named_paths:
- path_name: target
  node_chain:
  - node_name: /sensor_dummy_node
    publish_topic_name: /topic1
    subscribe_topic_name: UNDEFINED
  - node_name: /filter_node
    publish_topic_name: /topic2
    subscribe_topic_name: /topic1
  - node_name: /message_driven_node
    publish_topic_name: /topic3
    subscribe_topic_name: /topic2
  - node_name: /timer_driven_node
    publish_topic_name: /topic4
    subscribe_topic_name: /topic3
  - node_name: /actuator_dummy_node
    publish_topic_name: UNDEFINED
    subscribe_topic_name: /topic4
executors:
- executor_type: multi_threaded_executor
  executor_name: executor_0
  callback_group_names:
  - /actuator_dummy_node/callback_group_0
  - /drive_node/callback_group_0
  - /filter_node/callback_group_0
  - /message_driven_node/callback_group_0
  - /sensor_dummy_node/callback_group_0
  - /timer_driven_node/callback_group_0
nodes:
- node_name: /actuator_dummy_node
  callback_groups:
  - callback_group_type: mutually_exclusive
    callback_group_name: /actuator_dummy_node/callback_group_0
    callback_names:
    - /actuator_dummy_node/callback_0
  callbacks:
  - callback_name: /actuator_dummy_node/callback_0
    callback_type: subscription_callback
    topic_name: /topic4
    symbol: ActuatorDummy::ActuatorDummy(std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >)::{lambda(std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void>
      >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >)#1}
  subscribes:
  - topic_name: /topic4
    callback_name: /actuator_dummy_node/callback_0
- node_name: /drive_node
  callback_groups:
  - callback_group_type: mutually_exclusive
    callback_group_name: /drive_node/callback_group_0
    callback_names:
    - /drive_node/callback_0
  callbacks:
  - callback_name: /drive_node/callback_0
    callback_type: timer_callback
    period_ns: 100000000
    symbol: SensorDummy::SensorDummy(std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, int)::{lambda()#1}
  publishes:
  - topic_name: /drive
    callback_names:
    - /drive_node/callback_0
- node_name: /filter_node
  callback_groups:
  - callback_group_type: mutually_exclusive
    callback_group_name: /filter_node/callback_group_0
    callback_names:
    - /filter_node/callback_0
  callbacks:
  - callback_name: /filter_node/callback_0
    callback_type: subscription_callback
    topic_name: /topic1
    symbol: NoDependencyNode::NoDependencyNode(std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >)::{lambda(std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void>
      >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >)#1}
  publishes:
  - topic_name: /topic2
    callback_names:
    - /filter_node/callback_0
  subscribes:
  - topic_name: /topic1
    callback_name: /filter_node/callback_0
  message_contexts:
  - context_type: use_latest_message
    subscription_topic_name: /topic1
    publisher_topic_name: /topic2
- node_name: /message_driven_node
  callback_groups:
  - callback_group_type: mutually_exclusive
    callback_group_name: /message_driven_node/callback_group_0
    callback_names:
    - /message_driven_node/callback_0
    - /message_driven_node/callback_1
  callbacks:
  - callback_name: /message_driven_node/callback_0
    callback_type: subscription_callback
    topic_name: /topic2
    symbol: SubDependencyNode::SubDependencyNode(std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >)::{lambda(std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void>
      >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >)#1}
  - callback_name: /message_driven_node/callback_1
    callback_type: subscription_callback
    topic_name: /drive
    symbol: SubDependencyNode::SubDependencyNode(std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >)::{lambda(std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void>
      >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >)#2}
  variable_passings:
  - callback_name_write: UNDEFINED
    callback_name_read: UNDEFINED
  publishes:
  - topic_name: /topic3
    callback_names:
    - UNDEFINED
  subscribes:
  - topic_name: /drive
    callback_name: /message_driven_node/callback_1
  - topic_name: /topic2
    callback_name: /message_driven_node/callback_0
  message_contexts:
  - context_type: use_latest_message
    subscription_topic_name: /topic2
    publisher_topic_name: /topic3
  - context_type: use_latest_message
    subscription_topic_name: /drive
    publisher_topic_name: /topic3
- node_name: /sensor_dummy_node
  callback_groups:
  - callback_group_type: mutually_exclusive
    callback_group_name: /sensor_dummy_node/callback_group_0
    callback_names:
    - /sensor_dummy_node/callback_0
  callbacks:
  - callback_name: /sensor_dummy_node/callback_0
    callback_type: timer_callback
    period_ns: 100000000
    symbol: SensorDummy::SensorDummy(std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>,
      std::allocator<char> >, int)::{lambda()#1}
  publishes:
  - topic_name: /topic1
    callback_names:
    - /sensor_dummy_node/callback_0
- node_name: /timer_driven_node
  callback_groups:
  - callback_group_type: mutually_exclusive
    callback_group_name: /timer_driven_node/callback_group_0
    callback_names:
    - /timer_driven_node/callback_0
    - /timer_driven_node/callback_1
  callbacks:
  - callback_name: /timer_driven_node/callback_0
    callback_type: timer_callback
    period_ns: 100000000
    symbol: TimerDependencyNode::TimerDependencyNode(std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, int)::{lambda()#2}
  - callback_name: /timer_driven_node/callback_1
    callback_type: subscription_callback
    topic_name: /topic3
    symbol: TimerDependencyNode::TimerDependencyNode(std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char,
      std::char_traits<char>, std::allocator<char> >, int)::{lambda(std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void>
      >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >)#1}
  variable_passings:
  - callback_name_write: UNDEFINED
    callback_name_read: UNDEFINED
  publishes:
  - topic_name: /topic4
    callback_names:
    - UNDEFINED
  subscribes:
  - topic_name: /topic3
    callback_name: /timer_driven_node/callback_1
  message_contexts:
  - context_type: use_latest_message
    subscription_topic_name: /topic3
    publisher_topic_name: /topic4