138 lines
11 KiB
Plaintext
138 lines
11 KiB
Plaintext
\documentclass{standalone}
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\usepackage{tikz}
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\usepackage{aeguill}
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\begin{document}
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% generated by Plantuml 1.2022.7
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\definecolor{plantucolor0000}{RGB}{255,255,255}
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\definecolor{plantucolor0001}{RGB}{176,176,176}
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\definecolor{plantucolor0002}{RGB}{128,128,128}
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\definecolor{plantucolor0003}{RGB}{226,226,240}
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\definecolor{plantucolor0004}{RGB}{24,24,24}
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\definecolor{plantucolor0005}{RGB}{0,0,0}
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\definecolor{plantucolor0006}{RGB}{254,255,221}
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\definecolor{plantucolor0007}{RGB}{238,238,238}
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\definecolor{plantucolor0008}{RGB}{64,64,64}
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\begin{tikzpicture}[yscale=-1
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,pstyle0/.style={color=plantucolor0001,fill=white,line width=1.0pt}
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,pstyle1/.style={color=plantucolor0002,line width=1.5pt}
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]
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\node at (93.7865pt,12pt)[below right,color=black]{ROS ActionClient};
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\draw[pstyle3] (86.7865pt,737.4822pt) arc (180:270:5pt) -- (91.7865pt,732.4822pt) -- (225.9365pt,732.4822pt) arc (270:360:5pt) -- (230.9365pt,737.4822pt) -- (230.9365pt,760.5501pt) arc (0:90:5pt) -- (225.9365pt,765.5501pt) -- (91.7865pt,765.5501pt) arc (90:180:5pt) -- (86.7865pt,760.5501pt) -- cycle;
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\node at (93.7865pt,739.4822pt)[below right,color=black]{ROS ActionClient};
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\draw[pstyle3] (264.4068pt,10pt) arc (180:270:5pt) -- (269.4068pt,5pt) -- (367.3475pt,5pt) arc (270:360:5pt) -- (372.3475pt,10pt) -- (372.3475pt,33.0679pt) arc (0:90:5pt) -- (367.3475pt,38.0679pt) -- (269.4068pt,38.0679pt) arc (90:180:5pt) -- (264.4068pt,33.0679pt) -- cycle;
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\node at (271.4068pt,12pt)[below right,color=black]{ActorServer};
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\draw[pstyle3] (264.4068pt,737.4822pt) arc (180:270:5pt) -- (269.4068pt,732.4822pt) -- (367.3475pt,732.4822pt) arc (270:360:5pt) -- (372.3475pt,737.4822pt) -- (372.3475pt,760.5501pt) arc (0:90:5pt) -- (367.3475pt,765.5501pt) -- (269.4068pt,765.5501pt) arc (90:180:5pt) -- (264.4068pt,760.5501pt) -- cycle;
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\node at (271.4068pt,739.4822pt)[below right,color=black]{ActorServer};
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\node at (438.3262pt,12pt)[below right,color=black]{ActorPlugin};
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\draw[pstyle3] (431.3262pt,737.4822pt) arc (180:270:5pt) -- (436.3262pt,732.4822pt) -- (531.1768pt,732.4822pt) arc (270:360:5pt) -- (536.1768pt,737.4822pt) -- (536.1768pt,760.5501pt) arc (0:90:5pt) -- (531.1768pt,765.5501pt) -- (436.3262pt,765.5501pt) arc (90:180:5pt) -- (431.3262pt,760.5501pt) -- cycle;
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\node at (438.3262pt,739.4822pt)[below right,color=black]{ActorPlugin};
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\draw[pstyle0] (153.8615pt,156.186pt) rectangle (163.8615pt,705.4822pt);
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\draw[pstyle0] (313.3771pt,49.0679pt) rectangle (323.3771pt,767.5501pt);
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\draw[pstyle4] (143pt,54.0679pt) -- (143pt,64.0679pt) -- (153pt,64.0679pt) -- (143pt,54.0679pt);
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\node at (73pt,59.0679pt)[below right,color=black]{Protocol:};
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\draw[pstyle4] (212pt,54.0679pt) -- (212pt,81.0679pt) -- (307pt,81.0679pt) -- (307pt,64.0679pt) -- (297pt,54.0679pt) -- (212pt,54.0679pt);
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\draw[pstyle4] (297pt,54.0679pt) -- (297pt,64.0679pt) -- (307pt,64.0679pt) -- (297pt,54.0679pt);
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\node at (218pt,59.0679pt)[below right,color=black]{ros\_action};
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\draw[pstyle4] (347pt,54.0679pt) -- (347pt,81.0679pt) -- (472pt,81.0679pt) -- (472pt,64.0679pt) -- (462pt,54.0679pt) -- (347pt,54.0679pt);
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\draw[pstyle4] (462pt,54.0679pt) -- (462pt,64.0679pt) -- (472pt,64.0679pt) -- (462pt,54.0679pt);
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\node at (353pt,59.0679pt)[below right,color=black]{MessageQueue};
