commit 05ccf6e622baa58e2a3ccb189e3de415fc5a1ee3
author Ansgar Radermacher <ansgar.radermacher@cea.fr> Tue Sep 15 08:06:24 2020 -0400
committer Gerrit Code Review @ Eclipse.org <gerrit@eclipse.org> Tue Sep 15 08:06:24 2020 -0400
tree ca72f2a2e40633f0d35b9cbcc35bb47e2db0f11d
parent b7fc36870da5ee5e77ff235fce20253ba99f0cc7
parent 48c82157decbced683a6eab7939204772d0021d6

Merge "Bug 566955 - [Robotics, ROS2] Code generator blocks UI, can't be stopped by user"

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.di

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.di b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.di
new file mode 100644
index 0000000..ab2ca42
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<architecture:ArchitectureDescription xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" contextId="org.eclipse.papyrus.robotics.architecture"/>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.notation

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.notation
new file mode 100644
index 0000000..62736ff
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.notation
@@ -0,0 +1,584 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+            <children xmi:type="notation:DecorationNode" xmi:id="_cofeA7xvEeqv7foXIcLx7Q" type="Property_FloatingNameLabel">
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+          <styles xmi:type="notation:TitleStyle" xmi:id="_Zoi7PLxvEeqv7foXIcLx7Q"/>
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+        <children xmi:type="notation:DecorationNode" xmi:id="_iuImk7xvEeqv7foXIcLx7Q" type="Class_FloatingNameLabel_CN">
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plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.uml

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.uml
new file mode 100644
index 0000000..5496718
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_client.compdef.uml
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+    <packageImport xmi:type="uml:PackageImport" xmi:id="_Zoi7EbxvEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_Zoi7ErxvEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_Zoi7E7xvEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_LIBRARY/ros2.primitive.uml#_T7frkG-0EeiX6ta975XXMg"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_o21DILxvEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="../../../fromscratch_services/models/services/fromscratch_services.servicedef.uml#_7T3KsLxlEeq0rbRR6KCyOg"/>
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+        <ownedAttribute xmi:type="uml:Property" xmi:id="_b4-FkLxvEeqv7foXIcLx7Q" name="init_xval">
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+      <supplier xmi:type="uml:Interface" href="../../../fromscratch_services/models/services/fromscratch_services.servicedef.uml#_y4G0cLxnEeq0rbRR6KCyOg"/>
+    </packagedElement>
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+      <language>C++</language>
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+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_0erpEL96EeqUOd4B5MuPyQ" name="processed_requests_handler">
+      <language>C++</language>
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plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.di

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.di b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.di
new file mode 100644
index 0000000..ab2ca42
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<architecture:ArchitectureDescription xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" contextId="org.eclipse.papyrus.robotics.architecture"/>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.notation

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.notation
new file mode 100644
index 0000000..3c21742
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.notation
@@ -0,0 +1,544 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+  <children xmi:type="notation:Shape" xmi:id="_x0WNUrxuEeqv7foXIcLx7Q" type="Class_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_x0WNU7xuEeqv7foXIcLx7Q" type="Class_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_x0WNVLxuEeqv7foXIcLx7Q" type="Class_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_x0WNVbxuEeqv7foXIcLx7Q" y="15"/>
+    </children>
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+      <children xmi:type="notation:Shape" xmi:id="_x0WNV7xuEeqv7foXIcLx7Q" type="Class_Shape_CN">
+        <children xmi:type="notation:DecorationNode" xmi:id="_x0WNWLxuEeqv7foXIcLx7Q" type="Class_NameLabel_CN"/>
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+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
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+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_5mY_Z7-eEeqn5Lx7aFZTEA"/>
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+    <styles xmi:type="notation:FontStyle" xmi:id="_5mklkr-eEeqn5Lx7aFZTEA"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_5mkllr-eEeqn5Lx7aFZTEA" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="mult_server.compdef.uml#__4ju0LxuEeqv7foXIcLx7Q"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_5mklk7-eEeqn5Lx7aFZTEA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_5mkllL-eEeqn5Lx7aFZTEA"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_5mkllb-eEeqn5Lx7aFZTEA"/>
+  </edges>
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+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_5mqsNr-eEeqn5Lx7aFZTEA" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Connector" href="mult_server.compdef.uml#_DHTiwLxvEeqv7foXIcLx7Q"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_5mqsM7-eEeqn5Lx7aFZTEA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_5mz2Kb-eEeqn5Lx7aFZTEA" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="mult_server.compdef.uml#_QVbJ4LxvEeqv7foXIcLx7Q"/>
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+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_5mz2KL-eEeqn5Lx7aFZTEA"/>
+  </edges>
+</notation:Diagram>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.uml

