Files
mir_amr/navigations/dwb_local_planner/.$structure.drawio.dtmp
2026-05-28 10:29:58 +07:00

153 lines
22 KiB
Plaintext
Executable File

<mxfile host="Electron" modified="2023-09-19T06:48:28.764Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/21.7.5 Chrome/114.0.5735.289 Electron/25.8.1 Safari/537.36" etag="oQzu2aORHDBJaUZ2wsCe" version="21.7.5" type="device">
<diagram name="Page-1" id="2YBvvXClWsGukQMizWep">
<mxGraphModel dx="818" dy="1938" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="850" pageHeight="1100" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
<mxCell id="aM9ryv3xv72pqoxQDRHE-1" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;LocalPlannerAdapter&lt;/font&gt;&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
<mxGeometry x="230" y="110" width="140" height="780" as="geometry" />
</mxCell>
<mxCell id="aM9ryv3xv72pqoxQDRHE-2" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="aM9ryv3xv72pqoxQDRHE-1" vertex="1">
<mxGeometry x="45" y="70" width="10" height="700" as="geometry" />
</mxCell>
<mxCell id="aM9ryv3xv72pqoxQDRHE-3" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; line-height: 19px;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;geometry_msgs::&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;Twist&lt;/span&gt;&amp;nbsp;&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; line-height: 19px;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(255, 184, 108); font-style: italic;&quot;&gt;cmd_vel&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;" style="html=1;verticalAlign=bottom;startArrow=oval;endArrow=block;startSize=8;edgeStyle=elbowEdgeStyle;elbow=vertical;curved=0;rounded=0;" parent="aM9ryv3xv72pqoxQDRHE-1" target="aM9ryv3xv72pqoxQDRHE-2" edge="1">
<mxGeometry x="-0.8788" y="10" relative="1" as="geometry">
<mxPoint x="-120" y="70" as="sourcePoint" />
<mxPoint as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-12" value="" style="html=1;points=[[0,0,0,0,5],[0,1,0,0,-5],[1,0,0,0,5],[1,1,0,0,-5]];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;curved&quot;:0,&quot;rounded&quot;:0};fillColor=#60a917;fontColor=#ffffff;strokeColor=#2D7600;" vertex="1" parent="aM9ryv3xv72pqoxQDRHE-1">
<mxGeometry x="45" y="115" width="10" height="575" as="geometry" />
</mxCell>
<mxCell id="aM9ryv3xv72pqoxQDRHE-5" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;DWBLocalPlanner&lt;/font&gt;&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
<mxGeometry x="480" y="190" width="100" height="1320" as="geometry" />
</mxCell>
<mxCell id="aM9ryv3xv72pqoxQDRHE-6" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="aM9ryv3xv72pqoxQDRHE-5" vertex="1">
<mxGeometry x="45" y="80" width="10" height="1240" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-20" value="" style="html=1;points=[[0,0,0,0,5],[0,1,0,0,-5],[1,0,0,0,5],[1,1,0,0,-5]];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;curved&quot;:0,&quot;rounded&quot;:0};fillColor=#60a917;fontColor=#ffffff;strokeColor=#2D7600;" vertex="1" parent="aM9ryv3xv72pqoxQDRHE-5">
<mxGeometry x="45" y="110" width="10" height="440" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-3" value="" style="endArrow=block;startArrow=block;endFill=1;startFill=1;html=1;rounded=0;" edge="1" parent="1" target="A1EfnVpFrXilNoYTl5xU-52">
<mxGeometry width="160" relative="1" as="geometry">
<mxPoint x="284.9999999999999" y="760" as="sourcePoint" />
<mxPoint x="790" y="760" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-18" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;geometry_msgs&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;::&lt;/span&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;Twist&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;&amp;amp;&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;&amp;nbsp;&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(255, 184, 108); font-style: italic;&quot;&gt;cmd_vel&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-3">
<mxGeometry x="0.0099" relative="1" as="geometry">
<mxPoint x="-79" y="-30" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-10" value="return T/F" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;curved=0;rounded=0;" edge="1" parent="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="520" y="830" as="sourcePoint" />
