diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..5b76f25600ee16caae94bbdd1bb58d8636819725
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,37 @@
+# Created by https://www.gitignore.io/api/java,gradle
+
+### Java ###
+*.class
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.ear
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# End of https://www.gitignore.io/api/java,gradle
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44e634daf44a1241991678b9fefed14ee448bfcd
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,29 @@
+##############################################################################
+# CMake
+##############################################################################
+
+cmake_minimum_required(VERSION 2.8.3)
+project(rosjava_catkin_package_a)
+
+##############################################################################
+# Catkin
+##############################################################################
+
+find_package(catkin REQUIRED rosjava_build_tools)
+
+# Set the gradle targets you want catkin's make to run by default, e.g.
+# catkin_rosjava_setup(installDist)
+# Note that the catkin_create_rosjava_xxx scripts will usually automatically
+# add tasks to this for you when you create subprojects.
+catkin_rosjava_setup(installDist publish)
+
+catkin_package()
+
+##############################################################################
+# Installation
+##############################################################################
+
+# Change this to match the maven group name you have specified in the
+# allprojects closure the root build.gradle
+install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}/com/github/rosjava/${PROJECT_NAME}/
+ DESTINATION ${CATKIN_GLOBAL_MAVEN_DESTINATION}/com/github/rosjava/${PROJECT_NAME})
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..985fe4c62cacff54aaf296c351b1e114db9070b8
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2014 Sebastian Ebert
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+task wrapper(type: Wrapper) {
+ gradleVersion = '4.10.2'
+}
+
+buildscript {
+ apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/kinetic/buildscript.gradle"
+}
+
+apply plugin: 'catkin'
+
+
+allprojects {
+ /*
+ A github url provides a good standard unique name for your project
+ Example below, but you may wish to switch to your own unique url.
+ */
+ group 'com.github.rosjava.rosjava_catkin_package_a'
+ version = project.catkin.pkg.version
+}
+
+subprojects {
+ /*
+ * The ros-java plugin configures a few things:
+ *
+ * - local deployment repository : where it dumps the jars and packaged artifacts)
+ * - local maven repositories : where it finds your locally installed/built artifacts)
+ * - external maven repositories : where it goes looking if it can't find dependencies locally
+ *
+ * To modify, or add repos to the default external maven repositories list, pull request against this code:
+ *
+ * https://github.com/rosjava/rosjava_bootstrap/blob/kinetic/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy#L31
+ */
+ apply plugin: "ros-java"
+ /*
+ * Some IDE support if you use it.
+ */
+ /* apply plugin: "eclipse" */
+ apply plugin: "idea"
+}
+
+/*
+ Some useful tasks:
+
+ install: deploys jar's to MavenLocal() (i.e. ~/.m2/repository)
+ publish : deploys jar's to devel/share/maven
+ installDist : assembles java apps in the _subproject_/build directories.
+
+ Note that these are dependent on the type of project (e.g. installDist is only valid for
+ java binary subprojects, while publish is only added once a subproject is included.
+ If you're using catkin_make, this is not important, since it will use the task list specified
+ in CMakeLists.txt
+*/
+defaultTasks 'tasks'
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000000000000000000000000000000000000..29953ea141f55e3b8fc691d31b5ca8816d89fa87
Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000000000000000000000000000000000000..e0b3fb8d70b1bbf790f6f8ed1c928ddf09f54628
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.10.2-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100755
index 0000000000000000000000000000000000000000..cccdd3d517fc5249beaefa600691cf150f2fa3e6
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=$((i+1))
+ done
+ case $i in
+ (0) set -- ;;
+ (1) set -- "$args0" ;;
+ (2) set -- "$args0" "$args1" ;;
+ (3) set -- "$args0" "$args1" "$args2" ;;
+ (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+ cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000000000000000000000000000000000000..e95643d6a2ca62258464e83c72f5156dc941c609
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/my_pub_sub_tutorial/build.gradle b/my_pub_sub_tutorial/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..bb8035899c8af3650f8b74586754382c1c819ddf
--- /dev/null
+++ b/my_pub_sub_tutorial/build.gradle
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2014 Sebastian Ebert.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+/* This plugin is necessary for creating installDist tasks (i.e. executables) */
+apply plugin: 'application'
+mainClassName = 'org.ros.RosRun'
+
+/*
+ Examples of
+ 1) dependencies from another project in this gradle stack.
+ 2,3) open ranged dependencies from a maven repository.
