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floweisshardt/rosgraph.dot

Created September 29, 2015 14:06
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rosgraph from cob4-2
Raw
rosgraph.dot
digraph graphname {
graph [bb="0,0,3302,7064.5",
compound=True,
rank=same,
rankdir=LR,
ranksep=0.2
];
node [label="\N"];
subgraph cluster_arm_right {
graph [bb="1374,4507,2805,4744",
compound=True,
label=arm_right,
lheight=0.21,
lp="2089.5,4732.5",
lwidth=0.76,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_arm_right_joint_group_velocity_controller_command [URL=topic_3A_arm_right_joint_group_velocity_controller_command,
height=0.5,
label="/arm_right/joint_group_velocity_controller/command",
pos="1537,4641",
shape=box,
width=4.2917];
_arm_right_arm_right_driver [URL=_arm_right_arm_right_driver,
height=0.5,
label="/arm_right/arm_right_driver",
pos="2053,4641",
shape=ellipse,
width=3.0872];
_arm_right_joint_group_velocity_controller_command -> _arm_right_arm_right_driver [penwidth=1,
pos="e,1941.7,4641 1691.5,4641 1768.2,4641 1859.7,4641 1931.3,4641"];
_arm_right_control_mode_adapter [URL=_arm_right_control_mode_adapter,
height=0.5,
label="/arm_right/control_mode_adapter",
pos="2053,4587",
shape=ellipse,
width=3.6108];
_arm_right_joint_group_velocity_controller_command -> _arm_right_control_mode_adapter [penwidth=1,
pos="e,1941.2,4596.3 1678.1,4623 1704,4619.8 1730.8,4616.7 1756,4614 1813.5,4607.8 1877.3,4601.9 1931,4597.2"];
_arm_right_joint_group_position_controller_command [URL=topic_3A_arm_right_joint_group_position_controller_command,
height=0.5,
label="/arm_right/joint_group_position_controller/command",
pos="1537,4587",
shape=box,
width=4.2917];
_arm_right_joint_group_position_controller_command -> _arm_right_arm_right_driver [penwidth=1,
pos="e,1953.6,4632.8 1678.1,4605 1704,4608.2 1730.8,4611.3 1756,4614 1817.9,4620.7 1887.3,4627 1943.3,4631.9"];
_arm_right_joint_group_position_controller_command -> _arm_right_control_mode_adapter [penwidth=1,
pos="e,1922.7,4587 1691.5,4587 1761.6,4587 1844,4587 1912.3,4587"];
_arm_right_joint_states [URL=topic_3A_arm_right_joint_states,
height=0.5,
label="/arm_right/joint_states",
pos="2586,4641",
shape=box,
width=1.9444];
_arm_right_joint_trajectory_controller_command [URL=topic_3A_arm_right_joint_trajectory_controller_command,
height=0.5,
label="/arm_right/joint_trajectory_controller/command",
pos="1537,4695",
shape=box,
width=3.875];
_arm_right_joint_trajectory_controller_command -> _arm_right_arm_right_driver [penwidth=1,
pos="e,1959.3,4650.7 1676.8,4680.4 1762.5,4671.4 1870.8,4660 1949,4651.8"];
_arm_right_twist_controller_command_twist [URL=topic_3A_arm_right_twist_controller_command_twist,
height=0.5,
label="/arm_right/twist_controller/command_twist",
pos="1537,4533",
shape=box,
width=3.5417];
_arm_right_joint_trajectory_controller_state [URL=topic_3A_arm_right_joint_trajectory_controller_state,
height=0.5,
label="/arm_right/joint_trajectory_controller/state",
pos="2586,4587",
shape=box,
width=3.4583];
arm_right_joint_trajectory_controller_follow_joint_trajectory_action_topics [URL=topic_3Aarm_right_joint_trajectory_controller_follow_joint_trajectory_action_topics,
height=0.5,
label="arm_right/joint_trajectory_controller/follow_joint_trajectory/action_topics",
pos="2586,4695",
shape=box,
width=5.8611];
arm_right_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _arm_right_arm_right_driver [penwidth=1,
pos="e,2131.5,4653.8 2374.8,4680.2 2293.5,4672.4 2204.9,4662.9 2141.5,4655.1"];
_arm_right_arm_right_driver -> _arm_right_joint_states [penwidth=1,
pos="e,2515.7,4641 2164.3,4641 2266.2,4641 2414.9,4641 2505.5,4641"];
_arm_right_arm_right_driver -> _arm_right_joint_trajectory_controller_state [penwidth=1,
pos="e,2461.4,4602.4 2152.6,4633 2212.2,4628 2289.5,4621.1 2358,4614 2388.1,4610.9 2420.5,4607.2 2451.1,4603.6"];
_arm_right_arm_right_driver -> arm_right_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2464.3,4677 2159.5,4646.2 2244.2,4653.3 2363.5,4665.3 2454.3,4675.8"];
}
subgraph cluster_torso {
graph [bb="1388,5358,2792,5595",
compound=True,
label=torso,
lheight=0.21,
lp="2090,5583.5",
lwidth=0.39,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_torso_joint_group_position_controller_command [URL=topic_3A_torso_joint_group_position_controller_command,
height=0.5,
label="/torso/joint_group_position_controller/command",
pos="1537,5384",
shape=box,
width=3.9167];
_torso_torso_driver [URL=_torso_torso_driver,
height=0.5,
label="/torso/torso_driver",
pos="2053,5438",
shape=ellipse,
width=2.1123];
_torso_joint_group_position_controller_command -> _torso_torso_driver [penwidth=1,
pos="e,1980.8,5432.2 1678.1,5402 1704,5405.2 1730.8,5408.3 1756,5411 1828.5,5418.8 1911.2,5426.2 1970.7,5431.3"];
_torso_control_mode_adapter [URL=_torso_control_mode_adapter,
height=0.5,
label="/torso/control_mode_adapter",
pos="2053,5384",
shape=ellipse,
width=3.1233];
_torso_joint_group_position_controller_command -> _torso_control_mode_adapter [penwidth=1,
pos="e,1940.5,5384 1678.1,5384 1757.1,5384 1854.7,5384 1930.4,5384"];
_torso_twist_controller_command_twist [URL=topic_3A_torso_twist_controller_command_twist,
height=0.5,
label="/torso/twist_controller/command_twist",
pos="1537,5492",
shape=box,
width=3.1667];
_torso_joint_trajectory_controller_state [URL=topic_3A_torso_joint_trajectory_controller_state,
height=0.5,
label="/torso/joint_trajectory_controller/state",
pos="2586,5438",
shape=box,
width=3.0833];
_torso_joint_states [URL=topic_3A_torso_joint_states,
height=0.5,
label="/torso/joint_states",
pos="2586,5492",
shape=box,
width=1.5694];
_torso_joint_trajectory_controller_command [URL=topic_3A_torso_joint_trajectory_controller_command,
height=0.5,
label="/torso/joint_trajectory_controller/command",
pos="1537,5546",
shape=box,
width=3.5];
_torso_joint_trajectory_controller_command -> _torso_torso_driver [penwidth=1,
pos="e,2005.4,5452.1 1663,5532 1689.2,5528.3 1716.6,5524 1742,5519 1831.6,5501.4 1933.7,5473.1 1995.5,5455"];
_torso_joint_group_velocity_controller_command [URL=topic_3A_torso_joint_group_velocity_controller_command,
height=0.5,
label="/torso/joint_group_velocity_controller/command",
pos="1537,5438",
shape=box,
width=3.9167];
_torso_joint_group_velocity_controller_command -> _torso_torso_driver [penwidth=1,
pos="e,1976.7,5438 1678.1,5438 1770.3,5438 1887.9,5438 1966.4,5438"];
_torso_joint_group_velocity_controller_command -> _torso_control_mode_adapter [penwidth=1,
pos="e,1952.9,5392.2 1678.1,5420 1704,5416.8 1730.8,5413.7 1756,5411 1817.7,5404.4 1886.8,5398 1942.6,5393.1"];
torso_joint_trajectory_controller_follow_joint_trajectory_action_topics [URL=topic_3Atorso_joint_trajectory_controller_follow_joint_trajectory_action_topics,
height=0.5,
label="torso/joint_trajectory_controller/follow_joint_trajectory/action_topics",
pos="2586,5384",
shape=box,
width=5.4861];
torso_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _torso_torso_driver [penwidth=1,
pos="e,2129,5439.2 2505.5,5402 2462,5408.4 2407,5414.9 2358,5420 2284.3,5427.7 2200.3,5435 2139.4,5438.6"];
_torso_torso_driver -> _torso_joint_trajectory_controller_state [penwidth=1,
pos="e,2474.5,5438 2129.2,5438 2216.5,5438 2361.4,5438 2464.4,5438"];
_torso_torso_driver -> _torso_joint_states [penwidth=1,
pos="e,2529.2,5486.3 2123.1,5445 2226.1,5455.5 2418.2,5475 2519.2,5485.3"];
_torso_torso_driver -> torso_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2388.5,5398.7 2112,5426.7 2173.3,5419.3 2272.5,5410.9 2358,5402 2364.7,5401.3 2371.5,5400.6 2378.4,5399.8"];
}
subgraph cluster_torso_cam3d_left {
graph [bb="1324,1455,2693,2772",
compound=True,
label=torso_cam3d_left,
lheight=0.21,
lp="2008.5,2760.5",
lwidth=1.33,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_torso_cam3d_left_depth_image_rect_raw [URL=topic_3A_torso_cam3d_left_depth_image_rect_raw,
height=0.5,
label="/torso_cam3d_left/depth/image_rect_raw",
pos="2053,1535",
shape=box,
width=3.3472];
_torso_cam3d_left_depth_rectify_depth_parameter_descriptions [URL=topic_3A_torso_cam3d_left_depth_rectify_depth_parameter_descriptions,
height=0.5,
label="/torso_cam3d_left/depth_rectify_depth/parameter_descriptions",
pos="2053,1805",
shape=box,
width=4.9861];
_torso_cam3d_left_depth_image_rect [URL=topic_3A_torso_cam3d_left_depth_image_rect,
height=0.5,
label="/torso_cam3d_left/depth/image_rect",
pos="2053,1643",
shape=box,
width=2.9722];
_torso_cam3d_left_rgb_camera_info [URL=topic_3A_torso_cam3d_left_rgb_camera_info,
height=0.5,
label="/torso_cam3d_left/rgb/camera_info",
pos="2053,1697",
shape=box,
width=2.9028];
_torso_cam3d_left_ir_camera_info [URL=topic_3A_torso_cam3d_left_ir_camera_info,
height=0.5,
label="/torso_cam3d_left/ir/camera_info",
pos="2053,1751",
shape=box,
width=2.7778];
_torso_cam3d_left_depth_points [URL=_torso_cam3d_left_depth_points,
height=0.5,
label="/torso_cam3d_left/depth_points",
pos="2053,2723",
shape=ellipse,
width=3.4122];
_torso_cam3d_left_ir_image [URL=topic_3A_torso_cam3d_left_ir_image,
height=0.5,
label="/torso_cam3d_left/ir/image",
pos="2053,1859",
shape=box,
width=2.2917];
_torso_cam3d_left_depth_registered_camera_info [URL=topic_3A_torso_cam3d_left_depth_registered_camera_info,
height=0.5,
label="/torso_cam3d_left/depth_registered/camera_info",
pos="2053,1913",
shape=box,
width=3.9028];
_torso_cam3d_left_rgb_image_rect_color [URL=topic_3A_torso_cam3d_left_rgb_image_rect_color,
height=0.5,
label="/torso_cam3d_left/rgb/image_rect_color",
pos="2053,1967",
shape=box,
width=3.2778];
_torso_cam3d_left_depth_registered_image_raw [URL=topic_3A_torso_cam3d_left_depth_registered_image_raw,
height=0.5,
label="/torso_cam3d_left/depth_registered/image_raw",
pos="2053,2021",
shape=box,
width=3.8056];
_torso_cam3d_left_depth_rectify_depth_parameter_updates [URL=topic_3A_torso_cam3d_left_depth_rectify_depth_parameter_updates,
height=0.5,
label="/torso_cam3d_left/depth_rectify_depth/parameter_updates",
pos="2053,2075",
shape=box,
width=4.6528];
_torso_cam3d_left_depth_registered_hw_registered_image_rect_raw [URL=topic_3A_torso_cam3d_left_depth_registered_hw_registered_image_rect_raw,
height=0.5,
label="/torso_cam3d_left/depth_registered/hw_registered/image_rect_raw",
pos="2053,2129",
shape=box,
width=5.2917];
_torso_cam3d_left_depth_registered_rectify_depth_parameter_descriptions [URL=topic_3A_torso_cam3d_left_depth_registered_rectify_depth_parameter_descriptions,
height=0.5,
label="/torso_cam3d_left/depth_registered_rectify_depth/parameter_descriptions",
pos="2053,2183",
shape=box,
width=5.8194];
_torso_cam3d_left_rectify_color_parameter_updates [URL=topic_3A_torso_cam3d_left_rectify_color_parameter_updates,
height=0.5,
label="/torso_cam3d_left/rectify_color/parameter_updates",
pos="2053,2237",
shape=box,
width=4.1111];
_torso_cam3d_left_depth_camera_info [URL=topic_3A_torso_cam3d_left_depth_camera_info,
height=0.5,
label="/torso_cam3d_left/depth/camera_info",
pos="2053,2291",
shape=box,
width=3.0694];
_torso_cam3d_left_depth_image_raw [URL=topic_3A_torso_cam3d_left_depth_image_raw,
height=0.5,
label="/torso_cam3d_left/depth/image_raw",
pos="2053,2345",
shape=box,
width=2.9722];
_torso_cam3d_left_rgb_image_raw [URL=topic_3A_torso_cam3d_left_rgb_image_raw,
height=0.5,
label="/torso_cam3d_left/rgb/image_raw",
pos="2053,2399",
shape=box,
width=2.8056];
_torso_cam3d_left_rectify_color_parameter_descriptions [URL=topic_3A_torso_cam3d_left_rectify_color_parameter_descriptions,
height=0.5,
label="/torso_cam3d_left/rectify_color/parameter_descriptions",
pos="2053,2453",
shape=box,
width=4.4444];
_torso_cam3d_left_driver_parameter_updates [URL=topic_3A_torso_cam3d_left_driver_parameter_updates,
height=0.5,
label="/torso_cam3d_left/driver/parameter_updates",
pos="2053,2507",
shape=box,
width=3.5833];
_torso_cam3d_left_depth_registered_points [URL=topic_3A_torso_cam3d_left_depth_registered_points,
height=0.5,
label="/torso_cam3d_left/depth_registered/points",
pos="2053,2561",
shape=box,
width=3.4167];
_torso_cam3d_left_depth_image [URL=topic_3A_torso_cam3d_left_depth_image,
height=0.5,
label="/torso_cam3d_left/depth/image",
pos="2053,2615",
shape=box,
width=2.5972];
_torso_cam3d_left_depth_registered_rectify_depth_parameter_updates [URL=topic_3A_torso_cam3d_left_depth_registered_rectify_depth_parameter_updates,
height=0.5,
label="/torso_cam3d_left/depth_registered_rectify_depth/parameter_updates",
