Bug 576459 - [Robotics, ROS2] the dummy robot example is broken
- Rename rviz -> rviz2, Robot_state_publisher -> robot_state_publisher (the latter change did not affect the
model file name which was already in lower cases before)
- Mark rviz2 and robot_state_publisher as external
- Add clarifying comments to dummy-robot system
- Move function code to external files for components Dummy_joint_states and Dummy_laser
- provide a launch file for the state-publisher with a customization that loads the robot description
Change-Id: I69d52fca3ce2c09c6985ea5be3c52aae0abe3987
Signed-off-by: Ansgar Radermacher <ansgar.radermacher@cea.fr>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.project b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.project
index 3f07ffa..d234f68 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.project
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.project
@@ -2,8 +2,15 @@
<projectDescription>
<name>org.eclipse.papyrus.robotics.ros2.examples</name>
<comment></comment>
+ <projects>
+ </projects>
<buildSpec>
<buildCommand>
+ <name>org.python.pydev.PyDevBuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
<name>org.eclipse.jdt.core.javabuilder</name>
<arguments>
</arguments>
@@ -28,5 +35,6 @@
<nature>org.eclipse.m2e.core.maven2Nature</nature>
<nature>org.eclipse.pde.PluginNature</nature>
<nature>org.eclipse.jdt.core.javanature</nature>
+ <nature>org.python.pydev.pythonNature</nature>
</natures>
</projectDescription>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.pydevproject b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.pydevproject
new file mode 100644
index 0000000..2b04565
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/.pydevproject
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?><pydev_project>
+ <pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+ <pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python interpreter</pydev_property>
+</pydev_project>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/launch/launch_state_publisher.py b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/launch/launch_state_publisher.py
new file mode 100644
index 0000000..e9bdb20
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/launch/launch_state_publisher.py
@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from ament_index_python.packages import get_package_share_directory
+
+share_dir = get_package_share_directory('dummy_robot')
+
+# Start of user code imports
+import os
+# End of user code
+
+def generate_entity():
+ # define empty user parameter (eventually redefined in the protected section afterwards)
+ state_publisher_custom_params = {}
+
+ # Start of user code parameters
+ bringup_share = get_package_share_directory('dummy_robot_bringup')
+ urdf_filename = os.path.join(bringup_share, 'launch', 'single_rrbot.urdf')
+ print (urdf_filename)
+ with open(urdf_filename, 'r') as infp:
+ robot_desc = infp.read()
+ state_publisher_custom_params = { 'robot_description': robot_desc }
+ # End of user code
+
+ # Add the actions to the launch description.
+ return LifecycleNode(
+ name='state_publisher',
+ package='robot_state_publisher', executable='robot_state_publisher',
+ remappings=[
+ ('joint_states', 'joint_states/JointState/joint_states'), ('tf', 'state_publisher/TFMessage/tf'), ('tf_static', 'state_publisher/TFMessage/tf_static')
+ ],
+ parameters=[share_dir+'/launch/cfg/param.yaml', state_publisher_custom_params],
+ output='screen',
+ emulate_tty=True # assure that RCLCPP output gets flushed
+ )
+
+def generate_launch_description():
+
+ # Launch Description
+ ld = LaunchDescription()
+ ld.add_entity(generate_entity())
+
+ return ld
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.notation
index ad00a90..a30923f 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.notation
@@ -1,5 +1,5 @@
<?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: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="_VcNroA9nEeq4SdRfpcPmcg" type="CompositeStructure" name="dummy_joint_states diagram" measurementUnit="Pixel">
+<notation:Diagram 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" xmi:id="_VcNroA9nEeq4SdRfpcPmcg" type="CompositeStructure" name="dummy_joint_states diagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_XfgZEA9nEeq4SdRfpcPmcg" type="Class_Shape">
<children xmi:type="notation:DecorationNode" xmi:id="_XfiOQA9nEeq4SdRfpcPmcg" type="Class_NameLabel"/>
<children xmi:type="notation:DecorationNode" xmi:id="_XfiOQQ9nEeq4SdRfpcPmcg" type="Class_FloatingNameLabel">
@@ -104,6 +104,14 @@
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_kimtwh0iEeqLQJbpzzvXWQ" x="254" y="16"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_SuOe4ymVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuOe5CmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuOe5imVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_yRG0gA-BEeqYjOkV1WinKg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuOe5SmVEeyFJJI_sS_fdA" x="254" y="16"/>
+ </children>
<styles xmi:type="notation:TitleStyle" xmi:id="_wjT19A-BEeqYjOkV1WinKg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_wjT19Q-BEeqYjOkV1WinKg"/>
</children>
@@ -309,6 +317,30 @@
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_kiq_Mh0iEeqLQJbpzzvXWQ" x="311" y="70"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_SuGjGSmVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuGjGimVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuGjHCmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_je3uEA9nEeq4SdRfpcPmcg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuGjGymVEeyFJJI_sS_fdA" x="412" y="22"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_SuKNcCmVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuKNcSmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuKNcymVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_wiQtEA-BEeqYjOkV1WinKg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuKNcimVEeyFJJI_sS_fdA" x="252" y="22"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_SuTXYCmVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuTXYSmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuTXYymVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="dummy_joint_states.compdef.uml#_K9rJ8BBIEeqWHMMybhfq6w"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuTXYimVEeyFJJI_sS_fdA" x="311" y="70"/>
+ </children>
<styles xmi:type="notation:TitleStyle" xmi:id="_Xfi1UQ9nEeq4SdRfpcPmcg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_Xfi1Ug9nEeq4SdRfpcPmcg"/>
</children>
@@ -514,6 +546,30 @@
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_ki1XQh0iEeqLQJbpzzvXWQ" x="569" y="32"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_SuBqlimVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuBqlymVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuBqmSmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_lNhAQA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuBqmCmVEeyFJJI_sS_fdA" x="322" y="98"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_SuXo0CmVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuXo0SmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuXo0ymVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="dummy_joint_states.compdef.uml#_lXNHwA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuXo0imVEeyFJJI_sS_fdA" x="569" y="132"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_SuchUCmVEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_SuchUSmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuchUymVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Connector" href="dummy_joint_states.compdef.uml#_xR3doBBIEeqWHMMybhfq6w"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SuchUimVEeyFJJI_sS_fdA" x="569" y="32"/>
+ </children>
<styles xmi:type="notation:StringValueStyle" xmi:id="_VcNroQ9nEeq4SdRfpcPmcg" name="diagram_compatibility_version" stringValue="1.4.0"/>
<styles xmi:type="notation:DiagramStyle" xmi:id="_VcNrog9nEeq4SdRfpcPmcg"/>
<styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_VcNrow9nEeq4SdRfpcPmcg" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
@@ -1102,4 +1158,74 @@
<sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ki1XRx0iEeqLQJbpzzvXWQ"/>
<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ki1XSB0iEeqLQJbpzzvXWQ"/>
</edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuBqmimVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_XfgZEA9nEeq4SdRfpcPmcg" target="_SuBqlimVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuBqmymVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuBqnymVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_lNhAQA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuBqnCmVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuBqnSmVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuBqnimVEeyFJJI_sS_fdA"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuGjHSmVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_jfs0gA9nEeq4SdRfpcPmcg" target="_SuGjGSmVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuGjHimVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuGjIimVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_je3uEA9nEeq4SdRfpcPmcg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuGjHymVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuGjICmVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuGjISmVEeyFJJI_sS_fdA"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuKNdCmVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_wjTO4A-BEeqYjOkV1WinKg" target="_SuKNcCmVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuKNdSmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuKNeSmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_wiQtEA-BEeqYjOkV1WinKg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuKNdimVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuKNdymVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuKNeCmVEeyFJJI_sS_fdA"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuOe5ymVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_ySi-8A-BEeqYjOkV1WinKg" target="_SuOe4ymVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuOe6CmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuOe7CmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_joint_states.compdef.uml#_yRG0gA-BEeqYjOkV1WinKg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuOe6SmVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuOe6imVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuOe6ymVEeyFJJI_sS_fdA"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuTXZCmVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_K_d5sBBIEeqWHMMybhfq6w" target="_SuTXYCmVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuTXZSmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuTXaSmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="dummy_joint_states.compdef.uml#_K9rJ8BBIEeqWHMMybhfq6w"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuTXZimVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuTXZymVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuTXaCmVEeyFJJI_sS_fdA"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuXo1CmVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_ZKMZQA9nEeq4SdRfpcPmcg" target="_SuXo0CmVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuXo1SmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuXo2SmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="dummy_joint_states.compdef.uml#_lXNHwA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuXo1imVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuXo1ymVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuXo2CmVEeyFJJI_sS_fdA"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_SuchVCmVEeyFJJI_sS_fdA" type="StereotypeCommentLink" source="_xWAWwBBIEeqWHMMybhfq6w" target="_SuchUCmVEeyFJJI_sS_fdA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_SuchVSmVEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_SuchWSmVEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Connector" href="dummy_joint_states.compdef.uml#_xR3doBBIEeqWHMMybhfq6w"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SuchVimVEeyFJJI_sS_fdA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuchVymVEeyFJJI_sS_fdA"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_SuchWCmVEeyFJJI_sS_fdA"/>
