demoRedBall.xml.template

<application>
<name>Red-Ball Demo</name>

        <dependencies>
                <port>/icub/camcalib/left/out</port>
                <port>/iKinGazeCtrl/rpc</port>
                <port>/icub/cartesianController/right_arm/state:o</port>
                <port>/icub/cartesianController/left_arm/state:o</port>
                <port>/wholeBodyDynamics/right_arm/FT:i</port>
                <port>/wholeBodyDynamics/left_arm/FT:i</port>
        </dependencies>
      
        <module>
                <name>pf3dTracker</name>
                <node>pwrNode1</node>
        </module>
   
        <module>
                <name>demoRedBall</name>
                <node>pwrNode2</node>
        </module>
  
        <module>
                <name>yarpview</name>
                <parameters>--name /PF3DTracker_viewer --x 320 --y 0 --p 50 --compact</parameters>
                <node>console</node>
        </module>
  
        <connection>
                <from>/icub/camcalib/left/out</from>
                <to>/pf3dTracker/video:i</to>
                <protocol>udp</protocol>
        </connection>
        <connection>
                <from>/pf3dTracker/video:o</from>
                <to>/PF3DTracker_viewer</to>
                <protocol>udp</protocol>
        </connection>
        <connection>
                <from>/pf3dTracker/data:o</from>
                <to>/demoRedBall/trackTarget:i</to>
                <protocol>udp</protocol>
        </connection>
        <connection>
                <from>/demoRedBall/cmdFace:rpc</from>
                <to>/icub/face/emotions/in</to>
                <protocol>tcp</protocol>
        </connection>
        <connection>
                <from>/demoRedBall/gui:o</from>
                <to>/iCubGui/objects</to>
                <protocol>tcp</protocol>
        </connection>

</application>