diff --git a/devel/include/jog_msgs/JogFrame.h b/devel/include/jog_msgs/JogFrame.h new file mode 100644 index 0000000..83d4128 --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace jog_msgs +{ +template +struct JogFrame_ +{ + typedef JogFrame_ 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_ _header_type; + _header_type header; + + typedef std::basic_string, typename ContainerAllocator::template rebind::other > _group_name_type; + _group_name_type group_name; + + typedef std::basic_string, typename ContainerAllocator::template rebind::other > _link_name_type; + _link_name_type link_name; + + typedef ::geometry_msgs::Vector3_ _linear_delta_type; + _linear_delta_type linear_delta; + + typedef ::geometry_msgs::Vector3_ _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_ > Ptr; + typedef boost::shared_ptr< ::jog_msgs::JogFrame_ const> ConstPtr; + +}; // struct JogFrame_ + +typedef ::jog_msgs::JogFrame_ > 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 +std::ostream& operator<<(std::ostream& s, const ::jog_msgs::JogFrame_ & v) +{ +ros::message_operations::Printer< ::jog_msgs::JogFrame_ >::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 +struct IsFixedSize< ::jog_msgs::JogFrame_ > + : FalseType + { }; + +template +struct IsFixedSize< ::jog_msgs::JogFrame_ const> + : FalseType + { }; + +template +struct IsMessage< ::jog_msgs::JogFrame_ > + : TrueType + { }; + +template +struct IsMessage< ::jog_msgs::JogFrame_ const> + : TrueType + { }; + +template +struct HasHeader< ::jog_msgs::JogFrame_ > + : TrueType + { }; + +template +struct HasHeader< ::jog_msgs::JogFrame_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::jog_msgs::JogFrame_ > +{ + static const char* value() + { + return "e342f29bf6beaf00261bdae365abfff9"; + } + + static const char* value(const ::jog_msgs::JogFrame_&) { return value(); } + static const uint64_t static_value1 = 0xe342f29bf6beaf00ULL; + static const uint64_t static_value2 = 0x261bdae365abfff9ULL; +}; + +template +struct DataType< ::jog_msgs::JogFrame_ > +{ + static const char* value() + { + return "jog_msgs/JogFrame"; + } + + static const char* value(const ::jog_msgs::JogFrame_&) { return value(); } +}; + +template +struct Definition< ::jog_msgs::JogFrame_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::jog_msgs::JogFrame_ > + { + template 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 +struct Printer< ::jog_msgs::JogFrame_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::jog_msgs::JogFrame_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "group_name: "; + Printer, typename ContainerAllocator::template rebind::other > >::stream(s, indent + " ", v.group_name); + s << indent << "link_name: "; + Printer, typename ContainerAllocator::template rebind::other > >::stream(s, indent + " ", v.link_name); + s << indent << "linear_delta: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.linear_delta); + s << indent << "angular_delta: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.angular_delta); + s << indent << "avoid_collisions: "; + Printer::stream(s, indent + " ", v.avoid_collisions); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // JOG_MSGS_MESSAGE_JOGFRAME_H diff --git a/devel/include/jog_msgs/JogJoint.h b/devel/include/jog_msgs/JogJoint.h new file mode 100644 index 0000000..b97bb96 --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + +#include + +namespace jog_msgs +{ +template +struct JogJoint_ +{ + typedef JogJoint_ Type; + + JogJoint_() + : header() + , joint_names() + , deltas() { + } + JogJoint_(const ContainerAllocator& _alloc) + : header(_alloc) + , joint_names(_alloc) + , deltas(_alloc) { + (void)_alloc; + } + + + + typedef ::std_msgs::Header_ _header_type; + _header_type header; + + typedef std::vector, typename ContainerAllocator::template rebind::other > , typename ContainerAllocator::template rebind, typename ContainerAllocator::template rebind::other > >::other > _joint_names_type; + _joint_names_type joint_names; + + typedef std::vector::other > _deltas_type; + _deltas_type deltas; + + + + + + typedef boost::shared_ptr< ::jog_msgs::JogJoint_ > Ptr; + typedef boost::shared_ptr< ::jog_msgs::JogJoint_ const> ConstPtr; + +}; // struct JogJoint_ + +typedef ::jog_msgs::JogJoint_ > 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 +std::ostream& operator<<(std::ostream& s, const ::jog_msgs::JogJoint_ & v) +{ +ros::message_operations::Printer< ::jog_msgs::JogJoint_ >::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 +struct IsFixedSize< ::jog_msgs::JogJoint_ > + : FalseType + { }; + +template +struct IsFixedSize< ::jog_msgs::JogJoint_ const> + : FalseType + { }; + +template +struct IsMessage< ::jog_msgs::JogJoint_ > + : TrueType + { }; + +template +struct IsMessage< ::jog_msgs::JogJoint_ const> + : TrueType + { }; + +template +struct HasHeader< ::jog_msgs::JogJoint_ > + : TrueType + { }; + +template +struct HasHeader< ::jog_msgs::JogJoint_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::jog_msgs::JogJoint_ > +{ + static const char* value() + { + return "8d2aa14be64b51cf6374d198bfd489b2"; + } + + static const char* value(const ::jog_msgs::JogJoint_&) { return value(); } + static const uint64_t static_value1 = 0x8d2aa14be64b51cfULL; + static const uint64_t static_value2 = 0x6374d198bfd489b2ULL; +}; + +template +struct DataType< ::jog_msgs::JogJoint_ > +{ + static const char* value() + { + return "jog_msgs/JogJoint"; + } + + static const char* value(const ::jog_msgs::JogJoint_&) { return value(); } +}; + +template +struct Definition< ::jog_msgs::JogJoint_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::jog_msgs::JogJoint_ > + { + template 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 +struct Printer< ::jog_msgs::JogJoint_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::jog_msgs::JogJoint_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::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, typename ContainerAllocator::template rebind::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::stream(s, indent + " ", v.deltas[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // JOG_MSGS_MESSAGE_JOGJOINT_H