| <?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:Transformation="http://www.eclipse.org/papyrus/Transformation/1" 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"> |
| <uml:Model xmi:id="_6nSQsEfEEeiwO_ETU0BG9A" name="MARA"> |
| <packageImport xmi:type="uml:PackageImport" xmi:id="_lwxc0ExOEei_Sui04GqxlQ"> |
| <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/> |
| </packageImport> |
| <packageImport xmi:type="uml:PackageImport" xmi:id="_vPI0sExOEei_Sui04GqxlQ"> |
| <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/> |
| </packageImport> |
| <packageImport xmi:type="uml:PackageImport" xmi:id="_HJnL0AZrEeq8VKjHfobYhA"> |
| <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_EXAMPLES/mara/RotaryServo.compdef.uml#_6nSQsEfEEeiwO_ETU0BG9A"/> |
| </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> |
| <packagedElement xmi:type="uml:Class" xmi:id="_-weSoEfPEeiuVfmPqBuUBA" name="MARASystem"> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_5rMOQEioEeibw8rzm-vE_w" name="client" visibility="public" aggregation="composite"> |
| <type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/mara/MARAClient.compdef.uml#_-9MoUEiFEeiAtInRNnLmIQ"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_ixRAoEjeEeiBb7OxqOR2Gg" name="hrim_actuator_rotaryservo_000000000001" aggregation="composite"> |
| <type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/mara/RotaryServo.compdef.uml#_VZylsEfMEeiuVfmPqBuUBA"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_j5yLkAZrEeq8VKjHfobYhA" name="hrim_actuator_rotaryservo_000000000002"> |
| <type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/mara/RotaryServo.compdef.uml#_VZylsEfMEeiuVfmPqBuUBA"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_wdkcQAZrEeq8VKjHfobYhA" name="hrim_actuator_rotaryservo_000000000003"> |
| <type xmi:type="uml:Class" href="pathmap://ROS2_EXAMPLES/mara/RotaryServo.compdef.uml#_VZylsEfMEeiuVfmPqBuUBA"/> |
| </ownedAttribute> |
| <ownedConnector xmi:type="uml:Connector" xmi:id="_NINRMAZrEeq8VKjHfobYhA"> |
| <end xmi:type="uml:ConnectorEnd" xmi:id="_NIXpQAZrEeq8VKjHfobYhA" partWithPort="_5rMOQEioEeibw8rzm-vE_w"> |
| <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/mara/MARAClient.compdef.uml#_k7IdANB3EemDj5ABsPyZmA"/> |
| </end> |
| <end xmi:type="uml:ConnectorEnd" xmi:id="_NIYQUAZrEeq8VKjHfobYhA" partWithPort="_ixRAoEjeEeiBb7OxqOR2Gg"> |
| <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/mara/RotaryServo.compdef.uml#_utA9cEfMEeiuVfmPqBuUBA"/> |
| </end> |
| </ownedConnector> |
| <ownedConnector xmi:type="uml:Connector" xmi:id="_5DGD0Aa8Eeq8VKjHfobYhA"> |
| <end xmi:type="uml:ConnectorEnd" xmi:id="_5DH5AAa8Eeq8VKjHfobYhA" partWithPort="_5rMOQEioEeibw8rzm-vE_w"> |
| <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/mara/MARAClient.compdef.uml#_dxr9kAa7Eeq8VKjHfobYhA"/> |
| </end> |
| <end xmi:type="uml:ConnectorEnd" xmi:id="_5DH5AQa8Eeq8VKjHfobYhA" partWithPort="_j5yLkAZrEeq8VKjHfobYhA"> |
| <role xmi:type="uml:Port" href="pathmap://ROS2_EXAMPLES/mara/RotaryServo.compdef.uml#_VJ5Y4NB3EemDj5ABsPyZmA"/> |
| </end> |
| </ownedConnector> |
| </packagedElement> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_6voUYEfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6vqJkEfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_BPC_PROFILES/bpc.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7CwrwEfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7CxS0EfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#/"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7Cyg8EfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7Cyg8UfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//components"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_EZ1TgJZ2Eeeq1f8hGgKVzA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7Cyg8kfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7Cyg80fEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commpattern"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_8Z6x8Je6EeeiCOWsEr9OuA