RTC.xml

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<rtc:RtcProfile rtc:version="0.2" rtc:id="RTC:takahasi:Manipulation:URRobotControllerRTC:1.0.0" xmlns:rtc="http://www.openrtp.org/namespaces/rtc" xmlns:rtcExt="http://www.openrtp.org/namespaces/rtc_ext" xmlns:rtcDoc="http://www.openrtp.org/namespaces/rtc_doc" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
    <rtc:BasicInfo xsi:type="rtcExt:basic_info_ext" rtcExt:saveProject="URRobotController" rtc:updateDate="2017-12-27T15:33:56+09:00" rtc:creationDate="2017-12-27T15:33:56+09:00" rtc:version="1.0.0" rtc:vendor="takahasi" rtc:maxInstances="1" rtc:executionType="ExtTrigExecutionContext" rtc:executionRate="1000.0" rtc:description="Controller RTC for Universal Robot URx" rtc:category="Manipulation" rtc:componentKind="DataFlowComponent" rtc:activityType="PERIODIC" rtc:componentType="STATIC" rtc:name="URRobotControllerRTC">
        <rtcExt:VersionUpLogs></rtcExt:VersionUpLogs>
        <rtcExt:VersionUpLogs></rtcExt:VersionUpLogs>
    </rtc:BasicInfo>
    <rtc:Actions>
        <rtc:OnInitialize xsi:type="rtcDoc:action_status_doc" rtc:implemented="true"/>
        <rtc:OnFinalize xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnStartup xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnShutdown xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnActivated xsi:type="rtcDoc:action_status_doc" rtc:implemented="true"/>
        <rtc:OnDeactivated xsi:type="rtcDoc:action_status_doc" rtc:implemented="true"/>
        <rtc:OnAborting xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnError xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnReset xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnExecute xsi:type="rtcDoc:action_status_doc" rtc:implemented="true"/>
        <rtc:OnStateUpdate xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnRateChanged xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnAction xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
        <rtc:OnModeChanged xsi:type="rtcDoc:action_status_doc" rtc:implemented="false"/>
    </rtc:Actions>
    <rtc:ConfigurationSet>
        <rtc:Configuration xsi:type="rtcExt:configuration_ext" rtcExt:variableName="" rtc:unit="" rtc:defaultValue="192.168.1.101" rtc:type="string" rtc:name="ip_address">
            <rtcExt:Properties rtcExt:value="text" rtcExt:name="__widget__"/>
        </rtc:Configuration>
    </rtc:ConfigurationSet>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="LEFT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedOctet" rtc:name="mode" rtc:portType="DataInPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="LEFT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedFloatSeq" rtc:name="in_joint" rtc:portType="DataInPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="LEFT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedPose3D" rtc:name="in_pose" rtc:portType="DataInPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="LEFT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedOctet" rtc:name="grip" rtc:portType="DataInPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="RIGHT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedFloatSeq" rtc:name="out_joint" rtc:portType="DataOutPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="RIGHT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedPose3D" rtc:name="out_pose" rtc:portType="DataOutPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="RIGHT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedBoolean" rtc:name="is_moving" rtc:portType="DataOutPort"/>
    <rtc:DataPorts xsi:type="rtcExt:dataport_ext" rtcExt:position="RIGHT" rtcExt:variableName="" rtc:unit="" rtc:subscriptionType="" rtc:dataflowType="" rtc:interfaceType="" rtc:idlFile="" rtc:type="RTC::TimedFloatSeq" rtc:name="force" rtc:portType="DataOutPort"/>
    <rtc:ServicePorts xsi:type="rtcExt:serviceport_ext" rtcExt:position="LEFT" rtc:name="middle">
        <rtc:ServiceInterface xsi:type="rtcExt:serviceinterface_ext" rtcExt:variableName="" rtc:path="/usr/include/openrtm-1.1/rtm/idl/" rtc:type="JARA_ARM::ManipulatorCommonInterface_Middle" rtc:idlFile="/usr/include/openrtm-1.1/rtm/ext/ManipulatorCommonInterface_Middle.idl" rtc:instanceName="" rtc:direction="Provided" rtc:name="middle"/>
    </rtc:ServicePorts>
    <rtc:ServicePorts xsi:type="rtcExt:serviceport_ext" rtcExt:position="LEFT" rtc:name="common">
        <rtc:ServiceInterface xsi:type="rtcExt:serviceinterface_ext" rtcExt:variableName="" rtc:path="/usr/include/openrtm-1.1/rtm/idl/" rtc:type="JARA_ARM::ManipulatorCommonInterface_Common" rtc:idlFile="/usr/include/openrtm-1.1/rtm/ext/ManipulatorCommonInterface_Common.idl" rtc:instanceName="" rtc:direction="Provided" rtc:name="common"/>
    </rtc:ServicePorts>
    <rtc:Language xsi:type="rtcExt:language_ext" rtc:kind="Python"/>
</rtc:RtcProfile>