configSimulatedIgtlInput.xml

<?xml version="1.0"?>
<supra_config>
	<devices>
		<inputs>
			<input type="UltrasoundInterfaceSimulated" id="US-Sim">
				<param name="frequency" type="int">
					25
				</param>
				<param name="numVectors" type="size_t">
					128
				</param>
				<param name="numSamples" type="size_t">
					512
				</param>
				<param name="gain" type="double">
					0.5
				</param>
			</input>
			<input type="TrackerInterfaceROS" id="TR-ROS">
				<param name="rosMaster" type="string">
					127.0.0.1
				</param>
				<param name="topic" type="string">
					/bumblebee
				</param>
			</input>
			<input type="TrackerInterfaceIGTL" id="TR-IGTL">
				<param name="port" type="uint32_t">
					18944
				</param>
				<param name="hostname" type="string">
					127.0.0.1
				</param>
			</input>
		</inputs>
		<outputs>
			<output type="MetaImageOutputDevice" id="MHD">
				<param name="createSequences" type="bool">
					1
				</param>
				<param name="filename" type="string">
					mhd_output
				</param>
			</output>
			<output type="OpenIGTLinkOutputDevice" id="IGTL">
				<param name="port" type="uint32_t">
					18945
				</param>
			</output>
			<output type="RosImageOutputDevice" id="RosOut">
				<param name="masterHostname" type="string">
					127.0.0.1
				</param>
			</output>
		</outputs>
		<nodes>
			<node type="StreamSynchronizer" id="SYNC">
				<param name="numInputs" type="size_t">
					2
				</param>
			</node>
		</nodes>
	</devices>
	<connections>
		<connection>
			<from id="US-Sim" port="0" />
			<to id="SYNC" port="0" />
		</connection>
		<connection>
			<from id="US-Sim" port="0" />
			<to id="RosOut" port="0" />
		</connection>
		<connection>
			<from id="TR-ROS" port="0" />
			<to id="SYNC" port="1" />
		</connection>
		<connection>
			<from id="SYNC" port="0" />
			<to id="MHD" port="0" />
		</connection>
		<connection>
			<from id="SYNC" port="0" />
			<to id="IGTL" port="0" />
		</connection>
	</connections>
</supra_config>