diff --git a/rosjava/src/rosjava_catkin_package_a/.gitlab-ci.yml b/rosjava/src/rosjava_catkin_package_a/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..6ef864f15b1d5cbf5a450a0fb1804ea7fe38d5f4
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/.gitlab-ci.yml
@@ -0,0 +1,20 @@
+variables:
+ GIT_SUBMODULE_STRATEGY: recursive
+
+stages:
+ - build
+
+build-ws:
+ image: ros:noetic-ros-base-focal
+ stage: build
+ script:
+ - apt-get update
+ - apt-get install -y python3-osrf-pycommon python3-catkin-tools build-essential protobuf-compiler libprotobuf-dev python3-rosdep
+ - echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+ - source ~/.bashrc
+ - mkdir -p ~/rosjava/src
+ - wstool init -j4 ~/rosjava/src https://raw.githubusercontent.com/rosjava/rosjava/kinetic/rosjava.rosinstall
+ - rosdep install -y -i --from-paths .
+ - catkin build
+ tags:
+ - highmem
diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileChanges/last-build.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileChanges/last-build.bin
new file mode 100644
index 0000000000000000000000000000000000000000..f76dd238ade08917e6712764a16a22005a50573d
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileContent/annotation-processors.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileContent/annotation-processors.bin
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileHashes/fileHashes.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileHashes/fileHashes.bin
new file mode 100644
index 0000000000000000000000000000000000000000..22df771df4dd3d1acb89875e97fb0887a3240412
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileHashes/fileHashes.lock b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileHashes/fileHashes.lock
new file mode 100644
index 0000000000000000000000000000000000000000..325b56cc522176b54fb0203aa95e36e09c4d9d6b
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileHashes/resourceHashesCache.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/fileHashes/resourceHashesCache.bin
new file mode 100644
index 0000000000000000000000000000000000000000..9e81125a3ae8ec70904f522d15e97c10fcfc6acd
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/gc.properties b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/gc.properties
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/classAnalysis.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/classAnalysis.bin
new file mode 100644
index 0000000000000000000000000000000000000000..1732d624e42f8d6bf05c7f7987696d6afcd162a2
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/jarAnalysis.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/jarAnalysis.bin
new file mode 100644
index 0000000000000000000000000000000000000000..850c150dcee090c564fbe0fec424cf111799ec08
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/javaCompile.lock b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/javaCompile.lock
new file mode 100644
index 0000000000000000000000000000000000000000..602a7e0e8f1238a1ee7f5c9dc71a2f95e65e3a68
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/taskHistory.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/javaCompile/taskHistory.bin
new file mode 100644
index 0000000000000000000000000000000000000000..0750be5d134683829e402d7a8f1be64387342398
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/taskHistory/taskHistory.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/taskHistory/taskHistory.bin
new file mode 100644
index 0000000000000000000000000000000000000000..9bfd9c38ca123fc2873bea742d167496c3b6ff2f
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/taskHistory/taskHistory.lock b/rosjava/src/rosjava_catkin_package_a/.gradle/4.10.2/taskHistory/taskHistory.lock
new file mode 100644
index 0000000000000000000000000000000000000000..2793b99ee7b691dcdbed729537f4ab61a98d683f
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/buildOutputCleanup.lock
new file mode 100644
index 0000000000000000000000000000000000000000..bc6cc8ec8cb425efe473e0c51515c35cbefefcf0
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/cache.properties b/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000000000000000000000000000000000000..d551f7d4da4663539050169fd5e6fd861a120311
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Fri Jul 09 15:37:22 CEST 2021
+gradle.version=4.10.2
diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/outputFiles.bin b/rosjava/src/rosjava_catkin_package_a/.gradle/buildOutputCleanup/outputFiles.bin
new file mode 100644
index 0000000000000000000000000000000000000000..77d743ee2bfd2830b9ddc02c246a3134951f16ec
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diff --git a/rosjava/src/rosjava_catkin_package_a/.gradle/vcs-1/gc.properties b/rosjava/src/rosjava_catkin_package_a/.gradle/vcs-1/gc.properties
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/rosjava/src/rosjava_catkin_package_a/CMakeLists.txt b/rosjava/src/rosjava_catkin_package_a/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44e634daf44a1241991678b9fefed14ee448bfcd
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/README.md b/rosjava/src/rosjava_catkin_package_a/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..9bbe4ec7c0fe98f5fbc3ecf091479d668a261342
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/README.md
@@ -0,0 +1,3 @@
+# rosjava_catkin_package_a
+
+Fork of the official "rosjava_catkin_package_a" tutorial.
