assignment_yarp-find-rgb-app.xml

<application>

  <name>Assignment on Find RGB App</name> 

  <dependencies>
      <port>/yarplogger</port>
      <port>/icubSim/cam/left</port>
      <port>/icubSim/cam/right</port>
  </dependencies>


  <module>
       <name>assignment_yarp-find-rgb-ball</name>      
       <environment>YARP_FORWARD_LOG_ENABLE=1</environment>
       <node>localhost</node>
  </module>

  <module>
       <name>assignment_yarp-find-rgb-head</name>
       <environment>YARP_FORWARD_LOG_ENABLE=1</environment>
       <node>localhost</node>
  </module>

  <module>
        <name>yarpview</name>
        <parameters>--name /viewer --x 10 --y 10</parameters>
        <node>localhost</node>
  </module>

  <connection>
        <from>/icubSim/cam/left/rgbImage:o</from>
        <to>/viewer</to>
        <protocol>udp</protocol>
  </connection>

  <connection>
        <from>/icubSim/cam/left/rgbImage:o</from>
        <to>/head/img:i</to>
        <protocol>udp</protocol>
  </connection>

  <connection>
        <from>/angle-port</from>
        <to>/head/ang:i</to>
        <protocol>udp</protocol>
  </connection>

  <connection>
        <from>/head/color:o</from>
        <to>/color-port</to>
        <protocol>udp</protocol>
  </connection>

</application>