pos="2053,2669",
shape=box,
width=5.4861];
_torso_cam3d_left_driver_parameter_descriptions [URL=topic_3A_torso_cam3d_left_driver_parameter_descriptions,
height=0.5,
label="/torso_cam3d_left/driver/parameter_descriptions",
pos="2053,1589",
shape=box,
width=3.9167];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond [URL=topic_3A_torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond,
height=0.5,
label="/torso_cam3d_left/torso_cam3d_left_nodelet_manager/bond",
pos="2053,1481",
shape=box,
width=4.8056];
_torso_cam3d_left_driver [URL=_torso_cam3d_left_driver,
height=0.5,
label="/torso_cam3d_left/driver",
pos="2586,1481",
shape=ellipse,
width=2.7442];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond -> _torso_cam3d_left_driver [penwidth=1,
pos="e,2491.4,1475.7 2226,1474.6 2310.2,1473.9 2408.8,1474.2 2481.3,1475.5"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager [URL=_torso_cam3d_left_torso_cam3d_left_nodelet_manager,
height=0.5,
label="/torso_cam3d_left/torso_cam3d_left_nodelet_manager",
pos="1537,2048",
shape=ellipse,
width=5.687];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond -> _torso_cam3d_left_torso_cam3d_left_nodelet_manager [penwidth=1,
pos="e,1563.7,2030 1879.9,1466.8 1833.8,1470.4 1788,1483.7 1756,1517 1735.2,1538.7 1752.3,1758.8 1742,1787 1705.7,1886.6 1619.2,1979.9 1571.3,2023.2"];
_torso_cam3d_left_points_xyzrgb_hw_registered [URL=_torso_cam3d_left_points_xyzrgb_hw_registered,
height=0.5,
label="/torso_cam3d_left/points_xyzrgb_hw_registered",
pos="1537,1751",
shape=ellipse,
width=5.0551];
_torso_cam3d_left_depth_metric [URL=_torso_cam3d_left_depth_metric,
height=0.5,
label="/torso_cam3d_left/depth_metric",
pos="1537,1697",
shape=ellipse,
width=3.4483];
_torso_cam3d_left_depth_registered_rectify_depth [URL=_torso_cam3d_left_depth_registered_rectify_depth,
height=0.5,
label="/torso_cam3d_left/depth_registered_rectify_depth",
pos="1537,1643",
shape=ellipse,
width=5.1995];
_torso_cam3d_left_driver -> _torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond [penwidth=1,
pos="e,2226,1487.4 2491.4,1486.3 2420.9,1487.7 2322.1,1488.1 2236.2,1487.4"];
_torso_cam3d_left_depth_rectify_depth [URL=_torso_cam3d_left_depth_rectify_depth,
height=0.5,
label="/torso_cam3d_left/depth_rectify_depth",
pos="1537,1589",
shape=ellipse,
width=4.1163];
_torso_cam3d_left_rectify_color [URL=_torso_cam3d_left_rectify_color,
height=0.5,
label="/torso_cam3d_left/rectify_color",
pos="1537,1535",
shape=ellipse,
width=3.4122];
_torso_cam3d_left_depth_metric_rect [URL=_torso_cam3d_left_depth_metric_rect,
height=0.5,
label="/torso_cam3d_left/depth_metric_rect",
pos="1537,1481",
shape=ellipse,
width=3.9358];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_image_rect_raw [penwidth=1,
pos="e,1972.6,1517 1558.1,2029.8 1601.1,1989.4 1701.4,1887.3 1742,1778 1750.4,1755.5 1739.2,1579.2 1756,1562 1808.1,1508.5 1896,1506.9 1962.5,1515.6"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_rectify_depth_parameter_descriptions [penwidth=1,
pos="e,1873.4,1801.5 1549.6,2029.9 1578.3,1986.7 1658,1877.7 1756,1832 1789,1816.6 1826.4,1807.7 1863.1,1802.8"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_image_rect [penwidth=1,
pos="e,1967.1,1625 1557.3,2029.9 1599,1989.3 1697.8,1886.2 1742,1778 1751.2,1755.6 1738.6,1686.8 1756,1670 1808,1619.9 1891.7,1616.5 1956.8,1623.7"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_rgb_camera_info [penwidth=1,
pos="e,1949.6,1679 1556,2029.8 1595.6,1988.5 1691,1883.5 1742,1778 1752.8,1755.7 1737.1,1740 1756,1724 1805.7,1681.8 1878.6,1674.7 1939.5,1678.3"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_ir_camera_info [penwidth=1,
pos="e,1952.9,1741.2 1546.3,2029.7 1570.3,1979.1 1645.2,1837.3 1756,1778 1812.7,1747.7 1884.3,1740.5 1942.8,1741.1"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_points [penwidth=1,
pos="e,1976.9,2737.2 1537.6,2066 1536.8,2152.8 1545.7,2529.9 1756,2696 1814.8,2742.5 1902.2,2744.9 1966.7,2738.3"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_ir_image [penwidth=1,
pos="e,1970.2,1854.7 1555.1,2029.8 1589.4,1994.9 1670.5,1918.7 1756,1886 1821.2,1861.1 1900,1855 1960,1854.7"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_registered_camera_info [penwidth=1,
pos="e,1912.3,1915.2 1565.6,2030.1 1605.7,2005.2 1683.2,1960.6 1756,1940 1802.6,1926.8 1854.8,1919.7 1902.2,1915.9"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_rgb_image_rect_color [penwidth=1,
pos="e,1934.8,1973.6 1597.2,2030.8 1640.7,2018.7 1701.6,2003.2 1756,1994 1811,1984.7 1872.3,1978.5 1924.8,1974.4"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_registered_image_raw [penwidth=1,
pos="e,1915.7,2028.2 1713.1,2038.8 1775.7,2035.5 1845.5,2031.8 1905.4,2028.7"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_rectify_depth_parameter_updates [penwidth=1,
pos="e,1885.4,2066.2 1713.1,2057.2 1765.4,2059.9 1822.8,2063 1875.3,2065.7"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_registered_hw_registered_image_rect_raw [penwidth=1,
pos="e,1862.4,2116 1597.2,2065.2 1640.7,2077.3 1701.6,2092.8 1756,2102 1787,2107.2 1820,2111.5 1852.4,2115"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_registered_rectify_depth_parameter_descriptions [penwidth=1,
pos="e,1843.2,2173.7 1565.6,2065.9 1605.7,2090.8 1683.2,2135.4 1756,2156 1780.7,2163 1806.9,2168.3 1833.1,2172.2"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_rectify_color_parameter_updates [penwidth=1,
pos="e,1904.6,2239.3 1555.1,2066.2 1589.4,2101.1 1670.5,2177.3 1756,2210 1799.3,2226.6 1848.7,2234.8 1894.6,2238.6"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_camera_info [penwidth=1,
pos="e,1942.3,2298.4 1549.6,2066.1 1578.3,2109.3 1658,2218.3 1756,2264 1810.3,2289.3 1876.2,2297.2 1932,2298.3"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_image_raw [penwidth=1,
pos="e,1945.9,2354.9 1546.3,2066.3 1570.3,2116.9 1645.2,2258.7 1756,2318 1810.4,2347.1 1878.6,2354.9 1935.8,2355"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_rgb_image_raw [penwidth=1,
pos="e,1951.8,2410.6 1543.9,2066.1 1563.3,2123 1631.8,2298.4 1756,2372 1811.3,2404.8 1882.8,2412 1941.8,2410.9"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_rectify_color_parameter_descriptions [penwidth=1,
pos="e,1892.8,2465.5 1542.2,2066.3 1557.7,2129.3 1618.2,2337.8 1756,2426 1793.2,2449.8 1838.6,2460.7 1882.6,2464.7"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_driver_parameter_updates [penwidth=1,
pos="e,1924,2521.8 1540.9,2066.4 1552.7,2135.1 1604.2,2376.8 1756,2480 1801.5,2510.9 1860.4,2520.8 1913.7,2521.8"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_registered_points [penwidth=1,
pos="e,1929.9,2576.8 1539.8,2066.1 1548.1,2139.3 1589.7,2415.2 1756,2534 1802.7,2567.3 1864.6,2576.8 1919.7,2576.9"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_image [penwidth=1,
pos="e,1959.4,2630 1538.9,2066.2 1544,2144.3 1575.2,2453.7 1756,2588 1810.6,2628.6 1887.6,2634.5 1949.3,2630.7"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_depth_registered_rectify_depth_parameter_updates [penwidth=1,
pos="e,1855.3,2681.7 1538.2,2066.2 1540.3,2149 1560.6,2491.9 1756,2642 1781.9,2661.9 1813,2673.6 1845.2,2679.9"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_driver_parameter_descriptions [penwidth=1,
pos="e,1970.9,1571 1557.6,2030 1600.1,1989.8 1700.1,1887.1 1742,1778 1755,1744.3 1730.5,1641.6 1756,1616 1808.2,1563.6 1894.8,1561.4 1960.9,1569.6"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond [penwidth=1,
pos="e,2005.4,1462.9 1553.6,2029.8 1593.7,1988.2 1700.6,1882.7 1742,1769 1752.3,1740.8 1735.2,1520.7 1756,1499 1817,1435.6 1928,1444.7 1995.4,1460.5"];
}
subgraph cluster_arm_left {
graph [bb="1378,4234,2801,4471",
compound=True,
label=arm_left,
lheight=0.21,
lp="2089.5,4459.5",
lwidth=0.65,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_arm_left_joint_group_position_controller_command [URL=topic_3A_arm_left_joint_group_position_controller_command,
height=0.5,
label="/arm_left/joint_group_position_controller/command",
pos="1537,4368",
shape=box,
width=4.1944];
_arm_left_arm_left_driver [URL=_arm_left_arm_left_driver,
height=0.5,
label="/arm_left/arm_left_driver",
pos="2053,4368",
shape=ellipse,
width=2.8164];
_arm_left_joint_group_position_controller_command -> _arm_left_arm_left_driver [penwidth=1,
pos="e,1951.4,4368 1688.1,4368 1769,4368 1867.2,4368 1941.1,4368"];
_arm_left_control_mode_adapter [URL=_arm_left_control_mode_adapter,
height=0.5,
label="/arm_left/control_mode_adapter",
pos="2053,4314",
shape=ellipse,
width=3.4844];
_arm_left_joint_group_position_controller_command -> _arm_left_control_mode_adapter [penwidth=1,
pos="e,1944,4323 1678.1,4350 1704,4346.8 1730.8,4343.7 1756,4341 1814.6,4334.7 1879.8,4328.7 1934,4323.9"];
_arm_left_joint_group_velocity_controller_command [URL=topic_3A_arm_left_joint_group_velocity_controller_command,
height=0.5,
label="/arm_left/joint_group_velocity_controller/command",
pos="1537,4314",
shape=box,
width=4.1944];
_arm_left_joint_group_velocity_controller_command -> _arm_left_arm_left_driver [penwidth=1,
pos="e,1960.9,4360.5 1678.1,4332 1704,4335.2 1730.8,4338.3 1756,4341 1820.7,4348 1893.6,4354.6 1950.8,4359.6"];
_arm_left_joint_group_velocity_controller_command -> _arm_left_control_mode_adapter [penwidth=1,
pos="e,1927.3,4314 1688.1,4314 1760.5,4314 1846.7,4314 1917.1,4314"];
_arm_left_joint_trajectory_controller_state [URL=topic_3A_arm_left_joint_trajectory_controller_state,
height=0.5,
label="/arm_left/joint_trajectory_controller/state",
pos="2586,4368",
shape=box,
width=3.3611];
_arm_left_joint_states [URL=topic_3A_arm_left_joint_states,
height=0.5,
label="/arm_left/joint_states",
pos="2586,4314",
shape=box,
width=1.8333];
_arm_left_joint_trajectory_controller_command [URL=topic_3A_arm_left_joint_trajectory_controller_command,
height=0.5,
label="/arm_left/joint_trajectory_controller/command",
pos="1537,4422",
shape=box,
width=3.7778];
_arm_left_joint_trajectory_controller_command -> _arm_left_arm_left_driver [penwidth=1,
pos="e,1965.4,4377.1 1673,4407.8 1761.8,4398.5 1875.7,4386.5 1955.4,4378.2"];
_arm_left_twist_controller_command_twist [URL=topic_3A_arm_left_twist_controller_command_twist,
height=0.5,
label="/arm_left/twist_controller/command_twist",
pos="1537,4260",
shape=box,
width=3.4444];
arm_left_joint_trajectory_controller_follow_joint_trajectory_action_topics [URL=topic_3Aarm_left_joint_trajectory_controller_follow_joint_trajectory_action_topics,
height=0.5,
label="arm_left/joint_trajectory_controller/follow_joint_trajectory/action_topics",
pos="2586,4422",
shape=box,
width=5.75];
arm_left_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _arm_left_arm_left_driver [penwidth=1,
pos="e,2127.3,4380.3 2378.9,4407.6 2294.7,4399.5 2202.1,4389.6 2137.4,4381.6"];
_arm_left_arm_left_driver -> _arm_left_joint_trajectory_controller_state [penwidth=1,
pos="e,2464.9,4368 2154.5,4368 2239.6,4368 2362.3,4368 2454.9,4368"];
_arm_left_arm_left_driver -> _arm_left_joint_states [penwidth=1,
pos="e,2520,4322.3 2145.5,4360.6 2205.9,4355.5 2286.7,4348.4 2358,4341 2408.7,4335.7 2465.7,4329 2509.9,4323.5"];
_arm_left_arm_left_driver -> arm_left_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2464.5,4404 2151.4,4372.5 2236.5,4379.5 2360.7,4392 2454.4,4402.8"];
}
subgraph cluster_base_controller {
graph [bb="8,6781,2676,6950",
compound=True,
label=base_controller,
lheight=0.21,
lp="1342,6938.5",
lwidth=1.17,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_base_controller_state [URL=topic_3A_base_controller_state,
height=0.5,
label="/base_controller/state",
pos="718,6861",
shape=box,
width=1.8333];
_base_controller_undercarriage_ctrl_node [URL=_base_controller_undercarriage_ctrl_node,
height=0.5,
label="/base_controller/undercarriage_ctrl_node",
pos="1071,6807",
shape=ellipse,
width=4.3149];
_base_controller_state -> _base_controller_undercarriage_ctrl_node [penwidth=1,
pos="e,976.69,6821.4 784.2,6851 835.36,6843.1 907.56,6832 966.59,6822.9"];
_base_controller_command [URL=topic_3A_base_controller_command,
height=0.5,
label="/base_controller/command",
pos="97,6807",
shape=box,
width=2.25];
_base_controller_cob_base_velocity_smoother [URL=_base_controller_cob_base_velocity_smoother,
height=0.5,
label="/base_controller/cob_base_velocity_smoother",
pos="398,6807",