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.uml
new file mode 100644
index 0000000..7f75f2d
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/models/components/mult_server.compdef.uml
@@ -0,0 +1,156 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.components="http://www.eclipse.org/papyrus/robotics/components/1" xmlns:robotics.functions="http://www.eclipse.org/papyrus/robotics/functions/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.parameters="http://www.eclipse.org/papyrus/robotics/parameters/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/components/1 http://www.eclipse.org/papyrus/robotics/1#//components http://www.eclipse.org/papyrus/robotics/functions/1 http://www.eclipse.org/papyrus/robotics/1#//functions http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters">
+  <uml:Model xmi:id="_x0WNMLxuEeqv7foXIcLx7Q" name="Mult_serverCompdef">
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_x0WNMbxuEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_x0WNMrxuEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_x0WNM7xuEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_LIBRARY/ros2.primitive.uml#_T7frkG-0EeiX6ta975XXMg"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_BpVv8LxvEeqv7foXIcLx7Q">
+      <importedPackage xmi:type="uml:Model" href="../../../fromscratch_services/models/services/fromscratch_services.servicedef.uml#_7T3KsLxlEeq0rbRR6KCyOg"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Class" xmi:id="_x0WNNLxuEeqv7foXIcLx7Q" name="Mult_server">
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+      <ownedAttribute xmi:type="uml:Port" xmi:id="__4ju0LxuEeqv7foXIcLx7Q" name="multiply" type="_BpVv8bxvEeqv7foXIcLx7Q" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_QVbJ4LxvEeqv7foXIcLx7Q" name="processed_requests" type="_RfzSULxvEeqv7foXIcLx7Q" aggregation="composite"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_DHTiwLxvEeqv7foXIcLx7Q" name="Connects6">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_DHTiwbxvEeqv7foXIcLx7Q" role="__4ju0LxuEeqv7foXIcLx7Q"/>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_DHTiwrxvEeqv7foXIcLx7Q" partWithPort="_5mjlQbxuEeqv7foXIcLx7Q" role="_-4DUELxuEeqv7foXIcLx7Q"/>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_UCfRgLxvEeqv7foXIcLx7Q" name="Connects9">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_UCobcLxvEeqv7foXIcLx7Q" partWithPort="_5mjlQbxuEeqv7foXIcLx7Q" role="_PeKKsLxvEeqv7foXIcLx7Q"/>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_UCobcbxvEeqv7foXIcLx7Q" role="_QVbJ4LxvEeqv7foXIcLx7Q"/>
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+        <ownedAttribute xmi:type="uml:Property" xmi:id="_zfp4cLxuEeqv7foXIcLx7Q" name="init_processed_requests">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Integer"/>
+          <defaultValue xmi:type="uml:OpaqueExpression" xmi:id="_2Wb4ULxuEeqv7foXIcLx7Q">
+            <language>VSL</language>
+            <body>0</body>
+          </defaultValue>
+        </ownedAttribute>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_5mZ0QLxuEeqv7foXIcLx7Q" name="mult_activity">
+        <generalization xmi:type="uml:Generalization" xmi:id="_5mZ0QbxuEeqv7foXIcLx7Q">
+          <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
+        </generalization>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_-4DUELxuEeqv7foXIcLx7Q" name="ActivityPort2" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_DHTixrxvEeqv7foXIcLx7Q" name="" type="_DHTixLxvEeqv7foXIcLx7Q"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_PeKKsLxvEeqv7foXIcLx7Q" name="ActivityPort4" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_UCobdbxvEeqv7foXIcLx7Q" name="" type="_UCobc7xvEeqv7foXIcLx7Q"/>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_BpVv8bxvEeqv7foXIcLx7Q">
+        <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_Bpe54bxvEeqv7foXIcLx7Q" client="_BpVv8bxvEeqv7foXIcLx7Q">
+          <supplier xmi:type="uml:Interface" href="../../../fromscratch_services/models/services/fromscratch_services.servicedef.uml#_y4G0cLxnEeq0rbRR6KCyOg"/>
+          <contract xmi:type="uml:Interface" href="../../../fromscratch_services/models/services/fromscratch_services.servicedef.uml#_y4G0cLxnEeq0rbRR6KCyOg"/>
+        </interfaceRealization>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_RfzSULxvEeqv7foXIcLx7Q">
+        <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_RfzSUrxvEeqv7foXIcLx7Q" client="_RfzSULxvEeqv7foXIcLx7Q">
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+      </nestedClassifier>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_DHTixLxvEeqv7foXIcLx7Q" name="multiply_handler">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_UCobc7xvEeqv7foXIcLx7Q" name="processed_requests_handler">
+      <language>C++</language>
+      <body></body>
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+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_x0WNNrxuEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x0WNN7xuEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_BPC_PROFILES/bpc.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#/"/>
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+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//components"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_EZ1TgJZ2Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_x0WNPLxuEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x0WNPbxuEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commpattern"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_8Z6x8Je6EeeiCOWsEr9OuA"/>
+    </profileApplication>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//deployment"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_tu6OsJe9EeeiCOWsEr9OuA"/>
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+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_x0WNQLxuEeqv7foXIcLx7Q">
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//services"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SlbOAJe_EeeiCOWsEr9OuA"/>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/>
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+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
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+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
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+</xmi:XMI>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.cpp