+
+ Dependencies can be on external maven artifacts (such as rosjava_core
+ here) or on sibling subprojects. For rosjava maven artifact dependencies
+ it is a good idea to use open ranges on to
+ save continually updating these references, but it is recommended
+ to restrict this to the patch version number (e.g. [0.3,0.4) will
+ get the latest 0.3.x version) to avoid unknowingly
+ having api breaking changes usually associated with minor and major
+ version number changes.
+*/
+
+dependencies {
+ /* An external maven artifact dependency */
+ compile 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
+ /*compile 'org.ros.rosjava_messages:rosjava_custom_srv:[0.1, 0.2)'*/
+ /* Example of a local subproject dependency */
+ /* compile project(':sibling_gradle_project') */
+
+ // logging
+ implementation group: 'org.slf4j', name: 'slf4j-api', version: '1.7.30'
+ implementation group: 'org.apache.logging.log4j', name: 'log4j-slf4j-impl', version: '2.13.2'
+
+ // pnml lib
+ implementation group: 'org.eclipse.emf', name: 'org.eclipse.emf.ecore', version: '2.12.0'
+ implementation group: 'org.eclipse.emf', name: 'org.eclipse.emf.ecore.xmi', version: '2.12.0'
+ implementation group: 'org.eclipse.emf', name: 'org.eclipse.emf.common', version: '2.12.0'
+ implementation group: 'org.eclipse.emf', name: 'org.eclipse.emf.mwe.core', version: '1.3.13'
+ implementation group: 'fr.lip6.pnml', name: 'fr.lip6.pnml.framework.ptnet', version: '2.2.12'
+ implementation group: 'fr.lip6.pnml', name: 'fr.lip6.pnml.framework.utils', version: '2.2.12'
+ implementation group: 'org.apache.ws.commons.axiom', name: 'axiom-api', version: '1.2.22'
+ implementation group: 'org.apache.ws.commons.axiom', name: 'axiom-impl', version: '1.2.22'
+ implementation group: 'com.thaiopensource', name: 'jing', version: '20091111'
+ implementation 'org.jetbrains:annotations:19.0.0'
+
+ // apache
+ implementation group: 'org.apache.commons', name: 'commons-lang3', version: '3.0'
+
+
+ implementation fileTree(include: ['pnml-relast-0.2.jar'], dir: './libs')
+}
+
+task cleanScripts(dependsOn: 'installDist') {
+ doLast {
+ file('build/scripts').deleteDir()
+ }
+}
+
+installDist.finalizedBy(cleanScripts)
diff --git a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial b/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial
new file mode 100755
index 0000000000000000000000000000000000000000..ecd00cdb78243645047fdc17088091caa67e24f1
--- /dev/null
+++ b/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial
@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+## my_pub_sub_tutorial start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/.." >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="my_pub_sub_tutorial"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and