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7CzIAkfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7CzvEEfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//deployment"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_tu6OsJe9EeeiCOWsEr9OuA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7CzvEUfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7CzvEkfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//services"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SlbOAJe_EeeiCOWsEr9OuA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7C0WIEfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7C0WIUfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7C0WIkfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7C09MEfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_7C09MUfEEeiwO_ETU0BG9A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7C1kQEfEEeiwO_ETU0BG9A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//parameters"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_vBSogEfFEeiuVfmPqBuUBA"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vBVEwEfFEeiuVfmPqBuUBA" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Foundations/NFPs"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_U_GAoAPMEdyuUt-4qHuVvQ"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_vBXhAEfFEeiuVfmPqBuUBA"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vBXhAUfFEeiuVfmPqBuUBA" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_QpoCUEfMEeiuVfmPqBuUBA"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QpopYEfMEeiuVfmPqBuUBA" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="pathmap://PAPYRUS_ACTIONLANGUAGE_PROFILE/ActionLanguage-Profile.profile.uml#_Kv8EIKFXEeS_KNX0nfvIVQ"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://PAPYRUS_ACTIONLANGUAGE_PROFILE/ActionLanguage-Profile.profile.uml#ActionLanguage"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_I4cKUEoDEeie-dKbx_4wnA"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_I442QEoDEeie-dKbx_4wnA" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_B6r-QHmIEeiEH8S4hjo5YQ"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_B6tMYHmIEeiEH8S4hjo5YQ" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/Transformation/1#/"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://TRAFO_PROFILE/Transformation.profile.uml#_fPDsIBa-EearhdjjJ6cVzQ"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_eP0y4KcHEemKm7jDzAkd-g"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_eP5EUKcHEemKm7jDzAkd-g" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/C_Cpp/1#/"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://PapyrusC_Cpp_PROFILES/C_Cpp.profile.uml#_j9REUByGEduN1bTiWJ0lyw"/> |
| </profileApplication> |
| </uml:Model> |
| <robotics.components:System xmi:id="_QZ61kEfQEeiuVfmPqBuUBA" base_Class="_-weSoEfPEeiuVfmPqBuUBA"/> |
| <robotics.components:ComponentInstance xmi:id="_5rjaoEioEeibw8rzm-vE_w" base_Property="_5rMOQEioEeibw8rzm-vE_w"/> |
| <robotics.components:ComponentInstance xmi:id="_ixbYsEjeEeiBb7OxqOR2Gg" base_Property="_ixRAoEjeEeiBb7OxqOR2Gg"/> |
| <Transformation:ExecuteTrafoChain xmi:id="_DSKHgHmIEeiEH8S4hjo5YQ" base_Package="_6nSQsEfEEeiwO_ETU0BG9A"> |
| <chain xmi:type="Transformation:M2MTrafoChain" href="platform:/plugin/org.eclipse.papyrus.robotics.transformation.ros2.library/models/library/ros2Library.uml#_d7RLcPVkEemTJIu6MXTrdg"/> |
| </Transformation:ExecuteTrafoChain> |
| <robotics.components:SystemComponentArchitectureModel xmi:id="_ZuytINCHEemHtJk8ZqRL8Q" base_Package="_6nSQsEfEEeiwO_ETU0BG9A"/> |
| <robotics.generics:Connects xmi:id="_NIZecAZrEeq8VKjHfobYhA" base_Connector="_NINRMAZrEeq8VKjHfobYhA"/> |
| <robotics.components:ComponentInstance xmi:id="_kY_QEAZrEeq8VKjHfobYhA" base_Property="_j5yLkAZrEeq8VKjHfobYhA"/> |
| <robotics.components:ComponentInstance xmi:id="_xP3b4AZrEeq8VKjHfobYhA" base_Property="_wdkcQAZrEeq8VKjHfobYhA"/> |
| <robotics.generics:Connects xmi:id="_5DH5Aga8Eeq8VKjHfobYhA" base_Connector="_5DGD0Aa8Eeq8VKjHfobYhA"/> |
| </xmi:XMI> |