diff --git a/devel/include/ur_driver/URDriverConfig.h b/devel/include/ur_driver/URDriverConfig.h new file mode 100644 index 0000000..323daf3 --- /dev/null +++ b/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 +#include +#include +#include +#include +#include +#include +#include + +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 AbstractParamDescriptionPtr; + typedef boost::shared_ptr AbstractParamDescriptionConstPtr; + + // Final keyword added to class because it has virtual methods and inherits + // from a class with a non-virtual destructor. + template + 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 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::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i) + { + parameters.push_back(dynamic_reconfigure::ParamDescription(**i)); + } + } + }; + + typedef boost::shared_ptr AbstractGroupDescriptionPtr; + typedef boost::shared_ptr AbstractGroupDescriptionConstPtr; + + // Final keyword added to class because it has virtual methods and inherits + // from a class with a non-virtual destructor. + template + 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& 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(cfg); + if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field)) + return false; + + for(std::vector::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(cfg); + T* group = &((*config).*field); + group->state = state; + + for(std::vector::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(cfg); + + T* f = &((*config).*field); + f->setParams(top, abstract_parameters); + + for(std::vector::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(cfg); + dynamic_reconfigure::ConfigTools::appendGroup(msg, name, id, parent, config.*field); + + for(std::vector::const_iterator i = groups.begin(); i != groups.end(); ++i) + { + (*i)->toMessage(msg, config.*field); + } + } + + T (PT::* field); + std::vector groups; + }; + +class DEFAULT +{ + public: + DEFAULT() + { + state = true; + name = "Default"; + } + + void setParams(URDriverConfig &config, const std::vector params) + { + for (std::vector::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(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 &__param_descriptions__ = __getParamDescriptions__(); + const std::vector &__group_descriptions__ = __getGroupDescriptions__(); + + int count = 0; + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + if ((*i)->fromMessage(msg, *this)) + count++; + + for (std::vector::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 &__param_descriptions__, const std::vector &__group_descriptions__) const + { + dynamic_reconfigure::ConfigTools::clear(msg); + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->toMessage(msg, *this); + + for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__(); + const std::vector &__group_descriptions__ = __getGroupDescriptions__(); + __toMessage__(msg, __param_descriptions__, __group_descriptions__); + } + + void __toServer__(const ros::NodeHandle &nh) const + { + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__(); + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->fromServer(nh, *this); + + const std::vector &__group_descriptions__ = __getGroupDescriptions__(); + for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__(); + const URDriverConfig &__max__ = __getMax__(); + const URDriverConfig &__min__ = __getMin__(); + for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__(); + uint32_t level = 0; + for (std::vector::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 &__getParamDescriptions__(); + static const std::vector &__getGroupDescriptions__(); + + private: + static const URDriverConfigStatics *__get_statics__(); + }; + + template <> // Max and min are ignored for strings. + inline void URDriverConfig::ParamDescription::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 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("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("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(Default))); +//#line 366 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template" + + for (std::vector::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 __param_descriptions__; + std::vector __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::__getParamDescriptions__() + { + return __get_statics__()->__param_descriptions__; + } + + inline const std::vector &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__ diff --git a/devel/include/ur_msgs/Analog.h b/devel/include/ur_msgs/Analog.h new file mode 100644 index 0000000..04d7e18 --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + + +namespace ur_msgs +{ +template +struct Analog_ +{ + typedef Analog_ 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_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::Analog_ const> ConstPtr; + +}; // struct Analog_ + +typedef ::ur_msgs::Analog_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::Analog_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::Analog_ >::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 +struct IsFixedSize< ::ur_msgs::Analog_ > + : TrueType + { }; + +template +struct IsFixedSize< ::ur_msgs::Analog_ const> + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::Analog_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::Analog_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::Analog_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::Analog_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::Analog_ > +{ + static const char* value() + { + return "f41c08a810adf63713aec88712cd553d"; + } + + static const char* value(const ::ur_msgs::Analog_&) { return value(); } + static const uint64_t static_value1 = 0xf41c08a810adf637ULL; + static const uint64_t static_value2 = 0x13aec88712cd553dULL; +}; + +template +struct DataType< ::ur_msgs::Analog_ > +{ + static const char* value() + { + return "ur_msgs/Analog"; + } + + static const char* value(const ::ur_msgs::Analog_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::Analog_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::Analog_ > + { + template 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 +struct Printer< ::ur_msgs::Analog_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::Analog_& v) + { + s << indent << "pin: "; + Printer::stream(s, indent + " ", v.pin); + s << indent << "domain: "; + Printer::stream(s, indent + " ", v.domain); + s << indent << "state: "; + Printer::stream(s, indent + " ", v.state); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_ANALOG_H diff --git a/devel/include/ur_msgs/Digital.h b/devel/include/ur_msgs/Digital.h new file mode 100644 index 0000000..f12b203 --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + + +namespace ur_msgs +{ +template +struct Digital_ +{ + typedef Digital_ 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_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::Digital_ const> ConstPtr; + +}; // struct Digital_ + +typedef ::ur_msgs::Digital_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::Digital_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::Digital_ >::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 +struct IsFixedSize< ::ur_msgs::Digital_ > + : TrueType + { }; + +template +struct IsFixedSize< ::ur_msgs::Digital_ const> + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::Digital_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::Digital_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::Digital_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::Digital_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::Digital_ > +{ + static const char* value() + { + return "83707be3fa18d2ffe57381ea034aa262"; + } + + static const char* value(const ::ur_msgs::Digital_&) { return value(); } + static const uint64_t static_value1 = 0x83707be3fa18d2ffULL; + static const uint64_t static_value2 = 0xe57381ea034aa262ULL; +}; + +template +struct DataType< ::ur_msgs::Digital_ > +{ + static const char* value() + { + return "ur_msgs/Digital"; + } + + static const char* value(const ::ur_msgs::Digital_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::Digital_ > +{ + static const char* value() + { + return "uint8 pin\n\ +bool state\n\ +"; + } + + static const char* value(const ::ur_msgs::Digital_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::Digital_ > + { + template 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 +struct Printer< ::ur_msgs::Digital_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::Digital_& v) + { + s << indent << "pin: "; + Printer::stream(s, indent + " ", v.pin); + s << indent << "state: "; + Printer::stream(s, indent + " ", v.state); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_DIGITAL_H diff --git a/devel/include/ur_msgs/IOStates.h b/devel/include/ur_msgs/IOStates.h new file mode 100644 index 0000000..fcea9fd --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace ur_msgs +{ +template +struct IOStates_ +{ + typedef IOStates_ 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_ , typename ContainerAllocator::template rebind< ::ur_msgs::Digital_ >::other > _digital_in_states_type; + _digital_in_states_type digital_in_states; + + typedef std::vector< ::ur_msgs::Digital_ , typename ContainerAllocator::template rebind< ::ur_msgs::Digital_ >::other > _digital_out_states_type; + _digital_out_states_type digital_out_states; + + typedef std::vector< ::ur_msgs::Digital_ , typename ContainerAllocator::template rebind< ::ur_msgs::Digital_ >::other > _flag_states_type; + _flag_states_type flag_states; + + typedef std::vector< ::ur_msgs::Analog_ , typename ContainerAllocator::template rebind< ::ur_msgs::Analog_ >::other > _analog_in_states_type; + _analog_in_states_type analog_in_states; + + typedef std::vector< ::ur_msgs::Analog_ , typename ContainerAllocator::template rebind< ::ur_msgs::Analog_ >::other > _analog_out_states_type; + _analog_out_states_type analog_out_states; + + + + + + typedef boost::shared_ptr< ::ur_msgs::IOStates_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::IOStates_ const> ConstPtr; + +}; // struct IOStates_ + +typedef ::ur_msgs::IOStates_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::IOStates_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::IOStates_ >::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 +struct IsFixedSize< ::ur_msgs::IOStates_ > + : FalseType + { }; + +template +struct IsFixedSize< ::ur_msgs::IOStates_ const> + : FalseType + { }; + +template +struct IsMessage< ::ur_msgs::IOStates_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::IOStates_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::IOStates_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::IOStates_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::IOStates_ > +{ + static const char* value() + { + return "3033784e7041da89491b97cc4c1105b5"; + } + + static const char* value(const ::ur_msgs::IOStates_&) { return value(); } + static const uint64_t static_value1 = 0x3033784e7041da89ULL; + static const uint64_t static_value2 = 0x491b97cc4c1105b5ULL; +}; + +template +struct DataType< ::ur_msgs::IOStates_ > +{ + static const char* value() + { + return "ur_msgs/IOStates"; + } + + static const char* value(const ::ur_msgs::IOStates_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::IOStates_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::IOStates_ > + { + template 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 +struct Printer< ::ur_msgs::IOStates_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::IOStates_& 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_ >::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_ >::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_ >::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_ >::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_ >::stream(s, indent + " ", v.analog_out_states[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_IOSTATES_H diff --git a/devel/include/ur_msgs/MasterboardDataMsg.h b/devel/include/ur_msgs/MasterboardDataMsg.h new file mode 100644 index 0000000..bf1cf3d --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + + +namespace ur_msgs +{ +template +struct MasterboardDataMsg_ +{ + typedef MasterboardDataMsg_ 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_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::MasterboardDataMsg_ const> ConstPtr; + +}; // struct MasterboardDataMsg_ + +typedef ::ur_msgs::MasterboardDataMsg_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::MasterboardDataMsg_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::MasterboardDataMsg_ >::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 +struct IsFixedSize< ::ur_msgs::MasterboardDataMsg_ > + : TrueType + { }; + +template +struct IsFixedSize< ::ur_msgs::MasterboardDataMsg_ const> + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::MasterboardDataMsg_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::MasterboardDataMsg_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::MasterboardDataMsg_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::MasterboardDataMsg_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::MasterboardDataMsg_ > +{ + static const char* value() + { + return "807af5dc427082b111fa23d1fd2cd585"; + } + + static const char* value(const ::ur_msgs::MasterboardDataMsg_&) { return value(); } + static const uint64_t static_value1 = 0x807af5dc427082b1ULL; + static const uint64_t static_value2 = 0x11fa23d1fd2cd585ULL; +}; + +template +struct DataType< ::ur_msgs::MasterboardDataMsg_ > +{ + static const char* value() + { + return "ur_msgs/MasterboardDataMsg"; + } + + static const char* value(const ::ur_msgs::MasterboardDataMsg_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::MasterboardDataMsg_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::MasterboardDataMsg_ > + { + template 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 +struct Printer< ::ur_msgs::MasterboardDataMsg_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::MasterboardDataMsg_& v) + { + s << indent << "digital_input_bits: "; + Printer::stream(s, indent + " ", v.digital_input_bits); + s << indent << "digital_output_bits: "; + Printer::stream(s, indent + " ", v.digital_output_bits); + s << indent << "analog_input_range0: "; + Printer::stream(s, indent + " ", v.analog_input_range0); + s << indent << "analog_input_range1: "; + Printer::stream(s, indent + " ", v.analog_input_range1); + s << indent << "analog_input0: "; + Printer::stream(s, indent + " ", v.analog_input0); + s << indent << "analog_input1: "; + Printer::stream(s, indent + " ", v.analog_input1); + s << indent << "analog_output_domain0: "; + Printer::stream(s, indent + " ", v.analog_output_domain0); + s << indent << "analog_output_domain1: "; + Printer::stream(s, indent + " ", v.analog_output_domain1); + s << indent << "analog_output0: "; + Printer::stream(s, indent + " ", v.analog_output0); + s << indent << "analog_output1: "; + Printer::stream(s, indent + " ", v.analog_output1); + s << indent << "masterboard_temperature: "; + Printer::stream(s, indent + " ", v.masterboard_temperature); + s << indent << "robot_voltage_48V: "; + Printer::stream(s, indent + " ", v.robot_voltage_48V); + s << indent << "robot_current: "; + Printer::stream(s, indent + " ", v.robot_current); + s << indent << "master_io_current: "; + Printer::stream(s, indent + " ", v.master_io_current); + s << indent << "master_safety_state: "; + Printer::stream(s, indent + " ", v.master_safety_state); + s << indent << "master_onoff_state: "; + Printer::stream(s, indent + " ", v.master_onoff_state); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_MASTERBOARDDATAMSG_H diff --git a/devel/include/ur_msgs/RobotModeDataMsg.h b/devel/include/ur_msgs/RobotModeDataMsg.h new file mode 100644 index 0000000..9dfbe0b --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + + +namespace ur_msgs +{ +template +struct RobotModeDataMsg_ +{ + typedef RobotModeDataMsg_ 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_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::RobotModeDataMsg_ const> ConstPtr; + +}; // struct RobotModeDataMsg_ + +typedef ::ur_msgs::RobotModeDataMsg_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::RobotModeDataMsg_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::RobotModeDataMsg_ >::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 +struct IsFixedSize< ::ur_msgs::RobotModeDataMsg_ > + : TrueType + { }; + +template +struct IsFixedSize< ::ur_msgs::RobotModeDataMsg_ const> + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::RobotModeDataMsg_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::RobotModeDataMsg_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::RobotModeDataMsg_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::RobotModeDataMsg_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::RobotModeDataMsg_ > +{ + static const char* value() + { + return "867308ca39e2cc0644b50db27deb661f"; + } + + static const char* value(const ::ur_msgs::RobotModeDataMsg_&) { return value(); } + static const uint64_t static_value1 = 0x867308ca39e2cc06ULL; + static const uint64_t static_value2 = 0x44b50db27deb661fULL; +}; + +template +struct DataType< ::ur_msgs::RobotModeDataMsg_ > +{ + static const char* value() + { + return "ur_msgs/RobotModeDataMsg"; + } + + static const char* value(const ::ur_msgs::RobotModeDataMsg_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::RobotModeDataMsg_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::RobotModeDataMsg_ > + { + template 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 +struct Printer< ::ur_msgs::RobotModeDataMsg_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::RobotModeDataMsg_& v) + { + s << indent << "timestamp: "; + Printer::stream(s, indent + " ", v.timestamp); + s << indent << "is_robot_connected: "; + Printer::stream(s, indent + " ", v.is_robot_connected); + s << indent << "is_real_robot_enabled: "; + Printer::stream(s, indent + " ", v.is_real_robot_enabled); + s << indent << "is_power_on_robot: "; + Printer::stream(s, indent + " ", v.is_power_on_robot); + s << indent << "is_emergency_stopped: "; + Printer::stream(s, indent + " ", v.is_emergency_stopped); + s << indent << "is_protective_stopped: "; + Printer::stream(s, indent + " ", v.is_protective_stopped); + s << indent << "is_program_running: "; + Printer::stream(s, indent + " ", v.is_program_running); + s << indent << "is_program_paused: "; + Printer::stream(s, indent + " ", v.is_program_paused); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_ROBOTMODEDATAMSG_H diff --git a/devel/include/ur_msgs/RobotStateRTMsg.h b/devel/include/ur_msgs/RobotStateRTMsg.h new file mode 100644 index 0000000..f1230b4 --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + + +namespace ur_msgs +{ +template +struct RobotStateRTMsg_ +{ + typedef RobotStateRTMsg_ 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::other > _q_target_type; + _q_target_type q_target; + + typedef std::vector::other > _qd_target_type; + _qd_target_type qd_target; + + typedef std::vector::other > _qdd_target_type; + _qdd_target_type qdd_target; + + typedef std::vector::other > _i_target_type; + _i_target_type i_target; + + typedef std::vector::other > _m_target_type; + _m_target_type m_target; + + typedef std::vector::other > _q_actual_type; + _q_actual_type q_actual; + + typedef std::vector::other > _qd_actual_type; + _qd_actual_type qd_actual; + + typedef std::vector::other > _i_actual_type; + _i_actual_type i_actual; + + typedef std::vector::other > _tool_acc_values_type; + _tool_acc_values_type tool_acc_values; + + typedef std::vector::other > _tcp_force_type; + _tcp_force_type tcp_force; + + typedef std::vector::other > _tool_vector_type; + _tool_vector_type tool_vector; + + typedef std::vector::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::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::other > _joint_modes_type; + _joint_modes_type joint_modes; + + + + + + typedef boost::shared_ptr< ::ur_msgs::RobotStateRTMsg_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::RobotStateRTMsg_ const> ConstPtr; + +}; // struct RobotStateRTMsg_ + +typedef ::ur_msgs::RobotStateRTMsg_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::RobotStateRTMsg_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::RobotStateRTMsg_ >::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 +struct IsFixedSize< ::ur_msgs::RobotStateRTMsg_ > + : FalseType + { }; + +template +struct IsFixedSize< ::ur_msgs::RobotStateRTMsg_ const> + : FalseType + { }; + +template +struct IsMessage< ::ur_msgs::RobotStateRTMsg_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::RobotStateRTMsg_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::RobotStateRTMsg_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::RobotStateRTMsg_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::RobotStateRTMsg_ > +{ + static const char* value() + { + return "ce6feddd3ccb4ca7dbcd0ff105b603c7"; + } + + static const char* value(const ::ur_msgs::RobotStateRTMsg_&) { return value(); } + static const uint64_t static_value1 = 0xce6feddd3ccb4ca7ULL; + static const uint64_t static_value2 = 0xdbcd0ff105b603c7ULL; +}; + +template +struct DataType< ::ur_msgs::RobotStateRTMsg_ > +{ + static const char* value() + { + return "ur_msgs/RobotStateRTMsg"; + } + + static const char* value(const ::ur_msgs::RobotStateRTMsg_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::RobotStateRTMsg_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::RobotStateRTMsg_ > + { + template 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 +struct Printer< ::ur_msgs::RobotStateRTMsg_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::RobotStateRTMsg_& v) + { + s << indent << "time: "; + Printer::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::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::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::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::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::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::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::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::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::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::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::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::stream(s, indent + " ", v.tcp_speed[i]); + } + s << indent << "digital_input_bits: "; + Printer::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::stream(s, indent + " ", v.motor_temperatures[i]); + } + s << indent << "controller_timer: "; + Printer::stream(s, indent + " ", v.controller_timer); + s << indent << "test_value: "; + Printer::stream(s, indent + " ", v.test_value); + s << indent << "robot_mode: "; + Printer::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::stream(s, indent + " ", v.joint_modes[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_ROBOTSTATERTMSG_H diff --git a/devel/include/ur_msgs/SetIO.h b/devel/include/ur_msgs/SetIO.h new file mode 100644 index 0000000..12ceaf9 --- /dev/null +++ b/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 + + +#include +#include + + +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 diff --git a/devel/include/ur_msgs/SetPayload.h b/devel/include/ur_msgs/SetPayload.h new file mode 100644 index 0000000..10b1fa8 --- /dev/null +++ b/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 + + +#include +#include + + +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 diff --git a/devel/include/ur_msgs/SetSpeedSliderFraction.h b/devel/include/ur_msgs/SetSpeedSliderFraction.h new file mode 100644 index 0000000..89d9f9a --- /dev/null +++ b/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 + + +#include +#include + + +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 diff --git a/devel/include/ur_msgs/ToolDataMsg.h b/devel/include/ur_msgs/ToolDataMsg.h new file mode 100644 index 0000000..cbcad1e --- /dev/null +++ b/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 +#include +#include + +#include +#include +#include +#include + + +namespace ur_msgs +{ +template +struct ToolDataMsg_ +{ + typedef ToolDataMsg_ 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_ > Ptr; + typedef boost::shared_ptr< ::ur_msgs::ToolDataMsg_ const> ConstPtr; + +}; // struct ToolDataMsg_ + +typedef ::ur_msgs::ToolDataMsg_ > 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 +std::ostream& operator<<(std::ostream& s, const ::ur_msgs::ToolDataMsg_ & v) +{ +ros::message_operations::Printer< ::ur_msgs::ToolDataMsg_ >::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 +struct IsFixedSize< ::ur_msgs::ToolDataMsg_ > + : TrueType + { }; + +template +struct IsFixedSize< ::ur_msgs::ToolDataMsg_ const> + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::ToolDataMsg_ > + : TrueType + { }; + +template +struct IsMessage< ::ur_msgs::ToolDataMsg_ const> + : TrueType + { }; + +template +struct HasHeader< ::ur_msgs::ToolDataMsg_ > + : FalseType + { }; + +template +struct HasHeader< ::ur_msgs::ToolDataMsg_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::ur_msgs::ToolDataMsg_ > +{ + static const char* value() + { + return "404fc266f37d89f75b372d12fa94a122"; + } + + static const char* value(const ::ur_msgs::ToolDataMsg_&) { return value(); } + static const uint64_t static_value1 = 0x404fc266f37d89f7ULL; + static const uint64_t static_value2 = 0x5b372d12fa94a122ULL; +}; + +template +struct DataType< ::ur_msgs::ToolDataMsg_ > +{ + static const char* value() + { + return "ur_msgs/ToolDataMsg"; + } + + static const char* value(const ::ur_msgs::ToolDataMsg_&) { return value(); } +}; + +template +struct Definition< ::ur_msgs::ToolDataMsg_ > +{ + 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_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::ur_msgs::ToolDataMsg_ > + { + template 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 +struct Printer< ::ur_msgs::ToolDataMsg_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::ur_msgs::ToolDataMsg_& v) + { + s << indent << "analog_input_range2: "; + Printer::stream(s, indent + " ", v.analog_input_range2); + s << indent << "analog_input_range3: "; + Printer::stream(s, indent + " ", v.analog_input_range3); + s << indent << "analog_input2: "; + Printer::stream(s, indent + " ", v.analog_input2); + s << indent << "analog_input3: "; + Printer::stream(s, indent + " ", v.analog_input3); + s << indent << "tool_voltage_48v: "; + Printer::stream(s, indent + " ", v.tool_voltage_48v); + s << indent << "tool_output_voltage: "; + Printer::stream(s, indent + " ", v.tool_output_voltage); + s << indent << "tool_current: "; + Printer::stream(s, indent + " ", v.tool_current); + s << indent << "tool_temperature: "; + Printer::stream(s, indent + " ", v.tool_temperature); + s << indent << "tool_mode: "; + Printer::stream(s, indent + " ", v.tool_mode); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UR_MSGS_MESSAGE_TOOLDATAMSG_H diff --git a/devel/share/common-lisp/ros/jog_msgs/msg/JogFrame.lisp b/devel/share/common-lisp/ros/jog_msgs/msg/JogFrame.lisp new file mode 100644 index 0000000..75fba12 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use jog_msgs-msg:JogFrame instead."))) + +(cl:ensure-generic-function 'header-val :lambda-list '(m)) +(cl:defmethod header-val ((m )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (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 )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/jog_msgs/msg/JogJoint.lisp b/devel/share/common-lisp/ros/jog_msgs/msg/JogJoint.lisp new file mode 100644 index 0000000..d3c7498 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use jog_msgs-msg:JogJoint instead."))) + +(cl:ensure-generic-function 'header-val :lambda-list '(m)) +(cl:defmethod header-val ((m )) + (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 )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (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 )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/Analog.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/Analog.lisp new file mode 100644 index 0000000..cb63e73 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-msg:Analog instead."))) + +(cl:ensure-generic-function 'pin-val :lambda-list '(m)) +(cl:defmethod pin-val ((m )) + (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 )) + (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 )) + (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 '))) + "Constants for message type '" + '((: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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 + 1 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/Digital.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/Digital.lisp new file mode 100644 index 0000000..84513b7 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-msg:Digital instead."))) + +(cl:ensure-generic-function 'pin-val :lambda-list '(m)) +(cl:defmethod pin-val ((m )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'Digital + (cl:cons ':pin (pin msg)) + (cl:cons ':state (state msg)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/IOStates.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/IOStates.lisp new file mode 100644 index 0000000..3cf381d --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: 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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (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 )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/MasterboardDataMsg.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/MasterboardDataMsg.lisp new file mode 100644 index 0000000..9eb7049 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: 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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (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 )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/RobotModeDataMsg.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/RobotModeDataMsg.lisp new file mode 100644 index 0000000..fa8cd19 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-msg:RobotModeDataMsg instead."))) + +(cl:ensure-generic-function 'timestamp-val :lambda-list '(m)) +(cl:defmethod timestamp-val ((m )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 8 + 1 + 1 + 1 + 1 + 1 + 1 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/RobotStateRTMsg.