+ </edges>
</notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.uml
index af4af8b..93b3bfb 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_joint_states.compdef.uml
@@ -49,28 +49,8 @@
<packagedElement xmi:type="uml:Usage" xmi:id="_lXMgsA6uEeqas7S1-hM4Zg">
<supplier xmi:type="uml:Interface" href="pathmap://ROS2_LIB_BASE/services/rcl_interfaces.servicedef.uml#svcdefs/P_ParameterEvent"/>
</packagedElement>
- <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_plqK4A_PEeqYjOkV1WinKg" name="activateFct" isAbstract="true">
- <language>C++</language>
- <body>msg.name.push_back("single_rrbot_joint1");
-msg.name.push_back("single_rrbot_joint2");
-msg.position.push_back(0.0);
-msg.position.push_back(0.0);</body>
- </packagedElement>
- <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_qIQ58A_VEeqYjOkV1WinKg" name="periodicFct" isAbstract="true">
- <language>C++</language>
- <body>counter += step_;
-// RCLCPP_INFO(get_logger(), "counter %f", counter);
-auto joint_value = std::sin(counter);
-
-for (size_t i = 0; i < msg.name.size(); ++i) {
- msg.position[i] = joint_value;
-}
-
-// msg.header.stamp = clock->now();
-
-joint_states_pub_->publish(msg);
-</body>
- </packagedElement>
+ <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_plqK4A_PEeqYjOkV1WinKg" name="activateFct" isAbstract="true" language="" body=""/>
+ <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_qIQ58A_VEeqYjOkV1WinKg" name="periodicFct" isAbstract="true" language="" body=""/>
<profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7dB2xQ6rEeqas7S1-hM4Zg">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7dB2xg6rEeqas7S1-hM4Zg" source="http://www.eclipse.org/uml2/2.0.0/UML">
<references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/>
@@ -158,8 +138,8 @@
<robotics.components:Activity xmi:id="_wiXawA-BEeqYjOkV1WinKg" base_Class="_wiQtEA-BEeqYjOkV1WinKg"/>
<robotics.components:ActivityInstance xmi:id="_wiZ3AA-BEeqYjOkV1WinKg" base_Property="_wiYB0A-BEeqYjOkV1WinKg"/>
<robotics.components:PeriodicTimer xmi:id="_yRM7IA-BEeqYjOkV1WinKg" base_Class="_yRG0gA-BEeqYjOkV1WinKg" period="50ms"/>
- <robotics.functions:Function xmi:id="_plsnIA_PEeqYjOkV1WinKg" base_Class="_plqK4A_PEeqYjOkV1WinKg"/>
- <robotics.functions:Function xmi:id="_qITWMA_VEeqYjOkV1WinKg" base_Class="_qIQ58A_VEeqYjOkV1WinKg"/>
+ <robotics.functions:Function xmi:id="_plsnIA_PEeqYjOkV1WinKg" base_Class="_plqK4A_PEeqYjOkV1WinKg" kind="ON_ACTIVATE"/>
+ <robotics.functions:Function xmi:id="_qITWMA_VEeqYjOkV1WinKg" base_Class="_qIQ58A_VEeqYjOkV1WinKg" kind="PERIODIC"/>
<C_Cpp:Include xmi:id="_pUxLAA_WEeqYjOkV1WinKg" header="#include <cmath>
using namespace std::chrono_literals;
" base_class="_lNhAQA6uEeqas7S1-hM4Zg" base_Classifier="_lNhAQA6uEeqas7S1-hM4Zg"/>
<robotics.generics:Connects xmi:id="_bIlFkhA4EeqWHMMybhfq6w" base_Connector="_bIhbMBA4EeqWHMMybhfq6w"/>
<robotics.components:ActivityPort xmi:id="_K9u0UBBIEeqWHMMybhfq6w" base_Port="_K9rJ8BBIEeqWHMMybhfq6w"/>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_laser.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_laser.compdef.notation
index 65a1f96..5f26645 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_laser.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/components/dummy_laser.compdef.notation
@@ -1,5 +1,5 @@
<?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: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="_tVNhEA9nEeq4SdRfpcPmcg" type="CompositeStructure" name="dummy_laser diagram" measurementUnit="Pixel">
+<notation:Diagram 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" xmi:id="_tVNhEA9nEeq4SdRfpcPmcg" type="CompositeStructure" name="dummy_laser diagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_uDJlIA9nEeq4SdRfpcPmcg" type="Class_Shape">
<children xmi:type="notation:DecorationNode" xmi:id="_uDJlIg9nEeq4SdRfpcPmcg" type="Class_NameLabel"/>
<children xmi:type="notation:DecorationNode" xmi:id="_uDJlIw9nEeq4SdRfpcPmcg" type="Class_FloatingNameLabel">
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.notation
index cdb2351..33fe83e 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.notation
@@ -1,5 +1,5 @@
<?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="_YEchABBKEeqWHMMybhfq6w" type="CompositeStructure" name="Dummy_robot diagram" measurementUnit="Pixel">
+<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/1.0.3/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_YEchABBKEeqWHMMybhfq6w" type="CompositeStructure" name="Dummy_robot diagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_YEchARBKEeqWHMMybhfq6w" type="Class_Shape">
<children xmi:type="notation:DecorationNode" xmi:id="_YEchAhBKEeqWHMMybhfq6w" type="Class_NameLabel"/>
<children xmi:type="notation:DecorationNode" xmi:id="_YEchAxBKEeqWHMMybhfq6w" type="Class_FloatingNameLabel">
@@ -284,7 +284,7 @@
<children xmi:type="notation:DecorationNode" xmi:id="_FcU2FBCcEeqpC8wzYJkICg" type="Port_StereotypeLabel">
<layoutConstraint xmi:type="notation:Location" xmi:id="_FcU2FRCcEeqpC8wzYJkICg" x="25" y="-10"/>
</children>
- <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_FcU2ERCcEeqpC8wzYJkICg" x="30" y="-10"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_FcU2FhCcEeqpC8wzYJkICg" type="Port_Shape">
@@ -297,7 +297,7 @@
<children xmi:type="notation:DecorationNode" xmi:id="_FcU2GhCcEeqpC8wzYJkICg" type="Port_StereotypeLabel">
<layoutConstraint xmi:type="notation:Location" xmi:id="_FcU2GxCcEeqpC8wzYJkICg" x="25" y="-10"/>
</children>
- <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_FcU2FxCcEeqpC8wzYJkICg" x="130" y="-10"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_FcVdIBCcEeqpC8wzYJkICg" type="Port_Shape">
@@ -310,7 +310,7 @@
<children xmi:type="notation:DecorationNode" xmi:id="_FcVdJBCcEeqpC8wzYJkICg" type="Port_StereotypeLabel">
<layoutConstraint xmi:type="notation:Location" xmi:id="_FcVdJRCcEeqpC8wzYJkICg" x="25" y="-10"/>
</children>
- <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_FcVdIRCcEeqpC8wzYJkICg" x="211" y="90"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_FcVdJhCcEeqpC8wzYJkICg" type="Port_Shape">
@@ -323,7 +323,7 @@
<children xmi:type="notation:DecorationNode" xmi:id="_FcVdKhCcEeqpC8wzYJkICg" type="Port_StereotypeLabel">
<layoutConstraint xmi:type="notation:Location" xmi:id="_FcVdKxCcEeqpC8wzYJkICg" x="25" y="-10"/>
</children>
- <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_FcVdJxCcEeqpC8wzYJkICg" x="211" y="10"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_FcVdLBCcEeqpC8wzYJkICg" type="Port_Shape">
@@ -336,7 +336,7 @@
<children xmi:type="notation:DecorationNode" xmi:id="_FcVdMBCcEeqpC8wzYJkICg" type="Port_StereotypeLabel">
<layoutConstraint xmi:type="notation:Location" xmi:id="_FcVdMRCcEeqpC8wzYJkICg" x="25" y="-10"/>
</children>
- <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <element xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_FcVdLRCcEeqpC8wzYJkICg" x="211" y="50"/>
</children>
<element xmi:type="uml:Property" href="dummy_robot.system.uml#_D_0b0BCcEeqpC8wzYJkICg"/>
@@ -433,7 +433,7 @@
<children xmi:type="notation:Shape" xmi:id="_7F_wQBDvEeqpC8wzYJkICg" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_7F_wQRDvEeqpC8wzYJkICg"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7F_wQxDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_7F_wQhDvEeqpC8wzYJkICg" x="230" y="-10"/>
@@ -441,7 +441,7 @@
<children xmi:type="notation:Shape" xmi:id="_7GFP0BDvEeqpC8wzYJkICg" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_7GFP0RDvEeqpC8wzYJkICg"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GF24BDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_7GFP0hDvEeqpC8wzYJkICg" x="330" y="-10"/>
@@ -449,7 +449,7 @@
<children xmi:type="notation:Shape" xmi:id="_7GKvYBDvEeqpC8wzYJkICg" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_7GKvYRDvEeqpC8wzYJkICg"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GKvYxDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_7GKvYhDvEeqpC8wzYJkICg" x="411" y="90"/>
@@ -457,7 +457,7 @@
<children xmi:type="notation:Shape" xmi:id="_7GPA0BDvEeqpC8wzYJkICg" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_7GPA0RDvEeqpC8wzYJkICg"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GPA0xDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_7GPA0hDvEeqpC8wzYJkICg" x="411" y="10"/>
@@ -465,7 +465,7 @@
<children xmi:type="notation:Shape" xmi:id="_7GSEIBDvEeqpC8wzYJkICg" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_7GSEIRDvEeqpC8wzYJkICg"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GSEIxDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_7GSEIhDvEeqpC8wzYJkICg" x="411" y="50"/>
@@ -577,7 +577,7 @@
<children xmi:type="notation:Shape" xmi:id="_X6Sn8BElEeqo_8ZCFpJvyw" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_X6Sn8RElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6Sn8xElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_X6Sn8hElEeqo_8ZCFpJvyw" x="230" y="-10"/>
@@ -593,7 +593,7 @@
<children xmi:type="notation:Shape" xmi:id="_X6dnEBElEeqo_8ZCFpJvyw" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_X6dnERElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6dnExElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_X6dnEhElEeqo_8ZCFpJvyw" x="330" y="-10"/>
@@ -609,7 +609,7 @@
<children xmi:type="notation:Shape" xmi:id="_X6omMBElEeqo_8ZCFpJvyw" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_X6omMRElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6omMxElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_X6omMhElEeqo_8ZCFpJvyw" x="411" y="90"/>
@@ -617,7 +617,7 @@
<children xmi:type="notation:Shape" xmi:id="_X6us0BElEeqo_8ZCFpJvyw" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_X6us0RElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6us0xElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_X6us0hElEeqo_8ZCFpJvyw" x="411" y="10"/>
@@ -625,7 +625,7 @@
<children xmi:type="notation:Shape" xmi:id="_X60zcBElEeqo_8ZCFpJvyw" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_X60zcRElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X60zcxElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_X60zchElEeqo_8ZCFpJvyw" x="411" y="50"/>
@@ -737,7 +737,7 @@
<children xmi:type="notation:Shape" xmi:id="_4vrEAB0iEeqLQJbpzzvXWQ" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_4vrEAR0iEeqLQJbpzzvXWQ"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_4vrEAx0iEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_4vrEAh0iEeqLQJbpzzvXWQ" x="230" y="-10"/>
@@ -753,7 +753,7 @@
<children xmi:type="notation:Shape" xmi:id="_4v5tgB0iEeqLQJbpzzvXWQ" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_4v5tgR0iEeqLQJbpzzvXWQ"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_4v5tgx0iEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_4v5tgh0iEeqLQJbpzzvXWQ" x="330" y="-10"/>
@@ -769,7 +769,7 @@
