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<launch>
<arg name="HAVE_DISPLAY" default="true" />
<arg if="$(arg HAVE_DISPLAY)" name="launch_prefix" value="xterm -fn 10x20 -geometry 60x20 -e" />
<arg unless="$(arg HAVE_DISPLAY)" name="launch_prefix" value=""/>
<!-- BEGIN:openrtm setting -->
<arg name="nameserver" default="localhost" />
<env name="RTCTREE_NAMESERVERS" value="$(arg nameserver)" />
<arg name="openrtm_args" value='-o "corba.nameservers:$(arg nameserver):2809" -o "naming.formats:%n.rtc" -o "logger.file_name:/tmp/rtc%p.log" ' />
<!-- END:openrtm setting -->
<node name="rtsysedit" pkg="openhrp3" type="rtsysedit.sh" if="$(arg HAVE_DISPLAY)"/>
<!-- RTC Service Provider sample -->
<node name="provider" pkg="openrtm_tools" type="MyServiceProviderComp"
args='$(arg openrtm_args)' launch-prefix="$(arg launch_prefix)"/>
<!-- RTC Service COnsumet sample -->
<node name="consumer" pkg="openrtm_tools" type="MyServiceConsumerComp"
args='$(arg openrtm_args)' launch-prefix="$(arg launch_prefix)" />
<!-- BEGIN:openrtm connection -->
<node name="rtmlaunch_example" pkg="openrtm_tools" type="rtmlaunch.py"
args="$(find openrtm_ros_bridge)/samples/myservice_example.launch"/>
<rtactivate component="MyServiceProvider0.rtc" />
<rtactivate component="MyServiceConsumer0.rtc" />
<rtconnect from="MyServiceProvider0.rtc:MyService"
to="MyServiceConsumer0.rtc:MyService"/>
<!-- END:openrtm connection -->
<sphinxdoc><![CDATA[
sample programs for OpenRTM service port connection
.. image:: samples/image/service-example.png
:width: 800
]]></sphinxdoc>
</launch>