plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/testmodels/publishSubscribe_extcode/models/components/periodicPublisher.compdef.uml - papyrus/org.eclipse.papyrus-robotics - Git at Google

 <?xml version="1.0" encoding="UTF-8"?>
 <xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.components="http://www.eclipse.org/papyrus/robotics/components/1" xmlns:robotics.functions="http://www.eclipse.org/papyrus/robotics/functions/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.parameters="http://www.eclipse.org/papyrus/robotics/parameters/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/components/1 http://www.eclipse.org/papyrus/robotics/1#//components http://www.eclipse.org/papyrus/robotics/functions/1 http://www.eclipse.org/papyrus/robotics/1#//functions http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters">
   <uml:Model xmi:id="_6nSQsEfEEeiwO_ETU0BG9A" name="periodicPublisherCompdef">
     <ownedComment xmi:type="uml:Comment" xmi:id="_0lrdcBFpEeq9S-Gi7Vl9nA" annotatedElement="_VZylsEfMEeiuVfmPqBuUBA">
       <body>This component models a publisher that is activated periodically.
 It has a set of 2 parameters: a boolean parameter &quot;indoor&quot; (true by default) and an integer &quot;noOfScans&quot; (equal to 5 by default)
 It has a port named pMap that provides a service named &quot;MappingSdef&quot; defined in the simple service definition model.
 It has an activity containing a periodic timer with a &quot;period length&quot; set to 250ms. It references the function fPublishing. This function is tagged (kind attribute) as &quot;periodic&quot;, implying that the timer will call this function periodically. The invocation of the fPublishing function publishes (i.e. pushes) its map data (defined in the simple service definition model).
 Like all RobMoSys components, this component is mapped to a ROS2 lifecycle node and needs to be activated before it starts operating.</body>
     </ownedComment>
     <ownedComment xmi:type="uml:Comment" xmi:id="_6e_1QGnREeq70pI-s0t-Yw" annotatedElement="_VZylsEfMEeiuVfmPqBuUBA">
       <body>The function in this model does not contain code fragments (unlike the PeriodicPublisher in the standard publishSubscribe project), </body>
     </ownedComment>
     <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="_HM8JoPV1EemSEqXywHKEEA">
       <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_TESTMODELS/simple/models/services/simple.servicedef.uml#_6nSQsEfEEeiwO_ETU0BG9A"/>
     </packageImport>
     <packagedElement xmi:type="uml:Class" xmi:id="_VZylsEfMEeiuVfmPqBuUBA" name="PeriodicPublisher">
       <ownedAttribute xmi:type="uml:Property" xmi:id="_nvApgEfMEeiuVfmPqBuUBA" name="activity1" type="_nunn8EfMEeiuVfmPqBuUBA"/>
       <ownedAttribute xmi:type="uml:Port" xmi:id="_utA9cEfMEeiuVfmPqBuUBA" name="pMap" type="_bnnZ4EfMEeiuVfmPqBuUBA" aggregation="composite"/>
       <ownedConnector xmi:type="uml:Connector" xmi:id="_59P2wAbvEeq69tbfZET3mw">
         <end xmi:type="uml:ConnectorEnd" xmi:id="_59ThIAbvEeq69tbfZET3mw" partWithPort="_nvApgEfMEeiuVfmPqBuUBA" role="_r1joIEfMEeiuVfmPqBuUBA"/>
         <end xmi:type="uml:ConnectorEnd" xmi:id="_59ThIQbvEeq69tbfZET3mw" role="_utA9cEfMEeiuVfmPqBuUBA"/>
       </ownedConnector>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_nunn8EfMEeiuVfmPqBuUBA" name="Activity1">
         <generalization xmi:type="uml:Generalization" xmi:id="_nuqrQEfMEeiuVfmPqBuUBA">
           <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
         </generalization>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_r1joIEfMEeiuVfmPqBuUBA" name="ActivityPort2" aggregation="composite"/>
         <ownedAttribute xmi:type="uml:Property" xmi:id="_07g0QG_SEeiz6ZR6GXE5oQ" name="periodic" visibility="public" type="_L-tqIG_TEeiz6ZR6GXE5oQ"/>
         <nestedClassifier xmi:type="uml:Class" xmi:id="_MAGsEAoNEeq2kcvPXHB4lg"/>
       </nestedClassifier>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_ZKz0sEfWEeiuVfmPqBuUBA" name="ParameterSet">