\ No newline at end of file
diff --git a/rosjava/src/rosjava_catkin_package_a/build.gradle b/rosjava/src/rosjava_catkin_package_a/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..985fe4c62cacff54aaf296c351b1e114db9070b8
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/gradle/wrapper/gradle-wrapper.jar b/rosjava/src/rosjava_catkin_package_a/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000000000000000000000000000000000000..29953ea141f55e3b8fc691d31b5ca8816d89fa87
Binary files /dev/null and b/rosjava/src/rosjava_catkin_package_a/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/rosjava/src/rosjava_catkin_package_a/gradle/wrapper/gradle-wrapper.properties b/rosjava/src/rosjava_catkin_package_a/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000000000000000000000000000000000000..e0b3fb8d70b1bbf790f6f8ed1c928ddf09f54628
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/gradlew b/rosjava/src/rosjava_catkin_package_a/gradlew
new file mode 100755
index 0000000000000000000000000000000000000000..cccdd3d517fc5249beaefa600691cf150f2fa3e6
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/gradlew.bat b/rosjava/src/rosjava_catkin_package_a/gradlew.bat
new file mode 100644
index 0000000000000000000000000000000000000000..e95643d6a2ca62258464e83c72f5156dc941c609
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build.gradle b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..bb8035899c8af3650f8b74586754382c1c819ddf
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener$1.class b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener$1.class
new file mode 100644
index 0000000000000000000000000000000000000000..f1164ef459f73facda84eebc1f7d1c9aa42d1704
Binary files /dev/null and b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener$1.class differ
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.class b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.class
new file mode 100644
index 0000000000000000000000000000000000000000..ee8c9f6cd8369e378ecfa901d6a52d5c4e3fd836
Binary files /dev/null and b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.class differ
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker$1.class b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker$1.class
new file mode 100644
index 0000000000000000000000000000000000000000..aef9daf46c272b8cc4ae3cc081572812a1a6d015
Binary files /dev/null and b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker$1.class differ
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.class b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.class
new file mode 100644
index 0000000000000000000000000000000000000000..22b07d0771770583614cb1e5647a6205c4f6c34f
Binary files /dev/null and b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/classes/java/main/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.class differ
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial
new file mode 100755
index 0000000000000000000000000000000000000000..0dd6a07a18644f32f784950c634c56edf9817f41
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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-0.3.7.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-0.3.7.jar:$APP_HOME/lib/apache_xmlrpc_client-0.3.7.jar:$APP_HOME/lib/apache_xmlrpc_common-0.3.7.jar:$APP_HOME/lib/rosjava_test_msgs-0.3.0.jar:$APP_HOME/lib/rosgraph_msgs-1.11.3.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:$APP_HOME/lib/std_msgs-0.5.13.jar:$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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial.bat b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/bin/my_pub_sub_tutorial.bat
new file mode 100755
index 0000000000000000000000000000000000000000..8d65b942faadca26b4a8f6ab3a4da47ef5661b8e
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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-0.3.7.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-0.3.7.jar;%APP_HOME%\lib\apache_xmlrpc_client-0.3.7.jar;%APP_HOME%\lib\apache_xmlrpc_common-0.3.7.jar;%APP_HOME%\lib\rosjava_test_msgs-0.3.0.jar;%APP_HOME%\lib\rosgraph_msgs-1.11.3.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-0.5.13.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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/actionlib_msgs-1.12.7.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/actionlib_msgs-1.12.7.jar
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/stax2-api-3.1.1.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/stax2-api-3.1.1.jar
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/tf2_msgs-0.5.20.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/tf2_msgs-0.5.20.jar
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/woodstox-core-asl-4.2.0.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/woodstox-core-asl-4.2.0.jar
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/ws-commons-util-1.0.1.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/ws-commons-util-1.0.1.jar
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/xercesImpl-2.9.1.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/install/my_pub_sub_tutorial/lib/xercesImpl-2.9.1.jar
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index 0000000000000000000000000000000000000000..547f56300d93fe36587910739e095f03e287d47e
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/libs/my_pub_sub_tutorial-0.1.0.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/libs/my_pub_sub_tutorial-0.1.0.jar
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index 0000000000000000000000000000000000000000..49e01ad1f5f9d222e52aa4a30bcdf89c648f0d81
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diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/publications/mavenJava/pom-default.xml b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/publications/mavenJava/pom-default.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa61a01f90a57148ac8cdd391329d48d27904ae6
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/resources/main/minimal.pnml b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/resources/main/minimal.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..02aac0252a55e8aeea785a415cbe4f61c9d6784c
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/tmp/jar/MANIFEST.MF b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/tmp/jar/MANIFEST.MF
new file mode 100644
index 0000000000000000000000000000000000000000..58630c02ef423cffd6dd6aafd946eb8512040c37
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,2 @@
+Manifest-Version: 1.0
+
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/maven-metadata-remote.xml b/rosjava/src/rosjava_catkin_package_a/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..b96575be8bbd1abe0b1766617e4517023a9563f7
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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>20210709135440</lastUpdated>
+ </versioning>
+</metadata>
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/build/tmp/publishMavenJavaPublicationToMavenRepository/com/github/rosjava/rosjava_catkin_package_a/my_pub_sub_tutorial/resolver-status.properties b/rosjava/src/rosjava_catkin_package_a/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..c17e88d34cc27462bf9da978cf2b1dd48036790f
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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.
+#Fri Jul 09 15:54:40 CEST 2021
+maven-metadata-remote.xml.lastUpdated=1625838880694
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/libs/pnml-relast-0.2.jar b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/libs/pnml-relast-0.2.jar
new file mode 100644
index 0000000000000000000000000000000000000000..d7e986218259d2d62226fdc96525b86eef9c7a94
Binary files /dev/null and b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/libs/pnml-relast-0.2.jar differ
diff --git a/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.java b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.java b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml b/rosjava/src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..02aac0252a55e8aeea785a415cbe4f61c9d6784c
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/package.xml b/rosjava/src/rosjava_catkin_package_a/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2814c3c70c59d9a01205f81af77965f7a713c6fe
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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/rosjava/src/rosjava_catkin_package_a/rosjava.rosinstall b/rosjava/src/rosjava_catkin_package_a/rosjava.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..0ab9930dc9bd7fa5f88c30df343b95c78fe97a47
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/rosjava.rosinstall
@@ -0,0 +1,16 @@
+# Install this on top of rosjava core workspaces
+#
+# Note: Disabling annotations messages (and dependencies) until a redesign comes through.
+# Note: usually don't have yocs_msgs sources in an underlay, so add it here.
