Ricompilazione con nuovo nodo TF broadcaster

devel/include/jog_msgs/JogFrame.h

@@ -0,0 +1,289 @@
+// Generated by gencpp from file jog_msgs/JogFrame.msg
+// DO NOT EDIT!
+
+
+#ifndef JOG_MSGS_MESSAGE_JOGFRAME_H
+#define JOG_MSGS_MESSAGE_JOGFRAME_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace jog_msgs
+{
+template <class ContainerAllocator>
+struct JogFrame_
+{
+  typedef JogFrame_<ContainerAllocator> Type;
+
+  JogFrame_()
+    : header()
+    , group_name()
+    , link_name()
+    , linear_delta()
+    , angular_delta()
+    , avoid_collisions(false)  {
+    }
+  JogFrame_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , group_name(_alloc)
+    , link_name(_alloc)
+    , linear_delta(_alloc)
+    , angular_delta(_alloc)
+    , avoid_collisions(false)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _group_name_type;
+  _group_name_type group_name;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _link_name_type;
+  _link_name_type link_name;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _linear_delta_type;
+  _linear_delta_type linear_delta;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _angular_delta_type;
+  _angular_delta_type angular_delta;
+
+   typedef uint8_t _avoid_collisions_type;
+  _avoid_collisions_type avoid_collisions;
+
+
+
+
+
+  typedef boost::shared_ptr< ::jog_msgs::JogFrame_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::jog_msgs::JogFrame_<ContainerAllocator> const> ConstPtr;
+
+}; // struct JogFrame_
+
+typedef ::jog_msgs::JogFrame_<std::allocator<void> > JogFrame;
+
+typedef boost::shared_ptr< ::jog_msgs::JogFrame > JogFramePtr;
+typedef boost::shared_ptr< ::jog_msgs::JogFrame const> JogFrameConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::jog_msgs::JogFrame_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::jog_msgs::JogFrame_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace jog_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
+// {'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'jog_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/jog_arm/jog_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::jog_msgs::JogFrame_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::jog_msgs::JogFrame_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::jog_msgs::JogFrame_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::jog_msgs::JogFrame_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::jog_msgs::JogFrame_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::jog_msgs::JogFrame_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::jog_msgs::JogFrame_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "e342f29bf6beaf00261bdae365abfff9";
+  }
+
+  static const char* value(const ::jog_msgs::JogFrame_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xe342f29bf6beaf00ULL;
+  static const uint64_t static_value2 = 0x261bdae365abfff9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::jog_msgs::JogFrame_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "jog_msgs/JogFrame";
+  }
+
+  static const char* value(const ::jog_msgs::JogFrame_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::jog_msgs::JogFrame_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# This is a message to hold data to jog by specifying a target\n\
+# frame. It uses MoveIt! kinematics, so you need to specify the\n\
+# JointGroup name to use in group_name. (lienar|angular)_delta is the\n\
+# amount of displacement.\n\
+\n\
+# header message. You must set frame_id to define the reference\n\
+# coordinate system of the displacament\n\
+Header header\n\
+\n\
+# Name of JointGroup of MoveIt!\n\
+string group_name\n\
+\n\
+# Target link name to jog. The link must be in the JoingGroup\n\
+string link_name\n\
+\n\
+# Linear displacement vector to jog. The refrence frame is defined by\n\
+# frame_id in header. Unit is in meter.\n\
+geometry_msgs/Vector3 linear_delta\n\
+\n\
+# Angular displacement vector to jog. The refrence frame is defined by\n\
+# frame_id in header. Unit is in radian.\n\
+geometry_msgs/Vector3 angular_delta\n\
+\n\
+# It uses avoid_collisions option of MoveIt! kinematics. If it is\n\
+# true, the robot doesn't move if any collisions occured.\n\
+bool avoid_collisions\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Vector3\n\
+# This represents a vector in free space. \n\
+# It is only meant to represent a direction. Therefore, it does not\n\
+# make sense to apply a translation to it (e.g., when applying a \n\
+# generic rigid transformation to a Vector3, tf2 will only apply the\n\
+# rotation). If you want your data to be translatable too, use the\n\
+# geometry_msgs/Point message instead.\n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+";
+  }
+
+  static const char* value(const ::jog_msgs::JogFrame_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::jog_msgs::JogFrame_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.group_name);
+      stream.next(m.link_name);
+      stream.next(m.linear_delta);
+      stream.next(m.angular_delta);
+      stream.next(m.avoid_collisions);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct JogFrame_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::jog_msgs::JogFrame_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::jog_msgs::JogFrame_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "group_name: ";
+    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.group_name);
+    s << indent << "link_name: ";
+    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.link_name);
+    s << indent << "linear_delta: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.linear_delta);
+    s << indent << "angular_delta: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.angular_delta);
+    s << indent << "avoid_collisions: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.avoid_collisions);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // JOG_MSGS_MESSAGE_JOGFRAME_H

devel/include/jog_msgs/JogJoint.h

@@ -0,0 +1,246 @@
+// Generated by gencpp from file jog_msgs/JogJoint.msg
+// DO NOT EDIT!
+
+
+#ifndef JOG_MSGS_MESSAGE_JOGJOINT_H
+#define JOG_MSGS_MESSAGE_JOGJOINT_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+
+namespace jog_msgs
+{
+template <class ContainerAllocator>
+struct JogJoint_
+{
+  typedef JogJoint_<ContainerAllocator> Type;
+
+  JogJoint_()
+    : header()
+    , joint_names()
+    , deltas()  {
+    }
+  JogJoint_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , joint_names(_alloc)
+    , deltas(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other >  _joint_names_type;
+  _joint_names_type joint_names;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _deltas_type;
+  _deltas_type deltas;
+
+
+
+
+
+  typedef boost::shared_ptr< ::jog_msgs::JogJoint_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::jog_msgs::JogJoint_<ContainerAllocator> const> ConstPtr;
+
+}; // struct JogJoint_
+
+typedef ::jog_msgs::JogJoint_<std::allocator<void> > JogJoint;
+
+typedef boost::shared_ptr< ::jog_msgs::JogJoint > JogJointPtr;
+typedef boost::shared_ptr< ::jog_msgs::JogJoint const> JogJointConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::jog_msgs::JogJoint_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::jog_msgs::JogJoint_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace jog_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
+// {'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'jog_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/jog_arm/jog_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::jog_msgs::JogJoint_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::jog_msgs::JogJoint_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::jog_msgs::JogJoint_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::jog_msgs::JogJoint_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::jog_msgs::JogJoint_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::jog_msgs::JogJoint_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::jog_msgs::JogJoint_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "8d2aa14be64b51cf6374d198bfd489b2";
+  }
+
+  static const char* value(const ::jog_msgs::JogJoint_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x8d2aa14be64b51cfULL;
+  static const uint64_t static_value2 = 0x6374d198bfd489b2ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::jog_msgs::JogJoint_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "jog_msgs/JogJoint";
+  }
+
+  static const char* value(const ::jog_msgs::JogJoint_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::jog_msgs::JogJoint_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# This is a message to hold data to jog by specifying joint\n\
+# displacement. You only need to set relative displacement to joint\n\
+# angles (or displacements for linear joints).\n\
+\n\
+# header message. You must set frame_id to define the reference\n\
+# coordinate system of the displacament\n\
+Header header\n\
+\n\
+# Name list of the joints. You don't need to specify all joint of the\n\
+# robot. Joint names are case-sensitive.\n\
+string[] joint_names\n\
+\n\
+# Relative displacement of the joints to jog. The order must be\n\
+# identical to joint_names. Unit is in radian for revolutive joints,\n\
+# meter for linear joints.\n\
+float64[] deltas\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+";
+  }
+
+  static const char* value(const ::jog_msgs::JogJoint_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::jog_msgs::JogJoint_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.joint_names);
+      stream.next(m.deltas);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct JogJoint_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::jog_msgs::JogJoint_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::jog_msgs::JogJoint_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "joint_names[]" << std::endl;
+    for (size_t i = 0; i < v.joint_names.size(); ++i)
+    {
+      s << indent << "  joint_names[" << i << "]: ";
+      Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.joint_names[i]);
+    }
+    s << indent << "deltas[]" << std::endl;
+    for (size_t i = 0; i < v.deltas.size(); ++i)
+    {
+      s << indent << "  deltas[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.deltas[i]);
+    }
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // JOG_MSGS_MESSAGE_JOGJOINT_H

devel/include/ur_driver/URDriverConfig.h

@@ -0,0 +1,487 @@
+//#line 2 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+// *********************************************************
+//
+// File autogenerated for the ur_driver package
+// by the dynamic_reconfigure package.
+// Please do not edit.
+//
+// ********************************************************/
+
+#ifndef __ur_driver__URDRIVERCONFIG_H__
+#define __ur_driver__URDRIVERCONFIG_H__
+
+#if __cplusplus >= 201103L
+#define DYNAMIC_RECONFIGURE_FINAL final
+#else
+#define DYNAMIC_RECONFIGURE_FINAL
+#endif
+
+#include <dynamic_reconfigure/config_tools.h>
+#include <limits>
+#include <ros/node_handle.h>
+#include <dynamic_reconfigure/ConfigDescription.h>
+#include <dynamic_reconfigure/ParamDescription.h>
+#include <dynamic_reconfigure/Group.h>
+#include <dynamic_reconfigure/config_init_mutex.h>
+#include <boost/any.hpp>
+
+namespace ur_driver
+{
+  class URDriverConfigStatics;
+
+  class URDriverConfig
+  {
+  public:
+    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
+    {
+    public:
+      AbstractParamDescription(std::string n, std::string t, uint32_t l,
+          std::string d, std::string e)
+      {
+        name = n;
+        type = t;
+        level = l;
+        description = d;
+        edit_method = e;
+      }
+
+      virtual void clamp(URDriverConfig &config, const URDriverConfig &max, const URDriverConfig &min) const = 0;
+      virtual void calcLevel(uint32_t &level, const URDriverConfig &config1, const URDriverConfig &config2) const = 0;
+      virtual void fromServer(const ros::NodeHandle &nh, URDriverConfig &config) const = 0;
+      virtual void toServer(const ros::NodeHandle &nh, const URDriverConfig &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, URDriverConfig &config) const = 0;
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const URDriverConfig &config) const = 0;
+      virtual void getValue(const URDriverConfig &config, boost::any &val) const = 0;
+    };
+
+    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
+
+    // Final keyword added to class because it has virtual methods and inherits
+    // from a class with a non-virtual destructor.
+    template <class T>
+    class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
+    {
+    public:
+      ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
+          std::string a_description, std::string a_edit_method, T URDriverConfig::* a_f) :
+        AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
+        field(a_f)
+      {}
+
+      T (URDriverConfig::* field);
+
+      virtual void clamp(URDriverConfig &config, const URDriverConfig &max, const URDriverConfig &min) const
+      {
+        if (config.*field > max.*field)
+          config.*field = max.*field;
+
+        if (config.*field < min.*field)
+          config.*field = min.*field;
+      }
+
+      virtual void calcLevel(uint32_t &comb_level, const URDriverConfig &config1, const URDriverConfig &config2) const
+      {
+        if (config1.*field != config2.*field)
+          comb_level |= level;
+      }
+
+      virtual void fromServer(const ros::NodeHandle &nh, URDriverConfig &config) const
+      {
+        nh.getParam(name, config.*field);
+      }
+
+      virtual void toServer(const ros::NodeHandle &nh, const URDriverConfig &config) const
+      {
+        nh.setParam(name, config.*field);
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, URDriverConfig &config) const
+      {
+        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const URDriverConfig &config) const
+      {
+        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
+      }
+
+      virtual void getValue(const URDriverConfig &config, boost::any &val) const
+      {
+        val = config.*field;
+      }
+    };
+
+    class AbstractGroupDescription : public dynamic_reconfigure::Group
+    {
+      public:
+      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
+      {
+        name = n;
+        type = t;
+        parent = p;
+        state = s;
+        id = i;
+      }
+
+      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
+      bool state;
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
+      virtual void updateParams(boost::any &cfg, URDriverConfig &top) const= 0;
+      virtual void setInitialState(boost::any &cfg) const = 0;
+
+
+      void convertParams()
+      {
+        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
+        {
+          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
+        }
+      }
+    };
+
+    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
+
+    // Final keyword added to class because it has virtual methods and inherits
+    // from a class with a non-virtual destructor.
+    template<class T, class PT>
+    class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
+    {
+    public:
+      GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
+      {
+      }
+
+      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
+      {
+        parameters = g.parameters;
+        abstract_parameters = g.abstract_parameters;
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
+          return false;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          if(!(*i)->fromMessage(msg, n))
+            return false;
+        }
+
+        return true;
+      }
+
+      virtual void setInitialState(boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        T* group = &((*config).*field);
+        group->state = state;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = boost::any(&((*config).*field));
+          (*i)->setInitialState(n);
+        }
+
+      }
+
+      virtual void updateParams(boost::any &cfg, URDriverConfig &top) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+
+        T* f = &((*config).*field);
+        f->setParams(top, abstract_parameters);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          (*i)->updateParams(n, top);
+        }
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
+      {
+        const PT config = boost::any_cast<PT>(cfg);
+        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          (*i)->toMessage(msg, config.*field);
+        }
+      }
+
+      T (PT::* field);
+      std::vector<URDriverConfig::AbstractGroupDescriptionConstPtr> groups;
+    };
+
+class DEFAULT
+{
+  public:
+    DEFAULT()
+    {
+      state = true;
+      name = "Default";
+    }
+
+    void setParams(URDriverConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
+    {
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
+      {
+        boost::any val;
+        (*_i)->getValue(config, val);
+
+        if("prevent_programming"==(*_i)->name){prevent_programming = boost::any_cast<bool>(val);}
+      }
+    }
+
+    bool prevent_programming;
+
+    bool state;
+    std::string name;
+
+    
+}groups;
+
+
+
+//#line 290 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      bool prevent_programming;
+//#line 228 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+
+    bool __fromMessage__(dynamic_reconfigure::Config &msg)
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+
+      int count = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        if ((*i)->fromMessage(msg, *this))
+          count++;
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
+      {
+        if ((*i)->id == 0)
+        {
+          boost::any n = boost::any(this);
+          (*i)->updateParams(n, *this);
+          (*i)->fromMessage(msg, n);
+        }
+      }
+
+      if (count != dynamic_reconfigure::ConfigTools::size(msg))
+      {
+        ROS_ERROR("URDriverConfig::__fromMessage__ called with an unexpected parameter.");
+        ROS_ERROR("Booleans:");
+        for (unsigned int i = 0; i < msg.bools.size(); i++)
+          ROS_ERROR("  %s", msg.bools[i].name.c_str());
+        ROS_ERROR("Integers:");
+        for (unsigned int i = 0; i < msg.ints.size(); i++)
+          ROS_ERROR("  %s", msg.ints[i].name.c_str());
+        ROS_ERROR("Doubles:");
+        for (unsigned int i = 0; i < msg.doubles.size(); i++)
+          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
+        ROS_ERROR("Strings:");
+        for (unsigned int i = 0; i < msg.strs.size(); i++)
+          ROS_ERROR("  %s", msg.strs[i].name.c_str());
+        // @todo Check that there are no duplicates. Make this error more
+        // explicit.
+        return false;
+      }
+      return true;
+    }
+
+    // This version of __toMessage__ is used during initialization of
+    // statics when __getParamDescriptions__ can't be called yet.
+    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
+    {
+      dynamic_reconfigure::ConfigTools::clear(msg);
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toMessage(msg, *this);
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        if((*i)->id == 0)
+        {
+          (*i)->toMessage(msg, *this);
+        }
+      }
+    }
+
+    void __toMessage__(dynamic_reconfigure::Config &msg) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
+    }
+
+    void __toServer__(const ros::NodeHandle &nh) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toServer(nh, *this);
+    }
+
+    void __fromServer__(const ros::NodeHandle &nh)
+    {
+      static bool setup=false;
+
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->fromServer(nh, *this);
+
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
+        if (!setup && (*i)->id == 0) {
+          setup = true;
+          boost::any n = boost::any(this);
+          (*i)->setInitialState(n);
+        }
+      }
+    }
+
+    void __clamp__()
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const URDriverConfig &__max__ = __getMax__();
+      const URDriverConfig &__min__ = __getMin__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->clamp(*this, __max__, __min__);
+    }
+
+    uint32_t __level__(const URDriverConfig &config) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      uint32_t level = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->calcLevel(level, config, *this);
+      return level;
+    }
+
+    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
+    static const URDriverConfig &__getDefault__();
+    static const URDriverConfig &__getMax__();
+    static const URDriverConfig &__getMin__();
+    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
+    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
+
+  private:
+    static const URDriverConfigStatics *__get_statics__();
+  };
+
+  template <> // Max and min are ignored for strings.
+  inline void URDriverConfig::ParamDescription<std::string>::clamp(URDriverConfig &config, const URDriverConfig &max, const URDriverConfig &min) const
+  {
+    (void) config;
+    (void) min;
+    (void) max;
+    return;
+  }
+
+  class URDriverConfigStatics
+  {
+    friend class URDriverConfig;
+
+    URDriverConfigStatics()
+    {
+URDriverConfig::GroupDescription<URDriverConfig::DEFAULT, URDriverConfig> Default("Default", "", 0, 0, true, &URDriverConfig::groups);
+//#line 290 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.prevent_programming = 0;
+//#line 290 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.prevent_programming = 1;
+//#line 290 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.prevent_programming = 0;
+//#line 290 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(URDriverConfig::AbstractParamDescriptionConstPtr(new URDriverConfig::ParamDescription<bool>("prevent_programming", "bool", 0, "Prevent driver from continuously uploading 'prog'", "", &URDriverConfig::prevent_programming)));
+//#line 290 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(URDriverConfig::AbstractParamDescriptionConstPtr(new URDriverConfig::ParamDescription<bool>("prevent_programming", "bool", 0, "Prevent driver from continuously uploading 'prog'", "", &URDriverConfig::prevent_programming)));
+//#line 245 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.convertParams();
+//#line 245 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __group_descriptions__.push_back(URDriverConfig::AbstractGroupDescriptionConstPtr(new URDriverConfig::GroupDescription<URDriverConfig::DEFAULT, URDriverConfig>(Default)));
+//#line 366 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+
+      for (std::vector<URDriverConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        __description_message__.groups.push_back(**i);
+      }
+      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
+      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
+      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
+    }
+    std::vector<URDriverConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
+    std::vector<URDriverConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
+    URDriverConfig __max__;
+    URDriverConfig __min__;
+    URDriverConfig __default__;
+    dynamic_reconfigure::ConfigDescription __description_message__;
+
+    static const URDriverConfigStatics *get_instance()
+    {
+      // Split this off in a separate function because I know that
+      // instance will get initialized the first time get_instance is
+      // called, and I am guaranteeing that get_instance gets called at
+      // most once.
+      static URDriverConfigStatics instance;
+      return &instance;
+    }
+  };
+
+  inline const dynamic_reconfigure::ConfigDescription &URDriverConfig::__getDescriptionMessage__()
+  {
+    return __get_statics__()->__description_message__;
+  }
+
+  inline const URDriverConfig &URDriverConfig::__getDefault__()
+  {
+    return __get_statics__()->__default__;
+  }
+
+  inline const URDriverConfig &URDriverConfig::__getMax__()
+  {
+    return __get_statics__()->__max__;
+  }
+
+  inline const URDriverConfig &URDriverConfig::__getMin__()
+  {
+    return __get_statics__()->__min__;
+  }
+
+  inline const std::vector<URDriverConfig::AbstractParamDescriptionConstPtr> &URDriverConfig::__getParamDescriptions__()
+  {
+    return __get_statics__()->__param_descriptions__;
+  }
+
+  inline const std::vector<URDriverConfig::AbstractGroupDescriptionConstPtr> &URDriverConfig::__getGroupDescriptions__()
+  {
+    return __get_statics__()->__group_descriptions__;
+  }
+
+  inline const URDriverConfigStatics *URDriverConfig::__get_statics__()
+  {
+    const static URDriverConfigStatics *statics;
+
+    if (statics) // Common case
+      return statics;
+
+    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
+
+    if (statics) // In case we lost a race.
+      return statics;
+
+    statics = URDriverConfigStatics::get_instance();
+
+    return statics;
+  }
+
+
+}
+
+#undef DYNAMIC_RECONFIGURE_FINAL
+
+#endif // __URDRIVERRECONFIGURATOR_H__

devel/include/ur_msgs/Analog.h

@@ -0,0 +1,216 @@
+// Generated by gencpp from file ur_msgs/Analog.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_ANALOG_H
+#define UR_MSGS_MESSAGE_ANALOG_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct Analog_
+{
+  typedef Analog_<ContainerAllocator> Type;
+
+  Analog_()
+    : pin(0)
+    , domain(0)
+    , state(0.0)  {
+    }
+  Analog_(const ContainerAllocator& _alloc)
+    : pin(0)
+    , domain(0)
+    , state(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef uint8_t _pin_type;
+  _pin_type pin;
+
+   typedef uint8_t _domain_type;
+  _domain_type domain;
+
+   typedef float _state_type;
+  _state_type state;
+
+
+
+  enum {
+    VOLTAGE = 0u,
+    CURRENT = 1u,
+  };
+
+
+  typedef boost::shared_ptr< ::ur_msgs::Analog_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::Analog_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Analog_
+
+typedef ::ur_msgs::Analog_<std::allocator<void> > Analog;
+
+typedef boost::shared_ptr< ::ur_msgs::Analog > AnalogPtr;
+typedef boost::shared_ptr< ::ur_msgs::Analog const> AnalogConstPtr;
+
+// constants requiring out of line definition
+
+   
+
+   
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::Analog_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::Analog_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::Analog_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::Analog_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::Analog_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::Analog_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::Analog_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::Analog_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::Analog_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "f41c08a810adf63713aec88712cd553d";
+  }
+
+  static const char* value(const ::ur_msgs::Analog_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xf41c08a810adf637ULL;
+  static const uint64_t static_value2 = 0x13aec88712cd553dULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::Analog_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/Analog";
+  }
+
+  static const char* value(const ::ur_msgs::Analog_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::Analog_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "uint8 VOLTAGE=0\n\
+uint8 CURRENT=1\n\
+\n\
+uint8 pin\n\
+uint8 domain # can be VOLTAGE or CURRENT\n\
+float32 state\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::Analog_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::Analog_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.pin);
+      stream.next(m.domain);
+      stream.next(m.state);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct Analog_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::Analog_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::Analog_<ContainerAllocator>& v)
+  {
+    s << indent << "pin: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.pin);
+    s << indent << "domain: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.domain);
+    s << indent << "state: ";
+    Printer<float>::stream(s, indent + "  ", v.state);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_ANALOG_H

devel/include/ur_msgs/Digital.h

@@ -0,0 +1,196 @@
+// Generated by gencpp from file ur_msgs/Digital.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_DIGITAL_H
+#define UR_MSGS_MESSAGE_DIGITAL_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct Digital_
+{
+  typedef Digital_<ContainerAllocator> Type;
+
+  Digital_()
+    : pin(0)
+    , state(false)  {
+    }
+  Digital_(const ContainerAllocator& _alloc)
+    : pin(0)
+    , state(false)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef uint8_t _pin_type;
+  _pin_type pin;
+
+   typedef uint8_t _state_type;
+  _state_type state;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ur_msgs::Digital_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::Digital_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Digital_
+
+typedef ::ur_msgs::Digital_<std::allocator<void> > Digital;
+
+typedef boost::shared_ptr< ::ur_msgs::Digital > DigitalPtr;
+typedef boost::shared_ptr< ::ur_msgs::Digital const> DigitalConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::Digital_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::Digital_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::Digital_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::Digital_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::Digital_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::Digital_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::Digital_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::Digital_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::Digital_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "83707be3fa18d2ffe57381ea034aa262";
+  }
+
+  static const char* value(const ::ur_msgs::Digital_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x83707be3fa18d2ffULL;
+  static const uint64_t static_value2 = 0xe57381ea034aa262ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::Digital_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/Digital";
+  }
+
+  static const char* value(const ::ur_msgs::Digital_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::Digital_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "uint8 pin\n\
+bool state\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::Digital_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::Digital_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.pin);
+      stream.next(m.state);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct Digital_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::Digital_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::Digital_<ContainerAllocator>& v)
+  {
+    s << indent << "pin: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.pin);
+    s << indent << "state: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.state);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_DIGITAL_H

devel/include/ur_msgs/IOStates.h

@@ -0,0 +1,272 @@
+// Generated by gencpp from file ur_msgs/IOStates.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_IOSTATES_H
+#define UR_MSGS_MESSAGE_IOSTATES_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <ur_msgs/Digital.h>
+#include <ur_msgs/Digital.h>
+#include <ur_msgs/Digital.h>
+#include <ur_msgs/Analog.h>
+#include <ur_msgs/Analog.h>
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct IOStates_
+{
+  typedef IOStates_<ContainerAllocator> Type;
+
+  IOStates_()
+    : digital_in_states()
+    , digital_out_states()
+    , flag_states()
+    , analog_in_states()
+    , analog_out_states()  {
+    }
+  IOStates_(const ContainerAllocator& _alloc)
+    : digital_in_states(_alloc)
+    , digital_out_states(_alloc)
+    , flag_states(_alloc)
+    , analog_in_states(_alloc)
+    , analog_out_states(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::vector< ::ur_msgs::Digital_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ur_msgs::Digital_<ContainerAllocator> >::other >  _digital_in_states_type;
+  _digital_in_states_type digital_in_states;
+
+   typedef std::vector< ::ur_msgs::Digital_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ur_msgs::Digital_<ContainerAllocator> >::other >  _digital_out_states_type;
+  _digital_out_states_type digital_out_states;
+
+   typedef std::vector< ::ur_msgs::Digital_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ur_msgs::Digital_<ContainerAllocator> >::other >  _flag_states_type;
+  _flag_states_type flag_states;
+
+   typedef std::vector< ::ur_msgs::Analog_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ur_msgs::Analog_<ContainerAllocator> >::other >  _analog_in_states_type;
+  _analog_in_states_type analog_in_states;
+
+   typedef std::vector< ::ur_msgs::Analog_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ur_msgs::Analog_<ContainerAllocator> >::other >  _analog_out_states_type;
+  _analog_out_states_type analog_out_states;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ur_msgs::IOStates_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::IOStates_<ContainerAllocator> const> ConstPtr;
+
+}; // struct IOStates_
+
+typedef ::ur_msgs::IOStates_<std::allocator<void> > IOStates;
+
+typedef boost::shared_ptr< ::ur_msgs::IOStates > IOStatesPtr;
+typedef boost::shared_ptr< ::ur_msgs::IOStates const> IOStatesConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::IOStates_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::IOStates_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::IOStates_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::IOStates_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::IOStates_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::IOStates_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::IOStates_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::IOStates_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::IOStates_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "3033784e7041da89491b97cc4c1105b5";
+  }
+
+  static const char* value(const ::ur_msgs::IOStates_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x3033784e7041da89ULL;
+  static const uint64_t static_value2 = 0x491b97cc4c1105b5ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::IOStates_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/IOStates";
+  }
+
+  static const char* value(const ::ur_msgs::IOStates_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::IOStates_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "Digital[] digital_in_states\n\
+Digital[] digital_out_states\n\
+Digital[] flag_states\n\
+Analog[] analog_in_states\n\
+Analog[] analog_out_states\n\
+\n\
+================================================================================\n\
+MSG: ur_msgs/Digital\n\
+uint8 pin\n\
+bool state\n\
+\n\
+================================================================================\n\
+MSG: ur_msgs/Analog\n\
+uint8 VOLTAGE=0\n\
+uint8 CURRENT=1\n\
+\n\
+uint8 pin\n\
+uint8 domain # can be VOLTAGE or CURRENT\n\
+float32 state\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::IOStates_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::IOStates_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.digital_in_states);
+      stream.next(m.digital_out_states);
+      stream.next(m.flag_states);
+      stream.next(m.analog_in_states);
+      stream.next(m.analog_out_states);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct IOStates_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::IOStates_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::IOStates_<ContainerAllocator>& v)
+  {
+    s << indent << "digital_in_states[]" << std::endl;
+    for (size_t i = 0; i < v.digital_in_states.size(); ++i)
+    {
+      s << indent << "  digital_in_states[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::ur_msgs::Digital_<ContainerAllocator> >::stream(s, indent + "    ", v.digital_in_states[i]);
+    }
+    s << indent << "digital_out_states[]" << std::endl;
+    for (size_t i = 0; i < v.digital_out_states.size(); ++i)
+    {
+      s << indent << "  digital_out_states[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::ur_msgs::Digital_<ContainerAllocator> >::stream(s, indent + "    ", v.digital_out_states[i]);
+    }
+    s << indent << "flag_states[]" << std::endl;
+    for (size_t i = 0; i < v.flag_states.size(); ++i)
+    {
+      s << indent << "  flag_states[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::ur_msgs::Digital_<ContainerAllocator> >::stream(s, indent + "    ", v.flag_states[i]);
+    }
+    s << indent << "analog_in_states[]" << std::endl;
+    for (size_t i = 0; i < v.analog_in_states.size(); ++i)
+    {
+      s << indent << "  analog_in_states[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::ur_msgs::Analog_<ContainerAllocator> >::stream(s, indent + "    ", v.analog_in_states[i]);
+    }
+    s << indent << "analog_out_states[]" << std::endl;
+    for (size_t i = 0; i < v.analog_out_states.size(); ++i)
+    {
+      s << indent << "  analog_out_states[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::ur_msgs::Analog_<ContainerAllocator> >::stream(s, indent + "    ", v.analog_out_states[i]);
+    }
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_IOSTATES_H

devel/include/ur_msgs/MasterboardDataMsg.h

@@ -0,0 +1,333 @@
+// Generated by gencpp from file ur_msgs/MasterboardDataMsg.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_MASTERBOARDDATAMSG_H
+#define UR_MSGS_MESSAGE_MASTERBOARDDATAMSG_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct MasterboardDataMsg_
+{
+  typedef MasterboardDataMsg_<ContainerAllocator> Type;
+
+  MasterboardDataMsg_()
+    : digital_input_bits(0)
+    , digital_output_bits(0)
+    , analog_input_range0(0)
+    , analog_input_range1(0)
+    , analog_input0(0.0)
+    , analog_input1(0.0)
+    , analog_output_domain0(0)
+    , analog_output_domain1(0)
+    , analog_output0(0.0)
+    , analog_output1(0.0)
+    , masterboard_temperature(0.0)
+    , robot_voltage_48V(0.0)
+    , robot_current(0.0)
+    , master_io_current(0.0)
+    , master_safety_state(0)
+    , master_onoff_state(0)  {
+    }
+  MasterboardDataMsg_(const ContainerAllocator& _alloc)
+    : digital_input_bits(0)
+    , digital_output_bits(0)
+    , analog_input_range0(0)
+    , analog_input_range1(0)
+    , analog_input0(0.0)
+    , analog_input1(0.0)
+    , analog_output_domain0(0)
+    , analog_output_domain1(0)
+    , analog_output0(0.0)
+    , analog_output1(0.0)
+    , masterboard_temperature(0.0)
+    , robot_voltage_48V(0.0)
+    , robot_current(0.0)
+    , master_io_current(0.0)
+    , master_safety_state(0)
+    , master_onoff_state(0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef uint32_t _digital_input_bits_type;
+  _digital_input_bits_type digital_input_bits;
+
+   typedef uint32_t _digital_output_bits_type;
+  _digital_output_bits_type digital_output_bits;
+
+   typedef int8_t _analog_input_range0_type;
+  _analog_input_range0_type analog_input_range0;
+
+   typedef int8_t _analog_input_range1_type;
+  _analog_input_range1_type analog_input_range1;
+
+   typedef double _analog_input0_type;
+  _analog_input0_type analog_input0;
+
+   typedef double _analog_input1_type;
+  _analog_input1_type analog_input1;
+
+   typedef int8_t _analog_output_domain0_type;
+  _analog_output_domain0_type analog_output_domain0;
+
+   typedef int8_t _analog_output_domain1_type;
+  _analog_output_domain1_type analog_output_domain1;
+
+   typedef double _analog_output0_type;
+  _analog_output0_type analog_output0;
+
+   typedef double _analog_output1_type;
+  _analog_output1_type analog_output1;
+
+   typedef float _masterboard_temperature_type;
+  _masterboard_temperature_type masterboard_temperature;
+
+   typedef float _robot_voltage_48V_type;
+  _robot_voltage_48V_type robot_voltage_48V;
+
+   typedef float _robot_current_type;
+  _robot_current_type robot_current;
+
+   typedef float _master_io_current_type;
+  _master_io_current_type master_io_current;
+
+   typedef uint8_t _master_safety_state_type;
+  _master_safety_state_type master_safety_state;
+
+   typedef uint8_t _master_onoff_state_type;
+  _master_onoff_state_type master_onoff_state;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> const> ConstPtr;
+
+}; // struct MasterboardDataMsg_
+
+typedef ::ur_msgs::MasterboardDataMsg_<std::allocator<void> > MasterboardDataMsg;
+
+typedef boost::shared_ptr< ::ur_msgs::MasterboardDataMsg > MasterboardDataMsgPtr;
+typedef boost::shared_ptr< ::ur_msgs::MasterboardDataMsg const> MasterboardDataMsgConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "807af5dc427082b111fa23d1fd2cd585";
+  }
+
+  static const char* value(const ::ur_msgs::MasterboardDataMsg_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x807af5dc427082b1ULL;
+  static const uint64_t static_value2 = 0x11fa23d1fd2cd585ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/MasterboardDataMsg";
+  }
+
+  static const char* value(const ::ur_msgs::MasterboardDataMsg_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# This data structure contains the MasterboardData structure\n\
+# used by the Universal Robots controller\n\
+#\n\
+# MasterboardData is part of the data structure being send on the \n\
+# secondary client communications interface\n\
+# \n\
+# This data structure is send at 10 Hz on TCP port 30002\n\
+# \n\
+# Documentation can be found on the Universal Robots Support site, article\n\
+# number 16496.\n\
+\n\
+uint32 digital_input_bits\n\
+uint32 digital_output_bits\n\
+int8 analog_input_range0\n\
+int8 analog_input_range1\n\
+float64 analog_input0\n\
+float64 analog_input1\n\
+int8 analog_output_domain0\n\
+int8 analog_output_domain1\n\
+float64 analog_output0\n\
+float64 analog_output1\n\
+float32 masterboard_temperature\n\
+float32 robot_voltage_48V\n\
+float32 robot_current\n\
+float32 master_io_current\n\
+uint8 master_safety_state\n\
+uint8 master_onoff_state\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::MasterboardDataMsg_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.digital_input_bits);
+      stream.next(m.digital_output_bits);
+      stream.next(m.analog_input_range0);
+      stream.next(m.analog_input_range1);
+      stream.next(m.analog_input0);
+      stream.next(m.analog_input1);
+      stream.next(m.analog_output_domain0);
+      stream.next(m.analog_output_domain1);
+      stream.next(m.analog_output0);
+      stream.next(m.analog_output1);
+      stream.next(m.masterboard_temperature);
+      stream.next(m.robot_voltage_48V);
+      stream.next(m.robot_current);
+      stream.next(m.master_io_current);
+      stream.next(m.master_safety_state);
+      stream.next(m.master_onoff_state);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct MasterboardDataMsg_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::MasterboardDataMsg_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::MasterboardDataMsg_<ContainerAllocator>& v)
+  {
+    s << indent << "digital_input_bits: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.digital_input_bits);
+    s << indent << "digital_output_bits: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.digital_output_bits);
+    s << indent << "analog_input_range0: ";
+    Printer<int8_t>::stream(s, indent + "  ", v.analog_input_range0);
+    s << indent << "analog_input_range1: ";
+    Printer<int8_t>::stream(s, indent + "  ", v.analog_input_range1);
+    s << indent << "analog_input0: ";
+    Printer<double>::stream(s, indent + "  ", v.analog_input0);
+    s << indent << "analog_input1: ";
+    Printer<double>::stream(s, indent + "  ", v.analog_input1);
+    s << indent << "analog_output_domain0: ";
+    Printer<int8_t>::stream(s, indent + "  ", v.analog_output_domain0);
+    s << indent << "analog_output_domain1: ";
+    Printer<int8_t>::stream(s, indent + "  ", v.analog_output_domain1);
+    s << indent << "analog_output0: ";
+    Printer<double>::stream(s, indent + "  ", v.analog_output0);
+    s << indent << "analog_output1: ";
+    Printer<double>::stream(s, indent + "  ", v.analog_output1);
+    s << indent << "masterboard_temperature: ";
+    Printer<float>::stream(s, indent + "  ", v.masterboard_temperature);
+    s << indent << "robot_voltage_48V: ";
+    Printer<float>::stream(s, indent + "  ", v.robot_voltage_48V);
+    s << indent << "robot_current: ";
+    Printer<float>::stream(s, indent + "  ", v.robot_current);
+    s << indent << "master_io_current: ";
+    Printer<float>::stream(s, indent + "  ", v.master_io_current);
+    s << indent << "master_safety_state: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.master_safety_state);
+    s << indent << "master_onoff_state: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.master_onoff_state);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_MASTERBOARDDATAMSG_H