shape=ellipse,
width=4.8024];
_base_controller_command -> _base_controller_cob_base_velocity_smoother [penwidth=1,
pos="e,224.9,6807 178.13,6807 189.73,6807 202.05,6807 214.69,6807"];
_base_controller_command_direct [URL=topic_3A_base_controller_command_direct,
height=0.5,
label="/base_controller/command_direct",
pos="718,6807",
shape=box,
width=2.7778];
_base_controller_command_direct -> _base_controller_undercarriage_ctrl_node [penwidth=1,
pos="e,915.62,6807 818.18,6807 845.4,6807 875.68,6807 905.52,6807"];
_base_controller_odometry [URL=topic_3A_base_controller_odometry,
height=0.5,
label="/base_controller/odometry",
pos="1537,6861",
shape=box,
width=2.2222];
_base_controller_joint_command [URL=topic_3A_base_controller_joint_command,
height=0.5,
label="/base_controller/joint_command",
pos="1537,6807",
shape=box,
width=2.6944];
_base_controller_base_drive_chain_node [URL=_base_controller_base_drive_chain_node,
height=0.5,
label="/base_controller/base_drive_chain_node",
pos="2053,6807",
shape=ellipse,
width=4.2427];
_base_controller_joint_command -> _base_controller_base_drive_chain_node [penwidth=1,
pos="e,1900.1,6807 1634.1,6807 1705.9,6807 1805.8,6807 1889.9,6807"];
_base_controller_diagnostic [URL=topic_3A_base_controller_diagnostic,
height=0.5,
label="/base_controller/diagnostic",
pos="2586,6852",
shape=box,
width=2.2639];
_base_controller_diagnostic -> _base_controller_undercarriage_ctrl_node [penwidth=1,
pos="e,1112.5,6824.4 2504.3,6864.5 2303.4,6893.3 1765.1,6957.2 1324,6888 1251.7,6876.7 1171.8,6848.1 1121.8,6828.1"];
_base_controller_base_drive_chain_node -> _base_controller_state [penwidth=1,
pos="e,784.28,6869.6 2002.8,6824 1942.3,6844 1836.1,6875.9 1742,6888 1389.9,6933.2 964.3,6891.4 794.37,6870.9"];
_base_controller_base_drive_chain_node -> _base_controller_diagnostic [penwidth=1,
pos="e,2504.3,6845.2 2177.5,6817.5 2274.3,6825.7 2406.8,6836.9 2494.1,6844.3"];
_base_controller_undercarriage_ctrl_node -> _base_controller_odometry [penwidth=1,
pos="e,1456.7,6851.8 1181.4,6819.7 1262.3,6829.1 1371.1,6841.8 1446.8,6850.6"];
_base_controller_undercarriage_ctrl_node -> _base_controller_joint_command [penwidth=1,
pos="e,1439.9,6807 1226.5,6807 1293.2,6807 1369.5,6807 1429.6,6807"];
_base_controller_cob_base_velocity_smoother -> _base_controller_command_direct [penwidth=1,
pos="e,617.71,6807 571.03,6807 583.37,6807 595.6,6807 607.43,6807"];
}
subgraph cluster_gripper_right {
graph [bb="1915,658,2814,841",
compound=True,
label=gripper_right,
lheight=0.21,
lp="2364.5,829.5",
lwidth=1.00,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_gripper_right_joint_states [URL=topic_3A_gripper_right_joint_states,
height=0.5,
label="/gripper_right/joint_states",
pos="2586,738",
shape=box,
width=2.1806];
_gripper_right_joint_trajectory_controller_state [URL=topic_3A_gripper_right_joint_trajectory_controller_state,
height=0.5,
label="/gripper_right/joint_trajectory_controller/state",
pos="2586,792",
shape=box,
width=3.6944];
gripper_right_joint_trajectory_controller_follow_joint_trajectory_action_topics [URL=topic_3Agripper_right_joint_trajectory_controller_follow_joint_trajectory_action_topics,
height=0.5,
label="gripper_right/joint_trajectory_controller/follow_joint_trajectory/action_topics",
pos="2586,684",
shape=box,
width=6.0972];
_gripper_right_gripper_right_node [URL=_gripper_right_gripper_right_node,
height=0.5,
label="/gripper_right/gripper_right_node",
pos="2053,738",
shape=ellipse,
width=3.6108];
gripper_right_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _gripper_right_gripper_right_node [penwidth=1,
pos="e,2174.5,731.51 2464.5,702.01 2381.1,711.77 2270.1,723.1 2184.5,730.63"];
_gripper_right_gripper_right_node -> _gripper_right_joint_states [penwidth=1,
pos="e,2507.2,738 2183.2,738 2280.6,738 2411.5,738 2497,738"];
_gripper_right_gripper_right_node -> _gripper_right_joint_trajectory_controller_state [penwidth=1,
pos="e,2452.7,778.54 2158.3,748.6 2239.5,756.86 2353.1,768.42 2442.7,777.53"];
_gripper_right_gripper_right_node -> gripper_right_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2366.4,699.58 2138.1,724.35 2197,717.06 2278.6,708.22 2356,700.6"];
}
subgraph cluster_safety_controller {
graph [bb="1394,2780,2230,2963",
compound=True,
label=safety_controller,
lheight=0.21,
lp="1812,2951.5",
lwidth=1.28,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_safety_controller_safety_controller_parameter_updates [URL=topic_3A_safety_controller_safety_controller_parameter_updates,
height=0.5,
label="/safety_controller/safety_controller/parameter_updates",
pos="2053,2806",
shape=box,
width=4.3611];
_safety_controller_marker [URL=topic_3A_safety_controller_marker,
height=0.5,
label="/safety_controller/marker",
pos="2053,2860",
shape=box,
width=2.1528];
_safety_controller_safety_controller_parameter_descriptions [URL=topic_3A_safety_controller_safety_controller_parameter_descriptions,
height=0.5,
label="/safety_controller/safety_controller/parameter_descriptions",
pos="2053,2914",
shape=box,
width=4.6944];
_safety_controller_safety_controller [URL=_safety_controller_safety_controller,
height=0.5,
label="/safety_controller/safety_controller",
pos="1537,2914",
shape=ellipse,
width=3.7372];
_safety_controller_safety_controller -> _safety_controller_safety_controller_parameter_updates [penwidth=1,
pos="e,1895.6,2812.5 1575.3,2896.7 1617.9,2877.7 1690.4,2847.9 1756,2833 1797.5,2823.6 1842.9,2817.4 1885.5,2813.4"];
_safety_controller_safety_controller -> _safety_controller_marker [penwidth=1,
pos="e,1975.3,2866.3 1633.7,2901.5 1671.7,2896.7 1715.9,2891.3 1756,2887 1826.3,2879.4 1906.2,2872.2 1965.2,2867.2"];
_safety_controller_safety_controller -> _safety_controller_safety_controller_parameter_descriptions [penwidth=1,
pos="e,1884,2914 1671.7,2914 1733.4,2914 1807.5,2914 1873.8,2914"];
}
subgraph cluster_sensorring {
graph [bb="1373,5167,2806,5350",
compound=True,
label=sensorring,
lheight=0.21,
lp="2089.5,5338.5",
lwidth=0.79,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_sensorring_joint_group_position_controller_command [URL=topic_3A_sensorring_joint_group_position_controller_command,
height=0.5,
label="/sensorring/joint_group_position_controller/command",
pos="1537,5247",
shape=box,
width=4.3194];
_sensorring_control_mode_adapter [URL=_sensorring_control_mode_adapter,
height=0.5,
label="/sensorring/control_mode_adapter",
pos="2053,5193",
shape=ellipse,
width=3.665];
_sensorring_joint_group_position_controller_command -> _sensorring_control_mode_adapter [penwidth=1,
pos="e,1940.2,5202.3 1678.1,5229 1704,5225.8 1730.8,5222.7 1756,5220 1813.1,5213.9 1876.5,5208 1930,5203.2"];
_sensorring_sensorring_driver [URL=_sensorring_sensorring_driver,
height=0.5,
label="/sensorring/sensorring_driver",
pos="2053,5247",
shape=ellipse,
width=3.1775];
_sensorring_joint_group_position_controller_command -> _sensorring_sensorring_driver [penwidth=1,
pos="e,1938.5,5247 1692.6,5247 1767.9,5247 1857.4,5247 1928.2,5247"];
_sensorring_joint_trajectory_controller_state [URL=topic_3A_sensorring_joint_trajectory_controller_state,
height=0.5,
label="/sensorring/joint_trajectory_controller/state",
pos="2586,5247",
shape=box,
width=3.4861];
_sensorring_joint_group_velocity_controller_command [URL=topic_3A_sensorring_joint_group_velocity_controller_command,
height=0.5,
label="/sensorring/joint_group_velocity_controller/command",
pos="1537,5193",
shape=box,
width=4.3194];
_sensorring_joint_group_velocity_controller_command -> _sensorring_control_mode_adapter [penwidth=1,
pos="e,1920.6,5193 1692.6,5193 1761.7,5193 1842.8,5193 1910.4,5193"];
_sensorring_joint_group_velocity_controller_command -> _sensorring_sensorring_driver [penwidth=1,
pos="e,1951.6,5238.6 1678.1,5211 1704,5214.2 1730.8,5217.3 1756,5220 1817.2,5226.6 1885.7,5232.9 1941.3,5237.8"];
_sensorring_joint_trajectory_controller_command [URL=topic_3A_sensorring_joint_trajectory_controller_command,
height=0.5,
label="/sensorring/joint_trajectory_controller/command",
pos="1537,5301",
shape=box,
width=3.9028];
_sensorring_joint_trajectory_controller_command -> _sensorring_sensorring_driver [penwidth=1,
pos="e,1957.3,5256.9 1677.8,5286.3 1762.7,5277.4 1869.4,5266.2 1947.1,5258"];
_sensorring_joint_states [URL=topic_3A_sensorring_joint_states,
height=0.5,
label="/sensorring/joint_states",
pos="2586,5301",
shape=box,
width=1.9722];
sensorring_joint_trajectory_controller_follow_joint_trajectory_action_topics [URL=topic_3Asensorring_joint_trajectory_controller_follow_joint_trajectory_action_topics,
height=0.5,
label="sensorring/joint_trajectory_controller/follow_joint_trajectory/action_topics",
pos="2586,5193",
shape=box,
width=5.8889];
sensorring_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _sensorring_sensorring_driver [penwidth=1,
pos="e,2167.4,5245.8 2505.5,5211 2462,5217.4 2407,5223.9 2358,5229 2298.7,5235.2 2232.8,5241.1 2177.6,5245.1"];
_sensorring_sensorring_driver -> _sensorring_joint_trajectory_controller_state [penwidth=1,
pos="e,2460.5,5247 2167.6,5247 2250.4,5247 2362.9,5247 2450.2,5247"];
_sensorring_sensorring_driver -> _sensorring_joint_states [penwidth=1,
pos="e,2514.8,5293.9 2149.5,5256.7 2251,5267 2409.4,5283.1 2504.6,5292.8"];
_sensorring_sensorring_driver -> sensorring_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2373.9,5209.3 2129.6,5233.6 2191.2,5226.8 2280.3,5219.1 2358,5211 2360,5210.8 2361.9,5210.6 2363.9,5210.4"];
}
subgraph cluster_sound {
graph [bb="670,5603,1621,5786",
compound=True,
label=sound,
lheight=0.21,
lp="1145.5,5774.5",
lwidth=0.46,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_sound_play [URL=topic_3A_sound_play,
height=0.5,
label="/sound/play",
pos="718,5710",
shape=box,
width=1.1111];
_sound_sound_node [URL=_sound_sound_node,
height=0.5,
label="/sound/sound_node",
pos="1071,5683",
shape=ellipse,
width=2.2026];
_sound_play -> _sound_sound_node [penwidth=1,
pos="e,995.51,5688.7 758.24,5707 812.92,5702.8 913.4,5695 985.53,5689.5"];
_sound_marker [URL=topic_3A_sound_marker,
height=0.5,
label="/sound/marker",
pos="1537,5737",
shape=box,
width=1.3194];
_sound_say [URL=topic_3A_sound_say,
height=0.5,
label="/sound/say",
pos="718,5656",
shape=box,
width=1.0278];
_sound_say -> _sound_sound_node [penwidth=1,
pos="e,995.78,5677.3 755.24,5658.8 809.19,5662.9 912.14,5670.9 985.61,5676.5"];
sound_say_action_topics [URL=topic_3Asound_say_action_topics,
height=0.5,
label="sound/say/action_topics",
pos="1537,5629",
shape=box,
width=2.0278];
sound_say_action_topics -> _sound_sound_node [penwidth=1,
pos="e,1148.6,5679.2 1463.9,5642.5 1381.4,5654.2 1246.6,5670 1158.6,5678.3"];
sound_play_action_topics [URL=topic_3Asound_play_action_topics,
height=0.5,
label="sound/play/action_topics",
pos="1537,5683",
shape=box,
width=2.1111];
sound_play_action_topics -> _sound_sound_node [penwidth=1,
pos="e,1147.1,5688.1 1460.7,5688.1 1377.5,5690.2 1244,5690.3 1157.2,5688.4"];
_sound_sound_node -> _sound_marker [penwidth=1,
pos="e,1489.5,5731.6 1142,5691.1 1234.2,5701.9 1394.6,5720.5 1479.5,5730.4"];
_sound_sound_node -> sound_say_action_topics [penwidth=1,
pos="e,1464,5632.3 1131.7,5671.3 1213.7,5659.3 1361.4,5641.9 1453.8,5633.3"];
_sound_sound_node -> sound_play_action_topics [penwidth=1,
pos="e,1460.7,5677.9 1147.1,5677.9 1230.1,5675.8 1363.6,5675.7 1450.6,5677.6"];
}
subgraph cluster_script_server {
graph [bb="1004,4097,1626,4226",
compound=True,
label=script_server,
lheight=0.21,
lp="1315,4214.5",
lwidth=0.97,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_script_server_state [URL=topic_3A_script_server_state,
height=0.5,
label="/script_server/state",
pos="1537,4123",
shape=box,
width=1.6528];
script_server_action_topics [URL=topic_3Ascript_server_action_topics,
height=0.5,
label="script_server/action_topics",
pos="1537,4177",
shape=box,
width=2.25];
_script_server [URL=_script_server,
height=0.5,
label="/script_server",
pos="1071,4123",
shape=ellipse,
width=1.6249];
script_server_action_topics -> _script_server [penwidth=1,
pos="e,1119.9,4132.9 1455.9,4172.9 1363,4164.3 1212,4146.5 1129.8,4134.4"];
_script_server -> _script_server_state [penwidth=1,
pos="e,1477.4,4123 1129.8,4123 1215.4,4123 1375.6,4123 1467.2,4123"];
_script_server -> script_server_action_topics [penwidth=1,
pos="e,1455.8,4162.4 1129.4,4125 1208.6,4131.8 1352.2,4148.2 1445.8,4161"];
}
subgraph cluster_gripper_left {