+[
+# A minimal source environment for rosjava that utilises rosjava_messages for message generation
+{'git': {'local-name': 'rosjava_build_tools', 'version': 'clf', 'uri':'https://git-st.inf.tu-dresden.de/ceti/ros-internal/forked-rosjava-packages/rosjava_build_tools.git'}},
+{'git': {'local-name': 'genjava', 'version': 'kinetic', 'uri':'https://git-st.inf.tu-dresden.de/ceti/ros-internal/forked-rosjava-packages/genjava.git'}},
+{'git': {'local-name': 'rosjava_bootstrap', 'version': 'kinetic', 'uri':'https://github.com/rosjava/rosjava_bootstrap'}},
+{'git': {'local-name': 'rosjava_test_msgs', 'version': 'kinetic', 'uri':'https://github.com/rosjava/rosjava_test_msgs.git'}},
+{'git': {'local-name': 'rosjava_messages', 'version': 'kinetic', 'uri':'https://github.com/rosjava/rosjava_messages'}},
+{'git': {'local-name': 'rosjava_core', 'version': 'kinetic', 'uri':'https://github.com/rosjava/rosjava_core'}},
+{'git': {'local-name': 'rosjava_extras', 'version': 'kinetic', 'uri':'https://github.com/rosjava/rosjava_extras'}},
+{'git': {'local-name': 'zeroconf_jmdns_suite', 'version': 'kinetic', 'uri':'https://github.com/rosjava/zeroconf_jmdns_suite'}},
+{'git': {'local-name': 'rosjava', 'version': 'kinetic', 'uri':'https://github.com/rosjava/rosjava.git'}},
+]
diff --git a/rosjava/src/rosjava_catkin_package_a/settings.gradle b/rosjava/src/rosjava_catkin_package_a/settings.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..b3b9ff348c333ffd9bb87259a9daa9c81303fb79
--- /dev/null
+++ b/rosjava/src/rosjava_catkin_package_a/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'
diff --git a/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileChanges/last-build.bin b/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileChanges/last-build.bin
new file mode 100644
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diff --git a/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileContent/annotation-processors.bin b/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileContent/annotation-processors.bin
new file mode 100644
index 0000000000000000000000000000000000000000..8780a493ffdc25d24cb62c65ffa39d0a88dfadc7
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diff --git a/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileContent/fileContent.lock b/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileContent/fileContent.lock
new file mode 100644
index 0000000000000000000000000000000000000000..73d628c64ef1465764128ce5cc96f84070d36ddd
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileContent/fileContent.lock differ
diff --git a/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileHashes/fileHashes.bin b/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileHashes/fileHashes.bin
new file mode 100644
index 0000000000000000000000000000000000000000..1cef55c6047c1a0c0414c2b8e7f1c34fc7f0214c
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diff --git a/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileHashes/fileHashes.lock b/rosjava/src/rosjava_rag_connector/.gradle/4.10.2/fileHashes/fileHashes.lock
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diff --git a/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/buildOutputCleanup.lock
new file mode 100644
index 0000000000000000000000000000000000000000..cdaac1132261c2a0a3d3b2add31e85f3426bd244
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diff --git a/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/cache.properties b/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000000000000000000000000000000000000..daa97776842846721cebf7a95c9bfe3b2d012a12
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Tue Feb 16 15:53:04 CET 2021
+gradle.version=4.10.2
diff --git a/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/outputFiles.bin b/rosjava/src/rosjava_rag_connector/.gradle/buildOutputCleanup/outputFiles.bin
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diff --git a/rosjava/src/rosjava_rag_connector/.gradle/vcs-1/gc.properties b/rosjava/src/rosjava_rag_connector/.gradle/vcs-1/gc.properties
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/rosjava/src/rosjava_rag_connector/.idea/codeStyles/Project.xml b/rosjava/src/rosjava_rag_connector/.idea/codeStyles/Project.xml
new file mode 100644
index 0000000000000000000000000000000000000000..919ce1f1f77253454105acb2aad9997c1047a0e6
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/codeStyles/Project.xml
@@ -0,0 +1,7 @@
+<component name="ProjectCodeStyleConfiguration">
+ <code_scheme name="Project" version="173">
+ <ScalaCodeStyleSettings>
+ <option name="MULTILINE_STRING_CLOSING_QUOTES_ON_NEW_LINE" value="true" />
+ </ScalaCodeStyleSettings>
+ </code_scheme>
+</component>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/codeStyles/codeStyleConfig.xml b/rosjava/src/rosjava_rag_connector/.idea/codeStyles/codeStyleConfig.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a55e7a179bde3e4e772c29c0c85e53354aa54618
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/codeStyles/codeStyleConfig.xml
@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+ <state>
+ <option name="PREFERRED_PROJECT_CODE_STYLE" value="Default" />
+ </state>
+</component>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/compiler.xml b/rosjava/src/rosjava_rag_connector/.idea/compiler.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c5ab058da9e24fd5f35bc5bcc6b9bb2c5fe302f
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/compiler.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="CompilerConfiguration">
+ <bytecodeTargetLevel target="1.7" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/gradle.xml b/rosjava/src/rosjava_rag_connector/.idea/gradle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd48ee157e5967105495b2bfc1a8319776fe5df7
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/gradle.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="GradleMigrationSettings" migrationVersion="1" />
+ <component name="GradleSettings">
+ <option name="linkedExternalProjectsSettings">
+ <GradleProjectSettings>
+ <option name="distributionType" value="DEFAULT_WRAPPED" />
+ <option name="externalProjectPath" value="$PROJECT_DIR$" />
+ <option name="modules">
+ <set>
+ <option value="$PROJECT_DIR$" />
+ <option value="$PROJECT_DIR$/signal_connector_module" />
+ </set>
+ </option>
+ </GradleProjectSettings>
+ </option>
+ </component>
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/jarRepositories.xml b/rosjava/src/rosjava_rag_connector/.idea/jarRepositories.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b87676d6bb18045ed79731646cb81c531ffe05d4
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/jarRepositories.xml
@@ -0,0 +1,40 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="RemoteRepositoriesConfiguration">