devel/include/ur_msgs/RobotModeDataMsg.h

@@ -0,0 +1,257 @@
+// Generated by gencpp from file ur_msgs/RobotModeDataMsg.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_ROBOTMODEDATAMSG_H
+#define UR_MSGS_MESSAGE_ROBOTMODEDATAMSG_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct RobotModeDataMsg_
+{
+  typedef RobotModeDataMsg_<ContainerAllocator> Type;
+
+  RobotModeDataMsg_()
+    : timestamp(0)
+    , is_robot_connected(false)
+    , is_real_robot_enabled(false)
+    , is_power_on_robot(false)
+    , is_emergency_stopped(false)
+    , is_protective_stopped(false)
+    , is_program_running(false)
+    , is_program_paused(false)  {
+    }
+  RobotModeDataMsg_(const ContainerAllocator& _alloc)
+    : timestamp(0)
+    , is_robot_connected(false)
+    , is_real_robot_enabled(false)
+    , is_power_on_robot(false)
+    , is_emergency_stopped(false)
+    , is_protective_stopped(false)
+    , is_program_running(false)
+    , is_program_paused(false)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef uint64_t _timestamp_type;
+  _timestamp_type timestamp;
+
+   typedef uint8_t _is_robot_connected_type;
+  _is_robot_connected_type is_robot_connected;
+
+   typedef uint8_t _is_real_robot_enabled_type;
+  _is_real_robot_enabled_type is_real_robot_enabled;
+
+   typedef uint8_t _is_power_on_robot_type;
+  _is_power_on_robot_type is_power_on_robot;
+
+   typedef uint8_t _is_emergency_stopped_type;
+  _is_emergency_stopped_type is_emergency_stopped;
+
+   typedef uint8_t _is_protective_stopped_type;
+  _is_protective_stopped_type is_protective_stopped;
+
+   typedef uint8_t _is_program_running_type;
+  _is_program_running_type is_program_running;
+
+   typedef uint8_t _is_program_paused_type;
+  _is_program_paused_type is_program_paused;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> const> ConstPtr;
+
+}; // struct RobotModeDataMsg_
+
+typedef ::ur_msgs::RobotModeDataMsg_<std::allocator<void> > RobotModeDataMsg;
+
+typedef boost::shared_ptr< ::ur_msgs::RobotModeDataMsg > RobotModeDataMsgPtr;
+typedef boost::shared_ptr< ::ur_msgs::RobotModeDataMsg const> RobotModeDataMsgConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "867308ca39e2cc0644b50db27deb661f";
+  }
+
+  static const char* value(const ::ur_msgs::RobotModeDataMsg_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x867308ca39e2cc06ULL;
+  static const uint64_t static_value2 = 0x44b50db27deb661fULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/RobotModeDataMsg";
+  }
+
+  static const char* value(const ::ur_msgs::RobotModeDataMsg_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# This data structure contains the RobotModeData structure\n\
+# used by the Universal Robots controller\n\
+#\n\
+# This data structure is send at 10 Hz on TCP port 30002\n\
+#\n\
+# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset.\n\
+\n\
+uint64 timestamp\n\
+bool is_robot_connected\n\
+bool is_real_robot_enabled\n\
+bool is_power_on_robot\n\
+bool is_emergency_stopped\n\
+bool is_protective_stopped\n\
+bool is_program_running\n\
+bool is_program_paused\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::RobotModeDataMsg_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.timestamp);
+      stream.next(m.is_robot_connected);
+      stream.next(m.is_real_robot_enabled);
+      stream.next(m.is_power_on_robot);
+      stream.next(m.is_emergency_stopped);
+      stream.next(m.is_protective_stopped);
+      stream.next(m.is_program_running);
+      stream.next(m.is_program_paused);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct RobotModeDataMsg_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::RobotModeDataMsg_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::RobotModeDataMsg_<ContainerAllocator>& v)
+  {
+    s << indent << "timestamp: ";
+    Printer<uint64_t>::stream(s, indent + "  ", v.timestamp);
+    s << indent << "is_robot_connected: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_robot_connected);
+    s << indent << "is_real_robot_enabled: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_real_robot_enabled);
+    s << indent << "is_power_on_robot: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_power_on_robot);
+    s << indent << "is_emergency_stopped: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_emergency_stopped);
+    s << indent << "is_protective_stopped: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_protective_stopped);
+    s << indent << "is_program_running: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_program_running);
+    s << indent << "is_program_paused: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.is_program_paused);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_ROBOTMODEDATAMSG_H

devel/include/ur_msgs/RobotStateRTMsg.h

@@ -0,0 +1,413 @@
+// Generated by gencpp from file ur_msgs/RobotStateRTMsg.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_ROBOTSTATERTMSG_H
+#define UR_MSGS_MESSAGE_ROBOTSTATERTMSG_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct RobotStateRTMsg_
+{
+  typedef RobotStateRTMsg_<ContainerAllocator> Type;
+
+  RobotStateRTMsg_()
+    : time(0.0)
+    , q_target()
+    , qd_target()
+    , qdd_target()
+    , i_target()
+    , m_target()
+    , q_actual()
+    , qd_actual()
+    , i_actual()
+    , tool_acc_values()
+    , tcp_force()
+    , tool_vector()
+    , tcp_speed()
+    , digital_input_bits(0.0)
+    , motor_temperatures()
+    , controller_timer(0.0)
+    , test_value(0.0)
+    , robot_mode(0.0)
+    , joint_modes()  {
+    }
+  RobotStateRTMsg_(const ContainerAllocator& _alloc)
+    : time(0.0)
+    , q_target(_alloc)
+    , qd_target(_alloc)
+    , qdd_target(_alloc)
+    , i_target(_alloc)
+    , m_target(_alloc)
+    , q_actual(_alloc)
+    , qd_actual(_alloc)
+    , i_actual(_alloc)
+    , tool_acc_values(_alloc)
+    , tcp_force(_alloc)
+    , tool_vector(_alloc)
+    , tcp_speed(_alloc)
+    , digital_input_bits(0.0)
+    , motor_temperatures(_alloc)
+    , controller_timer(0.0)
+    , test_value(0.0)
+    , robot_mode(0.0)
+    , joint_modes(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef double _time_type;
+  _time_type time;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _q_target_type;
+  _q_target_type q_target;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qd_target_type;
+  _qd_target_type qd_target;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qdd_target_type;
+  _qdd_target_type qdd_target;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _i_target_type;
+  _i_target_type i_target;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _m_target_type;
+  _m_target_type m_target;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _q_actual_type;
+  _q_actual_type q_actual;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qd_actual_type;
+  _qd_actual_type qd_actual;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _i_actual_type;
+  _i_actual_type i_actual;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tool_acc_values_type;
+  _tool_acc_values_type tool_acc_values;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tcp_force_type;
+  _tcp_force_type tcp_force;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tool_vector_type;
+  _tool_vector_type tool_vector;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tcp_speed_type;
+  _tcp_speed_type tcp_speed;
+
+   typedef double _digital_input_bits_type;
+  _digital_input_bits_type digital_input_bits;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _motor_temperatures_type;
+  _motor_temperatures_type motor_temperatures;
+
+   typedef double _controller_timer_type;
+  _controller_timer_type controller_timer;
+
+   typedef double _test_value_type;
+  _test_value_type test_value;
+
+   typedef double _robot_mode_type;
+  _robot_mode_type robot_mode;
+
+   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _joint_modes_type;
+  _joint_modes_type joint_modes;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> const> ConstPtr;
+
+}; // struct RobotStateRTMsg_
+
+typedef ::ur_msgs::RobotStateRTMsg_<std::allocator<void> > RobotStateRTMsg;
+
+typedef boost::shared_ptr< ::ur_msgs::RobotStateRTMsg > RobotStateRTMsgPtr;
+typedef boost::shared_ptr< ::ur_msgs::RobotStateRTMsg const> RobotStateRTMsgConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ce6feddd3ccb4ca7dbcd0ff105b603c7";
+  }
+
+  static const char* value(const ::ur_msgs::RobotStateRTMsg_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xce6feddd3ccb4ca7ULL;
+  static const uint64_t static_value2 = 0xdbcd0ff105b603c7ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/RobotStateRTMsg";
+  }
+
+  static const char* value(const ::ur_msgs::RobotStateRTMsg_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# Data structure for the realtime communications interface (aka Matlab interface)\n\
+# used by the Universal Robots controller\n\
+# \n\
+# This data structure is send at 125 Hz on TCP port 30003\n\
+# \n\
+# Dokumentation can be found on the Universal Robots Support Wiki\n\
+# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)\n\
+\n\
+float64 time\n\
+float64[] q_target\n\
+float64[] qd_target\n\
+float64[] qdd_target\n\
+float64[] i_target\n\
+float64[] m_target\n\
+float64[] q_actual\n\
+float64[] qd_actual\n\
+float64[] i_actual\n\
+float64[] tool_acc_values\n\
+float64[] tcp_force\n\
+float64[] tool_vector\n\
+float64[] tcp_speed\n\
+float64 digital_input_bits\n\
+float64[] motor_temperatures\n\
+float64 controller_timer\n\
+float64 test_value\n\
+float64 robot_mode\n\
+float64[] joint_modes\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::RobotStateRTMsg_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.time);
+      stream.next(m.q_target);
+      stream.next(m.qd_target);
+      stream.next(m.qdd_target);
+      stream.next(m.i_target);
+      stream.next(m.m_target);
+      stream.next(m.q_actual);
+      stream.next(m.qd_actual);
+      stream.next(m.i_actual);
+      stream.next(m.tool_acc_values);
+      stream.next(m.tcp_force);
+      stream.next(m.tool_vector);
+      stream.next(m.tcp_speed);
+      stream.next(m.digital_input_bits);
+      stream.next(m.motor_temperatures);
+      stream.next(m.controller_timer);
+      stream.next(m.test_value);
+      stream.next(m.robot_mode);
+      stream.next(m.joint_modes);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct RobotStateRTMsg_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::RobotStateRTMsg_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::RobotStateRTMsg_<ContainerAllocator>& v)
+  {
+    s << indent << "time: ";
+    Printer<double>::stream(s, indent + "  ", v.time);
+    s << indent << "q_target[]" << std::endl;
+    for (size_t i = 0; i < v.q_target.size(); ++i)
+    {
+      s << indent << "  q_target[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.q_target[i]);
+    }
+    s << indent << "qd_target[]" << std::endl;
+    for (size_t i = 0; i < v.qd_target.size(); ++i)
+    {
+      s << indent << "  qd_target[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.qd_target[i]);
+    }
+    s << indent << "qdd_target[]" << std::endl;
+    for (size_t i = 0; i < v.qdd_target.size(); ++i)
+    {
+      s << indent << "  qdd_target[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.qdd_target[i]);
+    }
+    s << indent << "i_target[]" << std::endl;
+    for (size_t i = 0; i < v.i_target.size(); ++i)
+    {
+      s << indent << "  i_target[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.i_target[i]);
+    }
+    s << indent << "m_target[]" << std::endl;
+    for (size_t i = 0; i < v.m_target.size(); ++i)
+    {
+      s << indent << "  m_target[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.m_target[i]);
+    }
+    s << indent << "q_actual[]" << std::endl;
+    for (size_t i = 0; i < v.q_actual.size(); ++i)
+    {
+      s << indent << "  q_actual[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.q_actual[i]);
+    }
+    s << indent << "qd_actual[]" << std::endl;
+    for (size_t i = 0; i < v.qd_actual.size(); ++i)
+    {
+      s << indent << "  qd_actual[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.qd_actual[i]);
+    }
+    s << indent << "i_actual[]" << std::endl;
+    for (size_t i = 0; i < v.i_actual.size(); ++i)
+    {
+      s << indent << "  i_actual[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.i_actual[i]);
+    }
+    s << indent << "tool_acc_values[]" << std::endl;
+    for (size_t i = 0; i < v.tool_acc_values.size(); ++i)
+    {
+      s << indent << "  tool_acc_values[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.tool_acc_values[i]);
+    }
+    s << indent << "tcp_force[]" << std::endl;
+    for (size_t i = 0; i < v.tcp_force.size(); ++i)
+    {
+      s << indent << "  tcp_force[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.tcp_force[i]);
+    }
+    s << indent << "tool_vector[]" << std::endl;
+    for (size_t i = 0; i < v.tool_vector.size(); ++i)
+    {
+      s << indent << "  tool_vector[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.tool_vector[i]);
+    }
+    s << indent << "tcp_speed[]" << std::endl;
+    for (size_t i = 0; i < v.tcp_speed.size(); ++i)
+    {
+      s << indent << "  tcp_speed[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.tcp_speed[i]);
+    }
+    s << indent << "digital_input_bits: ";
+    Printer<double>::stream(s, indent + "  ", v.digital_input_bits);
+    s << indent << "motor_temperatures[]" << std::endl;
+    for (size_t i = 0; i < v.motor_temperatures.size(); ++i)
+    {
+      s << indent << "  motor_temperatures[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.motor_temperatures[i]);
+    }
+    s << indent << "controller_timer: ";
+    Printer<double>::stream(s, indent + "  ", v.controller_timer);
+    s << indent << "test_value: ";
+    Printer<double>::stream(s, indent + "  ", v.test_value);
+    s << indent << "robot_mode: ";
+    Printer<double>::stream(s, indent + "  ", v.robot_mode);
+    s << indent << "joint_modes[]" << std::endl;
+    for (size_t i = 0; i < v.joint_modes.size(); ++i)
+    {
+      s << indent << "  joint_modes[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.joint_modes[i]);
+    }
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_ROBOTSTATERTMSG_H

devel/include/ur_msgs/SetIO.h

@@ -0,0 +1,123 @@
+// Generated by gencpp from file ur_msgs/SetIO.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_SETIO_H
+#define UR_MSGS_MESSAGE_SETIO_H
+
+#include <ros/service_traits.h>
+
+
+#include <ur_msgs/SetIORequest.h>
+#include <ur_msgs/SetIOResponse.h>
+
+
+namespace ur_msgs
+{
+
+struct SetIO
+{
+
+typedef SetIORequest Request;
+typedef SetIOResponse Response;
+Request request;
+Response response;
+
+typedef Request RequestType;
+typedef Response ResponseType;
+
+}; // struct SetIO
+} // namespace ur_msgs
+
+
+namespace ros
+{
+namespace service_traits
+{
+
+
+template<>
+struct MD5Sum< ::ur_msgs::SetIO > {
+  static const char* value()
+  {
+    return "e1b580ccf43a938f2efbbb98bbe3e277";
+  }
+
+  static const char* value(const ::ur_msgs::SetIO&) { return value(); }
+};
+
+template<>
+struct DataType< ::ur_msgs::SetIO > {
+  static const char* value()
+  {
+    return "ur_msgs/SetIO";
+  }
+
+  static const char* value(const ::ur_msgs::SetIO&) { return value(); }
+};
+
+
+// service_traits::MD5Sum< ::ur_msgs::SetIORequest> should match 
+// service_traits::MD5Sum< ::ur_msgs::SetIO > 
+template<>
+struct MD5Sum< ::ur_msgs::SetIORequest>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::ur_msgs::SetIO >::value();
+  }
+  static const char* value(const ::ur_msgs::SetIORequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::ur_msgs::SetIORequest> should match 
+// service_traits::DataType< ::ur_msgs::SetIO > 
+template<>
+struct DataType< ::ur_msgs::SetIORequest>
+{
+  static const char* value()
+  {
+    return DataType< ::ur_msgs::SetIO >::value();
+  }
+  static const char* value(const ::ur_msgs::SetIORequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::MD5Sum< ::ur_msgs::SetIOResponse> should match 
+// service_traits::MD5Sum< ::ur_msgs::SetIO > 
+template<>
+struct MD5Sum< ::ur_msgs::SetIOResponse>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::ur_msgs::SetIO >::value();
+  }
+  static const char* value(const ::ur_msgs::SetIOResponse&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::ur_msgs::SetIOResponse> should match 
+// service_traits::DataType< ::ur_msgs::SetIO > 
+template<>
+struct DataType< ::ur_msgs::SetIOResponse>
+{
+  static const char* value()
+  {
+    return DataType< ::ur_msgs::SetIO >::value();
+  }
+  static const char* value(const ::ur_msgs::SetIOResponse&)
+  {
+    return value();
+  }
+};
+
+} // namespace service_traits
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_SETIO_H

devel/include/ur_msgs/SetPayload.h

@@ -0,0 +1,123 @@
+// Generated by gencpp from file ur_msgs/SetPayload.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_SETPAYLOAD_H
+#define UR_MSGS_MESSAGE_SETPAYLOAD_H
+
+#include <ros/service_traits.h>
+
+
+#include <ur_msgs/SetPayloadRequest.h>
+#include <ur_msgs/SetPayloadResponse.h>
+
+
+namespace ur_msgs
+{
+
+struct SetPayload
+{
+
+typedef SetPayloadRequest Request;
+typedef SetPayloadResponse Response;
+Request request;
+Response response;
+
+typedef Request RequestType;
+typedef Response ResponseType;
+
+}; // struct SetPayload
+} // namespace ur_msgs
+
+
+namespace ros
+{
+namespace service_traits
+{
+
+
+template<>
+struct MD5Sum< ::ur_msgs::SetPayload > {
+  static const char* value()
+  {
+    return "7f12eb632882cb73e5721178d0073e39";
+  }
+
+  static const char* value(const ::ur_msgs::SetPayload&) { return value(); }
+};
+
+template<>
+struct DataType< ::ur_msgs::SetPayload > {
+  static const char* value()
+  {
+    return "ur_msgs/SetPayload";
+  }
+
+  static const char* value(const ::ur_msgs::SetPayload&) { return value(); }
+};
+
+
+// service_traits::MD5Sum< ::ur_msgs::SetPayloadRequest> should match 
+// service_traits::MD5Sum< ::ur_msgs::SetPayload > 
+template<>
+struct MD5Sum< ::ur_msgs::SetPayloadRequest>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::ur_msgs::SetPayload >::value();
+  }
+  static const char* value(const ::ur_msgs::SetPayloadRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::ur_msgs::SetPayloadRequest> should match 
+// service_traits::DataType< ::ur_msgs::SetPayload > 
+template<>
+struct DataType< ::ur_msgs::SetPayloadRequest>
+{
+  static const char* value()
+  {
+    return DataType< ::ur_msgs::SetPayload >::value();
+  }
+  static const char* value(const ::ur_msgs::SetPayloadRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::MD5Sum< ::ur_msgs::SetPayloadResponse> should match 
+// service_traits::MD5Sum< ::ur_msgs::SetPayload > 
+template<>
+struct MD5Sum< ::ur_msgs::SetPayloadResponse>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::ur_msgs::SetPayload >::value();
+  }
+  static const char* value(const ::ur_msgs::SetPayloadResponse&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::ur_msgs::SetPayloadResponse> should match 
+// service_traits::DataType< ::ur_msgs::SetPayload > 
+template<>
+struct DataType< ::ur_msgs::SetPayloadResponse>
+{
+  static const char* value()
+  {
+    return DataType< ::ur_msgs::SetPayload >::value();
+  }
+  static const char* value(const ::ur_msgs::SetPayloadResponse&)
+  {
+    return value();
+  }
+};
+
+} // namespace service_traits
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_SETPAYLOAD_H

devel/include/ur_msgs/SetSpeedSliderFraction.h

@@ -0,0 +1,123 @@
+// Generated by gencpp from file ur_msgs/SetSpeedSliderFraction.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_SETSPEEDSLIDERFRACTION_H
+#define UR_MSGS_MESSAGE_SETSPEEDSLIDERFRACTION_H
+
+#include <ros/service_traits.h>
+
+
+#include <ur_msgs/SetSpeedSliderFractionRequest.h>
+#include <ur_msgs/SetSpeedSliderFractionResponse.h>
+
+
+namespace ur_msgs
+{
+
+struct SetSpeedSliderFraction
+{
+
+typedef SetSpeedSliderFractionRequest Request;
+typedef SetSpeedSliderFractionResponse Response;
+Request request;
+Response response;
+
+typedef Request RequestType;
+typedef Response ResponseType;
+
+}; // struct SetSpeedSliderFraction
+} // namespace ur_msgs
+
+
+namespace ros
+{
+namespace service_traits
+{
+
+
+template<>
+struct MD5Sum< ::ur_msgs::SetSpeedSliderFraction > {
+  static const char* value()
+  {
+    return "172aeb6c49379a44cf68480fa5bfad3c";
+  }
+
+  static const char* value(const ::ur_msgs::SetSpeedSliderFraction&) { return value(); }
+};
+
+template<>
+struct DataType< ::ur_msgs::SetSpeedSliderFraction > {
+  static const char* value()
+  {
+    return "ur_msgs/SetSpeedSliderFraction";
+  }
+
+  static const char* value(const ::ur_msgs::SetSpeedSliderFraction&) { return value(); }
+};
+
+
+// service_traits::MD5Sum< ::ur_msgs::SetSpeedSliderFractionRequest> should match 
+// service_traits::MD5Sum< ::ur_msgs::SetSpeedSliderFraction > 
+template<>
+struct MD5Sum< ::ur_msgs::SetSpeedSliderFractionRequest>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::ur_msgs::SetSpeedSliderFraction >::value();
+  }
+  static const char* value(const ::ur_msgs::SetSpeedSliderFractionRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::ur_msgs::SetSpeedSliderFractionRequest> should match 
+// service_traits::DataType< ::ur_msgs::SetSpeedSliderFraction > 
+template<>
+struct DataType< ::ur_msgs::SetSpeedSliderFractionRequest>
+{
+  static const char* value()
+  {
+    return DataType< ::ur_msgs::SetSpeedSliderFraction >::value();
+  }
+  static const char* value(const ::ur_msgs::SetSpeedSliderFractionRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::MD5Sum< ::ur_msgs::SetSpeedSliderFractionResponse> should match 
+// service_traits::MD5Sum< ::ur_msgs::SetSpeedSliderFraction > 
+template<>
+struct MD5Sum< ::ur_msgs::SetSpeedSliderFractionResponse>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::ur_msgs::SetSpeedSliderFraction >::value();
+  }
+  static const char* value(const ::ur_msgs::SetSpeedSliderFractionResponse&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::ur_msgs::SetSpeedSliderFractionResponse> should match 
+// service_traits::DataType< ::ur_msgs::SetSpeedSliderFraction > 
+template<>
+struct DataType< ::ur_msgs::SetSpeedSliderFractionResponse>
+{
+  static const char* value()
+  {
+    return DataType< ::ur_msgs::SetSpeedSliderFraction >::value();
+  }
+  static const char* value(const ::ur_msgs::SetSpeedSliderFractionResponse&)
+  {
+    return value();
+  }
+};
+
+} // namespace service_traits
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_SETSPEEDSLIDERFRACTION_H

devel/include/ur_msgs/ToolDataMsg.h

@@ -0,0 +1,287 @@
+// Generated by gencpp from file ur_msgs/ToolDataMsg.msg
+// DO NOT EDIT!
+
+
+#ifndef UR_MSGS_MESSAGE_TOOLDATAMSG_H
+#define UR_MSGS_MESSAGE_TOOLDATAMSG_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ur_msgs
+{
+template <class ContainerAllocator>
+struct ToolDataMsg_
+{
+  typedef ToolDataMsg_<ContainerAllocator> Type;
+
+  ToolDataMsg_()
+    : analog_input_range2(0)
+    , analog_input_range3(0)
+    , analog_input2(0.0)
+    , analog_input3(0.0)
+    , tool_voltage_48v(0.0)
+    , tool_output_voltage(0)
+    , tool_current(0.0)
+    , tool_temperature(0.0)
+    , tool_mode(0)  {
+    }
+  ToolDataMsg_(const ContainerAllocator& _alloc)
+    : analog_input_range2(0)
+    , analog_input_range3(0)
+    , analog_input2(0.0)
+    , analog_input3(0.0)
+    , tool_voltage_48v(0.0)
+    , tool_output_voltage(0)
+    , tool_current(0.0)
+    , tool_temperature(0.0)
+    , tool_mode(0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef int8_t _analog_input_range2_type;
+  _analog_input_range2_type analog_input_range2;
+
+   typedef int8_t _analog_input_range3_type;
+  _analog_input_range3_type analog_input_range3;
+
+   typedef double _analog_input2_type;
+  _analog_input2_type analog_input2;
+
+   typedef double _analog_input3_type;
+  _analog_input3_type analog_input3;
+
+   typedef float _tool_voltage_48v_type;
+  _tool_voltage_48v_type tool_voltage_48v;
+
+   typedef uint8_t _tool_output_voltage_type;
+  _tool_output_voltage_type tool_output_voltage;
+
+   typedef float _tool_current_type;
+  _tool_current_type tool_current;
+
+   typedef float _tool_temperature_type;
+  _tool_temperature_type tool_temperature;
+
+   typedef uint8_t _tool_mode_type;
+  _tool_mode_type tool_mode;
+
+
+
+  enum {
+    ANALOG_INPUT_RANGE_CURRENT = 0,
+    ANALOG_INPUT_RANGE_VOLTAGE = 1,
+    TOOL_BOOTLOADER_MODE = 249u,
+    TOOL_RUNNING_MODE = 253u,
+    TOOL_IDLE_MODE = 255u,
+  };
+
+
+  typedef boost::shared_ptr< ::ur_msgs::ToolDataMsg_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ur_msgs::ToolDataMsg_<ContainerAllocator> const> ConstPtr;
+
+}; // struct ToolDataMsg_
+
+typedef ::ur_msgs::ToolDataMsg_<std::allocator<void> > ToolDataMsg;
+
+typedef boost::shared_ptr< ::ur_msgs::ToolDataMsg > ToolDataMsgPtr;
+typedef boost::shared_ptr< ::ur_msgs::ToolDataMsg const> ToolDataMsgConstPtr;
+
+// constants requiring out of line definition
+
+   
+
+   
+
+   
+
+   
+
+   
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ur_msgs::ToolDataMsg_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace ur_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'ur_msgs': ['/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ur_msgs::ToolDataMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ur_msgs::ToolDataMsg_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ur_msgs::ToolDataMsg_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "404fc266f37d89f75b372d12fa94a122";
+  }
+
+  static const char* value(const ::ur_msgs::ToolDataMsg_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x404fc266f37d89f7ULL;
+  static const uint64_t static_value2 = 0x5b372d12fa94a122ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ur_msgs/ToolDataMsg";
+  }
+
+  static const char* value(const ::ur_msgs::ToolDataMsg_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# This data structure contains the ToolData structure\n\
+# used by the Universal Robots controller\n\
+\n\
+int8 ANALOG_INPUT_RANGE_CURRENT = 0\n\
+int8 ANALOG_INPUT_RANGE_VOLTAGE = 1\n\
+\n\
+int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_*\n\
+int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_*\n\
+float64 analog_input2\n\
+float64 analog_input3\n\
+float32 tool_voltage_48v\n\
+uint8 tool_output_voltage\n\
+float32 tool_current\n\
+float32 tool_temperature\n\
+\n\
+uint8 TOOL_BOOTLOADER_MODE = 249\n\
+uint8 TOOL_RUNNING_MODE = 253\n\
+uint8 TOOL_IDLE_MODE = 255\n\
+\n\
+uint8 tool_mode # one of TOOL_*\n\
+";
+  }
+
+  static const char* value(const ::ur_msgs::ToolDataMsg_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.analog_input_range2);
+      stream.next(m.analog_input_range3);
+      stream.next(m.analog_input2);
+      stream.next(m.analog_input3);
+      stream.next(m.tool_voltage_48v);
+      stream.next(m.tool_output_voltage);
+      stream.next(m.tool_current);
+      stream.next(m.tool_temperature);
+      stream.next(m.tool_mode);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct ToolDataMsg_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ur_msgs::ToolDataMsg_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ur_msgs::ToolDataMsg_<ContainerAllocator>& v)
+  {
+    s << indent << "analog_input_range2: ";
+    Printer<int8_t>::stream(s, indent + "  ", v.analog_input_range2);
+    s << indent << "analog_input_range3: ";
+    Printer<int8_t>::stream(s, indent + "  ", v.analog_input_range3);
+    s << indent << "analog_input2: ";
+    Printer<double>::stream(s, indent + "  ", v.analog_input2);
+    s << indent << "analog_input3: ";
+    Printer<double>::stream(s, indent + "  ", v.analog_input3);
+    s << indent << "tool_voltage_48v: ";
+    Printer<float>::stream(s, indent + "  ", v.tool_voltage_48v);
+    s << indent << "tool_output_voltage: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.tool_output_voltage);
+    s << indent << "tool_current: ";
+    Printer<float>::stream(s, indent + "  ", v.tool_current);
+    s << indent << "tool_temperature: ";
+    Printer<float>::stream(s, indent + "  ", v.tool_temperature);
+    s << indent << "tool_mode: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.tool_mode);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UR_MSGS_MESSAGE_TOOLDATAMSG_H

