diff --git a/.gitignore b/.gitignore
index 975287e..4baa4a1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -137,6 +137,9 @@ venv.bak/
 .spyderproject
 .spyproject
 
+# VS Code settings
+.vscode/
+
 # Rope project settings
 .ropeproject
 
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..3d86f0a
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "std_msgs"]
+	path = rosidl2capella/ros/std_msgs
+	url = https://github.com/ros/std_msgs.git
+[submodule "common_msgs"]
+	path = rosidl2capella/ros/common_msgs
+	url = https://github.com/ros/common_msgs.git
diff --git a/.gitmodules.license b/.gitmodules.license
new file mode 100644
index 0000000..95e8b6e
--- /dev/null
+++ b/.gitmodules.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: CC0-1.0
diff --git a/docs/examples/advanced.ipynb b/docs/examples/advanced.ipynb
new file mode 100644
index 0000000..7761e9f
--- /dev/null
+++ b/docs/examples/advanced.ipynb
@@ -0,0 +1,2289 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from rosidl2capella.idl_model import IDLModel\n",
+    "from rosidl2capella.capella_wrapper import CapellaWrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Cannot load PVMT extension: ValueError: Provided model does not have a PropertyValuePkg\n",
+      "Property values are not available in this model\n"
+     ]
+    }
+   ],
+   "source": [
+    "msg_model = IDLModel.from_msg_model(\"data/msgs\")\n",
+    "capella_wrapper = CapellaWrapper(\"data/model\", \"la\")\n",
+    "capella_model = capella_wrapper.as_idlmodel"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "msg_model.packages.keys() == capella_model.packages.keys()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "msg_model.packages[\"root\"].classes.keys() == capella_model.packages[\"root\"].classes.keys()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n"
+     ]
+    }
+   ],
+   "source": [
+    "capella_wrapper.create_packages(set(msg_model.packages.keys()))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n"
+     ]
+    }
+   ],
+   "source": [
+    "for pkg_name, package in msg_model.packages.items():\n",
+    "    capella_wrapper.create_classes(package.classes, pkg_name)\n",
+    "    capella_wrapper.create_types(package.types, pkg_name)\n",
+    "    capella_wrapper.create_basic_types(package.basic_types, pkg_name)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "all_classes = {}\n",
+    "for pkg in msg_model.packages.values():\n",
+    "    all_classes |= pkg.classes"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
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+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n"
+     ]
+    }
+   ],
+   "source": [
+    "for package_name, package in msg_model.packages.items():\n",
+    "    for class_name, (_, properties) in package.classes.items():\n",
+    "        for prop in properties:\n",
+    "            _, prop_type, type_pkg, _, _, _ = prop\n",
+    "            type_pkg = type_pkg or package_name\n",
+    "            if prop_type in msg_model.packages[type_pkg].classes:\n",
+    "                try:\n",
+    "                    capella_wrapper.create_composition(\n",
+    "                        class_name, prop, package_name\n",
+    "                    )\n",
+    "                except KeyError:\n",
+    "                    print(class_name, prop, package_name)\n",
+    "            else:\n",
+    "                capella_wrapper.create_attribute(\n",
+    "                    class_name, prop, package_name\n",
+    "                )"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/examples/advanced.ipynb.license b/docs/examples/advanced.ipynb.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/advanced.ipynb.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/empty_model/.project b/docs/examples/data/empty_model/.project
new file mode 100644
index 0000000..c8c652b
--- /dev/null
+++ b/docs/examples/data/empty_model/.project
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ros_msgs</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+		<nature>org.polarsys.capella.project.nature</nature>
+	</natures>
+</projectDescription>
diff --git a/docs/examples/data/empty_model/.project.license b/docs/examples/data/empty_model/.project.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/empty_model/.project.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/empty_model/ros_msgs.afm b/docs/examples/data/empty_model/ros_msgs.afm
new file mode 100644
index 0000000..cf2da5c
--- /dev/null
+++ b/docs/examples/data/empty_model/ros_msgs.afm
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<metadata:Metadata xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:metadata="http://www.polarsys.org/kitalpha/ad/metadata/1.0.0" id="_IMYo4GmiEe6H9OTeegFukw">
+  <viewpointReferences id="_MvN64GmiEe6H9OTeegFukw" vpId="org.polarsys.capella.core.viewpoint" version="6.0.0"/>
+</metadata:Metadata>
diff --git a/docs/examples/data/empty_model/ros_msgs.afm.license b/docs/examples/data/empty_model/ros_msgs.afm.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/empty_model/ros_msgs.afm.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/empty_model/ros_msgs.aird b/docs/examples/data/empty_model/ros_msgs.aird
new file mode 100644
index 0000000..81c024f
--- /dev/null
+++ b/docs/examples/data/empty_model/ros_msgs.aird
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:concern="http://www.eclipse.org/sirius/diagram/description/concern/1.1.0" xmlns:description="http://www.eclipse.org/sirius/description/1.1.0" xmlns:description_1="http://www.eclipse.org/sirius/diagram/description/1.1.0" xmlns:diagram="http://www.eclipse.org/sirius/diagram/1.1.0" xmlns:filter="http://www.eclipse.org/sirius/diagram/description/filter/1.1.0" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.3/notation" xmlns:org.polarsys.capella.core.data.information="http://www.polarsys.org/capella/core/information/6.0.0" xmlns:viewpoint="http://www.eclipse.org/sirius/1.1.0" xsi:schemaLocation="http://www.eclipse.org/sirius/diagram/description/concern/1.1.0 http://www.eclipse.org/sirius/diagram/1.1.0#//description/concern http://www.eclipse.org/sirius/description/1.1.0 http://www.eclipse.org/sirius/1.1.0#//description http://www.eclipse.org/sirius/diagram/description/1.1.0 http://www.eclipse.org/sirius/diagram/1.1.0#//description http://www.eclipse.org/sirius/diagram/description/filter/1.1.0 http://www.eclipse.org/sirius/diagram/1.1.0#//description/filter">
+  <viewpoint:DAnalysis uid="_IMmrUGmiEe6H9OTeegFukw" selectedViews="_Mw3gsGmiEe6H9OTeegFukw _M1b3oGmiEe6H9OTeegFukw _M_oVcGmiEe6H9OTeegFukw _NA3EgGmiEe6H9OTeegFukw _NBFG8GmiEe6H9OTeegFukw _NBVloGmiEe6H9OTeegFukw _NC3PoGmiEe6H9OTeegFukw" version="15.0.0.202201261500">
+    <semanticResources>ros_msgs.afm</semanticResources>
+    <semanticResources>ros_msgs.capella</semanticResources>
+    <ownedViews xmi:type="viewpoint:DView" uid="_Mw3gsGmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.kitalpha.ad.integration.sirius/description/ad.odesign#//@ownedViewpoints[name='ad']"/>
+    </ownedViews>
+    <ownedViews xmi:type="viewpoint:DView" uid="_M1b3oGmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']"/>
+      <ownedRepresentationDescriptors xmi:type="viewpoint:DRepresentationDescriptor" uid="_wbr-YGmiEe6H9OTeegFukw" name="[CDB] Data" repPath="#_wawKQGmiEe6H9OTeegFukw" changeId="667f10a1-2e47-4342-b62e-b8c0516253d8">
+        <description xmi:type="description_1:DiagramDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']"/>
+        <target xmi:type="org.polarsys.capella.core.data.information:DataPkg" href="ros_msgs.capella#792fe86e-ea52-4a4b-ac04-26561c5c5bab"/>
+      </ownedRepresentationDescriptors>
+      <ownedRepresentationDescriptors xmi:type="viewpoint:DRepresentationDescriptor" uid="_QSQHUGmjEe6H9OTeegFukw" name="[CDB] Data" repPath="#_QSLO0GmjEe6H9OTeegFukw" changeId="292f3a36-4d82-4176-acdd-e1f84f870f95">
+        <description xmi:type="description_1:DiagramDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']"/>
+        <target xmi:type="org.polarsys.capella.core.data.information:DataPkg" href="ros_msgs.capella#4ada90cb-13d8-4140-b92f-d8206a56bdae"/>
+      </ownedRepresentationDescriptors>
+    </ownedViews>
+    <ownedViews xmi:type="viewpoint:DView" uid="_M_oVcGmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/logical.odesign#//@ownedViewpoints[name='Logical%20Architecture']"/>
+    </ownedViews>
+    <ownedViews xmi:type="viewpoint:DView" uid="_NA3EgGmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/EPBS.odesign#//@ownedViewpoints[name='EPBS%20architecture']"/>
+    </ownedViews>
+    <ownedViews xmi:type="viewpoint:DView" uid="_NBFG8GmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/physical.odesign#//@ownedViewpoints[name='Physical%20Architecture']"/>
+    </ownedViews>
+    <ownedViews xmi:type="viewpoint:DView" uid="_NBVloGmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/oa.odesign#//@ownedViewpoints[name='Operational%20Analysis']"/>
+    </ownedViews>
+    <ownedViews xmi:type="viewpoint:DView" uid="_NC3PoGmiEe6H9OTeegFukw">
+      <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/context.odesign#//@ownedViewpoints[name='System%20Analysis']"/>
+    </ownedViews>
+  </viewpoint:DAnalysis>
+  <diagram:DSemanticDiagram uid="_wawKQGmiEe6H9OTeegFukw">
+    <ownedAnnotationEntries xmi:type="description:AnnotationEntry" uid="_weYtEGmiEe6H9OTeegFukw" source="GMF_DIAGRAMS">
+      <data xmi:type="notation:Diagram" xmi:id="_weYtEWmiEe6H9OTeegFukw" type="Sirius" element="_wawKQGmiEe6H9OTeegFukw" measurementUnit="Pixel">
+        <styles xmi:type="notation:DiagramStyle" xmi:id="_weYtEmmiEe6H9OTeegFukw"/>
+      </data>
+    </ownedAnnotationEntries>
+    <ownedAnnotationEntries xmi:type="description:AnnotationEntry" uid="_wgdJoGmiEe6H9OTeegFukw" source="DANNOTATION_CUSTOMIZATION_KEY">
+      <data xmi:type="diagram:ComputedStyleDescriptionRegistry" uid="_wgeXwGmiEe6H9OTeegFukw"/>
+    </ownedAnnotationEntries>
+    <description xmi:type="description_1:DiagramDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']"/>
+    <currentConcern xmi:type="concern:ConcernDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@concerns/@ownedConcernDescriptions.0"/>
+    <activatedFilters xmi:type="filter:CompositeFilterDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@filters[name='hide.association.labels.filter']"/>
+    <activatedFilters xmi:type="filter:CompositeFilterDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@filters[name='hide.technical.interfaces.filter']"/>
+    <activatedFilters xmi:type="filter:CompositeFilterDescription" href="platform:/plugin/org.polarsys.kitalpha.ad.integration.sirius/description/ad.odesign#//@ownedViewpoints[name='ad']/@ownedRepresentations[name='AD%20diagram']/@filters[name='ModelExtensionFilter']"/>
+    <filterVariableHistory xmi:type="diagram:FilterVariableHistory" uid="_wbWAIGmiEe6H9OTeegFukw"/>
+    <activatedLayers xmi:type="description_1:Layer" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@defaultLayer"/>
+    <activatedLayers xmi:type="description_1:AdditionalLayer" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@additionalLayers[name='Communication%20Model']"/>
+    <target xmi:type="org.polarsys.capella.core.data.information:DataPkg" href="ros_msgs.capella#792fe86e-ea52-4a4b-ac04-26561c5c5bab"/>
+  </diagram:DSemanticDiagram>
+  <diagram:DSemanticDiagram uid="_QSLO0GmjEe6H9OTeegFukw">
+    <ownedAnnotationEntries xmi:type="description:AnnotationEntry" uid="_QSR8gGmjEe6H9OTeegFukw" source="GMF_DIAGRAMS">
+      <data xmi:type="notation:Diagram" xmi:id="_QSR8gWmjEe6H9OTeegFukw" type="Sirius" element="_QSLO0GmjEe6H9OTeegFukw" measurementUnit="Pixel">
+        <styles xmi:type="notation:DiagramStyle" xmi:id="_QSR8gmmjEe6H9OTeegFukw"/>
+      </data>
+    </ownedAnnotationEntries>
+    <ownedAnnotationEntries xmi:type="description:AnnotationEntry" uid="_QSeJwGmjEe6H9OTeegFukw" source="DANNOTATION_CUSTOMIZATION_KEY">
+      <data xmi:type="diagram:ComputedStyleDescriptionRegistry" uid="_QSeJwWmjEe6H9OTeegFukw"/>
+    </ownedAnnotationEntries>
+    <description xmi:type="description_1:DiagramDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']"/>
+    <currentConcern xmi:type="concern:ConcernDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@concerns/@ownedConcernDescriptions.0"/>
+    <activatedFilters xmi:type="filter:CompositeFilterDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@filters[name='hide.association.labels.filter']"/>
+    <activatedFilters xmi:type="filter:CompositeFilterDescription" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@filters[name='hide.technical.interfaces.filter']"/>
+    <activatedFilters xmi:type="filter:CompositeFilterDescription" href="platform:/plugin/org.polarsys.kitalpha.ad.integration.sirius/description/ad.odesign#//@ownedViewpoints[name='ad']/@ownedRepresentations[name='AD%20diagram']/@filters[name='ModelExtensionFilter']"/>
+    <filterVariableHistory xmi:type="diagram:FilterVariableHistory" uid="_QSL14GmjEe6H9OTeegFukw"/>
+    <activatedLayers xmi:type="description_1:Layer" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@defaultLayer"/>
+    <activatedLayers xmi:type="description_1:AdditionalLayer" href="platform:/plugin/org.polarsys.capella.core.sirius.analysis/description/common.odesign#//@ownedViewpoints[name='Common']/@ownedRepresentations[name='Class%20Diagram%20Blank']/@additionalLayers[name='Communication%20Model']"/>
+    <target xmi:type="org.polarsys.capella.core.data.information:DataPkg" href="ros_msgs.capella#4ada90cb-13d8-4140-b92f-d8206a56bdae"/>
+  </diagram:DSemanticDiagram>
+</xmi:XMI>
diff --git a/docs/examples/data/empty_model/ros_msgs.aird.license b/docs/examples/data/empty_model/ros_msgs.aird.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/empty_model/ros_msgs.aird.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/empty_model/ros_msgs.capella b/docs/examples/data/empty_model/ros_msgs.capella
new file mode 100644
index 0000000..b4f60ee
--- /dev/null
+++ b/docs/examples/data/empty_model/ros_msgs.capella
@@ -0,0 +1,272 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!--Capella_Version_6.0.0-->
+<org.polarsys.capella.core.data.capellamodeller:Project xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:libraries="http://www.polarsys.org/capella/common/libraries/6.0.0"
+    xmlns:org.polarsys.capella.core.data.capellacommon="http://www.polarsys.org/capella/core/common/6.0.0"
+    xmlns:org.polarsys.capella.core.data.capellacore="http://www.polarsys.org/capella/core/core/6.0.0"
+    xmlns:org.polarsys.capella.core.data.capellamodeller="http://www.polarsys.org/capella/core/modeller/6.0.0"
+    xmlns:org.polarsys.capella.core.data.cs="http://www.polarsys.org/capella/core/cs/6.0.0"
+    xmlns:org.polarsys.capella.core.data.ctx="http://www.polarsys.org/capella/core/ctx/6.0.0"
+    xmlns:org.polarsys.capella.core.data.epbs="http://www.polarsys.org/capella/core/epbs/6.0.0"
+    xmlns:org.polarsys.capella.core.data.fa="http://www.polarsys.org/capella/core/fa/6.0.0"
+    xmlns:org.polarsys.capella.core.data.information="http://www.polarsys.org/capella/core/information/6.0.0"
+    xmlns:org.polarsys.capella.core.data.information.datatype="http://www.polarsys.org/capella/core/information/datatype/6.0.0"
+    xmlns:org.polarsys.capella.core.data.information.datavalue="http://www.polarsys.org/capella/core/information/datavalue/6.0.0"
+    xmlns:org.polarsys.capella.core.data.la="http://www.polarsys.org/capella/core/la/6.0.0"