MY_PUB_SUB_TUTORIAL_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/lib/my_pub_sub_tutorial-0.1.0.jar:$APP_HOME/lib/pnml-relast-0.2.jar:$APP_HOME/lib/rosjava-0.3.6.jar:$APP_HOME/lib/log4j-slf4j-impl-2.13.2.jar:$APP_HOME/lib/slf4j-api-1.7.30.jar:$APP_HOME/lib/org.eclipse.emf.ecore-2.12.0.jar:$APP_HOME/lib/org.eclipse.emf.ecore.xmi-2.12.0.jar:$APP_HOME/lib/org.eclipse.emf.common-2.12.0.jar:$APP_HOME/lib/org.eclipse.emf.mwe.core-1.3.13.jar:$APP_HOME/lib/fr.lip6.pnml.framework.ptnet-2.2.12.jar:$APP_HOME/lib/fr.lip6.pnml.framework.utils-2.2.12.jar:$APP_HOME/lib/axiom-impl-1.2.22.jar:$APP_HOME/lib/axiom-api-1.2.22.jar:$APP_HOME/lib/jing-20091111.jar:$APP_HOME/lib/annotations-19.0.0.jar:$APP_HOME/lib/commons-lang3-3.0.jar:$APP_HOME/lib/apache_xmlrpc_server-0.3.6.jar:$APP_HOME/lib/apache_xmlrpc_client-0.3.6.jar:$APP_HOME/lib/apache_xmlrpc_common-0.3.6.jar:$APP_HOME/lib/rosjava_test_msgs-0.3.0.jar:$APP_HOME/lib/rosgraph_msgs-1.11.2.jar:$APP_HOME/lib/nav_msgs-1.12.7.jar:$APP_HOME/lib/tf2_msgs-0.5.20.jar:$APP_HOME/lib/geometry_msgs-1.12.7.jar:$APP_HOME/lib/actionlib_msgs-1.12.7.jar:$APP_HOME/lib/std_msgs-0.5.11.jar:$APP_HOME/lib/message_generation-0.3.3.jar:$APP_HOME/lib/dnsjava-2.1.1.jar:$APP_HOME/lib/com.springsource.org.apache.commons.httpclient-3.1.0.jar:$APP_HOME/lib/com.springsource.org.apache.commons.logging-1.1.1.jar:$APP_HOME/lib/com.springsource.org.apache.commons.net-2.0.0.jar:$APP_HOME/lib/guava-12.0.jar:$APP_HOME/lib/log4j-core-2.13.2.jar:$APP_HOME/lib/log4j-api-2.13.2.jar:$APP_HOME/lib/org.eclipse.emf.mwe2.runtime-2.8.3.jar:$APP_HOME/lib/commons-cli-1.2.jar:$APP_HOME/lib/commons-logging-1.2.jar:$APP_HOME/lib/geronimo-activation_1.1_spec-1.1.jar:$APP_HOME/lib/jaxen-1.1.6.jar:$APP_HOME/lib/geronimo-stax-api_1.0_spec-1.0.1.jar:$APP_HOME/lib/apache-mime4j-core-0.7.2.jar:$APP_HOME/lib/woodstox-core-asl-4.2.0.jar:$APP_HOME/lib/xercesImpl-2.9.1.jar:$APP_HOME/lib/ws-commons-util-1.0.1.jar:$APP_HOME/lib/saxon-8.7.jar:$APP_HOME/lib/isorelax-20030108.jar:$APP_HOME/lib/netty-3.5.2.Final.jar:$APP_HOME/lib/com.springsource.org.apache.commons.codec-1.3.0.jar:$APP_HOME/lib/com.springsource.org.apache.commons.io-1.4.0.jar:$APP_HOME/lib/commons-pool-1.6.jar:$APP_HOME/lib/com.springsource.org.apache.commons.lang-2.4.0.jar:$APP_HOME/lib/gradle_plugins-0.3.3.jar:$APP_HOME/lib/junit-3.8.2.jar:$APP_HOME/lib/jsr305-1.3.9.jar:$APP_HOME/lib/guice-3.0.jar:$APP_HOME/lib/stax2-api-3.1.1.jar:$APP_HOME/lib/javax.inject-1.jar:$APP_HOME/lib/aopalliance-1.0.jar:$APP_HOME/lib/cglib-2.2.1-v20090111.jar:$APP_HOME/lib/asm-3.1.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=$((i+1))
+ done
+ case $i in
+ (0) set -- ;;
+ (1) set -- "$args0" ;;
+ (2) set -- "$args0" "$args1" ;;
+ (3) set -- "$args0" "$args1" "$args2" ;;
+ (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $MY_PUB_SUB_TUTORIAL_OPTS -classpath "\"$CLASSPATH\"" org.ros.RosRun "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+ cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial.bat b/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial.bat
new file mode 100755
index 0000000000000000000000000000000000000000..69c8ce7659b6bbcf46e5fd30e6b4610951237736
--- /dev/null
+++ b/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial.bat
@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem my_pub_sub_tutorial startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%..
