= Adding connection to the XML file =

Let us suppose that we have createad a component ```MyComponent``` as described in [[TutorialAddingComponentToXML|previous tutorial]].


Also, we suppose that we had added an input called "pose-low-quality" and an output called "pose-high-quality" to our class ```MyComponent```.

**Inputs:** We will take our input from a component of class ```LowCostGps``` named ```gps``` which has an output called ```"pose"```.

**Outputs:** We will send our processed pose to another component ```othercomp``` of class ```OtherComponent`` which has an input called ```"pose"```.

**Warning:**
Output ```"pose"``` in class ```LowCostGps``` has the same type as our input ```"pose-low-quality"```.
Similarly, input ```"pose"``` in class ```OtherComponent``` has the same type as our output ```"pose-high-quality"```.

To add a connection, we will modify the ```connections``` node of the XML file.
The rest of the file rests unchanged.

{{{#!xml
<?xml version="1.0" encoding="ISO-8859-1"?>
<pacpus>
    <components>
        <!-- other components -->

        <component name="gps" type="LowCostGps" />
        <component name="mycomp" type="MyComponent" />
        <component name="othercomp" type="OtherComponent" />
    </components>
        
    <connections>
        <!-- other connections -->

        <!-- Getting input from GPS -->
        <connection output="gps.pose" input="mycomp.pose-low-quality" type="direct" />
        <!-- Outputting better pose to another component -->
        <connection output="mycomp.pose-high-quality" input="othercomp.pose" type="direct" />
    </connections>
    
    <!-- Windows (release) -->
    <plugins prefix="" postfix="" extension="dll">
        <plugin lib="MyComponent" />
        <!-- other plugins (libraries) -->
    </plugins>
    
    <parameters>
    </parameters>
</pacpus>
}}}