         <ownedAttribute xmi:type="uml:Property" xmi:id="_aYtyQEfWEeiuVfmPqBuUBA" name="indoor">
           <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Boolean"/>
           <defaultValue xmi:type="uml:LiteralBoolean" xmi:id="_0sscYEfWEeiuVfmPqBuUBA" value="true"/>
         </ownedAttribute>
         <ownedAttribute xmi:type="uml:Property" xmi:id="_a8yvsEfWEeiuVfmPqBuUBA" name="noOfScans">
           <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Integer"/>
           <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_1D_iEEfWEeiuVfmPqBuUBA" value="5"/>
         </ownedAttribute>
       </nestedClassifier>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_bnnZ4EfMEeiuVfmPqBuUBA" name="AcmeMapCS">
         <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_AEP8oGnJEeq2Kssrz1fHHg" client="_bnnZ4EfMEeiuVfmPqBuUBA">
           <supplier xmi:type="uml:Interface" href="pathmap://ROS2_TESTMODELS/simple/models/services/simple.servicedef.uml#_gA3kAEfKEeiuVfmPqBuUBA"/>
           <contract xmi:type="uml:Interface" href="pathmap://ROS2_TESTMODELS/simple/models/services/simple.servicedef.uml#_gA3kAEfKEeiuVfmPqBuUBA"/>
         </interfaceRealization>
       </nestedClassifier>
     </packagedElement>
     <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_L-tqIG_TEeiz6ZR6GXE5oQ" name="fPublishing" isAbstract="true" language="" body=""/>
     <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="_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="_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:ComponentDefinition xmi:id="_VZ0a4EfMEeiuVfmPqBuUBA" base_Class="_VZylsEfMEeiuVfmPqBuUBA"/>
   <robotics.components:ComponentService xmi:id="_bnqdMEfMEeiuVfmPqBuUBA" base_Class="_bnnZ4EfMEeiuVfmPqBuUBA"/>
   <robotics.components:Activity xmi:id="_nusgcEfMEeiuVfmPqBuUBA" base_Class="_nunn8EfMEeiuVfmPqBuUBA"/>
   <robotics.components:ActivityInstance xmi:id="_nvDFwEfMEeiuVfmPqBuUBA" base_Property="_nvApgEfMEeiuVfmPqBuUBA"/>
   <robotics.components:ActivityPort xmi:id="_r1nSgEfMEeiuVfmPqBuUBA" base_Port="_r1joIEfMEeiuVfmPqBuUBA"/>
   <robotics.components:ComponentPort xmi:id="_utEAwEfMEeiuVfmPqBuUBA" base_Port="_utA9cEfMEeiuVfmPqBuUBA"/>
   <robotics.parameters:ParameterEntry xmi:id="_aYvAYEfWEeiuVfmPqBuUBA" base_Property="_aYtyQEfWEeiuVfmPqBuUBA"/>
   <robotics.parameters:ParameterEntry xmi:id="_a80k4EfWEeiuVfmPqBuUBA" base_Property="_a8yvsEfWEeiuVfmPqBuUBA"/>
   <robotics.functions:Function xmi:id="_OsNyMG_TEeiz6ZR6GXE5oQ" base_Class="_L-tqIG_TEeiz6ZR6GXE5oQ" kind="PERIODIC"/>
   <robotics.parameters:Parameter xmi:id="_DYJfoO2YEeiIsbnv4SkkbA" base_Class="_ZKz0sEfWEeiuVfmPqBuUBA"/>
   <robotics.components:ComponentDefinitionModel xmi:id="_wy6pINAQEemsvtLt7dgtCQ" provenance="info-list@cea.fr CEA LIST" base_Package="_6nSQsEfEEeiwO_ETU0BG9A"/>
   <robotics.generics:Connects xmi:id="_59UIMAbvEeq69tbfZET3mw" base_Connector="_59P2wAbvEeq69tbfZET3mw"/>
   <robotics.components:PeriodicTimer xmi:id="_MCOzAAoNEeq2kcvPXHB4lg" base_Class="_MAGsEAoNEeq2kcvPXHB4lg" period="250ms"/>
 </xmi:XMI>
	<?xml version="1.0" encoding="UTF-8"?>
	<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.components="http://www.eclipse.org/papyrus/robotics/components/1" xmlns:robotics.functions="http://www.eclipse.org/papyrus/robotics/functions/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.parameters="http://www.eclipse.org/papyrus/robotics/parameters/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/components/1 http://www.eclipse.org/papyrus/robotics/1#//components http://www.eclipse.org/papyrus/robotics/functions/1 http://www.eclipse.org/papyrus/robotics/1#//functions http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters">
	<uml:Model xmi:id="_6nSQsEfEEeiwO_ETU0BG9A" name="periodicPublisherCompdef">
	<ownedComment xmi:type="uml:Comment" xmi:id="_0lrdcBFpEeq9S-Gi7Vl9nA" annotatedElement="_VZylsEfMEeiuVfmPqBuUBA">
	<body>This component models a publisher that is activated periodically.