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and MY_PUB_SUB_TUTORIAL_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\lib\my_pub_sub_tutorial-0.1.0.jar;%APP_HOME%\lib\pnml-relast-0.2.jar;%APP_HOME%\lib\rosjava-0.3.6.jar;%APP_HOME%\lib\log4j-slf4j-impl-2.13.2.jar;%APP_HOME%\lib\slf4j-api-1.7.30.jar;%APP_HOME%\lib\org.eclipse.emf.ecore-2.12.0.jar;%APP_HOME%\lib\org.eclipse.emf.ecore.xmi-2.12.0.jar;%APP_HOME%\lib\org.eclipse.emf.common-2.12.0.jar;%APP_HOME%\lib\org.eclipse.emf.mwe.core-1.3.13.jar;%APP_HOME%\lib\fr.lip6.pnml.framework.ptnet-2.2.12.jar;%APP_HOME%\lib\fr.lip6.pnml.framework.utils-2.2.12.jar;%APP_HOME%\lib\axiom-impl-1.2.22.jar;%APP_HOME%\lib\axiom-api-1.2.22.jar;%APP_HOME%\lib\jing-20091111.jar;%APP_HOME%\lib\annotations-19.0.0.jar;%APP_HOME%\lib\commons-lang3-3.0.jar;%APP_HOME%\lib\apache_xmlrpc_server-0.3.6.jar;%APP_HOME%\lib\apache_xmlrpc_client-0.3.6.jar;%APP_HOME%\lib\apache_xmlrpc_common-0.3.6.jar;%APP_HOME%\lib\rosjava_test_msgs-0.3.0.jar;%APP_HOME%\lib\rosgraph_msgs-1.11.2.jar;%APP_HOME%\lib\nav_msgs-1.12.7.jar;%APP_HOME%\lib\tf2_msgs-0.5.20.jar;%APP_HOME%\lib\geometry_msgs-1.12.7.jar;%APP_HOME%\lib\actionlib_msgs-1.12.7.jar;%APP_HOME%\lib\std_msgs-0.5.11.jar;%APP_HOME%\lib\message_generation-0.3.3.jar;%APP_HOME%\lib\dnsjava-2.1.1.jar;%APP_HOME%\lib\com.springsource.org.apache.commons.httpclient-3.1.0.jar;%APP_HOME%\lib\com.springsource.org.apache.commons.logging-1.1.1.jar;%APP_HOME%\lib\com.springsource.org.apache.commons.net-2.0.0.jar;%APP_HOME%\lib\guava-12.0.jar;%APP_HOME%\lib\log4j-core-2.13.2.jar;%APP_HOME%\lib\log4j-api-2.13.2.jar;%APP_HOME%\lib\org.eclipse.emf.mwe2.runtime-2.8.3.jar;%APP_HOME%\lib\commons-cli-1.2.jar;%APP_HOME%\lib\commons-logging-1.2.jar;%APP_HOME%\lib\geronimo-activation_1.1_spec-1.1.jar;%APP_HOME%\lib\jaxen-1.1.6.jar;%APP_HOME%\lib\geronimo-stax-api_1.0_spec-1.0.1.jar;%APP_HOME%\lib\apache-mime4j-core-0.7.2.jar;%APP_HOME%\lib\woodstox-core-asl-4.2.0.jar;%APP_HOME%\lib\xercesImpl-2.9.1.jar;%APP_HOME%\lib\ws-commons-util-1.0.1.jar;%APP_HOME%\lib\saxon-8.7.jar;%APP_HOME%\lib\isorelax-20030108.jar;%APP_HOME%\lib\netty-3.5.2.Final.jar;%APP_HOME%\lib\com.springsource.org.apache.commons.codec-1.3.0.jar;%APP_HOME%\lib\com.springsource.org.apache.commons.io-1.4.0.jar;%APP_HOME%\lib\commons-pool-1.6.jar;%APP_HOME%\lib\com.springsource.org.apache.commons.lang-2.4.0.jar;%APP_HOME%\lib\gradle_plugins-0.3.3.jar;%APP_HOME%\lib\junit-3.8.2.jar;%APP_HOME%\lib\jsr305-1.3.9.jar;%APP_HOME%\lib\guice-3.0.jar;%APP_HOME%\lib\stax2-api-3.1.1.jar;%APP_HOME%\lib\javax.inject-1.jar;%APP_HOME%\lib\aopalliance-1.0.jar;%APP_HOME%\lib\cglib-2.2.1-v20090111.jar;%APP_HOME%\lib\asm-3.1.jar
+
+@rem Execute my_pub_sub_tutorial
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %MY_PUB_SUB_TUTORIAL_OPTS% -classpath "%CLASSPATH%" org.ros.RosRun %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable MY_PUB_SUB_TUTORIAL_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%MY_PUB_SUB_TUTORIAL_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/my_pub_sub_tutorial/build/publications/mavenJava/pom-default.xml b/my_pub_sub_tutorial/build/publications/mavenJava/pom-default.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa61a01f90a57148ac8cdd391329d48d27904ae6
--- /dev/null
+++ b/my_pub_sub_tutorial/build/publications/mavenJava/pom-default.xml
@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <modelVersion>4.0.0</modelVersion>
+ <groupId>com.github.rosjava.rosjava_catkin_package_a</groupId>
+ <artifactId>my_pub_sub_tutorial</artifactId>
+ <version>0.1.0</version>
+ <dependencies>
+ <dependency>
+ <groupId>org.ros.rosjava_core</groupId>
+ <artifactId>rosjava</artifactId>
+ <version>[0.3,0.4)</version>
+ <scope>compile</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.slf4j</groupId>
+ <artifactId>slf4j-api</artifactId>
+ <version>1.7.30</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.apache.logging.log4j</groupId>
+ <artifactId>log4j-slf4j-impl</artifactId>