graph [bb="1925,6120,2810,6303",
compound=True,
label=gripper_left,
lheight=0.21,
lp="2367.5,6291.5",
lwidth=0.89,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_gripper_left_joint_trajectory_controller_state [URL=topic_3A_gripper_left_joint_trajectory_controller_state,
height=0.5,
label="/gripper_left/joint_trajectory_controller/state",
pos="2586,6200",
shape=box,
width=3.5972];
_gripper_left_joint_states [URL=topic_3A_gripper_left_joint_states,
height=0.5,
label="/gripper_left/joint_states",
pos="2586,6254",
shape=box,
width=2.0694];
gripper_left_joint_trajectory_controller_follow_joint_trajectory_action_topics [URL=topic_3Agripper_left_joint_trajectory_controller_follow_joint_trajectory_action_topics,
height=0.5,
label="gripper_left/joint_trajectory_controller/follow_joint_trajectory/action_topics",
pos="2586,6146",
shape=box,
width=5.9861];
_gripper_left_gripper_left_node [URL=_gripper_left_gripper_left_node,
height=0.5,
label="/gripper_left/gripper_left_node",
pos="2053,6148",
shape=ellipse,
width=3.34];
gripper_left_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _gripper_left_gripper_left_node [penwidth=1,
pos="e,2168.2,6153.2 2370.3,6153.4 2305.1,6154 2235.6,6154 2178.4,6153.4"];
_gripper_left_gripper_left_node -> _gripper_left_joint_trajectory_controller_state [penwidth=1,
pos="e,2456.1,6187.4 2154.2,6157.8 2236.6,6165.9 2354.3,6177.4 2445.9,6186.4"];
_gripper_left_gripper_left_node -> _gripper_left_joint_states [penwidth=1,
pos="e,2511.4,6247.3 2108.5,6164 2170.4,6181.7 2274.7,6209.9 2366,6227 2410.4,6235.3 2460.4,6241.7 2501.4,6246.2"];
_gripper_left_gripper_left_node -> gripper_left_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2370.5,6140.2 2166.3,6141.9 2222.7,6140.8 2293.2,6140.2 2360.2,6140.2"];
}
subgraph cluster_laser_front {
graph [bb="1921,475,2672,604",
compound=True,
label=laser_front,
lheight=0.21,
lp="2296.5,592.5",
lwidth=0.82,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_laser_front_scan_standby [URL=topic_3A_laser_front_scan_standby,
height=0.5,
label="/laser_front/scan_standby",
pos="2586,555",
shape=box,
width=2.1528];
_laser_front_laser_front [URL=_laser_front_laser_front,
height=0.5,
label="/laser_front/laser_front",
pos="2053,555",
shape=ellipse,
width=2.5456];
_laser_front_laser_front -> _laser_front_scan_standby [penwidth=1,
pos="e,2508.5,555 2144.7,555 2243.7,555 2401,555 2498.4,555"];
_laser_front_scanner_front_filter [URL=_laser_front_scanner_front_filter,
height=0.5,
label="/laser_front/scanner_front_filter",
pos="2053,501",
shape=ellipse,
width=3.4303];
}
subgraph cluster_light_torso {
graph [bb="641,2971,1646,3100",
compound=True,
label=light_torso,
lheight=0.21,
lp="1143.5,3088.5",
lwidth=0.82,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_light_torso_command [URL=topic_3A_light_torso_command,
height=0.5,
label="/light_torso/command",
pos="718,3051",
shape=box,
width=1.9028];
_light_torso [URL=_light_torso,
height=0.5,
label="/light_torso",
pos="1071,2997",
shape=ellipse,
width=1.4263];
_light_torso_command -> _light_torso [penwidth=1,
pos="e,1023.8,3004.1 786.68,3040.6 852.72,3030.4 952.04,3015.1 1013.8,3005.6"];
_light_torso_marker [URL=topic_3A_light_torso_marker,
height=0.5,
label="/light_torso/marker",
pos="1537,2997",
shape=box,
width=1.6944];
_light_torso_light [URL=topic_3A_light_torso_light,
height=0.5,
label="/light_torso/light",
pos="718,2997",
shape=box,
width=1.4861];
_light_torso_light -> _light_torso [penwidth=1,
pos="e,1019.4,2997 771.55,2997 835.22,2997 942.27,2997 1009.4,2997"];
light_torso_set_light_action_topics [URL=topic_3Alight_torso_set_light_action_topics,
height=0.5,
label="light_torso/set_light/action_topics",
pos="1537,3051",
shape=box,
width=2.7917];
light_torso_set_light_action_topics -> _light_torso [penwidth=1,
pos="e,1115.2,3006.2 1436.5,3045.1 1341.3,3035.8 1201.3,3019.1 1125.5,3007.7"];
_light_torso -> _light_torso_marker [penwidth=1,
pos="e,1475.7,2997 1122.5,2997 1205.6,2997 1371.1,2997 1465.6,2997"];
_light_torso -> light_torso_set_light_action_topics [penwidth=1,
pos="e,1436.4,3033.8 1122.5,2998.5 1195,3004.4 1330.3,3019.6 1426.4,3032.4"];
}
subgraph cluster_laser_right {
graph [bb="1923,294,2672,423",
compound=True,
label=laser_right,
lheight=0.21,
lp="2297.5,411.5",
lwidth=0.81,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_laser_right_scan_standby [URL=topic_3A_laser_right_scan_standby,
height=0.5,
label="/laser_right/scan_standby",
pos="2586,374",
shape=box,
width=2.1528];
_laser_right_scanner_right_filter [URL=_laser_right_scanner_right_filter,
height=0.5,
label="/laser_right/scanner_right_filter",
pos="2053,320",
shape=ellipse,
width=3.3941];
_laser_right_laser_right [URL=_laser_right_laser_right,
height=0.5,
label="/laser_right/laser_right",
pos="2053,374",
shape=ellipse,
width=2.5276];
_laser_right_laser_right -> _laser_right_scan_standby [penwidth=1,
pos="e,2508.3,374 2144.1,374 2243,374 2400.6,374 2498.2,374"];
}
subgraph cluster_light_base {
graph [bb="1462,6394,2693,6523",
compound=True,
label=light_base,
lheight=0.21,
lp="2077.5,6511.5",
lwidth=0.78,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_light_base_marker [URL=topic_3A_light_base_marker,
height=0.5,
label="/light_base/marker",
pos="2586,6474",
shape=box,
width=1.6528];
_light_base_command [URL=topic_3A_light_base_command,
height=0.5,
label="/light_base/command",
pos="1537,6474",
shape=box,
width=1.8611];
_light_base [URL=_light_base,
height=0.5,
label="/light_base",
pos="2053,6420",
shape=ellipse,
width=1.3721];
_light_base_command -> _light_base [penwidth=1,
pos="e,2005.1,6424.9 1604.1,6467.1 1705.9,6456.4 1899.1,6436.1 1995.1,6426"];
_light_base_light [URL=topic_3A_light_base_light,
height=0.5,
label="/light_base/light",
pos="1537,6420",
shape=box,
width=1.4444];
_light_base_light -> _light_base [penwidth=1,
pos="e,2003.3,6420 1589.2,6420 1685.2,6420 1891.7,6420 1993.2,6420"];
light_base_set_light_action_topics [URL=topic_3Alight_base_set_light_action_topics,
height=0.5,
label="light_base/set_light/action_topics",
pos="2586,6420",
shape=box,
width=2.75];
light_base_set_light_action_topics -> _light_base [penwidth=1,
pos="e,2101.6,6424.1 2486.8,6425.4 2376.6,6427.5 2201.6,6427.2 2111.6,6424.4"];
_light_base -> _light_base_marker [penwidth=1,
pos="e,2526.3,6468 2100.7,6424.7 2194.5,6434.3 2406.6,6455.9 2516.3,6467"];
_light_base -> light_base_set_light_action_topics [penwidth=1,
pos="e,2486.8,6414.6 2101.6,6415.9 2185.5,6413 2361.7,6412.5 2476.6,6414.4"];
}
subgraph cluster_ddwrt {
graph [bb="1470,6531,1604,6606",
compound=True,
label=ddwrt,
lheight=0.21,
lp="1537,6594.5",
lwidth=0.44,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_ddwrt_accesspoint [URL=topic_3A_ddwrt_accesspoint,
height=0.5,
label="/ddwrt/accesspoint",
pos="1537,6557",
shape=box,
width=1.6389];
}
subgraph cluster_head {
graph [bb="1388,4752,1686,4881",
compound=True,
label=head,
lheight=0.21,
lp="1537,4869.5",
lwidth=0.36,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_head_joint_group_velocity_controller_command [URL=topic_3A_head_joint_group_velocity_controller_command,
height=0.5,
label="/head/joint_group_velocity_controller/command",
pos="1537,4832",
shape=box,
width=3.9028];
_head_twist_controller_command_twist [URL=topic_3A_head_twist_controller_command_twist,
height=0.5,
label="/head/twist_controller/command_twist",
pos="1537,4778",
shape=box,
width=3.1528];
}
subgraph cluster_torso_cam3d_left_upright {
graph [bb="1921,1372,2185,1447",
compound=True,
label=torso_cam3d_left_upright,
lheight=0.21,
lp="2053,1435.5",
lwidth=1.97,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_torso_cam3d_left_upright_rgb_image_raw [URL=topic_3A_torso_cam3d_left_upright_rgb_image_raw,
height=0.5,
label="/torso_cam3d_left_upright/rgb/image_raw",
pos="2053,1398",
shape=box,
width=3.4444];
}
subgraph cluster_power_board {
graph [bb="1469,6614,1605,6689",
compound=True,
label=power_board,
lheight=0.21,
lp="1537,6677.5",
lwidth=1.00,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_power_board_state [URL=topic_3A_power_board_state,
height=0.5,
label="/power_board/state",
pos="1537,6640",
shape=box,
width=1.6667];
}
subgraph cluster_laser_left {
graph [bb="1932,113,2668,242",
compound=True,
label=laser_left,
lheight=0.21,
lp="2300,230.5",
lwidth=0.71,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_laser_left_scan_standby [URL=topic_3A_laser_left_scan_standby,
height=0.5,
label="/laser_left/scan_standby",
pos="2586,193",
shape=box,
width=2.0417];
_laser_left_scanner_left_filter [URL=_laser_left_scanner_left_filter,
height=0.5,
label="/laser_left/scanner_left_filter",
pos="2053,139",
shape=ellipse,
width=3.1233];
_laser_left_laser_left [URL=_laser_left_laser_left,
height=0.5,
label="/laser_left/laser_left",
pos="2053,193",
shape=ellipse,
width=2.2567];
_laser_left_laser_left -> _laser_left_scan_standby [penwidth=1,
pos="e,2512.5,193 2134.4,193 2233.7,193 2402,193 2502.4,193"];
}
subgraph cluster_base {
graph [bb="2523,6698,2649,6773",
compound=True,
label=base,
lheight=0.21,
lp="2586,6761.5",
lwidth=0.35,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_base_joint_states [URL=topic_3A_base_joint_states,
height=0.5,
label="/base/joint_states",
pos="2586,6724",
shape=box,
width=1.5278];
}
subgraph cluster_command_gui {
graph [bb="1420,5895,2358,5970",
compound=True,
label=command_gui,
lheight=0.21,
lp="1889,5958.5",
lwidth=1.10,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
command_gui_dummy_action_topics [URL=topic_3Acommand_gui_dummy_action_topics,
height=0.5,
label="command_gui/dummy/action_topics",
pos="1537,5921",
shape=box,
width=3.0278];
_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 [URL=_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030,
height=0.5,
label="/command_gui/command_gui_node_cob4_2_b1_14105_7974832572656064030",
pos="2053,5921",
shape=ellipse,
width=8.2507];
command_gui_dummy_action_topics -> _command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 [penwidth=1,
pos="e,1777.3,5914.3 1646.1,5915.4 1682.1,5914.8 1724.2,5914.4 1767.2,5914.3"];
_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 -> command_gui_dummy_action_topics [penwidth=1,
pos="e,1646.1,5926.6 1777.3,5927.7 1734.7,5927.7 1692.8,5927.4 1656.2,5926.8"];
}
subgraph cluster_dummy {
graph [bb="1461,3968,1613,4043",
compound=True,
label=dummy,
lheight=0.21,
lp="1537,4031.5",
lwidth=0.60,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
dummy_action_topics [URL=topic_3Adummy_action_topics,
height=0.5,
label="dummy/action_topics",
pos="1537,3994",
shape=box,
width=1.875];
}
subgraph cluster_mimic {
graph [bb="1434,1031,2098,1106",
compound=True,
label=mimic,
lheight=0.21,
lp="1766,1094.5",
lwidth=0.51,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
mimic_set_mimic_action_topics [URL=topic_3Amimic_set_mimic_action_topics,
height=0.5,
label="mimic/set_mimic/action_topics",
pos="1537,1057",
shape=box,
width=2.6389];
_mimic [URL=_mimic,
height=0.5,
label="/mimic",
pos="2053,1057",
shape=ellipse,
width=1.011];
mimic_set_mimic_action_topics -> _mimic [penwidth=1,
pos="e,2017.2,1053.4 1632.3,1051.6 1743.4,1049.4 1923.6,1049.9 2007,1053"];
_mimic -> mimic_set_mimic_action_topics [penwidth=1,
pos="e,1632.3,1062.4 2017.2,1060.6 1941.4,1064 1758.9,1064.6 1642.3,1062.6"];
}
subgraph cluster_torso_cam3d_right {
graph [bb="1830,3358,2276,3865",
compound=True,
label=torso_cam3d_right,
lheight=0.21,
lp="2053,3853.5",
lwidth=1.43,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_torso_cam3d_right_depth_metric [URL=_torso_cam3d_right_depth_metric,
height=0.5,
label="/torso_cam3d_right/depth_metric",
pos="2053,3816",
shape=ellipse,
width=3.5927];
_torso_cam3d_right_points_xyzrgb_hw_registered [URL=_torso_cam3d_right_points_xyzrgb_hw_registered,
height=0.5,
label="/torso_cam3d_right/points_xyzrgb_hw_registered",
pos="2053,3762",
shape=ellipse,
width=5.1815];
_torso_cam3d_right_torso_cam3d_right_nodelet_manager [URL=_torso_cam3d_right_torso_cam3d_right_nodelet_manager,
height=0.5,
label="/torso_cam3d_right/torso_cam3d_right_nodelet_manager",
pos="2053,3708",
shape=ellipse,
width=5.9578];
_torso_cam3d_right_depth_rectify_depth [URL=_torso_cam3d_right_depth_rectify_depth,
height=0.5,
label="/torso_cam3d_right/depth_rectify_depth",
pos="2053,3654",
shape=ellipse,
width=4.2607];
