,3.356,0,0,0,0,0,0,0,0.151,0.146,0.146,0.146,0.151,0.142,0.146,0.146,0.157,0.156,0.156,0.156,0.156,0.156,3.03,3.03,3.033,3.033,3.03,3.042,3.042,0.163,0.157,0.157,0.153,0.153,0.15,0.146,0.146,0.127,0.098,0.075,0.066,0.061,0.061,0.065,0.061,0.065,0.067,0.068,0.067,0.067,0.063,0.063,0.063,0.076,0.129,0.21,3.323,3.342,3.363,3.368,3.368,3.368,3.392,0,0,0,0.007,3.461,3.461,3.472,3.472,3.48,3.495,3.498,3.498,3.499,3.508,3.509,3.523,3.523,3.525,3.53,3.532,3.537,3.537,3.539,3.539,3.546,3.546,3.553,3.555,3.558,3.568,3.57,3.571,3.573,3.582,3.584,3.594,3.597,3.607,3.612,3.624,3.628,3.629,3.63,3.636,3.642,3.653,3.665,3.666,3.668,3.677,3.682,3.691,3.697,3.697,3.704,3.723,3.726,3.738,3.747,3.758,3.761,3.764,3.767,3.793,3.797,3.798,3.817,3.827,3.83,3.841,3.845,3.866,3.867,3.89,3.894,3.905,3.92,3.925,3.938,3.958,3.969,3.977,3.99,4.007,4.018,4.041,4.057,4.074,4.083,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.048,3.997,3.959,3.93,3.909,3.875,3.847,3.818,3.789,3.751,3.735,3.689,3.671,3.652,3.629,3.608,3.568,3.544,3.524,3.504,3.481,3.459,3.441,3.415,3.405,3.376,3.376,3.349,3.329,3.313,3.296,3.284,3.263,3.23,3.228,3.197,3.177,3.169,3.161,3.145,3.118,3.114,3.099,3.085,3.076,3.053,3.037,3.029,3.007,3.007,2.997,2.985,2.965,2.954,2.939,2.923,2.918,2.901,2.895,2.874,2.865,2.859,2.852,2.839,2.827,2.815,2.805,2.786,2.782,2.775,2.769,2.761,2.747,2.745,2.734,2.713,2.712,2.707,2.691,2.686,2.678,2.672,2.662,2.656,2.652,2.644,2.641,2.635,2.62,2.613,2.609,2.606,2.597,2.583,2.58,2.573,2.568,2.565,2.557,2.555,2.549,2.542,2.539,2.524,2.521,2.521,2.515,2.508,2.5,2.5,2.5,2.498,2.491,2.482,2.474,2.474,2.474,2.467,2.465,2.463,2.463,2.451,2.451,2.448,2.448,2.446,2.445,2.443,2.441,2.439,2.433,2.429,2.429,2.427,2.426,2.423,2.423,2.423,2.417,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.412,2.409,2.408,2.408,2.408,2.409,2.417,2.417,2.417,2.414,2.414,2.414,2.414,2.415,2.415,2.416,2.416,2.415,2.416,2.416,2.418,2.423,2.424,2.43,2.434,2.434,2.438,2.439,2.44,2.444,2.444,2.444,2.449,2.455,2.461,2.464,2.467,2.467,2.467,2.471,2.472,2.474,2.485,2.486,2.487,2.494,2.496,2.506,2.512,2.519,2.519,2.521,2.522,2.527,2.532,2.542,2.55,2.551,2.562,2.565,2.566,2.575,2.586,2.592,2.595,2.602,2.611,2.612,2.622,2.63,2.639,2.641,2.653,2.659,2.665,2.669,2.679,2.683,2.702,2.706,2.715,2.718,2.728,2.74,2.756,2.758,2.769,2.781,2.79,2.8,2.808,2.826,2.831,2.838,2.842,2.854,2.868,2.872,2.889,2.899,2.915,2.924,2.937,2.949,2.964,2.977,2.986,2.995,3.011,3.025,3.039,3.048,3.062,3.08,3.091,3.096,3.119,3.137,3.148,3.17,3.18,3.199,3.22,3.228,3.243,3.269,3.272,3.293,3.334,3.334,3.36,3.385,3.395,3.41,3.436,3.443,3.483,3.495,3.525,3.538,3.568,3.585,3.611,3.639,3.673,3.687,3.72,3.748,3.791,3.806,3.844,3.871,3.886,3.93,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.346,3.337,3.329,3.319,3.303,3.298,3.296,3.277,3.27,3.262,3.25,3.241,3.236,3.232,3.227,3.213,3.209,3.201,3.194,3.187,3.178,3.171,3.155,3.153,3.151,3.141,3.134,3.129,3.12,3.118,3.118,3.118,3.106,3.106,3.099,3.085,3.085,3.082,3.076,3.076,3.071,3.068,3.068,3.06,3.052,3.052,3.043,3.038,3.038,3.038,3.038,3.038,3.029,3.029,3.025,3.021,3.025,3.025,3.031,3.031,3.031,3.023,3.02,3.018,3.013,3.007,3.007,3.007,3.007,3.011,3.011,3.007,3.004,3.004,3.004,3.004,3.008,3.012,3.012,3.012,3.013,3.012,3.014,3.014,3.014,3.017,3.017,3.02,3.02,3.016,3.016,3.02,3.028,3.029,3.031,3.034,3.031,3.036,3.036,3.038,3.049,3.053,3.057,3.058,3.06,3.061,3.064,3.075,3.081,3.088,3.088,3.089,3.089,3.089,3.095,3.105,3.11,3.115,3.12,3.123,3.127,3.132,3.135,3.143,3.143,3.143,3.143,3.15,3.15,3.163,3.169,3.18,3.182,3.188,3.193,3.213,3.214,3.221,3.225,3.232,3.232,3.24,3.244,3.251,3.254,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 76.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 76.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 76.8632} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.9276} SEN {Time 76.9066} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.177,0.182,0.189,0,0,0,0,0,0,0,0,3.689,3.677,3.674,3.659,3.646,3.625,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.238,3.213,3.211,3.211,3.211,3.213,3.255,3.366,0,0,0,0,0,0,0,0,0.151,0.148,0.148,0.148,0.141,0.141,0.141,0.155,0.154,0.154,0.154,0.154,0.154,3.04,3.04,3.04,3.04,3.036,3.034,0.16,0.16,0.157,0.157,0.155,0.153,0.153,0.153,0.153,0.125,0.107,0.074,0.068,0.06,0.06,0.06,0.06,0.064,0.067,0.067,0.066,0.066,0.063,0.063,0.063,0.079,0.139,0.207,3.317,3.361,3.382,3.382,3.367,3.367,3.382,3.397,3.42,3.433,3.433,3.453,3.47,3.47,3.473,3.477,3.495,3.496,3.5,3.5,3.505,3.508,3.516,3.52,3.521,3.521,3.522,3.529,3.534,3.538,3.538,3.538,3.548,3.554,3.555,3.558,3.567,3.569,3.574,3.577,3.579,3.585,3.586,3.602,3.607,3.615,3.625,3.626,3.63,3.637,3.644,3.645,3.648,3.66,3.665,3.668,3.674,3.675,3.68,3.697,3.708,3.71,3.717,3.725,3.735,3.741,3.751,3.751,3.764,3.767,3.785,3.805,3.811,3.818,3.826,3.834,3.844,3.862,3.867,3.87,3.882,3.893,3.91,3.922,3.934,3.938,3.953,3.957,3.989,3.998,4.006,4.044,4.045,4.07,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.059,3.981,3.97,3.942,3.887,3.862,3.846,3.813,3.773,3.761,3.736,3.683,3.675,3.658,3.625,3.598,3.557,3.556,3.534,3.503,3.481,3.455,3.445,3.415,3.399,3.384,3.369,3.347,3.334,3.303,3.303,3.278,3.26,3.228,3.223,3.202,3.177,3.16,3.148,3.136,3.124,3.109,3.101,3.081,3.066,3.043,3.036,3.026,3.004,2.996,2.983,2.977,2.965,2.951,2.936,2.927,2.916,2.904,2.893,2.879,2.87,2.867,2.859,2.838,2.834,2.821,2.812,2.802,2.787,2.779,2.771,2.76,2.75,2.734,2.733,2.72,2.712,2.703,2.695,2.679,2.67,2.668,2.66,2.657,2.657,2.649,2.636,2.632,2.621,2.618,2.613,2.609,2.599,2.589,2.587,2.576,2.575,2.571,2.569,2.56,2.544,2.539,2.536,2.536,2.529,2.519,2.515,2.509,2.502,2.496,2.494,2.493,2.487,2.484,2.482,2.481,2.474,2.471,2.471,2.468,2.464,2.454,2.449,2.447,2.441,2.439,2.439,2.439,2.439,2.439,2.437,2.426,2.426,2.423,2.423,2.421,2.421,2.42,2.42,2.417,2.417,2.415,2.412,2.412,2.41,2.41,2.41,2.408,2.408,2.408,2.41,2.411,2.413,2.414,2.413,2.414,2.413,2.413,2.413,2.414,2.416,2.42,2.42,2.42,2.416,2.416,2.416,2.418,2.426,2.426,2.429,2.43,2.43,2.436,2.436,2.437,2.439,2.44,2.445,2.45,2.454,2.455,2.46,2.465,2.471,2.471,2.475,2.475,2.477,2.478,2.487,2.49,2.493,2.493,2.507,2.509,2.514,2.518,2.52,2.525,2.53,2.534,2.538,2.548,2.553,2.554,2.566,2.568,2.573,2.592,2.599,2.6,2.609,2.61,2.613,2.627,2.636,2.644,2.645,2.648,2.651,2.662,2.676,2.681,2.683,2.7,2.707,2.712,2.723,2.724,2.743,2.749,2.751,2.76,2.786,2.791,2.791,2.809,2.817,2.822,2.841,2.844,2.85,2.87,2.87,2.887,2.9,2.916,2.921,2.954,2.955,2.958,2.972,2.983,3,3.015,3.021,3.034,3.04,3.068,3.082,3.092,3.107,3.121,3.139,3.162,3.17,3.186,3.202,3.218,3.236,3.244,3.268,3.271,3.298,3.325,3.335,3.348,3.368,3.389,3.405,3.434,3.459,3.471,3.503,3.528,3.546,3.562,3.594,3.612,3.636,3.67,3.686,3.723,3.737,3.778,3.805,3.84,3.873,3.887,3.914,4.026,0.009,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.358,3.342,3.338,3.311,3.311,3.293,3.292,3.277,3.267,3.262,3.255,3.244,3.239,3.238,3.221,3.213,3.209,3.2,3.193,3.186,3.173,3.17,3.159,3.153,3.15,3.136,3.136,3.132,3.123,3.117,3.116,3.105,3.103,3.101,3.087,3.087,3.083,3.083,3.081,3.073,3.067,3.063,3.061,3.059,3.048,3.047,3.038,3.037,3.037,3.038,3.038,3.037,3.032,3.032,3.029,3.026,3.029,3.082,3.026,3.026,3.026,3.025,3.024,3.013,3.011,3.01,3.01,3.011,3.012,3.012,3.013,3.012,3.01,3.009,3.01,3.009,3.009,3.009,3.009,3.009,3.012,3.012,3.012,3.013,3.013,3.017,3.013,3.017,3.017,3.018,3.02,3.022,3.025,3.031,3.031,3.032,3.034,3.035,3.04,3.045,3.052,3.053,3.057,3.059,3.059,3.062,3.066,3.075,3.076,3.081,3.086,3.087,3.088,3.09,3.103,3.105,3.108,3.11,3.116,3.13,3.13,3.132,3.135,3.141,3.141,3.147,3.151,3.152,3.152,3.165,3.167,3.173,3.175,3.185,3.199,3.207,3.211,3.214,3.219,3.235,3.239,3.244,3.246,3.246,3.256,3.278,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 77.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 77.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 77.0642} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6134} SEN {Time 77.1026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.695,3.686,3.661,3.656,3.642,3.628,3.614,3.614,3.599,3.599,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.213,3.211,3.211,3.211,3.252,3.363,0,0,0,0,0,0,0,0.148,0.147,0.146,0.142,0.142,0.142,0.142,0.145,0.156,0.15,0.15,0.15,0.15,0.15,3.04,3.04,3.04,3.04,3.037,3.033,0.159,0.159,0.155,0.155,0.155,0.153,0.153,0.151,0.149,0.127,0.097,0.073,0.069,0.066,0.065,0.065,0.063,0.063,0.067,0.067,0.063,0.063,0.062,0.062,0.062,0.079,0.136,0.207,3.325,3.362,3.364,3.364,3.364,3.374,3.382,3.411,3.425,3.425,0.007,3.465,3.465,3.485,3.485,3.489,3.492,3.493,3.498,3.506,3.506,3.516,3.516,3.516,3.521,3.521,3.524,3.534,3.535,3.538,3.538,3.538,3.551,3.551,3.551,3.559,3.565,3.571,3.572,3.585,3.591,3.595,3.598,3.601,3.601,3.614,3.625,3.627,3.63,3.636,3.642,3.652,3.653,3.659,3.663,3.669,3.676,3.684,3.691,3.697,3.697,3.705,3.714,3.723,3.73,3.731,3.748,3.755,3.768,3.776,3.783,3.786,3.8,3.808,3.81,3.83,3.833,3.854,3.87,3.881,3.893,3.901,3.906,3.917,3.924,3.936,3.96,3.962,3.991,4.006,4.012,4.032,4.047,4.068,4.071,4.087,0.016,0.016,0.016,0.016,0.016,4.094,4.056,4.03,3.976,3.955,3.92,3.903,3.884,3.853,3.811,3.779,3.757,3.734,3.697,3.673,3.647,3.624,3.606,3.579,3.546,3.527,3.516,3.482,3.459,3.459,3.412,3.405,3.376,3.362,3.358,3.335,3.308,3.296,3.282,3.259,3.23,3.225,3.202,3.171,3.167,3.148,3.144,3.122,3.113,3.097,3.084,3.073,3.054,3.041,3.028,3.012,3.004,2.991,2.978,2.964,2.952,2.932,2.929,2.912,2.904,2.895,2.874,2.868,2.858,2.854,2.839,2.831,2.815,2.807,2.787,2.786,2.782,2.765,2.75,2.748,2.745,2.732,2.72,2.711,2.703,2.699,2.684,2.673,2.671,2.666,2.663,2.656,2.651,2.637,2.634,2.621,2.62,2.618,2.616,2.599,2.59,2.582,2.582,2.575,2.574,2.566,2.559,2.556,2.544,2.54,2.53,2.527,2.522,2.507,2.506,2.506,2.498,2.498,2.495,2.488,2.484,2.482,2.476,2.476,2.47,2.467,2.463,2.453,2.453,2.452,2.449,2.448,2.447,2.446,2.442,2.441,2.44,2.431,2.428,2.428,2.428,2.424,2.417,2.419,2.417,2.417,2.417,2.417,2.415,2.415,2.413,2.413,2.412,2.411,2.409,2.409,2.409,2.411,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.413,2.414,2.414,2.414,2.416,2.416,2.418,2.424,2.421,2.421,2.421,2.423,2.423,2.433,2.433,2.436,2.436,2.438,2.441,2.441,2.446,2.446,2.453,2.456,2.462,2.462,2.466,2.471,2.473,2.473,2.48,2.481,2.488,2.493,2.498,2.499,2.501,2.51,2.513,2.53,2.531,2.533,2.536,2.538,2.54,2.548,2.55,2.551,2.563,2.566,2.572,2.587,2.595,2.601,2.608,2.608,2.617,2.625,2.636,2.64,2.641,2.648,2.65,2.66,2.672,2.678,2.687,2.698,2.701,2.717,2.722,2.727,2.738,2.753,2.758,2.766,2.777,2.794,2.798,2.814,2.815,2.832,2.836,2.839,2.853,2.867,2.883,2.885,2.895,2.916,2.928,2.937,2.951,2.956,2.977,2.984,2.999,3.012,3.017,3.036,3.052,3.064,3.081,3.094,3.1,3.123,3.139,3.155,3.166,3.187,3.204,3.219,3.236,3.251,3.263,3.281,3.304,3.329,3.335,3.355,3.369,3.39,3.415,3.441,3.456,3.467,3.504,3.532,3.546,3.579,3.59,3.614,3.633,3.675,3.697,3.722,3.751,3.784,3.804,3.826,3.881,3.911,3.946,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.345,3.338,3.329,3.312,3.311,3.29,3.287,3.279,3.27,3.257,3.25,3.238,3.237,3.236,3.226,3.214,3.209,3.199,3.192,3.189,3.18,3.169,3.163,3.157,3.15,3.144,3.134,3.131,3.124,3.123,3.114,3.114,3.11,3.104,3.094,3.093,3.081,3.079,3.078,3.074,3.071,3.07,3.062,3.06,3.054,3.052,3.045,3.043,3.043,3.043,3.04,3.035,3.027,3.027,3.022,3.022,3.027,3.027,3.029,3.029,3.029,3.018,3.018,3.013,3.013,3.016,3.016,3.012,3.012,3.008,3.008,3.008,3.008,3.008,3.008,3.011,3.014,3.011,3.011,3.011,3.011,3.01,3.01,3.017,3.017,3.02,3.02,3.02,3.02,3.02,3.02,3.028,3.028,3.028,3.037,3.037,3.04,3.04,3.04,3.042,3.052,3.054,3.054,3.058,3.067,3.068,3.072,3.075,3.082,3.085,3.085,3.089,3.093,3.101,3.107,3.11,3.112,3.114,3.125,3.13,3.13,3.132,3.132,3.144,3.146,3.15,3.15,3.153,3.159,3.165,3.169,3.178,3.178,3.183,3.197,3.215,3.218,3.219,3.228,3.232,3.238,3.239,3.24,3.258,3.258,3.268,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 77.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 77.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 77.2562} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6134} SEN {Time 77.3029} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.179,0.174,0.179,0.179,0,0,0,0,0,0,0,0,3.691,3.677,3.66,3.657,3.648,3.634,3.625,3.625,3.625,3.595,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.203,3.203,3.203,3.361,0.007,0,0,0,0,0,0,0,0.149,0.143,0.143,0.139,0.139,0.151,0.151,0.151,0.156,0.154,0.155,0.155,0.155,0.155,3.034,3.041,3.041,3.041,3.038,3.041,3.038,0.161,0.154,0.154,0.154,0.154,0.153,0.147,0.144,0.127,0.104,0.071,0.065,0.065,0.06,0.065,0.06,0.06,0.066,0.066,0.067,0.067,0.06,0.06,0.067,0.074,0.139,0.207,3.334,3.355,3.365,3.365,3.376,3.383,0,0.007,0,0.007,3.47,3.47,3.471,3.471,3.472,3.486,3.499,3.499,3.499,3.499,3.507,3.513,3.516,3.516,3.521,3.521,3.531,3.536,3.543,3.543,3.543,3.544,3.544,3.55,3.555,3.558,3.568,3.568,3.576,3.58,3.581,3.586,3.591,3.603,3.61,3.62,3.63,3.632,3.637,3.637,3.64,3.643,3.649,3.655,3.659,3.671,3.679,3.688,3.691,3.695,3.696,3.708,3.721,3.735,3.739,3.75,3.757,3.763,3.774,3.781,3.782,3.805,3.805,3.814,3.817,3.836,3.838,3.851,3.853,3.876,3.889,3.895,3.904,3.916,3.93,3.944,3.958,3.97,3.988,4.006,4.019,4.022,4.045,4.059,4.072,0.016,0.016,0.016,0.016,0.016,0.016,4.078,4.058,4.022,4.005,3.979,3.931,3.898,3.874,3.853,3.823,3.778,3.756,3.737,3.696,3.668,3.656,3.627,3.597,3.579,3.551,3.524,3.518,3.476,3.461,3.448,3.415,3.406,3.378,3.369,3.35,3.323,3.316,3.296,3.277,3.26,3.236,3.228,3.202,3.182,3.178,3.157,3.144,3.121,3.103,3.099,3.089,3.069,3.053,3.037,3.028,3.005,2.997,2.988,2.98,2.957,2.955,2.944,2.927,2.912,2.905,2.895,2.877,2.871,2.862,2.846,2.834,2.824,2.813,2.807,2.791,2.784,2.771,2.767,2.757,2.744,2.741,2.732,2.727,2.717,2.704,2.7,2.685,2.68,2.679,2.664,2.655,2.654,2.648,2.637,2.631,2.623,2.621,2.613,2.605,2.595,2.592,2.581,2.578,2.57,2.57,2.568,2.558,2.554,2.544,2.535,2.532,2.525,2.521,2.52,2.508,2.501,2.501,2.498,2.497,2.49,2.488,2.477,2.477,2.474,2.473,2.47,2.467,2.459,2.456,2.455,2.453,2.448,2.444,2.444,2.442,2.44,2.439,2.434,2.433,2.426,2.426,2.425,2.424,2.421,2.417,2.417,2.417,2.417,2.417,2.412,2.416,2.411,2.416,2.415,2.415,2.413,2.415,2.413,2.413,2.413,2.41,2.41,2.41,2.414,2.414,2.414,2.414,2.416,2.416,2.418,2.418,2.418,2.417,2.417,2.417,2.421,2.426,2.432,2.433,2.437,2.437,2.438,2.438,2.441,2.442,2.452,2.454,2.454,2.456,2.462,2.47,2.47,2.47,2.472,2.474,2.474,2.481,2.484,2.489,2.489,2.494,2.494,2.508,2.509,2.522,2.524,2.527,2.532,2.538,2.539,2.554,2.557,2.561,2.565,2.565,2.576,2.588,2.593,2.599,2.601,2.612,2.619,2.623,2.631,2.64,2.645,2.648,2.66,2.664,2.673,2.684,2.693,2.697,2.704,2.717,2.722,2.728,2.745,2.747,2.758,2.764,2.778,2.788,2.8,2.81,2.819,2.83,2.836,2.85,2.863,2.873,2.883,2.89,2.903,2.914,2.925,2.941,2.951,2.957,2.975,2.982,2.995,3.015,3.029,3.04,3.05,3.066,3.082,3.087,3.102,3.121,3.137,3.157,3.175,3.185,3.202,3.226,3.233,3.25,3.26,3.277,3.3,3.324,3.335,3.355,3.375,3.395,3.408,3.44,3.454,3.473,3.503,3.522,3.536,3.568,3.593,3.606,3.638,3.668,3.691,3.724,3.757,3.771,3.808,3.832,3.873,3.922,0.007,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.355,3.354,3.337,3.316,3.306,3.293,3.288,3.284,3.278,3.262,3.252,3.243,3.238,3.235,3.218,3.215,3.211,3.199,3.197,3.19,3.18,3.167,3.166,3.159,3.15,3.137,3.134,3.133,3.121,3.119,3.115,3.111,3.111,3.104,3.092,3.086,3.086,3.084,3.082,3.07,3.068,3.065,3.062,3.059,3.051,3.049,3.049,3.042,3.041,3.038,3.037,3.035,3.029,3.025,3.021,3.021,3.025,3.027,3.027,3.027,3.025,3.013,3.013,3.013,3.01,3.01,3.01,3.01,3.01,3.01,3.009,3.009,3.006,3.005,3.005,3.008,3.008,3.016,3.016,3.016,3.016,3.015,3.015,3.015,3.015,3.021,3.021,3.023,3.026,3.023,3.02,3.027,3.029,3.031,3.031,3.034,3.035,3.037,3.038,3.038,3.047,3.049,3.054,3.055,3.056,3.064,3.072,3.078,3.08,3.089,3.09,3.092,3.094,3.097,3.099,3.11,3.113,3.113,3.123,3.14,3.14,3.14,3.14,3.141,3.144,3.145,3.153,3.155,3.155,3.161,3.163,3.176,3.181,3.184,3.194,3.206,3.216,3.221,3.226,3.234,3.237,3.246,3.247,3.247,3.257,3.283,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 77.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 77.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 77.4572} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6134} SEN {Time 77.5026} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,0,0,0,3.69,3.68,3.668,3.66,3.638,3.631,3.61,3.61,3.61,3.602,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.216,3.206,3.206,3.206,3.255,3.354,0,0,0,0,0,0,0,0.15,0.147,0.147,0.147,0.147,0.147,0.145,0.145,0.148,0.148,0.152,0.152,0.159,0.159,3.029,3.029,3.031,3.031,3.029,3.031,3.031,0.16,0.153,0.153,0.153,0.153,0.151,0.144,0.141,0.121,0.102,0.074,0.068,0.064,0.064,0.064,0.064,0.065,0.065,0.066,0.064,0.064,0.064,0.064,0.064,0.075,0.135,0.202,3.337,3.353,3.354,3.353,3.354,3.385,3.388,0,0.007,3.442,3.442,3.464,3.464,3.466,3.474,3.476,3.49,3.5,3.5,3.511,3.512,3.514,3.521,3.524,3.526,3.528,3.53,3.539,3.539,3.539,3.541,3.546,3.547,3.547,3.557,3.563,3.572,3.579,3.579,3.581,3.584,3.584,3.593,3.598,3.611,3.611,3.614,3.628,3.628,3.636,3.642,3.649,3.652,3.659,3.663,3.668,3.68,3.684,3.686,3.688,3.7,3.707,3.718,3.734,3.734,3.742,3.754,3.76,3.766,3.77,3.778,3.789,3.8,3.812,3.825,3.837,3.846,3.849,3.865,3.873,3.882,3.889,3.89,3.919,3.924,3.951,3.953,3.963,3.982,3.996,4.02,4.036,4.039,4.053,4.079,4.081,0.016,0.016,0.016,0.016,0.016,4.09,4.09,4.048,4.024,3.948,3.939,3.893,3.874,3.839,3.808,3.782,3.759,3.734,3.695,3.679,3.646,3.63,3.602,3.573,3.556,3.523,3.504,3.488,3.468,3.452,3.414,3.4,3.387,3.375,3.349,3.334,3.3,3.292,3.272,3.255,3.236,3.225,3.191,3.174,3.173,3.155,3.138,3.121,3.105,3.09,3.083,3.063,3.043,3.04,3.028,3.009,2.999,2.983,2.98,2.959,2.951,2.938,2.93,2.915,2.907,2.898,2.882,2.862,2.859,2.857,2.833,2.83,2.812,2.804,2.8,2.786,2.78,2.775,2.765,2.747,2.73,2.727,2.717,2.711,2.704,2.694,2.681,2.675,2.672,2.663,2.655,2.655,2.649,2.636,2.632,2.629,2.619,2.615,2.612,2.599,2.593,2.581,2.578,2.576,2.57,2.563,2.559,2.55,2.542,2.536,2.53,2.525,2.52,2.514,2.504,2.5,2.499,2.491,2.487,2.486,2.486,2.483,2.474,2.473,2.472,2.472,2.464,2.459,2.458,2.458,2.452,2.451,2.448,2.447,2.443,2.443,2.434,2.43,2.429,2.428,2.427,2.426,2.426,2.423,2.419,2.419,2.414,2.413,2.413,2.411,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.415,2.415,2.415,2.41,2.41,2.41,2.41,2.414,2.415,2.416,2.424,2.424,2.419,2.425,2.421,2.421,2.426,2.426,2.426,2.433,2.433,2.433,2.439,2.441,2.444,2.445,2.446,2.447,2.451,2.455,2.457,2.46,2.463,2.47,2.471,2.477,2.477,2.485,2.486,2.494,2.495,2.495,2.504,2.511,2.514,2.515,2.52,2.521,2.535,2.538,2.543,2.549,2.553,2.56,2.569,2.574,2.576,2.594,2.599,2.603,2.606,2.609,2.61,2.622,2.633,2.638,2.639,2.645,2.649,2.661,2.677,2.685,2.692,2.7,2.701,2.718,2.727,2.733,2.745,2.748,2.748,2.77,2.777,2.787,2.801,2.801,2.819,2.831,2.842,2.849,2.855,2.869,2.881,2.89,2.901,2.915,2.923,2.95,2.958,2.96,2.977,2.989,2.998,3.013,3.024,3.04,3.041,3.073,3.09,3.092,3.103,3.121,3.143,3.156,3.163,3.174,3.195,3.227,3.237,3.252,3.258,3.272,3.294,3.319,3.342,3.349,3.371,3.392,3.413,3.439,3.463,3.484,3.508,3.529,3.54,3.571,3.594,3.616,3.635,3.67,3.695,3.723,3.735,3.787,3.794,3.832,3.87,3.886,3.921,3.965,0,0,0,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.354,3.34,3.326,3.314,3.303,3.298,3.296,3.285,3.265,3.264,3.253,3.248,3.234,3.234,3.22,3.22,3.21,3.209,3.185,3.18,3.177,3.168,3.16,3.154,3.149,3.139,3.13,3.126,3.125,3.121,3.113,3.113,3.106,3.1,3.094,3.084,3.081,3.074,3.074,3.074,3.074,3.068,3.061,3.052,3.051,3.049,3.042,3.04,3.04,3.038,3.035,3.034,3.032,3.03,3.027,3.022,3.022,3.022,3.032,3.032,3.032,3.019,3.016,3.013,3.013,3.013,3.013,3.013,3.012,3.009,3.006,3.011,3.011,3.006,3.011,3.011,3.014,3.011,3.011,3.011,3.015,3.014,3.015,3.015,3.015,3.017,3.017,3.017,3.021,3.021,3.021,3.024,3.028,3.028,3.032,3.036,3.036,3.036,3.038,3.042,3.051,3.053,3.055,3.055,3.06,3.066,3.067,3.074,3.078,3.085,3.09,3.09,3.092,3.098,3.101,3.105,3.107,3.116,3.118,3.126,3.126,3.128,3.14,3.142,3.142,3.149,3.149,3.15,3.166,3.166,3.167,3.171,3.178,3.189,3.201,3.217,3.223,3.224,3.225,3.231,3.233,3.244,3.244,3.247,3.262,3.281,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 77.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 77.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 77.6591} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.9436} {Name Sonar15 Range 4.7752} SEN {Time 77.7025} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.183,0.187,0.187,0,0,0,0,0,0,0,0,3.69,3.681,3.67,3.664,3.645,3.634,3.605,3.605,3.605,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.209,3.209,3.215,3.261,3.368,0,0,0,0,0,0,0,0.148,0.145,0.145,0.145,0.145,0.145,0.145,0.145,0.153,0.145,0.153,0.153,0.155,0.161,3.034,3.034,3.043,3.043,3.034,3.044,3.044,0.154,0.153,0.153,0.153,0.153,0.152,0.145,0.145,0.128,0.111,0.083,0.066,0.061,0.061,0.061,0.061,0.061,0.064,0.064,0.064,0.064,0.063,0.063,0.068,0.074,0.134,0.207,3.364,3.364,3.379,3.364,3.364,3.369,3.379,3.391,3.429,3.429,3.436,3.461,3.461,3.467,3.484,3.487,3.489,3.491,3.493,3.505,3.505,3.509,3.514,3.518,3.523,3.526,3.531,3.536,3.54,3.546,3.546,3.545,3.546,3.55,3.56,3.56,3.56,3.563,3.577,3.579,3.581,3.584,3.589,3.599,3.606,3.606,3.62,3.631,3.631,3.631,3.646,3.646,3.646,3.659,3.659,3.666,3.677,3.689,3.689,3.698,3.705,3.712,3.727,3.731,3.734,3.749,3.757,3.757,3.765,3.768,3.784,3.793,3.8,3.813,3.833,3.839,3.844,3.846,3.86,3.864,3.878,3.893,3.907,3.911,3.931,3.934,3.956,3.967,3.972,3.999,4.008,4.024,4.048,4.068,4.07,4.088,0.016,0.016,0.016,0.016,0.016,4.084,4.048,4.02,3.982,3.961,3.936,3.905,3.867,3.851,3.816,3.787,3.759,3.726,3.713,3.677,3.644,3.617,3.591,3.569,3.556,3.522,3.506,3.482,3.448,3.441,3.424,3.401,3.378,3.372,3.347,3.335,3.31,3.293,3.268,3.263,3.233,3.22,3.198,3.178,3.171,3.144,3.129,3.126,3.105,3.098,3.078,3.067,3.048,3.045,3.027,3.014,3.002,2.983,2.979,2.961,2.956,2.936,2.931,2.911,2.905,2.896,2.878,2.869,2.861,2.851,2.835,2.821,2.806,2.803,2.792,2.784,2.775,2.765,2.761,2.746,2.734,2.732,2.72,2.711,2.708,2.697,2.689,2.674,2.67,2.669,2.652,2.651,2.647,2.636,2.635,2.621,2.618,2.616,2.606,2.599,2.585,2.583,2.572,2.572,2.571,2.564,2.563,2.552,2.54,2.537,2.531,2.521,2.519,2.51,2.507,2.505,2.502,2.499,2.498,2.493,2.483,2.479,2.478,2.471,2.471,2.466,2.462,2.455,2.452,2.451,2.45,2.447,2.446,2.445,2.442,2.439,2.438,2.432,2.429,2.428,2.428,2.421,2.421,2.42,2.419,2.418,2.419,2.419,2.417,2.416,2.411,2.41,2.409,2.409,2.409,2.407,2.407,2.407,2.407,2.411,2.412,2.414,2.412,2.414,2.414,2.414,2.414,2.414,2.419,2.419,2.419,2.419,2.419,2.419,2.425,2.425,2.426,2.428,2.43,2.43,2.433,2.437,2.437,2.439,2.443,2.449,2.455,2.457,2.458,2.465,2.465,2.467,2.468,2.468,2.474,2.476,2.477,2.484,2.485,2.493,2.495,2.5,2.514,2.514,2.516,2.517,2.521,2.531,2.537,2.541,2.551,2.554,2.56,2.57,2.572,2.575,2.587,2.597,2.599,2.608,2.615,2.619,2.629,2.633,2.637,2.641,2.646,2.649,2.657,2.67,2.673,2.685,2.699,2.704,2.714,2.716,2.726,2.748,2.752,2.756,2.764,2.778,2.798,2.801,2.808,2.812,2.835,2.838,2.841,2.855,2.868,2.877,2.886,2.902,2.916,2.922,2.939,2.947,2.958,2.97,2.985,2.991,3.011,3.029,3.037,3.043,3.064,3.078,3.09,3.106,3.124,3.139,3.153,3.164,3.185,3.201,3.221,3.235,3.249,3.259,3.275,3.294,3.321,3.331,3.35,3.376,3.385,3.406,3.434,3.467,3.479,3.505,3.53,3.539,3.565,3.602,3.614,3.637,3.664,3.691,3.72,3.746,3.777,3.801,3.832,3.869,3.883,3.918,3.946,3.993,4.083,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.35,3.344,3.332,3.317,3.307,3.293,3.289,3.282,3.271,3.262,3.247,3.241,3.237,3.231,3.22,3.207,3.202,3.192,3.19,3.187,3.171,3.166,3.154,3.153,3.149,3.146,3.135,3.125,3.125,3.12,3.119,3.113,3.098,3.097,3.091,3.088,3.087,3.078,3.077,3.075,3.069,3.068,3.068,3.065,3.062,3.049,3.048,3.04,3.04,3.039,3.039,3.036,3.032,3.028,3.022,3.021,3.021,3.021,3.029,3.029,3.029,3.018,3.016,3.015,3.015,3.013,3.013,3.012,3.012,3.008,3.008,3.008,3.008,3.008,3.006,3.007,3.007,3.007,3.015,3.017,3.017,3.017,3.017,3.017,3.017,3.017,3.018,3.025,3.025,3.025,3.025,3.025,3.029,3.031,3.033,3.035,3.036,3.036,3.039,3.041,3.056,3.056,3.056,3.057,3.06,3.066,3.068,3.068,3.078,3.08,3.083,3.086,3.092,3.092,3.099,3.108,3.114,3.116,3.117,3.13,3.13,3.133,3.136,3.137,3.137,3.145,3.154,3.155,3.16,3.17,3.172,3.178,3.178,3.183,3.189,3.207,3.207,3.208,3.222,3.223,3.234,3.238,3.246,3.251,3.274,3.283,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 77.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 77.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 77.8591} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.9436} {Name Sonar15 Range 4.7752} SEN {Time 77.9025} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.186,0.186,0.186,0,0,0,0,0,0,0,0,3.683,3.683,3.676,3.663,3.644,3.632,3.618,3.618,3.595,3.595,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.218,3.214,3.214,3.214,3.257,3.352,0,0,0,0,0,0,0,0.149,0.146,0.146,0.146,0.149,0.145,0.146,0.146,0.151,0.152,0.157,0.157,0.157,0.157,3.032,3.036,3.04,3.04,3.036,3.043,3.043,0.164,0.158,0.158,0.158,0.159,0.158,0.148,0.148,0.12,0.105,0.077,0.071,0.064,0.064,0.064,0.064,0.067,0.067,0.067,0.065,0.062,0.062,0.062,0.062,0.081,0.134,0.208,3.338,3.354,3.367,3.367,3.373,3.373,3.392,3.395,0.007,3.442,3.442,3.454,3.454,3.46,3.469,3.488,3.495,3.504,3.506,3.508,3.511,3.513,3.516,3.52,3.522,3.524,3.533,3.539,3.541,3.545,3.545,3.549,3.551,3.555,3.558,3.563,3.563,3.565,3.575,3.582,3.584,3.586,3.593,3.602,3.603,3.613,3.622,3.625,3.632,3.633,3.642,3.643,3.661,3.665,3.667,3.667,3.674,3.676,3.686,3.695,3.704,3.71,3.721,3.723,3.726,3.745,3.747,3.749,3.766,3.773,3.781,3.796,3.799,3.816,3.818,3.831,3.838,3.857,3.863,3.881,3.882,3.898,3.906,3.911,3.938,3.951,3.962,3.973,3.979,4,4.01,4.029,4.05,4.063,4.081,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.049,3.982,3.965,3.94,3.896,3.87,3.843,3.814,3.771,3.752,3.74,3.699,3.685,3.647,3.622,3.604,3.574,3.544,3.53,3.505,3.487,3.463,3.443,3.422,3.407,3.38,3.363,3.351,3.335,3.309,3.293,3.277,3.252,3.233,3.222,3.195,3.18,3.175,3.161,3.145,3.121,3.105,3.105,3.082,3.07,3.055,3.034,3.031,3.016,2.998,2.985,2.975,2.957,2.948,2.937,2.925,2.915,2.903,2.89,2.876,2.873,2.854,2.848,2.834,2.825,2.818,2.802,2.796,2.783,2.782,2.764,2.758,2.755,2.738,2.73,2.727,2.714,2.701,2.693,2.686,2.671,2.669,2.661,2.659,2.653,2.648,2.631,2.628,2.627,2.612,2.608,2.606,2.599,2.588,2.583,2.582,2.572,2.566,2.563,2.555,2.544,2.543,2.541,2.537,2.532,2.522,2.511,2.506,2.505,2.497,2.495,2.491,2.488,2.482,2.479,2.476,2.476,2.475,2.471,2.466,2.461,2.457,2.455,2.452,2.447,2.446,2.446,2.443,2.441,2.439,2.437,2.43,2.43,2.427,2.424,2.423,2.417,2.415,2.417,2.415,2.415,2.415,2.414,2.413,2.413,2.412,2.408,2.407,2.407,2.408,2.407,2.41,2.411,2.411,2.413,2.414,2.414,2.415,2.414,2.415,2.417,2.42,2.421,2.421,2.421,2.423,2.421,2.421,2.423,2.429,2.431,2.434,2.436,2.443,2.443,2.443,2.443,2.443,2.447,2.45,2.455,2.455,2.459,2.46,2.463,2.468,2.468,2.476,2.482,2.484,2.49,2.491,2.494,2.496,2.501,2.514,2.514,2.516,2.517,2.52,2.527,2.53,2.542,2.544,2.553,2.564,2.565,2.57,2.573,2.591,2.601,2.605,2.605,2.608,2.616,2.62,2.634,2.636,2.641,2.648,2.653,2.661,2.673,2.683,2.685,2.692,2.7,2.715,2.719,2.721,2.74,2.751,2.752,2.765,2.775,2.792,2.798,2.802,2.818,2.83,2.836,2.845,2.853,2.87,2.874,2.89,2.898,2.907,2.925,2.949,2.957,2.957,2.971,2.994,3,3.022,3.023,3.038,3.04,3.066,3.077,3.089,3.106,3.117,3.141,3.158,3.169,3.182,3.204,3.22,3.232,3.242,3.253,3.275,3.293,3.323,3.339,3.36,3.369,3.387,3.413,3.426,3.469,3.48,3.493,3.519,3.542,3.572,3.598,3.611,3.649,3.675,3.693,3.733,3.737,3.777,3.797,3.849,3.865,3.895,3.923,3.996,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.35,3.341,3.33,3.313,3.303,3.303,3.297,3.278,3.277,3.264,3.252,3.237,3.237,3.229,3.214,3.213,3.211,3.192,3.19,3.187,3.172,3.17,3.166,3.159,3.148,3.139,3.139,3.125,3.121,3.12,3.116,3.115,3.1,3.1,3.092,3.092,3.084,3.084,3.081,3.069,3.065,3.064,3.064,3.059,3.049,3.046,3.042,3.036,3.036,3.035,3.035,3.035,3.035,3.027,3.026,3.021,3.021,3.026,3.021,3.021,3.021,3.019,3.018,3.017,3.015,3.014,3.014,3.014,3.014,3.014,3.01,3.008,3.008,3.008,3.008,3.008,3.009,3.009,3.011,3.011,3.013,3.014,3.014,3.014,3.016,3.02,3.016,3.02,3.022,3.02,3.028,3.029,3.028,3.029,3.035,3.036,3.037,3.039,3.044,3.046,3.053,3.054,3.055,3.057,3.059,3.061,3.061,3.075,3.078,3.086,3.091,3.093,3.095,3.097,3.1,3.1,3.108,3.117,3.121,3.132,3.132,3.132,3.13,3.13,3.13,3.148,3.148,3.155,3.157,3.163,3.171,3.173,3.176,3.178,3.188,3.204,3.223,3.224,3.226,3.228,3.237,3.241,3.247,3.248,3.261,3.268,3.296,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 78.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 78.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 78.06} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7432} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.9436} {Name Sonar15 Range 4.7752} SEN {Time 78.0986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.172,0.172,0.184,0.174,0.184,0.187,0,0,0,0,0,0,0,0,3.688,3.673,3.669,3.662,3.652,3.632,3.62,3.62,3.62,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.214,3.211,3.211,3.211,3.258,3.358,0,0,0,0,0,0,0,0.144,0.143,0.143,0.142,0.142,0.141,0.141,0.141,0.153,0.153,0.153,0.153,0.153,0.153,3.036,3.038,3.038,3.038,3.036,3.038,3.034,0.163,0.158,0.158,0.156,0.156,0.154,0.153,0.153,0.126,0.101,0.074,0.063,0.056,0.056,0.056,0.058,0.064,0.067,0.067,0.066,0.066,0.062,0.062,0.062,0.079,0.131,3.323,3.34,3.358,3.358,3.36,3.36,3.369,3.373,3.378,3.401,3.427,3.438,3.438,3.459,3.469,3.481,3.492,3.496,3.497,3.498,3.5,3.503,3.515,3.521,3.522,3.524,3.524,3.531,3.535,3.54,3.546,3.54,3.546,3.546,3.553,3.56,3.565,3.569,3.572,3.574,3.58,3.582,3.59,3.593,3.597,3.607,3.608,3.625,3.629,3.63,3.635,3.643,3.646,3.653,3.655,3.666,3.67,3.67,3.674,3.689,3.692,3.697,3.709,3.71,3.73,3.737,3.75,3.754,3.761,3.765,3.776,3.784,3.792,3.804,3.809,3.812,3.83,3.839,3.853,3.863,3.879,3.884,3.89,3.907,3.921,3.94,3.947,3.957,3.97,3.982,4.012,4.022,4.029,4.041,4.07,4.084,0.016,0.016,0.016,0.016,0.007,0,0.009,0.009,0.009,3.996,3.955,3.931,3.912,3.87,3.842,3.809,3.778,3.757,3.735,3.694,3.668,3.646,3.613,3.611,3.568,3.534,3.531,3.504,3.488,3.463,3.445,3.419,3.401,3.378,3.373,3.361,3.337,3.314,3.298,3.269,3.258,3.233,3.226,3.204,3.188,3.173,3.148,3.137,3.119,3.109,3.1,3.079,3.058,3.048,3.039,3.029,3.008,2.995,2.987,2.983,2.963,2.954,2.939,2.922,2.92,2.905,2.893,2.875,2.865,2.857,2.847,2.842,2.826,2.814,2.8,2.788,2.782,2.775,2.764,2.758,2.745,2.742,2.734,2.721,2.72,2.702,2.694,2.682,2.678,2.67,2.667,2.658,2.653,2.652,2.64,2.64,2.627,2.609,2.608,2.607,2.602,2.584,2.575,2.574,2.572,2.569,2.561,2.558,2.547,2.545,2.54,2.531,2.527,2.522,2.51,2.506,2.505,2.501,2.496,2.491,2.49,2.482,2.479,2.477,2.473,2.472,2.468,2.468,2.46,2.458,2.457,2.456,2.45,2.444,2.442,2.442,2.442,2.434,2.432,2.43,2.428,2.429,2.427,2.426,2.426,2.419,2.419,2.417,2.417,2.417,2.414,2.413,2.412,2.412,2.412,2.412,2.407,2.412,2.408,2.408,2.415,2.415,2.41,2.416,2.41,2.41,2.413,2.413,2.413,2.416,2.416,2.417,2.418,2.424,2.418,2.418,2.423,2.424,2.43,2.434,2.436,2.44,2.44,2.441,2.441,2.441,2.442,2.453,2.453,2.454,2.458,2.461,2.463,2.472,2.472,2.476,2.476,2.482,2.484,2.491,2.494,2.495,2.505,2.512,2.515,2.518,2.521,2.528,2.528,2.532,2.542,2.551,2.553,2.557,2.563,2.564,2.577,2.588,2.595,2.599,2.61,2.612,2.617,2.621,2.632,2.635,2.637,2.646,2.648,2.661,2.675,2.678,2.684,2.691,2.707,2.71,2.717,2.734,2.737,2.751,2.753,2.761,2.781,2.795,2.796,2.805,2.824,2.828,2.843,2.844,2.855,2.862,2.873,2.883,2.902,2.925,2.929,2.943,2.955,2.956,2.979,2.983,2.996,3.009,3.022,3.033,3.047,3.07,3.079,3.095,3.103,3.125,3.134,3.156,3.162,3.188,3.203,3.22,3.232,3.248,3.267,3.275,3.3,3.326,3.326,3.348,3.38,3.396,3.409,3.438,3.46,3.485,3.502,3.527,3.539,3.57,3.601,3.611,3.64,3.67,3.689,3.723,3.745,3.785,3.791,3.833,3.873,3.889,3.913,3.954,4,4.022,4.068,4.092,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.357,3.342,3.324,3.314,3.311,3.297,3.295,3.285,3.266,3.257,3.248,3.245,3.242,3.237,3.219,3.208,3.202,3.195,3.191,3.188,3.17,3.167,3.162,3.159,3.151,3.141,3.135,3.134,3.121,3.121,3.118,3.113,3.113,3.107,3.093,3.09,3.085,3.082,3.078,3.073,3.068,3.067,3.062,3.055,3.055,3.052,3.048,3.039,3.039,3.039,3.039,3.039,3.03,3.029,3.025,3.023,3.025,3.029,3.029,3.029,3.029,3.017,3.015,3.014,3.014,3.014,3.013,3.013,3.014,3.013,3.011,3.007,3.007,3.007,3.007,3.007,3.007,3.007,3.014,3.014,3.015,3.017,3.017,3.017,3.017,3.017,3.016,3.016,3.021,3.021,3.021,3.028,3.028,3.028,3.028,3.033,3.033,3.036,3.038,3.038,3.056,3.056,3.059,3.059,3.06,3.061,3.064,3.065,3.073,3.09,3.09,3.091,3.092,3.095,3.104,3.105,3.107,3.117,3.12,3.126,3.126,3.127,3.136,3.142,3.142,3.145,3.149,3.156,3.158,3.159,3.165,3.173,3.175,3.183,3.187,3.211,3.221,3.221,3.225,3.23,3.231,3.239,3.243,3.244,3.25,3.285,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 78.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 78.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 78.2521} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 4.7752} SEN {Time 78.2986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.183,0.183,0.183,0,0,0,0,0,0,0,0,3.69,3.686,3.663,3.661,3.658,3.633,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.215,3.214,3.214,3.214,3.215,3.264,3.359,0,0,0,0,0,0,0,0.15,0.139,0.139,0.139,0.139,0.143,0.149,0.149,0.151,0.152,0.154,0.154,0.157,0.16,3.03,3.03,3.032,3.032,3.03,3.038,3.038,0.156,0.154,0.154,0.152,0.152,0.152,0.148,0.148,0.127,0.105,0.077,0.068,0.064,0.063,0.064,0.064,0.066,0.066,0.066,0.067,0.066,0.064,0.064,0.067,0.085,0.131,0.205,3.339,3.364,3.387,3.369,3.369,3.37,3.37,3.37,3.403,0.007,3.464,3.464,3.465,3.465,3.468,3.489,3.491,3.495,3.498,3.506,3.508,3.511,3.518,3.518,3.521,3.525,3.526,3.529,3.532,3.537,3.539,3.541,3.544,3.544,3.554,3.559,3.562,3.567,3.575,3.575,3.584,3.589,3.596,3.597,3.614,3.618,3.619,3.627,3.63,3.644,3.645,3.649,3.656,3.658,3.659,3.659,3.676,3.678,3.688,3.69,3.696,3.7,3.717,3.728,3.736,3.74,3.753,3.761,3.765,3.769,3.783,3.788,3.789,3.806,3.812,3.827,3.841,3.847,3.861,3.866,3.887,3.89,3.898,3.925,3.942,3.945,3.965,3.97,3.98,4.011,4.011,4.028,4.05,4.066,4.074,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.045,4.026,3.994,3.97,3.925,3.905,3.877,3.85,3.809,3.778,3.762,3.736,3.704,3.671,3.653,3.615,3.606,3.579,3.538,3.524,3.499,3.492,3.464,3.437,3.422,3.403,3.373,3.361,3.354,3.332,3.309,3.304,3.283,3.253,3.24,3.227,3.196,3.186,3.172,3.148,3.145,3.115,3.103,3.092,3.08,3.064,3.047,3.041,3.016,3.016,2.998,2.989,2.981,2.959,2.947,2.938,2.928,2.914,2.906,2.892,2.871,2.868,2.858,2.846,2.842,2.826,2.818,2.801,2.79,2.787,2.776,2.771,2.763,2.75,2.738,2.731,2.717,2.711,2.703,2.698,2.686,2.672,2.669,2.656,2.655,2.651,2.651,2.634,2.631,2.615,2.613,2.608,2.606,2.597,2.583,2.58,2.576,2.566,2.563,2.562,2.556,2.551,2.541,2.537,2.535,2.53,2.529,2.51,2.508,2.504,2.503,2.493,2.488,2.487,2.48,2.479,2.476,2.471,2.47,2.466,2.463,2.456,2.455,2.453,2.451,2.446,2.445,2.445,2.44,2.44,2.438,2.43,2.427,2.427,2.424,2.427,2.423,2.421,2.42,2.42,2.417,2.415,2.415,2.412,2.412,2.412,2.413,2.411,2.407,2.407,2.407,2.407,2.407,2.41,2.413,2.413,2.413,2.416,2.416,2.416,2.416,2.416,2.416,2.418,2.418,2.418,2.418,2.419,2.419,2.419,2.419,2.42,2.424,2.432,2.436,2.441,2.441,2.441,2.441,2.447,2.448,2.452,2.456,2.457,2.459,2.465,2.472,2.474,2.474,2.474,2.475,2.489,2.49,2.492,2.499,2.5,2.512,2.514,2.52,2.521,2.523,2.524,2.534,2.543,2.545,2.548,2.565,2.565,2.574,2.575,2.592,2.594,2.594,2.608,2.609,2.612,2.626,2.634,2.638,2.64,2.652,2.657,2.663,2.673,2.674,2.685,2.695,2.696,2.719,2.723,2.725,2.746,2.752,2.756,2.769,2.78,2.789,2.801,2.807,2.818,2.827,2.839,2.845,2.855,2.87,2.875,2.882,2.907,2.916,2.917,2.944,2.955,2.955,2.975,2.992,2.998,3.011,3.023,3.039,3.047,3.062,3.081,3.092,3.103,3.122,3.138,3.158,3.162,3.175,3.207,3.226,3.236,3.242,3.263,3.282,3.292,3.327,3.332,3.349,3.377,3.396,3.414,3.431,3.456,3.483,3.502,3.518,3.551,3.565,3.605,3.614,3.631,3.669,3.699,3.717,3.751,3.787,3.797,3.825,3.859,3.887,3.917,3.951,3.983,4.017,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.353,3.345,3.325,3.313,3.311,3.296,3.292,3.277,3.262,3.26,3.249,3.24,3.237,3.233,3.219,3.21,3.206,3.197,3.184,3.181,3.175,3.172,3.16,3.147,3.143,3.14,3.137,3.133,3.125,3.121,3.117,3.114,3.114,3.102,3.095,3.089,3.085,3.08,3.074,3.072,3.066,3.061,3.055,3.055,3.055,3.051,3.041,3.041,3.041,3.041,3.041,3.036,3.033,3.029,3.026,3.021,3.026,3.026,3.027,3.027,3.027,3.019,3.014,3.012,3.009,3.009,3.009,3.009,3.012,3.012,3.012,3.012,3.011,3.01,3.007,3.006,3.007,3.01,3.008,3.013,3.013,3.014,3.013,3.016,3.018,3.023,3.018,3.021,3.023,3.021,3.021,3.023,3.026,3.027,3.032,3.033,3.035,3.038,3.038,3.041,3.046,3.054,3.055,3.061,3.064,3.066,3.067,3.07,3.081,3.082,3.088,3.09,3.091,3.095,3.097,3.104,3.112,3.12,3.121,3.127,3.127,3.131,3.132,3.138,3.138,3.145,3.148,3.15,3.159,3.164,3.165,3.171,3.173,3.175,3.197,3.209,3.209,3.219,3.233,3.234,3.235,3.24,3.244,3.252,3.257,3.286,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 78.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 78.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 78.4531} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 5.6642} SEN {Time 78.4986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.179,0.184,0.184,0,0,0,0,0,0,0,0,3.684,3.683,3.668,3.666,3.653,3.619,3.609,3.609,3.609,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.234,3.224,3.214,3.213,3.214,3.214,3.264,3.375,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.143,0.147,0.15,0.161,0.157,0.157,0.157,0.157,0.157,3.025,3.026,3.03,3.03,3.026,3.03,3.03,0.158,0.153,0.153,0.153,0.153,0.151,0.147,0.147,0.131,0.109,0.069,0.061,0.06,0.06,0.061,0.06,0.063,0.067,0.067,0.064,0.064,0.063,0.063,0.064,0.086,0.135,0.213,3.332,3.358,3.373,3.36,3.365,3.373,3.378,3.388,3.405,0.007,3.46,3.46,3.476,3.476,3.478,3.483,3.487,3.491,3.496,3.5,3.51,3.513,3.518,3.521,3.527,3.527,3.527,3.533,3.533,3.537,3.54,3.544,3.544,3.551,3.558,3.563,3.574,3.576,3.581,3.584,3.595,3.595,3.596,3.603,3.606,3.61,3.627,3.633,3.634,3.636,3.649,3.654,3.658,3.661,3.668,3.673,3.674,3.687,3.688,3.692,3.697,3.709,3.72,3.725,3.73,3.75,3.751,3.759,3.77,3.77,3.774,3.798,3.802,3.808,3.818,3.834,3.843,3.849,3.866,3.866,3.889,3.898,3.9,3.916,3.927,3.935,3.954,3.972,3.984,3.994,4.008,4.026,4.044,4.057,4.072,4.089,0.016,0.016,0.016,0.016,0.016,4.088,4.063,4.029,3.987,3.96,3.941,3.888,3.861,3.833,3.806,3.789,3.751,3.725,3.703,3.67,3.653,3.621,3.593,3.574,3.568,3.532,3.508,3.483,3.458,3.447,3.415,3.41,3.383,3.377,3.354,3.331,3.306,3.299,3.273,3.258,3.234,3.221,3.199,3.182,3.164,3.152,3.137,3.12,3.101,3.098,3.08,3.065,3.054,3.042,3.03,3.017,2.997,2.99,2.988,2.958,2.951,2.938,2.919,2.91,2.901,2.897,2.879,2.877,2.862,2.845,2.836,2.83,2.807,2.805,2.796,2.787,2.774,2.774,2.761,2.749,2.738,2.727,2.724,2.712,2.709,2.694,2.681,2.681,2.67,2.661,2.657,2.653,2.638,2.637,2.63,2.622,2.613,2.608,2.607,2.602,2.583,2.581,2.575,2.57,2.566,2.565,2.553,2.547,2.545,2.538,2.537,2.525,2.522,2.515,2.509,2.503,2.498,2.495,2.494,2.494,2.482,2.482,2.481,2.473,2.472,2.466,2.465,2.464,2.455,2.455,2.452,2.449,2.449,2.445,2.443,2.442,2.439,2.435,2.43,2.43,2.424,2.424,2.423,2.418,2.416,2.416,2.416,2.416,2.414,2.414,2.414,2.414,2.413,2.413,2.413,2.409,2.409,2.409,2.41,2.41,2.41,2.411,2.411,2.411,2.413,2.413,2.412,2.412,2.413,2.413,2.416,2.417,2.421,2.421,2.423,2.426,2.43,2.432,2.435,2.437,2.437,2.441,2.442,2.442,2.444,2.447,2.453,2.453,2.453,2.456,2.457,2.47,2.473,2.475,2.478,2.479,2.484,2.486,2.492,2.498,2.499,2.502,2.51,2.513,2.523,2.524,2.527,2.529,2.533,2.536,2.545,2.554,2.557,2.565,2.572,2.576,2.59,2.601,2.604,2.609,2.611,2.615,2.618,2.632,2.636,2.638,2.653,2.654,2.661,2.673,2.673,2.686,2.701,2.706,2.717,2.723,2.725,2.729,2.747,2.752,2.764,2.78,2.79,2.791,2.809,2.816,2.834,2.842,2.843,2.86,2.864,2.874,2.89,2.897,2.911,2.927,2.932,2.948,2.953,2.972,2.99,2.993,3.016,3.023,3.036,3.043,3.061,3.078,3.097,3.107,3.122,3.135,3.159,3.165,3.185,3.195,3.217,3.237,3.253,3.269,3.289,3.29,3.322,3.337,3.345,3.377,3.394,3.403,3.432,3.46,3.472,3.501,3.519,3.551,3.57,3.588,3.614,3.636,3.682,3.699,3.725,3.751,3.772,3.807,3.833,3.858,3.886,3.926,3.945,3.984,4.036,4.088,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.356,3.338,3.33,3.322,3.305,3.296,3.291,3.289,3.277,3.262,3.249,3.242,3.242,3.237,3.23,3.21,3.203,3.194,3.191,3.184,3.18,3.17,3.165,3.157,3.154,3.143,3.142,3.128,3.121,3.119,3.119,3.107,3.103,3.099,3.092,3.091,3.084,3.084,3.079,3.071,3.069,3.069,3.06,3.057,3.053,3.047,3.047,3.043,3.043,3.042,3.042,3.04,3.032,3.031,3.029,3.026,3.026,3.026,3.028,3.028,3.028,3.025,3.02,3.02,3.015,3.012,3.011,3.011,3.011,3.011,3.009,3.009,3.008,3.008,3.008,3.009,3.015,3.017,3.017,3.015,3.013,3.013,3.011,3.013,3.022,3.022,3.022,3.024,3.025,3.025,3.024,3.024,3.025,3.027,3.03,3.032,3.032,3.035,3.038,3.039,3.042,3.06,3.061,3.061,3.061,3.062,3.066,3.075,3.08,3.092,3.092,3.092,3.092,3.092,3.105,3.107,3.108,3.11,3.12,3.13,3.13,3.135,3.135,3.135,3.135,3.143,3.146,3.149,3.161,3.169,3.174,3.175,3.175,3.189,3.209,3.209,3.21,3.21,3.227,3.236,3.239,3.239,3.243,3.252,3.269,3.27,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 78.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 78.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 78.654} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 5.6642} SEN {Time 78.6988} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.176,0.181,0.181,0,0,0,0,0,0,0,0,3.684,3.676,3.667,3.662,3.662,3.633,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.216,3.214,3.214,3.214,3.264,3.355,0,0,0,0,0,0,0,0.149,0.147,0.147,0.147,0.147,0.146,0.146,0.146,0.151,0.151,0.152,0.152,0.155,0.157,3.031,3.031,3.031,3.031,3.028,3.028,3.028,0.153,0.153,0.153,0.149,0.149,0.157,0.149,0.149,0.132,0.104,0.076,0.067,0.062,0.062,0.062,0.062,0.065,0.067,0.067,0.067,0.064,0.064,0.064,0.068,0.077,0.135,0.192,3.344,0.007,0,3.379,3.379,3.376,3.376,3.376,3.389,3.422,0.007,3.472,3.472,3.475,3.475,3.48,3.487,3.491,3.498,3.507,3.507,3.516,3.516,3.519,3.521,3.529,3.533,3.533,3.536,3.543,3.547,3.547,3.547,3.554,3.554,3.561,3.568,3.575,3.577,3.578,3.579,3.583,3.593,3.6,3.607,3.607,3.626,3.632,3.638,3.645,3.649,3.65,3.652,3.652,3.657,3.662,3.679,3.683,3.686,3.699,3.703,3.705,3.724,3.727,3.735,3.747,3.752,3.754,3.762,3.778,3.787,3.796,3.809,3.816,3.82,3.836,3.844,3.857,3.861,3.864,3.874,3.879,3.899,3.917,3.935,3.937,3.961,3.961,3.988,4.003,4.017,4.019,4.035,4.059,4.076,4.092,0.016,0.016,0.016,0.016,0,0,0,4.013,4,3.973,3.917,3.895,3.879,3.845,3.807,3.776,3.747,3.737,3.697,3.675,3.653,3.625,3.594,3.57,3.555,3.535,3.503,3.496,3.45,3.449,3.41,3.405,3.379,3.365,3.361,3.333,3.312,3.289,3.268,3.258,3.232,3.23,3.2,3.186,3.165,3.157,3.139,3.121,3.102,3.09,3.08,3.065,3.051,3.039,3.029,3.008,2.998,2.989,2.977,2.956,2.954,2.94,2.924,2.92,2.907,2.891,2.869,2.865,2.856,2.845,2.837,2.819,2.81,2.799,2.798,2.784,2.777,2.769,2.763,2.746,2.744,2.728,2.724,2.717,2.705,2.692,2.676,2.674,2.673,2.661,2.656,2.655,2.643,2.641,2.628,2.619,2.616,2.612,2.604,2.601,2.591,2.585,2.583,2.571,2.567,2.56,2.556,2.554,2.546,2.539,2.536,2.528,2.518,2.511,2.511,2.503,2.5,2.496,2.493,2.487,2.484,2.482,2.476,2.472,2.47,2.47,2.468,2.465,2.46,2.458,2.455,2.448,2.445,2.443,2.443,2.442,2.437,2.431,2.427,2.427,2.424,2.423,2.423,2.418,2.418,2.418,2.418,2.417,2.413,2.412,2.412,2.411,2.411,2.416,2.416,2.411,2.411,2.411,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.414,2.414,2.414,2.417,2.418,2.417,2.418,2.418,2.418,2.418,2.429,2.429,2.43,2.434,2.437,2.438,2.438,2.441,2.442,2.443,2.45,2.451,2.453,2.456,2.457,2.459,2.463,2.463,2.471,2.481,2.482,2.482,2.491,2.495,2.497,2.501,2.501,2.502,2.511,2.52,2.521,2.528,2.535,2.535,2.544,2.555,2.559,2.565,2.565,2.571,2.575,2.596,2.597,2.601,2.605,2.607,2.607,2.623,2.634,2.637,2.639,2.643,2.653,2.664,2.682,2.686,2.692,2.698,2.702,2.718,2.724,2.73,2.732,2.751,2.758,2.761,2.782,2.792,2.796,2.807,2.82,2.824,2.844,2.849,2.859,2.867,2.88,2.888,2.906,2.914,2.925,2.944,2.944,2.955,2.978,2.979,3.001,3.018,3.026,3.039,3.049,3.065,3.083,3.093,3.104,3.124,3.136,3.162,3.166,3.181,3.202,3.226,3.242,3.245,3.263,3.272,3.301,3.322,3.34,3.355,3.382,3.395,3.408,3.43,3.459,3.475,3.491,3.521,3.537,3.563,3.604,3.608,3.636,3.669,3.688,3.728,3.757,3.773,3.81,3.83,3.859,3.885,3.915,3.951,3.979,4.034,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.36,3.332,3.325,3.313,3.303,3.299,3.28,3.28,3.271,3.261,3.248,3.243,3.24,3.239,3.212,3.209,3.204,3.203,3.185,3.184,3.179,3.167,3.161,3.152,3.152,3.141,3.137,3.136,3.123,3.123,3.121,3.118,3.107,3.104,3.092,3.089,3.086,3.079,3.076,3.075,3.07,3.067,3.06,3.052,3.051,3.047,3.047,3.045,3.039,3.039,3.039,3.039,3.037,3.029,3.027,3.026,3.027,3.027,3.031,3.031,3.031,3.029,3.021,3.02,3.016,3.007,3.006,3.006,3.007,3.007,3.007,3.007,3.007,3.007,3.009,3.009,3.009,3.009,3.011,3.011,3.011,3.014,3.015,3.015,3.015,3.017,3.015,3.017,3.022,3.019,3.022,3.023,3.028,3.03,3.034,3.035,3.036,3.039,3.039,3.04,3.052,3.054,3.057,3.063,3.063,3.064,3.072,3.079,3.08,3.084,3.088,3.092,3.095,3.095,3.097,3.103,3.109,3.11,3.118,3.135,3.135,3.135,3.134,3.134,3.134,3.148,3.148,3.157,3.161,3.17,3.174,3.175,3.179,3.186,3.204,3.216,3.217,3.22,3.228,3.228,3.23,3.239,3.241,3.244,3.263,3.28,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 78.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 78.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 78.855} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.6642} SEN {Time 78.8986} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.18,0.184,0.184,0,0,0,0,0,0,0,0,3.693,3.677,3.664,3.656,3.652,3.629,3.614,3.614,3.614,3.594,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.249,3.221,3.221,3.215,3.221,3.257,3.357,3.357,0,0,0,0,0,0,0,0.148,0.139,0.139,0.139,0.139,0.143,0.144,0.146,0.151,0.148,0.151,0.151,0.151,0.154,3.04,3.04,3.041,3.041,3.041,3.041,3.041,0.154,0.154,0.154,0.154,0.153,0.153,0.153,0.153,0.127,0.106,0.071,0.069,0.06,0.059,0.059,0.06,0.065,0.069,0.069,0.065,0.064,0.063,0.063,0.064,0.081,0.136,0.204,3.358,3.358,3.358,3.358,3.363,3.366,3.372,3.372,3.399,3.411,3.422,3.441,3.465,3.473,3.474,3.479,3.487,3.499,3.5,3.502,3.503,3.515,3.515,3.515,3.521,3.522,3.535,3.54,3.54,3.54,3.54,3.541,3.548,3.551,3.554,3.555,3.569,3.572,3.573,3.578,3.58,3.584,3.593,3.6,3.601,3.608,3.626,3.626,3.632,3.632,3.638,3.643,3.662,3.663,3.665,3.669,3.681,3.683,3.692,3.693,3.704,3.715,3.725,3.727,3.742,3.747,3.751,3.761,3.77,3.773,3.781,3.79,3.806,3.821,3.821,3.831,3.831,3.852,3.866,3.867,3.881,3.899,3.901,3.916,3.938,3.955,3.962,3.97,3.977,3.981,4.013,4.022,4.04,4.07,4.079,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.026,3.988,3.933,3.906,3.869,3.837,3.808,3.788,3.747,3.737,3.698,3.687,3.655,3.635,3.585,3.579,3.536,3.528,3.51,3.497,3.463,3.447,3.423,3.411,3.382,3.368,3.346,3.334,3.303,3.296,3.268,3.261,3.225,3.219,3.202,3.18,3.175,3.151,3.135,3.121,3.106,3.1,3.084,3.07,3.052,3.043,3.031,3.008,2.994,2.986,2.984,2.963,2.957,2.935,2.924,2.921,2.903,2.9,2.872,2.867,2.855,2.849,2.838,2.83,2.812,2.812,2.801,2.786,2.779,2.767,2.759,2.754,2.74,2.739,2.725,2.719,2.704,2.693,2.676,2.676,2.674,2.658,2.655,2.652,2.647,2.64,2.632,2.621,2.618,2.617,2.608,2.591,2.587,2.579,2.577,2.572,2.572,2.564,2.553,2.551,2.544,2.538,2.532,2.524,2.521,2.515,2.511,2.499,2.498,2.497,2.494,2.489,2.482,2.482,2.478,2.472,2.466,2.466,2.462,2.461,2.455,2.454,2.452,2.448,2.447,2.446,2.443,2.438,2.437,2.434,2.432,2.434,2.427,2.423,2.421,2.42,2.416,2.416,2.416,2.415,2.413,2.413,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.413,2.413,2.416,2.417,2.418,2.417,2.417,2.417,2.417,2.417,2.418,2.423,2.423,2.418,2.423,2.419,2.419,2.423,2.423,2.425,2.431,2.432,2.435,2.438,2.439,2.441,2.441,2.447,2.448,2.451,2.453,2.459,2.461,2.47,2.47,2.471,2.479,2.482,2.484,2.484,2.487,2.49,2.491,2.502,2.508,2.512,2.517,2.521,2.53,2.531,2.534,2.548,2.55,2.553,2.566,2.567,2.568,2.574,2.587,2.59,2.601,2.606,2.61,2.612,2.626,2.63,2.64,2.643,2.649,2.653,2.659,2.676,2.677,2.691,2.698,2.705,2.712,2.714,2.73,2.739,2.745,2.752,2.761,2.776,2.792,2.797,2.799,2.819,2.83,2.832,2.843,2.856,2.874,2.88,2.892,2.899,2.925,2.927,2.937,2.952,2.962,2.968,2.985,3.001,3.018,3.025,3.036,3.045,3.063,3.081,3.088,3.106,3.12,3.134,3.157,3.168,3.181,3.204,3.216,3.233,3.253,3.265,3.278,3.29,3.325,3.329,3.356,3.379,3.387,3.411,3.443,3.453,3.478,3.5,3.519,3.538,3.573,3.597,3.608,3.64,3.671,3.697,3.72,3.743,3.782,3.8,3.823,3.871,3.899,3.917,3.946,3.994,4.031,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.353,3.336,3.329,3.319,3.3,3.29,3.288,3.28,3.27,3.253,3.25,3.245,3.242,3.235,3.218,3.215,3.21,3.201,3.192,3.192,3.172,3.165,3.163,3.154,3.15,3.141,3.129,3.129,3.122,3.116,3.113,3.112,3.109,3.099,3.098,3.098,3.092,3.085,3.076,3.074,3.066,3.062,3.061,3.054,3.054,3.047,3.041,3.041,3.041,3.041,3.033,3.03,3.03,3.03,3.027,3.027,3.027,3.027,3.029,3.029,3.029,3.021,3.016,3.011,3.011,3.007,3.011,3.01,3.01,3.01,3.01,3.007,3.004,3.004,3.004,3.004,3.008,3.014,3.014,3.015,3.016,3.015,3.016,3.016,3.016,3.018,3.018,3.021,3.025,3.021,3.018,3.021,3.029,3.032,3.032,3.033,3.035,3.039,3.042,3.048,3.05,3.052,3.052,3.056,3.061,3.069,3.07,3.07,3.081,3.086,3.086,3.092,3.095,3.096,3.097,3.106,3.111,3.112,3.121,3.129,3.133,3.133,3.133,3.133,3.133,3.142,3.148,3.151,3.161,3.163,3.164,3.171,3.177,3.177,3.195,3.204,3.212,3.225,3.234,3.236,3.236,3.245,3.247,3.25,3.262,3.289,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 79.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 79.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 79.0559} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.6388} SEN {Time 79.0946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.177,0.18,0.186,0,0,0,0,0,0,0,0,3.69,3.679,3.664,3.66,3.65,3.636,3.608,3.608,3.608,3.601,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.21,3.21,3.21,3.269,3.363,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.146,0.148,0.148,0.148,0.148,0.15,0.15,0.153,0.153,3.031,3.036,3.036,3.036,3.033,3.036,3.033,0.16,0.153,0.153,0.149,0.149,0.148,0.145,0.145,0.127,0.101,0.069,0.064,0.064,0.061,0.064,0.067,0.067,0.067,0.068,0.068,0.065,0.061,0.061,0.061,0.073,0.131,0.205,0,0,0,3.385,3.385,3.379,3.385,0.007,3.433,3.433,3.443,3.443,3.454,3.468,3.473,3.48,3.491,3.492,3.499,3.502,3.51,3.513,3.514,3.514,3.518,3.52,3.529,3.529,3.535,3.536,3.536,3.545,3.545,3.553,3.554,3.568,3.571,3.575,3.576,3.578,3.579,3.584,3.588,3.6,3.607,3.612,3.625,3.634,3.637,3.638,3.64,3.647,3.657,3.657,3.665,3.666,3.677,3.681,3.689,3.695,3.7,3.702,3.714,3.733,3.736,3.742,3.755,3.758,3.759,3.779,3.785,3.796,3.801,3.816,3.819,3.844,3.848,3.848,3.865,3.87,3.883,3.888,3.893,3.912,3.928,3.937,3.956,3.971,3.977,3.98,4.01,4.032,4.032,4.047,4.07,4.092,4.095,0.016,0.016,0.016,0.016,0.016,4.049,4.021,3.994,3.961,3.928,3.891,3.868,3.838,3.813,3.775,3.758,3.731,3.703,3.674,3.655,3.615,3.597,3.567,3.557,3.522,3.495,3.487,3.465,3.45,3.418,3.395,3.373,3.364,3.348,3.327,3.319,3.297,3.276,3.263,3.228,3.227,3.2,3.177,3.165,3.151,3.148,3.117,3.103,3.095,3.087,3.066,3.051,3.042,3.032,3.004,2.998,2.988,2.981,2.955,2.949,2.932,2.919,2.912,2.899,2.898,2.877,2.87,2.854,2.854,2.84,2.833,2.814,2.81,2.798,2.789,2.785,2.767,2.757,2.75,2.745,2.737,2.72,2.711,2.705,2.694,2.683,2.673,2.672,2.661,2.656,2.65,2.641,2.636,2.633,2.623,2.613,2.61,2.607,2.598,2.588,2.584,2.575,2.568,2.567,2.562,2.561,2.552,2.548,2.537,2.529,2.523,2.519,2.514,2.505,2.501,2.5,2.499,2.497,2.485,2.481,2.478,2.477,2.475,2.474,2.47,2.47,2.456,2.453,2.451,2.449,2.449,2.445,2.441,2.441,2.44,2.434,2.431,2.429,2.428,2.425,2.425,2.424,2.424,2.42,2.417,2.416,2.417,2.416,2.415,2.415,2.414,2.41,2.41,2.41,2.41,2.41,2.412,2.414,2.415,2.414,2.414,2.414,2.413,2.413,2.406,2.415,2.415,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.421,2.424,2.426,2.426,2.433,2.438,2.44,2.44,2.442,2.445,2.45,2.45,2.454,2.456,2.461,2.461,2.461,2.462,2.471,2.475,2.476,2.485,2.486,2.489,2.494,2.494,2.5,2.515,2.517,2.518,2.518,2.521,2.53,2.533,2.541,2.544,2.548,2.56,2.565,2.567,2.579,2.59,2.6,2.6,2.607,2.608,2.609,2.625,2.638,2.638,2.641,2.649,2.651,2.67,2.677,2.681,2.686,2.698,2.703,2.713,2.727,2.729,2.742,2.748,2.749,2.77,2.778,2.788,2.796,2.806,2.825,2.836,2.84,2.846,2.857,2.867,2.881,2.889,2.905,2.911,2.918,2.95,2.951,2.956,2.973,2.981,2.994,3.014,3.023,3.042,3.043,3.061,3.085,3.086,3.101,3.121,3.134,3.154,3.161,3.183,3.201,3.222,3.244,3.251,3.254,3.276,3.302,3.317,3.336,3.346,3.371,3.391,3.407,3.434,3.466,3.481,3.506,3.525,3.541,3.57,3.595,3.613,3.645,3.671,3.698,3.72,3.74,3.782,3.792,3.835,3.864,3.893,3.944,3.989,4.033,4.033,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.356,3.348,3.33,3.32,3.306,3.296,3.29,3.278,3.265,3.259,3.24,3.238,3.235,3.231,3.224,3.218,3.204,3.193,3.186,3.183,3.177,3.174,3.158,3.153,3.151,3.14,3.139,3.133,3.127,3.118,3.114,3.105,3.105,3.099,3.094,3.088,3.085,3.08,3.078,3.076,3.07,3.067,3.063,3.059,3.052,3.048,3.045,3.037,3.037,3.036,3.037,3.033,3.029,3.029,3.029,3.028,3.028,3.028,3.028,3.028,3.026,3.022,3.019,3.012,3.012,3.012,3.013,3.013,3.013,3.01,3.009,3.005,3.008,3.008,3.008,3.008,3.01,3.012,3.015,3.012,3.015,3.015,3.015,3.014,3.017,3.017,3.016,3.019,3.02,3.02,3.026,3.028,3.03,3.034,3.034,3.034,3.037,3.039,3.041,3.044,3.051,3.052,3.053,3.062,3.062,3.064,3.064,3.066,3.078,3.082,3.083,3.088,3.09,3.092,3.1,3.106,3.111,3.112,3.119,3.129,3.129,3.132,3.132,3.145,3.145,3.146,3.148,3.149,3.157,3.16,3.17,3.175,3.178,3.188,3.198,3.22,3.22,3.226,3.225,3.228,3.236,3.243,3.248,3.249,3.266,3.282,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 79.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 79.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 79.2489} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.6388} SEN {Time 79.2946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.18,0.181,0,0,0,0,0,0,0,0,3.688,3.683,3.679,3.655,3.649,3.634,3.627,3.627,3.627,0.006,0.006,0.006,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.225,3.221,3.213,3.21,3.21,3.21,3.25,3.366,0,0,0,0,0,0,0,0.148,0.147,0.147,0.144,0.144,0.144,0.144,0.144,0.154,0.152,0.154,0.154,0.158,0.158,3.03,3.03,3.03,3.03,3.028,3.028,3.028,0.156,0.155,0.155,0.15,0.151,0.149,0.146,0.146,0.131,0.097,0.068,0.065,0.062,0.062,0.065,0.066,0.067,0.068,0.067,0.068,0.068,0.057,0.057,0.068,0.076,0.141,0.203,3.33,3.352,3.363,3.38,3.363,3.38,0.007,3.404,3.404,3.432,3.432,3.457,3.474,3.478,3.478,3.485,3.493,3.494,3.495,3.506,3.515,3.517,3.523,3.524,3.524,3.531,3.535,3.537,3.537,3.538,3.545,3.547,3.548,3.549,3.551,3.557,3.561,3.562,3.578,3.582,3.584,3.584,3.584,3.603,3.605,3.612,3.619,3.626,3.633,3.636,3.645,3.647,3.65,3.661,3.666,3.675,3.678,3.681,3.684,3.69,3.705,3.711,3.719,3.731,3.732,3.739,3.752,3.756,3.761,3.766,3.781,3.796,3.799,3.818,3.824,3.83,3.845,3.849,3.865,3.875,3.878,3.897,3.904,3.908,3.928,3.946,3.958,3.981,3.989,3.996,4.027,4.039,4.04,4.065,4.08,4.093,0.016,0.016,0.016,0.016,0.016,4.093,4.043,4.038,3.988,3.953,3.931,3.907,3.873,3.85,3.822,3.773,3.751,3.741,3.699,3.664,3.655,3.626,3.594,3.583,3.544,3.528,3.509,3.499,3.461,3.438,3.423,3.416,3.396,3.364,3.354,3.329,3.303,3.298,3.274,3.255,3.229,3.226,3.197,3.18,3.161,3.148,3.131,3.126,3.113,3.094,3.088,3.066,3.051,3.039,3.025,3.008,2.994,2.994,2.984,2.963,2.955,2.93,2.928,2.915,2.898,2.895,2.877,2.869,2.859,2.855,2.837,2.828,2.808,2.808,2.789,2.785,2.778,2.763,2.763,2.743,2.736,2.732,2.724,2.714,2.701,2.699,2.686,2.68,2.679,2.66,2.659,2.657,2.656,2.638,2.636,2.619,2.61,2.61,2.601,2.599,2.594,2.581,2.576,2.571,2.565,2.56,2.56,2.551,2.547,2.544,2.534,2.534,2.524,2.511,2.51,2.497,2.497,2.495,2.494,2.494,2.482,2.48,2.477,2.475,2.473,2.465,2.463,2.463,2.457,2.454,2.452,2.452,2.45,2.449,2.448,2.443,2.43,2.43,2.428,2.426,2.426,2.426,2.421,2.418,2.418,2.418,2.418,2.418,2.412,2.412,2.412,2.412,2.412,2.41,2.41,2.41,2.409,2.409,2.409,2.413,2.414,2.414,2.413,2.414,2.414,2.414,2.414,2.415,2.418,2.418,2.419,2.419,2.419,2.421,2.421,2.426,2.427,2.431,2.431,2.432,2.432,2.438,2.44,2.44,2.445,2.447,2.452,2.455,2.456,2.459,2.465,2.468,2.47,2.471,2.477,2.478,2.485,2.486,2.487,2.487,2.494,2.503,2.514,2.514,2.519,2.521,2.522,2.531,2.535,2.542,2.551,2.554,2.561,2.568,2.569,2.57,2.592,2.598,2.598,2.6,2.603,2.621,2.628,2.636,2.638,2.639,2.651,2.654,2.659,2.678,2.686,2.689,2.701,2.705,2.716,2.721,2.726,2.74,2.749,2.759,2.762,2.785,2.797,2.799,2.814,2.819,2.833,2.837,2.855,2.864,2.871,2.875,2.888,2.907,2.912,2.928,2.94,2.945,2.958,2.974,2.987,2.997,3.02,3.021,3.042,3.044,3.068,3.083,3.092,3.105,3.125,3.14,3.15,3.161,3.18,3.202,3.21,3.239,3.245,3.269,3.275,3.302,3.325,3.332,3.355,3.379,3.4,3.41,3.425,3.459,3.478,3.501,3.525,3.546,3.568,3.6,3.615,3.638,3.674,3.697,3.721,3.74,3.784,3.81,3.837,3.864,3.898,3.924,3.95,4.029,4.082,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.362,3.35,3.331,3.299,3.298,3.297,3.288,3.278,3.276,3.259,3.253,3.24,3.239,3.238,3.217,3.214,3.205,3.201,3.188,3.178,3.177,3.169,3.16,3.153,3.149,3.144,3.143,3.128,3.121,3.12,3.116,3.112,3.1,3.1,3.099,3.093,3.083,3.082,3.074,3.071,3.069,3.068,3.065,3.052,3.052,3.048,3.048,3.043,3.04,3.042,3.04,3.039,3.039,3.025,3.025,3.025,3.025,3.027,3.027,3.027,3.027,3.024,3.02,3.015,3.014,3.011,3.009,3.007,3.007,3.007,3.008,3.005,3.005,3.008,3.008,3.011,3.012,3.016,3.016,3.018,3.016,3.015,3.015,3.017,3.017,3.019,3.019,3.024,3.024,3.024,3.02,3.026,3.027,3.027,3.037,3.038,3.038,3.039,3.039,3.041,3.046,3.051,3.056,3.061,3.063,3.066,3.072,3.075,3.082,3.084,3.087,3.091,3.092,3.092,3.105,3.108,3.115,3.118,3.12,3.129,3.129,3.133,3.139,3.142,3.142,3.144,3.146,3.148,3.16,3.161,3.169,3.175,3.18,3.185,3.207,3.217,3.222,3.223,3.228,3.23,3.23,3.25,3.25,3.25,3.262,3.276,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 79.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 79.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 79.45} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6388} SEN {Time 79.4946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.18,0.175,0.18,0.186,0,0,0,0,0,0,0,0,0,3.686,3.666,3.66,3.642,3.624,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.216,3.216,3.216,3.216,3.259,3.358,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.145,0.149,0.144,0.15,0.148,0.148,0.147,0.148,0.148,3.023,3.037,3.043,3.043,3.037,3.043,3.043,0.16,0.159,0.159,0.156,0.149,0.148,0.146,0.143,0.125,0.103,0.068,0.068,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.079,0.129,0.207,3.332,3.356,3.362,3.368,3.364,3.368,3.38,3.38,3.397,3.408,3.433,3.434,3.463,3.478,3.481,3.488,3.494,3.497,3.498,3.498,3.506,3.507,3.516,3.516,3.524,3.527,3.528,3.53,3.537,3.542,3.544,3.546,3.549,3.551,3.551,3.563,3.57,3.573,3.576,3.581,3.581,3.591,3.593,3.598,3.606,3.614,3.63,3.63,3.633,3.636,3.637,3.642,3.653,3.658,3.661,3.67,3.672,3.68,3.691,3.698,3.699,3.71,3.721,3.723,3.732,3.74,3.751,3.754,3.768,3.774,3.79,3.797,3.808,3.81,3.82,3.831,3.845,3.854,3.861,3.865,3.872,3.895,3.905,3.924,3.937,3.942,3.944,3.973,3.99,4,4.014,4.023,4.038,4.05,4.067,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.047,4.023,3.982,3.964,3.925,3.904,3.871,3.854,3.808,3.767,3.762,3.739,3.695,3.66,3.652,3.623,3.601,3.57,3.55,3.536,3.508,3.485,3.464,3.447,3.424,3.417,3.369,3.362,3.348,3.329,3.315,3.291,3.278,3.255,3.229,3.222,3.197,3.182,3.167,3.149,3.139,3.118,3.106,3.095,3.075,3.067,3.053,3.036,3.029,3.012,2.999,2.989,2.983,2.961,2.954,2.941,2.919,2.918,2.905,2.895,2.875,2.866,2.863,2.855,2.837,2.834,2.815,2.802,2.793,2.78,2.772,2.765,2.761,2.748,2.747,2.726,2.722,2.719,2.711,2.698,2.685,2.679,2.677,2.671,2.66,2.647,2.647,2.64,2.634,2.624,2.609,2.608,2.603,2.595,2.593,2.58,2.579,2.575,2.57,2.56,2.555,2.555,2.546,2.542,2.536,2.532,2.521,2.509,2.507,2.505,2.495,2.494,2.491,2.488,2.483,2.477,2.475,2.471,2.468,2.465,2.464,2.461,2.456,2.455,2.452,2.451,2.447,2.445,2.444,2.442,2.438,2.436,2.432,2.427,2.426,2.421,2.421,2.418,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.411,2.412,2.412,2.41,2.41,2.41,2.41,2.41,2.412,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.414,2.418,2.418,2.415,2.418,2.417,2.417,2.425,2.427,2.427,2.431,2.433,2.435,2.436,2.439,2.441,2.447,2.448,2.449,2.456,2.457,2.459,2.459,2.467,2.47,2.472,2.474,2.475,2.476,2.489,2.489,2.491,2.494,2.504,2.508,2.515,2.518,2.52,2.521,2.525,2.533,2.539,2.548,2.548,2.562,2.563,2.565,2.575,2.595,2.598,2.6,2.601,2.61,2.615,2.625,2.63,2.636,2.641,2.644,2.65,2.67,2.671,2.675,2.689,2.702,2.702,2.72,2.725,2.728,2.742,2.751,2.753,2.762,2.777,2.78,2.796,2.807,2.815,2.833,2.841,2.852,2.853,2.866,2.886,2.891,2.908,2.915,2.922,2.938,2.949,2.953,2.969,2.982,2.998,3.018,3.024,3.039,3.049,3.059,3.087,3.091,3.102,3.127,3.14,3.155,3.171,3.178,3.2,3.214,3.239,3.239,3.253,3.268,3.293,3.33,3.331,3.348,3.379,3.397,3.408,3.436,3.459,3.477,3.494,3.523,3.546,3.572,3.595,3.606,3.636,3.664,3.691,3.72,3.752,3.773,3.798,3.833,3.875,3.894,3.919,3.961,3.986,4.02,4.066,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.353,3.343,3.324,3.322,3.304,3.293,3.291,3.278,3.276,3.264,3.253,3.245,3.237,3.23,3.218,3.211,3.21,3.192,3.187,3.187,3.186,3.177,3.162,3.16,3.149,3.137,3.137,3.128,3.126,3.124,3.121,3.111,3.107,3.101,3.092,3.089,3.084,3.078,3.076,3.072,3.072,3.063,3.061,3.053,3.052,3.045,3.042,3.042,3.042,3.035,3.035,3.035,3.026,3.025,3.018,3.018,3.023,3.023,3.03,3.03,3.03,3.018,3.017,3.016,3.014,3.013,3.011,3.008,3.011,3.011,3.008,3.008,3.007,3.007,3.008,3.008,3.01,3.011,3.011,3.014,3.015,3.016,3.014,3.016,3.017,3.018,3.018,3.021,3.021,3.021,3.022,3.024,3.028,3.029,3.033,3.037,3.043,3.044,3.046,3.047,3.049,3.049,3.055,3.058,3.059,3.061,3.065,3.07,3.079,3.087,3.087,3.087,3.089,3.089,3.101,3.106,3.11,3.113,3.119,3.129,3.129,3.129,3.134,3.137,3.137,3.141,3.148,3.155,3.162,3.165,3.17,3.171,3.178,3.186,3.208,3.219,3.222,3.233,3.233,3.235,3.235,3.237,3.243,3.253,3.259,3.275,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 79.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 79.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 79.651} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.3208} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6388} SEN {Time 79.6946} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.177,0.187,0.188,0,0,0,0,0,0,0,0,3.695,3.682,3.664,3.663,3.652,3.629,3.615,3.615,3.615,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.21,3.205,3.21,3.21,3.26,3.361,0,0,0,0,0,0,0,0,0.147,0.147,0.147,0.152,0.145,0.145,0.145,0.152,0.151,0.152,0.152,0.152,0.152,3.034,3.034,3.034,3.034,3.034,3.036,3.036,0.153,0.153,0.153,0.153,0.153,0.15,0.15,0.15,0.12,0.111,0.077,0.069,0.061,0.061,0.062,0.062,0.064,0.064,0.064,0.064,0.063,0.06,0.06,0.06,0.087,0.127,0.192,3.332,3.344,3.361,3.361,3.363,3.367,3.377,3.377,3.397,3.42,3.423,3.424,3.459,3.465,3.476,3.481,3.494,3.497,3.503,3.505,3.51,3.516,3.517,3.518,3.521,3.53,3.533,3.536,3.537,3.539,3.543,3.55,3.552,3.553,3.556,3.559,3.567,3.574,3.576,3.578,3.586,3.589,3.596,3.603,3.606,3.607,3.622,3.625,3.635,3.64,3.645,3.651,3.652,3.657,3.662,3.664,3.679,3.681,3.687,3.691,3.693,3.707,3.723,3.727,3.733,3.733,3.742,3.761,3.761,3.763,3.783,3.788,3.807,3.82,3.82,3.835,3.844,3.852,3.872,3.872,3.873,3.907,3.912,3.92,3.934,3.955,3.962,3.966,3.981,3.993,4.009,4.03,4.045,4.06,4.069,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.028,3.994,3.962,3.937,3.888,3.867,3.84,3.805,3.761,3.756,3.727,3.695,3.682,3.655,3.631,3.608,3.574,3.544,3.529,3.503,3.492,3.462,3.44,3.41,3.408,3.374,3.374,3.347,3.329,3.313,3.281,3.276,3.257,3.228,3.225,3.197,3.182,3.162,3.157,3.141,3.121,3.113,3.104,3.083,3.069,3.049,3.043,3.026,3.011,2.996,2.992,2.983,2.955,2.954,2.934,2.931,2.917,2.908,2.886,2.881,2.875,2.856,2.855,2.845,2.833,2.813,2.808,2.796,2.789,2.787,2.769,2.76,2.749,2.736,2.731,2.719,2.715,2.705,2.692,2.683,2.678,2.675,2.668,2.653,2.651,2.65,2.642,2.637,2.627,2.618,2.612,2.61,2.598,2.589,2.585,2.58,2.572,2.571,2.568,2.56,2.555,2.541,2.537,2.529,2.525,2.516,2.513,2.508,2.501,2.498,2.495,2.485,2.481,2.481,2.479,2.477,2.476,2.472,2.47,2.47,2.458,2.455,2.45,2.447,2.446,2.446,2.445,2.44,2.438,2.437,2.433,2.427,2.426,2.426,2.426,2.426,2.423,2.416,2.415,2.413,2.413,2.413,2.411,2.411,2.411,2.411,2.411,2.41,2.41,2.411,2.412,2.412,2.412,2.414,2.414,2.412,2.412,2.414,2.414,2.412,2.414,2.415,2.416,2.417,2.417,2.421,2.425,2.426,2.428,2.43,2.43,2.432,2.437,2.438,2.438,2.438,2.44,2.44,2.441,2.448,2.45,2.45,2.457,2.466,2.467,2.467,2.468,2.479,2.48,2.488,2.488,2.492,2.493,2.494,2.501,2.507,2.512,2.518,2.521,2.522,2.535,2.536,2.542,2.553,2.553,2.555,2.562,2.564,2.576,2.59,2.605,2.606,2.606,2.606,2.609,2.626,2.633,2.64,2.642,2.65,2.652,2.658,2.678,2.679,2.686,2.699,2.705,2.723,2.724,2.734,2.737,2.749,2.752,2.762,2.78,2.786,2.797,2.814,2.821,2.832,2.837,2.849,2.856,2.865,2.881,2.888,2.903,2.916,2.918,2.935,2.952,2.96,2.977,2.984,2.995,3.011,3.024,3.038,3.043,3.07,3.082,3.091,3.111,3.121,3.144,3.153,3.162,3.18,3.204,3.211,3.236,3.249,3.267,3.274,3.297,3.32,3.336,3.348,3.376,3.393,3.409,3.432,3.458,3.473,3.507,3.521,3.549,3.567,3.602,3.616,3.636,3.668,3.696,3.725,3.74,3.788,3.798,3.843,3.865,3.875,3.924,3.983,4.027,4.072,4.072,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.349,3.333,3.33,3.319,3.302,3.296,3.283,3.278,3.266,3.258,3.253,3.242,3.242,3.23,3.214,3.211,3.207,3.193,3.186,3.186,3.173,3.17,3.163,3.159,3.156,3.145,3.14,3.126,3.122,3.121,3.111,3.11,3.109,3.101,3.094,3.089,3.085,3.085,3.085,3.083,3.066,3.066,3.057,3.057,3.056,3.056,3.045,3.042,3.042,3.039,3.039,3.028,3.028,3.027,3.024,3.02,3.02,3.02,3.031,3.031,3.031,3.022,3.017,3.017,3.011,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.012,3.012,3.011,3.011,3.011,3.011,3.012,3.012,3.013,3.014,3.013,3.013,3.018,3.019,3.019,3.019,3.019,3.013,3.013,3.019,3.024,3.029,3.031,3.035,3.035,3.039,3.039,3.04,3.057,3.059,3.06,3.06,3.061,3.068,3.073,3.073,3.083,3.089,3.091,3.092,3.096,3.097,3.098,3.112,3.114,3.119,3.121,3.127,3.127,3.134,3.134,3.134,3.134,3.149,3.15,3.152,3.157,3.159,3.167,3.175,3.179,3.183,3.202,3.214,3.222,3.223,3.228,3.232,3.236,3.248,3.252,3.253,3.253,3.281,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 79.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 79.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 79.8518} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.3208} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6388} SEN {Time 79.8945} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.181,0.183,0.183,0,0,0,0,0,0,0,0,3.706,3.683,3.661,3.657,3.642,3.628,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.217,3.219,3.259,3.363,3.363,0,0,0,0,0,0,0,0.15,0.149,0.149,0.149,0.149,0.148,0.145,0.145,0.15,0.149,0.15,0.15,0.154,0.155,3.029,3.034,3.036,3.036,3.034,3.036,3.036,0.157,0.157,0.157,0.157,0.157,0.153,0.15,0.15,0.137,0.107,0.068,0.065,0.064,0.064,0.064,0.065,0.064,0.065,0.066,0.066,0.063,0.062,0.062,0.062,0.077,0.127,0.195,3.331,3.332,3.364,3.371,3.374,3.374,3.383,3.394,3.409,0,3.464,3.464,3.48,3.48,3.48,3.482,3.484,3.497,3.501,3.501,3.509,3.515,3.518,3.522,3.525,3.525,3.526,3.534,3.538,3.54,3.54,3.54,3.54,3.55,3.559,3.56,3.568,3.571,3.571,3.58,3.58,3.596,3.597,3.605,3.611,3.624,3.624,3.633,3.633,3.643,3.649,3.651,3.654,3.658,3.66,3.664,3.674,3.688,3.688,3.694,3.7,3.713,3.721,3.727,3.728,3.742,3.746,3.762,3.769,3.775,3.789,3.795,3.811,3.812,3.813,3.826,3.839,3.849,3.853,3.877,3.887,3.89,3.899,3.914,3.924,3.939,3.945,3.958,3.973,3.99,4.014,4.03,4.036,4.057,4.08,4.085,0.016,0.016,0.016,0.007,0.016,4.088,4.053,4.019,3.991,3.968,3.923,3.894,3.86,3.855,3.805,3.77,3.751,3.725,3.693,3.668,3.652,3.62,3.598,3.57,3.552,3.531,3.495,3.489,3.469,3.451,3.41,3.404,3.383,3.363,3.351,3.331,3.311,3.284,3.277,3.256,3.243,3.219,3.198,3.18,3.168,3.159,3.129,3.124,3.104,3.098,3.086,3.066,3.043,3.039,3.027,3.01,2.995,2.994,2.98,2.96,2.95,2.942,2.919,2.911,2.907,2.895,2.877,2.874,2.859,2.855,2.839,2.827,2.816,2.803,2.797,2.789,2.781,2.77,2.76,2.746,2.746,2.74,2.723,2.711,2.701,2.697,2.685,2.672,2.666,2.657,2.654,2.647,2.647,2.634,2.632,2.624,2.623,2.615,2.609,2.6,2.588,2.584,2.579,2.576,2.567,2.564,2.554,2.551,2.541,2.537,2.528,2.528,2.527,2.511,2.509,2.506,2.495,2.493,2.491,2.489,2.487,2.486,2.471,2.471,2.471,2.468,2.465,2.46,2.456,2.453,2.448,2.448,2.445,2.445,2.444,2.44,2.437,2.432,2.43,2.43,2.43,2.427,2.427,2.423,2.418,2.416,2.411,2.416,2.416,2.411,2.411,2.413,2.411,2.411,2.411,2.413,2.413,2.413,2.405,2.405,2.405,2.405,2.413,2.413,2.413,2.413,2.413,2.416,2.418,2.42,2.42,2.42,2.42,2.42,2.424,2.424,2.426,2.426,2.43,2.434,2.439,2.44,2.442,2.444,2.444,2.447,2.453,2.455,2.456,2.459,2.459,2.464,2.467,2.473,2.477,2.48,2.488,2.49,2.494,2.497,2.498,2.498,2.509,2.513,2.519,2.525,2.529,2.536,2.537,2.543,2.552,2.56,2.561,2.563,2.563,2.578,2.591,2.6,2.601,2.605,2.611,2.613,2.62,2.63,2.635,2.646,2.646,2.653,2.662,2.671,2.674,2.681,2.699,2.7,2.713,2.725,2.73,2.752,2.753,2.754,2.776,2.787,2.793,2.802,2.802,2.813,2.828,2.839,2.853,2.855,2.869,2.876,2.888,2.897,2.913,2.924,2.943,2.955,2.955,2.976,2.986,2.994,3.019,3.026,3.039,3.046,3.067,3.087,3.093,3.104,3.121,3.14,3.155,3.167,3.189,3.202,3.21,3.228,3.251,3.259,3.284,3.3,3.321,3.339,3.347,3.368,3.399,3.403,3.435,3.462,3.473,3.511,3.523,3.536,3.561,3.588,3.604,3.64,3.666,3.682,3.726,3.745,3.784,3.793,3.836,3.852,3.889,3.918,3.973,4.036,4.071,4.071,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.348,3.345,3.337,3.318,3.307,3.296,3.294,3.281,3.264,3.263,3.247,3.238,3.234,3.231,3.215,3.213,3.212,3.193,3.189,3.182,3.178,3.162,3.157,3.154,3.154,3.146,3.14,3.136,3.129,3.124,3.118,3.11,3.109,3.097,3.091,3.089,3.085,3.082,3.08,3.08,3.069,3.066,3.065,3.064,3.054,3.045,3.042,3.041,3.04,3.04,3.039,3.033,3.031,3.027,3.022,3.022,3.022,3.084,3.084,3.084,3.024,3.024,3.017,3.016,3.014,3.013,3.013,3.013,3.012,3.01,3.008,3.01,3.008,3.008,3.013,3.013,3.013,3.013,3.015,3.015,3.015,3.015,3.015,3.014,3.014,3.016,3.015,3.018,3.019,3.018,3.018,3.026,3.028,3.03,3.031,3.031,3.036,3.037,3.037,3.037,3.043,3.056,3.059,3.059,3.059,3.066,3.071,3.085,3.085,3.088,3.089,3.092,3.092,3.103,3.103,3.105,3.107,3.113,3.115,3.133,3.133,3.134,3.134,3.136,3.136,3.149,3.153,3.158,3.159,3.161,3.168,3.179,3.18,3.191,3.204,3.207,3.211,3.222,3.229,3.238,3.238,3.238,3.246,3.252,3.26,3.275,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 80.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 80.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 80.0527} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.3208} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6388} SEN {Time 80.0907} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,0,0,0,3.691,3.684,3.671,3.653,3.645,3.625,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.214,3.209,3.209,3.209,3.258,3.361,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.147,0.151,0.151,0.151,0.151,0.151,0.153,0.153,0.155,0.155,3.029,3.031,3.033,3.033,3.031,3.033,3.033,0.152,0.151,0.151,0.151,0.152,0.147,0.145,0.145,0.127,0.096,0.076,0.06,0.06,0.06,0.061,0.067,0.068,0.068,0.068,0.068,0.068,0.06,0.06,0.06,0.086,0.139,0.214,3.34,3.36,3.394,3.394,0.007,0,3.403,3.412,3.412,3.412,3.428,3.456,3.467,3.48,3.48,3.48,3.488,3.5,3.5,3.502,3.502,3.512,3.52,3.522,3.522,3.522,3.524,3.529,3.534,3.538,3.539,3.545,3.545,3.546,3.558,3.564,3.568,3.579,3.579,3.579,3.588,3.594,3.602,3.602,3.608,3.61,3.629,3.633,3.636,3.636,3.647,3.653,3.656,3.662,3.668,3.67,3.681,3.684,3.689,3.697,3.698,3.706,3.725,3.729,3.731,3.735,3.749,3.755,3.762,3.77,3.786,3.788,3.807,3.812,3.822,3.824,3.836,3.852,3.866,3.878,3.881,3.885,3.902,3.919,3.923,3.938,3.942,3.969,3.989,3.993,4.016,4.034,4.041,4.061,4.062,0.016,0.016,0.016,0.016,0.007,0.016,0.016,4.091,4.062,3.986,3.968,3.936,3.901,3.867,3.843,3.803,3.775,3.757,3.739,3.699,3.676,3.648,3.62,3.605,3.572,3.554,3.523,3.499,3.481,3.47,3.442,3.417,3.405,3.378,3.367,3.354,3.331,3.302,3.291,3.278,3.263,3.235,3.228,3.197,3.185,3.174,3.151,3.14,3.124,3.115,3.101,3.088,3.068,3.049,3.037,3.029,3.009,2.997,2.988,2.981,2.955,2.955,2.937,2.927,2.914,2.905,2.896,2.878,2.876,2.857,2.851,2.831,2.829,2.814,2.807,2.791,2.785,2.774,2.769,2.764,2.754,2.741,2.737,2.72,2.717,2.704,2.696,2.689,2.678,2.673,2.656,2.652,2.648,2.642,2.637,2.631,2.619,2.615,2.61,2.604,2.597,2.588,2.575,2.575,2.574,2.567,2.558,2.553,2.55,2.546,2.535,2.534,2.532,2.527,2.517,2.511,2.507,2.506,2.503,2.497,2.486,2.485,2.483,2.477,2.468,2.468,2.466,2.466,2.461,2.458,2.457,2.455,2.454,2.446,2.441,2.438,2.441,2.438,2.434,2.426,2.424,2.424,2.424,2.423,2.42,2.419,2.418,2.414,2.418,2.414,2.414,2.414,2.414,2.413,2.412,2.41,2.413,2.41,2.409,2.41,2.413,2.413,2.413,2.413,2.412,2.412,2.412,2.414,2.414,2.418,2.419,2.418,2.417,2.418,2.418,2.418,2.424,2.425,2.425,2.432,2.433,2.433,2.437,2.441,2.444,2.444,2.444,2.456,2.456,2.456,2.458,2.462,2.467,2.471,2.472,2.476,2.478,2.48,2.482,2.492,2.493,2.499,2.501,2.514,2.514,2.515,2.523,2.524,2.527,2.537,2.546,2.548,2.551,2.561,2.566,2.566,2.575,2.589,2.595,2.603,2.606,2.61,2.611,2.629,2.632,2.641,2.645,2.648,2.655,2.663,2.676,2.678,2.683,2.699,2.707,2.713,2.723,2.729,2.74,2.75,2.753,2.769,2.786,2.789,2.804,2.808,2.825,2.835,2.836,2.844,2.854,2.876,2.878,2.891,2.898,2.911,2.921,2.942,2.946,2.955,2.974,2.982,3.004,3.02,3.025,3.037,3.047,3.069,3.08,3.095,3.103,3.121,3.146,3.164,3.167,3.184,3.206,3.218,3.24,3.253,3.26,3.278,3.301,3.322,3.331,3.354,3.366,3.394,3.414,3.434,3.46,3.481,3.496,3.515,3.546,3.565,3.599,3.611,3.642,3.669,3.687,3.719,3.754,3.776,3.794,3.836,3.87,3.895,3.916,3.991,4.019,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.36,3.338,3.323,3.321,3.313,3.3,3.291,3.278,3.276,3.261,3.257,3.246,3.239,3.233,3.221,3.216,3.214,3.198,3.186,3.181,3.175,3.173,3.158,3.156,3.153,3.143,3.139,3.137,3.117,3.115,3.115,3.113,3.11,3.104,3.092,3.09,3.082,3.082,3.079,3.078,3.066,3.065,3.063,3.058,3.055,3.054,3.045,3.038,3.038,3.038,3.038,3.036,3.034,3.028,3.024,3.022,3.024,3.028,3.024,3.024,3.029,3.024,3.024,3.018,3.018,3.016,3.015,3.011,3.015,3.011,3.006,3.006,3.012,3.006,3.011,3.011,3.011,3.011,3.014,3.014,3.014,3.014,3.013,3.013,3.013,3.017,3.017,3.017,3.023,3.018,3.023,3.023,3.031,3.035,3.035,3.036,3.036,3.036,3.042,3.044,3.05,3.051,3.055,3.061,3.063,3.064,3.066,3.073,3.082,3.088,3.088,3.092,3.093,3.093,3.1,3.103,3.108,3.114,3.121,3.138,3.138,3.139,3.138,3.139,3.139,3.147,3.148,3.151,3.156,3.165,3.167,3.167,3.175,3.187,3.204,3.216,3.222,3.225,3.227,3.233,3.234,3.242,3.251,3.255,3.261,3.274,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 80.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 80.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 80.2448} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.7874} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6642} SEN {Time 80.2906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.183,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.691,3.676,3.675,3.656,3.643,3.625,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.214,3.209,3.209,3.209,3.263,3.363,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.144,0.147,0.147,0.149,0.149,0.156,0.156,0.161,0.161,3.035,3.035,3.036,3.036,3.035,3.036,3.036,0.159,0.157,0.157,0.157,0.153,0.153,0.149,0.149,0.132,0.106,0.073,0.068,0.067,0.067,0.064,0.064,0.064,0.066,0.064,0.064,0.064,0.064,0.064,0.064,0.081,0.128,0.206,3.351,3.364,3.367,3.367,3.367,3.367,3.374,3.374,3.4,3.427,3.435,3.459,3.459,3.468,3.476,3.481,3.487,3.5,3.5,3.51,3.511,3.512,3.516,3.517,3.521,3.522,3.526,3.527,3.537,3.539,3.54,3.54,3.546,3.552,3.558,3.564,3.57,3.577,3.579,3.579,3.581,3.595,3.596,3.597,3.615,3.618,3.623,3.624,3.635,3.638,3.647,3.655,3.657,3.658,3.66,3.673,3.675,3.685,3.687,3.687,3.691,3.704,3.718,3.726,3.728,3.75,3.758,3.758,3.759,3.774,3.787,3.79,3.814,3.815,3.823,3.841,3.845,3.848,3.863,3.874,3.892,3.895,3.899,3.915,3.922,3.948,3.964,3.964,3.987,3.998,4.009,4.028,4.04,4.056,4.072,0.016,0.016,0.016,0.016,0.007,0,0,0,4.024,3.979,3.97,3.936,3.895,3.876,3.835,3.809,3.784,3.756,3.726,3.702,3.679,3.651,3.621,3.596,3.577,3.551,3.523,3.505,3.483,3.451,3.447,3.417,3.399,3.377,3.359,3.352,3.327,3.313,3.301,3.278,3.254,3.238,3.225,3.189,3.185,3.164,3.147,3.14,3.124,3.104,3.096,3.083,3.069,3.052,3.04,3.031,3.012,3.001,3,2.985,2.958,2.946,2.943,2.923,2.91,2.904,2.893,2.875,2.868,2.853,2.851,2.831,2.829,2.808,2.802,2.797,2.78,2.774,2.766,2.759,2.745,2.745,2.731,2.724,2.712,2.708,2.697,2.681,2.681,2.678,2.664,2.661,2.649,2.649,2.644,2.636,2.627,2.615,2.61,2.606,2.596,2.59,2.582,2.579,2.568,2.564,2.563,2.558,2.552,2.545,2.539,2.534,2.531,2.518,2.513,2.508,2.506,2.501,2.5,2.497,2.491,2.483,2.481,2.481,2.475,2.473,2.473,2.463,2.46,2.453,2.45,2.446,2.446,2.445,2.445,2.443,2.439,2.439,2.435,2.432,2.43,2.428,2.428,2.421,2.423,2.421,2.418,2.416,2.417,2.416,2.415,2.415,2.413,2.413,2.413,2.408,2.408,2.408,2.408,2.408,2.408,2.41,2.411,2.411,2.414,2.411,2.414,2.416,2.416,2.418,2.418,2.418,2.418,2.421,2.426,2.426,2.428,2.431,2.431,2.434,2.435,2.44,2.441,2.441,2.444,2.446,2.448,2.449,2.454,2.456,2.456,2.459,2.47,2.475,2.475,2.476,2.481,2.483,2.484,2.492,2.494,2.494,2.505,2.517,2.518,2.521,2.522,2.523,2.528,2.53,2.535,2.554,2.555,2.559,2.568,2.568,2.58,2.587,2.598,2.602,2.609,2.611,2.619,2.619,2.63,2.636,2.637,2.645,2.66,2.664,2.678,2.682,2.687,2.692,2.703,2.712,2.726,2.73,2.745,2.754,2.757,2.769,2.783,2.785,2.796,2.807,2.82,2.828,2.838,2.853,2.86,2.868,2.886,2.895,2.898,2.915,2.92,2.948,2.954,2.955,2.973,2.987,2.996,3.015,3.026,3.037,3.052,3.061,3.082,3.094,3.1,3.123,3.141,3.158,3.163,3.18,3.193,3.224,3.231,3.244,3.266,3.281,3.296,3.326,3.33,3.35,3.38,3.4,3.404,3.432,3.448,3.485,3.503,3.522,3.538,3.563,3.603,3.621,3.646,3.676,3.702,3.728,3.737,3.783,3.794,3.828,3.859,3.897,3.922,3.945,3.995,4.04,4.094,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.355,3.328,3.326,3.305,3.294,3.287,3.283,3.274,3.262,3.256,3.248,3.24,3.23,3.22,3.207,3.205,3.193,3.192,3.187,3.177,3.161,3.153,3.151,3.146,3.145,3.145,3.131,3.123,3.122,3.116,3.106,3.104,3.102,3.094,3.091,3.084,3.081,3.075,3.07,3.068,3.067,3.062,3.052,3.05,3.05,3.047,3.037,3.037,3.036,3.035,3.034,3.029,3.026,3.022,3.021,3.022,3.022,3.029,3.029,3.029,3.024,3.023,3.02,3.016,3.015,3.014,3.013,3.011,3.01,3.008,3.005,3.005,3.005,3.008,3.007,3.01,3.011,3.01,3.01,3.013,3.014,3.013,3.013,3.016,3.016,3.013,3.015,3.025,3.019,3.019,3.026,3.026,3.03,3.033,3.039,3.039,3.039,3.041,3.041,3.048,3.051,3.059,3.059,3.059,3.066,3.067,3.07,3.076,3.082,3.091,3.092,3.093,3.094,3.095,3.11,3.11,3.118,3.126,3.129,3.13,3.135,3.138,3.138,3.138,3.14,3.149,3.158,3.161,3.17,3.175,3.176,3.178,3.184,3.198,3.214,3.219,3.221,3.231,3.237,3.238,3.244,3.249,3.253,3.258,3.285,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 80.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 80.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 80.4458} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.7874} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6642} SEN {Time 80.4907} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.178,0.177,0.178,0.178,0,0,0,0,0,0,0,0,3.693,3.668,3.667,3.666,3.649,3.626,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.214,3.213,3.213,3.213,3.253,3.368,0,0,0,0,0,0,0,0,0.145,0.145,0.145,0.146,0.145,0.146,0.148,0.153,0.153,0.154,0.154,0.154,0.157,3.038,3.038,3.038,3.038,3.034,3.034,3.028,0.161,0.159,0.159,0.153,0.153,0.153,0.153,0.148,0.128,0.101,0.069,0.063,0.06,0.06,0.061,0.061,0.061,0.068,0.068,0.068,0.068,0.059,0.059,0.059,0.07,0.132,0.209,3.343,3.354,3.365,3.365,3.365,3.369,3.378,3.38,3.4,3.434,3.435,3.456,3.456,3.478,3.48,3.486,3.498,3.504,3.504,3.516,3.516,3.516,3.518,3.518,3.519,3.523,3.53,3.54,3.542,3.543,3.545,3.545,3.546,3.553,3.555,3.555,3.567,3.576,3.579,3.579,3.579,3.583,3.598,3.598,3.602,3.613,3.625,3.629,3.631,3.639,3.644,3.652,3.654,3.658,3.659,3.662,3.671,3.684,3.689,3.69,3.698,3.714,3.715,3.729,3.731,3.745,3.747,3.76,3.767,3.768,3.787,3.793,3.802,3.806,3.82,3.836,3.842,3.847,3.855,3.876,3.883,3.894,3.902,3.913,3.924,3.945,3.946,3.965,3.983,4.006,4.021,4.025,4.053,4.058,4.069,4.089,0.016,0.016,0.016,0.016,0.007,0,0,0,0,3.99,3.971,3.905,3.886,3.85,3.824,3.786,3.749,3.727,3.712,3.679,3.65,3.616,3.599,3.582,3.559,3.524,3.513,3.479,3.462,3.437,3.42,3.406,3.379,3.369,3.354,3.334,3.31,3.296,3.271,3.258,3.229,3.228,3.194,3.18,3.163,3.153,3.135,3.129,3.11,3.096,3.087,3.067,3.049,3.044,3.03,3.014,2.994,2.993,2.987,2.959,2.95,2.937,2.927,2.917,2.896,2.895,2.874,2.866,2.862,2.848,2.833,2.827,2.819,2.809,2.796,2.792,2.776,2.773,2.758,2.753,2.743,2.736,2.721,2.714,2.705,2.692,2.682,2.675,2.666,2.661,2.65,2.648,2.646,2.637,2.632,2.622,2.609,2.605,2.605,2.605,2.59,2.582,2.58,2.577,2.565,2.559,2.559,2.552,2.543,2.54,2.533,2.524,2.522,2.516,2.507,2.501,2.499,2.494,2.49,2.486,2.485,2.48,2.476,2.472,2.472,2.467,2.461,2.459,2.459,2.456,2.451,2.447,2.446,2.445,2.443,2.442,2.44,2.438,2.429,2.426,2.426,2.426,2.426,2.423,2.417,2.415,2.415,2.415,2.415,2.413,2.413,2.41,2.41,2.413,2.413,2.411,2.411,2.411,2.411,2.412,2.413,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.414,2.414,2.415,2.415,2.418,2.418,2.419,2.421,2.43,2.43,2.43,2.44,2.441,2.442,2.442,2.442,2.443,2.448,2.449,2.451,2.452,2.464,2.465,2.467,2.472,2.476,2.477,2.478,2.483,2.494,2.494,2.495,2.498,2.501,2.508,2.513,2.52,2.523,2.524,2.533,2.535,2.544,2.547,2.551,2.555,2.565,2.568,2.576,2.592,2.592,2.605,2.605,2.607,2.612,2.624,2.628,2.64,2.641,2.648,2.65,2.664,2.675,2.676,2.684,2.692,2.702,2.721,2.723,2.723,2.744,2.749,2.755,2.764,2.782,2.786,2.796,2.805,2.817,2.824,2.843,2.848,2.858,2.866,2.873,2.891,2.901,2.914,2.93,2.938,2.953,2.956,2.974,2.987,2.994,3.012,3.023,3.035,3.051,3.057,3.08,3.092,3.11,3.127,3.144,3.158,3.164,3.182,3.207,3.22,3.236,3.247,3.253,3.271,3.299,3.322,3.336,3.344,3.374,3.397,3.413,3.437,3.459,3.475,3.503,3.522,3.541,3.568,3.595,3.616,3.64,3.673,3.693,3.723,3.758,3.781,3.808,3.842,3.871,3.897,3.926,3.945,3.997,4.026,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.364,3.335,3.33,3.32,3.311,3.297,3.289,3.286,3.265,3.254,3.252,3.25,3.233,3.227,3.225,3.213,3.207,3.197,3.191,3.191,3.186,3.17,3.16,3.148,3.147,3.145,3.14,3.129,3.125,3.121,3.117,3.115,3.112,3.104,3.092,3.092,3.089,3.088,3.08,3.077,3.071,3.066,3.065,3.058,3.054,3.046,3.045,3.041,3.04,3.038,3.037,3.035,3.03,3.029,3.027,3.023,3.023,3.023,3.03,3.03,3.03,3.022,3.015,3.014,3.014,3.013,3.013,3.011,3.013,3.013,3.013,3.01,3.008,3.008,3.008,3.008,3.008,3.011,3.011,3.011,3.011,3.012,3.012,3.016,3.016,3.018,3.016,3.017,3.018,3.018,3.02,3.022,3.029,3.03,3.032,3.032,3.032,3.036,3.036,3.036,3.041,3.052,3.057,3.058,3.066,3.068,3.07,3.08,3.082,3.089,3.09,3.092,3.092,3.096,3.098,3.106,3.119,3.121,3.121,3.131,3.131,3.136,3.136,3.136,3.136,3.148,3.149,3.15,3.152,3.166,3.17,3.171,3.172,3.175,3.198,3.212,3.222,3.228,3.231,3.232,3.238,3.238,3.238,3.241,3.251,3.275,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 80.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 80.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 80.6467} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.7874} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 80.6906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.178,0.189,0.189,0,0,0,0,0,0,0,0,3.687,3.681,3.665,3.659,3.648,3.63,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.233,3.226,3.22,3.209,3.209,3.209,3.262,3.362,0,0,0,0,0,0,0,0.143,0.141,0.141,0.141,0.143,0.145,0.147,0.149,0.151,0.151,0.153,0.153,0.154,0.154,3.038,3.038,3.038,3.038,3.038,3.038,3.038,0.161,0.153,0.153,0.153,0.153,0.152,0.151,0.151,0.128,0.104,0.069,0.061,0.06,0.06,0.06,0.06,0.06,0.064,0.064,0.064,0.064,0.064,0.064,0.068,0.086,0.145,0.212,3.34,3.358,3.358,3.358,3.38,3.38,3.4,3.416,3.416,3.416,3.432,3.435,3.462,3.469,3.483,3.492,3.492,3.494,3.504,3.511,3.512,3.518,3.524,3.524,3.524,3.526,3.53,3.526,3.532,3.541,3.543,3.546,3.553,3.554,3.555,3.558,3.566,3.57,3.574,3.578,3.58,3.585,3.597,3.606,3.615,3.619,3.624,3.633,3.638,3.646,3.651,3.652,3.652,3.663,3.663,3.67,3.678,3.688,3.691,3.691,3.699,3.708,3.715,3.725,3.73,3.743,3.745,3.751,3.765,3.775,3.789,3.799,3.801,3.809,3.81,3.835,3.837,3.845,3.871,3.872,3.882,3.889,3.905,3.909,3.929,3.934,3.969,3.971,3.977,4.005,4.015,4.02,4.04,4.069,4.073,4.092,0.016,0.016,0.016,0.009,0.009,0.009,0,4.02,4.02,4.001,3.959,3.898,3.884,3.844,3.818,3.785,3.764,3.738,3.698,3.67,3.643,3.624,3.591,3.566,3.549,3.515,3.511,3.486,3.456,3.438,3.425,3.405,3.379,3.363,3.343,3.33,3.311,3.291,3.27,3.258,3.232,3.225,3.199,3.186,3.163,3.153,3.136,3.124,3.097,3.092,3.081,3.069,3.053,3.043,3.028,3.007,3.004,2.987,2.983,2.957,2.955,2.942,2.918,2.915,2.905,2.894,2.878,2.866,2.862,2.845,2.831,2.824,2.809,2.797,2.795,2.781,2.78,2.767,2.765,2.751,2.738,2.733,2.726,2.715,2.705,2.7,2.686,2.679,2.677,2.659,2.657,2.656,2.653,2.642,2.637,2.624,2.611,2.61,2.606,2.606,2.584,2.581,2.576,2.573,2.566,2.555,2.552,2.545,2.543,2.536,2.531,2.523,2.519,2.507,2.504,2.503,2.496,2.495,2.493,2.486,2.484,2.483,2.474,2.472,2.466,2.464,2.463,2.457,2.454,2.454,2.449,2.447,2.445,2.445,2.445,2.442,2.44,2.432,2.429,2.427,2.427,2.427,2.423,2.423,2.423,2.416,2.413,2.413,2.416,2.413,2.413,2.411,2.409,2.408,2.407,2.407,2.408,2.408,2.408,2.412,2.413,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.415,2.416,2.417,2.416,2.417,2.417,2.419,2.423,2.426,2.427,2.432,2.433,2.435,2.435,2.435,2.435,2.44,2.442,2.448,2.452,2.457,2.459,2.468,2.47,2.47,2.471,2.471,2.474,2.482,2.486,2.489,2.498,2.499,2.5,2.509,2.519,2.519,2.52,2.521,2.524,2.528,2.543,2.548,2.553,2.554,2.566,2.567,2.576,2.593,2.593,2.593,2.609,2.61,2.613,2.629,2.637,2.639,2.641,2.642,2.644,2.659,2.67,2.675,2.683,2.699,2.702,2.716,2.721,2.734,2.735,2.753,2.754,2.766,2.782,2.789,2.802,2.802,2.815,2.83,2.837,2.848,2.857,2.867,2.874,2.887,2.902,2.915,2.925,2.944,2.949,2.967,2.976,2.981,2.999,3.012,3.03,3.036,3.042,3.062,3.083,3.103,3.107,3.13,3.135,3.15,3.162,3.189,3.195,3.225,3.234,3.252,3.26,3.278,3.299,3.322,3.337,3.354,3.38,3.388,3.405,3.442,3.454,3.478,3.501,3.518,3.541,3.576,3.597,3.623,3.639,3.665,3.695,3.717,3.751,3.782,3.795,3.842,3.864,3.891,3.919,3.96,4.029,4.068,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.347,3.334,3.327,3.313,3.311,3.297,3.291,3.282,3.269,3.262,3.244,3.242,3.241,3.237,3.221,3.21,3.204,3.197,3.194,3.185,3.182,3.169,3.157,3.149,3.142,3.141,3.132,3.123,3.123,3.122,3.115,3.112,3.109,3.102,3.092,3.092,3.089,3.08,3.077,3.077,3.075,3.07,3.065,3.059,3.052,3.05,3.045,3.036,3.036,3.035,3.034,3.029,3.029,3.029,3.029,3.027,3.027,3.027,3.026,3.026,3.026,3.022,3.016,3.015,3.015,3.013,3.013,3.01,3.011,3.011,3.011,3.006,3.006,3.006,3.006,3.008,3.009,3.011,3.012,3.012,3.011,3.013,3.016,3.017,3.017,3.017,3.017,3.017,3.019,3.017,3.019,3.025,3.027,3.031,3.034,3.034,3.034,3.035,3.042,3.043,3.045,3.049,3.052,3.059,3.061,3.07,3.074,3.075,3.081,3.086,3.086,3.088,3.088,3.092,3.095,3.108,3.113,3.113,3.122,3.126,3.126,3.133,3.13,3.134,3.134,3.138,3.139,3.155,3.162,3.164,3.172,3.174,3.175,3.185,3.191,3.212,3.215,3.226,3.229,3.229,3.235,3.24,3.243,3.249,3.257,3.276,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 80.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 80.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 80.8477} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1054} SEN {Time 80.8906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.177,0.185,0.185,0,0,0,0,0,0,0,0,3.699,3.679,3.667,3.662,3.655,3.632,3.615,3.615,3.615,3.591,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.215,3.213,3.213,3.215,3.258,3.349,0,0,0,0,0,0,0,0.147,0.143,0.143,0.142,0.142,0.143,0.146,0.146,0.154,0.154,0.154,0.154,0.157,0.159,3.028,3.029,3.029,3.029,3.029,3.029,3.029,0.157,0.155,0.155,0.154,0.152,0.147,0.147,0.143,0.129,0.107,0.073,0.067,0.065,0.064,0.064,0.064,0.064,0.067,0.067,0.067,0.067,0.064,0.064,0.068,0.077,0.132,0.198,3.365,3.365,3.392,3.392,3.365,3.364,3.392,3.398,3.398,0.007,3.456,3.456,3.472,3.472,3.474,3.478,3.491,3.495,3.497,3.507,3.509,3.509,3.522,3.524,3.524,3.524,3.532,3.535,3.543,3.544,3.546,3.547,3.555,3.556,3.561,3.565,3.57,3.579,3.579,3.584,3.585,3.587,3.591,3.606,3.61,3.613,3.626,3.627,3.632,3.632,3.643,3.651,3.656,3.66,3.663,3.665,3.679,3.681,3.689,3.693,3.697,3.711,3.716,3.723,3.735,3.737,3.746,3.761,3.768,3.772,3.775,3.796,3.81,3.811,3.812,3.831,3.843,3.847,3.865,3.872,3.875,3.897,3.908,3.92,3.924,3.942,3.962,3.97,3.993,3.993,4.011,4.02,4.037,4.064,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.04,4.037,3.991,3.972,3.931,3.897,3.887,3.836,3.795,3.78,3.754,3.725,3.708,3.659,3.646,3.626,3.601,3.585,3.545,3.525,3.519,3.475,3.468,3.449,3.417,3.391,3.385,3.369,3.355,3.33,3.306,3.293,3.278,3.261,3.231,3.225,3.188,3.185,3.174,3.154,3.133,3.122,3.105,3.099,3.09,3.059,3.058,3.033,3.028,3.01,2.996,2.993,2.981,2.962,2.95,2.947,2.928,2.915,2.91,2.899,2.878,2.872,2.862,2.855,2.834,2.826,2.819,2.801,2.794,2.786,2.781,2.767,2.76,2.748,2.739,2.727,2.723,2.716,2.697,2.693,2.678,2.677,2.673,2.668,2.658,2.651,2.649,2.633,2.629,2.624,2.621,2.612,2.608,2.603,2.59,2.585,2.576,2.567,2.567,2.559,2.557,2.549,2.541,2.532,2.529,2.519,2.519,2.516,2.504,2.501,2.496,2.493,2.492,2.488,2.485,2.482,2.482,2.474,2.472,2.472,2.468,2.46,2.456,2.455,2.449,2.446,2.445,2.444,2.439,2.439,2.439,2.432,2.432,2.428,2.428,2.428,2.428,2.423,2.419,2.416,2.414,2.416,2.418,2.414,2.412,2.413,2.413,2.413,2.413,2.413,2.409,2.409,2.404,2.409,2.409,2.414,2.413,2.413,2.41,2.413,2.413,2.416,2.42,2.42,2.421,2.421,2.423,2.424,2.425,2.426,2.427,2.427,2.431,2.438,2.438,2.439,2.439,2.439,2.443,2.45,2.452,2.453,2.453,2.456,2.461,2.466,2.47,2.472,2.478,2.479,2.483,2.486,2.491,2.494,2.496,2.5,2.507,2.513,2.518,2.52,2.522,2.524,2.533,2.536,2.547,2.552,2.556,2.559,2.566,2.582,2.595,2.602,2.602,2.603,2.607,2.607,2.623,2.632,2.638,2.642,2.649,2.655,2.66,2.671,2.676,2.697,2.7,2.704,2.719,2.721,2.731,2.742,2.749,2.749,2.769,2.777,2.782,2.799,2.801,2.812,2.828,2.828,2.841,2.855,2.871,2.877,2.892,2.899,2.917,2.926,2.944,2.95,2.954,2.975,2.985,3.001,3.017,3.021,3.043,3.043,3.064,3.082,3.097,3.104,3.123,3.148,3.15,3.167,3.178,3.2,3.216,3.233,3.244,3.267,3.278,3.3,3.325,3.335,3.348,3.375,3.397,3.405,3.433,3.461,3.487,3.498,3.525,3.554,3.576,3.59,3.619,3.639,3.669,3.697,3.714,3.754,3.786,3.797,3.836,3.863,3.885,3.912,3.984,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.346,3.333,3.325,3.311,3.308,3.303,3.294,3.286,3.262,3.256,3.248,3.246,3.239,3.235,3.219,3.208,3.207,3.196,3.192,3.187,3.177,3.172,3.166,3.163,3.15,3.138,3.134,3.124,3.122,3.121,3.111,3.111,3.102,3.1,3.092,3.09,3.085,3.084,3.083,3.071,3.065,3.063,3.061,3.059,3.053,3.048,3.044,3.042,3.042,3.042,3.04,3.039,3.039,3.032,3.027,3.022,3.027,3.027,3.032,3.032,3.032,3.02,3.019,3.015,3.015,3.013,3.009,3.007,3.006,3.005,3.005,3.005,3.005,3.012,3.012,3.012,3.012,3.012,3.008,3.008,3.008,3.008,3.008,3.013,3.013,3.016,3.013,3.024,3.024,3.023,3.023,3.024,3.029,3.03,3.03,3.033,3.035,3.038,3.041,3.043,3.05,3.055,3.056,3.057,3.061,3.061,3.068,3.073,3.076,3.084,3.085,3.091,3.091,3.091,3.092,3.108,3.114,3.117,3.117,3.126,3.126,3.127,3.13,3.131,3.131,3.15,3.154,3.156,3.167,3.168,3.168,3.176,3.184,3.188,3.195,3.209,3.215,3.22,3.227,3.231,3.239,3.242,3.246,3.247,3.252,3.279,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 81.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 81.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 81.0486} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.508} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1054} SEN {Time 81.0906} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.176,0.182,0.178,0.182,0.182,0,0,0,0,0,0,0,0,3.694,3.689,3.67,3.663,3.643,3.624,3.614,3.614,3.593,3.586,3.586,0,3.356,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.214,3.209,3.209,3.209,3.354,0.007,0,0,0,0,0,0,0,0.146,0.145,0.145,0.144,0.145,0.149,0.149,0.149,0.149,0.149,0.15,0.15,0.152,0.152,3.029,3.03,3.04,3.04,3.03,3.04,3.04,0.163,0.157,0.157,0.157,0.157,0.157,0.149,0.149,0.127,0.103,0.077,0.071,0.063,0.063,0.063,0.065,0.065,0.065,0.065,0.065,0.065,0.064,0.064,0.064,0.08,0.148,0.198,3.339,3.35,3.368,3.361,3.368,3.368,3.378,3.378,3.389,3.408,3.427,3.438,3.447,3.471,3.482,3.483,3.492,3.499,3.502,3.502,3.503,3.507,3.515,3.518,3.522,3.528,3.535,3.535,3.535,3.542,3.546,3.548,3.559,3.56,3.56,3.561,3.561,3.562,3.564,3.575,3.583,3.584,3.588,3.602,3.606,3.608,3.618,3.623,3.626,3.626,3.641,3.642,3.655,3.656,3.665,3.665,3.679,3.681,3.691,3.695,3.701,3.705,3.721,3.722,3.733,3.749,3.751,3.751,3.765,3.774,3.778,3.798,3.803,3.811,3.821,3.832,3.846,3.847,3.859,3.869,3.889,3.891,3.899,3.92,3.936,3.942,3.954,3.963,3.975,3.998,4.009,4.038,4.046,4.065,4.074,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.024,3.992,3.948,3.936,3.906,3.871,3.84,3.81,3.785,3.746,3.726,3.707,3.679,3.66,3.627,3.604,3.572,3.555,3.529,3.506,3.496,3.453,3.446,3.413,3.405,3.374,3.371,3.351,3.329,3.306,3.303,3.265,3.259,3.232,3.218,3.206,3.178,3.166,3.159,3.139,3.119,3.108,3.095,3.077,3.062,3.046,3.037,3.033,3.014,3,2.986,2.979,2.957,2.953,2.929,2.924,2.916,2.9,2.893,2.872,2.87,2.852,2.843,2.84,2.832,2.816,2.808,2.793,2.782,2.778,2.765,2.762,2.745,2.739,2.735,2.72,2.717,2.706,2.691,2.681,2.674,2.674,2.66,2.653,2.645,2.641,2.632,2.628,2.619,2.617,2.604,2.603,2.6,2.584,2.583,2.58,2.578,2.569,2.558,2.556,2.547,2.538,2.535,2.535,2.534,2.523,2.515,2.507,2.5,2.497,2.495,2.492,2.486,2.486,2.478,2.476,2.467,2.467,2.465,2.464,2.462,2.457,2.454,2.451,2.448,2.448,2.448,2.444,2.44,2.432,2.432,2.432,2.425,2.425,2.425,2.423,2.421,2.417,2.415,2.415,2.415,2.415,2.415,2.414,2.411,2.411,2.413,2.413,2.406,2.407,2.405,2.405,2.407,2.412,2.412,2.415,2.412,2.412,2.409,2.412,2.412,2.415,2.417,2.418,2.419,2.421,2.423,2.424,2.427,2.428,2.429,2.429,2.435,2.435,2.439,2.441,2.443,2.443,2.443,2.448,2.451,2.459,2.459,2.46,2.464,2.466,2.471,2.472,2.475,2.482,2.489,2.494,2.496,2.496,2.498,2.509,2.515,2.519,2.52,2.527,2.527,2.54,2.54,2.545,2.548,2.56,2.561,2.568,2.577,2.585,2.597,2.601,2.601,2.607,2.62,2.624,2.628,2.637,2.641,2.651,2.652,2.661,2.671,2.679,2.692,2.695,2.696,2.717,2.723,2.733,2.741,2.743,2.746,2.767,2.782,2.788,2.798,2.803,2.813,2.831,2.839,2.841,2.856,2.866,2.882,2.894,2.905,2.914,2.927,2.946,2.954,2.958,2.98,2.983,3,3.017,3.025,3.039,3.05,3.072,3.09,3.095,3.104,3.121,3.139,3.154,3.17,3.179,3.198,3.221,3.23,3.241,3.265,3.279,3.304,3.33,3.341,3.346,3.375,3.392,3.4,3.438,3.465,3.485,3.499,3.527,3.552,3.564,3.591,3.624,3.642,3.658,3.69,3.726,3.744,3.785,3.796,3.837,3.86,3.883,3.919,4.027,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.353,3.343,3.317,3.317,3.299,3.297,3.293,3.281,3.268,3.261,3.253,3.241,3.236,3.232,3.226,3.21,3.201,3.196,3.192,3.187,3.175,3.166,3.158,3.153,3.148,3.136,3.129,3.123,3.118,3.116,3.115,3.112,3.107,3.103,3.092,3.089,3.089,3.084,3.077,3.076,3.07,3.069,3.065,3.057,3.05,3.048,3.047,3.044,3.035,3.035,3.033,3.033,3.033,3.031,3.026,3.024,3.026,3.026,3.024,3.024,3.024,3.016,3.015,3.014,3.014,3.013,3.013,3.013,3.013,3.013,3.012,3.011,3.011,3.008,3.007,3.007,3.007,3.007,3.01,3.013,3.013,3.013,3.014,3.016,3.016,3.017,3.017,3.018,3.017,3.015,3.015,3.018,3.025,3.029,3.033,3.035,3.035,3.04,3.041,3.047,3.047,3.052,3.052,3.054,3.062,3.063,3.068,3.07,3.082,3.083,3.084,3.09,3.093,3.094,3.099,3.108,3.108,3.113,3.121,3.131,3.131,3.134,3.137,3.141,3.141,3.146,3.146,3.153,3.158,3.161,3.167,3.172,3.173,3.187,3.205,3.224,3.227,3.229,3.228,3.231,3.235,3.243,3.248,3.25,3.26,3.281,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 81.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 81.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 81.2406} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.508} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 5.1054} SEN {Time 81.2866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.183,0.185,0.185,0,0,0,0,0,0,0,0,3.69,3.679,3.67,3.666,3.652,3.623,3.622,3.622,3.622,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.224,3.213,3.213,3.213,3.265,3.365,0,0,0,0,0,0,0,0.153,0.148,0.147,0.147,0.147,0.144,0.147,0.147,0.15,0.15,0.152,0.152,0.154,0.154,3.036,3.039,3.039,3.039,3.036,3.039,3.036,0.165,0.156,0.156,0.156,0.156,0.147,0.146,0.146,0.129,0.109,0.075,0.064,0.063,0.063,0.063,0.063,0.065,0.065,0.066,0.065,0.065,0.06,0.06,0.06,0.085,0.121,0.201,3.329,3.337,3.351,3.369,3.37,3.373,3.375,0,0,0,0,3.455,3.455,3.478,3.484,3.484,3.484,3.496,3.5,3.505,3.506,3.508,3.518,3.519,3.522,3.525,3.53,3.533,3.534,3.543,3.543,3.544,3.549,3.549,3.561,3.569,3.569,3.573,3.579,3.581,3.581,3.585,3.596,3.601,3.606,3.609,3.62,3.624,3.631,3.64,3.642,3.649,3.651,3.66,3.663,3.678,3.681,3.684,3.685,3.693,3.698,3.7,3.719,3.726,3.731,3.746,3.754,3.76,3.763,3.779,3.78,3.794,3.797,3.815,3.821,3.831,3.838,3.848,3.862,3.869,3.871,3.892,3.899,3.923,3.933,3.947,3.951,3.97,3.98,3.985,4.017,4.023,4.036,4.068,4.079,4.079,0.016,0.016,0.016,0.016,0.016,4.091,4.064,4.02,3.999,3.959,3.929,3.889,3.884,3.85,3.811,3.78,3.755,3.73,3.709,3.678,3.651,3.632,3.599,3.577,3.549,3.526,3.503,3.488,3.458,3.443,3.435,3.397,3.38,3.357,3.352,3.325,3.314,3.293,3.275,3.257,3.232,3.223,3.199,3.188,3.174,3.155,3.133,3.116,3.108,3.097,3.076,3.072,3.058,3.044,3.034,3.011,3.002,2.986,2.985,2.97,2.949,2.93,2.923,2.922,2.905,2.895,2.874,2.867,2.867,2.854,2.838,2.823,2.816,2.809,2.795,2.784,2.776,2.772,2.764,2.75,2.741,2.737,2.722,2.72,2.705,2.689,2.678,2.678,2.673,2.653,2.653,2.652,2.647,2.639,2.638,2.626,2.617,2.611,2.61,2.595,2.587,2.58,2.579,2.569,2.568,2.56,2.559,2.549,2.54,2.534,2.527,2.527,2.521,2.515,2.508,2.504,2.497,2.496,2.489,2.489,2.479,2.479,2.478,2.477,2.472,2.47,2.468,2.46,2.455,2.455,2.451,2.449,2.449,2.445,2.441,2.44,2.438,2.432,2.43,2.43,2.43,2.428,2.419,2.421,2.419,2.417,2.416,2.415,2.415,2.412,2.411,2.411,2.41,2.409,2.408,2.407,2.408,2.408,2.413,2.416,2.416,2.417,2.419,2.417,2.415,2.415,2.415,2.415,2.423,2.423,2.423,2.423,2.421,2.421,2.421,2.421,2.426,2.429,2.431,2.432,2.434,2.443,2.445,2.446,2.445,2.446,2.447,2.456,2.456,2.459,2.468,2.47,2.472,2.474,2.474,2.474,2.485,2.49,2.493,2.495,2.498,2.499,2.514,2.514,2.522,2.527,2.531,2.535,2.537,2.541,2.546,2.551,2.555,2.562,2.572,2.573,2.583,2.599,2.599,2.605,2.613,2.616,2.624,2.63,2.636,2.641,2.649,2.652,2.659,2.674,2.674,2.684,2.696,2.707,2.712,2.725,2.731,2.741,2.754,2.754,2.764,2.783,2.786,2.806,2.811,2.815,2.823,2.839,2.845,2.864,2.867,2.882,2.89,2.906,2.919,2.921,2.945,2.955,2.956,2.976,2.983,2.996,3.018,3.026,3.045,3.048,3.069,3.083,3.088,3.097,3.124,3.142,3.158,3.172,3.178,3.203,3.227,3.234,3.251,3.264,3.274,3.304,3.321,3.33,3.353,3.374,3.396,3.405,3.437,3.462,3.476,3.495,3.528,3.54,3.574,3.603,3.623,3.648,3.664,3.693,3.714,3.74,3.772,3.798,3.835,3.855,3.9,3.913,3.982,0.007,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.354,3.341,3.325,3.316,3.307,3.296,3.293,3.277,3.269,3.255,3.248,3.237,3.236,3.231,3.221,3.208,3.204,3.195,3.188,3.185,3.176,3.172,3.159,3.155,3.153,3.142,3.141,3.13,3.125,3.121,3.114,3.113,3.113,3.1,3.094,3.088,3.08,3.076,3.073,3.072,3.064,3.064,3.061,3.061,3.057,3.057,3.046,3.044,3.044,3.042,3.035,3.035,3.035,3.031,3.029,3.021,3.021,3.021,3.028,3.028,3.028,3.025,3.016,3.013,3.01,3.01,3.01,3.008,3.012,3.012,3.008,3.008,3.007,3.006,3.006,3.006,3.006,3.009,3.009,3.009,3.014,3.014,3.014,3.017,3.017,3.018,3.018,3.02,3.02,3.02,3.023,3.023,3.025,3.026,3.034,3.035,3.037,3.04,3.043,3.047,3.051,3.051,3.054,3.059,3.06,3.063,3.07,3.078,3.078,3.084,3.09,3.09,3.092,3.096,3.102,3.107,3.111,3.115,3.118,3.131,3.133,3.135,3.139,3.142,3.142,3.149,3.151,3.154,3.163,3.163,3.169,3.174,3.174,3.188,3.192,3.213,3.224,3.227,3.227,3.236,3.24,3.245,3.249,3.252,3.259,3.268,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 81.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 81.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 81.4416} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.508} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 5.6642} SEN {Time 81.4866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.181,0.183,0.183,0,0,0,0,0,0,0,0,0,3.672,3.668,3.666,3.642,3.622,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.212,3.218,3.218,3.27,3.366,0,0,0,0,0,0,0,0.147,0.145,0.145,0.145,0.147,0.141,0.143,0.143,0.144,0.144,0.149,0.149,0.156,0.156,3.037,3.037,3.044,3.044,3.037,3.048,3.048,0.158,0.158,0.158,0.156,0.156,0.155,0.143,0.143,0.135,0.113,0.076,0.068,0.065,0.063,0.063,0.063,0.066,0.066,0.068,0.067,0.066,0.064,0.067,0.067,0.082,0.136,0.188,3.36,3.362,3.38,3.379,3.363,3.363,3.379,3.379,3.423,3.439,3.466,3.466,3.466,3.472,3.48,3.484,3.503,3.503,3.506,3.508,3.513,3.513,3.52,3.521,3.523,3.524,3.53,3.536,3.538,3.543,3.544,3.546,3.551,3.552,3.556,3.558,3.568,3.568,3.569,3.574,3.585,3.586,3.589,3.595,3.6,3.604,3.614,3.624,3.628,3.633,3.645,3.652,3.652,3.653,3.655,3.663,3.673,3.695,3.7,3.712,3.712,3.719,3.72,3.734,3.734,3.744,3.751,3.764,3.775,3.778,3.785,3.791,3.817,3.817,3.82,3.828,3.837,3.861,3.864,3.874,3.884,3.884,3.902,3.906,3.923,3.939,3.957,3.967,3.972,3.977,4.013,4.03,4.043,4.052,4.079,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.089,3.98,3.967,3.925,3.914,3.873,3.832,3.81,3.78,3.758,3.737,3.692,3.676,3.657,3.623,3.602,3.572,3.536,3.528,3.499,3.49,3.463,3.437,3.409,3.395,3.387,3.365,3.349,3.335,3.303,3.295,3.278,3.255,3.227,3.22,3.202,3.181,3.179,3.157,3.139,3.124,3.104,3.098,3.082,3.071,3.048,3.043,3.035,3,2.996,2.989,2.979,2.956,2.954,2.938,2.931,2.912,2.908,2.897,2.879,2.867,2.854,2.852,2.841,2.829,2.817,2.809,2.791,2.783,2.778,2.77,2.76,2.751,2.737,2.732,2.721,2.71,2.699,2.697,2.678,2.674,2.672,2.658,2.652,2.652,2.651,2.63,2.628,2.618,2.615,2.61,2.605,2.605,2.587,2.58,2.577,2.57,2.569,2.565,2.56,2.553,2.544,2.532,2.525,2.522,2.519,2.512,2.503,2.499,2.496,2.494,2.493,2.485,2.483,2.477,2.472,2.472,2.47,2.464,2.463,2.461,2.457,2.453,2.451,2.447,2.444,2.443,2.444,2.44,2.437,2.43,2.429,2.429,2.427,2.427,2.424,2.421,2.421,2.421,2.419,2.419,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.413,2.408,2.406,2.406,2.408,2.408,2.412,2.414,2.415,2.415,2.415,2.415,2.415,2.417,2.421,2.421,2.423,2.423,2.423,2.423,2.425,2.426,2.426,2.428,2.431,2.431,2.437,2.439,2.439,2.445,2.45,2.45,2.455,2.456,2.461,2.463,2.465,2.466,2.47,2.478,2.478,2.481,2.486,2.486,2.488,2.494,2.5,2.506,2.511,2.516,2.52,2.522,2.531,2.541,2.543,2.553,2.556,2.564,2.567,2.571,2.581,2.583,2.598,2.604,2.61,2.613,2.616,2.623,2.634,2.639,2.641,2.645,2.651,2.667,2.671,2.674,2.686,2.693,2.705,2.716,2.719,2.725,2.737,2.75,2.755,2.765,2.783,2.791,2.8,2.812,2.816,2.834,2.839,2.845,2.856,2.867,2.875,2.88,2.902,2.91,2.921,2.939,2.955,2.957,2.97,2.987,3.001,3.018,3.03,3.034,3.049,3.063,3.081,3.094,3.106,3.118,3.14,3.157,3.166,3.19,3.202,3.219,3.237,3.245,3.261,3.286,3.3,3.319,3.339,3.356,3.379,3.397,3.408,3.432,3.454,3.474,3.501,3.521,3.542,3.559,3.6,3.618,3.636,3.66,3.7,3.719,3.751,3.778,3.797,3.833,3.866,3.897,3.921,3.982,0.007,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.355,3.333,3.33,3.323,3.311,3.3,3.297,3.278,3.273,3.263,3.249,3.242,3.241,3.231,3.231,3.218,3.209,3.197,3.195,3.189,3.177,3.169,3.167,3.154,3.149,3.143,3.142,3.126,3.122,3.121,3.116,3.115,3.108,3.1,3.096,3.092,3.086,3.08,3.071,3.069,3.067,3.064,3.06,3.059,3.047,3.045,3.043,3.041,3.04,3.038,3.037,3.033,3.029,3.028,3.022,3.022,3.022,3.023,3.031,3.031,3.031,3.021,3.015,3.012,3.012,3.012,3.01,3.01,3.009,3.011,3.005,3.005,3.003,3.005,3.005,3.006,3.011,3.015,3.015,3.011,3.012,3.011,3.011,3.011,3.012,3.016,3.017,3.024,3.024,3.021,3.021,3.027,3.026,3.031,3.033,3.037,3.038,3.038,3.043,3.047,3.047,3.053,3.053,3.058,3.058,3.063,3.072,3.074,3.075,3.087,3.087,3.087,3.088,3.091,3.097,3.108,3.111,3.113,3.117,3.128,3.131,3.137,3.137,3.137,3.137,3.141,3.144,3.165,3.166,3.166,3.169,3.17,3.177,3.189,3.194,3.21,3.217,3.226,3.231,3.234,3.238,3.247,3.252,3.253,3.265,3.278,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 81.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 81.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 81.6437} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 5.6642} SEN {Time 81.6866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,3.691,3.675,3.66,3.658,3.653,3.62,3.62,3.62,3.62,3.601,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.215,3.215,3.215,3.215,3.265,3.355,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.142,0.144,0.146,0.148,0.151,0.151,0.152,0.152,0.152,0.154,3.029,3.032,3.036,3.036,3.032,3.032,0.157,0.157,0.156,0.156,0.156,0.154,0.149,0.148,0.145,0.125,0.104,0.069,0.065,0.062,0.062,0.062,0.062,0.066,0.066,0.066,0.066,0.064,0.064,0.064,0.064,0.075,0.137,0.203,3.334,3.356,3.365,3.365,3.365,3.366,3.384,3.384,3.398,3.412,0,0,0,3.486,3.486,3.486,3.497,3.502,3.506,3.506,3.514,3.515,3.518,3.519,3.522,3.522,3.527,3.536,3.54,3.541,3.544,3.545,3.549,3.55,3.557,3.561,3.571,3.572,3.576,3.576,3.576,3.581,3.594,3.602,3.603,3.614,3.622,3.623,3.638,3.642,3.643,3.645,3.65,3.652,3.654,3.663,3.668,3.678,3.693,3.698,3.703,3.704,3.722,3.729,3.73,3.744,3.751,3.752,3.764,3.775,3.777,3.799,3.805,3.809,3.831,3.833,3.836,3.844,3.861,3.881,3.881,3.896,3.901,3.92,3.923,3.944,3.95,3.972,3.983,4,4.015,4.027,4.038,4.065,4.081,4.091,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.041,3.989,3.961,3.928,3.907,3.873,3.838,3.813,3.784,3.751,3.721,3.694,3.668,3.659,3.628,3.61,3.572,3.558,3.525,3.51,3.488,3.459,3.432,3.425,3.405,3.371,3.366,3.343,3.342,3.306,3.288,3.273,3.26,3.226,3.226,3.197,3.186,3.174,3.152,3.142,3.115,3.103,3.093,3.087,3.064,3.038,3.037,3.023,3.016,3.002,2.988,2.976,2.958,2.951,2.938,2.927,2.919,2.894,2.891,2.871,2.871,2.865,2.842,2.841,2.821,2.813,2.812,2.796,2.785,2.785,2.763,2.76,2.744,2.737,2.728,2.719,2.712,2.712,2.693,2.688,2.681,2.673,2.663,2.658,2.652,2.65,2.638,2.636,2.626,2.612,2.609,2.608,2.593,2.585,2.581,2.575,2.575,2.568,2.566,2.557,2.545,2.54,2.534,2.528,2.518,2.516,2.509,2.508,2.506,2.502,2.497,2.495,2.488,2.487,2.48,2.476,2.476,2.47,2.465,2.464,2.457,2.456,2.449,2.448,2.442,2.442,2.441,2.441,2.439,2.434,2.433,2.433,2.431,2.43,2.424,2.424,2.423,2.415,2.415,2.415,2.413,2.413,2.412,2.412,2.412,2.412,2.414,2.414,2.412,2.412,2.408,2.408,2.412,2.412,2.412,2.413,2.414,2.413,2.414,2.414,2.414,2.419,2.42,2.42,2.42,2.42,2.423,2.423,2.423,2.425,2.429,2.429,2.435,2.44,2.438,2.442,2.443,2.446,2.447,2.449,2.454,2.457,2.459,2.461,2.461,2.467,2.472,2.474,2.48,2.486,2.489,2.491,2.496,2.497,2.501,2.51,2.512,2.514,2.522,2.528,2.528,2.537,2.539,2.548,2.552,2.558,2.563,2.563,2.572,2.589,2.6,2.604,2.609,2.609,2.615,2.62,2.631,2.632,2.636,2.65,2.652,2.666,2.674,2.675,2.686,2.697,2.702,2.713,2.723,2.728,2.742,2.752,2.754,2.777,2.78,2.786,2.796,2.811,2.818,2.829,2.839,2.844,2.859,2.867,2.881,2.888,2.905,2.914,2.927,2.948,2.952,2.962,2.972,2.987,2.994,3.009,3.02,3.043,3.043,3.069,3.079,3.1,3.107,3.126,3.141,3.162,3.167,3.18,3.207,3.215,3.246,3.251,3.268,3.28,3.295,3.326,3.335,3.348,3.38,3.397,3.408,3.434,3.456,3.487,3.492,3.512,3.546,3.563,3.58,3.609,3.629,3.664,3.673,3.715,3.749,3.775,3.804,3.832,3.855,3.892,3.92,3.953,3.982,4.095,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.352,3.335,3.328,3.313,3.311,3.297,3.294,3.277,3.265,3.253,3.248,3.246,3.238,3.237,3.221,3.213,3.208,3.198,3.187,3.178,3.175,3.172,3.162,3.153,3.145,3.14,3.135,3.132,3.124,3.124,3.114,3.112,3.107,3.1,3.092,3.091,3.089,3.084,3.079,3.074,3.068,3.062,3.057,3.056,3.056,3.056,3.044,3.044,3.042,3.04,3.039,3.036,3.035,3.027,3.023,3.023,3.023,3.023,3.027,3.027,3.027,3.02,3.018,3.017,3.014,3.011,3.01,3.007,3.005,3.005,3.007,3.005,3.007,3.008,3.008,3.003,3.008,3.01,3.01,3.011,3.016,3.017,3.017,3.017,3.015,3.015,3.014,3.015,3.023,3.023,3.023,3.025,3.025,3.032,3.032,3.032,3.034,3.036,3.038,3.044,3.048,3.053,3.059,3.063,3.063,3.063,3.064,3.069,3.077,3.086,3.087,3.09,3.092,3.094,3.1,3.11,3.114,3.117,3.121,3.136,3.136,3.136,3.139,3.14,3.14,3.145,3.149,3.163,3.166,3.167,3.169,3.17,3.17,3.187,3.194,3.219,3.221,3.222,3.23,3.232,3.235,3.24,3.247,3.255,3.258,3.276,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 81.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 81.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 81.8435} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 5.6642} SEN {Time 81.8866} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.174,0.181,0.187,0,0,0,0,0,0,0,0,3.694,3.678,3.669,3.663,3.656,3.637,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.228,3.214,3.213,3.213,3.214,3.263,3.36,0,0,0,0,0,0,0,0.144,0.143,0.143,0.14,0.14,0.143,0.144,0.144,0.15,0.153,0.153,0.153,0.153,0.153,3.03,3.032,3.034,3.034,3.032,3.034,3.034,0.154,0.154,0.154,0.153,0.153,0.149,0.148,0.148,0.129,0.107,0.079,0.061,0.061,0.061,0.061,0.064,0.066,0.066,0.067,0.065,0.065,0.063,0.063,0.063,0.081,0.142,0.208,3.337,3.367,3.367,3.367,3.37,3.37,3.38,3.405,3.419,3.419,3.436,3.464,3.464,3.471,3.487,3.487,3.494,3.496,3.502,3.502,3.503,3.503,3.519,3.52,3.525,3.525,3.527,3.53,3.534,3.535,3.541,3.545,3.546,3.552,3.553,3.556,3.565,3.577,3.579,3.581,3.582,3.587,3.589,3.598,3.614,3.619,3.624,3.631,3.635,3.636,3.636,3.652,3.656,3.658,3.66,3.671,3.676,3.683,3.689,3.696,3.699,3.706,3.721,3.723,3.726,3.744,3.746,3.753,3.761,3.761,3.79,3.801,3.804,3.818,3.819,3.827,3.835,3.842,3.87,3.878,3.883,3.889,3.907,3.914,3.921,3.943,3.948,3.977,3.979,3.993,4.017,4.026,4.053,4.057,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.067,3.992,3.96,3.924,3.902,3.872,3.84,3.815,3.795,3.75,3.724,3.704,3.667,3.644,3.618,3.584,3.579,3.547,3.521,3.514,3.487,3.451,3.448,3.408,3.4,3.394,3.367,3.353,3.329,3.319,3.295,3.273,3.257,3.235,3.221,3.202,3.195,3.165,3.148,3.13,3.121,3.107,3.095,3.083,3.065,3.046,3.035,3.027,3.016,2.997,2.983,2.978,2.963,2.95,2.935,2.921,2.921,2.901,2.893,2.873,2.872,2.861,2.852,2.831,2.825,2.814,2.805,2.796,2.784,2.78,2.766,2.762,2.751,2.739,2.734,2.72,2.714,2.706,2.697,2.679,2.679,2.673,2.664,2.663,2.647,2.647,2.638,2.633,2.623,2.613,2.606,2.599,2.594,2.586,2.578,2.574,2.563,2.561,2.558,2.557,2.546,2.543,2.538,2.53,2.525,2.522,2.516,2.508,2.506,2.498,2.495,2.492,2.489,2.488,2.481,2.472,2.472,2.465,2.463,2.463,2.457,2.454,2.449,2.447,2.447,2.447,2.446,2.444,2.441,2.437,2.435,2.427,2.425,2.425,2.425,2.424,2.424,2.418,2.417,2.415,2.414,2.411,2.41,2.41,2.41,2.41,2.414,2.415,2.414,2.414,2.413,2.413,2.413,2.413,2.416,2.416,2.416,2.414,2.414,2.414,2.415,2.417,2.42,2.42,2.42,2.424,2.424,2.424,2.425,2.426,2.425,2.429,2.434,2.436,2.44,2.441,2.448,2.449,2.453,2.453,2.458,2.459,2.462,2.466,2.468,2.47,2.47,2.47,2.474,2.477,2.487,2.49,2.494,2.495,2.501,2.509,2.513,2.514,2.52,2.521,2.534,2.534,2.538,2.546,2.554,2.556,2.566,2.57,2.572,2.591,2.596,2.601,2.602,2.603,2.62,2.621,2.636,2.636,2.644,2.647,2.659,2.667,2.675,2.678,2.682,2.694,2.698,2.717,2.72,2.726,2.74,2.747,2.751,2.765,2.782,2.784,2.795,2.806,2.819,2.83,2.84,2.843,2.854,2.867,2.879,2.883,2.896,2.919,2.919,2.938,2.947,2.962,2.974,2.988,3.002,3.018,3.02,3.047,3.047,3.062,3.082,3.091,3.102,3.118,3.137,3.156,3.173,3.179,3.192,3.226,3.229,3.25,3.266,3.285,3.29,3.321,3.339,3.352,3.373,3.396,3.402,3.434,3.45,3.473,3.502,3.513,3.534,3.569,3.597,3.612,3.638,3.658,3.694,3.724,3.741,3.772,3.804,3.843,3.863,3.9,3.917,3.944,3.99,4.028,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.347,3.345,3.342,3.321,3.315,3.299,3.292,3.278,3.266,3.258,3.248,3.244,3.23,3.227,3.226,3.22,3.207,3.193,3.189,3.18,3.18,3.172,3.163,3.158,3.149,3.142,3.141,3.129,3.124,3.117,3.112,3.111,3.103,3.102,3.092,3.09,3.083,3.081,3.079,3.079,3.07,3.066,3.061,3.058,3.052,3.048,3.042,3.04,3.04,3.04,3.04,3.04,3.031,3.03,3.03,3.021,3.021,3.021,3.03,3.03,3.03,3.017,3.017,3.016,3.015,3.014,3.015,3.014,3.014,3.012,3.009,3.009,3.009,3.005,3.005,3.005,3.009,3.013,3.013,3.016,3.016,3.015,3.01,3.012,3.012,3.015,3.02,3.021,3.021,3.021,3.023,3.023,3.022,3.023,3.032,3.034,3.034,3.035,3.035,3.04,3.051,3.051,3.052,3.059,3.061,3.066,3.068,3.068,3.081,3.086,3.092,3.092,3.092,3.092,3.098,3.104,3.109,3.11,3.113,3.134,3.134,3.136,3.136,3.138,3.138,3.144,3.15,3.156,3.159,3.165,3.169,3.177,3.177,3.187,3.198,3.215,3.22,3.226,3.226,3.227,3.24,3.241,3.248,3.248,3.252,3.276,3.277,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 82.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 82.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 82.0454} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7112} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 4.9022} SEN {Time 82.0826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.185,0.188,0.188,0,0,0,0,0,0,0,0,3.687,3.682,3.66,3.659,3.643,3.628,3.61,3.61,3.61,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.227,3.224,3.224,3.257,3.36,3.36,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.144,0.144,0.144,0.153,0.149,0.153,0.153,0.153,0.159,3.03,3.032,3.034,3.034,3.032,3.034,3.034,0.154,0.154,0.154,0.154,0.154,0.148,0.148,0.144,0.128,0.108,0.073,0.063,0.059,0.059,0.059,0.067,0.067,0.067,0.064,0.063,0.063,0.063,0.063,0.064,0.083,0.143,0.214,3.336,3.362,3.363,3.363,3.371,3.377,3.389,3.404,3.415,3.415,3.428,3.437,3.455,3.466,3.473,3.476,3.485,3.493,3.495,3.502,3.502,3.513,3.519,3.521,3.524,3.524,3.526,3.535,3.536,3.538,3.542,3.543,3.545,3.553,3.553,3.561,3.565,3.569,3.571,3.573,3.583,3.592,3.594,3.596,3.603,3.604,3.624,3.625,3.628,3.633,3.636,3.643,3.651,3.659,3.666,3.668,3.67,3.675,3.686,3.689,3.694,3.707,3.71,3.731,3.737,3.74,3.745,3.751,3.768,3.773,3.783,3.797,3.798,3.816,3.823,3.83,3.845,3.849,3.864,3.876,3.882,3.904,3.907,3.908,3.927,3.954,3.956,3.973,3.984,3.993,4.015,4.041,4.042,4.046,4.074,4.093,0.016,0.016,0.016,0.016,0.007,0.016,0.016,4.047,4.034,3.972,3.937,3.903,3.876,3.848,3.822,3.78,3.75,3.733,3.699,3.672,3.649,3.622,3.6,3.571,3.548,3.521,3.509,3.487,3.474,3.438,3.424,3.397,3.385,3.365,3.351,3.332,3.312,3.295,3.278,3.252,3.232,3.223,3.196,3.188,3.164,3.15,3.137,3.128,3.109,3.099,3.077,3.064,3.048,3.042,3.029,3.009,3.001,2.984,2.977,2.959,2.943,2.94,2.922,2.917,2.897,2.892,2.873,2.869,2.858,2.85,2.846,2.828,2.814,2.8,2.796,2.784,2.782,2.769,2.759,2.748,2.733,2.73,2.722,2.714,2.697,2.696,2.683,2.676,2.668,2.653,2.651,2.649,2.645,2.638,2.634,2.626,2.618,2.606,2.602,2.598,2.586,2.581,2.579,2.57,2.568,2.567,2.558,2.557,2.538,2.534,2.533,2.53,2.519,2.51,2.507,2.5,2.5,2.494,2.488,2.484,2.482,2.479,2.477,2.471,2.467,2.465,2.46,2.457,2.457,2.451,2.449,2.448,2.446,2.443,2.442,2.435,2.435,2.433,2.426,2.426,2.426,2.426,2.419,2.419,2.418,2.417,2.415,2.416,2.414,2.414,2.414,2.414,2.414,2.414,2.412,2.408,2.405,2.405,2.405,2.408,2.409,2.413,2.413,2.413,2.41,2.413,2.415,2.414,2.415,2.415,2.415,2.417,2.419,2.419,2.419,2.419,2.429,2.432,2.433,2.433,2.435,2.438,2.44,2.44,2.441,2.449,2.449,2.452,2.452,2.455,2.464,2.467,2.472,2.476,2.477,2.477,2.48,2.489,2.495,2.495,2.495,2.502,2.506,2.513,2.515,2.521,2.525,2.527,2.53,2.537,2.555,2.556,2.561,2.569,2.572,2.581,2.593,2.601,2.604,2.611,2.612,2.612,2.617,2.632,2.634,2.635,2.648,2.658,2.66,2.678,2.683,2.683,2.7,2.703,2.716,2.722,2.726,2.734,2.752,2.758,2.767,2.777,2.789,2.791,2.806,2.819,2.832,2.84,2.842,2.865,2.868,2.881,2.891,2.897,2.91,2.926,2.942,2.951,2.953,2.977,2.979,2.99,3.011,3.022,3.045,3.047,3.056,3.073,3.097,3.114,3.122,3.133,3.148,3.17,3.186,3.203,3.221,3.23,3.253,3.266,3.278,3.292,3.323,3.335,3.359,3.375,3.401,3.404,3.44,3.458,3.478,3.507,3.525,3.535,3.576,3.594,3.614,3.644,3.658,3.691,3.714,3.738,3.785,3.793,3.83,3.868,3.893,3.909,3.951,4.001,4.024,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.354,3.349,3.328,3.32,3.305,3.291,3.282,3.282,3.263,3.254,3.247,3.241,3.24,3.238,3.219,3.214,3.207,3.2,3.19,3.187,3.177,3.169,3.163,3.158,3.154,3.141,3.139,3.128,3.122,3.119,3.118,3.113,3.104,3.097,3.094,3.091,3.084,3.081,3.077,3.074,3.068,3.065,3.064,3.06,3.055,3.052,3.045,3.044,3.041,3.038,3.038,3.03,3.029,3.025,3.023,3.018,3.018,3.018,3.031,3.031,3.031,3.019,3.017,3.013,3.009,3.009,3.009,3.009,3.01,3.01,3.01,3.01,3.007,3.006,3.006,3.006,3.006,3.008,3.009,3.009,3.01,3.012,3.012,3.014,3.014,3.017,3.021,3.021,3.022,3.022,3.022,3.024,3.026,3.031,3.034,3.038,3.038,3.042,3.044,3.044,3.052,3.054,3.057,3.058,3.058,3.065,3.067,3.072,3.075,3.087,3.089,3.09,3.092,3.093,3.099,3.109,3.11,3.112,3.122,3.127,3.127,3.136,3.136,3.136,3.136,3.147,3.15,3.155,3.157,3.159,3.17,3.171,3.178,3.18,3.201,3.218,3.219,3.23,3.234,3.235,3.239,3.24,3.252,3.253,3.266,3.281,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 82.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 82.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 82.2374} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7112} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 4.9022} SEN {Time 82.2826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.18,0.181,0.189,0,0,0,0,0,0,0,0,3.689,3.683,3.672,3.667,3.653,3.627,3.622,3.622,3.622,0.006,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.236,3.224,3.219,3.218,3.209,3.209,3.209,3.256,3.36,0,0,0,0,0,0,0,0.148,0.144,0.144,0.144,0.144,0.144,0.144,0.145,0.152,0.147,0.152,0.152,0.157,0.158,3.028,3.034,3.035,3.035,3.034,3.034,0.16,0.159,0.158,0.158,0.156,0.154,0.153,0.152,0.152,0.128,0.107,0.078,0.064,0.062,0.061,0.061,0.062,0.064,0.065,0.065,0.065,0.065,0.064,0.064,0.064,0.078,0.135,0.212,3.341,3.343,3.36,3.36,3.366,3.368,3.379,3.379,3.412,0.007,3.457,3.457,3.485,3.485,3.487,3.492,3.492,3.495,3.502,3.508,3.511,3.514,3.515,3.524,3.525,3.527,3.529,3.537,3.541,3.542,3.545,3.545,3.545,3.546,3.546,3.565,3.565,3.575,3.578,3.578,3.587,3.589,3.591,3.602,3.606,3.616,3.625,3.631,3.635,3.641,3.648,3.648,3.651,3.655,3.66,3.662,3.672,3.686,3.692,3.694,3.697,3.71,3.719,3.726,3.727,3.751,3.751,3.753,3.757,3.771,3.777,3.793,3.801,3.811,3.82,3.842,3.844,3.851,3.861,3.879,3.885,3.896,3.897,3.911,3.923,3.934,3.957,3.976,3.979,4.007,4.012,4.032,4.046,4.065,4.074,4.09,0.016,0.016,0.016,0.016,0.016,4.089,4.039,4.029,3.994,3.994,3.961,3.927,3.862,3.831,3.813,3.782,3.739,3.723,3.694,3.663,3.642,3.62,3.6,3.571,3.549,3.531,3.516,3.476,3.465,3.438,3.418,3.409,3.38,3.368,3.348,3.334,3.303,3.29,3.273,3.255,3.243,3.222,3.2,3.192,3.167,3.159,3.14,3.118,3.109,3.094,3.076,3.063,3.048,3.032,3.022,3.011,3.003,2.989,2.972,2.962,2.951,2.937,2.926,2.926,2.914,2.893,2.88,2.871,2.852,2.847,2.836,2.828,2.816,2.811,2.791,2.789,2.784,2.769,2.763,2.746,2.746,2.731,2.719,2.713,2.699,2.694,2.687,2.675,2.674,2.669,2.661,2.655,2.65,2.637,2.635,2.624,2.617,2.612,2.606,2.604,2.595,2.581,2.581,2.572,2.568,2.568,2.555,2.547,2.545,2.534,2.527,2.522,2.518,2.515,2.511,2.498,2.496,2.493,2.493,2.486,2.483,2.48,2.476,2.47,2.47,2.467,2.464,2.461,2.458,2.454,2.45,2.444,2.444,2.443,2.44,2.438,2.438,2.436,2.429,2.428,2.428,2.428,2.428,2.428,2.417,2.417,2.417,2.418,2.418,2.418,2.416,2.414,2.413,2.409,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.416,2.416,2.416,2.416,2.414,2.414,2.416,2.423,2.423,2.423,2.415,2.415,2.415,2.424,2.424,2.425,2.428,2.43,2.431,2.431,2.437,2.437,2.438,2.446,2.449,2.455,2.456,2.456,2.458,2.46,2.462,2.471,2.473,2.474,2.48,2.485,2.49,2.496,2.496,2.497,2.497,2.516,2.518,2.52,2.523,2.534,2.535,2.537,2.537,2.545,2.549,2.556,2.561,2.569,2.575,2.587,2.594,2.604,2.606,2.608,2.611,2.623,2.629,2.637,2.641,2.642,2.651,2.66,2.669,2.672,2.687,2.697,2.706,2.715,2.722,2.737,2.74,2.748,2.75,2.764,2.776,2.792,2.801,2.804,2.811,2.827,2.838,2.842,2.86,2.87,2.874,2.895,2.904,2.918,2.926,2.946,2.948,2.957,2.972,2.982,2.998,3.019,3.02,3.044,3.045,3.068,3.082,3.09,3.105,3.12,3.137,3.152,3.164,3.182,3.202,3.213,3.243,3.245,3.256,3.271,3.296,3.329,3.337,3.35,3.375,3.4,3.41,3.433,3.459,3.49,3.498,3.511,3.549,3.566,3.594,3.624,3.644,3.672,3.683,3.727,3.753,3.794,3.797,3.838,3.85,3.899,3.919,3.95,3.998,4.028,4.057,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.34,3.333,3.324,3.324,3.31,3.287,3.278,3.275,3.259,3.246,3.245,3.235,3.234,3.22,3.216,3.209,3.192,3.192,3.182,3.175,3.169,3.159,3.157,3.153,3.146,3.136,3.126,3.12,3.12,3.114,3.114,3.106,3.104,3.092,3.092,3.085,3.079,3.074,3.067,3.066,3.064,3.064,3.059,3.054,3.049,3.048,3.042,3.041,3.04,3.04,3.034,3.029,3.029,3.023,3.02,3.02,3.02,3.029,3.029,3.029,3.016,3.015,3.012,3.012,3.012,3.012,3.011,3.011,3.011,3.006,3.005,3.005,3.006,3.006,3.006,3.009,3.01,3.01,3.017,3.017,3.017,3.017,3.02,3.021,3.022,3.022,3.024,3.024,3.023,3.023,3.026,3.029,3.03,3.031,3.031,3.034,3.035,3.037,3.041,3.045,3.048,3.055,3.056,3.062,3.063,3.063,3.068,3.079,3.088,3.091,3.091,3.092,3.097,3.097,3.106,3.112,3.115,3.121,3.127,3.127,3.131,3.137,3.137,3.137,3.143,3.151,3.16,3.165,3.166,3.167,3.174,3.175,3.194,3.199,3.218,3.226,3.227,3.229,3.23,3.24,3.24,3.24,3.246,3.257,3.274,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 82.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 82.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 82.4385} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.7112} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.9022} SEN {Time 82.4826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,0,0,0,0,3.685,3.68,3.676,3.662,3.652,3.63,3.616,3.616,3.597,3.597,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.246,3.228,3.219,3.218,3.211,3.211,3.211,3.256,3.366,0,0,0,0,0,0,0,0,0.148,0.144,0.144,0.144,0.144,0.146,0.15,0.152,0.152,0.153,0.153,0.159,0.162,3.034,3.04,3.04,3.04,3.034,3.041,3.03,0.161,0.161,0.161,0.161,0.156,0.153,0.146,0.146,0.118,0.099,0.069,0.061,0.059,0.059,0.059,0.063,0.063,0.064,0.064,0.065,0.064,0.065,0.065,0.065,0.086,0.146,0.229,3.35,3.35,3.357,3.357,3.367,3.381,3.384,3.405,0,3.434,3.452,3.469,3.469,3.468,3.469,3.483,3.494,3.498,3.501,3.501,3.501,3.508,3.517,3.518,3.52,3.527,3.528,3.532,3.546,3.546,3.546,3.547,3.549,3.549,3.554,3.559,3.564,3.569,3.572,3.581,3.585,3.585,3.595,3.606,3.609,3.614,3.632,3.634,3.635,3.635,3.644,3.65,3.65,3.652,3.662,3.672,3.681,3.682,3.684,3.685,3.694,3.706,3.711,3.727,3.74,3.746,3.754,3.762,3.763,3.765,3.777,3.794,3.805,3.808,3.831,3.837,3.839,3.855,3.862,3.875,3.887,3.9,3.903,3.921,3.928,3.941,3.97,3.98,3.983,3.998,4.019,4.026,4.044,4.065,4.082,4.082,0.016,0.016,0.016,0.016,0.016,4.094,4.046,4.016,3.989,3.971,3.935,3.899,3.871,3.841,3.826,3.794,3.754,3.721,3.702,3.666,3.644,3.613,3.596,3.575,3.553,3.521,3.516,3.479,3.459,3.446,3.403,3.392,3.387,3.367,3.34,3.331,3.314,3.292,3.279,3.26,3.236,3.234,3.193,3.184,3.176,3.156,3.144,3.123,3.111,3.101,3.076,3.066,3.044,3.033,3.028,3.015,2.998,2.98,2.979,2.958,2.954,2.932,2.922,2.919,2.908,2.891,2.868,2.866,2.855,2.853,2.841,2.825,2.809,2.808,2.803,2.784,2.776,2.765,2.763,2.752,2.739,2.736,2.719,2.706,2.699,2.699,2.68,2.676,2.67,2.66,2.656,2.655,2.647,2.635,2.632,2.626,2.611,2.61,2.607,2.595,2.594,2.584,2.58,2.574,2.568,2.56,2.558,2.554,2.544,2.541,2.535,2.521,2.52,2.508,2.507,2.503,2.501,2.497,2.483,2.481,2.481,2.478,2.476,2.473,2.473,2.472,2.465,2.457,2.453,2.451,2.446,2.445,2.445,2.444,2.439,2.438,2.438,2.432,2.427,2.425,2.425,2.423,2.424,2.423,2.423,2.423,2.417,2.416,2.415,2.415,2.415,2.411,2.411,2.411,2.409,2.405,2.408,2.406,2.406,2.408,2.408,2.412,2.412,2.412,2.408,2.412,2.412,2.417,2.417,2.417,2.419,2.417,2.419,2.417,2.419,2.423,2.428,2.428,2.43,2.433,2.434,2.436,2.438,2.438,2.441,2.445,2.448,2.456,2.458,2.461,2.462,2.47,2.473,2.473,2.473,2.476,2.486,2.488,2.489,2.493,2.496,2.499,2.512,2.515,2.519,2.521,2.521,2.525,2.528,2.539,2.556,2.556,2.56,2.562,2.566,2.577,2.591,2.595,2.602,2.608,2.611,2.611,2.621,2.633,2.638,2.64,2.65,2.656,2.663,2.671,2.683,2.687,2.701,2.703,2.717,2.721,2.725,2.741,2.747,2.749,2.762,2.781,2.794,2.798,2.809,2.811,2.836,2.842,2.842,2.856,2.871,2.882,2.892,2.894,2.911,2.927,2.941,2.95,2.957,2.972,2.98,2.999,3.018,3.02,3.037,3.046,3.07,3.08,3.093,3.105,3.126,3.142,3.159,3.168,3.186,3.201,3.227,3.237,3.248,3.254,3.281,3.296,3.325,3.334,3.358,3.369,3.388,3.416,3.435,3.449,3.483,3.498,3.522,3.54,3.563,3.592,3.622,3.636,3.665,3.699,3.719,3.748,3.779,3.804,3.844,3.87,3.886,3.915,3.952,4.024,4.072,0,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.361,3.338,3.336,3.315,3.305,3.298,3.288,3.276,3.273,3.259,3.251,3.246,3.24,3.239,3.212,3.208,3.203,3.198,3.192,3.183,3.181,3.175,3.157,3.157,3.156,3.152,3.136,3.13,3.124,3.118,3.116,3.114,3.109,3.103,3.092,3.091,3.082,3.082,3.079,3.075,3.073,3.063,3.059,3.055,3.049,3.047,3.044,3.042,3.042,3.042,3.041,3.038,3.029,3.028,3.024,3.022,3.022,3.022,3.025,3.025,3.025,3.019,3.018,3.015,3.015,3.014,3.009,3.007,3.009,3.006,3.006,3.006,3.007,3.007,3.007,3.007,3.009,3.012,3.009,3.009,3.012,3.012,3.009,3.012,3.014,3.014,3.018,3.019,3.026,3.026,3.026,3.029,3.03,3.033,3.034,3.035,3.035,3.038,3.04,3.044,3.05,3.053,3.056,3.056,3.061,3.064,3.067,3.07,3.076,3.09,3.091,3.092,3.092,3.092,3.106,3.11,3.111,3.113,3.114,3.135,3.135,3.135,3.14,3.14,3.14,3.148,3.148,3.154,3.159,3.161,3.169,3.172,3.179,3.19,3.191,3.216,3.217,3.221,3.231,3.232,3.236,3.241,3.241,3.252,3.257,3.283,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 82.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 82.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 82.6394} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.8006} SEN {Time 82.6826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.178,0.189,0.189,0,0,0,0,0,0,0,0,3.679,3.679,3.666,3.655,3.641,3.63,3.617,3.617,3.617,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.221,3.218,3.211,3.211,3.211,3.264,3.358,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.155,0.146,0.153,0.153,0.153,0.153,3.03,3.032,3.032,3.032,3.032,3.032,3.032,0.153,0.153,0.153,0.152,0.152,0.149,0.147,0.145,0.119,0.106,0.068,0.06,0.06,0.06,0.06,0.06,0.064,0.07,0.07,0.065,0.065,0.065,0.065,0.069,0.094,0.16,0,0,0,3.39,3.365,3.363,3.365,3.39,3.416,0,0.007,3.46,3.46,3.466,3.466,3.472,3.492,3.494,3.496,3.497,3.505,3.507,3.507,3.517,3.521,3.521,3.521,3.536,3.537,3.537,3.54,3.546,3.546,3.547,3.553,3.558,3.567,3.568,3.57,3.572,3.577,3.579,3.588,3.591,3.596,3.599,3.602,3.621,3.625,3.632,3.642,3.651,3.653,3.654,3.663,3.664,3.668,3.669,3.683,3.689,3.694,3.696,3.703,3.71,3.722,3.735,3.74,3.75,3.757,3.768,3.769,3.779,3.784,3.803,3.82,3.822,3.828,3.831,3.856,3.868,3.87,3.878,3.896,3.904,3.914,3.923,3.958,3.965,3.976,3.984,4,4.015,4.036,4.048,4.055,4.082,4.094,0.016,0.016,0.016,0.007,0.016,4.094,4.05,4.018,3.99,3.973,3.937,3.91,3.876,3.831,3.814,3.781,3.747,3.718,3.696,3.687,3.653,3.627,3.595,3.579,3.553,3.531,3.509,3.467,3.459,3.441,3.42,3.409,3.381,3.37,3.354,3.353,3.313,3.297,3.273,3.265,3.232,3.207,3.202,3.184,3.168,3.148,3.134,3.122,3.109,3.096,3.089,3.062,3.04,3.039,3.03,3.011,3.001,2.986,2.972,2.968,2.959,2.938,2.924,2.923,2.902,2.885,2.873,2.868,2.856,2.855,2.833,2.831,2.817,2.807,2.793,2.784,2.778,2.775,2.763,2.752,2.742,2.734,2.72,2.718,2.703,2.695,2.687,2.678,2.668,2.661,2.66,2.649,2.644,2.641,2.632,2.619,2.618,2.61,2.605,2.6,2.588,2.581,2.58,2.572,2.57,2.554,2.552,2.544,2.542,2.538,2.538,2.524,2.524,2.516,2.507,2.505,2.496,2.495,2.494,2.487,2.485,2.484,2.481,2.468,2.465,2.463,2.458,2.454,2.454,2.454,2.449,2.446,2.446,2.446,2.442,2.442,2.436,2.436,2.423,2.423,2.423,2.427,2.427,2.427,2.419,2.419,2.417,2.417,2.414,2.414,2.414,2.414,2.414,2.413,2.408,2.408,2.409,2.408,2.408,2.409,2.413,2.413,2.414,2.414,2.414,2.416,2.416,2.416,2.419,2.419,2.42,2.419,2.421,2.42,2.421,2.421,2.424,2.43,2.431,2.432,2.433,2.439,2.441,2.441,2.446,2.45,2.451,2.451,2.454,2.455,2.461,2.47,2.471,2.473,2.476,2.482,2.484,2.485,2.493,2.494,2.501,2.504,2.51,2.512,2.512,2.514,2.519,2.527,2.529,2.533,2.549,2.551,2.557,2.564,2.568,2.578,2.592,2.595,2.603,2.608,2.612,2.618,2.625,2.635,2.636,2.643,2.647,2.647,2.664,2.676,2.676,2.684,2.697,2.698,2.714,2.717,2.725,2.741,2.743,2.754,2.764,2.78,2.796,2.8,2.801,2.821,2.831,2.836,2.841,2.85,2.875,2.876,2.888,2.909,2.916,2.929,2.943,2.944,2.956,2.973,2.983,3.002,3.013,3.023,3.035,3.044,3.068,3.078,3.093,3.099,3.121,3.139,3.151,3.166,3.184,3.195,3.218,3.226,3.247,3.259,3.278,3.295,3.318,3.335,3.347,3.376,3.4,3.41,3.431,3.453,3.48,3.503,3.527,3.545,3.565,3.598,3.614,3.635,3.653,3.692,3.72,3.748,3.789,3.794,3.848,3.868,3.927,0.007,4.028,4.028,0,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.348,3.344,3.325,3.315,3.308,3.294,3.292,3.283,3.268,3.262,3.245,3.243,3.24,3.238,3.213,3.212,3.212,3.203,3.189,3.185,3.176,3.174,3.156,3.151,3.146,3.143,3.135,3.129,3.117,3.116,3.113,3.113,3.113,3.111,3.09,3.087,3.083,3.079,3.077,3.075,3.075,3.071,3.064,3.058,3.05,3.043,3.043,3.043,3.043,3.04,3.037,3.037,3.036,3.029,3.029,3.026,3.026,3.026,3.028,3.028,3.028,3.022,3.02,3.015,3.015,3.015,3.014,3.01,3.008,3.008,3.008,3.007,3.004,3.004,3.006,3.004,3.006,3.012,3.012,3.012,3.013,3.012,3.013,3.014,3.014,3.021,3.021,3.021,3.024,3.024,3.026,3.029,3.029,3.032,3.032,3.032,3.032,3.033,3.04,3.043,3.05,3.052,3.054,3.06,3.06,3.061,3.062,3.073,3.082,3.088,3.088,3.09,3.09,3.09,3.096,3.109,3.11,3.11,3.121,3.129,3.133,3.136,3.136,3.143,3.139,3.144,3.146,3.157,3.158,3.168,3.168,3.175,3.178,3.189,3.202,3.212,3.214,3.219,3.228,3.231,3.239,3.239,3.239,3.247,3.259,3.276,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 82.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 82.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 82.8403} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.8006} SEN {Time 82.8826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0,3.682,3.676,3.66,3.659,3.648,3.633,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.207,3.206,3.207,3.207,3.255,3.368,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.146,0.146,0.148,0.149,0.149,0.148,0.149,0.148,0.148,0.152,3.034,3.034,3.034,3.034,3.033,3.033,3.033,0.159,0.159,0.159,0.154,0.153,0.148,0.143,0.141,0.108,0.087,0.063,0.062,0.06,0.059,0.059,0.059,0.067,0.067,0.07,0.07,0.064,0.064,0.068,0.068,0.109,0.179,3.33,3.348,3.355,3.355,3.363,3.364,3.372,3.381,3.381,3.433,3.441,3.455,3.455,3.455,3.468,3.482,3.489,3.5,3.507,3.507,3.508,3.508,3.517,3.517,3.519,3.522,3.526,3.526,3.532,3.533,3.535,3.543,3.55,3.552,3.552,3.555,3.565,3.566,3.568,3.579,3.579,3.58,3.589,3.604,3.605,3.609,3.619,3.628,3.632,3.636,3.64,3.643,3.647,3.647,3.659,3.66,3.671,3.673,3.684,3.688,3.692,3.696,3.71,3.718,3.727,3.735,3.746,3.751,3.758,3.766,3.767,3.788,3.798,3.799,3.816,3.822,3.841,3.843,3.86,3.86,3.862,3.875,3.903,3.907,3.924,3.94,3.947,3.958,3.971,3.989,3.997,4.012,4.035,4.049,4.069,4.081,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.088,4.052,3.985,3.968,3.933,3.888,3.884,3.847,3.818,3.793,3.749,3.744,3.693,3.67,3.649,3.624,3.593,3.566,3.549,3.529,3.512,3.487,3.456,3.448,3.424,3.401,3.373,3.369,3.345,3.333,3.308,3.294,3.278,3.259,3.234,3.228,3.2,3.197,3.17,3.154,3.136,3.132,3.107,3.099,3.081,3.059,3.053,3.053,3.038,3.024,3,2.991,2.982,2.96,2.95,2.94,2.928,2.91,2.904,2.89,2.876,2.872,2.855,2.853,2.831,2.825,2.819,2.803,2.794,2.789,2.782,2.772,2.76,2.748,2.736,2.734,2.724,2.714,2.701,2.694,2.686,2.679,2.671,2.661,2.656,2.645,2.643,2.635,2.628,2.625,2.616,2.608,2.608,2.604,2.599,2.581,2.578,2.57,2.567,2.558,2.558,2.558,2.54,2.538,2.528,2.525,2.525,2.511,2.506,2.501,2.496,2.493,2.491,2.488,2.486,2.474,2.474,2.471,2.467,2.466,2.463,2.459,2.456,2.454,2.453,2.45,2.446,2.446,2.444,2.438,2.437,2.435,2.43,2.426,2.426,2.426,2.425,2.42,2.419,2.417,2.417,2.417,2.415,2.414,2.412,2.41,2.41,2.41,2.41,2.407,2.41,2.41,2.41,2.41,2.41,2.415,2.413,2.415,2.413,2.413,2.413,2.416,2.416,2.416,2.419,2.416,2.419,2.419,2.42,2.42,2.424,2.43,2.43,2.431,2.432,2.438,2.44,2.442,2.447,2.448,2.452,2.453,2.455,2.46,2.465,2.468,2.47,2.47,2.473,2.477,2.487,2.488,2.491,2.493,2.493,2.497,2.515,2.517,2.523,2.525,2.53,2.535,2.536,2.539,2.549,2.549,2.559,2.565,2.571,2.578,2.593,2.594,2.6,2.607,2.609,2.617,2.628,2.633,2.64,2.644,2.649,2.654,2.661,2.675,2.679,2.686,2.699,2.699,2.717,2.724,2.733,2.744,2.755,2.758,2.769,2.783,2.795,2.796,2.806,2.819,2.83,2.838,2.845,2.855,2.87,2.886,2.891,2.9,2.915,2.928,2.947,2.953,2.964,2.974,2.978,3.001,3.014,3.027,3.045,3.046,3.068,3.084,3.086,3.105,3.129,3.141,3.154,3.161,3.179,3.189,3.22,3.23,3.252,3.265,3.278,3.309,3.325,3.341,3.348,3.369,3.4,3.412,3.436,3.452,3.476,3.508,3.522,3.547,3.568,3.6,3.613,3.645,3.675,3.695,3.717,3.753,3.784,3.802,3.823,3.875,3.895,3.922,3.948,3.995,4.03,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.359,3.34,3.319,3.319,3.306,3.295,3.288,3.284,3.268,3.253,3.25,3.244,3.237,3.235,3.219,3.213,3.206,3.201,3.19,3.184,3.178,3.169,3.157,3.153,3.148,3.137,3.134,3.129,3.123,3.121,3.116,3.108,3.106,3.098,3.092,3.091,3.088,3.086,3.08,3.073,3.068,3.067,3.063,3.053,3.052,3.048,3.046,3.04,3.04,3.037,3.035,3.029,3.029,3.029,3.029,3.021,3.021,3.021,3.031,3.031,3.031,3.018,3.018,3.014,3.013,3.013,3.014,3.013,3.013,3.009,3.009,3.007,3.007,3.009,3.01,3.011,3.013,3.016,3.016,3.016,3.016,3.015,3.015,3.015,3.015,3.018,3.018,3.019,3.019,3.019,3.019,3.023,3.032,3.032,3.033,3.032,3.032,3.029,3.035,3.043,3.047,3.052,3.056,3.06,3.063,3.063,3.064,3.071,3.073,3.087,3.092,3.092,3.093,3.093,3.097,3.11,3.114,3.116,3.12,3.131,3.131,3.131,3.133,3.133,3.133,3.148,3.148,3.157,3.159,3.16,3.174,3.175,3.181,3.193,3.201,3.205,3.219,3.227,3.229,3.233,3.235,3.235,3.242,3.25,3.263,3.276,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 83.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 83.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 83.0333} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.8006} SEN {Time 83.0826} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.18,0.18,0.185,0.185,0,0,0,0,0,0,0,0,3.69,3.676,3.663,3.656,3.639,3.63,3.613,3.613,3.613,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.22,3.211,3.211,3.22,3.265,3.359,0,0,0,0,0,0,0,0.146,0.145,0.145,0.145,0.145,0.148,0.148,0.152,0.155,0.153,0.155,0.155,0.156,0.156,3.038,3.038,3.038,3.038,3.037,3.036,0.16,0.16,0.159,0.159,0.155,0.154,0.148,0.146,0.144,0.114,0.095,0.061,0.061,0.06,0.06,0.061,0.061,0.066,0.067,0.067,0.066,0.064,0.064,0.064,0.067,0.1,0.178,3.338,3.346,3.364,3.364,3.373,3.373,3.384,3.384,3.425,3.425,3.438,3.445,3.445,3.455,3.474,3.476,3.485,3.499,3.5,3.5,3.5,3.5,3.506,3.516,3.52,3.52,3.526,3.533,3.532,3.532,3.541,3.541,3.543,3.543,3.55,3.551,3.568,3.569,3.576,3.577,3.584,3.588,3.588,3.59,3.601,3.605,3.606,3.63,3.63,3.631,3.639,3.641,3.644,3.652,3.658,3.661,3.665,3.67,3.679,3.684,3.699,3.7,3.71,3.711,3.718,3.728,3.75,3.751,3.76,3.766,3.767,3.781,3.79,3.802,3.813,3.815,3.839,3.84,3.847,3.873,3.873,3.887,3.895,3.914,3.916,3.934,3.94,3.96,3.969,3.986,3.99,4.011,4.027,4.039,4.064,4.072,4.095,0.016,0.016,0.016,0.007,0.016,0.016,4.089,4.062,3.98,3.964,3.942,3.902,3.868,3.85,3.808,3.783,3.746,3.722,3.696,3.667,3.65,3.631,3.598,3.577,3.551,3.527,3.512,3.473,3.461,3.437,3.423,3.407,3.383,3.374,3.349,3.331,3.309,3.287,3.271,3.253,3.236,3.222,3.199,3.188,3.166,3.15,3.131,3.128,3.104,3.098,3.076,3.072,3.043,3.035,3.022,3.009,3.008,2.993,2.978,2.963,2.945,2.935,2.929,2.916,2.915,2.895,2.875,2.869,2.856,2.851,2.837,2.82,2.815,2.81,2.785,2.785,2.781,2.766,2.76,2.746,2.738,2.732,2.716,2.713,2.707,2.697,2.679,2.674,2.674,2.666,2.664,2.653,2.648,2.639,2.635,2.623,2.612,2.611,2.61,2.604,2.589,2.579,2.575,2.574,2.572,2.559,2.556,2.552,2.54,2.538,2.536,2.527,2.517,2.515,2.504,2.501,2.501,2.493,2.487,2.485,2.484,2.481,2.481,2.47,2.468,2.465,2.462,2.461,2.453,2.451,2.449,2.447,2.447,2.445,2.44,2.44,2.44,2.436,2.431,2.426,2.426,2.424,2.423,2.423,2.419,2.419,2.415,2.417,2.417,2.416,2.416,2.416,2.414,2.413,2.409,2.407,2.407,2.407,2.407,2.408,2.41,2.412,2.417,2.417,2.417,2.419,2.419,2.419,2.421,2.419,2.416,2.418,2.418,2.418,2.419,2.421,2.425,2.425,2.429,2.43,2.433,2.438,2.44,2.441,2.444,2.445,2.45,2.451,2.455,2.458,2.463,2.465,2.471,2.474,2.477,2.477,2.478,2.487,2.489,2.49,2.498,2.499,2.512,2.513,2.518,2.52,2.524,2.525,2.535,2.541,2.547,2.554,2.567,2.57,2.578,2.58,2.597,2.597,2.598,2.6,2.61,2.612,2.622,2.633,2.64,2.646,2.651,2.654,2.666,2.671,2.676,2.683,2.698,2.701,2.713,2.723,2.724,2.734,2.743,2.746,2.759,2.774,2.785,2.794,2.805,2.821,2.833,2.841,2.85,2.855,2.87,2.88,2.889,2.901,2.913,2.924,2.941,2.943,2.954,2.973,2.985,2.994,3.01,3.026,3.042,3.051,3.068,3.072,3.088,3.107,3.121,3.138,3.152,3.164,3.178,3.206,3.217,3.228,3.248,3.267,3.278,3.302,3.321,3.328,3.351,3.379,3.395,3.417,3.434,3.463,3.483,3.492,3.518,3.541,3.572,3.579,3.615,3.645,3.664,3.687,3.73,3.75,3.79,3.801,3.834,3.857,3.891,3.921,3.953,4.021,0.007,0,0.007,0.009,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.353,3.339,3.329,3.315,3.312,3.301,3.285,3.279,3.266,3.254,3.244,3.242,3.24,3.234,3.216,3.216,3.215,3.197,3.184,3.183,3.182,3.167,3.151,3.15,3.148,3.141,3.136,3.129,3.119,3.118,3.114,3.109,3.108,3.101,3.097,3.093,3.085,3.084,3.079,3.076,3.072,3.07,3.065,3.063,3.058,3.053,3.041,3.041,3.04,3.04,3.038,3.034,3.027,3.025,3.024,3.018,3.024,3.024,3.028,3.028,3.028,3.026,3.022,3.015,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.009,3.008,3.008,3.009,3.009,3.012,3.012,3.011,3.011,3.012,3.013,3.014,3.015,3.015,3.018,3.018,3.018,3.018,3.019,3.019,3.027,3.023,3.027,3.033,3.037,3.037,3.04,3.043,3.045,3.046,3.05,3.052,3.058,3.06,3.06,3.066,3.072,3.077,3.081,3.081,3.086,3.087,3.093,3.093,3.108,3.111,3.119,3.121,3.126,3.13,3.133,3.133,3.134,3.134,3.145,3.149,3.152,3.16,3.165,3.173,3.175,3.177,3.184,3.2,3.206,3.207,3.218,3.231,3.235,3.239,3.246,3.254,3.255,3.263,3.273,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 83.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 83.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 83.2342} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.9022} SEN {Time 83.2786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.688,3.68,3.669,3.658,3.646,3.623,3.614,3.614,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.21,3.21,3.215,3.265,3.366,0,0,0,0,0,0,0,0.146,0.145,0.145,0.145,0.146,0.143,0.146,0.146,0.146,0.146,0.147,0.147,0.147,0.156,3.026,3.032,3.032,3.032,3.026,3.032,3.026,0.155,0.154,0.154,0.153,0.151,0.149,0.147,0.147,0.109,0.093,0.068,0.067,0.064,0.059,0.064,0.064,0.065,0.065,0.066,0.066,0.065,0.064,0.066,0.067,0.093,0.168,3.336,3.354,3.361,3.361,3.368,3.376,3.379,3.389,3.39,3.418,3.438,3.451,3.451,3.466,3.476,3.48,3.484,3.49,3.49,3.495,3.509,3.511,3.511,3.516,3.521,3.521,3.527,3.532,3.533,3.535,3.539,3.539,3.543,3.552,3.555,3.556,3.558,3.558,3.57,3.571,3.58,3.584,3.587,3.594,3.606,3.608,3.609,3.623,3.627,3.634,3.634,3.644,3.65,3.651,3.654,3.664,3.667,3.673,3.684,3.69,3.69,3.695,3.702,3.712,3.725,3.725,3.744,3.756,3.763,3.767,3.767,3.788,3.801,3.802,3.81,3.825,3.831,3.835,3.857,3.872,3.874,3.89,3.898,3.906,3.925,3.935,3.957,3.966,3.971,3.984,3.993,4.011,4.027,4.036,4.058,4.08,4.093,0.016,0.016,0.016,0.007,0.016,4.089,4.05,4.05,4.018,3.989,3.928,3.891,3.877,3.845,3.817,3.788,3.743,3.722,3.706,3.685,3.651,3.624,3.596,3.575,3.552,3.53,3.497,3.491,3.458,3.438,3.409,3.402,3.383,3.362,3.352,3.326,3.304,3.288,3.281,3.258,3.247,3.227,3.2,3.184,3.173,3.15,3.142,3.12,3.104,3.099,3.089,3.065,3.045,3.044,3.024,3.011,2.992,2.983,2.981,2.966,2.95,2.938,2.928,2.911,2.907,2.883,2.873,2.865,2.858,2.846,2.841,2.825,2.812,2.809,2.79,2.782,2.771,2.767,2.763,2.753,2.741,2.734,2.724,2.712,2.711,2.699,2.68,2.679,2.676,2.658,2.657,2.652,2.643,2.63,2.63,2.617,2.612,2.608,2.601,2.6,2.589,2.583,2.575,2.574,2.566,2.563,2.559,2.547,2.546,2.538,2.531,2.527,2.52,2.517,2.506,2.504,2.498,2.494,2.488,2.488,2.485,2.479,2.477,2.477,2.473,2.472,2.47,2.46,2.453,2.449,2.449,2.448,2.443,2.443,2.442,2.441,2.436,2.43,2.427,2.427,2.427,2.427,2.427,2.419,2.419,2.417,2.417,2.42,2.42,2.417,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.411,2.412,2.412,2.412,2.414,2.414,2.414,2.416,2.416,2.419,2.419,2.419,2.419,2.417,2.417,2.417,2.418,2.42,2.42,2.42,2.432,2.435,2.432,2.44,2.44,2.443,2.448,2.454,2.459,2.459,2.46,2.463,2.466,2.472,2.474,2.474,2.476,2.476,2.487,2.489,2.49,2.502,2.503,2.512,2.513,2.515,2.519,2.525,2.528,2.533,2.539,2.55,2.55,2.564,2.566,2.57,2.58,2.587,2.598,2.6,2.602,2.613,2.616,2.618,2.634,2.634,2.64,2.651,2.658,2.662,2.675,2.68,2.684,2.698,2.702,2.714,2.719,2.731,2.744,2.746,2.761,2.764,2.782,2.788,2.801,2.81,2.821,2.832,2.838,2.843,2.859,2.873,2.878,2.89,2.909,2.918,2.925,2.938,2.944,2.953,2.965,2.987,2.994,3.006,3.027,3.042,3.047,3.07,3.078,3.093,3.105,3.127,3.139,3.155,3.167,3.18,3.199,3.219,3.232,3.252,3.259,3.275,3.3,3.327,3.34,3.35,3.374,3.399,3.408,3.432,3.454,3.487,3.498,3.527,3.552,3.571,3.604,3.62,3.638,3.674,3.693,3.722,3.751,3.777,3.808,3.839,3.856,3.895,3.919,3.96,3.983,4.061,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.351,3.34,3.328,3.315,3.305,3.293,3.287,3.276,3.273,3.26,3.25,3.25,3.245,3.237,3.217,3.211,3.209,3.195,3.187,3.182,3.173,3.166,3.162,3.16,3.157,3.149,3.139,3.135,3.129,3.12,3.113,3.111,3.106,3.097,3.092,3.088,3.085,3.081,3.073,3.071,3.067,3.063,3.062,3.05,3.05,3.048,3.046,3.041,3.038,3.038,3.035,3.033,3.03,3.029,3.028,3.022,3.022,3.022,3.028,3.028,3.028,3.017,3.017,3.015,3.015,3.013,3.013,3.012,3.008,3.008,3.007,3.007,3.004,3.004,3.004,3.005,3.008,3.012,3.01,3.012,3.012,3.012,3.015,3.015,3.016,3.017,3.017,3.017,3.019,3.019,3.02,3.025,3.028,3.034,3.035,3.037,3.037,3.038,3.044,3.044,3.048,3.051,3.051,3.055,3.059,3.061,3.064,3.068,3.074,3.086,3.086,3.09,3.09,3.097,3.099,3.109,3.111,3.116,3.119,3.12,3.128,3.134,3.136,3.142,3.142,3.143,3.15,3.153,3.159,3.159,3.167,3.171,3.176,3.183,3.196,3.205,3.207,3.222,3.23,3.235,3.235,3.24,3.251,3.252,3.254,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 83.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 83.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 83.4352} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.5334} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.9022} SEN {Time 83.4786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,3.695,3.673,3.661,3.654,3.648,3.625,3.61,3.61,3.598,3.593,3.598,0,3.35,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.226,3.213,3.207,3.207,3.207,3.266,3.359,0,0,0,0,0,0,0,0.149,0.145,0.145,0.145,0.145,0.143,0.143,0.143,0.15,0.15,0.15,0.15,0.152,0.153,3.034,3.034,3.04,3.04,3.04,3.04,3.04,0.163,0.16,0.16,0.154,0.154,0.152,0.148,0.143,0.12,0.098,0.067,0.061,0.061,0.06,0.06,0.064,0.066,0.066,0.066,0.066,0.066,0.067,0.068,0.068,0.096,0.175,3.329,0.007,3.363,3.363,3.363,3.363,3.364,3.384,3.384,3.405,3.43,3.432,3.443,3.465,3.474,3.485,3.495,3.496,3.499,3.504,3.507,3.509,3.509,3.515,3.519,3.524,3.524,3.531,3.539,3.539,3.542,3.546,3.543,3.547,3.553,3.553,3.553,3.571,3.571,3.572,3.58,3.585,3.586,3.597,3.602,3.607,3.611,3.613,3.629,3.631,3.634,3.65,3.65,3.653,3.659,3.66,3.664,3.676,3.68,3.684,3.687,3.699,3.707,3.711,3.727,3.733,3.755,3.755,3.759,3.764,3.771,3.792,3.799,3.801,3.812,3.82,3.836,3.839,3.856,3.872,3.874,3.874,3.906,3.912,3.913,3.919,3.945,3.953,3.965,3.969,3.997,4.02,4.029,4.041,4.053,4.08,4.087,0.016,0.016,0.016,0.016,0.016,4.084,4.05,4.05,4.02,3.973,3.928,3.908,3.874,3.844,3.802,3.785,3.768,3.735,3.693,3.67,3.655,3.632,3.6,3.581,3.549,3.529,3.503,3.491,3.459,3.438,3.415,3.401,3.383,3.369,3.349,3.329,3.313,3.294,3.273,3.248,3.228,3.221,3.193,3.189,3.169,3.154,3.141,3.124,3.109,3.099,3.087,3.063,3.047,3.041,3.023,3.016,2.997,2.982,2.98,2.961,2.959,2.94,2.918,2.915,2.909,2.887,2.877,2.874,2.855,2.855,2.839,2.828,2.818,2.811,2.785,2.783,2.773,2.762,2.759,2.751,2.74,2.729,2.726,2.715,2.708,2.688,2.685,2.677,2.667,2.663,2.662,2.661,2.658,2.639,2.637,2.627,2.621,2.607,2.605,2.604,2.592,2.585,2.581,2.57,2.57,2.567,2.56,2.548,2.543,2.535,2.528,2.523,2.513,2.511,2.508,2.508,2.496,2.495,2.494,2.484,2.483,2.477,2.477,2.477,2.465,2.464,2.464,2.458,2.457,2.453,2.45,2.449,2.447,2.44,2.439,2.437,2.435,2.432,2.428,2.427,2.427,2.426,2.417,2.421,2.42,2.417,2.42,2.42,2.417,2.416,2.415,2.415,2.411,2.411,2.41,2.408,2.408,2.408,2.406,2.408,2.409,2.41,2.41,2.411,2.411,2.415,2.416,2.416,2.417,2.416,2.418,2.418,2.418,2.416,2.418,2.42,2.425,2.425,2.428,2.431,2.433,2.433,2.433,2.434,2.44,2.443,2.449,2.45,2.456,2.457,2.462,2.466,2.467,2.475,2.478,2.48,2.481,2.493,2.494,2.496,2.497,2.502,2.505,2.509,2.513,2.516,2.527,2.53,2.535,2.54,2.543,2.556,2.56,2.561,2.571,2.58,2.583,2.601,2.603,2.604,2.607,2.607,2.627,2.628,2.643,2.644,2.644,2.651,2.664,2.672,2.688,2.688,2.691,2.7,2.722,2.726,2.726,2.742,2.753,2.754,2.768,2.785,2.787,2.795,2.814,2.815,2.83,2.836,2.848,2.859,2.862,2.881,2.886,2.903,2.917,2.929,2.937,2.95,2.951,2.968,2.982,3,3.01,3.025,3.046,3.046,3.066,3.072,3.093,3.104,3.123,3.148,3.155,3.166,3.178,3.199,3.22,3.231,3.253,3.255,3.282,3.303,3.327,3.343,3.351,3.382,3.39,3.402,3.443,3.46,3.481,3.504,3.526,3.551,3.573,3.591,3.619,3.635,3.67,3.692,3.724,3.746,3.783,3.801,3.833,3.865,3.892,3.918,3.95,3.989,4.089,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.354,3.346,3.333,3.315,3.308,3.291,3.291,3.286,3.27,3.254,3.244,3.244,3.241,3.237,3.216,3.213,3.207,3.197,3.189,3.186,3.181,3.172,3.162,3.154,3.147,3.144,3.141,3.126,3.125,3.125,3.122,3.113,3.109,3.103,3.092,3.088,3.087,3.085,3.083,3.076,3.071,3.066,3.063,3.056,3.051,3.051,3.039,3.039,3.039,3.039,3.039,3.035,3.028,3.027,3.023,3.022,3.022,3.022,3.025,3.025,3.025,3.019,3.016,3.016,3.012,3.009,3.012,3.012,3.012,3.008,3.008,3.007,3.008,3.008,3.008,3.008,3.01,3.015,3.015,3.014,3.015,3.015,3.014,3.014,3.015,3.02,3.017,3.018,3.02,3.02,3.02,3.023,3.027,3.03,3.032,3.033,3.033,3.038,3.039,3.04,3.048,3.054,3.055,3.056,3.059,3.063,3.065,3.076,3.078,3.088,3.088,3.091,3.093,3.093,3.097,3.101,3.11,3.115,3.123,3.131,3.131,3.133,3.133,3.141,3.141,3.152,3.152,3.156,3.157,3.164,3.169,3.175,3.176,3.187,3.206,3.209,3.214,3.224,3.234,3.239,3.24,3.244,3.244,3.246,3.262,3.279,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 83.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 83.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 83.6352} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.5334} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 4.9022} SEN {Time 83.6786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.192,0.183,0.192,0.192,0,0,0,0,0,0,0,0,3.687,3.672,3.653,3.649,3.647,3.63,3.617,3.617,3.602,3.589,3.589,0,3.339,3.337,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.218,3.205,3.205,3.205,3.258,3.355,0,0,0,0,0,0,0,0.148,0.145,0.145,0.145,0.145,0.153,0.153,0.149,0.149,0.149,0.149,0.149,0.152,0.152,3.029,3.038,3.038,3.038,3.037,3.038,3.037,0.157,0.154,0.154,0.154,0.157,0.154,0.148,0.148,0.124,0.101,0.072,0.064,0.063,0.06,0.06,0.063,0.064,0.069,0.069,0.064,0.064,0.064,0.064,0.064,0.09,0.167,3.323,3.333,3.35,3.35,3.352,3.369,3.37,3.384,3.384,3.39,3.425,3.436,3.463,3.463,3.469,3.489,3.489,3.489,3.498,3.499,3.499,3.5,3.504,3.521,3.525,3.526,3.527,3.528,3.529,3.54,3.543,3.542,3.543,3.546,3.552,3.554,3.565,3.565,3.573,3.574,3.58,3.585,3.59,3.592,3.604,3.61,3.614,3.62,3.62,3.628,3.64,3.643,3.651,3.652,3.661,3.665,3.666,3.675,3.682,3.687,3.695,3.696,3.716,3.719,3.726,3.734,3.736,3.746,3.75,3.762,3.767,3.782,3.797,3.8,3.806,3.819,3.836,3.839,3.846,3.863,3.876,3.877,3.902,3.902,3.917,3.929,3.941,3.965,3.967,3.985,3.992,4.019,4.028,4.044,4.066,4.08,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.038,3.993,3.979,3.926,3.894,3.864,3.851,3.824,3.784,3.764,3.736,3.699,3.681,3.643,3.629,3.597,3.569,3.546,3.526,3.5,3.483,3.467,3.445,3.422,3.411,3.384,3.365,3.349,3.335,3.309,3.294,3.267,3.248,3.23,3.229,3.2,3.182,3.18,3.159,3.137,3.121,3.112,3.092,3.084,3.067,3.042,3.029,3.029,3.009,3.001,2.993,2.97,2.964,2.951,2.946,2.929,2.912,2.906,2.892,2.882,2.871,2.86,2.848,2.836,2.828,2.82,2.816,2.794,2.788,2.779,2.767,2.757,2.757,2.738,2.733,2.72,2.712,2.7,2.698,2.68,2.678,2.677,2.665,2.659,2.651,2.648,2.64,2.629,2.623,2.62,2.611,2.601,2.599,2.591,2.585,2.58,2.571,2.568,2.567,2.563,2.545,2.544,2.539,2.529,2.524,2.517,2.517,2.509,2.5,2.496,2.491,2.488,2.488,2.485,2.483,2.476,2.476,2.471,2.466,2.466,2.463,2.457,2.454,2.45,2.449,2.449,2.446,2.443,2.441,2.437,2.433,2.43,2.429,2.425,2.425,2.417,2.417,2.417,2.416,2.415,2.415,2.413,2.413,2.413,2.413,2.414,2.414,2.412,2.41,2.409,2.409,2.409,2.409,2.41,2.413,2.414,2.416,2.416,2.414,2.416,2.416,2.417,2.42,2.42,2.417,2.42,2.42,2.416,2.42,2.425,2.426,2.427,2.431,2.43,2.43,2.436,2.439,2.447,2.456,2.458,2.458,2.458,2.463,2.463,2.465,2.471,2.473,2.475,2.477,2.484,2.485,2.488,2.488,2.494,2.498,2.509,2.512,2.516,2.52,2.529,2.53,2.532,2.536,2.546,2.548,2.562,2.568,2.573,2.58,2.591,2.598,2.6,2.607,2.607,2.608,2.612,2.633,2.633,2.636,2.651,2.656,2.661,2.676,2.683,2.691,2.697,2.701,2.711,2.729,2.731,2.746,2.752,2.754,2.76,2.782,2.787,2.799,2.801,2.81,2.827,2.833,2.839,2.855,2.868,2.882,2.885,2.904,2.919,2.922,2.944,2.947,2.957,2.967,2.983,2.995,3.014,3.023,3.042,3.045,3.067,3.073,3.086,3.105,3.123,3.143,3.161,3.161,3.183,3.205,3.222,3.228,3.25,3.266,3.285,3.297,3.32,3.338,3.346,3.373,3.395,3.406,3.432,3.455,3.48,3.504,3.517,3.539,3.575,3.599,3.616,3.63,3.667,3.686,3.719,3.751,3.782,3.797,3.838,3.863,3.887,3.912,3.96,3.986,4.027,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.354,3.339,3.331,3.308,3.305,3.304,3.292,3.274,3.268,3.258,3.242,3.24,3.237,3.235,3.224,3.214,3.208,3.2,3.195,3.184,3.175,3.174,3.168,3.15,3.147,3.144,3.133,3.132,3.121,3.12,3.116,3.11,3.106,3.095,3.092,3.084,3.079,3.084,3.079,3.071,3.069,3.069,3.061,3.058,3.053,3.044,3.043,3.037,3.037,3.034,3.034,3.034,3.03,3.028,3.024,3.021,3.021,3.024,3.025,3.025,3.025,3.019,3.015,3.012,3.012,3.011,3.011,3.012,3.013,3.013,3.013,3.009,3.009,3,3,3.002,3.005,3.005,3.006,3.013,3.013,3.013,3.017,3.018,3.019,3.02,3.02,3.02,3.023,3.023,3.023,3.024,3.024,3.025,3.029,3.029,3.035,3.035,3.035,3.043,3.044,3.054,3.058,3.059,3.06,3.064,3.065,3.067,3.081,3.087,3.089,3.094,3.098,3.103,3.103,3.107,3.109,3.115,3.119,3.124,3.126,3.131,3.134,3.143,3.143,3.147,3.148,3.153,3.162,3.163,3.171,3.174,3.179,3.185,3.202,3.212,3.221,3.224,3.225,3.231,3.233,3.242,3.258,3.26,3.271,3.276,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 83.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 83.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 83.8362} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.1778} {Name Sonar9 Range 0.5334} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 4.9022} SEN {Time 83.8786} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.178,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.683,3.667,3.665,3.651,3.631,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.214,3.213,3.214,3.214,3.262,3.352,0,0,0,0,0,0,0,0.146,0.146,0.146,0.146,0.146,0.147,0.147,0.147,0.154,0.153,0.154,0.154,0.154,0.161,3.031,3.031,3.031,3.031,3.031,3.031,3.029,0.153,0.153,0.153,0.152,0.149,0.148,0.147,0.143,0.105,0.098,0.067,0.059,0.059,0.059,0.06,0.06,0.061,0.063,0.064,0.064,0.064,0.064,0.065,0.075,0.102,0.184,3.337,3.337,3.35,3.35,3.357,3.371,3.372,3.38,3.382,3.414,3.448,3.455,3.479,3.479,3.479,3.48,3.48,3.491,3.501,3.503,3.505,3.512,3.513,3.524,3.525,3.525,3.525,3.531,3.532,3.535,3.537,3.54,3.545,3.552,3.554,3.554,3.564,3.564,3.568,3.569,3.573,3.581,3.588,3.589,3.601,3.614,3.616,3.625,3.626,3.63,3.633,3.646,3.648,3.65,3.657,3.659,3.666,3.67,3.685,3.688,3.694,3.695,3.706,3.719,3.731,3.731,3.749,3.75,3.752,3.77,3.771,3.776,3.793,3.804,3.805,3.826,3.832,3.838,3.846,3.855,3.868,3.892,3.9,3.903,3.921,3.922,3.941,3.951,3.971,3.984,4.005,4.007,4.019,4.039,4.067,4.07,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,3.992,3.971,3.935,3.891,3.871,3.844,3.819,3.779,3.751,3.741,3.704,3.666,3.654,3.625,3.602,3.574,3.547,3.525,3.516,3.486,3.467,3.45,3.426,3.405,3.392,3.363,3.346,3.328,3.308,3.288,3.274,3.257,3.23,3.208,3.197,3.182,3.165,3.15,3.138,3.125,3.117,3.101,3.082,3.066,3.042,3.042,3.041,3.028,3,2.991,2.974,2.962,2.945,2.939,2.919,2.916,2.901,2.886,2.879,2.871,2.857,2.851,2.836,2.825,2.815,2.807,2.796,2.786,2.783,2.762,2.76,2.758,2.738,2.728,2.726,2.717,2.708,2.687,2.681,2.68,2.675,2.662,2.656,2.652,2.65,2.637,2.636,2.624,2.613,2.609,2.607,2.593,2.59,2.575,2.573,2.572,2.572,2.558,2.554,2.546,2.541,2.539,2.535,2.534,2.521,2.514,2.508,2.505,2.503,2.492,2.488,2.485,2.48,2.479,2.474,2.474,2.472,2.466,2.462,2.46,2.455,2.454,2.448,2.448,2.448,2.445,2.444,2.442,2.437,2.433,2.429,2.429,2.427,2.427,2.426,2.423,2.419,2.417,2.416,2.416,2.411,2.41,2.41,2.409,2.409,2.409,2.409,2.409,2.408,2.406,2.406,2.409,2.406,2.412,2.415,2.413,2.413,2.415,2.415,2.415,2.417,2.418,2.42,2.42,2.42,2.421,2.424,2.428,2.428,2.428,2.429,2.429,2.436,2.436,2.437,2.437,2.442,2.45,2.453,2.454,2.458,2.46,2.463,2.467,2.468,2.47,2.47,2.48,2.482,2.486,2.486,2.487,2.493,2.498,2.506,2.514,2.517,2.518,2.523,2.532,2.535,2.544,2.55,2.553,2.558,2.565,2.57,2.583,2.589,2.602,2.603,2.605,2.605,2.608,2.626,2.629,2.63,2.643,2.648,2.65,2.667,2.678,2.681,2.686,2.694,2.699,2.716,2.719,2.725,2.736,2.747,2.752,2.767,2.776,2.786,2.794,2.808,2.809,2.823,2.839,2.849,2.864,2.869,2.879,2.894,2.905,2.924,2.931,2.951,2.954,2.957,2.966,2.978,2.997,3.013,3.03,3.041,3.043,3.066,3.081,3.086,3.109,3.123,3.134,3.153,3.17,3.181,3.202,3.223,3.228,3.251,3.263,3.277,3.292,3.324,3.342,3.347,3.37,3.39,3.404,3.432,3.465,3.479,3.506,3.522,3.545,3.575,3.597,3.626,3.636,3.668,3.701,3.726,3.745,3.775,3.788,3.839,3.863,3.897,3.929,3.987,4.022,4.057,4.057,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.354,3.341,3.329,3.314,3.308,3.299,3.289,3.281,3.264,3.261,3.248,3.247,3.238,3.238,3.217,3.212,3.207,3.198,3.185,3.184,3.18,3.177,3.158,3.155,3.149,3.145,3.142,3.13,3.128,3.121,3.118,3.113,3.108,3.096,3.096,3.086,3.085,3.076,3.07,3.067,3.066,3.062,3.061,3.058,3.054,3.052,3.046,3.042,3.042,3.039,3.039,3.033,3.029,3.028,3.025,3.022,3.022,3.022,3.022,3.023,3.023,3.019,3.016,3.012,3.011,3.01,3.009,3.009,3.009,3.008,3.008,3.006,3.006,3.006,3.006,3.008,3.008,3.011,3.011,3.012,3.012,3.015,3.017,3.018,3.018,3.02,3.018,3.02,3.024,3.021,3.023,3.024,3.024,3.026,3.028,3.031,3.037,3.039,3.04,3.041,3.057,3.057,3.059,3.059,3.067,3.067,3.069,3.069,3.082,3.085,3.087,3.088,3.09,3.09,3.094,3.11,3.114,3.115,3.118,3.128,3.128,3.132,3.133,3.138,3.138,3.144,3.155,3.158,3.164,3.164,3.172,3.176,3.176,3.186,3.186,3.216,3.22,3.236,3.231,3.236,3.236,3.238,3.244,3.252,3.254,3.278,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 84.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 84.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 84.0281} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.1778} {Name Sonar9 Range 0.1778} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.445} {Name Sonar15 Range 4.9022} SEN {Time 84.0785} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.183,0.19,0.19,0,0,0,0,0,0,0,0,3.682,3.679,3.677,3.668,3.643,3.622,3.611,3.611,3.611,3.6,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.251,3.219,3.209,3.206,3.206,3.206,3.258,3.356,0,0,0,0,0,0,0,0.007,0.146,0.143,0.143,0.143,0.142,0.139,0.139,0.15,0.15,0.153,0.153,0.155,0.157,3.034,3.035,3.038,3.038,3.035,3.035,0.161,0.161,0.16,0.16,0.153,0.155,0.152,0.147,0.147,0.11,0.09,0.066,0.064,0.064,0.064,0.064,0.064,0.067,0.067,0.069,0.067,0.064,0.061,0.061,0.061,0.101,0.175,3.345,3.349,3.359,3.359,3.362,3.364,3.365,3.377,3.377,3.412,3.434,3.442,3.442,3.466,3.47,3.476,3.478,3.494,3.5,3.503,3.503,3.512,3.514,3.515,3.518,3.524,3.524,3.527,3.528,3.538,3.538,3.538,3.55,3.55,3.55,3.551,3.555,3.56,3.565,3.57,3.576,3.578,3.587,3.597,3.599,3.606,3.609,3.622,3.629,3.63,3.638,3.638,3.645,3.654,3.66,3.662,3.663,3.676,3.684,3.692,3.697,3.701,3.711,3.726,3.728,3.732,3.741,3.751,3.754,3.763,3.765,3.781,3.805,3.805,3.822,3.831,3.839,3.842,3.849,3.864,3.88,3.884,3.892,3.901,3.915,3.933,3.944,3.945,3.964,3.987,3.999,4.016,4.024,4.044,4.062,4.071,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.046,3.985,3.952,3.932,3.908,3.867,3.838,3.816,3.775,3.757,3.738,3.703,3.678,3.636,3.635,3.601,3.57,3.542,3.524,3.513,3.488,3.45,3.443,3.413,3.405,3.375,3.368,3.347,3.331,3.296,3.294,3.268,3.255,3.229,3.227,3.199,3.193,3.173,3.15,3.137,3.121,3.11,3.095,3.087,3.066,3.051,3.043,3.023,3.011,3.007,2.988,2.977,2.959,2.958,2.94,2.923,2.915,2.905,2.894,2.876,2.871,2.855,2.846,2.834,2.825,2.82,2.805,2.79,2.786,2.784,2.769,2.76,2.75,2.732,2.727,2.722,2.713,2.701,2.695,2.682,2.674,2.674,2.661,2.657,2.654,2.648,2.636,2.633,2.624,2.61,2.61,2.605,2.604,2.597,2.58,2.572,2.57,2.562,2.562,2.556,2.552,2.55,2.543,2.531,2.524,2.518,2.511,2.51,2.507,2.498,2.498,2.496,2.488,2.483,2.477,2.475,2.474,2.463,2.461,2.459,2.458,2.455,2.454,2.452,2.45,2.448,2.446,2.445,2.443,2.441,2.433,2.432,2.432,2.429,2.423,2.421,2.423,2.423,2.419,2.419,2.419,2.415,2.413,2.411,2.411,2.411,2.41,2.41,2.41,2.41,2.408,2.408,2.411,2.412,2.412,2.412,2.412,2.411,2.411,2.415,2.415,2.42,2.42,2.42,2.42,2.419,2.419,2.419,2.425,2.427,2.427,2.43,2.44,2.441,2.44,2.445,2.445,2.445,2.447,2.448,2.45,2.452,2.457,2.458,2.466,2.466,2.476,2.476,2.479,2.485,2.485,2.494,2.495,2.498,2.507,2.51,2.514,2.514,2.518,2.521,2.531,2.534,2.536,2.553,2.553,2.562,2.565,2.567,2.585,2.59,2.599,2.603,2.606,2.608,2.618,2.631,2.635,2.638,2.643,2.644,2.651,2.66,2.669,2.679,2.695,2.697,2.703,2.715,2.719,2.727,2.732,2.747,2.75,2.757,2.78,2.785,2.794,2.813,2.822,2.827,2.838,2.854,2.856,2.871,2.882,2.892,2.905,2.918,2.923,2.939,2.95,2.955,2.972,2.99,2.996,3.013,3.026,3.036,3.05,3.06,3.078,3.092,3.108,3.123,3.141,3.152,3.167,3.182,3.205,3.213,3.24,3.248,3.254,3.283,3.3,3.322,3.337,3.358,3.371,3.395,3.407,3.428,3.458,3.478,3.499,3.515,3.537,3.57,3.602,3.621,3.64,3.67,3.697,3.721,3.742,3.787,3.805,3.83,3.865,3.887,3.923,3.955,3.999,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.994,3.353,3.351,3.338,3.324,3.312,3.307,3.291,3.284,3.275,3.264,3.26,3.253,3.24,3.24,3.237,3.218,3.214,3.204,3.199,3.183,3.182,3.178,3.172,3.162,3.152,3.148,3.143,3.137,3.128,3.122,3.121,3.119,3.118,3.112,3.105,3.093,3.089,3.089,3.087,3.075,3.071,3.062,3.061,3.06,3.058,3.055,3.047,3.044,3.041,3.04,3.04,3.039,3.03,3.029,3.029,3.023,3.021,3.021,3.021,3.023,3.023,3.023,3.02,3.018,3.015,3.015,3.014,3.004,3.004,3.009,3.009,3.009,3.009,3.012,3.009,3.011,3.011,3.011,3.011,3.011,3.013,3.013,3.015,3.016,3.016,3.016,3.019,3.021,3.021,3.022,3.022,3.023,3.025,3.026,3.029,3.029,3.03,3.03,3.04,3.043,3.046,3.05,3.051,3.053,3.06,3.061,3.065,3.069,3.072,3.076,3.087,3.088,3.088,3.091,3.095,3.106,3.108,3.111,3.12,3.12,3.123,3.129,3.13,3.137,3.14,3.139,3.14,3.145,3.158,3.159,3.162,3.17,3.173,3.175,3.183,3.2,3.212,3.212,3.213,3.237,3.237,3.24,3.242,3.242,3.261,3.278,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 84.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 84.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 84.2291} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.1778} {Name Sonar9 Range 0.1778} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4704} {Name Sonar15 Range 4.9022} SEN {Time 84.2746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.175,0.181,0.181,0,0,0,0,0,0,0,0,3.706,3.677,3.66,3.66,3.643,3.624,3.613,3.613,3.602,3.602,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.216,3.214,3.214,3.214,3.26,3.361,0,0,0,0,0,0,0,0.143,0.143,0.143,0.142,0.143,0.144,0.143,0.145,0.149,0.152,0.154,0.154,0.157,0.157,3.03,3.03,3.033,3.033,3.03,3.033,3.033,0.158,0.153,0.153,0.153,0.15,0.149,0.148,0.14,0.12,0.1,0.069,0.064,0.064,0.064,0.064,0.065,0.065,0.065,0.065,0.065,0.064,0.061,0.061,0.068,0.093,0.158,0.226,3.336,3.351,3.355,3.355,3.376,3.378,0,0.007,3.435,3.435,3.454,3.454,3.463,3.467,3.468,3.48,3.49,3.492,3.502,3.507,3.511,3.512,3.517,3.518,3.518,3.524,3.53,3.53,3.543,3.544,3.544,3.544,3.546,3.551,3.552,3.559,3.562,3.57,3.576,3.578,3.581,3.582,3.588,3.602,3.602,3.603,3.622,3.625,3.632,3.638,3.64,3.65,3.651,3.661,3.666,3.669,3.679,3.682,3.686,3.69,3.694,3.712,3.716,3.733,3.734,3.742,3.753,3.753,3.766,3.775,3.782,3.798,3.803,3.815,3.819,3.831,3.832,3.835,3.865,3.868,3.88,3.897,3.899,3.911,3.921,3.943,3.944,3.96,3.986,4.004,4.006,4.036,4.037,4.06,4.087,0.016,0.016,0.016,0.016,0.007,0.016,4.089,4.065,4.016,3.989,3.968,3.932,3.897,3.879,3.846,3.815,3.791,3.751,3.725,3.709,3.676,3.642,3.621,3.601,3.569,3.554,3.527,3.502,3.481,3.464,3.451,3.423,3.403,3.377,3.363,3.346,3.334,3.304,3.289,3.28,3.258,3.234,3.225,3.187,3.184,3.168,3.158,3.135,3.127,3.11,3.093,3.082,3.071,3.044,3.044,3.044,3.025,3.007,2.989,2.988,2.971,2.95,2.931,2.922,2.918,2.914,2.901,2.879,2.873,2.86,2.852,2.84,2.824,2.819,2.812,2.794,2.791,2.779,2.768,2.762,2.746,2.743,2.729,2.718,2.705,2.697,2.697,2.68,2.678,2.675,2.666,2.657,2.653,2.648,2.638,2.638,2.622,2.616,2.616,2.602,2.6,2.589,2.581,2.577,2.573,2.571,2.561,2.559,2.553,2.543,2.539,2.527,2.527,2.521,2.51,2.506,2.502,2.5,2.496,2.487,2.487,2.48,2.479,2.478,2.476,2.468,2.467,2.462,2.461,2.461,2.455,2.454,2.453,2.45,2.446,2.446,2.441,2.436,2.434,2.424,2.423,2.42,2.419,2.418,2.418,2.419,2.419,2.417,2.417,2.414,2.412,2.412,2.412,2.414,2.414,2.414,2.411,2.41,2.41,2.411,2.413,2.413,2.413,2.412,2.411,2.411,2.411,2.412,2.417,2.417,2.417,2.418,2.417,2.417,2.417,2.419,2.421,2.426,2.427,2.428,2.429,2.441,2.442,2.442,2.442,2.444,2.448,2.448,2.451,2.451,2.461,2.466,2.467,2.468,2.47,2.474,2.477,2.483,2.489,2.492,2.493,2.496,2.498,2.512,2.517,2.517,2.518,2.528,2.539,2.539,2.539,2.541,2.55,2.551,2.568,2.574,2.576,2.585,2.596,2.604,2.605,2.609,2.619,2.626,2.637,2.639,2.64,2.65,2.651,2.662,2.678,2.68,2.683,2.697,2.698,2.715,2.72,2.729,2.744,2.753,2.757,2.768,2.781,2.786,2.795,2.818,2.821,2.826,2.834,2.846,2.852,2.868,2.872,2.899,2.901,2.911,2.924,2.943,2.949,2.958,2.968,2.983,2.998,3.017,3.026,3.038,3.041,3.068,3.09,3.09,3.105,3.116,3.138,3.155,3.163,3.18,3.202,3.216,3.236,3.24,3.268,3.277,3.302,3.315,3.332,3.354,3.379,3.393,3.4,3.433,3.464,3.478,3.502,3.53,3.543,3.573,3.607,3.613,3.638,3.655,3.693,3.72,3.751,3.783,3.794,3.832,3.868,3.891,3.935,3.941,3.994,4.091,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.365,3.357,3.332,3.315,3.304,3.296,3.29,3.278,3.268,3.264,3.253,3.252,3.242,3.231,3.216,3.209,3.207,3.188,3.185,3.185,3.171,3.168,3.161,3.154,3.148,3.142,3.136,3.129,3.123,3.122,3.118,3.109,3.103,3.1,3.092,3.088,3.083,3.08,3.079,3.078,3.071,3.07,3.064,3.062,3.051,3.048,3.043,3.037,3.035,3.034,3.034,3.033,3.032,3.031,3.029,3.026,3.026,3.026,3.028,3.028,3.028,3.017,3.016,3.013,3.013,3.013,3.01,3.01,3.01,3.007,3.006,3.006,3.004,3.004,3.004,3.004,3.008,3.014,3.014,3.014,3.015,3.015,3.015,3.015,3.015,3.015,3.016,3.019,3.019,3.019,3.019,3.02,3.025,3.025,3.029,3.033,3.034,3.034,3.036,3.038,3.05,3.051,3.053,3.061,3.061,3.066,3.07,3.077,3.077,3.082,3.087,3.089,3.09,3.094,3.094,3.104,3.105,3.119,3.121,3.125,3.125,3.13,3.13,3.139,3.139,3.148,3.148,3.158,3.16,3.166,3.17,3.172,3.176,3.18,3.202,3.216,3.222,3.223,3.227,3.232,3.233,3.242,3.248,3.253,3.259,3.281,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 84.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 84.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 84.4301} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.1778} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4704} {Name Sonar15 Range 4.699} SEN {Time 84.4746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.176,0.184,0.184,0,0,0,0,0,0,0,0,3.683,3.68,3.675,3.664,3.642,3.626,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.213,3.212,3.211,3.211,3.211,3.257,3.373,0,0,0,0,0,0,0,0.148,0.145,0.145,0.145,0.145,0.145,0.145,0.146,0.153,0.153,0.155,0.155,0.155,0.157,3.021,3.032,3.04,3.04,3.032,3.04,3.04,0.153,0.152,0.152,0.152,0.151,0.148,0.143,0.142,0.131,0.1,0.066,0.062,0.06,0.06,0.06,0.06,0.065,0.066,0.068,0.066,0.066,0.061,0.061,0.061,0.088,0.144,0.223,3.345,3.361,3.361,3.361,3.369,3.376,3.382,3.415,3.448,3.448,3.448,3.448,3.472,3.473,3.478,3.485,3.492,3.496,3.498,3.5,3.507,3.509,3.512,3.516,3.519,3.522,3.531,3.532,3.533,3.537,3.537,3.537,3.551,3.554,3.556,3.557,3.565,3.579,3.58,3.581,3.584,3.59,3.598,3.611,3.611,3.613,3.625,3.626,3.633,3.641,3.645,3.649,3.655,3.656,3.664,3.667,3.676,3.683,3.695,3.696,3.697,3.715,3.717,3.731,3.732,3.754,3.757,3.762,3.775,3.777,3.778,3.787,3.798,3.808,3.813,3.828,3.838,3.851,3.87,3.882,3.887,3.897,3.903,3.913,3.914,3.95,3.951,3.972,3.988,3.997,4.016,4.035,4.055,4.07,4.084,4.087,0.016,0.016,0.016,0.016,0.016,4.08,4.048,4.018,4.004,3.948,3.936,3.903,3.859,3.842,3.811,3.777,3.755,3.725,3.704,3.674,3.642,3.631,3.603,3.575,3.557,3.531,3.509,3.486,3.454,3.441,3.427,3.41,3.38,3.368,3.353,3.335,3.301,3.287,3.282,3.253,3.23,3.221,3.188,3.181,3.178,3.153,3.14,3.13,3.108,3.097,3.082,3.066,3.045,3.045,3.043,3.022,3.003,2.989,2.979,2.962,2.955,2.936,2.922,2.921,2.907,2.889,2.878,2.875,2.859,2.853,2.836,2.83,2.81,2.809,2.788,2.787,2.783,2.763,2.754,2.751,2.732,2.73,2.728,2.712,2.7,2.697,2.683,2.681,2.672,2.668,2.659,2.659,2.649,2.644,2.633,2.628,2.626,2.612,2.611,2.604,2.59,2.579,2.579,2.57,2.57,2.56,2.554,2.553,2.543,2.532,2.529,2.519,2.519,2.509,2.506,2.504,2.496,2.495,2.49,2.487,2.484,2.48,2.479,2.478,2.471,2.47,2.47,2.462,2.454,2.454,2.45,2.449,2.448,2.443,2.443,2.44,2.434,2.43,2.427,2.427,2.424,2.423,2.421,2.421,2.42,2.42,2.418,2.418,2.415,2.412,2.412,2.414,2.413,2.413,2.413,2.413,2.413,2.411,2.411,2.413,2.413,2.415,2.415,2.415,2.413,2.409,2.409,2.409,2.409,2.417,2.418,2.418,2.418,2.418,2.421,2.421,2.425,2.429,2.43,2.433,2.437,2.439,2.441,2.442,2.445,2.445,2.452,2.453,2.458,2.463,2.468,2.468,2.468,2.468,2.47,2.478,2.483,2.488,2.493,2.499,2.501,2.506,2.508,2.515,2.519,2.524,2.524,2.529,2.531,2.531,2.55,2.55,2.557,2.565,2.567,2.581,2.583,2.592,2.598,2.606,2.607,2.618,2.628,2.637,2.637,2.638,2.649,2.655,2.656,2.667,2.673,2.685,2.693,2.7,2.712,2.719,2.731,2.747,2.748,2.748,2.77,2.778,2.792,2.802,2.808,2.823,2.83,2.841,2.848,2.856,2.871,2.88,2.887,2.893,2.915,2.926,2.944,2.946,2.954,2.97,2.992,2.998,3.021,3.023,3.04,3.05,3.063,3.075,3.094,3.108,3.123,3.137,3.149,3.165,3.176,3.205,3.209,3.246,3.249,3.258,3.278,3.297,3.324,3.346,3.35,3.373,3.402,3.41,3.432,3.459,3.476,3.501,3.524,3.539,3.566,3.598,3.612,3.634,3.662,3.694,3.723,3.755,3.788,3.805,3.831,3.866,3.89,3.919,3.954,4.058,0.016,0,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.36,3.333,3.328,3.32,3.314,3.297,3.286,3.273,3.267,3.263,3.252,3.236,3.231,3.227,3.214,3.213,3.203,3.192,3.192,3.183,3.178,3.165,3.158,3.145,3.145,3.143,3.142,3.127,3.126,3.125,3.115,3.109,3.101,3.096,3.092,3.086,3.082,3.08,3.078,3.075,3.065,3.061,3.06,3.06,3.056,3.052,3.041,3.04,3.04,3.038,3.038,3.034,3.03,3.03,3.022,3.022,3.027,3.027,3.03,3.03,3.03,3.025,3.014,3.012,3.012,3.009,3.009,3.009,3.014,3.013,3.013,3.009,3.009,3.009,3.008,3.008,3.008,3.009,3.013,3.013,3.013,3.013,3.011,3.011,3.013,3.02,3.016,3.018,3.02,3.018,3.018,3.027,3.028,3.029,3.031,3.031,3.035,3.041,3.042,3.042,3.05,3.051,3.056,3.058,3.061,3.062,3.07,3.074,3.08,3.083,3.089,3.089,3.089,3.092,3.098,3.109,3.114,3.116,3.116,3.126,3.126,3.131,3.133,3.139,3.139,3.146,3.148,3.149,3.159,3.162,3.169,3.178,3.18,3.181,3.203,3.204,3.22,3.225,3.228,3.236,3.239,3.239,3.239,3.243,3.252,3.281,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 84.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 84.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 84.6345} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.953} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4704} {Name Sonar15 Range 4.699} SEN {Time 84.6746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.181,0.183,0.183,0,0,0,0,0,0,0,0,3.685,3.681,3.67,3.669,3.647,3.634,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.252,3.224,3.216,3.21,3.21,3.21,3.259,3.358,0,0,0,0,0,0,0,0.147,0.146,0.146,0.146,0.146,0.146,0.147,0.15,0.151,0.151,0.153,0.153,0.156,0.156,3.019,3.029,3.036,3.036,3.029,3.036,3.036,0.16,0.153,0.153,0.153,0.154,0.153,0.148,0.143,0.131,0.109,0.075,0.064,0.063,0.063,0.063,0.063,0.067,0.068,0.068,0.067,0.066,0.062,0.062,0.062,0.077,0.153,0.221,3.349,3.364,3.37,3.368,3.368,3.368,3.377,3.377,3.414,3.434,3.443,3.443,3.449,3.465,3.491,3.495,3.498,3.502,3.51,3.51,3.511,3.512,3.517,3.519,3.521,3.524,3.534,3.536,3.541,3.545,3.545,3.546,3.547,3.549,3.554,3.561,3.568,3.571,3.572,3.583,3.585,3.586,3.589,3.592,3.608,3.614,3.623,3.624,3.63,3.639,3.643,3.654,3.655,3.663,3.665,3.669,3.676,3.678,3.694,3.7,3.703,3.711,3.72,3.741,3.742,3.743,3.744,3.75,3.758,3.76,3.79,3.793,3.805,3.816,3.817,3.832,3.836,3.853,3.864,3.883,3.886,3.894,3.901,3.913,3.933,3.943,3.962,3.971,3.983,3.994,4.012,4.029,4.055,4.069,4.082,4.089,0.016,0.016,0.016,0.007,0.016,0.016,4.047,4.006,3.988,3.96,3.921,3.899,3.875,3.834,3.811,3.781,3.749,3.732,3.701,3.677,3.644,3.627,3.601,3.573,3.542,3.528,3.503,3.477,3.457,3.444,3.414,3.407,3.374,3.371,3.353,3.332,3.305,3.298,3.281,3.259,3.235,3.221,3.193,3.188,3.174,3.154,3.14,3.13,3.105,3.098,3.088,3.064,3.046,3.046,3.04,3.018,2.999,2.986,2.98,2.959,2.953,2.938,2.922,2.915,2.903,2.887,2.883,2.865,2.857,2.841,2.84,2.831,2.817,2.815,2.795,2.792,2.783,2.768,2.759,2.753,2.741,2.735,2.716,2.715,2.704,2.69,2.682,2.68,2.673,2.67,2.651,2.649,2.647,2.634,2.633,2.618,2.609,2.607,2.604,2.598,2.595,2.579,2.579,2.576,2.569,2.559,2.55,2.547,2.545,2.539,2.528,2.521,2.521,2.505,2.503,2.501,2.499,2.497,2.49,2.489,2.486,2.485,2.475,2.47,2.47,2.464,2.462,2.46,2.46,2.453,2.449,2.449,2.449,2.449,2.444,2.444,2.438,2.435,2.429,2.428,2.428,2.428,2.423,2.416,2.416,2.416,2.418,2.418,2.418,2.417,2.416,2.415,2.415,2.413,2.413,2.412,2.412,2.409,2.409,2.412,2.413,2.412,2.415,2.413,2.413,2.412,2.413,2.413,2.416,2.417,2.417,2.417,2.417,2.417,2.419,2.421,2.423,2.425,2.434,2.435,2.439,2.439,2.441,2.443,2.443,2.45,2.452,2.452,2.454,2.461,2.462,2.464,2.467,2.474,2.476,2.477,2.481,2.484,2.491,2.491,2.494,2.503,2.508,2.516,2.518,2.521,2.528,2.53,2.534,2.535,2.546,2.547,2.563,2.566,2.566,2.574,2.59,2.596,2.6,2.604,2.606,2.618,2.618,2.632,2.638,2.639,2.644,2.652,2.661,2.675,2.679,2.681,2.696,2.698,2.72,2.721,2.725,2.743,2.747,2.755,2.764,2.783,2.79,2.799,2.8,2.821,2.826,2.841,2.845,2.86,2.876,2.883,2.892,2.91,2.916,2.93,2.936,2.952,2.953,2.972,2.987,3,3.011,3.031,3.046,3.047,3.067,3.086,3.091,3.11,3.123,3.143,3.151,3.166,3.179,3.197,3.222,3.236,3.249,3.262,3.276,3.299,3.323,3.331,3.351,3.363,3.382,3.403,3.431,3.456,3.487,3.5,3.524,3.55,3.559,3.605,3.613,3.639,3.664,3.691,3.719,3.747,3.777,3.798,3.843,3.894,3.911,3.938,3.938,4.063,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.354,3.34,3.33,3.316,3.31,3.299,3.297,3.291,3.268,3.255,3.245,3.239,3.238,3.23,3.22,3.208,3.203,3.197,3.194,3.191,3.176,3.175,3.163,3.157,3.148,3.14,3.136,3.133,3.124,3.122,3.116,3.113,3.109,3.101,3.09,3.089,3.084,3.079,3.078,3.074,3.072,3.064,3.063,3.055,3.051,3.051,3.05,3.043,3.041,3.039,3.039,3.035,3.029,3.027,3.022,3.021,3.021,3.021,3.03,3.03,3.03,3.022,3.019,3.018,3.012,3.011,3.008,3.007,3.007,3.007,3.009,3.009,3.011,3.009,3.007,3.007,3.007,3.007,3.008,3.008,3.01,3.01,3.011,3.014,3.014,3.018,3.018,3.018,3.018,3.021,3.021,3.022,3.027,3.027,3.029,3.037,3.037,3.037,3.046,3.046,3.047,3.047,3.051,3.057,3.06,3.061,3.07,3.072,3.079,3.081,3.088,3.089,3.092,3.092,3.1,3.109,3.109,3.113,3.125,3.131,3.131,3.137,3.137,3.139,3.139,3.14,3.143,3.155,3.166,3.167,3.171,3.171,3.177,3.188,3.198,3.208,3.214,3.227,3.232,3.235,3.237,3.239,3.25,3.261,3.263,3.284,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 84.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 84.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 84.832} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.953} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2286} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.699} SEN {Time 84.8746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.175,0.187,0.176,0.187,0.187,0,0,0,0,0,0,0,0,3.688,3.684,3.664,3.661,3.637,3.629,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.216,3.215,3.215,3.215,3.262,3.369,0,0,0,0,0,0,0,0.152,0.147,0.147,0.147,0.147,0.149,0.149,0.15,0.158,0.155,0.156,0.156,0.156,0.156,3.027,3.032,3.033,3.033,3.032,3.032,0.154,0.154,0.154,0.154,0.154,0.154,0.154,0.144,0.14,0.106,0.086,0.064,0.061,0.061,0.06,0.061,0.063,0.067,0.067,0.067,0.067,0.063,0.063,0.063,0.074,0.129,0.22,3.345,3.354,3.355,3.355,3.362,3.37,3.378,3.385,3.386,3.436,0,0.007,3.463,3.463,3.488,3.488,3.493,3.494,3.495,3.502,3.505,3.509,3.513,3.513,3.521,3.523,3.523,3.525,3.534,3.534,3.538,3.534,3.534,3.545,3.555,3.557,3.558,3.562,3.578,3.578,3.579,3.583,3.594,3.595,3.6,3.604,3.604,3.62,3.628,3.634,3.638,3.642,3.652,3.653,3.655,3.663,3.667,3.677,3.682,3.69,3.692,3.698,3.716,3.72,3.723,3.729,3.732,3.751,3.752,3.756,3.766,3.773,3.793,3.797,3.813,3.819,3.826,3.826,3.861,3.863,3.865,3.881,3.89,3.906,3.917,3.929,3.941,3.954,3.971,3.982,3.991,4.027,4.027,4.05,4.062,4.086,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.062,3.969,3.961,3.921,3.892,3.875,3.842,3.813,3.775,3.757,3.722,3.702,3.671,3.639,3.631,3.6,3.58,3.543,3.527,3.512,3.481,3.456,3.449,3.406,3.398,3.378,3.365,3.34,3.331,3.313,3.293,3.273,3.264,3.24,3.229,3.202,3.19,3.17,3.155,3.13,3.123,3.107,3.095,3.092,3.062,3.045,3.043,3.021,3.018,2.997,2.99,2.979,2.964,2.955,2.94,2.922,2.92,2.903,2.891,2.877,2.872,2.855,2.845,2.835,2.822,2.817,2.813,2.793,2.79,2.785,2.763,2.762,2.757,2.74,2.724,2.716,2.714,2.701,2.694,2.683,2.671,2.669,2.661,2.655,2.65,2.645,2.637,2.636,2.619,2.615,2.609,2.596,2.596,2.594,2.578,2.575,2.574,2.564,2.561,2.547,2.543,2.542,2.537,2.532,2.524,2.518,2.513,2.511,2.506,2.499,2.494,2.485,2.485,2.485,2.477,2.474,2.474,2.463,2.461,2.458,2.456,2.456,2.456,2.456,2.453,2.451,2.448,2.447,2.439,2.437,2.437,2.428,2.427,2.424,2.424,2.424,2.424,2.42,2.418,2.417,2.417,2.413,2.412,2.412,2.412,2.412,2.411,2.411,2.411,2.411,2.41,2.411,2.411,2.413,2.415,2.415,2.415,2.415,2.415,2.415,2.419,2.419,2.419,2.419,2.418,2.418,2.421,2.42,2.421,2.423,2.426,2.429,2.43,2.434,2.437,2.439,2.443,2.447,2.448,2.448,2.451,2.454,2.46,2.465,2.465,2.466,2.467,2.474,2.476,2.482,2.487,2.49,2.492,2.493,2.502,2.505,2.514,2.517,2.522,2.523,2.536,2.537,2.54,2.545,2.553,2.56,2.564,2.567,2.573,2.586,2.594,2.599,2.603,2.611,2.615,2.622,2.639,2.64,2.642,2.65,2.654,2.666,2.671,2.678,2.683,2.694,2.7,2.714,2.718,2.726,2.747,2.75,2.752,2.769,2.775,2.79,2.799,2.803,2.817,2.836,2.84,2.843,2.855,2.873,2.878,2.892,2.905,2.916,2.929,2.943,2.96,2.961,2.976,2.989,2.995,3.013,3.026,3.037,3.048,3.063,3.083,3.095,3.109,3.121,3.137,3.154,3.168,3.179,3.2,3.219,3.236,3.237,3.26,3.287,3.295,3.315,3.331,3.35,3.37,3.397,3.413,3.438,3.457,3.475,3.497,3.526,3.542,3.566,3.6,3.61,3.64,3.663,3.69,3.71,3.751,3.777,3.792,3.831,3.862,3.894,3.923,3.992,0.007,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.352,3.343,3.329,3.312,3.305,3.297,3.295,3.278,3.264,3.258,3.256,3.242,3.238,3.238,3.218,3.209,3.209,3.197,3.19,3.182,3.177,3.175,3.162,3.154,3.147,3.134,3.133,3.132,3.127,3.121,3.115,3.108,3.105,3.104,3.092,3.086,3.082,3.079,3.076,3.073,3.071,3.069,3.062,3.061,3.045,3.044,3.04,3.038,3.038,3.036,3.038,3.036,3.032,3.029,3.029,3.029,3.029,0.007,3.08,3.027,3.027,3.02,3.019,3.018,3.013,3.01,3.005,3.005,3.005,3.005,3.004,3.004,3.005,3.005,3.01,3.01,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.016,3.016,3.021,3.022,3.024,3.026,3.027,3.028,3.029,3.032,3.034,3.038,3.042,3.044,3.044,3.049,3.054,3.055,3.058,3.061,3.063,3.066,3.072,3.074,3.085,3.085,3.09,3.093,3.098,3.1,3.107,3.112,3.113,3.117,3.121,3.131,3.133,3.133,3.14,3.14,3.141,3.147,3.152,3.162,3.171,3.175,3.179,3.179,3.19,3.194,3.209,3.224,3.224,3.224,3.235,3.237,3.239,3.244,3.247,3.259,3.281,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 85.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 85.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 85.0329} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.953} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.9144} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.2286} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8514} SEN {Time 85.0746} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.177,0.185,0.185,0,0,0,0,0,0,0,0,0,3.683,3.672,3.661,3.653,3.63,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.214,3.209,3.214,3.215,3.257,3.368,0,0,0,0,0,0,0,0.007,0.146,0.146,0.146,0.146,0.143,0.146,0.15,0.152,0.151,0.152,0.152,0.154,0.154,3.038,3.038,3.038,3.038,3.038,3.038,3.038,0.163,0.155,0.155,0.153,0.153,0.153,0.142,0.133,0.1,0.075,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.062,0.062,0.062,0.062,0.085,0.149,3.341,3.345,3.356,3.356,3.356,3.365,3.368,3.379,3.397,3.404,3.435,3.435,3.435,3.438,3.47,3.473,3.49,3.495,3.496,3.499,3.507,3.507,3.513,3.518,3.519,3.523,3.524,3.524,3.526,3.531,3.534,3.536,3.541,3.546,3.551,3.551,3.557,3.562,3.565,3.568,3.572,3.574,3.575,3.58,3.602,3.602,3.604,3.609,3.625,3.626,3.638,3.64,3.65,3.651,3.653,3.663,3.668,3.671,3.676,3.68,3.69,3.695,3.695,3.697,3.721,3.728,3.738,3.749,3.758,3.763,3.766,3.777,3.782,3.801,3.807,3.809,3.812,3.843,3.846,3.855,3.866,3.879,3.892,3.894,3.897,3.917,3.928,3.941,3.957,3.969,3.98,4.001,4.022,4.035,4.037,4.057,4.06,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.016,3.956,3.928,3.904,3.88,3.841,3.815,3.774,3.759,3.72,3.7,3.685,3.643,3.638,3.602,3.579,3.555,3.526,3.51,3.485,3.45,3.45,3.424,3.397,3.392,3.372,3.337,3.33,3.3,3.287,3.276,3.251,3.246,3.219,3.199,3.183,3.171,3.149,3.139,3.124,3.106,3.097,3.087,3.066,3.046,3.046,3.033,3.026,3.004,2.991,2.973,2.967,2.955,2.94,2.921,2.917,2.904,2.884,2.875,2.874,2.859,2.851,2.841,2.82,2.812,2.81,2.788,2.785,2.782,2.769,2.762,2.752,2.736,2.726,2.723,2.713,2.703,2.691,2.681,2.679,2.676,2.663,2.655,2.653,2.65,2.639,2.634,2.62,2.619,2.609,2.606,2.601,2.593,2.582,2.58,2.574,2.569,2.563,2.559,2.55,2.539,2.538,2.532,2.521,2.518,2.514,2.512,2.506,2.493,2.492,2.492,2.484,2.482,2.479,2.475,2.475,2.47,2.47,2.467,2.462,2.459,2.453,2.446,2.446,2.446,2.443,2.442,2.44,2.44,2.435,2.427,2.425,2.425,2.426,2.425,2.423,2.423,2.421,2.417,2.417,2.415,2.412,2.412,2.412,2.412,2.412,2.412,2.41,2.409,2.408,2.408,2.408,2.41,2.416,2.416,2.411,2.411,2.411,2.411,2.412,2.413,2.417,2.42,2.42,2.42,2.418,2.418,2.418,2.423,2.424,2.431,2.434,2.436,2.439,2.439,2.44,2.445,2.445,2.445,2.452,2.452,2.455,2.464,2.467,2.47,2.471,2.471,2.484,2.488,2.492,2.494,2.494,2.503,2.505,2.515,2.515,2.522,2.527,2.531,2.533,2.538,2.542,2.544,2.544,2.555,2.561,2.566,2.571,2.588,2.604,2.605,2.608,2.608,2.609,2.623,2.63,2.64,2.641,2.645,2.646,2.66,2.673,2.674,2.694,2.697,2.7,2.712,2.722,2.729,2.74,2.753,2.755,2.758,2.781,2.791,2.798,2.808,2.813,2.836,2.837,2.847,2.857,2.869,2.881,2.883,2.897,2.916,2.928,2.946,2.954,2.958,2.975,2.983,2.997,3.008,3.031,3.037,3.051,3.065,3.085,3.088,3.103,3.121,3.144,3.155,3.168,3.184,3.202,3.218,3.239,3.251,3.262,3.277,3.295,3.32,3.342,3.347,3.376,3.391,3.411,3.427,3.456,3.476,3.508,3.527,3.541,3.568,3.598,3.618,3.645,3.677,3.693,3.717,3.746,3.789,3.798,3.847,3.859,3.888,3.91,3.953,4.036,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.36,3.34,3.325,3.315,3.307,3.297,3.287,3.278,3.261,3.26,3.253,3.239,3.237,3.236,3.217,3.209,3.203,3.193,3.188,3.187,3.172,3.168,3.157,3.148,3.148,3.143,3.143,3.134,3.118,3.117,3.115,3.109,3.109,3.104,3.092,3.092,3.088,3.081,3.081,3.076,3.067,3.063,3.061,3.056,3.056,3.047,3.042,3.042,3.042,3.041,3.041,3.034,3.028,3.025,3.022,3.022,3.022,3.022,3.031,3.031,3.031,3.023,3.021,3.015,3.013,3.012,3.009,3.009,3.012,3.009,3.009,3.012,3.007,3.007,3.007,3.01,3.01,3.01,3.01,3.012,3.014,3.014,3.014,3.014,3.014,3.022,3.022,3.022,3.024,3.02,3.02,3.021,3.025,3.029,3.033,3.037,3.036,3.036,3.037,3.04,3.05,3.053,3.059,3.059,3.061,3.064,3.067,3.077,3.082,3.083,3.086,3.086,3.088,3.093,3.097,3.109,3.11,3.114,3.121,3.127,3.127,3.132,3.136,3.138,3.138,3.146,3.149,3.151,3.158,3.163,3.172,3.177,3.18,3.181,3.195,3.208,3.229,3.23,3.23,3.23,3.242,3.243,3.252,3.253,3.267,3.28,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 85.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 85.