+ <version>2.13.2</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.eclipse.emf</groupId>
+ <artifactId>org.eclipse.emf.ecore</artifactId>
+ <version>2.12.0</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.eclipse.emf</groupId>
+ <artifactId>org.eclipse.emf.ecore.xmi</artifactId>
+ <version>2.12.0</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.eclipse.emf</groupId>
+ <artifactId>org.eclipse.emf.common</artifactId>
+ <version>2.12.0</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.eclipse.emf</groupId>
+ <artifactId>org.eclipse.emf.mwe.core</artifactId>
+ <version>1.3.13</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>fr.lip6.pnml</groupId>
+ <artifactId>fr.lip6.pnml.framework.ptnet</artifactId>
+ <version>2.2.12</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>fr.lip6.pnml</groupId>
+ <artifactId>fr.lip6.pnml.framework.utils</artifactId>
+ <version>2.2.12</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.apache.ws.commons.axiom</groupId>
+ <artifactId>axiom-api</artifactId>
+ <version>1.2.22</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.apache.ws.commons.axiom</groupId>
+ <artifactId>axiom-impl</artifactId>
+ <version>1.2.22</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>com.thaiopensource</groupId>
+ <artifactId>jing</artifactId>
+ <version>20091111</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.jetbrains</groupId>
+ <artifactId>annotations</artifactId>
+ <version>19.0.0</version>
+ <scope>runtime</scope>
+ </dependency>
+ <dependency>
+ <groupId>org.apache.commons</groupId>
+ <artifactId>commons-lang3</artifactId>
+ <version>3.0</version>
+ <scope>runtime</scope>
+ </dependency>
+ </dependencies>
+</project>
diff --git a/my_pub_sub_tutorial/build/resources/main/minimal.pnml b/my_pub_sub_tutorial/build/resources/main/minimal.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..02aac0252a55e8aeea785a415cbe4f61c9d6784c
--- /dev/null
+++ b/my_pub_sub_tutorial/build/resources/main/minimal.pnml
@@ -0,0 +1,149 @@
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="n-E2D0-BCF46-0" type ="http://www.pnml.org/version-2009/grammar/ptnet">
+ <name>
+ <text>minimal</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ </toolspecific>
+ <page id="g-E2D0-BCF68-1">
+ <place id="p-E2D0-BCF6F-2">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discretePlaceType</type>
+ <outputsignalbindings>
+ <outputsignalbinding>
+ <placeID>p-E2D0-BCF6F-2</placeID>
+ <outputsignalID>os2</outputsignalID>
+ <initialvalue>1</initialvalue> <!-- -1 = undefined -->
+ <outputmappings>
+ <equal>
+ <value>1</value>
+ <result>3</result>
+ </equal>
+ <equal>
+ <value>0</value>
+ <result>2</result>
+ </equal>
+ <threshold>
+ <value>6</value>
+ <result>0</result>
+ </threshold>
+ <range>
+ <upperbound>5</upperbound>
+ <lowerbound>3</lowerbound>
+ <result>1</result>
+ </range>
+ </outputmappings>
+ </outputsignalbinding>
+ </outputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>p0</text>
+ <graphics>
+ <offset x="0" y="-10" />
+ </graphics>
+ </name>
+ <initialMarking>
+ <text>1</text>
+ </initialMarking>
+ <graphics>
+ <position x="30" y="50"/>
+ </graphics>
+ </place>
+ <place id="p-E2D0-BCF9D-3">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discretePlaceType</type>
+ <outputsignalbindings>
+ <outputsignalbinding>
+ <placeID>p-E2D0-BCF9D-3</placeID>
+ <outputsignalID>os1</outputsignalID>
+ <initialvalue>4</initialvalue> <!-- -1 = undefined -->
+ <outputmappings>
+ <equal>
+ <value>1</value>
+ <result>1</result>
+ </equal>
+ <threshold>
+ <value>6</value>
+ <result>0</result>
+ </threshold>
+ <range>
+ <upperbound>5</upperbound>
+ <lowerbound>3</lowerbound>
+ <result>1</result>
+ </range>
+ </outputmappings>
+ </outputsignalbinding>
+ </outputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>p1</text>
+ <graphics>
+ <offset x="0" y="-10" />
+ </graphics>
+ </name>
+ <graphics>
+ <position x="635" y="90"/>
+ </graphics>
+ </place>