<children xmi:type="notation:Shape" xmi:id="_4wI-EB0iEeqLQJbpzzvXWQ" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_4wI-ER0iEeqLQJbpzzvXWQ"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_4wI-Ex0iEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
</styles>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_4wI-Eh0iEeqLQJbpzzvXWQ" x="411" y="90"/>
@@ -777,7 +777,7 @@
<children xmi:type="notation:Shape" xmi:id="_4wQ54B0iEeqLQJbpzzvXWQ" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_4wQ54R0iEeqLQJbpzzvXWQ"/>
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@@ -785,11 +785,955 @@
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+ <eObjectValue xmi:type="uml:Class" href="dummy_robot.system.uml#_YEXBcxBKEeqWHMMybhfq6w"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gSYLIim7EeyFJJI_sS_fdA" x="240" y="40"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_vFUbACm7EeyFJJI_sS_fdA" type="Comment_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_vFVpICm7EeyFJJI_sS_fdA" type="Comment_BodyLabel"/>
+ <element xmi:type="uml:Comment" href="dummy_robot.system.uml#_u7w2YCm7EeyFJJI_sS_fdA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vFUbASm7EeyFJJI_sS_fdA" x="880" y="340" width="241" height="101"/>
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+ <element xmi:type="uml:Comment" href="dummy_robot.system.uml#_IvU7ECm8EeyFJJI_sS_fdA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_I5fjsSm8EeyFJJI_sS_fdA" x="120" y="480" width="681" height="41"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_TZCG0yqPEeyaRdgT9sU_xw" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_TZCG1CqPEeyaRdgT9sU_xw"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_TZCt4CqPEeyaRdgT9sU_xw" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="dummy_robot.system.uml#_YEXBcxBKEeqWHMMybhfq6w"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TZCG1SqPEeyaRdgT9sU_xw" x="240" y="40"/>
+ </children>
<styles xmi:type="notation:StringValueStyle" xmi:id="_YEchERBKEeqWHMMybhfq6w" name="diagram_compatibility_version" stringValue="1.4.0"/>
<styles xmi:type="notation:DiagramStyle" xmi:id="_YEchEhBKEeqWHMMybhfq6w"/>
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@@ -999,7 +2006,7 @@
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_Fcl74BCcEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
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@@ -1009,7 +2016,7 @@
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- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
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@@ -1019,7 +2026,7 @@
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_Fcw6-RCcEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
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@@ -1029,7 +2036,7 @@
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_Fc3oohCcEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
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@@ -1039,7 +2046,7 @@
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_Fc9INhCcEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7F_wSRDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GF25hDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
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- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GPA2RDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_7GSEKRDvEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
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<bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_7GSEJhDvEeqpC8wzYJkICg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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<styles xmi:type="notation:FontStyle" xmi:id="_X6Sn9RElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6Sn-RElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
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<bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_X6Sn9hElEeqo_8ZCFpJvyw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
@@ -1528,7 +2535,7 @@
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<styles xmi:type="notation:FontStyle" xmi:id="_X6dnFRElEeqo_8ZCFpJvyw"/>
<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6dnGRElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
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<bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_X6dnFhElEeqo_8ZCFpJvyw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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<edges xmi:type="notation:Connector" xmi:id="_X6omNBElEeqo_8ZCFpJvyw" type="StereotypeCommentLink" source="_FcVdIBCcEeqpC8wzYJkICg" target="_X6omMBElEeqo_8ZCFpJvyw">
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6omORElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_X6us2RElEeqo_8ZCFpJvyw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
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- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
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+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_4v5tiR0iEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
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+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Tbu1hiqPEeyaRdgT9sU_xw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Tbu1hyqPEeyaRdgT9sU_xw"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Tbu1iCqPEeyaRdgT9sU_xw"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_Tb5NlCqPEeyaRdgT9sU_xw" type="StereotypeCommentLink" source="_YOsTcBCdEeqpC8wzYJkICg" target="_Tb5NkCqPEeyaRdgT9sU_xw">
+ <styles xmi:type="notation:FontStyle" xmi:id="_Tb5NlSqPEeyaRdgT9sU_xw"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Tb5NmSqPEeyaRdgT9sU_xw" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Connector" href="dummy_robot.system.uml#_YKgXABCdEeqpC8wzYJkICg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Tb5NliqPEeyaRdgT9sU_xw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Tb5NlyqPEeyaRdgT9sU_xw"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Tb5NmCqPEeyaRdgT9sU_xw"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_TcGo9CqPEeyaRdgT9sU_xw" type="StereotypeCommentLink" source="_FcVdIBCcEeqpC8wzYJkICg" target="_TcGo8CqPEeyaRdgT9sU_xw">
+ <styles xmi:type="notation:FontStyle" xmi:id="_TcGo9SqPEeyaRdgT9sU_xw"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_TcGo-SqPEeyaRdgT9sU_xw" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_TcGo9iqPEeyaRdgT9sU_xw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TcGo9yqPEeyaRdgT9sU_xw"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TcGo-CqPEeyaRdgT9sU_xw"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_TcTdRCqPEeyaRdgT9sU_xw" type="StereotypeCommentLink" source="_FcVdJhCcEeqpC8wzYJkICg" target="_TcTdQCqPEeyaRdgT9sU_xw">
+ <styles xmi:type="notation:FontStyle" xmi:id="_TcTdRSqPEeyaRdgT9sU_xw"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_TcTdSSqPEeyaRdgT9sU_xw" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_TcTdRiqPEeyaRdgT9sU_xw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TcTdRyqPEeyaRdgT9sU_xw"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TcTdSCqPEeyaRdgT9sU_xw"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_TciGxCqPEeyaRdgT9sU_xw" type="StereotypeCommentLink" source="_FcVdLBCcEeqpC8wzYJkICg" target="_TciGwCqPEeyaRdgT9sU_xw">
+ <styles xmi:type="notation:FontStyle" xmi:id="_TciGxSqPEeyaRdgT9sU_xw"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_TciGySqPEeyaRdgT9sU_xw" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_TciGxiqPEeyaRdgT9sU_xw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TciGxyqPEeyaRdgT9sU_xw"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TciGyCqPEeyaRdgT9sU_xw"/>
+ </edges>
</notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.uml
index 9413f01..322f017 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/models/system/dummy_robot.system.uml
@@ -1,5 +1,5 @@
<?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.generics="http://www.eclipse.org/papyrus/robotics/generics/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/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics">
+<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.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/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="_YEXBcBBKEeqWHMMybhfq6w" name="Dummy_robotSystem">
<packageImport xmi:type="uml:PackageImport" xmi:id="_YEXBcRBKEeqWHMMybhfq6w">
<importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
@@ -20,23 +20,32 @@
<importedPackage xmi:type="uml:Model" href="pathmap://ROS2_EXAMPLES/robot_state_publisher/models/components/robot_state_publisher.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
</packageImport>
<packageImport xmi:type="uml:PackageImport" xmi:id="_FZ2J0BCcEeqpC8wzYJkICg">
- <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
+ <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
</packageImport>
<packagedElement xmi:type="uml:Class" xmi:id="_YEXBcxBKEeqWHMMybhfq6w" name="System">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_skqGoBBTEeqMLKl5jeLqjw" name="ComponentInstance1">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_3mMEcCNbEeyasY84eXuQeQ" annotatedElement="_oQOIQBCbEeqpC8wzYJkICg">
+ <body>The robot_state_publisher and rviz2 are part of a typical ROS2 installation. In the model, they are defined as external, no code is generated for these components. </body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_u7w2YCm7EeyFJJI_sS_fdA" annotatedElement="_YEXBcxBKEeqWHMMybhfq6w">
+ <body>A dummy robot system based on the tutorial at https://docs.ros.org/en/foxy/Tutorials/dummy-robot-demo.html </body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_IvU7ECm8EeyFJJI_sS_fdA" annotatedElement="_O6ufoBCbEeqpC8wzYJkICg">
+ <body>In the tutorial, the three dummy components on the left are part of a different ROS2 package, called dummy_sensors. For the sake of simplicity, they are part of the dummy_robot package here. The map-server and laser remain unconnected and are not required in order to vsualize the moving robot. Don't forget to add the TF topic in rviz2 (and start rviz via the launch files to take remappings into account)</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_skqGoBBTEeqMLKl5jeLqjw" name="joint_states">
<type xmi:type="uml:Class" href="../components/dummy_joint_states.compdef.uml#_lNhAQA6uEeqas7S1-hM4Zg"/>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_O6ufoBCbEeqpC8wzYJkICg" name="ComponentInstance2">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_O6ufoBCbEeqpC8wzYJkICg" name="laser">
<type xmi:type="uml:Class" href="../components/dummy_laser.compdef.uml#_lXxIcQ6uEeqas7S1-hM4Zg"/>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_ZV1MkBCbEeqpC8wzYJkICg" name="ComponentInstance3">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_ZV1MkBCbEeqpC8wzYJkICg" name="map_server">
<type xmi:type="uml:Class" href="../components/dummy_map_server.compdef.uml#_k2oxUA6uEeqas7S1-hM4Zg"/>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_oQOIQBCbEeqpC8wzYJkICg" name="ComponentInstance4">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_oQOIQBCbEeqpC8wzYJkICg" name="state_publisher">
<type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/robot_state_publisher/models/components/robot_state_publisher.compdef.uml#_lB8pcA6uEeqas7S1-hM4Zg"/>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_D_0b0BCcEeqpC8wzYJkICg" name="ComponentInstance5">
- <type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_D_0b0BCcEeqpC8wzYJkICg" name="rviz">
+ <type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
</ownedAttribute>