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 85.2259} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.9144} {Name Sonar9 Range 0.762} {Name Sonar10 Range 0.2286} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.8514} SEN {Time 85.2706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.178,0.182,0.182,0.184,0.188,0,0,0,0,0,0,0,0,3.693,3.681,3.672,3.663,3.636,3.63,3.627,3.627,3.627,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.222,3.219,3.213,3.219,3.219,3.259,3.36,0,0,0,0,0,0,0,0,0.147,0.147,0.147,0.147,0.14,0.147,0.144,0.147,0.144,0.147,0.144,0.155,0.155,3.035,3.035,3.035,3.035,3.03,3.03,3.029,0.157,0.157,0.157,0.157,0.161,0.161,0.143,0.143,0.121,0.099,0.071,0.064,0.063,0.06,0.063,0.064,0.064,0.066,0.066,0.066,0.064,0.061,0.061,0.067,0.093,0.178,3.331,3.337,3.35,3.35,3.365,3.365,3.372,3.375,3.375,3.411,3.423,3.43,3.431,3.456,3.469,3.487,3.49,3.494,3.503,3.504,3.506,3.506,3.507,3.523,3.529,3.531,3.531,3.532,3.532,3.532,3.535,3.54,3.547,3.551,3.554,3.557,3.561,3.562,3.576,3.581,3.581,3.581,3.582,3.587,3.595,3.613,3.615,3.626,3.627,3.63,3.64,3.643,3.648,3.655,3.656,3.664,3.669,3.67,3.68,3.69,3.697,3.699,3.711,3.715,3.718,3.739,3.743,3.751,3.753,3.766,3.772,3.787,3.791,3.794,3.806,3.823,3.831,3.833,3.848,3.869,3.878,3.887,3.901,3.904,3.924,3.93,3.948,3.955,3.973,3.981,4,4.013,4.029,4.04,4.064,4.083,4.089,0.016,0.016,0,0,0,0,4.047,4.022,3.992,3.956,3.935,3.893,3.866,3.852,3.81,3.777,3.743,3.73,3.699,3.665,3.655,3.631,3.605,3.579,3.56,3.531,3.511,3.489,3.461,3.44,3.409,3.407,3.387,3.373,3.357,3.347,3.31,3.292,3.268,3.261,3.228,3.223,3.203,3.191,3.168,3.148,3.138,3.126,3.104,3.094,3.094,3.061,3.045,3.045,3.023,3.015,2.997,2.981,2.98,2.958,2.95,2.945,2.931,2.92,2.909,2.895,2.879,2.875,2.854,2.852,2.839,2.827,2.819,2.809,2.785,2.781,2.777,2.766,2.76,2.753,2.747,2.729,2.718,2.716,2.707,2.693,2.684,2.673,2.67,2.662,2.656,2.652,2.645,2.632,2.631,2.62,2.618,2.61,2.604,2.59,2.588,2.579,2.57,2.568,2.567,2.558,2.552,2.551,2.546,2.536,2.53,2.528,2.521,2.517,2.51,2.502,2.499,2.492,2.489,2.487,2.483,2.482,2.48,2.474,2.472,2.468,2.467,2.457,2.455,2.452,2.451,2.448,2.448,2.447,2.446,2.442,2.44,2.439,2.43,2.428,2.426,2.424,2.421,2.421,2.421,2.417,2.416,2.415,2.416,2.415,2.415,2.415,2.411,2.41,2.411,2.41,2.411,2.41,2.412,2.413,2.413,2.412,2.413,2.413,2.415,2.415,2.415,2.415,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.42,2.428,2.428,2.429,2.43,2.438,2.438,2.44,2.441,2.443,2.444,2.449,2.454,2.454,2.458,2.459,2.47,2.471,2.474,2.475,2.486,2.49,2.49,2.49,2.493,2.495,2.501,2.508,2.509,2.512,2.517,2.519,2.534,2.54,2.545,2.554,2.554,2.558,2.562,2.576,2.578,2.583,2.594,2.597,2.603,2.612,2.615,2.62,2.629,2.637,2.638,2.648,2.651,2.66,2.676,2.683,2.685,2.694,2.696,2.718,2.72,2.729,2.738,2.75,2.751,2.769,2.775,2.791,2.796,2.801,2.813,2.824,2.841,2.85,2.861,2.862,2.882,2.897,2.9,2.92,2.922,2.944,2.953,2.96,2.975,2.982,2.998,3.015,3.019,3.042,3.051,3.068,3.081,3.09,3.101,3.125,3.141,3.153,3.16,3.172,3.196,3.227,3.228,3.25,3.251,3.281,3.299,3.32,3.34,3.354,3.377,3.397,3.409,3.433,3.472,3.48,3.505,3.519,3.539,3.564,3.6,3.617,3.641,3.67,3.7,3.711,3.757,3.775,3.79,3.831,3.861,3.89,3.923,3.95,3.997,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.352,3.335,3.329,3.317,3.314,3.292,3.285,3.285,3.274,3.265,3.241,3.239,3.238,3.235,3.221,3.219,3.204,3.189,3.189,3.18,3.174,3.173,3.162,3.155,3.154,3.146,3.142,3.14,3.123,3.12,3.119,3.106,3.104,3.101,3.088,3.087,3.086,3.079,3.076,3.073,3.073,3.064,3.063,3.052,3.052,3.049,3.046,3.04,3.039,3.036,3.036,3.035,3.033,3.03,3.027,3.024,3.024,3.024,3.025,3.025,3.025,3.017,3.017,3.017,3.017,3.011,3.014,3.009,3.012,3.006,3.005,3.005,3.005,3.005,3.008,3.008,3.012,3.012,3.012,3.012,3.016,3.015,3.015,3.016,3.016,3.018,3.018,3.017,3.018,3.017,3.017,3.025,3.025,3.025,3.03,3.033,3.033,3.033,3.035,3.036,3.044,3.053,3.053,3.058,3.058,3.066,3.066,3.074,3.079,3.08,3.094,3.094,3.096,3.096,3.097,3.112,3.114,3.117,3.117,3.131,3.133,3.133,3.136,3.14,3.14,3.142,3.142,3.158,3.163,3.164,3.165,3.169,3.175,3.181,3.189,3.213,3.217,3.222,3.237,3.237,3.239,3.242,3.25,3.251,3.263,3.285,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 85.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 85.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 85.4269} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.9144} {Name Sonar9 Range 0.762} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 4.8514} SEN {Time 85.4706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.177,0.181,0.19,0,0,0,0,0,0,0,0,3.688,3.677,3.663,3.655,3.65,3.631,3.612,3.612,3.612,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.211,3.211,3.211,3.211,3.263,3.357,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.144,0.146,0.146,0.156,0.146,0.153,0.153,0.153,0.153,3.029,3.035,3.035,3.035,3.035,3.035,3.026,0.16,0.157,0.157,0.153,0.15,0.15,0.146,0.146,0.124,0.096,0.064,0.06,0.058,0.058,0.06,0.061,0.062,0.065,0.066,0.065,0.065,0.06,0.06,0.06,0.096,0.164,3.334,3.354,3.358,3.358,3.359,3.37,3.377,3.381,3.405,3.426,3.426,3.428,3.444,3.468,3.473,3.475,3.475,3.489,3.5,3.508,3.508,3.509,3.515,3.515,3.516,3.52,3.524,3.528,3.529,3.533,3.537,3.54,3.544,3.546,3.559,3.562,3.564,3.573,3.574,3.574,3.579,3.589,3.59,3.596,3.6,3.603,3.609,3.625,3.627,3.637,3.646,3.646,3.648,3.648,3.661,3.665,3.671,3.675,3.687,3.697,3.697,3.698,3.711,3.711,3.712,3.727,3.741,3.744,3.754,3.765,3.765,3.777,3.791,3.793,3.816,3.819,3.828,3.842,3.847,3.867,3.881,3.882,3.898,3.902,3.907,3.934,3.952,3.958,3.974,3.974,3.997,4.017,4.023,4.038,4.057,4.078,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.04,4.02,3.993,3.969,3.93,3.889,3.863,3.839,3.82,3.771,3.751,3.729,3.704,3.684,3.648,3.63,3.603,3.58,3.546,3.511,3.505,3.49,3.458,3.435,3.419,3.401,3.388,3.37,3.348,3.34,3.309,3.286,3.276,3.253,3.228,3.228,3.199,3.189,3.173,3.159,3.141,3.126,3.106,3.1,3.077,3.073,3.044,3.042,3.017,3.008,3,2.99,2.971,2.961,2.947,2.932,2.922,2.911,2.909,2.887,2.876,2.867,2.857,2.841,2.836,2.826,2.811,2.802,2.794,2.78,2.779,2.768,2.758,2.75,2.734,2.733,2.725,2.707,2.7,2.693,2.681,2.678,2.67,2.663,2.652,2.652,2.646,2.632,2.63,2.622,2.617,2.607,2.606,2.595,2.589,2.579,2.575,2.571,2.567,2.562,2.558,2.547,2.538,2.537,2.537,2.522,2.516,2.512,2.509,2.505,2.498,2.491,2.491,2.49,2.48,2.478,2.476,2.474,2.468,2.467,2.462,2.46,2.451,2.451,2.45,2.449,2.449,2.448,2.446,2.445,2.442,2.439,2.434,2.43,2.427,2.427,2.419,2.419,2.419,2.417,2.415,2.415,2.414,2.412,2.411,2.411,2.411,2.41,2.411,2.411,2.408,2.408,2.409,2.409,2.415,2.415,2.417,2.417,2.412,2.412,2.412,2.412,2.417,2.418,2.418,2.418,2.42,2.421,2.421,2.421,2.425,2.428,2.429,2.434,2.434,2.44,2.44,2.44,2.441,2.447,2.448,2.45,2.452,2.453,2.455,2.464,2.465,2.468,2.473,2.476,2.481,2.487,2.493,2.494,2.494,2.494,2.511,2.511,2.518,2.518,2.523,2.532,2.54,2.54,2.549,2.555,2.557,2.564,2.571,2.575,2.59,2.597,2.599,2.607,2.609,2.612,2.627,2.636,2.642,2.645,2.646,2.655,2.669,2.67,2.672,2.691,2.693,2.698,2.713,2.72,2.722,2.744,2.752,2.754,2.768,2.788,2.792,2.802,2.813,2.822,2.827,2.843,2.845,2.859,2.868,2.876,2.892,2.903,2.917,2.922,2.939,2.948,2.964,2.971,2.984,2.998,3.006,3.024,3.036,3.048,3.061,3.083,3.092,3.107,3.12,3.138,3.156,3.176,3.181,3.196,3.219,3.228,3.252,3.255,3.28,3.295,3.325,3.333,3.36,3.373,3.395,3.401,3.439,3.463,3.478,3.501,3.523,3.544,3.563,3.61,3.61,3.641,3.668,3.694,3.714,3.742,3.773,3.804,3.844,3.864,3.913,3.953,4.022,4.022,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.347,3.331,3.327,3.315,3.303,3.3,3.294,3.282,3.269,3.266,3.25,3.248,3.236,3.234,3.22,3.216,3.207,3.2,3.186,3.182,3.175,3.171,3.165,3.165,3.151,3.141,3.137,3.137,3.135,3.123,3.118,3.109,3.108,3.105,3.083,3.083,3.08,3.08,3.079,3.075,3.071,3.071,3.065,3.057,3.055,3.046,3.046,3.046,3.042,3.041,3.039,3.033,3.032,3.032,3.025,3.024,3.024,3.024,3.037,3.037,3.037,3.019,3.018,3.015,3.013,3.008,3.008,3.008,3.011,3.011,3.011,3.012,3.01,3.01,3.01,3.01,3.01,3.013,3.016,3.016,3.016,3.016,3.016,3.017,3.017,3.019,3.02,3.02,3.022,3.022,3.024,3.024,3.024,3.025,3.026,3.032,3.037,3.04,3.045,3.047,3.049,3.05,3.052,3.058,3.064,3.064,3.065,3.07,3.074,3.086,3.088,3.092,3.097,3.098,3.099,3.105,3.11,3.116,3.125,3.126,3.126,3.136,3.14,3.141,3.141,3.143,3.145,3.156,3.157,3.158,3.168,3.168,3.183,3.185,3.189,3.207,3.222,3.223,3.228,3.229,3.239,3.243,3.246,3.251,3.262,3.281,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 85.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 85.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 85.628} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.762} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 5.6388} SEN {Time 85.6706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.184,0.185,0.185,0,0,0,0,0,0,0,0,3.694,3.677,3.67,3.664,3.645,3.639,3.61,3.61,3.61,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.222,3.211,3.222,3.224,3.266,3.374,0,0,0,0,0,0,0,0.007,0.144,0.144,0.143,0.143,0.144,0.145,0.149,0.154,0.15,0.154,0.154,0.16,0.16,3.031,3.031,3.036,3.036,3.031,3.039,3.039,0.153,0.153,0.153,0.153,0.153,0.152,0.145,0.141,0.118,0.092,0.07,0.068,0.06,0.06,0.068,0.061,0.069,0.069,0.065,0.063,0.063,0.06,0.063,0.063,0.101,0.177,3.334,3.347,3.363,3.363,3.367,3.392,3.392,3.403,3.417,3.417,3.417,3.438,3.44,3.464,3.48,3.49,3.49,3.496,3.501,3.503,3.511,3.514,3.516,3.518,3.524,3.526,3.527,3.536,3.537,3.537,3.54,3.541,3.542,3.547,3.551,3.556,3.566,3.571,3.576,3.578,3.576,3.576,3.58,3.593,3.596,3.606,3.606,3.63,3.63,3.633,3.64,3.646,3.651,3.652,3.655,3.655,3.662,3.673,3.677,3.679,3.687,3.701,3.708,3.716,3.729,3.742,3.745,3.751,3.752,3.768,3.774,3.778,3.798,3.805,3.808,3.814,3.836,3.843,3.848,3.87,3.873,3.887,3.893,3.894,3.912,3.933,3.937,3.959,3.979,3.982,3.997,4.012,4.029,4.051,4.064,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.061,4.021,3.961,3.933,3.887,3.864,3.834,3.822,3.793,3.747,3.728,3.703,3.673,3.644,3.617,3.592,3.565,3.546,3.516,3.509,3.493,3.446,3.433,3.433,3.394,3.375,3.369,3.343,3.331,3.309,3.298,3.288,3.254,3.226,3.224,3.19,3.189,3.175,3.148,3.14,3.128,3.1,3.098,3.088,3.063,3.042,3.042,3.034,3.015,3.005,2.986,2.983,2.963,2.95,2.937,2.928,2.92,2.91,2.895,2.868,2.864,2.855,2.847,2.836,2.816,2.814,2.807,2.789,2.787,2.785,2.769,2.762,2.742,2.734,2.734,2.716,2.712,2.7,2.691,2.684,2.677,2.676,2.658,2.653,2.65,2.642,2.642,2.636,2.63,2.615,2.607,2.605,2.594,2.59,2.58,2.579,2.574,2.567,2.565,2.55,2.546,2.546,2.537,2.53,2.519,2.518,2.518,2.511,2.509,2.496,2.492,2.489,2.487,2.479,2.479,2.476,2.473,2.468,2.465,2.463,2.463,2.458,2.456,2.455,2.453,2.448,2.447,2.445,2.444,2.438,2.436,2.428,2.428,2.428,2.426,2.423,2.42,2.42,2.418,2.417,2.417,2.417,2.415,2.415,2.411,2.41,2.41,2.41,2.409,2.409,2.408,2.408,2.409,2.412,2.415,2.415,2.415,2.415,2.415,2.415,2.411,2.415,2.418,2.419,2.419,2.419,2.419,2.42,2.423,2.423,2.427,2.43,2.433,2.438,2.44,2.444,2.444,2.446,2.45,2.45,2.457,2.46,2.46,2.462,2.464,2.468,2.473,2.478,2.479,2.484,2.488,2.489,2.49,2.493,2.499,2.513,2.517,2.52,2.531,2.532,2.533,2.536,2.538,2.548,2.548,2.556,2.56,2.57,2.578,2.59,2.598,2.598,2.605,2.611,2.625,2.626,2.634,2.638,2.642,2.644,2.65,2.654,2.673,2.678,2.691,2.693,2.694,2.717,2.718,2.728,2.744,2.754,2.756,2.769,2.783,2.791,2.799,2.805,2.816,2.837,2.839,2.84,2.858,2.87,2.873,2.889,2.904,2.91,2.928,2.941,2.953,2.967,2.979,2.983,2.988,3.012,3.023,3.033,3.035,3.065,3.075,3.09,3.104,3.125,3.137,3.153,3.169,3.182,3.2,3.22,3.24,3.245,3.268,3.275,3.304,3.32,3.335,3.35,3.372,3.395,3.405,3.432,3.46,3.474,3.499,3.519,3.545,3.572,3.594,3.614,3.64,3.671,3.693,3.724,3.752,3.779,3.8,3.837,3.85,3.887,3.916,3.947,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.356,3.339,3.336,3.319,3.304,3.291,3.289,3.286,3.272,3.261,3.256,3.248,3.239,3.239,3.219,3.21,3.208,3.199,3.186,3.181,3.181,3.173,3.163,3.156,3.153,3.148,3.134,3.13,3.121,3.121,3.12,3.108,3.102,3.101,3.093,3.092,3.084,3.082,3.077,3.068,3.067,3.066,3.065,3.063,3.063,3.047,3.046,3.044,3.04,3.04,3.04,3.04,3.031,3.029,3.026,3.023,3.023,3.023,3.027,3.027,3.027,3.02,3.018,3.016,3.013,3.011,3.011,3.009,3.011,3.013,3.013,3.007,3.007,3.006,3.006,3.006,3.006,3.007,3.007,3.007,3.013,3.013,3.013,3.013,3.013,3.013,3.015,3.019,3.021,3.021,3.022,3.024,3.025,3.031,3.034,3.034,3.035,3.036,3.038,3.038,3.054,3.057,3.058,3.062,3.062,3.065,3.065,3.065,3.081,3.086,3.086,3.086,3.088,3.088,3.103,3.109,3.11,3.11,3.128,3.135,3.135,3.135,3.132,3.132,3.132,3.144,3.149,3.155,3.16,3.166,3.174,3.175,3.177,3.182,3.196,3.219,3.225,3.227,3.233,3.239,3.239,3.241,3.244,3.249,3.271,3.274,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 85.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 85.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 85.8289} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.7366} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 5.6388} SEN {Time 85.8706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.19,0.18,0.19,0.19,0,0,0,0,0,0,0,0,3.682,3.674,3.666,3.659,3.644,3.631,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.225,3.215,3.225,3.267,3.371,3.371,0,0,0,0,0,0,0,0.143,0.141,0.141,0.141,0.141,0.148,0.148,0.149,0.156,0.149,0.149,0.149,0.149,0.149,3.034,3.035,3.035,3.035,3.035,3.035,3.034,0.157,0.153,0.153,0.152,0.152,0.151,0.146,0.146,0.121,0.094,0.068,0.062,0.061,0.061,0.062,0.063,0.066,0.067,0.067,0.068,0.068,0.064,0.064,0.069,0.107,0.195,3.335,3.345,3.367,3.367,3.365,3.365,3.367,3.389,3.389,3.4,3.44,0,0.007,3.486,3.481,3.486,3.486,3.495,3.499,3.503,3.503,3.504,3.51,3.512,3.52,3.522,3.526,3.531,3.533,3.534,3.538,3.539,3.541,3.546,3.55,3.553,3.56,3.567,3.574,3.574,3.578,3.598,3.598,3.599,3.605,3.609,3.609,3.619,3.634,3.635,3.636,3.648,3.648,3.653,3.662,3.667,3.668,3.679,3.682,3.683,3.693,3.695,3.703,3.713,3.735,3.739,3.741,3.749,3.752,3.762,3.769,3.787,3.794,3.801,3.816,3.818,3.83,3.845,3.864,3.867,3.875,3.894,3.898,3.898,3.918,3.932,3.936,3.949,3.98,3.98,3.989,4.016,4.029,4.034,4.066,4.075,4.093,4.095,0.016,0.016,0.016,0.016,4.084,4.041,4.018,3.986,3.963,3.944,3.913,3.868,3.841,3.805,3.778,3.746,3.738,3.704,3.673,3.652,3.634,3.598,3.576,3.544,3.532,3.51,3.479,3.459,3.45,3.432,3.401,3.379,3.366,3.343,3.328,3.315,3.296,3.276,3.245,3.23,3.225,3.195,3.188,3.17,3.152,3.136,3.123,3.105,3.101,3.092,3.066,3.043,3.043,3.041,3.021,3.006,2.988,2.979,2.961,2.944,2.939,2.922,2.915,2.905,2.892,2.875,2.875,2.852,2.851,2.842,2.821,2.816,2.798,2.788,2.784,2.773,2.762,2.761,2.743,2.735,2.728,2.725,2.715,2.71,2.697,2.677,2.675,2.672,2.669,2.66,2.654,2.646,2.635,2.631,2.627,2.616,2.612,2.61,2.601,2.587,2.574,2.574,2.565,2.561,2.557,2.551,2.539,2.538,2.537,2.532,2.529,2.517,2.511,2.511,2.507,2.497,2.496,2.492,2.49,2.488,2.481,2.48,2.477,2.474,2.473,2.466,2.46,2.453,2.449,2.449,2.449,2.449,2.448,2.442,2.441,2.435,2.435,2.434,2.428,2.425,2.424,2.423,2.423,2.419,2.42,2.419,2.415,2.415,2.415,2.414,2.414,2.413,2.41,2.41,2.409,2.406,2.406,2.406,2.406,2.406,2.408,2.411,2.411,2.411,2.416,2.411,2.417,2.418,2.418,2.418,2.418,2.418,2.419,2.419,2.42,2.42,2.42,2.425,2.431,2.439,2.439,2.439,2.442,2.444,2.445,2.447,2.453,2.455,2.461,2.465,2.466,2.468,2.471,2.472,2.482,2.484,2.484,2.489,2.493,2.497,2.499,2.508,2.513,2.52,2.522,2.528,2.532,2.535,2.539,2.548,2.556,2.565,2.566,2.572,2.579,2.586,2.594,2.597,2.603,2.611,2.611,2.632,2.634,2.64,2.641,2.642,2.655,2.659,2.673,2.685,2.685,2.692,2.703,2.714,2.723,2.73,2.74,2.76,2.762,2.764,2.783,2.79,2.802,2.807,2.818,2.823,2.839,2.844,2.866,2.866,2.869,2.886,2.896,2.916,2.922,2.942,2.953,2.959,2.972,2.979,2.996,3.013,3.03,3.044,3.047,3.059,3.077,3.085,3.101,3.124,3.142,3.156,3.17,3.175,3.205,3.225,3.228,3.242,3.265,3.276,3.294,3.319,3.34,3.353,3.375,3.392,3.405,3.43,3.459,3.49,3.5,3.524,3.543,3.567,3.604,3.614,3.644,3.671,3.688,3.724,3.744,3.782,3.8,3.834,3.862,3.889,3.906,3.949,3.991,4.027,0.016,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.371,3.347,3.339,3.329,3.315,3.31,3.294,3.287,3.286,3.276,3.255,3.247,3.243,3.236,3.23,3.211,3.211,3.207,3.2,3.187,3.185,3.183,3.17,3.167,3.155,3.153,3.141,3.139,3.131,3.121,3.119,3.111,3.109,3.102,3.102,3.093,3.092,3.087,3.087,3.076,3.075,3.07,3.063,3.063,3.057,3.055,3.047,3.046,3.043,3.043,3.042,3.039,3.038,3.031,3.026,3.025,3.02,3.02,3.02,3.027,3.029,3.029,3.029,3.027,3.017,3.017,3.017,3.01,3.003,3.01,3.009,3.009,3.009,3.011,3.013,3.013,3.013,3.013,3.01,3.01,3.011,3.016,3.016,3.016,3.016,3.016,3.018,3.014,3.019,3.02,3.022,3.022,3.024,3.026,3.031,3.035,3.036,3.04,3.041,3.042,3.043,3.051,3.051,3.053,3.056,3.068,3.068,3.074,3.074,3.082,3.084,3.084,3.085,3.092,3.094,3.099,3.106,3.116,3.119,3.122,3.128,3.133,3.134,3.133,3.134,3.134,3.141,3.149,3.154,3.163,3.167,3.171,3.179,3.185,3.187,3.206,3.206,3.217,3.225,3.225,3.233,3.234,3.236,3.245,3.247,3.262,3.286,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 86.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 86.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 86.0208} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.7366} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.6388} SEN {Time 86.0706} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.181,0.183,0,0,0,0,0,0,0,0,3.687,3.67,3.668,3.658,3.642,3.632,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.218,3.215,3.21,3.215,3.215,3.258,3.371,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.143,0.148,0.152,0.153,0.152,0.153,0.153,0.157,0.157,3.027,3.034,3.036,3.036,3.034,3.036,3.036,0.153,0.153,0.153,0.153,0.158,0.158,0.15,0.15,0.118,0.089,0.074,0.062,0.062,0.06,0.062,0.064,0.066,0.066,0.067,0.067,0.064,0.064,0.064,0.064,0.101,0.166,3.333,3.348,3.369,3.369,3.37,3.37,3.37,3.385,3.417,0,0.007,3.469,3.461,3.469,3.469,3.479,3.484,3.488,3.492,3.504,3.506,3.507,3.511,3.521,3.521,3.522,3.53,3.533,3.534,3.539,3.541,3.545,3.545,3.546,3.554,3.556,3.562,3.563,3.576,3.578,3.579,3.582,3.586,3.594,3.605,3.611,3.614,3.627,3.628,3.631,3.633,3.645,3.65,3.654,3.655,3.668,3.672,3.673,3.678,3.686,3.695,3.7,3.714,3.714,3.731,3.741,3.742,3.744,3.759,3.76,3.761,3.776,3.791,3.794,3.813,3.816,3.829,3.83,3.844,3.871,3.876,3.882,3.9,3.904,3.928,3.944,3.95,3.953,3.978,3.985,3.997,4.013,4.028,4.047,4.074,4.081,4.082,0.016,0.016,0.016,0.007,0.016,0.016,4.058,4.02,3.987,3.958,3.93,3.898,3.877,3.85,3.811,3.786,3.756,3.733,3.699,3.672,3.642,3.623,3.589,3.569,3.546,3.517,3.505,3.484,3.456,3.443,3.432,3.407,3.379,3.36,3.347,3.332,3.308,3.296,3.27,3.254,3.233,3.231,3.184,3.183,3.176,3.153,3.149,3.126,3.115,3.092,3.086,3.058,3.049,3.041,3.028,3.014,2.999,2.992,2.978,2.966,2.945,2.937,2.924,2.911,2.904,2.889,2.878,2.875,2.854,2.847,2.843,2.824,2.823,2.809,2.786,2.786,2.773,2.768,2.762,2.751,2.74,2.734,2.722,2.712,2.704,2.701,2.677,2.677,2.676,2.664,2.655,2.653,2.644,2.642,2.633,2.629,2.619,2.607,2.603,2.592,2.59,2.584,2.572,2.572,2.566,2.556,2.553,2.55,2.541,2.539,2.53,2.528,2.521,2.509,2.506,2.502,2.5,2.498,2.496,2.486,2.48,2.477,2.476,2.471,2.471,2.47,2.466,2.461,2.455,2.451,2.448,2.448,2.447,2.446,2.443,2.442,2.44,2.434,2.434,2.429,2.429,2.427,2.425,2.424,2.418,2.417,2.416,2.415,2.415,2.415,2.414,2.413,2.413,2.413,2.41,2.41,2.41,2.409,2.409,2.41,2.41,2.411,2.414,2.415,2.415,2.415,2.415,2.416,2.416,2.416,2.417,2.416,2.421,2.421,2.423,2.425,2.427,2.428,2.433,2.435,2.435,2.435,2.444,2.444,2.446,2.448,2.451,2.452,2.453,2.453,2.46,2.463,2.466,2.471,2.478,2.479,2.487,2.488,2.49,2.499,2.501,2.502,2.514,2.515,2.52,2.52,2.529,2.53,2.53,2.536,2.545,2.553,2.558,2.564,2.571,2.575,2.593,2.594,2.602,2.606,2.609,2.611,2.626,2.63,2.638,2.639,2.647,2.654,2.661,2.674,2.683,2.691,2.701,2.702,2.717,2.725,2.73,2.742,2.751,2.76,2.76,2.781,2.79,2.794,2.806,2.81,2.831,2.833,2.844,2.855,2.875,2.877,2.887,2.901,2.917,2.921,2.95,2.952,2.955,2.97,2.987,2.998,3.014,3.025,3.038,3.043,3.061,3.078,3.092,3.102,3.121,3.137,3.153,3.159,3.178,3.203,3.219,3.235,3.243,3.264,3.277,3.298,3.318,3.332,3.351,3.377,3.399,3.42,3.433,3.455,3.485,3.5,3.53,3.54,3.57,3.596,3.612,3.652,3.658,3.681,3.728,3.739,3.785,3.792,3.837,3.865,3.905,3.945,3.987,3.987,4.023,4.062,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.355,3.341,3.331,3.314,3.308,3.298,3.293,3.278,3.274,3.256,3.25,3.247,3.24,3.239,3.22,3.217,3.217,3.196,3.195,3.179,3.176,3.172,3.164,3.154,3.15,3.145,3.137,3.137,3.125,3.121,3.115,3.111,3.102,3.098,3.09,3.089,3.082,3.079,3.079,3.073,3.068,3.061,3.059,3.056,3.054,3.052,3.045,3.041,3.041,3.04,3.04,3.033,3.033,3.03,3.029,3.027,3.027,3.027,3.027,3.027,3.024,3.021,3.021,3.014,3.013,3.013,3.012,3.011,3.011,3.012,3.01,3.01,3.01,3.01,3.01,3.01,3.014,3.014,3.014,3.014,3.014,3.014,3.013,3.012,3.012,3.014,3.015,3.016,3.021,3.021,3.022,3.022,3.025,3.029,3.033,3.034,3.034,3.04,3.044,3.044,3.052,3.055,3.057,3.059,3.059,3.059,3.064,3.078,3.078,3.084,3.085,3.087,3.091,3.091,3.1,3.104,3.113,3.117,3.127,3.131,3.131,3.137,3.137,3.138,3.138,3.14,3.145,3.153,3.164,3.168,3.175,3.177,3.179,3.192,3.193,3.211,3.221,3.223,3.226,3.236,3.241,3.248,3.25,3.252,3.261,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 86.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 86.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 86.2218} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.635} {Name Sonar9 Range 0.7366} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.413} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.0546} SEN {Time 86.2666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.176,0.182,0.187,0,0,0,0,0,0,0,0,3.688,3.677,3.669,3.659,3.648,3.618,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.214,3.213,3.213,3.216,3.255,3.366,0,0,0,0,0,0,0,0.007,0.148,0.148,0.148,0.148,0.143,0.143,0.143,0.153,0.147,0.153,0.153,0.157,0.157,3.034,3.034,3.036,3.036,3.034,3.036,3.036,0.16,0.156,0.156,0.156,0.155,0.155,0.145,0.145,0.12,0.087,0.068,0.062,0.06,0.059,0.059,0.059,0.062,0.063,0.063,0.063,0.063,0.063,0.063,0.063,0.109,0.173,3.346,3.377,3.377,3.37,3.37,3.371,3.371,3.374,3.376,3.423,0.007,0,0.007,3.49,3.488,3.49,3.49,3.493,3.496,3.5,3.507,3.508,3.51,3.523,3.524,3.525,3.531,3.533,3.533,3.535,3.538,3.54,3.54,3.541,3.553,3.555,3.558,3.57,3.577,3.58,3.58,3.581,3.582,3.592,3.607,3.608,3.61,3.627,3.629,3.629,3.635,3.642,3.643,3.644,3.647,3.654,3.665,3.674,3.678,3.691,3.693,3.695,3.705,3.709,3.732,3.732,3.742,3.751,3.752,3.764,3.765,3.777,3.791,3.806,3.808,3.821,3.84,3.841,3.845,3.874,3.877,3.884,3.904,3.906,3.918,3.934,3.943,3.957,3.961,3.986,3.995,4.011,4.027,4.044,4.071,4.089,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.049,4.022,3.996,3.957,3.934,3.902,3.874,3.834,3.822,3.778,3.754,3.727,3.702,3.676,3.649,3.619,3.598,3.572,3.546,3.534,3.506,3.487,3.451,3.45,3.418,3.393,3.383,3.379,3.347,3.33,3.302,3.296,3.274,3.262,3.239,3.221,3.203,3.193,3.171,3.162,3.146,3.13,3.102,3.095,3.079,3.071,3.047,3.039,3.019,3.006,2.999,2.981,2.978,2.959,2.954,2.931,2.924,2.921,2.909,2.887,2.879,2.866,2.855,2.843,2.832,2.824,2.817,2.808,2.789,2.787,2.781,2.767,2.762,2.751,2.738,2.73,2.725,2.71,2.709,2.697,2.683,2.677,2.67,2.663,2.658,2.649,2.646,2.635,2.632,2.625,2.616,2.602,2.6,2.598,2.588,2.581,2.58,2.572,2.568,2.561,2.555,2.545,2.54,2.538,2.529,2.521,2.517,2.514,2.508,2.506,2.496,2.495,2.491,2.483,2.482,2.478,2.476,2.47,2.468,2.468,2.465,2.461,2.446,2.446,2.446,2.444,2.442,2.442,2.439,2.439,2.436,2.432,2.431,2.432,2.431,2.425,2.421,2.416,2.415,2.414,2.414,2.414,2.414,2.414,2.412,2.411,2.411,2.409,2.409,2.406,2.406,2.406,2.406,2.412,2.414,2.414,2.414,2.415,2.415,2.415,2.416,2.417,2.417,2.419,2.421,2.421,2.421,2.424,2.424,2.426,2.426,2.426,2.428,2.428,2.434,2.436,2.441,2.445,2.445,2.446,2.451,2.452,2.452,2.452,2.463,2.464,2.467,2.474,2.475,2.477,2.481,2.484,2.489,2.492,2.492,2.497,2.51,2.511,2.512,2.52,2.524,2.534,2.535,2.544,2.547,2.555,2.558,2.566,2.566,2.578,2.589,2.596,2.602,2.603,2.604,2.617,2.619,2.631,2.633,2.641,2.646,2.651,2.66,2.672,2.678,2.681,2.701,2.707,2.712,2.719,2.721,2.738,2.746,2.752,2.769,2.783,2.788,2.798,2.799,2.816,2.829,2.835,2.847,2.858,2.87,2.88,2.89,2.897,2.921,2.925,2.94,2.945,2.96,2.97,2.983,2.993,3.01,3.021,3.03,3.05,3.063,3.08,3.086,3.1,3.116,3.136,3.156,3.166,3.174,3.198,3.217,3.233,3.249,3.258,3.278,3.296,3.317,3.342,3.35,3.367,3.395,3.405,3.429,3.459,3.483,3.502,3.523,3.539,3.568,3.605,3.61,3.649,3.673,3.696,3.713,3.754,3.773,3.788,3.866,3.882,3.92,3.92,3.95,3.98,4.031,0.016,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.348,3.339,3.328,3.309,3.306,3.306,3.295,3.291,3.278,3.267,3.252,3.24,3.239,3.233,3.218,3.205,3.205,3.198,3.194,3.188,3.172,3.165,3.16,3.153,3.151,3.138,3.134,3.128,3.124,3.123,3.118,3.105,3.103,3.103,3.091,3.089,3.084,3.081,3.078,3.074,3.066,3.063,3.061,3.059,3.048,3.046,3.045,3.041,3.04,3.04,3.039,3.038,3.031,3.026,3.023,3.021,3.023,3.026,3.023,3.023,3.027,3.023,3.014,3.013,3.013,3.012,3.01,3.009,3.01,3.01,3.009,3.008,3.004,3.004,3.004,3.008,3.012,3.012,3.012,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.02,3.022,3.022,3.021,3.022,3.026,3.026,3.031,3.034,3.036,3.036,3.043,3.045,3.045,3.047,3.054,3.058,3.059,3.064,3.066,3.075,3.075,3.085,3.089,3.089,3.092,3.092,3.1,3.109,3.112,3.113,3.127,3.129,3.129,3.129,3.129,3.138,3.14,3.142,3.148,3.154,3.159,3.163,3.172,3.175,3.177,3.18,3.2,3.206,3.218,3.227,3.233,3.234,3.236,3.242,3.244,3.248,3.255,3.278,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 86.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 86.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 86.4228} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6096} {Name Sonar9 Range 0.889} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.413} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.0546} SEN {Time 86.4666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.181,0.184,0,0,0,0,0,0,0,0,3.695,3.677,3.67,3.666,3.647,3.635,3.607,3.607,3.607,3.599,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.218,3.217,3.216,3.216,3.218,3.257,3.356,0,0,0,0,0,0,0,0.007,0.146,0.146,0.146,0.146,0.149,0.15,0.15,0.153,0.15,0.153,0.153,0.153,0.16,3.03,3.03,3.03,3.03,3.03,3.03,3.03,0.158,0.155,0.155,0.155,0.153,0.153,0.145,0.144,0.119,0.088,0.068,0.06,0.059,0.059,0.059,0.06,0.061,0.066,0.066,0.065,0.065,0.064,0.064,0.065,0.099,0.181,3.353,3.357,0.006,3.386,3.367,3.367,3.386,3.386,3.412,3.422,0,3.452,3.466,3.478,3.478,3.478,3.485,3.495,3.495,3.501,3.505,3.505,3.506,3.516,3.522,3.522,3.522,3.525,3.536,3.54,3.54,3.54,3.54,3.55,3.55,3.555,3.565,3.567,3.571,3.571,3.577,3.579,3.586,3.602,3.602,3.604,3.608,3.634,3.637,3.643,3.64,3.644,3.649,3.655,3.655,3.657,3.67,3.679,3.686,3.687,3.688,3.698,3.708,3.711,3.725,3.74,3.741,3.753,3.766,3.766,3.767,3.787,3.791,3.796,3.809,3.831,3.832,3.844,3.844,3.867,3.881,3.881,3.9,3.903,3.915,3.931,3.943,3.956,3.965,3.992,3.996,4.014,4.018,4.043,4.071,4.076,4.094,0.016,0.016,0.016,0.016,0.016,0.007,0,4.084,4.001,3.96,3.931,3.903,3.871,3.84,3.817,3.773,3.757,3.728,3.691,3.684,3.651,3.62,3.604,3.565,3.561,3.526,3.499,3.478,3.455,3.448,3.423,3.404,3.391,3.37,3.339,3.339,3.311,3.297,3.279,3.253,3.233,3.228,3.2,3.193,3.176,3.155,3.126,3.124,3.105,3.103,3.084,3.071,3.046,3.046,3.036,3.022,3.005,2.986,2.974,2.968,2.952,2.937,2.932,2.913,2.911,2.889,2.874,2.869,2.853,2.847,2.843,2.823,2.815,2.808,2.797,2.788,2.774,2.769,2.762,2.746,2.74,2.736,2.718,2.715,2.709,2.693,2.682,2.676,2.673,2.666,2.653,2.646,2.645,2.64,2.638,2.628,2.616,2.612,2.606,2.601,2.596,2.581,2.574,2.573,2.564,2.563,2.557,2.549,2.546,2.54,2.531,2.523,2.52,2.518,2.512,2.506,2.498,2.497,2.496,2.488,2.485,2.476,2.475,2.473,2.472,2.466,2.464,2.463,2.453,2.452,2.451,2.451,2.451,2.447,2.439,2.439,2.439,2.439,2.433,2.431,2.431,2.424,2.424,2.421,2.419,2.419,2.418,2.418,2.416,2.414,2.416,2.411,2.411,2.411,2.412,2.411,2.411,2.411,2.412,2.412,2.413,2.413,2.413,2.413,2.412,2.412,2.414,2.415,2.423,2.423,2.423,2.418,2.418,2.418,2.418,2.424,2.424,2.424,2.429,2.435,2.439,2.436,2.439,2.443,2.444,2.453,2.453,2.453,2.455,2.459,2.463,2.471,2.471,2.471,2.471,2.48,2.481,2.485,2.491,2.492,2.498,2.5,2.511,2.512,2.515,2.516,2.528,2.535,2.537,2.546,2.55,2.551,2.559,2.567,2.568,2.575,2.59,2.603,2.604,2.606,2.607,2.613,2.626,2.632,2.641,2.644,2.644,2.65,2.668,2.671,2.676,2.686,2.697,2.701,2.714,2.718,2.734,2.739,2.755,2.757,2.764,2.782,2.793,2.799,2.802,2.819,2.837,2.841,2.849,2.855,2.86,2.876,2.884,2.901,2.917,2.922,2.936,2.945,2.957,2.971,2.984,3,3.018,3.02,3.039,3.046,3.06,3.078,3.091,3.103,3.131,3.138,3.155,3.16,3.175,3.201,3.221,3.228,3.25,3.264,3.277,3.302,3.317,3.343,3.361,3.374,3.393,3.4,3.424,3.454,3.481,3.498,3.53,3.546,3.568,3.6,3.623,3.641,3.657,3.685,3.715,3.751,3.78,3.809,3.831,3.87,3.88,3.915,4.034,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.358,3.345,3.319,3.309,3.306,3.294,3.285,3.273,3.268,3.259,3.255,3.241,3.239,3.233,3.215,3.214,3.21,3.2,3.193,3.178,3.174,3.173,3.156,3.156,3.155,3.155,3.137,3.127,3.123,3.122,3.118,3.111,3.105,3.103,3.096,3.091,3.086,3.085,3.083,3.075,3.07,3.067,3.054,3.053,3.052,3.051,3.045,3.043,3.043,3.044,3.04,3.04,3.034,3.031,3.025,3.022,3.025,3.031,3.034,3.034,3.034,3.021,3.021,3.017,3.018,3.018,3.012,3.014,3.014,3.012,3.011,3.011,3.01,3.008,3.008,3.008,3.009,3.009,3.013,3.013,3.013,3.014,3.013,3.012,3.013,3.016,3.016,3.016,3.019,3.019,3.019,3.023,3.026,3.03,3.031,3.033,3.033,3.034,3.037,3.044,3.049,3.05,3.058,3.059,3.062,3.062,3.068,3.07,3.074,3.086,3.086,3.087,3.087,3.093,3.101,3.112,3.113,3.113,3.121,3.135,3.135,3.138,3.138,3.138,3.138,3.145,3.148,3.157,3.158,3.165,3.172,3.173,3.176,3.19,3.197,3.213,3.223,3.226,3.236,3.236,3.238,3.241,3.241,3.25,3.267,3.281,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 86.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 86.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 86.6238} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6096} {Name Sonar9 Range 0.889} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.413} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 86.6666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.174,0.183,0.177,0.183,0.184,0,0,0,0,0,0,0,0,3.683,3.674,3.671,3.662,3.648,3.632,3.61,3.61,3.61,0.006,0.006,0.006,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.212,3.206,3.212,3.212,3.261,3.363,0,0,0,0,0,0,0,0.15,0.149,0.148,0.144,0.144,0.146,0.146,0.146,0.149,0.149,0.15,0.15,0.155,0.156,3.028,3.03,3.042,3.042,3.03,3.042,3.042,0.161,0.152,0.152,0.152,0.156,0.152,0.145,0.145,0.118,0.1,0.069,0.06,0.06,0.06,0.06,0.06,0.064,0.064,0.061,0.061,0.061,0.061,0.062,0.063,0.099,0.176,3.345,3.356,3.363,3.363,3.363,3.372,3.395,3.395,0.007,0,0.007,3.458,3.458,3.462,3.462,3.48,3.485,3.491,3.5,3.502,3.512,3.512,3.513,3.518,3.519,3.52,3.526,3.529,3.529,3.529,3.541,3.542,3.546,3.547,3.553,3.561,3.563,3.568,3.568,3.576,3.58,3.583,3.589,3.591,3.597,3.606,3.613,3.619,3.625,3.63,3.635,3.641,3.643,3.653,3.654,3.661,3.669,3.672,3.683,3.684,3.693,3.696,3.715,3.731,3.733,3.735,3.746,3.753,3.755,3.769,3.769,3.776,3.8,3.8,3.814,3.824,3.831,3.844,3.844,3.862,3.876,3.888,3.898,3.9,3.912,3.922,3.951,3.965,3.967,3.97,4.004,4.017,4.029,4.036,4.062,4.085,4.087,0.016,0.016,0.016,0.016,0.016,4.092,4.053,4.025,3.99,3.951,3.936,3.893,3.872,3.839,3.822,3.788,3.752,3.741,3.701,3.672,3.66,3.621,3.593,3.584,3.556,3.526,3.501,3.488,3.464,3.444,3.414,3.391,3.385,3.363,3.342,3.329,3.308,3.287,3.276,3.266,3.234,3.22,3.199,3.194,3.172,3.157,3.134,3.125,3.11,3.091,3.081,3.063,3.042,3.042,3.037,3.015,2.999,2.987,2.978,2.962,2.946,2.931,2.926,2.919,2.908,2.898,2.874,2.873,2.857,2.845,2.835,2.821,2.81,2.808,2.793,2.78,2.779,2.772,2.757,2.745,2.741,2.726,2.725,2.716,2.7,2.691,2.675,2.672,2.669,2.656,2.648,2.647,2.646,2.639,2.631,2.62,2.61,2.605,2.601,2.594,2.593,2.582,2.58,2.573,2.56,2.559,2.55,2.549,2.549,2.538,2.534,2.525,2.517,2.515,2.503,2.501,2.494,2.493,2.487,2.486,2.48,2.477,2.476,2.476,2.472,2.467,2.458,2.456,2.454,2.449,2.449,2.448,2.446,2.445,2.443,2.44,2.433,2.426,2.426,2.421,2.421,2.421,2.418,2.418,2.416,2.416,2.415,2.415,2.415,2.413,2.412,2.41,2.412,2.412,2.41,2.41,2.408,2.408,2.408,2.409,2.41,2.41,2.41,2.41,2.41,2.413,2.414,2.414,2.414,2.415,2.421,2.415,2.42,2.424,2.42,2.42,2.424,2.427,2.429,2.431,2.438,2.438,2.443,2.443,2.443,2.445,2.451,2.451,2.456,2.46,2.463,2.465,2.467,2.471,2.471,2.477,2.478,2.481,2.486,2.489,2.495,2.497,2.506,2.514,2.515,2.516,2.53,2.53,2.539,2.539,2.539,2.556,2.561,2.563,2.574,2.577,2.594,2.596,2.597,2.604,2.605,2.616,2.626,2.632,2.646,2.646,2.652,2.658,2.66,2.673,2.678,2.692,2.692,2.7,2.714,2.719,2.721,2.736,2.75,2.757,2.758,2.782,2.787,2.795,2.807,2.823,2.83,2.841,2.855,2.863,2.867,2.876,2.894,2.894,2.92,2.922,2.94,2.954,2.956,2.976,2.979,3.007,3.011,3.024,3.032,3.044,3.061,3.078,3.088,3.105,3.116,3.133,3.155,3.171,3.176,3.195,3.221,3.228,3.249,3.269,3.282,3.299,3.316,3.339,3.346,3.368,3.391,3.412,3.426,3.457,3.473,3.499,3.534,3.534,3.563,3.594,3.613,3.634,3.681,3.69,3.72,3.745,3.783,3.791,3.835,3.862,3.889,3.915,3.995,0.007,4.091,4.091,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.355,3.334,3.331,3.322,3.304,3.292,3.286,3.283,3.264,3.259,3.253,3.243,3.24,3.237,3.22,3.212,3.2,3.198,3.188,3.181,3.176,3.168,3.167,3.158,3.149,3.14,3.14,3.127,3.127,3.116,3.11,3.109,3.104,3.1,3.09,3.083,3.083,3.081,3.076,3.074,3.07,3.07,3.061,3.061,3.05,3.046,3.045,3.036,3.036,3.035,3.034,3.032,3.031,3.026,3.024,3.024,3.024,3.024,3.024,3.024,3.024,3.017,3.016,3.011,3.012,3.009,3.007,3.007,3.008,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.008,3.008,3.009,3.01,3.01,3.015,3.009,3.012,3.012,3.015,3.012,3.015,3.018,3.018,3.018,3.02,3.028,3.031,3.033,3.033,3.041,3.041,3.043,3.048,3.048,3.051,3.058,3.059,3.059,3.066,3.071,3.071,3.079,3.087,3.089,3.089,3.093,3.095,3.101,3.106,3.109,3.118,3.121,3.124,3.125,3.134,3.136,3.14,3.14,3.141,3.142,3.147,3.156,3.158,3.172,3.175,3.176,3.185,3.202,3.213,3.214,3.215,3.224,3.238,3.24,3.241,3.242,3.244,3.257,3.278,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 86.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 86.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 86.8257} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6096} {Name Sonar9 Range 0.889} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 86.8666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,0,0,0,3.684,3.676,3.667,3.663,3.638,3.625,3.604,3.604,3.593,3.593,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.216,3.21,3.21,3.21,3.266,3.358,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.142,0.143,0.143,0.147,0.152,0.152,0.154,0.154,0.157,0.158,3.036,3.036,3.036,3.036,3.032,3.032,3.032,0.157,0.155,0.155,0.151,0.151,0.149,0.144,0.144,0.121,0.091,0.071,0.061,0.06,0.056,0.06,0.061,0.068,0.068,0.068,0.067,0.066,0.064,0.064,0.064,0.102,0.174,3.328,3.34,3.361,3.361,3.367,3.377,3.387,3.407,3.427,3.427,3.427,3.438,3.449,3.47,3.47,3.486,3.487,3.492,3.492,3.5,3.5,3.509,3.511,3.518,3.522,3.522,3.526,3.529,3.535,3.537,3.538,3.538,3.538,3.542,3.551,3.552,3.556,3.568,3.569,3.573,3.583,3.584,3.585,3.586,3.606,3.609,3.619,3.626,3.631,3.632,3.638,3.639,3.649,3.654,3.655,3.655,3.672,3.674,3.681,3.687,3.688,3.704,3.706,3.712,3.714,3.734,3.735,3.751,3.756,3.766,3.769,3.77,3.792,3.796,3.811,3.813,3.821,3.845,3.85,3.863,3.871,3.881,3.898,3.902,3.914,3.937,3.949,3.951,3.972,3.985,3.989,4.013,4.026,4.035,4.068,4.069,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.083,4.066,3.983,3.963,3.933,3.883,3.859,3.842,3.809,3.787,3.749,3.723,3.702,3.68,3.648,3.619,3.595,3.571,3.554,3.524,3.515,3.483,3.455,3.44,3.427,3.414,3.381,3.364,3.348,3.339,3.306,3.295,3.266,3.265,3.237,3.231,3.202,3.188,3.173,3.15,3.133,3.127,3.097,3.093,3.081,3.061,3.039,3.038,3.023,3.011,2.998,2.987,2.978,2.971,2.959,2.936,2.929,2.918,2.906,2.896,2.873,2.866,2.863,2.846,2.838,2.829,2.813,2.802,2.788,2.786,2.786,2.767,2.764,2.753,2.742,2.731,2.718,2.715,2.704,2.693,2.686,2.673,2.673,2.664,2.655,2.654,2.645,2.642,2.634,2.613,2.609,2.607,2.603,2.603,2.591,2.579,2.577,2.572,2.566,2.562,2.559,2.55,2.539,2.531,2.527,2.52,2.516,2.509,2.503,2.499,2.495,2.492,2.489,2.489,2.489,2.478,2.476,2.473,2.466,2.466,2.465,2.464,2.458,2.454,2.452,2.449,2.447,2.447,2.445,2.442,2.437,2.433,2.423,2.423,2.423,2.421,2.421,2.42,2.419,2.414,2.413,2.413,2.413,2.412,2.412,2.41,2.41,2.408,2.407,2.407,2.407,2.405,2.405,2.408,2.41,2.41,2.414,2.414,2.411,2.411,2.414,2.414,2.415,2.415,2.419,2.419,2.419,2.419,2.419,2.424,2.425,2.426,2.429,2.43,2.437,2.441,2.443,2.443,2.443,2.443,2.443,2.443,2.454,2.455,2.463,2.465,2.467,2.474,2.474,2.479,2.481,2.489,2.49,2.493,2.493,2.501,2.511,2.515,2.515,2.519,2.521,2.534,2.534,2.542,2.545,2.548,2.557,2.561,2.57,2.585,2.59,2.597,2.602,2.604,2.608,2.616,2.622,2.626,2.632,2.642,2.645,2.655,2.665,2.667,2.682,2.687,2.696,2.7,2.72,2.723,2.727,2.736,2.752,2.754,2.758,2.773,2.782,2.793,2.813,2.818,2.829,2.836,2.848,2.863,2.875,2.88,2.896,2.904,2.916,2.931,2.946,2.949,2.959,2.972,2.985,2.994,3.007,3.024,3.037,3.05,3.065,3.07,3.093,3.104,3.121,3.141,3.155,3.166,3.181,3.201,3.227,3.231,3.244,3.25,3.279,3.3,3.315,3.339,3.346,3.375,3.396,3.404,3.426,3.458,3.487,3.498,3.519,3.535,3.567,3.586,3.602,3.637,3.662,3.695,3.733,3.743,3.776,3.797,3.82,3.863,3.895,3.921,3.965,3.981,0.016,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.358,3.337,3.327,3.318,3.303,3.29,3.285,3.285,3.265,3.262,3.252,3.24,3.231,3.228,3.221,3.216,3.215,3.192,3.19,3.185,3.176,3.171,3.159,3.152,3.148,3.139,3.136,3.125,3.125,3.118,3.118,3.108,3.107,3.1,3.09,3.088,3.086,3.081,3.079,3.073,3.07,3.063,3.057,3.055,3.055,3.045,3.042,3.041,3.038,3.037,3.037,3.035,3.033,3.025,3.02,3.019,3.019,3.019,3.029,3.029,3.029,3.015,3.015,3.011,3.009,3.009,3.009,3.009,3.009,3.011,3.011,3.011,3.011,3.011,3.011,3.011,3.011,3.009,3.007,3.007,3.009,3.01,3.01,3.011,3.011,3.011,3.016,3.016,3.023,3.018,3.018,3.024,3.027,3.028,3.035,3.035,3.032,3.035,3.036,3.041,3.053,3.053,3.054,3.054,3.054,3.062,3.065,3.078,3.079,3.085,3.085,3.086,3.092,3.096,3.103,3.105,3.107,3.112,3.118,3.13,3.13,3.138,3.138,3.138,3.138,3.142,3.144,3.155,3.156,3.169,3.171,3.171,3.172,3.183,3.2,3.202,3.213,3.22,3.223,3.233,3.233,3.238,3.251,3.252,3.254,3.281,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 87.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 87.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 87.0177} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 87.0666} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.178,0.185,0.185,0,0,0,0,0,0,0,0,3.689,3.678,3.668,3.661,3.652,3.633,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.254,3.223,3.22,3.217,3.214,3.214,3.217,3.263,3.357,0,0,0,0,0,0,0,0.143,0.142,0.142,0.14,0.14,0.143,0.144,0.144,0.153,0.153,0.158,0.158,0.158,0.159,3.035,3.037,3.037,3.037,3.035,3.037,3.029,0.156,0.156,0.156,0.156,0.156,0.148,0.147,0.147,0.115,0.089,0.064,0.06,0.06,0.058,0.06,0.06,0.064,0.067,0.067,0.064,0.064,0.064,0.064,0.064,0.107,0.172,3.338,3.367,3.367,3.367,3.367,3.368,3.381,3.387,3.392,3.392,3.42,3.43,3.437,3.459,3.464,3.482,3.484,3.492,3.498,3.504,3.506,3.51,3.515,3.522,3.527,3.529,3.529,3.533,3.537,3.539,3.542,3.546,3.546,3.547,3.549,3.553,3.56,3.563,3.573,3.578,3.584,3.584,3.587,3.593,3.603,3.603,3.609,3.617,3.619,3.623,3.631,3.637,3.642,3.65,3.656,3.663,3.666,3.673,3.677,3.691,3.694,3.699,3.707,3.71,3.724,3.724,3.744,3.751,3.752,3.755,3.77,3.789,3.794,3.801,3.824,3.825,3.836,3.842,3.854,3.868,3.881,3.89,3.901,3.904,3.919,3.933,3.945,3.963,3.968,3.979,3.999,4.009,4.022,4.059,4.061,4.084,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.07,4.016,3.993,3.963,3.926,3.892,3.874,3.844,3.811,3.779,3.743,3.718,3.696,3.665,3.656,3.617,3.609,3.567,3.552,3.523,3.504,3.472,3.468,3.429,3.427,3.401,3.384,3.369,3.35,3.334,3.303,3.29,3.277,3.257,3.24,3.236,3.194,3.186,3.172,3.146,3.138,3.124,3.105,3.1,3.081,3.067,3.044,3.044,3.04,3.022,2.996,2.984,2.978,2.962,2.95,2.936,2.925,2.918,2.906,2.886,2.876,2.862,2.858,2.852,2.837,2.829,2.816,2.812,2.792,2.784,2.778,2.768,2.756,2.753,2.741,2.734,2.719,2.707,2.701,2.695,2.684,2.678,2.676,2.67,2.652,2.651,2.65,2.639,2.635,2.62,2.619,2.607,2.606,2.593,2.589,2.581,2.575,2.573,2.561,2.559,2.559,2.546,2.543,2.54,2.524,2.523,2.513,2.511,2.507,2.499,2.499,2.499,2.492,2.492,2.486,2.48,2.477,2.473,2.471,2.471,2.468,2.465,2.452,2.452,2.452,2.449,2.449,2.444,2.438,2.438,2.437,2.434,2.428,2.428,2.428,2.427,2.425,2.425,2.417,2.417,2.417,2.415,2.413,2.411,2.411,2.41,2.408,2.408,2.408,2.406,2.406,2.405,2.406,2.406,2.409,2.41,2.41,2.409,2.409,2.41,2.414,2.414,2.42,2.42,2.418,2.418,2.418,2.418,2.419,2.421,2.426,2.426,2.426,2.433,2.434,2.435,2.437,2.437,2.44,2.45,2.45,2.451,2.452,2.456,2.466,2.466,2.47,2.471,2.475,2.48,2.48,2.483,2.489,2.494,2.498,2.498,2.515,2.517,2.517,2.518,2.518,2.531,2.54,2.542,2.551,2.555,2.565,2.569,2.57,2.573,2.597,2.599,2.599,2.61,2.611,2.616,2.617,2.636,2.636,2.644,2.645,2.648,2.661,2.677,2.68,2.686,2.694,2.712,2.713,2.717,2.721,2.74,2.746,2.752,2.764,2.783,2.784,2.795,2.809,2.812,2.824,2.842,2.845,2.857,2.872,2.878,2.884,2.898,2.918,2.926,2.945,2.954,2.955,2.974,2.983,2.993,3.003,3.023,3.036,3.041,3.06,3.077,3.093,3.109,3.12,3.139,3.156,3.17,3.173,3.197,3.212,3.224,3.255,3.263,3.272,3.297,3.321,3.334,3.354,3.374,3.39,3.408,3.428,3.466,3.475,3.495,3.514,3.544,3.569,3.597,3.612,3.635,3.658,3.691,3.724,3.743,3.778,3.796,3.835,3.864,3.904,3.926,4.014,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.36,3.334,3.331,3.32,3.307,3.296,3.295,3.284,3.265,3.251,3.249,3.247,3.234,3.234,3.219,3.219,3.211,3.189,3.189,3.185,3.173,3.173,3.161,3.152,3.152,3.144,3.141,3.123,3.121,3.117,3.114,3.111,3.101,3.099,3.093,3.092,3.082,3.077,3.077,3.076,3.076,3.069,3.063,3.054,3.054,3.045,3.04,3.037,3.037,3.037,3.034,3.032,3.029,3.028,3.027,3.026,3.026,3.026,3.028,3.028,3.028,3.023,3.015,3.009,3.009,3.008,3.008,3.008,3.008,3.008,3.008,3.007,3.008,3.008,3.012,3.012,3.012,3.012,3.011,3.009,3.011,3.013,3.011,3.016,3.017,3.019,3.019,3.019,3.019,3.019,3.02,3.022,3.026,3.026,3.036,3.038,3.04,3.041,3.042,3.045,3.046,3.051,3.056,3.058,3.059,3.064,3.068,3.071,3.076,3.082,3.082,3.083,3.09,3.092,3.095,3.104,3.114,3.115,3.121,3.129,3.129,3.142,3.142,3.143,3.142,3.143,3.149,3.154,3.158,3.158,3.171,3.174,3.18,3.184,3.195,3.204,3.218,3.221,3.221,3.232,3.235,3.247,3.252,3.252,3.264,3.278,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 87.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 87.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 87.2187} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.318} {Name Sonar15 Range 5.1308} SEN {Time 87.2626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.178,0.178,0.18,0.18,0,0,0,0,0,0,0,0,3.679,3.676,3.668,3.668,3.638,3.634,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.242,3.218,3.217,3.217,3.217,3.217,3.217,3.26,3.371,0,0,0,0,0,0,0,0.15,0.148,0.148,0.148,0.148,0.148,0.145,0.145,0.16,0.145,0.155,0.155,0.155,0.155,3.029,3.035,3.035,3.035,3.035,3.036,3.036,0.163,0.16,0.16,0.16,0.155,0.148,0.147,0.147,0.112,0.095,0.062,0.062,0.062,0.061,0.062,0.062,0.062,0.066,0.066,0.067,0.067,0.068,0.068,0.07,0.108,0.18,3.333,3.353,3.361,3.361,3.365,3.373,3.373,3.398,0.007,3.438,3.438,3.44,3.44,3.461,3.473,3.477,3.479,3.487,3.489,3.498,3.5,3.5,3.514,3.514,3.514,3.517,3.519,3.533,3.533,3.533,3.534,3.537,3.538,3.543,3.551,3.553,3.558,3.561,3.57,3.581,3.581,3.581,3.582,3.594,3.602,3.603,3.606,3.62,3.628,3.634,3.639,3.64,3.649,3.658,3.658,3.663,3.67,3.672,3.685,3.689,3.69,3.694,3.697,3.711,3.727,3.73,3.736,3.747,3.755,3.765,3.766,3.783,3.784,3.796,3.806,3.823,3.828,3.843,3.855,3.861,3.882,3.882,3.89,3.901,3.915,3.933,3.949,3.954,3.972,3.983,3.997,4.021,4.029,4.034,4.052,4.084,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.014,3.997,3.961,3.917,3.899,3.882,3.84,3.811,3.767,3.753,3.73,3.693,3.689,3.643,3.621,3.601,3.569,3.539,3.52,3.495,3.478,3.445,3.439,3.418,3.394,3.382,3.358,3.354,3.328,3.311,3.292,3.283,3.262,3.242,3.226,3.202,3.188,3.165,3.152,3.146,3.124,3.112,3.101,3.083,3.07,3.045,3.042,3.029,3.013,2.994,2.987,2.973,2.964,2.955,2.941,2.923,2.923,2.905,2.895,2.877,2.873,2.855,2.85,2.838,2.832,2.821,2.806,2.79,2.778,2.77,2.77,2.756,2.752,2.742,2.727,2.721,2.712,2.706,2.704,2.68,2.674,2.673,2.66,2.659,2.652,2.647,2.636,2.631,2.619,2.615,2.612,2.608,2.599,2.592,2.574,2.574,2.563,2.563,2.56,2.557,2.549,2.534,2.532,2.53,2.522,2.513,2.509,2.504,2.503,2.495,2.492,2.485,2.485,2.484,2.483,2.478,2.475,2.467,2.466,2.464,2.458,2.456,2.453,2.452,2.448,2.446,2.443,2.442,2.442,2.432,2.427,2.424,2.424,2.424,2.421,2.42,2.418,2.418,2.418,2.417,2.416,2.414,2.414,2.414,2.413,2.413,2.412,2.412,2.411,2.411,2.409,2.409,2.411,2.411,2.412,2.416,2.412,2.412,2.412,2.415,2.415,2.416,2.42,2.424,2.424,2.425,2.425,2.425,2.425,2.428,2.433,2.434,2.435,2.438,2.442,2.442,2.443,2.443,2.444,2.45,2.451,2.453,2.46,2.46,2.465,2.47,2.471,2.472,2.481,2.481,2.487,2.492,2.494,2.495,2.505,2.509,2.512,2.513,2.518,2.521,2.531,2.533,2.536,2.549,2.553,2.556,2.561,2.564,2.57,2.594,2.604,2.605,2.605,2.61,2.619,2.619,2.627,2.635,2.639,2.645,2.655,2.658,2.671,2.679,2.691,2.696,2.699,2.71,2.731,2.735,2.741,2.752,2.755,2.766,2.783,2.788,2.798,2.8,2.821,2.826,2.832,2.842,2.855,2.863,2.878,2.889,2.898,2.909,2.926,2.945,2.949,2.961,2.97,2.976,2.998,3.022,3.027,3.037,3.041,3.054,3.08,3.09,3.107,3.121,3.137,3.156,3.17,3.176,3.214,3.219,3.228,3.241,3.258,3.288,3.297,3.32,3.325,3.352,3.371,3.394,3.408,3.436,3.458,3.487,3.504,3.529,3.538,3.559,3.59,3.612,3.645,3.671,3.683,3.728,3.737,3.789,3.797,3.825,3.856,3.887,3.92,3.94,4.023,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.349,3.343,3.327,3.312,3.305,3.293,3.289,3.286,3.267,3.258,3.253,3.241,3.238,3.235,3.235,3.218,3.214,3.203,3.189,3.187,3.174,3.17,3.164,3.155,3.155,3.141,3.138,3.134,3.118,3.118,3.116,3.11,3.104,3.104,3.087,3.086,3.086,3.083,3.079,3.077,3.071,3.068,3.061,3.055,3.054,3.048,3.048,3.041,3.034,3.033,3.033,3.031,3.03,3.027,3.027,3.019,3.019,3.019,3.029,3.029,3.029,3.017,3.015,3.011,3.015,3.015,3.015,3.014,3.014,3.011,3.011,3.006,3.011,3.005,3.005,3.01,3.01,3.01,3.012,3.012,3.012,3.017,3.012,3.017,3.018,3.019,3.018,3.018,3.019,3.018,3.018,3.02,3.023,3.023,3.029,3.033,3.035,3.038,3.038,3.04,3.048,3.051,3.056,3.06,3.061,3.066,3.071,3.072,3.078,3.086,3.086,3.091,3.095,3.095,3.098,3.107,3.108,3.115,3.115,3.121,3.126,3.132,3.132,3.132,3.132,3.144,3.144,3.148,3.161,3.165,3.171,3.172,3.178,3.183,3.197,3.215,3.22,3.223,3.232,3.235,3.237,3.243,3.243,3.246,3.263,3.274,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 87.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 87.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 87.4196} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.318} {Name Sonar15 Range 4.9276} SEN {Time 87.4626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.183,0.186,0.186,0,0,0,0,0,0,0,0,3.673,3.67,3.663,3.663,3.644,3.63,3.609,3.609,3.609,3.595,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.216,3.216,3.214,3.214,3.227,3.263,3.36,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.145,0.144,0.148,0.149,0.149,0.149,0.149,0.149,0.149,0.153,3.032,3.032,3.034,3.034,3.032,3.034,3.034,0.157,0.156,0.156,0.156,0.148,0.148,0.147,0.139,0.12,0.095,0.072,0.067,0.066,0.06,0.06,0.065,0.064,0.065,0.065,0.064,0.061,0.061,0.061,0.064,0.099,0.165,3.343,3.361,3.361,3.361,3.361,3.364,3.373,3.375,3.375,3.429,3.436,3.456,3.456,3.456,3.475,3.478,3.49,3.491,3.497,3.499,3.5,3.509,3.511,3.514,3.516,3.529,3.529,3.533,3.535,3.535,3.539,3.541,3.542,3.546,3.555,3.555,3.556,3.573,3.574,3.58,3.58,3.582,3.591,3.594,3.596,3.602,3.613,3.617,3.628,3.63,3.635,3.641,3.651,3.652,3.654,3.656,3.667,3.678,3.683,3.684,3.695,3.706,3.71,3.718,3.735,3.738,3.742,3.752,3.76,3.768,3.778,3.782,3.793,3.803,3.811,3.825,3.837,3.838,3.839,3.869,3.888,3.889,3.899,3.9,3.922,3.928,3.947,3.957,3.972,3.974,3.996,4.007,4.028,4.039,4.051,4.085,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.043,4.01,3.986,3.977,3.925,3.9,3.863,3.839,3.803,3.787,3.759,3.724,3.705,3.666,3.644,3.632,3.598,3.575,3.539,3.516,3.507,3.486,3.458,3.441,3.417,3.401,3.388,3.368,3.349,3.328,3.301,3.297,3.271,3.259,3.228,3.225,3.192,3.183,3.172,3.151,3.139,3.125,3.105,3.093,3.086,3.063,3.045,3.035,3.031,3.006,2.997,2.989,2.978,2.963,2.954,2.937,2.92,2.919,2.909,2.899,2.883,2.866,2.865,2.845,2.842,2.83,2.816,2.81,2.79,2.779,2.779,2.769,2.757,2.747,2.736,2.729,2.717,2.713,2.711,2.693,2.683,2.676,2.675,2.666,2.662,2.654,2.652,2.631,2.631,2.623,2.622,2.608,2.606,2.599,2.591,2.585,2.574,2.571,2.565,2.563,2.553,2.549,2.537,2.534,2.53,2.524,2.518,2.513,2.508,2.501,2.498,2.494,2.491,2.488,2.486,2.479,2.471,2.471,2.47,2.467,2.465,2.461,2.451,2.45,2.447,2.446,2.443,2.442,2.439,2.438,2.433,2.433,2.426,2.426,2.425,2.424,2.424,2.424,2.421,2.415,2.414,2.414,2.414,2.412,2.412,2.413,2.413,2.413,2.413,2.409,2.408,2.406,2.406,2.407,2.408,2.411,2.411,2.414,2.414,2.414,2.416,2.416,2.417,2.42,2.42,2.42,2.42,2.42,2.419,2.419,2.42,2.423,2.43,2.433,2.437,2.437,2.44,2.441,2.442,2.445,2.452,2.453,2.456,2.461,2.465,2.47,2.471,2.474,2.474,2.479,2.483,2.486,2.488,2.492,2.495,2.496,2.512,2.514,2.518,2.521,2.521,2.525,2.535,2.542,2.552,2.555,2.561,2.566,2.566,2.581,2.593,2.597,2.601,2.602,2.605,2.613,2.622,2.629,2.639,2.641,2.65,2.652,2.665,2.676,2.683,2.688,2.692,2.704,2.72,2.722,2.724,2.74,2.751,2.757,2.767,2.779,2.783,2.799,2.806,2.811,2.829,2.839,2.844,2.855,2.87,2.883,2.895,2.911,2.913,2.924,2.947,2.957,2.959,2.974,2.987,2.994,3.012,3.028,3.04,3.041,3.068,3.082,3.093,3.11,3.121,3.14,3.152,3.165,3.18,3.199,3.22,3.232,3.245,3.262,3.282,3.299,3.323,3.334,3.355,3.377,3.389,3.404,3.437,3.462,3.486,3.505,3.53,3.542,3.569,3.593,3.616,3.629,3.661,3.69,3.716,3.737,3.786,3.801,3.836,3.857,3.893,3.928,3.952,3.982,0.016,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.357,3.338,3.334,3.318,3.31,3.288,3.286,3.279,3.266,3.263,3.247,3.241,3.24,3.232,3.213,3.208,3.208,3.193,3.188,3.182,3.175,3.174,3.165,3.157,3.15,3.143,3.137,3.131,3.124,3.122,3.115,3.115,3.107,3.104,3.09,3.086,3.082,3.077,3.075,3.071,3.061,3.061,3.06,3.06,3.052,3.048,3.047,3.043,3.04,3.038,3.038,3.034,3.031,3.028,3.026,3.022,3.022,3.022,3.035,3.035,3.035,3.015,3.014,3.012,3.009,3.009,3.008,3.007,3.008,3.008,3.007,3.007,3.006,3.006,3.006,3.006,3.01,3.01,3.007,3.007,3.01,3.01,3.013,3.013,3.013,3.013,3.013,3.015,3.02,3.02,3.021,3.025,3.025,3.031,3.031,3.031,3.029,3.031,3.031,3.039,3.047,3.056,3.057,3.059,3.059,3.065,3.066,3.07,3.083,3.083,3.083,3.084,3.087,3.087,3.095,3.103,3.11,3.115,3.121,3.128,3.128,3.132,3.132,3.141,3.141,3.141,3.141,3.147,3.162,3.164,3.174,3.179,3.18,3.188,3.194,3.213,3.213,3.225,3.227,3.232,3.232,3.238,3.241,3.249,3.262,3.279,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 87.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 87.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 87.6208} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.7752} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.318} {Name Sonar15 Range 4.9276} SEN {Time 87.6626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.18,0.181,0.183,0,0,0,0,0,0,0,0,3.685,3.676,3.669,3.653,3.647,3.636,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.214,3.212,3.212,3.212,3.27,3.361,0,0,0,0,0,0,0,0.148,0.143,0.143,0.139,0.139,0.143,0.146,0.153,0.154,0.154,0.161,0.161,0.161,0.162,3.03,3.03,3.03,3.03,3.023,3.023,3.022,0.155,0.155,0.155,0.151,0.151,0.146,0.143,0.143,0.118,0.088,0.067,0.063,0.058,0.058,0.063,0.063,0.065,0.065,0.064,0.064,0.064,0.062,0.064,0.065,0.103,0.175,3.343,3.343,3.365,3.365,3.365,3.371,3.374,3.375,3.375,3.393,3.425,3.437,3.458,3.472,3.472,3.478,3.494,3.494,3.501,3.504,3.509,3.51,3.511,3.524,3.526,3.526,3.528,3.53,3.53,3.538,3.54,3.542,3.547,3.55,3.552,3.557,3.559,3.567,3.574,3.576,3.579,3.58,3.589,3.592,3.595,3.605,3.608,3.62,3.622,3.631,3.634,3.638,3.64,3.652,3.661,3.666,3.667,3.678,3.681,3.687,3.691,3.698,3.712,3.716,3.722,3.743,3.749,3.754,3.756,3.773,3.774,3.783,3.799,3.8,3.813,3.818,3.842,3.842,3.849,3.875,3.878,3.885,3.895,3.898,3.926,3.931,3.941,3.954,3.978,3.986,3.999,4.017,4.026,4.044,4.058,4.081,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.023,3.993,3.956,3.931,3.899,3.87,3.848,3.821,3.772,3.755,3.728,3.701,3.678,3.653,3.617,3.593,3.567,3.551,3.525,3.498,3.478,3.469,3.445,3.417,3.409,3.381,3.37,3.347,3.343,3.306,3.294,3.273,3.253,3.243,3.223,3.198,3.194,3.175,3.151,3.146,3.121,3.107,3.097,3.08,3.07,3.051,3.051,3.043,3.021,2.994,2.981,2.976,2.96,2.946,2.942,2.923,2.922,2.91,2.888,2.882,2.868,2.857,2.848,2.848,2.828,2.812,2.811,2.786,2.784,2.781,2.772,2.763,2.754,2.734,2.728,2.722,2.712,2.701,2.701,2.68,2.678,2.677,2.663,2.66,2.65,2.639,2.637,2.635,2.628,2.622,2.61,2.607,2.605,2.586,2.578,2.572,2.567,2.567,2.565,2.556,2.552,2.539,2.535,2.529,2.528,2.518,2.51,2.509,2.502,2.501,2.492,2.49,2.488,2.486,2.479,2.475,2.474,2.47,2.465,2.464,2.462,2.45,2.45,2.45,2.45,2.446,2.446,2.443,2.438,2.436,2.436,2.436,2.427,2.425,2.425,2.42,2.417,2.417,2.416,2.414,2.411,2.411,2.411,2.413,2.413,2.413,2.413,2.41,2.41,2.41,2.41,2.41,2.412,2.415,2.415,2.415,2.415,2.412,2.412,2.413,2.413,2.413,2.415,2.418,2.418,2.421,2.42,2.42,2.42,2.423,2.423,2.424,2.431,2.441,2.442,2.443,2.447,2.447,2.448,2.449,2.45,2.457,2.458,2.46,2.462,2.466,2.467,2.474,2.478,2.48,2.486,2.489,2.495,2.496,2.506,2.512,2.514,2.515,2.516,2.528,2.528,2.529,2.537,2.542,2.545,2.551,2.563,2.565,2.569,2.586,2.599,2.602,2.607,2.607,2.61,2.622,2.626,2.634,2.635,2.643,2.645,2.665,2.676,2.683,2.695,2.697,2.7,2.718,2.722,2.724,2.741,2.751,2.754,2.764,2.779,2.786,2.8,2.806,2.815,2.83,2.843,2.844,2.85,2.873,2.885,2.894,2.894,2.915,2.925,2.944,2.953,2.955,2.969,2.985,2.997,3.01,3.025,3.041,3.046,3.063,3.079,3.083,3.106,3.117,3.137,3.155,3.163,3.178,3.193,3.218,3.231,3.253,3.27,3.291,3.296,3.326,3.336,3.342,3.37,3.402,3.411,3.429,3.463,3.477,3.503,3.523,3.544,3.563,3.589,3.614,3.633,3.67,3.694,3.732,3.743,3.784,3.801,3.833,3.859,3.888,3.92,3.944,3.982,4.023,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.354,3.338,3.333,3.308,3.3,3.296,3.291,3.285,3.265,3.257,3.245,3.243,3.239,3.236,3.213,3.209,3.203,3.192,3.188,3.177,3.176,3.168,3.168,3.153,3.146,3.143,3.138,3.13,3.124,3.121,3.114,3.105,3.105,3.105,3.092,3.091,3.084,3.082,3.072,3.07,3.069,3.065,3.064,3.057,3.049,3.046,3.038,3.038,3.038,3.036,3.036,3.038,3.033,3.032,3.025,3.021,3.021,3.021,3.028,3.028,3.028,3.021,3.021,3.016,3.017,3.016,3.012,3.009,3.007,3.007,3.004,3.001,3.004,3.009,3.009,3.012,3.013,3.012,3.012,3.013,3.016,3.016,3.016,3.016,3.016,3.016,3.016,3.018,3.02,3.021,3.023,3.027,3.027,3.029,3.03,3.033,3.033,3.041,3.042,3.042,3.049,3.051,3.055,3.055,3.06,3.062,3.071,3.071,3.073,3.086,3.088,3.088,3.092,3.092,3.099,3.112,3.113,3.118,3.123,3.135,3.135,3.135,3.132,3.132,3.132,3.145,3.146,3.159,3.161,3.163,3.167,3.17,3.173,3.184,3.193,3.21,3.217,3.22,3.228,3.236,3.241,3.241,3.242,3.252,3.262,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 87.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 87.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 87.8125} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.7752} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276} SEN {Time 87.8626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.681,3.679,3.665,3.655,3.655,3.633,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.219,3.214,3.214,3.214,3.264,3.367,0,0,0,0,0,0,0,0.147,0.143,0.142,0.142,0.142,0.142,0.149,0.153,0.155,0.153,0.155,0.155,0.155,0.155,3.025,3.034,3.034,3.034,3.031,3.031,0.154,0.154,0.154,0.154,0.155,0.157,0.155,0.142,0.142,0.118,0.089,0.07,0.061,0.061,0.06,0.06,0.06,0.065,0.065,0.068,0.065,0.064,0.064,0.068,0.069,0.104,0.174,3.336,3.366,3.366,3.366,3.366,3.377,3.379,3.383,3.411,3.429,3.429,0,0,0,3.491,3.491,3.491,3.495,3.496,3.496,3.502,3.511,3.508,3.508,3.521,3.521,3.521,3.527,3.53,3.531,3.536,3.546,3.547,3.55,3.551,3.558,3.56,3.57,3.571,3.576,3.578,3.58,3.591,3.591,3.596,3.606,3.61,3.624,3.625,3.625,3.626,3.646,3.652,3.653,3.658,3.664,3.674,3.677,3.68,3.681,3.689,3.691,3.713,3.722,3.726,3.732,3.744,3.747,3.751,3.758,3.77,3.776,3.797,3.797,3.814,3.817,3.824,3.841,3.842,3.862,3.884,3.888,3.905,3.907,3.918,3.936,3.937,3.955,3.977,3.987,3.991,4.01,4.026,4.047,4.062,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,4.065,4.001,3.96,3.924,3.903,3.871,3.849,3.825,3.778,3.749,3.727,3.698,3.685,3.649,3.623,3.589,3.579,3.546,3.517,3.514,3.477,3.461,3.439,3.421,3.401,3.384,3.358,3.353,3.327,3.309,3.302,3.266,3.253,3.232,3.232,3.202,3.18,3.162,3.154,3.137,3.125,3.112,3.103,3.083,3.064,3.043,3.043,3.042,3.023,2.997,2.993,2.978,2.957,2.953,2.936,2.925,2.913,2.912,2.889,2.884,2.87,2.855,2.853,2.845,2.822,2.82,2.806,2.794,2.785,2.779,2.766,2.765,2.749,2.743,2.729,2.716,2.713,2.701,2.691,2.689,2.682,2.678,2.659,2.657,2.656,2.65,2.636,2.632,2.625,2.62,2.61,2.608,2.602,2.589,2.579,2.573,2.573,2.566,2.562,2.555,2.548,2.536,2.536,2.536,2.525,2.515,2.508,2.507,2.506,2.489,2.489,2.488,2.487,2.481,2.478,2.477,2.477,2.473,2.467,2.464,2.464,2.453,2.451,2.448,2.446,2.446,2.442,2.441,2.439,2.439,2.435,2.426,2.425,2.424,2.423,2.419,2.418,2.415,2.414,2.412,2.412,2.412,2.412,2.414,2.414,2.414,2.411,2.411,2.411,2.411,2.407,2.41,2.41,2.41,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.416,2.416,2.42,2.421,2.423,2.423,2.421,2.421,2.423,2.423,2.431,2.432,2.432,2.436,2.437,2.437,2.448,2.448,2.45,2.458,2.462,2.463,2.465,2.468,2.471,2.473,2.478,2.478,2.484,2.484,2.487,2.488,2.497,2.5,2.509,2.512,2.514,2.523,2.525,2.533,2.538,2.54,2.547,2.556,2.558,2.57,2.572,2.582,2.59,2.592,2.597,2.602,2.604,2.62,2.627,2.638,2.641,2.643,2.651,2.655,2.668,2.677,2.68,2.691,2.699,2.7,2.717,2.719,2.726,2.739,2.748,2.755,2.76,2.781,2.785,2.799,2.805,2.818,2.825,2.833,2.848,2.856,2.866,2.872,2.881,2.904,2.921,2.926,2.941,2.95,2.95,2.976,2.984,2.998,3.011,3.013,3.042,3.045,3.057,3.082,3.091,3.107,3.126,3.138,3.148,3.17,3.182,3.198,3.22,3.237,3.247,3.26,3.272,3.292,3.32,3.339,3.352,3.373,3.402,3.413,3.435,3.452,3.483,3.5,3.522,3.542,3.565,3.583,3.616,3.65,3.674,3.693,3.714,3.746,3.777,3.793,3.831,3.861,3.893,3.93,3.943,4.029,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.354,3.33,3.325,3.311,3.303,3.302,3.288,3.278,3.267,3.265,3.242,3.241,3.238,3.233,3.211,3.211,3.209,3.205,3.196,3.183,3.175,3.174,3.165,3.155,3.154,3.142,3.136,3.129,3.12,3.116,3.115,3.114,3.109,3.097,3.087,3.084,3.082,3.079,3.072,3.072,3.069,3.065,3.064,3.06,3.052,3.048,3.036,3.032,3.032,3.032,3.031,3.031,3.028,3.027,3.026,3.025,3.025,3.025,3.029,3.029,3.029,3.014,3.013,3.011,3.011,3.01,3.009,3.007,3.007,3.007,3.007,3.004,3.004,3.004,3.004,3.006,3.006,3.007,3.008,3.007,3.007,3.007,3.008,3.012,3.013,3.016,3.018,3.02,3.02,3.021,3.026,3.026,3.026,3.026,3.029,3.035,3.035,3.037,3.037,3.042,3.045,3.052,3.052,3.059,3.063,3.064,3.067,3.076,3.08,3.084,3.085,3.086,3.091,3.092,3.103,3.104,3.107,3.116,3.129,3.132,3.132,3.135,3.137,3.139,3.143,3.145,3.145,3.151,3.158,3.17,3.17,3.172,3.175,3.179,3.198,3.206,3.22,3.224,3.224,3.229,3.238,3.241,3.242,3.247,3.255,3.277,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 88.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 88.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 88.0135} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.7752} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038} SEN {Time 88.0626} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.177,0.184,0.184,0,0,0,0,0,0,0,0,3.677,3.675,3.67,3.664,3.64,3.629,3.614,3.614,3.596,3.589,3.596,0,3.352,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.212,3.21,3.205,3.205,3.205,3.269,3.356,0,0,0,0,0,0,0,0.157,0.143,0.143,0.143,0.143,0.144,0.149,0.149,0.158,0.157,0.157,0.157,0.157,0.157,3.036,3.043,3.043,3.043,3.036,3.043,3.029,0.153,0.153,0.153,0.153,0.153,0.153,0.144,0.144,0.117,0.094,0.071,0.068,0.061,0.06,0.061,0.061,0.064,0.064,0.064,0.064,0.063,0.063,0.063,0.064,0.101,0.18,3.334,3.336,3.359,3.359,3.368,3.368,3.371,0,3.405,0,0.007,3.449,3.449,3.48,3.479,3.48,3.487,3.494,3.495,3.498,3.502,3.513,3.515,3.515,3.523,3.523,3.53,3.532,3.531,3.534,3.541,3.539,3.541,3.542,3.549,3.554,3.563,3.576,3.579,3.581,3.581,3.581,3.584,3.593,3.602,3.613,3.614,3.619,3.626,3.629,3.637,3.638,3.644,3.644,3.646,3.666,3.67,3.677,3.678,3.684,3.69,3.698,3.706,3.714,3.728,3.736,3.747,3.754,3.76,3.761,3.766,3.788,3.794,3.798,3.818,3.825,3.831,3.842,3.856,3.863,3.876,3.883,3.894,3.898,3.911,3.926,3.946,3.968,3.97,3.987,3.99,4.011,4.038,4.04,4.059,4.077,4.091,0.016,0.016,0.016,0.016,0.016,4.095,4.095,4.053,4.034,3.959,3.935,3.891,3.876,3.852,3.812,3.777,3.756,3.726,3.7,3.674,3.646,3.622,3.596,3.564,3.553,3.517,3.502,3.492,3.47,3.433,3.425,3.408,3.376,3.372,3.341,3.337,3.305,3.293,3.278,3.252,3.233,3.22,3.191,3.187,3.174,3.149,3.138,3.127,3.107,3.102,3.084,3.069,3.039,3.039,3.018,3.007,2.995,2.99,2.98,2.965,2.953,2.933,2.924,2.922,2.901,2.892,2.878,2.873,2.863,2.848,2.832,2.83,2.816,2.805,2.786,2.785,2.776,2.767,2.758,2.749,2.733,2.73,2.716,2.715,2.705,2.695,2.681,2.679,2.67,2.663,2.662,2.653,2.646,2.635,2.631,2.626,2.616,2.612,2.605,2.6,2.591,2.587,2.576,2.571,2.571,2.564,2.559,2.556,2.545,2.533,2.531,2.52,2.52,2.513,2.506,2.506,2.497,2.495,2.49,2.487,2.485,2.477,2.477,2.474,2.473,2.467,2.464,2.462,2.453,2.453,2.45,2.446,2.446,2.443,2.435,2.434,2.432,2.429,2.429,2.427,2.427,2.427,2.426,2.424,2.419,2.416,2.416,2.417,2.417,2.413,2.414,2.413,2.409,2.408,2.405,2.405,2.405,2.405,2.409,2.41,2.412,2.412,2.413,2.419,2.413,2.416,2.419,2.419,2.42,2.421,2.421,2.42,2.42,2.421,2.421,2.423,2.423,2.424,2.432,2.435,2.435,2.436,2.439,2.44,2.441,2.446,2.451,2.455,2.456,2.462,2.464,2.467,2.47,2.474,2.476,2.477,2.479,2.484,2.486,2.491,2.493,2.495,2.508,2.511,2.515,2.518,2.521,2.528,2.538,2.54,2.554,2.556,2.557,2.568,2.575,2.583,2.589,2.601,2.602,2.605,2.606,2.615,2.62,2.634,2.636,2.636,2.655,2.656,2.657,2.673,2.678,2.688,2.703,2.703,2.712,2.726,2.727,2.747,2.752,2.753,2.766,2.774,2.789,2.792,2.806,2.818,2.833,2.843,2.845,2.864,2.869,2.883,2.89,2.902,2.915,2.928,2.934,2.95,2.962,2.969,2.977,2.997,3.014,3.022,3.038,3.049,3.061,3.082,3.095,3.106,3.128,3.132,3.155,3.171,3.182,3.198,3.222,3.237,3.247,3.259,3.283,3.302,3.321,3.341,3.353,3.37,3.394,3.409,3.432,3.464,3.476,3.503,3.52,3.549,3.564,3.59,3.614,3.635,3.671,3.695,3.732,3.74,3.778,3.796,3.835,3.865,3.889,3.916,3.942,3.99,4.026,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.356,3.341,3.327,3.308,3.308,3.293,3.29,3.283,3.274,3.257,3.246,3.244,3.239,3.236,3.216,3.212,3.207,3.195,3.187,3.184,3.175,3.166,3.158,3.15,3.148,3.143,3.135,3.129,3.122,3.119,3.117,3.108,3.105,3.1,3.09,3.089,3.086,3.084,3.083,3.076,3.064,3.062,3.06,3.057,3.054,3.049,3.047,3.041,3.041,3.038,3.035,3.034,3.032,3.023,3.023,3.023,3.024,3.028,3.028,3.028,3.021,3.02,3.018,3.017,3.016,3.015,3.015,3.014,3.014,3.01,3.01,3.01,3.01,3.01,3.011,3.011,3.012,3.012,3.012,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.02,3.021,3.02,3.024,3.025,3.027,3.029,3.03,3.03,3.03,3.035,3.039,3.039,3.047,3.055,3.057,3.058,3.06,3.06,3.068,3.072,3.081,3.088,3.088,3.09,3.09,3.09,3.1,3.107,3.108,3.116,3.116,3.13,3.13,3.134,3.134,3.139,3.139,3.147,3.149,3.154,3.156,3.158,3.163,3.168,3.175,3.179,3.2,3.212,3.219,3.226,3.226,3.228,3.229,3.229,3.234,3.248,3.259,3.278,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 88.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 88.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 88.2145} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038} SEN {Time 88.2586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.192,0.183,0.192,0.192,0,0,0,0,0,0,0,0,3.685,3.679,3.668,3.662,3.648,3.634,3.609,3.609,3.609,3.594,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.223,3.218,3.205,3.205,3.205,3.272,3.365,0,0,0,0,0,0,0,0.137,0.137,0.137,0.135,0.135,0.147,0.147,0.147,0.157,0.151,0.157,0.157,0.157,0.157,3.034,3.035,3.035,3.035,3.035,3.035,3.032,0.157,0.157,0.157,0.157,0.156,0.142,0.142,0.139,0.122,0.092,0.064,0.064,0.062,0.062,0.062,0.062,0.062,0.064,0.065,0.065,0.065,0.062,0.062,0.062,0.105,0.172,3.333,0.007,3.355,3.355,3.36,3.36,3.379,3.395,3.413,0.007,0,0.007,3.462,3.462,3.487,3.487,3.488,3.493,3.497,3.5,3.506,3.506,3.507,3.517,3.518,3.518,3.521,3.523,3.54,3.541,3.541,3.54,3.54,3.541,3.541,3.545,3.559,3.564,3.568,3.569,3.576,3.587,3.587,3.591,3.595,3.599,3.612,3.617,3.628,3.64,3.64,3.643,3.646,3.647,3.664,3.665,3.671,3.678,3.679,3.684,3.684,3.689,3.713,3.719,3.72,3.737,3.74,3.751,3.756,3.766,3.772,3.782,3.795,3.802,3.812,3.817,3.834,3.84,3.844,3.86,3.871,3.882,3.897,3.9,3.914,3.923,3.939,3.952,3.963,3.98,3.99,4.001,4.022,4.056,4.063,4.073,4.084,0.016,0.016,0.016,0.016,0,0.016,0.016,0.007,4.033,3.966,3.95,3.894,3.883,3.842,3.815,3.782,3.76,3.729,3.715,3.679,3.646,3.618,3.602,3.569,3.546,3.526,3.502,3.475,3.456,3.434,3.406,3.402,3.381,3.372,3.337,3.333,3.313,3.292,3.278,3.256,3.232,3.23,3.196,3.186,3.17,3.158,3.135,3.12,3.113,3.094,3.077,3.069,3.051,3.051,3.044,3.022,3.005,2.981,2.976,2.964,2.954,2.936,2.921,2.919,2.91,2.893,2.877,2.871,2.861,2.849,2.831,2.818,2.817,2.811,2.789,2.784,2.777,2.768,2.76,2.745,2.739,2.732,2.725,2.716,2.703,2.691,2.683,2.683,2.671,2.664,2.654,2.646,2.644,2.641,2.636,2.622,2.616,2.613,2.606,2.593,2.59,2.58,2.578,2.566,2.565,2.558,2.552,2.548,2.54,2.536,2.531,2.523,2.514,2.511,2.505,2.504,2.493,2.491,2.489,2.484,2.483,2.479,2.475,2.47,2.47,2.468,2.464,2.459,2.452,2.449,2.449,2.444,2.444,2.444,2.443,2.438,2.437,2.431,2.43,2.428,2.425,2.425,2.421,2.423,2.421,2.417,2.419,2.416,2.415,2.412,2.412,2.409,2.409,2.409,2.409,2.406,2.406,2.407,2.407,2.407,2.409,2.409,2.41,2.41,2.41,2.411,2.411,2.413,2.418,2.421,2.421,2.419,2.419,2.418,2.416,2.416,2.418,2.424,2.43,2.435,2.442,2.442,2.442,2.442,2.442,2.45,2.45,2.451,2.455,2.458,2.463,2.466,2.467,2.472,2.479,2.481,2.486,2.488,2.493,2.493,2.495,2.496,2.508,2.511,2.515,2.516,2.519,2.521,2.533,2.534,2.543,2.557,2.56,2.566,2.57,2.578,2.588,2.594,2.601,2.602,2.606,2.609,2.629,2.633,2.633,2.64,2.643,2.654,2.662,2.674,2.678,2.679,2.699,2.7,2.712,2.716,2.722,2.738,2.749,2.754,2.766,2.779,2.79,2.796,2.805,2.817,2.83,2.84,2.853,2.864,2.868,2.874,2.889,2.902,2.916,2.928,2.946,2.947,2.957,2.966,2.979,2.996,3.017,3.02,3.036,3.044,3.064,3.09,3.092,3.098,3.122,3.144,3.15,3.169,3.175,3.197,3.219,3.231,3.25,3.26,3.275,3.3,3.324,3.345,3.351,3.379,3.392,3.407,3.434,3.459,3.487,3.5,3.523,3.548,3.562,3.589,3.613,3.634,3.663,3.697,3.717,3.754,3.784,3.799,3.833,3.877,3.896,3.92,3.95,3.987,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.353,3.337,3.319,3.316,3.31,3.295,3.291,3.274,3.272,3.251,3.251,3.25,3.241,3.235,3.218,3.213,3.206,3.202,3.19,3.184,3.173,3.168,3.156,3.152,3.15,3.144,3.137,3.127,3.121,3.12,3.113,3.113,3.11,3.106,3.095,3.088,3.084,3.08,3.08,3.076,3.066,3.064,3.061,3.061,3.058,3.047,3.047,3.039,3.039,3.039,3.039,3.032,3.031,3.029,3.026,3.024,3.024,3.024,3.03,3.03,3.03,3.019,3.014,3.013,3.011,3.01,3.011,3.011,3.011,3.01,3.01,3.008,3.008,3.008,3.008,3.008,3.008,3.008,3.006,3.011,3.011,3.011,3.011,3.012,3.015,3.016,3.016,3.018,3.019,3.019,3.02,3.026,3.026,3.028,3.029,3.039,3.04,3.04,3.04,3.04,3.051,3.055,3.055,3.057,3.057,3.063,3.066,3.068,3.075,3.086,3.088,3.089,3.094,3.097,3.101,3.105,3.109,3.118,3.121,3.134,3.134,3.137,3.137,3.144,3.144,3.146,3.148,3.155,3.158,3.164,3.172,3.177,3.181,3.182,3.2,3.202,3.213,3.213,3.228,3.228,3.234,3.235,3.237,3.25,3.258,3.267,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 88.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 88.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 88.4155} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038} SEN {Time 88.4586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.176,0.183,0.178,0.183,0.187,0,0,0,0,0,0,0,0,3.686,3.674,3.662,3.659,3.64,3.618,3.618,3.618,3.618,0.006,0.006,0.006,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.218,3.21,3.218,3.225,3.267,3.365,0,0,0,0,0,0,0,0.007,0.139,0.139,0.139,0.139,0.144,0.148,0.149,0.151,0.149,0.151,0.151,0.151,0.151,3.031,3.035,3.038,3.038,3.035,3.044,3.044,0.165,0.154,0.154,0.154,0.151,0.15,0.149,0.149,0.122,0.113,0.072,0.063,0.058,0.058,0.06,0.062,0.062,0.063,0.063,0.062,0.061,0.061,0.061,0.068,0.096,0.158,3.328,3.343,3.353,3.353,3.361,3.37,3.388,3.391,3.405,3.405,3.429,3.438,3.449,3.449,3.465,3.482,3.488,3.496,3.497,3.499,3.507,3.512,3.519,3.52,3.522,3.525,3.525,3.527,3.534,3.537,3.547,3.547,3.547,3.551,3.552,3.552,3.557,3.558,3.562,3.576,3.576,3.579,3.587,3.6,3.602,3.602,3.608,3.617,3.633,3.633,3.633,3.638,3.643,3.651,3.653,3.656,3.668,3.675,3.676,3.678,3.691,3.7,3.709,3.718,3.725,3.733,3.748,3.748,3.76,3.763,3.772,3.788,3.791,3.799,3.814,3.824,3.831,3.838,3.85,3.866,3.875,3.879,3.893,3.9,3.929,3.929,3.944,3.945,3.973,3.975,3.985,4.009,4.034,4.037,4.059,4.075,4.093,4.095,0.016,0.016,0.016,0,0.016,0.016,4.007,3.975,3.973,3.922,3.907,3.865,3.838,3.816,3.782,3.751,3.724,3.7,3.67,3.644,3.633,3.592,3.574,3.548,3.529,3.517,3.483,3.458,3.447,3.423,3.403,3.386,3.37,3.339,3.336,3.314,3.279,3.263,3.254,3.223,3.222,3.202,3.186,3.172,3.156,3.132,3.121,3.105,3.095,3.082,3.065,3.042,3.042,3.041,3.023,3.006,2.99,2.982,2.969,2.944,2.937,2.935,2.918,2.907,2.894,2.877,2.872,2.864,2.843,2.839,2.822,2.819,2.808,2.79,2.779,2.779,2.768,2.762,2.759,2.744,2.728,2.721,2.711,2.704,2.689,2.683,2.68,2.674,2.66,2.658,2.651,2.651,2.64,2.63,2.623,2.623,2.616,2.602,2.6,2.592,2.577,2.576,2.572,2.571,2.569,2.559,2.551,2.542,2.53,2.527,2.523,2.52,2.508,2.506,2.5,2.495,2.494,2.491,2.488,2.484,2.477,2.477,2.475,2.473,2.467,2.462,2.454,2.454,2.454,2.453,2.447,2.445,2.441,2.441,2.435,2.434,2.433,2.432,2.428,2.427,2.426,2.424,2.424,2.417,2.417,2.415,2.417,2.416,2.416,2.414,2.414,2.414,2.414,2.408,2.409,2.409,2.409,2.409,2.411,2.413,2.413,2.414,2.415,2.415,2.419,2.419,2.419,2.417,2.417,2.417,2.417,2.417,2.419,2.424,2.424,2.426,2.426,2.428,2.432,2.435,2.432,2.437,2.44,2.442,2.444,2.448,2.453,2.454,2.454,2.467,2.468,2.47,2.47,2.479,2.48,2.486,2.488,2.488,2.494,2.494,2.496,2.509,2.515,2.515,2.523,2.527,2.533,2.534,2.537,2.542,2.55,2.559,2.56,2.561,2.577,2.59,2.596,2.605,2.608,2.613,2.615,2.616,2.628,2.636,2.64,2.649,2.651,2.659,2.668,2.677,2.679,2.697,2.698,2.715,2.718,2.728,2.744,2.751,2.751,2.766,2.782,2.794,2.798,2.803,2.823,2.825,2.835,2.85,2.861,2.868,2.88,2.892,2.904,2.912,2.923,2.945,2.949,2.954,2.971,2.975,2.994,3.013,3.03,3.036,3.048,3.064,3.078,3.092,3.111,3.124,3.14,3.158,3.158,3.178,3.196,3.21,3.233,3.246,3.263,3.267,3.296,3.323,3.342,3.356,3.377,3.391,3.411,3.431,3.465,3.472,3.502,3.528,3.547,3.558,3.597,3.615,3.635,3.677,3.697,3.713,3.751,3.774,3.797,3.837,3.857,3.926,0.007,4.02,4.02,4.061,4.061,0,0,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.354,3.332,3.328,3.32,3.302,3.297,3.294,3.276,3.275,3.263,3.252,3.244,3.241,3.234,3.222,3.205,3.205,3.2,3.192,3.189,3.182,3.162,3.157,3.151,3.148,3.144,3.14,3.127,3.126,3.126,3.126,3.112,3.112,3.104,3.092,3.084,3.081,3.078,3.078,3.073,3.071,3.061,3.06,3.056,3.052,3.049,3.048,3.041,3.039,3.039,3.037,3.037,3.029,3.026,3.018,3.018,3.018,3.021,3.025,3.025,3.025,3.022,3.022,3.013,3.013,3.01,3.011,3.01,3.01,3.01,3.008,3.008,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.013,3.014,3.013,3.015,3.015,3.015,3.018,3.018,3.019,3.022,3.019,3.019,3.022,3.023,3.03,3.034,3.036,3.036,3.038,3.039,3.045,3.046,3.055,3.058,3.061,3.061,3.062,3.065,3.073,3.077,3.083,3.092,3.092,3.092,3.093,3.097,3.105,3.108,3.114,3.123,3.129,3.129,3.134,3.134,3.14,3.14,3.141,3.146,3.157,3.163,3.165,3.17,3.171,3.176,3.191,3.203,3.209,3.212,3.224,3.23,3.241,3.241,3.242,3.242,3.253,3.262,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 88.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 88.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 88.6155} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8956} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546} SEN {Time 88.6586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.181,0.183,0.183,0,0,0,0,0,0,0,0,3.694,3.673,3.664,3.656,3.651,3.634,3.603,3.603,3.603,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.212,3.21,3.21,3.21,3.269,3.364,0,0,0,0,0,0,0,0.151,0.141,0.141,0.141,0.141,0.14,0.143,0.143,0.151,0.151,0.153,0.153,0.157,0.157,3.03,3.03,3.041,3.041,3.03,3.028,0.154,0.154,0.149,0.149,0.148,0.148,0.148,0.147,0.143,0.117,0.095,0.071,0.065,0.064,0.064,0.065,0.065,0.067,0.069,0.067,0.065,0.065,0.061,0.061,0.061,0.095,0.17,3.335,3.338,3.352,3.352,3.365,3.392,3.392,3.392,3.401,3.417,3.417,3.433,3.455,3.472,3.472,3.483,3.492,3.492,3.506,3.508,3.51,3.51,3.512,3.513,3.522,3.523,3.523,3.527,3.53,3.538,3.543,3.543,3.544,3.548,3.555,3.56,3.56,3.566,3.57,3.572,3.582,3.582,3.589,3.598,3.6,3.603,3.604,3.616,3.627,3.631,3.631,3.641,3.653,3.655,3.656,3.659,3.663,3.683,3.685,3.686,3.693,3.696,3.709,3.723,3.729,3.73,3.739,3.742,3.753,3.761,3.77,3.772,3.789,3.798,3.807,3.818,3.835,3.837,3.853,3.87,3.876,3.879,3.891,3.899,3.915,3.935,3.937,3.963,3.964,3.982,3.999,4.019,4.032,4.048,4.065,4.076,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.045,4.045,4.037,3.994,3.932,3.902,3.872,3.831,3.814,3.776,3.749,3.725,3.703,3.677,3.641,3.615,3.596,3.577,3.547,3.524,3.5,3.493,3.459,3.437,3.42,3.4,3.391,3.356,3.351,3.336,3.323,3.299,3.276,3.258,3.238,3.227,3.196,3.187,3.178,3.153,3.136,3.122,3.109,3.095,3.076,3.065,3.05,3.047,3.027,3.01,3.002,2.989,2.976,2.962,2.955,2.949,2.926,2.924,2.907,2.888,2.88,2.871,2.86,2.855,2.837,2.825,2.818,2.812,2.79,2.783,2.782,2.77,2.764,2.745,2.742,2.734,2.718,2.718,2.705,2.694,2.679,2.679,2.678,2.665,2.661,2.647,2.644,2.64,2.63,2.623,2.618,2.604,2.6,2.599,2.594,2.578,2.577,2.576,2.573,2.561,2.56,2.55,2.538,2.534,2.523,2.518,2.517,2.514,2.502,2.497,2.495,2.49,2.487,2.487,2.487,2.484,2.474,2.474,2.472,2.467,2.462,2.46,2.456,2.455,2.45,2.449,2.447,2.445,2.444,2.439,2.437,2.432,2.426,2.425,2.424,2.423,2.421,2.419,2.416,2.416,2.415,2.414,2.414,2.414,2.414,2.414,2.411,2.409,2.407,2.406,2.407,2.407,2.408,2.409,2.409,2.409,2.411,2.41,2.41,2.41,2.411,2.417,2.419,2.42,2.424,2.424,2.424,2.419,2.419,2.419,2.428,2.428,2.429,2.431,2.439,2.439,2.44,2.44,2.44,2.446,2.447,2.455,2.456,2.459,2.463,2.466,2.466,2.468,2.472,2.482,2.485,2.486,2.486,2.491,2.496,2.496,2.512,2.513,2.517,2.523,2.528,2.531,2.536,2.538,2.547,2.556,2.56,2.562,2.569,2.574,2.594,2.596,2.599,2.603,2.609,2.612,2.627,2.633,2.639,2.649,2.65,2.652,2.662,2.674,2.677,2.692,2.697,2.704,2.717,2.724,2.729,2.736,2.75,2.752,2.763,2.774,2.789,2.791,2.812,2.823,2.823,2.842,2.845,2.853,2.873,2.875,2.89,2.9,2.917,2.929,2.938,2.952,2.958,2.975,2.986,2.995,3.013,3.026,3.039,3.042,3.067,3.072,3.085,3.107,3.122,3.135,3.153,3.172,3.175,3.205,3.217,3.236,3.246,3.26,3.28,3.299,3.322,3.335,3.349,3.376,3.388,3.41,3.432,3.46,3.478,3.496,3.527,3.537,3.564,3.599,3.609,3.636,3.67,3.693,3.723,3.75,3.787,3.802,3.842,3.865,3.901,3.923,3.952,3.99,4.03,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.356,3.333,3.332,3.319,3.305,3.297,3.291,3.286,3.27,3.25,3.249,3.245,3.242,3.228,3.219,3.209,3.204,3.2,3.189,3.187,3.177,3.174,3.154,3.153,3.146,3.142,3.135,3.131,3.121,3.115,3.113,3.107,3.105,3.103,3.098,3.091,3.091,3.084,3.077,3.07,3.069,3.066,3.064,3.062,3.059,3.053,3.047,3.04,3.04,3.039,3.039,3.036,3.034,3.034,3.028,3.028,3.028,3.028,3.029,3.029,3.029,3.025,3.021,3.018,3.015,3.011,3.011,3.008,3.01,3.009,3.009,3.009,3.009,3.009,3.008,3.008,3.008,3.009,3.008,3.011,3.011,3.011,3.014,3.014,3.014,3.014,3.014,3.017,3.021,3.021,3.021,3.025,3.026,3.027,3.032,3.035,3.037,3.037,3.038,3.044,3.045,3.054,3.057,3.059,3.06,3.06,3.067,3.072,3.084,3.084,3.086,3.087,3.091,3.097,3.098,3.106,3.113,3.116,3.119,3.128,3.128,3.129,3.131,3.133,3.133,3.148,3.15,3.153,3.156,3.158,3.173,3.173,3.175,3.179,3.187,3.214,3.215,3.219,3.23,3.233,3.235,3.246,3.246,3.25,3.267,3.276,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 88.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 88.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 88.8164} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546} SEN {Time 88.8586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.177,0.181,0.181,0.186,0.187,0,0,0,0,0,0,0,0,3.687,3.681,3.669,3.658,3.642,3.641,3.61,3.61,3.61,3.6,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.243,3.219,3.219,3.212,3.219,3.269,3.368,3.368,0,0,0,0,0,0,0,0.144,0.142,0.142,0.142,0.142,0.148,0.148,0.154,0.154,0.154,0.154,0.154,0.157,0.157,3.039,3.039,3.039,3.039,3.035,3.031,0.161,0.157,0.157,0.157,0.153,0.157,0.148,0.144,0.141,0.116,0.09,0.066,0.061,0.061,0.06,0.06,0.06,0.063,0.06,0.065,0.065,0.065,0.063,0.065,0.065,0.107,0.181,3.326,3.346,3.348,3.348,3.36,3.368,3.368,3.372,3.372,3.405,3.414,3.435,3.435,3.454,3.474,3.484,3.487,3.495,3.503,3.508,3.508,3.513,3.513,3.515,3.519,3.522,3.522,3.53,3.532,3.541,3.545,3.545,3.545,3.546,3.546,3.564,3.564,3.572,3.576,3.578,3.578,3.579,3.587,3.596,3.604,3.609,3.617,3.622,3.633,3.633,3.64,3.651,3.651,3.656,3.657,3.662,3.665,3.673,3.674,3.687,3.693,3.697,3.711,3.717,3.731,3.737,3.74,3.749,3.751,3.762,3.767,3.787,3.795,3.8,3.814,3.821,3.827,3.84,3.858,3.867,3.875,3.88,3.89,3.91,3.929,3.931,3.935,3.958,3.968,3.983,4,4.014,4.025,4.037,4.062,4.074,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.053,4.053,4.023,3.996,3.927,3.9,3.869,3.843,3.812,3.775,3.746,3.732,3.703,3.665,3.651,3.625,3.596,3.584,3.554,3.528,3.512,3.486,3.453,3.451,3.424,3.405,3.384,3.357,3.352,3.335,3.312,3.286,3.272,3.263,3.231,3.227,3.193,3.188,3.169,3.148,3.137,3.121,3.112,3.097,3.087,3.064,3.051,3.043,3.021,3.015,3.002,2.984,2.981,2.964,2.951,2.945,2.924,2.916,2.903,2.898,2.877,2.872,2.863,2.847,2.84,2.83,2.814,2.806,2.788,2.782,2.778,2.764,2.759,2.755,2.733,2.73,2.717,2.712,2.703,2.696,2.687,2.682,2.676,2.665,2.66,2.653,2.649,2.641,2.636,2.619,2.618,2.616,2.607,2.598,2.598,2.584,2.576,2.57,2.568,2.567,2.558,2.544,2.54,2.531,2.529,2.52,2.519,2.509,2.502,2.5,2.496,2.491,2.489,2.482,2.482,2.477,2.476,2.475,2.474,2.474,2.465,2.46,2.458,2.452,2.45,2.448,2.445,2.444,2.443,2.44,2.439,2.431,2.426,2.425,2.425,2.425,2.425,2.42,2.423,2.418,2.413,2.413,2.414,2.413,2.414,2.414,2.41,2.407,2.409,2.408,2.409,2.409,2.409,2.409,2.409,2.409,2.412,2.415,2.412,2.415,2.419,2.419,2.419,2.421,2.421,2.419,2.418,2.418,2.418,2.427,2.428,2.429,2.429,2.432,2.436,2.432,2.439,2.441,2.442,2.446,2.451,2.451,2.452,2.453,2.47,2.47,2.472,2.475,2.476,2.48,2.481,2.484,2.485,2.491,2.492,2.494,2.511,2.515,2.516,2.522,2.522,2.532,2.534,2.543,2.548,2.555,2.562,2.562,2.573,2.582,2.594,2.596,2.597,2.601,2.607,2.611,2.625,2.633,2.641,2.643,2.651,2.654,2.662,2.675,2.676,2.687,2.698,2.7,2.713,2.72,2.724,2.739,2.747,2.754,2.759,2.779,2.787,2.795,2.809,2.817,2.826,2.838,2.853,2.864,2.864,2.874,2.895,2.903,2.915,2.924,2.941,2.947,2.96,2.97,2.981,3.002,3.015,3.019,3.033,3.043,3.069,3.083,3.098,3.109,3.12,3.134,3.152,3.165,3.179,3.196,3.216,3.236,3.247,3.266,3.278,3.288,3.316,3.329,3.355,3.373,3.397,3.414,3.434,3.451,3.478,3.498,3.518,3.536,3.568,3.595,3.619,3.629,3.663,3.693,3.718,3.747,3.793,3.8,3.844,3.869,3.892,3.922,3.959,3.989,4.025,4.063,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.351,3.338,3.322,3.314,3.309,3.294,3.286,3.272,3.268,3.264,3.255,3.243,3.235,3.235,3.223,3.215,3.21,3.19,3.19,3.183,3.175,3.171,3.164,3.156,3.147,3.146,3.139,3.131,3.122,3.119,3.113,3.111,3.101,3.099,3.093,3.086,3.082,3.08,3.077,3.072,3.067,3.067,3.065,3.057,3.056,3.047,3.044,3.039,3.038,3.037,3.037,3.03,3.029,3.028,3.025,3.025,3.025,3.071,3.071,3.071,3.024,3.019,3.015,3.014,3.012,3.011,3.009,3.009,3.007,3.006,3.006,3.006,3.006,3.007,3.007,3.009,3.01,3.011,3.011,3.01,3.011,3.011,3.012,3.012,3.015,3.016,3.015,3.019,3.021,3.021,3.027,3.027,3.029,3.031,3.031,3.034,3.035,3.036,3.036,3.041,3.047,3.054,3.056,3.062,3.062,3.062,3.064,3.075,3.077,3.088,3.088,3.089,3.089,3.094,3.104,3.108,3.111,3.113,3.123,3.126,3.13,3.131,3.133,3.14,3.14,3.141,3.144,3.147,3.167,3.171,3.171,3.174,3.175,3.19,3.203,3.208,3.211,3.225,3.228,3.233,3.237,3.241,3.241,3.25,3.26,3.282,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 89.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 89.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 89.0084} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546} SEN {Time 89.0586} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.181,0.184,0.184,0,0,0,0,0,0,0,0,3.684,3.677,3.666,3.662,3.644,3.632,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.237,3.221,3.22,3.216,3.207,3.207,3.207,3.264,3.369,0,0,0,0,0,0,0,0.149,0.142,0.142,0.143,0.143,0.143,0.143,0.143,0.152,0.144,0.152,0.152,0.157,0.157,3.038,3.038,3.038,3.038,3.036,3.036,3.036,0.163,0.162,0.162,0.156,0.156,0.149,0.148,0.148,0.113,0.095,0.071,0.065,0.061,0.061,0.064,0.064,0.06,0.064,0.062,0.061,0.061,0.062,0.062,0.068,0.097,0.18,3.338,3.363,3.363,3.363,3.363,3.363,3.371,3.385,3.396,0.007,3.452,3.452,3.464,3.464,3.477,3.479,3.49,3.493,3.506,3.508,3.508,3.515,3.518,3.527,3.527,3.527,3.528,3.528,3.533,3.535,3.541,3.546,3.548,3.549,3.553,3.559,3.56,3.564,3.571,3.575,3.576,3.579,3.579,3.592,3.603,3.606,3.606,3.626,3.629,3.634,3.636,3.64,3.646,3.648,3.659,3.664,3.665,3.679,3.68,3.694,3.695,3.698,3.701,3.72,3.736,3.737,3.743,3.755,3.756,3.763,3.784,3.792,3.795,3.799,3.81,3.814,3.822,3.824,3.849,3.863,3.876,3.883,3.897,3.899,3.922,3.925,3.931,3.959,3.974,3.975,3.991,4.016,4.025,4.047,4.063,4.076,4.094,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,4.024,3.961,3.923,3.9,3.875,3.845,3.802,3.779,3.752,3.737,3.697,3.679,3.652,3.624,3.6,3.573,3.546,3.523,3.494,3.486,3.465,3.442,3.436,3.401,3.382,3.358,3.347,3.339,3.311,3.289,3.27,3.257,3.232,3.229,3.202,3.185,3.172,3.148,3.142,3.126,3.112,3.103,3.08,3.066,3.044,3.04,3.027,3.007,2.996,2.986,2.978,2.958,2.955,2.942,2.926,2.919,2.907,2.891,2.882,2.878,2.859,2.844,2.843,2.825,2.812,2.807,2.79,2.783,2.78,2.764,2.758,2.755,2.733,2.721,2.719,2.709,2.703,2.698,2.682,2.678,2.669,2.668,2.658,2.651,2.649,2.639,2.638,2.624,2.618,2.617,2.603,2.603,2.592,2.582,2.582,2.567,2.567,2.566,2.556,2.552,2.54,2.534,2.534,2.527,2.52,2.51,2.508,2.504,2.495,2.492,2.491,2.487,2.483,2.479,2.474,2.471,2.468,2.462,2.461,2.457,2.457,2.449,2.449,2.449,2.447,2.446,2.44,2.438,2.435,2.43,2.426,2.426,2.423,2.424,2.424,2.423,2.416,2.416,2.415,2.413,2.414,2.412,2.412,2.412,2.412,2.411,2.411,2.411,2.407,2.406,2.407,2.411,2.413,2.415,2.415,2.413,2.413,2.414,2.414,2.42,2.421,2.423,2.423,2.423,2.423,2.416,2.416,2.423,2.423,2.423,2.43,2.433,2.433,2.433,2.44,2.441,2.443,2.443,2.453,2.453,2.458,2.461,2.462,2.466,2.468,2.47,2.47,2.472,2.472,2.488,2.49,2.49,2.495,2.499,2.511,2.511,2.52,2.521,2.528,2.535,2.539,2.543,2.551,2.552,2.559,2.562,2.565,2.573,2.591,2.597,2.6,2.607,2.609,2.611,2.628,2.628,2.634,2.638,2.649,2.657,2.657,2.672,2.687,2.688,2.694,2.707,2.713,2.718,2.731,2.737,2.748,2.751,2.761,2.775,2.787,2.796,2.81,2.819,2.831,2.839,2.849,2.854,2.866,2.88,2.884,2.897,2.917,2.924,2.942,2.947,2.958,2.97,2.983,2.999,3.011,3.025,3.034,3.05,3.069,3.083,3.092,3.106,3.125,3.135,3.155,3.17,3.171,3.194,3.218,3.234,3.251,3.26,3.281,3.305,3.318,3.346,3.354,3.377,3.392,3.405,3.434,3.46,3.487,3.5,3.516,3.541,3.561,3.596,3.612,3.637,3.673,3.689,3.727,3.742,3.775,3.794,3.835,3.861,3.889,3.918,3.99,4.03,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.36,3.338,3.337,3.314,3.31,3.294,3.288,3.282,3.268,3.265,3.257,3.239,3.238,3.234,3.215,3.213,3.211,3.201,3.188,3.183,3.18,3.167,3.161,3.153,3.15,3.144,3.137,3.133,3.121,3.117,3.113,3.11,3.108,3.105,3.094,3.084,3.081,3.079,3.079,3.078,3.069,3.065,3.061,3.055,3.049,3.048,3.046,3.043,3.041,3.034,3.034,3.033,3.033,3.025,3.02,3.02,3.023,3.023,3.027,3.027,3.027,3.026,3.024,3.015,3.013,3.011,3.013,3.013,3.011,3.013,3.013,3.009,3.009,3.012,3.012,3.014,3.014,3.012,3.011,3.011,3.008,3.011,3.015,3.015,3.015,3.016,3.015,3.016,3.022,3.023,3.024,3.025,3.025,3.025,3.035,3.035,3.035,3.036,3.037,3.043,3.049,3.05,3.053,3.057,3.062,3.066,3.069,3.071,3.076,3.081,3.09,3.09,3.092,3.093,3.095,3.112,3.116,3.117,3.118,3.125,3.129,3.132,3.135,3.136,3.136,3.143,3.148,3.159,3.159,3.168,3.169,3.169,3.173,3.187,3.204,3.208,3.223,3.224,3.232,3.239,3.239,3.241,3.242,3.246,3.255,3.279,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 89.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 89.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 89.2094} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.762} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4864} SEN {Time 89.2546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.186,0.182,0.186,0.187,0,0,0,0,0,0,0,0,3.689,3.685,3.666,3.653,3.65,3.636,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.241,3.221,3.22,3.22,3.22,3.221,3.263,3.363,3.363,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.143,0.146,0.147,0.151,0.149,0.151,0.151,0.152,0.152,3.025,3.033,3.034,3.034,3.033,3.033,0.159,0.159,0.156,0.156,0.159,0.153,0.153,0.147,0.145,0.116,0.093,0.078,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.066,0.066,0.064,0.064,0.066,0.066,0.101,0.171,3.331,3.352,3.363,3.363,3.396,0.007,0,0,0,0,0.007,3.46,3.46,3.469,3.469,3.476,3.492,3.493,3.498,3.503,3.503,3.514,3.516,3.516,3.517,3.524,3.525,3.531,3.531,3.533,3.536,3.542,3.544,3.546,3.553,3.556,3.564,3.565,3.57,3.574,3.579,3.58,3.585,3.593,3.593,3.604,3.611,3.624,3.627,3.637,3.637,3.64,3.654,3.657,3.658,3.661,3.667,3.685,3.685,3.686,3.697,3.7,3.707,3.715,3.73,3.738,3.743,3.746,3.759,3.763,3.773,3.779,3.784,3.793,3.806,3.811,3.83,3.84,3.853,3.861,3.874,3.882,3.897,3.906,3.921,3.937,3.945,3.964,3.968,3.998,4.005,4.009,4.046,4.048,4.072,4.09,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,4.047,3.954,3.917,3.901,3.876,3.833,3.806,3.798,3.747,3.733,3.71,3.676,3.652,3.623,3.591,3.579,3.551,3.533,3.503,3.482,3.454,3.446,3.426,3.399,3.38,3.376,3.349,3.333,3.309,3.288,3.273,3.252,3.234,3.225,3.193,3.188,3.171,3.151,3.139,3.119,3.116,3.094,3.072,3.058,3.041,3.035,3.019,3.013,2.996,2.987,2.968,2.958,2.955,2.936,2.927,2.916,2.908,2.889,2.878,2.876,2.871,2.845,2.841,2.823,2.814,2.805,2.794,2.781,2.778,2.77,2.76,2.746,2.736,2.731,2.718,2.715,2.698,2.691,2.684,2.677,2.669,2.665,2.657,2.656,2.652,2.64,2.637,2.621,2.613,2.611,2.609,2.6,2.587,2.582,2.578,2.571,2.568,2.565,2.559,2.551,2.545,2.544,2.535,2.524,2.516,2.511,2.508,2.506,2.49,2.49,2.49,2.489,2.484,2.479,2.479,2.475,2.473,2.468,2.467,2.463,2.453,2.451,2.45,2.45,2.449,2.444,2.439,2.439,2.436,2.436,2.429,2.428,2.428,2.428,2.421,2.421,2.421,2.42,2.42,2.418,2.414,2.413,2.413,2.413,2.412,2.412,2.412,2.409,2.407,2.407,2.407,2.411,2.412,2.413,2.413,2.412,2.412,2.411,2.411,2.412,2.416,2.416,2.421,2.419,2.419,2.42,2.42,2.42,2.421,2.421,2.423,2.43,2.432,2.436,2.437,2.438,2.446,2.447,2.449,2.455,2.459,2.463,2.464,2.465,2.466,2.468,2.472,2.475,2.48,2.486,2.489,2.49,2.496,2.497,2.51,2.517,2.52,2.525,2.527,2.533,2.535,2.535,2.547,2.556,2.562,2.564,2.571,2.574,2.587,2.598,2.6,2.604,2.605,2.608,2.622,2.627,2.64,2.64,2.642,2.651,2.659,2.673,2.68,2.685,2.695,2.701,2.711,2.719,2.727,2.737,2.756,2.761,2.761,2.779,2.786,2.804,2.809,2.817,2.824,2.838,2.844,2.861,2.873,2.877,2.892,2.902,2.914,2.924,2.939,2.95,2.96,2.966,2.984,2.994,3.016,3.022,3.038,3.048,3.065,3.079,3.098,3.111,3.122,3.141,3.148,3.17,3.176,3.202,3.222,3.229,3.252,3.264,3.271,3.299,3.314,3.336,3.35,3.371,3.394,3.406,3.431,3.466,3.481,3.5,3.519,3.547,3.565,3.595,3.616,3.638,3.666,3.693,3.723,3.759,3.78,3.8,3.847,3.866,3.89,3.914,3.977,4.034,0,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.358,3.328,3.313,3.306,3.295,3.284,3.278,3.27,3.252,3.252,3.243,3.241,3.229,3.215,3.209,3.204,3.191,3.19,3.187,3.182,3.163,3.16,3.156,3.152,3.143,3.136,3.13,3.124,3.114,3.112,3.109,3.098,3.097,3.092,3.086,3.086,3.086,3.082,3.072,3.066,3.061,3.061,3.061,3.054,3.049,3.047,3.045,3.04,3.039,3.038,3.034,3.031,3.027,3.025,3.025,3.025,3.025,3.029,3.029,3.029,3.017,3.016,3.014,3.014,3.013,3.012,3.011,3.01,3.007,3.007,3.007,3.006,3.005,3.006,3.005,3.005,3.006,3.007,3.012,3.012,3.011,3.009,3.011,3.011,3.012,3.013,3.019,3.026,3.026,3.023,3.026,3.026,3.029,3.032,3.034,3.034,3.036,3.04,3.042,3.05,3.055,3.056,3.057,3.061,3.063,3.067,3.068,3.074,3.077,3.089,3.089,3.092,3.092,3.092,3.104,3.108,3.108,3.121,3.131,3.131,3.135,3.138,3.141,3.141,3.142,3.143,3.155,3.16,3.162,3.165,3.168,3.18,3.193,3.197,3.214,3.214,3.214,3.229,3.23,3.233,3.24,3.245,3.252,3.266,3.284,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 89.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 89.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 89.4113} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4864} SEN {Time 89.4546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.176,0.187,0.187,0,0,0,0,0,0,0,0,3.688,3.683,3.662,3.661,3.647,3.634,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.213,3.208,3.208,3.208,3.262,3.356,0,0,0,0,0,0,0,0.146,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.155,0.149,0.155,0.155,0.156,0.156,3.027,3.039,3.039,3.039,3.027,3.039,3.027,0.151,0.151,0.151,0.15,0.15,0.15,0.147,0.146,0.112,0.09,0.072,0.067,0.065,0.064,0.063,0.063,0.064,0.067,0.068,0.068,0.067,0.063,0.063,0.063,0.104,0.174,3.328,0.007,3.371,3.371,3.374,3.374,0.007,0,0,0,0.007,0,0.007,3.479,3.479,3.489,3.489,3.493,3.495,3.497,3.508,3.515,3.519,3.519,3.524,3.524,3.525,3.527,3.528,3.537,3.537,3.546,3.546,3.546,3.549,3.549,3.563,3.569,3.571,3.571,3.575,3.577,3.58,3.588,3.602,3.605,3.614,3.628,3.633,3.634,3.635,3.641,3.646,3.646,3.654,3.665,3.672,3.677,3.681,3.689,3.693,3.696,3.708,3.714,3.73,3.739,3.74,3.745,3.754,3.766,3.77,3.78,3.796,3.805,3.812,3.815,3.827,3.839,3.841,3.869,3.882,3.886,3.888,3.895,3.921,3.921,3.94,3.958,3.971,3.972,3.999,4.017,4.017,4.043,4.06,4.083,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.049,4.02,4.02,3.992,3.974,3.901,3.868,3.832,3.81,3.766,3.75,3.719,3.704,3.662,3.65,3.624,3.601,3.579,3.543,3.531,3.506,3.483,3.457,3.44,3.415,3.401,3.378,3.374,3.348,3.332,3.313,3.29,3.277,3.257,3.23,3.22,3.198,3.189,3.173,3.155,3.139,3.12,3.109,3.094,3.079,3.065,3.038,3.038,3.027,3.009,3.008,2.986,2.986,2.963,2.955,2.938,2.933,2.919,2.912,2.897,2.881,2.877,2.86,2.85,2.848,2.83,2.817,2.812,2.785,2.784,2.782,2.762,2.753,2.748,2.734,2.722,2.716,2.715,2.7,2.697,2.682,2.681,2.68,2.662,2.658,2.649,2.648,2.641,2.638,2.625,2.616,2.61,2.607,2.603,2.582,2.582,2.58,2.572,2.567,2.561,2.551,2.549,2.543,2.533,2.532,2.522,2.519,2.514,2.507,2.506,2.501,2.497,2.493,2.486,2.482,2.477,2.474,2.472,2.47,2.466,2.463,2.463,2.455,2.454,2.453,2.453,2.443,2.442,2.442,2.442,2.438,2.434,2.431,2.429,2.427,2.425,2.425,2.425,2.424,2.419,2.417,2.417,2.413,2.412,2.412,2.412,2.413,2.409,2.411,2.411,2.411,2.41,2.411,2.413,2.412,2.412,2.412,2.412,2.411,2.411,2.413,2.415,2.417,2.418,2.421,2.421,2.421,2.421,2.421,2.426,2.427,2.426,2.429,2.43,2.433,2.435,2.439,2.439,2.44,2.451,2.451,2.452,2.454,2.456,2.457,2.462,2.468,2.473,2.477,2.482,2.482,2.484,2.485,2.49,2.5,2.501,2.511,2.517,2.519,2.525,2.528,2.535,2.536,2.536,2.551,2.551,2.554,2.562,2.57,2.571,2.592,2.595,2.6,2.603,2.606,2.615,2.624,2.633,2.634,2.641,2.641,2.652,2.663,2.676,2.686,2.687,2.702,2.709,2.711,2.725,2.73,2.736,2.752,2.756,2.757,2.776,2.78,2.795,2.807,2.809,2.836,2.843,2.85,2.86,2.87,2.883,2.886,2.9,2.921,2.924,2.944,2.955,2.955,2.974,2.983,2.993,3.013,3.016,3.035,3.043,3.071,3.088,3.091,3.11,3.122,3.14,3.158,3.168,3.174,3.2,3.22,3.231,3.24,3.261,3.272,3.305,3.322,3.325,3.359,3.375,3.391,3.417,3.437,3.461,3.476,3.502,3.519,3.543,3.568,3.599,3.602,3.637,3.667,3.692,3.727,3.745,3.785,3.804,3.835,3.866,3.92,3.936,3.98,3.98,4.026,4.064,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.351,3.334,3.323,3.317,3.309,3.291,3.29,3.279,3.27,3.262,3.245,3.242,3.242,3.228,3.222,3.207,3.207,3.198,3.187,3.187,3.177,3.17,3.16,3.155,3.151,3.14,3.14,3.133,3.133,3.121,3.115,3.114,3.111,3.107,3.092,3.086,3.084,3.081,3.078,3.072,3.069,3.067,3.061,3.056,3.055,3.047,3.044,3.044,3.039,3.035,3.035,3.035,3.031,3.024,3.02,3.02,3.02,3.022,3.027,3.027,3.027,3.019,3.018,3.016,3.007,3.006,3.006,3.007,3.007,3.008,3.008,3.008,3.008,3.008,3.008,3.008,3.004,3.004,3.004,3.004,3.011,3.016,3.02,3.02,3.021,3.021,3.021,3.022,3.021,3.021,3.021,3.022,3.023,3.025,3.029,3.033,3.036,3.04,3.042,3.043,3.051,3.055,3.056,3.056,3.061,3.066,3.067,3.075,3.082,3.085,3.087,3.092,3.092,3.092,3.096,3.105,3.107,3.111,3.121,3.131,3.131,3.131,3.134,3.135,3.135,3.139,3.148,3.152,3.156,3.161,3.173,3.176,3.18,3.191,3.192,3.203,3.213,3.226,3.227,3.229,3.235,3.244,3.253,3.254,3.26,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 89.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 89.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 89.6123} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4864} SEN {Time 89.6556} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.176,0.185,0.185,0,0,0,0,0,0,0,0,3.686,3.677,3.668,3.659,3.644,3.622,3.616,3.616,3.616,3.602,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.214,3.215,3.215,3.264,3.359,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.145,0.143,0.143,0.143,0.145,0.145,0.151,0.151,0.162,0.162,3.026,3.035,3.037,3.037,3.035,3.037,3.037,0.156,0.156,0.156,0.154,0.153,0.151,0.149,0.147,0.118,0.092,0.066,0.064,0.062,0.06,0.062,0.063,0.063,0.064,0.064,0.064,0.064,0.065,0.065,0.068,0.107,0.166,3.339,3.349,3.356,3.356,3.367,3.369,3.369,3.385,3.385,3.422,0.007,0,3.469,3.486,3.477,3.477,3.482,3.486,3.5,3.506,3.506,3.507,3.511,3.513,3.519,3.52,3.525,3.533,3.533,3.533,3.535,3.536,3.541,3.546,3.549,3.554,3.562,3.565,3.578,3.579,3.579,3.584,3.588,3.589,3.598,3.613,3.617,3.625,3.631,3.634,3.634,3.643,3.651,3.655,3.661,3.661,3.67,3.674,3.678,3.685,3.696,3.701,3.705,3.719,3.728,3.732,3.733,3.748,3.758,3.76,3.774,3.782,3.782,3.797,3.813,3.824,3.83,3.833,3.854,3.867,3.874,3.882,3.905,3.905,3.923,3.932,3.932,3.96,3.97,3.988,3.998,4.008,4.029,4.045,4.059,4.071,4.081,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.066,3.991,3.961,3.931,3.897,3.865,3.847,3.81,3.782,3.753,3.724,3.707,3.672,3.639,3.618,3.591,3.56,3.548,3.528,3.496,3.494,3.459,3.438,3.417,3.404,3.373,3.372,3.346,3.334,3.301,3.297,3.268,3.251,3.235,3.222,3.198,3.188,3.168,3.151,3.145,3.121,3.114,3.096,3.085,3.064,3.042,3.039,3.025,3.009,2.996,2.989,2.979,2.959,2.944,2.931,2.93,2.922,2.899,2.888,2.881,2.87,2.857,2.85,2.837,2.834,2.814,2.804,2.792,2.786,2.779,2.775,2.761,2.751,2.734,2.734,2.72,2.718,2.702,2.7,2.683,2.679,2.675,2.663,2.657,2.653,2.649,2.649,2.632,2.618,2.612,2.608,2.603,2.601,2.586,2.577,2.575,2.572,2.569,2.567,2.555,2.555,2.543,2.541,2.539,2.521,2.516,2.514,2.506,2.503,2.5,2.493,2.492,2.487,2.481,2.479,2.474,2.473,2.465,2.464,2.463,2.461,2.457,2.457,2.455,2.447,2.446,2.445,2.445,2.442,2.441,2.429,2.427,2.427,2.426,2.426,2.418,2.418,2.418,2.413,2.413,2.413,2.411,2.41,2.411,2.411,2.411,2.413,2.413,2.413,2.413,2.411,2.411,2.411,2.408,2.409,2.411,2.411,2.409,2.409,2.411,2.411,2.416,2.417,2.417,2.417,2.421,2.423,2.417,2.423,2.426,2.43,2.432,2.432,2.433,2.44,2.442,2.442,2.442,2.442,2.451,2.453,2.454,2.462,2.465,2.466,2.468,2.474,2.474,2.477,2.478,2.488,2.493,2.495,2.495,2.506,2.508,2.51,2.517,2.519,2.525,2.529,2.536,2.54,2.549,2.554,2.555,2.562,2.562,2.578,2.593,2.594,2.604,2.606,2.612,2.613,2.62,2.632,2.635,2.637,2.649,2.649,2.659,2.671,2.675,2.693,2.699,2.702,2.714,2.719,2.728,2.748,2.752,2.752,2.766,2.772,2.784,2.796,2.803,2.819,2.826,2.831,2.852,2.856,2.868,2.868,2.892,2.902,2.915,2.925,2.949,2.949,2.952,2.967,2.98,2.991,3.011,3.024,3.035,3.046,3.063,3.087,3.095,3.104,3.124,3.135,3.155,3.164,3.184,3.202,3.23,3.231,3.253,3.264,3.278,3.303,3.334,3.341,3.349,3.368,3.39,3.403,3.434,3.458,3.486,3.503,3.518,3.546,3.57,3.588,3.619,3.635,3.664,3.683,3.727,3.747,3.784,3.797,3.831,3.855,3.922,3.946,3.986,3.986,4.022,4.059,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.356,3.34,3.333,3.322,3.304,3.297,3.288,3.278,3.267,3.257,3.253,3.238,3.236,3.232,3.221,3.214,3.213,3.199,3.185,3.184,3.181,3.173,3.161,3.159,3.149,3.143,3.137,3.137,3.127,3.122,3.111,3.108,3.103,3.101,3.091,3.09,3.085,3.079,3.078,3.077,3.072,3.064,3.06,3.059,3.055,3.055,3.048,3.042,3.04,3.038,3.037,3.035,3.034,3.026,3.021,3.017,3.021,3.021,3.018,3.022,3.022,3.021,3.019,3.019,3.015,3.011,3.01,3.009,3.01,3.01,3.01,3.007,3.007,3.007,3.007,3.008,3.009,3.011,3.011,3.009,3.011,3.011,3.011,3.013,3.015,3.016,3.017,3.022,3.022,3.021,3.021,3.021,3.021,3.027,3.029,3.03,3.035,3.04,3.043,3.048,3.054,3.055,3.058,3.059,3.061,3.061,3.066,3.073,3.078,3.087,3.087,3.087,3.087,3.087,3.099,3.101,3.107,3.114,3.115,3.124,3.125,3.133,3.135,3.138,3.138,3.145,3.148,3.153,3.158,3.162,3.174,3.176,3.178,3.181,3.2,3.204,3.209,3.217,3.232,3.243,3.243,3.244,3.244,3.25,3.263,3.278,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 89.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 89.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 89.8133} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.6416} {Name Sonar8 Range 0.7366} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 89.8546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,3.685,3.682,3.659,3.659,3.645,3.63,3.621,3.621,3.621,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.214,3.213,3.214,3.269,3.358,3.358,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.144,0.144,0.143,0.144,0.144,0.151,0.151,0.153,0.153,3.03,3.03,3.033,3.033,3.03,3.037,3.037,0.159,0.156,0.156,0.15,0.15,0.149,0.148,0.148,0.119,0.094,0.066,0.064,0.06,0.06,0.064,0.064,0.066,0.067,0.066,0.065,0.065,0.065,0.065,0.065,0.101,0.177,3.331,3.34,3.354,3.354,3.37,3.375,3.38,3.388,3.393,3.42,3.42,3.441,3.454,3.474,3.474,3.479,3.484,3.485,3.5,3.508,3.512,3.512,3.515,3.515,3.522,3.522,3.528,3.532,3.535,3.536,3.538,3.542,3.542,3.546,3.55,3.553,3.555,3.564,3.575,3.576,3.58,3.58,3.581,3.588,3.602,3.61,3.612,3.619,3.635,3.638,3.639,3.639,3.645,3.649,3.655,3.656,3.664,3.674,3.682,3.682,3.69,3.695,3.705,3.711,3.722,3.734,3.742,3.752,3.755,3.765,3.779,3.79,3.796,3.799,3.811,3.818,3.845,3.846,3.847,3.855,3.864,3.889,3.894,3.904,3.918,3.929,3.951,3.953,3.964,3.984,3.992,4.019,4.02,4.029,4.058,4.075,4.075,0.016,0.016,0.016,0.016,0.016,4.088,4.041,4.041,4.023,3.989,3.989,3.933,3.894,3.839,3.808,3.781,3.754,3.739,3.708,3.675,3.663,3.617,3.592,3.573,3.547,3.53,3.51,3.475,3.464,3.453,3.42,3.406,3.386,3.374,3.342,3.327,3.307,3.289,3.276,3.246,3.23,3.215,3.193,3.188,3.174,3.147,3.142,3.124,3.104,3.097,3.077,3.064,3.054,3.054,3.04,3.017,3.003,2.992,2.969,2.962,2.949,2.94,2.928,2.912,2.906,2.894,2.874,2.872,2.855,2.852,2.839,2.818,2.818,2.805,2.79,2.785,2.78,2.773,2.76,2.75,2.737,2.73,2.724,2.706,2.697,2.691,2.68,2.678,2.676,2.662,2.658,2.657,2.653,2.634,2.631,2.623,2.618,2.615,2.611,2.604,2.592,2.581,2.58,2.574,2.567,2.562,2.553,2.549,2.537,2.536,2.528,2.528,2.518,2.508,2.508,2.504,2.494,2.49,2.489,2.485,2.481,2.479,2.476,2.474,2.47,2.465,2.459,2.459,2.457,2.454,2.448,2.447,2.447,2.446,2.446,2.442,2.438,2.435,2.427,2.427,2.424,2.42,2.42,2.42,2.42,2.416,2.416,2.416,2.416,2.415,2.415,2.414,2.412,2.411,2.411,2.408,2.408,2.408,2.408,2.411,2.412,2.412,2.413,2.413,2.412,2.412,2.413,2.414,2.415,2.417,2.418,2.418,2.418,2.421,2.425,2.425,2.426,2.427,2.428,2.431,2.435,2.435,2.439,2.441,2.445,2.445,2.449,2.45,2.455,2.46,2.465,2.466,2.47,2.47,2.471,2.482,2.485,2.493,2.494,2.495,2.495,2.505,2.506,2.51,2.515,2.52,2.522,2.53,2.532,2.535,2.546,2.552,2.558,2.559,2.567,2.567,2.59,2.593,2.596,2.606,2.608,2.609,2.62,2.632,2.637,2.638,2.644,2.654,2.661,2.667,2.675,2.681,2.697,2.703,2.72,2.721,2.73,2.743,2.75,2.758,2.764,2.782,2.782,2.792,2.804,2.815,2.828,2.832,2.842,2.86,2.865,2.879,2.884,2.898,2.918,2.925,2.936,2.954,2.961,2.97,2.987,2.993,3.015,3.024,3.03,3.047,3.06,3.076,3.091,3.103,3.122,3.135,3.149,3.176,3.176,3.199,3.221,3.244,3.251,3.271,3.276,3.3,3.324,3.337,3.35,3.367,3.389,3.408,3.428,3.458,3.478,3.499,3.521,3.55,3.57,3.593,3.623,3.639,3.68,3.696,3.725,3.749,3.776,3.792,3.838,3.865,3.883,3.917,3.94,3.988,4.029,4.063,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.351,3.338,3.332,3.312,3.31,3.295,3.295,3.281,3.273,3.256,3.248,3.248,3.24,3.233,3.219,3.209,3.206,3.197,3.185,3.183,3.179,3.167,3.163,3.163,3.149,3.144,3.133,3.133,3.121,3.119,3.115,3.113,3.105,3.1,3.098,3.087,3.077,3.074,3.072,3.072,3.065,3.064,3.061,3.056,3.052,3.046,3.046,3.045,3.041,3.039,3.039,3.036,3.03,3.027,3.023,3.022,3.022,3.022,3.027,3.027,3.027,3.022,3.016,3.016,3.014,3.013,3.013,3.013,3.013,3.013,3.011,3.008,3.007,3.007,3.007,3.006,3.007,3.012,3.012,3.009,3.012,3.01,3.01,3.012,3.015,3.018,3.018,3.021,3.02,3.02,3.02,3.021,3.027,3.029,3.029,3.032,3.037,3.037,3.038,3.039,3.053,3.053,3.054,3.057,3.061,3.063,3.067,3.073,3.081,3.083,3.087,3.093,3.094,3.1,3.102,3.104,3.11,3.112,3.127,3.133,3.133,3.136,3.133,3.138,3.138,3.15,3.15,3.153,3.158,3.168,3.168,3.175,3.178,3.179,3.198,3.212,3.224,3.229,3.229,3.233,3.242,3.242,3.242,3.251,3.262,3.276,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 90.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 90.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 90.0052} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.6416} {Name Sonar8 Range 0.6858} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 90.0546} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.179,0.179,0.179,0.18,0.182,0,0,0,0,0,0,0,0,3.686,3.681,3.669,3.651,3.643,3.631,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.239,3.214,3.21,3.205,3.205,3.205,3.273,3.365,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.158,0.153,0.153,0.153,0.153,0.153,3.031,3.031,3.033,3.033,3.031,3.034,3.034,0.157,0.157,0.157,0.154,0.152,0.146,0.144,0.143,0.119,0.095,0.068,0.064,0.061,0.061,0.064,0.064,0.064,0.065,0.065,0.066,0.066,0.068,0.068,0.072,0.11,0.176,3.34,3.35,3.356,3.356,3.361,3.367,3.371,3.374,3.374,3.403,3.419,3.432,3.45,3.468,3.472,3.476,3.491,3.491,3.491,3.5,3.5,3.509,3.509,3.523,3.526,3.526,3.526,3.528,3.534,3.539,3.545,3.548,3.548,3.548,3.556,3.557,3.559,3.566,3.566,3.567,3.567,3.579,3.58,3.581,3.592,3.598,3.609,3.621,3.622,3.631,3.635,3.648,3.65,3.652,3.652,3.654,3.659,3.675,3.676,3.69,3.698,3.698,3.712,3.723,3.723,3.729,3.742,3.75,3.755,3.764,3.769,3.781,3.793,3.799,3.806,3.816,3.829,3.83,3.843,3.858,3.879,3.883,3.898,3.905,3.922,3.922,3.945,3.949,3.975,3.981,3.981,4.009,4.021,4.058,4.063,4.078,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.055,4.025,3.992,3.963,3.918,3.898,3.872,3.841,3.808,3.779,3.751,3.721,3.698,3.67,3.646,3.626,3.604,3.58,3.553,3.531,3.523,3.487,3.461,3.45,3.407,3.405,3.382,3.36,3.353,3.33,3.301,3.284,3.274,3.244,3.235,3.221,3.204,3.191,3.176,3.144,3.136,3.122,3.102,3.089,3.077,3.068,3.044,3.038,3.014,3.012,3.001,2.984,2.977,2.961,2.96,2.942,2.925,2.921,2.908,2.898,2.882,2.872,2.864,2.847,2.844,2.828,2.814,2.813,2.792,2.781,2.778,2.772,2.755,2.753,2.743,2.729,2.721,2.712,2.7,2.695,2.684,2.673,2.671,2.667,2.653,2.653,2.651,2.632,2.627,2.619,2.612,2.612,2.603,2.595,2.594,2.579,2.578,2.569,2.568,2.563,2.559,2.547,2.546,2.537,2.528,2.52,2.516,2.515,2.505,2.503,2.493,2.49,2.49,2.487,2.484,2.477,2.473,2.473,2.467,2.467,2.465,2.46,2.455,2.451,2.451,2.45,2.449,2.447,2.443,2.44,2.439,2.437,2.429,2.428,2.427,2.428,2.427,2.426,2.415,2.415,2.414,2.414,2.413,2.413,2.413,2.412,2.412,2.411,2.411,2.411,2.411,2.411,2.409,2.411,2.414,2.414,2.411,2.411,2.411,2.411,2.411,2.412,2.421,2.421,2.421,2.421,2.418,2.415,2.415,2.415,2.418,2.425,2.428,2.432,2.436,2.438,2.439,2.44,2.444,2.446,2.453,2.455,2.456,2.456,2.464,2.468,2.471,2.474,2.474,2.475,2.48,2.486,2.492,2.496,2.498,2.5,2.51,2.513,2.518,2.521,2.521,2.534,2.535,2.545,2.549,2.552,2.559,2.564,2.568,2.572,2.59,2.594,2.596,2.602,2.607,2.619,2.628,2.636,2.638,2.64,2.65,2.653,2.659,2.671,2.679,2.688,2.697,2.698,2.712,2.715,2.737,2.745,2.751,2.761,2.767,2.778,2.793,2.797,2.806,2.815,2.825,2.833,2.849,2.859,2.865,2.876,2.893,2.9,2.912,2.917,2.931,2.949,2.962,2.971,2.986,3.002,3.015,3.021,3.033,3.048,3.065,3.077,3.095,3.105,3.116,3.147,3.158,3.16,3.179,3.204,3.225,3.234,3.25,3.261,3.283,3.299,3.323,3.329,3.354,3.379,3.396,3.408,3.442,3.455,3.474,3.497,3.52,3.55,3.564,3.594,3.614,3.637,3.67,3.698,3.728,3.755,3.771,3.8,3.837,3.853,3.885,3.913,3.955,4.005,4.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.35,3.336,3.323,3.321,3.312,3.292,3.29,3.288,3.27,3.259,3.246,3.241,3.24,3.235,3.215,3.212,3.21,3.192,3.189,3.177,3.177,3.168,3.164,3.161,3.151,3.143,3.139,3.128,3.121,3.121,3.113,3.11,3.11,3.103,3.089,3.086,3.085,3.079,3.078,3.072,3.068,3.065,3.063,3.058,3.055,3.051,3.048,3.045,3.043,3.038,3.037,3.034,3.03,3.027,3.026,3.024,3.024,3.024,3.029,3.029,3.029,3.016,3.015,3.013,3.012,3.009,3.009,3.009,3.009,3.008,3.008,3.003,3.003,3.003,3.009,3.009,3.01,3.01,3.01,3.01,3.01,3.01,3.016,3.016,3.019,3.02,3.02,3.018,3.021,3.018,3.018,3.021,3.023,3.028,3.029,3.032,3.036,3.038,3.038,3.04,3.044,3.056,3.056,3.056,3.059,3.068,3.07,3.07,3.083,3.083,3.088,3.089,3.092,3.097,3.104,3.104,3.107,3.109,3.12,3.135,3.135,3.135,3.135,3.141,3.141,3.149,3.149,3.149,3.158,3.16,3.174,3.175,3.178,3.179,3.195,3.214,3.218,3.219,3.23,3.231,3.239,3.241,3.241,3.247,3.263,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 90.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 90.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 90.2062} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.7244} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.6416} {Name Sonar8 Range 0.6858} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 90.2506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.181,0.182,0.182,0,0,0,0,0,0,0,0,3.684,3.681,3.664,3.65,3.648,3.635,3.615,3.615,3.615,3.591,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.223,3.217,3.21,3.21,3.21,3.26,3.364,0,0,0,0,0,0,0,0.149,0.146,0.143,0.143,0.143,0.141,0.141,0.145,0.153,0.151,0.153,0.153,0.155,0.157,3.026,3.033,3.033,3.033,3.029,3.033,3.029,0.166,0.155,0.155,0.155,0.153,0.152,0.141,0.141,0.117,0.093,0.07,0.065,0.065,0.061,0.061,0.061,0.062,0.065,0.065,0.062,0.061,0.061,0.061,0.061,0.096,0.166,3.33,0.006,0.007,3.377,3.37,3.377,3.377,3.379,3.4,3.414,3.441,3.451,3.451,3.466,3.467,3.48,3.487,3.498,3.503,3.504,3.504,3.506,3.514,3.522,3.522,3.522,3.522,3.522,3.532,3.539,3.541,3.539,3.541,3.549,3.55,3.554,3.555,3.562,3.568,3.57,3.571,3.578,3.581,3.593,3.594,3.611,3.615,3.624,3.627,3.63,3.634,3.64,3.651,3.653,3.653,3.658,3.66,3.673,3.677,3.679,3.684,3.69,3.707,3.72,3.73,3.73,3.745,3.753,3.755,3.757,3.767,3.783,3.794,3.802,3.816,3.817,3.836,3.843,3.854,3.868,3.878,3.88,3.882,3.911,3.926,3.93,3.951,3.951,3.965,3.991,3.991,4.015,4.033,4.046,4.055,4.08,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.087,4.038,4.008,3.962,3.935,3.887,3.879,3.824,3.816,3.777,3.751,3.722,3.708,3.665,3.653,3.62,3.582,3.57,3.548,3.524,3.511,3.485,3.453,3.437,3.414,3.403,3.388,3.355,3.348,3.332,3.321,3.283,3.275,3.26,3.235,3.225,3.196,3.185,3.17,3.151,3.134,3.126,3.111,3.094,3.092,3.064,3.05,3.042,3.017,3.013,3.003,2.982,2.981,2.962,2.956,2.934,2.923,2.914,2.903,2.889,2.874,2.87,2.856,2.85,2.84,2.824,2.814,2.803,2.785,2.783,2.772,2.769,2.756,2.756,2.733,2.731,2.717,2.712,2.709,2.697,2.689,2.687,2.669,2.662,2.661,2.651,2.648,2.633,2.63,2.63,2.62,2.608,2.603,2.596,2.588,2.583,2.58,2.571,2.561,2.555,2.55,2.548,2.54,2.539,2.527,2.522,2.517,2.51,2.508,2.503,2.494,2.494,2.487,2.485,2.484,2.477,2.474,2.474,2.471,2.465,2.465,2.458,2.456,2.449,2.448,2.448,2.447,2.446,2.444,2.441,2.44,2.435,2.428,2.426,2.426,2.425,2.425,2.421,2.418,2.416,2.416,2.416,2.413,2.412,2.408,2.408,2.412,2.407,2.412,2.412,2.411,2.407,2.411,2.411,2.413,2.413,2.413,2.413,2.413,2.413,2.416,2.416,2.418,2.416,2.416,2.418,2.42,2.42,2.429,2.429,2.429,2.429,2.43,2.431,2.433,2.433,2.439,2.439,2.442,2.447,2.451,2.453,2.454,2.457,2.458,2.467,2.468,2.472,2.472,2.477,2.484,2.486,2.495,2.498,2.498,2.5,2.511,2.515,2.518,2.519,2.525,2.536,2.538,2.54,2.55,2.553,2.554,2.568,2.569,2.572,2.589,2.595,2.597,2.6,2.615,2.617,2.624,2.637,2.642,2.645,2.654,2.656,2.658,2.679,2.68,2.694,2.7,2.706,2.713,2.724,2.738,2.743,2.753,2.754,2.764,2.778,2.788,2.797,2.808,2.819,2.832,2.836,2.845,2.863,2.867,2.871,2.89,2.898,2.919,2.92,2.936,2.95,2.954,2.969,2.984,2.993,3.019,3.025,3.034,3.042,3.065,3.083,3.097,3.112,3.121,3.139,3.155,3.171,3.178,3.195,3.215,3.234,3.247,3.266,3.277,3.294,3.318,3.343,3.354,3.378,3.395,3.412,3.432,3.443,3.477,3.5,3.52,3.545,3.572,3.58,3.612,3.635,3.675,3.697,3.728,3.749,3.782,3.801,3.844,3.869,3.903,3.918,3.942,3.983,4.015,4.067,4.095,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.346,3.334,3.328,3.323,3.306,3.296,3.296,3.282,3.282,3.258,3.253,3.239,3.238,3.234,3.218,3.213,3.209,3.198,3.194,3.187,3.179,3.173,3.161,3.148,3.146,3.142,3.139,3.13,3.127,3.121,3.116,3.11,3.106,3.104,3.095,3.088,3.084,3.082,3.075,3.075,3.073,3.068,3.06,3.058,3.054,3.046,3.042,3.04,3.037,3.032,3.032,3.031,3.031,3.024,3.023,3.023,3.023,3.024,3.03,3.03,3.03,3.019,3.018,3.015,3.01,3.01,3.009,3.009,3.009,3.009,3.009,3.008,3.007,3.008,3.008,3.009,3.009,3.011,3.012,3.012,3.013,3.013,3.014,3.015,3.015,3.015,3.016,3.016,3.016,3.018,3.018,3.019,3.023,3.032,3.032,3.033,3.033,3.04,3.04,3.047,3.05,3.053,3.056,3.058,3.062,3.064,3.065,3.076,3.078,3.082,3.086,3.088,3.091,3.092,3.094,3.107,3.111,3.113,3.121,3.132,3.132,3.133,3.133,3.138,3.138,3.139,3.148,3.153,3.156,3.156,3.177,3.178,3.18,3.184,3.201,3.211,3.222,3.222,3.23,3.233,3.233,3.236,3.243,3.246,3.26,3.271,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 90.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 90.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 90.4072} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.7244} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.6858} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 90.4506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.178,0.181,0.181,0,0,0,0,0,0,0,0,3.684,3.682,3.672,3.662,3.638,3.636,3.614,3.614,3.614,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.249,3.216,3.216,3.215,3.215,3.215,3.215,3.268,3.356,0,0,0,0,0,0,0,0.146,0.143,0.143,0.141,0.143,0.145,0.145,0.145,0.154,0.151,0.152,0.152,0.152,0.152,3.036,3.036,3.036,3.036,3.029,3.029,3.029,0.159,0.156,0.156,0.156,0.156,0.153,0.144,0.143,0.12,0.094,0.071,0.07,0.06,0.06,0.06,0.06,0.067,0.067,0.067,0.066,0.064,0.062,0.062,0.062,0.103,0.171,3.325,3.341,3.365,3.365,3.369,3.369,3.383,3.384,3.4,3.4,3.409,3.425,3.447,3.459,3.473,3.473,3.489,3.492,3.5,3.505,3.507,3.508,3.512,3.516,3.522,3.522,3.523,3.528,3.531,3.538,3.539,3.539,3.539,3.547,3.55,3.559,3.566,3.57,3.576,3.578,3.578,3.578,3.588,3.595,3.598,3.601,3.615,3.616,3.623,3.628,3.635,3.649,3.651,3.657,3.663,3.668,3.677,3.678,3.686,3.686,3.686,3.692,3.7,3.72,3.722,3.732,3.735,3.748,3.765,3.767,3.772,3.776,3.779,3.797,3.819,3.823,3.838,3.845,3.857,3.862,3.87,3.882,3.9,3.904,3.912,3.947,3.948,3.96,3.973,3.992,3.995,4.018,4.044,4.052,4.067,4.079,4.084,0.016,0.016,0.016,0.016,0.016,4.095,4.038,4.017,3.982,3.942,3.934,3.899,3.868,3.846,3.821,3.784,3.749,3.74,3.703,3.676,3.649,3.617,3.601,3.567,3.548,3.511,3.51,3.499,3.459,3.446,3.429,3.401,3.393,3.359,3.346,3.333,3.311,3.292,3.279,3.25,3.233,3.215,3.194,3.186,3.165,3.159,3.137,3.124,3.112,3.095,3.083,3.059,3.042,3.042,3.032,3.029,3.005,2.984,2.98,2.964,2.956,2.94,2.929,2.917,2.907,2.895,2.873,2.866,2.855,2.853,2.83,2.822,2.817,2.805,2.801,2.78,2.779,2.774,2.755,2.754,2.737,2.735,2.721,2.711,2.701,2.7,2.677,2.676,2.673,2.661,2.659,2.651,2.64,2.631,2.626,2.62,2.611,2.606,2.606,2.602,2.593,2.584,2.577,2.573,2.571,2.563,2.556,2.549,2.542,2.536,2.534,2.52,2.514,2.513,2.511,2.506,2.492,2.492,2.489,2.487,2.481,2.478,2.474,2.473,2.472,2.471,2.466,2.459,2.453,2.452,2.449,2.448,2.448,2.447,2.441,2.441,2.44,2.433,2.429,2.429,2.423,2.423,2.42,2.42,2.417,2.415,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.408,2.408,2.408,2.408,2.408,2.414,2.414,2.414,2.414,2.414,2.413,2.416,2.418,2.418,2.425,2.425,2.424,2.424,2.42,2.42,2.42,2.426,2.426,2.427,2.431,2.435,2.436,2.438,2.439,2.443,2.447,2.451,2.453,2.454,2.457,2.462,2.462,2.462,2.471,2.474,2.481,2.481,2.486,2.492,2.494,2.498,2.5,2.505,2.509,2.519,2.521,2.524,2.532,2.536,2.539,2.546,2.549,2.557,2.558,2.561,2.576,2.585,2.6,2.6,2.605,2.612,2.615,2.627,2.627,2.635,2.642,2.649,2.65,2.665,2.675,2.682,2.689,2.697,2.7,2.714,2.723,2.73,2.741,2.754,2.761,2.767,2.785,2.787,2.792,2.8,2.813,2.831,2.836,2.849,2.862,2.866,2.884,2.89,2.898,2.914,2.923,2.939,2.95,2.956,2.971,2.983,2.997,3.014,3.019,3.044,3.045,3.067,3.085,3.087,3.103,3.124,3.13,3.149,3.17,3.177,3.19,3.226,3.234,3.25,3.266,3.279,3.294,3.327,3.341,3.352,3.367,3.389,3.411,3.436,3.463,3.485,3.505,3.521,3.548,3.574,3.593,3.615,3.645,3.664,3.689,3.716,3.747,3.786,3.809,3.832,3.872,3.888,3.913,3.957,3.984,4.035,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.342,3.329,3.315,3.308,3.289,3.283,3.28,3.27,3.254,3.246,3.243,3.241,3.237,3.213,3.212,3.208,3.191,3.19,3.186,3.173,3.168,3.163,3.154,3.147,3.147,3.134,3.127,3.12,3.115,3.115,3.112,3.109,3.108,3.089,3.088,3.087,3.078,3.075,3.073,3.071,3.064,3.061,3.058,3.057,3.049,3.049,3.041,3.041,3.04,3.036,3.034,3.03,3.027,3.025,3.022,3.022,3.025,3.023,3.023,3.023,3.017,3.017,3.014,3.017,3.011,3.019,3.011,3.011,3.01,3.009,3.008,3.004,3.004,3.004,3.005,3.012,3.014,3.014,3.012,3.014,3.018,3.017,3.017,3.018,3.018,3.017,3.018,3.02,3.024,3.024,3.027,3.034,3.034,3.035,3.035,3.035,3.035,3.043,3.043,3.051,3.053,3.054,3.056,3.059,3.06,3.067,3.069,3.077,3.084,3.092,3.092,3.092,3.094,3.095,3.113,3.113,3.117,3.121,3.125,3.128,3.132,3.132,3.135,3.135,3.137,3.149,3.157,3.158,3.167,3.172,3.176,3.179,3.184,3.197,3.206,3.221,3.221,3.224,3.225,3.234,3.242,3.252,3.253,3.257,3.283,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 90.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 90.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 90.6082} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.7244} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9144} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 90.6516} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.177,0.187,0.187,0,0,0,0,0,0,0,0,3.684,3.682,3.673,3.669,3.647,3.634,3.606,3.606,3.606,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.211,3.208,3.198,3.198,3.198,3.261,3.36,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.152,0.148,0.152,0.152,0.155,0.158,3.031,3.035,3.035,3.035,3.035,3.038,3.028,0.163,0.157,0.157,0.154,0.151,0.15,0.147,0.143,0.122,0.091,0.067,0.064,0.06,0.06,0.063,0.063,0.066,0.066,0.066,0.066,0.063,0.063,0.063,0.064,0.107,0.179,3.33,3.347,3.354,3.354,3.354,3.361,3.375,3.375,3.375,3.427,3.447,3.455,3.455,3.463,3.478,3.478,3.485,3.495,3.497,3.5,3.506,3.51,3.51,3.517,3.517,3.518,3.523,3.525,3.526,3.532,3.534,3.543,3.543,3.546,3.549,3.554,3.557,3.562,3.572,3.575,3.578,3.58,3.588,3.59,3.596,3.606,3.611,3.619,3.622,3.629,3.641,3.648,3.651,3.651,3.657,3.665,3.671,3.674,3.677,3.684,3.689,3.692,3.712,3.716,3.722,3.735,3.739,3.751,3.753,3.766,3.769,3.784,3.788,3.801,3.812,3.817,3.834,3.839,3.849,3.867,3.869,3.884,3.901,3.903,3.918,3.932,3.937,3.954,3.974,3.998,4.012,4.019,4.026,4.034,4.059,4.067,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.028,3.989,3.968,3.931,3.896,3.862,3.852,3.828,3.772,3.752,3.716,3.698,3.677,3.651,3.624,3.601,3.577,3.551,3.523,3.509,3.482,3.456,3.436,3.415,3.399,3.398,3.358,3.346,3.339,3.32,3.295,3.262,3.253,3.241,3.228,3.203,3.189,3.175,3.159,3.135,3.117,3.106,3.098,3.079,3.066,3.043,3.043,3.033,3.011,3.006,2.983,2.981,2.962,2.953,2.944,2.924,2.916,2.903,2.89,2.883,2.872,2.854,2.849,2.835,2.826,2.812,2.802,2.797,2.787,2.779,2.763,2.756,2.754,2.741,2.729,2.725,2.716,2.701,2.695,2.683,2.676,2.668,2.664,2.658,2.647,2.645,2.639,2.631,2.624,2.613,2.611,2.602,2.594,2.586,2.579,2.573,2.57,2.569,2.558,2.556,2.547,2.546,2.538,2.528,2.528,2.523,2.515,2.504,2.504,2.5,2.496,2.487,2.486,2.482,2.48,2.478,2.476,2.47,2.468,2.466,2.461,2.458,2.457,2.454,2.449,2.449,2.445,2.439,2.436,2.436,2.432,2.425,2.425,2.425,2.421,2.42,2.419,2.418,2.418,2.417,2.417,2.417,2.417,2.414,2.414,2.411,2.411,2.412,2.412,2.412,2.412,2.409,2.409,2.409,2.409,2.413,2.414,2.413,2.413,2.413,2.413,2.413,2.413,2.414,2.418,2.418,2.419,2.423,2.425,2.431,2.426,2.435,2.435,2.439,2.44,2.441,2.444,2.447,2.447,2.447,2.45,2.45,2.461,2.463,2.468,2.468,2.47,2.47,2.481,2.485,2.486,2.488,2.488,2.496,2.498,2.513,2.515,2.517,2.521,2.525,2.535,2.537,2.541,2.545,2.555,2.558,2.559,2.565,2.577,2.594,2.603,2.607,2.607,2.61,2.611,2.622,2.633,2.634,2.641,2.643,2.649,2.671,2.675,2.678,2.685,2.701,2.705,2.715,2.718,2.735,2.741,2.748,2.756,2.768,2.777,2.783,2.796,2.807,2.816,2.835,2.836,2.848,2.859,2.87,2.881,2.892,2.894,2.911,2.927,2.943,2.954,2.957,2.975,2.98,2.993,3.015,3.024,3.034,3.046,3.056,3.08,3.093,3.102,3.121,3.144,3.149,3.175,3.177,3.201,3.219,3.238,3.246,3.264,3.268,3.292,3.323,3.343,3.352,3.382,3.397,3.409,3.436,3.465,3.487,3.502,3.522,3.544,3.558,3.588,3.605,3.641,3.664,3.687,3.71,3.745,3.78,3.798,3.836,3.866,3.898,3.921,3.946,3.985,4.023,4.091,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.353,3.335,3.325,3.317,3.301,3.288,3.287,3.278,3.275,3.253,3.249,3.247,3.243,3.236,3.221,3.211,3.206,3.199,3.192,3.179,3.177,3.169,3.167,3.153,3.151,3.147,3.133,3.124,3.122,3.119,3.118,3.109,3.104,3.097,3.09,3.083,3.083,3.079,3.077,3.073,3.07,3.063,3.063,3.063,3.059,3.045,3.04,3.038,3.034,3.034,3.034,3.029,3.029,3.029,3.025,3.022,3.022,3.022,3.026,3.026,3.026,3.018,3.016,3.013,3.013,3.013,3.013,3.013,3.01,3.008,3.002,3.001,3.001,3.001,3.006,3.006,3.007,3.014,3.014,3.014,3.014,3.013,3.013,3.013,3.013,3.014,3.014,3.017,3.021,3.018,3.018,3.018,3.022,3.022,3.028,3.035,3.035,3.037,3.043,3.044,3.046,3.049,3.058,3.058,3.061,3.062,3.07,3.071,3.074,3.083,3.086,3.086,3.09,3.094,3.099,3.113,3.116,3.118,3.121,3.128,3.128,3.131,3.131,3.134,3.136,3.144,3.147,3.153,3.155,3.167,3.169,3.17,3.176,3.181,3.197,3.207,3.212,3.221,3.228,3.235,3.236,3.236,3.244,3.251,3.264,3.278,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 90.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 90.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 90.8091} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 90.8506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.178,0.187,0.187,0,0,0,0,0,0,0,0,3.687,3.677,3.672,3.668,3.638,3.634,3.611,3.611,3.611,3.598,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.242,3.218,3.215,3.212,3.215,3.215,3.259,3.366,0,0,0,0,0,0,0,0.144,0.143,0.143,0.143,0.144,0.143,0.143,0.143,0.153,0.153,0.155,0.155,0.157,0.157,3.018,3.031,3.031,3.031,3.025,3.031,3.025,0.16,0.152,0.152,0.152,0.152,0.149,0.146,0.141,0.118,0.092,0.067,0.064,0.064,0.06,0.06,0.068,0.068,0.068,0.068,0.068,0.068,0.06,0.06,0.06,0.098,0.188,3.357,3.374,3.374,3.374,3.371,3.374,3.39,3.39,3.401,3.419,3.419,3.419,3.444,3.467,3.469,3.483,3.484,3.491,3.495,3.501,3.51,3.51,3.515,3.517,3.522,3.522,3.522,3.524,3.529,3.535,3.538,3.537,3.544,3.554,3.555,3.556,3.558,3.572,3.575,3.577,3.577,3.583,3.583,3.588,3.596,3.604,3.61,3.614,3.625,3.633,3.636,3.64,3.649,3.653,3.659,3.66,3.665,3.671,3.678,3.696,3.696,3.704,3.712,3.72,3.723,3.732,3.743,3.743,3.754,3.754,3.771,3.78,3.8,3.801,3.805,3.824,3.833,3.837,3.845,3.871,3.877,3.882,3.895,3.901,3.921,3.932,3.934,3.955,3.972,3.988,3.995,4.007,4.039,4.053,4.065,4.083,4.083,0.016,0.016,0.016,0.016,0.016,4.091,4.058,4.027,3.999,3.963,3.946,3.9,3.867,3.835,3.806,3.784,3.751,3.732,3.706,3.674,3.653,3.637,3.603,3.58,3.546,3.523,3.52,3.482,3.458,3.438,3.418,3.399,3.379,3.368,3.349,3.335,3.303,3.299,3.272,3.255,3.239,3.226,3.199,3.187,3.169,3.148,3.138,3.126,3.116,3.098,3.081,3.067,3.044,3.044,3.044,3.021,3,2.987,2.974,2.964,2.955,2.938,2.922,2.918,2.908,2.901,2.873,2.869,2.862,2.848,2.839,2.829,2.815,2.811,2.792,2.784,2.784,2.768,2.757,2.756,2.739,2.735,2.711,2.71,2.703,2.691,2.684,2.677,2.67,2.664,2.657,2.647,2.646,2.636,2.627,2.622,2.618,2.607,2.603,2.598,2.594,2.578,2.575,2.572,2.568,2.565,2.549,2.547,2.539,2.533,2.527,2.527,2.521,2.517,2.507,2.503,2.495,2.493,2.491,2.486,2.484,2.478,2.474,2.471,2.47,2.468,2.468,2.458,2.455,2.452,2.452,2.45,2.446,2.444,2.443,2.44,2.439,2.432,2.431,2.43,2.429,2.429,2.42,2.417,2.417,2.417,2.417,2.417,2.414,2.413,2.413,2.413,2.411,2.409,2.411,2.409,2.409,2.405,2.409,2.409,2.412,2.412,2.412,2.411,2.409,2.409,2.409,2.41,2.416,2.416,2.415,2.416,2.418,2.418,2.421,2.425,2.427,2.43,2.431,2.431,2.433,2.437,2.441,2.445,2.445,2.445,2.452,2.452,2.456,2.456,2.461,2.466,2.468,2.472,2.473,2.474,2.481,2.485,2.494,2.495,2.499,2.505,2.506,2.516,2.519,2.524,2.527,2.533,2.537,2.539,2.544,2.545,2.558,2.563,2.565,2.575,2.592,2.592,2.597,2.605,2.608,2.615,2.628,2.633,2.638,2.642,2.65,2.651,2.66,2.673,2.679,2.683,2.691,2.697,2.713,2.721,2.726,2.745,2.755,2.756,2.766,2.779,2.791,2.798,2.809,2.813,2.826,2.834,2.844,2.853,2.871,2.873,2.891,2.905,2.921,2.93,2.944,2.955,2.963,2.974,2.983,2.997,3.01,3.02,3.036,3.046,3.064,3.076,3.09,3.107,3.119,3.141,3.152,3.168,3.182,3.198,3.223,3.233,3.24,3.273,3.273,3.291,3.321,3.334,3.349,3.377,3.385,3.405,3.426,3.467,3.485,3.504,3.528,3.541,3.567,3.593,3.616,3.64,3.664,3.695,3.718,3.747,3.777,3.791,3.838,3.869,3.9,3.931,3.94,3.99,4.021,4.064,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.351,3.341,3.322,3.315,3.312,3.304,3.29,3.289,3.268,3.258,3.251,3.237,3.237,3.236,3.221,3.212,3.203,3.194,3.189,3.18,3.175,3.17,3.16,3.159,3.146,3.144,3.141,3.133,3.123,3.118,3.117,3.103,3.101,3.101,3.089,3.086,3.085,3.079,3.076,3.075,3.074,3.067,3.06,3.056,3.056,3.052,3.044,3.04,3.04,3.04,3.037,3.034,3.033,3.031,3.023,3.018,3.023,3.023,3.028,3.083,3.083,3.028,3.024,3.018,3.013,3.012,3.01,3.008,3.01,3.006,3.006,3.006,3.006,3.006,3.006,3.009,3.012,3.009,3.009,3.009,3.009,3.009,3.015,3.015,3.015,3.015,3.015,3.015,3.018,3.024,3.025,3.028,3.028,3.029,3.034,3.038,3.039,3.039,3.039,3.042,3.053,3.056,3.06,3.061,3.062,3.062,3.063,3.069,3.075,3.082,3.086,3.088,3.09,3.09,3.1,3.105,3.106,3.106,3.119,3.131,3.131,3.131,3.135,3.143,3.146,3.146,3.153,3.155,3.157,3.158,3.167,3.175,3.175,3.182,3.198,3.213,3.219,3.219,3.226,3.23,3.24,3.244,3.247,3.255,3.26,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 91.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 91.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 91.0011} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.9022} SEN {Time 91.0506} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.178,0.182,0.182,0,0,0,0,0,0,0,0,3.678,3.677,3.66,3.66,3.647,3.632,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.218,3.217,3.217,3.217,3.261,3.353,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.143,0.149,0.149,0.154,0.153,0.154,0.154,0.154,0.154,3.02,3.033,3.035,3.035,3.033,3.035,3.035,0.158,0.155,0.155,0.155,0.155,0.147,0.143,0.143,0.113,0.091,0.067,0.056,0.056,0.056,0.056,0.061,0.062,0.064,0.064,0.062,0.062,0.061,0.061,0.061,0.095,0.179,3.334,3.334,3.368,3.368,3.372,3.372,3.375,3.381,3.401,3.401,3.414,3.429,3.441,3.45,3.471,3.48,3.484,3.498,3.501,3.502,3.504,3.506,3.511,3.516,3.521,3.525,3.525,3.527,3.53,3.53,3.534,3.54,3.546,3.553,3.554,3.554,3.558,3.559,3.568,3.573,3.575,3.581,3.584,3.591,3.598,3.604,3.608,3.626,3.631,3.633,3.635,3.636,3.647,3.647,3.666,3.666,3.669,3.674,3.676,3.688,3.691,3.702,3.704,3.719,3.721,3.732,3.743,3.751,3.753,3.765,3.775,3.777,3.799,3.801,3.809,3.818,3.824,3.835,3.838,3.867,3.868,3.869,3.894,3.902,3.917,3.919,3.946,3.952,3.973,3.986,3.992,4.022,4.034,4.048,4.065,4.067,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.024,3.99,3.965,3.934,3.902,3.878,3.842,3.817,3.793,3.76,3.732,3.7,3.676,3.652,3.615,3.601,3.564,3.543,3.522,3.503,3.492,3.459,3.456,3.419,3.402,3.384,3.364,3.342,3.339,3.303,3.289,3.277,3.261,3.233,3.23,3.202,3.18,3.166,3.157,3.134,3.123,3.11,3.1,3.088,3.075,3.047,3.047,3.038,3.019,3,2.989,2.971,2.967,2.952,2.941,2.93,2.912,2.908,2.889,2.88,2.874,2.86,2.851,2.835,2.828,2.812,2.806,2.788,2.781,2.775,2.768,2.758,2.75,2.737,2.733,2.726,2.716,2.713,2.697,2.687,2.681,2.676,2.667,2.66,2.655,2.653,2.635,2.634,2.632,2.611,2.611,2.607,2.6,2.584,2.576,2.574,2.573,2.566,2.562,2.557,2.556,2.541,2.534,2.531,2.525,2.511,2.51,2.51,2.506,2.492,2.491,2.489,2.486,2.486,2.478,2.476,2.474,2.472,2.471,2.468,2.466,2.452,2.45,2.45,2.449,2.444,2.444,2.442,2.44,2.439,2.433,2.427,2.425,2.425,2.42,2.42,2.416,2.416,2.415,2.415,2.415,2.416,2.418,2.418,2.418,2.414,2.414,2.408,2.414,2.414,2.409,2.409,2.412,2.412,2.412,2.414,2.414,2.414,2.414,2.417,2.417,2.418,2.418,2.418,2.419,2.421,2.423,2.424,2.424,2.425,2.426,2.427,2.437,2.437,2.442,2.442,2.445,2.448,2.448,2.449,2.45,2.456,2.456,2.463,2.471,2.472,2.473,2.474,2.478,2.482,2.484,2.492,2.498,2.5,2.504,2.511,2.513,2.514,2.521,2.529,2.532,2.533,2.533,2.552,2.552,2.556,2.558,2.567,2.573,2.593,2.596,2.596,2.606,2.608,2.61,2.622,2.634,2.636,2.643,2.65,2.652,2.665,2.673,2.682,2.687,2.7,2.709,2.714,2.718,2.729,2.74,2.749,2.762,2.764,2.778,2.784,2.792,2.806,2.818,2.834,2.839,2.847,2.862,2.866,2.879,2.887,2.897,2.914,2.926,2.94,2.948,2.96,2.972,2.983,2.994,3.011,3.027,3.043,3.044,3.066,3.078,3.087,3.108,3.12,3.15,3.151,3.16,3.176,3.196,3.218,3.229,3.242,3.262,3.277,3.287,3.313,3.329,3.352,3.37,3.392,3.407,3.425,3.462,3.484,3.496,3.511,3.54,3.573,3.599,3.616,3.647,3.663,3.695,3.719,3.74,3.768,3.789,3.831,3.867,3.897,3.918,3.948,3.98,4.025,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.355,3.348,3.332,3.315,3.305,3.296,3.287,3.278,3.276,3.267,3.246,3.244,3.238,3.234,3.225,3.213,3.206,3.194,3.184,3.176,3.172,3.167,3.154,3.152,3.148,3.145,3.132,3.127,3.116,3.115,3.115,3.107,3.105,3.104,3.093,3.088,3.083,3.081,3.081,3.08,3.07,3.067,3.066,3.058,3.057,3.053,3.044,3.037,3.037,3.035,3.035,3.034,3.033,3.029,3.021,3.018,3.018,3.018,3.031,3.031,3.031,3.021,3.012,3.009,3.009,3.009,3.01,3.01,3.011,3.011,3.008,3.006,3.008,3.008,3.008,3.009,3.009,3.009,3.009,3.01,3.01,3.012,3.012,3.012,3.012,3.013,3.015,3.022,3.023,3.022,3.022,3.023,3.027,3.028,3.035,3.035,3.035,3.036,3.038,3.041,3.047,3.047,3.056,3.061,3.062,3.067,3.069,3.069,3.078,3.088,3.09,3.09,3.092,3.092,3.099,3.11,3.114,3.115,3.117,3.129,3.129,3.136,3.131,3.136,3.136,3.148,3.148,3.149,3.163,3.164,3.164,3.178,3.183,3.188,3.197,3.204,3.219,3.227,3.228,3.234,3.236,3.243,3.252,3.253,3.261,3.278,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 91.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 91.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 91.202} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.4864} SEN {Time 91.2466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.186,0.186,0,0,0,0,0,0,0,0,3.689,3.673,3.666,3.664,3.646,3.619,3.619,3.619,3.619,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.231,3.222,3.22,3.22,3.22,3.364,0.007,0,0,0,0,0,0,0,0.147,0.146,0.146,0.146,0.146,0.146,0.143,0.143,0.149,0.144,0.149,0.149,0.153,0.153,3.031,3.034,3.035,3.035,3.035,3.042,3.042,0.154,0.154,0.154,0.15,0.152,0.15,0.143,0.135,0.11,0.086,0.061,0.061,0.057,0.06,0.06,0.064,0.067,0.067,0.067,0.067,0.064,0.061,0.061,0.067,0.101,0.18,3.336,3.345,3.362,3.362,3.369,3.371,3.376,3.382,0.007,0,3.446,3.452,3.452,3.452,3.458,3.488,3.491,3.491,3.498,3.505,3.505,3.513,3.515,3.517,3.525,3.528,3.528,3.532,3.533,3.534,3.538,3.542,3.545,3.547,3.55,3.556,3.561,3.567,3.568,3.575,3.579,3.583,3.584,3.588,3.599,3.609,3.61,3.618,3.627,3.634,3.634,3.648,3.651,3.654,3.658,3.66,3.673,3.679,3.685,3.694,3.696,3.698,3.711,3.718,3.729,3.735,3.746,3.754,3.758,3.766,3.771,3.792,3.797,3.8,3.81,3.823,3.832,3.838,3.846,3.872,3.876,3.881,3.893,3.898,3.901,3.935,3.939,3.95,3.973,3.982,3.99,4.014,4.031,4.056,4.058,4.074,0.016,0.016,0.016,0.016,0.007,0,0.007,4.092,4.016,3.983,3.971,3.971,3.941,3.902,3.843,3.8,3.775,3.753,3.727,3.686,3.68,3.649,3.623,3.595,3.573,3.552,3.522,3.506,3.488,3.454,3.437,3.415,3.399,3.381,3.363,3.346,3.337,3.309,3.288,3.278,3.261,3.237,3.22,3.197,3.189,3.173,3.148,3.139,3.12,3.105,3.101,3.084,3.061,3.049,3.047,3.025,3.015,2.998,2.994,2.971,2.967,2.952,2.934,2.924,2.916,2.914,2.884,2.871,2.868,2.863,2.844,2.838,2.824,2.817,2.808,2.799,2.788,2.777,2.756,2.755,2.75,2.737,2.733,2.72,2.719,2.708,2.695,2.689,2.686,2.679,2.664,2.659,2.657,2.647,2.641,2.637,2.62,2.615,2.61,2.603,2.597,2.588,2.583,2.572,2.569,2.567,2.564,2.557,2.546,2.545,2.536,2.531,2.528,2.521,2.52,2.511,2.504,2.502,2.497,2.494,2.491,2.487,2.484,2.477,2.477,2.477,2.465,2.463,2.457,2.457,2.457,2.447,2.447,2.446,2.446,2.445,2.442,2.437,2.433,2.424,2.424,2.424,2.425,2.425,2.425,2.419,2.419,2.419,2.419,2.416,2.416,2.414,2.414,2.408,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.41,2.412,2.41,2.41,2.413,2.414,2.414,2.416,2.416,2.419,2.416,2.419,2.419,2.42,2.42,2.421,2.424,2.427,2.429,2.436,2.44,2.44,2.442,2.442,2.443,2.446,2.449,2.45,2.45,2.464,2.465,2.477,2.478,2.481,2.482,2.485,2.486,2.495,2.495,2.498,2.499,2.506,2.513,2.513,2.516,2.528,2.535,2.538,2.541,2.547,2.55,2.556,2.567,2.571,2.574,2.593,2.593,2.595,2.607,2.608,2.612,2.623,2.627,2.639,2.64,2.654,2.661,2.664,2.676,2.679,2.682,2.691,2.706,2.711,2.718,2.731,2.738,2.749,2.755,2.764,2.778,2.789,2.791,2.808,2.821,2.827,2.845,2.849,2.855,2.862,2.873,2.891,2.905,2.916,2.921,2.943,2.948,2.952,2.97,2.988,2.994,3.014,3.03,3.031,3.048,3.068,3.086,3.091,3.106,3.121,3.139,3.153,3.167,3.175,3.198,3.223,3.227,3.247,3.271,3.276,3.295,3.319,3.343,3.35,3.37,3.396,3.401,3.432,3.455,3.477,3.5,3.516,3.539,3.576,3.595,3.614,3.647,3.675,3.686,3.723,3.751,3.779,3.806,3.838,3.856,3.894,3.918,3.937,3.98,4.023,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.352,3.341,3.341,3.337,3.316,3.29,3.287,3.279,3.275,3.259,3.251,3.246,3.235,3.233,3.215,3.212,3.209,3.197,3.192,3.181,3.177,3.172,3.156,3.153,3.147,3.145,3.133,3.13,3.119,3.117,3.113,3.108,3.104,3.102,3.093,3.089,3.084,3.083,3.08,3.074,3.071,3.07,3.062,3.057,3.054,3.048,3.046,3.038,3.038,3.038,3.035,3.033,3.029,3.027,3.027,3.019,3.019,3.019,3.03,3.03,3.03,3.021,3.019,3.014,3.012,3.011,3.007,3.007,3.004,3.004,3.004,3.007,3.008,3.008,3.007,3.007,3.007,3.007,3.008,3.009,3.009,3.01,3.01,3.01,3.011,3.017,3.017,3.017,3.019,3.025,3.025,3.025,3.025,3.025,3.027,3.032,3.038,3.04,3.041,3.043,3.051,3.053,3.055,3.057,3.058,3.058,3.065,3.074,3.082,3.085,3.085,3.088,3.091,3.091,3.1,3.108,3.115,3.115,3.118,3.127,3.13,3.133,3.136,3.137,3.137,3.148,3.15,3.153,3.164,3.169,3.17,3.171,3.171,3.183,3.189,3.209,3.217,3.218,3.22,3.22,3.231,3.237,3.237,3.242,3.254,3.276,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 91.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 91.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 91.4031} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.4864} SEN {Time 91.4466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.179,0.182,0.179,0.182,0.182,0,0,0,0,0,0,0,0,3.698,3.674,3.664,3.659,3.651,3.631,3.618,3.618,3.618,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.218,3.211,3.211,3.211,3.27,3.361,0,0,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.145,0.15,0.152,0.152,0.152,0.152,0.152,0.153,0.157,3.031,3.036,3.036,3.036,3.036,3.027,0.157,0.157,0.154,0.154,0.154,0.153,0.149,0.145,0.145,0.121,0.098,0.066,0.064,0.061,0.061,0.061,0.061,0.061,0.066,0.066,0.068,0.068,0.061,0.061,0.072,0.101,0.175,3.338,3.343,3.349,3.349,3.377,3.377,3.38,3.385,3.385,3.397,3.424,3.426,3.438,3.457,3.464,3.479,3.487,3.496,3.5,3.5,3.5,3.502,3.513,3.517,3.526,3.526,3.526,3.531,3.533,3.538,3.538,3.544,3.549,3.549,3.551,3.556,3.559,3.565,3.567,3.573,3.577,3.582,3.592,3.594,3.597,3.605,3.611,3.629,3.631,3.635,3.636,3.649,3.65,3.653,3.658,3.66,3.661,3.672,3.682,3.688,3.696,3.698,3.709,3.713,3.731,3.738,3.745,3.751,3.755,3.762,3.765,3.78,3.795,3.802,3.82,3.822,3.831,3.836,3.847,3.87,3.88,3.88,3.897,3.902,3.92,3.932,3.946,3.972,3.975,3.988,3.989,4.011,4.035,4.051,4.073,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.02,3.982,3.962,3.942,3.889,3.87,3.842,3.804,3.769,3.748,3.727,3.701,3.682,3.641,3.625,3.602,3.574,3.561,3.531,3.516,3.485,3.458,3.448,3.42,3.4,3.382,3.367,3.354,3.324,3.308,3.302,3.273,3.251,3.241,3.221,3.198,3.194,3.164,3.162,3.138,3.121,3.1,3.094,3.084,3.072,3.045,3.045,3.043,3.019,3.003,2.988,2.975,2.961,2.948,2.944,2.921,2.919,2.905,2.886,2.876,2.871,2.861,2.851,2.834,2.827,2.812,2.801,2.791,2.782,2.778,2.767,2.756,2.746,2.738,2.732,2.721,2.71,2.71,2.707,2.692,2.684,2.673,2.664,2.663,2.651,2.649,2.637,2.634,2.62,2.619,2.605,2.603,2.603,2.581,2.578,2.576,2.569,2.566,2.561,2.554,2.55,2.544,2.533,2.522,2.522,2.519,2.51,2.509,2.509,2.499,2.498,2.491,2.487,2.486,2.48,2.478,2.475,2.468,2.465,2.464,2.462,2.455,2.455,2.452,2.447,2.446,2.444,2.444,2.438,2.437,2.436,2.427,2.427,2.426,2.426,2.424,2.423,2.421,2.417,2.416,2.416,2.413,2.412,2.412,2.412,2.412,2.412,2.412,2.41,2.407,2.406,2.406,2.407,2.415,2.415,2.415,2.412,2.412,2.412,2.412,2.412,2.416,2.418,2.419,2.419,2.42,2.42,2.419,2.424,2.427,2.427,2.429,2.434,2.439,2.44,2.44,2.44,2.442,2.447,2.447,2.447,2.453,2.456,2.463,2.465,2.471,2.471,2.48,2.481,2.483,2.485,2.492,2.497,2.497,2.504,2.507,2.513,2.515,2.515,2.518,2.528,2.531,2.535,2.543,2.551,2.558,2.568,2.568,2.572,2.591,2.596,2.597,2.605,2.607,2.608,2.623,2.632,2.635,2.637,2.644,2.653,2.656,2.676,2.683,2.686,2.699,2.706,2.712,2.722,2.729,2.739,2.755,2.756,2.769,2.774,2.786,2.79,2.805,2.825,2.831,2.841,2.851,2.864,2.868,2.882,2.894,2.901,2.921,2.928,2.944,2.949,2.955,2.975,2.984,3,3.016,3.026,3.044,3.046,3.063,3.08,3.097,3.109,3.123,3.138,3.15,3.165,3.184,3.201,3.218,3.237,3.249,3.262,3.277,3.297,3.322,3.342,3.347,3.372,3.389,3.409,3.437,3.457,3.478,3.51,3.515,3.544,3.559,3.593,3.619,3.643,3.664,3.687,3.723,3.743,3.783,3.799,3.833,3.857,3.89,3.919,0,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.361,3.338,3.325,3.311,3.31,3.291,3.291,3.274,3.266,3.262,3.249,3.239,3.234,3.228,3.222,3.213,3.211,3.2,3.187,3.182,3.175,3.171,3.171,3.158,3.155,3.148,3.136,3.128,3.124,3.12,3.115,3.11,3.105,3.096,3.095,3.086,3.081,3.081,3.08,3.077,3.062,3.061,3.061,3.054,3.05,3.049,3.048,3.042,3.04,3.038,3.038,3.038,3.033,3.03,3.026,3.023,3.026,3.026,3.029,3.029,3.029,3.02,3.018,3.014,3.012,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.007,3.007,3.007,3.007,3.008,3.008,3.007,3.01,3.011,3.014,3.014,3.014,3.019,3.019,3.019,3.019,3.022,3.025,3.022,3.025,3.024,3.025,3.034,3.034,3.034,3.036,3.039,3.041,3.052,3.054,3.056,3.06,3.063,3.063,3.066,3.067,3.072,3.084,3.089,3.092,3.092,3.093,3.096,3.103,3.109,3.117,3.119,3.122,3.133,3.133,3.133,3.133,3.133,3.146,3.146,3.15,3.164,3.166,3.17,3.171,3.179,3.18,3.202,3.21,3.213,3.219,3.231,3.237,3.237,3.242,3.243,3.243,3.257,3.278,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 91.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 91.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 91.604} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.6416} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.4864} SEN {Time 91.6476} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.183,0.186,0.186,0,0,0,0,0,0,0,0,3.686,3.683,3.673,3.662,3.655,3.629,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.22,3.216,3.211,3.211,3.211,3.26,3.365,0,0,0,0,0,0,0,0.146,0.141,0.141,0.141,0.141,0.141,0.143,0.144,0.15,0.147,0.15,0.15,0.156,0.156,3.031,3.031,3.031,3.031,3.029,3.029,3.029,0.154,0.153,0.153,0.153,0.154,0.149,0.145,0.145,0.115,0.09,0.063,0.06,0.06,0.06,0.06,0.062,0.064,0.065,0.065,0.062,0.06,0.06,0.06,0.067,0.107,0.173,3.339,3.353,3.353,3.353,3.372,3.372,3.373,3.377,3.377,0,0,0,3.472,3.472,3.472,3.477,3.477,3.492,3.494,3.501,3.507,3.513,3.516,3.517,3.519,3.519,3.527,3.528,3.533,3.534,3.535,3.537,3.543,3.544,3.549,3.553,3.553,3.57,3.573,3.573,3.573,3.586,3.59,3.596,3.596,3.612,3.619,3.629,3.631,3.634,3.637,3.641,3.642,3.661,3.664,3.668,3.674,3.678,3.685,3.691,3.694,3.695,3.71,3.717,3.723,3.73,3.745,3.746,3.759,3.766,3.776,3.78,3.803,3.804,3.809,3.812,3.825,3.837,3.846,3.851,3.871,3.878,3.897,3.906,3.92,3.929,3.948,3.959,3.971,3.981,3.984,4.015,4.029,4.045,4.072,4.074,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.023,3.996,3.957,3.924,3.891,3.862,3.841,3.816,3.773,3.751,3.725,3.695,3.671,3.646,3.629,3.598,3.563,3.554,3.512,3.497,3.487,3.458,3.452,3.418,3.414,3.378,3.363,3.355,3.326,3.304,3.289,3.27,3.251,3.228,3.217,3.197,3.184,3.168,3.153,3.142,3.124,3.104,3.103,3.09,3.068,3.053,3.053,3.04,3.013,3.005,2.989,2.968,2.962,2.946,2.934,2.928,2.919,2.906,2.897,2.879,2.875,2.857,2.848,2.839,2.83,2.809,2.807,2.789,2.781,2.776,2.768,2.751,2.748,2.732,2.732,2.713,2.709,2.706,2.701,2.683,2.681,2.68,2.66,2.66,2.659,2.648,2.637,2.637,2.623,2.615,2.612,2.603,2.599,2.592,2.581,2.578,2.567,2.564,2.557,2.554,2.55,2.542,2.537,2.534,2.522,2.517,2.51,2.509,2.499,2.497,2.494,2.493,2.491,2.481,2.48,2.476,2.475,2.471,2.471,2.465,2.46,2.452,2.449,2.449,2.448,2.447,2.442,2.442,2.437,2.434,2.431,2.425,2.425,2.425,2.425,2.417,2.416,2.416,2.415,2.415,2.416,2.417,2.417,2.417,2.415,2.413,2.409,2.409,2.406,2.406,2.406,2.406,2.406,2.413,2.416,2.416,2.413,2.412,2.412,2.412,2.414,2.419,2.421,2.421,2.421,2.423,2.421,2.421,2.421,2.426,2.426,2.427,2.432,2.432,2.436,2.437,2.439,2.44,2.448,2.45,2.451,2.452,2.46,2.463,2.465,2.472,2.473,2.473,2.479,2.487,2.487,2.493,2.493,2.499,2.502,2.511,2.514,2.514,2.519,2.522,2.532,2.539,2.542,2.549,2.556,2.559,2.562,2.564,2.577,2.586,2.602,2.604,2.604,2.61,2.617,2.621,2.629,2.636,2.638,2.646,2.651,2.655,2.668,2.68,2.69,2.696,2.705,2.72,2.723,2.727,2.737,2.746,2.752,2.765,2.782,2.792,2.803,2.804,2.821,2.825,2.839,2.843,2.861,2.87,2.872,2.896,2.904,2.914,2.919,2.94,2.948,2.951,2.971,2.98,2.996,3.013,3.018,3.032,3.044,3.063,3.077,3.09,3.105,3.116,3.13,3.147,3.172,3.183,3.203,3.212,3.236,3.245,3.265,3.277,3.292,3.324,3.334,3.348,3.372,3.399,3.407,3.428,3.459,3.468,3.498,3.516,3.546,3.571,3.593,3.614,3.652,3.666,3.697,3.704,3.75,3.78,3.811,3.833,3.852,3.895,3.908,3.995,4.037,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.351,3.344,3.323,3.314,3.312,3.297,3.288,3.286,3.264,3.251,3.249,3.242,3.238,3.234,3.218,3.212,3.211,3.198,3.187,3.184,3.171,3.164,3.163,3.148,3.143,3.142,3.142,3.129,3.121,3.115,3.111,3.111,3.106,3.103,3.091,3.091,3.089,3.084,3.077,3.077,3.072,3.071,3.062,3.055,3.055,3.051,3.04,3.04,3.04,3.037,3.037,3.035,3.029,3.027,3.023,3.022,3.023,3.023,3.029,3.029,3.029,3.017,3.014,3.014,3.014,3.011,3.01,3.01,3.01,3.01,3.009,3.004,3.005,3.005,3.005,3.008,3.009,3.01,3.01,3.01,3.01,3.013,3.017,3.017,3.017,3.018,3.022,3.022,3.025,3.022,3.022,3.022,3.024,3.024,3.035,3.035,3.035,3.038,3.043,3.044,3.049,3.052,3.058,3.06,3.061,3.07,3.07,3.072,3.082,3.088,3.088,3.089,3.092,3.092,3.096,3.112,3.114,3.115,3.118,3.133,3.133,3.137,3.139,3.14,3.14,3.143,3.151,3.153,3.155,3.162,3.164,3.175,3.18,3.188,3.203,3.215,3.222,3.226,3.23,3.234,3.237,3.245,3.249,3.261,3.275,3.275,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 91.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 91.80} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 91.805} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.6416} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.588} SEN {Time 91.8466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.174,0.185,0.184,0.185,0.189,0,0,0,0,0,0,0,0,3.69,3.677,3.658,3.657,3.644,3.626,3.608,3.608,3.608,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.247,3.221,3.216,3.216,3.216,3.216,3.216,3.26,3.357,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.148,0.148,0.15,0.15,0.158,0.158,3.036,3.036,3.036,3.036,3.036,3.04,3.04,0.158,0.158,0.158,0.158,0.159,0.159,0.145,0.142,0.118,0.102,0.064,0.063,0.06,0.06,0.06,0.06,0.062,0.066,0.066,0.065,0.065,0.061,0.061,0.061,0.106,0.173,3.347,3.352,3.363,3.363,3.366,3.367,3.37,3.379,3.405,3.427,3.434,3.434,3.44,3.465,3.478,3.478,3.491,3.496,3.501,3.503,3.505,3.507,3.52,3.523,3.525,3.526,3.528,3.529,3.536,3.536,3.541,3.541,3.544,3.549,3.554,3.556,3.557,3.565,3.571,3.575,3.575,3.576,3.583,3.59,3.6,3.602,3.613,3.622,3.628,3.63,3.63,3.644,3.651,3.652,3.652,3.66,3.665,3.681,3.682,3.683,3.697,3.704,3.707,3.726,3.73,3.73,3.746,3.749,3.76,3.765,3.775,3.782,3.796,3.806,3.811,3.815,3.834,3.838,3.852,3.852,3.88,3.883,3.884,3.9,3.922,3.925,3.94,3.973,3.973,3.985,3.988,4.006,4.014,4.04,4.053,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.019,3.99,3.956,3.923,3.895,3.864,3.838,3.811,3.772,3.748,3.717,3.692,3.675,3.662,3.62,3.59,3.56,3.551,3.525,3.504,3.489,3.468,3.436,3.418,3.397,3.387,3.367,3.35,3.335,3.298,3.289,3.275,3.246,3.239,3.224,3.201,3.186,3.166,3.152,3.143,3.123,3.115,3.092,3.086,3.07,3.051,3.034,3.025,3.013,3.001,2.991,2.98,2.96,2.949,2.933,2.924,2.915,2.908,2.896,2.873,2.867,2.855,2.849,2.843,2.828,2.813,2.811,2.79,2.781,2.78,2.764,2.758,2.755,2.736,2.724,2.721,2.713,2.703,2.695,2.689,2.684,2.677,2.667,2.656,2.654,2.642,2.637,2.636,2.628,2.622,2.61,2.609,2.596,2.593,2.583,2.57,2.57,2.567,2.565,2.558,2.556,2.544,2.536,2.527,2.527,2.516,2.512,2.503,2.503,2.494,2.491,2.49,2.488,2.48,2.479,2.479,2.479,2.477,2.468,2.461,2.457,2.453,2.452,2.449,2.446,2.446,2.441,2.441,2.44,2.438,2.437,2.429,2.428,2.427,2.426,2.425,2.424,2.419,2.417,2.416,2.416,2.415,2.415,2.412,2.412,2.412,2.408,2.408,2.407,2.406,2.406,2.406,2.407,2.41,2.412,2.414,2.414,2.414,2.414,2.415,2.415,2.418,2.421,2.421,2.421,2.421,2.42,2.42,2.425,2.425,2.425,2.428,2.435,2.439,2.439,2.44,2.44,2.441,2.447,2.453,2.453,2.453,2.454,2.464,2.467,2.467,2.47,2.48,2.481,2.485,2.486,2.492,2.498,2.498,2.498,2.51,2.516,2.517,2.518,2.523,2.524,2.536,2.544,2.548,2.556,2.56,2.563,2.576,2.578,2.59,2.599,2.599,2.604,2.605,2.616,2.618,2.636,2.636,2.641,2.646,2.651,2.665,2.677,2.68,2.686,2.704,2.708,2.72,2.722,2.725,2.741,2.753,2.753,2.76,2.777,2.789,2.794,2.805,2.815,2.83,2.835,2.848,2.857,2.87,2.878,2.894,2.908,2.916,2.928,2.939,2.943,2.957,2.972,2.982,2.994,3.015,3.022,3.036,3.056,3.068,3.082,3.093,3.107,3.127,3.137,3.147,3.175,3.176,3.203,3.224,3.228,3.242,3.267,3.274,3.292,3.315,3.332,3.354,3.371,3.393,3.416,3.432,3.467,3.482,3.501,3.541,3.543,3.564,3.6,3.62,3.645,3.67,3.685,3.721,3.744,3.781,3.793,3.825,3.853,3.876,3.921,3.955,3.985,4.023,4.052,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.355,3.34,3.316,3.312,3.311,3.297,3.292,3.286,3.27,3.257,3.251,3.241,3.237,3.236,3.215,3.202,3.2,3.195,3.188,3.186,3.181,3.16,3.159,3.155,3.148,3.145,3.137,3.128,3.127,3.122,3.118,3.108,3.104,3.101,3.093,3.091,3.082,3.079,3.075,3.073,3.064,3.061,3.061,3.054,3.052,3.043,3.043,3.042,3.042,3.04,3.04,3.038,3.038,3.026,3.024,3.021,3.021,3.021,3.025,3.025,3.025,3.019,3.018,3.016,3.014,3.014,3.014,3.012,3.012,3.007,3.004,3.004,3.005,3.005,3.007,3.009,3.009,3.01,3.01,3.016,3.016,3.013,3.013,3.015,3.015,3.015,3.015,3.018,3.02,3.022,3.023,3.024,3.024,3.027,3.031,3.035,3.035,3.035,3.042,3.043,3.046,3.051,3.056,3.061,3.061,3.061,3.066,3.071,3.076,3.084,3.088,3.092,3.092,3.094,3.095,3.111,3.112,3.115,3.124,3.127,3.127,3.128,3.136,3.136,3.136,3.14,3.152,3.156,3.158,3.163,3.164,3.167,3.18,3.183,3.202,3.215,3.216,3.223,3.236,3.236,3.236,3.239,3.25,3.265,3.284,3.284,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 92.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 92.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 91.9969} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.6416} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.588} SEN {Time 92.0466} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,0,0,0,3.686,3.667,3.667,3.663,3.641,3.63,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.217,3.21,3.217,3.217,3.266,3.359,0,0,0,0,0,0,0,0.142,0.141,0.141,0.141,0.141,0.143,0.146,0.146,0.155,0.153,0.155,0.155,0.156,0.156,3.027,3.027,3.035,3.035,3.027,3.035,3.035,0.156,0.154,0.154,0.146,0.146,0.146,0.143,0.143,0.118,0.092,0.07,0.065,0.063,0.063,0.063,0.065,0.063,0.065,0.065,0.065,0.061,0.064,0.064,0.064,0.1,0.18,3.331,3.356,3.356,3.356,3.358,3.362,3.381,3.381,3.413,0.007,3.449,3.449,3.471,3.471,3.478,3.48,3.48,3.487,3.497,3.499,3.505,3.512,3.513,3.523,3.526,3.529,3.531,3.533,3.543,3.539,3.544,3.545,3.549,3.553,3.554,3.557,3.566,3.566,3.576,3.581,3.581,3.581,3.583,3.594,3.599,3.603,3.609,3.627,3.631,3.633,3.636,3.637,3.641,3.649,3.661,3.667,3.669,3.669,3.679,3.689,3.689,3.7,3.7,3.711,3.72,3.745,3.748,3.753,3.758,3.763,3.764,3.786,3.787,3.807,3.809,3.819,3.829,3.841,3.848,3.87,3.872,3.88,3.891,3.9,3.93,3.938,3.944,3.958,3.965,3.993,3.999,4.018,4.024,4.043,4.07,4.074,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.06,4.03,3.987,3.95,3.937,3.902,3.861,3.841,3.815,3.775,3.751,3.731,3.696,3.677,3.657,3.621,3.594,3.566,3.547,3.519,3.509,3.473,3.463,3.444,3.419,3.405,3.38,3.358,3.354,3.34,3.312,3.297,3.273,3.266,3.242,3.223,3.198,3.195,3.17,3.163,3.137,3.117,3.108,3.102,3.089,3.066,3.038,3.038,3.037,3.018,2.996,2.994,2.972,2.959,2.954,2.94,2.924,2.92,2.906,2.886,2.876,2.868,2.85,2.845,2.831,2.821,2.812,2.812,2.795,2.792,2.774,2.769,2.759,2.746,2.741,2.732,2.718,2.71,2.703,2.69,2.688,2.673,2.666,2.664,2.651,2.649,2.646,2.633,2.633,2.62,2.611,2.606,2.603,2.598,2.595,2.592,2.58,2.571,2.571,2.569,2.556,2.555,2.545,2.54,2.536,2.528,2.519,2.51,2.506,2.502,2.497,2.489,2.488,2.487,2.481,2.48,2.478,2.466,2.466,2.466,2.465,2.464,2.457,2.455,2.449,2.448,2.446,2.445,2.439,2.436,2.432,2.43,2.429,2.428,2.426,2.423,2.421,2.42,2.415,2.414,2.414,2.414,2.414,2.414,2.413,2.411,2.409,2.409,2.409,2.409,2.408,2.408,2.406,2.408,2.408,2.408,2.415,2.417,2.415,2.413,2.413,2.413,2.413,2.415,2.416,2.416,2.416,2.419,2.419,2.42,2.423,2.423,2.427,2.427,2.437,2.437,2.438,2.443,2.446,2.452,2.453,2.459,2.461,2.461,2.462,2.463,2.471,2.472,2.477,2.478,2.48,2.483,2.487,2.487,2.496,2.504,2.509,2.518,2.52,2.523,2.524,2.536,2.537,2.54,2.546,2.553,2.558,2.559,2.57,2.576,2.588,2.595,2.604,2.607,2.612,2.615,2.63,2.634,2.641,2.642,2.65,2.652,2.653,2.672,2.679,2.685,2.698,2.698,2.709,2.722,2.728,2.74,2.747,2.756,2.765,2.781,2.785,2.794,2.802,2.817,2.831,2.835,2.843,2.855,2.864,2.875,2.888,2.898,2.917,2.926,2.937,2.952,2.961,2.972,2.986,2.991,3.017,3.023,3.036,3.038,3.059,3.075,3.096,3.102,3.125,3.143,3.146,3.168,3.183,3.203,3.212,3.235,3.239,3.264,3.281,3.296,3.323,3.341,3.352,3.38,3.403,3.412,3.431,3.466,3.491,3.506,3.522,3.537,3.558,3.605,3.613,3.638,3.66,3.695,3.726,3.746,3.785,3.809,3.844,3.856,3.891,3.911,3.988,0.007,0,0,0,0,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.354,3.346,3.333,3.311,3.31,3.298,3.288,3.282,3.27,3.252,3.241,3.235,3.235,3.233,3.22,3.215,3.204,3.19,3.185,3.184,3.177,3.171,3.158,3.155,3.154,3.14,3.135,3.135,3.132,3.118,3.117,3.108,3.103,3.102,3.094,3.089,3.087,3.084,3.082,3.074,3.073,3.061,3.06,3.054,3.052,3.051,3.042,3.038,3.038,3.033,3.033,3.03,3.027,3.026,3.026,3.025,3.025,3.026,3.036,3.036,3.036,3.028,3.017,3.017,3.009,3.009,3.009,3.007,3.007,3.008,3.008,3.007,3.008,3.009,3.005,3.007,3.009,3.01,3.007,3.012,3.012,3.014,3.012,3.012,3.012,3.015,3.014,3.016,3.025,3.019,3.019,3.025,3.026,3.029,3.031,3.032,3.034,3.038,3.039,3.042,3.05,3.051,3.055,3.06,3.063,3.066,3.068,3.07,3.076,3.083,3.086,3.087,3.091,3.096,3.102,3.103,3.105,3.116,3.124,3.131,3.131,3.135,3.136,3.139,3.139,3.145,3.149,3.154,3.166,3.167,3.171,3.174,3.182,3.187,3.202,3.217,3.219,3.227,3.23,3.231,3.237,3.237,3.241,3.246,3.26,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 92.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 92.20} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 92.199} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.588} SEN {Time 92.2427} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.186,0.188,0.188,0,0,0,0,0,0,0,0,3.683,3.679,3.665,3.665,3.647,3.628,3.608,3.608,3.608,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.217,3.214,3.212,3.212,3.212,3.265,3.354,0,0,0,0,0,0,0,0.152,0.141,0.141,0.141,0.141,0.143,0.143,0.143,0.15,0.15,0.15,0.15,0.158,0.159,3.029,3.035,3.035,3.035,3.034,3.034,0.154,0.154,0.154,0.154,0.154,0.153,0.148,0.147,0.139,0.12,0.094,0.072,0.06,0.06,0.06,0.06,0.064,0.069,0.069,0.069,0.069,0.065,0.062,0.062,0.071,0.097,0.178,3.337,3.361,3.37,3.368,3.368,3.37,3.371,3.373,3.39,3.425,3.438,3.438,3.444,3.466,3.476,3.478,3.487,3.494,3.507,3.507,3.515,3.515,3.516,3.516,3.518,3.52,3.526,3.528,3.532,3.532,3.536,3.546,3.547,3.55,3.55,3.551,3.553,3.565,3.573,3.574,3.574,3.581,3.582,3.597,3.603,3.604,3.611,3.62,3.622,3.624,3.647,3.647,3.647,3.647,3.647,3.66,3.669,3.673,3.677,3.69,3.694,3.697,3.708,3.714,3.721,3.741,3.751,3.758,3.768,3.769,3.78,3.783,3.787,3.801,3.814,3.824,3.841,3.842,3.847,3.859,3.88,3.883,3.902,3.906,3.932,3.935,3.942,3.961,3.971,3.98,3.996,4.012,4.028,4.039,4.052,4.078,4.08,0.016,0.016,0.016,0.016,0.016,0.016,4.061,4.014,3.992,3.953,3.923,3.899,3.875,3.836,3.831,3.781,3.753,3.731,3.692,3.673,3.653,3.626,3.589,3.576,3.545,3.519,3.503,3.49,3.455,3.45,3.413,3.41,3.386,3.361,3.347,3.322,3.3,3.296,3.284,3.254,3.231,3.223,3.202,3.192,3.169,3.154,3.139,3.129,3.102,3.09,3.081,3.063,3.049,3.049,3.043,3.023,3.01,2.994,2.982,2.973,2.95,2.942,2.925,2.915,2.911,2.889,2.876,2.872,2.856,2.852,2.841,2.828,2.814,2.808,2.785,2.78,2.772,2.759,2.757,2.748,2.735,2.732,2.721,2.712,2.708,2.696,2.683,2.679,2.675,2.662,2.657,2.65,2.649,2.644,2.638,2.623,2.613,2.609,2.609,2.599,2.595,2.58,2.578,2.569,2.562,2.556,2.552,2.543,2.543,2.54,2.529,2.52,2.52,2.517,2.506,2.499,2.497,2.497,2.491,2.487,2.486,2.481,2.475,2.474,2.471,2.462,2.458,2.457,2.455,2.447,2.447,2.447,2.447,2.446,2.439,2.439,2.438,2.438,2.427,2.427,2.425,2.423,2.423,2.423,2.421,2.42,2.419,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.411,2.41,2.409,2.409,2.409,2.412,2.413,2.413,2.414,2.414,2.413,2.412,2.412,2.412,2.414,2.415,2.417,2.415,2.415,2.416,2.418,2.418,2.425,2.425,2.427,2.429,2.433,2.438,2.438,2.444,2.444,2.449,2.451,2.453,2.453,2.466,2.466,2.466,2.466,2.474,2.479,2.48,2.48,2.484,2.487,2.491,2.495,2.503,2.512,2.513,2.518,2.519,2.519,2.528,2.529,2.544,2.544,2.55,2.56,2.563,2.572,2.581,2.592,2.595,2.596,2.601,2.606,2.606,2.625,2.632,2.643,2.645,2.649,2.656,2.665,2.672,2.676,2.689,2.699,2.7,2.712,2.72,2.724,2.74,2.751,2.752,2.766,2.784,2.788,2.794,2.808,2.811,2.827,2.844,2.845,2.857,2.863,2.877,2.888,2.896,2.905,2.925,2.951,2.954,2.967,2.975,2.989,3,3.016,3.025,3.036,3.046,3.062,3.076,3.085,3.109,3.121,3.135,3.145,3.163,3.18,3.198,3.218,3.232,3.253,3.259,3.276,3.301,3.318,3.342,3.357,3.369,3.392,3.401,3.434,3.462,3.477,3.502,3.516,3.543,3.572,3.593,3.621,3.637,3.663,3.696,3.721,3.752,3.781,3.797,3.832,3.872,3.892,3.915,3.955,3.982,0.016,0.016,0.009,0.009,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.359,3.334,3.331,3.31,3.308,3.303,3.301,3.278,3.271,3.255,3.254,3.254,3.24,3.237,3.221,3.209,3.203,3.196,3.189,3.182,3.181,3.175,3.163,3.153,3.153,3.138,3.137,3.134,3.125,3.121,3.116,3.105,3.103,3.103,3.091,3.086,3.085,3.085,3.081,3.079,3.061,3.06,3.059,3.059,3.054,3.051,3.043,3.042,3.04,3.04,3.038,3.035,3.029,3.029,3.028,3.022,3.022,3.022,3.025,3.025,3.025,3.021,3.017,3.013,3.009,3.008,3.008,3.009,3.007,3.007,3.005,3.003,3.003,3.005,3.01,3.013,3.013,3.011,3.011,3.011,3.011,3.011,3.011,3.012,3.016,3.019,3.021,3.022,3.022,3.023,3.023,3.024,3.026,3.026,3.032,3.032,3.037,3.038,3.039,3.039,3.049,3.056,3.059,3.061,3.062,3.066,3.069,3.076,3.08,3.081,3.091,3.091,3.091,3.095,3.096,3.113,3.114,3.114,3.122,3.129,3.129,3.132,3.135,3.139,3.139,3.145,3.15,3.155,3.157,3.162,3.171,3.172,3.175,3.186,3.192,3.215,3.217,3.219,3.228,3.229,3.231,3.231,3.242,3.248,3.249,3.279,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 92.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 92.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 92.399} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7244} SEN {Time 92.4426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.18,0.18,0.181,0.181,0,0,0,0,0,0,0,0,3.687,3.677,3.669,3.656,3.652,3.624,3.614,3.614,3.614,3.597,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.218,3.213,3.21,3.21,3.21,3.255,3.358,0,0,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.145,0.144,0.145,0.153,0.152,0.153,0.153,0.153,0.153,3.035,3.035,3.039,3.039,3.035,3.039,3.039,0.155,0.154,0.154,0.154,0.154,0.148,0.148,0.141,0.114,0.091,0.068,0.063,0.06,0.058,0.06,0.063,0.063,0.067,0.067,0.064,0.064,0.062,0.062,0.062,0.096,0.186,3.351,3.366,3.366,3.366,3.366,3.366,3.378,3.39,3.39,3.395,3.417,3.434,3.459,3.46,3.47,3.487,3.495,3.497,3.5,3.505,3.508,3.509,3.51,3.518,3.518,3.521,3.521,3.524,3.538,3.54,3.54,3.544,3.544,3.544,3.544,3.554,3.563,3.57,3.573,3.573,3.581,3.581,3.583,3.594,3.594,3.594,3.601,3.627,3.63,3.632,3.635,3.637,3.642,3.649,3.66,3.662,3.667,3.671,3.676,3.681,3.695,3.701,3.715,3.725,3.731,3.735,3.749,3.751,3.752,3.766,3.769,3.787,3.795,3.804,3.811,3.814,3.836,3.843,3.852,3.86,3.866,3.892,3.899,3.912,3.914,3.93,3.942,3.964,3.965,3.983,3.991,4.011,4.031,4.043,4.066,4.079,0.016,0.016,0.016,0.016,0.016,0.016,4.081,4.059,4.029,3.973,3.971,3.929,3.906,3.863,3.849,3.81,3.785,3.751,3.723,3.702,3.679,3.652,3.615,3.602,3.585,3.548,3.525,3.504,3.491,3.455,3.451,3.414,3.406,3.383,3.36,3.343,3.335,3.309,3.295,3.269,3.255,3.232,3.229,3.197,3.186,3.172,3.149,3.134,3.121,3.106,3.093,3.087,3.063,3.041,3.041,3.039,3.013,3.004,2.989,2.977,2.966,2.95,2.935,2.927,2.92,2.903,2.89,2.875,2.869,2.857,2.843,2.842,2.826,2.814,2.798,2.789,2.782,2.779,2.775,2.762,2.747,2.734,2.726,2.717,2.71,2.698,2.697,2.682,2.679,2.678,2.658,2.651,2.646,2.64,2.634,2.634,2.631,2.62,2.611,2.611,2.599,2.59,2.581,2.581,2.573,2.568,2.561,2.556,2.55,2.541,2.532,2.53,2.521,2.519,2.508,2.506,2.502,2.493,2.493,2.492,2.483,2.483,2.481,2.481,2.475,2.47,2.467,2.463,2.46,2.454,2.454,2.453,2.452,2.444,2.442,2.441,2.439,2.435,2.431,2.425,2.425,2.424,2.423,2.421,2.419,2.417,2.419,2.417,2.415,2.415,2.413,2.413,2.413,2.411,2.408,2.408,2.408,2.408,2.406,2.41,2.411,2.411,2.411,2.411,2.413,2.413,2.418,2.418,2.418,2.419,2.423,2.423,2.421,2.423,2.423,2.424,2.425,2.425,2.425,2.428,2.432,2.435,2.44,2.441,2.441,2.441,2.449,2.449,2.452,2.454,2.457,2.459,2.464,2.472,2.474,2.475,2.48,2.482,2.489,2.49,2.493,2.495,2.496,2.512,2.518,2.52,2.521,2.524,2.53,2.532,2.545,2.548,2.551,2.565,2.569,2.572,2.573,2.587,2.597,2.6,2.61,2.61,2.613,2.626,2.627,2.632,2.64,2.647,2.65,2.661,2.673,2.679,2.688,2.701,2.705,2.716,2.724,2.728,2.744,2.752,2.754,2.765,2.778,2.792,2.796,2.804,2.82,2.824,2.848,2.853,2.854,2.87,2.878,2.9,2.904,2.913,2.932,2.945,2.95,2.955,2.972,2.981,3.004,3.01,3.024,3.036,3.045,3.068,3.081,3.091,3.108,3.115,3.136,3.155,3.164,3.182,3.199,3.215,3.233,3.246,3.263,3.269,3.297,3.322,3.338,3.351,3.371,3.4,3.4,3.446,3.459,3.472,3.504,3.516,3.535,3.557,3.597,3.62,3.638,3.666,3.694,3.723,3.753,3.773,3.805,3.837,3.866,3.88,3.921,3.949,3.988,4.035,4.04,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.344,3.339,3.327,3.314,3.309,3.298,3.297,3.277,3.267,3.26,3.252,3.244,3.238,3.236,3.228,3.214,3.211,3.196,3.196,3.188,3.184,3.164,3.161,3.154,3.147,3.134,3.133,3.132,3.128,3.119,3.116,3.109,3.104,3.101,3.094,3.09,3.086,3.077,3.076,3.073,3.064,3.062,3.062,3.054,3.053,3.051,3.043,3.039,3.039,3.037,3.036,3.035,3.033,3.026,3.025,3.023,3.023,3.023,3.022,3.022,3.022,3.019,3.017,3.014,3.014,3.011,3.01,3.009,3.008,3.008,3.007,3.006,3.006,3.006,3.006,3.008,3.014,3.015,3.015,3.014,3.014,3.014,3.013,3.014,3.015,3.017,3.015,3.017,3.02,3.02,3.022,3.026,3.026,3.026,3.026,3.032,3.032,3.039,3.04,3.042,3.051,3.052,3.058,3.059,3.059,3.059,3.063,3.079,3.083,3.087,3.087,3.091,3.093,3.093,3.1,3.103,3.115,3.115,3.124,3.126,3.127,3.134,3.136,3.142,3.142,3.146,3.15,3.152,3.154,3.163,3.168,3.172,3.181,3.182,3.198,3.213,3.214,3.22,3.226,3.231,3.233,3.239,3.247,3.253,3.265,3.287,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 92.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 92.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 92.5999} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.7244} SEN {Time 92.6426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.18,0.18,0.18,0,0,0,0,0,0,0,0,3.686,3.68,3.67,3.66,3.649,3.627,3.603,3.603,3.595,3.595,0.007,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.212,3.211,3.211,3.212,3.264,3.362,0,0,0,0,0,0,0,0,0.143,0.143,0.143,0.147,0.143,0.141,0.141,0.153,0.145,0.145,0.146,0.146,0.146,3.026,3.032,3.032,3.032,3.031,3.035,3.031,0.155,0.155,0.155,0.153,0.148,0.146,0.145,0.145,0.116,0.088,0.062,0.062,0.062,0.062,0.064,0.064,0.064,0.066,0.066,0.064,0.063,0.063,0.063,0.064,0.105,0.183,3.336,3.359,3.367,3.367,3.382,3.382,3.382,3.384,3.384,3.404,3.438,3.438,3.459,3.459,3.473,3.48,3.483,3.498,3.5,3.505,3.509,3.511,3.513,3.519,3.52,3.526,3.523,3.526,3.531,3.535,3.536,3.537,3.542,3.543,3.546,3.551,3.558,3.567,3.569,3.574,3.576,3.576,3.578,3.589,3.589,3.605,3.614,3.622,3.626,3.627,3.644,3.647,3.65,3.656,3.657,3.667,3.673,3.681,3.681,3.684,3.685,3.697,3.721,3.726,3.731,3.74,3.744,3.755,3.759,3.763,3.769,3.783,3.791,3.803,3.803,3.819,3.836,3.846,3.853,3.864,3.875,3.891,3.891,3.899,3.907,3.921,3.944,3.954,3.959,3.972,3.993,4.014,4.031,4.055,4.06,4.069,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.063,3.955,3.924,3.907,3.865,3.845,3.822,3.789,3.755,3.727,3.703,3.68,3.651,3.619,3.603,3.577,3.549,3.527,3.497,3.496,3.465,3.44,3.431,3.399,3.39,3.355,3.343,3.327,3.304,3.302,3.279,3.253,3.244,3.221,3.187,3.183,3.18,3.147,3.136,3.119,3.105,3.096,3.083,3.074,3.055,3.043,3.025,3.015,2.995,2.994,2.978,2.965,2.956,2.936,2.933,2.922,2.905,2.9,2.875,2.873,2.857,2.855,2.836,2.82,2.815,2.811,2.791,2.785,2.778,2.768,2.754,2.754,2.735,2.73,2.716,2.709,2.707,2.698,2.686,2.682,2.677,2.664,2.658,2.652,2.649,2.641,2.632,2.623,2.619,2.617,2.61,2.604,2.593,2.583,2.574,2.573,2.564,2.562,2.554,2.551,2.545,2.534,2.531,2.518,2.514,2.512,2.507,2.506,2.497,2.494,2.492,2.486,2.483,2.481,2.48,2.472,2.47,2.47,2.464,2.462,2.452,2.45,2.449,2.446,2.442,2.442,2.442,2.44,2.435,2.43,2.428,2.426,2.426,2.426,2.423,2.418,2.417,2.417,2.417,2.413,2.413,2.411,2.411,2.41,2.41,2.412,2.412,2.411,2.411,2.411,2.411,2.412,2.413,2.414,2.414,2.414,2.414,2.414,2.414,2.416,2.418,2.419,2.42,2.42,2.421,2.42,2.421,2.424,2.426,2.426,2.429,2.43,2.434,2.436,2.438,2.438,2.441,2.447,2.448,2.448,2.451,2.46,2.461,2.465,2.466,2.471,2.475,2.48,2.481,2.487,2.489,2.497,2.497,2.497,2.512,2.518,2.518,2.519,2.519,2.532,2.535,2.535,2.545,2.552,2.564,2.567,2.568,2.573,2.592,2.594,2.6,2.6,2.61,2.612,2.625,2.634,2.634,2.636,2.65,2.653,2.655,2.679,2.68,2.689,2.698,2.703,2.71,2.724,2.728,2.742,2.75,2.758,2.763,2.779,2.792,2.792,2.807,2.811,2.828,2.833,2.844,2.86,2.871,2.881,2.895,2.899,2.919,2.929,2.945,2.95,2.953,2.969,2.983,2.996,3.014,3.029,3.031,3.042,3.071,3.078,3.09,3.101,3.124,3.141,3.156,3.169,3.181,3.199,3.227,3.232,3.244,3.259,3.271,3.3,3.318,3.332,3.347,3.366,3.394,3.412,3.432,3.455,3.486,3.499,3.515,3.543,3.565,3.595,3.614,3.636,3.67,3.695,3.726,3.751,3.776,3.804,3.847,3.865,3.914,3.951,3.978,3.978,4.022,4.059,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.353,3.343,3.325,3.313,3.303,3.296,3.289,3.273,3.269,3.257,3.251,3.238,3.237,3.23,3.222,3.216,3.208,3.199,3.182,3.181,3.18,3.172,3.158,3.152,3.152,3.145,3.127,3.124,3.121,3.119,3.115,3.115,3.11,3.099,3.091,3.091,3.088,3.083,3.078,3.077,3.072,3.067,3.065,3.056,3.046,3.045,3.044,3.039,3.039,3.037,3.033,3.028,3.028,3.028,3.028,3.024,3.029,3.029,3.031,3.031,3.031,3.02,3.016,3.016,3.015,3.012,3.008,3.007,3.008,3.008,3.008,3.008,3.01,3.01,3.01,3.008,3.01,3.009,3.008,3.009,3.016,3.014,3.014,3.014,3.014,3.014,3.017,3.019,3.021,3.022,3.022,3.028,3.028,3.028,3.032,3.032,3.036,3.036,3.039,3.043,3.054,3.058,3.058,3.059,3.059,3.061,3.064,3.073,3.078,3.088,3.09,3.09,3.09,3.098,3.105,3.112,3.113,3.12,3.121,3.126,3.129,3.131,3.133,3.141,3.141,3.151,3.153,3.156,3.16,3.163,3.171,3.173,3.176,3.188,3.193,3.198,3.208,3.222,3.231,3.24,3.24,3.246,3.247,3.248,3.26,3.278,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 92.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 92.80} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 92.8011} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.667} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.191} {Name Sonar15 Range 4.7244} SEN {Time 92.8426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.175,0.178,0.178,0.181,0.182,0,0,0,0,0,0,0,0,3.685,3.676,3.667,3.654,3.643,3.636,3.625,3.625,3.625,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.24,3.218,3.217,3.216,3.216,3.217,3.262,3.358,0,0,0,0,0,0,0,0.007,0.149,0.148,0.148,0.148,0.145,0.148,0.148,0.158,0.149,0.156,0.156,0.156,0.156,3.023,3.027,3.03,3.03,3.027,3.03,3.03,0.153,0.153,0.153,0.153,0.153,0.151,0.147,0.147,0.118,0.09,0.064,0.064,0.057,0.057,0.064,0.066,0.067,0.067,0.067,0.067,0.064,0.063,0.063,0.063,0.099,0.171,3.346,3.355,3.367,3.367,3.368,3.368,3.373,3.377,3.38,3.411,3.424,3.431,3.432,3.46,3.468,3.477,3.482,3.487,3.495,3.501,3.501,3.504,3.515,3.522,3.524,3.526,3.527,3.527,3.527,3.534,3.535,3.543,3.544,3.549,3.55,3.553,3.556,3.566,3.57,3.572,3.573,3.588,3.588,3.592,3.6,3.607,3.613,3.62,3.628,3.63,3.634,3.647,3.652,3.652,3.652,3.661,3.663,3.671,3.679,3.687,3.687,3.695,3.711,3.718,3.723,3.73,3.743,3.757,3.758,3.768,3.771,3.786,3.787,3.801,3.808,3.813,3.831,3.848,3.849,3.863,3.88,3.888,3.892,3.898,3.924,3.929,3.939,3.954,3.957,3.985,3.992,4.011,4.019,4.05,4.066,4.075,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.02,3.989,3.951,3.929,3.898,3.878,3.842,3.802,3.771,3.755,3.718,3.693,3.677,3.652,3.622,3.607,3.572,3.557,3.522,3.514,3.477,3.451,3.439,3.425,3.41,3.396,3.374,3.353,3.332,3.298,3.294,3.277,3.262,3.23,3.223,3.198,3.19,3.174,3.148,3.128,3.125,3.108,3.099,3.083,3.061,3.046,3.046,3.034,3.018,2.995,2.994,2.973,2.964,2.948,2.937,2.927,2.915,2.909,2.893,2.88,2.872,2.861,2.844,2.841,2.828,2.821,2.805,2.792,2.787,2.778,2.769,2.762,2.756,2.741,2.727,2.721,2.717,2.706,2.695,2.681,2.678,2.677,2.663,2.656,2.649,2.646,2.631,2.631,2.626,2.615,2.61,2.606,2.597,2.596,2.582,2.58,2.577,2.572,2.569,2.559,2.549,2.547,2.533,2.531,2.53,2.519,2.51,2.509,2.506,2.501,2.492,2.486,2.482,2.481,2.478,2.476,2.474,2.472,2.467,2.466,2.463,2.455,2.454,2.449,2.449,2.449,2.448,2.447,2.442,2.44,2.435,2.431,2.427,2.425,2.425,2.42,2.419,2.417,2.414,2.414,2.411,2.41,2.409,2.409,2.407,2.409,2.406,2.409,2.407,2.409,2.408,2.409,2.409,2.411,2.41,2.413,2.413,2.413,2.415,2.415,2.415,2.415,2.416,2.416,2.419,2.419,2.417,2.425,2.426,2.427,2.428,2.43,2.431,2.439,2.439,2.439,2.439,2.447,2.45,2.451,2.453,2.454,2.459,2.462,2.463,2.467,2.47,2.476,2.48,2.481,2.487,2.488,2.489,2.496,2.505,2.514,2.515,2.52,2.522,2.525,2.533,2.535,2.536,2.541,2.553,2.563,2.564,2.572,2.572,2.588,2.596,2.597,2.601,2.612,2.613,2.626,2.633,2.639,2.639,2.646,2.648,2.659,2.668,2.673,2.684,2.696,2.702,2.716,2.718,2.724,2.738,2.754,2.759,2.77,2.778,2.785,2.801,2.804,2.819,2.831,2.839,2.848,2.859,2.867,2.877,2.89,2.898,2.919,2.923,2.949,2.95,2.952,2.963,2.986,2.995,3.009,3.023,3.038,3.044,3.061,3.086,3.087,3.109,3.125,3.135,3.148,3.165,3.175,3.196,3.219,3.237,3.242,3.262,3.276,3.29,3.324,3.336,3.35,3.376,3.391,3.401,3.432,3.456,3.477,3.491,3.516,3.546,3.562,3.592,3.614,3.635,3.656,3.689,3.725,3.752,3.772,3.794,3.833,3.859,3.914,3.95,4.024,4.024,4.056,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.335,3.331,3.311,3.307,3.291,3.289,3.272,3.272,3.259,3.252,3.246,3.236,3.235,3.221,3.218,3.21,3.198,3.195,3.186,3.176,3.169,3.162,3.152,3.152,3.139,3.137,3.132,3.127,3.121,3.119,3.111,3.106,3.093,3.091,3.09,3.084,3.081,3.079,3.073,3.066,3.065,3.064,3.058,3.047,3.044,3.038,3.038,3.038,3.034,3.034,3.03,3.029,3.027,3.027,3.026,3.027,3.073,3.073,3.029,3.029,3.017,3.016,3.013,3.01,3.01,3.007,3.008,3.008,3.005,3.005,3.005,3.005,3.007,3.008,3.008,3.008,3.011,3.012,3.015,3.016,3.019,3.016,3.015,3.016,3.016,3.016,3.02,3.021,3.021,3.021,3.022,3.029,3.029,3.029,3.033,3.038,3.038,3.038,3.046,3.046,3.051,3.056,3.057,3.057,3.058,3.062,3.062,3.078,3.091,3.092,3.092,3.092,3.093,3.096,3.103,3.104,3.11,3.115,3.129,3.129,3.132,3.137,3.138,3.138,3.146,3.152,3.156,3.157,3.163,3.164,3.171,3.175,3.183,3.198,3.211,3.212,3.22,3.224,3.233,3.237,3.24,3.241,3.243,3.261,3.284,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 92.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 92.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 92.9928} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.191} {Name Sonar15 Range 4.8006} SEN {Time 93.0426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.192,0.185,0.183,0.183,0.185,0,0,0,0,0,0,0,0,3.678,3.671,3.665,3.665,3.644,3.634,3.619,3.619,3.597,3.597,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.238,3.216,3.215,3.206,3.215,3.215,3.262,3.359,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.158,0.158,0.158,0.158,0.158,0.158,3.038,3.038,3.038,3.038,3.034,3.034,3.034,0.159,0.156,0.156,0.156,0.153,0.153,0.143,0.143,0.121,0.095,0.068,0.066,0.066,0.064,0.064,0.061,0.064,0.071,0.071,0.068,0.068,0.06,0.06,0.068,0.1,0.168,3.34,3.341,3.354,3.354,3.381,0.007,3.381,3.381,3.399,3.399,3.416,3.428,3.454,3.469,3.47,3.478,3.487,3.489,3.504,3.51,3.51,3.51,3.512,3.519,3.524,3.528,3.528,3.53,3.532,3.535,3.539,3.542,3.544,3.554,3.557,3.557,3.568,3.569,3.57,3.573,3.578,3.58,3.58,3.592,3.601,3.605,3.609,3.623,3.625,3.632,3.632,3.638,3.652,3.652,3.658,3.662,3.672,3.678,3.684,3.684,3.686,3.705,3.709,3.718,3.73,3.731,3.748,3.75,3.757,3.759,3.769,3.781,3.804,3.806,3.813,3.818,3.837,3.837,3.843,3.867,3.875,3.885,3.889,3.898,3.922,3.93,3.945,3.953,3.973,3.987,4,4.007,4.029,4.035,4.048,4.07,4.088,0.016,0.016,0.016,0.016,0.016,4.087,4.034,4.021,3.993,3.963,3.922,3.901,3.866,3.836,3.809,3.785,3.749,3.725,3.715,3.683,3.652,3.629,3.599,3.57,3.553,3.531,3.502,3.492,3.459,3.433,3.416,3.412,3.38,3.359,3.355,3.328,3.303,3.298,3.272,3.256,3.239,3.225,3.202,3.182,3.154,3.152,3.135,3.116,3.107,3.103,3.083,3.061,3.055,3.055,3.04,3.023,3.001,2.988,2.981,2.964,2.952,2.936,2.93,2.917,2.908,2.89,2.88,2.867,2.856,2.846,2.837,2.822,2.808,2.806,2.786,2.784,2.784,2.764,2.753,2.748,2.737,2.731,2.728,2.712,2.702,2.694,2.693,2.683,2.679,2.671,2.656,2.651,2.646,2.631,2.63,2.626,2.611,2.609,2.607,2.605,2.594,2.577,2.575,2.57,2.569,2.557,2.554,2.547,2.542,2.536,2.535,2.524,2.515,2.512,2.508,2.498,2.497,2.493,2.49,2.487,2.483,2.48,2.479,2.475,2.468,2.467,2.46,2.454,2.454,2.451,2.448,2.445,2.445,2.443,2.441,2.439,2.436,2.431,2.429,2.428,2.426,2.426,2.426,2.421,2.421,2.42,2.418,2.416,2.416,2.416,2.41,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.409,2.411,2.411,2.412,2.412,2.412,2.412,2.417,2.419,2.419,2.417,2.414,2.414,2.414,2.42,2.423,2.43,2.43,2.431,2.433,2.437,2.44,2.441,2.444,2.445,2.448,2.451,2.454,2.455,2.457,2.46,2.463,2.464,2.471,2.474,2.476,2.48,2.484,2.489,2.492,2.495,2.506,2.511,2.511,2.52,2.52,2.53,2.531,2.535,2.538,2.545,2.554,2.558,2.562,2.563,2.572,2.584,2.596,2.601,2.604,2.607,2.616,2.631,2.636,2.64,2.641,2.643,2.653,2.658,2.673,2.674,2.686,2.689,2.699,2.708,2.714,2.723,2.735,2.748,2.764,2.765,2.783,2.787,2.798,2.81,2.811,2.828,2.833,2.841,2.854,2.869,2.879,2.888,2.902,2.913,2.926,2.941,2.948,2.958,2.977,2.984,3.003,3.012,3.021,3.031,3.048,3.061,3.087,3.088,3.105,3.119,3.138,3.154,3.167,3.179,3.204,3.214,3.228,3.244,3.262,3.275,3.293,3.318,3.337,3.343,3.373,3.396,3.413,3.435,3.453,3.486,3.5,3.519,3.548,3.572,3.6,3.61,3.628,3.666,3.701,3.713,3.737,3.788,3.796,3.83,3.859,3.889,3.905,3.952,3.994,4.024,4.066,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.349,3.342,3.322,3.32,3.31,3.285,3.28,3.277,3.267,3.263,3.252,3.239,3.237,3.234,3.228,3.204,3.201,3.194,3.191,3.18,3.175,3.168,3.157,3.152,3.149,3.148,3.143,3.132,3.127,3.122,3.119,3.111,3.109,3.107,3.094,3.091,3.086,3.081,3.077,3.07,3.07,3.062,3.06,3.057,3.049,3.047,3.041,3.039,3.038,3.037,3.037,3.03,3.028,3.027,3.025,3.02,3.02,3.02,3.027,3.027,3.027,3.016,3.013,3.012,3.012,3.011,3.01,3.009,3.009,3.009,3.007,3.006,3.008,3.008,3.006,3.008,3.008,3.01,3.008,3.01,3.008,3.011,3.011,3.011,3.011,3.013,3.016,3.018,3.018,3.018,3.018,3.02,3.024,3.031,3.033,3.033,3.033,3.035,3.036,3.041,3.051,3.052,3.052,3.053,3.057,3.063,3.064,3.069,3.077,3.086,3.088,3.092,3.092,3.092,3.093,3.112,3.112,3.115,3.116,3.132,3.132,3.133,3.135,3.138,3.138,3.144,3.145,3.149,3.162,3.165,3.166,3.175,3.178,3.179,3.196,3.204,3.218,3.224,3.227,3.232,3.234,3.241,3.243,3.245,3.257,3.278,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 93.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 93.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 93.1937} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.191} {Name Sonar15 Range 4.8006} SEN {Time 93.2426} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.178,0.184,0.184,0,0,0,0,0,0,0,0,3.68,3.676,3.664,3.66,3.644,3.629,3.617,3.617,3.617,3.599,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.21,3.21,3.21,3.21,3.22,3.271,3.361,0,0,0,0,0,0,0,0.149,0.145,0.143,0.143,0.143,0.139,0.141,0.141,0.156,0.147,0.151,0.151,0.151,0.151,3.045,3.045,3.045,3.045,3.03,3.03,3.028,0.157,0.157,0.157,0.15,0.15,0.149,0.145,0.145,0.125,0.086,0.068,0.061,0.06,0.059,0.059,0.058,0.059,0.064,0.064,0.06,0.06,0.06,0.06,0.06,0.095,0.174,3.335,3.342,3.355,3.355,3.368,3.368,3.38,3.38,3.402,3.407,3.431,3.431,3.433,3.464,3.466,3.479,3.486,3.493,3.496,3.5,3.507,3.507,3.507,3.516,3.518,3.524,3.526,3.529,3.533,3.541,3.542,3.545,3.545,3.549,3.555,3.556,3.562,3.573,3.575,3.576,3.577,3.579,3.581,3.594,3.598,3.606,3.609,3.621,3.633,3.634,3.639,3.644,3.647,3.648,3.662,3.667,3.678,3.678,3.686,3.694,3.697,3.697,3.713,3.722,3.73,3.736,3.738,3.744,3.753,3.755,3.766,3.788,3.795,3.795,3.805,3.828,3.828,3.831,3.856,3.864,3.868,3.883,3.893,3.899,3.918,3.935,3.935,3.95,3.973,3.987,4.001,4.02,4.027,4.048,4.06,4.069,4.088,0.016,0.016,0.016,0.016,0.016,4.095,4.056,4.019,3.993,3.993,3.959,3.935,3.862,3.84,3.831,3.77,3.762,3.74,3.699,3.678,3.652,3.621,3.589,3.566,3.551,3.526,3.506,3.478,3.455,3.442,3.407,3.404,3.375,3.359,3.348,3.326,3.307,3.289,3.277,3.254,3.235,3.225,3.199,3.184,3.17,3.152,3.131,3.127,3.102,3.092,3.085,3.07,3.045,3.043,3.024,3.015,3.005,2.986,2.98,2.956,2.955,2.934,2.926,2.921,2.911,2.884,2.87,2.862,2.858,2.849,2.843,2.819,2.813,2.802,2.79,2.783,2.778,2.769,2.761,2.748,2.744,2.735,2.723,2.711,2.699,2.699,2.681,2.674,2.67,2.664,2.653,2.649,2.646,2.634,2.634,2.615,2.607,2.605,2.605,2.6,2.588,2.582,2.578,2.57,2.567,2.562,2.551,2.548,2.541,2.54,2.534,2.529,2.52,2.512,2.507,2.503,2.494,2.486,2.485,2.482,2.479,2.478,2.471,2.471,2.467,2.466,2.462,2.457,2.455,2.45,2.446,2.446,2.445,2.445,2.445,2.438,2.436,2.435,2.431,2.428,2.424,2.421,2.419,2.417,2.414,2.414,2.414,2.414,2.411,2.411,2.411,2.412,2.413,2.413,2.412,2.409,2.408,2.407,2.407,2.408,2.408,2.408,2.409,2.408,2.406,2.406,2.409,2.414,2.414,2.415,2.418,2.418,2.419,2.418,2.421,2.423,2.428,2.428,2.43,2.434,2.435,2.436,2.439,2.441,2.447,2.449,2.45,2.455,2.457,2.457,2.46,2.462,2.468,2.475,2.477,2.482,2.483,2.484,2.488,2.491,2.498,2.501,2.51,2.513,2.522,2.529,2.53,2.53,2.533,2.541,2.549,2.55,2.553,2.564,2.565,2.572,2.591,2.597,2.599,2.602,2.605,2.608,2.617,2.624,2.633,2.634,2.643,2.652,2.662,2.673,2.678,2.681,2.697,2.706,2.712,2.722,2.726,2.739,2.749,2.749,2.761,2.774,2.789,2.797,2.801,2.817,2.824,2.831,2.847,2.86,2.865,2.878,2.889,2.902,2.914,2.93,2.942,2.945,2.958,2.973,2.979,2.99,3.012,3.026,3.038,3.043,3.067,3.083,3.093,3.109,3.121,3.139,3.15,3.173,3.177,3.198,3.22,3.232,3.244,3.258,3.28,3.295,3.32,3.336,3.37,3.378,3.389,3.406,3.44,3.459,3.477,3.498,3.52,3.542,3.558,3.599,3.606,3.643,3.666,3.686,3.727,3.744,3.782,3.806,3.867,3.902,3.917,3.917,3.952,3.988,4.028,4.059,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.359,3.336,3.325,3.314,3.305,3.299,3.297,3.271,3.271,3.253,3.249,3.242,3.237,3.234,3.218,3.214,3.207,3.199,3.184,3.182,3.173,3.173,3.162,3.155,3.153,3.146,3.14,3.128,3.126,3.121,3.12,3.112,3.108,3.102,3.09,3.084,3.082,3.076,3.074,3.07,3.065,3.063,3.061,3.056,3.045,3.044,3.043,3.039,3.038,3.034,3.033,3.032,3.029,3.026,3.024,3.023,3.023,3.023,3.03,3.03,3.03,3.02,3.017,3.012,3.011,3.01,3.008,3.008,3.007,3.005,3.002,3.002,2.999,2.999,2.999,3.001,3.001,3.012,3.012,3.012,3.012,3.011,3.011,3.012,3.012,3.016,3.019,3.019,3.019,3.021,3.025,3.025,3.028,3.028,3.03,3.032,3.036,3.036,3.038,3.041,3.049,3.052,3.056,3.056,3.061,3.061,3.062,3.071,3.072,3.081,3.083,3.089,3.09,3.092,3.093,3.105,3.113,3.114,3.117,3.13,3.13,3.132,3.134,3.138,3.138,3.141,3.149,3.153,3.156,3.158,3.168,3.17,3.172,3.179,3.199,3.22,3.22,3.225,3.229,3.229,3.236,3.238,3.24,3.251,3.252,3.274,3.275,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 93.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 93.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 93.4527} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.8006} SEN {Time 93.5386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.177,0.177,0.181,0.181,0,0,0,0,0,0,0,0,3.688,3.683,3.672,3.656,3.646,3.626,3.616,3.616,3.616,0,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.213,3.209,3.208,3.208,3.209,3.267,3.366,0,0,0,0,0,0,0,0.148,0.142,0.142,0.142,0.142,0.147,0.147,0.149,0.151,0.151,0.153,0.153,0.159,0.159,3.029,3.032,3.032,3.032,3.029,3.032,3.025,0.157,0.155,0.155,0.155,0.152,0.152,0.147,0.146,0.113,0.096,0.066,0.066,0.062,0.06,0.06,0.06,0.064,0.067,0.067,0.067,0.064,0.061,0.061,0.061,0.093,0.167,3.333,3.367,3.367,3.367,3.36,3.367,3.372,3.375,3.375,3.397,3.421,3.438,3.438,3.471,3.474,3.485,3.485,3.503,3.505,3.512,3.507,3.507,3.513,3.52,3.522,3.524,3.524,3.53,3.53,3.535,3.54,3.54,3.544,3.546,3.546,3.558,3.564,3.564,3.566,3.566,3.577,3.585,3.587,3.595,3.596,3.606,3.614,3.621,3.622,3.629,3.638,3.64,3.647,3.651,3.656,3.665,3.667,3.676,3.676,3.676,3.693,3.694,3.713,3.723,3.729,3.732,3.744,3.753,3.757,3.769,3.774,3.786,3.79,3.794,3.81,3.816,3.83,3.844,3.851,3.862,3.867,3.881,3.896,3.902,3.918,3.935,3.944,3.95,3.964,3.986,3.99,4.02,4.036,4.055,4.067,4.067,4.087,0.016,0.016,0,0,0,0,4.09,4.068,3.987,3.97,3.927,3.904,3.87,3.847,3.814,3.763,3.752,3.719,3.699,3.666,3.647,3.62,3.595,3.577,3.546,3.527,3.503,3.489,3.459,3.438,3.417,3.398,3.374,3.367,3.348,3.334,3.302,3.295,3.282,3.259,3.234,3.229,3.196,3.195,3.17,3.162,3.137,3.121,3.11,3.099,3.079,3.064,3.051,3.051,3.038,3.018,3.004,2.981,2.973,2.964,2.946,2.931,2.923,2.913,2.911,2.881,2.875,2.874,2.857,2.847,2.833,2.816,2.813,2.81,2.796,2.784,2.782,2.774,2.767,2.751,2.728,2.727,2.719,2.716,2.7,2.692,2.679,2.677,2.669,2.661,2.66,2.647,2.643,2.634,2.631,2.621,2.618,2.615,2.609,2.593,2.591,2.579,2.574,2.574,2.574,2.565,2.551,2.55,2.544,2.535,2.53,2.522,2.513,2.512,2.503,2.499,2.495,2.493,2.488,2.485,2.483,2.476,2.475,2.473,2.472,2.468,2.462,2.462,2.456,2.453,2.452,2.451,2.447,2.445,2.442,2.439,2.434,2.432,2.426,2.426,2.423,2.423,2.42,2.42,2.417,2.417,2.416,2.416,2.415,2.416,2.414,2.408,2.408,2.411,2.408,2.411,2.411,2.407,2.407,2.407,2.407,2.413,2.413,2.412,2.412,2.412,2.412,2.414,2.416,2.417,2.42,2.42,2.421,2.421,2.421,2.421,2.425,2.426,2.431,2.435,2.436,2.436,2.438,2.438,2.439,2.445,2.448,2.452,2.459,2.459,2.459,2.462,2.463,2.471,2.476,2.476,2.479,2.488,2.488,2.49,2.492,2.495,2.509,2.51,2.51,2.516,2.521,2.533,2.536,2.539,2.551,2.553,2.561,2.563,2.569,2.574,2.597,2.597,2.601,2.602,2.606,2.615,2.621,2.63,2.636,2.64,2.644,2.646,2.664,2.672,2.681,2.687,2.691,2.702,2.714,2.716,2.73,2.738,2.749,2.755,2.769,2.78,2.787,2.789,2.804,2.817,2.835,2.843,2.851,2.858,2.875,2.879,2.889,2.901,2.916,2.931,2.933,2.953,2.962,2.97,2.977,2.999,3.01,3.021,3.044,3.046,3.062,3.082,3.087,3.105,3.125,3.138,3.154,3.163,3.176,3.197,3.217,3.231,3.249,3.268,3.279,3.294,3.31,3.336,3.355,3.364,3.399,3.41,3.435,3.462,3.481,3.507,3.52,3.532,3.569,3.596,3.607,3.638,3.66,3.696,3.717,3.744,3.774,3.8,3.826,3.848,3.895,3.911,3.944,3.987,4.026,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.359,3.331,3.331,3.309,3.303,3.291,3.287,3.286,3.277,3.266,3.248,3.241,3.235,3.231,3.217,3.214,3.211,3.198,3.191,3.182,3.174,3.168,3.163,3.148,3.148,3.138,3.136,3.133,3.125,3.121,3.111,3.109,3.108,3.099,3.09,3.088,3.082,3.078,3.074,3.07,3.067,3.065,3.064,3.062,3.051,3.05,3.038,3.038,3.038,3.037,3.037,3.036,3.027,3.024,3.024,3.022,3.022,3.022,3.034,3.034,3.034,3.023,3.018,3.011,3.011,3.01,3.008,3.008,3.011,3.008,3.008,3.006,3.006,3.006,3.006,3.008,3.011,3.011,3.011,3.012,3.012,3.012,3.014,3.014,3.018,3.018,3.018,3.017,3.018,3.021,3.021,3.022,3.024,3.027,3.034,3.036,3.036,3.038,3.039,3.046,3.048,3.051,3.054,3.057,3.059,3.064,3.065,3.067,3.078,3.08,3.083,3.086,3.089,3.089,3.095,3.097,3.103,3.121,3.124,3.127,3.127,3.137,3.137,3.137,3.137,3.142,3.146,3.153,3.156,3.158,3.167,3.174,3.175,3.19,3.196,3.2,3.216,3.221,3.224,3.232,3.235,3.243,3.245,3.253,3.259,3.275,3.277,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 93.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 93.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 93.6937} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 93.7386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.179,0.186,0.186,0,0,0,0,0,0,0,0,3.686,3.681,3.669,3.665,3.648,3.623,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.212,3.212,3.209,3.205,3.212,3.216,3.27,3.356,0,0,0,0,0,0,0,0.145,0.145,0.145,0.145,0.145,0.145,0.145,0.149,0.153,0.153,0.154,0.154,0.155,0.159,3.028,3.03,3.034,3.034,3.03,3.034,3.034,0.153,0.153,0.153,0.153,0.153,0.151,0.148,0.148,0.118,0.09,0.063,0.063,0.063,0.063,0.063,0.064,0.064,0.064,0.064,0.064,0.062,0.06,0.06,0.066,0.099,0.181,3.339,3.353,3.367,3.367,3.364,3.364,3.367,3.373,3.373,3.396,3.434,3.435,3.46,3.46,3.464,3.482,3.483,3.486,3.496,3.505,3.506,3.513,3.517,3.518,3.518,3.525,3.526,3.532,3.538,3.541,3.541,3.541,3.541,3.548,3.56,3.556,3.561,3.562,3.562,3.564,3.567,3.585,3.585,3.59,3.598,3.6,3.609,3.616,3.62,3.635,3.635,3.642,3.651,3.651,3.652,3.656,3.659,3.679,3.68,3.686,3.687,3.697,3.698,3.721,3.725,3.73,3.744,3.757,3.765,3.774,3.775,3.781,3.794,3.799,3.806,3.816,3.829,3.83,3.843,3.852,3.877,3.878,3.887,3.908,3.914,3.929,3.947,3.948,3.962,3.976,3.998,4.015,4.023,4.036,4.057,4.068,4.093,0.016,0.016,0.016,0.016,0.016,0,4.078,4.061,4,3.958,3.919,3.885,3.875,3.839,3.806,3.78,3.752,3.721,3.706,3.682,3.649,3.621,3.593,3.572,3.541,3.524,3.507,3.482,3.446,3.43,3.423,3.402,3.373,3.363,3.34,3.317,3.304,3.292,3.264,3.262,3.239,3.229,3.199,3.189,3.167,3.152,3.143,3.12,3.099,3.096,3.078,3.069,3.048,3.039,3.019,3.012,2.997,2.986,2.977,2.958,2.951,2.938,2.921,2.919,2.91,2.885,2.877,2.867,2.852,2.849,2.836,2.823,2.816,2.813,2.795,2.787,2.785,2.766,2.756,2.754,2.735,2.728,2.71,2.707,2.697,2.694,2.681,2.675,2.667,2.66,2.652,2.651,2.649,2.635,2.634,2.618,2.617,2.61,2.609,2.597,2.588,2.583,2.579,2.569,2.567,2.564,2.562,2.554,2.541,2.531,2.531,2.529,2.519,2.513,2.504,2.497,2.496,2.491,2.488,2.487,2.482,2.48,2.479,2.476,2.474,2.466,2.46,2.459,2.459,2.458,2.448,2.447,2.447,2.447,2.44,2.438,2.434,2.432,2.425,2.425,2.425,2.425,2.424,2.423,2.418,2.418,2.418,2.418,2.418,2.413,2.409,2.409,2.407,2.407,2.407,2.407,2.41,2.41,2.412,2.413,2.413,2.41,2.413,2.41,2.41,2.411,2.412,2.412,2.412,2.418,2.419,2.418,2.42,2.425,2.425,2.425,2.426,2.426,2.426,2.432,2.433,2.436,2.44,2.443,2.445,2.446,2.449,2.451,2.458,2.461,2.465,2.465,2.467,2.467,2.474,2.48,2.481,2.484,2.485,2.489,2.491,2.493,2.51,2.512,2.516,2.519,2.52,2.53,2.53,2.548,2.548,2.554,2.561,2.566,2.571,2.579,2.592,2.593,2.596,2.604,2.613,2.617,2.622,2.635,2.639,2.64,2.646,2.654,2.669,2.678,2.678,2.68,2.692,2.705,2.716,2.717,2.723,2.738,2.743,2.752,2.757,2.775,2.792,2.795,2.802,2.815,2.828,2.834,2.842,2.859,2.862,2.877,2.888,2.903,2.915,2.923,2.941,2.951,2.956,2.974,2.979,2.999,3.01,3.021,3.038,3.046,3.061,3.078,3.091,3.097,3.123,3.141,3.161,3.168,3.179,3.199,3.22,3.229,3.247,3.263,3.268,3.294,3.324,3.335,3.35,3.376,3.395,3.408,3.416,3.456,3.47,3.502,3.518,3.537,3.566,3.591,3.616,3.641,3.678,3.685,3.73,3.746,3.773,3.806,3.828,3.852,3.887,3.917,3.943,3.996,4.03,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.346,3.338,3.336,3.315,3.308,3.294,3.292,3.283,3.263,3.263,3.243,3.24,3.234,3.234,3.217,3.214,3.214,3.201,3.201,3.186,3.176,3.167,3.16,3.155,3.152,3.142,3.137,3.128,3.123,3.114,3.112,3.111,3.11,3.105,3.094,3.085,3.085,3.075,3.07,3.068,3.065,3.065,3.063,3.058,3.05,3.047,3.046,3.037,3.037,3.035,3.035,3.029,3.029,3.029,3.025,3.025,3.025,3.025,3.037,3.037,3.037,3.016,3.012,3.012,3.009,3.009,3.009,3.008,3.008,3.008,3.008,3.007,3.005,3.005,3.005,3.003,3.006,3.009,3.009,3.009,3.01,3.012,3.01,3.013,3.013,3.017,3.018,3.02,3.02,3.02,3.02,3.02,3.024,3.029,3.031,3.032,3.032,3.038,3.041,3.045,3.045,3.058,3.062,3.062,3.062,3.062,3.063,3.065,3.079,3.084,3.089,3.089,3.089,3.089,3.092,3.099,3.107,3.114,3.116,3.13,3.13,3.135,3.135,3.137,3.137,3.144,3.145,3.15,3.157,3.167,3.167,3.168,3.179,3.184,3.196,3.215,3.227,3.228,3.228,3.228,3.23,3.23,3.235,3.247,3.265,3.278,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 93.