+    xmlns:org.polarsys.capella.core.data.oa="http://www.polarsys.org/capella/core/oa/6.0.0"
+    xmlns:org.polarsys.capella.core.data.pa="http://www.polarsys.org/capella/core/pa/6.0.0"
+    id="e5dae5f5-51e5-4406-b6eb-00e153b3ee36"
+    name="ros_msgs">
+  <ownedExtensions xsi:type="libraries:ModelInformation" id="aaf3bae7-b71c-4649-b0dd-0bdb3309929f"/>
+  <ownedEnumerationPropertyTypes xsi:type="org.polarsys.capella.core.data.capellacore:EnumerationPropertyType"
+      id="34b2b7e2-ebb8-4cb4-aa19-ced8971e62f7" name="ProgressStatus">
+    <ownedLiterals xsi:type="org.polarsys.capella.core.data.capellacore:EnumerationPropertyLiteral"
+        id="f4fe3a56-a38c-437b-8f18-1ac9a83beadc" name="DRAFT"/>
+    <ownedLiterals xsi:type="org.polarsys.capella.core.data.capellacore:EnumerationPropertyLiteral"
+        id="8a37ad1f-3446-4268-b268-0678049098be" name="TO_BE_REVIEWED"/>
+    <ownedLiterals xsi:type="org.polarsys.capella.core.data.capellacore:EnumerationPropertyLiteral"
+        id="b9e08876-686b-42ac-86d1-864abb326963" name="TO_BE_DISCUSSED"/>
+    <ownedLiterals xsi:type="org.polarsys.capella.core.data.capellacore:EnumerationPropertyLiteral"
+        id="f2a4bee2-fa32-4d36-8074-9c7f39158f23" name="REWORK_NECESSARY"/>
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diff --git a/docs/examples/data/empty_model/ros_msgs.capella.license b/docs/examples/data/empty_model/ros_msgs.capella.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/empty_model/ros_msgs.capella.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/model/.project b/docs/examples/data/model/.project
new file mode 100644
index 0000000..c8c652b
--- /dev/null
+++ b/docs/examples/data/model/.project
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ros_msgs</name>
+	<comment></comment>
+	<projects>
+	</projects>
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diff --git a/docs/examples/data/model/.project.license b/docs/examples/data/model/.project.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/model/.project.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/model/ros_msgs.afm b/docs/examples/data/model/ros_msgs.afm
new file mode 100644
index 0000000..cf2da5c
--- /dev/null
+++ b/docs/examples/data/model/ros_msgs.afm
@@ -0,0 +1,4 @@
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diff --git a/docs/examples/data/model/ros_msgs.afm.license b/docs/examples/data/model/ros_msgs.afm.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/model/ros_msgs.afm.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/model/ros_msgs.aird b/docs/examples/data/model/ros_msgs.aird
new file mode 100644
index 0000000..81c024f
--- /dev/null
+++ b/docs/examples/data/model/ros_msgs.aird
@@ -0,0 +1,74 @@
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diff --git a/docs/examples/data/model/ros_msgs.aird.license b/docs/examples/data/model/ros_msgs.aird.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/model/ros_msgs.aird.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/model/ros_msgs.capella b/docs/examples/data/model/ros_msgs.capella
new file mode 100644
index 0000000..0b5c5fd
--- /dev/null
+++ b/docs/examples/data/model/ros_msgs.capella
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+          <ownedClasses id="b8998ddb-4959-42b9-96c0-88e3c205fd2d" name="UInt8MultiArray"
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+          <ownedClasses id="c01eaa78-7f1e-4018-8bf3-89d90e80f954" name="Int64" xsi:type="org.polarsys.capella.core.data.information:Class">
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+          <ownedClasses id="b8ac2904-eb76-4f52-882d-bf350cf24657" name="ByteMultiArray"
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+          <ownedClasses id="73d4365c-ad2f-4429-a23d-449b368b91e7" name="Int16MultiArray"
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+          <ownedClasses id="b2d26f10-4031-43df-822f-06320154a8c2" name="Float64MultiArray"
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+            <ownedFeatures id="9986d011-b4f7-4829-bec8-07e35ad20c7d" name="twist"
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+          <ownedClasses id="10e25a2f-5447-4783-a5b9-c993b9514575" name="Point32" description="This contains the position of a point in free space(with 32 bits of precision).&#xA; It is recommeded to use Point wherever possible instead of Point32.  &#xA; &#xA; This recommendation is to promote interoperability.  &#xA;&#xA; This message is designed to take up less space when sending&#xA; lots of points at once, as in the case of a PointCloud."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="e2e0d626-663e-42ac-8b11-899b01980323" name="x" abstractType="#8846ee05-2887-4f2d-a7b5-d625f7da7e1c"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="df37f424-c3b7-482a-903a-2500c2a70de3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="82e9b66c-5519-4e46-ae1a-201325452044" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="8d62f11b-99c1-4607-9f41-2c38765d3060" name="y" abstractType="#8846ee05-2887-4f2d-a7b5-d625f7da7e1c"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="fccb61ee-c6c8-4c14-a786-1951a878f100" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="28416489-5997-40fe-a5fd-e3a353803d4a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="2d764c1b-17f8-4682-a760-ab4edfb56e8c" name="z" abstractType="#8846ee05-2887-4f2d-a7b5-d625f7da7e1c"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="5e410199-39f8-4b09-9e01-fe283f9f4d12" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="5a6704f2-c885-4a3d-86b4-e7d544edaadb" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="e6054ec4-fd00-49d5-8fc2-45f0119686bb" name="Accel" description="This expresses acceleration in free space broken into its linear and angular parts."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="4de7e8f1-d5cf-4802-b05c-2448cc13f18a" name="linear"
+                abstractType="#2d48f106-2518-454d-b6a6-d89beeadbfb7" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="51b14b34-d8d8-4433-b77d-bf3b1d6efede" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="aaadd9d1-ab10-47f4-9b38-132d7352a677" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="7cc643a1-b0f1-4135-b313-180e0114b38b" name="angular"
+                abstractType="#2d48f106-2518-454d-b6a6-d89beeadbfb7" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="796568d3-4118-47b2-a1ea-81ad93d9a8de" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="7369caef-4dc7-4ece-975c-3500d9c446d3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="c0e34a10-9030-420c-b091-56c5f522a9ef" name="Vector3Stamped"
+              description="This represents a Vector3 with reference coordinate frame and timestamp"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="bd5c9700-6808-4482-a01c-4c70310658a6" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="39649d1f-3207-42fa-80d3-b961bb3e5e58" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="b44b32f4-07c1-47f3-b84d-ed2b3e4f5041" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="bf264703-5d65-4109-86d8-8213c93884d5" name="vector"
+                abstractType="#2d48f106-2518-454d-b6a6-d89beeadbfb7" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="434c0fb7-3b3e-4e9f-adf1-5d6eaa09d675" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e3eaa7b4-fb02-4b7b-a9eb-b475f86c19c4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="e42cb13a-72eb-4ed5-b47e-32484459db38" name="Inertia" description="Mass [kg]"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="7ec0c9e7-7e63-43a5-b51d-98ed940a6e88" name="m" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="1a9e1337-7038-458d-aece-bd8b47957efe" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="51ed9958-b601-44be-ae1f-6b35d8cf2590" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="a9da7465-5fc0-4e12-80ea-111efee8dbcf" name="com" abstractType="#2d48f106-2518-454d-b6a6-d89beeadbfb7"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="86da37d4-189f-460f-ae6f-f2a54a640cea" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="319a5f73-c02b-4d90-a445-ebc3b3e5d63c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="7e783f21-6be5-4134-bbae-b84f1848cef8" name="ixx" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="9649101f-66ca-4ac6-b3b6-4746ad98dda0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="817864dd-d19c-422b-b54b-6f59f18965f5" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="de326b8e-8913-417a-8f96-a37b50d673ee" name="ixy" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="316a9292-811b-40e5-81b4-a027134e81f4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="442b89ea-2676-4a0e-bd26-55def127da82" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="918ed76b-5301-429f-9e8b-182d36c6b345" name="ixz" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d89ee20c-39e4-41d1-8f06-6c57bac02692" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="8c48cb46-e24f-4ba4-b5ec-f4859920e2c0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="54fdf8e6-3790-4a38-8e8b-1fce7df36e38" name="iyy" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="7c34bb1c-dc8e-41bd-a563-ebbfc9538927" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="951c3093-efc7-4cbe-9d05-51fc44e3fdb8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="fcd8eb7f-e7b0-40cc-a60a-458c74ac2eac" name="iyz" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f49e9004-2459-4d66-8009-c993cdfdc187" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0544e315-8792-4ca3-b5e5-5a95e2034c0c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="bd2b668b-d5df-4cce-b95b-48145aefffb8" name="izz" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="c384704f-4578-40e3-b760-2058efc547e3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="21d0d40b-2da1-4fe1-86d0-ab82c5baa15a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="d604a563-5d8b-4bf3-b1f5-254c194035d8" name="Pose2D" description="Deprecated&#xA; Please use the full 3D pose."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="d304da8f-ef21-4f06-9daa-521197cc3c74" name="x" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="1aae59be-15d8-48b8-9967-3ee7dded61c4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="2248fb9e-9c18-421c-9589-c9a4ba7a7f9f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="1efc9145-04a7-433b-81d0-370c0d49157c" name="y" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="25f725e4-8f83-4ee6-894c-f0e19f99dddb" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="93836468-7cf4-40df-a185-0b17c8f29aee" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="a8c822db-567d-4331-8949-6d74a3362f9c" name="theta"
+                abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="eced035b-b581-4a48-979b-ea6c59c05f04" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="1458d57d-8212-4af4-88d0-c39d927429cd" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="55318191-3db5-490d-b21f-201e32790bc5" name="PoseStamped"
+              description="A Pose with reference coordinate frame and timestamp" xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="ee6db818-9225-4d29-90c7-e39bfd3c3ce2" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f29791e2-1eb1-4608-9e32-d02cd36e47dc" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="410c3184-a4e8-44c2-a86d-01b199958d71" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="0f46b266-ce0c-4880-af93-ccbcd4ed1d67" name="pose" abstractType="#dc01446b-9a55-4cc6-8216-b19bd8fa3232"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="759e721f-145f-40b2-ab3c-5fab832ecb0c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="09dd4ef8-9ab0-4511-b69c-1cabd7cb0f24" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="2d48f106-2518-454d-b6a6-d89beeadbfb7" name="Vector3" description="This represents a vector in free space. &#xA; It is only meant to represent a direction. Therefore, it does not&#xA; make sense to apply a translation to it (e.g., when applying a &#xA; generic rigid transformation to a Vector3, tf2 will only apply the&#xA; rotation). If you want your data to be translatable too, use the&#xA; geometry_msgs/Point message instead."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="e6762bba-6d3e-473d-9f34-99fc4275f262" name="x" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="8a9dfec1-ccff-4361-a1b3-6750f44dfc29" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="1eef197d-82a9-496f-8a13-9b5208917118" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="15a68ce4-5499-4614-906a-e145d4407759" name="y" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="48cff8fb-b3ac-490b-b89d-2577051fc623" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="65ea9a4e-4787-491d-8205-75f5ca83c9ee" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="253b11a2-b519-4fed-85c0-5fe5e8a7f487" name="z" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="dc3aeae6-e73c-4165-98bb-3d7a0a121294" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="64934674-6db7-4853-a778-1f641606db77" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="11a0d72b-a52d-4140-a045-99a78f7908f3" name="PoseWithCovarianceStamped"
+              description="This expresses an estimated pose with a reference coordinate frame and timestamp"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="4cbd7b93-92b5-48bf-bb46-3fc638dd3805" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="daaf99ef-929e-4bed-a5d5-6fb62b95b007" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="8d6e9a4d-3fd2-4b4b-ba6f-98677a016163" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="87a9800b-a5cf-48a4-a76e-0a643c30a388" name="pose" abstractType="#ab3aa9f1-787d-4c02-9388-9728a240704d"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="c3ab8d38-1542-4292-a0ea-60828f09639a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="226182a4-f83f-4d43-bdc4-66fb7371cb6a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="f4c6f2c2-11a6-4937-9f23-a8f29e777be4" name="AccelWithCovarianceStamped"
+              description="This represents an estimated accel with reference coordinate frame and timestamp."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="79e55fa7-e8de-4384-acba-5f34aff0f187" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="324b2eb7-c84c-464f-b6db-979470b9e4ec" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="57586656-d54e-4561-a13d-f75da4384fa4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="d1ffae46-6b23-43ea-9062-d1915d335c90" name="accel"
+                abstractType="#a6c4a1b8-f2df-4419-ab6a-5686da74e5fc" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="4ab26d94-cf1d-42da-8e77-d92502b26789" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="28af03fa-6445-4718-8280-0f5fc170459a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="cf4cd6a0-05e0-4e04-b086-1188e26d271a" name="Quaternion"
+              description="This represents an orientation in free space in quaternion form."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="429ec36d-26e6-4b17-a648-f8903990361d" name="x" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="7755378a-d324-4ad7-8f7a-938492b1bca6" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="cc7ff1c2-0395-4048-84e6-d8860fe8b444" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="e3231330-1341-42f8-b78d-9f5da98ff24f" name="y" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="bc1f55b9-36d6-4f99-afef-6c49605d376b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="bdbc1f2e-12c1-416f-ac12-548148907895" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="81f33664-b48b-4f20-bc57-41a686dff958" name="z" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="4f472f91-5427-46d1-896d-3c67f3945d60" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="57a47a5e-ea05-4516-83d6-b61202b18c24" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="9e19beaf-0d46-49b7-895e-279c5ba49a89" name="w" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="a6f53cb9-50ba-45b0-8f31-6874b09fe145" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="8a5bf259-a8d8-4c5d-88c5-16f8c77fdf7b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="ab3aa9f1-787d-4c02-9388-9728a240704d" name="PoseWithCovariance"