devel/share/common-lisp/ros/jog_msgs/msg/JogFrame.lisp

@@ -0,0 +1,158 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package jog_msgs-msg)
+
+
+;//! \htmlinclude JogFrame.msg.html
+
+(cl:defclass <JogFrame> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (group_name
+    :reader group_name
+    :initarg :group_name
+    :type cl:string
+    :initform "")
+   (link_name
+    :reader link_name
+    :initarg :link_name
+    :type cl:string
+    :initform "")
+   (linear_delta
+    :reader linear_delta
+    :initarg :linear_delta
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (angular_delta
+    :reader angular_delta
+    :initarg :angular_delta
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (avoid_collisions
+    :reader avoid_collisions
+    :initarg :avoid_collisions
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass JogFrame (<JogFrame>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <JogFrame>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'JogFrame)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name jog_msgs-msg:<JogFrame> is deprecated: use jog_msgs-msg:JogFrame instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <JogFrame>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:header-val is deprecated.  Use jog_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'group_name-val :lambda-list '(m))
+(cl:defmethod group_name-val ((m <JogFrame>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:group_name-val is deprecated.  Use jog_msgs-msg:group_name instead.")
+  (group_name m))
+
+(cl:ensure-generic-function 'link_name-val :lambda-list '(m))
+(cl:defmethod link_name-val ((m <JogFrame>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:link_name-val is deprecated.  Use jog_msgs-msg:link_name instead.")
+  (link_name m))
+
+(cl:ensure-generic-function 'linear_delta-val :lambda-list '(m))
+(cl:defmethod linear_delta-val ((m <JogFrame>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:linear_delta-val is deprecated.  Use jog_msgs-msg:linear_delta instead.")
+  (linear_delta m))
+
+(cl:ensure-generic-function 'angular_delta-val :lambda-list '(m))
+(cl:defmethod angular_delta-val ((m <JogFrame>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:angular_delta-val is deprecated.  Use jog_msgs-msg:angular_delta instead.")
+  (angular_delta m))
+
+(cl:ensure-generic-function 'avoid_collisions-val :lambda-list '(m))
+(cl:defmethod avoid_collisions-val ((m <JogFrame>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:avoid_collisions-val is deprecated.  Use jog_msgs-msg:avoid_collisions instead.")
+  (avoid_collisions m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <JogFrame>) ostream)
+  "Serializes a message object of type '<JogFrame>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'group_name))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'group_name))
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'link_name))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'link_name))
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'linear_delta) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'angular_delta) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'avoid_collisions) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <JogFrame>) istream)
+  "Deserializes a message object of type '<JogFrame>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'group_name) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'group_name) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'link_name) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'link_name) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'linear_delta) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'angular_delta) istream)
+    (cl:setf (cl:slot-value msg 'avoid_collisions) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<JogFrame>)))
+  "Returns string type for a message object of type '<JogFrame>"
+  "jog_msgs/JogFrame")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'JogFrame)))
+  "Returns string type for a message object of type 'JogFrame"
+  "jog_msgs/JogFrame")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<JogFrame>)))
+  "Returns md5sum for a message object of type '<JogFrame>"
+  "e342f29bf6beaf00261bdae365abfff9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'JogFrame)))
+  "Returns md5sum for a message object of type 'JogFrame"
+  "e342f29bf6beaf00261bdae365abfff9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<JogFrame>)))
+  "Returns full string definition for message of type '<JogFrame>"
+  (cl:format cl:nil "# This is a message to hold data to jog by specifying a target~%# frame. It uses MoveIt! kinematics, so you need to specify the~%# JointGroup name to use in group_name. (lienar|angular)_delta is the~%# amount of displacement.~%~%# header message. You must set frame_id to define the reference~%# coordinate system of the displacament~%Header header~%~%# Name of JointGroup of MoveIt!~%string group_name~%~%# Target link name to jog. The link must be in the JoingGroup~%string link_name~%~%# Linear displacement vector to jog. The refrence frame is defined by~%# frame_id in header. Unit is in meter.~%geometry_msgs/Vector3 linear_delta~%~%# Angular displacement vector to jog. The refrence frame is defined by~%# frame_id in header. Unit is in radian.~%geometry_msgs/Vector3 angular_delta~%~%# It uses avoid_collisions option of MoveIt! kinematics. If it is~%# true, the robot doesn't move if any collisions occured.~%bool avoid_collisions~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'JogFrame)))
+  "Returns full string definition for message of type 'JogFrame"
+  (cl:format cl:nil "# This is a message to hold data to jog by specifying a target~%# frame. It uses MoveIt! kinematics, so you need to specify the~%# JointGroup name to use in group_name. (lienar|angular)_delta is the~%# amount of displacement.~%~%# header message. You must set frame_id to define the reference~%# coordinate system of the displacament~%Header header~%~%# Name of JointGroup of MoveIt!~%string group_name~%~%# Target link name to jog. The link must be in the JoingGroup~%string link_name~%~%# Linear displacement vector to jog. The refrence frame is defined by~%# frame_id in header. Unit is in meter.~%geometry_msgs/Vector3 linear_delta~%~%# Angular displacement vector to jog. The refrence frame is defined by~%# frame_id in header. Unit is in radian.~%geometry_msgs/Vector3 angular_delta~%~%# It uses avoid_collisions option of MoveIt! kinematics. If it is~%# true, the robot doesn't move if any collisions occured.~%bool avoid_collisions~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <JogFrame>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4 (cl:length (cl:slot-value msg 'group_name))
+     4 (cl:length (cl:slot-value msg 'link_name))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'linear_delta))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'angular_delta))
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <JogFrame>))
+  "Converts a ROS message object to a list"
+  (cl:list 'JogFrame
+    (cl:cons ':header (header msg))
+    (cl:cons ':group_name (group_name msg))
+    (cl:cons ':link_name (link_name msg))
+    (cl:cons ':linear_delta (linear_delta msg))
+    (cl:cons ':angular_delta (angular_delta msg))
+    (cl:cons ':avoid_collisions (avoid_collisions msg))
+))

devel/share/common-lisp/ros/jog_msgs/msg/JogJoint.lisp

@@ -0,0 +1,149 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package jog_msgs-msg)
+
+
+;//! \htmlinclude JogJoint.msg.html
+
+(cl:defclass <JogJoint> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (joint_names
+    :reader joint_names
+    :initarg :joint_names
+    :type (cl:vector cl:string)
+   :initform (cl:make-array 0 :element-type 'cl:string :initial-element ""))
+   (deltas
+    :reader deltas
+    :initarg :deltas
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)))
+)
+
+(cl:defclass JogJoint (<JogJoint>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <JogJoint>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'JogJoint)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name jog_msgs-msg:<JogJoint> is deprecated: use jog_msgs-msg:JogJoint instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <JogJoint>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:header-val is deprecated.  Use jog_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'joint_names-val :lambda-list '(m))
+(cl:defmethod joint_names-val ((m <JogJoint>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:joint_names-val is deprecated.  Use jog_msgs-msg:joint_names instead.")
+  (joint_names m))
+
+(cl:ensure-generic-function 'deltas-val :lambda-list '(m))
+(cl:defmethod deltas-val ((m <JogJoint>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader jog_msgs-msg:deltas-val is deprecated.  Use jog_msgs-msg:deltas instead.")
+  (deltas m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <JogJoint>) ostream)
+  "Serializes a message object of type '<JogJoint>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'joint_names))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((__ros_str_len (cl:length ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) ele))
+   (cl:slot-value msg 'joint_names))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'deltas))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'deltas))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <JogJoint>) istream)
+  "Deserializes a message object of type '<JogJoint>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'joint_names) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'joint_names)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:aref vals i) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:aref vals i) __ros_str_idx) (cl:code-char (cl:read-byte istream))))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'deltas) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'deltas)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<JogJoint>)))
+  "Returns string type for a message object of type '<JogJoint>"
+  "jog_msgs/JogJoint")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'JogJoint)))
+  "Returns string type for a message object of type 'JogJoint"
+  "jog_msgs/JogJoint")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<JogJoint>)))
+  "Returns md5sum for a message object of type '<JogJoint>"
+  "8d2aa14be64b51cf6374d198bfd489b2")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'JogJoint)))
+  "Returns md5sum for a message object of type 'JogJoint"
+  "8d2aa14be64b51cf6374d198bfd489b2")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<JogJoint>)))
+  "Returns full string definition for message of type '<JogJoint>"
+  (cl:format cl:nil "# This is a message to hold data to jog by specifying joint~%# displacement. You only need to set relative displacement to joint~%# angles (or displacements for linear joints).~%~%# header message. You must set frame_id to define the reference~%# coordinate system of the displacament~%Header header~%~%# Name list of the joints. You don't need to specify all joint of the~%# robot. Joint names are case-sensitive.~%string[] joint_names~%~%# Relative displacement of the joints to jog. The order must be~%# identical to joint_names. Unit is in radian for revolutive joints,~%# meter for linear joints.~%float64[] deltas~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'JogJoint)))
+  "Returns full string definition for message of type 'JogJoint"
+  (cl:format cl:nil "# This is a message to hold data to jog by specifying joint~%# displacement. You only need to set relative displacement to joint~%# angles (or displacements for linear joints).~%~%# header message. You must set frame_id to define the reference~%# coordinate system of the displacament~%Header header~%~%# Name list of the joints. You don't need to specify all joint of the~%# robot. Joint names are case-sensitive.~%string[] joint_names~%~%# Relative displacement of the joints to jog. The order must be~%# identical to joint_names. Unit is in radian for revolutive joints,~%# meter for linear joints.~%float64[] deltas~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <JogJoint>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'joint_names) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4 (cl:length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'deltas) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <JogJoint>))
+  "Converts a ROS message object to a list"
+  (cl:list 'JogJoint
+    (cl:cons ':header (header msg))
+    (cl:cons ':joint_names (joint_names msg))
+    (cl:cons ':deltas (deltas msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/Analog.lisp

@@ -0,0 +1,111 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude Analog.msg.html
+
+(cl:defclass <Analog> (roslisp-msg-protocol:ros-message)
+  ((pin
+    :reader pin
+    :initarg :pin
+    :type cl:fixnum
+    :initform 0)
+   (domain
+    :reader domain
+    :initarg :domain
+    :type cl:fixnum
+    :initform 0)
+   (state
+    :reader state
+    :initarg :state
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass Analog (<Analog>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Analog>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Analog)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<Analog> is deprecated: use ur_msgs-msg:Analog instead.")))
+
+(cl:ensure-generic-function 'pin-val :lambda-list '(m))
+(cl:defmethod pin-val ((m <Analog>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:pin-val is deprecated.  Use ur_msgs-msg:pin instead.")
+  (pin m))
+
+(cl:ensure-generic-function 'domain-val :lambda-list '(m))
+(cl:defmethod domain-val ((m <Analog>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:domain-val is deprecated.  Use ur_msgs-msg:domain instead.")
+  (domain m))
+
+(cl:ensure-generic-function 'state-val :lambda-list '(m))
+(cl:defmethod state-val ((m <Analog>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:state-val is deprecated.  Use ur_msgs-msg:state instead.")
+  (state m))
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '<Analog>)))
+    "Constants for message type '<Analog>"
+  '((:VOLTAGE . 0)
+    (:CURRENT . 1))
+)
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'Analog)))
+    "Constants for message type 'Analog"
+  '((:VOLTAGE . 0)
+    (:CURRENT . 1))
+)
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Analog>) ostream)
+  "Serializes a message object of type '<Analog>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'pin)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'domain)) ostream)
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'state))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Analog>) istream)
+  "Deserializes a message object of type '<Analog>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'pin)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'domain)) (cl:read-byte istream))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'state) (roslisp-utils:decode-single-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Analog>)))
+  "Returns string type for a message object of type '<Analog>"
+  "ur_msgs/Analog")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Analog)))
+  "Returns string type for a message object of type 'Analog"
+  "ur_msgs/Analog")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Analog>)))
+  "Returns md5sum for a message object of type '<Analog>"
+  "f41c08a810adf63713aec88712cd553d")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Analog)))
+  "Returns md5sum for a message object of type 'Analog"
+  "f41c08a810adf63713aec88712cd553d")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Analog>)))
+  "Returns full string definition for message of type '<Analog>"
+  (cl:format cl:nil "uint8 VOLTAGE=0~%uint8 CURRENT=1~%~%uint8 pin~%uint8 domain # can be VOLTAGE or CURRENT~%float32 state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Analog)))
+  "Returns full string definition for message of type 'Analog"
+  (cl:format cl:nil "uint8 VOLTAGE=0~%uint8 CURRENT=1~%~%uint8 pin~%uint8 domain # can be VOLTAGE or CURRENT~%float32 state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Analog>))
+  (cl:+ 0
+     1
+     1
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Analog>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Analog
+    (cl:cons ':pin (pin msg))
+    (cl:cons ':domain (domain msg))
+    (cl:cons ':state (state msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/Digital.lisp

@@ -0,0 +1,78 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude Digital.msg.html
+
+(cl:defclass <Digital> (roslisp-msg-protocol:ros-message)
+  ((pin
+    :reader pin
+    :initarg :pin
+    :type cl:fixnum
+    :initform 0)
+   (state
+    :reader state
+    :initarg :state
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass Digital (<Digital>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Digital>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Digital)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<Digital> is deprecated: use ur_msgs-msg:Digital instead.")))
+
+(cl:ensure-generic-function 'pin-val :lambda-list '(m))
+(cl:defmethod pin-val ((m <Digital>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:pin-val is deprecated.  Use ur_msgs-msg:pin instead.")
+  (pin m))
+
+(cl:ensure-generic-function 'state-val :lambda-list '(m))
+(cl:defmethod state-val ((m <Digital>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:state-val is deprecated.  Use ur_msgs-msg:state instead.")
+  (state m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Digital>) ostream)
+  "Serializes a message object of type '<Digital>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'pin)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'state) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Digital>) istream)
+  "Deserializes a message object of type '<Digital>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'pin)) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'state) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Digital>)))
+  "Returns string type for a message object of type '<Digital>"
+  "ur_msgs/Digital")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Digital)))
+  "Returns string type for a message object of type 'Digital"
+  "ur_msgs/Digital")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Digital>)))
+  "Returns md5sum for a message object of type '<Digital>"
+  "83707be3fa18d2ffe57381ea034aa262")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Digital)))
+  "Returns md5sum for a message object of type 'Digital"
+  "83707be3fa18d2ffe57381ea034aa262")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Digital>)))
+  "Returns full string definition for message of type '<Digital>"
+  (cl:format cl:nil "uint8 pin~%bool state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Digital)))
+  "Returns full string definition for message of type 'Digital"
+  (cl:format cl:nil "uint8 pin~%bool state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Digital>))
+  (cl:+ 0
+     1
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Digital>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Digital
+    (cl:cons ':pin (pin msg))
+    (cl:cons ':state (state msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/IOStates.lisp

@@ -0,0 +1,195 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude IOStates.msg.html
+
+(cl:defclass <IOStates> (roslisp-msg-protocol:ros-message)
+  ((digital_in_states
+    :reader digital_in_states
+    :initarg :digital_in_states
+    :type (cl:vector ur_msgs-msg:Digital)
+   :initform (cl:make-array 0 :element-type 'ur_msgs-msg:Digital :initial-element (cl:make-instance 'ur_msgs-msg:Digital)))
+   (digital_out_states
+    :reader digital_out_states
+    :initarg :digital_out_states
+    :type (cl:vector ur_msgs-msg:Digital)
+   :initform (cl:make-array 0 :element-type 'ur_msgs-msg:Digital :initial-element (cl:make-instance 'ur_msgs-msg:Digital)))
+   (flag_states
+    :reader flag_states
+    :initarg :flag_states
+    :type (cl:vector ur_msgs-msg:Digital)
+   :initform (cl:make-array 0 :element-type 'ur_msgs-msg:Digital :initial-element (cl:make-instance 'ur_msgs-msg:Digital)))
+   (analog_in_states
+    :reader analog_in_states
+    :initarg :analog_in_states
+    :type (cl:vector ur_msgs-msg:Analog)
+   :initform (cl:make-array 0 :element-type 'ur_msgs-msg:Analog :initial-element (cl:make-instance 'ur_msgs-msg:Analog)))
+   (analog_out_states
+    :reader analog_out_states
+    :initarg :analog_out_states
+    :type (cl:vector ur_msgs-msg:Analog)
+   :initform (cl:make-array 0 :element-type 'ur_msgs-msg:Analog :initial-element (cl:make-instance 'ur_msgs-msg:Analog))))
+)
+
+(cl:defclass IOStates (<IOStates>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <IOStates>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'IOStates)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<IOStates> is deprecated: use ur_msgs-msg:IOStates instead.")))
+
+(cl:ensure-generic-function 'digital_in_states-val :lambda-list '(m))
+(cl:defmethod digital_in_states-val ((m <IOStates>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:digital_in_states-val is deprecated.  Use ur_msgs-msg:digital_in_states instead.")
+  (digital_in_states m))
+
+(cl:ensure-generic-function 'digital_out_states-val :lambda-list '(m))
+(cl:defmethod digital_out_states-val ((m <IOStates>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:digital_out_states-val is deprecated.  Use ur_msgs-msg:digital_out_states instead.")
+  (digital_out_states m))
+
+(cl:ensure-generic-function 'flag_states-val :lambda-list '(m))
+(cl:defmethod flag_states-val ((m <IOStates>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:flag_states-val is deprecated.  Use ur_msgs-msg:flag_states instead.")
+  (flag_states m))
+
+(cl:ensure-generic-function 'analog_in_states-val :lambda-list '(m))
+(cl:defmethod analog_in_states-val ((m <IOStates>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_in_states-val is deprecated.  Use ur_msgs-msg:analog_in_states instead.")
+  (analog_in_states m))
+
+(cl:ensure-generic-function 'analog_out_states-val :lambda-list '(m))
+(cl:defmethod analog_out_states-val ((m <IOStates>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_out_states-val is deprecated.  Use ur_msgs-msg:analog_out_states instead.")
+  (analog_out_states m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <IOStates>) ostream)
+  "Serializes a message object of type '<IOStates>"
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'digital_in_states))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'digital_in_states))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'digital_out_states))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'digital_out_states))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'flag_states))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'flag_states))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'analog_in_states))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'analog_in_states))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'analog_out_states))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'analog_out_states))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <IOStates>) istream)
+  "Deserializes a message object of type '<IOStates>"
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'digital_in_states) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'digital_in_states)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'ur_msgs-msg:Digital))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'digital_out_states) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'digital_out_states)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'ur_msgs-msg:Digital))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'flag_states) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'flag_states)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'ur_msgs-msg:Digital))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'analog_in_states) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'analog_in_states)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'ur_msgs-msg:Analog))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'analog_out_states) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'analog_out_states)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'ur_msgs-msg:Analog))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<IOStates>)))
+  "Returns string type for a message object of type '<IOStates>"
+  "ur_msgs/IOStates")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'IOStates)))
+  "Returns string type for a message object of type 'IOStates"
+  "ur_msgs/IOStates")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<IOStates>)))
+  "Returns md5sum for a message object of type '<IOStates>"
+  "3033784e7041da89491b97cc4c1105b5")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'IOStates)))
+  "Returns md5sum for a message object of type 'IOStates"
+  "3033784e7041da89491b97cc4c1105b5")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<IOStates>)))
+  "Returns full string definition for message of type '<IOStates>"
+  (cl:format cl:nil "Digital[] digital_in_states~%Digital[] digital_out_states~%Digital[] flag_states~%Analog[] analog_in_states~%Analog[] analog_out_states~%~%================================================================================~%MSG: ur_msgs/Digital~%uint8 pin~%bool state~%~%================================================================================~%MSG: ur_msgs/Analog~%uint8 VOLTAGE=0~%uint8 CURRENT=1~%~%uint8 pin~%uint8 domain # can be VOLTAGE or CURRENT~%float32 state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'IOStates)))
+  "Returns full string definition for message of type 'IOStates"
+  (cl:format cl:nil "Digital[] digital_in_states~%Digital[] digital_out_states~%Digital[] flag_states~%Analog[] analog_in_states~%Analog[] analog_out_states~%~%================================================================================~%MSG: ur_msgs/Digital~%uint8 pin~%bool state~%~%================================================================================~%MSG: ur_msgs/Analog~%uint8 VOLTAGE=0~%uint8 CURRENT=1~%~%uint8 pin~%uint8 domain # can be VOLTAGE or CURRENT~%float32 state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <IOStates>))
+  (cl:+ 0
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'digital_in_states) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'digital_out_states) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'flag_states) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'analog_in_states) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'analog_out_states) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <IOStates>))
+  "Converts a ROS message object to a list"
+  (cl:list 'IOStates
+    (cl:cons ':digital_in_states (digital_in_states msg))
+    (cl:cons ':digital_out_states (digital_out_states msg))
+    (cl:cons ':flag_states (flag_states msg))
+    (cl:cons ':analog_in_states (analog_in_states msg))
+    (cl:cons ':analog_out_states (analog_out_states msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/MasterboardDataMsg.lisp

@@ -0,0 +1,406 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude MasterboardDataMsg.msg.html
+
+(cl:defclass <MasterboardDataMsg> (roslisp-msg-protocol:ros-message)
+  ((digital_input_bits
+    :reader digital_input_bits
+    :initarg :digital_input_bits
+    :type cl:integer
+    :initform 0)
+   (digital_output_bits
+    :reader digital_output_bits
+    :initarg :digital_output_bits
+    :type cl:integer
+    :initform 0)
+   (analog_input_range0
+    :reader analog_input_range0
+    :initarg :analog_input_range0
+    :type cl:fixnum
+    :initform 0)
+   (analog_input_range1
+    :reader analog_input_range1
+    :initarg :analog_input_range1
+    :type cl:fixnum
+    :initform 0)
+   (analog_input0
+    :reader analog_input0
+    :initarg :analog_input0
+    :type cl:float
+    :initform 0.0)
+   (analog_input1
+    :reader analog_input1
+    :initarg :analog_input1
+    :type cl:float
+    :initform 0.0)
+   (analog_output_domain0
+    :reader analog_output_domain0
+    :initarg :analog_output_domain0
+    :type cl:fixnum
+    :initform 0)
+   (analog_output_domain1
+    :reader analog_output_domain1
+    :initarg :analog_output_domain1
+    :type cl:fixnum
+    :initform 0)
+   (analog_output0
+    :reader analog_output0
+    :initarg :analog_output0
+    :type cl:float
+    :initform 0.0)
+   (analog_output1
+    :reader analog_output1
+    :initarg :analog_output1
+    :type cl:float
+    :initform 0.0)
+   (masterboard_temperature
+    :reader masterboard_temperature
+    :initarg :masterboard_temperature
+    :type cl:float
+    :initform 0.0)
+   (robot_voltage_48V
+    :reader robot_voltage_48V
+    :initarg :robot_voltage_48V
+    :type cl:float
+    :initform 0.0)
+   (robot_current
+    :reader robot_current
+    :initarg :robot_current
+    :type cl:float
+    :initform 0.0)
+   (master_io_current
+    :reader master_io_current
+    :initarg :master_io_current
+    :type cl:float
+    :initform 0.0)
+   (master_safety_state
+    :reader master_safety_state
+    :initarg :master_safety_state
+    :type cl:fixnum
+    :initform 0)
+   (master_onoff_state
+    :reader master_onoff_state
+    :initarg :master_onoff_state
+    :type cl:fixnum
+    :initform 0))
+)
+
+(cl:defclass MasterboardDataMsg (<MasterboardDataMsg>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <MasterboardDataMsg>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'MasterboardDataMsg)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<MasterboardDataMsg> is deprecated: use ur_msgs-msg:MasterboardDataMsg instead.")))
+
+(cl:ensure-generic-function 'digital_input_bits-val :lambda-list '(m))
+(cl:defmethod digital_input_bits-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:digital_input_bits-val is deprecated.  Use ur_msgs-msg:digital_input_bits instead.")
+  (digital_input_bits m))
+
+(cl:ensure-generic-function 'digital_output_bits-val :lambda-list '(m))
+(cl:defmethod digital_output_bits-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:digital_output_bits-val is deprecated.  Use ur_msgs-msg:digital_output_bits instead.")
+  (digital_output_bits m))
+
+(cl:ensure-generic-function 'analog_input_range0-val :lambda-list '(m))
+(cl:defmethod analog_input_range0-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input_range0-val is deprecated.  Use ur_msgs-msg:analog_input_range0 instead.")
+  (analog_input_range0 m))
+
+(cl:ensure-generic-function 'analog_input_range1-val :lambda-list '(m))
+(cl:defmethod analog_input_range1-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input_range1-val is deprecated.  Use ur_msgs-msg:analog_input_range1 instead.")
+  (analog_input_range1 m))
+
+(cl:ensure-generic-function 'analog_input0-val :lambda-list '(m))
+(cl:defmethod analog_input0-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input0-val is deprecated.  Use ur_msgs-msg:analog_input0 instead.")
+  (analog_input0 m))
+
+(cl:ensure-generic-function 'analog_input1-val :lambda-list '(m))
+(cl:defmethod analog_input1-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input1-val is deprecated.  Use ur_msgs-msg:analog_input1 instead.")
+  (analog_input1 m))
+
+(cl:ensure-generic-function 'analog_output_domain0-val :lambda-list '(m))
+(cl:defmethod analog_output_domain0-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_output_domain0-val is deprecated.  Use ur_msgs-msg:analog_output_domain0 instead.")
+  (analog_output_domain0 m))
+
+(cl:ensure-generic-function 'analog_output_domain1-val :lambda-list '(m))
+(cl:defmethod analog_output_domain1-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_output_domain1-val is deprecated.  Use ur_msgs-msg:analog_output_domain1 instead.")
+  (analog_output_domain1 m))
+
+(cl:ensure-generic-function 'analog_output0-val :lambda-list '(m))
+(cl:defmethod analog_output0-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_output0-val is deprecated.  Use ur_msgs-msg:analog_output0 instead.")
+  (analog_output0 m))
+
+(cl:ensure-generic-function 'analog_output1-val :lambda-list '(m))
+(cl:defmethod analog_output1-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_output1-val is deprecated.  Use ur_msgs-msg:analog_output1 instead.")
+  (analog_output1 m))
+
+(cl:ensure-generic-function 'masterboard_temperature-val :lambda-list '(m))
+(cl:defmethod masterboard_temperature-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:masterboard_temperature-val is deprecated.  Use ur_msgs-msg:masterboard_temperature instead.")
+  (masterboard_temperature m))
+
+(cl:ensure-generic-function 'robot_voltage_48V-val :lambda-list '(m))
+(cl:defmethod robot_voltage_48V-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:robot_voltage_48V-val is deprecated.  Use ur_msgs-msg:robot_voltage_48V instead.")
+  (robot_voltage_48V m))
+
+(cl:ensure-generic-function 'robot_current-val :lambda-list '(m))
+(cl:defmethod robot_current-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:robot_current-val is deprecated.  Use ur_msgs-msg:robot_current instead.")
+  (robot_current m))
+
+(cl:ensure-generic-function 'master_io_current-val :lambda-list '(m))
+(cl:defmethod master_io_current-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:master_io_current-val is deprecated.  Use ur_msgs-msg:master_io_current instead.")
+  (master_io_current m))
+
+(cl:ensure-generic-function 'master_safety_state-val :lambda-list '(m))
+(cl:defmethod master_safety_state-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:master_safety_state-val is deprecated.  Use ur_msgs-msg:master_safety_state instead.")
+  (master_safety_state m))
+
+(cl:ensure-generic-function 'master_onoff_state-val :lambda-list '(m))
+(cl:defmethod master_onoff_state-val ((m <MasterboardDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:master_onoff_state-val is deprecated.  Use ur_msgs-msg:master_onoff_state instead.")
+  (master_onoff_state m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <MasterboardDataMsg>) ostream)
+  "Serializes a message object of type '<MasterboardDataMsg>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'digital_input_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'digital_input_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'digital_input_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'digital_input_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'digital_output_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'digital_output_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'digital_output_bits)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'digital_output_bits)) ostream)
+  (cl:let* ((signed (cl:slot-value msg 'analog_input_range0)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'analog_input_range1)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'analog_input0))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'analog_input1))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let* ((signed (cl:slot-value msg 'analog_output_domain0)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'analog_output_domain1)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'analog_output0))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'analog_output1))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'masterboard_temperature))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'robot_voltage_48V))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'robot_current))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'master_io_current))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'master_safety_state)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'master_onoff_state)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <MasterboardDataMsg>) istream)
+  "Deserializes a message object of type '<MasterboardDataMsg>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'digital_input_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'digital_input_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'digital_input_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'digital_input_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'digital_output_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'digital_output_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'digital_output_bits)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'digital_output_bits)) (cl:read-byte istream))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'analog_input_range0) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'analog_input_range1) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'analog_input0) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'analog_input1) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'analog_output_domain0) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'analog_output_domain1) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'analog_output0) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'analog_output1) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'masterboard_temperature) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'robot_voltage_48V) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'robot_current) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'master_io_current) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'master_safety_state)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'master_onoff_state)) (cl:read-byte istream))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<MasterboardDataMsg>)))
+  "Returns string type for a message object of type '<MasterboardDataMsg>"
+  "ur_msgs/MasterboardDataMsg")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MasterboardDataMsg)))
+  "Returns string type for a message object of type 'MasterboardDataMsg"
+  "ur_msgs/MasterboardDataMsg")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<MasterboardDataMsg>)))
+  "Returns md5sum for a message object of type '<MasterboardDataMsg>"
+  "807af5dc427082b111fa23d1fd2cd585")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MasterboardDataMsg)))
+  "Returns md5sum for a message object of type 'MasterboardDataMsg"
+  "807af5dc427082b111fa23d1fd2cd585")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<MasterboardDataMsg>)))
+  "Returns full string definition for message of type '<MasterboardDataMsg>"
+  (cl:format cl:nil "# This data structure contains the MasterboardData structure~%# used by the Universal Robots controller~%#~%# MasterboardData is part of the data structure being send on the ~%# secondary client communications interface~%# ~%# This data structure is send at 10 Hz on TCP port 30002~%# ~%# Documentation can be found on the Universal Robots Support site, article~%# number 16496.~%~%uint32 digital_input_bits~%uint32 digital_output_bits~%int8 analog_input_range0~%int8 analog_input_range1~%float64 analog_input0~%float64 analog_input1~%int8 analog_output_domain0~%int8 analog_output_domain1~%float64 analog_output0~%float64 analog_output1~%float32 masterboard_temperature~%float32 robot_voltage_48V~%float32 robot_current~%float32 master_io_current~%uint8 master_safety_state~%uint8 master_onoff_state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MasterboardDataMsg)))
+  "Returns full string definition for message of type 'MasterboardDataMsg"
+  (cl:format cl:nil "# This data structure contains the MasterboardData structure~%# used by the Universal Robots controller~%#~%# MasterboardData is part of the data structure being send on the ~%# secondary client communications interface~%# ~%# This data structure is send at 10 Hz on TCP port 30002~%# ~%# Documentation can be found on the Universal Robots Support site, article~%# number 16496.~%~%uint32 digital_input_bits~%uint32 digital_output_bits~%int8 analog_input_range0~%int8 analog_input_range1~%float64 analog_input0~%float64 analog_input1~%int8 analog_output_domain0~%int8 analog_output_domain1~%float64 analog_output0~%float64 analog_output1~%float32 masterboard_temperature~%float32 robot_voltage_48V~%float32 robot_current~%float32 master_io_current~%uint8 master_safety_state~%uint8 master_onoff_state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <MasterboardDataMsg>))
+  (cl:+ 0
+     4
+     4
+     1
+     1
+     8
+     8
+     1
+     1
+     8
+     8
+     4
+     4
+     4
+     4
+     1
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <MasterboardDataMsg>))
+  "Converts a ROS message object to a list"
+  (cl:list 'MasterboardDataMsg
+    (cl:cons ':digital_input_bits (digital_input_bits msg))
+    (cl:cons ':digital_output_bits (digital_output_bits msg))
+    (cl:cons ':analog_input_range0 (analog_input_range0 msg))
+    (cl:cons ':analog_input_range1 (analog_input_range1 msg))
+    (cl:cons ':analog_input0 (analog_input0 msg))
+    (cl:cons ':analog_input1 (analog_input1 msg))
+    (cl:cons ':analog_output_domain0 (analog_output_domain0 msg))
+    (cl:cons ':analog_output_domain1 (analog_output_domain1 msg))
+    (cl:cons ':analog_output0 (analog_output0 msg))
+    (cl:cons ':analog_output1 (analog_output1 msg))
+    (cl:cons ':masterboard_temperature (masterboard_temperature msg))
+    (cl:cons ':robot_voltage_48V (robot_voltage_48V msg))
+    (cl:cons ':robot_current (robot_current msg))
+    (cl:cons ':master_io_current (master_io_current msg))
+    (cl:cons ':master_safety_state (master_safety_state msg))
+    (cl:cons ':master_onoff_state (master_onoff_state msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/RobotModeDataMsg.lisp

@@ -0,0 +1,176 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude RobotModeDataMsg.msg.html
+
+(cl:defclass <RobotModeDataMsg> (roslisp-msg-protocol:ros-message)
+  ((timestamp
+    :reader timestamp
+    :initarg :timestamp
+    :type cl:integer
+    :initform 0)
+   (is_robot_connected
+    :reader is_robot_connected
+    :initarg :is_robot_connected
+    :type cl:boolean
+    :initform cl:nil)
+   (is_real_robot_enabled
+    :reader is_real_robot_enabled
+    :initarg :is_real_robot_enabled
+    :type cl:boolean
+    :initform cl:nil)
+   (is_power_on_robot
+    :reader is_power_on_robot
+    :initarg :is_power_on_robot
+    :type cl:boolean
+    :initform cl:nil)
+   (is_emergency_stopped
+    :reader is_emergency_stopped
+    :initarg :is_emergency_stopped
+    :type cl:boolean
+    :initform cl:nil)
+   (is_protective_stopped
+    :reader is_protective_stopped
+    :initarg :is_protective_stopped
+    :type cl:boolean
+    :initform cl:nil)
+   (is_program_running
+    :reader is_program_running
+    :initarg :is_program_running
+    :type cl:boolean
+    :initform cl:nil)
+   (is_program_paused
+    :reader is_program_paused
+    :initarg :is_program_paused
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass RobotModeDataMsg (<RobotModeDataMsg>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <RobotModeDataMsg>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'RobotModeDataMsg)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<RobotModeDataMsg> is deprecated: use ur_msgs-msg:RobotModeDataMsg instead.")))
+
+(cl:ensure-generic-function 'timestamp-val :lambda-list '(m))
+(cl:defmethod timestamp-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:timestamp-val is deprecated.  Use ur_msgs-msg:timestamp instead.")
+  (timestamp m))
+
+(cl:ensure-generic-function 'is_robot_connected-val :lambda-list '(m))
+(cl:defmethod is_robot_connected-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_robot_connected-val is deprecated.  Use ur_msgs-msg:is_robot_connected instead.")
+  (is_robot_connected m))
+
+(cl:ensure-generic-function 'is_real_robot_enabled-val :lambda-list '(m))
+(cl:defmethod is_real_robot_enabled-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_real_robot_enabled-val is deprecated.  Use ur_msgs-msg:is_real_robot_enabled instead.")
+  (is_real_robot_enabled m))
+
+(cl:ensure-generic-function 'is_power_on_robot-val :lambda-list '(m))
+(cl:defmethod is_power_on_robot-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_power_on_robot-val is deprecated.  Use ur_msgs-msg:is_power_on_robot instead.")
+  (is_power_on_robot m))
+
+(cl:ensure-generic-function 'is_emergency_stopped-val :lambda-list '(m))
+(cl:defmethod is_emergency_stopped-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_emergency_stopped-val is deprecated.  Use ur_msgs-msg:is_emergency_stopped instead.")
+  (is_emergency_stopped m))
+
+(cl:ensure-generic-function 'is_protective_stopped-val :lambda-list '(m))
+(cl:defmethod is_protective_stopped-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_protective_stopped-val is deprecated.  Use ur_msgs-msg:is_protective_stopped instead.")
+  (is_protective_stopped m))
+
+(cl:ensure-generic-function 'is_program_running-val :lambda-list '(m))
+(cl:defmethod is_program_running-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_program_running-val is deprecated.  Use ur_msgs-msg:is_program_running instead.")
+  (is_program_running m))
+
+(cl:ensure-generic-function 'is_program_paused-val :lambda-list '(m))
+(cl:defmethod is_program_paused-val ((m <RobotModeDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:is_program_paused-val is deprecated.  Use ur_msgs-msg:is_program_paused instead.")
+  (is_program_paused m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <RobotModeDataMsg>) ostream)
+  "Serializes a message object of type '<RobotModeDataMsg>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 32) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 40) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 48) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 56) (cl:slot-value msg 'timestamp)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_robot_connected) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_real_robot_enabled) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_power_on_robot) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_emergency_stopped) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_protective_stopped) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_program_running) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_program_paused) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <RobotModeDataMsg>) istream)
+  "Deserializes a message object of type '<RobotModeDataMsg>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 32) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 40) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 48) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 56) (cl:slot-value msg 'timestamp)) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'is_robot_connected) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'is_real_robot_enabled) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'is_power_on_robot) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'is_emergency_stopped) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'is_protective_stopped) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'is_program_running) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'is_program_paused) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<RobotModeDataMsg>)))
+  "Returns string type for a message object of type '<RobotModeDataMsg>"
+  "ur_msgs/RobotModeDataMsg")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RobotModeDataMsg)))
+  "Returns string type for a message object of type 'RobotModeDataMsg"
+  "ur_msgs/RobotModeDataMsg")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<RobotModeDataMsg>)))
+  "Returns md5sum for a message object of type '<RobotModeDataMsg>"
+  "867308ca39e2cc0644b50db27deb661f")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RobotModeDataMsg)))
+  "Returns md5sum for a message object of type 'RobotModeDataMsg"
+  "867308ca39e2cc0644b50db27deb661f")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<RobotModeDataMsg>)))
+  "Returns full string definition for message of type '<RobotModeDataMsg>"
+  (cl:format cl:nil "# This data structure contains the RobotModeData structure~%# used by the Universal Robots controller~%#~%# This data structure is send at 10 Hz on TCP port 30002~%#~%# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset.~%~%uint64 timestamp~%bool is_robot_connected~%bool is_real_robot_enabled~%bool is_power_on_robot~%bool is_emergency_stopped~%bool is_protective_stopped~%bool is_program_running~%bool is_program_paused~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RobotModeDataMsg)))
+  "Returns full string definition for message of type 'RobotModeDataMsg"
+  (cl:format cl:nil "# This data structure contains the RobotModeData structure~%# used by the Universal Robots controller~%#~%# This data structure is send at 10 Hz on TCP port 30002~%#~%# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset.~%~%uint64 timestamp~%bool is_robot_connected~%bool is_real_robot_enabled~%bool is_power_on_robot~%bool is_emergency_stopped~%bool is_protective_stopped~%bool is_program_running~%bool is_program_paused~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <RobotModeDataMsg>))
+  (cl:+ 0
+     8
+     1
+     1
+     1
+     1
+     1
+     1
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <RobotModeDataMsg>))
+  "Converts a ROS message object to a list"
+  (cl:list 'RobotModeDataMsg
+    (cl:cons ':timestamp (timestamp msg))
+    (cl:cons ':is_robot_connected (is_robot_connected msg))
+    (cl:cons ':is_real_robot_enabled (is_real_robot_enabled msg))
+    (cl:cons ':is_power_on_robot (is_power_on_robot msg))
+    (cl:cons ':is_emergency_stopped (is_emergency_stopped msg))
+    (cl:cons ':is_protective_stopped (is_protective_stopped msg))
+    (cl:cons ':is_program_running (is_program_running msg))
+    (cl:cons ':is_program_paused (is_program_paused msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/RobotStateRTMsg.lisp