_torso_cam3d_right_driver [URL=_torso_cam3d_right_driver,
height=0.5,
label="/torso_cam3d_right/driver",
pos="2053,3600",
shape=ellipse,
width=2.8706];
_torso_cam3d_right_rectify_color [URL=_torso_cam3d_right_rectify_color,
height=0.5,
label="/torso_cam3d_right/rectify_color",
pos="2053,3546",
shape=ellipse,
width=3.5566];
_torso_cam3d_right_depth_registered_rectify_depth [URL=_torso_cam3d_right_depth_registered_rectify_depth,
height=0.5,
label="/torso_cam3d_right/depth_registered_rectify_depth",
pos="2053,3492",
shape=ellipse,
width=5.344];
_torso_cam3d_right_depth_points [URL=_torso_cam3d_right_depth_points,
height=0.5,
label="/torso_cam3d_right/depth_points",
pos="2053,3438",
shape=ellipse,
width=3.5566];
_torso_cam3d_right_depth_metric_rect [URL=_torso_cam3d_right_depth_metric_rect,
height=0.5,
label="/torso_cam3d_right/depth_metric_rect",
pos="2053,3384",
shape=ellipse,
width=4.0802];
}
subgraph cluster_image_flip_torso_cam3d_right {
graph [bb="1780,3221,2326,3350",
compound=True,
label=image_flip_torso_cam3d_right,
lheight=0.21,
lp="2053,3338.5",
lwidth=2.35,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
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_image_flip_torso_cam3d_right_torso_cam3d_right_nodelet_manager [URL=_image_flip_torso_cam3d_right_torso_cam3d_right_nodelet_manager,
height=0.5,
label="/image_flip_torso_cam3d_right/torso_cam3d_right_nodelet_manager",
pos="2053,3301",
shape=ellipse,
width=7.1494];
_image_flip_torso_cam3d_right_image_flip_torso_cam3d_right_nodelet [URL=_image_flip_torso_cam3d_right_image_flip_torso_cam3d_right_nodelet,
height=0.5,
label="/image_flip_torso_cam3d_right/image_flip_torso_cam3d_right_nodelet",
pos="2053,3247",
shape=ellipse,
width=7.366];
}
subgraph cluster_teleop {
graph [bb="826,4683,1316,4758",
compound=True,
label=teleop,
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lp="1071,4746.5",
lwidth=0.47,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 [URL=_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619,
height=0.5,
label="/teleop/teleop_node_cob4_2_b1_32623_4101025136886895619",
pos="1071,4709",
shape=ellipse,
width=6.5897];
}
subgraph cluster_realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113 {
graph [bb="1795,4752,2311,4827",
compound=True,
label=realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113,
lheight=0.21,
lp="2053,4815.5",
lwidth=5.06,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
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_realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113 [URL=_realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113,
height=0.5,
label="/realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113",
pos="2053,4778",
shape=ellipse,
width=6.9327];
}
subgraph cluster_rqt_gui_py_node_5396 {
graph [bb="2483,2780,2689,2855",
compound=True,
label=rqt_gui_py_node_5396,
lheight=0.21,
lp="2586,2843.5",
lwidth=1.76,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
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_rqt_gui_py_node_5396 [URL=_rqt_gui_py_node_5396,
height=0.5,
label="/rqt_gui_py_node_5396",
pos="2586,2806",
shape=ellipse,
width=2.6359];
}
subgraph cluster_realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448 {
graph [bb="1795,5084,2311,5159",
compound=True,
label=realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448,
lheight=0.21,
lp="2053,5147.5",
lwidth=5.06,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
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_realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448 [URL=_realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448,
height=0.5,
label="/realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448",
pos="2053,5110",
shape=ellipse,
width=6.9327];
}
subgraph cluster_realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880 {
graph [bb="1804,5001,2302,5076",
compound=True,
label=realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880,
lheight=0.21,
lp="2053,5064.5",
lwidth=4.88,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
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_realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880 [URL=_realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880,
height=0.5,
label="/realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880",
pos="2053,5027",
shape=ellipse,
width=6.698];
}
subgraph cluster_robot_state_publisher {
graph [bb="1956,3986,2150,4061",
compound=True,
label=robot_state_publisher,
lheight=0.21,
lp="2053,4049.5",
lwidth=1.64,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_robot_state_publisher [URL=_robot_state_publisher,
height=0.5,
label="/robot_state_publisher",
pos="2053,4012",
shape=ellipse,
width=2.4734];
}
subgraph cluster_android_script_server {
graph [bb="1955,3138,2151,3213",
compound=True,
label=android_script_server,
lheight=0.21,
lp="2053,3201.5",
lwidth=1.64,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_android_script_server [URL=_android_script_server,
height=0.5,
label="/android_script_server",
pos="2053,3164",
shape=ellipse,
width=2.4914];
}
subgraph cluster_realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209 {
graph [bb="1795,4918,2311,4993",
compound=True,
label=realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209,
lheight=0.21,
lp="2053,4981.5",
lwidth=5.06,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209 [URL=_realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209,
height=0.5,
label="/realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209",
pos="2053,4944",
shape=ellipse,
width=6.9327];
}
subgraph cluster_behavior {
graph [bb="2001,3055,2105,3130",
compound=True,
label=behavior,
lheight=0.21,
lp="2053,3118.5",
lwidth=0.67,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_behavior [URL=_behavior,
height=0.5,
label="/behavior",
pos="2053,3081",
shape=ellipse,
width=1.2277];
}
subgraph cluster_image_flip_torso_cam3d_left {
graph [bb="1789,4069,2317,4198",
compound=True,
label=image_flip_torso_cam3d_left,
lheight=0.21,
lp="2053,4186.5",
lwidth=2.25,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_image_flip_torso_cam3d_left_torso_cam3d_left_nodelet_manager [URL=_image_flip_torso_cam3d_left_torso_cam3d_left_nodelet_manager,
height=0.5,
label="/image_flip_torso_cam3d_left/torso_cam3d_left_nodelet_manager",
pos="2053,4149",
shape=ellipse,
width=6.8786];
_image_flip_torso_cam3d_left_image_flip_torso_cam3d_left_nodelet [URL=_image_flip_torso_cam3d_left_image_flip_torso_cam3d_left_nodelet,
height=0.5,
label="/image_flip_torso_cam3d_left/image_flip_torso_cam3d_left_nodelet",
pos="2053,4095",
shape=ellipse,
width=7.0952];
}
subgraph cluster_emergency_stop_monitor {
graph [bb="1941,6311,2165,6386",
compound=True,
label=emergency_stop_monitor,
lheight=0.21,
lp="2053,6374.5",
lwidth=1.94,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_emergency_stop_monitor [URL=_emergency_stop_monitor,
height=0.5,
label="/emergency_stop_monitor",
pos="2053,6337",
shape=ellipse,
width=2.8886];
}
subgraph cluster_dashboard_node_cob4_2_b1_14105_8246994423008119838 {
graph [bb="2822,6280,3294,6355",
compound=True,
label=dashboard_node_cob4_2_b1_14105_8246994423008119838,
lheight=0.21,
lp="3058,6343.5",
lwidth=4.60,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_dashboard_node_cob4_2_b1_14105_8246994423008119838 [URL=_dashboard_node_cob4_2_b1_14105_8246994423008119838,
height=0.5,
label="/dashboard_node_cob4_2_b1_14105_8246994423008119838",
pos="3058,6306",
shape=ellipse,
width=6.3369];
}
subgraph cluster_dashboard_aggregator {
graph [bb="1954,6554,2152,6629",
compound=True,
label=dashboard_aggregator,
lheight=0.21,
lp="2053,6617.5",
lwidth=1.68,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_dashboard_aggregator [URL=_dashboard_aggregator,
height=0.5,
label="/dashboard_aggregator",
pos="2053,6580",
shape=ellipse,
width=2.5276];
}
subgraph cluster_realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404 {
graph [bb="1800,4835,2306,4910",
compound=True,
label=realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404,
lheight=0.21,
lp="2053,4898.5",
lwidth=4.97,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404 [URL=_realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404,
height=0.5,
label="/realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404",
pos="2053,4861",
shape=ellipse,
width=6.8063];
}
subgraph cluster_rosout {
graph [bb="2543,3655,2629,3748",
compound=True,
label=rosout,
lheight=0.21,
lp="2586,3736.5",
lwidth=0.47,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_rosout [URL=_rosout,
height=0.5,
label="/rosout",
pos="2586,3681",
shape=ellipse,
width=0.97491];
_rosout -> _rosout [penwidth=1,
pos="e,2620.2,3685.3 2551.8,3685.3 2469.4,3697.9 2480.8,3717 2586,3717 2686.7,3717 2701.5,3699.5 2630.3,3686.9"];
}
subgraph cluster_joint_state_publisher {
graph [bb="2963,4615,3153,4690",
compound=True,
label=joint_state_publisher,
lheight=0.21,
lp="3058,4678.5",
lwidth=1.58,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_joint_state_publisher [URL=_joint_state_publisher,
height=0.5,
label="/joint_state_publisher",
pos="3058,4641",
shape=ellipse,
width=2.4192];
}
subgraph cluster_recover_grippers {
graph [bb="1972,3873,2134,3948",
compound=True,
label=recover_grippers,
lheight=0.21,
lp="2053,3936.5",
lwidth=1.28,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_recover_grippers [URL=_recover_grippers,
height=0.5,
label="/recover_grippers",
pos="2053,3899",
shape=ellipse,
width=2.022];
}
subgraph cluster_joy_node_cob4_2_b1_32623_2482379709190910472 {
graph [bb="186,4729,610,4804",
compound=True,
label=joy_node_cob4_2_b1_32623_2482379709190910472,
lheight=0.21,
lp="398,4792.5",
lwidth=4.07,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_joy_node_cob4_2_b1_32623_2482379709190910472 [URL=_joy_node_cob4_2_b1_32623_2482379709190910472,
height=0.5,
label="/joy_node_cob4_2_b1_32623_2482379709190910472",
pos="398,4755",
shape=ellipse,
width=5.6509];
}
subgraph cluster_diagnostic_aggregator {
graph [bb="1954,6667,2152,6742",
compound=True,
label=diagnostic_aggregator,
lheight=0.21,
lp="2053,6730.5",
lwidth=1.68,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_diagnostic_aggregator [URL=_diagnostic_aggregator,
height=0.5,
label="/diagnostic_aggregator",
pos="2053,6693",
shape=ellipse,
width=2.5276];
}
subgraph cluster_phidgets {
graph [bb="2002,30,2104,105",
compound=True,
label=phidgets,
lheight=0.21,
lp="2053,93.5",
lwidth=0.64,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
_phidgets [URL=_phidgets,
height=0.5,
label="/phidgets",
pos="2053,56",
shape=ellipse,
width=1.1916];
}
_arm_right_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,2970.9,4641 2656.1,4641 2736.6,4641 2870.3,4641 2960.9,4641"];
arm_right_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 [penwidth=1,
pos="e,2088.8,5903.1 2567.1,4713.2 2522.7,4753.3 2408.1,4853 2366,4967 2353.7,5000.4 2371.4,5575 2358,5608 2304.3,5740.8 2167.8,5850.8 2097.4,5897.4"];
_diagnostics [URL=topic_3A_diagnostics,
height=0.5,
label="/diagnostics",
pos="2586,4985",
shape=box,
width=1.125];
_arm_right_arm_right_driver -> _diagnostics [penwidth=1,
pos="e,2572.3,4966.8 2121.8,4655.2 2186.2,4670.8 2284.1,4700.3 2358,4748 2449.5,4807 2530.9,4910 2566.3,4958.4"];
_arm_right_arm_right_driver -> _rosout [penwidth=1,
pos="e,2575.4,3698.3 2113.1,4656.2 2182.6,4670.1 2296.5,4679.8 2358,4614 2372.6,4598.4 2361.8,4250.9 2366,4230 2408.9,4018.8 2528.8,3784.6 2570.5,3707.3"];
_arm_right_control_mode_adapter -> _rosout [penwidth=1,
pos="e,2575.5,3698.3 2162.3,4577.1 2230.2,4564.8 2313.2,4537 2358,4475 2366,4464 2363.2,4243.3 2366,4230 2410.1,4019 2529.2,3784.7 2570.6,3707.4"];
_torso_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,3054.4,4659.1 2642.7,5501.2 2693.2,5506.2 2766.8,5504.8 2814,5465 2942.3,5356.7 3032.9,4801.4 3052.9,4669.3"];
_torso_torso_driver -> _diagnostics [penwidth=1,
pos="e,2546.3,5003.2 2104.6,5451.3 2172.9,5466 2293.6,5479.2 2358,5411 2376.9,5391 2353.8,5187.7 2366,5163 2402.3,5089.7 2484.4,5036.3 2537.2,5008"];
_torso_torso_driver -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2104,5451.4 2172.4,5466.4 2294.2,5480.3 2358,5411 2369.1,5398.9 2362.9,4246.1 2366,4230 2407.4,4018.5 2528.3,3784.5 2570.3,3707.3"];