+              description="This represents a pose in free space with uncertainty."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="afafdd24-15aa-4b3f-9d88-33a56706904e" name="pose" abstractType="#dc01446b-9a55-4cc6-8216-b19bd8fa3232"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="81038419-fc5a-4cf3-b057-6803501dc0c8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0893995b-c8c5-4d79-90c9-90bb9401b4b0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="127c3dc1-e792-4fe2-9e6e-fe584c42e651" name="covariance"
+                abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="7864e595-b82d-4d9a-bf1d-8859775d13b3" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="eb28a69b-f4b6-4c12-a877-86b981e04b5d" value="36" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="3fb6d192-c019-47b0-8b48-246f0ae13922" name="PointStamped"
+              description="This represents a Point with reference coordinate frame and timestamp"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="19887cc8-9add-44e6-bb7a-604a2189109a" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="2fe3b863-4980-49d6-a8a0-8963e2c7779f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="00cb42f1-a270-4a8d-93bc-662c3c262101" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="526ed3f3-da7a-4e3e-94a1-4ef632a15cac" name="point"
+                abstractType="#193065f9-9a15-4a21-9f86-b1a21b337111" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="2152473e-8c7d-4289-a019-8447df549fed" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="692ce786-a25f-4ae3-8da6-7bf90b91da91" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="cf8ba1a1-16c6-43e8-b943-7111a77e6401" name="TwistWithCovarianceStamped"
+              description="This represents an estimated twist with reference coordinate frame and timestamp."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="3a04b2dc-ba89-4366-92cf-415efd2b016f" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="a9522f4c-5d95-4a4c-b836-30698e1ae583" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="dcc1ed08-df1b-46ce-96c6-60d9f674751e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="64539e05-707b-42fa-a040-64c6829c4bc9" name="twist"
+                abstractType="#5576fc4d-8f49-4f66-89c6-318deb3623d8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="6e379131-88f3-4675-af88-2610de7d65af" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="8704781c-8a6b-47e8-8690-d6a371cfef5a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="a9779da4-9ba2-47dd-b09d-2f60514b55c3" name="TransformStamped"
+              description="This expresses a transform from coordinate frame header.frame_id&#xA; to the coordinate frame child_frame_id&#xA;&#xA; This message is mostly used by the &#xA; &lt;a href=&quot;http://wiki.ros.org/tf&quot;>tf&lt;/a> package. &#xA; See its documentation for more information."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="bd03f4e8-0a5a-49f7-8ebe-88fa5f74b12e" name="header"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="bf6b9bc3-33f4-4b64-acb1-209ec9cc8749" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="34fc4d28-a906-4fec-9f50-8249f95260a8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="c3c9d698-8154-45f3-a9c0-fca1f6d0483c" name="child_frame_id"
+                abstractType="#433be292-3e4b-4339-a2b9-d831e6c12052" aggregationKind="COMPOSITION"
+                description="the frame id of the child frame" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="b19629ea-3065-4f50-840e-9b7f2d090f20" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="04835a52-fc31-4889-a7be-3229b0095399" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="69cb9873-f0cc-4666-8ec7-f92156b59a37" name="transform"
+                abstractType="#7b6b1964-0e5c-47c2-a605-616e5453804f" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+              <ownedMaxCard id="20ddea04-85a6-4e23-97ad-28f5d5d8829f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+          </ownedClasses>
+          <ownedClasses id="80d96eca-fbf8-4ab0-9667-e341f972c599" name="Polygon" description="A specification of a polygon where the first and last points are assumed to be connected"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="e7a156a8-9e22-4775-b651-eb7dd637fe78" name="points"
+                abstractType="#10e25a2f-5447-4783-a5b9-c993b9514575" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="66cfabca-f335-48d9-9b08-4741385b1a51" name="QuaternionStamped"
+              description="This represents an orientation with reference coordinate frame and timestamp."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="6a54a91e-54f3-4908-8d60-d1deb7d7c3f3" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="77df3530-ff06-4504-805c-a9ec26605fb4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="6a2cb918-63bb-4d52-870e-fda708cbfc03" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="7b5cabd7-4944-4c7b-bb40-a6d2f76d23d8" name="quaternion"
+                abstractType="#cf4cd6a0-05e0-4e04-b086-1188e26d271a" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d6b056ba-778a-47b8-af5c-e5f71938f651" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="48a8ba85-ba99-497a-b48d-a603b1a6f5f0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+          <ownedClasses id="0d7c31b9-a49a-468b-91e9-e0680ac73f38" name="Twist" description="This expresses velocity in free space broken into its linear and angular parts."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="156a15d5-bcce-4e79-a157-74ee0ab675d5" name="linear"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+              <ownedMaxCard id="ab3e3213-ca78-4e83-b6b4-d4c8c810faca" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="c9c83e7f-799a-4143-925a-a930ebf3f3d2" name="angular"
+                abstractType="#2d48f106-2518-454d-b6a6-d89beeadbfb7" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="b99b19a3-4380-45d8-b723-83f5b1a9deb8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="be48e6c7-ab5f-4c55-8e4b-b27fda574e08" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="545a52e6-9b2f-47b7-8546-77b2ad2f8b4e" name="PoseArray"
+              description="An array of poses with a header for global reference."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="37139d7c-3363-408e-b5ec-7610a85060d0" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="1a2f5f90-3916-47c6-83fb-5bd05aa5ba21" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="6a577b20-7f8d-4b8a-b2e5-3275528b60d0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="dcb29167-44bc-4457-8441-ebb92b61354e" name="poses"
+                abstractType="#dc01446b-9a55-4cc6-8216-b19bd8fa3232" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="e1e1bf90-48af-4514-9eca-bee88de43ac8" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="4ccc292f-90db-44c3-9130-3c8058cdf273" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="a6c4a1b8-f2df-4419-ab6a-5686da74e5fc" name="AccelWithCovariance"
+              description="This expresses acceleration in free space with uncertainty."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="2e916d5d-d148-4e69-bcfe-62a79a35e020" name="accel"
+                abstractType="#e6054ec4-fd00-49d5-8fc2-45f0119686bb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="3333d0e9-7c31-432c-a560-468970c2c62c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="43e91126-b52d-4058-a838-d1a6ca186bc8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="20fde92f-938d-41c4-a723-9b2e075dc97d" name="covariance"
+                abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="e9321438-87f1-465a-a8d1-33714b32836d" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="a8083c55-ab08-47dc-b0ca-4e69fb250dba" value="36" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="3f850838-c7f8-4993-8937-dd2e385b8754" name="PolygonStamped"
+              description="This represents a Polygon with reference coordinate frame and timestamp"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="16aecc75-61fe-4976-a313-3d76aabcda77" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="283dc149-b91e-44e9-b50f-b3641fc1fca1" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="9c21c5a1-5c81-4a9c-8f05-a38ed192168e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="a1b3faf3-3898-484b-97d5-1ed134f7a589" name="polygon"
+                abstractType="#80d96eca-fbf8-4ab0-9667-e341f972c599" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="eff9e92e-5677-4d7c-a6a0-d119c8ea8376" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="94cb0187-da48-4b94-9d79-385f9802a1b3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="193065f9-9a15-4a21-9f86-b1a21b337111" name="Point" description="This contains the position of a point in free space"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="9f3ec199-b8bd-4137-9fff-a818d72a212d" name="x" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="467209db-38e7-4584-b6ff-dbe92ad4b41b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="2d661fc4-f7b0-4746-922a-5c0c2df73405" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="cbd0f6b8-9e41-4eea-b87c-c89e89f4aaf0" name="y" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="817e45d6-0db3-4aec-9c39-bcc7c95e9b72" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e24e3696-74a8-4507-b5d1-8f47c7ae7db3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="10aada3e-1153-4297-8002-d6493b00a600" name="z" abstractType="#6d31a817-43bc-4bc6-9afe-099f8c338c11"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="2f9f3085-aef8-415a-b3be-f941b3884e74" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="a12b433d-7a73-40b9-bbc6-12b1642eebf3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="96fab55f-1df0-4af9-8c6d-42ddb90ccfcc" name="TwistStamped"
+              description="A twist with reference coordinate frame and timestamp"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="ed1fed67-d10c-4305-b360-585416084c5e" name="header"
+                abstractType="#8dfcd011-b25d-4668-98b7-a4a254de82a8" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="ce3f38e3-09eb-4df9-9cf3-d5450733ed07" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="c7dbeb2f-2a82-4b3a-b6a6-4cc8a9366428" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="b123b004-353b-4d26-8249-43b5d613b128" name="twist"
+                abstractType="#0d7c31b9-a49a-468b-91e9-e0680ac73f38" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="16e13906-e2bf-45f8-894a-d4570bf3e9a8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="145ecc29-7cb9-4cc1-8224-8f9c7d656621" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="869795ec-95e5-458c-96c1-b2eb6f8f1a2c" name="WrenchStamped"
+              description="A wrench with reference coordinate frame and timestamp"
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+          <ownedClasses id="34833d18-3bcd-4d36-b47c-ca85b6c258a3" name="GoalStatus"
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+            <ownedFeatures id="2b7c0464-ca29-48ad-a167-ab041a4e2ba3" name="ACTIVE"
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+                description="The goal received a cancel request after it started executing"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="cd8f8e7f-b7b7-4440-afe4-f991c282d16e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="192b7a18-ac79-400c-86b0-590af09c7492" name="SUCCEEDED"
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+                description="The goal was achieved successfully by the action server (Terminal State)"
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+            <ownedFeatures id="07d01fb4-0e0f-4847-ac9c-dca229674844" name="PREEMPTING"
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+                description="The goal received a cancel request after it started executing"
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+            <ownedFeatures id="8c48060e-b3d7-4f12-8bfe-ef933dcf7333" name="RECALLING"
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+                description="The goal received a cancel request before it started executing,"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="bfc48502-9a2c-4b4a-9c9b-d1dafa3c739f" name="POWER_SUPPLY_TECHNOLOGY_UNKNOWN"
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+            <ownedFeatures id="032ebae6-9d1b-4ee6-b563-c26a615c513b" name="POWER_SUPPLY_TECHNOLOGY_NIMH"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="82ff6e04-aef2-462e-b7e9-213a22e543c0" name="POWER_SUPPLY_TECHNOLOGY_LION"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+              <ownedMaxCard id="f677a258-a07b-4728-8f0d-f6046e71eb8e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="2bf0142c-018d-43ec-87b8-4e8980b644ba" name="POWER_SUPPLY_TECHNOLOGY_LIPO"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="de116365-d9b2-4b17-a969-875fc7270f33" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="1cd5c6c2-2aa8-4b02-97a1-3c3cf407fddf" name="POWER_SUPPLY_TECHNOLOGY_LIFE"
+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+              <ownedMaxCard id="a34a6669-0cc2-4a3b-80ad-ca507a8e4d8e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="fbf200b9-ee16-44fc-bddb-3d4b84adf50a" name="POWER_SUPPLY_TECHNOLOGY_NICD"
+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="69f9fb2f-9ec7-49f6-b25b-f29a8c162b96" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="dd7a7172-f1ce-4322-8a2e-94af6ae28d09" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="9476bc00-cc6e-411a-98e0-b1a292a8774d" name="POWER_SUPPLY_TECHNOLOGY_LIMN"
+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="33683d7c-ca50-4530-8249-f2d054f7fa48" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="9f7e5793-b3cf-4e70-9245-33cfa0a65d0f" name="header"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="330750c5-c595-4ba5-879b-c6a98b61d46e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="fb77b3b4-7864-447b-9abe-bb08a737eada" name="voltage"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Voltage in Volts (Mandatory)" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d31c6d69-2607-4eab-af94-08435e37d200" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="63fd1e05-5215-41ec-9310-881b98996513" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="67950281-55fa-4e5d-8825-da912956930e" name="temperature"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Temperature in Degrees Celsius (If unmeasured NaN)" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="eb80c2b1-9086-4cef-a3e0-897222ea2f54" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="3d500b83-da18-4325-8710-3b780d2b2ee8" name="current"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Negative when discharging (A)  (If unmeasured NaN)" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="cffc5b29-aee6-4541-8878-40fb7a3b1081" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="85a61887-91f5-49aa-9507-d2cd104386d2" name="charge"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Current charge in Ah  (If unmeasured NaN)" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="4320bd08-d1ce-44bd-971f-0299084b2d86" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="92c59946-db67-447d-8492-4331461f8d3c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="d96bece5-9e5e-4c32-b320-586fcb5df50b" name="capacity"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Capacity in Ah (last full capacity)  (If unmeasured NaN)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="8a55d951-dbdc-4a39-b150-28904b8afe22" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="61302197-5da6-44b4-8926-89e4072bb952" name="design_capacity"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Capacity in Ah (design capacity)  (If unmeasured NaN)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="a53f0811-0774-4314-9554-fe35d89da7cb" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="64db6106-6ece-45cc-a156-1802e9627645" name="percentage"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Charge percentage on 0 to 1 range  (If unmeasured NaN)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="376e5643-ff68-4def-8e71-f36d700eea3e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="df9544fb-8b92-41d7-aff4-7469eed67e63" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="02f048bc-85be-437e-95ac-9d1f23815a0a" name="power_supply_status"