@@ -0,0 +1,835 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude RobotStateRTMsg.msg.html
+
+(cl:defclass <RobotStateRTMsg> (roslisp-msg-protocol:ros-message)
+  ((time
+    :reader time
+    :initarg :time
+    :type cl:float
+    :initform 0.0)
+   (q_target
+    :reader q_target
+    :initarg :q_target
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (qd_target
+    :reader qd_target
+    :initarg :qd_target
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (qdd_target
+    :reader qdd_target
+    :initarg :qdd_target
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (i_target
+    :reader i_target
+    :initarg :i_target
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (m_target
+    :reader m_target
+    :initarg :m_target
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (q_actual
+    :reader q_actual
+    :initarg :q_actual
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (qd_actual
+    :reader qd_actual
+    :initarg :qd_actual
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (i_actual
+    :reader i_actual
+    :initarg :i_actual
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (tool_acc_values
+    :reader tool_acc_values
+    :initarg :tool_acc_values
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (tcp_force
+    :reader tcp_force
+    :initarg :tcp_force
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (tool_vector
+    :reader tool_vector
+    :initarg :tool_vector
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (tcp_speed
+    :reader tcp_speed
+    :initarg :tcp_speed
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (digital_input_bits
+    :reader digital_input_bits
+    :initarg :digital_input_bits
+    :type cl:float
+    :initform 0.0)
+   (motor_temperatures
+    :reader motor_temperatures
+    :initarg :motor_temperatures
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
+   (controller_timer
+    :reader controller_timer
+    :initarg :controller_timer
+    :type cl:float
+    :initform 0.0)
+   (test_value
+    :reader test_value
+    :initarg :test_value
+    :type cl:float
+    :initform 0.0)
+   (robot_mode
+    :reader robot_mode
+    :initarg :robot_mode
+    :type cl:float
+    :initform 0.0)
+   (joint_modes
+    :reader joint_modes
+    :initarg :joint_modes
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)))
+)
+
+(cl:defclass RobotStateRTMsg (<RobotStateRTMsg>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <RobotStateRTMsg>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'RobotStateRTMsg)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<RobotStateRTMsg> is deprecated: use ur_msgs-msg:RobotStateRTMsg instead.")))
+
+(cl:ensure-generic-function 'time-val :lambda-list '(m))
+(cl:defmethod time-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:time-val is deprecated.  Use ur_msgs-msg:time instead.")
+  (time m))
+
+(cl:ensure-generic-function 'q_target-val :lambda-list '(m))
+(cl:defmethod q_target-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:q_target-val is deprecated.  Use ur_msgs-msg:q_target instead.")
+  (q_target m))
+
+(cl:ensure-generic-function 'qd_target-val :lambda-list '(m))
+(cl:defmethod qd_target-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:qd_target-val is deprecated.  Use ur_msgs-msg:qd_target instead.")
+  (qd_target m))
+
+(cl:ensure-generic-function 'qdd_target-val :lambda-list '(m))
+(cl:defmethod qdd_target-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:qdd_target-val is deprecated.  Use ur_msgs-msg:qdd_target instead.")
+  (qdd_target m))
+
+(cl:ensure-generic-function 'i_target-val :lambda-list '(m))
+(cl:defmethod i_target-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:i_target-val is deprecated.  Use ur_msgs-msg:i_target instead.")
+  (i_target m))
+
+(cl:ensure-generic-function 'm_target-val :lambda-list '(m))
+(cl:defmethod m_target-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:m_target-val is deprecated.  Use ur_msgs-msg:m_target instead.")
+  (m_target m))
+
+(cl:ensure-generic-function 'q_actual-val :lambda-list '(m))
+(cl:defmethod q_actual-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:q_actual-val is deprecated.  Use ur_msgs-msg:q_actual instead.")
+  (q_actual m))
+
+(cl:ensure-generic-function 'qd_actual-val :lambda-list '(m))
+(cl:defmethod qd_actual-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:qd_actual-val is deprecated.  Use ur_msgs-msg:qd_actual instead.")
+  (qd_actual m))
+
+(cl:ensure-generic-function 'i_actual-val :lambda-list '(m))
+(cl:defmethod i_actual-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:i_actual-val is deprecated.  Use ur_msgs-msg:i_actual instead.")
+  (i_actual m))
+
+(cl:ensure-generic-function 'tool_acc_values-val :lambda-list '(m))
+(cl:defmethod tool_acc_values-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_acc_values-val is deprecated.  Use ur_msgs-msg:tool_acc_values instead.")
+  (tool_acc_values m))
+
+(cl:ensure-generic-function 'tcp_force-val :lambda-list '(m))
+(cl:defmethod tcp_force-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tcp_force-val is deprecated.  Use ur_msgs-msg:tcp_force instead.")
+  (tcp_force m))
+
+(cl:ensure-generic-function 'tool_vector-val :lambda-list '(m))
+(cl:defmethod tool_vector-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_vector-val is deprecated.  Use ur_msgs-msg:tool_vector instead.")
+  (tool_vector m))
+
+(cl:ensure-generic-function 'tcp_speed-val :lambda-list '(m))
+(cl:defmethod tcp_speed-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tcp_speed-val is deprecated.  Use ur_msgs-msg:tcp_speed instead.")
+  (tcp_speed m))
+
+(cl:ensure-generic-function 'digital_input_bits-val :lambda-list '(m))
+(cl:defmethod digital_input_bits-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:digital_input_bits-val is deprecated.  Use ur_msgs-msg:digital_input_bits instead.")
+  (digital_input_bits m))
+
+(cl:ensure-generic-function 'motor_temperatures-val :lambda-list '(m))
+(cl:defmethod motor_temperatures-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:motor_temperatures-val is deprecated.  Use ur_msgs-msg:motor_temperatures instead.")
+  (motor_temperatures m))
+
+(cl:ensure-generic-function 'controller_timer-val :lambda-list '(m))
+(cl:defmethod controller_timer-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:controller_timer-val is deprecated.  Use ur_msgs-msg:controller_timer instead.")
+  (controller_timer m))
+
+(cl:ensure-generic-function 'test_value-val :lambda-list '(m))
+(cl:defmethod test_value-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:test_value-val is deprecated.  Use ur_msgs-msg:test_value instead.")
+  (test_value m))
+
+(cl:ensure-generic-function 'robot_mode-val :lambda-list '(m))
+(cl:defmethod robot_mode-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:robot_mode-val is deprecated.  Use ur_msgs-msg:robot_mode instead.")
+  (robot_mode m))
+
+(cl:ensure-generic-function 'joint_modes-val :lambda-list '(m))
+(cl:defmethod joint_modes-val ((m <RobotStateRTMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:joint_modes-val is deprecated.  Use ur_msgs-msg:joint_modes instead.")
+  (joint_modes m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <RobotStateRTMsg>) ostream)
+  "Serializes a message object of type '<RobotStateRTMsg>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'time))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'q_target))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'q_target))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qd_target))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'qd_target))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qdd_target))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'qdd_target))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'i_target))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'i_target))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'm_target))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'm_target))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'q_actual))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'q_actual))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qd_actual))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'qd_actual))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'i_actual))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'i_actual))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tool_acc_values))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'tool_acc_values))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tcp_force))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'tcp_force))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tool_vector))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'tool_vector))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tcp_speed))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'tcp_speed))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'digital_input_bits))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'motor_temperatures))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'motor_temperatures))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'controller_timer))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'test_value))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'robot_mode))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'joint_modes))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'joint_modes))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <RobotStateRTMsg>) istream)
+  "Deserializes a message object of type '<RobotStateRTMsg>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'time) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'q_target) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'q_target)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'qd_target) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'qd_target)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'qdd_target) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'qdd_target)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'i_target) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'i_target)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'm_target) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'm_target)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'q_actual) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'q_actual)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'qd_actual) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'qd_actual)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'i_actual) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'i_actual)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'tool_acc_values) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'tool_acc_values)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'tcp_force) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'tcp_force)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'tool_vector) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'tool_vector)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'tcp_speed) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'tcp_speed)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'digital_input_bits) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'motor_temperatures) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'motor_temperatures)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'controller_timer) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'test_value) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'robot_mode) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'joint_modes) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'joint_modes)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<RobotStateRTMsg>)))
+  "Returns string type for a message object of type '<RobotStateRTMsg>"
+  "ur_msgs/RobotStateRTMsg")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RobotStateRTMsg)))
+  "Returns string type for a message object of type 'RobotStateRTMsg"
+  "ur_msgs/RobotStateRTMsg")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<RobotStateRTMsg>)))
+  "Returns md5sum for a message object of type '<RobotStateRTMsg>"
+  "ce6feddd3ccb4ca7dbcd0ff105b603c7")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RobotStateRTMsg)))
+  "Returns md5sum for a message object of type 'RobotStateRTMsg"
+  "ce6feddd3ccb4ca7dbcd0ff105b603c7")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<RobotStateRTMsg>)))
+  "Returns full string definition for message of type '<RobotStateRTMsg>"
+  (cl:format cl:nil "# Data structure for the realtime communications interface (aka Matlab interface)~%# used by the Universal Robots controller~%# ~%# This data structure is send at 125 Hz on TCP port 30003~%# ~%# Dokumentation can be found on the Universal Robots Support Wiki~%# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)~%~%float64 time~%float64[] q_target~%float64[] qd_target~%float64[] qdd_target~%float64[] i_target~%float64[] m_target~%float64[] q_actual~%float64[] qd_actual~%float64[] i_actual~%float64[] tool_acc_values~%float64[] tcp_force~%float64[] tool_vector~%float64[] tcp_speed~%float64 digital_input_bits~%float64[] motor_temperatures~%float64 controller_timer~%float64 test_value~%float64 robot_mode~%float64[] joint_modes~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RobotStateRTMsg)))
+  "Returns full string definition for message of type 'RobotStateRTMsg"
+  (cl:format cl:nil "# Data structure for the realtime communications interface (aka Matlab interface)~%# used by the Universal Robots controller~%# ~%# This data structure is send at 125 Hz on TCP port 30003~%# ~%# Dokumentation can be found on the Universal Robots Support Wiki~%# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)~%~%float64 time~%float64[] q_target~%float64[] qd_target~%float64[] qdd_target~%float64[] i_target~%float64[] m_target~%float64[] q_actual~%float64[] qd_actual~%float64[] i_actual~%float64[] tool_acc_values~%float64[] tcp_force~%float64[] tool_vector~%float64[] tcp_speed~%float64 digital_input_bits~%float64[] motor_temperatures~%float64 controller_timer~%float64 test_value~%float64 robot_mode~%float64[] joint_modes~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <RobotStateRTMsg>))
+  (cl:+ 0
+     8
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'q_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'qd_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'qdd_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'i_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'm_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'q_actual) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'qd_actual) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'i_actual) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'tool_acc_values) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'tcp_force) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'tool_vector) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'tcp_speed) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     8
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'motor_temperatures) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     8
+     8
+     8
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'joint_modes) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <RobotStateRTMsg>))
+  "Converts a ROS message object to a list"
+  (cl:list 'RobotStateRTMsg
+    (cl:cons ':time (time msg))
+    (cl:cons ':q_target (q_target msg))
+    (cl:cons ':qd_target (qd_target msg))
+    (cl:cons ':qdd_target (qdd_target msg))
+    (cl:cons ':i_target (i_target msg))
+    (cl:cons ':m_target (m_target msg))
+    (cl:cons ':q_actual (q_actual msg))
+    (cl:cons ':qd_actual (qd_actual msg))
+    (cl:cons ':i_actual (i_actual msg))
+    (cl:cons ':tool_acc_values (tool_acc_values msg))
+    (cl:cons ':tcp_force (tcp_force msg))
+    (cl:cons ':tool_vector (tool_vector msg))
+    (cl:cons ':tcp_speed (tcp_speed msg))
+    (cl:cons ':digital_input_bits (digital_input_bits msg))
+    (cl:cons ':motor_temperatures (motor_temperatures msg))
+    (cl:cons ':controller_timer (controller_timer msg))
+    (cl:cons ':test_value (test_value msg))
+    (cl:cons ':robot_mode (robot_mode msg))
+    (cl:cons ':joint_modes (joint_modes msg))
+))

devel/share/common-lisp/ros/ur_msgs/msg/ToolDataMsg.lisp

@@ -0,0 +1,261 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-msg)
+
+
+;//! \htmlinclude ToolDataMsg.msg.html
+
+(cl:defclass <ToolDataMsg> (roslisp-msg-protocol:ros-message)
+  ((analog_input_range2
+    :reader analog_input_range2
+    :initarg :analog_input_range2
+    :type cl:fixnum
+    :initform 0)
+   (analog_input_range3
+    :reader analog_input_range3
+    :initarg :analog_input_range3
+    :type cl:fixnum
+    :initform 0)
+   (analog_input2
+    :reader analog_input2
+    :initarg :analog_input2
+    :type cl:float
+    :initform 0.0)
+   (analog_input3
+    :reader analog_input3
+    :initarg :analog_input3
+    :type cl:float
+    :initform 0.0)
+   (tool_voltage_48v
+    :reader tool_voltage_48v
+    :initarg :tool_voltage_48v
+    :type cl:float
+    :initform 0.0)
+   (tool_output_voltage
+    :reader tool_output_voltage
+    :initarg :tool_output_voltage
+    :type cl:fixnum
+    :initform 0)
+   (tool_current
+    :reader tool_current
+    :initarg :tool_current
+    :type cl:float
+    :initform 0.0)
+   (tool_temperature
+    :reader tool_temperature
+    :initarg :tool_temperature
+    :type cl:float
+    :initform 0.0)
+   (tool_mode
+    :reader tool_mode
+    :initarg :tool_mode
+    :type cl:fixnum
+    :initform 0))
+)
+
+(cl:defclass ToolDataMsg (<ToolDataMsg>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <ToolDataMsg>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'ToolDataMsg)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<ToolDataMsg> is deprecated: use ur_msgs-msg:ToolDataMsg instead.")))
+
+(cl:ensure-generic-function 'analog_input_range2-val :lambda-list '(m))
+(cl:defmethod analog_input_range2-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input_range2-val is deprecated.  Use ur_msgs-msg:analog_input_range2 instead.")
+  (analog_input_range2 m))
+
+(cl:ensure-generic-function 'analog_input_range3-val :lambda-list '(m))
+(cl:defmethod analog_input_range3-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input_range3-val is deprecated.  Use ur_msgs-msg:analog_input_range3 instead.")
+  (analog_input_range3 m))
+
+(cl:ensure-generic-function 'analog_input2-val :lambda-list '(m))
+(cl:defmethod analog_input2-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input2-val is deprecated.  Use ur_msgs-msg:analog_input2 instead.")
+  (analog_input2 m))
+
+(cl:ensure-generic-function 'analog_input3-val :lambda-list '(m))
+(cl:defmethod analog_input3-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:analog_input3-val is deprecated.  Use ur_msgs-msg:analog_input3 instead.")
+  (analog_input3 m))
+
+(cl:ensure-generic-function 'tool_voltage_48v-val :lambda-list '(m))
+(cl:defmethod tool_voltage_48v-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_voltage_48v-val is deprecated.  Use ur_msgs-msg:tool_voltage_48v instead.")
+  (tool_voltage_48v m))
+
+(cl:ensure-generic-function 'tool_output_voltage-val :lambda-list '(m))
+(cl:defmethod tool_output_voltage-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_output_voltage-val is deprecated.  Use ur_msgs-msg:tool_output_voltage instead.")
+  (tool_output_voltage m))
+
+(cl:ensure-generic-function 'tool_current-val :lambda-list '(m))
+(cl:defmethod tool_current-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_current-val is deprecated.  Use ur_msgs-msg:tool_current instead.")
+  (tool_current m))
+
+(cl:ensure-generic-function 'tool_temperature-val :lambda-list '(m))
+(cl:defmethod tool_temperature-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_temperature-val is deprecated.  Use ur_msgs-msg:tool_temperature instead.")
+  (tool_temperature m))
+
+(cl:ensure-generic-function 'tool_mode-val :lambda-list '(m))
+(cl:defmethod tool_mode-val ((m <ToolDataMsg>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_mode-val is deprecated.  Use ur_msgs-msg:tool_mode instead.")
+  (tool_mode m))
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '<ToolDataMsg>)))
+    "Constants for message type '<ToolDataMsg>"
+  '((:ANALOG_INPUT_RANGE_CURRENT . 0)
+    (:ANALOG_INPUT_RANGE_VOLTAGE . 1)
+    (:TOOL_BOOTLOADER_MODE . 249)
+    (:TOOL_RUNNING_MODE . 253)
+    (:TOOL_IDLE_MODE . 255))
+)
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'ToolDataMsg)))
+    "Constants for message type 'ToolDataMsg"
+  '((:ANALOG_INPUT_RANGE_CURRENT . 0)
+    (:ANALOG_INPUT_RANGE_VOLTAGE . 1)
+    (:TOOL_BOOTLOADER_MODE . 249)
+    (:TOOL_RUNNING_MODE . 253)
+    (:TOOL_IDLE_MODE . 255))
+)
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <ToolDataMsg>) ostream)
+  "Serializes a message object of type '<ToolDataMsg>"
+  (cl:let* ((signed (cl:slot-value msg 'analog_input_range2)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'analog_input_range3)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'analog_input2))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'analog_input3))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'tool_voltage_48v))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tool_output_voltage)) ostream)
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'tool_current))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'tool_temperature))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tool_mode)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <ToolDataMsg>) istream)
+  "Deserializes a message object of type '<ToolDataMsg>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'analog_input_range2) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'analog_input_range3) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'analog_input2) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'analog_input3) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'tool_voltage_48v) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tool_output_voltage)) (cl:read-byte istream))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'tool_current) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'tool_temperature) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tool_mode)) (cl:read-byte istream))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<ToolDataMsg>)))
+  "Returns string type for a message object of type '<ToolDataMsg>"
+  "ur_msgs/ToolDataMsg")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'ToolDataMsg)))
+  "Returns string type for a message object of type 'ToolDataMsg"
+  "ur_msgs/ToolDataMsg")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<ToolDataMsg>)))
+  "Returns md5sum for a message object of type '<ToolDataMsg>"
+  "404fc266f37d89f75b372d12fa94a122")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'ToolDataMsg)))
+  "Returns md5sum for a message object of type 'ToolDataMsg"
+  "404fc266f37d89f75b372d12fa94a122")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<ToolDataMsg>)))
+  "Returns full string definition for message of type '<ToolDataMsg>"
+  (cl:format cl:nil "# This data structure contains the ToolData structure~%# used by the Universal Robots controller~%~%int8 ANALOG_INPUT_RANGE_CURRENT = 0~%int8 ANALOG_INPUT_RANGE_VOLTAGE = 1~%~%int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_*~%int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_*~%float64 analog_input2~%float64 analog_input3~%float32 tool_voltage_48v~%uint8 tool_output_voltage~%float32 tool_current~%float32 tool_temperature~%~%uint8 TOOL_BOOTLOADER_MODE = 249~%uint8 TOOL_RUNNING_MODE = 253~%uint8 TOOL_IDLE_MODE = 255~%~%uint8 tool_mode # one of TOOL_*~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'ToolDataMsg)))
+  "Returns full string definition for message of type 'ToolDataMsg"
+  (cl:format cl:nil "# This data structure contains the ToolData structure~%# used by the Universal Robots controller~%~%int8 ANALOG_INPUT_RANGE_CURRENT = 0~%int8 ANALOG_INPUT_RANGE_VOLTAGE = 1~%~%int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_*~%int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_*~%float64 analog_input2~%float64 analog_input3~%float32 tool_voltage_48v~%uint8 tool_output_voltage~%float32 tool_current~%float32 tool_temperature~%~%uint8 TOOL_BOOTLOADER_MODE = 249~%uint8 TOOL_RUNNING_MODE = 253~%uint8 TOOL_IDLE_MODE = 255~%~%uint8 tool_mode # one of TOOL_*~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <ToolDataMsg>))
+  (cl:+ 0
+     1
+     1
+     8
+     8
+     4
+     1
+     4
+     4
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <ToolDataMsg>))
+  "Converts a ROS message object to a list"
+  (cl:list 'ToolDataMsg
+    (cl:cons ':analog_input_range2 (analog_input_range2 msg))
+    (cl:cons ':analog_input_range3 (analog_input_range3 msg))
+    (cl:cons ':analog_input2 (analog_input2 msg))
+    (cl:cons ':analog_input3 (analog_input3 msg))
+    (cl:cons ':tool_voltage_48v (tool_voltage_48v msg))
+    (cl:cons ':tool_output_voltage (tool_output_voltage msg))
+    (cl:cons ':tool_current (tool_current msg))
+    (cl:cons ':tool_temperature (tool_temperature msg))
+    (cl:cons ':tool_mode (tool_mode msg))
+))

devel/share/common-lisp/ros/ur_msgs/srv/SetIO.lisp

@@ -0,0 +1,198 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-srv)
+
+
+;//! \htmlinclude SetIO-request.msg.html
+
+(cl:defclass <SetIO-request> (roslisp-msg-protocol:ros-message)
+  ((fun
+    :reader fun
+    :initarg :fun
+    :type cl:fixnum
+    :initform 0)
+   (pin
+    :reader pin
+    :initarg :pin
+    :type cl:fixnum
+    :initform 0)
+   (state
+    :reader state
+    :initarg :state
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass SetIO-request (<SetIO-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetIO-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetIO-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetIO-request> is deprecated: use ur_msgs-srv:SetIO-request instead.")))
+
+(cl:ensure-generic-function 'fun-val :lambda-list '(m))
+(cl:defmethod fun-val ((m <SetIO-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:fun-val is deprecated.  Use ur_msgs-srv:fun instead.")
+  (fun m))
+
+(cl:ensure-generic-function 'pin-val :lambda-list '(m))
+(cl:defmethod pin-val ((m <SetIO-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:pin-val is deprecated.  Use ur_msgs-srv:pin instead.")
+  (pin m))
+
+(cl:ensure-generic-function 'state-val :lambda-list '(m))
+(cl:defmethod state-val ((m <SetIO-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:state-val is deprecated.  Use ur_msgs-srv:state instead.")
+  (state m))
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '<SetIO-request>)))
+    "Constants for message type '<SetIO-request>"
+  '((:FUN_SET_DIGITAL_OUT . 1)
+    (:FUN_SET_FLAG . 2)
+    (:FUN_SET_ANALOG_OUT . 3)
+    (:FUN_SET_TOOL_VOLTAGE . 4)
+    (:STATE_OFF . 0)
+    (:STATE_ON . 1)
+    (:STATE_TOOL_VOLTAGE_0V . 0)
+    (:STATE_TOOL_VOLTAGE_12V . 12)
+    (:STATE_TOOL_VOLTAGE_24V . 24))
+)
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'SetIO-request)))
+    "Constants for message type 'SetIO-request"
+  '((:FUN_SET_DIGITAL_OUT . 1)
+    (:FUN_SET_FLAG . 2)
+    (:FUN_SET_ANALOG_OUT . 3)
+    (:FUN_SET_TOOL_VOLTAGE . 4)
+    (:STATE_OFF . 0)
+    (:STATE_ON . 1)
+    (:STATE_TOOL_VOLTAGE_0V . 0)
+    (:STATE_TOOL_VOLTAGE_12V . 12)
+    (:STATE_TOOL_VOLTAGE_24V . 24))
+)
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetIO-request>) ostream)
+  "Serializes a message object of type '<SetIO-request>"
+  (cl:let* ((signed (cl:slot-value msg 'fun)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'pin)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    )
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'state))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetIO-request>) istream)
+  "Deserializes a message object of type '<SetIO-request>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'fun) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'pin) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'state) (roslisp-utils:decode-single-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetIO-request>)))
+  "Returns string type for a service object of type '<SetIO-request>"
+  "ur_msgs/SetIORequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetIO-request)))
+  "Returns string type for a service object of type 'SetIO-request"
+  "ur_msgs/SetIORequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetIO-request>)))
+  "Returns md5sum for a message object of type '<SetIO-request>"
+  "e1b580ccf43a938f2efbbb98bbe3e277")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetIO-request)))
+  "Returns md5sum for a message object of type 'SetIO-request"
+  "e1b580ccf43a938f2efbbb98bbe3e277")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetIO-request>)))
+  "Returns full string definition for message of type '<SetIO-request>"
+  (cl:format cl:nil "~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%int8 FUN_SET_DIGITAL_OUT = 1~%int8 FUN_SET_FLAG = 2~%int8 FUN_SET_ANALOG_OUT = 3~%int8 FUN_SET_TOOL_VOLTAGE = 4~%~%~%int8 STATE_OFF = 0~%int8 STATE_ON = 1~%~%~%int8 STATE_TOOL_VOLTAGE_0V = 0~%int8 STATE_TOOL_VOLTAGE_12V = 12~%int8 STATE_TOOL_VOLTAGE_24V = 24~%~%~%int8 fun~%int8 pin~%float32 state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetIO-request)))
+  "Returns full string definition for message of type 'SetIO-request"
+  (cl:format cl:nil "~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%~%int8 FUN_SET_DIGITAL_OUT = 1~%int8 FUN_SET_FLAG = 2~%int8 FUN_SET_ANALOG_OUT = 3~%int8 FUN_SET_TOOL_VOLTAGE = 4~%~%~%int8 STATE_OFF = 0~%int8 STATE_ON = 1~%~%~%int8 STATE_TOOL_VOLTAGE_0V = 0~%int8 STATE_TOOL_VOLTAGE_12V = 12~%int8 STATE_TOOL_VOLTAGE_24V = 24~%~%~%int8 fun~%int8 pin~%float32 state~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetIO-request>))
+  (cl:+ 0
+     1
+     1
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetIO-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetIO-request
+    (cl:cons ':fun (fun msg))
+    (cl:cons ':pin (pin msg))
+    (cl:cons ':state (state msg))
+))
+;//! \htmlinclude SetIO-response.msg.html
+
+(cl:defclass <SetIO-response> (roslisp-msg-protocol:ros-message)
+  ((success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass SetIO-response (<SetIO-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetIO-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetIO-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetIO-response> is deprecated: use ur_msgs-srv:SetIO-response instead.")))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <SetIO-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:success-val is deprecated.  Use ur_msgs-srv:success instead.")
+  (success m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetIO-response>) ostream)
+  "Serializes a message object of type '<SetIO-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetIO-response>) istream)
+  "Deserializes a message object of type '<SetIO-response>"
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetIO-response>)))
+  "Returns string type for a service object of type '<SetIO-response>"
+  "ur_msgs/SetIOResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetIO-response)))
+  "Returns string type for a service object of type 'SetIO-response"
+  "ur_msgs/SetIOResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetIO-response>)))
+  "Returns md5sum for a message object of type '<SetIO-response>"
+  "e1b580ccf43a938f2efbbb98bbe3e277")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetIO-response)))
+  "Returns md5sum for a message object of type 'SetIO-response"
+  "e1b580ccf43a938f2efbbb98bbe3e277")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetIO-response>)))
+  "Returns full string definition for message of type '<SetIO-response>"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetIO-response)))
+  "Returns full string definition for message of type 'SetIO-response"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetIO-response>))
+  (cl:+ 0
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetIO-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetIO-response
+    (cl:cons ':success (success msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'SetIO)))
+  'SetIO-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'SetIO)))
+  'SetIO-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetIO)))
+  "Returns string type for a service object of type '<SetIO>"
+  "ur_msgs/SetIO")

devel/share/common-lisp/ros/ur_msgs/srv/SetPayload.lisp

@@ -0,0 +1,138 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-srv)
+
+
+;//! \htmlinclude SetPayload-request.msg.html
+
+(cl:defclass <SetPayload-request> (roslisp-msg-protocol:ros-message)
+  ((payload
+    :reader payload
+    :initarg :payload
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass SetPayload-request (<SetPayload-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetPayload-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetPayload-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetPayload-request> is deprecated: use ur_msgs-srv:SetPayload-request instead.")))
+
+(cl:ensure-generic-function 'payload-val :lambda-list '(m))
+(cl:defmethod payload-val ((m <SetPayload-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:payload-val is deprecated.  Use ur_msgs-srv:payload instead.")
+  (payload m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetPayload-request>) ostream)
+  "Serializes a message object of type '<SetPayload-request>"
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'payload))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetPayload-request>) istream)
+  "Deserializes a message object of type '<SetPayload-request>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'payload) (roslisp-utils:decode-single-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetPayload-request>)))
+  "Returns string type for a service object of type '<SetPayload-request>"
+  "ur_msgs/SetPayloadRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetPayload-request)))
+  "Returns string type for a service object of type 'SetPayload-request"
+  "ur_msgs/SetPayloadRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetPayload-request>)))
+  "Returns md5sum for a message object of type '<SetPayload-request>"
+  "7f12eb632882cb73e5721178d0073e39")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetPayload-request)))
+  "Returns md5sum for a message object of type 'SetPayload-request"
+  "7f12eb632882cb73e5721178d0073e39")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetPayload-request>)))
+  "Returns full string definition for message of type '<SetPayload-request>"
+  (cl:format cl:nil "float32 payload~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetPayload-request)))
+  "Returns full string definition for message of type 'SetPayload-request"
+  (cl:format cl:nil "float32 payload~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetPayload-request>))
+  (cl:+ 0
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetPayload-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetPayload-request
+    (cl:cons ':payload (payload msg))
+))
+;//! \htmlinclude SetPayload-response.msg.html
+
+(cl:defclass <SetPayload-response> (roslisp-msg-protocol:ros-message)
+  ((success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass SetPayload-response (<SetPayload-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetPayload-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetPayload-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetPayload-response> is deprecated: use ur_msgs-srv:SetPayload-response instead.")))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <SetPayload-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:success-val is deprecated.  Use ur_msgs-srv:success instead.")
+  (success m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetPayload-response>) ostream)
+  "Serializes a message object of type '<SetPayload-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetPayload-response>) istream)
+  "Deserializes a message object of type '<SetPayload-response>"
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetPayload-response>)))
+  "Returns string type for a service object of type '<SetPayload-response>"
+  "ur_msgs/SetPayloadResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetPayload-response)))
+  "Returns string type for a service object of type 'SetPayload-response"
+  "ur_msgs/SetPayloadResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetPayload-response>)))
+  "Returns md5sum for a message object of type '<SetPayload-response>"
+  "7f12eb632882cb73e5721178d0073e39")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetPayload-response)))
+  "Returns md5sum for a message object of type 'SetPayload-response"
+  "7f12eb632882cb73e5721178d0073e39")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetPayload-response>)))
+  "Returns full string definition for message of type '<SetPayload-response>"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetPayload-response)))
+  "Returns full string definition for message of type 'SetPayload-response"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetPayload-response>))
+  (cl:+ 0
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetPayload-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetPayload-response
+    (cl:cons ':success (success msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'SetPayload)))
+  'SetPayload-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'SetPayload)))
+  'SetPayload-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetPayload)))
+  "Returns string type for a service object of type '<SetPayload>"
+  "ur_msgs/SetPayload")