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/RobotStateRTMsg.lisp new file mode 100644 index 0000000..8d40014 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-msg:RobotStateRTMsg instead."))) + +(cl:ensure-generic-function 'time-val :lambda-list '(m)) +(cl:defmethod time-val ((m )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (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 )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/msg/ToolDataMsg.lisp b/devel/share/common-lisp/ros/ur_msgs/msg/ToolDataMsg.lisp new file mode 100644 index 0000000..6725ed3 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: 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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 )) + (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 '))) + "Constants for message type '" + '((: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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a message object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 + 1 + 8 + 8 + 4 + 1 + 4 + 4 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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)) +)) diff --git a/devel/share/common-lisp/ros/ur_msgs/srv/SetIO.lisp b/devel/share/common-lisp/ros/ur_msgs/srv/SetIO.lisp new file mode 100644 index 0000000..c3bb774 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-srv:SetIO-request instead."))) + +(cl:ensure-generic-function 'fun-val :lambda-list '(m)) +(cl:defmethod fun-val ((m )) + (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 )) + (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 )) + (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 '))) + "Constants for message type '" + '((: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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a service object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 + 1 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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 (roslisp-msg-protocol:ros-message) + ((success + :reader success + :initarg :success + :type cl:boolean + :initform cl:nil)) +) + +(cl:defclass SetIO-response () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-srv:SetIO-response instead."))) + +(cl:ensure-generic-function 'success-val :lambda-list '(m)) +(cl:defmethod success-val ((m )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a service object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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 '" + "ur_msgs/SetIO") \ No newline at end of file diff --git a/devel/share/common-lisp/ros/ur_msgs/srv/SetPayload.lisp b/devel/share/common-lisp/ros/ur_msgs/srv/SetPayload.lisp new file mode 100644 index 0000000..65155e9 --- /dev/null +++ b/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 (roslisp-msg-protocol:ros-message) + ((payload + :reader payload + :initarg :payload + :type cl:float + :initform 0.0)) +) + +(cl:defclass SetPayload-request () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-srv:SetPayload-request instead."))) + +(cl:ensure-generic-function 'payload-val :lambda-list '(m)) +(cl:defmethod payload-val ((m )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a service object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'SetPayload-request + (cl:cons ':payload (payload msg)) +)) +;//! \htmlinclude SetPayload-response.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((success + :reader success + :initarg :success + :type cl:boolean + :initform cl:nil)) +) + +(cl:defclass SetPayload-response () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-srv:SetPayload-response instead."))) + +(cl:ensure-generic-function 'success-val :lambda-list '(m)) +(cl:defmethod success-val ((m )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a service object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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 '" + "ur_msgs/SetPayload") \ No newline at end of file diff --git a/devel/share/common-lisp/ros/ur_msgs/srv/SetSpeedSliderFraction.lisp b/devel/share/common-lisp/ros/ur_msgs/srv/SetSpeedSliderFraction.lisp new file mode 100644 index 0000000..0e82cb0 --- /dev/null +++ b/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 (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 () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: 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 )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a service object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 8 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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 (roslisp-msg-protocol:ros-message) + ((success + :reader success + :initarg :success + :type cl:boolean + :initform cl:nil)) +) + +(cl:defclass SetSpeedSliderFraction-response () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) 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: is deprecated: use ur_msgs-srv:SetSpeedSliderFraction-response instead."))) + +(cl:ensure-generic-function 'success-val :lambda-list '(m)) +(cl:defmethod success-val ((m )) + (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 ) ostream) + "Serializes a message object of type '" + (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 ) istream) + "Deserializes a message object of type '" + (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 '))) + "Returns string type for a service object of type '" + "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 '))) + "Returns md5sum for a message object of type '" + "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 '))) + "Returns full string definition for message of type '" + (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 )) + (cl:+ 0 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "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 '" + "ur_msgs/SetSpeedSliderFraction") \ No newline at end of file diff --git a/devel/share/gennodejs/ros/jog_msgs/msg/JogFrame.js