	It has a set of 2 parameters: a boolean parameter "indoor" (true by default) and an integer "noOfScans" (equal to 5 by default)
	It has a port named pMap that provides a service named "MappingSdef" defined in the simple service definition model.
	It has an activity containing a periodic timer with a "period length" set to 250ms. It references the function fPublishing. This function is tagged (kind attribute) as "periodic", implying that the timer will call this function periodically. The invocation of the fPublishing function publishes (i.e. pushes) its map data (defined in the simple service definition model).
	Like all RobMoSys components, this component is mapped to a ROS2 lifecycle node and needs to be activated before it starts operating.</body>
	</ownedComment>
	<ownedComment xmi:type="uml:Comment" xmi:id="_6e_1QGnREeq70pI-s0t-Yw" annotatedElement="_VZylsEfMEeiuVfmPqBuUBA">
	<body>The function in this model does not contain code fragments (unlike the PeriodicPublisher in the standard publishSubscribe project), </body>
	</ownedComment>
	<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="_HM8JoPV1EemSEqXywHKEEA">
	<importedPackage xmi:type="uml:Model" href="pathmap://ROS2_TESTMODELS/simple/models/services/simple.servicedef.uml#_6nSQsEfEEeiwO_ETU0BG9A"/>
	</packageImport>
	<packagedElement xmi:type="uml:Class" xmi:id="_VZylsEfMEeiuVfmPqBuUBA" name="PeriodicPublisher">
	<ownedAttribute xmi:type="uml:Property" xmi:id="_nvApgEfMEeiuVfmPqBuUBA" name="activity1" type="_nunn8EfMEeiuVfmPqBuUBA"/>
	<ownedAttribute xmi:type="uml:Port" xmi:id="_utA9cEfMEeiuVfmPqBuUBA" name="pMap" type="_bnnZ4EfMEeiuVfmPqBuUBA" aggregation="composite"/>
	<ownedConnector xmi:type="uml:Connector" xmi:id="_59P2wAbvEeq69tbfZET3mw">
	<end xmi:type="uml:ConnectorEnd" xmi:id="_59ThIAbvEeq69tbfZET3mw" partWithPort="_nvApgEfMEeiuVfmPqBuUBA" role="_r1joIEfMEeiuVfmPqBuUBA"/>
	<end xmi:type="uml:ConnectorEnd" xmi:id="_59ThIQbvEeq69tbfZET3mw" role="_utA9cEfMEeiuVfmPqBuUBA"/>
	</ownedConnector>
	<nestedClassifier xmi:type="uml:Class" xmi:id="_nunn8EfMEeiuVfmPqBuUBA" name="Activity1">
	<generalization xmi:type="uml:Generalization" xmi:id="_nuqrQEfMEeiuVfmPqBuUBA">
	<general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
	</generalization>
	<ownedAttribute xmi:type="uml:Port" xmi:id="_r1joIEfMEeiuVfmPqBuUBA" name="ActivityPort2" aggregation="composite"/>
	<ownedAttribute xmi:type="uml:Property" xmi:id="_07g0QG_SEeiz6ZR6GXE5oQ" name="periodic" visibility="public" type="_L-tqIG_TEeiz6ZR6GXE5oQ"/>
	<nestedClassifier xmi:type="uml:Class" xmi:id="_MAGsEAoNEeq2kcvPXHB4lg"/>
	</nestedClassifier>
	<nestedClassifier xmi:type="uml:Class" xmi:id="_ZKz0sEfWEeiuVfmPqBuUBA" name="ParameterSet">
	<ownedAttribute xmi:type="uml:Property" xmi:id="_aYtyQEfWEeiuVfmPqBuUBA" name="indoor">