devel/share/common-lisp/ros/ur_msgs/srv/SetSpeedSliderFraction.lisp

@@ -0,0 +1,146 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ur_msgs-srv)
+
+
+;//! \htmlinclude SetSpeedSliderFraction-request.msg.html
+
+(cl:defclass <SetSpeedSliderFraction-request> (roslisp-msg-protocol:ros-message)
+  ((speed_slider_fraction
+    :reader speed_slider_fraction
+    :initarg :speed_slider_fraction
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass SetSpeedSliderFraction-request (<SetSpeedSliderFraction-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetSpeedSliderFraction-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetSpeedSliderFraction-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetSpeedSliderFraction-request> is deprecated: use ur_msgs-srv:SetSpeedSliderFraction-request instead.")))
+
+(cl:ensure-generic-function 'speed_slider_fraction-val :lambda-list '(m))
+(cl:defmethod speed_slider_fraction-val ((m <SetSpeedSliderFraction-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:speed_slider_fraction-val is deprecated.  Use ur_msgs-srv:speed_slider_fraction instead.")
+  (speed_slider_fraction m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetSpeedSliderFraction-request>) ostream)
+  "Serializes a message object of type '<SetSpeedSliderFraction-request>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'speed_slider_fraction))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetSpeedSliderFraction-request>) istream)
+  "Deserializes a message object of type '<SetSpeedSliderFraction-request>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'speed_slider_fraction) (roslisp-utils:decode-double-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetSpeedSliderFraction-request>)))
+  "Returns string type for a service object of type '<SetSpeedSliderFraction-request>"
+  "ur_msgs/SetSpeedSliderFractionRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetSpeedSliderFraction-request)))
+  "Returns string type for a service object of type 'SetSpeedSliderFraction-request"
+  "ur_msgs/SetSpeedSliderFractionRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetSpeedSliderFraction-request>)))
+  "Returns md5sum for a message object of type '<SetSpeedSliderFraction-request>"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetSpeedSliderFraction-request)))
+  "Returns md5sum for a message object of type 'SetSpeedSliderFraction-request"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetSpeedSliderFraction-request>)))
+  "Returns full string definition for message of type '<SetSpeedSliderFraction-request>"
+  (cl:format cl:nil "~%~%~%~%~%float64 speed_slider_fraction~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetSpeedSliderFraction-request)))
+  "Returns full string definition for message of type 'SetSpeedSliderFraction-request"
+  (cl:format cl:nil "~%~%~%~%~%float64 speed_slider_fraction~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetSpeedSliderFraction-request>))
+  (cl:+ 0
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetSpeedSliderFraction-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetSpeedSliderFraction-request
+    (cl:cons ':speed_slider_fraction (speed_slider_fraction msg))
+))
+;//! \htmlinclude SetSpeedSliderFraction-response.msg.html
+
+(cl:defclass <SetSpeedSliderFraction-response> (roslisp-msg-protocol:ros-message)
+  ((success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass SetSpeedSliderFraction-response (<SetSpeedSliderFraction-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetSpeedSliderFraction-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetSpeedSliderFraction-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetSpeedSliderFraction-response> is deprecated: use ur_msgs-srv:SetSpeedSliderFraction-response instead.")))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <SetSpeedSliderFraction-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:success-val is deprecated.  Use ur_msgs-srv:success instead.")
+  (success m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetSpeedSliderFraction-response>) ostream)
+  "Serializes a message object of type '<SetSpeedSliderFraction-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetSpeedSliderFraction-response>) istream)
+  "Deserializes a message object of type '<SetSpeedSliderFraction-response>"
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetSpeedSliderFraction-response>)))
+  "Returns string type for a service object of type '<SetSpeedSliderFraction-response>"
+  "ur_msgs/SetSpeedSliderFractionResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetSpeedSliderFraction-response)))
+  "Returns string type for a service object of type 'SetSpeedSliderFraction-response"
+  "ur_msgs/SetSpeedSliderFractionResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetSpeedSliderFraction-response>)))
+  "Returns md5sum for a message object of type '<SetSpeedSliderFraction-response>"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetSpeedSliderFraction-response)))
+  "Returns md5sum for a message object of type 'SetSpeedSliderFraction-response"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetSpeedSliderFraction-response>)))
+  "Returns full string definition for message of type '<SetSpeedSliderFraction-response>"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetSpeedSliderFraction-response)))
+  "Returns full string definition for message of type 'SetSpeedSliderFraction-response"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetSpeedSliderFraction-response>))
+  (cl:+ 0
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetSpeedSliderFraction-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetSpeedSliderFraction-response
+    (cl:cons ':success (success msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'SetSpeedSliderFraction)))
+  'SetSpeedSliderFraction-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'SetSpeedSliderFraction)))
+  'SetSpeedSliderFraction-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetSpeedSliderFraction)))
+  "Returns string type for a service object of type '<SetSpeedSliderFraction>"
+  "ur_msgs/SetSpeedSliderFraction")

devel/share/gennodejs/ros/jog_msgs/msg/JogFrame.js

@@ -0,0 +1,239 @@
+// Auto-generated. Do not edit!
+
+// (in-package jog_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let geometry_msgs = _finder('geometry_msgs');
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class JogFrame {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.group_name = null;
+      this.link_name = null;
+      this.linear_delta = null;
+      this.angular_delta = null;
+      this.avoid_collisions = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('group_name')) {
+        this.group_name = initObj.group_name
+      }
+      else {
+        this.group_name = '';
+      }
+      if (initObj.hasOwnProperty('link_name')) {
+        this.link_name = initObj.link_name
+      }
+      else {
+        this.link_name = '';
+      }
+      if (initObj.hasOwnProperty('linear_delta')) {
+        this.linear_delta = initObj.linear_delta
+      }
+      else {
+        this.linear_delta = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('angular_delta')) {
+        this.angular_delta = initObj.angular_delta
+      }
+      else {
+        this.angular_delta = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('avoid_collisions')) {
+        this.avoid_collisions = initObj.avoid_collisions
+      }
+      else {
+        this.avoid_collisions = false;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type JogFrame
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [group_name]
+    bufferOffset = _serializer.string(obj.group_name, buffer, bufferOffset);
+    // Serialize message field [link_name]
+    bufferOffset = _serializer.string(obj.link_name, buffer, bufferOffset);
+    // Serialize message field [linear_delta]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.linear_delta, buffer, bufferOffset);
+    // Serialize message field [angular_delta]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.angular_delta, buffer, bufferOffset);
+    // Serialize message field [avoid_collisions]
+    bufferOffset = _serializer.bool(obj.avoid_collisions, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type JogFrame
+    let len;
+    let data = new JogFrame(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [group_name]
+    data.group_name = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [link_name]
+    data.link_name = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [linear_delta]
+    data.linear_delta = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [angular_delta]
+    data.angular_delta = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [avoid_collisions]
+    data.avoid_collisions = _deserializer.bool(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    length += object.group_name.length;
+    length += object.link_name.length;
+    return length + 57;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'jog_msgs/JogFrame';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'e342f29bf6beaf00261bdae365abfff9';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    # This is a message to hold data to jog by specifying a target
+    # frame. It uses MoveIt! kinematics, so you need to specify the
+    # JointGroup name to use in group_name. (lienar|angular)_delta is the
+    # amount of displacement.
+    
+    # header message. You must set frame_id to define the reference
+    # coordinate system of the displacament
+    Header header
+    
+    # Name of JointGroup of MoveIt!
+    string group_name
+    
+    # Target link name to jog. The link must be in the JoingGroup
+    string link_name
+    
+    # Linear displacement vector to jog. The refrence frame is defined by
+    # frame_id in header. Unit is in meter.
+    geometry_msgs/Vector3 linear_delta
+    
+    # Angular displacement vector to jog. The refrence frame is defined by
+    # frame_id in header. Unit is in radian.
+    geometry_msgs/Vector3 angular_delta
+    
+    # It uses avoid_collisions option of MoveIt! kinematics. If it is
+    # true, the robot doesn't move if any collisions occured.
+    bool avoid_collisions
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    # 0: no frame
+    # 1: global frame
+    string frame_id
+    
+    ================================================================================
+    MSG: geometry_msgs/Vector3
+    # This represents a vector in free space. 
+    # It is only meant to represent a direction. Therefore, it does not
+    # make sense to apply a translation to it (e.g., when applying a 
+    # generic rigid transformation to a Vector3, tf2 will only apply the
+    # rotation). If you want your data to be translatable too, use the
+    # geometry_msgs/Point message instead.
+    
+    float64 x
+    float64 y
+    float64 z
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new JogFrame(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.group_name !== undefined) {
+      resolved.group_name = msg.group_name;
+    }
+    else {
+      resolved.group_name = ''
+    }
+
+    if (msg.link_name !== undefined) {
+      resolved.link_name = msg.link_name;
+    }
+    else {
+      resolved.link_name = ''
+    }
+
+    if (msg.linear_delta !== undefined) {
+      resolved.linear_delta = geometry_msgs.msg.Vector3.Resolve(msg.linear_delta)
+    }
+    else {
+      resolved.linear_delta = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.angular_delta !== undefined) {
+      resolved.angular_delta = geometry_msgs.msg.Vector3.Resolve(msg.angular_delta)
+    }
+    else {
+      resolved.angular_delta = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.avoid_collisions !== undefined) {
+      resolved.avoid_collisions = msg.avoid_collisions;
+    }
+    else {
+      resolved.avoid_collisions = false
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = JogFrame;

devel/share/gennodejs/ros/jog_msgs/msg/JogJoint.js

@@ -0,0 +1,164 @@
+// Auto-generated. Do not edit!
+
+// (in-package jog_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class JogJoint {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.joint_names = null;
+      this.deltas = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('joint_names')) {
+        this.joint_names = initObj.joint_names
+      }
+      else {
+        this.joint_names = [];
+      }
+      if (initObj.hasOwnProperty('deltas')) {
+        this.deltas = initObj.deltas
+      }
+      else {
+        this.deltas = [];
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type JogJoint
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [joint_names]
+    bufferOffset = _arraySerializer.string(obj.joint_names, buffer, bufferOffset, null);
+    // Serialize message field [deltas]
+    bufferOffset = _arraySerializer.float64(obj.deltas, buffer, bufferOffset, null);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type JogJoint
+    let len;
+    let data = new JogJoint(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [joint_names]
+    data.joint_names = _arrayDeserializer.string(buffer, bufferOffset, null)
+    // Deserialize message field [deltas]
+    data.deltas = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    object.joint_names.forEach((val) => {
+      length += 4 + val.length;
+    });
+    length += 8 * object.deltas.length;
+    return length + 8;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'jog_msgs/JogJoint';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '8d2aa14be64b51cf6374d198bfd489b2';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    # This is a message to hold data to jog by specifying joint
+    # displacement. You only need to set relative displacement to joint
+    # angles (or displacements for linear joints).
+    
+    # header message. You must set frame_id to define the reference
+    # coordinate system of the displacament
+    Header header
+    
+    # Name list of the joints. You don't need to specify all joint of the
+    # robot. Joint names are case-sensitive.
+    string[] joint_names
+    
+    # Relative displacement of the joints to jog. The order must be
+    # identical to joint_names. Unit is in radian for revolutive joints,
+    # meter for linear joints.
+    float64[] deltas
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    # 0: no frame
+    # 1: global frame
+    string frame_id
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new JogJoint(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.joint_names !== undefined) {
+      resolved.joint_names = msg.joint_names;
+    }
+    else {
+      resolved.joint_names = []
+    }
+
+    if (msg.deltas !== undefined) {
+      resolved.deltas = msg.deltas;
+    }
+    else {
+      resolved.deltas = []
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = JogJoint;

devel/share/gennodejs/ros/ur_msgs/msg/Analog.js

@@ -0,0 +1,135 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class Analog {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.pin = null;
+      this.domain = null;
+      this.state = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('pin')) {
+        this.pin = initObj.pin
+      }
+      else {
+        this.pin = 0;
+      }
+      if (initObj.hasOwnProperty('domain')) {
+        this.domain = initObj.domain
+      }
+      else {
+        this.domain = 0;
+      }
+      if (initObj.hasOwnProperty('state')) {
+        this.state = initObj.state
+      }
+      else {
+        this.state = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type Analog
+    // Serialize message field [pin]
+    bufferOffset = _serializer.uint8(obj.pin, buffer, bufferOffset);
+    // Serialize message field [domain]
+    bufferOffset = _serializer.uint8(obj.domain, buffer, bufferOffset);
+    // Serialize message field [state]
+    bufferOffset = _serializer.float32(obj.state, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type Analog
+    let len;
+    let data = new Analog(null);
+    // Deserialize message field [pin]
+    data.pin = _deserializer.uint8(buffer, bufferOffset);
+    // Deserialize message field [domain]
+    data.domain = _deserializer.uint8(buffer, bufferOffset);
+    // Deserialize message field [state]
+    data.state = _deserializer.float32(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 6;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/Analog';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'f41c08a810adf63713aec88712cd553d';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    uint8 VOLTAGE=0
+    uint8 CURRENT=1
+    
+    uint8 pin
+    uint8 domain # can be VOLTAGE or CURRENT
+    float32 state
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new Analog(null);
+    if (msg.pin !== undefined) {
+      resolved.pin = msg.pin;
+    }
+    else {
+      resolved.pin = 0
+    }
+
+    if (msg.domain !== undefined) {
+      resolved.domain = msg.domain;
+    }
+    else {
+      resolved.domain = 0
+    }
+
+    if (msg.state !== undefined) {
+      resolved.state = msg.state;
+    }
+    else {
+      resolved.state = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+// Constants for message
+Analog.Constants = {
+  VOLTAGE: 0,
+  CURRENT: 1,
+}
+
+module.exports = Analog;

devel/share/gennodejs/ros/ur_msgs/msg/Digital.js

@@ -0,0 +1,107 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class Digital {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.pin = null;
+      this.state = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('pin')) {
+        this.pin = initObj.pin
+      }
+      else {
+        this.pin = 0;
+      }
+      if (initObj.hasOwnProperty('state')) {
+        this.state = initObj.state
+      }
+      else {
+        this.state = false;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type Digital
+    // Serialize message field [pin]
+    bufferOffset = _serializer.uint8(obj.pin, buffer, bufferOffset);
+    // Serialize message field [state]
+    bufferOffset = _serializer.bool(obj.state, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type Digital
+    let len;
+    let data = new Digital(null);
+    // Deserialize message field [pin]
+    data.pin = _deserializer.uint8(buffer, bufferOffset);
+    // Deserialize message field [state]
+    data.state = _deserializer.bool(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 2;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/Digital';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '83707be3fa18d2ffe57381ea034aa262';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    uint8 pin
+    bool state
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new Digital(null);
+    if (msg.pin !== undefined) {
+      resolved.pin = msg.pin;
+    }
+    else {
+      resolved.pin = 0
+    }
+
+    if (msg.state !== undefined) {
+      resolved.state = msg.state;
+    }
+    else {
+      resolved.state = false
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = Digital;

devel/share/gennodejs/ros/ur_msgs/msg/IOStates.js

@@ -0,0 +1,246 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let Digital = require('./Digital.js');
+let Analog = require('./Analog.js');
+
+//-----------------------------------------------------------
+
+class IOStates {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.digital_in_states = null;
+      this.digital_out_states = null;
+      this.flag_states = null;
+      this.analog_in_states = null;
+      this.analog_out_states = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('digital_in_states')) {
+        this.digital_in_states = initObj.digital_in_states
+      }
+      else {
+        this.digital_in_states = [];
+      }
+      if (initObj.hasOwnProperty('digital_out_states')) {
+        this.digital_out_states = initObj.digital_out_states
+      }
+      else {
+        this.digital_out_states = [];
+      }
+      if (initObj.hasOwnProperty('flag_states')) {
+        this.flag_states = initObj.flag_states
+      }
+      else {
+        this.flag_states = [];
+      }
+      if (initObj.hasOwnProperty('analog_in_states')) {
+        this.analog_in_states = initObj.analog_in_states
+      }
+      else {
+        this.analog_in_states = [];
+      }
+      if (initObj.hasOwnProperty('analog_out_states')) {
+        this.analog_out_states = initObj.analog_out_states
+      }
+      else {
+        this.analog_out_states = [];
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type IOStates
+    // Serialize message field [digital_in_states]
+    // Serialize the length for message field [digital_in_states]
+    bufferOffset = _serializer.uint32(obj.digital_in_states.length, buffer, bufferOffset);
+    obj.digital_in_states.forEach((val) => {
+      bufferOffset = Digital.serialize(val, buffer, bufferOffset);
+    });
+    // Serialize message field [digital_out_states]
+    // Serialize the length for message field [digital_out_states]
+    bufferOffset = _serializer.uint32(obj.digital_out_states.length, buffer, bufferOffset);
+    obj.digital_out_states.forEach((val) => {
+      bufferOffset = Digital.serialize(val, buffer, bufferOffset);
+    });
+    // Serialize message field [flag_states]
+    // Serialize the length for message field [flag_states]
+    bufferOffset = _serializer.uint32(obj.flag_states.length, buffer, bufferOffset);
+    obj.flag_states.forEach((val) => {
+      bufferOffset = Digital.serialize(val, buffer, bufferOffset);
+    });
+    // Serialize message field [analog_in_states]
+    // Serialize the length for message field [analog_in_states]
+    bufferOffset = _serializer.uint32(obj.analog_in_states.length, buffer, bufferOffset);
+    obj.analog_in_states.forEach((val) => {
+      bufferOffset = Analog.serialize(val, buffer, bufferOffset);
+    });
+    // Serialize message field [analog_out_states]
+    // Serialize the length for message field [analog_out_states]
+    bufferOffset = _serializer.uint32(obj.analog_out_states.length, buffer, bufferOffset);
+    obj.analog_out_states.forEach((val) => {
+      bufferOffset = Analog.serialize(val, buffer, bufferOffset);
+    });
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type IOStates
+    let len;
+    let data = new IOStates(null);
+    // Deserialize message field [digital_in_states]
+    // Deserialize array length for message field [digital_in_states]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.digital_in_states = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.digital_in_states[i] = Digital.deserialize(buffer, bufferOffset)
+    }
+    // Deserialize message field [digital_out_states]
+    // Deserialize array length for message field [digital_out_states]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.digital_out_states = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.digital_out_states[i] = Digital.deserialize(buffer, bufferOffset)
+    }
+    // Deserialize message field [flag_states]
+    // Deserialize array length for message field [flag_states]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.flag_states = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.flag_states[i] = Digital.deserialize(buffer, bufferOffset)
+    }
+    // Deserialize message field [analog_in_states]
+    // Deserialize array length for message field [analog_in_states]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.analog_in_states = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.analog_in_states[i] = Analog.deserialize(buffer, bufferOffset)
+    }
+    // Deserialize message field [analog_out_states]
+    // Deserialize array length for message field [analog_out_states]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.analog_out_states = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.analog_out_states[i] = Analog.deserialize(buffer, bufferOffset)
+    }
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += 2 * object.digital_in_states.length;
+    length += 2 * object.digital_out_states.length;
+    length += 2 * object.flag_states.length;
+    length += 6 * object.analog_in_states.length;
+    length += 6 * object.analog_out_states.length;
+    return length + 20;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/IOStates';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '3033784e7041da89491b97cc4c1105b5';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    Digital[] digital_in_states
+    Digital[] digital_out_states
+    Digital[] flag_states
+    Analog[] analog_in_states
+    Analog[] analog_out_states
+    
+    ================================================================================
+    MSG: ur_msgs/Digital
+    uint8 pin
+    bool state
+    
+    ================================================================================
+    MSG: ur_msgs/Analog
+    uint8 VOLTAGE=0
+    uint8 CURRENT=1
+    
+    uint8 pin
+    uint8 domain # can be VOLTAGE or CURRENT
+    float32 state
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new IOStates(null);
+    if (msg.digital_in_states !== undefined) {
+      resolved.digital_in_states = new Array(msg.digital_in_states.length);
+      for (let i = 0; i < resolved.digital_in_states.length; ++i) {
+        resolved.digital_in_states[i] = Digital.Resolve(msg.digital_in_states[i]);
+      }
+    }
+    else {
+      resolved.digital_in_states = []
+    }
+
+    if (msg.digital_out_states !== undefined) {
+      resolved.digital_out_states = new Array(msg.digital_out_states.length);
+      for (let i = 0; i < resolved.digital_out_states.length; ++i) {
+        resolved.digital_out_states[i] = Digital.Resolve(msg.digital_out_states[i]);
+      }
+    }
+    else {
+      resolved.digital_out_states = []
+    }
+
+    if (msg.flag_states !== undefined) {
+      resolved.flag_states = new Array(msg.flag_states.length);
+      for (let i = 0; i < resolved.flag_states.length; ++i) {
+        resolved.flag_states[i] = Digital.Resolve(msg.flag_states[i]);
+      }
+    }
+    else {
+      resolved.flag_states = []
+    }
+
+    if (msg.analog_in_states !== undefined) {
+      resolved.analog_in_states = new Array(msg.analog_in_states.length);
+      for (let i = 0; i < resolved.analog_in_states.length; ++i) {
+        resolved.analog_in_states[i] = Analog.Resolve(msg.analog_in_states[i]);
+      }
+    }
+    else {
+      resolved.analog_in_states = []
+    }
+
+    if (msg.analog_out_states !== undefined) {
+      resolved.analog_out_states = new Array(msg.analog_out_states.length);
+      for (let i = 0; i < resolved.analog_out_states.length; ++i) {
+        resolved.analog_out_states[i] = Analog.Resolve(msg.analog_out_states[i]);
+      }
+    }
+    else {
+      resolved.analog_out_states = []
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = IOStates;

devel/share/gennodejs/ros/ur_msgs/msg/MasterboardDataMsg.js

@@ -0,0 +1,384 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class MasterboardDataMsg {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.digital_input_bits = null;
+      this.digital_output_bits = null;
+      this.analog_input_range0 = null;
+      this.analog_input_range1 = null;
+      this.analog_input0 = null;
+      this.analog_input1 = null;
+      this.analog_output_domain0 = null;
+      this.analog_output_domain1 = null;
+      this.analog_output0 = null;
+      this.analog_output1 = null;
+      this.masterboard_temperature = null;
+      this.robot_voltage_48V = null;
+      this.robot_current = null;
+      this.master_io_current = null;
+      this.master_safety_state = null;
+      this.master_onoff_state = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('digital_input_bits')) {
+        this.digital_input_bits = initObj.digital_input_bits
+      }
+      else {
+        this.digital_input_bits = 0;
+      }
+      if (initObj.hasOwnProperty('digital_output_bits')) {
+        this.digital_output_bits = initObj.digital_output_bits
+      }
+      else {
+        this.digital_output_bits = 0;
+      }
+      if (initObj.hasOwnProperty('analog_input_range0')) {
+        this.analog_input_range0 = initObj.analog_input_range0
+      }
+      else {
+        this.analog_input_range0 = 0;
+      }
+      if (initObj.hasOwnProperty('analog_input_range1')) {
+        this.analog_input_range1 = initObj.analog_input_range1
+      }
+      else {
+        this.analog_input_range1 = 0;
+      }
+      if (initObj.hasOwnProperty('analog_input0')) {
+        this.analog_input0 = initObj.analog_input0
+      }
+      else {
+        this.analog_input0 = 0.0;
+      }
+      if (initObj.hasOwnProperty('analog_input1')) {
+        this.analog_input1 = initObj.analog_input1
+      }
+      else {
+        this.analog_input1 = 0.0;
+      }
+      if (initObj.hasOwnProperty('analog_output_domain0')) {
+        this.analog_output_domain0 = initObj.analog_output_domain0
+      }
+      else {
+        this.analog_output_domain0 = 0;
+      }
+      if (initObj.hasOwnProperty('analog_output_domain1')) {
+        this.analog_output_domain1 = initObj.analog_output_domain1
+      }
+      else {
+        this.analog_output_domain1 = 0;
+      }
+      if (initObj.hasOwnProperty('analog_output0')) {
+        this.analog_output0 = initObj.analog_output0
+      }
+      else {
+        this.analog_output0 = 0.0;
+      }
+      if (initObj.hasOwnProperty('analog_output1')) {
+        this.analog_output1 = initObj.analog_output1
+      }
+      else {
+        this.analog_output1 = 0.0;
+      }
+      if (initObj.hasOwnProperty('masterboard_temperature')) {
+        this.masterboard_temperature = initObj.masterboard_temperature
+      }
+      else {
+        this.masterboard_temperature = 0.0;
+      }
+      if (initObj.hasOwnProperty('robot_voltage_48V')) {
+        this.robot_voltage_48V = initObj.robot_voltage_48V
+      }
+      else {
+        this.robot_voltage_48V = 0.0;
+      }
+      if (initObj.hasOwnProperty('robot_current')) {
+        this.robot_current = initObj.robot_current
+      }
+      else {
+        this.robot_current = 0.0;
+      }
+      if (initObj.hasOwnProperty('master_io_current')) {
+        this.master_io_current = initObj.master_io_current
+      }
+      else {
+        this.master_io_current = 0.0;
+      }
+      if (initObj.hasOwnProperty('master_safety_state')) {
+        this.master_safety_state = initObj.master_safety_state
+      }
+      else {
+        this.master_safety_state = 0;
+      }
+      if (initObj.hasOwnProperty('master_onoff_state')) {
+        this.master_onoff_state = initObj.master_onoff_state
+      }
+      else {
+        this.master_onoff_state = 0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type MasterboardDataMsg
+    // Serialize message field [digital_input_bits]
+    bufferOffset = _serializer.uint32(obj.digital_input_bits, buffer, bufferOffset);
+    // Serialize message field [digital_output_bits]
+    bufferOffset = _serializer.uint32(obj.digital_output_bits, buffer, bufferOffset);
+    // Serialize message field [analog_input_range0]
+    bufferOffset = _serializer.int8(obj.analog_input_range0, buffer, bufferOffset);
+    // Serialize message field [analog_input_range1]
+    bufferOffset = _serializer.int8(obj.analog_input_range1, buffer, bufferOffset);
+    // Serialize message field [analog_input0]
+    bufferOffset = _serializer.float64(obj.analog_input0, buffer, bufferOffset);
+    // Serialize message field [analog_input1]
+    bufferOffset = _serializer.float64(obj.analog_input1, buffer, bufferOffset);
+    // Serialize message field [analog_output_domain0]
+    bufferOffset = _serializer.int8(obj.analog_output_domain0, buffer, bufferOffset);
+    // Serialize message field [analog_output_domain1]
+    bufferOffset = _serializer.int8(obj.analog_output_domain1, buffer, bufferOffset);
+    // Serialize message field [analog_output0]
+    bufferOffset = _serializer.float64(obj.analog_output0, buffer, bufferOffset);
+    // Serialize message field [analog_output1]
+    bufferOffset = _serializer.float64(obj.analog_output1, buffer, bufferOffset);
+    // Serialize message field [masterboard_temperature]
+    bufferOffset = _serializer.float32(obj.masterboard_temperature, buffer, bufferOffset);
+    // Serialize message field [robot_voltage_48V]
+    bufferOffset = _serializer.float32(obj.robot_voltage_48V, buffer, bufferOffset);
+    // Serialize message field [robot_current]
+    bufferOffset = _serializer.float32(obj.robot_current, buffer, bufferOffset);
+    // Serialize message field [master_io_current]
+    bufferOffset = _serializer.float32(obj.master_io_current, buffer, bufferOffset);
+    // Serialize message field [master_safety_state]
+    bufferOffset = _serializer.uint8(obj.master_safety_state, buffer, bufferOffset);
+    // Serialize message field [master_onoff_state]
+    bufferOffset = _serializer.uint8(obj.master_onoff_state, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type MasterboardDataMsg
+    let len;
+    let data = new MasterboardDataMsg(null);
+    // Deserialize message field [digital_input_bits]
+    data.digital_input_bits = _deserializer.uint32(buffer, bufferOffset);
+    // Deserialize message field [digital_output_bits]
+    data.digital_output_bits = _deserializer.uint32(buffer, bufferOffset);
+    // Deserialize message field [analog_input_range0]
+    data.analog_input_range0 = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [analog_input_range1]
+    data.analog_input_range1 = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [analog_input0]
+    data.analog_input0 = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [analog_input1]
+    data.analog_input1 = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [analog_output_domain0]
+    data.analog_output_domain0 = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [analog_output_domain1]
+    data.analog_output_domain1 = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [analog_output0]
+    data.analog_output0 = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [analog_output1]
+    data.analog_output1 = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [masterboard_temperature]
+    data.masterboard_temperature = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [robot_voltage_48V]
+    data.robot_voltage_48V = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [robot_current]
+    data.robot_current = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [master_io_current]
+    data.master_io_current = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [master_safety_state]
+    data.master_safety_state = _deserializer.uint8(buffer, bufferOffset);
+    // Deserialize message field [master_onoff_state]
+    data.master_onoff_state = _deserializer.uint8(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 62;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/MasterboardDataMsg';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '807af5dc427082b111fa23d1fd2cd585';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    # This data structure contains the MasterboardData structure
+    # used by the Universal Robots controller
+    #
+    # MasterboardData is part of the data structure being send on the 
+    # secondary client communications interface
+    # 
+    # This data structure is send at 10 Hz on TCP port 30002
+    # 
+    # Documentation can be found on the Universal Robots Support site, article
+    # number 16496.
+    
+    uint32 digital_input_bits
+    uint32 digital_output_bits
+    int8 analog_input_range0
+    int8 analog_input_range1
+    float64 analog_input0
+    float64 analog_input1
+    int8 analog_output_domain0
+    int8 analog_output_domain1
+    float64 analog_output0
+    float64 analog_output1
+    float32 masterboard_temperature
+    float32 robot_voltage_48V
+    float32 robot_current
+    float32 master_io_current
+    uint8 master_safety_state
+    uint8 master_onoff_state
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new MasterboardDataMsg(null);
+    if (msg.digital_input_bits !== undefined) {
+      resolved.digital_input_bits = msg.digital_input_bits;
+    }
+    else {
+      resolved.digital_input_bits = 0
+    }
+
+    if (msg.digital_output_bits !== undefined) {
+      resolved.digital_output_bits = msg.digital_output_bits;
+    }
+    else {
+      resolved.digital_output_bits = 0
+    }
+
+    if (msg.analog_input_range0 !== undefined) {
+      resolved.analog_input_range0 = msg.analog_input_range0;
+    }
+    else {
+      resolved.analog_input_range0 = 0
+    }
+
+    if (msg.analog_input_range1 !== undefined) {
+      resolved.analog_input_range1 = msg.analog_input_range1;
+    }
+    else {
+      resolved.analog_input_range1 = 0
+    }
+
+    if (msg.analog_input0 !== undefined) {
+      resolved.analog_input0 = msg.analog_input0;
+    }
+    else {
+      resolved.analog_input0 = 0.0
+    }
+
+    if (msg.analog_input1 !== undefined) {
+      resolved.analog_input1 = msg.analog_input1;
+    }
+    else {
+      resolved.analog_input1 = 0.0
+    }
+
+    if (msg.analog_output_domain0 !== undefined) {
+      resolved.analog_output_domain0 = msg.analog_output_domain0;
+    }
+    else {
+      resolved.analog_output_domain0 = 0
+    }
+
+    if (msg.analog_output_domain1 !== undefined) {
+      resolved.analog_output_domain1 = msg.analog_output_domain1;
+    }
+    else {
+      resolved.analog_output_domain1 = 0
+    }
+
+    if (msg.analog_output0 !== undefined) {
+      resolved.analog_output0 = msg.analog_output0;
+    }
+    else {
+      resolved.analog_output0 = 0.0
+    }
+
+    if (msg.analog_output1 !== undefined) {
+      resolved.analog_output1 = msg.analog_output1;
+    }
+    else {
+      resolved.analog_output1 = 0.0
+    }
+
+    if (msg.masterboard_temperature !== undefined) {
+      resolved.masterboard_temperature = msg.masterboard_temperature;
+    }
+    else {
+      resolved.masterboard_temperature = 0.0
+    }
+
+    if (msg.robot_voltage_48V !== undefined) {
+      resolved.robot_voltage_48V = msg.robot_voltage_48V;
+    }
+    else {
+      resolved.robot_voltage_48V = 0.0
+    }
+
+    if (msg.robot_current !== undefined) {
+      resolved.robot_current = msg.robot_current;
+    }
+    else {
+      resolved.robot_current = 0.0
+    }
+
+    if (msg.master_io_current !== undefined) {
+      resolved.master_io_current = msg.master_io_current;
+    }
+    else {
+      resolved.master_io_current = 0.0
+    }
+
+    if (msg.master_safety_state !== undefined) {
+      resolved.master_safety_state = msg.master_safety_state;
+    }
+    else {
+      resolved.master_safety_state = 0
+    }
+
+    if (msg.master_onoff_state !== undefined) {
+      resolved.master_onoff_state = msg.master_onoff_state;
+    }
+    else {
+      resolved.master_onoff_state = 0
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = MasterboardDataMsg;

