%YAML:1.0
# Type of odometry sensor: wheel odom

# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [0.1971501, -0.5626401,  0.8028499, 0.0,
         0.5626401, -0.6056999, -0.5626401, 0.0,
         0.8028499,  0.5626401,  0.1971501, 0.0,
         0.0,  0.0,  0.0, 1.0]
rate_hz: 200