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 93.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 93.8906} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.953} SEN {Time 93.9386} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,0,0,0,3.689,3.677,3.663,3.66,3.643,3.631,3.614,3.614,3.6,3.6,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.239,3.215,3.21,3.21,3.21,3.21,3.255,3.361,0,0,0,0,0,0,0,0.148,0.139,0.139,0.139,0.139,0.143,0.143,0.144,0.146,0.144,0.146,0.146,0.147,0.147,3.027,3.029,3.036,3.036,3.029,3.036,3.036,0.157,0.157,0.157,0.157,0.157,0.151,0.143,0.143,0.118,0.097,0.07,0.065,0.062,0.059,0.062,0.062,0.068,0.068,0.068,0.068,0.064,0.064,0.064,0.064,0.099,0.165,3.35,3.363,3.363,3.363,3.363,3.37,3.376,3.387,3.387,3.413,3.422,3.447,3.456,3.456,3.468,3.482,3.484,3.496,3.497,3.502,3.502,3.502,3.513,3.514,3.516,3.518,3.518,3.532,3.534,3.535,3.539,3.546,3.546,3.546,3.554,3.562,3.563,3.563,3.564,3.568,3.576,3.583,3.585,3.586,3.59,3.607,3.615,3.622,3.625,3.631,3.636,3.636,3.64,3.649,3.655,3.663,3.669,3.673,3.682,3.695,3.697,3.703,3.711,3.722,3.725,3.735,3.744,3.745,3.755,3.775,3.778,3.779,3.797,3.797,3.813,3.816,3.822,3.84,3.853,3.864,3.873,3.875,3.904,3.906,3.912,3.926,3.954,3.961,3.966,3.985,4,4.011,4.028,4.045,4.064,4.076,0.016,0.016,0.016,0.016,0.016,0.016,4.084,4.048,4.021,3.989,3.963,3.924,3.895,3.856,3.834,3.809,3.784,3.75,3.724,3.692,3.674,3.639,3.617,3.598,3.579,3.553,3.516,3.508,3.485,3.446,3.431,3.416,3.401,3.379,3.359,3.342,3.329,3.303,3.3,3.279,3.249,3.243,3.228,3.191,3.188,3.171,3.154,3.143,3.116,3.105,3.093,3.082,3.066,3.052,3.052,3.035,3.022,2.998,2.988,2.974,2.963,2.945,2.941,2.918,2.911,2.902,2.898,2.87,2.865,2.857,2.844,2.838,2.828,2.813,2.81,2.793,2.79,2.776,2.762,2.756,2.746,2.739,2.727,2.717,2.715,2.703,2.7,2.682,2.678,2.677,2.664,2.662,2.653,2.65,2.635,2.635,2.625,2.619,2.609,2.605,2.596,2.59,2.579,2.578,2.572,2.565,2.56,2.56,2.556,2.54,2.529,2.528,2.523,2.513,2.512,2.511,2.504,2.495,2.49,2.49,2.485,2.485,2.484,2.476,2.476,2.473,2.47,2.465,2.456,2.449,2.448,2.446,2.446,2.445,2.441,2.441,2.437,2.434,2.432,2.424,2.424,2.423,2.418,2.417,2.418,2.417,2.417,2.414,2.414,2.413,2.411,2.411,2.41,2.41,2.41,2.41,2.41,2.41,2.408,2.408,2.408,2.408,2.414,2.416,2.416,2.416,2.416,2.416,2.416,2.418,2.418,2.42,2.42,2.423,2.423,2.423,2.426,2.429,2.429,2.43,2.43,2.436,2.436,2.442,2.442,2.443,2.446,2.446,2.449,2.45,2.456,2.458,2.463,2.465,2.473,2.474,2.479,2.483,2.486,2.487,2.494,2.497,2.499,2.507,2.515,2.518,2.518,2.524,2.527,2.538,2.542,2.546,2.546,2.559,2.565,2.57,2.572,2.585,2.598,2.6,2.601,2.606,2.607,2.623,2.634,2.637,2.637,2.646,2.656,2.662,2.669,2.683,2.691,2.693,2.695,2.712,2.72,2.724,2.734,2.748,2.753,2.764,2.779,2.791,2.798,2.805,2.817,2.831,2.834,2.845,2.851,2.864,2.869,2.894,2.903,2.918,2.924,2.944,2.953,2.958,2.97,2.983,2.998,3.016,3.024,3.045,3.049,3.064,3.088,3.094,3.111,3.125,3.141,3.155,3.171,3.175,3.195,3.227,3.229,3.246,3.262,3.275,3.302,3.323,3.335,3.352,3.362,3.398,3.411,3.442,3.464,3.476,3.499,3.525,3.539,3.568,3.603,3.605,3.639,3.664,3.695,3.723,3.746,3.771,3.808,3.836,3.852,3.887,3.922,3.941,3.979,4.073,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.353,3.333,3.328,3.307,3.304,3.298,3.291,3.279,3.272,3.257,3.252,3.244,3.24,3.236,3.223,3.207,3.199,3.187,3.185,3.179,3.175,3.166,3.155,3.151,3.149,3.142,3.136,3.132,3.119,3.111,3.107,3.106,3.1,3.098,3.093,3.09,3.084,3.078,3.074,3.074,3.07,3.067,3.058,3.058,3.049,3.047,3.045,3.041,3.041,3.041,3.041,3.04,3.029,3.026,3.023,3.023,3.023,3.023,3.024,3.024,3.024,3.016,3.015,3.013,3.013,3.013,3.011,3.011,3.011,3.009,3.007,3.002,3.004,3.004,3.004,3.009,3.009,3.011,3.011,3.011,3.011,3.011,3.012,3.012,3.014,3.015,3.019,3.02,3.022,3.022,3.022,3.023,3.023,3.028,3.029,3.034,3.034,3.036,3.036,3.039,3.047,3.049,3.05,3.055,3.059,3.064,3.069,3.072,3.078,3.084,3.085,3.088,3.092,3.093,3.097,3.109,3.112,3.113,3.113,3.134,3.134,3.136,3.136,3.136,3.136,3.14,3.148,3.149,3.158,3.16,3.165,3.168,3.176,3.185,3.193,3.208,3.212,3.216,3.232,3.233,3.235,3.235,3.237,3.242,3.255,3.274,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 94.09} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 94.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 94.0916} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.953} SEN {Time 94.1385} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.175,0.175,0.175,0.175,0,0,0,0,0,0,0,0,3.687,3.686,3.665,3.66,3.645,3.63,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.215,3.208,3.215,3.215,3.265,3.35,0,0,0,0,0,0,0,0.007,0.148,0.143,0.143,0.143,0.143,0.143,0.151,0.155,0.151,0.153,0.151,0.153,0.153,3.033,3.033,3.033,3.033,3.03,3.03,3.03,0.152,0.152,0.152,0.152,0.152,0.152,0.151,0.146,0.119,0.093,0.067,0.064,0.061,0.06,0.061,0.061,0.061,0.063,0.063,0.061,0.06,0.06,0.06,0.065,0.091,0.16,3.353,3.371,3.371,3.371,3.371,3.371,3.384,3.397,0.007,3.426,3.426,3.451,3.451,3.463,3.466,3.483,3.49,3.49,3.492,3.496,3.5,3.504,3.504,3.516,3.519,3.525,3.525,3.53,3.539,3.54,3.542,3.545,3.55,3.552,3.553,3.553,3.558,3.568,3.57,3.57,3.575,3.582,3.583,3.59,3.603,3.606,3.618,3.623,3.627,3.628,3.631,3.635,3.644,3.652,3.664,3.664,3.665,3.667,3.682,3.692,3.694,3.696,3.706,3.715,3.728,3.733,3.748,3.751,3.753,3.763,3.77,3.78,3.786,3.8,3.813,3.817,3.828,3.838,3.858,3.869,3.87,3.881,3.889,3.907,3.923,3.925,3.938,3.953,3.972,3.978,3.996,4.008,4.024,4.042,4.05,4.08,0.016,0.016,0.016,0.016,0.016,0,0.007,0,4.079,3.984,3.95,3.941,3.897,3.867,3.852,3.805,3.78,3.753,3.735,3.704,3.667,3.654,3.613,3.594,3.579,3.548,3.523,3.509,3.475,3.472,3.442,3.417,3.4,3.377,3.371,3.353,3.338,3.314,3.291,3.285,3.266,3.244,3.226,3.195,3.179,3.174,3.156,3.146,3.124,3.109,3.095,3.081,3.063,3.043,3.043,3.038,3.025,3,2.986,2.976,2.961,2.951,2.936,2.919,2.918,2.906,2.889,2.875,2.865,2.857,2.848,2.831,2.821,2.82,2.802,2.796,2.784,2.773,2.769,2.759,2.749,2.739,2.732,2.72,2.718,2.704,2.696,2.684,2.683,2.665,2.659,2.654,2.645,2.644,2.636,2.631,2.618,2.607,2.605,2.602,2.592,2.587,2.577,2.573,2.569,2.564,2.562,2.554,2.546,2.543,2.537,2.535,2.525,2.522,2.515,2.506,2.503,2.496,2.495,2.489,2.487,2.482,2.476,2.473,2.473,2.47,2.465,2.461,2.459,2.452,2.452,2.45,2.446,2.445,2.444,2.442,2.44,2.435,2.433,2.426,2.426,2.426,2.426,2.421,2.418,2.421,2.418,2.412,2.412,2.412,2.41,2.41,2.411,2.413,2.413,2.413,2.411,2.412,2.409,2.409,2.412,2.412,2.41,2.41,2.41,2.41,2.41,2.41,2.413,2.414,2.417,2.417,2.414,2.417,2.417,2.419,2.423,2.425,2.426,2.426,2.427,2.428,2.436,2.442,2.442,2.446,2.447,2.449,2.456,2.458,2.46,2.462,2.466,2.468,2.471,2.477,2.479,2.479,2.48,2.484,2.486,2.488,2.495,2.511,2.518,2.52,2.521,2.521,2.528,2.532,2.547,2.551,2.553,2.554,2.564,2.572,2.572,2.586,2.593,2.601,2.607,2.608,2.616,2.622,2.633,2.639,2.641,2.648,2.65,2.659,2.674,2.677,2.682,2.695,2.698,2.709,2.717,2.725,2.742,2.749,2.757,2.77,2.779,2.794,2.797,2.801,2.816,2.832,2.842,2.852,2.855,2.878,2.88,2.887,2.899,2.924,2.925,2.939,2.948,2.956,2.976,2.983,2.992,3.011,3.019,3.032,3.044,3.061,3.081,3.094,3.105,3.124,3.139,3.156,3.161,3.183,3.196,3.212,3.23,3.252,3.267,3.28,3.297,3.316,3.341,3.353,3.377,3.393,3.414,3.433,3.455,3.473,3.501,3.519,3.549,3.561,3.597,3.605,3.653,3.671,3.686,3.719,3.755,3.785,3.802,3.83,3.858,3.891,3.919,3.978,4.019,4.065,4.065,4.095,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.351,3.34,3.328,3.309,3.304,3.295,3.291,3.28,3.273,3.27,3.251,3.244,3.229,3.229,3.225,3.22,3.207,3.207,3.187,3.178,3.171,3.166,3.164,3.155,3.148,3.143,3.136,3.132,3.123,3.12,3.118,3.112,3.106,3.105,3.086,3.086,3.083,3.079,3.077,3.077,3.061,3.061,3.057,3.057,3.051,3.044,3.041,3.039,3.037,3.037,3.035,3.035,3.031,3.027,3.024,3.023,3.023,3.024,3.036,3.036,3.036,3.018,3.017,3.016,3.012,3.011,3.009,3.008,3.005,3.005,3.005,3.005,3.008,3.008,3.008,3.009,3.01,3.01,3.011,3.011,3.01,3.012,3.012,3.011,3.011,3.012,3.016,3.019,3.019,3.021,3.021,3.025,3.031,3.031,3.036,3.036,3.036,3.036,3.041,3.045,3.049,3.051,3.052,3.057,3.057,3.063,3.063,3.07,3.085,3.086,3.09,3.092,3.094,3.094,3.102,3.104,3.112,3.121,3.121,3.129,3.129,3.13,3.133,3.135,3.135,3.138,3.14,3.155,3.156,3.164,3.169,3.17,3.175,3.182,3.201,3.217,3.219,3.219,3.221,3.23,3.236,3.238,3.239,3.247,3.271,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 94.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 94.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 94.2926} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1816} SEN {Time 94.3346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.176,0.176,0.186,0,0,0,0,0,0,0,0,3.689,3.682,3.66,3.659,3.652,3.638,3.608,3.608,3.608,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.21,3.21,3.261,3.354,3.354,0,0,0,0,0,0,0,0.007,0.147,0.147,0.14,0.14,0.147,0.147,0.147,0.151,0.151,0.151,0.151,0.153,0.153,3.035,3.036,3.036,3.036,3.035,3.036,3.028,0.156,0.15,0.15,0.15,0.15,0.148,0.147,0.147,0.114,0.093,0.066,0.063,0.061,0.06,0.061,0.063,0.063,0.064,0.064,0.063,0.06,0.06,0.06,0.068,0.11,0.169,3.321,3.339,3.357,3.357,3.364,3.384,0,0,0,0.007,3.443,3.443,3.454,3.454,3.474,3.483,3.486,3.496,3.497,3.499,3.503,3.503,3.505,3.507,3.507,3.511,3.521,3.529,3.533,3.535,3.536,3.536,3.546,3.547,3.549,3.551,3.559,3.572,3.572,3.573,3.577,3.577,3.593,3.599,3.601,3.602,3.618,3.622,3.625,3.629,3.639,3.642,3.652,3.655,3.667,3.671,3.672,3.675,3.682,3.684,3.686,3.697,3.709,3.719,3.723,3.724,3.734,3.744,3.75,3.766,3.768,3.77,3.794,3.805,3.807,3.819,3.838,3.84,3.845,3.867,3.868,3.881,3.889,3.899,3.915,3.929,3.936,3.953,3.967,3.971,3.998,4.015,4.028,4.049,4.071,4.08,4.092,0.016,0.016,0.016,0.016,0,0,0,0,3.984,3.966,3.93,3.899,3.872,3.841,3.807,3.772,3.751,3.707,3.692,3.672,3.639,3.621,3.604,3.564,3.551,3.519,3.504,3.483,3.463,3.443,3.42,3.409,3.387,3.378,3.343,3.322,3.31,3.286,3.278,3.26,3.235,3.227,3.19,3.19,3.176,3.155,3.137,3.119,3.109,3.096,3.077,3.069,3.048,3.037,3.023,3.016,2.998,2.975,2.975,2.964,2.944,2.94,2.925,2.92,2.905,2.893,2.873,2.873,2.862,2.851,2.843,2.823,2.813,2.806,2.788,2.786,2.782,2.77,2.757,2.754,2.743,2.728,2.721,2.72,2.706,2.691,2.679,2.676,2.665,2.664,2.662,2.647,2.642,2.632,2.632,2.616,2.616,2.612,2.602,2.601,2.589,2.579,2.579,2.57,2.567,2.566,2.551,2.543,2.54,2.538,2.53,2.522,2.513,2.51,2.506,2.502,2.491,2.489,2.488,2.486,2.481,2.476,2.474,2.474,2.471,2.468,2.462,2.457,2.457,2.455,2.452,2.451,2.442,2.441,2.439,2.438,2.437,2.437,2.421,2.421,2.421,2.421,2.42,2.417,2.416,2.416,2.416,2.416,2.416,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.41,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.414,2.415,2.415,2.415,2.418,2.42,2.418,2.421,2.424,2.421,2.421,2.425,2.425,2.427,2.428,2.436,2.436,2.436,2.44,2.442,2.446,2.448,2.451,2.454,2.455,2.456,2.462,2.468,2.471,2.473,2.484,2.485,2.486,2.491,2.492,2.497,2.497,2.512,2.514,2.519,2.52,2.523,2.532,2.535,2.539,2.543,2.549,2.556,2.557,2.561,2.573,2.588,2.597,2.604,2.607,2.608,2.61,2.621,2.629,2.635,2.64,2.644,2.649,2.665,2.675,2.68,2.688,2.69,2.7,2.718,2.726,2.726,2.743,2.747,2.75,2.764,2.779,2.784,2.79,2.805,2.811,2.83,2.837,2.843,2.861,2.865,2.876,2.894,2.9,2.909,2.922,2.941,2.946,2.963,2.969,2.98,2.988,3.016,3.022,3.038,3.04,3.061,3.078,3.091,3.106,3.121,3.133,3.155,3.162,3.176,3.199,3.22,3.228,3.24,3.258,3.272,3.294,3.319,3.337,3.346,3.381,3.398,3.416,3.432,3.456,3.472,3.496,3.518,3.544,3.571,3.583,3.61,3.642,3.669,3.697,3.718,3.751,3.77,3.807,3.841,3.87,3.886,3.921,3.969,0.007,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.35,3.341,3.328,3.314,3.314,3.296,3.295,3.281,3.266,3.265,3.245,3.245,3.244,3.236,3.225,3.208,3.201,3.196,3.193,3.175,3.173,3.168,3.16,3.158,3.153,3.136,3.133,3.123,3.123,3.12,3.117,3.117,3.113,3.102,3.09,3.086,3.084,3.073,3.071,3.068,3.065,3.064,3.061,3.061,3.046,3.045,3.042,3.037,3.037,3.036,3.036,3.031,3.027,3.027,3.024,3.023,3.023,3.023,3.031,3.031,3.031,3.026,3.018,3.017,3.008,3.007,3.007,3.007,3.005,3.007,3.008,3.005,3.007,3.007,3.005,3.005,3.007,3.009,3.009,3.011,3.011,3.014,3.014,3.015,3.015,3.016,3.015,3.015,3.015,3.015,3.015,3.02,3.02,3.024,3.03,3.031,3.036,3.036,3.041,3.041,3.046,3.052,3.059,3.059,3.059,3.063,3.065,3.071,3.077,3.084,3.084,3.089,3.092,3.092,3.102,3.103,3.104,3.109,3.123,3.132,3.132,3.135,3.137,3.142,3.142,3.142,3.142,3.149,3.158,3.16,3.172,3.174,3.175,3.186,3.196,3.212,3.213,3.218,3.224,3.228,3.229,3.229,3.241,3.251,3.252,3.275,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 94.48} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 94.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 94.4845} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1816} SEN {Time 94.5345} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.681,3.673,3.671,3.667,3.643,3.63,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.211,3.211,3.207,3.207,3.207,3.262,3.354,0,0,0,0,0,0,0,0.153,0.149,0.145,0.145,0.145,0.145,0.146,0.148,0.149,0.149,0.154,0.154,0.156,0.16,3.03,3.035,3.035,3.035,3.03,3.018,0.159,0.155,0.151,0.155,0.155,0.151,0.151,0.15,0.148,0.12,0.088,0.072,0.069,0.063,0.062,0.062,0.063,0.064,0.064,0.064,0.064,0.064,0.059,0.059,0.059,0.1,0.168,3.331,3.346,3.354,3.354,3.359,3.377,3.382,3.396,0.009,3.426,0,0.007,3.467,3.467,3.482,3.482,3.487,3.488,3.5,3.504,3.507,3.507,3.508,3.518,3.521,3.522,3.524,3.527,3.527,3.532,3.536,3.538,3.539,3.551,3.552,3.555,3.558,3.567,3.568,3.573,3.575,3.578,3.585,3.594,3.602,3.61,3.611,3.62,3.628,3.633,3.635,3.641,3.647,3.657,3.659,3.662,3.666,3.68,3.688,3.689,3.689,3.695,3.708,3.714,3.724,3.73,3.744,3.744,3.75,3.76,3.771,3.782,3.785,3.8,3.8,3.817,3.83,3.832,3.857,3.867,3.87,3.887,3.894,3.902,3.914,3.923,3.943,3.964,3.975,3.977,3.995,4.024,4.029,4.046,4.062,4.07,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.058,3.974,3.967,3.923,3.887,3.876,3.836,3.819,3.782,3.748,3.723,3.682,3.676,3.649,3.623,3.608,3.581,3.56,3.528,3.506,3.483,3.464,3.441,3.426,3.401,3.383,3.367,3.347,3.329,3.311,3.289,3.278,3.252,3.234,3.213,3.201,3.194,3.175,3.161,3.135,3.129,3.104,3.092,3.092,3.061,3.04,3.032,3.022,3.017,2.994,2.988,2.986,2.965,2.951,2.93,2.923,2.914,2.91,2.891,2.873,2.872,2.855,2.848,2.835,2.824,2.812,2.81,2.79,2.782,2.78,2.77,2.758,2.751,2.737,2.726,2.72,2.71,2.699,2.696,2.685,2.674,2.668,2.663,2.656,2.654,2.646,2.635,2.633,2.622,2.619,2.608,2.605,2.595,2.593,2.584,2.578,2.576,2.567,2.557,2.55,2.546,2.546,2.531,2.525,2.524,2.514,2.512,2.51,2.5,2.497,2.492,2.49,2.484,2.483,2.477,2.475,2.473,2.472,2.466,2.466,2.46,2.456,2.455,2.451,2.451,2.45,2.448,2.442,2.442,2.439,2.432,2.429,2.428,2.426,2.426,2.426,2.423,2.42,2.42,2.42,2.42,2.42,2.415,2.411,2.411,2.411,2.411,2.41,2.41,2.411,2.407,2.407,2.411,2.412,2.412,2.412,2.412,2.412,2.412,2.412,2.416,2.416,2.417,2.418,2.416,2.418,2.42,2.423,2.426,2.428,2.427,2.427,2.428,2.437,2.439,2.439,2.439,2.447,2.448,2.453,2.454,2.457,2.461,2.461,2.462,2.466,2.468,2.475,2.478,2.484,2.486,2.487,2.487,2.495,2.496,2.506,2.513,2.517,2.518,2.528,2.533,2.536,2.538,2.544,2.551,2.566,2.566,2.571,2.581,2.584,2.588,2.592,2.607,2.609,2.615,2.629,2.631,2.635,2.642,2.65,2.653,2.668,2.676,2.68,2.684,2.699,2.7,2.715,2.717,2.728,2.75,2.75,2.751,2.773,2.782,2.792,2.8,2.81,2.821,2.827,2.839,2.849,2.852,2.861,2.88,2.881,2.905,2.916,2.926,2.938,2.95,2.955,2.977,2.984,2.998,3.014,3.023,3.042,3.047,3.064,3.076,3.091,3.099,3.123,3.137,3.148,3.168,3.181,3.196,3.219,3.232,3.241,3.265,3.268,3.305,3.321,3.34,3.356,3.372,3.393,3.394,3.431,3.487,3.508,3.523,3.523,3.547,3.565,3.595,3.62,3.641,3.671,3.696,3.726,3.739,3.772,3.804,3.831,3.858,3.915,3.942,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.35,3.344,3.329,3.317,3.303,3.3,3.292,3.28,3.265,3.261,3.25,3.235,3.235,3.233,3.224,3.211,3.202,3.199,3.189,3.184,3.174,3.17,3.162,3.156,3.153,3.148,3.147,3.127,3.124,3.123,3.121,3.111,3.103,3.102,3.089,3.086,3.084,3.083,3.08,3.077,3.065,3.064,3.063,3.055,3.05,3.05,3.046,3.043,3.035,3.034,3.034,3.033,3.031,3.03,3.025,3.023,3.023,3.023,3.028,3.028,3.028,3.018,3.014,3.011,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.009,3.008,3.008,3.008,3.006,3.008,3.009,3.009,3.01,3.012,3.012,3.012,3.014,3.014,3.014,3.014,3.017,3.02,3.017,3.02,3.026,3.029,3.031,3.036,3.04,3.041,3.041,3.042,3.044,3.05,3.053,3.053,3.055,3.062,3.063,3.067,3.073,3.076,3.086,3.087,3.088,3.093,3.094,3.095,3.101,3.107,3.109,3.119,3.128,3.128,3.13,3.136,3.14,3.14,3.142,3.145,3.152,3.159,3.164,3.164,3.164,3.174,3.19,3.211,3.211,3.212,3.223,3.228,3.231,3.234,3.236,3.236,3.252,3.253,3.26,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 94.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 94.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 94.6856} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1816} SEN {Time 94.7346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.177,0.183,0.189,0,0,0,0,0,0,0,0,3.68,3.673,3.667,3.663,3.65,3.621,3.605,3.605,3.605,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.246,3.216,3.216,3.216,3.212,3.216,3.218,3.262,3.362,0,0,0,0,0,0,0,0.146,0.143,0.143,0.143,0.143,0.143,0.143,0.144,0.153,0.152,0.153,0.153,0.153,0.153,3.034,3.037,3.037,3.037,3.034,3.037,3.026,0.153,0.153,0.153,0.153,0.153,0.148,0.143,0.143,0.117,0.097,0.068,0.061,0.061,0.06,0.061,0.061,0.061,0.062,0.064,0.062,0.061,0.061,0.061,0.061,0.104,0.18,3.35,3.358,3.358,3.358,3.358,3.364,3.365,3.378,3.378,3.407,3.431,3.462,3.475,3.475,3.473,3.475,3.475,3.493,3.493,3.5,3.501,3.507,3.517,3.518,3.519,3.521,3.522,3.526,3.532,3.532,3.536,3.538,3.542,3.548,3.552,3.56,3.56,3.573,3.576,3.576,3.579,3.585,3.585,3.594,3.601,3.61,3.614,3.623,3.624,3.631,3.638,3.642,3.653,3.655,3.655,3.661,3.663,3.668,3.673,3.69,3.691,3.693,3.707,3.724,3.724,3.725,3.747,3.752,3.755,3.761,3.768,3.792,3.792,3.792,3.818,3.824,3.834,3.843,3.848,3.863,3.872,3.884,3.9,3.907,3.917,3.923,3.937,3.941,3.978,3.984,3.999,4.004,4.017,4.041,4.061,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.027,3.992,3.953,3.915,3.897,3.882,3.847,3.796,3.774,3.754,3.732,3.697,3.677,3.651,3.625,3.6,3.574,3.55,3.524,3.498,3.479,3.463,3.448,3.418,3.413,3.384,3.372,3.341,3.33,3.305,3.288,3.275,3.248,3.231,3.223,3.197,3.186,3.165,3.156,3.125,3.123,3.111,3.102,3.081,3.067,3.043,3.034,3.022,3.001,2.996,2.992,2.985,2.963,2.951,2.945,2.926,2.917,2.911,2.892,2.871,2.868,2.859,2.849,2.843,2.827,2.816,2.806,2.791,2.784,2.773,2.767,2.758,2.758,2.738,2.735,2.719,2.708,2.708,2.703,2.684,2.678,2.676,2.668,2.664,2.651,2.651,2.639,2.636,2.621,2.616,2.608,2.604,2.594,2.591,2.583,2.578,2.571,2.567,2.562,2.555,2.546,2.542,2.54,2.535,2.525,2.521,2.516,2.504,2.5,2.499,2.495,2.493,2.489,2.488,2.483,2.477,2.474,2.472,2.471,2.465,2.459,2.456,2.456,2.452,2.446,2.445,2.441,2.438,2.436,2.434,2.431,2.43,2.427,2.427,2.427,2.421,2.418,2.414,2.413,2.413,2.413,2.413,2.413,2.414,2.413,2.414,2.409,2.409,2.409,2.407,2.406,2.406,2.407,2.411,2.416,2.416,2.413,2.411,2.411,2.411,2.411,2.416,2.416,2.416,2.416,2.416,2.416,2.418,2.418,2.418,2.419,2.427,2.43,2.435,2.44,2.445,2.445,2.447,2.449,2.45,2.453,2.457,2.462,2.463,2.465,2.465,2.466,2.475,2.481,2.484,2.484,2.488,2.489,2.491,2.5,2.515,2.517,2.518,2.518,2.522,2.528,2.53,2.534,2.552,2.552,2.563,2.564,2.569,2.577,2.584,2.593,2.595,2.602,2.604,2.608,2.627,2.636,2.64,2.64,2.648,2.657,2.658,2.677,2.677,2.683,2.691,2.705,2.712,2.721,2.729,2.742,2.748,2.761,2.769,2.77,2.788,2.794,2.808,2.81,2.827,2.835,2.845,2.858,2.864,2.874,2.882,2.906,2.914,2.934,2.944,2.949,2.957,2.971,2.981,2.995,3.011,3.025,3.039,3.041,3.061,3.078,3.092,3.108,3.122,3.136,3.154,3.162,3.174,3.201,3.222,3.234,3.244,3.261,3.276,3.3,3.313,3.339,3.356,3.373,3.388,3.407,3.435,3.455,3.481,3.507,3.517,3.548,3.575,3.605,3.609,3.636,3.672,3.697,3.725,3.736,3.774,3.8,3.825,3.871,3.885,3.918,3.992,4.026,4.069,4.069,4.095,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.357,3.344,3.331,3.316,3.304,3.298,3.292,3.285,3.266,3.256,3.246,3.242,3.235,3.233,3.217,3.213,3.207,3.194,3.191,3.179,3.178,3.165,3.162,3.159,3.148,3.146,3.134,3.126,3.121,3.116,3.116,3.107,3.105,3.103,3.098,3.09,3.083,3.08,3.079,3.073,3.068,3.065,3.061,3.052,3.049,3.048,3.048,3.041,3.038,3.038,3.033,3.033,3.031,3.028,3.025,3.025,3.025,3.026,3.026,3.026,3.026,3.021,3.016,3.014,3.013,3.013,3.013,3.013,3.013,3.013,3.007,3.013,3.004,3.004,3.01,3.01,3.01,3.01,3.009,3.009,3.011,3.009,3.011,3.012,3.015,3.016,3.016,3.023,3.023,3.022,3.022,3.023,3.023,3.027,3.029,3.03,3.034,3.037,3.04,3.042,3.049,3.049,3.05,3.056,3.058,3.061,3.065,3.07,3.079,3.08,3.088,3.091,3.093,3.094,3.098,3.099,3.104,3.114,3.124,3.135,3.135,3.135,3.135,3.135,3.135,3.148,3.148,3.149,3.162,3.164,3.167,3.179,3.18,3.184,3.186,3.213,3.215,3.218,3.228,3.233,3.242,3.243,3.251,3.252,3.261,3.277,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 94.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 94.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 94.8865} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038} SEN {Time 94.9346} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.175,0.186,0.186,0,0,0,0,0,0,0,0,3.688,3.68,3.665,3.663,3.647,3.627,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.213,3.213,0.007,0,0.007,0,0,0,0,0,0,0,0.148,0.141,0.141,0.141,0.145,0.144,0.144,0.143,0.144,0.144,0.147,0.147,0.152,0.152,3.029,3.029,3.031,3.031,3.029,3.031,3.031,0.163,0.157,0.157,0.152,0.152,0.149,0.147,0.147,0.125,0.092,0.067,0.062,0.062,0.059,0.059,0.064,0.066,0.064,0.067,0.064,0.064,0.063,0.063,0.063,0.098,0.173,3.336,3.351,3.365,3.365,3.371,3.372,3.373,3.382,3.384,3.419,3.419,3.44,3.468,3.482,3.48,3.482,3.49,3.497,3.504,3.505,3.507,3.507,3.51,3.511,3.514,3.516,3.519,3.533,3.533,3.534,3.539,3.542,3.542,3.544,3.552,3.557,3.56,3.564,3.569,3.577,3.58,3.588,3.588,3.592,3.602,3.604,3.604,3.618,3.627,3.629,3.63,3.64,3.64,3.656,3.658,3.659,3.662,3.662,3.673,3.692,3.694,3.699,3.701,3.712,3.722,3.728,3.75,3.75,3.753,3.761,3.766,3.786,3.801,3.801,3.811,3.812,3.838,3.838,3.854,3.866,3.875,3.885,3.897,3.897,3.91,3.927,3.931,3.957,3.961,3.982,3.985,4.012,4.028,4.038,4.063,4.085,4.086,0.016,0.016,0.016,0.007,0,0.016,0,4.051,4.013,3.964,3.917,3.904,3.866,3.844,3.802,3.79,3.756,3.726,3.698,3.687,3.645,3.62,3.6,3.567,3.536,3.523,3.519,3.483,3.456,3.443,3.419,3.399,3.382,3.361,3.343,3.321,3.314,3.294,3.268,3.26,3.233,3.215,3.206,3.186,3.163,3.159,3.143,3.118,3.098,3.098,3.068,3.06,3.047,3.038,3.023,3.015,2.994,2.988,2.985,2.958,2.953,2.937,2.926,2.916,2.916,2.899,2.876,2.876,2.858,2.845,2.831,2.83,2.813,2.806,2.793,2.778,2.776,2.763,2.76,2.746,2.736,2.728,2.722,2.709,2.708,2.692,2.678,2.676,2.675,2.664,2.66,2.654,2.645,2.639,2.636,2.622,2.62,2.61,2.605,2.6,2.586,2.581,2.577,2.57,2.567,2.562,2.552,2.551,2.541,2.536,2.535,2.519,2.512,2.51,2.505,2.503,2.498,2.489,2.488,2.484,2.481,2.477,2.473,2.473,2.468,2.466,2.463,2.461,2.458,2.454,2.453,2.453,2.446,2.443,2.442,2.436,2.432,2.431,2.426,2.424,2.424,2.423,2.417,2.418,2.418,2.416,2.416,2.416,2.415,2.413,2.412,2.408,2.408,2.407,2.407,2.407,2.407,2.407,2.407,2.411,2.412,2.413,2.414,2.413,2.414,2.413,2.414,2.414,2.417,2.417,2.417,2.417,2.416,2.416,2.417,2.417,2.418,2.423,2.424,2.427,2.433,2.435,2.439,2.44,2.442,2.455,2.456,2.458,2.458,2.458,2.463,2.465,2.466,2.471,2.473,2.48,2.483,2.485,2.485,2.491,2.495,2.502,2.509,2.51,2.51,2.516,2.527,2.531,2.538,2.54,2.546,2.548,2.554,2.566,2.571,2.572,2.59,2.591,2.605,2.609,2.61,2.61,2.621,2.63,2.633,2.639,2.646,2.648,2.659,2.675,2.68,2.691,2.7,2.703,2.711,2.718,2.728,2.744,2.744,2.751,2.762,2.783,2.789,2.793,2.8,2.816,2.826,2.838,2.848,2.85,2.864,2.875,2.891,2.901,2.919,2.926,2.942,2.948,2.957,2.965,2.988,2.998,3.02,3.025,3.037,3.046,3.059,3.084,3.092,3.102,3.122,3.13,3.152,3.161,3.176,3.195,3.221,3.232,3.244,3.265,3.277,3.296,3.32,3.338,3.352,3.375,3.393,3.411,3.432,3.457,3.487,3.503,3.516,3.538,3.562,3.592,3.607,3.651,3.656,3.701,3.728,3.754,3.782,3.804,3.828,3.866,3.891,3.916,3.989,0.007,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.354,3.335,3.318,3.315,3.307,3.295,3.293,3.276,3.274,3.264,3.253,3.233,3.231,3.231,3.212,3.211,3.211,3.196,3.189,3.184,3.18,3.179,3.159,3.159,3.158,3.148,3.137,3.124,3.122,3.117,3.112,3.112,3.109,3.101,3.089,3.088,3.087,3.078,3.074,3.067,3.066,3.061,3.061,3.058,3.053,3.053,3.044,3.038,3.038,3.038,3.038,3.037,3.026,3.026,3.022,3.022,3.022,3.028,3.028,3.028,3.028,3.021,3.02,3.019,3.016,3.008,3.008,3.008,3.008,3.002,3.004,3.002,3.004,3.004,3.008,3.008,3.009,3.009,3.009,3.011,3.014,3.014,3.012,3.015,3.016,3.018,3.018,3.022,3.023,3.023,3.023,3.027,3.032,3.032,3.032,3.032,3.032,3.033,3.035,3.04,3.044,3.054,3.054,3.055,3.061,3.061,3.061,3.073,3.078,3.082,3.084,3.087,3.092,3.092,3.097,3.108,3.109,3.112,3.122,3.132,3.132,3.133,3.134,3.134,3.134,3.142,3.147,3.157,3.164,3.165,3.17,3.175,3.18,3.188,3.202,3.213,3.214,3.222,3.226,3.228,3.228,3.232,3.243,3.25,3.265,3.272,3.298,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 95.09} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 95.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 95.0874} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038} SEN {Time 95.1316} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.181,0.182,0.182,0,0,0,0,0,0,0,0,3.685,3.678,3.666,3.662,3.643,3.626,3.612,3.612,3.612,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.216,3.206,3.216,3.216,3.259,3.366,0,0,0,0,0,0,0,0.15,0.15,0.15,0.139,0.139,0.14,0.147,0.147,0.153,0.147,0.15,0.15,0.15,0.15,3.029,3.029,3.036,3.036,3.036,3.036,3.036,0.158,0.158,0.158,0.151,0.151,0.143,0.143,0.143,0.117,0.093,0.07,0.064,0.059,0.059,0.06,0.059,0.06,0.066,0.068,0.068,0.068,0.068,0.068,0.068,0.098,0.164,3.332,3.332,3.357,3.357,3.363,3.37,3.376,3.382,3.391,3.418,3.44,3.45,3.45,3.457,3.458,3.474,3.49,3.499,3.499,3.505,3.513,3.514,3.514,3.517,3.517,3.518,3.518,3.525,3.531,3.538,3.539,3.539,3.543,3.547,3.548,3.552,3.557,3.565,3.57,3.576,3.577,3.584,3.588,3.592,3.596,3.604,3.609,3.621,3.629,3.631,3.639,3.645,3.646,3.652,3.658,3.662,3.664,3.673,3.677,3.681,3.686,3.704,3.712,3.72,3.727,3.731,3.748,3.749,3.761,3.769,3.776,3.785,3.795,3.807,3.811,3.823,3.829,3.839,3.85,3.868,3.882,3.885,3.892,3.905,3.915,3.924,3.944,3.951,3.971,3.971,3.977,4.004,4.036,4.041,4.065,4.082,0.016,0.016,0.016,0.016,0.016,0.016,4.082,4.041,4.016,3.985,3.977,3.939,3.899,3.869,3.841,3.808,3.776,3.748,3.733,3.697,3.686,3.656,3.627,3.593,3.578,3.558,3.53,3.499,3.485,3.462,3.446,3.428,3.395,3.383,3.357,3.336,3.336,3.303,3.294,3.27,3.251,3.232,3.22,3.199,3.189,3.162,3.147,3.133,3.125,3.109,3.105,3.087,3.061,3.042,3.035,3.029,3.015,3.004,2.986,2.986,2.959,2.951,2.94,2.925,2.914,2.908,2.896,2.885,2.872,2.861,2.849,2.834,2.824,2.812,2.811,2.786,2.782,2.78,2.766,2.757,2.753,2.73,2.729,2.724,2.709,2.7,2.695,2.688,2.674,2.673,2.668,2.654,2.651,2.648,2.638,2.635,2.622,2.615,2.609,2.603,2.601,2.593,2.58,2.578,2.576,2.574,2.563,2.555,2.554,2.538,2.531,2.527,2.522,2.515,2.512,2.509,2.506,2.495,2.495,2.493,2.485,2.483,2.481,2.481,2.471,2.467,2.467,2.467,2.462,2.451,2.451,2.45,2.448,2.446,2.441,2.44,2.438,2.431,2.425,2.425,2.424,2.423,2.423,2.423,2.421,2.421,2.418,2.418,2.418,2.413,2.413,2.409,2.409,2.409,2.409,2.407,2.407,2.407,2.405,2.405,2.407,2.411,2.411,2.411,2.411,2.411,2.412,2.414,2.414,2.42,2.421,2.421,2.421,2.423,2.423,2.423,2.424,2.424,2.425,2.431,2.434,2.434,2.438,2.438,2.439,2.439,2.446,2.448,2.452,2.452,2.456,2.461,2.463,2.467,2.473,2.477,2.479,2.48,2.484,2.486,2.486,2.496,2.504,2.512,2.514,2.522,2.522,2.523,2.535,2.538,2.542,2.545,2.548,2.56,2.562,2.567,2.57,2.585,2.595,2.599,2.606,2.611,2.615,2.625,2.634,2.638,2.643,2.649,2.65,2.663,2.67,2.672,2.677,2.691,2.693,2.715,2.721,2.724,2.739,2.751,2.755,2.765,2.782,2.79,2.799,2.804,2.818,2.828,2.841,2.841,2.854,2.862,2.879,2.886,2.897,2.911,2.927,2.947,2.955,2.961,2.964,2.987,2.997,3.006,3.029,3.029,3.045,3.063,3.079,3.087,3.105,3.116,3.138,3.153,3.167,3.173,3.201,3.219,3.228,3.247,3.265,3.278,3.305,3.328,3.333,3.354,3.365,3.391,3.405,3.429,3.458,3.475,3.499,3.527,3.545,3.576,3.589,3.619,3.635,3.654,3.692,3.724,3.739,3.777,3.794,3.831,3.87,3.89,3.923,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.342,3.342,3.33,3.318,3.299,3.292,3.292,3.281,3.281,3.272,3.256,3.241,3.24,3.233,3.213,3.211,3.207,3.202,3.188,3.178,3.175,3.169,3.164,3.159,3.155,3.146,3.133,3.125,3.123,3.116,3.111,3.109,3.107,3.1,3.092,3.088,3.082,3.08,3.079,3.068,3.068,3.064,3.063,3.054,3.053,3.048,3.042,3.041,3.041,3.041,3.037,3.037,3.034,3.031,3.028,3.023,3.023,3.023,3.026,3.026,3.026,3.018,3.016,3.008,3.013,3.009,3.009,3.009,3.009,3.009,3.008,3.006,3.006,3.006,3.006,3.009,3.01,3.011,3.012,3.014,3.014,3.012,3.012,3.012,3.012,3.012,3.014,3.021,3.022,3.021,3.022,3.029,3.029,3.029,3.03,3.031,3.031,3.036,3.039,3.043,3.049,3.051,3.053,3.056,3.064,3.065,3.066,3.067,3.079,3.083,3.087,3.09,3.092,3.094,3.096,3.1,3.102,3.106,3.116,3.126,3.132,3.133,3.134,3.137,3.137,3.14,3.143,3.152,3.153,3.155,3.167,3.169,3.175,3.182,3.193,3.204,3.214,3.216,3.225,3.234,3.237,3.244,3.245,3.251,3.26,3.276,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 95.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 95.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 95.2884} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0038} SEN {Time 95.3306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.181,0.181,0.18,0.181,0.185,0,0,0,0,0,0,0,0,3.689,3.679,3.674,3.661,3.648,3.629,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.248,3.242,3.226,3.221,3.218,3.204,3.204,3.204,3.265,3.354,0,0,0,0,0,0,0,0.153,0.146,0.146,0.146,0.146,0.146,0.147,0.148,0.149,0.149,0.149,0.148,0.152,0.152,3.029,3.03,3.03,3.03,3.029,3.025,0.156,0.156,0.15,0.15,0.15,0.152,0.15,0.144,0.144,0.12,0.09,0.068,0.066,0.064,0.063,0.063,0.064,0.064,0.065,0.065,0.064,0.06,0.059,0.059,0.059,0.101,0.174,3.339,3.35,3.367,3.367,3.367,3.374,3.374,3.374,3.374,3.4,3.428,3.44,3.451,3.463,3.466,3.485,3.492,3.497,3.5,3.501,3.501,3.508,3.508,3.518,3.525,3.525,3.525,3.528,3.529,3.532,3.539,3.539,3.539,3.547,3.553,3.554,3.557,3.568,3.57,3.574,3.577,3.583,3.586,3.587,3.611,3.611,3.614,3.621,3.629,3.637,3.64,3.64,3.649,3.65,3.656,3.659,3.661,3.677,3.679,3.693,3.695,3.696,3.713,3.724,3.728,3.731,3.738,3.752,3.76,3.764,3.77,3.785,3.792,3.802,3.814,3.814,3.824,3.84,3.848,3.87,3.875,3.881,3.899,3.904,3.924,3.931,3.936,3.958,3.963,3.983,4,4.015,4.02,4.031,4.049,4.071,4.09,0.016,0.016,0.016,0.016,0,0.016,0.016,4.016,3.991,3.961,3.921,3.888,3.866,3.852,3.821,3.787,3.743,3.733,3.708,3.68,3.648,3.643,3.594,3.582,3.55,3.522,3.5,3.483,3.47,3.45,3.431,3.404,3.383,3.352,3.348,3.325,3.314,3.282,3.272,3.265,3.224,3.22,3.191,3.183,3.172,3.155,3.136,3.118,3.107,3.095,3.084,3.061,3.043,3.043,3.038,3.023,3.002,2.99,2.969,2.967,2.953,2.937,2.919,2.91,2.91,2.892,2.873,2.87,2.858,2.848,2.836,2.82,2.815,2.807,2.789,2.787,2.777,2.767,2.751,2.737,2.734,2.728,2.722,2.709,2.707,2.695,2.683,2.675,2.673,2.663,2.656,2.653,2.646,2.64,2.637,2.624,2.62,2.606,2.606,2.591,2.589,2.58,2.573,2.572,2.569,2.567,2.552,2.542,2.541,2.54,2.534,2.523,2.52,2.514,2.509,2.507,2.498,2.497,2.494,2.485,2.483,2.482,2.479,2.472,2.468,2.467,2.46,2.457,2.454,2.453,2.453,2.45,2.444,2.442,2.444,2.442,2.434,2.434,2.432,2.429,2.429,2.429,2.423,2.423,2.421,2.42,2.416,2.414,2.414,2.414,2.411,2.411,2.409,2.411,2.409,2.409,2.411,2.412,2.412,2.412,2.412,2.413,2.413,2.413,2.415,2.415,2.417,2.415,2.415,2.416,2.417,2.416,2.417,2.417,2.418,2.419,2.427,2.427,2.432,2.433,2.433,2.434,2.441,2.444,2.444,2.45,2.453,2.455,2.458,2.463,2.466,2.466,2.47,2.473,2.474,2.479,2.482,2.483,2.485,2.49,2.497,2.498,2.517,2.518,2.52,2.52,2.522,2.527,2.53,2.536,2.548,2.548,2.558,2.561,2.563,2.569,2.587,2.598,2.603,2.606,2.607,2.618,2.623,2.632,2.635,2.643,2.643,2.649,2.664,2.673,2.678,2.682,2.697,2.703,2.712,2.724,2.727,2.741,2.748,2.758,2.761,2.772,2.796,2.797,2.809,2.818,2.828,2.833,2.844,2.857,2.871,2.872,2.883,2.905,2.915,2.926,2.946,2.954,2.962,2.969,2.986,2.993,3.017,3.019,3.037,3.041,3.061,3.076,3.088,3.117,3.124,3.136,3.153,3.172,3.177,3.196,3.221,3.239,3.24,3.258,3.274,3.29,3.316,3.351,3.352,3.369,3.4,3.404,3.431,3.459,3.482,3.508,3.528,3.541,3.566,3.585,3.611,3.636,3.661,3.69,3.726,3.75,3.781,3.793,3.837,3.862,3.894,3.918,4.032,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.349,3.333,3.329,3.313,3.304,3.296,3.28,3.279,3.278,3.257,3.252,3.241,3.238,3.236,3.221,3.219,3.212,3.195,3.193,3.185,3.176,3.166,3.158,3.154,3.151,3.149,3.149,3.133,3.127,3.121,3.116,3.107,3.101,3.097,3.092,3.087,3.083,3.077,3.076,3.074,3.069,3.068,3.066,3.063,3.046,3.045,3.044,3.04,3.038,3.038,3.038,3.031,3.031,3.027,3.023,3.018,3.018,3.018,3.03,3.03,3.03,3.015,3.013,3.012,3.012,3.012,3.012,3.012,3.012,3.012,3.008,3.004,3.008,3.004,3.004,3.008,3.01,3.016,3.016,3.012,3.015,3.014,3.013,3.013,3.014,3.014,3.018,3.021,3.021,3.021,3.021,3.026,3.028,3.028,3.029,3.029,3.035,3.035,3.035,3.045,3.051,3.051,3.061,3.061,3.063,3.063,3.064,3.07,3.08,3.083,3.086,3.089,3.093,3.093,3.102,3.104,3.104,3.12,3.123,3.129,3.129,3.133,3.133,3.134,3.134,3.143,3.146,3.15,3.158,3.165,3.167,3.17,3.17,3.194,3.199,3.212,3.221,3.228,3.231,3.232,3.233,3.241,3.241,3.242,3.258,3.279,3.296,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 95.49} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 95.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 95.4894} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 95.5306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.179,0.186,0.186,0,0,0,0,0,0,0,0,3.689,3.689,3.668,3.659,3.643,3.621,3.603,3.603,3.603,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.215,3.214,3.213,3.214,3.214,3.355,0.007,0,0,0,0,0,0,0,0.007,0.137,0.137,0.137,0.137,0.143,0.149,0.153,0.158,0.155,0.155,0.155,0.155,0.155,3.034,3.034,3.034,3.034,3.032,3.027,0.153,0.153,0.153,0.153,0.154,0.154,0.153,0.147,0.147,0.121,0.101,0.066,0.06,0.06,0.056,0.06,0.06,0.062,0.066,0.066,0.064,0.064,0.064,0.064,0.064,0.106,0.174,3.335,3.345,3.355,3.355,3.355,3.364,3.375,3.384,3.413,3.433,3.447,3.447,3.447,3.46,3.474,3.481,3.498,3.498,3.498,3.5,3.504,3.504,3.504,3.517,3.522,3.522,3.524,3.526,3.533,3.537,3.545,3.539,3.544,3.546,3.547,3.547,3.557,3.568,3.569,3.572,3.583,3.584,3.584,3.586,3.601,3.604,3.618,3.62,3.63,3.632,3.635,3.638,3.648,3.65,3.651,3.659,3.67,3.676,3.677,3.69,3.697,3.699,3.713,3.723,3.735,3.738,3.741,3.755,3.755,3.759,3.773,3.781,3.793,3.796,3.801,3.817,3.837,3.842,3.843,3.87,3.877,3.88,3.883,3.885,3.915,3.921,3.944,3.951,3.967,3.978,3.99,4.012,4.032,4.042,4.065,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,3.978,3.952,3.937,3.903,3.863,3.844,3.811,3.777,3.759,3.737,3.697,3.678,3.657,3.618,3.601,3.567,3.535,3.525,3.495,3.476,3.454,3.431,3.423,3.402,3.377,3.364,3.352,3.328,3.312,3.29,3.272,3.26,3.232,3.227,3.202,3.187,3.171,3.154,3.148,3.114,3.111,3.101,3.083,3.063,3.05,3.037,3.024,3.01,3.004,2.986,2.982,2.959,2.95,2.937,2.923,2.915,2.903,2.893,2.877,2.872,2.857,2.848,2.841,2.824,2.816,2.8,2.794,2.786,2.777,2.768,2.754,2.75,2.737,2.73,2.719,2.714,2.706,2.69,2.683,2.675,2.674,2.661,2.66,2.647,2.646,2.637,2.631,2.616,2.61,2.605,2.603,2.599,2.584,2.574,2.574,2.571,2.569,2.557,2.556,2.555,2.542,2.535,2.532,2.531,2.518,2.514,2.502,2.498,2.497,2.497,2.496,2.487,2.486,2.482,2.476,2.47,2.466,2.466,2.463,2.462,2.454,2.452,2.451,2.45,2.443,2.44,2.44,2.44,2.437,2.433,2.433,2.424,2.424,2.424,2.423,2.423,2.417,2.416,2.415,2.415,2.414,2.414,2.414,2.413,2.41,2.409,2.408,2.407,2.407,2.407,2.407,2.407,2.407,2.412,2.414,2.415,2.414,2.415,2.415,2.415,2.418,2.419,2.42,2.42,2.42,2.419,2.42,2.42,2.423,2.423,2.429,2.43,2.436,2.436,2.441,2.444,2.445,2.446,2.451,2.452,2.455,2.456,2.465,2.466,2.467,2.467,2.472,2.478,2.485,2.486,2.489,2.489,2.492,2.505,2.511,2.512,2.518,2.518,2.522,2.53,2.536,2.539,2.547,2.553,2.561,2.57,2.571,2.579,2.589,2.6,2.601,2.604,2.604,2.609,2.621,2.629,2.64,2.642,2.651,2.659,2.659,2.668,2.677,2.684,2.697,2.705,2.717,2.722,2.723,2.74,2.749,2.754,2.76,2.776,2.787,2.788,2.804,2.818,2.825,2.846,2.847,2.855,2.876,2.88,2.889,2.906,2.921,2.929,2.942,2.953,2.954,2.97,2.984,2.994,3.014,3.022,3.039,3.044,3.061,3.077,3.092,3.102,3.121,3.14,3.153,3.166,3.181,3.202,3.226,3.233,3.24,3.255,3.271,3.298,3.325,3.335,3.352,3.374,3.4,3.408,3.439,3.459,3.475,3.496,3.518,3.541,3.559,3.605,3.616,3.636,3.657,3.69,3.722,3.754,3.781,3.801,3.836,3.877,3.892,3.929,3.993,4.02,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.356,3.343,3.327,3.315,3.305,3.3,3.286,3.274,3.27,3.267,3.248,3.237,3.234,3.228,3.213,3.212,3.197,3.196,3.191,3.189,3.171,3.168,3.163,3.162,3.142,3.136,3.135,3.125,3.124,3.114,3.112,3.111,3.108,3.104,3.091,3.089,3.085,3.082,3.076,3.071,3.068,3.061,3.057,3.055,3.057,3.051,3.049,3.044,3.038,3.036,3.033,3.033,3.027,3.021,3.02,3.019,3.02,3.02,3.029,3.029,3.029,3.023,3.02,3.012,3.012,3.012,3.012,3.012,3.012,3.01,3.007,3.007,3.007,3.007,3.007,3.006,3.006,3.009,3.009,3.012,3.012,3.012,3.013,3.017,3.017,3.017,3.017,3.017,3.017,3.018,3.018,3.019,3.019,3.027,3.029,3.032,3.032,3.039,3.04,3.042,3.048,3.049,3.057,3.06,3.062,3.062,3.066,3.076,3.08,3.089,3.089,3.089,3.091,3.091,3.097,3.104,3.111,3.115,3.116,3.133,3.133,3.133,3.136,3.139,3.139,3.148,3.15,3.15,3.155,3.156,3.169,3.169,3.176,3.184,3.195,3.202,3.208,3.222,3.229,3.238,3.238,3.239,3.246,3.259,3.263,3.279,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 95.68} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 95.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 95.6815} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 95.7306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,0,0,0,0,3.691,3.681,3.665,3.657,3.635,3.622,3.616,3.616,3.616,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.22,3.21,3.21,3.21,3.366,0.007,0,0,0,0,0,0,0,0.147,0.144,0.144,0.144,0.144,0.142,0.142,0.142,0.145,0.145,0.148,0.148,0.156,0.156,3.029,3.036,3.043,3.043,3.043,3.043,3.043,0.158,0.158,0.158,0.153,0.153,0.153,0.148,0.148,0.12,0.093,0.073,0.064,0.064,0.063,0.064,0.063,0.063,0.064,0.064,0.06,0.058,0.057,0.057,0.057,0.103,0.174,3.33,0.007,3.359,3.359,3.383,3.365,3.379,3.383,3.383,3.41,0.007,3.481,3.459,3.48,3.48,3.481,3.488,3.492,3.496,3.501,3.505,3.508,3.513,3.517,3.52,3.521,3.521,3.521,3.533,3.535,3.538,3.539,3.539,3.55,3.552,3.552,3.56,3.569,3.575,3.579,3.579,3.584,3.585,3.595,3.599,3.605,3.609,3.616,3.625,3.632,3.633,3.637,3.648,3.655,3.656,3.66,3.661,3.671,3.677,3.683,3.693,3.704,3.705,3.714,3.73,3.73,3.75,3.751,3.756,3.769,3.77,3.785,3.798,3.799,3.812,3.828,3.832,3.837,3.84,3.866,3.873,3.886,3.894,3.902,3.922,3.93,3.936,3.954,3.964,3.965,3.997,4.018,4.032,4.048,4.065,4.067,4.08,0.016,0.016,0.016,0.016,0.016,0.016,4.085,4.037,3.998,3.95,3.924,3.896,3.876,3.839,3.807,3.763,3.755,3.732,3.691,3.675,3.641,3.625,3.602,3.579,3.557,3.53,3.498,3.484,3.46,3.441,3.418,3.408,3.38,3.37,3.345,3.335,3.302,3.293,3.272,3.264,3.238,3.221,3.192,3.19,3.161,3.155,3.137,3.116,3.109,3.098,3.087,3.061,3.036,3.035,3.022,3.016,3.007,2.989,2.979,2.962,2.955,2.941,2.923,2.912,2.903,2.893,2.887,2.869,2.862,2.855,2.84,2.83,2.822,2.807,2.789,2.782,2.78,2.77,2.752,2.752,2.732,2.729,2.715,2.713,2.705,2.689,2.679,2.672,2.672,2.663,2.656,2.652,2.649,2.636,2.632,2.619,2.617,2.617,2.603,2.598,2.589,2.586,2.578,2.574,2.572,2.569,2.552,2.548,2.54,2.535,2.533,2.524,2.516,2.513,2.508,2.504,2.491,2.486,2.482,2.48,2.479,2.479,2.473,2.467,2.463,2.463,2.462,2.457,2.454,2.452,2.452,2.452,2.445,2.445,2.443,2.438,2.436,2.432,2.43,2.429,2.423,2.423,2.421,2.421,2.417,2.416,2.415,2.415,2.413,2.413,2.413,2.412,2.411,2.412,2.412,2.411,2.41,2.41,2.41,2.411,2.414,2.415,2.417,2.417,2.415,2.414,2.414,2.414,2.414,2.418,2.418,2.414,2.418,2.419,2.416,2.424,2.426,2.428,2.428,2.429,2.429,2.434,2.441,2.444,2.447,2.451,2.451,2.452,2.452,2.458,2.464,2.464,2.466,2.466,2.475,2.479,2.482,2.485,2.491,2.492,2.5,2.502,2.51,2.517,2.519,2.521,2.525,2.532,2.535,2.537,2.549,2.552,2.563,2.564,2.567,2.567,2.589,2.595,2.606,2.606,2.611,2.615,2.621,2.634,2.636,2.637,2.646,2.649,2.657,2.675,2.676,2.685,2.692,2.698,2.71,2.715,2.73,2.745,2.746,2.755,2.769,2.776,2.789,2.799,2.811,2.816,2.829,2.832,2.837,2.856,2.866,2.876,2.887,2.897,2.918,2.929,2.938,2.949,2.956,2.975,2.987,2.998,3.012,3.017,3.034,3.05,3.061,3.07,3.099,3.104,3.119,3.139,3.154,3.163,3.176,3.202,3.218,3.235,3.242,3.259,3.278,3.297,3.324,3.328,3.352,3.372,3.396,3.404,3.428,3.458,3.488,3.501,3.516,3.543,3.567,3.596,3.62,3.639,3.664,3.688,3.716,3.747,3.787,3.801,3.835,3.858,3.917,3.922,4.018,4.018,4.065,0,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.353,3.342,3.333,3.324,3.303,3.299,3.299,3.282,3.262,3.259,3.253,3.238,3.237,3.234,3.218,3.207,3.204,3.198,3.183,3.181,3.174,3.174,3.158,3.154,3.151,3.15,3.134,3.133,3.119,3.116,3.113,3.11,3.104,3.101,3.092,3.09,3.082,3.081,3.075,3.071,3.071,3.067,3.063,3.056,3.055,3.049,3.043,3.039,3.039,3.041,3.041,3.037,3.025,3.024,3.023,3.023,3.023,3.023,3.029,3.029,3.029,3.021,3.017,3.014,3.014,3.014,3.012,3.011,3.011,3.005,3.005,3.002,3.002,3.002,3.005,3.007,3.009,3.01,3.012,3.013,3.013,3.013,3.012,3.011,3.011,3.013,3.013,3.013,3.025,3.025,3.026,3.028,3.028,3.028,3.029,3.035,3.037,3.037,3.04,3.04,3.045,3.051,3.054,3.059,3.06,3.061,3.065,3.077,3.078,3.085,3.091,3.091,3.092,3.092,3.097,3.105,3.11,3.112,3.118,3.131,3.131,3.138,3.138,3.139,3.139,3.147,3.151,3.158,3.16,3.16,3.163,3.173,3.178,3.186,3.202,3.203,3.22,3.222,3.227,3.233,3.233,3.233,3.241,3.244,3.261,3.278,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 95.88} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 95.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 95.8823} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546} SEN {Time 95.9306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.178,0.185,0.185,0,0,0,0,0,0,0,0,3.676,3.673,3.655,3.652,3.647,3.628,3.615,3.615,3.615,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.213,3.213,3.218,3.262,3.363,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.144,0.144,0.145,0.153,0.145,0.153,0.153,0.158,0.16,3.035,3.04,3.04,3.04,3.035,3.033,0.163,0.155,0.155,0.155,0.153,0.152,0.151,0.145,0.144,0.119,0.098,0.068,0.063,0.061,0.061,0.061,0.061,0.065,0.067,0.067,0.061,0.06,0.06,0.06,0.065,0.107,0.174,0.236,3.333,3.339,3.351,3.362,3.365,3.369,3.374,3.388,3.411,0.007,3.473,3.473,3.481,3.474,3.481,3.486,3.498,3.498,3.502,3.502,3.505,3.514,3.519,3.519,3.52,3.522,3.526,3.534,3.534,3.54,3.541,3.544,3.546,3.549,3.558,3.558,3.565,3.569,3.571,3.573,3.582,3.586,3.595,3.598,3.6,3.618,3.624,3.632,3.634,3.637,3.637,3.644,3.645,3.65,3.658,3.668,3.673,3.682,3.695,3.695,3.7,3.708,3.724,3.73,3.732,3.745,3.75,3.751,3.767,3.769,3.781,3.79,3.804,3.813,3.816,3.828,3.831,3.836,3.868,3.872,3.876,3.898,3.899,3.922,3.928,3.943,3.959,3.968,3.987,3.991,4.012,4.025,4.035,4.068,4.077,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.064,4.015,3.96,3.929,3.898,3.872,3.846,3.81,3.784,3.757,3.728,3.693,3.671,3.652,3.62,3.607,3.562,3.532,3.527,3.497,3.491,3.454,3.436,3.415,3.41,3.37,3.362,3.354,3.325,3.303,3.298,3.27,3.256,3.233,3.215,3.199,3.192,3.171,3.164,3.134,3.119,3.102,3.097,3.084,3.059,3.042,3.042,3.039,3.019,3,2.989,2.98,2.963,2.951,2.945,2.925,2.922,2.902,2.888,2.87,2.866,2.865,2.845,2.835,2.821,2.816,2.807,2.785,2.785,2.782,2.763,2.755,2.751,2.738,2.728,2.727,2.717,2.703,2.701,2.683,2.678,2.67,2.662,2.659,2.651,2.641,2.638,2.636,2.623,2.62,2.603,2.602,2.599,2.586,2.584,2.58,2.569,2.565,2.561,2.553,2.55,2.542,2.539,2.534,2.52,2.517,2.512,2.509,2.509,2.498,2.495,2.487,2.487,2.482,2.479,2.478,2.474,2.468,2.468,2.464,2.46,2.452,2.45,2.448,2.448,2.448,2.444,2.444,2.443,2.436,2.434,2.423,2.423,2.421,2.421,2.419,2.417,2.417,2.414,2.414,2.415,2.415,2.414,2.412,2.407,2.407,2.409,2.409,2.409,2.409,2.408,2.408,2.409,2.417,2.417,2.417,2.416,2.412,2.412,2.414,2.414,2.415,2.417,2.417,2.417,2.418,2.419,2.418,2.421,2.424,2.426,2.428,2.434,2.435,2.435,2.439,2.441,2.445,2.448,2.449,2.452,2.453,2.454,2.466,2.466,2.472,2.474,2.474,2.475,2.476,2.485,2.488,2.49,2.492,2.495,2.51,2.511,2.513,2.518,2.529,2.534,2.535,2.541,2.548,2.55,2.567,2.568,2.574,2.575,2.59,2.596,2.596,2.604,2.605,2.611,2.619,2.628,2.642,2.646,2.647,2.655,2.667,2.674,2.683,2.685,2.699,2.713,2.719,2.721,2.722,2.745,2.747,2.758,2.765,2.778,2.785,2.796,2.808,2.814,2.831,2.842,2.843,2.858,2.87,2.88,2.888,2.903,2.914,2.924,2.936,2.951,2.956,2.971,2.981,2.997,3.012,3.018,3.04,3.042,3.062,3.08,3.091,3.103,3.121,3.135,3.157,3.17,3.176,3.195,3.214,3.233,3.247,3.262,3.283,3.294,3.315,3.338,3.343,3.37,3.393,3.404,3.432,3.452,3.485,3.503,3.518,3.532,3.574,3.577,3.612,3.64,3.663,3.689,3.717,3.747,3.779,3.793,3.836,3.85,3.895,3.91,3.992,0.007,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.341,3.339,3.326,3.31,3.305,3.295,3.291,3.28,3.263,3.258,3.25,3.241,3.24,3.233,3.219,3.213,3.205,3.196,3.185,3.182,3.172,3.168,3.159,3.154,3.148,3.147,3.139,3.134,3.12,3.119,3.118,3.112,3.103,3.101,3.089,3.085,3.084,3.084,3.081,3.078,3.064,3.061,3.061,3.061,3.051,3.045,3.042,3.041,3.041,3.038,3.034,3.033,3.032,3.029,3.025,3.025,3.025,3.025,3.029,3.029,3.029,3.02,3.016,3.014,3.014,3.013,3.013,3.01,3.013,3.01,3.009,3.008,3.008,3.005,3.005,3.005,3.005,3.012,3.012,3.012,3.011,3.011,3.011,3.011,3.017,3.017,3.017,3.017,3.019,3.019,3.02,3.024,3.024,3.027,3.031,3.032,3.036,3.036,3.038,3.04,3.049,3.054,3.056,3.061,3.061,3.061,3.07,3.074,3.077,3.085,3.086,3.092,3.092,3.096,3.099,3.106,3.107,3.109,3.122,3.13,3.13,3.13,3.13,3.131,3.131,3.146,3.147,3.148,3.161,3.163,3.168,3.17,3.176,3.182,3.202,3.21,3.217,3.23,3.23,3.231,3.235,3.237,3.24,3.247,3.263,3.271,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 96.08} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 96.08} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 96.0833} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.207} SEN {Time 96.1306} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.174,0.176,0.176,0.176,0.176,0,0,0,0,0,0,0,0,3.682,3.677,3.662,3.66,3.652,3.638,3.625,3.625,3.625,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.222,3.213,3.209,3.209,3.209,3.259,3.356,0,0,0,0,0,0,0,0,0.143,0.143,0.143,0.151,0.146,0.15,0.15,0.151,0.15,0.151,0.151,0.156,0.156,3.036,3.036,3.036,3.036,3.029,3.029,3.029,0.156,0.152,0.152,0.152,0.151,0.152,0.147,0.147,0.118,0.092,0.067,0.066,0.06,0.06,0.06,0.064,0.064,0.067,0.067,0.067,0.061,0.061,0.061,0.069,0.099,0.179,3.341,3.342,3.355,3.355,3.362,3.365,3.375,3.384,3.405,3.436,3.436,3.437,3.45,3.45,3.467,3.483,3.486,3.499,3.501,3.505,3.509,3.509,3.513,3.515,3.516,3.527,3.532,3.533,3.533,3.535,3.538,3.54,3.543,3.548,3.548,3.553,3.564,3.566,3.572,3.573,3.577,3.579,3.58,3.593,3.599,3.605,3.611,3.621,3.63,3.633,3.634,3.643,3.653,3.658,3.659,3.661,3.669,3.675,3.682,3.686,3.696,3.705,3.71,3.713,3.726,3.74,3.742,3.76,3.762,3.762,3.776,3.784,3.791,3.803,3.816,3.819,3.832,3.84,3.853,3.867,3.877,3.883,3.899,3.903,3.909,3.919,3.948,3.963,3.97,3.982,4.006,4.015,4.035,4.049,4.061,4.077,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.018,3.989,3.964,3.926,3.896,3.868,3.835,3.816,3.792,3.755,3.731,3.697,3.688,3.642,3.637,3.607,3.579,3.553,3.517,3.487,3.487,3.459,3.451,3.441,3.4,3.389,3.369,3.35,3.337,3.305,3.3,3.273,3.254,3.233,3.229,3.193,3.183,3.167,3.158,3.131,3.129,3.104,3.092,3.078,3.061,3.048,3.038,3.023,3.007,3.003,2.987,2.979,2.972,2.954,2.935,2.923,2.92,2.903,2.892,2.873,2.867,2.863,2.853,2.83,2.821,2.818,2.807,2.793,2.785,2.785,2.765,2.763,2.754,2.74,2.73,2.716,2.715,2.702,2.691,2.688,2.68,2.67,2.666,2.657,2.652,2.648,2.643,2.629,2.621,2.618,2.607,2.607,2.596,2.595,2.579,2.579,2.572,2.571,2.569,2.561,2.556,2.545,2.534,2.532,2.524,2.516,2.511,2.505,2.501,2.495,2.491,2.49,2.486,2.481,2.479,2.475,2.474,2.466,2.463,2.462,2.461,2.454,2.454,2.448,2.448,2.448,2.447,2.447,2.441,2.437,2.435,2.43,2.43,2.424,2.424,2.42,2.42,2.418,2.418,2.415,2.413,2.412,2.411,2.411,2.409,2.409,2.409,2.409,2.409,2.408,2.408,2.408,2.41,2.414,2.414,2.414,2.413,2.412,2.412,2.412,2.412,2.419,2.419,2.421,2.42,2.421,2.421,2.424,2.424,2.424,2.424,2.429,2.431,2.435,2.439,2.439,2.441,2.443,2.443,2.449,2.452,2.455,2.455,2.464,2.465,2.466,2.472,2.475,2.48,2.485,2.487,2.49,2.491,2.495,2.499,2.508,2.516,2.518,2.518,2.524,2.53,2.534,2.537,2.547,2.556,2.56,2.563,2.57,2.578,2.591,2.597,2.603,2.605,2.605,2.611,2.625,2.63,2.638,2.641,2.649,2.653,2.666,2.666,2.681,2.69,2.696,2.707,2.72,2.723,2.73,2.741,2.747,2.756,2.767,2.773,2.786,2.793,2.803,2.815,2.834,2.836,2.851,2.859,2.869,2.87,2.888,2.9,2.917,2.928,2.944,2.955,2.963,2.971,2.987,2.996,3.015,3.025,3.033,3.051,3.057,3.077,3.09,3.103,3.123,3.14,3.151,3.163,3.178,3.202,3.214,3.233,3.247,3.262,3.274,3.299,3.327,3.329,3.346,3.368,3.394,3.403,3.439,3.46,3.485,3.509,3.519,3.539,3.574,3.595,3.615,3.639,3.67,3.699,3.723,3.754,3.781,3.803,3.835,3.863,3.899,3.921,3.999,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.346,3.331,3.331,3.316,3.316,3.316,3.301,3.294,3.275,3.261,3.246,3.24,3.237,3.236,3.216,3.207,3.204,3.195,3.184,3.18,3.175,3.167,3.166,3.157,3.149,3.147,3.14,3.132,3.129,3.119,3.114,3.11,3.106,3.102,3.092,3.084,3.083,3.078,3.076,3.076,3.071,3.065,3.06,3.06,3.044,3.044,3.044,3.04,3.04,3.039,3.035,3.034,3.026,3.026,3.025,3.02,3.02,3.02,3.035,3.035,3.035,3.019,3.018,3.012,3.01,3.009,3.009,3.009,3.009,3.009,3.008,3.007,3.008,3.008,3.008,3.008,3.008,3.012,3.008,3.008,3.008,3.013,3.013,3.015,3.016,3.018,3.018,3.018,3.018,3.018,3.02,3.024,3.029,3.031,3.032,3.032,3.033,3.034,3.038,3.041,3.051,3.054,3.054,3.055,3.063,3.064,3.071,3.076,3.077,3.084,3.088,3.091,3.092,3.092,3.104,3.108,3.113,3.114,3.126,3.129,3.129,3.134,3.135,3.137,3.137,3.144,3.145,3.145,3.156,3.162,3.169,3.173,3.178,3.186,3.202,3.204,3.22,3.225,3.227,3.233,3.234,3.239,3.242,3.251,3.252,3.283,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 96.28} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 96.28} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 96.2832} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.207} SEN {Time 96.3266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.183,0.179,0.183,0.183,0,0,0,0,0,0,0,0,0,3.677,3.675,3.661,3.648,3.627,3.612,3.612,3.61,3.61,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.217,3.205,3.217,3.217,3.257,3.353,0,0,0,0,0,0,0,0.148,0.142,0.142,0.139,0.139,0.143,0.143,0.145,0.153,0.147,0.153,0.153,0.153,0.153,3.025,3.038,3.038,3.038,3.037,3.039,3.037,0.157,0.152,0.152,0.152,0.152,0.148,0.143,0.139,0.12,0.101,0.074,0.066,0.064,0.064,0.064,0.064,0.065,0.068,0.068,0.068,0.068,0.067,0.067,0.067,0.101,0.18,3.341,3.351,3.365,3.365,3.365,3.365,3.377,3.399,0.007,3.427,3.427,3.44,3.44,3.458,3.472,3.474,3.483,3.492,3.498,3.505,3.506,3.506,3.506,3.507,3.511,3.526,3.533,3.535,3.538,3.538,3.538,3.539,3.542,3.547,3.553,3.553,3.56,3.561,3.574,3.574,3.579,3.585,3.585,3.602,3.605,3.607,3.607,3.624,3.626,3.628,3.63,3.641,3.645,3.647,3.661,3.664,3.665,3.676,3.68,3.687,3.691,3.696,3.705,3.718,3.722,3.732,3.746,3.752,3.754,3.764,3.782,3.79,3.796,3.809,3.814,3.824,3.825,3.835,3.857,3.86,3.876,3.884,3.896,3.906,3.929,3.932,3.948,3.958,3.965,3.984,4,4.01,4.021,4.035,4.055,4.086,4.09,0.016,0.016,0.016,0.016,0.016,4.095,4.095,4.065,4.014,3.966,3.932,3.899,3.873,3.841,3.802,3.787,3.758,3.733,3.694,3.674,3.65,3.621,3.6,3.567,3.542,3.527,3.508,3.481,3.461,3.435,3.422,3.405,3.377,3.375,3.347,3.325,3.316,3.296,3.27,3.254,3.241,3.222,3.192,3.188,3.177,3.151,3.141,3.121,3.103,3.093,3.083,3.063,3.043,3.043,3.024,3.013,3.003,2.991,2.972,2.962,2.95,2.933,2.922,2.921,2.897,2.894,2.876,2.874,2.858,2.842,2.834,2.82,2.818,2.81,2.797,2.782,2.778,2.769,2.761,2.75,2.732,2.727,2.725,2.715,2.702,2.687,2.68,2.676,2.672,2.669,2.662,2.656,2.644,2.634,2.633,2.619,2.615,2.61,2.608,2.596,2.591,2.587,2.584,2.578,2.572,2.569,2.553,2.552,2.544,2.538,2.529,2.52,2.518,2.515,2.507,2.506,2.499,2.493,2.487,2.486,2.483,2.477,2.475,2.475,2.47,2.467,2.467,2.466,2.45,2.45,2.447,2.447,2.447,2.444,2.44,2.439,2.439,2.428,2.424,2.423,2.423,2.423,2.421,2.421,2.416,2.413,2.413,2.413,2.413,2.413,2.415,2.41,2.41,2.41,2.409,2.409,2.407,2.409,2.409,2.41,2.409,2.41,2.415,2.415,2.413,2.415,2.416,2.413,2.418,2.418,2.42,2.42,2.421,2.424,2.424,2.421,2.424,2.425,2.429,2.435,2.435,2.435,2.435,2.44,2.444,2.45,2.45,2.454,2.455,2.461,2.464,2.466,2.466,2.472,2.472,2.477,2.48,2.482,2.488,2.49,2.496,2.5,2.512,2.512,2.517,2.521,2.522,2.536,2.538,2.539,2.549,2.55,2.551,2.567,2.568,2.575,2.591,2.599,2.6,2.603,2.606,2.622,2.625,2.631,2.642,2.644,2.646,2.649,2.664,2.671,2.678,2.683,2.694,2.696,2.71,2.721,2.726,2.746,2.752,2.755,2.76,2.782,2.794,2.795,2.805,2.809,2.828,2.843,2.843,2.85,2.869,2.873,2.892,2.905,2.913,2.931,2.936,2.946,2.955,2.974,2.986,2.996,3.017,3.024,3.034,3.045,3.07,3.082,3.092,3.108,3.122,3.135,3.15,3.166,3.177,3.194,3.211,3.233,3.253,3.262,3.27,3.295,3.323,3.33,3.35,3.372,3.386,3.414,3.434,3.46,3.478,3.503,3.529,3.537,3.562,3.61,3.618,3.643,3.666,3.697,3.723,3.748,3.774,3.801,3.835,3.872,3.901,3.922,3.96,4.059,4.094,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.344,3.34,3.327,3.312,3.308,3.296,3.29,3.284,3.266,3.264,3.249,3.237,3.237,3.237,3.23,3.216,3.206,3.199,3.184,3.181,3.175,3.163,3.16,3.154,3.152,3.142,3.139,3.132,3.124,3.121,3.116,3.104,3.1,3.099,3.09,3.083,3.08,3.08,3.077,3.071,3.068,3.065,3.061,3.055,3.052,3.045,3.042,3.042,3.042,3.04,3.039,3.039,3.029,3.028,3.027,3.026,3.028,3.028,3.028,3.028,3.028,3.018,3.016,3.016,3.016,3.013,3.009,3.009,3.009,3.008,3.008,3.006,3.002,3.002,3.002,3.006,3.013,3.014,3.014,3.006,3.009,3.009,3.009,3.013,3.013,3.018,3.017,3.018,3.02,3.022,3.026,3.026,3.027,3.027,3.031,3.031,3.032,3.033,3.044,3.045,3.049,3.052,3.059,3.059,3.059,3.061,3.064,3.072,3.076,3.087,3.087,3.088,3.094,3.097,3.099,3.106,3.106,3.115,3.125,3.128,3.129,3.132,3.132,3.132,3.132,3.146,3.148,3.148,3.158,3.17,3.17,3.172,3.175,3.182,3.198,3.207,3.215,3.219,3.228,3.232,3.232,3.246,3.255,3.263,3.279,3.279,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 96.48} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 96.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 96.4843} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.207} SEN {Time 96.5266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.194,0.184,0.194,0.194,0,0,0,0,0,0,0,0,3.691,3.682,3.67,3.661,3.641,3.629,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.218,3.207,3.218,3.218,3.266,3.353,0,0,0,0,0,0,0,0,0.147,0.147,0.147,0.15,0.145,0.145,0.145,0.153,0.151,0.153,0.153,0.158,0.159,3.025,3.034,3.034,3.034,3.029,3.037,3.029,0.163,0.158,0.158,0.152,0.153,0.152,0.147,0.144,0.124,0.088,0.068,0.064,0.064,0.063,0.063,0.064,0.066,0.069,0.069,0.066,0.063,0.062,0.062,0.062,0.095,0.178,3.333,3.34,3.355,3.355,3.385,3.385,3.385,0.007,0,3.434,3.435,3.435,3.435,3.459,3.466,3.484,3.486,3.495,3.495,3.498,3.51,3.514,3.516,3.516,3.522,3.525,3.526,3.526,3.533,3.534,3.536,3.544,3.546,3.551,3.551,3.557,3.561,3.57,3.574,3.578,3.578,3.579,3.581,3.585,3.598,3.611,3.612,3.621,3.63,3.632,3.634,3.647,3.65,3.652,3.654,3.663,3.666,3.678,3.679,3.682,3.691,3.697,3.716,3.718,3.726,3.734,3.751,3.76,3.763,3.769,3.776,3.781,3.797,3.803,3.817,3.822,3.831,3.838,3.845,3.858,3.879,3.891,3.896,3.901,3.918,3.935,3.939,3.953,3.964,3.983,3.998,4.018,4.028,4.035,4.06,4.072,4.095,0.016,0.016,0.016,0.007,0,0.007,0,0.007,4.01,4.01,3.958,3.934,3.868,3.826,3.817,3.783,3.75,3.717,3.697,3.672,3.646,3.627,3.588,3.566,3.545,3.523,3.513,3.48,3.457,3.442,3.419,3.406,3.377,3.368,3.351,3.338,3.318,3.289,3.279,3.254,3.235,3.225,3.202,3.173,3.167,3.157,3.139,3.118,3.11,3.092,3.078,3.065,3.038,3.037,3.012,3.01,3,2.987,2.974,2.962,2.953,2.934,2.922,2.915,2.902,2.892,2.88,2.867,2.855,2.852,2.842,2.819,2.807,2.806,2.79,2.78,2.78,2.762,2.757,2.748,2.732,2.73,2.722,2.71,2.708,2.699,2.682,2.681,2.675,2.662,2.652,2.651,2.648,2.632,2.631,2.62,2.617,2.613,2.606,2.597,2.59,2.577,2.575,2.57,2.566,2.561,2.551,2.547,2.545,2.539,2.529,2.52,2.518,2.509,2.508,2.501,2.5,2.499,2.494,2.487,2.481,2.481,2.478,2.468,2.466,2.466,2.464,2.462,2.456,2.454,2.451,2.448,2.448,2.443,2.442,2.442,2.441,2.437,2.434,2.425,2.425,2.42,2.42,2.418,2.418,2.414,2.414,2.412,2.412,2.412,2.412,2.414,2.415,2.414,2.414,2.41,2.41,2.41,2.41,2.41,2.414,2.414,2.412,2.414,2.417,2.413,2.413,2.414,2.414,2.414,2.414,2.418,2.418,2.418,2.42,2.42,2.421,2.423,2.43,2.433,2.435,2.435,2.438,2.446,2.446,2.447,2.449,2.449,2.458,2.46,2.462,2.467,2.47,2.47,2.472,2.478,2.48,2.484,2.49,2.492,2.495,2.506,2.514,2.516,2.519,2.523,2.527,2.531,2.533,2.538,2.55,2.552,2.559,2.567,2.568,2.571,2.584,2.594,2.604,2.608,2.611,2.619,2.627,2.627,2.634,2.638,2.651,2.652,2.66,2.675,2.681,2.689,2.697,2.702,2.712,2.724,2.725,2.739,2.75,2.757,2.768,2.78,2.788,2.802,2.804,2.816,2.83,2.841,2.845,2.855,2.861,2.872,2.89,2.899,2.914,2.922,2.944,2.948,2.955,2.973,2.986,2.997,3.018,3.023,3.041,3.042,3.064,3.082,3.096,3.104,3.119,3.139,3.153,3.165,3.176,3.2,3.224,3.231,3.248,3.261,3.276,3.294,3.328,3.341,3.35,3.372,3.395,3.405,3.432,3.462,3.475,3.496,3.529,3.537,3.563,3.602,3.618,3.635,3.673,3.681,3.719,3.759,3.792,3.8,3.828,3.864,3.894,3.914,3.955,4.067,4.09,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.349,3.343,3.329,3.311,3.302,3.301,3.296,3.274,3.269,3.262,3.256,3.238,3.237,3.236,3.213,3.208,3.206,3.191,3.188,3.179,3.175,3.173,3.155,3.147,3.147,3.14,3.136,3.131,3.125,3.116,3.114,3.114,3.114,3.11,3.103,3.095,3.085,3.081,3.075,3.07,3.07,3.061,3.06,3.06,3.057,3.05,3.045,3.044,3.039,3.034,3.034,3.033,3.032,3.027,3.024,3.018,3.018,3.018,3.034,3.034,3.034,3.025,3.02,3.019,3.013,3.013,3.011,3.008,3.011,3.008,3.005,3.005,3.004,3.004,3.008,3.008,3.008,3.01,3.015,3.015,3.015,3.015,3.015,3.017,3.017,3.017,3.017,3.017,3.018,3.018,3.018,3.022,3.029,3.029,3.031,3.033,3.036,3.036,3.045,3.045,3.047,3.054,3.055,3.055,3.06,3.065,3.068,3.07,3.082,3.085,3.085,3.086,3.089,3.094,3.096,3.109,3.109,3.114,3.13,3.13,3.13,3.132,3.134,3.14,3.14,3.144,3.144,3.156,3.159,3.161,3.166,3.168,3.171,3.191,3.202,3.213,3.22,3.224,3.228,3.235,3.242,3.243,3.243,3.258,3.263,3.278,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 96.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 96.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 96.6853} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 96.7266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.183,0.187,0.187,0,0,0,0,0,0,0,0,0,3.675,3.666,3.657,3.646,3.632,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.217,3.216,3.217,3.219,3.244,3.356,0,0,0,0,0,0,0,0.153,0.147,0.147,0.147,0.147,0.146,0.146,0.146,0.155,0.154,0.154,0.154,0.154,0.154,3.032,3.032,3.032,3.032,3.031,3.031,3.031,0.157,0.156,0.156,0.156,0.152,0.152,0.146,0.143,0.119,0.092,0.068,0.064,0.059,0.059,0.059,0.059,0.059,0.066,0.066,0.064,0.064,0.06,0.06,0.06,0.095,0.188,3.329,3.343,3.353,3.353,3.357,3.357,3.368,3.37,3.37,3.403,3.436,3.445,3.47,3.47,3.479,3.48,3.485,3.497,3.501,3.502,3.504,3.508,3.511,3.517,3.522,3.522,3.525,3.53,3.532,3.537,3.545,3.545,3.544,3.545,3.554,3.555,3.557,3.559,3.562,3.567,3.581,3.585,3.585,3.598,3.601,3.603,3.612,3.617,3.624,3.632,3.642,3.643,3.647,3.648,3.664,3.667,3.67,3.677,3.678,3.681,3.697,3.698,3.714,3.717,3.724,3.739,3.746,3.752,3.752,3.763,3.767,3.782,3.802,3.802,3.818,3.819,3.834,3.835,3.848,3.873,3.878,3.881,3.89,3.913,3.922,3.929,3.955,3.965,3.966,3.974,3.989,4.004,4.026,4.033,4.069,4.082,4.085,0.016,0.016,0.016,0,0.007,0.016,4.061,4.028,3.996,3.962,3.933,3.903,3.881,3.834,3.809,3.777,3.754,3.726,3.705,3.678,3.645,3.629,3.604,3.576,3.539,3.532,3.5,3.485,3.457,3.448,3.419,3.396,3.379,3.368,3.345,3.324,3.306,3.305,3.278,3.255,3.232,3.23,3.197,3.192,3.173,3.147,3.139,3.118,3.106,3.092,3.085,3.068,3.044,3.037,3.025,3.004,2.994,2.981,2.98,2.962,2.953,2.938,2.919,2.919,2.909,2.887,2.876,2.867,2.855,2.855,2.836,2.824,2.816,2.807,2.791,2.788,2.779,2.771,2.755,2.753,2.74,2.739,2.714,2.71,2.704,2.687,2.682,2.678,2.668,2.661,2.656,2.646,2.645,2.634,2.629,2.624,2.612,2.611,2.606,2.598,2.588,2.584,2.575,2.572,2.57,2.564,2.556,2.551,2.54,2.54,2.53,2.529,2.518,2.516,2.504,2.503,2.499,2.491,2.489,2.486,2.48,2.48,2.48,2.48,2.47,2.467,2.46,2.459,2.457,2.455,2.455,2.452,2.446,2.446,2.445,2.438,2.435,2.431,2.428,2.428,2.427,2.426,2.42,2.419,2.419,2.417,2.416,2.412,2.412,2.411,2.411,2.41,2.41,2.409,2.408,2.408,2.408,2.407,2.408,2.409,2.412,2.418,2.418,2.418,2.414,2.414,2.414,2.414,2.419,2.419,2.419,2.418,2.418,2.418,2.418,2.418,2.418,2.418,2.425,2.435,2.435,2.436,2.436,2.437,2.437,2.447,2.449,2.456,2.458,2.458,2.465,2.47,2.472,2.476,2.477,2.478,2.479,2.479,2.491,2.495,2.495,2.501,2.512,2.515,2.522,2.523,2.527,2.532,2.532,2.541,2.543,2.546,2.561,2.563,2.566,2.579,2.594,2.595,2.6,2.603,2.607,2.616,2.627,2.634,2.64,2.644,2.649,2.657,2.662,2.673,2.673,2.685,2.7,2.702,2.715,2.72,2.726,2.745,2.745,2.753,2.758,2.775,2.79,2.794,2.813,2.824,2.825,2.844,2.848,2.854,2.863,2.881,2.894,2.898,2.914,2.921,2.941,2.949,2.957,2.962,2.983,2.994,3.013,3.024,3.041,3.048,3.065,3.076,3.092,3.105,3.128,3.134,3.15,3.162,3.182,3.2,3.217,3.239,3.251,3.258,3.28,3.303,3.328,3.338,3.354,3.379,3.395,3.411,3.431,3.459,3.482,3.506,3.523,3.54,3.564,3.591,3.618,3.637,3.667,3.692,3.712,3.744,3.777,3.802,3.83,3.867,3.895,3.923,3.987,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.347,3.338,3.328,3.314,3.309,3.293,3.291,3.278,3.272,3.258,3.253,3.247,3.245,3.238,3.222,3.207,3.204,3.195,3.195,3.192,3.176,3.17,3.169,3.156,3.15,3.146,3.138,3.126,3.121,3.12,3.114,3.108,3.107,3.098,3.095,3.092,3.089,3.082,3.077,3.077,3.071,3.068,3.061,3.059,3.053,3.047,3.043,3.038,3.038,3.037,3.038,3.038,3.034,3.029,3.021,3.021,3.021,3.021,3.028,3.028,3.028,3.023,3.013,3.012,3.011,3.01,3.01,3.009,3.01,3.01,3.01,3.01,3.011,3.014,3.014,3.014,3.014,3.013,3.013,3.013,3.013,3.013,3.012,3.012,3.016,3.017,3.017,3.02,3.02,3.02,3.02,3.022,3.024,3.026,3.034,3.035,3.036,3.036,3.039,3.042,3.05,3.053,3.053,3.056,3.058,3.061,3.067,3.069,3.079,3.088,3.089,3.09,3.091,3.091,3.098,3.11,3.114,3.115,3.116,3.125,3.125,3.128,3.133,3.141,3.141,3.144,3.148,3.156,3.159,3.168,3.171,3.175,3.178,3.179,3.197,3.21,3.216,3.221,3.226,3.23,3.239,3.243,3.25,3.25,3.26,3.283,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 96.88} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 96.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 96.8771} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.1176} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 96.9267} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.177,0.182,0.182,0,0,0,0,0,0,0,0,3.689,3.68,3.671,3.663,3.649,3.628,3.609,3.609,3.609,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.217,3.217,3.216,3.217,0.007,0,0.007,0,0,0,0,0,0,0,0.15,0.143,0.143,0.145,0.145,0.145,0.147,0.147,0.151,0.151,0.153,0.153,0.153,0.153,3.036,3.036,3.037,3.037,3.036,3.038,3.038,0.157,0.157,0.157,0.153,0.152,0.144,0.143,0.143,0.124,0.091,0.061,0.06,0.06,0.06,0.06,0.064,0.065,0.065,0.065,0.065,0.063,0.061,0.061,0.061,0.096,0.174,3.33,3.336,3.363,3.363,3.363,3.368,3.396,3.396,0,0.007,3.439,3.439,3.469,3.469,3.478,3.485,3.487,3.496,3.497,3.501,3.511,3.512,3.512,3.513,3.521,3.523,3.523,3.53,3.532,3.532,3.541,3.541,3.544,3.546,3.55,3.552,3.563,3.566,3.573,3.573,3.576,3.579,3.582,3.597,3.599,3.608,3.608,3.627,3.629,3.637,3.637,3.647,3.648,3.652,3.655,3.669,3.669,3.672,3.672,3.68,3.697,3.697,3.71,3.726,3.73,3.73,3.748,3.757,3.761,3.778,3.778,3.78,3.791,3.805,3.809,3.815,3.838,3.839,3.851,3.853,3.87,3.877,3.882,3.894,3.915,3.928,3.946,3.955,3.961,3.99,3.998,4.01,4.039,4.048,4.051,4.081,4.087,0.016,0.016,0.016,0.016,0.007,0.016,4.056,4.032,3.985,3.971,3.92,3.894,3.872,3.837,3.808,3.776,3.751,3.729,3.708,3.678,3.647,3.63,3.606,3.573,3.55,3.515,3.499,3.484,3.471,3.44,3.419,3.4,3.384,3.366,3.34,3.325,3.307,3.295,3.274,3.255,3.234,3.224,3.201,3.188,3.171,3.153,3.143,3.13,3.113,3.092,3.091,3.075,3.052,3.052,3.038,3.024,3.002,2.993,2.978,2.965,2.956,2.94,2.927,2.916,2.901,2.896,2.875,2.874,2.853,2.85,2.836,2.835,2.812,2.803,2.785,2.784,2.781,2.762,2.758,2.758,2.737,2.727,2.716,2.715,2.706,2.699,2.685,2.678,2.678,2.661,2.656,2.65,2.65,2.638,2.637,2.62,2.616,2.61,2.609,2.604,2.582,2.579,2.578,2.577,2.569,2.561,2.555,2.549,2.548,2.539,2.532,2.527,2.522,2.514,2.508,2.504,2.497,2.493,2.487,2.487,2.481,2.481,2.478,2.473,2.472,2.466,2.464,2.464,2.458,2.456,2.454,2.446,2.444,2.444,2.444,2.441,2.441,2.436,2.425,2.425,2.425,2.423,2.423,2.417,2.417,2.415,2.415,2.417,2.417,2.415,2.414,2.412,2.41,2.406,2.406,2.406,2.406,2.406,2.406,2.411,2.411,2.411,2.411,2.41,2.41,2.41,2.41,2.415,2.415,2.424,2.424,2.418,2.42,2.42,2.42,2.424,2.425,2.425,2.43,2.43,2.431,2.434,2.437,2.438,2.443,2.452,2.452,2.453,2.457,2.459,2.463,2.466,2.468,2.47,2.476,2.477,2.479,2.486,2.488,2.491,2.494,2.496,2.503,2.51,2.517,2.519,2.519,2.53,2.536,2.542,2.553,2.556,2.556,2.566,2.567,2.578,2.598,2.602,2.603,2.604,2.61,2.613,2.624,2.63,2.637,2.639,2.652,2.652,2.661,2.676,2.68,2.693,2.697,2.713,2.72,2.722,2.729,2.732,2.752,2.754,2.759,2.774,2.779,2.796,2.803,2.817,2.832,2.834,2.843,2.869,2.871,2.88,2.894,2.901,2.914,2.928,2.945,2.949,2.953,2.966,2.979,2.998,3.014,3.022,3.037,3.047,3.067,3.082,3.09,3.101,3.118,3.141,3.158,3.167,3.173,3.196,3.218,3.225,3.249,3.263,3.278,3.294,3.323,3.335,3.361,3.373,3.405,3.411,3.43,3.459,3.477,3.496,3.53,3.553,3.579,3.591,3.615,3.643,3.666,3.693,3.712,3.744,3.78,3.802,3.833,3.864,3.887,3.907,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.345,3.341,3.322,3.308,3.306,3.293,3.293,3.281,3.265,3.26,3.258,3.242,3.231,3.231,3.214,3.213,3.205,3.198,3.183,3.182,3.173,3.17,3.165,3.158,3.152,3.138,3.138,3.127,3.121,3.121,3.118,3.116,3.108,3.105,3.091,3.086,3.081,3.074,3.074,3.074,3.067,3.064,3.055,3.051,3.05,3.049,3.043,3.043,3.041,3.038,3.032,3.032,3.031,3.03,3.023,3.02,3.02,3.02,3.04,3.04,3.04,3.022,3.019,3.014,3.019,3.014,3.012,3.008,3.01,3.008,3.008,3.008,3.008,3.008,3.008,3.008,3.009,3.014,3.014,3.013,3.013,3.012,3.011,3.012,3.012,3.014,3.014,3.018,3.027,3.018,3.018,3.027,3.028,3.028,3.029,3.033,3.033,3.037,3.038,3.041,3.054,3.054,3.056,3.059,3.06,3.065,3.065,3.068,3.074,3.084,3.085,3.087,3.088,3.088,3.101,3.106,3.112,3.112,3.117,3.123,3.134,3.134,3.134,3.134,3.134,3.147,3.147,3.15,3.152,3.161,3.162,3.172,3.186,3.187,3.195,3.217,3.219,3.223,3.228,3.233,3.234,3.235,3.237,3.248,3.248,3.274,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 97.08} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 97.08} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 97.0782} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.1176} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.1308} SEN {Time 97.1266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.174,0.187,0.187,0,0,0,0,0,0,0,0,3.683,3.68,3.674,3.655,3.649,3.623,3.607,3.607,3.607,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.213,3.21,3.21,3.214,3.258,3.354,0,0,0,0,0,0,0,0.153,0.148,0.146,0.146,0.146,0.146,0.147,0.149,0.153,0.149,0.153,0.153,0.155,0.155,3.029,3.032,3.039,3.039,3.032,3.039,3.039,0.161,0.158,0.158,0.155,0.151,0.149,0.147,0.144,0.122,0.089,0.066,0.066,0.064,0.064,0.064,0.064,0.064,0.066,0.069,0.069,0.069,0.059,0.059,0.059,0.097,0.174,3.325,3.331,3.354,3.354,3.355,3.376,3.376,0,0,0,0,0.007,3.48,3.48,3.485,3.485,3.486,3.487,3.494,3.496,3.508,3.511,3.515,3.516,3.521,3.524,3.524,3.528,3.535,3.539,3.54,3.54,3.546,3.551,3.553,3.56,3.561,3.569,3.573,3.576,3.577,3.586,3.588,3.594,3.598,3.601,3.61,3.617,3.627,3.634,3.642,3.644,3.646,3.652,3.656,3.661,3.668,3.674,3.681,3.692,3.697,3.707,3.708,3.717,3.729,3.736,3.744,3.748,3.756,3.767,3.774,3.78,3.797,3.803,3.811,3.819,3.819,3.845,3.848,3.858,3.873,3.881,3.902,3.91,3.915,3.921,3.943,3.951,3.952,3.989,3.996,4.012,4.024,4.05,4.057,4.08,4.083,0.016,0.016,0.016,0,0,0,0,4.037,3.982,3.955,3.92,3.909,3.873,3.834,3.814,3.794,3.751,3.731,3.699,3.683,3.652,3.629,3.606,3.574,3.547,3.522,3.514,3.484,3.456,3.442,3.417,3.407,3.37,3.37,3.342,3.329,3.309,3.295,3.278,3.256,3.234,3.228,3.195,3.191,3.177,3.148,3.138,3.128,3.103,3.099,3.085,3.066,3.042,3.04,3.019,3.018,2.994,2.988,2.985,2.958,2.955,2.931,2.929,2.925,2.908,2.899,2.878,2.871,2.863,2.851,2.849,2.833,2.817,2.804,2.792,2.779,2.777,2.768,2.766,2.746,2.738,2.733,2.722,2.721,2.703,2.696,2.69,2.671,2.671,2.667,2.658,2.653,2.652,2.633,2.629,2.621,2.612,2.609,2.602,2.594,2.591,2.583,2.582,2.571,2.565,2.561,2.561,2.547,2.537,2.536,2.53,2.517,2.513,2.509,2.505,2.504,2.499,2.496,2.489,2.488,2.486,2.482,2.475,2.474,2.473,2.466,2.464,2.462,2.452,2.449,2.449,2.448,2.447,2.449,2.439,2.439,2.433,2.431,2.43,2.423,2.423,2.423,2.421,2.419,2.419,2.417,2.416,2.414,2.413,2.409,2.409,2.408,2.409,2.414,2.414,2.411,2.413,2.413,2.413,2.413,2.414,2.414,2.414,2.414,2.414,2.413,2.416,2.415,2.415,2.416,2.417,2.416,2.419,2.419,2.423,2.424,2.426,2.424,2.429,2.43,2.44,2.44,2.441,2.441,2.443,2.447,2.448,2.45,2.455,2.456,2.46,2.467,2.471,2.474,2.475,2.484,2.485,2.486,2.493,2.493,2.499,2.502,2.508,2.511,2.512,2.518,2.524,2.53,2.532,2.532,2.547,2.556,2.562,2.567,2.569,2.576,2.597,2.602,2.606,2.606,2.606,2.62,2.623,2.638,2.639,2.639,2.649,2.655,2.657,2.676,2.679,2.69,2.7,2.706,2.717,2.722,2.724,2.732,2.744,2.749,2.767,2.779,2.794,2.797,2.805,2.811,2.827,2.844,2.853,2.859,2.868,2.88,2.888,2.9,2.916,2.931,2.941,2.95,2.956,2.968,2.98,2.994,3.012,3.021,3.04,3.046,3.065,3.08,3.091,3.104,3.121,3.144,3.15,3.171,3.179,3.2,3.216,3.239,3.241,3.256,3.277,3.296,3.321,3.334,3.352,3.382,3.397,3.413,3.434,3.462,3.474,3.505,3.527,3.545,3.575,3.592,3.617,3.646,3.681,3.695,3.715,3.743,3.783,3.8,3.835,3.868,3.891,3.916,3.957,4.02,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.356,3.334,3.328,3.317,3.306,3.292,3.288,3.281,3.271,3.254,3.246,3.243,3.238,3.237,3.217,3.212,3.206,3.2,3.191,3.175,3.175,3.167,3.164,3.162,3.151,3.145,3.133,3.127,3.118,3.118,3.116,3.108,3.101,3.1,3.09,3.085,3.08,3.078,3.076,3.071,3.071,3.066,3.057,3.056,3.05,3.05,3.047,3.043,3.043,3.038,3.036,3.035,3.033,3.027,3.026,3.024,3.024,3.024,3.026,3.026,3.026,3.022,3.021,3.012,3.011,3.008,3.008,3.006,3.006,3.006,3.009,3.005,3.009,3.01,3.01,3.01,3.012,3.015,3.015,3.013,3.013,3.013,3.013,3.015,3.015,3.017,3.017,3.017,3.023,3.023,3.023,3.025,3.025,3.025,3.035,3.035,3.035,3.035,3.039,3.044,3.052,3.053,3.055,3.059,3.062,3.066,3.066,3.071,3.075,3.086,3.092,3.092,3.092,3.092,3.096,3.108,3.113,3.117,3.124,3.13,3.13,3.131,3.13,3.132,3.132,3.146,3.15,3.155,3.159,3.169,3.17,3.17,3.171,3.188,3.195,3.213,3.22,3.228,3.233,3.239,3.24,3.241,3.248,3.248,3.252,3.276,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 97.28} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 97.28} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 97.2791} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.1176} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.9022} SEN {Time 97.3266} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.185,0.174,0.185,0.187,0,0,0,0,0,0,0,0,3.681,3.676,3.662,3.654,3.647,3.63,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.214,3.213,3.213,3.213,3.26,3.365,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.147,0.148,0.148,0.153,0.153,0.153,0.153,0.157,0.157,3.022,3.032,3.034,3.034,3.032,3.034,3.034,0.155,0.153,0.153,0.152,0.152,0.151,0.143,0.14,0.12,0.09,0.07,0.062,0.061,0.061,0.062,0.064,0.066,0.068,0.068,0.066,0.064,0.062,0.062,0.062,0.109,0.171,3.35,3.369,3.369,3.369,3.36,3.369,3.366,3.385,0.007,3.433,3.433,3.439,3.439,3.457,3.464,3.482,3.49,3.495,3.495,3.509,3.509,3.513,3.518,3.52,3.522,3.523,3.523,3.528,3.528,3.538,3.539,3.545,3.546,3.549,3.556,3.559,3.559,3.566,3.573,3.577,3.579,3.582,3.587,3.587,3.604,3.608,3.609,3.621,3.623,3.629,3.634,3.638,3.642,3.651,3.655,3.656,3.666,3.679,3.681,3.684,3.693,3.694,3.712,3.719,3.724,3.732,3.739,3.751,3.758,3.759,3.768,3.785,3.792,3.793,3.818,3.818,3.843,3.845,3.854,3.868,3.876,3.88,3.898,3.906,3.92,3.941,3.945,3.952,3.956,3.986,3.999,4.009,4.027,4.039,4.067,4.076,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.083,4.022,3.989,3.954,3.934,3.888,3.865,3.84,3.816,3.789,3.757,3.734,3.696,3.672,3.657,3.625,3.608,3.574,3.548,3.524,3.5,3.487,3.454,3.445,3.423,3.405,3.377,3.373,3.345,3.326,3.315,3.287,3.269,3.254,3.242,3.222,3.194,3.194,3.17,3.155,3.147,3.123,3.107,3.094,3.08,3.062,3.041,3.041,3.038,3.025,2.999,2.993,2.979,2.959,2.955,2.937,2.923,2.919,2.898,2.898,2.875,2.868,2.859,2.85,2.837,2.821,2.815,2.812,2.792,2.789,2.777,2.771,2.754,2.749,2.739,2.731,2.718,2.715,2.7,2.698,2.68,2.677,2.676,2.657,2.656,2.653,2.644,2.64,2.635,2.617,2.61,2.607,2.598,2.592,2.584,2.582,2.575,2.573,2.569,2.557,2.553,2.552,2.541,2.539,2.536,2.524,2.519,2.518,2.509,2.503,2.501,2.491,2.489,2.489,2.487,2.482,2.473,2.471,2.466,2.465,2.463,2.462,2.458,2.455,2.453,2.451,2.448,2.446,2.445,2.439,2.435,2.434,2.432,2.431,2.425,2.424,2.421,2.415,2.415,2.413,2.413,2.413,2.413,2.413,2.41,2.412,2.412,2.412,2.412,2.412,2.412,2.408,2.408,2.412,2.407,2.412,2.412,2.409,2.409,2.409,2.409,2.415,2.416,2.418,2.419,2.419,2.419,2.423,2.42,2.421,2.423,2.425,2.425,2.433,2.435,2.439,2.441,2.443,2.447,2.447,2.45,2.451,2.455,2.458,2.466,2.47,2.475,2.477,2.479,2.479,2.485,2.486,2.491,2.492,2.496,2.497,2.501,2.514,2.517,2.519,2.52,2.531,2.536,2.54,2.55,2.553,2.559,2.561,2.576,2.576,2.592,2.603,2.605,2.608,2.611,2.615,2.621,2.631,2.633,2.637,2.643,2.649,2.665,2.679,2.683,2.688,2.697,2.706,2.719,2.727,2.728,2.737,2.747,2.752,2.754,2.774,2.793,2.793,2.806,2.817,2.831,2.846,2.847,2.855,2.867,2.878,2.894,2.9,2.914,2.927,2.947,2.953,2.955,2.97,2.983,3,3.017,3.024,3.044,3.045,3.065,3.077,3.087,3.103,3.13,3.136,3.151,3.167,3.18,3.205,3.221,3.234,3.251,3.258,3.283,3.301,3.322,3.337,3.349,3.383,3.394,3.414,3.432,3.455,3.471,3.488,3.524,3.54,3.574,3.594,3.616,3.643,3.677,3.692,3.724,3.742,3.778,3.813,3.827,3.86,3.887,3.914,3.985,0.007,0.016,0.016,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.351,3.341,3.325,3.324,3.306,3.303,3.284,3.276,3.261,3.259,3.247,3.242,3.242,3.241,3.241,3.206,3.203,3.197,3.189,3.183,3.17,3.166,3.154,3.153,3.152,3.144,3.137,3.129,3.117,3.116,3.115,3.11,3.108,3.099,3.099,3.094,3.081,3.08,3.075,3.075,3.069,3.067,3.061,3.061,3.051,3.048,3.047,3.045,3.04,3.038,3.038,3.038,3.029,3.027,3.027,3.027,3.027,3.027,3.027,3.027,3.027,3.022,3.016,3.016,3.016,3.013,3.011,3.01,3.007,3.006,3.006,3.005,3.005,3.006,3.009,3.009,3.011,3.011,3.011,3.014,3.014,3.015,3.011,3.011,3.011,3.016,3.012,3.019,3.021,3.019,3.019,3.019,3.021,3.025,3.03,3.037,3.038,3.038,3.043,3.044,3.047,3.051,3.058,3.061,3.062,3.063,3.067,3.074,3.074,3.085,3.087,3.087,3.089,3.094,3.102,3.105,3.118,3.121,3.121,3.131,3.131,3.138,3.133,3.14,3.142,3.149,3.152,3.154,3.159,3.162,3.166,3.171,3.174,3.184,3.197,3.201,3.217,3.217,3.219,3.237,3.238,3.239,3.239,3.245,3.255,3.287,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 97.48} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 97.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 97.4802} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 4.9022} SEN {Time 97.5226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.185,0.185,0.185,0,0,0,0,0,0,0,0,3.686,3.672,3.662,3.659,3.643,3.631,3.614,3.614,3.614,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.248,3.23,3.221,3.218,3.218,3.221,3.264,3.365,0,0,0,0,0,0,0,0.007,0.146,0.146,0.142,0.142,0.147,0.147,0.147,0.147,0.147,0.147,0.147,0.151,0.151,3.033,3.033,3.033,3.033,3.033,3.033,3.029,0.156,0.152,0.152,0.152,0.152,0.15,0.148,0.145,0.114,0.094,0.066,0.065,0.064,0.065,0.066,0.065,0.066,0.066,0.064,0.063,0.061,0.06,0.06,0.06,0.102,0.18,3.338,3.349,3.365,3.365,3.365,3.377,3.388,3.388,3.388,3.398,3.416,3.423,3.441,3.459,3.473,3.479,3.487,3.494,3.497,3.498,3.503,3.507,3.518,3.521,3.527,3.527,3.527,3.537,3.543,3.544,3.544,3.547,3.548,3.552,3.552,3.557,3.563,3.563,3.573,3.577,3.578,3.578,3.579,3.595,3.599,3.608,3.612,3.616,3.621,3.627,3.639,3.643,3.645,3.648,3.652,3.659,3.662,3.668,3.683,3.69,3.691,3.698,3.715,3.723,3.735,3.735,3.74,3.751,3.755,3.768,3.774,3.783,3.795,3.801,3.821,3.826,3.834,3.849,3.861,3.866,3.866,3.885,3.901,3.907,3.918,3.935,3.955,3.962,3.97,3.989,3.994,4.007,4.016,4.046,4.072,4.073,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.059,3.998,3.975,3.932,3.9,3.859,3.837,3.814,3.768,3.749,3.732,3.691,3.681,3.652,3.624,3.609,3.576,3.546,3.536,3.502,3.493,3.461,3.445,3.417,3.416,3.375,3.375,3.354,3.34,3.303,3.293,3.269,3.26,3.232,3.23,3.196,3.177,3.175,3.161,3.143,3.121,3.116,3.1,3.078,3.071,3.041,3.035,3.017,3.006,3.004,2.986,2.975,2.965,2.953,2.943,2.927,2.915,2.911,2.887,2.879,2.873,2.862,2.845,2.838,2.833,2.817,2.812,2.796,2.787,2.779,2.775,2.764,2.751,2.739,2.729,2.715,2.709,2.709,2.7,2.674,2.673,2.672,2.66,2.657,2.654,2.652,2.641,2.633,2.623,2.617,2.612,2.602,2.596,2.591,2.584,2.583,2.577,2.572,2.571,2.556,2.542,2.538,2.538,2.533,2.519,2.517,2.51,2.507,2.506,2.498,2.488,2.488,2.486,2.485,2.473,2.473,2.471,2.467,2.467,2.464,2.461,2.46,2.458,2.453,2.453,2.453,2.444,2.444,2.442,2.44,2.436,2.426,2.426,2.424,2.424,2.419,2.419,2.416,2.415,2.415,2.415,2.415,2.411,2.411,2.406,2.406,2.41,2.411,2.411,2.411,2.41,2.411,2.411,2.409,2.411,2.411,2.414,2.414,2.414,2.414,2.418,2.42,2.42,2.42,2.42,2.42,2.421,2.421,2.424,2.424,2.429,2.431,2.433,2.441,2.443,2.444,2.445,2.445,2.446,2.449,2.449,2.451,2.453,2.465,2.465,2.468,2.468,2.468,2.476,2.477,2.489,2.494,2.498,2.503,2.505,2.514,2.516,2.52,2.522,2.53,2.532,2.532,2.534,2.547,2.552,2.554,2.563,2.569,2.57,2.59,2.596,2.606,2.611,2.612,2.616,2.617,2.63,2.633,2.638,2.643,2.649,2.661,2.669,2.675,2.687,2.697,2.7,2.716,2.728,2.73,2.739,2.752,2.753,2.772,2.783,2.788,2.795,2.797,2.812,2.829,2.836,2.84,2.855,2.869,2.878,2.889,2.903,2.919,2.922,2.944,2.95,2.956,2.971,2.989,2.996,3.016,3.022,3.038,3.042,3.064,3.087,3.093,3.102,3.114,3.132,3.156,3.172,3.18,3.205,3.224,3.232,3.252,3.259,3.279,3.3,3.317,3.338,3.36,3.377,3.398,3.406,3.438,3.469,3.472,3.5,3.523,3.537,3.576,3.592,3.603,3.647,3.67,3.687,3.721,3.747,3.779,3.795,3.829,3.873,3.893,3.923,3.947,3.999,4.034,0.016,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.354,3.349,3.329,3.314,3.312,3.299,3.296,3.28,3.269,3.26,3.249,3.244,3.238,3.234,3.216,3.215,3.213,3.199,3.186,3.182,3.175,3.171,3.16,3.158,3.152,3.146,3.143,3.132,3.125,3.119,3.114,3.114,3.11,3.097,3.092,3.086,3.084,3.082,3.081,3.081,3.067,3.064,3.062,3.058,3.057,3.049,3.044,3.042,3.04,3.038,3.038,3.033,3.032,3.032,3.026,3.02,3.026,3.026,3.025,3.025,3.025,3.017,3.017,3.017,3.015,3.014,3.015,3.009,3.009,3.007,3.007,3.007,3.007,3.01,3.01,3.01,3.01,3.01,3.014,3.014,3.014,3.014,3.014,3.013,3.013,3.021,3.015,3.021,3.021,3.021,3.021,3.03,3.03,3.031,3.031,3.031,3.031,3.035,3.036,3.043,3.049,3.054,3.054,3.055,3.063,3.063,3.067,3.07,3.077,3.091,3.091,3.092,3.093,3.097,3.101,3.107,3.107,3.117,3.119,3.13,3.13,3.13,3.134,3.135,3.135,3.14,3.146,3.153,3.163,3.164,3.174,3.178,3.181,3.185,3.2,3.206,3.206,3.228,3.229,3.235,3.237,3.242,3.245,3.252,3.267,3.276,3.279,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 97.68} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 97.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 97.6812} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 97.7226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.174,0.179,0.183,0,0,0,0,0,0,0,0,3.69,3.679,3.668,3.655,3.639,3.632,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.217,3.214,3.214,3.214,3.264,3.355,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.147,0.148,0.148,0.148,0.157,0.155,0.157,0.157,0.157,0.157,3.029,3.034,3.034,3.034,3.029,3.034,3.028,0.162,0.161,0.161,0.156,0.152,0.148,0.14,0.14,0.12,0.087,0.065,0.062,0.06,0.06,0.06,0.06,0.061,0.064,0.064,0.063,0.063,0.063,0.063,0.063,0.096,0.174,3.333,3.338,3.362,3.362,3.362,3.365,3.368,3.378,3.388,3.407,3.431,3.432,3.474,3.475,3.476,3.476,3.48,3.492,3.494,3.504,3.506,3.506,3.511,3.513,3.52,3.53,3.535,3.536,3.536,3.538,3.538,3.539,3.539,3.552,3.552,3.552,3.566,3.567,3.574,3.575,3.576,3.581,3.585,3.596,3.6,3.609,3.613,3.618,3.625,3.626,3.63,3.643,3.65,3.652,3.652,3.664,3.666,3.682,3.685,3.688,3.695,3.698,3.708,3.717,3.736,3.737,3.752,3.762,3.764,3.764,3.768,3.78,3.796,3.806,3.812,3.821,3.831,3.833,3.853,3.869,3.875,3.887,3.889,3.906,3.917,3.932,3.945,3.958,3.974,3.978,3.985,4.013,4.027,4.056,4.068,4.078,0.016,0.016,0.016,0.016,0.007,0.016,4.092,4.059,4.03,3.987,3.952,3.928,3.903,3.871,3.842,3.819,3.787,3.762,3.726,3.708,3.675,3.651,3.636,3.603,3.579,3.559,3.524,3.5,3.487,3.46,3.457,3.434,3.407,3.38,3.366,3.341,3.336,3.314,3.294,3.279,3.257,3.228,3.213,3.198,3.181,3.169,3.168,3.138,3.127,3.111,3.09,3.08,3.073,3.047,3.044,3.022,3.013,3.01,2.984,2.978,2.964,2.947,2.934,2.928,2.915,2.907,2.896,2.88,2.874,2.856,2.849,2.844,2.826,2.812,2.808,2.793,2.779,2.776,2.765,2.762,2.753,2.734,2.733,2.717,2.712,2.701,2.693,2.681,2.679,2.673,2.667,2.658,2.656,2.651,2.635,2.627,2.627,2.621,2.61,2.606,2.606,2.592,2.583,2.582,2.572,2.566,2.562,2.559,2.549,2.548,2.545,2.532,2.522,2.515,2.505,2.505,2.498,2.496,2.493,2.488,2.487,2.48,2.478,2.475,2.474,2.466,2.465,2.464,2.463,2.462,2.458,2.457,2.454,2.448,2.448,2.444,2.443,2.438,2.432,2.428,2.428,2.426,2.42,2.419,2.419,2.419,2.415,2.415,2.416,2.415,2.415,2.416,2.412,2.412,2.412,2.408,2.408,2.411,2.411,2.411,2.411,2.412,2.415,2.415,2.415,2.415,2.412,2.412,2.415,2.416,2.416,2.419,2.419,2.419,2.419,2.42,2.423,2.424,2.424,2.433,2.436,2.436,2.439,2.439,2.442,2.442,2.446,2.45,2.451,2.453,2.458,2.462,2.465,2.471,2.474,2.48,2.481,2.481,2.488,2.489,2.497,2.5,2.503,2.517,2.519,2.521,2.524,2.529,2.531,2.538,2.539,2.547,2.548,2.565,2.569,2.57,2.579,2.59,2.596,2.6,2.612,2.612,2.616,2.627,2.638,2.639,2.64,2.649,2.653,2.66,2.675,2.681,2.685,2.693,2.696,2.711,2.722,2.726,2.739,2.75,2.756,2.767,2.775,2.794,2.796,2.807,2.82,2.831,2.846,2.848,2.855,2.863,2.871,2.893,2.899,2.912,2.925,2.94,2.95,2.957,2.97,2.982,2.995,3.014,3.02,3.038,3.053,3.063,3.075,3.09,3.105,3.126,3.135,3.156,3.168,3.183,3.199,3.209,3.238,3.253,3.261,3.27,3.292,3.323,3.341,3.355,3.378,3.401,3.41,3.438,3.456,3.479,3.51,3.521,3.538,3.575,3.596,3.627,3.644,3.667,3.694,3.715,3.741,3.781,3.806,3.848,3.891,3.902,3.979,3.979,0.007,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.353,3.343,3.333,3.312,3.307,3.295,3.293,3.283,3.275,3.259,3.25,3.244,3.244,3.241,3.215,3.214,3.211,3.202,3.19,3.183,3.177,3.167,3.158,3.155,3.151,3.147,3.141,3.135,3.131,3.12,3.119,3.107,3.105,3.103,3.098,3.093,3.086,3.085,3.076,3.075,3.067,3.064,3.056,3.053,3.049,3.045,3.045,3.043,3.045,3.043,3.039,3.037,3.035,3.029,3.028,3.025,3.025,3.025,3.03,3.03,3.03,3.015,3.011,3.011,3.014,3.014,3.014,3.014,3.014,3.012,3.012,3.009,3.007,3.007,3.006,3.007,3.007,3.009,3.012,3.013,3.013,3.013,3.013,3.013,3.013,3.014,3.017,3.024,3.024,3.02,3.02,3.024,3.024,3.026,3.034,3.034,3.034,3.036,3.041,3.046,3.048,3.05,3.052,3.053,3.064,3.065,3.075,3.08,3.081,3.082,3.088,3.09,3.091,3.092,3.094,3.106,3.112,3.119,3.12,3.121,3.127,3.132,3.132,3.136,3.138,3.145,3.149,3.153,3.154,3.162,3.162,3.17,3.177,3.188,3.192,3.194,3.218,3.227,3.229,3.229,3.231,3.233,3.246,3.247,3.271,3.277,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 97.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 97.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 97.873} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2324} SEN {Time 97.9226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,3.693,3.673,3.666,3.663,3.643,3.637,3.605,3.605,3.605,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.221,3.211,3.221,3.221,3.256,3.36,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.156,0.147,0.156,0.156,0.158,3.029,3.036,3.034,3.034,3.034,3.034,3.027,0.163,0.159,0.159,0.159,0.159,0.156,0.153,0.145,0.143,0.126,0.094,0.07,0.069,0.067,0.064,0.064,0.062,0.062,0.064,0.068,0.064,0.064,0.063,0.063,0.063,0.106,0.174,3.34,3.346,3.348,3.348,3.351,3.368,3.373,3.387,3.387,3.413,3.421,3.437,3.442,3.457,3.481,3.485,3.489,3.498,3.499,3.507,3.507,3.508,3.52,3.52,3.52,3.526,3.531,3.534,3.535,3.537,3.54,3.541,3.543,3.548,3.551,3.557,3.558,3.565,3.568,3.575,3.582,3.592,3.593,3.599,3.601,3.61,3.612,3.618,3.622,3.627,3.635,3.635,3.652,3.652,3.662,3.668,3.673,3.676,3.678,3.688,3.69,3.696,3.703,3.713,3.735,3.739,3.745,3.755,3.761,3.761,3.771,3.778,3.791,3.807,3.807,3.815,3.826,3.828,3.854,3.864,3.874,3.886,3.901,3.902,3.921,3.928,3.948,3.956,3.976,3.98,4.009,4.015,4.032,4.045,4.058,4.081,4.093,0.016,0.016,0.016,0,0.007,0.016,4.063,4.013,3.996,3.96,3.944,3.893,3.872,3.832,3.803,3.778,3.756,3.727,3.695,3.67,3.642,3.625,3.595,3.562,3.556,3.518,3.512,3.488,3.459,3.44,3.416,3.409,3.383,3.359,3.337,3.322,3.311,3.288,3.267,3.257,3.233,3.218,3.201,3.187,3.17,3.156,3.148,3.127,3.113,3.095,3.086,3.067,3.042,3.042,3.038,3.022,3.001,2.988,2.98,2.965,2.945,2.941,2.923,2.923,2.895,2.894,2.878,2.867,2.859,2.843,2.834,2.826,2.819,2.804,2.795,2.79,2.776,2.767,2.759,2.739,2.739,2.735,2.724,2.721,2.703,2.7,2.692,2.677,2.665,2.662,2.658,2.652,2.649,2.645,2.633,2.625,2.621,2.612,2.603,2.595,2.585,2.584,2.575,2.568,2.566,2.563,2.555,2.548,2.543,2.538,2.533,2.525,2.513,2.511,2.507,2.502,2.498,2.493,2.492,2.491,2.484,2.479,2.477,2.472,2.472,2.471,2.462,2.46,2.455,2.452,2.446,2.445,2.442,2.445,2.442,2.438,2.434,2.431,2.431,2.431,2.429,2.429,2.424,2.424,2.417,2.417,2.417,2.417,2.417,2.418,2.418,2.418,2.414,2.412,2.412,2.412,2.412,2.406,2.406,2.406,2.406,2.41,2.412,2.416,2.416,2.416,2.416,2.416,2.416,2.418,2.418,2.418,2.418,2.424,2.426,2.427,2.428,2.428,2.433,2.433,2.434,2.438,2.44,2.445,2.446,2.447,2.452,2.453,2.453,2.454,2.457,2.463,2.474,2.479,2.482,2.482,2.484,2.485,2.486,2.486,2.501,2.506,2.513,2.516,2.518,2.522,2.523,2.528,2.534,2.536,2.551,2.552,2.56,2.569,2.572,2.576,2.587,2.6,2.602,2.604,2.612,2.619,2.622,2.628,2.636,2.637,2.646,2.654,2.659,2.679,2.681,2.683,2.695,2.702,2.713,2.722,2.729,2.743,2.751,2.754,2.767,2.784,2.794,2.799,2.804,2.815,2.834,2.837,2.847,2.854,2.872,2.877,2.887,2.907,2.915,2.925,2.946,2.955,2.959,2.976,2.984,3.003,3.01,3.026,3.039,3.039,3.068,3.08,3.093,3.097,3.125,3.139,3.158,3.169,3.18,3.198,3.219,3.232,3.248,3.261,3.279,3.294,3.316,3.335,3.353,3.371,3.391,3.407,3.432,3.455,3.487,3.498,3.528,3.552,3.571,3.603,3.615,3.645,3.665,3.693,3.729,3.738,3.779,3.802,3.838,3.856,3.889,3.951,0.007,0,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.349,3.346,3.33,3.318,3.311,3.297,3.294,3.287,3.273,3.265,3.249,3.241,3.234,3.231,3.219,3.216,3.209,3.194,3.186,3.183,3.178,3.168,3.156,3.15,3.147,3.138,3.135,3.134,3.128,3.114,3.113,3.112,3.108,3.106,3.091,3.083,3.083,3.082,3.074,3.072,3.065,3.061,3.06,3.06,3.051,3.048,3.041,3.037,3.037,3.037,3.032,3.032,3.03,3.027,3.023,3.02,3.02,3.02,3.029,3.029,3.029,3.018,3.017,3.013,3.013,3.014,3.013,3.012,3.011,3.011,3.01,3.01,3.01,3.007,3.007,3.007,3.011,3.007,3.009,3.009,3.009,3.009,3.009,3.016,3.017,3.02,3.02,3.024,3.025,3.024,3.025,3.028,3.028,3.028,3.032,3.035,3.037,3.041,3.044,3.049,3.054,3.055,3.057,3.062,3.066,3.066,3.067,3.073,3.083,3.088,3.089,3.089,3.089,3.094,3.103,3.105,3.113,3.116,3.117,3.122,3.13,3.131,3.132,3.137,3.137,3.147,3.148,3.152,3.157,3.166,3.167,3.17,3.18,3.183,3.206,3.214,3.222,3.225,3.228,3.237,3.24,3.243,3.248,3.25,3.267,3.276,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 98.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 98.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 98.0739} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 0.8382} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2324} SEN {Time 98.1226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.685,3.682,3.672,3.661,3.656,3.631,3.604,3.604,3.604,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.211,3.211,3.211,3.211,3.264,3.358,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.148,0.153,0.153,0.153,0.158,0.153,0.155,0.155,0.155,0.155,3.032,3.037,3.037,3.037,3.032,3.038,3.032,0.157,0.157,0.157,0.153,0.155,0.146,0.145,0.143,0.107,0.089,0.068,0.056,0.056,0.056,0.06,0.063,0.065,0.065,0.065,0.065,0.06,0.06,0.06,0.066,0.115,0.19,3.333,0.007,3.368,3.368,3.383,3.368,3.381,3.383,3.422,3.422,3.438,3.439,3.439,3.461,3.468,3.468,3.476,3.49,3.495,3.503,3.503,3.511,3.513,3.515,3.525,3.525,3.525,3.529,3.529,3.534,3.538,3.538,3.54,3.549,3.551,3.559,3.567,3.567,3.568,3.575,3.576,3.582,3.589,3.593,3.598,3.6,3.615,3.62,3.626,3.63,3.631,3.641,3.647,3.65,3.661,3.665,3.665,3.672,3.675,3.682,3.691,3.699,3.722,3.722,3.726,3.73,3.74,3.753,3.753,3.766,3.767,3.784,3.799,3.805,3.808,3.83,3.838,3.84,3.855,3.867,3.872,3.884,3.901,3.907,3.926,3.931,3.954,3.956,3.97,3.971,3.997,4.006,4.032,4.032,4.057,4.076,4.082,0.016,0.016,0.016,0.016,0.016,4.086,4.051,4.01,3.979,3.968,3.929,3.899,3.874,3.845,3.816,3.786,3.753,3.732,3.704,3.677,3.659,3.624,3.598,3.568,3.552,3.52,3.503,3.49,3.463,3.441,3.428,3.383,3.377,3.366,3.348,3.329,3.306,3.292,3.276,3.257,3.232,3.226,3.2,3.184,3.179,3.162,3.145,3.12,3.105,3.105,3.083,3.073,3.048,3.048,3.039,3.026,2.998,2.993,2.973,2.971,2.947,2.942,2.922,2.917,2.911,2.884,2.882,2.869,2.855,2.847,2.835,2.828,2.811,2.807,2.8,2.785,2.784,2.769,2.766,2.759,2.74,2.73,2.721,2.714,2.706,2.698,2.68,2.679,2.667,2.665,2.656,2.65,2.644,2.637,2.631,2.631,2.615,2.61,2.605,2.597,2.595,2.584,2.582,2.575,2.573,2.562,2.557,2.551,2.542,2.537,2.535,2.524,2.516,2.514,2.503,2.5,2.497,2.496,2.495,2.487,2.484,2.483,2.479,2.477,2.475,2.47,2.459,2.457,2.457,2.455,2.454,2.451,2.448,2.444,2.441,2.436,2.434,2.43,2.428,2.426,2.424,2.423,2.421,2.421,2.421,2.419,2.414,2.419,2.419,2.416,2.416,2.416,2.413,2.413,2.407,2.407,2.407,2.408,2.409,2.409,2.409,2.41,2.414,2.414,2.414,2.413,2.413,2.413,2.413,2.418,2.421,2.418,2.418,2.421,2.423,2.424,2.425,2.426,2.432,2.433,2.434,2.437,2.438,2.438,2.444,2.448,2.45,2.456,2.457,2.461,2.465,2.465,2.472,2.477,2.477,2.482,2.483,2.484,2.488,2.491,2.497,2.498,2.508,2.522,2.522,2.524,2.527,2.535,2.535,2.536,2.549,2.553,2.555,2.564,2.565,2.576,2.585,2.595,2.607,2.607,2.607,2.613,2.621,2.629,2.634,2.648,2.648,2.648,2.661,2.665,2.67,2.687,2.696,2.698,2.714,2.716,2.727,2.742,2.753,2.759,2.766,2.778,2.791,2.794,2.806,2.815,2.825,2.838,2.838,2.85,2.869,2.878,2.888,2.903,2.921,2.925,2.947,2.954,2.961,2.976,2.985,2.994,3.013,3.028,3.038,3.048,3.065,3.082,3.092,3.105,3.123,3.139,3.159,3.165,3.185,3.203,3.215,3.228,3.242,3.267,3.281,3.289,3.328,3.329,3.354,3.378,3.391,3.412,3.432,3.463,3.481,3.499,3.517,3.546,3.567,3.601,3.611,3.651,3.674,3.695,3.735,3.749,3.796,3.804,3.844,3.858,3.896,3.907,3.952,3.978,4.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.354,3.332,3.326,3.322,3.309,3.301,3.289,3.286,3.274,3.262,3.252,3.237,3.236,3.232,3.217,3.211,3.205,3.197,3.187,3.184,3.175,3.175,3.166,3.158,3.149,3.144,3.135,3.133,3.12,3.117,3.114,3.113,3.103,3.1,3.096,3.088,3.083,3.079,3.076,3.075,3.072,3.069,3.061,3.057,3.048,3.047,3.045,3.043,3.043,3.043,3.04,3.034,3.03,3.029,3.025,3.02,3.02,3.02,3.022,3.022,3.022,3.022,3.016,3.011,3.011,3.01,3.011,3.009,3.009,3.01,3.01,3.009,3.006,3.006,3.006,3.007,3.01,3.01,3.01,3.008,3.01,3.01,3.01,3.013,3.016,3.018,3.016,3.019,3.019,3.02,3.02,3.022,3.025,3.025,3.034,3.034,3.034,3.034,3.038,3.041,3.049,3.052,3.052,3.057,3.064,3.064,3.064,3.069,3.076,3.092,3.092,3.092,3.092,3.092,3.093,3.108,3.109,3.122,3.124,3.124,3.125,3.131,3.135,3.14,3.14,3.148,3.148,3.152,3.158,3.161,3.169,3.176,3.183,3.186,3.19,3.208,3.213,3.22,3.224,3.231,3.244,3.245,3.248,3.249,3.264,3.271,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 98.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 98.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 98.275} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 0.8382} {Name Sonar9 Range 0.7366} {Name Sonar10 Range 0.2032} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2324} SEN {Time 98.3226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.176,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.674,3.668,3.652,3.647,3.632,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.215,3.214,3.214,3.215,3.256,3.362,0,0,0,0,0,0,0,0.145,0.142,0.142,0.142,0.142,0.143,0.147,0.147,0.152,0.152,0.157,0.157,0.157,0.157,3.038,3.038,3.039,3.039,3.039,3.03,0.157,0.157,0.152,0.152,0.156,0.152,0.151,0.145,0.145,0.123,0.098,0.068,0.065,0.065,0.06,0.06,0.063,0.065,0.065,0.065,0.063,0.063,0.063,0.063,0.067,0.099,0.172,3.35,3.371,3.371,3.371,3.369,3.371,3.379,3.385,3.404,3.411,3.411,3.43,3.469,3.472,3.476,3.476,3.495,3.495,3.497,3.498,3.501,3.511,3.52,3.522,3.527,3.527,3.527,3.529,3.53,3.541,3.541,3.541,3.541,3.549,3.554,3.558,3.559,3.57,3.57,3.575,3.575,3.577,3.584,3.592,3.598,3.604,3.609,3.617,3.624,3.635,3.64,3.642,3.652,3.652,3.657,3.668,3.669,3.682,3.682,3.685,3.697,3.701,3.705,3.724,3.724,3.734,3.744,3.748,3.755,3.765,3.774,3.792,3.802,3.805,3.806,3.824,3.837,3.842,3.845,3.859,3.871,3.88,3.892,3.897,3.913,3.92,3.937,3.942,3.967,3.982,3.987,4.013,4.027,4.048,4.058,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.028,3.983,3.953,3.94,3.898,3.871,3.84,3.831,3.781,3.751,3.724,3.708,3.68,3.647,3.621,3.596,3.574,3.544,3.521,3.497,3.476,3.457,3.443,3.409,3.408,3.379,3.369,3.341,3.339,3.315,3.296,3.272,3.257,3.228,3.225,3.205,3.192,3.17,3.16,3.142,3.123,3.107,3.094,3.082,3.067,3.048,3.037,3.018,3.016,3.002,2.992,2.983,2.963,2.944,2.944,2.935,2.913,2.909,2.895,2.867,2.866,2.856,2.845,2.832,2.823,2.81,2.807,2.793,2.781,2.781,2.769,2.76,2.759,2.743,2.73,2.72,2.72,2.71,2.7,2.689,2.678,2.673,2.666,2.652,2.645,2.64,2.639,2.636,2.623,2.619,2.611,2.608,2.599,2.596,2.575,2.574,2.573,2.57,2.569,2.556,2.549,2.54,2.54,2.536,2.525,2.519,2.514,2.506,2.5,2.495,2.495,2.495,2.487,2.477,2.476,2.474,2.474,2.468,2.466,2.465,2.459,2.458,2.454,2.454,2.454,2.452,2.449,2.448,2.439,2.436,2.43,2.429,2.426,2.423,2.423,2.423,2.423,2.419,2.415,2.415,2.415,2.414,2.414,2.414,2.411,2.411,2.411,2.413,2.414,2.414,2.413,2.413,2.414,2.414,2.417,2.417,2.417,2.417,2.416,2.414,2.414,2.414,2.419,2.419,2.419,2.419,2.419,2.419,2.421,2.427,2.428,2.431,2.431,2.436,2.437,2.441,2.441,2.444,2.45,2.451,2.452,2.453,2.456,2.461,2.464,2.467,2.467,2.478,2.483,2.483,2.483,2.49,2.494,2.505,2.507,2.508,2.514,2.514,2.523,2.53,2.532,2.534,2.538,2.554,2.555,2.557,2.567,2.57,2.579,2.585,2.599,2.604,2.61,2.611,2.612,2.624,2.635,2.642,2.644,2.645,2.656,2.66,2.675,2.679,2.692,2.695,2.697,2.708,2.721,2.733,2.737,2.751,2.756,2.764,2.787,2.794,2.8,2.802,2.819,2.828,2.837,2.841,2.856,2.869,2.878,2.889,2.91,2.916,2.922,2.944,2.951,2.952,2.976,2.982,3.001,3.016,3.027,3.039,3.045,3.062,3.075,3.093,3.11,3.119,3.141,3.153,3.166,3.18,3.197,3.223,3.244,3.244,3.267,3.286,3.303,3.327,3.329,3.347,3.366,3.394,3.402,3.436,3.453,3.484,3.502,3.529,3.548,3.565,3.599,3.612,3.641,3.665,3.695,3.719,3.746,3.793,3.797,3.836,3.851,3.891,3.911,3.947,3.99,4.03,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.371,3.348,3.34,3.329,3.31,3.302,3.297,3.296,3.283,3.283,3.272,3.253,3.243,3.238,3.235,3.221,3.208,3.2,3.188,3.183,3.182,3.178,3.175,3.16,3.148,3.148,3.147,3.133,3.132,3.122,3.12,3.119,3.109,3.107,3.1,3.091,3.09,3.089,3.08,3.078,3.078,3.071,3.066,3.058,3.057,3.056,3.05,3.043,3.038,3.038,3.036,3.036,3.032,3.028,3.026,3.025,3.025,3.025,3.025,3.027,3.027,3.027,3.019,3.015,3.013,3.012,3.008,3.008,3.008,3.008,3.007,3.007,3.007,3.007,3.007,3.009,3.009,3.008,3.008,3.01,3.009,3.012,3.013,3.012,3.01,3.013,3.017,3.014,3.024,3.024,3.024,3.024,3.025,3.026,3.029,3.032,3.039,3.039,3.041,3.043,3.045,3.05,3.056,3.057,3.06,3.061,3.064,3.067,3.07,3.081,3.086,3.09,3.092,3.092,3.098,3.1,3.109,3.113,3.119,3.12,3.125,3.127,3.136,3.136,3.14,3.14,3.147,3.148,3.148,3.16,3.162,3.167,3.175,3.175,3.181,3.198,3.211,3.215,3.217,3.223,3.228,3.228,3.237,3.24,3.256,3.263,3.284,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 98.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 98.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 98.4749} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.8382} {Name Sonar9 Range 0.7366} {Name Sonar10 Range 0.2032} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.1308} SEN {Time 98.5186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.181,0.183,0.183,0,0,0,0,0,0,0,0,3.687,3.68,3.665,3.659,3.649,3.638,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.213,3.211,3.211,3.218,3.265,3.363,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.144,0.145,0.153,0.153,0.153,0.156,0.156,0.159,0.159,3.033,3.033,3.033,3.033,3.033,3.027,0.158,0.157,0.153,0.153,0.153,0.153,0.15,0.146,0.146,0.12,0.095,0.066,0.061,0.061,0.061,0.062,0.063,0.063,0.065,0.065,0.064,0.06,0.06,0.06,0.06,0.099,0.175,3.344,3.365,3.365,3.365,3.36,3.365,3.383,3.392,3.412,3.42,3.42,3.436,3.438,3.452,3.47,3.472,3.485,3.494,3.494,3.506,3.507,3.508,3.516,3.518,3.521,3.521,3.524,3.534,3.534,3.535,3.539,3.539,3.546,3.547,3.55,3.552,3.569,3.57,3.571,3.574,3.574,3.578,3.585,3.587,3.597,3.609,3.61,3.619,3.626,3.627,3.64,3.645,3.651,3.651,3.656,3.661,3.665,3.674,3.683,3.684,3.701,3.703,3.704,3.718,3.728,3.733,3.743,3.759,3.762,3.767,3.773,3.783,3.796,3.802,3.809,3.819,3.833,3.835,3.846,3.862,3.882,3.886,3.886,3.9,3.916,3.923,3.939,3.95,3.98,3.985,3.997,4.009,4.039,4.053,4.062,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.024,3.993,3.968,3.933,3.893,3.879,3.845,3.822,3.781,3.751,3.732,3.695,3.677,3.653,3.618,3.598,3.565,3.551,3.528,3.509,3.488,3.453,3.447,3.408,3.405,3.378,3.376,3.35,3.335,3.307,3.29,3.281,3.258,3.234,3.22,3.196,3.179,3.168,3.163,3.147,3.123,3.112,3.093,3.086,3.068,3.046,3.035,3.017,3.014,3.005,2.986,2.98,2.958,2.958,2.942,2.921,2.917,2.913,2.894,2.876,2.873,2.855,2.855,2.841,2.82,2.819,2.814,2.792,2.791,2.785,2.768,2.762,2.751,2.739,2.724,2.72,2.712,2.698,2.694,2.688,2.68,2.677,2.662,2.659,2.65,2.644,2.641,2.635,2.62,2.618,2.609,2.607,2.606,2.602,2.58,2.577,2.577,2.573,2.57,2.557,2.548,2.543,2.54,2.525,2.523,2.518,2.511,2.51,2.509,2.502,2.498,2.495,2.487,2.485,2.474,2.474,2.474,2.473,2.468,2.464,2.464,2.457,2.455,2.447,2.446,2.442,2.441,2.441,2.441,2.438,2.438,2.426,2.426,2.426,2.426,2.425,2.424,2.421,2.419,2.418,2.416,2.416,2.415,2.415,2.414,2.412,2.411,2.411,2.411,2.411,2.411,2.412,2.412,2.411,2.411,2.413,2.412,2.413,2.416,2.416,2.418,2.418,2.419,2.419,2.415,2.415,2.42,2.42,2.421,2.424,2.425,2.428,2.431,2.437,2.437,2.438,2.438,2.446,2.448,2.453,2.454,2.454,2.454,2.464,2.472,2.472,2.473,2.473,2.477,2.481,2.483,2.486,2.496,2.503,2.504,2.514,2.517,2.517,2.518,2.529,2.538,2.539,2.539,2.546,2.557,2.562,2.564,2.565,2.571,2.587,2.598,2.6,2.6,2.606,2.621,2.625,2.626,2.643,2.644,2.648,2.656,2.659,2.673,2.681,2.683,2.697,2.7,2.717,2.726,2.73,2.741,2.755,2.756,2.763,2.785,2.786,2.794,2.811,2.814,2.826,2.834,2.851,2.859,2.863,2.876,2.89,2.898,2.912,2.925,2.948,2.955,2.955,2.972,2.977,2.995,3.012,3.017,3.041,3.044,3.063,3.085,3.088,3.106,3.127,3.139,3.155,3.17,3.18,3.201,3.225,3.233,3.246,3.252,3.278,3.3,3.322,3.333,3.354,3.37,3.394,3.418,3.43,3.462,3.485,3.496,3.517,3.54,3.575,3.593,3.607,3.641,3.668,3.686,3.722,3.754,3.783,3.81,3.837,3.859,3.902,3.923,3.979,4.031,4.09,4.09,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.362,3.338,3.323,3.32,3.308,3.293,3.287,3.281,3.269,3.259,3.256,3.243,3.24,3.233,3.215,3.209,3.209,3.207,3.186,3.186,3.173,3.163,3.161,3.16,3.148,3.14,3.136,3.136,3.119,3.114,3.114,3.108,3.103,3.102,3.096,3.092,3.09,3.084,3.081,3.077,3.068,3.066,3.057,3.049,3.048,3.043,3.041,3.041,3.041,3.041,3.041,3.035,3.029,3.028,3.024,3.024,3.024,3.025,3.029,3.029,3.029,3.017,3.014,3.013,3.014,3.01,3.01,3.007,3.013,3.012,3.012,3.012,3.012,3.009,3.009,3.009,3.009,3.01,3.014,3.014,3.014,3.014,3.014,3.014,3.014,3.017,3.017,3.018,3.018,3.024,3.024,3.025,3.026,3.028,3.034,3.036,3.036,3.038,3.041,3.045,3.05,3.05,3.053,3.054,3.063,3.063,3.065,3.08,3.083,3.09,3.092,3.092,3.092,3.097,3.108,3.108,3.108,3.117,3.121,3.131,3.136,3.137,3.137,3.143,3.143,3.144,3.145,3.151,3.16,3.16,3.167,3.171,3.177,3.189,3.191,3.219,3.219,3.222,3.227,3.228,3.234,3.239,3.247,3.248,3.26,3.281,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 98.68} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 98.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 98.6769} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5334} {Name Sonar9 Range 0.7366} {Name Sonar10 Range 0.2032} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.1308} SEN {Time 98.7186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.182,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.678,3.67,3.663,3.643,3.634,3.609,3.609,3.609,3.596,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.218,3.207,3.207,3.207,3.258,3.358,0,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.147,0.147,0.147,0.15,0.148,0.15,0.15,0.151,0.151,3.031,3.032,3.033,3.033,3.032,3.032,0.159,0.159,0.157,0.157,0.153,0.148,0.148,0.145,0.144,0.12,0.098,0.071,0.06,0.06,0.06,0.061,0.064,0.064,0.068,0.068,0.065,0.065,0.059,0.059,0.059,0.096,0.169,3.338,3.339,3.35,3.35,3.356,3.356,3.374,3.387,3.387,3.406,3.413,3.43,3.44,3.449,3.466,3.479,3.487,3.492,3.499,3.5,3.5,3.511,3.515,3.518,3.521,3.521,3.523,3.532,3.534,3.534,3.535,3.54,3.543,3.548,3.549,3.553,3.563,3.564,3.573,3.573,3.574,3.583,3.585,3.586,3.589,3.596,3.614,3.623,3.629,3.636,3.642,3.643,3.644,3.646,3.661,3.661,3.662,3.662,3.681,3.686,3.692,3.697,3.706,3.72,3.724,3.737,3.743,3.745,3.748,3.768,3.768,3.789,3.793,3.8,3.825,3.826,3.831,3.833,3.842,3.853,3.875,3.888,3.895,3.912,3.917,3.937,3.949,3.955,3.977,3.992,4.002,4.012,4.027,4.03,4.051,4.077,4.095,0.016,0.016,0.016,0.016,0.016,4.082,4.082,4.051,4.028,3.958,3.93,3.885,3.865,3.842,3.805,3.781,3.76,3.719,3.691,3.684,3.652,3.614,3.61,3.58,3.541,3.532,3.505,3.483,3.457,3.443,3.419,3.412,3.379,3.369,3.355,3.346,3.313,3.296,3.282,3.251,3.229,3.226,3.195,3.191,3.166,3.16,3.135,3.122,3.112,3.098,3.084,3.073,3.045,3.044,3.019,3.014,3,2.989,2.975,2.964,2.951,2.938,2.921,2.91,2.906,2.893,2.875,2.869,2.855,2.848,2.837,2.821,2.808,2.806,2.796,2.782,2.78,2.761,2.757,2.757,2.75,2.735,2.719,2.712,2.705,2.694,2.677,2.677,2.676,2.656,2.655,2.649,2.641,2.638,2.632,2.622,2.618,2.61,2.605,2.595,2.584,2.575,2.575,2.57,2.566,2.557,2.55,2.547,2.544,2.54,2.533,2.523,2.523,2.513,2.512,2.508,2.499,2.494,2.493,2.49,2.482,2.478,2.477,2.477,2.475,2.465,2.462,2.457,2.452,2.452,2.45,2.449,2.445,2.445,2.44,2.438,2.435,2.43,2.429,2.427,2.427,2.427,2.425,2.42,2.416,2.415,2.415,2.415,2.415,2.415,2.414,2.415,2.412,2.412,2.412,2.412,2.411,2.406,2.406,2.411,2.407,2.413,2.413,2.413,2.414,2.414,2.414,2.418,2.418,2.418,2.419,2.42,2.42,2.423,2.426,2.426,2.426,2.426,2.426,2.434,2.436,2.435,2.439,2.442,2.445,2.45,2.452,2.452,2.463,2.463,2.464,2.466,2.47,2.471,2.475,2.476,2.486,2.486,2.486,2.487,2.496,2.502,2.514,2.515,2.517,2.517,2.52,2.53,2.535,2.545,2.55,2.555,2.555,2.565,2.572,2.581,2.584,2.601,2.603,2.605,2.612,2.615,2.628,2.635,2.643,2.645,2.649,2.651,2.658,2.676,2.68,2.688,2.695,2.701,2.715,2.724,2.726,2.733,2.748,2.756,2.764,2.778,2.789,2.797,2.803,2.816,2.831,2.834,2.849,2.852,2.869,2.889,2.895,2.899,2.911,2.928,2.947,2.955,2.957,2.972,2.987,2.996,3.012,3.021,3.039,3.044,3.062,3.082,3.093,3.103,3.127,3.143,3.151,3.172,3.179,3.2,3.222,3.224,3.246,3.258,3.275,3.302,3.326,3.334,3.351,3.362,3.39,3.409,3.421,3.461,3.487,3.504,3.518,3.537,3.561,3.603,3.615,3.64,3.664,3.702,3.71,3.753,3.769,3.799,3.841,3.868,3.897,3.918,3.945,3.985,4.031,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.34,3.332,3.33,3.315,3.306,3.29,3.289,3.278,3.26,3.257,3.246,3.244,3.24,3.24,3.217,3.209,3.205,3.189,3.187,3.184,3.175,3.168,3.157,3.152,3.15,3.141,3.135,3.131,3.119,3.118,3.114,3.109,3.107,3.102,3.091,3.087,3.087,3.084,3.078,3.076,3.068,3.065,3.06,3.065,3.06,3.048,3.047,3.04,3.039,3.035,3.035,3.032,3.03,3.029,3.029,3.024,3.024,3.024,3.032,3.032,3.032,3.021,3.021,3.019,3.021,3.021,3.007,3.007,3.007,3.007,3.007,3.006,3.011,3.006,3.006,3.01,3.013,3.01,3.01,3.01,3.013,3.01,3.014,3.014,3.015,3.015,3.016,3.02,3.023,3.022,3.022,3.022,3.028,3.03,3.03,3.033,3.038,3.038,3.043,3.044,3.047,3.052,3.052,3.057,3.065,3.067,3.067,3.067,3.072,3.089,3.089,3.091,3.091,3.097,3.101,3.108,3.114,3.116,3.12,3.139,3.139,3.139,3.138,3.138,3.138,3.144,3.148,3.158,3.163,3.169,3.169,3.169,3.174,3.188,3.206,3.221,3.222,3.224,3.225,3.229,3.234,3.237,3.248,3.251,3.263,3.281,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 98.88} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 98.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 98.8769} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5334} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.1308} SEN {Time 98.9186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.174,0.183,0.186,0,0,0,0,0,0,0,0,3.692,3.682,3.665,3.657,3.644,3.63,3.612,3.612,3.593,3.593,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.217,3.216,3.217,3.269,3.362,3.362,0,0,0,0,0,0,0,0.148,0.145,0.145,0.145,0.148,0.136,0.142,0.142,0.146,0.146,0.149,0.149,0.152,0.158,3.036,3.039,3.041,3.041,3.041,3.042,3.042,0.156,0.155,0.155,0.152,0.15,0.148,0.145,0.144,0.122,0.098,0.068,0.067,0.067,0.065,0.065,0.062,0.065,0.067,0.067,0.067,0.067,0.064,0.064,0.064,0.1,0.172,3.328,3.344,3.356,3.356,3.361,3.367,3.368,3.381,3.381,3.419,3.426,3.438,3.454,3.459,3.473,3.48,3.492,3.494,3.497,3.502,3.502,3.504,3.511,3.514,3.516,3.525,3.527,3.531,3.535,3.538,3.542,3.543,3.543,3.56,3.562,3.56,3.565,3.567,3.568,3.577,3.578,3.579,3.587,3.59,3.595,3.603,3.614,3.623,3.629,3.631,3.636,3.642,3.648,3.657,3.657,3.658,3.671,3.677,3.682,3.683,3.699,3.703,3.713,3.713,3.723,3.727,3.74,3.743,3.758,3.762,3.766,3.779,3.79,3.793,3.811,3.814,3.823,3.846,3.847,3.854,3.876,3.883,3.893,3.915,3.925,3.934,3.943,3.951,3.961,3.993,4.004,4.005,4.033,4.049,4.058,4.086,4.093,0.016,0.016,0.016,0.007,0,0.016,0,0,4.045,4.005,3.93,3.9,3.872,3.852,3.817,3.768,3.761,3.737,3.697,3.673,3.647,3.615,3.603,3.575,3.548,3.526,3.502,3.483,3.468,3.441,3.416,3.407,3.39,3.373,3.348,3.322,3.308,3.288,3.269,3.25,3.248,3.213,3.196,3.179,3.162,3.153,3.141,3.121,3.112,3.098,3.08,3.065,3.049,3.049,3.04,3.02,3.004,2.992,2.988,2.967,2.953,2.938,2.925,2.922,2.909,2.893,2.878,2.874,2.86,2.854,2.837,2.824,2.821,2.813,2.79,2.783,2.778,2.77,2.758,2.756,2.736,2.733,2.726,2.717,2.708,2.697,2.689,2.683,2.683,2.672,2.658,2.648,2.647,2.644,2.634,2.634,2.622,2.609,2.607,2.598,2.588,2.58,2.569,2.569,2.566,2.562,2.557,2.549,2.54,2.537,2.534,2.531,2.517,2.515,2.506,2.503,2.498,2.492,2.49,2.489,2.486,2.482,2.475,2.474,2.474,2.471,2.468,2.456,2.453,2.453,2.452,2.451,2.448,2.448,2.444,2.44,2.438,2.435,2.429,2.429,2.427,2.427,2.424,2.424,2.42,2.414,2.413,2.413,2.413,2.409,2.409,2.409,2.409,2.409,2.409,2.41,2.408,2.407,2.407,2.41,2.414,2.415,2.415,2.415,2.414,2.415,2.417,2.417,2.416,2.417,2.417,2.417,2.417,2.426,2.424,2.427,2.428,2.429,2.431,2.431,2.44,2.44,2.442,2.442,2.443,2.445,2.446,2.447,2.453,2.456,2.461,2.464,2.468,2.471,2.471,2.478,2.488,2.488,2.489,2.492,2.5,2.501,2.511,2.513,2.516,2.517,2.518,2.534,2.536,2.55,2.555,2.556,2.558,2.566,2.569,2.576,2.59,2.596,2.6,2.604,2.605,2.611,2.622,2.632,2.639,2.64,2.654,2.657,2.663,2.675,2.676,2.687,2.702,2.704,2.712,2.718,2.725,2.742,2.745,2.753,2.766,2.781,2.785,2.795,2.81,2.824,2.832,2.84,2.851,2.865,2.872,2.881,2.89,2.908,2.917,2.922,2.947,2.949,2.958,2.975,2.979,2.999,3.014,3.022,3.039,3.047,3.059,3.077,3.1,3.108,3.119,3.145,3.148,3.163,3.177,3.192,3.213,3.234,3.246,3.259,3.277,3.289,3.324,3.33,3.346,3.373,3.381,3.413,3.435,3.463,3.464,3.497,3.52,3.539,3.567,3.596,3.626,3.652,3.667,3.697,3.72,3.761,3.775,3.807,3.839,3.871,3.893,3.917,3.95,3.992,4.022,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.355,3.332,3.33,3.316,3.306,3.297,3.29,3.279,3.274,3.256,3.252,3.243,3.241,3.236,3.219,3.214,3.208,3.195,3.193,3.189,3.175,3.169,3.159,3.152,3.15,3.134,3.132,3.131,3.128,3.121,3.115,3.111,3.101,3.095,3.092,3.082,3.082,3.079,3.076,3.074,3.063,3.061,3.06,3.058,3.05,3.047,3.046,3.04,3.04,3.04,3.04,3.04,3.04,3.032,3.028,3.024,3.024,3.024,3.023,3.023,3.02,3.019,3.018,3.015,3.013,3.013,3.013,3.011,3.01,3.008,3.003,3.003,3.003,3.004,3.007,3.007,3.007,3.007,3.008,3.008,3.012,3.014,3.014,3.016,3.016,3.017,3.017,3.017,3.022,3.022,3.023,3.024,3.029,3.031,3.033,3.034,3.034,3.037,3.039,3.046,3.046,3.051,3.058,3.058,3.058,3.06,3.069,3.072,3.073,3.087,3.089,3.092,3.094,3.094,3.104,3.107,3.113,3.115,3.118,3.129,3.129,3.135,3.139,3.14,3.14,3.145,3.151,3.151,3.158,3.163,3.168,3.175,3.176,3.183,3.189,3.199,3.223,3.224,3.228,3.233,3.234,3.242,3.243,3.244,3.259,3.276,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 99.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 99.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 99.0688} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.5334} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.8768} SEN {Time 99.1186} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.179,0.179,0.179,0,0,0,0,0,0,0,0,3.688,3.677,3.666,3.665,3.644,3.627,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.214,3.209,3.209,3.209,3.265,3.367,0,0,0,0,0,0,0,0.007,0.142,0.142,0.142,0.142,0.14,0.142,0.142,0.152,0.152,0.153,0.153,0.153,0.156,3.044,3.044,3.044,3.044,3.03,3.03,3.029,0.155,0.153,0.153,0.153,0.153,0.15,0.148,0.148,0.107,0.091,0.064,0.064,0.063,0.061,0.061,0.061,0.061,0.064,0.066,0.064,0.063,0.066,0.066,0.073,0.113,0.195,3.335,3.34,3.358,3.358,3.36,3.373,3.382,3.399,3.411,3.422,3.422,3.448,3.467,3.481,3.481,3.487,3.494,3.499,3.506,3.506,3.506,3.512,3.518,3.522,3.525,3.525,3.528,3.529,3.531,3.536,3.539,3.542,3.543,3.545,3.551,3.557,3.561,3.569,3.569,3.575,3.575,3.575,3.586,3.597,3.598,3.606,3.608,3.621,3.63,3.631,3.632,3.644,3.644,3.652,3.66,3.661,3.671,3.679,3.682,3.688,3.699,3.702,3.704,3.718,3.728,3.733,3.733,3.749,3.752,3.767,3.771,3.777,3.793,3.796,3.814,3.818,3.836,3.843,3.847,3.862,3.874,3.888,3.891,3.897,3.918,3.925,3.939,3.962,3.963,3.983,3.998,4.026,4.03,4.046,4.049,4.077,4.095,0.016,0.016,0.016,0.007,0.016,4.088,4.068,4.019,3.986,3.969,3.928,3.892,3.885,3.835,3.804,3.784,3.749,3.739,3.7,3.676,3.65,3.62,3.596,3.583,3.548,3.523,3.514,3.487,3.452,3.446,3.422,3.402,3.376,3.368,3.353,3.328,3.315,3.287,3.268,3.25,3.239,3.227,3.198,3.189,3.17,3.154,3.135,3.126,3.107,3.105,3.091,3.07,3.052,3.041,3.023,3.005,3.001,2.984,2.973,2.956,2.955,2.935,2.931,2.917,2.915,2.894,2.877,2.873,2.861,2.851,2.839,2.825,2.812,2.808,2.795,2.79,2.783,2.767,2.767,2.751,2.735,2.734,2.718,2.714,2.707,2.692,2.685,2.682,2.673,2.655,2.655,2.655,2.642,2.64,2.636,2.626,2.625,2.61,2.609,2.607,2.598,2.581,2.58,2.571,2.571,2.565,2.563,2.546,2.542,2.534,2.53,2.527,2.52,2.516,2.508,2.502,2.497,2.495,2.494,2.483,2.483,2.474,2.473,2.473,2.467,2.466,2.463,2.457,2.456,2.449,2.449,2.449,2.448,2.447,2.443,2.438,2.438,2.435,2.43,2.43,2.429,2.429,2.424,2.421,2.421,2.421,2.417,2.417,2.417,2.415,2.411,2.41,2.409,2.409,2.408,2.407,2.407,2.407,2.407,2.408,2.408,2.409,2.412,2.409,2.408,2.409,2.412,2.418,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.426,2.429,2.432,2.436,2.437,2.439,2.439,2.442,2.447,2.454,2.454,2.456,2.458,2.458,2.458,2.474,2.474,2.475,2.475,2.476,2.482,2.485,2.492,2.494,2.495,2.503,2.51,2.514,2.517,2.518,2.53,2.534,2.536,2.539,2.548,2.555,2.558,2.566,2.571,2.574,2.588,2.599,2.601,2.607,2.608,2.617,2.622,2.631,2.638,2.643,2.648,2.653,2.662,2.669,2.686,2.686,2.695,2.703,2.712,2.722,2.727,2.736,2.753,2.755,2.757,2.775,2.784,2.799,2.803,2.824,2.828,2.831,2.848,2.856,2.864,2.877,2.887,2.903,2.911,2.924,2.935,2.952,2.955,2.968,2.985,2.997,3.013,3.019,3.041,3.056,3.068,3.081,3.093,3.108,3.118,3.144,3.155,3.165,3.175,3.2,3.218,3.236,3.247,3.265,3.278,3.295,3.322,3.337,3.344,3.368,3.404,3.417,3.434,3.454,3.472,3.504,3.522,3.546,3.561,3.588,3.615,3.641,3.67,3.683,3.72,3.75,3.783,3.8,3.831,3.855,3.891,3.986,4.011,0,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.341,3.33,3.32,3.299,3.297,3.29,3.276,3.27,3.269,3.248,3.24,3.239,3.233,3.219,3.219,3.211,3.199,3.19,3.185,3.177,3.173,3.156,3.156,3.146,3.143,3.134,3.132,3.124,3.123,3.12,3.108,3.106,3.106,3.099,3.098,3.088,3.081,3.078,3.075,3.064,3.063,3.062,3.059,3.048,3.048,3.044,3.041,3.039,3.035,3.035,3.031,3.029,3.027,3.026,3.026,3.026,3.026,3.03,3.03,3.03,3.023,3.02,3.015,3.015,3.015,3.015,3.015,3.015,3.013,3.012,3.011,3.008,3.007,3.007,3.007,3.015,3.016,3.016,3.016,3.015,3.018,3.018,3.018,3.019,3.019,3.019,3.019,3.023,3.019,3.02,3.023,3.022,3.022,3.037,3.037,3.037,3.037,3.04,3.046,3.049,3.054,3.057,3.059,3.064,3.067,3.072,3.081,3.083,3.086,3.09,3.091,3.092,3.092,3.098,3.104,3.106,3.108,3.119,3.132,3.132,3.139,3.139,3.139,3.139,3.14,3.147,3.153,3.159,3.166,3.171,3.173,3.173,3.193,3.202,3.209,3.222,3.224,3.228,3.228,3.238,3.241,3.242,3.26,3.27,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 99.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 99.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 99.2708} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.8768} SEN {Time 99.3185} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.181,0.188,0.188,0,0,0,0,0,0,0,0,3.684,3.682,3.669,3.666,3.646,3.629,3.614,3.614,3.614,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.217,3.215,3.21,3.21,3.21,3.264,3.359,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.145,0.142,0.148,0.148,0.152,0.152,0.155,0.155,0.157,0.157,3.03,3.03,3.034,3.034,3.03,3.025,0.16,0.159,0.154,0.154,0.153,0.151,0.146,0.143,0.141,0.113,0.087,0.064,0.064,0.064,0.064,0.064,0.064,0.067,0.071,0.067,0.065,0.065,0.065,0.065,0.071,0.112,0.192,3.335,3.366,0,3.387,3.387,0.007,3.387,3.387,3.405,3.405,3.419,3.432,3.449,3.473,3.474,3.484,3.487,3.494,3.497,3.5,3.503,3.511,3.513,3.521,3.525,3.526,3.526,3.536,3.536,3.535,3.536,3.542,3.542,3.549,3.555,3.565,3.565,3.567,3.572,3.573,3.579,3.589,3.594,3.596,3.606,3.609,3.615,3.619,3.625,3.627,3.627,3.643,3.644,3.653,3.658,3.661,3.662,3.669,3.677,3.682,3.69,3.698,3.711,3.712,3.73,3.73,3.744,3.751,3.757,3.775,3.776,3.777,3.792,3.8,3.819,3.822,3.825,3.839,3.862,3.864,3.869,3.882,3.889,3.906,3.923,3.932,3.948,3.961,3.966,3.985,3.993,4.016,4.031,4.053,4.061,4.069,4.086,0.016,0.016,0.016,0,0,0,0.007,0,4.055,3.974,3.923,3.899,3.868,3.831,3.814,3.78,3.75,3.728,3.697,3.672,3.661,3.625,3.593,3.574,3.561,3.532,3.508,3.487,3.454,3.452,3.416,3.404,3.387,3.359,3.351,3.331,3.305,3.29,3.275,3.253,3.23,3.227,3.2,3.19,3.175,3.151,3.142,3.119,3.111,3.094,3.091,3.071,3.046,3.043,3.021,3.011,3.005,2.983,2.981,2.961,2.953,2.932,2.929,2.918,2.91,2.895,2.879,2.877,2.858,2.848,2.838,2.827,2.819,2.812,2.791,2.778,2.778,2.773,2.765,2.751,2.74,2.722,2.721,2.715,2.703,2.689,2.687,2.684,2.683,2.661,2.651,2.649,2.648,2.643,2.639,2.623,2.621,2.609,2.605,2.601,2.59,2.585,2.579,2.573,2.569,2.565,2.557,2.555,2.548,2.53,2.527,2.521,2.514,2.509,2.508,2.507,2.496,2.492,2.49,2.489,2.487,2.478,2.477,2.477,2.473,2.468,2.465,2.457,2.455,2.453,2.451,2.446,2.445,2.443,2.443,2.44,2.436,2.432,2.431,2.43,2.43,2.429,2.429,2.416,2.416,2.415,2.416,2.416,2.417,2.415,2.415,2.409,2.415,2.414,2.414,2.409,2.408,2.405,2.404,2.404,2.408,2.41,2.413,2.413,2.414,2.416,2.418,2.418,2.423,2.423,2.423,2.423,2.423,2.423,2.42,2.424,2.425,2.428,2.432,2.434,2.434,2.438,2.441,2.443,2.444,2.447,2.454,2.454,2.454,2.46,2.463,2.466,2.466,2.471,2.476,2.479,2.482,2.485,2.488,2.492,2.501,2.502,2.51,2.513,2.513,2.516,2.523,2.533,2.538,2.54,2.549,2.552,2.562,2.566,2.576,2.584,2.588,2.598,2.602,2.603,2.607,2.608,2.625,2.639,2.639,2.644,2.655,2.661,2.661,2.678,2.68,2.685,2.702,2.703,2.711,2.721,2.724,2.741,2.748,2.759,2.763,2.778,2.786,2.799,2.807,2.817,2.825,2.843,2.844,2.858,2.875,2.883,2.892,2.9,2.914,2.92,2.949,2.954,2.965,2.971,2.987,3,3.017,3.022,3.037,3.042,3.063,3.077,3.088,3.105,3.131,3.145,3.146,3.165,3.18,3.203,3.218,3.229,3.247,3.261,3.28,3.289,3.321,3.335,3.347,3.375,3.389,3.406,3.433,3.463,3.478,3.509,3.524,3.546,3.565,3.6,3.612,3.648,3.673,3.691,3.73,3.752,3.775,3.792,3.836,3.863,3.892,3.935,3.954,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.354,3.349,3.336,3.315,3.315,3.309,3.297,3.28,3.267,3.264,3.247,3.24,3.234,3.234,3.221,3.207,3.207,3.195,3.193,3.188,3.177,3.176,3.159,3.156,3.156,3.151,3.139,3.136,3.121,3.121,3.119,3.114,3.107,3.106,3.092,3.088,3.082,3.082,3.078,3.074,3.069,3.067,3.062,3.061,3.052,3.051,3.047,3.044,3.043,3.041,3.038,3.035,3.035,3.029,3.024,3.023,3.024,3.024,3.036,3.036,3.036,3.018,3.017,3.016,3.009,3.008,3.008,3.004,3.009,3.01,3.01,3.005,3.005,3.005,3.005,3.005,3.007,3.009,3.007,3.009,3.009,3.009,3.011,3.011,3.011,3.014,3.017,3.018,3.019,3.019,3.019,3.02,3.024,3.024,3.025,3.031,3.035,3.042,3.045,3.047,3.05,3.05,3.054,3.054,3.06,3.066,3.068,3.07,3.076,3.085,3.087,3.087,3.091,3.091,3.106,3.107,3.111,3.117,3.118,3.126,3.129,3.13,3.131,3.142,3.142,3.148,3.148,3.157,3.158,3.161,3.165,3.172,3.176,3.19,3.202,3.212,3.219,3.223,3.224,3.228,3.238,3.238,3.242,3.242,3.262,3.276,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 99.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 99.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 99.4718} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.8768} SEN {Time 99.5146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.683,3.672,3.665,3.664,3.639,3.631,3.615,3.615,3.615,3.6,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.227,3.227,3.219,3.219,3.271,3.357,3.357,0,0,0,0,0,0,0,0.147,0.141,0.141,0.141,0.141,0.141,0.146,0.146,0.156,0.154,0.156,0.156,0.158,3.043,3.043,3.033,3.034,3.034,3.033,3.032,0.159,0.158,0.155,0.155,0.15,0.149,0.146,0.144,0.143,0.123,0.084,0.068,0.064,0.063,0.062,0.063,0.064,0.068,0.073,0.073,0.07,0.068,0.07,0.07,0.072,0.12,0.195,3.339,0.007,0.006,0.007,0,0.007,3.391,3.391,3.408,3.408,3.434,3.44,3.445,3.462,3.479,3.484,3.495,3.502,3.502,3.508,3.511,3.516,3.516,3.517,3.518,3.527,3.527,3.53,3.533,3.53,3.533,3.535,3.542,3.544,3.552,3.552,3.553,3.573,3.576,3.578,3.579,3.585,3.587,3.588,3.599,3.608,3.609,3.614,3.622,3.633,3.639,3.652,3.653,3.654,3.666,3.668,3.678,3.681,3.682,3.689,3.694,3.701,3.708,3.718,3.725,3.732,3.739,3.75,3.751,3.769,3.78,3.795,3.795,3.806,3.809,3.82,3.836,3.836,3.846,3.866,3.871,3.884,3.892,3.896,3.929,3.932,3.942,3.948,3.97,3.978,3.993,4.003,4.016,4.039,4.05,4.078,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.026,3.999,3.962,3.93,3.912,3.874,3.845,3.814,3.783,3.753,3.729,3.702,3.678,3.661,3.618,3.598,3.57,3.551,3.527,3.508,3.494,3.464,3.448,3.42,3.418,3.387,3.374,3.345,3.332,3.305,3.303,3.271,3.259,3.232,3.226,3.197,3.182,3.173,3.157,3.147,3.121,3.116,3.092,3.081,3.061,3.042,3.042,3.038,3.021,3,2.985,2.977,2.964,2.954,2.938,2.922,2.913,2.906,2.898,2.878,2.874,2.853,2.848,2.833,2.83,2.814,2.799,2.798,2.783,2.778,2.772,2.757,2.754,2.741,2.727,2.722,2.718,2.704,2.692,2.681,2.672,2.67,2.663,2.657,2.654,2.65,2.637,2.63,2.623,2.612,2.61,2.606,2.597,2.593,2.585,2.57,2.567,2.567,2.559,2.555,2.543,2.543,2.543,2.534,2.529,2.518,2.516,2.514,2.502,2.499,2.493,2.493,2.493,2.478,2.477,2.475,2.474,2.471,2.468,2.461,2.458,2.453,2.449,2.447,2.447,2.445,2.442,2.438,2.437,2.432,2.428,2.427,2.427,2.426,2.426,2.426,2.423,2.417,2.417,2.416,2.416,2.417,2.416,2.414,2.411,2.411,2.411,2.411,2.41,2.41,2.41,2.41,2.411,2.411,2.411,2.411,2.411,2.411,2.414,2.417,2.417,2.417,2.419,2.42,2.42,2.421,2.419,2.425,2.426,2.426,2.428,2.429,2.437,2.44,2.44,2.44,2.44,2.44,2.449,2.451,2.453,2.456,2.458,2.463,2.467,2.471,2.478,2.481,2.482,2.483,2.485,2.487,2.49,2.495,2.503,2.508,2.514,2.517,2.518,2.527,2.53,2.537,2.543,2.547,2.555,2.556,2.563,2.566,2.572,2.585,2.598,2.602,2.602,2.61,2.616,2.622,2.631,2.639,2.642,2.645,2.649,2.661,2.669,2.672,2.692,2.694,2.698,2.71,2.724,2.731,2.746,2.75,2.756,2.77,2.783,2.784,2.796,2.805,2.813,2.826,2.837,2.846,2.855,2.879,2.884,2.894,2.905,2.916,2.922,2.948,2.951,2.953,2.969,2.989,3.002,3.016,3.024,3.036,3.046,3.062,3.084,3.096,3.106,3.121,3.142,3.153,3.168,3.176,3.204,3.227,3.228,3.25,3.262,3.274,3.303,3.322,3.338,3.355,3.376,3.389,3.406,3.432,3.461,3.476,3.503,3.536,3.537,3.561,3.596,3.614,3.649,3.657,3.69,3.726,3.745,3.77,3.798,3.831,3.872,3.893,3.925,3.953,4.028,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.348,3.341,3.337,3.322,3.31,3.301,3.296,3.276,3.266,3.257,3.25,3.246,3.239,3.233,3.213,3.211,3.207,3.193,3.187,3.186,3.173,3.172,3.159,3.159,3.153,3.151,3.14,3.136,3.121,3.12,3.115,3.115,3.105,3.104,3.092,3.085,3.081,3.079,3.078,3.077,3.07,3.064,3.061,3.06,3.049,3.047,3.046,3.046,3.046,3.045,3.037,3.037,3.033,3.023,3.022,3.022,3.022,3.022,3.032,3.032,3.032,3.023,3.018,3.012,3.012,3.012,3.013,3.013,3.013,3.011,3.011,3.008,3.01,3.01,3.005,3.006,3.01,3.01,3.006,3.009,3.009,3.009,3.009,3.009,3.011,3.019,3.019,3.019,3.019,3.019,3.02,3.022,3.025,3.027,3.029,3.031,3.037,3.038,3.041,3.044,3.049,3.051,3.054,3.059,3.063,3.063,3.073,3.073,3.077,3.086,3.088,3.093,3.094,3.094,3.099,3.111,3.111,3.114,3.118,3.127,3.134,3.14,3.14,3.142,3.142,3.147,3.149,3.152,3.153,3.162,3.174,3.174,3.175,3.176,3.199,3.212,3.216,3.222,3.233,3.237,3.238,3.239,3.242,3.247,3.256,3.282,3.295,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 99.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 99.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 99.6727} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054} SEN {Time 99.7146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,0,0,0,0,3.683,3.666,3.661,3.65,3.629,3.613,3.613,3.613,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.219,3.219,3.212,3.219,3.272,3.368,3.368,0,0,0,0,0,0,0,0.007,0.143,0.143,0.143,0.143,0.15,0.15,0.147,0.15,0.15,0.153,0.153,0.153,0.153,3.03,3.03,3.034,3.034,3.034,3.03,0.158,0.158,0.153,0.155,0.153,0.151,0.151,0.15,0.148,0.119,0.105,0.065,0.064,0.061,0.061,0.063,0.061,0.063,0.064,0.068,0.068,0.068,0.066,0.066,0.066,0.118,0.195,0.006,0.006,0.006,0,3.377,3.365,3.377,3.392,3.392,3.4,3.449,3.466,3.486,3.486,3.486,3.487,3.491,3.497,3.504,3.507,3.507,3.514,3.516,3.518,3.52,3.521,3.53,3.53,3.531,3.538,3.542,3.543,3.544,3.548,3.549,3.552,3.565,3.571,3.574,3.576,3.579,3.58,3.59,3.595,3.599,3.608,3.608,3.625,3.631,3.634,3.638,3.643,3.649,3.65,3.66,3.665,3.668,3.679,3.68,3.691,3.693,3.694,3.707,3.724,3.732,3.737,3.746,3.748,3.751,3.771,3.777,3.777,3.797,3.814,3.819,3.822,3.832,3.841,3.853,3.864,3.877,3.879,3.893,3.902,3.905,3.935,3.939,3.947,3.978,3.991,3.999,4.015,4.038,4.047,4.068,4.069,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.021,3.99,3.966,3.933,3.889,3.86,3.846,3.818,3.784,3.751,3.72,3.711,3.683,3.644,3.614,3.597,3.568,3.547,3.53,3.506,3.48,3.467,3.434,3.418,3.404,3.391,3.369,3.348,3.339,3.311,3.286,3.272,3.256,3.238,3.231,3.203,3.19,3.17,3.153,3.141,3.122,3.11,3.104,3.078,3.069,3.049,3.049,3.034,3.028,3.001,2.984,2.979,2.961,2.949,2.933,2.931,2.923,2.909,2.891,2.878,2.867,2.861,2.852,2.844,2.828,2.816,2.813,2.8,2.789,2.788,2.77,2.76,2.75,2.739,2.729,2.727,2.711,2.698,2.692,2.683,2.675,2.673,2.662,2.657,2.65,2.644,2.634,2.63,2.621,2.615,2.611,2.602,2.596,2.585,2.583,2.58,2.572,2.568,2.565,2.556,2.555,2.548,2.537,2.537,2.528,2.522,2.514,2.51,2.507,2.499,2.499,2.492,2.486,2.482,2.48,2.479,2.472,2.464,2.464,2.464,2.463,2.46,2.459,2.456,2.449,2.449,2.444,2.442,2.441,2.435,2.435,2.432,2.431,2.426,2.421,2.421,2.418,2.418,2.418,2.418,2.415,2.416,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.412,2.411,2.411,2.411,2.413,2.413,2.424,2.413,2.413,2.413,2.414,2.414,2.416,2.418,2.418,2.417,2.417,2.419,2.419,2.425,2.426,2.433,2.433,2.434,2.438,2.439,2.439,2.44,2.441,2.446,2.451,2.455,2.458,2.462,2.462,2.462,2.464,2.464,2.475,2.483,2.484,2.485,2.496,2.496,2.5,2.501,2.514,2.517,2.521,2.522,2.527,2.533,2.539,2.543,2.544,2.56,2.56,2.563,2.568,2.569,2.589,2.599,2.601,2.612,2.613,2.618,2.619,2.63,2.639,2.641,2.647,2.652,2.658,2.675,2.677,2.679,2.693,2.701,2.715,2.716,2.734,2.739,2.754,2.756,2.764,2.785,2.789,2.792,2.808,2.813,2.827,2.834,2.852,2.854,2.869,2.871,2.897,2.903,2.911,2.925,2.939,2.947,2.958,2.981,2.986,2.998,3.017,3.028,3.047,3.048,3.068,3.079,3.091,3.103,3.117,3.139,3.149,3.165,3.19,3.202,3.216,3.241,3.249,3.261,3.274,3.294,3.314,3.34,3.348,3.374,3.391,3.405,3.423,3.463,3.481,3.509,3.519,3.547,3.563,3.591,3.616,3.647,3.679,3.692,3.716,3.753,3.785,3.801,3.835,3.863,3.9,3.914,3.963,3.985,0.016,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.351,3.344,3.324,3.314,3.311,3.292,3.29,3.275,3.274,3.258,3.249,3.246,3.238,3.234,3.224,3.208,3.205,3.195,3.186,3.185,3.175,3.17,3.164,3.161,3.148,3.14,3.139,3.129,3.12,3.119,3.112,3.11,3.106,3.097,3.095,3.092,3.086,3.081,3.077,3.07,3.065,3.065,3.061,3.061,3.05,3.047,3.047,3.043,3.042,3.042,3.04,3.034,3.034,3.028,3.028,3.026,3.028,3.029,3.031,3.031,3.031,3.019,3.018,3.016,3.014,3.01,3.008,3.007,3.008,3.007,3.006,3.006,3.006,3.006,3.008,3.01,3.013,3.013,3.012,3.012,3.015,3.015,3.015,3.015,3.018,3.018,3.016,3.018,3.018,3.019,3.019,3.021,3.021,3.025,3.031,3.037,3.039,3.039,3.04,3.042,3.051,3.052,3.057,3.058,3.061,3.064,3.064,3.071,3.079,3.089,3.09,3.092,3.092,3.099,3.099,3.111,3.114,3.115,3.121,3.126,3.13,3.132,3.132,3.136,3.136,3.151,3.153,3.155,3.156,3.158,3.173,3.179,3.18,3.186,3.202,3.21,3.224,3.234,3.234,3.236,3.239,3.239,3.244,3.249,3.272,3.279,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 99.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 99.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 99.8658} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054} SEN {Time 99.9146} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.181,0.188,0.188,0,0,0,0,0,0,0,0,3.694,3.682,3.665,3.654,3.647,3.627,3.62,3.62,3.62,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.212,3.21,3.21,3.21,3.258,3.36,0,0,0,0,0,0,0,0.007,0.149,0.149,0.144,0.144,0.145,0.145,0.144,0.145,0.145,0.148,0.148,0.154,0.154,3.03,3.031,3.031,3.031,3.03,3.043,3.03,0.161,0.154,0.154,0.154,0.145,0.145,0.145,0.145,0.124,0.097,0.069,0.068,0.064,0.064,0.066,0.066,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.069,0.11,0.194,3.345,3.358,3.367,3.367,3.367,3.369,3.39,3.392,3.412,3.418,3.418,3.451,3.468,3.476,3.492,3.492,3.493,3.502,3.502,3.503,3.508,3.514,3.511,3.514,3.526,3.526,3.529,3.531,3.532,3.533,3.545,3.545,3.545,3.548,3.549,3.551,3.56,3.567,3.573,3.575,3.578,3.579,3.589,3.594,3.605,3.61,3.618,3.629,3.63,3.633,3.636,3.642,3.649,3.649,3.659,3.664,3.667,3.683,3.686,3.689,3.694,3.699,3.705,3.724,3.724,3.734,3.748,3.754,3.76,3.77,3.774,3.783,3.794,3.799,3.806,3.813,3.838,3.838,3.847,3.856,3.873,3.891,3.893,3.902,3.92,3.935,3.938,3.947,3.967,3.977,3.996,4.02,4.024,4.051,4.052,4.074,4.09,0.016,0.016,0.016,0.016,0.016,4.082,4.082,4.044,4.044,0.007,3.972,3.899,3.858,3.84,3.821,3.798,3.749,3.737,3.709,3.67,3.647,3.618,3.592,3.568,3.555,3.531,3.502,3.488,3.459,3.453,3.42,3.417,3.384,3.369,3.34,3.337,3.312,3.297,3.281,3.255,3.231,3.221,3.192,3.188,3.176,3.15,3.143,3.131,3.104,3.095,3.075,3.061,3.049,3.049,3.041,3.022,2.998,2.994,2.973,2.968,2.943,2.941,2.921,2.918,2.906,2.893,2.879,2.874,2.857,2.85,2.843,2.826,2.814,2.807,2.793,2.782,2.781,2.766,2.766,2.749,2.738,2.735,2.716,2.715,2.703,2.693,2.681,2.676,2.67,2.665,2.659,2.653,2.65,2.638,2.633,2.629,2.612,2.609,2.608,2.597,2.591,2.585,2.578,2.571,2.571,2.57,2.551,2.551,2.54,2.538,2.535,2.525,2.52,2.517,2.514,2.499,2.497,2.495,2.487,2.486,2.48,2.477,2.476,2.472,2.47,2.466,2.464,2.461,2.453,2.452,2.447,2.447,2.443,2.447,2.443,2.441,2.435,2.434,2.429,2.429,2.429,2.423,2.423,2.421,2.421,2.417,2.416,2.416,2.413,2.41,2.41,2.41,2.41,2.409,2.407,2.407,2.407,2.407,2.407,2.407,2.409,2.413,2.413,2.413,2.413,2.413,2.413,2.419,2.42,2.42,2.421,2.42,2.424,2.424,2.424,2.425,2.425,2.43,2.433,2.436,2.438,2.439,2.439,2.44,2.441,2.444,2.448,2.455,2.455,2.457,2.459,2.46,2.466,2.468,2.478,2.48,2.482,2.485,2.486,2.489,2.494,2.506,2.512,2.515,2.519,2.523,2.523,2.527,2.535,2.536,2.547,2.552,2.555,2.562,2.567,2.573,2.592,2.596,2.601,2.605,2.608,2.612,2.624,2.63,2.635,2.635,2.648,2.65,2.661,2.666,2.677,2.678,2.698,2.7,2.722,2.723,2.732,2.74,2.749,2.756,2.768,2.777,2.791,2.796,2.803,2.812,2.834,2.837,2.849,2.859,2.867,2.876,2.889,2.898,2.923,2.934,2.942,2.948,2.96,2.968,2.982,2.994,3.019,3.029,3.039,3.039,3.061,3.082,3.09,3.104,3.121,3.143,3.158,3.163,3.178,3.202,3.226,3.234,3.242,3.257,3.277,3.3,3.313,3.336,3.352,3.371,3.392,3.405,3.431,3.451,3.484,3.492,3.531,3.541,3.573,3.602,3.607,3.641,3.663,3.69,3.723,3.744,3.777,3.797,3.834,3.869,3.886,3.933,3.935,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.349,3.339,3.328,3.315,3.304,3.3,3.297,3.279,3.261,3.253,3.249,3.242,3.235,3.23,3.219,3.213,3.206,3.198,3.184,3.184,3.179,3.173,3.163,3.161,3.153,3.145,3.129,3.126,3.123,3.119,3.117,3.112,3.109,3.103,3.092,3.083,3.082,3.081,3.069,3.068,3.068,3.065,3.061,3.058,3.052,3.045,3.042,3.041,3.041,3.04,3.035,3.034,3.03,3.022,3.022,3.022,3.022,3.025,3.029,3.029,3.029,3.02,3.019,3.017,3.017,3.017,3.008,3.008,3.009,3.008,3.008,3.007,3.004,3.004,3.004,3.007,3.012,3.012,3.011,3.011,3.011,3.011,3.012,3.012,3.014,3.016,3.018,3.018,3.024,3.02,3.02,3.022,3.024,3.028,3.034,3.037,3.037,3.037,3.039,3.045,3.047,3.051,3.055,3.059,3.062,3.067,3.068,3.068,3.068,3.089,3.089,3.089,3.092,3.092,3.095,3.111,3.113,3.121,3.124,3.129,3.129,3.135,3.136,3.139,3.14,3.142,3.149,3.156,3.156,3.167,3.175,3.175,3.179,3.183,3.211,3.211,3.225,3.227,3.227,3.233,3.247,3.247,3.25,3.251,3.259,3.279,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 100.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 100.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 100.067} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054} SEN {Time 100.115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.182,0.182,0.184,0,0,0,0,0,0,0,0,3.681,3.68,3.668,3.661,3.649,3.627,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.21,3.209,3.209,3.209,3.268,3.356,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.143,0.146,0.146,0.151,0.151,0.153,0.153,0.159,0.159,3.036,3.036,3.036,3.036,3.035,3.035,3.034,0.158,0.155,0.155,0.153,0.151,0.147,0.147,0.145,0.122,0.09,0.066,0.063,0.063,0.065,0.065,0.065,0.065,0.069,0.069,0.065,0.065,0.065,0.065,0.069,0.113,0.201,3.346,3.347,3.362,3.362,3.376,3.393,3.393,3.393,3.423,3.426,3.426,3.433,3.45,3.459,3.477,3.49,3.492,3.5,3.5,3.505,3.505,3.505,3.507,3.515,3.522,3.53,3.534,3.534,3.531,3.535,3.538,3.547,3.547,3.547,3.548,3.554,3.566,3.568,3.568,3.573,3.578,3.583,3.587,3.594,3.6,3.602,3.605,3.621,3.625,3.627,3.643,3.65,3.65,3.654,3.655,3.657,3.666,3.675,3.681,3.697,3.698,3.699,3.714,3.721,3.73,3.734,3.747,3.749,3.75,3.762,3.767,3.775,3.789,3.8,3.805,3.811,3.83,3.844,3.851,3.86,3.876,3.878,3.89,3.896,3.915,3.929,3.933,3.947,3.976,3.993,3.995,4.016,4.019,4.046,4.064,4.079,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.053,4.04,3.983,3.966,3.917,3.889,3.875,3.845,3.818,3.785,3.75,3.735,3.702,3.677,3.65,3.623,3.596,3.572,3.548,3.531,3.512,3.476,3.455,3.438,3.414,3.401,3.381,3.372,3.344,3.344,3.303,3.293,3.266,3.254,3.237,3.229,3.199,3.192,3.169,3.156,3.141,3.127,3.104,3.089,3.08,3.06,3.044,3.036,3.025,3.012,3.009,2.984,2.979,2.963,2.954,2.943,2.921,2.918,2.905,2.901,2.881,2.872,2.856,2.844,2.842,2.833,2.82,2.808,2.791,2.785,2.782,2.764,2.753,2.752,2.737,2.736,2.719,2.717,2.704,2.695,2.682,2.675,2.672,2.667,2.66,2.654,2.644,2.636,2.628,2.627,2.618,2.617,2.61,2.602,2.588,2.584,2.573,2.572,2.568,2.568,2.555,2.55,2.54,2.535,2.533,2.53,2.521,2.516,2.51,2.504,2.5,2.5,2.494,2.492,2.485,2.478,2.475,2.473,2.47,2.47,2.467,2.457,2.456,2.455,2.45,2.449,2.449,2.447,2.445,2.443,2.442,2.433,2.43,2.428,2.428,2.427,2.426,2.427,2.419,2.418,2.416,2.416,2.415,2.414,2.412,2.407,2.407,2.412,2.412,2.41,2.41,2.406,2.406,2.408,2.408,2.416,2.416,2.414,2.415,2.414,2.414,2.414,2.415,2.414,2.415,2.415,2.416,2.418,2.423,2.423,2.424,2.428,2.429,2.431,2.438,2.438,2.438,2.439,2.44,2.446,2.449,2.456,2.456,2.457,2.457,2.461,2.467,2.468,2.476,2.486,2.49,2.491,2.492,2.496,2.498,2.5,2.511,2.512,2.521,2.524,2.525,2.527,2.533,2.538,2.552,2.555,2.556,2.565,2.569,2.57,2.594,2.595,2.602,2.602,2.607,2.62,2.627,2.637,2.637,2.637,2.644,2.647,2.66,2.667,2.68,2.689,2.695,2.703,2.72,2.723,2.725,2.74,2.75,2.756,2.761,2.774,2.792,2.798,2.8,2.82,2.824,2.838,2.846,2.858,2.866,2.874,2.888,2.903,2.919,2.925,2.943,2.954,2.955,2.967,2.978,2.994,3.012,3.026,3.037,3.045,3.055,3.081,3.094,3.101,3.122,3.143,3.151,3.171,3.177,3.202,3.221,3.238,3.252,3.259,3.284,3.295,3.322,3.344,3.352,3.379,3.396,3.398,3.437,3.457,3.475,3.499,3.532,3.538,3.568,3.592,3.604,3.633,3.667,3.695,3.721,3.753,3.78,3.797,3.843,3.864,3.897,3.915,3.947,4.021,0.007,0,0,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.354,3.341,3.333,3.31,3.31,3.299,3.299,3.273,3.265,3.259,3.259,3.239,3.239,3.236,3.221,3.215,3.213,3.196,3.185,3.183,3.172,3.172,3.16,3.154,3.149,3.142,3.135,3.135,3.122,3.122,3.12,3.11,3.103,3.099,3.093,3.092,3.082,3.082,3.081,3.077,3.065,3.065,3.063,3.06,3.044,3.044,3.042,3.04,3.039,3.039,3.038,3.035,3.033,3.029,3.024,3.023,3.023,3.023,3.023,3.023,3.023,3.019,3.018,3.012,3.012,3.012,3.012,3.012,3.012,3.011,3.011,3.01,3.01,3.01,3.01,3.01,3.014,3.015,3.015,3.014,3.014,3.015,3.013,3.015,3.015,3.017,3.016,3.02,3.022,3.022,3.022,3.025,3.025,3.025,3.028,3.034,3.034,3.038,3.04,3.046,3.054,3.055,3.057,3.058,3.061,3.064,3.07,3.078,3.079,3.09,3.09,3.09,3.09,3.09,3.104,3.106,3.109,3.12,3.121,3.127,3.127,3.135,3.136,3.137,3.139,3.141,3.142,3.155,3.156,3.159,3.172,3.174,3.176,3.181,3.194,3.212,3.22,3.224,3.233,3.233,3.234,3.235,3.243,3.269,3.277,3.277,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 100.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 100.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 100.267} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.1054} SEN {Time 100.315} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.18,0.183,0.183,0,0,0,0,0,0,0,0,3.683,3.683,3.668,3.663,3.65,3.636,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.216,3.218,0.007,0,0.007,0,0,0,0,0,0,0,0.146,0.143,0.143,0.143,0.143,0.143,0.146,0.146,0.151,0.153,0.155,0.155,0.155,0.155,3.029,3.029,3.033,3.033,3.029,3.025,0.154,0.154,0.154,0.154,0.153,0.153,0.153,0.144,0.144,0.121,0.088,0.068,0.068,0.065,0.068,0.068,0.068,0.07,0.07,0.072,0.07,0.07,0.065,0.065,0.065,0.117,0.206,0,0,0,3.392,3.372,3.372,3.372,3.392,3.401,3.437,3.449,3.449,3.469,3.472,3.477,3.477,3.484,3.493,3.502,3.503,3.505,3.508,3.512,3.52,3.522,3.526,3.527,3.531,3.532,3.533,3.538,3.538,3.545,3.548,3.553,3.558,3.559,3.571,3.573,3.576,3.582,3.585,3.587,3.595,3.608,3.61,3.61,3.619,3.624,3.636,3.637,3.641,3.651,3.655,3.659,3.665,3.666,3.674,3.674,3.679,3.686,3.693,3.705,3.724,3.73,3.741,3.742,3.745,3.754,3.755,3.769,3.78,3.798,3.806,3.815,3.828,3.831,3.844,3.851,3.865,3.871,3.889,3.898,3.904,3.918,3.929,3.948,3.951,3.975,3.978,4,4.016,4.025,4.035,4.074,4.079,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0.007,4.015,3.963,3.929,3.903,3.879,3.856,3.805,3.784,3.752,3.725,3.695,3.679,3.654,3.629,3.608,3.574,3.558,3.522,3.499,3.493,3.463,3.445,3.415,3.399,3.383,3.379,3.354,3.333,3.306,3.285,3.279,3.251,3.237,3.223,3.194,3.181,3.176,3.153,3.137,3.128,3.11,3.089,3.082,3.07,3.049,3.044,3.02,3.01,2.998,2.989,2.973,2.971,2.952,2.939,2.93,2.916,2.91,2.897,2.882,2.869,2.858,2.845,2.838,2.829,2.814,2.805,2.791,2.784,2.777,2.774,2.763,2.76,2.74,2.733,2.718,2.707,2.703,2.698,2.684,2.683,2.672,2.659,2.655,2.647,2.644,2.635,2.633,2.622,2.617,2.605,2.604,2.595,2.59,2.583,2.578,2.573,2.57,2.561,2.556,2.551,2.547,2.541,2.531,2.522,2.518,2.515,2.507,2.505,2.499,2.492,2.49,2.489,2.486,2.474,2.472,2.471,2.467,2.465,2.459,2.458,2.457,2.454,2.449,2.447,2.444,2.444,2.437,2.437,2.437,2.436,2.429,2.426,2.426,2.426,2.425,2.421,2.42,2.419,2.417,2.417,2.416,2.411,2.411,2.411,2.411,2.411,2.411,2.408,2.408,2.408,2.408,2.408,2.413,2.416,2.416,2.416,2.416,2.416,2.416,2.417,2.419,2.423,2.423,2.423,2.418,2.417,2.417,2.418,2.419,2.428,2.432,2.434,2.437,2.442,2.442,2.442,2.442,2.445,2.448,2.449,2.453,2.455,2.463,2.47,2.472,2.475,2.477,2.477,2.488,2.489,2.491,2.494,2.495,2.495,2.51,2.513,2.517,2.521,2.522,2.525,2.533,2.541,2.543,2.548,2.557,2.56,2.567,2.574,2.59,2.604,2.605,2.611,2.615,2.615,2.62,2.627,2.635,2.637,2.643,2.651,2.662,2.676,2.677,2.689,2.696,2.709,2.714,2.719,2.727,2.743,2.747,2.756,2.77,2.78,2.786,2.793,2.801,2.813,2.828,2.836,2.843,2.857,2.866,2.882,2.895,2.9,2.911,2.936,2.947,2.956,2.956,2.967,2.978,2.997,3.012,3.023,3.047,3.048,3.071,3.08,3.099,3.108,3.119,3.135,3.149,3.172,3.172,3.201,3.217,3.234,3.248,3.265,3.28,3.297,3.322,3.333,3.352,3.371,3.398,3.413,3.444,3.468,3.487,3.506,3.528,3.543,3.57,3.606,3.612,3.645,3.669,3.69,3.73,3.751,3.765,3.808,3.83,3.859,3.891,3.928,3.999,4.038,4.089,4.089,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.345,3.34,3.34,3.325,3.316,3.285,3.285,3.277,3.267,3.259,3.251,3.243,3.239,3.238,3.217,3.216,3.213,3.202,3.195,3.189,3.178,3.166,3.164,3.154,3.152,3.144,3.139,3.132,3.125,3.122,3.116,3.106,3.105,3.098,3.095,3.093,3.084,3.081,3.073,3.071,3.067,3.064,3.062,3.061,3.051,3.048,3.045,3.042,3.042,3.042,3.039,3.038,3.037,3.029,3.023,3.021,3.023,3.023,3.026,3.026,3.026,3.02,3.018,3.015,3.015,3.013,3.012,3.012,3.01,3.009,3.007,3.004,3.004,3.007,3.01,3.01,3.013,3.013,3.01,3.01,3.013,3.013,3.013,3.013,3.015,3.018,3.018,3.021,3.022,3.022,3.022,3.023,3.026,3.026,3.031,3.037,3.036,3.036,3.037,3.037,3.048,3.052,3.057,3.058,3.062,3.07,3.07,3.073,3.074,3.083,3.089,3.09,3.091,3.095,3.097,3.11,3.111,3.122,3.125,3.127,3.127,3.133,3.137,3.139,3.139,3.14,3.147,3.159,3.16,3.161,3.173,3.175,3.175,3.188,3.199,3.216,3.218,3.22,3.231,3.232,3.237,3.24,3.248,3.251,3.264,3.276,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 100.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 100.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 100.468} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.1054} SEN {Time 100.511} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.177,0.181,0.181,0,0,0,0,0,0,0,0,3.687,3.676,3.669,3.66,3.644,3.621,3.611,3.611,3.605,3.605,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.219,3.219,3.22,3.256,3.354,0,0,0,0,0,0,0,0.146,0.143,0.143,0.143,0.146,0.143,0.147,0.149,0.153,0.155,0.157,0.157,0.157,0.163,3.032,3.032,3.035,3.035,3.032,3.035,3.035,0.158,0.158,0.158,0.153,0.15,0.148,0.145,0.145,0.115,0.082,0.072,0.065,0.065,0.064,0.065,0.064,0.068,0.067,0.067,0.065,0.065,0.065,0.065,0.065,0.117,3.348,0.006,0.007,3.366,3.366,3.389,3.389,3.389,3.391,3.417,3.456,3.452,3.456,3.467,3.467,3.478,3.48,3.489,3.508,3.509,3.511,3.511,3.512,3.515,3.515,3.517,3.519,3.52,3.521,3.529,3.529,3.544,3.545,3.545,3.546,3.551,3.554,3.56,3.568,3.568,3.569,3.572,3.584,3.585,3.592,3.597,3.598,3.619,3.625,3.631,3.631,3.646,3.647,3.649,3.661,3.664,3.666,3.666,3.673,3.678,3.691,3.692,3.699,3.716,3.72,3.732,3.735,3.744,3.745,3.749,3.763,3.765,3.785,3.797,3.805,3.815,3.821,3.83,3.845,3.847,3.865,3.874,3.875,3.894,3.896,3.92,3.924,3.939,3.958,3.965,3.978,4.003,4.015,4.018,4.047,4.07,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.041,3.976,3.975,3.921,3.909,3.874,3.847,3.809,3.786,3.745,3.736,3.701,3.679,3.655,3.634,3.586,3.576,3.544,3.524,3.507,3.479,3.46,3.448,3.409,3.409,3.384,3.372,3.342,3.327,3.302,3.295,3.278,3.259,3.244,3.219,3.198,3.191,3.177,3.15,3.136,3.126,3.113,3.096,3.082,3.067,3.045,3.039,3.026,3.016,3.004,2.993,2.983,2.959,2.95,2.937,2.921,2.921,2.908,2.894,2.88,2.87,2.855,2.844,2.836,2.827,2.817,2.81,2.789,2.784,2.772,2.769,2.757,2.748,2.743,2.73,2.729,2.715,2.71,2.703,2.683,2.676,2.674,2.658,2.657,2.653,2.644,2.64,2.636,2.625,2.616,2.61,2.603,2.597,2.589,2.585,2.571,2.569,2.568,2.56,2.554,2.552,2.543,2.541,2.532,2.524,2.52,2.516,2.507,2.504,2.502,2.501,2.492,2.488,2.483,2.479,2.476,2.473,2.472,2.467,2.461,2.459,2.45,2.45,2.449,2.446,2.445,2.444,2.442,2.441,2.438,2.432,2.425,2.425,2.425,2.424,2.421,2.421,2.418,2.418,2.417,2.416,2.416,2.414,2.413,2.413,2.413,2.41,2.41,2.41,2.41,2.406,2.406,2.411,2.409,2.411,2.413,2.414,2.414,2.414,2.414,2.416,2.415,2.416,2.416,2.416,2.417,2.42,2.421,2.423,2.424,2.427,2.427,2.433,2.433,2.435,2.437,2.438,2.438,2.446,2.453,2.455,2.461,2.462,2.465,2.466,2.468,2.472,2.477,2.479,2.48,2.485,2.487,2.491,2.494,2.501,2.511,2.511,2.512,2.518,2.519,2.532,2.533,2.547,2.548,2.553,2.564,2.57,2.573,2.585,2.588,2.593,2.602,2.607,2.608,2.621,2.626,2.633,2.644,2.645,2.648,2.654,2.66,2.679,2.684,2.688,2.702,2.705,2.721,2.724,2.733,2.74,2.751,2.755,2.764,2.776,2.793,2.794,2.811,2.821,2.83,2.841,2.849,2.86,2.871,2.879,2.889,2.905,2.919,2.922,2.939,2.945,2.956,2.967,2.982,2.994,3.016,3.027,3.047,3.049,3.063,3.077,3.095,3.098,3.122,3.139,3.158,3.163,3.175,3.193,3.218,3.234,3.251,3.268,3.278,3.292,3.32,3.335,3.351,3.364,3.39,3.406,3.436,3.458,3.484,3.497,3.523,3.534,3.57,3.581,3.615,3.633,3.658,3.685,3.73,3.758,3.781,3.799,3.846,3.861,3.882,3.933,3.954,3.985,4.034,4.066,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.356,3.34,3.325,3.32,3.307,3.296,3.288,3.275,3.271,3.253,3.253,3.242,3.241,3.239,3.212,3.211,3.208,3.201,3.188,3.187,3.187,3.175,3.175,3.157,3.151,3.143,3.142,3.132,3.122,3.119,3.118,3.107,3.107,3.105,3.093,3.09,3.077,3.074,3.073,3.073,3.072,3.07,3.061,3.056,3.05,3.045,3.045,3.044,3.041,3.041,3.039,3.033,3.033,3.026,3.024,3.024,3.026,3.026,3.026,3.026,3.026,3.024,3.021,3.018,3.014,3.014,3.014,3.014,3.014,3.013,3.01,3.01,3.01,3.009,3.009,3.011,3.011,3.012,3.012,3.014,3.014,3.014,3.018,3.018,3.018,3.018,3.014,3.014,3.021,3.022,3.022,3.022,3.027,3.029,3.031,3.033,3.033,3.039,3.04,3.043,3.048,3.053,3.053,3.057,3.059,3.068,3.073,3.073,3.077,3.085,3.085,3.088,3.089,3.096,3.101,3.106,3.106,3.118,3.122,3.126,3.129,3.132,3.141,3.141,3.141,3.147,3.147,3.153,3.16,3.165,3.168,3.176,3.183,3.189,3.199,3.22,3.221,3.225,3.225,3.23,3.233,3.235,3.239,3.245,3.259,3.282,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 100.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 100.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 100.669} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.1054} SEN {Time 100.711} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.185,0.188,0.188,0,0,0,0,0,0,0,0,3.676,3.675,3.666,3.658,3.638,3.624,3.612,3.612,3.612,3.597,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.214,3.214,3.214,3.214,3.258,3.366,0,0,0,0,0,0,0,0.15,0.146,0.146,0.146,0.146,0.143,0.14,0.14,0.146,0.146,0.148,0.148,0.156,0.157,3.03,3.032,3.039,3.039,3.032,3.04,3.04,0.159,0.159,0.159,0.153,0.152,0.15,0.138,0.138,0.115,0.085,0.068,0.064,0.063,0.063,0.063,0.064,0.067,0.068,0.068,0.067,0.067,0.067,0.067,0.075,0.138,0.216,3.347,0,0.007,3.386,3.372,3.386,3.386,3.405,3.443,3.443,3.443,3.443,3.449,3.462,3.479,3.482,3.485,3.496,3.496,3.498,3.509,3.509,3.516,3.519,3.521,3.522,3.522,3.532,3.534,3.534,3.535,3.54,3.541,3.543,3.552,3.563,3.565,3.572,3.576,3.577,3.578,3.583,3.59,3.59,3.596,3.602,3.621,3.623,3.624,3.627,3.632,3.644,3.648,3.65,3.658,3.659,3.671,3.673,3.682,3.685,3.692,3.706,3.717,3.724,3.737,3.74,3.743,3.747,3.749,3.76,3.771,3.778,3.795,3.804,3.809,3.829,3.838,3.839,3.859,3.864,3.88,3.89,3.893,3.905,3.917,3.93,3.941,3.963,3.965,3.983,3.989,4.009,4.022,4.05,4.052,4.081,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.062,3.962,3.928,3.917,3.877,3.831,3.814,3.785,3.755,3.729,3.702,3.674,3.653,3.627,3.596,3.57,3.554,3.528,3.516,3.488,3.455,3.437,3.414,3.405,3.391,3.372,3.347,3.331,3.303,3.298,3.267,3.254,3.239,3.226,3.189,3.18,3.171,3.155,3.144,3.118,3.111,3.098,3.084,3.063,3.048,3.038,3.028,3.012,3,2.992,2.983,2.955,2.954,2.943,2.925,2.921,2.901,2.892,2.879,2.865,2.86,2.847,2.833,2.828,2.818,2.805,2.799,2.78,2.774,2.767,2.756,2.748,2.739,2.738,2.723,2.714,2.703,2.696,2.68,2.68,2.674,2.659,2.655,2.649,2.643,2.638,2.633,2.629,2.612,2.611,2.61,2.599,2.59,2.577,2.574,2.571,2.57,2.568,2.551,2.551,2.544,2.539,2.536,2.525,2.524,2.512,2.507,2.506,2.501,2.491,2.489,2.487,2.479,2.477,2.475,2.472,2.472,2.467,2.463,2.453,2.453,2.453,2.449,2.449,2.446,2.445,2.441,2.438,2.438,2.429,2.428,2.426,2.423,2.42,2.42,2.42,2.42,2.42,2.42,2.42,2.413,2.412,2.411,2.41,2.41,2.41,2.408,2.41,2.408,2.408,2.411,2.411,2.412,2.414,2.414,2.416,2.414,2.414,2.414,2.414,2.414,2.423,2.423,2.419,2.421,2.419,2.419,2.419,2.421,2.421,2.421,2.427,2.434,2.44,2.441,2.441,2.444,2.451,2.452,2.456,2.457,2.457,2.464,2.466,2.468,2.47,2.471,2.478,2.478,2.482,2.488,2.496,2.503,2.504,2.513,2.52,2.52,2.523,2.525,2.532,2.539,2.541,2.545,2.55,2.556,2.563,2.564,2.573,2.585,2.596,2.6,2.601,2.608,2.617,2.624,2.631,2.638,2.643,2.646,2.65,2.67,2.67,2.676,2.683,2.697,2.7,2.711,2.72,2.726,2.743,2.747,2.758,2.769,2.779,2.791,2.806,2.809,2.827,2.834,2.837,2.846,2.861,2.869,2.877,2.879,2.894,2.916,2.922,2.936,2.948,2.955,2.985,2.988,2.997,3.017,3.028,3.039,3.047,3.069,3.08,3.091,3.106,3.122,3.143,3.15,3.165,3.175,3.201,3.224,3.227,3.25,3.261,3.261,3.309,3.317,3.331,3.353,3.38,3.392,3.404,3.432,3.465,3.473,3.503,3.525,3.545,3.566,3.594,3.612,3.636,3.668,3.691,3.729,3.744,3.784,3.802,3.836,3.851,3.88,3.935,3.936,4.02,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.359,3.34,3.335,3.308,3.305,3.297,3.292,3.28,3.268,3.263,3.25,3.245,3.237,3.232,3.222,3.215,3.211,3.196,3.189,3.186,3.179,3.169,3.164,3.156,3.149,3.137,3.13,3.128,3.126,3.123,3.115,3.105,3.103,3.101,3.094,3.092,3.083,3.079,3.077,3.075,3.075,3.064,3.061,3.051,3.05,3.047,3.047,3.04,3.04,3.036,3.036,3.035,3.03,3.029,3.025,3.025,3.026,3.026,3.028,3.028,3.028,3.014,3.014,3.014,3.014,3.01,3.01,3.008,3.01,3.011,3.011,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.009,3.009,3.017,3.017,3.017,3.02,3.02,3.017,3.018,3.017,3.017,3.018,3.022,3.024,3.028,3.031,3.036,3.041,3.044,3.044,3.049,3.053,3.054,3.055,3.06,3.061,3.07,3.072,3.077,3.087,3.088,3.089,3.091,3.095,3.1,3.104,3.107,3.108,3.116,3.133,3.133,3.133,3.134,3.139,3.139,3.148,3.149,3.152,3.162,3.164,3.164,3.166,3.17,3.18,3.194,3.21,3.226,3.226,3.227,3.239,3.241,3.247,3.247,3.25,3.25,3.279,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 100.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 100.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 100.861} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.7498} SEN {Time 100.911} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,0,0,0,3.679,3.678,3.672,3.661,3.655,3.619,3.617,3.617,3.596,3.596,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.211,3.211,3.211,3.262,3.356,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.142,0.15,0.151,0.153,0.153,0.158,0.158,0.159,0.159,3.031,3.037,3.037,3.037,3.031,3.037,3.029,0.155,0.154,0.154,0.154,0.153,0.149,0.146,0.146,0.117,0.092,0.068,0.067,0.064,0.064,0.064,0.064,0.066,0.068,0.066,0.066,0.066,0.067,0.067,0.074,0.119,0.199,3.337,3.352,3.355,3.355,3.381,0.007,3.39,3.39,3.418,3.418,3.425,3.443,3.444,3.468,3.482,3.489,3.492,3.498,3.507,3.507,3.509,3.513,3.514,3.514,3.52,3.526,3.526,3.528,3.534,3.537,3.545,3.547,3.552,3.554,3.555,3.561,3.564,3.567,3.571,3.573,3.576,3.579,3.581,3.592,3.602,3.606,3.606,3.622,3.623,3.63,3.633,3.644,3.647,3.652,3.652,3.66,3.66,3.663,3.684,3.69,3.697,3.7,3.708,3.721,3.725,3.737,3.743,3.747,3.754,3.774,3.775,3.788,3.794,3.801,3.807,3.826,3.832,3.833,3.847,3.855,3.873,3.886,3.886,3.893,3.908,3.92,3.945,3.968,3.979,3.982,4.01,4.024,4.035,4.037,4.053,4.081,4.094,0.016,0.016,0.016,0.016,0.016,4.089,4.052,4.027,3.99,3.98,3.938,3.9,3.869,3.852,3.823,3.782,3.745,3.735,3.697,3.678,3.637,3.626,3.608,3.567,3.554,3.524,3.505,3.495,3.459,3.451,3.413,3.407,3.382,3.379,3.346,3.331,3.306,3.294,3.284,3.257,3.231,3.231,3.202,3.191,3.175,3.15,3.143,3.121,3.106,3.092,3.087,3.061,3.053,3.051,3.027,3.014,2.999,2.982,2.979,2.962,2.95,2.936,2.929,2.916,2.91,2.896,2.87,2.869,2.85,2.847,2.834,2.827,2.813,2.813,2.793,2.784,2.78,2.769,2.761,2.75,2.742,2.736,2.721,2.709,2.703,2.693,2.677,2.676,2.675,2.664,2.655,2.649,2.641,2.636,2.635,2.622,2.617,2.615,2.608,2.6,2.589,2.587,2.574,2.574,2.574,2.572,2.557,2.553,2.54,2.53,2.53,2.521,2.52,2.508,2.508,2.502,2.494,2.492,2.491,2.489,2.478,2.478,2.478,2.478,2.474,2.473,2.465,2.464,2.454,2.453,2.452,2.447,2.445,2.445,2.443,2.442,2.438,2.431,2.43,2.43,2.427,2.427,2.423,2.423,2.42,2.418,2.416,2.413,2.413,2.413,2.412,2.412,2.411,2.411,2.41,2.41,2.41,2.41,2.407,2.41,2.41,2.411,2.411,2.416,2.414,2.416,2.416,2.416,2.416,2.417,2.419,2.419,2.419,2.419,2.423,2.423,2.426,2.427,2.429,2.43,2.435,2.435,2.436,2.439,2.441,2.451,2.456,2.456,2.456,2.465,2.465,2.468,2.468,2.475,2.48,2.481,2.484,2.484,2.491,2.492,2.494,2.499,2.508,2.514,2.518,2.522,2.522,2.534,2.541,2.542,2.55,2.556,2.557,2.568,2.571,2.577,2.593,2.599,2.603,2.604,2.605,2.617,2.619,2.629,2.643,2.645,2.65,2.659,2.665,2.674,2.685,2.686,2.7,2.7,2.715,2.722,2.726,2.736,2.752,2.754,2.759,2.783,2.794,2.795,2.804,2.82,2.828,2.838,2.846,2.862,2.865,2.873,2.886,2.9,2.917,2.923,2.945,2.952,2.964,2.974,2.978,3.003,3.014,3.023,3.036,3.045,3.062,3.089,3.091,3.105,3.122,3.139,3.148,3.167,3.177,3.204,3.222,3.223,3.253,3.265,3.273,3.294,3.323,3.335,3.354,3.371,3.392,3.406,3.43,3.458,3.478,3.497,3.523,3.539,3.564,3.612,3.613,3.638,3.693,3.723,3.751,3.751,3.775,3.805,3.839,3.862,3.888,3.916,3.944,3.991,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.354,3.339,3.326,3.319,3.307,3.296,3.294,3.283,3.267,3.264,3.25,3.244,3.242,3.234,3.226,3.207,3.204,3.195,3.183,3.175,3.174,3.168,3.167,3.157,3.155,3.146,3.129,3.128,3.124,3.119,3.118,3.118,3.111,3.105,3.096,3.092,3.082,3.081,3.079,3.074,3.065,3.064,3.061,3.061,3.054,3.05,3.046,3.045,3.042,3.04,3.038,3.036,3.033,3.029,3.028,3.026,3.026,3.026,3.032,3.032,3.032,3.023,3.021,3.02,3.018,3.015,3.011,3.008,3.008,3.007,3.004,3.001,3.001,3.001,3.009,3.009,3.01,3.01,3.009,3.009,3.015,3.014,3.015,3.015,3.015,3.015,3.017,3.022,3.022,3.022,3.02,3.022,3.022,3.027,3.029,3.032,3.036,3.039,3.044,3.045,3.05,3.056,3.058,3.06,3.062,3.066,3.07,3.075,3.077,3.08,3.082,3.085,3.087,3.087,3.098,3.11,3.119,3.121,3.121,3.131,3.131,3.135,3.138,3.14,3.14,3.145,3.145,3.146,3.155,3.169,3.169,3.169,3.179,3.193,3.199,3.216,3.217,3.219,3.232,3.232,3.236,3.236,3.243,3.247,3.269,3.27,3.295,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 101.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 101.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 101.063} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3876} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.7498} SEN {Time 101.111} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.177,0.182,0.182,0,0,0,0,0,0,0,0,0,3.676,3.664,3.662,3.65,3.635,3.61,3.61,3.61,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.22,3.22,3.21,3.22,3.22,3.269,3.363,0,0,0,0,0,0,0,0.007,0.14,0.14,0.14,0.14,0.143,0.149,0.151,0.151,0.153,0.156,0.156,0.156,0.157,3.021,3.031,3.031,3.031,3.029,3.029,0.159,0.158,0.155,0.155,0.153,0.153,0.15,0.141,0.141,0.108,0.09,0.069,0.069,0.064,0.063,0.063,0.063,0.067,0.068,0.07,0.07,0.07,0.07,0.07,0.075,0.135,0.221,3.346,3.354,3.361,3.361,3.368,3.398,3.398,0,0.007,0,0,0.007,3.478,3.478,3.478,3.478,3.481,3.495,3.5,3.511,3.511,3.511,3.512,3.522,3.522,3.527,3.527,3.53,3.53,3.537,3.538,3.54,3.544,3.546,3.547,3.556,3.559,3.563,3.564,3.573,3.573,3.581,3.581,3.589,3.605,3.612,3.619,3.628,3.629,3.637,3.638,3.647,3.653,3.658,3.663,3.664,3.669,3.677,3.678,3.684,3.697,3.705,3.715,3.717,3.727,3.737,3.738,3.748,3.75,3.767,3.769,3.774,3.782,3.801,3.801,3.81,3.843,3.848,3.85,3.859,3.868,3.877,3.905,3.914,3.915,3.931,3.947,3.951,3.962,3.994,3.996,4.019,4.038,4.042,4.059,4.083,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0,3.989,3.97,3.905,3.885,3.833,3.807,3.778,3.762,3.74,3.699,3.67,3.645,3.625,3.59,3.579,3.543,3.528,3.492,3.485,3.449,3.432,3.412,3.408,3.372,3.356,3.352,3.329,3.303,3.292,3.274,3.268,3.238,3.229,3.198,3.185,3.17,3.153,3.143,3.119,3.109,3.095,3.088,3.067,3.049,3.042,3.029,3.012,2.999,2.994,2.984,2.96,2.955,2.932,2.926,2.919,2.904,2.895,2.872,2.867,2.858,2.85,2.836,2.826,2.815,2.811,2.795,2.786,2.769,2.769,2.759,2.745,2.738,2.734,2.723,2.717,2.71,2.698,2.684,2.678,2.673,2.66,2.654,2.653,2.645,2.636,2.634,2.623,2.615,2.613,2.61,2.599,2.586,2.583,2.583,2.572,2.561,2.559,2.555,2.548,2.543,2.542,2.533,2.523,2.518,2.513,2.504,2.5,2.497,2.495,2.494,2.488,2.484,2.481,2.474,2.473,2.47,2.468,2.463,2.46,2.451,2.451,2.45,2.447,2.445,2.443,2.441,2.44,2.433,2.433,2.426,2.426,2.424,2.424,2.424,2.421,2.421,2.419,2.415,2.418,2.415,2.414,2.414,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.412,2.412,2.412,2.412,2.415,2.414,2.414,2.415,2.415,2.415,2.418,2.419,2.42,2.419,2.418,2.419,2.42,2.42,2.421,2.423,2.429,2.43,2.435,2.44,2.442,2.442,2.447,2.447,2.452,2.452,2.458,2.462,2.465,2.467,2.468,2.47,2.47,2.473,2.483,2.483,2.485,2.491,2.499,2.501,2.51,2.514,2.518,2.522,2.523,2.536,2.537,2.541,2.55,2.552,2.559,2.564,2.566,2.577,2.591,2.594,2.598,2.6,2.602,2.622,2.627,2.629,2.638,2.642,2.648,2.655,2.66,2.669,2.679,2.685,2.697,2.704,2.709,2.719,2.73,2.737,2.753,2.753,2.767,2.783,2.79,2.798,2.809,2.823,2.827,2.838,2.846,2.856,2.867,2.884,2.885,2.904,2.92,2.923,2.948,2.956,2.966,2.972,2.987,2.999,3.017,3.022,3.035,3.045,3.061,3.08,3.09,3.107,3.113,3.139,3.152,3.172,3.174,3.192,3.219,3.229,3.25,3.265,3.278,3.292,3.326,3.329,3.349,3.368,3.396,3.401,3.419,3.466,3.481,3.51,3.529,3.539,3.571,3.598,3.61,3.642,3.671,3.693,3.711,3.741,3.792,3.802,3.831,3.863,3.894,3.929,3.988,4.03,0,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.353,3.338,3.332,3.318,3.299,3.298,3.287,3.276,3.27,3.253,3.253,3.242,3.239,3.23,3.212,3.207,3.206,3.2,3.191,3.185,3.179,3.168,3.164,3.157,3.152,3.151,3.139,3.128,3.122,3.118,3.114,3.111,3.104,3.102,3.093,3.092,3.086,3.077,3.074,3.07,3.063,3.063,3.062,3.056,3.055,3.053,3.048,3.039,3.037,3.037,3.034,3.032,3.032,3.025,3.025,3.025,3.025,3.026,3.028,3.028,3.028,3.02,3.019,3.016,3.012,3.007,3.007,3.01,3.012,3.01,3.01,3.005,3.005,3.004,3.005,3.005,3.008,3.008,3.008,3.012,3.016,3.017,3.018,3.018,3.018,3.019,3.019,3.02,3.02,3.02,3.02,3.02,3.026,3.029,3.03,3.031,3.031,3.043,3.045,3.045,3.048,3.052,3.056,3.058,3.058,3.063,3.068,3.069,3.078,3.083,3.089,3.089,3.09,3.094,3.102,3.102,3.109,3.114,3.12,3.127,3.132,3.133,3.132,3.133,3.133,3.135,3.142,3.158,3.162,3.163,3.171,3.176,3.184,3.189,3.191,3.198,3.23,3.231,3.235,3.235,3.24,3.243,3.244,3.249,3.262,3.279,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 101.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 101.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 101.263} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3876} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.7498} SEN {Time 101.311} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.179,0.184,0.184,0,0,0,0,0,0,0,0,0,3.672,3.663,3.658,3.653,3.634,3.618,3.618,3.618,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.218,3.216,3.216,3.216,3.252,3.366,0,0,0,0,0,0,0,0.15,0.148,0.148,0.143,0.143,0.143,0.144,0.144,0.153,0.153,0.153,0.153,0.156,0.156,3.033,3.033,3.033,3.033,3.029,3.029,3.029,0.155,0.152,0.152,0.152,0.147,0.146,0.14,0.14,0.12,0.091,0.065,0.064,0.06,0.06,0.06,0.064,0.068,0.069,0.069,0.068,0.066,0.066,0.066,0.07,0.125,0.203,3.33,3.344,3.36,3.36,3.367,3.37,3.391,3.391,3.426,3.428,3.428,3.434,3.448,3.464,3.478,3.481,3.49,3.495,3.497,3.509,3.51,3.516,3.516,3.522,3.522,3.523,3.526,3.53,3.533,3.534,3.535,3.539,3.546,3.548,3.552,3.553,3.555,3.571,3.572,3.574,3.579,3.584,3.584,3.593,3.596,3.599,3.618,3.623,3.624,3.629,3.636,3.643,3.645,3.653,3.654,3.661,3.662,3.677,3.681,3.687,3.695,3.696,3.707,3.721,3.726,3.742,3.749,3.752,3.759,3.762,3.765,3.782,3.785,3.792,3.8,3.824,3.828,3.831,3.839,3.863,3.876,3.88,3.894,3.906,3.912,3.933,3.946,3.964,3.982,3.99,3.995,4.019,4.026,4.044,4.062,4.072,4.085,0.016,0.016,0.016,0,0.007,0,0.016,4.021,3.975,3.975,3.957,3.937,3.868,3.84,3.807,3.778,3.744,3.727,3.701,3.673,3.652,3.628,3.608,3.568,3.547,3.527,3.499,3.475,3.466,3.441,3.42,3.409,3.382,3.368,3.355,3.328,3.308,3.296,3.253,3.251,3.235,3.231,3.2,3.187,3.172,3.15,3.143,3.119,3.107,3.098,3.082,3.068,3.05,3.032,3.027,3.004,2.995,2.992,2.982,2.956,2.949,2.939,2.922,2.913,2.908,2.89,2.881,2.875,2.863,2.848,2.838,2.825,2.815,2.809,2.793,2.785,2.779,2.771,2.759,2.75,2.738,2.734,2.718,2.71,2.705,2.702,2.68,2.678,2.678,2.667,2.657,2.648,2.644,2.634,2.632,2.62,2.619,2.607,2.606,2.594,2.589,2.583,2.572,2.571,2.57,2.559,2.557,2.551,2.548,2.533,2.529,2.525,2.524,2.516,2.507,2.502,2.498,2.492,2.49,2.488,2.482,2.479,2.476,2.472,2.472,2.468,2.461,2.459,2.454,2.452,2.452,2.449,2.447,2.444,2.444,2.443,2.441,2.438,2.428,2.428,2.426,2.426,2.423,2.423,2.417,2.417,2.416,2.416,2.413,2.413,2.412,2.412,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.413,2.415,2.417,2.417,2.415,2.415,2.418,2.415,2.418,2.418,2.418,2.418,2.418,2.418,2.418,2.42,2.425,2.427,2.433,2.433,2.436,2.438,2.44,2.441,2.442,2.443,2.449,2.449,2.451,2.456,2.467,2.467,2.467,2.467,2.478,2.479,2.48,2.488,2.49,2.49,2.493,2.496,2.512,2.514,2.519,2.52,2.525,2.533,2.539,2.542,2.542,2.544,2.552,2.56,2.568,2.57,2.584,2.596,2.6,2.605,2.608,2.615,2.618,2.634,2.637,2.638,2.648,2.651,2.667,2.668,2.67,2.687,2.695,2.699,2.711,2.724,2.733,2.739,2.749,2.751,2.765,2.78,2.785,2.794,2.81,2.818,2.828,2.841,2.848,2.857,2.867,2.879,2.886,2.903,2.914,2.928,2.944,2.954,2.963,2.971,2.981,2.998,3.01,3.024,3.036,3.046,3.065,3.082,3.089,3.103,3.117,3.142,3.152,3.171,3.176,3.203,3.223,3.234,3.244,3.255,3.277,3.295,3.322,3.332,3.349,3.366,3.395,3.41,3.432,3.467,3.481,3.503,3.521,3.543,3.57,3.595,3.612,3.645,3.667,3.687,3.721,3.751,3.779,3.794,3.838,3.858,3.886,3.907,4.028,0,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.366,3.349,3.337,3.319,3.299,3.294,3.289,3.279,3.278,3.264,3.249,3.241,3.237,3.231,3.217,3.212,3.206,3.197,3.192,3.182,3.18,3.174,3.168,3.156,3.148,3.134,3.134,3.131,3.122,3.119,3.118,3.113,3.109,3.101,3.094,3.091,3.088,3.084,3.076,3.075,3.064,3.064,3.063,3.058,3.05,3.044,3.043,3.041,3.039,3.038,3.038,3.036,3.033,3.025,3.025,3.022,3.022,3.022,3.029,3.029,3.029,3.019,3.019,3.016,3.019,3.016,3.011,3.007,3.007,3.007,3.007,2.999,2.999,3.002,3.002,3.011,3.012,3.015,3.015,3.011,3.013,3.013,3.013,3.013,3.014,3.014,3.015,3.015,3.021,3.025,3.025,3.025,3.029,3.029,3.032,3.037,3.037,3.039,3.041,3.044,3.047,3.051,3.057,3.059,3.06,3.064,3.066,3.071,3.072,3.086,3.09,3.092,3.092,3.092,3.099,3.104,3.104,3.119,3.122,3.134,3.134,3.134,3.137,3.146,3.146,3.147,3.148,3.15,3.156,3.158,3.165,3.173,3.188,3.193,3.199,3.207,3.214,3.216,3.224,3.23,3.231,3.235,3.239,3.244,3.257,3.28,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 101.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 101.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 101.463} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3876} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.445} {Name Sonar15 Range 4.9022} SEN {Time 101.507} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.173,0.189,0.189,0,0,0,0,0,0,0,0,0,3.671,3.669,3.652,3.652,3.626,3.61,3.61,3.61,3.599,0.006,0.007,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.211,3.209,3.209,3.211,3.261,3.36,0,0,0,0,0,0,0,0.007,0.148,0.148,0.148,0.148,0.143,0.144,0.144,0.147,0.146,0.147,0.147,0.152,0.152,3.03,3.03,3.036,3.036,3.036,3.027,0.16,0.16,0.153,0.153,0.153,0.153,0.144,0.144,0.144,0.123,0.099,0.069,0.064,0.064,0.064,0.064,0.064,0.069,0.069,0.069,0.068,0.066,0.066,0.066,0.072,0.122,0.204,3.345,3.346,3.354,3.354,3.366,3.373,3.373,3.386,3.397,3.426,3.435,3.45,3.45,3.475,3.488,3.49,3.501,3.501,3.508,3.509,3.509,3.512,3.516,3.521,3.526,3.526,3.527,3.531,3.531,3.534,3.541,3.543,3.543,3.548,3.55,3.556,3.566,3.566,3.573,3.577,3.58,3.58,3.584,3.591,3.6,3.602,3.611,3.613,3.621,3.622,3.63,3.64,3.642,3.652,3.652,3.653,3.668,3.673,3.682,3.695,3.698,3.705,3.719,3.72,3.726,3.74,3.741,3.751,3.759,3.762,3.768,3.782,3.799,3.811,3.815,3.83,3.836,3.842,3.863,3.864,3.883,3.883,3.895,3.901,3.911,3.93,3.939,3.958,3.976,3.98,3.988,4.01,4.03,4.031,4.065,4.077,4.083,0.016,0.016,0.016,0.016,0.016,4.087,4.051,4.019,3.982,3.96,3.941,3.902,3.867,3.832,3.812,3.782,3.749,3.727,3.703,3.675,3.65,3.63,3.598,3.583,3.544,3.52,3.513,3.489,3.464,3.452,3.421,3.403,3.388,3.367,3.342,3.34,3.307,3.294,3.266,3.263,3.23,3.227,3.203,3.184,3.17,3.147,3.139,3.125,3.106,3.094,3.086,3.071,3.048,3.039,3.029,3.006,2.996,2.99,2.987,2.963,2.956,2.938,2.928,2.917,2.906,2.904,2.879,2.868,2.86,2.844,2.843,2.828,2.819,2.81,2.797,2.79,2.778,2.773,2.761,2.745,2.737,2.73,2.718,2.715,2.704,2.687,2.681,2.68,2.674,2.662,2.659,2.65,2.649,2.638,2.633,2.624,2.622,2.608,2.602,2.601,2.588,2.585,2.578,2.577,2.568,2.567,2.566,2.548,2.541,2.535,2.535,2.52,2.518,2.512,2.506,2.501,2.499,2.496,2.491,2.49,2.48,2.48,2.478,2.473,2.47,2.468,2.467,2.459,2.458,2.456,2.455,2.455,2.45,2.447,2.444,2.436,2.434,2.432,2.429,2.428,2.428,2.428,2.427,2.417,2.414,2.414,2.414,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.413,2.413,2.412,2.411,2.411,2.411,2.408,2.411,2.413,2.414,2.414,2.414,2.416,2.418,2.419,2.419,2.421,2.419,2.419,2.419,2.423,2.421,2.423,2.425,2.435,2.435,2.437,2.437,2.438,2.438,2.443,2.448,2.45,2.454,2.456,2.462,2.462,2.466,2.472,2.474,2.476,2.48,2.48,2.487,2.487,2.488,2.498,2.5,2.512,2.514,2.518,2.522,2.528,2.53,2.53,2.549,2.551,2.552,2.56,2.564,2.572,2.58,2.59,2.592,2.601,2.606,2.611,2.618,2.621,2.638,2.64,2.644,2.647,2.649,2.668,2.677,2.683,2.686,2.696,2.702,2.714,2.715,2.728,2.738,2.749,2.761,2.761,2.779,2.787,2.795,2.807,2.824,2.829,2.835,2.852,2.855,2.872,2.879,2.881,2.903,2.918,2.928,2.941,2.953,2.954,2.971,2.983,2.995,3.016,3.025,3.038,3.04,3.063,3.08,3.091,3.106,3.121,3.141,3.154,3.163,3.178,3.197,3.223,3.234,3.246,3.259,3.285,3.307,3.323,3.328,3.35,3.374,3.39,3.411,3.439,3.451,3.479,3.504,3.518,3.542,3.563,3.605,3.612,3.639,3.662,3.701,3.714,3.75,3.775,3.792,3.831,3.862,3.898,3.922,3.99,4.024,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.339,3.325,3.316,3.306,3.291,3.287,3.279,3.27,3.257,3.25,3.246,3.238,3.233,3.224,3.208,3.206,3.206,3.19,3.19,3.175,3.169,3.152,3.151,3.149,3.141,3.14,3.127,3.122,3.122,3.121,3.112,3.099,3.098,3.096,3.089,3.084,3.078,3.077,3.07,3.068,3.063,3.062,3.052,3.049,3.047,3.044,3.041,3.036,3.036,3.036,3.034,3.032,3.028,3.023,3.019,3.019,3.019,3.026,3.026,3.026,3.016,3.016,3.014,3.013,3.012,3.013,3.012,3.008,3.008,3.008,3.007,3.007,3.007,3.007,3.003,3.01,3.01,3.009,3.009,3.01,3.01,3.011,3.014,3.015,3.017,3.017,3.019,3.023,3.024,3.024,3.024,3.024,3.024,3.031,3.031,3.031,3.037,3.041,3.042,3.05,3.055,3.057,3.059,3.059,3.063,3.065,3.067,3.083,3.086,3.088,3.088,3.092,3.092,3.093,3.104,3.109,3.117,3.124,3.126,3.133,3.138,3.139,3.139,3.139,3.139,3.149,3.157,3.159,3.16,3.171,3.174,3.175,3.19,3.207,3.216,3.216,3.223,3.223,3.224,3.228,3.233,3.236,3.246,3.268,3.277,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 101.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 101.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 101.664} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.445} {Name Sonar15 Range 4.9022} SEN {Time 101.707} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.181,0.184,0.184,0,0,0,0,0,0,0,0,0,3.679,3.665,3.663,3.653,3.631,3.612,3.612,3.612,3.602,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.22,3.214,3.22,3.228,3.267,3.371,0,0,0,0,0,0,0,0.149,0.146,0.145,0.145,0.145,0.145,0.145,0.146,0.152,0.147,0.152,0.152,0.155,0.155,3.036,3.036,3.036,3.036,3.033,3.032,0.153,0.153,0.153,0.153,0.149,0.158,0.147,0.145,0.141,0.121,0.091,0.068,0.067,0.063,0.063,0.067,0.067,0.068,0.069,0.069,0.066,0.065,0.065,0.065,0.066,0.12,0.208,3.34,3.357,3.359,3.359,3.362,3.367,3.374,3.384,3.399,3.408,3.429,3.439,3.449,3.468,3.469,3.487,3.489,3.491,3.502,3.513,3.513,3.514,3.514,3.522,3.527,3.528,3.528,3.534,3.536,3.544,3.545,3.546,3.546,3.553,3.557,3.559,3.561,3.569,3.57,3.574,3.578,3.587,3.589,3.591,3.61,3.614,3.615,3.624,3.628,3.631,3.633,3.638,3.651,3.652,3.652,3.661,3.667,3.673,3.682,3.69,3.694,3.701,3.706,3.71,3.731,3.732,3.74,3.749,3.756,3.76,3.762,3.777,3.798,3.805,3.822,3.825,3.837,3.843,3.858,3.862,3.875,3.882,3.898,3.899,3.912,3.927,3.944,3.951,3.962,3.982,3.995,4.019,4.026,4.034,4.069,4.072,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.042,4.042,0.007,3.959,3.903,3.871,3.856,3.799,3.774,3.754,3.728,3.699,3.671,3.65,3.622,3.603,3.576,3.541,3.524,3.495,3.494,3.463,3.434,3.415,3.409,3.386,3.372,3.347,3.342,3.312,3.297,3.278,3.256,3.231,3.225,3.196,3.185,3.171,3.148,3.134,3.126,3.101,3.1,3.085,3.07,3.051,3.037,3.028,3.015,2.996,2.989,2.984,2.964,2.952,2.934,2.927,2.919,2.904,2.893,2.877,2.868,2.858,2.854,2.843,2.828,2.813,2.797,2.792,2.786,2.775,2.773,2.761,2.749,2.733,2.728,2.723,2.715,2.704,2.691,2.69,2.68,2.674,2.665,2.652,2.651,2.651,2.634,2.629,2.626,2.619,2.613,2.608,2.592,2.592,2.583,2.579,2.576,2.569,2.562,2.554,2.553,2.545,2.541,2.541,2.521,2.519,2.513,2.508,2.503,2.497,2.494,2.494,2.487,2.48,2.478,2.476,2.472,2.472,2.47,2.466,2.461,2.461,2.455,2.454,2.452,2.451,2.442,2.441,2.437,2.436,2.43,2.428,2.428,2.424,2.424,2.421,2.419,2.419,2.419,2.419,2.419,2.416,2.418,2.416,2.417,2.417,2.417,2.413,2.413,2.408,2.408,2.412,2.412,2.412,2.412,2.412,2.416,2.411,2.411,2.416,2.416,2.418,2.418,2.419,2.419,2.419,2.419,2.419,2.427,2.428,2.428,2.428,2.431,2.433,2.433,2.437,2.442,2.442,2.449,2.45,2.453,2.456,2.461,2.463,2.467,2.468,2.47,2.473,2.476,2.484,2.486,2.488,2.492,2.492,2.498,2.516,2.522,2.525,2.528,2.53,2.534,2.539,2.542,2.55,2.553,2.557,2.569,2.57,2.577,2.589,2.598,2.603,2.607,2.609,2.618,2.628,2.636,2.636,2.643,2.65,2.653,2.667,2.669,2.676,2.691,2.696,2.704,2.716,2.724,2.728,2.742,2.754,2.759,2.768,2.775,2.785,2.799,2.805,2.819,2.827,2.837,2.846,2.849,2.861,2.879,2.887,2.907,2.917,2.924,2.937,2.949,2.962,2.972,2.987,3.001,3.021,3.025,3.033,3.036,3.061,3.077,3.091,3.107,3.122,3.142,3.155,3.172,3.185,3.207,3.217,3.233,3.256,3.266,3.274,3.31,3.325,3.331,3.354,3.373,3.383,3.407,3.434,3.449,3.487,3.493,3.534,3.545,3.564,3.594,3.612,3.645,3.663,3.692,3.718,3.756,3.778,3.799,3.843,3.851,3.895,3.921,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.35,3.338,3.33,3.307,3.303,3.289,3.286,3.279,3.278,3.255,3.253,3.249,3.237,3.231,3.211,3.21,3.204,3.195,3.194,3.185,3.175,3.17,3.158,3.15,3.15,3.139,3.135,3.131,3.123,3.118,3.117,3.108,3.107,3.098,3.089,3.089,3.088,3.085,3.08,3.073,3.067,3.067,3.063,3.06,3.05,3.049,3.048,3.044,3.042,3.04,3.04,3.038,3.029,3.028,3.027,3.024,3.024,3.024,3.035,3.035,3.035,3.026,3.021,3.019,3.015,3.014,3.015,3.01,3.01,3.007,3.01,3.007,3.007,3.007,3.008,3.007,3.008,3.004,3.007,3.007,3.007,3.007,3.007,3.011,3.016,3.016,3.016,3.016,3.019,3.021,3.021,3.023,3.028,3.029,3.033,3.035,3.035,3.035,3.04,3.044,3.049,3.053,3.054,3.056,3.057,3.059,3.064,3.071,3.076,3.084,3.085,3.086,3.096,3.096,3.097,3.107,3.108,3.108,3.124,3.126,3.126,3.126,3.131,3.137,3.137,3.141,3.152,3.16,3.161,3.165,3.167,3.172,3.175,3.182,3.185,3.211,3.213,3.225,3.235,3.242,3.242,3.242,3.244,3.246,3.274,3.28,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 101.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 101.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 101.864} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.445} {Name Sonar15 Range 4.9022} SEN {Time 101.908} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.178,0.183,0.183,0,0,0,0,0,0,0,0,3.688,3.687,3.668,3.654,3.651,3.632,3.618,3.618,3.618,3.604,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.221,3.215,3.208,3.215,3.221,3.365,0.007,0,0,0,0,0,0,0,0.147,0.146,0.146,0.146,0.146,0.146,0.143,0.143,0.15,0.15,0.157,0.157,0.16,0.163,3.03,3.03,3.033,3.033,3.03,3.033,3.033,0.153,0.153,0.153,0.152,0.152,0.147,0.142,0.142,0.118,0.083,0.068,0.064,0.064,0.064,0.064,0.064,0.068,0.068,0.068,0.066,0.066,0.064,0.064,0.064,0.116,0.2,3.338,3.364,3.365,3.365,3.365,3.377,3.382,3.395,3.4,3.412,3.433,3.451,3.453,3.478,3.48,3.485,3.489,3.499,3.499,3.505,3.507,3.512,3.513,3.523,3.523,3.523,3.528,3.532,3.536,3.537,3.546,3.546,3.546,3.546,3.55,3.554,3.561,3.567,3.575,3.578,3.579,3.586,3.591,3.591,3.597,3.601,3.617,3.623,3.63,3.635,3.638,3.646,3.652,3.656,3.662,3.667,3.672,3.677,3.684,3.686,3.686,3.697,3.71,3.726,3.727,3.74,3.744,3.745,3.763,3.764,3.779,3.78,3.797,3.807,3.807,3.825,3.836,3.84,3.846,3.867,3.875,3.888,3.902,3.902,3.928,3.929,3.946,3.955,3.979,3.981,4,4.013,4.026,4.049,4.065,4.067,4.09,0.016,0.016,0.016,0.016,0.007,0,0.007,0,4.046,3.96,3.92,3.907,3.87,3.843,3.808,3.794,3.752,3.732,3.69,3.671,3.658,3.624,3.598,3.581,3.552,3.528,3.505,3.484,3.463,3.442,3.423,3.42,3.382,3.371,3.346,3.324,3.303,3.295,3.268,3.258,3.228,3.227,3.191,3.175,3.175,3.148,3.143,3.111,3.107,3.103,3.088,3.065,3.056,3.04,3.034,3.013,3.006,2.989,2.985,2.965,2.955,2.937,2.931,2.913,2.91,2.893,2.879,2.875,2.857,2.849,2.837,2.825,2.811,2.81,2.797,2.781,2.776,2.766,2.761,2.752,2.739,2.729,2.722,2.71,2.706,2.698,2.682,2.682,2.677,2.66,2.656,2.653,2.65,2.641,2.637,2.623,2.623,2.615,2.611,2.599,2.586,2.582,2.581,2.573,2.569,2.563,2.561,2.551,2.542,2.539,2.539,2.522,2.521,2.512,2.506,2.502,2.501,2.497,2.494,2.489,2.487,2.482,2.476,2.476,2.472,2.472,2.466,2.462,2.455,2.451,2.449,2.448,2.445,2.443,2.443,2.442,2.439,2.431,2.427,2.427,2.427,2.427,2.426,2.424,2.423,2.42,2.417,2.417,2.417,2.416,2.414,2.414,2.414,2.414,2.409,2.407,2.406,2.406,2.406,2.408,2.409,2.412,2.416,2.416,2.415,2.416,2.416,2.415,2.419,2.419,2.419,2.417,2.419,2.419,2.419,2.42,2.42,2.424,2.425,2.43,2.432,2.437,2.439,2.439,2.448,2.448,2.454,2.454,2.458,2.462,2.463,2.463,2.466,2.467,2.467,2.471,2.479,2.484,2.486,2.491,2.501,2.501,2.507,2.518,2.521,2.521,2.531,2.534,2.544,2.545,2.554,2.558,2.563,2.565,2.565,2.582,2.586,2.593,2.596,2.606,2.61,2.618,2.623,2.635,2.636,2.638,2.648,2.653,2.665,2.669,2.681,2.692,2.694,2.698,2.72,2.72,2.731,2.741,2.752,2.752,2.773,2.779,2.797,2.797,2.802,2.812,2.826,2.84,2.84,2.858,2.87,2.88,2.884,2.905,2.919,2.921,2.943,2.953,2.961,2.974,2.982,2.996,3.006,3.019,3.043,3.047,3.069,3.078,3.092,3.1,3.121,3.14,3.154,3.174,3.18,3.196,3.222,3.232,3.246,3.263,3.271,3.296,3.325,3.341,3.352,3.381,3.388,3.408,3.434,3.464,3.479,3.499,3.518,3.537,3.569,3.601,3.605,3.649,3.67,3.693,3.723,3.749,3.78,3.802,3.831,3.871,3.881,3.924,3.944,4.031,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.362,3.347,3.333,3.311,3.304,3.289,3.285,3.275,3.258,3.256,3.253,3.24,3.237,3.232,3.222,3.216,3.211,3.19,3.186,3.182,3.172,3.165,3.157,3.155,3.151,3.14,3.138,3.129,3.125,3.122,3.12,3.115,3.107,3.102,3.096,3.092,3.089,3.085,3.077,3.076,3.061,3.061,3.061,3.061,3.061,3.047,3.045,3.045,3.043,3.042,3.038,3.035,3.029,3.029,3.029,3.026,3.026,3.026,3.035,3.035,3.035,3.024,3.014,3.013,3.013,3.009,3.009,3.007,3.008,3.007,3.004,3.004,3.008,3.006,3.008,3.008,3.008,3.008,3.008,3.01,3.01,3.012,3.012,3.012,3.012,3.017,3.017,3.017,3.018,3.018,3.018,3.02,3.03,3.032,3.033,3.036,3.036,3.037,3.037,3.045,3.054,3.056,3.058,3.06,3.062,3.064,3.064,3.068,3.082,3.091,3.091,3.092,3.092,3.092,3.097,3.105,3.11,3.114,3.119,3.128,3.128,3.133,3.13,3.139,3.139,3.143,3.147,3.148,3.163,3.167,3.17,3.176,3.176,3.182,3.204,3.214,3.219,3.222,3.222,3.234,3.241,3.245,3.245,3.25,3.261,3.279,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 102.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 102.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 102.065} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.9022} SEN {Time 102.107} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.18,0.182,0.182,0,0,0,0,0,0,0,0,3.686,3.678,3.673,3.666,3.642,3.629,3.618,3.618,3.618,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.212,3.21,3.21,3.21,3.354,0.007,0,0,0,0,0,0,0,0.147,0.147,0.145,0.145,0.145,0.145,0.145,0.148,0.148,0.148,0.157,0.157,0.159,0.159,3.031,3.031,3.035,3.035,3.031,3.019,0.161,0.159,0.159,0.159,0.159,0.151,0.149,0.143,0.143,0.115,0.087,0.067,0.066,0.065,0.065,0.066,0.068,0.068,0.068,0.068,0.066,0.064,0.064,0.064,0.066,0.127,0.207,3.344,3.369,3.369,3.369,3.369,3.381,3.381,3.386,3.386,3.41,3.431,3.455,3.457,3.471,3.476,3.487,3.489,3.498,3.501,3.506,3.507,3.516,3.516,3.519,3.52,3.523,3.526,3.534,3.534,3.536,3.537,3.546,3.547,3.547,3.549,3.551,3.558,3.56,3.568,3.572,3.577,3.58,3.588,3.591,3.595,3.609,3.62,3.63,3.631,3.631,3.633,3.641,3.647,3.652,3.661,3.664,3.666,3.674,3.682,3.69,3.695,3.698,3.719,3.72,3.72,3.724,3.74,3.746,3.751,3.766,3.769,3.795,3.801,3.805,3.819,3.825,3.83,3.835,3.843,3.856,3.882,3.886,3.9,3.901,3.925,3.93,3.944,3.962,3.971,3.987,3.998,4.023,4.027,4.04,4.053,4.084,0.016,0.016,0.016,0.016,0,0,0,0,4.016,3.988,3.954,3.932,3.897,3.88,3.847,3.811,3.775,3.762,3.738,3.705,3.673,3.649,3.634,3.591,3.582,3.558,3.531,3.513,3.488,3.468,3.437,3.432,3.406,3.382,3.367,3.349,3.328,3.307,3.295,3.281,3.249,3.231,3.225,3.202,3.18,3.168,3.15,3.139,3.12,3.103,3.088,3.085,3.063,3.051,3.036,3.029,3.012,2.994,2.992,2.98,2.963,2.951,2.94,2.933,2.922,2.908,2.9,2.878,2.867,2.862,2.854,2.836,2.836,2.811,2.811,2.802,2.788,2.78,2.771,2.76,2.747,2.736,2.729,2.72,2.719,2.699,2.694,2.683,2.681,2.67,2.666,2.656,2.652,2.651,2.642,2.64,2.625,2.619,2.617,2.607,2.606,2.59,2.586,2.583,2.574,2.57,2.563,2.556,2.555,2.544,2.536,2.528,2.523,2.521,2.51,2.506,2.504,2.493,2.492,2.486,2.486,2.484,2.48,2.475,2.474,2.471,2.471,2.47,2.46,2.453,2.452,2.451,2.451,2.446,2.442,2.438,2.437,2.436,2.435,2.429,2.427,2.425,2.425,2.425,2.418,2.418,2.417,2.417,2.418,2.418,2.415,2.416,2.414,2.414,2.414,2.414,2.413,2.41,2.409,2.409,2.409,2.416,2.416,2.416,2.416,2.411,2.411,2.412,2.412,2.42,2.42,2.423,2.423,2.423,2.424,2.425,2.425,2.43,2.43,2.431,2.431,2.433,2.433,2.434,2.437,2.443,2.444,2.453,2.456,2.457,2.459,2.464,2.465,2.465,2.47,2.479,2.481,2.486,2.49,2.494,2.498,2.498,2.498,2.508,2.515,2.522,2.522,2.524,2.528,2.535,2.541,2.548,2.557,2.559,2.566,2.57,2.578,2.589,2.597,2.597,2.603,2.61,2.617,2.619,2.632,2.637,2.642,2.647,2.651,2.667,2.677,2.682,2.692,2.697,2.7,2.715,2.722,2.731,2.742,2.748,2.75,2.76,2.779,2.782,2.798,2.802,2.82,2.825,2.833,2.852,2.86,2.873,2.884,2.885,2.899,2.916,2.924,2.943,2.946,2.957,2.976,2.99,2.993,3.014,3.016,3.036,3.043,3.065,3.082,3.091,3.105,3.12,3.135,3.152,3.167,3.175,3.196,3.221,3.23,3.247,3.274,3.284,3.292,3.327,3.336,3.356,3.373,3.389,3.411,3.444,3.454,3.475,3.495,3.516,3.545,3.562,3.595,3.614,3.638,3.673,3.695,3.721,3.744,3.771,3.804,3.839,3.869,3.89,3.907,3.987,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.353,3.346,3.321,3.31,3.301,3.294,3.291,3.285,3.261,3.259,3.244,3.243,3.24,3.233,3.214,3.213,3.209,3.199,3.195,3.188,3.175,3.168,3.163,3.154,3.152,3.143,3.138,3.128,3.126,3.115,3.113,3.111,3.108,3.105,3.092,3.092,3.09,3.083,3.073,3.072,3.071,3.066,3.065,3.061,3.049,3.048,3.044,3.044,3.038,3.037,3.038,3.037,3.028,3.028,3.027,3.025,3.025,3.028,3.032,3.032,3.032,3.032,3.02,3.018,3.017,3.016,3.015,3.014,3.014,3.014,3.014,3.011,3.01,3.011,3.011,3.011,3.012,3.012,3.011,3.011,3.012,3.012,3.012,3.012,3.016,3.016,3.018,3.021,3.022,3.024,3.025,3.027,3.027,3.027,3.036,3.036,3.038,3.04,3.044,3.05,3.054,3.055,3.055,3.055,3.055,3.06,3.064,3.067,3.073,3.085,3.086,3.086,3.089,3.094,3.101,3.109,3.11,3.113,3.114,3.128,3.131,3.133,3.133,3.133,3.133,3.148,3.148,3.16,3.16,3.162,3.163,3.17,3.178,3.178,3.202,3.212,3.214,3.215,3.233,3.236,3.242,3.242,3.242,3.246,3.254,3.281,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 102.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 102.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 102.257} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.4826} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6642} SEN {Time 102.307} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.178,0.187,0.187,0,0,0,0,0,0,0,0,3.69,3.685,3.665,3.664,3.649,3.638,3.608,3.608,3.608,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.219,3.214,3.214,3.214,3.265,3.35,0,0,0,0,0,0,0,0.147,0.146,0.143,0.143,0.143,0.143,0.144,0.153,0.156,0.155,0.156,0.156,0.161,0.161,3.03,3.032,3.032,3.032,3.03,3.027,0.155,0.155,0.155,0.155,0.153,0.153,0.146,0.143,0.143,0.118,0.083,0.069,0.068,0.068,0.067,0.067,0.065,0.068,0.069,0.07,0.069,0.069,0.07,0.07,0.072,0.123,0.192,3.344,3.354,3.362,3.362,3.376,3.394,3.394,3.394,3.423,3.423,3.423,3.438,3.459,3.468,3.477,3.478,3.491,3.498,3.499,3.503,3.505,3.516,3.516,3.517,3.52,3.525,3.526,3.534,3.539,3.54,3.543,3.544,3.543,3.544,3.546,3.552,3.555,3.572,3.575,3.579,3.581,3.585,3.593,3.606,3.609,3.614,3.614,3.617,3.63,3.635,3.639,3.644,3.655,3.657,3.663,3.667,3.669,3.678,3.685,3.687,3.688,3.69,3.701,3.719,3.725,3.733,3.747,3.753,3.758,3.763,3.766,3.779,3.796,3.801,3.814,3.826,3.834,3.845,3.851,3.862,3.875,3.885,3.894,3.896,3.921,3.929,3.945,3.957,3.965,3.994,3.994,4.011,4.036,4.038,4.061,4.082,4.095,0.016,0.016,0.016,0,0,0,4.048,4.014,4.001,3.966,3.929,3.9,3.863,3.845,3.812,3.771,3.756,3.739,3.693,3.684,3.651,3.626,3.605,3.584,3.538,3.532,3.501,3.481,3.456,3.45,3.427,3.402,3.379,3.375,3.346,3.341,3.314,3.296,3.269,3.256,3.23,3.227,3.203,3.189,3.172,3.144,3.141,3.119,3.109,3.092,3.085,3.072,3.05,3.036,3.028,3.02,2.995,2.992,2.974,2.957,2.952,2.941,2.93,2.915,2.91,2.898,2.879,2.87,2.861,2.847,2.837,2.832,2.82,2.806,2.798,2.781,2.776,2.772,2.762,2.744,2.734,2.734,2.725,2.713,2.705,2.69,2.683,2.677,2.671,2.669,2.653,2.652,2.65,2.63,2.626,2.623,2.622,2.616,2.611,2.6,2.588,2.582,2.58,2.577,2.571,2.561,2.555,2.551,2.536,2.535,2.535,2.521,2.517,2.514,2.509,2.5,2.5,2.494,2.492,2.487,2.483,2.48,2.48,2.475,2.473,2.468,2.466,2.461,2.456,2.455,2.451,2.445,2.442,2.442,2.442,2.441,2.439,2.432,2.43,2.43,2.43,2.424,2.423,2.423,2.418,2.416,2.416,2.416,2.416,2.415,2.414,2.413,2.413,2.411,2.41,2.408,2.408,2.408,2.41,2.41,2.411,2.413,2.419,2.419,2.419,2.419,2.421,2.421,2.421,2.424,2.424,2.421,2.42,2.421,2.421,2.421,2.426,2.427,2.428,2.434,2.435,2.438,2.44,2.441,2.442,2.451,2.452,2.452,2.452,2.463,2.464,2.47,2.47,2.471,2.471,2.475,2.481,2.482,2.488,2.49,2.492,2.497,2.512,2.516,2.521,2.524,2.525,2.53,2.533,2.538,2.553,2.554,2.562,2.563,2.573,2.578,2.591,2.6,2.603,2.605,2.609,2.616,2.619,2.636,2.643,2.645,2.655,2.658,2.663,2.676,2.678,2.686,2.695,2.7,2.715,2.717,2.731,2.743,2.749,2.759,2.769,2.777,2.791,2.801,2.808,2.815,2.825,2.835,2.845,2.849,2.87,2.879,2.883,2.904,2.913,2.928,2.946,2.948,2.961,2.971,2.978,2.994,3.017,3.026,3.044,3.046,3.072,3.079,3.098,3.104,3.119,3.136,3.156,3.161,3.181,3.202,3.219,3.231,3.257,3.267,3.282,3.292,3.321,3.334,3.352,3.368,3.402,3.412,3.432,3.451,3.479,3.495,3.51,3.553,3.577,3.59,3.616,3.649,3.671,3.696,3.72,3.75,3.784,3.798,3.824,3.86,3.895,3.928,3.945,4.004,4.063,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.349,3.345,3.329,3.313,3.302,3.298,3.293,3.269,3.268,3.265,3.249,3.241,3.24,3.238,3.215,3.213,3.208,3.199,3.187,3.18,3.178,3.167,3.16,3.154,3.152,3.134,3.134,3.129,3.122,3.122,3.119,3.11,3.107,3.106,3.095,3.09,3.078,3.076,3.072,3.071,3.067,3.065,3.062,3.06,3.055,3.048,3.044,3.036,3.036,3.035,3.034,3.034,3.033,3.031,3.023,3.021,3.021,3.021,3.036,3.036,3.036,3.025,3.018,3.013,3.013,3.011,3.011,3.011,3.011,3.011,3.01,3.009,3.008,3.008,3.01,3.009,3.013,3.013,3.014,3.014,3.014,3.014,3.018,3.018,3.019,3.019,3.019,3.019,3.019,3.018,3.018,3.018,3.018,3.026,3.036,3.039,3.041,3.042,3.043,3.044,3.045,3.052,3.057,3.06,3.062,3.064,3.068,3.078,3.079,3.089,3.089,3.091,3.094,3.094,3.098,3.107,3.11,3.119,3.119,3.135,3.135,3.135,3.135,3.136,3.136,3.141,3.146,3.153,3.16,3.164,3.17,3.175,3.181,3.189,3.202,3.207,3.207,3.223,3.226,3.234,3.237,3.239,3.24,3.24,3.256,3.268,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 102.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 102.