+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                description="The charging status as reported. Values defined above"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f0cd32cc-12ec-4e18-a68b-a98e40ef042d" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="4ed685a4-8ac1-40b9-b5a1-b45241a584aa" name="power_supply_health"
+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                description="The battery health metric. Values defined above" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="3c62b4bc-8f23-4a4e-96b6-30d8236e5756" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="aaef82ba-990c-480e-8179-328092a784d8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="3b1cff06-f114-4f01-a002-a25dac129b74" name="power_supply_technology"
+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                description="The battery chemistry. Values defined above" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="be519503-4c61-4044-b6da-cdfbf72e43ef" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="ec00e285-352a-409a-8d9b-2ba004b88298" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="37042f9d-c19d-4526-bb5f-f71ddd0cc773" name="present"
+                abstractType="#05587743-8051-4fac-9cf2-23c4fa2da466" aggregationKind="COMPOSITION"
+                description="True if the battery is present" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="fba2f669-d624-43e5-b070-65066642367d" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            </ownedFeatures>
+            <ownedFeatures id="5cbc25aa-942b-4b05-8700-c2d60772e756" name="cell_voltage"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="An array of individual cell voltages for each cell in the pack"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="0e6fd06b-cdf4-40da-9c12-d22076e337ca" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="3a2df6dc-3cdf-4555-89c2-f9e7e1952eed" name="cell_temperature"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="An array of individual cell temperatures for each cell in the pack"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="cb1bcb5c-e766-4da6-80d3-8ca36bdeb15b" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="bba8ed1e-f871-4ec3-b609-e3a75807451a" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="3781e595-a0ef-4c3f-ac80-bfb69a176873" name="location"
+                abstractType="#2b3b92df-f44e-4e62-9ca7-3ca29d171447" aggregationKind="COMPOSITION"
+                description="The location into which the battery is inserted. (slot number or plug)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="8dfdae5d-cb7e-4941-bee0-2ac8d9cd6410" name="serial_number"
+                abstractType="#2b3b92df-f44e-4e62-9ca7-3ca29d171447" aggregationKind="COMPOSITION"
+                description="The best approximation of the battery serial number"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="18c48d32-0432-4bc5-90d1-d95080c722b3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e63dac55-201c-4e8c-a386-593a2ddb1d5b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="34084210-b102-4c42-9757-578f7cf0bbab" name="LaserEcho"
+              description="This message is a submessage of MultiEchoLaserScan and is not intended&#xA; to be used separately."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="c9161e3d-b6bc-4d70-bd3c-179186763bbf" name="echoes"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="Multiple values of ranges or intensities." xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="87966a36-3a1b-4026-9305-32f591568e45" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="30c45e65-a739-4950-86e3-771cf164a295" name="CameraInfo"
+              description="This message defines meta information for a camera. It should be in a&#xA; camera namespace on topic &amp;quot;camera_info&amp;quot; and accompanied by up to five&#xA; image topics named:&#xA;&#xA;   image_raw - raw data from the camera driver, possibly Bayer encoded&#xA;   image            - monochrome, distorted&#xA;   image_color      - color, distorted&#xA;   image_rect       - monochrome, rectified&#xA;   image_rect_color - color, rectified&#xA;&#xA; The image_pipeline contains packages (image_proc, stereo_image_proc)&#xA; for producing the four processed image topics from image_raw and&#xA; camera_info. The meaning of the camera parameters are described in&#xA; detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.&#xA;&#xA; The image_geometry package provides a user-friendly interface to&#xA; common operations using this meta information. If you want to, e.g.,&#xA; project a 3d point into image coordinates, we strongly recommend&#xA; using image_geometry.&#xA;&#xA; If the camera is uncalibrated, the matrices D, K, R, P should be left&#xA; zeroed out. In particular, clients may assume that K[0] == 0.0&#xA; indicates an uncalibrated camera."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="2baf496c-babb-4c47-a024-6826895b1733" name="header"
+                abstractType="#b83f12af-9654-4e09-8a17-0ad5e840c4fa" aggregationKind="COMPOSITION"
+                description="Header timestamp should be acquisition time of image"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="ed344dd3-9aea-4081-af60-2cfc46615772" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            </ownedFeatures>
+            <ownedFeatures id="6e3697e0-be99-456c-ad3f-2acca286b4f1" name="height"
+                abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="bfbed77f-6a7f-4b53-8233-49194eaadbd0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="f3855a3c-a85f-474e-9255-494e7f6750fa" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="b1d1031a-ab13-421e-a3ae-771d7face69a" name="width"
+                abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="78c9a2cf-525d-45f0-9621-ee6cd2090e2a" name="distortion_model"
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+            <ownedFeatures id="0f42b7e8-3f8c-4f96-bc49-2ee7f741aed3" name="R" abstractType="#f7c24b15-fef7-484d-9515-5307638fd583"
+                aggregationKind="COMPOSITION" description="3x3 row-major matrix" xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="8a2d40bd-4d2f-4b2b-8ddb-ecadd9bdbcfa" name="binning_x"
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+            <ownedFeatures id="2b149188-e4e4-48b9-8da8-0e9d838162a8" name="binning_y"
+                abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+              <ownedMaxCard id="d79212fc-aae3-477a-bb53-a97a4d10a52b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="37fee8c4-e746-47eb-a6f0-f5d77e6e351e" name="roi" abstractType="#0eb4e9a7-54c9-49fc-ba72-aa19f4e6f813"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="4f8ced02-6ff8-483f-8f69-b826ffbc9d3e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="f9f151b5-3d12-46b4-8a12-58794b119ae4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+          </ownedClasses>
+          <ownedClasses id="f119af8a-cc63-476e-a190-77a5172c8baf" name="JointState"
+              description="This is a message that holds data to describe the state of a set of torque controlled joints. &#xA;&#xA; The state of each joint (revolute or prismatic) is defined by:&#xA;  * the position of the joint (rad or m),&#xA;  * the velocity of the joint (rad/s or m/s) and &#xA;  * the effort that is applied in the joint (Nm or N).&#xA;&#xA; Each joint is uniquely identified by its name&#xA; The header specifies the time at which the joint states were recorded. All the joint states&#xA; in one message have to be recorded at the same time.&#xA;&#xA; This message consists of a multiple arrays, one for each part of the joint state. &#xA; The goal is to make each of the fields optional. When e.g. your joints have no&#xA; effort associated with them, you can leave the effort array empty. &#xA;&#xA; All arrays in this message should have the same size, or be empty.&#xA; This is the only way to uniquely associate the joint name with the correct&#xA; states."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="f0e6d97e-1e99-443e-94bc-aaa5b23e6769" name="name" abstractType="#2b3b92df-f44e-4e62-9ca7-3ca29d171447"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="e72ee641-0a34-469f-a8af-3ec3bafd3f73" name="position"
+                abstractType="#f7c24b15-fef7-484d-9515-5307638fd583" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="c3b4f1a2-29cd-453d-bedd-689b2e4ff2c2" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="3359c7c5-547c-4a40-8485-a794074cd0fc" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="8fb86373-5c3d-4a9b-a9f1-624026a8bcaa" name="velocity"
+                abstractType="#f7c24b15-fef7-484d-9515-5307638fd583" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="fd0b7c2e-4786-4ecf-9d06-cb2a9bcf5232" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="f0a0688e-3c79-49d7-aaa8-b7af88508b27" name="effort"
+                abstractType="#f7c24b15-fef7-484d-9515-5307638fd583" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="61b482ab-65c8-4b1a-92fc-1e5e386c9d68" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+          </ownedClasses>
+          <ownedClasses id="9d1cae85-2cbd-44c7-ad4d-1beb07bb97cf" name="PointCloud2"
+              description="This message holds a collection of N-dimensional points, which may&#xA; contain additional information such as normals, intensity, etc. The&#xA; point data is stored as a binary blob, its layout described by the&#xA; contents of the &amp;quot;fields&amp;quot; array."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="d2358b07-331c-467f-afff-5529087dc9cd" name="header"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="65ae697e-aa41-486b-9f71-b2712a74950e" name="height"
+                abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="4539d009-7f3d-48bc-826f-8b8da0dcd3e1" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="de1f52ca-eb3c-45b8-a8ba-01930f1ebdbe" name="width"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="02d1a939-6c40-4cbc-8aec-c3262b820e94" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="e2a416c1-0de0-4767-afe4-e6d046a04f09" name="fields"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="233d4fd2-9aa2-4ff5-bbe6-2f6d072ce480" name="is_bigendian"
+                abstractType="#05587743-8051-4fac-9cf2-23c4fa2da466" aggregationKind="COMPOSITION"
+                description="Is this data bigendian?" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d2e70349-0f5c-448d-b4ae-4a5ddbd84a54" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="c819e27f-5859-42d3-b33c-dc86866f7b91" name="point_step"
+                abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d" aggregationKind="COMPOSITION"
+                description="Length of a point in bytes" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="dbf5279c-4787-4caa-bb43-8d2ba7e6d01c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="3c0bfff3-cdd5-493a-9acf-e415346fcb27" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="5a26e7f9-4fb5-4cc1-a7a9-3a46f8e541fd" name="row_step"
+                abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d" aggregationKind="COMPOSITION"
+                description="Length of a row in bytes" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f874c6fa-3640-4e25-8b25-733bca215aa4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="d4ebe27a-38aa-489a-a94d-21b6b19a21b2" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="b3336c9c-bced-4139-94dd-d63efb3d08d7" name="data" abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787"
+                aggregationKind="COMPOSITION" description="Actual point data, size is (row_step*height)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="83e7b2ce-eaac-42a9-8a6d-609c7d35c2d2" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="1b3d0f79-33ae-4f9d-8ab3-c603d92a07a5" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="54e8acaa-11f4-48d7-b9e7-9c789c80424e" name="is_dense"
+                abstractType="#05587743-8051-4fac-9cf2-23c4fa2da466" aggregationKind="COMPOSITION"
+                description="True if there are no invalid points" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="b8ecd9c6-d85a-407d-85ed-d59218f8c2ec" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="14176757-3394-4120-a811-4d5182328eab" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+          <ownedClasses id="9190e893-fd93-47d7-ae6f-786170b820d0" name="TimeReference"
+              description="Measurement from an external time source not actively synchronized with the system clock."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="2a53b59c-e4e1-49ba-92a2-fb66654030a1" name="header"
+                abstractType="#b83f12af-9654-4e09-8a17-0ad5e840c4fa" aggregationKind="COMPOSITION"
+                description="stamp is system time for which measurement was valid"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="ba2c6712-d624-4e3b-beeb-3c9c0314a278" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="3bee10c2-860b-44e0-98eb-1bca5708d576" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="ce94ce9e-4284-4aea-b176-0f74306ce3d0" name="time_ref"
+                abstractType="#38c60665-80a9-4562-943d-ec56425f9cc0" aggregationKind="COMPOSITION"
+                description="corresponding time from this external source" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="eb0bd538-c736-421a-964d-e4363ebefd4d" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="d20ae769-a089-494b-860a-88b299db1b55" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="a5d18f25-d03c-4609-b24d-ec7fb3400df6" name="source"
+                abstractType="#2b3b92df-f44e-4e62-9ca7-3ca29d171447" aggregationKind="COMPOSITION"
+                description="(optional) name of time source" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="a7950cee-1b6f-4e95-8d75-a0d0fb8c167f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0550272b-0658-4a4c-8667-0d61b9d567a9" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="7a89368e-8e8d-4dac-a635-6ab78ee8d570" name="Joy" description="Reports the state of a joysticks axes and buttons."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="38fb5f59-8ee7-43c7-bcf0-287e377a2c1f" name="header"