<ownedConnector xmi:type="uml:Connector" xmi:id="_WWw98BCcEeqpC8wzYJkICg">
<end xmi:type="uml:ConnectorEnd" xmi:id="_WW0oUBCcEeqpC8wzYJkICg" partWithPort="_skqGoBBTEeqMLKl5jeLqjw">
@@ -48,7 +57,7 @@
</ownedConnector>
<ownedConnector xmi:type="uml:Connector" xmi:id="_XJlFgBCdEeqpC8wzYJkICg">
<end xmi:type="uml:ConnectorEnd" xmi:id="_XJoI0BCdEeqpC8wzYJkICg" partWithPort="_D_0b0BCcEeqpC8wzYJkICg">
- <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
</end>
<end xmi:type="uml:ConnectorEnd" xmi:id="_XJoI0RCdEeqpC8wzYJkICg" partWithPort="_oQOIQBCbEeqpC8wzYJkICg">
<role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/robot_state_publisher/models/components/robot_state_publisher.compdef.uml#_lM4uIA6uEeqas7S1-hM4Zg"/>
@@ -56,13 +65,16 @@
</ownedConnector>
<ownedConnector xmi:type="uml:Connector" xmi:id="_YKgXABCdEeqpC8wzYJkICg">
<end xmi:type="uml:ConnectorEnd" xmi:id="_YKhlIBCdEeqpC8wzYJkICg" partWithPort="_D_0b0BCcEeqpC8wzYJkICg">
- <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz/models/components/rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/rviz2/models/components/rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
</end>
<end xmi:type="uml:ConnectorEnd" xmi:id="_YKhlIRCdEeqpC8wzYJkICg" partWithPort="_oQOIQBCbEeqpC8wzYJkICg">
<role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/robot_state_publisher/models/components/robot_state_publisher.compdef.uml#_lM9moA6uEeqas7S1-hM4Zg"/>
</end>
</ownedConnector>
</packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_pFIscCXlEeyasY84eXuQeQ" name="instances">
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_pFIscSXlEeyasY84eXuQeQ"/>
+ </packagedElement>
<profileApplication xmi:type="uml:ProfileApplication" xmi:id="_YEXBdBBKEeqWHMMybhfq6w">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YEXBdRBKEeqWHMMybhfq6w" source="http://www.eclipse.org/uml2/2.0.0/UML">
<references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/>
@@ -136,8 +148,8 @@
<appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
</profileApplication>
</uml:Model>
- <robotics.components:SystemComponentArchitectureModel xmi:id="_YEXBjhBKEeqWHMMybhfq6w" base_Package="_YEXBcBBKEeqWHMMybhfq6w"/>
- <robotics.components:System xmi:id="_YEXBjxBKEeqWHMMybhfq6w" base_Class="_YEXBcxBKEeqWHMMybhfq6w"/>
+ <robotics.components:SystemComponentArchitectureModel xmi:id="_YEXBjhBKEeqWHMMybhfq6w" description="A dummy robot system based on the tutorial at https://docs.ros.org/en/foxy/Tutorials/dummy-robot-demo.html " base_Package="_YEXBcBBKEeqWHMMybhfq6w"/>
+ <robotics.components:System xmi:id="_YEXBjxBKEeqWHMMybhfq6w" description="Test is a description" base_Class="_YEXBcxBKEeqWHMMybhfq6w"/>
<robotics.components:ComponentInstance xmi:id="_u86XcBBTEeqMLKl5jeLqjw" base_Property="_skqGoBBTEeqMLKl5jeLqjw"/>
<robotics.components:ComponentInstance xmi:id="_RsL6oBCbEeqpC8wzYJkICg" base_Property="_O6ufoBCbEeqpC8wzYJkICg"/>
<robotics.components:ComponentInstance xmi:id="_cDJucBCbEeqpC8wzYJkICg" base_Property="_ZV1MkBCbEeqpC8wzYJkICg"/>
@@ -146,4 +158,5 @@
<robotics.generics:Connects xmi:id="_WW1PYBCcEeqpC8wzYJkICg" base_Connector="_WWw98BCcEeqpC8wzYJkICg"/>
<robotics.generics:Connects xmi:id="_XJoI0hCdEeqpC8wzYJkICg" base_Connector="_XJlFgBCdEeqpC8wzYJkICg"/>
<robotics.generics:Connects xmi:id="_YKhlIhCdEeqpC8wzYJkICg" base_Connector="_YKgXABCdEeqpC8wzYJkICg"/>
+ <robotics.parameters:ParameterInstance xmi:id="_pFQBMCXlEeyasY84eXuQeQ" base_InstanceSpecification="_pFIscSXlEeyasY84eXuQeQ"/>
</xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.cpp b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.cpp
new file mode 100644
index 0000000..a52dd79
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.cpp
@@ -0,0 +1,71 @@
+// --------------------------------------------------------
+// Copyright (c)
+//
+// contributions by author
+// author@somewhere.net
+// maintained by maintainer
+// maintainer@somewhere.net
+
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#define dummy_joint_statesCompdef_Dummy_joint_states_impl_BODY
+
+/************************************************************
+ Dummy_joint_states_impl class body
+ ************************************************************/
+
+// include associated header file
+#include "dummy_joint_statesCompdef/Dummy_joint_states_impl.h"
+
+// Derived includes directives
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/clock.hpp"
+#include "rclcpp/time_source.hpp"
+
+namespace dummy_joint_statesCompdef {
+
+// static attributes (if any)
+
+/**
+ *
+ * @param options
+ */
+Dummy_joint_states_impl::Dummy_joint_states_impl(
+ rclcpp::NodeOptions /*in*/options) :
+ Dummy_joint_states(options) {
+}
+
+/**
+ *
+ */
+void Dummy_joint_states_impl::activateFct() {
+ msg.name.push_back("single_rrbot_joint1");
+ msg.name.push_back("single_rrbot_joint2");
+ msg.position.push_back(0.0);
+ msg.position.push_back(0.0);
+}
+
+/**
+ *
+ */
+void Dummy_joint_states_impl::periodicFct() {
+ counter += step_;
+ RCLCPP_INFO(get_logger(), "counter %f", counter);
+ auto joint_value = std::sin(counter);
+
+ for (size_t i = 0; i < msg.name.size(); ++i) {
+ msg.position[i] = joint_value;
+ }
+
+ msg.header.stamp = get_clock()->now();
+
+ joint_states_pub_->publish(msg);
+}
+
+} // of namespace dummy_joint_statesCompdef
+
+/************************************************************
+ End of Dummy_joint_states_impl class body
+ ************************************************************/
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.h b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.h
new file mode 100644
index 0000000..6be01e3
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.h
@@ -0,0 +1,71 @@
+// --------------------------------------------------------
+// Copyright (c)
+//
+// contributions by author
+// author@somewhere.net
+// maintained by maintainer
+// maintainer@somewhere.net
+
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#ifndef DUMMY_JOINT_STATESCOMPDEF_DUMMY_JOINT_STATES_IMPL_H
+#define DUMMY_JOINT_STATESCOMPDEF_DUMMY_JOINT_STATES_IMPL_H
+
+/************************************************************
+ Dummy_joint_states_impl class header
+ ************************************************************/
+
+#include "dummy_joint_statesCompdef/Pkg_dummy_joint_statesCompdef.h"
+
+#include "dummy_joint_statesCompdef/Dummy_joint_states.h"
+
+namespace ros2Library {
+namespace rclcpp {
+class NodeOptions;
+}
+}
+
+namespace dummy_joint_statesCompdef {
+
+/************************************************************/
+/**
+ * This is a skeleton class generated for component Dummy_joint_states
+ * Copy it into the source folder as an initial base (or copy parts
+ * of it whenever you add modify the component).
+ *
+ */
+class Dummy_joint_states_impl: public Dummy_joint_states {
+public:
+
+ /**
+ *
+ * @param options
+ */
+ Dummy_joint_states_impl(rclcpp::NodeOptions /*in*/options);
+
+ /**
+ *
+ */
+ void activateFct();
+
+ /**
+ *
+ */
+ void periodicFct();
+
+};
+/************************************************************/
+/* External declarations (package visibility) */
+/************************************************************/
+
+/* Inline functions */
+
+} // of namespace dummy_joint_statesCompdef
+
+/************************************************************
+ End of Dummy_joint_states_impl class header
+ ************************************************************/
+
+#endif
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_laserCompdef/Dummy_laser_impl.cpp b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_laserCompdef/Dummy_laser_impl.cpp
new file mode 100644
index 0000000..5cd556a
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_laserCompdef/Dummy_laser_impl.cpp
@@ -0,0 +1,90 @@
+// --------------------------------------------------------
+// Copyright (c)
+//
+// contributions by author
+// author@somewhere.net
+// maintained by maintainer
+// maintainer@somewhere.net
+
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#define dummy_laserCompdef_Dummy_laser_impl_BODY
+
+/************************************************************
+ Dummy_laser_impl class body
+ ************************************************************/
+
+// include associated header file
+#include "dummy_laserCompdef/Dummy_laser_impl.h"
+
+// Derived includes directives
+#include "rclcpp/rclcpp.hpp"
+
+#include <math.h>
+#define DEG2RAD M_PI / 180.0
+
+namespace dummy_laserCompdef {
+
+// static attributes (if any)
+
+/**
+ *
+ * @param options
+ */
+Dummy_laser_impl::Dummy_laser_impl(rclcpp::NodeOptions /*in*/options) :
+ Dummy_laser(options) {
+}
+
+/**
+ *
+ */
+void Dummy_laser_impl::activateFct() {
+ msg.header.frame_id = "single_rrbot_hokuyo_link";
+
+ double angle_resolution = 2500;
+ double start_angle = -450000;
+ double stop_angle = 2250000;
+ double scan_frequency = 2500;
+
+ double angle_range = stop_angle - start_angle;
+ double num_values = angle_range / angle_resolution;
+ if (static_cast<int>(angle_range) % static_cast<int>(angle_resolution) == 0) {
+ // Include endpoint
+ ++num_values;
+ }
+ msg.ranges.resize(static_cast<int>(num_values));
+
+ msg.time_increment =
+ static_cast<float>((angle_resolution / 10000.0) / 360.0 / (scan_frequency / 100.0));
+ msg.angle_increment = static_cast<float>(angle_resolution / 10000.0 * DEG2RAD);
+ msg.angle_min = static_cast<float>(start_angle / 10000.0 * DEG2RAD - M_PI / 2);
+ msg.angle_max = static_cast<float>(stop_angle / 10000.0 * DEG2RAD - M_PI / 2);
+ msg.scan_time = static_cast<float>(100.0 / scan_frequency);
+ msg.range_min = 0.0f;
+ msg.range_max = 10.0f;
+
+ RCLCPP_INFO(get_logger(), "angle inc:\t%f", msg.angle_increment);
+ RCLCPP_INFO(get_logger(), "scan size:\t%zu", msg.ranges.size());
+ RCLCPP_INFO(get_logger(), "scan time increment: \t%f", msg.time_increment);
+}
+
+/**
+ *
+ */
+void Dummy_laser_impl::periodicFct() {
+ auto amplitude = 1;
+ counter += 0.1;
+ auto distance = static_cast<float>(std::abs(amplitude * std::sin(counter)));
+
+ for (size_t i = 0; i < msg.ranges.size(); ++i) {
+ msg.ranges[i] = distance;
+ }
+
+ scan_pub_->publish(msg);}
+} // of namespace dummy_laserCompdef
+
+/************************************************************
+ End of Dummy_laser_impl class body
+ ************************************************************/
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_laserCompdef/Dummy_laser_impl.h b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_laserCompdef/Dummy_laser_impl.h
new file mode 100644
index 0000000..1f0644b
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_laserCompdef/Dummy_laser_impl.h
@@ -0,0 +1,71 @@
+// --------------------------------------------------------
+// Copyright (c)
+//
+// contributions by author
+// author@somewhere.net
+// maintained by maintainer
+// maintainer@somewhere.net
+
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#ifndef DUMMY_LASERCOMPDEF_DUMMY_LASER_IMPL_H
+#define DUMMY_LASERCOMPDEF_DUMMY_LASER_IMPL_H
+
+/************************************************************
+ Dummy_laser_impl class header
+ ************************************************************/
+
+#include "dummy_laserCompdef/Pkg_dummy_laserCompdef.h"
+
+#include "dummy_laserCompdef/Dummy_laser.h"
+
+namespace ros2Library {
+namespace rclcpp {
+class NodeOptions;
+}
+}
+
+namespace dummy_laserCompdef {
+
+/************************************************************/
+/**
+ * This is a skeleton class generated for component Dummy_laser
+ * Copy it into the source folder as an initial base (or copy parts
+ * of it whenever you add modify the component).