+ <transition id="t1">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discreteTransitionType</type>
+ <inputsignalbindings>
+ <inputsignalbinding>
+ <transitionID>t1</transitionID>
+ <inputsignalID>is1</inputsignalID>
+ <initialvalue>1</initialvalue>
+ </inputsignalbinding>
+ <inputsignalbinding>
+ <transitionID>t1</transitionID>
+ <inputsignalID>is3</inputsignalID>
+ <initialvalue>1</initialvalue>
+ </inputsignalbinding>
+ </inputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>t0</text>
+ <graphics>
+ <offset x="0" y="0" />
+ </graphics>
+ </name>
+ <graphics>
+ <position x="300" y="50"/>
+ </graphics>
+ </transition>
+ <transition id="t2">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discreteTransitionType</type>
+ <inputsignalbindings>
+ <inputsignalbinding>
+ <transitionID>t2</transitionID>
+ <inputsignalID>is2</inputsignalID>
+ <initialvalue>0</initialvalue>
+ </inputsignalbinding>
+ </inputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>t1</text>
+ <graphics>
+ <offset x="0" y="0" />
+ </graphics>
+ </name>
+ <graphics>
+ <position x="285" y="205"/>
+ </graphics>
+ </transition>
+ <arc id="e-E2D0-BCFCD-6" source="t2" target="p-E2D0-BCF6F-2">
+ </arc>
+ <arc id="e-E2D0-BCFDB-7" source="p-E2D0-BCF9D-3" target="t2">
+ </arc>
+ <arc id="e-E2D0-BCFF3-8" source="t1" target="p-E2D0-BCF9D-3">
+ </arc>
+ <arc id="e-E2D0-BCFFB-9" source="p-E2D0-BCF6F-2" target="t1">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/my_pub_sub_tutorial/build/tmp/jar/MANIFEST.MF b/my_pub_sub_tutorial/build/tmp/jar/MANIFEST.MF
new file mode 100644
index 0000000000000000000000000000000000000000..58630c02ef423cffd6dd6aafd946eb8512040c37
--- /dev/null
+++ b/my_pub_sub_tutorial/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,2 @@
+Manifest-Version: 1.0
+
diff --git a/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/maven-metadata-remote.xml b/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/maven-metadata-remote.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0a8adb3b1fae0ac2d214b8990016ed4130129fd6
--- /dev/null
+++ b/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/maven-metadata-remote.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<metadata>
+ <groupId>com.github.rosjava.rosjava_catkin_package_a</groupId>
+ <artifactId>my_pub_sub_tutorial</artifactId>
+ <versioning>
+ <release>0.1.0</release>
+ <versions>
+ <version>0.1.0</version>
+ </versions>
+ <lastUpdated>20210708104554</lastUpdated>
+ </versioning>
+</metadata>
diff --git a/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/resolver-status.properties b/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/resolver-status.properties
new file mode 100644
index 0000000000000000000000000000000000000000..ef653da44b33b058ffb8133634afa0ff7dadac90
--- /dev/null
+++ b/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/resolver-status.properties
@@ -0,0 +1,3 @@
+#NOTE: This is an internal implementation file, its format can be changed without prior notice.
+#Thu Jul 08 12:45:54 CEST 2021
+maven-metadata-remote.xml.lastUpdated=1625741154780
diff --git a/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.java b/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.java
new file mode 100644
index 0000000000000000000000000000000000000000..160cda7e7d99d06651356570b93e94e00d78c53d
--- /dev/null
+++ b/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.java
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2014 Sebastian Ebert.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial;
+
+import de.tudresden.inf.st.pnml.jastadd.model.JavaHandler;
+import de.tudresden.inf.st.pnml.jastadd.model.Marking;
+import de.tudresden.inf.st.service.PetriNetInitService;
+import de.tudresden.inf.st.service.PetriNetLoggingService;
+import org.apache.commons.logging.Log;
+import org.ros.message.MessageListener;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
+//import rosjava_custom_srv.sample;
+
+import java.util.List;
+
+/**
+ * A simple {@link Subscriber} {@link NodeMain}.