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.cpp b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.cpp
new file mode 100644
index 0000000..8e49276
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.cpp
@@ -0,0 +1,66 @@
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#define Mult_clientCompdef_Mult_client_impl_BODY
+
+/************************************************************
+ Mult_client_impl class body
+ ************************************************************/
+
+// include associated header file
+#include "Mult_clientCompdef/Mult_client_impl.h"
+
+// Derived includes directives
+#include "rclcpp/rclcpp.hpp"
+
+namespace Mult_clientCompdef {
+
+// static attributes (if any)
+short int xval=1;
+short int yval=1;
+
+/**
+ * 
+ * @param options 
+ */
+Mult_client_impl::Mult_client_impl(rclcpp::NodeOptions /*in*/options) :
+		Mult_client(options) {
+}
+
+/**
+ * 
+ */
+void Mult_client_impl::mainClientFunction() {
+	//std::cout << "cyclic execution of main client function" << std::endl;
+	xval += 2;
+	yval += 1;
+
+	auto request = std::make_shared<fromscratch_servicesservicedef::srv::QueryMultInMultOut::Request>();
+	request->xval = xval;
+	request->yval = yval;
+
+	multiply_client_->async_send_request(request,
+			[this](
+					rclcpp::Client<fromscratch_servicesservicedef::srv::QueryMultInMultOut>::SharedFuture arg_future) {
+				auto response = arg_future.get();
+				RCLCPP_INFO(get_logger(), "result = %d", response->result);
+			}
+	);	
+}
+
+/**
+ * 
+ * @param numofrequests 
+ */
+void Mult_client_impl::processed_requests_handler(
+		const fromscratch_servicesservicedef::msg::NumOfRequests::SharedPtr /*in*/numofrequests) {
+	std::cout << "got numofrequests" << std::endl;
+	std::cout << "nb: " << numofrequests->value << std::endl;
+}
+
+} // of namespace Mult_clientCompdef
+
+/************************************************************
+ End of Mult_client_impl class body
+ ************************************************************/

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.h

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.h b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.h
new file mode 100644
index 0000000..9701a6d
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_clientCompdef/Mult_client_impl.h
@@ -0,0 +1,66 @@
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#ifndef MULT_CLIENTCOMPDEF_MULT_CLIENT_IMPL_H
+#define MULT_CLIENTCOMPDEF_MULT_CLIENT_IMPL_H
+
+/************************************************************
+ Mult_client_impl class header
+ ************************************************************/
+
+#include "Mult_clientCompdef/Pkg_Mult_clientCompdef.h"
+
+#include "Mult_clientCompdef/Mult_client.h"
+#include "fromscratch_servicesservicedef/msg/num_of_requests.hpp"
+
+namespace ros2Library {
+namespace rclcpp {
+class NodeOptions;
+}
+}
+
+namespace Mult_clientCompdef {
+
+/************************************************************/
+/**
+ * This is a skeleton class generated for component Mult_client
+ * Copy it into the source folder as an initial base (or copy parts
+ * of it whenever you add modify the component).
+ * 
+ */
+class Mult_client_impl: public Mult_client {
+public:
+
+	/**
+	 * 
+	 * @param options 
+	 */
+	Mult_client_impl(rclcpp::NodeOptions /*in*/options);
+
+	/**
+	 * 
+	 */
+	void mainClientFunction();
+
+	/**
+	 * 
+	 * @param numofrequests 
+	 */
+	void processed_requests_handler(
+			const fromscratch_servicesservicedef::msg::NumOfRequests::SharedPtr /*in*/numofrequests);
+
+};
+/************************************************************/
+/* External declarations (package visibility)               */
+/************************************************************/
+
+/* Inline functions                                         */
+
+} // of namespace Mult_clientCompdef
+
+/************************************************************
+ End of Mult_client_impl class header
+ ************************************************************/
+
+#endif

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.cpp

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.cpp b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.cpp
new file mode 100644
index 0000000..0d2f38d
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.cpp
@@ -0,0 +1,64 @@
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#define Mult_serverCompdef_Mult_server_impl_BODY
+
+/************************************************************
+ Mult_server_impl class body
+ ************************************************************/
+
+// include associated header file
+#include "Mult_serverCompdef/Mult_server_impl.h"
+
+// Derived includes directives
+#include "rclcpp/rclcpp.hpp"
+
+namespace Mult_serverCompdef {
+
+// static attributes (if any)
+long int numberOfRequests=0;
+
+/**
+ * 
+ * @param options 
+ */
+Mult_server_impl::Mult_server_impl(rclcpp::NodeOptions /*in*/options) :
+		Mult_server(options) {
+}
+
+/**
+ * 
+ * @param request 
+ * @param response 
+ * @return ret 
+ */
+::PrimitiveTypes::Boolean Mult_server_impl::multiply_handler(
+		const fromscratch_servicesservicedef::srv::QueryMultInMultOut::Request::SharedPtr /*in*/request,
+		const fromscratch_servicesservicedef::srv::QueryMultInMultOut::Response::SharedPtr /*in*/response) {
+	response->result = request->xval * request->yval;
+	response->validity = false;
+	RCLCPP_INFO(get_logger(), "request: x=%ld, y=%ld", (short int) request->xval,
+			(short int) request->yval);
+	RCLCPP_INFO(get_logger(), "sending back response: [%ld]",
+			(long int) response->result);
+
+	fromscratch_servicesservicedef::msg::NumOfRequests localNumOfRequests;
+	numberOfRequests++;
+	localNumOfRequests.value = numberOfRequests;
+	processed_requests_pub_->publish(localNumOfRequests);
+
+	return true;
+}
+
+/**
+ * 
+ */
+void Mult_server_impl::processed_requests_handler() {
+}
+
+} // of namespace Mult_serverCompdef
+
+/************************************************************
+ End of Mult_server_impl class body
+ ************************************************************/