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 102.458} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.4826} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.6416} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6642} SEN {Time 102.507} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.181,0.187,0.187,0,0,0,0,0,0,0,0,3.694,3.687,3.67,3.654,3.654,3.626,3.603,3.603,3.603,3.591,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.218,3.215,3.215,3.215,3.256,3.354,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.14,0.14,0.14,0.15,0.15,0.15,0.15,0.157,0.157,3.039,3.041,3.041,3.041,3.039,3.041,3.039,0.155,0.155,0.155,0.153,0.152,0.152,0.151,0.151,0.12,0.096,0.065,0.065,0.064,0.064,0.064,0.066,0.066,0.068,0.068,0.067,0.067,0.064,0.064,0.064,0.119,0.21,3.348,0.007,3.369,3.369,3.383,3.383,3.383,3.393,3.404,3.415,3.415,3.44,3.458,3.472,3.473,3.486,3.493,3.493,3.499,3.502,3.507,3.509,3.509,3.52,3.525,3.529,3.532,3.533,3.536,3.537,3.538,3.544,3.548,3.55,3.551,3.553,3.561,3.563,3.568,3.57,3.581,3.582,3.587,3.595,3.602,3.606,3.615,3.624,3.626,3.633,3.636,3.651,3.655,3.656,3.657,3.659,3.671,3.676,3.682,3.682,3.691,3.695,3.705,3.712,3.716,3.726,3.745,3.754,3.757,3.767,3.773,3.788,3.791,3.799,3.819,3.823,3.827,3.839,3.841,3.86,3.874,3.887,3.895,3.9,3.922,3.93,3.945,3.96,3.979,3.982,4.006,4.02,4.036,4.038,4.073,4.081,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.03,4.03,4.002,3.959,3.895,3.877,3.841,3.819,3.775,3.75,3.741,3.702,3.695,3.661,3.621,3.6,3.571,3.546,3.516,3.515,3.481,3.459,3.438,3.427,3.404,3.389,3.371,3.347,3.329,3.31,3.287,3.272,3.258,3.232,3.225,3.208,3.184,3.172,3.144,3.139,3.126,3.099,3.095,3.082,3.068,3.056,3.04,3.03,3.014,3,2.989,2.98,2.955,2.954,2.933,2.922,2.913,2.897,2.897,2.871,2.868,2.857,2.851,2.84,2.827,2.818,2.803,2.787,2.787,2.782,2.766,2.755,2.744,2.744,2.739,2.722,2.716,2.704,2.697,2.684,2.678,2.677,2.669,2.655,2.652,2.651,2.639,2.633,2.626,2.612,2.61,2.605,2.601,2.591,2.582,2.575,2.571,2.569,2.561,2.556,2.551,2.545,2.536,2.535,2.524,2.522,2.516,2.509,2.502,2.498,2.495,2.491,2.489,2.485,2.484,2.478,2.478,2.475,2.472,2.472,2.465,2.453,2.452,2.45,2.449,2.449,2.442,2.44,2.44,2.44,2.438,2.43,2.428,2.428,2.427,2.423,2.419,2.419,2.417,2.416,2.416,2.416,2.415,2.415,2.411,2.411,2.406,2.405,2.406,2.407,2.407,2.41,2.413,2.413,2.415,2.415,2.417,2.415,2.417,2.418,2.419,2.419,2.42,2.421,2.421,2.421,2.42,2.424,2.425,2.425,2.426,2.43,2.431,2.437,2.438,2.444,2.444,2.444,2.445,2.445,2.456,2.456,2.461,2.461,2.465,2.47,2.471,2.473,2.48,2.482,2.485,2.489,2.489,2.495,2.5,2.51,2.519,2.523,2.525,2.527,2.528,2.531,2.539,2.547,2.547,2.564,2.569,2.569,2.569,2.589,2.602,2.602,2.608,2.609,2.611,2.622,2.633,2.636,2.638,2.646,2.648,2.667,2.674,2.684,2.687,2.701,2.706,2.722,2.724,2.73,2.745,2.748,2.752,2.768,2.784,2.791,2.798,2.808,2.821,2.833,2.841,2.842,2.855,2.869,2.879,2.888,2.904,2.923,2.927,2.947,2.949,2.954,2.972,2.982,2.998,3.016,3.022,3.041,3.043,3.065,3.077,3.09,3.107,3.117,3.141,3.157,3.166,3.185,3.201,3.22,3.231,3.25,3.263,3.28,3.293,3.323,3.329,3.356,3.366,3.394,3.407,3.433,3.451,3.477,3.501,3.521,3.552,3.562,3.593,3.614,3.644,3.665,3.691,3.711,3.747,3.78,3.807,3.834,3.868,3.89,3.917,3.945,3.992,0.016,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.351,3.338,3.323,3.319,3.319,3.302,3.29,3.282,3.271,3.262,3.248,3.24,3.234,3.233,3.217,3.216,3.205,3.201,3.187,3.18,3.173,3.172,3.156,3.154,3.149,3.142,3.135,3.124,3.124,3.121,3.119,3.111,3.108,3.103,3.095,3.094,3.085,3.082,3.081,3.071,3.071,3.065,3.061,3.059,3.049,3.049,3.048,3.043,3.043,3.04,3.04,3.036,3.032,3.029,3.024,3.021,3.021,3.021,3.028,3.028,3.028,3.019,3.014,3.014,3.014,3.009,3.009,3.009,3.008,3.009,3.009,3.008,3.008,3.01,3.007,3.007,3.01,3.01,3.01,3.011,3.011,3.011,3.015,3.017,3.021,3.021,3.021,3.021,3.022,3.021,3.022,3.024,3.025,3.03,3.033,3.035,3.038,3.038,3.038,3.043,3.049,3.053,3.055,3.059,3.062,3.066,3.07,3.073,3.078,3.081,3.091,3.092,3.098,3.098,3.103,3.105,3.107,3.115,3.118,3.129,3.129,3.134,3.129,3.139,3.139,3.148,3.15,3.154,3.156,3.161,3.171,3.174,3.175,3.181,3.194,3.205,3.218,3.218,3.22,3.228,3.228,3.238,3.24,3.246,3.257,3.274,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 102.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 102.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 102.659} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.4826} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6642} SEN {Time 102.703} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.178,0.191,0.191,0,0,0,0,0,0,0,0,3.687,3.686,3.668,3.662,3.648,3.627,3.612,3.612,3.612,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.221,3.215,3.213,3.213,3.213,3.267,3.363,0,0,0,0,0,0,0,0.146,0.144,0.144,0.143,0.143,0.143,0.143,0.143,0.151,0.151,0.154,0.154,0.154,0.157,3.036,3.036,3.036,3.036,3.034,3.026,0.156,0.156,0.156,0.156,0.153,0.154,0.15,0.147,0.146,0.115,0.092,0.072,0.064,0.064,0.064,0.064,0.067,0.068,0.073,0.073,0.067,0.066,0.066,0.066,0.072,0.12,3.344,3.344,3.372,3.362,3.362,3.372,3.375,3.382,3.389,3.399,3.428,3.432,3.438,3.439,3.467,3.486,3.486,3.49,3.497,3.511,3.516,3.516,3.517,3.517,3.517,3.517,3.523,3.527,3.528,3.536,3.54,3.541,3.541,3.541,3.546,3.55,3.55,3.562,3.562,3.563,3.564,3.572,3.584,3.587,3.597,3.598,3.603,3.618,3.619,3.632,3.637,3.64,3.646,3.652,3.653,3.663,3.666,3.668,3.673,3.674,3.691,3.696,3.704,3.707,3.728,3.729,3.729,3.738,3.753,3.755,3.768,3.77,3.784,3.789,3.795,3.806,3.817,3.832,3.838,3.844,3.873,3.873,3.878,3.893,3.896,3.914,3.939,3.95,3.953,3.971,3.992,3.996,4.016,4.02,4.047,4.064,4.088,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.024,3.973,3.957,3.929,3.88,3.869,3.845,3.823,3.779,3.752,3.728,3.708,3.681,3.654,3.631,3.605,3.564,3.557,3.537,3.505,3.485,3.474,3.448,3.42,3.404,3.384,3.369,3.345,3.333,3.305,3.299,3.285,3.259,3.238,3.225,3.192,3.175,3.162,3.159,3.145,3.122,3.108,3.1,3.08,3.063,3.047,3.034,3.028,3.005,2.999,2.984,2.981,2.959,2.953,2.932,2.93,2.913,2.899,2.897,2.871,2.871,2.861,2.843,2.83,2.826,2.812,2.809,2.798,2.787,2.781,2.764,2.761,2.741,2.74,2.73,2.718,2.713,2.705,2.692,2.68,2.679,2.67,2.659,2.657,2.654,2.649,2.631,2.629,2.624,2.62,2.612,2.609,2.599,2.597,2.588,2.578,2.577,2.572,2.563,2.555,2.555,2.544,2.536,2.527,2.522,2.517,2.513,2.506,2.501,2.495,2.493,2.493,2.483,2.479,2.477,2.476,2.476,2.476,2.474,2.473,2.459,2.455,2.453,2.453,2.446,2.444,2.444,2.441,2.44,2.439,2.433,2.433,2.431,2.43,2.425,2.421,2.42,2.42,2.415,2.415,2.415,2.415,2.414,2.414,2.414,2.414,2.411,2.409,2.409,2.411,2.411,2.411,2.412,2.412,2.409,2.409,2.415,2.414,2.414,2.415,2.414,2.414,2.416,2.416,2.416,2.418,2.418,2.423,2.425,2.425,2.425,2.427,2.428,2.43,2.436,2.439,2.442,2.447,2.448,2.449,2.449,2.455,2.462,2.463,2.472,2.472,2.472,2.472,2.475,2.477,2.493,2.493,2.493,2.495,2.496,2.512,2.513,2.517,2.518,2.523,2.536,2.538,2.544,2.551,2.552,2.564,2.568,2.571,2.576,2.586,2.594,2.596,2.603,2.608,2.624,2.63,2.635,2.638,2.647,2.648,2.653,2.667,2.672,2.674,2.685,2.698,2.701,2.714,2.716,2.73,2.736,2.75,2.753,2.766,2.784,2.793,2.796,2.808,2.817,2.831,2.836,2.845,2.856,2.87,2.877,2.883,2.905,2.918,2.929,2.941,2.951,2.957,2.972,2.985,2.999,3.016,3.026,3.04,3.05,3.064,3.072,3.091,3.107,3.124,3.139,3.153,3.167,3.189,3.201,3.216,3.235,3.247,3.257,3.274,3.291,3.326,3.338,3.358,3.38,3.399,3.4,3.425,3.453,3.48,3.502,3.518,3.543,3.561,3.593,3.611,3.644,3.666,3.695,3.721,3.75,3.78,3.791,3.831,3.864,3.894,3.914,3.986,4.027,4.063,4.063,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.357,3.337,3.331,3.311,3.306,3.304,3.292,3.285,3.267,3.257,3.254,3.241,3.239,3.232,3.216,3.214,3.208,3.196,3.189,3.183,3.175,3.169,3.169,3.155,3.148,3.139,3.138,3.132,3.122,3.12,3.116,3.112,3.108,3.099,3.093,3.09,3.078,3.077,3.072,3.072,3.07,3.064,3.062,3.058,3.055,3.051,3.046,3.042,3.042,3.042,3.042,3.035,3.032,3.027,3.027,3.023,3.023,3.023,3.026,3.026,3.026,3.019,3.017,3.016,3.013,3.013,3.012,3.012,3.012,3.012,3.009,3.007,3.007,3.01,3.01,3.01,3.01,3.013,3.011,3.013,3.016,3.016,3.011,3.013,3.013,3.013,3.013,3.02,3.021,3.022,3.022,3.025,3.027,3.027,3.033,3.035,3.034,3.035,3.038,3.042,3.048,3.052,3.061,3.062,3.065,3.066,3.067,3.07,3.081,3.087,3.089,3.092,3.093,3.094,3.095,3.111,3.118,3.121,3.123,3.125,3.133,3.141,3.141,3.144,3.144,3.147,3.152,3.158,3.16,3.164,3.172,3.172,3.175,3.183,3.199,3.209,3.21,3.22,3.228,3.233,3.241,3.244,3.253,3.254,3.257,3.289,3.297,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 102.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 102.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 102.86} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388} SEN {Time 102.904} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.185,0.187,0.187,0,0,0,0,0,0,0,0,3.686,3.682,3.666,3.665,3.652,3.63,3.608,3.608,3.608,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.221,3.214,3.214,3.27,3.351,3.351,0,0,0,0,0,0,0,0.145,0.143,0.143,0.143,0.145,0.143,0.144,0.144,0.146,0.146,0.154,0.154,0.161,0.161,3.035,3.035,3.037,3.037,3.037,3.034,0.162,0.156,0.156,0.156,0.155,0.151,0.147,0.137,0.136,0.116,0.086,0.066,0.065,0.065,0.066,0.068,0.068,0.069,0.069,0.069,0.069,0.069,0.069,0.069,0.076,0.126,0.21,3.318,3.346,3.365,3.365,3.369,3.369,3.372,3.387,3.424,3.437,3.456,3.456,3.456,3.471,3.473,3.491,3.495,3.498,3.503,3.504,3.513,3.519,3.523,3.525,3.526,3.527,3.527,3.532,3.539,3.539,3.539,3.539,3.541,3.543,3.545,3.547,3.562,3.571,3.574,3.576,3.579,3.585,3.585,3.593,3.61,3.61,3.614,3.62,3.622,3.627,3.642,3.648,3.652,3.652,3.652,3.667,3.669,3.676,3.683,3.686,3.694,3.697,3.709,3.716,3.719,3.74,3.747,3.749,3.755,3.769,3.777,3.79,3.792,3.801,3.813,3.822,3.825,3.838,3.841,3.87,3.875,3.88,3.897,3.897,3.911,3.937,3.94,3.957,3.965,3.986,3.999,4.017,4.024,4.051,4.065,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,3.989,3.965,3.924,3.898,3.865,3.845,3.797,3.777,3.76,3.734,3.709,3.682,3.644,3.63,3.6,3.561,3.547,3.525,3.523,3.493,3.461,3.44,3.417,3.403,3.373,3.361,3.346,3.325,3.306,3.297,3.273,3.246,3.235,3.228,3.193,3.176,3.174,3.146,3.142,3.121,3.109,3.098,3.09,3.065,3.042,3.039,3.029,3.008,2.998,2.993,2.983,2.96,2.948,2.932,2.925,2.915,2.906,2.894,2.873,2.869,2.864,2.848,2.839,2.833,2.81,2.796,2.796,2.787,2.784,2.764,2.763,2.752,2.743,2.73,2.723,2.711,2.699,2.694,2.683,2.677,2.67,2.663,2.656,2.653,2.653,2.638,2.633,2.629,2.611,2.609,2.609,2.598,2.593,2.578,2.574,2.572,2.569,2.561,2.554,2.545,2.542,2.535,2.533,2.523,2.519,2.511,2.51,2.508,2.501,2.498,2.497,2.486,2.485,2.48,2.479,2.472,2.468,2.465,2.464,2.462,2.457,2.452,2.446,2.446,2.446,2.445,2.441,2.437,2.437,2.432,2.428,2.428,2.427,2.425,2.421,2.42,2.417,2.417,2.417,2.417,2.419,2.419,2.417,2.414,2.414,2.413,2.41,2.41,2.414,2.413,2.413,2.414,2.414,2.415,2.416,2.416,2.415,2.414,2.414,2.414,2.417,2.421,2.421,2.417,2.421,2.42,2.42,2.421,2.426,2.429,2.43,2.432,2.436,2.436,2.438,2.44,2.445,2.447,2.449,2.451,2.453,2.463,2.468,2.468,2.468,2.47,2.471,2.476,2.479,2.483,2.488,2.489,2.493,2.496,2.507,2.509,2.516,2.517,2.52,2.527,2.538,2.539,2.553,2.555,2.562,2.567,2.568,2.572,2.594,2.598,2.601,2.602,2.603,2.617,2.622,2.637,2.637,2.641,2.652,2.657,2.665,2.679,2.682,2.688,2.698,2.705,2.717,2.723,2.731,2.738,2.752,2.756,2.767,2.777,2.788,2.803,2.812,2.812,2.837,2.846,2.851,2.862,2.875,2.875,2.882,2.899,2.913,2.922,2.945,2.95,2.957,2.978,2.979,2.997,3.022,3.022,3.04,3.045,3.065,3.081,3.091,3.108,3.126,3.144,3.148,3.158,3.182,3.195,3.219,3.226,3.25,3.258,3.282,3.291,3.317,3.344,3.354,3.372,3.392,3.42,3.432,3.452,3.48,3.503,3.521,3.544,3.568,3.601,3.614,3.642,3.678,3.693,3.718,3.749,3.781,3.797,3.841,3.865,3.902,3.926,3.987,0.007,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.352,3.342,3.328,3.317,3.302,3.299,3.291,3.276,3.275,3.27,3.239,3.238,3.235,3.234,3.215,3.215,3.208,3.197,3.195,3.183,3.178,3.17,3.16,3.156,3.148,3.144,3.135,3.132,3.121,3.118,3.117,3.112,3.111,3.11,3.089,3.087,3.086,3.085,3.081,3.081,3.073,3.063,3.063,3.063,3.052,3.049,3.046,3.043,3.041,3.041,3.037,3.031,3.031,3.029,3.026,3.022,3.022,3.022,3.031,3.031,3.031,3.025,3.018,3.015,3.012,3.012,3.01,3.01,3.01,3.009,3.007,3.006,3.006,3.005,3.005,3.006,3.013,3.017,3.017,3.017,3.017,3.017,3.011,3.011,3.011,3.019,3.014,3.017,3.02,3.017,3.017,3.024,3.028,3.034,3.036,3.036,3.036,3.037,3.037,3.043,3.044,3.055,3.059,3.06,3.06,3.061,3.066,3.073,3.082,3.086,3.09,3.09,3.092,3.093,3.093,3.11,3.11,3.116,3.122,3.13,3.13,3.136,3.136,3.136,3.136,3.138,3.141,3.148,3.164,3.165,3.173,3.173,3.183,3.185,3.188,3.211,3.219,3.223,3.227,3.233,3.233,3.235,3.235,3.25,3.258,3.28,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 103.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 103.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 103.061} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388} SEN {Time 103.103} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.179,0.18,0.183,0,0,0,0,0,0,0,0,3.683,3.671,3.662,3.661,3.644,3.623,3.611,3.611,3.611,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.208,3.208,3.214,3.26,3.354,0,0,0,0,0,0,0,0.149,0.142,0.142,0.142,0.142,0.15,0.15,0.15,0.153,0.151,0.151,0.151,0.151,0.151,3.035,3.037,3.037,3.037,3.035,3.031,0.16,0.158,0.153,0.153,0.151,0.148,0.145,0.143,0.143,0.116,0.087,0.068,0.068,0.064,0.064,0.064,0.064,0.064,0.065,0.067,0.065,0.065,0.067,0.067,0.068,0.122,0.196,3.346,0.007,3.371,3.371,3.371,3.371,3.393,3.395,3.421,3.421,3.438,3.438,3.459,3.462,3.48,3.487,3.487,3.498,3.498,3.504,3.504,3.504,3.516,3.522,3.528,3.53,3.536,3.537,3.536,3.534,3.54,3.54,3.552,3.557,3.558,3.559,3.563,3.563,3.571,3.573,3.579,3.579,3.593,3.593,3.605,3.606,3.617,3.628,3.63,3.63,3.645,3.649,3.651,3.652,3.661,3.662,3.674,3.678,3.679,3.683,3.691,3.693,3.704,3.714,3.722,3.736,3.744,3.751,3.753,3.76,3.776,3.787,3.788,3.804,3.814,3.818,3.84,3.842,3.85,3.872,3.873,3.884,3.897,3.91,3.92,3.935,3.947,3.958,3.972,3.98,3.99,4.008,4.03,4.048,4.055,4.072,4.081,0.016,0.016,0.016,0.016,0.016,4.086,4.065,4.024,4.004,3.967,3.927,3.912,3.883,3.841,3.801,3.783,3.764,3.723,3.697,3.677,3.655,3.626,3.603,3.594,3.55,3.529,3.507,3.482,3.471,3.452,3.427,3.406,3.377,3.367,3.352,3.328,3.312,3.292,3.268,3.26,3.229,3.224,3.198,3.176,3.174,3.151,3.141,3.121,3.102,3.097,3.084,3.068,3.052,3.041,3.026,3.009,3.003,2.989,2.98,2.966,2.947,2.931,2.926,2.919,2.902,2.893,2.876,2.874,2.857,2.848,2.841,2.826,2.81,2.804,2.795,2.782,2.777,2.766,2.757,2.744,2.742,2.741,2.725,2.716,2.711,2.7,2.69,2.681,2.672,2.664,2.652,2.644,2.639,2.636,2.636,2.623,2.61,2.609,2.605,2.591,2.585,2.582,2.58,2.574,2.565,2.563,2.56,2.557,2.547,2.537,2.53,2.525,2.524,2.516,2.501,2.5,2.499,2.496,2.491,2.488,2.48,2.477,2.476,2.473,2.472,2.468,2.468,2.461,2.457,2.454,2.45,2.45,2.448,2.444,2.444,2.434,2.434,2.434,2.428,2.428,2.426,2.426,2.423,2.419,2.419,2.419,2.417,2.417,2.415,2.415,2.415,2.414,2.416,2.416,2.412,2.409,2.41,2.409,2.409,2.41,2.414,2.418,2.418,2.418,2.415,2.414,2.414,2.415,2.419,2.419,2.419,2.419,2.419,2.419,2.42,2.424,2.425,2.43,2.433,2.433,2.433,2.437,2.439,2.439,2.446,2.45,2.45,2.451,2.451,2.461,2.462,2.464,2.47,2.475,2.476,2.478,2.482,2.486,2.492,2.495,2.5,2.505,2.507,2.513,2.522,2.525,2.529,2.533,2.537,2.539,2.547,2.551,2.562,2.566,2.569,2.576,2.589,2.602,2.602,2.603,2.61,2.611,2.622,2.632,2.634,2.635,2.647,2.655,2.667,2.679,2.687,2.691,2.694,2.708,2.718,2.72,2.734,2.742,2.749,2.757,2.76,2.78,2.787,2.793,2.809,2.823,2.826,2.846,2.848,2.859,2.878,2.88,2.895,2.896,2.919,2.923,2.94,2.952,2.957,2.972,2.989,2.999,3.02,3.029,3.043,3.048,3.067,3.078,3.092,3.101,3.12,3.136,3.154,3.167,3.182,3.198,3.224,3.228,3.248,3.271,3.278,3.289,3.325,3.333,3.352,3.371,3.388,3.41,3.438,3.453,3.478,3.491,3.526,3.536,3.563,3.601,3.614,3.635,3.671,3.696,3.718,3.755,3.778,3.803,3.841,3.862,3.895,3.92,3.939,3.993,4.012,4.068,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.354,3.339,3.329,3.314,3.307,3.297,3.293,3.285,3.273,3.253,3.248,3.241,3.23,3.23,3.221,3.21,3.21,3.202,3.187,3.184,3.175,3.175,3.157,3.153,3.153,3.144,3.141,3.136,3.129,3.124,3.119,3.111,3.11,3.103,3.098,3.081,3.078,3.078,3.078,3.077,3.069,3.064,3.06,3.058,3.057,3.053,3.052,3.041,3.041,3.038,3.035,3.033,3.03,3.029,3.024,3.023,3.023,3.023,3.03,3.03,3.03,3.022,3.02,3.018,3.014,3.013,3.013,3.007,3.007,3.007,3.01,3.007,3.007,3.006,3.006,3.005,3.006,3.015,3.015,3.017,3.017,3.013,3.013,3.018,3.018,3.019,3.019,3.019,3.022,3.022,3.022,3.024,3.028,3.03,3.032,3.032,3.032,3.033,3.038,3.045,3.047,3.051,3.054,3.054,3.065,3.066,3.067,3.082,3.082,3.084,3.091,3.092,3.092,3.092,3.101,3.112,3.114,3.116,3.121,3.132,3.132,3.138,3.138,3.138,3.138,3.146,3.148,3.154,3.162,3.162,3.163,3.175,3.176,3.192,3.205,3.21,3.215,3.228,3.233,3.235,3.239,3.24,3.24,3.249,3.263,3.278,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 103.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 103.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 103.253} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.508} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388} SEN {Time 103.303} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.185,0.185,0,0,0,0,0,0,0,0,3.691,3.685,3.666,3.664,3.646,3.636,3.607,3.607,3.607,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.241,3.225,3.224,3.208,3.208,3.208,3.366,0.007,0,0,0,0,0,0,0,0.152,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.158,0.148,0.158,0.158,0.159,0.159,3.04,3.042,3.042,3.042,3.042,3.043,3.033,0.163,0.162,0.162,0.149,0.148,0.147,0.143,0.14,0.126,0.088,0.069,0.064,0.064,0.063,0.063,0.066,0.067,0.067,0.067,0.067,0.067,0.07,0.07,0.07,0.122,0.203,3.34,3.344,3.363,3.363,3.372,3.383,3.385,3.391,3.403,3.417,3.424,3.436,3.458,3.474,3.487,3.493,3.496,3.496,3.497,3.506,3.507,3.507,3.516,3.522,3.524,3.526,3.527,3.532,3.534,3.535,3.539,3.54,3.541,3.546,3.553,3.553,3.566,3.568,3.574,3.575,3.578,3.582,3.591,3.594,3.598,3.611,3.613,3.622,3.625,3.634,3.636,3.644,3.649,3.653,3.658,3.664,3.675,3.679,3.683,3.685,3.69,3.697,3.703,3.722,3.735,3.739,3.739,3.75,3.754,3.768,3.771,3.786,3.793,3.799,3.813,3.828,3.831,3.834,3.85,3.865,3.872,3.886,3.896,3.904,3.92,3.937,3.948,3.955,3.976,3.982,3.987,4.009,4.03,4.053,4.06,4.06,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.052,4.014,4.004,3.976,3.938,3.891,3.866,3.848,3.817,3.784,3.766,3.727,3.707,3.677,3.652,3.632,3.594,3.571,3.557,3.528,3.502,3.48,3.461,3.443,3.42,3.404,3.383,3.361,3.354,3.342,3.318,3.288,3.27,3.253,3.228,3.22,3.203,3.188,3.163,3.152,3.145,3.121,3.114,3.105,3.088,3.073,3.055,3.044,3.028,3.016,2.994,2.994,2.983,2.96,2.95,2.937,2.927,2.916,2.904,2.885,2.874,2.87,2.861,2.844,2.84,2.831,2.818,2.806,2.795,2.788,2.773,2.763,2.758,2.757,2.741,2.736,2.727,2.723,2.702,2.696,2.685,2.678,2.676,2.664,2.651,2.651,2.649,2.637,2.637,2.623,2.618,2.615,2.613,2.598,2.59,2.579,2.578,2.574,2.571,2.569,2.556,2.552,2.548,2.541,2.533,2.523,2.52,2.513,2.507,2.506,2.499,2.498,2.491,2.489,2.478,2.476,2.474,2.474,2.471,2.468,2.466,2.46,2.456,2.454,2.454,2.446,2.444,2.444,2.444,2.443,2.436,2.436,2.431,2.425,2.425,2.423,2.423,2.42,2.42,2.42,2.42,2.419,2.419,2.415,2.412,2.411,2.411,2.411,2.41,2.409,2.409,2.409,2.409,2.411,2.411,2.411,2.413,2.413,2.413,2.414,2.414,2.416,2.42,2.423,2.423,2.42,2.426,2.424,2.424,2.428,2.431,2.43,2.431,2.434,2.434,2.434,2.435,2.442,2.442,2.448,2.454,2.455,2.46,2.463,2.467,2.47,2.472,2.473,2.475,2.478,2.479,2.486,2.487,2.489,2.494,2.499,2.509,2.512,2.516,2.522,2.527,2.53,2.531,2.543,2.547,2.555,2.556,2.567,2.572,2.572,2.589,2.599,2.605,2.608,2.609,2.612,2.631,2.635,2.639,2.646,2.658,2.66,2.666,2.677,2.682,2.683,2.698,2.701,2.723,2.723,2.726,2.735,2.749,2.75,2.758,2.777,2.788,2.798,2.804,2.822,2.827,2.839,2.846,2.855,2.876,2.883,2.888,2.903,2.914,2.923,2.939,2.943,2.954,2.975,2.98,2.999,3.016,3.024,3.04,3.047,3.058,3.074,3.089,3.112,3.126,3.139,3.149,3.163,3.182,3.209,3.221,3.233,3.253,3.268,3.278,3.303,3.324,3.333,3.349,3.371,3.399,3.411,3.431,3.46,3.481,3.496,3.515,3.546,3.566,3.595,3.615,3.64,3.668,3.697,3.721,3.754,3.786,3.803,3.835,3.854,3.883,3.923,3.984,4.029,4.062,4.062,4.09,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.353,3.342,3.325,3.319,3.31,3.292,3.29,3.281,3.27,3.259,3.251,3.245,3.24,3.229,3.22,3.218,3.214,3.2,3.191,3.184,3.176,3.17,3.157,3.153,3.152,3.146,3.143,3.137,3.125,3.121,3.117,3.111,3.111,3.103,3.094,3.092,3.088,3.087,3.075,3.072,3.072,3.061,3.061,3.05,3.05,3.046,3.044,3.044,3.044,3.042,3.042,3.033,3.03,3.027,3.025,3.022,3.022,3.022,3.03,3.03,3.03,3.019,3.019,3.015,3.015,3.011,3.011,3.015,3.015,3.013,3.013,3.01,3.01,3.008,3.009,3.009,3.011,3.014,3.016,3.017,3.017,3.017,3.017,3.017,3.021,3.021,3.021,3.021,3.024,3.021,3.024,3.029,3.029,3.032,3.032,3.034,3.034,3.042,3.043,3.045,3.045,3.052,3.054,3.056,3.061,3.062,3.065,3.074,3.078,3.09,3.093,3.094,3.097,3.098,3.102,3.106,3.109,3.122,3.127,3.13,3.13,3.133,3.135,3.138,3.138,3.143,3.144,3.156,3.159,3.17,3.172,3.176,3.178,3.179,3.196,3.219,3.221,3.222,3.222,3.233,3.235,3.237,3.238,3.253,3.263,3.282,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 103.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 103.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 103.454} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.508} {Name Sonar8 Range 0.9144} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 103.503} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.186,0.187,0.187,0,0,0,0,0,0,0,0,3.698,3.68,3.671,3.659,3.648,3.632,3.625,3.625,3.625,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.216,3.202,3.202,3.202,3.266,3.361,0,0,0,0,0,0,0,0.148,0.148,0.148,0.148,0.148,0.143,0.143,0.143,0.158,0.152,0.158,0.158,0.158,0.158,3.036,3.036,3.036,3.036,3.036,3.036,3.036,0.159,0.156,0.156,0.156,0.154,0.153,0.145,0.145,0.114,0.1,0.067,0.067,0.063,0.066,0.067,0.068,0.069,0.071,0.071,0.071,0.071,0.068,0.068,0.071,0.126,0.199,3.337,3.355,3.37,3.37,3.386,3.39,3.39,3.39,3.394,3.405,3.432,3.443,3.475,3.478,3.48,3.48,3.49,3.501,3.508,3.508,3.508,3.508,3.519,3.519,3.521,3.523,3.523,3.53,3.537,3.537,3.544,3.54,3.54,3.55,3.553,3.556,3.562,3.574,3.575,3.579,3.585,3.587,3.59,3.592,3.606,3.606,3.608,3.628,3.632,3.643,3.644,3.649,3.649,3.65,3.658,3.663,3.673,3.673,3.68,3.687,3.693,3.697,3.707,3.726,3.73,3.733,3.747,3.754,3.756,3.76,3.763,3.788,3.798,3.813,3.813,3.829,3.839,3.847,3.852,3.867,3.868,3.886,3.887,3.916,3.921,3.926,3.937,3.948,3.971,3.976,3.987,4.017,4.028,4.031,4.062,4.075,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.045,4.038,4.038,4,3.97,3.891,3.891,3.86,3.853,3.797,3.758,3.738,3.702,3.666,3.652,3.632,3.614,3.579,3.555,3.525,3.501,3.479,3.455,3.44,3.422,3.409,3.381,3.371,3.354,3.329,3.317,3.293,3.281,3.269,3.236,3.234,3.202,3.176,3.17,3.146,3.14,3.136,3.11,3.1,3.083,3.069,3.057,3.047,3.029,3.017,2.999,2.993,2.973,2.958,2.943,2.926,2.925,2.915,2.903,2.891,2.882,2.867,2.855,2.85,2.838,2.829,2.819,2.812,2.793,2.789,2.786,2.775,2.757,2.751,2.745,2.735,2.734,2.722,2.708,2.699,2.681,2.672,2.672,2.657,2.654,2.648,2.645,2.636,2.629,2.616,2.616,2.615,2.61,2.607,2.593,2.587,2.576,2.576,2.572,2.566,2.557,2.552,2.546,2.537,2.531,2.528,2.522,2.515,2.511,2.502,2.502,2.494,2.492,2.49,2.485,2.479,2.479,2.479,2.471,2.464,2.462,2.462,2.461,2.454,2.452,2.447,2.447,2.441,2.441,2.436,2.432,2.431,2.428,2.428,2.426,2.426,2.425,2.423,2.419,2.416,2.415,2.415,2.416,2.414,2.414,2.412,2.414,2.413,2.413,2.412,2.413,2.413,2.409,2.413,2.413,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.417,2.419,2.42,2.42,2.421,2.423,2.423,2.427,2.429,2.43,2.431,2.433,2.435,2.441,2.442,2.443,2.447,2.448,2.452,2.456,2.456,2.464,2.465,2.47,2.473,2.473,2.474,2.478,2.482,2.483,2.488,2.492,2.498,2.498,2.51,2.513,2.516,2.521,2.53,2.537,2.539,2.542,2.549,2.556,2.556,2.567,2.574,2.575,2.592,2.596,2.599,2.601,2.609,2.619,2.627,2.636,2.644,2.645,2.653,2.654,2.664,2.675,2.679,2.68,2.698,2.706,2.713,2.722,2.73,2.738,2.752,2.753,2.771,2.78,2.788,2.794,2.814,2.821,2.828,2.842,2.855,2.857,2.879,2.886,2.887,2.906,2.919,2.931,2.947,2.959,2.96,2.978,2.985,3,3.023,3.03,3.042,3.044,3.063,3.076,3.092,3.092,3.125,3.133,3.154,3.168,3.184,3.204,3.22,3.232,3.245,3.255,3.269,3.292,3.325,3.33,3.348,3.373,3.395,3.415,3.445,3.467,3.487,3.507,3.528,3.542,3.575,3.592,3.615,3.644,3.669,3.693,3.722,3.745,3.768,3.813,3.829,3.857,3.889,3.919,4.002,4.028,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.351,3.33,3.318,3.307,3.292,3.289,3.286,3.267,3.256,3.249,3.239,3.238,3.237,3.214,3.214,3.21,3.197,3.189,3.188,3.177,3.164,3.156,3.156,3.154,3.148,3.131,3.13,3.121,3.121,3.117,3.108,3.108,3.103,3.095,3.091,3.087,3.086,3.079,3.076,3.074,3.068,3.067,3.059,3.058,3.052,3.05,3.043,3.04,3.038,3.036,3.035,3.031,3.03,3.026,3.025,3.025,3.026,3.029,3.029,3.029,3.02,3.016,3.013,3.015,3.012,3.012,3.011,3.014,3.014,3.014,3.009,3.008,3.008,3.008,3.008,3.013,3.013,3.011,3.011,3.011,3.011,3.011,3.012,3.012,3.02,3.02,3.02,3.02,3.02,3.02,3.021,3.026,3.026,3.031,3.033,3.037,3.041,3.043,3.046,3.047,3.049,3.057,3.06,3.061,3.065,3.07,3.071,3.085,3.087,3.087,3.091,3.092,3.099,3.102,3.107,3.113,3.117,3.121,3.138,3.138,3.138,3.138,3.138,3.143,3.143,3.145,3.155,3.161,3.168,3.173,3.175,3.176,3.177,3.198,3.21,3.219,3.22,3.232,3.237,3.241,3.245,3.248,3.249,3.252,3.286,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 103.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 103.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 103.655} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.508} {Name Sonar8 Range 0.9144} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 103.699} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.184,0.185,0.185,0,0,0,0,0,0,0,0,3.694,3.679,3.669,3.662,3.638,3.627,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.214,3.208,3.208,3.221,3.26,3.364,0,0,0,0,0,0,0,0.146,0.145,0.145,0.145,0.145,0.145,0.141,0.141,0.15,0.146,0.152,0.152,0.156,0.157,3.036,3.036,3.037,3.037,3.036,3.04,3.04,0.158,0.156,0.156,0.155,0.153,0.152,0.145,0.145,0.12,0.092,0.074,0.064,0.064,0.064,0.064,0.067,0.068,0.07,0.07,0.067,0.065,0.065,0.065,0.073,0.12,0.2,3.338,3.343,3.358,3.358,3.379,3.385,3.395,3.395,0.007,3.438,3.438,3.448,3.448,3.467,3.484,3.491,3.5,3.495,3.5,3.509,3.51,3.51,3.524,3.528,3.528,3.528,3.529,3.532,3.54,3.542,3.542,3.543,3.546,3.549,3.551,3.562,3.564,3.564,3.573,3.574,3.574,3.586,3.594,3.605,3.609,3.611,3.613,3.614,3.621,3.633,3.634,3.641,3.647,3.658,3.66,3.664,3.671,3.679,3.684,3.686,3.691,3.699,3.71,3.718,3.73,3.731,3.745,3.758,3.76,3.764,3.774,3.783,3.801,3.811,3.813,3.814,3.831,3.835,3.851,3.87,3.874,3.878,3.903,3.907,3.914,3.93,3.943,3.952,3.965,3.98,3.992,4.017,4.023,4.052,4.053,4.071,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.019,3.993,3.965,3.921,3.905,3.878,3.837,3.805,3.785,3.757,3.738,3.706,3.667,3.649,3.622,3.61,3.569,3.556,3.535,3.511,3.486,3.458,3.441,3.424,3.394,3.379,3.37,3.342,3.331,3.326,3.298,3.276,3.261,3.234,3.233,3.194,3.183,3.175,3.152,3.14,3.118,3.108,3.09,3.078,3.069,3.052,3.05,3.035,3.013,2.996,2.988,2.987,2.959,2.955,2.944,2.923,2.919,2.911,2.896,2.877,2.868,2.859,2.841,2.836,2.833,2.812,2.806,2.806,2.791,2.783,2.769,2.763,2.75,2.742,2.736,2.723,2.712,2.703,2.702,2.682,2.676,2.67,2.656,2.656,2.652,2.648,2.64,2.633,2.62,2.615,2.611,2.608,2.6,2.598,2.585,2.578,2.578,2.575,2.567,2.564,2.548,2.54,2.538,2.529,2.527,2.521,2.514,2.506,2.5,2.497,2.492,2.49,2.49,2.481,2.48,2.478,2.478,2.475,2.465,2.462,2.458,2.456,2.453,2.453,2.453,2.445,2.445,2.445,2.44,2.435,2.435,2.434,2.428,2.427,2.424,2.42,2.42,2.42,2.42,2.415,2.415,2.418,2.415,2.418,2.418,2.414,2.41,2.41,2.408,2.41,2.41,2.412,2.414,2.414,2.414,2.414,2.414,2.414,2.416,2.416,2.415,2.415,2.417,2.42,2.42,2.426,2.42,2.42,2.425,2.429,2.43,2.431,2.433,2.434,2.437,2.44,2.442,2.448,2.449,2.45,2.453,2.456,2.456,2.467,2.468,2.472,2.477,2.477,2.479,2.483,2.485,2.485,2.488,2.495,2.501,2.507,2.514,2.523,2.524,2.529,2.535,2.537,2.544,2.553,2.557,2.56,2.567,2.568,2.581,2.588,2.6,2.603,2.608,2.609,2.612,2.626,2.64,2.641,2.646,2.647,2.648,2.663,2.679,2.679,2.68,2.701,2.702,2.712,2.723,2.731,2.74,2.756,2.76,2.764,2.783,2.795,2.801,2.811,2.817,2.83,2.838,2.845,2.857,2.868,2.878,2.89,2.895,2.92,2.925,2.935,2.956,2.961,2.975,2.983,3.003,3.017,3.03,3.043,3.05,3.061,3.083,3.094,3.102,3.128,3.14,3.163,3.175,3.184,3.204,3.218,3.226,3.242,3.26,3.279,3.303,3.319,3.342,3.352,3.365,3.398,3.41,3.431,3.462,3.483,3.493,3.528,3.547,3.565,3.6,3.613,3.637,3.662,3.69,3.716,3.741,3.775,3.8,3.825,3.858,3.898,3.923,4.002,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.35,3.346,3.336,3.315,3.304,3.303,3.292,3.279,3.268,3.264,3.251,3.248,3.239,3.237,3.212,3.208,3.205,3.202,3.197,3.189,3.18,3.173,3.168,3.152,3.149,3.147,3.138,3.129,3.126,3.126,3.11,3.106,3.103,3.097,3.096,3.092,3.084,3.084,3.077,3.072,3.068,3.064,3.062,3.058,3.053,3.05,3.045,3.045,3.045,3.043,3.042,3.034,3.034,3.029,3.029,3.027,3.027,3.027,3.027,3.027,3.027,3.018,3.017,3.016,3.016,3.016,3.012,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.009,3.012,3.012,3.012,3.012,3.012,3.013,3.013,3.016,3.016,3.017,3.017,3.017,3.025,3.025,3.019,3.019,3.022,3.022,3.028,3.038,3.038,3.038,3.042,3.045,3.045,3.05,3.052,3.053,3.058,3.062,3.066,3.072,3.075,3.079,3.086,3.09,3.092,3.093,3.093,3.103,3.111,3.114,3.117,3.123,3.128,3.132,3.136,3.139,3.141,3.141,3.147,3.15,3.153,3.162,3.164,3.171,3.175,3.177,3.179,3.19,3.212,3.22,3.221,3.225,3.239,3.241,3.247,3.247,3.251,3.261,3.288,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 103.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 103.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 103.855} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 0.9144} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1308} SEN {Time 103.899} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.183,0.186,0.186,0,0,0,0,0,0,0,0,0,3.682,3.669,3.66,3.647,3.636,3.611,3.611,3.611,3.598,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.22,3.214,3.214,3.22,3.266,3.37,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.144,0.145,0.145,0.153,0.149,0.153,0.153,0.158,0.161,3.041,3.041,3.041,3.041,3.036,3.036,3.032,0.164,0.158,0.158,0.157,0.154,0.151,0.144,0.144,0.119,0.091,0.065,0.065,0.063,0.063,0.065,0.064,0.065,0.071,0.071,0.07,0.07,0.07,0.07,0.071,0.118,0.209,3.342,3.342,3.355,3.355,3.369,3.376,3.386,3.4,0.007,3.442,3.442,3.459,3.459,3.467,3.487,3.49,3.496,3.497,3.505,3.506,3.509,3.515,3.515,3.515,3.517,3.528,3.528,3.528,3.532,3.533,3.537,3.541,3.541,3.548,3.549,3.557,3.561,3.57,3.577,3.577,3.576,3.577,3.585,3.587,3.606,3.612,3.618,3.627,3.63,3.631,3.635,3.646,3.647,3.654,3.663,3.669,3.673,3.679,3.69,3.691,3.697,3.702,3.711,3.723,3.725,3.732,3.746,3.751,3.769,3.773,3.774,3.778,3.793,3.795,3.816,3.821,3.833,3.844,3.855,3.863,3.872,3.883,3.896,3.905,3.92,3.929,3.935,3.951,3.968,3.988,3.994,4.02,4.028,4.037,4.068,4.07,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.048,3.996,3.927,3.886,3.871,3.848,3.795,3.785,3.76,3.725,3.687,3.673,3.649,3.621,3.592,3.575,3.546,3.526,3.503,3.484,3.465,3.436,3.428,3.401,3.381,3.378,3.354,3.337,3.308,3.29,3.278,3.264,3.234,3.225,3.203,3.188,3.168,3.15,3.14,3.127,3.115,3.093,3.092,3.06,3.049,3.039,3.028,3.003,3,2.995,2.979,2.966,2.955,2.934,2.929,2.913,2.907,2.895,2.874,2.869,2.862,2.85,2.836,2.827,2.811,2.8,2.796,2.788,2.777,2.769,2.763,2.75,2.749,2.733,2.723,2.72,2.707,2.697,2.689,2.675,2.672,2.663,2.654,2.652,2.642,2.638,2.631,2.618,2.617,2.611,2.608,2.597,2.588,2.582,2.575,2.573,2.571,2.558,2.555,2.553,2.546,2.54,2.53,2.527,2.523,2.515,2.513,2.507,2.506,2.496,2.489,2.488,2.483,2.48,2.477,2.476,2.468,2.466,2.464,2.454,2.452,2.449,2.447,2.447,2.445,2.445,2.444,2.44,2.438,2.433,2.433,2.43,2.426,2.426,2.426,2.426,2.421,2.42,2.418,2.415,2.415,2.413,2.413,2.413,2.413,2.413,2.408,2.408,2.408,2.408,2.414,2.414,2.414,2.414,2.416,2.414,2.414,2.416,2.417,2.417,2.417,2.418,2.419,2.42,2.42,2.421,2.421,2.423,2.424,2.424,2.428,2.433,2.439,2.44,2.443,2.444,2.445,2.449,2.453,2.455,2.457,2.46,2.465,2.47,2.47,2.475,2.475,2.477,2.483,2.491,2.494,2.496,2.496,2.503,2.516,2.518,2.522,2.524,2.528,2.537,2.54,2.54,2.549,2.55,2.556,2.567,2.571,2.577,2.595,2.6,2.603,2.607,2.609,2.616,2.631,2.633,2.638,2.643,2.652,2.653,2.669,2.674,2.676,2.686,2.696,2.699,2.715,2.718,2.73,2.737,2.751,2.754,2.765,2.783,2.791,2.798,2.812,2.812,2.827,2.835,2.847,2.854,2.872,2.882,2.885,2.906,2.914,2.929,2.945,2.956,2.958,2.973,2.985,2.995,3.02,3.024,3.038,3.047,3.065,3.085,3.097,3.107,3.119,3.137,3.156,3.165,3.183,3.195,3.225,3.239,3.246,3.266,3.275,3.303,3.315,3.34,3.356,3.37,3.389,3.405,3.426,3.459,3.487,3.509,3.521,3.559,3.563,3.594,3.617,3.634,3.672,3.694,3.731,3.74,3.788,3.81,3.831,3.867,3.896,3.923,3.956,3.994,4.027,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.353,3.347,3.336,3.32,3.309,3.297,3.296,3.282,3.271,3.262,3.252,3.244,3.243,3.233,3.221,3.218,3.215,3.198,3.189,3.186,3.177,3.169,3.166,3.156,3.156,3.152,3.141,3.128,3.121,3.116,3.116,3.112,3.11,3.103,3.092,3.09,3.084,3.079,3.078,3.076,3.071,3.067,3.066,3.053,3.052,3.051,3.042,3.042,3.042,3.041,3.041,3.036,3.035,3.03,3.026,3.025,3.026,3.026,3.037,3.037,3.037,3.017,3.017,3.016,3.015,3.016,3.015,3.009,3.009,3.009,3.008,3.009,3.01,3.012,3.011,3.011,3.012,3.011,3.011,3.011,3.018,3.018,3.018,3.018,3.017,3.017,3.017,3.022,3.022,3.022,3.022,3.022,3.023,3.029,3.035,3.035,3.035,3.037,3.038,3.044,3.05,3.057,3.057,3.058,3.059,3.063,3.069,3.069,3.08,3.092,3.094,3.094,3.096,3.097,3.098,3.105,3.111,3.12,3.121,3.134,3.134,3.135,3.138,3.141,3.141,3.147,3.151,3.152,3.16,3.167,3.174,3.174,3.175,3.191,3.195,3.204,3.221,3.224,3.226,3.227,3.24,3.247,3.248,3.254,3.264,3.282,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 104.06} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 104.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 104.057} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 104.099} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0,3.691,3.688,3.667,3.665,3.646,3.631,3.624,3.624,3.624,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.213,3.209,3.213,3.213,3.262,3.363,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.143,0.147,0.147,0.147,0.149,0.149,0.155,0.155,0.156,0.162,3.03,3.034,3.035,3.035,3.034,3.035,3.035,0.16,0.157,0.157,0.154,0.151,0.15,0.15,0.15,0.12,0.085,0.064,0.064,0.064,0.064,0.064,0.064,0.067,0.068,0.068,0.068,0.068,0.064,0.064,0.064,0.119,0.201,3.354,0.007,3.375,3.375,3.384,3.375,3.384,3.394,0,0,0,3.481,3.477,3.477,3.481,3.487,3.495,3.498,3.499,3.502,3.505,3.515,3.516,3.516,3.516,3.532,3.533,3.534,3.537,3.541,3.544,3.544,3.546,3.548,3.555,3.556,3.569,3.569,3.575,3.577,3.582,3.587,3.592,3.599,3.599,3.601,3.613,3.629,3.629,3.633,3.639,3.645,3.649,3.658,3.661,3.662,3.669,3.678,3.681,3.684,3.692,3.697,3.707,3.717,3.726,3.731,3.747,3.748,3.756,3.764,3.778,3.785,3.803,3.807,3.811,3.832,3.833,3.845,3.85,3.862,3.868,3.884,3.9,3.915,3.916,3.938,3.945,3.954,3.972,3.982,4.003,4.021,4.026,4.04,4.063,4.085,4.092,0.016,0.016,0.016,0.016,0,0.007,0,0.007,4.034,3.971,3.934,3.893,3.864,3.841,3.807,3.789,3.757,3.723,3.696,3.675,3.643,3.627,3.594,3.579,3.543,3.528,3.51,3.48,3.457,3.445,3.419,3.406,3.385,3.368,3.35,3.332,3.314,3.294,3.273,3.26,3.225,3.224,3.203,3.185,3.164,3.154,3.133,3.121,3.109,3.104,3.086,3.07,3.044,3.04,3.03,3.012,3.002,2.99,2.981,2.965,2.956,2.939,2.931,2.919,2.906,2.891,2.87,2.866,2.858,2.846,2.839,2.824,2.822,2.807,2.802,2.786,2.785,2.77,2.762,2.755,2.74,2.738,2.719,2.714,2.705,2.695,2.68,2.675,2.669,2.661,2.66,2.657,2.648,2.638,2.63,2.622,2.617,2.616,2.607,2.604,2.59,2.582,2.578,2.576,2.563,2.561,2.554,2.551,2.546,2.539,2.535,2.534,2.517,2.514,2.513,2.503,2.495,2.495,2.492,2.491,2.482,2.479,2.479,2.473,2.471,2.47,2.466,2.461,2.457,2.455,2.451,2.447,2.447,2.446,2.444,2.44,2.439,2.434,2.431,2.431,2.429,2.426,2.425,2.423,2.42,2.419,2.418,2.417,2.416,2.416,2.416,2.416,2.416,2.414,2.414,2.414,2.414,2.41,2.41,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.413,2.415,2.417,2.417,2.417,2.419,2.424,2.424,2.424,2.428,2.428,2.428,2.429,2.43,2.436,2.438,2.438,2.44,2.446,2.446,2.457,2.457,2.455,2.457,2.457,2.464,2.472,2.478,2.479,2.482,2.483,2.488,2.494,2.495,2.497,2.5,2.511,2.517,2.517,2.527,2.529,2.53,2.53,2.535,2.545,2.55,2.563,2.565,2.573,2.573,2.595,2.604,2.605,2.607,2.61,2.615,2.622,2.633,2.633,2.641,2.642,2.654,2.663,2.673,2.675,2.685,2.699,2.707,2.71,2.719,2.735,2.736,2.752,2.756,2.768,2.786,2.789,2.798,2.806,2.819,2.83,2.835,2.847,2.858,2.866,2.874,2.894,2.899,2.917,2.925,2.948,2.955,2.962,2.975,2.991,3.001,3.008,3.029,3.039,3.042,3.073,3.077,3.089,3.107,3.122,3.137,3.153,3.163,3.178,3.203,3.222,3.228,3.245,3.263,3.278,3.296,3.323,3.335,3.356,3.376,3.39,3.405,3.432,3.457,3.479,3.508,3.515,3.548,3.575,3.594,3.614,3.643,3.67,3.684,3.722,3.744,3.782,3.801,3.834,3.855,3.89,3.921,3.98,4.028,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.354,3.346,3.331,3.316,3.315,3.295,3.29,3.288,3.277,3.258,3.256,3.247,3.241,3.24,3.22,3.217,3.214,3.197,3.193,3.192,3.177,3.17,3.162,3.156,3.148,3.144,3.134,3.134,3.121,3.121,3.119,3.11,3.104,3.1,3.097,3.094,3.085,3.083,3.078,3.078,3.069,3.067,3.062,3.06,3.057,3.048,3.044,3.042,3.04,3.037,3.037,3.036,3.036,3.033,3.028,3.025,3.028,3.028,3.025,3.024,3.025,3.024,3.018,3.015,3.014,3.013,3.008,3.006,3.008,3.007,3.007,3.006,3.007,3.007,3.008,3.014,3.014,3.014,3.014,3.012,3.012,3.012,3.017,3.017,3.018,3.018,3.018,3.021,3.021,3.021,3.021,3.025,3.028,3.03,3.031,3.033,3.037,3.041,3.046,3.046,3.056,3.057,3.059,3.059,3.063,3.066,3.07,3.072,3.081,3.084,3.09,3.09,3.09,3.093,3.1,3.108,3.113,3.117,3.123,3.125,3.132,3.133,3.141,3.143,3.143,3.149,3.149,3.153,3.161,3.168,3.174,3.175,3.176,3.194,3.202,3.21,3.211,3.224,3.226,3.228,3.231,3.242,3.245,3.249,3.261,3.285,3.294,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 104.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 104.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 104.257} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 104.299} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.193,0.181,0.193,0.193,0,0,0,0,0,0,0,0,3.695,3.681,3.669,3.654,3.65,3.634,3.614,3.614,3.614,3.595,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.217,3.216,3.214,3.214,3.216,3.371,0.007,0,0,0,0,0,0,0,0.147,0.144,0.144,0.144,0.144,0.141,0.141,0.141,0.151,0.142,0.151,0.151,0.151,0.152,3.031,3.032,3.035,3.035,3.032,3.035,3.035,0.162,0.158,0.158,0.153,0.153,0.15,0.147,0.143,0.117,0.086,0.072,0.065,0.062,0.062,0.065,0.065,0.066,0.067,0.07,0.069,0.069,0.069,0.069,0.069,0.131,0.209,3.345,0.007,3.362,3.362,3.374,3.374,3.386,3.389,0,0,0,3.474,3.474,3.474,3.478,3.483,3.489,3.499,3.504,3.511,3.506,3.511,3.512,3.522,3.522,3.527,3.532,3.534,3.538,3.539,3.542,3.541,3.542,3.543,3.55,3.55,3.556,3.566,3.57,3.573,3.581,3.583,3.583,3.598,3.605,3.606,3.616,3.627,3.628,3.631,3.641,3.644,3.649,3.654,3.667,3.667,3.67,3.675,3.678,3.688,3.697,3.7,3.707,3.732,3.733,3.738,3.759,3.759,3.76,3.771,3.777,3.789,3.799,3.804,3.814,3.831,3.84,3.844,3.847,3.866,3.879,3.886,3.896,3.907,3.925,3.936,3.946,3.95,3.969,3.975,3.997,4.005,4.033,4.049,4.069,4.073,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.049,4.017,4.003,3.966,3.924,3.899,3.87,3.855,3.811,3.785,3.747,3.725,3.693,3.688,3.651,3.621,3.603,3.58,3.547,3.519,3.509,3.488,3.46,3.442,3.433,3.401,3.379,3.365,3.346,3.34,3.318,3.292,3.283,3.263,3.226,3.223,3.205,3.18,3.162,3.161,3.136,3.13,3.102,3.093,3.078,3.073,3.057,3.043,3.025,3.007,2.995,2.995,2.99,2.957,2.951,2.936,2.923,2.917,2.898,2.896,2.873,2.87,2.861,2.855,2.835,2.825,2.814,2.807,2.8,2.783,2.783,2.768,2.762,2.745,2.742,2.74,2.723,2.715,2.705,2.69,2.679,2.679,2.676,2.661,2.656,2.653,2.647,2.636,2.635,2.632,2.615,2.612,2.609,2.6,2.595,2.579,2.577,2.577,2.565,2.564,2.562,2.547,2.54,2.537,2.533,2.528,2.522,2.513,2.512,2.506,2.501,2.501,2.498,2.487,2.486,2.478,2.478,2.472,2.465,2.464,2.463,2.462,2.46,2.453,2.453,2.452,2.452,2.446,2.446,2.446,2.442,2.441,2.432,2.43,2.429,2.427,2.419,2.419,2.418,2.418,2.416,2.418,2.415,2.413,2.413,2.413,2.413,2.413,2.413,2.411,2.41,2.409,2.409,2.409,2.41,2.412,2.417,2.417,2.414,2.412,2.414,2.412,2.412,2.423,2.423,2.415,2.423,2.424,2.425,2.425,2.427,2.429,2.43,2.433,2.436,2.436,2.44,2.441,2.443,2.447,2.45,2.453,2.453,2.455,2.465,2.47,2.473,2.477,2.482,2.484,2.485,2.489,2.491,2.492,2.497,2.502,2.512,2.515,2.521,2.521,2.531,2.534,2.535,2.539,2.555,2.557,2.558,2.564,2.573,2.58,2.593,2.597,2.598,2.604,2.613,2.618,2.627,2.635,2.64,2.64,2.649,2.651,2.663,2.681,2.685,2.688,2.703,2.705,2.719,2.724,2.733,2.735,2.748,2.758,2.764,2.774,2.785,2.8,2.802,2.826,2.834,2.839,2.85,2.858,2.867,2.877,2.893,2.904,2.914,2.93,2.944,2.954,2.959,2.973,2.987,3.002,3.012,3.026,3.045,3.049,3.068,3.078,3.088,3.114,3.121,3.148,3.156,3.165,3.183,3.198,3.215,3.24,3.249,3.26,3.282,3.296,3.331,3.336,3.347,3.378,3.397,3.408,3.44,3.467,3.478,3.498,3.527,3.54,3.567,3.592,3.606,3.637,3.677,3.689,3.73,3.75,3.785,3.802,3.835,3.864,3.891,3.982,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.357,3.332,3.326,3.321,3.315,3.305,3.287,3.282,3.267,3.261,3.252,3.247,3.239,3.236,3.218,3.207,3.205,3.202,3.189,3.183,3.174,3.167,3.162,3.157,3.153,3.145,3.141,3.138,3.121,3.121,3.119,3.114,3.111,3.109,3.093,3.092,3.09,3.079,3.077,3.074,3.073,3.061,3.06,3.057,3.051,3.047,3.041,3.041,3.037,3.035,3.033,3.03,3.029,3.029,3.026,3.024,3.026,3.029,3.03,3.03,3.087,3.03,3.022,3.019,3.016,3.013,3.016,3.016,3.016,3.011,3.011,3.007,3.007,3.006,3.006,3.006,3.006,3.016,3.016,3.01,3.013,3.013,3.013,3.013,3.013,3.018,3.017,3.021,3.021,3.021,3.022,3.024,3.024,3.024,3.03,3.034,3.034,3.035,3.038,3.042,3.05,3.053,3.053,3.058,3.058,3.061,3.063,3.077,3.077,3.089,3.089,3.089,3.092,3.099,3.107,3.108,3.11,3.121,3.122,3.136,3.136,3.136,3.136,3.148,3.145,3.148,3.148,3.157,3.16,3.16,3.17,3.175,3.176,3.188,3.21,3.212,3.214,3.223,3.228,3.231,3.236,3.242,3.25,3.25,3.265,3.281,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 104.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 104.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 104.449} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 4.9022} SEN {Time 104.499} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.182,0.187,0.187,0,0,0,0,0,0,0,0,3.695,3.676,3.67,3.661,3.646,3.632,3.617,3.617,3.617,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.252,3.218,3.216,3.216,3.215,3.215,3.215,3.253,3.369,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.148,0.14,0.146,0.146,0.152,0.154,0.157,0.157,0.159,0.159,3.039,3.043,3.043,3.043,3.039,3.043,3.027,0.157,0.154,0.154,0.154,0.151,0.149,0.148,0.148,0.122,0.088,0.07,0.066,0.066,0.064,0.064,0.068,0.068,0.068,0.068,0.065,0.064,0.064,0.065,0.068,0.129,0.2,3.341,3.346,3.357,3.357,3.362,3.362,3.379,3.386,3.415,3.415,3.417,3.426,3.449,3.482,3.485,3.488,3.494,3.496,3.499,3.501,3.503,3.503,3.519,3.52,3.525,3.526,3.53,3.531,3.533,3.542,3.545,3.545,3.546,3.547,3.552,3.557,3.57,3.57,3.572,3.572,3.579,3.585,3.587,3.593,3.601,3.614,3.614,3.626,3.629,3.633,3.641,3.648,3.651,3.651,3.652,3.661,3.668,3.673,3.682,3.697,3.701,3.709,3.712,3.722,3.727,3.734,3.742,3.759,3.76,3.765,3.773,3.782,3.802,3.802,3.819,3.821,3.845,3.848,3.848,3.855,3.873,3.882,3.894,3.898,3.899,3.935,3.936,3.952,3.977,3.989,3.995,4.024,4.031,4.033,4.073,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.044,4.02,4.005,3.963,3.929,3.902,3.878,3.849,3.807,3.778,3.765,3.733,3.7,3.687,3.662,3.63,3.606,3.579,3.545,3.531,3.493,3.492,3.465,3.449,3.414,3.41,3.384,3.375,3.342,3.332,3.309,3.305,3.284,3.255,3.233,3.228,3.195,3.182,3.175,3.148,3.138,3.121,3.114,3.095,3.088,3.07,3.05,3.035,3.032,3.018,2.996,2.986,2.985,2.96,2.955,2.938,2.926,2.916,2.901,2.89,2.885,2.868,2.86,2.855,2.841,2.831,2.815,2.805,2.804,2.786,2.779,2.769,2.761,2.75,2.737,2.735,2.722,2.711,2.707,2.687,2.686,2.675,2.675,2.668,2.649,2.647,2.644,2.634,2.632,2.626,2.613,2.611,2.605,2.593,2.587,2.585,2.573,2.57,2.569,2.565,2.562,2.553,2.543,2.542,2.527,2.523,2.522,2.516,2.508,2.504,2.497,2.497,2.496,2.495,2.488,2.479,2.477,2.475,2.475,2.467,2.466,2.461,2.46,2.454,2.45,2.449,2.447,2.446,2.443,2.441,2.434,2.434,2.43,2.43,2.43,2.43,2.424,2.42,2.42,2.42,2.414,2.415,2.414,2.414,2.414,2.413,2.413,2.414,2.413,2.413,2.414,2.413,2.413,2.414,2.415,2.416,2.416,2.416,2.412,2.412,2.412,2.415,2.416,2.42,2.42,2.42,2.42,2.421,2.424,2.427,2.429,2.429,2.432,2.435,2.439,2.44,2.442,2.442,2.442,2.449,2.453,2.454,2.457,2.459,2.464,2.47,2.471,2.474,2.475,2.476,2.485,2.488,2.492,2.492,2.501,2.502,2.513,2.517,2.517,2.52,2.527,2.529,2.537,2.546,2.55,2.557,2.56,2.567,2.568,2.576,2.589,2.6,2.602,2.603,2.607,2.612,2.626,2.637,2.637,2.639,2.651,2.652,2.665,2.677,2.68,2.685,2.703,2.705,2.721,2.724,2.728,2.736,2.75,2.762,2.766,2.778,2.788,2.794,2.805,2.819,2.831,2.835,2.851,2.854,2.867,2.877,2.89,2.904,2.916,2.93,2.939,2.941,2.959,2.969,2.982,2.999,3.017,3.025,3.035,3.048,3.065,3.082,3.092,3.103,3.122,3.146,3.152,3.168,3.182,3.205,3.227,3.235,3.253,3.268,3.273,3.306,3.321,3.328,3.347,3.377,3.402,3.409,3.429,3.462,3.476,3.493,3.527,3.54,3.568,3.592,3.616,3.644,3.661,3.694,3.725,3.747,3.786,3.803,3.839,3.849,3.897,3.916,0,0,0,0,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.351,3.346,3.33,3.325,3.306,3.296,3.284,3.283,3.272,3.254,3.252,3.239,3.238,3.232,3.221,3.21,3.204,3.199,3.19,3.189,3.178,3.169,3.16,3.157,3.156,3.141,3.139,3.13,3.124,3.124,3.119,3.108,3.108,3.107,3.098,3.093,3.086,3.082,3.077,3.077,3.07,3.068,3.06,3.052,3.05,3.046,3.046,3.043,3.039,3.038,3.038,3.033,3.029,3.029,3.028,3.026,3.026,3.029,3.029,3.029,3.029,3.025,3.021,3.017,3.013,3.013,3.012,3.013,3.013,3.013,3.01,3.01,3.01,3.01,3.01,3.01,3.011,3.011,3.012,3.012,3.014,3.012,3.014,3.014,3.014,3.015,3.015,3.02,3.021,3.021,3.023,3.025,3.029,3.031,3.033,3.039,3.039,3.044,3.045,3.045,3.051,3.053,3.056,3.059,3.06,3.068,3.07,3.075,3.078,3.092,3.092,3.092,3.093,3.094,3.101,3.103,3.107,3.119,3.126,3.129,3.129,3.137,3.137,3.141,3.144,3.15,3.152,3.158,3.158,3.169,3.169,3.176,3.18,3.19,3.2,3.211,3.212,3.226,3.236,3.24,3.243,3.245,3.249,3.26,3.28,3.28,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 104.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 104.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 104.65} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.2832} SEN {Time 104.695} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.183,0.185,0.185,0,0,0,0,0,0,0,0,3.688,3.677,3.663,3.653,3.648,3.63,3.617,3.617,3.617,3.6,0.006,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.231,3.229,3.219,3.213,3.211,3.211,3.213,3.366,0.007,0,0,0,0,0,0,0,0.007,0.15,0.15,0.15,0.15,0.146,0.146,0.146,0.148,0.148,0.148,0.148,0.154,0.154,3.029,3.029,3.034,3.034,3.034,3.035,3.035,0.153,0.153,0.153,0.153,0.158,0.158,0.144,0.144,0.116,0.09,0.07,0.069,0.066,0.066,0.066,0.065,0.066,0.069,0.069,0.068,0.068,0.064,0.064,0.064,0.121,0.202,3.347,0.007,3.375,3.375,3.375,3.375,3.379,3.386,3.415,3.422,3.422,3.447,3.481,3.484,3.484,3.484,3.489,3.505,3.505,3.51,3.51,3.511,3.511,3.518,3.52,3.529,3.531,3.531,3.535,3.539,3.543,3.544,3.544,3.553,3.554,3.555,3.566,3.568,3.573,3.577,3.579,3.583,3.585,3.591,3.598,3.608,3.61,3.619,3.627,3.63,3.641,3.644,3.647,3.653,3.656,3.657,3.657,3.684,3.684,3.692,3.697,3.707,3.716,3.728,3.734,3.736,3.747,3.759,3.759,3.773,3.782,3.789,3.79,3.791,3.813,3.827,3.832,3.841,3.852,3.855,3.875,3.876,3.893,3.907,3.914,3.927,3.94,3.959,3.96,3.988,4,4.018,4.028,4.045,4.062,4.078,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.046,4.021,3.989,3.957,3.921,3.899,3.867,3.847,3.816,3.773,3.767,3.739,3.704,3.674,3.652,3.614,3.596,3.573,3.555,3.516,3.507,3.482,3.451,3.436,3.422,3.408,3.374,3.362,3.345,3.337,3.319,3.297,3.276,3.256,3.236,3.231,3.188,3.182,3.179,3.149,3.142,3.123,3.108,3.1,3.082,3.063,3.051,3.035,3.035,3.014,2.998,2.994,2.99,2.962,2.949,2.936,2.928,2.921,2.909,2.892,2.878,2.866,2.859,2.848,2.841,2.829,2.809,2.807,2.797,2.79,2.786,2.767,2.764,2.756,2.741,2.739,2.72,2.717,2.706,2.691,2.683,2.678,2.674,2.66,2.655,2.653,2.653,2.639,2.639,2.621,2.615,2.613,2.603,2.601,2.6,2.583,2.581,2.578,2.569,2.564,2.558,2.549,2.549,2.54,2.536,2.523,2.523,2.512,2.507,2.503,2.499,2.498,2.492,2.483,2.482,2.479,2.475,2.474,2.471,2.467,2.462,2.458,2.458,2.456,2.452,2.447,2.446,2.446,2.444,2.443,2.443,2.44,2.434,2.429,2.429,2.429,2.425,2.42,2.419,2.419,2.417,2.419,2.415,2.412,2.412,2.412,2.412,2.413,2.413,2.415,2.415,2.413,2.411,2.413,2.413,2.415,2.416,2.416,2.416,2.416,2.416,2.416,2.418,2.419,2.419,2.42,2.42,2.421,2.421,2.425,2.43,2.431,2.432,2.436,2.437,2.439,2.439,2.439,2.442,2.446,2.451,2.453,2.457,2.457,2.459,2.472,2.474,2.475,2.481,2.484,2.486,2.487,2.491,2.494,2.495,2.498,2.509,2.511,2.521,2.522,2.525,2.533,2.535,2.543,2.547,2.55,2.562,2.564,2.568,2.585,2.594,2.6,2.608,2.609,2.613,2.613,2.624,2.63,2.636,2.64,2.652,2.653,2.668,2.675,2.682,2.695,2.701,2.703,2.724,2.726,2.726,2.74,2.753,2.755,2.766,2.781,2.788,2.795,2.805,2.823,2.826,2.841,2.847,2.864,2.875,2.884,2.886,2.896,2.915,2.92,2.944,2.95,2.961,2.972,2.983,3.006,3.016,3.025,3.039,3.052,3.061,3.083,3.093,3.104,3.125,3.142,3.162,3.166,3.182,3.202,3.219,3.238,3.251,3.268,3.286,3.295,3.329,3.338,3.35,3.372,3.387,3.41,3.436,3.463,3.477,3.502,3.516,3.54,3.554,3.596,3.615,3.628,3.671,3.702,3.729,3.752,3.789,3.807,3.833,3.85,3.891,3.926,3.982,4.015,4.052,4.052,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.358,3.346,3.332,3.311,3.311,3.309,3.301,3.283,3.274,3.252,3.251,3.249,3.248,3.234,3.218,3.217,3.205,3.205,3.189,3.187,3.176,3.173,3.159,3.156,3.155,3.148,3.141,3.129,3.125,3.121,3.118,3.109,3.108,3.107,3.089,3.086,3.086,3.081,3.079,3.074,3.073,3.068,3.059,3.057,3.056,3.055,3.045,3.041,3.039,3.038,3.038,3.032,3.029,3.029,3.029,3.029,3.029,3.029,3.031,3.031,3.031,3.024,3.023,3.015,3.015,3.014,3.014,3.014,3.012,3.012,3.01,3.01,3.006,3.006,3.006,3.006,3.008,3.01,3.008,3.015,3.015,3.015,3.015,3.015,3.021,3.023,3.021,3.021,3.023,3.021,3.021,3.025,3.027,3.03,3.036,3.036,3.039,3.042,3.046,3.048,3.049,3.051,3.052,3.061,3.061,3.067,3.072,3.078,3.081,3.084,3.089,3.096,3.098,3.099,3.104,3.108,3.112,3.113,3.124,3.126,3.131,3.132,3.135,3.141,3.141,3.149,3.153,3.154,3.164,3.165,3.172,3.178,3.18,3.193,3.203,3.216,3.222,3.226,3.231,3.235,3.237,3.239,3.245,3.249,3.259,3.288,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 104.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 104.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 104.851} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.2832} SEN {Time 104.895} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.179,0.184,0.187,0,0,0,0,0,0,0,0,3.696,3.685,3.672,3.655,3.641,3.628,3.612,3.612,3.612,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.246,3.225,3.22,3.213,3.207,3.207,3.207,3.262,3.362,0,0,0,0,0,0,0,0.007,0.153,0.151,0.151,0.151,0.15,0.15,0.15,0.151,0.15,0.151,0.151,0.154,0.159,3.032,3.033,3.033,3.033,3.032,3.034,3.032,0.16,0.153,0.153,0.153,0.153,0.149,0.145,0.144,0.112,0.091,0.077,0.07,0.064,0.064,0.066,0.066,0.066,0.068,0.068,0.067,0.067,0.067,0.067,0.068,0.12,0.203,3.341,3.349,0,3.396,3.396,3.396,3.389,3.389,3.389,3.429,3.444,3.459,3.459,3.471,3.487,3.493,3.5,3.5,3.5,3.507,3.512,3.514,3.524,3.524,3.526,3.526,3.528,3.532,3.541,3.541,3.543,3.544,3.545,3.547,3.55,3.559,3.56,3.564,3.569,3.575,3.579,3.587,3.588,3.596,3.597,3.609,3.61,3.62,3.62,3.626,3.635,3.65,3.652,3.654,3.654,3.662,3.668,3.672,3.673,3.688,3.69,3.706,3.708,3.733,3.733,3.736,3.742,3.759,3.76,3.77,3.773,3.794,3.797,3.799,3.819,3.824,3.827,3.832,3.846,3.873,3.878,3.882,3.9,3.902,3.923,3.925,3.939,3.958,3.974,3.981,3.998,4.025,4.033,4.034,4.066,4.066,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.049,4.024,3.961,3.931,3.89,3.879,3.836,3.805,3.774,3.751,3.718,3.701,3.678,3.645,3.625,3.606,3.573,3.549,3.532,3.508,3.481,3.46,3.446,3.423,3.409,3.379,3.376,3.34,3.336,3.306,3.29,3.275,3.258,3.233,3.228,3.192,3.18,3.169,3.154,3.143,3.124,3.109,3.096,3.075,3.064,3.053,3.044,3.03,3.005,2.999,2.998,2.979,2.96,2.955,2.935,2.927,2.916,2.906,2.892,2.881,2.866,2.864,2.849,2.844,2.83,2.818,2.813,2.798,2.793,2.779,2.769,2.761,2.755,2.741,2.739,2.715,2.715,2.696,2.696,2.682,2.675,2.674,2.667,2.654,2.651,2.647,2.638,2.636,2.628,2.618,2.617,2.616,2.594,2.589,2.581,2.575,2.573,2.572,2.563,2.559,2.546,2.542,2.537,2.534,2.522,2.521,2.513,2.509,2.504,2.496,2.494,2.493,2.486,2.481,2.48,2.479,2.473,2.467,2.467,2.464,2.459,2.458,2.457,2.457,2.452,2.451,2.447,2.444,2.444,2.441,2.438,2.434,2.43,2.428,2.426,2.425,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.416,2.412,2.412,2.412,2.412,2.415,2.417,2.415,2.41,2.415,2.417,2.413,2.415,2.415,2.414,2.414,2.415,2.415,2.42,2.42,2.42,2.418,2.418,2.418,2.418,2.421,2.425,2.429,2.432,2.434,2.443,2.443,2.444,2.444,2.448,2.452,2.454,2.454,2.454,2.466,2.466,2.466,2.466,2.475,2.477,2.48,2.482,2.489,2.493,2.494,2.503,2.504,2.508,2.517,2.519,2.528,2.528,2.534,2.534,2.542,2.552,2.555,2.555,2.568,2.575,2.579,2.588,2.594,2.601,2.606,2.611,2.612,2.63,2.635,2.641,2.647,2.651,2.659,2.665,2.677,2.678,2.682,2.69,2.705,2.715,2.721,2.735,2.739,2.757,2.759,2.764,2.79,2.791,2.795,2.81,2.816,2.829,2.842,2.842,2.862,2.87,2.879,2.888,2.902,2.918,2.924,2.931,2.954,2.955,2.967,2.989,2.998,3.022,3.022,3.035,3.041,3.058,3.076,3.097,3.109,3.121,3.134,3.154,3.172,3.18,3.198,3.22,3.236,3.25,3.265,3.278,3.296,3.327,3.339,3.353,3.371,3.403,3.408,3.429,3.46,3.488,3.502,3.544,3.547,3.554,3.595,3.617,3.653,3.664,3.691,3.722,3.742,3.784,3.801,3.829,3.855,3.894,3.912,3.946,0,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.359,3.332,3.326,3.323,3.312,3.292,3.288,3.276,3.273,3.26,3.248,3.247,3.236,3.235,3.216,3.207,3.202,3.194,3.188,3.186,3.186,3.169,3.163,3.163,3.161,3.145,3.137,3.126,3.123,3.123,3.118,3.118,3.117,3.102,3.095,3.092,3.083,3.082,3.08,3.073,3.066,3.064,3.063,3.054,3.052,3.052,3.048,3.042,3.042,3.042,3.042,3.042,3.033,3.026,3.024,3.024,3.024,3.026,3.036,3.036,3.036,3.02,3.018,3.017,3.015,3.015,3.013,3.006,3.013,3.01,3.004,3.01,3.01,3.01,3.01,3.01,3.013,3.009,3.009,3.009,3.011,3.009,3.011,3.011,3.012,3.015,3.017,3.017,3.028,3.029,3.028,3.03,3.03,3.03,3.03,3.038,3.041,3.042,3.042,3.042,3.051,3.054,3.058,3.061,3.062,3.068,3.069,3.071,3.084,3.087,3.088,3.089,3.091,3.093,3.102,3.105,3.112,3.114,3.123,3.129,3.129,3.133,3.137,3.146,3.146,3.146,3.151,3.156,3.165,3.167,3.173,3.175,3.178,3.185,3.199,3.208,3.215,3.224,3.227,3.228,3.238,3.241,3.252,3.253,3.26,3.28,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 105.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 105.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 105.051} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.2832} SEN {Time 105.095} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.181,0.186,0.186,0,0,0,0,0,0,0,0,3.689,3.683,3.668,3.663,3.645,3.638,3.615,3.615,3.615,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.22,3.214,3.22,3.22,3.262,3.365,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.146,0.141,0.153,0.145,0.156,0.152,0.156,0.152,0.162,0.165,3.033,3.037,3.037,3.037,3.034,3.034,0.163,0.158,0.151,0.151,0.154,0.154,0.151,0.146,0.146,0.12,0.096,0.069,0.067,0.065,0.065,0.065,0.065,0.069,0.069,0.069,0.068,0.067,0.063,0.063,0.063,0.122,0.204,3.347,3.356,3.356,3.356,3.36,3.37,3.376,3.378,3.378,3.405,3.438,3.452,3.461,3.461,3.482,3.487,3.489,3.502,3.502,3.502,3.507,3.508,3.508,3.525,3.525,3.525,3.53,3.53,3.543,3.544,3.545,3.545,3.546,3.549,3.555,3.561,3.563,3.563,3.575,3.578,3.583,3.585,3.587,3.595,3.604,3.614,3.614,3.625,3.628,3.63,3.63,3.64,3.647,3.651,3.658,3.665,3.666,3.673,3.675,3.687,3.697,3.709,3.713,3.716,3.726,3.734,3.745,3.751,3.753,3.765,3.767,3.789,3.798,3.811,3.82,3.826,3.836,3.845,3.852,3.862,3.877,3.886,3.89,3.901,3.923,3.93,3.953,3.957,3.964,3.967,3.995,4.016,4.034,4.051,4.06,4.076,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.016,3.99,3.966,3.93,3.914,3.858,3.846,3.81,3.788,3.751,3.735,3.696,3.679,3.648,3.623,3.59,3.578,3.547,3.527,3.504,3.488,3.449,3.449,3.41,3.394,3.391,3.363,3.35,3.332,3.313,3.296,3.279,3.255,3.228,3.226,3.198,3.18,3.165,3.149,3.135,3.12,3.107,3.102,3.08,3.065,3.046,3.04,3.03,3.008,3.003,2.994,2.976,2.961,2.957,2.94,2.931,2.909,2.908,2.894,2.872,2.871,2.861,2.856,2.838,2.823,2.818,2.815,2.792,2.787,2.781,2.774,2.76,2.752,2.736,2.725,2.722,2.71,2.704,2.702,2.68,2.678,2.678,2.665,2.659,2.656,2.647,2.639,2.637,2.625,2.623,2.612,2.612,2.61,2.599,2.582,2.579,2.57,2.57,2.568,2.559,2.559,2.547,2.542,2.525,2.524,2.516,2.511,2.508,2.505,2.502,2.496,2.491,2.491,2.487,2.482,2.476,2.476,2.472,2.47,2.464,2.461,2.454,2.454,2.453,2.452,2.443,2.443,2.443,2.443,2.443,2.435,2.429,2.427,2.427,2.425,2.425,2.421,2.417,2.417,2.415,2.415,2.415,2.415,2.415,2.415,2.414,2.413,2.411,2.409,2.409,2.409,2.409,2.41,2.411,2.413,2.415,2.415,2.413,2.412,2.412,2.412,2.42,2.423,2.423,2.423,2.424,2.424,2.421,2.423,2.426,2.428,2.429,2.44,2.441,2.441,2.444,2.446,2.446,2.45,2.45,2.454,2.454,2.457,2.461,2.465,2.466,2.467,2.475,2.475,2.485,2.489,2.489,2.489,2.489,2.499,2.508,2.512,2.52,2.523,2.523,2.536,2.536,2.542,2.548,2.553,2.56,2.563,2.566,2.576,2.591,2.595,2.604,2.605,2.607,2.616,2.619,2.633,2.636,2.637,2.646,2.659,2.66,2.673,2.687,2.688,2.696,2.699,2.713,2.722,2.724,2.735,2.744,2.75,2.769,2.769,2.791,2.796,2.806,2.819,2.829,2.843,2.844,2.858,2.864,2.883,2.887,2.904,2.916,2.926,2.947,2.951,2.962,2.972,2.982,2.996,3.012,3.027,3.037,3.04,3.064,3.076,3.092,3.109,3.121,3.142,3.149,3.166,3.183,3.204,3.22,3.229,3.252,3.263,3.277,3.3,3.329,3.345,3.355,3.371,3.397,3.415,3.435,3.464,3.478,3.499,3.521,3.537,3.56,3.603,3.62,3.64,3.681,3.696,3.727,3.744,3.786,3.808,3.828,3.862,3.894,3.924,3.953,4.015,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.354,3.335,3.327,3.322,3.312,3.293,3.287,3.28,3.269,3.256,3.253,3.245,3.237,3.232,3.222,3.209,3.205,3.202,3.188,3.186,3.181,3.173,3.164,3.155,3.154,3.151,3.134,3.129,3.129,3.128,3.121,3.113,3.108,3.108,3.096,3.09,3.081,3.077,3.076,3.075,3.072,3.066,3.065,3.056,3.053,3.049,3.044,3.042,3.04,3.039,3.038,3.03,3.03,3.029,3.029,3.028,3.029,3.029,3.029,3.029,3.029,3.019,3.018,3.018,3.016,3.013,3.013,3.01,3.013,3.011,3.011,3.005,3.009,3.009,3.009,3.009,3.01,3.012,3.012,3.016,3.016,3.016,3.016,3.016,3.016,3.02,3.02,3.02,3.02,3.02,3.02,3.022,3.022,3.03,3.032,3.038,3.04,3.041,3.041,3.041,3.054,3.054,3.055,3.056,3.057,3.065,3.068,3.073,3.079,3.084,3.089,3.094,3.095,3.097,3.106,3.11,3.11,3.112,3.121,3.133,3.133,3.134,3.134,3.139,3.139,3.14,3.149,3.158,3.161,3.161,3.172,3.175,3.176,3.184,3.196,3.209,3.219,3.228,3.233,3.237,3.237,3.244,3.247,3.252,3.266,3.278,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 105.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 105.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 105.252} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6388} SEN {Time 105.295} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.174,0.184,0.184,0,0,0,0,0,0,0,0,3.692,3.686,3.671,3.667,3.657,3.629,3.613,3.613,3.613,3.605,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.215,3.214,3.215,3.219,3.261,3.37,0,0,0,0,0,0,0,0.148,0.144,0.144,0.144,0.144,0.144,0.143,0.143,0.152,0.152,0.155,0.155,0.158,0.16,3.031,3.038,3.039,3.039,3.039,3.04,3.039,0.159,0.159,0.159,0.159,0.157,0.15,0.143,0.143,0.12,0.09,0.073,0.072,0.065,0.064,0.065,0.065,0.068,0.068,0.069,0.068,0.068,0.069,0.071,0.075,0.121,0.2,3.347,0.007,3.368,3.368,3.377,3.369,3.377,3.379,3.384,3.425,3.429,3.452,3.472,3.485,3.483,3.485,3.487,3.496,3.496,3.501,3.512,3.513,3.519,3.523,3.528,3.529,3.529,3.531,3.532,3.54,3.54,3.541,3.541,3.549,3.553,3.553,3.564,3.568,3.571,3.578,3.58,3.582,3.585,3.589,3.594,3.611,3.617,3.623,3.626,3.63,3.635,3.643,3.644,3.651,3.658,3.658,3.663,3.67,3.685,3.692,3.697,3.697,3.713,3.731,3.732,3.735,3.745,3.757,3.759,3.764,3.773,3.785,3.809,3.81,3.811,3.827,3.835,3.841,3.855,3.86,3.875,3.882,3.901,3.904,3.92,3.929,3.946,3.959,3.971,3.976,3.995,4.019,4.032,4.041,4.068,4.07,4.081,0.016,0.016,0.016,0.016,0.016,4.086,4.058,4.022,4.006,3.959,3.924,3.888,3.864,3.843,3.821,3.781,3.752,3.745,3.707,3.684,3.652,3.638,3.599,3.575,3.546,3.532,3.511,3.493,3.458,3.44,3.427,3.392,3.381,3.365,3.354,3.329,3.303,3.294,3.275,3.261,3.231,3.224,3.201,3.187,3.171,3.153,3.143,3.124,3.106,3.096,3.092,3.068,3.053,3.042,3.03,3.016,3,2.989,2.983,2.961,2.949,2.939,2.922,2.914,2.904,2.89,2.878,2.874,2.86,2.846,2.84,2.828,2.816,2.811,2.792,2.782,2.777,2.77,2.759,2.75,2.739,2.732,2.724,2.718,2.705,2.694,2.682,2.676,2.675,2.664,2.653,2.647,2.645,2.64,2.636,2.625,2.619,2.617,2.612,2.599,2.587,2.587,2.584,2.575,2.572,2.57,2.561,2.55,2.539,2.537,2.534,2.528,2.517,2.514,2.514,2.507,2.499,2.494,2.491,2.487,2.484,2.48,2.478,2.471,2.471,2.468,2.466,2.46,2.46,2.456,2.45,2.449,2.448,2.446,2.439,2.438,2.437,2.436,2.428,2.428,2.428,2.428,2.423,2.417,2.416,2.416,2.417,2.417,2.416,2.416,2.415,2.414,2.412,2.412,2.41,2.409,2.409,2.409,2.411,2.414,2.414,2.413,2.413,2.413,2.413,2.417,2.418,2.418,2.418,2.419,2.419,2.419,2.419,2.419,2.419,2.426,2.426,2.434,2.434,2.436,2.436,2.437,2.439,2.441,2.446,2.447,2.448,2.448,2.458,2.458,2.462,2.464,2.474,2.474,2.48,2.485,2.486,2.489,2.49,2.493,2.494,2.501,2.516,2.518,2.519,2.519,2.521,2.535,2.539,2.542,2.548,2.553,2.565,2.568,2.569,2.576,2.596,2.599,2.607,2.608,2.609,2.618,2.621,2.635,2.636,2.637,2.65,2.652,2.66,2.679,2.68,2.684,2.697,2.703,2.717,2.723,2.727,2.738,2.752,2.753,2.769,2.774,2.798,2.798,2.809,2.815,2.833,2.845,2.847,2.858,2.868,2.877,2.884,2.9,2.916,2.928,2.94,2.945,2.955,2.974,2.984,2.993,3.016,3.026,3.04,3.05,3.073,3.078,3.093,3.108,3.123,3.14,3.16,3.161,3.191,3.202,3.222,3.231,3.254,3.267,3.284,3.295,3.323,3.338,3.345,3.368,3.404,3.417,3.431,3.46,3.488,3.505,3.529,3.544,3.563,3.6,3.616,3.635,3.669,3.696,3.711,3.753,3.78,3.805,3.837,3.87,3.897,3.917,3.96,4.023,0.007,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.347,3.335,3.334,3.325,3.316,3.299,3.286,3.275,3.274,3.259,3.25,3.245,3.241,3.236,3.228,3.211,3.205,3.196,3.195,3.179,3.178,3.162,3.161,3.16,3.152,3.143,3.14,3.128,3.122,3.117,3.114,3.108,3.106,3.105,3.092,3.092,3.09,3.079,3.078,3.075,3.073,3.068,3.065,3.056,3.055,3.053,3.05,3.05,3.044,3.043,3.039,3.036,3.035,3.028,3.028,3.025,3.028,3.028,3.026,3.026,3.026,3.025,3.016,3.014,3.014,3.013,3.011,3.004,3.004,3.004,3.004,3.006,3.006,3.006,3.006,3.008,3.014,3.014,3.014,3.014,3.017,3.018,3.018,3.018,3.018,3.019,3.019,3.019,3.021,3.024,3.024,3.027,3.028,3.028,3.03,3.035,3.035,3.037,3.042,3.047,3.053,3.057,3.057,3.058,3.06,3.066,3.071,3.073,3.073,3.086,3.088,3.09,3.096,3.096,3.102,3.107,3.112,3.114,3.114,3.132,3.132,3.133,3.137,3.144,3.144,3.147,3.148,3.16,3.163,3.164,3.172,3.176,3.176,3.188,3.202,3.212,3.216,3.224,3.225,3.236,3.238,3.241,3.244,3.25,3.264,3.278,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 105.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 105.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 105.453} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6388} SEN {Time 105.495} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.183,0.19,0.19,0,0,0,0,0,0,0,0,3.699,3.677,3.668,3.665,3.652,3.632,3.613,3.613,3.613,3.6,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.219,3.214,3.214,3.214,3.269,3.359,0,0,0,0,0,0,0,0.152,0.145,0.145,0.143,0.143,0.147,0.148,0.148,0.155,0.154,0.154,0.154,0.154,0.154,3.032,3.032,3.032,3.032,3.031,3.029,0.16,0.159,0.153,0.153,0.153,0.153,0.149,0.149,0.143,0.122,0.091,0.066,0.065,0.064,0.062,0.062,0.062,0.064,0.072,0.072,0.065,0.065,0.065,0.065,0.072,0.121,0.2,3.328,3.345,3.365,3.365,3.369,3.369,3.375,3.386,3.386,3.429,0.007,3.469,3.469,3.484,3.484,3.495,3.496,3.502,3.503,3.506,3.51,3.51,3.511,3.519,3.524,3.524,3.527,3.537,3.54,3.545,3.545,3.547,3.547,3.552,3.56,3.565,3.569,3.573,3.574,3.578,3.581,3.585,3.587,3.591,3.605,3.611,3.613,3.613,3.622,3.634,3.638,3.642,3.652,3.652,3.664,3.668,3.669,3.682,3.683,3.689,3.695,3.698,3.721,3.722,3.725,3.738,3.738,3.756,3.763,3.763,3.769,3.773,3.794,3.808,3.808,3.829,3.834,3.837,3.844,3.872,3.876,3.882,3.899,3.9,3.916,3.925,3.938,3.958,3.961,3.986,3.987,4.016,4.028,4.043,4.062,4.084,4.09,4.092,0.016,0.016,0.016,0.016,4.081,4.049,4.021,3.977,3.971,3.914,3.909,3.88,3.838,3.815,3.789,3.771,3.726,3.701,3.679,3.654,3.63,3.605,3.573,3.561,3.524,3.509,3.483,3.461,3.443,3.41,3.406,3.381,3.365,3.347,3.34,3.313,3.297,3.281,3.256,3.229,3.228,3.206,3.177,3.168,3.156,3.146,3.128,3.108,3.096,3.085,3.068,3.048,3.043,3.041,3.001,2.998,2.981,2.981,2.963,2.955,2.939,2.929,2.918,2.902,2.89,2.875,2.866,2.864,2.842,2.84,2.833,2.814,2.801,2.8,2.781,2.778,2.775,2.763,2.757,2.74,2.734,2.722,2.716,2.703,2.698,2.69,2.674,2.674,2.664,2.657,2.655,2.648,2.637,2.635,2.631,2.616,2.61,2.606,2.601,2.594,2.582,2.579,2.578,2.576,2.568,2.558,2.551,2.55,2.534,2.529,2.527,2.523,2.513,2.505,2.504,2.496,2.496,2.493,2.487,2.483,2.482,2.48,2.479,2.476,2.475,2.468,2.466,2.464,2.453,2.453,2.453,2.446,2.445,2.444,2.444,2.441,2.437,2.434,2.432,2.431,2.421,2.425,2.425,2.42,2.419,2.416,2.416,2.416,2.415,2.415,2.409,2.409,2.409,2.412,2.412,2.412,2.412,2.411,2.41,2.411,2.412,2.414,2.414,2.414,2.414,2.414,2.414,2.417,2.417,2.418,2.418,2.421,2.421,2.421,2.424,2.425,2.428,2.433,2.438,2.438,2.44,2.44,2.441,2.441,2.447,2.453,2.457,2.461,2.466,2.468,2.471,2.471,2.473,2.473,2.475,2.478,2.481,2.488,2.488,2.494,2.5,2.504,2.516,2.516,2.525,2.525,2.534,2.54,2.54,2.55,2.55,2.562,2.562,2.567,2.58,2.589,2.602,2.605,2.606,2.608,2.622,2.626,2.639,2.639,2.644,2.647,2.649,2.67,2.676,2.685,2.687,2.697,2.702,2.714,2.719,2.733,2.742,2.755,2.756,2.771,2.782,2.788,2.798,2.807,2.817,2.829,2.845,2.85,2.859,2.873,2.885,2.887,2.904,2.915,2.917,2.943,2.954,2.956,2.975,2.981,2.99,3.012,3.02,3.04,3.047,3.061,3.087,3.096,3.107,3.125,3.142,3.152,3.159,3.183,3.199,3.222,3.241,3.248,3.265,3.28,3.299,3.329,3.334,3.345,3.371,3.395,3.405,3.437,3.451,3.487,3.497,3.522,3.543,3.554,3.6,3.612,3.631,3.668,3.691,3.721,3.751,3.784,3.808,3.837,3.851,3.915,3.92,3.953,4.026,0.007,0,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.373,3.354,3.349,3.326,3.314,3.309,3.302,3.296,3.278,3.272,3.267,3.251,3.245,3.243,3.24,3.225,3.211,3.206,3.195,3.192,3.178,3.176,3.173,3.164,3.156,3.155,3.142,3.136,3.131,3.121,3.117,3.115,3.108,3.107,3.104,3.093,3.093,3.084,3.083,3.078,3.078,3.07,3.068,3.06,3.057,3.057,3.055,3.046,3.045,3.045,3.045,3.045,3.032,3.031,3.026,3.025,3.022,3.022,3.022,3.036,3.036,3.036,3.023,3.018,3.013,3.013,3.013,3.012,3.01,3.01,3.01,3.008,3.006,3.008,3.009,3.009,3.009,3.01,3.012,3.012,3.012,3.014,3.012,3.014,3.014,3.014,3.015,3.017,3.023,3.023,3.023,3.023,3.026,3.026,3.029,3.032,3.034,3.039,3.039,3.042,3.044,3.049,3.054,3.055,3.065,3.067,3.068,3.072,3.075,3.076,3.086,3.091,3.092,3.092,3.098,3.099,3.108,3.111,3.119,3.119,3.135,3.135,3.137,3.137,3.139,3.139,3.144,3.15,3.15,3.161,3.162,3.175,3.175,3.178,3.182,3.199,3.207,3.213,3.223,3.226,3.233,3.239,3.246,3.249,3.251,3.263,3.285,3.296,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 105.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 105.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 105.645} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6388} SEN {Time 105.691} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,0,0,0,3.689,3.68,3.668,3.666,3.652,3.63,3.621,3.621,3.597,3.593,3.593,0,3.358,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.221,3.219,3.213,3.213,3.213,3.266,3.357,0,0,0,0,0,0,0,0.147,0.146,0.146,0.146,0.146,0.145,0.148,0.148,0.155,0.152,0.155,0.155,0.155,0.16,3.03,3.036,3.036,3.036,3.036,3.036,3.036,0.154,0.154,0.154,0.154,0.153,0.143,0.138,0.138,0.114,0.092,0.066,0.065,0.064,0.064,0.064,0.067,0.069,0.072,0.072,0.067,0.065,0.065,0.065,0.066,0.129,3.35,3.35,3.376,3.366,3.366,3.376,3.378,3.379,3.389,3.429,3.432,3.432,3.449,3.483,3.484,3.486,3.486,3.487,3.492,3.499,3.505,3.514,3.516,3.521,3.521,3.523,3.529,3.53,3.534,3.54,3.541,3.542,3.542,3.542,3.546,3.55,3.552,3.559,3.572,3.573,3.575,3.579,3.584,3.585,3.602,3.603,3.605,3.617,3.624,3.626,3.635,3.638,3.646,3.648,3.653,3.664,3.666,3.672,3.677,3.685,3.685,3.69,3.691,3.709,3.725,3.726,3.741,3.747,3.748,3.752,3.772,3.772,3.783,3.787,3.801,3.803,3.81,3.832,3.845,3.853,3.873,3.873,3.881,3.902,3.908,3.91,3.923,3.938,3.94,3.963,3.993,3.997,4.023,4.034,4.039,4.063,4.078,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.056,4.024,4.006,3.96,3.931,3.899,3.874,3.855,3.816,3.787,3.743,3.724,3.702,3.678,3.654,3.618,3.601,3.569,3.551,3.525,3.509,3.487,3.462,3.451,3.423,3.407,3.391,3.358,3.357,3.333,3.306,3.299,3.278,3.257,3.241,3.23,3.203,3.183,3.163,3.156,3.139,3.125,3.103,3.094,3.086,3.063,3.055,3.045,3.026,3.011,3.002,2.993,2.98,2.966,2.954,2.938,2.933,2.917,2.911,2.896,2.877,2.869,2.869,2.849,2.832,2.821,2.818,2.808,2.796,2.782,2.776,2.766,2.752,2.747,2.737,2.73,2.729,2.711,2.704,2.699,2.691,2.679,2.676,2.66,2.658,2.656,2.648,2.641,2.631,2.621,2.62,2.613,2.612,2.604,2.59,2.583,2.582,2.57,2.569,2.566,2.559,2.55,2.537,2.536,2.532,2.527,2.52,2.51,2.503,2.5,2.496,2.493,2.493,2.488,2.483,2.482,2.481,2.474,2.473,2.471,2.47,2.464,2.461,2.455,2.454,2.447,2.445,2.444,2.441,2.441,2.438,2.438,2.426,2.426,2.426,2.426,2.424,2.425,2.424,2.42,2.42,2.416,2.415,2.414,2.413,2.413,2.413,2.416,2.416,2.416,2.41,2.41,2.41,2.411,2.417,2.417,2.417,2.412,2.412,2.412,2.415,2.417,2.419,2.419,2.419,2.42,2.42,2.42,2.421,2.424,2.425,2.428,2.431,2.434,2.435,2.435,2.437,2.439,2.445,2.448,2.451,2.457,2.457,2.46,2.461,2.463,2.473,2.475,2.475,2.483,2.485,2.485,2.487,2.491,2.491,2.501,2.509,2.511,2.513,2.522,2.523,2.529,2.529,2.538,2.55,2.556,2.559,2.572,2.575,2.575,2.594,2.597,2.603,2.603,2.606,2.62,2.625,2.629,2.64,2.644,2.65,2.66,2.662,2.676,2.683,2.685,2.695,2.706,2.715,2.72,2.73,2.743,2.754,2.755,2.764,2.78,2.789,2.794,2.809,2.817,2.83,2.837,2.845,2.862,2.872,2.873,2.894,2.909,2.913,2.923,2.943,2.948,2.957,2.971,2.976,2.996,3.015,3.024,3.038,3.045,3.074,3.084,3.092,3.116,3.128,3.135,3.16,3.167,3.176,3.2,3.226,3.227,3.252,3.27,3.271,3.3,3.327,3.332,3.362,3.384,3.396,3.407,3.432,3.459,3.481,3.504,3.522,3.544,3.573,3.593,3.609,3.643,3.662,3.69,3.717,3.745,3.781,3.8,3.834,3.868,3.888,3.913,3.948,3.992,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.352,3.336,3.332,3.321,3.303,3.288,3.286,3.278,3.277,3.266,3.246,3.243,3.241,3.239,3.22,3.219,3.213,3.207,3.189,3.183,3.178,3.172,3.164,3.156,3.155,3.146,3.134,3.126,3.119,3.119,3.11,3.106,3.105,3.103,3.091,3.09,3.086,3.085,3.081,3.078,3.069,3.067,3.066,3.054,3.052,3.049,3.047,3.041,3.041,3.041,3.041,3.035,3.035,3.035,3.025,3.024,3.025,3.025,3.028,3.028,3.028,3.025,3.018,3.016,3.017,3.012,3.012,3.009,3.013,3.013,3.013,3.011,3.011,3.011,3.011,3.011,3.011,3.011,3.011,3.01,3.01,3.01,3.01,3.013,3.017,3.017,3.017,3.021,3.022,3.021,3.021,3.022,3.028,3.029,3.035,3.036,3.037,3.037,3.039,3.047,3.052,3.056,3.06,3.06,3.061,3.065,3.065,3.07,3.075,3.084,3.089,3.091,3.093,3.093,3.104,3.11,3.111,3.113,3.122,3.129,3.129,3.131,3.134,3.136,3.136,3.138,3.153,3.155,3.157,3.165,3.175,3.176,3.182,3.186,3.193,3.213,3.22,3.223,3.225,3.234,3.237,3.238,3.241,3.249,3.275,3.283,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 105.85} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 105.85} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 105.846} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.0038} SEN {Time 105.891} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0,3.688,3.683,3.678,3.669,3.644,3.632,3.614,3.614,3.603,3.603,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.217,3.21,3.21,3.21,3.266,3.358,0,0,0,0,0,0,0,0.15,0.148,0.146,0.146,0.146,0.144,0.146,0.151,0.153,0.152,0.153,0.153,0.153,0.153,3.035,3.035,3.04,3.04,3.035,3.043,3.043,0.158,0.158,0.158,0.156,0.154,0.144,0.142,0.14,0.117,0.089,0.072,0.068,0.066,0.066,0.068,0.068,0.068,0.068,0.071,0.068,0.067,0.071,0.072,0.072,0.126,0.196,3.343,3.354,3.354,3.354,0.007,3.37,3.37,3.397,3.397,3.415,3.429,3.446,3.448,3.461,3.469,3.492,3.499,3.499,3.502,3.504,3.504,3.513,3.514,3.516,3.526,3.526,3.533,3.533,3.535,3.535,3.545,3.542,3.545,3.548,3.555,3.557,3.561,3.57,3.572,3.576,3.581,3.59,3.591,3.595,3.602,3.608,3.61,3.625,3.628,3.632,3.638,3.641,3.648,3.659,3.662,3.669,3.673,3.675,3.681,3.685,3.691,3.695,3.716,3.718,3.723,3.739,3.748,3.759,3.762,3.779,3.781,3.785,3.792,3.808,3.813,3.823,3.836,3.842,3.847,3.869,3.871,3.883,3.904,3.91,3.917,3.933,3.941,3.958,3.964,3.99,3.994,4.022,4.03,4.05,4.072,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.016,3.991,3.96,3.94,3.899,3.875,3.847,3.811,3.779,3.754,3.73,3.7,3.672,3.662,3.626,3.594,3.587,3.547,3.526,3.506,3.48,3.463,3.455,3.421,3.409,3.378,3.365,3.365,3.333,3.316,3.295,3.274,3.257,3.235,3.23,3.204,3.177,3.175,3.15,3.141,3.128,3.11,3.097,3.086,3.073,3.052,3.042,3.034,3.016,2.997,2.991,2.984,2.964,2.959,2.936,2.928,2.919,2.903,2.892,2.876,2.875,2.862,2.849,2.846,2.829,2.813,2.812,2.8,2.791,2.787,2.766,2.764,2.754,2.749,2.732,2.723,2.722,2.705,2.693,2.689,2.672,2.671,2.663,2.657,2.654,2.653,2.643,2.638,2.621,2.617,2.611,2.608,2.602,2.594,2.589,2.58,2.577,2.572,2.563,2.558,2.55,2.547,2.538,2.536,2.53,2.518,2.514,2.51,2.507,2.497,2.497,2.495,2.489,2.484,2.478,2.474,2.474,2.474,2.472,2.467,2.457,2.455,2.455,2.455,2.454,2.451,2.445,2.443,2.442,2.436,2.435,2.427,2.427,2.427,2.426,2.426,2.421,2.418,2.418,2.418,2.417,2.417,2.417,2.416,2.415,2.416,2.415,2.412,2.411,2.411,2.406,2.409,2.409,2.414,2.414,2.416,2.417,2.416,2.418,2.418,2.418,2.418,2.418,2.418,2.417,2.418,2.418,2.423,2.425,2.425,2.425,2.428,2.432,2.437,2.437,2.441,2.445,2.449,2.449,2.455,2.46,2.46,2.46,2.468,2.468,2.468,2.472,2.472,2.483,2.483,2.483,2.496,2.498,2.499,2.5,2.515,2.515,2.521,2.525,2.525,2.527,2.538,2.541,2.55,2.551,2.567,2.569,2.574,2.579,2.584,2.6,2.608,2.611,2.611,2.617,2.619,2.631,2.644,2.644,2.652,2.652,2.664,2.674,2.686,2.687,2.695,2.697,2.721,2.724,2.732,2.744,2.751,2.753,2.774,2.776,2.789,2.8,2.813,2.82,2.832,2.842,2.85,2.862,2.874,2.878,2.884,2.901,2.915,2.92,2.947,2.957,2.958,2.97,2.981,2.997,3.021,3.035,3.044,3.045,3.067,3.078,3.092,3.109,3.133,3.148,3.154,3.169,3.178,3.207,3.227,3.233,3.243,3.267,3.273,3.303,3.333,3.337,3.354,3.386,3.399,3.399,3.433,3.458,3.483,3.501,3.513,3.546,3.571,3.591,3.615,3.637,3.665,3.687,3.717,3.743,3.774,3.804,3.834,3.86,3.89,3.923,3.944,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.352,3.342,3.329,3.327,3.315,3.302,3.292,3.285,3.272,3.272,3.253,3.249,3.241,3.239,3.219,3.212,3.212,3.199,3.192,3.185,3.18,3.175,3.175,3.155,3.152,3.141,3.14,3.134,3.124,3.12,3.117,3.107,3.106,3.104,3.094,3.089,3.084,3.084,3.079,3.075,3.067,3.065,3.061,3.051,3.049,3.049,3.043,3.042,3.042,3.038,3.037,3.033,3.033,3.032,3.031,3.026,3.031,3.031,3.024,3.024,3.024,3.02,3.02,3.02,3.016,3.01,3.01,3.01,3.01,3.01,3.012,3.01,3.01,3.009,3.007,3.007,3.009,3.01,3.013,3.016,3.017,3.017,3.017,3.017,3.017,3.021,3.017,3.02,3.025,3.023,3.023,3.025,3.025,3.037,3.037,3.038,3.041,3.041,3.045,3.046,3.051,3.057,3.058,3.058,3.061,3.062,3.068,3.075,3.083,3.092,3.092,3.092,3.092,3.092,3.1,3.107,3.107,3.109,3.12,3.13,3.132,3.138,3.14,3.14,3.14,3.147,3.148,3.149,3.161,3.168,3.168,3.168,3.172,3.182,3.199,3.213,3.218,3.218,3.22,3.222,3.236,3.242,3.247,3.251,3.271,3.285,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 106.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 106.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 106.047} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.0038} SEN {Time 106.091} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.187,0.19,0.19,0,0,0,0,0,0,0,0,3.699,3.687,3.666,3.661,3.651,3.633,3.62,3.62,3.62,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.247,3.23,3.217,3.215,3.212,3.212,3.217,3.367,0.007,0,0,0,0,0,0,0,0.145,0.144,0.144,0.144,0.145,0.148,0.148,0.148,0.153,0.153,0.155,0.155,0.164,3.04,3.04,3.034,3.034,3.034,3.034,3.034,3.034,0.155,0.155,0.155,0.154,0.154,0.15,0.143,0.143,0.117,0.083,0.065,0.063,0.06,0.06,0.065,0.065,0.068,0.069,0.069,0.068,0.063,0.063,0.063,0.077,0.135,0.215,3.344,3.348,3.368,3.368,3.37,3.394,3.394,3.397,3.4,3.422,3.428,3.442,3.446,3.471,3.48,3.482,3.486,3.5,3.504,3.507,3.508,3.516,3.519,3.519,3.528,3.53,3.531,3.533,3.535,3.543,3.546,3.548,3.548,3.55,3.552,3.552,3.561,3.57,3.572,3.574,3.58,3.583,3.586,3.6,3.605,3.61,3.615,3.62,3.62,3.634,3.637,3.648,3.649,3.658,3.659,3.661,3.665,3.675,3.683,3.684,3.696,3.7,3.711,3.719,3.722,3.732,3.749,3.76,3.76,3.771,3.776,3.787,3.799,3.803,3.819,3.828,3.828,3.83,3.848,3.861,3.882,3.887,3.901,3.914,3.916,3.926,3.928,3.954,3.978,3.984,3.996,4.011,4.029,4.041,4.057,4.07,0.016,0.016,0.016,0.016,0.007,0.016,4.086,4.059,4.018,3.992,3.984,3.927,3.894,3.882,3.84,3.813,3.766,3.764,3.728,3.702,3.675,3.66,3.617,3.596,3.579,3.563,3.535,3.498,3.48,3.456,3.439,3.422,3.413,3.379,3.372,3.348,3.334,3.308,3.305,3.279,3.253,3.231,3.225,3.202,3.179,3.172,3.153,3.138,3.128,3.111,3.097,3.088,3.066,3.056,3.039,3.027,3.009,2.995,2.989,2.981,2.963,2.962,2.933,2.93,2.922,2.906,2.901,2.877,2.869,2.861,2.846,2.837,2.836,2.824,2.804,2.8,2.787,2.786,2.767,2.76,2.76,2.739,2.734,2.73,2.716,2.7,2.698,2.689,2.679,2.667,2.661,2.656,2.653,2.646,2.635,2.633,2.626,2.616,2.615,2.613,2.596,2.594,2.58,2.579,2.574,2.572,2.571,2.564,2.55,2.546,2.539,2.53,2.527,2.52,2.52,2.509,2.506,2.501,2.491,2.489,2.488,2.482,2.481,2.476,2.47,2.468,2.467,2.463,2.463,2.46,2.458,2.458,2.456,2.456,2.451,2.444,2.444,2.435,2.433,2.429,2.429,2.428,2.428,2.427,2.423,2.417,2.417,2.417,2.417,2.416,2.416,2.415,2.415,2.415,2.415,2.415,2.415,2.413,2.411,2.411,2.413,2.414,2.414,2.419,2.414,2.414,2.414,2.419,2.417,2.421,2.421,2.425,2.419,2.425,2.426,2.426,2.426,2.428,2.428,2.433,2.434,2.434,2.437,2.438,2.438,2.446,2.451,2.451,2.456,2.457,2.459,2.465,2.47,2.474,2.474,2.475,2.476,2.489,2.489,2.489,2.489,2.495,2.499,2.516,2.517,2.518,2.52,2.521,2.522,2.534,2.543,2.548,2.563,2.568,2.569,2.572,2.584,2.594,2.597,2.6,2.609,2.612,2.617,2.631,2.637,2.639,2.648,2.648,2.65,2.668,2.672,2.686,2.687,2.694,2.715,2.722,2.724,2.727,2.745,2.753,2.757,2.764,2.785,2.785,2.803,2.81,2.823,2.838,2.846,2.848,2.859,2.873,2.888,2.888,2.906,2.915,2.925,2.938,2.955,2.955,2.968,2.98,2.994,3.014,3.027,3.039,3.041,3.068,3.083,3.086,3.095,3.123,3.138,3.163,3.17,3.181,3.203,3.226,3.238,3.247,3.268,3.277,3.291,3.329,3.339,3.352,3.377,3.398,3.403,3.434,3.467,3.488,3.501,3.524,3.546,3.557,3.598,3.618,3.653,3.67,3.704,3.713,3.745,3.772,3.803,3.83,3.859,3.901,3.929,3.965,3.988,4.058,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.354,3.339,3.333,3.316,3.308,3.295,3.287,3.284,3.264,3.263,3.247,3.242,3.241,3.237,3.224,3.211,3.208,3.197,3.186,3.184,3.176,3.169,3.159,3.157,3.157,3.141,3.141,3.136,3.136,3.13,3.122,3.114,3.103,3.099,3.093,3.092,3.088,3.086,3.08,3.077,3.069,3.062,3.061,3.059,3.056,3.052,3.045,3.043,3.042,3.039,3.039,3.039,3.034,3.032,3.029,3.027,3.027,3.027,3.029,3.029,3.029,3.025,3.016,3.015,3.015,3.015,3.015,3.015,3.015,3.014,3.014,3.012,3.011,3.011,3.012,3.01,3.012,3.013,3.013,3.011,3.013,3.013,3.014,3.016,3.02,3.02,3.019,3.02,3.022,3.021,3.022,3.026,3.026,3.039,3.039,3.039,3.039,3.037,3.037,3.042,3.046,3.054,3.054,3.058,3.063,3.068,3.075,3.077,3.079,3.086,3.089,3.09,3.092,3.099,3.1,3.108,3.114,3.114,3.127,3.138,3.138,3.138,3.139,3.142,3.142,3.151,3.154,3.16,3.164,3.164,3.171,3.175,3.177,3.191,3.205,3.206,3.218,3.223,3.227,3.228,3.231,3.243,3.245,3.253,3.257,3.278,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 106.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 106.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 106.248} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038} SEN {Time 106.291} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.174,0.18,0.18,0.181,0.192,0,0,0,0,0,0,0,0,3.696,3.691,3.671,3.662,3.643,3.622,3.611,3.611,3.611,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.215,3.214,3.214,3.214,3.261,3.353,0,0,0,0,0,0,0,0.151,0.148,0.148,0.146,0.146,0.149,0.153,0.153,0.155,0.153,0.155,0.155,0.158,0.158,3.036,3.036,3.036,3.036,3.031,3.031,3.031,0.158,0.157,0.157,0.157,0.151,0.15,0.145,0.14,0.121,0.091,0.068,0.062,0.061,0.062,0.064,0.064,0.066,0.071,0.071,0.071,0.066,0.068,0.068,0.068,0.132,0.214,3.345,3.348,3.366,3.366,3.369,3.372,3.386,3.399,0.007,3.452,3.447,3.452,3.452,3.47,3.475,3.479,3.487,3.496,3.504,3.505,3.507,3.514,3.514,3.523,3.527,3.527,3.53,3.538,3.538,3.539,3.545,3.545,3.553,3.553,3.555,3.555,3.558,3.568,3.571,3.577,3.579,3.582,3.589,3.594,3.615,3.616,3.616,3.629,3.629,3.638,3.642,3.647,3.65,3.655,3.659,3.663,3.667,3.677,3.677,3.677,3.697,3.704,3.716,3.717,3.729,3.743,3.746,3.751,3.755,3.769,3.77,3.796,3.796,3.797,3.816,3.817,3.84,3.84,3.849,3.863,3.874,3.884,3.901,3.902,3.915,3.935,3.945,3.957,3.981,3.99,3.992,4.014,4.029,4.041,4.071,4.08,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.05,4.034,3.998,3.97,3.932,3.908,3.864,3.84,3.808,3.772,3.752,3.732,3.698,3.672,3.648,3.625,3.596,3.567,3.556,3.525,3.504,3.486,3.473,3.443,3.428,3.404,3.382,3.365,3.356,3.341,3.308,3.292,3.275,3.255,3.241,3.232,3.2,3.193,3.167,3.149,3.145,3.121,3.109,3.096,3.083,3.073,3.055,3.038,3.03,3.01,3,2.987,2.979,2.966,2.951,2.939,2.929,2.917,2.901,2.9,2.877,2.866,2.857,2.855,2.839,2.828,2.826,2.809,2.798,2.79,2.778,2.768,2.765,2.754,2.742,2.736,2.729,2.72,2.703,2.697,2.678,2.678,2.671,2.661,2.658,2.654,2.645,2.639,2.635,2.622,2.615,2.615,2.603,2.601,2.59,2.589,2.582,2.578,2.576,2.563,2.553,2.552,2.55,2.534,2.528,2.525,2.524,2.506,2.505,2.505,2.497,2.496,2.495,2.483,2.482,2.481,2.479,2.474,2.47,2.468,2.462,2.458,2.454,2.452,2.451,2.448,2.448,2.448,2.445,2.44,2.44,2.439,2.43,2.429,2.429,2.428,2.428,2.426,2.415,2.415,2.415,2.415,2.414,2.414,2.413,2.413,2.412,2.412,2.411,2.411,2.41,2.41,2.41,2.41,2.41,2.418,2.418,2.418,2.417,2.417,2.417,2.417,2.421,2.423,2.423,2.423,2.423,2.423,2.423,2.425,2.43,2.431,2.431,2.434,2.438,2.442,2.442,2.445,2.449,2.449,2.45,2.451,2.456,2.456,2.458,2.466,2.468,2.474,2.476,2.476,2.485,2.492,2.492,2.494,2.499,2.504,2.507,2.516,2.523,2.523,2.527,2.529,2.536,2.542,2.547,2.55,2.562,2.569,2.572,2.579,2.595,2.596,2.599,2.608,2.611,2.613,2.619,2.639,2.64,2.643,2.647,2.654,2.66,2.671,2.68,2.686,2.699,2.703,2.715,2.726,2.737,2.74,2.752,2.755,2.769,2.784,2.794,2.798,2.809,2.813,2.825,2.83,2.849,2.852,2.873,2.878,2.888,2.907,2.917,2.927,2.951,2.956,2.966,2.978,2.986,3,3.019,3.024,3.041,3.045,3.072,3.078,3.082,3.103,3.13,3.137,3.163,3.169,3.183,3.211,3.227,3.236,3.253,3.264,3.278,3.304,3.328,3.331,3.353,3.376,3.394,3.408,3.434,3.458,3.482,3.501,3.513,3.54,3.571,3.6,3.624,3.646,3.668,3.689,3.719,3.746,3.794,3.808,3.841,3.867,3.905,3.91,3.951,3.994,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.348,3.346,3.329,3.314,3.313,3.299,3.291,3.283,3.27,3.264,3.243,3.242,3.237,3.236,3.21,3.208,3.207,3.199,3.185,3.184,3.18,3.173,3.163,3.162,3.157,3.146,3.136,3.135,3.124,3.124,3.115,3.109,3.103,3.098,3.098,3.096,3.086,3.08,3.076,3.073,3.067,3.065,3.063,3.061,3.061,3.053,3.049,3.041,3.04,3.04,3.04,3.037,3.031,3.029,3.026,3.024,3.024,3.024,3.031,3.031,3.031,3.028,3.023,3.014,3.014,3.014,3.014,3.012,3.012,3.012,3.011,3.007,3.009,3.009,3.007,3.009,3.011,3.013,3.013,3.014,3.015,3.018,3.017,3.017,3.017,3.017,3.017,3.02,3.024,3.024,3.025,3.029,3.029,3.029,3.038,3.039,3.039,3.04,3.04,3.044,3.048,3.059,3.059,3.061,3.061,3.064,3.065,3.081,3.081,3.089,3.09,3.095,3.096,3.099,3.099,3.1,3.107,3.112,3.12,3.125,3.129,3.134,3.139,3.139,3.139,3.147,3.149,3.16,3.161,3.163,3.175,3.176,3.181,3.19,3.2,3.212,3.214,3.215,3.23,3.235,3.237,3.238,3.242,3.252,3.257,3.287,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 106.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 106.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 106.449} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784} SEN {Time 106.491} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.177,0.188,0.188,0,0,0,0,0,0,0,0,3.684,3.68,3.674,3.66,3.648,3.633,3.616,3.616,3.616,3.606,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.221,3.22,3.22,3.221,3.27,3.36,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.146,0.146,0.149,0.149,0.153,0.151,0.153,0.153,0.153,0.153,3.039,3.039,3.039,3.039,3.039,3.039,3.039,0.157,0.157,0.157,0.153,0.153,0.151,0.144,0.143,0.118,0.095,0.069,0.065,0.065,0.063,0.065,0.065,0.067,0.067,0.067,0.065,0.064,0.064,0.064,0.068,0.121,0.21,3.353,3.354,3.359,3.359,3.369,3.372,3.387,3.391,3.391,3.413,3.432,3.445,3.447,3.482,3.486,3.487,3.499,3.501,3.507,3.512,3.515,3.516,3.52,3.521,3.528,3.528,3.528,3.533,3.54,3.54,3.542,3.544,3.544,3.553,3.555,3.557,3.562,3.564,3.564,3.576,3.576,3.578,3.583,3.59,3.593,3.609,3.613,3.635,3.637,3.638,3.64,3.644,3.647,3.649,3.658,3.664,3.665,3.682,3.688,3.688,3.689,3.696,3.713,3.728,3.737,3.739,3.747,3.749,3.755,3.767,3.78,3.786,3.791,3.794,3.817,3.826,3.83,3.842,3.852,3.864,3.874,3.887,3.897,3.9,3.911,3.936,3.948,3.96,3.972,3.98,3.994,4.025,4.043,4.044,4.062,4.069,4.093,0.016,0.016,0.016,0.016,0.016,4.092,4.032,4.023,4.006,3.96,3.95,3.896,3.873,3.844,3.808,3.774,3.748,3.738,3.71,3.674,3.661,3.621,3.598,3.567,3.556,3.527,3.507,3.494,3.462,3.45,3.426,3.401,3.383,3.37,3.341,3.334,3.317,3.292,3.278,3.259,3.235,3.228,3.198,3.182,3.173,3.15,3.134,3.126,3.101,3.096,3.096,3.062,3.048,3.04,3.032,3.013,2.999,2.989,2.981,2.958,2.952,2.933,2.925,2.92,2.905,2.892,2.877,2.871,2.862,2.845,2.835,2.827,2.82,2.803,2.798,2.789,2.783,2.77,2.76,2.753,2.739,2.729,2.723,2.716,2.704,2.702,2.685,2.68,2.675,2.67,2.657,2.65,2.648,2.642,2.639,2.622,2.616,2.613,2.605,2.596,2.586,2.584,2.581,2.574,2.573,2.562,2.56,2.549,2.543,2.538,2.535,2.529,2.525,2.515,2.508,2.504,2.502,2.501,2.492,2.489,2.489,2.481,2.476,2.473,2.473,2.467,2.467,2.463,2.463,2.452,2.45,2.45,2.446,2.446,2.444,2.443,2.439,2.436,2.435,2.43,2.429,2.427,2.425,2.423,2.425,2.424,2.423,2.419,2.423,2.419,2.418,2.41,2.41,2.41,2.41,2.414,2.414,2.414,2.413,2.414,2.415,2.415,2.415,2.415,2.417,2.417,2.418,2.421,2.424,2.424,2.424,2.424,2.424,2.425,2.423,2.427,2.428,2.431,2.432,2.433,2.433,2.433,2.441,2.446,2.446,2.45,2.452,2.453,2.455,2.465,2.466,2.467,2.468,2.477,2.473,2.481,2.482,2.485,2.488,2.494,2.496,2.498,2.506,2.524,2.525,2.529,2.531,2.531,2.539,2.541,2.549,2.555,2.559,2.566,2.569,2.574,2.592,2.595,2.603,2.606,2.607,2.612,2.623,2.636,2.636,2.648,2.649,2.657,2.665,2.674,2.677,2.689,2.698,2.703,2.714,2.723,2.734,2.744,2.75,2.756,2.766,2.783,2.79,2.804,2.81,2.818,2.827,2.831,2.854,2.868,2.874,2.884,2.891,2.901,2.913,2.922,2.937,2.956,2.965,2.977,2.979,2.993,3.014,3.024,3.039,3.044,3.064,3.077,3.102,3.105,3.123,3.139,3.156,3.167,3.178,3.201,3.218,3.232,3.254,3.266,3.271,3.298,3.331,3.336,3.359,3.372,3.395,3.406,3.429,3.456,3.481,3.512,3.527,3.544,3.566,3.598,3.617,3.646,3.68,3.702,3.723,3.756,3.782,3.805,3.829,3.867,3.898,3.935,3.963,3.984,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.365,3.354,3.329,3.327,3.319,3.308,3.3,3.295,3.279,3.269,3.267,3.246,3.242,3.234,3.233,3.217,3.216,3.214,3.203,3.189,3.183,3.17,3.168,3.157,3.155,3.153,3.141,3.138,3.134,3.121,3.121,3.121,3.11,3.106,3.105,3.092,3.086,3.085,3.085,3.084,3.076,3.072,3.067,3.062,3.059,3.055,3.055,3.051,3.039,3.039,3.039,3.039,3.038,3.038,3.033,3.025,3.025,3.025,3.028,3.038,3.038,3.038,3.022,3.019,3.019,3.017,3.017,3.012,3.012,3.012,3.011,3.007,3.007,3.007,3.007,3.012,3.012,3.012,3.012,3.011,3.011,3.015,3.016,3.017,3.017,3.018,3.019,3.019,3.021,3.025,3.024,3.024,3.026,3.026,3.033,3.033,3.038,3.038,3.042,3.043,3.045,3.049,3.056,3.056,3.058,3.06,3.06,3.063,3.072,3.083,3.083,3.092,3.096,3.097,3.097,3.104,3.106,3.107,3.117,3.126,3.131,3.137,3.137,3.137,3.141,3.141,3.148,3.152,3.156,3.163,3.164,3.167,3.178,3.18,3.188,3.194,3.216,3.219,3.219,3.229,3.236,3.241,3.245,3.254,3.256,3.261,3.284,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 106.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 106.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 106.641} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784} SEN {Time 106.687} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.183,0.186,0.186,0,0,0,0,0,0,0,0,3.688,3.683,3.674,3.665,3.645,3.634,3.623,3.623,3.623,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.213,3.213,3.21,3.213,3.213,3.266,3.365,0,0,0,0,0,0,0,0.151,0.149,0.146,0.146,0.146,0.146,0.145,0.145,0.152,0.158,0.159,0.159,0.159,0.162,3.033,3.042,3.042,3.042,3.033,3.042,3.033,0.158,0.155,0.155,0.15,0.15,0.149,0.142,0.139,0.121,0.091,0.076,0.068,0.064,0.064,0.064,0.064,0.071,0.071,0.071,0.069,0.068,0.068,0.068,0.074,0.124,0.21,3.342,3.348,3.365,3.365,3.366,3.371,3.382,3.386,3.423,3.423,3.448,3.448,3.451,3.475,3.475,3.476,3.487,3.496,3.503,3.505,3.507,3.512,3.516,3.525,3.525,3.529,3.531,3.531,3.538,3.539,3.542,3.542,3.546,3.546,3.554,3.564,3.565,3.565,3.573,3.575,3.582,3.587,3.59,3.598,3.606,3.611,3.613,3.629,3.63,3.634,3.641,3.643,3.643,3.653,3.657,3.664,3.667,3.682,3.686,3.69,3.691,3.707,3.714,3.718,3.722,3.73,3.749,3.749,3.758,3.77,3.771,3.786,3.792,3.807,3.821,3.826,3.838,3.848,3.854,3.859,3.875,3.89,3.894,3.901,3.918,3.938,3.941,3.951,3.992,3.992,4.001,4.02,4.024,4.055,4.06,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.075,4.034,3.992,3.96,3.935,3.906,3.866,3.841,3.827,3.787,3.751,3.744,3.704,3.677,3.652,3.62,3.608,3.578,3.548,3.535,3.52,3.485,3.467,3.445,3.434,3.403,3.388,3.36,3.345,3.343,3.305,3.3,3.274,3.252,3.236,3.235,3.198,3.185,3.173,3.147,3.141,3.118,3.108,3.098,3.081,3.069,3.048,3.042,3.027,3.01,2.999,2.994,2.983,2.972,2.953,2.939,2.928,2.914,2.906,2.9,2.877,2.874,2.863,2.855,2.837,2.828,2.818,2.814,2.795,2.788,2.785,2.769,2.761,2.757,2.744,2.736,2.718,2.717,2.697,2.697,2.687,2.68,2.677,2.663,2.661,2.655,2.647,2.635,2.631,2.622,2.618,2.61,2.609,2.605,2.592,2.586,2.584,2.573,2.568,2.567,2.56,2.557,2.541,2.53,2.529,2.529,2.52,2.511,2.509,2.5,2.497,2.496,2.494,2.484,2.483,2.482,2.479,2.476,2.473,2.47,2.466,2.463,2.457,2.451,2.447,2.447,2.446,2.445,2.443,2.441,2.438,2.436,2.433,2.431,2.429,2.428,2.419,2.419,2.419,2.419,2.419,2.419,2.417,2.416,2.414,2.412,2.411,2.411,2.411,2.411,2.412,2.413,2.412,2.415,2.415,2.417,2.417,2.417,2.417,2.417,2.419,2.419,2.419,2.419,2.419,2.419,2.419,2.42,2.425,2.425,2.427,2.431,2.432,2.434,2.437,2.439,2.44,2.44,2.441,2.443,2.457,2.457,2.457,2.459,2.468,2.468,2.471,2.473,2.478,2.479,2.483,2.487,2.49,2.491,2.496,2.502,2.514,2.514,2.519,2.522,2.524,2.53,2.541,2.543,2.55,2.557,2.566,2.567,2.57,2.575,2.591,2.597,2.604,2.604,2.608,2.62,2.62,2.633,2.634,2.637,2.649,2.65,2.666,2.675,2.68,2.689,2.695,2.703,2.711,2.727,2.734,2.747,2.749,2.757,2.773,2.779,2.786,2.801,2.807,2.821,2.834,2.836,2.842,2.855,2.872,2.876,2.891,2.902,2.92,2.923,2.934,2.96,2.962,2.976,2.979,2.988,3.02,3.033,3.038,3.044,3.062,3.087,3.096,3.105,3.117,3.137,3.158,3.171,3.183,3.202,3.218,3.233,3.248,3.266,3.281,3.295,3.32,3.333,3.354,3.377,3.403,3.41,3.432,3.461,3.475,3.5,3.526,3.548,3.579,3.597,3.61,3.637,3.675,3.697,3.722,3.737,3.792,3.796,3.834,3.865,3.899,3.923,3.954,3.991,4.03,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.358,3.339,3.33,3.316,3.308,3.301,3.296,3.281,3.268,3.26,3.257,3.252,3.241,3.234,3.216,3.212,3.209,3.193,3.185,3.177,3.175,3.173,3.157,3.157,3.15,3.142,3.14,3.129,3.128,3.124,3.115,3.111,3.11,3.107,3.097,3.088,3.082,3.08,3.08,3.077,3.07,3.068,3.068,3.057,3.055,3.053,3.049,3.046,3.042,3.042,3.036,3.035,3.031,3.029,3.025,3.024,3.024,3.029,3.029,3.029,3.029,3.027,3.021,3.019,3.015,3.013,3.013,3.013,3.013,3.013,3.013,3.008,3.008,3.007,3.007,3.011,3.012,3.011,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.016,3.017,3.022,3.025,3.026,3.027,3.027,3.028,3.03,3.035,3.035,3.035,3.036,3.036,3.037,3.055,3.056,3.056,3.06,3.061,3.064,3.068,3.07,3.08,3.089,3.091,3.091,3.095,3.095,3.102,3.107,3.113,3.116,3.126,3.133,3.133,3.135,3.136,3.144,3.141,3.144,3.145,3.156,3.156,3.159,3.169,3.175,3.177,3.179,3.206,3.209,3.213,3.215,3.233,3.24,3.24,3.241,3.245,3.25,3.265,3.282,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 106.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 106.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 106.842} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.8354} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784} SEN {Time 106.887} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.18,0.188,0.188,0,0,0,0,0,0,0,0,3.68,3.672,3.672,3.67,3.643,3.637,3.614,3.614,3.614,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.222,3.22,3.214,3.214,3.22,3.26,3.353,0,0,0,0,0,0,0,0.149,0.147,0.146,0.146,0.146,0.143,0.144,0.144,0.152,0.151,0.154,0.154,0.157,0.157,3.028,3.039,3.039,3.039,3.031,3.039,3.031,0.158,0.156,0.156,0.153,0.153,0.148,0.144,0.144,0.123,0.091,0.068,0.067,0.066,0.066,0.066,0.066,0.066,0.069,0.069,0.069,0.069,0.069,0.071,0.076,0.115,0.195,3.345,3.346,3.376,3.376,3.376,3.383,3.389,3.389,3.389,3.429,3.434,3.443,3.461,3.466,3.483,3.484,3.492,3.502,3.511,3.512,3.514,3.516,3.518,3.518,3.524,3.529,3.535,3.535,3.535,3.538,3.538,3.542,3.546,3.546,3.551,3.565,3.565,3.565,3.571,3.576,3.583,3.588,3.589,3.595,3.604,3.607,3.611,3.612,3.63,3.636,3.647,3.648,3.65,3.652,3.662,3.664,3.666,3.68,3.685,3.688,3.693,3.704,3.705,3.722,3.735,3.737,3.743,3.752,3.759,3.771,3.773,3.784,3.796,3.8,3.81,3.817,3.831,3.833,3.85,3.866,3.879,3.887,3.899,3.899,3.903,3.907,3.933,3.965,3.965,3.984,4.006,4.008,4.024,4.052,4.055,4.078,4.087,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.036,3.986,3.967,3.933,3.915,3.876,3.838,3.82,3.789,3.758,3.736,3.712,3.677,3.664,3.618,3.6,3.579,3.554,3.535,3.509,3.481,3.458,3.446,3.425,3.399,3.374,3.371,3.354,3.323,3.31,3.294,3.265,3.263,3.24,3.229,3.208,3.18,3.179,3.148,3.145,3.123,3.113,3.099,3.082,3.068,3.057,3.039,3.03,3.018,3.007,2.994,2.984,2.959,2.955,2.932,2.932,2.92,2.905,2.897,2.875,2.874,2.859,2.844,2.834,2.827,2.819,2.801,2.793,2.788,2.779,2.769,2.761,2.75,2.741,2.73,2.724,2.718,2.707,2.698,2.688,2.678,2.674,2.666,2.66,2.655,2.65,2.642,2.64,2.627,2.62,2.612,2.608,2.605,2.592,2.583,2.582,2.58,2.568,2.561,2.56,2.546,2.534,2.534,2.532,2.529,2.524,2.511,2.508,2.504,2.493,2.493,2.493,2.493,2.487,2.484,2.474,2.473,2.471,2.471,2.465,2.465,2.453,2.453,2.452,2.449,2.444,2.443,2.441,2.438,2.437,2.436,2.43,2.43,2.425,2.421,2.421,2.421,2.421,2.417,2.417,2.418,2.417,2.415,2.412,2.414,2.414,2.414,2.414,2.414,2.409,2.409,2.409,2.411,2.413,2.413,2.415,2.415,2.414,2.414,2.415,2.415,2.42,2.42,2.42,2.418,2.418,2.418,2.421,2.426,2.427,2.428,2.43,2.436,2.437,2.439,2.443,2.444,2.444,2.448,2.451,2.452,2.454,2.462,2.464,2.471,2.473,2.474,2.474,2.48,2.486,2.488,2.492,2.492,2.498,2.511,2.516,2.519,2.521,2.523,2.529,2.53,2.535,2.542,2.549,2.55,2.555,2.564,2.571,2.573,2.591,2.599,2.603,2.613,2.613,2.613,2.624,2.627,2.641,2.645,2.654,2.655,2.666,2.674,2.674,2.693,2.693,2.697,2.718,2.719,2.729,2.745,2.753,2.754,2.767,2.783,2.794,2.799,2.806,2.811,2.832,2.844,2.853,2.859,2.87,2.88,2.888,2.896,2.917,2.929,2.949,2.951,2.959,2.981,2.992,2.994,3.019,3.028,3.045,3.046,3.061,3.082,3.095,3.104,3.126,3.137,3.16,3.168,3.184,3.206,3.218,3.233,3.24,3.258,3.269,3.296,3.321,3.343,3.35,3.372,3.391,3.408,3.433,3.464,3.473,3.494,3.518,3.551,3.575,3.602,3.622,3.638,3.673,3.69,3.73,3.751,3.781,3.803,3.826,3.867,3.908,3.933,3.985,4.03,4.049,4.049,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.366,3.355,3.343,3.322,3.315,3.313,3.299,3.299,3.283,3.279,3.267,3.253,3.248,3.239,3.237,3.218,3.216,3.209,3.204,3.185,3.184,3.175,3.168,3.16,3.158,3.152,3.141,3.139,3.13,3.129,3.122,3.118,3.113,3.107,3.102,3.094,3.092,3.085,3.085,3.077,3.068,3.066,3.065,3.061,3.055,3.053,3.052,3.047,3.037,3.037,3.037,3.034,3.034,3.033,3.031,3.021,3.019,3.019,3.019,3.033,3.033,3.033,3.023,3.02,3.019,3.017,3.014,3.009,3.009,3.009,3.009,3.009,3.009,3.01,3.011,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.014,3.014,3.014,3.014,3.019,3.019,3.02,3.022,3.022,3.022,3.028,3.029,3.03,3.032,3.033,3.04,3.04,3.046,3.047,3.055,3.057,3.057,3.057,3.067,3.067,3.069,3.07,3.075,3.085,3.089,3.092,3.094,3.1,3.102,3.103,3.112,3.116,3.124,3.135,3.135,3.135,3.135,3.138,3.138,3.151,3.152,3.16,3.161,3.163,3.169,3.179,3.184,3.187,3.198,3.212,3.222,3.222,3.222,3.237,3.24,3.247,3.249,3.249,3.256,3.281,3.297,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 107.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 107.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 107.043} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.8354} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 107.087} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,3.688,3.686,3.677,3.665,3.648,3.63,3.621,3.621,3.621,3.601,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.218,3.217,3.218,3.218,3.259,3.372,0,0,0,0,0,0,0,0.15,0.147,0.147,0.147,0.147,0.145,0.145,0.145,0.145,0.145,0.147,0.147,0.147,0.153,3.04,3.04,3.04,3.04,3.04,3.04,3.04,0.162,0.159,0.159,0.154,0.154,0.152,0.147,0.145,0.12,0.091,0.069,0.067,0.064,0.064,0.064,0.068,0.069,0.07,0.07,0.07,0.066,0.065,0.065,0.066,0.116,0.199,3.344,3.347,3.361,3.361,3.363,3.399,3.406,0,0.007,3.437,3.437,3.455,3.455,3.469,3.487,3.49,3.495,3.501,3.507,3.508,3.508,3.515,3.516,3.527,3.527,3.527,3.527,3.527,3.538,3.538,3.544,3.544,3.544,3.554,3.555,3.557,3.563,3.568,3.568,3.572,3.577,3.591,3.593,3.594,3.6,3.604,3.607,3.624,3.628,3.636,3.637,3.648,3.649,3.659,3.66,3.662,3.666,3.681,3.681,3.688,3.689,3.697,3.712,3.716,3.72,3.739,3.743,3.753,3.761,3.77,3.771,3.78,3.8,3.806,3.811,3.816,3.846,3.854,3.862,3.87,3.872,3.882,3.891,3.902,3.909,3.929,3.949,3.955,3.968,3.992,4.003,4.015,4.036,4.051,4.062,4.072,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.077,4.001,3.961,3.921,3.898,3.881,3.852,3.802,3.776,3.748,3.733,3.702,3.668,3.662,3.629,3.597,3.584,3.542,3.538,3.508,3.487,3.463,3.439,3.429,3.406,3.384,3.38,3.352,3.329,3.31,3.298,3.278,3.261,3.234,3.224,3.205,3.185,3.173,3.15,3.139,3.126,3.108,3.105,3.087,3.072,3.054,3.045,3.031,3.005,2.999,2.993,2.978,2.958,2.953,2.939,2.928,2.916,2.908,2.895,2.876,2.871,2.859,2.854,2.842,2.827,2.816,2.815,2.798,2.788,2.788,2.777,2.761,2.758,2.744,2.734,2.73,2.716,2.706,2.696,2.687,2.677,2.675,2.66,2.658,2.648,2.643,2.643,2.632,2.622,2.616,2.611,2.609,2.603,2.591,2.586,2.584,2.573,2.571,2.567,2.56,2.556,2.542,2.539,2.536,2.535,2.525,2.513,2.505,2.504,2.498,2.496,2.491,2.485,2.485,2.48,2.479,2.478,2.471,2.466,2.466,2.466,2.463,2.454,2.453,2.453,2.45,2.445,2.445,2.444,2.438,2.436,2.431,2.431,2.431,2.428,2.426,2.42,2.419,2.418,2.418,2.417,2.417,2.414,2.414,2.414,2.414,2.415,2.415,2.415,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.419,2.419,2.421,2.421,2.421,2.421,2.421,2.426,2.428,2.433,2.433,2.433,2.437,2.433,2.44,2.445,2.446,2.45,2.454,2.457,2.459,2.464,2.464,2.47,2.471,2.473,2.475,2.475,2.486,2.487,2.489,2.492,2.499,2.499,2.517,2.518,2.522,2.527,2.532,2.533,2.538,2.542,2.553,2.557,2.56,2.569,2.572,2.578,2.587,2.599,2.6,2.603,2.605,2.619,2.635,2.636,2.637,2.643,2.651,2.66,2.669,2.675,2.679,2.685,2.702,2.705,2.708,2.723,2.729,2.737,2.757,2.76,2.771,2.783,2.793,2.794,2.808,2.816,2.827,2.838,2.849,2.86,2.868,2.875,2.895,2.904,2.916,2.927,2.948,2.949,2.961,2.977,2.984,3.01,3.016,3.027,3.045,3.046,3.067,3.081,3.092,3.105,3.125,3.138,3.161,3.166,3.182,3.194,3.223,3.231,3.253,3.26,3.285,3.299,3.325,3.339,3.345,3.38,3.398,3.41,3.435,3.465,3.482,3.499,3.53,3.545,3.566,3.587,3.61,3.646,3.657,3.692,3.724,3.751,3.786,3.803,3.829,3.865,3.892,3.924,3.945,3.992,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.358,3.353,3.328,3.317,3.304,3.292,3.286,3.284,3.268,3.262,3.253,3.245,3.245,3.239,3.219,3.212,3.207,3.192,3.189,3.182,3.177,3.177,3.177,3.162,3.149,3.145,3.143,3.13,3.124,3.123,3.118,3.116,3.112,3.099,3.095,3.089,3.086,3.083,3.074,3.072,3.072,3.072,3.068,3.059,3.05,3.049,3.047,3.044,3.043,3.043,3.038,3.037,3.03,3.026,3.025,3.023,3.025,3.026,3.023,3.023,3.021,3.019,3.019,3.019,3.019,3.017,3.014,3.013,3.013,3.011,3.009,3.009,3.008,3.008,3.009,3.012,3.014,3.014,3.015,3.015,3.014,3.015,3.015,3.015,3.015,3.019,3.019,3.023,3.023,3.022,3.022,3.029,3.026,3.029,3.032,3.034,3.035,3.039,3.039,3.039,3.047,3.052,3.055,3.058,3.06,3.07,3.072,3.074,3.079,3.092,3.094,3.094,3.096,3.097,3.101,3.114,3.114,3.118,3.119,3.132,3.132,3.136,3.136,3.139,3.143,3.147,3.155,3.157,3.163,3.166,3.168,3.172,3.175,3.188,3.19,3.211,3.216,3.216,3.223,3.234,3.241,3.243,3.245,3.256,3.27,3.279,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 107.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 107.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 107.245} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.8354} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022} SEN {Time 107.287} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.181,0.19,0.19,0,0,0,0,0,0,0,0,0,3.682,3.672,3.664,3.653,3.636,3.619,3.619,3.619,3.603,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.221,3.224,3.257,3.365,3.365,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.153,0.146,0.153,0.153,0.156,0.156,3.038,3.038,3.039,3.039,3.038,3.042,3.042,0.162,0.16,0.16,0.16,0.156,0.153,0.144,0.143,0.121,0.086,0.071,0.065,0.065,0.062,0.065,0.067,0.067,0.071,0.071,0.069,0.066,0.069,0.069,0.078,0.129,0.202,3.345,3.36,3.367,3.367,3.383,0.007,0,3.43,3.431,3.431,3.431,3.434,3.455,3.474,3.487,3.487,3.492,3.493,3.494,3.497,3.512,3.513,3.518,3.522,3.528,3.528,3.528,3.528,3.542,3.542,3.543,3.543,3.544,3.553,3.555,3.555,3.565,3.566,3.577,3.579,3.58,3.584,3.588,3.588,3.596,3.6,3.616,3.617,3.617,3.624,3.635,3.65,3.652,3.655,3.663,3.664,3.667,3.678,3.679,3.684,3.692,3.698,3.71,3.716,3.727,3.731,3.746,3.746,3.76,3.766,3.768,3.784,3.786,3.803,3.812,3.821,3.831,3.839,3.855,3.856,3.868,3.88,3.886,3.896,3.912,3.933,3.943,3.97,3.974,3.993,3.999,4.027,4.032,4.051,4.062,4.069,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.063,3.972,3.937,3.902,3.881,3.852,3.814,3.782,3.751,3.737,3.697,3.672,3.657,3.623,3.611,3.575,3.552,3.531,3.509,3.488,3.466,3.455,3.426,3.406,3.385,3.358,3.342,3.338,3.319,3.291,3.274,3.257,3.239,3.223,3.198,3.188,3.17,3.15,3.127,3.123,3.107,3.092,3.089,3.069,3.05,3.035,3.03,3.015,3.004,2.991,2.99,2.96,2.955,2.945,2.928,2.912,2.901,2.901,2.879,2.869,2.862,2.85,2.839,2.823,2.818,2.812,2.794,2.791,2.782,2.77,2.76,2.757,2.742,2.738,2.728,2.72,2.706,2.699,2.69,2.676,2.672,2.659,2.657,2.657,2.656,2.635,2.634,2.626,2.617,2.613,2.609,2.595,2.593,2.584,2.583,2.58,2.575,2.571,2.551,2.548,2.544,2.535,2.528,2.525,2.525,2.517,2.505,2.503,2.498,2.497,2.495,2.485,2.48,2.479,2.477,2.473,2.471,2.465,2.464,2.461,2.455,2.454,2.454,2.451,2.45,2.445,2.442,2.44,2.44,2.44,2.432,2.429,2.427,2.427,2.427,2.427,2.427,2.421,2.415,2.415,2.419,2.415,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.416,2.421,2.421,2.42,2.421,2.424,2.42,2.428,2.428,2.429,2.43,2.439,2.439,2.44,2.44,2.442,2.444,2.449,2.454,2.456,2.459,2.468,2.47,2.471,2.473,2.476,2.478,2.478,2.486,2.49,2.495,2.497,2.499,2.507,2.517,2.522,2.522,2.522,2.529,2.537,2.538,2.542,2.551,2.555,2.564,2.569,2.57,2.572,2.594,2.595,2.603,2.607,2.609,2.615,2.631,2.634,2.638,2.643,2.657,2.658,2.662,2.678,2.681,2.685,2.693,2.701,2.716,2.722,2.73,2.74,2.752,2.752,2.765,2.776,2.784,2.8,2.812,2.816,2.834,2.844,2.849,2.85,2.873,2.879,2.894,2.904,2.917,2.925,2.943,2.952,2.955,2.979,2.988,2.992,3.015,3.026,3.038,3.043,3.068,3.082,3.1,3.104,3.124,3.145,3.155,3.163,3.178,3.195,3.221,3.231,3.25,3.267,3.271,3.3,3.325,3.329,3.354,3.379,3.396,3.408,3.435,3.458,3.472,3.507,3.523,3.548,3.571,3.591,3.611,3.647,3.671,3.697,3.727,3.751,3.79,3.795,3.845,3.855,3.89,3.907,3.94,4.017,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.369,3.354,3.334,3.331,3.315,3.314,3.3,3.296,3.282,3.274,3.261,3.26,3.242,3.238,3.235,3.218,3.211,3.206,3.196,3.19,3.186,3.184,3.166,3.159,3.151,3.148,3.146,3.134,3.13,3.121,3.119,3.113,3.11,3.108,3.107,3.091,3.089,3.088,3.088,3.084,3.074,3.07,3.068,3.063,3.055,3.053,3.052,3.05,3.041,3.04,3.039,3.038,3.038,3.038,3.035,3.033,3.026,3.026,3.026,3.032,3.032,3.032,3.019,3.014,3.013,3.012,3.01,3.01,3.012,3.012,3.01,3.011,3.011,3.011,3.013,3.013,3.013,3.014,3.015,3.013,3.013,3.013,3.013,3.013,3.016,3.017,3.021,3.021,3.025,3.025,3.022,3.022,3.024,3.024,3.029,3.03,3.036,3.039,3.04,3.041,3.041,3.054,3.055,3.059,3.06,3.063,3.07,3.07,3.072,3.077,3.092,3.092,3.092,3.092,3.092,3.097,3.108,3.112,3.112,3.129,3.131,3.131,3.131,3.132,3.141,3.141,3.144,3.151,3.156,3.163,3.164,3.17,3.173,3.175,3.183,3.205,3.216,3.227,3.228,3.228,3.235,3.237,3.245,3.246,3.247,3.265,3.276,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 107.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 107.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 107.446} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022} SEN {Time 107.487} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.193,0.178,0.193,0.193,0,0,0,0,0,0,0,0,3.688,3.685,3.665,3.655,3.642,3.634,3.616,3.616,3.616,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.215,3.214,3.215,3.215,3.259,3.363,0,0,0,0,0,0,0,0.148,0.146,0.146,0.146,0.146,0.146,0.144,0.144,0.148,0.148,0.152,0.152,0.153,0.153,3.032,3.038,3.038,3.038,3.038,3.038,0.16,0.16,0.158,0.158,0.154,0.154,0.153,0.145,0.142,0.118,0.089,0.07,0.064,0.064,0.064,0.065,0.065,0.068,0.068,0.069,0.064,0.064,0.064,0.069,0.076,0.127,0.203,3.34,0.007,3.369,3.369,3.401,3.377,3.401,3.401,3.422,3.422,3.425,3.43,3.454,3.474,3.48,3.49,3.5,3.504,3.504,3.504,3.509,3.509,3.518,3.523,3.525,3.529,3.538,3.538,3.539,3.539,3.539,3.542,3.546,3.555,3.559,3.559,3.56,3.571,3.573,3.579,3.579,3.581,3.582,3.592,3.606,3.606,3.612,3.619,3.628,3.629,3.632,3.645,3.651,3.653,3.655,3.662,3.671,3.678,3.684,3.693,3.697,3.704,3.71,3.72,3.724,3.738,3.742,3.746,3.768,3.772,3.775,3.792,3.803,3.808,3.817,3.827,3.831,3.839,3.843,3.86,3.878,3.887,3.889,3.9,3.917,3.933,3.945,3.956,3.969,3.984,3.996,4.024,4.037,4.043,4.073,4.078,4.084,0.016,0.016,0.016,0,0.007,0,0.016,4.02,3.989,3.969,3.931,3.905,3.865,3.851,3.807,3.785,3.757,3.73,3.697,3.667,3.643,3.621,3.596,3.582,3.556,3.535,3.503,3.487,3.455,3.445,3.418,3.411,3.39,3.367,3.349,3.333,3.316,3.307,3.268,3.268,3.234,3.23,3.199,3.179,3.168,3.158,3.14,3.119,3.104,3.098,3.091,3.067,3.065,3.035,3.029,3.003,3,2.989,2.987,2.956,2.952,2.933,2.928,2.913,2.902,2.893,2.874,2.873,2.857,2.846,2.835,2.822,2.82,2.805,2.801,2.794,2.783,2.775,2.751,2.749,2.737,2.736,2.725,2.713,2.704,2.692,2.677,2.675,2.673,2.666,2.65,2.646,2.643,2.638,2.637,2.625,2.621,2.611,2.61,2.599,2.593,2.58,2.577,2.577,2.574,2.571,2.557,2.547,2.544,2.543,2.539,2.531,2.524,2.512,2.503,2.501,2.498,2.496,2.495,2.489,2.488,2.483,2.477,2.476,2.475,2.474,2.472,2.459,2.456,2.455,2.452,2.452,2.451,2.445,2.442,2.441,2.439,2.431,2.431,2.429,2.429,2.428,2.425,2.424,2.424,2.424,2.424,2.42,2.416,2.414,2.412,2.412,2.412,2.412,2.413,2.415,2.415,2.415,2.412,2.412,2.411,2.412,2.413,2.414,2.413,2.414,2.415,2.415,2.415,2.418,2.423,2.423,2.424,2.424,2.424,2.426,2.43,2.431,2.431,2.432,2.437,2.438,2.44,2.44,2.444,2.45,2.454,2.46,2.46,2.461,2.463,2.468,2.471,2.475,2.478,2.482,2.484,2.486,2.495,2.496,2.498,2.5,2.504,2.515,2.52,2.528,2.529,2.533,2.539,2.54,2.55,2.556,2.564,2.569,2.572,2.583,2.593,2.596,2.599,2.606,2.607,2.612,2.627,2.639,2.64,2.643,2.65,2.65,2.666,2.678,2.685,2.694,2.7,2.702,2.714,2.724,2.731,2.745,2.755,2.756,2.768,2.777,2.787,2.79,2.81,2.818,2.834,2.843,2.848,2.856,2.868,2.885,2.886,2.903,2.918,2.919,2.944,2.952,2.957,2.977,2.981,3.005,3.016,3.032,3.037,3.051,3.064,3.077,3.092,3.11,3.121,3.14,3.158,3.162,3.18,3.202,3.227,3.228,3.248,3.259,3.271,3.296,3.319,3.336,3.357,3.372,3.408,3.417,3.437,3.46,3.485,3.507,3.516,3.546,3.583,3.586,3.615,3.652,3.665,3.694,3.714,3.742,3.777,3.8,3.838,3.862,3.891,3.924,3.957,3.983,4.026,4.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.353,3.336,3.33,3.322,3.303,3.297,3.291,3.276,3.275,3.263,3.255,3.244,3.241,3.236,3.227,3.208,3.207,3.198,3.187,3.185,3.179,3.17,3.158,3.158,3.154,3.145,3.144,3.133,3.126,3.123,3.121,3.116,3.104,3.103,3.091,3.091,3.083,3.082,3.078,3.077,3.076,3.064,3.061,3.059,3.053,3.05,3.043,3.041,3.039,3.037,3.036,3.029,3.029,3.026,3.026,3.023,3.023,3.023,3.036,3.036,3.036,3.023,3.022,3.019,3.02,3.015,3.015,3.015,3.017,3.015,3.015,3.007,3.006,3.006,3.006,3.006,3.013,3.014,3.014,3.016,3.013,3.016,3.016,3.016,3.018,3.021,3.018,3.02,3.028,3.021,3.021,3.027,3.029,3.028,3.029,3.035,3.035,3.041,3.044,3.046,3.049,3.056,3.058,3.061,3.064,3.065,3.068,3.078,3.083,3.086,3.087,3.093,3.093,3.093,3.102,3.11,3.11,3.111,3.123,3.133,3.133,3.133,3.138,3.143,3.143,3.147,3.156,3.156,3.161,3.165,3.167,3.171,3.179,3.182,3.192,3.21,3.22,3.224,3.234,3.235,3.24,3.246,3.252,3.258,3.262,3.275,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 107.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 107.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 107.636} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578} SEN {Time 107.683} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.182,0.189,0.189,0,0,0,0,0,0,0,0,3.696,3.687,3.667,3.663,3.648,3.644,3.606,3.606,3.606,3.604,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.21,3.205,3.205,3.21,3.267,3.37,0,0,0,0,0,0,0,0.152,0.143,0.143,0.143,0.143,0.149,0.149,0.149,0.152,0.152,0.153,0.153,0.155,0.158,3.027,3.027,3.036,3.036,3.027,3.036,3.036,0.163,0.153,0.153,0.153,0.153,0.15,0.148,0.142,0.116,0.089,0.073,0.068,0.068,0.068,0.068,0.068,0.068,0.072,0.072,0.071,0.071,0.071,0.071,0.072,0.128,0.2,3.349,0.007,0,0,0,3.383,3.383,3.383,0,0,0,3.479,3.472,3.472,3.479,3.487,3.498,3.503,3.507,3.51,3.51,3.515,3.521,3.521,3.521,3.525,3.526,3.526,3.532,3.537,3.544,3.544,3.544,3.549,3.555,3.558,3.559,3.566,3.571,3.572,3.574,3.577,3.59,3.591,3.608,3.608,3.609,3.626,3.626,3.633,3.635,3.647,3.651,3.661,3.661,3.665,3.668,3.673,3.675,3.683,3.697,3.707,3.708,3.717,3.728,3.735,3.746,3.749,3.75,3.767,3.773,3.78,3.79,3.8,3.817,3.821,3.848,3.849,3.849,3.86,3.881,3.883,3.898,3.902,3.914,3.932,3.94,3.959,3.97,3.98,3.989,4.012,4.033,4.05,4.067,4.069,4.095,0.016,0.016,0.016,0.016,0.007,0,0.007,4.053,3.982,3.982,3.967,3.933,3.868,3.848,3.809,3.787,3.754,3.722,3.708,3.678,3.646,3.634,3.603,3.582,3.555,3.531,3.51,3.496,3.461,3.45,3.413,3.412,3.386,3.379,3.358,3.336,3.314,3.296,3.279,3.263,3.235,3.229,3.204,3.183,3.17,3.16,3.136,3.118,3.11,3.099,3.087,3.068,3.044,3.042,3.03,3.008,3,2.991,2.991,2.956,2.955,2.935,2.933,2.918,2.901,2.895,2.876,2.868,2.865,2.844,2.833,2.829,2.819,2.806,2.802,2.787,2.781,2.769,2.758,2.756,2.738,2.737,2.723,2.713,2.701,2.696,2.683,2.682,2.668,2.663,2.656,2.652,2.646,2.638,2.634,2.618,2.616,2.612,2.607,2.601,2.586,2.585,2.58,2.573,2.572,2.564,2.56,2.557,2.544,2.541,2.531,2.522,2.52,2.513,2.507,2.504,2.495,2.491,2.488,2.484,2.483,2.479,2.479,2.471,2.468,2.468,2.467,2.461,2.458,2.456,2.449,2.449,2.447,2.446,2.446,2.444,2.436,2.436,2.434,2.429,2.426,2.424,2.423,2.423,2.423,2.42,2.419,2.419,2.412,2.409,2.409,2.409,2.412,2.414,2.414,2.414,2.414,2.414,2.414,2.414,2.417,2.42,2.417,2.417,2.413,2.41,2.41,2.41,2.419,2.419,2.419,2.42,2.42,2.42,2.424,2.426,2.427,2.431,2.432,2.434,2.436,2.438,2.438,2.445,2.447,2.453,2.455,2.456,2.461,2.464,2.467,2.468,2.468,2.473,2.474,2.476,2.485,2.487,2.496,2.496,2.496,2.497,2.518,2.52,2.522,2.523,2.528,2.536,2.538,2.542,2.548,2.555,2.555,2.559,2.568,2.573,2.585,2.594,2.598,2.603,2.604,2.612,2.62,2.638,2.643,2.644,2.649,2.657,2.667,2.675,2.677,2.689,2.701,2.706,2.716,2.723,2.728,2.743,2.748,2.763,2.764,2.783,2.788,2.798,2.806,2.821,2.84,2.846,2.852,2.857,2.868,2.879,2.894,2.903,2.91,2.924,2.94,2.951,2.955,2.97,2.986,2.996,3.024,3.029,3.035,3.051,3.064,3.086,3.094,3.101,3.125,3.137,3.153,3.17,3.178,3.194,3.219,3.236,3.256,3.266,3.275,3.301,3.319,3.34,3.359,3.378,3.398,3.409,3.432,3.457,3.487,3.507,3.524,3.545,3.571,3.595,3.629,3.647,3.671,3.689,3.73,3.746,3.777,3.798,3.843,3.862,3.898,3.912,3.956,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.376,3.354,3.331,3.33,3.321,3.314,3.291,3.291,3.276,3.269,3.267,3.247,3.241,3.24,3.231,3.223,3.21,3.203,3.2,3.183,3.182,3.177,3.175,3.161,3.154,3.148,3.141,3.138,3.134,3.129,3.124,3.12,3.109,3.108,3.104,3.095,3.089,3.081,3.081,3.078,3.068,3.066,3.065,3.059,3.055,3.052,3.052,3.048,3.047,3.045,3.042,3.042,3.033,3.033,3.031,3.03,3.029,3.029,3.029,3.036,3.036,3.036,3.023,3.017,3.015,3.014,3.012,3.011,3.011,3.011,3.01,3.011,3.011,3.011,3.008,3.012,3.009,3.011,3.011,3.011,3.011,3.014,3.016,3.016,3.017,3.021,3.021,3.021,3.021,3.021,3.021,3.021,3.023,3.031,3.035,3.035,3.036,3.036,3.039,3.039,3.043,3.057,3.057,3.059,3.06,3.064,3.066,3.067,3.068,3.079,3.088,3.088,3.09,3.092,3.092,3.101,3.105,3.112,3.115,3.124,3.134,3.139,3.14,3.14,3.144,3.144,3.147,3.152,3.154,3.163,3.165,3.176,3.182,3.182,3.187,3.201,3.208,3.222,3.227,3.232,3.24,3.24,3.243,3.248,3.25,3.257,3.274,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 107.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 107.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 107.839} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578} SEN {Time 107.883} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.181,0.182,0.182,0,0,0,0,0,0,0,0,3.7,3.681,3.669,3.666,3.649,3.632,3.62,3.62,3.592,3.592,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.233,3.223,3.221,3.217,3.217,3.217,3.263,3.364,0,0,0,0,0,0,0,0.153,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.153,0.145,0.153,0.153,0.153,0.158,3.033,3.035,3.041,3.041,3.041,3.041,0.164,0.161,0.155,0.155,0.155,0.154,0.15,0.144,0.143,0.118,0.098,0.068,0.066,0.066,0.066,0.068,0.068,0.068,0.069,0.069,0.069,0.068,0.068,0.068,0.069,0.123,0.211,3.335,3.343,0,3.385,3.385,3.385,3.385,3.385,3.39,3.423,3.447,3.453,3.453,3.466,3.473,3.486,3.487,3.496,3.5,3.505,3.512,3.516,3.519,3.523,3.524,3.526,3.528,3.534,3.536,3.539,3.545,3.55,3.55,3.554,3.554,3.563,3.564,3.571,3.576,3.577,3.577,3.577,3.581,3.591,3.605,3.605,3.606,3.624,3.626,3.63,3.638,3.646,3.648,3.65,3.66,3.668,3.673,3.677,3.679,3.69,3.7,3.7,3.706,3.713,3.73,3.743,3.747,3.752,3.758,3.761,3.775,3.776,3.803,3.808,3.82,3.831,3.831,3.847,3.856,3.859,3.875,3.892,3.903,3.906,3.916,3.929,3.948,3.966,3.972,3.977,3.991,4.021,4.044,4.049,4.071,4.085,4.088,0.016,0.016,0.016,0.016,0.016,4.091,4.051,4.027,3.99,3.971,3.939,3.901,3.866,3.846,3.802,3.781,3.759,3.733,3.696,3.68,3.652,3.629,3.614,3.583,3.554,3.523,3.504,3.485,3.462,3.449,3.415,3.393,3.382,3.363,3.36,3.336,3.324,3.299,3.264,3.263,3.238,3.227,3.194,3.186,3.164,3.153,3.146,3.124,3.105,3.099,3.082,3.07,3.054,3.041,3.029,3.01,2.997,2.984,2.982,2.957,2.954,2.931,2.925,2.915,2.908,2.895,2.876,2.872,2.864,2.846,2.844,2.83,2.819,2.808,2.794,2.791,2.786,2.772,2.762,2.749,2.746,2.74,2.723,2.719,2.711,2.697,2.686,2.68,2.671,2.668,2.654,2.653,2.645,2.642,2.638,2.628,2.619,2.615,2.612,2.594,2.588,2.583,2.573,2.573,2.573,2.566,2.563,2.549,2.548,2.544,2.536,2.534,2.521,2.517,2.514,2.504,2.499,2.497,2.494,2.49,2.483,2.48,2.474,2.474,2.473,2.473,2.47,2.463,2.46,2.452,2.451,2.451,2.451,2.447,2.442,2.439,2.437,2.432,2.43,2.429,2.429,2.429,2.425,2.417,2.417,2.417,2.417,2.419,2.421,2.421,2.415,2.414,2.414,2.414,2.414,2.414,2.416,2.414,2.413,2.413,2.416,2.416,2.417,2.418,2.418,2.418,2.418,2.419,2.421,2.421,2.421,2.421,2.421,2.421,2.424,2.425,2.426,2.426,2.432,2.436,2.437,2.437,2.438,2.443,2.448,2.452,2.455,2.457,2.464,2.465,2.467,2.468,2.47,2.471,2.471,2.477,2.482,2.487,2.492,2.495,2.498,2.499,2.511,2.516,2.518,2.52,2.522,2.532,2.536,2.545,2.551,2.555,2.563,2.571,2.572,2.586,2.591,2.592,2.597,2.601,2.604,2.622,2.623,2.634,2.641,2.645,2.653,2.658,2.665,2.678,2.682,2.693,2.698,2.699,2.71,2.725,2.73,2.74,2.751,2.753,2.766,2.783,2.787,2.8,2.814,2.821,2.838,2.839,2.847,2.862,2.87,2.878,2.886,2.898,2.911,2.927,2.945,2.955,2.957,2.971,2.99,2.994,3.021,3.025,3.039,3.042,3.069,3.083,3.083,3.11,3.126,3.147,3.159,3.173,3.189,3.198,3.213,3.231,3.243,3.265,3.278,3.293,3.32,3.33,3.353,3.381,3.399,3.413,3.435,3.462,3.488,3.5,3.523,3.537,3.559,3.593,3.622,3.641,3.67,3.697,3.732,3.755,3.777,3.795,3.843,3.872,3.915,3.949,3.987,3.987,0.016,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.35,3.329,3.329,3.318,3.318,3.304,3.297,3.275,3.264,3.26,3.253,3.246,3.246,3.236,3.236,3.207,3.201,3.2,3.198,3.185,3.181,3.174,3.161,3.158,3.151,3.148,3.139,3.134,3.127,3.124,3.123,3.109,3.108,3.108,3.093,3.086,3.083,3.081,3.079,3.072,3.07,3.069,3.064,3.059,3.053,3.05,3.046,3.044,3.042,3.041,3.039,3.036,3.027,3.025,3.024,3.023,3.024,3.024,3.032,3.032,3.032,3.025,3.02,3.019,3.015,3.013,3.012,3.012,3.01,3.01,3.01,3.009,3.01,3.01,3.008,3.008,3.01,3.01,3.012,3.015,3.015,3.011,3.012,3.011,3.011,3.012,3.017,3.017,3.018,3.021,3.021,3.023,3.023,3.025,3.032,3.033,3.035,3.038,3.041,3.048,3.052,3.054,3.056,3.059,3.065,3.065,3.068,3.07,3.084,3.085,3.085,3.086,3.088,3.096,3.1,3.11,3.116,3.119,3.122,3.14,3.14,3.14,3.139,3.139,3.139,3.144,3.153,3.157,3.16,3.162,3.167,3.174,3.183,3.195,3.198,3.208,3.217,3.221,3.229,3.229,3.235,3.239,3.24,3.246,3.267,3.282,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 108.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 108.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 108.039} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578} SEN {Time 108.083} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.186,0.186,0.186,0,0,0,0,0,0,0,0,3.688,3.684,3.666,3.653,3.651,3.624,3.621,3.621,3.621,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.216,3.211,3.21,3.21,3.216,3.258,3.362,0,0,0,0,0,0,0,0.148,0.147,0.147,0.147,0.147,0.146,0.145,0.145,0.152,0.15,0.152,0.152,0.153,0.157,3.033,3.033,3.041,3.041,3.041,3.027,0.17,0.157,0.157,0.157,0.157,0.158,0.158,0.144,0.14,0.118,0.091,0.072,0.068,0.067,0.067,0.068,0.068,0.071,0.071,0.071,0.071,0.071,0.07,0.07,0.07,0.123,0.19,3.344,3.349,3.375,3.375,3.375,3.378,3.378,3.381,3.381,3.427,0.007,3.465,3.465,3.487,3.487,3.487,3.496,3.506,3.508,3.513,3.513,3.515,3.517,3.522,3.524,3.532,3.532,3.534,3.536,3.538,3.541,3.541,3.542,3.549,3.554,3.562,3.563,3.566,3.57,3.571,3.575,3.58,3.585,3.589,3.594,3.614,3.617,3.618,3.622,3.63,3.642,3.645,3.652,3.655,3.661,3.662,3.663,3.674,3.685,3.688,3.691,3.695,3.714,3.725,3.734,3.746,3.748,3.751,3.752,3.762,3.77,3.772,3.792,3.795,3.814,3.817,3.833,3.843,3.846,3.866,3.878,3.89,3.903,3.906,3.925,3.934,3.949,3.961,3.966,3.987,4.006,4.009,4.029,4.056,4.064,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.006,3.958,3.944,3.904,3.883,3.842,3.812,3.796,3.757,3.73,3.712,3.676,3.655,3.631,3.586,3.562,3.549,3.519,3.498,3.488,3.459,3.447,3.428,3.403,3.384,3.361,3.351,3.342,3.302,3.301,3.272,3.267,3.231,3.228,3.195,3.188,3.174,3.148,3.141,3.126,3.108,3.101,3.085,3.065,3.048,3.04,3.024,3.013,2.999,2.99,2.981,2.956,2.954,2.935,2.921,2.916,2.902,2.891,2.878,2.874,2.86,2.854,2.842,2.829,2.813,2.808,2.794,2.792,2.775,2.768,2.762,2.744,2.74,2.731,2.721,2.716,2.713,2.703,2.689,2.68,2.675,2.665,2.651,2.646,2.644,2.639,2.634,2.622,2.618,2.61,2.603,2.599,2.592,2.586,2.574,2.571,2.568,2.568,2.556,2.554,2.547,2.541,2.532,2.524,2.522,2.517,2.508,2.506,2.499,2.498,2.497,2.488,2.483,2.479,2.476,2.475,2.475,2.473,2.464,2.462,2.456,2.453,2.453,2.451,2.449,2.447,2.442,2.44,2.436,2.432,2.43,2.43,2.428,2.426,2.423,2.419,2.418,2.418,2.416,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.415,2.414,2.415,2.414,2.416,2.416,2.416,2.416,2.416,2.416,2.415,2.415,2.415,2.416,2.42,2.42,2.42,2.42,2.421,2.421,2.424,2.425,2.426,2.426,2.431,2.433,2.436,2.442,2.443,2.444,2.444,2.447,2.452,2.453,2.456,2.459,2.464,2.464,2.465,2.466,2.478,2.483,2.487,2.49,2.492,2.493,2.5,2.506,2.509,2.511,2.516,2.516,2.524,2.531,2.533,2.539,2.547,2.549,2.557,2.563,2.57,2.582,2.587,2.592,2.6,2.608,2.609,2.609,2.629,2.63,2.637,2.642,2.653,2.654,2.666,2.673,2.684,2.689,2.702,2.705,2.715,2.731,2.736,2.743,2.745,2.755,2.765,2.785,2.79,2.795,2.807,2.819,2.832,2.843,2.852,2.855,2.873,2.887,2.892,2.898,2.919,2.928,2.941,2.953,2.963,2.97,2.982,2.996,3.014,3.028,3.04,3.047,3.074,3.083,3.094,3.112,3.12,3.141,3.156,3.173,3.184,3.195,3.22,3.243,3.25,3.265,3.27,3.299,3.332,3.333,3.358,3.376,3.394,3.411,3.436,3.459,3.48,3.495,3.524,3.535,3.57,3.598,3.607,3.635,3.665,3.696,3.726,3.748,3.777,3.809,3.835,3.861,3.894,3.987,4.033,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.356,3.339,3.336,3.316,3.31,3.294,3.286,3.281,3.267,3.264,3.248,3.238,3.236,3.233,3.221,3.219,3.204,3.204,3.187,3.181,3.18,3.174,3.167,3.153,3.149,3.141,3.135,3.131,3.124,3.124,3.124,3.116,3.116,3.094,3.094,3.089,3.085,3.083,3.082,3.079,3.074,3.062,3.061,3.057,3.054,3.053,3.052,3.045,3.045,3.039,3.039,3.034,3.031,3.026,3.019,3.019,3.019,3.022,3.033,3.033,3.033,3.026,3.019,3.016,3.016,3.012,3.012,3.016,3.016,3.012,3.01,3.01,3.01,3.011,3.011,3.011,3.011,3.011,3.013,3.016,3.016,3.016,3.015,3.016,3.016,3.021,3.016,3.026,3.027,3.027,3.027,3.03,3.031,3.032,3.035,3.035,3.035,3.036,3.037,3.046,3.051,3.055,3.058,3.061,3.063,3.064,3.066,3.073,3.075,3.087,3.09,3.091,3.093,3.095,3.096,3.109,3.11,3.111,3.116,3.129,3.129,3.137,3.137,3.139,3.139,3.14,3.148,3.157,3.161,3.163,3.17,3.173,3.175,3.18,3.183,3.219,3.219,3.22,3.228,3.228,3.236,3.239,3.244,3.25,3.266,3.278,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 108.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 108.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 108.239} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5908} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8768} SEN {Time 108.283} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.18,0.183,0.183,0,0,0,0,0,0,0,0,3.693,3.677,3.672,3.666,3.649,3.628,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.218,3.212,3.212,3.212,3.269,3.362,0,0,0,0,0,0,0,0.147,0.145,0.145,0.145,0.145,0.14,0.145,0.145,0.157,0.154,0.157,0.157,0.157,0.163,3.033,3.034,3.038,3.038,3.034,3.034,0.157,0.157,0.157,0.157,0.157,0.152,0.147,0.143,0.143,0.113,0.097,0.069,0.069,0.064,0.064,0.064,0.068,0.068,0.068,0.068,0.068,0.066,0.066,0.068,0.077,0.124,0.201,3.348,3.35,3.355,3.355,3.364,3.375,3.376,3.398,3.398,3.425,3.426,3.466,3.469,3.488,3.484,3.484,3.488,3.5,3.501,3.506,3.509,3.509,3.515,3.518,3.518,3.521,3.527,3.531,3.533,3.541,3.541,3.543,3.545,3.549,3.556,3.565,3.566,3.571,3.571,3.576,3.579,3.584,3.592,3.592,3.604,3.617,3.623,3.628,3.632,3.638,3.639,3.641,3.65,3.653,3.663,3.668,3.675,3.676,3.685,3.685,3.694,3.705,3.708,3.727,3.729,3.731,3.748,3.751,3.759,3.764,3.773,3.78,3.792,3.801,3.814,3.819,3.826,3.852,3.855,3.861,3.871,3.874,3.883,3.913,3.919,3.935,3.943,3.96,3.969,3.987,3.993,4.017,4.033,4.042,4.067,4.078,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.049,4.017,3.995,3.957,3.932,3.901,3.88,3.855,3.81,3.794,3.753,3.737,3.694,3.685,3.652,3.624,3.607,3.581,3.567,3.527,3.502,3.49,3.465,3.437,3.416,3.402,3.379,3.369,3.349,3.333,3.312,3.296,3.272,3.256,3.239,3.216,3.203,3.184,3.173,3.163,3.14,3.123,3.11,3.084,3.077,3.068,3.057,3.043,3.028,3.014,2.999,2.984,2.981,2.966,2.95,2.94,2.924,2.919,2.906,2.894,2.876,2.866,2.864,2.849,2.836,2.824,2.822,2.807,2.792,2.789,2.782,2.77,2.764,2.75,2.747,2.737,2.724,2.721,2.703,2.694,2.688,2.675,2.674,2.668,2.657,2.654,2.642,2.636,2.631,2.62,2.619,2.618,2.612,2.597,2.596,2.581,2.58,2.575,2.568,2.567,2.549,2.546,2.545,2.542,2.527,2.523,2.517,2.516,2.505,2.505,2.499,2.493,2.493,2.489,2.488,2.486,2.474,2.472,2.47,2.467,2.466,2.461,2.458,2.456,2.455,2.45,2.444,2.444,2.442,2.439,2.435,2.435,2.43,2.427,2.425,2.424,2.424,2.42,2.42,2.419,2.415,2.415,2.415,2.415,2.414,2.414,2.414,2.413,2.411,2.411,2.411,2.411,2.411,2.412,2.416,2.416,2.416,2.417,2.416,2.416,2.416,2.418,2.417,2.419,2.417,2.419,2.419,2.419,2.421,2.426,2.427,2.433,2.434,2.434,2.436,2.436,2.438,2.442,2.445,2.452,2.453,2.455,2.456,2.461,2.461,2.465,2.474,2.474,2.475,2.475,2.481,2.487,2.495,2.499,2.499,2.503,2.51,2.512,2.515,2.522,2.528,2.53,2.537,2.539,2.551,2.553,2.559,2.572,2.573,2.578,2.595,2.595,2.597,2.606,2.607,2.617,2.623,2.633,2.637,2.64,2.647,2.661,2.665,2.677,2.68,2.696,2.707,2.708,2.72,2.722,2.724,2.745,2.751,2.755,2.768,2.782,2.784,2.797,2.804,2.824,2.831,2.84,2.848,2.861,2.87,2.883,2.885,2.905,2.919,2.927,2.94,2.95,2.956,2.976,2.982,2.999,3.016,3.024,3.043,3.045,3.068,3.081,3.092,3.112,3.126,3.143,3.152,3.172,3.183,3.2,3.22,3.231,3.255,3.269,3.286,3.299,3.326,3.336,3.352,3.378,3.393,3.416,3.438,3.455,3.482,3.497,3.521,3.534,3.572,3.598,3.622,3.649,3.668,3.693,3.723,3.749,3.781,3.797,3.845,3.866,3.902,3.91,3.943,3.986,4.024,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.353,3.348,3.336,3.314,3.305,3.299,3.291,3.279,3.269,3.262,3.25,3.242,3.239,3.238,3.214,3.212,3.212,3.205,3.196,3.183,3.178,3.167,3.164,3.154,3.151,3.143,3.135,3.13,3.127,3.122,3.121,3.115,3.108,3.105,3.094,3.092,3.084,3.081,3.081,3.077,3.066,3.061,3.061,3.058,3.057,3.052,3.045,3.043,3.042,3.039,3.039,3.039,3.039,3.027,3.026,3.022,3.026,3.026,3.028,3.028,3.028,3.025,3.016,3.014,3.016,3.016,3.016,3.013,3.013,3.011,3.008,3.003,3.003,3.007,3.007,3.008,3.012,3.013,3.013,3.012,3.013,3.013,3.014,3.019,3.019,3.019,3.018,3.019,3.022,3.022,3.022,3.022,3.025,3.025,3.031,3.035,3.035,3.035,3.043,3.044,3.049,3.05,3.059,3.06,3.061,3.062,3.069,3.079,3.081,3.088,3.092,3.092,3.092,3.093,3.101,3.111,3.111,3.114,3.114,3.13,3.13,3.135,3.137,3.139,3.139,3.147,3.151,3.153,3.161,3.17,3.175,3.178,3.179,3.182,3.2,3.222,3.222,3.225,3.228,3.228,3.229,3.244,3.247,3.25,3.261,3.279,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 108.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 108.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 108.44} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5908} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8768} SEN {Time 108.483} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.182,0.189,0.189,0,0,0,0,0,0,0,0,3.697,3.674,3.673,3.672,3.653,3.628,3.609,3.609,3.597,3.59,3.59,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.221,3.214,3.211,3.211,3.211,3.261,3.369,0,0,0,0,0,0,0,0.147,0.147,0.147,0.147,0.147,0.148,0.148,0.148,0.151,0.151,0.153,0.153,0.155,0.161,3.039,3.039,3.041,3.041,3.039,3.031,0.158,0.154,0.154,0.154,0.153,0.153,0.152,0.141,0.141,0.12,0.086,0.074,0.068,0.068,0.067,0.067,0.068,0.067,0.069,0.069,0.067,0.065,0.067,0.067,0.076,0.125,0.205,3.336,3.338,3.37,3.37,3.377,3.377,3.382,3.382,3.405,3.417,3.428,3.45,3.459,3.475,3.475,3.482,3.492,3.495,3.502,3.503,3.515,3.516,3.517,3.524,3.526,3.528,3.529,3.535,3.535,3.538,3.54,3.542,3.546,3.551,3.551,3.552,3.558,3.566,3.567,3.575,3.579,3.58,3.583,3.59,3.601,3.602,3.616,3.629,3.633,3.635,3.637,3.648,3.648,3.657,3.665,3.666,3.668,3.683,3.685,3.685,3.688,3.698,3.713,3.717,3.728,3.745,3.745,3.759,3.768,3.773,3.773,3.777,3.796,3.804,3.804,3.82,3.83,3.847,3.853,3.859,3.87,3.877,3.893,3.898,3.92,3.934,3.949,3.959,3.97,3.991,3.991,4.013,4.025,4.038,4.052,4.076,4.083,0.016,0.016,0.016,0.007,0,0.007,0,0.016,3.99,3.96,3.944,3.909,3.863,3.848,3.823,3.786,3.74,3.732,3.697,3.678,3.649,3.631,3.599,3.579,3.55,3.521,3.515,3.487,3.465,3.44,3.427,3.408,3.385,3.364,3.351,3.321,3.318,3.292,3.281,3.264,3.237,3.226,3.195,3.187,3.17,3.149,3.136,3.121,3.107,3.092,3.091,3.065,3.061,3.047,3.036,3.011,3.003,2.992,2.981,2.961,2.949,2.944,2.924,2.913,2.91,2.898,2.881,2.869,2.863,2.852,2.836,2.836,2.82,2.805,2.797,2.784,2.779,2.764,2.753,2.752,2.737,2.729,2.727,2.712,2.705,2.699,2.684,2.683,2.678,2.663,2.663,2.66,2.647,2.641,2.64,2.626,2.62,2.615,2.612,2.598,2.586,2.579,2.579,2.57,2.567,2.565,2.553,2.549,2.545,2.536,2.527,2.524,2.522,2.51,2.509,2.507,2.499,2.499,2.494,2.489,2.486,2.478,2.478,2.478,2.473,2.467,2.467,2.458,2.458,2.456,2.453,2.45,2.449,2.445,2.444,2.441,2.437,2.435,2.433,2.431,2.431,2.43,2.43,2.43,2.417,2.417,2.417,2.417,2.414,2.414,2.414,2.417,2.417,2.417,2.415,2.41,2.409,2.409,2.409,2.41,2.413,2.417,2.417,2.417,2.413,2.412,2.412,2.414,2.414,2.415,2.418,2.418,2.42,2.42,2.421,2.425,2.43,2.43,2.431,2.435,2.44,2.443,2.443,2.445,2.445,2.45,2.451,2.452,2.453,2.456,2.463,2.465,2.471,2.471,2.473,2.476,2.483,2.488,2.493,2.496,2.497,2.506,2.514,2.521,2.523,2.525,2.53,2.532,2.534,2.534,2.544,2.549,2.558,2.559,2.568,2.578,2.599,2.6,2.603,2.606,2.612,2.615,2.63,2.634,2.637,2.641,2.645,2.655,2.666,2.676,2.68,2.692,2.698,2.707,2.722,2.722,2.738,2.745,2.748,2.753,2.766,2.779,2.785,2.803,2.81,2.816,2.833,2.846,2.846,2.86,2.87,2.879,2.886,2.897,2.916,2.925,2.94,2.958,2.96,2.97,2.985,2.999,3.012,3.019,3.046,3.048,3.061,3.078,3.087,3.107,3.123,3.14,3.16,3.164,3.184,3.202,3.224,3.234,3.25,3.269,3.273,3.289,3.327,3.335,3.358,3.378,3.405,3.413,3.437,3.457,3.483,3.5,3.533,3.549,3.564,3.599,3.617,3.641,3.675,3.7,3.724,3.753,3.785,3.805,3.844,3.871,3.901,3.924,3.947,3.99,4.021,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.362,3.335,3.33,3.32,3.303,3.303,3.291,3.278,3.27,3.258,3.254,3.24,3.239,3.237,3.216,3.21,3.205,3.199,3.181,3.18,3.173,3.17,3.165,3.155,3.152,3.144,3.138,3.138,3.12,3.119,3.114,3.114,3.11,3.099,3.096,3.088,3.088,3.084,3.079,3.079,3.069,3.065,3.06,3.053,3.051,3.042,3.041,3.041,3.04,3.04,3.038,3.038,3.028,3.025,3.024,3.022,3.022,3.024,3.029,3.029,3.029,3.022,3.021,3.017,3.017,3.017,3.015,3.012,3.014,3.012,3.011,3.008,3.008,3.007,3.008,3.007,3.008,3.012,3.012,3.012,3.014,3.018,3.018,3.018,3.02,3.02,3.019,3.023,3.023,3.024,3.024,3.026,3.027,3.035,3.036,3.036,3.036,3.04,3.042,3.042,3.051,3.051,3.053,3.059,3.062,3.068,3.068,3.072,3.079,3.086,3.091,3.092,3.092,3.097,3.104,3.108,3.112,3.115,3.117,3.125,3.125,3.127,3.135,3.135,3.135,3.148,3.15,3.154,3.161,3.167,3.17,3.174,3.175,3.178,3.199,3.208,3.213,3.219,3.229,3.231,3.238,3.245,3.246,3.255,3.257,3.278,3.287,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 108.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 108.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 108.641} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5908} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8768} SEN {Time 108.683} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.176,0.184,0.184,0,0,0,0,0,0,0,0,3.697,3.68,3.668,3.665,3.648,3.62,3.616,3.616,3.601,3.597,3.597,0,3.362,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.219,3.218,3.218,3.228,3.263,3.359,0,0,0,0,0,0,0,0.148,0.148,0.144,0.142,0.144,0.144,0.144,0.145,0.15,0.15,0.151,0.151,0.163,0.163,3.037,3.039,3.039,3.039,3.037,3.041,3.035,0.159,0.159,0.159,0.159,0.155,0.155,0.144,0.144,0.12,0.098,0.077,0.069,0.062,0.062,0.062,0.062,0.07,0.07,0.07,0.07,0.069,0.068,0.068,0.068,0.123,0.198,3.345,0.007,3.358,3.358,3.386,3.368,3.385,3.386,3.386,3.412,3.43,3.44,3.457,3.476,3.481,3.489,3.495,3.497,3.502,3.51,3.51,3.51,3.517,3.523,3.531,3.531,3.532,3.537,3.537,3.538,3.545,3.547,3.55,3.556,3.556,3.556,3.557,3.568,3.578,3.581,3.581,3.581,3.589,3.597,3.605,3.611,3.614,3.627,3.628,3.628,3.636,3.641,3.643,3.643,3.661,3.664,3.677,3.681,3.689,3.689,3.693,3.695,3.709,3.728,3.731,3.738,3.747,3.749,3.754,3.768,3.774,3.784,3.802,3.809,3.812,3.812,3.831,3.834,3.848,3.855,3.868,3.873,3.896,3.902,3.917,3.932,3.933,3.952,3.976,3.986,3.999,4.011,4.014,4.04,4.066,4.067,0.016,0.016,0.016,0,0,0,4.083,4.083,4.053,4.02,4.02,3.972,3.939,3.882,3.849,3.807,3.792,3.753,3.72,3.706,3.676,3.647,3.627,3.592,3.566,3.546,3.525,3.512,3.496,3.475,3.437,3.422,3.392,3.38,3.368,3.351,3.321,3.312,3.292,3.271,3.261,3.23,3.228,3.194,3.186,3.168,3.153,3.147,3.124,3.099,3.088,3.085,3.073,3.051,3.045,3.023,3.014,3,2.989,2.985,2.958,2.957,2.941,2.927,2.917,2.907,2.9,2.878,2.874,2.859,2.852,2.847,2.829,2.81,2.809,2.797,2.781,2.775,2.766,2.766,2.754,2.739,2.736,2.725,2.719,2.707,2.693,2.687,2.685,2.679,2.666,2.664,2.651,2.65,2.639,2.632,2.628,2.615,2.607,2.603,2.6,2.587,2.583,2.576,2.572,2.57,2.567,2.551,2.543,2.542,2.535,2.532,2.527,2.518,2.518,2.509,2.509,2.503,2.499,2.498,2.493,2.488,2.487,2.477,2.473,2.473,2.468,2.463,2.462,2.455,2.454,2.448,2.448,2.445,2.443,2.443,2.443,2.441,2.44,2.43,2.426,2.426,2.43,2.424,2.424,2.42,2.418,2.417,2.417,2.417,2.417,2.414,2.412,2.414,2.414,2.414,2.412,2.412,2.412,2.412,2.416,2.416,2.418,2.416,2.415,2.415,2.415,2.415,2.419,2.419,2.42,2.421,2.421,2.421,2.421,2.421,2.425,2.425,2.428,2.43,2.434,2.436,2.436,2.44,2.444,2.444,2.449,2.453,2.456,2.457,2.461,2.464,2.467,2.472,2.474,2.475,2.475,2.486,2.488,2.489,2.491,2.499,2.502,2.515,2.515,2.517,2.519,2.525,2.531,2.537,2.541,2.552,2.554,2.564,2.566,2.568,2.58,2.59,2.594,2.602,2.605,2.606,2.618,2.62,2.636,2.64,2.645,2.649,2.656,2.663,2.673,2.674,2.689,2.691,2.703,2.712,2.716,2.734,2.738,2.754,2.759,2.759,2.786,2.795,2.801,2.811,2.811,2.835,2.84,2.846,2.853,2.87,2.882,2.886,2.903,2.915,2.923,2.946,2.954,2.957,2.975,2.989,3,3.016,3.021,3.037,3.045,3.07,3.085,3.089,3.103,3.118,3.14,3.154,3.165,3.185,3.202,3.218,3.242,3.253,3.271,3.28,3.3,3.327,3.329,3.352,3.36,3.392,3.406,3.435,3.46,3.48,3.496,3.524,3.545,3.569,3.598,3.624,3.647,3.667,3.697,3.724,3.747,3.783,3.8,3.83,3.864,3.886,3.913,3.952,3.994,4.018,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.359,3.348,3.33,3.32,3.308,3.303,3.296,3.285,3.278,3.261,3.253,3.247,3.239,3.229,3.22,3.211,3.211,3.196,3.187,3.187,3.176,3.172,3.165,3.157,3.15,3.142,3.14,3.132,3.125,3.118,3.118,3.11,3.106,3.106,3.102,3.092,3.09,3.084,3.083,3.077,3.076,3.07,3.067,3.056,3.055,3.055,3.045,3.044,3.044,3.042,3.039,3.034,3.034,3.029,3.028,3.022,3.022,3.022,3.035,3.035,3.035,3.022,3.022,3.021,3.012,3.012,3.011,3.011,3.01,3.01,3.01,3.01,3.007,3.011,3.011,3.009,3.011,3.016,3.016,3.011,3.014,3.014,3.014,3.018,3.02,3.021,3.02,3.021,3.023,3.024,3.024,3.024,3.028,3.029,3.035,3.038,3.039,3.04,3.043,3.044,3.046,3.053,3.055,3.057,3.065,3.065,3.083,3.084,3.084,3.086,3.088,3.089,3.093,3.096,3.1,3.107,3.113,3.116,3.12,3.131,3.131,3.141,3.141,3.141,3.141,3.147,3.148,3.151,3.164,3.17,3.171,3.171,3.175,3.183,3.204,3.206,3.216,3.229,3.23,3.233,3.234,3.237,3.241,3.248,3.262,3.278,3.297,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 108.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 108.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 108.833} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5908} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.54} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.8768} SEN {Time 108.879} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,0,0,0,3.685,3.683,3.666,3.665,3.652,3.632,3.611,3.611,3.595,3.591,3.591,0,3.358,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.214,3.211,3.211,3.211,3.263,3.354,0,0,0,0,0,0,0,0.007,0.151,0.148,0.148,0.148,0.148,0.147,0.147,0.156,0.153,0.153,0.153,0.153,0.153,3.029,3.035,3.035,3.035,3.031,3.04,3.031,0.161,0.154,0.154,0.154,0.153,0.153,0.139,0.139,0.113,0.096,0.068,0.067,0.067,0.064,0.067,0.068,0.068,0.069,0.069,0.068,0.068,0.068,0.068,0.08,0.109,3.346,0,0.007,0,0.007,3.4,3.4,0,3.416,3.423,3.441,3.441,3.441,3.448,3.472,3.478,3.483,3.49,3.497,3.498,3.502,3.507,3.509,3.514,3.521,3.525,3.527,3.528,3.536,3.537,3.542,3.545,3.545,3.546,3.547,3.549,3.555,3.56,3.563,3.576,3.576,3.584,3.588,3.588,3.598,3.606,3.609,3.614,3.624,3.625,3.64,3.641,3.646,3.651,3.659,3.66,3.662,3.662,3.674,3.676,3.687,3.689,3.69,3.714,3.723,3.73,3.733,3.749,3.751,3.762,3.764,3.779,3.779,3.783,3.804,3.81,3.822,3.832,3.847,3.851,3.865,3.868,3.886,3.905,3.909,3.923,3.936,3.95,3.959,3.98,3.984,3.992,4.013,4.023,4.037,4.056,4.08,4.091,0.016,0.016,0.016,0.016,0.007,0.016,4.062,4.03,3.995,3.995,3.973,3.922,3.88,3.844,3.815,3.782,3.758,3.733,3.687,3.682,3.645,3.63,3.6,3.583,3.549,3.529,3.509,3.487,3.469,3.436,3.432,3.405,3.385,3.37,3.357,3.329,3.31,3.308,3.27,3.253,3.233,3.229,3.207,3.175,3.17,3.161,3.139,3.118,3.108,3.097,3.089,3.06,3.047,3.039,3.029,3.009,3.006,2.994,2.988,2.964,2.953,2.937,2.921,2.912,2.906,2.899,2.875,2.862,2.855,2.847,2.837,2.831,2.818,2.809,2.799,2.789,2.778,2.764,2.754,2.742,2.737,2.737,2.727,2.713,2.707,2.694,2.684,2.675,2.668,2.66,2.659,2.656,2.647,2.638,2.637,2.62,2.617,2.616,2.615,2.602,2.594,2.584,2.576,2.573,2.571,2.564,2.551,2.55,2.546,2.536,2.529,2.527,2.523,2.518,2.508,2.506,2.501,2.5,2.492,2.488,2.483,2.483,2.475,2.472,2.47,2.465,2.465,2.465,2.462,2.457,2.457,2.451,2.446,2.446,2.445,2.444,2.442,2.437,2.43,2.429,2.429,2.426,2.423,2.417,2.417,2.417,2.415,2.414,2.414,2.414,2.411,2.41,2.411,2.411,2.411,2.413,2.417,2.413,2.413,2.413,2.412,2.412,2.412,2.412,2.412,2.415,2.415,2.415,2.417,2.421,2.418,2.418,2.419,2.419,2.419,2.423,2.426,2.428,2.43,2.435,2.436,2.439,2.44,2.442,2.442,2.451,2.453,2.454,2.454,2.457,2.466,2.471,2.474,2.474,2.475,2.479,2.481,2.483,2.496,2.496,2.499,2.5,2.509,2.509,2.517,2.524,2.528,2.535,2.54,2.544,2.548,2.552,2.561,2.57,2.572,2.575,2.591,2.599,2.602,2.607,2.615,2.617,2.617,2.634,2.637,2.638,2.65,2.652,2.662,2.678,2.68,2.69,2.699,2.704,2.722,2.728,2.733,2.745,2.753,2.76,2.764,2.781,2.785,2.794,2.814,2.819,2.841,2.843,2.85,2.859,2.868,2.882,2.889,2.91,2.917,2.928,2.943,2.951,2.955,2.968,2.985,2.993,3.015,3.021,3.039,3.05,3.064,3.074,3.09,3.106,3.127,3.14,3.157,3.168,3.181,3.193,3.233,3.235,3.247,3.261,3.277,3.29,3.325,3.34,3.352,3.378,3.399,3.412,3.452,3.463,3.48,3.497,3.522,3.547,3.562,3.597,3.606,3.639,3.671,3.687,3.725,3.751,3.778,3.809,3.823,3.864,3.894,3.915,3.994,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.358,3.333,3.32,3.31,3.301,3.29,3.288,3.272,3.271,3.259,3.243,3.241,3.232,3.217,3.217,3.202,3.197,3.185,3.184,3.173,3.173,3.161,3.149,3.149,3.146,3.134,3.124,3.122,3.121,3.12,3.111,3.11,3.105,3.092,3.089,3.077,3.074,3.074,3.073,3.072,3.066,3.062,3.056,3.052,3.05,3.047,3.046,3.044,3.041,3.041,3.037,3.029,3.029,3.027,3.025,3.025,3.025,3.025,3.025,3.025,3.02,3.016,3.012,3.012,3.012,3.012,3.012,3.01,3.01,3.01,3.01,3.011,3.011,3.011,3.012,3.013,3.013,3.014,3.014,3.014,3.015,3.015,3.015,3.016,3.022,3.016,3.022,3.022,3.022,3.025,3.028,3.033,3.035,3.037,3.037,3.038,3.04,3.041,3.043,3.048,3.054,3.057,3.061,3.064,3.064,3.068,3.076,3.08,3.091,3.091,3.092,3.092,3.092,3.106,3.109,3.114,3.118,3.119,3.134,3.134,3.135,3.135,3.138,3.139,3.146,3.149,3.15,3.157,3.164,3.173,3.173,3.179,3.182,3.204,3.213,3.22,3.228,3.228,3.24,3.242,3.242,3.242,3.243,3.262,3.278,3.284,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 109.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 109.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 109.034} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5908} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.54} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388} SEN {Time 109.079} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,0,0,0,3.68,3.678,3.67,3.657,3.649,3.632,3.614,3.614,3.6,3.6,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.216,3.212,3.212,3.212,3.266,3.367,0,0,0,0,0,0,0,0.007,0.149,0.147,0.147,0.147,0.144,0.147,0.145,0.147,0.147,0.153,0.153,0.155,0.155,3.031,3.031,3.041,3.041,3.031,3.041,3.041,0.155,0.154,0.154,0.154,0.148,0.147,0.138,0.138,0.12,0.091,0.07,0.066,0.066,0.064,0.066,0.069,0.069,0.069,0.069,0.068,0.066,0.065,0.065,0.065,0.123,0.219,3.346,0.007,0.006,3.398,3.398,3.373,3.373,3.391,3.391,3.441,3.45,3.466,3.466,3.466,3.484,3.484,3.489,3.492,3.493,3.502,3.508,3.511,3.513,3.517,3.519,3.519,3.522,3.528,3.536,3.538,3.545,3.547,3.548,3.55,3.557,3.558,3.562,3.568,3.574,3.578,3.578,3.584,3.586,3.591,3.607,3.609,3.613,3.625,3.63,3.636,3.641,3.647,3.653,3.657,3.66,3.667,3.667,3.679,3.682,3.685,3.685,3.686,3.702,3.722,3.724,3.73,3.748,3.754,3.757,3.759,3.767,3.793,3.794,3.797,3.821,3.821,3.831,3.84,3.853,3.866,3.867,3.877,3.895,3.906,3.923,3.933,3.948,3.967,3.968,3.99,4.004,4.017,4.038,4.044,4.067,4.078,4.092,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.008,3.993,3.969,3.927,3.903,3.867,3.847,3.818,3.78,3.739,3.732,3.696,3.685,3.661,3.634,3.597,3.573,3.559,3.524,3.513,3.489,3.466,3.445,3.425,3.399,3.375,3.364,3.357,3.333,3.306,3.295,3.268,3.259,3.229,3.229,3.196,3.179,3.164,3.153,3.133,3.129,3.111,3.092,3.081,3.061,3.051,3.039,3.029,3,2.998,2.993,2.975,2.963,2.955,2.939,2.935,2.913,2.912,2.892,2.876,2.873,2.867,2.858,2.842,2.832,2.814,2.812,2.795,2.792,2.781,2.771,2.764,2.754,2.742,2.733,2.723,2.719,2.699,2.694,2.68,2.68,2.674,2.658,2.656,2.655,2.654,2.638,2.633,2.632,2.623,2.619,2.61,2.604,2.591,2.585,2.58,2.575,2.569,2.566,2.56,2.559,2.541,2.535,2.527,2.525,2.519,2.513,2.503,2.497,2.497,2.496,2.493,2.484,2.482,2.479,2.479,2.473,2.473,2.472,2.472,2.459,2.459,2.453,2.448,2.446,2.445,2.443,2.443,2.441,2.439,2.431,2.427,2.427,2.425,2.423,2.42,2.42,2.42,2.419,2.418,2.418,2.418,2.416,2.415,2.414,2.414,2.411,2.411,2.411,2.41,2.408,2.41,2.41,2.41,2.415,2.415,2.415,2.412,2.412,2.412,2.417,2.42,2.42,2.421,2.42,2.42,2.421,2.424,2.426,2.427,2.43,2.433,2.433,2.438,2.44,2.442,2.443,2.445,2.452,2.454,2.456,2.457,2.462,2.463,2.466,2.466,2.468,2.478,2.479,2.484,2.487,2.491,2.491,2.491,2.504,2.506,2.512,2.514,2.52,2.521,2.532,2.543,2.543,2.553,2.557,2.559,2.566,2.575,2.575,2.587,2.599,2.602,2.606,2.608,2.618,2.622,2.636,2.637,2.639,2.656,2.659,2.661,2.676,2.679,2.691,2.697,2.706,2.714,2.722,2.726,2.739,2.754,2.761,2.765,2.783,2.786,2.797,2.813,2.815,2.835,2.837,2.845,2.862,2.869,2.88,2.89,2.897,2.913,2.926,2.946,2.955,2.961,2.973,2.982,3.002,3.019,3.024,3.043,3.047,3.061,3.08,3.093,3.105,3.129,3.146,3.16,3.17,3.187,3.208,3.209,3.234,3.251,3.262,3.272,3.297,3.332,3.332,3.349,3.381,3.396,3.406,3.428,3.459,3.486,3.491,3.517,3.536,3.563,3.588,3.618,3.648,3.674,3.701,3.721,3.752,3.782,3.801,3.829,3.859,3.896,3.911,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.347,3.339,3.336,3.314,3.313,3.295,3.293,3.287,3.267,3.261,3.246,3.245,3.24,3.234,3.22,3.213,3.213,3.2,3.2,3.186,3.183,3.177,3.161,3.16,3.151,3.135,3.135,3.129,3.124,3.121,3.117,3.11,3.108,3.1,3.099,3.092,3.081,3.08,3.08,3.076,3.073,3.07,3.066,3.059,3.051,3.051,3.049,3.047,3.045,3.043,3.038,3.038,3.038,3.029,3.027,3.024,3.024,3.024,3.034,3.034,3.034,3.022,3.017,3.016,3.015,3.014,3.015,3.014,3.014,3.011,3.01,3.01,3.011,3.01,3.017,3.017,3.011,3.011,3.011,3.011,3.013,3.018,3.018,3.019,3.019,3.019,3.019,3.016,3.016,3.016,3.023,3.024,3.025,3.026,3.033,3.036,3.036,3.041,3.041,3.043,3.051,3.054,3.058,3.058,3.061,3.061,3.067,3.079,3.081,3.085,3.089,3.092,3.094,3.095,3.103,3.106,3.108,3.12,3.12,3.129,3.13,3.132,3.138,3.148,3.149,3.15,3.151,3.158,3.16,3.162,3.164,3.17,3.173,3.188,3.201,3.205,3.216,3.218,3.224,3.239,3.241,3.243,3.25,3.251,3.261,3.272,3.285,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 109.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 109.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 109.235} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5908} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.54} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388} SEN {Time 109.279} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.178,0.186,0,0,0,0,0,0,0,0,3.697,3.677,3.674,3.664,3.654,3.629,3.625,3.625,3.625,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.217,3.214,3.214,3.214,3.217,3.272,3.358,0,0,0,0,0,0,0,0,0.152,0.151,0.151,0.151,0.145,0.145,0.145,0.153,0.153,0.157,0.157,0.158,0.158,3.034,3.035,3.037,3.037,3.037,3.039,3.037,0.156,0.156,0.156,0.154,0.154,0.154,0.145,0.145,0.12,0.095,0.068,0.068,0.067,0.067,0.067,0.068,0.07,0.072,0.072,0.072,0.07,0.07,0.07,0.071,0.12,0.203,3.348,3.357,3.359,3.359,3.372,3.372,3.379,3.391,3.392,3.409,3.432,3.436,3.443,3.458,3.478,3.486,3.491,3.499,3.503,3.505,3.509,3.514,3.514,3.52,3.52,3.526,3.53,3.531,3.537,3.537,3.539,3.539,3.545,3.547,3.551,3.564,3.565,3.571,3.574,3.575,3.576,3.579,3.585,3.595,3.596,3.613,3.617,3.633,3.635,3.64,3.644,3.649,3.654,3.654,3.654,3.667,3.67,3.678,3.68,3.681,3.7,3.7,3.703,3.721,3.728,3.734,3.739,3.751,3.757,3.768,3.778,3.785,3.795,3.8,3.815,3.825,3.831,3.839,3.848,3.857,3.873,3.878,3.899,3.907,3.914,3.926,3.953,3.958,3.96,3.993,4.009,4.02,4.04,4.043,4.06,4.075,4.079,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.06,4.02,3.977,3.923,3.896,3.876,3.847,3.805,3.77,3.744,3.731,3.703,3.67,3.652,3.61,3.593,3.567,3.553,3.527,3.509,3.487,3.462,3.436,3.427,3.401,3.382,3.377,3.345,3.322,3.312,3.303,3.278,3.264,3.238,3.229,3.209,3.186,3.174,3.152,3.143,3.125,3.103,3.1,3.077,3.065,3.056,3.047,3.029,3.011,2.997,2.986,2.984,2.961,2.953,2.937,2.92,2.911,2.907,2.901,2.879,2.868,2.866,2.846,2.844,2.83,2.812,2.811,2.798,2.779,2.778,2.766,2.759,2.754,2.741,2.737,2.728,2.723,2.703,2.698,2.689,2.681,2.675,2.668,2.664,2.651,2.645,2.638,2.637,2.623,2.615,2.609,2.605,2.598,2.591,2.58,2.578,2.573,2.568,2.559,2.559,2.556,2.542,2.542,2.534,2.525,2.518,2.513,2.504,2.504,2.503,2.503,2.497,2.492,2.483,2.482,2.478,2.476,2.472,2.47,2.466,2.457,2.454,2.454,2.45,2.45,2.446,2.445,2.442,2.441,2.437,2.436,2.429,2.429,2.426,2.424,2.419,2.418,2.418,2.418,2.418,2.418,2.418,2.415,2.414,2.411,2.411,2.411,2.409,2.409,2.409,2.409,2.409,2.411,2.411,2.411,2.413,2.413,2.411,2.414,2.414,2.414,2.417,2.417,2.416,2.416,2.416,2.416,2.42,2.426,2.427,2.428,2.431,2.437,2.437,2.439,2.442,2.445,2.446,2.446,2.453,2.46,2.46,2.461,2.463,2.47,2.47,2.472,2.477,2.48,2.482,2.487,2.492,2.496,2.498,2.502,2.508,2.513,2.519,2.522,2.522,2.527,2.53,2.546,2.553,2.555,2.564,2.565,2.572,2.574,2.587,2.594,2.598,2.605,2.609,2.615,2.627,2.637,2.639,2.649,2.655,2.655,2.668,2.68,2.681,2.691,2.693,2.703,2.713,2.721,2.723,2.74,2.749,2.751,2.765,2.777,2.792,2.799,2.805,2.819,2.836,2.841,2.853,2.865,2.866,2.878,2.886,2.898,2.913,2.93,2.949,2.952,2.957,2.975,2.987,2.999,3.015,3.024,3.041,3.045,3.068,3.078,3.093,3.111,3.124,3.142,3.152,3.165,3.178,3.203,3.225,3.234,3.246,3.27,3.27,3.298,3.329,3.338,3.364,3.379,3.39,3.412,3.432,3.458,3.487,3.502,3.523,3.549,3.565,3.591,3.607,3.645,3.674,3.692,3.733,3.751,3.776,3.787,3.829,3.857,3.89,3.913,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.353,3.337,3.335,3.31,3.306,3.298,3.294,3.279,3.269,3.254,3.253,3.245,3.242,3.237,3.219,3.214,3.21,3.2,3.198,3.196,3.181,3.18,3.159,3.158,3.153,3.144,3.14,3.13,3.128,3.118,3.11,3.11,3.106,3.104,3.094,3.094,3.089,3.086,3.076,3.073,3.064,3.063,3.061,3.06,3.054,3.043,3.042,3.04,3.04,3.042,3.039,3.034,3.032,3.027,3.022,3.019,3.022,3.022,3.029,3.029,3.029,3.02,3.02,3.016,3.013,3.012,3.012,3.011,3.013,3.011,3.011,3.008,3.011,3.011,3.012,3.012,3.012,3.013,3.012,3.012,3.013,3.016,3.014,3.018,3.019,3.02,3.021,3.022,3.022,3.022,3.022,3.025,3.027,3.028,3.035,3.036,3.036,3.036,3.041,3.048,3.051,3.058,3.06,3.063,3.066,3.067,3.067,3.07,3.077,3.086,3.086,3.092,3.092,3.093,3.101,3.108,3.108,3.12,3.123,3.128,3.129,3.133,3.138,3.139,3.139,3.148,3.149,3.156,3.159,3.16,3.172,3.173,3.175,3.182,3.204,3.214,3.214,3.227,3.229,3.232,3.236,3.241,3.246,3.249,3.266,3.277,3.296,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 109.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Time 109.44} {Type Tachometer} {Name LeftRight} {Vel -0.007620,0.007620} SEN {Time 109.435} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388} SEN {Time 109.479} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.178,0.178,0.178,0,0,0,0,0,0,0,0,3.686,3.686,3.663,3.66,3.65,3.64,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.226,3.216,3.213,3.213,3.213,3.264,3.357,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.143,0.145,0.145,0.151,0.153,0.153,0.153,0.155,0.155,3.034,3.035,3.035,3.035,3.034,3.035,3.032,0.16,0.159,0.159,0.154,0.152,0.15,0.135,0.135,0.118,0.088,0.067,0.067,0.064,0.064,0.064,0.068,0.068,0.068,0.068,0.068,0.067,0.067,0.07,0.072,0.123,0.213,3.347,3.347,3.357,3.357,3.368,3.372,3.385,3.395,3.401,3.423,0.007,0,3.485,3.485,3.485,3.485,3.492,3.503,3.504,3.505,3.505,3.507,3.513,3.515,3.521,3.525,3.526,3.529,3.534,3.541,3.541,3.541,3.541,3.542,3.544,3.557,3.557,3.572,3.573,3.573,3.578,3.586,3.591,3.597,3.604,3.612,3.62,3.622,3.63,3.636,3.637,3.651,3.656,3.657,3.658,3.667,3.669,3.674,3.691,3.696,3.697,3.698,3.716,3.719,3.729,3.732,3.741,3.745,3.75,3.77,3.774,3.776,3.798,3.801,3.814,3.82,3.835,3.846,3.85,3.871,3.874,3.879,3.901,3.907,3.916,3.926,3.95,3.952,3.97,3.98,3.992,4.022,4.027,4.055,4.071,4.081,4.095,0.016,0.016,0.016,0.016,0.016,4.088,4.045,4.029,3.988,3.974,3.947,3.908,3.88,3.838,3.823,3.787,3.751,3.736,3.703,3.684,3.655,3.628,3.599,3.575,3.552,3.526,3.509,3.479,3.465,3.438,3.422,3.405,3.382,3.372,3.35,3.329,3.31,3.294,3.282,3.266,3.226,3.222,3.202,3.179,3.171,3.155,3.135,3.123,3.112,3.093,3.079,3.064,3.05,3.045,3.018,3.006,2.994,2.992,2.978,2.968,2.951,2.933,2.922,2.917,2.908,2.888,2.885,2.866,2.856,2.852,2.839,2.824,2.806,2.805,2.793,2.782,2.781,2.767,2.76,2.747,2.746,2.732,2.728,2.721,2.706,2.697,2.689,2.678,2.677,2.658,2.654,2.65,2.648,2.638,2.63,2.624,2.612,2.611,2.607,2.597,2.593,2.582,2.576,2.569,2.567,2.559,2.556,2.545,2.545,2.543,2.538,2.522,2.518,2.511,2.511,2.503,2.495,2.495,2.489,2.488,2.488,2.478,2.477,2.477,2.467,2.467,2.466,2.46,2.454,2.453,2.451,2.446,2.445,2.446,2.445,2.445,2.436,2.436,2.426,2.426,2.426,2.426,2.42,2.42,2.418,2.415,2.414,2.414,2.413,2.413,2.413,2.415,2.415,2.417,2.417,2.415,2.415,2.415,2.415,2.415,2.415,2.416,2.418,2.418,2.414,2.412,2.412,2.412,2.416,2.416,2.417,2.416,2.417,2.418,2.421,2.423,2.428,2.429,2.431,2.432,2.434,2.437,2.44,2.445,2.447,2.448,2.45,2.452,2.452,2.458,2.46,2.468,2.47,2.475,2.476,2.48,2.484,2.489,2.494,2.494,2.494,2.506,2.514,2.516,2.516,2.52,2.528,2.53,2.531,2.537,2.547,2.549,2.552,2.564,2.571,2.572,2.589,2.598,2.599,2.604,2.61,2.618,2.618,2.629,2.642,2.645,2.647,2.655,2.659,2.674,2.679,2.691,2.693,2.706,2.711,2.724,2.731,2.734,2.744,2.754,2.768,2.778,2.789,2.796,2.803,2.817,2.826,2.841,2.848,2.858,2.872,2.881,2.896,2.906,2.912,2.929,2.946,2.957,2.958,2.972,2.987,2.995,3.014,3.027,3.043,3.046,3.063,3.078,3.092,3.104,3.121,3.145,3.151,3.17,3.181,3.191,3.224,3.229,3.248,3.26,3.28,3.302,3.329,3.34,3.356,3.369,3.405,3.418,3.445,3.461,3.493,3.503,3.52,3.549,3.56,3.585,3.613,3.643,3.665,3.699,3.729,3.745,3.786,3.805,3.84,3.868,3.892,3.918,3.993,0.007,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.344,3.344,3.338,3.312,3.31,3.292,3.288,3.28,3.275,3.265,3.249,3.24,3.238,3.235,3.225,3.214,3.205,3.198,3.189,3.189,3.174,3.17,3.168,3.155,3.146,3.14,3.139,3.133,3.124,3.121,3.118,3.106,3.106,3.101,3.087,3.085,3.085,3.082,3.077,3.076,3.069,3.063,3.063,3.063,3.058,3.047,3.04,3.04,3.04,3.04,3.039,3.036,3.033,3.031,3.03,3.027,3.027,3.03,3.027,3.027,3.027,3.02,3.019,3.015,3.012,3.009,3.009,3.007,3.009,3.009,3.009,3.007,3.009,3.009,3.01,3.01,3.012,3.011,3.011,3.011,3.014,3.014,3.018,3.018,3.018,3.018,3.018,3.018,3.02,3.02,3.02,3.021,3.027,3.029,3.029,3.037,3.037,3.039,3.039,3.04,3.049,3.052,3.06,3.063,3.063,3.064,3.064,3.071,3.08,3.082,3.085,3.091,3.094,3.101,3.104,3.109,3.111,3.115,3.12,3.127,3.127,3.137,3.137,3.145,3.147,3.148,3.15,3.159,3.161,3.166,3.179,3.182,3.182,3.187,3.192,3.203,3.218,3.223,3.226,3.241,3.241,3.244,3.244,3.251,3.258,3.28,3.283,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 109.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.008727} SEN {Time 109.64} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780} SEN {Time 109.636} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 109.679} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.179,0.188,0.188,0.188,0.193,0,0,0,0,0,0,0,0,3.683,3.668,3.664,3.653,3.63,3.62,3.611,3.611,3.611,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.215,3.211,3.207,3.207,3.207,3.347,0,0,0,0,0,0,0,0,0.147,0.146,0.146,0.146,0.146,0.147,0.147,0.147,0.153,0.153,0.155,0.155,0.161,0.163,3.034,3.034,3.044,3.044,3.034,3.044,3.044,0.157,0.155,0.155,0.154,0.153,0.147,0.145,0.145,0.113,0.096,0.067,0.067,0.067,0.065,0.067,0.067,0.067,0.068,0.068,0.066,0.066,0.066,0.066,0.069,0.127,0.195,3.352,3.354,3.369,3.369,3.371,3.382,3.386,3.395,3.428,3.428,3.432,3.446,3.462,3.471,3.487,3.488,3.495,3.497,3.5,3.507,3.513,3.515,3.516,3.518,3.527,3.529,3.529,3.537,3.538,3.538,3.541,3.544,3.547,3.554,3.554,3.556,3.571,3.574,3.575,3.575,3.587,3.589,3.594,3.61,3.612,3.616,3.618,3.635,3.643,3.645,3.652,3.656,3.656,3.656,3.661,3.664,3.671,3.682,3.691,3.693,3.698,3.704,3.706,3.723,3.735,3.739,3.754,3.755,3.764,3.772,3.777,3.789,3.811,3.812,3.821,3.828,3.85,3.854,3.867,3.87,3.885,3.895,3.903,3.908,3.926,3.942,3.962,3.972,3.984,4.001,4.017,4.024,4.047,4.052,4.083,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.019,3.991,3.964,3.935,3.89,3.869,3.865,3.826,3.787,3.773,3.736,3.713,3.694,3.661,3.622,3.598,3.575,3.556,3.531,3.518,3.48,3.462,3.443,3.429,3.406,3.385,3.358,3.349,3.342,3.321,3.307,3.275,3.257,3.238,3.214,3.214,3.191,3.167,3.16,3.138,3.133,3.11,3.1,3.099,3.078,3.062,3.04,3.029,3.017,3.003,2.985,2.975,2.967,2.958,2.948,2.93,2.917,2.905,2.898,2.885,2.874,2.864,2.85,2.846,2.826,2.818,2.817,2.801,2.783,2.779,2.773,2.753,2.749,2.745,2.736,2.728,2.717,2.706,2.703,2.691,2.677,2.677,2.663,2.66,2.652,2.644,2.643,2.631,2.63,2.612,2.611,2.605,2.599,2.595,2.581,2.574,2.572,2.562,2.56,2.557,2.556,2.544,2.539,2.537,2.525,2.521,2.514,2.512,2.504,2.503,2.497,2.494,2.492,2.49,2.482,2.482,2.479,2.475,2.468,2.464,2.463,2.463,2.454,2.454,2.453,2.451,2.44,2.439,2.439,2.437,2.433,2.432,2.432,2.427,2.427,2.426,2.424,2.424,2.419,2.419,2.417,2.416,2.415,2.413,2.413,2.412,2.413,2.413,2.413,2.408,2.408,2.407,2.407,2.408,2.41,2.41,2.413,2.413,2.413,2.413,2.414,2.421,2.421,2.421,2.421,2.42,2.42,2.42,2.423,2.423,2.425,2.432,2.435,2.437,2.438,2.439,2.441,2.442,2.446,2.451,2.453,2.454,2.46,2.464,2.471,2.472,2.474,2.474,2.486,2.489,2.491,2.494,2.494,2.496,2.499,2.507,2.516,2.516,2.517,2.517,2.529,2.532,2.536,2.546,2.55,2.557,2.562,2.57,2.576,2.583,2.598,2.609,2.612,2.612,2.619,2.621,2.636,2.639,2.645,2.647,2.661,2.664,2.675,2.675,2.695,2.696,2.709,2.714,2.729,2.731,2.74,2.757,2.762,2.77,2.782,2.784,2.797,2.82,2.821,2.831,2.846,2.854,2.858,2.872,2.886,2.893,2.904,2.924,2.939,2.942,2.959,2.977,2.977,2.994,2.995,3.018,3.025,3.041,3.056,3.066,3.079,3.099,3.105,3.123,3.14,3.161,3.173,3.183,3.197,3.223,3.238,3.253,3.277,3.294,3.303,3.317,3.343,3.363,3.375,3.39,3.421,3.442,3.464,3.484,3.511,3.53,3.559,3.569,3.604,3.633,3.649,3.682,3.701,3.721,3.758,3.78,3.814,3.847,3.868,3.899,3.95,0.007,4.07,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.008,0.008,0.008,0,3.339,3.335,3.327,3.318,3.302,3.299,3.284,3.276,3.266,3.256,3.254,3.234,3.229,3.223,3.221,3.212,3.195,3.195,3.191,3.181,3.174,3.165,3.162,3.149,3.148,3.141,3.134,3.125,3.118,3.117,3.117,3.114,3.098,3.095,3.092,3.087,3.087,3.077,3.076,3.074,3.065,3.059,3.056,3.053,3.05,3.048,3.04,3.04,3.035,3.034,3.034,3.034,3.025,3.025,3.025,3.023,3.023,3.027,3.02,3.021,3.021,3.02,3.02,3.013,3.012,3.013,3.012,3.012,3.013,3.013,3.007,3.007,3.007,3.007,3.01,3.011,3.011,3.011,3.012,3.012,3.008,3.013,3.013,3.018,3.019,3.02,3.023,3.019,3.02,3.022,3.022,3.022,3.023,3.029,3.034,3.037,3.042,3.042,3.042,3.043,3.049,3.053,3.056,3.062,3.064,3.068,3.07,3.071,3.078,3.08,3.086,3.09,3.092,3.096,3.1,3.106,3.107,3.119,3.123,3.127,3.129,3.129,3.133,3.133,3.138,3.145,3.152,3.152,3.157,3.167,3.173,3.177,3.183,3.192,3.207,3.209,3.222,3.226,3.23,3.231,3.246,3.248,3.25,3.252,3.26,3.265,3.295,3.297,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 109.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.040143} SEN {Time 109.84} {Type Tachometer} {Name LeftRight} {Vel -0.053340,0.053340} SEN {Time 109.837} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6642} SEN {Time 109.875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.186,0.187,0.187,0,0,0,0,0,0,0,3.657,3.638,3.633,3.614,3.598,3.598,3.596,3.369,3.337,3.337,3.337,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.212,3.212,3.212,3.348,0,0,0,0,0,0,0,0,0,0,0,3.154,0.156,0.146,0.146,0.142,0.146,0.145,0.145,0.145,0.152,0.152,0.153,0.153,0.153,0.16,3.016,3.016,3.02,3.02,3.016,3.02,3.02,0.158,0.158,0.158,0.153,0.149,0.148,0.145,0.145,0.116,0.096,0.068,0.068,0.067,0.067,0.067,0.067,0.067,0.07,0.071,0.07,0.07,0.071,0.071,0.078,0.138,0.205,3.344,3.359,3.359,3.359,3.369,3.37,3.37,3.382,3.401,3.423,3.432,3.451,3.472,3.484,3.489,3.5,3.5,3.5,3.515,3.52,3.526,3.528,3.535,3.538,3.547,3.548,3.552,3.557,3.559,3.56,3.56,3.568,3.568,3.574,3.578,3.579,3.594,3.595,3.604,3.607,3.613,3.613,3.626,3.63,3.643,3.65,3.652,3.667,3.668,3.669,3.676,3.688,3.69,3.694,3.698,3.71,3.713,3.714,3.722,3.734,3.74,3.747,3.758,3.767,3.792,3.792,3.798,3.807,3.815,3.832,3.836,3.839,3.861,3.861,3.885,3.893,3.895,3.908,3.918,3.93,3.961,3.964,3.977,3.986,3.997,4.008,4.032,4.045,4.053,4.063,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.068,4.023,4.003,3.97,3.953,3.897,3.857,3.843,3.815,3.777,3.754,3.739,3.717,3.694,3.668,3.631,3.601,3.587,3.56,3.536,3.516,3.482,3.469,3.438,3.418,3.398,3.385,3.373,3.339,3.335,3.297,3.285,3.268,3.265,3.245,3.222,3.201,3.189,3.187,3.152,3.138,3.133,3.105,3.094,3.082,3.065,3.064,3.043,3.032,3.021,3.008,2.988,2.975,2.958,2.955,2.943,2.927,2.924,2.916,2.891,2.89,2.874,2.854,2.853,2.84,2.826,2.813,2.804,2.793,2.791,2.777,2.775,2.754,2.742,2.74,2.732,2.718,2.711,2.708,2.705,2.683,2.678,2.667,2.666,2.664,2.645,2.637,2.627,2.625,2.622,2.611,2.604,2.598,2.596,2.593,2.58,2.573,2.568,2.567,2.562,2.55,2.547,2.543,2.536,2.535,2.534,2.529,2.517,2.513,2.505,2.501,2.5,2.495,2.492,2.482,2.478,2.476,2.474,2.473,2.463,2.46,2.459,2.459,2.456,2.452,2.446,2.446,2.444,2.442,2.44,2.436,2.435,2.435,2.434,2.434,2.431,2.421,2.418,2.418,2.418,2.418,2.418,2.413,2.412,2.411,2.412,2.411,2.411,2.411,2.409,2.409,2.41,2.411,2.411,2.411,2.412,2.413,2.411,2.413,2.414,2.416,2.414,2.418,2.418,2.421,2.42,2.423,2.428,2.429,2.43,2.431,2.432,2.432,2.439,2.439,2.439,2.44,2.443,2.448,2.45,2.46,2.46,2.461,2.463,2.463,2.478,2.478,2.479,2.479,2.489,2.489,2.496,2.497,2.499,2.502,2.511,2.513,2.518,2.521,2.521,2.536,2.543,2.553,2.553,2.554,2.564,2.568,2.571,2.578,2.578,2.588,2.594,2.609,2.609,2.617,2.625,2.637,2.65,2.657,2.658,2.664,2.669,2.681,2.689,2.695,2.698,2.71,2.717,2.719,2.739,2.751,2.755,2.764,2.771,2.785,2.787,2.794,2.817,2.817,2.823,2.836,2.857,2.858,2.881,2.885,2.905,2.914,2.92,2.943,2.945,2.959,2.97,2.988,2.993,3.002,3.015,3.038,3.048,3.061,3.068,3.094,3.097,3.119,3.133,3.148,3.163,3.17,3.201,3.211,3.227,3.248,3.26,3.275,3.297,3.311,3.35,3.356,3.382,3.394,3.423,3.435,3.452,3.474,3.496,3.511,3.539,3.56,3.585,3.616,3.639,3.656,3.693,3.717,3.737,3.782,3.807,3.824,3.857,3.886,3.921,3.96,3.991,4.021,4.055,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.338,3.317,3.304,3.301,3.297,3.286,3.272,3.267,3.262,3.246,3.227,3.22,3.22,3.213,3.204,3.198,3.191,3.181,3.172,3.17,3.169,3.156,3.15,3.141,3.137,3.135,3.127,3.118,3.112,3.104,3.094,3.094,3.094,3.091,3.09,3.071,3.069,3.067,3.065,3.065,3.062,3.053,3.05,3.045,3.042,3.042,3.041,3.034,3.031,3.03,3.029,3.025,3.023,3.02,3.02,3.02,3.021,3.021,3.021,3.01,3.008,3.007,3.007,3.007,3.007,3.007,3.006,3.004,3.002,3.002,3.002,3.002,3.002,3.002,3.004,3.004,3.004,3.003,3.004,3.003,3.003,3.005,3.005,3.005,3.009,3.015,3.021,3.021,3.021,3.022,3.022,3.022,3.022,3.023,3.027,3.036,3.037,3.04,3.045,3.045,3.047,3.05,3.05,3.058,3.061,3.063,3.068,3.072,3.076,3.077,3.084,3.089,3.096,3.096,3.109,3.113,3.119,3.123,3.128,3.129,3.129,3.132,3.135,3.142,3.151,3.154,3.158,3.165,3.167,3.176,3.18,3.18,3.199,3.203,3.211,3.211,3.22,3.224,3.235,3.237,3.238,3.239,3.258,3.26,3.269,3.275,3.287,3.301,3.814,3.844,3.85,3.85,3.87,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 110.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.115192} SEN {Time 110.03} {Type Tachometer} {Name LeftRight} {Vel -0.101600,0.101600} SEN {Time 110.031} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.5306} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 5.6642} SEN {Time 110.075} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.184,0.184,0.184,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.219,3.219,3.219,3.276,3.374,0,0,0,0,0,0,0,0,3.105,3.102,3.102,3.093,3.09,3.087,3.079,3.076,3.065,3.063,3.06,3.049,3.049,3.049,3.049,3.052,3.052,0.151,0.147,0.145,0.145,0.145,0.143,0.143,0.148,0.148,0.153,0.153,0.155,0.155,2.993,2.993,2.993,2.993,2.992,2.992,2.992,0.159,0.155,0.155,0.153,0.151,0.151,0.146,0.143,0.122,0.096,0.072,0.072,0.064,0.064,0.064,0.064,0.068,0.069,0.069,0.069,0.07,0.071,0.071,0.073,0.135,0.216,3.353,3.354,3.38,3.38,3.387,3.388,3.414,3.439,3.439,3.458,3.487,3.487,3.509,3.512,3.536,3.547,3.55,3.558,3.563,3.574,3.575,3.588,3.59,3.597,3.6,3.601,3.611,3.627,3.636,3.636,3.648,3.648,3.649,3.654,3.66,3.665,3.672,3.69,3.691,3.691,3.709,3.71,3.715,3.735,3.74,3.746,3.748,3.762,3.78,3.78,3.783,3.789,3.807,3.818,3.825,3.834,3.841,3.851,3.855,3.864,3.874,3.887,3.898,3.926,3.933,3.946,3.955,3.964,3.973,3.987,4.003,4.027,4.038,4.046,4.068,4.068,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.069,4.069,4.046,3.996,3.934,3.907,3.879,3.823,3.812,3.775,3.757,3.722,3.702,3.673,3.633,3.625,3.613,3.58,3.553,3.528,3.51,3.477,3.467,3.443,3.413,3.405,3.379,3.357,3.343,3.323,3.296,3.278,3.27,3.253,3.231,3.212,3.197,3.176,3.167,3.148,3.137,3.121,3.1,3.092,3.077,3.065,3.052,3.045,3.029,3.019,2.997,2.987,2.98,2.958,2.953,2.931,2.93,2.92,2.906,2.897,2.888,2.869,2.861,2.855,2.843,2.824,2.817,2.805,2.799,2.792,2.781,2.776,2.759,2.745,2.739,2.729,2.722,2.715,2.712,2.694,2.683,2.68,2.678,2.664,2.656,2.648,2.633,2.63,2.622,2.619,2.606,2.603,2.597,2.591,2.587,2.576,2.573,2.563,2.558,2.547,2.543,2.537,2.537,2.532,2.532,2.527,2.523,2.518,2.509,2.504,2.504,2.501,2.494,2.492,2.483,2.48,2.48,2.477,2.472,2.468,2.463,2.461,2.461,2.454,2.449,2.448,2.442,2.441,2.441,2.435,2.435,2.435,2.435,2.426,2.426,2.425,2.425,2.425,2.425,2.421,2.418,2.418,2.412,2.412,2.412,2.412,2.412,2.412,2.411,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.41,2.411,2.412,2.412,2.412,2.417,2.412,2.417,2.419,2.419,2.421,2.423,2.421,2.427,2.427,2.432,2.436,2.438,2.44,2.441,2.441,2.443,2.45,2.453,2.458,2.465,2.466,2.466,2.47,2.472,2.472,2.476,2.486,2.488,2.493,2.496,2.498,2.509,2.512,2.514,2.519,2.522,2.534,2.534,2.543,2.546,2.551,2.553,2.56,2.565,2.569,2.577,2.583,2.589,2.597,2.608,2.612,2.618,2.622,2.632,2.639,2.641,2.647,2.662,2.668,2.669,2.685,2.689,2.705,2.705,2.719,2.726,2.734,2.755,2.763,2.766,2.771,2.774,2.786,2.809,2.815,2.827,2.831,2.843,2.855,2.868,2.88,2.891,2.899,2.916,2.923,2.938,2.946,2.96,2.973,2.991,2.994,3.003,3.026,3.034,3.051,3.06,3.08,3.089,3.114,3.115,3.133,3.146,3.162,3.179,3.199,3.217,3.221,3.249,3.272,3.277,3.293,3.321,3.34,3.356,3.381,3.389,3.42,3.44,3.461,3.487,3.508,3.522,3.546,3.566,3.589,3.616,3.659,3.679,3.709,3.716,3.765,3.774,3.813,3.851,3.899,3.925,3.965,3.965,3.999,4.034,4.074,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0.009,0.009,0.009,3.269,3.268,3.254,3.25,3.238,3.228,3.22,3.205,3.203,3.198,3.186,3.184,3.166,3.163,3.161,3.158,3.145,3.14,3.127,3.122,3.12,3.114,3.109,3.104,3.099,3.089,3.089,3.082,3.082,3.08,3.067,3.058,3.056,3.052,3.051,3.049,3.049,3.041,3.035,3.035,3.035,3.029,3.027,3.018,3.016,3.011,3.01,3.009,3.009,3.009,3.009,3.009,2.998,2.998,2.998,2.998,2.998,2.998,2.996,2.994,2.993,2.992,2.991,2.991,2.992,2.995,2.995,2.995,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.998,3.002,2.999,2.999,2.999,3.002,2.999,3.002,3.007,3.008,3.014,3.014,3.014,3.016,3.017,3.025,3.028,3.03,3.03,3.035,3.04,3.04,3.041,3.048,3.052,3.053,3.057,3.068,3.069,3.072,3.076,3.081,3.089,3.095,3.098,3.103,3.111,3.111,3.115,3.115,3.121,3.126,3.137,3.143,3.144,3.144,3.145,3.148,3.162,3.173,3.18,3.187,3.187,3.196,3.198,3.207,3.207,3.225,3.226,3.235,3.25,3.253,3.253,3.258,3.264,3.268,3.29,3.808,3.827,3.828,3.828,3.841,3.858,3.868,3.872,3.906,3.913,3.937,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 110.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.256563} SEN {Time 110.23} {Type Tachometer} {Name LeftRight} {Vel -0.124460,0.124460} SEN {Time 110.234} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.5306} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.54} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 2.7432} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.6002} SEN {Time 110.275} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.088,3.079,3.073,3.068,3.067,3.061,3.061,3.051,3.05,3.048,3.044,3.037,3.034,3.033,3.033,3.032,3.025,3.024,3.024,3.024,3.021,3.019,3.016,3.016,3.017,3.016,3.016,3.016,3.016,3.014,3.016,3.016,0.145,0.145,0.145,0.145,0.153,0.153,0.162,0.162,0.155,0.155,0.155,0.155,0.163,0.274,3.53,3.53,3.53,3.532,3.542,3.532,3.506,0.157,0.156,0.155,0.152,0.149,0.148,0.138,0.115,0.087,0.07,0.067,0.065,0.065,0.065,0.065,0.067,0.071,0.071,0.071,0.071,0.071,0.071,0.078,0.132,0.232,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,3.683,3.682,3.683,3.683,3.705,3.707,3.723,3.741,3.75,3.759,3.77,3.777,3.781,3.796,3.799,3.819,3.839,3.839,3.844,3.856,3.858,3.884,3.887,3.897,3.912,3.932,3.934,3.946,3.955,3.972,3.976,3.979,4.022,4.025,4.041,4.062,4.068,4.07,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,4.048,4.017,4.017,4.017,0,0,0,3.821,3.795,3.76,3.736,3.723,3.683,3.655,3.643,3.63,3.58,3.57,3.548,3.532,3.493,3.491,3.451,3.444,3.426,3.398,3.375,3.35,3.33,3.315,3.296,3.268,3.26,3.246,3.217,3.203,3.182,3.171,3.156,3.136,3.122,3.112,3.095,3.086,3.077,3.054,3.042,3.03,3.029,3.012,2.997,2.971,2.968,2.961,2.944,2.935,2.928,2.905,2.894,2.893,2.876,2.873,2.861,2.847,2.843,2.826,2.811,2.808,2.8,2.79,2.782,2.771,2.764,2.751,2.75,2.74,2.722,2.717,2.707,2.705,2.696,2.681,2.673,2.669,2.66,2.658,2.652,2.647,2.633,2.628,2.619,2.602,2.602,2.602,2.59,2.579,2.577,2.567,2.564,2.564,2.544,2.539,2.536,2.532,2.528,2.524,2.523,2.519,2.506,2.505,2.501,2.497,2.494,2.488,2.487,2.485,2.48,2.475,2.473,2.471,2.466,2.456,2.456,2.454,2.453,2.448,2.448,2.447,2.446,2.446,2.439,2.435,2.435,2.434,2.433,2.43,2.427,2.426,2.426,2.421,2.421,2.418,2.416,2.416,2.418,2.418,2.423,2.423,2.423,2.414,2.412,2.412,2.414,2.414,2.413,2.416,2.416,2.413,2.416,2.418,2.42,2.421,2.423,2.421,2.424,2.427,2.427,2.43,2.434,2.435,2.436,2.438,2.44,2.44,2.445,2.445,2.452,2.453,2.456,2.457,2.459,2.462,2.467,2.474,2.475,2.477,2.48,2.48,2.491,2.492,2.496,2.501,2.503,2.508,2.511,2.518,2.53,2.534,2.541,2.543,2.545,2.545,2.553,2.56,2.573,2.576,2.577,2.589,2.595,2.597,2.607,2.613,2.62,2.625,2.635,2.638,2.656,2.656,2.664,2.671,2.683,2.69,2.692,2.705,2.709,2.719,2.727,2.74,2.752,2.757,2.763,2.767,2.788,2.793,2.805,2.81,2.828,2.828,2.841,2.864,2.866,2.873,2.881,2.898,2.906,2.926,2.933,2.942,2.956,2.971,2.981,2.993,3.016,3.019,3.032,3.041,3.053,3.079,3.09,3.109,3.115,3.134,3.153,3.161,3.178,3.198,3.213,3.226,3.243,3.266,3.289,3.303,3.321,3.338,3.36,3.373,3.393,3.417,3.445,3.466,3.484,3.498,3.534,3.555,3.566,3.597,3.621,3.653,3.664,3.703,3.717,3.753,3.785,3.796,3.831,3.861,3.9,3.928,3.963,3.989,4.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.325,3.312,3.31,3.303,3.293,3.293,3.278,3.263,3.263,3.251,3.233,3.224,3.205,3.202,3.199,3.188,3.185,3.178,3.157,3.156,3.147,3.146,3.134,3.128,3.121,3.12,3.108,3.107,3.106,3.102,3.087,3.081,3.079,3.076,3.072,3.065,3.059,3.059,3.055,3.053,3.048,3.038,3.035,3.03,3.029,3.023,3.023,3.014,3.014,3.009,3.007,3.003,3.002,3.002,2.996,2.994,2.994,2.994,3,3,3,2.985,2.985,2.984,2.984,2.984,2.982,2.979,2.98,2.98,2.978,2.976,2.974,2.971,2.969,2.969,2.971,2.977,2.978,2.978,2.978,2.979,2.979,2.979,2.98,2.98,2.981,2.987,2.987,2.991,2.991,2.992,2.996,2.996,2.998,3.005,3.006,3.007,3.008,3.013,3.014,3.021,3.025,3.027,3.027,3.029,3.031,3.035,3.043,3.051,3.052,3.054,3.052,3.061,3.069,3.072,3.072,3.083,3.093,3.094,3.098,3.099,3.101,3.111,3.111,3.114,3.121,3.121,3.13,3.139,3.143,3.143,3.149,3.162,3.163,3.178,3.179,3.181,3.19,3.191,3.2,3.207,3.21,3.231,3.233,3.244,3.248,3.26,3.26,3.262,3.269,3.797,3.805,3.817,3.831,3.846,3.854,3.879,3.881,3.902,3.914,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 110.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.406662} SEN {Time 110.43} {Type Tachometer} {Name LeftRight} {Vel -0.147320,0.147320} SEN {Time 110.429} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.5306} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.54} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.2794} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 2.7432} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.6002} SEN {Time 110.471} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.191,0.184,0.191,0.191,0,0,0,3.077,3.077,3.068,3.061,3.059,3.059,3.059,3.059,3.059,3.049,3.046,3.041,3.038,3.036,3.034,3.03,3.03,3.03,3.03,3.029,3.029,3.029,3.029,3.029,3.552,3.567,3.567,3.571,3.567,3.564,3.563,3.563,3.563,3.563,3.563,3.56,3.562,3.562,3.568,3.569,3.569,3.569,3.561,3.561,3.56,3.56,3.466,0.172,0.153,0.153,0.153,0.153,0.153,0.145,0.145,0.157,0.157,0.157,0.157,0.157,0.161,0.305,3.582,3.6,3.605,0.007,0,0,0,0.164,0.16,0.16,0.159,0.154,0.153,0.153,0.122,0.105,0.073,0.068,0.068,0.067,0.067,0.065,0.067,0.067,0.07,0.067,0.067,0.067,0.07,0.074,0.139,0.238,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0.007,3.903,3.836,3.813,3.787,3.777,3.745,3.724,3.692,3.656,3.638,3.612,3.592,3.569,3.546,3.514,3.49,3.471,3.438,3.419,3.41,3.389,3.368,3.354,3.321,3.304,3.292,3.268,3.243,3.231,3.203,3.187,3.184,3.165,3.148,3.127,3.118,3.103,3.091,3.076,3.07,3.048,3.032,3.019,3.012,3.001,2.98,2.969,2.957,2.948,2.927,2.926,2.906,2.898,2.892,2.879,2.873,2.862,2.854,2.833,2.83,2.818,2.807,2.792,2.787,2.787,2.777,2.77,2.749,2.747,2.744,2.728,2.713,2.712,2.708,2.693,2.692,2.681,2.67,2.665,2.656,2.655,2.641,2.636,2.635,2.616,2.615,2.609,2.6,2.599,2.596,2.591,2.587,2.579,2.566,2.563,2.556,2.55,2.545,2.545,2.531,2.528,2.528,2.527,2.516,2.506,2.504,2.504,2.496,2.491,2.485,2.484,2.484,2.479,2.472,2.472,2.466,2.464,2.46,2.457,2.456,2.451,2.443,2.442,2.442,2.442,2.44,2.44,2.43,2.429,2.429,2.426,2.426,2.426,2.426,2.421,2.426,2.421,2.421,2.418,2.418,2.412,2.412,2.412,2.412,2.412,2.415,2.419,2.415,2.419,2.419,2.418,2.415,2.418,2.418,2.419,2.42,2.421,2.421,2.423,2.425,2.434,2.437,2.439,2.439,2.439,2.441,2.442,2.443,2.443,2.443,2.443,2.452,2.454,2.458,2.458,2.458,2.462,2.468,2.472,2.475,2.481,2.483,2.492,2.493,2.497,2.499,2.502,2.508,2.514,2.515,2.516,2.522,2.528,2.538,2.539,2.541,2.544,2.564,2.573,2.576,2.577,2.585,2.593,2.595,2.601,2.605,2.623,2.624,2.637,2.641,2.649,2.654,2.654,2.671,2.673,2.68,2.693,2.695,2.71,2.722,2.722,2.737,2.745,2.76,2.768,2.777,2.791,2.796,2.805,2.806,2.829,2.834,2.845,2.863,2.872,2.874,2.895,2.904,2.915,2.93,2.94,2.949,2.966,2.976,2.99,2.996,3.013,3.027,3.042,3.057,3.063,3.079,3.093,3.109,3.12,3.129,3.15,3.168,3.19,3.199,3.221,3.227,3.248,3.268,3.277,3.301,3.324,3.335,3.352,3.378,3.408,3.418,3.448,3.461,3.485,3.506,3.535,3.553,3.577,3.606,3.634,3.651,3.672,3.698,3.728,3.751,3.787,3.83,3.858,3.859,3.905,3.945,4.014,4.051,4.07,4.07,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.326,3.314,3.3,3.294,3.283,3.283,3.283,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.175,3.175,3.171,3.156,3.152,3.141,3.137,3.125,3.12,3.113,3.106,3.106,3.098,3.092,3.086,3.082,3.077,3.077,3.062,3.059,3.047,3.045,3.043,3.029,3.026,3.026,3.023,3.023,3.02,3.017,3.013,3.011,3.006,3.006,2.996,2.991,2.99,2.988,2.983,2.982,2.979,2.978,2.978,2.978,2.975,2.975,2.974,2.972,2.97,2.966,2.964,2.964,2.963,2.961,2.961,2.96,2.958,2.955,2.955,2.955,2.962,2.962,2.962,2.96,2.96,2.956,2.956,2.956,2.956,2.956,2.96,2.96,2.963,2.964,2.964,2.972,2.973,2.973,2.977,2.977,2.977,2.977,2.979,2.988,2.994,2.991,2.994,2.997,3,3.002,3.003,3.009,3.014,3.022,3.026,3.028,3.028,3.032,3.04,3.042,3.049,3.05,3.051,3.063,3.063,3.07,3.074,3.077,3.077,3.085,3.087,3.094,3.099,3.102,3.119,3.12,3.121,3.121,3.13,3.131,3.138,3.148,3.155,3.158,3.163,3.166,3.175,3.176,3.202,3.207,3.224,3.224,3.224,3.23,3.241,3.252,3.273,3.757,3.799,3.802,3.804,3.826,3.827,3.843,3.864,3.866,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 110.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.575959} SEN {Time 110.62} {Type Tachometer} {Name LeftRight} {Vel -0.147320,0.147320} SEN {Time 110.624} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.2794} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 2.7432} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 1.6002} SEN {Time 110.671} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.181,0.181,0.181,0.183,0,0,0,0,0,3.582,3.581,3.58,3.578,3.578,3.578,3.578,3.585,3.589,3.585,3.589,3.589,3.583,3.583,3.581,3.581,3.588,3.589,3.591,3.594,3.596,3.598,3.605,3.605,3.606,3.607,3.614,3.614,3.618,3.624,3.632,3.632,3.64,3.641,3.641,3.651,3.655,3.659,3.659,3.659,3.663,3.663,3.664,3.664,3.662,0.17,0.15,0.15,0.147,0.147,0.147,0.15,0.152,0.154,0.152,0.154,0.159,0.16,0.16,0.368,0,0,0,0,0,0,0,0.164,0.157,0.156,0.153,0.152,0.148,0.148,0.12,0.101,0.068,0.068,0.067,0.061,0.067,0.067,0.07,0.072,0.072,0.07,0.07,0.07,0.07,0.078,0.13,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.638,3.612,3.59,3.568,3.54,3.53,3.486,3.471,3.437,3.433,3.417,3.382,3.368,3.344,3.323,3.311,3.285,3.281,3.253,3.237,3.226,3.199,3.184,3.165,3.161,3.153,3.132,3.103,3.093,3.07,3.068,3.058,3.041,3.026,3.012,3.005,2.989,2.973,2.962,2.957,2.939,2.936,2.915,2.914,2.895,2.882,2.874,2.855,2.851,2.847,2.83,2.826,2.806,2.797,2.792,2.789,2.777,2.767,2.761,2.752,2.74,2.736,2.721,2.716,2.708,2.701,2.691,2.689,2.677,2.671,2.662,2.661,2.644,2.642,2.637,2.624,2.612,2.611,2.605,2.6,2.593,2.59,2.588,2.581,2.58,2.568,2.565,2.561,2.553,2.543,2.541,2.538,2.533,2.525,2.523,2.516,2.513,2.512,2.512,2.503,2.497,2.493,2.492,2.49,2.487,2.487,2.484,2.484,2.477,2.476,2.473,2.466,2.466,2.462,2.457,2.455,2.453,2.45,2.447,2.444,2.444,2.442,2.441,2.441,2.439,2.439,2.438,2.438,2.438,2.438,2.437,2.43,2.427,2.425,2.427,2.426,2.426,2.426,2.43,2.427,2.428,2.43,2.431,2.431,2.432,2.434,2.434,2.435,2.437,2.437,2.439,2.442,2.442,2.442,2.442,2.442,2.451,2.453,2.453,2.455,2.457,2.46,2.464,2.464,2.468,2.47,2.477,2.482,2.486,2.488,2.49,2.492,2.497,2.503,2.505,2.505,2.509,2.515,2.522,2.525,2.531,2.541,2.543,2.546,2.554,2.559,2.559,2.564,2.572,2.577,2.584,2.59,2.592,2.598,2.602,2.61,2.622,2.628,2.632,2.642,2.653,2.655,2.664,2.67,2.674,2.677,2.696,2.707,2.71,2.716,2.731,2.739,2.744,2.761,2.765,2.78,2.795,2.795,2.808,2.818,2.824,2.837,2.854,2.857,2.873,2.876,2.89,2.894,2.916,2.928,2.936,2.954,2.962,2.972,2.994,3.005,3.006,3.021,3.039,3.054,3.068,3.085,3.102,3.113,3.134,3.134,3.149,3.157,3.183,3.198,3.216,3.245,3.26,3.27,3.29,3.313,3.327,3.342,3.362,3.389,3.4,3.418,3.437,3.459,3.473,3.503,3.518,3.539,3.576,3.589,3.62,3.64,3.672,3.702,3.716,3.738,3.764,3.81,3.833,3.865,3.882,3.923,3.96,3.971,4.023,4.055,4.086,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.311,3.29,3.275,3.275,3.274,3.272,3.247,3.236,3.222,3.211,3.211,3.191,3.19,3.175,3.17,3.17,3.152,3.15,3.137,3.13,3.122,3.121,3.114,3.107,3.097,3.094,3.092,3.083,3.079,3.079,3.074,3.069,3.059,3.052,3.039,3.034,3.033,3.032,3.03,3.02,3.016,3.015,3.01,3.006,3,2.999,2.994,2.985,2.985,2.981,2.978,2.977,2.968,2.967,2.965,2.961,2.961,2.961,2.961,2.961,2.955,2.954,2.946,2.946,2.945,2.945,2.945,2.944,2.945,2.947,2.947,2.95,2.95,2.949,2.945,2.945,2.945,2.946,2.946,2.946,2.948,2.951,2.953,2.951,2.951,2.949,2.949,2.949,2.954,2.954,2.954,2.955,2.956,2.958,2.964,2.964,2.967,2.968,2.968,2.971,2.971,2.979,2.985,2.985,2.988,2.99,2.993,2.994,3.005,3.006,3.011,3.013,3.015,3.021,3.026,3.034,3.037,3.041,3.044,3.054,3.062,3.062,3.063,3.065,3.066,3.066,3.079,3.083,3.093,3.095,3.097,3.1,3.106,3.113,3.12,3.121,3.125,3.134,3.137,3.141,3.141,3.154,3.166,3.177,3.189,3.192,3.199,3.201,3.208,3.221,3.236,3.242,3.639,3.771,3.773,3.783,3.803,3.807,3.817,3.831,3.845,3.854,3.877,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 110.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.752237} SEN {Time 110.83} {Type Tachometer} {Name LeftRight} {Vel -0.147320,0.147320} SEN {Time 110.827} {Type Sonar} {Name Sonar0 Range 6.1214} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.3048} {Name Sonar9 Range 0.2794} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.413} {Name Sonar12 Range 2.7432} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 2.3368} SEN {Time 110.871} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.193,0.187,0.193,0.193,0,0,0,0,0,0,3.659,3.653,3.653,3.655,3.659,3.664,3.667,3.674,3.677,3.68,3.683,3.688,3.689,3.698,3.71,3.713,3.717,3.723,3.73,3.733,3.747,3.756,3.759,3.759,3.766,3.777,3.787,3.791,3.791,3.809,3.809,3.831,3.833,3.835,3.85,3.851,3.867,3.882,3.888,3.89,3.89,3.897,3.897,3.89,0.159,0.155,0.153,0.153,0.153,0.15,0.146,0.146,0.146,0.146,0.155,0.157,0.16,0.163,0,0,0,0,0,0,0,0,0.164,0.163,0.161,0.156,0.155,0.143,0.143,0.114,0.097,0.076,0.07,0.068,0.067,0.067,0.068,0.068,0.068,0.068,0.068,0.065,0.065,0.065,0.08,0.128,0.199,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,3.271,3.263,3.231,3.21,3.209,3.182,3.163,3.145,3.129,3.118,3.11,3.088,3.07,3.053,3.046,3.036,3.03,3.002,2.994,2.989,2.969,2.969,2.959,2.936,2.935,2.929,2.909,2.9,2.886,2.879,2.877,2.855,2.848,2.843,2.833,2.82,2.811,2.804,2.786,2.782,2.774,2.765,2.756,2.745,2.741,2.731,2.72,2.714,2.703,2.701,2.694,2.687,2.678,2.674,2.66,2.647,2.642,2.635,2.629,2.628,2.621,2.604,2.602,2.6,2.588,2.587,2.586,2.584,2.564,2.563,2.562,2.558,2.546,2.544,2.541,2.54,2.527,2.527,2.523,2.523,2.519,2.51,2.503,2.502,2.498,2.496,2.495,2.494,2.492,2.481,2.479,2.473,2.471,2.47,2.468,2.467,2.466,2.465,2.463,2.463,2.461,2.459,2.454,2.454,2.454,2.454,2.454,2.454,2.45,2.45,2.449,2.449,2.447,2.447,2.446,2.443,2.443,2.444,2.444,2.445,2.446,2.447,2.447,2.45,2.45,2.445,2.445,2.45,2.45,2.452,2.454,2.456,2.459,2.461,2.464,2.464,2.464,2.464,2.47,2.47,2.471,2.48,2.48,2.481,2.481,2.484,2.484,2.484,2.484,2.489,2.491,2.498,2.501,2.506,2.506,2.508,2.514,2.515,2.53,2.533,2.536,2.543,2.543,2.548,2.552,2.555,2.558,2.57,2.572,2.577,2.58,2.587,2.595,2.6,2.611,2.613,2.622,2.625,2.634,2.637,2.65,2.652,2.665,2.668,2.672,2.675,2.687,2.689,2.702,2.72,2.723,2.725,2.744,2.747,2.759,2.77,2.771,2.786,2.788,2.806,2.816,2.828,2.838,2.852,2.852,2.864,2.878,2.886,2.896,2.911,2.928,2.931,2.946,2.953,2.972,2.979,2.99,3.004,3.021,3.039,3.052,3.063,3.071,3.085,3.11,3.128,3.133,3.148,3.165,3.179,3.203,3.215,3.231,3.243,3.259,3.278,3.302,3.312,3.336,3.351,3.37,3.383,3.397,3.423,3.448,3.466,3.494,3.503,3.526,3.55,3.581,3.614,3.628,3.659,3.684,3.715,3.735,3.755,3.796,3.803,3.844,3.875,3.91,3.944,3.973,4.013,4.038,4.082,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,3.303,3.288,3.273,3.265,3.261,3.253,3.241,3.224,3.219,3.209,3.204,3.198,3.176,3.172,3.163,3.152,3.147,3.132,3.121,3.121,3.118,3.117,3.107,3.097,3.092,3.09,3.077,3.075,3.071,3.065,3.061,3.049,3.048,3.038,3.029,3.029,3.024,3.014,3.013,3.013,3.007,2.998,2.998,2.991,2.99,2.986,2.985,2.982,2.971,2.968,2.967,2.96,2.957,2.956,2.954,2.954,2.948,2.948,2.948,2.955,2.955,2.955,2.941,2.937,2.936,2.933,2.933,2.932,2.93,2.928,2.927,2.927,2.927,2.928,2.928,2.928,2.927,2.922,2.922,2.926,2.925,2.926,2.93,2.93,2.925,2.93,2.929,2.929,2.932,2.932,2.932,2.932,2.934,2.94,2.941,2.943,2.943,2.945,2.952,2.955,2.955,2.956,2.963,2.965,2.972,2.974,2.975,2.976,2.981,2.984,2.989,2.995,2.995,3.007,3.007,3.008,3.008,3.015,3.027,3.029,3.031,3.041,3.046,3.051,3.051,3.051,3.051,3.053,3.059,3.061,3.069,3.073,3.084,3.086,3.088,3.096,3.098,3.116,3.116,3.121,3.125,3.126,3.144,3.161,3.164,3.164,3.17,3.177,3.184,3.192,3.201,3.201,3.201,3.212,3.734,3.747,3.76,3.778,3.784,3.792,3.812,3.822,3.836,3.847,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 111.