version: 1
name: race16

topics:
  color: /race16/cam1/color/image_raw/compressed
  depth: /race16/cam1/aligned_depth_to_color/image_raw
  imu: /race16/cam1/imu
  odom: /race16/odom
  position_cmd: /race16/position_cmd
  so3_cmd: /race16/so3_cmd

sensors:
  color_encoding: compressed
  depth_encoding: 16UC1
  imu_dim: 10
  odom_dim: 13

action:
  source: position_cmd
  dim: 14