# UvA Rescue Team Logfile # # Created Date: 20-07-2010 # Created Time: 15:36 # # Machine: U013153 # # Original Filename: Logs\Hercules.log SEN {Type Odometry} {Name Odometry} {Pose 4.221480,0.340360,0.108210} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.6134} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 4.9022} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 2.3622} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.953} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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NFO {Gametype BotDeathMatch} {Level DM-Mapping_250} {TimeLimit 0} SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.6134} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 5.08} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 2.3368} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.953} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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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 {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 5.1816} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 2.3368} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.2352} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 4.2926} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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CONF {Type GroundVehicle} {Name USARBot.Nomad} {SteeringType SkidSteered} {Mass 30} {MaxSpeed 9.84252} {MaxTorque 20} {MaxFrontSteer 0} {MaxRearSteer 0} SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.7404} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 5.1816} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 2.3368} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.2352} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.588} {Name Sonar15 Range 3.4798} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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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 {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.715} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 4.9276} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 2.3114} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.3848} {Name Sonar15 Range 3.4798} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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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 {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.715} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 4.9276} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 2.3114} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.3848} {Name Sonar15 Range 3.4798} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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GEO {Type RangeScanner} {Name RangeScanner Location 0.115,0,-0.5665 Orientation 0,0,0 Mount HARD} SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.7912} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 5.0038} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 2.3368} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.7432} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 3.4798} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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CONF {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {Fov 4.7131392} {Pawing 0} {Tilting 0} SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.7404} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 2.3368} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.1816} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.8928} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 2.3114} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.413} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 4.2926} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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GEO {Type Camera} {Name Camera Location 0,0,-0.94 Orientation 0,1.5708,-3.14159 Mount HARD} SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.073304} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.8928} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.683} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 2.3876} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.5306} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 4.2926} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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CONF {Type Camera} {Name Camera} {DefFov 1.5708} {MinFov 0.349066} {MaxFov 2.0944} SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.258309} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 4.2418} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 6.096} {Name Sonar5 Range 4.2164} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.2352} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.794} {Name Sonar13 Range 3.683} {Name Sonar14 Range 5.461} {Name Sonar15 Range 0.9398} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.563741} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 2.3622} {Name Sonar8 Range 2.2352} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.6162} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 0.9652} {Name Sonar15 Range 0.9144} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.574213} SEN {Type Sonar} {Name Sonar0 Range 1.0922} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.8194} {Name Sonar3 Range 5.588} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 2.4638} {Name Sonar6 Range 2.413} {Name Sonar7 Range 2.2352} {Name Sonar8 Range 2.2098} {Name Sonar9 Range 1.651} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 3.2766} {Name Sonar13 Range 3.6576} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9144} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.082104} SEN {Type Sonar} {Name Sonar0 Range 3.429} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 6.477} {Name Sonar3 Range 4.2164} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 1.4732} {Name Sonar6 Range 2.2352} {Name Sonar7 Range 2.2098} {Name Sonar8 Range 1.651} {Name Sonar9 Range 2.794} {Name Sonar10 Range 0.127} {Name Sonar11 Range 4.0132} {Name Sonar12 Range 3.429} {Name Sonar13 Range 0.9144} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 1.0668} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.169371} SEN {Type Sonar} {Name Sonar0 Range 3.429} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 4.2164} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 1.4732} {Name Sonar6 Range 2.2352} {Name Sonar7 Range 2.2098} {Name Sonar8 Range 2.794} {Name Sonar9 Range 2.794} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.937} {Name Sonar12 Range 1.0668} {Name Sonar13 Range 0.9144} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 4.0386} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.656317} SEN {Type Sonar} {Name Sonar0 Range 2.7178} {Name Sonar1 Range 3.302} {Name Sonar2 Range 4.2164} {Name Sonar3 Range 2.1336} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.286} {Name Sonar6 Range 2.3114} {Name Sonar7 Range 2.8194} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.127} {Name Sonar10 Range 3.9878} {Name Sonar11 Range 0.9398} {Name Sonar12 Range 0.9144} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.4356} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.665044} SEN {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.2766} {Name Sonar2 Range 3.683} {Name Sonar3 Range 2.2098} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.1778} {Name Sonar7 Range 2.8194} {Name Sonar8 Range 2.794} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 5.1054} {Name Sonar11 Range 0.9398} {Name Sonar12 Range 0.9144} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 3.429} {Name Sonar15 Range 4.7498} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.665044} SEN {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.2766} {Name Sonar2 Range 3.683} {Name Sonar3 Range 2.2098} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 2.3114} {Name Sonar6 Range 0.1778} {Name Sonar7 Range 2.8194} {Name Sonar8 Range 2.794} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 5.3086} {Name Sonar11 Range 0.9398} {Name Sonar12 Range 0.9144} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 3.429} {Name Sonar15 Range 4.7498} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.665044} SEN {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.302} {Name Sonar2 Range 3.683} {Name Sonar3 Range 2.2098} {Name Sonar4 Range 2.4892} {Name Sonar5 Range 2.3114} {Name Sonar6 Range 0.1778} {Name Sonar7 Range 2.8194} {Name Sonar8 Range 2.794} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 5.1308} {Name Sonar11 Range 0.9398} {Name Sonar12 Range 0.9144} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 3.429} {Name Sonar15 Range 5.207} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.579523} SEN {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.2766} {Name Sonar2 Range 3.683} {Name Sonar3 Range 2.159} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 2.3114} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 2.8194} {Name Sonar8 Range 2.794} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 5.08} {Name Sonar11 Range 0.9398} {Name Sonar12 Range 0.9144} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 3.7592} {Name Sonar15 Range 4.8768} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.230457} SEN {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 5.715} {Name Sonar2 Range 3.302} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.4638} {Name Sonar5 Range 2.286} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 2.794} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.0922} {Name Sonar12 Range 0.9144} {Name Sonar13 Range 0.9144} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 3.4036} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.143191} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 3.302} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.1844} {Name Sonar5 Range 2.286} {Name Sonar6 Range 2.2098} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 2.794} {Name Sonar9 Range 2.794} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 1.0668} {Name Sonar13 Range 0.9144} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 3.7338} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,1.057670} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.1844} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 2.286} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 2.794} {Name Sonar9 Range 2.794} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 1.0668} {Name Sonar13 Range 0.9144} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 3.7338} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,0.970403} SEN {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 4.2164} {Name Sonar4 Range 2.413} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 2.286} {Name Sonar7 Range 2.1844} {Name Sonar8 Range 1.651} {Name Sonar9 Range 2.794} {Name Sonar10 Range 0.127} {Name Sonar11 Range 3.81} {Name Sonar12 Range 1.0668} {Name Sonar13 Range 0.9144} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 4.064} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000274,1.002525,0.881391} SEN {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.794} {Name Sonar2 Range 6.477} {Name Sonar3 Range 4.2164} {Name Sonar4 Range 2.413} {Name Sonar5 Range 2.4384} {Name Sonar6 Range 2.3368} {Name Sonar7 Range 2.1844} {Name Sonar8 Range 1.651} {Name Sonar9 Range 2.8194} {Name Sonar10 Range 2.794} {Name Sonar11 Range 3.81} {Name Sonar12 Range 5.461} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 4.064} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000549,1.005050,0.258309} SEN {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 4.8514} {Name Sonar5 Range 4.2164} {Name Sonar6 Range 2.159} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.2606} {Name Sonar9 Range 2.2352} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.8956} {Name Sonar13 Range 4.0894} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 0.9144} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.000549,1.005050,0.137881} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.794} {Name Sonar4 Range 5.1816} {Name Sonar5 Range 4.2164} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 2.2352} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.794} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 5.461} {Name Sonar15 Range 4.064} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,0.033161} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.429} {Name Sonar3 Range 6.477} {Name Sonar4 Range 5.1816} {Name Sonar5 Range 3.302} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 2.159} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 2.2352} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.794} {Name Sonar13 Range 4.0894} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 4.064} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,0.020944} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7404} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.159} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 2.286} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.032} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.207} {Name Sonar15 Range 4.2926} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.071558} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.9116} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.3274} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.1336} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 2.3114} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.032} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.082030} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.9116} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.5814} {Name Sonar6 Range 3.7084} {Name Sonar7 Range 2.1336} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 2.286} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.188496} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.5814} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4732} {Name Sonar9 Range 2.286} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.197222} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 1.0922} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7846} {Name Sonar6 Range 3.8862} {Name Sonar7 Range 2.3876} {Name Sonar8 Range 1.4732} {Name Sonar9 Range 2.2352} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1778} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.4196} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.317650} SEN {Type Sonar} {Name Sonar0 Range 4.2926} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 3.429} {Name Sonar4 Range 3.7846} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 3.302} {Name Sonar7 Range 3.0734} {Name Sonar8 Range 2.2352} {Name Sonar9 Range 2.2606} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 4.8768} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.432842} SEN {Type Sonar} {Name Sonar0 Range 1.0922} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9398} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 3.2258} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 5.8166} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.1336} {Name Sonar9 Range 2.6924} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 3.0226} {Name Sonar15 Range 4.445} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-0.432842} SEN {Type Sonar} {Name Sonar0 Range 1.0922} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9652} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.3876} {Name Sonar6 Range 3.5814} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.1336} {Name Sonar9 Range 2.6924} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.0066} {Name Sonar14 Range 3.048} {Name Sonar15 Range 4.8514} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-1.129228} SEN {Type Sonar} {Name Sonar0 Range 4.445} {Name Sonar1 Range 4.8768} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.794} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 4.2164} {Name Sonar9 Range 2.4384} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3114} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 5.5372} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.003074,1.004776,-1.216494} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.794} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.8354} {Name Sonar9 Range 2.4384} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3114} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.651} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.249656} SEN {Type Sonar} {Name Sonar0 Range 3.0226} {Name Sonar1 Range 4.445} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 0.889} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.9878} {Name Sonar6 Range 3.429} {Name Sonar7 Range 2.6924} {Name Sonar8 Range 4.8006} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.4986} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.137955} SEN {Type Sonar} {Name Sonar0 Range 3.0226} {Name Sonar1 Range 5.969} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 0.889} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 3.429} {Name Sonar7 Range 2.6924} {Name Sonar8 Range 4.2672} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.4986} {Name Sonar12 Range 2.3876} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.129228} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.969} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 2.921} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 4.2672} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 2.3876} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.129228} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.9436} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.921} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.302} {Name Sonar9 Range 3.4036} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.3622} {Name Sonar12 Range 2.3876} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.129228} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.9436} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.429} {Name Sonar6 Range 4.7752} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.302} {Name Sonar9 Range 3.4036} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 2.3876} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.129228} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.5118} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 4.7752} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 3.4036} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3876} {Name Sonar12 Range 2.3114} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.129228} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.4356} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.429} {Name Sonar6 Range 4.9022} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.6416} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.3114} {Name Sonar12 Range 2.3114} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 3.0226} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-1.045452} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.4356} {Name Sonar2 Range 4.2672} {Name Sonar3 Range 0.889} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.429} {Name Sonar6 Range 4.9022} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 2.6416} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.4384} {Name Sonar12 Range 2.3114} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 3.0226} {Name Sonar15 Range 2.794} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,-0.696386} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 0.889} {Name Sonar3 Range 0.9398} {Name Sonar4 Range 3.6322} {Name Sonar5 Range 3.4544} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.4036} {Name Sonar9 Range 2.159} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.2352} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 1.4478} {Name Sonar15 Range 4.8768} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.005873,1.007027,-0.605629} SEN {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 0.889} {Name Sonar3 Range 0.9652} {Name Sonar4 Range 3.6322} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.429} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.4036} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.2352} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 4.8768} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,-0.518363} SEN {Type Sonar} {Name Sonar0 Range 1.0922} {Name Sonar1 Range 0.889} {Name Sonar2 Range 0.889} {Name Sonar3 Range 0.9652} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 3.429} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.7018} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 3.9624} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,-0.431096} SEN {Type Sonar} {Name Sonar0 Range 1.0922} {Name Sonar1 Range 0.889} {Name Sonar2 Range 0.9398} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 3.683} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.7018} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.5626} {Name Sonar15 Range 3.9624} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,-0.324631} SEN {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 0.889} {Name Sonar2 Range 0.9398} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 3.683} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.7272} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.5626} {Name Sonar15 Range 5.0038} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,-0.315905} SEN {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.429} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 3.2766} {Name Sonar7 Range 3.4036} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.1308} {Name Sonar15 Range 5.461} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,0.567232} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.794} {Name