devel/share/gennodejs/ros/ur_msgs/msg/RobotModeDataMsg.js

@@ -0,0 +1,228 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class RobotModeDataMsg {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.timestamp = null;
+      this.is_robot_connected = null;
+      this.is_real_robot_enabled = null;
+      this.is_power_on_robot = null;
+      this.is_emergency_stopped = null;
+      this.is_protective_stopped = null;
+      this.is_program_running = null;
+      this.is_program_paused = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('timestamp')) {
+        this.timestamp = initObj.timestamp
+      }
+      else {
+        this.timestamp = 0;
+      }
+      if (initObj.hasOwnProperty('is_robot_connected')) {
+        this.is_robot_connected = initObj.is_robot_connected
+      }
+      else {
+        this.is_robot_connected = false;
+      }
+      if (initObj.hasOwnProperty('is_real_robot_enabled')) {
+        this.is_real_robot_enabled = initObj.is_real_robot_enabled
+      }
+      else {
+        this.is_real_robot_enabled = false;
+      }
+      if (initObj.hasOwnProperty('is_power_on_robot')) {
+        this.is_power_on_robot = initObj.is_power_on_robot
+      }
+      else {
+        this.is_power_on_robot = false;
+      }
+      if (initObj.hasOwnProperty('is_emergency_stopped')) {
+        this.is_emergency_stopped = initObj.is_emergency_stopped
+      }
+      else {
+        this.is_emergency_stopped = false;
+      }
+      if (initObj.hasOwnProperty('is_protective_stopped')) {
+        this.is_protective_stopped = initObj.is_protective_stopped
+      }
+      else {
+        this.is_protective_stopped = false;
+      }
+      if (initObj.hasOwnProperty('is_program_running')) {
+        this.is_program_running = initObj.is_program_running
+      }
+      else {
+        this.is_program_running = false;
+      }
+      if (initObj.hasOwnProperty('is_program_paused')) {
+        this.is_program_paused = initObj.is_program_paused
+      }
+      else {
+        this.is_program_paused = false;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type RobotModeDataMsg
+    // Serialize message field [timestamp]
+    bufferOffset = _serializer.uint64(obj.timestamp, buffer, bufferOffset);
+    // Serialize message field [is_robot_connected]
+    bufferOffset = _serializer.bool(obj.is_robot_connected, buffer, bufferOffset);
+    // Serialize message field [is_real_robot_enabled]
+    bufferOffset = _serializer.bool(obj.is_real_robot_enabled, buffer, bufferOffset);
+    // Serialize message field [is_power_on_robot]
+    bufferOffset = _serializer.bool(obj.is_power_on_robot, buffer, bufferOffset);
+    // Serialize message field [is_emergency_stopped]
+    bufferOffset = _serializer.bool(obj.is_emergency_stopped, buffer, bufferOffset);
+    // Serialize message field [is_protective_stopped]
+    bufferOffset = _serializer.bool(obj.is_protective_stopped, buffer, bufferOffset);
+    // Serialize message field [is_program_running]
+    bufferOffset = _serializer.bool(obj.is_program_running, buffer, bufferOffset);
+    // Serialize message field [is_program_paused]
+    bufferOffset = _serializer.bool(obj.is_program_paused, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type RobotModeDataMsg
+    let len;
+    let data = new RobotModeDataMsg(null);
+    // Deserialize message field [timestamp]
+    data.timestamp = _deserializer.uint64(buffer, bufferOffset);
+    // Deserialize message field [is_robot_connected]
+    data.is_robot_connected = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [is_real_robot_enabled]
+    data.is_real_robot_enabled = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [is_power_on_robot]
+    data.is_power_on_robot = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [is_emergency_stopped]
+    data.is_emergency_stopped = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [is_protective_stopped]
+    data.is_protective_stopped = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [is_program_running]
+    data.is_program_running = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [is_program_paused]
+    data.is_program_paused = _deserializer.bool(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 15;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/RobotModeDataMsg';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '867308ca39e2cc0644b50db27deb661f';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    # This data structure contains the RobotModeData structure
+    # used by the Universal Robots controller
+    #
+    # This data structure is send at 10 Hz on TCP port 30002
+    #
+    # Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset.
+    
+    uint64 timestamp
+    bool is_robot_connected
+    bool is_real_robot_enabled
+    bool is_power_on_robot
+    bool is_emergency_stopped
+    bool is_protective_stopped
+    bool is_program_running
+    bool is_program_paused
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new RobotModeDataMsg(null);
+    if (msg.timestamp !== undefined) {
+      resolved.timestamp = msg.timestamp;
+    }
+    else {
+      resolved.timestamp = 0
+    }
+
+    if (msg.is_robot_connected !== undefined) {
+      resolved.is_robot_connected = msg.is_robot_connected;
+    }
+    else {
+      resolved.is_robot_connected = false
+    }
+
+    if (msg.is_real_robot_enabled !== undefined) {
+      resolved.is_real_robot_enabled = msg.is_real_robot_enabled;
+    }
+    else {
+      resolved.is_real_robot_enabled = false
+    }
+
+    if (msg.is_power_on_robot !== undefined) {
+      resolved.is_power_on_robot = msg.is_power_on_robot;
+    }
+    else {
+      resolved.is_power_on_robot = false
+    }
+
+    if (msg.is_emergency_stopped !== undefined) {
+      resolved.is_emergency_stopped = msg.is_emergency_stopped;
+    }
+    else {
+      resolved.is_emergency_stopped = false
+    }
+
+    if (msg.is_protective_stopped !== undefined) {
+      resolved.is_protective_stopped = msg.is_protective_stopped;
+    }
+    else {
+      resolved.is_protective_stopped = false
+    }
+
+    if (msg.is_program_running !== undefined) {
+      resolved.is_program_running = msg.is_program_running;
+    }
+    else {
+      resolved.is_program_running = false
+    }
+
+    if (msg.is_program_paused !== undefined) {
+      resolved.is_program_paused = msg.is_program_paused;
+    }
+    else {
+      resolved.is_program_paused = false
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = RobotModeDataMsg;

devel/share/gennodejs/ros/ur_msgs/msg/RobotStateRTMsg.js

@@ -0,0 +1,453 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class RobotStateRTMsg {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.time = null;
+      this.q_target = null;
+      this.qd_target = null;
+      this.qdd_target = null;
+      this.i_target = null;
+      this.m_target = null;
+      this.q_actual = null;
+      this.qd_actual = null;
+      this.i_actual = null;
+      this.tool_acc_values = null;
+      this.tcp_force = null;
+      this.tool_vector = null;
+      this.tcp_speed = null;
+      this.digital_input_bits = null;
+      this.motor_temperatures = null;
+      this.controller_timer = null;
+      this.test_value = null;
+      this.robot_mode = null;
+      this.joint_modes = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('time')) {
+        this.time = initObj.time
+      }
+      else {
+        this.time = 0.0;
+      }
+      if (initObj.hasOwnProperty('q_target')) {
+        this.q_target = initObj.q_target
+      }
+      else {
+        this.q_target = [];
+      }
+      if (initObj.hasOwnProperty('qd_target')) {
+        this.qd_target = initObj.qd_target
+      }
+      else {
+        this.qd_target = [];
+      }
+      if (initObj.hasOwnProperty('qdd_target')) {
+        this.qdd_target = initObj.qdd_target
+      }
+      else {
+        this.qdd_target = [];
+      }
+      if (initObj.hasOwnProperty('i_target')) {
+        this.i_target = initObj.i_target
+      }
+      else {
+        this.i_target = [];
+      }
+      if (initObj.hasOwnProperty('m_target')) {
+        this.m_target = initObj.m_target
+      }
+      else {
+        this.m_target = [];
+      }
+      if (initObj.hasOwnProperty('q_actual')) {
+        this.q_actual = initObj.q_actual
+      }
+      else {
+        this.q_actual = [];
+      }
+      if (initObj.hasOwnProperty('qd_actual')) {
+        this.qd_actual = initObj.qd_actual
+      }
+      else {
+        this.qd_actual = [];
+      }
+      if (initObj.hasOwnProperty('i_actual')) {
+        this.i_actual = initObj.i_actual
+      }
+      else {
+        this.i_actual = [];
+      }
+      if (initObj.hasOwnProperty('tool_acc_values')) {
+        this.tool_acc_values = initObj.tool_acc_values
+      }
+      else {
+        this.tool_acc_values = [];
+      }
+      if (initObj.hasOwnProperty('tcp_force')) {
+        this.tcp_force = initObj.tcp_force
+      }
+      else {
+        this.tcp_force = [];
+      }
+      if (initObj.hasOwnProperty('tool_vector')) {
+        this.tool_vector = initObj.tool_vector
+      }
+      else {
+        this.tool_vector = [];
+      }
+      if (initObj.hasOwnProperty('tcp_speed')) {
+        this.tcp_speed = initObj.tcp_speed
+      }
+      else {
+        this.tcp_speed = [];
+      }
+      if (initObj.hasOwnProperty('digital_input_bits')) {
+        this.digital_input_bits = initObj.digital_input_bits
+      }
+      else {
+        this.digital_input_bits = 0.0;
+      }
+      if (initObj.hasOwnProperty('motor_temperatures')) {
+        this.motor_temperatures = initObj.motor_temperatures
+      }
+      else {
+        this.motor_temperatures = [];
+      }
+      if (initObj.hasOwnProperty('controller_timer')) {
+        this.controller_timer = initObj.controller_timer
+      }
+      else {
+        this.controller_timer = 0.0;
+      }
+      if (initObj.hasOwnProperty('test_value')) {
+        this.test_value = initObj.test_value
+      }
+      else {
+        this.test_value = 0.0;
+      }
+      if (initObj.hasOwnProperty('robot_mode')) {
+        this.robot_mode = initObj.robot_mode
+      }
+      else {
+        this.robot_mode = 0.0;
+      }
+      if (initObj.hasOwnProperty('joint_modes')) {
+        this.joint_modes = initObj.joint_modes
+      }
+      else {
+        this.joint_modes = [];
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type RobotStateRTMsg
+    // Serialize message field [time]
+    bufferOffset = _serializer.float64(obj.time, buffer, bufferOffset);
+    // Serialize message field [q_target]
+    bufferOffset = _arraySerializer.float64(obj.q_target, buffer, bufferOffset, null);
+    // Serialize message field [qd_target]
+    bufferOffset = _arraySerializer.float64(obj.qd_target, buffer, bufferOffset, null);
+    // Serialize message field [qdd_target]
+    bufferOffset = _arraySerializer.float64(obj.qdd_target, buffer, bufferOffset, null);
+    // Serialize message field [i_target]
+    bufferOffset = _arraySerializer.float64(obj.i_target, buffer, bufferOffset, null);
+    // Serialize message field [m_target]
+    bufferOffset = _arraySerializer.float64(obj.m_target, buffer, bufferOffset, null);
+    // Serialize message field [q_actual]
+    bufferOffset = _arraySerializer.float64(obj.q_actual, buffer, bufferOffset, null);
+    // Serialize message field [qd_actual]
+    bufferOffset = _arraySerializer.float64(obj.qd_actual, buffer, bufferOffset, null);
+    // Serialize message field [i_actual]
+    bufferOffset = _arraySerializer.float64(obj.i_actual, buffer, bufferOffset, null);
+    // Serialize message field [tool_acc_values]
+    bufferOffset = _arraySerializer.float64(obj.tool_acc_values, buffer, bufferOffset, null);
+    // Serialize message field [tcp_force]
+    bufferOffset = _arraySerializer.float64(obj.tcp_force, buffer, bufferOffset, null);
+    // Serialize message field [tool_vector]
+    bufferOffset = _arraySerializer.float64(obj.tool_vector, buffer, bufferOffset, null);
+    // Serialize message field [tcp_speed]
+    bufferOffset = _arraySerializer.float64(obj.tcp_speed, buffer, bufferOffset, null);
+    // Serialize message field [digital_input_bits]
+    bufferOffset = _serializer.float64(obj.digital_input_bits, buffer, bufferOffset);
+    // Serialize message field [motor_temperatures]
+    bufferOffset = _arraySerializer.float64(obj.motor_temperatures, buffer, bufferOffset, null);
+    // Serialize message field [controller_timer]
+    bufferOffset = _serializer.float64(obj.controller_timer, buffer, bufferOffset);
+    // Serialize message field [test_value]
+    bufferOffset = _serializer.float64(obj.test_value, buffer, bufferOffset);
+    // Serialize message field [robot_mode]
+    bufferOffset = _serializer.float64(obj.robot_mode, buffer, bufferOffset);
+    // Serialize message field [joint_modes]
+    bufferOffset = _arraySerializer.float64(obj.joint_modes, buffer, bufferOffset, null);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type RobotStateRTMsg
+    let len;
+    let data = new RobotStateRTMsg(null);
+    // Deserialize message field [time]
+    data.time = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [q_target]
+    data.q_target = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [qd_target]
+    data.qd_target = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [qdd_target]
+    data.qdd_target = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [i_target]
+    data.i_target = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [m_target]
+    data.m_target = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [q_actual]
+    data.q_actual = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [qd_actual]
+    data.qd_actual = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [i_actual]
+    data.i_actual = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [tool_acc_values]
+    data.tool_acc_values = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [tcp_force]
+    data.tcp_force = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [tool_vector]
+    data.tool_vector = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [tcp_speed]
+    data.tcp_speed = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [digital_input_bits]
+    data.digital_input_bits = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [motor_temperatures]
+    data.motor_temperatures = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    // Deserialize message field [controller_timer]
+    data.controller_timer = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [test_value]
+    data.test_value = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [robot_mode]
+    data.robot_mode = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [joint_modes]
+    data.joint_modes = _arrayDeserializer.float64(buffer, bufferOffset, null)
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += 8 * object.q_target.length;
+    length += 8 * object.qd_target.length;
+    length += 8 * object.qdd_target.length;
+    length += 8 * object.i_target.length;
+    length += 8 * object.m_target.length;
+    length += 8 * object.q_actual.length;
+    length += 8 * object.qd_actual.length;
+    length += 8 * object.i_actual.length;
+    length += 8 * object.tool_acc_values.length;
+    length += 8 * object.tcp_force.length;
+    length += 8 * object.tool_vector.length;
+    length += 8 * object.tcp_speed.length;
+    length += 8 * object.motor_temperatures.length;
+    length += 8 * object.joint_modes.length;
+    return length + 96;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/RobotStateRTMsg';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'ce6feddd3ccb4ca7dbcd0ff105b603c7';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    # Data structure for the realtime communications interface (aka Matlab interface)
+    # used by the Universal Robots controller
+    # 
+    # This data structure is send at 125 Hz on TCP port 30003
+    # 
+    # Dokumentation can be found on the Universal Robots Support Wiki
+    # (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)
+    
+    float64 time
+    float64[] q_target
+    float64[] qd_target
+    float64[] qdd_target
+    float64[] i_target
+    float64[] m_target
+    float64[] q_actual
+    float64[] qd_actual
+    float64[] i_actual
+    float64[] tool_acc_values
+    float64[] tcp_force
+    float64[] tool_vector
+    float64[] tcp_speed
+    float64 digital_input_bits
+    float64[] motor_temperatures
+    float64 controller_timer
+    float64 test_value
+    float64 robot_mode
+    float64[] joint_modes
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new RobotStateRTMsg(null);
+    if (msg.time !== undefined) {
+      resolved.time = msg.time;
+    }
+    else {
+      resolved.time = 0.0
+    }
+
+    if (msg.q_target !== undefined) {
+      resolved.q_target = msg.q_target;
+    }
+    else {
+      resolved.q_target = []
+    }
+
+    if (msg.qd_target !== undefined) {
+      resolved.qd_target = msg.qd_target;
+    }
+    else {
+      resolved.qd_target = []
+    }
+
+    if (msg.qdd_target !== undefined) {
+      resolved.qdd_target = msg.qdd_target;
+    }
+    else {
+      resolved.qdd_target = []
+    }
+
+    if (msg.i_target !== undefined) {
+      resolved.i_target = msg.i_target;
+    }
+    else {
+      resolved.i_target = []
+    }
+
+    if (msg.m_target !== undefined) {
+      resolved.m_target = msg.m_target;
+    }
+    else {
+      resolved.m_target = []
+    }
+
+    if (msg.q_actual !== undefined) {
+      resolved.q_actual = msg.q_actual;
+    }
+    else {
+      resolved.q_actual = []
+    }
+
+    if (msg.qd_actual !== undefined) {
+      resolved.qd_actual = msg.qd_actual;
+    }
+    else {
+      resolved.qd_actual = []
+    }
+
+    if (msg.i_actual !== undefined) {
+      resolved.i_actual = msg.i_actual;
+    }
+    else {
+      resolved.i_actual = []
+    }
+
+    if (msg.tool_acc_values !== undefined) {
+      resolved.tool_acc_values = msg.tool_acc_values;
+    }
+    else {
+      resolved.tool_acc_values = []
+    }
+
+    if (msg.tcp_force !== undefined) {
+      resolved.tcp_force = msg.tcp_force;
+    }
+    else {
+      resolved.tcp_force = []
+    }
+
+    if (msg.tool_vector !== undefined) {
+      resolved.tool_vector = msg.tool_vector;
+    }
+    else {
+      resolved.tool_vector = []
+    }
+
+    if (msg.tcp_speed !== undefined) {
+      resolved.tcp_speed = msg.tcp_speed;
+    }
+    else {
+      resolved.tcp_speed = []
+    }
+
+    if (msg.digital_input_bits !== undefined) {
+      resolved.digital_input_bits = msg.digital_input_bits;
+    }
+    else {
+      resolved.digital_input_bits = 0.0
+    }
+
+    if (msg.motor_temperatures !== undefined) {
+      resolved.motor_temperatures = msg.motor_temperatures;
+    }
+    else {
+      resolved.motor_temperatures = []
+    }
+
+    if (msg.controller_timer !== undefined) {
+      resolved.controller_timer = msg.controller_timer;
+    }
+    else {
+      resolved.controller_timer = 0.0
+    }
+
+    if (msg.test_value !== undefined) {
+      resolved.test_value = msg.test_value;
+    }
+    else {
+      resolved.test_value = 0.0
+    }
+
+    if (msg.robot_mode !== undefined) {
+      resolved.robot_mode = msg.robot_mode;
+    }
+    else {
+      resolved.robot_mode = 0.0
+    }
+
+    if (msg.joint_modes !== undefined) {
+      resolved.joint_modes = msg.joint_modes;
+    }
+    else {
+      resolved.joint_modes = []
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = RobotStateRTMsg;

devel/share/gennodejs/ros/ur_msgs/msg/ToolDataMsg.js

@@ -0,0 +1,260 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class ToolDataMsg {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.analog_input_range2 = null;
+      this.analog_input_range3 = null;
+      this.analog_input2 = null;
+      this.analog_input3 = null;
+      this.tool_voltage_48v = null;
+      this.tool_output_voltage = null;
+      this.tool_current = null;
+      this.tool_temperature = null;
+      this.tool_mode = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('analog_input_range2')) {
+        this.analog_input_range2 = initObj.analog_input_range2
+      }
+      else {
+        this.analog_input_range2 = 0;
+      }
+      if (initObj.hasOwnProperty('analog_input_range3')) {
+        this.analog_input_range3 = initObj.analog_input_range3
+      }
+      else {
+        this.analog_input_range3 = 0;
+      }
+      if (initObj.hasOwnProperty('analog_input2')) {
+        this.analog_input2 = initObj.analog_input2
+      }
+      else {
+        this.analog_input2 = 0.0;
+      }
+      if (initObj.hasOwnProperty('analog_input3')) {
+        this.analog_input3 = initObj.analog_input3
+      }
+      else {
+        this.analog_input3 = 0.0;
+      }
+      if (initObj.hasOwnProperty('tool_voltage_48v')) {
+        this.tool_voltage_48v = initObj.tool_voltage_48v
+      }
+      else {
+        this.tool_voltage_48v = 0.0;
+      }
+      if (initObj.hasOwnProperty('tool_output_voltage')) {
+        this.tool_output_voltage = initObj.tool_output_voltage
+      }
+      else {
+        this.tool_output_voltage = 0;
+      }
+      if (initObj.hasOwnProperty('tool_current')) {
+        this.tool_current = initObj.tool_current
+      }
+      else {
+        this.tool_current = 0.0;
+      }
+      if (initObj.hasOwnProperty('tool_temperature')) {
+        this.tool_temperature = initObj.tool_temperature
+      }
+      else {
+        this.tool_temperature = 0.0;
+      }
+      if (initObj.hasOwnProperty('tool_mode')) {
+        this.tool_mode = initObj.tool_mode
+      }
+      else {
+        this.tool_mode = 0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type ToolDataMsg
+    // Serialize message field [analog_input_range2]
+    bufferOffset = _serializer.int8(obj.analog_input_range2, buffer, bufferOffset);
+    // Serialize message field [analog_input_range3]
+    bufferOffset = _serializer.int8(obj.analog_input_range3, buffer, bufferOffset);
+    // Serialize message field [analog_input2]
+    bufferOffset = _serializer.float64(obj.analog_input2, buffer, bufferOffset);
+    // Serialize message field [analog_input3]
+    bufferOffset = _serializer.float64(obj.analog_input3, buffer, bufferOffset);
+    // Serialize message field [tool_voltage_48v]
+    bufferOffset = _serializer.float32(obj.tool_voltage_48v, buffer, bufferOffset);
+    // Serialize message field [tool_output_voltage]
+    bufferOffset = _serializer.uint8(obj.tool_output_voltage, buffer, bufferOffset);
+    // Serialize message field [tool_current]
+    bufferOffset = _serializer.float32(obj.tool_current, buffer, bufferOffset);
+    // Serialize message field [tool_temperature]
+    bufferOffset = _serializer.float32(obj.tool_temperature, buffer, bufferOffset);
+    // Serialize message field [tool_mode]
+    bufferOffset = _serializer.uint8(obj.tool_mode, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type ToolDataMsg
+    let len;
+    let data = new ToolDataMsg(null);
+    // Deserialize message field [analog_input_range2]
+    data.analog_input_range2 = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [analog_input_range3]
+    data.analog_input_range3 = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [analog_input2]
+    data.analog_input2 = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [analog_input3]
+    data.analog_input3 = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [tool_voltage_48v]
+    data.tool_voltage_48v = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [tool_output_voltage]
+    data.tool_output_voltage = _deserializer.uint8(buffer, bufferOffset);
+    // Deserialize message field [tool_current]
+    data.tool_current = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [tool_temperature]
+    data.tool_temperature = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [tool_mode]
+    data.tool_mode = _deserializer.uint8(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 32;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ur_msgs/ToolDataMsg';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '404fc266f37d89f75b372d12fa94a122';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    # This data structure contains the ToolData structure
+    # used by the Universal Robots controller
+    
+    int8 ANALOG_INPUT_RANGE_CURRENT = 0
+    int8 ANALOG_INPUT_RANGE_VOLTAGE = 1
+    
+    int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_*
+    int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_*
+    float64 analog_input2
+    float64 analog_input3
+    float32 tool_voltage_48v
+    uint8 tool_output_voltage
+    float32 tool_current
+    float32 tool_temperature
+    
+    uint8 TOOL_BOOTLOADER_MODE = 249
+    uint8 TOOL_RUNNING_MODE = 253
+    uint8 TOOL_IDLE_MODE = 255
+    
+    uint8 tool_mode # one of TOOL_*
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new ToolDataMsg(null);
+    if (msg.analog_input_range2 !== undefined) {
+      resolved.analog_input_range2 = msg.analog_input_range2;
+    }
+    else {
+      resolved.analog_input_range2 = 0
+    }
+
+    if (msg.analog_input_range3 !== undefined) {
+      resolved.analog_input_range3 = msg.analog_input_range3;
+    }
+    else {
+      resolved.analog_input_range3 = 0
+    }
+
+    if (msg.analog_input2 !== undefined) {
+      resolved.analog_input2 = msg.analog_input2;
+    }
+    else {
+      resolved.analog_input2 = 0.0
+    }
+
+    if (msg.analog_input3 !== undefined) {
+      resolved.analog_input3 = msg.analog_input3;
+    }
+    else {
+      resolved.analog_input3 = 0.0
+    }
+
+    if (msg.tool_voltage_48v !== undefined) {
+      resolved.tool_voltage_48v = msg.tool_voltage_48v;
+    }
+    else {
+      resolved.tool_voltage_48v = 0.0
+    }
+
+    if (msg.tool_output_voltage !== undefined) {
+      resolved.tool_output_voltage = msg.tool_output_voltage;
+    }
+    else {
+      resolved.tool_output_voltage = 0
+    }
+
+    if (msg.tool_current !== undefined) {
+      resolved.tool_current = msg.tool_current;
+    }
+    else {
+      resolved.tool_current = 0.0
+    }
+
+    if (msg.tool_temperature !== undefined) {
+      resolved.tool_temperature = msg.tool_temperature;
+    }
+    else {
+      resolved.tool_temperature = 0.0
+    }
+
+    if (msg.tool_mode !== undefined) {
+      resolved.tool_mode = msg.tool_mode;
+    }
+    else {
+      resolved.tool_mode = 0
+    }
+
+    return resolved;
+    }
+};
+
+// Constants for message
+ToolDataMsg.Constants = {
+  ANALOG_INPUT_RANGE_CURRENT: 0,
+  ANALOG_INPUT_RANGE_VOLTAGE: 1,
+  TOOL_BOOTLOADER_MODE: 249,
+  TOOL_RUNNING_MODE: 253,
+  TOOL_IDLE_MODE: 255,
+}
+
+module.exports = ToolDataMsg;

devel/share/gennodejs/ros/ur_msgs/srv/SetIO.js

@@ -0,0 +1,256 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class SetIORequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.fun = null;
+      this.pin = null;
+      this.state = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('fun')) {
+        this.fun = initObj.fun
+      }
+      else {
+        this.fun = 0;
+      }
+      if (initObj.hasOwnProperty('pin')) {
+        this.pin = initObj.pin
+      }
+      else {
+        this.pin = 0;
+      }
+      if (initObj.hasOwnProperty('state')) {
+        this.state = initObj.state
+      }
+      else {
+        this.state = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetIORequest
+    // Serialize message field [fun]
+    bufferOffset = _serializer.int8(obj.fun, buffer, bufferOffset);
+    // Serialize message field [pin]
+    bufferOffset = _serializer.int8(obj.pin, buffer, bufferOffset);
+    // Serialize message field [state]
+    bufferOffset = _serializer.float32(obj.state, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetIORequest
+    let len;
+    let data = new SetIORequest(null);
+    // Deserialize message field [fun]
+    data.fun = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [pin]
+    data.pin = _deserializer.int8(buffer, bufferOffset);
+    // Deserialize message field [state]
+    data.state = _deserializer.float32(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 6;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'ur_msgs/SetIORequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '85200c86fbe60ea3e047bae3d6574bfd';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    int8 FUN_SET_DIGITAL_OUT = 1
+    int8 FUN_SET_FLAG = 2
+    int8 FUN_SET_ANALOG_OUT = 3
+    int8 FUN_SET_TOOL_VOLTAGE = 4
+    
+    
+    int8 STATE_OFF = 0
+    int8 STATE_ON = 1
+    
+    
+    int8 STATE_TOOL_VOLTAGE_0V = 0
+    int8 STATE_TOOL_VOLTAGE_12V = 12
+    int8 STATE_TOOL_VOLTAGE_24V = 24
+    
+    
+    int8 fun
+    int8 pin
+    float32 state
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetIORequest(null);
+    if (msg.fun !== undefined) {
+      resolved.fun = msg.fun;
+    }
+    else {
+      resolved.fun = 0
+    }
+
+    if (msg.pin !== undefined) {
+      resolved.pin = msg.pin;
+    }
+    else {
+      resolved.pin = 0
+    }
+
+    if (msg.state !== undefined) {
+      resolved.state = msg.state;
+    }
+    else {
+      resolved.state = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+// Constants for message
+SetIORequest.Constants = {
+  FUN_SET_DIGITAL_OUT: 1,
+  FUN_SET_FLAG: 2,
+  FUN_SET_ANALOG_OUT: 3,
+  FUN_SET_TOOL_VOLTAGE: 4,
+  STATE_OFF: 0,
+  STATE_ON: 1,
+  STATE_TOOL_VOLTAGE_0V: 0,
+  STATE_TOOL_VOLTAGE_12V: 12,
+  STATE_TOOL_VOLTAGE_24V: 24,
+}
+
+class SetIOResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.success = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetIOResponse
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetIOResponse
+    let len;
+    let data = new SetIOResponse(null);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 1;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'ur_msgs/SetIOResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '358e233cde0c8a8bcfea4ce193f8fc15';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    bool success
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetIOResponse(null);
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: SetIORequest,
+  Response: SetIOResponse,
+  md5sum() { return 'e1b580ccf43a938f2efbbb98bbe3e277'; },
+  datatype() { return 'ur_msgs/SetIO'; }
+};

devel/share/gennodejs/ros/ur_msgs/srv/SetPayload.js

@@ -0,0 +1,168 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class SetPayloadRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.payload = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('payload')) {
+        this.payload = initObj.payload
+      }
+      else {
+        this.payload = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetPayloadRequest
+    // Serialize message field [payload]
+    bufferOffset = _serializer.float32(obj.payload, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetPayloadRequest
+    let len;
+    let data = new SetPayloadRequest(null);
+    // Deserialize message field [payload]
+    data.payload = _deserializer.float32(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 4;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'ur_msgs/SetPayloadRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd12269f931817591aa52047629ca66ca';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    float32 payload
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetPayloadRequest(null);
+    if (msg.payload !== undefined) {
+      resolved.payload = msg.payload;
+    }
+    else {
+      resolved.payload = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+class SetPayloadResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.success = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetPayloadResponse
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetPayloadResponse
+    let len;
+    let data = new SetPayloadResponse(null);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 1;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'ur_msgs/SetPayloadResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '358e233cde0c8a8bcfea4ce193f8fc15';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    bool success
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetPayloadResponse(null);
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: SetPayloadRequest,
+  Response: SetPayloadResponse,
+  md5sum() { return '7f12eb632882cb73e5721178d0073e39'; },
+  datatype() { return 'ur_msgs/SetPayload'; }
+};

devel/share/gennodejs/ros/ur_msgs/srv/SetSpeedSliderFraction.js

@@ -0,0 +1,173 @@
+// Auto-generated. Do not edit!
+
+// (in-package ur_msgs.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class SetSpeedSliderFractionRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.speed_slider_fraction = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('speed_slider_fraction')) {
+        this.speed_slider_fraction = initObj.speed_slider_fraction
+      }
+      else {
+        this.speed_slider_fraction = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetSpeedSliderFractionRequest
+    // Serialize message field [speed_slider_fraction]
+    bufferOffset = _serializer.float64(obj.speed_slider_fraction, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetSpeedSliderFractionRequest
+    let len;
+    let data = new SetSpeedSliderFractionRequest(null);
+    // Deserialize message field [speed_slider_fraction]
+    data.speed_slider_fraction = _deserializer.float64(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 8;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'ur_msgs/SetSpeedSliderFractionRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '64134244ab4dfc72a3406fe06d580274';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    
+    
+    
+    
+    float64 speed_slider_fraction
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetSpeedSliderFractionRequest(null);
+    if (msg.speed_slider_fraction !== undefined) {
+      resolved.speed_slider_fraction = msg.speed_slider_fraction;
+    }
+    else {
+      resolved.speed_slider_fraction = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+class SetSpeedSliderFractionResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.success = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetSpeedSliderFractionResponse
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetSpeedSliderFractionResponse
+    let len;
+    let data = new SetSpeedSliderFractionResponse(null);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 1;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'ur_msgs/SetSpeedSliderFractionResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '358e233cde0c8a8bcfea4ce193f8fc15';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    bool success
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetSpeedSliderFractionResponse(null);
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: SetSpeedSliderFractionRequest,
+  Response: SetSpeedSliderFractionResponse,
+  md5sum() { return '172aeb6c49379a44cf68480fa5bfad3c'; },
+  datatype() { return 'ur_msgs/SetSpeedSliderFraction'; }
+};

devel/share/roseus/ros/jog_msgs/manifest.l

@@ -0,0 +1,10 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/jog_arm/jog_msgs/package.xml (0.0.0)
+;; USING /opt/ros/kinetic/lib/python2.7/dist-packages/geneus/geneus_main.pyc /opt/ros/kinetic/share/geneus/package.xml (2.2.6)
+;;
+(ros::load-ros-package "geometry_msgs")
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "jog_msgs")

devel/share/roseus/ros/jog_msgs/msg/JogFrame.l

@@ -0,0 +1,189 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'jog_msgs::JogFrame)
+  (if (not (find-package "JOG_MSGS"))
+    (make-package "JOG_MSGS"))
+  (shadow 'JogFrame (find-package "JOG_MSGS")))
+(unless (find-package "JOG_MSGS::JOGFRAME")
+  (make-package "JOG_MSGS::JOGFRAME"))
+
+(in-package "ROS")
+;;//! \htmlinclude JogFrame.msg.html
+(if (not (find-package "GEOMETRY_MSGS"))
+  (ros::roseus-add-msgs "geometry_msgs"))
+(if (not (find-package "STD_MSGS"))
+  (ros::roseus-add-msgs "std_msgs"))
+
+
+(defclass jog_msgs::JogFrame
+  :super ros::object
+  :slots (_header _group_name _link_name _linear_delta _angular_delta _avoid_collisions ))
+
+(defmethod jog_msgs::JogFrame
+  (:init
+   (&key
+    ((:header __header) (instance std_msgs::Header :init))
+    ((:group_name __group_name) "")
+    ((:link_name __link_name) "")
+    ((:linear_delta __linear_delta) (instance geometry_msgs::Vector3 :init))
+    ((:angular_delta __angular_delta) (instance geometry_msgs::Vector3 :init))
+    ((:avoid_collisions __avoid_collisions) nil)
+    )
+   (send-super :init)
+   (setq _header __header)
+   (setq _group_name (string __group_name))
+   (setq _link_name (string __link_name))
+   (setq _linear_delta __linear_delta)
+   (setq _angular_delta __angular_delta)
+   (setq _avoid_collisions __avoid_collisions)
+   self)
+  (:header
+   (&rest __header)
+   (if (keywordp (car __header))
+       (send* _header __header)
+     (progn
+       (if __header (setq _header (car __header)))
+       _header)))
+  (:group_name
+   (&optional __group_name)
+   (if __group_name (setq _group_name __group_name)) _group_name)
+  (:link_name
+   (&optional __link_name)
+   (if __link_name (setq _link_name __link_name)) _link_name)
+  (:linear_delta
+   (&rest __linear_delta)
+   (if (keywordp (car __linear_delta))
+       (send* _linear_delta __linear_delta)
+     (progn
+       (if __linear_delta (setq _linear_delta (car __linear_delta)))
+       _linear_delta)))
+  (:angular_delta
+   (&rest __angular_delta)
+   (if (keywordp (car __angular_delta))
+       (send* _angular_delta __angular_delta)
+     (progn
+       (if __angular_delta (setq _angular_delta (car __angular_delta)))
+       _angular_delta)))
+  (:avoid_collisions
+   (&optional __avoid_collisions)
+   (if __avoid_collisions (setq _avoid_collisions __avoid_collisions)) _avoid_collisions)
+  (:serialization-length
+   ()
+   (+
+    ;; std_msgs/Header _header
+    (send _header :serialization-length)
+    ;; string _group_name
+    4 (length _group_name)
+    ;; string _link_name
+    4 (length _link_name)
+    ;; geometry_msgs/Vector3 _linear_delta
+    (send _linear_delta :serialization-length)
+    ;; geometry_msgs/Vector3 _angular_delta
+    (send _angular_delta :serialization-length)
+    ;; bool _avoid_collisions
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; std_msgs/Header _header
+       (send _header :serialize s)
+     ;; string _group_name
+       (write-long (length _group_name) s) (princ _group_name s)
+     ;; string _link_name
+       (write-long (length _link_name) s) (princ _link_name s)
+     ;; geometry_msgs/Vector3 _linear_delta
+       (send _linear_delta :serialize s)
+     ;; geometry_msgs/Vector3 _angular_delta
+       (send _angular_delta :serialize s)
+     ;; bool _avoid_collisions
+       (if _avoid_collisions (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; std_msgs/Header _header
+     (send _header :deserialize buf ptr-) (incf ptr- (send _header :serialization-length))
+   ;; string _group_name
+     (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _group_name (subseq buf ptr- (+ ptr- n))) (incf ptr- n))
+   ;; string _link_name
+     (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _link_name (subseq buf ptr- (+ ptr- n))) (incf ptr- n))
+   ;; geometry_msgs/Vector3 _linear_delta
+     (send _linear_delta :deserialize buf ptr-) (incf ptr- (send _linear_delta :serialization-length))
+   ;; geometry_msgs/Vector3 _angular_delta
+     (send _angular_delta :deserialize buf ptr-) (incf ptr- (send _angular_delta :serialization-length))
+   ;; bool _avoid_collisions
+     (setq _avoid_collisions (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(setf (get jog_msgs::JogFrame :md5sum-) "e342f29bf6beaf00261bdae365abfff9")
+(setf (get jog_msgs::JogFrame :datatype-) "jog_msgs/JogFrame")
+(setf (get jog_msgs::JogFrame :definition-)
+      "# This is a message to hold data to jog by specifying a target
+# frame. It uses MoveIt! kinematics, so you need to specify the
+# JointGroup name to use in group_name. (lienar|angular)_delta is the
+# amount of displacement.
+
+# header message. You must set frame_id to define the reference
+# coordinate system of the displacament
+Header header
+
+# Name of JointGroup of MoveIt!
+string group_name
+
+# Target link name to jog. The link must be in the JoingGroup
+string link_name
+
+# Linear displacement vector to jog. The refrence frame is defined by
+# frame_id in header. Unit is in meter.
+geometry_msgs/Vector3 linear_delta
+
+# Angular displacement vector to jog. The refrence frame is defined by
+# frame_id in header. Unit is in radian.
+geometry_msgs/Vector3 angular_delta
+
+# It uses avoid_collisions option of MoveIt! kinematics. If it is
+# true, the robot doesn't move if any collisions occured.
+bool avoid_collisions
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+")
+
+
+
+(provide :jog_msgs/JogFrame "e342f29bf6beaf00261bdae365abfff9")
+
+