+                abstractType="#b83f12af-9654-4e09-8a17-0ad5e840c4fa" aggregationKind="COMPOSITION"
+                description="timestamp in the header is the time the data is received from the joystick"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="1a64ca82-4393-4048-b34b-b645f6a3d5a4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="bc2837fd-9d58-472c-90c2-4c0ce8ba6eab" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="b79feab9-f0ac-4670-93c3-51afa7be679d" name="axes" abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119"
+                aggregationKind="COMPOSITION" description="the axes measurements from a joystick"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="6635994a-ed38-4a61-8bd3-4bdd49c5a431" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0125b3d8-2a48-4e81-a22f-f8c468a27ec5" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="b035e29e-44f2-4e8d-b5cd-27ca275ad33a" name="buttons"
+                abstractType="#a73c65c2-d56e-4367-8793-57a8135e14eb" aggregationKind="COMPOSITION"
+                description="the buttons measurements from a joystick " xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="67061572-38d6-47b6-9887-5ea04c471bb6" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="3d8a7110-9479-429a-888e-800ece40342e" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="d361376e-74bd-417b-b61f-ece9ccb8d631" name="PointField"
+              description="This message holds the description of one point entry in the&#xA; PointCloud2 message format."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="7c7aef76-5136-4cc8-b77d-3b0675ff2cc2" name="INT8" abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="47170bfb-43b2-4e94-a2e4-9ad68f92a8ff" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="ea2df5a9-06d3-4e7a-898f-d5149e883941" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+                abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787" aggregationKind="COMPOSITION"
+                description="is this data bigendian?" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="a5e8396a-dde3-44f4-91bb-d59f08102dec" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="1ba29b55-fe6a-4310-bcdb-54e865add4d2" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="2cd768c0-9654-45d5-80de-15dc6fb1204b" name="step" abstractType="#a6594b30-7c0e-4d52-bfb1-697e77040d7d"
+                aggregationKind="COMPOSITION" description="Full row length in bytes"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="49b23c0d-87b9-478d-8e2c-59e5c1bb5671" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="8802fb4e-d58b-46d1-86d4-96500cde5d6c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="76e1e0f0-0517-4510-8c9a-2a338d756891" name="data" abstractType="#6397d1b3-beb8-484b-8882-81d46e7ea787"
+                aggregationKind="COMPOSITION" description="actual matrix data, size is (step * rows)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="0b33a8cf-6ce9-46eb-9005-68fe34e9d82f" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="a895fd60-02f6-4d7e-8634-bd18f04cfb17" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="bdcbfcbe-16d6-46e0-ad91-751a0848e75a" name="LaserScan"
+              description="Single scan from a planar laser range-finder&#xA;&#xA; If you have another ranging device with different behavior (e.g. a sonar&#xA; array), please find or create a different message, since applications&#xA; will make fairly laser-specific assumptions about this data"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="19db616d-4661-4d5c-9b7f-8729fed208c8" name="header"
+                abstractType="#b83f12af-9654-4e09-8a17-0ad5e840c4fa" aggregationKind="COMPOSITION"
+                description="timestamp in the header is the acquisition time of "
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="e18f975d-5461-4295-b309-81bc60c75011" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="70923183-46de-4d00-9a97-4f7d3e5c1ced" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="727b8bc5-c3d1-4099-a015-a0e748045b37" name="angle_min"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="start angle of the scan [rad]" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="dd18f2b7-5a85-4287-bb9f-8f08a7ccc8de" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0b8fb060-3209-410f-adbb-0c07f1ff4241" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="bbcffa83-4a8e-4edd-9780-b8bd07fc8779" name="angle_max"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="end angle of the scan [rad]" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="408510a6-e12b-46dd-a9ca-91001abfb6a4" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="7e190aeb-9c24-4494-a0e8-d6a26a09f1c0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="f5244180-cd61-47db-9463-47b9f7bbd033" name="angle_increment"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="angular distance between measurements [rad]" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="2ae83d9c-aa93-4867-9b72-1d8a1ba27bed" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="2520ee80-b42b-4b22-810b-7461899dc261" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="5b7f1865-0117-4298-8a01-7a74425c1169" name="time_increment"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="time between measurements [seconds] - if your scanner"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="09e07507-3c5f-4d89-9de6-80543985e314" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="f69537cc-1c9d-4cdd-96b3-f4ce1093369d" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="9510b267-c603-4990-85ea-e24f09271d2d" name="scan_time"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="time between scans [seconds]" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="031ba145-f977-4fa5-96de-258ead36c187" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="c732d3de-5386-482a-999c-673f3a968614" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="77c03dd8-c1bc-40b6-b28a-90647df6be07" name="range_min"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="minimum range value [m]" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="015dfadf-e1fb-479c-a880-2a61f0f3f028" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="42e659c1-15a8-41f8-ab73-bc1e68562135" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="cb635673-230e-4bf6-88f1-be64e8fbbb30" name="range_max"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="maximum range value [m]" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="c28141d7-dce1-415d-be89-abc11f2d5f9a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="76724f30-6734-442e-9a43-fd62c0dcc3b5" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="55c4a787-0dda-4368-9aa7-75d78e0cfbf3" name="ranges"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="range data [m] (Note: values &amp;lt; range_min or &amp;gt; range_max should be discarded)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="43e14be8-dee5-41b0-b487-36e42147903c" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="60ee7d5b-2b2f-45fe-9b6e-454134a0cd3f" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="e6982435-49f5-4f7b-a70b-d47141567e6b" name="intensities"
+                abstractType="#05b6e034-c117-4cb4-9ea8-bed77c563119" aggregationKind="COMPOSITION"
+                description="intensity data [device-specific units].  If your" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="a83bfc33-2cd6-448c-85c4-52088244c268" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="4a2a20b4-21b0-4cb0-bc7a-cc40b5e3b522" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="5eef977b-4a6d-4d9b-8ad2-edeabe80c51c" name="Temperature"
+              xsi:type="org.polarsys.capella.core.data.information:Class"/>
+          <ownedClasses id="7a2e0742-a3e2-4a2c-9283-52ed28f5cd40" name="PointCloud"
+              description="This message holds a collection of 3d points, plus optional additional&#xA; information about each point."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="e4c7cff6-03ac-4ba1-bbbe-46bffd1f96be" name="header"
+                abstractType="#b83f12af-9654-4e09-8a17-0ad5e840c4fa" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f64d7281-7aa4-4c8b-9621-9820052d4ad9" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="c134919b-51f4-454a-924a-8a75555acfd3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="1301a0c5-b51e-49ed-86a5-cebdb4c08a1e" name="points"
+                abstractType="#10e25a2f-5447-4783-a5b9-c993b9514575" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="535ec6c7-a235-48bb-997b-717326ace29b" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0f7dffeb-ed16-4a91-98db-a9680789dff1" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="aae11274-7f9d-4a01-9fbc-cdcd5118f885" name="channels"
+                abstractType="#1b9c85b2-e195-4ef4-9b05-e5acbc3e4a1e" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="3c40a726-8fb1-4059-83d5-1ad15170aa9d" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e30753e2-ab1f-4d23-905e-6f1951676465" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+        </ownedDataPkgs>
+        <ownedDataPkgs id="7e6c134c-245b-4788-8c70-f5a9570cef27" name="root" xsi:type="org.polarsys.capella.core.data.information:DataPkg">
+          <ownedAssociations id="f635a1b5-4534-4072-a70b-6511646f8de5" navigableMembers="#1ab6e3bd-4db1-4bd4-826d-78b522cf4b8a"
+              description="specification of data layout" xsi:type="org.polarsys.capella.core.data.information:Association">
+            <ownedMembers id="8c169e16-040c-4023-962f-db7ff5e7c3f7" abstractType="#02088129-b1c1-47dc-94d1-434146cf9f09"
+                aggregationKind="ASSOCIATION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="5dd844d0-ee9b-426e-800e-7a0bd40f7e14" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0ecd0814-f491-4e9e-8af9-ab746db1e5b6" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedMembers>
+          </ownedAssociations>
+          <ownedAssociations id="b286a46a-2810-4cfe-bbb0-64f6450dd67a" navigableMembers="#36eed2ce-f501-488b-ad0e-a31e64487469"
+              description="Array of dimension properties" xsi:type="org.polarsys.capella.core.data.information:Association">
+            <ownedMembers id="16691555-59b0-4eb4-bc4e-56347066653a" abstractType="#3eda7b24-dc82-4dde-802a-c1e94438c386"
+                aggregationKind="ASSOCIATION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="817a8f78-ca18-481b-b979-91e932339efa" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="5009f2a4-82f7-4c62-8702-dc57d47ce9b3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedMembers>
+          </ownedAssociations>
+          <ownedDataTypes id="71e22b22-6ce6-4af0-92d0-c73890bf7efd" name="uint64"
+              xsi:type="org.polarsys.capella.core.data.information.datatype:NumericType"/>
+          <ownedDataTypes id="a70e19de-0b4f-42f7-855a-e905d1e9ee64" name="string"
+              xsi:type="org.polarsys.capella.core.data.information.datatype:StringType"/>
+          <ownedDataTypes id="f35178c3-3312-42c9-be14-a7d00a7191f4" name="uint32"
+              xsi:type="org.polarsys.capella.core.data.information.datatype:NumericType"/>
+          <ownedClasses id="93049e29-a469-4a74-8daa-201483e3b548" name="MultiArrayDimension"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="1d9bc83f-a9e3-4c57-b6fd-25d21abc8338" name="label"
+                abstractType="#a70e19de-0b4f-42f7-855a-e905d1e9ee64" aggregationKind="COMPOSITION"
+                description="label of given dimension" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="c8eef881-5d22-4e8c-a85f-3e57b196e7cf" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="91a66cfa-8d87-4ed0-8a40-bc6e0ae8c443" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="bd7b32e8-c2e6-4444-a03b-fe0bbe6c0343" name="size" abstractType="#f35178c3-3312-42c9-be14-a7d00a7191f4"
+                aggregationKind="COMPOSITION" description="size of given dimension (in type units)"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="09c70677-1f66-475c-b581-a6b3cf8733e1" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="971424e3-725a-462f-b1a6-454a60ea3e68" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="f815f2ff-7326-447c-b7d3-c9b76ae1baa8" name="stride"
+                abstractType="#f35178c3-3312-42c9-be14-a7d00a7191f4" aggregationKind="COMPOSITION"
+                description="stride of given dimension" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="c7734df5-9e47-468d-97d9-f2ff62b7d307" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="6e905d26-71cc-4d9d-a827-524a2a2c8acb" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="02088129-b1c1-47dc-94d1-434146cf9f09" name="UInt64MultiArray"
+              description="Please look at the MultiArrayLayout message definition for&#xA; documentation on all multiarrays."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="1ab6e3bd-4db1-4bd4-826d-78b522cf4b8a" name="layout"
+                abstractType="#3eda7b24-dc82-4dde-802a-c1e94438c386" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="056d1dc6-0309-48c4-bdf8-24ef9342d660" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="ae9f2178-2a08-490e-95f9-1bfbd3dcb5a9" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="706e2a18-028f-43b6-9fbc-2812709d01d8" name="data" abstractType="#71e22b22-6ce6-4af0-92d0-c73890bf7efd"
+                aggregationKind="COMPOSITION" description="array of data" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="0b9f27d0-c9af-4922-8d6a-352d9fa0f88b" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="027b1934-dae3-4ab9-bffa-9955dc43f6cc" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="3eda7b24-dc82-4dde-802a-c1e94438c386" name="MultiArrayLayout"
+              description="The multiarray declares a generic multi-dimensional array of a&#xA; particular data type.  Dimensions are ordered from outer most&#xA; to inner most."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="36eed2ce-f501-488b-ad0e-a31e64487469" name="dim" abstractType="#93049e29-a469-4a74-8daa-201483e3b548"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="647f8e2e-0766-4bb8-af54-d386f5af0a1c" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="9660fabe-61d0-41e4-a5dc-976114a5d177" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="6a4d5114-07dd-4998-befb-4e7da54c3224" name="data_offset"
+                abstractType="#f35178c3-3312-42c9-be14-a7d00a7191f4" aggregationKind="COMPOSITION"
+                description="padding elements at front of data" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d65b3eba-26da-472e-a054-7aa59a9dcb8a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="391a40fe-e3c8-437d-960b-2758e8f12554" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+        </ownedDataPkgs>
+        <ownedDataPkgs id="ecb180d8-2813-41b0-9b00-d1965502ce8c" name="visualization_msgs"
+            xsi:type="org.polarsys.capella.core.data.information:DataPkg">
+          <ownedAssociations id="149c6ece-3187-447e-8fd1-81140260f6d0" navigableMembers="#25cf9ef3-c09b-40b0-b0c4-3fa9c69ea61c"
+              xsi:type="org.polarsys.capella.core.data.information:Association">
+            <ownedMembers id="e2518a7d-3e59-460e-a752-2bba62d0d524" abstractType="#29af9aeb-4a75-49af-bfa4-591c4c280fa9"
+                aggregationKind="ASSOCIATION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="0b715247-909f-4578-8e51-4459d3470175" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="b665e203-db5c-4148-957e-148bfff398dc" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedMembers>
