SystemParameterModel SystemP3dxLaserObstacleAvoidRealWorld extendsSystem SystemP3dxLaserObstacleAvoidRealWorld {	
	ComponentParameterInstance SmartLaserLMS200Server refinesParamStruct SmartLaserLMS200ServerParams {
		ParameterRefinement Laser {
			sick_type = "LMS"
			x = 70.0
			y = 0.0
			z = 0.0
			azimuth = 0.0
			device = "/dev/sick"
			baudrate = 500000
			resolution = 50
			length_unit = 1
			verbose = false
		}
	}	
	
	ComponentParameterInstance SmartPioneerBaseServer refinesParamStruct SmartPioneerBaseServerParams {
		ParameterRefinement Robot{
			enable_motors = true
			enable_sonar = false
			maxVel = 1000
			maxVelAcc = 300
			maxVelDecel = 300
			maxRotVel = 300
			maxRotVelAcc = 100
			maxRotVelDecel = 100
			serialport = "/dev/ttyS0"
			robotType = "p3dx"
		}
	}
}