float64[] x 
float64[] y 

float64 step 0.1
float64 tolerance 0.05
float64 max_wheel_speed 6.0
float64 max_angular 3.14
float64 max_vel 4
float64 pos_mult 14.0
float64 ornt_mult 3.0
float64 t_ornt_mult 0.1
float64 obst_mult_a 160
float64 obst_mult_b 4.0
float64 obst_mult_c 0
string[] ignore_tags []
---
uint8 SUCCESS=0
uint8 BLOCKED=1
uint8 TIMEOUT=2
uint8 MISALIGNED=3
uint8 UNKNOWN=254

uint8 error
---
float64 distance_passed