+ <remote-repository>
+ <option name="id" value="central" />
+ <option name="name" value="Maven Central repository" />
+ <option name="url" value="https://repo1.maven.org/maven2" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="jboss.community" />
+ <option name="name" value="JBoss Community repository" />
+ <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven" />
+ <option name="name" value="maven" />
+ <option name="url" value="https://github.com/rosjava/rosjava_mvn_repo/raw/master" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven2" />
+ <option name="name" value="maven2" />
+ <option name="url" value="http://repository.springsource.com/maven/bundles/release" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="BintrayJCenter" />
+ <option name="name" value="BintrayJCenter" />
+ <option name="url" value="https://jcenter.bintray.com/" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven3" />
+ <option name="name" value="maven3" />
+ <option name="url" value="http://repository.springsource.com/maven/bundles/external" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="MavenLocal" />
+ <option name="name" value="MavenLocal" />
+ <option name="url" value="file:$MAVEN_REPOSITORY$/" />
+ </remote-repository>
+ </component>
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/misc.xml b/rosjava/src/rosjava_rag_connector/.idea/misc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1826a0beab293869839b7785c174e860e7e4bfad
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/misc.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ExternalStorageConfigurationManager" enabled="true" />
+ <component name="FrameworkDetectionExcludesConfiguration">
+ <file type="web" url="file://$PROJECT_DIR$" />
+ </component>
+ <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="false" project-jdk-name="1.8" project-jdk-type="JavaSDK" />
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/uiDesigner.xml b/rosjava/src/rosjava_rag_connector/.idea/uiDesigner.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e96534fb27b68192f27f985d3879e173ec77adb8
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/uiDesigner.xml
@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="Palette2">
+ <group name="Swing">
+ <item class="com.intellij.uiDesigner.HSpacer" tooltip-text="Horizontal Spacer" icon="/com/intellij/uiDesigner/icons/hspacer.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="1" hsize-policy="6" anchor="0" fill="1" />
+ </item>
+ <item class="com.intellij.uiDesigner.VSpacer" tooltip-text="Vertical Spacer" icon="/com/intellij/uiDesigner/icons/vspacer.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="6" hsize-policy="1" anchor="0" fill="2" />
+ </item>
+ <item class="javax.swing.JPanel" icon="/com/intellij/uiDesigner/icons/panel.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3" />
+ </item>
+ <item class="javax.swing.JScrollPane" icon="/com/intellij/uiDesigner/icons/scrollPane.png" removable="false" auto-create-binding="false" can-attach-label="true">
+ <default-constraints vsize-policy="7" hsize-policy="7" anchor="0" fill="3" />
+ </item>
+ <item class="javax.swing.JButton" icon="/com/intellij/uiDesigner/icons/button.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="3" anchor="0" fill="1" />
+ <initial-values>
+ <property name="text" value="Button" />
+ </initial-values>
+ </item>
+ <item class="javax.swing.JRadioButton" icon="/com/intellij/uiDesigner/icons/radioButton.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
+ <initial-values>
+ <property name="text" value="RadioButton" />
+ </initial-values>
+ </item>
+ <item class="javax.swing.JCheckBox" icon="/com/intellij/uiDesigner/icons/checkBox.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
+ <initial-values>
+ <property name="text" value="CheckBox" />
+ </initial-values>
+ </item>
+ <item class="javax.swing.JLabel" icon="/com/intellij/uiDesigner/icons/label.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="0" anchor="8" fill="0" />
+ <initial-values>
+ <property name="text" value="Label" />
+ </initial-values>
+ </item>
+ <item class="javax.swing.JTextField" icon="/com/intellij/uiDesigner/icons/textField.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+ <preferred-size width="150" height="-1" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JPasswordField" icon="/com/intellij/uiDesigner/icons/passwordField.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+ <preferred-size width="150" height="-1" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JFormattedTextField" icon="/com/intellij/uiDesigner/icons/formattedTextField.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+ <preferred-size width="150" height="-1" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JTextArea" icon="/com/intellij/uiDesigner/icons/textArea.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+ <preferred-size width="150" height="50" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JTextPane" icon="/com/intellij/uiDesigner/icons/textPane.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+ <preferred-size width="150" height="50" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JEditorPane" icon="/com/intellij/uiDesigner/icons/editorPane.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+ <preferred-size width="150" height="50" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JComboBox" icon="/com/intellij/uiDesigner/icons/comboBox.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="0" hsize-policy="2" anchor="8" fill="1" />
+ </item>
+ <item class="javax.swing.JTable" icon="/com/intellij/uiDesigner/icons/table.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+ <preferred-size width="150" height="50" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JList" icon="/com/intellij/uiDesigner/icons/list.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="6" hsize-policy="2" anchor="0" fill="3">
+ <preferred-size width="150" height="50" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JTree" icon="/com/intellij/uiDesigner/icons/tree.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+ <preferred-size width="150" height="50" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JTabbedPane" icon="/com/intellij/uiDesigner/icons/tabbedPane.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
+ <preferred-size width="200" height="200" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JSplitPane" icon="/com/intellij/uiDesigner/icons/splitPane.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
+ <preferred-size width="200" height="200" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JSpinner" icon="/com/intellij/uiDesigner/icons/spinner.png" removable="false" auto-create-binding="true" can-attach-label="true">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
