<root BTCPP_format="4">

<TreeNodesModel>

<Action ID="AddTwoInts">

<input_port name="service_name" type="std::string">name of the ROS service</input_port>

<input_port name="timeout" type="unsigned int" default="100">timeout to connect to server (milliseconds)</input_port>

<input_port name="first_int" type="int"/>

<input_port name="second_int" type="int"/>

<output_port name="sum" type="int"/>

</Action>

<Action ID="Fibonacci">

<input_port name="order" type="int"/>

<input_port name="server_name" type="std::string">name of the Action Server</input_port>

<input_port name="timeout" type="unsigned int" default="500">timeout to connect (milliseconds)</input_port>

<output_port name="result" type="int"/>

</Action>

<Condition ID="CheckBool">

<input_port name="queue_size" type="unsigned int" default="1">queue size</input_port>

<input_port name="topic_name" type="std::string">name of the ROS topic</input_port>

</Condition>

<Action ID="SendBool">

<input_port name="queue_size" type="unsigned int" default="1">queue size</input_port>

<input_port name="topic_name" type="std::string">name of the ROS topic</input_port>

<Action ID="PrintValue">

<input_port name="message" type="int"/>

</Action>

</TreeNodesModel>

</root>