<mxPoint x="288" y="830" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-13" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; line-height: 19px;&quot;&gt;&lt;br&gt;&lt;/div&gt;" style="html=1;verticalAlign=bottom;startArrow=oval;endArrow=block;startSize=8;curved=0;rounded=0;entryX=0;entryY=0;entryDx=0;entryDy=5;entryPerimeter=0;" edge="1" target="A1EfnVpFrXilNoYTl5xU-12" parent="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="110" y="230" as="sourcePoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-17" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;color: rgb(98, 232, 132);&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;computeVelocityCommands&lt;/font&gt;&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-13">
<mxGeometry x="0.004" y="1" relative="1" as="geometry">
<mxPoint x="-32" y="-19" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-23" value="" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;curved=0;rounded=0;" edge="1" parent="1" source="A1EfnVpFrXilNoYTl5xU-43" target="A1EfnVpFrXilNoYTl5xU-20">
<mxGeometry relative="1" as="geometry">
<mxPoint x="740" y="920" as="sourcePoint" />
<mxPoint x="500" y="920" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-51" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;nav_2d_msgs&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;::&lt;/span&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;Twist2D&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt; &lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;velocity&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-23">
<mxGeometry x="-0.0222" relative="1" as="geometry">
<mxPoint y="-15" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-29" value="" style="html=1;verticalAlign=bottom;startArrow=oval;startFill=1;endArrow=block;startSize=8;curved=0;rounded=0;" edge="1" parent="1">
<mxGeometry width="60" relative="1" as="geometry">
<mxPoint x="340" y="310" as="sourcePoint" />
<mxPoint x="525" y="310" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-32" value="&lt;span style=&quot;color: rgb(98, 232, 132); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 10px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(40, 42, 54); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&quot;&gt;computeVelocityCommands&lt;/span&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-29">
<mxGeometry x="-0.174" y="2" relative="1" as="geometry">
<mxPoint x="-17" y="-18" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-31" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;br&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="1">
<mxGeometry x="400" y="250" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-34" value="" style="html=1;verticalAlign=bottom;startArrow=circle;startFill=1;endArrow=open;startSize=6;endSize=8;curved=0;rounded=0;" edge="1" parent="1" target="A1EfnVpFrXilNoYTl5xU-42">
<mxGeometry width="80" relative="1" as="geometry">
<mxPoint x="640" y="270" as="sourcePoint" />
<mxPoint x="770" y="270" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-35" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;color: rgb(98, 232, 132);&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;getRobotPose&lt;/font&gt;&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-34">
<mxGeometry x="-0.0225" relative="1" as="geometry">
<mxPoint x="-10" y="-20" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-40" value="" style="endArrow=block;startArrow=block;endFill=1;startFill=1;html=1;rounded=0;" edge="1" parent="1">
<mxGeometry width="160" relative="1" as="geometry">
<mxPoint x="750" y="335" as="sourcePoint" />
<mxPoint x="535" y="335" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-41" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;nav_2d_msgs&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;::&lt;/span&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;Pose2DStamped&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;&amp;nbsp;&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;&amp;amp; pose2d&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-40">
<mxGeometry x="0.1329" relative="1" as="geometry">
<mxPoint x="16" y="-25" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-42" value="" style="html=1;points=[[0,0,0,0,5],[0,1,0,0,-5],[1,0,0,0,5],[1,1,0,0,-5]];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;curved&quot;:0,&quot;rounded&quot;:0};fillColor=#60a917;fontColor=#ffffff;strokeColor=#2D7600;" vertex="1" parent="1">