	<type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Boolean"/>
	<defaultValue xmi:type="uml:LiteralBoolean" xmi:id="_0sscYEfWEeiuVfmPqBuUBA" value="true"/>
	</ownedAttribute>
	<ownedAttribute xmi:type="uml:Property" xmi:id="_a8yvsEfWEeiuVfmPqBuUBA" name="noOfScans">
	<type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Integer"/>
	<defaultValue xmi:type="uml:LiteralInteger" xmi:id="_1D_iEEfWEeiuVfmPqBuUBA" value="5"/>
	</ownedAttribute>
	</nestedClassifier>
	<nestedClassifier xmi:type="uml:Class" xmi:id="_bnnZ4EfMEeiuVfmPqBuUBA" name="AcmeMapCS">
	<interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_AEP8oGnJEeq2Kssrz1fHHg" client="_bnnZ4EfMEeiuVfmPqBuUBA">
	<supplier xmi:type="uml:Interface" href="pathmap://ROS2_TESTMODELS/simple/models/services/simple.servicedef.uml#_gA3kAEfKEeiuVfmPqBuUBA"/>
	<contract xmi:type="uml:Interface" href="pathmap://ROS2_TESTMODELS/simple/models/services/simple.servicedef.uml#_gA3kAEfKEeiuVfmPqBuUBA"/>
	</interfaceRealization>
	</nestedClassifier>
	</packagedElement>
	<packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_L-tqIG_TEeiz6ZR6GXE5oQ" name="fPublishing" isAbstract="true" language="" body=""/>
	<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="_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="_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:ComponentDefinition xmi:id="_VZ0a4EfMEeiuVfmPqBuUBA" base_Class="_VZylsEfMEeiuVfmPqBuUBA"/>
	<robotics.components:ComponentService xmi:id="_bnqdMEfMEeiuVfmPqBuUBA" base_Class="_bnnZ4EfMEeiuVfmPqBuUBA"/>
	<robotics.components:Activity xmi:id="_nusgcEfMEeiuVfmPqBuUBA" base_Class="_nunn8EfMEeiuVfmPqBuUBA"/>
	<robotics.components:ActivityInstance xmi:id="_nvDFwEfMEeiuVfmPqBuUBA" base_Property="_nvApgEfMEeiuVfmPqBuUBA"/>
	<robotics.components:ActivityPort xmi:id="_r1nSgEfMEeiuVfmPqBuUBA" base_Port="_r1joIEfMEeiuVfmPqBuUBA"/>
	<robotics.components:ComponentPort xmi:id="_utEAwEfMEeiuVfmPqBuUBA" base_Port="_utA9cEfMEeiuVfmPqBuUBA"/>
	<robotics.parameters:ParameterEntry xmi:id="_aYvAYEfWEeiuVfmPqBuUBA" base_Property="_aYtyQEfWEeiuVfmPqBuUBA"/>
	<robotics.parameters:ParameterEntry xmi:id="_a80k4EfWEeiuVfmPqBuUBA" base_Property="_a8yvsEfWEeiuVfmPqBuUBA"/>
	<robotics.functions:Function xmi:id="_OsNyMG_TEeiz6ZR6GXE5oQ" base_Class="_L-tqIG_TEeiz6ZR6GXE5oQ" kind="PERIODIC"/>
	<robotics.parameters:Parameter xmi:id="_DYJfoO2YEeiIsbnv4SkkbA" base_Class="_ZKz0sEfWEeiuVfmPqBuUBA"/>
	<robotics.components:ComponentDefinitionModel xmi:id="_wy6pINAQEemsvtLt7dgtCQ" provenance="info-list@cea.fr CEA LIST" base_Package="_6nSQsEfEEeiwO_ETU0BG9A"/>
	<robotics.generics:Connects xmi:id="_59UIMAbvEeq69tbfZET3mw" base_Connector="_59P2wAbvEeq69tbfZET3mw"/>
	<robotics.components:PeriodicTimer xmi:id="_MCOzAAoNEeq2kcvPXHB4lg" base_Class="_MAGsEAoNEeq2kcvPXHB4lg" period="250ms"/>
	</xmi:XMI>