+          </ownedAssociations>
+          <ownedAssociations id="54d203e4-0311-4b2f-a8c2-fca066634fca" navigableMembers="#a6ac62e3-ea04-4abf-918e-d9efc6e5f746"
+              xsi:type="org.polarsys.capella.core.data.information:Association">
+            <ownedMembers id="83900425-bd78-4a58-8da3-2f46a1830ab4" abstractType="#f55a9615-8994-49e6-b666-0e10eb17df95"
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+            <ownedFeatures id="1d0063c4-6052-4503-b5a0-c0130dd11162" name="MESH_RESOURCE"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d67a5a0b-ae22-4601-af63-e773b13b7222" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="c4dbf8d5-0fed-41f4-814e-127f5e3c961a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="7e933205-48c9-4cc9-b029-01e751f8cfc0" name="TRIANGLE_LIST"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="b0a96388-a601-4012-a6ea-cdee4219df04" name="ADD" abstractType="#a477c585-4335-465f-b714-89b673c038cb"
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+              <ownedMinCard id="1b79ece5-7078-4b6d-bc69-07bbb0d2bb3b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="351e81b4-11ab-45be-8244-6f211e95c509" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="f795f3df-ee7c-4fc6-a05c-5e9247d6782c" name="MODIFY"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="87190de4-8714-474a-ba12-7fa5c771ca69" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e54e538a-232e-49c0-a305-f98c3ac0fce3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="57712b17-b5a7-4f55-a560-1ee581b37fa1" name="DELETE"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="3197df74-7b13-4667-997f-f2d77ade719d" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="14264675-65b5-4ef6-b0b5-4d4cb0de1c2c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="49134682-55bd-4b87-b3f3-1dfe955a4ec2" name="DELETEALL"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="fe0e01f6-a12e-4376-9ce3-9e30fb9970e1" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="9de2dba2-c0f0-447a-92ce-7e5ab047910e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="5814b86f-c6c1-48b2-8825-b36d35956681" name="header"
+                abstractType="#1dc579b9-f895-4ca6-bd2b-78351356ae23" aggregationKind="COMPOSITION"
+                description="header for time/frame information" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="d3e48f5e-26b9-4d77-aec6-ab54b19217ee" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0f37b293-593b-4a8a-b3a7-a9e971cf5b96" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="10621cd8-e1de-49f8-a0bf-3c2faa4fd5ac" name="ns" abstractType="#f72d6ef6-dea2-4542-9a14-e520c58af02e"
+                aggregationKind="COMPOSITION" description="Namespace to place this object in... used in conjunction with id to create a unique name for the object"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="55f511dc-107f-4ed5-baaf-9be3a8b3b0e8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="fc2b995b-9b9f-4086-9473-5a23e2a91379" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="deb58dcd-95ab-4ad0-8119-f361e74b07fa" name="id" abstractType="#d665840a-d886-450a-8038-b397b5bac77b"
+                aggregationKind="COMPOSITION" description="object ID useful in conjunction with the namespace for manipulating and deleting the object later"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="ec5bf496-63fd-4145-a803-6b0909316e1f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="36c9f97f-55c0-4ca9-bc33-2cec933501dd" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="37f4b2b3-f21a-4229-8f69-007e5f4ad3e0" name="type" abstractType="#d665840a-d886-450a-8038-b397b5bac77b"
+                aggregationKind="COMPOSITION" description="Type of object" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="2e12c92a-9846-4843-b3b3-f0701944e1e9" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e46ad639-2e31-46d7-911e-9723eb43676d" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="17cfe3b6-1dac-4049-80e1-c4f57cf5c9ec" name="action"
+                abstractType="#d665840a-d886-450a-8038-b397b5bac77b" aggregationKind="COMPOSITION"
+                description="0 add/modify an object, 1 (deprecated), 2 deletes an object, 3 deletes all objects"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="cc0888d7-9619-4776-921f-806de40cafa3" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="db2e1ea0-af44-4023-8d2b-941255f48c0b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="349ad316-a4e8-4064-a671-644bc3a7097b" name="pose" abstractType="#dc01446b-9a55-4cc6-8216-b19bd8fa3232"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f849ca61-b016-49ca-9c1f-7b90437e5e13" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="3e7650a9-4f3e-4bc4-b982-7ed423b3399b" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="1ea1ff2a-8ade-435c-8516-035b615140b7" name="scale"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            </ownedFeatures>
+            <ownedFeatures id="6777d015-6284-4e28-9c4f-d65169b6a31a" name="color"
+                abstractType="#d0c8e96b-e348-4d25-9bd3-0e5a7cf0f195" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="25bc1ce0-809d-4712-b3f6-defa3409856e" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="53f980d8-1056-4785-976a-d773b3a9d482" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="868fea76-7b0a-41d8-b1ff-d045074741b8" name="lifetime"
+                abstractType="#51130906-3642-415f-b6ff-5f2e285dd570" aggregationKind="COMPOSITION"
+                description="How long the object should last before being automatically deleted.  0 means forever"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="9088e4e6-c9f9-424e-aeaa-ce3da745dbd8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="87d60ca4-cb3b-40db-bcc9-f5ca90b77fb8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="d20fdfed-9af7-448d-a773-eb4f4eb7e9df" name="frame_locked"
+                abstractType="#763eff01-8be7-4b45-8110-744f6f55b437" aggregationKind="COMPOSITION"
+                description="If this marker should be frame-locked, i.e. retransformed into its frame every timestep"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="10e16515-7a2c-4fbe-b4eb-529a3ae8f401" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="94bc930f-3469-4341-8796-a167b65a5916" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="234fc5fb-5e1f-4a45-ab7c-403810b02f89" name="points"
+                abstractType="#193065f9-9a15-4a21-9f86-b1a21b337111" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="3b42db4c-b060-442c-9098-af1f9e3abbdc" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="c850efc3-1f33-4938-adb1-456e883e7caa" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="22e4f256-c163-48dd-bb2e-2f7c16b4af99" name="colors"
+                abstractType="#d0c8e96b-e348-4d25-9bd3-0e5a7cf0f195" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f63513f6-2558-486f-89af-cf5ef2306664" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="dadb832f-f233-4def-93e9-6d5a7a952f7e" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="5dfc367c-571d-48bf-b72c-7489ab97e12b" name="text" abstractType="#f72d6ef6-dea2-4542-9a14-e520c58af02e"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="6d1e2dc9-8d10-451e-9479-785e6adc04c8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="94ad7090-ef0e-4407-b652-94d8dde093d1" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="2d2c1a35-cab9-4c94-bf52-3e28b51593e9" name="mesh_resource"
+                abstractType="#f72d6ef6-dea2-4542-9a14-e520c58af02e" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="b42e0a11-fcf1-4da4-9f4b-55aa0bc1b6d5" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="69cf354b-75c2-4ed0-9e3a-302a5fbc4552" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="3ac3bb3c-b00f-4d14-8cc2-e9b2e8b1696e" name="mesh_use_embedded_materials"
+                abstractType="#763eff01-8be7-4b45-8110-744f6f55b437" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="07d99185-0627-458c-87d7-bf01f1b16409" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="918d6794-0a7d-4534-9690-4aabd652be90" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="adedba97-1eba-4010-9491-798d99d403f0" name="InteractiveMarkerInit"
+              description="Identifying string. Must be unique in the topic namespace&#xA; that this server works on."
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="46579941-4b31-4266-b7cc-aa161abcb58f" name="server_id"
+                abstractType="#f72d6ef6-dea2-4542-9a14-e520c58af02e" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="551a2298-9e64-4ce8-9b69-543e60b989ce" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="1dc8ce71-1253-4c8b-b6f7-e94793d20830" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="a34d53b8-b7be-4236-a4d3-02ab48133130" name="seq_num"
+                abstractType="#dba34919-47e9-4673-8771-3e1eff5b2aee" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="8ace7907-88b6-46a3-957c-ae8a3dcd5773" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e226273a-c43d-4f76-a2f6-f1e7cb177ed5" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="16478a44-0d94-4491-aa92-c748a2755007" name="markers"
+                abstractType="#1b2bb9fe-3b85-4a08-8dd7-a12997dd5344" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="e4c5edc2-5756-42ec-860d-5ac52ff67b2d" value="0" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="b099b1a1-4050-44d8-b5d1-3f6b8d4d2c23" value="*" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="a7a0bff4-247b-48cd-ba5e-fbbcc29d91b6" name="InteractiveMarkerPose"
+              description="Time/frame info." xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="ab0ecb29-30aa-4c48-ada9-20301db0996f" name="header"
+                abstractType="#1dc579b9-f895-4ca6-bd2b-78351356ae23" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="fe6cd99a-9fe3-45e3-87d1-f6befd6865d5" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="e0fbb5dc-34c6-4d10-974e-1b5a197b3024" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="0caec625-0731-402e-af12-13152fc0fdf2" name="pose" abstractType="#dc01446b-9a55-4cc6-8216-b19bd8fa3232"
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+              <ownedMinCard id="f9639c9b-2e1e-47fe-86ce-3fbe524154fa" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="9c12418d-a289-4fa0-a197-fb548630e39c" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="9883860d-8b2b-47f7-9132-25cbd235aecb" name="name" abstractType="#f72d6ef6-dea2-4542-9a14-e520c58af02e"
+                aggregationKind="COMPOSITION" xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="af4e36db-8149-4d31-8542-21b4d310284f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="c0fd3265-0f61-4881-8fde-058e0557423a" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+          </ownedClasses>
+          <ownedClasses id="3aa778e4-87ed-485b-ba89-6556608ac2d4" name="ImageMarker"
+              xsi:type="org.polarsys.capella.core.data.information:Class">
+            <ownedFeatures id="92d70063-cd91-4e6e-a30c-7e2c56b0bb7b" name="CIRCLE"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="80cbbc57-b207-4023-a103-b2f38b5eeb85" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="b55c4866-f7e7-49bb-a7eb-dd04e504ee34" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="d909ed87-c807-416a-915b-a073fff55735" name="LINE_STRIP"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="f6b3fa8a-8988-4143-91c8-1b4118f8d581" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="3a668262-4fe3-4316-b1cb-be7a875571eb" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="bf446b73-a926-45fe-993c-b33a5a20d703" name="LINE_LIST"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="06bfbda2-5c4d-4e30-a70a-403a4a1d3ef8" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="0ea53a35-5866-4f04-9c95-d5144fc58b9f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+            </ownedFeatures>
+            <ownedFeatures id="6acbbd59-d492-4e90-b416-c5c59701b449" name="POLYGON"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="fb688ed8-afd4-426d-a2b4-f1e262173919" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="20c88ff0-a3b3-4f47-805b-fbe2f546f9a5" name="REMOVE"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+                description="the diameter for a circle, etc." xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="cc07cb4d-b12d-493b-9d71-9612c596aa07" name="outline_color"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+                description="whether to fill in the shape with color" xsi:type="org.polarsys.capella.core.data.information:Property">
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+              xsi:type="org.polarsys.capella.core.data.information:Class">
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+          <ownedClasses id="b12de65b-0b15-44e4-a370-a76baf70ac28" name="InteractiveMarkerFeedback"
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+            <ownedFeatures id="a5367db6-bb14-4277-9b51-26f022052e79" name="header"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            </ownedFeatures>
+            <ownedFeatures id="40244143-6fb8-4d2e-843c-c4f24faa47f0" name="client_id"
+                abstractType="#f72d6ef6-dea2-4542-9a14-e520c58af02e" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="7aadd4ee-c6cf-46e3-ab91-838c1d51501f" name="marker_name"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="57ed2d92-d1f8-4db8-8f6a-5980e4f1f4a0" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="599b2996-24f8-47f1-9a69-223f63022c07" name="control_name"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="a245ff8a-7680-434b-bc91-a43e9c7566a8" name="KEEP_ALIVE"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="3719c2d4-6e18-44b6-afeb-b6237f49a9d1" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="85282a83-27ff-4b15-a355-ccf964fc5a73" name="POSE_UPDATE"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="2c4a29e3-8e85-4f3b-9253-6d982adbd621" name="MENU_SELECT"
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+            <ownedFeatures id="41473207-d31f-4953-8ca6-6234f492b4aa" name="BUTTON_CLICK"
+                abstractType="#a477c585-4335-465f-b714-89b673c038cb" aggregationKind="COMPOSITION"
+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="cc87b3b6-8a86-4c18-9f9f-b66329eb514f" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
+              <ownedMaxCard id="ede2b207-1de3-44d7-96c5-bcd67d0b8d03" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="689e4e5a-edc8-423d-b327-719e5718f54b" name="MOUSE_DOWN"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
+              <ownedMinCard id="76ce9b3b-1347-4001-a618-debf2ade69ff" value="1" xsi:type="org.polarsys.capella.core.data.information.datavalue:LiteralNumericValue"/>
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+            <ownedFeatures id="3299f3a0-0c3d-45f1-b139-fc7225f7ddb6" name="MOUSE_UP"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="617f4738-51e7-43c2-87d1-a5c3bbf25074" name="event_type"
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+            <ownedFeatures id="a6c94e96-95ff-42e4-8583-1be4e657d175" name="menu_entry_id"
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+            <ownedFeatures id="222ceb44-2ced-4569-95d2-87f62d6a4f96" name="mouse_point"
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+                xsi:type="org.polarsys.capella.core.data.information:Property">
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+            <ownedFeatures id="882eb6ce-4bf9-4d22-8123-d7335a1ced8f" name="mouse_point_valid"