+ */
+/*public class Listener extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("rosjava/listener");
+ }
+
+ @Override
+ public void onStart(ConnectedNode connectedNode) {
+ final Log log = connectedNode.getLog();
+ Subscriber<rosjava_custom_srv.sample> subscriber = connectedNode.newSubscriber("chatter", rosjava_custom_srv.sample._TYPE);
+ subscriber.addMessageListener(new MessageListener<rosjava_custom_srv.sample>() {
+ @Override
+ public void onNewMessage(rosjava_custom_srv.sample message) {
+ log.info("I heard: \"" + message.getData() + "\"");
+ }
+ });
+ }
+}*/
+
+/**
+ * A simple {@link Subscriber} {@link NodeMain}.
+*/
+public class Listener extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("rosjava/listener");
+ }
+
+ @Override
+ public void onStart(ConnectedNode connectedNode) {
+
+ JavaHandler javaHandler = JavaHandler.getInstance();
+ List<Marking> markedGraphs = PetriNetInitService.initMarkedGraphs("src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml");
+ PetriNetLoggingService.printInputSignals(markedGraphs.get(0));
+ PetriNetLoggingService.printOutputSignals(markedGraphs.get(0));
+ markedGraphs.get(0).print();
+
+ final Log log = connectedNode.getLog();
+ Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
+ subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
+ @Override
+ public void onNewMessage(std_msgs.String message) {
+ log.info("I heard: \"" + message.getData() + "\"");
+ }
+ });
+ }
+}
\ No newline at end of file
diff --git a/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.java b/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.java
new file mode 100644
index 0000000000000000000000000000000000000000..706655c9a9d3f70853d3a924fe84d2b60c1b1db5
--- /dev/null
+++ b/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.java
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2014 Sebastian Ebert.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial;
+
+import org.ros.concurrent.CancellableLoop;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Publisher;
+//import rosjava_custom_srv.sample;
+
+
+
+/**
+ * A simple {@link Publisher} {@link NodeMain}.
+ */
+/*public class Talker extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("rosjava/talker");
+ }
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+ final Publisher<rosjava_custom_srv.sample> publisher =
+ connectedNode.newPublisher("chatter", rosjava_custom_srv.sample._TYPE);
+ // This CancellableLoop will be canceled automatically when the node shuts
+ // down.
+ connectedNode.executeCancellableLoop(new CancellableLoop() {
+ private String sendedString;
+
+ @Override
+ protected void setup() {
+ sendedString = "Hello World!";
+ }
+
+ @Override
+ protected void loop() throws InterruptedException {
+ rosjava_custom_srv.sample str = publisher.newMessage();
+ str.setData(sendedString);
+ publisher.publish(str);
+ // sequenceNumber++;
+ Thread.sleep(1000);
+ }
+ });
+ }
+}*/
+
+
+/**
+ * A simple {@link Publisher} {@link NodeMain}.
+ */
+public class Talker extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("rosjava/talker");
+ }
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+ final Publisher<std_msgs.String> publisher =
+ connectedNode.newPublisher("chatter", std_msgs.String._TYPE);
+ // This CancellableLoop will be canceled automatically when the node shuts
+ // down.