b/devel/share/gennodejs/ros/jog_msgs/msg/JogFrame.js new file mode 100644 index 0000000..acd44c7 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/jog_msgs/msg/JogJoint.js b/devel/share/gennodejs/ros/jog_msgs/msg/JogJoint.js new file mode 100644 index 0000000..81f794c --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/Analog.js b/devel/share/gennodejs/ros/ur_msgs/msg/Analog.js new file mode 100644 index 0000000..6e05548 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/Digital.js b/devel/share/gennodejs/ros/ur_msgs/msg/Digital.js new file mode 100644 index 0000000..2099b93 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/IOStates.js b/devel/share/gennodejs/ros/ur_msgs/msg/IOStates.js new file mode 100644 index 0000000..4be8b80 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/MasterboardDataMsg.js b/devel/share/gennodejs/ros/ur_msgs/msg/MasterboardDataMsg.js new file mode 100644 index 0000000..918016e --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/RobotModeDataMsg.js b/devel/share/gennodejs/ros/ur_msgs/msg/RobotModeDataMsg.js new file mode 100644 index 0000000..b578ed3 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/RobotStateRTMsg.js b/devel/share/gennodejs/ros/ur_msgs/msg/RobotStateRTMsg.js new file mode 100644 index 0000000..4f1feb0 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/msg/ToolDataMsg.js b/devel/share/gennodejs/ros/ur_msgs/msg/ToolDataMsg.js new file mode 100644 index 0000000..c545fc8 --- /dev/null +++ b/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; diff --git a/devel/share/gennodejs/ros/ur_msgs/srv/SetIO.js b/devel/share/gennodejs/ros/ur_msgs/srv/SetIO.js new file mode 100644 index 0000000..53197a1 --- /dev/null +++ b/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'; } +}; diff --git a/devel/share/gennodejs/ros/ur_msgs/srv/SetPayload.js b/devel/share/gennodejs/ros/ur_msgs/srv/SetPayload.js new file mode 100644 index 0000000..466c2f9 --- /dev/null +++ b/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'; } +}; diff --git a/devel/share/gennodejs/ros/ur_msgs/srv/SetSpeedSliderFraction.js b/devel/share/gennodejs/ros/ur_msgs/srv/SetSpeedSliderFraction.js new file mode 100644 index 0000000..3e41ffe --- /dev/null +++ b/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'; } +}; diff --git a/devel/share/roseus/ros/jog_msgs/manifest.l b/devel/share/roseus/ros/jog_msgs/manifest.l new file mode 100644 index 0000000..9aad1ea --- /dev/null +++ b/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") diff --git a/devel/share/roseus/ros/jog_msgs/msg/JogFrame.l b/devel/share/roseus/ros/jog_msgs/msg/JogFrame.l new file mode 100644 index 0000000..15361d9 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/jog_msgs/msg/JogJoint.l b/devel/share/roseus/ros/jog_msgs/msg/JogJoint.l new file mode 100644 index 0000000..55657ee --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/manifest.l b/devel/share/roseus/ros/ur_msgs/manifest.l new file mode 100644 index 0000000..bb28715 --- /dev/null +++ b/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") diff --git a/devel/share/roseus/ros/ur_msgs/msg/Analog.l b/devel/share/roseus/ros/ur_msgs/msg/Analog.l new file mode 100644 index 0000000..d7feb92 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/msg/Digital.l b/devel/share/roseus/ros/ur_msgs/msg/Digital.l new file mode 100644 index 0000000..265f1e9 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/msg/IOStates.l b/devel/share/roseus/ros/ur_msgs/msg/IOStates.l new file mode 100644 index 0000000..13aad08 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/msg/MasterboardDataMsg.l b/devel/share/roseus/ros/ur_msgs/msg/MasterboardDataMsg.l new file mode 100644 index 0000000..7fbd400 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/msg/RobotModeDataMsg.l b/devel/share/roseus/ros/ur_msgs/msg/RobotModeDataMsg.l new file mode 100644 index 0000000..ee7fd6d --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/msg/RobotStateRTMsg.l b/devel/share/roseus/ros/ur_msgs/msg/RobotStateRTMsg.l new file mode 100644 index 0000000..777fd55 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/msg/ToolDataMsg.l b/devel/share/roseus/ros/ur_msgs/msg/ToolDataMsg.l new file mode 100644 index 0000000..bc47dbd --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/srv/SetIO.l b/devel/share/roseus/ros/ur_msgs/srv/SetIO.l new file mode 100644 index 0000000..21b159e --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/srv/SetPayload.l b/devel/share/roseus/ros/ur_msgs/srv/SetPayload.l new file mode 100644 index 0000000..4e6be90 --- /dev/null +++ b/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") + + diff --git a/devel/share/roseus/ros/ur_msgs/srv/SetSpeedSliderFraction.l b/devel/share/roseus/ros/ur_msgs/srv/SetSpeedSliderFraction.l new file mode 100644 index 0000000..4988e4a --- /dev/null +++ b/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") + + diff --git a/devel/share/ur_driver/docs/URDriverConfig-usage.dox b/devel/share/ur_driver/docs/URDriverConfig-usage.dox new file mode 100644 index 0000000..c44dec7 --- /dev/null +++ b/devel/share/ur_driver/docs/URDriverConfig-usage.dox @@ -0,0 +1,7 @@ +\subsubsection usage Usage +\verbatim + + + +\endverbatim + diff --git a/devel/share/ur_driver/docs/URDriverConfig.dox b/devel/share/ur_driver/docs/URDriverConfig.dox new file mode 100644 index 0000000..7a42e4d --- /dev/null +++ b/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 + diff --git a/devel/share/ur_driver/docs/URDriverConfig.wikidoc b/devel/share/ur_driver/docs/URDriverConfig.wikidoc new file mode 100644 index 0000000..bc98988 --- /dev/null +++ b/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. diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user index dd3d8ae..94273c8 100644 --- a/roboglue_ros_ws.workspace.user +++ b/roboglue_ros_ws.workspace.user @@ -1,6 +1,6 @@ - + EnvironmentId @@ -124,7 +124,7 @@ ROS_PACKAGE_PATH=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src:/opt/ros/kinetic/share ROS_ROOT=/opt/ros/kinetic/share/ros ROS_VERSION=1 - SHLVL=750 + SHLVL=786 TERM=xterm _=/usr/bin/env