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.h

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.h b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.h
new file mode 100644
index 0000000..4e6c0e8
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_components/src/Mult_serverCompdef/Mult_server_impl.h
@@ -0,0 +1,70 @@
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#ifndef MULT_SERVERCOMPDEF_MULT_SERVER_IMPL_H
+#define MULT_SERVERCOMPDEF_MULT_SERVER_IMPL_H
+
+/************************************************************
+ Mult_server_impl class header
+ ************************************************************/
+
+#include "Mult_serverCompdef/Pkg_Mult_serverCompdef.h"
+
+#include "Mult_serverCompdef/Mult_server.h"
+#include "PrimitiveTypes/Pkg_PrimitiveTypes.h"
+#include "fromscratch_servicesservicedef/srv/query_mult_in_mult_out.hpp"
+
+namespace ros2Library {
+namespace rclcpp {
+class NodeOptions;
+}
+}
+
+namespace Mult_serverCompdef {
+
+/************************************************************/
+/**
+ * This is a skeleton class generated for component Mult_server
+ * Copy it into the source folder as an initial base (or copy parts
+ * of it whenever you add modify the component).
+ * 
+ */
+class Mult_server_impl: public Mult_server {
+public:
+
+	/**
+	 * 
+	 * @param options 
+	 */
+	Mult_server_impl(rclcpp::NodeOptions /*in*/options);
+
+	/**
+	 * 
+	 * @param request 
+	 * @param response 
+	 * @return ret 
+	 */
+	::PrimitiveTypes::Boolean multiply_handler(
+			const fromscratch_servicesservicedef::srv::QueryMultInMultOut::Request::SharedPtr /*in*/request,
+			const fromscratch_servicesservicedef::srv::QueryMultInMultOut::Response::SharedPtr /*in*/response);
+
+	/**
+	 * 
+	 */
+	void processed_requests_handler();
+
+};
+/************************************************************/
+/* External declarations (package visibility)               */
+/************************************************************/
+
+/* Inline functions                                         */
+
+} // of namespace Mult_serverCompdef
+
+/************************************************************
+ End of Mult_server_impl class header
+ ************************************************************/
+
+#endif