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.909317} SEN {Time 111.03} {Type Tachometer} {Name LeftRight} {Vel -0.048260,0.050800} SEN {Time 111.03} {Type Sonar} {Name Sonar0 Range 6.1214} {Name Sonar1 Range 3.4544} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.3048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.413} {Name Sonar12 Range 2.4638} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 2.3368} SEN {Time 111.071} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.189,0.187,0.182,0.182,0.187,0,0,0,0,0,0,3.796,3.796,3.796,3.796,3.811,3.833,3.841,3.852,3.853,3.868,3.871,3.873,3.895,3.9,3.904,3.921,3.937,3.938,3.948,3.969,3.978,3.988,3.992,4.006,4.016,4.037,4.05,4.057,4.084,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.152,0.147,0.146,0.146,0.146,0.146,0.146,0.154,0.155,0.155,0.155,0.155,0.163,0,0,0,0,0,0,0.006,0.006,0,0.159,0.156,0.156,0.156,0.156,0.143,0.143,0.121,0.09,0.071,0.067,0.067,0.067,0.067,0.068,0.068,0.069,0.069,0.069,0.065,0.065,0.06,0.06,0.06,3.083,3.083,3.083,3.081,3.075,3.074,3.063,3.056,3.029,3.021,3.012,2.994,2.979,2.96,2.953,2.951,2.928,2.909,2.908,2.886,2.871,2.87,2.859,2.848,2.84,2.828,2.817,2.808,2.799,2.791,2.79,2.769,2.76,2.758,2.743,2.74,2.731,2.73,2.726,2.713,2.701,2.697,2.691,2.684,2.683,2.668,2.666,2.654,2.65,2.647,2.641,2.627,2.622,2.621,2.617,2.611,2.598,2.592,2.582,2.582,2.576,2.568,2.562,2.554,2.551,2.55,2.547,2.538,2.535,2.535,2.525,2.525,2.52,2.515,2.512,2.51,2.509,2.504,2.503,2.5,2.498,2.496,2.49,2.483,2.482,2.482,2.478,2.476,2.475,2.472,2.471,2.468,2.468,2.467,2.464,2.461,2.461,2.458,2.458,2.461,2.461,2.461,2.461,2.458,2.458,2.454,2.454,2.454,2.458,2.458,2.458,2.458,2.46,2.458,2.458,2.458,2.462,2.463,2.463,2.464,2.464,2.467,2.472,2.473,2.473,2.473,2.473,2.479,2.48,2.483,2.486,2.489,2.491,2.495,2.495,2.498,2.502,2.505,2.506,2.511,2.514,2.516,2.521,2.521,2.522,2.528,2.53,2.545,2.548,2.553,2.553,2.557,2.559,2.565,2.569,2.573,2.58,2.587,2.591,2.597,2.603,2.604,2.613,2.615,2.617,2.631,2.631,2.639,2.65,2.653,2.655,2.66,2.67,2.683,2.685,2.692,2.703,2.71,2.716,2.728,2.734,2.736,2.755,2.764,2.771,2.776,2.781,2.79,2.8,2.817,2.826,2.829,2.845,2.852,2.862,2.878,2.89,2.896,2.909,2.914,2.929,2.933,2.955,2.969,2.971,2.988,2.995,3.016,3.025,3.041,3.056,3.066,3.074,3.091,3.108,3.12,3.146,3.149,3.152,3.178,3.191,3.213,3.217,3.241,3.261,3.274,3.29,3.301,3.328,3.34,3.36,3.379,3.401,3.424,3.44,3.461,3.473,3.498,3.533,3.546,3.576,3.599,3.627,3.646,3.673,3.706,3.72,3.749,3.771,3.791,3.82,3.857,3.88,3.917,3.942,3.975,4.022,4.031,4.059,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.303,3.286,3.28,3.27,3.251,3.25,3.236,3.218,3.217,3.202,3.202,3.196,3.184,3.18,3.161,3.16,3.15,3.147,3.146,3.129,3.129,3.115,3.107,3.106,3.094,3.092,3.087,3.073,3.067,3.064,3.051,3.046,3.046,3.039,3.036,3.021,3.019,3.012,3.012,3.012,2.997,2.99,2.99,2.99,2.986,2.986,2.984,2.977,2.971,2.966,2.962,2.961,2.96,2.953,2.952,2.949,2.949,2.947,2.947,2.949,2.949,2.949,2.949,2.931,2.931,2.929,2.928,2.925,2.924,2.922,2.922,2.92,2.92,2.92,2.921,2.919,2.92,2.921,2.92,2.919,2.92,2.918,2.918,2.92,2.92,2.918,2.915,2.915,2.915,2.917,2.919,2.928,2.928,2.931,2.931,2.931,2.936,2.937,2.943,2.943,2.944,2.944,2.945,2.945,2.952,2.953,2.955,2.955,2.957,2.961,2.969,2.974,2.98,2.981,2.985,2.986,2.989,2.999,3.001,3.005,3.016,3.018,3.024,3.026,3.033,3.033,3.037,3.038,3.04,3.042,3.047,3.055,3.06,3.063,3.073,3.078,3.082,3.083,3.086,3.092,3.108,3.109,3.112,3.121,3.123,3.129,3.133,3.154,3.165,3.168,3.169,3.175,3.175,3.193,3.193,3.205,3.73,3.73,3.742,3.754,3.756,3.783,3.788,3.796,3.81,3.817,3.836,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 111.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 111.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 111.23} {Type Sonar} {Name Sonar0 Range 6.1214} {Name Sonar1 Range 3.4544} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.3048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 2.4638} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3368} SEN {Time 111.267} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,0,3.845,3.845,3.845,3.865,3.867,3.874,3.884,3.892,3.902,3.909,3.917,3.941,3.943,3.947,3.956,3.97,3.98,3.991,4.021,4.021,4.024,4.035,4.051,4.056,4.08,4.088,4.094,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0.153,0.148,0.148,0.145,0.148,0.145,0.148,0.148,0.151,0.153,0.155,0.155,0.155,0.16,0.288,0,0,0,0,0,0,0.161,0.16,0.156,0.153,0.148,0.148,0.144,0.144,0.129,0.096,0.068,0.064,0.064,0.064,0.067,0.067,0.074,0.074,0.074,0.07,0.068,0.064,0.062,0.062,0.062,3.076,3.076,3.076,3.065,3.063,3.048,3.044,3.025,3.022,3.013,2.99,2.971,2.953,2.942,2.925,2.921,2.911,2.882,2.879,2.862,2.855,2.844,2.839,2.819,2.818,2.804,2.795,2.79,2.776,2.776,2.769,2.756,2.742,2.739,2.728,2.726,2.716,2.707,2.698,2.69,2.684,2.68,2.677,2.672,2.67,2.652,2.645,2.645,2.642,2.64,2.631,2.621,2.619,2.609,2.599,2.595,2.587,2.582,2.579,2.571,2.566,2.559,2.557,2.549,2.546,2.539,2.536,2.534,2.534,2.524,2.517,2.515,2.514,2.509,2.504,2.503,2.499,2.498,2.497,2.495,2.489,2.488,2.485,2.482,2.48,2.477,2.475,2.474,2.473,2.471,2.463,2.463,2.462,2.463,2.463,2.462,2.459,2.456,2.453,2.456,2.456,2.458,2.458,2.458,2.452,2.452,2.452,2.456,2.456,2.456,2.454,2.454,2.454,2.461,2.461,2.461,2.462,2.462,2.462,2.467,2.47,2.472,2.476,2.476,2.48,2.483,2.483,2.484,2.49,2.495,2.495,2.497,2.495,2.499,2.501,2.51,2.51,2.512,2.516,2.516,2.525,2.529,2.531,2.537,2.538,2.541,2.548,2.551,2.554,2.556,2.563,2.564,2.568,2.573,2.58,2.583,2.596,2.596,2.601,2.604,2.61,2.615,2.627,2.629,2.637,2.642,2.647,2.656,2.66,2.67,2.672,2.679,2.693,2.694,2.701,2.708,2.719,2.721,2.732,2.74,2.749,2.764,2.768,2.769,2.785,2.79,2.803,2.815,2.825,2.833,2.844,2.854,2.857,2.861,2.878,2.893,2.908,2.914,2.925,2.931,2.95,2.956,2.965,2.978,2.991,3.004,3.024,3.038,3.052,3.062,3.068,3.086,3.099,3.121,3.127,3.137,3.153,3.171,3.175,3.198,3.212,3.231,3.245,3.261,3.284,3.304,3.323,3.336,3.358,3.367,3.387,3.409,3.426,3.46,3.48,3.484,3.513,3.539,3.564,3.588,3.61,3.629,3.644,3.68,3.713,3.725,3.754,3.776,3.805,3.826,3.868,3.894,3.932,3.953,3.991,4.019,4.065,4.095,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.291,3.277,3.268,3.264,3.249,3.248,3.23,3.22,3.216,3.204,3.196,3.187,3.182,3.17,3.168,3.157,3.145,3.145,3.139,3.121,3.121,3.12,3.107,3.097,3.095,3.086,3.075,3.075,3.059,3.059,3.055,3.049,3.042,3.039,3.032,3.025,3.024,3.01,3.008,3.007,3.006,2.996,2.99,2.989,2.986,2.986,2.975,2.973,2.972,2.966,2.962,2.959,2.958,2.953,2.952,2.949,2.949,2.948,2.942,2.948,2.943,2.942,2.942,2.936,2.935,2.934,2.933,2.929,2.923,2.921,2.92,2.92,2.918,2.918,2.918,2.918,2.918,2.918,2.917,2.917,2.917,2.917,2.917,2.917,2.917,2.919,2.919,2.919,2.922,2.926,2.926,2.927,2.927,2.926,2.929,2.93,2.931,2.934,2.941,2.943,2.944,2.944,2.944,2.945,2.952,2.958,2.959,2.961,2.961,2.962,2.962,2.966,2.979,2.979,2.979,2.989,2.991,2.992,2.995,3.002,3.002,3.01,3.012,3.027,3.03,3.031,3.037,3.041,3.046,3.053,3.057,3.063,3.063,3.068,3.073,3.074,3.081,3.085,3.095,3.102,3.101,3.102,3.117,3.118,3.121,3.143,3.145,3.152,3.154,3.166,3.172,3.174,3.182,3.183,3.193,3.204,3.283,3.725,3.73,3.746,3.753,3.754,3.779,3.793,3.799,3.819,3.83,3.844,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.007,0,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 111.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 111.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 111.42} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4544} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 2.4638} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.2832} SEN {Time 111.467} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.186,0.183,0.183,0.189,0,0,0,0,0,0,3.835,3.835,3.835,3.844,3.864,3.864,3.873,3.873,3.897,3.901,3.908,3.91,3.932,3.935,3.938,3.957,3.959,3.982,4.004,4.006,4.013,4.027,4.042,4.059,4.067,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0.159,0.152,0.149,0.152,0.147,0.147,0.147,0.153,0.154,0.157,0.157,0.158,0.164,0.29,0,0,0,0,0,0,0,0.164,0.16,0.158,0.153,0.153,0.144,0.144,0.122,0.097,0.069,0.065,0.064,0.064,0.065,0.069,0.07,0.072,0.072,0.07,0.068,0.065,0.064,0.064,0.065,3.076,3.076,3.076,3.068,3.057,3.047,3.044,3.032,3.028,3.008,2.994,2.979,2.965,2.938,2.928,2.906,2.905,2.881,2.879,2.857,2.855,2.841,2.833,2.822,2.812,2.8,2.793,2.791,2.782,2.77,2.769,2.746,2.745,2.744,2.722,2.716,2.715,2.714,2.704,2.693,2.691,2.684,2.679,2.672,2.667,2.653,2.652,2.646,2.643,2.639,2.632,2.625,2.62,2.606,2.605,2.594,2.594,2.591,2.587,2.579,2.57,2.558,2.554,2.55,2.55,2.546,2.541,2.528,2.528,2.528,2.523,2.514,2.513,2.509,2.506,2.503,2.498,2.495,2.495,2.493,2.488,2.481,2.481,2.481,2.479,2.478,2.476,2.476,2.472,2.472,2.467,2.467,2.467,2.466,2.466,2.464,2.462,2.461,2.461,2.46,2.458,2.457,2.457,2.457,2.457,2.457,2.459,2.459,2.46,2.461,2.46,2.458,2.458,2.458,2.458,2.465,2.466,2.467,2.467,2.475,2.475,2.478,2.479,2.48,2.479,2.48,2.481,2.481,2.481,2.489,2.489,2.493,2.498,2.504,2.505,2.508,2.51,2.511,2.517,2.518,2.528,2.53,2.531,2.539,2.54,2.541,2.549,2.55,2.554,2.555,2.558,2.562,2.563,2.576,2.581,2.582,2.587,2.594,2.598,2.6,2.611,2.612,2.621,2.623,2.624,2.643,2.648,2.658,2.662,2.667,2.675,2.684,2.686,2.695,2.703,2.704,2.72,2.729,2.737,2.744,2.747,2.764,2.768,2.774,2.78,2.785,2.804,2.81,2.812,2.834,2.839,2.848,2.866,2.867,2.875,2.893,2.906,2.912,2.919,2.931,2.95,2.956,2.966,2.983,2.99,3.012,3.022,3.038,3.055,3.063,3.077,3.082,3.094,3.119,3.131,3.141,3.149,3.175,3.186,3.2,3.222,3.233,3.242,3.261,3.279,3.305,3.32,3.338,3.341,3.364,3.392,3.405,3.426,3.446,3.474,3.5,3.516,3.547,3.57,3.6,3.614,3.639,3.659,3.682,3.704,3.728,3.759,3.784,3.805,3.839,3.87,3.897,3.924,3.959,3.981,4.014,4.053,4.082,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.289,3.286,3.261,3.257,3.244,3.241,3.237,3.221,3.219,3.207,3.198,3.185,3.182,3.169,3.164,3.156,3.147,3.146,3.132,3.119,3.115,3.114,3.1,3.091,3.089,3.086,3.084,3.082,3.062,3.061,3.058,3.047,3.04,3.033,3.033,3.031,3.024,3.017,3.011,3.01,3.003,2.991,2.99,2.988,2.985,2.983,2.977,2.977,2.96,2.96,2.959,2.958,2.954,2.949,2.943,2.94,2.94,2.937,2.937,2.937,2.943,2.943,2.943,2.934,2.933,2.929,2.929,2.926,2.922,2.921,2.921,2.919,2.919,2.914,2.912,2.919,2.915,2.915,2.92,2.92,2.915,2.919,2.919,2.917,2.919,2.921,2.921,2.92,2.92,2.92,2.92,2.92,2.924,2.925,2.926,2.935,2.936,2.936,2.941,2.941,2.945,2.947,2.945,2.947,2.949,2.955,2.958,2.958,2.959,2.962,2.967,2.973,2.974,2.982,2.988,2.989,2.991,3,3.001,3.005,3.005,3.011,3.017,3.031,3.037,3.037,3.037,3.037,3.037,3.037,3.051,3.054,3.055,3.065,3.069,3.071,3.076,3.08,3.086,3.1,3.1,3.101,3.114,3.123,3.129,3.139,3.144,3.148,3.153,3.165,3.168,3.178,3.178,3.181,3.182,3.202,3.277,3.727,3.737,3.74,3.752,3.762,3.775,3.799,3.811,3.817,3.826,3.844,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 111.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 111.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 111.622} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 5.7912} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 4.318} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.2832} SEN {Time 111.667} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.186,0.187,0.187,0,0,0,0,0,0.007,3.83,3.83,3.843,3.843,3.86,3.873,3.878,3.882,3.886,3.905,3.916,3.918,3.931,3.941,3.941,3.964,3.966,3.972,3.997,4.007,4.021,4.03,4.039,4.051,4.079,4.084,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.163,0.153,0.153,0.146,0.146,0.149,0.149,0.149,0.158,0.156,0.158,0.158,0.158,0.163,0.285,3.589,0.007,0,0,0,0,0.168,0.161,0.159,0.159,0.156,0.153,0.153,0.153,0.119,0.096,0.079,0.067,0.067,0.065,0.067,0.072,0.072,0.072,0.072,0.071,0.069,0.066,0.063,0.063,0.063,3.074,3.074,3.074,3.069,3.068,3.054,3.052,3.024,3.017,3.003,2.993,2.975,2.955,2.937,2.922,2.921,2.901,2.882,2.875,2.861,2.847,2.845,2.84,2.817,2.816,2.809,2.795,2.79,2.782,2.769,2.767,2.75,2.749,2.741,2.73,2.728,2.714,2.71,2.709,2.692,2.688,2.68,2.678,2.67,2.666,2.656,2.652,2.646,2.64,2.636,2.627,2.62,2.611,2.61,2.595,2.595,2.584,2.578,2.577,2.575,2.573,2.563,2.551,2.55,2.547,2.546,2.539,2.533,2.532,2.525,2.524,2.514,2.514,2.513,2.51,2.505,2.496,2.495,2.494,2.493,2.491,2.49,2.482,2.48,2.48,2.478,2.476,2.476,2.466,2.466,2.462,2.462,2.462,2.462,2.461,2.46,2.46,2.458,2.456,2.456,2.454,2.454,2.454,2.456,2.456,2.458,2.458,2.459,2.46,2.459,2.462,2.461,2.461,2.461,2.461,2.461,2.467,2.467,2.468,2.471,2.473,2.477,2.477,2.482,2.482,2.485,2.489,2.49,2.489,2.49,2.495,2.499,2.5,2.504,2.504,2.513,2.515,2.517,2.517,2.521,2.532,2.532,2.533,2.533,2.539,2.543,2.545,2.554,2.559,2.559,2.561,2.565,2.568,2.578,2.579,2.584,2.591,2.591,2.601,2.601,2.608,2.609,2.628,2.628,2.634,2.641,2.642,2.66,2.661,2.663,2.679,2.68,2.681,2.69,2.706,2.708,2.716,2.726,2.736,2.747,2.753,2.759,2.768,2.77,2.785,2.791,2.802,2.815,2.817,2.832,2.847,2.855,2.862,2.87,2.881,2.888,2.909,2.922,2.923,2.932,2.956,2.958,2.971,2.987,2.995,3.007,3.018,3.035,3.05,3.061,3.073,3.083,3.104,3.117,3.124,3.14,3.157,3.169,3.177,3.204,3.207,3.24,3.244,3.263,3.282,3.299,3.316,3.339,3.356,3.378,3.391,3.402,3.432,3.453,3.468,3.492,3.504,3.537,3.561,3.585,3.61,3.634,3.656,3.68,3.701,3.74,3.754,3.784,3.809,3.836,3.865,3.9,3.93,3.954,3.989,4.057,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.293,3.28,3.274,3.265,3.25,3.242,3.235,3.22,3.209,3.201,3.197,3.187,3.176,3.174,3.168,3.155,3.154,3.152,3.129,3.125,3.121,3.113,3.103,3.093,3.089,3.084,3.08,3.078,3.06,3.058,3.055,3.043,3.038,3.038,3.031,3.026,3.023,3.018,3.014,3.01,3.001,2.997,2.988,2.987,2.981,2.981,2.981,2.97,2.969,2.966,2.96,2.957,2.954,2.954,2.95,2.947,2.942,2.94,2.94,2.94,2.945,2.945,2.945,2.935,2.93,2.928,2.928,2.926,2.926,2.924,2.924,2.924,2.924,2.917,2.919,2.922,2.919,2.919,2.919,2.915,2.914,2.914,2.913,2.913,2.914,2.916,2.913,2.917,2.921,2.921,2.917,2.924,2.927,2.927,2.927,2.927,2.928,2.929,2.934,2.941,2.943,2.941,2.943,2.952,2.954,2.955,2.955,2.96,2.964,2.964,2.968,2.972,2.98,2.982,2.985,2.987,2.991,2.992,3,3.006,3.008,3.013,3.014,3.029,3.03,3.033,3.038,3.038,3.038,3.038,3.05,3.06,3.06,3.061,3.067,3.068,3.083,3.087,3.088,3.09,3.098,3.113,3.118,3.122,3.123,3.14,3.146,3.148,3.159,3.166,3.17,3.174,3.175,3.186,3.206,3.273,3.273,3.718,3.738,3.746,3.754,3.762,3.782,3.786,3.802,3.814,3.83,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 111.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 111.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 111.824} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 5.7912} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 4.318} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.2832} SEN {Time 111.867} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.194,0.184,0.194,0.194,0,0,0,0,0,0,3.834,3.834,3.834,3.845,3.852,3.869,3.87,3.881,3.888,3.898,3.91,3.921,3.936,3.938,3.939,3.96,3.978,3.987,4.012,4.018,4.032,4.032,4.043,4.056,4.057,4.087,0.016,0.016,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.157,0.15,0.146,0.145,0.145,0.145,0.145,0.149,0.158,0.158,0.158,0.158,0.16,0.16,0.296,0,0,0,0,0,0,0.161,0.158,0.156,0.156,0.154,0.153,0.148,0.148,0.119,0.093,0.066,0.064,0.064,0.064,0.065,0.067,0.068,0.072,0.072,0.072,0.072,0.064,0.064,0.064,0.064,3.074,3.074,3.074,3.069,3.066,3.047,3.046,3.035,3.021,2.998,2.99,2.981,2.96,2.946,2.924,2.906,2.896,2.881,2.877,2.86,2.858,2.843,2.841,2.819,2.819,2.798,2.796,2.791,2.774,2.769,2.769,2.747,2.74,2.732,2.73,2.73,2.716,2.713,2.704,2.694,2.687,2.684,2.676,2.671,2.66,2.653,2.651,2.647,2.646,2.636,2.627,2.616,2.612,2.599,2.598,2.596,2.591,2.576,2.574,2.573,2.564,2.558,2.551,2.55,2.55,2.55,2.55,2.54,2.536,2.522,2.518,2.516,2.516,2.516,2.513,2.503,2.501,2.499,2.498,2.497,2.491,2.49,2.487,2.484,2.478,2.475,2.474,2.473,2.472,2.468,2.466,2.462,2.461,2.462,2.462,2.462,2.462,2.462,2.457,2.456,2.456,2.456,2.456,2.456,2.458,2.458,2.461,2.461,2.461,2.46,2.457,2.457,2.46,2.461,2.462,2.462,2.462,2.467,2.467,2.471,2.475,2.48,2.48,2.48,2.481,2.485,2.485,2.485,2.485,2.485,2.491,2.5,2.504,2.507,2.507,2.51,2.511,2.514,2.514,2.52,2.527,2.53,2.531,2.538,2.541,2.545,2.548,2.55,2.555,2.556,2.562,2.564,2.573,2.576,2.581,2.585,2.592,2.597,2.598,2.603,2.615,2.62,2.624,2.628,2.629,2.636,2.642,2.657,2.658,2.662,2.675,2.676,2.69,2.691,2.704,2.706,2.723,2.727,2.731,2.743,2.751,2.769,2.771,2.772,2.784,2.789,2.804,2.804,2.813,2.835,2.847,2.849,2.866,2.867,2.88,2.886,2.906,2.911,2.931,2.931,2.949,2.964,2.966,2.984,2.996,3.01,3.02,3.039,3.046,3.065,3.07,3.091,3.1,3.113,3.134,3.143,3.159,3.175,3.177,3.199,3.209,3.234,3.244,3.272,3.286,3.305,3.314,3.337,3.347,3.369,3.391,3.418,3.431,3.451,3.479,3.487,3.511,3.529,3.564,3.586,3.609,3.636,3.651,3.678,3.706,3.737,3.758,3.786,3.816,3.831,3.868,3.901,3.936,3.967,3.998,4.026,4.068,4.079,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.306,3.279,3.27,3.261,3.246,3.233,3.23,3.225,3.209,3.202,3.198,3.185,3.182,3.181,3.165,3.148,3.146,3.144,3.142,3.13,3.121,3.116,3.104,3.102,3.089,3.084,3.079,3.078,3.064,3.057,3.055,3.044,3.042,3.036,3.03,3.027,3.024,3.018,3.014,3.009,3.001,2.991,2.991,2.991,2.986,2.985,2.984,2.973,2.972,2.963,2.963,2.957,2.951,2.949,2.949,2.947,2.943,2.942,2.942,2.943,2.946,2.946,2.946,2.936,2.932,2.924,2.929,2.924,2.924,2.924,2.922,2.922,2.917,2.916,2.916,2.918,2.917,2.918,2.918,2.917,2.917,2.915,2.915,2.916,2.92,2.919,2.92,2.923,2.925,2.923,2.925,2.925,2.929,2.928,2.929,2.931,2.933,2.933,2.941,2.941,2.941,2.941,2.941,2.944,2.951,2.955,2.957,2.959,2.96,2.962,2.966,2.973,2.982,2.982,2.983,2.984,3,3.003,3.003,3.003,3.005,3.013,3.013,3.027,3.032,3.034,3.034,3.044,3.045,3.045,3.051,3.061,3.061,3.061,3.071,3.072,3.075,3.081,3.083,3.091,3.092,3.101,3.122,3.126,3.129,3.136,3.147,3.153,3.153,3.16,3.161,3.171,3.18,3.184,3.194,3.212,3.27,3.723,3.74,3.742,3.757,3.758,3.774,3.791,3.792,3.813,3.827,3.847,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 112.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 112.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 112.025} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 5.7912} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 4.318} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.207} SEN {Time 112.064} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.185,0.185,0,0,0,0,0,0,3.83,3.83,3.83,3.835,3.852,3.865,3.874,3.878,3.887,3.902,3.905,3.911,3.936,3.937,3.946,3.958,3.969,3.976,3.987,4.004,4.02,4.023,4.035,4.048,4.066,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.161,0.149,0.148,0.148,0.148,0.148,0.146,0.146,0.156,0.152,0.156,0.156,0.161,0.161,0.287,0,0,0,0,0,0,0.167,0.165,0.161,0.156,0.156,0.15,0.145,0.145,0.12,0.091,0.071,0.067,0.067,0.065,0.067,0.066,0.07,0.071,0.071,0.068,0.068,0.068,0.058,0.058,0.058,3.079,3.079,3.079,3.079,3.059,3.055,3.051,3.032,3.015,2.998,2.988,2.979,2.964,2.942,2.924,2.911,2.895,2.877,2.877,2.863,2.853,2.843,2.841,2.822,2.821,2.813,2.795,2.789,2.783,2.768,2.768,2.751,2.738,2.737,2.731,2.724,2.718,2.711,2.711,2.71,2.687,2.686,2.672,2.67,2.668,2.653,2.651,2.65,2.647,2.639,2.626,2.621,2.619,2.604,2.601,2.593,2.587,2.586,2.577,2.571,2.562,2.558,2.551,2.548,2.543,2.541,2.537,2.536,2.535,2.521,2.519,2.512,2.512,2.508,2.506,2.506,2.501,2.494,2.493,2.49,2.489,2.481,2.48,2.475,2.475,2.475,2.475,2.474,2.473,2.466,2.466,2.466,2.466,2.466,2.465,2.463,2.463,2.463,2.458,2.458,2.458,2.458,2.458,2.458,2.455,2.455,2.455,2.457,2.458,2.458,2.457,2.457,2.458,2.457,2.458,2.459,2.46,2.462,2.466,2.467,2.467,2.475,2.477,2.483,2.483,2.483,2.483,2.487,2.494,2.496,2.498,2.503,2.503,2.504,2.505,2.509,2.51,2.513,2.517,2.519,2.521,2.53,2.532,2.537,2.538,2.54,2.543,2.547,2.547,2.552,2.562,2.566,2.57,2.574,2.578,2.586,2.596,2.596,2.601,2.607,2.608,2.622,2.625,2.626,2.639,2.641,2.654,2.657,2.66,2.665,2.675,2.676,2.694,2.694,2.702,2.714,2.721,2.725,2.731,2.751,2.752,2.764,2.771,2.772,2.783,2.795,2.797,2.81,2.815,2.833,2.846,2.853,2.863,2.864,2.884,2.89,2.914,2.915,2.928,2.933,2.945,2.953,2.963,2.984,2.992,3.005,3.028,3.034,3.045,3.063,3.079,3.092,3.1,3.121,3.132,3.14,3.16,3.169,3.18,3.206,3.21,3.235,3.246,3.266,3.285,3.293,3.314,3.335,3.348,3.366,3.398,3.41,3.43,3.458,3.469,3.492,3.515,3.535,3.566,3.582,3.605,3.634,3.649,3.674,3.714,3.726,3.761,3.784,3.817,3.842,3.867,3.881,3.937,3.951,3.984,4.019,4.053,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.294,3.284,3.266,3.264,3.251,3.241,3.228,3.22,3.219,3.202,3.189,3.188,3.175,3.173,3.173,3.157,3.147,3.137,3.136,3.131,3.112,3.109,3.106,3.098,3.088,3.084,3.076,3.076,3.063,3.058,3.055,3.048,3.045,3.035,3.031,3.03,3.027,3.017,3.015,3.011,3.002,2.992,2.984,2.983,2.981,2.979,2.979,2.979,2.972,2.968,2.956,2.955,2.952,2.951,2.947,2.946,2.942,2.938,2.938,2.942,2.949,2.949,2.949,2.932,2.93,2.928,2.928,2.924,2.922,2.92,2.919,2.919,2.919,2.918,2.916,2.916,2.916,2.916,2.916,2.916,2.919,2.919,2.919,2.914,2.919,2.919,2.919,2.92,2.92,2.917,2.917,2.92,2.922,2.924,2.924,2.928,2.929,2.932,2.942,2.944,2.945,2.945,2.945,2.946,2.946,2.954,2.955,2.956,2.962,2.964,2.968,2.968,2.977,2.978,2.984,2.987,2.987,2.994,3.002,3.005,3.006,3.013,3.02,3.024,3.026,3.034,3.039,3.04,3.04,3.04,3.041,3.052,3.059,3.061,3.061,3.068,3.076,3.087,3.092,3.1,3.1,3.105,3.111,3.122,3.134,3.141,3.143,3.152,3.156,3.158,3.167,3.167,3.183,3.186,3.189,3.199,3.272,3.732,3.734,3.749,3.757,3.758,3.786,3.79,3.796,3.812,3.829,3.841,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 112.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 112.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 112.218} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 4.5466} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.207} SEN {Time 112.263} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.192,0.192,0,0,0,0,0,0,0,3.846,3.846,3.846,3.852,3.877,3.877,3.877,3.889,3.896,3.896,3.911,3.93,3.948,3.95,3.95,3.964,3.969,3.991,4.001,4.016,4.016,4.038,4.043,4.063,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.158,0.149,0.149,0.144,0.149,0.15,0.15,0.15,0.157,0.157,0.157,0.157,0.157,0.158,0.294,3.578,0.007,0,0,0,0,0,0.166,0.16,0.155,0.155,0.15,0.149,0.148,0.124,0.101,0.071,0.062,0.062,0.062,0.065,0.068,0.068,0.068,0.068,0.068,0.066,0.066,0.062,0.062,0.062,3.074,3.074,3.074,3.067,3.061,3.057,3.054,3.028,3.009,2.99,2.981,2.967,2.957,2.935,2.932,2.917,2.897,2.88,2.879,2.861,2.849,2.843,2.84,2.825,2.819,2.806,2.799,2.791,2.779,2.77,2.765,2.747,2.746,2.727,2.727,2.723,2.713,2.713,2.71,2.693,2.684,2.672,2.671,2.671,2.667,2.646,2.643,2.642,2.638,2.638,2.627,2.616,2.612,2.604,2.593,2.593,2.583,2.578,2.573,2.567,2.563,2.56,2.552,2.551,2.548,2.544,2.543,2.537,2.531,2.52,2.515,2.515,2.515,2.509,2.507,2.506,2.503,2.494,2.493,2.491,2.491,2.488,2.481,2.481,2.479,2.476,2.473,2.468,2.468,2.464,2.463,2.463,2.462,2.463,2.462,2.458,2.456,2.455,2.455,2.455,2.454,2.454,2.454,2.454,2.454,2.454,2.454,2.456,2.456,2.457,2.457,2.455,2.455,2.455,2.455,2.458,2.464,2.466,2.467,2.468,2.47,2.471,2.474,2.477,2.48,2.484,2.485,2.488,2.489,2.49,2.49,2.493,2.5,2.501,2.506,2.511,2.508,2.511,2.515,2.518,2.52,2.525,2.53,2.532,2.534,2.536,2.542,2.545,2.55,2.552,2.561,2.567,2.572,2.574,2.576,2.588,2.588,2.591,2.596,2.607,2.613,2.613,2.624,2.632,2.633,2.634,2.643,2.659,2.662,2.67,2.677,2.684,2.688,2.688,2.704,2.712,2.716,2.72,2.737,2.749,2.75,2.76,2.764,2.769,2.781,2.793,2.801,2.808,2.822,2.829,2.841,2.852,2.861,2.879,2.88,2.89,2.906,2.922,2.926,2.93,2.946,2.956,2.961,2.989,2.991,3.008,3.022,3.034,3.049,3.058,3.072,3.083,3.098,3.114,3.129,3.145,3.163,3.166,3.184,3.204,3.211,3.232,3.238,3.265,3.278,3.306,3.325,3.331,3.359,3.376,3.401,3.403,3.43,3.454,3.48,3.494,3.511,3.535,3.556,3.591,3.605,3.631,3.648,3.682,3.698,3.725,3.748,3.783,3.81,3.835,3.864,3.889,3.932,3.951,3.987,4.014,4.06,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.291,3.288,3.263,3.257,3.243,3.24,3.226,3.222,3.209,3.206,3.186,3.185,3.176,3.175,3.175,3.165,3.152,3.145,3.132,3.127,3.115,3.114,3.111,3.098,3.09,3.085,3.083,3.07,3.07,3.063,3.055,3.052,3.041,3.032,3.03,3.028,3.019,3.011,3.01,3.003,2.999,2.993,2.99,2.982,2.981,2.981,2.976,2.975,2.975,2.963,2.963,2.956,2.955,2.946,2.945,2.945,2.944,2.944,2.944,2.944,2.946,2.946,2.946,2.93,2.928,2.928,2.927,2.927,2.927,2.923,2.923,2.918,2.918,2.914,2.913,2.913,2.913,2.917,2.918,2.918,2.917,2.917,2.917,2.915,2.917,2.915,2.915,2.919,2.919,2.919,2.921,2.926,2.931,2.931,2.933,2.931,2.933,2.933,2.933,2.937,2.943,2.943,2.943,2.943,2.953,2.956,2.956,2.96,2.963,2.963,2.964,2.974,2.978,2.979,2.982,2.985,2.992,2.994,2.994,2.999,3.003,3.008,3.014,3.019,3.023,3.03,3.037,3.039,3.039,3.039,3.04,3.043,3.061,3.066,3.07,3.074,3.075,3.081,3.086,3.093,3.103,3.103,3.107,3.112,3.125,3.137,3.145,3.159,3.16,3.164,3.164,3.173,3.174,3.177,3.187,3.196,3.267,3.731,3.739,3.751,3.759,3.766,3.788,3.792,3.802,3.81,3.826,3.836,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 112.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 112.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 112.42} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 4.5466} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.207} SEN {Time 112.463} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.196,0.188,0.196,0.196,0,0,0,0,0,0,3.843,3.833,3.833,3.843,3.855,3.87,3.876,3.877,3.896,3.906,3.906,3.919,3.925,3.928,3.948,3.96,3.974,3.977,3.992,3.996,4.006,4.019,4.034,4.051,4.07,4.076,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.158,0.145,0.145,0.142,0.142,0.145,0.148,0.153,0.157,0.153,0.153,0.153,0.153,0.153,0.299,0,0,0,0,0,0,0,0.161,0.16,0.145,0.153,0.145,0.144,0.143,0.124,0.097,0.072,0.068,0.068,0.067,0.066,0.067,0.067,0.067,0.075,0.075,0.075,0.072,0.057,0.057,0.057,3.081,3.081,3.081,3.074,3.058,3.046,3.038,3.019,3.018,3.008,2.982,2.966,2.959,2.948,2.923,2.907,2.9,2.871,2.868,2.861,2.853,2.851,2.838,2.819,2.816,2.811,2.795,2.792,2.779,2.77,2.77,2.752,2.745,2.742,2.721,2.721,2.716,2.71,2.699,2.688,2.68,2.679,2.677,2.667,2.659,2.647,2.645,2.643,2.643,2.63,2.624,2.618,2.605,2.6,2.592,2.591,2.58,2.578,2.572,2.572,2.569,2.554,2.55,2.55,2.545,2.538,2.535,2.529,2.527,2.522,2.522,2.51,2.508,2.507,2.504,2.502,2.502,2.5,2.494,2.492,2.491,2.488,2.481,2.48,2.48,2.479,2.472,2.47,2.468,2.467,2.467,2.466,2.46,2.459,2.458,2.458,2.457,2.456,2.455,2.455,2.451,2.453,2.453,2.451,2.451,2.453,2.458,2.458,2.459,2.459,2.459,2.459,2.456,2.456,2.456,2.458,2.458,2.464,2.465,2.467,2.468,2.472,2.476,2.479,2.479,2.482,2.482,2.482,2.485,2.487,2.489,2.499,2.499,2.5,2.502,2.505,2.509,2.51,2.51,2.515,2.518,2.522,2.529,2.536,2.537,2.541,2.541,2.551,2.552,2.557,2.562,2.563,2.571,2.573,2.578,2.586,2.59,2.592,2.593,2.601,2.605,2.613,2.618,2.624,2.628,2.642,2.642,2.654,2.657,2.663,2.671,2.682,2.683,2.689,2.702,2.704,2.718,2.723,2.73,2.743,2.746,2.762,2.763,2.769,2.778,2.785,2.809,2.815,2.815,2.834,2.846,2.855,2.859,2.867,2.876,2.892,2.911,2.912,2.921,2.925,2.94,2.953,2.964,2.987,2.988,3.011,3.019,3.035,3.05,3.063,3.079,3.092,3.097,3.123,3.13,3.143,3.165,3.174,3.178,3.207,3.214,3.239,3.248,3.27,3.288,3.3,3.32,3.337,3.353,3.376,3.385,3.406,3.425,3.455,3.482,3.49,3.506,3.538,3.565,3.582,3.599,3.637,3.659,3.675,3.706,3.726,3.751,3.788,3.811,3.838,3.859,3.891,3.922,3.958,3.983,4.03,4.063,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.281,3.269,3.268,3.255,3.24,3.233,3.213,3.213,3.204,3.196,3.185,3.177,3.177,3.165,3.159,3.15,3.149,3.136,3.13,3.12,3.112,3.112,3.092,3.091,3.085,3.078,3.078,3.059,3.056,3.056,3.045,3.044,3.036,3.029,3.025,3.025,3.016,3.008,3.006,3.002,2.991,2.988,2.987,2.986,2.984,2.98,2.974,2.971,2.963,2.96,2.955,2.955,2.95,2.948,2.946,2.942,2.942,2.942,2.942,2.944,2.944,2.944,2.94,2.927,2.927,2.927,2.926,2.925,2.924,2.924,2.92,2.919,2.917,2.917,2.918,2.917,2.918,2.918,2.915,2.911,2.915,2.915,2.915,2.921,2.921,2.915,2.916,2.916,2.915,2.916,2.919,2.924,2.924,2.93,2.933,2.935,2.937,2.939,2.94,2.943,2.943,2.943,2.946,2.948,2.95,2.955,2.956,2.964,2.964,2.968,2.972,2.981,2.982,2.986,2.987,2.994,2.994,2.996,3.001,3.004,3.014,3.017,3.027,3.032,3.032,3.036,3.041,3.044,3.044,3.044,3.06,3.06,3.065,3.068,3.073,3.074,3.078,3.087,3.093,3.096,3.099,3.105,3.111,3.119,3.137,3.145,3.146,3.149,3.168,3.171,3.172,3.175,3.181,3.192,3.204,3.271,3.717,3.737,3.738,3.762,3.765,3.782,3.8,3.806,3.832,3.844,3.844,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 112.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 112.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 112.621} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 4.5466} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.08} SEN {Time 112.663} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.17,0.175,0.175,0.182,0.194,0,0,0,0,0,0,3.827,3.827,3.827,3.837,3.851,3.865,3.874,3.888,3.89,3.891,3.903,3.926,3.929,3.945,3.946,3.963,3.972,3.981,3.998,4.005,4.014,4.024,4.035,4.047,4.065,4.082,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0.162,0.153,0.153,0.144,0.147,0.147,0.153,0.151,0.153,0.159,0.161,0.162,0.285,0,0,0,0,0,0,0.164,0.16,0.154,0.154,0.154,0.151,0.145,0.145,0.118,0.096,0.078,0.074,0.068,0.068,0.068,0.069,0.07,0.07,0.07,0.07,0.068,0.066,0.062,0.062,0.062,3.072,3.072,3.072,3.071,3.056,3.055,3.048,3.023,3.021,2.997,2.994,2.973,2.957,2.943,2.926,2.902,2.902,2.888,2.881,2.853,2.851,2.835,2.834,2.815,2.809,2.801,2.786,2.781,2.771,2.769,2.769,2.758,2.747,2.737,2.732,2.724,2.718,2.707,2.694,2.694,2.688,2.676,2.675,2.666,2.663,2.651,2.647,2.644,2.64,2.636,2.621,2.621,2.611,2.61,2.596,2.596,2.58,2.579,2.572,2.564,2.563,2.557,2.547,2.546,2.543,2.542,2.542,2.533,2.53,2.523,2.516,2.514,2.511,2.509,2.506,2.499,2.496,2.494,2.492,2.49,2.49,2.49,2.485,2.479,2.477,2.473,2.472,2.472,2.465,2.465,2.462,2.462,2.462,2.462,2.462,2.461,2.461,2.46,2.459,2.456,2.456,2.455,2.455,2.453,2.452,2.452,2.452,2.451,2.456,2.459,2.456,2.458,2.458,2.458,2.458,2.462,2.463,2.464,2.464,2.467,2.467,2.467,2.476,2.476,2.476,2.476,2.478,2.482,2.484,2.488,2.49,2.49,2.499,2.501,2.503,2.508,2.508,2.508,2.513,2.515,2.525,2.527,2.531,2.534,2.535,2.54,2.541,2.542,2.556,2.557,2.558,2.562,2.568,2.577,2.58,2.587,2.592,2.593,2.597,2.601,2.604,2.615,2.618,2.622,2.631,2.639,2.641,2.653,2.656,2.666,2.671,2.681,2.698,2.699,2.703,2.713,2.723,2.725,2.728,2.745,2.754,2.762,2.767,2.769,2.778,2.788,2.803,2.816,2.82,2.832,2.843,2.852,2.868,2.868,2.874,2.892,2.906,2.911,2.92,2.933,2.943,2.955,2.973,2.983,2.992,3.005,3.014,3.029,3.037,3.06,3.077,3.088,3.105,3.109,3.121,3.148,3.151,3.168,3.172,3.213,3.214,3.228,3.241,3.273,3.287,3.305,3.32,3.339,3.352,3.368,3.393,3.408,3.43,3.451,3.463,3.494,3.511,3.539,3.563,3.589,3.607,3.633,3.649,3.68,3.704,3.727,3.756,3.777,3.813,3.831,3.875,3.897,3.921,3.954,3.987,4.037,4.05,4.093,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.291,3.283,3.272,3.266,3.242,3.237,3.225,3.217,3.215,3.209,3.194,3.189,3.179,3.174,3.158,3.153,3.151,3.142,3.136,3.124,3.121,3.113,3.109,3.092,3.092,3.086,3.085,3.077,3.066,3.06,3.06,3.049,3.041,3.032,3.028,3.022,3.017,3.016,3.014,3.006,3.003,2.994,2.993,2.983,2.983,2.98,2.978,2.977,2.968,2.967,2.959,2.956,2.956,2.955,2.944,2.944,2.943,2.937,2.937,2.937,2.94,2.94,2.94,2.934,2.932,2.926,2.924,2.924,2.924,2.921,2.92,2.92,2.917,2.92,2.922,2.922,2.922,2.922,2.922,2.919,2.922,2.918,2.921,2.921,2.921,2.918,2.918,2.917,2.916,2.917,2.918,2.919,2.921,2.924,2.925,2.929,2.932,2.939,2.939,2.94,2.941,2.943,2.941,2.946,2.946,2.952,2.955,2.962,2.964,2.964,2.965,2.966,2.979,2.983,2.984,2.985,2.987,2.997,2.998,3,3.006,3.015,3.018,3.026,3.032,3.032,3.032,3.04,3.039,3.039,3.045,3.061,3.061,3.062,3.074,3.075,3.076,3.082,3.083,3.089,3.094,3.095,3.1,3.118,3.129,3.136,3.141,3.143,3.161,3.166,3.168,3.171,3.177,3.179,3.192,3.205,3.278,3.723,3.734,3.745,3.751,3.759,3.792,3.803,3.808,3.812,3.827,3.851,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 112.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 112.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 112.814} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.08} SEN {Time 112.863} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.186,0.188,0.188,0,0,0,0,0,0,3.837,3.831,3.831,3.837,3.845,3.863,3.869,3.879,3.892,3.896,3.907,3.919,3.922,3.924,3.949,3.968,3.969,3.972,3.984,4.001,4.005,4.025,4.029,4.058,4.074,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.163,0.151,0.15,0.147,0.147,0.147,0.145,0.145,0.156,0.154,0.155,0.156,0.156,0.161,0.275,3.601,0.007,0,0.006,0.009,0.006,0,0.165,0.163,0.162,0.155,0.148,0.147,0.147,0.127,0.089,0.07,0.065,0.064,0.064,0.064,0.065,0.065,0.071,0.074,0.071,0.068,0.068,0.063,0.063,0.063,3.07,3.07,3.07,3.064,3.053,3.052,3.052,3.015,3.005,2.994,2.991,2.972,2.963,2.942,2.924,2.911,2.901,2.884,2.884,2.861,2.857,2.846,2.843,2.819,2.813,2.811,2.797,2.789,2.773,2.767,2.765,2.752,2.743,2.739,2.718,2.718,2.717,2.703,2.702,2.699,2.686,2.679,2.67,2.668,2.656,2.652,2.643,2.641,2.635,2.634,2.633,2.617,2.609,2.608,2.599,2.592,2.581,2.578,2.576,2.568,2.564,2.557,2.553,2.548,2.547,2.544,2.531,2.529,2.527,2.525,2.513,2.51,2.509,2.504,2.504,2.496,2.495,2.495,2.492,2.489,2.488,2.486,2.48,2.48,2.478,2.473,2.471,2.471,2.466,2.465,2.462,2.462,2.462,2.462,2.461,2.46,2.457,2.456,2.456,2.456,2.455,2.456,2.455,2.45,2.45,2.452,2.452,2.452,2.452,2.452,2.454,2.454,2.454,2.458,2.458,2.461,2.463,2.463,2.463,2.466,2.466,2.468,2.475,2.476,2.471,2.476,2.482,2.484,2.484,2.487,2.487,2.489,2.49,2.502,2.503,2.506,2.507,2.512,2.514,2.52,2.524,2.528,2.53,2.532,2.532,2.534,2.542,2.544,2.553,2.555,2.556,2.557,2.561,2.568,2.582,2.582,2.587,2.589,2.596,2.601,2.605,2.617,2.618,2.621,2.631,2.641,2.644,2.651,2.655,2.658,2.673,2.681,2.686,2.69,2.701,2.712,2.718,2.72,2.732,2.741,2.743,2.76,2.766,2.771,2.774,2.789,2.801,2.806,2.819,2.833,2.844,2.844,2.858,2.865,2.871,2.89,2.904,2.919,2.922,2.929,2.944,2.957,2.97,2.988,2.989,3.01,3.029,3.045,3.05,3.07,3.072,3.088,3.097,3.12,3.124,3.145,3.163,3.166,3.18,3.203,3.216,3.23,3.241,3.271,3.284,3.294,3.319,3.342,3.352,3.367,3.401,3.414,3.425,3.444,3.468,3.488,3.506,3.538,3.566,3.584,3.604,3.624,3.641,3.672,3.712,3.733,3.739,3.785,3.811,3.832,3.872,3.878,3.924,3.969,3.98,4.051,4.083,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.284,3.273,3.265,3.255,3.25,3.232,3.226,3.215,3.202,3.194,3.189,3.18,3.177,3.167,3.162,3.152,3.144,3.141,3.121,3.119,3.119,3.107,3.094,3.094,3.094,3.091,3.091,3.062,3.057,3.055,3.049,3.042,3.042,3.032,3.02,3.015,3.015,3.013,3.007,3.003,2.997,2.996,2.99,2.986,2.985,2.977,2.973,2.966,2.964,2.959,2.957,2.955,2.955,2.954,2.952,2.945,2.938,2.938,2.94,2.94,2.94,2.94,2.933,2.928,2.925,2.928,2.922,2.921,2.92,2.918,2.916,2.916,2.914,2.914,2.914,2.914,2.912,2.914,2.914,2.914,2.915,2.923,2.915,2.918,2.918,2.917,2.917,2.918,2.918,2.918,2.918,2.921,2.921,2.923,2.926,2.931,2.936,2.937,2.945,2.946,2.946,2.946,2.945,2.946,2.946,2.95,2.955,2.955,2.956,2.967,2.973,2.975,2.978,2.981,2.986,2.987,2.997,3.002,3.002,3.002,3.01,3.011,3.021,3.022,3.028,3.032,3.042,3.042,3.041,3.042,3.053,3.053,3.066,3.074,3.074,3.08,3.08,3.087,3.092,3.097,3.101,3.101,3.114,3.122,3.137,3.139,3.144,3.158,3.161,3.162,3.175,3.175,3.185,3.185,3.203,3.285,3.72,3.739,3.74,3.754,3.76,3.781,3.785,3.799,3.819,3.831,3.856,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 113.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 113.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 113.016} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.08} SEN {Time 113.063} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.188,0.19,0.19,0,0,0,0,0,0,0,3.843,3.843,3.843,3.847,3.866,3.875,3.883,3.892,3.892,3.9,3.924,3.925,3.925,3.943,3.957,3.969,3.988,3.994,4.011,4.012,4.021,4.034,4.05,4.061,4.086,4.087,0.016,0.007,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.158,0.154,0.152,0.149,0.149,0.149,0.148,0.148,0.153,0.153,0.155,0.158,0.16,0.163,0.279,0,0,0,0,0,0,0.162,0.159,0.158,0.158,0.154,0.151,0.149,0.137,0.122,0.097,0.068,0.066,0.064,0.064,0.064,0.068,0.069,0.069,0.069,0.069,0.066,0.06,0.06,0.06,0.06,3.082,3.082,3.082,3.064,3.059,3.046,3.044,3.022,3.015,3.001,2.989,2.986,2.972,2.929,2.929,2.908,2.904,2.884,2.872,2.858,2.855,2.843,2.822,2.815,2.813,2.802,2.793,2.785,2.776,2.769,2.762,2.746,2.74,2.728,2.726,2.721,2.713,2.711,2.702,2.69,2.686,2.678,2.677,2.663,2.661,2.656,2.647,2.644,2.644,2.629,2.626,2.618,2.615,2.601,2.595,2.595,2.587,2.581,2.569,2.564,2.564,2.555,2.549,2.548,2.543,2.538,2.533,2.533,2.524,2.523,2.514,2.511,2.508,2.507,2.505,2.501,2.499,2.496,2.492,2.487,2.485,2.482,2.478,2.478,2.475,2.472,2.471,2.468,2.468,2.467,2.464,2.464,2.465,2.459,2.459,2.459,2.459,2.456,2.455,2.456,2.455,2.453,2.451,2.451,2.451,2.453,2.451,2.45,2.453,2.451,2.451,2.458,2.459,2.459,2.459,2.463,2.464,2.467,2.467,2.468,2.47,2.475,2.476,2.476,2.479,2.482,2.482,2.482,2.486,2.487,2.489,2.496,2.496,2.496,2.497,2.5,2.515,2.515,2.516,2.521,2.521,2.524,2.532,2.534,2.54,2.541,2.542,2.55,2.552,2.553,2.554,2.563,2.57,2.571,2.583,2.583,2.59,2.591,2.592,2.596,2.602,2.609,2.618,2.627,2.633,2.633,2.643,2.65,2.657,2.667,2.671,2.68,2.683,2.697,2.7,2.701,2.716,2.719,2.739,2.748,2.75,2.759,2.764,2.774,2.782,2.789,2.805,2.807,2.816,2.829,2.841,2.849,2.867,2.868,2.875,2.891,2.902,2.914,2.924,2.939,2.939,2.961,2.973,2.984,2.992,3.019,3.019,3.03,3.052,3.059,3.073,3.088,3.098,3.125,3.126,3.143,3.159,3.167,3.188,3.202,3.213,3.227,3.238,3.261,3.284,3.303,3.325,3.337,3.362,3.376,3.386,3.407,3.426,3.446,3.477,3.5,3.511,3.542,3.564,3.579,3.603,3.622,3.655,3.684,3.703,3.735,3.76,3.779,3.806,3.825,3.861,3.886,3.927,3.952,3.991,4.028,4.05,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.294,3.274,3.273,3.266,3.25,3.242,3.234,3.223,3.213,3.202,3.199,3.196,3.178,3.177,3.169,3.159,3.145,3.135,3.131,3.127,3.119,3.118,3.107,3.096,3.094,3.092,3.076,3.072,3.065,3.061,3.052,3.048,3.045,3.042,3.034,3.027,3.024,3.02,3.014,3.011,3.004,2.992,2.988,2.985,2.985,2.979,2.98,2.979,2.969,2.959,2.956,2.955,2.955,2.953,2.944,2.942,2.942,2.942,2.941,2.941,2.946,2.941,2.941,2.935,2.928,2.926,2.928,2.923,2.923,2.923,2.915,2.915,2.915,2.913,2.913,2.916,2.913,2.913,2.921,2.921,2.921,2.921,2.911,2.911,2.915,2.911,2.915,2.915,2.916,2.916,2.92,2.924,2.924,2.927,2.927,2.927,2.928,2.93,2.941,2.945,2.945,2.946,2.947,2.951,2.952,2.953,2.953,2.956,2.964,2.965,2.967,2.975,2.975,2.978,2.983,2.983,3.001,3.001,3.001,3.001,3.01,3.017,3.018,3.021,3.031,3.031,3.039,3.041,3.043,3.048,3.048,3.056,3.056,3.067,3.069,3.076,3.082,3.082,3.083,3.088,3.098,3.101,3.104,3.113,3.131,3.147,3.147,3.147,3.155,3.161,3.166,3.172,3.176,3.182,3.184,3.209,3.276,3.733,3.735,3.749,3.756,3.769,3.779,3.787,3.803,3.822,3.823,3.846,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 113.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 113.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 113.217} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.2578} SEN {Time 113.259} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.186,0.182,0.182,0.194,0,0,0,0,0,3.828,3.828,3.828,3.839,3.843,3.85,3.864,3.874,3.878,3.883,3.895,3.912,3.914,3.927,3.93,3.938,3.958,3.967,3.978,3.999,4.003,4.005,4.023,4.033,4.039,4.07,4.086,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.157,0.153,0.153,0.15,0.15,0.144,0.148,0.148,0.15,0.15,0.153,0.153,0.158,0.158,0.297,0,0,0,0.006,0.006,0.006,0.16,0.16,0.157,0.156,0.155,0.155,0.152,0.152,0.112,0.091,0.074,0.064,0.064,0.064,0.064,0.068,0.069,0.071,0.072,0.071,0.071,0.064,0.06,0.06,0.06,3.072,3.074,3.074,3.072,3.051,3.048,3.03,3.027,3.021,3.004,3,2.974,2.946,2.942,2.922,2.911,2.911,2.88,2.874,2.857,2.851,2.842,2.842,2.82,2.817,2.796,2.794,2.783,2.778,2.768,2.766,2.755,2.741,2.739,2.722,2.722,2.721,2.705,2.703,2.7,2.685,2.68,2.671,2.664,2.663,2.65,2.65,2.644,2.637,2.636,2.613,2.611,2.611,2.598,2.591,2.589,2.585,2.574,2.574,2.568,2.562,2.558,2.554,2.549,2.544,2.54,2.537,2.536,2.527,2.523,2.523,2.511,2.509,2.505,2.505,2.499,2.494,2.493,2.489,2.488,2.485,2.483,2.481,2.475,2.475,2.475,2.473,2.473,2.47,2.463,2.462,2.462,2.462,2.462,2.462,2.462,2.46,2.454,2.454,2.456,2.454,2.454,2.454,2.45,2.45,2.45,2.452,2.46,2.46,2.46,2.454,2.459,2.459,2.454,2.456,2.459,2.459,2.458,2.46,2.464,2.465,2.471,2.472,2.472,2.474,2.476,2.479,2.479,2.484,2.486,2.492,2.495,2.495,2.498,2.5,2.505,2.511,2.517,2.517,2.519,2.519,2.531,2.536,2.539,2.539,2.538,2.539,2.547,2.553,2.553,2.559,2.567,2.568,2.573,2.582,2.584,2.59,2.594,2.596,2.602,2.608,2.616,2.619,2.627,2.635,2.642,2.644,2.654,2.655,2.669,2.672,2.682,2.682,2.694,2.699,2.709,2.722,2.725,2.731,2.743,2.749,2.76,2.766,2.776,2.782,2.792,2.802,2.81,2.811,2.833,2.844,2.846,2.855,2.87,2.875,2.885,2.906,2.917,2.924,2.94,2.94,2.95,2.969,2.982,2.991,3.016,3.017,3.037,3.049,3.057,3.065,3.093,3.103,3.12,3.128,3.14,3.162,3.173,3.176,3.207,3.21,3.23,3.246,3.271,3.278,3.306,3.318,3.332,3.359,3.37,3.393,3.405,3.44,3.448,3.478,3.493,3.517,3.539,3.56,3.579,3.614,3.631,3.653,3.68,3.709,3.737,3.761,3.786,3.812,3.836,3.874,3.885,3.921,3.959,3.989,4.007,4.035,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.285,3.266,3.265,3.25,3.246,3.234,3.228,3.212,3.2,3.197,3.195,3.18,3.178,3.175,3.153,3.15,3.148,3.133,3.131,3.125,3.108,3.103,3.099,3.099,3.093,3.09,3.082,3.065,3.06,3.058,3.058,3.049,3.047,3.036,3.024,3.023,3.014,3.007,3.006,3.005,2.989,2.989,2.989,2.988,2.984,2.98,2.978,2.969,2.961,2.955,2.955,2.954,2.952,2.952,2.938,2.937,2.935,2.933,2.933,2.933,2.933,2.933,2.928,2.926,2.926,2.926,2.923,2.922,2.92,2.919,2.919,2.919,2.919,2.919,2.919,2.915,2.915,2.914,2.914,2.914,2.916,2.916,2.917,2.917,2.916,2.915,2.912,2.912,2.915,2.92,2.928,2.929,2.929,2.928,2.928,2.928,2.928,2.936,2.939,2.941,2.941,2.941,2.943,2.949,2.956,2.958,2.959,2.969,2.97,2.97,2.973,2.979,2.979,2.98,2.986,2.988,2.989,2.999,2.999,3.008,3.011,3.012,3.017,3.023,3.034,3.037,3.045,3.046,3.046,3.048,3.052,3.052,3.061,3.062,3.075,3.081,3.081,3.092,3.101,3.1,3.101,3.109,3.122,3.126,3.135,3.137,3.144,3.152,3.162,3.163,3.173,3.179,3.18,3.185,3.198,3.275,3.719,3.731,3.75,3.751,3.761,3.788,3.805,3.815,3.832,3.832,3.849,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 113.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 113.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 113.41} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.5052} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.2578} SEN {Time 113.459} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.186,0.186,0,0,0,0,0,0,3.833,3.833,3.833,3.838,3.847,3.876,3.877,3.878,3.891,3.895,3.901,3.918,3.927,3.934,3.943,3.963,3.974,3.975,4.006,4.018,4.032,4.032,4.041,4.045,4.07,4.082,4.084,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.159,0.145,0.145,0.144,0.145,0.145,0.144,0.144,0.146,0.146,0.151,0.151,0.163,0.163,0.297,0,0,0,0,0,0,0,0.16,0.157,0.151,0.151,0.152,0.151,0.151,0.123,0.092,0.08,0.072,0.068,0.067,0.067,0.067,0.068,0.068,0.068,0.068,0.068,0.06,0.057,0.057,0.06,3.071,3.072,3.072,3.071,3.063,3.049,3.044,3.023,3.016,2.992,2.99,2.967,2.962,2.938,2.933,2.91,2.907,2.876,2.875,2.854,2.851,2.841,2.839,2.82,2.82,2.804,2.796,2.785,2.768,2.768,2.768,2.753,2.752,2.742,2.727,2.72,2.709,2.708,2.708,2.702,2.679,2.677,2.671,2.666,2.662,2.655,2.65,2.641,2.637,2.634,2.616,2.616,2.607,2.601,2.598,2.592,2.587,2.577,2.575,2.572,2.566,2.566,2.55,2.55,2.549,2.544,2.537,2.535,2.523,2.522,2.514,2.511,2.511,2.51,2.51,2.497,2.497,2.493,2.49,2.489,2.488,2.484,2.482,2.481,2.481,2.476,2.476,2.474,2.473,2.471,2.468,2.464,2.463,2.458,2.457,2.457,2.457,2.456,2.456,2.456,2.456,2.455,2.455,2.453,2.454,2.453,2.453,2.454,2.455,2.455,2.458,2.458,2.453,2.453,2.458,2.458,2.461,2.463,2.466,2.466,2.47,2.472,2.472,2.477,2.481,2.485,2.485,2.486,2.487,2.487,2.491,2.494,2.497,2.501,2.502,2.507,2.508,2.512,2.514,2.519,2.52,2.522,2.527,2.528,2.534,2.542,2.547,2.549,2.551,2.554,2.56,2.566,2.568,2.577,2.58,2.58,2.593,2.593,2.597,2.6,2.606,2.613,2.616,2.621,2.626,2.633,2.638,2.651,2.657,2.664,2.669,2.673,2.69,2.693,2.702,2.703,2.715,2.721,2.734,2.738,2.741,2.761,2.763,2.775,2.783,2.785,2.798,2.799,2.828,2.831,2.839,2.849,2.862,2.866,2.876,2.893,2.906,2.916,2.918,2.939,2.954,2.954,2.969,2.985,2.993,3.005,3.028,3.029,3.05,3.062,3.077,3.081,3.094,3.121,3.125,3.142,3.159,3.164,3.171,3.211,3.223,3.242,3.25,3.265,3.279,3.301,3.32,3.327,3.353,3.37,3.397,3.408,3.426,3.437,3.471,3.485,3.518,3.532,3.569,3.582,3.607,3.632,3.653,3.675,3.705,3.739,3.753,3.793,3.799,3.84,3.864,3.884,3.919,3.962,3.98,4.021,4.062,4.084,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.303,3.284,3.275,3.258,3.258,3.249,3.228,3.221,3.22,3.209,3.193,3.186,3.184,3.174,3.172,3.158,3.155,3.142,3.133,3.126,3.119,3.109,3.093,3.092,3.091,3.09,3.08,3.076,3.062,3.061,3.057,3.051,3.041,3.034,3.03,3.029,3.024,3.013,3.013,3.012,3.007,2.992,2.989,2.988,2.987,2.984,2.979,2.976,2.968,2.967,2.96,2.955,2.953,2.945,2.941,2.941,2.941,2.939,2.939,2.941,2.946,2.946,2.946,2.935,2.931,2.93,2.93,2.926,2.926,2.92,2.92,2.92,2.92,2.918,2.918,2.918,2.915,2.915,2.915,2.915,2.915,2.916,2.914,2.913,2.914,2.92,2.915,2.915,2.917,2.917,2.917,2.921,2.926,2.926,2.929,2.933,2.933,2.938,2.938,2.939,2.945,2.939,2.945,2.945,2.947,2.955,2.955,2.955,2.958,2.96,2.964,2.975,2.98,2.98,2.984,2.987,2.988,2.99,2.999,3.009,3.009,3.009,3.014,3.022,3.027,3.039,3.042,3.042,3.042,3.04,3.042,3.045,3.058,3.062,3.072,3.076,3.084,3.084,3.091,3.092,3.093,3.108,3.109,3.121,3.13,3.138,3.139,3.146,3.154,3.161,3.162,3.173,3.177,3.183,3.199,3.208,3.278,3.726,3.736,3.74,3.754,3.757,3.774,3.795,3.798,3.821,3.831,3.834,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 113.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 113.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 113.613} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.5052} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.2578} SEN {Time 113.659} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.187,0.189,0.189,0,0,0,0,0,0,0,3.847,3.847,3.847,3.851,3.874,3.877,3.89,3.893,3.896,3.909,3.925,3.941,3.944,3.946,3.966,3.967,3.97,3.992,4.003,4.011,4.022,4.044,4.049,4.062,4.08,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.156,0.153,0.15,0.149,0.149,0.149,0.149,0.154,0.154,0.154,0.161,0.161,0.161,0.296,0,0,0,0,0,0,0,0.161,0.161,0.158,0.157,0.157,0.154,0.147,0.144,0.123,0.099,0.079,0.068,0.064,0.064,0.065,0.065,0.068,0.068,0.068,0.068,0.068,0.064,0.063,0.063,0.064,3.07,3.07,3.07,3.068,3.048,3.046,3.038,3.023,3.016,2.997,2.976,2.968,2.955,2.941,2.927,2.911,2.9,2.876,2.875,2.86,2.846,2.842,2.831,2.821,2.817,2.8,2.792,2.79,2.777,2.768,2.764,2.751,2.751,2.743,2.726,2.725,2.719,2.707,2.701,2.693,2.686,2.68,2.672,2.668,2.662,2.649,2.645,2.641,2.636,2.628,2.62,2.616,2.611,2.602,2.595,2.589,2.587,2.577,2.572,2.57,2.57,2.559,2.549,2.548,2.547,2.545,2.539,2.539,2.533,2.522,2.518,2.514,2.51,2.506,2.505,2.499,2.498,2.498,2.49,2.49,2.487,2.485,2.483,2.48,2.48,2.474,2.471,2.465,2.463,2.465,2.466,2.463,2.463,2.463,2.458,2.455,2.454,2.455,2.454,2.453,2.452,2.453,2.453,2.455,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.462,2.46,2.462,2.462,2.467,2.467,2.467,2.467,2.468,2.468,2.472,2.472,2.472,2.476,2.478,2.478,2.478,2.483,2.487,2.492,2.498,2.498,2.501,2.506,2.51,2.514,2.515,2.515,2.52,2.522,2.525,2.528,2.532,2.54,2.543,2.546,2.547,2.554,2.558,2.562,2.562,2.562,2.575,2.575,2.576,2.585,2.587,2.59,2.591,2.612,2.616,2.617,2.623,2.625,2.635,2.645,2.646,2.652,2.662,2.674,2.678,2.686,2.695,2.702,2.704,2.711,2.724,2.731,2.749,2.753,2.764,2.766,2.769,2.777,2.788,2.802,2.81,2.815,2.825,2.837,2.845,2.864,2.867,2.88,2.892,2.906,2.916,2.919,2.935,2.941,2.949,2.972,2.984,2.992,3.009,3.019,3.04,3.051,3.065,3.072,3.085,3.104,3.111,3.125,3.144,3.153,3.179,3.184,3.197,3.211,3.233,3.253,3.264,3.29,3.301,3.325,3.335,3.353,3.361,3.39,3.412,3.424,3.451,3.469,3.487,3.509,3.533,3.569,3.587,3.602,3.627,3.655,3.683,3.711,3.734,3.754,3.785,3.802,3.83,3.875,3.888,3.93,3.957,3.977,4.024,4.068,4.084,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.291,3.285,3.273,3.265,3.244,3.235,3.23,3.218,3.215,3.209,3.209,3.194,3.175,3.175,3.169,3.15,3.149,3.142,3.139,3.126,3.122,3.109,3.1,3.097,3.096,3.088,3.083,3.083,3.066,3.061,3.051,3.048,3.044,3.036,3.028,3.023,3.021,3.012,3.012,3.004,3.001,2.994,2.989,2.984,2.983,2.98,2.977,2.974,2.967,2.965,2.961,2.959,2.956,2.955,2.952,2.943,2.943,2.941,2.941,2.948,2.948,2.936,2.936,2.931,2.929,2.925,2.929,2.925,2.925,2.925,2.92,2.92,2.92,2.919,2.914,2.914,2.914,2.915,2.916,2.916,2.915,2.914,2.914,2.914,2.912,2.915,2.915,2.915,2.917,2.923,2.928,2.929,2.929,2.93,2.931,2.931,2.935,2.939,2.941,2.942,2.944,2.944,2.947,2.947,2.948,2.955,2.955,2.958,2.955,2.958,2.974,2.977,2.98,2.981,2.983,2.984,2.986,2.989,2.994,2.998,2.999,3.011,3.012,3.023,3.028,3.035,3.035,3.038,3.038,3.043,3.054,3.06,3.06,3.062,3.066,3.066,3.081,3.081,3.091,3.104,3.104,3.106,3.116,3.116,3.125,3.139,3.145,3.145,3.152,3.16,3.164,3.178,3.185,3.186,3.186,3.202,3.278,3.719,3.727,3.737,3.749,3.763,3.78,3.788,3.803,3.809,3.832,3.845,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 113.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 113.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 113.814} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 3.5052} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.1308} SEN {Time 113.859} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.191,0.191,0.191,0.191,0,0,0,0,0,0,3.836,3.834,3.834,3.836,3.853,3.868,3.873,3.877,3.891,3.902,3.905,3.921,3.924,3.938,3.945,3.959,3.969,3.971,3.989,4.014,4.015,4.021,4.029,4.061,4.061,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0.153,0.15,0.148,0.145,0.148,0.143,0.148,0.153,0.155,0.153,0.155,0.158,0.162,0.162,0.29,0,0,0,0,0,0,0.165,0.16,0.157,0.155,0.154,0.153,0.15,0.15,0.12,0.106,0.072,0.067,0.064,0.064,0.064,0.067,0.073,0.073,0.073,0.068,0.067,0.064,0.054,0.054,0.054,3.067,3.067,3.067,3.066,3.063,3.055,3.042,3.029,3.022,3.004,2.99,2.983,2.963,2.945,2.918,2.907,2.902,2.879,2.877,2.864,2.854,2.838,2.838,2.821,2.813,2.805,2.794,2.789,2.778,2.772,2.764,2.746,2.745,2.736,2.723,2.715,2.714,2.705,2.703,2.688,2.684,2.683,2.678,2.664,2.663,2.656,2.654,2.646,2.643,2.635,2.63,2.62,2.617,2.602,2.597,2.595,2.585,2.572,2.571,2.562,2.561,2.558,2.549,2.549,2.548,2.543,2.533,2.531,2.529,2.517,2.516,2.51,2.509,2.504,2.499,2.499,2.495,2.494,2.488,2.488,2.487,2.484,2.484,2.479,2.479,2.479,2.473,2.473,2.473,2.467,2.465,2.464,2.461,2.463,2.46,2.459,2.457,2.455,2.453,2.455,2.455,2.453,2.453,2.456,2.456,2.459,2.459,2.459,2.456,2.456,2.455,2.455,2.452,2.455,2.455,2.456,2.461,2.466,2.468,2.47,2.47,2.472,2.472,2.474,2.474,2.486,2.486,2.488,2.486,2.488,2.491,2.492,2.495,2.5,2.502,2.503,2.508,2.51,2.512,2.52,2.521,2.524,2.532,2.536,2.537,2.543,2.544,2.548,2.553,2.554,2.556,2.566,2.568,2.57,2.579,2.582,2.586,2.588,2.598,2.602,2.604,2.609,2.622,2.623,2.627,2.643,2.651,2.652,2.654,2.664,2.667,2.688,2.688,2.696,2.7,2.704,2.705,2.718,2.725,2.747,2.75,2.756,2.769,2.769,2.782,2.791,2.803,2.811,2.816,2.836,2.844,2.849,2.866,2.868,2.877,2.878,2.902,2.922,2.923,2.936,2.941,2.958,2.97,2.984,2.992,3.011,3.019,3.035,3.051,3.059,3.078,3.08,3.096,3.11,3.129,3.14,3.162,3.17,3.176,3.207,3.208,3.24,3.241,3.268,3.285,3.311,3.316,3.337,3.351,3.377,3.388,3.407,3.418,3.453,3.468,3.502,3.515,3.532,3.566,3.581,3.606,3.629,3.661,3.676,3.709,3.729,3.755,3.784,3.81,3.834,3.861,3.895,3.929,3.95,3.983,4.016,4.056,4.083,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.277,3.26,3.259,3.253,3.251,3.23,3.225,3.208,3.198,3.193,3.188,3.183,3.178,3.165,3.159,3.151,3.145,3.139,3.128,3.121,3.114,3.108,3.097,3.09,3.087,3.086,3.076,3.065,3.063,3.059,3.054,3.042,3.041,3.03,3.026,3.02,3.016,3.009,3.008,3.004,2.99,2.984,2.984,2.984,2.984,2.98,2.979,2.972,2.97,2.962,2.962,2.961,2.957,2.949,2.941,2.949,2.939,2.939,2.948,2.948,2.938,2.938,2.938,2.932,2.93,2.93,2.928,2.926,2.924,2.923,2.921,2.92,2.92,2.918,2.918,2.914,2.914,2.919,2.919,2.912,2.921,2.916,2.916,2.916,2.918,2.917,2.918,2.922,2.923,2.923,2.924,2.923,2.923,2.929,2.929,2.93,2.939,2.941,2.941,2.944,2.944,2.944,2.946,2.954,2.955,2.955,2.956,2.96,2.969,2.973,2.975,2.979,2.979,2.983,2.984,2.984,2.994,2.999,2.999,3.007,3.007,3.015,3.025,3.032,3.035,3.035,3.038,3.04,3.04,3.045,3.047,3.061,3.064,3.069,3.077,3.083,3.084,3.085,3.085,3.086,3.101,3.106,3.123,3.124,3.14,3.142,3.15,3.154,3.165,3.169,3.169,3.172,3.172,3.186,3.201,3.723,3.738,3.741,3.741,3.758,3.766,3.782,3.79,3.801,3.809,3.825,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 114.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 114.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 114.016} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 3.9624} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.1308} SEN {Time 114.059} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.179,0.179,0.187,0.187,0,0,0,0,0,0,3.832,3.832,3.832,3.839,3.848,3.869,3.871,3.878,3.885,3.887,3.905,3.915,3.924,3.941,3.943,3.972,3.975,3.982,3.998,4.002,4.01,4.018,4.03,4.063,4.072,4.077,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0.157,0.151,0.15,0.151,0.15,0.145,0.145,0.156,0.154,0.156,0.156,0.156,0.156,0.288,0,0,0,0,0,0,0,0.166,0.161,0.157,0.153,0.152,0.143,0.143,0.127,0.096,0.072,0.067,0.066,0.066,0.066,0.071,0.071,0.071,0.071,0.071,0.07,0.067,0.06,0.06,0.06,3.066,3.073,3.073,3.066,3.052,3.046,3.044,3.029,3.024,2.997,2.994,2.973,2.969,2.952,2.929,2.914,2.899,2.886,2.879,2.862,2.847,2.841,2.84,2.817,2.816,2.797,2.792,2.787,2.78,2.769,2.768,2.749,2.745,2.742,2.723,2.721,2.711,2.707,2.703,2.701,2.682,2.678,2.676,2.667,2.659,2.656,2.648,2.646,2.641,2.637,2.629,2.617,2.611,2.609,2.603,2.593,2.584,2.58,2.575,2.568,2.567,2.559,2.551,2.55,2.549,2.543,2.537,2.535,2.527,2.519,2.517,2.514,2.511,2.509,2.509,2.503,2.499,2.494,2.491,2.491,2.486,2.486,2.48,2.477,2.476,2.472,2.472,2.471,2.471,2.465,2.465,2.465,2.465,2.465,2.465,2.464,2.46,2.458,2.457,2.457,2.457,2.457,2.457,2.456,2.455,2.453,2.453,2.453,2.453,2.455,2.458,2.463,2.465,2.465,2.465,2.465,2.467,2.467,2.468,2.47,2.471,2.472,2.473,2.476,2.479,2.479,2.483,2.485,2.485,2.49,2.49,2.49,2.5,2.501,2.501,2.509,2.514,2.515,2.515,2.516,2.524,2.524,2.533,2.535,2.537,2.543,2.544,2.548,2.551,2.56,2.566,2.568,2.571,2.573,2.583,2.583,2.584,2.589,2.6,2.6,2.603,2.607,2.622,2.63,2.633,2.641,2.643,2.656,2.664,2.664,2.666,2.674,2.69,2.691,2.702,2.712,2.717,2.72,2.736,2.748,2.751,2.76,2.773,2.777,2.783,2.794,2.799,2.813,2.819,2.834,2.846,2.849,2.874,2.874,2.878,2.893,2.907,2.91,2.922,2.928,2.947,2.962,2.968,2.983,2.989,3.006,3.025,3.035,3.052,3.071,3.074,3.076,3.103,3.113,3.123,3.14,3.163,3.174,3.175,3.197,3.209,3.233,3.245,3.265,3.277,3.294,3.318,3.335,3.36,3.369,3.391,3.405,3.43,3.455,3.482,3.502,3.515,3.543,3.567,3.591,3.603,3.632,3.654,3.673,3.703,3.728,3.756,3.781,3.801,3.837,3.872,3.893,3.938,3.953,3.986,4.022,4.061,4.093,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.297,3.278,3.277,3.267,3.246,3.239,3.231,3.219,3.205,3.2,3.193,3.191,3.183,3.179,3.172,3.16,3.149,3.135,3.135,3.126,3.117,3.112,3.108,3.101,3.09,3.089,3.083,3.074,3.063,3.062,3.057,3.043,3.039,3.036,3.031,3.023,3.022,3.013,3.013,3.01,3.004,2.991,2.986,2.985,2.984,2.981,2.977,2.976,2.968,2.965,2.962,2.962,2.959,2.957,2.948,2.947,2.946,2.943,2.943,2.943,2.944,2.944,2.944,2.94,2.931,2.924,2.924,2.924,2.925,2.925,2.925,2.925,2.921,2.92,2.92,2.92,2.918,2.92,2.92,2.918,2.918,2.918,2.915,2.914,2.914,2.914,2.914,2.914,2.919,2.919,2.921,2.921,2.923,2.928,2.928,2.929,2.931,2.931,2.94,2.942,2.947,2.947,2.949,2.949,2.95,2.95,2.953,2.959,2.968,2.97,2.97,2.971,2.979,2.982,2.983,2.987,2.994,2.997,3.001,3.005,3.011,3.013,3.014,3.026,3.03,3.03,3.034,3.041,3.044,3.046,3.048,3.061,3.061,3.064,3.076,3.078,3.086,3.086,3.093,3.11,3.11,3.112,3.113,3.116,3.126,3.138,3.142,3.157,3.159,3.172,3.172,3.175,3.175,3.179,3.187,3.207,3.283,3.718,3.741,3.746,3.754,3.763,3.785,3.795,3.797,3.813,3.822,3.857,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 114.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 114.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 114.218} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 3.9624} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.1308} SEN {Time 114.255} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,3.833,3.833,3.833,3.84,3.845,3.86,3.876,3.884,3.89,3.902,3.915,3.916,3.93,3.942,3.946,3.959,3.969,3.98,3.993,4.009,4.013,4.031,4.062,4.062,4.062,4.078,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.158,0.149,0.145,0.145,0.145,0.145,0.145,0.148,0.154,0.152,0.154,0.157,0.157,0.159,0.287,0,0,0,0,0,0,0.157,0.157,0.155,0.154,0.154,0.151,0.148,0.148,0.124,0.107,0.072,0.068,0.068,0.068,0.068,0.068,0.068,0.073,0.068,0.068,0.068,0.063,0.06,0.06,0.06,3.08,3.08,3.08,3.067,3.062,3.055,3.05,3.024,3.014,3.003,2.991,2.968,2.96,2.934,2.921,2.911,2.9,2.88,2.879,2.855,2.855,2.849,2.836,2.818,2.817,2.81,2.79,2.778,2.772,2.77,2.763,2.752,2.74,2.738,2.727,2.725,2.713,2.707,2.702,2.695,2.68,2.678,2.677,2.67,2.658,2.657,2.643,2.638,2.636,2.635,2.623,2.619,2.609,2.605,2.595,2.594,2.586,2.584,2.579,2.561,2.554,2.553,2.546,2.546,2.546,2.544,2.538,2.537,2.531,2.524,2.516,2.508,2.507,2.505,2.505,2.503,2.501,2.493,2.49,2.49,2.481,2.481,2.481,2.479,2.478,2.476,2.475,2.474,2.473,2.468,2.466,2.466,2.461,2.461,2.46,2.46,2.458,2.458,2.455,2.453,2.453,2.453,2.453,2.451,2.453,2.454,2.461,2.461,2.461,2.461,2.462,2.461,2.461,2.46,2.46,2.46,2.461,2.464,2.464,2.467,2.468,2.475,2.48,2.48,2.481,2.482,2.482,2.482,2.485,2.489,2.491,2.493,2.494,2.499,2.503,2.504,2.506,2.513,2.516,2.518,2.519,2.523,2.527,2.533,2.539,2.541,2.547,2.547,2.548,2.548,2.548,2.558,2.572,2.575,2.578,2.579,2.59,2.595,2.604,2.605,2.608,2.615,2.621,2.625,2.625,2.641,2.648,2.658,2.658,2.669,2.675,2.68,2.686,2.693,2.705,2.707,2.72,2.727,2.729,2.744,2.744,2.755,2.769,2.77,2.782,2.786,2.8,2.804,2.82,2.835,2.843,2.849,2.866,2.867,2.876,2.893,2.909,2.912,2.922,2.925,2.953,2.96,2.963,2.988,2.989,3.005,3.015,3.038,3.053,3.064,3.067,3.093,3.098,3.111,3.129,3.135,3.165,3.17,3.187,3.204,3.216,3.231,3.246,3.272,3.284,3.306,3.322,3.335,3.358,3.371,3.386,3.413,3.432,3.455,3.473,3.495,3.518,3.538,3.565,3.587,3.607,3.631,3.656,3.68,3.698,3.731,3.763,3.782,3.802,3.828,3.874,3.881,3.928,3.954,3.988,4.017,4.071,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.285,3.283,3.276,3.255,3.253,3.235,3.226,3.221,3.208,3.207,3.195,3.194,3.179,3.177,3.165,3.164,3.15,3.145,3.136,3.121,3.121,3.114,3.103,3.099,3.091,3.089,3.079,3.074,3.062,3.061,3.06,3.042,3.04,3.035,3.028,3.027,3.024,3.022,3.012,3.009,3.008,2.987,2.987,2.983,2.982,2.981,2.981,2.978,2.976,2.968,2.958,2.956,2.955,2.952,2.95,2.949,2.942,2.942,2.939,2.939,2.939,2.939,2.939,2.935,2.928,2.927,2.928,2.928,2.927,2.926,2.92,2.92,2.92,2.92,2.918,2.919,2.918,2.918,2.918,2.918,2.915,2.915,2.915,2.919,2.921,2.921,2.919,2.916,2.916,2.916,2.918,2.921,2.923,2.923,2.923,2.928,2.931,2.932,2.939,2.94,2.945,2.945,2.941,2.941,2.946,2.951,2.954,2.962,2.962,2.965,2.967,2.977,2.977,2.98,2.98,2.98,2.986,2.997,3.003,3.003,3.007,3.011,3.012,3.022,3.029,3.031,3.04,3.042,3.045,3.049,3.054,3.058,3.058,3.062,3.073,3.074,3.078,3.08,3.087,3.098,3.098,3.098,3.105,3.107,3.114,3.14,3.146,3.148,3.155,3.171,3.172,3.176,3.176,3.177,3.193,3.196,3.278,3.723,3.73,3.75,3.752,3.761,3.785,3.791,3.795,3.818,3.822,3.835,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 114.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 114.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 114.411} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.429} {Name Sonar12 Range 3.9624} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 4.7498} SEN {Time 114.455} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.19,0.186,0.19,0.19,0,0,0,0,0,0,3.828,3.828,3.828,3.832,3.842,3.869,3.87,3.878,3.881,3.889,3.899,3.918,3.929,3.931,3.941,3.963,3.966,3.978,4.003,4.006,4.014,4.032,4.038,4.051,4.056,4.087,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0.155,0.151,0.15,0.15,0.143,0.15,0.148,0.15,0.15,0.155,0.157,0.166,0.166,0.299,0,0,0,0,0,0,0.162,0.162,0.159,0.156,0.156,0.152,0.148,0.148,0.127,0.1,0.074,0.064,0.064,0.064,0.068,0.068,0.072,0.073,0.073,0.072,0.07,0.068,0.066,0.066,0.066,3.064,3.083,3.083,3.064,3.062,3.054,3.052,3.022,3.009,2.995,2.986,2.972,2.955,2.95,2.918,2.899,2.894,2.883,2.876,2.864,2.853,2.837,2.831,2.823,2.811,2.807,2.802,2.787,2.782,2.767,2.766,2.752,2.747,2.739,2.722,2.721,2.72,2.709,2.706,2.696,2.688,2.682,2.68,2.664,2.663,2.652,2.648,2.645,2.638,2.633,2.631,2.619,2.608,2.606,2.598,2.593,2.582,2.58,2.574,2.566,2.563,2.559,2.553,2.549,2.542,2.541,2.538,2.538,2.535,2.522,2.519,2.517,2.509,2.507,2.506,2.503,2.495,2.493,2.493,2.491,2.487,2.486,2.48,2.48,2.476,2.476,2.475,2.475,2.47,2.467,2.465,2.465,2.46,2.46,2.46,2.457,2.455,2.455,2.455,2.455,2.455,2.453,2.45,2.453,2.453,2.452,2.453,2.456,2.458,2.461,2.461,2.457,2.458,2.458,2.458,2.46,2.46,2.461,2.465,2.467,2.471,2.471,2.471,2.471,2.477,2.477,2.483,2.486,2.486,2.489,2.489,2.493,2.496,2.5,2.504,2.509,2.513,2.514,2.514,2.515,2.525,2.528,2.529,2.529,2.543,2.544,2.546,2.548,2.549,2.558,2.56,2.569,2.571,2.573,2.583,2.586,2.594,2.596,2.6,2.604,2.607,2.613,2.619,2.621,2.629,2.636,2.643,2.652,2.654,2.665,2.672,2.681,2.685,2.692,2.702,2.704,2.715,2.724,2.73,2.744,2.751,2.754,2.766,2.773,2.785,2.788,2.803,2.811,2.823,2.825,2.85,2.855,2.862,2.866,2.88,2.895,2.907,2.916,2.929,2.93,2.947,2.961,2.962,2.979,2.996,3.013,3.021,3.037,3.049,3.069,3.078,3.086,3.103,3.117,3.124,3.148,3.163,3.172,3.175,3.201,3.218,3.235,3.243,3.268,3.282,3.302,3.32,3.337,3.355,3.373,3.392,3.411,3.427,3.448,3.48,3.495,3.515,3.535,3.564,3.583,3.61,3.625,3.66,3.678,3.704,3.733,3.762,3.777,3.806,3.835,3.86,3.878,3.914,3.947,3.98,4.022,4.064,4.078,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.277,3.265,3.26,3.252,3.25,3.227,3.226,3.221,3.206,3.197,3.195,3.182,3.182,3.166,3.165,3.155,3.142,3.138,3.134,3.12,3.115,3.107,3.093,3.091,3.087,3.081,3.077,3.061,3.06,3.057,3.047,3.046,3.033,3.031,3.029,3.025,3.014,3.009,3.008,3.001,2.991,2.989,2.989,2.988,2.985,2.978,2.972,2.971,2.969,2.964,2.96,2.957,2.951,2.95,2.945,2.941,2.941,2.939,2.941,2.941,2.941,2.936,2.933,2.928,2.928,2.927,2.927,2.927,2.927,2.922,2.918,2.917,2.918,2.917,2.917,2.914,2.917,2.917,2.918,2.918,2.92,2.92,2.92,2.92,2.92,2.92,2.92,2.92,2.915,2.915,2.922,2.925,2.925,2.927,2.929,2.931,2.931,2.945,2.945,2.947,2.945,2.945,2.948,2.95,2.952,2.955,2.963,2.963,2.963,2.964,2.967,2.976,2.979,2.982,2.987,2.989,2.997,2.997,3.002,3.004,3.007,3.008,3.028,3.03,3.032,3.035,3.04,3.038,3.04,3.051,3.06,3.06,3.061,3.062,3.07,3.077,3.084,3.086,3.089,3.1,3.101,3.102,3.118,3.125,3.14,3.141,3.143,3.159,3.174,3.18,3.18,3.18,3.181,3.192,3.206,3.273,3.72,3.745,3.751,3.754,3.764,3.778,3.794,3.808,3.812,3.826,3.854,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 114.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 114.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 114.613} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.429} {Name Sonar12 Range 3.7592} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 4.7498} SEN {Time 114.656} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.192,0.189,0.192,0.192,0,0,0,0,0,0,3.832,3.832,3.832,3.847,3.855,3.866,3.877,3.888,3.891,3.894,3.905,3.92,3.923,3.933,3.957,3.961,3.97,3.985,3.986,3.992,4.013,4.029,4.041,4.044,4.076,4.08,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.159,0.149,0.149,0.146,0.149,0.147,0.15,0.15,0.158,0.157,0.157,0.157,0.157,0.157,0.288,3.583,0.007,0,0,0,0,0.161,0.16,0.159,0.157,0.152,0.152,0.148,0.148,0.12,0.101,0.073,0.067,0.067,0.065,0.067,0.068,0.068,0.069,0.069,0.068,0.067,0.064,0.064,0.066,0.066,3.068,3.068,3.068,3.068,3.068,3.042,3.04,3.028,3.021,3,2.994,2.98,2.955,2.944,2.927,2.921,2.895,2.887,2.882,2.869,2.858,2.849,2.831,2.819,2.812,2.801,2.798,2.781,2.779,2.768,2.762,2.757,2.749,2.734,2.729,2.725,2.717,2.706,2.7,2.695,2.681,2.678,2.668,2.659,2.658,2.648,2.642,2.638,2.638,2.635,2.626,2.621,2.615,2.605,2.6,2.597,2.577,2.576,2.574,2.572,2.563,2.556,2.551,2.549,2.547,2.537,2.535,2.535,2.534,2.525,2.523,2.515,2.508,2.506,2.506,2.502,2.496,2.493,2.493,2.493,2.49,2.483,2.481,2.48,2.474,2.473,2.473,2.473,2.468,2.467,2.463,2.46,2.46,2.46,2.459,2.459,2.456,2.454,2.451,2.451,2.45,2.449,2.448,2.447,2.447,2.447,2.452,2.455,2.456,2.456,2.455,2.455,2.455,2.455,2.458,2.461,2.461,2.464,2.465,2.475,2.475,2.475,2.475,2.474,2.474,2.48,2.481,2.484,2.484,2.486,2.493,2.497,2.497,2.503,2.503,2.504,2.504,2.506,2.512,2.515,2.522,2.525,2.532,2.534,2.539,2.54,2.54,2.546,2.554,2.554,2.556,2.557,2.558,2.573,2.584,2.584,2.584,2.591,2.591,2.605,2.606,2.615,2.621,2.622,2.628,2.633,2.64,2.658,2.659,2.672,2.673,2.674,2.687,2.691,2.703,2.711,2.716,2.729,2.734,2.748,2.752,2.755,2.765,2.775,2.784,2.785,2.802,2.804,2.822,2.832,2.841,2.843,2.865,2.865,2.873,2.887,2.901,2.916,2.925,2.928,2.943,2.96,2.961,2.987,2.993,3.002,3.026,3.042,3.048,3.058,3.074,3.089,3.107,3.119,3.131,3.144,3.165,3.179,3.184,3.213,3.217,3.239,3.251,3.269,3.279,3.3,3.321,3.33,3.35,3.369,3.391,3.411,3.425,3.458,3.479,3.493,3.515,3.531,3.559,3.58,3.609,3.627,3.662,3.674,3.699,3.731,3.75,3.787,3.81,3.84,3.86,3.893,3.922,3.954,3.992,4.011,4.057,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.288,3.287,3.276,3.26,3.253,3.238,3.232,3.23,3.215,3.202,3.193,3.192,3.179,3.172,3.164,3.152,3.144,3.141,3.137,3.127,3.122,3.116,3.104,3.095,3.092,3.09,3.083,3.074,3.063,3.062,3.059,3.045,3.041,3.037,3.029,3.025,3.024,3.012,3.011,3.01,3.001,2.994,2.988,2.987,2.987,2.987,2.984,2.977,2.967,2.964,2.957,2.956,2.955,2.955,2.952,2.941,2.941,2.941,2.941,2.944,2.946,2.946,2.946,2.931,2.931,2.927,2.931,2.927,2.921,2.92,2.92,2.92,2.92,2.92,2.917,2.917,2.917,2.913,2.913,2.912,2.911,2.911,2.911,2.911,2.915,2.917,2.917,2.917,2.921,2.921,2.921,2.924,2.926,2.926,2.926,2.927,2.93,2.93,2.941,2.942,2.944,2.944,2.944,2.944,2.945,2.95,2.952,2.964,2.964,2.964,2.964,2.968,2.969,2.978,2.981,2.983,2.983,2.992,2.997,3.006,3.006,3.012,3.014,3.02,3.028,3.032,3.045,3.047,3.045,3.045,3.046,3.05,3.05,3.066,3.07,3.072,3.08,3.084,3.095,3.097,3.097,3.101,3.105,3.117,3.125,3.148,3.152,3.155,3.165,3.166,3.166,3.17,3.179,3.182,3.186,3.2,3.271,3.727,3.737,3.747,3.748,3.754,3.782,3.788,3.796,3.811,3.829,3.846,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 114.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 114.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 114.814} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.429} {Name Sonar12 Range 3.7592} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 4.7498} SEN {Time 114.855} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.179,0.179,0.195,0.195,0,0,0,0,0,0,3.828,3.828,3.828,3.836,3.852,3.867,3.87,3.884,3.888,3.904,3.907,3.924,3.934,3.936,3.939,3.953,3.96,3.97,3.995,4,4.017,4.022,4.038,4.043,4.064,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0.164,0.155,0.147,0.147,0.149,0.15,0.15,0.153,0.152,0.153,0.153,0.154,0.167,0.286,0,0,0,0,0.009,0,0,0.162,0.156,0.151,0.151,0.15,0.144,0.144,0.121,0.087,0.075,0.068,0.066,0.066,0.066,0.066,0.069,0.07,0.072,0.07,0.07,0.064,0.062,0.062,0.062,3.084,3.084,3.084,3.075,3.072,3.053,3.043,3.029,3.017,2.994,2.98,2.975,2.955,2.936,2.918,2.9,2.896,2.882,2.871,2.857,2.85,2.846,2.835,2.826,2.821,2.804,2.792,2.785,2.776,2.767,2.767,2.759,2.741,2.736,2.733,2.721,2.715,2.706,2.7,2.693,2.683,2.678,2.673,2.671,2.669,2.654,2.646,2.645,2.644,2.637,2.632,2.622,2.611,2.605,2.603,2.596,2.59,2.581,2.574,2.564,2.559,2.556,2.551,2.548,2.544,2.538,2.538,2.532,2.523,2.516,2.514,2.513,2.507,2.506,2.499,2.498,2.494,2.493,2.493,2.489,2.489,2.486,2.481,2.479,2.477,2.476,2.476,2.472,2.467,2.465,2.465,2.465,2.464,2.464,2.464,2.463,2.462,2.455,2.453,2.452,2.452,2.452,2.452,2.452,2.452,2.452,2.452,2.452,2.455,2.455,2.455,2.458,2.458,2.459,2.459,2.46,2.461,2.467,2.47,2.47,2.47,2.47,2.474,2.474,2.479,2.479,2.482,2.483,2.486,2.49,2.491,2.495,2.496,2.501,2.505,2.511,2.511,2.514,2.514,2.515,2.523,2.523,2.531,2.535,2.535,2.537,2.54,2.552,2.556,2.556,2.557,2.568,2.569,2.573,2.575,2.584,2.585,2.593,2.595,2.608,2.609,2.611,2.62,2.622,2.63,2.645,2.648,2.655,2.655,2.664,2.667,2.684,2.691,2.695,2.704,2.706,2.709,2.721,2.731,2.747,2.748,2.76,2.766,2.773,2.783,2.789,2.793,2.809,2.819,2.831,2.831,2.848,2.857,2.863,2.881,2.89,2.909,2.91,2.927,2.931,2.945,2.955,2.966,2.986,2.989,3.01,3.014,3.037,3.046,3.07,3.076,3.088,3.093,3.115,3.129,3.15,3.156,3.171,3.179,3.195,3.217,3.23,3.235,3.261,3.286,3.304,3.321,3.343,3.352,3.369,3.4,3.417,3.43,3.459,3.466,3.496,3.515,3.539,3.558,3.586,3.61,3.632,3.666,3.674,3.71,3.726,3.75,3.785,3.801,3.824,3.872,3.894,3.929,3.951,3.988,4.021,4.041,4.084,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.272,3.267,3.258,3.254,3.248,3.236,3.223,3.216,3.205,3.193,3.189,3.186,3.176,3.165,3.16,3.151,3.148,3.132,3.124,3.121,3.109,3.102,3.095,3.086,3.082,3.077,3.077,3.066,3.062,3.056,3.046,3.042,3.035,3.031,3.026,3.021,3.02,3.01,3.01,3.004,2.988,2.987,2.987,2.981,2.978,2.977,2.975,2.967,2.967,2.966,2.962,2.958,2.958,2.948,2.945,2.943,2.942,2.942,2.945,2.944,2.944,2.944,2.929,2.929,2.928,2.929,2.927,2.926,2.923,2.921,2.921,2.921,2.921,2.921,2.921,2.921,2.918,2.917,2.916,2.915,2.913,2.913,2.913,2.913,2.916,2.916,2.916,2.919,2.919,2.919,2.919,2.919,2.924,2.925,2.93,2.932,2.934,2.934,2.937,2.942,2.947,2.947,2.95,2.95,2.952,2.957,2.96,2.961,2.968,2.969,2.969,2.971,2.974,2.983,2.987,2.991,2.997,2.998,3.001,3.006,3.009,3.011,3.025,3.032,3.033,3.043,3.045,3.046,3.045,3.047,3.061,3.061,3.067,3.072,3.075,3.076,3.081,3.095,3.097,3.097,3.099,3.108,3.12,3.121,3.138,3.148,3.148,3.151,3.161,3.173,3.175,3.175,3.183,3.188,3.209,3.274,3.715,3.743,3.751,3.751,3.761,3.776,3.801,3.809,3.814,3.829,3.841,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 115.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 115.01} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 115.006} {Type Sonar} {Name Sonar0 Range 3.556} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.7592} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.207} SEN {Time 115.055} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.182,0.191,0.191,0,0,0,0,0,0,3.841,3.84,3.84,3.841,3.855,3.869,3.875,3.877,3.879,3.901,3.905,3.912,3.931,3.933,3.943,3.951,3.972,3.98,3.993,4.011,4.012,4.031,4.035,4.051,4.068,4.072,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.164,0.151,0.148,0.146,0.146,0.148,0.148,0.148,0.153,0.152,0.153,0.153,0.162,0.298,0,0,0,0,0,0,0,0.161,0.157,0.153,0.152,0.152,0.151,0.149,0.149,0.122,0.091,0.069,0.069,0.064,0.064,0.064,0.064,0.066,0.068,0.07,0.07,0.07,0.067,0.053,0.053,0.053,3.077,3.077,3.077,3.068,3.062,3.057,3.05,3.034,3.027,3,2.995,2.964,2.955,2.941,2.925,2.906,2.906,2.885,2.882,2.855,2.853,2.848,2.847,2.826,2.819,2.81,2.791,2.789,2.782,2.768,2.767,2.754,2.751,2.741,2.73,2.714,2.708,2.703,2.702,2.695,2.681,2.68,2.671,2.67,2.663,2.646,2.645,2.641,2.639,2.639,2.626,2.62,2.609,2.608,2.595,2.593,2.583,2.58,2.575,2.572,2.565,2.562,2.556,2.556,2.548,2.546,2.538,2.537,2.536,2.521,2.52,2.517,2.513,2.508,2.506,2.502,2.497,2.495,2.494,2.487,2.483,2.476,2.476,2.479,2.479,2.479,2.479,2.475,2.465,2.464,2.465,2.465,2.462,2.458,2.458,2.456,2.455,2.454,2.453,2.453,2.451,2.454,2.451,2.451,2.451,2.455,2.455,2.455,2.455,2.456,2.455,2.455,2.454,2.457,2.457,2.466,2.466,2.466,2.467,2.468,2.468,2.468,2.474,2.476,2.477,2.478,2.478,2.49,2.49,2.494,2.495,2.502,2.502,2.502,2.502,2.502,2.506,2.51,2.51,2.51,2.519,2.519,2.525,2.529,2.535,2.54,2.542,2.544,2.547,2.554,2.562,2.568,2.571,2.576,2.579,2.581,2.591,2.595,2.598,2.608,2.609,2.611,2.62,2.627,2.636,2.642,2.648,2.653,2.657,2.662,2.668,2.684,2.684,2.693,2.7,2.704,2.718,2.722,2.736,2.736,2.743,2.754,2.769,2.778,2.778,2.788,2.799,2.816,2.818,2.833,2.841,2.849,2.863,2.864,2.871,2.891,2.906,2.916,2.92,2.925,2.943,2.96,2.973,2.986,2.996,3.011,3.016,3.035,3.052,3.06,3.072,3.088,3.092,3.111,3.128,3.141,3.164,3.168,3.179,3.203,3.216,3.233,3.249,3.275,3.288,3.302,3.318,3.337,3.349,3.371,3.392,3.413,3.425,3.453,3.47,3.491,3.508,3.543,3.556,3.592,3.604,3.634,3.655,3.676,3.703,3.74,3.751,3.77,3.812,3.843,3.863,3.902,3.925,3.96,3.969,4.024,4.063,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.303,3.275,3.271,3.267,3.257,3.243,3.231,3.225,3.211,3.202,3.192,3.192,3.182,3.171,3.161,3.157,3.152,3.144,3.138,3.129,3.125,3.111,3.102,3.097,3.093,3.087,3.076,3.076,3.063,3.061,3.061,3.048,3.045,3.036,3.032,3.03,3.02,3.016,3.016,3.012,3.001,2.985,2.985,2.985,2.985,2.985,2.985,2.977,2.972,2.97,2.964,2.959,2.956,2.952,2.951,2.944,2.944,2.944,2.944,2.944,2.944,2.944,2.944,2.929,2.929,2.929,2.929,2.923,2.924,2.921,2.92,2.921,2.924,2.921,2.916,2.922,2.919,2.918,2.918,2.918,2.918,2.915,2.914,2.914,2.914,2.914,2.915,2.919,2.919,2.918,2.918,2.924,2.926,2.929,2.929,2.926,2.929,2.929,2.939,2.944,2.944,2.944,2.944,2.944,2.95,2.951,2.955,2.964,2.965,2.967,2.971,2.973,2.98,2.981,2.983,2.987,2.988,2.989,2.994,2.994,3.004,3.004,3.013,3.014,3.022,3.029,3.038,3.038,3.038,3.048,0.007,3.071,3.062,3.071,3.071,3.072,3.08,3.08,3.085,3.094,3.094,3.106,3.107,3.119,3.127,3.132,3.14,3.146,3.155,3.165,3.168,3.175,3.176,3.178,3.188,3.202,3.281,3.721,3.736,3.741,3.758,3.764,3.785,3.801,3.805,3.815,3.827,3.833,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 115.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 115.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 115.208} {Type Sonar} {Name Sonar0 Range 3.556} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.1844} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.8354} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.207} SEN {Time 115.251} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.185,0.185,0.185,0,0,0,0,0,0,3.822,3.822,3.822,3.85,3.853,3.874,3.877,3.879,3.884,3.904,3.91,3.917,3.932,3.939,3.943,3.951,3.969,3.977,3.997,4,4.006,4.027,4.041,4.044,4.05,4.081,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0.164,0.149,0.145,0.145,0.144,0.149,0.149,0.151,0.151,0.154,0.156,0.156,0.156,0.281,3.563,0,0.007,0,0,0,0.166,0.163,0.159,0.159,0.159,0.153,0.147,0.147,0.131,0.104,0.072,0.071,0.068,0.065,0.065,0.064,0.065,0.065,0.068,0.068,0.068,0.065,0.059,0.059,0.059,3.079,3.079,3.079,3.065,3.056,3.047,3.039,3.039,3.016,3.003,2.994,2.979,2.972,2.946,2.926,2.908,2.907,2.887,2.879,2.858,2.848,2.845,2.835,2.82,2.819,2.809,2.79,2.789,2.775,2.769,2.766,2.754,2.744,2.739,2.731,2.726,2.713,2.708,2.706,2.701,2.684,2.678,2.674,2.672,2.668,2.654,2.654,2.645,2.641,2.632,2.625,2.613,2.609,2.605,2.603,2.597,2.591,2.582,2.579,2.571,2.562,2.56,2.552,2.551,2.55,2.55,2.547,2.534,2.528,2.524,2.521,2.515,2.513,2.507,2.504,2.504,2.502,2.5,2.499,2.491,2.49,2.483,2.481,2.481,2.479,2.479,2.477,2.468,2.464,2.462,2.462,2.46,2.46,2.461,2.462,2.461,2.461,2.458,2.458,2.457,2.457,2.452,2.452,2.451,2.452,2.452,2.458,2.458,2.459,2.458,2.458,2.456,2.458,2.458,2.459,2.462,2.462,2.463,2.466,2.466,2.472,2.472,2.473,2.473,2.478,2.48,2.48,2.484,2.487,2.489,2.489,2.489,2.495,2.5,2.502,2.504,2.509,2.51,2.512,2.515,2.516,2.524,2.528,2.537,2.537,2.539,2.54,2.546,2.554,2.555,2.559,2.563,2.574,2.58,2.581,2.581,2.592,2.596,2.601,2.604,2.609,2.618,2.622,2.623,2.629,2.633,2.64,2.655,2.657,2.664,2.67,2.679,2.685,2.69,2.701,2.71,2.714,2.725,2.732,2.734,2.755,2.756,2.771,2.773,2.783,2.79,2.804,2.808,2.823,2.829,2.845,2.855,2.865,2.866,2.875,2.875,2.91,2.912,2.923,2.925,2.944,2.954,2.973,2.985,2.994,3.005,3.029,3.033,3.061,3.061,3.082,3.09,3.096,3.115,3.13,3.133,3.152,3.169,3.177,3.202,3.208,3.234,3.244,3.269,3.283,3.303,3.314,3.338,3.357,3.366,3.384,3.403,3.43,3.448,3.476,3.5,3.515,3.534,3.564,3.587,3.602,3.627,3.651,3.681,3.702,3.731,3.753,3.785,3.806,3.838,3.868,3.89,3.929,3.963,3.982,4.028,4.058,4.085,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.293,3.283,3.273,3.26,3.251,3.249,3.24,3.234,3.216,3.198,3.193,3.182,3.182,3.178,3.164,3.156,3.15,3.139,3.133,3.127,3.12,3.112,3.1,3.092,3.091,3.091,3.082,3.079,3.063,3.061,3.059,3.05,3.049,3.046,3.03,3.022,3.019,3.018,3.013,3.008,2.999,2.994,2.993,2.989,2.988,2.983,2.977,2.974,2.973,2.971,2.962,2.957,2.954,2.952,2.951,2.949,2.944,2.94,2.94,2.944,2.94,2.935,2.933,2.933,2.93,2.927,2.927,2.926,2.92,2.92,2.92,2.915,2.915,2.915,2.914,2.914,2.915,2.915,2.915,2.915,2.916,2.918,2.918,2.915,2.918,2.915,2.915,2.916,2.916,2.916,2.917,2.917,2.918,2.918,2.922,2.924,2.932,2.935,2.941,2.941,2.945,2.942,2.945,2.946,2.946,2.953,2.956,2.963,2.965,2.966,2.969,2.977,2.978,2.98,2.98,2.98,2.988,2.989,2.998,3.005,3.008,3.012,3.017,3.024,3.029,3.029,3.037,3.045,3.045,3.045,3.046,3.057,3.057,3.061,3.061,3.072,3.076,3.08,3.081,3.089,3.097,3.101,3.102,3.113,3.122,3.133,3.14,3.145,3.153,3.167,3.174,3.177,3.181,3.185,3.192,3.201,3.268,3.728,3.736,3.746,3.756,3.785,3.785,3.794,3.796,3.817,3.82,3.843,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 115.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 115.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 115.427} {Type Sonar} {Name Sonar0 Range 3.556} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.048} {Name Sonar12 Range 3.8354} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.207} SEN {Time 115.451} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.19,0.183,0.19,0.19,0,0,0,0,0,0,3.824,3.824,3.824,3.84,3.857,3.868,3.868,3.879,3.889,3.899,3.91,3.926,3.928,3.94,3.945,3.962,3.969,3.983,3.995,4.004,4.015,4.031,4.043,4.05,4.064,4.078,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.163,0.146,0.146,0.146,0.146,0.144,0.145,0.145,0.155,0.155,0.156,0.156,0.158,0.161,0.301,3.564,0,0.007,0,0,0,0.163,0.162,0.153,0.157,0.153,0.152,0.143,0.143,0.122,0.101,0.07,0.067,0.067,0.066,0.067,0.065,0.067,0.068,0.07,0.068,0.068,0.068,0.064,0.064,0.064,3.075,3.075,3.075,3.07,3.057,3.054,3.05,3.029,3.013,2.992,2.985,2.969,2.966,2.938,2.913,2.909,2.899,2.888,2.873,2.86,2.851,2.842,2.838,2.822,2.816,2.81,2.795,2.784,2.777,2.77,2.77,2.756,2.752,2.738,2.729,2.726,2.712,2.711,2.706,2.704,2.687,2.683,2.675,2.674,2.667,2.653,2.653,2.64,2.638,2.629,2.624,2.617,2.606,2.602,2.595,2.594,2.579,2.579,2.575,2.57,2.568,2.563,2.553,2.553,2.549,2.546,2.537,2.536,2.535,2.524,2.521,2.512,2.51,2.509,2.506,2.505,2.501,2.499,2.492,2.486,2.486,2.482,2.482,2.478,2.477,2.476,2.473,2.473,2.472,2.471,2.464,2.464,2.464,2.464,2.464,2.464,2.463,2.459,2.457,2.457,2.457,2.455,2.452,2.452,2.452,2.452,2.452,2.453,2.461,2.461,2.458,2.455,2.458,2.458,2.461,2.461,2.462,2.465,2.47,2.47,2.471,2.473,2.474,2.474,2.478,2.479,2.479,2.486,2.487,2.489,2.489,2.496,2.498,2.498,2.506,2.508,2.514,2.515,2.517,2.522,2.523,2.525,2.53,2.53,2.534,2.539,2.545,2.551,2.555,2.561,2.565,2.565,2.568,2.573,2.574,2.591,2.591,2.593,2.595,2.599,2.602,2.616,2.623,2.626,2.628,2.629,2.644,2.651,2.658,2.664,2.674,2.683,2.687,2.699,2.704,2.709,2.717,2.72,2.728,2.737,2.755,2.761,2.769,2.776,2.781,2.79,2.799,2.808,2.823,2.832,2.839,2.847,2.862,2.867,2.876,2.878,2.91,2.913,2.932,2.934,2.954,2.96,2.97,2.988,2.998,3.007,3.021,3.036,3.047,3.069,3.078,3.094,3.099,3.117,3.132,3.145,3.158,3.166,3.177,3.2,3.209,3.239,3.241,3.268,3.278,3.303,3.314,3.337,3.355,3.379,3.395,3.419,3.431,3.458,3.471,3.501,3.515,3.536,3.565,3.582,3.617,3.634,3.653,3.685,3.707,3.735,3.745,3.785,3.804,3.834,3.867,3.882,3.942,3.968,3.993,4.026,4.063,4.079,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.285,3.258,3.258,3.246,3.24,3.236,3.222,3.211,3.208,3.201,3.182,3.178,3.169,3.165,3.159,3.151,3.151,3.139,3.125,3.118,3.11,3.106,3.094,3.091,3.09,3.084,3.073,3.06,3.06,3.056,3.045,3.045,3.039,3.037,3.03,3.027,3.016,3.015,3.012,3.007,2.991,2.986,2.986,2.986,2.985,2.98,2.973,2.973,2.963,2.963,2.962,2.953,2.949,2.946,2.945,2.943,2.943,2.943,2.943,2.949,2.949,2.949,2.932,2.926,2.924,2.926,2.924,2.922,2.924,2.924,2.924,2.921,2.921,2.92,2.921,2.92,2.917,2.917,2.916,2.912,2.912,2.912,2.912,2.914,2.914,2.916,2.918,2.919,2.918,2.919,2.921,2.926,2.926,2.927,2.931,2.932,2.935,2.936,2.936,2.944,2.944,2.944,2.948,2.949,2.949,2.955,2.958,2.958,2.966,2.966,2.968,2.975,2.98,2.981,2.99,2.991,2.994,2.996,3.004,3.01,3.011,3.012,3.025,3.026,3.032,3.032,3.039,3.039,3.047,3.054,3.055,3.055,3.065,3.067,3.075,3.081,3.081,3.084,3.09,3.105,3.107,3.109,3.117,3.124,3.13,3.134,3.144,3.153,3.16,3.166,3.172,3.174,3.183,3.184,3.208,3.277,3.722,3.742,3.746,3.747,3.756,3.785,3.789,3.814,3.816,3.821,3.845,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 115.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.930260} SEN {Time 115.60} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400} SEN {Time 115.604} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 3.8354} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 6.477} SEN {Time 115.651} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.184,0.186,0.186,0,0,0,0,0,0,3.834,3.834,3.834,3.838,3.852,3.861,3.869,3.877,3.895,3.896,3.911,3.912,3.932,3.939,3.947,3.962,3.964,3.975,3.993,4,4.006,4.036,4.04,4.061,4.066,4.068,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.15,0.146,0.146,0.146,0.146,0.149,0.149,0.149,0.15,0.15,0.16,0.16,0.162,0.162,0.284,0,0,0,0.007,0,3.548,0.16,0.16,0.154,0.153,0.153,0.147,0.14,0.14,0.119,0.092,0.076,0.07,0.068,0.068,0.068,0.068,0.069,0.07,0.07,0.069,0.066,0.064,0.062,0.062,0.062,3.057,3.06,3.068,3.06,3.057,3.052,3.05,3.031,3.018,2.995,2.986,2.976,2.955,2.925,2.918,2.917,2.907,2.883,2.875,2.855,2.848,2.842,2.838,2.823,2.822,2.804,2.798,2.789,2.783,2.771,2.767,2.753,2.743,2.737,2.726,2.721,2.716,2.708,2.701,2.696,2.682,2.68,2.679,2.668,2.664,2.656,2.653,2.646,2.636,2.629,2.625,2.619,2.615,2.607,2.595,2.595,2.584,2.578,2.577,2.566,2.559,2.558,2.554,2.546,2.544,2.543,2.538,2.538,2.527,2.525,2.51,2.51,2.509,2.509,2.507,2.503,2.498,2.495,2.495,2.495,2.491,2.488,2.486,2.486,2.476,2.475,2.474,2.472,2.472,2.471,2.464,2.463,2.462,2.46,2.459,2.459,2.459,2.459,2.459,2.459,2.459,2.457,2.457,2.456,2.455,2.453,2.453,2.453,2.454,2.455,2.455,2.455,2.455,2.455,2.455,2.461,2.461,2.461,2.462,2.466,2.47,2.474,2.477,2.479,2.479,2.481,2.481,2.483,2.484,2.487,2.493,2.495,2.495,2.496,2.501,2.511,2.512,2.512,2.513,2.524,2.524,2.528,2.528,2.534,2.54,2.541,2.542,2.547,2.55,2.553,2.562,2.564,2.568,2.571,2.582,2.583,2.585,2.591,2.594,2.601,2.608,2.61,2.62,2.623,2.632,2.645,2.647,2.657,2.657,2.667,2.673,2.682,2.691,2.693,2.704,2.705,2.711,2.73,2.734,2.739,2.742,2.761,2.768,2.769,2.782,2.783,2.788,2.811,2.824,2.825,2.845,2.849,2.86,2.865,2.871,2.885,2.908,2.916,2.919,2.938,2.946,2.959,2.973,2.985,2.995,3.01,3.019,3.037,3.049,3.06,3.075,3.092,3.1,3.113,3.13,3.138,3.158,3.171,3.178,3.207,3.209,3.231,3.246,3.268,3.291,3.303,3.322,3.336,3.353,3.368,3.386,3.409,3.428,3.446,3.473,3.497,3.516,3.544,3.558,3.585,3.606,3.626,3.651,3.66,3.704,3.733,3.762,3.776,3.805,3.824,3.86,3.881,3.926,3.954,3.98,4.031,4.065,4.086,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.288,3.278,3.275,3.256,3.246,3.245,3.236,3.22,3.214,3.201,3.199,3.197,3.185,3.179,3.171,3.159,3.145,3.141,3.138,3.131,3.122,3.121,3.101,3.099,3.092,3.086,3.076,3.073,3.062,3.057,3.053,3.046,3.046,3.038,3.037,3.037,3.033,3.033,3.018,3.013,3.003,2.991,2.99,2.988,2.985,2.982,2.979,2.977,2.97,2.967,2.96,2.958,2.958,2.958,2.947,2.94,2.94,2.939,2.939,2.939,2.942,2.942,2.942,2.933,2.931,2.929,2.924,2.924,2.924,2.922,2.922,2.919,2.919,2.916,2.916,2.918,2.918,2.918,2.922,2.922,2.917,2.923,2.918,2.918,2.919,2.919,2.919,2.919,2.919,2.918,2.918,2.919,2.922,2.926,2.928,2.929,2.93,2.934,2.935,2.935,2.936,2.945,2.945,2.949,2.951,2.951,2.956,2.962,2.962,2.964,2.964,2.974,2.974,2.979,2.983,2.988,2.99,2.991,3.001,3.001,3.005,3.006,3.013,3.024,3.025,3.033,3.04,3.04,3.042,3.042,3.045,3.046,3.066,3.066,3.073,3.08,3.08,3.083,3.086,3.091,3.098,3.098,3.111,3.116,3.12,3.135,3.136,3.146,3.155,3.16,3.166,3.179,3.179,3.184,3.186,3.202,3.249,3.718,3.736,3.737,3.761,3.763,3.782,3.794,3.806,3.817,3.833,3.839,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 115.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.902335} SEN {Time 115.81} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020} SEN {Time 115.808} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 5.7658} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 6.477} SEN {Time 115.851} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,3.799,3.799,3.799,3.813,3.819,3.834,3.848,3.85,3.857,3.88,3.883,3.889,3.901,3.907,3.912,3.921,3.937,3.946,3.956,3.971,3.972,3.992,3.994,4.013,4.033,4.033,4.046,4.063,4.066,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0.153,0.151,0.149,0.148,0.148,0.148,0.148,0.153,0.156,0.153,0.156,0.158,0.16,0.161,0.324,0,0,0,0,0,0,0.161,0.16,0.157,0.154,0.152,0.151,0.145,0.145,0.127,0.097,0.069,0.068,0.066,0.066,0.066,0.068,0.068,0.068,0.069,0.068,0.067,0.067,0.064,0.064,0.064,3.106,3.106,3.106,3.092,3.089,3.08,3.072,3.048,3.043,3.022,3.016,3.003,2.989,2.974,2.961,2.942,2.92,2.916,2.904,2.89,2.882,2.873,2.863,2.854,2.844,2.825,2.817,2.807,2.801,2.788,2.783,2.769,2.769,2.762,2.746,2.743,2.739,2.728,2.724,2.724,2.7,2.7,2.695,2.688,2.687,2.675,2.668,2.665,2.659,2.657,2.643,2.628,2.624,2.619,2.619,2.61,2.599,2.592,2.585,2.582,2.578,2.578,2.565,2.563,2.561,2.554,2.549,2.546,2.544,2.537,2.52,2.52,2.516,2.51,2.507,2.507,2.504,2.496,2.496,2.496,2.493,2.493,2.488,2.487,2.483,2.478,2.478,2.477,2.475,2.475,2.474,2.463,2.463,2.464,2.464,2.46,2.46,2.456,2.456,2.454,2.456,2.456,2.456,2.454,2.456,2.453,2.453,2.453,2.453,2.453,2.455,2.456,2.456,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.46,2.463,2.464,2.467,2.471,2.475,2.479,2.48,2.48,2.483,2.487,2.492,2.493,2.493,2.493,2.494,2.498,2.498,2.499,2.505,2.505,2.514,2.516,2.521,2.531,2.533,2.538,2.539,2.54,2.542,2.546,2.555,2.559,2.559,2.57,2.571,2.577,2.577,2.577,2.586,2.593,2.596,2.603,2.613,2.618,2.618,2.632,2.634,2.636,2.649,2.651,2.66,2.673,2.674,2.681,2.683,2.687,2.707,2.718,2.725,2.732,2.737,2.743,2.76,2.766,2.781,2.787,2.79,2.799,2.802,2.815,2.822,2.839,2.841,2.863,2.865,2.874,2.883,2.888,2.904,2.924,2.939,2.949,2.949,2.975,2.982,2.994,3.01,3.018,3.024,3.045,3.065,3.072,3.086,3.099,3.118,3.12,3.148,3.149,3.171,3.181,3.206,3.207,3.233,3.252,3.267,3.281,3.299,3.313,3.331,3.345,3.361,3.386,3.41,3.42,3.448,3.459,3.49,3.508,3.534,3.552,3.579,3.603,3.627,3.638,3.677,3.701,3.713,3.74,3.772,3.795,3.817,3.841,3.874,3.909,3.954,3.978,4.005,4.045,4.085,0.016,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.302,3.29,3.276,3.262,3.257,3.247,3.239,3.236,3.219,3.219,3.215,3.201,3.187,3.18,3.162,3.16,3.154,3.146,3.132,3.128,3.126,3.12,3.119,3.116,3.096,3.09,3.082,3.076,3.072,3.064,3.062,3.059,3.048,3.038,3.036,3.032,3.026,3.016,3.013,3.007,3.006,3.004,2.998,2.998,2.998,2.983,2.979,2.978,2.978,2.973,2.966,2.959,2.958,2.954,2.954,2.953,2.948,2.942,2.942,2.942,2.943,2.943,2.943,2.943,2.934,2.928,2.925,2.922,2.922,2.918,2.918,2.918,2.918,2.918,2.918,2.921,2.921,2.923,2.921,2.921,2.918,2.92,2.917,2.911,2.911,2.914,2.914,2.917,2.918,2.917,2.918,2.922,2.924,2.925,2.936,2.936,2.935,2.935,2.931,2.931,2.935,2.935,2.944,2.946,2.953,2.953,2.956,2.964,2.965,2.967,2.972,2.972,2.973,2.978,2.982,2.987,2.99,2.992,3.001,3.001,3.006,3.014,3.016,3.017,3.029,3.03,3.03,3.035,3.04,3.041,3.044,3.049,3.058,3.058,3.059,3.065,3.077,3.078,3.087,3.098,3.101,3.105,3.108,3.117,3.12,3.13,3.132,3.139,3.151,3.155,3.157,3.175,3.182,3.194,3.196,3.196,3.197,3.199,3.735,3.742,3.747,3.763,3.77,3.775,3.791,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 116.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.855211} SEN {Time 116.01} {Type Tachometer} {Name LeftRight} {Vel 0.048260,-0.048260} SEN {Time 116.012} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.0226} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.286} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8288} {Name Sonar10 Range 2.1082} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 5.7658} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 6.477} SEN {Time 116.051} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.185,0.187,0.187,0,0,0,0,0,0.007,3.76,3.76,3.76,3.76,3.769,3.776,3.785,3.793,3.798,3.81,3.81,3.814,3.831,3.833,3.837,3.856,3.858,3.861,3.87,3.886,3.888,3.916,3.917,3.92,3.936,3.942,3.951,3.957,3.978,4.006,4.01,4.031,4.031,4.045,4.052,4.077,4.084,4.095,0.016,0.016,0,0,0,0,0.161,0.151,0.151,0.147,0.147,0.145,0.145,0.145,0.147,0.147,0.158,0.159,0.162,0.163,0.342,0,0,0,0,0,0,0,0.159,0.155,0.153,0.152,0.152,0.148,0.148,0.118,0.102,0.07,0.066,0.066,0.066,0.066,0.066,0.069,0.07,0.07,0.067,0.067,0.066,0.066,0.066,0.081,3.163,3.163,3.163,3.152,3.15,3.148,3.134,3.108,3.099,3.092,3.09,3.079,3.068,3.045,3.034,3.022,3.014,2.992,2.987,2.957,2.953,2.943,2.935,2.923,2.916,2.9,2.9,2.882,2.861,2.858,2.851,2.835,2.833,2.818,2.804,2.803,2.79,2.786,2.784,2.763,2.759,2.753,2.741,2.735,2.735,2.718,2.711,2.71,2.709,2.704,2.686,2.68,2.661,2.66,2.659,2.654,2.638,2.637,2.636,2.623,2.622,2.607,2.6,2.597,2.591,2.586,2.581,2.58,2.567,2.559,2.557,2.551,2.546,2.545,2.54,2.538,2.522,2.522,2.521,2.516,2.514,2.508,2.506,2.501,2.498,2.496,2.493,2.493,2.492,2.487,2.484,2.482,2.478,2.478,2.471,2.47,2.468,2.468,2.464,2.464,2.46,2.456,2.46,2.46,2.456,2.453,2.452,2.452,2.451,2.452,2.449,2.452,2.447,2.447,2.447,2.447,2.447,2.447,2.447,2.448,2.454,2.454,2.455,2.453,2.455,2.453,2.453,2.453,2.454,2.454,2.46,2.461,2.465,2.47,2.47,2.472,2.473,2.473,2.475,2.478,2.478,2.484,2.484,2.489,2.489,2.49,2.493,2.496,2.501,2.506,2.506,2.508,2.51,2.516,2.517,2.527,2.529,2.538,2.538,2.539,2.543,2.546,2.551,2.553,2.555,2.564,2.569,2.577,2.578,2.583,2.593,2.598,2.6,2.605,2.611,2.621,2.628,2.631,2.636,2.642,2.653,2.663,2.665,2.673,2.68,2.686,2.695,2.695,2.706,2.72,2.723,2.727,2.744,2.75,2.753,2.767,2.776,2.782,2.784,2.794,2.813,2.821,2.832,2.836,2.854,2.866,2.872,2.884,2.894,2.908,2.913,2.929,2.94,2.955,2.962,2.977,2.989,2.998,3.003,3.029,3.04,3.051,3.068,3.082,3.099,3.103,3.117,3.136,3.14,3.163,3.179,3.191,3.209,3.223,3.242,3.258,3.274,3.295,3.31,3.334,3.346,3.377,3.386,3.405,3.418,3.447,3.46,3.481,3.503,3.522,3.549,3.568,3.599,3.616,3.63,3.656,3.682,3.707,3.731,3.764,3.773,3.806,3.848,3.873,3.885,3.947,3.973,4.008,4.052,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.007,0,0,0.007,0,0,0,0,3.304,3.296,3.277,3.268,3.259,3.251,3.231,3.231,3.219,3.209,3.208,3.189,3.182,3.176,3.163,3.16,3.144,3.137,3.128,3.127,3.121,3.121,3.107,3.095,3.094,3.089,3.081,3.076,3.065,3.058,3.053,3.052,3.052,3.047,3.043,3.03,3.028,3.021,3.021,3.019,3.015,3.004,3,2.994,2.993,2.985,2.976,2.975,2.973,2.967,2.966,2.962,2.957,2.955,2.954,2.952,2.952,2.945,2.944,2.944,2.944,2.944,2.944,2.937,2.937,2.935,2.935,2.935,2.928,2.926,2.926,2.927,2.926,2.926,2.926,2.926,2.923,2.922,2.917,2.922,2.922,2.923,2.924,2.926,2.926,2.927,2.927,2.927,2.925,2.921,2.92,2.92,2.924,2.924,2.928,2.932,2.938,2.943,2.944,2.945,2.947,2.949,2.949,2.955,2.955,2.957,2.957,2.963,2.965,2.965,2.971,2.971,2.979,2.985,2.99,2.994,2.995,2.998,2.999,3.011,3.018,3.022,3.027,3.034,3.035,3.042,3.042,3.042,3.044,3.044,3.047,3.061,3.061,3.066,3.072,3.08,3.086,3.093,3.093,3.095,3.097,3.1,3.109,3.122,3.126,3.132,3.136,3.143,3.15,3.164,3.169,3.178,3.19,3.193,3.206,3.206,3.217,3.729,3.729,3.748,3.757,3.768,3.776,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 116.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.799361} SEN {Time 116.21} {Type Tachometer} {Name LeftRight} {Vel 0.048260,-0.048260} SEN {Time 116.206} {Type Sonar} {Name Sonar0 Range 3.5306} {Name Sonar1 Range 2.8956} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.286} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 1.8288} {Name Sonar10 Range 2.1082} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 5.7658} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3622} SEN {Time 116.251} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.192,0.185,0.192,0.192,0,0,0,0,0,0,3.695,3.695,3.695,3.702,3.71,3.718,3.72,3.721,3.734,3.747,3.749,3.751,3.754,3.758,3.768,3.774,3.784,3.79,3.791,3.808,3.808,3.809,3.817,3.838,3.841,3.856,3.864,3.868,3.875,3.884,3.895,3.903,3.912,3.914,3.94,3.952,3.966,3.976,3.988,3.991,3.995,4.006,4.006,4.006,0.156,0.153,0.145,0.144,0.144,0.144,0.14,0.14,0.153,0.153,0.153,0.154,0.161,0.161,0,0,0,0,0,0,0,0,0.163,0.158,0.154,0.151,0.15,0.145,0.144,0.123,0.096,0.064,0.064,0.064,0.063,0.063,0.066,0.067,0.067,0.067,0.067,0.066,0.066,0.067,0.067,0.105,3.236,3.247,3.247,3.236,3.235,3.226,3.219,3.202,3.192,3.189,3.186,3.179,3.168,3.161,3.143,3.124,3.122,3.101,3.094,3.08,3.061,3.052,3.022,3.019,3.012,2.999,2.983,2.963,2.959,2.954,2.934,2.933,2.922,2.906,2.89,2.886,2.873,2.869,2.861,2.839,2.837,2.827,2.821,2.81,2.797,2.787,2.784,2.782,2.774,2.761,2.747,2.743,2.735,2.728,2.719,2.717,2.699,2.694,2.692,2.681,2.671,2.66,2.655,2.647,2.644,2.644,2.639,2.621,2.62,2.606,2.6,2.587,2.585,2.583,2.577,2.573,2.568,2.559,2.553,2.549,2.544,2.54,2.536,2.531,2.531,2.53,2.52,2.519,2.514,2.513,2.504,2.503,2.499,2.497,2.497,2.491,2.488,2.486,2.48,2.473,2.471,2.471,2.467,2.464,2.463,2.46,2.46,2.46,2.46,2.46,2.46,2.457,2.455,2.451,2.449,2.449,2.446,2.446,2.446,2.451,2.448,2.448,2.451,2.448,2.448,2.448,2.448,2.448,2.448,2.448,2.448,2.448,2.446,2.448,2.45,2.455,2.45,2.455,2.454,2.455,2.455,2.459,2.461,2.463,2.463,2.463,2.464,2.468,2.47,2.472,2.474,2.474,2.477,2.478,2.485,2.487,2.489,2.495,2.495,2.495,2.502,2.502,2.505,2.511,2.511,2.517,2.518,2.527,2.534,2.536,2.539,2.544,2.552,2.555,2.557,2.56,2.565,2.574,2.577,2.578,2.593,2.597,2.602,2.608,2.616,2.619,2.634,2.634,2.642,2.65,2.66,2.661,2.67,2.675,2.678,2.686,2.7,2.702,2.708,2.721,2.734,2.736,2.745,2.764,2.768,2.77,2.784,2.797,2.8,2.817,2.821,2.827,2.837,2.852,2.86,2.873,2.884,2.886,2.904,2.918,2.92,2.94,2.949,2.964,2.974,2.974,2.99,3.002,3.023,3.033,3.039,3.058,3.076,3.087,3.105,3.116,3.127,3.153,3.155,3.181,3.194,3.201,3.224,3.242,3.26,3.275,3.292,3.309,3.324,3.341,3.371,3.381,3.395,3.422,3.436,3.456,3.485,3.485,3.521,3.532,3.556,3.584,3.613,3.637,3.666,3.688,3.709,3.747,3.769,3.796,3.816,3.845,3.879,3.921,3.945,3.985,4.013,4.05,4.091,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,3.307,3.291,3.281,3.28,3.257,3.252,3.252,3.226,3.225,3.206,3.205,3.2,3.181,3.18,3.159,3.159,3.156,3.15,3.137,3.127,3.119,3.113,3.105,3.102,3.101,3.096,3.086,3.084,3.074,3.064,3.06,3.053,3.053,3.048,3.037,3.036,3.027,3.025,3.02,3.012,3.005,3.003,3.002,2.999,2.993,2.989,2.988,2.984,2.981,2.972,2.966,2.963,2.959,2.954,2.954,2.953,2.951,2.951,2.951,2.951,2.951,2.944,2.942,2.942,2.942,2.937,2.932,2.93,2.929,2.929,2.929,2.928,2.928,2.928,2.93,2.927,2.924,2.924,2.924,2.924,2.922,2.922,2.916,2.916,2.916,2.925,2.925,2.925,2.925,2.931,2.931,2.931,2.93,2.93,2.93,2.934,2.943,2.943,2.947,2.947,2.949,2.951,2.951,2.951,2.958,2.967,2.967,2.967,2.968,2.969,2.987,2.987,2.987,2.993,2.993,3.003,3.004,3.005,3.015,3.015,3.021,3.033,3.036,3.041,3.044,3.044,3.044,3.045,3.046,3.046,3.059,3.061,3.066,3.075,3.079,3.083,3.084,3.085,3.095,3.098,3.119,3.12,3.121,3.123,3.131,3.139,3.16,3.162,3.162,3.166,3.181,3.183,3.194,3.2,3.202,3.704,3.753,3.759,3.757,3.757,3.759,3.77,3.781,3.804,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 116.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.729548} SEN {Time 116.41} {Type Tachometer} {Name LeftRight} {Vel 0.071120,-0.071120} SEN {Time 116.409} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2512} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.048} {Name Sonar6 Range 2.286} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.3048} {Name Sonar9 Range 1.8288} {Name Sonar10 Range 2.1082} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3622} SEN {Time 116.447} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.181,0.188,0.188,0,0,0,0,3.633,3.633,3.633,3.638,3.638,3.646,3.649,3.652,3.653,3.66,3.665,3.666,3.676,3.681,3.683,3.688,3.694,3.708,3.71,3.717,3.729,3.73,3.738,3.738,3.738,3.74,3.754,3.764,3.765,3.772,3.784,3.79,3.797,3.801,3.817,3.818,3.826,3.849,3.85,3.856,3.858,3.861,3.868,3.871,3.871,3.871,0.157,0.149,0.149,0.145,0.149,0.143,0.146,0.146,0.155,0.153,0.155,0.157,0.157,0.163,0,0,0,0,0,0,0,0.162,0.162,0.159,0.159,0.156,0.156,0.15,0.15,0.125,0.101,0.076,0.069,0.064,0.062,0.064,0.064,0.067,0.069,0.069,0.069,0.069,0.07,0.07,0.072,0.106,0.194,0,0,0,0,0,0.007,0,3.339,3.322,3.314,3.311,3.309,3.309,3.304,3.296,3.284,3.255,3.253,3.231,3.21,3.198,3.193,3.165,3.161,3.136,3.12,3.109,3.092,3.082,3.075,3.041,3.038,3.026,3.013,3,2.985,2.98,2.969,2.956,2.945,2.939,2.931,2.91,2.905,2.889,2.886,2.883,2.874,2.862,2.844,2.834,2.83,2.814,2.813,2.803,2.79,2.778,2.774,2.762,2.758,2.752,2.736,2.724,2.722,2.719,2.713,2.695,2.692,2.682,2.67,2.662,2.657,2.656,2.648,2.638,2.632,2.626,2.62,2.61,2.609,2.602,2.598,2.595,2.575,2.569,2.569,2.567,2.565,2.555,2.547,2.546,2.541,2.537,2.535,2.533,2.519,2.517,2.516,2.516,2.511,2.507,2.496,2.492,2.491,2.489,2.489,2.489,2.488,2.481,2.479,2.478,2.471,2.467,2.466,2.464,2.46,2.462,2.46,2.46,2.458,2.457,2.454,2.453,2.445,2.445,2.447,2.447,2.447,2.447,2.447,2.447,2.444,2.443,2.441,2.441,2.441,2.441,2.44,2.44,2.438,2.438,2.438,2.441,2.442,2.445,2.445,2.445,2.445,2.445,2.446,2.446,2.446,2.447,2.448,2.448,2.454,2.457,2.458,2.461,2.461,2.461,2.465,2.472,2.472,2.478,2.479,2.479,2.484,2.484,2.49,2.491,2.495,2.496,2.496,2.504,2.506,2.511,2.514,2.515,2.516,2.529,2.538,2.539,2.546,2.548,2.551,2.565,2.565,2.566,2.578,2.581,2.586,2.591,2.595,2.605,2.607,2.622,2.624,2.632,2.633,2.636,2.654,2.657,2.658,2.675,2.678,2.687,2.693,2.699,2.707,2.71,2.715,2.734,2.741,2.745,2.763,2.768,2.774,2.783,2.788,2.804,2.814,2.821,2.842,2.848,2.851,2.865,2.877,2.893,2.901,2.913,2.919,2.933,2.952,2.959,2.97,2.979,2.991,3.006,3.02,3.039,3.04,3.053,3.074,3.085,3.105,3.115,3.123,3.141,3.162,3.171,3.186,3.207,3.214,3.236,3.257,3.262,3.279,3.302,3.315,3.331,3.354,3.364,3.398,3.411,3.439,3.45,3.469,3.499,3.523,3.534,3.571,3.591,3.61,3.636,3.656,3.697,3.713,3.744,3.751,3.787,3.81,3.842,3.874,3.909,3.957,3.982,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.337,3.3,3.292,3.274,3.27,3.261,3.253,3.227,3.226,3.217,3.215,3.21,3.204,3.196,3.173,3.171,3.158,3.156,3.153,3.145,3.137,3.129,3.119,3.112,3.11,3.104,3.1,3.089,3.075,3.067,3.065,3.062,3.058,3.048,3.047,3.047,3.038,3.025,3.024,3.018,3.011,3.005,3.004,3.002,2.999,2.996,2.996,2.987,2.984,2.98,2.973,2.97,2.97,2.967,2.958,2.955,2.954,2.954,2.954,2.954,2.958,2.96,2.96,2.96,2.943,2.942,2.94,2.94,2.939,2.937,2.937,2.936,2.937,2.937,2.935,2.935,2.936,2.935,2.935,2.935,2.932,2.931,2.931,2.931,2.931,2.934,2.934,2.934,2.936,2.937,2.937,2.938,2.941,2.941,2.942,2.942,2.942,2.946,2.954,2.96,2.96,2.96,2.963,2.967,2.967,2.968,2.972,2.981,2.984,2.985,2.988,2.988,2.988,2.996,2.996,3.004,3.012,3.015,3.017,3.021,3.023,3.029,3.033,3.033,3.042,3.048,3.048,3.049,3.055,3.06,3.06,3.061,3.071,3.076,3.081,3.087,3.087,3.103,3.103,3.112,3.123,3.123,3.123,3.129,3.13,3.141,3.144,3.149,3.167,3.174,3.187,3.187,3.193,3.2,3.213,3.213,3.217,3.222,3.745,3.758,3.775,3.777,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 116.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.637045} SEN {Time 116.60} {Type Tachometer} {Name LeftRight} {Vel 0.093980,-0.093980} SEN {Time 116.604} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2512} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.048} {Name Sonar6 Range 1.6002} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.3048} {Name Sonar9 Range 1.651} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 5.6642} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3622} SEN {Time 116.648} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.184,0.189,0.189,0,0,0,0,3.579,3.579,3.579,3.593,3.593,3.595,3.607,3.607,3.607,3.607,3.606,3.606,3.607,3.61,3.614,3.618,3.624,3.624,3.625,3.631,3.637,3.638,3.641,3.649,3.649,3.65,3.656,3.662,3.669,3.678,3.679,3.681,3.683,3.697,3.701,3.701,3.705,3.706,3.729,3.73,3.731,3.731,3.731,3.742,3.742,3.727,0.164,0.151,0.151,0.149,0.149,0.149,0.149,0.149,0.152,0.152,0.153,0.158,0.162,0.163,0,0,0,0,0,0,0,0,0.16,0.154,0.154,0.158,0.153,0.146,0.146,0.125,0.088,0.07,0.07,0.066,0.064,0.064,0.064,0.064,0.069,0.072,0.072,0.072,0.066,0.066,0.066,0.115,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.571,0,0.007,0,3.538,3.502,3.487,3.464,3.448,3.422,3.408,3.398,3.371,3.353,3.331,3.32,3.283,3.274,3.256,3.236,3.215,3.213,3.191,3.176,3.152,3.146,3.136,3.106,3.099,3.094,3.077,3.071,3.056,3.052,3.029,3.017,2.996,2.993,2.982,2.962,2.952,2.942,2.925,2.921,2.916,2.899,2.877,2.875,2.857,2.847,2.847,2.832,2.828,2.825,2.8,2.797,2.778,2.775,2.768,2.755,2.752,2.739,2.726,2.725,2.722,2.712,2.706,2.704,2.696,2.685,2.669,2.667,2.662,2.662,2.642,2.636,2.628,2.624,2.62,2.611,2.609,2.601,2.588,2.586,2.584,2.578,2.578,2.568,2.566,2.55,2.546,2.543,2.541,2.538,2.536,2.532,2.529,2.521,2.51,2.507,2.504,2.502,2.498,2.497,2.496,2.494,2.489,2.483,2.481,2.481,2.479,2.475,2.474,2.472,2.465,2.46,2.46,2.46,2.457,2.457,2.457,2.454,2.448,2.447,2.443,2.438,2.438,2.438,2.438,2.437,2.437,2.434,2.434,2.431,2.434,2.429,2.433,2.433,2.433,2.433,2.433,2.432,2.432,2.432,2.429,2.427,2.427,2.429,2.429,2.432,2.433,2.433,2.441,2.441,2.443,2.441,2.442,2.442,2.443,2.444,2.447,2.45,2.453,2.458,2.46,2.46,2.466,2.468,2.472,2.473,2.481,2.481,2.482,2.486,2.491,2.493,2.493,2.5,2.503,2.507,2.515,2.522,2.522,2.524,2.527,2.535,2.54,2.544,2.548,2.548,2.563,2.565,2.576,2.579,2.587,2.592,2.593,2.598,2.606,2.61,2.615,2.625,2.629,2.632,2.645,2.656,2.656,2.657,2.673,2.683,2.69,2.696,2.696,2.709,2.714,2.724,2.74,2.741,2.759,2.768,2.774,2.777,2.786,2.795,2.81,2.821,2.834,2.843,2.856,2.87,2.877,2.894,2.904,2.915,2.92,2.929,2.939,2.962,2.972,2.977,2.989,2.997,3.015,3.032,3.051,3.058,3.07,3.086,3.098,3.11,3.13,3.147,3.162,3.18,3.191,3.208,3.221,3.242,3.253,3.275,3.286,3.309,3.324,3.35,3.36,3.387,3.405,3.412,3.439,3.457,3.491,3.492,3.515,3.534,3.573,3.586,3.608,3.645,3.65,3.678,3.704,3.733,3.757,3.795,3.817,3.882,3.907,3.923,3.923,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.327,3.302,3.294,3.283,3.276,3.267,3.26,3.249,3.242,3.233,3.231,3.205,3.196,3.196,3.19,3.174,3.171,3.171,3.15,3.146,3.14,3.129,3.124,3.117,3.103,3.1,3.098,3.092,3.091,3.078,3.075,3.074,3.066,3.061,3.057,3.053,3.039,3.038,3.034,3.027,3.022,3.017,3.016,3.015,3.003,3.002,2.996,2.995,2.991,2.987,2.987,2.984,2.977,2.972,2.971,2.969,2.966,2.965,2.964,2.964,2.965,2.977,2.977,2.977,2.958,2.955,2.952,2.951,2.951,2.951,2.947,2.944,2.944,2.947,2.947,2.948,2.948,2.947,2.944,2.942,2.942,2.942,2.943,2.946,2.946,2.946,2.946,2.946,2.946,2.946,2.947,2.948,2.955,2.955,2.955,2.955,2.956,2.96,2.961,2.967,2.969,2.968,2.969,2.971,2.978,2.984,2.984,2.986,2.986,2.989,2.993,3.002,3.003,3.008,3.016,3.022,3.026,3.029,3.029,3.029,3.038,3.045,3.06,3.061,3.061,3.063,3.063,3.063,3.067,3.067,3.078,3.083,3.087,3.088,3.091,3.097,3.112,3.113,3.118,3.123,3.128,3.13,3.139,3.15,3.151,3.156,3.156,3.166,3.186,3.187,3.194,3.199,3.207,3.218,3.234,3.242,3.245,3.725,3.761,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 116.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.514872} SEN {Time 116.81} {Type Tachometer} {Name LeftRight} {Vel 0.127000,-0.127000} SEN {Time 116.807} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2512} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.048} {Name Sonar6 Range 1.6002} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.3048} {Name Sonar9 Range 1.651} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1082} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 5.6642} {Name Sonar14 Range 2.413} {Name Sonar15 Range 2.3114} SEN {Time 116.847} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.183,0.183,0,0,0,0,3.04,3.04,3.04,3.577,3.577,3.579,3.579,3.577,3.577,3.581,3.575,3.581,3.581,3.581,3.576,3.576,3.576,3.576,3.577,3.578,3.578,3.578,3.579,3.582,3.582,3.582,3.579,3.579,3.579,3.584,3.589,3.591,3.592,3.6,3.6,3.602,3.606,3.613,3.614,3.619,3.626,3.626,3.621,3.621,3.619,3.501,0.165,0.148,0.147,0.144,0.147,0.147,0.143,0.143,0.151,0.148,0.151,0.155,0.162,0.162,0.319,0,0,0,0,0,0,0.163,0.16,0.156,0.156,0.151,0.149,0.149,0.143,0.115,0.091,0.071,0.064,0.064,0.064,0.064,0.064,0.064,0.07,0.07,0.068,0.065,0.068,0.068,0.075,0.142,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.84,3.819,3.787,3.769,3.732,3.715,3.694,3.67,3.63,3.614,3.593,3.573,3.544,3.531,3.489,3.482,3.455,3.431,3.422,3.382,3.381,3.349,3.348,3.323,3.301,3.279,3.266,3.247,3.222,3.217,3.196,3.185,3.157,3.144,3.136,3.12,3.107,3.08,3.076,3.059,3.046,3.032,3.023,3.002,2.994,2.977,2.977,2.955,2.943,2.936,2.918,2.915,2.901,2.891,2.886,2.879,2.865,2.853,2.841,2.834,2.826,2.812,2.81,2.794,2.785,2.77,2.769,2.755,2.741,2.74,2.728,2.721,2.717,2.704,2.695,2.693,2.688,2.676,2.664,2.662,2.654,2.654,2.643,2.632,2.627,2.62,2.617,2.609,2.602,2.597,2.589,2.587,2.578,2.575,2.568,2.563,2.552,2.545,2.544,2.543,2.536,2.532,2.529,2.523,2.515,2.515,2.511,2.509,2.503,2.502,2.5,2.492,2.491,2.485,2.476,2.475,2.47,2.464,2.464,2.461,2.461,2.461,2.453,2.451,2.451,2.451,2.446,2.445,2.441,2.435,2.434,2.434,2.434,2.431,2.43,2.427,2.427,2.427,2.427,2.427,2.427,2.421,2.419,2.42,2.419,2.417,2.417,2.416,2.416,2.421,2.424,2.421,2.421,2.421,2.421,2.42,2.421,2.421,2.424,2.424,2.428,2.43,2.432,2.435,2.436,2.436,2.436,2.436,2.437,2.44,2.442,2.444,2.444,2.444,2.449,2.457,2.461,2.462,2.462,2.472,2.477,2.477,2.478,2.483,2.486,2.489,2.49,2.495,2.498,2.499,2.507,2.507,2.51,2.52,2.521,2.527,2.537,2.543,2.547,2.548,2.55,2.562,2.566,2.577,2.578,2.582,2.593,2.597,2.6,2.603,2.61,2.623,2.628,2.637,2.641,2.647,2.647,2.659,2.665,2.681,2.687,2.696,2.702,2.709,2.722,2.726,2.735,2.749,2.749,2.764,2.779,2.78,2.796,2.801,2.807,2.817,2.833,2.844,2.851,2.867,2.876,2.887,2.906,2.909,2.913,2.933,2.942,2.958,2.959,2.977,2.998,3.015,3.022,3.032,3.046,3.066,3.072,3.083,3.094,3.116,3.123,3.144,3.148,3.172,3.179,3.2,3.216,3.224,3.243,3.256,3.283,3.293,3.327,3.341,3.354,3.372,3.382,3.398,3.426,3.448,3.461,3.491,3.516,3.535,3.569,3.58,3.6,3.626,3.672,3.69,0.009,0.009,0.009,3.848,3.848,3.848,0.009,0.009,0.009,0.009,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.319,3.293,3.285,3.277,3.275,3.263,3.257,3.24,3.228,3.22,3.218,3.218,3.198,3.193,3.176,3.175,3.175,3.153,3.148,3.147,3.137,3.13,3.123,3.113,3.11,3.108,3.096,3.088,3.084,3.079,3.076,3.074,3.069,3.057,3.055,3.054,3.043,3.041,3.039,3.036,3.029,3.028,3.021,3.021,3.02,3.005,3,2.998,2.997,2.992,2.992,2.992,2.992,2.992,2.99,2.985,2.974,2.971,2.971,2.971,2.971,2.971,2.97,2.968,2.962,2.962,2.963,2.962,2.962,2.963,2.961,2.958,2.958,2.959,2.956,2.956,2.949,2.949,2.949,2.954,2.955,2.956,2.956,2.957,2.957,2.955,2.955,2.961,2.961,2.961,2.961,2.961,2.962,2.962,2.966,2.97,2.971,2.978,2.983,2.986,2.988,2.989,2.99,2.99,2.993,2.998,2.998,3.008,3.011,3.015,3.016,3.016,3.022,3.029,3.031,3.039,3.041,3.043,3.043,3.051,3.056,3.063,3.072,3.075,3.075,3.081,3.081,3.081,3.081,3.093,3.1,3.101,3.107,3.11,3.121,3.121,3.131,3.135,3.144,3.151,3.158,3.158,3.165,3.173,3.177,3.179,3.194,3.195,3.217,3.224,3.228,3.229,3.234,3.243,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 117.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.375246} SEN {Time 117.00} {Type Tachometer} {Name LeftRight} {Vel 0.035560,-0.038100} SEN {Time 116.999} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.2512} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 6.096} {Name Sonar5 Range 3.048} {Name Sonar6 Range 1.6002} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 1.651} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1082} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 5.6642} {Name Sonar14 Range 2.413} {Name Sonar15 Range 2.3114} SEN {Time 117.047} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.181,0.186,0,0,0,0,3.082,3.075,3.069,3.069,3.063,3.064,3.063,3.058,3.056,3.05,3.044,3.044,3.044,3.044,3.039,3.038,3.034,3.033,3.032,3.027,3.026,3.025,3.023,3.023,3.022,3.022,3.027,3.55,3.551,3.551,3.559,3.557,3.56,3.569,3.56,3.559,3.559,3.558,3.558,3.558,3.558,3.558,3.558,3.558,3.558,3.552,0.178,0.147,0.147,0.145,0.147,0.143,0.143,0.143,0.152,0.151,0.152,0.152,0.166,0.166,0.298,3.588,3.59,0,0,0,0,0.165,0.159,0.155,0.155,0.153,0.151,0.148,0.148,0.12,0.092,0.074,0.072,0.068,0.069,0.072,0.072,0.069,0.072,0.072,0.069,0.069,0.069,0.069,0.072,0.147,0.263,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,4.013,4.013,4.013,4.034,4.037,4.059,4.065,4.087,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,4.055,3.989,3.954,3.912,3.889,3.859,3.821,3.803,3.782,3.73,3.725,3.692,3.671,3.642,3.614,3.611,3.564,3.561,3.509,3.506,3.485,3.459,3.446,3.413,3.394,3.368,3.342,3.329,3.303,3.291,3.277,3.252,3.238,3.217,3.21,3.191,3.178,3.168,3.142,3.131,3.114,3.095,3.086,3.078,3.065,3.037,3.029,3.007,3.004,2.996,2.983,2.978,2.962,2.96,2.939,2.925,2.908,2.902,2.891,2.882,2.865,2.865,2.846,2.845,2.834,2.824,2.812,2.801,2.785,2.772,2.769,2.763,2.755,2.749,2.738,2.734,2.725,2.711,2.704,2.694,2.688,2.684,2.674,2.668,2.662,2.66,2.644,2.643,2.639,2.638,2.615,2.612,2.612,2.605,2.589,2.588,2.578,2.569,2.566,2.555,2.555,2.553,2.55,2.546,2.542,2.536,2.516,2.515,2.511,2.511,2.504,2.502,2.498,2.496,2.492,2.486,2.475,2.474,2.47,2.468,2.467,2.463,2.452,2.452,2.451,2.451,2.449,2.444,2.441,2.436,2.434,2.434,2.431,2.431,2.431,2.429,2.427,2.424,2.424,2.421,2.417,2.417,2.416,2.414,2.414,2.412,2.412,2.414,2.414,2.412,2.413,2.413,2.413,2.415,2.415,2.415,2.415,2.415,2.409,2.417,2.418,2.418,2.418,2.418,2.418,2.424,2.424,2.424,2.424,2.424,2.429,2.429,2.431,2.433,2.434,2.44,2.441,2.441,2.445,2.453,2.453,2.456,2.456,2.456,2.456,2.463,2.474,2.48,2.481,2.482,2.483,2.484,2.489,2.493,2.505,2.506,2.507,2.519,2.523,2.527,2.529,2.541,2.542,2.549,2.551,2.556,2.559,2.569,2.576,2.58,2.58,2.593,2.596,2.605,2.612,2.623,2.63,2.639,2.646,2.647,2.656,2.661,2.669,2.68,2.694,2.699,2.704,2.712,2.714,2.733,2.735,2.754,2.766,2.771,2.789,2.79,2.795,2.814,2.823,2.832,2.84,2.844,2.857,2.864,2.869,2.894,2.895,2.913,2.923,2.941,2.95,2.959,2.968,2.982,2.998,3.01,3.025,3.038,3.061,3.069,3.081,3.083,3.107,3.118,3.134,3.149,3.161,3.173,3.2,3.212,3.231,3.254,3.265,3.28,3.305,3.318,3.335,3.357,3.387,3.39,3.421,3.433,3.454,3.484,3.497,3.513,3.542,3.562,3.592,3.623,3.646,3.679,3.702,3.717,3.743,3.779,3.822,3.839,3.863,3.895,3.928,3.965,3.987,4.033,4.063,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.317,3.314,3.303,3.288,3.287,3.272,3.259,3.248,3.235,3.229,3.218,3.218,3.202,3.198,3.194,3.18,3.178,3.172,3.164,3.156,3.149,3.144,3.134,3.121,3.116,3.105,3.104,3.096,3.092,3.088,3.087,3.081,3.069,3.068,3.067,3.06,3.06,3.054,3.054,3.045,3.041,3.029,3.029,3.025,3.024,3.019,3.018,3.007,3.003,3.003,3.003,2.999,2.997,2.992,2.99,2.986,2.983,2.983,2.983,2.993,2.993,2.993,2.983,2.979,2.979,2.972,2.967,2.963,2.963,2.963,2.967,2.965,2.968,2.968,2.968,2.968,2.968,2.968,2.968,2.966,2.966,2.966,2.968,2.973,2.973,2.974,2.973,2.971,2.971,2.974,2.976,2.984,2.985,2.985,2.989,2.989,2.989,2.989,2.991,2.993,2.994,3.002,3.003,3.006,3.01,3.02,3.024,3.024,3.029,3.03,3.031,3.036,3.039,3.042,3.047,3.054,3.057,3.061,3.063,3.064,3.079,3.079,3.089,3.092,3.092,3.092,3.106,3.107,3.117,3.117,3.12,3.121,3.137,3.137,3.147,3.148,3.165,3.165,3.169,3.174,3.177,3.187,3.187,3.196,3.216,3.221,3.232,3.232,3.237,3.254,3.255,3.269,3.278,3.729,3.806,3.808,3.811,3.831,3.839,3.843,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 117.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 117.21} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 117.206} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.2512} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 6.096} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1082} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 2.413} {Name Sonar15 Range 2.3114} SEN {Time 117.247} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.178,0.181,0.181,0,0,0,3.092,3.078,3.075,3.074,3.068,3.067,3.066,3.061,3.059,3.055,3.05,3.045,3.043,3.043,3.038,3.034,3.036,3.029,3.029,3.029,3.029,3.027,3.024,3.024,3.024,3.024,3.024,3.027,3.546,3.555,3.563,3.56,3.563,3.563,3.565,3.56,3.56,3.555,3.555,3.553,3.555,3.553,3.55,3.55,3.544,3.54,3.455,0.182,0.143,0.143,0.143,0.143,0.147,0.149,0.147,0.149,0.149,0.153,0.155,0.158,0.162,0.297,3.563,3.576,3.58,3.583,0,0,0,0.163,0.153,0.149,0.149,0.148,0.144,0.144,0.115,0.086,0.078,0.065,0.064,0.064,0.064,0.066,0.067,0.071,0.071,0.067,0.067,0.067,0.067,0.068,0.133,0.246,0.345,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.942,3.942,3.942,3.962,3.979,3.981,3.995,4.007,4.014,4.047,4.052,4.059,4.086,0.016,0.016,0.016,0.016,0.016,0,0,0,0.009,0.009,0.009,0.009,0,0.007,3.957,3.907,3.89,3.849,3.808,3.796,3.762,3.743,3.712,3.687,3.652,3.643,3.6,3.567,3.567,3.52,3.509,3.509,3.473,3.443,3.423,3.4,3.37,3.37,3.329,3.312,3.305,3.284,3.28,3.232,3.227,3.217,3.193,3.181,3.162,3.16,3.147,3.122,3.115,3.094,3.087,3.061,3.056,3.031,3.018,3.006,3,2.981,2.973,2.965,2.957,2.942,2.932,2.912,2.911,2.9,2.879,2.869,2.862,2.86,2.843,2.841,2.82,2.819,2.817,2.791,2.782,2.779,2.766,2.759,2.748,2.731,2.729,2.717,2.711,2.706,2.701,2.699,2.687,2.67,2.668,2.666,2.655,2.651,2.648,2.629,2.628,2.622,2.618,2.609,2.6,2.597,2.592,2.587,2.577,2.571,2.563,2.562,2.545,2.543,2.542,2.536,2.527,2.525,2.512,2.51,2.508,2.507,2.505,2.498,2.497,2.488,2.483,2.478,2.473,2.473,2.464,2.46,2.46,2.46,2.458,2.45,2.447,2.446,2.442,2.441,2.441,2.438,2.434,2.434,2.433,2.426,2.426,2.427,2.427,2.423,2.42,2.419,2.419,2.419,2.418,2.412,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.409,2.411,2.419,2.414,2.419,2.419,2.417,2.417,2.42,2.42,2.42,2.42,2.42,2.418,2.418,2.418,2.421,2.426,2.43,2.432,2.434,2.435,2.435,2.444,2.445,2.45,2.451,2.451,2.453,2.453,2.459,2.465,2.466,2.467,2.472,2.479,2.479,2.479,2.48,2.493,2.494,2.495,2.509,2.51,2.51,2.518,2.522,2.528,2.535,2.541,2.542,2.547,2.549,2.562,2.566,2.573,2.583,2.589,2.59,2.592,2.608,2.61,2.617,2.624,2.633,2.634,2.643,2.658,2.662,2.67,2.676,2.686,2.686,2.7,2.721,2.722,2.722,2.729,2.731,2.765,2.774,2.776,2.784,2.791,2.805,2.817,2.835,2.84,2.849,2.862,2.868,2.874,2.884,2.892,2.914,2.919,2.937,2.955,2.959,2.976,2.989,2.999,3.015,3.026,3.038,3.05,3.061,3.076,3.089,3.103,3.118,3.138,3.15,3.159,3.176,3.208,3.209,3.224,3.24,3.257,3.281,3.309,3.319,3.346,3.357,3.379,3.39,3.42,3.432,3.462,3.478,3.495,3.525,3.551,3.557,3.605,3.615,3.642,3.673,3.707,3.714,3.736,3.783,3.804,3.822,3.857,3.893,3.934,3.96,3.995,4.021,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.342,3.327,3.314,3.307,3.287,3.283,3.269,3.267,3.252,3.238,3.225,3.222,3.213,3.202,3.199,3.195,3.184,3.176,3.165,3.165,3.148,3.148,3.144,3.13,3.12,3.12,3.111,3.101,3.094,3.091,3.09,3.082,3.081,3.078,3.074,3.067,3.061,3.053,3.052,3.052,3.042,3.033,3.032,3.029,3.027,3.024,3.012,3.011,3.011,3.011,3.002,3,2.995,2.992,2.991,2.987,2.986,2.985,2.987,2.987,2.983,2.983,2.983,2.979,2.976,2.976,2.976,2.974,2.967,2.967,2.964,2.964,2.964,2.964,2.965,2.965,2.968,2.968,2.968,2.964,2.968,2.967,2.967,2.967,2.967,2.965,2.965,2.965,2.968,2.969,2.973,2.977,2.978,2.978,2.98,2.989,2.989,2.99,2.991,2.993,2.999,3.004,3.004,3.007,3.007,3.014,3.018,3.018,3.018,3.025,3.03,3.036,3.039,3.047,3.048,3.05,3.058,3.06,3.061,3.064,3.064,3.079,3.092,3.092,3.092,3.092,3.092,3.098,3.105,3.111,3.112,3.123,3.129,3.132,3.134,3.135,3.139,3.154,3.161,3.168,3.171,3.177,3.182,3.191,3.196,3.211,3.219,3.224,3.227,3.244,3.245,3.249,3.261,3.281,3.769,3.793,3.807,3.816,3.823,3.828,3.846,3.861,3.88,3.887,3.921,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 117.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 117.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 117.405} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.2512} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 6.096} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 2.3114} SEN {Time 117.447} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.177,0.18,0.18,0.181,0.183,0,0,0,3.101,3.091,3.08,3.069,3.065,3.062,3.061,3.059,3.058,3.054,3.054,3.042,3.042,3.042,3.041,3.041,3.041,3.033,3.031,3.03,3.03,3.027,3.026,3.025,3.025,3.022,3.016,3.016,3.016,3.535,3.56,3.56,3.56,3.56,3.564,3.56,3.564,3.564,3.553,3.553,3.553,3.553,3.551,3.553,3.548,3.547,3.468,0.177,0.152,0.146,0.145,0.145,0.145,0.145,0.145,0.152,0.147,0.152,0.157,0.159,0.27,3.564,3.564,3.574,3.574,3.576,3.58,3.576,3.558,0.16,0.156,0.153,0.153,0.148,0.139,0.137,0.116,0.089,0.07,0.07,0.062,0.062,0.062,0.068,0.064,0.068,0.069,0.069,0.068,0.069,0.069,0.075,0.136,0.234,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.923,3.923,3.95,3.954,3.954,3.993,3.995,3.996,4.017,4.027,4.039,4.049,4.07,4.089,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.007,0,0,0,0,0,3.903,3.869,3.838,3.816,3.78,3.751,3.728,3.703,3.687,3.66,3.619,3.594,3.576,3.564,3.543,3.512,3.481,3.459,3.439,3.413,3.398,3.379,3.361,3.317,3.312,3.305,3.281,3.271,3.258,3.228,3.209,3.202,3.18,3.173,3.153,3.148,3.116,3.114,3.097,3.083,3.065,3.057,3.036,3.02,3.01,2.996,2.996,2.994,2.982,2.945,2.937,2.926,2.918,2.909,2.907,2.882,2.863,2.861,2.851,2.842,2.831,2.819,2.813,2.812,2.792,2.784,2.783,2.763,2.762,2.743,2.741,2.733,2.719,2.717,2.707,2.7,2.69,2.683,2.681,2.676,2.674,2.659,2.649,2.646,2.633,2.63,2.622,2.617,2.602,2.601,2.589,2.588,2.577,2.574,2.567,2.558,2.554,2.548,2.543,2.542,2.537,2.529,2.528,2.522,2.511,2.51,2.505,2.504,2.497,2.487,2.486,2.486,2.477,2.473,2.471,2.471,2.466,2.464,2.462,2.461,2.46,2.452,2.441,2.44,2.44,2.44,2.431,2.431,2.431,2.43,2.43,2.429,2.429,2.425,2.423,2.42,2.418,2.418,2.412,2.412,2.412,2.41,2.41,2.412,2.412,2.412,2.415,2.415,2.415,2.415,2.415,2.412,2.412,2.415,2.415,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.419,2.42,2.42,2.426,2.427,2.427,2.435,2.436,2.437,2.437,2.437,2.437,2.439,2.445,2.452,2.452,2.455,2.46,2.461,2.461,2.475,2.478,2.481,2.484,2.49,2.49,2.494,2.495,2.5,2.501,2.511,2.511,2.514,2.519,2.527,2.538,2.541,2.541,2.547,2.552,2.562,2.571,2.571,2.572,2.58,2.587,2.595,2.596,2.606,2.621,2.624,2.634,2.636,2.644,2.656,2.66,2.68,2.685,2.698,2.7,2.7,2.71,2.727,2.73,2.74,2.755,2.76,2.765,2.779,2.789,2.789,2.804,2.816,2.83,2.839,2.849,2.855,2.871,2.876,2.896,2.901,2.92,2.93,2.933,2.948,2.96,2.979,2.984,2.997,3.002,3.023,3.035,3.046,3.062,3.074,3.083,3.105,3.12,3.139,3.147,3.168,3.18,3.194,3.226,3.239,3.246,3.253,3.278,3.289,3.322,3.345,3.357,3.387,3.395,3.419,3.426,3.456,3.482,3.498,3.526,3.557,3.57,3.594,3.629,3.64,3.663,3.706,3.722,3.738,3.767,3.798,3.831,3.858,3.895,3.921,3.945,4.029,4.067,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.338,3.329,3.307,3.291,3.286,3.286,3.274,3.254,3.251,3.249,3.228,3.226,3.206,3.203,3.202,3.191,3.175,3.167,3.166,3.162,3.149,3.144,3.136,3.132,3.126,3.114,3.108,3.107,3.097,3.086,3.083,3.082,3.076,3.076,3.074,3.062,3.06,3.057,3.051,3.047,3.047,3.037,3.031,3.029,3.029,3.022,3.014,3.012,3.011,3.002,2.998,2.994,2.994,2.991,2.991,2.991,2.99,2.99,2.99,2.99,2.986,2.986,2.984,2.975,2.974,2.973,2.968,2.968,2.965,2.968,2.965,2.964,2.959,2.96,2.96,2.963,2.962,2.963,2.965,2.966,2.969,2.969,2.969,2.969,2.972,2.972,2.973,2.975,2.973,2.971,2.97,2.97,2.97,2.987,2.988,2.989,2.989,2.991,2.992,2.997,2.997,3.001,3.006,3.006,3.008,3.009,3.012,3.013,3.019,3.026,3.026,3.026,3.034,3.045,3.045,3.046,3.046,3.053,3.06,3.067,3.077,3.077,3.083,3.083,3.083,3.089,3.094,3.097,3.098,3.107,3.11,3.118,3.126,3.133,3.14,3.153,3.153,3.157,3.157,3.159,3.176,3.179,3.182,3.186,3.204,3.215,3.226,3.226,3.226,3.241,3.243,3.244,3.262,3.283,3.748,3.792,3.808,3.823,3.831,3.843,3.851,3.86,3.863,3.898,3.916,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 117.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 117.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 117.598} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.2512} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.6388} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 0.9906} SEN {Time 117.644} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.182,0.184,0.184,0,0,0,3.099,3.095,3.072,3.068,3.068,3.068,3.061,3.061,3.06,3.058,3.051,3.046,3.042,3.042,3.042,3.04,3.04,3.034,3.034,3.026,3.026,3.026,3.026,3.026,3.023,3.022,3.022,3.022,3.023,3.545,3.556,3.56,3.56,3.556,3.556,3.556,3.556,3.559,3.559,3.55,3.55,3.55,3.55,3.55,3.55,3.55,3.451,0.166,0.148,0.148,0.148,0.148,0.148,0.148,0.148,0.151,0.148,0.151,0.152,0.157,0.158,0.277,3.566,3.58,3.586,3.586,3.58,3.314,0.164,0.163,0.158,0.153,0.153,0.15,0.146,0.139,0.117,0.085,0.065,0.065,0.065,0.066,0.067,0.068,0.068,0.071,0.071,0.068,0.065,0.065,0.065,0.075,0.134,0.237,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,3.953,3.953,3.953,3.97,3.978,3.987,3.995,4.005,4.024,4.041,4.066,4.075,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0.007,0,0,0.007,3.938,3.878,3.836,3.813,3.791,3.751,3.717,3.71,3.68,3.672,3.633,3.602,3.571,3.563,3.536,3.512,3.487,3.461,3.457,3.41,3.408,3.374,3.372,3.321,3.321,3.298,3.276,3.265,3.238,3.23,3.209,3.189,3.173,3.164,3.156,3.154,3.12,3.104,3.092,3.091,3.067,3.061,3.037,3.025,3.019,2.994,2.986,2.986,2.962,2.954,2.934,2.926,2.913,2.907,2.894,2.884,2.865,2.865,2.854,2.846,2.829,2.828,2.816,2.807,2.8,2.782,2.775,2.764,2.762,2.755,2.749,2.737,2.727,2.707,2.703,2.701,2.69,2.683,2.682,2.67,2.667,2.661,2.652,2.641,2.632,2.631,2.613,2.613,2.608,2.601,2.588,2.582,2.58,2.58,2.569,2.557,2.551,2.55,2.548,2.544,2.541,2.533,2.524,2.515,2.514,2.51,2.505,2.499,2.498,2.492,2.49,2.481,2.479,2.473,2.472,2.472,2.471,2.457,2.456,2.454,2.453,2.449,2.447,2.446,2.446,2.436,2.44,2.434,2.434,2.43,2.427,2.427,2.426,2.423,2.421,2.421,2.421,2.421,2.419,2.419,2.419,2.419,2.418,2.418,2.416,2.415,2.411,2.411,2.411,2.41,2.41,2.41,2.41,2.414,2.416,2.416,2.417,2.417,2.416,2.416,2.416,2.416,2.424,2.425,2.425,2.427,2.427,2.428,2.432,2.435,2.435,2.435,2.442,2.45,2.45,2.455,2.458,2.461,2.461,2.465,2.466,2.468,2.472,2.472,2.474,2.482,2.489,2.489,2.493,2.493,2.499,2.503,2.507,2.515,2.518,2.521,2.523,2.536,2.541,2.543,2.543,2.544,2.566,2.569,2.571,2.575,2.583,2.586,2.598,2.602,2.609,2.616,2.624,2.634,2.64,2.641,2.655,2.662,2.678,2.681,2.69,2.692,2.699,2.707,2.721,2.728,2.735,2.741,2.761,2.763,2.776,2.789,2.795,2.803,2.81,2.834,2.845,2.845,2.86,2.878,2.884,2.884,2.906,2.915,2.93,2.931,2.94,2.961,2.968,2.994,2.999,3.014,3.028,3.041,3.056,3.061,3.081,3.092,3.093,3.118,3.133,3.144,3.158,3.175,3.203,3.217,3.236,3.243,3.252,3.279,3.297,3.326,3.342,3.363,3.383,3.398,3.407,3.43,3.453,3.472,3.503,3.529,3.546,3.566,3.584,3.621,3.647,3.673,3.695,3.716,3.741,3.77,3.815,3.842,3.861,3.892,3.919,3.957,3.992,4.033,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.348,3.318,3.306,3.294,3.29,3.277,3.275,3.264,3.239,3.233,3.228,3.22,3.216,3.202,3.197,3.197,3.18,3.175,3.168,3.168,3.156,3.155,3.134,3.128,3.121,3.118,3.108,3.106,3.102,3.092,3.089,3.087,3.083,3.072,3.068,3.061,3.059,3.058,3.046,3.043,3.038,3.036,3.031,3.029,3.028,3.024,3.02,3.012,3.01,3.004,3.004,3.004,2.994,2.992,2.992,2.988,2.988,2.988,2.988,2.988,2.987,2.987,2.987,2.986,2.969,2.969,2.968,2.965,2.964,2.965,2.964,2.964,2.964,2.966,2.966,2.966,2.966,2.966,2.966,2.966,2.966,2.964,2.964,2.969,2.963,2.969,2.969,2.969,2.97,2.974,2.974,2.976,2.976,2.981,2.985,2.989,2.989,2.989,2.994,2.995,2.999,3.004,3.007,3.01,3.013,3.018,3.019,3.02,3.02,3.021,3.024,3.032,3.039,3.047,3.047,3.048,3.056,3.057,3.062,3.065,3.075,3.077,3.082,3.087,3.087,3.094,3.096,3.099,3.102,3.111,3.116,3.117,3.123,3.135,3.14,3.14,3.141,3.15,3.16,3.17,3.175,3.184,3.186,3.19,3.196,3.224,3.226,3.229,3.229,3.242,3.244,3.245,3.261,3.28,3.76,3.788,3.802,3.811,3.831,3.843,3.844,3.861,3.874,3.881,3.919,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 117.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 117.80} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 117.8} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.6388} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 0.9906} SEN {Time 117.843} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.179,0.179,0.18,0.181,0,0,0,3.106,3.103,3.075,3.069,3.068,3.063,3.068,3.063,3.054,3.05,3.048,3.047,3.041,3.041,3.04,3.033,3.033,3.033,3.029,3.029,3.032,3.029,3.027,3.027,3.021,3.021,3.021,3.021,3.025,3.537,3.559,3.559,3.559,3.559,3.559,3.558,3.558,3.558,3.558,3.556,3.556,3.553,3.551,3.549,3.548,3.541,3.45,0.174,0.148,0.148,0.143,0.143,0.144,0.147,0.147,0.153,0.15,0.152,0.153,0.153,0.158,0.296,3.572,3.579,3.579,3.579,3.594,0.007,3.307,0.155,0.154,0.154,0.155,0.15,0.147,0.147,0.12,0.081,0.067,0.066,0.066,0.064,0.066,0.066,0.067,0.067,0.07,0.067,0.067,0.067,0.07,0.07,0.148,0.24,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.94,3.94,3.94,3.949,3.989,3.99,3.995,4.006,4.032,4.048,4.055,4.073,4.085,4.095,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.007,0,0,0.007,3.961,3.903,3.862,3.838,3.807,3.799,3.759,3.734,3.72,3.674,3.644,3.642,3.613,3.583,3.546,3.517,3.513,3.503,3.471,3.445,3.43,3.41,3.376,3.359,3.334,3.323,3.312,3.283,3.274,3.247,3.235,3.209,3.194,3.18,3.174,3.157,3.143,3.118,3.115,3.099,3.092,3.062,3.051,3.032,3.019,3.008,3.002,2.986,2.98,2.961,2.946,2.941,2.93,2.914,2.908,2.895,2.885,2.883,2.863,2.863,2.844,2.835,2.825,2.811,2.811,2.798,2.784,2.773,2.771,2.757,2.747,2.733,2.729,2.717,2.713,2.706,2.705,2.697,2.675,2.673,2.668,2.661,2.659,2.646,2.645,2.641,2.639,2.618,2.618,2.613,2.602,2.597,2.582,2.576,2.574,2.572,2.558,2.556,2.556,2.548,2.542,2.531,2.525,2.516,2.515,2.514,2.51,2.508,2.505,2.493,2.489,2.489,2.478,2.473,2.473,2.471,2.467,2.466,2.466,2.465,2.462,2.454,2.452,2.448,2.446,2.446,2.439,2.439,2.438,2.433,2.431,2.429,2.429,2.428,2.428,2.421,2.416,2.416,2.414,2.414,2.414,2.419,2.414,2.418,2.418,2.415,2.414,2.415,2.414,2.415,2.416,2.418,2.417,2.417,2.417,2.417,2.417,2.417,2.42,2.42,2.42,2.42,2.42,2.42,2.423,2.423,2.425,2.427,2.43,2.427,2.43,2.433,2.436,2.441,2.444,2.444,2.45,2.452,2.456,2.46,2.46,2.467,2.468,2.47,2.474,2.474,2.48,2.485,2.491,2.494,2.495,2.495,2.501,2.509,2.516,2.517,2.521,2.525,2.537,2.543,2.543,2.544,2.555,2.556,2.556,2.568,2.579,2.581,2.588,2.599,2.602,2.622,2.623,2.635,2.639,2.641,2.649,2.654,2.667,2.675,2.676,2.681,2.692,2.693,2.71,2.727,2.731,2.736,2.746,2.761,2.766,2.782,2.784,2.788,2.81,2.813,2.829,2.831,2.857,2.862,2.87,2.879,2.896,2.902,2.903,2.924,2.934,2.949,2.968,2.98,2.983,3.002,3.012,3.021,3.044,3.047,3.063,3.077,3.086,3.107,3.117,3.126,3.142,3.164,3.183,3.195,3.213,3.241,3.241,3.259,3.273,3.297,3.32,3.334,3.358,3.383,3.387,3.424,3.437,3.457,3.487,3.497,3.521,3.549,3.569,3.594,3.627,3.641,3.656,3.701,3.715,3.742,3.778,3.8,3.831,3.875,3.892,3.915,3.989,0.007,4.092,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.342,3.32,3.31,3.301,3.29,3.283,3.276,3.262,3.245,3.24,3.225,3.224,3.216,3.199,3.193,3.191,3.191,3.163,3.163,3.161,3.16,3.147,3.144,3.127,3.123,3.115,3.107,3.104,3.1,3.091,3.091,3.09,3.086,3.079,3.071,3.071,3.063,3.055,3.041,3.04,3.038,3.036,3.031,3.03,3.03,3.026,3.018,3.015,3.014,3.011,3.01,3,2.996,2.995,2.994,2.988,2.984,2.984,2.988,2.988,2.981,2.981,2.981,2.979,2.978,2.971,2.971,2.971,2.969,2.969,2.97,2.969,2.969,2.964,2.964,2.964,2.964,2.964,2.967,2.97,2.97,2.97,2.97,2.97,2.965,2.965,2.968,2.968,2.968,2.972,2.974,2.975,2.978,2.981,2.982,2.981,2.99,2.993,2.994,2.994,2.997,3.002,3.003,3.004,3.008,3.012,3.014,3.023,3.024,3.027,3.027,3.031,3.035,3.036,3.05,3.051,3.052,3.055,3.064,3.066,3.068,3.077,3.087,3.087,3.09,3.092,3.099,3.104,3.111,3.116,3.116,3.121,3.123,3.14,3.141,3.146,3.153,3.162,3.162,3.174,3.175,3.176,3.181,3.181,3.197,3.214,3.219,3.224,3.224,3.239,3.244,3.247,3.262,3.283,3.752,3.786,3.808,3.821,3.827,3.835,3.851,3.87,3.886,3.891,3.931,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 118.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 118.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 118.002} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.6388} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9906} SEN {Time 118.043} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.177,0.178,0.19,0,0,0,3.101,3.092,3.076,3.068,3.068,3.061,3.067,3.067,3.061,3.054,3.052,3.046,3.043,3.036,3.036,3.035,3.034,3.033,3.03,3.029,3.03,3.028,3.026,3.026,3.019,3.017,3.019,3.019,3.542,3.55,3.559,3.55,3.559,3.556,3.561,3.556,3.556,3.555,3.554,3.553,3.551,3.551,3.553,3.553,3.551,3.551,3.453,0.18,0.148,0.148,0.142,0.142,0.147,0.147,0.147,0.148,0.148,0.153,0.153,0.155,0.155,0.291,3.567,3.576,3.586,3.594,0,0,0,0.163,0.158,0.151,0.151,0.149,0.148,0.148,0.124,0.081,0.071,0.065,0.064,0.064,0.065,0.067,0.067,0.067,0.068,0.068,0.064,0.068,0.068,0.072,0.135,0.247,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.953,3.953,3.953,3.985,3.988,4.01,4.023,4.023,4.039,4.059,4.075,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,0,0,0,3.942,3.913,3.878,3.856,3.815,3.773,3.75,3.735,3.707,3.68,3.653,3.63,3.598,3.589,3.561,3.534,3.51,3.501,3.468,3.459,3.424,3.416,3.381,3.355,3.316,3.315,3.305,3.278,3.27,3.239,3.225,3.212,3.197,3.175,3.171,3.153,3.138,3.129,3.114,3.094,3.082,3.062,3.056,3.042,3.02,3.006,3.006,2.994,2.972,2.967,2.949,2.94,2.932,2.912,2.905,2.886,2.881,2.88,2.862,2.854,2.847,2.839,2.821,2.819,2.812,2.795,2.789,2.781,2.769,2.764,2.747,2.734,2.727,2.717,2.716,2.707,2.699,2.695,2.682,2.68,2.673,2.658,2.646,2.646,2.642,2.635,2.63,2.624,2.613,2.61,2.604,2.593,2.593,2.582,2.574,2.572,2.559,2.557,2.556,2.553,2.541,2.531,2.523,2.522,2.521,2.513,2.512,2.504,2.502,2.494,2.487,2.485,2.483,2.478,2.472,2.47,2.467,2.464,2.462,2.459,2.458,2.453,2.448,2.446,2.445,2.443,2.441,2.44,2.437,2.437,2.431,2.431,2.43,2.426,2.424,2.423,2.423,2.423,2.417,2.412,2.417,2.419,2.417,2.418,2.418,2.418,2.413,2.417,2.413,2.413,2.413,2.413,2.413,2.413,2.415,2.415,2.412,2.415,2.415,2.416,2.416,2.417,2.42,2.42,2.423,2.423,2.423,2.432,2.432,2.434,2.436,2.439,2.439,2.441,2.441,2.444,2.45,2.453,2.458,2.46,2.463,2.463,2.468,2.472,2.475,2.475,2.484,2.487,2.487,2.491,2.491,2.505,2.507,2.515,2.516,2.517,2.522,2.524,2.537,2.538,2.539,2.539,2.55,2.562,2.569,2.57,2.572,2.583,2.596,2.597,2.606,2.612,2.619,2.622,2.636,2.639,2.647,2.657,2.663,2.668,2.683,2.688,2.694,2.701,2.706,2.726,2.73,2.738,2.749,2.757,2.763,2.772,2.792,2.802,2.809,2.811,2.83,2.836,2.855,2.86,2.865,2.874,2.89,2.904,2.909,2.925,2.931,2.958,2.959,2.973,2.988,3.001,3.005,3.031,3.033,3.047,3.055,3.076,3.09,3.11,3.116,3.129,3.149,3.171,3.181,3.202,3.215,3.237,3.242,3.257,3.28,3.297,3.325,3.33,3.362,3.375,3.389,3.423,3.425,3.458,3.482,3.505,3.512,3.558,3.561,3.597,3.623,3.641,3.665,3.706,3.716,3.741,3.778,3.811,3.84,3.861,3.903,3.924,3.945,4.006,4.067,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.325,3.306,3.305,3.288,3.278,3.268,3.263,3.241,3.24,3.233,3.221,3.211,3.203,3.2,3.181,3.176,3.17,3.17,3.161,3.156,3.141,3.136,3.13,3.124,3.12,3.109,3.104,3.101,3.094,3.093,3.083,3.081,3.072,3.067,3.064,3.059,3.048,3.044,3.044,3.042,3.038,3.028,3.027,3.027,3.018,3.017,3.014,3.012,3.008,2.999,2.999,2.994,2.992,2.991,2.987,2.984,2.984,2.984,2.984,2.988,2.988,2.988,2.982,2.974,2.97,2.968,2.968,2.968,2.97,2.968,2.968,2.966,2.966,2.966,2.967,2.967,2.967,2.963,2.961,2.961,2.963,2.968,2.968,2.969,2.968,2.968,2.968,2.972,2.972,2.975,2.977,2.981,2.981,2.982,2.99,2.99,2.99,2.992,2.992,2.996,2.998,2.998,3.002,3.006,3.016,3.016,3.018,3.018,3.023,3.026,3.046,3.047,3.047,3.047,3.047,3.057,3.06,3.067,3.071,3.071,3.084,3.085,3.09,3.09,3.091,3.093,3.093,3.116,3.117,3.117,3.121,3.123,3.132,3.136,3.137,3.154,3.154,3.159,3.162,3.168,3.175,3.185,3.186,3.194,3.217,3.223,3.229,3.229,3.238,3.244,3.255,3.258,3.278,3.762,3.796,3.81,3.814,3.826,3.844,3.854,3.871,3.884,3.893,3.924,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 118.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 118.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 118.195} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9906} SEN {Time 118.243} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.179,0.179,0.179,0,0,0,3.099,3.083,3.074,3.072,3.067,3.065,3.061,3.061,3.054,3.05,3.046,3.045,3.043,3.041,3.041,3.041,3.039,3.039,3.034,3.029,3.029,3.029,3.024,3.019,3.021,3.019,3.021,3.021,3.544,3.553,3.555,3.553,3.555,3.555,3.561,3.561,3.561,3.561,3.561,3.561,3.558,3.554,3.554,3.549,3.548,3.544,3.449,0.17,0.147,0.143,0.143,0.143,0.143,0.143,0.143,0.154,0.153,0.153,0.153,0.153,0.153,0.293,3.567,3.577,3.577,3.578,3.581,3.581,3.552,0.162,0.156,0.156,0.156,0.153,0.153,0.153,0.118,0.094,0.073,0.064,0.061,0.061,0.064,0.064,0.066,0.074,0.074,0.066,0.066,0.066,0.066,0.075,0.127,0,0,0,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.915,3.915,3.915,3.948,3.983,3.992,3.995,3.995,4.02,4.026,4.04,4.062,4.078,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,3.977,3.975,3.896,3.885,3.858,3.812,3.791,3.745,3.724,3.724,3.67,3.648,3.631,3.594,3.578,3.567,3.536,3.519,3.487,3.469,3.448,3.422,3.405,3.372,3.365,3.334,3.323,3.298,3.289,3.268,3.242,3.219,3.216,3.196,3.184,3.167,3.155,3.135,3.128,3.108,3.101,3.085,3.069,3.05,3.036,3.018,3.01,3.009,2.986,2.971,2.956,2.947,2.93,2.925,2.911,2.909,2.891,2.88,2.875,2.868,2.854,2.848,2.84,2.824,2.813,2.802,2.79,2.787,2.777,2.773,2.757,2.752,2.736,2.731,2.729,2.705,2.703,2.701,2.691,2.681,2.674,2.668,2.659,2.654,2.651,2.645,2.643,2.636,2.618,2.615,2.607,2.606,2.598,2.585,2.582,2.573,2.568,2.561,2.555,2.553,2.544,2.537,2.536,2.532,2.523,2.52,2.514,2.508,2.5,2.499,2.497,2.492,2.491,2.486,2.486,2.484,2.472,2.472,2.467,2.464,2.46,2.459,2.455,2.451,2.45,2.443,2.443,2.443,2.44,2.437,2.436,2.435,2.435,2.433,2.43,2.426,2.426,2.425,2.424,2.42,2.419,2.419,2.418,2.416,2.418,2.418,2.416,2.413,2.413,2.413,2.414,2.414,2.416,2.416,2.416,2.414,2.416,2.416,2.418,2.423,2.425,2.425,2.423,2.423,2.421,2.421,2.423,2.428,2.428,2.428,2.428,2.432,2.436,2.438,2.446,2.446,2.447,2.448,2.449,2.453,2.454,2.457,2.464,2.468,2.478,2.481,2.481,2.482,2.483,2.485,2.498,2.498,2.502,2.504,2.508,2.513,2.515,2.517,2.528,2.528,2.544,2.546,2.546,2.558,2.561,2.568,2.58,2.581,2.585,2.59,2.603,2.604,2.607,2.619,2.628,2.633,2.637,2.645,2.651,2.661,2.677,2.682,2.688,2.69,2.704,2.71,2.723,2.731,2.736,2.738,2.763,2.766,2.785,2.785,2.8,2.817,2.818,2.835,2.836,2.845,2.862,2.877,2.881,2.882,2.893,2.908,2.929,2.931,2.955,2.964,2.978,2.98,3.003,3.01,3.034,3.044,3.051,3.07,3.077,3.089,3.1,3.122,3.139,3.146,3.172,3.191,3.203,3.21,3.239,3.239,3.259,3.277,3.295,3.313,3.342,3.359,3.377,3.389,3.422,3.437,3.452,3.482,3.493,3.519,3.547,3.552,3.602,3.628,3.642,3.676,3.696,3.712,3.756,3.774,3.796,3.834,3.862,3.894,3.923,3.951,3.993,4.026,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.328,3.31,3.299,3.289,3.277,3.273,3.256,3.242,3.236,3.216,3.215,3.214,3.204,3.195,3.185,3.179,3.178,3.162,3.161,3.16,3.148,3.137,3.127,3.118,3.115,3.112,3.11,3.097,3.094,3.092,3.092,3.088,3.069,3.069,3.067,3.058,3.053,3.052,3.048,3.038,3.038,3.031,3.021,3.021,3.02,3.02,3.02,3.017,3.01,3.006,3.006,2.997,2.996,2.988,2.988,2.986,2.986,2.988,2.988,2.979,2.987,2.987,2.979,2.971,2.969,2.968,2.967,2.966,2.966,2.964,2.966,2.967,2.967,2.967,2.967,2.966,2.966,2.968,2.966,2.964,2.964,2.962,2.962,2.962,2.962,2.967,2.968,2.973,2.975,2.976,2.977,2.977,2.98,2.983,2.986,2.987,2.989,2.989,2.989,2.997,3,3.006,3.006,3.007,3.019,3.022,3.023,3.023,3.023,3.024,3.035,3.036,3.044,3.052,3.055,3.064,3.064,3.066,3.068,3.068,3.076,3.077,3.092,3.092,3.094,3.094,3.104,3.11,3.115,3.115,3.121,3.123,3.131,3.14,3.141,3.146,3.153,3.154,3.168,3.173,3.178,3.178,3.182,3.19,3.211,3.222,3.228,3.229,3.242,3.244,3.245,3.261,3.283,3.759,3.794,3.811,3.82,3.823,3.846,3.848,3.85,3.875,3.903,3.921,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 118.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 118.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 118.396} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.937} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9906} SEN {Time 118.443} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.177,0.187,0.187,0,0,0,0,3.083,3.082,3.073,3.066,3.061,3.062,3.062,3.054,3.053,3.052,3.05,3.043,3.042,3.038,3.037,3.032,3.032,3.031,3.028,3.028,3.028,3.019,3.018,3.019,3.019,3.019,3.02,3.02,3.545,3.559,3.559,3.564,3.559,3.557,3.553,3.557,3.557,3.557,3.556,3.556,3.554,3.549,3.547,3.539,3.535,3.456,0.176,0.151,0.148,0.142,0.142,0.146,0.146,0.146,0.151,0.149,0.151,0.157,0.158,0.158,0.281,3.578,3.578,3.581,0,0,0,0,0.163,0.16,0.158,0.155,0.152,0.148,0.148,0.12,0.091,0.071,0.069,0.067,0.067,0.069,0.067,0.067,0.066,0.068,0.068,0.068,0.068,0.069,0.072,0.137,0.254,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.996,3.996,4.002,4.002,4.006,4.029,4.035,4.057,4.063,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,4.052,4.047,3.986,3.969,3.932,3.906,3.881,3.854,3.816,3.809,3.759,3.737,3.724,3.682,3.651,3.627,3.613,3.581,3.573,3.53,3.511,3.485,3.464,3.436,3.431,3.41,3.372,3.366,3.331,3.327,3.299,3.276,3.266,3.252,3.228,3.216,3.193,3.182,3.169,3.156,3.137,3.121,3.114,3.093,3.083,3.069,3.056,3.041,3.022,3.015,3.003,2.989,2.98,2.965,2.949,2.94,2.926,2.911,2.906,2.886,2.886,2.881,2.861,2.851,2.845,2.835,2.821,2.816,2.805,2.796,2.784,2.778,2.764,2.755,2.742,2.742,2.723,2.722,2.716,2.706,2.701,2.695,2.685,2.672,2.669,2.662,2.659,2.641,2.64,2.639,2.638,2.631,2.615,2.607,2.606,2.593,2.586,2.585,2.575,2.571,2.565,2.559,2.557,2.556,2.547,2.537,2.535,2.525,2.524,2.513,2.51,2.5,2.498,2.498,2.49,2.482,2.477,2.471,2.468,2.463,2.463,2.467,2.46,2.459,2.454,2.448,2.448,2.447,2.447,2.445,2.44,2.44,2.437,2.431,2.431,2.428,2.428,2.427,2.427,2.427,2.425,2.417,2.417,2.416,2.416,2.416,2.416,2.413,2.413,2.413,2.409,2.409,2.408,2.408,2.407,2.407,2.411,2.413,2.416,2.416,2.416,2.419,2.421,2.421,2.421,2.421,2.417,2.417,2.421,2.428,2.429,2.431,2.433,2.433,2.435,2.436,2.44,2.443,2.443,2.445,2.449,2.449,2.451,2.46,2.462,2.463,2.463,2.466,2.472,2.475,2.483,2.485,2.491,2.491,2.491,2.495,2.506,2.509,2.513,2.519,2.521,2.523,2.533,2.534,2.542,2.545,2.551,2.561,2.563,2.573,2.581,2.586,2.589,2.597,2.601,2.616,2.62,2.626,2.631,2.632,2.646,2.651,2.66,2.677,2.681,2.688,2.696,2.699,2.708,2.721,2.723,2.746,2.751,2.762,2.766,2.779,2.792,2.795,2.814,2.815,2.828,2.829,2.853,2.857,2.871,2.875,2.879,2.894,2.906,2.93,2.939,2.954,2.966,2.966,2.99,2.995,3.013,3.029,3.03,3.056,3.066,3.08,3.087,3.098,3.121,3.137,3.155,3.175,3.183,3.193,3.216,3.242,3.243,3.244,3.278,3.295,3.319,3.339,3.364,3.392,3.398,3.417,3.436,3.455,3.475,3.506,3.514,3.538,3.564,3.598,3.617,3.647,3.667,3.698,3.715,3.744,3.766,3.814,3.839,3.871,3.924,0.007,4.031,4.031,4.074,4.074,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.338,3.326,3.306,3.303,3.3,3.282,3.271,3.259,3.255,3.238,3.225,3.221,3.218,3.196,3.196,3.191,3.18,3.173,3.173,3.161,3.151,3.144,3.14,3.126,3.123,3.116,3.112,3.104,3.092,3.091,3.091,3.082,3.078,3.075,3.068,3.065,3.058,3.056,3.049,3.045,3.043,3.035,3.03,3.029,3.028,3.022,3.014,3.012,3.008,3.004,3.003,2.997,2.996,2.996,2.993,2.993,2.989,2.988,2.993,2.993,2.983,2.983,2.983,2.983,2.98,2.977,2.969,2.969,2.968,2.968,2.968,2.966,2.965,2.963,2.963,2.966,2.958,2.96,2.961,2.96,2.96,2.961,2.969,2.969,2.969,2.97,2.97,2.97,2.973,2.973,2.975,2.978,2.975,2.975,2.984,2.991,2.991,2.991,2.991,2.991,2.996,2.996,3.004,3.006,3.009,3.012,3.017,3.021,3.029,3.032,3.032,3.041,3.046,3.046,3.051,3.054,3.06,3.063,3.066,3.067,3.077,3.084,3.086,3.088,3.088,3.093,3.093,3.1,3.112,3.115,3.115,3.121,3.121,3.135,3.139,3.142,3.148,3.156,3.158,3.16,3.172,3.175,3.183,3.191,3.199,3.221,3.226,3.228,3.228,3.237,3.24,3.247,3.262,3.282,3.757,3.778,3.804,3.819,3.833,3.842,3.861,3.867,3.87,3.892,3.905,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 118.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.364774} SEN {Time 118.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 118.598} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.937} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 0.9906} SEN {Time 118.643} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,3.099,3.072,3.068,3.068,3.059,3.066,3.066,3.058,3.05,3.05,3.049,3.045,3.041,3.039,3.038,3.038,3.038,3.031,3.029,3.024,3.024,3.022,3.023,3.023,3.025,3.023,3.026,3.027,3.543,3.558,3.558,3.56,3.558,3.554,3.554,3.554,3.554,3.557,3.557,3.557,3.557,3.558,3.553,3.55,3.543,3.462,0.166,0.151,0.151,0.147,0.147,0.146,0.146,0.146,0.152,0.152,0.153,0.154,0.155,0.157,0.302,3.557,3.579,3.58,3.584,0,0,0,0.155,0.153,0.153,0.153,0.153,0.146,0.146,0.12,0.099,0.073,0.068,0.068,0.068,0.068,0.069,0.07,0.07,0.07,0.069,0.068,0.068,0.068,0.068,0.143,0.243,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.978,3.978,3.98,3.98,4.007,4.034,4.038,4.039,4.041,4.071,4.095,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,4.052,3.981,3.947,3.888,3.885,3.842,3.805,3.769,3.759,3.732,3.697,3.664,3.639,3.622,3.615,3.569,3.567,3.536,3.516,3.487,3.473,3.452,3.412,3.396,3.381,3.36,3.338,3.329,3.305,3.291,3.264,3.241,3.221,3.205,3.2,3.19,3.174,3.157,3.139,3.118,3.112,3.108,3.091,3.072,3.056,3.033,3.031,3.012,2.994,2.98,2.978,2.967,2.963,2.949,2.92,2.915,2.902,2.895,2.878,2.868,2.862,2.853,2.847,2.835,2.821,2.818,2.8,2.795,2.782,2.776,2.769,2.754,2.751,2.744,2.726,2.723,2.714,2.706,2.699,2.689,2.686,2.68,2.668,2.66,2.66,2.646,2.642,2.634,2.633,2.622,2.619,2.611,2.607,2.599,2.589,2.584,2.578,2.564,2.564,2.562,2.562,2.548,2.54,2.537,2.53,2.521,2.515,2.513,2.511,2.507,2.507,2.505,2.491,2.487,2.484,2.483,2.483,2.475,2.47,2.462,2.46,2.455,2.459,2.455,2.449,2.443,2.443,2.439,2.439,2.437,2.435,2.435,2.435,2.434,2.429,2.429,2.426,2.421,2.421,2.421,2.42,2.413,2.412,2.412,2.412,2.412,2.413,2.413,2.413,2.413,2.413,2.413,2.411,2.411,2.411,2.411,2.416,2.418,2.421,2.421,2.421,2.421,2.421,2.423,2.423,2.423,2.425,2.423,2.423,2.43,2.43,2.427,2.43,2.432,2.437,2.437,2.44,2.441,2.441,2.444,2.449,2.459,2.459,2.459,2.467,2.475,2.477,2.478,2.48,2.486,2.487,2.496,2.496,2.497,2.498,2.507,2.508,2.519,2.527,2.536,2.536,2.539,2.542,2.542,2.557,2.557,2.562,2.574,2.578,2.58,2.59,2.6,2.603,2.622,2.622,2.624,2.629,2.641,2.646,2.659,2.659,2.669,2.669,2.695,2.696,2.697,2.707,2.717,2.719,2.741,2.752,2.757,2.76,2.78,2.787,2.801,2.809,2.816,2.818,2.835,2.848,2.861,2.866,2.883,2.89,2.898,2.903,2.931,2.933,2.955,2.962,2.979,2.983,2.993,3.012,3.032,3.035,3.049,3.063,3.081,3.084,3.105,3.123,3.138,3.146,3.167,3.18,3.197,3.206,3.228,3.249,3.252,3.273,3.297,3.319,3.337,3.365,3.381,3.392,3.416,3.432,3.468,3.48,3.503,3.524,3.538,3.567,3.597,3.618,3.648,3.676,3.71,3.728,3.75,3.777,3.807,3.822,3.862,3.929,3.954,3.985,3.985,4.02,4.061,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.325,3.304,3.296,3.289,3.278,3.27,3.268,3.256,3.239,3.232,3.215,3.211,3.2,3.195,3.189,3.18,3.172,3.17,3.164,3.154,3.147,3.139,3.133,3.119,3.113,3.108,3.107,3.098,3.092,3.09,3.088,3.088,3.073,3.071,3.067,3.066,3.055,3.05,3.046,3.04,3.037,3.034,3.033,3.02,3.018,3.016,3.013,3.009,3.004,3.003,3.001,2.998,2.997,2.997,2.988,2.986,2.988,2.988,2.988,2.99,2.99,2.99,2.985,2.978,2.97,2.964,2.97,2.969,2.97,2.969,2.969,2.969,2.968,2.967,2.967,2.964,2.964,2.968,2.968,2.968,2.968,2.964,2.964,2.968,2.964,2.968,2.968,2.968,2.968,2.974,2.977,2.981,2.981,2.987,2.987,2.996,2.996,2.99,2.99,2.995,2.995,3,3.005,3.01,3.023,3.023,3.023,3.023,3.023,3.026,3.028,3.04,3.045,3.052,3.055,3.055,3.056,3.061,3.065,3.073,3.079,3.082,3.085,3.09,3.097,3.099,3.103,0.007,3.12,3.119,3.12,3.12,3.129,3.135,3.147,3.153,3.158,3.158,3.163,3.176,3.178,3.181,3.187,3.201,3.219,3.22,3.226,3.226,3.244,3.244,3.253,3.264,3.283,3.764,3.8,3.81,3.819,3.822,3.841,3.862,3.865,3.875,3.898,3.908,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 118.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.357792} SEN {Time 118.80} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400} SEN {Time 118.799} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.4102} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.1524} {Name Sonar13 Range 3.937} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 0.9906} SEN {Time 118.839} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.184,0.177,0.184,0.184,0,0,0,3.095,3.091,3.077,3.072,3.072,3.068,3.064,3.06,3.06,3.058,3.051,3.048,3.044,3.044,3.044,3.04,3.04,3.036,3.036,3.034,3.034,3.027,3.027,3.027,3.026,3.025,3.025,3.025,3.025,3.025,3.546,3.552,3.558,3.558,3.558,3.553,3.553,3.553,3.555,3.555,3.555,3.555,3.555,3.552,3.546,3.544,3.449,0.158,0.152,0.148,0.145,0.145,0.138,0.144,0.144,0.147,0.147,0.153,0.153,0.153,0.158,0.274,3.57,3.584,3.584,3.588,3.591,3.588,3.555,0.158,0.157,0.153,0.149,0.145,0.144,0.144,0.119,0.101,0.068,0.068,0.064,0.067,0.067,0.067,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.074,0.139,0.238,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.907,3.907,3.938,3.938,3.973,3.979,3.979,3.988,3.99,4.006,4.033,4.048,4.06,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,3.964,3.937,3.898,3.873,3.853,3.796,3.784,3.765,3.739,3.687,3.673,3.64,3.626,3.594,3.579,3.56,3.536,3.507,3.502,3.461,3.443,3.414,3.393,3.374,3.357,3.345,3.315,3.306,3.275,3.26,3.249,3.231,3.211,3.2,3.186,3.161,3.148,3.127,3.121,3.119,3.094,3.082,3.064,3.054,3.039,3.032,3.014,2.992,2.991,2.977,2.965,2.946,2.929,2.928,2.922,2.914,2.901,2.879,2.865,2.865,2.859,2.848,2.83,2.829,2.817,2.8,2.79,2.787,2.777,2.775,2.763,2.75,2.746,2.731,2.716,2.715,2.713,2.712,2.695,2.68,2.672,2.668,2.66,2.654,2.653,2.648,2.64,2.626,2.626,2.625,2.613,2.602,2.59,2.587,2.581,2.576,2.574,2.569,2.555,2.55,2.548,2.545,2.544,2.53,2.53,2.529,2.519,2.51,2.509,2.508,2.495,2.493,2.489,2.486,2.485,2.476,2.475,2.471,2.465,2.465,2.462,2.461,2.452,2.446,2.445,2.443,2.443,2.44,2.437,2.437,2.432,2.429,2.429,2.429,2.425,2.424,2.423,2.419,2.419,2.419,2.419,2.419,2.419,2.421,2.421,2.419,2.413,2.417,2.411,2.416,2.409,2.416,2.414,2.416,2.416,2.416,2.415,2.416,2.419,2.417,2.419,2.419,2.421,2.421,2.421,2.423,2.423,2.423,2.431,2.431,2.432,2.434,2.434,2.434,2.44,2.44,2.443,2.448,2.448,2.451,2.451,2.457,2.462,2.464,2.467,2.474,2.479,2.48,2.484,2.487,2.487,2.493,2.494,2.504,2.508,2.515,2.516,2.52,2.522,2.528,2.541,2.547,2.553,2.557,2.563,2.571,2.571,2.571,2.586,2.595,2.6,2.61,2.613,2.615,2.62,2.629,2.639,2.642,2.656,2.658,2.675,2.679,2.68,2.696,2.698,2.704,2.717,2.723,2.734,2.736,2.742,2.769,2.773,2.782,2.791,2.807,2.812,2.826,2.835,2.839,2.848,2.866,2.866,2.883,2.897,2.913,2.914,2.926,2.94,2.955,2.96,2.974,2.993,3.002,3.014,3.025,3.037,3.054,3.059,3.084,3.086,3.116,3.129,3.149,3.152,3.175,3.187,3.202,3.214,3.228,3.253,3.266,3.291,3.309,3.342,3.347,3.369,3.383,3.394,3.417,3.446,3.473,3.476,3.508,3.531,3.561,3.587,3.594,3.631,3.655,3.673,3.701,3.733,3.736,3.787,3.807,3.837,3.87,3.899,3.958,0.007,4.08,4.08,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.329,3.307,3.304,3.296,3.277,3.264,3.251,3.239,3.238,3.236,3.22,3.213,3.201,3.196,3.188,3.182,3.175,3.172,3.161,3.147,3.146,3.134,3.134,3.122,3.122,3.103,3.103,3.102,3.102,3.093,3.087,3.084,3.081,3.073,3.067,3.058,3.058,3.05,3.042,3.039,3.035,3.031,3.03,3.022,3.021,3.016,3.015,3.013,3.01,3.004,3.001,3,3,2.994,2.989,2.988,2.984,2.984,2.988,2.997,2.997,2.997,2.978,2.973,2.973,2.97,2.97,2.973,2.973,2.966,2.971,2.971,2.968,2.968,2.968,2.965,2.965,2.964,2.965,2.966,2.968,2.968,2.968,2.968,2.968,2.968,2.971,2.971,2.971,2.974,2.979,2.98,2.981,2.981,2.987,2.988,2.988,2.996,2.996,2.999,3.001,3.001,3.003,3.005,3.01,3.016,3.017,3.023,3.023,3.035,3.035,3.041,3.042,3.042,3.05,3.055,3.059,3.063,3.065,3.077,3.078,3.092,3.092,3.092,3.095,3.095,3.095,3.096,3.102,3.119,3.124,3.124,3.132,3.138,3.144,3.145,3.158,3.163,3.165,3.167,3.171,3.187,3.195,3.201,3.21,3.218,3.228,3.229,3.239,3.241,3.26,3.26,3.263,3.27,3.786,3.795,3.808,3.815,3.841,3.85,3.868,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 118.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.314159} SEN {Time 118.99} {Type Tachometer} {Name LeftRight} {Vel 0.071120,-0.071120} SEN {Time 118.994} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 5.4102} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 1.6002} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.1524} {Name Sonar13 Range 3.937} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 0.9906} SEN {Time 119.039} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.18,0.181,0.181,0,0,0,0,3.123,3.112,3.096,3.093,3.082,3.081,3.078,3.076,3.075,3.062,3.061,3.06,3.05,3.05,3.048,3.046,3.045,3.039,3.037,3.036,3.031,3.032,3.031,3.031,3.028,3.029,3.027,3.027,3.021,3.021,3.019,3.017,3.019,3.021,3.021,3.548,3.553,3.554,3.553,3.553,3.554,3.55,3.55,3.55,3.531,3.449,0.163,0.151,0.151,0.15,0.15,0.15,0.148,0.143,0.148,0.147,0.147,0.15,0.162,0.162,0.259,3.545,3.549,3.549,3.545,3.555,3.538,3.313,0.161,0.153,0.153,0.153,0.151,0.146,0.142,0.114,0.101,0.068,0.066,0.066,0.066,0.068,0.066,0.068,0.069,0.069,0.069,0.069,0.07,0.07,0.077,0.135,0.23,0.322,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,3.838,3.838,3.838,3.85,3.852,3.87,3.878,3.898,3.907,3.926,3.933,3.941,3.947,3.965,3.972,3.986,3.996,4.025,4.038,4.06,4.065,4.076,4.088,0.016,0.016,0,0,0,0,0,0,0.016,0.016,0.007,0,4.039,0,3.949,3.906,3.858,3.833,3.794,3.787,3.742,3.719,3.697,3.672,3.632,3.618,3.601,3.562,3.553,3.52,3.495,3.476,3.441,3.441,3.408,3.402,3.377,3.354,3.332,3.316,3.311,3.285,3.262,3.257,3.239,3.202,3.19,3.182,3.165,3.142,3.134,3.121,3.099,3.098,3.074,3.058,3.044,3.028,3.024,3.004,3.001,2.988,2.97,2.953,2.951,2.934,2.923,2.922,2.914,2.9,2.89,2.874,2.861,2.855,2.847,2.839,2.824,2.819,2.804,2.795,2.787,2.778,2.768,2.752,2.746,2.742,2.73,2.727,2.721,2.719,2.709,2.703,2.69,2.684,2.667,2.665,2.659,2.653,2.644,2.639,2.631,2.622,2.613,2.61,2.606,2.595,2.586,2.578,2.574,2.563,2.556,2.554,2.552,2.546,2.543,2.539,2.521,2.516,2.516,2.515,2.514,2.501,2.497,2.497,2.494,2.484,2.482,2.474,2.474,2.472,2.47,2.464,2.458,2.453,2.452,2.449,2.448,2.447,2.445,2.444,2.44,2.435,2.434,2.428,2.427,2.427,2.427,2.427,2.427,2.427,2.426,2.419,2.419,2.419,2.417,2.416,2.416,2.414,2.41,2.41,2.41,2.41,2.41,2.411,2.411,2.416,2.416,2.416,2.415,2.414,2.413,2.413,2.413,2.414,2.413,2.419,2.419,2.424,2.426,2.426,2.426,2.429,2.429,2.43,2.431,2.431,2.432,2.439,2.44,2.442,2.442,2.444,2.449,2.45,2.453,2.456,2.467,2.467,2.467,2.471,2.472,2.472,2.487,2.487,2.488,2.491,2.501,2.504,2.505,2.51,2.519,2.522,2.522,2.532,2.536,2.542,2.556,2.557,2.557,2.561,2.575,2.575,2.582,2.597,2.598,2.6,2.615,2.618,2.623,2.629,2.646,2.648,2.657,2.661,2.673,2.676,2.689,2.695,2.711,2.716,2.718,2.729,2.737,2.746,2.758,2.764,2.775,2.778,2.783,2.802,2.809,2.82,2.832,2.846,2.856,2.865,2.869,2.88,2.896,2.907,2.911,2.925,2.932,2.955,2.969,2.976,2.986,3,3.013,3.036,3.044,3.051,3.077,3.085,3.092,3.092,3.113,3.145,3.16,3.182,3.193,3.193,3.218,3.228,3.257,3.274,3.287,3.295,3.321,3.334,3.361,3.375,3.398,3.436,3.439,3.451,3.469,3.51,3.529,3.546,3.563,3.606,3.615,3.644,3.669,3.692,3.718,3.751,3.762,3.807,3.831,3.856,3.898,3.915,3.95,3.976,4.017,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.324,3.315,3.29,3.284,3.27,3.264,3.264,3.25,3.238,3.233,3.227,3.219,3.204,3.195,3.187,3.184,3.184,3.177,3.163,3.159,3.144,3.143,3.14,3.135,3.122,3.116,3.115,3.104,3.101,3.098,3.095,3.084,3.078,3.071,3.064,3.064,3.064,3.063,3.064,3.059,3.054,3.04,3.04,3.031,3.029,3.021,3.016,3.016,3.012,3.01,3.007,3.007,2.998,2.998,2.995,2.994,2.994,2.994,2.994,2.994,2.994,2.992,2.99,2.982,2.982,2.982,2.982,2.978,2.982,2.978,2.975,2.978,2.978,2.977,2.977,2.977,2.976,2.976,2.974,2.976,2.98,2.98,2.98,2.98,2.977,2.977,2.977,2.986,2.986,2.987,2.992,2.993,2.994,2.994,2.994,2.997,2.997,3.001,3.002,3.012,3.014,3.017,3.018,3.02,3.022,3.026,3.027,3.03,3.03,3.035,3.045,3.048,3.051,3.053,3.059,3.061,3.072,3.073,3.077,3.082,3.083,3.086,3.1,3.1,3.103,3.104,3.107,3.11,3.124,3.127,3.127,3.136,3.141,3.142,3.152,3.156,3.159,3.163,3.17,3.176,3.183,3.186,3.195,3.208,3.211,3.215,3.228,3.236,3.243,3.246,3.263,3.263,3.266,3.279,3.794,3.795,3.823,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 119.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.211185} SEN {Time 119.20} {Type Tachometer} {Name LeftRight} {Vel 0.119380,-0.119380} SEN {Time 119.196} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.794} {Name Sonar4 Range 5.4102} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0734} {Name Sonar7 Range 1.6256} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.1524} {Name Sonar13 Range 3.937} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 0.9906} SEN {Time 119.239} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.183,0.185,0.185,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.124,3.11,3.103,3.098,3.097,3.093,3.088,3.086,3.076,3.072,3.068,3.059,3.059,3.057,3.053,3.042,3.04,3.037,3.036,3.034,3.029,3.029,3.029,3.027,3.027,3.026,3.019,3.019,3.019,3.018,3.018,3.011,3.011,3.011,3.005,0.146,0.143,0.143,0.143,0.145,0.145,0.145,0.142,0.146,0.143,0.143,0.152,0.161,0.254,3.53,3.53,3.53,3.53,3.526,3.526,3.502,3.309,0.163,0.155,0.151,0.153,0.151,0.147,0.145,0.12,0.099,0.066,0.066,0.066,0.066,0.066,0.066,0.067,0.068,0.068,0.07,0.068,0.068,0.068,0.072,0.111,0.196,3.384,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.656,3.678,3.678,3.678,3.679,3.691,3.696,3.712,3.715,3.726,3.726,3.751,3.752,3.762,3.77,3.777,3.778,3.794,3.81,3.82,3.821,3.829,3.848,3.849,3.866,3.878,3.889,3.893,3.916,3.922,3.941,3.948,3.958,3.971,3.975,3.985,3.996,4.016,4.036,4.044,4.076,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,4.041,4.018,3.904,3.873,3.844,3.828,3.794,3.776,3.738,3.728,3.701,3.681,3.647,3.636,3.621,3.577,3.563,3.538,3.519,3.489,3.472,3.437,3.419,3.403,3.379,3.357,3.343,3.323,3.303,3.283,3.272,3.248,3.234,3.219,3.2,3.187,3.168,3.158,3.144,3.124,3.119,3.102,3.086,3.063,3.061,3.034,3.031,3.019,2.997,2.994,2.979,2.968,2.953,2.937,2.931,2.915,2.915,2.906,2.898,2.875,2.872,2.867,2.855,2.845,2.84,2.824,2.816,2.8,2.791,2.781,2.771,2.769,2.762,2.75,2.739,2.73,2.714,2.709,2.697,2.693,2.686,2.682,2.664,2.654,2.653,2.649,2.647,2.631,2.617,2.612,2.607,2.602,2.592,2.591,2.585,2.577,2.568,2.561,2.557,2.555,2.546,2.544,2.541,2.536,2.528,2.525,2.521,2.515,2.511,2.503,2.503,2.501,2.497,2.49,2.484,2.484,2.479,2.475,2.471,2.47,2.47,2.466,2.457,2.455,2.454,2.45,2.449,2.448,2.441,2.439,2.438,2.436,2.43,2.429,2.427,2.421,2.421,2.42,2.418,2.42,2.418,2.413,2.413,2.413,2.411,2.411,2.411,2.411,2.409,2.409,2.412,2.412,2.412,2.412,2.412,2.413,2.413,2.413,2.413,2.413,2.413,2.41,2.412,2.41,2.41,2.412,2.416,2.419,2.419,2.419,2.423,2.423,2.43,2.431,2.433,2.433,2.436,2.439,2.445,2.446,2.446,2.447,2.453,2.456,2.459,2.462,2.464,2.473,2.475,2.48,2.483,2.487,2.489,2.489,2.498,2.501,2.505,2.512,2.513,2.52,2.52,2.528,2.53,2.533,2.54,2.547,2.549,2.56,2.569,2.573,2.578,2.583,2.591,2.597,2.599,2.618,2.624,2.629,2.631,2.633,2.647,2.647,2.648,2.67,2.673,2.679,2.684,2.698,2.705,2.719,2.73,2.734,2.742,2.747,2.762,2.765,2.776,2.785,2.789,2.805,2.81,2.829,2.831,2.851,2.866,2.873,2.883,2.886,2.904,2.914,2.935,2.943,2.951,2.962,2.969,2.982,3,3.014,3.025,3.033,3.05,3.065,3.076,3.088,3.116,3.122,3.132,3.146,3.161,3.178,3.197,3.206,3.229,3.239,3.264,3.282,3.282,3.317,3.329,3.349,3.374,3.389,3.405,3.431,3.442,3.467,3.487,3.505,3.539,3.552,3.584,3.601,3.618,3.645,3.679,3.695,3.73,3.751,3.78,3.803,3.841,3.873,0.009,0.009,0.009,0.009,0.009,0.009,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,4.005,3.351,3.348,3.32,3.313,3.31,3.292,3.288,3.269,3.267,3.26,3.25,3.247,3.232,3.228,3.221,3.209,3.195,3.192,3.19,3.174,3.171,3.166,3.164,3.152,3.149,3.143,3.132,3.132,3.123,3.117,3.106,3.103,3.097,3.09,3.083,3.083,3.073,3.073,3.07,3.067,3.066,3.061,3.051,3.045,3.04,3.039,3.036,3.035,3.03,3.029,3.025,3.022,3.022,3.019,3.009,3.007,3.007,3.007,3.007,3.007,3.012,3.012,3.012,3.006,3.006,3.005,2.995,2.995,2.995,2.994,2.991,2.991,2.993,2.991,2.993,2.993,2.989,2.989,2.99,2.99,2.991,2.993,2.993,2.991,2.995,2.991,2.991,2.995,2.996,2.995,2.996,3.001,3.007,3.008,3.009,3.009,3.016,3.014,3.015,3.015,3.018,3.018,3.028,3.031,3.034,3.034,3.036,3.042,3.046,3.047,3.052,3.055,3.061,3.064,3.066,3.072,3.073,3.077,3.09,3.093,3.097,3.105,3.106,3.108,3.113,3.113,3.113,3.121,3.125,3.129,3.131,3.141,3.151,3.158,3.158,3.163,3.167,3.171,3.178,3.189,3.204,3.205,3.214,3.218,3.222,3.222,3.242,3.242,3.251,3.259,3.267,3.27,3.278,3.293,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 119.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.054105} SEN {Time 119.40} {Type Tachometer} {Name LeftRight} {Vel 0.132080,-0.132080} SEN {Time 119.399} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 4.064} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.0734} {Name Sonar7 Range 1.6256} {Name Sonar8 Range 2.4384} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.937} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748} SEN {Time 119.439} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.179,0.188,0.188,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.228,3.223,3.223,3.223,3.223,3.258,3.366,0,0,0,0,0,0,0,0,0,3.097,3.095,3.092,3.092,3.068,3.067,3.067,3.058,3.054,0.148,0.144,0.143,0.143,0.144,0.144,0.143,0.146,0.149,0.149,0.149,0.149,0.149,0.155,3.002,3.002,3.004,3.004,3.002,3.004,3.004,0.161,0.161,0.161,0.157,0.161,0.149,0.137,0.137,0.106,0.088,0.068,0.064,0.064,0.064,0.065,0.065,0.066,0.066,0.066,0.065,0.062,0.062,0.062,0.077,0.144,3.348,3.361,3.374,3.361,3.361,3.374,3.397,3.397,3.419,3.419,3.419,3.45,3.476,3.481,3.485,3.485,3.508,3.521,3.521,3.524,3.527,3.535,3.546,3.552,3.563,3.563,3.567,3.567,3.574,3.581,3.584,3.584,3.584,3.593,3.594,3.606,3.607,3.613,3.636,3.636,3.638,3.636,3.636,3.645,3.663,3.669,3.675,3.675,3.687,3.698,3.703,3.706,3.708,3.709,3.718,3.729,3.74,3.746,3.755,3.769,3.775,3.783,3.794,3.805,3.807,3.82,3.833,3.84,3.855,3.855,3.86,3.876,3.882,3.89,3.918,3.926,3.935,3.949,3.965,3.974,3.99,4.002,4.009,4.024,4.045,4.051,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.015,3.97,3.945,3.915,3.88,3.865,3.825,3.792,3.766,3.75,3.719,3.706,3.661,3.641,3.634,3.602,3.576,3.556,3.525,3.514,3.49,3.459,3.436,3.417,3.391,3.384,3.356,3.341,3.319,3.31,3.279,3.264,3.252,3.231,3.218,3.2,3.181,3.175,3.148,3.145,3.128,3.126,3.093,3.089,3.061,3.046,3.043,3.029,3.013,3.001,2.988,2.987,2.972,2.954,2.941,2.933,2.923,2.907,2.89,2.882,2.877,2.862,2.861,2.846,2.827,2.821,2.807,2.804,2.792,2.784,2.776,2.76,2.76,2.744,2.728,2.721,2.71,2.707,2.702,2.697,2.687,2.683,2.668,2.661,2.648,2.643,2.641,2.628,2.622,2.615,2.608,2.601,2.597,2.594,2.588,2.578,2.576,2.569,2.563,2.56,2.555,2.546,2.54,2.536,2.536,2.53,2.522,2.516,2.507,2.505,2.498,2.497,2.486,2.485,2.482,2.473,2.473,2.472,2.467,2.467,2.46,2.459,2.458,2.456,2.455,2.455,2.447,2.446,2.444,2.442,2.436,2.432,2.43,2.43,2.427,2.427,2.427,2.425,2.42,2.418,2.417,2.416,2.414,2.412,2.41,2.41,2.409,2.409,2.409,2.41,2.409,2.409,2.409,2.409,2.409,2.409,2.407,2.407,2.408,2.407,2.408,2.412,2.412,2.414,2.418,2.419,2.418,2.419,2.421,2.421,2.423,2.426,2.427,2.427,2.431,2.432,2.435,2.436,2.437,2.441,2.446,2.453,2.453,2.456,2.458,2.46,2.462,2.472,2.476,2.48,2.48,2.484,2.485,2.489,2.492,2.498,2.505,2.507,2.508,2.516,2.519,2.523,2.531,2.535,2.546,2.552,2.555,2.557,2.562,2.575,2.579,2.58,2.59,2.591,2.595,2.604,2.617,2.625,2.643,2.644,2.651,2.657,2.664,2.665,2.676,2.677,2.687,2.692,2.71,2.712,2.713,2.734,2.737,2.747,2.756,2.765,2.779,2.78,2.792,2.811,2.816,2.823,2.825,2.846,2.859,2.867,2.875,2.894,2.903,2.908,2.928,2.932,2.94,2.954,2.96,2.975,2.992,3.008,3.016,3.027,3.038,3.054,3.061,3.083,3.108,3.114,3.125,3.149,3.162,3.174,3.18,3.204,3.222,3.236,3.243,3.266,3.291,3.312,3.33,3.343,3.35,3.39,3.394,3.421,3.436,3.459,3.477,3.501,3.525,3.536,3.569,3.593,3.61,3.645,3.664,3.688,3.721,3.744,3.788,0.007,3.885,3.885,3.92,3.92,3.959,3.982,4.093,0.016,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.009,3.399,3.358,3.345,3.338,3.324,3.315,3.307,3.294,3.286,3.27,3.258,3.257,3.252,3.247,3.228,3.222,3.219,3.204,3.202,3.192,3.187,3.184,3.173,3.173,3.16,3.154,3.148,3.145,3.135,3.131,3.13,3.125,3.114,3.111,3.096,3.093,3.093,3.087,3.085,3.084,3.08,3.074,3.065,3.064,3.058,3.055,3.053,3.05,3.046,3.045,3.04,3.039,3.029,3.028,3.026,3.026,3.026,3.024,3.021,3.021,3.021,3.021,3.021,3.015,3.015,3.015,3.01,3.013,3.011,3.013,3.011,3.011,3.011,3.011,3.009,3.011,3.011,3.011,3.011,3.011,3.008,3.008,3.008,3.013,3.013,3.013,3.013,3.017,3.019,3.019,3.019,3.019,3.023,3.023,3.028,3.03,3.031,3.033,3.034,3.035,3.037,3.038,3.047,3.047,3.047,3.049,3.053,3.054,3.065,3.07,3.07,3.072,3.073,3.08,3.083,3.094,3.104,3.104,3.104,3.105,3.109,3.11,3.128,3.129,3.136,3.136,3.14,3.14,3.146,3.15,3.156,3.162,3.164,3.167,3.175,3.175,3.184,3.195,3.206,3.221,3.224,3.226,3.235,3.237,3.239,3.247,3.251,3.261,3.265,3.27,3.271,3.288,3.313,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 119.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.082030} SEN {Time 119.59} {Type Tachometer} {Name LeftRight} {Vel 0.040640,-0.043180} SEN {Time 119.593} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.0734} {Name Sonar7 Range 1.6256} {Name Sonar8 Range 2.4384} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748} SEN {Time 119.639} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.191,0.191,0.187,0.187,0.192,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0.009,0.007,3.657,3.627,3.621,3.603,3.603,3.603,3.588,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.211,0.152,0.15,0.15,0.145,0.145,0.147,0.147,0.147,0.157,0.157,0.157,0.157,0.157,0.157,3.088,3.088,3.088,3.088,3.081,3.081,3.081,0.16,0.16,0.16,0.157,0.157,0.157,0.144,0.142,0.115,0.095,0.069,0.069,0.069,0.068,0.068,0.068,0.07,0.071,0.071,0.07,0.07,0.06,0.06,0.06,0.06,3.004,3.004,3.012,3.004,3.002,2.997,2.994,2.994,2.997,3.377,3.419,3.444,3.447,3.447,3.469,3.472,3.475,3.482,3.491,3.492,3.494,3.494,3.494,3.494,3.494,3.494,3.496,3.496,3.498,3.5,3.503,3.51,3.51,3.51,3.51,3.517,3.517,3.522,3.523,3.523,3.525,3.53,3.534,3.535,3.54,3.546,3.546,3.546,3.556,3.556,3.557,3.565,3.566,3.567,3.58,3.58,3.581,3.587,3.587,3.602,3.61,3.615,3.616,3.621,3.635,3.637,3.647,3.647,3.652,3.656,3.663,3.667,3.672,3.684,3.689,3.694,3.698,3.709,3.72,3.725,3.729,3.73,3.748,3.752,3.76,3.78,3.788,3.794,3.806,3.813,3.828,3.839,3.845,3.853,3.872,3.876,3.891,3.905,3.917,3.929,3.943,3.962,3.973,3.987,3.992,4.008,4.018,4.039,4.06,4.067,4.084,4.091,0.016,0.016,0.016,0.016,0.016,4.081,4.023,3.996,3.956,3.919,3.912,3.873,3.838,3.811,3.776,3.766,3.726,3.717,3.688,3.652,3.636,3.628,3.596,3.582,3.539,3.521,3.493,3.486,3.456,3.432,3.412,3.393,3.368,3.344,3.338,3.317,3.299,3.284,3.255,3.241,3.226,3.214,3.192,3.175,3.165,3.147,3.134,3.114,3.098,3.091,3.068,3.058,3.042,3.036,3.019,3,2.995,2.983,2.968,2.957,2.942,2.93,2.924,2.907,2.902,2.885,2.882,2.869,2.856,2.853,2.828,2.824,2.812,2.799,2.789,2.78,2.773,2.767,2.756,2.748,2.746,2.73,2.729,2.712,2.711,2.707,2.686,2.682,2.681,2.671,2.669,2.657,2.649,2.645,2.627,2.622,2.607,2.607,2.593,2.591,2.586,2.577,2.571,2.569,2.562,2.557,2.557,2.549,2.541,2.541,2.533,2.525,2.524,2.523,2.515,2.504,2.504,2.499,2.495,2.493,2.489,2.479,2.478,2.476,2.474,2.466,2.466,2.464,2.46,2.46,2.452,2.449,2.448,2.447,2.446,2.44,2.439,2.435,2.432,2.431,2.43,2.429,2.428,2.425,2.428,2.425,2.424,2.424,2.424,2.424,2.423,2.421,2.421,2.42,2.42,2.42,2.42,2.417,2.414,2.414,2.412,2.41,2.41,2.41,2.418,2.418,2.42,2.42,2.42,2.424,2.427,2.428,2.431,2.432,2.433,2.435,2.435,2.435,2.44,2.44,2.441,2.441,2.446,2.446,2.448,2.45,2.453,2.457,2.463,2.468,2.468,2.474,2.474,2.476,2.478,2.481,2.493,2.495,2.5,2.506,2.511,2.512,2.517,2.519,2.53,2.534,2.537,2.541,2.543,2.558,2.559,2.561,2.562,2.564,2.578,2.586,2.586,2.586,2.596,2.601,2.615,2.624,2.626,2.639,2.642,2.647,2.654,2.666,2.677,2.681,2.688,2.698,2.705,2.715,2.722,2.726,2.731,2.749,2.76,2.767,2.775,2.784,2.79,2.798,2.816,2.819,2.832,2.843,2.86,2.864,2.875,2.886,2.904,2.913,2.939,2.94,2.965,2.965,2.971,2.984,2.986,3.015,3.031,3.042,3.049,3.06,3.068,3.084,3.109,3.11,3.125,3.148,3.151,3.173,3.187,3.208,3.21,3.224,3.244,3.271,3.284,3.303,3.316,3.335,3.361,3.384,3.405,3.429,3.456,3.465,3.478,3.502,3.539,3.551,3.578,3.6,3.64,3.65,3.694,3.712,3.729,3.769,3.794,3.823,3.873,0.007,0.009,3.996,0,0,0.016,0,0.007,0,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,4.074,4.074,4.035,4.035,0.007,3.376,3.352,3.349,3.332,3.321,3.319,3.304,3.296,3.284,3.272,3.26,3.256,3.245,3.238,3.224,3.222,3.216,3.208,3.2,3.196,3.183,3.175,3.175,3.171,3.165,3.159,3.15,3.146,3.142,3.135,3.127,3.121,3.113,3.113,3.113,3.108,3.103,3.098,3.087,3.085,3.084,3.084,3.072,3.069,3.067,3.062,3.06,3.058,3.058,3.051,3.051,3.044,3.039,3.039,3.038,3.035,3.035,3.035,3.034,3.034,3.036,3.034,3.031,3.029,3.027,3.023,3.026,3.026,3.026,3.023,3.026,3.026,3.021,3.024,3.026,3.024,3.021,3.024,3.021,3.021,3.021,3.021,3.021,3.025,3.025,3.029,3.031,3.035,3.036,3.036,3.036,3.039,3.042,3.045,3.051,3.052,3.052,3.052,3.054,3.061,3.061,3.071,3.071,3.074,3.074,3.076,3.077,3.085,3.086,3.09,3.092,3.094,3.098,3.104,3.108,3.112,3.117,3.119,3.132,3.141,3.138,3.143,3.146,3.148,3.148,3.15,3.161,3.163,3.164,3.173,3.186,3.19,3.2,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 119.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 119.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 119.791} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.4384} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 1.5748} SEN {Time 119.839} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.188,0.193,0.193,0,0,0,0,0,0,0,0,0,0,3.899,0,0.007,0,0,0,0.007,0,0,0,0,0,3.682,3.66,3.652,3.652,3.625,3.624,3.604,3.604,3.604,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.161,0.15,0.15,0.148,0.148,0.148,0.151,0.148,0.151,0.151,0.155,0.155,0.16,0.16,3.074,3.092,3.093,3.093,3.092,3.092,0.157,0.157,0.157,0.157,0.155,0.151,0.151,0.146,0.146,0.128,0.095,0.076,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.07,0.068,0.068,0.062,0.06,0.06,0.06,3.012,3.012,3.012,3.01,3.007,3.004,3.004,2.988,2.988,2.988,3.453,3.455,3.46,3.455,3.455,3.46,3.474,3.478,3.485,3.488,3.49,3.49,3.491,3.494,3.494,3.493,3.493,3.493,3.493,3.503,3.504,3.504,3.503,3.503,3.504,3.505,3.506,3.511,3.517,3.519,3.52,3.523,3.527,3.528,3.534,3.534,3.535,3.546,3.548,3.55,3.55,3.556,3.561,3.562,3.568,3.572,3.574,3.583,3.587,3.592,3.59,3.593,3.596,3.601,3.614,3.627,3.63,3.634,3.637,3.651,3.652,3.653,3.653,3.677,3.68,3.688,3.699,3.704,3.712,3.717,3.717,3.728,3.735,3.741,3.752,3.761,3.78,3.785,3.79,3.805,3.809,3.813,3.835,3.851,3.853,3.87,3.871,3.878,3.88,3.908,3.922,3.943,3.944,3.969,3.971,3.981,4.005,4.029,4.031,4.046,4.071,4.072,4.077,0.016,0.016,0.016,0.016,0.016,4.065,4.046,4,3.978,3.927,3.906,3.87,3.843,3.809,3.795,3.759,3.747,3.702,3.697,3.671,3.645,3.625,3.588,3.574,3.546,3.523,3.514,3.475,3.441,3.433,3.41,3.384,3.374,3.352,3.338,3.321,3.295,3.27,3.254,3.228,3.222,3.208,3.185,3.183,3.17,3.145,3.133,3.111,3.106,3.085,3.073,3.061,3.045,3.032,3.03,3.002,2.991,2.981,2.969,2.957,2.943,2.941,2.924,2.915,2.902,2.893,2.88,2.867,2.855,2.845,2.835,2.817,2.809,2.807,2.787,2.783,2.777,2.769,2.756,2.748,2.733,2.73,2.717,2.715,2.713,2.711,2.692,2.687,2.678,2.673,2.661,2.655,2.652,2.632,2.632,2.621,2.608,2.601,2.596,2.583,2.581,2.572,2.568,2.567,2.567,2.565,2.556,2.543,2.537,2.537,2.536,2.532,2.524,2.517,2.513,2.506,2.501,2.498,2.492,2.491,2.488,2.486,2.481,2.47,2.465,2.464,2.463,2.462,2.459,2.459,2.455,2.453,2.449,2.446,2.442,2.441,2.441,2.438,2.43,2.429,2.429,2.426,2.423,2.423,2.427,2.427,2.427,2.427,2.427,2.421,2.421,2.423,2.421,2.421,2.421,2.416,2.416,2.415,2.413,2.415,2.415,2.415,2.415,2.416,2.416,2.416,2.416,2.417,2.42,2.42,2.426,2.427,2.427,2.432,2.435,2.435,2.438,2.441,2.442,2.442,2.443,2.443,2.443,2.448,2.448,2.451,2.454,2.464,2.464,2.471,2.471,2.476,2.476,2.477,2.478,2.49,2.49,2.494,2.5,2.504,2.506,2.52,2.52,2.528,2.531,2.531,2.535,2.542,2.55,2.558,2.561,2.565,2.57,2.575,2.581,2.583,2.595,2.597,2.605,2.608,2.622,2.627,2.63,2.636,2.645,2.648,2.651,2.668,2.674,2.688,2.695,2.707,2.712,2.722,2.729,2.73,2.747,2.759,2.765,2.769,2.781,2.796,2.803,2.803,2.824,2.824,2.84,2.855,2.863,2.872,2.884,2.896,2.907,2.911,2.928,2.946,2.952,2.964,2.98,2.997,3.011,3.026,3.034,3.043,3.057,3.065,3.077,3.093,3.1,3.124,3.138,3.158,3.159,3.184,3.2,3.216,3.232,3.252,3.263,3.289,3.304,3.308,3.338,3.348,3.377,3.396,3.413,3.444,3.466,3.482,3.516,3.532,3.552,3.572,3.594,3.633,3.652,3.681,3.706,3.737,3.764,3.782,3.814,3.833,3.857,3.907,3.924,3.964,4.003,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,4.033,3.373,3.366,3.347,3.346,3.334,3.322,3.315,3.313,3.298,3.294,3.27,3.261,3.258,3.256,3.24,3.232,3.218,3.217,3.217,3.205,3.197,3.187,3.179,3.166,3.163,3.157,3.148,3.148,3.145,3.142,3.136,3.128,3.121,3.121,3.109,3.104,3.101,3.098,3.093,3.086,3.086,3.083,3.075,3.075,3.066,3.066,3.06,3.06,3.055,3.054,3.048,3.053,3.045,3.044,3.043,3.04,3.034,3.034,3.04,3.034,3.034,3.034,3.032,3.029,3.029,3.024,3.024,3.023,3.028,3.026,3.026,3.024,3.025,3.024,3.024,3.025,3.025,3.024,3.028,3.027,3.027,3.029,3.029,3.029,3.029,3.029,3.029,3.036,3.038,3.038,3.038,3.037,3.037,3.037,3.044,3.044,3.052,3.052,3.053,3.053,3.053,3.063,3.067,3.068,3.073,3.074,3.076,3.079,3.085,3.085,3.092,3.096,3.096,3.1,3.102,3.113,3.116,3.116,3.12,3.128,3.133,3.145,3.145,3.149,3.149,3.15,3.155,3.155,3.157,3.159,3.169,3.181,3.207,3.207,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 120.00} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 120.00} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 119.998} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6642} SEN {Time 120.035} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.187,0.19,0.19,0,0,0,0,0,0,0,0,0,0,3.897,0,0.007,0,0,0,0.007,0,0,0,0,0,3.69,3.663,3.653,3.649,3.619,3.617,3.599,3.599,3.57,3.57,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.228,0.152,0.149,0.149,0.143,0.143,0.146,0.15,0.146,0.15,0.15,0.159,0.159,0.162,0.162,3.093,3.093,3.093,3.093,3.086,3.086,3.086,0.157,0.156,0.156,0.153,0.153,0.151,0.143,0.143,0.121,0.097,0.069,0.068,0.067,0.067,0.067,0.067,0.07,0.07,0.07,0.069,0.068,0.063,0.06,0.06,0.06,3.008,3.008,3.008,3.008,3.005,3,3,2.985,2.98,2.98,2.98,3.411,3.444,3.45,3.459,3.471,3.475,3.475,3.476,3.48,3.483,3.486,3.487,3.487,3.493,3.498,3.498,3.501,3.501,3.5,3.498,3.5,3.5,3.501,3.504,3.511,3.511,3.516,3.516,3.516,3.516,3.516,3.516,3.522,3.526,3.526,3.532,3.536,3.536,3.542,3.554,3.555,3.557,3.562,3.562,3.563,3.577,3.579,3.58,3.586,3.595,3.595,3.595,3.608,3.613,3.621,3.629,3.64,3.64,3.641,3.646,3.652,3.653,3.674,3.676,3.683,3.684,3.7,3.703,3.719,3.726,3.73,3.732,3.744,3.748,3.756,3.765,3.782,3.789,3.795,3.804,3.818,3.83,3.856,3.86,3.869,3.874,3.876,3.889,3.895,3.918,3.935,3.951,3.96,3.968,3.981,4.01,4.018,4.03,4.048,4.055,4.072,4.088,0.016,0.016,0.016,0.016,4.093,4.047,4.045,3.996,3.963,3.935,3.903,3.869,3.85,3.81,3.796,3.768,3.734,3.707,3.7,3.656,3.649,3.605,3.585,3.564,3.543,3.515,3.501,3.485,3.454,3.441,3.413,3.405,3.372,3.355,3.329,3.315,3.295,3.266,3.263,3.243,3.232,3.192,3.19,3.179,3.154,3.148,3.13,3.112,3.099,3.086,3.064,3.057,3.038,3.027,3.013,2.998,2.984,2.983,2.965,2.953,2.94,2.939,2.918,2.911,2.899,2.88,2.879,2.864,2.855,2.848,2.836,2.817,2.81,2.804,2.787,2.784,2.773,2.773,2.756,2.75,2.739,2.736,2.717,2.712,2.708,2.691,2.683,2.679,2.675,2.671,2.656,2.651,2.635,2.632,2.63,2.628,2.615,2.599,2.594,2.594,2.585,2.583,2.572,2.569,2.565,2.552,2.549,2.539,2.536,2.535,2.524,2.523,2.517,2.513,2.511,2.51,2.503,2.502,2.489,2.487,2.486,2.483,2.483,2.477,2.467,2.466,2.461,2.461,2.454,2.449,2.448,2.447,2.447,2.445,2.439,2.435,2.433,2.433,2.43,2.429,2.428,2.428,2.427,2.425,2.425,2.425,2.425,2.427,2.427,2.427,2.418,2.418,2.415,2.418,2.415,2.415,2.412,2.412,2.412,2.411,2.416,2.416,2.416,2.416,2.421,2.421,2.421,2.423,2.424,2.427,2.427,2.427,2.427,2.427,2.428,2.429,2.429,2.434,2.44,2.442,2.442,2.446,2.449,2.449,2.45,2.45,2.454,2.462,2.464,2.466,2.47,2.47,2.47,2.474,2.478,2.487,2.492,2.499,2.499,2.503,2.503,2.524,2.525,2.53,2.532,2.533,2.54,2.543,2.55,2.555,2.556,2.563,2.568,2.574,2.577,2.587,2.587,2.6,2.601,2.612,2.615,2.621,2.627,2.631,2.64,2.652,2.656,2.664,2.684,2.685,2.695,2.706,2.709,2.718,2.725,2.734,2.736,2.752,2.761,2.773,2.777,2.79,2.796,2.804,2.81,2.833,2.841,2.857,2.859,2.874,2.881,2.891,2.903,2.918,2.928,2.947,2.957,2.959,2.975,2.994,3.007,3.026,3.026,3.049,3.061,3.073,3.08,3.099,3.108,3.122,3.14,3.155,3.162,3.185,3.207,3.212,3.236,3.25,3.272,3.274,3.295,3.32,3.337,3.349,3.373,3.402,3.412,3.444,3.452,3.483,3.505,3.528,3.557,3.577,3.605,3.622,3.653,3.68,3.706,3.729,3.753,3.778,3.813,3.838,3.872,3.896,3.934,3.971,3.991,4.014,4.076,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0.007,4.025,3.379,3.353,3.35,3.35,3.335,3.33,3.305,3.303,3.303,3.279,3.275,3.263,3.247,3.244,3.23,3.229,3.224,3.222,3.206,3.203,3.196,3.18,3.17,3.169,3.166,3.159,3.153,3.15,3.141,3.14,3.135,3.122,3.119,3.115,3.112,3.111,3.105,3.102,3.099,3.092,3.087,3.077,3.076,3.075,3.067,3.065,3.06,3.058,3.057,3.052,3.048,3.048,3.048,3.044,3.038,3.038,3.033,3.033,3.038,3.038,3.03,3.03,3.03,3.03,3.03,3.03,3.029,3.029,3.029,3.029,3.029,3.024,3.024,3.022,3.022,3.027,3.027,3.026,3.027,3.026,3.026,3.026,3.026,3.025,3.025,3.028,3.028,3.031,3.034,3.034,3.034,3.034,3.037,3.038,3.044,3.046,3.055,3.056,3.056,3.056,3.056,3.056,3.059,3.072,3.076,3.076,3.076,3.076,3.084,3.091,3.092,3.092,3.102,3.102,3.102,3.112,3.112,3.112,3.12,3.125,3.137,3.139,3.139,3.142,3.145,3.154,3.159,3.159,3.163,3.168,3.172,3.172,3.21,3.21,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 120.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 120.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 120.191} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.064} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.6642} SEN {Time 120.235} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.179,0.184,0.184,0,0,0,0,0,0,0,0,0,0,3.909,0,0.007,0,0,0,0.007,0,0,0,0,0,3.677,3.671,3.662,3.652,3.629,3.622,3.584,3.584,3.57,3.57,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.158,0.147,0.143,0.143,0.143,0.143,0.143,0.144,0.155,0.146,0.155,0.155,0.161,0.161,3.099,3.099,3.099,3.099,3.092,3.091,0.164,0.158,0.158,0.158,0.158,0.154,0.152,0.146,0.146,0.127,0.097,0.068,0.067,0.065,0.067,0.068,0.068,0.068,0.069,0.069,0.069,0.067,0.066,0.054,0.054,0.054,3.003,3.012,3.012,3.007,3.003,3.003,3.001,2.992,2.986,2.986,2.986,3.415,3.451,3.451,3.461,3.468,3.47,3.481,3.482,3.487,3.494,3.494,3.497,3.494,3.497,3.495,3.497,3.496,3.497,3.496,3.496,3.496,3.496,3.496,3.501,3.501,3.513,3.515,3.516,3.516,3.519,3.521,3.522,3.523,3.525,3.529,3.534,3.542,3.546,3.552,3.552,3.557,3.559,3.568,3.569,3.574,3.576,3.577,3.582,3.592,3.596,3.598,3.6,3.606,3.617,3.617,3.631,3.632,3.638,3.643,3.652,3.654,3.655,3.668,3.67,3.684,3.688,3.688,3.696,3.699,3.731,3.736,3.737,3.751,3.751,3.759,3.772,3.782,3.791,3.793,3.811,3.816,3.832,3.844,3.845,3.865,3.874,3.893,3.895,3.921,3.925,3.935,3.95,3.965,3.975,3.987,4.013,4.015,4.026,4.039,4.068,4.074,4.08,0.016,0.016,0.016,0.016,0.016,0.016,4.073,4.073,3.999,3.956,3.896,3.859,3.847,3.812,3.8,3.769,3.736,3.714,3.692,3.665,3.641,3.627,3.594,3.575,3.555,3.516,3.501,3.483,3.467,3.436,3.413,3.384,3.379,3.365,3.331,3.32,3.297,3.274,3.254,3.23,3.228,3.199,3.192,3.19,3.163,3.137,3.123,3.116,3.1,3.09,3.069,3.058,3.05,3.034,3.022,3.009,2.994,2.984,2.961,2.952,2.942,2.931,2.916,2.908,2.898,2.889,2.875,2.873,2.853,2.847,2.832,2.822,2.805,2.802,2.791,2.783,2.769,2.761,2.75,2.75,2.732,2.729,2.718,2.713,2.708,2.693,2.691,2.681,2.676,2.66,2.659,2.658,2.653,2.641,2.627,2.618,2.602,2.601,2.592,2.591,2.586,2.576,2.57,2.567,2.564,2.554,2.553,2.551,2.539,2.536,2.531,2.531,2.517,2.511,2.511,2.51,2.501,2.496,2.494,2.492,2.483,2.482,2.471,2.467,2.467,2.467,2.461,2.46,2.458,2.457,2.457,2.45,2.446,2.442,2.441,2.441,2.441,2.436,2.434,2.432,2.429,2.427,2.427,2.426,2.421,2.421,2.419,2.421,2.419,2.419,2.419,2.421,2.419,2.421,2.421,2.42,2.419,2.42,2.414,2.413,2.413,2.418,2.413,2.413,2.416,2.416,2.416,2.421,2.423,2.424,2.425,2.425,2.426,2.426,2.433,2.434,2.436,2.439,2.44,2.441,2.441,2.447,2.448,2.449,2.454,2.454,2.458,2.461,2.462,2.462,2.468,2.472,2.475,2.476,2.482,2.487,2.491,2.5,2.502,2.506,2.506,2.528,2.529,2.532,2.534,2.534,2.535,2.544,2.547,2.554,2.554,2.559,2.56,2.573,2.583,2.586,2.589,2.607,2.609,2.611,2.611,2.623,2.637,2.638,2.641,2.645,2.666,2.667,2.672,2.683,2.7,2.702,2.702,2.717,2.726,2.737,2.739,2.747,2.753,2.781,2.783,2.799,2.8,2.8,2.818,2.835,2.841,2.856,2.859,2.871,2.877,2.895,2.908,2.913,2.928,2.945,2.954,2.961,2.983,2.987,3.003,3.026,3.037,3.039,3.066,3.069,3.074,3.099,3.105,3.121,3.139,3.158,3.159,3.183,3.209,3.219,3.235,3.242,3.253,3.29,3.311,3.32,3.339,3.355,3.381,3.399,3.422,3.435,3.461,3.482,3.511,3.538,3.556,3.575,3.6,3.614,3.659,3.674,3.695,3.724,3.756,3.775,3.809,3.842,3.868,3.899,3.941,3.957,4.013,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0.007,0.009,0.009,0.009,0,3.385,3.365,3.353,3.349,3.349,3.329,3.322,3.311,3.29,3.284,3.275,3.268,3.259,3.245,3.235,3.228,3.225,3.218,3.208,3.202,3.201,3.182,3.179,3.172,3.168,3.157,3.148,3.148,3.144,3.141,3.135,3.13,3.12,3.114,3.113,3.11,3.103,3.103,3.1,3.094,3.09,3.084,3.069,3.067,3.065,3.064,3.056,3.056,3.055,3.053,3.05,3.048,3.046,3.046,3.045,3.042,3.035,3.035,3.042,3.035,3.037,3.037,3.037,3.031,3.031,3.025,3.025,3.025,3.025,3.02,3.02,3.02,3.024,3.02,3.021,3.024,3.024,3.021,3.024,3.024,3.024,3.025,3.025,3.025,3.025,3.029,3.029,3.031,3.031,3.036,3.037,3.036,3.038,3.039,3.043,3.043,3.052,3.056,3.057,3.058,3.058,3.066,3.066,3.067,3.071,3.074,3.078,3.078,3.085,3.092,3.096,3.096,3.097,3.097,3.101,3.114,3.118,3.12,3.123,3.128,3.129,3.131,3.136,3.142,3.148,3.15,3.159,3.159,3.16,3.166,3.172,3.175,3.198,3.2,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 120.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 120.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 120.393} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.064} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 120.435} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.192,0.181,0.192,0.192,0,0,0,0,0,0,0,3.917,3.917,3.917,0,0,0,0,0,0,0.007,0,0,0,0,0,3.674,3.662,3.659,3.635,3.635,3.628,3.596,3.596,3.596,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.155,0.147,0.147,0.143,0.147,0.147,0.147,0.148,0.152,0.152,0.155,0.155,0.156,0.164,3.079,3.086,3.087,3.087,3.086,3.087,3.087,0.16,0.157,0.157,0.155,0.153,0.146,0.143,0.143,0.123,0.09,0.071,0.068,0.068,0.062,0.07,0.066,0.069,0.069,0.069,0.068,0.068,0.066,0.053,0.053,0.053,3.014,3.014,3.016,3.014,3.005,3.003,3.003,2.994,2.972,2.972,2.972,3.443,3.46,3.464,3.464,3.471,3.471,3.472,3.475,3.481,3.487,3.487,3.487,3.491,3.491,3.494,3.495,3.495,3.495,3.495,3.503,3.503,3.503,3.503,3.508,3.51,3.511,3.511,3.512,3.515,3.515,3.515,3.519,3.525,3.527,3.53,3.533,3.541,3.55,3.552,3.552,3.553,3.56,3.56,3.563,3.572,3.578,3.579,3.583,3.586,3.593,3.597,3.604,3.614,3.615,3.627,3.629,3.638,3.638,3.642,3.646,3.651,3.656,3.666,3.674,3.691,3.691,3.696,3.705,3.706,3.716,3.732,3.733,3.74,3.747,3.754,3.761,3.772,3.79,3.799,3.816,3.819,3.823,3.846,3.856,3.861,3.871,3.886,3.901,3.906,3.918,3.939,3.953,3.957,3.976,3.992,4.003,4.028,4.034,4.034,4.066,4.075,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.085,4.085,4,3.967,3.887,3.871,3.833,3.814,3.78,3.773,3.734,3.699,3.689,3.665,3.635,3.621,3.58,3.556,3.55,3.521,3.509,3.478,3.459,3.425,3.408,3.388,3.372,3.35,3.329,3.319,3.299,3.268,3.248,3.244,3.225,3.214,3.195,3.176,3.16,3.148,3.134,3.116,3.098,3.083,3.068,3.06,3.045,3.036,3.021,3.006,2.996,2.98,2.967,2.954,2.939,2.936,2.92,2.907,2.898,2.882,2.879,2.863,2.846,2.843,2.834,2.815,2.806,2.801,2.786,2.781,2.77,2.763,2.755,2.747,2.73,2.727,2.721,2.72,2.708,2.703,2.694,2.677,2.675,2.667,2.665,2.654,2.65,2.636,2.632,2.617,2.613,2.607,2.596,2.595,2.579,2.577,2.566,2.563,2.561,2.55,2.55,2.549,2.536,2.531,2.529,2.523,2.518,2.51,2.502,2.502,2.502,2.499,2.495,2.493,2.485,2.485,2.476,2.47,2.466,2.465,2.465,2.46,2.457,2.456,2.455,2.45,2.45,2.442,2.442,2.442,2.442,2.441,2.439,2.435,2.43,2.429,2.429,2.429,2.429,2.429,2.425,2.425,2.421,2.417,2.417,2.418,2.419,2.419,2.421,2.421,2.421,2.42,2.417,2.416,2.413,2.413,2.412,2.412,2.415,2.416,2.416,2.416,2.424,2.424,2.424,2.424,2.433,2.433,2.433,2.434,2.437,2.437,2.438,2.44,2.445,2.445,2.446,2.447,2.453,2.455,2.455,2.463,2.463,2.465,2.465,2.471,2.474,2.477,2.481,2.486,2.49,2.497,2.497,2.503,2.514,2.524,2.53,2.53,2.531,2.535,2.537,2.537,2.554,2.555,2.558,2.559,2.562,2.576,2.577,2.585,2.597,2.599,2.601,2.607,2.62,2.624,2.638,2.64,2.644,2.646,2.653,2.67,2.68,2.686,2.687,2.703,2.712,2.714,2.723,2.734,2.744,2.751,2.757,2.765,2.783,2.789,2.794,2.805,2.816,2.823,2.839,2.854,2.855,2.864,2.877,2.888,2.907,2.917,2.928,2.941,2.955,2.968,2.977,2.988,3.004,3.019,3.04,3.04,3.061,3.07,3.081,3.094,3.111,3.121,3.148,3.153,3.166,3.188,3.197,3.208,3.238,3.241,3.258,3.281,3.305,3.321,3.333,3.353,3.38,3.397,3.423,3.45,3.463,3.475,3.506,3.53,3.558,3.571,3.605,3.62,3.653,3.673,3.704,3.725,3.752,3.779,3.812,3.831,3.876,3.895,3.922,3.963,3.989,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,4.067,3.386,3.379,3.354,3.34,3.332,3.323,3.312,3.304,3.298,3.275,3.274,3.27,3.255,3.248,3.242,3.228,3.222,3.218,3.203,3.203,3.202,3.182,3.178,3.173,3.167,3.163,3.155,3.151,3.144,3.135,3.129,3.127,3.127,3.121,3.113,3.108,3.108,3.104,3.094,3.09,3.089,3.076,3.075,3.068,3.061,3.061,3.061,3.061,3.061,3.052,3.049,3.052,3.049,3.045,3.041,3.04,3.034,3.04,3.041,3.039,3.039,3.039,3.025,3.025,3.025,3.019,3.026,3.026,3.026,3.022,3.022,3.022,3.024,3.024,3.024,3.024,3.024,3.023,3.023,3.023,3.023,3.023,3.024,3.027,3.028,3.029,3.03,3.031,3.032,3.032,3.032,3.032,3.033,3.035,3.045,3.047,3.048,3.053,3.053,3.055,3.055,3.061,3.064,3.068,3.073,3.079,3.081,3.081,3.085,3.087,3.087,3.088,3.094,3.103,3.107,3.113,3.113,3.118,3.125,3.126,3.131,3.143,3.143,3.143,3.146,3.146,3.15,3.152,3.166,3.166,3.172,3.178,3.201,3.204,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 120.