DomainLibrary.xml

<?xml version="1.0" encoding="UTF-8"?>
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RTI grants Licensee a license to use, modify, compile, and create derivative
works of the software solely for use with RTI Connext DDS.  Licensee may
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subject to this license. The software is provided "as is", with no warranty
of any type, including any warranty for fitness for any purpose. RTI is
under no obligation to maintain or support the software.  RTI shall not be
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inability to use the software. -->
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
  xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_dds_profiles.xsd"
  version="7.3.0">
  <domain_library name="ConnextDomainLib">
    <domain name="OperationalDataDomain" domain_id="0">
      <!-- Types need to be registered once. 2 different topics can use the same type -->
      <register_type name="SurgicalRobot::MotorControl"   type_ref="SurgicalRobot::MotorControl"/>
      <register_type name="Common::DeviceStatus"          type_ref="Common::DeviceStatus"/>
      <register_type name="Common::DeviceHeartbeat"       type_ref="Common::DeviceHeartbeat"/>
      <register_type name="PatientMonitor::Vitals"        type_ref="PatientMonitor::Vitals"/>
      <register_type name="Orchestrator::DeviceCommand"   type_ref="Orchestrator::DeviceCommand"/>

      <!-- t/ stands for topic. This is just some nomenclature,
           the DDS standard does not make this mandatory. -->
      <topic name="t/MotorControl"    register_type_ref="SurgicalRobot::MotorControl"/>
      <topic name="t/DeviceStatus"    register_type_ref="Common::DeviceStatus"/>
      <topic name="t/DeviceHeartbeat" register_type_ref="Common::DeviceHeartbeat"/>
      <topic name="t/DeviceCommand"   register_type_ref="Orchestrator::DeviceCommand"/>
      <topic name="t/Vitals"          register_type_ref="PatientMonitor::Vitals"/>
    </domain>
  </domain_library>
</dds>