+ *
+ */
+class Dummy_laser_impl: public Dummy_laser {
+public:
+
+ /**
+ *
+ * @param options
+ */
+ Dummy_laser_impl(rclcpp::NodeOptions /*in*/options);
+
+ /**
+ *
+ */
+ void activateFct();
+
+ /**
+ *
+ */
+ void periodicFct();
+
+};
+/************************************************************/
+/* External declarations (package visibility) */
+/************************************************************/
+
+/* Inline functions */
+
+} // of namespace dummy_laserCompdef
+
+/************************************************************
+ End of Dummy_laser_impl class header
+ ************************************************************/
+
+#endif
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.notation
index aa54749..a7b5848 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.notation
@@ -1,5 +1,5 @@
<?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: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="_LVZ-QA9oEeq4SdRfpcPmcg" type="CompositeStructure" name="robot_state_publisher diagram" measurementUnit="Pixel">
+<notation:Diagram 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" xmi:id="_LVZ-QA9oEeq4SdRfpcPmcg" type="CompositeStructure" name="robot_state_publisher diagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_NrCY4A9oEeq4SdRfpcPmcg" type="Class_Shape">
<children xmi:type="notation:DecorationNode" xmi:id="_NrCY4g9oEeq4SdRfpcPmcg" type="Class_NameLabel"/>
<children xmi:type="notation:DecorationNode" xmi:id="_NrCY4w9oEeq4SdRfpcPmcg" type="Class_FloatingNameLabel">
@@ -58,6 +58,30 @@
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_h9DwwkvmEeq9S6dNZU6-Yw" x="374" y="120"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_OJ3TcCXSEeyasY84eXuQeQ" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_OJ3TcSXSEeyasY84eXuQeQ"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OJ3TcyXSEeyasY84eXuQeQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="robot_state_publisher.compdef.uml#_PBRMAA9oEeq4SdRfpcPmcg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OJ3TciXSEeyasY84eXuQeQ" x="374" y="120"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_r3uWwylEEeyFJJI_sS_fdA" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_r3uWxClEEeyFJJI_sS_fdA"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_r3u9wSlEEeyFJJI_sS_fdA" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="robot_state_publisher.compdef.uml#_PBRMAA9oEeq4SdRfpcPmcg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_r3u9wClEEeyFJJI_sS_fdA" x="374" y="120"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_7XhMYCp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_7XhMYSp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_7XhMYyp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="robot_state_publisher.compdef.uml#_PBRMAA9oEeq4SdRfpcPmcg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7XhMYip_Eey4EugVrvBHDg" x="374" y="120"/>
+ </children>
<styles xmi:type="notation:TitleStyle" xmi:id="_NrCY5g9oEeq4SdRfpcPmcg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_NrCY5w9oEeq4SdRfpcPmcg"/>
</children>
@@ -92,16 +116,6 @@
<element xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMZl8A6uEeqas7S1-hM4Zg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_RKN1gQ9oEeq4SdRfpcPmcg" x="-10" y="70"/>
</children>
- <children xmi:type="notation:Shape" xmi:id="_RKOcmQ9oEeq4SdRfpcPmcg" type="Port_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_RKOcmw9oEeq4SdRfpcPmcg" type="Port_NameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_RKOcnA9oEeq4SdRfpcPmcg" x="25" y="3"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_RKOcnQ9oEeq4SdRfpcPmcg" type="Port_StereotypeLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_RKOcng9oEeq4SdRfpcPmcg" x="25" y="-10"/>
- </children>
- <element xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_RKOcmg9oEeq4SdRfpcPmcg" x="411" y="49"/>
- </children>
<children xmi:type="notation:Shape" xmi:id="_RKPDoQ9oEeq4SdRfpcPmcg" type="Port_Shape">
<children xmi:type="notation:DecorationNode" xmi:id="_RKPDow9oEeq4SdRfpcPmcg" type="Port_NameLabel">
<layoutConstraint xmi:type="notation:Location" xmi:id="_RKPDpA9oEeq4SdRfpcPmcg" x="25" y="3"/>
@@ -159,9 +173,7 @@
</children>
<children xmi:type="notation:Shape" xmi:id="_e-lmcBKsEeq2i7akxyzZwg" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_e-lmcRKsEeq2i7akxyzZwg"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_e-lmcxKsEeq2i7akxyzZwg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
- </styles>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_e-lmcxKsEeq2i7akxyzZwg" name="BASE_ELEMENT"/>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_e-lmchKsEeq2i7akxyzZwg" x="551" y="70"/>
</children>
@@ -199,9 +211,7 @@
</children>
<children xmi:type="notation:Shape" xmi:id="_F_4V0B0jEeqLQJbpzzvXWQ" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_F_484B0jEeqLQJbpzzvXWQ"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_F_484h0jEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
- </styles>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_F_484h0jEeqLQJbpzzvXWQ" name="BASE_ELEMENT"/>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_F_484R0jEeqLQJbpzzvXWQ" x="551" y="70"/>
</children>
@@ -239,9 +249,7 @@
</children>
<children xmi:type="notation:Shape" xmi:id="_h9P-AEvmEeq9S6dNZU6-Yw" type="StereotypeComment">
<styles xmi:type="notation:TitleStyle" xmi:id="_h9P-AUvmEeq9S6dNZU6-Yw"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_h9QlEEvmEeq9S6dNZU6-Yw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
- </styles>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_h9QlEEvmEeq9S6dNZU6-Yw" name="BASE_ELEMENT"/>
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_h9P-AkvmEeq9S6dNZU6-Yw" x="551" y="70"/>
</children>
@@ -261,6 +269,114 @@
<element xsi:nil="true"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_h9cyUkvmEeq9S6dNZU6-Yw" x="551" y="150"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_OJzpEyXSEeyasY84eXuQeQ" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_OJzpFCXSEeyasY84eXuQeQ"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OJzpFiXSEeyasY84eXuQeQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="robot_state_publisher.compdef.uml#_lB8pcA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OJzpFSXSEeyasY84eXuQeQ" x="320" y="60"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_OJ7k4CXSEeyasY84eXuQeQ" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_OJ7k4SXSEeyasY84eXuQeQ"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OJ7k4yXSEeyasY84eXuQeQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMZl8A6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OJ7k4iXSEeyasY84eXuQeQ" x="190" y="70"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_OKAdYCXSEeyasY84eXuQeQ" type="StereotypeComment">
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+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OKAdYyXSEeyasY84eXuQeQ" name="BASE_ELEMENT"/>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OKAdYiXSEeyasY84eXuQeQ" x="611" y="49"/>
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+ <children xmi:type="notation:Shape" xmi:id="_OKF88CXSEeyasY84eXuQeQ" type="StereotypeComment">
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+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OKF88yXSEeyasY84eXuQeQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lM4uIA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OKF88iXSEeyasY84eXuQeQ" x="611" y="110"/>
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+ <children xmi:type="notation:Shape" xmi:id="_OKLcgCXSEeyasY84eXuQeQ" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_OKLcgSXSEeyasY84eXuQeQ"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OKLcgyXSEeyasY84eXuQeQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lM9moA6uEeqas7S1-hM4Zg"/>
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+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OKLcgiXSEeyasY84eXuQeQ" x="611" y="170"/>
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+ <eObjectValue xmi:type="uml:Class" href="robot_state_publisher.compdef.uml#_lB8pcA6uEeqas7S1-hM4Zg"/>
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+ <element xsi:nil="true"/>
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+ <element xsi:nil="true"/>
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<styles xmi:type="notation:StringValueStyle" xmi:id="_LVZ-QQ9oEeq4SdRfpcPmcg" name="diagram_compatibility_version" stringValue="1.4.0"/>
<styles xmi:type="notation:DiagramStyle" xmi:id="_LVZ-Qg9oEeq4SdRfpcPmcg"/>
<styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_LVZ-Qw9oEeq4SdRfpcPmcg" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
@@ -317,16 +433,6 @@
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<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_nP7TeBCcEeqpC8wzYJkICg"/>
</edges>
- <edges xmi:type="notation:Connector" xmi:id="_qi11tBCcEeqpC8wzYJkICg" type="StereotypeCommentLink" source="_RKOcmQ9oEeq4SdRfpcPmcg">
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- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_qi11uRCcEeqpC8wzYJkICg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
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- <element xsi:nil="true"/>
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- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_qi11uBCcEeqpC8wzYJkICg"/>
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<edges xmi:type="notation:Connector" xmi:id="_rw4WIRCcEeqpC8wzYJkICg" type="StereotypeCommentLink" source="_RKPDoQ9oEeq4SdRfpcPmcg">
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_rw4WJhCcEeqpC8wzYJkICg" name="BASE_ELEMENT">
@@ -397,16 +503,6 @@
<sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_e-ijIBKsEeq2i7akxyzZwg"/>
<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_e-ijIRKsEeq2i7akxyzZwg"/>
</edges>
- <edges xmi:type="notation:Connector" xmi:id="_e-lmdBKsEeq2i7akxyzZwg" type="StereotypeCommentLink" source="_RKOcmQ9oEeq4SdRfpcPmcg" target="_e-lmcBKsEeq2i7akxyzZwg">
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- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_e-lmeRKsEeq2i7akxyzZwg" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
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- <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_e-lmdxKsEeq2i7akxyzZwg"/>
- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_e-lmeBKsEeq2i7akxyzZwg"/>
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_e-pQ2RKsEeq2i7akxyzZwg" name="BASE_ELEMENT">
@@ -457,16 +553,6 @@
<sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_F_0EZx0jEeqLQJbpzzvXWQ"/>
<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_F_0EaB0jEeqLQJbpzzvXWQ"/>
</edges>
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- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_F_486B0jEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lMuWEA6uEeqas7S1-hM4Zg"/>
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- <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_F_485R0jEeqLQJbpzzvXWQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_F_485x0jEeqLQJbpzzvXWQ"/>
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<edges xmi:type="notation:Connector" xmi:id="_F_91ZB0jEeqLQJbpzzvXWQ" type="StereotypeCommentLink" source="_RKPDoQ9oEeq4SdRfpcPmcg" target="_F_91YB0jEeqLQJbpzzvXWQ">
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_F_91aR0jEeqLQJbpzzvXWQ" name="BASE_ELEMENT">
@@ -517,16 +603,6 @@
<sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_h9Ked0vmEeq9S6dNZU6-Yw"/>
<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_h9KeeEvmEeq9S6dNZU6-Yw"/>
</edges>
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- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_h9QlFkvmEeq9S6dNZU6-Yw" name="BASE_ELEMENT">
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- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_h9QlFUvmEeq9S6dNZU6-Yw"/>