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.di

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.di b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.di
new file mode 100644
index 0000000..ab2ca42
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<architecture:ArchitectureDescription xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" contextId="org.eclipse.papyrus.robotics.architecture"/>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation
new file mode 100644
index 0000000..09c3755
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation
@@ -0,0 +1,325 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.3/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+  <notation:Diagram xmi:id="_7UAUoLxlEeq0rbRR6KCyOg" type="PapyrusUMLClassDiagram" name="Fromscratch_services diagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_0gz3obxnEeq0rbRR6KCyOg" type="Interface_Shape">
+      <children xmi:type="notation:DecorationNode" xmi:id="_0gz3o7xnEeq0rbRR6KCyOg" type="Interface_NameLabel"/>
+      <children xmi:type="notation:DecorationNode" xmi:id="_0gz3pLxnEeq0rbRR6KCyOg" type="Interface_FloatingNameLabel">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_0gz3pbxnEeq0rbRR6KCyOg" y="15"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_0gz3prxnEeq0rbRR6KCyOg" type="Interface_AttributeCompartment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_0gz3p7xnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_0gz3qLxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_0gz3qbxnEeq0rbRR6KCyOg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0gz3qrxnEeq0rbRR6KCyOg"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_0gz3q7xnEeq0rbRR6KCyOg" type="Interface_OperationCompartment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_0gz3rLxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_0gz3rbxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_0gz3rrxnEeq0rbRR6KCyOg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0gz3r7xnEeq0rbRR6KCyOg"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_0gz3sLxnEeq0rbRR6KCyOg" type="Interface_NestedClassifierCompartment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_0gz3sbxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_0gz3srxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_0gz3s7xnEeq0rbRR6KCyOg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0gz3tLxnEeq0rbRR6KCyOg"/>
+      </children>
+      <element xmi:type="uml:Interface" href="fromscratch_services.servicedef.uml#_y4G0cLxnEeq0rbRR6KCyOg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0gz3orxnEeq0rbRR6KCyOg" x="320" y="180" width="237"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_2kK2gLxnEeq0rbRR6KCyOg" type="Interface_Shape">
+      <children xmi:type="notation:DecorationNode" xmi:id="_2kK2grxnEeq0rbRR6KCyOg" type="Interface_NameLabel"/>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2kK2g7xnEeq0rbRR6KCyOg" type="Interface_FloatingNameLabel">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2kK2hLxnEeq0rbRR6KCyOg" y="15"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_2kK2hbxnEeq0rbRR6KCyOg" type="Interface_AttributeCompartment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_2kK2hrxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_2kK2h7xnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_2kK2iLxnEeq0rbRR6KCyOg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2kK2ibxnEeq0rbRR6KCyOg"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_2kK2irxnEeq0rbRR6KCyOg" type="Interface_OperationCompartment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_2kK2i7xnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_2kK2jLxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_2kK2jbxnEeq0rbRR6KCyOg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2kK2jrxnEeq0rbRR6KCyOg"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_2kK2j7xnEeq0rbRR6KCyOg" type="Interface_NestedClassifierCompartment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_2kK2kLxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_2kK2kbxnEeq0rbRR6KCyOg"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_2kK2krxnEeq0rbRR6KCyOg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2kK2k7xnEeq0rbRR6KCyOg"/>
+      </children>
+      <element xmi:type="uml:Interface" href="fromscratch_services.servicedef.uml#_19f4ELxnEeq0rbRR6KCyOg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2kK2gbxnEeq0rbRR6KCyOg" x="780" y="180"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_4Ub6QLxnEeq0rbRR6KCyOg" type="NamedElement_DefaultShape">
+      <children xmi:type="notation:DecorationNode" xmi:id="_4Ub6QrxnEeq0rbRR6KCyOg" type="NamedElement_NameLabel"/>
+      <element xmi:type="uml:Collaboration" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_ZBowECakEeitH-pStkBWTw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4Ub6QbxnEeq0rbRR6KCyOg" x="380" y="460"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_49EnkLxnEeq0rbRR6KCyOg" type="NamedElement_DefaultShape">
+      <children xmi:type="notation:DecorationNode" xmi:id="_49EnkrxnEeq0rbRR6KCyOg" type="NamedElement_NameLabel"/>
+      <element xmi:type="uml:Collaboration" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_AmgZQPIzEeeJotakjzOasQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_49EnkbxnEeq0rbRR6KCyOg" x="860" y="460"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_W5-Go799EeqUOd4B5MuPyQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_W5-GpL99EeqUOd4B5MuPyQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_W5-tsL99EeqUOd4B5MuPyQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Interface" href="fromscratch_services.servicedef.uml#_y4G0cLxnEeq0rbRR6KCyOg"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W5-Gpb99EeqUOd4B5MuPyQ" x="520" y="180"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_W6bZoL99EeqUOd4B5MuPyQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_W6bZob99EeqUOd4B5MuPyQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_W6bZo799EeqUOd4B5MuPyQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Interface" href="fromscratch_services.servicedef.uml#_19f4ELxnEeq0rbRR6KCyOg"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W6bZor99EeqUOd4B5MuPyQ" x="980" y="180"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_W6kjk799EeqUOd4B5MuPyQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_W6kjlL99EeqUOd4B5MuPyQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_W6kjlr99EeqUOd4B5MuPyQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Collaboration" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_ZBowECakEeitH-pStkBWTw"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W6kjlb99EeqUOd4B5MuPyQ" x="580" y="460"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_W6rRQL99EeqUOd4B5MuPyQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_W6rRQb99EeqUOd4B5MuPyQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_W6rRQ799EeqUOd4B5MuPyQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Collaboration" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_AmgZQPIzEeeJotakjzOasQ"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W6rRQr99EeqUOd4B5MuPyQ" x="1060" y="460"/>
+    </children>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_7UAUobxlEeq0rbRR6KCyOg" name="diagram_compatibility_version" stringValue="1.4.0"/>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_7UAUorxlEeq0rbRR6KCyOg"/>
+    <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_7UAUo7xlEeq0rbRR6KCyOg" diagramKindId="org.eclipse.papyrus.robotics.diagram.service">
+      <owner xmi:type="uml:Model" href="fromscratch_services.servicedef.uml#_7T3KsLxlEeq0rbRR6KCyOg"/>
+    </styles>
+    <element xmi:type="uml:Package" href="fromscratch_services.servicedef.uml#_7T3Ks7xlEeq0rbRR6KCyOg"/>
+    <edges xmi:type="notation:Connector" xmi:id="_4VQZoLxnEeq0rbRR6KCyOg" type="TemplateBinding_Edge" source="_0gz3obxnEeq0rbRR6KCyOg" target="_4Ub6QLxnEeq0rbRR6KCyOg">
+      <children xmi:type="notation:DecorationNode" xmi:id="_4VQZo7xnEeq0rbRR6KCyOg" type="TemplateBinding_SubstitutionLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_59I9cLxnEeq0rbRR6KCyOg" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_4VQZpLxnEeq0rbRR6KCyOg" x="-5" y="21"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_4VQZpbxnEeq0rbRR6KCyOg" type="TemplateBinding_StereotypeLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_59lCULxnEeq0rbRR6KCyOg" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_4VQZprxnEeq0rbRR6KCyOg" y="20"/>
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plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.uml