_torso_control_mode_adapter -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2115.2,5399 2185.1,5412.1 2297.8,5420 2358,5354 2368.5,5342.5 2363,4245.3 2366,4230 2407.4,4018.5 2528.3,3784.5 2570.3,3707.3"];
_set_digital_sensor [URL=topic_3A_set_digital_sensor,
height=0.5,
label="/set_digital_sensor",
pos="1537,56",
shape=box,
width=1.6389];
_set_digital_sensor -> _phidgets [penwidth=1,
pos="e,2009.9,56 1596.5,56 1697.5,56 1903.2,56 1999.8,56"];
_torso_cam3d_left_depth_rectify_depth_parameter_descriptions -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2514.3,2817.8 2127.6,1787 2197.8,1774.7 2301,1770.2 2358,1832 2375.8,1851.3 2348.7,2756.3 2366,2776 2399.5,2814.1 2456.7,2820.8 2504.3,2818.5"];
_torso_cam3d_left_depth_points -> _rosout [penwidth=1,
pos="e,2579.1,3663.3 2150.4,2712 2218.4,2710 2306.3,2720.2 2358,2776 2370.6,2789.6 2362.7,2840.8 2366,2859 2423.2,3176.6 2542.3,3550.8 2576,3653.7"];
_torso_cam3d_left_depth_rectify_depth_parameter_updates -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2514.1,2817.8 2127.9,2057 2198,2044.7 2300.9,2040.4 2358,2102 2370.7,2115.7 2353.6,2762 2366,2776 2399.4,2813.9 2456.4,2820.7 2503.8,2818.5"];
_torso_cam3d_left_depth_registered_rectify_depth_parameter_descriptions -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2514.1,2817.8 2127.8,2165 2197.9,2152.8 2300.9,2148.4 2358,2210 2379.4,2233 2345.2,2752.4 2366,2776 2399.5,2813.8 2456.4,2820.7 2503.8,2818.4"];
_torso_cam3d_left_rectify_color_parameter_updates -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2514.1,2817.8 2127.8,2219 2197.9,2206.8 2300.8,2202.5 2358,2264 2377.4,2284.8 2347.1,2754.7 2366,2776 2399.5,2813.8 2456.4,2820.7 2503.8,2818.4"];
_torso_cam3d_left_rectify_color_parameter_descriptions -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2513.7,2817.7 2128.7,2435 2198.6,2423 2300.7,2419.1 2358,2480 2380.5,2504 2344,2751.5 2366,2776 2399.6,2813.5 2456.2,2820.4 2503.5,2818.3"];
_torso_cam3d_left_driver_parameter_updates -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2513.5,2817.6 2128.9,2489 2198.8,2477.1 2300.7,2473.4 2358,2534 2376.5,2553.5 2348,2756 2366,2776 2399.6,2813.3 2456.1,2820.3 2503.3,2818.2"];
_torso_cam3d_left_depth_registered_rectify_depth_parameter_updates -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2511.2,2817.1 2133.7,2651 2202.7,2640.5 2300.3,2638.9 2358,2696 2370.7,2708.6 2353.6,2763.1 2366,2776 2400.1,2811.4 2454.9,2818.9 2501.2,2817.5"];
_torso_cam3d_left_driver_parameter_descriptions -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2514.3,2817.8 2127.6,1570.9 2197.8,1558.6 2301,1554.1 2358,1616 2379.8,1639.7 2344.7,2751.8 2366,2776 2399.5,2814.1 2456.7,2820.9 2504.3,2818.5"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond -> _image_flip_torso_cam3d_left_image_flip_torso_cam3d_left_nodelet [penwidth=1,
pos="e,1808.3,4089.8 1879.7,1475.7 1816.7,1478.7 1758.6,1489.2 1749,1517 1743.3,1533.7 1743.3,4039.3 1749,4056 1754.1,4070.7 1772.7,4080.8 1798.5,4087.5"];
_torso_cam3d_left_points_xyzrgb_hw_registered -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1712.8,1746.1 1723.7,1740.5 1733.6,1733.3 1742,1724 1771.5,1691.5 1724.4,1359.5 1756,1329 1804.1,1282.5 2310.6,1281.8 2358,1329 2365.5,1336.5 2364.6,2848.5 2366,2859 2408.7,3178.8 2538.1,3551.5 2575,3653.8"];
_torso_cam3d_left_depth_metric -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1629,1709.1 1669.4,1709.1 1714.1,1700.7 1742,1670 1770.4,1638.7 1725.6,1319.3 1756,1290 1804.2,1243.6 2310.6,1242.8 2358,1290 2365.7,1297.7 2364.6,2848.2 2366,2859 2408.7,3178.9 2538,3551.5 2575,3653.8"];
_torso_cam3d_left_depth_registered_rectify_depth -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1714.6,1637.1 1724.8,1631.6 1734.1,1624.7 1742,1616 1769.3,1586.1 1726.8,1280.1 1756,1252 1804.2,1205.6 2310.6,1204.8 2358,1252 2365.9,1259.9 2364.5,2847.9 2366,2859 2408.7,3178.9 2538,3551.5 2575,3653.8"];
_torso_cam3d_left_driver -> _rosout [penwidth=1,
pos="e,2579.3,3663.2 2581.7,1499.2 2554.5,1614.5 2407.3,2254 2362,2785 2359.5,2813.8 2358.2,2821.4 2362,2850 2404.9,3173.7 2537.7,3550.2 2575.7,3653.6"];
_torso_cam3d_left_depth_rectify_depth -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1656.5,1599.7 1688.5,1596.2 1720.3,1585.8 1742,1562 1768.1,1533.4 1728.1,1240.8 1756,1214 1804.2,1167.7 2310.6,1166.8 2358,1214 2366.1,1222.1 2364.5,2847.7 2366,2859 2408.7,3178.9 2538,3551.5 2575,3653.8"];
_torso_cam3d_left_rectify_color -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1628.4,1547 1669,1547.1 1713.9,1538.8 1742,1508 1766.9,1480.8 1729.3,1201.6 1756,1176 1804.3,1129.7 2310.6,1128.8 2358,1176 2366.3,1184.2 2364.5,2847.4 2366,2859 2408.7,3178.9 2538,3551.5 2575,3653.8"];
_torso_cam3d_left_depth_metric_rect -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1542.9,1462.6 1559.9,1402.4 1623.3,1210.9 1756,1138 1785.3,1121.9 2334.3,1114.4 2358,1138 2366.5,1146.4 2364.4,2847.2 2366,2859 2408.6,3178.9 2538,3551.5 2575,3653.8"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _torso_cam3d_left_upright_rgb_image_raw [penwidth=1,
pos="e,1928.8,1386.9 1558.3,2029.9 1601.6,1989.6 1702.6,1887.8 1742,1778 1754.3,1743.8 1732.1,1478.4 1756,1451 1795.8,1405.5 1860.1,1390.3 1918.7,1387.3"];
_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1558.4,2029.9 1601.8,1989.7 1703,1887.9 1742,1778 1749.6,1756.5 1739.6,1383.8 1756,1368 1804.1,1321.5 2310.6,1320.8 2358,1368 2365.3,1375.3 2364.6,2848.7 2366,2859 2408.7,3178.8 2538.1,3551.5 2575,3653.8"];
_arm_left_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,3048.6,4622.8 2652.1,4309.1 2699.8,4308.4 2764.5,4313.7 2814,4341 2931.5,4405.9 3013.9,4552.9 3044.2,4613.8"];
arm_left_joint_trajectory_controller_follow_joint_trajectory_action_topics -> _command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 [penwidth=1,
pos="e,2088.8,5903.1 2491.4,4440 2445.7,4451.1 2394.5,4471.4 2366,4512 2348.5,4536.9 2369.3,5579.7 2358,5608 2304.6,5740.9 2168,5850.9 2097.5,5897.5"];
_arm_left_arm_left_driver -> _diagnostics [penwidth=1,
pos="e,2558.8,4966.9 2132.5,4379.2 2204.5,4394.1 2307.4,4427.8 2358,4503 2373.2,4525.6 2355.7,4722.8 2366,4748 2404.8,4842.5 2499.4,4922.6 2550.7,4960.9"];
_arm_left_arm_left_driver -> _rosout [penwidth=1,
pos="e,2575.8,3698.4 2112.5,4382.6 2181.5,4396.1 2294.8,4405.2 2358,4341 2366.7,4332.2 2363.2,4242.1 2366,4230 2414.2,4020 2530.7,3785.1 2571,3707.4"];
_arm_left_control_mode_adapter -> _rosout [penwidth=1,
pos="e,2583.2,3699.2 2167.7,4306.7 2230.4,4297.2 2305.8,4276.2 2358,4230 2523,4084.1 2570.7,3799.5 2582,3709.2"];
_base_controller_odometry -> _safety_controller_safety_controller [penwidth=1,
pos="e,1403.1,2912.2 1456.8,6877.1 1399.8,6883.5 1331.5,6879.3 1320,6825 1317.2,6811.9 1317.2,2989.1 1320,2976 1327.5,2940.8 1357.5,2922.9 1393,2914.4"];
_base_controller_base_drive_chain_node -> _diagnostics [penwidth=1,
pos="e,2546,5003 2186.2,6815.8 2248.2,6812.2 2317.1,6795.7 2358,6746 2372,6729 2356.5,5182.8 2366,5163 2401.4,5089.1 2484.1,5035.7 2537.1,5007.7"];
_base_controller_base_drive_chain_node -> _base_joint_states [penwidth=1,
pos="e,2530.7,6732.5 2145.9,6792.6 2253,6775.9 2427.2,6748.7 2520.8,6734"];
_base_controller_base_drive_chain_node -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2185.9,6815.9 2247.9,6812.4 2317.1,6795.8 2358,6746 2369.1,6732.5 2362.7,4247.2 2366,4230 2407,4018.4 2528.1,3784.5 2570.3,3707.3"];
_tf [URL=topic_3A_tf,
height=0.5,
label="/tf",
pos="1537,5867",
shape=box,
width=0.75];
_base_controller_undercarriage_ctrl_node -> _tf [penwidth=1,
pos="e,1509.9,5861.5 1074.2,6788.8 1089.2,6670.8 1178.1,6015.8 1324,5891 1373.1,5849 1453.6,5853.1 1500,5860"];
_base_controller_undercarriage_ctrl_node -> _diagnostics [penwidth=1,
pos="e,2546.1,5003.1 1075.2,6788.7 1094.2,6682 1195.8,6141.7 1324,6045 1415.8,5975.7 2278,6084.6 2358,6002 2374.2,5985.3 2355.9,5184 2366,5163 2401.6,5089.1 2484.2,5035.8 2537.2,5007.7"];
_base_controller_undercarriage_ctrl_node -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 1075,6788.8 1093,6679.9 1191.8,6117.9 1324,6017 1369.7,5982.1 2318.1,6015.4 2358,5974 2366.4,5965.3 2363.7,4241.9 2366,4230 2407.1,4018.5 2528.2,3784.5 2570.3,3707.3"];
_base_controller_cob_base_velocity_smoother -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 436.18,6824.7 576.9,6888.7 1080.7,7091.5 1316,6834 1332.6,6815.8 1311.9,6411.5 1324,6390 1435.3,6191.8 1544.6,6199.7 1756,6116 2009.3,6015.7 2183.9,6210.5 2358,6001 2365.9,5991.5 2363.7,4242.1 2366,4230 2407.1,4018.5 2528.2,3784.5 2570.3,3707.3"];
_gripper_right_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,3044.3,4623 2664.6,723.8 2714.9,719.48 2777.7,724.24 2814,765 2821.8,773.81 2819.3,4149.5 2822,4161 2865.3,4346.9 2990.8,4544.1 3038.4,4614.3"];
_gripper_right_gripper_right_node -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2168,746.5 2235.1,758.04 2315,784.58 2358,845 2366.1,856.4 2364.2,2845.1 2366,2859 2408.5,3178.9 2538,3551.5 2575,3653.8"];
_safety_controller_safety_controller_parameter_updates -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2491,2806 2210.1,2806 2297.3,2806 2403.7,2806 2480.8,2806"];
_safety_controller_safety_controller_parameter_descriptions -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2547.7,2822.6 2222,2906.7 2266.6,2902.7 2314.4,2896.6 2358,2887 2422.3,2872.9 2493.3,2845.6 2538.5,2826.6"];
_emergency_stop_state [URL=topic_3A_emergency_stop_state,
height=0.5,
label="/emergency_stop_state",
pos="1537,6072",
shape=box,
width=1.9583];
_safety_controller_safety_controller -> _emergency_stop_state [penwidth=1,
pos="e,1466.4,6064.5 1403.1,2912.2 1363.4,2919.6 1328.2,2937.5 1320,2976 1315.7,2996.3 1315.7,5944.7 1320,5965 1332.6,6024.3 1400,6050.8 1456.3,6062.5"];
_safety_controller_safety_controller -> _diagnostics [penwidth=1,
pos="e,2558.6,4967 1663,2920.4 1693.3,2928.2 1722.6,2942.3 1742,2967 1775.8,3010.1 1718,3912.6 1756,3952 1802.5,4000.2 2311.6,3933.7 2358,3982 2372.7,3997.3 2358.1,4728.2 2366,4748 2403.7,4842.9 2498.8,4922.9 2550.4,4961"];
_safety_controller_safety_controller -> _rosout [penwidth=1,
pos="e,2585,3663 1654.1,2922.9 1686,2930.5 1718.4,2943.9 1742,2967 1758.2,2982.8 1738.3,3001.8 1756,3016 1860.6,3099.8 2250.6,2970.8 2358,3051 2560.7,3202.4 2582.8,3551.5 2584.9,3652.9"];
_scan_front_raw [URL=topic_3A_scan_front_raw,
height=0.5,
label="/scan_front_raw",
pos="1537,528",
shape=box,
width=1.4444];
_scan_front_raw -> _laser_front_scanner_front_filter [penwidth=1,
pos="e,1936.5,507.07 1589.2,525.31 1667.2,521.22 1818.2,513.28 1926.5,507.59"];
_sensorring_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,3056.4,4659.2 2657.1,5310.4 2705.9,5313 2770,5308.2 2814,5274 3015.9,5116.9 3050.1,4770.3 3055.9,4669.2"];
_sensorring_control_mode_adapter -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2118.6,5208.6 2188.7,5221.3 2298.7,5227.9 2358,5163 2366.7,5153.4 2363.5,4242.7 2366,4230 2407.6,4018.5 2528.3,3784.5 2570.4,3707.3"];
_sensorring_sensorring_driver -> _diagnostics [penwidth=1,
pos="e,2548.8,5003.1 2117.3,5261.9 2186,5274 2294.4,5280.4 2358,5220 2376.5,5202.4 2353.4,5185.3 2366,5163 2406.6,5091.2 2488.5,5036.8 2539.9,5008"];
_sensorring_sensorring_driver -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2113.2,5262.3 2182.9,5276.4 2296.9,5286.2 2358,5220 2367.3,5209.9 2363.4,4243.5 2366,4230 2407.5,4018.5 2528.3,3784.5 2570.4,3707.3"];
sound_say_action_topics -> _teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 [penwidth=1,
pos="e,1074.2,4727.4 1463.8,5645 1418.5,5647.5 1361.7,5640.9 1324,5608 1186.2,5487.7 1094.1,4876.7 1075.5,4737.3"];
_sound_sound_node -> _diagnostics [penwidth=1,
pos="e,2546.2,5003.1 1099,5699.9 1143.7,5726.8 1236.9,5778.2 1324,5797 1552.7,5846.3 2218.5,5786.8 2358,5599 2372.4,5579.6 2355.4,5184.8 2366,5163 2401.8,5089.5 2484.1,5036.1 2537,5007.9"];
_sound_sound_node -> _rosout [penwidth=1,
pos="e,2583.6,3699 1109.1,5699 1157.5,5718.8 1245.2,5751.7 1324,5764 1415.8,5778.4 1676,5829.4 1742,5764 1772.3,5734 1726.4,4260.7 1756,4230 1802.5,4181.8 2302.9,4240 2358,4202 2531.7,4082.3 2573.6,3799.1 2582.7,3709"];
_scan_left [URL=topic_3A_scan_left,
height=0.5,
label="/scan_left",
pos="2586,268",
shape=box,
width=0.95833];
script_server_action_topics -> _teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 [penwidth=1,
pos="e,1076.7,4690.8 1455.8,4189.3 1412.9,4196.3 1361.4,4209.7 1324,4239 1170.7,4359.4 1100.4,4599.1 1079.2,4681"];
