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~can_hardware_id
The serial number of the Kvaser device (or in the case of socketcan, the identifier number - such as 0 for "can0").
~can_circuit_id
The 0-based index of the channel on the Kvaser device (or in the case of socketcan, 0).
~sensor_frame_id
The id of the frame of reference of the sensor. This will be attached to all published messages except the lane visualization markers.
~sensor_upside_down
Flag that can be sent to the ESR to orient the device and receive accurate information regarding track position.
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