devel/share/roseus/ros/jog_msgs/msg/JogJoint.l

@@ -0,0 +1,140 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'jog_msgs::JogJoint)
+  (if (not (find-package "JOG_MSGS"))
+    (make-package "JOG_MSGS"))
+  (shadow 'JogJoint (find-package "JOG_MSGS")))
+(unless (find-package "JOG_MSGS::JOGJOINT")
+  (make-package "JOG_MSGS::JOGJOINT"))
+
+(in-package "ROS")
+;;//! \htmlinclude JogJoint.msg.html
+(if (not (find-package "STD_MSGS"))
+  (ros::roseus-add-msgs "std_msgs"))
+
+
+(defclass jog_msgs::JogJoint
+  :super ros::object
+  :slots (_header _joint_names _deltas ))
+
+(defmethod jog_msgs::JogJoint
+  (:init
+   (&key
+    ((:header __header) (instance std_msgs::Header :init))
+    ((:joint_names __joint_names) (let (r) (dotimes (i 0) (push "" r)) r))
+    ((:deltas __deltas) (make-array 0 :initial-element 0.0 :element-type :float))
+    )
+   (send-super :init)
+   (setq _header __header)
+   (setq _joint_names __joint_names)
+   (setq _deltas __deltas)
+   self)
+  (:header
+   (&rest __header)
+   (if (keywordp (car __header))
+       (send* _header __header)
+     (progn
+       (if __header (setq _header (car __header)))
+       _header)))
+  (:joint_names
+   (&optional __joint_names)
+   (if __joint_names (setq _joint_names __joint_names)) _joint_names)
+  (:deltas
+   (&optional __deltas)
+   (if __deltas (setq _deltas __deltas)) _deltas)
+  (:serialization-length
+   ()
+   (+
+    ;; std_msgs/Header _header
+    (send _header :serialization-length)
+    ;; string[] _joint_names
+    (apply #'+ (mapcar #'(lambda (x) (+ 4 (length x))) _joint_names)) 4
+    ;; float64[] _deltas
+    (* 8    (length _deltas)) 4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; std_msgs/Header _header
+       (send _header :serialize s)
+     ;; string[] _joint_names
+     (write-long (length _joint_names) s)
+     (dolist (elem _joint_names)
+       (write-long (length elem) s) (princ elem s)
+       )
+     ;; float64[] _deltas
+     (write-long (length _deltas) s)
+     (dotimes (i (length _deltas))
+       (sys::poke (elt _deltas i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; std_msgs/Header _header
+     (send _header :deserialize buf ptr-) (incf ptr- (send _header :serialization-length))
+   ;; string[] _joint_names
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _joint_names (make-list n))
+     (dotimes (i n)
+     (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setf (elt _joint_names i) (subseq buf ptr- (+ ptr- n))) (incf ptr- n))
+     ))
+   ;; float64[] _deltas
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _deltas (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _deltas i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;;
+   self)
+  )
+
+(setf (get jog_msgs::JogJoint :md5sum-) "8d2aa14be64b51cf6374d198bfd489b2")
+(setf (get jog_msgs::JogJoint :datatype-) "jog_msgs/JogJoint")
+(setf (get jog_msgs::JogJoint :definition-)
+      "# This is a message to hold data to jog by specifying joint
+# displacement. You only need to set relative displacement to joint
+# angles (or displacements for linear joints).
+
+# header message. You must set frame_id to define the reference
+# coordinate system of the displacament
+Header header
+
+# Name list of the joints. You don't need to specify all joint of the
+# robot. Joint names are case-sensitive.
+string[] joint_names
+
+# Relative displacement of the joints to jog. The order must be
+# identical to joint_names. Unit is in radian for revolutive joints,
+# meter for linear joints.
+float64[] deltas
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+")
+
+
+
+(provide :jog_msgs/JogJoint "8d2aa14be64b51cf6374d198bfd489b2")
+
+

devel/share/roseus/ros/ur_msgs/manifest.l

@@ -0,0 +1,9 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/package.xml (1.2.5)
+;; USING /opt/ros/kinetic/lib/python2.7/dist-packages/geneus/geneus_main.pyc /opt/ros/kinetic/share/geneus/package.xml (2.2.6)
+;;
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "ur_msgs")

devel/share/roseus/ros/ur_msgs/msg/Analog.l

@@ -0,0 +1,96 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::Analog)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'Analog (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::ANALOG")
+  (make-package "UR_MSGS::ANALOG"))
+
+(in-package "ROS")
+;;//! \htmlinclude Analog.msg.html
+
+
+(intern "*VOLTAGE*" (find-package "UR_MSGS::ANALOG"))
+(shadow '*VOLTAGE* (find-package "UR_MSGS::ANALOG"))
+(defconstant ur_msgs::Analog::*VOLTAGE* 0)
+(intern "*CURRENT*" (find-package "UR_MSGS::ANALOG"))
+(shadow '*CURRENT* (find-package "UR_MSGS::ANALOG"))
+(defconstant ur_msgs::Analog::*CURRENT* 1)
+(defclass ur_msgs::Analog
+  :super ros::object
+  :slots (_pin _domain _state ))
+
+(defmethod ur_msgs::Analog
+  (:init
+   (&key
+    ((:pin __pin) 0)
+    ((:domain __domain) 0)
+    ((:state __state) 0.0)
+    )
+   (send-super :init)
+   (setq _pin (round __pin))
+   (setq _domain (round __domain))
+   (setq _state (float __state))
+   self)
+  (:pin
+   (&optional __pin)
+   (if __pin (setq _pin __pin)) _pin)
+  (:domain
+   (&optional __domain)
+   (if __domain (setq _domain __domain)) _domain)
+  (:state
+   (&optional __state)
+   (if __state (setq _state __state)) _state)
+  (:serialization-length
+   ()
+   (+
+    ;; uint8 _pin
+    1
+    ;; uint8 _domain
+    1
+    ;; float32 _state
+    4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; uint8 _pin
+       (write-byte _pin s)
+     ;; uint8 _domain
+       (write-byte _domain s)
+     ;; float32 _state
+       (sys::poke _state (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; uint8 _pin
+     (setq _pin (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _domain
+     (setq _domain (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; float32 _state
+     (setq _state (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::Analog :md5sum-) "f41c08a810adf63713aec88712cd553d")
+(setf (get ur_msgs::Analog :datatype-) "ur_msgs/Analog")
+(setf (get ur_msgs::Analog :definition-)
+      "uint8 VOLTAGE=0
+uint8 CURRENT=1
+
+uint8 pin
+uint8 domain # can be VOLTAGE or CURRENT
+float32 state
+
+")
+
+
+
+(provide :ur_msgs/Analog "f41c08a810adf63713aec88712cd553d")
+
+

devel/share/roseus/ros/ur_msgs/msg/Digital.l

@@ -0,0 +1,75 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::Digital)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'Digital (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::DIGITAL")
+  (make-package "UR_MSGS::DIGITAL"))
+
+(in-package "ROS")
+;;//! \htmlinclude Digital.msg.html
+
+
+(defclass ur_msgs::Digital
+  :super ros::object
+  :slots (_pin _state ))
+
+(defmethod ur_msgs::Digital
+  (:init
+   (&key
+    ((:pin __pin) 0)
+    ((:state __state) nil)
+    )
+   (send-super :init)
+   (setq _pin (round __pin))
+   (setq _state __state)
+   self)
+  (:pin
+   (&optional __pin)
+   (if __pin (setq _pin __pin)) _pin)
+  (:state
+   (&optional __state)
+   (if __state (setq _state __state)) _state)
+  (:serialization-length
+   ()
+   (+
+    ;; uint8 _pin
+    1
+    ;; bool _state
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; uint8 _pin
+       (write-byte _pin s)
+     ;; bool _state
+       (if _state (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; uint8 _pin
+     (setq _pin (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; bool _state
+     (setq _state (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::Digital :md5sum-) "83707be3fa18d2ffe57381ea034aa262")
+(setf (get ur_msgs::Digital :datatype-) "ur_msgs/Digital")
+(setf (get ur_msgs::Digital :definition-)
+      "uint8 pin
+bool state
+
+")
+
+
+
+(provide :ur_msgs/Digital "83707be3fa18d2ffe57381ea034aa262")
+
+

devel/share/roseus/ros/ur_msgs/msg/IOStates.l

@@ -0,0 +1,185 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::IOStates)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'IOStates (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::IOSTATES")
+  (make-package "UR_MSGS::IOSTATES"))
+
+(in-package "ROS")
+;;//! \htmlinclude IOStates.msg.html
+
+
+(defclass ur_msgs::IOStates
+  :super ros::object
+  :slots (_digital_in_states _digital_out_states _flag_states _analog_in_states _analog_out_states ))
+
+(defmethod ur_msgs::IOStates
+  (:init
+   (&key
+    ((:digital_in_states __digital_in_states) (let (r) (dotimes (i 0) (push (instance ur_msgs::Digital :init) r)) r))
+    ((:digital_out_states __digital_out_states) (let (r) (dotimes (i 0) (push (instance ur_msgs::Digital :init) r)) r))
+    ((:flag_states __flag_states) (let (r) (dotimes (i 0) (push (instance ur_msgs::Digital :init) r)) r))
+    ((:analog_in_states __analog_in_states) (let (r) (dotimes (i 0) (push (instance ur_msgs::Analog :init) r)) r))
+    ((:analog_out_states __analog_out_states) (let (r) (dotimes (i 0) (push (instance ur_msgs::Analog :init) r)) r))
+    )
+   (send-super :init)
+   (setq _digital_in_states __digital_in_states)
+   (setq _digital_out_states __digital_out_states)
+   (setq _flag_states __flag_states)
+   (setq _analog_in_states __analog_in_states)
+   (setq _analog_out_states __analog_out_states)
+   self)
+  (:digital_in_states
+   (&rest __digital_in_states)
+   (if (keywordp (car __digital_in_states))
+       (send* _digital_in_states __digital_in_states)
+     (progn
+       (if __digital_in_states (setq _digital_in_states (car __digital_in_states)))
+       _digital_in_states)))
+  (:digital_out_states
+   (&rest __digital_out_states)
+   (if (keywordp (car __digital_out_states))
+       (send* _digital_out_states __digital_out_states)
+     (progn
+       (if __digital_out_states (setq _digital_out_states (car __digital_out_states)))
+       _digital_out_states)))
+  (:flag_states
+   (&rest __flag_states)
+   (if (keywordp (car __flag_states))
+       (send* _flag_states __flag_states)
+     (progn
+       (if __flag_states (setq _flag_states (car __flag_states)))
+       _flag_states)))
+  (:analog_in_states
+   (&rest __analog_in_states)
+   (if (keywordp (car __analog_in_states))
+       (send* _analog_in_states __analog_in_states)
+     (progn
+       (if __analog_in_states (setq _analog_in_states (car __analog_in_states)))
+       _analog_in_states)))
+  (:analog_out_states
+   (&rest __analog_out_states)
+   (if (keywordp (car __analog_out_states))
+       (send* _analog_out_states __analog_out_states)
+     (progn
+       (if __analog_out_states (setq _analog_out_states (car __analog_out_states)))
+       _analog_out_states)))
+  (:serialization-length
+   ()
+   (+
+    ;; ur_msgs/Digital[] _digital_in_states
+    (apply #'+ (send-all _digital_in_states :serialization-length)) 4
+    ;; ur_msgs/Digital[] _digital_out_states
+    (apply #'+ (send-all _digital_out_states :serialization-length)) 4
+    ;; ur_msgs/Digital[] _flag_states
+    (apply #'+ (send-all _flag_states :serialization-length)) 4
+    ;; ur_msgs/Analog[] _analog_in_states
+    (apply #'+ (send-all _analog_in_states :serialization-length)) 4
+    ;; ur_msgs/Analog[] _analog_out_states
+    (apply #'+ (send-all _analog_out_states :serialization-length)) 4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; ur_msgs/Digital[] _digital_in_states
+     (write-long (length _digital_in_states) s)
+     (dolist (elem _digital_in_states)
+       (send elem :serialize s)
+       )
+     ;; ur_msgs/Digital[] _digital_out_states
+     (write-long (length _digital_out_states) s)
+     (dolist (elem _digital_out_states)
+       (send elem :serialize s)
+       )
+     ;; ur_msgs/Digital[] _flag_states
+     (write-long (length _flag_states) s)
+     (dolist (elem _flag_states)
+       (send elem :serialize s)
+       )
+     ;; ur_msgs/Analog[] _analog_in_states
+     (write-long (length _analog_in_states) s)
+     (dolist (elem _analog_in_states)
+       (send elem :serialize s)
+       )
+     ;; ur_msgs/Analog[] _analog_out_states
+     (write-long (length _analog_out_states) s)
+     (dolist (elem _analog_out_states)
+       (send elem :serialize s)
+       )
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; ur_msgs/Digital[] _digital_in_states
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _digital_in_states (let (r) (dotimes (i n) (push (instance ur_msgs::Digital :init) r)) r))
+     (dolist (elem- _digital_in_states)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;; ur_msgs/Digital[] _digital_out_states
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _digital_out_states (let (r) (dotimes (i n) (push (instance ur_msgs::Digital :init) r)) r))
+     (dolist (elem- _digital_out_states)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;; ur_msgs/Digital[] _flag_states
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _flag_states (let (r) (dotimes (i n) (push (instance ur_msgs::Digital :init) r)) r))
+     (dolist (elem- _flag_states)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;; ur_msgs/Analog[] _analog_in_states
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _analog_in_states (let (r) (dotimes (i n) (push (instance ur_msgs::Analog :init) r)) r))
+     (dolist (elem- _analog_in_states)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;; ur_msgs/Analog[] _analog_out_states
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _analog_out_states (let (r) (dotimes (i n) (push (instance ur_msgs::Analog :init) r)) r))
+     (dolist (elem- _analog_out_states)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::IOStates :md5sum-) "3033784e7041da89491b97cc4c1105b5")
+(setf (get ur_msgs::IOStates :datatype-) "ur_msgs/IOStates")
+(setf (get ur_msgs::IOStates :definition-)
+      "Digital[] digital_in_states
+Digital[] digital_out_states
+Digital[] flag_states
+Analog[] analog_in_states
+Analog[] analog_out_states
+
+================================================================================
+MSG: ur_msgs/Digital
+uint8 pin
+bool state
+
+================================================================================
+MSG: ur_msgs/Analog
+uint8 VOLTAGE=0
+uint8 CURRENT=1
+
+uint8 pin
+uint8 domain # can be VOLTAGE or CURRENT
+float32 state
+
+")
+
+
+
+(provide :ur_msgs/IOStates "3033784e7041da89491b97cc4c1105b5")
+
+

devel/share/roseus/ros/ur_msgs/msg/MasterboardDataMsg.l

@@ -0,0 +1,258 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::MasterboardDataMsg)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'MasterboardDataMsg (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::MASTERBOARDDATAMSG")
+  (make-package "UR_MSGS::MASTERBOARDDATAMSG"))
+
+(in-package "ROS")
+;;//! \htmlinclude MasterboardDataMsg.msg.html
+
+
+(defclass ur_msgs::MasterboardDataMsg
+  :super ros::object
+  :slots (_digital_input_bits _digital_output_bits _analog_input_range0 _analog_input_range1 _analog_input0 _analog_input1 _analog_output_domain0 _analog_output_domain1 _analog_output0 _analog_output1 _masterboard_temperature _robot_voltage_48V _robot_current _master_io_current _master_safety_state _master_onoff_state ))
+
+(defmethod ur_msgs::MasterboardDataMsg
+  (:init
+   (&key
+    ((:digital_input_bits __digital_input_bits) 0)
+    ((:digital_output_bits __digital_output_bits) 0)
+    ((:analog_input_range0 __analog_input_range0) 0)
+    ((:analog_input_range1 __analog_input_range1) 0)
+    ((:analog_input0 __analog_input0) 0.0)
+    ((:analog_input1 __analog_input1) 0.0)
+    ((:analog_output_domain0 __analog_output_domain0) 0)
+    ((:analog_output_domain1 __analog_output_domain1) 0)
+    ((:analog_output0 __analog_output0) 0.0)
+    ((:analog_output1 __analog_output1) 0.0)
+    ((:masterboard_temperature __masterboard_temperature) 0.0)
+    ((:robot_voltage_48V __robot_voltage_48V) 0.0)
+    ((:robot_current __robot_current) 0.0)
+    ((:master_io_current __master_io_current) 0.0)
+    ((:master_safety_state __master_safety_state) 0)
+    ((:master_onoff_state __master_onoff_state) 0)
+    )
+   (send-super :init)
+   (setq _digital_input_bits (round __digital_input_bits))
+   (setq _digital_output_bits (round __digital_output_bits))
+   (setq _analog_input_range0 (round __analog_input_range0))
+   (setq _analog_input_range1 (round __analog_input_range1))
+   (setq _analog_input0 (float __analog_input0))
+   (setq _analog_input1 (float __analog_input1))
+   (setq _analog_output_domain0 (round __analog_output_domain0))
+   (setq _analog_output_domain1 (round __analog_output_domain1))
+   (setq _analog_output0 (float __analog_output0))
+   (setq _analog_output1 (float __analog_output1))
+   (setq _masterboard_temperature (float __masterboard_temperature))
+   (setq _robot_voltage_48V (float __robot_voltage_48V))
+   (setq _robot_current (float __robot_current))
+   (setq _master_io_current (float __master_io_current))
+   (setq _master_safety_state (round __master_safety_state))
+   (setq _master_onoff_state (round __master_onoff_state))
+   self)
+  (:digital_input_bits
+   (&optional __digital_input_bits)
+   (if __digital_input_bits (setq _digital_input_bits __digital_input_bits)) _digital_input_bits)
+  (:digital_output_bits
+   (&optional __digital_output_bits)
+   (if __digital_output_bits (setq _digital_output_bits __digital_output_bits)) _digital_output_bits)
+  (:analog_input_range0
+   (&optional __analog_input_range0)
+   (if __analog_input_range0 (setq _analog_input_range0 __analog_input_range0)) _analog_input_range0)
+  (:analog_input_range1
+   (&optional __analog_input_range1)
+   (if __analog_input_range1 (setq _analog_input_range1 __analog_input_range1)) _analog_input_range1)
+  (:analog_input0
+   (&optional __analog_input0)
+   (if __analog_input0 (setq _analog_input0 __analog_input0)) _analog_input0)
+  (:analog_input1
+   (&optional __analog_input1)
+   (if __analog_input1 (setq _analog_input1 __analog_input1)) _analog_input1)
+  (:analog_output_domain0
+   (&optional __analog_output_domain0)
+   (if __analog_output_domain0 (setq _analog_output_domain0 __analog_output_domain0)) _analog_output_domain0)
+  (:analog_output_domain1
+   (&optional __analog_output_domain1)
+   (if __analog_output_domain1 (setq _analog_output_domain1 __analog_output_domain1)) _analog_output_domain1)
+  (:analog_output0
+   (&optional __analog_output0)
+   (if __analog_output0 (setq _analog_output0 __analog_output0)) _analog_output0)
+  (:analog_output1
+   (&optional __analog_output1)
+   (if __analog_output1 (setq _analog_output1 __analog_output1)) _analog_output1)
+  (:masterboard_temperature
+   (&optional __masterboard_temperature)
+   (if __masterboard_temperature (setq _masterboard_temperature __masterboard_temperature)) _masterboard_temperature)
+  (:robot_voltage_48V
+   (&optional __robot_voltage_48V)
+   (if __robot_voltage_48V (setq _robot_voltage_48V __robot_voltage_48V)) _robot_voltage_48V)
+  (:robot_current
+   (&optional __robot_current)
+   (if __robot_current (setq _robot_current __robot_current)) _robot_current)
+  (:master_io_current
+   (&optional __master_io_current)
+   (if __master_io_current (setq _master_io_current __master_io_current)) _master_io_current)
+  (:master_safety_state
+   (&optional __master_safety_state)
+   (if __master_safety_state (setq _master_safety_state __master_safety_state)) _master_safety_state)
+  (:master_onoff_state
+   (&optional __master_onoff_state)
+   (if __master_onoff_state (setq _master_onoff_state __master_onoff_state)) _master_onoff_state)
+  (:serialization-length
+   ()
+   (+
+    ;; uint32 _digital_input_bits
+    4
+    ;; uint32 _digital_output_bits
+    4
+    ;; int8 _analog_input_range0
+    1
+    ;; int8 _analog_input_range1
+    1
+    ;; float64 _analog_input0
+    8
+    ;; float64 _analog_input1
+    8
+    ;; int8 _analog_output_domain0
+    1
+    ;; int8 _analog_output_domain1
+    1
+    ;; float64 _analog_output0
+    8
+    ;; float64 _analog_output1
+    8
+    ;; float32 _masterboard_temperature
+    4
+    ;; float32 _robot_voltage_48V
+    4
+    ;; float32 _robot_current
+    4
+    ;; float32 _master_io_current
+    4
+    ;; uint8 _master_safety_state
+    1
+    ;; uint8 _master_onoff_state
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; uint32 _digital_input_bits
+       (write-long _digital_input_bits s)
+     ;; uint32 _digital_output_bits
+       (write-long _digital_output_bits s)
+     ;; int8 _analog_input_range0
+       (write-byte _analog_input_range0 s)
+     ;; int8 _analog_input_range1
+       (write-byte _analog_input_range1 s)
+     ;; float64 _analog_input0
+       (sys::poke _analog_input0 (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _analog_input1
+       (sys::poke _analog_input1 (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; int8 _analog_output_domain0
+       (write-byte _analog_output_domain0 s)
+     ;; int8 _analog_output_domain1
+       (write-byte _analog_output_domain1 s)
+     ;; float64 _analog_output0
+       (sys::poke _analog_output0 (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _analog_output1
+       (sys::poke _analog_output1 (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float32 _masterboard_temperature
+       (sys::poke _masterboard_temperature (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _robot_voltage_48V
+       (sys::poke _robot_voltage_48V (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _robot_current
+       (sys::poke _robot_current (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _master_io_current
+       (sys::poke _master_io_current (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; uint8 _master_safety_state
+       (write-byte _master_safety_state s)
+     ;; uint8 _master_onoff_state
+       (write-byte _master_onoff_state s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; uint32 _digital_input_bits
+     (setq _digital_input_bits (sys::peek buf ptr- :integer)) (incf ptr- 4)
+   ;; uint32 _digital_output_bits
+     (setq _digital_output_bits (sys::peek buf ptr- :integer)) (incf ptr- 4)
+   ;; int8 _analog_input_range0
+     (setq _analog_input_range0 (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _analog_input_range0 127) (setq _analog_input_range0 (- _analog_input_range0 256)))
+   ;; int8 _analog_input_range1
+     (setq _analog_input_range1 (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _analog_input_range1 127) (setq _analog_input_range1 (- _analog_input_range1 256)))
+   ;; float64 _analog_input0
+     (setq _analog_input0 (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _analog_input1
+     (setq _analog_input1 (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; int8 _analog_output_domain0
+     (setq _analog_output_domain0 (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _analog_output_domain0 127) (setq _analog_output_domain0 (- _analog_output_domain0 256)))
+   ;; int8 _analog_output_domain1
+     (setq _analog_output_domain1 (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _analog_output_domain1 127) (setq _analog_output_domain1 (- _analog_output_domain1 256)))
+   ;; float64 _analog_output0
+     (setq _analog_output0 (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _analog_output1
+     (setq _analog_output1 (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float32 _masterboard_temperature
+     (setq _masterboard_temperature (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _robot_voltage_48V
+     (setq _robot_voltage_48V (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _robot_current
+     (setq _robot_current (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _master_io_current
+     (setq _master_io_current (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; uint8 _master_safety_state
+     (setq _master_safety_state (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _master_onoff_state
+     (setq _master_onoff_state (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::MasterboardDataMsg :md5sum-) "807af5dc427082b111fa23d1fd2cd585")
+(setf (get ur_msgs::MasterboardDataMsg :datatype-) "ur_msgs/MasterboardDataMsg")
+(setf (get ur_msgs::MasterboardDataMsg :definition-)
+      "# This data structure contains the MasterboardData structure
+# used by the Universal Robots controller
+#
+# MasterboardData is part of the data structure being send on the 
+# secondary client communications interface
+# 
+# This data structure is send at 10 Hz on TCP port 30002
+# 
+# Documentation can be found on the Universal Robots Support site, article
+# number 16496.
+
+uint32 digital_input_bits
+uint32 digital_output_bits
+int8 analog_input_range0
+int8 analog_input_range1
+float64 analog_input0
+float64 analog_input1
+int8 analog_output_domain0
+int8 analog_output_domain1
+float64 analog_output0
+float64 analog_output1
+float32 masterboard_temperature
+float32 robot_voltage_48V
+float32 robot_current
+float32 master_io_current
+uint8 master_safety_state
+uint8 master_onoff_state
+
+")
+
+
+
+(provide :ur_msgs/MasterboardDataMsg "807af5dc427082b111fa23d1fd2cd585")
+
+

devel/share/roseus/ros/ur_msgs/msg/RobotModeDataMsg.l

@@ -0,0 +1,175 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::RobotModeDataMsg)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'RobotModeDataMsg (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::ROBOTMODEDATAMSG")
+  (make-package "UR_MSGS::ROBOTMODEDATAMSG"))
+
+(in-package "ROS")
+;;//! \htmlinclude RobotModeDataMsg.msg.html
+
+
+(defclass ur_msgs::RobotModeDataMsg
+  :super ros::object
+  :slots (_timestamp _is_robot_connected _is_real_robot_enabled _is_power_on_robot _is_emergency_stopped _is_protective_stopped _is_program_running _is_program_paused ))
+
+(defmethod ur_msgs::RobotModeDataMsg
+  (:init
+   (&key
+    ((:timestamp __timestamp) 0)
+    ((:is_robot_connected __is_robot_connected) nil)
+    ((:is_real_robot_enabled __is_real_robot_enabled) nil)
+    ((:is_power_on_robot __is_power_on_robot) nil)
+    ((:is_emergency_stopped __is_emergency_stopped) nil)
+    ((:is_protective_stopped __is_protective_stopped) nil)
+    ((:is_program_running __is_program_running) nil)
+    ((:is_program_paused __is_program_paused) nil)
+    )
+   (send-super :init)
+   (setq _timestamp (round __timestamp))
+   (setq _is_robot_connected __is_robot_connected)
+   (setq _is_real_robot_enabled __is_real_robot_enabled)
+   (setq _is_power_on_robot __is_power_on_robot)
+   (setq _is_emergency_stopped __is_emergency_stopped)
+   (setq _is_protective_stopped __is_protective_stopped)
+   (setq _is_program_running __is_program_running)
+   (setq _is_program_paused __is_program_paused)
+   self)
+  (:timestamp
+   (&optional __timestamp)
+   (if __timestamp (setq _timestamp __timestamp)) _timestamp)
+  (:is_robot_connected
+   (&optional __is_robot_connected)
+   (if __is_robot_connected (setq _is_robot_connected __is_robot_connected)) _is_robot_connected)
+  (:is_real_robot_enabled
+   (&optional __is_real_robot_enabled)
+   (if __is_real_robot_enabled (setq _is_real_robot_enabled __is_real_robot_enabled)) _is_real_robot_enabled)
+  (:is_power_on_robot
+   (&optional __is_power_on_robot)
+   (if __is_power_on_robot (setq _is_power_on_robot __is_power_on_robot)) _is_power_on_robot)
+  (:is_emergency_stopped
+   (&optional __is_emergency_stopped)
+   (if __is_emergency_stopped (setq _is_emergency_stopped __is_emergency_stopped)) _is_emergency_stopped)
+  (:is_protective_stopped
+   (&optional __is_protective_stopped)
+   (if __is_protective_stopped (setq _is_protective_stopped __is_protective_stopped)) _is_protective_stopped)
+  (:is_program_running
+   (&optional __is_program_running)
+   (if __is_program_running (setq _is_program_running __is_program_running)) _is_program_running)
+  (:is_program_paused
+   (&optional __is_program_paused)
+   (if __is_program_paused (setq _is_program_paused __is_program_paused)) _is_program_paused)
+  (:serialization-length
+   ()
+   (+
+    ;; uint64 _timestamp
+    8
+    ;; bool _is_robot_connected
+    1
+    ;; bool _is_real_robot_enabled
+    1
+    ;; bool _is_power_on_robot
+    1
+    ;; bool _is_emergency_stopped
+    1
+    ;; bool _is_protective_stopped
+    1
+    ;; bool _is_program_running
+    1
+    ;; bool _is_program_paused
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; uint64 _timestamp
+#+(or :alpha :irix6 :x86_64)
+       (progn (sys::poke _timestamp (send s :buffer) (send s :count) :long) (incf (stream-count s) 8))
+#-(or :alpha :irix6 :x86_64)
+       (cond ((and (class _timestamp) (= (length (_timestamp . bv)) 2)) ;; bignum
+              (write-long (ash (elt (_timestamp . bv) 0) 0) s)
+              (write-long (ash (elt (_timestamp . bv) 1) -1) s))
+             ((and (class _timestamp) (= (length (_timestamp . bv)) 1)) ;; big1
+              (write-long (elt (_timestamp . bv) 0) s)
+              (write-long (if (>= _timestamp 0) 0 #xffffffff) s))
+             (t                                         ;; integer
+              (write-long _timestamp s)(write-long (if (>= _timestamp 0) 0 #xffffffff) s)))
+     ;; bool _is_robot_connected
+       (if _is_robot_connected (write-byte -1 s) (write-byte 0 s))
+     ;; bool _is_real_robot_enabled
+       (if _is_real_robot_enabled (write-byte -1 s) (write-byte 0 s))
+     ;; bool _is_power_on_robot
+       (if _is_power_on_robot (write-byte -1 s) (write-byte 0 s))
+     ;; bool _is_emergency_stopped
+       (if _is_emergency_stopped (write-byte -1 s) (write-byte 0 s))
+     ;; bool _is_protective_stopped
+       (if _is_protective_stopped (write-byte -1 s) (write-byte 0 s))
+     ;; bool _is_program_running
+       (if _is_program_running (write-byte -1 s) (write-byte 0 s))
+     ;; bool _is_program_paused
+       (if _is_program_paused (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; uint64 _timestamp
+     
+#+(or :alpha :irix6 :x86_64)
+      (setf _timestamp (prog1 (sys::peek buf ptr- :long) (incf ptr- 8)))
+#-(or :alpha :irix6 :x86_64)
+      (setf _timestamp (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))
+                  (b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))))
+              (cond ((= b1 -1) b0)
+                     ((and (= b1  0)
+                           (<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum))
+                      b0)
+                    ((= b1  0) (make-instance bignum :size 1 :bv (integer-vector b0)))
+                    (t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1)))))))
+   ;; bool _is_robot_connected
+     (setq _is_robot_connected (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _is_real_robot_enabled
+     (setq _is_real_robot_enabled (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _is_power_on_robot
+     (setq _is_power_on_robot (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _is_emergency_stopped
+     (setq _is_emergency_stopped (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _is_protective_stopped
+     (setq _is_protective_stopped (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _is_program_running
+     (setq _is_program_running (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _is_program_paused
+     (setq _is_program_paused (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::RobotModeDataMsg :md5sum-) "867308ca39e2cc0644b50db27deb661f")
+(setf (get ur_msgs::RobotModeDataMsg :datatype-) "ur_msgs/RobotModeDataMsg")
+(setf (get ur_msgs::RobotModeDataMsg :definition-)
+      "# This data structure contains the RobotModeData structure
+# used by the Universal Robots controller
+#
+# This data structure is send at 10 Hz on TCP port 30002
+#
+# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset.
+
+uint64 timestamp
+bool is_robot_connected
+bool is_real_robot_enabled
+bool is_power_on_robot
+bool is_emergency_stopped
+bool is_protective_stopped
+bool is_program_running
+bool is_program_paused
+
+")
+
+
+
+(provide :ur_msgs/RobotModeDataMsg "867308ca39e2cc0644b50db27deb661f")
+
+

