CuaseEffectChainModel SystemTiagoNavigation refinesActivityArch SystemTiagoNavigation {
	ActivityChain FastReactiveNavigationLoop {
		chainLinks { 
			act.SystemTiagoNavigation.BaseOdom 
			-> act.SystemTiagoNavigation.Laser 
			-> act.SystemTiagoNavigation.CDL
			-> hnd.SystemTiagoNavigation.NavVel
		}
		desiredMaxResponse 500 ms;
		desiredMinResponse 300 ms;
	}
}