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+            <ownedFeatures id="e077212a-51eb-4aaa-9e02-6bb71925f9ce" name="menu_entries"
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+    <ownedArchitectures xsi:type="org.polarsys.capella.core.data.epbs:EPBSArchitecture"
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+        </ownedConfigurationItems>
+      </ownedConfigurationItemPkg>
+      <ownedPhysicalArchitectureRealizations xsi:type="org.polarsys.capella.core.data.epbs:PhysicalArchitectureRealization"
+          id="0a873c55-ad44-4792-b0f3-667314453da9" targetElement="#47ff279f-fae7-4a9b-a080-62b74e6d3375"
+          sourceElement="#633bb579-3169-4d10-8f90-a988d1339714"/>
+    </ownedArchitectures>
+  </ownedModelRoots>
+</org.polarsys.capella.core.data.capellamodeller:Project>
diff --git a/docs/examples/data/model/ros_msgs.capella.license b/docs/examples/data/model/ros_msgs.capella.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/model/ros_msgs.capella.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/msgs/MultiArrayDimension.msg b/docs/examples/data/msgs/MultiArrayDimension.msg
new file mode 100644
index 0000000..018fb0c
--- /dev/null
+++ b/docs/examples/data/msgs/MultiArrayDimension.msg
@@ -0,0 +1,3 @@
+string label   # label of given dimension
+uint32 size    # size of given dimension (in type units)
+uint32 stride  # stride of given dimension
diff --git a/docs/examples/data/msgs/MultiArrayDimension.msg.license b/docs/examples/data/msgs/MultiArrayDimension.msg.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/msgs/MultiArrayDimension.msg.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/msgs/MultiArrayLayout.msg b/docs/examples/data/msgs/MultiArrayLayout.msg
new file mode 100644
index 0000000..5ee45f3
--- /dev/null
+++ b/docs/examples/data/msgs/MultiArrayLayout.msg
@@ -0,0 +1,26 @@
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type.  Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset        # padding elements at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+#
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label  = "height"
+# dim[0].size   = 480
+# dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
+# dim[1].label  = "width"
+# dim[1].size   = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label  = "channel"
+# dim[2].size   = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
diff --git a/docs/examples/data/msgs/MultiArrayLayout.msg.license b/docs/examples/data/msgs/MultiArrayLayout.msg.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/msgs/MultiArrayLayout.msg.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/data/msgs/UInt64MultiArray.msg b/docs/examples/data/msgs/UInt64MultiArray.msg
new file mode 100644
index 0000000..bf32429
--- /dev/null
+++ b/docs/examples/data/msgs/UInt64MultiArray.msg
@@ -0,0 +1,5 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint64[]          data          # array of data
diff --git a/docs/examples/data/msgs/UInt64MultiArray.msg.license b/docs/examples/data/msgs/UInt64MultiArray.msg.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/data/msgs/UInt64MultiArray.msg.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/model_from_capella.ipynb b/docs/examples/model_from_capella.ipynb
new file mode 100644
index 0000000..f9c557e
--- /dev/null
+++ b/docs/examples/model_from_capella.ipynb
@@ -0,0 +1,138 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from rosidl2capella.capella_wrapper import CapellaWrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Cannot load PVMT extension: ValueError: Provided model does not have a PropertyValuePkg\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Property values are not available in this model\n"
+     ]
+    }
+   ],
+   "source": [
+    "idl_model = CapellaWrapper(\"data/model\", \"la\").as_idlmodel"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'diagnostic_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553970>,\n",
+       " 'std_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd5735538b0>,\n",
+       " 'shape_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553910>,\n",
+       " 'stereo_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd5735536d0>,\n",
+       " 'nav_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553730>,\n",
+       " 'geometry_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553640>,\n",
+       " 'actionlib_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553760>,\n",
+       " 'trajectory_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553820>,\n",
+       " 'sensor_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd5735537c0>,\n",
+       " 'root': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553130>,\n",
+       " 'visualization_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd5735531f0>,\n",
+       " 'common_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7fd573553580>}"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "idl_model.packages"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "package = idl_model.packages.get(\"root\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "dict_keys(['MultiArrayDimension', 'UInt64MultiArray', 'MultiArrayLayout'])"
+      ]
+     },
+     "execution_count": 6,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "package.classes.keys()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'string', 'uint32', 'uint64'}"
+      ]
+     },
+     "execution_count": 7,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "package.basic_types"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/examples/model_from_capella.ipynb.license b/docs/examples/model_from_capella.ipynb.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/model_from_capella.ipynb.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/model_from_msgs.ipynb b/docs/examples/model_from_msgs.ipynb
new file mode 100644
index 0000000..e7205ff
--- /dev/null
+++ b/docs/examples/model_from_msgs.ipynb
@@ -0,0 +1,123 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from rosidl2capella.idl_model import IDLModel"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "idl_model = IDLModel.from_msg_model(\"data/msgs\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'root': <rosidl2capella.idl_model.IDLPackage at 0x7f5d29c1add0>,\n",
+       " 'sensor_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d29bb7df0>,\n",
+       " 'nav_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824ba00>,\n",
+       " 'visualization_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824b370>,\n",
+       " 'trajectory_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824bb80>,\n",
+       " 'geometry_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824b6d0>,\n",
+       " 'shape_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824b670>,\n",
+       " 'diagnostic_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824bb20>,\n",
+       " 'common_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824b6a0>,\n",
+       " 'stereo_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824b220>,\n",
+       " 'actionlib_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d2824b3a0>,\n",
+       " 'std_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f5d29bb50c0>}"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "idl_model.packages"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "package = idl_model.packages.get(\"root\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "dict_keys(['MultiArrayDimension', 'UInt64MultiArray', 'MultiArrayLayout'])"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "package.classes.keys()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'string', 'uint32', 'uint64'}"
+      ]
+     },
+     "execution_count": 6,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "package.basic_types"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/examples/model_from_msgs.ipynb.license b/docs/examples/model_from_msgs.ipynb.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/model_from_msgs.ipynb.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/docs/examples/quickstart.ipynb b/docs/examples/quickstart.ipynb
new file mode 100644
index 0000000..ec346f8
--- /dev/null
+++ b/docs/examples/quickstart.ipynb
@@ -0,0 +1,2304 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from rosidl2capella.idl_model import IDLModel\n",
+    "from rosidl2capella.capella_wrapper import CapellaWrapper"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "msg_model = IDLModel.from_msg_model(\"data/msgs\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Cannot load PVMT extension: ValueError: Provided model does not have a PropertyValuePkg\n",
+      "Property values are not available in this model\n"
+     ]
+    }
+   ],
+   "source": [
+    "capella_wrapper = CapellaWrapper(\"data/empty_model\", \"la\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{}"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "capella_wrapper.as_idlmodel.packages"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n"
+     ]
+    }
+   ],
+   "source": [
+    "capella_wrapper.create_packages(set(msg_model.packages.keys()))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
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+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datatype' already registered with URI 'http://www.polarsys.org/capella/core/information/datatype/6.0.0'\n"
+     ]
+    }
+   ],
+   "source": [
+    "for pkg_name, package in msg_model.packages.items():\n",
+    "    capella_wrapper.create_classes(package.classes, pkg_name)\n",
+    "    capella_wrapper.create_types(package.types, pkg_name)\n",
+    "    capella_wrapper.create_basic_types(package.basic_types, pkg_name)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "all_classes = {}\n",
+    "for pkg in msg_model.packages.values():\n",
+    "    all_classes |= pkg.classes"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
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+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information' already registered with URI 'http://www.polarsys.org/capella/core/information/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n",
+      "Namespace 'org.polarsys.capella.core.data.information.datavalue' already registered with URI 'http://www.polarsys.org/capella/core/information/datavalue/6.0.0'\n"
+     ]
+    }
+   ],
+   "source": [
+    "for package_name, package in msg_model.packages.items():\n",
+    "    for class_name, (_, properties) in package.classes.items():\n",
+    "        for prop in properties:\n",
+    "            _, prop_type, type_pkg, _, _, _ = prop\n",
+    "            type_pkg = type_pkg or package_name\n",
+    "            if prop_type in msg_model.packages[type_pkg].classes:\n",
+    "                capella_wrapper.create_composition(\n",
+    "                    class_name, prop, package_name\n",
+    "                )\n",
+    "            else:\n",
+    "                capella_wrapper.create_attribute(\n",
+    "                    class_name, prop, package_name\n",
+    "                )"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'diagnostic_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2b96b92ec0>,\n",
+       " 'shape_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2b96b93880>,\n",
+       " 'sensor_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2b96b93a00>,\n",
+       " 'geometry_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2bb4412350>,\n",
+       " 'root': <rosidl2capella.idl_model.IDLPackage at 0x7f2bb44123b0>,\n",
+       " 'actionlib_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2bb44121a0>,\n",
+       " 'std_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2bb5516c20>,\n",
+       " 'stereo_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2bb5514a00>,\n",
+       " 'nav_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2bb5516b00>,\n",
+       " 'visualization_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2b96bfb010>,\n",
+       " 'trajectory_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2b96bfafe0>,\n",
+       " 'common_msgs': <rosidl2capella.idl_model.IDLPackage at 0x7f2b96bfb040>}"
+      ]
+     },
+     "execution_count": 9,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "capella_wrapper.as_idlmodel.packages"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/examples/quickstart.ipynb.license b/docs/examples/quickstart.ipynb.license
new file mode 100644
index 0000000..c3fb022
--- /dev/null
+++ b/docs/examples/quickstart.ipynb.license
@@ -0,0 +1,2 @@
+Copyright DB Netz AG and contributors
+SPDX-License-Identifier: Apache-2.0
diff --git a/pyproject.toml b/pyproject.toml
index e48a756..4b90cfa 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,6 +27,7 @@ classifiers = [
 ]
 dependencies = [
   "click",
+  "capellambse @ git+https://github.com/DSD-DBS/py-capellambse.git@roletag-create",
 ]
 
 [project.urls]
diff --git a/rosidl2capella/capella_wrapper.py b/rosidl2capella/capella_wrapper.py
new file mode 100644
index 0000000..862f6c8
--- /dev/null
+++ b/rosidl2capella/capella_wrapper.py
@@ -0,0 +1,184 @@
+# Copyright DB Netz AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+"""Wrapper for Capella model."""
+import capellambse
+
+from rosidl2capella.idl_model import IDLModel, IDLPackage
+
+
+class CapellaWrapper:
+    """Wrapper for Capella model."""
+
+    def __init__(
+        self,
+        path_to_capella_model: str,
+        layer: str,
+    ) -> None:
+        self.model = capellambse.MelodyModel(path_to_capella_model)
+        match layer:
+            case "oa":
+                self.data = self.model.oa.data_package
+            case "sa":
+                self.data = self.model.sa.data_package
+            case "la":
+                self.data = self.model.la.data_package
+            case "pa":
+                self.data = self.model.pa.data_package
+
+    def create_packages(self, packages: set[str]) -> None:
+        """Create packages in Capella model."""
+        for package_name in packages:
+            self.data.packages.create("DataPkg", name=package_name)
+
+    def create_classes(
+        self,
+        classes: dict[str, tuple[str, list]],
+        package_name: str,
+    ):
+        """Create classes in Capella model."""
+        for class_name, info in classes.items():
+            description, _ = info
+            self.data.packages.by_name(package_name).classes.create(
+                name=class_name, description=description
+            )
+
+    def create_types(
+        self, types: dict[str, tuple[str, list]], package_name: str
+    ):
+        """Create types in Capella model."""
+        for type_name, info in types.items():
+            description, properties = info
+            type = self.data.packages.by_name(package_name).datatypes.create(
+                "Enumeration", name=type_name, description=description
+            )
+            for prop in properties:
+                prop_name, _, value, description = prop
+                property = type.owned_literals.create(
+                    "EnumerationLiteral",
+                    name=prop_name,
+                    description=description,
+                )
+                property.value = capellambse.new_object(
+                    "LiteralNumericValue", value=float(value)
+                )
+
+    def create_basic_types(self, basic_types: set[str], package_name: str):
+        """Create basic types in Capella model."""