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.uml
new file mode 100644
index 0000000..22ec4ed
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.uml
@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.commobject="http://www.eclipse.org/papyrus/robotics/commobject/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.services="http://www.eclipse.org/papyrus/robotics/services/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/commobject/1 http://www.eclipse.org/papyrus/robotics/1#//commobject http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/services/1 http://www.eclipse.org/papyrus/robotics/1#//services">
+  <uml:Model xmi:id="_7T3KsLxlEeq0rbRR6KCyOg" name="Fromscratch_services">
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_7T3KsbxlEeq0rbRR6KCyOg">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_7T3KsrxlEeq0rbRR6KCyOg">
+      <importedPackage xmi:type="uml:Model" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_DV8nkBv8EduZN5aJJITI5w"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Package" xmi:id="_7T3Ks7xlEeq0rbRR6KCyOg" name="svcdefs">
+      <packagedElement xmi:type="uml:Interface" xmi:id="_y4G0cLxnEeq0rbRR6KCyOg" name="QueryMultInMultOut">
+        <templateBinding xmi:type="uml:TemplateBinding" xmi:id="_0gypgLxnEeq0rbRR6KCyOg">
+          <parameterSubstitution xmi:type="uml:TemplateParameterSubstitution" xmi:id="_0gzQkLxnEeq0rbRR6KCyOg" actual="_BtJA8LxmEeq0rbRR6KCyOg">
+            <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwSanEeiurq-kTHMlgA"/>
+          </parameterSubstitution>
+          <parameterSubstitution xmi:type="uml:TemplateParameterSubstitution" xmi:id="_0gzQkbxnEeq0rbRR6KCyOg" actual="_M7uZQLxmEeq0rbRR6KCyOg">
+            <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwyanEeiurq-kTHMlgA"/>
+          </parameterSubstitution>
+          <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwCanEeiurq-kTHMlgA"/>
+        </templateBinding>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Interface" xmi:id="_19f4ELxnEeq0rbRR6KCyOg" name="Push_NumOfRequests">
+        <templateBinding xmi:type="uml:TemplateBinding" xmi:id="_2j-CMLxnEeq0rbRR6KCyOg">
+          <parameterSubstitution xmi:type="uml:TemplateParameterSubstitution" xmi:id="_2j-CMbxnEeq0rbRR6KCyOg" actual="_dpYpYLxmEeq0rbRR6KCyOg">
+            <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+          </parameterSubstitution>
+          <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+        </templateBinding>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_7T3KtLxlEeq0rbRR6KCyOg" name="msg">
+      <packagedElement xmi:type="uml:DataType" xmi:id="_BtJA8LxmEeq0rbRR6KCyOg" name="multIn">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_DqAWQLxmEeq0rbRR6KCyOg" name="xval">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_Y3550OmJEeG_gcDHG3asaQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_KjL0kLxmEeq0rbRR6KCyOg" name="yval">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_Y3550OmJEeG_gcDHG3asaQ"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_M7uZQLxmEeq0rbRR6KCyOg" name="multOut">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_PGRlQLxmEeq0rbRR6KCyOg" name="result">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_1q1SoOmJEeG_gcDHG3asaQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_T1FdwLxmEeq0rbRR6KCyOg" name="validity">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_vAIV4I7PEdySGvm5GN66HA"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_dpYpYLxmEeq0rbRR6KCyOg" name="NumOfRequests">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_gpdvMLxmEeq0rbRR6KCyOg" name="value">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_1q1SoOmJEeG_gcDHG3asaQ"/>
+        </ownedAttribute>
+      </packagedElement>
+    </packagedElement>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3KtbxlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KtrxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_BPC_PROFILES/bpc.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3Kt7xlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KuLxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3KubxlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KurxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//components"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_EZ1TgJZ2Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3Ku7xlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KvLxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commpattern"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_8Z6x8Je6EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3KvbxlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KvrxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//deployment"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_tu6OsJe9EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3Kv7xlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KwLxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//services"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SlbOAJe_EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3KwbxlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KwrxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3Kw7xlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KxLxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3KxbxlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KxrxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//parameters"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3Kx7xlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KyLxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3KybxlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KyrxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Foundations/NFPs"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_U_GAoAPMEdyuUt-4qHuVvQ"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7T3Ky7xlEeq0rbRR6KCyOg">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7T3KzLxlEeq0rbRR6KCyOg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
+    </profileApplication>
+  </uml:Model>
+  <robotics.services:ServiceDefinitionModel xmi:id="_7T3KzbxlEeq0rbRR6KCyOg" base_Package="_7T3KsLxlEeq0rbRR6KCyOg"/>
+  <robotics.generics:Package xmi:id="_7T3KzrxlEeq0rbRR6KCyOg" base_Package="_7T3KtLxlEeq0rbRR6KCyOg"/>
+  <robotics.generics:Package xmi:id="_7T3Kz7xlEeq0rbRR6KCyOg" base_Package="_7T3Ks7xlEeq0rbRR6KCyOg"/>
+  <robotics.commobject:CommunicationObject xmi:id="_BvE6oLxmEeq0rbRR6KCyOg" base_DataType="_BtJA8LxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:DataAttribute xmi:id="_DqKHQLxmEeq0rbRR6KCyOg" base_Property="_DqAWQLxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:DataAttribute xmi:id="_KjVlkLxmEeq0rbRR6KCyOg" base_Property="_KjL0kLxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:CommunicationObject xmi:id="_M74KQLxmEeq0rbRR6KCyOg" base_DataType="_M7uZQLxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:DataAttribute xmi:id="_PGRlQbxmEeq0rbRR6KCyOg" base_Property="_PGRlQLxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:DataAttribute xmi:id="_T1FdwbxmEeq0rbRR6KCyOg" base_Property="_T1FdwLxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:CommunicationObject xmi:id="_dpYpYbxmEeq0rbRR6KCyOg" base_DataType="_dpYpYLxmEeq0rbRR6KCyOg"/>
+  <robotics.commobject:DataAttribute xmi:id="_gpdvMbxmEeq0rbRR6KCyOg" base_Property="_gpdvMLxmEeq0rbRR6KCyOg"/>
+  <robotics.services:ServiceDefinition xmi:id="_0gz3oLxnEeq0rbRR6KCyOg" base_Interface="_y4G0cLxnEeq0rbRR6KCyOg"/>
+  <robotics.services:ServiceDefinition xmi:id="_2kIaQLxnEeq0rbRR6KCyOg" base_Interface="_19f4ELxnEeq0rbRR6KCyOg"/>
+</xmi:XMI>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.di