+ </item>
+ <item class="javax.swing.JSlider" icon="/com/intellij/uiDesigner/icons/slider.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
+ </item>
+ <item class="javax.swing.JSeparator" icon="/com/intellij/uiDesigner/icons/separator.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3" />
+ </item>
+ <item class="javax.swing.JProgressBar" icon="/com/intellij/uiDesigner/icons/progressbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1" />
+ </item>
+ <item class="javax.swing.JToolBar" icon="/com/intellij/uiDesigner/icons/toolbar.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1">
+ <preferred-size width="-1" height="20" />
+ </default-constraints>
+ </item>
+ <item class="javax.swing.JToolBar$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.png" removable="false" auto-create-binding="false" can-attach-label="false">
+ <default-constraints vsize-policy="0" hsize-policy="0" anchor="0" fill="1" />
+ </item>
+ <item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
+ <default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
+ </item>
+ </group>
+ </component>
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/vcs.xml b/rosjava/src/rosjava_rag_connector/.idea/vcs.xml
new file mode 100644
index 0000000000000000000000000000000000000000..35eb1ddfbbc029bcab630581847471d7f238ec53
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="VcsDirectoryMappings">
+ <mapping directory="" vcs="Git" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/.idea/workspace.xml b/rosjava/src/rosjava_rag_connector/.idea/workspace.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a62edf873df0bcf38983048d6ddb551fd3ef7ac
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/.idea/workspace.xml
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="AutoImportSettings">
+ <option name="autoReloadType" value="SELECTIVE" />
+ </component>
+ <component name="BranchesTreeState">
+ <expand>
+ <path>
+ <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
+ <item name="LOCAL_ROOT" type="e8cecc67:BranchNodeDescriptor" />
+ </path>
+ <path>
+ <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
+ <item name="REMOTE_ROOT" type="e8cecc67:BranchNodeDescriptor" />
+ </path>
+ <path>
+ <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
+ <item name="REMOTE_ROOT" type="e8cecc67:BranchNodeDescriptor" />
+ <item name="GROUP_NODE:origin" type="e8cecc67:BranchNodeDescriptor" />
+ </path>
+ </expand>
+ <select />
+ </component>
+ <component name="ChangeListManager">
+ <list default="true" id="d65cb0a9-f7e2-4f70-af66-2055845b58eb" name="Default Changelist" comment="" />
+ <option name="SHOW_DIALOG" value="false" />
+ <option name="HIGHLIGHT_CONFLICTS" value="true" />
+ <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+ <option name="LAST_RESOLUTION" value="IGNORE" />
+ </component>
+ <component name="CodeStyleSettingsInfer">
+ <option name="done" value="true" />
+ </component>
+ <component name="ExternalProjectsData">
+ <projectState path="$PROJECT_DIR$">
+ <ProjectState />
+ </projectState>
+ </component>
+ <component name="ExternalProjectsManager">
+ <system id="GRADLE">
+ <state>
+ <projects_view>
+ <tree_state>
+ <expand>
+ <path>
+ <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+ <item name="rosjava_rag_connector" type="f1a62948:ProjectNode" />
+ </path>
+ </expand>
+ <select />
+ </tree_state>
+ </projects_view>
+ </state>
+ </system>
+ </component>
+ <component name="FileTemplateManagerImpl">
+ <option name="RECENT_TEMPLATES">
+ <list>
+ <option value="Class" />
+ </list>
+ </option>
+ </component>
+ <component name="Git.Settings">
+ <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+ </component>
+ <component name="MavenImportPreferences">
+ <option name="generalSettings">
+ <MavenGeneralSettings>
+ <option name="mavenHome" value="$APPLICATION_HOME_DIR$/plugins/maven/lib/maven3" />
+ </MavenGeneralSettings>
+ </option>
+ </component>
+ <component name="ProjectCodeStyleSettingsMigration">
+ <option name="version" value="1" />
+ </component>
+ <component name="ProjectId" id="1oZDuQVHqoF4nYW3mFQ7B9rvneF" />
+ <component name="ProjectViewState">
+ <option name="hideEmptyMiddlePackages" value="true" />
+ <option name="showLibraryContents" value="true" />
+ </component>
+ <component name="PropertiesComponent">
+ <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
+ <property name="WebServerToolWindowFactoryState" value="false" />
+ <property name="aspect.path.notification.shown" value="true" />
+ <property name="last_opened_file_path" value="$USER_HOME$/java-spring-workspaces/default-workspace/da-sebastian-ebert-hub" />
+ <property name="nodejs_package_manager_path" value="npm" />
+ <property name="show.unlinked.gradle.project.popup" value="true" />
+ </component>
+ <component name="RecentsManager">
+ <key name="MoveFile.RECENT_KEYS">
+ <recent name="$PROJECT_DIR$/signal_connector_module/libs" />
+ </key>
+ <key name="CopyFile.RECENT_KEYS">
+ <recent name="$PROJECT_DIR$/signal_connector_module/libs" />
+ <recent name="$PROJECT_DIR$/signal_connector_module/src/main/resources" />
+ </key>
+ </component>
+ <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+ <component name="TaskManager">
+ <task active="true" id="Default" summary="Default task">
+ <changelist id="d65cb0a9-f7e2-4f70-af66-2055845b58eb" name="Default Changelist" comment="" />
+ <created>1613485441137</created>
+ <option name="number" value="Default" />
+ <option name="presentableId" value="Default" />
+ <updated>1613485441137</updated>
+ <workItem from="1613485442318" duration="4234000" />
+ <workItem from="1613576284068" duration="3205000" />
+ <workItem from="1613638440916" duration="12441000" />
+ <workItem from="1614162925007" duration="598000" />
+ <workItem from="1614249197118" duration="599000" />
+ <workItem from="1614352650005" duration="599000" />
+ <workItem from="1614587791468" duration="1947000" />
+ <workItem from="1614701858378" duration="466000" />
+ <workItem from="1614702348098" duration="903000" />
+ <workItem from="1614764383739" duration="599000" />
+ <workItem from="1615204508484" duration="659000" />
+ <workItem from="1615819709695" duration="598000" />
+ <workItem from="1615889784293" duration="599000" />
+ <workItem from="1615970452962" duration="599000" />
+ <workItem from="1615977318556" duration="1198000" />
+ <workItem from="1616057914503" duration="256000" />
+ </task>
+ <servers />
+ </component>
+ <component name="TypeScriptGeneratedFilesManager">
+ <option name="version" value="3" />
+ </component>
+ <component name="Vcs.Log.Tabs.Properties">
+ <option name="TAB_STATES">
+ <map>
+ <entry key="MAIN">
+ <value>
