Index: trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_simu.xml
===================================================================
--- trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_simu.xml	(revision 378)
+++ trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_simu.xml	(revision 378)
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="controls">
+      <DataPlot1D name="speed" period="100" enabled="1"/>
+      <DataPlot1D name="turn" period="100" enabled="1"/>
+    </Tab>
+    <Tab name="Dualshock3">
+      <TabWidget name="Dualshock3">
+        <Tab name="Reglages"/>
+      </TabWidget>
+    </Tab>
+    <Tab name="vrpn">
+      <TabWidget name="vrpn">
+        <Tab name="Reglages">
+          <GroupBox name="post rotation 1">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="post rotation 2">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="ugv_0 Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="ugv_0_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="target Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="target_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="circle">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="R" value="0"/>
+            <DoubleSpinBox name="velocity" value="0"/>
+            <DoubleSpinBox name="acceleration (absolute)" value="0"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures ugv_0">
+          <DataPlot1D name="x" period="100" enabled="1"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) ugv_0">
+          <DataPlot2D name="xy" period="100" enabled="1"/>
+        </Tab>
+        <Tab name="Mesures target">
+          <DataPlot1D name="x" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) target">
+          <DataPlot2D name="xy" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="ugv">
+      <GridLayout name="buttons">
+        <PushButton name="kill"/>
+        <PushButton name="start_circle"/>
+        <PushButton name="stop_circle"/>
+      </GridLayout>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (ugv_0)" value="1"/>
+</root>
Index: trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_sumo.xml
===================================================================
--- trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_sumo.xml	(revision 378)
+++ trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/setup_sumo.xml	(revision 378)
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="controls">
+      <DataPlot1D name="speed" period="100" enabled="1"/>
+      <DataPlot1D name="turn" period="100" enabled="1"/>
+    </Tab>
+    <Tab name="Dualshock3">
+      <TabWidget name="Dualshock3">
+        <Tab name="Reglages"/>
+      </TabWidget>
+    </Tab>
+    <Tab name="vrpn">
+      <TabWidget name="vrpn">
+        <Tab name="Reglages">
+          <GroupBox name="post rotation 1">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="post rotation 2">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="ugv_0 Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="ugv_0_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="target Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="target_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="circle">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="R" value="0"/>
+            <DoubleSpinBox name="velocity" value="0"/>
+            <DoubleSpinBox name="acceleration (absolute)" value="0"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures ugv_0">
+          <DataPlot1D name="x" period="100" enabled="1"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) ugv_0">
+          <DataPlot2D name="xy" period="100" enabled="1"/>
+        </Tab>
+        <Tab name="Mesures target">
+          <DataPlot1D name="x" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) target">
+          <DataPlot2D name="xy" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="ugv">
+      <GridLayout name="buttons">
+        <PushButton name="kill"/>
+        <PushButton name="start_circle"/>
+        <PushButton name="stop_circle"/>
+      </GridLayout>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (ugv_0)" value="1"/>
+</root>
Index: trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv.sh
===================================================================
--- trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv.sh	(revision 377)
+++ 	(revision )
@@ -1,11 +1,0 @@
-#! /bin/bash
-
-if [ -f /proc/xenomai/version ];then
-	EXEC=./TwoWheelRobotCircleFollower_ugv_rt
-else
-	EXEC=./TwoWheelRobotCircleFollower_ugv_nrt
-fi
-
-. $FLAIR_ROOT/flair-src/scripts/distribution_specific_hack.sh
-
-$EXEC -n ugv_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup.xml
Index: trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv_simu.sh
===================================================================
--- trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv_simu.sh	(revision 378)
+++ trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv_simu.sh	(revision 378)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./TwoWheelRobotCircleFollower_ugv_rt
+else
+	EXEC=./TwoWheelRobotCircleFollower_ugv_nrt
+fi
+
+. $FLAIR_ROOT/flair-src/scripts/distribution_specific_hack.sh
+
+$EXEC -n ugv_0 -t ugv_simu -a 127.0.0.1 -p 9000 -l /tmp -x setup_simu.xml
Index: trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv_sumo.sh
===================================================================
--- trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv_sumo.sh	(revision 378)
+++ trunk/demos/TwoWheelRobotCircleFollower/ugv/resources/core2-64/ugv_sumo.sh	(revision 378)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./TwoWheelRobotCircleFollower_ugv_rt
+else
+	EXEC=./TwoWheelRobotCircleFollower_ugv_nrt
+fi
+
+. $FLAIR_ROOT/flair-src/scripts/distribution_specific_hack.sh
+
+$EXEC -n ugv_0 -t sumo -a 127.0.0.1 -p 9000 -l /tmp -x setup_sumo.xml