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.di b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.di
new file mode 100644
index 0000000..ab2ca42
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<architecture:ArchitectureDescription xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" contextId="org.eclipse.papyrus.robotics.architecture"/>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.notation

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.notation
new file mode 100644
index 0000000..d8c13a7
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.notation
@@ -0,0 +1,597 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_H2k40LxwEeqv7foXIcLx7Q" type="CompositeStructure" name="Fromscratch_system diagram" measurementUnit="Pixel">
+  <children xmi:type="notation:Shape" xmi:id="_H2k40bxwEeqv7foXIcLx7Q" type="Class_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_H2k40rxwEeqv7foXIcLx7Q" type="Class_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_H2k407xwEeqv7foXIcLx7Q" type="Class_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_H2k41LxwEeqv7foXIcLx7Q" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_H2k41bxwEeqv7foXIcLx7Q" type="Class_StructureCompartment">
+      <children xmi:type="notation:Shape" xmi:id="_L7rF8LxwEeqv7foXIcLx7Q" type="Property_Shape">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_L_o_8LxwEeqv7foXIcLx7Q" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_L_o_8bxwEeqv7foXIcLx7Q" key="mutable" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_L7rF8rxwEeqv7foXIcLx7Q" type="Property_NameLabel"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_L7rF87xwEeqv7foXIcLx7Q" type="Property_FloatingNameLabel">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_L7rF9LxwEeqv7foXIcLx7Q" y="15"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_L7rF9bxwEeqv7foXIcLx7Q" type="Property_StructureCompartment">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_L7rF9rxwEeqv7foXIcLx7Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_L7rF97xwEeqv7foXIcLx7Q"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_L7028LxwEeqv7foXIcLx7Q" type="StereotypeLabel">
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_L7028bxwEeqv7foXIcLx7Q" name="stereotype" stringValue="robotics::components::ComponentInstance"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_f-vFQBNBEei-CMVLY1Smdg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_L7028rxwEeqv7foXIcLx7Q"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_L70287xwEeqv7foXIcLx7Q" type="StereotypeBrace">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_L7029LxwEeqv7foXIcLx7Q"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_L7029bxwEeqv7foXIcLx7Q" name="stereotype" stringValue="robotics::components::ComponentInstance"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_f-vFQBNBEei-CMVLY1Smdg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_L7029rxwEeqv7foXIcLx7Q"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_L703DbxwEeqv7foXIcLx7Q" type="compartment_shape_display">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_L703DrxwEeqv7foXIcLx7Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_L703D7xwEeqv7foXIcLx7Q"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_L703NLxwEeqv7foXIcLx7Q" type="StereotypeCompartment">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_L703NbxwEeqv7foXIcLx7Q"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_L703NrxwEeqv7foXIcLx7Q" name="stereotype" stringValue="robotics::components::ComponentInstance"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_f-vFQBNBEei-CMVLY1Smdg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_L703N7xwEeqv7foXIcLx7Q"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_L703TrxwEeqv7foXIcLx7Q" type="Port_Shape">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_L_o_8rxwEeqv7foXIcLx7Q" source="PapyrusCSSForceValue">
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plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.uml