+ <State />
+ </value>
+ </entry>
+ </map>
+ </option>
+ <option name="oldMeFiltersMigrated" value="true" />
+ </component>
+ <component name="WindowStateProjectService">
+ <state x="1134" y="501" width="281" height="456" key="#com.intellij.ide.util.MemberChooser" timestamp="1613661067880">
+ <screen x="0" y="20" width="2560" height="1420" />
+ </state>
+ <state x="1134" y="501" width="281" height="456" key="#com.intellij.ide.util.MemberChooser/0.1440.1920.1080/0.20.2560.1420@0.20.2560.1420" timestamp="1613661067880" />
+ <state x="1116" y="547" width="318" height="370" key="FileChooserDialogImpl" timestamp="1614702648821">
+ <screen x="0" y="20" width="2560" height="1420" />
+ </state>
+ <state x="1116" y="534" width="318" height="370" key="FileChooserDialogImpl/0.1440.1920.1080/0.0.2560.1440@0.0.2560.1440" timestamp="1613485553493" />
+ <state x="1116" y="547" key="FileChooserDialogImpl/0.20.2560.1420@0.20.2560.1420" timestamp="1614702648821" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/rosjava/src/rosjava_rag_connector/CMakeLists.txt b/rosjava/src/rosjava_rag_connector/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..562460c2b548d87dcdea873d90fd0fdbb3463eba
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/CMakeLists.txt
@@ -0,0 +1,29 @@
+##############################################################################
+# CMake
+##############################################################################
+
+cmake_minimum_required(VERSION 2.8.3)
+project(rosjava_rag_connector)
+
+##############################################################################
+# 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/rosjava/src/rosjava_rag_connector/README.md b/rosjava/src/rosjava_rag_connector/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..fe12d1a4ec2663b64897b17984fd715005d2bbe3
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/README.md
@@ -0,0 +1,2 @@
+# rosjava_rag_connector
+
diff --git a/rosjava/src/rosjava_rag_connector/build.gradle b/rosjava/src/rosjava_rag_connector/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..74d1cb2805e764875fc1032f50b74c5e509df8c5
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/build.gradle
@@ -0,0 +1,70 @@
+/*
+ * 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'
+apply plugin: "idea"
+
+
+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 'de.tudresden.inf.st.rosjava_rag_connector'
+ 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/rosjava/src/rosjava_rag_connector/gradle/wrapper/gradle-wrapper.jar b/rosjava/src/rosjava_rag_connector/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000000000000000000000000000000000000..29953ea141f55e3b8fc691d31b5ca8816d89fa87
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/rosjava/src/rosjava_rag_connector/gradle/wrapper/gradle-wrapper.properties b/rosjava/src/rosjava_rag_connector/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000000000000000000000000000000000000..e0b3fb8d70b1bbf790f6f8ed1c928ddf09f54628
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/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/rosjava/src/rosjava_rag_connector/gradlew b/rosjava/src/rosjava_rag_connector/gradlew
new file mode 100755
index 0000000000000000000000000000000000000000..cccdd3d517fc5249beaefa600691cf150f2fa3e6
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/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/rosjava/src/rosjava_rag_connector/gradlew.bat b/rosjava/src/rosjava_rag_connector/gradlew.bat
new file mode 100644
index 0000000000000000000000000000000000000000..e95643d6a2ca62258464e83c72f5156dc941c609
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/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/rosjava/src/rosjava_rag_connector/package.xml b/rosjava/src/rosjava_rag_connector/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ee225e318a4ecf5a19bcecbafa258d6406def15
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/package.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>rosjava_rag_connector</name>
+ <version>0.1.0</version>
+ <description>The rosjava_rag_connector 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_rag_connector</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/rosjava/src/rosjava_rag_connector/settings.gradle b/rosjava/src/rosjava_rag_connector/settings.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..57f15f7c109d61e16255cc65772ba4c176b809e0
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/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 'signal_connector_module'
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build.gradle b/rosjava/src/rosjava_rag_connector/signal_connector_module/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..8b0058ba9efcf587bfa504d3cc26d7c943ced3c7
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/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'
+apply plugin: "idea"
+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)'
+ /* 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'
+
+ // pnml-relast
+ 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/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector$1.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector$1.class
new file mode 100644
index 0000000000000000000000000000000000000000..2de90e0652637754df66e3ec27d1b77b74819262
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector$1.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector$2.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector$2.class
new file mode 100644
index 0000000000000000000000000000000000000000..c6a25619298a9591637230bd5b3cfa2c70031013
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector$2.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.class
new file mode 100644
index 0000000000000000000000000000000000000000..2694e940ad65efb1d536bd2141c76383b62d87e1
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener$1.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener$1.class
new file mode 100644
index 0000000000000000000000000000000000000000..0a1e16436a5ed943364bc751b74f79820ee2c886
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener$1.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.class
new file mode 100644
index 0000000000000000000000000000000000000000..c57279f7d27d439b1de18639687cb34decb0b010
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker$1.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker$1.class
new file mode 100644
index 0000000000000000000000000000000000000000..496032fec167470dec3ec614b3d9636bcd04a7d7
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker$1.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker$2.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker$2.class
