aggiornati pacchetti universal_robot e universal_robots_ros_driver

2019-10-21 15:14:00 +02:00
parent 2d65d12940
commit bfe1ee9985
29 changed files with 1390 additions and 66 deletions
--- a/devel/share/common-lisp/ros/ur_msgs/msg/Analog.lisp
+++ b/devel/share/common-lisp/ros/ur_msgs/msg/Analog.lisp
@@ -12,6 +12,11 @@
    :initarg :pin
    :type cl:fixnum
    :initform 0)
+   (domain
+    :reader domain
+    :initarg :domain
+    :type cl:fixnum
+    :initform 0)
   (state
    :reader state
    :initarg :state
@@ -32,13 +37,29 @@
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:pin-val is deprecated.  Use ur_msgs-msg:pin instead.")
  (pin m))

+(cl:ensure-generic-function 'domain-val :lambda-list '(m))
+(cl:defmethod domain-val ((m <Analog>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:domain-val is deprecated.  Use ur_msgs-msg:domain instead.")
+  (domain m))
+
 (cl:ensure-generic-function 'state-val :lambda-list '(m))
 (cl:defmethod state-val ((m <Analog>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:state-val is deprecated.  Use ur_msgs-msg:state instead.")
  (state m))
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '<Analog>)))
+    "Constants for message type '<Analog>"
+  '((:VOLTAGE . 0)
+    (:CURRENT . 1))
+)
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'Analog)))
+    "Constants for message type 'Analog"
+  '((:VOLTAGE . 0)
+    (:CURRENT . 1))
+)
 (cl:defmethod roslisp-msg-protocol:serialize ((msg <Analog>) ostream)
  "Serializes a message object of type '<Analog>"
  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'pin)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'domain)) ostream)
  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'state))))
    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
@@ -48,6 +69,7 @@
 (cl:defmethod roslisp-msg-protocol:deserialize ((msg <Analog>) istream)
  "Deserializes a message object of type '<Analog>"
    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'pin)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'domain)) (cl:read-byte istream))
    (cl:let ((bits 0))
      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
@@ -64,18 +86,19 @@
  "ur_msgs/Analog")
 (cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Analog>)))
  "Returns md5sum for a message object of type '<Analog>"
-  "341541c8828d055b6dcc443d40207a7d")
+  "f41c08a810adf63713aec88712cd553d")
 (cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Analog)))
  "Returns md5sum for a message object of type 'Analog"
-  "341541c8828d055b6dcc443d40207a7d")
+  "f41c08a810adf63713aec88712cd553d")
 (cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Analog>)))
  "Returns full string definition for message of type '<Analog>"
-  (cl:format cl:nil "uint8 pin~%float32 state~%~%~%"))
+  (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 pin~%float32 state~%~%~%"))
+  (cl:format cl:nil "uint8 VOLTAGE=0~%uint8 CURRENT=1~%~%uint8 pin~%uint8 domain # can be VOLTAGE or CURRENT~%float32 state~%~%~%"))
 (cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Analog>))
  (cl:+ 0
+     1
     1
     4
 ))
@@ -83,5 +106,6 @@
  "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))
 ))
--- a/devel/share/common-lisp/ros/ur_msgs/msg/IOStates.lisp
+++ b/devel/share/common-lisp/ros/ur_msgs/msg/IOStates.lisp
@@ -166,16 +166,16 @@
  "ur_msgs/IOStates")
 (cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<IOStates>)))
  "Returns md5sum for a message object of type '<IOStates>"
-  "0a5c7b73e3189e9a2caf8583d1bae2e2")
+  "3033784e7041da89491b97cc4c1105b5")
 (cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'IOStates)))
  "Returns md5sum for a message object of type 'IOStates"
-  "0a5c7b73e3189e9a2caf8583d1bae2e2")
+  "3033784e7041da89491b97cc4c1105b5")
 (cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<IOStates>)))
  "Returns full string definition for message of type '<IOStates>"
-  (cl:format cl:nil "Digital[] digital_in_states~%Digital[] digital_out_states~%Digital[] flag_states~%Analog[] analog_in_states~%Analog[] analog_out_states~%~%================================================================================~%MSG: ur_msgs/Digital~%uint8 pin~%bool state~%~%================================================================================~%MSG: ur_msgs/Analog~%uint8 pin~%float32 state~%~%~%"))
+  (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 pin~%float32 state~%~%~%"))
+  (cl:format cl:nil "Digital[] digital_in_states~%Digital[] digital_out_states~%Digital[] flag_states~%Analog[] analog_in_states~%Analog[] analog_out_states~%~%================================================================================~%MSG: ur_msgs/Digital~%uint8 pin~%bool state~%~%================================================================================~%MSG: ur_msgs/Analog~%uint8 VOLTAGE=0~%uint8 CURRENT=1~%~%uint8 pin~%uint8 domain # can be VOLTAGE or CURRENT~%float32 state~%~%~%"))
 (cl:defmethod roslisp-msg-protocol:serialization-length ((msg <IOStates>))
  (cl:+ 0
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'digital_in_states) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
--- a/devel/share/common-lisp/ros/ur_msgs/msg/_package_Analog.lisp
+++ b/devel/share/common-lisp/ros/ur_msgs/msg/_package_Analog.lisp
@@ -1,6 +1,8 @@
 (cl:in-package ur_msgs-msg)
 (cl:export '(PIN-VAL
          PIN
+          DOMAIN-VAL
+          DOMAIN
          STATE-VAL
          STATE
 ))
--- a/devel/share/common-lisp/ros/ur_msgs/srv/SetSpeedSliderFraction.lisp
+++ 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 <SetSpeedSliderFraction-request> (roslisp-msg-protocol:ros-message)
+  ((speed_slider_fraction
+    :reader speed_slider_fraction
+    :initarg :speed_slider_fraction
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass SetSpeedSliderFraction-request (<SetSpeedSliderFraction-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetSpeedSliderFraction-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetSpeedSliderFraction-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetSpeedSliderFraction-request> is deprecated: use ur_msgs-srv:SetSpeedSliderFraction-request instead.")))
