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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<rts:RtsProfile rts:updateDate="2013-07-31T22:50:32.656+09:00" rts:creationDate="2013-07-31T17:36:00.487+09:00" rts:version="0.2" rts:id="RTSystem:summer:summer:1.0.0" xmlns:rtsExt="http://www.openrtp.org/namespaces/rts_ext" xmlns:rts="http://www.openrtp.org/namespaces/rts" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<rts:Components xsi:type="rtsExt:component_ext" rtsExt:visible="true" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="ConvertTPose2D_TXYDouble0" rts:pathUri="localhost/Habble.host_cxt/ConvertTPose2D_TXYDouble0.rtc" rts:id="RTC:Ota:TUS:ConvertTPose2D_TXYDouble:1.0.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="ConvertTPose2D_TXYDouble0.TXYD"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="ConvertTPose2D_TXYDouble0.TP2D"/>
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<rts:ConfigurationSets rts:id="default"/>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="231" rtsExt:x="241"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e31008e980000000efee415f95100001dda000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:Components xsi:type="rtsExt:component_ext" rtsExt:visible="true" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="ConvertTVel_TVel2D0" rts:pathUri="localhost/Habble.host_cxt/ConvertTVel_TVel2D0.rtc" rts:id="RTC:TUS:TUS:ConvertTVel_TVel2D:1.0.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="ConvertTVel_TVel2D0.TVel2D"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="ConvertTVel_TVel2D0.TVel"/>
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<rts:ConfigurationSets rts:id="default"/>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="211" rtsExt:x="471"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e3100cd810000000efee415f95100001ddb000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:Components xsi:type="rtsExt:component_ext" rtsExt:visible="true" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="Destination0" rts:pathUri="localhost/Habble.host_cxt/Destination0.rtc" rts:id="RTC:Ota:TUS:Destination:1.0.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="Destination0.Dest"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="Destination0.Inpos"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="Destination0.Com"/>
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<rts:ConfigurationSets rts:id="default"/>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="231" rtsExt:x="3"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e3100a7210000000efee415f95100001dd7000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:Components xsi:type="rtsExt:component_ext" rtsExt:visible="true" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="DistanceConvert0" rts:pathUri="localhost/Habble.host_cxt/DistanceConvert0.rtc" rts:id="RTC:Ota:TUS:DistanceConvert:1.0.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="DistanceConvert0.TarPos"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="DistanceConvert0.Arrive"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="DistanceConvert0.DesPos"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="DistanceConvert0.RobPos"/>
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<rts:ConfigurationSets rts:id="default"/>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="231" rtsExt:x="101"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e3100dd7a0000000efee415f95100001dd8000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:Components xsi:type="rtsExt:component_ext" rtsExt:visible="true" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="LocalPathPlanning0" rts:pathUri="localhost/Habble.host_cxt/LocalPathPlanning0.rtc" rts:id="RTC:Nemoto,Mizoguchi Lab,Tokyo University of Science:RobotModule:LocalPathPlanning:1.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="LocalPathPlanning0.Velocity"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="LocalPathPlanning0.InputCtrl"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="LocalPathPlanning0.TargetPos"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="LocalPathPlanning0.Odometry"/>
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<rts:ServicePorts xsi:type="rtsExt:serviceport_ext" rtsExt:visible="true" rts:name="LocalPathPlanning0.RunControlPORT"/>
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<rts:ConfigurationSets rts:id="default">
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<rts:ConfigurationData rts:data="1.0" rts:name="max_mps"/>
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<rts:ConfigurationData rts:data="1.5" rts:name="max_rps"/>
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<rts:ConfigurationData rts:data="0.0" rts:name="min_mps"/>
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<rts:ConfigurationData rts:data="-1.5" rts:name="min_rps"/>
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<rts:ConfigurationData rts:data="0.8" rts:name="accelerate_mps"/>
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<rts:ConfigurationData rts:data="1.5" rts:name="accelerate_rps"/>
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</rts:ConfigurationSets>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="211" rtsExt:x="368"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e3100df0f0000000efee415f95100001dd9000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:Components xsi:type="rtsExt:component_ext" rtsExt:visible="true" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="StartPositionZero0" rts:pathUri="localhost/Habble.host_cxt/StartPositionZero0.rtc" rts:id="RTC:TUS:TUS:StartPositionZero:1.0.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rtsExt:visible="true" rts:name="StartPositionZero0.Zero"/>
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<rts:ConfigurationSets rts:id="default"/>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="357" rtsExt:x="143"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e310081150000000efee415f95100001ddc000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:Components xsi:type="rtsExt:component_ext" rts:isRequired="true" rts:compositeType="None" rts:activeConfigurationSet="default" rts:instanceName="MoveSample0" rts:pathUri="localhost/Habble.host_cxt/MoveSample0.rtc" rts:id="RTC:Ota:TUS:MoveSample:1.0.0">
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rts:name="MoveSample0.Odom"/>
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<rts:DataPorts xsi:type="rtsExt:dataport_ext" rts:name="MoveSample0.MovVel"/>
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<rts:ConfigurationSets rts:id="default"/>
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<rts:ExecutionContexts xsi:type="rtsExt:execution_context_ext" rts:rate="10.0" rts:kind="PERIODIC" rts:id="0"/>
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<rtsExt:Location rtsExt:direction="RIGHT" rtsExt:width="-1" rtsExt:height="-1" rtsExt:y="74" rtsExt:x="340"/>
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<rtsExt:Properties rtsExt:value="IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000060000102000000000a3132372e302e302e31008a320000000efee415f95100001ddd000000000000000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109" rtsExt:name="IOR"/>
