<ETHERNETKRL>
  <CONFIGURATION>
        <EXTERNAL>
          <IP>x.x.x.x</IP>
          <PORT>7000</PORT>
          <TYPE>Server</TYPE>
        </EXTERNAL>
        <INTERNAL>
          <BUFFERING Mode="FIFO" Limit="32"/>
          <BUFFSIZE Limit="65534"/>
          <ALIVE Set_Flag="997"/>
        </INTERNAL>
      </CONFIGURATION>
  <SEND>
    <XML>
      <ELEMENT Tag="req/node/rc_measure" Type="STRING"/>
      <ELEMENT Tag="req/service/measure_depth" Type="STRING"/>
      <ELEMENT Tag="req/args/cell_count/@x" Type="INT"/>
      <ELEMENT Tag="req/args/cell_count/@y" Type="INT"/>
      <ELEMENT Tag="req/args/data_acquisition_mode" Type="STRING"/>
      <ELEMENT Tag="req/args/pose_frame" Type="STRING"/>
      <ELEMENT Tag="req/args/region_of_interest_2d/@height" Type="INT"/>
      <ELEMENT Tag="req/args/region_of_interest_2d/@offset_x" Type="INT"/>
      <ELEMENT Tag="req/args/region_of_interest_2d/@offset_y" Type="INT"/>
      <ELEMENT Tag="req/args/region_of_interest_2d/@width" Type="INT"/>
      <ELEMENT Tag="req/args/region_of_interest_2d_id" Type="STRING"/>
      <ELEMENT Tag="req/args/robot_pose/@X" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@Y" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@Z" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@A" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@B" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@C" Type="REAL"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/cell_count/@x" Type="INT"/>
      <ELEMENT Tag="res/cell_count/@y" Type="INT"/>
      <ELEMENT Tag="res/cells/le/coverage" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/max_z/@x" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/max_z/@y" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/max_z/@z" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/mean_z/@x" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/mean_z/@y" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/mean_z/@z" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/min_z/@x" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/min_z/@y" Type="REAL"/>
      <ELEMENT Tag="res/cells/le/min_z/@z" Type="REAL"/>
      <ELEMENT Tag="res/overall/@coverage" Type="REAL"/>
      <ELEMENT Tag="res/overall/max_z/@x" Type="REAL"/>
      <ELEMENT Tag="res/overall/max_z/@y" Type="REAL"/>
      <ELEMENT Tag="res/overall/max_z/@z" Type="REAL"/>
      <ELEMENT Tag="res/overall/mean_z/@x" Type="REAL"/>
      <ELEMENT Tag="res/overall/mean_z/@y" Type="REAL"/>
      <ELEMENT Tag="res/overall/mean_z/@z" Type="REAL"/>
      <ELEMENT Tag="res/overall/min_z/@x" Type="REAL"/>
      <ELEMENT Tag="res/overall/min_z/@y" Type="REAL"/>
      <ELEMENT Tag="res/overall/min_z/@z" Type="REAL"/>
      <ELEMENT Tag="res/pose_frame" Type="STRING"/>
      <ELEMENT Tag="res/region_of_interest_2d/@height" Type="INT"/>
      <ELEMENT Tag="res/region_of_interest_2d/@offset_x" Type="INT"/>
      <ELEMENT Tag="res/region_of_interest_2d/@offset_y" Type="INT"/>
      <ELEMENT Tag="res/region_of_interest_2d/@width" Type="INT"/>
      <ELEMENT Tag="res/return_code/@message" Type="STRING"/>
      <ELEMENT Tag="res/return_code/@value" Type="INT"/>
      <ELEMENT Tag="res/timestamp/@sec" Type="INT"/>
      <ELEMENT Tag="res/timestamp/@nsec" Type="INT"/>
      <ELEMENT Tag="res" Set_Flag="998"/>
    </XML>
  </RECEIVE>
</ETHERNETKRL>