<mxGeometry x="750" y="250" width="10" height="105" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-46" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;nav_2d_utils&lt;span style=&quot;font-size: 10px; color: rgb(242, 134, 196); text-align: start;&quot; class=&quot;mtk10&quot;&gt;::&lt;br&gt;&lt;/span&gt;&lt;span style=&quot;font-size: 10px; text-align: start;&quot; class=&quot;mtk1&quot;&gt;OdomSubscriber&lt;/span&gt;&lt;br&gt;&lt;/div&gt;&lt;/div&gt;" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" vertex="1" parent="1">
<mxGeometry x="705" y="370" width="100" height="180" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-47" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" vertex="1" parent="A1EfnVpFrXilNoYTl5xU-46">
<mxGeometry x="45" y="80" width="10" height="130" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-43" value="" style="html=1;points=[[0,0,0,0,5],[0,1,0,0,-5],[1,0,0,0,5],[1,1,0,0,-5]];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;curved&quot;:0,&quot;rounded&quot;:0};fillColor=#60a917;fontColor=#ffffff;strokeColor=#2D7600;" vertex="1" parent="A1EfnVpFrXilNoYTl5xU-46">
<mxGeometry x="45" y="80" width="10" height="130" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-49" value="" style="html=1;verticalAlign=bottom;startArrow=circle;startFill=1;endArrow=open;startSize=6;endSize=8;curved=0;rounded=0;" edge="1" parent="1" target="A1EfnVpFrXilNoYTl5xU-43">
<mxGeometry width="80" relative="1" as="geometry">
<mxPoint x="630" y="470" as="sourcePoint" />
<mxPoint x="740" y="470" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-50" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;color: rgb(98, 232, 132);&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;getTwist&lt;/font&gt;&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-49">
<mxGeometry x="-0.0225" relative="1" as="geometry">
<mxPoint x="-10" y="-20" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-52" value="" style="html=1;points=[[0,0,0,0,5],[0,1,0,0,-5],[1,0,0,0,5],[1,1,0,0,-5]];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;curved&quot;:0,&quot;rounded&quot;:0};fillColor=#60a917;fontColor=#ffffff;strokeColor=#2D7600;" vertex="1" parent="1">
<mxGeometry x="750" y="600" width="10" height="230" as="geometry" />
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-53" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; line-height: 19px;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;nav_2d_msgs::&lt;span style=&quot;color: rgb(151, 225, 241); font-style: italic;&quot;&gt;Twist2DStamped&lt;/span&gt;&amp;nbsp;&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; line-height: 19px;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;cmd_vel_2d&lt;/font&gt;&lt;/div&gt;" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;curved=0;rounded=0;" edge="1" parent="1">
<mxGeometry x="0.3488" relative="1" as="geometry">
<mxPoint x="535" y="710" as="sourcePoint" />
<mxPoint x="750" y="710" as="targetPoint" />
<mxPoint as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-55" value="" style="html=1;verticalAlign=bottom;startArrow=oval;startFill=1;endArrow=block;startSize=8;curved=0;rounded=0;entryX=0;entryY=0;entryDx=0;entryDy=5;entryPerimeter=0;" edge="1" parent="1" target="A1EfnVpFrXilNoYTl5xU-52">
<mxGeometry width="60" relative="1" as="geometry">
<mxPoint x="600" y="605" as="sourcePoint" />
<mxPoint x="455" y="540" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A1EfnVpFrXilNoYTl5xU-56" value="&lt;div style=&quot;color: rgb(246, 246, 244); background-color: rgb(40, 42, 54); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-weight: normal; line-height: 19px;&quot;&gt;&lt;div style=&quot;&quot;&gt;&lt;font style=&quot;font-size: 10px;&quot;&gt;&lt;span style=&quot;color: rgb(246, 246, 244);&quot;&gt;nav_2d_utils&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;::&lt;/span&gt;&lt;span style=&quot;color: rgb(98, 232, 132);&quot;&gt;twist2Dto3D&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="A1EfnVpFrXilNoYTl5xU-55">
<mxGeometry x="-0.174" y="2" relative="1" as="geometry">
<mxPoint x="-12" y="-13" as="offset" />
</mxGeometry>
</mxCell>
</root>
</mxGraphModel>
</diagram>
</mxfile>