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 120.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 120.587} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.064} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6388} SEN {Time 120.635} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.186,0.187,0.187,0,0,0,0,0,0,0,3.919,3.919,3.919,3.903,0,0.007,0,0,0,0.007,0,0,0,0,0,3.696,3.673,3.662,3.654,3.637,3.615,3.581,3.581,3.581,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.159,0.15,0.15,0.143,0.143,0.144,0.146,0.146,0.151,0.153,0.155,0.155,0.161,0.161,3.089,3.089,3.089,3.089,3.082,3.082,3.074,0.159,0.159,0.159,0.153,0.148,0.143,0.143,0.143,0.127,0.096,0.065,0.065,0.065,0.065,0.065,0.066,0.066,0.068,0.068,0.068,0.068,0.06,0.056,0.056,0.056,3.006,3.006,3.006,3.001,3.001,2.998,2.996,2.994,2.986,2.986,2.986,3.421,3.441,3.443,3.462,3.468,3.473,3.482,3.482,3.484,3.484,3.487,3.487,3.492,3.496,3.487,3.49,3.495,3.49,3.489,3.49,3.495,3.497,3.498,3.5,3.5,3.5,3.506,3.506,3.509,3.515,3.517,3.52,3.524,3.527,3.537,3.543,3.545,3.545,3.546,3.55,3.552,3.56,3.56,3.565,3.567,3.57,3.57,3.584,3.592,3.592,3.595,3.6,3.608,3.615,3.618,3.621,3.626,3.636,3.643,3.645,3.649,3.658,3.673,3.675,3.68,3.695,3.699,3.7,3.705,3.719,3.727,3.74,3.748,3.749,3.75,3.767,3.78,3.788,3.797,3.81,3.813,3.835,3.843,3.848,3.869,3.873,3.88,3.898,3.914,3.925,3.936,3.942,3.965,3.975,3.988,3.998,4.017,4.022,4.042,4.058,4.069,4.088,0.016,0.016,0.016,0.016,0.016,4.073,4.039,3.993,3.956,3.927,3.905,3.87,3.851,3.809,3.792,3.754,3.74,3.716,3.688,3.668,3.648,3.614,3.597,3.575,3.551,3.525,3.499,3.473,3.459,3.432,3.417,3.388,3.378,3.35,3.332,3.312,3.289,3.277,3.259,3.236,3.222,3.211,3.19,3.186,3.161,3.143,3.126,3.117,3.102,3.086,3.071,3.051,3.051,3.032,3.015,2.999,2.992,2.979,2.968,2.961,2.931,2.931,2.922,2.915,2.896,2.885,2.879,2.865,2.861,2.841,2.826,2.82,2.803,2.798,2.789,2.781,2.772,2.769,2.757,2.745,2.729,2.728,2.724,2.709,2.704,2.701,2.68,2.68,2.668,2.665,2.654,2.652,2.639,2.632,2.629,2.625,2.607,2.605,2.597,2.594,2.585,2.576,2.572,2.565,2.563,2.551,2.549,2.543,2.539,2.537,2.529,2.523,2.519,2.516,2.512,2.5,2.499,2.494,2.491,2.487,2.486,2.486,2.475,2.468,2.465,2.464,2.463,2.461,2.457,2.451,2.45,2.45,2.444,2.444,2.441,2.441,2.434,2.434,2.431,2.431,2.431,2.43,2.427,2.43,2.43,2.43,2.421,2.426,2.421,2.42,2.419,2.418,2.418,2.419,2.419,2.419,2.419,2.419,2.414,2.413,2.413,2.415,2.415,2.415,2.416,2.416,2.419,2.421,2.421,2.425,2.425,2.429,2.43,2.429,2.43,2.43,2.435,2.436,2.436,2.438,2.444,2.444,2.447,2.447,2.448,2.45,2.452,2.457,2.462,2.462,2.467,2.47,2.474,2.476,2.483,2.483,2.491,2.494,2.495,2.5,2.51,2.515,2.521,2.529,2.531,2.534,2.537,2.551,2.554,2.558,2.559,2.564,2.565,2.577,2.58,2.581,2.584,2.601,2.601,2.611,2.617,2.617,2.64,2.642,2.645,2.654,2.669,2.671,2.681,2.685,2.693,2.705,2.709,2.71,2.728,2.734,2.738,2.742,2.761,2.762,2.781,2.799,2.801,2.809,2.823,2.836,2.838,2.851,2.862,2.871,2.882,2.886,2.907,2.916,2.932,2.942,2.958,2.966,2.983,2.993,3.014,3.016,3.036,3.043,3.061,3.065,3.071,3.094,3.107,3.121,3.137,3.158,3.159,3.195,3.206,3.21,3.234,3.237,3.266,3.28,3.3,3.32,3.325,3.35,3.374,3.409,3.42,3.439,3.456,3.487,3.501,3.536,3.553,3.565,3.609,3.629,3.651,3.667,3.712,3.731,3.743,3.784,3.807,3.84,3.862,3.899,3.938,3.972,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.379,3.359,3.357,3.338,3.332,3.329,3.306,3.303,3.302,3.287,3.279,3.262,3.259,3.253,3.236,3.233,3.228,3.226,3.205,3.2,3.197,3.187,3.181,3.177,3.168,3.159,3.156,3.149,3.148,3.146,3.139,3.123,3.117,3.113,3.11,3.11,3.109,3.098,3.09,3.09,3.083,3.082,3.078,3.073,3.068,3.066,3.066,3.06,3.058,3.056,3.052,3.052,3.049,3.04,3.035,3.034,3.029,3.029,3.034,3.036,3.036,3.036,3.033,3.033,3.03,3.03,3.024,3.021,3.018,3.018,3.018,3.021,3.023,3.023,3.023,3.024,3.023,3.018,3.024,3.021,3.021,3.026,3.026,3.026,3.029,3.029,3.029,3.031,3.031,3.032,3.032,3.036,3.036,3.036,3.047,3.048,3.052,3.054,3.056,3.058,3.058,3.061,3.068,3.068,3.068,3.073,3.075,3.078,3.085,3.085,3.093,3.094,3.098,3.1,3.101,3.106,3.119,3.121,3.124,3.126,3.131,3.136,3.137,3.146,3.148,3.148,3.15,3.158,3.159,3.166,3.169,3.178,3.207,3.21,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 120.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 120.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 120.789} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6388} SEN {Time 120.835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.184,0.187,0.187,0,0,0,0,0,0,0,3.906,3.906,3.906,3.901,0,0.007,0,0,0,0.007,0,0,0,0,0,3.687,3.671,3.656,3.642,3.629,3.616,3.582,3.582,3.56,3.56,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.159,0.15,0.15,0.142,0.142,0.146,0.148,0.148,0.152,0.148,0.152,0.152,0.155,0.155,3.086,3.092,3.092,3.092,3.086,3.092,3.078,0.162,0.156,0.156,0.154,0.151,0.146,0.146,0.146,0.123,0.098,0.076,0.067,0.065,0.065,0.065,0.065,0.068,0.068,0.068,0.068,0.068,0.067,0.054,0.054,0.054,3.009,3.009,3.009,3.004,3.003,3.001,3,2.993,2.981,2.981,2.981,3.447,3.448,3.451,3.451,3.472,3.477,3.477,3.479,3.487,3.488,3.488,3.488,3.488,3.493,3.493,3.493,3.493,3.496,3.488,3.494,3.498,3.502,3.5,3.502,3.502,3.502,3.502,3.507,3.516,3.516,3.516,3.518,3.53,3.532,3.532,3.532,3.536,3.549,3.551,3.551,3.551,3.56,3.563,3.575,3.575,3.577,3.579,3.588,3.589,3.593,3.595,3.597,3.607,3.614,3.629,3.633,3.636,3.641,3.646,3.647,3.653,3.655,3.667,3.677,3.68,3.684,3.692,3.709,3.716,3.723,3.724,3.744,3.746,3.75,3.759,3.765,3.772,3.793,3.803,3.812,3.82,3.832,3.834,3.859,3.86,3.876,3.889,3.897,3.897,3.932,3.94,3.958,3.965,3.973,3.978,4.003,4.022,4.029,4.046,4.059,4.073,4.095,0.016,0.016,0.016,0.016,0.016,4.094,4.03,4.004,3.96,3.927,3.897,3.861,3.849,3.808,3.802,3.762,3.745,3.709,3.678,3.668,3.645,3.625,3.602,3.573,3.536,3.523,3.498,3.484,3.462,3.445,3.41,3.385,3.379,3.339,3.336,3.325,3.293,3.271,3.257,3.242,3.224,3.214,3.189,3.187,3.157,3.148,3.129,3.11,3.106,3.083,3.082,3.054,3.042,3.03,3.029,3.009,2.988,2.98,2.975,2.955,2.94,2.939,2.917,2.912,2.901,2.879,2.87,2.87,2.848,2.847,2.842,2.814,2.812,2.809,2.793,2.775,2.77,2.77,2.764,2.762,2.745,2.73,2.727,2.718,2.711,2.696,2.693,2.68,2.677,2.657,2.656,2.654,2.646,2.638,2.631,2.624,2.605,2.601,2.598,2.594,2.586,2.578,2.571,2.57,2.562,2.553,2.552,2.552,2.549,2.539,2.528,2.528,2.519,2.506,2.503,2.503,2.496,2.496,2.492,2.489,2.486,2.479,2.477,2.473,2.473,2.465,2.46,2.457,2.456,2.453,2.453,2.448,2.443,2.443,2.44,2.44,2.438,2.432,2.433,2.432,2.431,2.431,2.426,2.426,2.425,2.426,2.425,2.425,2.425,2.424,2.417,2.417,2.417,2.417,2.417,2.417,2.414,2.414,2.414,2.412,2.414,2.415,2.415,2.415,2.415,2.416,2.419,2.423,2.425,2.425,2.426,2.426,2.43,2.429,2.431,2.431,2.436,2.436,2.436,2.436,2.436,2.445,2.449,2.449,2.452,2.454,2.458,2.461,2.471,2.471,2.471,2.473,2.475,2.48,2.484,2.484,2.485,2.488,2.494,2.502,2.508,2.516,2.522,2.522,2.532,2.538,2.539,2.542,2.55,2.561,2.562,2.565,2.566,2.571,2.575,2.576,2.591,2.598,2.602,2.613,2.621,2.621,2.638,2.639,2.646,2.653,2.658,2.67,2.678,2.685,2.7,2.703,2.709,2.719,2.723,2.734,2.734,2.75,2.757,2.769,2.771,2.796,2.798,2.802,2.825,2.832,2.838,2.855,2.86,2.87,2.881,2.89,2.907,2.913,2.925,2.948,2.953,2.963,2.976,2.993,3.01,3.029,3.04,3.043,3.058,3.072,3.08,3.098,3.118,3.12,3.142,3.144,3.162,3.189,3.207,3.212,3.23,3.244,3.267,3.289,3.309,3.314,3.332,3.362,3.371,3.403,3.43,3.453,3.463,3.474,3.509,3.527,3.547,3.564,3.61,3.636,3.653,3.68,3.711,3.73,3.746,3.77,3.792,3.827,3.865,3.908,3.926,3.953,3.996,0.016,0,0.007,0.009,0,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0,0,0,4.041,4.037,3.392,3.356,3.354,3.351,3.331,3.319,3.315,3.299,3.299,3.298,3.292,3.271,3.257,3.257,3.237,3.228,3.227,3.215,3.215,3.202,3.195,3.188,3.187,3.177,3.17,3.162,3.148,3.145,3.145,3.142,3.14,3.125,3.121,3.114,3.111,3.111,3.098,3.095,3.09,3.089,3.081,3.081,3.08,3.072,3.069,3.065,3.06,3.06,3.06,3.059,3.05,3.048,3.045,3.045,3.041,3.037,3.037,3.037,3.037,3.035,3.035,3.035,3.033,3.029,3.029,3.029,3.027,3.027,3.023,3.023,3.023,3.022,3.021,3.021,3.02,3.021,3.02,3.02,3.02,3.02,3.02,3.026,3.026,3.026,3.026,3.026,3.026,3.034,3.035,3.035,3.035,3.035,3.035,3.035,3.038,3.042,3.054,3.054,3.055,3.055,3.061,3.061,3.061,3.068,3.069,3.073,3.079,3.083,3.083,3.085,3.094,3.095,3.099,3.099,3.101,3.114,3.116,3.121,3.121,3.129,3.13,3.136,3.138,3.145,3.147,3.15,3.15,3.158,3.162,3.163,3.172,3.175,3.193,3.206,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 120.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 120.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 120.99} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 5.6388} SEN {Time 121.031} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.179,0.178,0.179,0.179,0,0,0,0,0,0,0,0,0,0,3.897,0,0.007,0,0,0,0.007,0,0,0,0,0,3.689,3.665,3.654,3.642,3.628,3.618,3.585,3.585,3.585,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.157,0.148,0.148,0.145,0.145,0.146,0.146,0.146,0.147,0.147,0.153,0.153,0.159,0.007,0,3.089,3.095,3.095,3.089,3.095,3.095,0.161,0.159,0.156,0.154,0.156,0.153,0.144,0.144,0.127,0.09,0.068,0.067,0.067,0.067,0.068,0.068,0.068,0.072,0.072,0.068,0.066,0.065,0.065,0.068,3.007,3.007,3.007,3.007,3.006,2.997,2.997,2.996,2.994,2.975,2.975,2.975,3.443,3.449,3.455,3.455,3.468,3.472,3.479,3.481,3.481,3.487,3.487,3.493,3.493,3.495,3.495,3.496,3.496,3.498,3.496,3.499,3.501,3.505,3.503,3.506,3.508,3.508,3.512,3.513,3.52,3.521,3.523,3.524,3.524,3.524,3.528,3.529,3.533,3.545,3.546,3.549,3.561,3.562,3.565,3.565,3.565,3.568,3.57,3.579,3.589,3.591,3.6,3.604,3.616,3.622,3.626,3.637,3.637,3.644,3.645,3.65,3.65,3.656,3.675,3.682,3.691,3.694,3.699,3.702,3.704,3.713,3.724,3.73,3.744,3.747,3.758,3.773,3.776,3.786,3.798,3.811,3.821,3.832,3.848,3.858,3.863,3.865,3.883,3.903,3.912,3.924,3.936,3.943,3.967,3.973,3.989,4.004,4.008,4.035,4.036,4.058,4.075,0.016,0.016,0.016,0.016,0.016,0,0.016,4.095,4.01,3.96,3.925,3.908,3.871,3.843,3.798,3.793,3.772,3.732,3.713,3.685,3.663,3.651,3.627,3.596,3.566,3.534,3.517,3.503,3.476,3.454,3.431,3.418,3.394,3.377,3.353,3.335,3.308,3.287,3.26,3.255,3.232,3.223,3.205,3.189,3.184,3.161,3.149,3.125,3.116,3.102,3.086,3.07,3.061,3.042,3.036,3.026,3.001,2.996,2.989,2.969,2.953,2.937,2.935,2.924,2.913,2.888,2.884,2.882,2.857,2.852,2.849,2.843,2.827,2.809,2.804,2.792,2.786,2.773,2.772,2.767,2.748,2.742,2.728,2.723,2.721,2.701,2.698,2.686,2.685,2.677,2.661,2.659,2.654,2.646,2.641,2.628,2.62,2.612,2.603,2.594,2.59,2.587,2.569,2.566,2.565,2.565,2.549,2.549,2.547,2.537,2.535,2.533,2.524,2.523,2.515,2.514,2.51,2.503,2.497,2.493,2.487,2.481,2.481,2.468,2.468,2.464,2.459,2.458,2.458,2.453,2.453,2.449,2.449,2.449,2.446,2.439,2.438,2.436,2.432,2.432,2.432,2.426,2.426,2.426,2.426,2.426,2.428,2.428,2.428,2.428,2.425,2.418,2.418,2.418,2.418,2.418,2.416,2.416,2.411,2.411,2.41,2.41,2.41,2.412,2.412,2.412,2.417,2.417,2.42,2.423,2.423,2.425,2.425,2.426,2.428,2.428,2.431,2.433,2.433,2.436,2.44,2.445,2.447,2.447,2.447,2.451,2.453,2.455,2.46,2.46,2.468,2.471,2.468,2.472,2.477,2.478,2.483,2.489,2.49,2.499,2.499,2.505,2.528,2.531,2.531,2.532,2.532,2.533,2.533,2.546,2.555,2.555,2.562,2.563,2.571,2.585,2.586,2.589,2.6,2.604,2.607,2.621,2.623,2.635,2.645,2.65,2.651,2.653,2.672,2.677,2.683,2.703,2.707,2.715,2.719,2.724,2.74,2.742,2.75,2.753,2.772,2.774,2.783,2.797,2.8,2.819,2.835,2.836,2.858,2.861,2.875,2.878,2.89,2.911,2.919,2.919,2.947,2.953,2.959,2.973,2.988,3.005,3.027,3.036,3.039,3.054,3.068,3.073,3.1,3.1,3.126,3.14,3.156,3.16,3.186,3.208,3.216,3.228,3.251,3.261,3.284,3.307,3.316,3.332,3.35,3.373,3.404,3.42,3.443,3.475,3.486,3.493,3.535,3.557,3.576,3.604,3.622,3.65,3.673,3.701,3.727,3.762,3.795,3.812,3.827,3.873,3.91,3.931,3.964,4.011,4.071,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,4.061,3.39,3.354,3.349,3.341,3.337,3.32,3.304,3.3,3.295,3.277,3.275,3.272,3.259,3.259,3.235,3.221,3.217,3.217,3.202,3.199,3.198,3.184,3.177,3.174,3.17,3.17,3.162,3.151,3.145,3.134,3.134,3.12,3.119,3.118,3.117,3.112,3.11,3.107,3.101,3.089,3.085,3.077,3.076,3.071,3.065,3.071,3.065,3.063,3.06,3.054,3.049,3.048,3.045,3.042,3.035,3.031,3.031,3.032,3.032,3.037,3.037,3.037,3.036,3.03,3.029,3.024,3.023,3.023,3.022,3.021,3.022,3.022,3.023,3.023,3.023,3.023,3.022,3.022,3.023,3.025,3.025,3.027,3.027,3.029,3.029,3.029,3.031,3.031,3.034,3.034,3.037,3.039,3.039,3.044,3.048,3.051,3.052,3.052,3.057,3.058,3.058,3.066,3.066,3.066,3.074,3.078,3.08,3.081,3.085,3.085,3.089,3.096,3.098,3.099,3.104,3.11,3.114,3.115,3.125,3.128,3.134,3.136,3.136,3.138,3.148,3.148,3.155,3.155,3.163,3.167,3.17,3.175,3.202,3.213,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 121.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 121.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 121.183} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.921} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.699} SEN {Time 121.231} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.183,0.186,0.186,0,0,0,0,0,0,0,0,0,0,3.893,0,0.007,0,0,0,0.007,0,0,0,0,0,3.682,3.664,3.658,3.646,3.628,3.624,3.592,3.592,3.568,3.568,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.153,0.148,0.156,0.148,0.151,0.151,0.153,0.153,0.153,0.153,0.153,0.155,3.086,3.09,3.09,3.09,3.086,3.09,3.083,0.159,0.158,0.158,0.154,0.15,0.148,0.146,0.146,0.121,0.095,0.071,0.071,0.066,0.066,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.07,3.012,3.023,3.023,3.012,3.012,3.002,2.999,2.995,2.995,2.991,2.991,2.991,3.449,3.455,3.465,3.465,3.468,3.472,3.475,3.476,3.48,3.481,3.481,3.483,3.493,3.493,3.493,3.493,3.493,3.498,3.498,3.494,3.502,3.502,3.502,3.505,3.506,3.51,3.517,3.517,3.52,3.524,3.524,3.526,3.527,3.528,3.534,3.541,3.546,3.546,3.549,3.558,3.558,3.558,3.562,3.569,3.574,3.577,3.582,3.588,3.588,3.591,3.597,3.604,3.609,3.618,3.625,3.635,3.638,3.64,3.64,3.64,3.648,3.651,3.672,3.682,3.69,3.69,3.693,3.702,3.717,3.718,3.726,3.733,3.747,3.748,3.751,3.777,3.784,3.797,3.799,3.807,3.811,3.829,3.838,3.846,3.869,3.885,3.894,3.902,3.909,3.93,3.934,3.949,3.959,3.971,3.986,4.011,4.012,4.039,4.047,4.068,4.073,4.082,0.016,0.016,0.016,0.016,0,0.016,0,0.007,3.984,3.933,3.898,3.86,3.831,3.809,3.794,3.769,3.749,3.72,3.684,3.672,3.643,3.619,3.606,3.558,3.55,3.525,3.496,3.484,3.463,3.437,3.418,3.393,3.366,3.355,3.341,3.323,3.297,3.268,3.261,3.228,3.222,3.209,3.188,3.175,3.156,3.145,3.126,3.11,3.106,3.087,3.069,3.054,3.047,3.026,3.026,3.011,2.992,2.991,2.973,2.959,2.949,2.934,2.923,2.911,2.901,2.887,2.877,2.876,2.85,2.846,2.837,2.817,2.805,2.805,2.785,2.785,2.774,2.767,2.761,2.747,2.747,2.738,2.735,2.717,2.705,2.702,2.688,2.683,2.68,2.661,2.659,2.65,2.647,2.633,2.629,2.625,2.606,2.605,2.604,2.592,2.583,2.579,2.573,2.567,2.565,2.554,2.547,2.547,2.53,2.53,2.529,2.529,2.524,2.519,2.517,2.508,2.503,2.501,2.5,2.488,2.483,2.483,2.475,2.467,2.467,2.466,2.466,2.463,2.462,2.454,2.45,2.445,2.445,2.443,2.44,2.438,2.434,2.434,2.434,2.432,2.431,2.431,2.426,2.426,2.426,2.431,2.425,2.424,2.423,2.421,2.419,2.418,2.415,2.415,2.414,2.415,2.416,2.417,2.416,2.416,2.416,2.416,2.416,2.421,2.421,2.421,2.423,2.423,2.424,2.424,2.426,2.423,2.426,2.426,2.431,2.431,2.434,2.438,2.435,2.435,2.439,2.44,2.449,2.451,2.453,2.453,2.453,2.46,2.465,2.465,2.468,2.47,2.472,2.475,2.476,2.487,2.49,2.491,2.502,2.502,2.503,2.527,2.528,2.53,2.531,2.531,2.538,2.542,2.549,2.551,2.551,2.551,2.569,2.574,2.577,2.583,2.593,2.602,2.606,2.61,2.62,2.626,2.64,2.641,2.643,2.654,2.659,2.664,2.673,2.683,2.698,2.709,2.715,2.72,2.727,2.734,2.745,2.759,2.765,2.777,2.778,2.794,2.803,2.806,2.819,2.825,2.835,2.853,2.864,2.864,2.888,2.892,2.903,2.915,2.927,2.936,2.959,2.961,2.978,2.989,3.001,3.023,3.034,3.046,3.057,3.067,3.077,3.096,3.112,3.125,3.138,3.152,3.163,3.182,3.206,3.213,3.231,3.236,3.256,3.292,3.303,3.316,3.329,3.354,3.383,3.404,3.425,3.454,3.459,3.481,3.509,3.537,3.559,3.583,3.599,3.656,3.683,3.713,3.713,3.72,3.753,3.78,3.815,3.849,3.874,3.89,3.939,3.972,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.385,3.37,3.344,3.341,3.337,3.32,3.319,3.297,3.296,3.282,3.277,3.267,3.254,3.251,3.233,3.23,3.223,3.22,3.202,3.2,3.199,3.187,3.178,3.175,3.168,3.159,3.158,3.151,3.141,3.138,3.133,3.131,3.124,3.116,3.109,3.107,3.103,3.102,3.09,3.089,3.081,3.078,3.077,3.072,3.069,3.065,3.061,3.059,3.056,3.056,3.052,3.052,3.051,3.038,3.037,3.035,3.035,3.037,3.045,3.045,3.045,3.037,3.033,3.029,3.029,3.029,3.029,3.029,3.027,3.027,3.025,3.025,3.029,3.029,3.026,3.031,3.026,3.022,3.026,3.024,3.022,3.022,3.024,3.024,3.029,3.034,3.034,3.034,3.036,3.033,3.033,3.036,3.036,3.036,3.042,3.049,3.05,3.052,3.058,3.06,3.06,3.06,3.062,3.062,3.067,3.075,3.082,3.082,3.082,3.082,3.082,3.092,3.095,3.098,3.102,3.111,3.113,3.115,3.127,3.127,3.134,3.137,3.137,3.137,3.149,3.151,3.156,3.158,3.163,3.168,3.17,3.184,3.202,3.205,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 121.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 121.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 121.383} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1308} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 4.699} SEN {Time 121.431} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.191,0.183,0.191,0.191,0,0,0,0,0,0,0,0,0,0,3.898,0,0.007,0,0,0,0.007,0,0,0,0,0,3.688,3.669,3.66,3.654,3.621,3.618,3.594,3.594,3.561,3.561,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.244,0.149,0.146,0.146,0.146,0.148,0.144,0.148,0.15,0.15,0.15,0.155,0.155,0.158,0.158,3.083,3.101,3.101,3.101,3.097,3.101,3.097,0.159,0.155,0.155,0.15,0.15,0.147,0.146,0.146,0.12,0.092,0.076,0.064,0.063,0.063,0.064,0.068,0.069,0.074,0.069,0.069,0.069,0.069,0.069,0.071,3.013,3.013,3.013,3.012,3.005,3.001,2.996,2.994,2.988,2.978,2.978,2.978,3.447,3.461,3.461,3.461,3.466,3.468,3.47,3.476,3.485,3.488,3.485,3.488,3.496,3.496,3.5,3.502,3.502,3.503,3.503,3.502,3.504,3.502,3.499,3.502,3.514,3.514,3.515,3.515,3.517,3.52,3.52,3.527,3.529,3.531,3.534,3.538,3.542,3.544,3.545,3.553,3.553,3.559,3.563,3.566,3.57,3.579,3.583,3.583,3.592,3.592,3.592,3.603,3.61,3.621,3.629,3.636,3.636,3.642,3.646,3.657,3.658,3.664,3.671,3.678,3.681,3.692,3.697,3.708,3.712,3.712,3.729,3.736,3.741,3.743,3.76,3.767,3.773,3.793,3.794,3.803,3.811,3.835,3.84,3.841,3.854,3.876,3.887,3.895,3.919,3.926,3.939,3.959,3.972,3.972,3.997,4.005,4.014,4.037,4.045,4.065,4.079,4.091,0.016,0.016,0.016,0.016,0.016,0.007,0,4.077,3.978,3.926,3.897,3.867,3.843,3.807,3.797,3.767,3.734,3.719,3.692,3.664,3.652,3.611,3.591,3.569,3.549,3.509,3.506,3.477,3.453,3.439,3.41,3.397,3.375,3.352,3.342,3.316,3.301,3.273,3.255,3.233,3.231,3.206,3.185,3.177,3.16,3.138,3.132,3.115,3.104,3.076,3.061,3.05,3.044,3.02,3.011,3.005,2.992,2.979,2.974,2.957,2.938,2.937,2.919,2.913,2.903,2.884,2.882,2.863,2.85,2.844,2.83,2.823,2.815,2.81,2.791,2.773,2.768,2.767,2.751,2.748,2.734,2.729,2.722,2.711,2.707,2.691,2.677,2.676,2.666,2.665,2.661,2.658,2.642,2.627,2.627,2.626,2.608,2.606,2.593,2.586,2.584,2.578,2.571,2.567,2.565,2.557,2.553,2.549,2.547,2.537,2.535,2.535,2.523,2.513,2.509,2.505,2.496,2.493,2.49,2.486,2.484,2.477,2.472,2.47,2.461,2.461,2.458,2.456,2.455,2.451,2.451,2.45,2.45,2.45,2.445,2.435,2.434,2.434,2.433,2.43,2.43,2.427,2.427,2.427,2.429,2.429,2.429,2.429,2.428,2.424,2.419,2.417,2.417,2.416,2.417,2.417,2.415,2.413,2.413,2.413,2.413,2.414,2.415,2.416,2.417,2.417,2.419,2.425,2.425,2.425,2.426,2.426,2.426,2.426,2.431,2.431,2.433,2.433,2.433,2.438,2.44,2.445,2.446,2.45,2.45,2.453,2.454,2.455,2.468,2.468,2.472,2.474,2.474,2.479,2.481,2.486,2.488,2.496,2.496,2.497,2.513,2.521,2.531,2.534,2.535,2.538,2.54,2.546,2.552,2.554,2.555,2.561,2.567,2.574,2.576,2.583,2.585,2.591,2.604,2.605,2.619,2.622,2.635,2.643,2.643,2.653,2.668,2.67,2.684,2.684,2.7,2.707,2.71,2.719,2.722,2.736,2.748,2.75,2.753,2.769,2.775,2.786,2.79,2.802,2.826,2.836,2.844,2.859,2.864,2.872,2.882,2.887,2.909,2.92,2.931,2.937,2.957,2.969,2.978,2.996,3.005,3.021,3.029,3.045,3.055,3.065,3.083,3.095,3.112,3.128,3.142,3.148,3.167,3.185,3.199,3.214,3.235,3.245,3.257,3.289,3.305,3.316,3.333,3.355,3.384,3.405,3.428,3.438,3.459,3.486,3.516,3.527,3.56,3.579,3.604,3.62,3.652,3.667,3.703,3.739,3.76,3.774,3.821,3.828,3.86,3.9,3.927,3.961,4.01,0,0,0,0,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.037,3.989,3.382,3.365,3.35,3.349,3.341,3.32,3.315,3.298,3.292,3.281,3.281,3.258,3.257,3.238,3.232,3.23,3.228,3.218,3.208,3.202,3.202,3.187,3.173,3.169,3.167,3.153,3.15,3.146,3.142,3.137,3.134,3.127,3.121,3.121,3.11,3.11,3.109,3.109,3.09,3.09,3.086,3.082,3.074,3.069,3.068,3.067,3.066,3.059,3.052,3.052,3.05,3.049,3.048,3.043,3.035,3.035,3.035,3.035,3.039,3.039,3.038,3.038,3.032,3.032,3.032,3.029,3.023,3.023,3.023,3.019,3.023,3.021,3.022,3.021,3.021,3.021,3.022,3.02,3.023,3.023,3.023,3.023,3.023,3.023,3.026,3.027,3.03,3.031,3.034,3.038,3.038,3.038,3.038,3.044,3.045,3.052,3.053,3.053,3.054,3.055,3.062,3.062,3.067,3.068,3.068,3.068,3.075,3.079,3.08,3.08,3.089,3.096,3.098,3.101,3.104,3.114,3.119,3.121,3.121,3.122,3.126,3.13,3.13,3.142,3.144,3.158,3.159,3.159,3.159,3.164,3.175,3.182,3.205,3.207,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 121.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 121.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 121.585} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1308} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.699} SEN {Time 121.631} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.184,0.184,0.182,0.184,0.186,0,0,0,0,0,0,0,0,0,0,3.902,0,0.007,0,0,0,0.007,0,0,0,0,0,3.69,3.661,3.652,3.651,3.628,3.627,3.579,3.579,3.565,3.565,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.152,0.147,0.147,0.146,0.147,0.144,0.146,0.146,0.148,0.148,0.149,0.149,0.154,0.007,0,3.097,3.097,3.097,3.089,3.074,0.164,0.164,0.16,0.16,0.155,0.149,0.149,0.145,0.142,0.119,0.096,0.07,0.068,0.067,0.067,0.067,0.067,0.067,0.068,0.07,0.067,0.067,0.067,0.06,0.06,0.06,2.999,3.012,3.012,3.001,3.001,3,2.998,2.992,2.98,2.98,2.98,3.451,3.458,3.465,3.465,3.469,3.471,3.484,3.484,3.484,3.484,3.487,3.487,3.487,3.493,3.498,3.498,3.498,3.498,3.498,3.498,3.502,3.502,3.504,3.505,3.506,3.513,3.513,3.514,3.518,3.52,3.52,3.521,3.526,3.527,3.537,3.539,3.54,3.549,3.551,3.552,3.553,3.56,3.562,3.565,3.571,3.572,3.585,3.588,3.59,3.593,3.593,3.602,3.609,3.621,3.624,3.638,3.639,3.641,3.646,3.646,3.655,3.666,3.675,3.675,3.691,3.691,3.694,3.696,3.705,3.71,3.723,3.725,3.742,3.747,3.757,3.766,3.767,3.79,3.791,3.817,3.819,3.837,3.848,3.851,3.862,3.87,3.889,3.904,3.907,3.927,3.943,3.945,3.953,3.967,3.99,3.999,4.017,4.024,4.039,4.07,4.086,0.016,0.016,0.016,0,0,0,0,4.053,3.986,3.971,3.924,3.905,3.872,3.85,3.816,3.79,3.755,3.743,3.706,3.698,3.669,3.638,3.629,3.598,3.581,3.565,3.523,3.49,3.479,3.46,3.441,3.416,3.39,3.371,3.345,3.335,3.312,3.296,3.274,3.253,3.239,3.226,3.209,3.194,3.176,3.155,3.14,3.119,3.112,3.104,3.09,3.069,3.045,3.045,3.033,3.026,3.004,2.992,2.978,2.969,2.955,2.941,2.934,2.926,2.909,2.888,2.887,2.872,2.865,2.858,2.847,2.831,2.83,2.808,2.796,2.785,2.78,2.779,2.769,2.76,2.752,2.743,2.73,2.726,2.724,2.708,2.702,2.684,2.682,2.676,2.67,2.666,2.647,2.646,2.635,2.63,2.627,2.615,2.602,2.596,2.585,2.584,2.579,2.576,2.57,2.559,2.556,2.552,2.545,2.54,2.536,2.534,2.532,2.528,2.509,2.508,2.5,2.5,2.498,2.497,2.492,2.486,2.479,2.477,2.475,2.468,2.463,2.461,2.46,2.46,2.458,2.456,2.454,2.452,2.439,2.437,2.437,2.437,2.437,2.434,2.429,2.427,2.428,2.426,2.426,2.428,2.429,2.429,2.429,2.421,2.419,2.419,2.419,2.418,2.418,2.417,2.418,2.417,2.416,2.416,2.411,2.411,2.411,2.411,2.413,2.419,2.421,2.421,2.421,2.424,2.423,2.424,2.425,2.43,2.43,2.43,2.43,2.435,2.435,2.438,2.443,2.445,2.446,2.446,2.446,2.448,2.458,2.459,2.463,2.464,2.465,2.475,2.47,2.47,2.483,2.484,2.489,2.493,2.497,2.497,2.501,2.508,2.523,2.527,2.53,2.531,2.535,2.537,2.548,2.551,2.552,2.558,2.567,2.571,2.574,2.582,2.584,2.588,2.597,2.602,2.605,2.624,2.625,2.631,2.645,2.649,2.657,2.658,2.675,2.687,2.688,2.7,2.704,2.71,2.716,2.722,2.733,2.736,2.741,2.762,2.77,2.78,2.799,2.808,2.818,2.822,2.832,2.839,2.855,2.861,2.869,2.885,2.896,2.906,2.909,2.928,2.939,2.962,2.964,2.974,2.99,2.999,3.029,3.032,3.039,3.053,3.064,3.086,3.098,3.107,3.122,3.141,3.156,3.166,3.181,3.202,3.21,3.231,3.249,3.262,3.28,3.303,3.314,3.342,3.362,3.382,3.404,3.425,3.453,3.462,3.485,3.504,3.53,3.556,3.572,3.595,3.62,3.647,3.685,3.705,3.734,3.755,3.784,3.808,3.835,3.871,3.9,3.932,3.997,0.007,0,0.016,0,0,0.016,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.991,3.385,3.368,3.357,3.352,3.345,3.317,3.314,3.314,3.307,3.295,3.277,3.276,3.25,3.25,3.237,3.23,3.228,3.215,3.206,3.205,3.193,3.186,3.18,3.171,3.168,3.162,3.156,3.148,3.145,3.145,3.145,3.128,3.117,3.109,3.108,3.107,3.105,3.103,3.097,3.094,3.084,3.083,3.08,3.079,3.07,3.066,3.063,3.061,3.061,3.058,3.049,3.049,3.048,3.043,3.043,3.04,3.038,3.038,3.04,3.035,3.035,3.035,3.034,3.03,3.03,3.028,3.028,3.028,3.022,3.021,3.021,3.021,3.022,3.021,3.023,3.023,3.02,3.02,3.02,3.02,3.024,3.027,3.03,3.027,3.03,3.03,3.03,3.031,3.032,3.031,3.031,3.031,3.04,3.039,3.04,3.046,3.053,3.053,3.057,3.058,3.06,3.061,3.064,3.071,3.071,3.077,3.081,3.082,3.087,3.087,3.087,3.094,3.097,3.097,3.101,3.105,3.119,3.119,3.119,3.125,3.131,3.139,3.14,3.145,3.148,3.148,3.15,3.16,3.161,3.166,3.169,3.175,3.199,3.211,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 121.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 121.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 121.789} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1308} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 3.1242} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054} SEN {Time 121.831} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.181,0.184,0.184,0.187,0.187,0,0,0,0,0,0,0,0,0,0,3.899,0,0.007,0,0,0,0.007,0,0,0,0,0,3.679,3.669,3.652,3.651,3.637,3.615,3.596,3.596,3.596,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.161,0.149,0.149,0.143,0.149,0.142,0.149,0.144,0.149,0.149,0.153,0.154,0.162,0.162,3.09,3.09,3.094,3.094,3.09,3.083,0.153,0.153,0.153,0.153,0.153,0.156,0.151,0.146,0.146,0.126,0.084,0.069,0.062,0.062,0.061,0.061,0.069,0.072,0.072,0.072,0.072,0.064,0.06,0.058,0.058,0.058,3.013,3.013,3.013,3.01,3.002,2.998,2.997,2.996,2.981,2.981,2.981,3.425,3.44,3.468,3.478,3.478,3.478,3.478,3.478,3.483,3.487,3.483,3.483,3.489,3.492,3.492,3.498,3.499,3.499,3.499,3.499,3.497,3.497,3.502,3.503,3.503,3.504,3.509,3.516,3.522,3.522,3.522,3.524,3.529,3.529,3.53,3.537,3.543,3.549,3.551,3.551,3.552,3.56,3.562,3.57,3.57,3.574,3.58,3.583,3.589,3.59,3.598,3.6,3.604,3.622,3.63,3.632,3.636,3.639,3.642,3.651,3.651,3.658,3.677,3.681,3.688,3.694,3.696,3.703,3.706,3.726,3.727,3.732,3.747,3.748,3.751,3.773,3.778,3.792,3.8,3.811,3.812,3.827,3.851,3.852,3.864,3.874,3.883,3.885,3.908,3.922,3.934,3.951,3.973,3.978,3.98,4.004,4.022,4.034,4.047,4.062,4.068,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.059,0.007,3.974,3.9,3.869,3.852,3.816,3.776,3.765,3.749,3.733,3.702,3.656,3.644,3.614,3.599,3.578,3.535,3.512,3.507,3.481,3.464,3.434,3.404,3.396,3.365,3.364,3.333,3.312,3.293,3.277,3.26,3.254,3.229,3.204,3.195,3.191,3.164,3.139,3.13,3.109,3.109,3.094,3.083,3.058,3.046,3.039,3.023,3,2.991,2.981,2.961,2.957,2.945,2.933,2.931,2.91,2.905,2.886,2.869,2.865,2.849,2.845,2.838,2.823,2.81,2.806,2.787,2.785,2.771,2.763,2.755,2.737,2.736,2.735,2.729,2.72,2.713,2.703,2.685,2.685,2.674,2.673,2.666,2.658,2.647,2.637,2.633,2.619,2.615,2.606,2.593,2.58,2.577,2.576,2.566,2.565,2.563,2.549,2.546,2.542,2.541,2.54,2.534,2.523,2.523,2.521,2.513,2.499,2.496,2.495,2.492,2.491,2.487,2.482,2.478,2.47,2.468,2.464,2.464,2.463,2.458,2.458,2.452,2.45,2.447,2.444,2.442,2.442,2.438,2.435,2.434,2.431,2.428,2.427,2.427,2.424,2.424,2.42,2.42,2.424,2.424,2.418,2.418,2.424,2.417,2.417,2.418,2.42,2.418,2.418,2.415,2.415,2.415,2.415,2.416,2.417,2.423,2.423,2.423,2.423,2.424,2.425,2.424,2.425,2.425,2.426,2.427,2.429,2.43,2.435,2.438,2.445,2.445,2.445,2.445,2.447,2.45,2.45,2.451,2.457,2.461,2.465,2.465,2.471,2.474,2.476,2.477,2.489,2.494,2.502,2.505,2.505,2.51,2.514,2.527,2.527,2.531,2.531,2.532,2.546,2.547,2.555,2.557,2.564,2.568,2.573,2.578,2.586,2.586,2.602,2.603,2.605,2.62,2.62,2.62,2.645,2.652,2.653,2.661,2.663,2.678,2.681,2.691,2.705,2.713,2.722,2.725,2.732,2.745,2.748,2.76,2.768,2.777,2.801,2.812,2.815,2.818,2.835,2.841,2.852,2.853,2.877,2.883,2.884,2.912,2.914,2.927,2.945,2.955,2.966,2.978,2.996,2.998,3.027,3.03,3.037,3.058,3.062,3.08,3.098,3.105,3.121,3.138,3.148,3.168,3.195,3.205,3.217,3.236,3.241,3.264,3.286,3.297,3.304,3.336,3.359,3.386,3.398,3.425,3.452,3.466,3.479,3.521,3.528,3.551,3.569,3.606,3.632,3.652,3.673,3.706,3.729,3.751,3.777,3.812,3.833,3.872,3.903,3.934,3.969,4.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.993,3.39,3.365,3.35,3.345,3.337,3.321,3.316,3.3,3.299,3.279,3.277,3.263,3.256,3.239,3.238,3.225,3.224,3.223,3.202,3.201,3.198,3.187,3.184,3.176,3.166,3.157,3.151,3.15,3.147,3.139,3.129,3.124,3.121,3.11,3.11,3.109,3.103,3.096,3.095,3.089,3.088,3.085,3.074,3.069,3.065,3.063,3.062,3.062,3.061,3.056,3.055,3.054,3.05,3.05,3.032,3.032,3.032,3.034,3.035,3.035,3.035,3.035,3.033,3.029,3.029,3.029,3.027,3.027,3.027,3.022,3.022,3.022,3.022,3.022,3.015,3.022,3.022,3.023,3.024,3.024,3.026,3.026,3.026,3.025,3.026,3.027,3.027,3.035,3.035,3.035,3.038,3.037,3.038,3.044,3.044,3.045,3.051,3.051,3.055,3.059,3.059,3.057,3.059,3.059,3.069,3.074,3.078,3.079,3.08,3.083,3.089,3.091,3.096,3.102,3.105,3.109,3.115,3.119,3.126,3.129,3.134,3.138,3.138,3.143,3.145,3.145,3.156,3.156,3.161,3.162,3.179,3.186,3.202,3.205,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 121.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 121.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 121.99} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 3.1242} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054} SEN {Time 122.027} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.19,0.181,0.19,0.19,0,0,0,0,0,0,0,0,0,0,3.901,0,0.007,0,0,0,0.007,0,0,0,0,0,3.689,3.676,3.654,3.652,3.636,3.624,3.579,3.579,3.57,3.57,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,0.158,0.146,0.146,0.144,0.146,0.148,0.149,0.148,0.154,0.153,0.154,0.153,0.162,0.165,3.092,3.095,3.095,3.095,3.092,3.095,3.088,0.163,0.163,0.163,0.162,0.158,0.153,0.148,0.148,0.119,0.096,0.069,0.064,0.064,0.064,0.064,0.066,0.067,0.073,0.073,0.073,0.073,0.071,0.071,0.073,3.006,3.017,3.017,3.011,3.006,3.004,2.997,2.991,2.98,2.972,2.972,2.98,3.444,0.007,0,3.475,3.481,3.481,3.481,3.487,3.488,3.488,3.487,3.487,3.492,3.489,3.498,3.498,3.498,3.498,3.498,3.498,3.502,3.498,3.503,3.507,3.507,3.509,3.513,3.516,3.516,3.521,3.524,3.528,3.53,3.532,3.534,3.535,3.537,3.543,3.552,3.556,3.56,3.56,3.561,3.568,3.574,3.575,3.578,3.584,3.588,3.588,3.588,3.604,3.607,3.615,3.62,3.62,3.629,3.636,3.649,3.649,3.653,3.654,3.675,3.681,3.682,3.693,3.696,3.699,3.709,3.711,3.731,3.739,3.746,3.751,3.755,3.778,3.778,3.79,3.807,3.812,3.819,3.835,3.846,3.862,3.867,3.868,3.887,3.89,3.911,3.925,3.939,3.947,3.964,3.965,3.986,3.996,4.013,4.033,4.056,4.058,4.079,4.094,0.016,0.016,0.016,0,0.007,0.016,4.033,4.008,3.973,3.924,3.906,3.876,3.838,3.803,3.802,3.767,3.747,3.706,3.692,3.674,3.644,3.638,3.593,3.572,3.544,3.522,3.497,3.489,3.448,3.442,3.408,3.39,3.368,3.345,3.339,3.312,3.297,3.276,3.249,3.232,3.225,3.202,3.2,3.175,3.158,3.139,3.123,3.104,3.096,3.087,3.071,3.049,3.048,3.03,3.014,3.002,2.991,2.977,2.974,2.952,2.939,2.938,2.917,2.915,2.898,2.886,2.875,2.856,2.847,2.845,2.835,2.822,2.81,2.799,2.788,2.78,2.776,2.771,2.758,2.757,2.743,2.735,2.727,2.718,2.717,2.701,2.686,2.681,2.666,2.662,2.661,2.658,2.638,2.635,2.633,2.625,2.617,2.609,2.591,2.59,2.59,2.577,2.57,2.567,2.563,2.559,2.55,2.549,2.545,2.528,2.524,2.519,2.514,2.511,2.511,2.501,2.5,2.496,2.491,2.49,2.485,2.483,2.474,2.474,2.47,2.465,2.465,2.46,2.458,2.454,2.453,2.446,2.444,2.442,2.438,2.438,2.434,2.433,2.433,2.429,2.429,2.429,2.429,2.429,2.429,2.429,2.423,2.425,2.423,2.42,2.417,2.417,2.417,2.416,2.415,2.416,2.415,2.415,2.418,2.418,2.413,2.416,2.415,2.415,2.416,2.416,2.416,2.421,2.424,2.424,2.429,2.429,2.429,2.429,2.43,2.431,2.435,2.436,2.436,2.437,2.438,2.444,2.447,2.449,2.45,2.454,2.456,2.459,2.464,2.468,2.472,2.474,2.474,2.475,2.481,2.489,2.492,2.494,2.501,2.505,2.509,2.522,2.528,2.531,2.534,2.536,2.537,2.543,2.547,2.561,2.562,2.566,2.568,2.576,2.577,2.588,2.59,2.6,2.604,2.606,2.619,2.622,2.629,2.641,2.644,2.652,2.667,2.672,2.675,2.677,2.696,2.7,2.711,2.721,2.724,2.739,2.74,2.758,2.761,2.779,2.784,2.79,2.806,2.81,2.825,2.829,2.838,2.853,2.856,2.868,2.873,2.891,2.9,2.923,2.931,2.934,2.955,2.959,2.977,2.99,3.004,3.02,3.033,3.041,3.061,3.067,3.081,3.091,3.102,3.128,3.138,3.156,3.159,3.187,3.203,3.209,3.237,3.243,3.265,3.286,3.299,3.313,3.327,3.344,3.385,3.412,3.423,3.448,3.461,3.486,3.506,3.541,3.552,3.585,3.61,3.637,3.642,3.687,3.701,3.73,3.756,3.779,3.816,3.835,3.867,3.909,3.926,3.964,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,4.036,3.991,3.385,3.361,3.346,3.344,3.331,3.325,3.316,3.302,3.301,3.278,3.269,3.268,3.257,3.247,3.234,3.23,3.221,3.22,3.208,3.205,3.199,3.185,3.176,3.175,3.17,3.157,3.155,3.15,3.147,3.137,3.131,3.131,3.118,3.11,3.106,3.106,3.103,3.101,3.093,3.093,3.089,3.086,3.084,3.072,3.065,3.064,3.059,3.059,3.057,3.059,3.053,3.049,3.046,3.044,3.044,3.039,3.038,3.038,3.038,3.033,3.033,3.041,3.033,3.031,3.027,3.027,3.027,3.027,3.027,3.025,3.025,3.025,3.028,3.022,3.028,3.028,3.029,3.029,3.03,3.029,3.029,3.03,3.029,3.023,3.029,3.034,3.031,3.031,3.034,3.032,3.031,3.032,3.041,3.042,3.044,3.045,3.052,3.054,3.055,3.055,3.056,3.056,3.063,3.064,3.068,3.069,3.077,3.078,3.086,3.089,3.092,3.092,3.093,3.095,3.099,3.111,3.112,3.116,3.126,3.13,3.131,3.135,3.135,3.144,3.147,3.148,3.155,3.157,3.163,3.166,3.174,3.184,3.192,3.198,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 122.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 122.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 122.183} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 3.1242} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.1054} SEN {Time 122.227} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.182,0.193,0.193,0,0,0,0,0,0,0,0,0,0,3.897,0,0.007,0,0,0,0.007,0,0,0,0,0,3.684,3.659,3.653,3.647,3.635,3.62,3.587,3.587,3.578,3.578,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.162,0.148,0.148,0.145,0.145,0.143,0.149,0.148,0.153,0.153,0.158,0.158,0.16,0.163,3.096,3.096,3.096,3.096,3.092,3.088,0.162,0.158,0.155,0.155,0.155,0.153,0.146,0.14,0.14,0.119,0.092,0.068,0.064,0.064,0.064,0.066,0.068,0.068,0.068,0.069,0.069,0.069,0.068,0.069,0.071,3.015,3.015,3.017,3.015,3.004,3.004,3.004,3.002,2.995,2.986,2.986,2.986,3.432,3.439,3.45,3.455,3.465,3.477,3.478,3.48,3.478,3.48,3.487,3.487,3.491,3.491,3.489,3.491,3.491,3.497,3.497,3.5,3.501,3.505,3.502,3.503,3.505,3.505,3.51,3.51,3.522,3.522,3.522,3.523,3.523,3.537,3.539,3.54,3.541,3.544,3.544,3.55,3.55,3.558,3.566,3.569,3.57,3.575,3.575,3.579,3.587,3.592,3.601,3.603,3.609,3.613,3.62,3.635,3.64,3.644,3.645,3.647,3.652,3.668,3.669,3.674,3.685,3.687,3.692,3.716,3.717,3.725,3.735,3.735,3.745,3.749,3.763,3.767,3.787,3.791,3.805,3.813,3.815,3.817,3.832,3.859,3.861,3.882,3.886,3.903,3.908,3.913,3.941,3.96,3.962,3.972,3.982,4.003,4.019,4.034,4.034,4.058,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.035,3.998,3.962,3.926,3.88,3.879,3.847,3.816,3.798,3.757,3.735,3.714,3.709,3.67,3.648,3.618,3.593,3.568,3.551,3.522,3.506,3.473,3.461,3.431,3.409,3.391,3.369,3.356,3.329,3.307,3.285,3.277,3.25,3.242,3.228,3.199,3.188,3.179,3.151,3.143,3.128,3.109,3.1,3.091,3.067,3.057,3.041,3.028,3.022,3.002,2.992,2.981,2.972,2.961,2.94,2.925,2.923,2.914,2.901,2.879,2.875,2.864,2.859,2.839,2.83,2.821,2.8,2.798,2.795,2.776,2.774,2.771,2.76,2.747,2.739,2.725,2.721,2.713,2.704,2.698,2.691,2.681,2.67,2.669,2.651,2.651,2.646,2.636,2.626,2.625,2.605,2.602,2.592,2.58,2.577,2.569,2.565,2.562,2.561,2.555,2.545,2.543,2.535,2.534,2.525,2.525,2.521,2.516,2.514,2.508,2.507,2.496,2.494,2.494,2.492,2.479,2.477,2.473,2.465,2.465,2.46,2.458,2.456,2.455,2.449,2.446,2.445,2.443,2.441,2.441,2.437,2.437,2.432,2.43,2.427,2.427,2.425,2.423,2.423,2.423,2.423,2.424,2.424,2.423,2.421,2.418,2.418,2.419,2.418,2.416,2.414,2.414,2.414,2.412,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.42,2.423,2.423,2.425,2.429,2.429,2.428,2.429,2.432,2.428,2.432,2.439,2.439,2.44,2.443,2.445,2.448,2.451,2.456,2.459,2.465,2.466,2.467,2.467,2.474,2.475,2.477,2.478,2.487,2.487,2.499,2.5,2.5,2.503,2.522,2.524,2.527,2.528,2.535,2.536,2.547,2.548,2.55,2.563,2.564,2.565,2.57,2.58,2.586,2.586,2.599,2.602,2.615,2.621,2.622,2.633,2.644,2.648,2.652,2.657,2.669,2.682,2.683,2.699,2.7,2.709,2.71,2.725,2.738,2.739,2.751,2.753,2.775,2.781,2.792,2.794,2.803,2.816,2.823,2.835,2.855,2.86,2.871,2.874,2.881,2.908,2.922,2.931,2.935,2.956,2.958,2.974,2.995,3.005,3.026,3.029,3.041,3.061,3.07,3.078,3.102,3.104,3.126,3.145,3.151,3.167,3.177,3.203,3.218,3.229,3.247,3.266,3.277,3.301,3.32,3.329,3.362,3.373,3.401,3.419,3.445,3.449,3.485,3.51,3.529,3.546,3.577,3.599,3.626,3.65,3.67,3.704,3.723,3.758,3.773,3.814,3.83,3.874,3.903,3.94,3.967,4.001,4.026,4.066,4.091,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.393,3.359,3.354,3.338,3.331,3.323,3.318,3.308,3.296,3.296,3.274,3.267,3.262,3.247,3.236,3.229,3.221,3.209,3.203,3.202,3.196,3.191,3.18,3.163,3.162,3.162,3.158,3.15,3.149,3.141,3.133,3.132,3.121,3.12,3.114,3.11,3.108,3.101,3.099,3.091,3.088,3.086,3.077,3.074,3.069,3.067,3.064,3.056,3.054,3.051,3.047,3.049,3.047,3.04,3.037,3.037,3.031,3.037,3.038,3.038,3.037,3.037,3.029,3.029,3.029,3.029,3.025,3.025,3.025,3.025,3.023,3.023,3.025,3.022,3.022,3.018,3.021,3.021,3.024,3.021,3.022,3.025,3.022,3.022,3.022,3.024,3.024,3.035,3.035,3.035,3.035,3.035,3.036,3.046,3.046,3.047,3.048,3.053,3.055,3.06,3.063,3.065,3.065,3.066,3.071,3.08,3.08,3.08,3.085,3.09,3.092,3.096,3.098,3.098,3.1,3.111,3.118,3.118,3.119,3.126,3.136,3.138,3.139,3.148,3.15,3.155,3.162,3.162,3.162,3.163,3.167,3.176,3.199,3.208,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 122.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 122.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 122.384} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.9276} SEN {Time 122.427} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,0,0,0,0,0,3.896,0,0.007,0,0,0,0.007,0,0,0,0,0,3.67,3.667,3.652,3.647,3.631,3.629,3.582,3.582,3.582,3.556,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.156,0.151,0.151,0.148,0.148,0.148,0.148,0.148,0.154,0.148,0.154,0.154,0.156,0.158,3.093,3.093,3.093,3.093,3.087,3.081,0.162,0.155,0.155,0.155,0.158,0.152,0.148,0.143,0.143,0.128,0.095,0.071,0.069,0.067,0.064,0.064,0.064,0.067,0.071,0.071,0.071,0.067,0.065,0.053,0.053,0.053,3.001,3.001,3.004,3.004,3.004,2.999,2.999,2.989,2.986,2.986,2.989,3.417,3.44,3.453,3.465,3.467,3.467,3.475,3.481,3.484,3.486,3.486,3.491,3.488,3.491,3.491,3.491,3.496,3.497,3.497,3.497,3.498,3.498,3.498,3.503,3.505,3.509,3.512,3.512,3.516,3.516,3.52,3.521,3.527,3.529,3.537,3.538,3.542,3.55,3.553,3.555,3.556,3.557,3.557,3.559,3.569,3.572,3.579,3.58,3.586,3.59,3.599,3.602,3.605,3.62,3.626,3.626,3.64,3.654,3.654,3.654,3.654,3.655,3.674,3.677,3.683,3.692,3.693,3.702,3.703,3.727,3.729,3.732,3.749,3.751,3.753,3.754,3.783,3.792,3.795,3.805,3.816,3.828,3.844,3.848,3.851,3.87,3.888,3.901,3.916,3.923,3.939,3.957,3.959,3.964,3.978,4.002,4.016,4.037,4.037,4.074,4.087,4.089,0.016,0.016,0.016,0.016,0.016,4.061,4.031,3.978,3.967,3.936,3.892,3.876,3.843,3.804,3.787,3.752,3.736,3.713,3.69,3.655,3.634,3.626,3.598,3.562,3.549,3.529,3.499,3.469,3.461,3.42,3.411,3.383,3.372,3.346,3.333,3.315,3.294,3.278,3.252,3.237,3.222,3.206,3.192,3.184,3.162,3.136,3.124,3.111,3.106,3.082,3.065,3.05,3.049,3.04,3.021,3.001,2.991,2.975,2.968,2.948,2.944,2.938,2.915,2.912,2.894,2.885,2.872,2.869,2.855,2.844,2.838,2.82,2.811,2.8,2.786,2.786,2.779,2.772,2.755,2.751,2.735,2.726,2.721,2.72,2.703,2.693,2.69,2.676,2.673,2.672,2.66,2.65,2.646,2.638,2.632,2.631,2.609,2.606,2.597,2.592,2.585,2.578,2.571,2.565,2.553,2.552,2.551,2.547,2.544,2.538,2.537,2.531,2.521,2.516,2.512,2.505,2.504,2.5,2.491,2.491,2.483,2.482,2.477,2.472,2.468,2.465,2.46,2.454,2.452,2.45,2.449,2.448,2.445,2.444,2.44,2.438,2.435,2.433,2.431,2.431,2.43,2.43,2.426,2.429,2.423,2.423,2.423,2.425,2.423,2.414,2.414,2.414,2.414,2.419,2.42,2.42,2.419,2.417,2.413,2.413,2.413,2.417,2.418,2.421,2.421,2.423,2.423,2.423,2.423,2.423,2.423,2.423,2.427,2.427,2.431,2.431,2.432,2.435,2.437,2.439,2.441,2.442,2.442,2.453,2.453,2.454,2.454,2.46,2.462,2.467,2.468,2.474,2.474,2.479,2.483,2.486,2.486,2.496,2.497,2.5,2.507,2.513,2.527,2.533,2.534,2.535,2.543,2.547,2.548,2.552,2.555,2.562,2.566,2.569,2.582,2.583,2.59,2.59,2.592,2.613,2.62,2.624,2.63,2.642,2.647,2.65,2.662,2.665,2.675,2.68,2.691,2.707,2.707,2.72,2.723,2.733,2.746,2.747,2.76,2.77,2.775,2.797,2.808,2.812,2.812,2.836,2.838,2.85,2.863,2.871,2.879,2.891,2.907,2.91,2.928,2.935,2.955,2.967,2.981,2.982,3.011,3.022,3.033,3.038,3.062,3.062,3.077,3.099,3.113,3.118,3.144,3.147,3.163,3.189,3.202,3.217,3.228,3.242,3.269,3.284,3.302,3.326,3.331,3.353,3.369,3.405,3.427,3.447,3.464,3.484,3.521,3.528,3.546,3.572,3.614,3.627,3.662,3.679,3.702,3.725,3.761,3.764,3.815,3.845,3.877,3.901,3.936,3.956,4.002,4.037,4.066,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.389,3.365,3.352,3.346,3.332,3.322,3.314,3.299,3.287,3.282,3.275,3.264,3.258,3.242,3.233,3.228,3.219,3.212,3.207,3.202,3.201,3.189,3.183,3.174,3.169,3.158,3.154,3.154,3.153,3.135,3.134,3.128,3.118,3.116,3.114,3.107,3.107,3.103,3.101,3.087,3.086,3.082,3.079,3.069,3.068,3.068,3.068,3.06,3.057,3.055,3.046,3.046,3.046,3.044,3.044,3.035,3.035,3.035,3.04,3.04,3.04,3.033,3.03,3.03,3.03,3.028,3.028,3.028,3.025,3.025,3.025,3.025,3.025,3.021,3.02,3.021,3.02,3.018,3.02,3.024,3.019,3.024,3.024,3.021,3.021,3.027,3.027,3.027,3.029,3.029,3.035,3.037,3.041,3.041,3.047,3.049,3.054,3.056,3.056,3.062,3.063,3.063,3.063,3.069,3.069,3.074,3.075,3.08,3.083,3.086,3.087,3.088,3.101,3.101,3.105,3.11,3.116,3.116,3.119,3.13,3.137,3.137,3.137,3.14,3.152,3.153,3.155,3.161,3.163,3.163,3.166,3.183,3.209,3.209,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 122.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 122.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 122.578} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.9276} SEN {Time 122.627} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.188,0.188,0.188,0,0,0,0,0,0,0,0,0,0,3.885,0,0.007,0,0,0,0.007,0,0,0,0,0,3.691,3.673,3.663,3.651,3.639,3.613,3.575,3.575,3.565,3.565,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.158,0.153,0.153,0.149,0.149,0.149,0.145,0.145,0.155,0.155,0.155,0.155,0.155,0.007,0,3.092,3.092,3.092,3.088,3.088,0.164,0.16,0.158,0.158,0.153,0.152,0.151,0.146,0.143,0.12,0.09,0.072,0.068,0.068,0.067,0.067,0.068,0.069,0.071,0.071,0.068,0.068,0.062,0.058,0.058,0.058,3.001,3.003,3.006,3.003,3.006,3.003,2.991,2.981,2.978,2.978,2.978,3.429,3.437,3.442,3.459,3.469,3.472,3.473,3.484,3.485,3.486,3.486,3.487,3.486,3.489,3.493,3.496,3.496,3.496,3.5,3.5,3.496,3.497,3.497,3.497,3.503,3.515,3.515,3.515,3.516,3.521,3.515,3.521,3.524,3.525,3.531,3.54,3.54,3.543,3.553,3.558,3.559,3.56,3.566,3.569,3.57,3.576,3.578,3.58,3.583,3.587,3.597,3.607,3.614,3.614,3.619,3.632,3.636,3.647,3.648,3.652,3.655,3.665,3.668,3.678,3.68,3.681,3.706,3.709,3.713,3.729,3.732,3.734,3.748,3.751,3.764,3.779,3.779,3.783,3.785,3.805,3.821,3.826,3.836,3.849,3.864,3.875,3.888,3.905,3.907,3.918,3.934,3.953,3.968,3.969,3.981,3.997,4.021,4.032,4.051,4.066,4.071,4.077,4.084,0.016,0.016,0.016,0.016,0.016,4.066,4.034,3.96,3.929,3.902,3.875,3.841,3.812,3.785,3.752,3.735,3.718,3.689,3.678,3.646,3.62,3.596,3.56,3.56,3.517,3.497,3.482,3.443,3.432,3.412,3.389,3.376,3.356,3.338,3.316,3.295,3.278,3.264,3.245,3.224,3.206,3.188,3.179,3.156,3.15,3.129,3.117,3.104,3.073,3.064,3.052,3.04,3.034,3.023,3.005,2.993,2.977,2.965,2.951,2.943,2.935,2.917,2.903,2.897,2.882,2.877,2.856,2.848,2.846,2.83,2.823,2.809,2.808,2.782,2.775,2.773,2.769,2.757,2.755,2.739,2.73,2.721,2.719,2.705,2.703,2.685,2.683,2.672,2.669,2.659,2.657,2.642,2.633,2.626,2.615,2.608,2.599,2.598,2.586,2.583,2.577,2.574,2.569,2.567,2.552,2.551,2.545,2.539,2.536,2.532,2.524,2.522,2.519,2.503,2.501,2.497,2.497,2.495,2.493,2.487,2.486,2.475,2.472,2.466,2.465,2.463,2.461,2.46,2.454,2.451,2.447,2.446,2.443,2.442,2.438,2.435,2.43,2.43,2.43,2.43,2.429,2.429,2.428,2.429,2.429,2.429,2.428,2.423,2.418,2.416,2.416,2.416,2.416,2.416,2.416,2.414,2.414,2.414,2.41,2.416,2.416,2.416,2.416,2.416,2.417,2.418,2.421,2.423,2.423,2.423,2.421,2.421,2.421,2.421,2.425,2.431,2.434,2.434,2.437,2.443,2.446,2.446,2.447,2.447,2.455,2.458,2.459,2.461,2.463,2.468,2.471,2.474,2.475,2.485,2.485,2.486,2.487,2.494,2.499,2.507,2.514,2.524,2.527,2.529,2.532,2.534,2.539,2.547,2.558,2.559,2.56,2.567,2.569,2.579,2.582,2.584,2.596,2.597,2.609,2.617,2.617,2.635,2.635,2.643,2.656,2.668,2.672,2.673,2.679,2.688,2.694,2.701,2.718,2.718,2.732,2.74,2.746,2.761,2.767,2.781,2.796,2.8,2.807,2.824,2.829,2.837,2.861,2.862,2.874,2.88,2.891,2.907,2.909,2.922,2.944,2.955,2.959,2.984,2.993,3.01,3.029,3.029,3.036,3.054,3.067,3.078,3.095,3.103,3.124,3.136,3.154,3.158,3.18,3.197,3.21,3.235,3.246,3.267,3.288,3.299,3.311,3.329,3.345,3.369,3.397,3.424,3.44,3.46,3.485,3.504,3.532,3.548,3.57,3.594,3.623,3.655,3.676,3.711,3.731,3.749,3.771,3.812,3.831,3.866,3.898,3.943,4.001,4.026,4.052,4.052,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,3.987,3.382,3.363,3.352,3.35,3.326,3.312,3.312,3.305,3.302,3.284,3.271,3.267,3.255,3.249,3.239,3.229,3.225,3.222,3.207,3.205,3.19,3.185,3.175,3.174,3.167,3.159,3.157,3.147,3.147,3.135,3.129,3.121,3.119,3.115,3.111,3.104,3.103,3.1,3.09,3.09,3.079,3.078,3.074,3.066,3.063,3.059,3.057,3.057,3.056,3.054,3.05,3.05,3.047,3.047,3.037,3.035,3.034,3.035,3.035,3.042,3.042,3.042,3.032,3.027,3.027,3.026,3.022,3.022,3.021,3.02,3.02,3.02,3.021,3.021,3.021,3.023,3.021,3.021,3.023,3.025,3.026,3.026,3.026,3.026,3.026,3.026,3.028,3.03,3.03,3.031,3.031,3.031,3.032,3.032,3.043,3.052,3.058,3.058,3.058,3.061,3.057,3.057,3.061,3.062,3.071,3.075,3.079,3.079,3.08,3.081,3.089,3.095,3.098,3.102,3.102,3.108,3.115,3.117,3.121,3.122,3.125,3.138,3.138,3.141,3.144,3.144,3.158,3.162,3.162,3.165,3.173,3.18,3.206,3.209,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 122.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 122.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 122.779} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276} SEN {Time 122.827} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.185,0.188,0.188,0,0,0,0,0,0,0,0,0,0,3.891,0,0.007,0,0,0,0.007,0,0,0,0,0,3.689,3.667,3.656,3.649,3.627,3.626,3.577,3.577,3.565,3.565,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.158,0.147,0.147,0.145,0.145,0.145,0.145,0.145,0.146,0.146,0.146,0.146,0.157,0.157,3.091,3.092,3.095,3.095,3.092,3.092,0.161,0.159,0.159,0.159,0.159,0.154,0.154,0.152,0.144,0.12,0.086,0.072,0.07,0.068,0.068,0.068,0.068,0.064,0.068,0.068,0.065,0.065,0.065,0.056,0.056,0.056,3.01,3.011,3.011,3.01,3.004,3,2.994,2.993,2.993,2.993,3.405,3.453,3.459,3.459,3.466,3.473,3.474,3.477,3.488,3.488,3.493,3.49,3.495,3.494,3.495,3.494,3.495,3.495,3.497,3.498,3.499,3.502,3.502,3.502,3.506,3.507,3.509,3.511,3.517,3.517,3.518,3.524,3.53,3.53,3.53,3.538,3.54,3.542,3.543,3.552,3.553,3.553,3.553,3.564,3.573,3.578,3.578,3.579,3.579,3.583,3.589,3.598,3.608,3.609,3.612,3.625,3.629,3.629,3.632,3.635,3.636,3.647,3.66,3.667,3.675,3.689,3.692,3.697,3.698,3.701,3.719,3.722,3.732,3.734,3.741,3.762,3.763,3.786,3.79,3.8,3.812,3.826,3.834,3.836,3.846,3.868,3.885,3.888,3.888,3.91,3.918,3.935,3.943,3.956,3.965,3.972,4.015,4.029,4.034,4.037,4.063,4.078,4.093,0.016,0.016,0.016,0.016,0.016,4.055,4.033,4.004,3.966,3.945,3.889,3.861,3.849,3.797,3.782,3.768,3.728,3.719,3.69,3.68,3.647,3.615,3.599,3.579,3.541,3.51,3.509,3.489,3.452,3.439,3.422,3.393,3.375,3.353,3.335,3.316,3.3,3.272,3.25,3.243,3.219,3.202,3.194,3.173,3.154,3.147,3.125,3.12,3.098,3.083,3.069,3.057,3.041,3.029,3.023,3.004,2.985,2.972,2.967,2.956,2.937,2.929,2.925,2.913,2.897,2.882,2.877,2.863,2.851,2.85,2.83,2.83,2.807,2.8,2.788,2.775,2.773,2.765,2.763,2.751,2.731,2.73,2.724,2.716,2.707,2.696,2.691,2.679,2.671,2.666,2.658,2.656,2.634,2.632,2.627,2.623,2.603,2.603,2.594,2.587,2.574,2.573,2.567,2.564,2.559,2.555,2.553,2.549,2.542,2.528,2.527,2.525,2.517,2.514,2.51,2.51,2.501,2.498,2.497,2.496,2.486,2.476,2.474,2.471,2.465,2.46,2.461,2.457,2.457,2.457,2.456,2.449,2.448,2.447,2.441,2.441,2.434,2.434,2.431,2.43,2.43,2.43,2.428,2.429,2.428,2.427,2.427,2.427,2.42,2.418,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.417,2.416,2.415,2.413,2.413,2.415,2.413,2.415,2.42,2.42,2.42,2.426,2.428,2.426,2.426,2.427,2.43,2.431,2.432,2.435,2.436,2.436,2.44,2.444,2.449,2.449,2.449,2.454,2.467,2.467,2.471,2.472,2.472,2.472,2.472,2.485,2.486,2.494,2.498,2.5,2.5,2.511,2.513,2.514,2.523,2.524,2.531,2.543,2.55,2.55,2.559,2.562,2.564,2.566,2.572,2.578,2.579,2.583,2.587,2.593,2.606,2.622,2.622,2.635,2.638,2.65,2.65,2.662,2.669,2.684,2.688,2.696,2.702,2.712,2.72,2.723,2.729,2.741,2.748,2.756,2.772,2.776,2.794,2.802,2.813,2.815,2.833,2.834,2.857,2.864,2.87,2.878,2.895,2.905,2.912,2.927,2.942,2.962,2.965,2.971,2.986,3.005,3.025,3.029,3.032,3.058,3.068,3.074,3.1,3.11,3.122,3.13,3.162,3.162,3.183,3.195,3.211,3.228,3.252,3.264,3.29,3.298,3.324,3.333,3.354,3.375,3.4,3.424,3.437,3.461,3.485,3.513,3.522,3.54,3.57,3.6,3.624,3.652,3.674,3.703,3.723,3.756,3.769,3.816,3.83,3.868,3.899,3.938,3.964,3.993,4.061,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.381,3.362,3.344,3.344,3.337,3.328,3.311,3.306,3.304,3.284,3.266,3.259,3.253,3.24,3.232,3.223,3.221,3.215,3.204,3.203,3.199,3.187,3.177,3.175,3.172,3.165,3.161,3.156,3.143,3.141,3.14,3.123,3.119,3.115,3.111,3.11,3.106,3.103,3.1,3.097,3.087,3.084,3.079,3.078,3.068,3.063,3.062,3.061,3.058,3.057,3.052,3.05,3.045,3.043,3.041,3.033,3.03,3.03,3.033,3.042,3.042,3.042,3.042,3.028,3.024,3.024,3.024,3.025,3.024,3.023,3.02,3.019,3.019,3.019,3.019,3.024,3.024,3.024,3.025,3.025,3.025,3.025,3.027,3.027,3.027,3.03,3.031,3.031,3.034,3.034,3.034,3.034,3.038,3.038,3.048,3.048,3.05,3.051,3.053,3.054,3.063,3.063,3.063,3.066,3.067,3.072,3.073,3.076,3.081,3.084,3.089,3.093,3.094,3.098,3.1,3.106,3.114,3.117,3.123,3.126,3.132,3.134,3.141,3.146,3.146,3.146,3.148,3.155,3.161,3.164,3.165,3.168,3.209,3.209,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 122.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 122.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 122.981} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1054} SEN {Time 123.023} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.178,0.18,0.18,0,0,0,0,0,0,0,0,0,0,3.89,0,0.007,0,0,0,0.007,0,0,0,0,0,3.692,3.673,3.655,3.655,3.625,3.623,3.585,3.585,3.57,3.57,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.147,0.145,0.145,0.142,0.142,0.143,0.144,0.144,0.144,0.147,0.156,0.156,0.156,0.163,3.086,3.086,3.095,3.095,3.086,3.095,3.095,0.163,0.161,0.161,0.154,0.153,0.148,0.144,0.144,0.121,0.091,0.073,0.066,0.066,0.066,0.066,0.066,0.067,0.071,0.072,0.071,0.07,0.07,0.055,0.055,0.055,3.004,3.01,3.01,3.004,2.999,2.998,2.996,2.995,2.983,2.983,2.983,3.432,3.445,3.455,3.46,3.471,3.474,3.474,3.474,3.483,3.489,3.488,3.489,3.494,3.494,3.494,3.494,3.495,3.496,3.499,3.5,3.501,3.5,3.501,3.501,3.501,3.516,3.516,3.516,3.516,3.515,3.515,3.522,3.523,3.533,3.537,3.541,3.542,3.545,3.548,3.549,3.55,3.559,3.562,3.562,3.571,3.58,3.582,3.581,3.591,3.591,3.603,3.606,3.61,3.619,3.622,3.64,3.64,3.641,3.643,3.655,3.655,3.659,3.678,3.68,3.68,3.68,3.697,3.697,3.698,3.718,3.729,3.732,3.734,3.751,3.762,3.773,3.775,3.788,3.797,3.808,3.819,3.826,3.84,3.845,3.865,3.879,3.879,3.89,3.918,3.928,3.941,3.959,3.966,3.966,3.967,3.993,4.005,4.031,4.036,4.06,4.077,4.087,0.016,0.016,0.016,0.016,0.016,4.078,4.047,3.996,3.953,3.942,3.891,3.863,3.843,3.811,3.789,3.763,3.749,3.716,3.696,3.67,3.65,3.635,3.593,3.572,3.547,3.527,3.513,3.47,3.455,3.447,3.424,3.388,3.377,3.354,3.337,3.322,3.289,3.277,3.263,3.237,3.226,3.202,3.191,3.185,3.169,3.14,3.122,3.114,3.101,3.084,3.071,3.055,3.041,3.033,3.014,3,2.99,2.984,2.971,2.959,2.945,2.928,2.923,2.912,2.898,2.886,2.876,2.864,2.856,2.846,2.84,2.816,2.81,2.798,2.791,2.781,2.772,2.764,2.75,2.746,2.73,2.726,2.726,2.712,2.707,2.702,2.683,2.678,2.677,2.663,2.659,2.655,2.643,2.635,2.627,2.621,2.613,2.593,2.591,2.584,2.574,2.57,2.568,2.566,2.562,2.552,2.549,2.544,2.538,2.525,2.52,2.519,2.517,2.516,2.508,2.507,2.498,2.497,2.49,2.488,2.487,2.482,2.478,2.472,2.47,2.468,2.462,2.457,2.456,2.456,2.452,2.451,2.441,2.441,2.441,2.44,2.44,2.434,2.434,2.43,2.427,2.427,2.423,2.427,2.427,2.427,2.425,2.429,2.425,2.425,2.42,2.42,2.417,2.416,2.416,2.415,2.415,2.414,2.413,2.413,2.412,2.413,2.411,2.417,2.418,2.418,2.419,2.423,2.424,2.424,2.424,2.424,2.426,2.426,2.43,2.43,2.433,2.436,2.436,2.439,2.442,2.446,2.446,2.446,2.446,2.451,2.455,2.464,2.464,2.467,2.47,2.47,2.47,2.473,2.482,2.486,2.489,2.495,2.495,2.499,2.499,2.515,2.521,2.528,2.535,2.535,2.536,2.542,2.548,2.55,2.558,2.559,2.56,2.566,2.574,2.581,2.596,2.599,2.602,2.612,2.622,2.626,2.627,2.633,2.65,2.651,2.657,2.667,2.67,2.677,2.696,2.711,2.713,2.714,2.727,2.74,2.741,2.747,2.76,2.771,2.778,2.798,2.799,2.803,2.823,2.828,2.835,2.853,2.867,2.88,2.886,2.896,2.91,2.923,2.93,2.934,2.953,2.963,2.983,2.994,3.009,3.024,3.024,3.035,3.063,3.076,3.079,3.09,3.117,3.128,3.134,3.154,3.163,3.182,3.206,3.217,3.235,3.244,3.269,3.278,3.301,3.31,3.342,3.354,3.371,3.405,3.418,3.447,3.474,3.481,3.504,3.52,3.553,3.57,3.601,3.617,3.641,3.683,3.699,3.728,3.75,3.789,3.809,3.835,3.876,3.902,3.94,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,4.024,3.992,3.378,3.37,3.349,3.344,3.337,3.314,3.314,3.304,3.299,3.276,3.27,3.267,3.256,3.256,3.237,3.236,3.222,3.22,3.204,3.202,3.202,3.202,3.176,3.172,3.165,3.162,3.16,3.156,3.147,3.144,3.141,3.127,3.126,3.113,3.113,3.108,3.1,3.097,3.09,3.089,3.089,3.081,3.075,3.072,3.071,3.07,3.068,3.062,3.058,3.055,3.048,3.048,3.043,3.042,3.038,3.037,3.036,3.036,3.036,3.039,3.039,3.039,3.036,3.036,3.027,3.027,3.021,3.021,3.021,3.021,3.02,3.022,3.022,3.022,3.022,3.022,3.022,3.022,3.022,3.022,3.022,3.021,3.022,3.022,3.023,3.024,3.029,3.033,3.035,3.035,3.035,3.038,3.038,3.038,3.04,3.045,3.053,3.054,3.054,3.055,3.056,3.056,3.061,3.066,3.066,3.067,3.078,3.08,3.083,3.084,3.09,3.091,3.092,3.098,3.102,3.105,3.108,3.111,3.126,3.13,3.134,3.134,3.138,3.144,3.149,3.149,3.15,3.16,3.164,3.166,3.172,3.182,3.212,3.213,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 123.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 123.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 123.175} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.1054} SEN {Time 123.223} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.176,0.183,0.183,0,0,0,0,0,0,0,0,0,0,3.881,0,0.007,0,0,0,0.007,0,0,0,0,0,3.692,3.673,3.657,3.649,3.622,3.611,3.591,3.591,3.56,3.56,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.233,0,0.16,0.153,0.148,0.148,0.144,0.148,0.149,0.149,0.149,0.149,0.149,0.153,0.158,3.09,3.09,3.09,3.09,3.085,3.085,3.085,0.156,0.156,0.156,0.153,0.155,0.151,0.145,0.145,0.124,0.075,0.073,0.069,0.065,0.061,0.065,0.061,0.061,0.068,0.074,0.074,0.074,0.064,0.064,0.064,3.01,3.01,3.01,3.006,3.006,3.002,2.997,2.996,2.989,2.982,2.982,2.982,3.431,3.436,3.453,3.459,3.473,3.477,3.478,3.485,3.487,3.487,3.487,3.487,3.489,3.493,3.492,3.492,3.495,3.495,3.498,3.498,3.501,3.502,3.502,3.505,3.506,3.508,3.513,3.513,3.514,3.518,3.518,3.518,3.519,3.528,3.535,3.535,3.538,3.54,3.55,3.554,3.556,3.564,3.567,3.57,3.57,3.574,3.577,3.585,3.595,3.595,3.603,3.607,3.609,3.619,3.619,3.631,3.634,3.64,3.643,3.652,3.652,3.658,3.665,3.668,3.675,3.685,3.703,3.703,3.713,3.728,3.733,3.735,3.738,3.751,3.755,3.765,3.774,3.795,3.799,3.804,3.819,3.827,3.834,3.847,3.864,3.865,3.886,3.89,3.905,3.922,3.934,3.955,3.956,3.973,3.98,4.001,4.015,4.025,4.044,4.059,4.067,4.094,0.016,0.016,0.016,0.016,0.016,4.071,4.071,4.026,3.993,3.937,3.921,3.863,3.854,3.813,3.791,3.751,3.732,3.708,3.686,3.659,3.632,3.626,3.6,3.577,3.546,3.52,3.501,3.474,3.459,3.432,3.418,3.39,3.376,3.354,3.341,3.303,3.297,3.276,3.253,3.231,3.221,3.201,3.187,3.177,3.157,3.148,3.131,3.104,3.094,3.083,3.077,3.055,3.053,3.037,3.026,2.999,2.99,2.976,2.968,2.951,2.936,2.935,2.921,2.904,2.889,2.88,2.869,2.863,2.855,2.847,2.835,2.823,2.801,2.8,2.787,2.78,2.774,2.769,2.757,2.753,2.735,2.728,2.717,2.714,2.698,2.696,2.681,2.681,2.677,2.668,2.66,2.658,2.643,2.623,2.617,2.617,2.612,2.601,2.591,2.589,2.578,2.577,2.571,2.568,2.567,2.554,2.549,2.549,2.545,2.537,2.531,2.529,2.523,2.508,2.507,2.503,2.498,2.495,2.493,2.492,2.488,2.486,2.475,2.468,2.465,2.456,2.456,2.456,2.456,2.455,2.453,2.45,2.445,2.442,2.44,2.439,2.437,2.437,2.432,2.43,2.427,2.427,2.426,2.426,2.427,2.428,2.428,2.428,2.421,2.42,2.419,2.419,2.419,2.42,2.419,2.419,2.415,2.415,2.414,2.414,2.414,2.414,2.414,2.416,2.416,2.416,2.418,2.419,2.424,2.426,2.426,2.427,2.429,2.429,2.429,2.431,2.432,2.432,2.432,2.434,2.441,2.442,2.446,2.446,2.452,2.452,2.457,2.463,2.465,2.465,2.465,2.466,2.473,2.478,2.48,2.488,2.495,2.498,2.499,2.5,2.503,2.52,2.528,2.528,2.531,2.533,2.538,2.539,2.554,2.555,2.558,2.558,2.56,2.57,2.576,2.585,2.586,2.594,2.595,2.617,2.619,2.628,2.631,2.641,2.644,2.654,2.664,2.668,2.674,2.678,2.699,2.705,2.706,2.706,2.724,2.733,2.743,2.755,2.761,2.769,2.782,2.798,2.798,2.808,2.819,2.834,2.838,2.848,2.868,2.874,2.882,2.895,2.913,2.918,2.921,2.943,2.955,2.964,2.981,2.989,3.011,3.025,3.034,3.041,3.055,3.061,3.082,3.102,3.114,3.12,3.138,3.155,3.158,3.183,3.199,3.218,3.232,3.247,3.264,3.28,3.303,3.319,3.329,3.354,3.377,3.403,3.427,3.445,3.455,3.483,3.512,3.539,3.549,3.581,3.598,3.633,3.647,3.683,3.701,3.718,3.78,3.808,3.835,3.835,3.851,3.905,3.927,3.96,4,4.012,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.381,3.362,3.345,3.344,3.333,3.329,3.311,3.306,3.295,3.285,3.275,3.269,3.255,3.251,3.236,3.225,3.224,3.208,3.207,3.198,3.197,3.185,3.178,3.175,3.17,3.156,3.156,3.152,3.148,3.143,3.125,3.122,3.119,3.117,3.113,3.11,3.102,3.1,3.097,3.09,3.087,3.087,3.078,3.075,3.066,3.066,3.064,3.061,3.06,3.054,3.047,3.047,3.047,3.043,3.038,3.035,3.035,3.035,3.038,3.035,3.031,3.031,3.031,3.031,3.03,3.023,3.023,3.023,3.023,3.023,3.022,3.02,3.022,3.02,3.02,3.02,3.02,3.018,3.02,3.02,3.02,3.024,3.024,3.024,3.024,3.024,3.029,3.034,3.029,3.035,3.038,3.035,3.038,3.038,3.043,3.045,3.055,3.058,3.058,3.058,3.059,3.059,3.063,3.065,3.066,3.07,3.077,3.077,3.078,3.079,3.092,3.093,3.101,3.104,3.107,3.11,3.112,3.113,3.123,3.124,3.133,3.133,3.133,3.142,3.146,3.148,3.153,3.163,3.163,3.163,3.164,3.174,3.207,3.211,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 123.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.097738} SEN {Time 123.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 123.385} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.1054} SEN {Time 123.423} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.18,0.182,0.182,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,3.69,3.672,3.651,3.649,3.635,3.627,3.582,3.582,3.582,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.154,0.148,0.147,0.147,0.146,0.146,0.146,0.149,0.146,0.149,0.149,0.154,0.154,3.095,3.095,3.095,3.095,3.087,3.086,0.155,0.153,0.153,0.152,0.152,0.152,0.149,0.147,0.141,0.121,0.096,0.074,0.072,0.059,0.059,0.064,0.064,0.064,0.066,0.067,0.067,0.063,0.061,0.061,0.061,3.005,3.005,3.006,3.006,3.005,3,2.996,2.996,2.986,2.979,2.979,2.979,3.442,3.452,3.454,3.454,3.464,3.478,3.483,3.487,3.488,3.488,3.489,3.487,3.487,3.487,3.489,3.493,3.496,3.498,3.498,3.498,3.502,3.499,3.499,3.501,3.504,3.504,3.512,3.513,3.513,3.514,3.514,3.515,3.522,3.527,3.531,3.533,3.539,3.544,3.548,3.553,3.558,3.558,3.558,3.562,3.568,3.575,3.582,3.582,3.592,3.596,3.597,3.603,3.604,3.62,3.623,3.628,3.636,3.637,3.644,3.654,3.655,3.656,3.673,3.673,3.69,3.691,3.695,3.709,3.717,3.717,3.719,3.727,3.731,3.747,3.755,3.766,3.776,3.778,3.792,3.804,3.807,3.832,3.842,3.86,3.867,3.873,3.897,3.903,3.904,3.925,3.942,3.949,3.954,3.964,3.982,4,4.028,4.036,4.042,4.061,4.086,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.048,4.037,3.984,3.92,3.901,3.862,3.854,3.817,3.79,3.753,3.747,3.704,3.691,3.666,3.646,3.624,3.598,3.562,3.542,3.524,3.514,3.48,3.452,3.428,3.412,3.394,3.372,3.355,3.338,3.316,3.288,3.272,3.252,3.228,3.225,3.201,3.194,3.187,3.154,3.143,3.126,3.115,3.095,3.095,3.085,3.071,3.051,3.025,3.02,3.004,2.988,2.984,2.964,2.956,2.947,2.936,2.926,2.91,2.898,2.888,2.872,2.87,2.85,2.844,2.826,2.819,2.807,2.804,2.786,2.776,2.774,2.772,2.763,2.752,2.743,2.729,2.72,2.712,2.706,2.702,2.685,2.684,2.677,2.658,2.656,2.656,2.645,2.636,2.628,2.617,2.606,2.606,2.589,2.583,2.581,2.574,2.572,2.569,2.558,2.551,2.547,2.537,2.536,2.535,2.528,2.527,2.521,2.519,2.51,2.51,2.499,2.496,2.493,2.493,2.49,2.481,2.471,2.47,2.47,2.47,2.47,2.455,2.451,2.447,2.445,2.442,2.442,2.44,2.442,2.442,2.442,2.437,2.432,2.431,2.43,2.428,2.427,2.423,2.427,2.421,2.421,2.419,2.419,2.415,2.414,2.415,2.415,2.415,2.413,2.419,2.416,2.415,2.415,2.415,2.415,2.415,2.416,2.418,2.423,2.418,2.423,2.423,2.424,2.423,2.424,2.426,2.426,2.426,2.432,2.432,2.434,2.435,2.436,2.436,2.443,2.444,2.445,2.448,2.448,2.452,2.455,2.455,2.458,2.472,2.472,2.474,2.476,2.48,2.482,2.487,2.49,2.493,2.496,2.499,2.5,2.52,2.523,2.525,2.528,2.535,2.54,2.54,2.541,2.545,2.546,2.557,2.562,2.569,2.575,2.584,2.592,2.593,2.608,2.612,2.617,2.618,2.625,2.638,2.641,2.644,2.66,2.67,2.673,2.676,2.69,2.704,2.706,2.718,2.722,2.73,2.74,2.745,2.761,2.764,2.778,2.797,2.8,2.813,2.829,2.83,2.837,2.852,2.86,2.874,2.876,2.888,2.91,2.918,2.929,2.948,2.96,2.964,2.969,2.985,3.009,3.023,3.033,3.048,3.061,3.064,3.083,3.095,3.106,3.119,3.142,3.152,3.161,3.179,3.197,3.212,3.234,3.236,3.259,3.286,3.303,3.31,3.33,3.357,3.381,3.401,3.417,3.448,3.461,3.488,3.515,3.524,3.556,3.571,3.606,3.614,3.655,3.674,3.704,3.727,3.756,3.779,3.812,3.836,3.868,3.907,3.931,3.962,3.99,4.02,4.067,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.009,0,0.009,0.009,0,0,3.381,3.364,3.354,3.339,3.329,3.315,3.312,3.297,3.287,3.282,3.272,3.265,3.25,3.25,3.237,3.231,3.224,3.212,3.202,3.2,3.193,3.179,3.177,3.171,3.17,3.162,3.154,3.148,3.146,3.145,3.139,3.127,3.125,3.114,3.113,3.111,3.11,3.106,3.096,3.086,3.081,3.077,3.072,3.063,3.063,3.063,3.063,3.061,3.059,3.055,3.05,3.049,3.046,3.041,3.039,3.039,3.036,3.036,3.039,3.039,3.032,3.037,3.029,3.029,3.029,3.029,3.029,3.024,3.023,3.021,3.02,3.019,3.019,3.019,3.022,3.022,3.024,3.024,3.026,3.025,3.025,3.025,3.025,3.023,3.023,3.029,3.029,3.03,3.032,3.033,3.035,3.037,3.039,3.042,3.045,3.048,3.051,3.051,3.051,3.051,3.063,3.064,3.069,3.071,3.073,3.074,3.075,3.08,3.087,3.088,3.091,3.093,3.098,3.098,3.103,3.109,3.113,3.122,3.128,3.128,3.132,3.132,3.138,3.139,3.148,3.149,3.154,3.154,3.163,3.166,3.169,3.175,3.202,3.21,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 123.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.099484} SEN {Time 123.58} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400} SEN {Time 123.58} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 3.0988} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 123.623} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.187,0.189,0.189,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.677,3.67,3.658,3.65,3.637,3.625,3.589,3.589,3.589,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.158,0.152,0.148,0.142,0.148,0.148,0.148,0.151,0.152,0.152,0.157,0.157,0.16,0.007,0,3.092,3.092,3.092,3.084,3.084,3.084,0.157,0.157,0.157,0.155,0.155,0.151,0.146,0.143,0.124,0.086,0.066,0.065,0.061,0.061,0.063,0.065,0.068,0.069,0.069,0.069,0.068,0.068,0.068,0.068,3.01,3.011,3.011,3.01,3.001,3.001,2.996,2.996,2.994,2.982,2.982,2.982,3.432,3.437,3.447,3.447,3.46,3.471,3.482,3.487,3.487,3.49,3.487,3.492,3.495,3.495,3.492,3.497,3.499,3.5,3.502,3.502,3.502,3.501,3.501,3.501,3.501,3.506,3.506,3.509,3.514,3.514,3.516,3.522,3.524,3.528,3.534,3.535,3.536,3.538,3.55,3.552,3.552,3.562,3.562,3.563,3.565,3.573,3.573,3.578,3.588,3.589,3.595,3.601,3.604,3.611,3.618,3.63,3.637,3.639,3.648,3.648,3.651,3.664,3.666,3.679,3.68,3.681,3.697,3.706,3.708,3.712,3.723,3.731,3.742,3.743,3.761,3.769,3.774,3.793,3.796,3.797,3.822,3.829,3.84,3.842,3.871,3.874,3.884,3.891,3.907,3.919,3.937,3.943,3.955,3.967,3.972,3.989,4.022,4.031,4.044,4.057,4.078,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.071,4.027,3.977,3.931,3.931,3.908,3.872,3.816,3.794,3.758,3.739,3.719,3.698,3.67,3.65,3.629,3.598,3.584,3.539,3.516,3.496,3.477,3.462,3.432,3.417,3.389,3.371,3.349,3.336,3.322,3.298,3.272,3.266,3.241,3.232,3.21,3.185,3.185,3.165,3.145,3.137,3.117,3.107,3.096,3.076,3.06,3.049,3.041,3.025,3.009,2.997,2.982,2.971,2.951,2.947,2.931,2.921,2.92,2.905,2.893,2.882,2.864,2.856,2.847,2.835,2.817,2.813,2.809,2.799,2.79,2.777,2.775,2.762,2.754,2.743,2.727,2.726,2.717,2.706,2.702,2.693,2.681,2.68,2.67,2.667,2.654,2.636,2.635,2.63,2.617,2.615,2.609,2.605,2.59,2.588,2.574,2.571,2.564,2.56,2.557,2.556,2.546,2.54,2.54,2.534,2.532,2.518,2.514,2.51,2.508,2.497,2.496,2.495,2.494,2.486,2.479,2.477,2.474,2.467,2.465,2.465,2.464,2.462,2.457,2.456,2.452,2.45,2.436,2.436,2.436,2.436,2.435,2.435,2.43,2.428,2.426,2.426,2.426,2.424,2.424,2.424,2.424,2.424,2.419,2.418,2.416,2.416,2.416,2.416,2.416,2.417,2.417,2.417,2.415,2.415,2.413,2.413,2.413,2.414,2.415,2.415,2.415,2.415,2.415,2.415,2.42,2.427,2.427,2.427,2.428,2.431,2.434,2.434,2.44,2.443,2.446,2.444,2.446,2.446,2.446,2.45,2.458,2.473,2.473,2.47,2.472,2.472,2.472,2.478,2.481,2.488,2.491,2.492,2.501,2.51,2.515,2.52,2.527,2.534,2.534,2.536,2.544,2.547,2.552,2.554,2.567,2.567,2.572,2.578,2.582,2.588,2.592,2.596,2.601,2.61,2.619,2.631,2.633,2.638,2.646,2.659,2.672,2.674,2.689,2.697,2.7,2.708,2.71,2.722,2.73,2.735,2.74,2.75,2.759,2.771,2.778,2.783,2.801,2.81,2.821,2.831,2.843,2.85,2.861,2.871,2.886,2.899,2.909,2.923,2.934,2.955,2.958,2.967,2.981,3.001,3.008,3.02,3.032,3.054,3.055,3.071,3.092,3.1,3.107,3.117,3.142,3.156,3.177,3.196,3.205,3.219,3.248,3.25,3.269,3.285,3.311,3.33,3.341,3.364,3.383,3.405,3.429,3.449,3.461,3.495,3.514,3.537,3.551,3.594,3.617,3.639,3.662,3.671,3.702,3.737,3.765,3.787,3.823,3.849,3.878,3.92,3.944,3.957,3.989,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0.007,4.032,3.38,3.359,3.356,3.337,3.332,3.329,3.315,3.301,3.288,3.284,3.282,3.266,3.256,3.248,3.239,3.232,3.231,3.208,3.204,3.196,3.185,3.183,3.172,3.169,3.168,3.155,3.151,3.145,3.139,3.132,3.13,3.128,3.13,3.119,3.109,3.108,3.108,3.102,3.096,3.093,3.081,3.079,3.077,3.072,3.068,3.064,3.063,3.059,3.058,3.056,3.054,3.053,3.046,3.041,3.039,3.038,3.034,3.034,3.039,3.034,3.033,3.033,3.03,3.03,3.029,3.029,3.029,3.029,3.021,3.029,3.023,3.023,3.023,3.024,3.023,3.024,3.024,3.023,3.021,3.021,3.021,3.021,3.021,3.023,3.026,3.027,3.036,3.037,3.037,3.038,3.037,3.038,3.036,3.038,3.043,3.05,3.052,3.052,3.056,3.054,3.054,3.059,3.065,3.067,3.07,3.074,3.075,3.083,3.085,3.089,3.089,3.097,3.099,3.1,3.103,3.104,3.107,3.118,3.12,3.126,3.126,3.138,3.139,3.144,3.148,3.148,3.155,3.166,3.167,3.168,3.178,3.186,3.202,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 123.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.134390} SEN {Time 123.78} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020} SEN {Time 123.783} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 4.2926} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 3.0988} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 123.823} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.182,0.187,0.187,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.683,3.675,3.651,3.65,3.64,3.627,3.607,3.534,3.534,3.534,0,0,0,0,0,0,0,0,0,0,0,0,0,0.149,0.146,0.146,0.144,0.144,0.143,0.147,0.149,0.154,0.151,0.154,0.154,0.153,0.153,0,0,0,0,0,0,0,0.161,0.161,0.159,0.159,0.158,0.152,0.139,0.139,0.122,0.096,0.074,0.065,0.065,0.065,0.066,0.066,0.066,0.066,0.072,0.066,0.064,0.062,0.06,0.06,0.06,3.014,3.014,3.021,3.014,3.014,3.013,3.009,3.003,2.994,2.992,2.98,2.974,2.968,2.967,2.965,2.965,2.965,3.463,3.471,3.477,3.479,3.48,3.48,3.487,3.488,3.488,3.49,3.49,3.49,3.49,3.49,3.49,3.49,3.488,3.492,3.492,3.492,3.497,3.497,3.497,3.498,3.5,3.5,3.506,3.508,3.515,3.515,3.518,3.525,3.526,3.53,3.533,3.535,3.536,3.539,3.54,3.546,3.546,3.546,3.55,3.56,3.562,3.569,3.569,3.572,3.585,3.588,3.595,3.604,3.61,3.613,3.619,3.629,3.632,3.636,3.636,3.638,3.645,3.666,3.667,3.668,3.68,3.681,3.682,3.69,3.697,3.703,3.716,3.73,3.732,3.735,3.758,3.769,3.779,3.779,3.792,3.807,3.809,3.818,3.821,3.845,3.866,3.873,3.875,3.889,3.902,3.905,3.925,3.944,3.962,3.968,3.978,3.983,4.003,4.02,4.046,4.047,4.071,4.087,4.094,0.016,0.016,0.007,0.016,4.078,4.035,4.007,3.962,3.945,3.92,3.877,3.854,3.829,3.795,3.771,3.758,3.716,3.7,3.663,3.652,3.612,3.589,3.563,3.556,3.514,3.498,3.478,3.453,3.444,3.401,3.392,3.365,3.351,3.333,3.314,3.304,3.272,3.263,3.246,3.231,3.213,3.19,3.188,3.156,3.144,3.127,3.124,3.102,3.093,3.073,3.06,3.049,3.033,3.026,3.009,2.991,2.986,2.975,2.96,2.952,2.929,2.926,2.914,2.89,2.877,2.877,2.872,2.86,2.844,2.828,2.826,2.82,2.806,2.799,2.788,2.78,2.772,2.765,2.749,2.742,2.718,2.714,2.714,2.707,2.697,2.694,2.679,2.676,2.662,2.661,2.657,2.644,2.643,2.636,2.628,2.617,2.612,2.601,2.598,2.59,2.583,2.574,2.571,2.565,2.565,2.553,2.548,2.539,2.535,2.533,2.53,2.527,2.516,2.516,2.503,2.498,2.496,2.492,2.489,2.485,2.484,2.476,2.475,2.471,2.47,2.464,2.46,2.457,2.457,2.45,2.45,2.45,2.449,2.446,2.442,2.442,2.441,2.439,2.434,2.431,2.431,2.429,2.429,2.429,2.427,2.426,2.421,2.42,2.419,2.42,2.419,2.416,2.412,2.413,2.413,2.413,2.413,2.414,2.419,2.419,2.419,2.42,2.42,2.417,2.415,2.417,2.417,2.419,2.423,2.423,2.424,2.427,2.429,2.431,2.431,2.432,2.434,2.437,2.437,2.443,2.443,2.443,2.446,2.454,2.453,2.454,2.454,2.454,2.467,2.467,2.468,2.474,2.475,2.48,2.485,2.489,2.501,2.501,2.503,2.505,2.509,2.512,2.517,2.523,2.531,2.532,2.541,2.544,2.546,2.549,2.563,2.564,2.568,2.577,2.58,2.586,2.594,2.599,2.6,2.615,2.62,2.63,2.638,2.645,2.65,2.66,2.666,2.668,2.678,2.684,2.697,2.707,2.712,2.718,2.733,2.742,2.746,2.753,2.759,2.768,2.78,2.792,2.802,2.811,2.819,2.825,2.837,2.849,2.863,2.863,2.881,2.895,2.911,2.922,2.938,2.945,2.95,2.968,2.973,2.989,3.01,3.017,3.019,3.03,3.05,3.068,3.085,3.095,3.101,3.121,3.145,3.152,3.156,3.176,3.188,3.206,3.218,3.245,3.263,3.288,3.306,3.318,3.331,3.367,3.369,3.39,3.408,3.438,3.447,3.487,3.502,3.536,3.554,3.579,3.598,3.614,3.657,3.674,3.693,3.725,3.753,3.772,3.795,3.832,3.853,3.886,3.925,3.95,3.991,4.009,0,0,0.009,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0.007,0,0,0,4.088,4.078,4.078,4.04,4.028,3.376,3.362,3.354,3.337,3.326,3.322,3.309,3.301,3.291,3.284,3.272,3.258,3.253,3.246,3.241,3.232,3.226,3.224,3.208,3.202,3.196,3.186,3.182,3.173,3.166,3.163,3.154,3.148,3.148,3.139,3.139,3.119,3.118,3.115,3.114,3.111,3.11,3.108,3.099,3.097,3.094,3.093,3.084,3.076,3.076,3.067,3.064,3.061,3.061,3.058,3.052,3.047,3.047,3.047,3.046,3.038,3.038,3.049,3.05,3.05,3.05,3.039,3.037,3.037,3.036,3.037,3.032,3.034,3.032,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.031,3.033,3.033,3.033,3.033,3.031,3.031,3.033,3.035,3.036,3.037,3.047,3.047,3.044,3.043,3.044,3.044,3.049,3.054,3.06,3.061,3.061,3.061,3.064,3.067,3.075,3.075,3.075,3.077,3.083,3.084,3.086,3.098,3.098,3.099,3.101,3.101,3.115,3.118,3.125,3.134,3.136,3.137,3.143,3.143,3.147,3.165,3.168,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 123.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.179769} SEN {Time 123.98} {Type Tachometer} {Name LeftRight} {Vel 0.048260,-0.048260} SEN {Time 123.978} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 3.0988} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 4.0386} {Name Sonar15 Range 5.6642} SEN {Time 124.019} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.18,0.182,0.182,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.67,3.654,3.639,3.639,3.638,3.637,3.564,3.564,3.564,0,0,0,0,0,0,0,0.154,0.152,0.148,0.148,0.147,0.147,0.147,0.149,0.149,0.157,0.157,0.16,0.166,0,0,0,0,0,0,0,0.155,0.155,0.154,0.149,0.153,0.148,0.147,0.147,0.121,0.098,0.072,0.07,0.064,0.064,0.068,0.064,0.067,0.067,0.067,0.067,0.067,0.066,0.054,0.054,0.054,3.02,3.023,3.024,3.023,3.02,3.017,3.017,3.01,3.009,3.008,2.996,2.984,2.98,2.979,2.966,2.966,2.966,2.96,2.964,2.964,2.962,2.962,2.962,2.962,2.962,3.488,3.488,3.489,3.491,3.491,3.488,3.491,3.484,3.484,3.49,3.49,3.49,3.49,3.487,3.487,3.487,3.487,3.49,3.492,3.492,3.492,3.493,3.493,3.493,3.493,3.506,3.511,3.506,3.513,3.516,3.515,3.517,3.517,3.519,3.519,3.526,3.526,3.529,3.536,3.536,3.537,3.544,3.55,3.551,3.552,3.559,3.564,3.566,3.576,3.58,3.584,3.584,3.597,3.609,3.617,3.618,3.62,3.622,3.623,3.636,3.64,3.641,3.659,3.662,3.667,3.673,3.686,3.698,3.698,3.71,3.72,3.723,3.743,3.743,3.749,3.766,3.772,3.78,3.781,3.782,3.809,3.814,3.839,3.844,3.847,3.871,3.879,3.882,3.89,3.91,3.921,3.928,3.948,3.976,3.992,3.993,4,4.029,4.043,4.059,4.067,4.081,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.061,3.984,3.957,3.921,3.883,3.856,3.817,3.8,3.782,3.744,3.717,3.7,3.665,3.65,3.632,3.59,3.57,3.553,3.508,3.487,3.487,3.459,3.445,3.41,3.39,3.364,3.356,3.328,3.318,3.292,3.273,3.253,3.245,3.23,3.212,3.206,3.183,3.176,3.148,3.148,3.135,3.128,3.092,3.078,3.061,3.043,3.037,3.03,3.015,2.994,2.985,2.968,2.964,2.948,2.947,2.932,2.923,2.91,2.906,2.884,2.877,2.87,2.857,2.845,2.84,2.82,2.819,2.795,2.793,2.786,2.78,2.758,2.752,2.738,2.734,2.721,2.719,2.696,2.694,2.687,2.684,2.683,2.667,2.652,2.649,2.646,2.636,2.635,2.624,2.622,2.608,2.607,2.594,2.594,2.584,2.575,2.572,2.57,2.567,2.557,2.556,2.544,2.528,2.528,2.525,2.524,2.516,2.511,2.507,2.499,2.498,2.495,2.491,2.489,2.486,2.485,2.478,2.475,2.472,2.471,2.461,2.461,2.461,2.456,2.456,2.454,2.451,2.445,2.444,2.443,2.436,2.436,2.436,2.434,2.431,2.426,2.423,2.421,2.421,2.425,2.425,2.425,2.425,2.424,2.416,2.416,2.416,2.416,2.419,2.424,2.424,2.424,2.419,2.419,2.419,2.423,2.423,2.423,2.423,2.423,2.424,2.424,2.424,2.426,2.426,2.427,2.428,2.428,2.43,2.431,2.431,2.435,2.439,2.44,2.444,2.446,2.447,2.45,2.456,2.46,2.464,2.467,2.467,2.467,2.467,2.468,2.48,2.481,2.485,2.487,2.488,2.491,2.501,2.503,2.506,2.509,2.517,2.518,2.527,2.538,2.539,2.541,2.549,2.553,2.554,2.556,2.564,2.579,2.579,2.581,2.596,2.599,2.604,2.616,2.619,2.622,2.628,2.643,2.652,2.657,2.667,2.67,2.672,2.688,2.693,2.706,2.711,2.712,2.723,2.731,2.739,2.739,2.762,2.766,2.773,2.785,2.795,2.803,2.818,2.834,2.84,2.853,2.857,2.875,2.877,2.894,2.904,2.909,2.924,2.936,2.954,2.964,2.971,2.981,2.998,3.002,3.02,3.032,3.054,3.067,3.073,3.087,3.102,3.121,3.132,3.145,3.162,3.172,3.193,3.21,3.22,3.24,3.259,3.277,3.298,3.311,3.331,3.362,3.373,3.393,3.408,3.447,3.451,3.472,3.508,3.522,3.54,3.571,3.577,3.614,3.634,3.655,3.672,3.706,3.724,3.752,3.775,3.812,3.849,3.878,3.905,3.934,3.964,0,0,0.009,0.009,0.009,0,0.009,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.389,3.378,3.365,3.354,3.347,3.325,3.32,3.306,3.303,3.298,3.289,3.272,3.271,3.271,3.271,3.253,3.228,3.224,3.224,3.214,3.213,3.202,3.199,3.178,3.177,3.167,3.166,3.157,3.154,3.153,3.139,3.136,3.135,3.129,3.121,3.121,3.115,3.111,3.108,3.103,3.093,3.092,3.089,3.084,3.079,3.079,3.078,3.073,3.073,3.068,3.066,3.061,3.056,3.056,3.055,3.05,3.05,3.05,3.091,3.091,3.091,3.061,3.048,3.04,3.04,3.038,3.035,3.032,3.032,3.032,3.029,3.029,3.033,3.034,3.034,3.034,3.034,3.039,3.042,3.043,3.043,3.043,3.038,3.038,3.038,3.038,3.039,3.043,3.043,3.048,3.053,3.053,3.053,3.052,3.059,3.059,3.059,3.059,3.061,3.061,3.061,3.065,3.072,3.072,3.073,3.076,3.08,3.081,3.085,3.089,3.095,3.105,3.105,3.105,3.106,3.114,3.127,3.143,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 124.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.249582} SEN {Time 124.17} {Type Tachometer} {Name LeftRight} {Vel 0.071120,-0.071120} SEN {Time 124.172} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6642} SEN {Time 124.219} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0.007,3.657,3.487,0.161,0.154,0.15,0.148,0.148,0.144,0.148,0.153,0.156,0.153,0.156,0.156,0.156,0.159,0,0,0,0,0,0,0,0,0.16,0.156,0.151,0.151,0.15,0.145,0.143,0.12,0.089,0.069,0.069,0.065,0.065,0.065,0.064,0.064,0.07,0.07,0.065,0.065,0.062,0.057,0.057,0.057,3.06,3.06,3.06,3.048,3.045,3.045,3.036,3.034,3.034,3.034,3.031,3.003,3.002,3,2.987,2.975,2.975,2.97,2.97,2.97,2.97,2.966,2.966,2.966,2.964,2.96,2.959,2.957,2.955,2.954,2.952,2.952,2.948,2.942,2.942,2.957,2.965,3.479,3.479,3.483,3.487,3.483,3.483,3.483,3.487,3.487,3.487,3.486,3.486,3.48,3.479,3.479,3.479,3.48,3.484,3.487,3.487,3.487,3.487,3.495,3.495,3.496,3.496,3.499,3.499,3.499,3.501,3.501,3.508,3.508,3.508,3.508,3.51,3.516,3.52,3.526,3.527,3.528,3.532,3.543,3.543,3.549,3.556,3.559,3.559,3.56,3.562,3.575,3.588,3.594,3.594,3.603,3.613,3.617,3.618,3.624,3.63,3.641,3.646,3.653,3.659,3.667,3.672,3.674,3.676,3.682,3.697,3.717,3.718,3.731,3.736,3.744,3.751,3.761,3.765,3.783,3.792,3.806,3.807,3.823,3.824,3.834,3.856,3.856,3.88,3.888,3.888,3.915,3.935,3.943,3.959,3.962,3.975,3.997,4.001,4.009,4.037,4.052,4.07,4.076,0.016,0.016,0.016,0.016,0.016,4.081,4.042,4.009,3.973,3.941,3.904,3.88,3.846,3.812,3.792,3.756,3.733,3.707,3.675,3.655,3.627,3.603,3.579,3.546,3.526,3.513,3.486,3.472,3.447,3.432,3.405,3.379,3.355,3.352,3.33,3.314,3.299,3.27,3.264,3.246,3.225,3.203,3.192,3.183,3.159,3.144,3.131,3.109,3.109,3.095,3.086,3.058,3.049,3.042,3.018,3.014,3.006,2.993,2.981,2.955,2.954,2.94,2.921,2.92,2.906,2.897,2.882,2.875,2.875,2.866,2.847,2.824,2.814,2.814,2.812,2.799,2.778,2.764,2.759,2.757,2.745,2.734,2.73,2.712,2.711,2.704,2.696,2.687,2.676,2.663,2.663,2.662,2.645,2.636,2.635,2.622,2.61,2.609,2.607,2.593,2.589,2.589,2.575,2.574,2.565,2.563,2.558,2.552,2.545,2.539,2.538,2.533,2.527,2.519,2.513,2.513,2.512,2.508,2.501,2.5,2.494,2.492,2.491,2.485,2.484,2.477,2.476,2.467,2.467,2.465,2.464,2.463,2.458,2.455,2.452,2.447,2.447,2.445,2.442,2.442,2.442,2.437,2.434,2.434,2.432,2.434,2.432,2.432,2.431,2.431,2.431,2.428,2.425,2.425,2.424,2.424,2.424,2.424,2.424,2.425,2.427,2.427,2.427,2.426,2.423,2.423,2.423,2.424,2.426,2.428,2.428,2.428,2.433,2.433,2.447,2.447,2.447,2.449,2.449,2.449,2.45,2.451,2.456,2.458,2.459,2.459,2.464,2.464,2.472,2.474,2.475,2.476,2.477,2.478,2.49,2.491,2.492,2.494,2.499,2.511,2.512,2.514,2.516,2.531,2.531,2.533,2.535,2.546,2.555,2.558,2.561,2.564,2.565,2.575,2.58,2.583,2.588,2.594,2.596,2.61,2.618,2.623,2.629,2.63,2.642,2.657,2.658,2.665,2.679,2.688,2.688,2.693,2.706,2.719,2.73,2.737,2.743,2.743,2.759,2.763,2.766,2.789,2.792,2.806,2.814,2.818,2.825,2.848,2.853,2.857,2.878,2.879,2.9,2.903,2.919,2.921,2.941,2.952,2.967,2.979,2.997,3.004,3.019,3.025,3.042,3.047,3.061,3.066,3.097,3.109,3.121,3.137,3.148,3.168,3.176,3.196,3.219,3.241,3.252,3.267,3.284,3.304,3.345,3.366,3.383,3.383,3.383,3.417,3.433,3.453,3.47,3.505,3.514,3.539,3.559,3.591,3.611,3.646,3.656,3.7,3.712,3.728,3.763,3.795,3.828,3.856,0.009,0.009,0.009,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0,0.007,0,0,0.007,0,0,0,0.007,0,0.007,0,4.08,3.412,3.389,3.369,3.365,3.357,3.347,3.333,3.332,3.33,3.306,3.288,3.279,3.278,3.272,3.26,3.255,3.235,3.23,3.229,3.229,3.213,3.211,3.204,3.192,3.186,3.18,3.178,3.169,3.169,3.156,3.152,3.148,3.146,3.145,3.135,3.126,3.124,3.121,3.12,3.112,3.108,3.103,3.093,3.093,3.092,3.092,3.08,3.08,3.08,3.078,3.077,3.076,3.063,3.061,3.058,3.057,3.057,3.057,3.057,3.066,3.066,3.066,3.053,3.053,3.05,3.053,3.05,3.054,3.05,3.048,3.041,3.041,3.041,3.042,3.045,3.05,3.05,3.05,3.05,3.048,3.047,3.045,3.044,3.044,3.044,3.044,3.044,3.049,3.05,3.054,3.054,3.054,3.054,3.054,3.057,3.058,3.058,3.06,3.063,3.066,3.066,3.066,3.066,3.09,3.096,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 124.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.338594} SEN {Time 124.37} {Type Tachometer} {Name LeftRight} {Vel 0.078740,-0.078740} SEN {Time 124.375} {Type Sonar} {Name Sonar0 Range 6.3246} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 5.4356} {Name Sonar5 Range 4.8768} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 6.477} {Name Sonar15 Range 6.2484} SEN {Time 124.419} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.183,0.183,0.184,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.795,0.153,0.149,0.149,0.146,0.146,0.136,0.143,0.143,0.151,0.151,0.153,0.154,0.155,0.155,0.287,0,0.009,0.009,0.009,0.009,0.007,3.313,0.156,0.155,0.155,0.155,0.151,0.147,0.145,0.121,0.089,0.072,0.067,0.063,0.063,0.068,0.066,0.068,0.068,0.072,0.068,0.068,0.061,0.061,0.061,0.076,0.108,0.129,0,0,0,0,0,0,0,3.063,3.061,3.056,3.051,3.05,3.046,3.033,3.029,3.019,3.015,3.01,3,2.995,2.995,2.994,2.994,2.985,2.984,2.981,2.978,2.975,2.972,2.969,2.967,2.962,2.959,2.958,2.958,2.958,2.956,2.955,2.95,2.947,2.946,2.945,2.942,2.939,2.938,2.938,2.938,2.93,2.938,2.941,3.474,3.476,3.478,3.476,3.474,3.48,3.467,3.467,3.467,3.471,3.471,3.476,3.476,3.476,3.476,3.472,3.472,3.472,3.477,3.477,3.481,3.481,3.481,3.481,3.481,3.482,3.486,3.489,3.489,3.489,3.49,3.49,3.49,3.497,3.505,3.508,3.508,3.512,3.516,3.518,3.519,3.536,3.539,3.539,3.54,3.54,3.542,3.554,3.557,3.567,3.57,3.57,3.571,3.587,3.59,3.604,3.605,3.606,3.62,3.628,3.633,3.646,3.652,3.659,3.661,3.669,3.677,3.688,3.69,3.694,3.717,3.725,3.732,3.737,3.742,3.751,3.754,3.777,3.783,3.791,3.792,3.804,3.818,3.823,3.825,3.825,3.869,3.871,3.871,3.894,3.911,3.915,3.932,3.947,3.95,3.973,3.985,4.003,4.014,4.027,4.042,4.067,4.076,4.09,0.016,0.016,0.016,4.091,4.055,4.02,3.972,3.949,3.908,3.888,3.855,3.828,3.8,3.765,3.736,3.716,3.686,3.664,3.639,3.602,3.584,3.573,3.544,3.533,3.507,3.485,3.462,3.432,3.41,3.398,3.382,3.364,3.346,3.332,3.315,3.286,3.278,3.268,3.238,3.233,3.22,3.202,3.175,3.164,3.143,3.125,3.121,3.106,3.097,3.077,3.069,3.047,3.022,3.02,3.006,2.994,2.992,2.971,2.955,2.945,2.937,2.929,2.907,2.901,2.897,2.878,2.864,2.859,2.855,2.837,2.823,2.817,2.807,2.792,2.79,2.774,2.769,2.761,2.744,2.738,2.732,2.722,2.71,2.708,2.702,2.683,2.676,2.676,2.665,2.657,2.645,2.642,2.63,2.627,2.627,2.617,2.61,2.603,2.603,2.59,2.589,2.582,2.582,2.571,2.567,2.563,2.56,2.55,2.545,2.544,2.541,2.533,2.523,2.523,2.508,2.507,2.504,2.498,2.494,2.488,2.488,2.488,2.482,2.481,2.481,2.473,2.47,2.47,2.47,2.47,2.467,2.467,2.461,2.454,2.454,2.452,2.447,2.447,2.443,2.443,2.442,2.44,2.44,2.44,2.44,2.438,2.438,2.434,2.431,2.425,2.425,2.424,2.424,2.424,2.424,2.424,2.424,2.424,2.427,2.432,2.432,2.432,2.43,2.43,2.43,2.429,2.433,2.434,2.433,2.432,2.434,2.433,2.433,2.433,2.44,2.442,2.445,2.448,2.45,2.456,2.456,2.458,2.459,2.461,2.461,2.466,2.466,2.476,2.476,2.481,2.483,2.483,2.487,2.49,2.491,2.495,2.501,2.508,2.513,2.518,2.519,2.52,2.53,2.538,2.541,2.546,2.549,2.551,2.562,2.565,2.566,2.576,2.582,2.583,2.591,2.592,2.599,2.62,2.622,2.623,2.626,2.639,2.643,2.644,2.66,2.665,2.67,2.692,2.697,2.699,2.704,2.716,2.722,2.728,2.74,2.741,2.745,2.763,2.77,2.783,2.785,2.796,2.813,2.817,2.829,2.845,2.854,2.859,2.874,2.883,2.895,2.902,2.921,2.933,2.933,2.955,2.964,2.985,2.991,3.005,3.015,3.025,3.04,3.056,3.066,3.082,3.087,3.115,3.124,3.133,3.15,3.162,3.176,3.197,3.206,3.233,3.25,3.262,3.27,3.285,3.305,3.34,3.358,3.374,3.383,3.411,3.444,3.45,3.475,3.494,3.507,3.534,3.557,3.576,3.605,3.636,3.66,3.683,3.705,3.73,3.751,3.78,3.826,3.851,3.941,3.953,4.003,4.003,4.003,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.045,3.403,3.393,3.379,3.364,3.363,3.354,3.348,3.332,3.314,3.304,3.299,3.289,3.28,3.275,3.274,3.262,3.247,3.243,3.23,3.229,3.218,3.213,3.208,3.202,3.192,3.19,3.178,3.173,3.167,3.163,3.16,3.149,3.148,3.142,3.141,3.135,3.132,3.13,3.128,3.124,3.112,3.107,3.104,3.103,3.103,3.102,3.102,3.086,3.085,3.08,3.08,3.08,3.08,3.078,3.076,3.067,3.067,3.067,3.068,3.068,3.068,3.068,3.065,3.063,3.063,3.063,3.061,3.056,3.052,3.051,3.051,3.051,3.053,3.053,3.053,3.052,3.048,3.048,3.052,3.052,3.053,3.053,3.051,3.048,3.048,3.048,3.051,3.051,3.058,3.064,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 124.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.438078} SEN {Time 124.58} {Type Tachometer} {Name LeftRight} {Vel 0.093980,-0.093980} SEN {Time 124.578} {Type Sonar} {Name Sonar0 Range 6.3246} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3716} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 5.4356} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.477} {Name Sonar15 Range 6.2484} SEN {Time 124.619} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.177,0.177,0.177,0.177,0.182,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.153,0.153,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.152,0.155,0.156,0.161,0.329,0,0,0,0,0,0,0,0.165,0.163,0.157,0.155,0.152,0.143,0.143,0.121,0.093,0.067,0.067,0.067,0.067,0.067,0.068,0.071,0.071,0.071,0.066,0.064,0.06,0.06,0.06,0.069,0.087,0,0,0,0,0,0,0,0,0,3.162,3.161,3.151,3.161,3.161,3.3,0.007,0,0,0,0,0.007,0,0,0,0,3.041,3.033,3.032,3.025,3.023,3.016,3.013,3.013,2.998,2.997,2.995,2.995,2.983,2.982,2.98,2.978,2.976,2.968,2.964,2.962,2.959,2.959,2.959,2.955,2.955,2.95,2.948,2.946,2.945,2.944,2.941,2.94,2.934,2.932,2.925,2.924,2.924,2.924,2.924,2.924,2.927,3.012,3.452,3.453,3.459,3.454,3.459,3.459,3.459,3.46,3.46,3.459,3.459,3.46,3.458,3.462,3.462,3.459,3.459,3.459,3.459,3.459,3.459,3.465,3.466,3.466,3.472,3.475,3.476,3.478,3.483,3.484,3.484,3.486,3.487,3.49,3.494,3.5,3.502,3.503,3.508,3.509,3.512,3.518,3.522,3.529,3.531,3.537,3.538,3.546,3.551,3.556,3.563,3.566,3.578,3.582,3.589,3.598,3.601,3.605,3.619,3.619,3.621,3.624,3.643,3.649,3.657,3.657,3.658,3.676,3.688,3.689,3.691,3.697,3.705,3.719,3.722,3.732,3.74,3.748,3.768,3.768,3.783,3.785,3.794,3.799,3.828,3.828,3.84,3.844,3.872,3.879,3.883,3.894,3.907,3.928,3.929,3.953,3.963,3.971,3.99,4.008,4.016,4.035,4.053,4.076,4.085,0.016,0.016,0.016,4.066,4.041,4.008,3.955,3.936,3.91,3.879,3.842,3.822,3.787,3.767,3.736,3.718,3.681,3.668,3.648,3.63,3.599,3.571,3.552,3.534,3.507,3.495,3.465,3.463,3.427,3.41,3.396,3.366,3.354,3.319,3.309,3.279,3.278,3.243,3.23,3.208,3.2,3.18,3.177,3.165,3.141,3.126,3.121,3.101,3.101,3.075,3.069,3.054,3.041,3.023,3.014,3.004,2.981,2.968,2.965,2.948,2.937,2.931,2.911,2.893,2.888,2.867,2.866,2.855,2.853,2.832,2.825,2.806,2.806,2.794,2.787,2.78,2.767,2.753,2.751,2.743,2.734,2.725,2.719,2.718,2.711,2.707,2.691,2.681,2.673,2.662,2.661,2.649,2.644,2.638,2.629,2.627,2.618,2.605,2.601,2.6,2.593,2.584,2.57,2.57,2.57,2.559,2.558,2.558,2.553,2.547,2.542,2.537,2.534,2.533,2.528,2.523,2.516,2.512,2.507,2.502,2.5,2.498,2.491,2.491,2.486,2.485,2.484,2.481,2.478,2.475,2.474,2.467,2.462,2.46,2.459,2.458,2.457,2.457,2.455,2.455,2.452,2.452,2.449,2.449,2.445,2.445,2.444,2.443,2.438,2.438,2.437,2.435,2.435,2.435,2.431,2.434,2.431,2.431,2.434,2.436,2.436,2.439,2.436,2.431,2.431,2.433,2.433,2.438,2.438,2.44,2.444,2.444,2.443,2.444,2.446,2.449,2.45,2.453,2.453,2.455,2.462,2.471,2.471,2.471,2.471,2.471,2.481,2.483,2.483,2.483,2.489,2.49,2.49,2.494,2.496,2.509,2.512,2.514,2.515,2.521,2.527,2.538,2.539,2.54,2.548,2.553,2.554,2.564,2.565,2.571,2.576,2.585,2.587,2.598,2.599,2.607,2.611,2.617,2.623,2.632,2.643,2.65,2.651,2.656,2.67,2.671,2.683,2.692,2.697,2.702,2.709,2.721,2.733,2.735,2.742,2.758,2.766,2.774,2.781,2.797,2.802,2.805,2.816,2.833,2.834,2.854,2.864,2.871,2.884,2.889,2.903,2.924,2.925,2.94,2.947,2.963,2.964,2.985,2.998,3.006,3.018,3.035,3.044,3.058,3.087,3.091,3.102,3.12,3.127,3.148,3.158,3.175,3.184,3.196,3.213,3.236,3.248,3.267,3.288,3.307,3.315,3.329,3.359,3.38,3.405,3.412,3.448,3.467,3.489,3.51,3.529,3.558,3.589,3.596,3.621,3.641,3.662,3.694,3.713,3.74,3.772,3.8,3.814,3.86,3.943,0.009,0.007,0,0,0.009,0.009,0.009,0.009,0,0,0,0.007,0,0.016,0,0,0.016,0,0.007,0,0,0,0,0.016,0.016,4.09,4.079,3.411,3.404,3.389,3.379,3.372,3.364,3.358,3.341,3.332,3.328,3.311,3.305,3.297,3.289,3.272,3.268,3.268,3.257,3.243,3.243,3.23,3.222,3.217,3.204,3.203,3.202,3.197,3.194,3.191,3.189,3.17,3.167,3.162,3.162,3.154,3.152,3.15,3.146,3.139,3.13,3.127,3.124,3.115,3.113,3.111,3.111,3.1,3.1,3.1,3.092,3.091,3.089,3.082,3.077,3.076,3.075,3.069,3.069,3.069,3.073,3.073,3.073,3.073,3.07,3.067,3.067,3.067,3.061,3.056,3.056,3.056,3.067,3.069,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 124.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.558505} SEN {Time 124.77} {Type Tachometer} {Name LeftRight} {Vel 0.127000,-0.127000} SEN {Time 124.773} {Type Sonar} {Name Sonar0 Range 6.3246} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3716} {Name Sonar3 Range 2.3876} {Name Sonar4 Range 5.4356} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.7338} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.2484} {Name Sonar15 Range 6.2484} SEN {Time 124.815} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.178,0.187,0,0,0,0,0,1.596,1.593,1.593,1.593,1.604,1.612,1.621,1.634,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.147,0.147,0.146,0.146,0.146,0.146,0.145,0.145,0.149,0.149,0.149,0.154,0.157,0.158,0,0,0,0,0,0,0,0,0.158,0.154,0.154,0.154,0.145,0.144,0.144,0.117,0.086,0.07,0.063,0.062,0.063,0.066,0.066,0.067,0.068,0.069,0.068,0.067,0.064,0.064,0.064,0.091,0.127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.169,3.155,3.146,3.135,3.129,3.129,3.146,3.219,3.289,0,0,0,0,0,0,0,0,0,3.031,3.028,3.019,3.017,3.007,3.005,3.004,2.995,2.995,2.989,2.98,2.978,2.972,2.967,2.967,2.965,2.965,2.955,2.955,2.952,2.949,2.946,2.938,2.934,2.933,2.933,2.93,2.93,2.93,2.919,2.917,2.915,2.915,2.913,2.913,2.912,2.91,2.91,2.9,2.9,2.91,2.922,3.411,3.454,3.455,3.455,3.454,3.452,3.452,3.449,3.452,3.449,3.449,3.443,3.451,3.451,3.451,3.451,3.455,3.459,3.459,3.463,3.463,3.465,3.462,3.462,3.462,3.465,3.472,3.473,3.477,3.482,3.482,3.482,3.487,3.494,3.498,3.5,3.505,3.505,3.505,3.509,3.516,3.517,3.52,3.529,3.53,3.535,3.537,3.537,3.545,3.553,3.554,3.556,3.556,3.566,3.576,3.589,3.591,3.595,3.597,3.613,3.614,3.615,3.621,3.624,3.634,3.649,3.65,3.661,3.664,3.669,3.678,3.683,3.697,3.703,3.708,3.714,3.718,3.743,3.744,3.745,3.766,3.766,3.781,3.796,3.806,3.814,3.823,3.833,3.838,3.849,3.865,3.889,3.895,3.919,3.935,3.937,3.94,3.962,3.973,3.975,4.014,4.025,4.041,4.049,4.072,4.09,0.016,0.016,0.016,0.016,4.015,3.996,3.957,3.922,3.904,3.853,3.838,3.807,3.767,3.751,3.718,3.703,3.66,3.651,3.626,3.597,3.572,3.56,3.529,3.511,3.505,3.475,3.455,3.444,3.424,3.396,3.377,3.351,3.34,3.326,3.3,3.281,3.264,3.26,3.238,3.228,3.202,3.185,3.164,3.158,3.143,3.133,3.108,3.093,3.085,3.068,3.061,3.041,3.032,3.027,3.008,2.994,2.977,2.963,2.955,2.938,2.933,2.927,2.911,2.911,2.905,2.892,2.864,2.859,2.856,2.846,2.829,2.821,2.803,2.8,2.79,2.773,2.767,2.767,2.747,2.744,2.733,2.73,2.719,2.719,2.71,2.704,2.696,2.679,2.676,2.672,2.666,2.66,2.659,2.649,2.646,2.642,2.628,2.623,2.617,2.616,2.596,2.59,2.588,2.585,2.575,2.572,2.571,2.564,2.56,2.557,2.556,2.542,2.533,2.533,2.531,2.531,2.531,2.522,2.518,2.518,2.518,2.517,2.508,2.503,2.495,2.492,2.491,2.486,2.484,2.479,2.477,2.472,2.47,2.467,2.465,2.465,2.462,2.461,2.461,2.458,2.458,2.455,2.451,2.451,2.451,2.45,2.45,2.45,2.447,2.447,2.445,2.445,2.447,2.447,2.442,2.442,2.442,2.442,2.443,2.443,2.446,2.446,2.446,2.447,2.448,2.45,2.45,2.45,2.45,2.448,2.448,2.449,2.456,2.458,2.458,2.459,2.462,2.462,2.47,2.47,2.478,2.478,2.473,2.479,2.48,2.48,2.482,2.484,2.484,2.495,2.499,2.503,2.508,2.511,2.519,2.519,2.52,2.527,2.534,2.537,2.542,2.544,2.549,2.549,2.56,2.563,2.572,2.575,2.582,2.585,2.587,2.59,2.596,2.612,2.613,2.617,2.628,2.631,2.644,2.646,2.658,2.658,2.669,2.681,2.689,2.69,2.696,2.704,2.714,2.726,2.728,2.736,2.739,2.746,2.759,2.769,2.779,2.779,2.795,2.803,2.811,2.816,2.838,2.847,2.856,2.865,2.87,2.887,2.889,2.915,2.918,2.922,2.939,2.948,2.958,2.971,2.985,2.998,3.008,3.025,3.038,3.044,3.071,3.082,3.102,3.102,3.116,3.133,3.148,3.165,3.174,3.194,3.211,3.221,3.237,3.251,3.266,3.289,3.308,3.327,3.34,3.356,3.377,3.393,3.416,3.444,3.459,3.491,3.505,3.518,3.56,3.571,3.6,3.62,3.642,3.663,3.727,3.75,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0,0,0,0,0,0,0.007,0,0.016,3.462,3.436,3.412,3.412,3.391,3.388,3.376,3.365,3.365,3.352,3.336,3.329,3.325,3.314,3.309,3.307,3.291,3.29,3.27,3.257,3.252,3.24,3.24,3.24,3.229,3.223,3.22,3.213,3.203,3.191,3.187,3.184,3.174,3.167,3.163,3.161,3.159,3.148,3.148,3.137,3.132,3.132,3.132,3.125,3.117,3.115,3.115,3.106,3.106,3.106,3.111,3.114,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 124.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.715585} SEN {Time 124.97} {Type Tachometer} {Name LeftRight} {Vel 0.132080,-0.132080} SEN {Time 124.975} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3716} {Name Sonar3 Range 2.3876} {Name Sonar4 Range 3.7592} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.7338} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.2484} {Name Sonar15 Range 6.477} SEN {Time 125.015} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.188,0.188,0.188,0,0,0,0,1.743,1.717,1.697,1.697,1.693,1.675,1.674,1.671,1.674,1.674,0,0,0,0,0,0.528,0.528,0.528,0.528,0.532,0.533,0.553,1.579,1.579,1.579,1.576,1.573,1.57,1.57,1.573,1.576,1.586,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0.147,0.144,0.143,0.143,0.143,0.143,0.143,0.146,0.155,0.148,0.155,0.155,0.158,0.007,0,0,0,0,0,0,0,0.161,0.159,0.158,0.159,0.154,0.147,0.143,0.143,0.113,0.09,0.072,0.066,0.064,0.064,0.067,0.064,0.067,0.07,0.07,0.063,0.06,0.06,0.06,0.068,0.105,0.134,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.597,3.593,3.58,3.563,3.56,3.543,3.428,3.428,3.428,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.172,3.141,3.132,3.123,3.121,3.121,3.123,3.193,3.276,0,0,0,0,0,0,0,0,0,3.02,3.01,3.003,2.996,2.99,2.989,2.987,2.985,2.974,2.968,2.968,2.967,2.961,2.959,2.957,2.947,2.946,2.941,2.937,2.935,2.928,2.924,2.924,2.921,2.919,2.918,2.917,2.917,2.912,2.907,2.907,2.906,2.906,2.905,2.905,2.901,2.899,2.899,2.891,2.891,2.889,2.889,2.896,3.452,3.452,3.452,3.449,3.448,3.445,3.448,3.448,3.448,3.451,3.451,3.45,3.445,3.45,3.449,3.45,3.452,3.456,3.457,3.459,3.461,3.461,3.461,3.461,3.46,3.46,3.465,3.465,3.468,3.47,3.471,3.476,3.476,3.481,3.484,3.484,3.489,3.494,3.497,3.497,3.502,3.503,3.504,3.506,3.508,3.531,3.531,3.532,3.532,3.542,3.547,3.554,3.558,3.571,3.572,3.572,3.576,3.586,3.589,3.596,3.606,3.606,3.612,3.615,3.632,3.643,3.645,3.646,3.663,3.667,3.675,3.687,3.689,3.706,3.709,3.717,3.727,3.73,3.745,3.753,3.765,3.773,3.779,3.79,3.814,3.823,3.831,3.842,3.846,3.87,3.877,3.894,3.909,3.922,3.93,3.949,3.957,3.974,3.986,4,4.014,4.038,4.043,4.072,4.082,0.016,0.016,0.016,4.06,4.029,3.996,3.95,3.917,3.875,3.861,3.836,3.809,3.78,3.761,3.724,3.688,3.674,3.633,3.622,3.599,3.567,3.551,3.533,3.514,3.484,3.459,3.457,3.436,3.408,3.39,3.381,3.377,3.332,3.328,3.303,3.285,3.268,3.258,3.243,3.231,3.213,3.202,3.184,3.167,3.147,3.134,3.131,3.106,3.094,3.08,3.06,3.057,3.033,3.025,3.002,2.998,2.987,2.978,2.967,2.958,2.942,2.935,2.92,2.911,2.901,2.901,2.882,2.878,2.87,2.86,2.846,2.84,2.822,2.82,2.805,2.793,2.79,2.769,2.766,2.754,2.754,2.749,2.734,2.73,2.723,2.71,2.707,2.699,2.698,2.68,2.679,2.67,2.665,2.664,2.664,2.654,2.652,2.632,2.627,2.626,2.621,2.616,2.601,2.591,2.586,2.582,2.581,2.576,2.571,2.565,2.557,2.553,2.553,2.545,2.544,2.54,2.53,2.524,2.524,2.522,2.522,2.52,2.519,2.513,2.505,2.501,2.497,2.496,2.494,2.494,2.488,2.486,2.486,2.486,2.482,2.475,2.475,2.474,2.473,2.472,2.471,2.468,2.468,2.459,2.459,2.46,2.46,2.46,2.46,2.456,2.456,2.459,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.457,2.46,2.46,2.46,2.47,2.47,2.47,2.47,2.47,2.468,2.47,2.476,2.476,2.476,2.477,2.483,2.488,2.494,2.496,2.496,2.498,2.499,2.5,2.5,2.508,2.517,2.521,2.524,2.524,2.531,2.532,2.543,2.543,2.545,2.551,2.557,2.558,2.561,2.57,2.574,2.579,2.581,2.588,2.588,2.597,2.599,2.606,2.612,2.621,2.623,2.627,2.639,2.643,2.648,2.653,2.66,2.669,2.676,2.683,2.69,2.702,2.702,2.703,2.726,2.73,2.738,2.741,2.75,2.76,2.768,2.78,2.789,2.791,2.81,2.814,2.826,2.836,2.848,2.851,2.867,2.882,2.882,2.895,2.908,2.914,2.934,2.942,2.946,2.96,2.977,2.993,3.002,3.014,3.014,3.028,3.047,3.057,3.069,3.084,3.098,3.13,3.137,3.137,3.145,3.174,3.179,3.192,3.21,3.227,3.248,3.265,3.279,3.287,3.325,3.33,3.351,3.373,3.389,3.411,3.416,3.439,3.482,3.491,3.508,3.532,3.559,3.585,3.603,3.635,3.671,3.676,3.719,3.756,3.773,3.773,3.828,3.863,3.912,3.912,3.958,4.008,4.008,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0.007,4.095,3.449,3.439,3.428,3.416,3.405,3.385,3.384,3.364,3.36,3.342,3.342,3.331,3.326,3.317,3.307,3.303,3.301,3.295,3.278,3.277,3.271,3.256,3.247,3.246,3.24,3.24,3.24,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 125.17} {Type Odometry} {Name Odometry} {Pose 0.002540,1.000000,-0.855211} SEN {Time 125.17} {Type Tachometer} {Name LeftRight} {Vel 0.040640,-0.043180} SEN {Time 125.168} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 1.3716} {Name Sonar3 Range 2.3876} {Name Sonar4 Range 3.7592} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.7338} {Name Sonar8 Range 3.302} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.2484} {Name Sonar15 Range 6.477} SEN {Time 125.215} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.18,0.181,0.182,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,1.73,1.71,1.701,1.688,1.684,1.679,1.669,1.666,1.666,1.666,0,0,0,0,0.518,0.513,0.511,0.511,0.511,0.505,0.505,0.505,0.49,0.147,0.145,0.145,0.145,0.145,0.143,0.149,0.153,0.155,0.154,0.155,0.155,0.155,0.157,0,0.009,0.009,0.009,0,0,0,0.16,0.159,0.156,0.156,0.154,0.153,0.148,0.147,0.12,0.096,0.07,0.069,0.069,0.068,0.069,0.069,0.069,0.069,0.069,0.069,0.069,0.064,0.064,0.068,0.068,0.078,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.812,3.796,3.796,3.796,0,0,0,0,0.007,0,0,0,0,0,0.007,3.586,3.58,3.554,3.55,3.53,3.486,3.486,3.465,3.438,3.465,0,3.233,3.244,0,0,0,0,0,0,0,0,0,0,0,3.15,3.14,3.137,3.121,3.117,3.112,3.105,3.102,3.102,3.102,3.266,0,0,0,0,0,0.007,0,0,0,0,2.998,2.996,2.988,2.986,2.979,2.976,2.974,2.968,2.966,2.96,2.959,2.953,2.952,2.952,2.94,2.936,2.936,2.935,2.924,2.924,2.923,2.923,2.919,2.916,2.916,2.915,2.911,2.911,2.906,2.902,2.901,2.901,2.896,2.894,2.894,2.894,2.894,2.894,2.888,2.883,2.883,2.894,3.436,3.437,3.437,3.437,3.437,3.437,3.437,3.437,3.437,3.437,3.437,3.437,3.438,3.438,3.438,3.438,3.437,3.437,3.44,3.44,3.442,3.442,3.442,3.444,3.445,3.446,3.453,3.455,3.459,3.46,3.466,3.466,3.466,3.468,3.469,3.473,3.483,3.485,3.485,3.485,3.491,3.502,3.502,3.506,3.506,3.512,3.516,3.526,3.526,3.538,3.547,3.549,3.552,3.559,3.566,3.568,3.581,3.593,3.594,3.595,3.608,3.611,3.621,3.622,3.633,3.635,3.644,3.654,3.657,3.664,3.681,3.684,3.697,3.699,3.714,3.717,3.736,3.742,3.75,3.76,3.771,3.773,3.777,3.783,3.819,3.825,3.831,3.849,3.85,3.867,3.87,3.891,3.916,3.919,3.937,3.947,3.964,3.98,3.984,4.008,4.034,4.04,4.061,4.087,4.089,4.089,4.089,4.057,4.022,3.979,3.956,3.933,3.896,3.881,3.85,3.814,3.809,3.775,3.746,3.721,3.683,3.678,3.645,3.611,3.594,3.575,3.546,3.531,3.51,3.485,3.469,3.438,3.428,3.41,3.379,3.367,3.354,3.327,3.305,3.293,3.273,3.253,3.242,3.228,3.22,3.201,3.187,3.181,3.158,3.152,3.132,3.117,3.107,3.075,3.07,3.064,3.044,3.039,3.027,3.013,3.001,2.997,2.973,2.967,2.958,2.956,2.923,2.921,2.909,2.904,2.894,2.876,2.861,2.855,2.853,2.852,2.832,2.812,2.811,2.792,2.79,2.79,2.774,2.757,2.752,2.751,2.748,2.735,2.728,2.715,2.71,2.71,2.697,2.691,2.678,2.674,2.66,2.654,2.651,2.649,2.647,2.634,2.634,2.628,2.615,2.6,2.599,2.595,2.594,2.593,2.582,2.58,2.575,2.565,2.564,2.564,2.559,2.552,2.547,2.545,2.544,2.542,2.532,2.525,2.522,2.518,2.516,2.516,2.507,2.509,2.507,2.506,2.502,2.5,2.497,2.493,2.489,2.481,2.481,2.479,2.476,2.476,2.478,2.474,2.475,2.475,2.474,2.473,2.474,2.467,2.462,2.462,2.461,2.461,2.465,2.465,2.465,2.47,2.472,2.472,2.472,2.472,2.468,2.468,2.468,2.468,2.475,2.475,2.479,2.479,2.475,2.475,2.476,2.476,2.481,2.486,2.49,2.494,2.494,2.495,2.495,2.499,2.502,2.503,2.505,2.505,2.507,2.507,2.508,2.509,2.523,2.523,2.533,2.533,2.532,2.533,2.533,2.547,2.547,2.558,2.559,2.564,2.571,2.574,2.574,2.578,2.58,2.593,2.602,2.611,2.612,2.615,2.618,2.622,2.637,2.64,2.648,2.654,2.656,2.669,2.672,2.681,2.686,2.694,2.702,2.704,2.711,2.727,2.743,2.749,2.753,2.759,2.768,2.773,2.782,2.788,2.796,2.805,2.811,2.83,2.845,2.855,2.858,2.867,2.876,2.898,2.907,2.908,2.926,2.942,2.945,2.954,2.964,2.983,2.986,2.998,3.002,3.035,3.047,3.05,3.062,3.083,3.096,3.101,3.109,3.129,3.138,3.159,3.175,3.191,3.211,3.231,3.234,3.253,3.267,3.291,3.303,3.333,3.346,3.352,3.381,3.408,3.424,3.449,3.467,3.475,3.516,3.53,3.559,3.578,3.592,3.617,3.658,3.678,3.702,3.707,3.771,3.798,3.819,3.819,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.464,3.454,3.439,3.424,3.424,3.424,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 125.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,-0.870919} SEN {Time 125.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 125.367} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 3.7592} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 3.7338} {Name Sonar8 Range 3.302} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 6.477} SEN {Time 125.415} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.183,0.186,0.186,0,0,0,0,0,1.227,1.227,1.227,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,1.728,1.702,1.696,1.684,1.681,1.672,1.66,1.647,1.647,1.647,0,0,0.006,0,0,0.52,0.507,0.502,0.502,0.49,0.484,0.177,0.149,0.149,0.148,0.148,0.145,0.144,0.142,0.144,0.144,0.148,0.153,0.16,0.16,1.627,1.632,1.643,1.643,0,0,0,0,0.16,0.155,0.155,0.148,0.148,0.143,0.143,0.116,0.084,0.069,0.067,0.065,0.064,0.064,0.064,0.064,0.064,0.068,0.064,0.064,0.063,0.064,0.064,0.064,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.832,3.808,3.808,3.808,0,0,0,0,0,0.007,0,0,0,0,0,3.598,3.567,3.566,3.556,3.541,3.525,3.47,3.433,3.431,3.431,3.431,3.249,3.249,3.249,3.249,0.007,0,0,0,0,0,0,0,0,0,3.15,3.146,3.125,3.12,3.113,3.101,3.095,3.099,3.099,3.099,3.258,0,0,0,0,0.007,0,0,0,0,0,2.994,2.992,2.989,2.983,2.979,2.968,2.966,2.965,2.955,2.955,2.955,2.953,2.952,2.94,2.939,2.933,2.931,2.93,2.928,2.928,2.928,2.925,2.922,2.918,2.918,2.917,2.915,2.909,2.904,2.9,2.9,2.898,2.896,2.895,2.894,2.893,2.887,2.879,2.879,2.879,2.879,2.889,3.435,3.437,3.437,3.437,3.437,3.437,3.437,3.437,3.435,3.433,3.433,3.435,3.433,3.435,3.439,3.439,3.444,3.444,3.445,3.445,3.444,3.444,3.445,3.447,3.447,3.455,3.458,3.459,3.459,3.46,3.46,3.464,3.469,3.471,3.474,3.477,3.48,3.484,3.484,3.497,3.501,3.501,3.505,3.507,3.512,3.514,3.517,3.529,3.531,3.538,3.546,3.548,3.55,3.554,3.564,3.58,3.581,3.584,3.59,3.602,3.604,3.613,3.622,3.626,3.63,3.644,3.651,3.661,3.665,3.676,3.679,3.689,3.694,3.696,3.718,3.733,3.74,3.743,3.752,3.761,3.787,3.787,3.799,3.805,3.813,3.827,3.843,3.846,3.87,3.877,3.893,3.911,3.916,3.937,3.944,3.96,3.978,3.994,4.008,4.024,4.036,4.05,4.084,4.092,4.092,4.092,4.071,4.014,3.993,3.967,3.933,3.895,3.868,3.847,3.822,3.793,3.754,3.751,3.719,3.699,3.678,3.651,3.621,3.587,3.576,3.554,3.52,3.504,3.495,3.465,3.434,3.425,3.401,3.389,3.365,3.337,3.329,3.313,3.297,3.274,3.26,3.253,3.225,3.215,3.205,3.183,3.176,3.156,3.15,3.128,3.12,3.113,3.087,3.08,3.061,3.05,3.035,3.021,3.014,3.003,2.984,2.979,2.969,2.962,2.949,2.931,2.92,2.908,2.907,2.878,2.87,2.87,2.856,2.856,2.85,2.835,2.824,2.808,2.804,2.792,2.785,2.773,2.768,2.76,2.748,2.745,2.731,2.721,2.719,2.714,2.705,2.696,2.684,2.68,2.675,2.672,2.651,2.649,2.645,2.641,2.638,2.631,2.628,2.618,2.616,2.601,2.598,2.587,2.586,2.582,2.574,2.571,2.567,2.566,2.557,2.556,2.552,2.552,2.549,2.542,2.542,2.535,2.532,2.521,2.518,2.517,2.515,2.514,2.511,2.506,2.506,2.506,2.499,2.499,2.499,2.494,2.489,2.487,2.48,2.48,2.48,2.476,2.476,2.472,2.472,2.472,2.472,2.472,2.472,2.472,2.472,2.466,2.464,2.464,2.464,2.464,2.464,2.465,2.465,2.464,2.465,2.47,2.47,2.47,2.473,2.473,2.475,2.477,2.477,2.477,2.477,2.477,2.479,2.479,2.482,2.488,2.492,2.492,2.496,2.495,2.495,2.504,2.51,2.51,2.51,2.509,2.509,2.509,2.512,2.519,2.531,2.531,2.536,2.536,2.54,2.542,2.551,2.551,2.555,2.555,2.565,2.571,2.571,2.582,2.584,2.588,2.599,2.609,2.612,2.616,2.617,2.626,2.63,2.64,2.649,2.651,2.653,2.658,2.672,2.679,2.679,2.691,2.702,2.717,2.72,2.728,2.731,2.743,2.751,2.762,2.763,2.764,2.788,2.79,2.799,2.802,2.809,2.823,2.837,2.85,2.859,2.864,2.88,2.884,2.904,2.905,2.913,2.925,2.935,2.944,2.961,2.971,2.991,2.992,3.014,3.021,3.037,3.05,3.063,3.071,3.091,3.094,3.1,3.12,3.141,3.147,3.164,3.181,3.202,3.207,3.223,3.258,3.259,3.288,3.299,3.31,3.337,3.353,3.367,3.385,3.426,3.432,3.437,3.487,3.492,3.527,3.551,3.551,3.596,3.599,3.622,3.662,3.681,3.71,3.741,3.759,3.774,3.81,3.835,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.46,3.448,3.432,3.43,3.426,3.426,3.43,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 125.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,-0.870919} SEN {Time 125.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 125.574} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.302} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 5.2832} SEN {Time 125.611} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.185,0.188,0.188,0,0,0,0,0,1.207,1.207,1.207,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.727,1.712,1.694,1.681,1.68,1.677,1.663,1.651,1.651,1.651,0,0,0,0,0,0.508,0.504,0.5,0.495,0.493,0.368,0.163,0.151,0.151,0.142,0.142,0.147,0.147,0.147,0.155,0.149,0.155,0.155,0.156,0.16,1.605,1.639,1.644,1.644,0,0,0,0,0.166,0.158,0.153,0.149,0.147,0.146,0.145,0.118,0.088,0.07,0.068,0.065,0.065,0.067,0.066,0.067,0.067,0.067,0.067,0.067,0.066,0.064,0.064,0.064,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.822,3.822,3.822,0,0,0,0,0,0,0.007,0,0,0,0,0,3.6,3.576,3.572,3.551,3.538,3.535,3.499,3.472,3.457,3.434,3.237,3.236,3.236,3.236,0,0,0,0,0,0,0,0,0,0,0,3.148,3.146,3.131,3.126,3.107,3.106,3.1,3.097,3.097,3.1,3.266,0,0,0,0,0,0.007,0,0,0,0,2.997,2.991,2.988,2.978,2.977,2.975,2.971,2.967,2.964,2.962,2.956,2.95,2.947,2.947,2.933,2.926,2.926,2.926,2.927,2.927,2.927,2.927,2.923,2.923,2.92,2.912,2.911,2.905,2.903,2.901,2.901,2.9,2.901,2.9,2.892,2.889,2.889,2.883,2.884,2.884,2.884,2.884,3.433,3.435,3.435,3.435,3.435,3.435,3.435,3.435,3.435,3.435,3.435,3.439,3.436,3.44,3.442,3.442,3.442,3.443,3.443,3.443,3.443,3.443,3.447,3.446,3.455,3.455,3.457,3.457,3.462,3.463,3.464,3.468,3.468,3.47,3.475,3.476,3.477,3.477,3.48,3.495,3.495,3.497,3.499,3.504,3.507,3.516,3.519,3.529,3.532,3.537,3.541,3.56,3.561,3.562,3.565,3.573,3.582,3.585,3.588,3.6,3.601,3.614,3.622,3.628,3.63,3.631,3.637,3.656,3.666,3.668,3.687,3.687,3.699,3.699,3.719,3.726,3.73,3.745,3.754,3.76,3.78,3.783,3.811,3.816,3.824,3.829,3.83,3.857,3.871,3.876,3.884,3.903,3.91,3.93,3.957,3.957,3.975,3.999,4.008,4.029,4.043,4.046,4.083,0.016,0.016,0.016,4.071,4.035,3.995,3.955,3.926,3.91,3.882,3.843,3.817,3.793,3.776,3.747,3.727,3.701,3.658,3.637,3.611,3.604,3.563,3.551,3.533,3.508,3.485,3.463,3.435,3.426,3.408,3.381,3.362,3.346,3.335,3.304,3.292,3.269,3.254,3.235,3.229,3.209,3.202,3.193,3.175,3.155,3.146,3.133,3.124,3.107,3.088,3.078,3.061,3.044,3.033,3.028,3.013,3.005,2.996,2.985,2.959,2.95,2.946,2.943,2.922,2.917,2.893,2.889,2.877,2.867,2.855,2.848,2.847,2.822,2.821,2.805,2.797,2.794,2.793,2.771,2.761,2.758,2.752,2.75,2.74,2.72,2.717,2.713,2.704,2.7,2.688,2.678,2.677,2.669,2.658,2.65,2.641,2.636,2.635,2.628,2.622,2.62,2.615,2.602,2.602,2.591,2.586,2.577,2.576,2.575,2.572,2.572,2.556,2.552,2.547,2.543,2.542,2.542,2.538,2.537,2.523,2.522,2.516,2.514,2.514,2.514,2.512,2.511,2.509,2.502,2.498,2.498,2.495,2.489,2.487,2.481,2.481,2.479,2.479,2.481,2.476,2.473,2.47,2.47,2.47,2.47,2.465,2.471,2.465,2.462,2.46,2.462,2.462,2.467,2.467,2.472,2.467,2.47,2.47,2.47,2.47,2.47,2.471,2.472,2.476,2.476,2.476,2.476,2.476,2.482,2.483,2.484,2.484,2.488,2.49,2.491,2.492,2.491,2.497,2.501,2.504,2.505,2.507,2.508,2.511,2.514,2.517,2.519,2.527,2.534,2.536,2.536,2.536,2.542,2.549,2.554,2.555,2.559,2.566,2.58,2.581,2.585,2.585,2.59,2.604,2.605,2.605,2.617,2.623,2.627,2.629,2.639,2.643,2.652,2.655,2.672,2.672,2.682,2.695,2.701,2.702,2.713,2.715,2.72,2.728,2.74,2.745,2.761,2.763,2.775,2.786,2.792,2.802,2.804,2.82,2.825,2.842,2.845,2.862,2.866,2.876,2.889,2.895,2.904,2.909,2.928,2.94,2.941,2.961,2.974,2.984,2.995,3.019,3.039,3.049,3.059,3.059,3.07,3.088,3.101,3.104,3.122,3.133,3.15,3.166,3.174,3.193,3.209,3.226,3.255,3.269,3.291,3.306,3.308,3.336,3.364,3.368,3.388,3.417,3.425,3.452,3.484,3.492,3.515,3.545,3.557,3.578,3.606,3.638,3.669,3.688,3.711,3.738,3.753,3.787,3.817,3.862,3.9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.458,3.454,3.43,3.419,3.417,3.416,3.416,3.416,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 125.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,-0.870919} SEN {Time 125.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 125.767} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 5.2832} SEN {Time 125.811} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.182,0.187,0.187,0,0,0,0,0,1.21,1.21,1.21,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.732,1.707,1.691,1.688,1.675,1.666,1.665,1.643,1.643,1.643,0,0,0,0,0,0.508,0.504,0.499,0.495,0.493,0.375,0.375,0.177,0.15,0.145,0.15,0.147,0.15,0.147,0.153,0.15,0.153,0.15,0.156,0.162,1.629,1.63,1.658,1.658,0,0,0,0,0.16,0.16,0.153,0.15,0.147,0.141,0.136,0.118,0.091,0.067,0.067,0.066,0.065,0.065,0.065,0.065,0.068,0.068,0.065,0.065,0.064,0.064,0.065,0.073,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.83,3.83,3.806,3.806,0.007,0,0,0,0,0.007,0,0,0,0,0,3.584,3.583,3.566,3.55,3.539,3.533,3.486,3.466,3.456,3.455,3.246,3.242,3.235,3.235,3.242,0,0,0,0,0,0,0,0,0,0,3.162,3.143,3.133,3.121,3.109,3.109,3.103,3.1,3.1,3.1,3.253,0,0,0,0,0,0,0,0,0,0,2.994,2.994,2.994,2.987,2.974,2.974,2.974,2.963,2.957,2.957,2.956,2.955,2.949,2.946,2.946,2.943,2.935,2.934,2.93,2.93,2.924,2.919,2.918,2.918,2.912,2.911,2.909,2.901,2.901,2.899,2.899,2.898,2.898,2.896,2.894,2.889,2.887,2.886,2.887,2.878,2.878,2.892,3.434,3.436,3.438,3.438,3.436,3.436,3.436,3.436,3.436,3.438,3.439,3.438,3.437,3.438,3.437,3.437,3.442,3.442,3.443,3.445,3.445,3.445,3.447,3.447,3.447,3.451,3.459,3.459,3.46,3.464,3.464,3.467,3.467,3.467,3.471,3.47,3.484,3.49,3.492,3.493,3.497,3.498,3.504,3.504,3.504,3.504,3.528,3.53,3.532,3.535,3.546,3.548,3.553,3.562,3.564,3.574,3.576,3.582,3.589,3.597,3.607,3.614,3.614,3.623,3.63,3.638,3.646,3.654,3.659,3.679,3.681,3.686,3.7,3.711,3.72,3.729,3.731,3.743,3.757,3.759,3.769,3.782,3.783,3.808,3.809,3.843,3.848,3.849,3.863,3.866,3.898,3.913,3.919,3.924,3.943,3.963,3.98,3.993,4.005,4.027,4.043,4.059,4.074,0.016,0.016,0.016,4.058,4.023,3.997,3.977,3.933,3.902,3.873,3.852,3.81,3.793,3.776,3.749,3.73,3.7,3.669,3.639,3.622,3.607,3.58,3.545,3.524,3.509,3.487,3.46,3.441,3.434,3.406,3.38,3.358,3.334,3.333,3.303,3.292,3.275,3.257,3.246,3.229,3.214,3.202,3.192,3.174,3.156,3.149,3.132,3.12,3.105,3.083,3.077,3.062,3.055,3.039,3.024,3.008,3.004,2.991,2.978,2.963,2.959,2.94,2.923,2.918,2.917,2.899,2.889,2.882,2.87,2.862,2.858,2.851,2.829,2.82,2.819,2.797,2.794,2.785,2.779,2.762,2.751,2.746,2.74,2.737,2.726,2.724,2.707,2.697,2.689,2.685,2.676,2.672,2.661,2.654,2.649,2.645,2.638,2.631,2.627,2.624,2.618,2.609,2.6,2.594,2.593,2.585,2.581,2.578,2.575,2.575,2.563,2.561,2.552,2.547,2.547,2.545,2.541,2.533,2.532,2.528,2.523,2.518,2.518,2.515,2.507,2.506,2.504,2.504,2.504,2.5,2.5,2.491,2.489,2.488,2.484,2.48,2.478,2.476,2.477,2.476,2.476,2.473,2.477,2.473,2.474,2.47,2.471,2.471,2.471,2.465,2.465,2.465,2.465,2.462,2.468,2.468,2.47,2.463,2.47,2.463,2.47,2.47,2.478,2.476,2.476,2.478,2.479,2.476,2.481,2.481,2.481,2.481,2.482,2.486,2.487,2.493,2.495,2.498,2.507,2.507,2.507,2.509,2.509,2.511,2.513,2.516,2.52,2.533,2.535,2.542,2.542,2.542,2.542,2.553,2.556,2.559,2.561,2.562,2.571,2.583,2.583,2.584,2.584,2.599,2.602,2.604,2.621,2.621,2.621,2.626,2.635,2.645,2.646,2.654,2.663,2.667,2.68,2.692,2.697,2.704,2.714,2.716,2.729,2.73,2.74,2.748,2.753,2.759,2.775,2.786,2.79,2.799,2.801,2.814,2.827,2.846,2.85,2.861,2.869,2.871,2.894,2.897,2.907,2.921,2.921,2.939,2.941,2.963,2.982,2.99,3.001,3.013,3.014,3.034,3.041,3.066,3.073,3.078,3.104,3.114,3.124,3.141,3.15,3.171,3.175,3.189,3.218,3.237,3.241,3.265,3.289,3.293,3.318,3.331,3.357,3.374,3.387,3.416,3.427,3.457,3.477,3.494,3.512,3.542,3.57,3.586,3.617,3.636,3.669,3.689,3.697,3.744,3.757,3.777,3.819,3.842,3.867,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.458,3.447,3.433,3.42,3.416,3.416,3.42,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 125.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,-0.870919} SEN {Time 125.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 125.969} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 5.2832} SEN {Time 126.011} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.179,0.188,0.188,0,0,0,0,0,1.217,1.217,1.217,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.735,1.704,1.687,1.686,1.676,1.667,1.654,1.651,1.651,1.651,0,0,0,0,0,0.515,0.507,0.506,0.499,0.498,0.372,0.174,0.146,0.146,0.145,0.145,0.143,0.149,0.145,0.149,0.149,0.153,0.159,0.16,0.16,1.622,1.643,1.662,1.662,0,0,0,0,0.162,0.16,0.159,0.153,0.147,0.142,0.142,0.113,0.09,0.069,0.065,0.063,0.063,0.063,0.064,0.064,0.068,0.068,0.066,0.066,0.064,0.064,0.064,0.07,0.08,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.823,3.823,3.823,3.809,0,0.007,0,0,0,0.007,0,0,0,0,0,3.587,3.579,3.564,3.557,3.539,3.537,3.493,3.475,3.47,3.47,3.457,3.239,3.236,3.232,3.232,3.239,0,0,0,0,0,0,0,0,0,3.153,3.14,3.136,3.128,3.108,3.1,3.1,3.1,3.101,3.103,3.252,0,0,0,0,0,0,0,0,0,0,2.996,2.994,2.99,2.979,2.972,2.971,2.97,2.967,2.96,2.959,2.954,2.954,2.952,2.95,2.941,2.935,2.935,2.932,2.929,2.928,2.921,2.915,2.915,2.914,2.914,2.91,2.907,2.904,2.904,2.904,2.902,2.895,2.895,2.893,2.893,2.89,2.888,2.886,2.883,2.882,2.882,2.882,3.434,3.438,3.438,3.438,3.438,3.438,3.439,3.438,3.438,3.439,3.439,3.439,3.439,3.439,3.438,3.438,3.438,3.438,3.437,3.438,3.438,3.444,3.445,3.445,3.452,3.453,3.456,3.459,3.459,3.46,3.467,3.468,3.472,3.472,3.476,3.478,3.478,3.483,3.485,3.487,3.49,3.504,3.509,3.51,3.51,3.519,3.521,3.523,3.541,3.544,3.546,3.548,3.55,3.555,3.567,3.578,3.578,3.579,3.581,3.592,3.603,3.605,3.619,3.62,3.626,3.633,3.634,3.66,3.67,3.671,3.68,3.687,3.701,3.705,3.711,3.732,3.742,3.747,3.756,3.76,3.776,3.777,3.794,3.813,3.816,3.837,3.843,3.844,3.871,3.872,3.889,3.904,3.913,3.921,3.939,3.96,3.981,3.994,4.014,4.026,4.036,4.043,4.088,0.016,0.016,0.016,4.057,4.034,4.002,3.966,3.938,3.901,3.876,3.841,3.817,3.792,3.768,3.733,3.718,3.688,3.663,3.654,3.623,3.596,3.569,3.554,3.524,3.502,3.491,3.464,3.439,3.425,3.403,3.368,3.363,3.351,3.324,3.303,3.288,3.272,3.263,3.242,3.223,3.216,3.203,3.183,3.175,3.16,3.153,3.137,3.119,3.103,3.091,3.079,3.065,3.057,3.033,3.015,3.012,3.002,2.997,2.99,2.974,2.954,2.946,2.929,2.922,2.914,2.904,2.879,2.878,2.868,2.855,2.855,2.846,2.83,2.822,2.814,2.797,2.795,2.791,2.773,2.756,2.756,2.74,2.74,2.738,2.72,2.72,2.704,2.704,2.701,2.691,2.684,2.677,2.669,2.657,2.656,2.648,2.639,2.636,2.627,2.627,2.617,2.613,2.61,2.602,2.596,2.584,2.58,2.575,2.572,2.568,2.566,2.566,2.553,2.553,2.547,2.544,2.543,2.537,2.529,2.525,2.522,2.516,2.514,2.514,2.514,2.512,2.511,2.501,2.498,2.498,2.498,2.487,2.486,2.485,2.485,2.481,2.478,2.478,2.478,2.478,2.478,2.477,2.474,2.474,2.473,2.472,2.468,2.466,2.464,2.464,2.464,2.466,2.467,2.467,2.464,2.465,2.464,2.464,2.465,2.468,2.468,2.473,2.473,2.474,2.476,2.477,2.478,2.478,2.481,2.484,2.485,2.485,2.487,2.488,2.493,2.496,2.497,2.499,2.499,2.505,2.506,2.509,2.512,2.512,2.513,2.513,2.523,2.525,2.531,2.534,2.54,2.548,2.55,2.555,2.557,2.558,2.563,2.564,2.564,2.579,2.58,2.583,2.585,2.601,2.606,2.612,2.623,2.628,2.629,2.635,2.642,2.644,2.651,2.658,2.665,2.681,2.691,2.691,2.71,2.71,2.715,2.717,2.719,2.729,2.745,2.749,2.754,2.767,2.769,2.782,2.783,2.796,2.803,2.807,2.831,2.835,2.85,2.855,2.869,2.872,2.89,2.901,2.904,2.912,2.93,2.944,2.953,2.961,2.974,2.991,2.994,3.005,3.023,3.039,3.043,3.058,3.073,3.093,3.102,3.106,3.121,3.146,3.15,3.166,3.183,3.199,3.22,3.228,3.255,3.265,3.272,3.295,3.315,3.339,3.355,3.372,3.394,3.417,3.432,3.446,3.483,3.504,3.516,3.531,3.565,3.593,3.606,3.644,3.667,3.687,3.706,3.731,3.761,3.777,3.822,3.833,3.859,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.462,3.459,3.422,3.422,3.41,3.407,3.407,3.407,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 126.16} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 126.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 126.162} {Type Sonar} {Name Sonar0 Range 4.4196} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 4.9276} SEN {Time 126.211} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.183,0.183,0.183,0,0,0,0,0,1.224,1.224,1.224,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.741,1.699,1.696,1.681,1.679,1.668,1.656,1.649,1.649,1.649,0,0,0,0,0,0.504,0.504,0.504,0.494,0.49,0.367,0.367,0.169,0.146,0.145,0.146,0.146,0.149,0.152,0.162,0.158,0.153,0.153,0.158,0.158,1.617,1.64,1.648,1.648,0,0,0,0.162,0.162,0.16,0.155,0.15,0.149,0.146,0.146,0.122,0.098,0.069,0.068,0.068,0.068,0.068,0.068,0.068,0.069,0.07,0.069,0.069,0.061,0.061,0.061,0.068,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.817,3.817,3.817,0,0,0,0,0,0,0.007,0,0,0,0,0,3.593,3.586,3.559,3.558,3.546,3.537,3.497,3.473,3.468,3.468,3.447,3.243,3.243,3.243,3.238,3.238,0,0,0,0,0,0,0,0,0,3.138,3.134,3.133,3.128,3.121,3.103,3.095,3.095,3.095,3.102,3.256,0,0,0,0,0,0,0,0,0,0,2.998,2.991,2.985,2.984,2.976,2.973,2.971,2.963,2.963,2.963,2.96,2.956,2.955,2.949,2.939,2.936,2.936,2.933,2.933,2.924,2.923,2.921,2.915,2.912,2.912,2.911,2.908,2.907,2.907,2.902,2.902,2.902,2.893,2.892,2.888,2.887,2.886,2.882,2.887,2.882,2.882,2.889,3.435,3.437,3.441,3.441,3.442,3.441,3.442,3.439,3.439,3.439,3.439,3.437,3.436,3.437,3.437,3.438,3.439,3.439,3.439,3.442,3.442,3.442,3.447,3.448,3.448,3.451,3.451,3.453,3.457,3.461,3.461,3.461,3.467,3.471,3.474,3.479,3.486,3.486,3.486,3.489,3.5,3.506,3.506,3.51,3.511,3.515,3.516,3.523,3.532,3.536,3.541,3.549,3.555,3.563,3.573,3.579,3.58,3.581,3.581,3.595,3.596,3.614,3.617,3.626,3.631,3.639,3.643,3.656,3.657,3.661,3.678,3.693,3.698,3.712,3.716,3.734,3.737,3.746,3.756,3.761,3.772,3.776,3.799,3.804,3.808,3.818,3.841,3.849,3.869,3.871,3.896,3.913,3.925,3.929,3.942,3.964,3.982,3.983,4.008,4.019,4.038,4.061,4.068,0.016,0.016,0.016,4.062,4.023,3.994,3.958,3.928,3.902,3.879,3.849,3.825,3.793,3.771,3.736,3.726,3.703,3.676,3.645,3.622,3.599,3.569,3.552,3.527,3.51,3.49,3.461,3.446,3.432,3.401,3.382,3.364,3.337,3.333,3.302,3.295,3.272,3.263,3.246,3.224,3.214,3.202,3.19,3.18,3.16,3.151,3.129,3.12,3.109,3.089,3.079,3.067,3.056,3.042,3.029,3.016,2.998,2.992,2.987,2.964,2.956,2.948,2.938,2.926,2.909,2.896,2.894,2.877,2.87,2.862,2.857,2.842,2.824,2.821,2.811,2.797,2.797,2.786,2.772,2.763,2.759,2.749,2.742,2.729,2.721,2.721,2.713,2.699,2.694,2.681,2.675,2.675,2.674,2.653,2.648,2.647,2.644,2.636,2.63,2.625,2.621,2.612,2.601,2.6,2.592,2.588,2.582,2.576,2.573,2.57,2.57,2.568,2.55,2.55,2.545,2.543,2.542,2.542,2.532,2.529,2.528,2.528,2.523,2.506,2.506,2.506,2.503,2.502,2.5,2.5,2.5,2.494,2.49,2.489,2.486,2.479,2.478,2.477,2.478,2.477,2.478,2.477,2.475,2.475,2.475,2.473,2.465,2.465,2.465,2.465,2.465,2.467,2.467,2.471,2.471,2.471,2.471,2.472,2.472,2.468,2.471,2.473,2.474,2.471,2.474,2.474,2.474,2.474,2.477,2.478,2.481,2.485,2.488,2.488,2.489,2.496,2.496,2.501,2.501,2.51,2.51,2.51,2.511,2.511,2.511,2.521,2.524,2.529,2.532,2.535,2.535,2.538,2.545,2.554,2.557,2.561,2.563,2.564,2.565,2.574,2.574,2.581,2.585,2.6,2.604,2.609,2.609,2.625,2.628,2.63,2.634,2.64,2.646,2.649,2.657,2.675,2.677,2.689,2.693,2.698,2.71,2.716,2.73,2.73,2.734,2.741,2.751,2.761,2.767,2.789,2.79,2.799,2.803,2.813,2.828,2.837,2.837,2.865,2.867,2.87,2.883,2.898,2.903,2.914,2.931,2.949,2.949,2.957,2.975,2.991,2.994,3.008,3.031,3.043,3.054,3.054,3.079,3.087,3.098,3.104,3.12,3.138,3.153,3.164,3.175,3.202,3.207,3.236,3.24,3.257,3.287,3.292,3.329,3.343,3.359,3.366,3.394,3.413,3.423,3.457,3.482,3.494,3.515,3.541,3.562,3.582,3.611,3.64,3.664,3.673,3.716,3.731,3.763,3.781,3.821,3.831,3.872,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.453,3.441,3.424,3.423,3.409,3.409,3.423,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 126.36} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 126.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 126.364} {Type Sonar} {Name Sonar0 Range 4.4196} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 4.9276} SEN {Time 126.411} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.174,0.185,0.185,0,0,0,0,0,1.21,1.21,1.21,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.722,1.709,1.692,1.68,1.669,1.666,1.661,1.649,1.649,1.649,0,0,0,0,0,0.51,0.504,0.501,0.501,0.496,0.501,0.007,0.166,0.149,0.142,0.142,0.138,0.149,0.149,0.153,0.149,0.153,0.153,0.153,0.164,1.621,1.623,1.652,1.652,0,0,0,0,0.162,0.159,0.157,0.153,0.151,0.14,0.14,0.113,0.095,0.068,0.066,0.066,0.066,0.066,0.066,0.068,0.072,0.069,0.068,0.068,0.067,0.066,0.066,0.066,0.067,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.826,3.826,3.826,3.816,0,0.007,0,0,0,0.007,0,0,0,0,0,3.596,3.574,3.567,3.556,3.54,3.534,3.5,3.469,3.463,3.463,3.452,3.253,3.253,3.253,3.244,3.253,0,0,0,0,0,0,0,0,0,0,3.142,3.135,3.128,3.111,3.106,3.106,3.106,3.106,3.108,3.247,0,0,0,0,0,0,0,0,0,0,2.994,2.99,2.989,2.985,2.969,2.969,2.966,2.966,2.96,2.958,2.955,2.955,2.952,2.951,2.948,2.942,2.939,2.937,2.932,2.93,2.923,2.92,2.918,2.916,2.916,2.914,2.911,2.91,2.91,2.901,2.9,2.898,2.894,2.893,2.892,2.89,2.885,2.88,2.879,2.876,2.879,2.879,3.426,3.435,3.436,3.435,3.435,3.435,3.436,3.436,3.443,3.443,3.443,3.439,3.437,3.437,3.437,3.437,3.446,3.446,3.447,3.447,3.447,3.447,3.445,3.445,3.446,3.453,3.456,3.456,3.459,3.463,3.464,3.467,3.467,3.467,3.471,3.474,3.478,3.481,3.487,3.49,3.495,3.496,3.498,3.508,3.509,3.51,3.521,3.53,3.539,3.542,3.547,3.547,3.555,3.566,3.57,3.579,3.579,3.581,3.594,3.594,3.607,3.609,3.618,3.632,3.637,3.638,3.647,3.659,3.669,3.67,3.689,3.693,3.698,3.7,3.717,3.722,3.739,3.746,3.755,3.767,3.779,3.785,3.8,3.81,3.811,3.82,3.847,3.851,3.863,3.878,3.898,3.908,3.909,3.949,3.949,3.96,3.98,3.99,4.002,4.032,4.038,4.058,4.069,0.016,0.016,0.016,4.058,4.02,3.989,3.968,3.937,3.906,3.876,3.865,3.815,3.792,3.774,3.749,3.734,3.704,3.675,3.65,3.623,3.585,3.578,3.558,3.535,3.51,3.483,3.459,3.432,3.427,3.411,3.376,3.366,3.349,3.322,3.306,3.285,3.278,3.257,3.248,3.241,3.211,3.209,3.192,3.173,3.163,3.151,3.127,3.119,3.111,3.088,3.077,3.062,3.053,3.037,3.029,3.014,3.007,2.989,2.976,2.967,2.96,2.95,2.923,2.915,2.912,2.895,2.888,2.88,2.868,2.859,2.855,2.852,2.825,2.824,2.811,2.805,2.8,2.774,2.765,2.76,2.756,2.738,2.737,2.733,2.723,2.716,2.705,2.702,2.689,2.685,2.682,2.673,2.659,2.651,2.65,2.648,2.645,2.632,2.627,2.625,2.618,2.617,2.597,2.595,2.591,2.585,2.577,2.577,2.573,2.568,2.564,2.561,2.557,2.548,2.547,2.54,2.536,2.533,2.532,2.529,2.527,2.525,2.513,2.513,2.512,2.506,2.505,2.503,2.502,2.501,2.497,2.495,2.489,2.483,2.482,2.482,2.475,2.478,2.479,2.479,2.478,2.478,2.479,2.475,2.473,2.473,2.468,2.466,2.465,2.464,2.465,2.464,2.462,2.462,2.465,2.464,2.464,2.467,2.47,2.47,2.47,2.472,2.472,2.472,2.471,2.472,2.476,2.476,2.478,2.482,2.482,2.481,2.488,2.488,2.488,2.493,2.494,2.494,2.503,2.504,2.512,2.512,2.512,2.512,2.512,2.52,2.523,2.524,2.527,2.529,2.531,2.536,2.536,2.551,2.556,2.557,2.558,2.562,2.57,2.573,2.583,2.586,2.588,2.592,2.596,2.599,2.616,2.622,2.622,2.627,2.638,2.648,2.65,2.655,2.664,2.674,2.68,2.69,2.69,2.697,2.709,2.714,2.718,2.73,2.739,2.752,2.756,2.762,2.773,2.78,2.784,2.798,2.801,2.807,2.83,2.833,2.841,2.861,2.869,2.871,2.873,2.9,2.905,2.911,2.932,2.937,2.947,2.962,2.973,2.99,2.998,3.016,3.022,3.037,3.043,3.061,3.07,3.085,3.095,3.106,3.121,3.135,3.156,3.167,3.182,3.187,3.213,3.231,3.252,3.267,3.291,3.299,3.31,3.328,3.36,3.369,3.392,3.411,3.44,3.461,3.484,3.485,3.506,3.544,3.56,3.595,3.614,3.635,3.661,3.688,3.715,3.724,3.756,3.786,3.818,3.846,3.873,0,0,0,0.007,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.459,3.452,3.429,3.425,3.409,3.409,3.409,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 126.57} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 126.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 126.567} {Type Sonar} {Name Sonar0 Range 4.4196} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 4.9276} SEN {Time 126.611} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.177,0.177,0.177,0.183,0.188,0,0,0,0,0,1.213,1.213,1.213,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.736,1.714,1.695,1.684,1.678,1.662,1.659,1.651,1.651,1.659,0,0,0,0,0,0.51,0.508,0.499,0.499,0.494,0.478,0.167,0.151,0.144,0.143,0.143,0.144,0.145,0.15,0.151,0.15,0.152,0.153,0.153,0.153,1.605,1.638,1.656,1.656,0,0,0,0,0.156,0.154,0.151,0.153,0.151,0.144,0.143,0.119,0.096,0.068,0.062,0.062,0.062,0.063,0.063,0.064,0.069,0.069,0.068,0.068,0.064,0.064,0.064,0.065,0.086,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.831,3.792,3.792,3.792,0,0,0,0,0,0.007,0,0,0,0,0,3.596,3.577,3.568,3.556,3.536,3.528,3.493,3.471,3.47,3.438,3.251,3.241,3.241,3.235,3.241,0.007,0,0,0,0,0,0,0,0,0,3.15,3.134,3.133,3.126,3.108,3.101,3.097,3.097,3.097,3.101,3.256,0,0,0,0,0,0,0,0,0,0,2.995,2.994,2.988,2.986,2.975,2.967,2.966,2.964,2.96,2.958,2.952,2.951,2.95,2.947,2.94,2.937,2.934,2.933,2.928,2.926,2.92,2.92,2.919,2.916,2.916,2.914,2.911,2.903,2.903,2.899,2.899,2.898,2.895,2.895,2.895,2.894,2.891,2.889,2.886,2.886,2.886,2.886,3.434,3.434,3.443,3.434,3.434,3.434,3.438,3.434,3.438,3.438,3.434,3.434,3.435,3.435,3.442,3.446,3.445,3.445,3.445,3.446,3.445,3.447,3.449,3.451,3.451,3.452,3.456,3.46,3.467,3.467,3.467,3.468,3.469,3.472,3.476,3.481,3.481,3.483,3.488,3.491,3.495,3.507,3.508,3.509,3.511,3.513,3.518,3.535,3.536,3.539,3.54,3.541,3.555,3.557,3.557,3.574,3.585,3.592,3.596,3.6,3.603,3.61,3.626,3.626,3.631,3.643,3.646,3.668,3.668,3.67,3.682,3.695,3.702,3.702,3.714,3.723,3.734,3.743,3.761,3.764,3.768,3.779,3.806,3.809,3.818,3.823,3.834,3.846,3.852,3.87,3.892,3.896,3.918,3.922,3.939,3.95,3.988,3.99,4.01,4.015,4.05,4.053,4.077,0.016,0.016,0.016,4.076,4.019,3.994,3.975,3.925,3.902,3.878,3.846,3.812,3.794,3.777,3.74,3.714,3.692,3.669,3.645,3.624,3.603,3.57,3.548,3.53,3.513,3.485,3.457,3.433,3.425,3.396,3.378,3.355,3.338,3.326,3.298,3.295,3.286,3.25,3.247,3.224,3.215,3.198,3.187,3.175,3.159,3.155,3.121,3.116,3.1,3.09,3.08,3.063,3.045,3.03,3.027,3.012,3.011,2.998,2.98,2.969,2.962,2.944,2.93,2.927,2.911,2.904,2.897,2.877,2.866,2.86,2.856,2.85,2.824,2.823,2.809,2.797,2.792,2.787,2.786,2.762,2.759,2.748,2.741,2.739,2.729,2.711,2.707,2.7,2.697,2.685,2.68,2.668,2.66,2.656,2.652,2.644,2.642,2.642,2.633,2.624,2.62,2.616,2.6,2.6,2.596,2.591,2.581,2.575,2.571,2.57,2.568,2.564,2.553,2.551,2.546,2.544,2.541,2.533,2.532,2.531,2.52,2.518,2.517,2.516,2.507,2.502,2.501,2.499,2.501,2.499,2.497,2.497,2.491,2.489,2.482,2.479,2.479,2.478,2.476,2.472,2.472,2.471,2.472,2.472,2.472,2.47,2.466,2.466,2.466,2.464,2.465,2.465,2.465,2.465,2.468,2.47,2.47,2.473,2.473,2.471,2.471,2.471,2.471,2.471,2.471,2.472,2.474,2.475,2.483,2.483,2.485,2.488,2.488,2.489,2.491,2.497,2.498,2.499,2.499,2.502,2.502,2.507,2.509,2.518,2.522,2.525,2.527,2.53,2.532,2.533,2.533,2.534,2.544,2.544,2.555,2.557,2.557,2.573,2.574,2.578,2.581,2.581,2.589,2.6,2.602,2.603,2.604,2.613,2.627,2.627,2.638,2.649,2.65,2.66,2.663,2.665,2.684,2.693,2.7,2.715,2.716,2.725,2.725,2.734,2.745,2.747,2.752,2.758,2.762,2.774,2.795,2.801,2.802,2.81,2.819,2.828,2.851,2.86,2.866,2.875,2.878,2.899,2.902,2.92,2.925,2.94,2.948,2.968,2.969,2.991,3.003,3.011,3.015,3.034,3.034,3.059,3.065,3.082,3.094,3.109,3.126,3.137,3.154,3.173,3.177,3.202,3.21,3.236,3.25,3.265,3.29,3.291,3.315,3.332,3.359,3.375,3.379,3.414,3.428,3.461,3.487,3.5,3.52,3.546,3.565,3.587,3.612,3.644,3.669,3.689,3.71,3.725,3.754,3.788,3.819,3.842,3.855,3.892,3.97,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.461,3.447,3.432,3.424,3.421,3.421,3.424,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 126.77} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 126.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 126.768} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 4.9784} SEN {Time 126.807} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,1.215,1.215,1.215,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.738,1.703,1.693,1.687,1.672,1.664,1.654,1.648,1.648,1.648,0,0,0,0,0,0.506,0.502,0.502,0.487,0.484,0.379,0.176,0.153,0.147,0.142,0.142,0.143,0.145,0.145,0.149,0.149,0.153,0.158,0.158,0.158,1.622,1.64,1.646,1.646,0,0,0,0,0.164,0.162,0.153,0.153,0.146,0.144,0.143,0.113,0.082,0.075,0.064,0.064,0.064,0.066,0.068,0.068,0.07,0.071,0.07,0.07,0.065,0.065,0.065,0.068,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.828,3.792,3.79,3.77,3.77,3.77,0,0,0,0.007,0,0,0,0,0,3.594,3.577,3.567,3.555,3.537,3.53,3.504,3.471,3.46,3.46,3.459,3.241,3.241,3.241,3.23,3.241,0,0,0,0,0,0,0,0,0,0,3.144,3.131,3.13,3.113,3.11,3.108,3.101,3.101,3.101,3.255,0,0,0,0,0,0,0,0,0,0,2.991,2.989,2.986,2.986,2.974,2.974,2.973,2.969,2.967,2.959,2.959,2.953,2.95,2.947,2.946,2.942,2.94,2.939,2.931,2.924,2.923,2.92,2.914,2.914,2.913,2.913,2.907,2.906,2.903,2.902,2.902,2.899,2.898,2.893,2.888,2.886,2.885,2.885,2.882,2.879,2.882,2.882,3.437,3.439,3.441,3.441,3.439,3.437,3.437,3.437,3.437,3.437,3.436,3.433,3.433,3.433,3.433,3.435,3.439,3.439,3.439,3.439,3.442,3.442,3.444,3.444,3.449,3.451,3.453,3.454,3.458,3.459,3.459,3.467,3.468,3.468,3.471,3.472,3.478,3.479,3.484,3.494,3.498,3.503,3.504,3.509,3.515,3.518,3.521,3.528,3.531,3.531,3.538,3.546,3.553,3.557,3.561,3.582,3.584,3.585,3.586,3.603,3.605,3.614,3.614,3.626,3.63,3.641,3.646,3.661,3.664,3.677,3.684,3.686,3.701,3.704,3.734,3.738,3.74,3.74,3.763,3.766,3.771,3.787,3.808,3.815,3.82,3.829,3.846,3.849,3.857,3.874,3.893,3.91,3.91,3.927,3.948,3.956,3.976,3.978,4.012,4.019,4.037,4.052,4.078,4.089,4.089,4.089,4.073,4.019,4.001,3.98,3.944,3.904,3.864,3.84,3.821,3.797,3.779,3.735,3.718,3.694,3.662,3.634,3.626,3.582,3.573,3.553,3.522,3.511,3.481,3.459,3.428,3.421,3.403,3.382,3.362,3.348,3.327,3.303,3.297,3.279,3.259,3.245,3.228,3.211,3.209,3.19,3.175,3.154,3.148,3.129,3.121,3.105,3.087,3.087,3.07,3.049,3.031,3.025,3.009,3.005,2.993,2.983,2.965,2.963,2.939,2.925,2.925,2.914,2.899,2.885,2.876,2.866,2.86,2.856,2.845,2.828,2.827,2.811,2.802,2.795,2.788,2.785,2.765,2.761,2.743,2.739,2.729,2.718,2.711,2.704,2.702,2.698,2.675,2.675,2.672,2.66,2.659,2.649,2.645,2.642,2.635,2.631,2.624,2.621,2.62,2.598,2.598,2.598,2.584,2.584,2.583,2.574,2.573,2.569,2.56,2.559,2.558,2.544,2.543,2.542,2.539,2.53,2.525,2.515,2.514,2.514,2.514,2.513,2.508,2.506,2.506,2.505,2.499,2.498,2.49,2.489,2.484,2.482,2.484,2.482,2.481,2.481,2.481,2.48,2.48,2.477,2.473,2.473,2.472,2.471,2.468,2.468,2.468,2.467,2.467,2.47,2.464,2.464,2.464,2.464,2.464,2.471,2.471,2.471,2.471,2.476,2.476,2.476,2.479,2.479,2.479,2.479,2.479,2.484,2.485,2.486,2.493,2.494,2.496,2.496,2.498,2.501,2.505,2.507,2.509,2.513,2.513,2.515,2.517,2.525,2.534,2.537,2.542,2.537,2.542,2.542,2.545,2.55,2.556,2.559,2.562,2.575,2.575,2.582,2.585,2.587,2.596,2.602,2.606,2.615,2.62,2.623,2.627,2.641,2.642,2.656,2.664,2.673,2.674,2.684,2.689,2.698,2.708,2.711,2.719,2.725,2.733,2.746,2.75,2.753,2.765,2.769,2.778,2.788,2.788,2.805,2.811,2.818,2.83,2.855,2.86,2.879,2.89,2.898,2.898,2.904,2.91,2.932,2.943,2.949,2.966,2.977,2.992,3.002,3.015,3.023,3.034,3.045,3.062,3.062,3.083,3.102,3.11,3.12,3.137,3.16,3.163,3.183,3.199,3.213,3.225,3.242,3.269,3.288,3.295,3.311,3.333,3.352,3.374,3.397,3.416,3.432,3.45,3.472,3.501,3.516,3.545,3.558,3.592,3.592,3.638,3.665,3.679,3.712,3.724,3.75,3.78,3.826,3.838,3.881,3.9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.467,3.453,3.427,3.422,3.412,3.399,3.399,3.399,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 126.96} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 126.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 126.961} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 5.5626} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2926} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 4.9784} SEN {Time 127.007} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.179,0.179,0.18,0.18,0,0,0,0,0,1.21,1.21,1.21,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.727,1.697,1.694,1.679,1.671,1.667,1.654,1.651,1.651,1.651,0,0,0,0,0,0.499,0.499,0.496,0.494,0.491,0.374,0.168,0.156,0.155,0.143,0.143,0.143,0.148,0.148,0.158,0.153,0.158,0.16,0.16,0.161,1.621,1.627,1.644,1.644,0,0,0,0,0.157,0.153,0.149,0.148,0.148,0.147,0.144,0.122,0.089,0.068,0.068,0.068,0.064,0.064,0.067,0.067,0.07,0.07,0.067,0.066,0.066,0.066,0.066,0.072,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.832,3.832,3.823,3.794,3.794,0,0,0,0,0.007,0,0,0,0,0,3.594,3.584,3.568,3.552,3.534,3.533,3.473,3.463,3.461,3.436,3.237,3.237,3.237,3.241,3.244,0.007,0,0,0,0,0,0,0,0,0,3.151,3.143,3.14,3.13,3.105,3.103,3.1,3.1,3.1,3.1,3.26,0,0,0,0,0,0,0,0,0,0,0,2.99,2.986,2.985,2.976,2.975,2.961,2.961,2.96,2.96,2.956,2.956,2.955,2.95,2.94,2.932,2.93,2.93,2.93,2.928,2.926,2.919,2.918,2.914,2.914,2.913,2.908,2.907,2.901,2.901,2.899,2.899,2.896,2.891,2.889,2.889,2.889,2.875,2.875,2.873,2.873,2.885,3.441,3.441,3.441,3.437,3.436,3.433,3.433,3.433,3.436,3.437,3.44,3.442,3.442,3.444,3.444,3.444,3.444,3.444,3.444,3.445,3.445,3.447,3.448,3.448,3.451,3.456,3.457,3.457,3.459,3.468,3.468,3.471,3.472,3.472,3.477,3.477,3.478,3.483,3.487,3.492,3.492,3.492,3.501,3.509,3.519,3.519,3.52,3.528,3.529,3.53,3.537,3.55,3.553,3.559,3.564,3.58,3.59,3.59,3.592,3.592,3.612,3.612,3.618,3.619,3.632,3.641,3.643,3.655,3.656,3.665,3.681,3.697,3.699,3.703,3.714,3.732,3.734,3.747,3.751,3.766,3.769,3.785,3.794,3.816,3.818,3.837,3.844,3.851,3.863,3.869,3.905,3.905,3.915,3.935,3.953,3.959,3.968,3.994,4.004,4.019,4.042,4.051,4.073,0.016,0.016,0.016,4.071,4.029,4.002,3.969,3.933,3.906,3.88,3.837,3.826,3.793,3.776,3.751,3.726,3.696,3.664,3.638,3.617,3.595,3.566,3.552,3.524,3.509,3.487,3.459,3.426,3.415,3.4,3.372,3.358,3.346,3.325,3.303,3.296,3.274,3.259,3.257,3.235,3.215,3.206,3.193,3.176,3.167,3.152,3.123,3.12,3.101,3.092,3.083,3.061,3.055,3.032,3.023,3.007,3.001,2.998,2.985,2.962,2.957,2.937,2.925,2.921,2.909,2.89,2.887,2.876,2.871,2.858,2.853,2.849,2.825,2.824,2.81,2.804,2.791,2.789,2.776,2.759,2.757,2.748,2.736,2.73,2.722,2.722,2.705,2.697,2.688,2.685,2.683,2.675,2.663,2.652,2.65,2.643,2.639,2.639,2.63,2.627,2.608,2.605,2.604,2.598,2.595,2.583,2.582,2.581,2.576,2.569,2.564,2.563,2.56,2.553,2.541,2.541,2.538,2.531,2.531,2.519,2.519,2.513,2.513,2.512,2.511,2.508,2.507,2.504,2.501,2.498,2.496,2.496,2.494,2.485,2.485,2.482,2.479,2.479,2.479,2.478,2.478,2.472,2.472,2.471,2.471,2.471,2.466,2.466,2.465,2.465,2.464,2.464,2.464,2.464,2.467,2.467,2.468,2.471,2.472,2.472,2.474,2.474,2.474,2.476,2.477,2.478,2.479,2.48,2.482,2.483,2.486,2.486,2.486,2.495,2.495,2.497,2.5,2.502,2.502,2.503,2.503,2.503,2.503,2.509,2.512,2.514,2.522,2.523,2.529,2.538,2.538,2.539,2.539,2.557,2.562,2.562,2.562,2.568,2.572,2.579,2.583,2.586,2.59,2.592,2.599,2.605,2.611,2.624,2.631,2.635,2.636,2.644,2.653,2.66,2.663,2.672,2.683,2.691,2.698,2.701,2.711,2.717,2.723,2.727,2.741,2.752,2.755,2.765,2.774,2.787,2.789,2.798,2.801,2.82,2.825,2.842,2.851,2.859,2.864,2.881,2.886,2.906,2.907,2.915,2.935,2.941,2.947,2.962,2.975,2.987,2.998,3.007,3.013,3.037,3.04,3.064,3.064,3.081,3.097,3.111,3.12,3.14,3.158,3.164,3.179,3.197,3.216,3.229,3.256,3.268,3.281,3.3,3.318,3.335,3.356,3.375,3.398,3.411,3.433,3.463,3.48,3.491,3.505,3.534,3.556,3.565,3.616,3.648,3.661,3.68,3.711,3.738,3.754,3.78,3.806,3.845,3.878,3.928,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.461,3.45,3.43,3.412,3.408,3.398,3.398,3.398,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 127.16} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 127.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 127.163} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 5.5626} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2926} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 4.9784} SEN {Time 127.207} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.172,0.183,0.183,0,0,0,0,0,1.217,1.217,1.217,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.728,1.698,1.689,1.681,1.674,1.674,1.663,1.643,1.643,1.643,0,0,0,0,0,0.506,0.504,0.499,0.499,0.492,0.491,0.492,0.166,0.153,0.145,0.145,0.145,0.145,0.153,0.153,0.153,0.153,0.153,0.154,0.156,1.615,1.629,1.654,1.654,0,0,0,0.159,0.157,0.155,0.155,0.153,0.147,0.146,0.137,0.113,0.09,0.067,0.064,0.064,0.064,0.066,0.066,0.067,0.072,0.072,0.067,0.066,0.066,0.066,0.067,0.068,0.08,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.829,3.829,3.806,3.806,0.007,0,0,0,0,0.007,0,0,0,0,0,3.591,3.577,3.566,3.55,3.546,3.53,3.492,3.464,3.46,3.46,3.46,3.24,3.24,3.242,3.242,0.007,0,0,0,0,0,0,0,0,0,3.139,3.139,3.138,3.114,3.108,3.107,3.091,3.091,3.091,3.092,3.258,0,0,0,0,0,0,0,0,0,0,2.995,2.992,2.99,2.986,2.98,2.973,2.972,2.966,2.964,2.964,2.954,2.953,2.952,2.943,2.943,2.939,2.935,2.933,2.928,2.927,2.927,2.925,2.924,2.919,2.912,2.912,2.907,2.905,2.905,2.895,2.9,2.897,2.9,2.897,2.897,2.888,2.888,2.886,2.886,2.886,2.886,2.886,3.435,3.435,3.438,3.435,3.435,3.435,3.438,3.437,3.437,3.437,3.437,3.437,3.437,3.438,3.44,3.442,3.44,3.443,3.443,3.444,3.443,3.449,3.451,3.451,3.451,3.452,3.452,3.455,3.459,3.465,3.465,3.47,3.473,3.473,3.476,3.476,3.478,3.48,3.487,3.489,3.493,3.497,3.503,3.507,3.511,3.511,3.523,3.534,3.536,3.539,3.544,3.546,3.556,3.561,3.57,3.58,3.585,3.588,3.59,3.6,3.605,3.606,3.614,3.628,3.633,3.644,3.647,3.649,3.664,3.678,3.684,3.697,3.698,3.707,3.72,3.727,3.732,3.747,3.751,3.764,3.769,3.786,3.794,3.809,3.819,3.821,3.836,3.848,3.862,3.882,3.89,3.907,3.916,3.936,3.943,3.952,3.98,3.998,4.012,4.034,4.043,4.064,4.074,4.091,4.091,4.091,4.07,4.029,3.989,3.968,3.938,3.906,3.868,3.846,3.82,3.776,3.771,3.745,3.715,3.695,3.67,3.649,3.621,3.601,3.562,3.548,3.532,3.511,3.482,3.469,3.437,3.434,3.401,3.385,3.363,3.344,3.326,3.303,3.297,3.278,3.263,3.244,3.222,3.21,3.201,3.191,3.191,3.158,3.149,3.133,3.125,3.098,3.086,3.074,3.058,3.055,3.03,3.024,3.003,2.998,2.996,2.984,2.964,2.956,2.952,2.927,2.924,2.911,2.899,2.898,2.88,2.858,2.858,2.854,2.852,2.831,2.813,2.809,2.797,2.795,2.792,2.776,2.766,2.762,2.742,2.74,2.739,2.716,2.712,2.711,2.692,2.692,2.688,2.683,2.671,2.67,2.656,2.656,2.65,2.645,2.642,2.632,2.623,2.617,2.61,2.607,2.601,2.595,2.582,2.579,2.579,2.577,2.574,2.565,2.557,2.551,2.551,2.546,2.546,2.542,2.54,2.531,2.527,2.521,2.521,2.516,2.514,2.512,2.508,2.505,2.505,2.504,2.5,2.5,2.492,2.486,2.484,2.484,2.483,2.481,2.479,2.479,2.479,2.475,2.471,2.47,2.47,2.468,2.467,2.467,2.467,2.466,2.462,2.461,2.461,2.461,2.462,2.473,2.473,2.473,2.473,2.472,2.472,2.472,2.47,2.472,2.476,2.477,2.477,2.478,2.478,2.48,2.484,2.488,2.488,2.489,2.491,2.494,2.496,2.496,2.496,2.497,2.505,2.508,2.51,2.51,2.51,2.515,2.516,2.517,2.527,2.531,2.532,2.532,2.538,2.54,2.552,2.558,2.562,2.566,2.574,2.579,2.582,2.587,2.587,2.6,2.6,2.6,2.602,2.605,2.621,2.63,2.63,2.635,2.651,2.651,2.655,2.662,2.671,2.682,2.69,2.695,2.695,2.712,2.72,2.721,2.732,2.738,2.75,2.753,2.761,2.767,2.777,2.785,2.801,2.801,2.811,2.829,2.839,2.851,2.857,2.859,2.876,2.881,2.903,2.905,2.916,2.931,2.937,2.954,2.964,2.975,2.991,2.999,3.009,3.021,3.036,3.046,3.061,3.065,3.087,3.094,3.108,3.118,3.136,3.154,3.164,3.171,3.203,3.218,3.22,3.248,3.264,3.281,3.305,3.32,3.338,3.344,3.365,3.39,3.404,3.437,3.459,3.47,3.493,3.518,3.535,3.56,3.584,3.613,3.637,3.673,3.68,3.703,3.726,3.744,3.788,3.802,3.858,3.871,3.896,3.923,3.984,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.452,3.446,3.428,3.427,3.423,3.403,3.403,3.403,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 127.36} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 127.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 127.364} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 5.5626} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.6002} {Name Sonar4 Range 4.2926} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.794} SEN {Time 127.407} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0,1.204,1.204,1.204,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.743,1.707,1.689,1.689,1.671,1.664,1.66,1.648,1.648,1.648,0,0,0,0,0,0.508,0.507,0.505,0.505,0.492,0.367,0.173,0.15,0.15,0.143,0.143,0.139,0.139,0.139,0.154,0.148,0.154,0.154,0.159,0.007,1.643,1.642,1.643,1.643,0,0,0,0,0.158,0.158,0.155,0.155,0.147,0.145,0.143,0.12,0.084,0.079,0.067,0.064,0.064,0.064,0.062,0.069,0.071,0.073,0.071,0.071,0.064,0.064,0.064,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.824,3.824,3.809,3.809,0.007,0,0,0,0,0.007,0,0,0,0,0,3.579,3.577,3.576,3.552,3.537,3.527,3.496,3.469,3.466,3.466,3.453,3.243,3.243,0,3.243,0,0.007,0,0,0,0,0,0,0,0,0,3.161,3.152,3.13,3.113,3.111,3.098,3.097,3.097,3.098,3.25,0,0,0,0,0,0,0,0,0,0,2.995,2.991,2.988,2.982,2.981,2.973,2.969,2.966,2.963,2.962,2.957,2.956,2.948,2.945,2.945,2.936,2.936,2.928,2.928,2.927,2.922,2.92,2.919,2.919,2.914,2.913,2.909,2.901,2.9,2.9,2.9,2.9,2.9,2.895,2.894,2.894,2.893,2.885,2.883,2.882,2.882,2.882,3.432,3.44,3.44,3.44,3.437,3.436,3.436,3.436,3.436,3.44,3.44,3.441,3.44,3.44,3.44,3.439,3.439,3.438,3.438,3.442,3.442,3.444,3.451,3.454,3.454,3.456,3.457,3.46,3.46,3.462,3.462,3.469,3.474,3.474,3.479,3.48,3.479,3.48,3.486,3.489,3.496,3.502,3.505,3.508,3.51,3.514,3.514,3.525,3.529,3.541,3.542,3.549,3.551,3.558,3.563,3.576,3.576,3.583,3.593,3.606,3.609,3.611,3.618,3.62,3.641,3.646,3.65,3.658,3.667,3.674,3.677,3.695,3.702,3.711,3.719,3.735,3.738,3.739,3.754,3.761,3.775,3.793,3.8,3.814,3.817,3.83,3.838,3.841,3.863,3.874,3.894,3.896,3.911,3.936,3.951,3.958,3.978,3.995,4.017,4.027,4.044,4.073,4.074,0.016,0.016,0.016,4.066,4.022,4.002,3.961,3.941,3.905,3.873,3.839,3.823,3.8,3.768,3.752,3.72,3.694,3.666,3.648,3.621,3.59,3.571,3.546,3.525,3.507,3.487,3.471,3.444,3.419,3.412,3.378,3.351,3.348,3.322,3.301,3.295,3.283,3.259,3.25,3.228,3.214,3.206,3.19,3.178,3.155,3.145,3.128,3.118,3.113,3.088,3.085,3.074,3.058,3.036,3.023,3.004,3.002,3.002,2.989,2.961,2.96,2.955,2.93,2.923,2.919,2.896,2.886,2.88,2.871,2.856,2.855,2.85,2.838,2.827,2.807,2.806,2.79,2.784,2.773,2.768,2.761,2.747,2.743,2.728,2.725,2.716,2.712,2.71,2.706,2.683,2.679,2.678,2.663,2.652,2.65,2.647,2.643,2.639,2.629,2.624,2.619,2.61,2.607,2.598,2.589,2.588,2.581,2.58,2.576,2.574,2.571,2.568,2.556,2.549,2.546,2.544,2.536,2.533,2.532,2.527,2.525,2.517,2.517,2.513,2.513,2.513,2.507,2.507,2.504,2.502,2.5,2.5,2.493,2.49,2.482,2.481,2.481,2.481,2.477,2.472,2.477,2.477,2.477,2.477,2.477,2.475,2.471,2.47,2.468,2.468,2.468,2.463,2.463,2.463,2.463,2.462,2.466,2.47,2.473,2.473,2.473,2.473,2.475,2.475,2.474,2.478,2.474,2.474,2.477,2.48,2.48,2.483,2.488,2.488,2.488,2.492,2.49,2.49,2.503,2.504,2.506,2.51,2.513,2.513,2.513,2.518,2.522,2.531,2.535,2.536,2.541,2.543,2.544,2.55,2.553,2.554,2.555,2.562,2.576,2.578,2.585,2.586,2.588,2.591,2.6,2.605,2.612,2.619,2.623,2.631,2.635,2.648,2.649,2.657,2.666,2.669,2.679,2.687,2.694,2.697,2.715,2.715,2.721,2.726,2.743,2.755,2.762,2.767,2.793,2.796,2.796,2.798,2.806,2.807,2.826,2.832,2.851,2.86,2.863,2.88,2.88,2.892,2.911,2.918,2.924,2.94,2.953,2.955,2.974,2.985,3,3.007,3.018,3.036,3.046,3.057,3.067,3.084,3.098,3.106,3.122,3.147,3.163,3.17,3.18,3.201,3.207,3.228,3.247,3.261,3.278,3.297,3.314,3.33,3.361,3.371,3.386,3.417,3.423,3.452,3.469,3.507,3.513,3.537,3.575,3.585,3.599,3.639,3.668,3.685,3.723,3.73,3.762,3.779,3.819,3.874,3.906,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.458,3.454,3.428,3.426,3.418,3.405,3.405,3.405,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 127.56} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 127.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 127.557} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.6002} {Name Sonar4 Range 4.2926} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.794} SEN {Time 127.607} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,1.21,1.21,1.21,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.739,1.699,1.691,1.688,1.68,1.672,1.666,1.647,1.647,1.647,0,0,0.006,0,0,0.506,0.506,0.501,0.497,0.496,0.373,0.373,0.164,0.15,0.149,0.149,0.143,0.144,0.144,0.154,0.149,0.154,0.154,0.16,0.162,1.609,1.639,1.647,1.647,0,0,0,0.161,0.16,0.158,0.157,0.154,0.153,0.148,0.148,0.118,0.084,0.073,0.063,0.063,0.063,0.064,0.066,0.071,0.071,0.071,0.07,0.064,0.063,0.063,0.063,0.075,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.83,3.83,3.83,3.803,0,0.007,0,0,0,0.007,0,0,0,0,0,3.591,3.576,3.564,3.553,3.541,3.537,3.503,3.467,3.46,3.46,3.449,3.449,0.007,3.237,3.232,3.237,3.237,0,0,0,0,0,0,0,0,3.156,3.146,3.143,3.123,3.111,3.111,3.109,3.107,3.107,3.109,3.263,0,0,0,0,0,0,0,0,0,0,2.995,2.994,2.986,2.98,2.974,2.973,2.972,2.97,2.97,2.956,2.953,2.953,2.952,2.944,2.943,2.942,2.937,2.932,2.926,2.923,2.922,2.921,2.919,2.915,2.912,2.91,2.91,2.903,2.903,2.897,2.901,2.897,2.896,2.895,2.893,2.889,2.889,2.889,2.882,2.882,2.882,2.882,3.437,3.438,3.439,3.438,3.438,3.438,3.438,3.438,3.433,3.437,3.433,3.435,3.433,3.435,3.435,3.439,3.441,3.441,3.444,3.441,3.441,3.441,3.452,3.443,3.452,3.453,3.456,3.46,3.464,3.464,3.465,3.466,3.466,3.466,3.475,3.472,3.48,3.484,3.486,3.494,3.497,3.497,3.5,3.503,3.514,3.519,3.524,3.524,3.537,3.54,3.546,3.552,3.553,3.553,3.566,3.577,3.578,3.591,3.593,3.599,3.605,3.607,3.613,3.621,3.634,3.636,3.647,3.654,3.672,3.674,3.676,3.691,3.7,3.709,3.718,3.722,3.739,3.746,3.752,3.754,3.775,3.783,3.798,3.814,3.815,3.834,3.835,3.851,3.861,3.88,3.886,3.906,3.918,3.925,3.957,3.966,3.971,3.986,4.013,4.013,4.039,4.042,4.075,4.095,4.095,4.095,4.057,4.027,4.004,3.973,3.932,3.915,3.879,3.849,3.815,3.789,3.765,3.751,3.729,3.693,3.689,3.652,3.625,3.598,3.56,3.545,3.534,3.494,3.485,3.455,3.429,3.42,3.415,3.37,3.355,3.338,3.328,3.305,3.29,3.27,3.264,3.245,3.235,3.216,3.202,3.196,3.173,3.159,3.151,3.128,3.119,3.11,3.098,3.078,3.07,3.057,3.035,3.017,3.013,3.005,2.995,2.981,2.962,2.956,2.946,2.933,2.924,2.91,2.896,2.885,2.882,2.866,2.86,2.859,2.849,2.841,2.818,2.803,2.802,2.796,2.78,2.774,2.763,2.756,2.749,2.735,2.73,2.727,2.711,2.703,2.699,2.696,2.685,2.683,2.675,2.671,2.654,2.654,2.648,2.643,2.634,2.623,2.612,2.61,2.609,2.603,2.597,2.594,2.583,2.581,2.578,2.576,2.572,2.56,2.556,2.554,2.553,2.551,2.547,2.547,2.538,2.532,2.529,2.518,2.518,2.517,2.517,2.514,2.514,2.507,2.502,2.502,2.501,2.5,2.494,2.488,2.484,2.482,2.482,2.481,2.48,2.479,2.479,2.476,2.476,2.476,2.47,2.47,2.47,2.467,2.467,2.467,2.464,2.461,2.461,2.464,2.465,2.468,2.468,2.466,2.466,2.466,2.466,2.467,2.468,2.468,2.476,2.476,2.479,2.479,2.479,2.479,2.479,2.479,2.487,2.489,2.49,2.493,2.494,2.494,2.5,2.501,2.504,2.505,2.512,2.513,2.513,2.513,2.514,2.515,2.524,2.527,2.53,2.539,2.542,2.543,2.555,2.555,2.555,2.56,2.561,2.573,2.575,2.575,2.584,2.585,2.604,2.605,2.609,2.615,2.621,2.625,2.637,2.64,2.64,2.648,2.66,2.663,2.674,2.674,2.683,2.692,2.71,2.711,2.716,2.732,2.735,2.739,2.751,2.756,2.765,2.77,2.782,2.789,2.801,2.801,2.812,2.827,2.833,2.848,2.86,2.868,2.877,2.884,2.902,2.905,2.925,2.929,2.94,2.94,2.96,2.975,2.984,3.005,3.01,3.02,3.03,3.04,3.059,3.075,3.09,3.091,3.103,3.125,3.142,3.155,3.165,3.18,3.191,3.202,3.237,3.25,3.259,3.287,3.299,3.318,3.339,3.358,3.365,3.39,3.416,3.426,3.442,3.477,3.492,3.504,3.544,3.572,3.576,3.609,3.638,3.665,3.685,3.712,3.735,3.76,3.788,3.798,3.844,3.862,3.904,3.953,3.987,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.462,3.46,3.432,3.419,3.416,3.415,3.416,3.419,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 127.76} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 127.76} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 127.76} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.6002} {Name Sonar4 Range 4.2926} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.794} SEN {Time 127.803} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.183,0.183,0.184,0.184,0,0,0,0,0,1.218,1.218,1.218,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.73,1.707,1.687,1.683,1.662,1.66,1.654,1.644,1.644,1.654,0,0,0.006,0,0,0.506,0.505,0.504,0.497,0.489,0.379,0.173,0.155,0.153,0.142,0.142,0.148,0.148,0.145,0.148,0.148,0.151,0.152,0.153,0.155,1.63,1.641,1.657,1.657,0,0,0,0.163,0.16,0.154,0.154,0.148,0.148,0.147,0.147,0.113,0.082,0.076,0.07,0.068,0.068,0.067,0.067,0.067,0.067,0.067,0.067,0.067,0.062,0.062,0.067,0.072,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.842,3.842,3.842,0,0,0,0,0,0,0.007,0,0,0,0,0,3.589,3.572,3.572,3.552,3.542,3.529,3.487,3.473,3.458,3.458,3.44,3.237,3.237,3.237,3.233,3.237,0,0,0,0,0,0,0,0,0,3.149,3.142,3.134,3.121,3.11,3.096,3.096,3.095,3.095,3.098,3.255,0,0,0,0,0,0,0,0,0,0,2.996,2.993,2.993,2.981,2.98,2.972,2.968,2.967,2.967,2.966,2.955,2.953,2.95,2.948,2.941,2.939,2.939,2.929,2.928,2.927,2.927,2.92,2.92,2.911,2.911,2.911,2.909,2.9,2.9,2.897,2.897,2.9,2.897,2.896,2.892,2.889,2.888,2.884,2.884,2.881,2.884,2.888,3.432,3.434,3.439,3.439,3.44,3.442,3.442,3.438,3.438,3.438,3.436,3.436,3.434,3.436,3.436,3.44,3.44,3.44,3.44,3.443,3.439,3.443,3.452,3.456,3.456,3.459,3.459,3.459,3.462,3.462,3.462,3.467,3.462,3.462,3.467,3.481,3.483,3.487,3.488,3.49,3.503,3.503,3.504,3.508,3.514,3.517,3.521,3.525,3.528,3.535,3.546,3.548,3.548,3.558,3.567,3.571,3.572,3.579,3.583,3.592,3.597,3.607,3.616,3.62,3.635,3.641,3.657,3.662,3.666,3.675,3.678,3.702,3.707,3.715,3.719,3.722,3.731,3.74,3.758,3.764,3.783,3.784,3.797,3.816,3.822,3.827,3.848,3.86,3.862,3.878,3.887,3.9,3.919,3.934,3.953,3.956,3.963,3.998,4.019,4.021,4.031,4.057,4.082,0.016,0.016,0.016,4.058,4.034,3.989,3.965,3.941,3.909,3.863,3.845,3.813,3.793,3.754,3.745,3.724,3.689,3.671,3.636,3.618,3.59,3.566,3.55,3.529,3.496,3.487,3.453,3.445,3.421,3.4,3.389,3.355,3.34,3.334,3.308,3.294,3.277,3.257,3.241,3.232,3.223,3.194,3.185,3.18,3.156,3.146,3.13,3.128,3.101,3.085,3.076,3.069,3.05,3.029,3.028,3.007,3.006,2.987,2.983,2.967,2.959,2.955,2.931,2.919,2.913,2.902,2.882,2.879,2.866,2.854,2.849,2.849,2.829,2.822,2.817,2.799,2.796,2.793,2.772,2.762,2.758,2.756,2.74,2.73,2.724,2.718,2.709,2.693,2.69,2.681,2.676,2.672,2.671,2.65,2.649,2.645,2.643,2.641,2.639,2.627,2.619,2.605,2.602,2.596,2.587,2.582,2.58,2.576,2.573,2.568,2.562,2.562,2.555,2.549,2.541,2.54,2.537,2.534,2.524,2.523,2.52,2.52,2.52,2.516,2.511,2.51,2.51,2.509,2.508,2.502,2.499,2.495,2.494,2.484,2.48,2.478,2.477,2.477,2.477,2.477,2.477,2.478,2.478,2.477,2.477,2.471,2.47,2.47,2.462,2.462,2.462,2.473,2.473,2.473,2.473,2.47,2.468,2.468,2.468,2.468,2.468,2.472,2.471,2.471,2.475,2.475,2.476,2.476,2.477,2.477,2.48,2.483,2.491,2.491,2.492,2.493,2.492,2.498,2.5,2.5,2.503,2.505,2.505,2.509,2.509,2.515,2.52,2.531,2.533,2.534,2.535,2.545,2.551,2.56,2.563,2.56,2.56,2.563,2.573,2.576,2.58,2.584,2.59,2.604,2.609,2.61,2.613,2.625,2.627,2.63,2.631,2.648,2.653,2.663,2.664,2.676,2.676,2.687,2.694,2.703,2.714,2.715,2.716,2.74,2.745,2.747,2.763,2.766,2.772,2.789,2.792,2.801,2.81,2.813,2.827,2.843,2.851,2.864,2.865,2.876,2.889,2.91,2.912,2.915,2.925,2.945,2.951,2.955,2.972,2.994,2.994,3.011,3.021,3.035,3.039,3.061,3.067,3.082,3.096,3.104,3.118,3.134,3.151,3.155,3.181,3.195,3.214,3.228,3.255,3.264,3.288,3.303,3.309,3.33,3.352,3.362,3.396,3.41,3.425,3.461,3.476,3.496,3.516,3.557,3.563,3.58,3.606,3.651,3.664,3.691,3.718,3.73,3.754,3.79,3.825,3.842,3.874,3.932,3.951,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.469,3.455,3.443,3.431,3.429,3.429,3.431,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 127.96} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 127.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 127.961} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.6256} {Name Sonar4 Range 4.2926} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8448} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 5.2832} SEN {Time 128.003} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.183,0.188,0.188,0,0,0,0,0,1.219,1.219,1.219,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.735,1.698,1.695,1.693,1.669,1.665,1.663,1.647,1.647,1.647,0,0,0,0,0,0.504,0.504,0.502,0.494,0.487,0.487,0.379,0.165,0.157,0.141,0.141,0.141,0.154,0.154,0.154,0.154,0.154,0.154,0.158,0.16,1.613,1.638,1.642,1.642,0,0,0,0.162,0.162,0.161,0.158,0.155,0.149,0.147,0.147,0.115,0.095,0.069,0.069,0.068,0.064,0.068,0.065,0.065,0.067,0.068,0.067,0.067,0.067,0.067,0.067,0.071,0.077,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.829,3.807,3.807,3.784,3.784,3.784,0,0,0,0.007,0,0,0,0,0,3.593,3.586,3.574,3.549,3.54,3.539,3.501,3.462,3.459,3.455,3.243,3.236,3.236,3.241,3.243,0.007,0,0,0,0,0,0,0,0,0,3.141,3.139,3.133,3.132,3.109,3.108,3.102,3.094,3.094,3.094,3.253,0,0,0,0,0.007,0,0,0,0,0,2.994,2.99,2.99,2.988,2.985,2.979,2.972,2.969,2.964,2.959,2.959,2.959,2.956,2.951,2.948,2.933,2.933,2.93,2.929,2.926,2.925,2.914,2.912,2.912,2.912,2.912,2.909,2.899,2.899,2.899,2.898,2.898,2.897,2.896,2.894,2.891,2.889,2.887,2.88,2.879,2.879,2.88,3.433,3.433,3.435,3.435,3.434,3.434,3.437,3.437,3.438,3.438,3.438,3.44,3.44,3.441,3.443,3.444,3.444,3.444,3.444,3.441,3.441,3.44,3.44,3.443,3.449,3.453,3.455,3.456,3.456,3.459,3.464,3.464,3.473,3.475,3.477,3.477,3.479,3.483,3.487,3.497,3.499,3.503,3.507,3.507,3.516,3.517,3.521,3.522,3.533,3.537,3.54,3.553,3.556,3.559,3.567,3.581,3.582,3.585,3.586,3.595,3.605,3.612,3.617,3.622,3.631,3.637,3.649,3.659,3.659,3.673,3.677,3.695,3.697,3.707,3.719,3.734,3.744,3.748,3.753,3.773,3.78,3.787,3.794,3.814,3.815,3.831,3.84,3.86,3.875,3.879,3.898,3.905,3.919,3.932,3.95,3.951,3.979,3.995,4.013,4.03,4.041,4.068,4.068,0.016,0.016,0.016,4.067,4.025,3.999,3.969,3.941,3.902,3.867,3.838,3.827,3.795,3.761,3.753,3.727,3.699,3.67,3.648,3.604,3.595,3.571,3.551,3.53,3.504,3.485,3.471,3.431,3.42,3.405,3.379,3.363,3.343,3.335,3.304,3.294,3.276,3.254,3.242,3.233,3.21,3.208,3.182,3.171,3.154,3.147,3.129,3.119,3.109,3.089,3.086,3.067,3.039,3.039,3.025,3.008,3.008,2.994,2.991,2.97,2.954,2.952,2.934,2.918,2.917,2.9,2.881,2.876,2.864,2.862,2.859,2.849,2.828,2.824,2.814,2.792,2.786,2.786,2.782,2.765,2.751,2.75,2.74,2.734,2.731,2.725,2.717,2.701,2.699,2.695,2.677,2.674,2.671,2.653,2.646,2.642,2.641,2.639,2.635,2.624,2.612,2.606,2.599,2.598,2.592,2.589,2.586,2.575,2.574,2.569,2.563,2.559,2.554,2.55,2.55,2.543,2.538,2.538,2.531,2.528,2.522,2.519,2.517,2.514,2.514,2.514,2.511,2.504,2.503,2.5,2.5,2.491,2.488,2.487,2.485,2.485,2.482,2.482,2.482,2.481,2.476,2.476,2.476,2.474,2.474,2.473,2.473,2.468,2.468,2.468,2.468,2.468,2.467,2.467,2.467,2.467,2.467,2.466,2.468,2.468,2.471,2.473,2.473,2.474,2.474,2.474,2.474,2.474,2.48,2.48,2.48,2.48,2.487,2.493,2.493,2.494,2.494,2.496,2.501,2.503,2.506,2.508,2.509,2.514,2.514,2.518,2.518,2.529,2.53,2.533,2.535,2.538,2.548,2.55,2.55,2.552,2.56,2.562,2.565,2.573,2.588,2.588,2.592,2.6,2.606,2.61,2.612,2.623,2.629,2.631,2.632,2.648,2.648,2.656,2.663,2.667,2.682,2.683,2.694,2.701,2.716,2.726,2.726,2.746,2.746,2.75,2.751,2.759,2.772,2.785,2.787,2.799,2.805,2.813,2.831,2.838,2.855,2.858,2.866,2.874,2.886,2.899,2.906,2.915,2.926,2.938,2.951,2.961,2.967,2.98,2.999,3.013,3.017,3.031,3.037,3.056,3.068,3.088,3.101,3.109,3.129,3.137,3.148,3.176,3.179,3.2,3.213,3.223,3.253,3.258,3.284,3.308,3.324,3.338,3.36,3.378,3.392,3.416,3.416,3.445,3.47,3.489,3.518,3.538,3.563,3.575,3.613,3.633,3.654,3.663,3.705,3.73,3.752,3.782,3.801,3.839,3.871,3.904,3.913,3.973,4.012,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.459,3.442,3.432,3.418,3.418,3.418,3.418,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 128.15} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 128.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 128.154} {Type Sonar} {Name Sonar0 Range 4.0132} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.6256} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8448} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 5.2832} SEN {Time 128.203} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.188,0.183,0.188,0.188,0,0,0,0,0,1.209,1.209,1.209,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.729,1.702,1.696,1.681,1.673,1.671,1.664,1.649,1.649,1.649,0,0,0,0,0,0.507,0.504,0.501,0.496,0.494,0.494,0.373,0.173,0.147,0.145,0.145,0.145,0.146,0.15,0.152,0.152,0.153,0.158,0.162,0.165,1.612,1.635,1.641,1.641,0,0,0,0,0.155,0.153,0.152,0.153,0.147,0.147,0.143,0.121,0.087,0.067,0.064,0.064,0.064,0.064,0.065,0.068,0.073,0.073,0.072,0.072,0.068,0.068,0.068,0.081,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.834,3.807,3.807,3.793,3.793,0.007,0,0,0,0.007,0,0,0,0,0,3.588,3.574,3.562,3.546,3.536,3.532,3.494,3.459,3.459,3.459,3.447,3.251,3.251,3.251,3.251,0.007,0,0,0,0,0,0,0,0,0,3.151,3.136,3.135,3.124,3.106,3.102,3.098,3.097,3.097,3.098,3.256,0,0,0,0,0.006,0,0,0,0,0,2.996,2.993,2.988,2.988,2.979,2.973,2.97,2.968,2.966,2.962,2.956,2.956,2.955,2.954,2.943,2.936,2.935,2.934,2.931,2.928,2.924,2.916,2.916,2.913,2.911,2.907,2.907,2.904,2.9,2.9,2.901,2.9,2.9,2.9,2.894,2.892,2.888,2.886,2.886,2.88,2.88,2.88,3.437,3.438,3.441,3.441,3.441,3.439,3.439,3.439,3.443,3.445,3.445,3.443,3.437,3.437,3.437,3.437,3.441,3.441,3.441,3.441,3.441,3.447,3.451,3.451,3.444,3.451,3.455,3.455,3.46,3.46,3.462,3.464,3.467,3.467,3.471,3.477,3.479,3.485,3.492,3.492,3.495,3.501,3.505,3.506,3.517,3.52,3.522,3.522,3.535,3.536,3.538,3.549,3.556,3.561,3.561,3.58,3.584,3.585,3.589,3.599,3.608,3.613,3.619,3.625,3.637,3.644,3.645,3.657,3.664,3.674,3.682,3.695,3.705,3.706,3.714,3.727,3.736,3.738,3.759,3.77,3.772,3.782,3.796,3.813,3.823,3.835,3.84,3.853,3.872,3.872,3.899,3.914,3.915,3.929,3.958,3.963,3.979,3.988,4.019,4.035,4.037,4.069,4.075,0.016,0.016,0.016,4.053,4.021,3.99,3.974,3.938,3.904,3.874,3.848,3.829,3.794,3.766,3.741,3.722,3.699,3.669,3.643,3.624,3.602,3.572,3.557,3.526,3.517,3.5,3.465,3.443,3.417,3.409,3.396,3.359,3.342,3.32,3.31,3.297,3.287,3.259,3.245,3.23,3.21,3.2,3.181,3.174,3.163,3.149,3.126,3.116,3.11,3.084,3.074,3.07,3.049,3.038,3.019,3.016,3.01,2.989,2.986,2.967,2.959,2.934,2.933,2.927,2.912,2.907,2.891,2.874,2.862,2.855,2.85,2.846,2.827,2.819,2.816,2.805,2.796,2.781,2.771,2.758,2.757,2.746,2.735,2.732,2.723,2.716,2.711,2.704,2.701,2.687,2.677,2.675,2.672,2.657,2.647,2.645,2.642,2.629,2.628,2.623,2.619,2.613,2.603,2.598,2.592,2.586,2.583,2.578,2.574,2.572,2.569,2.552,2.551,2.547,2.542,2.542,2.541,2.536,2.536,2.529,2.521,2.52,2.517,2.516,2.511,2.506,2.506,2.502,2.502,2.502,2.498,2.498,2.489,2.487,2.487,2.485,2.482,2.478,2.478,2.475,2.475,2.475,2.476,2.475,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.468,2.47,2.47,2.476,2.47,2.47,2.473,2.473,2.473,2.473,2.473,2.473,2.477,2.478,2.481,2.483,2.486,2.487,2.488,2.488,2.488,2.488,2.492,2.492,2.492,2.498,2.504,2.504,2.508,2.508,2.51,2.514,2.516,2.519,2.533,2.533,2.537,2.537,2.539,2.543,2.558,2.558,2.559,2.559,2.561,2.561,2.567,2.588,2.59,2.591,2.602,2.602,2.609,2.615,2.617,2.625,2.634,2.636,2.648,2.656,2.66,2.668,2.671,2.681,2.684,2.697,2.698,2.703,2.707,2.721,2.728,2.731,2.754,2.758,2.761,2.768,2.781,2.79,2.794,2.804,2.819,2.827,2.839,2.845,2.865,2.872,2.873,2.883,2.899,2.915,2.918,2.925,2.942,2.943,2.963,2.973,2.983,3,3.01,3.023,3.032,3.049,3.059,3.07,3.085,3.104,3.104,3.119,3.146,3.153,3.159,3.174,3.201,3.201,3.233,3.242,3.264,3.289,3.299,3.305,3.35,3.36,3.374,3.401,3.409,3.424,3.463,3.481,3.493,3.505,3.535,3.569,3.587,3.603,3.634,3.657,3.681,3.724,3.739,3.751,3.78,3.819,3.834,3.869,3.895,3.929,3.975,4.015,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.465,3.44,3.437,3.432,3.424,3.424,3.424,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 128.36} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 128.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 128.357} {Type Sonar} {Name Sonar0 Range 4.0132} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.6256} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8448} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 5.2832} SEN {Time 128.403} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.185,0.185,0,0,0,0,0,1.211,1.211,1.211,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.73,1.699,1.699,1.682,1.675,1.675,1.659,1.649,1.649,1.649,0,0,0,0,0,0.511,0.502,0.499,0.499,0.494,0.492,0.174,0.145,0.145,0.142,0.142,0.143,0.145,0.145,0.147,0.147,0.147,0.157,0.16,0.161,1.614,1.633,1.66,1.66,0,0,0,0,0.162,0.154,0.153,0.149,0.149,0.147,0.147,0.118,0.084,0.071,0.07,0.064,0.064,0.064,0.066,0.066,0.066,0.068,0.069,0.069,0.069,0.069,0.073,0.081,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.833,3.803,3.803,3.791,3.791,0.007,0,0,0,0.007,0,0,0,0,0,3.595,3.579,3.563,3.558,3.543,3.54,3.488,3.465,3.452,3.447,3.246,3.246,3.246,3.246,3.246,3.253,0,0,0,0,0,0,0,0,0,0,3.142,3.131,3.121,3.106,3.098,3.094,3.094,3.094,3.094,3.253,0,0,0,0,0.007,0,0,0,0,0,2.994,2.991,2.988,2.981,2.978,2.975,2.972,2.968,2.967,2.966,2.96,2.957,2.951,2.947,2.938,2.934,2.933,2.933,2.933,2.933,2.928,2.928,2.922,2.917,2.913,2.912,2.911,2.907,2.907,2.904,2.904,2.904,2.904,2.901,2.896,2.885,2.882,2.882,2.882,2.882,2.883,2.883,3.433,3.435,3.438,3.438,3.437,3.437,3.436,3.436,3.437,3.435,3.435,3.436,3.436,3.436,3.437,3.444,3.444,3.444,3.445,3.445,3.445,3.445,3.449,3.45,3.453,3.453,3.455,3.455,3.457,3.458,3.463,3.467,3.467,3.467,3.468,3.472,3.476,3.483,3.486,3.489,3.491,3.493,3.504,3.511,3.511,3.513,3.515,3.521,3.525,3.529,3.544,3.546,3.552,3.563,3.571,3.572,3.58,3.583,3.591,3.601,3.607,3.616,3.618,3.619,3.637,3.638,3.642,3.66,3.666,3.671,3.683,3.697,3.703,3.706,3.725,3.734,3.735,3.745,3.752,3.754,3.77,3.776,3.796,3.804,3.816,3.829,3.848,3.852,3.86,3.877,3.893,3.903,3.91,3.936,3.945,3.948,3.98,3.991,4.012,4.019,4.026,4.065,4.072,0.016,0.016,0.016,4.053,4.034,3.999,3.966,3.928,3.917,3.878,3.852,3.822,3.791,3.773,3.744,3.733,3.694,3.664,3.646,3.618,3.607,3.572,3.553,3.524,3.516,3.48,3.469,3.437,3.435,3.405,3.381,3.354,3.349,3.33,3.306,3.293,3.274,3.259,3.243,3.23,3.218,3.206,3.183,3.169,3.157,3.149,3.14,3.125,3.101,3.094,3.082,3.058,3.051,3.038,3.034,3.023,3.002,2.992,2.982,2.958,2.955,2.944,2.933,2.92,2.906,2.905,2.884,2.881,2.871,2.862,2.861,2.842,2.826,2.817,2.81,2.802,2.798,2.793,2.775,2.755,2.755,2.745,2.744,2.74,2.721,2.716,2.712,2.706,2.696,2.676,2.676,2.675,2.67,2.656,2.649,2.647,2.646,2.632,2.628,2.623,2.61,2.608,2.605,2.602,2.589,2.585,2.585,2.578,2.575,2.571,2.566,2.562,2.552,2.552,2.55,2.55,2.545,2.536,2.533,2.533,2.525,2.518,2.512,2.509,2.509,2.508,2.506,2.5,2.5,2.499,2.496,2.493,2.488,2.487,2.48,2.48,2.477,2.477,2.477,2.475,2.475,2.475,2.475,2.474,2.474,2.474,2.471,2.471,2.471,2.468,2.466,2.466,2.466,2.468,2.47,2.47,2.47,2.47,2.47,2.468,2.468,2.468,2.468,2.467,2.468,2.472,2.475,2.479,2.479,2.482,2.489,2.49,2.49,2.493,2.49,2.498,2.494,2.498,2.503,2.505,2.505,2.51,2.511,2.511,2.518,2.52,2.522,2.533,2.533,2.536,2.538,2.541,2.544,2.553,2.558,2.558,2.566,2.566,2.568,2.58,2.585,2.587,2.594,2.601,2.604,2.61,2.611,2.625,2.63,2.632,2.635,2.649,2.656,2.658,2.658,2.682,2.682,2.693,2.695,2.703,2.717,2.721,2.722,2.731,2.745,2.756,2.756,2.764,2.769,2.782,2.787,2.798,2.806,2.817,2.826,2.837,2.845,2.857,2.878,2.878,2.885,2.904,2.912,2.917,2.936,2.938,2.949,2.966,2.979,2.99,2.999,3.005,3.02,3.037,3.045,3.054,3.072,3.085,3.096,3.103,3.122,3.145,3.148,3.164,3.179,3.202,3.211,3.229,3.241,3.255,3.283,3.3,3.32,3.334,3.368,3.376,3.396,3.41,3.438,3.46,3.486,3.503,3.517,3.535,3.555,3.593,3.594,3.636,3.662,3.676,3.717,3.729,3.765,3.781,3.818,3.84,3.868,3.894,3.927,3.95,4.035,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.461,3.45,3.429,3.427,3.422,3.422,3.422,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 128.56} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.870919} SEN {Time 128.