Sonar3 Range 5.715} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 2.6416} {Name Sonar6 Range 1.4986} {Name Sonar7 Range 2.3114} {Name Sonar8 Range 2.2352} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.9718} {Name Sonar13 Range 4.6482} {Name Sonar14 Range 0.889} {Name Sonar15 Range 0.889} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,0.567232} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7686} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 4.2164} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 1.4986} {Name Sonar7 Range 2.2606} {Name Sonar8 Range 2.2352} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 3.3782} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.889} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,0.567232} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7686} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 1.4986} {Name Sonar7 Range 2.2606} {Name Sonar8 Range 2.2098} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.8448} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.889} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.006148,1.009552,0.567232} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.794} {Name Sonar3 Range 5.6896} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.4638} {Name Sonar7 Range 2.2606} {Name Sonar8 Range 2.2098} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.8448} {Name Sonar13 Range 1.0922} {Name Sonar14 Range 0.889} {Name Sonar15 Range 0.889} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,0.176278} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 3.4544} {Name Sonar5 Range 3.8608} {Name Sonar6 Range 2.4384} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.2606} {Name Sonar9 Range 2.2098} {Name Sonar10 Range 1.6764} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 0.889} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.115192} SEN {Type Sonar} {Name Sonar0 Range 0.889} {Name Sonar1 Range 4.5466} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 5.9436} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.937} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 2.3114} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.202458} SEN {Type Sonar} {Name Sonar0 Range 0.889} {Name Sonar1 Range 4.5466} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7686} {Name Sonar5 Range 3.937} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 2.3114} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.937} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.291470} SEN {Type Sonar} {Name Sonar0 Range 0.889} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7686} {Name Sonar5 Range 3.2512} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.4638} {Name Sonar9 Range 2.286} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.937} {Name Sonar15 Range 1.0922} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.396190} SEN {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 4.191} {Name Sonar5 Range 3.2512} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 2.286} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 4.8514} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.406662} SEN {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.7338} {Name Sonar4 Range 4.191} {Name Sonar5 Range 1.905} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 2.4892} {Name Sonar14 Range 6.477} {Name Sonar15 Range 4.8514} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.513127} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.7338} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.7018} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 2.794} {Name Sonar14 Range 6.477} {Name Sonar15 Range 4.9276} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.637045} SEN {Type Sonar} {Name Sonar0 Range 5.4356} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.889} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 2.794} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.413} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 4.1402} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.561996} SEN {Type Sonar} {Name Sonar0 Range 5.4356} {Name Sonar1 Range 0.889} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 1.016} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 2.921} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 2.794} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 4.1402} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.476475} SEN {Type Sonar} {Name Sonar0 Range 5.4356} {Name Sonar1 Range 0.889} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.413} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 2.794} {Name Sonar14 Range 5.08} {Name Sonar15 Range 4.0132} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.389208} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 0.889} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 2.7178} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.413} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.1336} {Name Sonar14 Range 5.08} {Name Sonar15 Range 4.0132} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.298451} SEN {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.7084} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 2.7178} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.1336} {Name Sonar14 Range 5.715} {Name Sonar15 Range 5.207} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.212930} SEN {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 3.7084} {Name Sonar4 Range 2.794} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.715} {Name Sonar15 Range 5.207} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.125664} SEN {Type Sonar} {Name Sonar0 Range 0.889} {Name Sonar1 Range 0.889} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.794} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.1524} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 1.0668} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.008673,1.009278,-0.038397} SEN {Type Sonar} {Name Sonar0 Range 0.889} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 4.2164} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 1.4986} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 2.794} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 1.0668} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.011198,1.009003,0.399680} SEN {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 4.318} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 2.159} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.286} {Name Sonar9 Range 2.413} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.8956} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 0.889} SEN {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 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SEN {Type Odometry} {Name Odometry} {Pose 0.011472,1.011528,1.022763} SEN {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 4.2164} {Name Sonar4 Range 2.413} {Name Sonar5 Range 1.4986} {Name Sonar6 Range 2.3114} {Name Sonar7 Range 2.2098} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 2.8194} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 3.3782} {Name Sonar12 Range 1.0668} {Name Sonar13 Range 0.889} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 4.2418}