+ connectedNode.executeCancellableLoop(new CancellableLoop() {
+ private int sequenceNumber;
+
+ @Override
+ protected void setup() {
+ sequenceNumber = 0;
+ }
+
+ @Override
+ protected void loop() throws InterruptedException {
+ std_msgs.String str = publisher.newMessage();
+ str.setData("Hello world! " + sequenceNumber);
+ publisher.publish(str);
+ sequenceNumber++;
+ Thread.sleep(1000);
+ }
+ });
+ }
+}
diff --git a/my_pub_sub_tutorial/src/main/resources/minimal.pnml b/my_pub_sub_tutorial/src/main/resources/minimal.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..02aac0252a55e8aeea785a415cbe4f61c9d6784c
--- /dev/null
+++ b/my_pub_sub_tutorial/src/main/resources/minimal.pnml
@@ -0,0 +1,149 @@
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="n-E2D0-BCF46-0" type ="http://www.pnml.org/version-2009/grammar/ptnet">
+ <name>
+ <text>minimal</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ </toolspecific>
+ <page id="g-E2D0-BCF68-1">
+ <place id="p-E2D0-BCF6F-2">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discretePlaceType</type>
+ <outputsignalbindings>
+ <outputsignalbinding>
+ <placeID>p-E2D0-BCF6F-2</placeID>
+ <outputsignalID>os2</outputsignalID>
+ <initialvalue>1</initialvalue> <!-- -1 = undefined -->
+ <outputmappings>
+ <equal>
+ <value>1</value>
+ <result>3</result>
+ </equal>
+ <equal>
+ <value>0</value>
+ <result>2</result>
+ </equal>
+ <threshold>
+ <value>6</value>
+ <result>0</result>
+ </threshold>
+ <range>
+ <upperbound>5</upperbound>
+ <lowerbound>3</lowerbound>
+ <result>1</result>
+ </range>
+ </outputmappings>
+ </outputsignalbinding>
+ </outputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>p0</text>
+ <graphics>
+ <offset x="0" y="-10" />
+ </graphics>
+ </name>
+ <initialMarking>
+ <text>1</text>
+ </initialMarking>
+ <graphics>
+ <position x="30" y="50"/>
+ </graphics>
+ </place>
+ <place id="p-E2D0-BCF9D-3">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discretePlaceType</type>
+ <outputsignalbindings>
+ <outputsignalbinding>
+ <placeID>p-E2D0-BCF9D-3</placeID>
+ <outputsignalID>os1</outputsignalID>
+ <initialvalue>4</initialvalue> <!-- -1 = undefined -->
+ <outputmappings>
+ <equal>
+ <value>1</value>
+ <result>1</result>
+ </equal>
+ <threshold>
+ <value>6</value>
+ <result>0</result>
+ </threshold>
+ <range>
+ <upperbound>5</upperbound>
+ <lowerbound>3</lowerbound>
+ <result>1</result>
+ </range>
+ </outputmappings>
+ </outputsignalbinding>
+ </outputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>p1</text>
+ <graphics>
+ <offset x="0" y="-10" />
+ </graphics>
+ </name>
+ <graphics>
+ <position x="635" y="90"/>
+ </graphics>
+ </place>
+ <transition id="t1">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discreteTransitionType</type>
+ <inputsignalbindings>
+ <inputsignalbinding>
+ <transitionID>t1</transitionID>
+ <inputsignalID>is1</inputsignalID>
+ <initialvalue>1</initialvalue>
+ </inputsignalbinding>
+ <inputsignalbinding>
+ <transitionID>t1</transitionID>
+ <inputsignalID>is3</inputsignalID>
+ <initialvalue>1</initialvalue>
+ </inputsignalbinding>
+ </inputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>t0</text>
+ <graphics>
+ <offset x="0" y="0" />
+ </graphics>
+ </name>
+ <graphics>
+ <position x="300" y="50"/>
+ </graphics>
+ </transition>
+ <transition id="t2">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <location>node-1</location>
+ <type>discreteTransitionType</type>
+ <inputsignalbindings>
+ <inputsignalbinding>
+ <transitionID>t2</transitionID>
+ <inputsignalID>is2</inputsignalID>
+ <initialvalue>0</initialvalue>
+ </inputsignalbinding>
+ </inputsignalbindings>
+ </toolspecific>
+ <name>
+ <text>t1</text>
+ <graphics>
+ <offset x="0" y="0" />
+ </graphics>
+ </name>
+ <graphics>
+ <position x="285" y="205"/>
+ </graphics>
+ </transition>
+ <arc id="e-E2D0-BCFCD-6" source="t2" target="p-E2D0-BCF6F-2">
+ </arc>
+ <arc id="e-E2D0-BCFDB-7" source="p-E2D0-BCF9D-3" target="t2">
+ </arc>
+ <arc id="e-E2D0-BCFF3-8" source="t1" target="p-E2D0-BCF9D-3">
+ </arc>
+ <arc id="e-E2D0-BCFFB-9" source="p-E2D0-BCF6F-2" target="t1">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2814c3c70c59d9a01205f81af77965f7a713c6fe
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>rosjava_catkin_package_a</name>
+ <version>0.1.0</version>
+ <description>The rosjava_catkin_package_a package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="sebastian@todo.todo">sebastian</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>Apache 2.0</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/rosjava_catkin_package_a</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>rosjava_build_tools</build_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..b3b9ff348c333ffd9bb87259a9daa9c81303fb79
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,17 @@
+/*
+ * Copyright (C) 2013 Sebastian Ebert
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+include 'my_pub_sub_tutorial'