+        for basic_type in basic_types:
+            if basic_type in ["string", "char"]:
+                type = "StringType"
+            elif basic_type == "bool":
+                type = "BooleanType"
+            else:
+                type = "NumericType"
+            self.data.packages.by_name(package_name).datatypes.create(
+                type, name=basic_type
+            )
+
+    def create_composition(
+        self,
+        class_name: str,
+        properties: tuple[str, str, str, str, str, str],
+        package_name: str,
+    ):
+        """Create composition in Capella model."""
+        (
+            prop_name,
+            prop_type,
+            type_pkg,
+            min_card,
+            max_card,
+            comment,
+        ) = properties
+        package = self.data.packages.by_name(package_name)
+        superclass = package.classes.by_name(class_name)
+        type_pkg = type_pkg or package_name
+        partclass = self.data.packages.by_name(type_pkg).classes.by_name(
+            prop_type
+        )
+        composition = superclass.owned_properties.create(
+            name=prop_name, type=partclass, kind="COMPOSITION"
+        )
+        association = package.owned_associations.create(
+            navigable_members=[composition], description=comment
+        )
+        association.members.create(
+            "Property",
+            type=superclass,
+            kind="ASSOCIATION",
+            min_card=capellambse.new_object("LiteralNumericValue", value=1),
+            max_card=capellambse.new_object("LiteralNumericValue", value=1),
+        )
+        composition.min_card = capellambse.new_object(
+            "LiteralNumericValue", value=float(min_card)
+        )
+        composition.max_card = capellambse.new_object(
+            "LiteralNumericValue", value=float(max_card or "inf")
+        )
+
+    def create_attribute(
+        self,
+        class_name: str,
+        properties: tuple[str, str, str, str, str, str],
+        package_name: str,
+    ):
+        """Create attribute in Capella model."""
+        (
+            prop_name,
+            prop_type,
+            type_pkg,
+            min_card,
+            max_card,
+            comment,
+        ) = properties
+        package = self.data.packages.by_name(package_name)
+        superclass = package.classes.by_name(class_name)
+        type_pkg = type_pkg or package_name
+        property_type = self.data.packages.by_name(type_pkg).datatypes.by_name(
+            prop_type
+        )
+        attribute = superclass.owned_properties.create(
+            name=prop_name,
+            type=property_type,
+            kind="COMPOSITION",
+            description=comment,
+        )
+        attribute.min_card = capellambse.new_object(
+            "LiteralNumericValue", value=float(min_card)
+        )
+        attribute.max_card = capellambse.new_object(
+            "LiteralNumericValue", value=float(max_card or "inf")
+        )
+
+    def save_changes(self):
+        """Save changes to Capella model."""
+        self.model.save()
+
+    def delete_from_capella_model(
+        self, to_delete: dict[str, IDLPackage]
+    ) -> None:
+        """Delete elements from Capella model."""
+        for pkg_name, idlpackage in to_delete.items():
+            package = self.data.packages.by_name(pkg_name)
+            for class_name in idlpackage.classes:
+                package.classes.remove(package.classes.by_name(class_name))
+            for type_name in idlpackage.types.keys() | idlpackage.basic_types:
+                package.datatypes.remove(package.datatypes.by_name(type_name))
+
+    @property
+    def as_idlmodel(self) -> IDLModel:
+        """Return Capella model as IDL model."""
+        packages = {}
+        for package in self.data.packages:
+            classes = {cls.name: None for cls in package.classes}
+            types = {}
+            basic_types = set()
+            for type in package.datatypes:
+                if type.xtype.rpartition(":")[2] == "Enumeration":
+                    types[type.name] = None
+                else:
+                    basic_types.add(type.name)
+            packages[package.name] = IDLPackage(
+                classes=classes, types=types, basic_types=basic_types
+            )
+        return IDLModel(packages)
diff --git a/rosidl2capella/idl_model.py b/rosidl2capella/idl_model.py
new file mode 100644
index 0000000..d43537d
--- /dev/null
+++ b/rosidl2capella/idl_model.py
@@ -0,0 +1,85 @@
+# Copyright DB Netz AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+"""IDL model definitions."""
+import os
+import typing as t
+
+import rosidl2capella.rosidl_parser as parser
+
+PATH = os.path.dirname(__file__)
+
+
+class IDLPackage:
+    """IDL package definition."""
+
+    classes: dict[str, t.Any]
+    types: dict[str, t.Any]
+    basic_types: set[str]
+
+    def __init__(
+        self,
+        classes: dict[str, t.Any] | set[str],
+        types: dict[str, t.Any] | set[str],
+        basic_types: set[str],
+    ) -> None:
+        self.classes = (
+            classes
+            if isinstance(classes, dict)
+            else {k: None for k in classes}
+        )
+        self.types = (
+            types if isinstance(types, dict) else {k: None for k in types}
+        )
+        self.basic_types = basic_types
+
+
+class IDLModel:
+    """IDL model definition."""
+
+    packages: dict[str, IDLPackage]
+
+    def __init__(self, packages: dict[str, IDLPackage]) -> None:
+        self.packages = packages
+
+    @classmethod
+    def from_msg_model(cls, path_to_msg_model: str) -> "IDLModel":
+        """Create IDL model from message files."""
+        packages = {}
+        packages["root"] = cls._parse_package(path_to_msg_model)
+        common_msgs_dir = os.path.join(PATH, "ros", "common_msgs")
+        for dir_name in os.listdir(common_msgs_dir):
+            if os.path.isdir(os.path.join(common_msgs_dir, dir_name)):
+                packages[dir_name] = cls._parse_package(
+                    os.path.join(common_msgs_dir, dir_name)
+                )
+        packages["std_msgs"] = cls._parse_package(
+            os.path.join(PATH, "ros", "std_msgs")
+        )
+        return cls(packages)
+
+    @staticmethod
+    def _parse_package(path_to_pkg_root: str) -> IDLPackage:
+        """Parse package from message files."""
+        classes = parser.MessagesPkg.from_msg_folder(
+            path_to_pkg_root
+        ).as_structs
+        types = parser.MessagesPkg.from_msg_folder(
+            path_to_pkg_root, True
+        ).as_structs
+        basic_types = set()
+        all_type_defs = classes | types
+        for _, properties in all_type_defs.values():
+            for prop in properties:
+                prop_type = prop[1]
+                if prop_type not in all_type_defs:
+                    basic_types.add(prop_type)
+        return IDLPackage(classes, types, basic_types)
+
+    def delete_from_model(self, to_delete: dict[str, IDLPackage]) -> None:
+        """Delete elements from IDL model."""
+        for pkg_name, package in to_delete.items():
+            for class_name in package.classes.keys():
+                self.packages[pkg_name].classes.pop(class_name)
+            for type_name in package.types.keys():
+                self.packages[pkg_name].types.pop(type_name)
+            self.packages[pkg_name].basic_types -= package.basic_types
diff --git a/rosidl2capella/rosidl_parser.py b/rosidl2capella/rosidl_parser.py
new file mode 100644
index 0000000..ba25d18
--- /dev/null
+++ b/rosidl2capella/rosidl_parser.py
@@ -0,0 +1,137 @@
+# Copyright DB Netz AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+"""Parser for ROS message files."""
+import os
+import re
+from pathlib import Path
+
+RE_TNC = re.compile(
+    r"^([A-Za-z0-9\[\]\/_]+).*?([A-Za-z0-9_]+)(?:.*?# ([^\n]+))?"
+)
+RE_NAME = re.compile(r"([a-zA-Z0-9]+)[.]msg")
+RE_ENUM = re.compile(
+    r"^([A-Za-z0-9]+).*?([A-Za-z0-9_]+).*?= ([0-9]+)(?:.*?# ([^\n]+))?"
+)
+RE_COMMENT = re.compile(r"cf. ([a-zA-Z0-9_]+)(?:, ([a-zA-Z0-9_]+))?")
+
+
+class MessageDef:
+    """Message definition."""
+
+    def __init__(self, name, description, props, is_type):
+        self.name = name
+        self.description = description
+        self.props = props
+        self.is_type = is_type
+
+    @property
+    def as_struct(self):
+        """Return message definition as struct."""
+        if self.is_type:
+            return (self.description, self.props)
+        out = []
+        for prop, prop_type_raw, comment in self.props:
+            p = prop_type_raw.split("[", 1)
+            min_card = "0" if len(p) > 1 else "1"
+            max_card = p[1].replace("]", "") if len(p) > 1 else "1"
+            match = RE_COMMENT.search(comment)
+            enum, subenum = match.groups() if match else (None, None)
+            type_path = list(p[0].split("/", 1))
+            prop_type = (
+                re.sub("_XXX$", "", subenum)
+                if subenum
+                else enum
+                if enum
+                else type_path[-1]
+            )
+            type_pkg = type_path[0] if len(type_path) > 1 else ""
+            out.append(
+                (prop, prop_type, type_pkg, min_card, max_card, comment)
+            )
+        return (self.description, out)
+
+    @classmethod
+    def from_msg_file(cls, filename, is_type):
+        """Create message definition from message file."""
+        with open(filename) as fh:
+            raw_msg = fh.read()
+
+        lines = raw_msg.split("\n")
+        msg = []
+        comment = []
+        for line in lines:
+            if line.startswith("#"):
+                comment.append(line)
+            else:
+                msg.extend(lines[lines.index(line) :])
+                break
+        description = "\n".join(comment).replace("#", "").strip()
+        name = RE_NAME.findall(str(filename))[0]
+        if is_type:
+            blocks = "\n".join(msg).split("\n\n")
+            out = []
+            for block in blocks:
+                lines = block.split("\n")
+                pairs = [
+                    tnvc for line in lines for tnvc in RE_ENUM.findall(line)
+                ]
+                props = [(n, t, v, c) for t, n, v, c in pairs]
+                commonprefix = os.path.commonprefix(
+                    [prop[0] for prop in props]
+                )
+                name = (
+                    commonprefix.rpartition("_")[0]
+                    if len(blocks) > 1
+                    else name
+                )
+                props = [
+                    (prop[0].replace(commonprefix, ""), *prop[1:])
+                    for prop in props
+                ]
+                out.append(cls(name, description, props, is_type))
+            return out
+        pairs = [tnc for line in msg for tnc in RE_TNC.findall(line)]
+        props = [(n, t, c) for t, n, c in pairs]
+        return cls(name, description, props, is_type)
+
+
+class MessagesPkg:
+    """Messages package."""
+
+    def __init__(self, messages):
+        self.messages = messages
+
+    def __getitem__(self, key):
+        """Get message by key."""
+        return self.messages[key]
+
+    def __contains__(self, key):
+        """Check if message is in package."""
+        return key in self.messages
+
+    @property
+    def as_structs(self):
+        """Return messages as structs."""
+        return {k: v.as_struct for k, v in self.messages.items()}
+
+    @classmethod
+    def from_msg_folder(cls, path_to_pkg_root, get_types=False):
+        """Create messages package from message folder."""
+        if get_types:
+            msg_files = list(Path(path_to_pkg_root).rglob("types/*.msg"))
+        else:
+            msg_files = [
+                f
+                for f in Path(path_to_pkg_root).rglob("**/*.msg")
+                if "types" not in f.parts
+            ]
+        out = cls({})
+        for msg in map(
+            lambda x: MessageDef.from_msg_file(x, get_types), msg_files
+        ):
+            if isinstance(msg, list):
+                for m in msg:
+                    out.messages[m.name] = m
+            else:
+                out.messages[msg.name] = msg
+        return out
diff --git a/rosidl2capella/synchronize.py b/rosidl2capella/synchronize.py
new file mode 100644
index 0000000..086e0d6
--- /dev/null
+++ b/rosidl2capella/synchronize.py
@@ -0,0 +1,38 @@
+# Copyright DB Netz AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+"""Synchronize ROS message definitions with Capella data model."""
+from rosidl2capella.capella_wrapper import CapellaWrapper
+from rosidl2capella.idl_model import IDLModel, IDLPackage
+
+
+def calculate_overlap(
+    left: IDLModel, right: IDLModel
+) -> dict[str, IDLPackage]:
+    """Calculate overlap between two IDL models."""
+    overlap = {}
+    for pkg_name, left_package in left.packages.items():
+        right_package = right.packages.get(pkg_name)
+        if right_package:
+            overlap[pkg_name] = IDLPackage(
+                left_package.classes.keys() & right_package.classes.keys(),
+                left_package.types.keys() & right_package.types.keys(),
+                left_package.basic_types & right_package.basic_types,
+            )
+    return overlap
+
+
+class MSGS2Capella:
+    """Synchronize ROS message definitions with Capella data model."""
+
+    def __init__(
+        self, path_to_msg_model: str, path_to_capella_model: str, layer: str
+    ) -> None:
+        self.capella_wrapper = CapellaWrapper(path_to_capella_model, layer)
+        self.msg_model = IDLModel.from_msg_model(path_to_msg_model)
+        self.capella_model = self.capella_wrapper.as_idlmodel
+
+    def resolve_overlap(self):
+        """Resolve overlap between IDL models."""
+
+    def sync_models(self):
+        """Synchronize IDL models."""