<ETHERNETKRL>
  <CONFIGURATION>
        <EXTERNAL>
          <IP>x.x.x.x</IP>
          <PORT>7000</PORT>
          <TYPE>Server</TYPE>
        </EXTERNAL>
        <INTERNAL>
          <BUFFERING Mode="FIFO" Limit="1"/>
          <BUFFSIZE Limit="65534"/>
          <ALIVE Set_Flag="997"/>
        </INTERNAL>
      </CONFIGURATION>
  <SEND>
    <XML>
      <ELEMENT Tag="req/node/rc_collision_check" Type="STRING"/>
      <ELEMENT Tag="req/parameters/check_bottom/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/check_flange/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/collision_dist/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/pointcloud_watertight/@value" Type="BOOL"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/parameters/check_bottom/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_bottom/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_bottom/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_bottom/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_flange/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_flange/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_flange/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_flange/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/collision_dist/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/collision_dist/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/collision_dist/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/collision_dist/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/pointcloud_watertight/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/pointcloud_watertight/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/pointcloud_watertight/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/pointcloud_watertight/@max" Type="BOOL"/>
      <ELEMENT Tag="res/return_code/@value" Type="INT"/>
      <ELEMENT Tag="res/return_code/@message" Type="STRING"/>
      <ELEMENT Tag="res" Set_Flag="998"/>
    </XML>
  </RECEIVE>
</ETHERNETKRL>