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<edges xmi:type="notation:Connector" xmi:id="_h9XSxEvmEeq9S6dNZU6-Yw" type="StereotypeCommentLink" source="_RKPDoQ9oEeq4SdRfpcPmcg" target="_h9XSwEvmEeq9S6dNZU6-Yw">
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<styles xmi:type="notation:EObjectValueStyle" xmi:id="_h9XSyUvmEeq9S6dNZU6-Yw" name="BASE_ELEMENT">
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<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_h9cyWEvmEeq9S6dNZU6-Yw"/>
</edges>
+ <edges xmi:type="notation:Connector" xmi:id="_OJzpFyXSEeyasY84eXuQeQ" type="StereotypeCommentLink" source="_NrCY4A9oEeq4SdRfpcPmcg" target="_OJzpEyXSEeyasY84eXuQeQ">
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+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OJzpHCXSEeyasY84eXuQeQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="robot_state_publisher.compdef.uml#_lB8pcA6uEeqas7S1-hM4Zg"/>
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+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_OJzpGyXSEeyasY84eXuQeQ"/>
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+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_7X3Kpip_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7X3Kpyp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7X3KqCp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_7YD-9Cp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_RKPDpw9oEeq4SdRfpcPmcg" target="_7YD-8Cp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_7YD-9Sp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_7YD--Sp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="robot_state_publisher.compdef.uml#_lM9moA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_7YD-9ip_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7YD-9yp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7YD--Cp_Eey4EugVrvBHDg"/>
+ </edges>
</notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.uml
index a39f7a3..5831ce5 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/robot_state_publisher/models/components/robot_state_publisher.compdef.uml
@@ -1,27 +1,20 @@
<?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.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/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters">
- <uml:Model xmi:id="_7dB2wA6rEeqas7S1-hM4Zg" name="Robot_state_publisherCompdef">
+ <uml:Model xmi:id="_7dB2wA6rEeqas7S1-hM4Zg" name="Robot_state_publisher">
<packageImport xmi:type="uml:PackageImport" xmi:id="_7dB2wQ6rEeqas7S1-hM4Zg">
<importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
</packageImport>
<packageImport xmi:type="uml:PackageImport" xmi:id="_7dB2wg6rEeqas7S1-hM4Zg">
<importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
</packageImport>
- <packageImport xmi:type="uml:PackageImport" xmi:id="_0xedABNGEeqdIrIm81Dl-Q">
- <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_LIBRARY/ros2.servicedef.uml#_T7frkG-0EeiX6ta975XXMg"/>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_fCLZwCXlEeyasY84eXuQeQ">
+ <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_LIBRARY/ros2.primitive.uml#_T7frkG-0EeiX6ta975XXMg"/>
</packageImport>
- <packagedElement xmi:type="uml:Class" xmi:id="_lB8pcA6uEeqas7S1-hM4Zg" name="Robot_state_publisher">
+ <packagedElement xmi:type="uml:Class" xmi:id="_lB8pcA6uEeqas7S1-hM4Zg" name="robot_state_publisher">
<ownedAttribute xmi:type="uml:Port" xmi:id="_lMZl8A6uEeqas7S1-hM4Zg" name="joint_states" type="_lMbbIA6uEeqas7S1-hM4Zg" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_lMuWEA6uEeqas7S1-hM4Zg" name="robot_description" type="_lMvkMA6uEeqas7S1-hM4Zg" aggregation="composite"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_lM4uIA6uEeqas7S1-hM4Zg" name="tf" type="_lM58QA6uEeqas7S1-hM4Zg" aggregation="composite"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_lM9moA6uEeqas7S1-hM4Zg" name="tf_static" type="_lM-0wA6uEeqas7S1-hM4Zg" aggregation="composite"/>
<nestedClassifier xmi:type="uml:Class" xmi:id="_lMbbIA6uEeqas7S1-hM4Zg"/>
- <nestedClassifier xmi:type="uml:Class" xmi:id="_lMvkMA6uEeqas7S1-hM4Zg">
- <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_lMzOkA6uEeqas7S1-hM4Zg" client="_lMvkMA6uEeqas7S1-hM4Zg">
- <supplier xmi:type="uml:Interface" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#svcdefs/P_String"/>
- <contract xmi:type="uml:Interface" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#svcdefs/P_String"/>
- </interfaceRealization>
- </nestedClassifier>
<nestedClassifier xmi:type="uml:Class" xmi:id="_lM58QA6uEeqas7S1-hM4Zg">
<interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_lM8_kA6uEeqas7S1-hM4Zg" client="_lM58QA6uEeqas7S1-hM4Zg">
<supplier xmi:type="uml:Interface" href="pathmap://ROS2_LIB_BASE/services/tf2_msgs.servicedef.uml#svcdefs/P_TFMessage"/>
@@ -34,7 +27,11 @@
<contract xmi:type="uml:Interface" href="pathmap://ROS2_LIB_BASE/services/tf2_msgs.servicedef.uml#svcdefs/P_TFMessage"/>
</interfaceRealization>
</nestedClassifier>
- <nestedClassifier xmi:type="uml:Class" xmi:id="_PBRMAA9oEeq4SdRfpcPmcg"/>
+ <nestedClassifier xmi:type="uml:Class" xmi:id="_PBRMAA9oEeq4SdRfpcPmcg">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_bg8usCXlEeyasY84eXuQeQ" name="robot_description">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://ROS2_LIBRARY/ros2.primitive.uml#_96bjEK4QEemKGaIZu1xPYw"/>
+ </ownedAttribute>
+ </nestedClassifier>
</packagedElement>
<packagedElement xmi:type="uml:Usage" xmi:id="_lMfFgA6uEeqas7S1-hM4Zg" client="_lMbbIA6uEeqas7S1-hM4Zg">
<supplier xmi:type="uml:Interface" href="pathmap://ROS2_LIB_BASE/services/sensor_msgs.servicedef.uml#svcdefs/P_JointState"/>
@@ -112,15 +109,14 @@
<appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
</profileApplication>
</uml:Model>
- <robotics.components:ComponentDefinitionModel xmi:id="_7dCd3Q6rEeqas7S1-hM4Zg" base_Package="_7dB2wA6rEeqas7S1-hM4Zg"/>
- <robotics.components:ComponentDefinition xmi:id="_lB_swA6uEeqas7S1-hM4Zg" base_Class="_lB8pcA6uEeqas7S1-hM4Zg"/>
+ <robotics.components:ComponentDefinitionModel xmi:id="_7dCd3Q6rEeqas7S1-hM4Zg" description="An external component realized by the build-in ros2 component" base_Package="_7dB2wA6rEeqas7S1-hM4Zg" external="true"/>
+ <robotics.components:ComponentDefinition xmi:id="_lB_swA6uEeqas7S1-hM4Zg" base_Class="_lB8pcA6uEeqas7S1-hM4Zg" isLifecycle="false"/>
<robotics.components:ComponentService xmi:id="_lMd3YA6uEeqas7S1-hM4Zg" base_Class="_lMbbIA6uEeqas7S1-hM4Zg"/>
- <robotics.components:ComponentService xmi:id="_lMyAcA6uEeqas7S1-hM4Zg" base_Class="_lMvkMA6uEeqas7S1-hM4Zg"/>
<robotics.components:ComponentService xmi:id="_lM7xcA6uEeqas7S1-hM4Zg" base_Class="_lM58QA6uEeqas7S1-hM4Zg"/>
<robotics.components:ComponentService xmi:id="_lNBRAA6uEeqas7S1-hM4Zg" base_Class="_lM-0wA6uEeqas7S1-hM4Zg"/>
<robotics.parameters:Parameter xmi:id="_PBToQA9oEeq4SdRfpcPmcg" base_Class="_PBRMAA9oEeq4SdRfpcPmcg"/>
<robotics.components:ComponentPort xmi:id="_nPJQUBCcEeqpC8wzYJkICg" base_Port="_lMZl8A6uEeqas7S1-hM4Zg"/>
- <robotics.components:ComponentPort xmi:id="_qhaSUBCcEeqpC8wzYJkICg" base_Port="_lMuWEA6uEeqas7S1-hM4Zg"/>
<robotics.components:ComponentPort xmi:id="_rvM7IBCcEeqpC8wzYJkICg" base_Port="_lM4uIA6uEeqas7S1-hM4Zg"/>
<robotics.components:ComponentPort xmi:id="_tH-E4BCcEeqpC8wzYJkICg" base_Port="_lM9moA6uEeqas7S1-hM4Zg"/>
+ <robotics.parameters:ParameterEntry xmi:id="_fCOdECXlEeyasY84eXuQeQ" description="URDF xml description" base_Property="_bg8usCXlEeyasY84eXuQeQ"/>
</xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.notation
deleted file mode 100644
index 8f7c423..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.notation
+++ /dev/null
@@ -1,230 +0,0 @@
-<?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: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="_lXehkA9_EeqYjOkV1WinKg" type="CompositeStructure" name="rviz diagram" measurementUnit="Pixel">
- <children xmi:type="notation:Shape" xmi:id="_oMltgA9_EeqYjOkV1WinKg" type="Class_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_oMm7oA9_EeqYjOkV1WinKg" type="Class_NameLabel"/>
- <children xmi:type="notation:DecorationNode" xmi:id="_oMm7oQ9_EeqYjOkV1WinKg" type="Class_FloatingNameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_oMm7og9_EeqYjOkV1WinKg" y="15"/>
- </children>
- <children xmi:type="notation:BasicCompartment" xmi:id="_oMm7ow9_EeqYjOkV1WinKg" type="Class_StructureCompartment">
- <children xmi:type="notation:Shape" xmi:id="_BPua0A-AEeqYjOkV1WinKg" type="Class_Shape_CN">
- <children xmi:type="notation:DecorationNode" xmi:id="_BPua0g-AEeqYjOkV1WinKg" type="Class_NameLabel_CN"/>
- <children xmi:type="notation:DecorationNode" xmi:id="_BPua0w-AEeqYjOkV1WinKg" type="Class_FloatingNameLabel_CN">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_BPua1A-AEeqYjOkV1WinKg" y="15"/>
- </children>
- <children xmi:type="notation:BasicCompartment" xmi:id="_BPua1Q-AEeqYjOkV1WinKg" type="Class_StructureCompartment_CN">
- <styles xmi:type="notation:TitleStyle" xmi:id="_BPua1g-AEeqYjOkV1WinKg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BPua1w-AEeqYjOkV1WinKg"/>
- </children>
- <element xmi:type="uml:Class" href="rviz.compdef.uml#_BN_VcA-AEeqYjOkV1WinKg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BPua0Q-AEeqYjOkV1WinKg" x="111" y="23" width="84" height="58"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_uZzNoAn5EeueAa1uAeDfJw" type="StereotypeComment">
- <styles xmi:type="notation:TitleStyle" xmi:id="_uZzNoQn5EeueAa1uAeDfJw"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uZzNown5EeueAa1uAeDfJw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Class" href="rviz.compdef.uml#_BN_VcA-AEeqYjOkV1WinKg"/>
- </styles>
- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uZzNogn5EeueAa1uAeDfJw" x="311" y="23"/>
- </children>
- <styles xmi:type="notation:TitleStyle" xmi:id="_oMm7pA9_EeqYjOkV1WinKg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMm7pQ9_EeqYjOkV1WinKg"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_oMr0IA9_EeqYjOkV1WinKg" type="StereotypeLabel">
- <styles xmi:type="notation:StringValueStyle" xmi:id="_oMr0IQ9_EeqYjOkV1WinKg" name="stereotype" stringValue="robotics::components::ComponentDefinition"/>
- <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_L3wdoJZ2Eeeq1f8hGgKVzA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMr0Ig9_EeqYjOkV1WinKg"/>
- </children>
- <children xmi:type="notation:BasicCompartment" xmi:id="_oMr0Iw9_EeqYjOkV1WinKg" type="StereotypeBrace">
- <styles xmi:type="notation:TitleStyle" xmi:id="_oMr0JA9_EeqYjOkV1WinKg"/>
- <styles xmi:type="notation:StringValueStyle" xmi:id="_oMr0JQ9_EeqYjOkV1WinKg" name="stereotype" stringValue="robotics::components::ComponentDefinition"/>
- <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_L3wdoJZ2Eeeq1f8hGgKVzA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMr0Jg9_EeqYjOkV1WinKg"/>
- </children>
- <children xmi:type="notation:BasicCompartment" xmi:id="_oMtCQg9_EeqYjOkV1WinKg" type="compartment_shape_display">
- <styles xmi:type="notation:TitleStyle" xmi:id="_oMtCQw9_EeqYjOkV1WinKg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMtCRA9_EeqYjOkV1WinKg"/>
- </children>
- <children xmi:type="notation:BasicCompartment" xmi:id="_oMuQZA9_EeqYjOkV1WinKg" type="StereotypeCompartment">
- <styles xmi:type="notation:TitleStyle" xmi:id="_oMuQZQ9_EeqYjOkV1WinKg"/>
- <styles xmi:type="notation:StringValueStyle" xmi:id="_oMuQZg9_EeqYjOkV1WinKg" name="stereotype" stringValue="robotics::components::ComponentDefinition"/>
- <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_L3wdoJZ2Eeeq1f8hGgKVzA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMuQZw9_EeqYjOkV1WinKg"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_pkxocg9_EeqYjOkV1WinKg" type="Port_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_pkxodA9_EeqYjOkV1WinKg" type="Port_NameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPgA9_EeqYjOkV1WinKg" x="25" y="3"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_pkyPgQ9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPgg9_EeqYjOkV1WinKg" x="25" y="-10"/>
- </children>