+
+(cl:ensure-generic-function 'speed_slider_fraction-val :lambda-list '(m))
+(cl:defmethod speed_slider_fraction-val ((m <SetSpeedSliderFraction-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:speed_slider_fraction-val is deprecated.  Use ur_msgs-srv:speed_slider_fraction instead.")
+  (speed_slider_fraction m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetSpeedSliderFraction-request>) ostream)
+  "Serializes a message object of type '<SetSpeedSliderFraction-request>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'speed_slider_fraction))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetSpeedSliderFraction-request>) istream)
+  "Deserializes a message object of type '<SetSpeedSliderFraction-request>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'speed_slider_fraction) (roslisp-utils:decode-double-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetSpeedSliderFraction-request>)))
+  "Returns string type for a service object of type '<SetSpeedSliderFraction-request>"
+  "ur_msgs/SetSpeedSliderFractionRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetSpeedSliderFraction-request)))
+  "Returns string type for a service object of type 'SetSpeedSliderFraction-request"
+  "ur_msgs/SetSpeedSliderFractionRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetSpeedSliderFraction-request>)))
+  "Returns md5sum for a message object of type '<SetSpeedSliderFraction-request>"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetSpeedSliderFraction-request)))
+  "Returns md5sum for a message object of type 'SetSpeedSliderFraction-request"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetSpeedSliderFraction-request>)))
+  "Returns full string definition for message of type '<SetSpeedSliderFraction-request>"
+  (cl:format cl:nil "~%~%~%~%~%float64 speed_slider_fraction~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetSpeedSliderFraction-request)))
+  "Returns full string definition for message of type 'SetSpeedSliderFraction-request"
+  (cl:format cl:nil "~%~%~%~%~%float64 speed_slider_fraction~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetSpeedSliderFraction-request>))
+  (cl:+ 0
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetSpeedSliderFraction-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetSpeedSliderFraction-request
+    (cl:cons ':speed_slider_fraction (speed_slider_fraction msg))
+))
+;//! \htmlinclude SetSpeedSliderFraction-response.msg.html
+
+(cl:defclass <SetSpeedSliderFraction-response> (roslisp-msg-protocol:ros-message)
+  ((success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass SetSpeedSliderFraction-response (<SetSpeedSliderFraction-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetSpeedSliderFraction-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetSpeedSliderFraction-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-srv:<SetSpeedSliderFraction-response> is deprecated: use ur_msgs-srv:SetSpeedSliderFraction-response instead.")))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <SetSpeedSliderFraction-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-srv:success-val is deprecated.  Use ur_msgs-srv:success instead.")
+  (success m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetSpeedSliderFraction-response>) ostream)
+  "Serializes a message object of type '<SetSpeedSliderFraction-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetSpeedSliderFraction-response>) istream)
+  "Deserializes a message object of type '<SetSpeedSliderFraction-response>"
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetSpeedSliderFraction-response>)))
+  "Returns string type for a service object of type '<SetSpeedSliderFraction-response>"
+  "ur_msgs/SetSpeedSliderFractionResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetSpeedSliderFraction-response)))
+  "Returns string type for a service object of type 'SetSpeedSliderFraction-response"
+  "ur_msgs/SetSpeedSliderFractionResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetSpeedSliderFraction-response>)))
+  "Returns md5sum for a message object of type '<SetSpeedSliderFraction-response>"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetSpeedSliderFraction-response)))
+  "Returns md5sum for a message object of type 'SetSpeedSliderFraction-response"
+  "172aeb6c49379a44cf68480fa5bfad3c")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetSpeedSliderFraction-response>)))
+  "Returns full string definition for message of type '<SetSpeedSliderFraction-response>"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetSpeedSliderFraction-response)))
+  "Returns full string definition for message of type 'SetSpeedSliderFraction-response"
+  (cl:format cl:nil "bool success~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetSpeedSliderFraction-response>))
+  (cl:+ 0
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetSpeedSliderFraction-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetSpeedSliderFraction-response
+    (cl:cons ':success (success msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'SetSpeedSliderFraction)))
+  'SetSpeedSliderFraction-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'SetSpeedSliderFraction)))
+  'SetSpeedSliderFraction-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetSpeedSliderFraction)))
+  "Returns string type for a service object of type '<SetSpeedSliderFraction>"
+  "ur_msgs/SetSpeedSliderFraction")
--- a/devel/share/common-lisp/ros/ur_msgs/srv/_package.lisp
+++ b/devel/share/common-lisp/ros/ur_msgs/srv/_package.lisp
@@ -11,5 +11,10 @@
   "SETPAYLOAD-REQUEST"
   "<SETPAYLOAD-RESPONSE>"
   "SETPAYLOAD-RESPONSE"
+   "SETSPEEDSLIDERFRACTION"
+   "<SETSPEEDSLIDERFRACTION-REQUEST>"
+   "SETSPEEDSLIDERFRACTION-REQUEST"
+   "<SETSPEEDSLIDERFRACTION-RESPONSE>"
+   "SETSPEEDSLIDERFRACTION-RESPONSE"
  ))

