<?xml version="1.0" encoding="UTF-8"?>
<rois:HRIComponentProfile
	gml:id="component_profile"
	xmlns:rois="http://www.omg.org/spec/RoIS/20240801"
    xmlns:ns2="http://www.w3.org/1999/xlink"
    xmlns:gml="http://www.opengis.net/gml/3.2"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">

    <gml:identifier codeSpace="urn:ietf:rfc:2141">urn:x-rois:def:component:OMG::Follow</gml:identifier>
    <gml:name>follower</gml:name>

    <!-- ===== Sub Component Profiles ===== -->
    <rois:SubComponentProfile>urn:x-rois:def:Component:OMG::RoISCommon</rois:SubComponentProfile>
 
    <!-- ===== Parameter Profiles ===== -->
    <rois:ParameterProfile rois:description="ID of the object/person to follow" 
        rois:name="target_object_ref">
        <rois:data_type_ref rois:code="RoISIdentifier"/>
    </rois:ParameterProfile>

    <rois:ParameterProfile rois:description="minimum distance between target and the robot" 
                           rois:name="distance">
        <rois:data_type_ref rois:code="int"/>
    </rois:ParameterProfile>
    
    <rois:ParameterProfile rois:description="time limit to cancel following in case if target is lost" 
                           rois:name="time_limit">
        <rois:data_type_ref rois:code="int"/>
    </rois:ParameterProfile>

</rois:HRIComponentProfile>
