robot_frames.orogen

name "robot_frames"
using_library "robot_frames"

import_types_from "robot_frames/robot_framesTypes.hpp"

import_types_from "base"
#import_types_from "transformer"

task_context "Task" do
    needs_configuration

    property "urdf_file", "/std/string"
    property "prefix", "/std/string"
    property "output_static_transforms", "bool", true
    property "init_invalid", "bool", false

    property "output_only_valid", "bool", false

    input_port "input", "/base/samples/Joints"

    dynamic_output_port /\w/, "base/samples/RigidBodyState"

    output_port "output_transforms", "std/vector<base/samples/RigidBodyState"

    port_driven 'input'
end

task_context "ChainPublisher" do
    needs_configuration
    
    #By entering '__base__' as root or tip link, one could refer to the actual base-link of the robot model
    property "chains", "std/vector<robot_frames/Chain>"
    property "urdf_file", "std/string"
    
    input_port "input", "/base/samples/Joints"
    dynamic_output_port /\w/, "base/samples/RigidBodyState"
    
    port_driven 'input'
end