--- a/devel/share/common-lisp/ros/ur_msgs/srv/_package_SetSpeedSliderFraction.lisp
+++ b/devel/share/common-lisp/ros/ur_msgs/srv/_package_SetSpeedSliderFraction.lisp
@@ -0,0 +1,6 @@
+(cl:in-package ur_msgs-srv)
+(cl:export '(SPEED_SLIDER_FRACTION-VAL
+          SPEED_SLIDER_FRACTION
+          SUCCESS-VAL
+          SUCCESS
+))
--- a/devel/share/common-lisp/ros/ur_msgs/srv/ur_msgs-srv.asd
+++ b/devel/share/common-lisp/ros/ur_msgs/srv/ur_msgs-srv.asd
@@ -8,4 +8,6 @@
    (:file "_package_SetIO" :depends-on ("_package"))
    (:file "SetPayload" :depends-on ("_package_SetPayload"))
    (:file "_package_SetPayload" :depends-on ("_package"))
+    (:file "SetSpeedSliderFraction" :depends-on ("_package_SetSpeedSliderFraction"))
+    (:file "_package_SetSpeedSliderFraction" :depends-on ("_package"))
  ))
--- a/devel/share/gennodejs/ros/ur_msgs/msg/Analog.js
+++ b/devel/share/gennodejs/ros/ur_msgs/msg/Analog.js
@@ -19,6 +19,7 @@ class Analog {
    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 {
@@ -28,6 +29,12 @@ class Analog {
      else {
        this.pin = 0;
      }
+      if (initObj.hasOwnProperty('domain')) {
+        this.domain = initObj.domain
+      }
+      else {
+        this.domain = 0;
+      }
      if (initObj.hasOwnProperty('state')) {
        this.state = initObj.state
      }
@@ -41,6 +48,8 @@ class Analog {
    // 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;
@@ -52,13 +61,15 @@ class Analog {
    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 5;
+    return 6;
  }

  static datatype() {
@@ -68,13 +79,17 @@ class Analog {

  static md5sum() {
    //Returns md5sum for a message object
-    return '341541c8828d055b6dcc443d40207a7d';
+    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
    
    `;
@@ -93,6 +108,13 @@ class Analog {
      resolved.pin = 0
    }

+    if (msg.domain !== undefined) {
+      resolved.domain = msg.domain;
+    }
+    else {
+      resolved.domain = 0
+    }
+
    if (msg.state !== undefined) {
      resolved.state = msg.state;
    }
@@ -104,4 +126,10 @@ class Analog {
    }
 };