_script_server -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1078,4104.9 1110.6,4005.6 1266.4,3517.2 1316,3104 1317.7,3089.5 1313.6,1007.3 1324,997 1405.4,915.92 2276.6,915.94 2358,997 2367.2,1006.1 2364.3,2846.2 2366,2859 2408.6,3178.9 2538,3551.5 2575,3653.8"];
_script_server -> dummy_action_topics [penwidth=1,
pos="e,1482.5,4012 1119.9,4112.9 1170.3,4097.9 1252.2,4070.6 1324,4051 1373.5,4037.5 1430.3,4024.7 1472.6,4014.5"];
_gripper_left_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,3057.1,4659.2 2660.5,6266.2 2710.4,6270 2774.2,6265.5 2814,6227 3048.1,6000.6 3057.3,4864.5 3057.1,4669.5"];
_gripper_left_gripper_left_node -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2118.4,6163.1 2188.6,6175.4 2298.9,6181.3 2358,6116 2366.8,6106.3 2363.5,4242.9 2366,4230 2407.1,4018.4 2528.2,3784.5 2570.3,3707.3"];
_emergency_stop_state -> _base_controller_undercarriage_ctrl_node [penwidth=1,
pos="e,1076.3,6788.8 1502.3,6090 1456.6,6116 1374.6,6168 1324,6232 1180.2,6414 1101.3,6690.9 1078.8,6779"];
_emergency_stop_state -> _command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 [penwidth=1,
pos="e,1992,5938.6 1599.5,6053.9 1695.7,6025.7 1881.2,5971.2 1982.2,5941.5"];
_emergency_stop_state -> _emergency_stop_monitor [penwidth=1,
pos="e,1957.3,6344.1 1548.3,6090.2 1575.5,6136 1653.9,6256.2 1756,6307 1814.8,6336.3 1888.2,6343.9 1947.2,6344.1"];
_emergency_stop_state -> _dashboard_node_cob4_2_b1_14105_8246994423008119838 [penwidth=1,
pos="e,3041.7,6288 1607.7,6068.8 1840.5,6058.9 2589.8,6034.4 2814,6116 2908.7,6150.5 2995.6,6237 3034.9,6280.4"];
_laser_front_laser_front -> _scan_front_raw [penwidth=1,
pos="e,1589.2,530.69 1964.4,550.4 1860.5,544.94 1690,535.98 1599.3,531.22"];
_laser_front_laser_front -> _diagnostics [penwidth=1,
pos="e,2558.1,4966.7 2144.1,557.45 2215,564.71 2309.5,587.35 2358,654 2374.7,676.99 2355.6,4721.5 2366,4748 2403.2,4842.9 2498.1,4922.6 2549.9,4960.8"];
_laser_front_laser_front -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2144.1,557.47 2214.9,564.74 2309.5,587.39 2358,654 2367,666.37 2364,2843.8 2366,2859 2408.5,3178.9 2538,3551.5 2575,3653.8"];
_scan_front [URL=topic_3A_scan_front,
height=0.5,
label="/scan_front",
pos="2586,630",
shape=box,
width=1.0694];
_laser_front_scanner_front_filter -> _scan_front [penwidth=1,
pos="e,2547.3,638.99 2117.7,485.62 2186.9,473.12 2295.7,466.34 2358,528 2370.7,540.56 2353.4,595.36 2366,608 2410.2,652.25 2487.5,648.9 2537.4,640.73"];
_laser_front_scanner_front_filter -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2114.5,485.38 2184.3,471.4 2297.4,462.04 2358,528 2368.9,539.92 2363.9,2843 2366,2859 2408.4,3178.9 2538,3551.5 2575,3653.8"];
_joint_states [URL=topic_3A_joint_states,
height=0.5,
label="/joint_states",
pos="1537,4069",
shape=box,
width=1.1389];
_joint_states -> _robot_state_publisher [penwidth=1,
pos="e,1974.9,4020.8 1578.3,4064.7 1619.4,4060.3 1685.2,4053.3 1742,4047 1817.2,4038.7 1902.7,4029 1964.8,4022"];
_joint_states -> _emergency_stop_monitor [penwidth=1,
pos="e,1991.8,6351.6 1578.3,4059.9 1625.3,4052 1701.7,4048 1742,4093 1783,4138.8 1714.6,6261.5 1756,6307 1811.5,6368.1 1913.1,6364.6 1981.5,6353.3"];
_tf -> _torso_cam3d_left_torso_cam3d_left_nodelet_manager [penwidth=1,
pos="e,1529.6,2066.1 1510,5867.8 1455.5,5867.9 1336.5,5858.9 1320,5781 1315.7,5760.6 1317,2805.6 1320,2785 1361.1,2500 1487.2,2171.6 1525.7,2075.6"];
_analog_sensors [URL=topic_3A_analog_sensors,
height=0.5,
label="/analog_sensors",
pos="2586,18",
shape=box,
width=1.4306];
light_torso_set_light_action_topics -> _teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 [penwidth=1,
pos="e,1087.8,4691 1531.1,3069.2 1504,3163.5 1372,3603.1 1324,3973 1316.4,4031.6 1330.7,4181.7 1316,4239 1269.3,4421.5 1144.5,4614 1093.9,4682.9"];
_light_torso -> _diagnostics [penwidth=1,
pos="e,2558.2,4966.7 1078.5,2979.1 1112.2,2886.3 1266,2448.4 1316,2075 1317.9,2060.6 1313.7,1037.3 1324,1027 1405.5,946.07 2276.7,945.85 2358,1027 2367.1,1036.1 2361.3,4736 2366,4748 2403.2,4842.8 2498.1,4922.5 2549.9,4960.8"];
_light_torso -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1078.5,2979.1 1112.2,2886.3 1266.1,2448.4 1316,2075 1318.1,2059.1 1312.6,932.29 1324,921 1364.8,880.52 2317.3,880.46 2358,921 2367.5,930.5 2364.2,2845.7 2366,2859 2408.6,3178.9 2538,3551.5 2575,3653.8"];
_scan_right [URL=topic_3A_scan_right,
height=0.5,
label="/scan_right",
pos="2586,449",
shape=box,
width=1.0694];
_laser_right_scanner_right_filter -> _scan_right [penwidth=1,
pos="e,2547.3,457.99 2117.4,304.68 2186.5,292.14 2295.6,285.24 2358,347 2370.7,359.56 2353.4,414.36 2366,427 2410.2,471.25 2487.5,467.9 2537.4,459.73"];
_laser_right_scanner_right_filter -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2114.5,304.38 2184.4,290.4 2297.4,281.04 2358,347 2369.8,359.85 2363.7,2841.7 2366,2859 2408.4,3178.9 2538,3551.5 2575,3653.8"];
_scan_right_raw [URL=topic_3A_scan_right_raw,
height=0.5,
label="/scan_right_raw",
pos="1537,347",
shape=box,
width=1.4444];
_laser_right_laser_right -> _scan_right_raw [penwidth=1,
pos="e,1589.2,349.69 1964.8,369.42 1861,363.97 1690.2,354.99 1599.3,350.22"];
_laser_right_laser_right -> _diagnostics [penwidth=1,
pos="e,2558.1,4966.7 2143.7,375.8 2214.6,382.54 2309.3,404.51 2358,471 2375.5,494.97 2355.2,4720.4 2366,4748 2403.2,4842.9 2498.1,4922.6 2549.9,4960.8"];
_laser_right_laser_right -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2143.7,375.82 2214.5,382.57 2309.3,404.54 2358,471 2367.8,484.37 2363.8,2842.6 2366,2859 2408.4,3178.9 2538,3551.5 2575,3653.8"];
_power_state [URL=topic_3A_power_state,
height=0.5,
label="/power_state",
pos="1537,6715",
shape=box,
width=1.1944];
_power_state -> _dashboard_node_cob4_2_b1_14105_8246994423008119838 [penwidth=1,
pos="e,3057,6324.2 1580.4,6714.8 1627.8,6717.1 1703.1,6728.7 1742,6777 1766.7,6807.7 1727,6927.2 1756,6954 1928.7,7113.6 2620.8,7087.9 2814,6954 3029.6,6804.6 3054.2,6438.9 3056.8,6334.3"];
_power_state -> _dashboard_aggregator [penwidth=1,
pos="e,1971.3,6572 1580.3,6723.4 1626,6729.8 1698,6732 1742,6693 1762.5,6674.9 1736.1,6651.9 1756,6633 1810,6581.7 1895.7,6571.1 1961,6571.8"];
light_base_set_light_action_topics -> _emergency_stop_monitor [penwidth=1,
pos="e,2116.5,6351.3 2486.7,6410 2382.3,6395.7 2219.7,6370.1 2126.4,6353.1"];
_light_base -> _diagnostics [penwidth=1,
pos="e,2546,5003.1 2093.3,6430.5 2159.1,6445.4 2291,6463.5 2358,6390 2369.5,6377.4 2358.6,5178.4 2366,5163 2401.5,5089.1 2484.1,5035.8 2537.1,5007.7"];
_light_base -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2093.3,6430.5 2159.1,6445.5 2291.1,6463.6 2358,6390 2368.1,6378.9 2363.1,4244.7 2366,4230 2407,4018.4 2528.1,3784.5 2570.3,3707.3"];
_statistics [URL=topic_3A_statistics,
height=0.5,
label="/statistics",
pos="2053,2989",
shape=box,
width=0.93056];
_statistics -> _rqt_gui_py_node_5396 [penwidth=1,
pos="e,2567.3,2823.9 2086.7,2992.2 2143.7,2996.7 2264.1,3000.7 2358,2967 2440.9,2937.2 2520.9,2868.2 2560,2830.9"];
_diagnostics_toplevel_state [URL=topic_3A_diagnostics_toplevel_state,
height=0.5,
label="/diagnostics_toplevel_state",
pos="2586,6549",
shape=box,
width=2.2639];
_diagnostics_toplevel_state -> _emergency_stop_monitor [penwidth=1,
pos="e,2135.9,6326.1 2504.4,6564.2 2457.4,6568.1 2400.7,6563.2 2366,6527 2344.9,6505 2378.3,6412.8 2358,6390 2306.1,6331.8 2214.9,6322.6 2145.9,6325.6"];
_diagnostics_toplevel_state -> _dashboard_node_cob4_2_b1_14105_8246994423008119838 [penwidth=1,
pos="e,3043.9,6324.1 2667.6,6553.4 2712.5,6552.9 2768.3,6547.3 2814,6527 2914.1,6482.6 3000.7,6380.5 3037.8,6332.2"];
_tf_static [URL=topic_3A_tf_static,
height=0.5,
label="/tf_static",
pos="1071,2048",
shape=box,
width=0.88889];
_tf_static -> _torso_cam3d_left_torso_cam3d_left_nodelet_manager [penwidth=1,
pos="e,1332.1,2048 1103.2,2048 1148.6,2048 1236.9,2048 1322,2048"];
_ddwrt_accesspoint -> _dashboard_aggregator [penwidth=1,
pos="e,1964,6576.1 1596.5,6559.6 1683.5,6563.5 1848.3,6570.9 1953.9,6575.6"];
_dashboard_agg [URL=topic_3A_dashboard_agg,
height=0.5,
label="/dashboard_agg",
pos="2586,6603",
shape=box,
width=1.4167];
_dashboard_agg -> _dashboard_node_cob4_2_b1_14105_8246994423008119838 [penwidth=1,
pos="e,3047.1,6324.2 2637.3,6606.9 2685.4,6608.4 2758.5,6604.8 2814,6576 2924.6,6518.7 3009.2,6389.1 3042.1,6332.9"];
_scan_right_raw -> _laser_right_scanner_right_filter [penwidth=1,
pos="e,1937.8,326 1589.2,344.31 1667.5,340.2 1819.3,332.22 1927.8,326.53"];
_power_board_state -> _dashboard_aggregator [penwidth=1,
pos="e,1974.2,6589.1 1597.2,6633.1 1687.3,6622.6 1859.2,6602.5 1963.9,6590.3"];
_diagnostics -> _diagnostic_aggregator [penwidth=1,
pos="e,2111.2,6706.8 2546,5003 2493.8,5029.6 2403.5,5084.8 2366,5163 2357,5181.8 2372,6645.6 2358,6661 2299.7,6725.4 2191.7,6720.5 2121.3,6708.6"];
_diagnostics_agg [URL=topic_3A_diagnostics_agg,
height=0.5,
label="/diagnostics_agg",
pos="2586,6670",
shape=box,
width=1.4861];
_digital_sensors [URL=topic_3A_digital_sensors,
height=0.5,
label="/digital_sensors",
pos="2586,72",
shape=box,
width=1.4028];
_rosout_agg [URL=topic_3A_rosout_agg,
height=0.5,
label="/rosout_agg",
pos="3058,4134",
shape=box,
width=1.1111];
_rosout_agg -> _dashboard_node_cob4_2_b1_14105_8246994423008119838 [penwidth=1,
pos="e,3054.6,6287.8 3044.7,4152.2 3000.7,4213.8 2860,4422.1 2818,4620 2781.9,4790 3014.7,6070.4 3052.8,6277.7"];
_joy [URL=topic_3A_joy,
height=0.5,
label="/joy",
pos="718,4755",
shape=box,
width=0.75];
_joy -> _teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 [penwidth=1,
pos="e,951.24,4724.6 745.1,4751.6 786.37,4746.2 869.4,4735.3 941.19,4725.9"];
_laser_left_scanner_left_filter -> _scan_left [penwidth=1,
pos="e,2551.4,276.2 2115.6,124.02 2184.6,111.27 2295,103.69 2358,166 2370.7,178.56 2353.4,233.36 2366,246 2411.4,291.42 2491.6,286.69 2541.3,278.08"];
_laser_left_scanner_left_filter -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2112.9,123.69 2182.7,109.54 2297,99.542 2358,166 2370.6,179.78 2363.5,2840.5 2366,2859 2408.4,3178.9 2537.9,3551.5 2575,3653.8"];
_laser_left_laser_left -> _diagnostics [penwidth=1,
pos="e,2558.1,4966.7 2134.2,193.97 2205.9,199.63 2307.1,220.49 2358,290 2376.3,314.98 2354.7,4719.2 2366,4748 2403.2,4842.9 2498.1,4922.6 2549.9,4960.8"];
_scan_left_raw [URL=topic_3A_scan_left_raw,
height=0.5,
label="/scan_left_raw",
pos="1537,166",
shape=box,
width=1.3333];
_laser_left_laser_left -> _scan_left_raw [penwidth=1,
pos="e,1585.4,168.49 1973.5,188.88 1869.4,183.41 1687.8,173.87 1595.4,169.02"];
_laser_left_laser_left -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2134.2,193.99 2205.8,199.66 2307.1,220.52 2358,290 2368.5,304.39 2363.7,2841.3 2366,2859 2408.4,3178.9 2538,3551.5 2575,3653.8"];
_base_joint_states -> _joint_state_publisher [penwidth=1,
pos="e,3053.5,4659.1 2641.3,6735.4 2693.9,6742.9 2771.5,6743.9 2814,6697 2821.8,6688.3 2821.1,6287.7 2822,6276 2875.2,5620.1 3021.8,4826.3 3051.7,4668.9"];
_scan_left_raw -> _laser_left_scanner_left_filter [penwidth=1,
pos="e,1945.9,144.57 1585.4,163.51 1664.4,159.36 1825.1,150.92 1935.7,145.11"];
_rosout -> _rosout_agg [penwidth=1,
pos="e,3038.2,4115.9 2603.5,3696.9 2673.2,3764.1 2945.1,4026.2 3030.9,4108.9"];
_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 -> arm_right_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2555,4713.2 2075.7,5902.7 2134.8,5858.2 2298,5738.2 2358,5590 2371.4,5557 2353.7,4982.4 2366,4949 2402.7,4849.5 2494.7,4760.9 2547,4719.4"];
_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 -> arm_left_joint_trajectory_controller_follow_joint_trajectory_action_topics [penwidth=1,
pos="e,2437.8,4440 2075.8,5902.8 2135,5858.2 2298.4,5738.4 2358,5590 2369.3,5561.7 2348.5,4518.9 2366,4494 2381.6,4471.8 2404.1,4455.6 2428.7,4444.1"];
_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 -> _script_server_state [penwidth=1,
pos="e,1596.6,4112.3 2025.1,5902.8 1963.3,5859.1 1812.3,5741.3 1756,5599 1741.2,5561.6 1768.7,4180.1 1742,4150 1709.2,4112.9 1652.2,4108.1 1606.7,4111.4"];
_command_gui_command_gui_node_cob4_2_b1_14105_7974832572656064030 -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2081.6,5903 2145.1,5859.7 2300.4,5742.8 2358,5599 2372.1,5563.7 2358.7,4267.3 2366,4230 2407.3,4018.5 2528.2,3784.5 2570.3,3707.3"];
dummy_action_topics -> _script_server [penwidth=1,
