global DR_GROUP_ID
global drg
try:
    if DR_GROUP_ID >= 0:
        DR_GROUP_ID += 1
except NameError:
    DR_GROUP_ID = 0
    drg = []

drg.append(trick.DRAscii("vehicleState"))
drg[DR_GROUP_ID].set_freq(trick.DR_Always)
drg[DR_GROUP_ID].set_cycle(0.05)
drg[DR_GROUP_ID].set_single_prec_only(False)
drg[DR_GROUP_ID].add_variable("veh.vehicle.position[0]")
drg[DR_GROUP_ID].add_variable("veh.vehicle.position[1]")
drg[DR_GROUP_ID].add_variable("veh.vehicle.velocity[0]")
drg[DR_GROUP_ID].add_variable("veh.vehicle.velocity[1]")
drg[DR_GROUP_ID].add_variable("veh.vehicle.acceleration[0]")
drg[DR_GROUP_ID].add_variable("veh.vehicle.acceleration[1]")
drg[DR_GROUP_ID].add_variable("veh.vehicle.heading")
drg[DR_GROUP_ID].add_variable("veh.vehicle.headingRate")
drg[DR_GROUP_ID].add_variable("veh.vehicle.rightMotorSpeed")
drg[DR_GROUP_ID].add_variable("veh.vehicle.leftMotorSpeed")
trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
drg[DR_GROUP_ID].enable()