new file mode 100644
index 0000000000000000000000000000000000000000..44d09d94b462d43b8f6a3cf4350e3cc6bb334215
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker$2.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.class b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.class
new file mode 100644
index 0000000000000000000000000000000000000000..81349d69256f460c0a94ed6ff68e8b5c466e202c
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/classes/java/main/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.class differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/install/signal_connector_module/bin/signal_connector_module b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/install/signal_connector_module/bin/signal_connector_module
new file mode 100755
index 0000000000000000000000000000000000000000..13883d308b97a66ab92e42b934a342d263b8140f
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/install/signal_connector_module/bin/signal_connector_module
@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+## signal_connector_module 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="signal_connector_module"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and SIGNAL_CONNECTOR_MODULE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+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/signal_connector_module-0.1.0.jar:$APP_HOME/lib/pnml-relast-0.2.jar:$APP_HOME/lib/rosjava-0.3.7.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-0.3.7.jar:$APP_HOME/lib/apache_xmlrpc_client-0.3.7.jar:$APP_HOME/lib/apache_xmlrpc_common-0.3.7.jar:$APP_HOME/lib/rosjava_test_msgs-0.3.0.jar:$APP_HOME/lib/rosgraph_msgs-1.11.3.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:$APP_HOME/lib/std_msgs-0.5.13.jar:$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 $SIGNAL_CONNECTOR_MODULE_OPTS -classpath "\"$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/rosjava/src/rosjava_rag_connector/signal_connector_module/build/install/signal_connector_module/bin/signal_connector_module.bat b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/install/signal_connector_module/bin/signal_connector_module.bat
new file mode 100755
index 0000000000000000000000000000000000000000..a4297e7673eaab9004ae0addb213d717de57b817
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/install/signal_connector_module/bin/signal_connector_module.bat
@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem signal_connector_module 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 SIGNAL_CONNECTOR_MODULE_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\signal_connector_module-0.1.0.jar;%APP_HOME%\lib\pnml-relast-0.2.jar;%APP_HOME%\lib\rosjava-0.3.7.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-0.3.7.jar;%APP_HOME%\lib\apache_xmlrpc_client-0.3.7.jar;%APP_HOME%\lib\apache_xmlrpc_common-0.3.7.jar;%APP_HOME%\lib\rosjava_test_msgs-0.3.0.jar;%APP_HOME%\lib\rosgraph_msgs-1.11.3.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-0.5.13.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 signal_connector_module
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %SIGNAL_CONNECTOR_MODULE_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 SIGNAL_CONNECTOR_MODULE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%SIGNAL_CONNECTOR_MODULE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
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diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/libs/signal_connector_module-0.1.0.jar b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/libs/signal_connector_module-0.1.0.jar
new file mode 100644
index 0000000000000000000000000000000000000000..717e58806d7b74acc7d62d60a8e59c1d3279385a
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diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/publications/mavenJava/pom-default.xml b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/publications/mavenJava/pom-default.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fbbc986e633b358110b475c8ff240911649927e6
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/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>de.tudresden.inf.st.rosjava_rag_connector</groupId>
+ <artifactId>signal_connector_module</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/rosjava/src/rosjava_rag_connector/signal_connector_module/build/resources/main/minimal.pnml b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/resources/main/minimal.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..02aac0252a55e8aeea785a415cbe4f61c9d6784c
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/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/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/jar/MANIFEST.MF b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/jar/MANIFEST.MF
new file mode 100644
index 0000000000000000000000000000000000000000..58630c02ef423cffd6dd6aafd946eb8512040c37
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,2 @@
+Manifest-Version: 1.0
+
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/publishMavenJavaPublicationToMavenRepository/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/maven-metadata-remote.xml b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/publishMavenJavaPublicationToMavenRepository/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/maven-metadata-remote.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3461278a8afd4e23854d09d271922da04d01f4d9
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/publishMavenJavaPublicationToMavenRepository/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/maven-metadata-remote.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<metadata>
+ <groupId>de.tudresden.inf.st.rosjava_rag_connector</groupId>
+ <artifactId>signal_connector_module</artifactId>
+ <versioning>
+ <release>0.1.0</release>
+ <versions>
+ <version>0.1.0</version>
+ </versions>
+ <lastUpdated>20210709135430</lastUpdated>
+ </versioning>
+</metadata>
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/publishMavenJavaPublicationToMavenRepository/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/resolver-status.properties b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/publishMavenJavaPublicationToMavenRepository/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/resolver-status.properties
new file mode 100644
index 0000000000000000000000000000000000000000..848f9d04567ff225b3261cd35fe85b68720a172a
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/build/tmp/publishMavenJavaPublicationToMavenRepository/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/resolver-status.properties
@@ -0,0 +1,3 @@
+#NOTE: This is an internal implementation file, its format can be changed without prior notice.