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 128.559} {Type Sonar} {Name Sonar0 Range 4.0132} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2672} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7686} SEN {Time 128.603} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.188,0.188,0.188,0,0,0,0,0,1.211,1.211,1.211,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.736,1.704,1.689,1.684,1.67,1.666,1.664,1.651,1.651,1.651,0,0,0,0,0,0.515,0.511,0.508,0.497,0.491,0.371,0.171,0.148,0.148,0.145,0.145,0.143,0.145,0.146,0.147,0.147,0.15,0.155,0.158,0.159,1.614,1.626,1.652,1.652,0,0,0,0,0.167,0.162,0.155,0.152,0.152,0.143,0.143,0.113,0.097,0.068,0.067,0.067,0.066,0.067,0.067,0.067,0.068,0.071,0.068,0.068,0.068,0.068,0.068,0.069,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.834,3.819,3.819,3.819,0,0,0,0,0,0.007,0,0,0,0,0,3.592,3.578,3.577,3.562,3.539,3.538,3.494,3.464,3.463,3.441,3.241,3.24,3.24,3.232,3.232,3.24,0,0,0,0,0,0,0,0,0,3.163,3.147,3.144,3.137,3.114,3.1,3.096,3.098,3.098,3.098,3.254,0,0,0,0,0,0,0,0,0,0,2.995,2.993,2.99,2.984,2.98,2.971,2.968,2.968,2.967,2.958,2.954,2.953,2.952,2.951,2.942,2.931,2.931,2.93,2.93,2.926,2.925,2.923,2.92,2.916,2.916,2.911,2.908,2.899,2.899,2.899,2.9,2.9,2.9,2.899,2.894,2.889,2.886,2.884,2.88,2.88,2.88,2.88,3.437,3.437,3.437,3.437,3.437,3.437,3.435,3.435,3.436,3.437,3.436,3.437,3.436,3.439,3.439,3.441,3.444,3.444,3.445,3.441,3.445,3.445,3.447,3.447,3.447,3.449,3.449,3.453,3.46,3.46,3.462,3.467,3.471,3.473,3.473,3.475,3.476,3.481,3.489,3.492,3.496,3.497,3.503,3.508,3.515,3.516,3.516,3.525,3.536,3.538,3.541,3.546,3.562,3.564,3.565,3.577,3.579,3.585,3.595,3.602,3.614,3.614,3.617,3.626,3.633,3.639,3.646,3.658,3.661,3.678,3.68,3.69,3.691,3.716,3.724,3.733,3.736,3.742,3.751,3.766,3.768,3.787,3.8,3.804,3.814,3.823,3.846,3.856,3.867,3.88,3.893,3.895,3.909,3.913,3.956,3.964,3.979,3.979,4.015,4.015,4.039,4.05,4.07,4.091,4.091,4.091,4.067,4.031,3.98,3.967,3.933,3.91,3.872,3.833,3.804,3.799,3.77,3.74,3.73,3.697,3.67,3.652,3.611,3.588,3.575,3.558,3.526,3.511,3.484,3.453,3.442,3.431,3.405,3.383,3.356,3.351,3.32,3.305,3.286,3.273,3.258,3.244,3.228,3.219,3.205,3.191,3.174,3.154,3.149,3.132,3.123,3.11,3.094,3.083,3.067,3.052,3.035,3.028,3.006,3.004,3.002,2.982,2.967,2.966,2.949,2.921,2.919,2.909,2.89,2.886,2.878,2.866,2.857,2.849,2.849,2.826,2.818,2.807,2.805,2.787,2.786,2.768,2.759,2.757,2.745,2.735,2.73,2.724,2.717,2.711,2.694,2.693,2.693,2.68,2.675,2.675,2.655,2.654,2.651,2.638,2.632,2.629,2.621,2.615,2.609,2.604,2.588,2.583,2.583,2.583,2.578,2.577,2.575,2.565,2.56,2.554,2.554,2.552,2.544,2.537,2.535,2.525,2.524,2.521,2.52,2.516,2.516,2.51,2.509,2.505,2.505,2.505,2.499,2.498,2.494,2.489,2.483,2.483,2.482,2.48,2.48,2.48,2.477,2.477,2.473,2.473,2.47,2.47,2.467,2.464,2.464,2.471,2.463,2.463,2.463,2.463,2.463,2.466,2.466,2.471,2.471,2.471,2.47,2.471,2.471,2.471,2.475,2.475,2.474,2.471,2.471,2.471,2.474,2.48,2.48,2.484,2.486,2.492,2.498,2.498,2.499,2.507,2.509,2.509,2.509,2.513,2.513,2.517,2.518,2.521,2.53,2.532,2.537,2.537,2.537,2.542,2.554,2.556,2.562,2.562,2.564,2.573,2.578,2.585,2.588,2.591,2.595,2.602,2.606,2.617,2.619,2.626,2.631,2.634,2.643,2.648,2.651,2.667,2.667,2.673,2.692,2.692,2.71,2.712,2.718,2.723,2.738,2.753,2.753,2.756,2.767,2.767,2.786,2.793,2.797,2.8,2.815,2.817,2.838,2.856,2.862,2.868,2.88,2.89,2.898,2.904,2.92,2.921,2.944,2.948,2.959,2.978,2.98,2.991,2.999,3.02,3.035,3.036,3.057,3.062,3.088,3.106,3.106,3.116,3.141,3.15,3.161,3.188,3.202,3.215,3.23,3.247,3.265,3.276,3.302,3.317,3.333,3.347,3.363,3.396,3.421,3.432,3.456,3.474,3.5,3.512,3.549,3.562,3.58,3.606,3.633,3.66,3.679,3.721,3.741,3.743,3.784,3.821,3.863,3.895,3.925,3.925,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.45,3.448,3.431,3.423,3.413,3.413,3.413,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 128.76} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.874410} SEN {Time 128.76} {Type Tachometer} {Name LeftRight} {Vel 0.017780,-0.017780} SEN {Time 128.76} {Type Sonar} {Name Sonar0 Range 4.0132} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.2578} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7686} SEN {Time 128.799} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.178,0.189,0.189,0,0,0,0,0,1.213,1.213,1.213,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.737,1.702,1.692,1.683,1.675,1.672,1.661,1.648,1.648,1.648,0,0,0,0,0,0.513,0.512,0.512,0.497,0.497,0.497,0.377,0.166,0.158,0.144,0.144,0.144,0.148,0.148,0.155,0.155,0.155,0.155,0.156,0.158,1.612,1.633,1.667,1.667,0,0,0,0.163,0.16,0.155,0.154,0.153,0.151,0.143,0.143,0.112,0.086,0.071,0.07,0.068,0.068,0.068,0.068,0.067,0.067,0.068,0.067,0.067,0.065,0.065,0.065,0.069,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.833,3.833,3.807,3.807,0.007,0,0,0,0,0.007,0,0,0,0,0,3.593,3.574,3.569,3.546,3.545,3.528,3.511,3.476,3.465,3.465,3.465,3.243,3.243,3.243,3.243,0.007,0,0,0,0,0,0,0,0,0,3.146,3.139,3.127,3.123,3.109,3.103,3.1,3.098,3.098,3.098,3.253,0,0,0,0,0,0,0,0,0,0,2.996,2.996,2.992,2.984,2.978,2.973,2.971,2.971,2.969,2.962,2.95,2.948,2.947,2.945,2.941,2.939,2.939,2.931,2.93,2.924,2.923,2.915,2.911,2.911,2.911,2.91,2.906,2.906,2.901,2.901,2.899,2.897,2.897,2.895,2.895,2.89,2.888,2.888,2.887,2.886,2.886,2.887,3.432,3.434,3.436,3.437,3.437,3.437,3.447,3.437,3.44,3.437,3.439,3.437,3.439,3.439,3.44,3.44,3.441,3.441,3.441,3.446,3.446,3.442,3.446,3.446,3.442,3.452,3.452,3.452,3.452,3.458,3.462,3.464,3.465,3.473,3.478,3.478,3.479,3.48,3.485,3.487,3.498,3.498,3.503,3.506,3.509,3.516,3.518,3.53,3.533,3.537,3.541,3.549,3.559,3.566,3.566,3.571,3.574,3.579,3.593,3.603,3.608,3.613,3.623,3.625,3.631,3.639,3.644,3.655,3.665,3.669,3.677,3.696,3.697,3.703,3.721,3.726,3.733,3.745,3.753,3.763,3.775,3.793,3.796,3.812,3.816,3.827,3.827,3.844,3.856,3.872,3.887,3.896,3.924,3.948,3.949,3.957,3.984,3.989,4.002,4.022,4.051,4.055,4.074,4.08,4.08,4.08,4.051,4.023,3.982,3.98,3.942,3.913,3.861,3.854,3.831,3.799,3.756,3.75,3.727,3.709,3.68,3.648,3.622,3.59,3.576,3.549,3.538,3.512,3.489,3.464,3.438,3.427,3.416,3.379,3.361,3.348,3.326,3.316,3.299,3.271,3.263,3.246,3.237,3.209,3.201,3.186,3.178,3.163,3.145,3.131,3.13,3.093,3.089,3.082,3.066,3.048,3.033,3.028,3.012,3.009,2.994,2.983,2.974,2.956,2.952,2.937,2.927,2.914,2.902,2.879,2.876,2.87,2.864,2.856,2.851,2.837,2.821,2.817,2.8,2.79,2.788,2.778,2.764,2.758,2.743,2.74,2.739,2.729,2.718,2.714,2.702,2.701,2.692,2.673,2.67,2.662,2.658,2.653,2.646,2.645,2.645,2.64,2.632,2.626,2.615,2.605,2.6,2.594,2.584,2.583,2.58,2.577,2.576,2.571,2.561,2.56,2.552,2.549,2.545,2.537,2.534,2.532,2.528,2.523,2.52,2.52,2.512,2.508,2.508,2.508,2.506,2.505,2.5,2.499,2.496,2.489,2.487,2.487,2.483,2.482,2.482,2.482,2.478,2.476,2.475,2.474,2.47,2.47,2.468,2.468,2.468,2.462,2.462,2.462,2.462,2.462,2.465,2.47,2.47,2.47,2.471,2.476,2.476,2.476,2.476,2.476,2.476,2.475,2.475,2.475,2.481,2.481,2.482,2.481,2.486,2.486,2.486,2.486,2.495,2.495,2.497,2.503,2.504,2.506,2.507,2.507,2.511,2.514,2.519,2.524,2.525,2.532,2.533,2.534,2.537,2.54,2.555,2.555,2.556,2.56,2.567,2.571,2.575,2.581,2.581,2.584,2.596,2.601,2.606,2.608,2.618,2.621,2.632,2.638,2.647,2.649,2.661,2.667,2.667,2.677,2.685,2.699,2.704,2.705,2.707,2.719,2.731,2.738,2.749,2.752,2.763,2.768,2.778,2.786,2.801,2.804,2.817,2.817,2.84,2.841,2.856,2.868,2.878,2.879,2.905,2.916,2.928,2.928,2.937,2.947,2.962,2.964,2.994,2.994,3.003,3.017,3.033,3.048,3.057,3.064,3.084,3.1,3.115,3.122,3.14,3.152,3.165,3.176,3.2,3.208,3.228,3.239,3.259,3.289,3.296,3.306,3.332,3.361,3.363,3.389,3.41,3.424,3.443,3.478,3.497,3.506,3.537,3.556,3.585,3.603,3.632,3.658,3.674,3.707,3.717,3.754,3.776,3.809,3.833,3.858,3.902,3.918,3.929,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.461,3.458,3.437,3.434,3.425,3.425,3.425,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 128.96} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.893609} SEN {Time 128.96} {Type Tachometer} {Name LeftRight} {Vel 0.017780,-0.017780} SEN {Time 128.955} {Type Sonar} {Name Sonar0 Range 4.0132} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.2578} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7686} SEN {Time 128.999} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.183,0.187,0.187,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.716,1.693,1.691,1.675,1.672,1.658,1.658,1.658,0,0,0,0,0,0,0.499,0.498,0.491,0.491,0.368,0.176,0.153,0.146,0.146,0.146,0.147,0.147,0.148,0.148,0.154,0.155,0.156,0.159,1.585,1.595,1.612,1.612,1.625,1.625,1.625,0.162,0.162,0.156,0.151,0.151,0.148,0.144,0.142,0.112,0.087,0.076,0.065,0.065,0.063,0.063,0.065,0.067,0.07,0.07,0.07,0.068,0.065,0.065,0.065,0.067,0.082,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.598,3.581,3.565,3.563,3.546,3.54,3.534,3.477,3.477,3.469,3.469,0.007,0,0,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.136,3.119,3.113,3.102,3.098,3.098,3.098,0,0,0,0,0,0,0,0,0,0,0,0,2.996,2.989,2.986,2.985,2.98,2.973,2.967,2.967,2.966,2.962,2.954,2.947,2.942,2.942,2.939,2.934,2.932,2.934,2.93,2.923,2.923,2.923,2.918,2.915,2.914,2.906,2.904,2.906,2.903,2.903,2.901,2.901,2.897,2.891,2.887,2.886,2.883,2.876,2.875,2.875,2.875,3.43,3.433,3.436,3.436,3.436,3.436,3.434,3.434,3.434,3.436,3.436,3.437,3.437,3.437,3.442,3.442,3.438,3.442,3.438,3.432,3.432,3.432,3.432,3.443,3.443,3.444,3.447,3.448,3.454,3.459,3.462,3.465,3.465,3.469,3.471,3.475,3.475,3.489,3.49,3.491,3.492,3.501,3.504,3.509,3.512,3.512,3.521,3.523,3.534,3.535,3.54,3.546,3.548,3.562,3.569,3.572,3.575,3.577,3.59,3.591,3.604,3.605,3.607,3.619,3.632,3.638,3.642,3.645,3.654,3.665,3.672,3.68,3.687,3.697,3.706,3.71,3.732,3.733,3.734,3.762,3.763,3.764,3.786,3.8,3.811,3.818,3.822,3.846,3.852,3.863,3.882,3.889,3.904,3.916,3.933,3.953,3.962,3.967,3.988,4.005,4.03,4.041,4.06,4.073,0.016,0.016,0.016,4.061,4.034,4.012,3.966,3.918,3.904,3.873,3.856,3.834,3.809,3.784,3.747,3.729,3.69,3.685,3.653,3.619,3.591,3.578,3.552,3.532,3.505,3.493,3.457,3.452,3.43,3.394,3.383,3.36,3.35,3.335,3.307,3.292,3.276,3.273,3.263,3.242,3.224,3.204,3.192,3.174,3.169,3.15,3.15,3.134,3.121,3.092,3.077,3.061,3.052,3.045,3.031,3.017,3.002,2.988,2.981,2.962,2.955,2.945,2.93,2.92,2.907,2.904,2.889,2.879,2.875,2.858,2.85,2.842,2.835,2.827,2.823,2.802,2.793,2.787,2.769,2.764,2.758,2.755,2.74,2.735,2.72,2.714,2.706,2.701,2.7,2.69,2.681,2.68,2.677,2.667,2.661,2.655,2.647,2.633,2.632,2.623,2.615,2.615,2.609,2.601,2.599,2.589,2.586,2.584,2.576,2.566,2.563,2.56,2.558,2.554,2.542,2.542,2.54,2.538,2.527,2.523,2.523,2.523,2.52,2.52,2.516,2.51,2.509,2.509,2.508,2.493,2.493,2.488,2.488,2.487,2.486,2.486,2.486,2.48,2.48,2.48,2.478,2.478,2.476,2.473,2.471,2.47,2.467,2.464,2.464,2.464,2.464,2.465,2.465,2.468,2.471,2.472,2.471,2.471,2.471,2.472,2.47,2.472,2.472,2.474,2.474,2.474,2.478,2.482,2.482,2.485,2.486,2.486,2.488,2.489,2.49,2.49,2.491,2.491,2.497,2.502,2.502,2.502,2.505,2.516,2.516,2.522,2.524,2.527,2.528,2.532,2.541,2.548,2.55,2.557,2.559,2.564,2.564,2.566,2.573,2.575,2.586,2.588,2.59,2.598,2.605,2.606,2.611,2.615,2.627,2.639,2.639,2.644,2.65,2.658,2.667,2.671,2.682,2.693,2.693,2.699,2.7,2.713,2.729,2.732,2.736,2.741,2.761,2.763,2.766,2.775,2.788,2.791,2.812,2.813,2.829,2.833,2.843,2.861,2.87,2.878,2.884,2.892,2.911,2.913,2.925,2.938,2.944,2.961,2.964,2.981,2.991,3.009,3.017,3.028,3.042,3.053,3.07,3.076,3.092,3.108,3.119,3.132,3.145,3.165,3.167,3.196,3.205,3.227,3.242,3.257,3.27,3.293,3.309,3.337,3.355,3.358,3.388,3.411,3.435,3.452,3.471,3.478,3.519,3.539,3.568,3.583,3.599,3.633,3.65,3.679,3.693,3.721,3.749,3.765,3.796,3.833,3.859,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.464,3.459,3.443,3.443,3.443,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 129.16} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.918043} SEN {Time 129.16} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400} SEN {Time 129.158} {Type Sonar} {Name Sonar0 Range 4.0132} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.2578} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.1016} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 129.199} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.178,0.178,0.178,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.706,1.699,1.692,1.686,1.667,1.667,1.667,0,0,0,0,0,0,0,0.192,0.153,0.153,0.15,0.15,0.143,0.145,0.145,0.146,0.146,0.146,0.155,0.158,0.162,1.545,1.547,1.554,1.547,1.554,1.558,1.558,1.545,0.156,0.155,0.153,0.153,0.153,0.145,0.145,0.112,0.094,0.068,0.061,0.061,0.061,0.061,0.061,0.064,0.068,0.069,0.068,0.068,0.066,0.066,0.066,0.07,0.07,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.809,0,0.007,0,0,0,0,0,0,0,0,0,3.581,3.56,3.549,3.547,3.547,3.547,3.537,3.518,0.006,3.408,3.253,3.408,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,3.141,3.137,3.127,3.113,3.109,3.091,3.091,3.091,0,0,0,0,0,0,0,0.007,0,0,0,0,2.988,2.988,2.988,2.983,2.974,2.97,2.964,2.963,2.955,2.951,2.951,2.948,2.948,2.948,2.947,2.939,2.935,2.929,2.929,2.927,2.923,2.921,2.912,2.912,2.911,2.911,2.911,2.908,2.903,2.899,2.898,2.896,2.887,2.887,2.887,2.884,2.877,2.877,2.87,2.87,2.879,3.432,3.433,3.433,3.433,3.434,3.434,3.435,3.438,3.438,3.432,3.432,3.432,3.432,3.432,3.432,3.434,3.434,3.434,3.434,3.436,3.436,3.436,3.436,3.437,3.441,3.443,3.449,3.45,3.45,3.45,3.45,3.458,3.459,3.468,3.468,3.471,3.476,3.48,3.482,3.487,3.489,3.49,3.492,3.504,3.508,3.51,3.515,3.517,3.526,3.532,3.538,3.54,3.546,3.546,3.55,3.551,3.572,3.576,3.58,3.591,3.593,3.598,3.6,3.608,3.613,3.626,3.632,3.638,3.652,3.653,3.659,3.678,3.68,3.683,3.695,3.714,3.714,3.735,3.743,3.746,3.756,3.773,3.786,3.789,3.797,3.808,3.817,3.842,3.845,3.86,3.867,3.886,3.894,3.917,3.93,3.931,3.95,3.959,3.984,3.997,4.007,4.026,4.046,4.059,4.06,0.016,0.016,0.016,4.074,4.035,4.004,3.972,3.946,3.908,3.879,3.842,3.82,3.79,3.753,3.735,3.711,3.693,3.655,3.639,3.602,3.601,3.564,3.537,3.523,3.483,3.477,3.465,3.44,3.418,3.403,3.379,3.366,3.35,3.343,3.321,3.295,3.294,3.269,3.259,3.248,3.219,3.196,3.192,3.174,3.165,3.142,3.134,3.134,3.121,3.108,3.087,3.063,3.045,3.043,3.028,3.012,3.007,2.987,2.974,2.962,2.955,2.942,2.938,2.935,2.91,2.905,2.889,2.878,2.869,2.863,2.851,2.842,2.825,2.823,2.807,2.805,2.795,2.784,2.773,2.768,2.763,2.75,2.741,2.739,2.722,2.721,2.718,2.702,2.694,2.694,2.677,2.673,2.672,2.672,2.645,2.644,2.638,2.636,2.631,2.626,2.624,2.613,2.606,2.604,2.596,2.595,2.593,2.575,2.575,2.575,2.575,2.564,2.562,2.562,2.557,2.552,2.55,2.54,2.533,2.53,2.528,2.527,2.522,2.519,2.514,2.507,2.506,2.504,2.503,2.503,2.502,2.495,2.493,2.489,2.488,2.488,2.488,2.484,2.479,2.479,2.479,2.479,2.474,2.47,2.47,2.474,2.474,2.474,2.478,2.48,2.48,2.476,2.476,2.476,2.476,2.473,2.476,2.476,2.476,2.476,2.477,2.477,2.478,2.482,2.48,2.482,2.482,2.482,2.482,2.482,2.485,2.486,2.487,2.487,2.493,2.493,2.498,2.504,2.504,2.508,2.508,2.51,2.512,2.512,2.515,2.524,2.53,2.533,2.535,2.535,2.536,2.538,2.551,2.551,2.558,2.565,2.566,2.57,2.575,2.576,2.579,2.588,2.597,2.606,2.609,2.609,2.613,2.633,2.633,2.642,2.642,2.646,2.658,2.664,2.673,2.678,2.681,2.684,2.698,2.706,2.711,2.717,2.727,2.732,2.733,2.746,2.754,2.782,2.786,2.796,2.801,2.801,2.816,2.818,2.83,2.833,2.849,2.857,2.863,2.886,2.891,2.905,2.908,2.913,2.921,2.945,2.955,2.962,2.974,2.988,2.991,3.004,3.016,3.031,3.045,3.058,3.071,3.087,3.094,3.107,3.118,3.136,3.143,3.163,3.18,3.204,3.213,3.225,3.246,3.267,3.279,3.298,3.322,3.336,3.353,3.366,3.392,3.403,3.435,3.454,3.48,3.484,3.528,3.531,3.562,3.577,3.606,3.633,3.649,3.685,3.707,3.723,3.752,3.781,3.818,3.834,3.861,3.89,3.996,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 129.35} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.956440} SEN {Time 129.35} {Type Tachometer} {Name LeftRight} {Vel 0.040640,-0.040640} SEN {Time 129.352} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 2.9464} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.715} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 129.399} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.186,0.186,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.704,1.685,1.684,1.662,1.662,1.662,1.65,0,0.007,0.144,0.144,0.143,0.143,0.141,0.146,0.141,0.146,0.146,0.152,0.152,0.153,0.156,1.55,1.55,1.55,1.55,1.55,1.55,1.542,1.529,0.16,0.155,0.155,0.155,0.151,0.143,0.143,0.111,0.085,0.065,0.064,0.064,0.064,0.065,0.065,0.068,0.068,0.071,0.068,0.068,0.064,0.064,0.064,0.068,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.802,3.802,3.802,0,0,0,0,0,0,0.007,0,0,0,0,3.589,3.567,3.558,3.538,3.527,3.522,3.507,3.507,3.246,3.036,3.246,0.006,3.246,0.009,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0,3.138,3.136,3.12,3.119,3.11,3.11,3.11,3.181,0.009,0.007,0,0,0,0,0,0.007,0,0,0,0,0,2.992,2.986,2.983,2.982,2.977,2.966,2.966,2.963,2.96,2.956,2.95,2.943,2.943,2.934,2.934,2.934,2.93,2.93,2.922,2.919,2.917,2.915,2.913,2.913,2.911,2.911,2.905,2.902,2.902,2.898,2.892,2.889,2.885,2.885,2.879,2.872,2.871,2.87,2.87,2.87,2.87,3.435,3.435,3.435,3.433,3.43,3.429,3.429,3.429,3.429,3.43,3.43,3.43,3.43,3.43,3.432,3.432,3.432,3.432,3.434,3.434,3.432,3.437,3.433,3.433,3.437,3.445,3.445,3.449,3.446,3.451,3.457,3.457,3.459,3.46,3.463,3.468,3.475,3.478,3.486,3.487,3.488,3.494,3.496,3.501,3.51,3.509,3.51,3.51,3.511,3.522,3.526,3.537,3.54,3.544,3.553,3.564,3.573,3.575,3.579,3.584,3.589,3.606,3.608,3.61,3.611,3.627,3.63,3.641,3.654,3.658,3.667,3.673,3.683,3.693,3.7,3.708,3.722,3.722,3.743,3.75,3.758,3.771,3.778,3.791,3.793,3.82,3.831,3.837,3.843,3.851,3.865,3.882,3.893,3.919,3.923,3.939,3.945,3.975,3.983,3.997,4.016,4.039,4.05,4.056,4.072,0.016,0.016,0.016,4.078,4.015,3.987,3.962,3.92,3.889,3.872,3.842,3.806,3.776,3.752,3.721,3.702,3.674,3.65,3.626,3.591,3.575,3.564,3.544,3.517,3.501,3.484,3.471,3.443,3.432,3.397,3.394,3.385,3.355,3.344,3.329,3.29,3.289,3.263,3.248,3.246,3.225,3.218,3.193,3.181,3.168,3.15,3.143,3.117,3.104,3.097,3.082,3.063,3.053,3.044,3.029,3.026,3.002,3,2.985,2.964,2.957,2.951,2.936,2.921,2.911,2.909,2.892,2.889,2.879,2.858,2.853,2.844,2.829,2.817,2.817,2.808,2.805,2.792,2.773,2.769,2.765,2.76,2.743,2.743,2.735,2.723,2.712,2.709,2.693,2.691,2.686,2.686,2.674,2.67,2.663,2.655,2.649,2.649,2.641,2.636,2.633,2.626,2.616,2.608,2.607,2.6,2.585,2.583,2.58,2.577,2.571,2.567,2.562,2.561,2.561,2.558,2.558,2.539,2.535,2.529,2.527,2.523,2.523,2.521,2.521,2.515,2.513,2.508,2.508,2.508,2.504,2.504,2.501,2.5,2.492,2.492,2.487,2.487,2.485,2.485,2.483,2.483,2.483,2.483,2.483,2.483,2.483,2.483,2.48,2.478,2.48,2.478,2.475,2.472,2.472,2.472,2.472,2.478,2.483,2.483,2.484,2.484,2.487,2.487,2.487,2.484,2.487,2.488,2.488,2.49,2.492,2.498,2.5,2.502,2.502,2.502,2.502,2.505,2.508,2.508,2.512,2.516,2.518,2.523,2.524,2.525,2.531,2.532,2.543,2.547,2.555,2.555,2.556,2.559,2.563,2.567,2.572,2.58,2.588,2.589,2.591,2.594,2.604,2.606,2.616,2.621,2.625,2.628,2.635,2.647,2.652,2.652,2.668,2.671,2.684,2.684,2.685,2.69,2.697,2.711,2.714,2.725,2.741,2.745,2.751,2.753,2.765,2.77,2.773,2.789,2.798,2.802,2.814,2.833,2.836,2.845,2.853,2.856,2.87,2.883,2.897,2.901,2.915,2.922,2.937,2.951,2.963,2.968,2.987,2.988,3.007,3.014,3.016,3.046,3.06,3.07,3.081,3.085,3.103,3.121,3.123,3.141,3.157,3.181,3.186,3.205,3.216,3.236,3.256,3.277,3.281,3.301,3.324,3.348,3.362,3.377,3.403,3.427,3.431,3.461,3.48,3.502,3.54,3.55,3.567,3.586,3.612,3.641,3.658,3.678,3.706,3.75,3.767,3.785,3.815,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 129.56} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.017527} SEN {Time 129.56} {Type Tachometer} {Name LeftRight} {Vel 0.060960,-0.060960} SEN {Time 129.556} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3622} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.715} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 129.595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,0,0,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.143,0.146,0.146,0.153,0.153,0.153,0.158,0.158,0.158,0.297,0.469,0.469,0.469,0.469,0.477,0.461,0.445,0.159,0.156,0.156,0.151,0.147,0.143,0.143,0.118,0.084,0.073,0.067,0.064,0.064,0.067,0.067,0.065,0.066,0.065,0.064,0.064,0.064,0.064,0.068,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0,3.562,3.547,3.538,3.536,3.516,3.516,3.516,0.006,0.006,0.009,0.009,0.009,0.009,0.009,0.007,3.222,3.222,0,0,0,0,0,0,0,0,3.139,3.121,3.117,3.117,3.117,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,3.175,3.175,3.175,0,0,0,0,2.994,2.98,2.975,2.973,2.966,2.966,2.965,2.961,2.958,2.957,2.954,2.941,2.939,2.936,2.934,2.925,2.924,2.914,2.913,2.911,2.911,2.911,2.911,2.909,2.903,2.899,2.894,2.894,2.894,2.887,2.887,2.887,2.882,2.882,2.87,2.87,2.866,2.864,2.864,2.864,2.864,2.864,3.425,3.426,3.427,3.427,3.426,3.422,3.422,3.422,3.423,3.423,3.425,3.425,3.425,3.428,3.432,3.432,3.43,3.43,3.429,3.429,3.429,3.437,3.441,3.441,3.442,3.443,3.444,3.449,3.454,3.454,3.459,3.462,3.463,3.463,3.466,3.473,3.473,3.482,3.484,3.487,3.488,3.495,3.497,3.504,3.504,3.515,3.516,3.522,3.524,3.542,3.544,3.546,3.557,3.557,3.56,3.566,3.58,3.583,3.592,3.595,3.602,3.608,3.609,3.613,3.629,3.639,3.645,3.653,3.655,3.658,3.682,3.686,3.694,3.703,3.717,3.725,3.739,3.744,3.756,3.759,3.773,3.782,3.79,3.797,3.808,3.818,3.848,3.855,3.859,3.871,3.883,3.891,3.918,3.924,3.926,3.953,3.979,3.98,3.992,4.022,4.041,4.045,4.073,4.081,4.087,4.087,4.087,4.055,4.028,3.976,3.951,3.925,3.892,3.861,3.831,3.823,3.771,3.752,3.749,3.717,3.704,3.672,3.651,3.628,3.602,3.584,3.561,3.541,3.513,3.5,3.479,3.454,3.434,3.404,3.404,3.383,3.367,3.339,3.325,3.305,3.295,3.274,3.266,3.237,3.229,3.202,3.194,3.191,3.167,3.149,3.128,3.119,3.113,3.095,3.085,3.077,3.065,3.047,3.04,3.023,3.008,3.006,2.986,2.979,2.963,2.955,2.942,2.931,2.925,2.915,2.898,2.883,2.874,2.87,2.864,2.86,2.837,2.831,2.826,2.823,2.794,2.793,2.775,2.774,2.772,2.765,2.758,2.741,2.74,2.735,2.727,2.723,2.701,2.699,2.695,2.685,2.677,2.666,2.662,2.657,2.656,2.656,2.643,2.633,2.631,2.623,2.62,2.613,2.609,2.602,2.597,2.591,2.587,2.58,2.577,2.576,2.57,2.564,2.563,2.563,2.559,2.556,2.545,2.542,2.541,2.535,2.533,2.53,2.52,2.519,2.519,2.518,2.52,2.513,2.513,2.513,2.51,2.51,2.51,2.503,2.502,2.499,2.496,2.494,2.494,2.493,2.493,2.493,2.486,2.484,2.486,2.486,2.489,2.489,2.489,2.485,2.485,2.485,2.485,2.486,2.488,2.486,2.479,2.486,2.483,2.483,2.483,2.487,2.487,2.488,2.488,2.489,2.494,2.495,2.497,2.497,2.498,2.502,2.505,2.511,2.514,2.514,2.519,2.52,2.52,2.523,2.523,2.531,2.533,2.534,2.541,2.547,2.548,2.551,2.558,2.56,2.566,2.569,2.571,2.574,2.579,2.583,2.584,2.603,2.606,2.607,2.611,2.612,2.631,2.64,2.649,2.649,2.65,2.651,2.652,2.666,2.679,2.68,2.68,2.69,2.692,2.699,2.712,2.719,2.725,2.74,2.741,2.756,2.761,2.765,2.772,2.784,2.789,2.795,2.803,2.829,2.83,2.832,2.843,2.859,2.872,2.875,2.888,2.897,2.905,2.914,2.933,2.934,2.939,2.955,2.966,2.981,2.985,2.997,3.009,3.027,3.03,3.047,3.061,3.075,3.077,3.094,3.111,3.127,3.132,3.161,3.172,3.19,3.199,3.211,3.231,3.245,3.262,3.278,3.294,3.327,3.338,3.354,3.363,3.387,3.408,3.419,3.45,3.468,3.502,3.519,3.54,3.561,3.594,3.601,3.623,3.659,3.669,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 129.75} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.092576} SEN {Time 129.75} {Type Tachometer} {Name LeftRight} {Vel 0.071120,-0.071120} SEN {Time 129.751} {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3622} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.715} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.1082} SEN {Time 129.795} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.187,0.187,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.152,0.142,0.142,0.142,0.142,0.147,0.147,0.146,0.147,0.147,0.152,0.156,0.158,0.158,1.681,1.681,1.681,1.681,1.681,0,0,0,0.158,0.155,0.153,0.153,0.151,0.147,0.147,0.119,0.096,0.068,0.066,0.066,0.066,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.07,0.07,0.081,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.738,3.738,3.738,0,0,0,0.007,0,0,0,0,0,0,0.007,0,3.548,0.006,0.006,3.521,0.006,0.007,0.009,0.009,0.009,0.006,3.208,3.208,3.204,3.204,3.204,0,0,0,0,0,0,0,0,3.137,3.131,3.131,3.131,3.111,3.109,3.089,3.089,3.089,3.249,0,0,0,0,0,3.186,3.186,3.186,0,0,0,2.992,2.982,2.974,2.971,2.965,2.956,2.955,2.953,2.951,2.949,2.944,2.942,2.93,2.93,2.922,2.922,2.921,2.917,2.912,2.911,2.908,2.903,2.894,2.894,2.892,2.889,2.889,2.888,2.883,2.881,2.881,2.88,2.872,2.866,2.864,2.86,2.858,2.858,2.858,2.858,2.858,2.861,3.423,3.428,3.428,3.428,3.423,3.422,3.421,3.421,3.421,3.424,3.425,3.431,3.425,3.425,3.425,3.431,3.432,3.432,3.432,3.43,3.429,3.429,3.43,3.436,3.44,3.442,3.446,3.447,3.447,3.451,3.451,3.457,3.459,3.459,3.464,3.466,3.466,3.475,3.481,3.482,3.482,3.496,3.499,3.502,3.51,3.51,3.516,3.517,3.53,3.532,3.54,3.544,3.548,3.565,3.568,3.568,3.569,3.581,3.586,3.589,3.604,3.605,3.612,3.618,3.627,3.638,3.641,3.649,3.65,3.665,3.671,3.68,3.683,3.695,3.707,3.719,3.725,3.734,3.74,3.759,3.759,3.779,3.781,3.817,3.817,3.824,3.835,3.856,3.874,3.881,3.886,3.904,3.913,3.919,3.938,3.961,3.971,3.984,4.009,4.041,4.049,4.049,4.073,4.08,0.016,0.016,0.016,0.016,4.075,4.048,3.992,3.952,3.916,3.906,3.867,3.838,3.81,3.779,3.76,3.732,3.7,3.679,3.654,3.626,3.613,3.585,3.568,3.541,3.514,3.508,3.472,3.464,3.442,3.418,3.402,3.388,3.382,3.346,3.317,3.315,3.303,3.29,3.267,3.26,3.236,3.224,3.202,3.186,3.179,3.161,3.146,3.131,3.121,3.106,3.09,3.081,3.069,3.059,3.042,3.029,3.024,3.014,2.997,2.984,2.983,2.964,2.953,2.935,2.926,2.922,2.908,2.884,2.878,2.878,2.868,2.858,2.857,2.838,2.828,2.828,2.812,2.796,2.789,2.782,2.78,2.772,2.766,2.751,2.746,2.739,2.732,2.72,2.71,2.705,2.705,2.692,2.687,2.679,2.673,2.669,2.655,2.649,2.647,2.642,2.64,2.638,2.628,2.625,2.621,2.613,2.609,2.6,2.596,2.595,2.586,2.577,2.573,2.569,2.565,2.569,2.565,2.564,2.558,2.553,2.551,2.551,2.544,2.539,2.537,2.533,2.531,2.531,2.529,2.524,2.517,2.517,2.515,2.514,2.515,2.512,2.507,2.504,2.504,2.503,2.503,2.503,2.499,2.497,2.493,2.491,2.493,2.493,2.494,2.494,2.494,2.494,2.494,2.494,2.495,2.495,2.495,2.492,2.49,2.49,2.49,2.496,2.497,2.497,2.497,2.499,2.506,2.507,2.507,2.507,2.505,2.505,2.505,2.51,2.511,2.512,2.514,2.528,2.531,2.531,2.532,2.539,2.54,2.544,2.547,2.548,2.549,2.551,2.557,2.562,2.568,2.572,2.576,2.58,2.58,2.583,2.601,2.602,2.608,2.612,2.613,2.615,2.616,2.63,2.635,2.642,2.646,2.647,2.653,2.658,2.66,2.682,2.687,2.689,2.693,2.695,2.706,2.713,2.726,2.736,2.739,2.743,2.749,2.756,2.77,2.775,2.794,2.798,2.798,2.812,2.821,2.824,2.836,2.844,2.852,2.87,2.874,2.886,2.901,2.901,2.915,2.919,2.936,2.946,2.955,2.965,2.98,2.982,3.004,3.016,3.019,3.033,3.05,3.06,3.07,3.088,3.091,3.115,3.126,3.133,3.146,3.156,3.176,3.2,3.208,3.219,3.251,3.27,3.284,3.301,3.311,3.336,3.354,3.363,3.394,3.396,3.421,3.444,3.464,3.487,3.516,3.53,3.552,3.574,3.608,3.63,3.661,3.686,3.686,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 129.95} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.192060} SEN {Time 129.95} {Type Tachometer} {Name LeftRight} {Vel 0.106680,-0.106680} SEN {Time 129.953} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3622} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 1.3716} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.1082} SEN {Time 129.995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.19,0.181,0.19,0.19,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.149,0.143,0.143,0.139,0.139,0.149,0.149,0.149,0.152,0.149,0.152,0.152,0.153,0.157,0,0,0,0,0,0,0,0,0.16,0.158,0.153,0.15,0.144,0.143,0.143,0.111,0.085,0.065,0.065,0.065,0.062,0.067,0.067,0.067,0.066,0.066,0.065,0.064,0.064,0.064,0.076,0.009,0.009,0.009,0.009,0.007,0,0.007,0,0,0,0,1.521,1.517,1.517,1.516,1.516,1.516,1.523,1.523,1.528,1.552,1.552,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.783,3.768,3.768,3.735,3.735,0.007,0,0,0,0.007,0,0,0,0,0,3.557,3.546,3.546,3.532,3.525,3.501,3.501,3.489,3.4,3.3,3.231,3.204,3.204,3.197,3.204,3.204,3.204,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.094,3.086,3.082,3.082,3.094,3.134,3.229,0,0,0,0,3.172,3.172,3.172,0,0,0,0,2.973,2.973,2.966,2.961,2.953,2.946,2.946,2.937,2.936,2.931,2.93,2.927,2.926,2.921,2.912,2.909,2.909,2.904,2.902,2.899,2.896,2.889,2.887,2.887,2.886,2.88,2.872,2.871,2.869,2.864,2.862,2.859,2.859,2.859,2.859,2.859,2.85,2.85,2.85,2.851,2.862,3.422,3.422,3.422,3.419,3.419,3.417,3.419,3.421,3.422,3.421,3.421,3.422,3.422,3.423,3.425,3.427,3.427,3.429,3.429,3.427,3.428,3.429,3.429,3.436,3.443,3.443,3.445,3.448,3.451,3.452,3.452,3.452,3.452,3.453,3.459,3.461,3.469,3.471,3.474,3.476,3.479,3.486,3.498,3.501,3.501,3.501,3.506,3.512,3.516,3.526,3.534,3.538,3.542,3.546,3.556,3.562,3.576,3.581,3.587,3.588,3.59,3.598,3.608,3.613,3.629,3.632,3.635,3.642,3.648,3.662,3.665,3.673,3.685,3.692,3.71,3.717,3.73,3.731,3.746,3.747,3.775,3.776,3.779,3.795,3.812,3.827,3.828,3.843,3.845,3.87,3.87,3.891,3.902,3.912,3.929,3.939,3.957,3.985,3.993,4.01,4.026,4.033,4.046,4.063,4.084,0.016,0.016,0.016,4.088,4.059,4.031,3.994,3.968,3.927,3.902,3.866,3.838,3.817,3.803,3.776,3.74,3.715,3.686,3.662,3.642,3.621,3.614,3.58,3.571,3.528,3.517,3.499,3.48,3.46,3.435,3.412,3.397,3.381,3.363,3.342,3.326,3.299,3.286,3.278,3.255,3.243,3.231,3.213,3.195,3.183,3.167,3.153,3.138,3.131,3.106,3.092,3.086,3.083,3.071,3.06,3.041,3.033,3.02,3.009,2.992,2.986,2.979,2.957,2.95,2.94,2.919,2.918,2.906,2.897,2.887,2.879,2.872,2.872,2.861,2.855,2.832,2.829,2.818,2.801,2.797,2.787,2.786,2.777,2.76,2.756,2.753,2.746,2.742,2.735,2.722,2.714,2.703,2.701,2.691,2.688,2.685,2.675,2.669,2.666,2.658,2.652,2.652,2.646,2.636,2.634,2.627,2.625,2.624,2.611,2.605,2.601,2.598,2.596,2.593,2.579,2.579,2.574,2.573,2.572,2.565,2.562,2.556,2.554,2.551,2.551,2.545,2.541,2.54,2.54,2.534,2.534,2.533,2.529,2.524,2.524,2.521,2.521,2.517,2.517,2.517,2.514,2.513,2.512,2.508,2.506,2.506,2.506,2.505,2.505,2.505,2.503,2.502,2.502,2.502,2.505,2.505,2.505,2.505,2.517,2.517,2.517,2.517,2.514,2.511,2.511,2.511,2.511,2.522,2.522,2.522,2.522,2.521,2.521,2.525,2.528,2.528,2.533,2.537,2.541,2.544,2.545,2.55,2.552,2.554,2.559,2.56,2.565,2.565,2.567,2.574,2.578,2.583,2.587,2.592,2.594,2.598,2.6,2.607,2.615,2.622,2.627,2.627,2.628,2.632,2.643,2.648,2.652,2.657,2.67,2.675,2.678,2.685,2.69,2.701,2.702,2.705,2.723,2.723,2.736,2.744,2.754,2.756,2.763,2.769,2.771,2.784,2.799,2.801,2.806,2.826,2.827,2.844,2.844,2.862,2.866,2.874,2.884,2.892,2.906,2.919,2.927,2.932,2.951,2.955,2.957,2.97,2.988,2.996,3.011,3.026,3.029,3.048,3.053,3.071,3.078,3.092,3.098,3.118,3.129,3.135,3.146,3.169,3.186,3.196,3.201,3.229,3.251,3.265,3.27,3.306,3.31,3.328,3.348,3.369,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 130.16} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.303761} SEN {Time 130.16} {Type Tachometer} {Name LeftRight} {Vel 0.007620,-0.010160} SEN {Time 130.155} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.0894} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 1.3716} {Name Sonar5 Range 4.064} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 3.302} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.1082} SEN {Time 130.195} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.186,0.186,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.149,0.149,0.149,0.149,0.146,0.149,0.149,0.15,0.15,0.152,0.152,0.152,0.161,0,0,0,0,0,0,0,0,0.156,0.155,0.155,0.154,0.152,0.145,0.145,0.113,0.082,0.073,0.066,0.064,0.062,0.064,0.064,0.064,0.072,0.072,0.069,0.063,0.063,0.055,0.055,0.055,0.055,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.437,0.434,0.437,0.437,0.44,0.443,0.447,0.452,0.459,1.502,1.502,1.502,1.5,1.499,1.499,1.498,1.496,1.496,1.496,1.515,1.519,1.531,1.548,1.552,1.572,1.573,1.579,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.774,3.771,3.751,3.722,3.722,3.722,0,0,0,0,0,0,0,0,0,3.581,3.547,3.524,3.524,3.522,3.506,3.456,3.456,3.228,3.112,3.112,3.157,3.157,3.157,3.214,0.007,0,0.007,0,0,0,0,0,0,0,0,3.117,3.109,3.103,3.109,3.086,3.081,3.074,3.086,3.086,3.255,0.007,0,0,0,0,3.17,3.17,3.17,0,0,0,0,2.966,2.953,2.952,2.949,2.943,2.938,2.937,2.932,2.928,2.921,2.917,2.917,2.917,2.916,2.914,2.903,2.903,2.903,2.902,2.901,2.897,2.886,2.89,2.884,2.882,2.879,2.879,2.871,2.87,2.87,2.867,2.866,2.858,2.855,2.854,2.851,2.845,2.844,2.844,2.844,2.844,3.41,3.414,3.42,3.42,3.42,3.417,3.42,3.417,3.42,3.417,3.421,3.421,3.423,3.421,3.423,3.427,3.427,3.427,3.43,3.43,3.436,3.436,3.436,3.436,3.436,3.436,3.446,3.447,3.45,3.451,3.457,3.461,3.468,3.468,3.468,3.469,3.468,3.468,3.483,3.484,3.488,3.493,3.498,3.502,3.508,3.508,3.523,3.527,3.53,3.532,3.533,3.546,3.558,3.565,3.573,3.58,3.58,3.585,3.585,3.612,3.617,3.622,3.624,3.628,3.634,3.65,3.651,3.672,3.68,3.687,3.687,3.69,3.696,3.719,3.72,3.733,3.747,3.754,3.763,3.772,3.782,3.791,3.805,3.822,3.835,3.842,3.862,3.865,3.878,3.892,3.901,3.914,3.934,3.948,3.959,3.986,3.993,4.009,4.026,4.038,4.058,4.081,4.092,0.016,0.007,0.016,4.083,4.041,4.022,3.987,3.955,3.924,3.879,3.867,3.847,3.807,3.785,3.761,3.737,3.717,3.683,3.652,3.633,3.623,3.583,3.565,3.546,3.525,3.505,3.496,3.461,3.451,3.432,3.411,3.394,3.375,3.351,3.329,3.315,3.303,3.283,3.283,3.274,3.256,3.227,3.201,3.2,3.183,3.171,3.155,3.138,3.119,3.118,3.096,3.092,3.073,3.061,3.044,3.029,3.025,3.016,3.008,2.989,2.98,2.969,2.949,2.938,2.937,2.924,2.913,2.909,2.897,2.885,2.876,2.861,2.849,2.842,2.839,2.835,2.817,2.809,2.799,2.778,2.776,2.77,2.766,2.762,2.759,2.751,2.748,2.741,2.732,2.729,2.711,2.708,2.706,2.692,2.687,2.68,2.679,2.67,2.666,2.656,2.649,2.644,2.642,2.642,2.624,2.623,2.621,2.618,2.612,2.606,2.597,2.594,2.592,2.588,2.587,2.581,2.579,2.573,2.565,2.56,2.559,2.558,2.556,2.556,2.552,2.548,2.548,2.544,2.539,2.537,2.534,2.534,2.534,2.534,2.534,2.53,2.524,2.522,2.521,2.52,2.518,2.517,2.517,2.517,2.517,2.517,2.518,2.518,2.512,2.513,2.513,2.51,2.513,2.513,2.515,2.515,2.519,2.515,2.516,2.516,2.515,2.515,2.516,2.522,2.527,2.527,2.53,2.53,2.531,2.536,2.542,2.542,2.536,2.536,2.542,2.552,2.557,2.558,2.563,2.564,2.564,2.567,2.567,2.568,2.573,2.576,2.578,2.588,2.589,2.597,2.603,2.603,2.608,2.612,2.622,2.628,2.629,2.638,2.639,2.646,2.653,2.655,2.663,2.67,2.675,2.679,2.689,2.69,2.696,2.703,2.704,2.719,2.722,2.736,2.742,2.754,2.755,2.764,2.776,2.779,2.784,2.791,2.805,2.809,2.816,2.831,2.836,2.843,2.855,2.867,2.871,2.885,2.897,2.903,2.912,2.919,2.937,2.942,2.952,2.957,2.973,2.973,2.987,2.994,3.012,3.021,3.029,3.042,3.054,3.056,3.077,3.104,3.105,3.128,3.129,3.156,3.163,3.175,3.198,3.218,3.243,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 130.35} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 130.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 130.354} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.0894} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 1.3716} {Name Sonar5 Range 4.064} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 3.302} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 2.1082} SEN {Time 130.392} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.148,0.147,0.147,0.147,0.147,0.147,0.146,0.146,0.149,0.149,0.151,0.151,0.157,0.161,0,0,0,0,0,0,0,0.153,0.153,0.151,0.151,0.151,0.147,0.142,0.137,0.11,0.09,0.07,0.067,0.067,0.067,0.067,0.066,0.068,0.067,0.071,0.067,0.067,0.066,0.058,0.056,0.056,0.058,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.442,0.447,0.447,0.446,0.447,0.448,0.453,0.455,0,0,0,1.502,1.501,1.499,1.493,1.491,1.491,1.493,1.504,1.516,1.518,1.54,1.547,1.556,1.575,1.589,1.59,1.622,1.637,1.66,1.705,1.744,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,3.779,3.767,3.748,3.735,3.735,3.735,0,0,0,0,0,0,0,0,0,3.552,3.543,3.523,3.522,3.5,3.498,3.482,3.137,3.137,3.095,3.046,3.105,3.105,3.105,3.196,3.196,3.204,3.204,0,0,0,0,0,0,0,0,3.121,3.106,3.104,3.092,3.08,3.073,3.073,3.073,3.073,3.239,0.007,0,0,0,3.165,3.16,3.16,3.165,0,0,0,0,2.965,2.952,2.95,2.945,2.942,2.942,2.939,2.939,2.933,2.932,2.924,2.919,2.915,2.911,2.907,2.907,2.907,2.9,2.899,2.897,2.896,2.889,2.887,2.882,2.88,2.88,2.879,2.87,2.869,2.863,2.862,2.861,2.858,2.855,2.855,2.85,2.849,2.845,2.845,2.849,3.408,3.416,3.42,3.416,3.416,3.416,3.415,3.411,3.411,3.418,3.418,3.419,3.42,3.42,3.42,3.42,3.42,3.421,3.421,3.424,3.43,3.432,3.432,3.432,3.435,3.436,3.436,3.448,3.448,3.451,3.454,3.455,3.458,3.459,3.464,3.468,3.472,3.48,3.482,3.484,3.491,3.494,3.497,3.499,3.503,3.508,3.514,3.518,3.526,3.533,3.537,3.545,3.548,3.556,3.56,3.569,3.579,3.587,3.59,3.592,3.596,3.607,3.62,3.632,3.632,3.635,3.647,3.668,3.671,3.681,3.683,3.696,3.7,3.71,3.718,3.731,3.738,3.755,3.755,3.76,3.784,3.79,3.801,3.802,3.825,3.839,3.839,3.857,3.871,3.895,3.899,3.913,3.913,3.944,3.959,3.96,3.994,4.001,4.011,4.03,4.053,4.065,4.081,4.095,0.016,0.016,0.016,4.077,4.043,3.999,3.981,3.95,3.926,3.893,3.848,3.839,3.803,3.764,3.752,3.73,3.709,3.67,3.65,3.632,3.621,3.581,3.572,3.553,3.536,3.49,3.473,3.464,3.45,3.43,3.405,3.393,3.371,3.339,3.33,3.31,3.301,3.278,3.273,3.257,3.257,3.242,3.219,3.191,3.182,3.163,3.146,3.139,3.112,3.11,3.097,3.08,3.077,3.062,3.044,3.034,3.016,3.014,3.001,2.991,2.982,2.957,2.949,2.933,2.933,2.922,2.91,2.903,2.887,2.878,2.871,2.863,2.854,2.843,2.831,2.828,2.826,2.817,2.801,2.793,2.774,2.772,2.767,2.766,2.756,2.744,2.738,2.735,2.726,2.722,2.714,2.701,2.697,2.69,2.687,2.676,2.675,2.665,2.659,2.651,2.645,2.644,2.638,2.637,2.629,2.628,2.62,2.616,2.612,2.602,2.598,2.593,2.587,2.583,2.578,2.575,2.574,2.572,2.565,2.565,2.565,2.56,2.56,2.554,2.549,2.542,2.542,2.541,2.541,2.541,2.541,2.532,2.528,2.529,2.528,2.525,2.525,2.52,2.517,2.517,2.517,2.516,2.516,2.514,2.514,2.514,2.517,2.514,2.516,2.511,2.516,2.516,2.516,2.516,2.516,2.519,2.516,2.519,2.518,2.519,2.518,2.519,2.521,2.521,2.524,2.531,2.527,2.532,2.532,2.537,2.537,2.544,2.541,2.544,2.544,2.551,2.551,2.552,2.555,2.559,2.564,2.564,2.567,2.569,2.573,2.577,2.582,2.588,2.593,2.599,2.601,2.607,2.615,2.618,2.618,2.624,2.633,2.635,2.647,2.65,2.656,2.659,2.662,2.67,2.676,2.682,2.684,2.695,2.701,2.703,2.709,2.716,2.729,2.734,2.742,2.75,2.754,2.77,2.777,2.778,2.784,2.794,2.806,2.814,2.818,2.839,2.839,2.853,2.855,2.866,2.875,2.889,2.901,2.908,2.911,2.92,2.943,2.95,2.95,2.957,2.97,2.976,2.988,3,3.004,3.019,3.032,3.049,3.061,3.064,3.092,3.103,3.107,3.122,3.129,3.143,3.163,3.174,3.182,3.213,3.251,3.264,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 130.54} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 130.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 130.544} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.0894} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.064} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.302} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 130.595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.192,0.182,0.192,0.192,0,0,0,0,0,0,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0,0.016,0.016,0.007,0.146,0.146,0.146,0.146,0.141,0.142,0.142,0.153,0.153,0.153,0.153,0.153,0.153,0,0,0,0,0,0,0,0,0.161,0.155,0.15,0.15,0.149,0.143,0.141,0.114,0.082,0.068,0.065,0.065,0.065,0.069,0.069,0.07,0.07,0.067,0.065,0.064,0.064,0.059,0.056,0.056,0.059,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.01,0.448,0.443,0.443,0.448,0.452,0.458,0.484,1.502,1.509,1.509,1.502,1.496,1.491,1.491,1.491,1.497,1.514,1.519,1.522,1.539,1.552,1.559,1.58,1.584,1.587,1.627,1.634,1.676,1.701,1.745,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,3.781,3.763,3.751,3.719,3.719,3.719,0,0,0,0,0,0,0,0,0,3.554,3.534,3.529,3.519,3.503,3.502,3.476,3.476,3.275,3.075,3.035,3.108,3.108,3.108,3.195,3.195,3.212,3.212,0,0,0,0,0,0,0,0,3.113,3.107,3.093,3.093,3.087,3.083,3.07,3.07,3.083,3.238,0.007,0,0,0,3.172,3.168,3.168,3.168,0,0,0,0,2.961,2.957,2.956,2.952,2.946,2.945,2.938,2.931,2.929,2.924,2.92,2.916,2.912,2.909,2.907,2.905,2.902,2.901,2.897,2.896,2.891,2.887,2.886,2.885,2.886,2.886,2.874,2.873,2.872,2.864,2.862,2.862,2.857,2.855,2.855,2.852,2.851,2.851,2.845,2.851,2.851,3.416,3.419,3.423,3.423,3.422,3.422,3.415,3.415,3.419,3.419,3.42,3.42,3.422,3.422,3.421,3.42,3.421,3.42,3.421,3.422,3.426,3.427,3.429,3.432,3.439,3.441,3.446,3.45,3.452,3.452,3.453,3.454,3.458,3.46,3.463,3.468,3.476,3.482,3.482,3.485,3.492,3.496,3.501,3.506,3.506,3.508,3.523,3.526,3.537,3.538,3.538,3.55,3.553,3.554,3.575,3.576,3.585,3.589,3.597,3.604,3.604,3.615,3.625,3.63,3.631,3.645,3.658,3.669,3.68,3.684,3.703,3.711,3.711,3.714,3.73,3.739,3.75,3.761,3.771,3.774,3.794,3.802,3.805,3.819,3.83,3.846,3.854,3.873,3.89,3.891,3.906,3.915,3.948,3.95,3.958,3.985,3.999,4.024,4.037,4.043,4.057,4.095,0.016,0.016,0.016,0.016,4.079,4.044,4.02,3.967,3.95,3.928,3.89,3.859,3.836,3.805,3.773,3.751,3.738,3.702,3.672,3.653,3.629,3.611,3.588,3.556,3.537,3.525,3.508,3.489,3.47,3.439,3.422,3.412,3.383,3.363,3.348,3.331,3.319,3.301,3.274,3.266,3.255,3.241,3.218,3.21,3.184,3.179,3.166,3.146,3.136,3.121,3.119,3.095,3.079,3.067,3.056,3.043,3.024,3.019,3.013,2.995,2.994,2.972,2.969,2.952,2.944,2.935,2.92,2.911,2.904,2.903,2.883,2.874,2.866,2.866,2.857,2.83,2.823,2.815,2.81,2.794,2.784,2.781,2.773,2.77,2.769,2.76,2.747,2.737,2.735,2.73,2.717,2.707,2.705,2.703,2.689,2.689,2.68,2.671,2.667,2.66,2.657,2.65,2.644,2.643,2.639,2.634,2.632,2.619,2.617,2.607,2.598,2.598,2.595,2.595,2.593,2.584,2.582,2.578,2.571,2.565,2.56,2.56,2.559,2.556,2.551,2.55,2.548,2.544,2.543,2.543,2.541,2.54,2.53,2.53,2.53,2.528,2.528,2.522,2.521,2.521,2.52,2.52,2.52,2.519,2.519,2.519,2.519,2.519,2.519,2.513,2.511,2.511,2.511,2.521,2.521,2.521,2.52,2.52,2.52,2.52,2.52,2.519,2.518,2.518,2.518,2.525,2.528,2.528,2.528,2.53,2.54,2.541,2.543,2.542,2.543,2.546,2.549,2.55,2.551,2.553,2.561,2.564,2.564,2.566,2.569,2.581,2.583,2.584,2.589,2.597,2.597,2.597,2.598,2.598,2.625,2.627,2.628,2.63,2.63,2.634,2.647,2.65,2.658,2.664,2.668,2.677,2.69,2.692,2.697,2.702,2.704,2.706,2.721,2.726,2.735,2.736,2.75,2.76,2.762,2.776,2.778,2.792,2.792,2.792,2.825,2.826,2.832,2.833,2.843,2.852,2.868,2.87,2.881,2.892,2.911,2.917,2.922,2.934,2.943,2.955,2.957,2.97,2.981,2.988,3.004,3.007,3.019,3.04,3.043,3.058,3.061,3.081,3.098,3.105,3.123,3.128,3.144,3.153,3.179,3.206,3.214,3.235,3.256,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 130.75} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 130.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 130.746} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.1148} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.2418} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.3274} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 130.791} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.185,0.185,0.185,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.147,0.142,0.142,0.141,0.141,0.143,0.145,0.151,0.153,0.153,0.153,0.153,0.156,0.159,0,0,0,0,0,0,0,0,0.163,0.154,0.151,0.15,0.148,0.143,0.143,0.113,0.086,0.07,0.069,0.069,0.069,0.069,0.068,0.068,0.068,0.07,0.068,0.068,0.068,0.063,0.062,0.062,0.063,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.444,0.444,0.444,0.452,0.453,0.457,0.461,0,0,0,1.509,1.499,1.488,1.49,1.49,1.49,1.497,1.507,1.508,1.521,1.551,1.556,1.571,1.571,1.584,1.586,1.623,1.642,1.673,1.695,1.736,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,3.777,3.772,3.757,3.729,3.729,3.729,0,0,0,0,0,0,0,0,0,3.552,3.546,3.528,3.52,3.509,3.509,3.487,3.485,3.269,3.118,3.035,3.105,3.105,3.105,3.186,3.19,3.201,3.201,0,0,0,0,0,0,0,0,3.121,3.105,3.105,3.105,3.085,3.085,3.085,3.085,3.085,3.243,0.007,0,0,0,0,3.158,3.158,3.158,0,0,0,0,2.969,2.957,2.952,2.952,2.943,2.942,2.936,2.931,2.927,2.924,2.921,2.917,2.916,2.914,2.909,2.909,2.905,2.9,2.895,2.891,2.891,2.887,2.887,2.883,2.883,2.879,2.869,2.869,2.867,2.864,2.864,2.862,2.856,2.852,2.852,2.85,2.849,2.849,2.847,2.847,2.847,3.415,3.415,3.416,3.416,3.416,3.415,3.416,3.416,3.424,3.421,3.424,3.424,3.424,3.421,3.421,3.421,3.428,3.425,3.425,3.428,3.428,3.43,3.432,3.432,3.441,3.445,3.451,3.451,3.452,3.452,3.453,3.453,3.456,3.47,3.47,3.47,3.474,3.474,3.474,3.477,3.484,3.487,3.495,3.498,3.504,3.515,3.517,3.522,3.532,3.534,3.536,3.549,3.56,3.567,3.567,3.579,3.579,3.596,3.604,3.608,3.612,3.614,3.626,3.629,3.63,3.653,3.654,3.665,3.666,3.676,3.697,3.698,3.707,3.713,3.727,3.731,3.75,3.751,3.769,3.777,3.784,3.797,3.812,3.823,3.828,3.838,3.857,3.862,3.885,3.893,3.909,3.918,3.943,3.952,3.966,3.995,3.999,4.011,4.03,4.045,4.061,4.081,0.016,0.016,0.016,0.016,4.068,4.03,4.015,3.983,3.956,3.903,3.888,3.86,3.826,3.803,3.775,3.757,3.73,3.711,3.685,3.652,3.642,3.611,3.585,3.558,3.546,3.526,3.504,3.474,3.449,3.445,3.427,3.405,3.381,3.37,3.345,3.322,3.318,3.297,3.278,3.277,3.247,3.228,3.217,3.2,3.193,3.178,3.165,3.151,3.139,3.122,3.119,3.092,3.083,3.077,3.063,3.053,3.026,3.024,3.014,2.997,2.99,2.98,2.958,2.952,2.944,2.926,2.923,2.919,2.899,2.892,2.882,2.88,2.863,2.851,2.842,2.831,2.815,2.813,2.812,2.797,2.791,2.784,2.772,2.77,2.769,2.754,2.746,2.743,2.733,2.723,2.719,2.717,2.712,2.701,2.688,2.687,2.687,2.675,2.664,2.655,2.655,2.652,2.647,2.643,2.642,2.636,2.633,2.619,2.612,2.61,2.608,2.592,2.591,2.588,2.587,2.584,2.583,2.576,2.568,2.566,2.56,2.559,2.557,2.557,2.555,2.554,2.543,2.543,2.542,2.54,2.535,2.533,2.531,2.531,2.531,2.53,2.529,2.528,2.52,2.519,2.519,2.519,2.517,2.516,2.516,2.515,2.515,2.515,2.515,2.515,2.515,2.514,2.514,2.515,2.514,2.514,2.515,2.515,2.519,2.519,2.519,2.519,2.519,2.521,2.527,2.528,2.528,2.528,2.532,2.532,2.528,2.532,2.535,2.538,2.54,2.546,2.548,2.548,2.557,2.557,2.565,2.567,2.567,2.567,2.57,2.573,2.579,2.586,2.588,2.589,2.593,2.603,2.605,2.616,2.618,2.623,2.629,2.632,2.633,2.643,2.646,2.652,2.663,2.665,2.669,2.676,2.682,2.69,2.698,2.701,2.707,2.713,2.713,2.724,2.732,2.736,2.756,2.761,2.764,2.766,2.777,2.782,2.796,2.802,2.816,2.827,2.835,2.839,2.845,2.848,2.87,2.875,2.885,2.895,2.907,2.915,2.928,2.933,2.94,2.95,2.96,2.965,2.99,2.994,3,3.01,3.018,3.037,3.037,3.053,3.063,3.091,3.095,3.102,3.118,3.135,3.151,3.157,3.182,3.204,3.217,3.237,3.257,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 130.95} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 130.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 130.948} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.1148} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.2418} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.3274} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 130.991} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.174,0.183,0.183,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.007,0.146,0.146,0.141,0.141,0.146,0.146,0.146,0.158,0.153,0.158,0.158,0.163,0.164,0,0,0,0,0,0,0,0.159,0.159,0.158,0.157,0.152,0.143,0.141,0.14,0.107,0.086,0.072,0.068,0.068,0.067,0.067,0.067,0.069,0.069,0.069,0.069,0.069,0.06,0.06,0.059,0.059,0.06,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.454,0.438,0.438,0.441,0.454,0.457,0.461,0,0,0,1.498,1.494,1.492,1.494,1.494,1.494,1.5,1.505,1.52,1.53,1.546,1.553,1.557,1.58,1.581,1.582,1.625,1.641,1.674,1.704,1.749,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.767,3.764,3.749,3.739,3.739,3.739,0,0,0,0,0,0,0,0,0,3.558,3.537,3.525,3.52,3.508,3.508,3.498,3.498,0.007,3.268,3.031,3.091,3.091,3.091,3.199,3.207,0,0,0,0,0,0,0,0,0,0,3.114,3.113,3.109,3.086,3.084,3.08,3.079,3.079,3.079,3.249,0.007,0,0,0,0,0,0,0,0,0,0,0,2.967,2.96,2.953,2.946,2.942,2.94,2.94,2.939,2.927,2.92,2.918,2.917,2.915,2.909,2.907,2.907,2.907,2.905,2.901,2.889,2.886,2.886,2.883,2.883,2.883,2.883,2.875,2.875,2.873,2.867,2.863,2.862,2.859,2.858,2.854,2.85,2.849,2.847,2.845,2.845,2.847,3.407,3.421,3.421,3.421,3.421,3.418,3.418,3.415,3.42,3.42,3.426,3.426,3.426,3.426,3.426,3.421,3.426,3.428,3.429,3.43,3.436,3.436,3.436,3.436,3.436,3.446,3.447,3.447,3.447,3.447,3.45,3.458,3.463,3.465,3.471,3.475,3.477,3.478,3.478,3.484,3.487,3.491,3.498,3.502,3.514,3.517,3.521,3.526,3.527,3.527,3.544,3.545,3.56,3.567,3.57,3.582,3.588,3.592,3.593,3.604,3.608,3.616,3.618,3.628,3.644,3.651,3.656,3.665,3.676,3.681,3.684,3.695,3.709,3.711,3.728,3.737,3.753,3.756,3.773,3.779,3.798,3.802,3.813,3.831,3.831,3.831,3.851,3.87,3.887,3.9,3.905,3.926,3.928,3.947,3.97,3.997,3.998,4.015,4.031,4.047,4.061,4.079,0.016,0.016,0.016,0.016,4.068,4.049,4.018,3.966,3.953,3.917,3.881,3.863,3.839,3.794,3.765,3.752,3.722,3.71,3.677,3.656,3.623,3.619,3.592,3.568,3.551,3.524,3.509,3.48,3.456,3.441,3.41,3.405,3.386,3.364,3.35,3.329,3.32,3.306,3.281,3.261,3.257,3.238,3.222,3.207,3.199,3.179,3.16,3.147,3.144,3.121,3.109,3.094,3.077,3.072,3.059,3.053,3.03,3.018,3.003,2.996,2.991,2.975,2.962,2.952,2.935,2.932,2.924,2.914,2.909,2.892,2.882,2.878,2.858,2.847,2.842,2.834,2.823,2.819,2.804,2.794,2.794,2.787,2.773,2.768,2.763,2.762,2.753,2.743,2.741,2.732,2.717,2.708,2.707,2.695,2.691,2.689,2.679,2.673,2.671,2.661,2.654,2.648,2.647,2.646,2.64,2.639,2.63,2.623,2.613,2.613,2.608,2.606,2.6,2.598,2.589,2.587,2.586,2.575,2.569,2.564,2.564,2.562,2.558,2.549,2.545,2.545,2.545,2.545,2.553,2.553,2.543,2.533,2.532,2.531,2.531,2.529,2.529,2.527,2.525,2.521,2.52,2.52,2.516,2.511,2.511,2.511,2.513,2.513,2.513,2.513,2.512,2.512,2.512,2.515,2.515,2.516,2.515,2.516,2.516,2.517,2.522,2.524,2.524,2.524,2.53,2.529,2.531,2.531,2.531,2.537,2.538,2.538,2.54,2.542,2.543,2.545,2.545,2.545,2.558,2.558,2.562,2.563,2.567,2.576,2.577,2.577,2.583,2.583,2.585,2.591,2.596,2.598,2.607,2.61,2.617,2.624,2.63,2.631,2.633,2.646,2.656,2.656,2.658,2.663,2.664,2.675,2.683,2.687,2.696,2.699,2.702,2.711,2.722,2.725,2.736,2.745,2.755,2.762,2.767,2.775,2.778,2.778,2.787,2.804,2.816,2.825,2.833,2.835,2.843,2.848,2.867,2.883,2.884,2.896,2.904,2.918,2.93,2.937,2.939,2.955,2.955,2.965,2.988,2.99,3.002,3.004,3.022,3.034,3.042,3.063,3.063,3.071,3.099,3.099,3.119,3.139,3.158,3.165,3.176,3.204,3.221,3.236,3.256,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 131.15} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 131.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 131.149} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.1148} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.2418} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.3274} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 131.191} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.185,0.189,0.189,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.158,0.143,0.143,0.143,0.143,0.138,0.137,0.137,0.154,0.148,0.154,0.154,0.156,0.162,0,0,0,0,0,0,0,0.165,0.163,0.16,0.159,0.153,0.151,0.145,0.145,0.118,0.086,0.069,0.068,0.068,0.068,0.068,0.069,0.069,0.07,0.07,0.069,0.068,0.066,0.064,0.056,0.056,0.064,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0.443,0.443,0.443,0.447,0.448,0.453,0.462,0,0,0,1.505,1.501,1.499,1.489,1.489,1.489,1.491,1.506,1.521,1.545,1.552,1.552,1.554,1.579,1.589,1.599,1.626,1.648,1.668,1.7,1.738,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.782,3.764,3.751,3.722,3.722,3.722,0,0,0,0,0,0,0,0,0,3.56,3.544,3.52,3.518,3.515,3.515,3.503,3.486,3.271,3.126,3.031,3.106,3.106,3.106,3.188,3.202,0,0,0,0,0,0,0,0,0,0,3.106,3.105,3.099,3.099,3.091,3.086,3.077,3.086,3.086,3.242,0.007,0,0,0,0,3.164,3.164,3.164,0,0,0,0,2.96,2.954,2.954,2.953,2.944,2.943,2.941,2.933,2.928,2.927,2.926,2.922,2.913,2.912,2.911,2.909,2.908,2.908,2.905,2.898,2.892,2.89,2.888,2.887,2.887,2.881,2.88,2.877,2.874,2.873,2.871,2.869,2.865,2.856,2.851,2.847,2.847,2.846,2.846,2.846,2.846,3.414,3.42,3.42,3.416,3.416,3.416,3.416,3.419,3.419,3.419,3.419,3.419,3.424,3.424,3.424,3.424,3.425,3.426,3.427,3.428,3.432,3.434,3.435,3.437,3.437,3.439,3.442,3.447,3.45,3.453,3.453,3.459,3.461,3.462,3.465,3.477,3.477,3.477,3.487,3.487,3.491,3.491,3.492,3.503,3.509,3.517,3.523,3.528,3.534,3.539,3.544,3.548,3.559,3.559,3.574,3.579,3.584,3.593,3.599,3.606,3.609,3.618,3.63,3.632,3.645,3.65,3.651,3.663,3.665,3.69,3.696,3.697,3.71,3.725,3.731,3.737,3.747,3.757,3.761,3.784,3.79,3.803,3.811,3.822,3.831,3.838,3.855,3.877,3.884,3.889,3.902,3.92,3.945,3.945,3.963,3.988,3.996,4.028,4.032,4.06,4.063,4.085,0.016,0.016,0.016,0.016,4.092,4.028,4.019,3.973,3.948,3.927,3.888,3.862,3.845,3.802,3.782,3.744,3.744,3.697,3.686,3.649,3.634,3.621,3.578,3.562,3.541,3.521,3.507,3.485,3.464,3.438,3.43,3.415,3.381,3.369,3.353,3.328,3.326,3.291,3.273,3.273,3.246,3.241,3.216,3.201,3.196,3.183,3.163,3.147,3.131,3.113,3.113,3.101,3.083,3.07,3.061,3.037,3.036,3.015,3.011,3,2.993,2.979,2.961,2.949,2.934,2.926,2.92,2.916,2.903,2.896,2.88,2.873,2.873,2.85,2.848,2.845,2.823,2.815,2.814,2.799,2.783,2.781,2.776,2.767,2.761,2.759,2.742,2.741,2.737,2.733,2.715,2.713,2.711,2.705,2.692,2.691,2.676,2.67,2.665,2.662,2.654,2.65,2.649,2.646,2.636,2.632,2.631,2.619,2.617,2.617,2.605,2.598,2.596,2.596,2.584,2.582,2.579,2.577,2.572,2.57,2.566,2.558,2.558,2.554,2.55,2.549,2.545,2.545,2.544,2.54,2.535,2.537,2.535,2.531,2.531,2.528,2.527,2.525,2.524,2.522,2.521,2.521,2.521,2.517,2.516,2.516,2.516,2.517,2.516,2.515,2.515,2.514,2.514,2.515,2.514,2.514,2.518,2.52,2.52,2.52,2.52,2.52,2.523,2.52,2.524,2.524,2.523,2.523,2.53,2.524,2.534,2.535,2.537,2.543,2.548,2.548,2.548,2.548,2.555,2.557,2.564,2.564,2.564,2.565,2.572,2.575,2.576,2.582,2.584,2.588,2.598,2.602,2.605,2.613,2.618,2.619,2.623,2.63,2.635,2.646,2.646,2.651,2.663,2.664,2.669,2.672,2.687,2.69,2.698,2.701,2.705,2.706,2.706,2.723,2.736,2.744,2.748,2.769,2.771,2.771,2.781,2.784,2.795,2.806,2.809,2.822,2.837,2.84,2.847,2.848,2.872,2.879,2.887,2.901,2.906,2.912,2.92,2.935,2.94,2.948,2.954,2.97,2.983,2.988,2.997,3.014,3.022,3.033,3.041,3.056,3.061,3.079,3.102,3.109,3.126,3.14,3.156,3.168,3.176,3.189,3.213,3.251,3.251,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 131.34} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 131.34} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 131.342} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.1148} {Name Sonar2 Range 5.6642} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 5.2578} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.3274} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 131.391} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.174,0.187,0.187,0,0,0,0,0,0,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.144,0.144,0.144,0.144,0.144,0.147,0.147,0.147,0.15,0.15,0.152,0.157,0.157,0.16,0,0,0,0,0,0,0,0.159,0.159,0.153,0.153,0.152,0.149,0.135,0.135,0.11,0.075,0.07,0.068,0.067,0.066,0.066,0.066,0.066,0.069,0.071,0.071,0.066,0.067,0.057,0.057,0.057,0.067,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.449,0.443,0.443,0.444,0.449,0.449,0.463,0,0,0,1.503,1.503,1.492,1.492,1.492,1.492,1.498,1.505,1.525,1.544,1.548,1.548,1.557,1.574,1.586,1.588,1.624,1.636,1.663,1.689,1.748,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.785,3.769,3.75,3.748,3.748,3.748,0,0,0,0,0,0,0,0,0,3.547,3.545,3.524,3.518,3.513,3.502,3.484,3.122,3.122,3.068,3.04,3.1,3.1,3.1,3.199,0.007,0,0,0,0,0,0,0,0,0,0,3.11,3.107,3.099,3.085,3.085,3.085,3.085,3.085,3.094,3.248,0.007,0,0,0,0,3.159,3.159,3.159,0,0,0,0,2.966,2.959,2.955,2.949,2.944,2.937,2.934,2.927,2.925,2.922,2.917,2.917,2.911,2.911,2.906,2.906,2.905,2.903,2.899,2.895,2.895,2.887,2.887,2.886,2.882,2.881,2.879,2.875,2.87,2.869,2.867,2.862,2.861,2.855,2.851,2.847,2.847,2.845,2.845,2.847,2.85,3.407,3.416,3.416,3.414,3.414,3.414,3.414,3.417,3.419,3.419,3.421,3.421,3.423,3.425,3.425,3.425,3.425,3.426,3.428,3.428,3.43,3.431,3.432,3.433,3.433,3.441,3.446,3.453,3.453,3.453,3.453,3.457,3.457,3.46,3.471,3.473,3.473,3.478,3.484,3.485,3.49,3.499,3.5,3.509,3.512,3.513,3.521,3.524,3.529,3.537,3.54,3.546,3.559,3.562,3.564,3.578,3.583,3.584,3.593,3.608,3.614,3.614,3.623,3.632,3.636,3.646,3.656,3.667,3.667,3.687,3.69,3.708,3.71,3.712,3.725,3.738,3.746,3.762,3.768,3.782,3.784,3.807,3.816,3.82,3.831,3.84,3.848,3.876,3.888,3.904,3.912,3.918,3.938,3.949,3.965,3.989,3.993,4.02,4.024,4.048,4.063,4.087,0.016,0.016,0.016,0.016,4.07,4.046,3.998,3.979,3.95,3.913,3.879,3.845,3.835,3.792,3.775,3.748,3.724,3.71,3.669,3.652,3.625,3.606,3.574,3.561,3.542,3.525,3.498,3.476,3.452,3.436,3.425,3.411,3.387,3.368,3.348,3.328,3.313,3.303,3.274,3.274,3.244,3.243,3.227,3.197,3.195,3.182,3.167,3.154,3.133,3.119,3.116,3.095,3.088,3.072,3.062,3.052,3.03,3.02,3.013,3.006,2.994,2.973,2.972,2.949,2.932,2.925,2.916,2.91,2.9,2.894,2.88,2.869,2.863,2.856,2.842,2.831,2.823,2.823,2.815,2.794,2.792,2.774,2.774,2.769,2.767,2.755,2.755,2.747,2.736,2.735,2.717,2.711,2.703,2.699,2.697,2.688,2.686,2.68,2.672,2.667,2.657,2.649,2.649,2.644,2.642,2.63,2.627,2.618,2.612,2.61,2.608,2.599,2.596,2.591,2.587,2.585,2.574,2.573,2.571,2.567,2.567,2.559,2.557,2.554,2.548,2.548,2.545,2.545,2.545,2.545,2.54,2.537,2.537,2.534,2.534,2.531,2.524,2.522,2.521,2.522,2.518,2.518,2.518,2.518,2.518,2.518,2.52,2.52,2.516,2.513,2.511,2.511,2.511,2.514,2.516,2.516,2.516,2.516,2.521,2.521,2.524,2.524,2.522,2.522,2.524,2.525,2.527,2.529,2.534,2.534,2.536,2.539,2.54,2.54,2.543,2.544,2.544,2.557,2.557,2.554,2.564,2.567,2.567,2.57,2.574,2.576,2.583,2.583,2.586,2.593,2.599,2.601,2.608,2.61,2.62,2.622,2.631,2.632,2.636,2.637,2.64,2.657,2.657,2.662,2.665,2.681,2.681,2.687,2.697,2.704,2.704,2.71,2.72,2.727,2.734,2.741,2.756,2.758,2.773,2.775,2.775,2.78,2.789,2.807,2.81,2.829,2.833,2.834,2.843,2.851,2.868,2.879,2.891,2.901,2.902,2.921,2.924,2.94,2.945,2.95,2.957,2.97,2.983,2.989,2.999,3.01,3.02,3.038,3.04,3.066,3.071,3.091,3.097,3.116,3.121,3.123,3.154,3.171,3.173,3.201,3.223,3.241,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 131.54} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.307252} SEN {Time 131.54} {Type Tachometer} {Name LeftRight} {Vel 0.035560,-0.033020} SEN {Time 131.544} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.1148} {Name Sonar2 Range 5.6642} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 5.2578} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.3274} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 131.591} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.186,0.187,0.187,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.007,0.15,0.15,0.15,0.15,0.15,0.146,0.146,0.152,0.152,0.153,0.153,0.153,0.157,0,0,0,0,0,0,0,0,0.164,0.156,0.155,0.15,0.15,0.149,0.138,0.114,0.09,0.068,0.061,0.061,0.061,0.061,0.064,0.069,0.068,0.068,0.066,0.066,0.063,0.056,0.054,0.054,0.063,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.442,0.446,0.442,0.442,0.443,0.446,0.457,0.458,0,0,0,1.501,1.499,1.499,1.489,1.489,1.489,1.496,1.503,1.52,1.55,1.555,1.555,1.57,1.584,1.59,1.59,1.625,1.643,1.678,1.703,1.753,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,3.773,3.771,3.751,3.734,3.734,3.734,0,0,0,0,0,0,0,0,0,3.557,3.536,3.534,3.522,3.505,3.503,3.486,3.107,3.107,3.061,3.025,3.101,3.101,3.101,3.199,3.199,3.202,3.202,0,0,0,0,0,0,0,0,3.115,3.108,3.104,3.097,3.092,3.085,3.081,3.081,3.092,3.234,0.007,0,0,0,0,3.166,3.166,3.166,0,0,0,0,2.961,2.96,2.957,2.948,2.947,2.942,2.941,2.937,2.934,2.931,2.92,2.917,2.911,2.911,2.908,2.902,2.902,2.898,2.898,2.892,2.892,2.888,2.885,2.882,2.878,2.878,2.876,2.875,2.871,2.862,2.861,2.861,2.861,2.861,2.856,2.852,2.854,2.852,2.854,2.854,3.417,3.417,3.417,3.417,3.417,3.417,3.417,3.417,3.418,3.418,3.418,3.421,3.421,3.423,3.423,3.426,3.426,3.424,3.424,3.424,3.424,3.429,3.438,3.438,3.438,3.438,3.438,3.439,3.45,3.451,3.453,3.454,3.455,3.461,3.462,3.464,3.469,3.475,3.48,3.48,3.49,3.491,3.495,3.5,3.501,3.508,3.517,3.52,3.52,3.528,3.532,3.539,3.544,3.555,3.563,3.572,3.576,3.583,3.584,3.595,3.603,3.607,3.608,3.617,3.632,3.637,3.658,3.659,3.661,3.666,3.686,3.692,3.697,3.704,3.712,3.729,3.735,3.746,3.752,3.755,3.779,3.787,3.806,3.808,3.814,3.841,3.843,3.847,3.862,3.889,3.891,3.915,3.919,3.928,3.939,3.964,3.995,4.004,4.018,4.033,4.055,4.056,4.09,0.016,0.016,0.016,0.016,4.067,4.042,4.006,3.976,3.95,3.936,3.883,3.878,3.842,3.797,3.781,3.758,3.721,3.714,3.681,3.665,3.635,3.607,3.576,3.557,3.556,3.524,3.508,3.488,3.467,3.434,3.421,3.418,3.389,3.372,3.349,3.333,3.33,3.302,3.279,3.266,3.251,3.243,3.224,3.207,3.188,3.177,3.169,3.146,3.137,3.117,3.11,3.11,3.095,3.081,3.055,3.053,3.03,3.022,3.014,3.009,2.991,2.97,2.96,2.957,2.944,2.938,2.923,2.915,2.909,2.893,2.89,2.879,2.873,2.846,2.843,2.838,2.82,2.82,2.808,2.807,2.79,2.787,2.773,2.766,2.763,2.754,2.741,2.74,2.735,2.727,2.717,2.713,2.71,2.695,2.689,2.689,2.689,2.673,2.667,2.664,2.649,2.645,2.644,2.64,2.638,2.638,2.621,2.62,2.617,2.616,2.603,2.603,2.603,2.6,2.6,2.591,2.584,2.583,2.566,2.566,2.565,2.558,2.558,2.553,2.552,2.547,2.547,2.546,2.546,2.541,2.537,2.536,2.534,2.532,2.532,2.529,2.521,2.521,2.521,2.521,2.521,2.516,2.516,2.516,2.519,2.517,2.518,2.518,2.518,2.517,2.512,2.511,2.51,2.51,2.512,2.516,2.516,2.518,2.518,2.52,2.52,2.52,2.525,2.523,2.525,2.527,2.527,2.527,2.532,2.532,2.534,2.538,2.538,2.538,2.538,2.54,2.546,2.564,2.565,2.565,2.565,2.565,2.566,2.566,2.567,2.576,2.58,2.58,2.585,2.589,2.596,2.601,2.604,2.606,2.612,2.621,2.631,2.635,2.641,2.643,2.646,2.653,2.661,2.666,2.673,2.675,2.676,2.687,2.692,2.699,2.699,2.699,2.721,2.724,2.73,2.735,2.748,2.762,2.767,2.773,2.775,2.784,2.786,2.8,2.81,2.822,2.836,2.84,2.855,2.859,2.859,2.871,2.875,2.892,2.898,2.911,2.917,2.931,2.938,2.952,2.955,2.961,2.98,2.986,2.996,3.002,3.013,3.028,3.037,3.055,3.065,3.065,3.089,3.1,3.121,3.134,3.144,3.152,3.173,3.192,3.204,3.251,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 131.75} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.385791} SEN {Time 131.75} {Type Tachometer} {Name LeftRight} {Vel 0.106680,-0.106680} SEN {Time 131.747} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 4.1148} {Name Sonar2 Range 5.6642} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 5.2578} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.3274} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 131.787} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.156,0.154,0.154,0.146,0.146,0.146,0.151,0.15,0.151,0.151,0.155,0.159,0.16,0.16,0,0,0,0,0,0,0,0,0.166,0.158,0.158,0.153,0.151,0.15,0.143,0.11,0.088,0.076,0.072,0.068,0.067,0.068,0.071,0.068,0.07,0.07,0.068,0.067,0.062,0.057,0.053,0.053,0.057,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.453,0.448,0.447,0.447,0.447,0.449,0.454,0.454,0.459,1.504,1.504,1.504,1.504,1.496,1.488,1.488,1.488,1.495,1.509,1.511,1.542,1.542,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.761,3.751,3.738,3.731,3.707,3.707,3.707,0,0,0,0,0,0,0,0,0,3.536,3.524,3.516,3.505,3.505,3.505,0.006,0.009,0.009,0.009,0.009,3.193,3.193,3.189,3.193,0.007,0,0.007,0,0,0,0,0,0,0,3.112,3.112,3.112,3.112,3.106,3.069,3.068,3.068,3.069,3.259,0,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,2.963,2.954,2.952,2.949,2.943,2.937,2.936,2.926,2.925,2.917,2.916,2.912,2.912,2.908,2.908,2.907,2.906,2.904,2.89,2.887,2.886,2.883,2.88,2.878,2.877,2.873,2.873,2.872,2.868,2.865,2.864,2.859,2.859,2.855,2.851,2.844,2.843,2.841,2.841,2.841,2.851,3.411,3.416,3.417,3.418,3.418,3.417,3.417,3.418,3.416,3.419,3.421,3.419,3.424,3.429,3.429,3.43,3.433,3.433,3.433,3.433,3.433,3.433,3.44,3.442,3.444,3.444,3.448,3.448,3.45,3.454,3.459,3.462,3.463,3.465,3.472,3.473,3.477,3.482,3.486,3.491,3.496,3.497,3.501,3.507,3.514,3.516,3.517,3.539,3.539,3.539,3.54,3.55,3.562,3.566,3.567,3.576,3.578,3.592,3.603,3.607,3.611,3.624,3.625,3.635,3.639,3.642,3.645,3.66,3.663,3.664,3.69,3.702,3.711,3.716,3.729,3.734,3.741,3.748,3.761,3.773,3.777,3.793,3.806,3.811,3.812,3.853,3.855,3.873,3.879,3.885,3.902,3.916,3.941,3.946,3.966,3.977,3.981,4.011,4.018,4.039,4.057,4.074,4.094,0.016,0.016,0.016,0.016,0.016,4.043,4.028,3.98,3.966,3.924,3.9,3.891,3.856,3.811,3.802,3.768,3.733,3.729,3.686,3.668,3.639,3.629,3.61,3.579,3.553,3.538,3.519,3.495,3.472,3.452,3.437,3.424,3.398,3.391,3.357,3.344,3.331,3.318,3.302,3.275,3.269,3.264,3.235,3.222,3.206,3.191,3.178,3.154,3.154,3.134,3.114,3.114,3.094,3.09,3.09,3.063,3.053,3.036,3.03,3.015,3.004,2.998,2.982,2.978,2.963,2.945,2.944,2.936,2.932,2.902,2.892,2.881,2.879,2.878,2.862,2.861,2.852,2.844,2.833,2.821,2.813,2.806,2.788,2.785,2.778,2.778,2.765,2.757,2.755,2.754,2.731,2.73,2.721,2.713,2.71,2.709,2.697,2.686,2.685,2.679,2.678,2.67,2.657,2.654,2.649,2.648,2.639,2.637,2.624,2.62,2.617,2.617,2.611,2.608,2.604,2.602,2.599,2.596,2.592,2.588,2.587,2.585,2.574,2.574,2.566,2.566,2.564,2.563,2.561,2.561,2.562,2.56,2.555,2.562,2.555,2.548,2.546,2.543,2.539,2.539,2.539,2.539,2.537,2.536,2.535,2.533,2.532,2.533,2.532,2.531,2.531,2.533,2.533,2.533,2.533,2.533,2.532,2.531,2.531,2.531,2.531,2.537,2.537,2.537,2.537,2.537,2.538,2.539,2.544,2.544,2.545,2.545,2.545,2.546,2.553,2.556,2.558,2.558,2.567,2.573,2.578,2.58,2.584,2.587,2.587,2.587,2.591,2.592,2.601,2.606,2.606,2.611,2.621,2.624,2.624,2.627,2.635,2.646,2.651,2.654,2.655,2.661,2.67,2.675,2.677,2.682,2.686,2.691,2.696,2.713,2.716,2.718,2.726,2.735,2.748,2.752,2.757,2.76,2.771,2.777,2.787,2.79,2.792,2.8,2.817,2.818,2.829,2.837,2.841,2.851,2.87,2.871,2.875,2.882,2.888,2.907,2.91,2.925,2.929,2.94,2.954,2.965,2.971,2.973,3,3.021,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 131.94} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.499238} SEN {Time 131.94} {Type Tachometer} {Name LeftRight} {Vel 0.027940,-0.030480} SEN {Time 131.94} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 6.477} {Name Sonar2 Range 5.6642} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.7498} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.5494} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 131.987} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.178,0.181,0.181,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.146,0.143,0.143,0.143,0.146,0.143,0.151,0.151,0.154,0.153,0.154,0.154,0.158,0.159,0,0,0,0.007,0,0,0,0.158,0.151,0.15,0.15,0.15,0.149,0.144,0.144,0.109,0.093,0.07,0.07,0.07,0.063,0.07,0.069,0.069,0.069,0.069,0.068,0.064,0.06,0.06,0.06,0.06,0.065,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.463,0.452,0.434,0.433,0.433,0.434,0.434,0.438,0.438,0.439,0.439,0.439,0,0,0,1.476,1.476,1.47,1.47,1.47,1.485,1.491,1.496,1.517,1.534,1.545,1.545,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.777,3.756,3.756,3.738,3.728,3.728,0,0,0,0,0,0,0,0,0,0,0,0,0,3.504,3.494,3.479,3.446,2.975,2.975,2.975,2.992,3,3.097,3.097,3.181,0.007,3.181,3.173,3.173,3.173,0,0,0,0,3.121,3.108,3.102,3.102,3.098,3.102,0.007,3.074,3.06,3.06,3.06,3.075,3.211,3.279,0,0,0,3.191,3.117,3.117,3.117,0,0,0,0,2.958,2.955,2.938,2.933,2.929,2.927,2.927,2.918,2.917,2.911,2.912,2.906,2.906,2.9,2.899,2.899,2.895,2.895,2.889,2.878,2.876,2.874,2.873,2.87,2.87,2.87,2.866,2.862,2.862,2.858,2.853,2.852,2.843,2.841,2.838,2.838,2.843,2.844,2.853,3.41,3.41,3.41,3.41,3.41,3.414,3.415,3.415,3.415,3.416,3.416,3.416,3.416,3.416,3.421,3.424,3.424,3.424,3.425,3.425,3.433,3.437,3.437,3.433,3.439,3.441,3.442,3.443,3.444,3.444,3.453,3.454,3.456,3.456,3.461,3.471,3.473,3.478,3.481,3.484,3.491,3.497,3.504,3.506,3.508,3.511,3.519,3.529,3.531,3.536,3.544,3.55,3.554,3.565,3.568,3.577,3.58,3.584,3.589,3.602,3.606,3.62,3.622,3.637,3.643,3.654,3.655,3.659,3.678,3.689,3.689,3.694,3.705,3.706,3.718,3.727,3.747,3.75,3.764,3.774,3.787,3.802,3.807,3.822,3.823,3.829,3.865,3.872,3.893,3.898,3.911,3.924,3.937,3.954,3.967,3.979,4.008,4.018,4.038,4.058,4.071,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.014,3.992,3.943,3.927,3.903,3.88,3.844,3.817,3.79,3.757,3.732,3.718,3.693,3.665,3.641,3.615,3.598,3.567,3.562,3.536,3.51,3.473,3.471,3.449,3.435,3.413,3.393,3.383,3.358,3.346,3.329,3.319,3.296,3.28,3.259,3.253,3.239,3.226,3.202,3.18,3.167,3.167,3.151,3.129,3.129,3.12,3.112,3.083,3.075,3.054,3.05,3.033,3.029,3.022,2.997,2.995,2.984,2.969,2.963,2.95,2.945,2.925,2.923,2.912,2.91,2.895,2.888,2.871,2.866,2.856,2.848,2.833,2.822,2.816,2.81,2.805,2.798,2.783,2.778,2.767,2.763,2.754,2.749,2.748,2.735,2.728,2.722,2.717,2.711,2.705,2.702,2.692,2.688,2.687,2.677,2.669,2.667,2.661,2.653,2.644,2.642,2.64,2.634,2.632,2.63,2.62,2.618,2.615,2.613,2.612,2.595,2.595,2.594,2.594,2.59,2.59,2.583,2.578,2.578,2.575,2.574,2.571,2.57,2.567,2.564,2.564,2.563,2.562,2.559,2.557,2.555,2.555,2.554,2.548,2.547,2.543,2.543,2.542,2.542,2.542,2.542,2.541,2.541,2.542,2.542,2.542,2.542,2.537,2.537,2.537,2.537,2.541,2.543,2.544,2.547,2.551,2.553,2.553,2.553,2.553,2.554,2.561,2.554,2.566,2.57,2.572,2.571,2.576,2.576,2.576,2.578,2.581,2.581,2.587,2.59,2.591,2.602,2.608,2.609,2.612,2.613,2.621,2.624,2.627,2.628,2.651,2.651,2.651,2.656,2.662,2.665,2.666,2.671,2.679,2.682,2.695,2.696,2.705,2.717,2.719,2.721,2.731,2.738,2.739,2.744,2.744,2.756,2.766,2.768,2.781,2.788,2.8,2.802,2.807,2.814,2.825,2.826,2.833,2.843,2.848,2.857,2.872,2.885,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 132.14} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 132.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 132.138} {Type Sonar} {Name Sonar0 Range 2.7686} {Name Sonar1 Range 6.477} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.7498} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.5494} {Name Sonar14 Range 3.3782} {Name Sonar15 Range 1.8034} SEN {Time 132.187} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.18,0.19,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.007,0.016,0.151,0.143,0.143,0.143,0.143,0.15,0.15,0.15,0.152,0.152,0.154,0.154,0.161,0.163,0,0,0,0,0,0,0,0,0.158,0.158,0.153,0.149,0.146,0.142,0.139,0.107,0.09,0.067,0.065,0.061,0.061,0.065,0.065,0.065,0.066,0.066,0.065,0.065,0.064,0.064,0.055,0.055,0.072,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.452,0.444,0.444,0.434,0.434,0.434,0.438,0.441,0.441,0.443,0.443,1.477,1.482,1.482,1.477,1.477,1.479,1.472,1.479,1.481,1.482,1.496,1.509,1.526,1.533,1.542,1.547,1.567,1.576,1.607,1.622,1.647,1.673,1.721,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.761,3.739,3.737,3.72,3.706,3.706,3.706,0,0,0,0,0,0,0,0,0,0,0,3.496,3.491,3.491,3.48,3.48,0.007,3.15,2.993,2.993,2.993,2.993,3.176,3.176,3.18,3.176,3.183,0.007,0,0,0,0,3.117,3.107,3.101,3.1,3.098,3.098,3.086,3.083,3.061,3.061,3.061,3.216,3.259,0,0,0,0,0,3.136,3.048,3.048,3.048,0,0,0,2.953,2.952,2.943,2.943,2.935,2.932,2.93,2.926,2.918,2.915,2.911,2.909,2.907,2.895,2.895,2.894,2.894,2.89,2.889,2.885,2.879,2.878,2.877,2.875,2.874,2.867,2.863,2.862,2.86,2.859,2.852,2.851,2.85,2.85,2.846,2.842,2.842,2.842,2.848,3.41,3.413,3.414,3.414,3.414,3.416,3.416,3.414,3.414,3.413,3.413,3.413,3.417,3.417,3.421,3.421,3.425,3.426,3.427,3.427,3.434,3.434,3.434,3.434,3.434,3.434,3.445,3.446,3.447,3.452,3.452,3.455,3.458,3.46,3.465,3.472,3.477,3.478,3.478,3.489,3.496,3.498,3.503,3.508,3.516,3.517,3.517,3.517,3.536,3.536,3.537,3.543,3.561,3.563,3.573,3.577,3.579,3.59,3.596,3.603,3.607,3.608,3.626,3.636,3.637,3.652,3.654,3.66,3.681,3.691,3.692,3.696,3.698,3.705,3.729,3.733,3.75,3.757,3.764,3.777,3.785,3.791,3.805,3.813,3.827,3.846,3.856,3.877,3.878,3.905,3.911,3.921,3.938,3.947,3.972,3.994,4,4.021,4.037,4.049,4.059,4.089,0.016,0.016,0.016,0.016,0.016,4.088,4.044,4.009,4,3.945,3.917,3.888,3.871,3.829,3.808,3.787,3.764,3.737,3.703,3.68,3.667,3.641,3.607,3.591,3.573,3.556,3.529,3.507,3.495,3.47,3.45,3.421,3.413,3.394,3.385,3.363,3.344,3.324,3.307,3.297,3.278,3.278,3.272,3.235,3.22,3.206,3.18,3.174,3.16,3.144,3.13,3.11,3.108,3.09,3.075,3.073,3.065,3.045,3.034,3.029,3.019,3.003,2.989,2.989,2.975,2.958,2.937,2.934,2.931,2.912,2.911,2.895,2.89,2.89,2.865,2.862,2.848,2.846,2.828,2.826,2.814,2.803,2.794,2.793,2.782,2.781,2.772,2.759,2.751,2.75,2.743,2.738,2.731,2.725,2.716,2.703,2.703,2.693,2.692,2.686,2.684,2.68,2.672,2.667,2.665,2.655,2.643,2.641,2.637,2.634,2.631,2.62,2.619,2.615,2.613,2.611,2.607,2.598,2.596,2.592,2.59,2.587,2.58,2.58,2.58,2.58,2.572,2.572,2.571,2.571,2.571,2.567,2.567,2.564,2.561,2.561,2.557,2.556,2.556,2.551,2.551,2.547,2.547,2.547,2.54,2.54,2.538,2.541,2.54,2.54,2.54,2.54,2.54,2.54,2.538,2.542,2.54,2.54,2.54,2.542,2.542,2.548,2.55,2.55,2.551,2.553,2.556,2.556,2.558,2.561,2.564,2.565,2.565,2.569,2.577,2.578,2.578,2.578,2.578,2.58,2.583,2.592,2.595,2.596,2.601,2.609,2.613,2.615,2.617,2.626,2.632,2.636,2.639,2.648,2.652,2.652,2.655,2.668,2.668,2.675,2.676,2.682,2.694,2.699,2.706,2.709,2.714,2.716,2.717,2.733,2.738,2.743,2.753,2.755,2.758,2.764,2.774,2.777,2.799,2.802,2.807,2.814,2.832,2.835,2.84,2.845,2.854,2.855,2.872,2.89,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 132.35} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 132.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 132.346} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 6.477} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 4.7498} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 1.9304} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.5494} {Name Sonar14 Range 3.3782} {Name Sonar15 Range 2.8194} SEN {Time 132.387} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.18,0.187,0.187,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0,0,0,0.149,0.144,0.144,0.144,0.144,0.139,0.148,0.148,0.156,0.155,0.155,0.155,0.155,0.155,0,0,0,0,0,0,0,0,0.162,0.157,0.146,0.146,0.146,0.137,0.137,0.108,0.091,0.067,0.067,0.064,0.064,0.067,0.067,0.07,0.07,0.07,0.068,0.064,0.063,0.063,0.059,0.059,0.068,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.454,0.433,0.433,0.433,0.432,0.433,0.432,0.432,0.445,0.448,1.476,1.481,1.481,1.477,1.477,1.477,1.475,1.475,1.479,1.479,1.499,1.508,1.525,1.534,1.546,1.559,1.574,1.583,1.601,1.623,1.641,1.682,1.736,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.752,3.745,3.733,3.712,3.705,3.705,3.705,0,0,0,0,0,0,0,0,0,0,0,3.501,3.493,3.493,3.484,3.484,0.007,3.155,3.006,3.006,3.006,3.006,3.188,3.188,3.196,3.188,3.188,0.007,0,0,0,0,0,3.111,3.106,3.102,3.092,3.092,3.084,3.074,3.052,3.052,3.052,3.219,3.261,3.317,3.317,0,0,0,0.007,3.135,3.135,0,0,0,0,2.947,2.946,2.943,2.935,2.933,2.932,2.92,2.916,2.914,2.911,2.91,2.909,2.902,2.9,2.898,2.895,2.895,2.892,2.889,2.885,2.885,2.877,2.875,2.875,2.87,2.865,2.864,2.864,2.862,2.854,2.851,2.851,2.851,2.849,2.848,2.845,2.845,2.848,2.852,3.412,3.414,3.417,3.414,3.414,3.414,3.419,3.415,3.418,3.418,3.418,3.418,3.42,3.42,3.421,3.424,3.422,3.422,3.424,3.432,3.432,3.437,3.438,3.437,3.438,3.438,3.446,3.45,3.45,3.453,3.458,3.458,3.461,3.462,3.467,3.472,3.472,3.472,3.483,3.488,3.489,3.495,3.495,3.5,3.51,3.515,3.518,3.526,3.528,3.534,3.547,3.551,3.553,3.561,3.57,3.575,3.579,3.588,3.591,3.594,3.601,3.616,3.622,3.629,3.641,3.642,3.646,3.654,3.672,3.686,3.694,3.695,3.698,3.715,3.727,3.737,3.743,3.753,3.772,3.773,3.782,3.797,3.801,3.821,3.841,3.852,3.856,3.877,3.878,3.904,3.921,3.923,3.953,3.955,3.985,3.989,3.997,4.016,4.036,4.052,4.061,4.082,0.016,0.016,0.016,0.016,0.016,4.078,4.05,4.007,3.978,3.952,3.923,3.896,3.879,3.834,3.802,3.771,3.755,3.741,3.699,3.688,3.66,3.646,3.614,3.593,3.554,3.553,3.537,3.517,3.487,3.465,3.461,3.426,3.41,3.384,3.375,3.353,3.349,3.337,3.309,3.293,3.272,3.264,3.25,3.226,3.224,3.206,3.176,3.175,3.159,3.149,3.127,3.118,3.115,3.08,3.077,3.067,3.062,3.042,3.029,3.029,3.007,3.001,2.983,2.981,2.97,2.958,2.94,2.932,2.928,2.916,2.914,2.902,2.892,2.89,2.868,2.866,2.848,2.836,2.83,2.824,2.818,2.804,2.8,2.795,2.79,2.779,2.769,2.758,2.753,2.747,2.744,2.738,2.723,2.722,2.714,2.712,2.711,2.697,2.69,2.687,2.684,2.684,2.673,2.668,2.66,2.656,2.651,2.646,2.641,2.633,2.633,2.63,2.623,2.616,2.611,2.61,2.608,2.597,2.597,2.593,2.591,2.589,2.585,2.583,2.58,2.578,2.576,2.572,2.572,2.572,2.567,2.561,2.561,2.56,2.557,2.557,2.553,2.546,2.546,2.549,2.545,2.546,2.546,2.546,2.546,2.546,2.542,2.541,2.538,2.538,2.537,2.538,2.54,2.542,2.542,2.542,2.542,2.542,2.537,2.537,2.537,2.543,2.545,2.55,2.55,2.553,2.554,2.558,2.559,2.559,2.559,2.56,2.566,2.57,2.57,2.576,2.58,2.58,2.581,2.584,2.59,2.59,2.603,2.605,2.613,2.619,2.619,2.619,2.619,2.621,2.629,2.643,2.643,2.648,2.655,2.657,2.664,2.667,2.671,2.677,2.678,2.691,2.692,2.695,2.703,2.709,2.715,2.718,2.719,2.73,2.738,2.744,2.752,2.757,2.769,2.769,2.777,2.78,2.786,2.799,2.805,2.815,2.83,2.834,2.842,2.843,2.855,2.855,2.87,2.885,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 132.54} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 132.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 132.539} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3622} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 1.9304} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 3.3782} {Name Sonar15 Range 2.8194} SEN {Time 132.583} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.174,0.187,0.187,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.148,0.144,0.144,0.144,0.144,0.143,0.143,0.143,0.149,0.149,0.152,0.153,0.153,0.159,0,0,0,0,0,0,0,0,0.154,0.152,0.15,0.15,0.148,0.142,0.142,0.111,0.091,0.071,0.064,0.064,0.064,0.064,0.069,0.069,0.07,0.074,0.07,0.07,0.06,0.06,0.057,0.06,0.063,0,0,0,0,0,0,0,0,0,0,1.076,1.076,1.076,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.449,0.436,0.434,0.434,0.433,0.433,0.434,0.434,0.442,0.443,0.446,1.479,1.483,1.484,1.483,1.483,1.483,1.476,1.476,1.476,1.476,1.497,1.52,1.546,1.547,1.547,1.557,1.576,1.583,1.614,1.616,1.628,1.676,1.731,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.756,3.746,3.723,3.716,3.694,3.694,3.694,0,0,0,0,0,0,0,0,0,0,0,3.5,3.497,3.497,3.481,3.481,0.007,3.152,3.004,3.004,3.004,3.004,3.182,3.182,3.182,3.169,3.169,3.169,0,0,0,0,0,3.115,3.115,3.104,3.093,3.093,3.082,3.068,3.06,3.06,3.06,3.214,3.259,3.32,3.32,3.32,0,0.007,0,3.184,0,0,0,0,0,2.955,2.953,2.945,2.941,2.932,2.929,2.926,2.919,2.916,2.914,2.913,2.912,2.909,2.898,2.894,2.89,2.889,2.889,2.881,2.876,2.876,2.876,2.876,2.871,2.868,2.867,2.866,2.862,2.858,2.855,2.846,2.846,2.847,2.845,2.842,2.839,2.839,2.839,2.852,3.411,3.412,3.412,3.412,3.412,3.412,3.412,3.416,3.418,3.416,3.418,3.419,3.421,3.423,3.426,3.428,3.428,3.43,3.432,3.432,3.439,3.439,3.439,3.436,3.436,3.436,3.441,3.444,3.449,3.449,3.449,3.453,3.453,3.459,3.468,3.468,3.474,3.48,3.487,3.488,3.491,3.494,3.501,3.504,3.506,3.518,3.519,3.525,3.54,3.541,3.541,3.546,3.556,3.563,3.574,3.575,3.587,3.588,3.598,3.603,3.609,3.617,3.618,3.629,3.635,3.637,3.652,3.656,3.667,3.689,3.692,3.692,3.711,3.711,3.724,3.73,3.749,3.751,3.769,3.772,3.779,3.794,3.819,3.819,3.837,3.841,3.865,3.874,3.891,3.905,3.917,3.92,3.94,3.96,3.972,3.992,3.995,4.015,4.036,4.058,4.076,4.086,4.095,0.016,0.016,0.016,0.016,0.016,4.074,4.048,3.973,3.938,3.92,3.897,3.871,3.832,3.81,3.776,3.743,3.726,3.707,3.687,3.659,3.635,3.604,3.602,3.575,3.55,3.534,3.517,3.49,3.479,3.453,3.421,3.406,3.401,3.401,3.377,3.357,3.337,3.31,3.297,3.278,3.259,3.249,3.226,3.213,3.212,3.19,3.164,3.157,3.145,3.13,3.121,3.112,3.091,3.084,3.07,3.067,3.038,3.034,3.024,3.011,3.008,2.983,2.979,2.973,2.957,2.957,2.951,2.936,2.916,2.913,2.9,2.899,2.877,2.863,2.859,2.855,2.849,2.842,2.83,2.813,2.807,2.798,2.791,2.785,2.784,2.764,2.763,2.749,2.749,2.747,2.734,2.733,2.718,2.71,2.701,2.695,2.695,2.693,2.69,2.683,2.678,2.673,2.664,2.656,2.653,2.651,2.648,2.644,2.633,2.628,2.622,2.621,2.619,2.612,2.612,2.604,2.595,2.595,2.592,2.591,2.583,2.582,2.581,2.577,2.577,2.577,2.572,2.569,2.569,2.567,2.561,2.564,2.561,2.56,2.558,2.555,2.552,2.552,2.552,2.551,2.552,2.552,2.547,2.542,2.544,2.542,2.543,2.539,2.542,2.538,2.536,2.536,2.536,2.536,2.538,2.538,2.539,2.544,2.545,2.545,2.545,2.55,2.554,2.553,2.553,2.556,2.559,2.561,2.561,2.561,2.564,2.565,2.568,2.574,2.574,2.577,2.58,2.585,2.589,2.592,2.593,2.594,2.603,2.609,2.611,2.612,2.617,2.619,2.626,2.629,2.635,2.636,2.651,2.651,2.653,2.656,2.659,2.673,2.676,2.686,2.69,2.693,2.696,2.709,2.712,2.714,2.723,2.725,2.735,2.736,2.746,2.748,2.749,2.765,2.77,2.772,2.78,2.795,2.803,2.808,2.811,2.825,2.836,2.843,2.846,2.85,2.855,2.86,2.887,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 132.74} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 132.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 132.741} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3622} {Name Sonar6 Range 3.7846} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 1.9304} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 3.3782} {Name Sonar15 Range 2.8194} SEN {Time 132.783} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.179,0.181,0.181,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0.007,0.152,0.148,0.148,0.148,0.148,0.147,0.147,0.153,0.147,0.153,0.157,0.157,0.163,0,0,0,0,0,0,0,0,0.161,0.158,0.149,0.147,0.147,0.144,0.142,0.108,0.099,0.07,0.068,0.068,0.065,0.068,0.068,0.071,0.072,0.072,0.067,0.067,0.063,0.063,0.06,0.06,0.064,0,0,0,0,0,0,0,0,0,0,1.075,1.075,1.075,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.454,0.443,0.439,0.439,0.438,0.436,0.439,0.439,0.438,0.441,0.443,1.475,1.493,1.493,1.482,1.481,1.481,1.481,1.481,1.481,1.482,1.502,1.522,1.537,1.546,1.546,1.553,1.575,1.583,1.598,1.629,1.637,1.677,1.722,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.753,3.75,3.736,3.724,3.703,3.703,3.703,0,0,0,0,0,0,0,0,0,0,0,3.502,3.495,3.495,3.49,3.49,0.007,3.149,3.002,3.002,3.002,3.002,3.174,3.175,3.175,3.174,3.175,3.175,0,0,0,0.007,3.13,3.109,3.104,3.095,3.094,3.083,3.082,3.069,3.062,3.062,3.062,3.214,3.252,3.319,3.319,0,0,0.009,0.009,0.009,0,0,0,0,0,2.961,2.946,2.941,2.934,2.933,2.929,2.927,2.927,2.921,2.912,2.912,2.909,2.907,2.907,2.903,2.901,2.895,2.889,2.887,2.887,2.882,2.881,2.872,2.872,2.869,2.869,2.865,2.86,2.855,2.855,2.855,2.855,2.848,2.843,2.843,2.843,2.843,2.843,2.852,3.412,3.412,3.413,3.413,3.413,3.412,3.412,3.412,3.412,3.417,3.417,3.419,3.417,3.42,3.423,3.423,3.43,3.431,3.431,3.431,3.436,3.436,3.436,3.436,3.438,3.439,3.444,3.451,3.451,3.451,3.457,3.459,3.467,3.467,3.468,3.473,3.475,3.482,3.483,3.488,3.494,3.494,3.501,3.516,3.516,3.518,3.521,3.522,3.522,3.532,3.543,3.543,3.566,3.567,3.57,3.577,3.578,3.581,3.602,3.604,3.606,3.615,3.623,3.629,3.634,3.648,3.648,3.656,3.675,3.686,3.694,3.697,3.716,3.718,3.722,3.736,3.749,3.751,3.762,3.77,3.79,3.803,3.803,3.824,3.827,3.86,3.862,3.872,3.884,3.909,3.92,3.926,3.93,3.955,3.98,3.991,4.007,4.021,4.03,4.064,4.065,4.083,0.016,0.016,0.016,0.007,0.016,0.016,4.095,4.056,3.989,3.951,3.929,3.892,3.867,3.834,3.807,3.774,3.754,3.733,3.704,3.686,3.667,3.642,3.618,3.593,3.565,3.555,3.538,3.514,3.471,3.465,3.45,3.434,3.409,3.393,3.377,3.359,3.343,3.325,3.301,3.3,3.282,3.274,3.245,3.231,3.22,3.203,3.175,3.174,3.156,3.148,3.124,3.122,3.115,3.091,3.079,3.075,3.062,3.045,3.031,3.021,3.017,2.999,2.989,2.972,2.964,2.956,2.941,2.932,2.93,2.914,2.908,2.892,2.89,2.888,2.87,2.862,2.853,2.841,2.835,2.828,2.808,2.807,2.804,2.796,2.786,2.78,2.773,2.768,2.755,2.753,2.747,2.73,2.725,2.719,2.716,2.716,2.713,2.707,2.69,2.682,2.675,2.675,2.673,2.669,2.668,2.65,2.647,2.642,2.64,2.636,2.628,2.628,2.624,2.619,2.618,2.618,2.61,2.6,2.592,2.59,2.588,2.585,2.585,2.585,2.579,2.574,2.571,2.57,2.57,2.569,2.566,2.566,2.562,2.562,2.553,2.553,2.553,2.549,2.545,2.545,2.545,2.546,2.546,2.546,2.546,2.542,2.539,2.539,2.538,2.538,2.539,2.538,2.538,2.538,2.539,2.539,2.544,2.545,2.545,2.547,2.551,2.551,2.55,2.552,2.552,2.552,2.556,2.557,2.56,2.557,2.557,2.562,2.563,2.568,2.572,2.574,2.58,2.581,2.582,2.587,2.587,2.588,2.599,2.603,2.606,2.61,2.617,2.619,2.62,2.625,2.635,2.641,2.642,2.65,2.653,2.654,2.66,2.67,2.672,2.675,2.679,2.689,2.698,2.701,2.705,2.707,2.722,2.728,2.728,2.734,2.736,2.745,2.751,2.76,2.769,2.772,2.774,2.784,2.788,2.798,2.802,2.815,2.827,2.833,2.834,2.845,2.848,2.856,2.861,2.882,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 132.93} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 132.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 132.934} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3622} {Name Sonar6 Range 3.7846} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 1.9304} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 3.3782} {Name Sonar15 Range 2.8194} SEN {Time 132.983} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.178,0.189,0.189,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.147,0.143,0.143,0.143,0.147,0.148,0.148,0.152,0.152,0.152,0.152,0.153,0.158,0.16,0,0,0,0,0,0,0,0.16,0.159,0.159,0.151,0.151,0.147,0.144,0.144,0.106,0.077,0.068,0.067,0.065,0.064,0.064,0.064,0.069,0.069,0.071,0.069,0.069,0.068,0.066,0.064,0.064,0.066,0,0,0,0,0,0,0,0,0,0,1.078,1.078,1.078,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.443,0.443,0.436,0.434,0.434,0.433,0.434,0.434,0.44,0.443,0.444,1.483,1.488,1.488,1.483,1.478,1.478,1.475,1.475,1.478,1.485,1.503,1.528,1.53,1.547,1.547,1.553,1.578,1.586,1.604,1.624,1.647,1.685,1.732,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.754,3.747,3.737,3.716,3.701,3.701,3.701,0,0,0,0,0,0,0,0,0,0,0,3.504,3.501,3.501,3.495,3.495,0.007,3.142,3.003,3.003,3.003,3.003,3.166,3.166,3.166,3.161,3.161,3.161,0,0,0,0,0,3.106,3.1,3.096,3.092,3.092,3.082,3.066,3.062,3.062,3.062,3.217,3.253,0,0,0,0,0,0.007,3.127,3.127,0,0,0,0,2.955,2.954,2.94,2.933,2.93,2.93,2.928,2.923,2.917,2.911,2.91,2.907,2.906,2.905,2.904,2.901,2.895,2.893,2.89,2.876,2.876,2.876,2.875,2.875,2.874,2.873,2.869,2.862,2.859,2.856,2.847,2.847,2.847,2.847,2.844,2.844,2.844,2.844,2.856,3.409,3.413,3.414,3.414,3.416,3.417,3.419,3.417,3.417,3.416,3.416,3.416,3.42,3.42,3.421,3.425,3.425,3.43,3.431,3.432,3.432,3.436,3.438,3.436,3.438,3.439,3.44,3.442,3.451,3.451,3.452,3.453,3.461,3.463,3.463,3.469,3.475,3.478,3.482,3.49,3.49,3.491,3.506,3.506,3.507,3.51,3.512,3.524,3.528,3.536,3.539,3.549,3.555,3.556,3.568,3.579,3.584,3.591,3.592,3.605,3.607,3.619,3.621,3.627,3.643,3.644,3.652,3.659,3.674,3.678,3.688,3.692,3.703,3.718,3.735,3.743,3.755,3.76,3.763,3.765,3.791,3.806,3.811,3.829,3.837,3.838,3.858,3.867,3.889,3.896,3.918,3.924,3.946,3.956,3.976,3.994,4.007,4.031,4.049,4.051,4.071,4.085,0.016,0.016,0.016,0.016,0.007,0.016,4.056,4.013,3.979,3.945,3.915,3.902,3.867,3.835,3.803,3.774,3.759,3.738,3.708,3.695,3.661,3.641,3.609,3.585,3.572,3.554,3.521,3.512,3.49,3.49,3.474,3.45,3.404,3.391,3.381,3.365,3.344,3.324,3.312,3.301,3.281,3.271,3.251,3.228,3.22,3.212,3.189,3.171,3.158,3.148,3.139,3.121,3.113,3.095,3.086,3.074,3.061,3.047,3.036,3.029,3.017,3.003,2.995,2.982,2.974,2.966,2.943,2.938,2.929,2.909,2.905,2.899,2.898,2.884,2.87,2.864,2.854,2.849,2.83,2.824,2.816,2.81,2.8,2.799,2.792,2.78,2.779,2.763,2.758,2.753,2.746,2.737,2.724,2.722,2.711,2.706,2.701,2.701,2.695,2.689,2.682,2.68,2.668,2.665,2.661,2.657,2.649,2.647,2.641,2.638,2.633,2.625,2.62,2.62,2.619,2.619,2.613,2.601,2.596,2.596,2.595,2.59,2.588,2.586,2.583,2.579,2.579,2.574,2.572,2.566,2.566,2.566,2.562,2.559,2.557,2.554,2.553,2.551,2.55,2.55,2.547,2.548,2.547,2.543,2.543,2.543,2.543,2.543,2.541,2.54,2.536,2.536,2.536,2.536,2.536,2.539,2.54,2.54,2.544,2.547,2.547,2.547,2.547,2.55,2.55,2.55,2.555,2.557,2.558,2.557,2.558,2.565,2.572,2.572,2.572,2.575,2.578,2.578,2.585,2.591,2.591,2.591,2.598,2.606,2.609,2.61,2.611,2.613,2.617,2.618,2.626,2.633,2.641,2.643,2.652,2.655,2.657,2.657,2.675,2.676,2.677,2.687,2.688,2.693,2.71,2.713,2.722,2.724,2.724,2.735,2.741,2.743,2.746,2.757,2.765,2.767,2.775,2.785,2.795,2.797,2.805,2.821,2.822,2.842,2.844,2.851,2.854,2.856,2.874,2.887,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 133.14} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 133.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 133.136} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 3.0734} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7846} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 3.3782} {Name Sonar15 Range 2.8194} SEN {Time 133.183} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.179,0.179,0.179,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.153,0.146,0.146,0.145,0.145,0.145,0.147,0.147,0.154,0.154,0.155,0.155,0.158,0.159,0,0,0.006,0,0,0.009,0,0,0.159,0.154,0.152,0.152,0.148,0.143,0.143,0.101,0.09,0.07,0.07,0.068,0.068,0.068,0.071,0.068,0.068,0.068,0.068,0.067,0.066,0.065,0.065,0.065,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.456,0.444,0.436,0.431,0.436,0.436,0.437,0.438,0.441,0.446,0.449,1.479,1.487,1.487,1.479,1.479,1.484,1.478,1.484,1.484,1.484,1.492,1.525,1.526,1.547,1.547,1.558,1.572,1.579,1.603,1.624,1.648,1.682,1.715,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.754,3.754,3.732,3.709,3.701,3.701,3.701,0,0,0,0,0,0,0,0,0,0,0,3.503,3.498,3.498,3.486,3.486,0.007,3.146,2.999,2.999,2.999,2.999,3.176,3.176,3.187,3.176,3.176,0.007,0,0,0,0,0,3.107,3.095,3.094,3.094,3.094,3.093,3.08,3.05,3.05,3.05,3.211,3.252,0,0,0,0,0,0,0,0,0,0,0,0,2.956,2.953,2.945,2.936,2.929,2.928,2.927,2.921,2.918,2.915,2.912,2.905,2.901,2.901,2.897,2.896,2.896,2.894,2.882,2.882,2.879,2.878,2.875,2.874,2.866,2.866,2.865,2.865,2.855,2.855,2.851,2.851,2.849,2.848,2.848,2.848,2.848,2.849,2.849,3.413,3.413,3.414,3.413,3.413,3.417,3.418,3.418,3.418,3.418,3.418,3.418,3.418,3.423,3.426,3.426,3.426,3.426,3.427,3.428,3.431,3.431,3.432,3.432,3.442,3.442,3.444,3.444,3.445,3.445,3.458,3.461,3.461,3.463,3.47,3.472,3.477,3.478,3.487,3.488,3.495,3.5,3.503,3.51,3.514,3.514,3.517,3.524,3.535,3.541,3.546,3.551,3.554,3.556,3.566,3.576,3.579,3.581,3.591,3.605,3.616,3.617,3.629,3.636,3.638,3.647,3.654,3.67,3.673,3.685,3.686,3.689,3.697,3.713,3.739,3.74,3.746,3.752,3.764,3.772,3.788,3.797,3.799,3.831,3.845,3.851,3.86,3.876,3.881,3.901,3.913,3.921,3.941,3.946,3.97,3.98,4.009,4.027,4.047,4.055,4.076,4.092,0.016,0.016,0.016,0.016,0.016,4.065,4.042,4.018,3.978,3.951,3.926,3.9,3.877,3.836,3.806,3.778,3.749,3.729,3.713,3.683,3.659,3.637,3.614,3.586,3.572,3.555,3.528,3.506,3.487,3.456,3.442,3.428,3.404,3.39,3.367,3.361,3.358,3.332,3.304,3.302,3.273,3.266,3.255,3.224,3.216,3.199,3.186,3.173,3.17,3.145,3.132,3.12,3.12,3.089,3.089,3.088,3.074,3.054,3.054,3.027,3.018,3.006,2.993,2.98,2.975,2.964,2.95,2.932,2.925,2.912,2.912,2.902,2.897,2.884,2.864,2.864,2.85,2.841,2.836,2.824,2.823,2.803,2.8,2.799,2.787,2.785,2.769,2.764,2.759,2.75,2.749,2.739,2.725,2.721,2.719,2.709,2.702,2.701,2.693,2.691,2.685,2.676,2.671,2.667,2.657,2.654,2.647,2.645,2.643,2.639,2.635,2.624,2.62,2.62,2.613,2.607,2.607,2.6,2.599,2.597,2.594,2.591,2.585,2.582,2.582,2.576,2.575,2.575,2.567,2.566,2.566,2.562,2.559,2.557,2.557,2.558,2.557,2.552,2.549,2.549,2.547,2.547,2.547,2.544,2.544,2.544,2.544,2.544,2.544,2.54,2.538,2.537,2.537,2.537,2.537,2.545,2.545,2.543,2.545,2.546,2.543,2.543,2.546,2.546,2.555,2.556,2.556,2.557,2.557,2.557,2.563,2.564,2.564,2.574,2.577,2.577,2.577,2.582,2.588,2.59,2.593,2.593,2.593,2.605,2.607,2.609,2.613,2.615,2.618,2.619,2.632,2.634,2.649,2.649,2.649,2.65,2.66,2.665,2.67,2.671,2.676,2.685,2.686,2.698,2.703,2.717,2.721,2.723,2.727,2.735,2.735,2.739,2.744,2.759,2.764,2.765,2.774,2.783,2.799,2.799,2.812,2.821,2.829,2.835,2.838,2.847,2.853,2.857,2.868,2.883,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 133.34} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 133.34} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 133.337} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 3.0734} {Name Sonar2 Range 6.4008} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 2.8194} SEN {Time 133.383} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.176,0.181,0.181,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.145,0.143,0.143,0.142,0.142,0.142,0.142,0.142,0.149,0.146,0.149,0.153,0.158,0.16,0,0,0,0,0,0,0,0.162,0.161,0.153,0.153,0.153,0.142,0.14,0.137,0.113,0.092,0.078,0.065,0.065,0.065,0.066,0.066,0.067,0.073,0.073,0.073,0.066,0.06,0.06,0.059,0.059,0.065,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.448,0.436,0.433,0.433,0.434,0.433,0.434,0.434,0.434,0.44,0.443,1.476,1.483,1.485,1.483,1.476,1.483,1.474,1.474,1.484,1.484,1.507,1.521,1.533,1.544,1.544,1.556,1.566,1.576,1.6,1.626,1.639,1.674,1.717,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.761,3.747,3.739,3.712,3.708,3.708,3.708,0,0,0,0,0,0,0,0,0,0,0,3.506,3.496,3.496,3.487,3.487,0.007,3.149,3.005,3.005,3.005,3.005,3.173,3.173,3.193,3.173,3.173,0.007,0,0,0,0,0,3.113,3.105,3.103,3.094,3.094,3.093,3.071,3.062,3.062,3.062,3.217,3.264,0,0,0,0,0,0,0,0,0,0,0,0,2.961,2.946,2.943,2.936,2.932,2.924,2.924,2.923,2.916,2.916,2.911,2.91,2.908,2.905,2.902,2.9,2.895,2.893,2.882,2.881,2.877,2.875,2.874,2.874,2.873,2.872,2.864,2.859,2.85,2.849,2.849,2.849,2.847,2.846,2.842,2.842,2.842,2.846,2.849,3.409,3.41,3.414,3.41,3.412,3.412,3.417,3.417,3.418,3.423,3.418,3.418,3.418,3.42,3.419,3.42,3.42,3.42,3.425,3.432,3.436,3.437,3.437,3.437,3.438,3.441,3.447,3.449,3.449,3.449,3.449,3.456,3.459,3.461,3.467,3.471,3.473,3.485,3.487,3.487,3.491,3.498,3.499,3.506,3.515,3.516,3.52,3.52,3.535,3.542,3.542,3.549,3.554,3.563,3.564,3.575,3.585,3.587,3.595,3.596,3.612,3.612,3.622,3.632,3.641,3.649,3.654,3.661,3.675,3.688,3.69,3.696,3.708,3.713,3.737,3.74,3.748,3.756,3.772,3.776,3.783,3.806,3.81,3.823,3.837,3.84,3.868,3.879,3.885,3.895,3.916,3.919,3.936,3.961,3.97,3.986,4.005,4.019,4.037,4.064,4.069,4.086,0.016,0.016,0.016,0.016,0.016,4.067,4.048,4.004,3.972,3.959,3.914,3.897,3.86,3.84,3.81,3.777,3.754,3.742,3.724,3.693,3.67,3.646,3.622,3.593,3.56,3.556,3.53,3.507,3.487,3.473,3.451,3.42,3.413,3.397,3.375,3.364,3.351,3.329,3.321,3.294,3.281,3.268,3.248,3.219,3.216,3.202,3.178,3.171,3.159,3.138,3.128,3.119,3.115,3.086,3.086,3.081,3.058,3.044,3.032,3.029,3.012,3.011,2.985,2.983,2.971,2.957,2.951,2.935,2.928,2.914,2.905,2.892,2.89,2.886,2.87,2.87,2.859,2.857,2.829,2.827,2.814,2.805,2.801,2.797,2.794,2.777,2.764,2.764,2.754,2.754,2.739,2.726,2.722,2.722,2.712,2.709,2.705,2.699,2.696,2.687,2.68,2.678,2.677,2.667,2.659,2.652,2.648,2.641,2.638,2.632,2.625,2.625,2.624,2.621,2.61,2.609,2.605,2.602,2.592,2.592,2.592,2.589,2.586,2.582,2.581,2.58,2.577,2.575,2.572,2.572,2.571,2.566,2.566,2.558,2.557,2.558,2.557,2.553,2.55,2.549,2.549,2.549,2.547,2.547,2.547,2.544,2.542,2.542,2.538,2.538,2.538,2.538,2.538,2.539,2.539,2.539,2.539,2.541,2.542,2.545,2.545,2.547,2.547,2.552,2.555,2.556,2.556,2.556,2.561,2.557,2.558,2.563,2.563,2.564,2.573,2.573,2.573,2.581,2.586,2.586,2.587,2.592,2.594,2.608,2.609,2.61,2.616,2.618,2.621,2.623,2.627,2.636,2.647,2.647,2.655,2.659,2.662,2.666,2.668,2.673,2.674,2.685,2.696,2.698,2.706,2.714,2.72,2.721,2.721,2.729,2.744,2.75,2.75,2.756,2.761,2.769,2.776,2.784,2.791,2.8,2.807,2.823,2.823,2.834,2.837,2.851,2.854,2.861,2.867,2.888,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 133.54} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.509710} SEN {Time 133.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 133.539} {Type Sonar} {Name Sonar0 Range 2.1082} {Name Sonar1 Range 3.0734} {Name Sonar2 Range 6.4008} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 2.8194} SEN {Time 133.579} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.179,0.182,0.182,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.153,0.144,0.144,0.142,0.142,0.142,0.147,0.147,0.153,0.153,0.154,0.154,0.156,0.156,0,0,0,0,0,0,0,0,0.163,0.157,0.153,0.15,0.144,0.142,0.141,0.11,0.087,0.065,0.065,0.064,0.065,0.066,0.066,0.068,0.069,0.069,0.065,0.061,0.061,0.061,0.061,0.061,0.065,0,0,0,0,0,0,0,0,0,0,1.067,1.067,1.067,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.451,0.436,0.435,0.435,0.434,0.435,0.437,0.437,0.437,0.442,1.479,1.487,1.487,1.479,1.479,1.471,1.471,1.471,1.477,1.477,1.486,1.507,1.519,1.534,1.55,1.553,1.574,1.586,1.6,1.621,1.636,1.677,1.726,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.761,3.757,3.738,3.712,3.712,3.712,3.712,0,0,0,0,0,0,0,0,0,0,0,3.503,3.495,3.495,3.48,3.48,0.007,3.151,3,3,3,3,3.167,3.169,3.169,3.167,3.169,3.169,0,0,0,0,0,3.1,3.098,3.098,3.091,3.091,3.09,3.075,3.067,3.067,3.067,3.222,3.261,0,0,0,0,0,0,0,0,0,0,0,0,2.954,2.945,2.939,2.936,2.933,2.932,2.921,2.921,2.918,2.916,2.912,2.909,2.907,2.901,2.899,2.897,2.894,2.888,2.887,2.886,2.881,2.875,2.875,2.873,2.871,2.869,2.863,2.86,2.856,2.855,2.855,2.848,2.845,2.843,2.845,2.845,2.845,2.845,2.851,3.41,3.41,3.414,3.412,3.412,3.421,3.421,3.421,3.423,3.423,3.423,3.42,3.42,3.417,3.42,3.426,3.426,3.427,3.429,3.432,3.432,3.433,3.434,3.433,3.437,3.438,3.441,3.443,3.444,3.45,3.459,3.459,3.46,3.464,3.468,3.468,3.471,3.48,3.481,3.487,3.492,3.495,3.501,3.502,3.508,3.51,3.522,3.526,3.529,3.537,3.541,3.543,3.546,3.551,3.564,3.575,3.576,3.587,3.599,3.599,3.604,3.612,3.62,3.631,3.635,3.651,3.651,3.66,3.678,3.681,3.687,3.691,3.699,3.717,3.73,3.739,3.747,3.753,3.771,3.779,3.794,3.808,3.813,3.822,3.841,3.844,3.864,3.866,3.883,3.899,3.912,3.926,3.935,3.963,3.979,3.983,4.002,4.02,4.057,4.057,4.062,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.042,3.97,3.965,3.902,3.897,3.86,3.846,3.805,3.778,3.741,3.739,3.699,3.68,3.667,3.633,3.614,3.597,3.559,3.556,3.523,3.506,3.488,3.462,3.444,3.421,3.417,3.396,3.373,3.359,3.345,3.328,3.308,3.291,3.278,3.268,3.248,3.22,3.219,3.203,3.183,3.168,3.152,3.147,3.128,3.112,3.109,3.093,3.083,3.073,3.064,3.04,3.036,3.03,3.009,3.006,2.996,2.979,2.975,2.96,2.948,2.945,2.925,2.914,2.913,2.898,2.892,2.884,2.863,2.861,2.861,2.845,2.831,2.819,2.817,2.807,2.8,2.79,2.788,2.772,2.766,2.762,2.752,2.749,2.744,2.742,2.729,2.718,2.709,2.709,2.705,2.693,2.689,2.682,2.677,2.675,2.673,2.663,2.663,2.663,2.663,2.657,2.64,2.636,2.634,2.625,2.625,2.618,2.615,2.615,2.606,2.599,2.599,2.596,2.59,2.588,2.585,2.584,2.583,2.575,2.571,2.568,2.567,2.565,2.564,2.563,2.562,2.562,2.556,2.556,2.555,2.55,2.547,2.545,2.544,2.545,2.547,2.548,2.548,2.548,2.546,2.54,2.538,2.538,2.537,2.537,2.537,2.537,2.537,2.537,2.537,2.538,2.541,2.543,2.544,2.541,2.544,2.556,2.544,2.556,2.556,2.556,2.557,2.557,2.557,2.56,2.561,2.561,2.567,2.572,2.572,2.578,2.584,2.584,2.587,2.589,2.602,2.606,2.608,2.611,2.613,2.615,2.617,2.622,2.633,2.637,2.64,2.645,2.648,2.657,2.664,2.665,2.671,2.675,2.684,2.685,2.692,2.702,2.708,2.711,2.712,2.719,2.725,2.73,2.738,2.748,2.753,2.755,2.761,2.772,2.782,2.785,2.796,2.803,2.812,2.825,2.828,2.838,2.841,2.849,2.852,2.854,2.871,2.881,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 133.73} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.497492} SEN {Time 133.73} {Type Tachometer} {Name LeftRight} {Vel -0.068580,0.068580} SEN {Time 133.733} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.4008} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 2.8194} SEN {Time 133.779} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.185,0.187,0.187,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.155,0.148,0.148,0.143,0.148,0.15,0.15,0.15,0.154,0.154,0.155,0.156,0.157,0.159,0,0,0,0,0,0,0,0,0.164,0.153,0.152,0.151,0.15,0.149,0.147,0.116,0.091,0.076,0.069,0.069,0.069,0.069,0.069,0.068,0.069,0.068,0.068,0.067,0.064,0.062,0.055,0.055,0.064,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.439,0.433,0.433,0.433,0.433,0.435,0.44,0.443,0.446,0,0,0,1.478,1.478,1.475,1.475,1.478,1.482,1.491,1.497,1.501,1.516,1.535,1.548,1.559,1.569,1.58,1.596,1.622,1.647,1.683,1.73,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.747,3.729,3.717,3.695,3.695,3.695,0,0,0,0,0,0,0,0,0,0,0,0,3.498,3.483,3.453,2.987,2.987,2.987,2.993,3,3.091,3.091,3.164,3.166,3.166,3.166,3.167,0,0,0,0,0,0,0,3.094,3.093,3.084,3.075,3.073,3.06,3.059,3.059,3.059,3.141,3.228,3.297,0,0,0,0,0,0.006,0.007,0,0,0.006,0,0,2.947,2.943,2.941,2.939,2.939,2.924,2.92,2.912,2.911,2.908,2.908,2.902,2.9,2.895,2.893,2.892,2.886,2.885,2.883,2.879,2.876,2.876,2.875,2.868,2.865,2.862,2.859,2.856,2.85,2.849,2.844,2.84,2.84,2.844,2.844,2.844,2.847,2.855,3.41,3.412,3.412,3.413,3.414,3.414,3.414,3.417,3.418,3.419,3.419,3.419,3.419,3.42,3.422,3.431,3.422,3.431,3.431,3.432,3.434,3.434,3.439,3.441,3.442,3.446,3.446,3.449,3.451,3.451,3.453,3.459,3.462,3.469,3.475,3.475,3.478,3.478,3.482,3.484,3.495,3.5,3.51,3.516,3.518,3.528,3.53,3.534,3.536,3.54,3.541,3.553,3.558,3.57,3.58,3.585,3.586,3.595,3.603,3.604,3.616,3.621,3.628,3.632,3.648,3.653,3.659,3.673,3.676,3.687,3.7,3.708,3.713,3.724,3.74,3.756,3.767,3.775,3.784,3.786,3.792,3.803,3.826,3.84,3.853,3.859,3.866,3.887,3.899,3.922,3.943,3.948,3.953,3.959,3.998,4.018,4.021,4.042,4.059,4.069,4.091,0.016,0.016,0.016,0.016,0.016,4.065,4.035,4.008,3.979,3.936,3.909,3.889,3.858,3.837,3.803,3.769,3.733,3.724,3.68,3.679,3.637,3.626,3.611,3.578,3.559,3.537,3.513,3.506,3.487,3.47,3.433,3.419,3.403,3.378,3.358,3.346,3.329,3.318,3.303,3.295,3.269,3.256,3.245,3.228,3.209,3.185,3.175,3.159,3.145,3.137,3.12,3.12,3.103,3.103,3.083,3.053,3.046,3.046,3.029,3.016,2.998,2.994,2.98,2.966,2.966,2.95,2.934,2.927,2.922,2.908,2.902,2.884,2.875,2.869,2.861,2.849,2.836,2.829,2.828,2.819,2.801,2.795,2.794,2.775,2.773,2.77,2.765,2.754,2.751,2.74,2.732,2.723,2.72,2.706,2.694,2.691,2.688,2.687,2.686,2.682,2.678,2.668,2.662,2.657,2.657,2.646,2.642,2.642,2.633,2.624,2.615,2.611,2.608,2.604,2.603,2.599,2.595,2.593,2.591,2.584,2.581,2.58,2.578,2.575,2.574,2.568,2.566,2.566,2.562,2.562,2.56,2.559,2.558,2.556,2.553,2.553,2.548,2.548,2.546,2.543,2.543,2.546,2.539,2.539,2.538,2.538,2.538,2.538,2.538,2.538,2.538,2.538,2.535,2.538,2.538,2.536,2.536,2.539,2.537,2.539,2.539,2.542,2.542,2.547,2.549,2.55,2.55,2.552,2.558,2.561,2.563,2.561,2.569,2.573,2.573,2.574,2.578,2.581,2.587,2.59,2.592,2.594,2.597,2.598,2.603,2.613,2.621,2.621,2.623,2.626,2.632,2.637,2.64,2.646,2.648,2.655,2.655,2.663,2.673,2.68,2.691,2.696,2.696,2.699,2.716,2.719,2.722,2.725,2.742,2.745,2.748,2.758,2.758,2.759,2.776,2.778,2.786,2.787,2.8,2.802,2.819,2.827,2.834,2.839,2.854,2.859,2.873,2.876,2.88,2.885,2.901,2.924,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 133.94} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.401499} SEN {Time 133.94} {Type Tachometer} {Name LeftRight} {Vel -0.124460,0.124460} SEN {Time 133.936} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.4798} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.5654} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 2.8194} SEN {Time 133.979} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.195,0.185,0.195,0.195,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.151,0.149,0.145,0.143,0.145,0.145,0.143,0.146,0.153,0.153,0.153,0.153,0.153,0.157,0,0,0,0,0,0,0,0.163,0.158,0.157,0.156,0.156,0.153,0.15,0.15,0.11,0.091,0.072,0.068,0.063,0.062,0.063,0.068,0.064,0.068,0.069,0.068,0.064,0.064,0.058,0.056,0.056,0.056,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0,1.508,1.5,1.501,1.501,1.5,1.498,1.498,1.498,1.498,1.5,1.502,1.517,1.517,1.533,1.544,1.552,1.574,1.581,1.589,1.619,1.632,1.656,1.699,1.743,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.533,3.522,3.516,3.516,3.496,3.487,3.487,0.009,3.004,3.004,3.202,3.194,3.194,3.194,3.194,3.194,0,0,0,0,0,0,0,3.105,3.098,3.098,3.09,3.098,0.007,3.084,3.07,3.07,3.07,3.142,3.231,3.296,0,0,0,0,0,0,3.089,0,0.007,2.955,2.954,2.954,2.951,2.947,2.94,2.933,2.933,2.933,2.93,2.93,2.921,2.916,2.913,2.905,2.905,2.905,2.904,2.9,2.895,2.889,2.88,2.877,2.877,2.873,2.873,2.872,2.872,2.865,2.865,2.865,2.864,2.855,2.851,2.851,2.846,2.844,2.844,2.848,2.848,2.849,3.406,3.41,3.413,3.417,3.413,3.416,3.413,3.416,3.416,3.416,3.419,3.421,3.424,3.424,3.424,3.425,3.428,3.428,3.432,3.432,3.432,3.432,3.432,3.436,3.438,3.445,3.445,3.445,3.445,3.445,3.454,3.456,3.46,3.467,3.47,3.478,3.479,3.486,3.487,3.492,3.495,3.506,3.51,3.51,3.515,3.523,3.531,3.532,3.535,3.536,3.551,3.551,3.57,3.57,3.579,3.585,3.585,3.592,3.613,3.614,3.615,3.623,3.634,3.635,3.641,3.656,3.656,3.674,3.677,3.69,3.69,3.697,3.71,3.717,3.747,3.75,3.755,3.764,3.774,3.781,3.801,3.816,3.823,3.838,3.846,3.863,3.864,3.885,3.903,3.919,3.927,3.942,3.95,3.981,4.01,4.016,4.021,4.033,4.052,4.081,4.085,0.016,0.016,0.016,0.016,4.064,4.038,3.996,3.976,3.944,3.904,3.88,3.855,3.834,3.805,3.777,3.748,3.717,3.695,3.668,3.646,3.623,3.604,3.573,3.545,3.537,3.512,3.493,3.481,3.455,3.434,3.41,3.396,3.378,3.352,3.343,3.318,3.307,3.295,3.281,3.267,3.239,3.22,3.212,3.202,3.188,3.171,3.168,3.138,3.12,3.116,3.094,3.076,3.072,3.062,3.061,3.039,3.036,3.018,3.002,2.999,2.976,2.964,2.964,2.944,2.943,2.928,2.911,2.908,2.9,2.886,2.885,2.873,2.87,2.84,2.839,2.83,2.817,2.814,2.805,2.794,2.788,2.785,2.769,2.761,2.757,2.744,2.736,2.731,2.725,2.717,2.715,2.705,2.701,2.699,2.691,2.689,2.676,2.671,2.666,2.654,2.649,2.649,2.644,2.64,2.63,2.628,2.617,2.617,2.61,2.608,2.606,2.606,2.585,2.584,2.584,2.583,2.576,2.576,2.583,2.576,2.574,2.564,2.561,2.554,2.551,2.554,2.549,2.549,2.549,2.543,2.541,2.541,2.537,2.533,2.532,2.531,2.531,2.53,2.53,2.53,2.53,2.53,2.529,2.525,2.523,2.525,2.523,2.523,2.52,2.523,2.523,2.523,2.523,2.525,2.523,2.525,2.522,2.525,2.53,2.532,2.53,2.532,2.534,2.534,2.535,2.541,2.541,2.542,2.541,2.542,2.539,2.549,2.552,2.553,2.558,2.559,2.564,2.565,2.569,2.578,2.578,2.588,2.589,2.595,2.598,2.601,2.603,2.605,2.609,2.617,2.62,2.62,2.632,2.639,2.641,2.645,2.65,2.656,2.659,2.664,2.667,2.681,2.681,2.685,2.702,2.709,2.711,2.712,2.726,2.727,2.746,2.753,2.754,2.77,2.775,2.78,2.78,2.8,2.802,2.808,2.811,2.826,2.833,2.849,2.855,2.855,2.88,2.882,2.895,2.896,2.903,2.916,2.918,2.933,2.939,2.948,2.959,2.97,2.977,2.994,3.006,3.014,3.019,3.039,3.053,3.061,3.08,3.101,3.121,3.148,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 134.14} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.239184} SEN {Time 134.14} {Type Tachometer} {Name LeftRight} {Vel -0.152400,0.152400} SEN {Time 134.139} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 1.6256} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.4798} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 134.179} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.177,0.177,0.177,0.179,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0.15,0.143,0.142,0.142,0.141,0.142,0.142,0.142,0.142,0.146,0.148,0.153,0.158,1.156,0,0.007,0,0,0,0,0,0.16,0.159,0.149,0.147,0.146,0.144,0.144,0.104,0.092,0.071,0.071,0.069,0.069,0.069,0.069,0.069,0.069,0.069,0.067,0.064,0.064,0.064,0.076,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0,0,1.53,1.528,1.527,1.527,1.528,1.529,1.536,1.538,1.54,1.622,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,3.567,3.567,3.567,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.439,3.389,3.301,3.301,3.301,3.308,3.308,3.308,3.287,3.278,3.278,3.271,3.261,3.261,3.239,3.239,0.007,0,0,0,0,0,0,3.237,3.233,3.204,3.188,3.186,3.184,3.177,3.177,3.186,0,0,0,0,0.007,0.009,0.009,0.009,2.953,2.952,2.952,2.952,2.949,2.949,2.93,2.925,2.924,2.921,2.92,2.92,2.915,2.91,2.906,2.905,2.905,2.899,2.888,2.888,2.888,2.884,2.884,2.878,2.878,2.878,2.878,2.878,2.867,2.866,2.866,2.865,2.863,2.862,2.863,2.863,3.431,3.431,3.431,3.43,3.426,3.426,3.425,3.425,3.431,3.431,3.431,3.431,3.431,3.431,3.434,3.434,3.435,3.436,3.439,3.443,3.444,3.448,3.448,3.449,3.449,3.451,3.456,3.458,3.46,3.462,3.465,3.467,3.474,3.474,3.475,3.475,3.483,3.483,3.486,3.5,3.502,3.51,3.512,3.514,3.524,3.526,3.526,3.531,3.537,3.539,3.546,3.546,3.551,3.564,3.567,3.58,3.59,3.593,3.606,3.606,3.616,3.628,3.635,3.641,3.654,3.657,3.67,3.675,3.675,3.684,3.693,3.708,3.727,3.727,3.731,3.746,3.755,3.766,3.772,3.785,3.8,3.805,3.82,3.846,3.846,3.86,3.869,3.875,3.896,3.917,3.933,3.938,3.95,3.969,3.991,4.001,4.008,4.024,4.05,4.062,4.085,4.094,0.016,0.016,0.016,0.016,4.078,4.004,3.977,3.94,3.909,3.881,3.851,3.829,3.815,3.777,3.734,3.712,3.697,3.668,3.643,3.63,3.602,3.568,3.558,3.534,3.516,3.487,3.471,3.448,3.426,3.405,3.39,3.374,3.352,3.341,3.317,3.296,3.282,3.276,3.248,3.243,3.223,3.213,3.185,3.17,3.159,3.149,3.131,3.116,3.099,3.093,3.07,3.062,3.061,3.043,3.031,3.019,3.007,2.995,2.989,2.978,2.959,2.945,2.938,2.928,2.908,2.906,2.892,2.886,2.881,2.859,2.85,2.848,2.846,2.824,2.818,2.807,2.797,2.785,2.782,2.781,2.769,2.764,2.747,2.734,2.728,2.728,2.724,2.713,2.709,2.705,2.695,2.688,2.679,2.678,2.67,2.66,2.657,2.649,2.647,2.634,2.633,2.631,2.63,2.608,2.608,2.607,2.604,2.597,2.588,2.587,2.582,2.577,2.574,2.572,2.567,2.561,2.559,2.555,2.552,2.544,2.544,2.542,2.538,2.535,2.532,2.53,2.522,2.522,2.522,2.52,2.52,2.515,2.508,2.508,2.507,2.503,2.503,2.501,2.501,2.5,2.5,2.501,2.501,2.501,2.501,2.501,2.496,2.496,2.495,2.495,2.496,2.497,2.497,2.5,2.5,2.501,2.501,2.502,2.504,2.505,2.505,2.507,2.508,2.508,2.514,2.514,2.514,2.521,2.521,2.522,2.523,2.532,2.536,2.536,2.537,2.538,2.545,2.546,2.552,2.56,2.56,2.563,2.565,2.565,2.582,2.583,2.583,2.587,2.587,2.593,2.603,2.61,2.611,2.615,2.617,2.617,2.62,2.625,2.626,2.643,2.644,2.653,2.656,2.666,2.667,2.676,2.689,2.698,2.703,2.71,2.716,2.721,2.73,2.74,2.747,2.748,2.766,2.769,2.775,2.778,2.79,2.799,2.812,2.816,2.819,2.836,2.85,2.854,2.858,2.875,2.886,2.89,2.906,2.906,2.918,2.93,2.945,2.953,2.97,2.981,2.982,2.994,3.007,3.021,3.032,3.037,3.055,3.069,3.084,3.097,3.106,3.133,3.141,3.144,3.169,3.174,3.194,3.208,3.223,3.248,3.271,3.286,3.299,3.315,3.329,3.352,3.375,3.391,3.403,3.427,3.447,3.466,3.501,3.51,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 134.33} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.069887} SEN {Time 134.33} {Type Tachometer} {Name LeftRight} {Vel -0.060960,0.063500} SEN {Time 134.332} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 6.477} {Name Sonar3 Range 1.6256} {Name Sonar4 Range 1.3462} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.4798} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.7686} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 134.379} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.179,0.179,0.188,0.188,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.195,1.195,1.195,0,0,0,0,0,0.007,0,0,0,0,0,0,0.15,0.144,0.144,0.144,0.144,0.143,0.145,0.145,0.148,0.146,0.148,0.15,0.152,0.153,1.648,0.007,0.006,0.007,0.006,0.006,0.006,0,0.158,0.157,0.156,0.15,0.145,0.144,0.144,0.115,0.097,0.068,0.065,0.064,0.064,0.064,0.064,0.064,0.07,0.07,0.064,0.064,0.064,0.064,0.068,0.091,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,3.548,3.548,0.007,0.009,0.006,0.006,0.007,0.006,0.006,0.006,0.006,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0.007,3.142,3.121,3.108,3.1,3.088,3.086,3.086,3.086,3.146,3.217,3.258,0.007,0,3.217,0,0,0,0,0,0,2.99,2.981,2.979,2.975,2.974,2.967,2.959,2.958,2.957,2.957,2.958,2.948,2.948,2.931,2.926,2.925,2.922,2.919,2.912,2.911,2.908,2.906,2.903,2.902,2.898,2.897,2.896,2.889,2.888,2.882,2.879,2.87,2.869,2.868,2.865,2.86,2.859,2.859,2.859,2.863,2.864,3.402,3.415,3.419,3.419,3.421,3.421,3.422,3.423,3.422,3.421,3.421,3.421,3.421,3.421,3.417,3.422,3.423,3.425,3.426,3.43,3.432,3.433,3.433,3.434,3.435,3.436,3.437,3.443,3.443,3.443,3.448,3.454,3.455,3.455,3.459,3.462,3.467,3.472,3.473,3.476,3.479,3.483,3.487,3.503,3.504,3.506,3.511,3.519,3.523,3.532,3.534,3.536,3.543,3.553,3.556,3.561,3.568,3.581,3.585,3.587,3.601,3.601,3.615,3.619,3.622,3.64,3.641,3.642,3.659,3.67,3.673,3.688,3.694,3.695,3.722,3.726,3.73,3.731,3.747,3.76,3.781,3.786,3.787,3.804,3.816,3.821,3.829,3.85,3.86,3.877,3.878,3.89,3.923,3.927,3.951,3.966,3.975,3.995,4.017,4.021,4.041,4.055,4.083,0.016,0.016,0.016,4.059,4.026,3.992,3.966,3.928,3.897,3.87,3.853,3.826,3.796,3.777,3.752,3.737,3.688,3.672,3.652,3.631,3.606,3.579,3.562,3.534,3.516,3.481,3.476,3.463,3.441,3.422,3.397,3.378,3.367,3.336,3.318,3.315,3.294,3.262,3.253,3.237,3.219,3.198,3.197,3.172,3.149,3.138,3.131,3.124,3.115,3.092,3.07,3.067,3.053,3.041,3.035,3.017,3.007,2.992,2.983,2.971,2.954,2.946,2.942,2.935,2.918,2.908,2.894,2.886,2.878,2.859,2.856,2.84,2.828,2.828,2.804,2.799,2.792,2.782,2.77,2.76,2.759,2.755,2.751,2.739,2.736,2.726,2.719,2.711,2.71,2.692,2.687,2.68,2.68,2.67,2.66,2.655,2.644,2.643,2.634,2.634,2.633,2.62,2.618,2.602,2.598,2.594,2.59,2.59,2.582,2.577,2.57,2.568,2.564,2.563,2.558,2.555,2.555,2.546,2.539,2.538,2.537,2.532,2.524,2.521,2.515,2.514,2.513,2.509,2.509,2.508,2.504,2.503,2.502,2.5,2.494,2.494,2.494,2.493,2.492,2.491,2.486,2.486,2.486,2.486,2.487,2.488,2.489,2.489,2.489,2.489,2.482,2.482,2.495,2.495,2.483,2.483,2.483,2.483,2.484,2.484,2.484,2.482,2.482,2.482,2.488,2.492,2.495,2.494,2.497,2.497,2.497,2.499,2.499,2.501,2.501,2.504,2.507,2.522,2.523,2.527,2.527,2.529,2.53,2.536,2.538,2.539,2.542,2.552,2.555,2.561,2.564,2.567,2.574,2.575,2.582,2.587,2.595,2.596,2.599,2.602,2.62,2.62,2.621,2.622,2.631,2.634,2.641,2.645,2.651,2.666,2.669,2.687,2.689,2.69,2.699,2.706,2.714,2.715,2.731,2.732,2.743,2.747,2.758,2.761,2.769,2.781,2.784,2.794,2.809,2.814,2.824,2.834,2.85,2.854,2.87,2.873,2.894,2.896,2.906,2.922,2.924,2.938,2.947,2.962,2.968,2.988,2.996,3.005,3.021,3.024,3.035,3.059,3.062,3.081,3.092,3.107,3.115,3.13,3.141,3.161,3.173,3.187,3.204,3.212,3.222,3.253,3.265,3.293,3.315,3.329,3.345,3.356,3.377,3.402,3.424,3.449,3.47,3.488,3.52,3.531,3.541,3.577,3.594,3.612,3.64,3.667,3.674,3.715,3.733,3.776,3.787,3.845,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 134.53} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 134.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 134.533} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 1.6002} {Name Sonar3 Range 1.6256} {Name Sonar4 Range 1.3462} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.7686} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6002} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.651} {Name Sonar15 Range 1.8034} SEN {Time 134.579} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.182,0.184,0.184,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.204,1.204,1.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.143,0.144,0.146,0.153,0.153,0.153,0.153,0.159,0.161,0,0,0,0,0,0,0.007,0.25,0.153,0.153,0.153,0.152,0.147,0.141,0.141,0.117,0.086,0.065,0.064,0.064,0.064,0.064,0.064,0.065,0.066,0.071,0.071,0.071,0.067,0.067,0.067,0.079,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.819,3.819,3.786,3.782,3.782,0,0,0,0,0,0.007,0,0,0,0,0,3.57,3.551,3.546,3.533,3.527,3.516,3.477,3.477,3.462,3.451,3.462,0,3.23,3.23,0,0,0,0,0,0,0,0,0,0,0,0,3.131,3.128,3.108,3.102,3.101,3.099,3.099,3.099,3.151,3.205,3.243,0,0,0,0.008,0,0,0,0,0,2.986,2.976,2.976,2.975,2.974,2.968,2.964,2.958,2.953,2.95,2.946,2.939,2.933,2.932,2.929,2.926,2.922,2.917,2.917,2.917,2.916,2.903,2.901,2.901,2.898,2.894,2.894,2.887,2.886,2.881,2.878,2.874,2.869,2.868,2.866,2.865,2.863,2.86,2.859,2.857,2.859,2.859,3.422,3.422,3.422,3.422,3.425,3.425,3.427,3.43,3.43,3.43,3.43,3.428,3.425,3.425,3.424,3.424,3.424,3.425,3.425,3.427,3.431,3.432,3.433,3.436,3.439,3.448,3.45,3.45,3.451,3.454,3.454,3.456,3.456,3.458,3.459,3.477,3.477,3.477,3.482,3.488,3.493,3.495,3.498,3.502,3.508,3.508,3.51,3.522,3.525,3.534,3.535,3.538,3.55,3.551,3.561,3.567,3.576,3.586,3.587,3.597,3.599,3.601,3.617,3.621,3.624,3.635,3.647,3.653,3.655,3.664,3.676,3.686,3.692,3.7,3.711,3.721,3.738,3.75,3.76,3.768,3.776,3.788,3.795,3.809,3.815,3.829,3.849,3.851,3.855,3.878,3.887,3.894,3.919,3.93,3.938,3.975,3.98,4.002,4.01,4.036,4.046,4.058,4.08,0.016,0.016,0.016,4.072,4.02,3.996,3.96,3.932,3.899,3.891,3.842,3.83,3.808,3.785,3.753,3.739,3.704,3.688,3.656,3.627,3.615,3.593,3.557,3.535,3.518,3.488,3.478,3.448,3.438,3.411,3.407,3.384,3.353,3.337,3.322,3.313,3.3,3.276,3.249,3.243,3.223,3.209,3.208,3.183,3.156,3.143,3.123,3.12,3.109,3.094,3.093,3.075,3.06,3.043,3.037,3.023,3.018,2.992,2.991,2.97,2.961,2.951,2.929,2.927,2.918,2.899,2.892,2.889,2.877,2.868,2.856,2.855,2.838,2.835,2.823,2.807,2.8,2.795,2.78,2.769,2.767,2.757,2.753,2.745,2.725,2.724,2.716,2.71,2.706,2.695,2.692,2.68,2.676,2.67,2.664,2.658,2.651,2.648,2.638,2.631,2.625,2.621,2.619,2.606,2.603,2.598,2.593,2.59,2.584,2.576,2.568,2.567,2.567,2.563,2.563,2.558,2.552,2.548,2.543,2.541,2.537,2.525,2.525,2.52,2.52,2.517,2.517,2.512,2.512,2.51,2.508,2.503,2.503,2.5,2.499,2.495,2.495,2.495,2.496,2.495,2.494,2.49,2.488,2.487,2.485,2.485,2.485,2.483,2.482,2.482,2.482,2.479,2.479,2.481,2.481,2.481,2.481,2.481,2.481,2.483,2.483,2.483,2.483,2.487,2.487,2.49,2.495,2.497,2.497,2.495,2.495,2.498,2.498,2.502,2.506,2.507,2.509,2.514,2.517,2.52,2.522,2.522,2.524,2.532,2.533,2.533,2.543,2.547,2.551,2.555,2.556,2.559,2.565,2.578,2.579,2.583,2.588,2.592,2.597,2.598,2.601,2.607,2.607,2.623,2.623,2.627,2.632,2.648,2.654,2.655,2.662,2.674,2.675,2.689,2.692,2.7,2.7,2.707,2.713,2.73,2.735,2.738,2.751,2.762,2.763,2.772,2.773,2.794,2.796,2.814,2.814,2.819,2.835,2.835,2.848,2.87,2.876,2.893,2.899,2.9,2.917,2.917,2.933,2.948,2.955,2.96,2.98,2.982,3.013,3.022,3.031,3.041,3.052,3.065,3.085,3.087,3.093,3.111,3.126,3.145,3.157,3.174,3.19,3.203,3.221,3.234,3.25,3.272,3.285,3.304,3.325,3.332,3.349,3.388,3.4,3.412,3.438,3.458,3.489,3.513,3.533,3.553,3.565,3.607,3.627,3.636,3.654,3.681,3.714,3.732,3.769,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 134.73} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 134.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 134.731} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 1.6002} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 1.3462} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 2.7178} {Name Sonar8 Range 2.7686} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.3876} SEN {Time 134.775} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.184,0.183,0.184,0.184,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.201,1.201,1.201,1.226,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.148,0.148,0.148,0.144,0.148,0.148,0.15,0.15,0.151,0.151,0.151,0.153,0.157,0.158,0,0,0,0,0,0,0.231,0.16,0.16,0.156,0.154,0.149,0.147,0.145,0.141,0.113,0.089,0.068,0.064,0.062,0.062,0.064,0.069,0.069,0.07,0.071,0.07,0.067,0.07,0.07,0.07,0.071,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.824,3.789,3.782,3.78,3.78,3.78,0,0,0,0,0.007,0,0,0,0,0,3.571,3.545,3.542,3.532,3.532,3.523,3.514,3.514,3.387,3.387,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.129,3.121,3.113,3.102,3.101,3.094,3.101,3.102,3.154,3.242,0,0,0,0.007,0,0.007,0,0,0,0,2.986,2.984,2.975,2.969,2.967,2.967,2.962,2.958,2.957,2.954,2.946,2.942,2.938,2.931,2.93,2.926,2.92,2.917,2.916,2.915,2.914,2.909,2.907,2.906,2.899,2.899,2.889,2.889,2.889,2.885,2.878,2.876,2.872,2.871,2.87,2.867,2.862,2.86,2.86,2.86,2.86,2.863,3.424,3.424,3.424,3.424,3.421,3.421,3.422,3.422,3.423,3.424,3.425,3.43,3.425,3.43,3.43,3.43,3.43,3.43,3.431,3.431,3.432,3.436,3.436,3.439,3.442,3.446,3.448,3.453,3.453,3.454,3.459,3.455,3.459,3.459,3.466,3.468,3.469,3.477,3.477,3.479,3.487,3.491,3.493,3.5,3.508,3.51,3.514,3.518,3.523,3.526,3.536,3.544,3.548,3.55,3.568,3.568,3.57,3.573,3.585,3.596,3.602,3.604,3.614,3.619,3.625,3.636,3.646,3.648,3.652,3.668,3.683,3.689,3.697,3.704,3.713,3.733,3.738,3.738,3.751,3.759,3.78,3.784,3.79,3.802,3.814,3.832,3.834,3.849,3.865,3.889,3.89,3.898,3.915,3.932,3.945,3.96,3.98,4.001,4.007,4.022,4.03,4.055,4.075,0.016,0.016,0.016,4.057,4.03,3.989,3.955,3.925,3.904,3.871,3.855,3.822,3.799,3.78,3.755,3.746,3.718,3.679,3.66,3.629,3.603,3.57,3.558,3.533,3.513,3.487,3.475,3.459,3.443,3.421,3.396,3.372,3.363,3.347,3.328,3.307,3.287,3.279,3.262,3.235,3.231,3.205,3.196,3.176,3.158,3.141,3.13,3.123,3.118,3.103,3.087,3.061,3.059,3.043,3.033,3.032,3.008,2.999,2.98,2.971,2.97,2.95,2.937,2.93,2.928,2.901,2.891,2.891,2.88,2.874,2.857,2.845,2.842,2.827,2.814,2.808,2.8,2.794,2.781,2.767,2.766,2.761,2.753,2.751,2.738,2.728,2.724,2.722,2.706,2.695,2.688,2.676,2.674,2.671,2.663,2.656,2.648,2.648,2.632,2.631,2.63,2.619,2.619,2.606,2.603,2.599,2.597,2.583,2.582,2.574,2.572,2.567,2.564,2.557,2.557,2.555,2.551,2.543,2.539,2.537,2.533,2.531,2.525,2.52,2.518,2.518,2.518,2.517,2.517,2.509,2.513,2.509,2.509,2.496,2.496,2.495,2.494,2.494,2.494,2.49,2.492,2.492,2.492,2.49,2.49,2.488,2.486,2.485,2.485,2.482,2.482,2.481,2.477,2.482,2.485,2.485,2.485,2.485,2.484,2.484,2.484,2.485,2.485,2.486,2.487,2.487,2.49,2.494,2.494,2.494,2.496,2.497,2.5,2.501,2.51,2.51,2.51,2.516,2.516,2.518,2.519,2.521,2.521,2.532,2.532,2.536,2.539,2.553,2.553,2.558,2.559,2.564,2.566,2.573,2.575,2.579,2.581,2.585,2.597,2.599,2.6,2.61,2.613,2.621,2.621,2.626,2.637,2.648,2.65,2.664,2.67,2.672,2.676,2.685,2.691,2.694,2.695,2.707,2.712,2.729,2.732,2.744,2.753,2.758,2.762,2.774,2.774,2.784,2.802,2.805,2.811,2.815,2.837,2.843,2.858,2.868,2.87,2.893,2.895,2.899,2.911,2.923,2.941,2.941,2.954,2.968,2.989,2.989,3.001,3.012,3.025,3.037,3.061,3.067,3.081,3.095,3.097,3.114,3.127,3.142,3.162,3.177,3.189,3.202,3.22,3.229,3.245,3.269,3.277,3.31,3.317,3.337,3.36,3.371,3.396,3.419,3.446,3.46,3.484,3.508,3.527,3.55,3.571,3.58,3.618,3.634,3.656,3.693,3.711,3.726,3.757,3.773,3.809,3.863,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 134.93} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 134.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 134.933} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 1.6002} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.2832} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 2.7178} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.3876} SEN {Time 134.975} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.18,0.185,0.185,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.2,1.2,1.2,1.217,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.151,0.151,0.151,0.153,0.143,0.143,0.143,0.153,0.153,0.157,0.157,0.158,0.161,0,0,0,0,0,0,0.245,0.173,0.161,0.158,0.154,0.153,0.147,0.146,0.137,0.118,0.076,0.072,0.066,0.062,0.062,0.065,0.066,0.067,0.067,0.067,0.067,0.067,0.067,0.067,0.068,0.075,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.816,3.803,3.788,3.776,3.776,3.776,0,0,0,0,0.007,0,0,0,0,0,3.573,3.542,3.535,3.529,3.529,3.523,3.519,3.519,3.334,3.245,3.18,3.18,3.18,3.215,3.215,3.222,3.222,0,0,0,0,0,0,0,0,0,3.13,3.129,3.112,3.103,3.101,3.098,3.101,3.101,3.143,3.25,0,0,0,0,0,0.007,0,0,0,0,2.986,2.984,2.979,2.978,2.972,2.971,2.967,2.962,2.951,2.947,2.947,2.947,2.936,2.934,2.924,2.924,2.921,2.919,2.918,2.91,2.91,2.909,2.909,2.896,2.896,2.895,2.895,2.894,2.89,2.883,2.882,2.88,2.873,2.865,2.865,2.864,2.862,2.861,2.857,2.855,2.855,2.857,3.417,3.417,3.423,3.423,3.423,3.423,3.425,3.423,3.425,3.425,3.425,3.425,3.425,3.425,3.428,3.428,3.424,3.424,3.424,3.424,3.437,3.438,3.441,3.441,3.441,3.441,3.441,3.441,3.443,3.446,3.45,3.452,3.452,3.461,3.463,3.463,3.473,3.478,3.478,3.482,3.491,3.493,3.502,3.503,3.505,3.508,3.516,3.517,3.519,3.533,3.537,3.537,3.555,3.565,3.568,3.578,3.58,3.582,3.588,3.597,3.597,3.601,3.611,3.618,3.621,3.64,3.647,3.65,3.655,3.665,3.682,3.696,3.7,3.705,3.713,3.72,3.731,3.738,3.753,3.756,3.771,3.772,3.787,3.806,3.817,3.819,3.838,3.851,3.858,3.877,3.898,3.906,3.908,3.931,3.949,3.959,3.978,3.992,4.013,4.037,4.038,4.051,4.076,0.016,0.016,0.016,4.06,4.022,3.992,3.955,3.921,3.897,3.873,3.844,3.823,3.783,3.776,3.752,3.726,3.714,3.678,3.653,3.629,3.61,3.591,3.564,3.541,3.522,3.494,3.477,3.446,3.43,3.418,3.406,3.379,3.353,3.351,3.31,3.306,3.296,3.273,3.25,3.233,3.228,3.218,3.202,3.186,3.156,3.141,3.137,3.127,3.118,3.103,3.085,3.071,3.065,3.043,3.034,3.024,3.011,2.992,2.988,2.966,2.963,2.948,2.942,2.933,2.926,2.901,2.9,2.883,2.881,2.867,2.858,2.856,2.842,2.833,2.824,2.809,2.799,2.787,2.783,2.773,2.758,2.755,2.755,2.742,2.735,2.722,2.717,2.712,2.702,2.701,2.69,2.68,2.677,2.675,2.658,2.658,2.65,2.64,2.637,2.631,2.628,2.626,2.616,2.607,2.605,2.6,2.599,2.587,2.58,2.573,2.572,2.569,2.564,2.557,2.553,2.552,2.55,2.55,2.54,2.532,2.531,2.531,2.53,2.517,2.517,2.515,2.517,2.515,2.515,2.513,2.504,2.501,2.501,2.501,2.504,2.501,2.501,2.499,2.494,2.492,2.492,2.492,2.492,2.488,2.486,2.486,2.485,2.485,2.48,2.48,2.48,2.48,2.48,2.481,2.481,2.481,2.481,2.481,2.481,2.481,2.481,2.485,2.481,2.485,2.485,2.485,2.49,2.49,2.49,2.49,2.494,2.495,2.501,2.501,2.506,2.512,2.512,2.514,2.515,2.522,2.523,2.528,2.528,2.541,2.541,2.545,2.546,2.548,2.548,2.552,2.553,2.56,2.566,2.573,2.574,2.576,2.589,2.591,2.597,2.605,2.605,2.606,2.615,2.617,2.62,2.629,2.632,2.645,2.653,2.654,2.67,2.671,2.673,2.687,2.691,2.692,2.701,2.703,2.711,2.726,2.731,2.747,2.748,2.756,2.764,2.765,2.771,2.788,2.79,2.809,2.814,2.823,2.832,2.852,2.855,2.871,2.874,2.887,2.898,2.899,2.916,2.92,2.938,2.942,2.954,2.964,2.987,2.99,3.003,3.022,3.024,3.032,3.055,3.061,3.067,3.086,3.096,3.121,3.121,3.143,3.165,3.168,3.187,3.203,3.224,3.225,3.251,3.266,3.276,3.306,3.308,3.341,3.353,3.372,3.385,3.425,3.439,3.465,3.481,3.497,3.53,3.551,3.564,3.597,3.606,3.637,3.662,3.697,3.698,3.736,3.779,3.804,3.834,3.834,3.858,3.891,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 135.13} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 135.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 135.126} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.2832} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 2.7178} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.3876} SEN {Time 135.175} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.182,0.18,0.182,0.182,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.195,1.195,1.195,1.218,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.151,0.142,0.142,0.142,0.142,0.142,0.147,0.139,0.152,0.149,0.152,0.155,0.157,0.159,0,0,0,0,0,0,0.238,0.159,0.158,0.156,0.152,0.15,0.142,0.141,0.141,0.118,0.095,0.072,0.07,0.069,0.064,0.067,0.069,0.069,0.069,0.069,0.069,0.067,0.06,0.06,0.06,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.792,3.782,3.782,0,0,0,0,0,0.007,0,0,0,0,0,3.558,3.558,3.533,3.533,3.533,3.533,3.519,0,0.007,3.336,3.184,3.184,3.184,3.22,0.007,0,0.007,0,0,0,0,0,0,0,0,0,3.148,3.132,3.109,3.099,3.098,3.093,3.093,3.093,3.149,3.251,0,0,0.009,0.009,0.006,0.007,0,0,0,0,2.989,2.987,2.981,2.976,2.973,2.969,2.965,2.955,2.953,2.949,2.949,2.942,2.94,2.933,2.928,2.924,2.923,2.921,2.919,2.918,2.912,2.911,2.907,2.9,2.9,2.894,2.893,2.891,2.889,2.884,2.883,2.881,2.88,2.874,2.872,2.87,2.862,2.861,2.861,2.857,2.857,2.874,3.423,3.423,3.423,3.423,3.422,3.422,3.422,3.422,3.422,3.424,3.425,3.424,3.426,3.427,3.427,3.427,3.427,3.427,3.428,3.428,3.433,3.434,3.434,3.434,3.435,3.438,3.438,3.45,3.451,3.453,3.457,3.457,3.459,3.462,3.462,3.468,3.471,3.471,3.473,3.488,3.492,3.494,3.498,3.504,3.509,3.512,3.514,3.521,3.522,3.53,3.532,3.538,3.544,3.561,3.563,3.563,3.569,3.581,3.583,3.596,3.607,3.607,3.615,3.616,3.628,3.641,3.65,3.655,3.657,3.666,3.677,3.688,3.698,3.702,3.71,3.728,3.733,3.739,3.752,3.758,3.772,3.783,3.786,3.809,3.822,3.833,3.839,3.861,3.865,3.883,3.893,3.911,3.921,3.935,3.943,3.962,3.972,3.991,4.012,4.037,4.042,4.044,4.074,0.016,0.016,0.016,4.063,4.029,4.005,3.968,3.928,3.9,3.877,3.85,3.82,3.797,3.779,3.753,3.728,3.711,3.678,3.637,3.636,3.602,3.584,3.552,3.528,3.526,3.49,3.484,3.457,3.442,3.414,3.4,3.384,3.357,3.351,3.331,3.302,3.291,3.27,3.254,3.237,3.228,3.211,3.2,3.178,3.158,3.147,3.13,3.119,3.112,3.102,3.088,3.079,3.065,3.051,3.033,3.026,3.011,2.994,2.992,2.974,2.963,2.948,2.933,2.928,2.918,2.907,2.899,2.887,2.876,2.859,2.844,2.843,2.841,2.826,2.824,2.811,2.801,2.779,2.776,2.775,2.769,2.756,2.756,2.749,2.73,2.728,2.722,2.718,2.712,2.698,2.692,2.675,2.675,2.675,2.661,2.656,2.652,2.649,2.631,2.626,2.626,2.626,2.624,2.61,2.608,2.602,2.594,2.59,2.583,2.575,2.573,2.569,2.569,2.562,2.562,2.554,2.548,2.548,2.548,2.539,2.537,2.534,2.524,2.523,2.522,2.52,2.519,2.516,2.507,2.507,2.507,2.503,2.503,2.501,2.5,2.498,2.498,2.496,2.494,2.489,2.489,2.489,2.485,2.486,2.486,2.486,2.486,2.486,2.486,2.486,2.486,2.486,2.486,2.486,2.486,2.483,2.484,2.484,2.484,2.488,2.488,2.488,2.487,2.487,2.487,2.487,2.489,2.489,2.493,2.493,2.493,2.5,2.506,2.506,2.507,2.512,2.514,2.515,2.521,2.521,2.521,2.524,2.527,2.528,2.54,2.54,2.541,2.543,2.548,2.549,2.557,2.561,2.571,2.574,2.579,2.583,2.583,2.583,2.595,2.602,2.605,2.621,2.628,2.629,2.629,2.634,2.643,2.649,2.65,2.652,2.664,2.673,2.675,2.69,2.694,2.694,2.705,2.711,2.72,2.729,2.737,2.744,2.755,2.756,2.763,2.766,2.781,2.783,2.805,2.805,2.815,2.816,2.831,2.839,2.851,2.87,2.871,2.89,2.901,2.904,2.919,2.925,2.936,2.953,2.955,2.972,2.98,2.985,3.013,3.013,3.03,3.034,3.059,3.066,3.075,3.087,3.094,3.11,3.124,3.147,3.161,3.167,3.186,3.192,3.218,3.228,3.241,3.265,3.284,3.31,3.314,3.336,3.352,3.372,3.399,3.429,3.438,3.468,3.478,3.513,3.53,3.535,3.57,3.595,3.616,3.633,3.672,3.68,3.706,3.726,3.759,3.774,3.807,3.831,3.854,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 135.33} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 135.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 135.328} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.2832} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 1.9304} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.3876} SEN {Time 135.375} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.189,0.188,0.189,0.189,3.005,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.196,1.196,1.196,1.246,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.149,0.144,0.144,0.144,0.144,0.144,0.145,0.148,0.148,0.151,0.153,0.154,0.156,0,0,0,0,0,0,0.254,0.161,0.16,0.159,0.157,0.152,0.152,0.142,0.138,0.118,0.105,0.068,0.064,0.06,0.06,0.06,0.064,0.067,0.067,0.07,0.067,0.067,0.066,0.066,0.066,0.075,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.826,3.826,3.796,3.792,3.792,0,0,0,0,0,0.007,0,0,0,0,0,3.57,3.549,3.533,3.53,3.53,3.516,3.505,3.505,3.287,3.184,3.176,3.176,3.176,3.206,3.218,0.007,0,0,0,0,0,0,0,0,0,0,3.136,3.127,3.109,3.107,3.102,3.092,3.102,3.102,3.153,3.241,0,0,0,0,0,0.007,0,0,0,0,2.983,2.981,2.971,2.97,2.967,2.966,2.962,2.955,2.953,2.951,2.948,2.938,2.936,2.934,2.929,2.928,2.927,2.917,2.917,2.916,2.914,2.912,2.912,2.903,2.898,2.897,2.893,2.893,2.891,2.89,2.888,2.881,2.877,2.875,2.867,2.863,2.863,2.856,2.856,2.855,2.856,2.867,3.423,3.423,3.425,3.423,3.425,3.422,3.422,3.422,3.422,3.421,3.42,3.419,3.419,3.419,3.419,3.419,3.419,3.418,3.418,3.421,3.428,3.432,3.435,3.433,3.44,3.44,3.442,3.444,3.445,3.445,3.446,3.446,3.458,3.464,3.467,3.467,3.468,3.478,3.482,3.483,3.488,3.489,3.495,3.498,3.506,3.511,3.513,3.514,3.517,3.525,3.539,3.541,3.552,3.557,3.558,3.566,3.567,3.578,3.584,3.596,3.598,3.605,3.618,3.622,3.635,3.636,3.645,3.651,3.652,3.67,3.671,3.685,3.697,3.698,3.712,3.729,3.736,3.747,3.748,3.764,3.777,3.778,3.807,3.812,3.812,3.829,3.836,3.842,3.862,3.883,3.896,3.903,3.915,3.942,3.947,3.967,3.987,3.995,4.024,4.032,4.04,4.061,4.078,0.016,0.016,0.016,4.059,4.038,4,3.964,3.943,3.904,3.871,3.844,3.839,3.794,3.773,3.753,3.742,3.696,3.691,3.652,3.631,3.609,3.582,3.57,3.535,3.52,3.485,3.475,3.451,3.434,3.431,3.4,3.375,3.354,3.344,3.326,3.312,3.28,3.272,3.254,3.236,3.216,3.207,3.202,3.176,3.155,3.151,3.131,3.117,3.103,3.101,3.083,3.069,3.056,3.044,3.029,3.017,3.002,3.002,2.982,2.973,2.963,2.947,2.937,2.93,2.917,2.906,2.899,2.894,2.88,2.873,2.857,2.854,2.841,2.833,2.814,2.812,2.794,2.791,2.783,2.778,2.768,2.767,2.762,2.746,2.738,2.736,2.723,2.721,2.72,2.704,2.696,2.685,2.678,2.672,2.668,2.662,2.653,2.651,2.647,2.642,2.631,2.628,2.627,2.613,2.61,2.597,2.593,2.59,2.579,2.577,2.576,2.571,2.566,2.564,2.563,2.562,2.553,2.551,2.549,2.549,2.538,2.536,2.527,2.525,2.524,2.52,2.52,2.519,2.513,2.509,2.507,2.507,2.507,2.507,2.506,2.506,2.502,2.5,2.495,2.494,2.494,2.489,2.489,2.487,2.487,2.489,2.492,2.492,2.492,2.488,2.488,2.487,2.485,2.485,2.486,2.485,2.479,2.486,2.483,2.483,2.487,2.487,2.486,2.487,2.487,2.487,2.49,2.497,2.495,2.497,2.497,2.498,2.507,2.508,2.508,2.51,2.516,2.517,2.522,2.522,2.524,2.525,2.525,2.525,2.532,2.546,2.55,2.554,2.555,2.557,2.557,2.569,2.569,2.574,2.575,2.581,2.587,2.597,2.6,2.607,2.609,2.618,2.62,2.626,2.627,2.633,2.635,2.655,2.658,2.666,2.668,2.669,2.674,2.683,2.701,2.704,2.712,2.715,2.719,2.727,2.737,2.741,2.758,2.759,2.764,2.776,2.778,2.793,2.799,2.804,2.808,2.822,2.834,2.837,2.852,2.874,2.875,2.888,2.897,2.899,2.912,2.921,2.933,2.938,2.953,2.969,2.971,2.98,2.999,3.01,3.028,3.034,3.053,3.06,3.072,3.085,3.092,3.104,3.123,3.138,3.159,3.167,3.195,3.205,3.213,3.218,3.243,3.264,3.282,3.304,3.316,3.326,3.359,3.369,3.395,3.418,3.439,3.463,3.481,3.5,3.516,3.547,3.559,3.589,3.615,3.627,3.658,3.683,3.735,3.76,3.779,3.779,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 135.53} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 135.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 135.53} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 4.9276} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 1.9304} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 135.575} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.181,0.181,0.183,0.191,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.197,1.197,1.197,1.217,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.144,0.143,0.143,0.143,0.144,0.148,0.149,0.15,0.151,0.15,0.151,0.155,0.155,0.007,0,0,0,0,0,0,0.015,0.254,0.162,0.159,0.154,0.15,0.15,0.144,0.144,0.116,0.081,0.068,0.061,0.061,0.061,0.061,0.061,0.063,0.065,0.065,0.064,0.064,0.064,0.064,0.068,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.806,3.782,3.782,0,0,0,0,0,0.007,0,0,0,0,0,3.572,3.555,3.54,3.521,3.521,3.521,3.512,3.512,3.261,3.146,3.174,3.174,3.174,3.212,3.212,3.22,3.22,0,0,0,0,0,0,0,0,0,3.138,3.135,3.118,3.107,3.1,3.092,3.1,3.107,3.153,3.258,3.258,0,0.007,3.195,3.195,0,0,0,0,0,2.987,2.977,2.974,2.971,2.971,2.969,2.969,2.962,2.955,2.951,2.951,2.947,2.939,2.932,2.926,2.926,2.923,2.921,2.917,2.915,2.913,2.909,2.908,2.903,2.901,2.9,2.899,2.894,2.891,2.881,2.88,2.879,2.875,2.873,2.871,2.87,2.867,2.864,2.859,2.859,2.859,2.859,3.42,3.42,3.42,3.42,3.419,3.419,3.419,3.419,3.419,3.42,3.42,3.42,3.424,3.42,3.419,3.42,3.42,3.42,3.42,3.422,3.423,3.427,3.436,3.436,3.434,3.437,3.437,3.449,3.451,3.451,3.452,3.452,3.454,3.46,3.464,3.467,3.471,3.474,3.475,3.487,3.492,3.493,3.494,3.503,3.509,3.511,3.519,3.524,3.527,3.527,3.538,3.543,3.552,3.56,3.562,3.566,3.579,3.582,3.583,3.595,3.599,3.607,3.614,3.622,3.624,3.636,3.64,3.644,3.655,3.664,3.674,3.687,3.696,3.699,3.716,3.731,3.734,3.748,3.761,3.764,3.77,3.781,3.785,3.803,3.817,3.827,3.841,3.847,3.862,3.885,3.891,3.901,3.92,3.939,3.947,3.983,3.983,4.009,4.015,4.036,4.049,4.053,4.077,0.016,0.016,0.016,4.062,4.026,3.993,3.958,3.933,3.897,3.892,3.843,3.831,3.802,3.768,3.754,3.733,3.703,3.683,3.647,3.624,3.599,3.576,3.563,3.539,3.52,3.497,3.471,3.451,3.437,3.414,3.398,3.389,3.359,3.34,3.321,3.305,3.291,3.276,3.25,3.238,3.222,3.208,3.196,3.185,3.153,3.142,3.13,3.112,3.109,3.103,3.08,3.063,3.062,3.045,3.025,3.019,3.006,2.996,2.995,2.976,2.96,2.954,2.934,2.931,2.922,2.905,2.905,2.889,2.888,2.87,2.851,2.845,2.841,2.827,2.823,2.812,2.801,2.792,2.781,2.781,2.772,2.765,2.755,2.743,2.732,2.731,2.719,2.715,2.713,2.698,2.683,2.683,2.671,2.671,2.66,2.659,2.658,2.656,2.635,2.634,2.633,2.633,2.617,2.613,2.605,2.603,2.597,2.587,2.583,2.583,2.579,2.575,2.562,2.558,2.556,2.556,2.556,2.555,2.55,2.538,2.537,2.529,2.525,2.522,2.518,2.514,2.514,2.514,2.514,2.511,2.513,2.51,2.51,2.507,2.506,2.506,2.503,2.503,2.5,2.498,2.494,2.496,2.492,2.491,2.484,2.491,2.491,2.491,2.485,2.489,2.487,2.485,2.483,2.487,2.487,2.483,2.487,2.487,2.487,2.484,2.485,2.485,2.484,2.485,2.489,2.493,2.493,2.494,2.496,2.497,2.499,2.5,2.505,2.505,2.51,2.513,2.52,2.521,2.522,2.522,2.527,2.528,2.53,2.539,2.542,2.543,2.547,2.548,2.553,2.557,2.562,2.564,2.572,2.572,2.574,2.579,2.581,2.595,2.6,2.602,2.604,2.611,2.618,2.626,2.627,2.631,2.639,2.645,2.652,2.661,2.663,2.678,2.678,2.686,2.693,2.693,2.699,2.715,2.718,2.733,2.734,2.745,2.755,2.762,2.767,2.776,2.778,2.794,2.795,2.816,2.816,2.823,2.832,2.843,2.856,2.861,2.867,2.891,2.897,2.898,2.913,2.917,2.937,2.946,2.958,2.962,2.984,2.989,3.003,3.013,3.016,3.041,3.055,3.062,3.076,3.09,3.097,3.119,3.124,3.143,3.161,3.175,3.183,3.194,3.214,3.224,3.257,3.264,3.286,3.308,3.318,3.336,3.356,3.38,3.403,3.433,3.44,3.47,3.488,3.511,3.532,3.555,3.579,3.589,3.615,3.626,3.667,3.687,3.722,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 135.73} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 135.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 135.732} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.8674} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 4.9276} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 1.9304} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 135.771} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.199,1.199,1.199,1.228,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.15,0.141,0.141,0.141,0.141,0.145,0.145,0.146,0.149,0.149,0.152,0.152,0.155,0.163,0,0,0,0,0,0,0.238,0.162,0.161,0.158,0.157,0.151,0.146,0.141,0.136,0.114,0.096,0.073,0.061,0.06,0.06,0.061,0.063,0.065,0.065,0.07,0.065,0.065,0.065,0.07,0.072,0.078,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.79,3.786,3.773,3.773,3.773,0,0,0,0,0.007,0,0,0,0,0,3.568,3.559,3.547,3.537,3.537,3.526,3.514,3.514,3.273,3.144,3.273,0,3.202,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.132,3.126,3.11,3.103,3.102,3.092,3.102,3.102,3.155,3.254,0,0,0,0,0,0,0,0,0,0,2.989,2.982,2.98,2.973,2.971,2.968,2.968,2.956,2.954,2.95,2.95,2.943,2.938,2.929,2.924,2.919,2.918,2.917,2.917,2.914,2.913,2.911,2.9,2.899,2.899,2.898,2.895,2.891,2.891,2.889,2.884,2.881,2.88,2.871,2.866,2.864,2.866,2.861,2.861,2.855,2.867,2.867,3.416,3.418,3.419,3.421,3.419,3.421,3.421,3.416,3.416,3.422,3.421,3.424,3.424,3.424,3.422,3.424,3.422,3.42,3.422,3.424,3.425,3.427,3.428,3.433,3.436,3.439,3.439,3.449,3.449,3.456,3.456,3.457,3.457,3.461,3.467,3.469,3.469,3.474,3.475,3.485,3.489,3.49,3.498,3.499,3.507,3.509,3.52,3.521,3.525,3.525,3.526,3.54,3.548,3.557,3.563,3.57,3.572,3.575,3.591,3.597,3.599,3.607,3.616,3.621,3.63,3.638,3.646,3.647,3.654,3.663,3.671,3.694,3.697,3.697,3.715,3.723,3.735,3.742,3.745,3.771,3.775,3.776,3.794,3.811,3.821,3.824,3.847,3.854,3.859,3.878,3.887,3.909,3.925,3.942,3.944,3.962,3.992,4,4.01,4.036,4.045,4.056,4.073,4.09,4.09,4.09,4.053,4.022,3.998,3.953,3.919,3.899,3.872,3.832,3.82,3.787,3.777,3.746,3.719,3.704,3.68,3.645,3.621,3.606,3.593,3.57,3.541,3.51,3.496,3.472,3.449,3.442,3.409,3.404,3.372,3.357,3.351,3.323,3.303,3.29,3.275,3.259,3.237,3.226,3.205,3.193,3.178,3.154,3.145,3.127,3.114,3.106,3.095,3.087,3.065,3.064,3.041,3.033,3.024,3.006,2.994,2.982,2.974,2.965,2.948,2.931,2.928,2.918,2.899,2.891,2.889,2.876,2.868,2.856,2.85,2.842,2.833,2.817,2.811,2.808,2.785,2.776,2.774,2.768,2.76,2.757,2.742,2.733,2.732,2.727,2.71,2.706,2.704,2.695,2.686,2.678,2.671,2.667,2.664,2.659,2.654,2.635,2.635,2.631,2.629,2.626,2.623,2.606,2.6,2.597,2.592,2.592,2.585,2.576,2.576,2.569,2.563,2.557,2.554,2.551,2.549,2.546,2.54,2.539,2.539,2.523,2.523,2.52,2.517,2.517,2.514,2.511,2.511,2.511,2.507,2.507,2.505,2.503,2.503,2.501,2.495,2.495,2.495,2.494,2.491,2.486,2.486,2.486,2.491,2.487,2.491,2.491,2.487,2.486,2.484,2.481,2.484,2.484,2.484,2.484,2.484,2.484,2.484,2.484,2.486,2.484,2.486,2.486,2.493,2.493,2.493,2.494,2.497,2.497,2.499,2.501,2.501,2.515,2.501,2.509,2.516,2.516,2.525,2.528,2.529,2.529,2.54,2.54,2.542,2.545,2.551,2.558,2.561,2.566,2.566,2.569,2.578,2.578,2.578,2.579,2.593,2.599,2.6,2.609,2.61,2.625,2.629,2.629,2.64,2.641,2.641,2.659,2.66,2.66,2.669,2.68,2.69,2.696,2.7,2.7,2.711,2.721,2.733,2.739,2.74,2.747,2.755,2.766,2.778,2.778,2.786,2.797,2.799,2.812,2.82,2.833,2.835,2.86,2.872,2.876,2.886,2.9,2.903,2.913,2.919,2.936,2.949,2.952,2.964,2.982,2.987,3.003,3.008,3.018,3.034,3.056,3.058,3.07,3.092,3.094,3.109,3.124,3.138,3.157,3.166,3.193,3.201,3.213,3.222,3.25,3.274,3.289,3.313,3.319,3.341,3.353,3.382,3.393,3.426,3.439,3.463,3.473,3.51,3.532,3.551,3.576,3.599,3.617,3.63,3.658,3.681,3.709,3.769,3.803,3.83,3.83,3.83,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 135.93} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 135.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 135.925} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.8674} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 4.9276} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 1.9558} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 135.971} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.187,0.187,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.197,1.197,1.197,1.226,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.148,0.145,0.143,0.143,0.143,0.142,0.142,0.142,0.16,0.151,0.153,0.153,0.153,0.153,0,0,0,0,0,0,0.243,0.167,0.164,0.158,0.157,0.151,0.145,0.144,0.14,0.113,0.093,0.066,0.065,0.065,0.064,0.064,0.064,0.064,0.065,0.069,0.065,0.065,0.065,0.067,0.067,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.816,3.816,3.795,3.776,3.776,0,0,0,0,0,0.007,0,0,0,0,0,3.564,3.558,3.533,3.527,3.527,3.524,3.514,3.514,3.259,3.259,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.126,3.107,3.106,3.097,3.088,3.106,3.106,3.151,3.248,0,0,0,0.007,0,0.007,0,0,0,0,2.991,2.981,2.98,2.976,2.972,2.969,2.964,2.963,2.955,2.949,2.948,2.944,2.941,2.931,2.929,2.926,2.926,2.921,2.918,2.918,2.911,2.91,2.904,2.901,2.901,2.899,2.895,2.887,2.887,2.884,2.884,2.88,2.876,2.873,2.87,2.868,2.866,2.859,2.859,2.856,2.859,2.862,3.419,3.419,3.426,3.429,3.429,3.425,3.43,3.425,3.423,3.423,3.423,3.423,3.423,3.421,3.418,3.418,3.418,3.421,3.425,3.429,3.432,3.433,3.438,3.438,3.439,3.445,3.447,3.447,3.447,3.449,3.449,3.457,3.457,3.458,3.462,3.473,3.475,3.479,3.48,3.482,3.484,3.49,3.499,3.501,3.505,3.513,3.516,3.519,3.524,3.524,3.542,3.548,3.549,3.55,3.558,3.569,3.573,3.577,3.578,3.588,3.592,3.603,3.613,3.618,3.626,3.636,3.64,3.65,3.656,3.667,3.677,3.685,3.697,3.7,3.712,3.727,3.744,3.746,3.755,3.762,3.778,3.788,3.795,3.812,3.814,3.825,3.84,3.85,3.854,3.875,3.885,3.902,3.91,3.938,3.95,3.973,3.976,3.996,4.019,4.032,4.046,4.06,4.088,0.016,0.016,0.016,4.065,4.032,3.988,3.959,3.932,3.898,3.863,3.851,3.826,3.795,3.781,3.759,3.725,3.698,3.669,3.657,3.626,3.612,3.593,3.554,3.539,3.516,3.494,3.483,3.447,3.437,3.419,3.401,3.367,3.361,3.343,3.323,3.295,3.294,3.273,3.255,3.243,3.22,3.208,3.2,3.182,3.148,3.136,3.13,3.118,3.113,3.1,3.089,3.066,3.057,3.046,3.032,3.029,3.003,2.993,2.985,2.971,2.964,2.946,2.938,2.929,2.92,2.899,2.898,2.883,2.874,2.857,2.855,2.854,2.838,2.824,2.818,2.799,2.799,2.797,2.788,2.782,2.773,2.767,2.75,2.747,2.736,2.731,2.716,2.714,2.705,2.704,2.691,2.685,2.683,2.675,2.658,2.656,2.655,2.648,2.636,2.634,2.632,2.627,2.625,2.609,2.605,2.6,2.594,2.586,2.585,2.582,2.573,2.573,2.572,2.571,2.57,2.562,2.554,2.548,2.541,2.536,2.535,2.531,2.525,2.519,2.519,2.519,2.519,2.518,2.518,2.517,2.515,2.513,2.508,2.507,2.506,2.5,2.5,2.5,2.5,2.503,2.503,2.497,2.496,2.492,2.492,2.492,2.491,2.491,2.491,2.49,2.486,2.485,2.479,2.485,2.486,2.48,2.48,2.487,2.488,2.48,2.48,2.482,2.482,2.482,2.488,2.493,2.493,2.493,2.493,2.495,2.498,2.501,2.503,2.504,2.507,2.515,2.518,2.52,2.522,2.522,2.522,2.523,2.535,2.535,2.539,2.54,2.547,2.548,2.551,2.555,2.555,2.559,2.571,2.578,2.578,2.58,2.582,2.593,2.601,2.608,2.608,2.612,2.616,2.629,2.632,2.636,2.642,2.648,2.662,2.666,2.669,2.672,2.673,2.691,2.695,2.696,2.706,2.721,2.722,2.727,2.736,2.741,2.754,2.757,2.759,2.768,2.778,2.793,2.801,2.804,2.816,2.822,2.834,2.852,2.853,2.869,2.871,2.888,2.892,2.905,2.922,2.923,2.942,2.942,2.952,2.968,2.978,2.988,3.002,3.014,3.018,3.036,3.052,3.059,3.078,3.092,3.094,3.113,3.125,3.142,3.164,3.172,3.181,3.195,3.207,3.229,3.252,3.273,3.285,3.307,3.31,3.337,3.368,3.379,3.392,3.414,3.438,3.46,3.48,3.503,3.535,3.546,3.57,3.588,3.619,3.649,3.65,3.671,3.706,3.732,3.755,3.813,3.831,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 136.13} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 136.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 136.127} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.8674} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 1.9558} {Name Sonar8 Range 3.048} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.1082} SEN {Time 136.171} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.182,0.182,0.18,0.18,0.187,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.193,1.193,1.193,1.228,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.145,0.145,0.145,0.145,0.146,0.146,0.148,0.151,0.152,0.152,0.153,0.152,0.152,0.155,0,0,0,0,0,0.015,0.007,0.244,0.16,0.16,0.16,0.149,0.148,0.138,0.135,0.123,0.096,0.065,0.061,0.061,0.061,0.064,0.064,0.068,0.068,0.068,0.068,0.068,0.066,0.062,0.062,0.066,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.817,3.796,3.791,3.776,3.776,3.776,0,0,0,0,0.007,0,0,0,0,0,3.569,3.553,3.543,3.53,3.53,3.517,3.516,3.516,3.255,3.255,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.132,3.108,3.101,3.098,3.095,3.095,3.095,3.149,3.244,0,0,0,0,0,0.007,0,0,0,0,2.986,2.984,2.978,2.97,2.968,2.968,2.96,2.957,2.955,2.949,2.949,2.939,2.934,2.93,2.928,2.927,2.923,2.918,2.912,2.911,2.911,2.905,2.904,2.904,2.904,2.897,2.896,2.892,2.891,2.888,2.886,2.88,2.877,2.871,2.865,2.865,2.86,2.86,2.86,2.858,2.858,2.866,3.421,3.421,3.424,3.427,3.421,3.421,3.421,3.418,3.418,3.419,3.421,3.422,3.423,3.423,3.422,3.422,3.418,3.418,3.424,3.424,3.424,3.433,3.439,3.439,3.443,3.443,3.443,3.447,3.447,3.453,3.454,3.459,3.459,3.46,3.464,3.471,3.473,3.475,3.477,3.486,3.487,3.49,3.495,3.497,3.51,3.514,3.516,3.524,3.526,3.539,3.545,3.546,3.555,3.556,3.559,3.567,3.578,3.579,3.584,3.591,3.592,3.605,3.611,3.616,3.634,3.644,3.647,3.653,3.659,3.664,3.68,3.686,3.698,3.702,3.713,3.724,3.732,3.744,3.75,3.765,3.769,3.778,3.796,3.814,3.814,3.833,3.845,3.853,3.86,3.88,3.897,3.902,3.919,3.926,3.941,3.972,3.977,3.995,4.016,4.034,4.045,4.061,4.078,0.016,0.016,0.016,4.064,4.024,3.987,3.963,3.926,3.912,3.882,3.853,3.833,3.791,3.774,3.746,3.737,3.716,3.685,3.658,3.629,3.613,3.582,3.555,3.529,3.514,3.495,3.477,3.453,3.441,3.418,3.39,3.39,3.353,3.344,3.316,3.305,3.293,3.274,3.262,3.241,3.222,3.209,3.198,3.181,3.153,3.138,3.133,3.12,3.104,3.099,3.086,3.072,3.064,3.042,3.029,3.029,3.008,2.994,2.988,2.97,2.97,2.954,2.935,2.93,2.915,2.903,2.891,2.889,2.871,2.866,2.854,2.848,2.846,2.83,2.819,2.805,2.805,2.793,2.779,2.778,2.774,2.758,2.758,2.744,2.736,2.726,2.716,2.716,2.715,2.703,2.692,2.688,2.679,2.675,2.669,2.661,2.656,2.648,2.64,2.629,2.628,2.624,2.622,2.612,2.601,2.6,2.596,2.595,2.588,2.581,2.575,2.573,2.569,2.565,2.564,2.552,2.549,2.546,2.541,2.538,2.534,2.533,2.533,2.528,2.528,2.52,2.52,2.512,2.513,2.51,2.51,2.509,2.509,2.505,2.498,2.498,2.497,2.497,2.496,2.496,2.496,2.493,2.49,2.49,2.49,2.49,2.49,2.49,2.487,2.483,2.483,2.482,2.482,2.482,2.481,2.479,2.479,2.481,2.483,2.485,2.49,2.489,2.485,2.489,2.49,2.49,2.493,2.493,2.499,2.499,2.499,2.499,2.499,2.505,2.51,2.512,2.513,2.518,2.521,2.522,2.522,2.522,2.53,2.531,2.535,2.548,2.549,2.552,2.558,2.559,2.562,2.566,2.567,2.572,2.574,2.578,2.588,2.598,2.599,2.602,2.616,2.62,2.622,2.627,2.629,2.635,2.648,2.648,2.654,2.659,2.67,2.676,2.686,2.691,2.691,2.692,2.694,2.718,2.719,2.721,2.736,2.738,2.751,2.758,2.767,2.771,2.775,2.793,2.798,2.802,2.819,2.821,2.833,2.843,2.857,2.866,2.878,2.885,2.899,2.899,2.916,2.924,2.937,2.943,2.951,2.976,2.981,2.985,3.004,3.005,3.025,3.033,3.049,3.058,3.075,3.087,3.101,3.112,3.124,3.137,3.16,3.163,3.184,3.197,3.215,3.23,3.246,3.27,3.28,3.311,3.319,3.329,3.362,3.382,3.398,3.42,3.444,3.459,3.485,3.507,3.523,3.558,3.571,3.598,3.627,3.645,3.654,3.689,3.735,3.751,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 136.33} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.043707} SEN {Time 136.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 136.328} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.8928} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 1.9558} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.1082} SEN {Time 136.371} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.177,0.177,0.182,0.182,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.199,1.199,1.199,1.222,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.151,0.147,0.144,0.144,0.144,0.144,0.146,0.151,0.152,0.152,0.153,0.154,0.155,0.162,0,0,0,0,0,0.015,0.007,0.243,0.162,0.158,0.156,0.15,0.149,0.145,0.145,0.107,0.099,0.066,0.065,0.062,0.061,0.061,0.061,0.066,0.067,0.067,0.066,0.063,0.063,0.063,0.071,0.076,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.817,3.817,3.809,3.784,3.784,0,0,0,0,0,0.007,0,0,0,0,0,3.565,3.547,3.537,3.525,3.525,3.517,3.509,3.509,3.246,3.246,0.007,0,0.007,0,3.218,0,0,0,0,0,0,0,0,0,0,0,0.007,3.135,3.103,3.102,3.098,3.098,3.102,3.102,3.148,3.247,0,0,0,0,0,0.007,0,0,0,0,2.981,2.98,2.979,2.976,2.965,2.963,2.962,2.961,2.953,2.946,2.945,2.943,2.934,2.934,2.931,2.926,2.926,2.922,2.912,2.912,2.909,2.907,2.903,2.898,2.898,2.898,2.896,2.891,2.891,2.886,2.886,2.886,2.882,2.877,2.869,2.867,2.866,2.866,2.86,2.86,2.86,2.86,3.418,3.418,3.419,3.42,3.419,3.419,3.42,3.42,3.425,3.425,3.422,3.42,3.42,3.419,3.419,3.419,3.419,3.419,3.42,3.426,3.431,3.431,3.434,3.434,3.439,3.439,3.45,3.45,3.452,3.455,3.452,3.459,3.459,3.461,3.463,3.468,3.469,3.473,3.485,3.488,3.492,3.494,3.495,3.498,3.503,3.51,3.514,3.52,3.533,3.533,3.535,3.537,3.552,3.558,3.563,3.572,3.572,3.578,3.587,3.598,3.602,3.602,3.614,3.616,3.626,3.634,3.647,3.649,3.654,3.665,3.68,3.688,3.697,3.707,3.725,3.731,3.737,3.749,3.752,3.761,3.772,3.774,3.777,3.815,3.82,3.837,3.849,3.855,3.862,3.88,3.896,3.904,3.913,3.945,3.948,3.967,3.986,3.987,4.018,4.02,4.043,4.059,4.07,4.095,4.095,4.095,4.068,4.029,3.988,3.966,3.942,3.909,3.878,3.836,3.826,3.785,3.783,3.747,3.731,3.697,3.685,3.652,3.626,3.611,3.586,3.58,3.534,3.531,3.508,3.474,3.449,3.437,3.427,3.395,3.377,3.364,3.345,3.329,3.311,3.285,3.277,3.25,3.241,3.217,3.201,3.199,3.181,3.161,3.147,3.121,3.115,3.11,3.109,3.085,3.068,3.057,3.037,3.029,3.024,3.003,2.99,2.985,2.964,2.962,2.945,2.93,2.93,2.918,2.906,2.891,2.89,2.879,2.862,2.852,2.848,2.838,2.826,2.821,2.809,2.802,2.79,2.779,2.778,2.773,2.753,2.751,2.748,2.736,2.726,2.719,2.717,2.713,2.696,2.693,2.687,2.685,2.681,2.672,2.665,2.654,2.65,2.641,2.637,2.629,2.628,2.623,2.622,2.607,2.603,2.594,2.594,2.591,2.583,2.573,2.572,2.569,2.569,2.562,2.56,2.56,2.544,2.539,2.536,2.533,2.532,2.528,2.524,2.523,2.518,2.514,2.513,2.514,2.513,2.507,2.506,2.505,2.502,2.499,2.498,2.497,2.496,2.496,2.494,2.494,2.494,2.49,2.49,2.487,2.487,2.487,2.487,2.487,2.489,2.488,2.488,2.486,2.486,2.486,2.479,2.479,2.487,2.487,2.487,2.487,2.483,2.483,2.483,2.491,2.493,2.494,2.494,2.493,2.493,2.499,2.498,2.499,2.508,2.51,2.513,2.518,2.518,2.518,2.52,2.523,2.523,2.53,2.532,2.543,2.545,2.546,2.562,2.559,2.559,2.562,2.562,2.562,2.571,2.576,2.577,2.579,2.595,2.596,2.599,2.6,2.616,2.623,2.627,2.631,2.632,2.64,2.652,2.654,2.662,2.663,2.68,2.683,2.69,2.691,2.693,2.706,2.713,2.718,2.719,2.741,2.742,2.756,2.761,2.769,2.774,2.784,2.799,2.803,2.814,2.816,2.828,2.832,2.848,2.853,2.872,2.878,2.881,2.902,2.903,2.908,2.926,2.941,2.946,2.954,2.966,2.978,2.985,3.003,3.01,3.025,3.037,3.049,3.057,3.073,3.085,3.099,3.116,3.124,3.147,3.163,3.173,3.187,3.191,3.217,3.231,3.254,3.269,3.287,3.306,3.33,3.344,3.353,3.377,3.406,3.427,3.434,3.474,3.481,3.505,3.524,3.555,3.584,3.59,3.616,3.643,3.661,3.691,3.699,3.736,3.755,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 136.52} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-1.041962} SEN {Time 136.52} {Type Tachometer} {Name LeftRight} {Vel -0.045720,0.045720} SEN {Time 136.523} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.8928} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 1.9558} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.1082} SEN {Time 136.571} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.181,0.183,0.183,2.999,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,1.197,1.197,1.197,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0.147,0.146,0.146,0.145,0.145,0.145,0.148,0.148,0.148,0.148,0.155,0.159,0.159,0.164,0,0,0,0,0,0.458,0.237,0.161,0.161,0.161,0.152,0.157,0.144,0.141,0.141,0.121,0.091,0.069,0.069,0.066,0.067,0.069,0.067,0.067,0.069,0.069,0.066,0.064,0.062,0.062,0.062,0.081,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.818,3.818,3.794,3.794,3.794,0,0,0,0,0,0,0,0,0,0,0,3.565,3.555,3.541,3.524,3.524,3.523,3.523,0.007,0.006,3.074,0,0,3.206,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0.007,3.134,3.099,3.098,3.094,3.086,3.086,3.086,3.205,0,0,0,0,0,0,0.007,0,0,0,0,2.981,2.974,2.974,2.972,2.97,2.969,2.961,2.953,2.947,2.945,2.943,2.939,2.937,2.932,2.926,2.926,2.919,2.918,2.918,2.911,2.911,2.905,2.904,2.898,2.898,2.897,2.896,2.895,2.892,2.886,2.886,2.884,2.88,2.874,2.873,2.865,2.863,2.862,2.862,2.863,2.905,3.413,3.419,3.42,3.42,3.419,3.418,3.418,3.417,3.417,3.419,3.421,3.423,3.427,3.423,3.423,3.423,3.423,3.42,3.423,3.425,3.431,3.434,3.437,3.437,3.439,3.439,3.444,3.444,3.448,3.448,3.452,3.454,3.458,3.458,3.459,3.459,3.463,3.468,3.475,3.479,3.48,3.483,3.487,3.49,3.501,3.505,3.516,3.518,3.517,3.518,3.52,3.535,3.541,3.545,3.563,3.568,3.575,3.579,3.588,3.592,3.593,3.595,3.609,3.616,3.63,3.633,3.641,3.65,3.655,3.666,3.668,3.681,3.684,3.704,3.713,3.728,3.729,3.734,3.751,3.761,3.767,3.784,3.79,3.79,3.808,3.817,3.834,3.837,3.853,3.868,3.879,3.897,3.915,3.915,3.934,3.953,3.978,3.984,4.008,4.036,4.039,4.059,4.06,0.016,0.016,0.016,4.081,4.055,4,3.972,3.938,3.913,3.89,3.851,3.811,3.806,3.785,3.756,3.733,3.718,3.671,3.67,3.649,3.614,3.592,3.573,3.546,3.528,3.501,3.484,3.459,3.433,3.43,3.405,3.391,3.365,3.356,3.325,3.312,3.292,3.281,3.262,3.239,3.226,3.222,3.194,3.187,3.164,3.147,3.142,3.12,3.118,3.097,3.092,3.082,3.058,3.054,3.026,3.017,3.015,3.001,2.991,2.97,2.956,2.955,2.94,2.933,2.924,2.918,2.895,2.889,2.879,2.868,2.857,2.849,2.84,2.83,2.822,2.811,2.798,2.787,2.787,2.771,2.767,2.763,2.76,2.757,2.739,2.736,2.726,2.721,2.708,2.706,2.696,2.682,2.682,2.669,2.667,2.657,2.65,2.65,2.649,2.633,2.628,2.625,2.625,2.621,2.607,2.605,2.596,2.592,2.583,2.583,2.579,2.572,2.572,2.562,2.561,2.553,2.551,2.549,2.548,2.545,2.543,2.529,2.523,2.523,2.523,2.523,2.519,2.514,2.513,2.512,2.508,2.506,2.505,2.503,2.503,2.501,2.498,2.498,2.498,2.499,2.495,2.495,2.488,2.487,2.487,2.487,2.485,2.487,2.487,2.485,2.485,2.487,2.482,2.482,2.483,2.483,2.481,2.481,2.481,2.481,2.488,2.488,2.488,2.487,2.487,2.487,2.492,2.493,2.495,2.495,2.496,2.496,2.504,2.506,2.506,2.512,2.512,2.521,2.521,2.521,2.522,2.522,2.528,2.535,2.536,2.542,2.554,2.554,2.554,2.554,2.556,2.567,2.568,2.571,2.578,2.582,2.589,2.598,2.599,2.6,2.605,2.613,2.618,2.62,2.627,2.633,2.637,2.651,2.652,2.659,2.671,2.673,2.677,2.681,2.693,2.703,2.704,2.712,2.725,2.729,2.735,2.742,2.757,2.758,2.764,2.774,2.784,2.794,2.797,2.805,2.819,2.827,2.834,2.837,2.859,2.87,2.875,2.884,2.9,2.914,2.915,2.926,2.934,2.944,2.956,2.958,2.977,2.996,2.997,3.024,3.033,3.034,3.048,3.066,3.079,3.088,3.106,3.119,3.133,3.143,3.157,3.18,3.191,3.206,3.221,3.233,3.254,3.276,3.291,3.298,3.326,3.351,3.359,3.379,3.404,3.437,3.454,3.472,3.51,3.511,3.54,3.56,3.566,3.603,3.625,3.638,3.666,3.673,3.723,3.733,3.786,3.828,3.866,3.866,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 136.73} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.980875} SEN {Time 136.73} {Type Tachometer} {Name LeftRight} {Vel -0.091440,0.091440} SEN {Time 136.726} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.8928} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.0038} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.5494} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 136.767} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.155,0.143,0.143,0.143,0.155,0.148,0.148,0.148,0.148,0.148,0.155,0.156,0.157,0.163,0.336,0.483,0.489,0,0,0,0,0.154,0.153,0.153,0.153,0.146,0.143,0.143,0.139,0.109,0.088,0.073,0.06,0.06,0.06,0.061,0.061,0.064,0.068,0.068,0.068,0.068,0.069,0.068,0.069,0.07,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.007,0,0,0,0,0,0,3.587,0.009,0.007,0.009,3.534,3.026,3.026,3.026,3.025,3.031,3.155,3.155,3.221,3.226,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.007,3.106,3.106,3.242,3.242,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0.009,0.009,0.009,2.969,2.963,2.957,2.957,2.951,2.947,2.946,2.939,2.937,2.935,2.93,2.929,2.925,2.92,2.919,2.913,2.911,2.911,2.907,2.906,2.905,2.905,2.904,2.904,2.893,2.892,2.887,2.883,2.881,2.877,2.873,2.872,2.872,2.873,2.878,3.405,3.426,3.426,3.428,3.426,3.424,3.424,3.428,3.428,3.428,3.428,3.428,3.428,3.427,3.424,3.428,3.428,3.429,3.43,3.431,3.436,3.436,3.436,3.439,3.439,3.439,3.439,3.441,3.451,3.451,3.452,3.459,3.463,3.464,3.467,3.474,3.477,3.48,3.482,3.488,3.491,3.492,3.499,3.501,3.509,3.511,3.513,3.523,3.523,3.527,3.542,3.545,3.552,3.554,3.56,3.572,3.576,3.579,3.595,3.597,3.601,3.605,3.614,3.615,3.624,3.643,3.644,3.653,3.654,3.669,3.673,3.677,3.691,3.703,3.71,3.735,3.736,3.737,3.742,3.76,3.777,3.786,3.793,3.813,3.818,3.829,3.835,3.839,3.862,3.879,3.89,3.911,3.911,3.939,3.953,3.972,3.98,3.992,4.013,4.014,4.044,4.057,4.083,0.016,0.016,0.016,4.06,4.035,3.999,3.962,3.926,3.908,3.866,3.824,3.811,3.782,3.753,3.736,3.7,3.676,3.638,3.619,3.596,3.562,3.556,3.536,3.528,3.505,3.483,3.452,3.45,3.423,3.394,3.387,3.366,3.346,3.325,3.305,3.298,3.274,3.258,3.247,3.231,3.214,3.194,3.183,3.164,3.138,3.133,3.116,3.104,3.103,3.082,3.079,3.056,3.036,3.029,3.019,3.012,2.983,2.978,2.962,2.96,2.951,2.941,2.93,2.922,2.905,2.894,2.879,2.876,2.861,2.854,2.841,2.83,2.82,2.819,2.802,2.799,2.794,2.771,2.769,2.769,2.758,2.75,2.734,2.727,2.726,2.722,2.705,2.693,2.686,2.677,2.677,2.674,2.663,2.66,2.66,2.657,2.644,2.632,2.631,2.625,2.625,2.612,2.602,2.594,2.591,2.589,2.579,2.578,2.576,2.567,2.565,2.558,2.557,2.555,2.551,2.54,2.537,2.536,2.525,2.525,2.524,2.521,2.521,2.52,2.517,2.513,2.511,2.504,2.504,2.502,2.5,2.494,2.492,2.491,2.483,2.479,2.479,2.481,2.481,2.481,2.485,2.481,2.485,2.482,2.482,2.474,2.475,2.475,2.468,2.474,2.475,2.483,2.474,2.478,2.48,2.478,2.477,2.478,2.48,2.479,2.479,2.482,2.482,2.488,2.49,2.49,2.488,2.488,2.488,2.488,2.489,2.489,2.498,2.498,2.498,2.505,2.505,2.505,2.513,2.515,2.52,2.521,2.523,2.528,2.537,2.539,2.542,2.548,2.551,2.552,2.557,2.559,2.569,2.575,2.586,2.59,2.59,2.592,2.597,2.602,2.607,2.615,2.617,2.617,2.622,2.638,2.641,2.649,2.661,2.662,2.668,2.675,2.676,2.692,2.693,2.695,2.708,2.714,2.72,2.741,2.745,2.753,2.761,2.767,2.775,2.787,2.788,2.799,2.807,2.813,2.831,2.842,2.853,2.856,2.863,2.879,2.884,2.9,2.906,2.913,2.921,2.936,2.947,2.955,2.968,2.98,2.995,3.006,3.009,3.038,3.051,3.065,3.065,3.083,3.092,3.105,3.118,3.141,3.151,3.156,3.189,3.191,3.204,3.234,3.255,3.258,3.282,3.302,3.317,3.339,3.356,3.382,3.405,3.408,3.437,3.473,3.486,3.497,3.521,3.539,3.575,3.59,3.618,3.641,3.67,3.698,3.715,3.745,3.795,0.007,0,0.007,3.939,3.939,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 136.92} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.865683} SEN {Time 136.92} {Type Tachometer} {Name LeftRight} {Vel -0.101600,0.101600} SEN {Time 136.921} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.794} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.2578} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.651} {Name Sonar14 Range 1.8034} {Name Sonar15 Range 2.7432} SEN {Time 136.967} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.185,0.187,0.187,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0.52,0.517,0.514,0.514,0.517,0.521,0.007,0,0.521,0,0.148,0.148,0.145,0.149,0.137,0.149,0.15,0.15,0.15,0.15,0.151,0.152,0.152,1.654,0.007,0,0,0,0,0,0,0.159,0.156,0.156,0.153,0.148,0.144,0.144,0.109,0.09,0.064,0.064,0.063,0.063,0.063,0.063,0.068,0.068,0.068,0.068,0.062,0.06,0.06,0.062,0.066,0.071,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.551,3.54,3.507,3.03,3.03,3.03,3.037,3.05,3.158,3.158,0,0,0,0.007,0,0,0,0,0,0,0,3.152,3.152,3.143,3.143,0.007,0,0.007,3.1,3.1,3.26,3.26,3.293,0,0,0,0,0,0,0,0,0,3,2.99,2.983,2.983,2.98,2.975,2.972,2.961,2.959,2.959,2.958,2.957,2.949,2.945,2.942,2.941,2.933,2.932,2.929,2.929,2.925,2.925,2.919,2.917,2.915,2.915,2.911,2.907,2.901,2.901,2.901,2.901,2.893,2.891,2.889,2.886,2.886,2.885,2.885,2.888,2.907,3.433,3.433,3.434,3.434,3.433,3.434,3.437,3.432,3.437,3.439,3.439,3.432,3.436,3.435,3.435,3.435,3.435,3.435,3.434,3.434,3.438,3.442,3.442,3.446,3.446,3.446,3.446,3.455,3.455,3.458,3.458,3.462,3.463,3.467,3.467,3.469,3.478,3.483,3.487,3.487,3.492,3.494,3.497,3.498,3.51,3.511,3.513,3.523,3.524,3.53,3.542,3.547,3.556,3.559,3.566,3.575,3.577,3.579,3.588,3.6,3.601,3.608,3.617,3.62,3.623,3.625,3.648,3.652,3.663,3.672,3.679,3.688,3.689,3.701,3.708,3.716,3.735,3.742,3.743,3.767,3.768,3.777,3.798,3.798,3.805,3.831,3.839,3.848,3.867,3.871,3.888,3.892,3.906,3.922,3.952,3.957,3.969,3.986,4.012,4.021,4.038,4.045,4.068,4.085,4.085,4.085,4.057,4.035,3.99,3.951,3.924,3.909,3.864,3.842,3.812,3.782,3.754,3.734,3.709,3.689,3.668,3.648,3.623,3.593,3.577,3.536,3.51,3.494,3.468,3.452,3.442,3.426,3.399,3.377,3.343,3.332,3.321,3.29,3.27,3.256,3.238,3.23,3.221,3.203,3.187,3.169,3.156,3.141,3.133,3.128,3.108,3.095,3.084,3.069,3.057,3.038,3.022,3.017,3.003,2.996,2.974,2.974,2.953,2.952,2.941,2.918,2.908,2.899,2.893,2.876,2.871,2.858,2.845,2.841,2.836,2.816,2.813,2.806,2.805,2.784,2.769,2.757,2.753,2.744,2.742,2.733,2.725,2.72,2.705,2.697,2.692,2.688,2.672,2.67,2.664,2.66,2.654,2.643,2.641,2.634,2.622,2.621,2.618,2.61,2.607,2.602,2.592,2.578,2.575,2.571,2.567,2.559,2.558,2.554,2.547,2.545,2.545,2.543,2.54,2.53,2.519,2.519,2.519,2.518,2.511,2.509,2.506,2.503,2.503,2.499,2.499,2.499,2.495,2.492,2.49,2.484,2.484,2.483,2.478,2.476,2.475,2.474,2.465,2.464,2.464,2.464,2.464,2.462,2.459,2.459,2.459,2.459,2.459,2.462,2.459,2.459,2.459,2.459,2.459,2.459,2.459,2.459,2.463,2.467,2.467,2.468,2.468,2.47,2.471,2.474,2.476,2.478,2.478,2.479,2.479,2.485,2.485,2.485,2.487,2.494,2.497,2.499,2.499,2.499,2.499,2.499,2.518,2.518,2.521,2.521,2.521,2.522,2.53,2.531,2.531,2.548,2.551,2.551,2.556,2.557,2.573,2.574,2.574,2.584,2.587,2.595,2.602,2.603,2.611,2.613,2.631,2.632,2.633,2.639,2.649,2.655,2.664,2.669,2.676,2.678,2.687,2.694,2.707,2.718,2.724,2.726,2.731,2.751,2.753,2.762,2.768,2.785,2.791,2.798,2.811,2.813,2.83,2.837,2.848,2.855,2.864,2.876,2.888,2.901,2.912,2.913,2.929,2.937,2.959,2.967,2.968,2.983,3.002,3.011,3.029,3.038,3.058,3.065,3.083,3.091,3.097,3.114,3.136,3.147,3.159,3.181,3.19,3.196,3.22,3.238,3.253,3.277,3.297,3.324,3.336,3.354,3.361,3.4,3.406,3.426,3.458,3.474,3.496,3.509,3.542,3.555,3.59,3.608,3.623,3.655,3.683,3.691,3.73,3.75,3.785,3.828,3.844,3.88,3.889,3.921,3.988,0.007,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.37,3.356,3.354,3.352,3.341,3.34,3.34,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 137.12} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.757473} SEN {Time 137.12} {Type Tachometer} {Name LeftRight} {Vel -0.002540,0.005080} SEN {Time 137.123} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.794} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 5.2578} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 3.0988} {Name Sonar10 Range 2.7178} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 2.7432} SEN {Time 137.167} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.183,0.186,0.186,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.007,1.672,1.672,0,0,0,0,0,0.525,0.524,0.524,0.525,0.525,0.525,0.532,1.583,1.583,1.583,1.579,1.579,1.576,1.565,1.565,1.571,1.571,1.585,1.589,1.611,1.616,1.633,1.635,1.674,1.674,1.674,0.144,0.144,0.144,0.144,0.148,0.15,0.148,0.15,0.156,0.15,0.151,0.151,0.151,0.151,0,0,0,0,0,0,0,0,0.161,0.16,0.16,0.155,0.155,0.141,0.141,0.108,0.089,0.068,0.066,0.06,0.06,0.06,0.062,0.063,0.066,0.066,0.064,0.064,0.057,0.057,0.057,0.065,0.08,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.572,3.564,3.564,3.554,3.539,3.459,3.383,3.383,3.383,3.459,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.173,3.173,3.168,3.164,3.124,3.124,3.124,3.124,3.182,3.28,3.28,0,0,0,0,0,0.007,0,0,0,0.007,0,0.009,0.007,2.988,2.983,2.981,2.976,2.972,2.961,2.961,2.958,2.955,2.949,2.947,2.945,2.945,2.94,2.937,2.931,2.931,2.924,2.924,2.918,2.918,2.918,2.918,2.907,2.907,2.907,2.907,2.907,2.906,2.903,2.902,2.902,2.894,2.891,2.891,2.891,2.894,3.448,3.448,3.448,3.448,3.448,3.446,3.446,3.446,3.446,3.445,3.44,3.445,3.445,3.445,3.447,3.447,3.445,3.447,3.445,3.444,3.445,3.451,3.451,3.453,3.456,3.456,3.456,3.456,3.46,3.467,3.467,3.469,3.469,3.477,3.481,3.484,3.484,3.482,3.484,3.484,3.488,3.49,3.503,3.508,3.51,3.521,3.517,3.521,3.528,3.536,3.541,3.545,3.549,3.559,3.561,3.566,3.573,3.578,3.58,3.594,3.599,3.603,3.612,3.621,3.623,3.627,3.631,3.641,3.658,3.667,3.672,3.684,3.692,3.698,3.698,3.702,3.721,3.731,3.743,3.751,3.754,3.766,3.775,3.781,3.795,3.819,3.83,3.832,3.846,3.854,3.866,3.875,3.899,3.912,3.92,3.928,3.95,3.965,3.981,4.002,4.018,4.027,4.034,4.053,4.075,0.016,0.016,0.016,4.05,4.016,3.998,3.952,3.931,3.892,3.859,3.828,3.803,3.775,3.744,3.709,3.699,3.666,3.642,3.61,3.592,3.569,3.56,3.538,3.499,3.496,3.463,3.453,3.441,3.408,3.388,3.378,3.367,3.331,3.321,3.296,3.294,3.271,3.263,3.25,3.217,3.203,3.186,3.173,3.158,3.146,3.132,3.109,3.094,3.085,3.07,3.052,3.047,3.03,3.015,2.996,2.995,2.984,2.967,2.955,2.948,2.938,2.929,2.919,2.904,2.893,2.892,2.876,2.859,2.854,2.849,2.837,2.822,2.81,2.809,2.792,2.785,2.772,2.77,2.764,2.756,2.751,2.738,2.736,2.718,2.715,2.7,2.699,2.694,2.692,2.675,2.673,2.67,2.665,2.652,2.647,2.636,2.631,2.628,2.616,2.616,2.604,2.596,2.595,2.585,2.582,2.58,2.571,2.566,2.565,2.56,2.551,2.549,2.546,2.546,2.535,2.529,2.529,2.527,2.523,2.516,2.513,2.513,2.503,2.5,2.496,2.496,2.495,2.487,2.487,2.486,2.486,2.486,2.48,2.478,2.478,2.478,2.476,2.465,2.463,2.462,2.462,2.462,2.459,2.467,2.467,2.467,2.456,2.458,2.458,2.458,2.458,2.458,2.455,2.455,2.45,2.448,2.448,2.448,2.449,2.45,2.452,2.452,2.454,2.454,2.458,2.461,2.461,2.461,2.462,2.462,2.465,2.467,2.474,2.473,2.474,2.475,2.476,2.476,2.489,2.493,2.489,2.489,2.493,2.496,2.502,2.503,2.504,2.509,2.516,2.52,2.521,2.532,2.533,2.538,2.543,2.55,2.553,2.553,2.553,2.563,2.574,2.574,2.575,2.575,2.582,2.584,2.59,2.594,2.612,2.613,2.62,2.625,2.631,2.643,2.648,2.657,2.657,2.657,2.667,2.687,2.702,2.702,2.703,2.709,2.712,2.721,2.73,2.753,2.754,2.76,2.766,2.774,2.781,2.794,2.803,2.805,2.824,2.83,2.844,2.851,2.861,2.884,2.887,2.894,2.902,2.915,2.932,2.94,2.941,2.95,2.968,2.978,2.997,2.999,3.017,3.026,3.036,3.061,3.073,3.093,3.097,3.111,3.133,3.139,3.163,3.167,3.186,3.19,3.219,3.235,3.254,3.261,3.289,3.29,3.33,3.355,3.36,3.372,3.398,3.424,3.429,3.456,3.487,3.509,3.527,3.546,3.579,3.595,3.62,3.646,3.683,3.683,3.711,3.747,3.774,3.801,3.814,3.839,3.892,3.915,3.947,3.969,4,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,3.422,3.419,3.409,3.38,3.378,3.373,3.363,3.344,3.331,3.326,3.325,3.309,3.305,3.297,3.292,3.289,3.276,3.265,3.262,3.256,3.242,3.241,3.234,3.229,3.214,3.214,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 137.32} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.755728} SEN {Time 137.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 137.321} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.794} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 5.2578} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 3.0988} {Name Sonar10 Range 2.7178} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 3.048} SEN {Time 137.367} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.181,0.181,0.181,0,0,0,0,0,0,0,0,0,0,1.734,1.727,1.706,1.7,1.685,1.685,1.672,1.669,1.669,1.669,0,0,0,0,0.527,0.526,0.526,0.526,0.527,0.527,0.528,0,0,0,1.575,1.575,1.573,1.575,1.574,1.575,1.575,1.586,1.595,1.607,1.607,1.619,1.644,1.668,1.668,1.668,1.678,0.145,0.145,0.145,0.146,0.146,0.146,0.146,0.151,0.151,0.153,0.153,0.153,0.156,0,0,0,0,0,0,0,0.159,0.154,0.149,0.149,0.153,0.148,0.143,0.142,0.11,0.092,0.064,0.064,0.06,0.06,0.06,0.06,0.068,0.069,0.07,0.069,0.069,0.062,0.062,0.06,0.06,0.068,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.604,3.58,3.577,3.562,3.562,3.555,3.545,3.545,3.401,3.312,3.401,0,3.249,3.249,0,0,0,0,0,0,0,0,0,0,0,3.167,3.164,3.158,3.135,3.123,3.121,3.119,3.119,3.121,3.258,0,0,0,0,0,0,0,0,0,0,3.005,3.001,2.993,2.992,2.99,2.987,2.983,2.977,2.967,2.965,2.961,2.96,2.953,2.952,2.951,2.946,2.938,2.935,2.935,2.934,2.93,2.928,2.928,2.926,2.926,2.917,2.917,2.917,2.915,2.911,2.908,2.904,2.904,2.904,2.904,2.893,2.891,2.891,2.891,2.889,2.889,2.894,3.444,3.444,3.445,3.445,3.445,3.447,3.447,3.443,3.443,3.444,3.444,3.448,3.448,3.448,3.448,3.449,3.449,3.45,3.452,3.45,3.457,3.457,3.457,3.459,3.459,3.459,3.46,3.464,3.467,3.47,3.474,3.47,3.477,3.481,3.481,3.485,3.487,3.489,3.49,3.5,3.501,3.506,3.508,3.511,3.515,3.518,3.524,3.535,3.536,3.538,3.544,3.555,3.556,3.569,3.57,3.571,3.578,3.585,3.599,3.609,3.61,3.618,3.62,3.625,3.633,3.638,3.656,3.658,3.663,3.679,3.687,3.69,3.695,3.7,3.705,3.71,3.739,3.75,3.751,3.755,3.763,3.764,3.8,3.807,3.81,3.829,3.845,3.848,3.865,3.875,3.89,3.891,3.919,3.929,3.945,3.955,3.98,3.989,4.006,4.01,4.028,4.059,4.067,4.095,4.095,4.095,4.078,4.034,4.021,3.97,3.96,3.92,3.888,3.861,3.817,3.799,3.765,3.748,3.715,3.694,3.652,3.634,3.612,3.598,3.572,3.552,3.516,3.501,3.475,3.462,3.455,3.418,3.411,3.377,3.357,3.35,3.328,3.315,3.304,3.283,3.266,3.251,3.231,3.212,3.206,3.187,3.174,3.148,3.135,3.113,3.101,3.09,3.077,3.058,3.057,3.045,3.027,3.014,3.003,2.977,2.969,2.965,2.954,2.949,2.928,2.926,2.914,2.903,2.893,2.892,2.87,2.86,2.85,2.848,2.843,2.83,2.823,2.805,2.796,2.787,2.783,2.767,2.764,2.755,2.738,2.732,2.726,2.718,2.709,2.704,2.693,2.693,2.681,2.677,2.677,2.674,2.663,2.656,2.639,2.634,2.627,2.627,2.622,2.609,2.604,2.595,2.594,2.583,2.581,2.571,2.565,2.561,2.555,2.555,2.555,2.546,2.544,2.537,2.537,2.534,2.527,2.521,2.519,2.517,2.512,2.505,2.5,2.497,2.496,2.491,2.49,2.488,2.488,2.487,2.484,2.484,2.48,2.479,2.477,2.471,2.47,2.468,2.466,2.464,2.46,2.459,2.459,2.46,2.459,2.455,2.459,2.459,2.456,2.456,2.456,2.456,2.452,2.449,2.452,2.452,2.45,2.453,2.453,2.452,2.452,2.453,2.454,2.455,2.458,2.458,2.462,2.462,2.462,2.462,2.468,2.467,2.468,2.468,2.468,2.477,2.478,2.479,2.486,2.486,2.489,2.496,2.496,2.5,2.506,2.507,2.507,2.516,2.516,2.522,2.525,2.533,2.534,2.537,2.549,2.551,2.551,2.552,2.555,2.563,2.565,2.57,2.583,2.583,2.587,2.592,2.606,2.607,2.609,2.615,2.622,2.624,2.63,2.648,2.65,2.655,2.663,2.667,2.68,2.682,2.694,2.699,2.7,2.713,2.72,2.731,2.738,2.748,2.754,2.764,2.771,2.782,2.797,2.798,2.816,2.819,2.835,2.844,2.853,2.854,2.876,2.877,2.884,2.892,2.9,2.926,2.937,2.94,2.955,2.969,2.986,2.994,3.003,3.005,3.016,3.039,3.05,3.065,3.074,3.09,3.116,3.128,3.134,3.144,3.164,3.176,3.196,3.211,3.222,3.246,3.267,3.267,3.292,3.308,3.337,3.35,3.366,3.387,3.417,3.424,3.447,3.478,3.497,3.515,3.526,3.564,3.596,3.608,3.631,3.653,3.682,3.709,3.729,3.766,3.786,3.815,3.831,3.857,3.93,3.968,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.456,3.437,3.429,3.414,3.405,3.392,3.376,3.363,3.361,3.353,3.351,3.333,3.329,3.307,3.303,3.296,3.296,3.29,3.277,3.267,3.262,3.259,3.242,3.239,3.238,3.237,3.236,3.236,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 137.52} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.755728} SEN {Time 137.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 137.519} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.9276} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.302} {Name Sonar9 Range 3.0988} {Name Sonar10 Range 2.7178} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3302} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 3.048} SEN {Time 137.567} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.181,0.185,0.185,0,0,0,0,0,0,0,0,0,0,1.736,1.734,1.704,1.698,1.694,1.685,1.666,1.665,1.665,1.666,0,0,0,0,0.537,0.525,0.525,0.524,0.523,0.524,0.532,0,0,0,1.58,1.573,1.568,1.568,1.568,1.571,1.581,1.587,1.588,1.598,1.617,1.625,1.645,1.67,1.67,1.67,0.153,0.153,0.15,0.146,0.146,0.146,0.144,0.144,0.153,0.151,0.153,0.153,0.154,0.161,0,0,0,0,0,0,0,0.163,0.159,0.156,0.152,0.156,0.149,0.142,0.138,0.113,0.089,0.071,0.068,0.063,0.063,0.067,0.065,0.067,0.069,0.069,0.069,0.069,0.062,0.062,0.069,0.08,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.602,3.588,3.576,3.562,3.549,3.537,3.415,3.415,3.372,3.345,3.415,0,3.243,3.254,0,0,0,0,0,0,0,0,0,0,0,3.159,3.154,3.153,3.132,3.117,3.116,3.116,3.116,3.116,3.256,0,0,0,0,0,0.007,0,0,0,0,3.01,3.005,2.997,2.988,2.986,2.985,2.977,2.974,2.972,2.97,2.968,2.965,2.956,2.955,2.945,2.945,2.943,2.937,2.934,2.931,2.929,2.927,2.926,2.925,2.917,2.917,2.915,2.913,2.911,2.911,2.907,2.904,2.904,2.904,2.904,2.904,2.895,2.894,2.894,2.894,2.894,2.895,3.443,3.444,3.444,3.443,3.443,3.443,3.443,3.443,3.445,3.449,3.447,3.449,3.449,3.449,3.454,3.454,3.454,3.455,3.454,3.448,3.455,3.448,3.448,3.458,3.459,3.462,3.463,3.463,3.463,3.467,3.467,3.47,3.473,3.484,3.484,3.486,3.486,3.49,3.492,3.499,3.502,3.506,3.507,3.515,3.516,3.52,3.52,3.533,3.536,3.538,3.542,3.543,3.553,3.558,3.568,3.581,3.582,3.583,3.588,3.604,3.606,3.611,3.624,3.629,3.63,3.638,3.654,3.659,3.664,3.675,3.679,3.687,3.69,3.703,3.714,3.723,3.734,3.749,3.749,3.759,3.773,3.784,3.802,3.817,3.82,3.83,3.836,3.852,3.863,3.877,3.894,3.898,3.911,3.924,3.941,3.95,3.972,3.991,3.991,4.023,4.037,4.047,4.065,4.071,4.093,4.093,4.093,4.046,4.011,3.97,3.961,3.918,3.877,3.854,3.81,3.798,3.769,3.745,3.717,3.686,3.658,3.622,3.622,3.59,3.566,3.549,3.517,3.502,3.487,3.466,3.444,3.428,3.398,3.39,3.359,3.35,3.335,3.333,3.294,3.284,3.267,3.253,3.238,3.22,3.196,3.192,3.171,3.156,3.148,3.118,3.111,3.087,3.084,3.062,3.054,3.038,3.032,3.005,3.004,2.995,2.973,2.957,2.955,2.943,2.94,2.922,2.913,2.904,2.898,2.882,2.879,2.866,2.861,2.853,2.838,2.821,2.81,2.799,2.794,2.785,2.778,2.775,2.767,2.751,2.749,2.726,2.719,2.716,2.708,2.697,2.696,2.683,2.683,2.683,2.674,2.667,2.66,2.65,2.645,2.631,2.629,2.622,2.611,2.61,2.598,2.596,2.591,2.589,2.58,2.572,2.569,2.563,2.561,2.551,2.55,2.545,2.543,2.532,2.532,2.529,2.524,2.523,2.523,2.516,2.507,2.505,2.501,2.5,2.496,2.496,2.49,2.489,2.488,2.483,2.483,2.48,2.476,2.476,2.475,2.475,2.475,2.471,2.464,2.464,2.46,2.46,2.46,2.46,2.46,2.46,2.455,2.455,2.455,2.455,2.453,2.458,2.453,2.453,2.453,2.451,2.45,2.45,2.45,2.45,2.451,2.451,2.454,2.456,2.459,2.462,2.462,2.462,2.462,2.462,2.463,2.467,2.467,2.47,2.478,2.479,2.479,2.482,2.486,2.49,2.493,2.495,2.497,2.497,2.503,2.505,2.508,2.515,2.521,2.521,2.521,2.521,2.531,2.537,2.544,2.546,2.554,2.557,2.562,2.564,2.568,2.572,2.574,2.578,2.587,2.588,2.594,2.609,2.612,2.615,2.623,2.633,2.635,2.643,2.65,2.654,2.658,2.661,2.677,2.688,2.7,2.7,2.702,2.717,2.729,2.732,2.737,2.743,2.761,2.766,2.777,2.787,2.789,2.812,2.815,2.815,2.845,2.849,2.851,2.866,2.867,2.877,2.884,2.891,2.91,2.925,2.938,2.94,2.953,2.967,2.972,2.994,3.002,3.011,3.029,3.035,3.058,3.072,3.075,3.093,3.094,3.113,3.139,3.144,3.167,3.175,3.185,3.218,3.227,3.235,3.261,3.27,3.288,3.315,3.334,3.357,3.365,3.387,3.406,3.432,3.458,3.476,3.504,3.517,3.544,3.569,3.592,3.622,3.627,3.646,3.687,3.701,3.731,3.741,3.792,3.813,3.833,3.887,3.905,3.927,3.975,4.067,0,0.007,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,4.095,3.459,3.439,3.427,3.417,3.408,3.387,3.385,3.37,3.362,3.357,3.341,3.334,3.33,3.323,3.308,3.288,3.285,3.28,3.271,3.264,3.257,3.249,3.241,3.237,3.237,3.235,3.235,3.237,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 137.72} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.755728} SEN {Time 137.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 137.721} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.9276} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.4798} {Name Sonar6 Range 1.8796} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3302} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 3.048} SEN {Time 137.767} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.178,0.187,0.187,0,0,0,0,0,0,0,0,0,0,1.735,1.726,1.705,1.704,1.682,1.675,1.673,1.666,1.666,1.666,0,0,0,0,0.532,0.527,0.527,0.526,0.526,0.531,0.531,0,0,0,1.576,1.576,1.573,1.565,1.565,1.565,1.565,1.583,1.588,1.61,1.614,1.626,1.643,1.671,1.671,1.684,0.007,0.144,0.144,0.143,0.143,0.143,0.148,0.145,0.149,0.149,0.149,0.149,0.153,0.16,0,0,0,0,0,0,0,0.163,0.153,0.151,0.149,0.15,0.148,0.146,0.146,0.111,0.091,0.074,0.064,0.064,0.064,0.064,0.064,0.064,0.064,0.068,0.068,0.068,0.068,0.07,0.062,0.062,0.071,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.601,3.579,3.573,3.558,3.557,3.538,3.435,3.435,3.382,3.355,3.435,0,3.251,3.251,0,0,0,0,0,0,0,0,0,0,0,3.168,3.155,3.148,3.129,3.126,3.118,3.117,3.117,3.126,3.258,0,0,0,0,0,0,0,0,0,0,3.001,3.001,3.001,2.994,2.994,2.989,2.97,2.97,2.969,2.969,2.961,2.957,2.956,2.954,2.945,2.944,2.943,2.942,2.933,2.926,2.925,2.924,2.923,2.92,2.917,2.915,2.911,2.91,2.91,2.909,2.91,2.91,2.904,2.899,2.898,2.897,2.891,2.891,2.892,2.892,2.892,2.892,3.445,3.445,3.446,3.446,3.446,3.446,3.446,3.445,3.444,3.445,3.445,3.445,3.445,3.447,3.448,3.45,3.45,3.451,3.45,3.449,3.448,3.449,3.449,3.452,3.459,3.459,3.463,3.463,3.463,3.464,3.473,3.477,3.478,3.479,3.483,3.484,3.489,3.494,3.496,3.497,3.498,3.502,3.505,3.505,3.514,3.527,3.527,3.528,3.529,3.537,3.544,3.546,3.552,3.565,3.57,3.57,3.574,3.574,3.59,3.602,3.609,3.62,3.621,3.627,3.64,3.644,3.651,3.656,3.661,3.688,3.689,3.692,3.705,3.713,3.714,3.725,3.743,3.746,3.747,3.755,3.773,3.782,3.798,3.809,3.817,3.828,3.836,3.84,3.871,3.876,3.879,3.891,3.91,3.927,3.938,3.965,3.976,3.992,4.003,4.012,4.031,4.045,4.051,4.093,4.093,4.093,4.084,4.062,4.009,3.963,3.933,3.909,3.877,3.864,3.814,3.794,3.766,3.733,3.708,3.681,3.657,3.64,3.622,3.584,3.572,3.543,3.52,3.498,3.487,3.465,3.439,3.432,3.413,3.38,3.364,3.357,3.332,3.319,3.298,3.288,3.271,3.257,3.234,3.219,3.208,3.186,3.165,3.161,3.133,3.121,3.111,3.092,3.091,3.061,3.049,3.036,3.024,3.009,3.004,2.986,2.972,2.955,2.955,2.933,2.932,2.927,2.912,2.905,2.884,2.881,2.871,2.862,2.861,2.852,2.836,2.828,2.81,2.801,2.788,2.78,2.777,2.776,2.768,2.755,2.733,2.73,2.728,2.726,2.718,2.697,2.693,2.693,2.674,2.674,2.673,2.67,2.654,2.652,2.636,2.634,2.632,2.625,2.623,2.618,2.598,2.597,2.596,2.586,2.584,2.572,2.569,2.56,2.559,2.557,2.552,2.547,2.539,2.537,2.532,2.522,2.522,2.522,2.522,2.521,2.512,2.504,2.499,2.499,2.497,2.496,2.492,2.491,2.491,2.483,2.482,2.482,2.482,2.477,2.477,2.475,2.473,2.468,2.465,2.464,2.464,2.46,2.46,2.457,2.456,2.457,2.457,2.457,2.461,2.461,2.457,2.457,2.457,2.449,2.449,2.453,2.45,2.453,2.455,2.457,2.457,2.457,2.457,2.457,2.46,2.457,2.46,2.461,2.464,2.461,2.464,2.464,2.464,2.466,2.475,2.477,2.479,2.49,2.49,2.49,2.491,2.497,2.498,2.499,2.5,2.508,2.509,2.514,2.514,2.519,2.523,2.531,2.537,2.543,2.544,2.552,2.552,2.557,2.558,2.572,2.572,2.572,2.572,2.578,2.591,2.596,2.601,2.608,2.616,2.619,2.625,2.631,2.634,2.643,2.644,2.656,2.66,2.68,2.681,2.681,2.689,2.698,2.702,2.71,2.717,2.732,2.745,2.753,2.756,2.761,2.77,2.787,2.787,2.802,2.802,2.813,2.829,2.836,2.842,2.855,2.871,2.877,2.887,2.9,2.905,2.922,2.939,2.94,2.954,2.974,2.979,2.993,3.004,3.014,3.022,3.044,3.052,3.063,3.078,3.095,3.102,3.125,3.137,3.138,3.156,3.169,3.181,3.211,3.226,3.249,3.264,3.272,3.301,3.312,3.337,3.351,3.367,3.393,3.421,3.423,3.447,3.468,3.495,3.521,3.537,3.579,3.59,3.613,3.633,3.661,3.678,3.703,3.738,3.767,3.787,3.811,3.845,3.874,3.89,3.939,4.002,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.459,3.44,3.431,3.419,3.401,3.394,3.383,3.382,3.354,3.345,3.341,3.332,3.319,3.316,3.304,3.296,3.293,3.28,3.273,3.262,3.257,3.253,3.248,3.235,3.233,3.227,3.235,3.235,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 137.92} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.755728} SEN {Time 137.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 137.923} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.9276} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.4798} {Name Sonar6 Range 1.8796} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3302} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 2.6162} {Name Sonar15 Range 3.048} SEN {Time 137.967} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.181,0.19,0.19,0,0,0,0,0,0,0,0,0,0,1.737,1.717,1.701,1.692,1.686,1.679,1.674,1.663,1.663,1.674,0,0,0.001,0.001,0,0.536,0.532,0.531,0.525,0.531,0.531,0,0,0,1.583,1.583,1.575,1.575,1.572,1.583,1.583,1.591,1.594,1.609,1.615,1.629,1.633,1.657,1.657,1.657,0.149,0.145,0.145,0.145,0.149,0.147,0.149,0.149,0.15,0.149,0.15,0.15,0.154,0.157,0,0,0,0,0,0,0,0.162,0.158,0.157,0.153,0.152,0.151,0.144,0.135,0.113,0.081,0.068,0.064,0.064,0.063,0.064,0.065,0.066,0.068,0.068,0.068,0.068,0.063,0.063,0.063,0.063,0.084,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.594,3.577,3.575,3.557,3.554,3.537,3.432,3.432,3.376,3.354,3.432,0,3.253,3.253,0,0,0,0,0,0,0,0,0,0,0,3.155,3.153,3.148,3.125,3.123,3.121,3.11,3.11,3.121,3.263,0,0,0,0,0,0.007,0,0,0,0,3.009,3.005,2.997,2.992,2.991,2.989,2.982,2.98,2.969,2.964,2.963,2.961,2.959,2.95,2.949,2.946,2.942,2.936,2.932,2.931,2.929,2.926,2.925,2.923,2.923,2.919,2.908,2.908,2.908,2.908,2.908,2.907,2.901,2.901,2.899,2.899,2.899,2.894,2.891,2.889,2.889,2.891,3.447,3.447,3.45,3.45,3.45,3.45,3.451,3.45,3.448,3.447,3.447,3.447,3.447,3.447,3.447,3.447,3.447,3.447,3.446,3.446,3.453,3.453,3.453,3.458,3.458,3.459,3.463,3.469,3.469,3.469,3.469,3.469,3.469,3.474,3.477,3.485,3.489,3.494,3.494,3.499,3.502,3.503,3.507,3.51,3.518,3.522,3.528,3.529,3.536,3.541,3.542,3.547,3.56,3.562,3.569,3.575,3.579,3.583,3.6,3.6,3.603,3.614,3.62,3.622,3.634,3.634,3.65,3.653,3.664,3.678,3.684,3.697,3.702,3.71,3.713,3.717,3.737,3.746,3.751,3.764,3.774,3.78,3.792,3.806,3.81,3.822,3.829,3.853,3.854,3.87,3.886,3.901,3.911,3.923,3.944,3.966,3.985,3.994,4,4.024,4.042,4.051,4.056,4.082,4.082,4.082,4.076,4.044,4.016,3.966,3.955,3.909,3.885,3.855,3.825,3.806,3.76,3.733,3.711,3.693,3.669,3.637,3.614,3.59,3.571,3.544,3.519,3.5,3.468,3.459,3.448,3.425,3.414,3.379,3.364,3.351,3.332,3.324,3.309,3.276,3.27,3.252,3.235,3.209,3.204,3.189,3.17,3.148,3.142,3.128,3.115,3.099,3.085,3.062,3.057,3.034,3.027,3.007,3.002,2.988,2.974,2.968,2.952,2.946,2.934,2.927,2.908,2.904,2.89,2.881,2.88,2.859,2.851,2.848,2.84,2.827,2.812,2.804,2.798,2.784,2.777,2.77,2.764,2.758,2.748,2.728,2.722,2.718,2.714,2.7,2.698,2.681,2.681,2.678,2.678,2.676,2.656,2.653,2.639,2.635,2.627,2.622,2.61,2.609,2.601,2.597,2.59,2.585,2.575,2.573,2.57,2.569,2.556,2.551,2.551,2.547,2.543,2.538,2.535,2.533,2.524,2.519,2.518,2.514,2.505,2.504,2.503,2.498,2.495,2.49,2.49,2.49,2.49,2.488,2.481,2.479,2.478,2.472,2.467,2.467,2.467,2.466,2.464,2.464,2.463,2.461,2.458,2.461,2.457,2.457,2.456,2.456,2.456,2.455,2.455,2.457,2.452,2.451,2.451,2.451,2.451,2.451,2.454,2.454,2.454,2.454,2.457,2.459,2.461,2.462,2.461,2.463,2.463,2.463,2.463,2.463,2.465,2.472,2.473,2.474,2.474,2.481,2.484,2.491,2.492,2.498,2.498,2.506,2.508,2.508,2.508,2.517,2.517,2.522,2.523,2.531,2.533,2.539,2.545,2.547,2.552,2.552,2.557,2.562,2.571,2.573,2.581,2.581,2.581,2.592,2.597,2.606,2.611,2.62,2.623,2.628,2.634,2.645,2.648,2.653,2.663,2.673,2.675,2.688,2.693,2.699,2.701,2.713,2.723,2.726,2.74,2.741,2.752,2.767,2.77,2.776,2.793,2.803,2.812,2.822,2.834,2.837,2.851,2.855,2.875,2.875,2.88,2.893,2.921,2.937,2.946,2.946,2.952,2.976,2.982,2.994,2.995,3.004,3.024,3.04,3.055,3.07,3.081,3.096,3.101,3.119,3.132,3.143,3.167,3.177,3.194,3.2,3.23,3.234,3.253,3.28,3.299,3.312,3.32,3.349,3.364,3.39,3.406,3.434,3.447,3.464,3.504,3.529,3.535,3.568,3.588,3.615,3.627,3.65,3.676,3.705,3.734,3.751,3.789,3.814,3.841,3.869,3.884,3.935,3.963,4.031,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.442,3.442,3.437,3.413,3.405,3.398,3.392,3.374,3.364,3.352,3.344,3.334,3.321,3.306,3.306,3.304,3.292,3.28,3.276,3.269,3.257,3.254,3.246,3.24,3.239,3.239,3.239,3.239,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 138.12} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.755728} SEN {Time 138.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 138.124} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.9276} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.4798} {Name Sonar6 Range 1.8796} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3302} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 2.6162} {Name Sonar15 Range 3.048} SEN {Time 138.163} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.185,0.185,0.185,0.187,0,0,0,0,0,0,0,0,0,0,1.731,1.724,1.703,1.701,1.698,1.687,1.673,1.668,1.668,1.673,0,0,0,0,0.531,0.529,0.529,0.529,0.527,0.529,0.531,0,0,0,1.58,1.57,1.57,1.565,1.57,1.571,1.576,1.585,1.592,1.602,1.612,1.63,1.638,1.663,1.663,1.663,0.143,0.14,0.14,0.14,0.143,0.143,0.146,0.143,0.146,0.146,0.148,0.148,0.151,0.155,0,0,0,0,0,0,0,0,0.164,0.163,0.155,0.155,0.155,0.151,0.145,0.119,0.098,0.072,0.07,0.067,0.067,0.068,0.068,0.07,0.07,0.07,0.066,0.066,0.064,0.064,0.064,0.072,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.592,3.584,3.567,3.566,3.548,3.535,3.412,3.412,3.355,3.347,3.412,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.157,3.152,3.152,3.135,3.124,3.113,3.112,3.112,3.113,3.258,0,0,0,0,0,0,0,0,0,0,3.012,2.999,2.999,2.995,2.993,2.979,2.977,2.975,2.971,2.969,2.968,2.955,2.955,2.953,2.951,2.948,2.946,2.938,2.935,2.934,2.933,2.926,2.924,2.922,2.92,2.915,2.911,2.911,2.908,2.906,2.906,2.906,2.901,2.901,2.896,2.893,2.888,2.888,2.887,2.886,2.887,2.893,3.444,3.446,3.446,3.448,3.448,3.446,3.446,3.449,3.446,3.447,3.447,3.447,3.447,3.447,3.45,3.453,3.45,3.45,3.45,3.452,3.452,3.452,3.454,3.458,3.459,3.463,3.464,3.467,3.467,3.469,3.471,3.473,3.476,3.477,3.485,3.485,3.485,3.487,3.487,3.494,3.499,3.502,3.507,3.509,3.513,3.52,3.521,3.527,3.53,3.53,3.547,3.547,3.548,3.566,3.571,3.577,3.581,3.583,3.588,3.598,3.609,3.612,3.622,3.628,3.642,3.643,3.648,3.654,3.663,3.675,3.676,3.682,3.699,3.7,3.715,3.719,3.74,3.746,3.753,3.761,3.772,3.775,3.794,3.81,3.821,3.836,3.844,3.859,3.866,3.875,3.891,3.895,3.909,3.928,3.935,3.97,3.979,3.979,3.996,4.015,4.017,4.058,4.061,4.084,0.016,0.016,0.016,4.061,4.023,3.97,3.961,3.917,3.888,3.855,3.823,3.802,3.755,3.734,3.711,3.684,3.662,3.634,3.61,3.593,3.575,3.547,3.521,3.494,3.473,3.464,3.455,3.423,3.411,3.39,3.36,3.359,3.328,3.312,3.306,3.281,3.265,3.25,3.242,3.204,3.203,3.182,3.174,3.156,3.136,3.124,3.117,3.096,3.073,3.066,3.052,3.04,3.021,3.006,3.004,2.988,2.974,2.968,2.961,2.949,2.932,2.929,2.91,2.905,2.895,2.889,2.868,2.864,2.859,2.854,2.836,2.827,2.818,2.804,2.794,2.785,2.78,2.767,2.766,2.754,2.749,2.742,2.726,2.725,2.72,2.698,2.697,2.69,2.688,2.68,2.676,2.675,2.662,2.651,2.641,2.632,2.628,2.626,2.623,2.609,2.593,2.593,2.593,2.586,2.579,2.577,2.573,2.568,2.567,2.555,2.553,2.545,2.545,2.538,2.535,2.523,2.52,2.52,2.518,2.514,2.513,2.507,2.504,2.5,2.498,2.494,2.492,2.491,2.49,2.486,2.485,2.484,2.483,2.478,2.475,2.472,2.471,2.466,2.461,2.461,2.461,2.462,2.462,2.462,2.462,2.463,2.456,2.456,2.456,2.457,2.457,2.457,2.457,2.457,2.456,2.456,2.455,2.456,2.456,2.454,2.454,2.457,2.457,2.457,2.457,2.458,2.46,2.46,2.46,2.46,2.464,2.467,2.467,2.471,2.475,2.48,2.481,2.486,2.487,2.493,2.493,2.493,2.502,2.502,2.504,2.509,2.51,2.51,2.511,2.518,2.521,2.531,2.534,2.534,2.537,2.541,2.549,2.553,2.553,2.566,2.57,2.571,2.578,2.581,2.588,2.593,2.596,2.605,2.613,2.617,2.619,2.62,2.63,2.648,2.653,2.654,2.658,2.67,2.671,2.678,2.698,2.699,2.7,2.718,2.72,2.731,2.735,2.739,2.762,2.762,2.772,2.777,2.789,2.806,2.814,2.824,2.836,2.838,2.851,2.855,2.871,2.877,2.89,2.898,2.91,2.924,2.933,2.934,2.959,2.961,2.964,2.99,3,3.005,3.024,3.044,3.054,3.063,3.08,3.097,3.102,3.121,3.132,3.166,3.182,3.197,3.197,3.21,3.221,3.247,3.254,3.273,3.293,3.306,3.329,3.351,3.367,3.391,3.418,3.422,3.457,3.479,3.492,3.526,3.536,3.577,3.584,3.609,3.645,3.646,3.688,3.712,3.729,3.765,3.796,3.803,3.835,3.871,3.884,3.923,4.016,0,0.007,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,3.458,3.436,3.421,3.411,3.405,3.386,3.385,3.379,3.361,3.357,3.341,3.33,3.324,3.322,3.316,3.3,3.294,3.292,3.278,3.267,3.255,3.255,3.247,3.243,3.243,3.237,3.243,3.245,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 138.32} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.753982} SEN {Time 138.