- <element xmi:type="uml:Port" href="rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pkxocw9_EeqYjOkV1WinKg" x="-10" y="110"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_pkyPgw9_EeqYjOkV1WinKg" type="Port_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_pkyPhQ9_EeqYjOkV1WinKg" type="Port_NameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPhg9_EeqYjOkV1WinKg" x="25" y="3"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_pkyPhw9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPiA9_EeqYjOkV1WinKg" x="25" y="-10"/>
- </children>
- <element xmi:type="uml:Port" href="rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pkyPhA9_EeqYjOkV1WinKg" x="-10" y="150"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_pkyPiQ9_EeqYjOkV1WinKg" type="Port_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_pkyPiw9_EeqYjOkV1WinKg" type="Port_NameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2kA9_EeqYjOkV1WinKg" x="25" y="3"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_pky2kQ9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2kg9_EeqYjOkV1WinKg" x="25" y="-10"/>
- </children>
- <element xmi:type="uml:Port" href="rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pkyPig9_EeqYjOkV1WinKg" x="308" y="90"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_pky2kw9_EeqYjOkV1WinKg" type="Port_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_pky2lQ9_EeqYjOkV1WinKg" type="Port_NameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2lg9_EeqYjOkV1WinKg" x="25" y="3"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_pky2lw9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2mA9_EeqYjOkV1WinKg" x="25" y="-10"/>
- </children>
- <element xmi:type="uml:Port" href="rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pky2lA9_EeqYjOkV1WinKg" x="308" y="130"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_pky2mQ9_EeqYjOkV1WinKg" type="Port_Shape">
- <children xmi:type="notation:DecorationNode" xmi:id="_pkzdoA9_EeqYjOkV1WinKg" type="Port_NameLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pkzdoQ9_EeqYjOkV1WinKg" x="25" y="3"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_pkzdog9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_pkzdow9_EeqYjOkV1WinKg" x="25" y="-10"/>
- </children>
- <element xmi:type="uml:Port" href="rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pky2mg9_EeqYjOkV1WinKg" x="308" y="170"/>
- </children>
- <element xmi:type="uml:Class" href="rviz.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMltgQ9_EeqYjOkV1WinKg" x="140" y="80" width="318" height="221"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_uZu8Tgn5EeueAa1uAeDfJw" type="StereotypeComment">
- <styles xmi:type="notation:TitleStyle" xmi:id="_uZu8Twn5EeueAa1uAeDfJw"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uZu8UQn5EeueAa1uAeDfJw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Class" href="rviz.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uZu8UAn5EeueAa1uAeDfJw" x="340" y="80"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_uZ3fEAn5EeueAa1uAeDfJw" type="StereotypeComment">
- <styles xmi:type="notation:TitleStyle" xmi:id="_uZ3fEQn5EeueAa1uAeDfJw"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uZ3fEwn5EeueAa1uAeDfJw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uZ3fEgn5EeueAa1uAeDfJw" x="190" y="110"/>
- </children>
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- <styles xmi:type="notation:TitleStyle" xmi:id="_uZ8XkQn5EeueAa1uAeDfJw"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uZ8Xkwn5EeueAa1uAeDfJw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uZ8Xkgn5EeueAa1uAeDfJw" x="190" y="150"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_uaBQEAn5EeueAa1uAeDfJw" type="StereotypeComment">
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- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uaBQEgn5EeueAa1uAeDfJw" x="508" y="90"/>
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- <children xmi:type="notation:Shape" xmi:id="_uaGIkAn5EeueAa1uAeDfJw" type="StereotypeComment">
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- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
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- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uaGIkgn5EeueAa1uAeDfJw" x="508" y="130"/>
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- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
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- <element xsi:nil="true"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uaKaAgn5EeueAa1uAeDfJw" x="508" y="170"/>
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- <styles xmi:type="notation:StringValueStyle" xmi:id="_lXehkQ9_EeqYjOkV1WinKg" name="diagram_compatibility_version" stringValue="1.4.0"/>
- <styles xmi:type="notation:DiagramStyle" xmi:id="_lXehkg9_EeqYjOkV1WinKg"/>
- <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_lXehkw9_EeqYjOkV1WinKg" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
- <owner xmi:type="uml:Model" href="rviz.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
- </styles>
- <element xmi:type="uml:Model" href="rviz.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
- <edges xmi:type="notation:Connector" xmi:id="_uZu8Ugn5EeueAa1uAeDfJw" type="StereotypeCommentLink" source="_oMltgA9_EeqYjOkV1WinKg" target="_uZu8Tgn5EeueAa1uAeDfJw">
- <styles xmi:type="notation:FontStyle" xmi:id="_uZu8Uwn5EeueAa1uAeDfJw"/>
- <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uZu8Vwn5EeueAa1uAeDfJw" name="BASE_ELEMENT">
- <eObjectValue xmi:type="uml:Class" href="rviz.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
- <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uZu8VAn5EeueAa1uAeDfJw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
- <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uZu8VQn5EeueAa1uAeDfJw"/>
- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uZu8Vgn5EeueAa1uAeDfJw"/>
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- <edges xmi:type="notation:Connector" xmi:id="_uZzNpAn5EeueAa1uAeDfJw" type="StereotypeCommentLink" source="_BPua0A-AEeqYjOkV1WinKg" target="_uZzNoAn5EeueAa1uAeDfJw">
- <styles xmi:type="notation:FontStyle" xmi:id="_uZzNpQn5EeueAa1uAeDfJw"/>
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- <eObjectValue xmi:type="uml:Class" href="rviz.compdef.uml#_BN_VcA-AEeqYjOkV1WinKg"/>
- </styles>
- <element xsi:nil="true"/>
- <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uZzNpgn5EeueAa1uAeDfJw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
- <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uZzNpwn5EeueAa1uAeDfJw"/>
- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uZzNqAn5EeueAa1uAeDfJw"/>
- </edges>
- <edges xmi:type="notation:Connector" xmi:id="_uZ3fFAn5EeueAa1uAeDfJw" type="StereotypeCommentLink" source="_pkxocg9_EeqYjOkV1WinKg" target="_uZ3fEAn5EeueAa1uAeDfJw">
- <styles xmi:type="notation:FontStyle" xmi:id="_uZ3fFQn5EeueAa1uAeDfJw"/>
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- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
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- <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uZ3fFwn5EeueAa1uAeDfJw"/>
- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uZ3fGAn5EeueAa1uAeDfJw"/>
- </edges>
- <edges xmi:type="notation:Connector" xmi:id="_uZ8XlAn5EeueAa1uAeDfJw" type="StereotypeCommentLink" source="_pkyPgw9_EeqYjOkV1WinKg" target="_uZ8XkAn5EeueAa1uAeDfJw">
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- <eObjectValue xmi:type="uml:Port" href="rviz.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
- </styles>
- <element xsi:nil="true"/>
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.di b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.di
similarity index 100%
rename from plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.di
rename to plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.di
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.notation
new file mode 100644
index 0000000..b09ea62
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.notation
@@ -0,0 +1,230 @@
+<?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: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" xmi:id="_lXehkA9_EeqYjOkV1WinKg" type="CompositeStructure" name="rviz diagram" measurementUnit="Pixel">
+ <children xmi:type="notation:Shape" xmi:id="_oMltgA9_EeqYjOkV1WinKg" type="Class_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_oMm7oA9_EeqYjOkV1WinKg" type="Class_NameLabel"/>
+ <children xmi:type="notation:DecorationNode" xmi:id="_oMm7oQ9_EeqYjOkV1WinKg" type="Class_FloatingNameLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_oMm7og9_EeqYjOkV1WinKg" y="15"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_oMm7ow9_EeqYjOkV1WinKg" type="Class_StructureCompartment">
+ <children xmi:type="notation:Shape" xmi:id="_BPua0A-AEeqYjOkV1WinKg" type="Class_Shape_CN">
+ <children xmi:type="notation:DecorationNode" xmi:id="_BPua0g-AEeqYjOkV1WinKg" type="Class_NameLabel_CN"/>
+ <children xmi:type="notation:DecorationNode" xmi:id="_BPua0w-AEeqYjOkV1WinKg" type="Class_FloatingNameLabel_CN">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_BPua1A-AEeqYjOkV1WinKg" y="15"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_BPua1Q-AEeqYjOkV1WinKg" type="Class_StructureCompartment_CN">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_BPua1g-AEeqYjOkV1WinKg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BPua1w-AEeqYjOkV1WinKg"/>
+ </children>
+ <element xmi:type="uml:Class" href="rviz2.compdef.uml#_BN_VcA-AEeqYjOkV1WinKg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BPua0Q-AEeqYjOkV1WinKg" x="111" y="23" width="84" height="58"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ucKwQCp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_ucKwQSp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ucKwQyp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="rviz2.compdef.uml#_BN_VcA-AEeqYjOkV1WinKg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ucKwQip_Eey4EugVrvBHDg" x="311" y="23"/>
+ </children>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_oMm7pA9_EeqYjOkV1WinKg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMm7pQ9_EeqYjOkV1WinKg"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_oMr0IA9_EeqYjOkV1WinKg" type="StereotypeLabel">
+ <styles xmi:type="notation:StringValueStyle" xmi:id="_oMr0IQ9_EeqYjOkV1WinKg" name="stereotype" stringValue="robotics::components::ComponentDefinition"/>
+ <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_L3wdoJZ2Eeeq1f8hGgKVzA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMr0Ig9_EeqYjOkV1WinKg"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_oMr0Iw9_EeqYjOkV1WinKg" type="StereotypeBrace">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_oMr0JA9_EeqYjOkV1WinKg"/>
+ <styles xmi:type="notation:StringValueStyle" xmi:id="_oMr0JQ9_EeqYjOkV1WinKg" name="stereotype" stringValue="robotics::components::ComponentDefinition"/>
+ <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_L3wdoJZ2Eeeq1f8hGgKVzA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMr0Jg9_EeqYjOkV1WinKg"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_oMtCQg9_EeqYjOkV1WinKg" type="compartment_shape_display">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_oMtCQw9_EeqYjOkV1WinKg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMtCRA9_EeqYjOkV1WinKg"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_oMuQZA9_EeqYjOkV1WinKg" type="StereotypeCompartment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_oMuQZQ9_EeqYjOkV1WinKg"/>
+ <styles xmi:type="notation:StringValueStyle" xmi:id="_oMuQZg9_EeqYjOkV1WinKg" name="stereotype" stringValue="robotics::components::ComponentDefinition"/>
