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test.xml.xacro
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE properties SYSTEM "cpf.dtd">
<properties>
<simple name="Import" type="string"><value>$(find rtt_ros_integration)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find rtt_ros_integration_std_msgs)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find kuka_lwr_fri_typekit)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find lwr_fri)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find ros_typekit)/install/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find brics_actuator)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find ocl)/install/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find trajectory_generators)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find kdl_typekit)/install/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find brics_research_camp_lwr_setup)/lib/orocos</value></simple>
<simple name="Import" type="string"><value>$(find dual_arm_rtt)/lib</value></simple>
<struct name="KULCoordinator" type="OCL::LuaComponent">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<struct name="Peers" type="PropertyBag">
<simple type="string"><value>KULRobot</value></simple>
<!-- <simple type="string"><value>CartGeneratorPos</value></simple> -->
</struct>
</struct>
<struct name="IPACoordinator" type="OCL::LuaComponent">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<struct name="Peers" type="PropertyBag">
<simple type="string"><value>IPARobot</value></simple>
<!-- <simple type="string"><value>CartGeneratorPos</value></simple> -->
</struct>
</struct>
<struct name="DropCoordinator" type="OCL::LuaComponent">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<struct name="Peers" type="PropertyBag">
<simple type="string"><value>IPARobot</value></simple>
<simple type="string"><value>KULRobot</value></simple>
<simple type="string"><value>IPAKinematics</value></simple>
<simple type="string"><value>KULKinematics</value></simple>
<simple type="string"><value>MotionCalculator</value></simple>
<simple type="string"><value>CartGeneratorPos</value></simple>
<simple type="string"><value>Reporter</value></simple>
</struct>
</struct>
<struct name="KULRobot" type="lwr_fri_rtt_2_0::FRIComponent">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Period" type="double"><value>.001</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<struct name="Properties" type="PropertyBag">
<simple name="local_port" type="long"><value>49939</value></simple>
<simple name="control_mode" type="long"><value>2</value></simple>
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>1</value></simple>
</struct>
<struct name="IPARobot" type="lwr_fri_rtt_2_0::FRIComponent">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Period" type="double"><value>0.001</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<struct name="Properties" type="PropertyBag">
<simple name="local_port" type="long"><value>49937</value></simple>
<simple name="control_mode" type="long"><value>2</value></simple>
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>1</value></simple>
</struct>
<!--struct name="MotionCalculator" type="brics_research_camp::MotionCoordinatorVel">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<simple name="UpdateProperties" type="string"><value>$(find brics_research_camp_lwr_setup)/cpf/MotionCoordinator.cpf</value></simple>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>0</value></simple>
</struct-->
<!--struct name="CartGeneratorPos" type="trajectory_generators::CartesianGeneratorPos">
<struct name="Activity" type="PeriodicActivity">
<simple name="Period" type="double"><value>0.005</value></simple>
<simple name="Priority" type="short"><value>1</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_RT</value></simple>
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>0</value></simple>
<simple name="UpdateProperties" type="string"><value>$(find brics_research_camp_lwr_setup)/cpf/CartPosGenerator.cpf</value></simple>
</struct-->
<struct name="KULKinematics" type="OCL::LWRKinematics">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Period" type="double"><value>0.005</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>0</value></simple>
<simple name="UpdateProperties" type="string"><value>$(find brics_research_camp_lwr_setup)/cpf/KULKinematics.cpf</value></simple>
</struct>
<struct name="IPAKinematics" type="OCL::LWRKinematics">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Period" type="double"><value>0.005</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>0</value></simple>
<simple name="UpdateProperties" type="string"><value>$(find brics_research_camp_lwr_setup)/cpf/IPAKinematics.cpf</value></simple>
</struct>
<struct name="Reporter" type="OCL::FileReporting">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0</value></simple>
<simple name="Period" type="double"><value>0.05</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<struct name="IPACircularTrajectory" type="Dual_arm_rtt">
<struct name="Activity" type="Activity">
<simple name="Priority" type="short"><value>0.005</value></simple>
<simple name="Scheduler" type="string"><value>ORO_SCHED_OTHER</value></simple>
</struct>
<!--struct name="Peers" type="PropertyBag">
<simple type="string"><value>KULRobot</value></simple>
< <simple type="string"><value>CartGeneratorPos</value></simple> >
</struct-->
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>0</value></simple>
<simple name="LoadProperties" type="string"><value>$(find brics_research_camp_lwr_setup)/cpf/Reporter.cpf</value></simple>
<struct name="Peers" type="PropertyBag">
<simple type="string"><value>KULRobot</value></simple>
<simple type="string"><value>KULKinematics</value></simple>
</struct>
</struct>
</properties>