pos="e,1100.5,4107.3 1469.3,3999.8 1427.3,4007.4 1372.2,4019.8 1324,4033 1247.1,4054 1158.7,4083.7 1109.7,4103.5"];
_mimic -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2087.6,1050.8 2151.7,1041.1 2291.1,1030.8 2358,1110 2365.8,1119.3 2364.4,2847 2366,2859 2408.6,3178.9 2538,3551.5 2575,3653.8"];
_torso_cam3d_right_depth_metric -> _rosout [penwidth=1,
pos="e,2563.2,3694.7 2182.2,3814.7 2237.2,3811.5 2301.5,3804.4 2358,3789 2432.3,3768.7 2512.1,3725 2554.5,3699.9"];
_torso_cam3d_right_points_xyzrgb_hw_registered -> _rosout [penwidth=1,
pos="e,2554.8,3689.7 2211.1,3752.4 2258.5,3748.3 2310.5,3742.7 2358,3735 2424.4,3724.2 2500.1,3704.7 2545.1,3692.3"];
_torso_cam3d_right_torso_cam3d_right_nodelet_manager -> _rosout [penwidth=1,
pos="e,2550.7,3682.7 2236.7,3698.7 2345.2,3693.2 2474.2,3686.6 2540.6,3683.3"];
_torso_cam3d_right_depth_rectify_depth -> _rosout [penwidth=1,
pos="e,2551.1,3679.3 2194.2,3661.1 2309.5,3667 2465.8,3674.9 2541,3678.8"];
_torso_cam3d_right_driver -> _rosout [penwidth=1,
pos="e,2554.8,3672.3 2152.3,3605.1 2212.1,3609.1 2289.7,3615.9 2358,3627 2424.4,3637.8 2500.1,3657.3 2545.1,3669.7"];
_torso_cam3d_right_rectify_color -> _rosout [penwidth=1,
pos="e,2563.2,3667.3 2180.7,3547.2 2236,3550.3 2301,3557.5 2358,3573 2432.3,3593.3 2512.1,3637 2554.5,3662.1"];
_torso_cam3d_right_depth_registered_rectify_depth -> _rosout [penwidth=1,
pos="e,2569.2,3664.9 2245.1,3493.4 2283.3,3498 2322.6,3505.9 2358,3519 2441.9,3550 2523,3620.7 2561.6,3657.6"];
_torso_cam3d_right_depth_points -> _rosout [penwidth=1,
pos="e,2573.4,3663.9 2169.7,3430.6 2228.5,3431.1 2299.6,3438.6 2358,3465 2453.4,3508.1 2533.7,3608.6 2567.7,3655.7"];
_torso_cam3d_right_depth_metric_rect -> _rosout [penwidth=1,
pos="e,2576.5,3663.4 2174.7,3373.9 2233,3374.1 2302.3,3382 2358,3411 2465.6,3467 2542.6,3598 2571.9,3654.4"];
_image_flip_torso_cam3d_right_torso_cam3d_right_nodelet_manager -> _rosout [penwidth=1,
pos="e,2578.4,3663.1 2252.6,3312.4 2289.6,3320.8 2326.5,3333.9 2358,3354 2475.8,3429.2 2549.1,3589.6 2574.7,3653.7"];
_image_flip_torso_cam3d_right_image_flip_torso_cam3d_right_nodelet -> _rosout [penwidth=1,
pos="e,2581.3,3663.1 2311.1,3251.2 2327.6,3257.1 2343.4,3264.6 2358,3274 2499.3,3365.7 2560.9,3577.4 2579,3653.3"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _arm_right_joint_group_velocity_controller_command [penwidth=1,
pos="e,1389.4,4659 1168.2,4692.5 1215.1,4684.7 1272.5,4675.5 1324,4668 1341.9,4665.4 1360.7,4662.8 1379.3,4660.3"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _arm_right_twist_controller_command_twist [penwidth=1,
pos="e,1409.4,4540.6 1095.1,4690.9 1137.6,4658.6 1232.4,4591.4 1324,4560 1347.8,4551.8 1373.8,4546.1 1399.3,4542.1"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _torso_twist_controller_command_twist [penwidth=1,
pos="e,1422.8,5500 1071.6,4727.3 1070.8,4822.5 1080.6,5265 1324,5465 1348.7,5485.3 1380.8,5495 1412.5,5498.9"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _torso_joint_group_velocity_controller_command [penwidth=1,
pos="e,1395.8,5441.9 1072.2,4727.2 1074,4818.3 1095,5227.2 1324,5411 1341.8,5425.3 1363.4,5434.3 1385.8,5439.7"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _arm_left_joint_group_velocity_controller_command [penwidth=1,
pos="e,1385.8,4317.1 1078.2,4690.8 1100.4,4629.3 1181.6,4428 1324,4341 1339.8,4331.3 1357.6,4324.4 1375.9,4319.5"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _arm_left_twist_controller_command_twist [penwidth=1,
pos="e,1412.8,4257.1 1076.7,4690.6 1095.1,4623.3 1168.4,4388.9 1324,4287 1347.2,4271.8 1375,4263.2 1402.6,4258.6"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _base_controller_command [penwidth=1,
pos="e,98.062,6788.8 1024.6,4691.3 879.25,4638 420.65,4495.9 186,4725 108.99,4800.2 99.112,6534.6 98.102,6778.6"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _sensorring_joint_group_velocity_controller_command [penwidth=1,
pos="e,1518.6,5174.8 1089.3,4727.1 1160.3,4801.1 1428.9,5081.3 1511.6,5167.5"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> sound_say_action_topics [penwidth=1,
pos="e,1463.8,5629.7 1074.8,4727.3 1091.7,4842.9 1184.4,5468.1 1324,5590 1358.9,5620.5 1410.2,5628.4 1453.5,5629.5"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> script_server_action_topics [penwidth=1,
pos="e,1455.8,4173.4 1075.3,4690.6 1090.3,4617.8 1159.2,4350.4 1324,4221 1358.5,4193.9 1405.1,4180.5 1445.9,4174.7"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> light_torso_set_light_action_topics [penwidth=1,
pos="e,1529.5,3069.1 1082.6,4690.9 1122.8,4628.8 1265.3,4419 1316,4221 1330.7,4163.7 1316.4,4013.6 1324,3955 1369.7,3603.3 1491.3,3188.6 1526.4,3078.7"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _head_joint_group_velocity_controller_command [penwidth=1,
pos="e,1396.3,4819 1110.4,4726.9 1159,4748.8 1245.9,4785.4 1324,4805 1344,4810 1365.2,4814.1 1386.3,4817.5"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _head_twist_controller_command_twist [penwidth=1,
pos="e,1423.5,4762.4 1174.6,4725.2 1220.3,4732.3 1274.8,4740.7 1324,4748 1352.9,4752.3 1384,4756.7 1413.2,4760.9"];
_teleop_teleop_node_cob4_2_b1_32623_4101025136886895619 -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 1085.5,4690.7 1129.5,4629.4 1269,4424.6 1316,4230 1318.6,4219.2 1316.1,1034.9 1324,1027 1364.7,986.43 2317.3,986.47 2358,1027 2367,1036 2364.3,2846.4 2366,2859 2408.6,3178.9 2538,3551.5 2575,3653.8"];
_realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113 -> _diagnostics [penwidth=1,
pos="e,2564.8,4966.9 2209.1,4792.1 2257.9,4800 2311.3,4812.1 2358,4831 2437.1,4863 2516.6,4925.6 2557.2,4960.3"];
_realtime_cpu_monitor_cob4_2_b1_32623_7272862606735892113 -> _rosout [penwidth=1,
pos="e,2575.4,3698.3 2127.9,4795.2 2198.1,4806.6 2301.1,4809.9 2358,4748 2367.7,4737.4 2363.2,4244.1 2366,4230 2408.3,4018.7 2528.6,3784.6 2570.4,3707.3"];
_rqt_gui_py_node_5396 -> _rosout [penwidth=1,
pos="e,2586,3662.6 2586,2824.4 2586,3100.4 2586,3376.4 2586,3652.4"];
_realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448 -> _diagnostics [penwidth=1,
pos="e,2550.7,5003.2 2252.1,5099.1 2287.7,5094.7 2324.2,5088.5 2358,5080 2424.5,5063.2 2496.9,5030.1 2541.6,5007.8"];
_realtime_cpu_monitor_cob4_2_b1_32623_7483680445714247448 -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2127.7,5127.2 2197.9,5138.7 2301.2,5142.1 2358,5080 2366,5071.3 2363.7,4241.6 2366,4230 2407.7,4018.6 2528.4,3784.5 2570.4,3707.3"];
_realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880 -> _diagnostics [penwidth=1,
pos="e,2545.5,4988.1 2219.1,5013.9 2328.2,5005.3 2463.8,4994.6 2535.4,4988.9"];
_realtime_cpu_monitor_cob4_2_b1_32623_69234024026662880 -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2127.3,5044.1 2197.6,5055.7 2301.1,5059.2 2358,4997 2372.4,4981.3 2361.9,4250.9 2366,4230 2407.8,4018.6 2528.4,3784.6 2570.4,3707.3"];
_robot_state_publisher -> _tf [penwidth=1,
pos="e,1564.2,5866 1979.8,4001.7 1910.8,3996.5 1809.5,4001.6 1756,4065 1725.1,4101.6 1769.4,5750.7 1742,5790 1703.9,5844.6 1622,5860.5 1574.4,5865.1"];
_robot_state_publisher -> _rosout [penwidth=1,
pos="e,2576,3698.4 2141.7,4010.1 2205.6,4005.2 2292.1,3991 2358,3952 2462.4,3890.3 2540.8,3762.4 2571.2,3707.3"];
_android_script_server -> _rosout [penwidth=1,
pos="e,2582.2,3663.1 2139.2,3158.9 2205.1,3159.4 2295.4,3169.9 2358,3217 2509,3330.4 2565.2,3571.1 2580.4,3653"];
_realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209 -> _diagnostics [penwidth=1,
pos="e,2545.5,4981.9 2224.2,4957.1 2332.3,4965.5 2464.6,4975.7 2535.1,4981.1"];
_realtime_cpu_monitor_cob4_2_b1_32623_5441570604005064209 -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2128,4961.2 2198.2,4972.7 2301.2,4976 2358,4914 2370.8,4900 2362.3,4248.6 2366,4230 2407.9,4018.6 2528.4,3784.6 2570.4,3707.3"];
_behavior -> _rosout [penwidth=1,
pos="e,2583.6,3663 2095.9,3076.5 2159.7,3072 2281.7,3072.9 2358,3134 2529.8,3271.5 2573,3561.5 2582.6,3652.8"];
_image_flip_torso_cam3d_left_torso_cam3d_left_nodelet_manager -> _rosout [penwidth=1,
pos="e,2582,3698.9 2300.9,4148.9 2321.1,4142.5 2340.5,4133.8 2358,4122 2508.1,4021.1 2564.7,3788.8 2580.2,3708.7"];
_image_flip_torso_cam3d_left_image_flip_torso_cam3d_left_nodelet -> _torso_cam3d_left_torso_cam3d_left_nodelet_manager_bond [penwidth=1,
pos="e,1879.7,1475.7 1808.3,4089.8 1777.5,4083.2 1754.7,4072.5 1749,4056 1743.3,4039.3 1743.3,1533.7 1749,1517 1758,1490.7 1810.5,1479.9 1869.4,1476.3"];
_image_flip_torso_cam3d_left_image_flip_torso_cam3d_left_nodelet -> _rosout [penwidth=1,
pos="e,2580.6,3699.2 2301.8,4090.7 2321.6,4084.4 2340.7,4076 2358,4065 2492.7,3979.1 2557.8,3782.2 2577.9,3709"];
_emergency_stop_monitor -> light_base_set_light_action_topics [penwidth=1,
pos="e,2501.8,6401.9 2143.8,6345.8 2240.6,6358.9 2393.9,6382.9 2491.9,6400.2"];
_emergency_stop_monitor -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2113.3,6351.7 2183.2,6365 2297.3,6373.7 2358,6307 2367.7,6296.3 2363.3,4244.2 2366,4230 2407.1,4018.4 2528.1,3784.5 2570.3,3707.3"];
_dashboard_node_cob4_2_b1_14105_8246994423008119838 -> _rosout [penwidth=1,
pos="e,2597,3698.2 3053.4,6287.8 3028.2,6157.6 2875.7,5355 2822,4694 2817.8,4642.6 2824.5,4280.5 2814,4230 2770,4017.9 2645.4,3784.3 2602.1,3707.2"];
_dashboard_aggregator -> _dashboard_agg [penwidth=1,
pos="e,2534.9,6600.8 2142,6583.8 2250.2,6588.5 2431.1,6596.3 2524.7,6600.4"];
_dashboard_aggregator -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2125.9,6590.8 2196.8,6596.9 2302.5,6592.8 2358,6527 2368.3,6514.8 2363,4245.7 2366,4230 2407,4018.4 2528.1,3784.5 2570.3,3707.3"];
_realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404 -> _diagnostics [penwidth=1,
pos="e,2545.3,4970.8 2166.3,4877 2223.9,4886.1 2295.1,4898.8 2358,4914 2420.1,4929 2490,4951.8 2535.6,4967.5"];
_realtime_cpu_monitor_cob4_2_b1_32623_742996600459192404 -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2127.6,4878.1 2197.8,4889.6 2301.1,4893 2358,4831 2369.3,4818.7 2362.7,4246.4 2366,4230 2408.1,4018.6 2528.5,3784.6 2570.4,3707.3"];
_joint_state_publisher -> _joint_states [penwidth=1,
pos="e,1578.1,4060.2 3034.9,4623.4 2994.1,4592.1 2903,4527.8 2814,4503 2757.4,4487.2 1797.8,4516.4 1756,4475 1725.8,4445.1 1770.8,4124.2 1742,4093 1703.8,4051.6 1635.1,4052.2 1588.1,4058.6"];
_joint_state_publisher -> _rosout [penwidth=1,
pos="e,2595.6,3698.5 3048.1,4622.8 2990.3,4504.8 2669.2,3848.8 2600.1,3707.7"];
_recover_grippers -> _rosout [penwidth=1,
pos="e,2571.5,3697.5 2123.8,3903.5 2187.3,3904.9 2282.4,3900.5 2358,3869 2447.2,3831.8 2528.4,3747.1 2564.8,3705.3"];
_joy_node_cob4_2_b1_32623_2482379709190910472 -> _diagnostics [penwidth=1,
pos="e,2546,5003 399.86,4773 409.26,4947.2 509.14,6331.8 1324,6742 1365.5,6762.9 1706.4,6771.8 1742,6742 1769.3,6719.1 1729.3,6686.6 1756,6663 1806.2,6618.7 2311.7,6681.4 2358,6633 2372.1,6618.2 2357.2,5181.4 2366,5163 2401.4,5089.1 2484.1,5035.7 2537.1,5007.7"];
_joy_node_cob4_2_b1_32623_2482379709190910472 -> _joy [penwidth=1,
pos="e,690.76,4755 601.75,4755 631.9,4755 659.78,4755 680.56,4755"];
_joy_node_cob4_2_b1_32623_2482379709190910472 -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 400.11,4736.8 417.89,4449.3 648.33,859 1070,859 1070,859 1070,859 1538,859 1629.2,859 2294.5,821.58 2358,887 2367.5,896.83 2364.2,2845.4 2366,2859 2408.5,3178.9 2538,3551.5 2575,3653.8"];
_diagnostic_aggregator -> _diagnostics_toplevel_state [penwidth=1,
pos="e,2504.4,6536.3 2113.6,6706.5 2182.6,6718.3 2294.9,6724.8 2358,6661 2371.3,6647.5 2352.8,6589.6 2366,6576 2398.5,6542.5 2449.7,6534.8 2494.3,6535.9"];
_diagnostic_aggregator -> _diagnostics_agg [penwidth=1,
pos="e,2532.4,6672.3 2142,6689.2 2249.2,6684.5 2427.8,6676.8 2522.1,6672.7"];
_diagnostic_aggregator -> _rosout [penwidth=1,
pos="e,2575.3,3698.3 2131.1,6702.3 2202.1,6706 2304.3,6698.2 2358,6633 2368.6,6620.1 2362.8,4246.4 2366,4230 2407,4018.4 2528.1,3784.5 2570.3,3707.3"];
_phidgets -> _analog_sensors [penwidth=1,
pos="e,2534.4,21.624 2095.7,53.018 2189,46.34 2415.1,30.158 2524.2,22.353"];
_phidgets -> _digital_sensors [penwidth=1,
pos="e,2535.3,70.501 2096.1,57.269 2190,60.097 2416.6,66.926 2525.1,70.196"];
_phidgets -> _rosout [penwidth=1,
pos="e,2578.5,3663.4 2092.7,49.009 2158.8,39.552 2292.9,31.797 2358,109 2370.3,123.6 2363.5,2840.1 2366,2859 2408.4,3178.9 2537.9,3551.5 2575,3653.8"];
}
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