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"))
  ))