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Created Mar 17, 2020
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digraph {
controller [shape=box,label="Controller"];
mixer [shape=box, label="Mixer"];
actuator [shape=box, label="Actuator"];
hardware_interface [label="Hardware Interface"]
abstract_command [label="Twist"]
constraints [label="Constraints",rank=1]
controller -> abstract_command
abstract_command -> mixer
mixer -> hardware_interface
hardware_interface -> actuator
constraints -> controller;
mixer -> constraints;
// Force rank for readabilty
rank = same
abstract_command -> constraints [style=invis]
rankdir = LR
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