float64 x 
float64 y 

float64 step 0.01
float64 tolerance 0.001
float64 max_wheel_speed 3
float64 max_angular 3.14
float64 max_vel 2
float64 pos_mult 15
float64 ornt_mult 4
float64 t_ornt_mult 0.1
float64 obst_mult_a -5
float64 obst_mult_b -30
float64 obst_mult_c -9
string[] ignore_tags []
---
uint8 SUCCESS=0
uint8 BLOCKED=1
uint8 TIMEOUT=2
uint8 MISALIGNED=3
uint8 UNKNOWN=254

uint8 error
---
float64 distance_passed