+// Constants for message
+Analog.Constants = {
+  VOLTAGE: 0,
+  CURRENT: 1,
+}
+
 module.exports = Analog;
--- a/devel/share/gennodejs/ros/ur_msgs/msg/IOStates.js
+++ b/devel/share/gennodejs/ros/ur_msgs/msg/IOStates.js
@@ -142,8 +142,8 @@ class IOStates {
    length += 2 * object.digital_in_states.length;
    length += 2 * object.digital_out_states.length;
    length += 2 * object.flag_states.length;
-    length += 5 * object.analog_in_states.length;
-    length += 5 * object.analog_out_states.length;
+    length += 6 * object.analog_in_states.length;
+    length += 6 * object.analog_out_states.length;
    return length + 20;
  }

@@ -154,7 +154,7 @@ class IOStates {

  static md5sum() {
    //Returns md5sum for a message object
-    return '0a5c7b73e3189e9a2caf8583d1bae2e2';
+    return '3033784e7041da89491b97cc4c1105b5';
  }

  static messageDefinition() {
@@ -173,7 +173,11 @@ class IOStates {
    
    ================================================================================
    MSG: ur_msgs/Analog
+    uint8 VOLTAGE=0
+    uint8 CURRENT=1
+    
    uint8 pin
+    uint8 domain # can be VOLTAGE or CURRENT
    float32 state
    
    `;
--- a/devel/share/gennodejs/ros/ur_msgs/srv/SetSpeedSliderFraction.js
+++ 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'; }
+};
--- a/devel/share/gennodejs/ros/ur_msgs/srv/_index.js
+++ b/devel/share/gennodejs/ros/ur_msgs/srv/_index.js
@@ -2,9 +2,11 @@
 "use strict";

 let SetIO = require('./SetIO.js')
+let SetSpeedSliderFraction = require('./SetSpeedSliderFraction.js')
 let SetPayload = require('./SetPayload.js')

 module.exports = {
  SetIO: SetIO,
+  SetSpeedSliderFraction: SetSpeedSliderFraction,
  SetPayload: SetPayload,
 };
--- a/devel/share/roseus/ros/ur_msgs/msg/Analog.l
+++ b/devel/share/roseus/ros/ur_msgs/msg/Analog.l
@@ -12,23 +12,34 @@
 ;;//! \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 _state ))
+  :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)
@@ -37,6 +48,8 @@
   (+
    ;; uint8 _pin
    1
+    ;; uint8 _domain
+    1
    ;; float32 _state
    4
    ))
@@ -46,6 +59,8 @@
              (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)
     ;;
@@ -54,22 +69,28 @@
   (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-) "341541c8828d055b6dcc443d40207a7d")
+(setf (get ur_msgs::Analog :md5sum-) "f41c08a810adf63713aec88712cd553d")
 (setf (get ur_msgs::Analog :datatype-) "ur_msgs/Analog")
 (setf (get ur_msgs::Analog :definition-)
-      "uint8 pin
+      "uint8 VOLTAGE=0
+uint8 CURRENT=1
+
+uint8 pin
+uint8 domain # can be VOLTAGE or CURRENT
 float32 state

 ")



-(provide :ur_msgs/Analog "341541c8828d055b6dcc443d40207a7d")
+(provide :ur_msgs/Analog "f41c08a810adf63713aec88712cd553d")


--- a/devel/share/roseus/ros/ur_msgs/msg/IOStates.l
+++ b/devel/share/roseus/ros/ur_msgs/msg/IOStates.l
@@ -153,7 +153,7 @@
   self)
  )

-(setf (get ur_msgs::IOStates :md5sum-) "0a5c7b73e3189e9a2caf8583d1bae2e2")
+(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
@@ -169,13 +169,17 @@ 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 "0a5c7b73e3189e9a2caf8583d1bae2e2")
+(provide :ur_msgs/IOStates "3033784e7041da89491b97cc4c1105b5")


--- a/devel/share/roseus/ros/ur_msgs/srv/SetSpeedSliderFraction.l
+++ 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")
+
+
--- a/devel/share/ur_msgs/cmake/ur_msgs-msg-extras.cmake
+++ b/devel/share/ur_msgs/cmake/ur_msgs-msg-extras.cmake
@@ -1,2 +1,2 @@
 set(ur_msgs_MESSAGE_FILES "/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/Analog.msg;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/Digital.msg;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/IOStates.msg;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/RobotStateRTMsg.msg;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/MasterboardDataMsg.msg;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/RobotModeDataMsg.msg;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/msg/ToolDataMsg.msg")
-set(ur_msgs_SERVICE_FILES "/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/srv/SetPayload.srv;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/srv/SetIO.srv")
+set(ur_msgs_SERVICE_FILES "/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/srv/SetPayload.srv;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/srv/SetSpeedSliderFraction.srv;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robot/ur_msgs/srv/SetIO.srv")