<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE properties SYSTEM "cpf.dtd">
<properties>

  <simple name="Import" type="string"><value>rtt_rosnode</value></simple>
  <simple name="Import" type="string"><value>ocl</value></simple>
  <simple name="Import" type="string"><value>naxes_motion_control</value></simple>  
  <simple name="Import" type="string"><value>lwr_fri</value></simple>  

  <struct name="ROSConMsg" type="ConnPolicy">
    <simple name="transport" type="short"><value>3</value></simple>
    <simple name="name_id" type="string"><value>lwrfri_desired_jointpositions</value></simple>
  </struct>

  <struct name="FRIServer" type="lwr_fri::FRIComponent">  
    <struct name="Activity" type="NonPeriodicActivity">
      <simple name="Priority" type="long"><value>1</value></simple>      
      <simple name="Scheduler" type="string"><value>ORO_SCHED_RT</value></simple>
    </struct>
    <simple name="AutoConf" type="boolean"><value>1</value></simple>
    <simple name="AutoStart" type="boolean"><value>1</value></simple>
    <simple name="LoadProperties" type="string"><value>cpf/FRIServer_modified.cpf</value></simple>    
    <struct name="Ports" type="PropertyBag">
       <simple name="JointState" type="string"><value>JntPosMsr</value></simple>
       <simple name="JointPositionCommand" type="string"><value>JntPosDsr</value></simple>      
    </struct>
  </struct>

  <struct name="nAxesGeneratorPos" type="motion_control::nAxesGeneratorPos">
    <struct name="Activity" type="PeriodicActivity">
      <simple name="Period" type="double"><value>0.01</value></simple>
      <simple name="Priority" type="long"><value>1</value></simple>      
      <simple name="Scheduler" type="string"><value>ORO_SCHED_RT</value></simple>
    </struct>
    <simple name="AutoConf" type="boolean"><value>1</value></simple>
    <simple name="AutoStart" type="boolean"><value>0</value></simple>
    <simple name="PropertyFile" type="string"><value>cpf/nAxesGeneratorPos_modified.cpf</value></simple>
    <struct name="Ports" type="PropertyBag">
      <simple name="nAxesSensorPosition" type="string"><value>JntPosMsr</value></simple>
      <simple name="nAxesDesiredPosition" type="string"><value>JntPosDsr</value></simple>
      <simple name="nAxesJointPosition" type="string"><value>ROSConMsg</value></simple>
    </struct>
  </struct>

</properties>