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.uml
new file mode 100644
index 0000000..a337258
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_system/models/system/fromscratch_system.system.uml
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu6bxwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//components"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_EZ1TgJZ2Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu6rxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu67xwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commpattern"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_8Z6x8Je6EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu7LxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu7bxwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//deployment"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_tu6OsJe9EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu7rxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu77xwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//services"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SlbOAJe_EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu8LxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu8bxwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu8rxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu87xwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu9LxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu9bxwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//parameters"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu9rxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu97xwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu-LxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu-bxwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Foundations/NFPs"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_U_GAoAPMEdyuUt-4qHuVvQ"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_H2bu-rxwEeqv7foXIcLx7Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_H2bu-7xwEeqv7foXIcLx7Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
+    </profileApplication>
+  </uml:Model>
+  <robotics.components:SystemComponentArchitectureModel xmi:id="_H2bu_LxwEeqv7foXIcLx7Q" base_Package="_H2bu4LxwEeqv7foXIcLx7Q"/>
+  <robotics.components:System xmi:id="_H2bu_bxwEeqv7foXIcLx7Q" base_Class="_H2bu47xwEeqv7foXIcLx7Q"/>
+  <robotics.components:ComponentInstance xmi:id="_L7OaAbxwEeqv7foXIcLx7Q" base_Property="_KxJzkLxwEeqv7foXIcLx7Q"/>
+  <robotics.components:ComponentInstance xmi:id="_T7gqULxwEeqv7foXIcLx7Q" base_Property="_S9h_ILxwEeqv7foXIcLx7Q"/>
+  <robotics.components:ComponentInstance xmi:id="_aXf2ULxwEeqv7foXIcLx7Q" base_Property="_ZcJBULxwEeqv7foXIcLx7Q"/>
+  <robotics.generics:Connects xmi:id="_fiX_wrxwEeqv7foXIcLx7Q" base_Connector="_fiO10LxwEeqv7foXIcLx7Q"/>
+  <robotics.generics:Connects xmi:id="_grhZIrxwEeqv7foXIcLx7Q" base_Connector="_grYPMLxwEeqv7foXIcLx7Q"/>
+  <robotics.generics:Connects xmi:id="_hnRPsrxwEeqv7foXIcLx7Q" base_Connector="_hnHesLxwEeqv7foXIcLx7Q"/>
+  <robotics.generics:Connects xmi:id="_iv99IrxwEeqv7foXIcLx7Q" base_Connector="_iv0MILxwEeqv7foXIcLx7Q"/>
+</xmi:XMI>

plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml

diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml
index d54eee1..fb0847e 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml
@@ -44,6 +44,53 @@
 			</fileToOpen>
 		</example>
 	</extension>
+
+	<extension point="org.eclipse.emf.common.ui.examples">
+		<example
+			id="org.eclipse.papyrus.robotics.ros2.examples.fromscratch_services"
+			pageImage="platform:/plugin/org.eclipse.papyrus.designer.ui/icons/PapyrusLogo_48x48.png"
+			wizardID="org.eclipse.papyrus.robotics.examples.category.RobMoSysExamples.installer">
+			<projectDescriptor
+				contentURI="models/fromscratch_services/"
+				name="fromScratch - service definitions"
+				description="From scratch examples (see wiki) - services">
+			</projectDescriptor>
+			<fileToOpen
+				location="/fromscratch_services/models/services/fromscratch_services.servicedef.di">
+			</fileToOpen>
+		</example>
+	</extension>
+	<extension point="org.eclipse.emf.common.ui.examples">
+		<example
+			id="org.eclipse.papyrus.robotics.ros2.examples.fromscratch_components"
+			pageImage="platform:/plugin/org.eclipse.papyrus.designer.ui/icons/PapyrusLogo_48x48.png"
+			wizardID="org.eclipse.papyrus.robotics.examples.category.RobMoSysExamples.installer">
+			<projectDescriptor
+				contentURI="models/fromscratch_components/"
+				name="fromScratch - component definitions"
+				description="From scratch examples (see wiki) - components">
+			</projectDescriptor>
+			<fileToOpen
+				location="/fromscratch_components/models/components/mult_server.compdef.di">
+			</fileToOpen>
+		</example>
+	</extension>
+	<extension point="org.eclipse.emf.common.ui.examples">
+		<example
+			id="org.eclipse.papyrus.robotics.ros2.examples.fromscratch_system"
+			pageImage="platform:/plugin/org.eclipse.papyrus.designer.ui/icons/PapyrusLogo_48x48.png"
+			wizardID="org.eclipse.papyrus.robotics.examples.category.RobMoSysExamples.installer">
+			<projectDescriptor
+				contentURI="models/fromscratch_system/"
+				name="fromScratch - system"
+				description="From scratch examples (see wiki) - system">
+			</projectDescriptor>
+			<fileToOpen
+				location="/fromscratch_system/models/system/fromscratch_system.system.di">
+			</fileToOpen>
+		</example>
+	</extension>
+
 	<extension point="org.eclipse.emf.common.ui.examples">
 		<example
 			id="org.eclipse.papyrus.robotics.ros2.examples.tests.cs"