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\node at (265.0368pt,100.7739pt)[below right,color=black]{\textbf{Goal}};
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\draw[pstyle9] (0pt,156.186pt) -- (147.8615pt,156.186pt);
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\node at (9.5pt,136.4799pt)[below right,color=black]{create ActionClient};
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\draw[pstyle9] (163.8615pt,187.892pt) -- (307.3771pt,187.892pt);
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\node at (195.4141pt,168.186pt)[below right,color=black]{goal request};
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\draw[pstyle9] (164.8615pt,219.598pt) -- (174.8615pt,223.598pt);
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\draw[pstyle10] (163.8615pt,219.598pt) -- (312.3771pt,219.598pt);
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\node at (190.2546pt,199.892pt)[below right,color=black]{goal response};
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\draw[pstyle1] (66.7865pt,234.598pt) rectangle (556.1768pt,698.4822pt);
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\node at (81.7865pt,235.598pt)[below right,color=black]{\textbf{alt}};
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\node at (147.0532pt,236.598pt)[below right,color=black]{\textbf{[goal accepted]}};
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\draw[pstyle9] (476.7515pt,278.01pt) -- (466.7515pt,274.01pt);
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\draw[pstyle9] (476.7515pt,278.01pt) -- (466.7515pt,282.01pt);
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\draw[pstyle9] (323.3771pt,278.01pt) -- (477.7515pt,278.01pt);
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\node at (335.3771pt,258.304pt)[below right,color=black]{set state and target};
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\draw[pstyle9] (324.3771pt,309.716pt) -- (334.3771pt,313.716pt);
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\draw[pstyle10] (323.3771pt,309.716pt) -- (477.7515pt,309.716pt);
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\node at (357.5169pt,290.01pt)[below right,color=black]{state change};
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\draw[pstyle7] (240.3737pt,327.716pt) rectangle (325.8032pt,353.4221pt);
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\node at (246.3737pt,331.716pt)[below right,color=black]{\textbf{Feedback}};
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\draw[pstyle1] (76.7865pt,370.4221pt) rectangle (546.1768pt,485.2461pt);
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\node at (91.7865pt,371.4221pt)[below right,color=black]{\textbf{opt par }};
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\node at (194.6265pt,372.4221pt)[below right,color=black]{\textbf{[abort of current action]}};
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\draw[pstyle8] (301.3771pt,409.8341pt) -- (311.3771pt,413.8341pt) -- (301.3771pt,417.8341pt) -- (305.3771pt,413.8341pt) -- cycle;
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\node at (191.0765pt,394.1281pt)[below right,color=black]{abort request};
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\node at (349.0047pt,425.8341pt)[below right,color=black]{set state to Idle};
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\draw[pstyle9] (164.8615pt,477.2461pt) -- (174.8615pt,481.2461pt);
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\node at (185.9161pt,457.5401pt)[below right,color=black]{abort response};
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\node at (91.7865pt,500.2461pt)[below right,color=black]{\textbf{loop}};
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\node at (169.1038pt,501.2461pt)[below right,color=black]{\textbf{[until action is completed or aborted]}};
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\node at (369.6072pt,522.9521pt)[below right,color=black]{feedback};
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\node at (175.8615pt,554.6582pt)[below right,color=black]{feedback callback};
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\node at (258.5128pt,603.3642pt)[below right,color=black]{\textbf{Result}};
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\draw[pstyle9] (324.3771pt,658.7762pt) -- (334.3771pt,662.7762pt);
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\draw[pstyle10] (323.3771pt,658.7762pt) -- (477.7515pt,658.7762pt);
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\node at (357.5169pt,639.0702pt)[below right,color=black]{state change};
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\draw[pstyle9] (164.8615pt,690.4822pt) -- (174.8615pt,694.4822pt);
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\node at (186.68pt,670.7762pt)[below right,color=black]{result callback};
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\draw[pstyle12] (149.8615pt,723.4822pt) -- (167.8615pt,705.4822pt);
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\end{tikzpicture}
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\end{document}
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