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 138.318} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.8796} {Name Sonar7 Range 2.8702} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3302} {Name Sonar13 Range 2.794} {Name Sonar14 Range 2.6162} {Name Sonar15 Range 3.048} SEN {Time 138.363} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.193,0.179,0.193,0.193,0,0,0,0,0,0,0,0,0,0,1.734,1.721,1.704,1.699,1.694,1.694,1.671,1.666,1.666,1.666,0,0,0,0,0.527,0.527,0.527,0.53,0.53,0.53,0.53,0,0,0,1.582,1.574,1.573,1.573,1.571,1.571,1.575,1.592,1.604,1.604,1.612,1.624,1.638,1.666,1.666,1.666,1.693,0.152,0.149,0.149,0.144,0.141,0.143,0.143,0.144,0.153,0.153,0.153,0.162,0.162,0,0,0,0,0,0,0,0,0.162,0.155,0.154,0.152,0.145,0.143,0.14,0.112,0.084,0.069,0.065,0.065,0.066,0.066,0.066,0.068,0.068,0.07,0.07,0.068,0.06,0.06,0.06,0.079,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.607,3.579,3.575,3.56,3.559,3.535,3.426,3.426,3.355,3.35,3.426,0,3.239,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.16,3.149,3.133,3.129,3.125,3.12,3.12,3.125,3.264,3.299,0,0,0,0,0,0,0,0,0,3.008,3.008,2.999,2.995,2.984,2.983,2.979,2.975,2.975,2.973,2.963,2.961,2.954,2.954,2.95,2.949,2.943,2.94,2.939,2.928,2.924,2.924,2.925,2.919,2.919,2.915,2.91,2.91,2.91,2.91,2.909,2.909,2.899,2.898,2.896,2.894,2.894,2.893,2.893,2.886,2.893,2.901,3.443,3.448,3.448,3.449,3.447,3.447,3.447,3.448,3.444,3.444,3.448,3.448,3.448,3.449,3.449,3.451,3.451,3.452,3.452,3.452,3.451,3.451,3.451,3.455,3.456,3.459,3.46,3.468,3.468,3.469,3.472,3.472,3.477,3.477,3.48,3.486,3.488,3.49,3.496,3.496,3.499,3.503,3.503,3.508,3.517,3.528,3.529,3.532,3.532,3.535,3.548,3.553,3.559,3.567,3.573,3.575,3.579,3.583,3.596,3.602,3.607,3.614,3.618,3.625,3.635,3.65,3.652,3.663,3.665,3.676,3.69,3.693,3.7,3.71,3.713,3.715,3.738,3.752,3.757,3.758,3.769,3.776,3.799,3.811,3.816,3.831,3.85,3.853,3.857,3.884,3.889,3.895,3.907,3.929,3.941,3.962,3.977,3.996,4.008,4.018,4.037,4.045,4.069,4.088,4.088,4.088,4.085,4.055,4.012,3.989,3.958,3.915,3.877,3.858,3.832,3.793,3.766,3.735,3.712,3.685,3.67,3.645,3.614,3.588,3.57,3.555,3.511,3.503,3.483,3.456,3.45,3.41,3.404,3.391,3.357,3.347,3.33,3.323,3.305,3.293,3.266,3.262,3.236,3.217,3.196,3.186,3.171,3.158,3.138,3.121,3.103,3.091,3.072,3.058,3.057,3.029,3.029,3.001,2.997,2.982,2.975,2.965,2.958,2.948,2.938,2.928,2.913,2.903,2.89,2.888,2.874,2.862,2.855,2.836,2.83,2.826,2.812,2.802,2.795,2.795,2.789,2.782,2.769,2.756,2.745,2.732,2.722,2.721,2.709,2.705,2.698,2.691,2.68,2.672,2.67,2.668,2.659,2.65,2.646,2.639,2.637,2.624,2.623,2.615,2.608,2.595,2.59,2.587,2.58,2.577,2.567,2.561,2.561,2.554,2.554,2.552,2.537,2.537,2.528,2.528,2.527,2.518,2.515,2.515,2.51,2.506,2.502,2.499,2.494,2.494,2.49,2.49,2.487,2.487,2.483,2.481,2.478,2.477,2.475,2.474,2.474,2.465,2.465,2.465,2.462,2.462,2.462,2.461,2.458,2.458,2.455,2.455,2.455,2.456,2.456,2.458,2.456,2.454,2.452,2.452,2.452,2.452,2.451,2.45,2.451,2.451,2.453,2.458,2.46,2.46,2.461,2.461,2.462,2.465,2.466,2.466,2.466,2.471,2.478,2.478,2.479,2.481,2.483,2.493,2.493,2.494,2.494,2.503,2.503,2.509,2.51,2.51,2.519,2.529,2.529,2.529,2.53,2.539,2.544,2.554,2.554,2.555,2.556,2.56,2.569,2.571,2.575,2.581,2.587,2.589,2.598,2.61,2.621,2.625,2.625,2.625,2.636,2.648,2.653,2.653,2.659,2.665,2.675,2.684,2.694,2.698,2.707,2.709,2.723,2.726,2.728,2.748,2.751,2.759,2.769,2.784,2.785,2.799,2.805,2.824,2.833,2.849,2.852,2.861,2.878,2.879,2.889,2.898,2.906,2.924,2.939,2.943,2.951,2.973,2.98,2.987,2.998,3.013,3.026,3.039,3.052,3.068,3.079,3.093,3.103,3.124,3.131,3.136,3.158,3.172,3.199,3.214,3.223,3.241,3.268,3.273,3.284,3.309,3.324,3.345,3.368,3.395,3.411,3.427,3.449,3.47,3.502,3.523,3.544,3.559,3.591,3.614,3.643,3.652,3.686,3.715,3.724,3.756,3.786,3.812,3.869,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.458,3.439,3.426,3.42,3.405,3.391,3.391,3.375,3.354,3.345,3.341,3.331,3.331,3.319,3.307,3.303,3.291,3.286,3.281,3.265,3.256,3.252,3.244,3.243,3.236,3.233,3.231,3.231,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 138.52} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.741765} SEN {Time 138.52} {Type Tachometer} {Name LeftRight} {Vel -0.058420,0.058420} SEN {Time 138.521} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3302} {Name Sonar13 Range 2.794} {Name Sonar14 Range 2.1336} {Name Sonar15 Range 3.048} SEN {Time 138.563} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.183,0.19,0.19,0,0,0,0,0,0,0,0,0,0,1.724,1.709,1.701,1.699,1.68,1.671,1.67,1.67,1.671,0,0,0,0,0,0.53,0.528,0.528,0.527,0.527,0.527,0,0,0,1.576,1.575,1.575,1.573,1.573,1.575,1.583,1.585,1.599,1.599,1.619,1.628,1.641,1.656,1.684,1.684,1.684,0.148,0.146,0.146,0.146,0.148,0.14,0.14,0.14,0.154,0.15,0.154,0.154,0.154,0.007,0,0,0,0,0,0,0,0,0.163,0.157,0.155,0.153,0.15,0.147,0.144,0.113,0.088,0.072,0.069,0.068,0.068,0.068,0.068,0.068,0.069,0.069,0.069,0.067,0.067,0.067,0.062,0.072,0.073,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.579,3.579,3.562,3.548,3.532,3.443,3.329,3.329,3.329,3.261,3.261,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.154,3.138,3.137,3.121,3.111,3.111,3.111,3.154,3.267,0,0,0,0,0,0,0,0,0,0,0,3,2.991,2.991,2.99,2.99,2.989,2.975,2.972,2.962,2.957,2.956,2.956,2.956,2.953,2.945,2.944,2.943,2.933,2.931,2.931,2.931,2.926,2.922,2.921,2.92,2.914,2.911,2.909,2.909,2.905,2.905,2.904,2.899,2.899,2.894,2.891,2.89,2.89,2.89,3.447,3.447,3.449,3.448,3.449,3.448,3.448,3.448,3.448,3.448,3.448,3.448,3.448,3.449,3.447,3.453,3.453,3.453,3.45,3.45,3.45,3.452,3.452,3.453,3.454,3.457,3.458,3.458,3.466,3.468,3.469,3.471,3.473,3.475,3.479,3.482,3.483,3.494,3.494,3.496,3.497,3.501,3.506,3.51,3.515,3.516,3.521,3.526,3.528,3.537,3.543,3.548,3.554,3.561,3.568,3.574,3.575,3.581,3.589,3.6,3.607,3.608,3.619,3.62,3.633,3.641,3.644,3.65,3.655,3.662,3.677,3.684,3.69,3.7,3.706,3.72,3.727,3.73,3.746,3.75,3.761,3.777,3.777,3.796,3.796,3.812,3.823,3.838,3.853,3.854,3.884,3.896,3.909,3.919,3.934,3.944,3.962,3.981,3.993,4.007,4.022,4.028,4.06,4.073,0.016,0.016,0.016,4.075,4.042,4.008,3.967,3.934,3.901,3.877,3.839,3.82,3.785,3.76,3.738,3.703,3.679,3.648,3.629,3.609,3.581,3.554,3.544,3.516,3.503,3.478,3.466,3.435,3.423,3.405,3.38,3.366,3.339,3.327,3.311,3.292,3.272,3.268,3.246,3.238,3.202,3.197,3.175,3.16,3.151,3.133,3.116,3.11,3.085,3.077,3.061,3.054,3.034,3.022,3.003,2.991,2.969,2.963,2.962,2.952,2.939,2.924,2.916,2.914,2.896,2.884,2.871,2.867,2.857,2.855,2.825,2.824,2.815,2.805,2.797,2.788,2.769,2.765,2.755,2.752,2.737,2.727,2.725,2.722,2.706,2.705,2.691,2.689,2.68,2.667,2.666,2.656,2.653,2.652,2.652,2.645,2.631,2.626,2.616,2.602,2.601,2.595,2.589,2.586,2.569,2.569,2.566,2.562,2.556,2.555,2.551,2.55,2.541,2.534,2.533,2.531,2.517,2.517,2.517,2.509,2.509,2.509,2.499,2.498,2.493,2.489,2.488,2.479,2.479,2.478,2.477,2.476,2.474,2.473,2.471,2.471,2.471,2.463,2.463,2.462,2.461,2.46,2.459,2.459,2.454,2.453,2.453,2.453,2.455,2.455,2.456,2.456,2.455,2.455,2.455,2.452,2.452,2.448,2.452,2.452,2.452,2.452,2.452,2.453,2.455,2.455,2.457,2.457,2.457,2.457,2.459,2.466,2.47,2.471,2.471,2.471,2.473,2.479,2.484,2.485,2.487,2.491,2.495,2.497,2.501,2.505,2.507,2.514,2.516,2.518,2.521,2.529,2.531,2.535,2.54,2.545,2.548,2.56,2.56,2.561,2.562,2.569,2.581,2.584,2.584,2.594,2.594,2.603,2.605,2.615,2.621,2.625,2.627,2.639,2.641,2.653,2.663,2.674,2.676,2.68,2.682,2.697,2.701,2.71,2.721,2.721,2.742,2.746,2.755,2.76,2.771,2.785,2.797,2.799,2.817,2.818,2.845,2.847,2.855,2.864,2.881,2.887,2.891,2.911,2.911,2.917,2.935,2.941,2.964,2.989,2.999,2.999,3.011,3.019,3.027,3.038,3.05,3.075,3.087,3.106,3.113,3.138,3.141,3.16,3.179,3.189,3.205,3.223,3.231,3.251,3.278,3.298,3.313,3.339,3.352,3.371,3.385,3.405,3.424,3.437,3.461,3.498,3.511,3.537,3.552,3.587,3.612,3.62,3.66,3.682,3.701,3.728,3.755,3.773,3.815,3.837,3.865,3.897,3.927,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.389,3.388,3.381,3.373,3.368,3.34,3.338,3.328,3.313,3.309,3.293,3.288,3.284,3.279,3.268,3.254,3.253,3.245,3.225,3.223,3.22,3.212,3.207,3.206,3.203,3.2,3.195,3.195,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 138.72} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.656244} SEN {Time 138.72} {Type Tachometer} {Name LeftRight} {Vel -0.091440,0.091440} SEN {Time 138.724} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 3.7592} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.54} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 2.794} {Name Sonar14 Range 2.1336} {Name Sonar15 Range 5.9944} SEN {Time 138.763} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.193,0.186,0.193,0.193,0,0,0,0,0,0,0.007,0,0,0,0,0.544,0.541,0.541,0.537,0.537,0.541,0.544,1.584,1.589,1.589,1.584,1.576,1.576,1.576,1.58,1.586,1.596,1.602,1.609,1.619,1.644,1.645,1.665,1.677,1.714,1.744,1.776,1.793,1.84,0,0,0,0,0,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.147,0.142,0.142,0.148,0.148,0.153,0.153,0.158,0.007,0,0,0,0,0,0,0,0,0.163,0.155,0.154,0.151,0.15,0.143,0.143,0.118,0.093,0.068,0.066,0.066,0.066,0.066,0.066,0.066,0.072,0.072,0.067,0.067,0.067,0.067,0.067,0.076,0.116,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.007,0.009,0.009,0.009,3.483,3.413,3.264,3.264,3.264,3.24,3.277,0.007,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0.009,0.009,0.009,0.009,0.009,0.007,0,0.007,0,0,0,0,0.007,0,0,0,0,3.012,3.012,3.01,3.01,3.013,3.013,3.004,2.99,2.987,2.973,2.97,2.967,2.963,2.961,2.959,2.955,2.953,2.953,2.946,2.949,2.946,2.942,2.938,2.938,2.931,2.928,2.924,2.919,2.918,2.916,2.916,2.913,2.913,2.906,2.904,2.904,2.902,2.898,2.898,2.898,2.912,3.438,3.451,3.455,3.455,3.452,3.455,3.452,3.45,3.45,3.453,3.453,3.453,3.454,3.456,3.46,3.461,3.461,3.462,3.462,3.463,3.463,3.464,3.463,3.463,3.466,3.473,3.473,3.475,3.477,3.48,3.48,3.481,3.481,3.485,3.487,3.493,3.495,3.5,3.51,3.514,3.514,3.515,3.515,3.517,3.528,3.53,3.536,3.542,3.542,3.553,3.553,3.562,3.569,3.571,3.577,3.587,3.598,3.599,3.601,3.604,3.61,3.615,3.622,3.642,3.654,3.657,3.659,3.659,3.671,3.677,3.687,3.696,3.707,3.71,3.723,3.726,3.742,3.756,3.772,3.773,3.785,3.789,3.804,3.816,3.829,3.837,3.851,3.864,3.871,3.877,3.899,3.9,3.925,3.942,3.959,3.961,3.963,3.989,3.992,4.016,4.037,4.049,4.073,0.016,0.016,0.016,0.016,4.067,4.001,3.967,3.938,3.905,3.866,3.844,3.825,3.778,3.751,3.735,3.714,3.672,3.648,3.639,3.61,3.59,3.569,3.542,3.522,3.497,3.48,3.454,3.433,3.415,3.386,3.372,3.352,3.325,3.317,3.3,3.277,3.263,3.238,3.237,3.215,3.197,3.178,3.168,3.151,3.135,3.131,3.104,3.097,3.086,3.067,3.055,3.047,3.031,3.019,3,2.994,2.986,2.971,2.949,2.944,2.925,2.916,2.914,2.9,2.886,2.871,2.867,2.852,2.845,2.825,2.82,2.806,2.8,2.791,2.781,2.771,2.766,2.762,2.752,2.737,2.733,2.729,2.718,2.714,2.708,2.69,2.681,2.677,2.674,2.663,2.654,2.652,2.645,2.63,2.629,2.626,2.625,2.615,2.603,2.595,2.594,2.585,2.578,2.575,2.575,2.57,2.569,2.565,2.562,2.553,2.549,2.544,2.533,2.532,2.525,2.525,2.517,2.517,2.51,2.497,2.495,2.491,2.491,2.488,2.486,2.483,2.483,2.48,2.48,2.473,2.468,2.463,2.463,2.463,2.463,2.464,2.464,2.46,2.455,2.455,2.453,2.449,2.448,2.447,2.448,2.448,2.447,2.451,2.451,2.446,2.444,2.444,2.444,2.445,2.446,2.446,2.447,2.447,2.447,2.447,2.448,2.449,2.449,2.45,2.451,2.451,2.451,2.452,2.455,2.458,2.455,2.455,2.455,2.461,2.461,2.464,2.473,2.473,2.474,2.474,2.485,2.491,2.493,2.495,2.495,2.5,2.502,2.5,2.506,2.507,2.507,2.514,2.527,2.531,2.535,2.538,2.542,2.542,2.556,2.56,2.564,2.573,2.576,2.586,2.587,2.587,2.597,2.599,2.604,2.623,2.627,2.631,2.634,2.642,2.643,2.647,2.652,2.665,2.677,2.682,2.684,2.694,2.701,2.703,2.725,2.725,2.739,2.74,2.748,2.757,2.767,2.787,2.791,2.8,2.807,2.819,2.821,2.834,2.855,2.858,2.87,2.885,2.887,2.901,2.913,2.921,2.935,2.942,2.96,2.973,2.987,2.994,3.011,3.028,3.029,3.038,3.054,3.078,3.093,3.103,3.106,3.13,3.154,3.156,3.174,3.188,3.195,3.225,3.232,3.249,3.271,3.288,3.296,3.322,3.34,3.379,3.396,3.405,3.429,3.45,3.458,3.494,3.512,3.546,3.562,3.59,3.612,3.639,3.658,3.689,3.703,3.733,3.76,3.803,3.805,3.855,3.891,3.899,3.965,0.007,0,0,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.08,4.08,0,3.424,0.009,0.007,0.009,0.007,0.009,3.345,3.329,3.325,3.324,3.31,3.308,3.288,3.285,3.281,3.273,3.265,3.258,3.25,3.238,3.233,3.228,3.223,3.21,3.206,3.197,3.19,3.188,3.179,3.172,3.168,3.161,3.157,3.155,3.151,3.148,3.143,3.133,3.131,3.125,3.114,3.114,3.114,3.114,3.114,3.116,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 138.92} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.542797} SEN {Time 138.92} {Type Tachometer} {Name LeftRight} {Vel -0.119380,0.119380} SEN {Time 138.919} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 3.7592} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.54} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8034} {Name Sonar14 Range 2.1336} {Name Sonar15 Range 5.9944} SEN {Time 138.963} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.185,0.189,0.189,1.609,1.609,1.609,1.602,1.6,1.6,1.602,1.608,1.612,1.628,1.633,1.649,1.649,1.673,1.687,1.705,1.737,1.748,1.777,1.818,1.827,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.149,0.149,0.149,0.153,0.153,0.154,0.154,0.159,0.159,0,0,0,0,0,0,0,0,0.159,0.155,0.154,0.147,0.144,0.143,0.139,0.116,0.096,0.064,0.064,0.064,0.064,0.067,0.067,0.068,0.072,0.072,0.067,0.067,0.067,0.067,0.077,0.147,0.227,0.006,0.006,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.176,3.155,3.155,3.152,3.155,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,3.029,3.025,3.021,3.014,3.014,3.017,3.014,3.014,3.002,2.994,2.985,2.982,2.982,2.975,2.966,2.962,2.962,2.962,2.952,2.952,2.951,2.951,2.951,2.947,2.945,2.943,2.93,2.928,2.926,2.922,2.922,2.922,2.92,2.912,2.912,2.911,2.908,2.908,2.901,2.901,2.908,3.452,3.455,3.457,3.457,3.455,3.455,3.456,3.456,3.459,3.459,3.459,3.459,3.459,3.457,3.456,3.457,3.459,3.459,3.461,3.464,3.464,3.464,3.468,3.469,3.475,3.476,3.476,3.482,3.482,3.483,3.483,3.495,3.496,3.5,3.504,3.505,3.505,3.514,3.514,3.522,3.523,3.527,3.533,3.541,3.542,3.549,3.551,3.557,3.561,3.567,3.571,3.584,3.584,3.585,3.599,3.601,3.604,3.613,3.624,3.625,3.641,3.644,3.646,3.66,3.662,3.663,3.674,3.683,3.689,3.699,3.708,3.71,3.729,3.732,3.739,3.746,3.762,3.773,3.78,3.785,3.791,3.8,3.809,3.823,3.83,3.855,3.869,3.883,3.891,3.899,3.914,3.92,3.954,3.963,3.97,3.999,4.007,4.014,4.034,4.055,4.068,4.077,0.016,0.016,0.016,4.072,4.045,3.996,3.985,3.946,3.909,3.875,3.855,3.819,3.779,3.753,3.739,3.706,3.675,3.654,3.634,3.602,3.579,3.565,3.531,3.516,3.481,3.456,3.445,3.42,3.386,3.385,3.369,3.353,3.326,3.314,3.307,3.284,3.262,3.253,3.228,3.213,3.19,3.173,3.149,3.149,3.135,3.12,3.101,3.082,3.073,3.055,3.035,3.03,3.015,3.002,2.99,2.986,2.963,2.957,2.939,2.934,2.908,2.908,2.887,2.88,2.874,2.866,2.847,2.844,2.827,2.825,2.808,2.806,2.803,2.79,2.786,2.759,2.756,2.749,2.743,2.721,2.718,2.71,2.706,2.694,2.69,2.677,2.672,2.662,2.659,2.642,2.639,2.631,2.623,2.619,2.617,2.616,2.608,2.607,2.59,2.589,2.582,2.573,2.569,2.568,2.564,2.551,2.55,2.548,2.542,2.541,2.53,2.521,2.52,2.52,2.514,2.513,2.51,2.5,2.495,2.494,2.492,2.487,2.485,2.48,2.478,2.478,2.473,2.473,2.473,2.465,2.465,2.46,2.459,2.459,2.458,2.458,2.451,2.446,2.445,2.441,2.441,2.441,2.441,2.44,2.44,2.438,2.436,2.436,2.436,2.436,2.439,2.439,2.439,2.439,2.44,2.441,2.443,2.443,2.44,2.439,2.436,2.436,2.437,2.436,2.437,2.441,2.442,2.443,2.443,2.449,2.449,2.45,2.45,2.453,2.459,2.46,2.462,2.462,2.465,2.47,2.471,2.472,2.476,2.482,2.485,2.488,2.491,2.498,2.499,2.5,2.5,2.507,2.513,2.513,2.528,2.529,2.529,2.532,2.545,2.546,2.56,2.562,2.566,2.567,2.574,2.576,2.581,2.59,2.594,2.594,2.606,2.608,2.622,2.629,2.635,2.643,2.648,2.664,2.666,2.671,2.675,2.696,2.702,2.713,2.714,2.721,2.732,2.735,2.742,2.756,2.759,2.775,2.775,2.787,2.808,2.811,2.814,2.825,2.841,2.851,2.855,2.873,2.877,2.895,2.904,2.924,2.933,2.939,2.953,2.962,2.975,2.996,3.007,3.017,3.026,3.028,3.058,3.065,3.086,3.093,3.103,3.121,3.141,3.154,3.164,3.172,3.199,3.205,3.228,3.248,3.266,3.278,3.299,3.314,3.331,3.362,3.379,3.44,3.458,3.486,3.486,3.486,3.516,3.523,3.555,3.575,3.605,3.611,3.639,3.688,3.705,3.724,3.747,3.791,3.81,3.842,3.858,3.905,3.931,3.963,4.031,4.081,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0.007,3.313,3.305,3.292,3.285,3.277,3.265,3.253,3.251,3.241,3.232,3.22,3.219,3.218,3.208,3.204,3.193,3.187,3.182,3.18,3.176,3.175,3.175,3.164,3.162,3.151,3.148,3.136,3.135,3.133,3.13,3.124,3.121,3.116,3.116,3.115,3.109,3.096,3.086,3.085,3.085,3.084,3.082,3.082,3.073,3.071,3.071,3.073,3.074,3.074,3.074,3.07,3.066,3.061,3.061,3.059,3.059,3.059,3.063,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 139.12} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.408407} SEN {Time 139.12} {Type Tachometer} {Name LeftRight} {Vel -0.020320,0.022860} SEN {Time 139.121} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.7592} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.302} {Name Sonar8 Range 2.54} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8034} {Name Sonar14 Range 6.3754} {Name Sonar15 Range 5.9944} SEN {Time 139.159} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.184,0.186,0.186,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.152,0.144,0.144,0.144,0.144,0.142,0.139,0.139,0.153,0.146,0.153,0.153,0.159,0.159,0,0,0,0,0,0,0,0,0.159,0.155,0.155,0.15,0.149,0.143,0.138,0.121,0.081,0.069,0.064,0.064,0.064,0.064,0.065,0.066,0.066,0.066,0.066,0.068,0.062,0.062,0.07,0.076,0.085,0,0.006,0.006,0.006,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.044,3.04,3.04,3.04,3.036,3.019,3.018,3.012,3.009,3.008,3,2.993,2.992,2.992,2.981,2.977,2.976,2.974,2.974,2.971,2.967,2.965,2.963,2.963,2.963,2.959,2.959,2.953,2.953,2.948,2.947,2.945,2.941,2.939,2.938,2.933,2.929,2.929,2.929,2.929,2.929,3.467,3.474,3.478,3.475,3.475,3.475,3.47,3.47,3.469,3.469,3.469,3.473,3.473,3.474,3.474,3.474,3.476,3.474,3.474,3.476,3.478,3.476,3.478,3.481,3.487,3.488,3.49,3.49,3.495,3.498,3.499,3.5,3.502,3.512,3.512,3.513,3.513,3.521,3.525,3.529,3.529,3.535,3.536,3.537,3.544,3.55,3.559,3.562,3.569,3.576,3.579,3.581,3.584,3.591,3.606,3.607,3.616,3.622,3.633,3.64,3.64,3.646,3.658,3.659,3.667,3.681,3.685,3.691,3.697,3.707,3.708,3.72,3.73,3.736,3.747,3.759,3.769,3.773,3.785,3.786,3.812,3.817,3.826,3.843,3.843,3.856,3.883,3.891,3.897,3.909,3.915,3.934,3.947,3.956,3.98,3.996,3.996,4.016,4.031,4.037,4.071,4.082,4.094,0.016,0.016,0.016,4.081,4.028,4.015,3.975,3.949,3.921,3.873,3.838,3.823,3.799,3.766,3.749,3.7,3.69,3.664,3.636,3.61,3.579,3.558,3.528,3.521,3.496,3.485,3.464,3.44,3.422,3.4,3.393,3.354,3.35,3.329,3.31,3.289,3.265,3.245,3.243,3.221,3.21,3.188,3.168,3.156,3.142,3.123,3.104,3.102,3.077,3.068,3.051,3.048,3.028,3.013,2.998,2.987,2.979,2.967,2.955,2.941,2.931,2.91,2.904,2.894,2.886,2.863,2.863,2.853,2.84,2.836,2.823,2.811,2.791,2.788,2.772,2.76,2.758,2.755,2.746,2.734,2.725,2.712,2.706,2.699,2.688,2.68,2.667,2.657,2.656,2.654,2.636,2.636,2.628,2.619,2.617,2.617,2.606,2.606,2.597,2.587,2.583,2.575,2.571,2.571,2.569,2.549,2.547,2.545,2.537,2.534,2.524,2.52,2.519,2.511,2.505,2.502,2.497,2.496,2.495,2.494,2.494,2.481,2.479,2.479,2.478,2.475,2.47,2.467,2.46,2.459,2.457,2.457,2.454,2.454,2.453,2.452,2.446,2.446,2.446,2.446,2.443,2.442,2.442,2.439,2.439,2.439,2.435,2.433,2.429,2.429,2.429,2.432,2.429,2.429,2.429,2.429,2.429,2.429,2.429,2.429,2.425,2.425,2.429,2.428,2.429,2.431,2.431,2.432,2.433,2.438,2.438,2.438,2.44,2.446,2.447,2.448,2.448,2.449,2.455,2.455,2.456,2.458,2.458,2.466,2.466,2.473,2.475,2.475,2.475,2.475,2.489,2.491,2.496,2.499,2.5,2.508,2.514,2.515,2.515,2.524,2.527,2.532,2.54,2.543,2.548,2.549,2.555,2.567,2.574,2.583,2.585,2.588,2.594,2.597,2.603,2.609,2.622,2.633,2.633,2.636,2.648,2.653,2.667,2.67,2.677,2.69,2.69,2.694,2.71,2.714,2.721,2.73,2.738,2.745,2.755,2.765,2.778,2.782,2.799,2.805,2.817,2.826,2.834,2.856,2.867,2.876,2.88,2.895,2.906,2.913,2.927,2.928,2.948,2.961,2.974,2.99,3.002,3.008,3.016,3.031,3.054,3.061,3.073,3.092,3.104,3.106,3.136,3.146,3.158,3.168,3.192,3.205,3.22,3.251,3.255,3.28,3.299,3.311,3.329,3.35,3.369,3.388,3.391,3.423,3.444,3.47,3.476,3.512,3.53,3.559,3.579,3.604,3.642,3.666,3.684,3.706,3.736,3.761,3.788,3.811,3.852,3.875,3.913,3.93,3.962,4.005,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.38,3.34,3.337,3.321,3.305,3.297,3.294,3.284,3.279,3.275,3.265,3.252,3.252,3.238,3.228,3.228,3.218,3.21,3.198,3.198,3.191,3.187,3.175,3.169,3.161,3.158,3.157,3.155,3.148,3.147,3.143,3.132,3.126,3.122,3.12,3.116,3.114,3.107,3.099,3.095,3.094,3.094,3.094,3.094,3.094,3.08,3.077,3.074,3.073,3.071,3.068,3.066,3.066,3.066,3.065,3.068,3.068,3.06,3.058,3.056,3.053,3.05,3.047,3.045,3.045,3.045,3.043,3.043,3.043,3.043,3.043,3.044,3.044,3.051,3.044,3.042,3.041,3.042,3.042,3.054,3.062,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 139.31} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.403171} SEN {Time 139.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 139.31} {Type Sonar} {Name Sonar0 Range 5.6388} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.302} {Name Sonar8 Range 2.54} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8034} {Name Sonar14 Range 6.3754} {Name Sonar15 Range 3.9878} SEN {Time 139.359} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.18,0.18,0.18,0.18,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.152,0.147,0.145,0.145,0.145,0.149,0.153,0.154,0.154,0.154,0.154,0.158,0.16,0.28,0,0,0,0,0,0,0,0.157,0.154,0.154,0.154,0.152,0.148,0.143,0.113,0.1,0.071,0.063,0.063,0.063,0.063,0.063,0.068,0.071,0.071,0.066,0.066,0.064,0.064,0.066,0.086,0.086,0.089,0,0,0,0,0,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,3.041,3.04,3.036,3.032,3.027,3.024,3.021,3.013,3.008,3.003,3,2.994,2.991,2.986,2.985,2.982,2.981,2.977,2.972,2.972,2.972,2.971,2.971,2.966,2.962,2.96,2.96,2.957,2.957,2.957,2.957,2.954,2.952,2.943,2.943,2.943,2.942,2.931,2.931,2.931,2.936,3.483,3.483,3.483,3.483,3.481,3.475,3.468,3.468,3.468,3.468,3.47,3.475,3.475,3.474,3.474,3.47,3.47,3.47,3.47,3.477,3.477,3.48,3.484,3.484,3.486,3.486,3.484,3.486,3.489,3.496,3.496,3.497,3.498,3.502,3.503,3.503,3.503,3.514,3.519,3.523,3.525,3.528,3.532,3.537,3.542,3.543,3.553,3.556,3.561,3.573,3.575,3.579,3.582,3.594,3.594,3.601,3.615,3.621,3.629,3.632,3.636,3.641,3.649,3.655,3.662,3.682,3.682,3.69,3.691,3.699,3.706,3.726,3.73,3.731,3.734,3.743,3.762,3.769,3.782,3.789,3.797,3.802,3.811,3.827,3.84,3.841,3.848,3.88,3.881,3.884,3.908,3.919,3.922,3.942,3.966,3.968,3.975,3.997,4.006,4.024,4.052,4.055,4.082,0.016,0.016,0.016,0.016,4.081,4.042,4,3.982,3.948,3.909,3.879,3.864,3.822,3.797,3.765,3.735,3.726,3.687,3.664,3.636,3.61,3.579,3.557,3.535,3.528,3.488,3.488,3.465,3.431,3.428,3.418,3.381,3.364,3.358,3.329,3.309,3.28,3.276,3.269,3.243,3.232,3.221,3.195,3.179,3.157,3.137,3.125,3.105,3.101,3.088,3.066,3.053,3.049,3.029,3.017,2.997,2.994,2.985,2.965,2.953,2.944,2.938,2.916,2.912,2.894,2.886,2.867,2.867,2.852,2.843,2.83,2.821,2.809,2.787,2.784,2.77,2.768,2.762,2.748,2.73,2.728,2.726,2.717,2.701,2.691,2.683,2.678,2.678,2.67,2.66,2.65,2.646,2.64,2.631,2.627,2.625,2.624,2.61,2.605,2.601,2.585,2.576,2.575,2.572,2.569,2.56,2.551,2.55,2.539,2.537,2.533,2.52,2.519,2.514,2.514,2.513,2.507,2.505,2.502,2.498,2.498,2.491,2.491,2.485,2.484,2.483,2.48,2.475,2.47,2.465,2.464,2.462,2.459,2.457,2.454,2.454,2.454,2.454,2.454,2.454,2.45,2.442,2.439,2.437,2.436,2.434,2.432,2.431,2.43,2.43,2.43,2.43,2.433,2.434,2.433,2.425,2.433,2.432,2.425,2.431,2.431,2.429,2.429,2.431,2.43,2.431,2.431,2.435,2.435,2.438,2.438,2.439,2.439,2.439,2.441,2.45,2.452,2.452,2.453,2.453,2.454,2.455,2.455,2.462,2.468,2.468,2.468,2.468,2.473,2.48,2.481,2.493,2.495,2.497,2.497,2.501,2.506,2.51,2.515,2.517,2.524,2.528,2.532,2.538,2.54,2.541,2.555,2.556,2.559,2.568,2.582,2.582,2.585,2.585,2.598,2.602,2.608,2.61,2.616,2.622,2.641,2.644,2.656,2.66,2.68,2.687,2.687,2.693,2.695,2.705,2.712,2.72,2.725,2.737,2.754,2.754,2.769,2.777,2.781,2.795,2.811,2.814,2.822,2.825,2.843,2.855,2.859,2.873,2.886,2.906,2.911,2.917,2.931,2.953,2.96,2.965,2.993,2.999,3,3.009,3.031,3.044,3.058,3.065,3.083,3.091,3.105,3.123,3.148,3.151,3.16,3.186,3.195,3.215,3.232,3.249,3.266,3.289,3.298,3.323,3.335,3.356,3.383,3.387,3.422,3.436,3.46,3.476,3.511,3.524,3.556,3.574,3.598,3.622,3.652,3.673,3.696,3.723,3.775,3.775,3.809,3.848,3.859,3.882,3.952,3.987,4.018,4.018,4.061,4.095,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.398,3.38,3.376,3.369,3.359,3.336,3.331,3.329,3.317,3.304,3.295,3.292,3.276,3.267,3.262,3.258,3.249,3.244,3.238,3.226,3.22,3.21,3.205,3.196,3.186,3.183,3.174,3.173,3.17,3.158,3.158,3.156,3.149,3.148,3.144,3.135,3.121,3.121,3.121,3.116,3.111,3.111,3.111,3.099,3.095,3.095,3.087,3.087,3.087,3.084,3.08,3.078,3.075,3.071,3.07,3.065,3.065,3.071,3.075,3.075,3.075,3.061,3.058,3.051,3.051,3.051,3.049,3.049,3.049,3.047,3.047,3.045,3.045,3.045,3.045,3.048,3.049,3.048,3.048,3.048,3.043,3.043,3.048,3.055,3.058,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 139.52} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.403171} SEN {Time 139.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 139.518} {Type Sonar} {Name Sonar0 Range 5.6388} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.3754} {Name Sonar15 Range 3.9878} SEN {Time 139.559} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.186,0.183,0.183,0.183,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.141,0.141,0.141,0.155,0.153,0.155,0.155,0.156,0.161,0.286,0,0,0,0,0,0,0.161,0.153,0.152,0.15,0.15,0.149,0.141,0.14,0.118,0.095,0.07,0.068,0.064,0.064,0.066,0.065,0.066,0.066,0.068,0.068,0.068,0.067,0.067,0.067,0.074,0.076,0.097,0.1,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,3.047,3.044,3.044,3.039,3.036,3.029,3.025,3.02,3.007,3.005,2.999,2.999,2.998,2.992,2.99,2.98,2.98,2.98,2.975,2.974,2.973,2.967,2.962,2.961,2.955,2.955,2.95,2.95,2.95,2.952,2.952,2.952,2.95,2.945,2.941,2.939,2.934,2.934,2.926,2.926,2.936,3.476,3.478,3.478,3.478,3.477,3.478,3.479,3.479,3.476,3.473,3.471,3.471,3.471,3.473,3.475,3.476,3.475,3.475,3.475,3.475,3.474,3.474,3.481,3.485,3.485,3.487,3.492,3.485,3.488,3.488,3.488,3.488,3.491,3.507,3.507,3.508,3.508,3.511,3.52,3.522,3.526,3.528,3.53,3.532,3.54,3.545,3.546,3.55,3.562,3.571,3.583,3.585,3.585,3.585,3.591,3.596,3.609,3.614,3.625,3.632,3.641,3.645,3.647,3.649,3.657,3.673,3.675,3.683,3.695,3.696,3.702,3.714,3.723,3.727,3.736,3.745,3.749,3.778,3.779,3.785,3.789,3.813,3.821,3.836,3.839,3.848,3.85,3.88,3.882,3.893,3.901,3.922,3.941,3.948,3.968,3.984,3.986,4.007,4.026,4.027,4.046,4.06,4.073,4.074,0.016,0.016,0.016,0.016,4.052,4.052,4.007,3.971,3.915,3.88,3.846,3.809,3.798,3.78,3.746,3.716,3.68,3.663,3.641,3.612,3.582,3.563,3.548,3.516,3.496,3.487,3.477,3.44,3.429,3.39,3.38,3.363,3.35,3.327,3.304,3.286,3.273,3.251,3.243,3.221,3.204,3.19,3.175,3.159,3.159,3.142,3.127,3.092,3.086,3.067,3.058,3.042,3.021,3.006,2.993,2.992,2.976,2.962,2.949,2.941,2.928,2.917,2.908,2.89,2.89,2.871,2.871,2.861,2.852,2.828,2.813,2.8,2.794,2.782,2.778,2.765,2.759,2.755,2.738,2.728,2.721,2.72,2.705,2.69,2.69,2.676,2.674,2.669,2.665,2.654,2.643,2.642,2.636,2.633,2.63,2.63,2.611,2.604,2.595,2.593,2.583,2.582,2.575,2.572,2.558,2.555,2.545,2.545,2.542,2.531,2.529,2.523,2.519,2.517,2.51,2.501,2.499,2.499,2.493,2.493,2.486,2.485,2.483,2.48,2.475,2.473,2.471,2.471,2.471,2.468,2.468,2.461,2.455,2.454,2.448,2.448,2.448,2.448,2.448,2.441,2.438,2.435,2.435,2.434,2.434,2.434,2.434,2.432,2.432,2.432,2.432,2.436,2.436,2.43,2.429,2.43,2.43,2.43,2.432,2.433,2.432,2.433,2.433,2.433,2.433,2.433,2.434,2.434,2.434,2.434,2.442,2.442,2.442,2.442,2.442,2.447,2.448,2.449,2.451,2.457,2.461,2.462,2.465,2.471,2.472,2.473,2.478,2.478,2.48,2.48,2.494,2.495,2.496,2.496,2.498,2.503,2.509,2.512,2.517,2.518,2.518,2.533,2.534,2.536,2.542,2.546,2.551,2.568,2.569,2.587,2.587,2.587,2.589,2.599,2.6,2.604,2.619,2.625,2.627,2.642,2.651,2.651,2.661,2.667,2.677,2.681,2.693,2.697,2.706,2.711,2.72,2.726,2.726,2.734,2.765,2.772,2.772,2.786,2.798,2.81,2.813,2.819,2.823,2.85,2.855,2.867,2.875,2.885,2.906,2.912,2.914,2.934,2.942,2.955,2.974,2.987,2.996,3.004,3.011,3.036,3.051,3.054,3.075,3.078,3.102,3.107,3.122,3.139,3.154,3.167,3.184,3.197,3.221,3.246,3.253,3.268,3.284,3.301,3.319,3.346,3.356,3.379,3.388,3.425,3.444,3.459,3.472,3.493,3.526,3.541,3.58,3.6,3.628,3.658,3.676,3.7,3.734,3.762,3.786,3.804,3.842,3.852,3.896,3.921,3.963,3.987,4.015,4.063,4.087,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.404,3.386,3.376,3.36,3.347,3.343,3.334,3.325,3.32,3.311,3.296,3.287,3.282,3.27,3.263,3.254,3.251,3.247,3.229,3.221,3.22,3.214,3.197,3.196,3.189,3.188,3.183,3.175,3.17,3.166,3.165,3.15,3.141,3.14,3.137,3.132,3.124,3.121,3.118,3.118,3.118,3.103,3.101,3.099,3.097,3.095,3.092,3.092,3.087,3.085,3.078,3.072,3.072,3.072,3.072,3.069,3.075,3.076,3.076,3.075,3.075,3.061,3.057,3.056,3.055,3.056,3.048,3.048,3.052,3.052,3.048,3.049,3.049,3.044,3.049,3.049,3.048,3.046,3.046,3.046,3.044,3.046,3.046,3.047,3.058,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 139.71} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.403171} SEN {Time 139.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 139.711} {Type Sonar} {Name Sonar0 Range 5.6388} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 3.9878} SEN {Time 139.759} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.174,0.183,0.178,0.178,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.152,0.15,0.149,0.145,0.145,0.145,0.144,0.144,0.155,0.155,0.156,0.156,0.157,0.161,0.291,0,0,0,0,0,0,0,0.164,0.161,0.157,0.161,0.157,0.14,0.14,0.12,0.096,0.064,0.064,0.064,0.064,0.066,0.066,0.066,0.069,0.069,0.069,0.069,0.068,0.067,0.068,0.068,0.081,0.092,0.095,0.098,0,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,3.052,3.049,3.035,3.034,3.029,3.027,3.022,3.017,3.006,3.002,3.001,2.999,2.996,2.99,2.989,2.984,2.982,2.975,2.975,2.975,2.973,2.971,2.967,2.966,2.965,2.964,2.964,2.958,2.956,2.956,2.956,2.943,2.941,2.938,2.938,2.935,2.934,2.934,2.934,2.934,2.937,3.472,3.477,3.477,3.474,3.474,3.477,3.474,3.474,3.473,3.472,3.469,3.472,3.472,3.471,3.471,3.471,3.471,3.471,3.471,3.471,3.474,3.474,3.476,3.478,3.478,3.48,3.482,3.482,3.483,3.486,3.491,3.492,3.495,3.502,3.504,3.51,3.511,3.517,3.519,3.52,3.523,3.528,3.535,3.535,3.538,3.539,3.547,3.557,3.558,3.568,3.576,3.58,3.582,3.598,3.602,3.602,3.618,3.618,3.628,3.638,3.645,3.65,3.654,3.66,3.668,3.677,3.68,3.686,3.687,3.703,3.713,3.726,3.729,3.74,3.741,3.746,3.759,3.769,3.775,3.79,3.796,3.811,3.817,3.823,3.835,3.842,3.855,3.874,3.882,3.894,3.91,3.918,3.929,3.941,3.956,3.979,3.996,4.003,4.005,4.031,4.042,4.07,4.072,4.09,0.016,0.016,0.016,4.095,4.058,4.012,3.976,3.943,3.89,3.868,3.852,3.828,3.785,3.778,3.735,3.724,3.692,3.666,3.643,3.61,3.586,3.566,3.547,3.522,3.501,3.487,3.46,3.447,3.431,3.394,3.377,3.37,3.341,3.331,3.311,3.279,3.269,3.251,3.251,3.25,3.225,3.19,3.181,3.148,3.135,3.13,3.101,3.098,3.085,3.069,3.058,3.052,3.025,3.023,2.999,2.996,2.976,2.959,2.953,2.947,2.94,2.918,2.906,2.896,2.884,2.87,2.869,2.86,2.846,2.822,2.82,2.809,2.796,2.788,2.773,2.772,2.761,2.758,2.737,2.73,2.721,2.712,2.707,2.704,2.694,2.675,2.673,2.666,2.661,2.65,2.644,2.644,2.638,2.636,2.632,2.615,2.607,2.598,2.591,2.591,2.581,2.576,2.575,2.567,2.56,2.559,2.545,2.542,2.538,2.537,2.523,2.521,2.519,2.516,2.512,2.511,2.5,2.497,2.497,2.497,2.497,2.491,2.487,2.486,2.472,2.468,2.468,2.468,2.46,2.46,2.46,2.457,2.459,2.448,2.448,2.45,2.45,2.448,2.448,2.447,2.439,2.439,2.437,2.434,2.434,2.434,2.431,2.431,2.431,2.437,2.429,2.43,2.43,2.427,2.427,2.429,2.428,2.428,2.429,2.428,2.428,2.427,2.431,2.431,2.431,2.431,2.433,2.433,2.436,2.439,2.439,2.439,2.439,2.44,2.441,2.446,2.446,2.448,2.457,2.457,2.458,2.459,2.459,2.463,2.465,2.465,2.468,2.472,2.476,2.487,2.492,2.494,2.499,2.501,2.504,2.508,2.511,2.516,2.516,2.517,2.524,2.532,2.533,2.537,2.547,2.553,2.554,2.559,2.568,2.58,2.582,2.586,2.591,2.597,2.599,2.602,2.62,2.622,2.624,2.636,2.638,2.651,2.661,2.67,2.673,2.682,2.691,2.7,2.701,2.707,2.717,2.722,2.736,2.742,2.753,2.76,2.78,2.782,2.795,2.814,2.816,2.824,2.825,2.854,2.855,2.867,2.876,2.888,2.891,2.918,2.934,2.949,2.949,2.958,2.967,2.978,2.999,3,3.012,3.025,3.046,3.047,3.067,3.086,3.1,3.104,3.124,3.144,3.161,3.165,3.184,3.201,3.216,3.237,3.252,3.276,3.286,3.291,3.326,3.333,3.354,3.382,3.388,3.414,3.44,3.47,3.487,3.509,3.53,3.546,3.569,3.612,3.614,3.649,3.67,3.692,3.714,3.755,3.774,3.797,3.848,3.86,3.889,3.916,3.952,3.981,4.018,4.051,0.016,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.413,3.386,3.373,3.37,3.353,3.345,3.339,3.324,3.319,3.299,3.297,3.295,3.278,3.274,3.272,3.261,3.259,3.245,3.234,3.231,3.221,3.216,3.201,3.199,3.193,3.182,3.175,3.175,3.174,3.164,3.162,3.153,3.153,3.142,3.139,3.135,3.126,3.123,3.121,3.119,3.113,3.113,3.105,3.104,3.101,3.1,3.097,3.092,3.088,3.082,3.079,3.078,3.075,3.075,3.071,3.063,3.063,3.071,3.075,3.075,3.075,3.067,3.063,3.054,3.053,3.051,3.05,3.045,3.048,3.044,3.043,3.043,3.043,3.043,3.044,3.049,3.049,3.049,3.044,3.047,3.04,3.04,3.047,3.055,3.059,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 139.91} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.403171} SEN {Time 139.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 139.913} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 3.9878} SEN {Time 139.959} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.179,0.185,0.185,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.147,0.146,0.141,0.141,0.141,0.143,0.143,0.145,0.149,0.149,0.153,0.153,0.16,0.161,0.288,0,0,0,0,0,0,0,0.157,0.155,0.153,0.152,0.15,0.15,0.147,0.114,0.084,0.069,0.069,0.064,0.064,0.066,0.066,0.066,0.069,0.069,0.068,0.068,0.064,0.064,0.064,0.07,0.085,0.086,0.09,0,0,0.006,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,3.041,3.038,3.037,3.035,3.028,3.026,3.025,3.019,3.008,3.006,3.005,2.998,2.997,2.993,2.985,2.979,2.979,2.978,2.975,2.973,2.972,2.964,2.962,2.962,2.958,2.955,2.955,2.953,2.951,2.949,2.949,2.949,2.949,2.948,2.948,2.945,2.943,2.937,2.933,2.933,2.937,3.392,3.475,3.477,3.477,3.477,3.478,3.48,3.48,3.48,3.476,3.467,3.467,3.472,3.472,3.473,3.473,3.473,3.473,3.473,3.475,3.479,3.481,3.481,3.483,3.481,3.483,3.483,3.486,3.492,3.492,3.492,3.493,3.498,3.499,3.5,3.508,3.512,3.515,3.515,3.52,3.52,3.527,3.535,3.54,3.541,3.542,3.544,3.566,3.567,3.568,3.568,3.579,3.583,3.591,3.601,3.604,3.614,3.615,3.628,3.628,3.648,3.649,3.652,3.653,3.67,3.673,3.678,3.681,3.7,3.701,3.704,3.712,3.727,3.733,3.738,3.738,3.758,3.764,3.777,3.784,3.798,3.802,3.803,3.835,3.836,3.838,3.847,3.876,3.883,3.896,3.906,3.92,3.941,3.946,3.962,3.987,3.99,4.008,4.017,4.035,4.052,4.06,4.077,4.078,0.016,0.016,0.016,0.016,4.039,3.997,3.975,3.947,3.904,3.869,3.851,3.814,3.789,3.761,3.739,3.724,3.697,3.664,3.639,3.613,3.587,3.561,3.546,3.512,3.495,3.485,3.462,3.438,3.423,3.402,3.384,3.359,3.342,3.329,3.302,3.275,3.274,3.254,3.245,3.222,3.204,3.187,3.179,3.158,3.139,3.126,3.114,3.091,3.08,3.067,3.049,3.04,3.024,3.018,3,2.991,2.971,2.959,2.953,2.949,2.927,2.911,2.902,2.891,2.884,2.874,2.873,2.845,2.842,2.841,2.816,2.802,2.795,2.789,2.775,2.77,2.758,2.754,2.737,2.731,2.724,2.715,2.708,2.696,2.692,2.684,2.675,2.668,2.656,2.653,2.644,2.638,2.633,2.633,2.625,2.624,2.621,2.607,2.591,2.586,2.584,2.579,2.576,2.562,2.557,2.555,2.546,2.539,2.535,2.533,2.532,2.527,2.518,2.516,2.509,2.508,2.505,2.499,2.492,2.491,2.487,2.484,2.483,2.482,2.477,2.474,2.471,2.47,2.466,2.461,2.456,2.455,2.455,2.455,2.455,2.453,2.451,2.451,2.45,2.441,2.439,2.439,2.439,2.436,2.435,2.436,2.436,2.435,2.436,2.438,2.438,2.432,2.432,2.429,2.429,2.429,2.429,2.429,2.429,2.428,2.428,2.428,2.428,2.428,2.428,2.435,2.435,2.435,2.435,2.438,2.437,2.436,2.437,2.439,2.441,2.445,2.445,2.453,2.455,2.456,2.455,2.46,2.463,2.463,2.468,2.473,2.473,2.474,2.476,2.485,2.491,2.491,2.492,2.502,2.502,2.506,2.508,2.508,2.513,2.515,2.525,2.534,2.535,2.538,2.545,2.551,2.556,2.557,2.572,2.583,2.584,2.585,2.585,2.595,2.6,2.602,2.62,2.623,2.633,2.644,2.644,2.646,2.661,2.669,2.679,2.68,2.687,2.694,2.709,2.71,2.714,2.728,2.728,2.742,2.753,2.772,2.773,2.779,2.799,2.809,2.815,2.819,2.831,2.848,2.854,2.869,2.878,2.896,2.901,2.913,2.92,2.929,2.948,2.96,2.975,2.981,2.996,3.009,3.014,3.025,3.05,3.056,3.079,3.082,3.09,3.102,3.125,3.138,3.148,3.169,3.181,3.196,3.216,3.239,3.255,3.275,3.285,3.32,3.347,3.363,3.363,3.379,3.386,3.428,3.443,3.459,3.487,3.497,3.53,3.555,3.571,3.588,3.626,3.649,3.669,3.695,3.725,3.756,3.783,3.817,3.852,3.862,3.895,3.922,3.96,3.996,4.046,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.404,3.392,3.375,3.365,3.355,3.347,3.334,3.324,3.321,3.311,3.295,3.289,3.283,3.273,3.262,3.257,3.25,3.243,3.233,3.228,3.221,3.218,3.208,3.201,3.194,3.19,3.179,3.176,3.171,3.168,3.16,3.157,3.142,3.138,3.138,3.133,3.126,3.124,3.122,3.112,3.112,3.106,3.103,3.101,3.095,3.095,3.092,3.09,3.089,3.085,3.084,3.079,3.071,3.068,3.065,3.065,3.065,3.065,3.071,3.071,3.071,3.068,3.059,3.053,3.053,3.053,3.053,3.052,3.053,3.052,3.046,3.046,3.046,3.046,3.046,3.047,3.048,3.047,3.047,3.047,3.045,3.045,3.047,3.058,3.061,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 140.12} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.389208} SEN {Time 140.12} {Type Tachometer} {Name LeftRight} {Vel -0.068580,0.068580} SEN {Time 140.116} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 3.9878} SEN {Time 140.159} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.181,0.175,0.181,0.181,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.16,0.15,0.142,0.15,0.145,0.145,0.145,0.149,0.149,0.156,0.156,0.161,0.163,0.33,0,0,0,0,0,0,0,0.16,0.157,0.156,0.149,0.147,0.142,0.14,0.118,0.094,0.068,0.068,0.064,0.066,0.068,0.068,0.068,0.068,0.068,0.068,0.066,0.066,0.066,0.066,0.079,0.08,0,0,0.006,0.006,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,3.033,3.033,3.032,3.03,3.025,3.015,3.014,3.008,3.005,3,3,2.99,2.99,2.985,2.984,2.98,2.975,2.973,2.973,2.97,2.97,2.965,2.962,2.958,2.956,2.956,2.954,2.954,2.954,2.954,2.953,2.947,2.943,2.94,2.939,2.938,2.937,2.937,2.938,3.472,3.478,3.48,3.478,3.48,3.48,3.48,3.48,3.48,3.48,3.473,3.473,3.473,3.473,3.478,3.478,3.478,3.478,3.478,3.477,3.477,3.477,3.482,3.482,3.485,3.486,3.487,3.491,3.492,3.493,3.497,3.5,3.502,3.504,3.508,3.514,3.514,3.515,3.516,3.521,3.528,3.53,3.542,3.542,3.544,3.547,3.555,3.556,3.565,3.571,3.571,3.572,3.583,3.596,3.602,3.606,3.62,3.621,3.622,3.628,3.635,3.642,3.653,3.659,3.665,3.67,3.676,3.681,3.695,3.706,3.706,3.726,3.729,3.737,3.749,3.756,3.762,3.772,3.787,3.788,3.789,3.803,3.818,3.833,3.844,3.854,3.873,3.878,3.882,3.893,3.907,3.928,3.934,3.951,3.961,3.967,3.987,4.003,4.022,4.034,4.047,4.069,4.072,4.092,0.016,0.016,0.016,4.081,4.041,3.998,3.975,3.937,3.9,3.881,3.855,3.808,3.791,3.771,3.743,3.703,3.696,3.665,3.63,3.605,3.585,3.555,3.538,3.514,3.486,3.478,3.445,3.429,3.418,3.391,3.386,3.34,3.337,3.324,3.296,3.277,3.258,3.249,3.23,3.215,3.205,3.181,3.168,3.153,3.128,3.124,3.109,3.089,3.076,3.059,3.04,3.029,3.025,3.007,2.99,2.985,2.973,2.963,2.936,2.929,2.929,2.91,2.904,2.887,2.876,2.868,2.86,2.844,2.835,2.819,2.816,2.809,2.788,2.782,2.769,2.761,2.746,2.739,2.736,2.722,2.708,2.701,2.695,2.694,2.682,2.672,2.67,2.659,2.656,2.645,2.64,2.632,2.629,2.626,2.615,2.612,2.612,2.595,2.592,2.585,2.578,2.569,2.564,2.556,2.554,2.549,2.543,2.536,2.534,2.532,2.524,2.517,2.512,2.509,2.509,2.503,2.492,2.492,2.488,2.484,2.481,2.478,2.475,2.474,2.472,2.472,2.466,2.462,2.462,2.461,2.459,2.458,2.454,2.453,2.449,2.448,2.445,2.439,2.439,2.437,2.436,2.436,2.436,2.436,2.436,2.432,2.432,2.432,2.428,2.427,2.427,2.428,2.426,2.431,2.431,2.43,2.427,2.427,2.426,2.427,2.427,2.426,2.427,2.427,2.427,2.428,2.43,2.43,2.437,2.437,2.438,2.439,2.442,2.442,2.442,2.444,2.45,2.45,2.454,2.455,2.456,2.462,2.462,2.466,2.466,2.473,2.481,2.482,2.485,2.49,2.496,2.497,2.499,2.507,2.509,2.51,2.512,2.514,2.521,2.531,2.535,2.537,2.542,2.548,2.548,2.557,2.562,2.57,2.57,2.579,2.588,2.597,2.6,2.611,2.612,2.615,2.626,2.628,2.632,2.649,2.651,2.658,2.676,2.679,2.689,2.695,2.7,2.705,2.717,2.719,2.724,2.744,2.746,2.763,2.77,2.778,2.787,2.802,2.816,2.82,2.827,2.842,2.85,2.851,2.863,2.888,2.889,2.917,2.922,2.937,2.939,2.952,2.967,2.973,2.992,3.008,3.02,3.037,3.049,3.061,3.061,3.086,3.102,3.11,3.125,3.148,3.159,3.164,3.188,3.207,3.219,3.232,3.256,3.265,3.284,3.308,3.322,3.343,3.372,3.378,3.399,3.426,3.43,3.455,3.482,3.51,3.527,3.549,3.579,3.608,3.625,3.643,3.664,3.694,3.727,3.756,3.772,3.809,3.843,3.879,3.905,3.935,3.978,3.989,4.043,4.07,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.35,3.348,3.326,3.307,3.305,3.293,3.29,3.283,3.267,3.262,3.247,3.242,3.241,3.233,3.223,3.223,3.216,3.21,3.196,3.186,3.183,3.169,3.165,3.161,3.159,3.154,3.146,3.144,3.136,3.135,3.132,3.129,3.128,3.114,3.111,3.105,3.099,3.099,3.099,3.095,3.089,3.084,3.083,3.081,3.079,3.081,3.081,3.074,3.074,3.06,3.06,3.06,3.061,3.069,3.069,3.069,3.057,3.057,3.049,3.048,3.048,3.046,3.046,3.044,3.042,3.04,3.04,3.04,3.04,3.04,3.041,3.045,3.045,3.045,3.045,3.045,3.045,3.043,3.045,3.045,3.045,3.045,3.045,3.046,3.063,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 140.32} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.289725} SEN {Time 140.32} {Type Tachometer} {Name LeftRight} {Vel -0.091440,0.091440} SEN {Time 140.319} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 3.7846} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.096} {Name Sonar15 Range 3.9878} SEN {Time 140.355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.191,0.182,0.191,0.191,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0.007,0,3.748,0.157,0.151,0.151,0.144,0.144,0.145,0.145,0.145,0.152,0.152,0.155,0.155,0.159,0.159,0,0,0,0,0,0,0,0.154,0.154,0.154,0.154,0.154,0.15,0.147,0.147,0.113,0.097,0.072,0.066,0.065,0.065,0.066,0.066,0.072,0.072,0.071,0.071,0.064,0.06,0.057,0.057,0.057,3.079,0.009,0.009,0.009,0.009,0.009,0.007,3.067,3.053,3.048,3.039,3.028,3.016,3.013,3.003,2.997,2.994,2.992,2.992,2.987,2.984,2.982,2.979,2.978,2.978,2.973,2.965,2.963,2.962,2.961,2.96,2.952,2.952,2.951,2.945,2.943,2.943,2.943,2.943,2.943,2.948,2.949,3.478,3.479,3.479,3.48,3.488,3.49,3.49,3.49,3.487,3.484,3.484,3.487,3.484,3.484,3.488,3.485,3.485,3.487,3.49,3.49,3.491,3.491,3.495,3.495,3.495,3.492,3.497,3.497,3.498,3.5,3.505,3.505,3.508,3.513,3.515,3.515,3.516,3.516,3.528,3.533,3.535,3.546,3.546,3.546,3.548,3.55,3.568,3.574,3.576,3.576,3.584,3.598,3.604,3.613,3.613,3.616,3.62,3.636,3.637,3.643,3.647,3.648,3.657,3.667,3.677,3.682,3.683,3.685,3.711,3.715,3.72,3.725,3.738,3.74,3.761,3.781,3.784,3.785,3.802,3.812,3.823,3.827,3.844,3.863,3.867,3.868,3.892,3.904,3.912,3.937,3.946,3.955,3.956,3.966,3.995,4.013,4.013,4.041,4.053,4.056,4.077,4.091,0.016,0.016,0.016,0.016,4.06,4.016,3.975,3.961,3.906,3.886,3.856,3.835,3.808,3.757,3.745,3.716,3.689,3.654,3.631,3.615,3.586,3.565,3.539,3.518,3.496,3.476,3.449,3.442,3.415,3.385,3.377,3.357,3.336,3.315,3.299,3.28,3.266,3.241,3.232,3.197,3.182,3.173,3.168,3.154,3.129,3.122,3.104,3.102,3.08,3.061,3.053,3.039,3.034,3.004,2.994,2.979,2.972,2.961,2.948,2.941,2.928,2.911,2.903,2.897,2.876,2.864,2.856,2.846,2.833,2.819,2.808,2.805,2.785,2.775,2.768,2.767,2.757,2.738,2.734,2.73,2.718,2.712,2.703,2.697,2.69,2.668,2.667,2.666,2.653,2.645,2.643,2.629,2.622,2.612,2.608,2.607,2.594,2.591,2.585,2.578,2.569,2.556,2.55,2.548,2.547,2.543,2.535,2.53,2.528,2.521,2.517,2.51,2.509,2.508,2.505,2.502,2.496,2.491,2.483,2.481,2.481,2.477,2.476,2.466,2.466,2.458,2.455,2.455,2.447,2.446,2.446,2.445,2.442,2.442,2.437,2.436,2.431,2.431,2.431,2.431,2.429,2.431,2.429,2.428,2.428,2.428,2.428,2.428,2.419,2.418,2.418,2.418,2.416,2.416,2.417,2.417,2.417,2.417,2.417,2.419,2.417,2.419,2.419,2.419,2.424,2.424,2.424,2.425,2.428,2.429,2.43,2.435,2.435,2.439,2.441,2.441,2.441,2.441,2.445,2.448,2.448,2.451,2.46,2.463,2.466,2.466,2.467,2.467,2.475,2.475,2.485,2.486,2.487,2.488,2.493,2.503,2.505,2.514,2.517,2.523,2.53,2.53,2.531,2.533,2.543,2.549,2.551,2.558,2.563,2.571,2.58,2.587,2.589,2.598,2.602,2.606,2.61,2.621,2.632,2.635,2.647,2.651,2.656,2.671,2.676,2.677,2.688,2.697,2.715,2.721,2.73,2.733,2.749,2.749,2.764,2.769,2.777,2.787,2.788,2.801,2.821,2.831,2.837,2.853,2.855,2.872,2.881,2.892,2.905,2.912,2.925,2.936,2.944,2.966,2.986,2.992,3.002,3.014,3.027,3.037,3.047,3.061,3.08,3.102,3.115,3.121,3.141,3.154,3.17,3.182,3.197,3.225,3.237,3.249,3.268,3.298,3.317,3.335,3.34,3.369,3.385,3.405,3.424,3.45,3.464,3.492,3.513,3.54,3.565,3.581,3.603,3.626,3.643,3.69,3.712,3.737,3.755,3.79,3.811,3.848,3.877,3.934,3.965,4.009,4.009,4.047,4.08,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.303,3.295,3.293,3.278,3.265,3.262,3.253,3.235,3.229,3.228,3.21,3.21,3.208,3.196,3.19,3.18,3.177,3.164,3.163,3.161,3.154,3.148,3.141,3.137,3.131,3.126,3.126,3.116,3.114,3.106,3.105,3.104,3.097,3.096,3.092,3.09,3.081,3.081,3.081,3.081,3.073,3.071,3.063,3.061,3.058,3.053,3.053,3.047,3.047,3.053,3.047,3.05,3.05,3.047,3.043,3.043,3.043,3.043,3.042,3.042,3.042,3.039,3.037,3.037,3.035,3.035,3.036,3.036,3.041,3.043,3.041,3.044,3.043,3.043,3.04,3.043,3.043,3.041,3.045,3.049,3.045,3.045,3.045,3.05,3.05,3.051,3.054,3.058,3.064,3.066,3.07,3.07,3.07,3.07,3.07,3.08,3.091,3.092,3.1,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 140.51} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.190241} SEN {Time 140.51} {Type Tachometer} {Name LeftRight} {Vel -0.053340,0.053340} SEN {Time 140.513} {Type Sonar} {Name Sonar0 Range 2.413} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 3.7592} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.54} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.096} {Name Sonar15 Range 5.3594} SEN {Time 140.555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.191,0.177,0.191,0.191,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.659,3.659,3.641,3.623,3.587,3.546,3.475,3.446,3.306,3.306,3.306,3.284,3.284,0.152,0.147,0.145,0.145,0.145,0.139,0.139,0.139,0.149,0.149,0.151,0.151,0.151,0.153,0.006,0.009,0.009,0.009,0.006,0.006,0,0,0.16,0.156,0.156,0.153,0.15,0.14,0.14,0.111,0.091,0.066,0.066,0.064,0.064,0.064,0.064,0.068,0.068,0.068,0.068,0.067,0.064,0.052,0.052,0.052,3.031,3.031,3.032,3.031,3.024,3.021,3.015,3.004,2.994,2.991,2.991,2.982,2.973,2.97,2.967,2.967,2.965,2.962,2.962,2.961,2.961,2.957,2.957,2.964,3.485,3.485,3.485,3.487,3.491,3.487,3.488,3.489,3.489,3.488,3.488,3.488,3.488,3.485,3.488,3.488,3.489,3.486,3.489,3.49,3.491,3.49,3.491,3.498,3.501,3.498,3.506,3.511,3.511,3.51,3.511,3.51,3.51,3.516,3.516,3.517,3.52,3.524,3.525,3.529,3.535,3.541,3.546,3.546,3.552,3.556,3.556,3.56,3.568,3.579,3.579,3.583,3.586,3.593,3.605,3.612,3.614,3.619,3.62,3.62,3.642,3.643,3.654,3.656,3.672,3.676,3.681,3.681,3.699,3.708,3.717,3.735,3.738,3.743,3.75,3.756,3.763,3.771,3.791,3.797,3.807,3.815,3.831,3.831,3.843,3.852,3.861,3.87,3.895,3.913,3.917,3.932,3.934,3.954,3.98,3.996,4,4.018,4.027,4.058,4.065,4.082,0.016,0.016,0.016,0.016,0.007,0,0.007,4.047,3.977,3.977,3.943,3.926,3.857,3.817,3.785,3.759,3.737,3.708,3.686,3.667,3.634,3.611,3.598,3.561,3.526,3.505,3.489,3.473,3.446,3.432,3.408,3.381,3.359,3.349,3.319,3.307,3.289,3.276,3.256,3.232,3.212,3.196,3.181,3.174,3.149,3.133,3.115,3.106,3.104,3.062,3.057,3.056,3.039,3.029,3.016,3.003,2.989,2.978,2.962,2.951,2.941,2.924,2.917,2.905,2.893,2.879,2.876,2.858,2.845,2.838,2.826,2.819,2.812,2.798,2.789,2.779,2.768,2.764,2.752,2.744,2.737,2.718,2.712,2.702,2.687,2.683,2.677,2.662,2.661,2.654,2.643,2.643,2.633,2.629,2.618,2.612,2.612,2.597,2.595,2.587,2.577,2.571,2.568,2.562,2.559,2.552,2.549,2.534,2.528,2.528,2.519,2.519,2.513,2.505,2.505,2.504,2.491,2.489,2.486,2.485,2.477,2.468,2.468,2.461,2.461,2.46,2.46,2.454,2.451,2.448,2.448,2.448,2.448,2.442,2.436,2.436,2.436,2.436,2.436,2.435,2.434,2.429,2.426,2.426,2.42,2.42,2.417,2.417,2.414,2.414,2.414,2.411,2.411,2.411,2.41,2.41,2.409,2.41,2.41,2.411,2.411,2.414,2.414,2.414,2.418,2.414,2.417,2.414,2.417,2.414,2.417,2.417,2.424,2.426,2.426,2.433,2.433,2.433,2.434,2.434,2.438,2.444,2.444,2.445,2.447,2.447,2.454,2.456,2.463,2.464,2.466,2.466,2.466,2.481,2.488,2.488,2.489,2.491,2.492,2.498,2.5,2.513,2.513,2.518,2.523,2.524,2.532,2.534,2.538,2.544,2.552,2.56,2.571,2.573,2.585,2.592,2.594,2.604,2.606,2.612,2.615,2.616,2.618,2.632,2.638,2.647,2.65,2.671,2.681,2.682,2.691,2.7,2.702,2.714,2.717,2.744,2.746,2.753,2.756,2.771,2.775,2.78,2.796,2.81,2.821,2.831,2.832,2.862,2.873,2.876,2.889,2.892,2.908,2.916,2.93,2.945,2.954,2.965,2.984,2.984,3.007,3.019,3.033,3.038,3.056,3.062,3.082,3.101,3.104,3.129,3.141,3.159,3.166,3.193,3.219,3.222,3.242,3.265,3.28,3.297,3.313,3.338,3.35,3.374,3.385,3.416,3.436,3.457,3.474,3.498,3.522,3.551,3.569,3.6,3.614,3.65,3.661,3.682,3.718,3.742,3.751,3.797,3.816,3.847,3.89,3.912,3.957,3.973,4.002,4.058,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0.006,0.009,0.009,0.006,0.006,3.367,3.352,3.341,3.323,3.31,3.31,3.304,3.284,3.269,3.268,3.265,3.253,3.239,3.234,3.229,3.213,3.212,3.209,3.197,3.187,3.183,3.177,3.174,3.166,3.165,3.148,3.146,3.137,3.136,3.13,3.124,3.119,3.114,3.114,3.107,3.101,3.1,3.094,3.087,3.084,3.082,3.08,3.078,3.072,3.071,3.062,3.059,3.056,3.056,3.056,3.056,3.05,3.05,3.045,3.045,3.045,3.058,3.058,3.058,3.037,3.037,3.032,3.032,3.035,3.035,3.028,3.028,3.028,3.028,3.028,3.03,3.031,3.03,3.033,3.033,3.03,3.027,3.03,3.03,3.029,3.036,3.036,3.038,3.04,3.048,3.049,3.049,3.049,3.052,3.053,3.055,3.055,3.054,3.054,3.055,3.057,3.059,3.062,3.063,3.068,3.074,3.074,3.074,3.075,3.079,3.083,3.086,3.086,3.097,3.097,3.114,3.117,3.118,3.119,3.122,3.13,3.143,3.16,3.16,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 140.71} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.146608} SEN {Time 140.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 140.712} {Type Sonar} {Name Sonar0 Range 2.413} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 3.7592} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 1.6256} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.096} {Name Sonar15 Range 5.3594} SEN {Time 140.755} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.178,0.178,0.178,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.632,3.622,3.602,3.414,3.414,3.237,3.237,3.288,3.288,3.288,3.311,0,0,0,0,0,0,0,0.148,0.148,0.148,0.142,0.142,0.148,0.148,0.148,0.149,0.148,0.149,0.152,0.152,0.152,0,0,0,0,0,0,0,0,0.158,0.155,0.151,0.15,0.143,0.141,0.139,0.111,0.091,0.073,0.068,0.068,0.066,0.067,0.067,0.067,0.067,0.067,0.069,0.067,0.062,0.062,0.069,3.029,3.029,3.029,3.014,3.014,3.01,3.005,3.001,2.999,2.987,2.981,2.981,2.979,2.972,2.971,2.971,2.964,2.964,2.974,3.481,3.481,3.481,3.481,3.481,3.484,3.487,3.487,3.489,3.487,3.487,3.487,3.489,3.489,3.494,3.494,3.494,3.494,3.497,3.498,3.501,3.501,3.501,3.501,3.501,3.5,3.5,3.505,3.509,3.512,3.522,3.522,3.524,3.525,3.526,3.531,3.535,3.536,3.538,3.546,3.548,3.552,3.552,3.552,3.559,3.56,3.573,3.583,3.586,3.587,3.588,3.589,3.605,3.614,3.616,3.627,3.63,3.634,3.638,3.639,3.645,3.659,3.664,3.668,3.673,3.685,3.691,3.704,3.707,3.715,3.719,3.731,3.732,3.741,3.764,3.771,3.777,3.777,3.795,3.802,3.818,3.834,3.84,3.842,3.856,3.879,3.879,3.882,3.9,3.924,3.935,3.943,3.947,3.98,3.981,4.006,4.006,4.026,4.029,4.051,4.072,4.093,0.016,0.016,0.016,0.016,4.084,4.047,4.015,3.975,3.961,3.92,3.898,3.898,3.872,3.833,3.787,3.761,3.734,3.705,3.677,3.648,3.618,3.612,3.574,3.549,3.523,3.516,3.487,3.469,3.442,3.427,3.397,3.372,3.36,3.34,3.325,3.309,3.286,3.271,3.253,3.236,3.215,3.199,3.19,3.165,3.143,3.136,3.121,3.106,3.087,3.086,3.057,3.051,3.027,3.019,3.007,2.991,2.978,2.978,2.962,2.949,2.938,2.928,2.914,2.904,2.884,2.873,2.872,2.852,2.844,2.839,2.837,2.822,2.817,2.8,2.792,2.781,2.775,2.756,2.747,2.744,2.733,2.724,2.723,2.71,2.698,2.693,2.684,2.67,2.669,2.656,2.639,2.639,2.626,2.626,2.619,2.618,2.602,2.596,2.596,2.589,2.587,2.576,2.571,2.564,2.563,2.55,2.549,2.539,2.533,2.53,2.525,2.523,2.514,2.509,2.504,2.5,2.497,2.49,2.486,2.486,2.484,2.473,2.472,2.462,2.459,2.456,2.456,2.454,2.454,2.449,2.447,2.445,2.443,2.442,2.435,2.43,2.43,2.432,2.428,2.424,2.426,2.424,2.424,2.424,2.42,2.418,2.42,2.42,2.416,2.413,2.413,2.412,2.412,2.41,2.41,2.414,2.414,2.414,2.414,2.415,2.413,2.415,2.414,2.415,2.417,2.419,2.417,2.418,2.418,2.418,2.418,2.424,2.424,2.424,2.425,2.428,2.428,2.431,2.433,2.44,2.44,2.44,2.445,2.445,2.448,2.448,2.455,2.455,2.457,2.462,2.465,2.465,2.472,2.479,2.483,2.492,2.497,2.498,2.5,2.5,2.513,2.514,2.517,2.517,2.522,2.522,2.528,2.539,2.54,2.548,2.553,2.555,2.56,2.569,2.577,2.582,2.596,2.599,2.6,2.613,2.623,2.626,2.628,2.632,2.649,2.65,2.655,2.658,2.677,2.678,2.688,2.699,2.7,2.712,2.728,2.729,2.74,2.748,2.758,2.767,2.775,2.787,2.802,2.803,2.816,2.822,2.83,2.848,2.861,2.867,2.88,2.892,2.895,2.922,2.929,2.943,2.946,2.961,2.97,2.98,3.001,3.006,3.017,3.033,3.05,3.065,3.078,3.098,3.113,3.121,3.132,3.144,3.166,3.182,3.195,3.202,3.22,3.241,3.259,3.275,3.307,3.313,3.335,3.361,3.377,3.401,3.416,3.44,3.458,3.485,3.505,3.521,3.556,3.57,3.589,3.626,3.641,3.666,3.697,3.727,3.753,3.774,3.808,3.837,3.872,3.89,3.925,3.957,3.984,4.011,4.059,4.092,0.016,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0.006,0.006,0.006,0.006,3.352,3.345,3.344,3.32,3.318,3.308,3.296,3.293,3.285,3.27,3.256,3.255,3.241,3.24,3.223,3.221,3.22,3.21,3.21,3.204,3.186,3.184,3.169,3.164,3.158,3.15,3.148,3.145,3.136,3.128,3.127,3.121,3.121,3.117,3.108,3.107,3.094,3.093,3.09,3.086,3.086,3.085,3.078,3.078,3.066,3.061,3.061,3.055,3.055,3.055,3.054,3.049,3.048,3.042,3.044,3.044,3.048,3.055,3.055,3.055,3.038,3.029,3.029,3.029,3.029,3.029,3.032,3.031,3.026,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.032,3.034,3.034,3.046,3.048,3.048,3.046,3.049,3.048,3.048,3.049,3.049,3.054,3.058,3.06,3.065,3.065,3.07,3.074,3.074,3.074,3.074,3.077,3.077,3.081,3.081,3.087,3.092,3.097,3.101,3.106,3.111,3.114,3.121,3.126,3.132,3.139,3.139,3.144,3.144,3.144,3.156,3.164,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 140.91} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.146608} SEN {Time 140.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 140.912} {Type Sonar} {Name Sonar0 Range 2.413} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.7592} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 6.096} {Name Sonar15 Range 5.3594} SEN {Time 140.955} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.181,0.181,0.184,0.184,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.923,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.678,3.659,3.652,3.639,3.639,3.624,3.624,0.007,0.006,3.182,0,3.309,3.309,3.328,0,0,0,0,0,0,0,0.149,0.144,0.144,0.144,0.144,0.143,0.148,0.148,0.149,0.149,0.153,0.153,0.154,0.158,0,0,0,0,0,0,0,0,0.158,0.155,0.155,0.152,0.148,0.14,0.14,0.111,0.097,0.078,0.068,0.068,0.066,0.068,0.067,0.068,0.069,0.069,0.068,0.068,0.058,0.058,0.058,3.027,3.029,3.029,3.028,3.028,3.028,3.023,3.014,3.005,2.986,2.977,2.975,2.97,2.967,2.966,2.967,2.963,2.963,2.968,3.472,3.484,3.49,3.484,3.49,3.49,3.494,3.49,3.49,3.487,3.487,3.487,3.487,3.493,3.493,3.49,3.49,3.493,3.496,3.498,3.498,3.498,3.498,3.498,3.505,3.505,3.505,3.505,3.511,3.515,3.517,3.521,3.523,3.521,3.523,3.525,3.531,3.533,3.541,3.543,3.543,3.543,3.546,3.551,3.565,3.571,3.572,3.576,3.579,3.583,3.583,3.602,3.604,3.607,3.612,3.618,3.629,3.635,3.635,3.647,3.648,3.653,3.66,3.673,3.673,3.688,3.694,3.694,3.696,3.706,3.719,3.727,3.735,3.741,3.742,3.758,3.78,3.789,3.791,3.812,3.815,3.818,3.82,3.848,3.862,3.87,3.873,3.882,3.902,3.905,3.931,3.939,3.961,3.974,3.979,3.98,3.999,4.02,4.037,4.056,4.071,4.082,0.016,0.016,0.016,0.016,0.007,0.016,4.042,4.004,3.966,3.935,3.903,3.878,3.853,3.826,3.796,3.766,3.74,3.71,3.668,3.665,3.639,3.607,3.588,3.565,3.54,3.516,3.499,3.465,3.449,3.426,3.414,3.389,3.367,3.349,3.318,3.303,3.295,3.269,3.261,3.236,3.211,3.202,3.176,3.172,3.154,3.144,3.132,3.118,3.097,3.079,3.069,3.054,3.037,3.034,3.018,2.994,2.987,2.977,2.968,2.956,2.941,2.926,2.914,2.903,2.889,2.882,2.881,2.863,2.849,2.847,2.833,2.817,2.814,2.797,2.788,2.784,2.78,2.768,2.748,2.742,2.738,2.719,2.717,2.716,2.702,2.689,2.687,2.676,2.661,2.658,2.648,2.637,2.63,2.627,2.617,2.617,2.603,2.601,2.588,2.587,2.579,2.576,2.566,2.562,2.556,2.55,2.542,2.536,2.531,2.528,2.525,2.521,2.519,2.512,2.505,2.501,2.491,2.49,2.488,2.481,2.48,2.477,2.475,2.474,2.462,2.462,2.459,2.457,2.456,2.453,2.45,2.449,2.444,2.444,2.44,2.433,2.43,2.43,2.431,2.431,2.431,2.431,2.426,2.426,2.426,2.425,2.423,2.417,2.417,2.417,2.417,2.417,2.409,2.409,2.409,2.406,2.409,2.409,2.412,2.409,2.409,2.412,2.415,2.415,2.415,2.416,2.418,2.418,2.421,2.425,2.425,2.425,2.426,2.427,2.426,2.428,2.429,2.432,2.432,2.438,2.449,2.449,2.449,2.448,2.446,2.446,2.448,2.453,2.461,2.462,2.467,2.468,2.473,2.473,2.481,2.49,2.491,2.496,2.497,2.505,2.505,2.514,2.517,2.517,2.524,2.528,2.534,2.535,2.539,2.547,2.552,2.553,2.562,2.568,2.57,2.58,2.584,2.586,2.595,2.604,2.607,2.617,2.621,2.646,2.65,2.653,2.655,2.659,2.668,2.681,2.682,2.7,2.703,2.711,2.719,2.724,2.732,2.751,2.758,2.762,2.773,2.788,2.795,2.8,2.808,2.83,2.831,2.851,2.866,2.874,2.881,2.895,2.905,2.918,2.93,2.943,2.946,2.964,2.968,2.981,2.996,3.011,3.022,3.031,3.053,3.065,3.074,3.086,3.108,3.119,3.133,3.148,3.166,3.177,3.187,3.211,3.22,3.237,3.259,3.276,3.307,3.313,3.339,3.349,3.379,3.394,3.42,3.43,3.459,3.489,3.5,3.532,3.543,3.573,3.597,3.625,3.646,3.659,3.701,3.727,3.748,3.779,3.787,3.829,3.86,3.893,3.914,3.954,3.999,4.013,4.085,0.016,0,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,4.029,3.362,3.357,3.343,3.333,3.329,3.323,3.31,3.293,3.293,3.278,3.274,3.262,3.253,3.233,3.228,3.227,3.222,3.222,3.222,3.2,3.193,3.186,3.185,3.171,3.171,3.157,3.152,3.151,3.147,3.143,3.136,3.131,3.121,3.115,3.111,3.108,3.106,3.1,3.095,3.093,3.089,3.086,3.08,3.072,3.071,3.066,3.062,3.06,3.056,3.056,3.054,3.051,3.047,3.044,3.039,3.039,3.039,3.039,3.048,3.048,3.048,3.031,3.031,3.029,3.031,3.031,3.029,3.029,3.027,3.027,3.03,3.03,3.027,3.027,3.027,3.027,3.027,3.027,3.03,3.03,3.029,3.029,3.029,3.029,3.029,3.031,3.031,3.039,3.043,3.044,3.045,3.045,3.05,3.05,3.055,3.055,3.056,3.056,3.061,3.062,3.062,3.062,3.064,3.072,3.072,3.076,3.078,3.078,3.089,3.092,3.095,3.097,3.097,3.111,3.114,3.12,3.129,3.133,3.134,3.139,3.139,3.139,3.148,3.15,3.159,3.16,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 141.11} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.146608} SEN {Time 141.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 141.108} {Type Sonar} {Name Sonar0 Range 2.413} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.3594} SEN {Time 141.155} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.919,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.688,3.669,3.654,3.642,3.642,3.641,3.641,0.007,0.006,3.238,0,3.31,3.305,3.31,3.31,3.31,0.007,0,0,0,0,0.151,0.149,0.146,0.144,0.146,0.144,0.146,0.145,0.147,0.147,0.153,0.155,0.156,0.159,0,0,0,0,0,0,0,0,0.162,0.158,0.156,0.155,0.153,0.148,0.148,0.117,0.093,0.076,0.067,0.066,0.065,0.066,0.066,0.069,0.072,0.072,0.069,0.065,0.064,0.064,0.065,3.015,3.028,3.028,3.023,3.015,3.021,3.012,3.003,2.999,2.989,2.986,2.982,2.977,2.975,2.974,2.972,2.972,2.972,2.972,3.474,3.483,3.485,3.485,3.486,3.487,3.493,3.487,3.488,3.488,3.494,3.491,3.492,3.494,3.492,3.491,3.491,3.491,3.489,3.488,3.488,3.493,3.493,3.494,3.497,3.503,3.509,3.515,3.516,3.517,3.518,3.521,3.528,3.525,3.525,3.528,3.527,3.527,3.542,3.546,3.546,3.547,3.548,3.554,3.562,3.568,3.57,3.578,3.579,3.589,3.594,3.595,3.603,3.604,3.605,3.612,3.628,3.637,3.639,3.651,3.655,3.658,3.664,3.677,3.677,3.679,3.697,3.697,3.709,3.716,3.72,3.723,3.726,3.737,3.747,3.766,3.775,3.793,3.802,3.809,3.818,3.831,3.836,3.856,3.857,3.868,3.868,3.887,3.906,3.909,3.938,3.941,3.965,3.974,3.977,3.993,4.004,4.026,4.027,4.068,4.081,4.094,0.016,0.016,0.016,0.016,0.016,4.073,4.068,4.001,3.956,3.923,3.894,3.885,3.848,3.829,3.785,3.761,3.745,3.72,3.684,3.656,3.624,3.618,3.594,3.569,3.546,3.531,3.485,3.473,3.46,3.427,3.401,3.376,3.352,3.342,3.326,3.317,3.292,3.269,3.254,3.237,3.227,3.194,3.192,3.158,3.155,3.138,3.133,3.113,3.099,3.081,3.061,3.051,3.032,3.02,3.016,3.003,2.99,2.979,2.965,2.955,2.943,2.929,2.915,2.898,2.886,2.884,2.878,2.85,2.847,2.841,2.833,2.826,2.814,2.8,2.788,2.781,2.776,2.766,2.762,2.737,2.735,2.721,2.716,2.711,2.705,2.697,2.674,2.674,2.665,2.664,2.655,2.633,2.632,2.628,2.617,2.611,2.601,2.6,2.589,2.58,2.58,2.575,2.57,2.564,2.56,2.553,2.549,2.546,2.537,2.523,2.523,2.522,2.518,2.514,2.51,2.5,2.494,2.49,2.488,2.481,2.48,2.48,2.474,2.467,2.464,2.462,2.458,2.456,2.453,2.452,2.448,2.447,2.444,2.444,2.44,2.437,2.437,2.435,2.434,2.43,2.43,2.428,2.425,2.425,2.427,2.425,2.421,2.421,2.42,2.414,2.414,2.413,2.412,2.414,2.412,2.412,2.412,2.412,2.412,2.411,2.412,2.413,2.414,2.414,2.415,2.415,2.418,2.423,2.424,2.424,2.423,2.421,2.421,2.421,2.426,2.426,2.431,2.432,2.438,2.439,2.441,2.443,2.443,2.444,2.444,2.451,2.456,2.46,2.461,2.464,2.464,2.472,2.477,2.481,2.489,2.491,2.493,2.493,2.494,2.496,2.501,2.508,2.514,2.518,2.519,2.531,2.535,2.535,2.54,2.542,2.556,2.558,2.566,2.569,2.574,2.583,2.592,2.594,2.6,2.61,2.612,2.623,2.627,2.637,2.642,2.658,2.66,2.666,2.67,2.675,2.682,2.693,2.705,2.714,2.726,2.731,2.733,2.745,2.769,2.772,2.774,2.786,2.793,2.794,2.813,2.825,2.831,2.847,2.855,2.868,2.874,2.891,2.911,2.923,2.935,2.937,2.951,2.957,2.97,2.971,2.998,3.01,3.024,3.041,3.052,3.061,3.07,3.084,3.108,3.119,3.13,3.148,3.168,3.183,3.188,3.211,3.234,3.246,3.263,3.292,3.309,3.322,3.337,3.35,3.372,3.394,3.409,3.444,3.466,3.481,3.51,3.527,3.549,3.583,3.6,3.625,3.643,3.663,3.688,3.728,3.768,3.779,3.799,3.831,3.855,3.887,3.914,3.949,3.984,4.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0.007,0,0,0,0,0.007,0,0,0,3.369,3.355,3.342,3.339,3.325,3.315,3.308,3.297,3.285,3.285,3.265,3.262,3.257,3.247,3.238,3.224,3.223,3.222,3.21,3.199,3.193,3.19,3.173,3.172,3.164,3.157,3.154,3.148,3.147,3.144,3.135,3.129,3.122,3.119,3.106,3.105,3.104,3.104,3.102,3.088,3.087,3.087,3.078,3.074,3.071,3.071,3.055,3.055,3.054,3.052,3.048,3.048,3.047,3.044,3.042,3.042,3.042,3.042,3.053,3.053,3.053,3.035,3.031,3.031,3.031,3.029,3.026,3.029,3.028,3.026,3.028,3.028,3.028,3.026,3.023,3.023,3.026,3.026,3.026,3.026,3.026,3.025,3.025,3.025,3.026,3.026,3.038,3.038,3.038,3.044,3.044,3.044,3.044,3.044,3.046,3.052,3.055,3.062,3.066,3.071,3.074,3.071,3.074,3.073,3.077,3.077,3.079,3.088,3.089,3.092,3.092,3.093,3.095,3.105,3.108,3.115,3.13,3.13,3.13,3.139,3.139,3.142,3.142,3.147,3.153,3.174,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 141.31} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.146608} SEN {Time 141.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 141.31} {Type Sonar} {Name Sonar0 Range 6.2738} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7686} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6642} SEN {Time 141.355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.183,0.181,0.183,0.183,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.915,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.67,3.669,3.663,3.64,3.64,3.628,3.64,0.007,0.006,3.262,0,0,3.32,0,0.007,0,0,0,0,0,0,0,0.152,0.146,0.146,0.146,0.144,0.144,0.144,0.154,0.149,0.154,0.154,0.156,0.156,0,0,0,0,0,0,0,0,0.162,0.154,0.154,0.152,0.149,0.144,0.143,0.113,0.093,0.07,0.064,0.064,0.064,0.064,0.068,0.068,0.072,0.068,0.067,0.064,0.064,0.064,0.064,3.017,3.03,3.03,3.025,3.02,3.02,3.017,3.012,3.004,2.987,2.981,2.977,2.972,2.971,2.97,2.97,2.967,2.967,2.967,3.476,3.481,3.484,3.485,3.487,3.489,3.492,3.489,3.497,3.497,3.497,3.495,3.495,3.495,3.492,3.488,3.487,3.487,3.487,3.497,3.497,3.499,3.505,3.498,3.508,3.508,3.502,3.502,3.512,3.512,3.519,3.522,3.522,3.522,3.527,3.53,3.536,3.538,3.538,3.544,3.546,3.55,3.551,3.557,3.566,3.567,3.574,3.577,3.584,3.585,3.586,3.592,3.593,3.604,3.605,3.616,3.631,3.632,3.635,3.646,3.649,3.658,3.658,3.662,3.68,3.682,3.69,3.697,3.699,3.701,3.723,3.731,3.732,3.746,3.747,3.774,3.777,3.79,3.792,3.794,3.816,3.818,3.835,3.848,3.853,3.868,3.877,3.882,3.901,3.923,3.938,3.939,3.956,3.961,3.971,3.995,4.009,4.024,4.035,4.055,4.071,4.075,0.016,0.016,0.016,0.016,0.016,0.007,0,4.05,3.953,3.939,3.894,3.875,3.847,3.836,3.79,3.765,3.748,3.714,3.677,3.652,3.618,3.61,3.592,3.554,3.545,3.52,3.502,3.477,3.446,3.422,3.403,3.377,3.358,3.345,3.325,3.311,3.299,3.277,3.257,3.241,3.217,3.193,3.193,3.166,3.158,3.139,3.132,3.113,3.098,3.082,3.062,3.047,3.04,3.031,3.013,2.994,2.992,2.978,2.969,2.949,2.94,2.928,2.917,2.898,2.89,2.882,2.87,2.855,2.841,2.841,2.835,2.825,2.82,2.791,2.791,2.775,2.772,2.764,2.755,2.739,2.735,2.732,2.719,2.709,2.703,2.692,2.683,2.677,2.673,2.653,2.64,2.634,2.625,2.617,2.609,2.606,2.598,2.598,2.597,2.589,2.582,2.579,2.568,2.565,2.562,2.556,2.549,2.542,2.538,2.533,2.522,2.521,2.518,2.509,2.508,2.496,2.493,2.491,2.485,2.485,2.481,2.479,2.476,2.47,2.463,2.46,2.46,2.456,2.453,2.447,2.444,2.441,2.441,2.44,2.44,2.439,2.439,2.437,2.436,2.431,2.431,2.428,2.424,2.426,2.421,2.421,2.421,2.421,2.421,2.415,2.415,2.41,2.41,2.41,2.41,2.408,2.41,2.41,2.41,2.408,2.408,2.408,2.407,2.407,2.416,2.418,2.417,2.417,2.417,2.417,2.417,2.417,2.423,2.428,2.428,2.428,2.429,2.434,2.435,2.438,2.443,2.443,2.443,2.444,2.45,2.453,2.458,2.458,2.458,2.459,2.467,2.47,2.478,2.481,2.482,2.488,2.492,2.494,2.495,2.499,2.5,2.514,2.515,2.515,2.517,2.517,2.525,2.539,2.542,2.546,2.547,2.554,2.565,2.57,2.57,2.582,2.586,2.589,2.595,2.61,2.611,2.627,2.627,2.637,2.652,2.655,2.666,2.667,2.669,2.669,2.688,2.689,2.698,2.721,2.721,2.724,2.732,2.744,2.767,2.769,2.776,2.785,2.788,2.807,2.815,2.835,2.835,2.838,2.858,2.864,2.885,2.89,2.894,2.92,2.935,2.945,2.948,2.959,2.969,2.984,2.987,3.004,3.019,3.032,3.05,3.061,3.08,3.084,3.104,3.121,3.132,3.148,3.158,3.18,3.194,3.211,3.22,3.247,3.257,3.283,3.302,3.31,3.334,3.355,3.371,3.4,3.405,3.447,3.455,3.478,3.505,3.534,3.562,3.579,3.596,3.615,3.662,3.678,3.696,3.729,3.75,3.78,3.787,3.833,3.86,3.886,3.918,3.96,3.993,4.017,4.052,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.367,3.364,3.348,3.34,3.326,3.311,3.304,3.297,3.292,3.276,3.265,3.264,3.253,3.236,3.231,3.227,3.226,3.218,3.213,3.204,3.191,3.191,3.191,3.173,3.164,3.155,3.153,3.145,3.144,3.14,3.138,3.123,3.115,3.115,3.114,3.113,3.101,3.099,3.092,3.091,3.089,3.087,3.083,3.079,3.071,3.068,3.064,3.057,3.057,3.057,3.05,3.049,3.047,3.044,3.041,3.041,3.041,3.047,3.058,3.058,3.058,3.029,3.029,3.029,3.029,3.029,3.026,3.024,3.024,3.024,3.024,3.023,3.025,3.026,3.028,3.026,3.026,3.028,3.028,3.029,3.031,3.031,3.032,3.035,3.036,3.036,3.039,3.044,3.044,3.046,3.047,3.047,3.049,3.049,3.052,3.053,3.053,3.053,3.061,3.061,3.067,3.068,3.071,3.072,3.074,3.077,3.08,3.082,3.09,3.092,3.097,3.097,3.1,3.108,3.111,3.118,3.122,3.124,3.133,3.136,3.136,3.142,3.145,3.147,3.148,3.159,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 141.51} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.146608} SEN {Time 141.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 141.512} {Type Sonar} {Name Sonar0 Range 6.2738} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7686} {Name Sonar5 Range 4.9276} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6642} SEN {Time 141.551} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.189,0.189,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.924,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.675,3.666,3.648,3.647,3.647,3.623,3.612,3.612,3.395,3.395,0.007,0,0,0,0.007,0,0,0,0,0,0,0.007,0.156,0.156,0.144,0.144,0.146,0.146,0.146,0.147,0.146,0.147,0.149,0.163,0.007,0,0,0,0,0,0,0,0,0.162,0.161,0.158,0.156,0.154,0.149,0.134,0.109,0.095,0.072,0.068,0.065,0.065,0.068,0.068,0.068,0.068,0.067,0.067,0.067,0.06,0.06,0.06,0.06,3.012,3.015,3.023,3.016,3.016,3.016,3.009,3,2.985,2.984,2.978,2.973,2.972,2.972,2.972,2.972,2.972,2.973,3.481,3.482,3.487,3.487,3.489,3.495,3.495,3.495,3.495,3.495,3.495,3.495,3.492,3.495,3.49,3.49,3.49,3.49,3.49,3.498,3.498,3.498,3.498,3.497,3.497,3.497,3.505,3.508,3.515,3.515,3.521,3.521,3.521,3.527,3.527,3.528,3.528,3.534,3.534,3.535,3.544,3.547,3.55,3.553,3.564,3.567,3.578,3.583,3.585,3.586,3.586,3.592,3.612,3.614,3.62,3.621,3.626,3.633,3.639,3.644,3.645,3.656,3.663,3.672,3.681,3.688,3.69,3.704,3.711,3.72,3.721,3.724,3.74,3.743,3.76,3.761,3.776,3.787,3.796,3.8,3.803,3.826,3.836,3.849,3.863,3.872,3.876,3.877,3.892,3.903,3.928,3.939,3.953,3.967,3.977,3.994,4.014,4.016,4.029,4.049,4.072,4.081,0.016,0.016,0.016,0.016,0.016,0.016,4.065,3.993,3.957,3.933,3.906,3.873,3.851,3.827,3.784,3.781,3.745,3.705,3.672,3.664,3.633,3.623,3.591,3.572,3.546,3.519,3.489,3.461,3.442,3.417,3.405,3.376,3.363,3.337,3.324,3.31,3.289,3.278,3.261,3.24,3.223,3.201,3.179,3.171,3.149,3.143,3.119,3.118,3.099,3.083,3.066,3.058,3.041,3.023,3.018,2.994,2.991,2.986,2.972,2.956,2.936,2.932,2.915,2.903,2.886,2.879,2.864,2.857,2.851,2.843,2.831,2.826,2.809,2.798,2.786,2.781,2.775,2.766,2.754,2.735,2.734,2.727,2.717,2.712,2.709,2.7,2.678,2.675,2.662,2.657,2.651,2.638,2.63,2.629,2.612,2.61,2.592,2.592,2.591,2.584,2.584,2.575,2.569,2.567,2.563,2.558,2.55,2.548,2.537,2.532,2.531,2.525,2.514,2.51,2.507,2.502,2.496,2.489,2.489,2.486,2.483,2.472,2.468,2.465,2.464,2.464,2.459,2.456,2.456,2.45,2.449,2.447,2.446,2.445,2.438,2.436,2.435,2.431,2.428,2.427,2.427,2.427,2.423,2.421,2.42,2.42,2.42,2.42,2.418,2.418,2.417,2.415,2.417,2.415,2.414,2.412,2.412,2.411,2.412,2.413,2.413,2.416,2.416,2.416,2.41,2.421,2.421,2.421,2.421,2.421,2.426,2.426,2.426,2.424,2.424,2.424,2.429,2.432,2.432,2.432,2.435,2.438,2.442,2.45,2.452,2.453,2.454,2.458,2.459,2.463,2.464,2.465,2.468,2.471,2.492,2.494,2.495,2.496,2.498,2.499,2.5,2.509,2.513,2.515,2.52,2.523,2.525,2.537,2.542,2.549,2.55,2.558,2.565,2.567,2.572,2.584,2.588,2.589,2.603,2.603,2.623,2.625,2.632,2.644,2.648,2.648,2.654,2.666,2.675,2.683,2.692,2.696,2.708,2.714,2.731,2.736,2.74,2.743,2.761,2.762,2.776,2.779,2.78,2.794,2.812,2.82,2.83,2.851,2.854,2.866,2.879,2.891,2.892,2.923,2.928,2.94,2.95,2.958,2.964,2.978,2.998,3.002,3.017,3.034,3.046,3.054,3.08,3.097,3.099,3.117,3.144,3.148,3.175,3.177,3.197,3.2,3.228,3.237,3.265,3.282,3.314,3.318,3.333,3.347,3.378,3.389,3.409,3.444,3.451,3.48,3.51,3.525,3.557,3.572,3.598,3.621,3.646,3.676,3.704,3.731,3.754,3.785,3.799,3.831,3.861,3.886,3.913,3.958,3.983,4.011,4.044,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0.007,0,0,0,0.007,4.022,3.38,3.361,3.347,3.331,3.317,3.314,3.313,3.289,3.28,3.277,3.271,3.268,3.253,3.243,3.238,3.225,3.224,3.213,3.202,3.198,3.186,3.185,3.175,3.169,3.168,3.153,3.152,3.152,3.144,3.138,3.138,3.124,3.119,3.114,3.112,3.104,3.101,3.097,3.095,3.092,3.087,3.079,3.078,3.078,3.068,3.066,3.061,3.061,3.061,3.061,3.052,3.051,3.047,3.043,3.037,3.037,3.037,3.039,3.049,3.049,3.049,3.035,3.029,3.029,3.029,3.029,3.029,3.026,3.025,3.025,3.026,3.028,3.028,3.029,3.029,3.028,3.028,3.031,3.031,3.032,3.032,3.032,3.032,3.031,3.031,3.031,3.037,3.042,3.042,3.042,3.045,3.04,3.04,3.045,3.049,3.049,3.053,3.057,3.063,3.067,3.069,3.069,3.069,3.069,3.073,3.077,3.082,3.085,3.088,3.092,3.092,3.094,3.1,3.107,3.107,3.111,3.123,3.124,3.132,3.146,3.146,3.148,3.149,3.15,3.15,3.156,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 141.71} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.146608} SEN {Time 141.71} {Type Tachometer} {Name LeftRight} {Vel -0.035560,0.033020} SEN {Time 141.705} {Type Sonar} {Name Sonar0 Range 6.2738} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7686} {Name Sonar5 Range 4.9276} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6642} SEN {Time 141.751} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.174,0.188,0.188,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.914,0,0.007,0,0,0,0,0.007,0,0,0,0,0,3.683,3.668,3.661,3.634,3.634,3.631,3.634,0.007,0.006,3.231,0,0,3.322,0,0.007,0,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.142,0.145,0.145,0.146,0.146,0.157,0.157,0.158,0.159,0,0,0,0,0,0,0,0,0.159,0.159,0.158,0.152,0.149,0.145,0.141,0.12,0.096,0.067,0.066,0.066,0.067,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.068,0.071,3.019,3.022,3.024,3.022,3.019,3.022,3.008,3.006,3.004,2.994,2.992,2.989,2.97,2.968,2.966,2.968,2.964,2.968,2.973,3.477,3.482,3.483,3.483,3.487,3.492,3.492,3.493,3.493,3.493,3.493,3.493,3.491,3.497,3.489,3.489,3.489,3.493,3.493,3.499,3.499,3.5,3.5,3.499,3.5,3.502,3.511,3.516,3.517,3.517,3.521,3.521,3.522,3.522,3.522,3.531,3.536,3.537,3.537,3.54,3.54,3.542,3.554,3.556,3.561,3.568,3.572,3.585,3.588,3.593,3.596,3.597,3.599,3.603,3.612,3.63,3.635,3.638,3.638,3.641,3.646,3.654,3.66,3.668,3.671,3.673,3.687,3.7,3.7,3.709,3.724,3.734,3.738,3.738,3.76,3.766,3.782,3.791,3.798,3.809,3.812,3.82,3.827,3.845,3.859,3.875,3.876,3.889,3.898,3.903,3.932,3.934,3.962,3.966,3.99,3.992,4.007,4.042,4.042,4.066,4.079,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0,4.071,4.048,3.95,3.892,3.876,3.864,3.83,3.789,3.786,3.754,3.719,3.687,3.674,3.625,3.613,3.593,3.569,3.544,3.513,3.491,3.477,3.443,3.426,3.392,3.382,3.355,3.354,3.331,3.3,3.293,3.273,3.259,3.236,3.211,3.199,3.188,3.169,3.157,3.132,3.129,3.114,3.104,3.09,3.074,3.055,3.034,3.033,3.012,2.995,2.98,2.98,2.959,2.953,2.937,2.932,2.915,2.899,2.889,2.884,2.879,2.86,2.853,2.838,2.834,2.815,2.81,2.799,2.785,2.777,2.776,2.759,2.738,2.738,2.737,2.725,2.725,2.714,2.711,2.698,2.68,2.676,2.671,2.66,2.65,2.638,2.631,2.622,2.615,2.607,2.606,2.603,2.594,2.581,2.578,2.575,2.569,2.565,2.559,2.553,2.547,2.547,2.538,2.524,2.523,2.52,2.519,2.509,2.506,2.503,2.49,2.49,2.487,2.484,2.477,2.472,2.465,2.463,2.463,2.462,2.458,2.455,2.45,2.447,2.443,2.442,2.44,2.44,2.437,2.432,2.432,2.437,2.437,2.43,2.426,2.424,2.423,2.423,2.42,2.419,2.417,2.417,2.414,2.413,2.412,2.412,2.412,2.409,2.412,2.412,2.412,2.412,2.414,2.414,2.414,2.414,2.414,2.413,2.413,2.415,2.416,2.42,2.42,2.42,2.42,2.42,2.419,2.427,2.428,2.431,2.432,2.434,2.434,2.438,2.438,2.442,2.447,2.448,2.447,2.449,2.451,2.454,2.456,2.456,2.464,2.47,2.471,2.477,2.493,2.495,2.495,2.495,2.495,2.497,2.508,2.511,2.511,2.514,2.514,2.516,2.533,2.537,2.542,2.553,2.556,2.556,2.563,2.564,2.578,2.581,2.586,2.59,2.594,2.595,2.608,2.619,2.633,2.638,2.64,2.651,2.662,2.665,2.672,2.679,2.685,2.698,2.706,2.715,2.728,2.731,2.735,2.741,2.756,2.769,2.779,2.781,2.795,2.808,2.813,2.823,2.83,2.853,2.862,2.881,2.881,2.89,2.904,2.92,2.936,2.945,2.947,2.954,2.974,2.979,3.002,3.013,3.023,3.027,3.047,3.063,3.071,3.083,3.105,3.124,3.134,3.155,3.165,3.185,3.193,3.202,3.23,3.249,3.277,3.28,3.296,3.318,3.336,3.352,3.371,3.397,3.412,3.431,3.457,3.489,3.509,3.525,3.556,3.579,3.587,3.631,3.65,3.676,3.712,3.737,3.757,3.782,3.792,3.82,3.853,3.896,3.92,3.967,3.982,4.049,0.007,0.016,0.016,0,0.016,0,0.007,0,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0.007,4.016,3.366,3.347,3.343,3.337,3.321,3.312,3.303,3.301,3.292,3.284,3.267,3.264,3.257,3.239,3.236,3.225,3.22,3.212,3.206,3.197,3.194,3.192,3.178,3.17,3.162,3.155,3.155,3.152,3.144,3.134,3.131,3.126,3.122,3.115,3.114,3.11,3.1,3.1,3.094,3.083,3.083,3.082,3.079,3.075,3.073,3.066,3.056,3.056,3.054,3.053,3.049,3.044,3.043,3.043,3.043,3.043,3.047,3.049,3.049,3.043,3.036,3.033,3.03,3.029,3.029,3.028,3.027,3.029,3.029,3.029,3.032,3.032,3.032,3.024,3.024,3.024,3.024,3.025,3.025,3.029,3.03,3.03,3.03,3.03,3.03,3.038,3.039,3.04,3.044,3.047,3.047,3.047,3.047,3.049,3.053,3.056,3.057,3.059,3.062,3.063,3.066,3.066,3.072,3.072,3.072,3.073,3.079,3.08,3.082,3.09,3.092,3.095,3.105,3.109,3.11,3.118,3.12,3.129,3.132,3.141,3.141,3.142,3.147,3.147,3.154,3.157,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 141.91} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,-0.089012} SEN {Time 141.91} {Type Tachometer} {Name LeftRight} {Vel -0.106680,0.106680} SEN {Time 141.908} {Type Sonar} {Name Sonar0 Range 6.2992} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 4.9276} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7432} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8006} SEN {Time 141.951} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.188,0.18,0.188,0.188,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.006,0.006,3.416,3.329,3.283,3.283,3.283,3.323,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.157,0.151,0.151,0.143,0.143,0.143,0.143,0.143,0.145,0.145,0.152,0.152,0.154,0.156,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.157,0.156,0.155,0.156,0.149,0.143,0.143,0.12,0.091,0.068,0.068,0.068,0.065,0.068,0.068,0.069,0.072,0.072,0.069,0.067,0.066,0.066,0.067,2.993,3.009,3.009,3.006,3.004,3.004,2.998,2.998,2.998,3.415,3.424,3.461,3.447,3.447,3.461,3.471,3.472,3.476,3.481,3.481,3.483,3.487,3.488,3.493,3.498,3.498,3.496,3.498,3.496,3.496,3.5,3.5,3.505,3.506,3.51,3.511,3.513,3.517,3.519,3.52,3.522,3.526,3.528,3.532,3.532,3.534,3.543,3.546,3.547,3.553,3.559,3.56,3.563,3.575,3.577,3.578,3.581,3.586,3.598,3.598,3.605,3.606,3.616,3.616,3.631,3.633,3.635,3.644,3.647,3.661,3.661,3.664,3.677,3.68,3.696,3.701,3.705,3.707,3.715,3.726,3.734,3.745,3.748,3.756,3.761,3.772,3.799,3.804,3.815,3.816,3.83,3.836,3.855,3.866,3.87,3.877,3.891,3.904,3.925,3.936,3.945,3.967,3.977,3.987,4,4.035,4.037,4.045,4.051,4.084,4.087,0.016,0.016,0.016,0.016,0.016,4.065,4.023,3.982,3.957,3.921,3.872,3.872,3.818,3.805,3.788,3.744,3.71,3.705,3.666,3.653,3.626,3.614,3.579,3.565,3.546,3.515,3.486,3.479,3.435,3.412,3.391,3.379,3.356,3.343,3.329,3.308,3.287,3.26,3.239,3.236,3.207,3.193,3.187,3.159,3.142,3.132,3.124,3.106,3.088,3.074,3.059,3.048,3.038,3.019,3.006,2.995,2.969,2.969,2.954,2.953,2.933,2.915,2.899,2.897,2.88,2.872,2.865,2.849,2.838,2.835,2.822,2.806,2.788,2.785,2.777,2.772,2.759,2.752,2.738,2.732,2.731,2.723,2.715,2.706,2.7,2.688,2.68,2.676,2.656,2.642,2.641,2.636,2.634,2.626,2.618,2.609,2.593,2.587,2.585,2.578,2.569,2.566,2.565,2.554,2.548,2.541,2.536,2.536,2.525,2.516,2.516,2.508,2.505,2.505,2.503,2.498,2.491,2.487,2.486,2.485,2.481,2.475,2.466,2.464,2.459,2.459,2.447,2.447,2.446,2.442,2.442,2.437,2.435,2.435,2.43,2.429,2.429,2.429,2.423,2.423,2.424,2.418,2.414,2.414,2.413,2.412,2.412,2.412,2.411,2.412,2.412,2.412,2.411,2.412,2.413,2.413,2.413,2.413,2.409,2.409,2.41,2.41,2.412,2.413,2.412,2.412,2.412,2.413,2.413,2.417,2.419,2.423,2.424,2.426,2.43,2.431,2.432,2.435,2.439,2.437,2.442,2.443,2.443,2.444,2.448,2.452,2.458,2.459,2.459,2.461,2.471,2.474,2.477,2.478,2.48,2.483,2.488,2.489,2.498,2.505,2.505,2.514,2.519,2.529,2.535,2.539,2.544,2.55,2.551,2.561,2.571,2.571,2.578,2.581,2.581,2.589,2.593,2.606,2.608,2.617,2.629,2.638,2.645,2.645,2.649,2.664,2.68,2.681,2.685,2.696,2.703,2.709,2.715,2.733,2.74,2.746,2.752,2.771,2.781,2.784,2.793,2.807,2.812,2.825,2.84,2.85,2.852,2.862,2.886,2.894,2.904,2.911,2.919,2.934,2.952,2.971,2.971,2.987,3.004,3.017,3.025,3.045,3.051,3.07,3.096,3.102,3.11,3.127,3.138,3.152,3.171,3.186,3.2,3.206,3.229,3.251,3.271,3.293,3.303,3.323,3.342,3.351,3.384,3.4,3.421,3.445,3.459,3.487,3.504,3.533,3.567,3.59,3.61,3.632,3.657,3.684,3.703,3.736,3.775,3.805,3.83,3.861,3.881,3.905,3.945,3.987,4.018,4.023,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.006,3.376,3.357,3.335,3.327,3.315,3.314,3.31,3.287,3.285,3.275,3.27,3.25,3.247,3.245,3.232,3.218,3.214,3.197,3.194,3.191,3.185,3.184,3.168,3.16,3.158,3.154,3.141,3.137,3.131,3.128,3.127,3.122,3.117,3.109,3.109,3.096,3.09,3.09,3.09,3.09,3.08,3.075,3.062,3.062,3.057,3.053,3.05,3.049,3.046,3.045,3.045,3.036,3.032,3.029,3.032,3.03,3.03,3.033,3.033,3.03,3.023,3.017,3.017,3.017,3.019,3.017,3.019,3.019,3.018,3.018,3.018,3.016,3.016,3.016,3.016,3.016,3.017,3.019,3.017,3.019,3.021,3.019,3.017,3.024,3.024,3.028,3.029,3.029,3.031,3.029,3.036,3.04,3.04,3.04,3.042,3.044,3.048,3.051,3.052,3.053,3.061,3.067,3.069,3.069,3.071,3.071,3.071,3.085,3.087,3.09,3.093,3.097,3.101,3.108,3.115,3.116,3.119,3.135,3.135,3.135,3.134,3.134,3.134,3.14,3.146,3.155,3.161,3.162,3.174,3.175,3.175,3.187,3.188,3.211,3.219,3.221,3.226,0.007,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 142.11} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.027925} SEN {Time 142.11} {Type Tachometer} {Name LeftRight} {Vel -0.027940,0.030480} SEN {Time 142.109} {Type Sonar} {Name Sonar0 Range 6.2992} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 5.2578} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.8006} SEN {Time 142.151} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.18,0.178,0.178,0.178,0,0,0,0,0,0,0.009,0.007,0.009,3.628,0,3.599,3.394,3.394,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.219,3.349,3.365,0,0,0,0,0,0,0,0,0,0,0.007,3.104,3.104,3.089,3.087,0.154,0.152,0.152,0.151,0.151,0.144,0.146,0.143,0.146,0.146,0.152,0.152,0.153,0.165,3.006,3.008,3.008,3.008,3.008,3.008,3.008,0.157,0.154,0.154,0.147,0.147,0.145,0.145,0.142,0.12,0.096,0.069,0.069,0.065,0.062,0.065,0.065,0.066,0.068,0.07,0.07,0.07,0.066,0.066,0.066,0.143,0.207,3.354,3.354,3.357,3.357,3.384,3.385,3.387,3.387,3.414,3.432,3.473,3.476,3.476,3.484,3.496,3.508,3.516,3.518,3.519,3.524,3.528,3.534,3.535,3.542,3.554,3.559,3.559,3.56,3.561,3.568,3.572,3.577,3.577,3.58,3.587,3.59,3.599,3.6,3.61,3.617,3.62,3.62,3.633,3.636,3.652,3.656,3.664,3.668,3.671,3.684,3.687,3.69,3.69,3.698,3.711,3.713,3.726,3.733,3.742,3.75,3.763,3.765,3.78,3.784,3.795,3.795,3.806,3.821,3.829,3.842,3.855,3.855,3.882,3.885,3.89,3.908,3.929,3.932,3.946,3.968,3.974,3.997,3.998,4.004,4.032,4.039,4.056,4.069,4.084,0.016,0.016,0.016,0.016,0,0,0,4.036,4,3.968,3.93,3.906,3.883,3.847,3.808,3.791,3.754,3.742,3.708,3.693,3.648,3.636,3.62,3.583,3.577,3.551,3.512,3.5,3.476,3.449,3.42,3.399,3.384,3.368,3.344,3.328,3.304,3.296,3.267,3.267,3.233,3.221,3.206,3.204,3.18,3.163,3.147,3.125,3.11,3.1,3.079,3.065,3.055,3.042,3.031,3.021,3.006,2.989,2.982,2.969,2.951,2.937,2.924,2.912,2.905,2.901,2.887,2.873,2.865,2.851,2.844,2.829,2.818,2.807,2.804,2.793,2.777,2.769,2.757,2.75,2.739,2.727,2.716,2.707,2.703,2.698,2.694,2.681,2.665,2.66,2.651,2.649,2.643,2.628,2.621,2.616,2.605,2.602,2.597,2.595,2.585,2.582,2.579,2.571,2.569,2.558,2.557,2.551,2.541,2.537,2.533,2.523,2.522,2.513,2.509,2.505,2.502,2.498,2.488,2.486,2.483,2.478,2.472,2.467,2.466,2.465,2.46,2.458,2.455,2.451,2.448,2.448,2.443,2.443,2.437,2.436,2.434,2.433,2.432,2.426,2.43,2.426,2.426,2.424,2.418,2.411,2.41,2.409,2.409,2.409,2.409,2.409,2.407,2.407,2.407,2.407,2.407,2.406,2.406,2.401,2.406,2.403,2.409,2.403,2.409,2.409,2.409,2.409,2.411,2.411,2.416,2.416,2.416,2.42,2.423,2.423,2.424,2.427,2.43,2.43,2.434,2.434,2.434,2.44,2.443,2.445,2.446,2.452,2.452,2.454,2.456,2.457,2.459,2.472,2.472,2.473,2.473,2.485,2.486,2.495,2.495,2.501,2.507,2.509,2.52,2.521,2.521,2.524,2.538,2.538,2.545,2.551,2.552,2.565,2.569,2.569,2.58,2.588,2.591,2.595,2.603,2.618,2.62,2.628,2.643,2.645,2.648,2.656,2.661,2.674,2.682,2.688,2.698,2.7,2.711,2.715,2.728,2.74,2.753,2.761,2.766,2.777,2.778,2.798,2.798,2.817,2.828,2.833,2.845,2.857,2.866,2.885,2.894,2.904,2.916,2.925,2.943,2.945,2.958,2.976,2.982,2.998,3.008,3.019,3.037,3.061,3.065,3.077,3.089,3.103,3.129,3.143,3.153,3.173,3.182,3.204,3.214,3.242,3.244,3.272,3.282,3.311,3.325,3.353,3.365,3.385,3.406,3.425,3.44,3.458,3.494,3.502,3.524,3.55,3.582,3.599,3.616,3.652,3.672,3.697,3.719,3.746,3.777,3.805,3.834,3.86,3.96,0,0.007,0,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.006,0.007,3.339,3.318,3.305,3.303,3.297,3.276,3.275,3.27,3.268,3.251,3.233,3.23,3.221,3.22,3.203,3.197,3.191,3.181,3.17,3.169,3.166,3.154,3.149,3.142,3.139,3.133,3.131,3.12,3.117,3.116,3.103,3.095,3.094,3.093,3.086,3.08,3.077,3.074,3.067,3.066,3.061,3.057,3.051,3.048,3.043,3.041,3.036,3.036,3.033,3.032,3.029,3.027,3.02,3.018,3.018,3.018,3.018,3.022,3.022,3.022,3.017,3.013,3.012,3.008,3.002,3.002,3.006,3.008,3.006,3.006,3.001,3.001,3.001,3.005,3.005,3.005,3.004,3.002,3.002,3.004,3.006,3.007,3.009,3.018,3.018,3.015,3.015,3.017,3.016,3.017,3.017,3.02,3.026,3.032,3.032,3.033,3.038,3.041,3.042,3.046,3.047,3.047,3.049,3.049,3.055,3.062,3.066,3.067,3.076,3.077,3.081,3.093,3.101,3.105,3.107,3.109,3.119,3.121,3.132,3.132,3.132,3.134,3.134,3.142,3.149,3.152,3.16,3.16,3.166,3.172,3.175,3.187,3.189,3.2,3.205,3.218,3.224,3.224,3.228,3.23,3.241,3.247,3.252,3.269,3.27,3.275,3.278,3.278,3.288,3.305,3.823,3.833,3.859,3.861,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 142.31} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.038397} SEN {Time 142.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 142.308} {Type Sonar} {Name Sonar0 Range 6.2992} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 1.651} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 4.8006} SEN {Time 142.351} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.19,0.181,0.19,0.19,0,0,0,0,0,3.615,3.6,3.596,3.596,3.6,3.59,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.219,3.219,3.219,3.22,3.221,3.343,0,0,0,0,0,0,0,0,0,3.102,3.098,3.085,3.084,3.084,3.078,3.078,0.148,0.145,0.145,0.139,0.139,0.145,0.145,0.143,0.145,0.144,0.144,0.144,0.162,0.162,3.009,3.011,3.011,3.011,3.011,3.011,3.011,0.157,0.156,0.156,0.156,0.156,0.154,0.145,0.145,0.12,0.096,0.069,0.063,0.063,0.061,0.063,0.063,0.067,0.072,0.072,0.07,0.07,0.07,0.07,0.081,0.131,3.341,3.341,3.366,3.366,3.366,3.39,0.007,3.397,3.397,3.42,3.42,3.452,3.453,3.48,3.49,3.492,3.511,3.518,3.519,3.52,3.532,3.534,3.535,3.541,3.543,3.55,3.555,3.558,3.561,3.568,3.569,3.571,3.582,3.587,3.589,3.591,3.606,3.606,3.614,3.621,3.624,3.628,3.64,3.646,3.655,3.656,3.669,3.67,3.671,3.677,3.689,3.692,3.696,3.711,3.713,3.724,3.724,3.731,3.745,3.749,3.762,3.767,3.773,3.785,3.797,3.809,3.814,3.825,3.827,3.842,3.857,3.866,3.872,3.892,3.906,3.909,3.914,3.936,3.948,3.968,3.971,3.981,3.998,4.012,4.029,4.033,4.048,4.066,4.073,0.016,0.016,0.016,0.016,0.016,0,0,0,4.002,3.957,3.927,3.893,3.869,3.828,3.813,3.787,3.764,3.737,3.711,3.7,3.661,3.629,3.621,3.592,3.568,3.529,3.524,3.497,3.469,3.451,3.426,3.407,3.386,3.363,3.349,3.315,3.305,3.289,3.269,3.259,3.235,3.226,3.207,3.202,3.174,3.166,3.149,3.131,3.116,3.085,3.084,3.066,3.065,3.05,3.031,3.023,3.008,2.994,2.986,2.971,2.957,2.94,2.927,2.926,2.907,2.897,2.878,2.877,2.864,2.851,2.844,2.828,2.824,2.81,2.804,2.794,2.783,2.773,2.76,2.751,2.74,2.732,2.728,2.717,2.706,2.705,2.697,2.685,2.674,2.669,2.663,2.649,2.648,2.634,2.628,2.619,2.607,2.607,2.599,2.596,2.583,2.583,2.579,2.572,2.567,2.561,2.557,2.548,2.544,2.536,2.531,2.52,2.519,2.513,2.505,2.504,2.502,2.497,2.49,2.487,2.482,2.481,2.468,2.467,2.465,2.465,2.46,2.455,2.453,2.45,2.448,2.448,2.446,2.444,2.444,2.441,2.429,2.429,2.429,2.424,2.424,2.424,2.421,2.421,2.417,2.415,2.413,2.412,2.407,2.407,2.407,2.407,2.407,2.408,2.409,2.408,2.408,2.409,2.408,2.406,2.406,2.408,2.406,2.406,2.405,2.405,2.405,2.406,2.413,2.414,2.416,2.416,2.419,2.416,2.419,2.421,2.421,2.427,2.428,2.43,2.433,2.434,2.434,2.434,2.434,2.438,2.44,2.449,2.449,2.451,2.456,2.456,2.46,2.47,2.474,2.476,2.477,2.483,2.486,2.487,2.488,2.498,2.506,2.507,2.508,2.509,2.522,2.528,2.528,2.532,2.533,2.545,2.551,2.555,2.566,2.569,2.57,2.572,2.59,2.591,2.597,2.612,2.616,2.623,2.626,2.638,2.644,2.652,2.659,2.665,2.676,2.683,2.695,2.7,2.702,2.714,2.718,2.72,2.74,2.748,2.763,2.775,2.775,2.785,2.798,2.807,2.818,2.832,2.835,2.839,2.861,2.871,2.887,2.899,2.901,2.919,2.929,2.936,2.956,2.97,2.977,2.984,2.998,3.021,3.029,3.04,3.051,3.065,3.084,3.095,3.116,3.128,3.144,3.162,3.166,3.181,3.204,3.209,3.24,3.253,3.273,3.28,3.313,3.324,3.349,3.375,3.393,3.4,3.431,3.443,3.465,3.497,3.504,3.53,3.557,3.576,3.61,3.63,3.653,3.685,3.692,3.725,3.746,3.785,3.806,3.836,3.858,3.899,3.935,3.955,4.005,4.075,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.395,3.352,3.337,3.334,3.322,3.309,3.301,3.298,3.28,3.28,3.264,3.255,3.239,3.235,3.234,3.218,3.213,3.204,3.195,3.193,3.182,3.178,3.168,3.168,3.149,3.148,3.148,3.147,3.13,3.129,3.12,3.118,3.117,3.102,3.097,3.095,3.093,3.087,3.084,3.075,3.071,3.071,3.067,3.058,3.057,3.054,3.052,3.047,3.039,3.037,3.034,3.034,3.029,3.028,3.028,3.026,3.024,3.021,3.021,3.021,3.023,3.023,3.023,3.018,3.01,3.008,3.008,3.008,3.008,3.008,3.008,3,3.001,3.001,3.001,3.001,3.003,3.003,3.003,3.003,3.006,3.006,3.007,3.007,3.011,3.011,3.012,3.012,3.012,3.014,3.015,3.017,3.02,3.02,3.02,3.023,3.023,3.025,3.03,3.036,3.034,3.04,3.043,3.043,3.055,3.055,3.059,3.06,3.064,3.065,3.07,3.078,3.08,3.085,3.094,3.099,3.103,3.104,3.104,3.119,3.121,3.123,3.123,3.123,3.13,3.13,3.133,3.147,3.148,3.16,3.162,3.164,3.169,3.171,3.177,3.179,3.199,3.201,3.213,3.218,3.226,3.228,3.234,3.241,3.247,3.253,3.256,3.264,3.279,3.282,3.282,3.282,3.287,3.827,3.854,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 142.51} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.038397} SEN {Time 142.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 142.506} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 1.6002} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8034} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 4.826} SEN {Time 142.547} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.183,0.183,0,0,0,0,0,3.611,3.591,3.59,3.59,3.591,3.591,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.267,3.221,3.216,3.208,3.208,3.208,3.208,3.346,0,0,0,0,0,0,0,0,0,3.099,3.094,3.089,3.088,3.088,3.078,3.075,0.154,0.153,0.153,0.152,0.152,0.152,0.14,0.14,0.15,0.141,0.15,0.15,0.156,3.022,3.022,3.007,3.015,3.015,3.007,3.015,3.015,0.164,0.163,0.163,0.157,0.152,0.147,0.146,0.146,0.114,0.079,0.065,0.064,0.064,0.064,0.064,0.064,0.069,0.068,0.072,0.068,0.068,0.068,0.072,0.076,0.144,0.209,3.354,3.36,3.368,3.368,3.376,3.382,3.386,3.386,3.386,3.416,3.477,3.498,3.498,3.491,3.491,3.498,3.505,3.515,3.522,3.524,3.527,3.543,3.544,3.545,3.546,3.555,3.561,3.565,3.569,3.582,3.585,3.585,3.587,3.591,3.592,3.607,3.611,3.615,3.617,3.629,3.634,3.641,3.655,3.656,3.657,3.657,3.669,3.685,3.686,3.694,3.696,3.696,3.703,3.721,3.723,3.725,3.741,3.742,3.747,3.749,3.759,3.783,3.786,3.8,3.806,3.807,3.812,3.831,3.851,3.857,3.869,3.869,3.89,3.891,3.913,3.921,3.937,3.95,3.959,3.965,3.982,4.004,4.022,4.023,4.03,4.057,4.083,4.091,0.016,0.016,0,0,0,0,0,0,4.029,4.004,3.924,3.902,3.871,3.847,3.81,3.777,3.753,3.74,3.716,3.685,3.643,3.632,3.606,3.58,3.561,3.532,3.51,3.491,3.485,3.454,3.423,3.403,3.382,3.373,3.35,3.329,3.319,3.293,3.274,3.263,3.241,3.217,3.216,3.195,3.17,3.169,3.144,3.125,3.12,3.094,3.087,3.07,3.057,3.044,3.026,3.026,3.009,2.986,2.979,2.974,2.952,2.944,2.93,2.915,2.906,2.899,2.886,2.869,2.869,2.851,2.846,2.821,2.809,2.807,2.799,2.787,2.776,2.763,2.759,2.75,2.747,2.731,2.727,2.72,2.706,2.703,2.681,2.674,2.673,2.657,2.654,2.649,2.636,2.635,2.632,2.616,2.612,2.611,2.603,2.598,2.588,2.584,2.582,2.577,2.566,2.566,2.56,2.55,2.535,2.531,2.53,2.52,2.517,2.517,2.515,2.503,2.496,2.496,2.495,2.495,2.482,2.476,2.475,2.468,2.468,2.466,2.462,2.459,2.457,2.457,2.448,2.445,2.444,2.441,2.439,2.439,2.438,2.427,2.427,2.424,2.421,2.419,2.418,2.418,2.417,2.417,2.415,2.409,2.408,2.408,2.409,2.408,2.408,2.406,2.402,2.402,2.406,2.406,2.406,2.406,2.403,2.403,2.4,2.403,2.405,2.405,2.406,2.407,2.412,2.413,2.417,2.418,2.418,2.419,2.418,2.419,2.419,2.425,2.432,2.433,2.432,2.435,2.435,2.436,2.437,2.438,2.44,2.44,2.441,2.452,2.452,2.454,2.459,2.464,2.472,2.475,2.479,2.481,2.489,2.491,2.492,2.493,2.503,2.504,2.51,2.516,2.518,2.52,2.522,2.525,2.545,2.546,2.559,2.559,2.562,2.569,2.575,2.583,2.586,2.596,2.6,2.609,2.619,2.625,2.633,2.641,2.653,2.654,2.656,2.665,2.672,2.683,2.693,2.707,2.708,2.712,2.722,2.724,2.741,2.752,2.764,2.768,2.778,2.784,2.799,2.802,2.82,2.832,2.836,2.849,2.86,2.876,2.886,2.891,2.9,2.914,2.937,2.943,2.958,2.965,2.976,2.979,3.005,3.02,3.024,3.043,3.06,3.067,3.089,3.097,3.108,3.121,3.137,3.159,3.164,3.188,3.2,3.211,3.233,3.259,3.264,3.284,3.306,3.33,3.345,3.369,3.384,3.405,3.422,3.439,3.462,3.488,3.505,3.526,3.554,3.571,3.592,3.635,3.65,3.679,3.684,3.734,3.742,3.789,3.811,3.833,3.862,3.894,3.941,3.977,4.046,4.084,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.382,3.341,3.339,3.329,3.329,3.31,3.302,3.295,3.278,3.268,3.264,3.254,3.253,3.231,3.222,3.222,3.219,3.207,3.201,3.185,3.182,3.175,3.167,3.161,3.158,3.151,3.147,3.139,3.132,3.123,3.122,3.119,3.102,3.101,3.1,3.095,3.092,3.087,3.078,3.076,3.075,3.065,3.063,3.061,3.06,3.05,3.047,3.046,3.045,3.044,3.036,3.031,3.028,3.022,3.021,3.019,3.016,3.016,3.016,3.053,3.053,3.053,3.016,3.014,3.012,3.012,3.005,3.005,3.004,3.004,3.004,3.004,3.004,3.006,3.006,3.005,3.005,3.005,3.005,3.005,3.005,3.005,3.005,3.008,3.01,3.013,3.015,3.016,3.016,3.017,3.019,3.022,3.024,3.024,3.024,3.027,3.029,3.031,3.032,3.033,3.033,3.045,3.048,3.048,3.049,3.051,3.054,3.058,3.062,3.065,3.069,3.084,3.084,3.084,3.09,3.092,3.098,3.108,3.11,3.121,3.124,3.125,3.125,3.128,3.131,3.132,3.136,3.137,3.151,3.152,3.162,3.17,3.173,3.175,3.181,3.184,3.202,3.209,3.214,3.215,3.224,3.231,3.24,3.24,3.252,3.253,3.26,3.262,3.271,3.282,3.282,3.288,3.309,3.826,3.846,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 142.70} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.038397} SEN {Time 142.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 142.699} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 4.826} SEN {Time 142.747} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.181,0.187,0.187,0,0,0,0,0,3.617,3.594,3.594,3.594,3.594,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.271,3.271,3.238,3.218,3.207,3.218,3.218,3.352,0,0,0,0,0,0,0,0,0,3.105,3.098,3.089,3.079,3.079,3.079,3.076,0.149,0.148,0.148,0.145,0.145,0.146,0.148,0.148,0.155,0.155,0.157,0.157,0.157,0.157,3.007,3.007,3.009,3.009,3.007,3.007,0.161,0.155,0.155,0.155,0.155,0.154,0.15,0.145,0.141,0.117,0.082,0.072,0.071,0.071,0.071,0.071,0.069,0.069,0.071,0.073,0.068,0.068,0.073,0.073,0.081,0.127,0.216,3.34,3.35,3.36,3.36,3.379,0.007,0,0,0.007,3.449,3.449,3.47,3.47,3.488,3.501,3.512,3.521,3.521,3.522,3.534,3.538,3.541,3.545,3.552,3.56,3.561,3.565,3.572,3.573,3.573,3.578,3.581,3.581,3.593,3.596,3.607,3.61,3.611,3.612,3.623,3.633,3.635,3.647,3.651,3.653,3.657,3.659,3.673,3.681,3.697,3.703,3.705,3.709,3.717,3.724,3.724,3.734,3.751,3.755,3.761,3.77,3.773,3.789,3.802,3.817,3.822,3.824,3.827,3.845,3.852,3.854,3.873,3.887,3.903,3.907,3.927,3.932,3.933,3.962,3.976,3.992,3.996,4.007,4.03,4.037,4.055,4.067,4.088,0.016,0.016,0.016,0,0,0,0,0.007,0,4.03,3.925,3.893,3.87,3.827,3.825,3.79,3.752,3.746,3.706,3.686,3.652,3.641,3.613,3.581,3.56,3.546,3.523,3.488,3.475,3.444,3.425,3.4,3.377,3.354,3.344,3.333,3.308,3.289,3.273,3.253,3.242,3.228,3.209,3.185,3.176,3.16,3.14,3.124,3.12,3.094,3.082,3.07,3.054,3.046,3.03,3.028,3.007,2.991,2.982,2.976,2.956,2.932,2.926,2.917,2.901,2.9,2.881,2.881,2.86,2.858,2.842,2.828,2.826,2.811,2.803,2.789,2.773,2.77,2.757,2.754,2.743,2.732,2.725,2.713,2.701,2.701,2.684,2.683,2.681,2.672,2.658,2.646,2.645,2.636,2.632,2.621,2.606,2.605,2.593,2.593,2.589,2.582,2.575,2.569,2.563,2.558,2.556,2.552,2.541,2.538,2.532,2.525,2.518,2.516,2.51,2.505,2.504,2.497,2.494,2.492,2.482,2.481,2.475,2.473,2.472,2.471,2.459,2.457,2.449,2.445,2.445,2.445,2.444,2.439,2.439,2.435,2.435,2.435,2.431,2.428,2.428,2.424,2.42,2.42,2.42,2.419,2.411,2.408,2.408,2.406,2.406,2.404,2.408,2.408,2.408,2.408,2.408,2.406,2.403,2.403,2.403,2.403,2.405,2.406,2.406,2.407,2.406,2.407,2.414,2.414,2.414,2.415,2.415,2.415,2.417,2.418,2.418,2.421,2.423,2.43,2.43,2.43,2.436,2.436,2.436,2.444,2.444,2.447,2.45,2.457,2.461,2.461,2.461,2.468,2.471,2.476,2.48,2.485,2.485,2.487,2.489,2.491,2.499,2.508,2.51,2.513,2.527,2.528,2.531,2.538,2.54,2.542,2.553,2.555,2.562,2.566,2.577,2.578,2.581,2.586,2.597,2.603,2.615,2.616,2.62,2.643,2.644,2.648,2.659,2.67,2.677,2.685,2.69,2.701,2.706,2.706,2.713,2.725,2.735,2.749,2.768,2.769,2.772,2.786,2.804,2.807,2.819,2.832,2.836,2.85,2.858,2.873,2.88,2.888,2.903,2.922,2.931,2.935,2.953,2.962,2.984,2.988,3.01,3.021,3.026,3.045,3.055,3.067,3.081,3.1,3.11,3.128,3.144,3.158,3.162,3.183,3.213,3.214,3.241,3.252,3.272,3.288,3.303,3.326,3.348,3.367,3.392,3.403,3.421,3.438,3.464,3.486,3.502,3.529,3.554,3.579,3.6,3.63,3.643,3.686,3.71,3.73,3.743,3.792,3.814,3.84,3.857,3.904,3.935,3.961,4.043,4.066,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.385,3.349,3.336,3.333,3.327,3.31,3.303,3.299,3.277,3.27,3.262,3.253,3.248,3.232,3.227,3.218,3.218,3.203,3.193,3.193,3.191,3.182,3.172,3.161,3.156,3.153,3.146,3.137,3.136,3.132,3.119,3.119,3.113,3.106,3.098,3.091,3.084,3.083,3.077,3.074,3.072,3.064,3.063,3.063,3.061,3.056,3.05,3.047,3.04,3.039,3.039,3.034,3.03,3.022,3.019,3.018,3.017,3.017,3.017,3.017,3.014,3.016,3.016,3.015,3.014,3.012,3.007,3.007,3.007,3.007,3.007,3.006,3.006,3.001,3.001,3,3,2.998,3.008,3.007,3.007,3.007,3.007,3.007,3.01,3.01,3.01,3.013,3.01,3.01,3.013,3.018,3.014,3.023,3.024,3.024,3.024,3.025,3.03,3.032,3.037,3.045,3.045,3.046,3.049,3.053,3.054,3.058,3.065,3.065,3.067,3.076,3.081,3.088,3.09,3.094,3.099,3.112,3.116,3.118,3.127,3.13,3.131,3.133,3.131,3.138,3.138,3.153,3.161,3.163,3.164,3.171,3.172,3.177,3.177,3.185,3.19,3.205,3.209,3.223,3.223,3.231,3.234,3.241,3.244,3.254,3.261,3.267,3.281,3.287,3.287,3.29,3.301,3.832,3.833,3.849,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 142.90} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.038397} SEN {Time 142.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 142.9} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.826} SEN {Time 142.947} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.182,0.185,0.185,0,0,0,0,0,3.629,3.595,3.586,3.586,3.595,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.258,3.225,3.218,3.212,3.207,3.207,3.212,3.346,0,0,0,0,0,0,0,0,0,3.096,3.094,3.089,3.079,3.079,3.077,3.076,0.155,0.151,0.148,0.142,0.142,0.142,0.145,0.145,0.147,0.147,0.147,0.147,0.156,3.015,3.015,3.012,3.012,3.012,3.011,3.01,0.16,0.159,0.159,0.159,0.16,0.157,0.15,0.145,0.145,0.114,0.093,0.064,0.062,0.062,0.062,0.063,0.064,0.064,0.064,0.066,0.064,0.064,0.066,0.066,0.082,0.127,0.21,3.358,3.359,3.364,3.364,0,0,0,0,0,0,3.473,3.473,3.473,3.479,3.485,3.498,3.502,3.522,3.525,3.531,3.54,3.542,3.545,3.546,3.555,3.555,3.558,3.558,3.569,3.571,3.572,3.578,3.585,3.591,3.599,3.603,3.609,3.623,3.625,3.628,3.635,3.645,3.65,3.652,3.656,3.66,3.667,3.683,3.683,3.688,3.697,3.697,3.707,3.713,3.714,3.723,3.74,3.749,3.752,3.755,3.776,3.778,3.79,3.792,3.816,3.823,3.824,3.838,3.845,3.854,3.858,3.861,3.899,3.909,3.922,3.923,3.939,3.942,3.972,3.972,3.992,4,4.018,4.027,4.04,4.069,4.093,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,4.032,3.965,3.932,3.896,3.877,3.843,3.813,3.786,3.745,3.745,3.71,3.677,3.662,3.654,3.61,3.599,3.561,3.526,3.515,3.498,3.473,3.458,3.427,3.403,3.382,3.353,3.338,3.325,3.305,3.287,3.268,3.254,3.236,3.222,3.203,3.189,3.179,3.165,3.138,3.13,3.116,3.094,3.089,3.067,3.055,3.045,3.035,3.017,3.012,2.987,2.985,2.971,2.957,2.939,2.932,2.915,2.904,2.892,2.885,2.883,2.86,2.853,2.851,2.824,2.822,2.808,2.798,2.794,2.781,2.765,2.763,2.742,2.741,2.733,2.724,2.715,2.713,2.703,2.691,2.677,2.674,2.672,2.659,2.649,2.638,2.628,2.619,2.615,2.612,2.606,2.595,2.588,2.587,2.583,2.577,2.568,2.558,2.554,2.554,2.55,2.548,2.539,2.533,2.523,2.523,2.52,2.516,2.505,2.504,2.501,2.491,2.489,2.482,2.48,2.474,2.466,2.463,2.463,2.463,2.454,2.457,2.454,2.45,2.45,2.448,2.444,2.442,2.441,2.438,2.429,2.426,2.426,2.423,2.42,2.42,2.418,2.42,2.418,2.417,2.409,2.409,2.409,2.409,2.408,2.408,2.407,2.407,2.408,2.413,2.413,2.413,2.407,2.4,2.4,2.4,2.403,2.403,2.403,2.403,2.409,2.414,2.414,2.414,2.415,2.415,2.419,2.421,2.423,2.429,2.429,2.429,2.43,2.43,2.436,2.436,2.437,2.437,2.442,2.442,2.443,2.449,2.453,2.455,2.458,2.459,2.465,2.471,2.471,2.477,2.483,2.486,2.492,2.492,2.496,2.496,2.508,2.508,2.508,2.51,2.528,2.529,2.53,2.54,2.548,2.551,2.555,2.562,2.567,2.567,2.576,2.584,2.596,2.601,2.606,2.616,2.621,2.623,2.646,2.65,2.654,2.654,2.664,2.673,2.688,2.697,2.698,2.707,2.714,2.724,2.726,2.744,2.748,2.748,2.772,2.778,2.79,2.799,2.809,2.818,2.829,2.832,2.849,2.856,2.871,2.88,2.889,2.916,2.916,2.928,2.942,2.947,2.969,2.975,2.984,3.001,3.018,3.027,3.046,3.06,3.067,3.081,3.095,3.109,3.123,3.14,3.163,3.175,3.186,3.212,3.212,3.241,3.253,3.268,3.288,3.304,3.329,3.351,3.372,3.385,3.393,3.43,3.434,3.453,3.487,3.516,3.526,3.546,3.58,3.599,3.627,3.645,3.677,3.695,3.729,3.741,3.783,3.819,3.831,3.874,3.899,3.928,3.973,4.03,0.007,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.382,3.348,3.339,3.335,3.325,3.315,3.307,3.302,3.279,3.269,3.268,3.254,3.254,3.238,3.228,3.212,3.209,3.206,3.197,3.196,3.185,3.173,3.171,3.168,3.156,3.147,3.147,3.134,3.13,3.127,3.127,3.12,3.104,3.1,3.1,3.094,3.092,3.09,3.081,3.077,3.071,3.063,3.062,3.057,3.057,3.051,3.046,3.043,3.041,3.036,3.036,3.035,3.035,3.031,3.02,3.02,3.019,3.019,3.019,3.019,3.019,3.014,3.021,3.014,3.012,3.012,3.007,3.007,3.007,3.004,3.004,3.007,3.007,3.007,3.01,3.01,0.007,3.01,3,3,3,3.003,3.003,3.003,3.003,3.008,3.01,3.011,3.012,3.012,3.016,3.021,3.021,3.021,3.021,3.031,3.024,3.031,3.032,3.034,3.035,3.042,3.046,3.046,3.054,3.057,3.058,3.061,3.066,3.072,3.075,3.076,3.082,3.085,3.093,3.095,3.095,3.106,3.111,3.112,3.121,3.124,3.124,3.128,3.131,3.14,3.144,3.145,3.154,3.161,3.165,3.17,3.176,3.176,3.183,3.188,3.202,3.207,3.211,3.218,3.229,3.236,3.239,3.247,3.25,3.253,3.257,3.257,3.277,3.286,3.286,3.295,3.301,3.827,3.852,3.864,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 143.10} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 143.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 143.102} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 143.147} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.182,0.181,0.182,0.182,0,0,0,0,3.641,3.619,3.593,3.583,3.583,3.593,3.593,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.222,3.216,3.215,3.216,3.216,3.348,0,0,0,0,0,0,0,0,0,3.105,3.092,3.092,3.086,3.086,3.072,3.072,3.072,0.152,0.149,0.146,0.146,0.149,0.149,0.15,0.152,0.15,0.15,0.15,0.156,0.16,3.005,3.01,3.012,3.012,3.012,3.012,3.012,0.161,0.161,0.161,0.161,0.156,0.156,0.14,0.14,0.121,0.09,0.066,0.064,0.064,0.064,0.064,0.066,0.068,0.068,0.068,0.068,0.067,0.067,0.067,0.072,0.138,3.345,3.355,0.006,0.006,3.381,0,0.007,3.423,3.423,3.443,3.443,3.462,3.485,3.485,3.493,3.494,3.509,3.516,3.516,3.519,3.524,3.527,3.531,3.536,3.542,3.551,3.553,3.555,3.555,3.568,3.572,3.576,3.579,3.587,3.589,3.601,3.602,3.602,3.61,3.619,3.624,3.639,3.64,3.641,3.651,3.653,3.654,3.666,3.679,3.687,3.69,3.692,3.698,3.711,3.713,3.731,3.74,3.744,3.747,3.748,3.76,3.764,3.768,3.782,3.79,3.796,3.811,3.826,3.826,3.847,3.861,3.867,3.878,3.901,3.902,3.911,3.929,3.945,3.953,3.956,3.974,3.998,3.999,4.013,4.025,4.041,4.048,4.078,4.085,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.069,4.03,3.978,3.917,3.914,3.869,3.839,3.814,3.789,3.758,3.732,3.71,3.679,3.653,3.629,3.623,3.581,3.561,3.523,3.51,3.501,3.481,3.448,3.42,3.415,3.383,3.361,3.337,3.318,3.298,3.29,3.275,3.264,3.239,3.227,3.213,3.197,3.179,3.161,3.148,3.121,3.11,3.092,3.087,3.069,3.054,3.046,3.038,3.017,3.011,2.983,2.983,2.981,2.957,2.935,2.929,2.919,2.902,2.886,2.884,2.873,2.869,2.857,2.834,2.829,2.821,2.802,2.789,2.788,2.777,2.774,2.758,2.752,2.748,2.733,2.715,2.713,2.705,2.704,2.69,2.683,2.673,2.668,2.65,2.647,2.644,2.64,2.63,2.626,2.609,2.606,2.594,2.593,2.592,2.586,2.577,2.573,2.571,2.562,2.559,2.551,2.54,2.538,2.534,2.529,2.519,2.513,2.509,2.508,2.506,2.499,2.493,2.489,2.489,2.482,2.467,2.467,2.467,2.465,2.461,2.461,2.456,2.451,2.449,2.446,2.442,2.442,2.442,2.441,2.441,2.433,2.428,2.425,2.425,2.424,2.424,2.424,2.419,2.419,2.412,2.409,2.408,2.408,2.408,2.407,2.407,2.407,2.405,2.405,2.405,2.405,2.405,2.407,2.407,2.408,2.408,2.408,2.408,2.408,2.407,2.408,2.412,2.413,2.413,2.414,2.414,2.413,2.417,2.417,2.417,2.429,2.429,2.431,2.431,2.434,2.431,2.437,2.438,2.438,2.438,2.446,2.448,2.45,2.455,2.458,2.459,2.466,2.471,2.481,2.483,2.483,2.484,2.492,2.498,2.501,2.503,2.508,2.508,2.514,2.515,2.517,2.521,2.528,2.532,2.546,2.553,2.562,2.565,2.567,2.573,2.581,2.592,2.599,2.603,2.604,2.615,2.62,2.624,2.644,2.645,2.652,2.661,2.673,2.673,2.685,2.686,2.692,2.699,2.716,2.717,2.73,2.741,2.747,2.757,2.767,2.775,2.792,2.798,2.815,2.823,2.831,2.832,2.858,2.864,2.879,2.884,2.897,2.912,2.917,2.938,2.949,2.949,2.967,2.979,2.981,3.004,3.018,3.034,3.043,3.06,3.075,3.085,3.1,3.115,3.128,3.15,3.162,3.168,3.185,3.209,3.212,3.231,3.253,3.279,3.285,3.306,3.329,3.351,3.37,3.379,3.394,3.429,3.446,3.464,3.486,3.516,3.524,3.554,3.574,3.59,3.624,3.654,3.68,3.701,3.727,3.75,3.788,3.816,3.831,3.858,3.902,3.938,3.966,4.004,4.034,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.39,3.344,3.339,3.334,3.324,3.306,3.303,3.292,3.278,3.273,3.268,3.251,3.243,3.233,3.228,3.218,3.205,3.203,3.196,3.189,3.183,3.182,3.17,3.166,3.159,3.153,3.14,3.138,3.137,3.122,3.122,3.121,3.106,3.105,3.101,3.095,3.086,3.086,3.081,3.073,3.073,3.07,3.061,3.058,3.057,3.056,3.052,3.043,3.041,3.041,3.039,3.032,3.03,3.029,3.026,3.02,3.019,3.019,3.019,3.019,3.018,3.018,3.014,3.014,3.013,3.013,3.013,3.009,3.009,3.009,3.009,2.999,3.009,3.009,3.009,3.004,3.004,3.003,3.002,3.002,3.002,3.002,3.002,3.004,3.006,3.011,3.014,3.015,3.015,3.016,3.016,3.016,3.019,3.022,3.023,3.023,3.026,3.032,3.035,3.035,3.042,3.043,3.046,3.046,3.048,3.052,3.056,3.06,3.066,3.072,3.072,3.078,3.086,3.09,3.09,3.092,3.098,3.101,3.113,3.115,3.118,3.124,3.124,3.134,3.134,3.135,3.138,3.148,3.16,3.16,3.161,3.172,3.176,3.177,3.179,3.185,3.203,3.203,3.215,3.222,3.233,3.234,3.241,3.244,3.246,3.25,3.253,3.268,3.278,3.282,3.282,3.282,3.288,3.829,3.849,3.853,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 143.30} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 143.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 143.304} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 143.347} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.184,0.185,0.185,0.186,0.196,0,0,0,0,0,0,3.588,3.585,3.585,3.585,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.268,3.231,3.224,3.215,3.215,3.215,3.222,3.345,0,0,0,0,0,0,0,0,0,3.101,3.091,3.087,3.08,3.08,3.08,3.08,3.08,0.149,0.149,0.144,0.144,0.15,0.15,0.153,0.156,0.154,0.156,0.156,0.156,0.157,3.012,3.012,3.012,3.012,3.008,3.008,3.008,0.163,0.161,0.161,0.158,0.151,0.141,0.135,0.135,0.118,0.092,0.065,0.065,0.064,0.064,0.067,0.067,0.068,0.072,0.068,0.068,0.068,0.068,0.068,0.069,0.133,0.217,3.326,3.34,3.353,3.377,3.38,3.392,3.404,3.404,3.404,3.416,3.449,3.451,3.482,3.485,3.485,3.487,3.5,3.516,3.522,3.524,3.525,3.533,3.535,3.541,3.546,3.552,3.555,3.56,3.569,3.572,3.578,3.579,3.582,3.589,3.597,3.598,3.603,3.613,3.619,3.628,3.63,3.639,3.644,3.649,3.659,3.664,3.664,3.68,3.686,3.687,3.7,3.704,3.705,3.722,3.725,3.74,3.747,3.751,3.752,3.754,3.767,3.778,3.784,3.796,3.813,3.819,3.82,3.844,3.846,3.859,3.877,3.879,3.891,3.894,3.905,3.916,3.923,3.947,3.97,3.976,3.993,4.002,4.008,4.016,4.03,4.053,4.074,4.092,4.095,0.016,0.016,0.016,0,0,0,0,3.996,3.955,3.927,3.907,3.872,3.837,3.816,3.77,3.751,3.736,3.718,3.69,3.662,3.643,3.618,3.581,3.568,3.521,3.506,3.498,3.479,3.439,3.433,3.405,3.382,3.364,3.342,3.333,3.315,3.292,3.279,3.255,3.237,3.216,3.214,3.19,3.173,3.163,3.133,3.132,3.121,3.099,3.086,3.072,3.059,3.043,3.024,3.013,3.007,2.987,2.985,2.967,2.955,2.948,2.931,2.926,2.908,2.893,2.891,2.877,2.867,2.855,2.836,2.826,2.824,2.817,2.794,2.78,2.774,2.772,2.761,2.752,2.744,2.723,2.717,2.715,2.709,2.705,2.69,2.682,2.673,2.671,2.657,2.654,2.639,2.639,2.624,2.62,2.615,2.612,2.597,2.597,2.595,2.595,2.577,2.575,2.562,2.56,2.553,2.545,2.535,2.535,2.527,2.527,2.523,2.513,2.509,2.506,2.503,2.5,2.495,2.495,2.485,2.478,2.471,2.471,2.464,2.461,2.46,2.459,2.453,2.45,2.446,2.443,2.438,2.437,2.436,2.436,2.435,2.435,2.431,2.43,2.428,2.428,2.425,2.417,2.415,2.415,2.413,2.41,2.41,2.41,2.409,2.406,2.406,2.404,2.404,2.404,2.404,2.406,2.406,2.406,2.406,2.405,2.405,2.404,2.404,2.404,2.409,2.41,2.41,2.409,2.409,2.416,2.416,2.42,2.423,2.423,2.426,2.426,2.43,2.432,2.432,2.432,2.434,2.432,2.436,2.44,2.441,2.443,2.45,2.453,2.458,2.46,2.468,2.468,2.475,2.477,2.479,2.485,2.485,2.489,2.49,2.502,2.502,2.503,2.503,2.514,2.517,2.52,2.528,2.533,2.533,2.546,2.558,2.56,2.564,2.568,2.574,2.584,2.585,2.597,2.602,2.605,2.621,2.622,2.639,2.64,2.645,2.654,2.66,2.67,2.672,2.686,2.69,2.703,2.707,2.718,2.718,2.723,2.741,2.746,2.756,2.766,2.77,2.788,2.792,2.809,2.812,2.834,2.834,2.837,2.868,2.885,2.89,2.89,2.907,2.92,2.927,2.942,2.954,2.962,2.973,2.979,2.994,3.018,3.027,3.043,3.058,3.061,3.079,3.097,3.108,3.121,3.131,3.156,3.171,3.175,3.204,3.206,3.242,3.253,3.266,3.285,3.306,3.329,3.35,3.37,3.383,3.404,3.427,3.443,3.465,3.485,3.513,3.523,3.554,3.579,3.599,3.625,3.644,3.689,3.708,3.735,3.74,3.79,3.813,3.837,3.867,3.904,3.934,3.973,4.034,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.387,3.344,3.342,3.332,3.323,3.306,3.302,3.296,3.284,3.274,3.273,3.254,3.244,3.243,3.229,3.213,3.213,3.203,3.197,3.192,3.178,3.17,3.17,3.161,3.156,3.148,3.145,3.132,3.127,3.127,3.118,3.113,3.109,3.107,3.098,3.09,3.087,3.083,3.074,3.073,3.073,3.068,3.064,3.058,3.057,3.052,3.047,3.046,3.045,3.042,3.04,3.039,3.038,3.029,3.022,3.017,3.012,3.011,3.012,3.017,3.013,3.013,3.018,3.013,3.01,3.009,3.01,3.01,3.01,3.009,3.009,3.008,3.008,3.008,3.005,3.004,3.002,3.002,3.002,3.001,3.004,3.005,3.004,3.005,3.006,3.011,3.013,3.013,3.013,3.013,3.019,3.021,3.022,3.024,3.026,3.027,3.032,3.032,3.033,3.036,3.036,3.043,3.046,3.047,3.051,3.056,3.057,3.061,3.066,3.069,3.072,3.074,3.083,3.083,3.094,3.097,3.101,3.104,3.115,3.121,3.122,3.128,3.128,3.134,3.135,3.135,3.135,3.143,3.154,3.159,3.167,3.175,3.175,3.176,3.178,3.187,3.204,3.207,3.212,3.217,3.228,3.231,3.233,3.24,3.245,3.253,3.256,3.268,3.272,3.279,3.279,3.29,3.296,3.83,3.845,3.859,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 143.51} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 143.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 143.506} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.0546} SEN {Time 143.543} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.189,0.183,0.189,0.189,0,0,0,0,0,3.612,3.594,3.594,3.594,3.59,3.378,3.378,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.26,3.233,3.217,3.216,3.211,3.211,3.216,3.339,0,0,0,0,0,0,0,0,0,3.109,3.087,3.08,3.078,3.078,3.078,3.073,0.154,0.15,0.148,0.141,0.141,0.141,0.143,0.145,0.149,0.149,0.149,0.149,0.153,3.012,3.012,3.009,3.009,3.009,3.006,3.006,3.006,0.16,0.155,0.155,0.153,0.152,0.149,0.144,0.143,0.117,0.095,0.073,0.071,0.07,0.071,0.071,0.071,0.071,0.071,0.07,0.069,0.066,0.066,0.07,0.075,0.125,0.213,3.349,3.35,3.364,3.364,0.007,0,0,0.007,3.443,3.443,3.46,3.46,3.467,3.474,3.492,3.507,3.508,3.519,3.519,3.519,3.534,3.539,3.539,3.553,3.555,3.559,3.561,3.561,3.57,3.578,3.579,3.582,3.587,3.589,3.589,3.603,3.609,3.613,3.615,3.62,3.625,3.634,3.64,3.652,3.654,3.655,3.668,3.68,3.682,3.692,3.698,3.698,3.705,3.706,3.718,3.732,3.736,3.743,3.749,3.765,3.777,3.779,3.795,3.81,3.813,3.815,3.831,3.835,3.844,3.849,3.857,3.877,3.881,3.893,3.913,3.914,3.934,3.957,3.958,3.97,3.99,4.002,4.014,4.025,4.036,4.073,4.079,4.088,0.016,0.016,0.016,0,0,0,0,0,0.007,0,4,3.903,3.868,3.825,3.816,3.797,3.756,3.733,3.704,3.672,3.667,3.629,3.611,3.584,3.551,3.536,3.526,3.487,3.466,3.455,3.433,3.402,3.394,3.374,3.34,3.329,3.306,3.297,3.268,3.254,3.235,3.217,3.209,3.187,3.17,3.16,3.146,3.131,3.119,3.096,3.089,3.064,3.061,3.043,3.034,3.023,3.016,2.99,2.984,2.968,2.959,2.934,2.929,2.92,2.905,2.902,2.886,2.882,2.863,2.845,2.844,2.833,2.82,2.806,2.8,2.786,2.783,2.77,2.754,2.745,2.742,2.726,2.72,2.709,2.707,2.701,2.686,2.681,2.677,2.669,2.651,2.65,2.642,2.637,2.629,2.615,2.615,2.612,2.593,2.593,2.592,2.587,2.58,2.572,2.571,2.565,2.557,2.551,2.539,2.537,2.532,2.525,2.513,2.512,2.511,2.508,2.499,2.497,2.491,2.487,2.487,2.476,2.474,2.466,2.464,2.461,2.458,2.455,2.455,2.452,2.45,2.445,2.445,2.443,2.442,2.442,2.435,2.43,2.428,2.427,2.425,2.425,2.421,2.415,2.414,2.413,2.412,2.411,2.41,2.41,2.406,2.405,2.406,2.406,2.405,2.405,2.406,2.406,2.407,2.407,2.406,2.407,2.407,2.405,2.407,2.408,2.408,2.414,2.414,2.414,2.415,2.416,2.416,2.42,2.42,2.421,2.421,2.423,2.427,2.425,2.427,2.435,2.435,2.436,2.439,2.441,2.442,2.45,2.452,2.452,2.453,2.454,2.462,2.468,2.477,2.481,2.482,2.486,2.489,2.491,2.493,2.494,2.497,2.5,2.504,2.513,2.52,2.523,2.528,2.536,2.542,2.547,2.55,2.562,2.562,2.569,2.57,2.577,2.584,2.586,2.6,2.606,2.606,2.617,2.634,2.641,2.653,2.654,2.665,2.665,2.668,2.686,2.688,2.704,2.709,2.711,2.716,2.728,2.737,2.745,2.757,2.764,2.773,2.792,2.8,2.802,2.812,2.823,2.844,2.852,2.865,2.882,2.884,2.893,2.914,2.917,2.929,2.939,2.948,2.966,2.979,2.982,2.996,3.014,3.016,3.044,3.058,3.066,3.081,3.111,3.111,3.122,3.139,3.16,3.166,3.185,3.204,3.221,3.232,3.252,3.262,3.28,3.309,3.331,3.352,3.379,3.393,3.397,3.425,3.445,3.456,3.487,3.503,3.531,3.56,3.57,3.582,3.627,3.644,3.678,3.7,3.734,3.736,3.771,3.818,3.83,3.869,3.9,3.927,3.97,3.989,4.087,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,4.003,3.388,3.348,3.34,3.334,3.328,3.308,3.296,3.294,3.276,3.275,3.273,3.256,3.247,3.239,3.228,3.225,3.213,3.201,3.194,3.191,3.177,3.174,3.17,3.168,3.152,3.151,3.147,3.133,3.133,3.129,3.126,3.118,3.114,3.105,3.101,3.093,3.088,3.088,3.077,3.076,3.073,3.068,3.064,3.063,3.057,3.055,3.044,3.043,3.043,3.036,3.033,3.031,3.029,3.028,3.024,3.022,3.018,3.018,3.018,3.022,3.022,3.022,3.02,3.016,3.013,3.013,3.013,3.006,3.012,3.005,3.005,3.005,3.007,3.005,3.005,3.002,3.004,3.002,2.999,2.999,2.998,2.998,3.003,3.004,3.005,3.005,3.008,3.01,3.01,3.01,3.013,3.014,3.02,3.022,3.026,3.029,3.032,3.035,3.037,3.044,3.044,3.044,3.045,3.05,3.054,3.054,3.061,3.061,3.065,3.069,3.075,3.082,3.084,3.088,3.092,3.096,3.098,3.112,3.116,3.12,3.122,3.128,3.128,3.13,3.132,3.132,3.14,3.148,3.153,3.163,3.165,3.169,3.169,3.175,3.184,3.189,3.202,3.203,3.219,3.228,3.228,3.228,3.24,3.246,3.246,3.257,3.257,3.263,3.279,3.284,3.284,3.29,3.296,3.823,3.845,3.856,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 143.70} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 143.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 143.698} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 6.1468} {Name Sonar15 Range 5.6388} SEN {Time 143.743} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.182,0.185,0.185,0,0,0,0,0,3.603,3.598,3.597,3.597,3.597,3.586,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.224,3.213,3.209,3.209,3.213,3.351,0,0,0,0,0,0,0,0,0,3.107,3.096,3.092,3.079,3.079,3.078,3.075,0.155,0.149,0.149,0.148,0.149,0.148,0.148,0.148,0.153,0.153,0.155,0.155,0.16,3.003,3.012,3.008,3.009,3.009,3.009,3.008,0.166,0.162,0.159,0.159,0.158,0.156,0.153,0.146,0.146,0.107,0.089,0.07,0.066,0.064,0.064,0.064,0.067,0.068,0.068,0.072,0.068,0.064,0.064,0.072,0.08,0.143,0.22,3.345,0.007,0,3.384,3.387,3.387,3.387,3.398,3.408,0,3.469,3.479,0,3.512,3.509,3.512,3.525,3.512,3.525,3.528,3.536,3.536,3.543,3.547,3.555,3.555,3.56,3.567,3.567,3.57,3.582,3.582,3.587,3.588,3.597,3.602,3.606,3.62,3.622,3.628,3.637,3.64,3.653,3.654,3.657,3.665,3.667,3.681,3.682,3.684,3.694,3.702,3.703,3.719,3.721,3.725,3.738,3.743,3.752,3.764,3.773,3.784,3.785,3.799,3.804,3.817,3.826,3.843,3.843,3.845,3.856,3.872,3.9,3.909,3.914,3.922,3.928,3.952,3.954,3.973,3.985,3.995,4.014,4.021,4.034,4.041,4.069,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,3.962,3.92,3.89,3.872,3.832,3.802,3.778,3.745,3.731,3.713,3.691,3.665,3.633,3.614,3.587,3.552,3.545,3.516,3.495,3.475,3.452,3.426,3.4,3.385,3.368,3.348,3.323,3.3,3.273,3.258,3.251,3.238,3.215,3.207,3.196,3.177,3.164,3.139,3.127,3.127,3.092,3.083,3.071,3.068,3.045,3.025,3.024,3.01,2.99,2.983,2.977,2.955,2.935,2.928,2.917,2.905,2.897,2.883,2.868,2.865,2.848,2.839,2.826,2.824,2.815,2.802,2.791,2.781,2.766,2.754,2.75,2.744,2.74,2.725,2.713,2.7,2.692,2.69,2.678,2.676,2.661,2.656,2.649,2.643,2.638,2.625,2.613,2.613,2.608,2.601,2.595,2.595,2.584,2.58,2.567,2.567,2.561,2.557,2.549,2.543,2.536,2.532,2.523,2.519,2.514,2.511,2.509,2.509,2.5,2.498,2.496,2.489,2.476,2.47,2.465,2.465,2.465,2.465,2.465,2.457,2.449,2.443,2.442,2.443,2.443,2.443,2.443,2.443,2.433,2.421,2.421,2.424,2.421,2.418,2.418,2.416,2.412,2.409,2.409,2.409,2.409,2.409,2.408,2.406,2.404,2.404,2.404,2.404,2.404,2.404,2.404,2.404,2.404,2.402,2.402,2.402,2.406,2.406,2.407,2.412,2.415,2.417,2.417,2.417,2.417,2.42,2.423,2.42,2.423,2.424,2.428,2.43,2.432,2.432,2.433,2.438,2.439,2.439,2.439,2.453,2.459,2.46,2.46,2.46,2.463,2.47,2.473,2.478,2.484,2.488,2.492,2.492,2.497,2.501,2.504,2.505,2.511,2.519,2.519,2.523,2.534,2.541,2.547,2.549,2.558,2.564,2.567,2.574,2.578,2.586,2.593,2.596,2.609,2.615,2.617,2.626,2.635,2.653,2.653,2.659,2.662,2.673,2.682,2.685,2.703,2.709,2.72,2.725,2.726,2.734,2.741,2.759,2.773,2.776,2.783,2.804,2.811,2.819,2.822,2.838,2.851,2.857,2.875,2.887,2.899,2.905,2.92,2.933,2.934,2.952,2.966,2.983,2.984,3,3.019,3.025,3.053,3.061,3.068,3.076,3.098,3.11,3.126,3.139,3.161,3.17,3.183,3.212,3.213,3.237,3.254,3.27,3.288,3.31,3.329,3.35,3.373,3.38,3.387,3.426,3.434,3.467,3.494,3.507,3.53,3.555,3.582,3.601,3.614,3.651,3.678,3.707,3.726,3.747,3.771,3.817,3.847,3.88,3.905,3.937,3.964,4.043,0.007,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.371,3.345,3.338,3.336,3.329,3.307,3.299,3.298,3.278,3.266,3.265,3.259,3.246,3.235,3.226,3.222,3.216,3.209,3.198,3.184,3.184,3.18,3.172,3.171,3.156,3.147,3.136,3.136,3.131,3.127,3.118,3.117,3.106,3.1,3.098,3.097,3.093,3.088,3.078,3.076,3.075,3.073,3.062,3.061,3.055,3.055,3.05,3.05,3.043,3.042,3.035,3.032,3.031,3.029,3.028,3.024,3.024,3.018,3.024,3.027,3.027,3.013,3.011,3.01,3.009,3.007,3.009,3.005,3.005,3.005,3.005,3.005,3.005,3.003,3,3.003,3.002,3.003,3.002,3.002,2.998,2.997,2.997,2.998,3.004,3.004,3.011,3.013,3.013,3.012,3.014,3.014,3.018,3.018,3.02,3.02,3.03,3.032,3.039,3.039,3.043,3.046,3.048,3.05,3.053,3.053,3.061,3.061,3.065,3.071,3.077,3.077,3.085,3.086,3.091,3.092,3.092,3.107,3.112,3.116,3.121,3.123,3.126,3.13,3.131,3.138,3.141,3.143,3.151,3.159,3.159,3.168,3.175,3.185,3.185,3.189,3.202,3.207,3.213,3.215,3.228,3.229,3.236,3.236,3.251,3.253,3.256,3.263,3.267,3.278,3.278,3.289,3.291,3.828,3.84,3.85,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 143.90} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 143.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 143.9} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 6.1468} {Name Sonar15 Range 5.6388} SEN {Time 143.943} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.185,0.183,0.185,0.185,0,0,0,0,0,0,3.595,3.585,3.585,3.595,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.258,3.258,3.23,3.225,3.224,3.224,3.224,3.338,0,0,0,0,0,0,0,0,0,3.102,3.092,3.088,3.075,3.075,3.072,3.071,0.149,0.149,0.149,0.143,0.143,0.15,0.147,0.153,0.155,0.153,0.155,0.155,0.16,0.162,3.01,3.01,3.017,3.017,3.01,3.001,0.158,0.158,0.158,0.158,0.156,0.152,0.152,0.142,0.142,0.118,0.091,0.072,0.072,0.068,0.068,0.07,0.07,0.07,0.07,0.069,0.069,0.069,0.069,0.069,0.069,0.141,0.211,3.361,3.363,3.365,3.365,3.375,0.007,0,0.007,0,3.46,3.463,3.463,3.463,3.483,3.487,3.507,3.508,3.531,3.531,3.531,3.536,3.538,3.544,3.553,3.554,3.556,3.557,3.566,3.571,3.573,3.579,3.585,3.587,3.589,3.589,3.596,3.607,3.62,3.62,3.627,3.636,3.644,3.644,3.648,3.657,3.659,3.668,3.684,3.686,3.689,3.694,3.702,3.711,3.717,3.717,3.727,3.736,3.752,3.755,3.757,3.767,3.781,3.785,3.797,3.806,3.815,3.828,3.832,3.846,3.861,3.865,3.87,3.893,3.901,3.912,3.92,3.941,3.954,3.964,3.977,3.985,3.994,4.003,4.032,4.043,4.053,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,4.05,3.99,3.956,3.935,3.903,3.883,3.835,3.815,3.794,3.752,3.726,3.714,3.695,3.654,3.637,3.612,3.586,3.567,3.537,3.508,3.486,3.473,3.446,3.421,3.412,3.378,3.358,3.334,3.329,3.3,3.28,3.279,3.251,3.239,3.221,3.21,3.196,3.168,3.161,3.148,3.127,3.119,3.092,3.091,3.065,3.061,3.045,3.032,3.016,3.011,2.994,2.988,2.972,2.958,2.938,2.928,2.912,2.904,2.896,2.877,2.876,2.858,2.857,2.843,2.82,2.817,2.801,2.793,2.79,2.783,2.769,2.757,2.748,2.736,2.732,2.725,2.72,2.699,2.697,2.696,2.679,2.672,2.665,2.661,2.644,2.642,2.633,2.623,2.622,2.609,2.604,2.602,2.591,2.586,2.58,2.58,2.576,2.564,2.553,2.552,2.549,2.548,2.536,2.535,2.527,2.517,2.514,2.508,2.507,2.503,2.493,2.493,2.488,2.486,2.481,2.471,2.468,2.467,2.462,2.458,2.457,2.456,2.45,2.446,2.446,2.442,2.439,2.439,2.439,2.43,2.43,2.43,2.424,2.424,2.421,2.42,2.421,2.42,2.419,2.413,2.412,2.411,2.409,2.409,2.405,2.407,2.402,2.402,2.407,2.409,2.409,2.409,2.409,2.409,2.405,2.405,2.409,2.409,2.405,2.409,2.41,2.41,2.41,2.417,2.419,2.419,2.417,2.417,2.417,2.416,2.417,2.432,2.432,2.429,2.432,2.432,2.442,2.442,2.442,2.444,2.448,2.45,2.458,2.459,2.462,2.463,2.467,2.47,2.473,2.473,2.484,2.487,2.49,2.492,2.497,2.499,2.503,2.51,2.518,2.524,2.525,2.527,2.527,2.53,2.555,2.555,2.555,2.558,2.572,2.577,2.578,2.58,2.595,2.609,2.61,2.619,2.623,2.625,2.639,2.646,2.651,2.653,2.666,2.672,2.683,2.695,2.699,2.703,2.712,2.713,2.728,2.742,2.751,2.764,2.773,2.773,2.781,2.797,2.806,2.822,2.84,2.84,2.851,2.86,2.876,2.885,2.888,2.9,2.92,2.924,2.936,2.946,2.96,2.973,2.988,3,3.019,3.025,3.042,3.061,3.073,3.087,3.096,3.109,3.137,3.144,3.161,3.171,3.182,3.207,3.213,3.231,3.255,3.271,3.295,3.317,3.333,3.351,3.368,3.391,3.403,3.412,3.432,3.448,3.497,3.507,3.533,3.557,3.571,3.604,3.622,3.66,3.668,3.696,3.731,3.748,3.793,3.802,3.826,3.877,3.895,3.927,3.967,4.046,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.385,3.347,3.332,3.331,3.323,3.317,3.296,3.29,3.277,3.276,3.261,3.249,3.248,3.235,3.226,3.226,3.208,3.205,3.201,3.183,3.175,3.173,3.165,3.163,3.151,3.149,3.141,3.137,3.131,3.13,3.124,3.121,3.111,3.105,3.099,3.094,3.089,3.084,3.073,3.073,3.072,3.07,3.06,3.06,3.053,3.049,3.049,3.046,3.04,3.04,3.04,3.033,3.032,3.032,3.024,3.023,3.021,3.021,3.021,3.021,3.021,3.017,3.017,3.01,3.005,3.01,3.005,3.005,3.006,3.006,3.006,3.006,3.006,3.005,3.004,3.003,3.003,3.003,3.003,3.005,3.005,3.005,3.006,3.006,3.008,3.008,3.01,3.015,3.011,3.011,3.015,3.015,3.019,3.02,3.022,3.023,3.026,3.029,3.037,3.037,3.043,3.043,3.055,3.055,3.055,3.056,3.06,3.065,3.065,3.074,3.075,3.08,3.082,3.082,3.084,3.092,3.097,3.108,3.109,3.121,3.126,3.127,3.127,3.13,3.132,3.132,3.133,3.143,3.151,3.159,3.16,3.172,3.175,3.176,3.184,3.184,3.199,3.215,3.227,3.227,3.225,3.225,3.227,3.236,3.249,3.252,3.254,3.26,3.263,3.278,3.278,3.28,3.297,3.833,3.855,3.857,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 144.10} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 144.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 144.101} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 6.1468} {Name Sonar15 Range 5.6388} SEN {Time 144.144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.187,0.187,0.187,0,0,0,0,0,3.63,3.6,3.594,3.594,3.6,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.249,3.231,3.226,3.214,3.212,3.212,3.214,3.355,0,0,0,0,0,0,0,0,0,3.103,3.094,3.092,3.092,3.092,3.078,3.069,0.149,0.142,0.142,0.142,0.142,0.14,0.141,0.141,0.15,0.141,0.15,0.15,0.15,0.159,3.008,3.02,3.02,3.02,3.008,3.022,3.007,0.157,0.153,0.153,0.153,0.152,0.147,0.145,0.145,0.125,0.081,0.073,0.066,0.065,0.065,0.065,0.064,0.068,0.068,0.07,0.067,0.067,0.064,0.064,0.064,0.129,3.341,3.372,3.372,3.361,3.361,3.372,3.389,3.396,0.007,0,3.465,3.485,3.485,3.485,3.487,3.491,3.505,3.507,3.526,3.533,3.533,3.534,3.535,3.54,3.547,3.55,3.552,3.558,3.563,3.571,3.579,3.58,3.587,3.591,3.593,3.595,3.601,3.61,3.614,3.623,3.63,3.638,3.638,3.647,3.652,3.654,3.656,3.673,3.686,3.687,3.693,3.702,3.709,3.71,3.714,3.725,3.738,3.74,3.742,3.751,3.766,3.767,3.773,3.784,3.796,3.813,3.817,3.831,3.838,3.844,3.851,3.854,3.872,3.9,3.906,3.91,3.922,3.933,3.947,3.948,3.982,3.983,3.996,4.006,4.027,4.043,4.062,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.069,4.069,4.022,3.991,3.928,3.913,3.874,3.835,3.81,3.78,3.749,3.744,3.71,3.686,3.661,3.632,3.623,3.586,3.558,3.542,3.511,3.495,3.479,3.446,3.431,3.407,3.383,3.362,3.341,3.324,3.296,3.289,3.274,3.253,3.231,3.226,3.207,3.192,3.175,3.154,3.154,3.132,3.118,3.088,3.088,3.064,3.062,3.048,3.031,3.019,3.017,2.993,2.979,2.973,2.957,2.942,2.931,2.917,2.905,2.901,2.885,2.877,2.869,2.86,2.835,2.827,2.823,2.806,2.797,2.791,2.769,2.769,2.758,2.752,2.737,2.736,2.72,2.704,2.702,2.687,2.683,2.682,2.669,2.664,2.652,2.649,2.638,2.636,2.625,2.621,2.615,2.609,2.604,2.592,2.592,2.584,2.58,2.576,2.568,2.56,2.557,2.552,2.547,2.539,2.522,2.52,2.519,2.509,2.509,2.508,2.501,2.499,2.495,2.489,2.489,2.477,2.476,2.473,2.47,2.466,2.466,2.464,2.456,2.456,2.452,2.443,2.44,2.44,2.44,2.44,2.432,2.427,2.427,2.424,2.424,2.421,2.42,2.418,2.418,2.417,2.415,2.408,2.408,2.406,2.408,2.409,2.409,2.408,2.408,2.406,2.405,2.404,2.402,2.402,2.402,2.403,2.406,2.41,2.41,2.41,2.41,2.411,2.411,2.411,2.413,2.415,2.415,2.415,2.417,2.418,2.418,2.433,2.433,2.436,2.433,2.436,2.438,2.438,2.438,2.44,2.441,2.445,2.448,2.454,2.454,2.454,2.464,2.468,2.472,2.475,2.479,2.48,2.488,2.492,2.492,2.493,2.499,2.502,2.507,2.51,2.517,2.525,2.531,2.538,2.54,2.544,2.55,2.558,2.562,2.578,2.582,2.584,2.588,2.589,2.598,2.607,2.619,2.628,2.631,2.634,2.651,2.66,2.666,2.673,2.678,2.691,2.698,2.698,2.707,2.719,2.722,2.724,2.745,2.748,2.755,2.763,2.767,2.787,2.797,2.806,2.826,2.829,2.841,2.848,2.879,2.88,2.89,2.89,2.911,2.921,2.926,2.941,2.95,2.964,2.979,2.985,2.998,3.012,3.025,3.04,3.054,3.069,3.073,3.101,3.111,3.129,3.138,3.161,3.164,3.184,3.207,3.216,3.239,3.248,3.258,3.282,3.31,3.326,3.349,3.361,3.4,3.402,3.432,3.449,3.464,3.483,3.512,3.512,3.553,3.575,3.599,3.612,3.658,3.688,3.692,3.737,3.743,3.788,3.808,3.83,3.865,3.899,3.932,3.971,3.996,4.031,4.072,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.374,3.345,3.334,3.331,3.322,3.31,3.3,3.293,3.275,3.274,3.271,3.258,3.248,3.24,3.222,3.217,3.207,3.205,3.2,3.189,3.177,3.173,3.17,3.169,3.157,3.153,3.148,3.133,3.133,3.131,3.127,3.119,3.103,3.103,3.1,3.098,3.096,3.095,3.081,3.076,3.073,3.069,3.064,3.061,3.056,3.056,3.054,3.049,3.049,3.038,3.038,3.033,3.029,3.025,3.024,3.023,3.023,3.023,3.023,3.023,3.023,3.019,3.019,3.014,3.014,3.013,3.009,3.009,3.007,3.006,3.007,3.007,3.003,3.003,3.003,3.003,3.003,3.003,3.003,3,3,3.003,3.003,3.004,3.008,3.009,3.011,3.011,3.011,3.013,3.013,3.013,3.013,3.018,3.018,3.018,3.018,3.028,3.034,3.036,3.041,3.044,3.046,3.047,3.053,3.055,3.055,3.058,3.064,3.071,3.075,3.077,3.08,3.084,3.096,3.099,3.101,3.103,3.112,3.122,3.122,3.126,3.128,3.132,3.135,3.136,3.138,3.141,3.158,3.165,3.166,3.169,3.174,3.174,3.184,3.188,3.206,3.207,3.209,3.218,3.236,3.24,3.241,3.241,3.248,3.259,3.261,3.262,3.279,3.288,3.288,3.288,3.295,3.83,3.849,3.851,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 144.30} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 144.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 144.303} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388} SEN {Time 144.343} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.184,0.187,0.187,0,0,0,0,0,3.621,3.592,3.584,3.584,3.592,3.592,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.217,3.211,3.217,3.217,3.335,0,0,0,0,0,0,0,0,0,3.101,3.098,3.088,3.082,3.082,3.082,3.082,0.148,0.143,0.143,0.143,0.143,0.138,0.143,0.143,0.151,0.151,0.151,0.151,0.157,0.159,3.012,3.021,3.021,3.021,3.019,3.019,0.163,0.16,0.159,0.159,0.156,0.156,0.153,0.149,0.149,0.113,0.095,0.067,0.066,0.066,0.067,0.067,0.068,0.068,0.069,0.069,0.069,0.066,0.066,0.066,0.075,0.134,3.36,3.36,3.36,3.355,3.355,3.355,3.376,0,0,0,0,3.484,3.484,3.484,3.491,3.494,3.517,3.518,3.526,3.529,3.531,3.533,3.538,3.542,3.546,3.546,3.557,3.559,3.56,3.573,3.575,3.583,3.583,3.583,3.585,3.597,3.598,3.598,3.611,3.616,3.618,3.627,3.634,3.653,3.654,3.661,3.665,3.675,3.681,3.687,3.688,3.694,3.703,3.709,3.719,3.733,3.734,3.735,3.738,3.761,3.761,3.769,3.781,3.782,3.793,3.8,3.811,3.817,3.837,3.837,3.855,3.86,3.87,3.885,3.894,3.91,3.932,3.934,3.945,3.963,3.964,3.986,3.99,3.999,4.026,4.03,4.065,4.074,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0,0,4.059,4.034,3.923,3.887,3.882,3.84,3.807,3.79,3.726,3.726,3.704,3.679,3.668,3.629,3.62,3.575,3.561,3.535,3.515,3.496,3.479,3.432,3.422,3.409,3.381,3.356,3.349,3.32,3.31,3.289,3.274,3.253,3.236,3.22,3.215,3.189,3.172,3.158,3.143,3.13,3.124,3.094,3.083,3.083,3.071,3.049,3.033,3.028,3.012,2.994,2.985,2.974,2.957,2.942,2.924,2.915,2.903,2.902,2.883,2.877,2.867,2.848,2.844,2.834,2.828,2.813,2.799,2.787,2.778,2.769,2.759,2.751,2.743,2.737,2.724,2.707,2.702,2.7,2.695,2.68,2.679,2.66,2.657,2.645,2.64,2.632,2.629,2.628,2.608,2.607,2.593,2.592,2.592,2.591,2.574,2.569,2.567,2.565,2.562,2.55,2.549,2.539,2.531,2.527,2.512,2.511,2.51,2.501,2.496,2.496,2.495,2.491,2.484,2.484,2.477,2.476,2.468,2.464,2.463,2.457,2.456,2.452,2.449,2.448,2.447,2.446,2.446,2.442,2.438,2.436,2.434,2.428,2.419,2.419,2.419,2.419,2.418,2.418,2.416,2.409,2.409,2.409,2.41,2.41,2.41,2.406,2.406,2.406,2.411,2.411,2.411,2.407,2.404,2.404,2.404,2.407,2.411,2.411,2.411,2.413,2.414,2.414,2.416,2.417,2.416,2.423,2.424,2.426,2.423,2.426,2.426,2.428,2.428,2.429,2.429,2.434,2.437,2.443,2.445,2.446,2.447,2.455,2.457,2.462,2.463,2.47,2.47,2.471,2.482,2.482,2.487,2.493,2.496,2.496,2.501,2.504,2.511,2.517,2.52,2.529,2.532,2.533,2.543,2.552,2.554,2.555,2.563,2.567,2.572,2.578,2.589,2.594,2.605,2.613,2.618,2.621,2.623,2.636,2.65,2.651,2.662,2.663,2.675,2.685,2.692,2.698,2.708,2.709,2.721,2.73,2.738,2.746,2.755,2.764,2.777,2.788,2.803,2.811,2.826,2.834,2.838,2.85,2.862,2.875,2.882,2.894,2.907,2.917,2.932,2.932,2.944,2.965,2.976,2.979,3.003,3.009,3.034,3.048,3.061,3.074,3.083,3.099,3.105,3.135,3.143,3.167,3.172,3.183,3.208,3.214,3.242,3.247,3.27,3.29,3.31,3.328,3.349,3.368,3.387,3.404,3.431,3.442,3.464,3.488,3.505,3.518,3.546,3.569,3.589,3.623,3.645,3.67,3.698,3.727,3.753,3.783,3.824,3.824,3.876,3.902,3.917,3.972,4.047,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.376,3.343,3.337,3.336,3.333,3.303,3.301,3.291,3.277,3.27,3.268,3.255,3.247,3.234,3.227,3.216,3.212,3.207,3.201,3.194,3.184,3.177,3.175,3.163,3.161,3.159,3.143,3.137,3.131,3.128,3.118,3.116,3.111,3.109,3.099,3.094,3.09,3.082,3.076,3.072,3.068,3.068,3.067,3.064,3.059,3.055,3.051,3.047,3.039,3.036,3.036,3.034,3.033,3.028,3.026,3.016,3.014,3.014,3.016,3.019,3.019,3.019,3.016,3.013,3.011,3.011,3.008,3.002,3.008,3.008,3.008,3.008,3.008,3.008,3.005,3.004,3.004,3.003,3.004,3.003,3.003,3.001,3.001,3.001,3.008,3.01,3.01,3.015,3.015,3.013,3.015,3.015,3.017,3.02,3.024,3.024,3.027,3.031,3.034,3.042,3.043,3.046,3.043,3.046,3.049,3.051,3.058,3.058,3.058,3.065,3.077,3.079,3.079,3.086,3.086,3.087,3.092,3.102,3.108,3.118,3.126,3.126,3.126,3.13,3.131,3.131,3.138,3.142,3.159,3.16,3.16,3.172,3.175,3.178,3.178,3.186,3.201,3.211,3.211,3.216,3.227,3.24,3.24,3.249,3.25,3.255,3.261,3.261,3.278,3.28,3.28,3.296,3.301,3.826,3.839,3.856,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 144.50} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 144.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 144.496} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 144.539} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.178,0.186,0.186,0,0,0,0,0,3.621,3.597,3.592,3.592,3.592,3.581,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.211,3.211,3.209,3.211,3.219,3.353,0,0,0,0,0,0,0,0,0,3.096,3.092,3.085,3.084,3.084,3.08,3.084,3.084,0.144,0.144,0.138,0.138,0.149,0.149,0.149,0.153,0.153,0.153,0.153,0.162,0.162,3.006,3.016,3.016,3.016,3.016,3.008,0.162,0.16,0.16,0.16,0.153,0.153,0.15,0.139,0.135,0.123,0.081,0.066,0.066,0.064,0.064,0.066,0.066,0.07,0.072,0.072,0.071,0.071,0.067,0.067,0.067,0.125,0.221,3.355,3.355,3.366,3.366,3.376,0,0.007,0,0.007,3.463,3.463,3.485,3.484,3.485,3.492,3.496,3.512,3.514,3.526,3.526,3.528,3.542,3.55,3.552,3.555,3.559,3.562,3.574,3.574,3.577,3.582,3.587,3.582,3.589,3.6,3.601,3.605,3.607,3.622,3.628,3.628,3.641,3.648,3.652,3.652,3.666,3.67,3.679,3.685,3.687,3.694,3.701,3.701,3.708,3.732,3.736,3.74,3.745,3.761,3.766,3.768,3.77,3.781,3.788,3.816,3.818,3.829,3.838,3.844,3.849,3.85,3.87,3.885,3.908,3.914,3.935,3.936,3.941,3.956,3.979,3.989,3.995,4.005,4.029,4.037,4.074,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.023,3.988,3.988,3.952,3.926,3.874,3.838,3.815,3.774,3.751,3.732,3.714,3.686,3.652,3.642,3.613,3.594,3.549,3.531,3.523,3.49,3.477,3.452,3.43,3.405,3.384,3.355,3.342,3.321,3.31,3.282,3.271,3.255,3.231,3.229,3.207,3.195,3.175,3.163,3.145,3.131,3.117,3.093,3.091,3.063,3.061,3.059,3.032,3.018,3.015,2.994,2.979,2.968,2.953,2.939,2.933,2.924,2.913,2.89,2.88,2.877,2.865,2.854,2.844,2.827,2.815,2.807,2.799,2.786,2.784,2.764,2.763,2.747,2.744,2.731,2.73,2.705,2.703,2.698,2.697,2.681,2.677,2.666,2.664,2.643,2.643,2.635,2.623,2.621,2.612,2.604,2.604,2.59,2.587,2.587,2.583,2.58,2.567,2.562,2.556,2.556,2.546,2.544,2.528,2.525,2.522,2.52,2.512,2.502,2.502,2.497,2.49,2.484,2.481,2.472,2.471,2.468,2.464,2.461,2.457,2.456,2.455,2.451,2.451,2.449,2.449,2.444,2.436,2.435,2.433,2.431,2.431,2.428,2.428,2.428,2.424,2.421,2.419,2.419,2.414,2.411,2.411,2.411,2.411,2.405,2.405,2.405,2.405,2.408,2.408,2.408,2.408,2.408,2.405,2.405,2.407,2.407,2.407,2.41,2.41,2.41,2.413,2.413,2.416,2.413,2.418,2.418,2.418,2.419,2.419,2.427,2.427,2.429,2.431,2.431,2.436,2.439,2.439,2.441,2.441,2.446,2.447,2.457,2.459,2.461,2.463,2.464,2.478,2.478,2.479,2.483,2.49,2.491,2.494,2.498,2.498,2.5,2.514,2.517,2.519,2.522,2.53,2.535,2.543,2.548,2.555,2.558,2.561,2.569,2.57,2.575,2.581,2.588,2.593,2.607,2.622,2.626,2.629,2.64,2.647,2.655,2.665,2.671,2.676,2.687,2.69,2.704,2.706,2.714,2.716,2.721,2.726,2.74,2.756,2.77,2.773,2.784,2.79,2.804,2.816,2.837,2.839,2.854,2.86,2.875,2.881,2.893,2.901,2.909,2.931,2.937,2.957,2.971,2.973,2.982,3.001,3.014,3.029,3.039,3.056,3.075,3.084,3.108,3.111,3.129,3.138,3.151,3.168,3.184,3.215,3.22,3.242,3.258,3.269,3.294,3.306,3.323,3.35,3.374,3.383,3.394,3.41,3.446,3.461,3.493,3.518,3.527,3.55,3.578,3.601,3.616,3.669,3.678,3.704,3.732,3.751,3.782,3.813,3.841,3.865,3.879,3.938,3.972,4,4.073,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.393,3.347,3.347,3.33,3.316,3.309,3.301,3.296,3.278,3.267,3.264,3.263,3.243,3.238,3.221,3.216,3.212,3.205,3.205,3.187,3.181,3.175,3.169,3.168,3.153,3.152,3.149,3.133,3.128,3.127,3.123,3.123,3.121,3.109,3.097,3.092,3.09,3.089,3.082,3.081,3.079,3.068,3.064,3.059,3.057,3.046,3.046,3.042,3.042,3.038,3.038,3.033,3.032,3.03,3.022,3.017,3.016,3.016,3.016,3.021,3.021,3.021,3.019,3.016,3.008,3.008,3.012,3.003,3.01,3.01,3.004,3,3,3,3,3,3.004,3.004,3.006,3.006,3.01,3.01,3.01,3.01,3.012,3.007,3.007,3.017,3.017,3.018,3.02,3.02,3.02,3.022,3.02,3.025,3.025,3.025,3.032,3.036,3.04,3.046,3.048,3.048,3.052,3.053,3.053,3.061,3.063,3.065,3.077,3.086,3.089,3.091,3.092,3.092,3.096,3.11,3.112,3.118,3.125,3.129,3.129,3.129,3.129,3.132,3.133,3.146,3.157,3.161,3.163,3.174,3.174,3.175,3.182,3.183,3.202,3.213,3.214,3.214,3.222,3.238,3.239,3.244,3.255,3.256,3.26,3.268,3.268,3.28,3.28,3.281,3.293,3.822,3.836,3.861,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 144.70} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 144.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 144.698} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1562} SEN {Time 144.739} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.185,0.185,0.187,0.187,0,0,0,0,0,0,3.603,3.596,3.596,3.603,3.596,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.253,3.25,3.224,3.213,3.213,3.213,3.214,3.35,0,0,0,0,0,0,0,0,0,3.1,3.095,3.092,3.091,3.091,3.08,3.079,0.152,0.146,0.146,0.142,0.146,0.143,0.143,0.143,0.152,0.152,0.155,0.155,0.158,0.161,3.001,3.019,3.019,3.019,3.019,2.998,0.165,0.155,0.155,0.155,0.154,0.154,0.147,0.146,0.146,0.115,0.086,0.072,0.068,0.068,0.066,0.068,0.068,0.072,0.072,0.072,0.07,0.069,0.069,0.07,0.082,0.12,0.224,3.349,3.35,3.357,3.357,0,0,0,0.007,0,0,0,3.477,3.477,3.477,3.485,3.511,3.516,3.526,3.526,3.527,3.531,3.539,3.541,3.545,3.546,3.547,3.555,3.557,3.561,3.567,3.576,3.583,3.585,3.589,3.591,3.603,3.614,3.616,3.616,3.619,3.632,3.634,3.644,3.65,3.66,3.661,3.666,3.668,3.686,3.687,3.688,3.704,3.711,3.718,3.718,3.737,3.741,3.754,3.755,3.755,3.768,3.781,3.782,3.792,3.808,3.824,3.834,3.841,3.842,3.856,3.859,3.865,3.891,3.895,3.915,3.924,3.943,3.944,3.962,3.968,3.994,4,4.002,4.024,4.037,4.05,4.065,4.084,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,4.041,3.933,3.925,3.907,3.864,3.839,3.802,3.775,3.752,3.729,3.706,3.689,3.662,3.627,3.607,3.591,3.558,3.544,3.523,3.499,3.476,3.449,3.432,3.406,3.377,3.363,3.349,3.325,3.301,3.293,3.277,3.253,3.241,3.222,3.202,3.198,3.178,3.162,3.141,3.129,3.125,3.09,3.088,3.066,3.062,3.04,3.033,3.022,3.003,2.98,2.978,2.973,2.955,2.932,2.928,2.914,2.908,2.895,2.888,2.873,2.867,2.857,2.846,2.833,2.817,2.809,2.796,2.78,2.779,2.771,2.763,2.753,2.736,2.733,2.727,2.715,2.706,2.697,2.69,2.677,2.674,2.667,2.662,2.647,2.64,2.63,2.629,2.618,2.617,2.613,2.605,2.598,2.589,2.588,2.582,2.572,2.56,2.56,2.556,2.556,2.55,2.532,2.532,2.524,2.516,2.516,2.515,2.51,2.503,2.497,2.487,2.484,2.482,2.475,2.474,2.473,2.465,2.463,2.463,2.458,2.456,2.455,2.45,2.447,2.446,2.444,2.439,2.439,2.431,2.431,2.429,2.429,2.426,2.426,2.423,2.417,2.415,2.415,2.407,2.407,2.411,2.411,2.408,2.408,2.405,2.405,2.407,2.407,2.407,2.407,2.407,2.404,2.404,2.404,2.404,2.406,2.408,2.408,2.408,2.408,2.408,2.412,2.414,2.416,2.416,2.42,2.42,2.42,2.42,2.424,2.426,2.427,2.433,2.433,2.433,2.433,2.44,2.442,2.443,2.443,2.448,2.451,2.453,2.456,2.458,2.462,2.467,2.468,2.474,2.48,2.485,2.49,2.493,2.495,2.501,2.508,2.511,2.52,2.521,2.527,2.53,2.536,2.537,2.555,2.556,2.562,2.563,2.564,2.574,2.574,2.578,2.586,2.601,2.604,2.615,2.616,2.632,2.643,2.646,2.652,2.663,2.667,2.68,2.681,2.683,2.692,2.702,2.719,2.72,2.732,2.733,2.75,2.758,2.77,2.779,2.782,2.805,2.809,2.821,2.834,2.836,2.853,2.866,2.876,2.876,2.892,2.911,2.913,2.935,2.942,2.95,2.965,2.976,2.992,2.995,3.019,3.023,3.04,3.06,3.067,3.082,3.107,3.118,3.132,3.142,3.15,3.164,3.185,3.216,3.217,3.236,3.251,3.269,3.285,3.309,3.319,3.343,3.368,3.39,3.402,3.423,3.448,3.459,3.484,3.504,3.528,3.557,3.583,3.6,3.622,3.658,3.671,3.702,3.735,3.736,3.786,3.807,3.832,3.864,3.899,3.943,3.953,3.998,4.049,4.074,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.381,3.351,3.34,3.329,3.325,3.305,3.304,3.288,3.273,3.272,3.271,3.247,3.247,3.237,3.228,3.218,3.218,3.211,3.207,3.182,3.181,3.175,3.167,3.166,3.166,3.165,3.146,3.142,3.137,3.131,3.12,3.114,3.112,3.104,3.099,3.092,3.092,3.082,3.074,3.074,3.068,3.068,3.068,3.063,3.059,3.058,3.043,3.043,3.042,3.042,3.036,3.034,3.029,3.028,3.021,3.02,3.02,3.016,3.016,3.02,3.023,3.051,3.051,3.023,3.013,3.01,3.009,3.009,3.009,3.009,3.002,3.002,2.999,2.999,3,3,3,3.001,3.001,3.001,3.001,3.003,3.008,3.008,3.012,3.012,3.013,3.013,3.011,3.011,3.013,3.021,3.023,3.023,3.025,3.027,3.029,3.028,3.034,3.035,3.036,3.041,3.046,3.047,3.049,3.05,3.058,3.061,3.062,3.064,3.068,3.075,3.081,3.085,3.089,3.095,3.105,3.106,3.112,3.118,3.122,3.122,3.122,3.127,3.127,3.134,3.134,3.145,3.151,3.155,3.166,3.174,3.174,3.179,3.18,3.18,3.195,3.202,3.215,3.221,3.229,3.234,3.238,3.243,3.251,3.252,3.256,3.259,3.262,3.293,3.293,3.294,3.298,3.83,3.833,3.85,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 144.89} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 144.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 144.89} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.1562} {Name Sonar15 Range 5.1562} SEN {Time 144.939} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.192,0.19,0.192,0.192,0,0,0,0,0,3.614,3.597,3.592,3.592,3.597,3.592,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.26,3.246,3.209,3.209,3.209,3.212,3.219,3.352,0,0,0,0,0,0,0,0,0,3.103,3.093,3.082,3.082,3.082,3.081,3.083,3.083,0.146,0.146,0.146,0.146,0.146,0.153,0.142,0.153,0.151,0.153,0.151,0.157,0.157,3.001,3.001,3.004,3.004,3.004,3.004,0.157,0.156,0.156,0.156,0.153,0.153,0.15,0.143,0.14,0.111,0.087,0.078,0.068,0.068,0.068,0.068,0.068,0.069,0.072,0.072,0.072,0.072,0.07,0.07,0.07,0.139,3.355,3.355,3.359,3.359,3.359,3.367,3.389,3.393,0.007,0,3.449,3.469,3.469,3.469,3.481,3.489,3.508,3.508,3.51,3.52,3.529,3.533,3.536,3.544,3.546,3.554,3.556,3.557,3.563,3.565,3.567,3.575,3.583,3.584,3.591,3.598,3.602,3.61,3.617,3.618,3.619,3.624,3.63,3.645,3.652,3.657,3.658,3.666,3.683,3.683,3.69,3.694,3.699,3.699,3.709,3.717,3.724,3.739,3.751,3.755,3.771,3.778,3.783,3.784,3.8,3.81,3.818,3.834,3.84,3.843,3.856,3.86,3.876,3.886,3.913,3.913,3.931,3.937,3.953,3.956,3.959,3.993,4.005,4.017,4.022,4.046,4.061,4.065,4.082,4.093,0.016,0.016,0.016,0,0,0,0,4.04,4.003,3.932,3.904,3.873,3.84,3.808,3.785,3.756,3.724,3.69,3.685,3.672,3.643,3.614,3.593,3.56,3.543,3.524,3.494,3.476,3.436,3.43,3.409,3.38,3.354,3.349,3.332,3.301,3.291,3.269,3.258,3.233,3.229,3.205,3.195,3.177,3.167,3.142,3.124,3.12,3.097,3.091,3.076,3.064,3.043,3.029,3.021,2.999,2.989,2.988,2.964,2.949,2.937,2.927,2.907,2.902,2.895,2.889,2.882,2.867,2.856,2.844,2.827,2.813,2.805,2.796,2.786,2.776,2.764,2.757,2.749,2.735,2.73,2.726,2.715,2.705,2.702,2.682,2.682,2.677,2.667,2.657,2.648,2.644,2.641,2.637,2.618,2.61,2.607,2.6,2.595,2.591,2.586,2.576,2.575,2.557,2.554,2.55,2.548,2.547,2.54,2.523,2.522,2.521,2.52,2.515,2.505,2.499,2.492,2.489,2.488,2.485,2.485,2.473,2.473,2.47,2.463,2.456,2.456,2.456,2.452,2.446,2.444,2.438,2.437,2.437,2.437,2.434,2.424,2.424,2.424,2.424,2.424,2.421,2.417,2.416,2.416,2.412,2.413,2.413,2.411,2.413,2.413,2.411,2.408,2.406,2.406,2.406,2.403,2.406,2.405,2.405,2.404,2.405,2.405,2.405,2.408,2.411,2.415,2.416,2.416,2.417,2.416,2.417,2.423,2.423,2.421,2.426,2.428,2.428,2.428,2.429,2.432,2.434,2.439,2.439,2.445,2.445,2.446,2.446,2.446,2.451,2.46,2.461,2.467,2.471,2.477,2.478,2.483,2.488,2.489,2.496,2.501,2.503,2.507,2.507,2.514,2.517,2.52,2.528,2.541,2.543,2.543,2.559,2.561,2.564,2.565,2.57,2.58,2.588,2.597,2.604,2.606,2.608,2.611,2.624,2.65,2.655,2.658,2.658,2.664,2.672,2.679,2.689,2.69,2.7,2.709,2.713,2.727,2.736,2.747,2.759,2.771,2.778,2.784,2.797,2.804,2.815,2.829,2.834,2.847,2.857,2.868,2.889,2.896,2.906,2.924,2.932,2.945,2.951,2.972,2.984,2.986,3,3.017,3.033,3.041,3.049,3.063,3.084,3.102,3.111,3.123,3.146,3.164,3.171,3.176,3.208,3.218,3.239,3.246,3.275,3.291,3.304,3.318,3.351,3.368,3.391,3.397,3.419,3.451,3.462,3.487,3.506,3.518,3.562,3.584,3.61,3.622,3.642,3.678,3.696,3.725,3.731,3.778,3.814,3.83,3.879,3.9,3.929,3.969,4.012,4.043,4.069,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.378,3.344,3.342,3.329,3.322,3.305,3.301,3.288,3.276,3.275,3.262,3.252,3.251,3.232,3.224,3.221,3.216,3.202,3.201,3.191,3.183,3.175,3.171,3.167,3.159,3.146,3.146,3.14,3.135,3.135,3.121,3.118,3.107,3.107,3.098,3.098,3.089,3.086,3.085,3.079,3.075,3.065,3.063,3.059,3.054,3.052,3.05,3.044,3.043,3.037,3.033,3.033,3.028,3.027,3.026,3.025,3.022,3.02,3.022,3.025,3.02,3.014,3.015,3.014,3.013,3.006,3.004,3.003,3.004,3.006,3.006,3.007,3.007,3.007,3.008,3.004,3.003,3.003,3.003,3.003,3.001,3.001,3.001,3.005,3.006,3.006,3.014,3.014,3.015,3.015,3.02,3.02,3.02,3.022,3.024,3.024,3.024,3.033,3.036,3.042,3.042,3.042,3.042,3.045,3.051,3.052,3.054,3.064,3.066,3.071,3.071,3.075,3.085,3.089,3.092,3.092,3.095,3.098,3.105,3.119,3.126,3.126,3.126,3.129,3.129,3.136,3.138,3.153,3.157,3.158,3.163,3.171,3.171,3.175,3.182,3.186,3.202,3.207,3.212,3.215,3.231,3.233,3.238,3.243,3.247,3.249,3.258,3.268,3.273,3.279,3.279,3.294,3.302,3.831,3.835,3.86,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 145.09} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 145.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 145.092} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.1562} {Name Sonar15 Range 4.9784} SEN {Time 145.139} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.178,0.178,0.178,0.182,0.188,0,0,0,0,0,3.624,3.594,3.594,3.594,3.594,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.256,3.225,3.219,3.212,3.211,3.211,3.219,3.338,0,0,0,0,0,0,0,0,0,3.104,3.089,3.089,3.089,3.089,3.076,3.065,0.155,0.146,0.146,0.143,0.143,0.153,0.153,0.152,0.152,0.152,0.152,0.152,0.156,0.158,3.009,3.011,3.012,3.012,3.012,3.012,3.012,0.16,0.156,0.156,0.156,0.156,0.151,0.151,0.151,0.113,0.091,0.065,0.065,0.064,0.064,0.065,0.066,0.068,0.07,0.07,0.07,0.07,0.07,0.07,0.07,0.135,3.346,3.357,3.357,3.357,3.357,3.379,0.007,0,0.007,3.431,3.431,3.46,3.46,3.465,3.474,3.502,3.503,3.507,3.524,3.525,3.527,3.528,3.539,3.544,3.55,3.552,3.557,3.561,3.565,3.565,3.565,3.569,3.581,3.588,3.588,3.598,3.602,3.605,3.612,3.615,3.628,3.628,3.65,3.652,3.653,3.653,3.657,3.66,3.675,3.679,3.695,3.695,3.697,3.705,3.718,3.719,3.725,3.737,3.749,3.756,3.757,3.768,3.772,3.787,3.793,3.802,3.817,3.827,3.839,3.847,3.865,3.865,3.887,3.905,3.908,3.917,3.933,3.936,3.944,3.961,3.974,3.985,3.991,4.018,4.022,4.031,4.061,4.072,4.093,0.016,0.016,0.016,0.016,0.016,0,0.016,0,0.007,4.009,3.927,3.9,3.863,3.842,3.813,3.774,3.753,3.726,3.698,3.683,3.663,3.643,3.609,3.585,3.567,3.53,3.513,3.483,3.481,3.449,3.432,3.405,3.382,3.365,3.331,3.326,3.312,3.283,3.278,3.247,3.242,3.22,3.2,3.194,3.177,3.156,3.141,3.128,3.111,3.092,3.087,3.064,3.062,3.046,3.04,3.025,3.003,2.988,2.984,2.975,2.955,2.944,2.934,2.912,2.908,2.887,2.882,2.875,2.859,2.853,2.839,2.832,2.819,2.798,2.797,2.785,2.768,2.763,2.759,2.754,2.742,2.732,2.725,2.715,2.702,2.697,2.696,2.677,2.67,2.668,2.656,2.655,2.641,2.634,2.628,2.619,2.611,2.598,2.594,2.592,2.591,2.579,2.567,2.566,2.564,2.559,2.556,2.549,2.546,2.541,2.532,2.53,2.522,2.515,2.508,2.507,2.503,2.502,2.495,2.488,2.486,2.479,2.479,2.473,2.468,2.46,2.458,2.456,2.447,2.447,2.447,2.445,2.443,2.441,2.44,2.439,2.432,2.432,2.428,2.428,2.427,2.425,2.425,2.425,2.424,2.423,2.416,2.411,2.411,2.41,2.408,2.404,2.407,2.407,2.407,2.407,2.407,2.403,2.403,2.402,2.402,2.402,2.402,2.403,2.405,2.41,2.406,2.41,2.413,2.413,2.413,2.414,2.417,2.417,2.417,2.419,2.419,2.419,2.424,2.425,2.426,2.435,2.435,2.437,2.44,2.44,2.443,2.446,2.449,2.453,2.457,2.46,2.462,2.464,2.465,2.48,2.481,2.484,2.486,2.491,2.491,2.496,2.497,2.508,2.51,2.514,2.521,2.525,2.53,2.532,2.54,2.551,2.555,2.561,2.566,2.57,2.573,2.578,2.586,2.596,2.599,2.604,2.616,2.616,2.626,2.639,2.639,2.65,2.658,2.664,2.671,2.681,2.694,2.706,2.709,2.711,2.711,2.733,2.745,2.749,2.765,2.769,2.773,2.788,2.798,2.801,2.817,2.835,2.837,2.844,2.866,2.878,2.886,2.891,2.91,2.922,2.938,2.942,2.956,2.966,2.967,2.991,3.003,3.023,3.029,3.035,3.059,3.063,3.076,3.096,3.102,3.132,3.143,3.161,3.168,3.184,3.212,3.215,3.238,3.253,3.27,3.285,3.308,3.326,3.347,3.368,3.391,3.405,3.427,3.437,3.453,3.493,3.511,3.518,3.557,3.568,3.611,3.624,3.656,3.689,3.693,3.727,3.757,3.787,3.806,3.835,3.874,3.886,3.972,4.001,4.049,4.049,4.076,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.39,3.34,3.337,3.333,3.319,3.305,3.302,3.294,3.273,3.273,3.272,3.26,3.245,3.233,3.229,3.217,3.217,3.215,3.198,3.191,3.183,3.175,3.168,3.166,3.156,3.148,3.147,3.135,3.129,3.125,3.118,3.116,3.108,3.105,3.096,3.092,3.09,3.083,3.075,3.07,3.065,3.065,3.065,3.058,3.055,3.054,3.046,3.046,3.044,3.042,3.037,3.034,3.032,3.032,3.023,3.021,3.019,3.018,3.021,3.021,3.018,3.018,3.018,3.012,3.01,3.01,3.009,3.007,3.007,3.007,3.006,3.006,3.006,3.006,3.006,3.006,3.005,3.004,3.002,3.002,3.003,3.002,3.003,3.003,3.003,3.01,3.011,3.013,3.013,3.013,3.014,3.016,3.018,3.024,3.024,3.026,3.026,3.035,3.037,3.038,3.038,3.042,3.043,3.046,3.052,3.053,3.053,3.055,3.062,3.07,3.073,3.074,3.082,3.083,3.093,3.095,3.097,3.101,3.104,3.11,3.121,3.128,3.128,3.129,3.129,3.133,3.134,3.145,3.156,3.164,3.17,3.17,3.174,3.183,3.186,3.187,3.198,3.206,3.21,3.218,3.224,3.226,3.236,3.239,3.239,3.251,3.259,3.26,3.28,3.283,3.283,3.292,3.299,3.819,3.841,3.855,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 145.29} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 145.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 145.294} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.1562} {Name Sonar15 Range 4.9784} SEN {Time 145.339} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.179,0.187,0.187,0,0,0,0,0,3.627,3.595,3.587,3.587,3.595,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.218,3.218,3.218,3.218,3.353,0,0,0,0,0,0,0,0,0,3.099,3.095,3.086,3.086,3.086,3.078,3.074,0.157,0.153,0.153,0.143,0.143,0.145,0.145,0.145,0.152,0.147,0.152,0.152,0.153,0.163,3.018,3.018,3.018,3.018,3.012,3.009,0.163,0.156,0.153,0.153,0.152,0.152,0.149,0.146,0.145,0.116,0.091,0.07,0.068,0.068,0.065,0.068,0.069,0.069,0.069,0.069,0.069,0.066,0.066,0.071,0.071,0.138,3.356,3.356,3.356,3.356,3.356,3.362,3.365,0.007,3.418,3.418,3.447,3.447,3.452,3.475,3.483,3.489,3.513,3.515,3.522,3.526,3.527,3.528,3.537,3.547,3.551,3.551,3.554,3.554,3.554,3.57,3.575,3.578,3.581,3.586,3.594,3.598,3.606,3.614,3.615,3.62,3.633,3.633,3.643,3.652,3.656,3.663,3.665,3.673,3.68,3.685,3.692,3.695,3.698,3.701,3.716,3.723,3.731,3.737,3.744,3.75,3.762,3.77,3.775,3.791,3.794,3.802,3.822,3.828,3.843,3.845,3.856,3.867,3.884,3.887,3.906,3.908,3.918,3.94,3.944,3.953,3.981,3.992,4.004,4.011,4.028,4.049,4.061,4.079,4.085,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0.007,3.92,3.87,3.846,3.805,3.768,3.742,3.722,3.71,3.689,3.663,3.639,3.607,3.587,3.569,3.539,3.5,3.487,3.473,3.438,3.43,3.416,3.384,3.369,3.348,3.328,3.305,3.278,3.274,3.262,3.233,3.216,3.215,3.184,3.169,3.165,3.149,3.129,3.125,3.092,3.091,3.075,3.057,3.039,3.027,3.019,3.011,2.989,2.986,2.967,2.956,2.943,2.929,2.92,2.904,2.898,2.879,2.872,2.867,2.854,2.841,2.818,2.811,2.798,2.795,2.789,2.773,2.77,2.756,2.748,2.744,2.735,2.731,2.709,2.699,2.698,2.691,2.683,2.672,2.661,2.654,2.648,2.643,2.634,2.634,2.619,2.616,2.61,2.601,2.589,2.588,2.583,2.575,2.573,2.567,2.555,2.552,2.552,2.54,2.536,2.529,2.522,2.522,2.513,2.507,2.504,2.497,2.497,2.492,2.489,2.487,2.48,2.474,2.471,2.471,2.464,2.46,2.459,2.458,2.452,2.449,2.447,2.443,2.439,2.437,2.437,2.437,2.433,2.431,2.427,2.427,2.424,2.419,2.424,2.418,2.417,2.41,2.41,2.41,2.41,2.408,2.405,2.405,2.405,2.405,2.405,2.408,2.408,2.407,2.408,2.41,2.41,2.41,2.41,2.407,2.407,2.407,2.407,2.407,2.413,2.418,2.423,2.421,2.421,2.423,2.423,2.421,2.423,2.425,2.425,2.428,2.431,2.434,2.435,2.438,2.439,2.44,2.443,2.443,2.451,2.458,2.462,2.462,2.47,2.47,2.479,2.481,2.481,2.487,2.491,2.491,2.494,2.505,2.508,2.509,2.509,2.519,2.524,2.533,2.533,2.534,2.547,2.555,2.555,2.558,2.567,2.567,2.573,2.583,2.59,2.597,2.611,2.613,2.623,2.631,2.645,2.648,2.652,2.659,2.669,2.67,2.688,2.69,2.694,2.709,2.709,2.713,2.72,2.739,2.74,2.763,2.768,2.785,2.789,2.799,2.805,2.82,2.837,2.838,2.847,2.865,2.878,2.886,2.894,2.91,2.914,2.934,2.945,2.959,2.967,2.976,2.985,3.005,3.019,3.026,3.042,3.057,3.07,3.079,3.092,3.116,3.135,3.143,3.154,3.165,3.182,3.207,3.212,3.231,3.261,3.273,3.278,3.305,3.324,3.356,3.363,3.379,3.4,3.429,3.444,3.465,3.497,3.51,3.535,3.564,3.579,3.594,3.625,3.654,3.686,3.694,3.723,3.749,3.784,3.812,3.844,3.861,3.886,3.935,3.968,4.003,4.03,4.085,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.39,3.344,3.34,3.338,3.327,3.309,3.301,3.297,3.278,3.278,3.264,3.253,3.25,3.234,3.217,3.216,3.212,3.204,3.197,3.191,3.185,3.175,3.168,3.161,3.155,3.149,3.148,3.146,3.129,3.127,3.119,3.117,3.113,3.103,3.097,3.096,3.092,3.092,3.077,3.075,3.071,3.066,3.063,3.063,3.058,3.048,3.048,3.048,3.044,3.041,3.037,3.033,3.032,3.028,3.027,3.023,3.021,3.021,3.021,3.026,3.026,3.026,3.017,3.014,3.013,3.013,3.012,3.006,3.009,3.006,3.006,3.007,3.007,3.007,3.007,3.002,3.002,3.002,2.998,3.002,3.003,3.003,3.005,3.006,3.006,3.008,3.015,3.015,3.011,3.011,3.016,3.016,3.018,3.018,3.022,3.023,3.023,3.029,3.029,3.036,3.039,3.047,3.048,3.049,3.052,3.053,3.053,3.056,3.063,3.064,3.069,3.073,3.082,3.089,3.09,3.092,3.1,3.105,3.106,3.108,3.117,3.12,3.126,3.128,3.133,3.135,3.138,3.141,3.155,3.155,3.168,3.176,3.176,3.179,3.183,3.194,3.198,3.209,3.213,3.217,3.223,3.238,3.243,3.244,3.244,3.252,3.264,3.269,3.27,3.29,3.29,3.291,3.303,3.836,3.845,3.853,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 145.50} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 145.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 145.496} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.9436} {Name Sonar15 Range 4.9784} SEN {Time 145.536} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.197,0.178,0.197,0.197,0,0,0,0,0,3.622,3.587,3.586,3.586,3.586,3.586,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.258,3.237,3.22,3.217,3.215,3.217,3.22,3.346,0,0,0,0,0,0,0,0,0,3.101,3.096,3.088,3.076,3.076,3.075,3.075,3.075,0.148,0.146,0.144,0.144,0.144,0.144,0.149,0.151,0.151,0.151,0.151,0.158,0.163,3.014,3.014,3.014,3.014,3.014,3.007,0.158,0.158,0.158,0.158,0.158,0.15,0.147,0.141,0.141,0.114,0.091,0.069,0.065,0.064,0.064,0.065,0.065,0.067,0.067,0.074,0.067,0.064,0.064,0.076,0.076,0.137,0.215,3.309,3.358,0,0,0,3.383,3.383,3.383,3.411,3.416,3.452,3.465,3.477,3.479,3.488,3.506,3.506,3.51,3.518,3.534,3.537,3.542,3.544,3.554,3.558,3.558,3.558,3.563,3.571,3.574,3.575,3.575,3.575,3.586,3.594,3.601,3.611,3.612,3.623,3.623,3.638,3.643,3.646,3.647,3.658,3.658,3.669,3.673,3.683,3.689,3.69,3.698,3.711,3.711,3.723,3.724,3.746,3.746,3.749,3.764,3.768,3.773,3.789,3.792,3.8,3.819,3.825,3.834,3.847,3.855,3.864,3.873,3.895,3.909,3.911,3.913,3.94,3.945,3.951,3.975,3.991,4.001,4.022,4.029,4.044,4.073,4.075,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,4.042,3.991,3.957,3.922,3.898,3.874,3.835,3.815,3.778,3.76,3.741,3.703,3.687,3.661,3.634,3.625,3.581,3.579,3.546,3.518,3.487,3.479,3.449,3.431,3.398,3.389,3.358,3.345,3.337,3.299,3.298,3.274,3.251,3.24,3.23,3.216,3.188,3.182,3.159,3.137,3.129,3.113,3.094,3.085,3.061,3.061,3.035,3.022,3.021,3,2.991,2.988,2.97,2.958,2.934,2.933,2.923,2.897,2.89,2.882,2.878,2.874,2.85,2.836,2.834,2.817,2.806,2.797,2.78,2.777,2.767,2.757,2.748,2.737,2.731,2.72,2.715,2.707,2.698,2.688,2.68,2.68,2.664,2.656,2.647,2.642,2.636,2.629,2.616,2.612,2.605,2.593,2.587,2.585,2.585,2.58,2.566,2.561,2.561,2.551,2.55,2.548,2.535,2.533,2.523,2.522,2.513,2.513,2.511,2.503,2.498,2.493,2.489,2.478,2.477,2.477,2.467,2.464,2.463,2.456,2.455,2.453,2.451,2.451,2.445,2.445,2.445,2.445,2.445,2.435,2.432,2.431,2.43,2.428,2.418,2.416,2.416,2.415,2.415,2.415,2.411,2.411,2.409,2.411,2.409,2.409,2.407,2.407,2.407,2.407,2.407,2.407,2.407,2.405,2.407,2.407,2.407,2.405,2.407,2.407,2.407,2.414,2.414,2.414,2.415,2.415,2.421,2.421,2.426,2.427,2.43,2.43,2.43,2.43,2.432,2.432,2.437,2.437,2.442,2.442,2.448,2.45,2.453,2.453,2.46,2.46,2.467,2.468,2.473,2.479,2.484,2.486,2.491,2.499,2.499,2.5,2.501,2.51,2.517,2.521,2.522,2.523,2.525,2.529,2.551,2.551,2.559,2.564,2.576,2.577,2.583,2.585,2.598,2.603,2.607,2.608,2.608,2.631,2.635,2.649,2.658,2.66,2.66,2.669,2.683,2.695,2.695,2.702,2.713,2.722,2.736,2.742,2.744,2.75,2.769,2.77,2.785,2.798,2.811,2.813,2.828,2.83,2.845,2.856,2.875,2.876,2.897,2.898,2.923,2.928,2.946,2.953,2.967,2.985,2.989,3.011,3.013,3.025,3.043,3.06,3.066,3.081,3.097,3.111,3.127,3.143,3.161,3.166,3.175,3.209,3.218,3.236,3.266,3.278,3.283,3.305,3.327,3.348,3.37,3.374,3.389,3.425,3.438,3.453,3.495,3.503,3.527,3.555,3.575,3.603,3.631,3.66,3.689,3.697,3.729,3.743,3.769,3.817,3.838,3.863,3.892,3.933,3.967,3.997,4.069,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.027,3.384,3.342,3.341,3.334,3.314,3.308,3.301,3.287,3.275,3.272,3.266,3.257,3.245,3.235,3.226,3.22,3.215,3.209,3.191,3.185,3.182,3.171,3.163,3.162,3.16,3.158,3.145,3.135,3.132,3.132,3.127,3.119,3.107,3.103,3.103,3.093,3.09,3.086,3.085,3.077,3.073,3.07,3.07,3.057,3.051,3.045,3.042,3.038,3.038,3.037,3.036,3.031,3.029,3.023,3.022,3.021,3.021,3.018,3.018,3.023,3.023,3.015,3.015,3.006,3.006,3.008,3.006,3.006,3.008,3.004,3.004,3.002,3.004,3.001,3.002,3.002,3.002,3.001,3.002,3.002,2.998,3.005,3.006,3.009,3.009,3.009,3.011,3.009,3.009,3.012,3.015,3.015,3.017,3.024,3.025,3.027,3.025,3.029,3.037,3.042,3.044,3.046,3.044,3.044,3.05,3.051,3.055,3.057,3.061,3.07,3.072,3.076,3.084,3.086,3.089,3.092,3.101,3.102,3.104,3.119,3.122,3.123,3.124,3.131,3.134,3.137,3.143,3.147,3.152,3.157,3.168,3.17,3.17,3.171,3.177,3.185,3.185,3.202,3.212,3.225,3.228,3.232,3.241,3.242,3.251,3.253,3.253,3.259,3.279,3.28,3.28,3.288,3.299,3.828,3.84,3.863,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 145.69} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 145.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 145.688} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.9436} {Name Sonar15 Range 5.6642} SEN {Time 145.735} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.178,0.177,0.177,0.177,0,0,0,0,0,3.615,3.603,3.591,3.591,3.591,3.576,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.253,3.231,3.21,3.21,3.209,3.209,3.209,3.35,0,0,0,0,0,0,0,0,0,3.106,3.094,3.091,3.085,3.085,3.078,3.078,3.143,3.143,0.149,0.149,0.148,0.147,0.145,0.142,0.145,0.145,0.153,0.153,0.154,0.154,3.011,3.011,3.011,3.011,3.011,3.011,3.011,0.162,0.162,0.162,0.154,0.153,0.151,0.135,0.135,0.107,0.086,0.071,0.067,0.067,0.067,0.068,0.068,0.069,0.07,0.07,0.068,0.068,0.068,0.068,0.081,0.136,0.207,3.345,3.358,3.361,3.361,3.379,3.409,3.409,3.412,3.412,3.412,3.445,3.463,3.483,3.485,3.486,3.503,3.519,3.519,3.522,3.526,3.535,3.538,3.548,3.55,3.555,3.557,3.564,3.565,3.567,3.569,3.577,3.583,3.584,3.586,3.587,3.603,3.604,3.614,3.614,3.624,3.628,3.64,3.645,3.655,3.656,3.656,3.672,3.68,3.687,3.689,3.689,3.699,3.713,3.721,3.728,3.734,3.74,3.746,3.755,3.763,3.775,3.783,3.785,3.802,3.814,3.818,3.827,3.84,3.843,3.854,3.855,3.856,3.886,3.89,3.911,3.922,3.943,3.948,3.955,3.972,3.993,3.998,4.009,4.02,4.044,4.057,4.079,4.086,4.087,0.016,0.016,0.016,0.007,0,0,0,3.992,3.951,3.935,3.886,3.871,3.837,3.801,3.786,3.746,3.734,3.7,3.688,3.663,3.629,3.621,3.593,3.542,3.521,3.519,3.498,3.471,3.453,3.438,3.4,3.382,3.351,3.341,3.34,3.308,3.296,3.272,3.254,3.237,3.226,3.207,3.192,3.175,3.166,3.14,3.124,3.112,3.1,3.087,3.069,3.061,3.047,3.036,3.02,3.015,2.991,2.986,2.971,2.957,2.946,2.932,2.924,2.911,2.902,2.888,2.879,2.856,2.855,2.841,2.827,2.824,2.81,2.798,2.794,2.789,2.765,2.759,2.745,2.738,2.729,2.724,2.708,2.706,2.7,2.689,2.682,2.68,2.665,2.654,2.649,2.645,2.637,2.631,2.625,2.618,2.6,2.597,2.591,2.587,2.586,2.583,2.571,2.564,2.555,2.55,2.545,2.54,2.533,2.53,2.523,2.522,2.513,2.513,2.511,2.504,2.496,2.49,2.481,2.48,2.477,2.472,2.471,2.47,2.468,2.46,2.459,2.453,2.45,2.448,2.446,2.44,2.438,2.438,2.437,2.436,2.431,2.427,2.425,2.425,2.424,2.424,2.424,2.423,2.418,2.413,2.411,2.408,2.405,2.408,2.405,2.408,2.408,2.409,2.409,2.409,2.409,2.409,2.409,2.408,2.41,2.407,2.405,2.405,2.407,2.407,2.407,2.408,2.408,2.415,2.416,2.416,2.416,2.419,2.424,2.424,2.425,2.424,2.425,2.431,2.431,2.435,2.435,2.44,2.443,2.446,2.446,2.446,2.446,2.454,2.463,2.464,2.466,2.476,2.477,2.477,2.478,2.491,2.493,2.495,2.495,2.5,2.507,2.508,2.517,2.522,2.525,2.531,2.532,2.542,2.548,2.549,2.561,2.562,2.568,2.569,2.579,2.586,2.6,2.604,2.611,2.612,2.622,2.63,2.647,2.652,2.652,2.654,2.668,2.678,2.685,2.688,2.703,2.704,2.718,2.719,2.724,2.74,2.747,2.752,2.771,2.777,2.787,2.799,2.805,2.824,2.833,2.836,2.855,2.866,2.876,2.886,2.896,2.909,2.92,2.925,2.942,2.948,2.962,2.974,2.986,3.005,3.021,3.029,3.034,3.059,3.079,3.099,3.114,3.114,3.129,3.146,3.16,3.16,3.189,3.208,3.211,3.237,3.252,3.267,3.301,3.308,3.331,3.352,3.373,3.39,3.401,3.42,3.44,3.462,3.485,3.504,3.519,3.546,3.584,3.606,3.637,3.653,3.683,3.684,3.722,3.742,3.795,3.812,3.832,3.872,3.899,3.939,3.999,0.007,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.391,3.35,3.339,3.335,3.326,3.31,3.307,3.303,3.276,3.273,3.272,3.255,3.246,3.242,3.228,3.218,3.217,3.211,3.2,3.184,3.182,3.173,3.169,3.159,3.157,3.149,3.149,3.134,3.126,3.126,3.119,3.118,3.11,3.105,3.101,3.094,3.092,3.089,3.083,3.08,3.077,3.07,3.067,3.062,3.058,3.047,3.045,3.042,3.038,3.038,3.035,3.034,3.031,3.029,3.027,3.025,3.022,3.022,3.022,3.022,3.022,3.01,3.024,3.011,3.01,3.008,3.005,3.004,3.004,3.004,3.004,3.004,3.004,3,3,3.001,3.001,3.001,3.001,3.006,3.006,3.006,3.002,3.005,3.005,3.005,3.009,3.013,3.014,3.017,3.018,3.018,3.019,3.026,3.026,3.028,3.028,3.03,3.031,3.038,3.038,3.044,3.045,3.051,3.053,3.055,3.055,3.065,3.07,3.071,3.072,3.081,3.083,3.083,3.085,3.09,3.095,3.107,3.113,3.115,3.126,3.128,3.128,3.128,3.128,3.13,3.13,3.141,3.153,3.163,3.166,3.171,3.173,3.177,3.178,3.186,3.201,3.204,3.208,3.215,3.233,3.237,3.237,3.237,3.252,3.253,3.26,3.262,3.272,3.284,3.284,3.291,3.292,3.831,3.839,3.859,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 145.89} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 145.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 145.89} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.9436} {Name Sonar15 Range 5.6642} SEN {Time 145.935} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.18,0.184,0.184,0,0,0,0,0,3.624,3.599,3.593,3.593,3.599,3.584,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.253,3.253,3.237,3.213,3.213,3.216,3.216,3.348,0,0,0,0,0,0,0,0,0,3.095,3.095,3.086,3.08,3.08,3.079,3.079,3.079,0.153,0.151,0.146,0.146,0.147,0.147,0.147,0.153,0.153,0.153,0.153,0.157,0.157,3.014,3.014,3.017,3.017,3.017,3.004,0.153,0.153,0.153,0.153,0.153,0.153,0.149,0.142,0.139,0.118,0.09,0.076,0.068,0.068,0.065,0.068,0.067,0.069,0.07,0.07,0.067,0.066,0.066,0.066,0.073,0.136,0.224,3.346,3.353,3.368,3.368,3.379,0,0,0,3.443,3.443,3.443,3.454,3.483,3.483,3.496,3.504,3.516,3.524,3.524,3.53,3.531,3.534,3.538,3.547,3.556,3.56,3.56,3.565,3.568,3.569,3.575,3.575,3.58,3.589,3.604,3.606,3.606,3.614,3.616,3.618,3.634,3.637,3.645,3.654,3.657,3.658,3.678,3.682,3.69,3.694,3.697,3.698,3.711,3.719,3.722,3.726,3.742,3.744,3.755,3.768,3.769,3.769,3.778,3.789,3.807,3.817,3.819,3.841,3.842,3.865,3.867,3.876,3.889,3.905,3.921,3.927,3.929,3.956,3.961,3.973,3.995,3.999,4.019,4.02,4.047,4.056,4.071,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.074,4.022,3.99,3.958,3.925,3.901,3.888,3.845,3.822,3.784,3.752,3.738,3.711,3.688,3.652,3.63,3.615,3.583,3.563,3.546,3.516,3.489,3.477,3.454,3.425,3.402,3.38,3.363,3.351,3.326,3.303,3.293,3.265,3.25,3.243,3.226,3.207,3.199,3.176,3.165,3.147,3.128,3.121,3.099,3.09,3.061,3.058,3.046,3.026,3.025,3.012,2.993,2.983,2.97,2.952,2.939,2.937,2.919,2.909,2.895,2.883,2.876,2.866,2.851,2.845,2.822,2.816,2.803,2.795,2.791,2.78,2.764,2.757,2.753,2.743,2.738,2.728,2.718,2.711,2.708,2.689,2.688,2.672,2.665,2.663,2.649,2.642,2.635,2.628,2.621,2.612,2.608,2.602,2.595,2.586,2.585,2.576,2.571,2.569,2.557,2.555,2.554,2.542,2.539,2.532,2.522,2.52,2.511,2.51,2.508,2.498,2.496,2.496,2.485,2.484,2.48,2.467,2.467,2.465,2.465,2.465,2.458,2.449,2.448,2.448,2.446,2.443,2.437,2.437,2.437,2.432,2.432,2.423,2.423,2.421,2.423,2.423,2.42,2.417,2.414,2.414,2.414,2.414,2.41,2.41,2.41,2.41,2.404,2.404,2.404,2.406,2.406,2.408,2.408,2.41,2.409,2.409,2.408,2.409,2.409,2.409,2.409,2.411,2.413,2.413,2.413,2.413,2.413,2.416,2.423,2.425,2.428,2.43,2.43,2.433,2.437,2.437,2.436,2.44,2.442,2.442,2.453,2.454,2.458,2.459,2.461,2.465,2.47,2.473,2.478,2.478,2.48,2.488,2.491,2.499,2.499,2.499,2.504,2.518,2.52,2.521,2.523,2.528,2.533,2.539,2.549,2.555,2.556,2.559,2.563,2.577,2.579,2.586,2.594,2.601,2.616,2.619,2.621,2.633,2.649,2.653,2.655,2.655,2.669,2.669,2.689,2.695,2.706,2.714,2.721,2.724,2.73,2.743,2.746,2.759,2.771,2.772,2.795,2.796,2.797,2.819,2.824,2.832,2.847,2.86,2.874,2.884,2.891,2.911,2.92,2.936,2.936,2.954,2.966,2.977,2.986,3.005,3.015,3.035,3.046,3.06,3.068,3.081,3.101,3.114,3.131,3.146,3.16,3.165,3.18,3.209,3.212,3.241,3.246,3.271,3.286,3.311,3.328,3.351,3.376,3.389,3.396,3.425,3.445,3.463,3.491,3.503,3.524,3.553,3.571,3.602,3.637,3.65,3.668,3.701,3.735,3.741,3.788,3.813,3.831,3.864,3.904,3.928,3.985,3.987,4.036,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.378,3.342,3.339,3.329,3.325,3.31,3.303,3.303,3.282,3.274,3.273,3.252,3.24,3.238,3.232,3.219,3.21,3.207,3.203,3.18,3.18,3.18,3.166,3.165,3.155,3.155,3.153,3.149,3.141,3.128,3.126,3.118,3.112,3.105,3.099,3.096,3.095,3.091,3.075,3.074,3.069,3.067,3.063,3.062,3.061,3.053,3.045,3.042,3.041,3.041,3.034,3.032,3.029,3.029,3.026,3.025,3.015,3.015,3.015,3.026,3.026,3.026,3.017,3.017,3.012,3.012,3.011,3.004,3.002,3.003,3.002,3.002,3.003,3.003,3.007,3.007,3.005,3.001,3.005,3.004,3.004,3.004,3.004,3.004,3.004,3.006,3.007,3.011,3.01,3.011,3.011,3.018,3.018,3.018,3.019,3.02,3.03,3.032,3.033,3.038,3.041,3.044,3.047,3.047,3.054,3.055,3.061,3.063,3.07,3.072,3.075,3.08,3.083,3.089,3.092,3.095,3.095,3.111,3.112,3.116,3.119,3.13,3.13,3.136,3.136,3.136,3.137,3.148,3.15,3.156,3.161,3.172,3.172,3.175,3.176,3.181,3.201,3.209,3.211,3.217,3.217,3.222,3.238,3.242,3.244,3.253,3.262,3.267,3.275,3.284,3.284,3.287,3.302,3.83,3.847,3.858,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 146.09} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 146.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 146.092} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.6642} SEN {Time 146.139} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.199,0.189,0.199,0.199,0,0,0,0,0,3.615,3.592,3.589,3.589,3.589,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.262,3.262,3.219,3.214,3.21,3.21,3.21,3.353,0,0,0,0,0,0,0,0,0,3.103,3.096,3.09,3.084,3.084,3.081,3.081,3.081,0.15,0.149,0.148,0.148,0.148,0.148,0.149,0.151,0.151,0.153,0.153,0.155,3.012,3.012,3.005,3.012,3.012,3.005,3.015,3.015,0.157,0.157,0.157,0.153,0.148,0.146,0.142,0.138,0.119,0.092,0.079,0.065,0.064,0.064,0.064,0.064,0.066,0.066,0.066,0.066,0.066,0.066,0.071,0.081,0.128,0.215,3.34,3.341,3.353,3.363,3.368,3.381,0.007,3.414,3.414,3.46,3.46,3.467,3.484,3.484,3.495,3.506,3.516,3.521,3.528,3.532,3.533,3.539,3.539,3.549,3.557,3.558,3.558,3.561,3.57,3.571,3.577,3.578,3.585,3.59,3.59,3.59,3.599,3.615,3.624,3.626,3.626,3.641,3.646,3.652,3.656,3.662,3.662,3.675,3.685,3.689,3.697,3.697,3.705,3.719,3.729,3.732,3.741,3.747,3.754,3.755,3.769,3.775,3.791,3.797,3.806,3.816,3.833,3.844,3.852,3.856,3.859,3.884,3.895,3.904,3.905,3.932,3.94,3.943,3.957,3.963,3.984,3.987,4.002,4.021,4.028,4.061,4.077,4.088,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,4.006,3.969,3.933,3.892,3.877,3.862,3.821,3.784,3.748,3.735,3.701,3.679,3.66,3.637,3.612,3.579,3.56,3.544,3.517,3.499,3.466,3.449,3.43,3.41,3.378,3.359,3.337,3.329,3.314,3.293,3.269,3.249,3.238,3.223,3.216,3.191,3.189,3.155,3.143,3.136,3.121,3.101,3.086,3.066,3.065,3.065,3.038,3.027,3.02,2.991,2.988,2.972,2.962,2.935,2.932,2.921,2.903,2.899,2.883,2.874,2.864,2.85,2.843,2.815,2.813,2.813,2.792,2.785,2.774,2.773,2.752,2.75,2.74,2.73,2.727,2.713,2.711,2.699,2.688,2.681,2.679,2.666,2.662,2.641,2.638,2.633,2.629,2.615,2.611,2.606,2.602,2.599,2.596,2.583,2.574,2.573,2.561,2.56,2.559,2.557,2.55,2.54,2.531,2.527,2.523,2.522,2.514,2.503,2.503,2.498,2.496,2.482,2.479,2.477,2.477,2.475,2.467,2.462,2.462,2.462,2.453,2.448,2.447,2.443,2.442,2.441,2.44,2.439,2.436,2.433,2.43,2.43,2.43,2.426,2.424,2.424,2.415,2.414,2.413,2.408,2.408,2.408,2.408,2.408,2.409,2.409,2.406,2.405,2.405,2.405,2.404,2.404,2.404,2.405,2.406,2.406,2.41,2.41,2.409,2.409,2.412,2.411,2.414,2.419,2.42,2.415,2.421,2.425,2.427,2.43,2.43,2.43,2.43,2.431,2.434,2.44,2.44,2.441,2.441,2.45,2.454,2.458,2.46,2.46,2.463,2.465,2.473,2.474,2.479,2.481,2.482,2.485,2.488,2.498,2.502,2.508,2.515,2.516,2.518,2.525,2.525,2.53,2.539,2.547,2.55,2.554,2.561,2.562,2.573,2.581,2.584,2.595,2.606,2.607,2.615,2.623,2.625,2.642,2.644,2.659,2.662,2.666,2.667,2.677,2.688,2.702,2.706,2.712,2.714,2.729,2.736,2.752,2.759,2.77,2.778,2.787,2.799,2.803,2.821,2.827,2.83,2.855,2.856,2.874,2.886,2.894,2.91,2.921,2.93,2.941,2.955,2.963,2.973,2.978,2.994,3.012,3.024,3.045,3.06,3.069,3.078,3.1,3.102,3.126,3.146,3.163,3.165,3.179,3.202,3.217,3.239,3.253,3.272,3.289,3.311,3.325,3.35,3.372,3.391,3.398,3.428,3.438,3.457,3.49,3.507,3.525,3.554,3.565,3.601,3.641,3.65,3.672,3.696,3.725,3.756,3.77,3.808,3.847,3.873,3.889,3.931,3.979,4.005,4.042,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.033,3.384,3.342,3.339,3.338,3.317,3.31,3.297,3.283,3.28,3.271,3.268,3.253,3.24,3.239,3.228,3.221,3.219,3.211,3.206,3.193,3.18,3.178,3.176,3.16,3.158,3.151,3.151,3.141,3.133,3.125,3.124,3.117,3.103,3.101,3.096,3.095,3.089,3.085,3.075,3.069,3.064,3.064,3.064,3.063,3.054,3.054,3.05,3.048,3.047,3.04,3.037,3.032,3.028,3.028,3.027,3.021,3.02,3.021,3.021,3.024,3.024,3.024,3.014,3.009,3.008,3.008,3.008,3.007,3.008,3.008,3.006,3.005,3.005,3.004,3.004,3.005,3.006,3.006,3.006,3.006,3.006,3.005,3.005,3.005,3.007,3.013,3.013,3.017,3.017,3.018,3.018,3.019,3.02,3.02,3.028,3.028,3.028,3.029,3.032,3.034,3.047,3.049,3.052,3.053,3.053,3.055,3.055,3.055,3.057,3.061,3.078,3.082,3.083,3.085,3.089,3.091,3.092,3.105,3.106,3.111,3.125,3.132,3.132,3.132,3.132,3.135,3.138,3.148,3.156,3.161,3.163,3.169,3.169,3.178,3.179,3.184,3.194,3.197,3.206,3.226,3.23,3.239,3.241,3.244,3.251,3.254,3.258,3.275,3.276,3.278,3.276,3.284,3.299,3.837,3.846,3.857,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 146.29} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 146.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 146.293} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.1082} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.1816} SEN {Time 146.335} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.186,0.185,0.186,0.186,0,0,0,0,0,3.62,3.594,3.592,3.592,3.594,3.594,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.247,3.237,3.225,3.224,3.218,3.224,3.224,3.332,0,0,0,0,0,0,0,0,0,3.098,3.089,3.089,3.086,3.089,3.08,3.079,0.149,0.147,0.144,0.143,0.143,0.142,0.143,0.146,0.157,0.152,0.157,0.157,0.158,0.16,3.017,3.017,3.017,3.017,3.012,3.012,3.012,0.158,0.158,0.158,0.157,0.152,0.15,0.138,0.138,0.115,0.086,0.07,0.069,0.068,0.068,0.068,0.068,0.069,0.07,0.075,0.07,0.069,0.072,0.072,0.072,0.13,0.202,3.35,3.359,0.006,0,0,0,0,0,3.438,3.453,3.47,3.47,3.47,3.476,3.499,3.504,3.505,3.51,3.527,3.528,3.536,3.536,3.54,3.545,3.554,3.555,3.555,3.564,3.568,3.571,3.574,3.577,3.582,3.589,3.594,3.609,3.611,3.614,3.618,3.628,3.628,3.649,3.649,3.649,3.654,3.658,3.666,3.687,3.688,3.697,3.697,3.697,3.71,3.714,3.724,3.727,3.727,3.745,3.75,3.761,3.766,3.773,3.781,3.808,3.808,3.812,3.827,3.838,3.842,3.852,3.863,3.877,3.907,3.907,3.908,3.911,3.944,3.954,3.965,3.969,3.98,4.001,4.02,4.031,4.045,4.071,4.071,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.003,3.912,3.912,3.87,3.848,3.809,3.788,3.75,3.725,3.708,3.697,3.661,3.64,3.619,3.588,3.554,3.538,3.525,3.502,3.472,3.447,3.419,3.408,3.373,3.365,3.349,3.322,3.306,3.295,3.27,3.259,3.242,3.227,3.213,3.183,3.176,3.162,3.145,3.126,3.117,3.092,3.092,3.067,3.059,3.042,3.029,3.026,3.015,2.994,2.985,2.969,2.957,2.944,2.934,2.914,2.9,2.891,2.887,2.872,2.868,2.854,2.842,2.826,2.82,2.805,2.797,2.787,2.785,2.772,2.769,2.753,2.75,2.726,2.726,2.715,2.707,2.699,2.685,2.679,2.669,2.666,2.657,2.643,2.636,2.633,2.628,2.619,2.615,2.611,2.604,2.596,2.596,2.583,2.579,2.576,2.56,2.559,2.559,2.555,2.546,2.542,2.527,2.527,2.525,2.518,2.513,2.508,2.508,2.49,2.49,2.483,2.479,2.478,2.476,2.468,2.467,2.464,2.463,2.462,2.454,2.452,2.448,2.447,2.441,2.439,2.44,2.439,2.435,2.433,2.43,2.427,2.427,2.424,2.42,2.418,2.417,2.417,2.413,2.41,2.41,2.407,2.407,2.407,2.407,2.404,2.404,2.404,2.404,2.407,2.407,2.404,2.404,2.407,2.405,2.405,2.407,2.405,2.405,2.408,2.411,2.414,2.417,2.417,2.417,2.416,2.417,2.419,2.419,2.423,2.425,2.428,2.43,2.435,2.436,2.439,2.44,2.443,2.444,2.446,2.447,2.456,2.456,2.458,2.462,2.464,2.471,2.477,2.482,2.486,2.488,2.491,2.493,2.5,2.504,2.505,2.508,2.512,2.516,2.529,2.53,2.532,2.544,2.548,2.56,2.562,2.57,2.571,2.574,2.578,2.584,2.594,2.594,2.603,2.613,2.62,2.627,2.645,2.646,2.652,2.669,2.671,2.671,2.686,2.69,2.702,2.702,2.708,2.716,2.727,2.737,2.74,2.764,2.775,2.781,2.799,2.806,2.808,2.823,2.826,2.838,2.847,2.861,2.885,2.886,2.897,2.904,2.92,2.938,2.942,2.949,2.964,2.98,2.989,3.007,3.017,3.025,3.032,3.056,3.068,3.08,3.09,3.108,3.13,3.15,3.164,3.168,3.188,3.212,3.221,3.243,3.262,3.273,3.29,3.3,3.319,3.344,3.37,3.386,3.401,3.42,3.452,3.459,3.486,3.505,3.535,3.55,3.587,3.613,3.632,3.652,3.68,3.709,3.734,3.736,3.776,3.81,3.831,3.863,3.902,3.926,3.96,3.996,4.034,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.388,3.342,3.341,3.336,3.319,3.317,3.307,3.297,3.278,3.27,3.269,3.264,3.239,3.236,3.228,3.221,3.214,3.203,3.199,3.188,3.185,3.173,3.167,3.166,3.158,3.148,3.148,3.142,3.133,3.132,3.121,3.118,3.113,3.109,3.103,3.092,3.092,3.092,3.081,3.076,3.073,3.072,3.066,3.061,3.061,3.057,3.052,3.05,3.041,3.039,3.031,3.03,3.027,3.024,3.024,3.022,3.02,3.019,3.019,3.022,3.019,3.019,3.014,3.007,3.005,3.004,3.005,3.005,3.009,3.009,3.009,3.009,3.003,3.003,3.003,3.004,3.004,3.004,3.004,3.004,3.004,3.004,3.008,3.009,3.015,3.015,3.015,3.015,3.018,3.018,3.018,3.018,3.02,3.021,3.021,3.029,3.031,3.031,3.032,3.033,3.037,3.042,3.043,3.047,3.048,3.048,3.051,3.063,3.064,3.067,3.073,3.083,3.084,3.085,3.089,3.094,3.098,3.104,3.105,3.115,3.127,3.134,3.134,3.134,3.134,3.137,3.138,3.139,3.148,3.154,3.164,3.166,3.178,3.18,3.183,3.184,3.205,3.209,3.209,3.216,3.224,3.232,3.237,3.241,3.245,3.254,3.263,3.263,3.278,3.278,3.278,3.286,3.294,3.824,3.833,3.848,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 146.49} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 146.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 146.486} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.1816} SEN {Time 146.531} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.187,0.183,0.187,0.187,0,0,0,0,0,3.616,3.594,3.585,3.585,3.594,3.594,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.259,3.259,3.236,3.221,3.214,3.221,3.221,3.34,0,0,0,0,0,0,0,0,0,3.095,3.09,3.088,3.082,3.082,3.075,3.064,0.15,0.147,0.147,0.147,0.15,0.142,0.148,0.141,0.148,0.148,0.153,0.153,0.159,0.159,3.008,3.008,3.009,3.009,3.009,3.009,0.169,0.159,0.159,0.159,0.153,0.155,0.153,0.144,0.14,0.109,0.089,0.07,0.067,0.067,0.065,0.065,0.065,0.068,0.068,0.069,0.068,0.068,0.064,0.064,0.064,0.135,0.222,3.34,3.356,3.363,3.363,3.388,0.007,3.409,3.401,3.409,3.409,3.45,3.47,3.476,3.48,3.483,3.501,3.519,3.521,3.523,3.525,3.532,3.534,3.54,3.543,3.546,3.549,3.561,3.562,3.57,3.573,3.576,3.58,3.584,3.598,3.599,3.604,3.604,3.616,3.617,3.624,3.627,3.636,3.646,3.65,3.65,3.658,3.666,3.68,3.68,3.696,3.697,3.7,3.708,3.71,3.721,3.727,3.746,3.746,3.75,3.762,3.769,3.772,3.79,3.792,3.805,3.815,3.82,3.844,3.844,3.858,3.875,3.887,3.894,3.902,3.917,3.922,3.928,3.948,3.963,3.97,3.99,4.004,4.011,4.022,4.044,4.056,4.063,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.07,4.026,3.934,3.904,3.872,3.835,3.814,3.781,3.762,3.732,3.707,3.682,3.671,3.645,3.62,3.577,3.566,3.537,3.512,3.499,3.465,3.44,3.426,3.408,3.39,3.363,3.338,3.329,3.318,3.29,3.273,3.257,3.24,3.228,3.208,3.196,3.183,3.154,3.14,3.128,3.112,3.091,3.09,3.057,3.055,3.044,3.032,3.02,3.008,2.993,2.977,2.965,2.95,2.942,2.934,2.921,2.918,2.898,2.882,2.873,2.868,2.86,2.844,2.832,2.824,2.809,2.802,2.795,2.779,2.774,2.769,2.753,2.74,2.73,2.729,2.709,2.707,2.691,2.684,2.679,2.678,2.658,2.652,2.646,2.646,2.639,2.625,2.625,2.613,2.611,2.608,2.597,2.591,2.585,2.578,2.57,2.559,2.558,2.554,2.549,2.542,2.542,2.53,2.521,2.516,2.511,2.509,2.505,2.501,2.497,2.496,2.488,2.484,2.483,2.476,2.474,2.465,2.465,2.462,2.458,2.455,2.453,2.453,2.444,2.443,2.439,2.438,2.435,2.432,2.432,2.431,2.428,2.423,2.421,2.421,2.421,2.417,2.416,2.413,2.412,2.412,2.409,2.409,2.409,2.408,2.408,2.408,2.408,2.405,2.406,2.405,2.405,2.405,2.405,2.404,2.405,2.405,2.406,2.406,2.408,2.41,2.413,2.417,2.42,2.42,2.42,2.417,2.421,2.421,2.433,2.433,2.433,2.433,2.436,2.433,2.433,2.44,2.445,2.442,2.445,2.449,2.448,2.458,2.459,2.464,2.465,2.473,2.474,2.475,2.482,2.482,2.485,2.492,2.496,2.503,2.512,2.517,2.521,2.523,2.525,2.534,2.534,2.54,2.543,2.553,2.558,2.561,2.565,2.57,2.57,2.579,2.587,2.6,2.615,2.619,2.622,2.627,2.646,2.649,2.659,2.669,2.672,2.674,2.679,2.695,2.699,2.705,2.716,2.719,2.731,2.733,2.745,2.756,2.761,2.77,2.794,2.8,2.809,2.821,2.823,2.836,2.859,2.86,2.874,2.879,2.893,2.91,2.918,2.924,2.944,2.947,2.96,2.98,2.988,3.002,3.01,3.025,3.033,3.052,3.071,3.075,3.103,3.109,3.128,3.137,3.155,3.165,3.184,3.203,3.209,3.233,3.251,3.264,3.283,3.306,3.328,3.352,3.368,3.391,3.402,3.422,3.447,3.465,3.489,3.504,3.52,3.554,3.58,3.58,3.625,3.656,3.676,3.703,3.739,3.751,3.775,3.819,3.841,3.852,3.905,3.961,4.002,4.072,4.072,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.371,3.339,3.332,3.332,3.332,3.303,3.298,3.298,3.291,3.281,3.263,3.257,3.244,3.244,3.225,3.218,3.217,3.2,3.199,3.192,3.178,3.177,3.169,3.164,3.16,3.152,3.148,3.134,3.133,3.126,3.122,3.119,3.115,3.107,3.103,3.102,3.092,3.084,3.077,3.076,3.076,3.071,3.067,3.066,3.066,3.058,3.057,3.044,3.039,3.038,3.036,3.033,3.03,3.029,3.019,3.019,3.019,3.019,3.019,3.024,3.019,3.017,3.014,3.009,3.009,3.009,3.008,3.004,3.007,3.007,3.007,3.007,3.007,3.007,3,3.007,3.006,3.006,3.006,3.006,3.004,3.003,3.003,3.003,3.004,3.014,3.014,3.018,3.018,3.014,3.018,3.022,3.026,3.026,3.026,3.029,3.029,3.026,3.03,3.039,3.04,3.041,3.05,3.05,3.05,3.055,3.06,3.06,3.063,3.066,3.068,3.076,3.083,3.089,3.089,3.09,3.09,3.105,3.111,3.113,3.115,3.121,3.124,3.127,3.129,3.129,3.137,3.137,3.154,3.156,3.166,3.17,3.175,3.175,3.177,3.179,3.204,3.214,3.221,3.223,3.223,3.229,3.235,3.236,3.249,3.251,3.254,3.258,3.267,3.281,3.281,3.282,3.297,3.817,3.839,3.864,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 146.69} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 146.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 146.687} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 6.4262} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.1816} SEN {Time 146.731} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.184,0.184,0.187,0.187,0,0,0,0,0,3.621,3.6,3.6,3.6,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.212,3.212,3.217,3.217,3.339,0,0,0,0,0,0,0,0,0,3.1,3.094,3.092,3.087,3.087,3.073,3.067,0.151,0.149,0.146,0.144,0.144,0.144,0.144,0.144,0.149,0.149,0.153,0.153,0.16,0.16,3.014,3.014,3.014,3.014,3.011,3.009,0.16,0.16,0.16,0.16,0.16,0.16,0.153,0.14,0.14,0.118,0.091,0.081,0.063,0.063,0.063,0.066,0.064,0.066,0.069,0.069,0.069,0.069,0.069,0.069,0.081,0.131,0.224,3.355,3.356,3.359,3.359,3.377,0.007,0,0,0.007,3.459,3.459,3.459,3.459,3.486,3.497,3.5,3.509,3.528,3.528,3.53,3.534,3.537,3.537,3.552,3.553,3.556,3.56,3.566,3.572,3.573,3.579,3.579,3.583,3.585,3.591,3.602,3.606,3.617,3.619,3.623,3.64,3.64,3.655,3.655,3.658,3.668,3.675,3.689,3.69,3.692,3.699,3.7,3.702,3.717,3.723,3.724,3.73,3.748,3.763,3.766,3.772,3.783,3.791,3.793,3.813,3.817,3.823,3.84,3.841,3.859,3.86,3.868,3.896,3.9,3.919,3.939,3.941,3.943,3.956,3.971,3.991,3.993,4.018,4.021,4.034,4.047,4.059,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.088,4.037,4.012,3.97,3.937,3.908,3.866,3.838,3.814,3.775,3.76,3.734,3.71,3.688,3.653,3.641,3.604,3.579,3.565,3.542,3.514,3.496,3.472,3.444,3.424,3.413,3.388,3.359,3.351,3.327,3.303,3.282,3.271,3.258,3.238,3.219,3.211,3.193,3.181,3.153,3.146,3.126,3.119,3.099,3.087,3.07,3.057,3.039,3.036,3.025,3.014,2.99,2.98,2.972,2.963,2.94,2.926,2.918,2.909,2.905,2.89,2.878,2.866,2.851,2.845,2.836,2.821,2.815,2.798,2.794,2.783,2.765,2.763,2.754,2.741,2.725,2.716,2.706,2.705,2.696,2.686,2.685,2.681,2.669,2.656,2.647,2.644,2.64,2.628,2.617,2.612,2.598,2.595,2.593,2.592,2.591,2.578,2.573,2.563,2.562,2.559,2.553,2.544,2.544,2.529,2.527,2.519,2.517,2.513,2.505,2.5,2.494,2.492,2.485,2.481,2.479,2.471,2.465,2.464,2.462,2.461,2.461,2.458,2.455,2.449,2.443,2.443,2.443,2.442,2.44,2.44,2.437,2.431,2.43,2.43,2.428,2.428,2.423,2.42,2.419,2.419,2.419,2.407,2.407,2.407,2.407,2.407,2.406,2.406,2.403,2.403,2.406,2.406,2.406,2.406,2.406,2.406,2.411,2.411,2.411,2.409,2.409,2.409,2.412,2.417,2.419,2.417,2.418,2.418,2.425,2.427,2.429,2.429,2.43,2.432,2.433,2.439,2.439,2.441,2.441,2.443,2.451,2.451,2.452,2.452,2.46,2.462,2.468,2.475,2.477,2.478,2.481,2.489,2.49,2.49,2.498,2.506,2.51,2.51,2.513,2.52,2.525,2.53,2.536,2.54,2.553,2.555,2.557,2.565,2.57,2.581,2.586,2.588,2.599,2.6,2.613,2.617,2.621,2.631,2.643,2.645,2.657,2.665,2.667,2.678,2.685,2.699,2.702,2.704,2.708,2.725,2.732,2.733,2.74,2.758,2.76,2.776,2.792,2.797,2.814,2.82,2.834,2.836,2.856,2.859,2.876,2.893,2.893,2.909,2.919,2.93,2.939,2.955,2.964,2.979,2.995,2.997,3.018,3.025,3.058,3.061,3.066,3.081,3.099,3.11,3.129,3.142,3.163,3.173,3.187,3.206,3.207,3.24,3.26,3.264,3.288,3.313,3.323,3.35,3.364,3.387,3.393,3.43,3.451,3.456,3.496,3.501,3.528,3.563,3.578,3.601,3.625,3.665,3.687,3.698,3.734,3.751,3.789,3.804,3.835,3.867,3.885,3.944,3.963,4.005,4.046,4.078,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.39,3.346,3.339,3.336,3.327,3.308,3.305,3.3,3.273,3.271,3.264,3.252,3.246,3.239,3.233,3.223,3.215,3.213,3.195,3.193,3.181,3.178,3.177,3.174,3.159,3.159,3.14,3.139,3.135,3.128,3.118,3.116,3.113,3.105,3.1,3.099,3.089,3.081,3.078,3.077,3.073,3.065,3.062,3.061,3.058,3.047,3.046,3.043,3.039,3.038,3.038,3.031,3.029,3.027,3.018,3.018,3.018,3.018,3.021,3.024,3.024,3.021,3.021,3.021,3.02,3.019,3.011,3.007,3.006,3.005,3.005,3.004,3.005,3.004,3.008,3.006,3.006,3.003,3.006,3.003,3.003,3.006,3.006,3.007,3.009,3.009,3.009,3.009,3.009,3.009,3.016,3.021,3.021,3.021,3.021,3.021,3.03,3.031,3.031,3.031,3.04,3.044,3.046,3.046,3.046,3.048,3.06,3.061,3.061,3.064,3.075,3.08,3.086,3.089,3.095,3.097,3.1,3.105,3.11,3.112,3.119,3.119,3.121,3.124,3.133,3.134,3.139,3.14,3.159,3.165,3.171,3.174,3.175,3.186,3.187,3.191,3.195,3.208,3.209,3.226,3.227,3.228,3.242,3.244,3.25,3.251,3.257,3.266,3.277,3.283,3.283,3.291,3.299,3.82,3.848,3.863,3.869,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 146.89} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 146.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 146.888} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3622} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 6.4262} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.1816} SEN {Time 146.931} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.007,0.187,0.183,0.183,0.183,0,0,0,0,0,0,3.593,3.593,3.593,3.593,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.255,3.255,3.228,3.219,3.213,3.213,3.213,3.335,0,0,0,0,0,0,0,0,0,3.108,3.094,3.089,3.087,3.087,3.078,3.076,0.147,0.144,0.144,0.144,0.144,0.145,0.145,0.145,0.152,0.15,0.152,0.152,0.153,3.015,3.022,3.015,3.017,3.017,3.017,3.004,0.168,0.16,0.159,0.159,0.159,0.149,0.146,0.144,0.144,0.121,0.09,0.068,0.067,0.065,0.067,0.068,0.071,0.072,0.072,0.071,0.071,0.063,0.063,0.063,0.072,0.143,0.21,3.335,0.007,0.006,0.007,3.38,3.38,3.391,3.391,3.433,3.462,3.474,3.474,3.474,3.476,3.496,3.511,3.511,3.52,3.525,3.534,3.534,3.538,3.539,3.551,3.555,3.555,3.558,3.571,3.573,3.574,3.576,3.585,3.587,3.589,3.6,3.606,3.612,3.614,3.614,3.618,3.632,3.635,3.647,3.651,3.653,3.666,3.667,3.678,3.681,3.688,3.691,3.708,3.712,3.721,3.728,3.732,3.741,3.753,3.755,3.761,3.774,3.779,3.781,3.798,3.814,3.816,3.834,3.84,3.844,3.86,3.87,3.88,3.889,3.893,3.921,3.934,3.935,3.942,3.961,3.963,3.996,3.998,4.013,4.024,4.046,4.057,4.071,0.016,0.016,0.016,0.016,0,0,0,0,0,4.07,4.026,3.932,3.891,3.87,3.829,3.811,3.79,3.746,3.73,3.712,3.697,3.651,3.637,3.613,3.582,3.557,3.54,3.509,3.505,3.48,3.458,3.438,3.402,3.39,3.368,3.34,3.33,3.31,3.29,3.263,3.256,3.244,3.217,3.207,3.202,3.179,3.161,3.149,3.131,3.12,3.099,3.095,3.065,3.065,3.041,3.031,3.026,3.008,2.986,2.985,2.964,2.957,2.94,2.931,2.914,2.899,2.898,2.882,2.872,2.871,2.853,2.845,2.835,2.83,2.814,2.801,2.792,2.778,2.771,2.765,2.749,2.744,2.733,2.724,2.717,2.705,2.702,2.696,2.683,2.68,2.668,2.658,2.656,2.644,2.639,2.625,2.621,2.611,2.605,2.599,2.594,2.592,2.578,2.578,2.575,2.562,2.555,2.55,2.548,2.544,2.537,2.527,2.527,2.522,2.517,2.514,2.509,2.503,2.499,2.498,2.49,2.489,2.479,2.473,2.465,2.463,2.461,2.461,2.459,2.459,2.452,2.451,2.445,2.444,2.44,2.44,2.44,2.44,2.436,2.436,2.43,2.429,2.429,2.426,2.426,2.418,2.417,2.414,2.414,2.411,2.411,2.41,2.406,2.403,2.402,2.403,2.403,2.402,2.403,2.403,2.403,2.407,2.409,2.407,2.407,2.406,2.406,2.406,2.406,2.41,2.41,2.417,2.418,2.419,2.419,2.42,2.42,2.42,2.425,2.427,2.432,2.43,2.439,2.435,2.439,2.44,2.441,2.445,2.446,2.451,2.451,2.458,2.458,2.459,2.459,2.472,2.48,2.481,2.484,2.492,2.497,2.498,2.499,2.502,2.506,2.51,2.522,2.522,2.529,2.532,2.534,2.535,2.552,2.557,2.558,2.561,2.569,2.579,2.581,2.583,2.586,2.597,2.609,2.61,2.611,2.632,2.639,2.653,2.653,2.664,2.671,2.678,2.688,2.688,2.706,2.709,2.714,2.718,2.728,2.737,2.748,2.752,2.769,2.771,2.773,2.796,2.799,2.819,2.83,2.831,2.849,2.858,2.883,2.886,2.903,2.915,2.931,2.932,2.943,2.951,2.968,2.973,2.984,2.999,3.017,3.033,3.039,3.061,3.075,3.083,3.103,3.115,3.131,3.142,3.161,3.167,3.183,3.205,3.216,3.242,3.257,3.278,3.282,3.307,3.329,3.347,3.374,3.382,3.407,3.421,3.445,3.466,3.484,3.508,3.529,3.553,3.581,3.606,3.635,3.646,3.68,3.709,3.729,3.751,3.778,3.821,3.834,3.872,3.892,3.923,3.969,4.008,4.023,4.078,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.001,3.391,3.345,3.339,3.329,3.328,3.304,3.302,3.293,3.278,3.277,3.275,3.264,3.248,3.234,3.227,3.222,3.221,3.217,3.201,3.19,3.18,3.172,3.166,3.166,3.157,3.152,3.143,3.134,3.134,3.129,3.123,3.116,3.11,3.105,3.101,3.097,3.092,3.089,3.078,3.074,3.073,3.067,3.065,3.065,3.065,3.061,3.048,3.043,3.043,3.042,3.035,3.034,3.029,3.028,3.026,3.024,3.024,3.019,3.024,3.024,3.024,3.019,3.015,3.014,3.014,3.009,3.008,3.008,3.001,3,3.001,3.001,3.003,3.003,3.003,3,3,2.999,2.999,3.005,3.005,3.005,3.006,3.011,3.012,3.012,3.012,3.015,3.015,3.015,3.015,3.015,3.021,3.021,3.024,3.025,3.029,3.032,3.033,3.034,3.037,3.038,3.045,3.055,3.055,3.058,3.059,3.065,3.07,3.071,3.073,3.082,3.082,3.084,3.089,3.094,3.098,3.105,3.112,3.115,3.119,3.123,3.124,3.131,3.131,3.131,3.14,3.143,3.158,3.162,3.173,3.173,3.175,3.175,3.18,3.186,3.199,3.207,3.217,3.218,3.222,3.228,3.235,3.24,3.243,3.246,3.262,3.265,3.267,3.272,3.272,3.29,3.294,3.812,3.836,3.865,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019} SEN {Time 147.09} {Type Odometry} {Name Odometry} {Pose 0.002540,1.002540,0.040143} SEN {Time 147.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000} SEN {Time 147.089} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 6.4262} {Name Sonar6 Range 3.302} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.6388} SEN {Time 147.134} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.007,0.191,0.18,0.191,0.191,0,0,0,0,0.007,3.615,3.596,3.594,3.594,3.596,3.583,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.263,3.235,3.224,3.221,3.217,3.217,3.217,3.354,0,0,0,0,0,0,0,0,0,3.113,3.091,3.088,3.085,3.085,3.082,3.07,0.153,0.152,0.152,0.151,0.152,0.152,0.148,0.148,0.153,0.15,0.153,0.153,0.157,0.157,3.005,3.005,3.009,3.009,3.005,3.009,3.009,0.16,0.157,0.157,0.156,0.156,0.153,0.15,0.143,0.115,0.087,0.079,0.07,0.066,0.066,0.066,0.066,0.073,0.073,0.071,0.07,0.07,0.07,0.071,0.073,0.123,0.205,3.356,3.363,3.363,3.363,3.367,3.375,3.381,3.393,3.414,3.455,3.459,3.474,3.474,3.487,3.487,3.507,3.521,3.521,3.521,3.525,3.529,3.544,3.55,3.551,3.553,3.558,3.56,3.561,3.576,3.578,3.579,3.58,3.591,3.6,3.6,3.604,3.611,3.612,3.621,3.622,3.633,3.643,3.644,3.646,3.65,3.666,3.67,3.687,3.691,3.694,3.695,3.695,3.708,3.718,3.732,3.738,3.74,3.744,3.751,3.76,3.775,3.778,3.779,3.799,3.82,3.82,3.825,3.832,3.836,3.858,3.865,3.873,3.895,3.896,3.918,3.922,3.949,3.951,3.955,3.987,3.992,3.998,4.012,4.023,4.045,4.053,4.077,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.071,4.017,3.99,3.969,3.926,3.914,3.865,3.824,3.8,3.787,3.761,3.735,3.706,3.689,3.67,3.625,3.612,3.586,3.556,3.532,3.512,3.498,3.462,3.448,3.441,3.389,3.378,3.374,3.349,3.331,3.311,3.285,3.273,3.249,3.232,3.226,3.21,3.19,3.187,3.163,3.145,3.132,3.113,3.099,3.079,3.077,3.061,3.05,3.033,3.023,3.006,2.995,2.994,2.968,2.95,2.941,2.931,2.912,2.906,2.9,2.887,2.876,2.866,2.855,2.843,2.824,2.821,2.802,2.801,2.787,2.783,2.769,2.763,2.756,2.746,2.732,2.731,2.713,2.702,2.702,2.69,2.688,2.674,2.658,2.655,2.653,2.651,2.637,2.628,2.621,2.616,2.612,2.598,2.597,2.594,2.584,2.576,2.574,2.563,2.56,2.554,2.554,2.542,2.535,2.535,2.524,2.521,2.515,2.509,2.502,2.502,2.499,2.496,2.488,2.485,2.481,2.48,2.474,2.468,2.466,2.463,2.456,2.456,2.451,2.45,2.45,2.447,2.442,2.436,2.436,2.436,2.432,2.43,2.43,2.425,2.424,2.423,2.421,2.42,2.42,2.419,2.413,2.41,2.41,2.409,2.409,2.409,2.405,2.405,2.405,2.409,2.409,2.409,2.407,2.406,2.406,2.407,2.407,2.404,2.407,2.404,2.404,2.405,2.41,2.414,2.415,2.416,2.416,2.418,2.424,2.426,2.426,2.426,2.428,2.431,2.435,2.432,2.435,2.437,2.443,2.444,2.444,2.448,2.452,2.46,2.463,2.466,2.468,2.468,2.475,2.477,2.479,2.479,2.485,2.495,2.504,2.508,2.509,2.511,2.513,2.517,2.523,2.525,2.541,2.542,2.545,2.553,2.555,2.56,2.572,2.58,2.583,2.585,2.595,2.602,2.605,2.62,2.629,2.635,2.648,2.653,2.653,2.659,2.66,2.678,2.684,2.692,2.695,2.71,2.711,2.718,2.736,2.739,2.739,2.766,2.774,2.78,2.789,2.8,2.804,2.815,2.83,2.837,2.853,2.862,2.876,2.889,2.894,2.909,2.921,2.939,2.951,2.96,2.96,2.988,2.99,2.996,3.013,3.032,3.044,3.064,3.069,3.081,3.107,3.117,3.124,3.142,3.165,3.166,3.193,3.21,3.213,3.24,3.247,3.272,3.288,3.308,3.327,3.347,3.363,3.396,3.411,3.427,3.449,3.465,3.484,3.5,3.522,3.538,3.569,3.599,3.634,3.649,3.685,3.706,3.727,3.76,3.786,3.815,3.846,3.866,3.894,3.934,3.969,3.997,4.038,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,4.015,3.38,3.345,3.342,3.335,3.329,3.302,3.3,3.295,3.276,3.276,3.271,3.256,3.244,3.233,3.23,3.215,3.214,3.209,3.201,3.191,3.181,3.175,3.175,3.17,3.155,3.152,3.144,3.142,3.132,3.13,3.123,3.117,3.107,3.105,3.103,3.096,3.091,3.091,3.077,3.076,3.074,3.068,3.066,3.063,3.058,3.058,3.05,3.048,3.048,3.048,3.047,3.031,3.028,3.027,3.026,3.024,3.02,3.017,3.017,3.02,3.02,3.017,3.012,3.012,3.01,3.012,3.012,3.004,3.014,3.014,3.014,3.013,3.013,3.01,3.01,3.01,3.008,3.006,3.007,3.007,3.007,3.006,3.004,3.004,3.01,3.01,3.012,3.013,3.019,3.019,3.019,3.019,3.024,3.025,3.026,3.031,3.031,3.034,3.035,3.039,3.039,3.047,3.048,3.047,3.048,3.048,3.059,3.06,3.061,3.065,3.078,3.081,3.085,3.086,3.088,3.092,3.092,3.108,3.11,3.119,3.121,3.13,3.13,3.13,3.134,3.14,3.14,3.152,3.152,3.17,3.171,3.175,3.175,3.175,3.182,3.184,3.204,3.21,3.211,3.224,3.23,3.235,3.235,3.241,3.243,3.249,3.254,3.264,3.279,3.284,3.284,3.288,3.304,3.829,3.839,3.861,3.863,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}