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</rts:Components>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rtsExt:visible="true" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedXYDouble:1.0" rts:name="ConvertTPose2D_TXYDouble0.TXYD_LocalPathPlanning0.TargetPos" rts:connectorId="4f401041-a7cf-4453-8651-4599df3a2970">
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="ConvertTPose2D_TXYDouble0.TXYD" rts:instanceName="ConvertTPose2D_TXYDouble0" rts:componentId="RTC:Ota:TUS:ConvertTPose2D_TXYDouble:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/ConvertTPose2D_TXYDouble0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:sourceDataPort>
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<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="LocalPathPlanning0.TargetPos" rts:instanceName="LocalPathPlanning0" rts:componentId="RTC:Nemoto,Mizoguchi Lab,Tokyo University of Science:RobotModule:LocalPathPlanning:1.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/LocalPathPlanning0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:targetDataPort>
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</rts:DataPortConnectors>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedVelocity2D:1.0" rts:name="ConvertTVel_TVel2D0.TVel2D_MoveSample0.MovVel" rts:connectorId="9df91674-f35b-4fd5-9628-ff0540f3c0b3">
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="ConvertTVel_TVel2D0.TVel2D" rts:instanceName="ConvertTVel_TVel2D0" rts:componentId="RTC:TUS:TUS:ConvertTVel_TVel2D:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/ConvertTVel_TVel2D0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:sourceDataPort>
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<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="MoveSample0.MovVel" rts:instanceName="MoveSample0" rts:componentId="RTC:Ota:TUS:MoveSample:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/MoveSample0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:targetDataPort>
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</rts:DataPortConnectors>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rtsExt:visible="true" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedPose2D:1.0" rts:name="Destination0.Dest_DistanceConvert0.DesPos" rts:connectorId="fe4f0c75-f2c4-4ac7-a942-e040fb23e1cb">
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="Destination0.Dest" rts:instanceName="Destination0" rts:componentId="RTC:Ota:TUS:Destination:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/Destination0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:sourceDataPort>
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<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="DistanceConvert0.DesPos" rts:instanceName="DistanceConvert0" rts:componentId="RTC:Ota:TUS:DistanceConvert:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/DistanceConvert0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:targetDataPort>
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</rts:DataPortConnectors>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rtsExt:visible="true" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedPose2D:1.0" rts:name="DistanceConvert0.TarPos_ConvertTPose2D_TXYDouble0.TP2D" rts:connectorId="13c352bb-22b6-4c00-0000-000000000000">
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="DistanceConvert0.TarPos" rts:instanceName="DistanceConvert0" rts:componentId="RTC:Ota:TUS:DistanceConvert:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/DistanceConvert0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:sourceDataPort>
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<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="ConvertTPose2D_TXYDouble0.TP2D" rts:instanceName="ConvertTPose2D_TXYDouble0" rts:componentId="RTC:Ota:TUS:ConvertTPose2D_TXYDouble:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/ConvertTPose2D_TXYDouble0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:targetDataPort>
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</rts:DataPortConnectors>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rtsExt:visible="true" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedVelocity:1.0" rts:name="LocalPathPlanning0.Velocity_ConvertTVel_TVel2D0.TVel" rts:connectorId="34fbe845-719a-438c-b98c-78611589ff7f">
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="LocalPathPlanning0.Velocity" rts:instanceName="LocalPathPlanning0" rts:componentId="RTC:Nemoto,Mizoguchi Lab,Tokyo University of Science:RobotModule:LocalPathPlanning:1.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/LocalPathPlanning0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:sourceDataPort>
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<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="ConvertTVel_TVel2D0.TVel" rts:instanceName="ConvertTVel_TVel2D0" rts:componentId="RTC:TUS:TUS:ConvertTVel_TVel2D:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/ConvertTVel_TVel2D0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:targetDataPort>
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</rts:DataPortConnectors>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rtsExt:visible="true" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedPose2D:1.0" rts:name="StartPositionZero0.Zero_DistanceConvert0.RobPos" rts:connectorId="f04a3861-76cb-486b-a5be-bb2a174b3878">
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="StartPositionZero0.Zero" rts:instanceName="StartPositionZero0" rts:componentId="RTC:TUS:TUS:StartPositionZero:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/StartPositionZero0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:sourceDataPort>
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<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="DistanceConvert0.RobPos" rts:instanceName="DistanceConvert0" rts:componentId="RTC:Ota:TUS:DistanceConvert:1.0.0">
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/DistanceConvert0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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</rts:targetDataPort>
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</rts:DataPortConnectors>
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<rts:DataPortConnectors xsi:type="rtsExt:dataport_connector_ext" rts:subscriptionType="flush" rts:dataflowType="push" rts:interfaceType="corba_cdr" rts:dataType="IDL:RTC/TimedPose2D:1.0" rts:name="MoveSample0.Odom_DistanceConvert0.RobPos" rts:connectorId="0ccb1231-8576-44b9-85f9-662ee03c377b">
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120
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<rts:sourceDataPort xsi:type="rtsExt:target_port_ext" rts:portName="MoveSample0.Odom" rts:instanceName="MoveSample0" rts:componentId="RTC:Ota:TUS:MoveSample:1.0.0">
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121
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<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/MoveSample0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
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122
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</rts:sourceDataPort>
|
|
123
|
<rts:targetDataPort xsi:type="rtsExt:target_port_ext" rts:portName="DistanceConvert0.RobPos" rts:instanceName="DistanceConvert0" rts:componentId="RTC:Ota:TUS:DistanceConvert:1.0.0">
|
|
124
|
<rtsExt:Properties rtsExt:value="localhost/Habble.host_cxt/DistanceConvert0.rtc" rtsExt:name="COMPONENT_PATH_ID"/>
|
|
125
|
</rts:targetDataPort>
|
|
126
|
</rts:DataPortConnectors>
|
|
127
|
</rts:RtsProfile>
|