+ <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_L3wdoJZ2Eeeq1f8hGgKVzA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMuQZw9_EeqYjOkV1WinKg"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_pkxocg9_EeqYjOkV1WinKg" type="Port_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkxodA9_EeqYjOkV1WinKg" type="Port_NameLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPgA9_EeqYjOkV1WinKg" x="25" y="3"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkyPgQ9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPgg9_EeqYjOkV1WinKg" x="25" y="-10"/>
+ </children>
+ <element xmi:type="uml:Port" href="rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pkxocw9_EeqYjOkV1WinKg" x="-10" y="110"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_pkyPgw9_EeqYjOkV1WinKg" type="Port_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkyPhQ9_EeqYjOkV1WinKg" type="Port_NameLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPhg9_EeqYjOkV1WinKg" x="25" y="3"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkyPhw9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pkyPiA9_EeqYjOkV1WinKg" x="25" y="-10"/>
+ </children>
+ <element xmi:type="uml:Port" href="rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pkyPhA9_EeqYjOkV1WinKg" x="-10" y="150"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_pkyPiQ9_EeqYjOkV1WinKg" type="Port_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkyPiw9_EeqYjOkV1WinKg" type="Port_NameLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2kA9_EeqYjOkV1WinKg" x="25" y="3"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_pky2kQ9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2kg9_EeqYjOkV1WinKg" x="25" y="-10"/>
+ </children>
+ <element xmi:type="uml:Port" href="rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pkyPig9_EeqYjOkV1WinKg" x="308" y="90"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_pky2kw9_EeqYjOkV1WinKg" type="Port_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_pky2lQ9_EeqYjOkV1WinKg" type="Port_NameLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2lg9_EeqYjOkV1WinKg" x="25" y="3"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_pky2lw9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pky2mA9_EeqYjOkV1WinKg" x="25" y="-10"/>
+ </children>
+ <element xmi:type="uml:Port" href="rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pky2lA9_EeqYjOkV1WinKg" x="308" y="130"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_pky2mQ9_EeqYjOkV1WinKg" type="Port_Shape">
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkzdoA9_EeqYjOkV1WinKg" type="Port_NameLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pkzdoQ9_EeqYjOkV1WinKg" x="25" y="3"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_pkzdog9_EeqYjOkV1WinKg" type="Port_StereotypeLabel">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_pkzdow9_EeqYjOkV1WinKg" x="25" y="-10"/>
+ </children>
+ <element xmi:type="uml:Port" href="rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pky2mg9_EeqYjOkV1WinKg" x="308" y="170"/>
+ </children>
+ <element xmi:type="uml:Class" href="rviz2.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oMltgQ9_EeqYjOkV1WinKg" x="140" y="80" width="318" height="221"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_uby80Cp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_uby80Sp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ubzj4Cp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="rviz2.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uby80ip_Eey4EugVrvBHDg" x="340" y="80"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ueoOYCp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_ueoOYSp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ueo1cCp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ueoOYip_Eey4EugVrvBHDg" x="190" y="110"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ufAB0Cp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_ufAB0Sp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ufAB0yp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ufAB0ip_Eey4EugVrvBHDg" x="190" y="150"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ufWnICp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_ufWnISp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ufWnIyp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ufWnIip_Eey4EugVrvBHDg" x="508" y="90"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ufl3sCp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_ufl3sSp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ufmewCp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ufl3sip_Eey4EugVrvBHDg" x="508" y="130"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ufz6ICp_Eey4EugVrvBHDg" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_ufz6ISp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uf0hMCp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ufz6Iip_Eey4EugVrvBHDg" x="508" y="170"/>
+ </children>
+ <styles xmi:type="notation:StringValueStyle" xmi:id="_lXehkQ9_EeqYjOkV1WinKg" name="diagram_compatibility_version" stringValue="1.4.0"/>
+ <styles xmi:type="notation:DiagramStyle" xmi:id="_lXehkg9_EeqYjOkV1WinKg"/>
+ <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_lXehkw9_EeqYjOkV1WinKg" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
+ <owner xmi:type="uml:Model" href="rviz2.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xmi:type="uml:Model" href="rviz2.compdef.uml#_7dB2wA6rEeqas7S1-hM4Zg"/>
+ <edges xmi:type="notation:Connector" xmi:id="_ubzj4Sp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_oMltgA9_EeqYjOkV1WinKg" target="_uby80Cp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_ubzj4ip_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ub0K8Sp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="rviz2.compdef.uml#_ljX7gA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ubzj4yp_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ubzj5Cp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ub0K8Cp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_ucKwRCp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_BPua0A-AEeqYjOkV1WinKg" target="_ucKwQCp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_ucKwRSp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ucKwSSp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="rviz2.compdef.uml#_BN_VcA-AEeqYjOkV1WinKg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ucKwRip_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ucKwRyp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ucKwSCp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_ueo1cSp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_pkxocg9_EeqYjOkV1WinKg" target="_ueoOYCp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_ueo1cip_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ueo1dip_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_ltzp4A6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ueo1cyp_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ueo1dCp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ueo1dSp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_ufAB1Cp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_pkyPgw9_EeqYjOkV1WinKg" target="_ufAB0Cp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_ufAB1Sp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ufAo4ip_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_lt5JcA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ufAB1ip_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ufAo4Cp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ufAo4Sp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_ufWnJCp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_pkyPiQ9_EeqYjOkV1WinKg" target="_ufWnICp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_ufWnJSp_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ufWnKSp_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_lt-B8A6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ufWnJip_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ufWnJyp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ufWnKCp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_ufmewSp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_pky2kw9_EeqYjOkV1WinKg" target="_ufl3sCp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_ufmewip_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ufmexip_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_luBsUA6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ufmewyp_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ufmexCp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ufmexSp_Eey4EugVrvBHDg"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_uf0hMSp_Eey4EugVrvBHDg" type="StereotypeCommentLink" source="_pky2mQ9_EeqYjOkV1WinKg" target="_ufz6ICp_Eey4EugVrvBHDg">
+ <styles xmi:type="notation:FontStyle" xmi:id="_uf0hMip_Eey4EugVrvBHDg"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uf0hNip_Eey4EugVrvBHDg" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Port" href="rviz2.compdef.uml#_luEvoQ6uEeqas7S1-hM4Zg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uf0hMyp_Eey4EugVrvBHDg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uf0hNCp_Eey4EugVrvBHDg"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uf0hNSp_Eey4EugVrvBHDg"/>
+ </edges>
+</notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.uml
similarity index 97%
rename from plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.uml
rename to plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.uml
index eee8273..aa31dec 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz/models/components/rviz.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/rviz2/models/components/rviz2.compdef.uml
@@ -1,13 +1,13 @@
<?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.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/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters">
- <uml:Model xmi:id="_7dB2wA6rEeqas7S1-hM4Zg" name="ExampleCompdef">
+ <uml:Model xmi:id="_7dB2wA6rEeqas7S1-hM4Zg" name="rviz2">
<packageImport xmi:type="uml:PackageImport" xmi:id="_7dB2wQ6rEeqas7S1-hM4Zg">
<importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
</packageImport>
<packageImport xmi:type="uml:PackageImport" xmi:id="_7dB2wg6rEeqas7S1-hM4Zg">
<importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
</packageImport>
- <packagedElement xmi:type="uml:Class" xmi:id="_ljX7gA6uEeqas7S1-hM4Zg" name="rviz">
+ <packagedElement xmi:type="uml:Class" xmi:id="_ljX7gA6uEeqas7S1-hM4Zg" name="rviz2">
<ownedAttribute xmi:type="uml:Port" xmi:id="_ltzp4A6uEeqas7S1-hM4Zg" name="tf" type="_lt04AA6uEeqas7S1-hM4Zg"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_lt5JcA6uEeqas7S1-hM4Zg" name="tf_static" type="_lt6XkA6uEeqas7S1-hM4Zg"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_lt-B8A6uEeqas7S1-hM4Zg" name="clicked_point" type="_lt-pAA6uEeqas7S1-hM4Zg"/>
@@ -114,8 +114,8 @@
<appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
</profileApplication>
</uml:Model>
- <robotics.components:ComponentDefinitionModel xmi:id="_7dCd3Q6rEeqas7S1-hM4Zg" base_Package="_7dB2wA6rEeqas7S1-hM4Zg"/>
- <robotics.components:ComponentDefinition xmi:id="_ljZJoA6uEeqas7S1-hM4Zg" base_Class="_ljX7gA6uEeqas7S1-hM4Zg"/>
+ <robotics.components:ComponentDefinitionModel xmi:id="_7dCd3Q6rEeqas7S1-hM4Zg" base_Package="_7dB2wA6rEeqas7S1-hM4Zg" external="true"/>
+ <robotics.components:ComponentDefinition xmi:id="_ljZJoA6uEeqas7S1-hM4Zg" base_Class="_ljX7gA6uEeqas7S1-hM4Zg" isLifecycle="false"/>
<robotics.components:ComponentService xmi:id="_lt3UQA6uEeqas7S1-hM4Zg" base_Class="_lt04AA6uEeqas7S1-hM4Zg"/>
<robotics.components:ComponentService xmi:id="_lt8MwA6uEeqas7S1-hM4Zg" base_Class="_lt6XkA6uEeqas7S1-hM4Zg"/>
<robotics.components:ComponentService xmi:id="_luAeMA6uEeqas7S1-hM4Zg" base_Class="_lt-pAA6uEeqas7S1-hM4Zg"/>
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 3c5503a..4f9dc81 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/plugin.xml
@@ -25,7 +25,7 @@
description="ROS2 - Dummy robot (reversed from ROS2 demos)">
</projectDescriptor>
<fileToOpen
- location="/Dummy robot/models/system/dummy_robot.system.di">
+ location="/dummy_robot/models/system/dummy_robot.system.di">
</fileToOpen>
</example>
</extension>
