I use the same controller to control multiple different classes of robots. I would like to be able to auto-configure my controller’s parameters.  To do this, I need more than the robot’s size (for example the wheel base, wheel separation, tire radius, …). In addition, I need the full 6-degree-of-freedom pose of my sensors. Is there any way to include this in the configuration file and then retrieve it from the server? Currently I am only able to get a 2-degree-of-freedom pose and the robot width and length. Thanks.