devel/share/roseus/ros/ur_msgs/msg/RobotStateRTMsg.l

@@ -0,0 +1,399 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::RobotStateRTMsg)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'RobotStateRTMsg (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::ROBOTSTATERTMSG")
+  (make-package "UR_MSGS::ROBOTSTATERTMSG"))
+
+(in-package "ROS")
+;;//! \htmlinclude RobotStateRTMsg.msg.html
+
+
+(defclass ur_msgs::RobotStateRTMsg
+  :super ros::object
+  :slots (_time _q_target _qd_target _qdd_target _i_target _m_target _q_actual _qd_actual _i_actual _tool_acc_values _tcp_force _tool_vector _tcp_speed _digital_input_bits _motor_temperatures _controller_timer _test_value _robot_mode _joint_modes ))
+
+(defmethod ur_msgs::RobotStateRTMsg
+  (:init
+   (&key
+    ((:time __time) 0.0)
+    ((:q_target __q_target) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:qd_target __qd_target) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:qdd_target __qdd_target) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:i_target __i_target) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:m_target __m_target) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:q_actual __q_actual) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:qd_actual __qd_actual) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:i_actual __i_actual) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:tool_acc_values __tool_acc_values) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:tcp_force __tcp_force) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:tool_vector __tool_vector) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:tcp_speed __tcp_speed) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:digital_input_bits __digital_input_bits) 0.0)
+    ((:motor_temperatures __motor_temperatures) (make-array 0 :initial-element 0.0 :element-type :float))
+    ((:controller_timer __controller_timer) 0.0)
+    ((:test_value __test_value) 0.0)
+    ((:robot_mode __robot_mode) 0.0)
+    ((:joint_modes __joint_modes) (make-array 0 :initial-element 0.0 :element-type :float))
+    )
+   (send-super :init)
+   (setq _time (float __time))
+   (setq _q_target __q_target)
+   (setq _qd_target __qd_target)
+   (setq _qdd_target __qdd_target)
+   (setq _i_target __i_target)
+   (setq _m_target __m_target)
+   (setq _q_actual __q_actual)
+   (setq _qd_actual __qd_actual)
+   (setq _i_actual __i_actual)
+   (setq _tool_acc_values __tool_acc_values)
+   (setq _tcp_force __tcp_force)
+   (setq _tool_vector __tool_vector)
+   (setq _tcp_speed __tcp_speed)
+   (setq _digital_input_bits (float __digital_input_bits))
+   (setq _motor_temperatures __motor_temperatures)
+   (setq _controller_timer (float __controller_timer))
+   (setq _test_value (float __test_value))
+   (setq _robot_mode (float __robot_mode))
+   (setq _joint_modes __joint_modes)
+   self)
+  (:time
+   (&optional __time)
+   (if __time (setq _time __time)) _time)
+  (:q_target
+   (&optional __q_target)
+   (if __q_target (setq _q_target __q_target)) _q_target)
+  (:qd_target
+   (&optional __qd_target)
+   (if __qd_target (setq _qd_target __qd_target)) _qd_target)
+  (:qdd_target
+   (&optional __qdd_target)
+   (if __qdd_target (setq _qdd_target __qdd_target)) _qdd_target)
+  (:i_target
+   (&optional __i_target)
+   (if __i_target (setq _i_target __i_target)) _i_target)
+  (:m_target
+   (&optional __m_target)
+   (if __m_target (setq _m_target __m_target)) _m_target)
+  (:q_actual
+   (&optional __q_actual)
+   (if __q_actual (setq _q_actual __q_actual)) _q_actual)
+  (:qd_actual
+   (&optional __qd_actual)
+   (if __qd_actual (setq _qd_actual __qd_actual)) _qd_actual)
+  (:i_actual
+   (&optional __i_actual)
+   (if __i_actual (setq _i_actual __i_actual)) _i_actual)
+  (:tool_acc_values
+   (&optional __tool_acc_values)
+   (if __tool_acc_values (setq _tool_acc_values __tool_acc_values)) _tool_acc_values)
+  (:tcp_force
+   (&optional __tcp_force)
+   (if __tcp_force (setq _tcp_force __tcp_force)) _tcp_force)
+  (:tool_vector
+   (&optional __tool_vector)
+   (if __tool_vector (setq _tool_vector __tool_vector)) _tool_vector)
+  (:tcp_speed
+   (&optional __tcp_speed)
+   (if __tcp_speed (setq _tcp_speed __tcp_speed)) _tcp_speed)
+  (:digital_input_bits
+   (&optional __digital_input_bits)
+   (if __digital_input_bits (setq _digital_input_bits __digital_input_bits)) _digital_input_bits)
+  (:motor_temperatures
+   (&optional __motor_temperatures)
+   (if __motor_temperatures (setq _motor_temperatures __motor_temperatures)) _motor_temperatures)
+  (:controller_timer
+   (&optional __controller_timer)
+   (if __controller_timer (setq _controller_timer __controller_timer)) _controller_timer)
+  (:test_value
+   (&optional __test_value)
+   (if __test_value (setq _test_value __test_value)) _test_value)
+  (:robot_mode
+   (&optional __robot_mode)
+   (if __robot_mode (setq _robot_mode __robot_mode)) _robot_mode)
+  (:joint_modes
+   (&optional __joint_modes)
+   (if __joint_modes (setq _joint_modes __joint_modes)) _joint_modes)
+  (:serialization-length
+   ()
+   (+
+    ;; float64 _time
+    8
+    ;; float64[] _q_target
+    (* 8    (length _q_target)) 4
+    ;; float64[] _qd_target
+    (* 8    (length _qd_target)) 4
+    ;; float64[] _qdd_target
+    (* 8    (length _qdd_target)) 4
+    ;; float64[] _i_target
+    (* 8    (length _i_target)) 4
+    ;; float64[] _m_target
+    (* 8    (length _m_target)) 4
+    ;; float64[] _q_actual
+    (* 8    (length _q_actual)) 4
+    ;; float64[] _qd_actual
+    (* 8    (length _qd_actual)) 4
+    ;; float64[] _i_actual
+    (* 8    (length _i_actual)) 4
+    ;; float64[] _tool_acc_values
+    (* 8    (length _tool_acc_values)) 4
+    ;; float64[] _tcp_force
+    (* 8    (length _tcp_force)) 4
+    ;; float64[] _tool_vector
+    (* 8    (length _tool_vector)) 4
+    ;; float64[] _tcp_speed
+    (* 8    (length _tcp_speed)) 4
+    ;; float64 _digital_input_bits
+    8
+    ;; float64[] _motor_temperatures
+    (* 8    (length _motor_temperatures)) 4
+    ;; float64 _controller_timer
+    8
+    ;; float64 _test_value
+    8
+    ;; float64 _robot_mode
+    8
+    ;; float64[] _joint_modes
+    (* 8    (length _joint_modes)) 4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; float64 _time
+       (sys::poke _time (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64[] _q_target
+     (write-long (length _q_target) s)
+     (dotimes (i (length _q_target))
+       (sys::poke (elt _q_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _qd_target
+     (write-long (length _qd_target) s)
+     (dotimes (i (length _qd_target))
+       (sys::poke (elt _qd_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _qdd_target
+     (write-long (length _qdd_target) s)
+     (dotimes (i (length _qdd_target))
+       (sys::poke (elt _qdd_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _i_target
+     (write-long (length _i_target) s)
+     (dotimes (i (length _i_target))
+       (sys::poke (elt _i_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _m_target
+     (write-long (length _m_target) s)
+     (dotimes (i (length _m_target))
+       (sys::poke (elt _m_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _q_actual
+     (write-long (length _q_actual) s)
+     (dotimes (i (length _q_actual))
+       (sys::poke (elt _q_actual i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _qd_actual
+     (write-long (length _qd_actual) s)
+     (dotimes (i (length _qd_actual))
+       (sys::poke (elt _qd_actual i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _i_actual
+     (write-long (length _i_actual) s)
+     (dotimes (i (length _i_actual))
+       (sys::poke (elt _i_actual i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _tool_acc_values
+     (write-long (length _tool_acc_values) s)
+     (dotimes (i (length _tool_acc_values))
+       (sys::poke (elt _tool_acc_values i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _tcp_force
+     (write-long (length _tcp_force) s)
+     (dotimes (i (length _tcp_force))
+       (sys::poke (elt _tcp_force i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _tool_vector
+     (write-long (length _tool_vector) s)
+     (dotimes (i (length _tool_vector))
+       (sys::poke (elt _tool_vector i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64[] _tcp_speed
+     (write-long (length _tcp_speed) s)
+     (dotimes (i (length _tcp_speed))
+       (sys::poke (elt _tcp_speed i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64 _digital_input_bits
+       (sys::poke _digital_input_bits (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64[] _motor_temperatures
+     (write-long (length _motor_temperatures) s)
+     (dotimes (i (length _motor_temperatures))
+       (sys::poke (elt _motor_temperatures i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;; float64 _controller_timer
+       (sys::poke _controller_timer (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _test_value
+       (sys::poke _test_value (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _robot_mode
+       (sys::poke _robot_mode (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64[] _joint_modes
+     (write-long (length _joint_modes) s)
+     (dotimes (i (length _joint_modes))
+       (sys::poke (elt _joint_modes i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+       )
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; float64 _time
+     (setq _time (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64[] _q_target
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _q_target (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _q_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _qd_target
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _qd_target (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _qd_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _qdd_target
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _qdd_target (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _qdd_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _i_target
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _i_target (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _i_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _m_target
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _m_target (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _m_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _q_actual
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _q_actual (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _q_actual i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _qd_actual
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _qd_actual (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _qd_actual i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _i_actual
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _i_actual (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _i_actual i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _tool_acc_values
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _tool_acc_values (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _tool_acc_values i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _tcp_force
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _tcp_force (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _tcp_force i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _tool_vector
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _tool_vector (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _tool_vector i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64[] _tcp_speed
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _tcp_speed (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _tcp_speed i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64 _digital_input_bits
+     (setq _digital_input_bits (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64[] _motor_temperatures
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _motor_temperatures (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _motor_temperatures i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;; float64 _controller_timer
+     (setq _controller_timer (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _test_value
+     (setq _test_value (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _robot_mode
+     (setq _robot_mode (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64[] _joint_modes
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _joint_modes (instantiate float-vector n))
+     (dotimes (i n)
+     (setf (elt _joint_modes i) (sys::peek buf ptr- :double)) (incf ptr- 8)
+     ))
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::RobotStateRTMsg :md5sum-) "ce6feddd3ccb4ca7dbcd0ff105b603c7")
+(setf (get ur_msgs::RobotStateRTMsg :datatype-) "ur_msgs/RobotStateRTMsg")
+(setf (get ur_msgs::RobotStateRTMsg :definition-)
+      "# Data structure for the realtime communications interface (aka Matlab interface)
+# used by the Universal Robots controller
+# 
+# This data structure is send at 125 Hz on TCP port 30003
+# 
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)
+
+float64 time
+float64[] q_target
+float64[] qd_target
+float64[] qdd_target
+float64[] i_target
+float64[] m_target
+float64[] q_actual
+float64[] qd_actual
+float64[] i_actual
+float64[] tool_acc_values
+float64[] tcp_force
+float64[] tool_vector
+float64[] tcp_speed
+float64 digital_input_bits
+float64[] motor_temperatures
+float64 controller_timer
+float64 test_value
+float64 robot_mode
+float64[] joint_modes
+
+")
+
+
+
+(provide :ur_msgs/RobotStateRTMsg "ce6feddd3ccb4ca7dbcd0ff105b603c7")
+
+

devel/share/roseus/ros/ur_msgs/msg/ToolDataMsg.l

@@ -0,0 +1,187 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::ToolDataMsg)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'ToolDataMsg (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::TOOLDATAMSG")
+  (make-package "UR_MSGS::TOOLDATAMSG"))
+
+(in-package "ROS")
+;;//! \htmlinclude ToolDataMsg.msg.html
+
+
+(intern "*ANALOG_INPUT_RANGE_CURRENT*" (find-package "UR_MSGS::TOOLDATAMSG"))
+(shadow '*ANALOG_INPUT_RANGE_CURRENT* (find-package "UR_MSGS::TOOLDATAMSG"))
+(defconstant ur_msgs::ToolDataMsg::*ANALOG_INPUT_RANGE_CURRENT* 0)
+(intern "*ANALOG_INPUT_RANGE_VOLTAGE*" (find-package "UR_MSGS::TOOLDATAMSG"))
+(shadow '*ANALOG_INPUT_RANGE_VOLTAGE* (find-package "UR_MSGS::TOOLDATAMSG"))
+(defconstant ur_msgs::ToolDataMsg::*ANALOG_INPUT_RANGE_VOLTAGE* 1)
+(intern "*TOOL_BOOTLOADER_MODE*" (find-package "UR_MSGS::TOOLDATAMSG"))
+(shadow '*TOOL_BOOTLOADER_MODE* (find-package "UR_MSGS::TOOLDATAMSG"))
+(defconstant ur_msgs::ToolDataMsg::*TOOL_BOOTLOADER_MODE* 249)
+(intern "*TOOL_RUNNING_MODE*" (find-package "UR_MSGS::TOOLDATAMSG"))
+(shadow '*TOOL_RUNNING_MODE* (find-package "UR_MSGS::TOOLDATAMSG"))
+(defconstant ur_msgs::ToolDataMsg::*TOOL_RUNNING_MODE* 253)
+(intern "*TOOL_IDLE_MODE*" (find-package "UR_MSGS::TOOLDATAMSG"))
+(shadow '*TOOL_IDLE_MODE* (find-package "UR_MSGS::TOOLDATAMSG"))
+(defconstant ur_msgs::ToolDataMsg::*TOOL_IDLE_MODE* 255)
+(defclass ur_msgs::ToolDataMsg
+  :super ros::object
+  :slots (_analog_input_range2 _analog_input_range3 _analog_input2 _analog_input3 _tool_voltage_48v _tool_output_voltage _tool_current _tool_temperature _tool_mode ))
+
+(defmethod ur_msgs::ToolDataMsg
+  (:init
+   (&key
+    ((:analog_input_range2 __analog_input_range2) 0)
+    ((:analog_input_range3 __analog_input_range3) 0)
+    ((:analog_input2 __analog_input2) 0.0)
+    ((:analog_input3 __analog_input3) 0.0)
+    ((:tool_voltage_48v __tool_voltage_48v) 0.0)
+    ((:tool_output_voltage __tool_output_voltage) 0)
+    ((:tool_current __tool_current) 0.0)
+    ((:tool_temperature __tool_temperature) 0.0)
+    ((:tool_mode __tool_mode) 0)
+    )
+   (send-super :init)
+   (setq _analog_input_range2 (round __analog_input_range2))
+   (setq _analog_input_range3 (round __analog_input_range3))
+   (setq _analog_input2 (float __analog_input2))
+   (setq _analog_input3 (float __analog_input3))
+   (setq _tool_voltage_48v (float __tool_voltage_48v))
+   (setq _tool_output_voltage (round __tool_output_voltage))
+   (setq _tool_current (float __tool_current))
+   (setq _tool_temperature (float __tool_temperature))
+   (setq _tool_mode (round __tool_mode))
+   self)
+  (:analog_input_range2
+   (&optional __analog_input_range2)
+   (if __analog_input_range2 (setq _analog_input_range2 __analog_input_range2)) _analog_input_range2)
+  (:analog_input_range3
+   (&optional __analog_input_range3)
+   (if __analog_input_range3 (setq _analog_input_range3 __analog_input_range3)) _analog_input_range3)
+  (:analog_input2
+   (&optional __analog_input2)
+   (if __analog_input2 (setq _analog_input2 __analog_input2)) _analog_input2)
+  (:analog_input3
+   (&optional __analog_input3)
+   (if __analog_input3 (setq _analog_input3 __analog_input3)) _analog_input3)
+  (:tool_voltage_48v
+   (&optional __tool_voltage_48v)
+   (if __tool_voltage_48v (setq _tool_voltage_48v __tool_voltage_48v)) _tool_voltage_48v)
+  (:tool_output_voltage
+   (&optional __tool_output_voltage)
+   (if __tool_output_voltage (setq _tool_output_voltage __tool_output_voltage)) _tool_output_voltage)
+  (:tool_current
+   (&optional __tool_current)
+   (if __tool_current (setq _tool_current __tool_current)) _tool_current)
+  (:tool_temperature
+   (&optional __tool_temperature)
+   (if __tool_temperature (setq _tool_temperature __tool_temperature)) _tool_temperature)
+  (:tool_mode
+   (&optional __tool_mode)
+   (if __tool_mode (setq _tool_mode __tool_mode)) _tool_mode)
+  (:serialization-length
+   ()
+   (+
+    ;; int8 _analog_input_range2
+    1
+    ;; int8 _analog_input_range3
+    1
+    ;; float64 _analog_input2
+    8
+    ;; float64 _analog_input3
+    8
+    ;; float32 _tool_voltage_48v
+    4
+    ;; uint8 _tool_output_voltage
+    1
+    ;; float32 _tool_current
+    4
+    ;; float32 _tool_temperature
+    4
+    ;; uint8 _tool_mode
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; int8 _analog_input_range2
+       (write-byte _analog_input_range2 s)
+     ;; int8 _analog_input_range3
+       (write-byte _analog_input_range3 s)
+     ;; float64 _analog_input2
+       (sys::poke _analog_input2 (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _analog_input3
+       (sys::poke _analog_input3 (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float32 _tool_voltage_48v
+       (sys::poke _tool_voltage_48v (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; uint8 _tool_output_voltage
+       (write-byte _tool_output_voltage s)
+     ;; float32 _tool_current
+       (sys::poke _tool_current (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _tool_temperature
+       (sys::poke _tool_temperature (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; uint8 _tool_mode
+       (write-byte _tool_mode s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; int8 _analog_input_range2
+     (setq _analog_input_range2 (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _analog_input_range2 127) (setq _analog_input_range2 (- _analog_input_range2 256)))
+   ;; int8 _analog_input_range3
+     (setq _analog_input_range3 (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _analog_input_range3 127) (setq _analog_input_range3 (- _analog_input_range3 256)))
+   ;; float64 _analog_input2
+     (setq _analog_input2 (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _analog_input3
+     (setq _analog_input3 (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float32 _tool_voltage_48v
+     (setq _tool_voltage_48v (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; uint8 _tool_output_voltage
+     (setq _tool_output_voltage (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; float32 _tool_current
+     (setq _tool_current (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _tool_temperature
+     (setq _tool_temperature (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; uint8 _tool_mode
+     (setq _tool_mode (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(setf (get ur_msgs::ToolDataMsg :md5sum-) "404fc266f37d89f75b372d12fa94a122")
+(setf (get ur_msgs::ToolDataMsg :datatype-) "ur_msgs/ToolDataMsg")
+(setf (get ur_msgs::ToolDataMsg :definition-)
+      "# This data structure contains the ToolData structure
+# used by the Universal Robots controller
+
+int8 ANALOG_INPUT_RANGE_CURRENT = 0
+int8 ANALOG_INPUT_RANGE_VOLTAGE = 1
+
+int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_*
+int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_*
+float64 analog_input2
+float64 analog_input3
+float32 tool_voltage_48v
+uint8 tool_output_voltage
+float32 tool_current
+float32 tool_temperature
+
+uint8 TOOL_BOOTLOADER_MODE = 249
+uint8 TOOL_RUNNING_MODE = 253
+uint8 TOOL_IDLE_MODE = 255
+
+uint8 tool_mode # one of TOOL_*
+
+")
+
+
+
+(provide :ur_msgs/ToolDataMsg "404fc266f37d89f75b372d12fa94a122")
+
+

devel/share/roseus/ros/ur_msgs/srv/SetIO.l

@@ -0,0 +1,258 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::SetIO)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'SetIO (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::SETIO")
+  (make-package "UR_MSGS::SETIO"))
+(unless (find-package "UR_MSGS::SETIOREQUEST")
+  (make-package "UR_MSGS::SETIOREQUEST"))
+(unless (find-package "UR_MSGS::SETIORESPONSE")
+  (make-package "UR_MSGS::SETIORESPONSE"))
+
+(in-package "ROS")
+
+
+
+
+
+(intern "*FUN_SET_DIGITAL_OUT*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*FUN_SET_DIGITAL_OUT* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*FUN_SET_DIGITAL_OUT* 1)
+(intern "*FUN_SET_FLAG*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*FUN_SET_FLAG* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*FUN_SET_FLAG* 2)
+(intern "*FUN_SET_ANALOG_OUT*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*FUN_SET_ANALOG_OUT* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*FUN_SET_ANALOG_OUT* 3)
+(intern "*FUN_SET_TOOL_VOLTAGE*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*FUN_SET_TOOL_VOLTAGE* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*FUN_SET_TOOL_VOLTAGE* 4)
+(intern "*STATE_OFF*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*STATE_OFF* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*STATE_OFF* 0)
+(intern "*STATE_ON*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*STATE_ON* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*STATE_ON* 1)
+(intern "*STATE_TOOL_VOLTAGE_0V*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*STATE_TOOL_VOLTAGE_0V* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*STATE_TOOL_VOLTAGE_0V* 0)
+(intern "*STATE_TOOL_VOLTAGE_12V*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*STATE_TOOL_VOLTAGE_12V* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*STATE_TOOL_VOLTAGE_12V* 12)
+(intern "*STATE_TOOL_VOLTAGE_24V*" (find-package "UR_MSGS::SETIOREQUEST"))
+(shadow '*STATE_TOOL_VOLTAGE_24V* (find-package "UR_MSGS::SETIOREQUEST"))
+(defconstant ur_msgs::SetIORequest::*STATE_TOOL_VOLTAGE_24V* 24)
+(defclass ur_msgs::SetIORequest
+  :super ros::object
+  :slots (_fun _pin _state ))
+
+(defmethod ur_msgs::SetIORequest
+  (:init
+   (&key
+    ((:fun __fun) 0)
+    ((:pin __pin) 0)
+    ((:state __state) 0.0)
+    )
+   (send-super :init)
+   (setq _fun (round __fun))
+   (setq _pin (round __pin))
+   (setq _state (float __state))
+   self)
+  (:fun
+   (&optional __fun)
+   (if __fun (setq _fun __fun)) _fun)
+  (:pin
+   (&optional __pin)
+   (if __pin (setq _pin __pin)) _pin)
+  (:state
+   (&optional __state)
+   (if __state (setq _state __state)) _state)
+  (:serialization-length
+   ()
+   (+
+    ;; int8 _fun
+    1
+    ;; int8 _pin
+    1
+    ;; float32 _state
+    4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; int8 _fun
+       (write-byte _fun s)
+     ;; int8 _pin
+       (write-byte _pin s)
+     ;; float32 _state
+       (sys::poke _state (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; int8 _fun
+     (setq _fun (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _fun 127) (setq _fun (- _fun 256)))
+   ;; int8 _pin
+     (setq _pin (sys::peek buf ptr- :char)) (incf ptr- 1)
+     (if (> _pin 127) (setq _pin (- _pin 256)))
+   ;; float32 _state
+     (setq _state (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;;
+   self)
+  )
+
+(defclass ur_msgs::SetIOResponse
+  :super ros::object
+  :slots (_success ))
+
+(defmethod ur_msgs::SetIOResponse
+  (:init
+   (&key
+    ((:success __success) nil)
+    )
+   (send-super :init)
+   (setq _success __success)
+   self)
+  (:success
+   (&optional __success)
+   (if __success (setq _success __success)) _success)
+  (:serialization-length
+   ()
+   (+
+    ;; bool _success
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; bool _success
+       (if _success (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; bool _success
+     (setq _success (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(defclass ur_msgs::SetIO
+  :super ros::object
+  :slots ())
+
+(setf (get ur_msgs::SetIO :md5sum-) "e1b580ccf43a938f2efbbb98bbe3e277")
+(setf (get ur_msgs::SetIO :datatype-) "ur_msgs/SetIO")
+(setf (get ur_msgs::SetIO :request) ur_msgs::SetIORequest)
+(setf (get ur_msgs::SetIO :response) ur_msgs::SetIOResponse)
+
+(defmethod ur_msgs::SetIORequest
+  (:response () (instance ur_msgs::SetIOResponse :init)))
+
+(setf (get ur_msgs::SetIORequest :md5sum-) "e1b580ccf43a938f2efbbb98bbe3e277")
+(setf (get ur_msgs::SetIORequest :datatype-) "ur_msgs/SetIORequest")
+(setf (get ur_msgs::SetIORequest :definition-)
+      "
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+int8 FUN_SET_DIGITAL_OUT = 1
+int8 FUN_SET_FLAG = 2
+int8 FUN_SET_ANALOG_OUT = 3
+int8 FUN_SET_TOOL_VOLTAGE = 4
+
+
+int8 STATE_OFF = 0
+int8 STATE_ON = 1
+
+
+int8 STATE_TOOL_VOLTAGE_0V = 0
+int8 STATE_TOOL_VOLTAGE_12V = 12
+int8 STATE_TOOL_VOLTAGE_24V = 24
+
+
+int8 fun
+int8 pin
+float32 state
+---
+bool success
+
+")
+
+(setf (get ur_msgs::SetIOResponse :md5sum-) "e1b580ccf43a938f2efbbb98bbe3e277")
+(setf (get ur_msgs::SetIOResponse :datatype-) "ur_msgs/SetIOResponse")
+(setf (get ur_msgs::SetIOResponse :definition-)
+      "
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+int8 FUN_SET_DIGITAL_OUT = 1
+int8 FUN_SET_FLAG = 2
+int8 FUN_SET_ANALOG_OUT = 3
+int8 FUN_SET_TOOL_VOLTAGE = 4
+
+
+int8 STATE_OFF = 0
+int8 STATE_ON = 1
+
+
+int8 STATE_TOOL_VOLTAGE_0V = 0
+int8 STATE_TOOL_VOLTAGE_12V = 12
+int8 STATE_TOOL_VOLTAGE_24V = 24
+
+
+int8 fun
+int8 pin
+float32 state
+---
+bool success
+
+")
+
+
+
+(provide :ur_msgs/SetIO "e1b580ccf43a938f2efbbb98bbe3e277")
+
+

devel/share/roseus/ros/ur_msgs/srv/SetPayload.l

@@ -0,0 +1,129 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::SetPayload)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'SetPayload (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::SETPAYLOAD")
+  (make-package "UR_MSGS::SETPAYLOAD"))
+(unless (find-package "UR_MSGS::SETPAYLOADREQUEST")
+  (make-package "UR_MSGS::SETPAYLOADREQUEST"))
+(unless (find-package "UR_MSGS::SETPAYLOADRESPONSE")
+  (make-package "UR_MSGS::SETPAYLOADRESPONSE"))
+
+(in-package "ROS")
+
+
+
+
+
+(defclass ur_msgs::SetPayloadRequest
+  :super ros::object
+  :slots (_payload ))
+
+(defmethod ur_msgs::SetPayloadRequest
+  (:init
+   (&key
+    ((:payload __payload) 0.0)
+    )
+   (send-super :init)
+   (setq _payload (float __payload))
+   self)
+  (:payload
+   (&optional __payload)
+   (if __payload (setq _payload __payload)) _payload)
+  (:serialization-length
+   ()
+   (+
+    ;; float32 _payload
+    4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; float32 _payload
+       (sys::poke _payload (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; float32 _payload
+     (setq _payload (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;;
+   self)
+  )
+
+(defclass ur_msgs::SetPayloadResponse
+  :super ros::object
+  :slots (_success ))
+
+(defmethod ur_msgs::SetPayloadResponse
+  (:init
+   (&key
+    ((:success __success) nil)
+    )
+   (send-super :init)
+   (setq _success __success)
+   self)
+  (:success
+   (&optional __success)
+   (if __success (setq _success __success)) _success)
+  (:serialization-length
+   ()
+   (+
+    ;; bool _success
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; bool _success
+       (if _success (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; bool _success
+     (setq _success (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(defclass ur_msgs::SetPayload
+  :super ros::object
+  :slots ())
+
+(setf (get ur_msgs::SetPayload :md5sum-) "7f12eb632882cb73e5721178d0073e39")
+(setf (get ur_msgs::SetPayload :datatype-) "ur_msgs/SetPayload")
+(setf (get ur_msgs::SetPayload :request) ur_msgs::SetPayloadRequest)
+(setf (get ur_msgs::SetPayload :response) ur_msgs::SetPayloadResponse)
+
+(defmethod ur_msgs::SetPayloadRequest
+  (:response () (instance ur_msgs::SetPayloadResponse :init)))
+
+(setf (get ur_msgs::SetPayloadRequest :md5sum-) "7f12eb632882cb73e5721178d0073e39")
+(setf (get ur_msgs::SetPayloadRequest :datatype-) "ur_msgs/SetPayloadRequest")
+(setf (get ur_msgs::SetPayloadRequest :definition-)
+      "float32 payload
+---
+bool success
+
+")
+
+(setf (get ur_msgs::SetPayloadResponse :md5sum-) "7f12eb632882cb73e5721178d0073e39")
+(setf (get ur_msgs::SetPayloadResponse :datatype-) "ur_msgs/SetPayloadResponse")
+(setf (get ur_msgs::SetPayloadResponse :definition-)
+      "float32 payload
+---
+bool success
+
+")
+
+
+
+(provide :ur_msgs/SetPayload "7f12eb632882cb73e5721178d0073e39")
+
+

devel/share/roseus/ros/ur_msgs/srv/SetSpeedSliderFraction.l

@@ -0,0 +1,139 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ur_msgs::SetSpeedSliderFraction)
+  (if (not (find-package "UR_MSGS"))
+    (make-package "UR_MSGS"))
+  (shadow 'SetSpeedSliderFraction (find-package "UR_MSGS")))
+(unless (find-package "UR_MSGS::SETSPEEDSLIDERFRACTION")
+  (make-package "UR_MSGS::SETSPEEDSLIDERFRACTION"))
+(unless (find-package "UR_MSGS::SETSPEEDSLIDERFRACTIONREQUEST")
+  (make-package "UR_MSGS::SETSPEEDSLIDERFRACTIONREQUEST"))
+(unless (find-package "UR_MSGS::SETSPEEDSLIDERFRACTIONRESPONSE")
+  (make-package "UR_MSGS::SETSPEEDSLIDERFRACTIONRESPONSE"))
+
+(in-package "ROS")
+
+
+
+
+
+(defclass ur_msgs::SetSpeedSliderFractionRequest
+  :super ros::object
+  :slots (_speed_slider_fraction ))
+
+(defmethod ur_msgs::SetSpeedSliderFractionRequest
+  (:init
+   (&key
+    ((:speed_slider_fraction __speed_slider_fraction) 0.0)
+    )
+   (send-super :init)
+   (setq _speed_slider_fraction (float __speed_slider_fraction))
+   self)
+  (:speed_slider_fraction
+   (&optional __speed_slider_fraction)
+   (if __speed_slider_fraction (setq _speed_slider_fraction __speed_slider_fraction)) _speed_slider_fraction)
+  (:serialization-length
+   ()
+   (+
+    ;; float64 _speed_slider_fraction
+    8
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; float64 _speed_slider_fraction
+       (sys::poke _speed_slider_fraction (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; float64 _speed_slider_fraction
+     (setq _speed_slider_fraction (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;;
+   self)
+  )
+
+(defclass ur_msgs::SetSpeedSliderFractionResponse
+  :super ros::object
+  :slots (_success ))
+
+(defmethod ur_msgs::SetSpeedSliderFractionResponse
+  (:init
+   (&key
+    ((:success __success) nil)
+    )
+   (send-super :init)
+   (setq _success __success)
+   self)
+  (:success
+   (&optional __success)
+   (if __success (setq _success __success)) _success)
+  (:serialization-length
+   ()
+   (+
+    ;; bool _success
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; bool _success
+       (if _success (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; bool _success
+     (setq _success (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(defclass ur_msgs::SetSpeedSliderFraction
+  :super ros::object
+  :slots ())
+
+(setf (get ur_msgs::SetSpeedSliderFraction :md5sum-) "172aeb6c49379a44cf68480fa5bfad3c")
+(setf (get ur_msgs::SetSpeedSliderFraction :datatype-) "ur_msgs/SetSpeedSliderFraction")
+(setf (get ur_msgs::SetSpeedSliderFraction :request) ur_msgs::SetSpeedSliderFractionRequest)
+(setf (get ur_msgs::SetSpeedSliderFraction :response) ur_msgs::SetSpeedSliderFractionResponse)
+
+(defmethod ur_msgs::SetSpeedSliderFractionRequest
+  (:response () (instance ur_msgs::SetSpeedSliderFractionResponse :init)))
+
+(setf (get ur_msgs::SetSpeedSliderFractionRequest :md5sum-) "172aeb6c49379a44cf68480fa5bfad3c")
+(setf (get ur_msgs::SetSpeedSliderFractionRequest :datatype-) "ur_msgs/SetSpeedSliderFractionRequest")
+(setf (get ur_msgs::SetSpeedSliderFractionRequest :definition-)
+      "
+
+
+
+
+float64 speed_slider_fraction
+---
+bool success
+
+")
+
+(setf (get ur_msgs::SetSpeedSliderFractionResponse :md5sum-) "172aeb6c49379a44cf68480fa5bfad3c")
+(setf (get ur_msgs::SetSpeedSliderFractionResponse :datatype-) "ur_msgs/SetSpeedSliderFractionResponse")
+(setf (get ur_msgs::SetSpeedSliderFractionResponse :definition-)
+      "
+
+
+
+
+float64 speed_slider_fraction
+---
+bool success
+
+")
+
+
+
+(provide :ur_msgs/SetSpeedSliderFraction "172aeb6c49379a44cf68480fa5bfad3c")
+
+

devel/share/ur_driver/docs/URDriverConfig-usage.dox

@@ -0,0 +1,7 @@
+\subsubsection usage Usage
+\verbatim
+<node name="ur_driver" pkg="ur_driver" type="ur_driver">
+  <param name="prevent_programming" type="bool" value="False" />
+</node>
+\endverbatim
+

devel/share/ur_driver/docs/URDriverConfig.dox

@@ -0,0 +1,6 @@
+\subsubsection parameters ROS parameters
+
+Reads and maintains the following parameters on the ROS server
+
+- \b "~prevent_programming" : \b [bool] Prevent driver from continuously uploading 'prog' min: False, default: False, max: True
+

devel/share/ur_driver/docs/URDriverConfig.wikidoc

@@ -0,0 +1,12 @@
+# Autogenerated param section. Do not hand edit.
+param {
+group.0 {
+name=Dynamically Reconfigurable Parameters
+desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
+0.name= ~prevent_programming
+0.default= False
+0.type= bool
+0.desc=Prevent driver from continuously uploading 'prog' 
+}
+}
+# End of autogenerated section. You may edit below.

roboglue_ros_ws.workspace.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.9.2, 2019-11-13T15:06:46. -->
+<!-- Written by QtCreator 4.9.2, 2019-11-14T17:08:03. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -124,7 +124,7 @@
      <value type="QString">ROS_PACKAGE_PATH=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src:/opt/ros/kinetic/share</value>
      <value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value>
      <value type="QString">ROS_VERSION=1</value>
-     <value type="QString">SHLVL=750</value>
+     <value type="QString">SHLVL=786</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
     </valuelist>