+#Fri Jul 09 15:54:30 CEST 2021
+maven-metadata-remote.xml.lastUpdated=1625838870044
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/libs/pnml-relast-0.2.jar b/rosjava/src/rosjava_rag_connector/signal_connector_module/libs/pnml-relast-0.2.jar
new file mode 100644
index 0000000000000000000000000000000000000000..df8dff560b12b488f328c3db05cb56710b8ff42a
Binary files /dev/null and b/rosjava/src/rosjava_rag_connector/signal_connector_module/libs/pnml-relast-0.2.jar differ
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.java b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.java
new file mode 100644
index 0000000000000000000000000000000000000000..984b2a06bc6759019be8220757e0c430152d8c06
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.java
@@ -0,0 +1,77 @@
+package de.tudresden.inf.st.rosjava_rag_connector.signal_connector_module;
+
+import de.tudresden.inf.st.pnml.jastadd.model.*;
+import de.tudresden.inf.st.service.PetriNetInitService;
+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.Node;
+import org.ros.node.topic.Publisher;
+import org.ros.node.topic.Subscriber;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import std_msgs.String;
+
+import java.util.List;
+import java.util.function.Consumer;
+
+public class SignalConnector extends AbstractNodeMain {
+
+ private static final Logger logger = LoggerFactory.getLogger(SignalConnector.class);
+ private List<Marking> markedGraphs = null;
+ private JavaHandler jh = JavaHandler.getInstance();
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("pn/signalconnector");
+ }
+
+ @Override
+ public void onError(Node node, Throwable throwable) {
+ logger.error("[SIGNALCONNECTOR] An error occurred: " + throwable.getLocalizedMessage());
+ }
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+
+ // TODO replace path with config-parameter
+ markedGraphs = PetriNetInitService.initMarkedGraphs("src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml");
+
+ for(Marking markedGraph : markedGraphs){
+
+ for(Place place : markedGraph.getPetriNet().allPlaces()){
+ OutputSignalPlace osp = place.asOutputSignalPlace();
+ for(OutputSignalBinding osBinding : osp.getOutputSignalBindingList()){
+
+ final Publisher<String> publisher = connectedNode.newPublisher("/outputsignal/" + osBinding.getId(), std_msgs.String._TYPE);
+
+ jh.registerCallback("/outputsignal/" + osBinding.getId(), new Consumer<byte[]>() {
+ @Override
+ public void accept(byte[] bytes) {
+ std_msgs.String str = publisher.newMessage();
+ str.setData(new java.lang.String(bytes));
+ publisher.publish(str);
+ }
+ });
+ }
+ }
+
+ for(Transition transition : markedGraph.getPetriNet().allTransitions()){
+ InputSignalTransition ist = transition.asInputSignalTransition();
+ for(InputSignalBinding isBinding : ist.getInputSignalBindingList()){
+
+ final Subscriber<String> subscriber = connectedNode.newSubscriber("/inputsignal/" /*+ isBinding.getId()*/, std_msgs.String._TYPE);
+
+ subscriber.addMessageListener(new MessageListener<String>() {
+ @Override
+ public void onNewMessage(std_msgs.String message) {
+ // jh.push("/inputsignal/" + isBinding.getId(), message.getData().getBytes());
+ }
+ }, 1000);
+ }
+ }
+ }
+ }
+}
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.java b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.java
new file mode 100644
index 0000000000000000000000000000000000000000..b4253c6232c831fbcb7bb78eb3dbef9f5aac0d9e
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.java
@@ -0,0 +1,50 @@
+/*
+ * 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 de.tudresden.inf.st.rosjava_rag_connector.signal_test;
+
+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;
+
+// rosrun rosjava_rag_connector signal_connector_module de.tudresden.inf.st.rosjava_rag_connector.signal_connector_module.Listener
+/**
+ * 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<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() + "\"");
+ }
+ }, 1000);
+ }
+}
diff --git a/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.java b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.java
new file mode 100644
index 0000000000000000000000000000000000000000..4cccbbfbc6007f175259aac445bc6588efb6813b
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.java
@@ -0,0 +1,94 @@
+/*
+ * 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 de.tudresden.inf.st.rosjava_rag_connector.signal_test;
+
+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.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 java.util.List;
+import java.util.function.Consumer;
+
+// rosrun rosjava_rag_connector signal_connector_module de.tudresden.inf.st.rosjava_rag_connector.signal_connector_module.Talker
+/**
+ * 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);
+ JavaHandler jh = JavaHandler.getInstance();
+
+ jh.registerCallback("/outputsignal/os1", new Consumer<byte[]>() {
+ @Override
+ public void accept(byte[] bytes) {
+ System.out.println("TEST OS1 CALLBACK");
+ std_msgs.String str = publisher.newMessage();
+ str.setData("TEST OS1 CALLBACK ROS");
+ publisher.publish(str);
+ }
+ });
+ jh.registerCallback("/outputsignal/os2", new Consumer<byte[]>() {
+ @Override
+ public void accept(byte[] bytes) {
+ System.out.println("TEST OS2 CALLBACK");
+ std_msgs.String str = publisher.newMessage();
+ str.setData("TEST OS1 CALLBACK ROS");
+ publisher.publish(str);
+ }
+ });
+
+ 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();
+
+ // 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/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/resources/minimal.pnml b/rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/resources/minimal.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..02aac0252a55e8aeea785a415cbe4f61c9d6784c
--- /dev/null
+++ b/rosjava/src/rosjava_rag_connector/signal_connector_module/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